+ python -m lidar_slam --no-model /working/e36e6bab-e09d-499a-ac98-32247f293872 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/e36e6bab-e09d-499a-ac98-32247f293872 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 end_distance from 9.223372036854776e+18 to 371.350302058 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.0 meters 0.26567543293003676 Centerline is valid? [0, False] SLAMing on 0.03 meters 0.2142670004621739 Centerline is valid? [False, False] Translation: X:0.01, Y:0.09, Z:0.00 [[ 0.99871341 0.04808067 -0.01611737 0.00812135] [-0.04803933 0.99884111 0.00294231 0.08523419] [ 0.01624016 -0.00216425 0.99986578 0.00367757] [ 0. 0. 0. 1. ]] SLAMing on 0.06 meters 0.21366999287614846 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:0.00 [[ 0.99924555 0.03723789 -0.01103044 0.00683089] [-0.03712268 0.99925585 0.01047149 0.08275764] [ 0.01141217 -0.01005411 0.99988433 0.00289796] [ 0. 0. 0. 1. ]] SLAMing on 0.09 meters 0.19980550049414303 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.12, Z:0.02 [[ 0.99990755 0.00772033 0.01119361 -0.01735652] [-0.00775728 0.99996459 0.00326089 0.11888553] [-0.01116803 -0.00334742 0.99993203 0.02027927] [ 0. 0. 0. 1. ]] SLAMing on 0.12 meters 0.19962356890637584 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.12, Z:0.02 [[ 0.99993342 0.00323996 0.01107528 -0.01787089] [-0.00321952 0.99999308 -0.00186307 0.12103395] [-0.01108124 0.00182729 0.99993693 0.02159181] [ 0. 0. 0. 1. ]] SLAMing on 0.15 meters 0.20129748051474491 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.12, Z:0.03 [[ 0.99993404 0.00219262 0.01127423 -0.02116157] [-0.00216351 0.9999943 -0.00259342 0.11935398] [-0.01127985 0.00256885 0.99993308 0.02590796] [ 0. 0. 0. 1. ]] SLAMing on 0.18 meters 0.19664890116350706 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.12, Z:0.03 [[ 0.99993038 -0.00196871 0.01163448 -0.02483188] [ 0.0020422 0.99997802 -0.00630788 0.1174184 ] [-0.0116218 0.0063312 0.99991242 0.03020915] [ 0. 0. 0. 1. ]] SLAMing on 0.21 meters 0.20207602430824537 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:0.03 [[ 0.99992151 -0.00121902 0.01246976 -0.02726102] [ 0.00126888 0.99999123 -0.00399143 0.1121854 ] [-0.01246479 0.00400694 0.99991428 0.0322388 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24 meters 0.20674033423822308 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:0.03 [[ 9.99916241e-01 -9.14617744e-04 1.29102568e-02 -2.84721707e-02] [ 9.42425011e-04 9.99997249e-01 -2.14797018e-03 1.07135070e-01] [-1.29082567e-02 2.15995721e-03 9.99914352e-01 3.31061837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27 meters 0.20811878123737518 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.10, Z:0.04 [[ 0.99990993 -0.00880652 0.01012787 -0.04022287] [ 0.00879335 0.99996044 0.00134342 0.10307231] [-0.0101393 -0.00125424 0.99994781 0.03563436] [ 0. 0. 0. 1. ]] SLAMing on 0.3 meters 0.21447991411665435 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.10, Z:0.03 [[ 0.99987191 -0.01234573 0.01018518 -0.03961441] [ 0.01235906 0.99992285 -0.00124681 0.09928436] [-0.010169 0.00137253 0.99994735 0.03463875] [ 0. 0. 0. 1. ]] SLAMing on 0.32999999999999996 meters 0.21447991411665435 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.10, Z:0.03 [[ 0.99987191 -0.01234573 0.01018518 -0.03961441] [ 0.01235906 0.99992285 -0.00124681 0.09928436] [-0.010169 0.00137253 0.99994735 0.03463875] [ 0. 0. 0. 1. ]] SLAMing on 0.36 meters 0.22866256292433085 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.08, Z:0.02 [[ 0.99982826 -0.01814462 -0.00377176 -0.01881737] [ 0.01816274 0.9998234 0.00482607 0.07976475] [ 0.00368352 -0.00489375 0.99998124 0.02039456] [ 0. 0. 0. 1. ]] SLAMing on 0.39 meters 0.2301347969693086 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.07, Z:0.01 [[ 0.99987106 -0.01598137 0.0015659 -0.02554485] [ 0.01597874 0.99987093 0.00167715 0.07396981] [-0.00159251 -0.00165191 0.99999737 0.01301551] [ 0. 0. 0. 1. ]] SLAMing on 0.42 meters 0.23351578838364384 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.07, Z:0.01 [[ 0.99997658 -0.00418533 -0.0054155 -0.02150417] [ 0.00417245 0.99998844 -0.00238801 0.07022815] [ 0.00542543 0.00236536 0.99998248 0.01010976] [ 0. 0. 0. 1. ]] SLAMing on 0.44999999999999996 meters 0.23119899092430496 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.07, Z:0.01 [[ 0.9999812 -0.00335092 -0.00513459 -0.02159918] [ 0.00334563 0.99999386 -0.00103797 0.06757067] [ 0.00513803 0.00102078 0.99998628 0.00944612] [ 0. 0. 0. 1. ]] SLAMing on 0.48 meters 0.23204863987613905 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.06, Z:0.01 [[ 0.99998403 -0.00200075 -0.00528601 -0.01847029] [ 0.00200867 0.99999687 0.00149363 0.06109467] [ 0.00528301 -0.00150422 0.99998491 0.0055557 ] [ 0. 0. 0. 1. ]] SLAMing on 0.51 meters 0.23224437261276235 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.05, Z:-0.00 [[ 9.99999726e-01 -3.36438713e-05 -7.39123706e-04 -2.08402561e-02] [ 3.47306731e-05 9.99998918e-01 1.47042870e-03 5.44568636e-02] [ 7.39073436e-04 -1.47045397e-03 9.99998646e-01 -2.78404100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54 meters 0.23260156366048876 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.05, Z:-0.01 [[ 9.99999177e-01 7.45581084e-04 -1.04442652e-03 -1.59059415e-02] [-7.42340510e-04 9.99994920e-01 3.09969017e-03 4.98596417e-02] [ 1.04673228e-03 -3.09891230e-03 9.99994651e-01 -9.63640988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57 meters 0.22846264885537101 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 0.9999893 0.00389593 -0.00249555 -0.00846541] [-0.00387726 0.99996478 0.00744334 0.04496746] [ 0.00252447 -0.00743358 0.99996918 -0.0176598 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6 meters 0.22290792147078117 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.05, Z:-0.02 [[ 9.99995588e-01 1.36487448e-04 -2.96736629e-03 -7.90819097e-03] [-1.27296310e-04 9.99995195e-01 3.09737417e-03 4.62903440e-02] [ 2.96777478e-03 -3.09698277e-03 9.99990800e-01 -1.74184944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63 meters 0.22374570466290028 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:-0.02 [[ 9.99994215e-01 4.08631854e-04 -3.37692688e-03 -7.68854010e-03] [-3.96314828e-04 9.99993270e-01 3.64727125e-03 4.48145183e-02] [ 3.37839455e-03 -3.64591183e-03 9.99987647e-01 -1.65872287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6599999999999999 meters 0.21839241223895065 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.05, Z:-0.02 [[ 9.99982108e-01 5.94786743e-03 -6.37999386e-04 -1.97634827e-02] [-5.94784449e-03 9.99982311e-01 3.78427358e-05 4.58473105e-02] [ 6.38213183e-04 -3.40473376e-05 9.99999796e-01 -1.64719110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69 meters 0.2153560104765954 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.05, Z:-0.02 [[ 0.99994712 0.01022522 -0.0010991 -0.0194416 ] [-0.01022178 0.99994299 0.00308675 0.04997708] [ 0.0011306 -0.00307535 0.99999463 -0.01571772] [ 0. 0. 0. 1. ]] SLAMing on 0.72 meters 0.21047287929287128 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.05, Z:-0.01 [[ 0.99983622 0.01806529 -0.00108482 -0.02003267] [-0.01805401 0.99979056 0.00963766 0.05481935] [ 0.0012587 -0.0096165 0.99995297 -0.01444597] [ 0. 0. 0. 1. ]] SLAMing on 0.75 meters 0.20093204760766048 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.06, Z:-0.01 [[ 9.99428509e-01 3.37890820e-02 -9.76361915e-04 -2.00607868e-02] [-3.37576786e-02 9.99164867e-01 2.30214678e-02 6.19885293e-02] [ 1.75342079e-03 -2.29753515e-02 9.99734494e-01 -1.37548933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78 meters 0.20093204760766048 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.07, Z:-0.01 [[ 0.99967606 0.02542651 -0.00112684 -0.02028481] [-0.02540927 0.99958847 0.01331416 0.06602829] [ 0.00146491 -0.01328121 0.99991073 -0.01366316] [ 0. 0. 0. 1. ]] SLAMing on 0.8099999999999999 meters 0.19480642264966622 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.07, Z:-0.01 [[ 0.99955978 0.02963838 -0.00134781 -0.01934143] [-0.02961388 0.99944048 0.01554845 0.07213015] [ 0.00180788 -0.01550169 0.99987821 -0.01447838] [ 0. 0. 0. 1. ]] SLAMing on 0.84 meters 0.18622653173002893 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.10, Z:-0.02 [[ 0.99867954 0.05112771 0.00501266 -0.01225678] [-0.05118134 0.99862625 0.01122869 0.09601549] [-0.00443168 -0.01147042 0.99992439 -0.0151319 ] [ 0. 0. 0. 1. ]] SLAMing on 0.87 meters 0.18163985674804897 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.01 [[ 0.99848757 0.05475104 0.00498872 -0.01260194] [-0.05480696 0.99842651 0.01186188 0.10703594] [-0.00433142 -0.01211736 0.9999172 -0.01402403] [ 0. 0. 0. 1. ]] SLAMing on 0.8999999999999999 meters 0.17621741869742996 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.01 [[ 0.99839129 0.05651091 0.00461968 -0.01179899] [-0.05655588 0.99834666 0.01026564 0.11870652] [-0.00403192 -0.01051039 0.99993664 -0.01403113] [ 0. 0. 0. 1. ]] SLAMing on 0.9299999999999999 meters 0.17524555044486523 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.13, Z:-0.02 [[ 0.99824903 0.05900767 0.00411935 -0.00996064] [-0.05904847 0.99819878 0.01060544 0.12725415] [-0.00348612 -0.01083011 0.99993528 -0.01513844] [ 0. 0. 0. 1. ]] SLAMing on 0.96 meters 0.174552885243185 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.14, Z:-0.01 [[ 9.98618865e-01 5.25378968e-02 -3.64115246e-04 -5.72988493e-04] [-5.25340574e-02 9.98594500e-01 7.01408951e-03 1.37599120e-01] [ 7.32108992e-04 -6.98527365e-03 9.99975335e-01 -1.39582201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.99 meters 0.17126357196892583 Centerline is valid? [False, False] Translation: X:0.00, Y:0.14, Z:-0.01 [[ 0.99904219 0.0436336 0.00328817 0.00339058] [-0.04366487 0.99899488 0.01012966 0.14182586] [-0.00284287 -0.01026353 0.99994329 -0.01246207] [ 0. 0. 0. 1. ]] SLAMing on 1.02 meters 0.17069290414497107 Centerline is valid? [False, False] Translation: X:0.01, Y:0.15, Z:-0.01 [[ 0.99947797 0.03228121 -0.00131109 0.01365778] [-0.03227353 0.99946388 0.00551062 0.14734543] [ 0.00148828 -0.00546543 0.99998396 -0.00972666] [ 0. 0. 0. 1. ]] SLAMing on 1.05 meters 0.16732912769406103 Centerline is valid? [False, False] Translation: X:0.02, Y:0.15, Z:-0.01 [[ 0.99969994 0.02444572 -0.00155809 0.02255519] [-0.02443197 0.99966698 0.00830746 0.1484028 ] [ 0.00176066 -0.0082669 0.99996428 -0.00767988] [ 0. 0. 0. 1. ]] SLAMing on 1.08 meters 0.16260114890374558 Centerline is valid? [False, False] Translation: X:0.03, Y:0.16, Z:-0.00 [[ 0.9998644 0.01545432 -0.00568644 0.03031551] [-0.0154304 0.99987201 0.00422737 0.15744285] [ 0.00575104 -0.00413905 0.9999749 -0.00392918] [ 0. 0. 0. 1. ]] SLAMing on 1.1099999999999999 meters 0.16034858657097895 Centerline is valid? [False, False] Translation: X:0.03, Y:0.17, Z:-0.00 [[ 0.99993278 0.00999609 -0.00587526 0.0303179 ] [-0.01001391 0.99994532 -0.00301162 0.16502643] [ 0.00584483 0.00307025 0.99997821 -0.00393674] [ 0. 0. 0. 1. ]] SLAMing on 1.14 meters 0.1564125663389425 Centerline is valid? [False, False] Translation: X:0.03, Y:0.17, Z:-0.00 [[ 0.99993758 0.009358 -0.00610483 0.03081566] [-0.00938439 0.99994668 -0.00430871 0.16804348] [ 0.00606418 0.00436573 0.99997208 -0.00419888] [ 0. 0. 0. 1. ]] SLAMing on 1.17 meters 0.15285975277392985 Centerline is valid? [False, False] Translation: X:0.04, Y:0.17, Z:-0.00 [[ 9.99986893e-01 1.83085779e-03 -4.78139305e-03 4.04723399e-02] [-1.83358952e-03 9.99998158e-01 -5.67003474e-04 1.68335711e-01] [ 4.78034614e-03 5.75763154e-04 9.99988408e-01 -3.98253961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2 meters 0.15067006793012433 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:-0.00 [[ 9.99986358e-01 1.50153447e-03 -5.00293016e-03 4.11600551e-02] [-1.49964972e-03 9.99998803e-01 3.80459972e-04 1.64491151e-01] [ 5.00349544e-03 -3.72952139e-04 9.99987413e-01 -4.41221593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.23 meters 0.14850692145326566 Centerline is valid? [False, False] Translation: X:0.04, Y:0.16, Z:-0.01 [[ 0.9999835 -0.00214552 -0.00532911 0.04208507] [ 0.00213546 0.99999593 -0.00189188 0.15957121] [ 0.00533315 0.00188047 0.99998401 -0.00505825] [ 0. 0. 0. 1. ]] SLAMing on 1.26 meters 0.14640397603747674 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:-0.01 [[ 9.99982645e-01 -1.89365250e-03 -5.57892950e-03 4.29631645e-02] [ 1.89725882e-03 9.99997995e-01 6.41194753e-04 1.52020230e-01] [ 5.57770411e-03 -6.51768298e-04 9.99984232e-01 -5.80914003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29 meters 0.14269908144308543 Centerline is valid? [False, False] Translation: X:0.04, Y:0.15, Z:-0.01 [[ 0.99998135 -0.00200061 -0.00577092 0.04368337] [ 0.00201411 0.99999525 0.00233319 0.14627457] [ 0.00576622 -0.00234477 0.99998063 -0.00654716] [ 0. 0. 0. 1. ]] SLAMing on 1.3199999999999998 meters 0.14153082746327766 Centerline is valid? [False, False] Translation: X:0.05, Y:0.14, Z:-0.01 [[ 9.99962746e-01 -5.43262297e-03 -6.70763557e-03 4.70353235e-02] [ 5.43200279e-03 9.99985240e-01 -1.10673248e-04 1.43498301e-01] [ 6.70813782e-03 7.42332297e-05 9.99977497e-01 -9.79834271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3499999999999999 meters 0.141637473340322 Centerline is valid? [False, False] Translation: X:0.05, Y:0.14, Z:-0.01 [[ 9.99959436e-01 -5.55449210e-03 -7.09039174e-03 4.84263064e-02] [ 5.55083755e-03 9.99984451e-01 -5.34997293e-04 1.44916592e-01] [ 7.09325312e-03 4.95617979e-04 9.99974720e-01 -1.11244508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38 meters 0.139746346992611 Centerline is valid? [False, False] Translation: X:0.05, Y:0.15, Z:-0.01 [[ 0.99996481 -0.00335697 -0.00768866 0.05123271] [ 0.00336848 0.99999323 0.00148416 0.14591699] [ 0.00768363 -0.00151001 0.99996934 -0.01365467] [ 0. 0. 0. 1. ]] SLAMing on 1.41 meters 0.13267601793332348 Centerline is valid? [False, False] Translation: X:0.05, Y:0.15, Z:-0.01 [[ 9.99964459e-01 -2.94942079e-03 -7.89821371e-03 5.15849832e-02] [ 2.95360245e-03 9.99995504e-01 5.17831689e-04 1.50166619e-01] [ 7.89665089e-03 -5.41141468e-04 9.99968675e-01 -1.38156255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.44 meters 0.1289425546444811 Centerline is valid? [False, False] Translation: X:0.05, Y:0.15, Z:-0.01 [[ 9.99963587e-01 -2.96941126e-03 -8.00040718e-03 5.17731626e-02] [ 2.96507156e-03 9.99995451e-01 -5.54241696e-04 1.53619981e-01] [ 8.00201655e-03 5.30499735e-04 9.99967843e-01 -1.39068279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.47 meters 0.12640201371726775 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:-0.01 [[ 0.99996264 -0.00277762 -0.00818587 0.05215455] [ 0.0027636 0.9999947 -0.00172403 0.1579128 ] [ 0.00819061 0.00170134 0.99996501 -0.01411713] [ 0. 0. 0. 1. ]] SLAMing on 1.5 meters 0.12449093785419188 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:-0.01 [[ 0.99996309 0.00109327 -0.00852249 0.05298391] [-0.00108176 0.9999985 0.00135495 0.16091827] [ 0.00852396 -0.00134568 0.99996276 -0.01467338] [ 0. 0. 0. 1. ]] SLAMing on 1.53 meters 0.11943906631414349 Centerline is valid? [False, False] Translation: X:0.05, Y:0.17, Z:-0.02 [[ 9.99961410e-01 9.20435973e-04 -8.73673959e-03 5.34644910e-02] [-9.23404978e-04 9.99999517e-01 -3.35802091e-04 1.65910321e-01] [ 8.73642629e-03 3.43856682e-04 9.99961778e-01 -1.50566505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56 meters 0.11774093194153913 Centerline is valid? [False, False] Translation: X:0.05, Y:0.17, Z:-0.02 [[ 0.99994628 0.00498687 -0.00908704 0.05449216] [-0.00495826 0.99998269 0.00316804 0.1679537 ] [ 0.00910269 -0.00312281 0.99995369 -0.01586473] [ 0. 0. 0. 1. ]] SLAMing on 1.5899999999999999 meters 0.11676158406406292 Centerline is valid? [False, False] Translation: X:0.06, Y:0.17, Z:-0.02 [[ 0.99994357 0.00465676 -0.0095479 0.05545628] [-0.00463849 0.99998737 0.00193476 0.17103543] [ 0.00955679 -0.00189036 0.99995255 -0.01642581] [ 0. 0. 0. 1. ]] SLAMing on 1.6199999999999999 meters 0.11410404530501077 Centerline is valid? [False, False] Translation: X:0.06, Y:0.17, Z:-0.02 [[ 0.99994327 0.0043243 -0.00973415 0.05549636] [-0.00431348 0.99999006 0.00113171 0.1728897 ] [ 0.00973894 -0.00108966 0.99995198 -0.01601113] [ 0. 0. 0. 1. ]] SLAMing on 1.65 meters 0.11292345676781629 Centerline is valid? [False, False] Translation: X:0.06, Y:0.18, Z:-0.02 [[ 9.99944080e-01 3.89597390e-03 -9.83152842e-03 5.51806061e-02] [-3.89474479e-03 9.99992405e-01 1.44160268e-04 1.75177155e-01] [ 9.83201540e-03 -1.05860912e-04 9.99951659e-01 -1.52134830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68 meters 0.10871846153785757 Centerline is valid? [False, False] Translation: X:0.05, Y:0.18, Z:-0.01 [[ 9.99946161e-01 3.42855607e-03 -9.79389052e-03 5.43213422e-02] [-3.43762029e-03 9.99993678e-01 -9.08812865e-04 1.77558120e-01] [ 9.79071269e-03 9.42431612e-04 9.99951626e-01 -1.37803470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.71 meters 0.10543115253749114 Centerline is valid? [False, False] Translation: X:0.05, Y:0.18, Z:-0.01 [[ 9.99949287e-01 4.00553292e-03 -9.24004392e-03 5.08914169e-02] [-4.01151204e-03 9.99991756e-01 -6.28644791e-04 1.78430775e-01] [ 9.23744969e-03 6.65679458e-04 9.99957112e-01 -1.01586572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74 meters 0.09983082017961466 Centerline is valid? [False, True] Translation: X:0.05, Y:0.18, Z:-0.01 [[ 9.99987693e-01 1.92982278e-03 4.57049720e-03 5.09060544e-02] [-1.93274222e-03 9.99997931e-01 6.34427241e-04 1.77834800e-01] [-4.56926341e-03 -6.43253026e-04 9.99989354e-01 -9.70541768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.77 meters 0.09983082017961466 Centerline is valid? [True, True] Translation: X:0.08, Y:0.18, Z:-0.01 [[ 9.99987132e-01 2.16694392e-03 4.58698781e-03 8.26049454e-02] [-2.16772183e-03 9.99997637e-01 1.64625179e-04 1.79067410e-01] [-4.58662023e-03 -1.74566375e-04 9.99989466e-01 -1.03165184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7999999999999998 meters 0.09013936278914658 Centerline is valid? [True, True] Translation: X:0.11, Y:0.16, Z:-0.01 [[ 9.99954971e-01 -6.16227073e-03 7.21675494e-03 1.12873696e-01] [ 6.16061668e-03 9.99980992e-01 2.51403460e-04 1.64077718e-01] [-7.21816698e-03 -2.06932479e-04 9.99973927e-01 -8.42986561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8299999999999998 meters 0.09062716939552877 Centerline is valid? [True, True] Translation: X:0.14, Y:0.15, Z:-0.01 [[ 9.99873327e-01 -1.31490608e-02 8.96843065e-03 1.43613160e-01] [ 1.31467832e-02 9.99913528e-01 3.12860584e-04 1.52679322e-01] [-8.97176896e-03 -1.94914939e-04 9.99959734e-01 -8.12024948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8599999999999999 meters 0.09062716939552877 Centerline is valid? [True, True] Translation: X:0.18, Y:0.15, Z:-0.01 [[ 9.99874146e-01 -1.30865994e-02 8.96840535e-03 1.75273892e-01] [ 1.30843129e-02 9.99914348e-01 3.13586551e-04 1.53714360e-01] [-8.97174096e-03 -1.96201663e-04 9.99959734e-01 -8.77291596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89 meters 0.08671578010585415 Centerline is valid? [True, True] Translation: X:0.21, Y:0.13, Z:-0.01 [[ 9.99521741e-01 -3.00557530e-02 7.27603979e-03 2.05729907e-01] [ 3.00547049e-02 9.99548223e-01 2.53365499e-04 1.27715815e-01] [-7.28036774e-03 -3.45650951e-05 9.99973497e-01 -1.02499987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.92 meters 0.08671578010585415 Centerline is valid? [True, True] Translation: X:0.24, Y:0.13, Z:-0.01 [[ 9.99523595e-01 -2.99940508e-02 7.27601112e-03 2.37382620e-01] [ 2.99929951e-02 9.99550077e-01 2.54189502e-04 1.28746589e-01] [-7.28036165e-03 -3.58390386e-05 9.99973497e-01 -1.09024972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.95 meters 0.08261515208288686 Centerline is valid? [True, True] Translation: X:0.27, Y:0.11, Z:-0.02 [[ 9.98968335e-01 -4.52955246e-02 -3.25288145e-03 2.67170797e-01] [ 4.52953976e-02 9.98973630e-01 -1.12741667e-04 1.11587167e-01] [ 3.25464948e-03 -3.47152036e-05 9.99994703e-01 -1.98937026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98 meters 0.07769946421936871 Centerline is valid? [True, True] Translation: X:0.30, Y:0.10, Z:-0.02 [[ 9.98662406e-01 -5.09388994e-02 -8.86716261e-03 2.98203302e-01] [ 5.09381701e-02 9.98701761e-01 -3.08213629e-04 1.04819810e-01] [ 8.87135098e-03 -1.43875673e-04 9.99960638e-01 -2.44474464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01 meters 0.07475068328867777 Centerline is valid? [True, True] Translation: X:0.33, Y:0.10, Z:-0.03 [[ 9.98362672e-01 -5.58763010e-02 -1.22398916e-02 3.27540737e-01] [ 5.58752768e-02 9.98437666e-01 -4.25892124e-04 9.63260256e-02] [ 1.22445661e-02 -2.58712535e-04 9.99924999e-01 -2.71102701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04 meters 0.06931050374051895 Centerline is valid? [True, True] Translation: X:0.36, Y:0.09, Z:-0.03 [[ 9.98102893e-01 -6.03664945e-02 -1.21037957e-02 3.56609957e-01] [ 6.03658094e-02 9.98176232e-01 -4.22260517e-04 8.63820564e-02] [ 1.21072116e-02 -3.09195982e-04 9.99926657e-01 -2.50672834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.07 meters 0.07017495801688607 Centerline is valid? [True, True] Translation: X:0.38, Y:0.08, Z:-0.02 [[ 9.97914627e-01 -6.41436461e-02 -7.21034895e-03 3.84628203e-01] [ 6.41434908e-02 9.97940654e-01 -2.53027175e-04 7.63349598e-02] [ 7.21173043e-03 -2.09997432e-04 9.99973973e-01 -1.82849846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1 meters 0.06702591937413557 Centerline is valid? [True, True] Translation: X:0.41, Y:0.07, Z:-0.01 [[ 9.97740130e-01 -6.71672044e-02 -1.78890551e-03 4.13032061e-01] [ 6.71671974e-02 9.97741732e-01 -6.40227302e-05 6.82824561e-02] [ 1.78916591e-03 -5.62777225e-05 9.99998398e-01 -1.06282296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.13 meters 0.06276073777222001 Centerline is valid? [True, True] Translation: X:0.44, Y:0.06, Z:-0.00 [[ 9.97554066e-01 -6.98987052e-02 2.36987063e-04 4.42558061e-01] [ 6.98987063e-02 9.97554094e-01 4.01018392e-06 6.34834942e-02] [-2.36687722e-04 1.25647139e-05 9.99999972e-01 -3.91678099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16 meters 0.05766365570772541 Centerline is valid? [True, True] Translation: X:0.47, Y:0.06, Z:-0.01 [[ 9.97589529e-01 -6.93779761e-02 -1.35171406e-03 4.71721774e-01] [ 6.93779691e-02 9.97590444e-01 -5.21211110e-05 6.38697997e-02] [ 1.35207309e-03 -4.17837017e-05 9.99999085e-01 -7.21201448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.19 meters 0.05880646226595585 Centerline is valid? [True, True] Translation: X:0.50, Y:0.07, Z:-0.01 [[ 9.97707725e-01 -6.75132222e-02 -4.61083095e-03 4.99249512e-01] [ 6.75131800e-02 9.97718369e-01 -1.64985586e-04 6.61648063e-02] [ 4.61144944e-03 -1.46684466e-04 9.99989356e-01 -1.29204109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2199999999999998 meters 0.05880646226595585 Centerline is valid? [True, True] Translation: X:0.53, Y:0.07, Z:-0.01 [[ 9.97691689e-01 -6.77498017e-02 -4.61067263e-03 5.26737188e-01] [ 6.77497414e-02 9.97702332e-01 -1.69431441e-04 6.72674125e-02] [ 4.61155778e-03 -1.43331538e-04 9.99989356e-01 -1.34871425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.25 meters 0.05675411490032176 Centerline is valid? [True, True] Translation: X:0.55, Y:0.07, Z:-0.02 [[ 9.97840858e-01 -6.50808925e-02 -8.83734854e-03 5.54044757e-01] [ 6.50806303e-02 9.97879958e-01 -3.17549245e-04 6.85314443e-02] [ 8.83927938e-03 -2.58276602e-04 9.99960899e-01 -2.04745126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28 meters 0.05675411490032176 Centerline is valid? [True, True] Translation: X:0.58, Y:0.07, Z:-0.02 [[ 9.97825658e-01 -6.53135587e-02 -8.83715651e-03 5.81532522e-01] [ 6.53132583e-02 9.97864757e-01 -3.22896753e-04 6.96483713e-02] [ 8.83937657e-03 -2.54988820e-04 9.99960899e-01 -2.10412583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.31 meters 0.0508068777610929 Centerline is valid? [True, True] Translation: X:0.61, Y:0.07, Z:-0.02 [[ 9.98062687e-01 -6.15890039e-02 -8.81296036e-03 6.10451453e-01] [ 6.15885909e-02 9.98101570e-01 -3.18497021e-04 6.93162757e-02] [ 8.81584548e-03 -2.24897818e-04 9.99961114e-01 -2.12983855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34 meters 0.048478202640126984 Centerline is valid? [True, True] Translation: X:0.64, Y:0.07, Z:-0.02 [[ 9.98245097e-01 -5.90063680e-02 -4.99749185e-03 6.39556828e-01] [ 5.90062017e-02 9.98257600e-01 -1.80835571e-04 7.04620396e-02] [ 4.99945467e-03 -1.14364791e-04 9.99987496e-01 -1.70311156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.37 meters 0.024149026963106134 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.27, Z:0.02 [[ 9.97591495e-01 -6.03238830e-02 3.42379712e-02 6.82998062e-01] [ 6.03169901e-02 9.98178509e-01 1.23509791e-03 -2.74279193e-01] [-3.42501129e-02 8.33008205e-04 9.99412946e-01 2.39607619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4 meters 0.021469475174131697 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.35, Z:0.01 [[ 9.99100180e-01 -3.31748057e-02 2.64246629e-02 7.14672830e-01] [ 3.31611808e-02 9.99449562e-01 9.53781877e-04 -3.51138384e-01] [-2.64417593e-02 -7.66506219e-05 9.99650353e-01 1.48734502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4299999999999997 meters 0.026544432914773576 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.38, Z:0.01 [[ 9.97755851e-01 -6.11247584e-02 2.73317680e-02 7.45371535e-01] [ 6.11206227e-02 9.98129899e-01 9.87493910e-04 -3.77250547e-01] [-2.73410151e-02 6.85256852e-04 9.99625930e-01 1.31798669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46 meters 0.022617331452923863 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.38, Z:0.02 [[ 9.97672005e-01 -6.22769213e-02 2.77877024e-02 7.74415516e-01] [ 6.22730444e-02 9.98058644e-01 1.00571695e-03 -3.75843140e-01] [-2.77963895e-02 7.27049183e-04 9.99613341e-01 1.57241728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4899999999999998 meters 0.02078684796464083 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.36, Z:0.01 [[ 9.98496258e-01 -4.81266701e-02 2.62496842e-02 8.04000663e-01] [ 4.81181976e-02 9.98841192e-01 9.54686659e-04 -3.61496961e-01] [-2.62652117e-02 3.09836436e-04 9.99654962e-01 1.41917003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52 meters 0.021471430526598057 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.35, Z:0.01 [[ 9.98690268e-01 -4.52741721e-02 2.38327182e-02 8.32778203e-01] [ 4.52663557e-02 9.98974576e-01 8.67629415e-04 -3.53969603e-01] [-2.38475608e-02 2.12327248e-04 9.99715584e-01 9.24220717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55 meters 0.023507012146371995 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.35, Z:0.01 [[ 9.98635946e-01 -4.68800901e-02 2.29892271e-02 8.62222004e-01] [ 4.68731213e-02 9.98900496e-01 8.42193842e-04 -3.54535723e-01] [-2.30034325e-02 2.36531787e-04 9.99735358e-01 9.28010963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58 meters 0.024142718685061175 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.35, Z:0.01 [[ 9.98720385e-01 -4.56316722e-02 2.18023442e-02 8.91570258e-01] [ 4.56250006e-02 9.98958314e-01 8.03589026e-04 -3.52260609e-01] [-2.18163021e-02 1.92171225e-04 9.99761978e-01 7.77014118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61 meters 0.023099293242371557 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.35, Z:0.01 [[ 9.98971849e-01 -3.95681441e-02 2.21270558e-02 9.19185354e-01] [ 3.95596806e-02 9.99216873e-01 8.20262795e-04 -3.46665909e-01] [-2.21421838e-02 5.59198197e-05 9.99754830e-01 7.19565408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6399999999999997 meters 0.021890560776303077 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.34, Z:0.01 [[ 9.99142710e-01 -3.36001713e-02 2.41841424e-02 9.47533828e-01] [ 3.35882464e-02 9.99435351e-01 8.99244739e-04 -3.41029935e-01] [-2.42007016e-02 -8.61708913e-05 9.99707116e-01 9.23033190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67 meters 0.02513090028508731 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.34, Z:0.01 [[ 9.99270531e-01 -2.95197291e-02 2.42279052e-02 9.75935012e-01] [ 2.95064236e-02 9.99564180e-01 9.06566456e-04 -3.37674568e-01] [-2.42441078e-02 -1.91026311e-04 9.99706050e-01 8.37798592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6999999999999997 meters 0.023675686580150474 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.33, Z:0.01 [[ 9.99420063e-01 -2.41867921e-02 2.39694813e-02 1.00362076e+00] [ 2.41721144e-02 9.99707405e-01 9.01942833e-04 -3.34889019e-01] [-2.39842831e-02 -3.22026719e-04 9.99712284e-01 9.09349939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73 meters 0.024122626235414737 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.34, Z:0.01 [[ 9.99411875e-01 -2.49321255e-02 2.35434227e-02 1.03255850e+00] [ 2.49181152e-02 9.99689101e-01 8.88313050e-04 -3.35935476e-01] [-2.35582506e-02 -3.01132892e-04 9.99722421e-01 7.55179954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76 meters 0.022888504787080828 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.34, Z:0.00 [[ 9.99417135e-01 -2.71158494e-02 2.07393708e-02 1.06112473e+00] [ 2.71053551e-02 9.99632273e-01 7.86997252e-04 -3.37670243e-01] [-2.07530844e-02 -2.24390528e-04 9.99784606e-01 4.07708933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79 meters 0.021890444558666906 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.34, Z:0.00 [[ 9.99260599e-01 -3.30739740e-02 1.96052994e-02 1.08881257e+00] [ 3.30656504e-02 9.99452901e-01 7.48659546e-04 -3.42407679e-01] [-1.96193345e-02 -9.98440123e-05 9.99807517e-01 9.33307293e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82 meters 0.02164013275369083 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.35, Z:0.00 [[ 9.98848808e-01 -4.37637315e-02 1.96416427e-02 1.11708769e+00] [ 4.37574092e-02 9.99041903e-01 7.51747011e-04 -3.52281456e-01] [-1.96557233e-02 1.08585790e-04 9.99806802e-01 2.63643321e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85 meters 0.02321570265947853 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.36, Z:0.00 [[ 9.98558215e-01 -4.90380904e-02 2.18347469e-02 1.14551840e+00] [ 4.90314842e-02 9.98796882e-01 8.38131415e-04 -3.56077102e-01] [-2.18495775e-02 2.33667041e-04 9.99761242e-01 2.08699433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88 meters 0.020728054927000385 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.36, Z:0.00 [[ 9.98247631e-01 -5.37938886e-02 2.46553089e-02 1.17396442e+00] [ 5.37868537e-02 9.98551989e-01 9.48887875e-04 -3.55927366e-01] [-2.46706521e-02 3.78906421e-04 9.99695561e-01 4.67366076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9099999999999997 meters 0.022464360253900695 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.36, Z:0.01 [[ 9.97860542e-01 -5.94720605e-02 2.71553592e-02 1.20330487e+00] [ 5.94655388e-02 9.98229809e-01 1.04836581e-03 -3.55742648e-01] [-2.71696375e-02 5.68685188e-04 9.99630675e-01 5.20979062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94 meters 0.025316801115531824 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.36, Z:0.00 [[ 9.97708543e-01 -6.22637958e-02 2.64741915e-02 1.23106658e+00] [ 6.22585371e-02 9.98059531e-01 1.02365648e-03 -3.57947059e-01] [-2.64865559e-02 6.26933614e-04 9.99648973e-01 3.44689345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9699999999999998 meters 0.023192839509870274 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.35, Z:0.00 [[ 9.97691735e-01 -6.29777554e-02 2.53969391e-02 1.25887940e+00] [ 6.29730681e-02 9.98014741e-01 9.85106226e-04 -3.52579782e-01] [-2.54085594e-02 6.16490836e-04 9.99676960e-01 7.91222238e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0 meters 0.02398718133581084 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.35, Z:-0.00 [[ 9.97881819e-01 -6.08038996e-02 2.31249122e-02 1.28771889e+00] [ 6.07992921e-02 9.98149603e-01 9.02924081e-04 -3.46205571e-01] [-2.31370232e-02 5.04966766e-04 9.99732176e-01 -1.55595057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03 meters 0.02368435498782928 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.34, Z:-0.00 [[ 9.97980834e-01 -5.91883417e-02 2.30433538e-02 1.31532260e+00] [ 5.91832136e-02 9.98246727e-01 9.05060139e-04 -3.42482339e-01] [-2.30565216e-02 4.60547060e-04 9.99734057e-01 -1.71877159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06 meters 0.024179013374538632 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.33, Z:-0.00 [[ 9.98172081e-01 -5.57036340e-02 2.34435755e-02 1.34371784e+00] [ 5.56973054e-02 9.98447273e-01 9.23335503e-04 -3.33088286e-01] [-2.34586072e-02 3.84096263e-04 9.99724735e-01 -2.36932511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09 meters 0.023005325577079072 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.33, Z:-0.00 [[ 9.98380065e-01 -5.16576999e-02 2.38480270e-02 1.37166984e+00] [ 5.16498658e-02 9.98664808e-01 9.44756463e-04 -3.27088539e-01] [-2.38649892e-02 2.88521374e-04 9.99715149e-01 -2.45277146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12 meters 0.022765017402419107 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.32, Z:-0.00 [[ 9.98610532e-01 -4.69107283e-02 2.40081223e-02 1.40001185e+00] [ 4.69013526e-02 9.98899071e-01 9.53771047e-04 -3.16822633e-01] [-2.40264331e-02 1.73567597e-04 9.99711309e-01 -3.98222989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15 meters 0.0236795391462026 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.31, Z:-0.01 [[ 9.98951803e-01 -4.00871135e-02 2.20979098e-02 1.42795449e+00] [ 4.00773884e-02 9.99196189e-01 8.82962176e-04 -3.06504302e-01] [-2.21155426e-02 3.58985511e-06 9.99755421e-01 -5.96939074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1799999999999997 meters 0.02150779257583571 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.30, Z:-0.01 [[ 9.99135193e-01 -3.48251440e-02 2.27172897e-02 1.45671335e+00] [ 3.48133750e-02 9.99393413e-01 9.13461926e-04 -2.97875660e-01] [-2.27353211e-02 -1.21806434e-04 9.99741512e-01 -5.62007900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.21 meters 0.023273288519459076 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.29, Z:-0.01 [[ 9.99215915e-01 -3.28049435e-02 2.21673426e-02 1.48405871e+00] [ 3.27931267e-02 9.99461759e-01 8.96476184e-04 -2.92820418e-01] [-2.21848201e-02 -1.68836796e-04 9.99753872e-01 -6.97133239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2399999999999998 meters 0.020725329394255886 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.29, Z:-0.01 [[ 9.99264774e-01 -3.20730832e-02 2.10054678e-02 1.51154846e+00] [ 3.20622561e-02 9.99485510e-01 8.52103196e-04 -2.89239335e-01] [-2.10219903e-02 -1.77994019e-04 9.99778998e-01 -8.21284525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27 meters 0.02063106220982415 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.29, Z:-0.01 [[ 9.99317378e-01 -3.10887703e-02 1.99565894e-02 1.53910845e+00] [ 3.10786941e-02 9.99516609e-01 8.14924393e-04 -2.86450770e-01] [-1.99722776e-02 -1.94143370e-04 9.99800515e-01 -9.31647513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3 meters 0.019355181709818856 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.28, Z:-0.01 [[ 9.99315898e-01 -3.10585204e-02 2.00774463e-02 1.56706549e+00] [ 3.10482828e-02 9.99517548e-01 8.21496073e-04 -2.84993856e-01] [-2.00932744e-02 -1.97563855e-04 9.99798090e-01 -9.30345352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33 meters 0.02154209121749917 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.28, Z:-0.01 [[ 9.99271109e-01 -3.27180773e-02 1.96667009e-02 1.59508714e+00] [ 3.27084648e-02 9.99464607e-01 8.10322349e-04 -2.83773973e-01] [-1.96826837e-02 -1.66464116e-04 9.99806263e-01 -1.18834911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36 meters 0.019766986900272995 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.29, Z:-0.01 [[ 9.98968035e-01 -4.10154117e-02 1.95090204e-02 1.62475742e+00] [ 4.10075046e-02 9.99158514e-01 8.05349561e-04 -2.92817325e-01] [-1.95256355e-02 -4.50222619e-06 9.99809357e-01 -1.14709629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3899999999999997 meters 0.018812058347749298 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.30, Z:-0.01 [[ 9.98539147e-01 -4.97579588e-02 2.10646156e-02 1.65382931e+00] [ 4.97505660e-02 9.98761290e-01 8.75187019e-04 -3.00870137e-01] [-2.10820702e-02 1.74068047e-04 9.99777733e-01 -9.90889063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42 meters 0.018281109758814713 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.31, Z:-0.01 [[ 9.98020927e-01 -5.86762919e-02 2.26124192e-02 1.68287917e+00] [ 5.86699331e-02 9.98276988e-01 9.45095665e-04 -3.08421125e-01] [-2.26289124e-02 3.83443869e-04 9.99743860e-01 -9.25822027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4499999999999997 meters 0.020446858114601032 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.32, Z:-0.01 [[ 9.97338898e-01 -6.92391791e-02 2.28266917e-02 1.71307578e+00] [ 6.92354362e-02 9.97599891e-01 9.55187373e-04 -3.18634445e-01] [-2.28380415e-02 6.27770436e-04 9.99738981e-01 -1.00769767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48 meters 0.019865607889831702 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.32, Z:-0.01 [[ 9.97130115e-01 -7.21278692e-02 2.30022614e-02 1.74074541e+00] [ 7.21248218e-02 9.97395149e-01 9.63165648e-04 -3.22914279e-01] [-2.30118150e-02 6.98632531e-04 9.99734949e-01 -9.24869590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51 meters 0.022700524955174405 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.32, Z:-0.01 [[ 9.97140055e-01 -7.18259596e-02 2.35104744e-02 1.76946978e+00] [ 7.18226224e-02 9.97416932e-01 9.87415520e-04 -3.23487217e-01] [-2.35206673e-02 7.03992356e-04 9.99723103e-01 -1.15629971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54 meters 0.020552343037926343 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.32, Z:-0.01 [[ 9.97451289e-01 -6.65858724e-02 2.56368493e-02 1.79924549e+00] [ 6.65800279e-02 9.97780501e-01 1.08244771e-03 -3.20122411e-01] [-2.56520240e-02 6.27213279e-04 9.99670736e-01 -1.04686045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57 meters 0.01793179245825652 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.32, Z:-0.01 [[ 9.97799930e-01 -6.03341254e-02 2.74789494e-02 1.82798550e+00] [ 6.03250097e-02 9.98178113e-01 1.16135886e-03 -3.16112166e-01] [-2.74989554e-02 4.98864102e-04 9.99621708e-01 -7.81595952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5999999999999996 meters 0.019379021975152826 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.31, Z:-0.01 [[ 9.98107080e-01 -5.42203795e-02 2.90242488e-02 1.85624665e+00] [ 5.42075753e-02 9.98528933e-01 1.22838535e-03 -3.10183249e-01] [-2.90481557e-02 3.47274032e-04 9.99577953e-01 -8.29486708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63 meters 0.017372919415984203 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.30, Z:-0.01 [[ 9.98596099e-01 -4.46692380e-02 2.84691050e-02 1.88452737e+00] [ 4.46529431e-02 9.99001829e-01 1.20817468e-03 -2.99777162e-01] [-2.84946562e-02 6.47507981e-05 9.99593943e-01 -8.42106386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6599999999999997 meters 0.017971392089907983 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.29, Z:-0.01 [[ 9.98872481e-01 -3.94213815e-02 2.64522533e-02 1.91190148e+00] [ 3.94053090e-02 9.99222672e-01 1.12880094e-03 -2.93251397e-01] [-2.64761901e-02 -8.51689763e-05 9.99649441e-01 -1.20693649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.69 meters 0.019209540831217432 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.29, Z:-0.02 [[ 9.99052392e-01 -3.63029016e-02 2.40086883e-02 1.94014026e+00] [ 3.62886138e-02 9.99340820e-01 1.03067168e-03 -2.88515693e-01] [-2.40302786e-02 -1.58452985e-04 9.99711219e-01 -1.63730041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7199999999999998 meters 0.018289776870206515 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.29, Z:-0.02 [[ 9.99144775e-01 -3.55117508e-02 2.11809817e-02 1.96833098e+00] [ 3.55003418e-02 9.99369246e-01 9.14528396e-04 -2.86366402e-01] [-2.12000982e-02 -1.61814179e-04 9.99775240e-01 -2.03106325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75 meters 0.018218014320071665 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.29, Z:-0.02 [[ 9.99080138e-01 -3.87180137e-02 1.84335015e-02 1.99641368e+00] [ 3.87098281e-02 9.99250173e-01 8.00798687e-04 -2.89790566e-01] [-1.84506849e-02 -8.65043874e-05 9.99829768e-01 -2.35656268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78 meters 0.015279389931093353 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.29, Z:-0.02 [[ 9.98891672e-01 -4.25247471e-02 2.01760847e-02 2.02432241e+00] [ 4.25156774e-02 9.99095414e-01 8.78448221e-04 -2.94354118e-01] [-2.01951895e-02 -1.96747023e-05 9.99796056e-01 -2.11082515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.81 meters 0.016933360068880434 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.30, Z:-0.02 [[ 9.98775488e-01 -4.48764134e-02 2.08238417e-02 2.05208486e+00] [ 4.48672245e-02 9.98992546e-01 9.08500105e-04 -2.96249632e-01] [-2.08436329e-02 2.69203466e-05 9.99782748e-01 -2.25691115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84 meters 0.016710249926952442 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.30, Z:-0.02 [[ 9.98601805e-01 -4.84240408e-02 2.12025136e-02 2.08174106e+00] [ 4.84151857e-02 9.98826863e-01 9.31062965e-04 -3.03087374e-01] [-2.12227259e-02 9.67624738e-05 9.99774768e-01 -2.22860313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8699999999999997 meters 0.017732844787170608 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.30, Z:-0.02 [[ 9.98604026e-01 -4.84621811e-02 2.10099048e-02 2.10879245e+00] [ 4.84533870e-02 9.98825014e-01 9.27722079e-04 -3.03856909e-01] [-2.10301779e-02 9.15740460e-05 9.99778837e-01 -2.31315516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9 meters 0.016064435109645395 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.30, Z:-0.02 [[ 9.98702138e-01 -4.60241280e-02 2.18132610e-02 2.13725745e+00] [ 4.60140016e-02 9.98940328e-01 9.66189432e-04 -3.02395588e-01] [-2.18346141e-02 3.87799728e-05 9.99761596e-01 -2.08696405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9299999999999997 meters 0.013812929260363042 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.30, Z:-0.02 [[ 9.98809093e-01 -4.38761397e-02 2.13373097e-02 2.16414637e+00] [ 4.38658357e-02 9.99036978e-01 9.50941529e-04 -2.96362667e-01] [-2.13584851e-02 -1.38301222e-05 9.99771881e-01 -1.87900694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96 meters 0.015866971715461253 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.29, Z:-0.03 [[ 9.98802214e-01 -4.46879194e-02 1.99280395e-02 2.19149133e+00] [ 4.46790233e-02 9.99000996e-01 8.91640378e-04 -2.90568021e-01] [-1.99479769e-02 -2.07042139e-07 9.99801019e-01 -2.54546410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9899999999999998 meters 0.016697503347865468 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.29, Z:-0.03 [[ 9.98744343e-01 -4.64358915e-02 1.88001429e-02 2.21889024e+00] [ 4.64281876e-02 9.98921272e-01 8.46274610e-04 -2.88008799e-01] [-1.88191601e-02 2.76445791e-05 9.99822904e-01 -2.83747902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02 meters 0.014102429950278507 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.29, Z:-0.02 [[ 9.98695569e-01 -4.71476977e-02 1.96024061e-02 2.24750109e+00] [ 4.71393844e-02 9.98887928e-01 8.86205861e-04 -2.87993969e-01] [-1.96223894e-02 3.89954892e-05 9.99807462e-01 -2.43589299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05 meters 0.014765936253937479 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.29, Z:-0.03 [[ 9.98692318e-01 -4.75834614e-02 1.86940778e-02 2.27565542e+00] [ 4.75758868e-02 9.98867265e-01 8.49965300e-04 -2.87723534e-01] [-1.87133467e-02 4.05335144e-05 9.99824889e-01 -2.55583554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08 meters 0.013729022580866524 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.28, Z:-0.03 [[ 9.98686839e-01 -4.81226499e-02 1.75729272e-02 2.30382457e+00] [ 4.81159627e-02 9.98841433e-01 8.03386692e-04 -2.84654574e-01] [-1.75912289e-02 4.32065945e-05 9.99845261e-01 -2.68516361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109999999999999 meters 0.016862537480039866 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.28, Z:-0.03 [[ 9.98599467e-01 -5.03839418e-02 1.61419333e-02 2.33209592e+00] [ 5.03785195e-02 9.98729920e-01 7.42629925e-04 -2.83646490e-01] [-1.61588484e-02 7.16168550e-05 9.99869435e-01 -3.22727509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14 meters 0.016862537480039866 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.28, Z:-0.03 [[ 9.98585221e-01 -5.06655153e-02 1.61419076e-02 2.35967276e+00] [ 5.06601207e-02 9.98715675e-01 7.43191838e-04 -2.82302656e-01] [-1.61588303e-02 7.56106005e-05 9.99869435e-01 -3.28407566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17 meters 0.01694752569661787 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.28, Z:-0.03 [[ 9.98432311e-01 -5.38174777e-02 1.53818003e-02 2.38829974e+00] [ 5.38128875e-02 9.98550783e-01 7.12459644e-04 -2.83444909e-01] [-1.53978515e-02 1.16396361e-04 9.99881439e-01 -3.32921642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2 meters 0.016114171292559144 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.29, Z:-0.03 [[ 9.98065632e-01 -5.97658583e-02 1.71183268e-02 2.41704561e+00] [ 5.97609563e-02 9.98212398e-01 7.98218807e-04 -2.88536710e-01] [-1.71354323e-02 2.26332822e-04 9.99853152e-01 -2.93431911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2299999999999995 meters 0.015226376409030231 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.29, Z:-0.03 [[ 9.97772119e-01 -6.39154031e-02 1.91211934e-02 2.44615611e+00] [ 6.39100163e-02 9.97955265e-01 8.93281264e-04 -2.90031493e-01] [-1.91391901e-02 3.30744645e-04 9.99816774e-01 -2.64324296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26 meters 0.018739683534826555 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.29, Z:-0.03 [[ 9.97412663e-01 -6.89945396e-02 2.01924109e-02 2.47486661e+00] [ 6.89894637e-02 9.97616937e-01 9.48703745e-04 -2.92282091e-01] [-2.02097465e-02 4.46814472e-04 9.99795662e-01 -2.93575080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29 meters 0.017317364647246744 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.29, Z:-0.03 [[ 9.97179078e-01 -7.17967208e-02 2.18887310e-02 2.50385993e+00] [ 7.17913892e-02 9.97419137e-01 1.03030080e-03 -2.91694703e-01] [-2.19062114e-02 5.44028005e-04 9.99759882e-01 -2.58727121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32 meters 0.01719888978624424 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.29, Z:-0.02 [[ 9.97128411e-01 -7.21755654e-02 2.29264157e-02 2.53158831e+00] [ 7.21696889e-02 9.97391778e-01 1.08470178e-03 -2.91730632e-01] [-2.29449075e-02 5.73005331e-04 9.99736567e-01 -2.34968106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.35 meters 0.01619165479934122 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.29, Z:-0.02 [[ 9.97293770e-01 -6.95269681e-02 2.38984632e-02 2.56080686e+00] [ 6.95197595e-02 9.97579931e-01 1.13333527e-03 -2.86432273e-01] [-2.39194246e-02 5.31147213e-04 9.99713749e-01 -2.35173733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38 meters 0.018563230002407248 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.28, Z:-0.03 [[ 9.97620150e-01 -6.48659271e-02 2.33762115e-02 2.58953095e+00] [ 6.48576384e-02 9.97893906e-01 1.11336883e-03 -2.79762503e-01] [-2.33991987e-02 4.05406696e-04 9.99726119e-01 -2.77565420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41 meters 0.01533964847748688 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.27, Z:-0.03 [[ 9.98001118e-01 -5.84637696e-02 2.39949016e-02 2.61847367e+00] [ 5.84531312e-02 9.98289497e-01 1.14510936e-03 -2.71314093e-01] [-2.40208056e-02 2.59756710e-04 9.99711425e-01 -2.65096067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4399999999999995 meters 0.015898269141101803 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.26, Z:-0.03 [[ 9.98334345e-01 -5.31608949e-02 2.24154852e-02 2.64738289e+00] [ 5.31501646e-02 9.98585953e-01 1.07462004e-03 -2.64050546e-01] [-2.24409164e-02 1.18556636e-04 9.99748164e-01 -2.92875705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.47 meters 0.013586437649241443 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.26, Z:-0.03 [[ 9.98695384e-01 -4.61167110e-02 2.19266563e-02 2.67640337e+00] [ 4.61046280e-02 9.98936058e-01 1.05653660e-03 -2.56281349e-01] [-2.19520515e-02 -4.42378999e-05 9.99759024e-01 -2.71964130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5 meters 0.014202799970815949 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.25, Z:-0.03 [[ 9.99021327e-01 -3.91140985e-02 2.06512956e-02 2.70366188e+00] [ 3.91017831e-02 9.99234733e-01 9.99960047e-04 -2.46721034e-01] [-2.06746044e-02 -1.91478931e-04 9.99786239e-01 -2.88387701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53 meters 0.01580765019766113 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.24, Z:-0.03 [[ 9.99238071e-01 -3.41962086e-02 1.88121219e-02 2.73220080e+00] [ 3.41850791e-02 9.99415102e-01 9.12964943e-04 -2.38987653e-01] [-1.88323386e-02 -2.69175455e-04 9.99822620e-01 -3.33478412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56 meters 0.015438082290856593 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.23, Z:-0.04 [[ 9.99391538e-01 -3.07590592e-02 1.64448731e-02 2.76033542e+00] [ 3.07500214e-02 9.99526784e-01 8.02221074e-04 -2.33035503e-01] [-1.64617667e-02 -2.96052754e-04 9.99864452e-01 -3.54015078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59 meters 0.015610477873284167 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.23, Z:-0.04 [[ 9.99419735e-01 -3.06172097e-02 1.49258260e-02 2.78923879e+00] [ 3.06097448e-02 9.99531147e-01 7.28386395e-04 -2.30720420e-01] [-1.49411291e-02 -2.71088014e-04 9.99888338e-01 -3.78811359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62 meters 0.015048440105950744 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.23, Z:-0.04 [[ 9.99333237e-01 -3.35870577e-02 1.43174887e-02 2.81826292e+00] [ 3.35804456e-02 9.99435771e-01 7.02043991e-04 -2.31691617e-01] [-1.43329899e-02 -2.20788245e-04 9.99897253e-01 -3.87894416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6499999999999995 meters 0.014495534982233762 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.23, Z:-0.04 [[ 9.99192324e-01 -3.73453706e-02 1.48332017e-02 2.84746604e+00] [ 3.73386299e-02 9.99302403e-01 7.31216302e-04 -2.32873990e-01] [-1.48501617e-02 -1.76774286e-04 9.99889715e-01 -3.91916005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68 meters 0.017421229230907918 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.24, Z:-0.04 [[ 9.98979922e-01 -4.27998935e-02 1.43973938e-02 2.87689370e+00] [ 4.27940600e-02 9.99083660e-01 7.13146394e-04 -2.36540699e-01] [-1.44147235e-02 -9.62959931e-05 9.99896098e-01 -4.24072977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71 meters 0.01547175241173361 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.24, Z:-0.04 [[ 9.98778938e-01 -4.70347577e-02 1.51117180e-02 2.90615964e+00] [ 4.70287558e-02 9.98893253e-01 7.52481277e-04 -2.40421359e-01] [-1.51303859e-02 -4.08771560e-05 9.99885528e-01 -4.07067853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74 meters 0.013455665803365841 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.24, Z:-0.04 [[ 9.98623149e-01 -5.03030886e-02 1.48797319e-02 2.93475838e+00] [ 5.02975824e-02 9.98733998e-01 7.44276267e-04 -2.43969749e-01] [-1.48983335e-02 5.16303261e-06 9.99889014e-01 -3.90295952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.77 meters 0.014810811095882441 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.25, Z:-0.04 [[ 9.98467240e-01 -5.35487900e-02 1.39892140e-02 2.96323567e+00] [ 5.35441722e-02 9.98565233e-01 7.04694944e-04 -2.47382775e-01] [-1.40068783e-02 4.54260695e-05 9.99901898e-01 -4.16136408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8 meters 0.01360567516682838 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.25, Z:-0.04 [[ 9.98396275e-01 -5.45414931e-02 1.51691548e-02 2.99129654e+00] [ 5.45361712e-02 9.98511503e-01 7.64586535e-04 -2.48070162e-01] [-1.51882772e-02 6.39072709e-05 9.99884649e-01 -4.05870111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83 meters 0.0165501212642093 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.25, Z:-0.04 [[ 9.98385642e-01 -5.49272309e-02 1.44606133e-02 3.01948352e+00] [ 5.49223624e-02 9.98490358e-01 7.33882703e-04 -2.48409056e-01] [-1.44790930e-02 6.15130876e-05 9.99895171e-01 -4.40001205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859999999999999 meters 0.013662507428899746 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.25, Z:-0.04 [[ 9.98421736e-01 -5.41013443e-02 1.50691955e-02 3.04793603e+00] [ 5.40959579e-02 9.98535449e-01 7.65127098e-04 -2.48040597e-01] [-1.50885203e-02 5.12630399e-05 9.99886160e-01 -4.07112368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.89 meters 0.0136430304684817 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.25, Z:-0.04 [[ 9.98414170e-01 -5.43374749e-02 1.47167891e-02 3.07508987e+00] [ 5.43322918e-02 9.98522627e-01 7.52081678e-04 -2.48274143e-01] [-1.47359132e-02 4.87078763e-05 9.99891419e-01 -4.08565948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92 meters 0.015096679684524479 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.25, Z:-0.04 [[ 9.98338875e-01 -5.55736926e-02 1.52005253e-02 3.10350519e+00] [ 5.55682911e-02 9.98454586e-01 7.77803737e-04 -2.47015243e-01] [-1.52202596e-02 6.81555081e-05 9.99884163e-01 -4.09864174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95 meters 0.01550201379492427 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.25, Z:-0.04 [[ 9.98124782e-01 -5.86326236e-02 1.75822312e-02 3.13127185e+00] [ 5.86257556e-02 9.98279620e-01 9.06235396e-04 -2.47227101e-01] [-1.76051181e-02 1.26235584e-04 9.99845010e-01 -3.97456772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9799999999999995 meters 0.0161784807158438 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.25, Z:-0.04 [[ 9.97992008e-01 -6.06942315e-02 1.81152716e-02 3.16059801e+00] [ 6.06872573e-02 9.98156392e-01 9.34977580e-04 -2.46605898e-01] [-1.81386219e-02 1.66265998e-04 9.99835468e-01 -4.05051408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.01 meters 0.017533286286317475 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.25, Z:-0.04 [[ 9.97623976e-01 -6.60836124e-02 1.94771534e-02 3.18928946e+00] [ 6.60764744e-02 9.97814050e-01 1.01050890e-03 -2.48052687e-01] [-1.95013554e-02 2.78873725e-04 9.99809792e-01 -4.07892947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04 meters 0.01582235677325003 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.25, Z:-0.04 [[ 9.97273392e-01 -7.06615078e-02 2.12775192e-02 3.21791134e+00] [ 7.06539107e-02 9.97500273e-01 1.10952922e-03 -2.49117011e-01] [-2.13027323e-02 3.96835980e-04 9.99772992e-01 -3.83741537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069999999999999 meters 0.019550897648040768 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.25, Z:-0.04 [[ 9.96976024e-01 -7.50776049e-02 2.00539276e-02 3.24623366e+00] [ 7.50717157e-02 9.97177587e-01 1.04738869e-03 -2.50648145e-01] [-2.00759626e-02 4.61261334e-04 9.99798351e-01 -4.15693186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1 meters 0.01884391736271739 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.25, Z:-0.04 [[ 9.96798277e-01 -7.74857355e-02 1.97270360e-02 3.27530525e+00] [ 7.74804829e-02 9.96993335e-01 1.03158373e-03 -2.47644769e-01] [-1.97476564e-02 5.00179390e-04 9.99804871e-01 -4.17054573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13 meters 0.019055828087026175 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.24, Z:-0.04 [[ 9.96871649e-01 -7.68123983e-02 1.86218010e-02 3.30365636e+00] [ 7.68075216e-02 9.97045459e-01 9.78005099e-04 -2.41923741e-01] [-1.86419051e-02 4.55348829e-04 9.99826121e-01 -4.41679359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16 meters 0.01588985790746633 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.24, Z:-0.04 [[ 9.97135509e-01 -7.32529056e-02 1.88358366e-02 3.33224514e+00] [ 7.32471883e-02 9.97313321e-01 9.94177328e-04 -2.35103488e-01] [-1.88580571e-02 3.88342553e-04 9.99822096e-01 -4.32552488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1899999999999995 meters 0.016666495314046122 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.23, Z:-0.05 [[ 9.97452694e-01 -6.91876997e-02 1.73546830e-02 3.35948467e+00] [ 6.91822128e-02 9.97603619e-01 9.17047835e-04 -2.29393003e-01] [-1.73765430e-02 2.85923541e-04 9.99848976e-01 -4.58296894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22 meters 0.016849865289925825 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.22, Z:-0.05 [[ 9.97849851e-01 -6.35187287e-02 1.61569050e-02 3.38706203e+00] [ 6.35132088e-02 9.97980632e-01 8.55052896e-04 -2.20037037e-01] [-1.61785901e-02 1.72962476e-04 9.99869103e-01 -4.83363267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25 meters 0.01672816300884896 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.21, Z:-0.05 [[ 9.98276389e-01 -5.66975905e-02 1.51536660e-02 3.41560642e+00] [ 5.66919437e-02 9.98391396e-01 8.02295448e-04 -2.09015426e-01] [-1.51747780e-02 5.81781753e-05 9.99884855e-01 -5.08047461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279999999999999 meters 0.014410597501959952 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.20, Z:-0.05 [[ 9.98653073e-01 -4.93509427e-02 1.60163438e-02 3.44285842e+00] [ 4.93436282e-02 9.98781498e-01 8.51784006e-04 -1.98860350e-01] [-1.60388642e-02 -6.03322006e-05 9.99871367e-01 -4.92471369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.31 meters 0.014172894431977728 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.19, Z:-0.05 [[ 9.98876433e-01 -4.46538668e-02 1.58714799e-02 3.47001544e+00] [ 4.46460102e-02 9.99002509e-01 8.49165071e-04 -1.92013802e-01] [-1.58935667e-02 -1.39612723e-04 9.99873680e-01 -4.95044986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34 meters 0.016789729668000644 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.19, Z:-0.05 [[ 9.99011674e-01 -4.18883168e-02 1.48675616e-02 3.49882606e+00] [ 4.18810996e-02 9.99122284e-01 7.96591545e-04 -1.86360348e-01] [-1.48878800e-02 -1.73134424e-04 9.99889154e-01 -5.20541714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37 meters 0.018225424805418746 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.18, Z:-0.05 [[ 9.99045044e-01 -4.11661675e-02 1.46405625e-02 3.52735153e+00] [ 4.11590417e-02 9.99152297e-01 7.87826020e-04 -1.83152118e-01] [-1.46605834e-02 -1.84482158e-04 9.99892511e-01 -5.40439365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3999999999999995 meters 0.016112641709284933 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.18, Z:-0.05 [[ 9.99019521e-01 -4.13598726e-02 1.57910611e-02 3.55565059e+00] [ 4.13515433e-02 9.99144294e-01 8.53763753e-04 -1.81276338e-01] [-1.58128602e-02 -1.99941909e-04 9.99874949e-01 -5.36527533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.43 meters 0.015030841282630956 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.18, Z:-0.05 [[ 9.98975899e-01 -4.22393930e-02 1.62168961e-02 3.58341608e+00] [ 4.22306339e-02 9.99107499e-01 8.82343230e-04 -1.79055328e-01] [-1.62396922e-02 -1.96589818e-04 9.99868108e-01 -5.43269888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46 meters 0.0167273499303066 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.18, Z:-0.06 [[ 9.98926234e-01 -4.40639688e-02 1.43089223e-02 3.61181534e+00] [ 4.40573393e-02 9.99028701e-01 7.78353984e-04 -1.80181160e-01] [-1.43293214e-02 -1.47105169e-04 9.99897319e-01 -5.71421167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49 meters 0.014216191705343204 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.18, Z:-0.06 [[ 9.98857913e-01 -4.55556861e-02 1.44065895e-02 3.64132189e+00] [ 4.55490573e-02 9.98961792e-01 7.88078412e-04 -1.80991826e-01] [-1.44275339e-02 -1.30971790e-04 9.99895909e-01 -5.65248238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52 meters 0.014129340821933168 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.18, Z:-0.06 [[ 9.98800860e-01 -4.70987542e-02 1.33622188e-02 3.66957586e+00] [ 4.70931586e-02 9.98890233e-01 7.33280335e-04 -1.81744523e-01] [-1.33819265e-02 -1.03131939e-04 9.99910453e-01 -5.78870318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.55 meters 0.013955950875251156 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.18, Z:-0.06 [[ 9.98736268e-01 -4.83076370e-02 1.38650222e-02 3.69813723e+00] [ 4.83016720e-02 9.98832500e-01 7.64957889e-04 -1.82135723e-01] [-1.38857881e-02 -9.42874338e-05 9.99903583e-01 -5.82168157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58 meters 0.016828552154946844 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.18, Z:-0.06 [[ 9.98710307e-01 -4.91657429e-02 1.26669955e-02 3.72662223e+00] [ 4.91607946e-02 9.98790631e-01 7.01909493e-04 -1.81230221e-01] [-1.26861864e-02 -7.82846796e-05 9.99919524e-01 -6.10446069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609999999999999 meters 0.015324780511074576 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.18, Z:-0.06 [[ 9.98731247e-01 -4.85816002e-02 1.32560858e-02 3.75495772e+00] [ 4.85760776e-02 9.98819213e-01 7.38466316e-04 -1.80659219e-01] [-1.32763091e-02 -9.36007328e-05 9.99911862e-01 -6.05549509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64 meters 0.014170410051940282 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.18, Z:-0.06 [[ 9.98763471e-01 -4.75183769e-02 1.46127702e-02 3.78201767e+00] [ 4.75114690e-02 9.98870356e-01 8.19718261e-04 -1.79209003e-01] [-1.46352146e-02 -1.24430479e-04 9.99892892e-01 -5.94463852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67 meters 0.014164280134344787 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.18, Z:-0.06 [[ 9.98762815e-01 -4.74217225e-02 1.49672723e-02 3.80983145e+00] [ 4.74144494e-02 9.98874949e-01 8.40610289e-04 -1.77910882e-01] [-1.49902966e-02 -1.29905322e-04 9.99887631e-01 -5.93676552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7 meters 0.017550425024669178 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.18, Z:-0.06 [[ 9.98731604e-01 -4.79906820e-02 1.52341081e-02 3.83827193e+00] [ 4.79831471e-02 9.98847775e-01 8.59945203e-04 -1.77078885e-01] [-1.52578243e-02 -1.27874004e-04 9.99883584e-01 -6.07608020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7299999999999995 meters 0.014725919909963407 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.18, Z:-0.06 [[ 9.98643105e-01 -4.87277798e-02 1.83725743e-02 3.86716393e+00] [ 4.87168250e-02 9.98812085e-01 1.04362011e-03 -1.75914534e-01] [-1.84016025e-02 -1.47150537e-04 9.99830665e-01 -5.77481076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76 meters 0.01628946336797867 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.18, Z:-0.06 [[ 9.98554546e-01 -5.06394265e-02 1.80129778e-02 3.89535714e+00] [ 5.06291201e-02 9.98716995e-01 1.02802705e-03 -1.75189893e-01] [-1.80419257e-02 -1.14559872e-04 9.99837225e-01 -5.92081252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79 meters 0.013858256405656647 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.17, Z:-0.06 [[ 9.98477204e-01 -5.16706929e-02 1.93238786e-02 3.92320182e+00] [ 5.16589935e-02 9.98664172e-01 1.10445445e-03 -1.74156072e-01] [-1.93551331e-02 -1.04520477e-04 9.99812666e-01 -5.78371361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819999999999999 meters 0.01497766650937655 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.18, Z:-0.06 [[ 9.98306103e-01 -5.53127581e-02 1.80394748e-02 3.95072720e+00] [ 5.53030650e-02 9.98469077e-01 1.03612353e-03 -1.75453916e-01] [-1.80691686e-02 -3.67301968e-05 9.99836739e-01 -6.03547264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.85 meters 0.014559662685412143 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.18, Z:-0.06 [[ 9.98035367e-01 -6.01169898e-02 1.76452189e-02 3.97873073e+00] [ 6.01084341e-02 9.98191337e-01 1.01530777e-03 -1.76382347e-01] [-1.76743419e-02 4.73134142e-05 9.99843795e-01 -6.18301670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88 meters 0.016760685494822066 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.18, Z:-0.06 [[ 9.97739571e-01 -6.50916874e-02 1.66979368e-02 4.00662405e+00] [ 6.50846375e-02 9.97879280e-01 9.65860992e-04 -1.78329912e-01] [-1.67253947e-02 1.23101430e-04 9.99860113e-01 -6.43771671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91 meters 0.015858533422684284 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.18, Z:-0.06 [[ 9.97447577e-01 -6.92986547e-02 1.72054804e-02 4.03561840e+00] [ 6.92917778e-02 9.97595939e-01 9.96233102e-04 -1.79813743e-01] [-1.72331550e-02 1.98508035e-04 9.99851478e-01 -6.42663203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9399999999999995 meters 0.016871153706852625 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.18, Z:-0.07 [[ 9.97227312e-01 -7.24218851e-02 1.71102063e-02 4.06354133e+00] [ 7.24154655e-02 9.97374057e-01 9.95279407e-04 -1.81214355e-01] [-1.71373559e-02 2.46523746e-04 9.99853114e-01 -6.50780698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.97 meters 0.018933974612386863 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.18, Z:-0.07 [[ 9.97032893e-01 -7.53941861e-02 1.55282609e-02 4.09230024e+00] [ 7.53892529e-02 9.97153771e-01 9.03653989e-04 -1.80884148e-01] [-1.55521942e-02 2.69691236e-04 9.99879021e-01 -6.78980866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0 meters 0.01791134399591675 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.18, Z:-0.07 [[ 9.96943431e-01 -7.64929044e-02 1.58943518e-02 4.12073314e+00] [ 7.64878146e-02 9.97070084e-01 9.28770854e-04 -1.79320647e-01] [-1.59188270e-02 2.89792231e-04 9.99873245e-01 -6.81731213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029999999999999 meters 0.01791134399591675 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.18, Z:-0.07 [[ 9.96923196e-01 -7.67562207e-02 1.58941454e-02 4.14828336e+00] [ 7.67511083e-02 9.97049847e-01 9.32287241e-04 -1.77609851e-01] [-1.59188141e-02 2.90474501e-04 9.99873245e-01 -6.87396629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06 meters 0.017624320906133015 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.18, Z:-0.07 [[ 9.96844235e-01 -7.78415651e-02 1.55647442e-02 4.17616412e+00] [ 7.78367179e-02 9.96965698e-01 9.17892467e-04 -1.76604065e-01] [-1.55889663e-02 2.96512792e-04 9.99878441e-01 -6.93258651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09 meters 0.01715099051102898 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.18, Z:-0.07 [[ 9.96876151e-01 -7.74889147e-02 1.52776974e-02 4.20398421e+00] [ 7.74841844e-02 9.96993173e-01 9.02191605e-04 -1.75079416e-01] [-1.53016699e-02 2.84406631e-04 9.99882882e-01 -6.88742939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12 meters 0.017749592301886517 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.17, Z:-0.07 [[ 9.96909678e-01 -7.69749636e-02 1.56827688e-02 4.23278057e+00] [ 7.69699075e-02 9.97032986e-01 9.26627247e-04 -1.69302578e-01] [-1.57075649e-02 2.83337591e-04 9.99876588e-01 -6.91544940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1499999999999995 meters 0.017294207716411755 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.17, Z:-0.07 [[ 9.97023287e-01 -7.53051001e-02 1.65441042e-02 4.26080773e+00] [ 7.52991638e-02 9.97160504e-01 9.82335623e-04 -1.66294222e-01] [-1.65711021e-02 2.66345717e-04 9.99862654e-01 -6.99313091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18 meters 0.015636695028975977 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.16, Z:-0.07 [[ 9.97111597e-01 -7.39893470e-02 1.71475760e-02 4.28994968e+00] [ 7.39827356e-02 9.97259000e-01 1.02046801e-03 -1.61035510e-01] [-1.71760782e-02 2.51104092e-04 9.99852449e-01 -6.98048649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21 meters 0.018762845730588482 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.16, Z:-0.07 [[ 9.97218346e-01 -7.25466075e-02 1.71044045e-02 4.31835669e+00] [ 7.25397851e-02 9.97364998e-01 1.01976797e-03 -1.56303003e-01] [-1.71333151e-02 2.23818504e-04 9.99853189e-01 -7.26848549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24 meters 0.014198515504016906 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.15, Z:-0.07 [[ 9.97405468e-01 -6.94729622e-02 1.88637447e-02 4.34672036e+00] [ 6.94640165e-02 9.97583818e-01 1.12983675e-03 -1.51607948e-01] [-1.88966596e-02 1.83446119e-04 9.99821425e-01 -7.04653334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.27 meters 0.014652717207870355 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.15, Z:-0.07 [[ 9.97569241e-01 -6.73640386e-02 1.78239964e-02 4.37412103e+00] [ 6.73556344e-02 9.97728455e-01 1.07209604e-03 -1.47834512e-01] [-1.78557291e-02 1.31056546e-04 9.99840565e-01 -7.18493994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3 meters 0.015669822294722264 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.14, Z:-0.07 [[ 9.97763221e-01 -6.48555309e-02 1.61961485e-02 4.40160121e+00] [ 6.48482549e-02 9.97894661e-01 9.74574935e-04 -1.43286934e-01] [-1.62252567e-02 7.78969414e-05 9.99868359e-01 -7.39896099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33 meters 0.015270904994985356 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.14, Z:-0.08 [[ 9.97928798e-01 -6.24307857e-02 1.55084397e-02 4.42802922e+00] [ 6.24237451e-02 9.98049295e-01 9.38121820e-04 -1.39232172e-01] [-1.55367549e-02 3.19161034e-05 9.99879297e-01 -7.55290009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359999999999999 meters 0.01663855459940465 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.14, Z:-0.08 [[ 9.97955397e-01 -6.20676522e-02 1.52522602e-02 4.45499534e+00] [ 6.20607719e-02 9.98071944e-01 9.24456778e-04 -1.36915675e-01] [-1.52802318e-02 2.40004074e-05 9.99883250e-01 -7.73833692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.39 meters 0.017240575235486912 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.13, Z:-0.08 [[ 9.97999625e-01 -6.15547049e-02 1.44141456e-02 4.48232174e+00] [ 6.15484801e-02 9.98103711e-01 8.75481933e-04 -1.34575634e-01] [-1.44407022e-02 1.34381140e-05 9.99895728e-01 -7.98956800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42 meters 0.014905900875704958 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.13, Z:-0.08 [[ 9.97965807e-01 -6.20606030e-02 1.45852314e-02 4.51087441e+00] [ 6.20542815e-02 9.98072383e-01 8.86013701e-04 -1.34011539e-01] [-1.46121032e-02 2.08646746e-05 9.99893237e-01 -7.89674551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45 meters 0.013744088720206644 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.13, Z:-0.08 [[ 9.97942216e-01 -6.22995892e-02 1.51688487e-02 4.53821788e+00] [ 6.22927057e-02 9.98057494e-01 9.26314606e-04 -1.34144127e-01] [-1.51970921e-02 2.05001736e-05 9.99884517e-01 -7.71920333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4799999999999995 meters 0.017053888381412027 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.13, Z:-0.08 [[ 9.97849405e-01 -6.39397714e-02 1.44315658e-02 4.56633857e+00] [ 6.39336840e-02 9.97953758e-01 8.83245378e-04 -1.34531273e-01] [-1.44585098e-02 4.13172908e-05 9.99895469e-01 -7.89863034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.51 meters 0.017246597689761008 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.13, Z:-0.08 [[ 9.97848340e-01 -6.39852090e-02 1.43032703e-02 4.59298026e+00] [ 6.39791645e-02 9.97950846e-01 8.80244047e-04 -1.33696423e-01] [-1.43302833e-02 3.67612243e-05 9.99897316e-01 -7.97779034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54 meters 0.014619940273292638 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.13, Z:-0.08 [[ 9.97887338e-01 -6.32618733e-02 1.47917527e-02 4.62071262e+00] [ 6.32553150e-02 9.97996961e-01 9.11278200e-04 -1.31509732e-01] [-1.48197734e-02 2.63039999e-05 9.99890181e-01 -7.90009665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569999999999999 meters 0.01648863615181905 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.13, Z:-0.08 [[ 9.97899655e-01 -6.31985949e-02 1.42202839e-02 4.64917289e+00] [ 6.31924755e-02 9.98000971e-01 8.79698623e-04 -1.30050124e-01] [-1.42474529e-02 2.07639909e-05 9.99898500e-01 -8.12750793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6 meters 0.014230655995286879 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.13, Z:-0.08 [[ 9.97939236e-01 -6.25734826e-02 1.42070833e-02 4.67707097e+00] [ 6.25672577e-02 9.98040360e-01 8.82642374e-04 -1.29419570e-01] [-1.42344726e-02 8.07478866e-06 9.99898685e-01 -7.91642982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63 meters 0.013891926730014572 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.13, Z:-0.08 [[ 9.97931242e-01 -6.28543566e-02 1.35116914e-02 4.70505721e+00] [ 6.28487043e-02 9.98022710e-01 8.42951938e-04 -1.28841620e-01] [-1.35379581e-02 7.98422247e-06 9.99908358e-01 -7.94282466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66 meters 0.01705863355476087 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.13, Z:-0.08 [[ 9.97853525e-01 -6.42068642e-02 1.28771610e-02 4.73274531e+00] [ 6.42017805e-02 9.97936610e-01 8.08210580e-04 -1.29034606e-01] [-1.29024831e-02 2.02608893e-05 9.99916759e-01 -8.24779054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6899999999999995 meters 0.013920101155107122 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.13, Z:-0.08 [[ 9.97915679e-01 -6.29734800e-02 1.40938884e-02 4.76135070e+00] [ 6.29672629e-02 9.98015201e-01 8.84878229e-04 -1.27429746e-01] [-1.41216387e-02 4.41971751e-06 9.99900285e-01 -8.02987558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72 meters 0.01711107704495607 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.13, Z:-0.08 [[ 9.97863905e-01 -6.38972037e-02 1.35931543e-02 4.78916566e+00] [ 6.38914444e-02 9.97956486e-01 8.57977456e-04 -1.26833367e-01] [-1.36201989e-02 1.23415288e-05 9.99907241e-01 -8.35170054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75 meters 0.01638083351955277 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.13, Z:-0.08 [[ 9.97867902e-01 -6.38274986e-02 1.36271897e-02 4.81751122e+00] [ 6.38217057e-02 9.97960946e-01 8.59994147e-04 -1.26532434e-01] [-1.36542944e-02 1.15499376e-05 9.99906776e-01 -8.37498860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779999999999999 meters 0.015668945665371827 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.13, Z:-0.08 [[ 9.97902753e-01 -6.32658344e-02 1.36941704e-02 4.84592994e+00] [ 6.32598799e-02 9.97996711e-01 8.67980397e-04 -1.26463577e-01] [-1.37216505e-02 1.31548508e-07 9.99905854e-01 -8.32067018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.81 meters 0.017450149352505013 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.13, Z:-0.08 [[ 9.97906828e-01 -6.32012747e-02 1.36953174e-02 4.87404922e+00] [ 6.31952612e-02 9.98000801e-01 8.71839781e-04 -1.26287122e-01] [-1.37230391e-02 -4.53571386e-06 9.99905835e-01 -8.43347902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84 meters 0.015480354374145001 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.13, Z:-0.08 [[ 9.97990010e-01 -6.14169386e-02 1.56172730e-02 4.90215249e+00] [ 6.14088210e-02 9.98112197e-01 9.99251466e-04 -1.25046503e-01] [-1.56491616e-02 -3.82046609e-05 9.99877544e-01 -8.19353824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87 meters 0.01763338903659982 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.12, Z:-0.08 [[ 9.98109510e-01 -5.95338369e-02 1.52685646e-02 4.93031040e+00] [ 5.95257780e-02 9.98226286e-01 9.82134226e-04 -1.23075282e-01] [-1.52999527e-02 -7.14043262e-05 9.99882946e-01 -8.42869052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8999999999999995 meters 0.018301101519127245 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.12, Z:-0.09 [[ 9.98181451e-01 -5.84226428e-02 1.48521335e-02 4.95954263e+00] [ 5.84148886e-02 9.98291935e-01 9.55743441e-04 -1.20701828e-01] [-1.48826021e-02 -8.64196521e-05 9.99889244e-01 -8.58900107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.93 meters 0.014990304268247451 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.12, Z:-0.08 [[ 9.98401458e-01 -5.45093430e-02 1.49418913e-02 4.98852308e+00] [ 5.45010034e-02 9.98513249e-01 9.65067349e-04 -1.16965055e-01] [-1.49722816e-02 -1.49176581e-04 9.99887898e-01 -8.46905729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96 meters 0.015895548217269292 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.12, Z:-0.09 [[ 9.98482568e-01 -5.32891801e-02 1.38861439e-02 5.01671589e+00] [ 5.32818033e-02 9.98579109e-01 9.00913598e-04 -1.15957838e-01] [-1.39144222e-02 -1.59667735e-04 9.99903177e-01 -8.72713005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989999999999999 meters 0.01589478853607892 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.12, Z:-0.09 [[ 9.98534025e-01 -5.25188738e-02 1.30984614e-02 5.04564634e+00] [ 5.25122463e-02 9.98619919e-01 8.49626724e-04 -1.16936719e-01] [-1.31250059e-02 -1.60551558e-04 9.99913851e-01 -8.70362727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02 meters 0.016563625977005676 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.12, Z:-0.09 [[ 9.98533312e-01 -5.25847267e-02 1.28868780e-02 5.07305245e+00] [ 5.25782646e-02 9.98616453e-01 8.39965948e-04 -1.15620600e-01] [-1.29132178e-02 -1.61164298e-04 9.99916608e-01 -8.90706587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05 meters 0.015409758773163374 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.11, Z:-0.09 [[ 9.98575501e-01 -5.17832747e-02 1.28631537e-02 5.10226282e+00] [ 5.17767627e-02 9.98658331e-01 8.38982033e-04 -1.14637895e-01] [-1.28893409e-02 -1.71774447e-04 9.99916914e-01 -8.82248107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08 meters 0.01688789211820768 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.11, Z:-0.09 [[ 9.98548869e-01 -5.25382676e-02 1.18273624e-02 5.12937604e+00] [ 5.25327790e-02 9.98618900e-01 7.74471433e-04 -1.12686374e-01] [-1.18517170e-02 -1.52023360e-04 9.99929754e-01 -9.26986048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109999999999999 meters 0.015773832962064024 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.11, Z:-0.09 [[ 9.98598786e-01 -5.15540191e-02 1.19435101e-02 5.15722545e+00] [ 5.15483117e-02 9.98670193e-01 7.85423423e-04 -1.09458240e-01] [-1.19681193e-02 -1.68655096e-04 9.99928365e-01 -9.15739137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14 meters 0.017292282300674783 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.11, Z:-0.09 [[ 9.98572245e-01 -5.18924250e-02 1.26746594e-02 5.18528007e+00] [ 5.18860134e-02 9.98652665e-01 8.34387324e-04 -1.05655766e-01] [-1.27008808e-02 -1.75558475e-04 9.99919325e-01 -9.34307552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17 meters 0.016081297587558312 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.10, Z:-0.09 [[ 9.98643454e-01 -5.03200683e-02 1.33844494e-02 5.21358339e+00] [ 5.03127477e-02 9.98733121e-01 8.83320528e-04 -1.02558198e-01] [-1.34119416e-02 -2.08713838e-04 9.99910034e-01 -9.10967403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199999999999999 meters 0.01617277623576766 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.10, Z:-0.09 [[ 9.98650664e-01 -5.02008047e-02 1.32940320e-02 5.24199460e+00] [ 5.01935756e-02 9.98739123e-01 8.77095536e-04 -9.96091462e-02] [-1.33213007e-02 -2.08637041e-04 9.99911246e-01 -9.21207494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2299999999999995 meters 0.017923882196068174 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.10, Z:-0.10 [[ 9.98597795e-01 -5.13906075e-02 1.27062726e-02 5.26989849e+00] [ 5.13840379e-02 9.98678612e-01 8.43178534e-04 -9.79960422e-02] [-1.27328141e-02 -1.89096633e-04 9.99918917e-01 -9.56117053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26 meters 0.017480757971563596 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.10, Z:-0.10 [[ 9.98539496e-01 -5.26449617e-02 1.21401217e-02 5.29824073e+00] [ 5.26390654e-02 9.98613279e-01 8.04932994e-04 -9.73388669e-02] [-1.21656624e-02 -1.64712723e-04 9.99925982e-01 -9.70123815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29 meters 0.018039068146533343 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.10, Z:-0.10 [[ 9.98426440e-01 -5.49133432e-02 1.13652621e-02 5.32620311e+00] [ 5.49082695e-02 9.98491115e-01 7.58217093e-04 -9.73330052e-02] [-1.13897495e-02 -1.32977119e-04 9.99935126e-01 -9.89430922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319999999999999 meters 0.01784038278341195 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.10, Z:-0.10 [[ 9.98353546e-01 -5.62948352e-02 1.10040352e-02 5.35433634e+00] [ 5.62901729e-02 9.98414182e-01 7.33193347e-04 -9.63831091e-02] [-1.10278598e-02 -1.12567132e-04 9.99939185e-01 -9.98552057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.35 meters 0.017558298301698545 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.10, Z:-0.10 [[ 9.98189608e-01 -5.92726001e-02 1.02110697e-02 5.38369762e+00] [ 5.92687123e-02 9.98241831e-01 6.83197667e-04 -9.68505252e-02] [-1.02336118e-02 -7.67638583e-05 9.99947632e-01 -1.00955290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38 meters 0.01724780927244951 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.10, Z:-0.10 [[ 9.98000845e-01 -6.23415217e-02 1.03849996e-02 5.41156569e+00] [ 6.23376227e-02 9.98054874e-01 6.99037795e-04 -9.68947437e-02] [-1.04083785e-02 -5.02641243e-05 9.99945830e-01 -1.02442589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41 meters 0.014576916107757368 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.10, Z:-0.10 [[ 9.97806742e-01 -6.52110552e-02 1.13676670e-02 5.44054501e+00] [ 6.52065723e-02 9.97871494e-01 7.64947705e-04 -9.70744642e-02] [-1.13933539e-02 -2.20233800e-05 9.99935093e-01 -9.94530700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4399999999999995 meters 0.017066787604279317 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.10, Z:-0.10 [[ 9.97445287e-01 -7.04636060e-02 1.17379280e-02 5.46865777e+00] [ 7.04591589e-02 9.97514350e-01 7.92482730e-04 -9.98410856e-02] [-1.17645928e-02 3.65863688e-05 9.99930794e-01 -1.01329281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.47 meters 0.0162356380013727 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.10, Z:-0.10 [[ 9.97259589e-01 -7.29486717e-02 1.23208353e-02 5.49660052e+00] [ 7.29439170e-02 9.97335694e-01 8.35447929e-04 -9.98813752e-02] [-1.23489537e-02 6.55715323e-05 9.99923747e-01 -1.00341207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5 meters 0.01784366467891024 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.10, Z:-0.10 [[ 9.96837565e-01 -7.82875911e-02 1.36353549e-02 5.52501889e+00] [ 7.82821900e-02 9.96930807e-01 9.30206260e-04 -1.02704060e-01] [-1.36663290e-02 1.40140904e-04 9.99906602e-01 -1.00101549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529999999999999 meters 0.01594028872605555 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.10, Z:-0.10 [[ 9.96464409e-01 -8.27524969e-02 1.45157376e-02 5.55365311e+00] [ 8.27468298e-02 9.96570107e-01 9.91600174e-04 -1.03592138e-01] [-1.45480076e-02 2.13036990e-04 9.99894149e-01 -9.66039681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56 meters 0.019568176966539022 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.10, Z:-0.10 [[ 9.95910051e-01 -8.90939991e-02 1.50143211e-02 5.58290333e+00] [ 8.90886333e-02 9.96023173e-01 1.02717552e-03 -1.04993796e-01] [-1.50461269e-02 3.14630924e-04 9.99886751e-01 -9.93936659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59 meters 0.0179611356740954 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.10, Z:-0.10 [[ 9.95410294e-01 -9.43533169e-02 1.59937039e-02 5.61297130e+00] [ 9.43478910e-02 9.95538686e-01 1.09513192e-03 -1.04508659e-01] [-1.60256803e-02 4.18866641e-04 9.99871493e-01 -9.61046347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62 meters 0.021426759254285298 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.11, Z:-0.10 [[ 9.94980086e-01 -9.87679577e-02 1.61095727e-02 5.64206661e+00] [ 9.87630244e-02 9.95110369e-01 1.10345994e-03 -1.05822855e-01] [-1.61397894e-02 4.93109460e-04 9.99869624e-01 -9.85551153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6499999999999995 meters 0.021392501396108883 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.11, Z:-0.10 [[ 9.94274956e-01 -1.05282759e-01 1.82442351e-02 5.67254076e+00] [ 1.05277496e-01 9.94442096e-01 1.25136228e-03 -1.06255996e-01] [-1.82745822e-02 6.76509210e-04 9.99832777e-01 -9.55931669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68 meters 0.025789385593576727 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.11, Z:-0.10 [[ 9.93345311e-01 -1.13532427e-01 1.93773474e-02 5.70338252e+00] [ 1.13528048e-01 9.93533902e-01 1.32945364e-03 -1.06965274e-01] [-1.94029877e-02 8.79265883e-04 9.99811358e-01 -9.79314866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71 meters 0.025039311090690936 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.10, Z:-0.10 [[ 9.92704062e-01 -1.18928535e-01 1.98657748e-02 5.73400161e+00] [ 1.18925009e-01 9.92902304e-01 1.36301289e-03 -1.04543913e-01] [-1.98868746e-02 1.00946901e-03 9.99801727e-01 -9.64079545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739999999999999 meters 0.02831845506494585 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.10, Z:-0.10 [[ 9.92057455e-01 -1.24282677e-01 1.93861184e-02 5.76393597e+00] [ 1.24280333e-01 9.92246254e-01 1.33031549e-03 -1.02805522e-01] [-1.94011385e-02 1.08956385e-03 9.99811187e-01 -9.92026091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.77 meters 0.030109502671252012 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.10, Z:-0.10 [[ 9.91601831e-01 -1.27919939e-01 1.90341055e-02 5.79308881e+00] [ 1.27918344e-01 9.91783843e-01 1.30629085e-03 -1.00263148e-01] [-1.90448190e-02 1.13949087e-03 9.99817982e-01 -1.00110618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8 meters 0.0316446472409934 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.10, Z:-0.10 [[ 9.91419775e-01 -1.29408288e-01 1.84479161e-02 5.82101762e+00] [ 1.29407037e-01 9.91590750e-01 1.26660175e-03 -9.78712947e-02] [-1.84566917e-02 1.13155613e-03 9.99829020e-01 -1.01714683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83 meters 0.032448052598611256 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.09, Z:-0.10 [[ 9.91183331e-01 -1.31384990e-01 1.71344294e-02 5.85005895e+00] [ 1.31384185e-01 9.91330827e-01 1.17753822e-03 -9.18041949e-02] [-1.71405989e-02 1.08403679e-03 9.99852501e-01 -1.04255622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859999999999999 meters 0.028278596351754077 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.08, Z:-0.11 [[ 9.91542688e-01 -1.28826647e-01 1.57096577e-02 5.87911899e+00] [ 1.28825637e-01 9.91666672e-01 1.08049568e-03 -7.88009350e-02] [-1.57179406e-02 9.52449069e-04 9.99876012e-01 -1.05226238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.89 meters 0.027221422851865604 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.07, Z:-0.11 [[ 9.92307373e-01 -1.22923068e-01 1.46968433e-02 5.90737266e+00] [ 1.22921537e-01 9.92415877e-01 1.01092260e-03 -6.89378211e-02] [-1.47096464e-02 8.03412620e-04 9.99891485e-01 -1.05318212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92 meters 0.024415295115440473 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.05, Z:-0.10 [[ 9.93234238e-01 -1.14939562e-01 1.65724303e-02 5.93699509e+00] [ 1.14936490e-01 9.93372187e-01 1.14088573e-03 -5.43358473e-02] [-1.65937243e-02 7.71610209e-04 9.99862017e-01 -1.04539422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949999999999999 meters 0.024415295115440473 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.05, Z:-0.11 [[ 9.93202212e-01 -1.15215968e-01 1.65724908e-02 5.96455857e+00] [ 1.15212949e-01 9.93340162e-01 1.14000917e-03 -5.23676137e-02] [-1.65934680e-02 7.77105914e-04 9.99862017e-01 -1.05108661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9799999999999995 meters 0.0222056117461446 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.04, Z:-0.10 [[ 9.94041862e-01 -1.07400607e-01 1.85980356e-02 5.99331481e+00] [ 1.07395319e-01 9.94215566e-01 1.28574866e-03 -3.67437379e-02] [-1.86285467e-02 7.19253961e-04 9.99826215e-01 -1.04476532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01 meters 0.022121514578528994 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.02, Z:-0.11 [[ 9.94787367e-01 -1.00200172e-01 1.89214402e-02 6.02207653e+00] [ 1.00193388e-01 9.94967121e-01 1.30856052e-03 -2.29005024e-02] [-1.89573289e-02 5.94063729e-04 9.99820117e-01 -1.05537579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04 meters 0.020925569518895647 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.01, Z:-0.11 [[ 9.95382210e-01 -9.40316175e-02 1.92953701e-02 6.05074033e+00] [ 9.40233943e-02 9.95569093e-01 1.33493951e-03 -7.66990551e-03] [-1.93354006e-02 4.85441145e-04 9.99812936e-01 -1.05747811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07 meters 0.01568133260489718 Centerline is valid? [True, True] Translation: X:6.08, Y:0.01, Z:-0.10 [[ 9.95913803e-01 -8.81242775e-02 1.97435623e-02 6.07957546e+00] [ 8.81144929e-02 9.96109416e-01 1.36666582e-03 7.13274113e-03] [-1.97871847e-02 3.78612629e-04 9.99804143e-01 -1.03812343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.1 meters 0.015584859085659042 Centerline is valid? [True, True] Translation: X:6.11, Y:0.01, Z:-0.11 [[ 9.96054627e-01 -8.65665838e-02 1.95296385e-02 6.10736894e+00] [ 8.65566983e-02 9.96246008e-01 1.35249344e-03 1.45372893e-02] [-1.95734052e-02 3.43263681e-04 9.99808364e-01 -1.05162661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129999999999999 meters 0.01806614016732521 Centerline is valid? [True, True] Translation: X:6.14, Y:0.03, Z:-0.11 [[ 9.96223291e-01 -8.45973502e-02 1.95561500e-02 6.13577007e+00] [ 8.45870275e-02 9.96415173e-01 1.35591270e-03 2.62700856e-02] [-1.96007512e-02 3.03404786e-04 9.99807841e-01 -1.08533581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16 meters 0.016504301817848607 Centerline is valid? [True, True] Translation: X:6.16, Y:0.04, Z:-0.11 [[ 9.96514007e-01 -8.11414188e-02 1.93882204e-02 6.16394266e+00] [ 8.11305264e-02 9.96702572e-01 1.34900378e-03 3.62669280e-02] [-1.94337493e-02 2.28675373e-04 9.99811121e-01 -1.07451270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19 meters 0.016745171399516968 Centerline is valid? [True, True] Translation: X:6.19, Y:0.05, Z:-0.11 [[ 9.96800335e-01 -7.79307871e-02 1.77731608e-02 6.19243901e+00] [ 7.79210530e-02 9.96958761e-01 1.24059238e-03 4.67531083e-02] [-1.78157887e-02 1.48280499e-04 9.99841275e-01 -1.09884345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219999999999999 meters 0.01688771102270642 Centerline is valid? [True, True] Translation: X:6.22, Y:0.06, Z:-0.11 [[ 9.97076621e-01 -7.45523808e-02 1.67377885e-02 6.22090264e+00] [ 7.45432080e-02 9.97217096e-01 1.17212013e-03 5.69743868e-02] [-1.67785932e-02 7.89948704e-05 9.99859226e-01 -1.12272942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25 meters 0.016361049975858414 Centerline is valid? [True, True] Translation: X:6.25, Y:0.06, Z:-0.11 [[ 9.97210045e-01 -7.27452305e-02 1.67409040e-02 6.24898625e+00] [ 7.27357328e-02 9.97350555e-01 1.17631951e-03 6.26412402e-02] [-1.67821215e-02 4.46242892e-05 9.99859169e-01 -1.12963051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28 meters 0.017396573619312673 Centerline is valid? [True, True] Translation: X:6.28, Y:0.07, Z:-0.11 [[ 9.97452642e-01 -6.94639716e-02 1.62167469e-02 6.27616155e+00] [ 6.94545545e-02 9.97584461e-01 1.14386139e-03 6.99483722e-02] [-1.62570319e-02 -1.46206350e-05 9.99867846e-01 -1.14885002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31 meters 0.018085761016193986 Centerline is valid? [True, True] Translation: X:6.30, Y:0.08, Z:-0.12 [[ 9.97722573e-01 -6.55373877e-02 1.59536312e-02 6.30443468e+00] [ 6.55276996e-02 9.97850111e-01 1.12980848e-03 7.62386245e-02] [-1.59933774e-02 -8.18306706e-05 9.99872094e-01 -1.15156077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34 meters 0.01718515200030723 Centerline is valid? [True, True] Translation: X:6.33, Y:0.08, Z:-0.12 [[ 9.97767929e-01 -6.47640089e-02 1.62721541e-02 6.33209910e+00] [ 6.47537637e-02 9.97900603e-01 1.15626357e-03 7.94219587e-02] [-1.63128767e-02 -9.99994808e-05 9.99866931e-01 -1.15018711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37 meters 0.016791400958830298 Centerline is valid? [True, True] Translation: X:6.36, Y:0.08, Z:-0.11 [[ 9.97781770e-01 -6.41771233e-02 1.76871517e-02 6.35903459e+00] [ 6.41648226e-02 9.97938516e-01 1.26266111e-03 8.16425672e-02] [-1.77317238e-02 -1.24967290e-04 9.99842773e-01 -1.13825050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.4 meters 0.01783799739680877 Centerline is valid? [True, True] Translation: X:6.39, Y:0.08, Z:-0.11 [[ 9.97681345e-01 -6.55825677e-02 1.81895672e-02 6.38777261e+00] [ 6.55697282e-02 9.97847140e-01 1.30200950e-03 8.08341607e-02] [-1.82357967e-02 -1.06305611e-04 9.99833708e-01 -1.13023439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43 meters 0.017194971684127553 Centerline is valid? [True, True] Translation: X:6.42, Y:0.08, Z:-0.11 [[ 9.97533000e-01 -6.78260523e-02 1.80980572e-02 6.41545326e+00] [ 6.78136234e-02 9.97697159e-01 1.30027353e-03 8.02562938e-02] [-1.81445727e-02 -6.97709206e-05 9.99835371e-01 -1.13415580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459999999999999 meters 0.018525930609444564 Centerline is valid? [True, True] Translation: X:6.44, Y:0.08, Z:-0.11 [[ 9.97431702e-01 -6.94896061e-02 1.73549444e-02 6.44369224e+00] [ 6.94783468e-02 9.97582675e-01 1.25159682e-03 8.03346524e-02] [-1.73999648e-02 -4.25895063e-05 9.99848608e-01 -1.14619574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49 meters 0.017214081724675506 Centerline is valid? [True, True] Translation: X:6.47, Y:0.08, Z:-0.12 [[ 9.97268775e-01 -7.18919548e-02 1.69274289e-02 6.47056535e+00] [ 7.18815045e-02 9.97412426e-01 1.22576480e-03 7.89306494e-02] [-1.69717505e-02 -5.64790119e-06 9.99855969e-01 -1.15531959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52 meters 0.01779866979089701 Centerline is valid? [True, True] Translation: X:6.50, Y:0.08, Z:-0.12 [[ 9.97082983e-01 -7.45038308e-02 1.65741884e-02 6.49905281e+00] [ 7.44941268e-02 9.97220727e-01 1.20296139e-03 7.70539444e-02] [-1.66177494e-02 3.52273611e-05 9.99861915e-01 -1.16674000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549999999999999 meters 0.018154224427128267 Centerline is valid? [True, True] Translation: X:6.53, Y:0.07, Z:-0.12 [[ 9.96914445e-01 -7.67945447e-02 1.62538503e-02 6.52737182e+00] [ 7.67854446e-02 9.97046936e-01 1.18413049e-03 7.42543945e-02] [-1.62967864e-02 6.75823350e-05 9.99867196e-01 -1.16576822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58 meters 0.015726071878933708 Centerline is valid? [True, True] Translation: X:6.56, Y:0.07, Z:-0.12 [[ 9.96873979e-01 -7.73165968e-02 1.62608311e-02 6.55558004e+00] [ 7.73074828e-02 9.97006589e-01 1.18926821e-03 7.39573284e-02] [-1.63041059e-02 7.15333926e-05 9.99867077e-01 -1.15482653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61 meters 0.017924609006243503 Centerline is valid? [True, True] Translation: X:6.58, Y:0.07, Z:-0.12 [[ 9.96682334e-01 -7.95876050e-02 1.70334386e-02 6.58368399e+00] [ 7.95778373e-02 9.96827870e-01 1.25154470e-03 7.12374503e-02] [-1.70790137e-02 1.08091706e-04 9.99854137e-01 -1.17099473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64 meters 0.01698389281418544 Centerline is valid? [True, True] Translation: X:6.61, Y:0.07, Z:-0.12 [[ 9.96541554e-01 -8.13029456e-02 1.71686506e-02 6.61300050e+00] [ 8.12932600e-02 9.96689426e-01 1.26245291e-03 6.89198783e-02] [-1.72144536e-02 1.37608795e-04 9.99851811e-01 -1.17069863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67 meters 0.017547046865733718 Centerline is valid? [True, True] Translation: X:6.64, Y:0.07, Z:-0.12 [[ 9.96375098e-01 -8.32914673e-02 1.72972479e-02 6.64082075e+00] [ 8.32818515e-02 9.96525214e-01 1.27675282e-03 6.56283578e-02] [-1.73434863e-02 1.68422119e-04 9.99849576e-01 -1.17710265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.7 meters 0.01690396463613449 Centerline is valid? [True, True] Translation: X:6.67, Y:0.06, Z:-0.12 [[ 9.96093903e-01 -8.65384886e-02 1.75506946e-02 6.66986220e+00] [ 8.65290735e-02 9.96248482e-01 1.29655175e-03 6.25362323e-02] [-1.75970545e-02 2.27158048e-04 9.99845134e-01 -1.17888527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73 meters 0.01906907736135697 Centerline is valid? [True, True] Translation: X:6.70, Y:0.06, Z:-0.12 [[ 9.95851761e-01 -8.92939106e-02 1.74890709e-02 6.69897886e+00] [ 8.92849111e-02 9.96005283e-01 1.29627820e-03 6.18292775e-02] [-1.75349567e-02 2.70609209e-04 9.99846214e-01 -1.19882247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76 meters 0.01816617459890573 Centerline is valid? [True, True] Translation: X:6.73, Y:0.06, Z:-0.12 [[ 9.95238373e-01 -9.57742481e-02 1.81073107e-02 6.72841246e+00] [ 9.57655785e-02 9.95403003e-01 1.34728145e-03 5.59548660e-02] [-1.81531064e-02 3.93190888e-04 9.99835141e-01 -1.19117676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79 meters 0.017766256563464304 Centerline is valid? [True, True] Translation: X:6.76, Y:0.05, Z:-0.12 [[ 9.94502521e-01 -1.02953031e-01 1.91156958e-02 6.75900860e+00] [ 1.02944672e-01 9.94686065e-01 1.42343375e-03 4.93544943e-02] [-1.91606630e-02 5.52250572e-04 9.99816265e-01 -1.16253013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82 meters 0.02404941315809477 Centerline is valid? [True, True] Translation: X:6.79, Y:0.04, Z:-0.12 [[ 9.93703739e-01 -1.10147421e-01 2.05042461e-02 6.78867863e+00] [ 1.10139324e-01 9.93914985e-01 1.52721637e-03 4.14551955e-02] [-2.05476964e-02 7.40723185e-04 9.99788599e-01 -1.18749320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85 meters 0.02256278548575846 Centerline is valid? [True, True] Translation: X:6.82, Y:0.04, Z:-0.12 [[ 9.93382460e-01 -1.12941521e-01 2.08686744e-02 6.81857231e+00] [ 1.12933740e-01 9.93601305e-01 1.55479654e-03 4.14385972e-02] [-2.09107432e-02 8.12269836e-04 9.99781017e-01 -1.17872025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879999999999999 meters 0.02160513119753222 Centerline is valid? [True, True] Translation: X:6.85, Y:0.04, Z:-0.12 [[ 9.93511334e-01 -1.11916436e-01 2.02469960e-02 6.84707124e+00] [ 1.11908886e-01 9.93717326e-01 1.50910125e-03 4.34609670e-02] [-2.02886840e-02 7.66509575e-04 9.99793870e-01 -1.18956236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91 meters 0.021862230580674765 Centerline is valid? [True, True] Translation: X:6.88, Y:0.05, Z:-0.12 [[ 9.93974283e-01 -1.07902572e-01 1.92914510e-02 6.87630539e+00] [ 1.07894871e-01 9.94161262e-01 1.44262478e-03 4.75009605e-02] [-1.93344762e-02 6.47516691e-04 9.99812862e-01 -1.21671282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94 meters 0.02162558288841137 Centerline is valid? [True, True] Translation: X:6.90, Y:0.05, Z:-0.12 [[ 9.94299994e-01 -1.04958520e-01 1.87411812e-02 6.90467803e+00] [ 1.04950719e-01 9.94476436e-01 1.40204579e-03 5.12778733e-02] [-1.87848197e-02 5.72846309e-04 9.99823386e-01 -1.23447395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969999999999999 meters 0.019680424300848716 Centerline is valid? [True, True] Translation: X:6.93, Y:0.06, Z:-0.12 [[ 9.95009555e-01 -9.82603350e-02 1.73462649e-02 6.93342586e+00] [ 9.82526129e-02 9.95160659e-01 1.29890455e-03 5.62008827e-02] [-1.73899512e-02 4.11893409e-04 9.99848699e-01 -1.24532217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.0 meters 0.015782052906885634 Centerline is valid? [True, True] Translation: X:6.96, Y:0.06, Z:-0.13 [[ 9.95796618e-01 -9.02422671e-02 1.56661374e-02 6.96273524e+00] [ 9.02349672e-02 9.95919813e-01 1.17365013e-03 6.49491481e-02] [-1.57081295e-02 2.44916568e-04 9.99876590e-01 -1.25144736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03 meters 0.017356482887629553 Centerline is valid? [True, True] Translation: X:6.99, Y:0.07, Z:-0.13 [[ 9.96448454e-01 -8.30255266e-02 1.40442395e-02 6.99071151e+00] [ 8.30189447e-02 9.96547414e-01 1.05201318e-03 7.11943536e-02] [-1.40830945e-02 1.17661041e-04 9.99900821e-01 -1.29128738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06 meters 0.01570839684076435 Centerline is valid? [True, True] Translation: X:7.02, Y:0.08, Z:-0.13 [[ 9.96978252e-01 -7.64885043e-02 1.35600211e-02 7.01920917e+00] [ 7.64817679e-02 9.97070463e-01 1.01542559e-03 7.71585672e-02] [-1.35979649e-02 2.47371544e-05 9.99907543e-01 -1.29411904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09 meters 0.015565259500680119 Centerline is valid? [True, True] Translation: X:7.05, Y:0.08, Z:-0.13 [[ 9.97301338e-01 -7.21779713e-02 1.34306415e-02 7.04740287e+00] [ 7.21709318e-02 9.97391768e-01 1.00870939e-03 8.07519641e-02] [-1.34684179e-02 -3.66853102e-05 9.99909296e-01 -1.29101339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12 meters 0.016986389986081173 Centerline is valid? [True, True] Translation: X:7.08, Y:0.08, Z:-0.13 [[ 9.97447694e-01 -6.97952947e-02 1.50570608e-02 7.07581461e+00] [ 6.97861016e-02 9.97561331e-01 1.13574958e-03 8.24051576e-02] [-1.50996116e-02 -8.20772238e-05 9.99885991e-01 -1.29154959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15 meters 0.018491767379942826 Centerline is valid? [True, True] Translation: X:7.10, Y:0.08, Z:-0.13 [[ 9.97466649e-01 -6.93931714e-02 1.56483528e-02 7.10388250e+00] [ 6.93831198e-02 9.97589384e-01 1.18498349e-03 8.36294782e-02] [-1.56928604e-02 -9.62499750e-05 9.99876855e-01 -1.29682211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18 meters 0.016665803257804698 Centerline is valid? [True, True] Translation: X:7.13, Y:0.08, Z:-0.13 [[ 9.97453806e-01 -6.90576826e-02 1.78028547e-02 7.13080278e+00] [ 6.90445076e-02 9.97612661e-01 1.35437202e-03 8.34868688e-02] [-1.78538831e-02 -1.21734188e-04 9.99840599e-01 -1.27985656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209999999999999 meters 0.017273770917758995 Centerline is valid? [True, True] Translation: X:7.16, Y:0.08, Z:-0.13 [[ 9.97419970e-01 -6.90799914e-02 1.95283715e-02 7.15912706e+00] [ 6.90640945e-02 9.97611115e-01 1.48809624e-03 8.23291137e-02] [-1.95845182e-02 -1.35547609e-04 9.99808196e-01 -1.27655861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24 meters 0.016951579155191195 Centerline is valid? [True, True] Translation: X:7.19, Y:0.08, Z:-0.13 [[ 9.97352129e-01 -6.99653773e-02 1.98387579e-02 7.18768748e+00] [ 6.99490321e-02 9.97549412e-01 1.51747960e-03 8.00928197e-02] [-1.98963123e-02 -1.25759595e-04 9.99802041e-01 -1.27850238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27 meters 0.018366904844821605 Centerline is valid? [True, True] Translation: X:7.22, Y:0.08, Z:-0.13 [[ 9.97325419e-01 -7.06653528e-02 1.86658954e-02 7.21573684e+00] [ 7.06509129e-02 9.97500073e-01 1.43273049e-03 7.84047658e-02] [-1.87204765e-02 -1.10135986e-04 9.99824750e-01 -1.29718754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299999999999999 meters 0.01764355962655201 Centerline is valid? [True, True] Translation: X:7.24, Y:0.08, Z:-0.13 [[ 9.97357748e-01 -7.05249481e-02 1.74285233e-02 7.24417515e+00] [ 7.05122588e-02 9.97510010e-01 1.34228189e-03 7.66238793e-02] [-1.74797908e-02 -1.09810694e-04 9.99847211e-01 -1.31284517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33 meters 0.014173042149941686 Centerline is valid? [True, True] Translation: X:7.27, Y:0.08, Z:-0.13 [[ 9.97430631e-01 -6.97059773e-02 1.65291572e-02 7.27282938e+00] [ 6.96943759e-02 9.97567573e-01 1.27757547e-03 7.68761581e-02] [-1.65780059e-02 -1.22303607e-04 9.99862568e-01 -1.29812546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36 meters 0.013522721410444511 Centerline is valid? [True, True] Translation: X:7.30, Y:0.08, Z:-0.13 [[ 9.97527955e-01 -6.89390386e-02 1.36157193e-02 7.30055400e+00] [ 6.89310463e-02 9.97620868e-01 1.05597535e-03 7.57662866e-02] [-1.36561236e-02 -1.14819158e-04 9.99906744e-01 -1.31634802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389999999999999 meters 0.014245750468866185 Centerline is valid? [True, True] Translation: X:7.33, Y:0.07, Z:-0.14 [[ 9.97425967e-01 -7.07523011e-02 1.16427005e-02 7.32926440e+00] [ 7.07465922e-02 9.97493913e-01 9.01987129e-04 7.30182210e-02] [-1.16773405e-02 -7.59840014e-05 9.99931815e-01 -1.35366372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42 meters 0.016338695638977958 Centerline is valid? [True, True] Translation: X:7.36, Y:0.07, Z:-0.14 [[ 9.97146883e-01 -7.47977308e-02 1.01681991e-02 7.35734226e+00] [ 7.47935442e-02 9.97198726e-01 7.91911439e-04 6.79699348e-02] [-1.01989484e-02 -2.91363746e-05 9.99947989e-01 -1.39348246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45 meters 0.016982447955527703 Centerline is valid? [True, True] Translation: X:7.39, Y:0.07, Z:-0.14 [[ 9.96904009e-01 -7.79474648e-02 1.03242499e-02 7.38557517e+00] [ 7.79433285e-02 9.96957468e-01 8.03012691e-04 6.56194159e-02] [-1.03554308e-02 4.17982819e-06 9.99946381e-01 -1.39948876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48 meters 0.014249191968625606 Centerline is valid? [True, True] Translation: X:7.41, Y:0.05, Z:-0.13 [[ 9.95823068e-01 -9.01236549e-02 1.46336575e-02 7.41457597e+00] [ 9.01165451e-02 9.95930567e-01 1.14587514e-03 5.01606981e-02] [-1.46773773e-02 1.77645758e-04 9.99892266e-01 -1.31822463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51 meters 0.017362960992737368 Centerline is valid? [True, True] Translation: X:7.44, Y:0.05, Z:-0.13 [[ 9.95205506e-01 -9.64334412e-02 1.63276746e-02 7.44374472e+00] [ 9.64254229e-02 9.95339390e-01 1.27946583e-03 4.67469391e-02] [-1.63749610e-02 3.01071497e-04 9.99865876e-01 -1.33240088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54 meters 0.020164523705488834 Centerline is valid? [True, True] Translation: X:7.47, Y:0.04, Z:-0.13 [[ 9.94044997e-01 -1.07145139e-01 1.98611125e-02 7.47404118e+00] [ 1.07135285e-01 9.94243224e-01 1.56255613e-03 3.74959896e-02] [-1.99141968e-02 5.74574844e-04 9.99801528e-01 -1.30575247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57 meters 0.02208424692456423 Centerline is valid? [True, True] Translation: X:7.51, Y:0.03, Z:-0.13 [[ 9.93085752e-01 -1.15246056e-01 2.23391198e-02 7.50540930e+00] [ 1.15235619e-01 9.93336630e-01 1.75826478e-03 3.14967495e-02] [-2.23928991e-02 8.28154600e-04 9.99748905e-01 -1.29405238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.6 meters 0.021972411574543712 Centerline is valid? [True, True] Translation: X:7.53, Y:0.03, Z:-0.13 [[ 9.92739421e-01 -1.18030114e-01 2.31804889e-02 7.53365820e+00] [ 1.18019621e-01 9.93009586e-01 1.82500964e-03 3.01363719e-02] [-2.32338538e-02 9.23993513e-04 9.99729631e-01 -1.28333252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629999999999999 meters 0.020926805543987115 Centerline is valid? [True, True] Translation: X:7.56, Y:0.04, Z:-0.13 [[ 9.93192010e-01 -1.14403303e-01 2.19434604e-02 7.56261130e+00] [ 1.14392985e-01 9.93434072e-01 1.72902337e-03 3.72952055e-02] [-2.19971872e-02 7.92925738e-04 9.99757718e-01 -1.30588910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66 meters 0.019380988159852026 Centerline is valid? [True, True] Translation: X:7.59, Y:0.04, Z:-0.13 [[ 9.94066971e-01 -1.07180065e-01 1.85281266e-02 7.59158859e+00] [ 1.07171444e-01 9.94239483e-01 1.46046329e-03 4.24589981e-02] [-1.85779276e-02 5.33887760e-04 9.99827273e-01 -1.32470738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69 meters 0.015785587398042367 Centerline is valid? [True, True] Translation: X:7.62, Y:0.05, Z:-0.13 [[ 9.94969570e-01 -9.89032917e-02 1.59277771e-02 7.62036218e+00] [ 9.88958542e-02 9.95096997e-01 1.25585802e-03 5.29611551e-02] [-1.59738917e-02 3.25650613e-04 9.99872356e-01 -1.33986991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719999999999999 meters 0.01665708096810543 Centerline is valid? [True, True] Translation: X:7.65, Y:0.06, Z:-0.14 [[ 9.95733737e-01 -9.09207211e-02 1.57399817e-02 7.64902882e+00] [ 9.09124516e-02 9.95858115e-01 1.24159635e-03 6.28568910e-02] [-1.57876753e-02 1.94660946e-04 9.99875348e-01 -1.37247395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75 meters 0.014948032150502156 Centerline is valid? [True, True] Translation: X:7.68, Y:0.07, Z:-0.14 [[ 9.96101683e-01 -8.66552763e-02 1.65015325e-02 7.67687108e+00] [ 8.66455978e-02 9.96238348e-01 1.30190690e-03 6.92328591e-02] [-1.65522766e-02 1.32953490e-04 9.99862993e-01 -1.36735229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78 meters 0.01604378868237093 Centerline is valid? [True, True] Translation: X:7.70, Y:0.08, Z:-0.14 [[ 9.96750284e-01 -7.87933194e-02 1.67476329e-02 7.70496167e+00] [ 7.87822101e-02 9.96890973e-01 1.32308633e-03 8.02927290e-02] [-1.67998144e-02 6.28859162e-07 9.99858873e-01 -1.39114459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81 meters 0.016718270052204904 Centerline is valid? [True, True] Translation: X:7.73, Y:0.09, Z:-0.14 [[ 9.97279532e-01 -7.15801027e-02 1.76018291e-02 7.73322323e+00] [ 7.15666273e-02 9.97434846e-01 1.39508695e-03 8.87296862e-02] [-1.76565382e-02 -1.31588112e-04 9.99844103e-01 -1.39439844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84 meters 0.016718270052204904 Centerline is valid? [True, True] Translation: X:7.76, Y:0.09, Z:-0.14 [[ 9.97259725e-01 -7.18556092e-02 1.76015006e-02 7.76073181e+00] [ 7.18421038e-02 9.97415036e-01 1.39921789e-03 9.10009929e-02] [-1.76565431e-02 -1.30854808e-04 9.99844103e-01 -1.40006321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87 meters 0.019005262132429302 Centerline is valid? [True, True] Translation: X:7.79, Y:0.10, Z:-0.14 [[ 9.97666183e-01 -6.58348625e-02 1.81096144e-02 7.78864318e+00] [ 6.58194710e-02 9.97830501e-01 1.44527342e-03 9.81367087e-02] [-1.81654749e-02 -2.49935182e-04 9.99834963e-01 -1.40458766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.9 meters 0.01743640950652971 Centerline is valid? [True, True] Translation: X:7.82, Y:0.10, Z:-0.14 [[ 9.97939127e-01 -6.11084012e-02 1.95770602e-02 7.81705821e+00] [ 6.10894714e-02 9.98131069e-01 1.56407476e-03 1.04553056e-01] [-1.96360501e-02 -3.64899140e-04 9.99807128e-01 -1.37893721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93 meters 0.01783431647465332 Centerline is valid? [True, True] Translation: X:7.85, Y:0.11, Z:-0.14 [[ 9.98074051e-01 -5.87648554e-02 1.98715774e-02 7.84558177e+00] [ 5.87447908e-02 9.98271763e-01 1.59245361e-03 1.08184314e-01] [-1.99308149e-02 -4.22034972e-04 9.99801273e-01 -1.37761124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959999999999999 meters 0.020216929954174602 Centerline is valid? [True, True] Translation: X:7.87, Y:0.11, Z:-0.14 [[ 9.98144368e-01 -5.79943213e-02 1.85601500e-02 7.87332990e+00] [ 5.79766010e-02 9.98316828e-01 1.49186057e-03 1.10684175e-01] [-1.86154295e-02 -4.13037821e-04 9.99826633e-01 -1.41176586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99 meters 0.019554814906155193 Centerline is valid? [True, True] Translation: X:7.90, Y:0.11, Z:-0.14 [[ 9.98166090e-01 -5.78999010e-02 1.76651546e-02 7.90241791e+00] [ 5.78838165e-02 9.98322315e-01 1.42090040e-03 1.11595115e-01] [-1.77177880e-02 -3.95768030e-04 9.99842949e-01 -1.42702625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02 meters 0.019144503410408967 Centerline is valid? [True, True] Translation: X:7.93, Y:0.11, Z:-0.15 [[ 9.98171411e-01 -5.83215201e-02 1.58881954e-02 7.93072673e+00] [ 5.83085110e-02 9.98297789e-01 1.28119261e-03 1.12532939e-01] [-1.59358714e-02 -3.52432824e-04 9.99872954e-01 -1.45236525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049999999999999 meters 0.020039368077092275 Centerline is valid? [True, True] Translation: X:7.96, Y:0.11, Z:-0.15 [[ 9.98142312e-01 -5.91486517e-02 1.46068973e-02 7.95812776e+00] [ 5.91376746e-02 9.98249136e-01 1.18267129e-03 1.13573289e-01] [-1.46512760e-02 -3.16656316e-04 9.99892614e-01 -1.47822355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08 meters 0.018795681661871143 Centerline is valid? [True, True] Translation: X:7.99, Y:0.11, Z:-0.15 [[ 9.98071669e-01 -6.04561635e-02 1.40710761e-02 7.98773245e+00] [ 6.04461037e-02 9.98170812e-01 1.13951421e-03 1.12119088e-01] [-1.41142282e-02 -2.86775123e-04 9.99900348e-01 -1.48587730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11 meters 0.01769320565743806 Centerline is valid? [True, True] Translation: X:8.02, Y:0.11, Z:-0.15 [[ 9.97915800e-01 -6.29762797e-02 1.40728570e-02 8.01580201e+00] [ 6.29664121e-02 9.98014991e-01 1.14360325e-03 1.12617594e-01] [-1.41169422e-02 -2.55102436e-04 9.99900318e-01 -1.48499379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139999999999999 meters 0.015141992480362614 Centerline is valid? [True, True] Translation: X:8.05, Y:0.11, Z:-0.15 [[ 9.97715536e-01 -6.59566921e-02 1.46090460e-02 8.04537863e+00] [ 6.59463577e-02 9.97822462e-01 1.18852455e-03 1.09350129e-01] [-1.46556254e-02 -2.22396039e-04 9.99892576e-01 -1.45787585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17 meters 0.014597963668412756 Centerline is valid? [True, True] Translation: X:8.07, Y:0.11, Z:-0.15 [[ 9.97462009e-01 -6.96697789e-02 1.46854260e-02 8.07354050e+00] [ 6.96596712e-02 9.97570094e-01 1.19930611e-03 1.07537020e-01] [-1.47332972e-02 -1.73280337e-04 9.99891444e-01 -1.45956859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.2 meters 0.016645023661956974 Centerline is valid? [True, True] Translation: X:8.10, Y:0.11, Z:-0.15 [[ 9.97273782e-01 -7.24786896e-02 1.38507725e-02 8.10293311e+00] [ 7.24699687e-02 9.97369953e-01 1.13116906e-03 1.07080974e-01] [-1.38963300e-02 -1.24320191e-04 9.99903434e-01 -1.49418697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23 meters 0.015602455240417838 Centerline is valid? [True, True] Translation: X:8.13, Y:0.11, Z:-0.15 [[ 9.96964587e-01 -7.66600139e-02 1.35961496e-02 8.13236621e+00] [ 7.66519545e-02 9.97057289e-01 1.11366146e-03 1.06214537e-01] [-1.36415134e-02 -6.81095966e-05 9.99906948e-01 -1.49820637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26 meters 0.015112764270789277 Centerline is valid? [True, True] Translation: X:8.16, Y:0.10, Z:-0.15 [[ 9.96555910e-01 -8.18420941e-02 1.33488105e-02 8.16058604e+00] [ 8.18347312e-02 9.96645309e-01 1.09778149e-03 1.04851572e-01] [-1.33938741e-02 -1.60431734e-06 9.99910298e-01 -1.50169778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29 meters 0.01383812531600312 Centerline is valid? [True, True] Translation: X:8.19, Y:0.10, Z:-0.15 [[ 9.96093835e-01 -8.72646773e-02 1.34888240e-02 8.18988631e+00] [ 8.72576548e-02 9.96185159e-01 1.10939693e-03 1.03731084e-01] [-1.35341774e-02 7.19397005e-05 9.99908406e-01 -1.48200938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32 meters 0.014092456332904861 Centerline is valid? [True, True] Translation: X:8.22, Y:0.10, Z:-0.15 [[ 9.95801833e-01 -9.05479673e-02 1.34080521e-02 8.21865146e+00] [ 9.05412824e-02 9.95892089e-01 1.10600095e-03 1.04711777e-01] [-1.34531191e-02 1.12624459e-04 9.99909496e-01 -1.48551378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35 meters 0.014763493732973788 Centerline is valid? [True, True] Translation: X:8.25, Y:0.11, Z:-0.15 [[ 9.95196670e-01 -9.69090352e-02 1.38645603e-02 8.24756616e+00] [ 9.69024546e-02 9.95293222e-01 1.14722076e-03 1.05171908e-01] [-1.39104790e-02 2.01799645e-04 9.99903224e-01 -1.48466581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379999999999999 meters 0.015933057650122096 Centerline is valid? [True, True] Translation: X:8.28, Y:0.10, Z:-0.15 [[ 9.94594911e-01 -1.02791052e-01 1.46615862e-02 8.27588538e+00] [ 1.02784258e-01 9.94702927e-01 1.21820043e-03 1.04793185e-01] [-1.47091428e-02 2.95364300e-04 9.99891771e-01 -1.48118515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41 meters 0.018773921964406987 Centerline is valid? [True, True] Translation: X:8.30, Y:0.11, Z:-0.15 [[ 9.94105579e-01 -1.07252745e-01 1.58413177e-02 8.30447258e+00] [ 1.07245372e-01 9.94231712e-01 1.31669581e-03 1.06760885e-01] [-1.58911597e-02 3.89973358e-04 9.99873652e-01 -1.50161981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44 meters 0.01890558270452879 Centerline is valid? [True, True] Translation: X:8.33, Y:0.11, Z:-0.15 [[ 9.93970264e-01 -1.08293769e-01 1.71922338e-02 8.33184253e+00] [ 1.08285150e-01 9.94118841e-01 1.43421352e-03 1.09311308e-01] [-1.72464399e-02 4.36098013e-04 9.99851174e-01 -1.49937497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469999999999999 meters 0.019353899071178172 Centerline is valid? [True, True] Translation: X:8.36, Y:0.11, Z:-0.15 [[ 9.93976448e-01 -1.07969973e-01 1.87964049e-02 8.36074116e+00] [ 1.07959583e-01 9.94154045e-01 1.56958795e-03 1.14704389e-01] [-1.88559904e-02 4.69118574e-04 9.99822100e-01 -1.49649855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.5 meters 0.01882135047264304 Centerline is valid? [True, True] Translation: X:8.39, Y:0.12, Z:-0.15 [[ 9.94327946e-01 -1.04497045e-01 1.98066518e-02 8.38957402e+00] [ 1.04484717e-01 9.94525108e-01 1.65908165e-03 1.21938057e-01] [-1.98715817e-02 4.19821161e-04 9.99802452e-01 -1.49347917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53 meters 0.018707810668620293 Centerline is valid? [True, True] Translation: X:8.42, Y:0.13, Z:-0.15 [[ 9.94577049e-01 -1.02027753e-01 2.01700777e-02 8.41855298e+00] [ 1.02014365e-01 9.94781483e-01 1.69422583e-03 1.27352148e-01] [-2.02376779e-02 3.72599551e-04 9.99795128e-01 -1.49590230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559999999999999 meters 0.01445550142155954 Centerline is valid? [True, True] Translation: X:8.45, Y:0.14, Z:-0.15 [[ 9.95213461e-01 -9.52861224e-02 2.16961049e-02 8.44633414e+00] [ 9.52689672e-02 9.95449894e-01 1.82529607e-03 1.37682329e-01] [-2.17713107e-02 2.50406288e-04 9.99762946e-01 -1.47593117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59 meters 0.016494633238863694 Centerline is valid? [True, True] Translation: X:8.47, Y:0.15, Z:-0.15 [[ 9.95837877e-01 -8.90018937e-02 1.96363578e-02 8.47458647e+00] [ 8.89865981e-02 9.96031452e-01 1.65307776e-03 1.50001771e-01] [-1.97055570e-02 1.01175236e-04 9.99805822e-01 -1.53352842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62 meters 0.01330361788128106 Centerline is valid? [True, True] Translation: X:8.50, Y:0.16, Z:-0.15 [[ 9.96198339e-01 -8.49074189e-02 1.94833380e-02 8.50333425e+00] [ 8.48914845e-02 9.96388845e-01 1.64495659e-03 1.57190546e-01] [-1.95526496e-02 1.52664597e-05 9.99808829e-01 -1.53035026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65 meters 0.01628535770903431 Centerline is valid? [True, True] Translation: X:8.53, Y:0.17, Z:-0.16 [[ 9.96704405e-01 -7.94691242e-02 1.62784611e-02 8.53040890e+00] [ 7.94572117e-02 9.96837325e-01 1.37828114e-03 1.67191951e-01] [-1.63365085e-02 -8.02977477e-05 9.99866547e-01 -1.59570689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68 meters 0.01650337935186315 Centerline is valid? [True, True] Translation: X:8.56, Y:0.18, Z:-0.16 [[ 9.97058979e-01 -7.53250881e-02 1.41252700e-02 8.55889681e+00] [ 7.53157027e-02 9.97159022e-01 1.19597916e-03 1.75050223e-01] [-1.41752277e-02 -1.28607128e-04 9.99899518e-01 -1.61848022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709999999999999 meters 0.017587494236204537 Centerline is valid? [True, True] Translation: X:8.59, Y:0.18, Z:-0.16 [[ 9.97313840e-01 -7.21213029e-02 1.27914979e-02 8.58771941e+00] [ 7.21133089e-02 9.97395855e-01 1.08568667e-03 1.81788895e-01] [-1.28364881e-02 -1.60333102e-04 9.99917596e-01 -1.62931228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74 meters 0.01724715585240415 Centerline is valid? [True, True] Translation: X:8.62, Y:0.19, Z:-0.16 [[ 9.97391648e-01 -7.10196875e-02 1.28881205e-02 8.61522594e+00] [ 7.10114226e-02 9.97474898e-01 1.09835425e-03 1.86447763e-01] [-1.29335814e-02 -1.80285590e-04 9.99916341e-01 -1.63382207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77 meters 0.018319213688957052 Centerline is valid? [True, True] Translation: X:8.64, Y:0.19, Z:-0.17 [[ 9.97408382e-01 -7.07486102e-02 1.30826079e-02 8.64307923e+00] [ 7.07400746e-02 9.97494160e-01 1.11462176e-03 1.90937347e-01] [-1.31286829e-02 -1.86268424e-04 9.99913798e-01 -1.65017915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799999999999999 meters 0.018639496072635417 Centerline is valid? [True, True] Translation: X:8.67, Y:0.19, Z:-0.17 [[ 9.97329726e-01 -7.16727869e-02 1.40153187e-02 8.67120311e+00] [ 7.16630053e-02 9.97428180e-01 1.19954409e-03 1.93902600e-01] [-1.40652485e-02 -1.91961118e-04 9.99901061e-01 -1.65623500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83 meters 0.018348722631740245 Centerline is valid? [True, True] Translation: X:8.70, Y:0.19, Z:-0.17 [[ 9.97158764e-01 -7.37756374e-02 1.52169400e-02 8.70026292e+00] [ 7.37643261e-02 9.97274849e-01 1.30403273e-03 1.94939400e-01] [-1.52716774e-02 -1.77860337e-04 9.99883365e-01 -1.65110548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86 meters 0.01823180187067462 Centerline is valid? [True, True] Translation: X:8.73, Y:0.20, Z:-0.17 [[ 9.97068738e-01 -7.49738627e-02 1.52594623e-02 8.72786362e+00] [ 7.49625732e-02 9.97185486e-01 1.31128083e-03 1.96819500e-01] [-1.53148261e-02 -1.63548560e-04 9.99882708e-01 -1.65389010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889999999999999 meters 0.01677548269445388 Centerline is valid? [True, True] Translation: X:8.76, Y:0.20, Z:-0.17 [[ 9.96993373e-01 -7.60622462e-02 1.47901488e-02 8.75616949e+00] [ 7.60517018e-02 9.97103061e-01 1.27488350e-03 1.97306309e-01] [-1.48442732e-02 -1.46234413e-04 9.99889807e-01 -1.65246845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92 meters 0.01632653269066636 Centerline is valid? [True, True] Translation: X:8.78, Y:0.20, Z:-0.17 [[ 9.97081088e-01 -7.53142642e-02 1.25325727e-02 8.78427441e+00] [ 7.53065845e-02 9.97159838e-01 1.08423767e-03 1.99934766e-01] [-1.25786367e-02 -1.37287630e-04 9.99920876e-01 -1.67736748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95 meters 0.01606790866423215 Centerline is valid? [True, True] Translation: X:8.81, Y:0.20, Z:-0.17 [[ 9.97260582e-01 -7.31215566e-02 1.11610490e-02 8.81249366e+00] [ 7.31153106e-02 9.97323025e-01 9.67185487e-04 2.02646217e-01] [-1.12018932e-02 -1.48492399e-04 9.99937246e-01 -1.68302301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98 meters 0.017869824118882976 Centerline is valid? [True, True] Translation: X:8.84, Y:0.21, Z:-0.17 [[ 9.97329731e-01 -7.22930508e-02 1.03499530e-02 8.84079354e+00] [ 7.22876438e-02 9.97383424e-01 8.96052285e-04 2.05680204e-01] [-1.03876499e-02 -1.45485868e-04 9.99946036e-01 -1.70535581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01 meters 0.016789916922485233 Centerline is valid? [True, True] Translation: X:8.87, Y:0.21, Z:-0.17 [[ 9.97433908e-01 -7.06917858e-02 1.13256662e-02 8.86849884e+00] [ 7.06851536e-02 9.97498190e-01 9.85319001e-04 2.09419480e-01] [-1.13669855e-02 -1.82234126e-04 9.99935377e-01 -1.70221906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04 meters 0.018458524857908314 Centerline is valid? [True, True] Translation: X:8.90, Y:0.21, Z:-0.17 [[ 9.97434500e-01 -7.04643754e-02 1.26170646e-02 8.89661621e+00] [ 7.04561286e-02 9.97514275e-01 1.09748071e-03 2.10832031e-01] [-1.26630353e-02 -2.05715601e-04 9.99919799e-01 -1.70120419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07 meters 0.019093259142481844 Centerline is valid? [True, True] Translation: X:8.92, Y:0.21, Z:-0.17 [[ 9.97405512e-01 -7.04746727e-02 1.46821491e-02 8.92441073e+00] [ 7.04634320e-02 9.97513539e-01 1.28215448e-03 2.11430025e-01] [-1.47360019e-02 -2.44273338e-04 9.99891389e-01 -1.68600594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.1 meters 0.018196746076344587 Centerline is valid? [True, True] Translation: X:8.95, Y:0.21, Z:-0.17 [[ 9.97382431e-01 -7.03357314e-02 1.67681343e-02 8.95184052e+00] [ 7.03209507e-02 9.97523334e-01 1.47020035e-03 2.12904608e-01] [-1.68300128e-02 -2.87200859e-04 9.99858324e-01 -1.66379167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129999999999999 meters 0.017548167000629573 Centerline is valid? [True, True] Translation: X:8.98, Y:0.21, Z:-0.17 [[ 9.97365237e-01 -7.03996639e-02 1.75063035e-02 8.97895913e+00] [ 7.03834973e-02 9.97518820e-01 1.53865726e-03 2.14894598e-01] [-1.75711881e-02 -3.02448398e-04 9.99845569e-01 -1.65523807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16 meters 0.018988924093883326 Centerline is valid? [True, True] Translation: X:9.01, Y:0.22, Z:-0.17 [[ 9.97328266e-01 -7.08847023e-02 1.76546854e-02 9.00682471e+00] [ 7.08683059e-02 9.97484471e-01 1.55341766e-03 2.17396264e-01] [-1.77203880e-02 -2.98109705e-04 9.99842937e-01 -1.67839079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19 meters 0.01896655238125704 Centerline is valid? [True, True] Translation: X:9.03, Y:0.22, Z:-0.17 [[ 9.97300874e-01 -7.12990612e-02 1.75331182e-02 9.03398590e+00] [ 7.12828656e-02 9.97454940e-01 1.54773239e-03 2.19289761e-01] [-1.75988472e-02 -2.93743962e-04 9.99845085e-01 -1.69098966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219999999999999 meters 0.017897844286930004 Centerline is valid? [True, True] Translation: X:9.06, Y:0.22, Z:-0.17 [[ 9.97260688e-01 -7.19749285e-02 1.70507945e-02 9.06262761e+00] [ 7.19596642e-02 9.97406403e-01 1.50786849e-03 2.18215573e-01] [-1.71151004e-02 -2.76768521e-04 9.99853488e-01 -1.68994427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25 meters 0.018569736459599497 Centerline is valid? [True, True] Translation: X:9.09, Y:0.22, Z:-0.17 [[ 9.97199217e-01 -7.29350113e-02 1.65591676e-02 9.09086888e+00] [ 7.29206611e-02 9.97336662e-01 1.46955758e-03 2.19933307e-01] [-1.66222471e-02 -2.57936223e-04 9.99861808e-01 -1.70619717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28 meters 0.018441057233022123 Centerline is valid? [True, True] Translation: X:9.12, Y:0.22, Z:-0.17 [[ 9.97130634e-01 -7.39309445e-02 1.62700175e-02 9.12029317e+00] [ 7.39171958e-02 9.97263335e-01 1.44559537e-03 2.20837507e-01] [-1.63323661e-02 -2.38813355e-04 9.99866589e-01 -1.71725183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309999999999999 meters 0.01739441728404701 Centerline is valid? [True, True] Translation: X:9.15, Y:0.22, Z:-0.17 [[ 9.96937665e-01 -7.65589273e-02 1.59381102e-02 9.14839301e+00] [ 7.65460017e-02 9.97065039e-01 1.42034249e-03 2.21277193e-01] [-1.60000724e-02 -1.95994316e-04 9.99871971e-01 -1.73329910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34 meters 0.01644742106475584 Centerline is valid? [True, True] Translation: X:9.18, Y:0.22, Z:-0.17 [[ 9.96797038e-01 -7.83988059e-02 1.57889763e-02 9.17706682e+00] [ 7.83863423e-02 9.96922063e-01 1.40766011e-03 2.21575503e-01] [-1.58507377e-02 -1.65511328e-04 9.99874355e-01 -1.73739334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37 meters 0.01718814509263347 Centerline is valid? [True, True] Translation: X:9.21, Y:0.22, Z:-0.18 [[ 9.96384309e-01 -8.37003929e-02 1.45792087e-02 9.20541076e+00] [ 8.36902719e-02 9.96490962e-01 1.30400539e-03 2.18528373e-01] [-1.46371955e-02 -7.91525714e-05 9.99892867e-01 -1.76000115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.4 meters 0.015623696142716678 Centerline is valid? [True, True] Translation: X:9.24, Y:0.21, Z:-0.18 [[ 9.95752466e-01 -9.07788808e-02 1.53694866e-02 9.23528609e+00] [ 9.07684652e-02 9.95871073e-01 1.37534415e-03 2.13516884e-01] [-1.54308793e-02 2.55623835e-05 9.99880937e-01 -1.75072322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43 meters 0.01360478620334811 Centerline is valid? [True, True] Translation: X:9.26, Y:0.21, Z:-0.17 [[ 9.95384660e-01 -9.45546267e-02 1.63951594e-02 9.26410268e+00] [ 9.45432177e-02 9.95519671e-01 1.47130369e-03 2.12335489e-01] [-1.64608223e-02 8.55380061e-05 9.99864508e-01 -1.72402711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459999999999999 meters 0.01621736039219805 Centerline is valid? [True, True] Translation: X:9.29, Y:0.21, Z:-0.17 [[ 9.94482841e-01 -1.03460234e-01 1.73164528e-02 9.29329008e+00] [ 1.03448763e-01 9.94633562e-01 1.55925304e-03 2.07475018e-01] [-1.73848458e-02 2.40715228e-04 9.99848843e-01 -1.74001995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49 meters 0.018861588938075192 Centerline is valid? [True, True] Translation: X:9.32, Y:0.21, Z:-0.18 [[ 9.94055892e-01 -1.07421169e-01 1.77080864e-02 9.32111125e+00] [ 1.07409713e-01 9.94213556e-01 1.59948559e-03 2.05774728e-01] [-1.77774382e-02 3.12042404e-04 9.99841920e-01 -1.75287530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52 meters 0.018648837022275037 Centerline is valid? [True, True] Translation: X:9.35, Y:0.20, Z:-0.17 [[ 9.93369349e-01 -1.13308301e-01 1.94567398e-02 9.35135438e+00] [ 1.13295561e-01 9.93559772e-01 1.75937671e-03 2.04409613e-01] [-1.95307859e-02 4.56651339e-04 9.99809152e-01 -1.73371725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549999999999999 meters 0.017523185584692826 Centerline is valid? [True, True] Translation: X:9.38, Y:0.21, Z:-0.17 [[ 9.93116895e-01 -1.15364030e-01 2.02478229e-02 9.38038981e+00] [ 1.15350646e-01 9.93323147e-01 1.83160711e-03 2.05192850e-01] [-2.03239327e-02 5.16599486e-04 9.99793314e-01 -1.71904821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58 meters 0.019515423338266034 Centerline is valid? [True, True] Translation: X:9.41, Y:0.21, Z:-0.17 [[ 9.92869221e-01 -1.17459738e-01 2.03450060e-02 9.40785442e+00] [ 1.17446559e-01 9.93077489e-01 1.84556359e-03 2.05952926e-01] [-2.04209469e-02 5.57047660e-04 9.99791316e-01 -1.74346847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61 meters 0.018536893711455307 Centerline is valid? [True, True] Translation: X:9.44, Y:0.21, Z:-0.17 [[ 9.92873790e-01 -1.17431959e-01 2.02823011e-02 9.43531793e+00] [ 1.17418812e-01 9.93080777e-01 1.84199391e-03 2.09414507e-01] [-2.03582723e-02 5.52656228e-04 9.99792596e-01 -1.74463198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639999999999999 meters 0.017029074177234833 Centerline is valid? [True, True] Translation: X:9.46, Y:0.21, Z:-0.18 [[ 9.93306019e-01 -1.14012946e-01 1.85526400e-02 9.46345732e+00] [ 1.14001253e-01 9.93479168e-01 1.69013176e-03 2.14973304e-01] [-1.86243582e-02 4.36206144e-04 9.99826456e-01 -1.75990885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67 meters 0.018344527528222375 Centerline is valid? [True, True] Translation: X:9.49, Y:0.22, Z:-0.18 [[ 9.93918584e-01 -1.09059759e-01 1.52255333e-02 9.49063645e+00] [ 1.09051294e-01 9.94035155e-01 1.38757947e-03 2.21466536e-01] [-1.52860445e-02 2.81223089e-04 9.99883122e-01 -1.81403743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.7 meters 0.015962244204610322 Centerline is valid? [True, True] Translation: X:9.52, Y:0.23, Z:-0.18 [[ 9.94289038e-01 -1.05676669e-01 1.48913038e-02 9.51929526e+00] [ 1.05668175e-01 9.94400519e-01 1.35822687e-03 2.26810372e-01] [-1.49514531e-02 2.23066809e-04 9.99888196e-01 -1.81365253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73 meters 0.01688941887993029 Centerline is valid? [True, True] Translation: X:9.55, Y:0.23, Z:-0.18 [[ 9.94953224e-01 -9.94423670e-02 1.33901816e-02 9.54629233e+00] [ 9.94348859e-02 9.95043317e-01 1.22495963e-03 2.34578254e-01] [-1.34456236e-02 1.12673653e-04 9.99909597e-01 -1.84422206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76 meters 0.01688941887993029 Centerline is valid? [True, True] Translation: X:9.57, Y:0.24, Z:-0.18 [[ 9.94925482e-01 -9.97195578e-02 1.33901240e-02 9.57377761e+00] [ 9.97120932e-02 9.95015576e-01 1.22559184e-03 2.37176726e-01] [-1.34455974e-02 1.15784732e-04 9.99909597e-01 -1.84989807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79 meters 0.01678411626282653 Centerline is valid? [True, True] Translation: X:9.60, Y:0.24, Z:-0.19 [[ 9.95187211e-01 -9.71463792e-02 1.28450525e-02 9.60255038e+00] [ 9.71392487e-02 9.95270102e-01 1.17933891e-03 2.42478561e-01] [-1.28988652e-02 7.40957447e-05 9.99916803e-01 -1.85760425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82 meters 0.014502956373212066 Centerline is valid? [True, True] Translation: X:9.63, Y:0.25, Z:-0.18 [[ 9.95600577e-01 -9.27236399e-02 1.34839620e-02 9.62968000e+00] [ 9.27153130e-02 9.95691883e-01 1.24270009e-03 2.48754141e-01] [-1.35410992e-02 1.29368339e-05 9.99908315e-01 -1.84833489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85 meters 0.013717635263398318 Centerline is valid? [True, True] Translation: X:9.66, Y:0.25, Z:-0.18 [[ 9.95839380e-01 -8.99736785e-02 1.44452848e-02 9.65714855e+00] [ 8.99638296e-02 9.95944143e-01 1.33149845e-03 2.53237607e-01] [-1.45064966e-02 -2.64054502e-05 9.99894775e-01 -1.83636388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879999999999999 meters 0.01546935115441113 Centerline is valid? [True, True] Translation: X:9.69, Y:0.26, Z:-0.19 [[ 9.95864661e-01 -8.97092495e-02 1.43466850e-02 9.68522206e+00] [ 8.96994496e-02 9.95967996e-01 1.32640299e-03 2.56239293e-01] [-1.44078297e-02 -3.40281135e-05 9.99896201e-01 -1.85555121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91 meters 0.01853825964103783 Centerline is valid? [True, True] Translation: X:9.71, Y:0.26, Z:-0.19 [[ 9.95953831e-01 -8.86541114e-02 1.47110660e-02 9.71166387e+00] [ 8.86436141e-02 9.96062471e-01 1.36537696e-03 2.59939090e-01] [-1.47741870e-02 -5.58103633e-05 9.99890854e-01 -1.87794776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94 meters 0.015301023191181998 Centerline is valid? [True, True] Translation: X:9.74, Y:0.26, Z:-0.19 [[ 9.96018599e-01 -8.77107218e-02 1.59304345e-02 9.73981602e+00] [ 8.76982673e-02 9.96145985e-01 1.48005452e-03 2.63315517e-01] [-1.59988550e-02 -7.70903295e-05 9.99872007e-01 -1.85854371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969999999999999 meters 0.017140918507385743 Centerline is valid? [True, True] Translation: X:9.77, Y:0.27, Z:-0.19 [[ 9.96146935e-01 -8.63379562e-02 1.53961213e-02 9.76699277e+00] [ 8.63260826e-02 9.96265902e-01 1.43537211e-03 2.67009719e-01] [-1.54625578e-02 -1.00754683e-04 9.99880442e-01 -1.89323434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.0 meters 0.018360312909989712 Centerline is valid? [True, True] Translation: X:9.80, Y:0.27, Z:-0.19 [[ 9.96204560e-01 -8.57878098e-02 1.47284130e-02 9.79547058e+00] [ 8.57768806e-02 9.96313425e-01 1.37333452e-03 2.68913233e-01] [-1.47919309e-02 -1.04764794e-04 9.99890588e-01 -1.89919664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03 meters 0.0174019938681505 Centerline is valid? [True, True] Translation: X:9.82, Y:0.27, Z:-0.19 [[ 9.96243827e-01 -8.52557243e-02 1.51557969e-02 9.82315767e+00] [ 8.52440333e-02 9.96359095e-01 1.41690851e-03 2.70393040e-01] [-1.52214156e-02 -1.19645103e-04 9.99884140e-01 -1.89787895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059999999999999 meters 0.015321049726859229 Centerline is valid? [True, True] Translation: X:9.85, Y:0.27, Z:-0.19 [[ 9.96287368e-01 -8.47748758e-02 1.49900230e-02 9.85058303e+00] [ 8.47633050e-02 9.96400122e-01 1.40670729e-03 2.73114900e-01] [-1.50553142e-02 -1.30880813e-04 9.99886654e-01 -1.89182174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09 meters 0.017467886580098308 Centerline is valid? [True, True] Translation: X:9.88, Y:0.28, Z:-0.19 [[ 9.96402557e-01 -8.36242910e-02 1.37449309e-02 9.87886901e+00] [ 8.36144536e-02 9.96497345e-01 1.28983776e-03 2.76562458e-01] [-1.38046489e-02 -1.35922753e-04 9.99904702e-01 -1.92392707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12 meters 0.01726654806465083 Centerline is valid? [True, True] Translation: X:9.91, Y:0.28, Z:-0.19 [[ 9.96584422e-01 -8.17908423e-02 1.13906537e-02 9.90741545e+00] [ 8.17839441e-02 9.96649507e-01 1.07087371e-03 2.80533460e-01] [-1.14400771e-02 -1.35643469e-04 9.99934551e-01 -1.93989097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15 meters 0.01629718617103075 Centerline is valid? [True, True] Translation: X:9.94, Y:0.28, Z:-0.20 [[ 9.96721586e-01 -8.03045851e-02 9.86173142e-03 9.93567529e+00] [ 8.02993241e-02 9.96770363e-01 9.28914842e-04 2.84502621e-01] [-9.90447772e-03 -1.33979107e-04 9.99950940e-01 -1.95311092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18 meters 0.017908063822528943 Centerline is valid? [True, True] Translation: X:9.97, Y:0.29, Z:-0.20 [[ 9.96691747e-01 -8.08035247e-02 8.73792470e-03 9.96502364e+00] [ 8.07994005e-02 9.96730042e-01 8.24562221e-04 2.86223645e-01] [-8.77597959e-03 -1.15815284e-04 9.99961484e-01 -1.96921585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209999999999999 meters 0.018923909073195716 Centerline is valid? [True, True] Translation: X:9.99, Y:0.29, Z:-0.20 [[ 9.96639706e-01 -8.14629389e-02 8.54900676e-03 9.99266910e+00] [ 8.14590017e-02 9.96676366e-01 8.08320383e-04 2.88017591e-01] [-8.58644114e-03 -1.09210633e-04 9.99963130e-01 -1.97334437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24 meters 0.01768892130067086 Centerline is valid? [True, True] Translation: X:10.02, Y:0.29, Z:-0.20 [[ 9.96431328e-01 -8.37776201e-02 1.02917055e-02 1.00204893e+01] [ 8.37719774e-02 9.96484469e-01 9.78904481e-04 2.89499836e-01] [-1.03375350e-02 -1.13254573e-04 9.99946560e-01 -1.96407514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27 meters 0.016443379047904914 Centerline is valid? [True, True] Translation: X:10.05, Y:0.29, Z:-0.19 [[ 9.96157270e-01 -8.67779441e-02 1.18440483e-02 1.00492584e+01] [ 8.67706714e-02 9.96227674e-01 1.12750964e-03 2.89403837e-01] [-1.18972117e-02 -9.54608977e-05 9.99929221e-01 -1.94290121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299999999999999 meters 0.01546506580259896 Centerline is valid? [True, True] Translation: X:10.08, Y:0.29, Z:-0.19 [[ 9.96030999e-01 -8.80983001e-02 1.26861694e-02 1.00784161e+01] [ 8.80900184e-02 9.96111782e-01 1.21121668e-03 2.90820826e-01] [-1.27435489e-02 -8.88844618e-05 9.99918794e-01 -1.92928760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33 meters 0.01616935253875449 Centerline is valid? [True, True] Translation: X:10.11, Y:0.29, Z:-0.19 [[ 9.95900255e-01 -8.95296661e-02 1.29275300e-02 1.01065537e+01] [ 8.95211272e-02 9.95984153e-01 1.23884866e-03 2.92685640e-01] [-1.29865288e-02 -7.64826346e-05 9.99915669e-01 -1.93804206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36 meters 0.015070180585835934 Centerline is valid? [True, True] Translation: X:10.14, Y:0.29, Z:-0.19 [[ 9.95757871e-01 -9.10179361e-02 1.34906395e-02 1.01351104e+01] [ 9.10087746e-02 9.95849252e-01 1.29274553e-03 2.94684275e-01] [-1.35523063e-02 -5.94949606e-05 9.99908162e-01 -1.92802354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389999999999999 meters 0.015211736204271886 Centerline is valid? [True, True] Translation: X:10.16, Y:0.30, Z:-0.19 [[ 9.95688079e-01 -9.18898856e-02 1.27081930e-02 1.01617492e+01] [ 9.18817699e-02 9.95769173e-01 1.22223857e-03 2.97594365e-01] [-1.27667382e-02 -4.93171029e-05 9.99918501e-01 -1.94119767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42 meters 0.017677275445393215 Centerline is valid? [True, True] Translation: X:10.19, Y:0.30, Z:-0.20 [[ 9.95635372e-01 -9.26494740e-02 1.12374826e-02 1.01907054e+01] [ 9.26431770e-02 9.95698787e-01 1.08074242e-03 3.00581084e-01] [-1.12892780e-02 -3.49492958e-05 9.99936273e-01 -1.96586839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45 meters 0.014940671177420815 Centerline is valid? [True, True] Translation: X:10.22, Y:0.30, Z:-0.20 [[ 9.95635643e-01 -9.26398347e-02 1.12927899e-02 1.02183017e+01] [ 9.26334477e-02 9.95699683e-01 1.08846299e-03 3.04139910e-01] [-1.13450623e-02 -3.76224861e-05 9.99935642e-01 -1.95057682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48 meters 0.014121875096703745 Centerline is valid? [True, True] Translation: X:10.25, Y:0.31, Z:-0.19 [[ 9.95606668e-01 -9.29434169e-02 1.13527208e-02 1.02463190e+01] [ 9.29369450e-02 9.95671391e-01 1.09745570e-03 3.07284075e-01] [-1.14055806e-02 -3.75470159e-05 9.99934954e-01 -1.94711257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51 meters 0.01513372630278626 Centerline is valid? [True, True] Translation: X:10.27, Y:0.31, Z:-0.20 [[ 9.95426381e-01 -9.48817718e-02 1.11251302e-02 1.02730421e+01] [ 9.48756263e-02 9.95488548e-01 1.08006817e-03 3.09750634e-01] [-1.11774185e-02 -1.96246523e-05 9.99937531e-01 -1.95627880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54 meters 0.01605677281929903 Centerline is valid? [True, True] Translation: X:10.30, Y:0.31, Z:-0.20 [[ 9.95156330e-01 -9.75086357e-02 1.24877744e-02 1.03009308e+01] [ 9.75010764e-02 9.95234679e-01 1.21417604e-03 3.11763544e-01] [-1.25466587e-02 9.27646418e-06 9.99921288e-01 -1.95874624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57 meters 0.016863918019815266 Centerline is valid? [True, True] Translation: X:10.33, Y:0.31, Z:-0.20 [[ 9.95015210e-01 -9.88830078e-02 1.29182863e-02 1.03280723e+01] [ 9.88750161e-02 9.95099065e-01 1.25741847e-03 3.13989417e-01] [-1.29793119e-02 2.61452588e-05 9.99915765e-01 -1.96656767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.6 meters 0.014700830693812504 Centerline is valid? [True, True] Translation: X:10.36, Y:0.32, Z:-0.20 [[ 9.94841060e-01 -1.00482145e-01 1.39500420e-02 1.03561071e+01] [ 1.00472950e-01 9.94938861e-01 1.36014340e-03 3.16060024e-01] [-1.40161090e-02 4.84753735e-05 9.99901768e-01 -1.95042909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629999999999999 meters 0.017500305165512375 Centerline is valid? [True, True] Translation: X:10.38, Y:0.32, Z:-0.20 [[ 9.94651521e-01 -1.02433694e-01 1.32547927e-02 1.03840411e+01] [ 1.02425506e-01 9.94739832e-01 1.29694716e-03 3.18118121e-01] [-1.33179213e-02 6.76183750e-05 9.99911310e-01 -1.98163354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66 meters 0.015987575057093594 Centerline is valid? [True, True] Translation: X:10.41, Y:0.32, Z:-0.20 [[ 9.94453192e-01 -1.04172770e-01 1.45218111e-02 1.04121052e+01] [ 1.04163108e-01 9.94559211e-01 1.42219739e-03 3.18567854e-01] [-1.45909552e-02 9.83282443e-05 9.99893542e-01 -1.97060088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69 meters 0.01798397651659793 Centerline is valid? [True, True] Translation: X:10.44, Y:0.32, Z:-0.20 [[ 9.94268390e-01 -1.06000891e-01 1.39348266e-02 1.04408207e+01] [ 1.05992119e-01 9.94366028e-01 1.36864098e-03 3.20238312e-01] [-1.40013954e-02 1.16185337e-04 9.99901969e-01 -1.98313279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719999999999999 meters 0.018380303777864492 Centerline is valid? [True, True] Translation: X:10.47, Y:0.32, Z:-0.20 [[ 9.94082482e-01 -1.07559603e-01 1.51970697e-02 1.04682075e+01] [ 1.07549281e-01 9.94198627e-01 1.49722516e-03 3.20915558e-01] [-1.52699468e-02 1.46068618e-04 9.99883397e-01 -1.98634782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75 meters 0.018568768134680787 Centerline is valid? [True, True] Translation: X:10.50, Y:0.32, Z:-0.20 [[ 9.94063399e-01 -1.07714663e-01 1.53463453e-02 1.04953093e+01] [ 1.07704103e-01 9.94181839e-01 1.51535400e-03 3.23163658e-01] [-1.54202837e-02 1.46506408e-04 9.99881090e-01 -1.99430179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78 meters 0.01801212573560533 Centerline is valid? [True, True] Translation: X:10.52, Y:0.33, Z:-0.20 [[ 9.94101210e-01 -1.07285978e-01 1.58903754e-02 1.05230630e+01] [ 1.07274581e-01 9.94228192e-01 1.57031464e-03 3.28198001e-01] [-1.59671319e-02 1.43581678e-04 9.99872507e-01 -2.00289511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809999999999999 meters 0.017423900793417685 Centerline is valid? [True, True] Translation: X:10.55, Y:0.33, Z:-0.20 [[ 9.94332865e-01 -1.05099310e-01 1.60090072e-02 1.05508025e+01] [ 1.05087373e-01 9.94461726e-01 1.58741134e-03 3.33589172e-01] [-1.60871808e-02 1.03929249e-04 9.99870588e-01 -2.01386997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84 meters 0.01654872554552281 Centerline is valid? [True, True] Translation: X:10.58, Y:0.34, Z:-0.20 [[ 9.94487453e-01 -1.03708366e-01 1.54687272e-02 1.05783565e+01] [ 1.03697033e-01 9.94607746e-01 1.53504974e-03 3.37777756e-01] [-1.55445134e-02 7.74734117e-05 9.99879174e-01 -2.02280412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87 meters 0.01721460944807313 Centerline is valid? [True, True] Translation: X:10.61, Y:0.34, Z:-0.20 [[ 9.94848994e-01 -1.00399366e-01 1.39802505e-02 1.06055953e+01] [ 1.00389735e-01 9.94947218e-01 1.39076146e-03 3.43226160e-01] [-1.40492429e-02 1.98760060e-05 9.99901304e-01 -2.04900503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.9 meters 0.01709642930910506 Centerline is valid? [True, True] Translation: X:10.63, Y:0.35, Z:-0.21 [[ 9.95283796e-01 -9.60308149e-02 1.37203268e-02 1.06333544e+01] [ 9.60210511e-02 9.95378360e-01 1.37014013e-03 3.49878662e-01] [-1.37884921e-02 -4.62380738e-05 9.99904933e-01 -2.05711970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93 meters 0.016179842076795542 Centerline is valid? [True, True] Translation: X:10.66, Y:0.36, Z:-0.21 [[ 9.95512204e-01 -9.35547648e-02 1.42462900e-02 1.06611351e+01] [ 9.35439651e-02 9.95614131e-01 1.42401907e-03 3.55402706e-01] [-1.43170314e-02 -8.49739012e-05 9.99897502e-01 -2.06053582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959999999999999 meters 0.01770784697332272 Centerline is valid? [True, True] Translation: X:10.69, Y:0.36, Z:-0.21 [[ 9.95853727e-01 -8.98201674e-02 1.44114949e-02 1.06892907e+01] [ 8.98087195e-02 9.95957990e-01 1.44088304e-03 3.63114884e-01] [-1.44826638e-02 -1.40630846e-04 9.99895111e-01 -2.07984703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99 meters 0.016841661357570488 Centerline is valid? [True, True] Translation: X:10.72, Y:0.37, Z:-0.21 [[ 9.96015312e-01 -8.79492304e-02 1.47793912e-02 1.07181399e+01] [ 8.79369288e-02 9.96124943e-01 1.48141808e-03 3.68356423e-01] [-1.48524098e-02 -1.75860823e-04 9.99889681e-01 -2.08060482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02 meters 0.016916479142665388 Centerline is valid? [True, True] Translation: X:10.75, Y:0.37, Z:-0.21 [[ 9.96280397e-01 -8.49782829e-02 1.42850539e-02 1.07462729e+01] [ 8.49664371e-02 9.96382780e-01 1.43522113e-03 3.74307990e-01] [-1.43553444e-02 -2.16132545e-04 9.99896933e-01 -2.09285602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049999999999999 meters 0.015983738001329365 Centerline is valid? [True, True] Translation: X:10.78, Y:0.38, Z:-0.21 [[ 9.96387727e-01 -8.36900294e-02 1.44040574e-02 1.07750872e+01] [ 8.36777985e-02 9.96491807e-01 1.45077948e-03 3.77714895e-01] [-1.44749409e-02 -2.40239051e-04 9.99895204e-01 -2.08806047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08 meters 0.019601853250073645 Centerline is valid? [True, True] Translation: X:10.80, Y:0.38, Z:-0.21 [[ 9.96411515e-01 -8.35300675e-02 1.36682664e-02 1.08030637e+01] [ 8.35189804e-02 9.96505230e-01 1.38095573e-03 3.81666724e-01] [-1.37358503e-02 -2.34440517e-04 9.99905631e-01 -2.12165252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11 meters 0.01887444372793874 Centerline is valid? [True, True] Translation: X:10.83, Y:0.38, Z:-0.21 [[ 9.96445243e-01 -8.31533371e-02 1.35055346e-02 1.08322566e+01] [ 8.31424773e-02 9.96536736e-01 1.36456106e-03 3.84025241e-01] [-1.35722292e-02 -2.36826770e-04 9.99907865e-01 -2.11951158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139999999999999 meters 0.019130015442355066 Centerline is valid? [True, True] Translation: X:10.86, Y:0.39, Z:-0.21 [[ 9.96418618e-01 -8.35395648e-02 1.30797478e-02 1.08593342e+01] [ 8.35293585e-02 9.96504435e-01 1.32563088e-03 3.87022531e-01] [-1.31447693e-02 -2.28340345e-04 9.99913578e-01 -2.13482368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17 meters 0.018294458632979724 Centerline is valid? [True, True] Translation: X:10.89, Y:0.39, Z:-0.21 [[ 9.96372104e-01 -8.41032218e-02 1.30107431e-02 1.08877193e+01] [ 8.40931658e-02 9.96457023e-01 1.31903303e-03 3.89554053e-01] [-1.30755812e-02 -2.20133146e-04 9.99914487e-01 -2.14009137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.2 meters 0.01892212362036043 Centerline is valid? [True, True] Translation: X:10.92, Y:0.39, Z:-0.22 [[ 9.96103232e-01 -8.72778166e-02 1.26859359e-02 1.09163772e+01] [ 8.72684654e-02 9.96183995e-01 1.28989459e-03 3.90202467e-01] [-1.27501055e-02 -1.77786019e-04 9.99918698e-01 -2.15856424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229999999999999 meters 0.01844632814104562 Centerline is valid? [True, True] Translation: X:10.95, Y:0.39, Z:-0.22 [[ 9.95879993e-01 -8.96715746e-02 1.34925077e-02 1.09455503e+01] [ 8.96611654e-02 9.95971377e-01 1.37563856e-03 3.90971049e-01] [-1.35615071e-02 -1.60216960e-04 9.99908026e-01 -2.15920625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26 meters 0.01730389840589989 Centerline is valid? [True, True] Translation: X:10.97, Y:0.39, Z:-0.21 [[ 9.95284331e-01 -9.58063909e-02 1.51734981e-02 1.09739388e+01] [ 9.57938609e-02 9.95399983e-01 1.55212437e-03 3.87846276e-01] [-1.52524032e-02 -9.12770936e-05 9.99883671e-01 -2.13349975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29 meters 0.014089367481970039 Centerline is valid? [True, True] Translation: X:11.00, Y:0.39, Z:-0.21 [[ 9.94972562e-01 -9.87275709e-02 1.68067966e-02 1.10033761e+01] [ 9.87125805e-02 9.95114498e-01 1.72121055e-03 3.86984350e-01] [-1.68946179e-02 -5.35150101e-05 9.99857274e-01 -2.09515747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32 meters 0.01701048167986711 Centerline is valid? [True, True] Translation: X:11.03, Y:0.38, Z:-0.21 [[ 9.94173101e-01 -1.06049456e-01 1.93224510e-02 1.10307558e+01] [ 1.06030910e-01 9.94360854e-01 1.98469233e-03 3.84496862e-01] [-1.94239644e-02 7.56493317e-05 9.99811334e-01 -2.10720348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35 meters 0.01726844596048929 Centerline is valid? [True, True] Translation: X:11.06, Y:0.39, Z:-0.21 [[ 9.93883379e-01 -1.08558594e-01 2.02696778e-02 1.10601270e+01] [ 1.08538652e-01 9.94090044e-01 2.08464997e-03 3.85837237e-01] [-2.03761915e-02 1.28144553e-04 9.99792376e-01 -2.10739851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379999999999999 meters 0.01663940690733604 Centerline is valid? [True, True] Translation: X:11.09, Y:0.39, Z:-0.21 [[ 9.93475538e-01 -1.11971664e-01 2.16495382e-02 1.10883986e+01] [ 1.11949602e-01 9.93711379e-01 2.23216073e-03 3.85761484e-01] [-2.17633312e-02 2.06060108e-04 9.99763129e-01 -2.11060241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41 meters 0.017261929193793567 Centerline is valid? [True, True] Translation: X:11.12, Y:0.39, Z:-0.21 [[ 9.93339461e-01 -1.13242036e-01 2.12827949e-02 1.11170778e+01] [ 1.13220965e-01 9.93567405e-01 2.19632948e-03 3.87566412e-01] [-2.13946081e-02 2.27957838e-04 9.99771083e-01 -2.12559626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44 meters 0.01689889195874736 Centerline is valid? [True, True] Translation: X:11.15, Y:0.39, Z:-0.21 [[ 9.93202194e-01 -1.14592017e-01 2.04467783e-02 1.11464555e+01] [ 1.14572755e-01 9.93412609e-01 2.11491556e-03 3.88941279e-01] [-2.05544398e-02 2.42104942e-04 9.99788706e-01 -2.13419965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469999999999999 meters 0.015519779688784461 Centerline is valid? [True, True] Translation: X:11.17, Y:0.39, Z:-0.21 [[ 9.93210180e-01 -1.14637765e-01 1.97919236e-02 1.11745698e+01] [ 1.14619632e-01 9.93407333e-01 2.05192880e-03 3.91876074e-01] [-1.98966706e-02 2.30546420e-04 9.99802015e-01 -2.13691964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.5 meters 0.01814985323375966 Centerline is valid? [True, True] Translation: X:11.20, Y:0.40, Z:-0.22 [[ 9.93323936e-01 -1.14008219e-01 1.75978283e-02 1.12020566e+01] [ 1.13993706e-01 9.93479789e-01 1.82884561e-03 3.95432000e-01] [-1.76915901e-02 1.89405544e-04 9.99843474e-01 -2.18318926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53 meters 0.01572222552201249 Centerline is valid? [True, True] Translation: X:11.23, Y:0.40, Z:-0.22 [[ 9.93761661e-01 -1.10395422e-01 1.58307395e-02 1.12295095e+01] [ 1.10383142e-01 9.93887740e-01 1.65009963e-03 3.99681223e-01] [-1.59161413e-02 1.07641004e-04 9.99873324e-01 -2.19210312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559999999999999 meters 0.014009878564409611 Centerline is valid? [True, True] Translation: X:11.26, Y:0.40, Z:-0.22 [[ 9.94044105e-01 -1.07903017e-01 1.52727549e-02 1.12582895e+01] [ 1.07891286e-01 9.94161423e-01 1.59240327e-03 4.03839627e-01] [-1.53554088e-02 6.48780796e-05 9.99882097e-01 -2.18493872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59 meters 0.013832914562252814 Centerline is valid? [True, True] Translation: X:11.29, Y:0.41, Z:-0.22 [[ 9.94615386e-01 -1.02604706e-01 1.45776322e-02 1.12856550e+01] [ 1.02593402e-01 9.94722209e-01 1.52312351e-03 4.09878083e-01] [-1.46569741e-02 -1.93531912e-05 9.99892581e-01 -2.19307921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62 meters 0.01412037931854372 Centerline is valid? [True, True] Translation: X:11.31, Y:0.42, Z:-0.22 [[ 9.95139717e-01 -9.73005485e-02 1.51508193e-02 1.13131689e+01] [ 9.72876384e-02 9.95255039e-01 1.58857649e-03 4.16605662e-01] [-1.52334986e-02 -1.06868130e-04 9.99883958e-01 -2.20039424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65 meters 0.01412037931854372 Centerline is valid? [True, True] Translation: X:11.34, Y:0.42, Z:-0.22 [[ 9.95112686e-01 -9.75766124e-02 1.51507883e-02 1.13406150e+01] [ 9.75637297e-02 9.95228011e-01 1.58887301e-03 4.19567527e-01] [-1.52335258e-02 -1.02940267e-04 9.99883958e-01 -2.20607369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68 meters 0.016180769008190623 Centerline is valid? [True, True] Translation: X:11.37, Y:0.42, Z:-0.22 [[ 9.95267405e-01 -9.57473283e-02 1.65904046e-02 1.13693335e+01] [ 9.57315376e-02 9.95405660e-01 1.74519100e-03 4.23851794e-01] [-1.66812800e-02 -1.48706779e-04 9.99860847e-01 -2.21887911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709999999999999 meters 0.014565950641966651 Centerline is valid? [True, True] Translation: X:11.40, Y:0.43, Z:-0.22 [[ 9.95381006e-01 -9.42601790e-02 1.82118385e-02 1.13983187e+01] [ 9.42408119e-02 9.95547578e-01 1.92065879e-03 4.28144746e-01] [-1.83117933e-02 -1.95488833e-04 9.99832306e-01 -2.19161570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74 meters 0.016573909335359203 Centerline is valid? [True, True] Translation: X:11.43, Y:0.43, Z:-0.22 [[ 9.95267312e-01 -9.54940680e-02 1.79961295e-02 1.14262185e+01] [ 9.54752706e-02 9.95429984e-01 1.90277512e-03 4.31188161e-01] [-1.80955907e-02 -1.75584545e-04 9.99836246e-01 -2.22122912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77 meters 0.016654270666220255 Centerline is valid? [True, True] Translation: X:11.45, Y:0.44, Z:-0.22 [[ 9.95092262e-01 -9.73206138e-02 1.78909827e-02 1.14533852e+01] [ 9.73023020e-02 9.95253072e-01 1.89324788e-03 4.37467745e-01] [-1.79903075e-02 -1.43122521e-04 9.99838151e-01 -2.24538618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799999999999999 meters 0.017077254195453678 Centerline is valid? [True, True] Translation: X:11.48, Y:0.44, Z:-0.23 [[ 9.95109720e-01 -9.72445920e-02 1.73243843e-02 1.14806975e+01] [ 9.72273952e-02 9.95260503e-01 1.83414908e-03 4.44400800e-01] [-1.74206366e-02 -1.40774819e-04 9.99848239e-01 -2.27030484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83 meters 0.015400555254040644 Centerline is valid? [True, True] Translation: X:11.51, Y:0.45, Z:-0.23 [[ 9.95205243e-01 -9.63074414e-02 1.70704747e-02 1.15077869e+01] [ 9.62905147e-02 9.95351622e-01 1.81265706e-03 4.53222929e-01] [-1.71656970e-02 -1.60241022e-04 9.99852646e-01 -2.27890496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86 meters 0.017777533758641936 Centerline is valid? [True, True] Translation: X:11.54, Y:0.46, Z:-0.23 [[ 9.95202266e-01 -9.63907908e-02 1.67709606e-02 1.15353701e+01] [ 9.63744527e-02 9.95343554e-01 1.78156724e-03 4.57773678e-01] [-1.68645942e-02 -1.56727605e-04 9.99857770e-01 -2.30203031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889999999999999 meters 0.014446660923786681 Centerline is valid? [True, True] Translation: X:11.56, Y:0.46, Z:-0.23 [[ 9.95240944e-01 -9.58595492e-02 1.75046012e-02 1.15628750e+01] [ 9.58415774e-02 9.95394854e-01 1.86465945e-03 4.61959885e-01] [-1.76027353e-02 -1.78116840e-04 9.99845044e-01 -2.25787826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92 meters 0.014395187634412753 Centerline is valid? [True, True] Translation: X:11.59, Y:0.47, Z:-0.23 [[ 9.95206548e-01 -9.62372665e-02 1.73872261e-02 1.15902812e+01] [ 9.62195079e-02 9.95358407e-01 1.85699179e-03 4.65800258e-01] [-1.74852335e-02 -1.75100049e-04 9.99847106e-01 -2.26006717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95 meters 0.016648735690259476 Centerline is valid? [True, True] Translation: X:11.62, Y:0.47, Z:-0.23 [[ 9.95049951e-01 -9.80796560e-02 1.59992260e-02 1.16171981e+01] [ 9.80647930e-02 9.95178558e-01 1.71277908e-03 4.72722628e-01] [-1.60900755e-02 -1.35339954e-04 9.99870537e-01 -2.30550007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979999999999999 meters 0.01630686117970981 Centerline is valid? [True, True] Translation: X:11.65, Y:0.48, Z:-0.23 [[ 9.95036821e-01 -9.83508458e-02 1.51273075e-02 1.16450895e+01] [ 9.83375308e-02 9.95151795e-01 1.62333550e-03 4.78670291e-01] [-1.52136236e-02 -1.27696531e-04 9.99884258e-01 -2.32486512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01 meters 0.018504635276728857 Centerline is valid? [True, True] Translation: X:11.67, Y:0.48, Z:-0.23 [[ 9.95061586e-01 -9.82240503e-02 1.42994838e-02 1.16740351e+01] [ 9.82120837e-02 9.95164318e-01 1.53838903e-03 4.82092538e-01] [-1.43814429e-02 -1.26409728e-04 9.99896574e-01 -2.34772327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04 meters 0.01741525199994403 Centerline is valid? [True, True] Translation: X:11.70, Y:0.49, Z:-0.23 [[ 9.95194825e-01 -9.68826192e-02 1.41780929e-02 1.17028740e+01] [ 9.68706707e-02 9.95295803e-01 1.52870943e-03 4.85139243e-01] [-1.42595017e-02 -1.47922345e-04 9.99898317e-01 -2.33836451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07 meters 0.0169450676943999 Centerline is valid? [True, True] Translation: X:11.73, Y:0.49, Z:-0.23 [[ 9.95215821e-01 -9.66101760e-02 1.45583115e-02 1.17305121e+01] [ 9.65974999e-02 9.95322284e-01 1.57304221e-03 4.87432255e-01] [-1.46421838e-02 -1.59219993e-04 9.99892785e-01 -2.33842330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.1 meters 0.017531205461162606 Centerline is valid? [True, True] Translation: X:11.76, Y:0.49, Z:-0.24 [[ 9.95257865e-01 -9.61767589e-02 1.45537939e-02 1.17580876e+01] [ 9.61639643e-02 9.95364256e-01 1.57801878e-03 4.91980916e-01] [-1.46380950e-02 -1.70985079e-04 9.99892843e-01 -2.35471902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129999999999999 meters 0.0173485366043178 Centerline is valid? [True, True] Translation: X:11.78, Y:0.50, Z:-0.24 [[ 9.95375999e-01 -9.48974692e-02 1.48691305e-02 1.17849930e+01] [ 9.48839562e-02 9.95487033e-01 1.61322740e-03 4.97864817e-01] [-1.49551178e-02 -1.94925912e-04 9.99888147e-01 -2.36057719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16 meters 0.016790141637267778 Centerline is valid? [True, True] Translation: X:11.81, Y:0.50, Z:-0.24 [[ 9.95420613e-01 -9.42840450e-02 1.57582435e-02 1.18132929e+01] [ 9.42687580e-02 9.95545313e-01 1.71175714e-03 5.02142218e-01] [-1.58494369e-02 -2.18408294e-04 9.99874366e-01 -2.35203355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19 meters 0.017781551686201 Centerline is valid? [True, True] Translation: X:11.84, Y:0.51, Z:-0.23 [[ 9.95615917e-01 -9.21172639e-02 1.62282218e-02 1.18407854e+01] [ 9.21006726e-02 9.95748130e-01 1.76838469e-03 5.05466814e-01] [-1.63221202e-02 -2.66001808e-04 9.99866750e-01 -2.34022900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219999999999999 meters 0.020475858645587857 Centerline is valid? [True, True] Translation: X:11.87, Y:0.51, Z:-0.23 [[ 9.95794556e-01 -9.02179000e-02 1.59352454e-02 1.18699975e+01] [ 9.02016492e-02 9.95922008e-01 1.73708009e-03 5.07796312e-01] [-1.60269773e-02 -2.92389481e-04 9.99871517e-01 -2.34462182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25 meters 0.018872483677041554 Centerline is valid? [True, True] Translation: X:11.90, Y:0.51, Z:-0.23 [[ 9.95914371e-01 -8.89011366e-02 1.58478145e-02 1.18986993e+01] [ 8.88848340e-02 9.96040405e-01 1.73149771e-03 5.11510253e-01] [-1.59389957e-02 -3.15793092e-04 9.99872916e-01 -2.33729342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28 meters 0.018784102067370734 Centerline is valid? [True, True] Translation: X:11.93, Y:0.52, Z:-0.23 [[ 9.96011432e-01 -8.79199893e-02 1.52086324e-02 1.19269243e+01] [ 8.79048055e-02 9.96127488e-01 1.66529597e-03 5.16471292e-01] [-1.52961496e-02 -3.21741951e-04 9.99882955e-01 -2.34892017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309999999999999 meters 0.020101277726339465 Centerline is valid? [True, True] Translation: X:11.96, Y:0.52, Z:-0.24 [[ 9.96159953e-01 -8.62717693e-02 1.49174442e-02 1.19554967e+01] [ 8.62569221e-02 9.96271581e-01 1.63704508e-03 5.22385587e-01] [-1.50030565e-02 -3.44025927e-04 9.99887389e-01 -2.36760425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34 meters 0.01953640100846107 Centerline is valid? [True, True] Translation: X:11.98, Y:0.53, Z:-0.24 [[ 9.96185868e-01 -8.60049358e-02 1.47264225e-02 1.19840683e+01] [ 8.59903840e-02 9.96294650e-01 1.61968245e-03 5.25622261e-01] [-1.48111567e-02 -3.47174035e-04 9.99890249e-01 -2.36926337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37 meters 0.019257118610188775 Centerline is valid? [True, True] Translation: X:12.01, Y:0.53, Z:-0.24 [[ 9.96110224e-01 -8.68603957e-02 1.48220375e-02 1.20117980e+01] [ 8.68456835e-02 9.96220435e-01 1.63458743e-03 5.26547769e-01] [-1.49079975e-02 -3.40999280e-04 9.99888811e-01 -2.36385086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399999999999999 meters 0.017988990706640656 Centerline is valid? [True, True] Translation: X:12.04, Y:0.52, Z:-0.24 [[ 9.95829769e-01 -8.99021256e-02 1.55138254e-02 1.20411689e+01] [ 8.98863522e-02 9.95950557e-01 1.71245132e-03 5.24631076e-01] [-1.56049560e-02 -3.10828827e-04 9.99878187e-01 -2.35175585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43 meters 0.019810637758615596 Centerline is valid? [True, True] Translation: X:12.07, Y:0.53, Z:-0.24 [[ 9.95641549e-01 -9.19396509e-02 1.56527068e-02 1.20687364e+01] [ 9.19237697e-02 9.95764540e-01 1.73259445e-03 5.27226699e-01] [-1.57457045e-02 -2.86187208e-04 9.99875988e-01 -2.36752314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459999999999999 meters 0.018588959766266466 Centerline is valid? [True, True] Translation: X:12.10, Y:0.53, Z:-0.24 [[ 9.95434502e-01 -9.40063968e-02 1.65211864e-02 1.20979919e+01] [ 9.39889728e-02 9.95571557e-01 1.82968220e-03 5.27368000e-01] [-1.66200251e-02 -2.68519448e-04 9.99861842e-01 -2.36365917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.49 meters 0.0182469259098862 Centerline is valid? [True, True] Translation: X:12.13, Y:0.53, Z:-0.24 [[ 9.95009813e-01 -9.79356545e-02 1.90808881e-02 1.21257856e+01] [ 9.79130242e-02 9.95192720e-01 2.11890338e-03 5.27118041e-01] [-1.91966772e-02 -2.40062192e-04 9.99815698e-01 -2.35898643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52 meters 0.017766908464857283 Centerline is valid? [True, True] Translation: X:12.16, Y:0.53, Z:-0.24 [[ 9.94613599e-01 -1.01535634e-01 2.08399440e-02 1.21553645e+01] [ 1.01509385e-01 9.94831885e-01 2.31629515e-03 5.25392663e-01] [-2.09674273e-02 -1.88368755e-04 9.99780142e-01 -2.35206401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549999999999999 meters 0.01718358373885204 Centerline is valid? [True, True] Translation: X:12.18, Y:0.53, Z:-0.24 [[ 9.94411357e-01 -1.03538433e-01 2.06360517e-02 1.21848074e+01] [ 1.03513021e-01 9.94625442e-01 2.29871723e-03 5.25578881e-01] [-2.07631476e-02 -1.49770479e-04 9.99784411e-01 -2.35398537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58 meters 0.01686173331495745 Centerline is valid? [True, True] Translation: X:12.21, Y:0.53, Z:-0.24 [[ 9.94254511e-01 -1.05070784e-01 2.04474481e-02 1.22128245e+01] [ 1.05046052e-01 9.94464738e-01 2.28289291e-03 5.26959709e-01] [-2.05741315e-02 -1.21852890e-04 9.99788323e-01 -2.36239820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61 meters 0.013752484253217942 Centerline is valid? [True, True] Translation: X:12.24, Y:0.53, Z:-0.23 [[ 9.94176064e-01 -1.05733631e-01 2.08411424e-02 1.22414844e+01] [ 1.05708021e-01 9.94394482e-01 2.32980639e-03 5.28460980e-01] [-2.09706559e-02 -1.13161835e-04 9.99780085e-01 -2.34305772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639999999999999 meters 0.013671840134223054 Centerline is valid? [True, True] Translation: X:12.27, Y:0.53, Z:-0.24 [[ 9.94130423e-01 -1.06437834e-01 1.93826994e-02 1.22680913e+01] [ 1.06415713e-01 9.94319354e-01 2.17205592e-03 5.29587021e-01] [-1.95037821e-02 -9.66830939e-05 9.99809778e-01 -2.37201088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67 meters 0.017056422812748523 Centerline is valid? [True, True] Translation: X:12.30, Y:0.53, Z:-0.24 [[ 9.94084107e-01 -1.06989394e-01 1.87098171e-02 1.22958486e+01] [ 1.06968816e-01 9.94260158e-01 2.10002094e-03 5.32248667e-01] [-1.88271057e-02 -8.62304521e-05 9.99822751e-01 -2.42044823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.7 meters 0.017544935123082462 Centerline is valid? [True, True] Translation: X:12.32, Y:0.54, Z:-0.24 [[ 9.94268253e-01 -1.05215674e-01 1.89816538e-02 1.23237309e+01] [ 1.05194062e-01 9.94449418e-01 2.13628888e-03 5.36406693e-01] [-1.91010657e-02 -1.27286950e-04 9.99817550e-01 -2.42722539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729999999999999 meters 0.014999657237481983 Centerline is valid? [True, True] Translation: X:12.35, Y:0.54, Z:-0.24 [[ 9.94344175e-01 -1.04262028e-01 2.02260002e-02 1.23527338e+01] [ 1.04237233e-01 9.94549850e-01 2.27918076e-03 5.40237944e-01] [-2.03533975e-02 -1.57987817e-04 9.99792836e-01 -2.40924538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76 meters 0.016477851230710366 Centerline is valid? [True, True] Translation: X:12.38, Y:0.54, Z:-0.24 [[ 9.94507983e-01 -1.02579506e-01 2.07681536e-02 1.23812265e+01] [ 1.02552886e-01 9.94724788e-01 2.34556137e-03 5.44357206e-01] [-2.08992037e-02 -2.02845411e-04 9.99781567e-01 -2.41816635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79 meters 0.018550876061047716 Centerline is valid? [True, True] Translation: X:12.41, Y:0.55, Z:-0.24 [[ 9.94636306e-01 -1.01367408e-01 2.05734582e-02 1.24088352e+01] [ 1.01340922e-01 9.94849031e-01 2.32863489e-03 5.48703970e-01] [-2.07035326e-02 -2.31211593e-04 9.99785632e-01 -2.43835522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82 meters 0.0154836560663083 Centerline is valid? [True, True] Translation: X:12.44, Y:0.55, Z:-0.24 [[ 9.94737966e-01 -1.00304025e-01 2.08681999e-02 1.24376328e+01] [ 1.00276499e-01 9.94956801e-01 2.36392803e-03 5.53000619e-01] [-2.10000690e-02 -2.58898925e-04 9.99779441e-01 -2.42685912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85 meters 0.016415507324372157 Centerline is valid? [True, True] Translation: X:12.47, Y:0.56, Z:-0.25 [[ 9.94636038e-01 -1.01898999e-01 1.77692431e-02 1.24652239e+01] [ 1.01879224e-01 9.94794730e-01 2.01691714e-03 5.57440830e-01] [-1.78822712e-02 -1.95781781e-04 9.99840080e-01 -2.48696733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879999999999999 meters 0.01704892295892699 Centerline is valid? [True, True] Translation: X:12.49, Y:0.56, Z:-0.25 [[ 9.94530314e-01 -1.03014199e-01 1.72490483e-02 1.24929371e+01] [ 1.02995719e-01 9.94679871e-01 1.95867167e-03 5.59641856e-01] [-1.73590521e-02 -1.71380220e-04 9.99849306e-01 -2.50805450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91 meters 0.014094740297975732 Centerline is valid? [True, True] Translation: X:12.52, Y:0.56, Z:-0.25 [[ 9.94510375e-01 -1.03105424e-01 1.78433660e-02 1.25212289e+01] [ 1.03085568e-01 9.94670417e-01 2.03149584e-03 5.62541586e-01] [-1.79577265e-02 -1.80950169e-04 9.99838731e-01 -2.48638514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94 meters 0.013943346411805209 Centerline is valid? [True, True] Translation: X:12.55, Y:0.56, Z:-0.25 [[ 9.94324383e-01 -1.04977431e-01 1.72846881e-02 1.25492503e+01] [ 1.04958989e-01 9.94474594e-01 1.97316057e-03 5.63557141e-01] [-1.73963205e-02 -1.47778277e-04 9.99848662e-01 -2.49156041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969999999999999 meters 0.015315233218591028 Centerline is valid? [True, True] Translation: X:12.58, Y:0.56, Z:-0.25 [[ 9.94139588e-01 -1.06619092e-01 1.78563482e-02 1.25777742e+01] [ 1.06599636e-01 9.94299931e-01 2.04057930e-03 5.64713512e-01] [-1.79721305e-02 -1.25140450e-04 9.99838480e-01 -2.50903102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.0 meters 0.015208163389877133 Centerline is valid? [True, True] Translation: X:12.61, Y:0.57, Z:-0.25 [[ 9.93959527e-01 -1.08257755e-01 1.80198898e-02 1.26054007e+01] [ 1.08238120e-01 9.94122854e-01 2.06423008e-03 5.66702429e-01] [-1.81374532e-02 -1.01322157e-04 9.99835498e-01 -2.50723525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03 meters 0.01558178957695371 Centerline is valid? [True, True] Translation: X:12.63, Y:0.57, Z:-0.25 [[ 9.93646607e-01 -1.11099559e-01 1.79808004e-02 1.26347627e+01] [ 1.11080453e-01 9.93809280e-01 2.06094420e-03 5.68034126e-01] [-1.80984563e-02 -5.05347630e-05 9.99836208e-01 -2.51625207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059999999999999 meters 0.014574800951823034 Centerline is valid? [True, True] Translation: X:12.66, Y:0.57, Z:-0.25 [[ 9.93642464e-01 -1.11045895e-01 1.85327606e-02 1.26614988e+01] [ 1.11025497e-01 9.93815278e-01 2.12910074e-03 5.71775998e-01] [-1.86545685e-02 -5.79559468e-05 9.99825987e-01 -2.51407974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.09 meters 0.015142460338106603 Centerline is valid? [True, True] Translation: X:12.69, Y:0.58, Z:-0.25 [[ 9.93683743e-01 -1.10696968e-01 1.84065508e-02 1.26894324e+01] [ 1.10676725e-01 9.93854203e-01 2.11794788e-03 5.76494422e-01] [-1.85278783e-02 -6.73936102e-05 9.99828342e-01 -2.53524972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12 meters 0.014691435652721577 Centerline is valid? [True, True] Translation: X:12.72, Y:0.58, Z:-0.25 [[ 9.93687606e-01 -1.10752509e-01 1.78556240e-02 1.27166889e+01] [ 1.10733372e-01 9.93848015e-01 2.05994959e-03 5.80138254e-01] [-1.79739211e-02 -6.97329142e-05 9.99838454e-01 -2.54757889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149999999999999 meters 0.015583641535011062 Centerline is valid? [True, True] Translation: X:12.74, Y:0.58, Z:-0.26 [[ 9.93674663e-01 -1.10960918e-01 1.72725064e-02 1.27444729e+01] [ 1.10943016e-01 9.93824768e-01 1.99422632e-03 5.83049032e-01] [-1.73871258e-02 -6.53482278e-05 9.99848830e-01 -2.56508217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18 meters 0.013560863590488232 Centerline is valid? [True, True] Translation: X:12.77, Y:0.59, Z:-0.26 [[ 9.93606810e-01 -1.11619416e-01 1.69296667e-02 1.27714807e+01] [ 1.11602222e-01 9.93751026e-01 1.95996850e-03 5.85656933e-01] [-1.70426442e-02 -5.80496300e-05 9.99854762e-01 -2.55662372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209999999999999 meters 0.015660902894254824 Centerline is valid? [True, True] Translation: X:12.80, Y:0.59, Z:-0.26 [[ 9.93494321e-01 -1.12681425e-01 1.64902955e-02 1.27986572e+01] [ 1.12665225e-01 9.93631166e-01 1.91111081e-03 5.87959187e-01] [-1.66006183e-02 -4.07948819e-05 9.99862199e-01 -2.58380430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24 meters 0.01759193317625007 Centerline is valid? [True, True] Translation: X:12.83, Y:0.59, Z:-0.26 [[ 9.93494404e-01 -1.12749938e-01 1.60100472e-02 1.28265945e+01] [ 1.12734659e-01 9.93623394e-01 1.85653005e-03 5.91356047e-01] [-1.61172811e-02 -3.95650028e-05 9.99870107e-01 -2.59798110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27 meters 0.013642464172275128 Centerline is valid? [True, True] Translation: X:12.85, Y:0.60, Z:-0.26 [[ 9.93567106e-01 -1.12039594e-01 1.64783273e-02 1.28530825e+01] [ 1.12023218e-01 9.93703742e-01 1.91641547e-03 5.95784135e-01] [-1.65892899e-02 -5.81321164e-05 9.99862387e-01 -2.56999544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299999999999999 meters 0.01818636698722596 Centerline is valid? [True, True] Translation: X:12.88, Y:0.60, Z:-0.26 [[ 9.93791392e-01 -1.10314188e-01 1.44723287e-02 1.28812467e+01] [ 1.10301362e-01 9.93896762e-01 1.68388343e-03 6.01946744e-01] [-1.45697568e-02 -7.71112964e-05 9.99893852e-01 -2.63062643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33 meters 0.01650847112260132 Centerline is valid? [True, True] Translation: X:12.91, Y:0.61, Z:-0.26 [[ 9.93889850e-01 -1.09435262e-01 1.43836397e-02 1.29092676e+01] [ 1.09422453e-01 9.93993921e-01 1.67689063e-03 6.06719231e-01] [-1.44807614e-02 -9.27514323e-05 9.99895144e-01 -2.62704126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36 meters 0.017854870373190033 Centerline is valid? [True, True] Translation: X:12.94, Y:0.61, Z:-0.26 [[ 9.94013233e-01 -1.08444941e-01 1.33186998e-02 1.29372714e+01] [ 1.08433805e-01 9.94102451e-01 1.55752345e-03 6.11304062e-01] [-1.34090576e-02 -1.04001625e-04 9.99910089e-01 -2.64016993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389999999999999 meters 0.0174404145504292 Centerline is valid? [True, True] Translation: X:12.97, Y:0.62, Z:-0.26 [[ 9.94254928e-01 -1.06277406e-01 1.27377941e-02 1.29660276e+01] [ 1.06267045e-01 9.94336511e-01 1.48940371e-03 6.17459796e-01] [-1.28239437e-02 -1.27239235e-04 9.99917762e-01 -2.64180813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42 meters 0.015992975480090016 Centerline is valid? [True, True] Translation: X:12.99, Y:0.62, Z:-0.26 [[ 9.94374750e-01 -1.05061642e-01 1.34502227e-02 1.29946061e+01] [ 1.05049929e-01 9.94465699e-01 1.57636095e-03 6.22434756e-01] [-1.35414002e-02 -1.54548579e-04 9.99908299e-01 -2.63421598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45 meters 0.017863248473492736 Centerline is valid? [True, True] Translation: X:13.02, Y:0.63, Z:-0.26 [[ 9.94471692e-01 -1.04198829e-01 1.29868690e-02 1.30230194e+01] [ 1.04187795e-01 9.94556473e-01 1.52511677e-03 6.26983929e-01] [-1.30750900e-02 -1.63612211e-04 9.99914504e-01 -2.64961959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479999999999999 meters 0.018389206893668953 Centerline is valid? [True, True] Translation: X:13.05, Y:0.63, Z:-0.27 [[ 9.94603117e-01 -1.02842929e-01 1.37102408e-02 1.30513572e+01] [ 1.02830452e-01 9.94697589e-01 1.61382313e-03 6.32869912e-01] [-1.38035138e-02 -1.95283264e-04 9.99904708e-01 -2.65575181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51 meters 0.018375108873777628 Centerline is valid? [True, True] Translation: X:13.08, Y:0.64, Z:-0.27 [[ 9.94641523e-01 -1.02393148e-01 1.42787860e-02 1.30792992e+01] [ 1.02379498e-01 9.94743986e-01 1.68557595e-03 6.37448361e-01] [-1.43763279e-02 -2.14688884e-04 9.99896632e-01 -2.65910730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54 meters 0.018074423494786804 Centerline is valid? [True, True] Translation: X:13.11, Y:0.64, Z:-0.27 [[ 9.94608568e-01 -1.02562441e-01 1.53213302e-02 1.31071364e+01] [ 1.02546737e-01 9.94726542e-01 1.80914013e-03 6.40868579e-01] [-1.54260836e-02 -2.28233851e-04 9.99880985e-01 -2.65368984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.57 meters 0.018074423494786804 Centerline is valid? [True, True] Translation: X:13.13, Y:0.64, Z:-0.27 [[ 9.94579669e-01 -1.02842381e-01 1.53208191e-02 1.31345397e+01] [ 1.02826645e-01 9.94697639e-01 1.81345608e-03 6.44189912e-01] [-1.54260827e-02 -2.28238124e-04 9.99880985e-01 -2.65935183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.6 meters 0.015734212420410152 Centerline is valid? [True, True] Translation: X:13.16, Y:0.65, Z:-0.26 [[ 9.94530570e-01 -1.03151363e-01 1.63933562e-02 1.31626664e+01] [ 1.03133304e-01 9.94665641e-01 1.94549495e-03 6.47553910e-01] [-1.65065886e-02 -2.44153215e-04 9.99863727e-01 -2.63767465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629999999999999 meters 0.018087260143623295 Centerline is valid? [True, True] Translation: X:13.19, Y:0.65, Z:-0.27 [[ 9.94407728e-01 -1.04227873e-01 1.70241049e-02 1.31903507e+01] [ 1.04208456e-01 9.94553414e-01 2.02610773e-03 6.50376706e-01] [-1.71425585e-02 -2.40721502e-04 9.99853027e-01 -2.65396937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66 meters 0.01857245428674356 Centerline is valid? [True, True] Translation: X:13.22, Y:0.65, Z:-0.27 [[ 9.94230751e-01 -1.05729289e-01 1.80701820e-02 1.32195277e+01] [ 1.05707636e-01 9.94394924e-01 2.15192465e-03 6.52171648e-01] [-1.81964188e-02 -2.29353438e-04 9.99834405e-01 -2.65150409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69 meters 0.014868486159216172 Centerline is valid? [True, True] Translation: X:13.25, Y:0.66, Z:-0.26 [[ 9.94178833e-01 -1.06029117e-01 1.91382831e-02 1.32480243e+01] [ 1.06004787e-01 9.94362996e-01 2.28418261e-03 6.55244683e-01] [-1.92725904e-02 -2.42136381e-04 9.99814237e-01 -2.62365853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719999999999999 meters 0.01774258523570577 Centerline is valid? [True, True] Translation: X:13.28, Y:0.66, Z:-0.27 [[ 9.94054665e-01 -1.07286278e-01 1.85735527e-02 1.32756368e+01] [ 1.07263481e-01 9.94228147e-01 2.22221983e-03 6.58469534e-01] [-1.87047625e-02 -2.16744089e-04 9.99825027e-01 -2.65258712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75 meters 0.017917583622425702 Centerline is valid? [True, True] Translation: X:13.30, Y:0.66, Z:-0.27 [[ 9.93958434e-01 -1.08306593e-01 1.77851885e-02 1.33032314e+01] [ 1.08285820e-01 9.94117521e-01 2.12975412e-03 6.61246931e-01] [-1.79112339e-02 -1.91003348e-04 9.99839563e-01 -2.67006677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78 meters 0.018285553107269002 Centerline is valid? [True, True] Translation: X:13.33, Y:0.66, Z:-0.27 [[ 9.93901844e-01 -1.08920995e-01 1.71855148e-02 1.33297856e+01] [ 1.08901605e-01 9.94050394e-01 2.06289050e-03 6.64299935e-01] [-1.73079598e-02 -1.78780533e-04 9.99850190e-01 -2.68998375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809999999999999 meters 0.017696805031589064 Centerline is valid? [True, True] Translation: X:13.36, Y:0.67, Z:-0.27 [[ 9.93816673e-01 -1.09778616e-01 1.66455951e-02 1.33572887e+01] [ 1.09760499e-01 9.93956050e-01 2.00084210e-03 6.66778479e-01] [-1.67646397e-02 -1.61441401e-04 9.99859451e-01 -2.69560501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84 meters 0.016941772059341106 Centerline is valid? [True, True] Translation: X:13.38, Y:0.67, Z:-0.27 [[ 9.93746542e-01 -1.10385550e-01 1.68178469e-02 1.33846516e+01] [ 1.10367057e-01 9.93888830e-01 2.02659139e-03 6.69881036e-01] [-1.69387765e-02 -1.57781912e-04 9.99856516e-01 -2.69488847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87 meters 0.017498433980223743 Centerline is valid? [True, True] Translation: X:13.41, Y:0.67, Z:-0.27 [[ 9.93694427e-01 -1.10980056e-01 1.59628682e-02 1.34129550e+01] [ 1.10963435e-01 9.93822623e-01 1.92592263e-03 6.71260893e-01] [-1.60779986e-02 -1.42483890e-04 9.99870730e-01 -2.70551246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899999999999999 meters 0.016991522325146016 Centerline is valid? [True, True] Translation: X:13.44, Y:0.67, Z:-0.27 [[ 9.93644636e-01 -1.11525146e-01 1.52472743e-02 1.34394894e+01] [ 1.11509970e-01 9.93761603e-01 1.84452126e-03 6.74555021e-01] [-1.53578663e-02 -1.32575547e-04 9.99882052e-01 -2.71829045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93 meters 0.01633035121915469 Centerline is valid? [True, True] Translation: X:13.47, Y:0.68, Z:-0.27 [[ 9.93610945e-01 -1.11874268e-01 1.48808225e-02 1.34679576e+01] [ 1.11859839e-01 9.93722362e-01 1.80104266e-03 6.75738578e-01] [-1.49888964e-02 -1.24969292e-04 9.99887652e-01 -2.71663323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959999999999999 meters 0.013964630172298527 Centerline is valid? [True, True] Translation: X:13.50, Y:0.68, Z:-0.27 [[ 9.93632246e-01 -1.11597397e-01 1.55235502e-02 1.34959440e+01] [ 1.11581587e-01 9.93753491e-01 1.88359148e-03 6.78775837e-01] [-1.56367861e-02 -1.39454871e-04 9.99877728e-01 -2.70109162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99 meters 0.01764795245391581 Centerline is valid? [True, True] Translation: X:13.52, Y:0.68, Z:-0.27 [[ 9.93607136e-01 -1.11962083e-01 1.44689764e-02 1.35239657e+01] [ 1.11948315e-01 9.93712471e-01 1.76058653e-03 6.80896680e-01] [-1.45751212e-02 -1.29553818e-04 9.99893769e-01 -2.73725430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02 meters 0.014245441508107427 Centerline is valid? [True, True] Translation: X:13.55, Y:0.69, Z:-0.27 [[ 9.93726352e-01 -1.10732715e-01 1.56908597e-02 1.35525930e+01] [ 1.10716357e-01 9.93850210e-01 1.91005722e-03 6.85065199e-01] [-1.58058701e-02 -1.60839367e-04 9.99875066e-01 -2.70902145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05 meters 0.01600308983303349 Centerline is valid? [True, True] Translation: X:13.58, Y:0.69, Z:-0.27 [[ 9.93775683e-01 -1.10311974e-01 1.55293125e-02 1.35804560e+01] [ 1.10295828e-01 9.93896996e-01 1.89497622e-03 6.89578486e-01] [-1.56435756e-02 -1.70362905e-04 9.99877617e-01 -2.73280840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08 meters 0.01742694058894839 Centerline is valid? [True, True] Translation: X:13.61, Y:0.69, Z:-0.28 [[ 9.93984103e-01 -1.08470270e-01 1.51592975e-02 1.36086612e+01] [ 1.08454664e-01 9.94099674e-01 1.85028091e-03 6.94435359e-01] [-1.52705532e-02 -1.95053294e-04 9.99883379e-01 -2.75121121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11 meters 0.01734322856276954 Centerline is valid? [True, True] Translation: X:13.64, Y:0.70, Z:-0.28 [[ 9.94122247e-01 -1.07231513e-01 1.49117754e-02 1.36372444e+01] [ 1.07216219e-01 9.94234055e-01 1.82361194e-03 6.98215161e-01] [-1.50213436e-02 -2.14109015e-04 9.99887150e-01 -2.75876819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14 meters 0.018122076179726495 Centerline is valid? [True, True] Translation: X:13.67, Y:0.70, Z:-0.28 [[ 9.94343846e-01 -1.05334273e-01 1.36017351e-02 1.36660484e+01] [ 1.05321330e-01 9.94436846e-01 1.66638157e-03 7.03161483e-01] [-1.37015936e-02 -2.24403427e-04 9.99906104e-01 -2.78050460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169999999999998 meters 0.018465222962723016 Centerline is valid? [True, True] Translation: X:13.69, Y:0.71, Z:-0.28 [[ 9.94358008e-01 -1.05200792e-01 1.35994304e-02 1.36936418e+01] [ 1.05187798e-01 9.94450975e-01 1.66928639e-03 7.06828391e-01] [-1.36995771e-02 -2.29374157e-04 9.99906130e-01 -2.79308112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.2 meters 0.018768233984309206 Centerline is valid? [True, True] Translation: X:13.72, Y:0.71, Z:-0.28 [[ 9.94346022e-01 -1.05300015e-01 1.37075191e-02 1.37207378e+01] [ 1.05286752e-01 9.94440472e-01 1.68767665e-03 7.10202492e-01] [-1.38090242e-02 -2.34914402e-04 9.99904623e-01 -2.79804114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23 meters 0.017968268083708026 Centerline is valid? [True, True] Translation: X:13.75, Y:0.71, Z:-0.28 [[ 9.94251104e-01 -1.06188337e-01 1.37396650e-02 1.37482241e+01] [ 1.06175073e-01 9.94346010e-01 1.69331286e-03 7.13799389e-01] [-1.38417912e-02 -2.24768248e-04 9.99904173e-01 -2.80068020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259999999999998 meters 0.0191092557016723 Centerline is valid? [True, True] Translation: X:13.78, Y:0.72, Z:-0.28 [[ 9.94116955e-01 -1.07498456e-01 1.32499985e-02 1.37766988e+01] [ 1.07486226e-01 9.94205231e-01 1.63381033e-03 7.15671600e-01] [-1.33488499e-02 -2.00006220e-04 9.99910880e-01 -2.81789224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29 meters 0.017767596917202505 Centerline is valid? [True, True] Translation: X:13.81, Y:0.72, Z:-0.28 [[ 9.93981374e-01 -1.08768118e-01 1.30585414e-02 1.38052284e+01] [ 1.08756306e-01 9.94067132e-01 1.61333474e-03 7.17614704e-01] [-1.31565462e-02 -1.83425952e-04 9.99913432e-01 -2.81396051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32 meters 0.017992928006824484 Centerline is valid? [True, True] Translation: X:13.83, Y:0.72, Z:-0.28 [[ 9.93730085e-01 -1.11278359e-01 1.08464494e-02 1.38329277e+01] [ 1.11270323e-01 9.93789269e-01 1.34342574e-03 7.18300437e-01] [-1.09285792e-02 -1.28114648e-04 9.99940273e-01 -2.83259154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349999999999998 meters 0.018127222561190513 Centerline is valid? [True, True] Translation: X:13.86, Y:0.72, Z:-0.28 [[ 9.93569612e-01 -1.12746148e-01 1.03794360e-02 1.38608715e+01] [ 1.12738880e-01 9.93623820e-01 1.28451215e-03 7.19571703e-01] [-1.04580786e-02 -1.06086245e-04 9.99945307e-01 -2.83750741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38 meters 0.018132612602953995 Centerline is valid? [True, True] Translation: X:13.89, Y:0.72, Z:-0.28 [[ 9.93373288e-01 -1.14480255e-01 1.01873815e-02 1.38895473e+01] [ 1.14473314e-01 9.93425520e-01 1.26375965e-03 7.20691180e-01] [-1.02650803e-02 -8.92017536e-05 9.99947309e-01 -2.83352385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41 meters 0.017654000337670818 Centerline is valid? [True, True] Translation: X:13.92, Y:0.72, Z:-0.28 [[ 9.93019976e-01 -1.17401218e-01 1.13261255e-02 1.39176847e+01] [ 1.17392778e-01 9.93084563e-01 1.40948454e-03 7.21502844e-01] [-1.14132756e-02 -7.00409734e-05 9.99934864e-01 -2.82494396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439999999999998 meters 0.014917993031426857 Centerline is valid? [True, True] Translation: X:13.95, Y:0.72, Z:-0.28 [[ 9.92915647e-01 -1.18133053e-01 1.27710438e-02 1.39460838e+01] [ 1.18122367e-01 9.92997773e-01 1.59042156e-03 7.24589141e-01] [-1.28694994e-02 -7.06085258e-05 9.99917182e-01 -2.79804652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47 meters 0.018355680225210017 Centerline is valid? [True, True] Translation: X:13.97, Y:0.73, Z:-0.28 [[ 9.92654450e-01 -1.20312378e-01 1.27308431e-02 1.39736983e+01] [ 1.20301903e-01 9.92736083e-01 1.58826422e-03 7.26985314e-01] [-1.28294552e-02 -4.50528946e-05 9.99917698e-01 -2.82238605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.5 meters 0.015833035787508675 Centerline is valid? [True, True] Translation: X:14.00, Y:0.73, Z:-0.28 [[ 9.92314205e-01 -1.22974448e-01 1.37769059e-02 1.40016644e+01] [ 1.22962363e-01 9.92409837e-01 1.72405691e-03 7.28805543e-01] [-1.38843519e-02 -1.67652513e-05 9.99903608e-01 -2.79848104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53 meters 0.01845953119708632 Centerline is valid? [True, True] Translation: X:14.03, Y:0.73, Z:-0.28 [[ 9.92059273e-01 -1.25045322e-01 1.34932069e-02 1.40292026e+01] [ 1.25033912e-01 9.92151030e-01 1.68925106e-03 7.31042237e-01] [-1.35985321e-02 1.12712757e-05 9.99907536e-01 -2.81626428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56 meters 0.01612568346324659 Centerline is valid? [True, True] Translation: X:14.06, Y:0.73, Z:-0.28 [[ 9.91842617e-01 -1.26665234e-01 1.42878067e-02 1.40577728e+01] [ 1.26652547e-01 9.91945521e-01 1.79295987e-03 7.33218333e-01] [-1.43998315e-02 3.12531043e-05 9.99896317e-01 -2.79903664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59 meters 0.017205672154977335 Centerline is valid? [True, True] Translation: X:14.09, Y:0.74, Z:-0.28 [[ 9.91737465e-01 -1.27536343e-01 1.38304905e-02 1.40853926e+01] [ 1.27524492e-01 9.91833897e-01 1.73901207e-03 7.36579684e-01] [-1.39393365e-02 3.90828586e-05 9.99902842e-01 -2.81117802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62 meters 0.016555431809602922 Centerline is valid? [True, True] Translation: X:14.11, Y:0.74, Z:-0.28 [[ 9.91709155e-01 -1.27806878e-01 1.33549099e-02 1.41131773e+01] [ 1.27795785e-01 9.91799073e-01 1.68429188e-03 7.39744211e-01] [-1.34606513e-02 3.63735082e-05 9.99909401e-01 -2.83050515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65 meters 0.01677624507484538 Centerline is valid? [True, True] Translation: X:14.14, Y:0.74, Z:-0.28 [[ 9.91635986e-01 -1.28421444e-01 1.28842848e-02 1.41411220e+01] [ 1.28411174e-01 9.91719684e-01 1.62460073e-03 7.43606081e-01] [-1.29862324e-02 4.34735946e-05 9.99915674e-01 -2.84655263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68 meters 0.016940241633101257 Centerline is valid? [True, True] Translation: X:14.17, Y:0.75, Z:-0.29 [[ 9.91594474e-01 -1.28836762e-01 1.18948439e-02 1.41696910e+01] [ 1.28828002e-01 9.91665814e-01 1.50299826e-03 7.47747228e-01] [-1.19893515e-02 4.20242039e-05 9.99928124e-01 -2.85618607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71 meters 0.015140488963839025 Centerline is valid? [True, True] Translation: X:14.20, Y:0.75, Z:-0.29 [[ 9.91631872e-01 -1.28518555e-01 1.22152035e-02 1.41973789e+01] [ 1.28509256e-01 9.91707104e-01 1.54635819e-03 7.51879195e-01] [-1.23126398e-02 3.63486439e-05 9.99924196e-01 -2.85184685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74 meters 0.01611657044680113 Centerline is valid? [True, True] Translation: X:14.22, Y:0.76, Z:-0.29 [[ 9.91623613e-01 -1.28553505e-01 1.25142694e-02 1.42247758e+01] [ 1.28543702e-01 9.91702574e-01 1.58787069e-03 7.56149731e-01] [-1.26145595e-02 3.40604479e-05 9.99920433e-01 -2.86128984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77 meters 0.015707939434859475 Centerline is valid? [True, True] Translation: X:14.25, Y:0.76, Z:-0.29 [[ 9.91747029e-01 -1.27540179e-01 1.30894547e-02 1.42527017e+01] [ 1.27529314e-01 9.91833405e-01 1.66479131e-03 7.61351441e-01] [-1.31948862e-02 1.82373397e-05 9.99912944e-01 -2.85277782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.8 meters 0.014737105080677364 Centerline is valid? [True, True] Translation: X:14.28, Y:0.77, Z:-0.28 [[ 9.91734032e-01 -1.27574003e-01 1.37289216e-02 1.42801214e+01] [ 1.27561995e-01 9.91829055e-01 1.75042102e-03 7.65148110e-01] [-1.38400516e-02 1.53365295e-05 9.99904222e-01 -2.84598238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83 meters 0.016719672017065267 Centerline is valid? [True, True] Translation: X:14.31, Y:0.77, Z:-0.29 [[ 9.91624665e-01 -1.28467652e-01 1.32885503e-02 1.43075738e+01] [ 1.28456413e-01 9.91713700e-01 1.69944719e-03 7.68305322e-01] [-1.33967614e-02 2.17857528e-05 9.99910259e-01 -2.87169478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86 meters 0.015776698161435013 Centerline is valid? [True, True] Translation: X:14.33, Y:0.77, Z:-0.29 [[ 9.91577665e-01 -1.28786683e-01 1.37012592e-02 1.43344552e+01] [ 1.28774757e-01 9.91672320e-01 1.75284685e-03 7.71578191e-01] [-1.38129028e-02 2.62925435e-05 9.99904597e-01 -2.86888362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89 meters 0.015488503484287888 Centerline is valid? [True, True] Translation: X:14.36, Y:0.78, Z:-0.29 [[ 9.91592089e-01 -1.28667591e-01 1.37760855e-02 1.43621466e+01] [ 1.28655494e-01 9.91687779e-01 1.76449654e-03 7.75389142e-01] [-1.38886091e-02 2.27082762e-05 9.99903548e-01 -2.87266556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919999999999998 meters 0.014922412180141457 Centerline is valid? [True, True] Translation: X:14.39, Y:0.78, Z:-0.29 [[ 9.91562947e-01 -1.28981183e-01 1.29141796e-02 1.43901306e+01] [ 1.28970536e-01 9.91647041e-01 1.65737436e-03 7.79525618e-01] [-1.30200781e-02 2.21576642e-05 9.99915235e-01 -2.88994221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95 meters 0.016450897159157127 Centerline is valid? [True, True] Translation: X:14.42, Y:0.78, Z:-0.29 [[ 9.91447244e-01 -1.29913687e-01 1.24416904e-02 1.44177637e+01] [ 1.29903836e-01 9.91525306e-01 1.60012589e-03 7.82806896e-01] [-1.25441291e-02 2.97829042e-05 9.99921319e-01 -2.90827145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98 meters 0.017896246005585814 Centerline is valid? [True, True] Translation: X:14.45, Y:0.79, Z:-0.29 [[ 9.91316574e-01 -1.30888407e-01 1.26362477e-02 1.44452696e+01] [ 1.30878276e-01 9.91397107e-01 1.62890481e-03 7.85880172e-01] [-1.27407441e-02 3.90499747e-05 9.99918833e-01 -2.91603407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009999999999998 meters 0.016571570102825776 Centerline is valid? [True, True] Translation: X:14.47, Y:0.79, Z:-0.29 [[ 9.91142117e-01 -1.32154923e-01 1.31293752e-02 1.44735231e+01] [ 1.32144045e-01 9.91229072e-01 1.69645452e-03 7.88955141e-01] [-1.32384132e-02 5.35412209e-05 9.99912367e-01 -2.91183972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04 meters 0.015181870371312422 Centerline is valid? [True, True] Translation: X:14.50, Y:0.79, Z:-0.29 [[ 9.91065383e-01 -1.32637141e-01 1.40283430e-02 1.45001453e+01] [ 1.32624694e-01 9.91164661e-01 1.81805875e-03 7.92292338e-01] [-1.41455399e-02 5.86895951e-05 9.99899945e-01 -2.90802074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07 meters 0.016928812217938485 Centerline is valid? [True, True] Translation: X:14.53, Y:0.80, Z:-0.29 [[ 9.90973067e-01 -1.33311282e-01 1.41592045e-02 1.45276900e+01] [ 1.33298659e-01 9.91074214e-01 1.83577293e-03 7.96117256e-01] [-1.42775517e-02 6.82014426e-05 9.99898068e-01 -2.91664299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099999999999998 meters 0.01526737239786027 Centerline is valid? [True, True] Translation: X:14.55, Y:0.80, Z:-0.29 [[ 9.90899759e-01 -1.33829709e-01 1.43971420e-02 1.45539213e+01] [ 1.33816637e-01 9.91004341e-01 1.87181979e-03 8.00320291e-01] [-1.45181353e-02 7.17913495e-05 9.99894604e-01 -2.91797686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13 meters 0.015770216671951116 Centerline is valid? [True, True] Translation: X:14.58, Y:0.80, Z:-0.29 [[ 9.90859158e-01 -1.34178427e-01 1.39383584e-02 1.45819458e+01] [ 1.34166184e-01 9.90957186e-01 1.81403475e-03 8.04726373e-01] [-1.40557208e-02 7.26034102e-05 9.99901211e-01 -2.92885258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16 meters 0.016367116458065042 Centerline is valid? [True, True] Translation: X:14.61, Y:0.81, Z:-0.29 [[ 9.90636911e-01 -1.35875460e-01 1.32804477e-02 1.46102770e+01] [ 1.35864498e-01 9.90725921e-01 1.72832781e-03 8.08862413e-01] [-1.33921211e-02 9.21960477e-05 9.99910317e-01 -2.94486266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189999999999998 meters 0.01632042114943477 Centerline is valid? [True, True] Translation: X:14.64, Y:0.81, Z:-0.30 [[ 9.90527787e-01 -1.36709485e-01 1.28537665e-02 1.46384993e+01] [ 1.36699230e-01 9.90611179e-01 1.67715700e-03 8.11599547e-01] [-1.29623681e-02 9.58293777e-05 9.99915980e-01 -2.95458354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22 meters 0.01802845621727788 Centerline is valid? [True, True] Translation: X:14.67, Y:0.81, Z:-0.30 [[ 9.90341863e-01 -1.38078030e-01 1.25479682e-02 1.46661699e+01] [ 1.38068358e-01 9.90421347e-01 1.63802424e-03 8.14129428e-01] [-1.26539507e-02 1.10273380e-04 9.99919929e-01 -2.96923859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25 meters 0.017544918040433097 Centerline is valid? [True, True] Translation: X:14.70, Y:0.82, Z:-0.29 [[ 9.89966479e-01 -1.40612004e-01 1.39511302e-02 1.46954786e+01] [ 1.40600279e-01 9.90064765e-01 1.82256761e-03 8.16919530e-01] [-1.40687973e-02 1.57251960e-04 9.99901017e-01 -2.94909487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28 meters 0.017468698595728947 Centerline is valid? [True, True] Translation: X:14.72, Y:0.82, Z:-0.29 [[ 9.89755228e-01 -1.42004709e-01 1.48071228e-02 1.47246215e+01] [ 1.41991598e-01 9.89865965e-01 1.93836366e-03 8.20512857e-01] [-1.49323236e-02 1.83981457e-04 9.99888490e-01 -2.94068106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31 meters 0.017778426317697733 Centerline is valid? [True, True] Translation: X:14.75, Y:0.82, Z:-0.29 [[ 9.89427885e-01 -1.44102596e-01 1.63371129e-02 1.47521912e+01] [ 1.44086834e-01 9.89562725e-01 2.14396701e-03 8.23032480e-01] [-1.64755492e-02 2.32662138e-04 9.99864242e-01 -2.93491631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34 meters 0.0184709616937767 Centerline is valid? [True, True] Translation: X:14.78, Y:0.83, Z:-0.29 [[ 9.89225276e-01 -1.45425503e-01 1.68753248e-02 1.47805416e+01] [ 1.45408861e-01 9.89369170e-01 2.21559958e-03 8.27024339e-01] [-1.70181308e-02 2.62094651e-04 9.99855147e-01 -2.94266620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37 meters 0.016497912772180406 Centerline is valid? [True, True] Translation: X:14.81, Y:0.83, Z:-0.29 [[ 9.89139776e-01 -1.45895297e-01 1.78063337e-02 1.48077944e+01] [ 1.45876753e-01 9.89299997e-01 2.34286653e-03 8.30502592e-01] [-1.79576191e-02 2.80107663e-04 9.99838710e-01 -2.94040239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.4 meters 0.016173223700299066 Centerline is valid? [True, True] Translation: X:14.84, Y:0.83, Z:-0.30 [[ 9.89049219e-01 -1.46537420e-01 1.75620748e-02 1.48354097e+01] [ 1.46519446e-01 9.89205086e-01 2.31283410e-03 8.33912437e-01] [-1.77114105e-02 2.85678704e-04 9.99843100e-01 -2.95025338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43 meters 0.019809529349439574 Centerline is valid? [True, True] Translation: X:14.86, Y:0.84, Z:-0.30 [[ 9.88863290e-01 -1.48075110e-01 1.49383761e-02 1.48640529e+01] [ 1.48062266e-01 9.88976082e-01 1.96825296e-03 8.36830850e-01] [-1.50651459e-02 2.65476712e-04 9.99886479e-01 -2.98271320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46 meters 0.019809529349439574 Centerline is valid? [True, True] Translation: X:14.89, Y:0.84, Z:-0.30 [[ 9.88823139e-01 -1.48343043e-01 1.49379328e-02 1.48914121e+01] [ 1.48330179e-01 9.88935929e-01 1.97161018e-03 8.40529221e-01] [-1.50651331e-02 2.66172479e-04 9.99886479e-01 -2.98837864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49 meters 0.01700915018455507 Centerline is valid? [True, True] Translation: X:14.92, Y:0.84, Z:-0.30 [[ 9.88797414e-01 -1.48494594e-01 1.51337518e-02 1.49194207e+01] [ 1.48481344e-01 9.88913183e-01 2.00170348e-03 8.44334584e-01] [-1.52632088e-02 2.67800571e-04 9.99883475e-01 -2.98725550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52 meters 0.01744709614272841 Centerline is valid? [True, True] Translation: X:14.95, Y:0.85, Z:-0.30 [[ 9.88744617e-01 -1.48976695e-01 1.37849892e-02 1.49480616e+01] [ 1.48965700e-01 9.88840676e-01 1.82678166e-03 8.49581363e-01] [-1.39033059e-02 2.47270027e-04 9.99903314e-01 -3.00212806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55 meters 0.018513087441871474 Centerline is valid? [True, True] Translation: X:14.98, Y:0.85, Z:-0.30 [[ 9.88713102e-01 -1.49189202e-01 1.37471464e-02 1.49759647e+01] [ 1.49178244e-01 9.88808637e-01 1.82493642e-03 8.53319155e-01] [-1.38655579e-02 2.46436611e-04 9.99903838e-01 -3.01854795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58 meters 0.01779161285515045 Centerline is valid? [True, True] Translation: X:15.00, Y:0.86, Z:-0.30 [[ 9.88751753e-01 -1.49013577e-01 1.28423089e-02 1.50034375e+01] [ 1.49003958e-01 9.88835124e-01 1.70799896e-03 8.58871000e-01] [-1.29534412e-02 2.24767890e-04 9.99916075e-01 -3.02215795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61 meters 0.01492340959187757 Centerline is valid? [True, True] Translation: X:15.03, Y:0.86, Z:-0.30 [[ 9.88914769e-01 -1.47895637e-01 1.32083062e-02 1.50321932e+01] [ 1.47885305e-01 9.89002950e-01 1.76093482e-03 8.64096451e-01] [-1.33234883e-02 2.11899933e-04 9.99911216e-01 -3.01930147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64 meters 0.01699620032087576 Centerline is valid? [True, True] Translation: X:15.06, Y:0.87, Z:-0.30 [[ 9.89299483e-01 -1.45387366e-01 1.22084942e-02 1.50593667e+01] [ 1.45378298e-01 9.89374797e-01 1.63171689e-03 8.68833559e-01] [-1.23160075e-02 1.60593434e-04 9.99924142e-01 -3.03891622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669999999999998 meters 0.01715015761916458 Centerline is valid? [True, True] Translation: X:15.09, Y:0.87, Z:-0.30 [[ 9.89514890e-01 -1.43924960e-01 1.20784545e-02 1.50882465e+01] [ 1.43915979e-01 9.89588594e-01 1.61403650e-03 8.73574027e-01] [-1.21850010e-02 1.41169450e-04 9.99925750e-01 -3.04203037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.7 meters 0.01653863910784128 Centerline is valid? [True, True] Translation: X:15.12, Y:0.88, Z:-0.31 [[ 9.89875149e-01 -1.41455647e-01 1.17255843e-02 1.51170334e+01] [ 1.41446976e-01 9.89944589e-01 1.56971744e-03 8.79207515e-01] [-1.18297241e-02 1.04724161e-04 9.99930021e-01 -3.05135944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73 meters 0.01575383284585462 Centerline is valid? [True, True] Translation: X:15.15, Y:0.88, Z:-0.31 [[ 9.90033602e-01 -1.40320462e-01 1.19847610e-02 1.51453257e+01] [ 1.40311282e-01 9.90106136e-01 1.60760197e-03 8.83924883e-01] [-1.20917649e-02 9.00172172e-05 9.99926888e-01 -3.05367445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759999999999998 meters 0.013696684326835101 Centerline is valid? [True, True] Translation: X:15.17, Y:0.89, Z:-0.30 [[ 9.90299357e-01 -1.38361967e-01 1.27730025e-02 1.51730952e+01] [ 1.38351314e-01 9.90381725e-01 1.71817126e-03 8.89044492e-01] [-1.28878778e-02 6.56578005e-05 9.99916946e-01 -3.04903433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79 meters 0.016703378315704353 Centerline is valid? [True, True] Translation: X:15.20, Y:0.90, Z:-0.31 [[ 9.90784865e-01 -1.34854307e-01 1.26359171e-02 1.52007769e+01] [ 1.34843586e-01 9.90865438e-01 1.70050061e-03 8.95405262e-01] [-1.27498133e-02 1.90421066e-05 9.99918718e-01 -3.06947512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82 meters 0.015802344635318676 Centerline is valid? [True, True] Translation: X:15.23, Y:0.90, Z:-0.31 [[ 9.91041626e-01 -1.32948545e-01 1.26956500e-02 1.52280197e+01] [ 1.32937559e-01 9.91122941e-01 1.70909548e-03 9.00621815e-01] [-1.28101717e-02 -6.05604740e-06 9.99917946e-01 -3.07175677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849999999999998 meters 0.015533852728073644 Centerline is valid? [True, True] Translation: X:15.26, Y:0.91, Z:-0.31 [[ 9.91171014e-01 -1.31999470e-01 1.24964093e-02 1.52554712e+01] [ 1.31988707e-01 9.91249787e-01 1.68572890e-03 9.05379075e-01] [-1.26095784e-02 -2.14607148e-05 9.99920496e-01 -3.08148801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88 meters 0.018266074316898858 Centerline is valid? [True, True] Translation: X:15.28, Y:0.91, Z:-0.31 [[ 9.91235860e-01 -1.31565266e-01 1.19185245e-02 1.52827920e+01] [ 1.31555386e-01 9.91307510e-01 1.61260590e-03 9.09925221e-01] [-1.20270858e-02 -3.05266986e-05 9.99927672e-01 -3.10598364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91 meters 0.017823120694370358 Centerline is valid? [True, True] Translation: X:15.31, Y:0.91, Z:-0.31 [[ 9.91333651e-01 -1.30752273e-01 1.27057378e-02 1.53103506e+01] [ 1.30740982e-01 9.91415070e-01 1.71884790e-03 9.14027951e-01] [-1.28214032e-02 -4.27911249e-05 9.99917802e-01 -3.10632790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.939999999999998 meters 0.016492104845295615 Centerline is valid? [True, True] Translation: X:15.34, Y:0.92, Z:-0.31 [[ 9.91322234e-01 -1.30809253e-01 1.30064501e-02 1.53387420e+01] [ 1.30797376e-01 9.91407553e-01 1.76334452e-03 9.17428539e-01] [-1.31253547e-02 -4.68330870e-05 9.99913858e-01 -3.10087891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97 meters 0.015919224702885107 Centerline is valid? [True, True] Translation: X:15.37, Y:0.92, Z:-0.31 [[ 9.91274093e-01 -1.31115965e-01 1.35748408e-02 1.53658760e+01] [ 1.31102982e-01 9.91367037e-01 1.84575470e-03 9.20717919e-01] [-1.36996576e-02 -4.99467077e-05 9.99906154e-01 -3.10497908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.0 meters 0.016371756607660746 Centerline is valid? [True, True] Translation: X:15.39, Y:0.92, Z:-0.31 [[ 9.91140502e-01 -1.32073893e-01 1.40353996e-02 1.53935632e+01] [ 1.32060099e-01 9.91239873e-01 1.90920974e-03 9.22357888e-01] [-1.41646045e-02 -3.87788309e-05 9.99899676e-01 -3.10451838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029999999999998 meters 0.017725733307402874 Centerline is valid? [True, True] Translation: X:15.42, Y:0.92, Z:-0.31 [[ 9.91003768e-01 -1.33115775e-01 1.38463855e-02 1.54217097e+01] [ 1.33102397e-01 9.91100494e-01 1.88738926e-03 9.24865226e-01] [-1.39744008e-02 -2.74227748e-05 9.99902353e-01 -3.11425953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06 meters 0.013828120115491947 Centerline is valid? [True, True] Translation: X:15.45, Y:0.93, Z:-0.31 [[ 9.90851651e-01 -1.34096265e-01 1.52051787e-02 1.54502921e+01] [ 1.34080172e-01 9.90968310e-01 2.07754711e-03 9.26116727e-01] [-1.53464415e-02 -1.98280081e-05 9.99882236e-01 -3.09284427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09 meters 0.01465008649375855 Centerline is valid? [True, True] Translation: X:15.48, Y:0.93, Z:-0.31 [[ 9.90654349e-01 -1.35571119e-01 1.49810458e-02 1.54781104e+01] [ 1.35555602e-01 9.90767617e-01 2.05111842e-03 9.28776953e-01] [-1.51208075e-02 -1.18470301e-06 9.99885674e-01 -3.10615632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12 meters 0.01649146683199503 Centerline is valid? [True, True] Translation: X:15.51, Y:0.93, Z:-0.31 [[ 9.90468246e-01 -1.37000053e-01 1.42702443e-02 1.55054747e+01] [ 1.36986049e-01 9.90571040e-01 1.95887138e-03 9.31112984e-01] [-1.44040562e-02 1.46244838e-05 9.99896256e-01 -3.13129999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15 meters 0.013457959873465146 Centerline is valid? [True, True] Translation: X:15.53, Y:0.93, Z:-0.31 [[ 9.90332251e-01 -1.37973151e-01 1.43332851e-02 1.55333542e+01] [ 1.37959123e-01 9.90435969e-01 1.96762063e-03 9.33736434e-01] [-1.44676799e-02 2.88092780e-05 9.99895337e-01 -3.12524766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18 meters 0.01603008641970079 Centerline is valid? [True, True] Translation: X:15.56, Y:0.94, Z:-0.32 [[ 9.90081105e-01 -1.39824668e-01 1.37283749e-02 1.55614884e+01] [ 1.39811908e-01 9.90176277e-01 1.88959091e-03 9.36845457e-01] [-1.38577226e-02 4.85420276e-05 9.99903976e-01 -3.15502734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21 meters 0.016228338154007 Centerline is valid? [True, True] Translation: X:15.59, Y:0.94, Z:-0.32 [[ 9.89774398e-01 -1.41947621e-01 1.40539884e-02 1.55889171e+01] [ 1.41934461e-01 9.89874167e-01 1.93450112e-03 9.40205673e-01] [-1.41862779e-02 8.00255909e-05 9.99899366e-01 -3.16189072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24 meters 0.015862396491442436 Centerline is valid? [True, True] Translation: X:15.62, Y:0.94, Z:-0.32 [[ 9.89649745e-01 -1.42834260e-01 1.38476241e-02 1.56162343e+01] [ 1.42821510e-01 9.89746617e-01 1.91044626e-03 9.43314779e-01] [-1.39785163e-02 8.70659378e-05 9.99902292e-01 -3.16072134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27 meters 0.016295778203570067 Centerline is valid? [True, True] Translation: X:15.64, Y:0.95, Z:-0.32 [[ 9.89478102e-01 -1.44018828e-01 1.38442691e-02 1.56440239e+01] [ 1.44006172e-01 9.89574943e-01 1.91198964e-03 9.47101662e-01] [-1.39753043e-02 1.01788302e-04 9.99902335e-01 -3.16008066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.3 meters 0.017107912780389728 Centerline is valid? [True, True] Translation: X:15.67, Y:0.95, Z:-0.32 [[ 9.89106547e-01 -1.46520338e-01 1.41431537e-02 1.56732096e+01] [ 1.46507323e-01 9.89207649e-01 1.95764011e-03 9.50650560e-01] [-1.42773499e-02 1.35760934e-04 9.99898064e-01 -3.15698990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33 meters 0.017078309464099158 Centerline is valid? [True, True] Translation: X:15.70, Y:0.95, Z:-0.32 [[ 9.88975084e-01 -1.47389863e-01 1.43007165e-02 1.57012884e+01] [ 1.47376580e-01 9.89078464e-01 1.98405660e-03 9.54364040e-01] [-1.44369605e-02 1.45408149e-04 9.99895771e-01 -3.15988780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36 meters 0.01676004850129801 Centerline is valid? [True, True] Translation: X:15.73, Y:0.96, Z:-0.32 [[ 9.88839790e-01 -1.48248148e-01 1.47768808e-02 1.57293380e+01] [ 1.48234041e-01 9.88950181e-01 2.05148877e-03 9.58226442e-01] [-1.49177284e-02 1.61843037e-04 9.99888711e-01 -3.16763566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39 meters 0.01710699657833541 Centerline is valid? [True, True] Translation: X:15.76, Y:0.96, Z:-0.32 [[ 9.88558499e-01 -1.50090684e-01 1.49960215e-02 1.57572339e+01] [ 1.50076351e-01 9.88672216e-01 2.08301029e-03 9.63691180e-01] [-1.51387903e-02 1.91370660e-04 9.99885384e-01 -3.17968026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419999999999998 meters 0.016615197208052122 Centerline is valid? [True, True] Translation: X:15.79, Y:0.97, Z:-0.32 [[ 9.88407928e-01 -1.51136827e-01 1.44023702e-02 1.57856623e+01] [ 1.51123703e-01 9.88512833e-01 2.00156794e-03 9.69529756e-01] [-1.45394383e-02 1.98173884e-04 9.99894277e-01 -3.18346269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45 meters 0.015855905450910018 Centerline is valid? [True, True] Translation: X:15.81, Y:0.97, Z:-0.32 [[ 9.88073126e-01 -1.53319954e-01 1.42999648e-02 1.58129216e+01] [ 1.53307178e-01 9.88176574e-01 1.99193468e-03 9.73490614e-01] [-1.44362936e-02 2.24110118e-04 9.99895766e-01 -3.19626637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48 meters 0.015997460366254726 Centerline is valid? [True, True] Translation: X:15.84, Y:0.98, Z:-0.32 [[ 9.87863934e-01 -1.54703364e-01 1.38462120e-02 1.58412144e+01] [ 1.54691519e-01 9.87960937e-01 1.92887982e-03 9.77595264e-01] [-1.39779208e-02 2.36420769e-04 9.99902276e-01 -3.19905327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509999999999998 meters 0.018437013147436995 Centerline is valid? [True, True] Translation: X:15.87, Y:0.98, Z:-0.32 [[ 9.87654241e-01 -1.56083534e-01 1.33052996e-02 1.58692480e+01] [ 1.56072665e-01 9.87743829e-01 1.85775820e-03 9.81048303e-01] [-1.34321931e-02 2.41770814e-04 9.99909755e-01 -3.21853827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54 meters 0.01779523512904292 Centerline is valid? [True, True] Translation: X:15.90, Y:0.99, Z:-0.32 [[ 9.87468034e-01 -1.57217181e-01 1.37709604e-02 1.58972175e+01] [ 1.57205631e-01 9.87564017e-01 1.92404678e-03 9.85877795e-01] [-1.39021982e-02 2.64937827e-04 9.99903325e-01 -3.21928130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57 meters 0.01730305969778866 Centerline is valid? [True, True] Translation: X:15.93, Y:0.99, Z:-0.32 [[ 9.87329075e-01 -1.58060301e-01 1.40797598e-02 1.59261694e+01] [ 1.58048308e-01 9.87429421e-01 1.96745770e-03 9.90285987e-01] [-1.42137460e-02 2.82754028e-04 9.99898940e-01 -3.22048649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599999999999998 meters 0.018123469267339643 Centerline is valid? [True, True] Translation: X:15.95, Y:0.99, Z:-0.32 [[ 9.87331379e-01 -1.58134360e-01 1.30488690e-02 1.59538682e+01] [ 1.58124012e-01 9.87417570e-01 1.82748675e-03 9.94007920e-01] [-1.31736710e-02 2.59004504e-04 9.99913190e-01 -3.23204264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63 meters 0.017690388069433537 Centerline is valid? [True, True] Translation: X:15.98, Y:1.00, Z:-0.32 [[ 9.87369489e-01 -1.57922865e-01 1.27224581e-02 1.59817041e+01] [ 1.57913016e-01 9.87451420e-01 1.78131413e-03 1.00127141e+00] [-1.28441195e-02 2.50226510e-04 9.99917480e-01 -3.23886215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66 meters 0.018534514414638374 Centerline is valid? [True, True] Translation: X:16.01, Y:1.01, Z:-0.33 [[ 9.87529939e-01 -1.56949210e-01 1.23111766e-02 1.60090890e+01] [ 1.56939850e-01 9.87606650e-01 1.72871716e-03 1.00607047e+00] [-1.24299207e-02 2.24954256e-04 9.99922720e-01 -3.25803657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689999999999998 meters 0.016392197904589987 Centerline is valid? [True, True] Translation: X:16.04, Y:1.01, Z:-0.33 [[ 9.87964830e-01 -1.54145666e-01 1.28299672e-02 1.60369819e+01] [ 1.54135264e-01 9.88048114e-01 1.80157701e-03 1.01353326e+00] [-1.29543302e-02 1.97655652e-04 9.99916070e-01 -3.25536817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72 meters 0.016757659738243367 Centerline is valid? [True, True] Translation: X:16.06, Y:1.02, Z:-0.33 [[ 9.88182305e-01 -1.52661997e-01 1.37857394e-02 1.60639423e+01] [ 1.52649775e-01 9.88278442e-01 1.94068967e-03 1.01881560e+00] [-1.39204186e-02 1.86634836e-04 9.99903089e-01 -3.25909628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75 meters 0.015304768995148306 Centerline is valid? [True, True] Translation: X:16.09, Y:1.02, Z:-0.32 [[ 9.88374003e-01 -1.51309297e-01 1.49106400e-02 1.60917864e+01] [ 1.51294823e-01 9.88486451e-01 2.10051916e-03 1.02409064e+00] [-1.50567937e-02 1.79804098e-04 9.99886624e-01 -3.24919331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779999999999998 meters 0.015871907651331313 Centerline is valid? [True, True] Translation: X:16.12, Y:1.03, Z:-0.32 [[ 9.88495465e-01 -1.50210280e-01 1.77084157e-02 1.61192509e+01] [ 1.50189654e-01 9.88654052e-01 2.49654277e-03 1.02971416e+00] [-1.78825034e-02 1.91799636e-04 9.99840077e-01 -3.24139715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81 meters 0.01775530289314579 Centerline is valid? [True, True] Translation: X:16.15, Y:1.03, Z:-0.32 [[ 9.88405034e-01 -1.50597237e-01 1.93897148e-02 1.61472584e+01] [ 1.50572551e-01 9.88595178e-01 2.73523034e-03 1.03378096e+00] [-1.95804966e-02 2.16043373e-04 9.99808260e-01 -3.24021647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84 meters 0.016474998324676356 Centerline is valid? [True, True] Translation: X:16.17, Y:1.04, Z:-0.32 [[ 9.88340246e-01 -1.50826923e-01 2.08517976e-02 1.61746154e+01] [ 1.50798294e-01 9.88560158e-01 2.94766881e-03 1.03804148e+00] [-2.10578441e-02 2.31115779e-04 9.99778232e-01 -3.22468922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87 meters 0.01720920159459701 Centerline is valid? [True, True] Translation: X:16.20, Y:1.04, Z:-0.32 [[ 9.88267598e-01 -1.51187173e-01 2.16701229e-02 1.62027876e+01] [ 1.51156203e-01 9.88505124e-01 3.06952421e-03 1.04264191e+00] [-2.18851002e-02 2.42062189e-04 9.99760463e-01 -3.22965984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.9 meters 0.01653654789740024 Centerline is valid? [True, True] Translation: X:16.23, Y:1.05, Z:-0.33 [[ 9.88345577e-01 -1.50765108e-01 2.10452561e-02 1.62300648e+01] [ 1.50735687e-01 9.88569590e-01 2.98647839e-03 1.04877640e+00] [-2.12549569e-02 2.20598418e-04 9.99774064e-01 -3.25102121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93 meters 0.013344947651369404 Centerline is valid? [True, True] Translation: X:16.26, Y:1.05, Z:-0.32 [[ 9.88508476e-01 -1.49771851e-01 2.04789030e-02 1.62584522e+01] [ 1.49743744e-01 9.88720565e-01 2.90780742e-03 1.05440485e+00] [-2.06834203e-02 1.92195325e-04 9.99786057e-01 -3.24371606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96 meters 0.016002614358413887 Centerline is valid? [True, True] Translation: X:16.29, Y:1.06, Z:-0.33 [[ 9.88541416e-01 -1.49697934e-01 1.94009827e-02 1.62859800e+01] [ 1.49672610e-01 9.88731762e-01 2.75902639e-03 1.05969296e+00] [-1.95953883e-02 1.76383867e-04 9.99807976e-01 -3.28507217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99 meters 0.01715855293028515 Centerline is valid? [True, True] Translation: X:16.31, Y:1.07, Z:-0.33 [[ 9.88901099e-01 -1.47551492e-01 1.74118882e-02 1.63140607e+01] [ 1.47530690e-01 9.89054368e-01 2.48031902e-03 1.06696902e+00] [-1.75872789e-02 1.15997673e-04 9.99845325e-01 -3.31035924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02 meters 0.016102810514006336 Centerline is valid? [True, True] Translation: X:16.34, Y:1.07, Z:-0.33 [[ 9.89079510e-01 -1.46439433e-01 1.66497951e-02 1.63404987e+01] [ 1.46420185e-01 9.89219634e-01 2.37589386e-03 1.07132837e+00] [-1.68182288e-02 8.79181359e-05 9.99858560e-01 -3.31906466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05 meters 0.016086256919052588 Centerline is valid? [True, True] Translation: X:16.37, Y:1.08, Z:-0.33 [[ 9.89236540e-01 -1.45482858e-01 1.56782106e-02 1.63666292e+01] [ 1.45465621e-01 9.89360770e-01 2.24041672e-03 1.07611173e+00] [-1.58373488e-02 6.43385561e-05 9.99874579e-01 -3.34101893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08 meters 0.016176810527862517 Centerline is valid? [True, True] Translation: X:16.39, Y:1.08, Z:-0.33 [[ 9.89561536e-01 -1.43320110e-01 1.50768684e-02 1.63943487e+01] [ 1.43303906e-01 9.89676384e-01 2.15529379e-03 1.08238989e+00] [-1.52301175e-02 2.77782876e-05 9.99884015e-01 -3.34973871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11 meters 0.016912480309287464 Centerline is valid? [True, True] Translation: X:16.42, Y:1.09, Z:-0.34 [[ 9.89700633e-01 -1.42376752e-01 1.48834808e-02 1.64207787e+01] [ 1.42360779e-01 9.89812538e-01 2.13265478e-03 1.08641580e+00] [-1.50354964e-02 8.13413426e-06 9.99886961e-01 -3.37214862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14 meters 0.016333561791079292 Centerline is valid? [True, True] Translation: X:16.45, Y:1.09, Z:-0.34 [[ 9.89967638e-01 -1.40563123e-01 1.43556219e-02 1.64489136e+01] [ 1.40548062e-01 9.90071719e-01 2.05774408e-03 1.09037500e+00] [-1.45023382e-02 -1.94452140e-05 9.99894835e-01 -3.37083219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169999999999998 meters 0.01574860709302191 Centerline is valid? [True, True] Translation: X:16.48, Y:1.09, Z:-0.34 [[ 9.90076858e-01 -1.39725082e-01 1.49905408e-02 1.64771012e+01] [ 1.39708496e-01 9.90190335e-01 2.15318960e-03 1.09424379e+00] [-1.51443432e-02 -3.75172900e-05 9.99885317e-01 -3.36809638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.2 meters 0.016651339928669906 Centerline is valid? [True, True] Translation: X:16.51, Y:1.10, Z:-0.34 [[ 9.90180849e-01 -1.38967127e-01 1.51665736e-02 1.65051295e+01] [ 1.38949994e-01 9.90296993e-01 2.18275244e-03 1.09809158e+00] [-1.53227431e-02 -5.39243542e-05 9.99882598e-01 -3.37299020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23 meters 0.015080458520201732 Centerline is valid? [True, True] Translation: X:16.53, Y:1.10, Z:-0.34 [[ 9.90274401e-01 -1.38268726e-01 1.54392485e-02 1.65321655e+01] [ 1.38250807e-01 9.90394747e-01 2.22712822e-03 1.10166169e+00] [-1.55988928e-02 -7.09794961e-05 9.99878327e-01 -3.36866738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259999999999998 meters 0.01723414140408686 Centerline is valid? [True, True] Translation: X:16.56, Y:1.11, Z:-0.34 [[ 9.90371176e-01 -1.37570514e-01 1.54689010e-02 1.65600790e+01] [ 1.37552423e-01 9.90491972e-01 2.23251124e-03 1.10500768e+00] [-1.56289499e-02 -8.32299730e-05 9.99877857e-01 -3.38303992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29 meters 0.01761813405606247 Centerline is valid? [True, True] Translation: X:16.59, Y:1.11, Z:-0.34 [[ 9.90395999e-01 -1.37324101e-01 1.60579092e-02 1.65866577e+01] [ 1.37304489e-01 9.90526164e-01 2.32275036e-03 1.10888405e+00] [-1.62247488e-02 -9.56196480e-05 9.99868366e-01 -3.39284676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32 meters 0.017508180155280113 Centerline is valid? [True, True] Translation: X:16.61, Y:1.11, Z:-0.34 [[ 9.90448345e-01 -1.36916055e-01 1.63116186e-02 1.66149253e+01] [ 1.36895741e-01 9.90582648e-01 2.36080261e-03 1.11268188e+00] [-1.64812382e-02 -1.05261915e-04 9.99864170e-01 -3.39905713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349999999999998 meters 0.018848379475088776 Centerline is valid? [True, True] Translation: X:16.64, Y:1.12, Z:-0.34 [[ 9.90439898e-01 -1.36913191e-01 1.68400367e-02 1.66425188e+01] [ 1.36891459e-01 9.90583043e-01 2.44198082e-03 1.11601310e+00] [-1.70157942e-02 -1.13378052e-04 9.99855214e-01 -3.40319197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38 meters 0.018848379475088776 Centerline is valid? [True, True] Translation: X:16.67, Y:1.12, Z:-0.34 [[ 9.90403800e-01 -1.37174148e-01 1.68393905e-02 1.66698115e+01] [ 1.37152378e-01 9.90546940e-01 2.44642807e-03 1.12007694e+00] [-1.70157934e-02 -1.13389214e-04 9.99855214e-01 -3.40885336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41 meters 0.018190416505839038 Centerline is valid? [True, True] Translation: X:16.70, Y:1.12, Z:-0.34 [[ 9.90536590e-01 -1.36172157e-01 1.71582766e-02 1.66971460e+01] [ 1.36149312e-01 9.90685179e-01 2.49807478e-03 1.12288480e+00] [-1.73386185e-02 -1.38346923e-04 9.99849665e-01 -3.40814113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439999999999998 meters 0.016392699673151132 Centerline is valid? [True, True] Translation: X:16.73, Y:1.13, Z:-0.34 [[ 9.90554452e-01 -1.36044073e-01 1.71431414e-02 1.67250721e+01] [ 1.36021234e-01 9.90702776e-01 2.49671316e-03 1.12717268e+00] [-1.73234208e-02 -1.41299084e-04 9.99849928e-01 -3.41358697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47 meters 0.01685329019457671 Centerline is valid? [True, True] Translation: X:16.75, Y:1.13, Z:-0.34 [[ 9.90613593e-01 -1.35741589e-01 1.60912893e-02 1.67538829e+01] [ 1.35721363e-01 9.90744266e-01 2.34747705e-03 1.12986105e+00] [-1.62610029e-02 -1.41510957e-04 9.99867771e-01 -3.42607453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.5 meters 0.016526514262371627 Centerline is valid? [True, True] Translation: X:16.78, Y:1.13, Z:-0.34 [[ 9.90711035e-01 -1.35133090e-01 1.51886048e-02 1.67818706e+01] [ 1.35114930e-01 9.90827445e-01 2.22022086e-03 1.13433541e+00] [-1.53493118e-02 -1.47390039e-04 9.99882182e-01 -3.44422595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529999999999998 meters 0.01675204312488829 Centerline is valid? [True, True] Translation: X:16.81, Y:1.14, Z:-0.35 [[ 9.90774250e-01 -1.34824086e-01 1.37423006e-02 1.68102499e+01] [ 1.34809191e-01 9.90869541e-01 2.00879778e-03 1.13871105e+00] [-1.38876614e-02 -1.37676692e-04 9.99903552e-01 -3.46685720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56 meters 0.019020014761144143 Centerline is valid? [True, True] Translation: X:16.84, Y:1.14, Z:-0.35 [[ 9.90859446e-01 -1.34326867e-01 1.24036838e-02 1.68370378e+01] [ 1.34314648e-01 9.90937069e-01 1.81666647e-03 1.14473354e+00] [-1.25352972e-02 -1.34064708e-04 9.99921421e-01 -3.51798243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59 meters 0.014551735381941653 Centerline is valid? [True, True] Translation: X:16.87, Y:1.15, Z:-0.35 [[ 9.90962425e-01 -1.33523804e-01 1.28400488e-02 1.68661619e+01] [ 1.33510632e-01 9.91045595e-01 1.88151239e-03 1.14681757e+00] [-1.29763005e-02 -1.50225056e-04 9.99915793e-01 -3.48220182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62 meters 0.017145018759723626 Centerline is valid? [True, True] Translation: X:16.89, Y:1.15, Z:-0.35 [[ 9.90881231e-01 -1.34206802e-01 1.19548893e-02 1.68932586e+01] [ 1.34195389e-01 9.90953337e-01 1.75546806e-03 1.14990516e+00] [-1.20823332e-02 -1.35169333e-04 9.99926997e-01 -3.50820240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65 meters 0.017567320816070858 Centerline is valid? [True, True] Translation: X:16.92, Y:1.15, Z:-0.35 [[ 9.90830559e-01 -1.34564361e-01 1.21340974e-02 1.69213488e+01] [ 1.34552627e-01 9.90904847e-01 1.78200714e-03 1.15301968e+00] [-1.22635306e-02 -1.32992441e-04 9.99924791e-01 -3.51211639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68 meters 0.017882236928210754 Centerline is valid? [True, True] Translation: X:16.95, Y:1.15, Z:-0.35 [[ 9.90658360e-01 -1.35684252e-01 1.36307625e-02 1.69488222e+01] [ 1.35669475e-01 9.90752120e-01 2.00733041e-03 1.15490131e+00] [-1.37770699e-02 -1.39300270e-04 9.99905082e-01 -3.50163249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71 meters 0.019255732576348675 Centerline is valid? [True, True] Translation: X:16.98, Y:1.16, Z:-0.35 [[ 9.90464540e-01 -1.37025269e-01 1.42853170e-02 1.69778087e+01] [ 1.37009159e-01 9.90567544e-01 2.10499751e-03 1.15780420e+00] [-1.44390092e-02 -1.27706127e-04 9.99895744e-01 -3.50823206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74 meters 0.014303184383561058 Centerline is valid? [True, True] Translation: X:17.01, Y:1.16, Z:-0.35 [[ 9.90377976e-01 -1.37501403e-01 1.56470344e-02 1.70054803e+01] [ 1.37482069e-01 9.90501563e-01 2.30974801e-03 1.16119462e+00] [-1.58160056e-02 -1.36336888e-04 9.99874910e-01 -3.47307400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77 meters 0.016812345181396942 Centerline is valid? [True, True] Translation: X:17.03, Y:1.16, Z:-0.35 [[ 9.90164896e-01 -1.39018068e-01 1.57306838e-02 1.70342909e+01] [ 1.38998647e-01 9.90289838e-01 2.32661110e-03 1.16425848e+00] [-1.59013773e-02 -1.17184863e-04 9.99873558e-01 -3.49688373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.8 meters 0.014138322267559948 Centerline is valid? [True, True] Translation: X:17.06, Y:1.17, Z:-0.35 [[ 9.89973593e-01 -1.40330347e-01 1.61145825e-02 1.70624566e+01] [ 1.40310078e-01 9.90104733e-01 2.38721069e-03 1.16853253e+00] [-1.62901225e-02 -1.02237214e-04 9.99867302e-01 -3.49123814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83 meters 0.01600439924293127 Centerline is valid? [True, True] Translation: X:17.09, Y:1.17, Z:-0.35 [[ 9.89827808e-01 -1.41434260e-01 1.54032857e-02 1.70897279e+01] [ 1.41415813e-01 9.89947647e-01 2.28579435e-03 1.17269352e+00] [-1.55717360e-02 -8.42746447e-05 9.99878750e-01 -3.51540314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86 meters 0.014036279480188341 Centerline is valid? [True, True] Translation: X:17.12, Y:1.18, Z:-0.35 [[ 9.89806893e-01 -1.41607078e-01 1.51574802e-02 1.71172877e+01] [ 1.41589174e-01 9.89922941e-01 2.25334485e-03 1.17960105e+00] [-1.53238270e-02 -8.42411598e-05 9.99882580e-01 -3.52273389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89 meters 0.01656567302853459 Centerline is valid? [True, True] Translation: X:17.15, Y:1.18, Z:-0.36 [[ 9.89741043e-01 -1.42241506e-01 1.34172346e-02 1.71461615e+01] [ 1.42227492e-01 9.89831980e-01 1.99784429e-03 1.18451301e+00] [-1.35649843e-02 -6.90488588e-05 9.99907989e-01 -3.55238130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919999999999998 meters 0.014171737977346936 Centerline is valid? [True, True] Translation: X:17.17, Y:1.19, Z:-0.35 [[ 9.89808270e-01 -1.41697391e-01 1.41928963e-02 1.71724748e+01] [ 1.41681590e-01 9.89910017e-01 2.11779276e-03 1.19057495e+00] [-1.43497760e-02 -8.53366700e-05 9.99897033e-01 -3.54622595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95 meters 0.016975689346535157 Centerline is valid? [True, True] Translation: X:17.20, Y:1.19, Z:-0.36 [[ 9.89735189e-01 -1.42308747e-01 1.31330040e-02 1.71999226e+01] [ 1.42295269e-01 9.89822315e-01 1.95979938e-03 1.19367035e+00] [-1.32782370e-02 -7.09180730e-05 9.99911838e-01 -3.55854486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98 meters 0.014082676862054465 Centerline is valid? [True, True] Translation: X:17.23, Y:1.20, Z:-0.35 [[ 9.89834543e-01 -1.41562565e-01 1.36973492e-02 1.72261753e+01] [ 1.41547759e-01 9.89929307e-01 2.04932463e-03 1.19852892e+00] [-1.38495151e-02 -8.96632225e-05 9.99904087e-01 -3.54575831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009999999999998 meters 0.01585928893320669 Centerline is valid? [True, True] Translation: X:17.25, Y:1.20, Z:-0.36 [[ 9.89692153e-01 -1.42666965e-01 1.24731572e-02 1.72539492e+01] [ 1.42654775e-01 9.89770747e-01 1.86621898e-03 1.20224874e+00] [-1.26118139e-02 -6.76268599e-05 9.99920466e-01 -3.56252008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04 meters 0.014033939763887483 Centerline is valid? [True, True] Translation: X:17.28, Y:1.21, Z:-0.36 [[ 9.89669442e-01 -1.42782642e-01 1.29426476e-02 1.72821512e+01] [ 1.42769475e-01 9.89754066e-01 1.94042400e-03 1.20703279e+00] [-1.30870970e-02 -7.25633365e-05 9.99914358e-01 -3.55698254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07 meters 0.015853755940063493 Centerline is valid? [True, True] Translation: X:17.31, Y:1.21, Z:-0.36 [[ 9.89503989e-01 -1.44035009e-01 1.16520985e-02 1.73102920e+01] [ 1.44024392e-01 9.89572591e-01 1.74967657e-03 1.21081148e+00] [-1.17826120e-02 -5.31255435e-05 9.99930581e-01 -3.58244280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099999999999998 meters 0.015101355970066812 Centerline is valid? [True, True] Translation: X:17.34, Y:1.22, Z:-0.36 [[ 9.89432509e-01 -1.44496547e-01 1.20024536e-02 1.73382529e+01] [ 1.44485271e-01 9.89505303e-01 1.80591367e-03 1.21521230e+00] [-1.21374398e-02 -5.26519338e-05 9.99926337e-01 -3.58589479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13 meters 0.017511671293458868 Centerline is valid? [True, True] Translation: X:17.36, Y:1.22, Z:-0.36 [[ 9.89297098e-01 -1.45473233e-01 1.13485551e-02 1.73647117e+01] [ 1.45463165e-01 9.89362187e-01 1.71196843e-03 1.21937733e+00] [-1.14768769e-02 -4.28486572e-05 9.99934138e-01 -3.61129500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16 meters 0.014225158756558652 Centerline is valid? [True, True] Translation: X:17.39, Y:1.22, Z:-0.36 [[ 9.89246771e-01 -1.45704792e-01 1.26861958e-02 1.73935538e+01] [ 1.45692219e-01 9.89328111e-01 1.91464552e-03 1.22370437e+00] [-1.28297832e-02 -4.57768826e-05 9.99917694e-01 -3.59506878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189999999999998 meters 0.015723495377276377 Centerline is valid? [True, True] Translation: X:17.42, Y:1.23, Z:-0.36 [[ 9.89130930e-01 -1.46526113e-01 1.22516109e-02 1.74214545e+01] [ 1.46514417e-01 9.89206802e-01 1.85169781e-03 1.22716469e+00] [-1.23906990e-02 -3.65339451e-05 9.99923232e-01 -3.60839837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22 meters 0.01751610546919162 Centerline is valid? [True, True] Translation: X:17.45, Y:1.23, Z:-0.36 [[ 9.89048275e-01 -1.47145066e-01 1.14821099e-02 1.74489996e+01] [ 1.47134779e-01 9.89114922e-01 1.74020316e-03 1.23090767e+00] [-1.16131886e-02 -3.17272296e-05 9.99932564e-01 -3.62349750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25 meters 0.018485542845757968 Centerline is valid? [True, True] Translation: X:17.48, Y:1.24, Z:-0.36 [[ 9.88979131e-01 -1.47609021e-01 1.14828397e-02 1.74755630e+01] [ 1.47598755e-01 9.89045791e-01 1.74105349e-03 1.23508335e+00] [-1.16140494e-02 -2.70127217e-05 9.99932554e-01 -3.64392526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279999999999998 meters 0.013824321818083988 Centerline is valid? [True, True] Translation: X:17.50, Y:1.24, Z:-0.36 [[ 9.89154806e-01 -1.46364647e-01 1.22539395e-02 1.75031563e+01] [ 1.46352856e-01 9.89230705e-01 1.85838176e-03 1.23951385e+00] [-1.23939746e-02 -4.48282186e-05 9.99923191e-01 -3.61112205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31 meters 0.013799048938757552 Centerline is valid? [True, True] Translation: X:17.53, Y:1.24, Z:-0.36 [[ 9.89155618e-01 -1.46392400e-01 1.18502649e-02 1.75312492e+01] [ 1.46381338e-01 9.89226598e-01 1.80026164e-03 1.24396788e+00] [-1.19861419e-02 -4.60812836e-05 9.99928163e-01 -3.61527193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34 meters 0.013820302877909663 Centerline is valid? [True, True] Translation: X:17.56, Y:1.25, Z:-0.36 [[ 9.89186035e-01 -1.46202978e-01 1.16480372e-02 1.75587640e+01] [ 1.46192237e-01 9.89254612e-01 1.77286602e-03 1.24810317e+00] [-1.17820728e-02 -5.08416916e-05 9.99930588e-01 -3.62384724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37 meters 0.016117531354765312 Centerline is valid? [True, True] Translation: X:17.59, Y:1.25, Z:-0.36 [[ 9.89161385e-01 -1.46468452e-01 1.03318503e-02 1.75873367e+01] [ 1.46459988e-01 9.89215341e-01 1.57527311e-03 1.25236072e+00] [-1.04511526e-02 -4.49966574e-05 9.99945384e-01 -3.64497880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.4 meters 0.013869984837259795 Centerline is valid? [True, True] Translation: X:17.61, Y:1.26, Z:-0.36 [[ 9.89244330e-01 -1.45856755e-01 1.10210243e-02 1.76136749e+01] [ 1.45847037e-01 9.89305718e-01 1.68469086e-03 1.25695261e+00] [-1.11488859e-02 -5.91871454e-05 9.99937847e-01 -3.63954839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43 meters 0.01649923743639655 Centerline is valid? [True, True] Translation: X:17.64, Y:1.26, Z:-0.37 [[ 9.89044760e-01 -1.47275790e-01 1.00152404e-02 1.76412729e+01] [ 1.47267844e-01 9.89095466e-01 1.53031491e-03 1.26080766e+00] [-1.01314072e-02 -3.86270798e-05 9.99948675e-01 -3.66907798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46 meters 0.016478017743078357 Centerline is valid? [True, True] Translation: X:17.67, Y:1.26, Z:-0.37 [[ 9.88922647e-01 -1.48085933e-01 1.01269488e-02 1.76689363e+01] [ 1.48077821e-01 9.88974497e-01 1.55036052e-03 1.26487015e+00] [-1.02448806e-02 -3.36101197e-05 9.99947519e-01 -3.67406765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49 meters 0.013785418039872923 Centerline is valid? [True, True] Translation: X:17.70, Y:1.27, Z:-0.37 [[ 9.88743758e-01 -1.49238862e-01 1.06556486e-02 1.76967040e+01] [ 1.49229892e-01 9.88801174e-01 1.63652038e-03 1.26812055e+00] [-1.07805503e-02 -2.79580184e-05 9.99941888e-01 -3.66213624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52 meters 0.015387245090056111 Centerline is valid? [True, True] Translation: X:17.72, Y:1.27, Z:-0.37 [[ 9.88394509e-01 -1.51532212e-01 1.06903189e-02 1.77235057e+01] [ 1.51523310e-01 9.88452320e-01 1.64247188e-03 1.27061842e+00] [-1.08157580e-02 -3.57767812e-06 9.99941508e-01 -3.68221040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55 meters 0.01709998774188592 Centerline is valid? [True, True] Translation: X:17.75, Y:1.27, Z:-0.37 [[ 9.88022193e-01 -1.53953215e-01 1.05144652e-02 1.77518652e+01] [ 1.53944744e-01 9.88078138e-01 1.61514495e-03 1.27301131e+00] [-1.06377700e-02 2.28475994e-05 9.99943417e-01 -3.69024816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58 meters 0.01639447997932991 Centerline is valid? [True, True] Translation: X:17.78, Y:1.28, Z:-0.37 [[ 9.87630650e-01 -1.56411069e-01 1.10126168e-02 1.77793000e+01] [ 1.56401876e-01 9.87692045e-01 1.69645851e-03 1.27511514e+00] [-1.11424189e-02 4.69195027e-05 9.99937920e-01 -3.68826962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61 meters 0.01547105661300958 Centerline is valid? [True, True] Translation: X:17.81, Y:1.28, Z:-0.37 [[ 9.86902152e-01 -1.60842781e-01 1.23993014e-02 1.78075780e+01] [ 1.60831455e-01 9.86980034e-01 1.91182197e-03 1.27584851e+00] [-1.25453657e-02 1.07416470e-04 9.99921298e-01 -3.67837366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64 meters 0.015726597681661587 Centerline is valid? [True, True] Translation: X:17.84, Y:1.28, Z:-0.37 [[ 9.86584910e-01 -1.62765072e-01 1.25597610e-02 1.78361567e+01] [ 1.62753596e-01 9.86664844e-01 1.93733072e-03 1.27933782e+00] [-1.27076044e-02 1.32805016e-04 9.99919246e-01 -3.68178809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669999999999998 meters 0.016108850879298416 Centerline is valid? [True, True] Translation: X:17.87, Y:1.28, Z:-0.37 [[ 9.86273049e-01 -1.64605974e-01 1.30516794e-02 1.78651826e+01] [ 1.64593699e-01 9.86359391e-01 2.01647808e-03 1.28271265e+00] [-1.32055709e-02 1.59426210e-04 9.99912790e-01 -3.68791078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.7 meters 0.018218910734574097 Centerline is valid? [True, True] Translation: X:17.89, Y:1.29, Z:-0.37 [[ 9.85882280e-01 -1.66934986e-01 1.29938864e-02 1.78933360e+01] [ 1.66922967e-01 9.85967888e-01 2.01167628e-03 1.28512657e+00] [-1.31473739e-02 1.85702084e-04 9.99913552e-01 -3.70084810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73 meters 0.015901876177263078 Centerline is valid? [True, True] Translation: X:17.92, Y:1.29, Z:-0.37 [[ 9.85818120e-01 -1.67269981e-01 1.35420996e-02 1.79210111e+01] [ 1.67256960e-01 9.85911109e-01 2.09648963e-03 1.29026163e+00] [-1.37019862e-02 1.98252945e-04 9.99906104e-01 -3.68142156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759999999999998 meters 0.014915564228457084 Centerline is valid? [True, True] Translation: X:17.95, Y:1.30, Z:-0.37 [[ 9.85727961e-01 -1.67773736e-01 1.38694103e-02 1.79480150e+01] [ 1.67760076e-01 9.85825507e-01 2.15087503e-03 1.29645242e+00] [-1.40336787e-02 2.06555659e-04 9.99901502e-01 -3.67600377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79 meters 0.014978061056991813 Centerline is valid? [True, True] Translation: X:17.98, Y:1.30, Z:-0.37 [[ 9.85590061e-01 -1.68588521e-01 1.37892354e-02 1.79765193e+01] [ 1.68575040e-01 9.85686494e-01 2.14255883e-03 1.30125910e+00] [-1.39530739e-02 2.12836218e-04 9.99902628e-01 -3.68214783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82 meters 0.017503906162559996 Centerline is valid? [True, True] Translation: X:18.00, Y:1.30, Z:-0.37 [[ 9.85373301e-01 -1.69882791e-01 1.33901378e-02 1.80038760e+01] [ 1.69870141e-01 9.85464250e-01 2.08482556e-03 1.30365095e+00] [-1.35496781e-02 2.20253155e-04 9.99908175e-01 -3.71190910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849999999999998 meters 0.01910375023900653 Centerline is valid? [True, True] Translation: X:18.03, Y:1.31, Z:-0.37 [[ 9.85244017e-01 -1.70657365e-01 1.30495350e-02 1.80314641e+01] [ 1.70645403e-01 9.85330408e-01 2.03293918e-03 1.30784526e+00] [-1.32050397e-02 2.23901987e-04 9.99912785e-01 -3.73208711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88 meters 0.017763716376051262 Centerline is valid? [True, True] Translation: X:18.06, Y:1.31, Z:-0.37 [[ 9.85180188e-01 -1.70984044e-01 1.35813842e-02 1.80589238e+01] [ 1.70971118e-01 9.85273769e-01 2.11576545e-03 1.31231371e+00] [-1.37431437e-02 2.37614229e-04 9.99905530e-01 -3.72105346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91 meters 0.01843457395149085 Centerline is valid? [True, True] Translation: X:18.09, Y:1.32, Z:-0.37 [[ 9.85003162e-01 -1.72017988e-01 1.33635175e-02 1.80875701e+01] [ 1.72005521e-01 9.85093778e-01 2.08538824e-03 1.31636650e+00] [-1.35230422e-02 2.44484778e-04 9.99908530e-01 -3.72773944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939999999999998 meters 0.016445426245382488 Centerline is valid? [True, True] Translation: X:18.12, Y:1.32, Z:-0.37 [[ 9.84752094e-01 -1.73440131e-01 1.34846025e-02 1.81157511e+01] [ 1.73427529e-01 9.84844379e-01 2.10720889e-03 1.32367562e+00] [-1.36457096e-02 2.63522933e-04 9.99906858e-01 -3.71334607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.97 meters 0.02061276093496693 Centerline is valid? [True, True] Translation: X:18.14, Y:1.32, Z:-0.37 [[ 9.84509606e-01 -1.74823854e-01 1.33212899e-02 1.81438064e+01] [ 1.74811626e-01 9.84599687e-01 2.08589925e-03 1.32411669e+00] [-1.34808028e-02 2.75128508e-04 9.99909092e-01 -3.74633549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.0 meters 0.015799700577757866 Centerline is valid? [True, True] Translation: X:18.17, Y:1.33, Z:-0.37 [[ 9.84486767e-01 -1.74912682e-01 1.38332773e-02 1.81704434e+01] [ 1.74899507e-01 9.84583908e-01 2.16597817e-03 1.33481873e+00] [-1.39988792e-02 2.87056522e-04 9.99901970e-01 -3.71125149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029999999999998 meters 0.019715236090308244 Centerline is valid? [True, True] Translation: X:18.20, Y:1.34, Z:-0.38 [[ 9.84322662e-01 -1.75887058e-01 1.31392845e-02 1.81977400e+01] [ 1.75875194e-01 9.84410313e-01 2.06211376e-03 1.33718523e+00] [-1.32971463e-02 2.81088903e-04 9.99911550e-01 -3.75123484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06 meters 0.018267075915215883 Centerline is valid? [True, True] Translation: X:18.23, Y:1.34, Z:-0.37 [[ 9.84373155e-01 -1.75589959e-01 1.33288290e-02 1.82266003e+01] [ 1.75577716e-01 9.84463350e-01 2.09240523e-03 1.34232942e+00] [-1.34891490e-02 2.80537816e-04 9.99908978e-01 -3.74263503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09 meters 0.01866669824461514 Centerline is valid? [True, True] Translation: X:18.25, Y:1.35, Z:-0.37 [[ 9.84533560e-01 -1.74626245e-01 1.41189306e-02 1.82535063e+01] [ 1.74612342e-01 9.84634753e-01 2.22104002e-03 1.34787513e+00] [-1.42898417e-02 2.78651108e-04 9.99897856e-01 -3.74837801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119999999999997 meters 0.01559879041861416 Centerline is valid? [True, True] Translation: X:18.28, Y:1.36, Z:-0.37 [[ 9.84742599e-01 -1.73408670e-01 1.45412428e-02 1.82819732e+01] [ 1.73393784e-01 9.84849918e-01 2.28788568e-03 1.35645344e+00] [-1.47176810e-02 2.68382625e-04 9.99891653e-01 -3.72604693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15 meters 0.016214180601975398 Centerline is valid? [True, True] Translation: X:18.31, Y:1.36, Z:-0.37 [[ 9.84907548e-01 -1.72397003e-01 1.53751724e-02 1.83091140e+01] [ 1.72380166e-01 9.85027514e-01 2.42366395e-03 1.36082766e+00] [-1.55628002e-02 2.63289856e-04 9.99878858e-01 -3.73498227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18 meters 0.015974271915762086 Centerline is valid? [True, True] Translation: X:18.34, Y:1.37, Z:-0.37 [[ 9.85129267e-01 -1.71128412e-01 1.53425597e-02 1.83369923e+01] [ 1.71111484e-01 9.85248704e-01 2.41912622e-03 1.36680808e+00] [-1.55302182e-02 2.42136109e-04 9.99879370e-01 -3.73574226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21 meters 0.016947800928656623 Centerline is valid? [True, True] Translation: X:18.36, Y:1.37, Z:-0.38 [[ 9.85696060e-01 -1.67935882e-01 1.41709725e-02 1.83642412e+01] [ 1.67921053e-01 9.85797905e-01 2.23838219e-03 1.37495704e+00] [-1.43456197e-02 1.73240120e-04 9.99897081e-01 -3.76308578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24 meters 0.017673577304841155 Centerline is valid? [True, True] Translation: X:18.39, Y:1.38, Z:-0.38 [[ 9.85965977e-01 -1.66397882e-01 1.35217406e-02 1.83920839e+01] [ 1.66384236e-01 9.86058682e-01 2.13586773e-03 1.38139940e+00] [-1.36886335e-02 1.43911553e-04 9.99906296e-01 -3.77997741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27 meters 0.017673577304841155 Centerline is valid? [True, True] Translation: X:18.42, Y:1.39, Z:-0.38 [[ 9.85922045e-01 -1.66658019e-01 1.35212828e-02 1.84193261e+01] [ 1.66644358e-01 9.86014748e-01 2.13876058e-03 1.38580667e+00] [-1.36886259e-02 1.44594287e-04 9.99906296e-01 -3.78564214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.3 meters 0.014389249448826162 Centerline is valid? [True, True] Translation: X:18.45, Y:1.39, Z:-0.38 [[ 9.86331569e-01 -1.64186356e-01 1.38879960e-02 1.84475982e+01] [ 1.64171640e-01 9.86429333e-01 2.20085006e-03 1.39317373e+00] [-1.40608762e-02 1.09247193e-04 9.99901135e-01 -3.77263329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33 meters 0.014311386041936536 Centerline is valid? [True, True] Translation: X:18.47, Y:1.40, Z:-0.38 [[ 9.86625702e-01 -1.62466150e-01 1.32088999e-02 1.84746962e+01] [ 1.62452630e-01 9.86714115e-01 2.09731816e-03 1.39891231e+00] [-1.33741512e-02 7.65525360e-05 9.99910559e-01 -3.78937851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36 meters 0.017426174247461703 Centerline is valid? [True, True] Translation: X:18.50, Y:1.41, Z:-0.38 [[ 9.86956617e-01 -1.60651075e-01 1.03859342e-02 1.85028249e+01] [ 1.60642627e-01 9.87011261e-01 1.64812756e-03 1.40614861e+00] [-1.05158075e-02 4.17933595e-05 9.99944706e-01 -3.83578022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39 meters 0.017129686042474054 Centerline is valid? [True, True] Translation: X:18.53, Y:1.41, Z:-0.38 [[ 9.87135239e-01 -1.59564862e-01 1.01525843e-02 1.85305576e+01] [ 1.59556711e-01 9.87187446e-01 1.61302802e-03 1.41208444e+00] [-1.02798863e-02 2.76361518e-05 9.99947160e-01 -3.84366799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419999999999998 meters 0.016581528153905088 Centerline is valid? [True, True] Translation: X:18.56, Y:1.42, Z:-0.38 [[ 9.87248822e-01 -1.58874906e-01 9.92615594e-03 1.85577387e+01] [ 1.58867057e-01 9.87298721e-01 1.57934796e-03 1.41765771e+00] [-1.00509998e-02 1.77297698e-05 9.99949487e-01 -3.83061526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45 meters 0.014297525974208901 Centerline is valid? [True, True] Translation: X:18.58, Y:1.42, Z:-0.38 [[ 9.87419618e-01 -1.57817605e-01 9.80315262e-03 1.85839558e+01] [ 1.57809852e-01 9.87468280e-01 1.56430311e-03 1.42227059e+00] [-9.92717683e-03 2.41049152e-06 9.99950724e-01 -3.82802108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48 meters 0.017868604873253435 Centerline is valid? [True, True] Translation: X:18.61, Y:1.43, Z:-0.39 [[ 9.87354261e-01 -1.58362307e-01 7.27616110e-03 1.86115684e+01] [ 1.58358046e-01 9.87381071e-01 1.16181265e-03 1.42589872e+00] [-7.36833107e-03 5.11797731e-06 9.99972853e-01 -3.86523057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509999999999998 meters 0.015128900530495188 Centerline is valid? [True, True] Translation: X:18.64, Y:1.43, Z:-0.39 [[ 9.87403804e-01 -1.58046521e-01 7.41784600e-03 1.86389567e+01] [ 1.58042096e-01 9.87431667e-01 1.18260664e-03 1.42976947e+00] [-7.51152291e-03 4.62163807e-06 9.99971788e-01 -3.85426215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54 meters 0.014018339073233112 Centerline is valid? [True, True] Translation: X:18.67, Y:1.43, Z:-0.39 [[ 9.87419775e-01 -1.57935278e-01 7.65740999e-03 1.86672030e+01] [ 1.57930541e-01 9.87449466e-01 1.22318394e-03 1.43362610e+00] [-7.75448930e-03 1.54289194e-06 9.99969933e-01 -3.85199376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57 meters 0.013992346794397361 Centerline is valid? [True, True] Translation: X:18.70, Y:1.44, Z:-0.39 [[ 9.87457926e-01 -1.57729816e-01 6.93897602e-03 1.86952540e+01] [ 1.57725893e-01 9.87482306e-01 1.11246696e-03 1.43567517e+00] [-7.02758525e-03 -4.05812690e-06 9.99975306e-01 -3.85448433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599999999999998 meters 0.01444542291065201 Centerline is valid? [True, True] Translation: X:18.72, Y:1.44, Z:-0.39 [[ 9.87535736e-01 -1.57227910e-01 7.24942952e-03 1.87217083e+01] [ 1.57223612e-01 9.87562345e-01 1.16251239e-03 1.43962446e+00] [-7.34204300e-03 -8.24103104e-06 9.99973047e-01 -3.85590157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63 meters 0.013968119374376054 Centerline is valid? [True, True] Translation: X:18.75, Y:1.44, Z:-0.39 [[ 9.87715098e-01 -1.56079396e-01 7.62282281e-03 1.87489632e+01] [ 1.56074618e-01 9.87744512e-01 1.22146391e-03 1.44433387e+00] [-7.72004675e-03 -1.67291903e-05 9.99970200e-01 -3.85638299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66 meters 0.016872343252981266 Centerline is valid? [True, True] Translation: X:18.78, Y:1.45, Z:-0.39 [[ 9.88117154e-01 -1.53493174e-01 8.02099809e-03 1.87768000e+01] [ 1.53487779e-01 9.88149707e-01 1.28766254e-03 1.44935914e+00] [-8.12359433e-03 -4.12362658e-05 9.99967002e-01 -3.85294568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689999999999998 meters 0.014959671447301023 Centerline is valid? [True, True] Translation: X:18.80, Y:1.45, Z:-0.38 [[ 9.88489451e-01 -1.50969682e-01 9.83670897e-03 1.88043534e+01] [ 1.50961401e-01 9.88538390e-01 1.58330833e-03 1.45495192e+00] [-9.96299601e-03 -8.01202163e-05 9.99950365e-01 -3.83204986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72 meters 0.01715539843055049 Centerline is valid? [True, True] Translation: X:18.83, Y:1.46, Z:-0.38 [[ 9.88813472e-01 -1.48817854e-01 1.00580696e-02 1.88327898e+01] [ 1.48809050e-01 9.88864619e-01 1.62230992e-03 1.46087242e+00] [-1.01874978e-02 -1.07430126e-04 9.99948100e-01 -3.84254288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75 meters 0.015976708924869777 Centerline is valid? [True, True] Translation: X:18.86, Y:1.47, Z:-0.38 [[ 9.89207794e-01 -1.46121148e-01 1.07958480e-02 1.88609469e+01] [ 1.46110811e-01 9.89266692e-01 1.74440227e-03 1.46719994e+00] [-1.09348669e-02 -1.48186227e-04 9.99940202e-01 -3.83938397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779999999999998 meters 0.017606182172061852 Centerline is valid? [True, True] Translation: X:18.89, Y:1.47, Z:-0.38 [[ 9.89569497e-01 -1.43638354e-01 1.09651572e-02 1.88889461e+01] [ 1.43627505e-01 9.89630229e-01 1.77459235e-03 1.47313737e+00] [-1.11063506e-02 -1.81184281e-04 9.99938306e-01 -3.84917547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81 meters 0.020313051010309655 Centerline is valid? [True, True] Translation: X:18.92, Y:1.48, Z:-0.39 [[ 9.90205290e-01 -1.39255128e-01 1.00744036e-02 1.89164053e+01] [ 1.39245703e-01 9.90256514e-01 1.63440977e-03 1.48064311e+00] [-1.02038437e-02 -2.15583785e-04 9.99947916e-01 -3.87158711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84 meters 0.01846096677449092 Centerline is valid? [True, True] Translation: X:18.95, Y:1.48, Z:-0.39 [[ 9.90452906e-01 -1.37427667e-01 1.08017695e-02 1.89452643e+01] [ 1.37416732e-01 9.90511774e-01 1.75158745e-03 1.48498382e+00] [-1.09399964e-02 -2.50521021e-04 9.99940125e-01 -3.86933542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869999999999997 meters 0.01789238136642994 Centerline is valid? [True, True] Translation: X:18.97, Y:1.49, Z:-0.39 [[ 9.90496142e-01 -1.37172546e-01 1.00541268e-02 1.89733923e+01] [ 1.37163037e-01 9.90547140e-01 1.63257129e-03 1.48985975e+00] [-1.01830305e-02 -2.38001003e-04 9.99948123e-01 -3.88097856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.9 meters 0.019719608798864 Centerline is valid? [True, True] Translation: X:19.00, Y:1.49, Z:-0.39 [[ 9.90379285e-01 -1.38084599e-01 9.02863121e-03 1.90006126e+01] [ 1.38076957e-01 9.90420416e-01 1.46742611e-03 1.49417217e+00] [-9.14476962e-03 -2.06662506e-04 9.99958164e-01 -3.91114629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93 meters 0.01870628132827946 Centerline is valid? [True, True] Translation: X:19.03, Y:1.50, Z:-0.39 [[ 9.90129965e-01 -1.39926378e-01 7.95367821e-03 1.90297084e+01] [ 1.39920489e-01 9.90161896e-01 1.29479742e-03 1.49716232e+00] [-8.05660541e-03 -1.69135176e-04 9.99967531e-01 -3.92896327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96 meters 0.017744599122064407 Centerline is valid? [True, True] Translation: X:19.06, Y:1.50, Z:-0.39 [[ 9.89935170e-01 -1.41318423e-01 7.58046207e-03 1.90583866e+01] [ 1.41313102e-01 9.89964181e-01 1.23564821e-03 1.49935914e+00] [-7.67900578e-03 -1.51993006e-04 9.99970504e-01 -3.93070311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99 meters 0.018518128878693457 Centerline is valid? [True, True] Translation: X:19.09, Y:1.50, Z:-0.39 [[ 9.89703288e-01 -1.42936320e-01 7.52400303e-03 1.90861229e+01] [ 1.42931098e-01 9.89731877e-01 1.22997685e-03 1.50234836e+00] [-7.62255401e-03 -1.41898121e-04 9.99970938e-01 -3.94388222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02 meters 0.01756912395438617 Centerline is valid? [True, True] Translation: X:19.11, Y:1.50, Z:-0.39 [[ 9.89035850e-01 -1.47383595e-01 9.28246155e-03 1.91141907e+01] [ 1.47375819e-01 9.89079399e-01 1.51990483e-03 1.50358345e+00] [-9.40510053e-03 -1.35229986e-04 9.99955762e-01 -3.93867543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05 meters 0.014816357967517034 Centerline is valid? [True, True] Translation: X:19.14, Y:1.51, Z:-0.39 [[ 9.88712729e-01 -1.49408864e-01 1.11414008e-02 1.91427602e+01] [ 1.49397792e-01 9.88775491e-01 1.82426302e-03 1.50623440e+00] [-1.12889051e-02 -1.39171399e-04 9.99936269e-01 -3.91232012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08 meters 0.0141037712625386 Centerline is valid? [True, True] Translation: X:19.17, Y:1.51, Z:-0.39 [[ 9.88278504e-01 -1.52148532e-01 1.25069176e-02 1.91721276e+01] [ 1.52134752e-01 9.88357632e-01 2.05145790e-03 1.50792710e+00] [-1.26734338e-02 -1.24674931e-04 9.99919681e-01 -3.90456377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11 meters 0.013745888801863554 Centerline is valid? [True, True] Translation: X:19.20, Y:1.51, Z:-0.39 [[ 9.87860670e-01 -1.54707664e-01 1.40297761e-02 1.92006496e+01] [ 1.54690523e-01 9.87960286e-01 2.30544516e-03 1.51034526e+00] [-1.42175317e-02 -1.07185198e-04 9.99898920e-01 -3.89958641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14 meters 0.01640274616751452 Centerline is valid? [True, True] Translation: X:19.23, Y:1.51, Z:-0.39 [[ 9.87026971e-01 -1.59822482e-01 1.53144559e-02 1.92298046e+01] [ 1.59802604e-01 9.87145771e-01 2.52094894e-03 1.51054043e+00] [-1.55205047e-02 -4.09546661e-05 9.99879549e-01 -3.90944984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169999999999998 meters 0.01335148399739488 Centerline is valid? [True, True] Translation: X:19.26, Y:1.51, Z:-0.39 [[ 9.86761340e-01 -1.61347955e-01 1.63980204e-02 1.92573534e+01] [ 1.61325289e-01 9.86897582e-01 2.70447948e-03 1.51389262e+00] [-1.66195289e-02 -2.32604166e-05 9.99861886e-01 -3.89611606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.2 meters 0.013355487035984936 Centerline is valid? [True, True] Translation: X:19.29, Y:1.52, Z:-0.39 [[ 9.86420821e-01 -1.63440149e-01 1.61642277e-02 1.92853529e+01] [ 1.63418396e-01 9.86553251e-01 2.66652071e-03 1.51706497e+00] [-1.63826879e-02 1.12206065e-05 9.99865795e-01 -3.90481387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23 meters 0.013420137331252404 Centerline is valid? [True, True] Translation: X:19.31, Y:1.52, Z:-0.39 [[ 9.86121264e-01 -1.65257313e-01 1.59647459e-02 1.93133099e+01] [ 1.65236258e-01 9.86250485e-01 2.63810584e-03 1.52079898e+00] [-1.61812047e-02 3.64626231e-05 9.99869075e-01 -3.91525120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259999999999998 meters 0.013448193174078927 Centerline is valid? [True, True] Translation: X:19.34, Y:1.53, Z:-0.39 [[ 9.85831794e-01 -1.67078185e-01 1.48510318e-02 1.93407022e+01] [ 1.67060100e-01 9.85943648e-01 2.45884483e-03 1.52631109e+00] [-1.50530998e-02 5.70074503e-05 9.99886694e-01 -3.93949164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29 meters 0.016513692945461386 Centerline is valid? [True, True] Translation: X:19.37, Y:1.53, Z:-0.40 [[ 9.85581701e-01 -1.68639424e-01 1.37642810e-02 1.93692343e+01] [ 1.68624029e-01 9.85677807e-01 2.27983169e-03 1.53155876e+00] [-1.39516158e-02 7.40281254e-05 9.99902669e-01 -3.97467919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32 meters 0.015945358337166895 Centerline is valid? [True, True] Translation: X:19.40, Y:1.54, Z:-0.40 [[ 9.85544254e-01 -1.68916226e-01 1.30319510e-02 1.93965579e+01] [ 1.68902395e-01 9.85630409e-01 2.16269755e-03 1.53715787e+00] [-1.32100019e-02 6.96935894e-05 9.99912742e-01 -3.98796819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349999999999998 meters 0.01369818858561209 Centerline is valid? [True, True] Translation: X:19.42, Y:1.54, Z:-0.40 [[ 9.85565619e-01 -1.68846307e-01 1.23018684e-02 1.94234654e+01] [ 1.68833964e-01 9.85642390e-01 2.04253148e-03 1.54257546e+00] [-1.24701169e-02 6.39244110e-05 9.99922243e-01 -3.98891305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38 meters 0.016473257753725344 Centerline is valid? [True, True] Translation: X:19.45, Y:1.55, Z:-0.40 [[ 9.85371181e-01 -1.70054326e-01 1.11875785e-02 1.94520751e+01] [ 1.70044204e-01 9.85434686e-01 1.85680271e-03 1.54768749e+00] [-1.13403852e-02 7.27429933e-05 9.99935693e-01 -4.01512452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41 meters 0.01374433825554792 Centerline is valid? [True, True] Translation: X:19.48, Y:1.55, Z:-0.40 [[ 9.85422824e-01 -1.69766074e-01 1.10153391e-02 1.94797935e+01] [ 1.69756216e-01 9.85484386e-01 1.83063248e-03 1.55366493e+00] [-1.11662239e-02 6.59752490e-05 9.99937654e-01 -3.99687464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439999999999998 meters 0.01382809682873381 Centerline is valid? [True, True] Translation: X:19.51, Y:1.56, Z:-0.40 [[ 9.85442254e-01 -1.69656013e-01 1.09727317e-02 1.95060368e+01] [ 1.69646172e-01 9.85503340e-01 1.82827553e-03 1.55854895e+00] [-1.11238417e-02 5.98219762e-05 9.99938126e-01 -4.00862079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47 meters 0.015479529099945108 Centerline is valid? [True, True] Translation: X:19.53, Y:1.56, Z:-0.40 [[ 9.85341146e-01 -1.70185314e-01 1.18230760e-02 1.95329983e+01] [ 1.70173913e-01 9.85412073e-01 1.97109594e-03 1.56395179e+00] [-1.19860534e-02 6.97771649e-05 9.99928162e-01 -4.02963769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.5 meters 0.013616153763925455 Centerline is valid? [True, True] Translation: X:19.56, Y:1.57, Z:-0.40 [[ 9.85567025e-01 -1.68839934e-01 1.22766135e-02 1.95607310e+01] [ 1.68827513e-01 9.85643482e-01 2.04868877e-03 1.57111319e+00] [-1.24462645e-02 5.35100216e-05 9.99922541e-01 -4.00848037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529999999999998 meters 0.01691293607269458 Centerline is valid? [True, True] Translation: X:19.59, Y:1.58, Z:-0.40 [[ 9.85680728e-01 -1.68158260e-01 1.25021088e-02 1.95871805e+01] [ 1.68145269e-01 9.85760010e-01 2.09060698e-03 1.57721015e+00] [-1.26756318e-02 4.14994398e-05 9.99919660e-01 -4.04491224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56 meters 0.01441481014679639 Centerline is valid? [True, True] Translation: X:19.61, Y:1.58, Z:-0.40 [[ 9.85849840e-01 -1.67102715e-01 1.32957322e-02 1.96148906e+01] [ 1.67087916e-01 9.85939492e-01 2.22406850e-03 1.58316553e+00] [-1.34804354e-02 2.89586230e-05 9.99909134e-01 -4.02290736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59 meters 0.0164003688992936 Centerline is valid? [True, True] Translation: X:19.64, Y:1.59, Z:-0.40 [[ 9.85820880e-01 -1.67281575e-01 1.31934175e-02 1.96425981e+01] [ 1.67266971e-01 9.85909161e-01 2.21058170e-03 1.58800217e+00] [-1.33773008e-02 2.75853815e-05 9.99910520e-01 -4.03580745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619999999999997 meters 0.01350921305590263 Centerline is valid? [True, True] Translation: X:19.67, Y:1.59, Z:-0.40 [[ 9.86053067e-01 -1.65843089e-01 1.39792690e-02 1.96697357e+01] [ 1.65826468e-01 9.86152154e-01 2.34790154e-03 1.59303581e+00] [-1.41750694e-02 2.97728478e-06 9.99899529e-01 -4.00563666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65 meters 0.0157320036139872 Centerline is valid? [True, True] Translation: X:19.70, Y:1.60, Z:-0.40 [[ 9.85905627e-01 -1.66656898e-01 1.46824315e-02 1.96978985e+01] [ 1.66638650e-01 9.86014948e-01 2.46624515e-03 1.59786197e+00] [-1.48881137e-02 1.51755920e-05 9.99889166e-01 -4.02070551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68 meters 0.013481174509544003 Centerline is valid? [True, True] Translation: X:19.72, Y:1.60, Z:-0.40 [[ 9.86068837e-01 -1.65640322e-01 1.52162010e-02 1.97242066e+01] [ 1.65620515e-01 9.86186232e-01 2.56146615e-03 1.60319134e+00] [-1.54302900e-02 -5.66689072e-06 9.99880946e-01 -4.01083869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71 meters 0.016499215376096547 Centerline is valid? [True, True] Translation: X:19.75, Y:1.61, Z:-0.40 [[ 9.85911688e-01 -1.66521833e-01 1.57677467e-02 1.97518968e+01] [ 1.66500655e-01 9.86037768e-01 2.65568697e-03 1.60810051e+00] [-1.59898236e-02 7.06733638e-06 9.99872155e-01 -4.03303910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74 meters 0.013536466668599902 Centerline is valid? [True, True] Translation: X:19.78, Y:1.61, Z:-0.40 [[ 9.86326983e-01 -1.63937456e-01 1.68402326e-02 1.97796083e+01] [ 1.63912832e-01 9.86470734e-01 2.84159370e-03 1.61474380e+00] [-1.70782403e-02 -4.24103118e-05 9.99854155e-01 -4.00408143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77 meters 0.014272827666091602 Centerline is valid? [True, True] Translation: X:19.81, Y:1.62, Z:-0.40 [[ 9.86414954e-01 -1.63456351e-01 1.63572649e-02 1.98075759e+01] [ 1.63432977e-01 9.86550566e-01 2.76467900e-03 1.62029300e+00] [-1.65891733e-02 -5.38041953e-05 9.99862389e-01 -4.02144879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.8 meters 0.013521155418065995 Centerline is valid? [True, True] Translation: X:19.84, Y:1.63, Z:-0.40 [[ 9.86642575e-01 -1.62030648e-01 1.68076796e-02 1.98353601e+01] [ 1.62005677e-01 9.86785722e-01 2.84583411e-03 1.62612796e+00] [-1.70466906e-02 -8.48815792e-05 9.99854691e-01 -4.01693583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83 meters 0.013674984424729482 Centerline is valid? [True, True] Translation: X:19.86, Y:1.63, Z:-0.40 [[ 9.86856974e-01 -1.60767123e-01 1.63476226e-02 1.98627516e+01] [ 1.60743237e-01 9.86992361e-01 2.77334294e-03 1.63195999e+00] [-1.65808410e-02 -1.09123052e-04 9.99862522e-01 -4.02693225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86 meters 0.013890658759742998 Centerline is valid? [True, True] Translation: X:19.89, Y:1.64, Z:-0.40 [[ 9.87240039e-01 -1.58446184e-01 1.58717593e-02 1.98904140e+01] [ 1.58423350e-01 9.87367604e-01 2.69378923e-03 1.63832353e+00] [-1.60980815e-02 -1.44959313e-04 9.99870407e-01 -4.04309961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89 meters 0.016248683236946268 Centerline is valid? [True, True] Translation: X:19.92, Y:1.64, Z:-0.41 [[ 9.87232880e-01 -1.58490045e-01 1.58790929e-02 1.99183359e+01] [ 1.58467171e-01 9.87360565e-01 2.69651502e-03 1.64346894e+00] [-1.61057609e-02 -1.45773351e-04 9.99870283e-01 -4.07142980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919999999999998 meters 0.016833299300125396 Centerline is valid? [True, True] Translation: X:19.95, Y:1.65, Z:-0.41 [[ 9.87294280e-01 -1.58086571e-01 1.60822859e-02 1.99452024e+01] [ 1.58062964e-01 9.87425243e-01 2.73659808e-03 1.64887705e+00] [-1.63126745e-02 -1.59813842e-04 9.99866927e-01 -4.08633352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95 meters 0.017166640368304842 Centerline is valid? [True, True] Translation: X:19.97, Y:1.65, Z:-0.41 [[ 9.87342756e-01 -1.57792899e-01 1.59901202e-02 1.99723939e+01] [ 1.57769499e-01 9.87472214e-01 2.72235079e-03 1.65363862e+00] [-1.62193671e-02 -1.65140064e-04 9.99868444e-01 -4.09764236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98 meters 0.016320475129407784 Centerline is valid? [True, True] Translation: X:20.00, Y:1.66, Z:-0.41 [[ 9.87314306e-01 -1.57834554e-01 1.72833564e-02 2.00009173e+01] [ 1.57807205e-01 9.87465555e-01 2.94355643e-03 1.65631689e+00] [-1.75313141e-02 -1.78777216e-04 9.99846299e-01 -4.08916661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009999999999998 meters 0.016023886933794414 Centerline is valid? [True, True] Translation: X:20.03, Y:1.66, Z:-0.41 [[ 9.87323409e-01 -1.57746836e-01 1.75619503e-02 2.00289161e+01] [ 1.57718490e-01 9.87479570e-01 2.99626785e-03 1.66062023e+00] [-1.78147189e-02 -1.88441117e-04 9.99841288e-01 -4.09086763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04 meters 0.01831370938284944 Centerline is valid? [True, True] Translation: X:20.06, Y:1.66, Z:-0.41 [[ 9.87269557e-01 -1.58096875e-01 1.74413017e-02 2.00552378e+01] [ 1.58068874e-01 9.87423589e-01 2.98122397e-03 1.66473190e+00] [-1.76932749e-02 -1.86344734e-04 9.99843444e-01 -4.11057621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07 meters 0.016776290543762236 Centerline is valid? [True, True] Translation: X:20.08, Y:1.67, Z:-0.41 [[ 9.87208900e-01 -1.58501557e-01 1.72001106e-02 2.00834505e+01] [ 1.58474358e-01 9.87358711e-01 2.94164633e-03 1.66845043e+00] [-1.74489346e-02 -1.78242958e-04 9.99847740e-01 -4.11602781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099999999999998 meters 0.014768075371600282 Centerline is valid? [True, True] Translation: X:20.11, Y:1.67, Z:-0.41 [[ 9.87209898e-01 -1.58583504e-01 1.63673066e-02 2.01109219e+01] [ 1.58558813e-01 9.87345554e-01 2.80365933e-03 1.67293950e+00] [-1.66048015e-02 -1.72619540e-04 9.99862116e-01 -4.11458199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13 meters 0.015889709126800412 Centerline is valid? [True, True] Translation: X:20.14, Y:1.68, Z:-0.41 [[ 9.87216262e-01 -1.58598958e-01 1.58247748e-02 2.01378502e+01] [ 1.58575793e-01 9.87343072e-01 2.71603239e-03 1.67794238e+00] [-1.60552417e-02 -1.71885112e-04 9.99871092e-01 -4.13734808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16 meters 0.014279109959314204 Centerline is valid? [True, True] Translation: X:20.17, Y:1.68, Z:-0.41 [[ 9.87479199e-01 -1.57045180e-01 1.48876509e-02 2.01657954e+01] [ 1.57024496e-01 9.87591402e-01 2.55553169e-03 1.68410196e+00] [-1.51042499e-02 -1.85808509e-04 9.99885907e-01 -4.13281167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189999999999998 meters 0.014279109959314204 Centerline is valid? [True, True] Translation: X:20.19, Y:1.69, Z:-0.41 [[ 9.87434817e-01 -1.57324051e-01 1.48870493e-02 2.01929869e+01] [ 1.57303346e-01 9.87547016e-01 2.55903076e-03 1.68885435e+00] [-1.51042582e-02 -1.85093417e-04 9.99885907e-01 -4.13847664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22 meters 0.017469407883505445 Centerline is valid? [True, True] Translation: X:20.22, Y:1.69, Z:-0.42 [[ 9.87408757e-01 -1.57615557e-01 1.34641239e-02 2.02216476e+01] [ 1.57598599e-01 9.87500536e-01 2.31804271e-03 1.69484180e+00] [-1.36611891e-02 -1.66928621e-04 9.99906668e-01 -4.18599357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25 meters 0.014447492202154851 Centerline is valid? [True, True] Translation: X:20.25, Y:1.70, Z:-0.42 [[ 9.87542570e-01 -1.56811997e-01 1.30257607e-02 2.02494175e+01] [ 1.56795998e-01 9.87628456e-01 2.24688501e-03 1.70077435e+00] [-1.32169505e-02 -1.76507449e-04 9.99912637e-01 -4.17636968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279999999999998 meters 0.014513003796025999 Centerline is valid? [True, True] Translation: X:20.28, Y:1.71, Z:-0.42 [[ 9.87519382e-01 -1.57006170e-01 1.24310855e-02 2.02770383e+01] [ 1.56991601e-01 9.87597608e-01 2.14535646e-03 1.70599532e+00] [-1.26137445e-02 -1.67005073e-04 9.99920430e-01 -4.19159095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31 meters 0.014384279414960895 Centerline is valid? [True, True] Translation: X:20.30, Y:1.71, Z:-0.42 [[ 9.87470278e-01 -1.57362234e-01 1.18143155e-02 2.03044801e+01] [ 1.57349109e-01 9.87540938e-01 2.03816551e-03 1.70994181e+00] [-1.19878505e-02 -1.53655834e-04 9.99928131e-01 -4.19875395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34 meters 0.01612979909431495 Centerline is valid? [True, True] Translation: X:20.33, Y:1.71, Z:-0.42 [[ 9.87136977e-01 -1.59494992e-01 1.10424696e-02 2.03320559e+01] [ 1.59483606e-01 9.87198730e-01 1.90972405e-03 1.71241188e+00] [-1.12057034e-02 -1.24066358e-04 9.99937206e-01 -4.23289089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369999999999997 meters 0.014307878371750378 Centerline is valid? [True, True] Translation: X:20.36, Y:1.72, Z:-0.42 [[ 9.87003259e-01 -1.60358488e-01 1.04748670e-02 2.03598046e+01] [ 1.60348303e-01 9.87058835e-01 1.81054032e-03 1.71531210e+00] [-1.06296455e-02 -1.07382046e-04 9.99943498e-01 -4.21754149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.4 meters 0.014088821684892684 Centerline is valid? [True, True] Translation: X:20.39, Y:1.72, Z:-0.42 [[ 9.86741953e-01 -1.61968462e-01 1.03215739e-02 2.03883555e+01] [ 1.61958627e-01 9.86795931e-01 1.78718407e-03 1.71767463e+00] [-1.04747545e-02 -9.18215679e-05 9.99945134e-01 -4.21734598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43 meters 0.013852899909489087 Centerline is valid? [True, True] Translation: X:20.42, Y:1.72, Z:-0.42 [[ 9.86334105e-01 -1.64338701e-01 1.17399094e-02 2.04178957e+01] [ 1.64326102e-01 9.86403966e-01 2.03652922e-03 1.71952483e+00] [-1.19149738e-02 -7.95246724e-05 9.99929011e-01 -4.19801217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46 meters 0.013772808657742943 Centerline is valid? [True, True] Translation: X:20.45, Y:1.72, Z:-0.42 [[ 9.86197156e-01 -1.65087710e-01 1.26971706e-02 2.04453710e+01] [ 1.65072976e-01 9.86278886e-01 2.20702672e-03 1.72381082e+00] [-1.28873042e-02 -8.06037387e-05 9.99916952e-01 -4.19031445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49 meters 0.013711733387493439 Centerline is valid? [True, True] Translation: X:20.47, Y:1.73, Z:-0.42 [[ 9.86008749e-01 -1.66065090e-01 1.44614474e-02 2.04743613e+01] [ 1.66046073e-01 9.86114790e-01 2.51427169e-03 1.72860839e+00] [-1.46781799e-02 -7.78273233e-05 9.99892267e-01 -4.18035050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52 meters 0.013683405161551792 Centerline is valid? [True, True] Translation: X:20.50, Y:1.73, Z:-0.42 [[ 9.85879333e-01 -1.66723167e-01 1.56629130e-02 2.05021616e+01] [ 1.66700875e-01 9.86003742e-01 2.72739768e-03 1.73402660e+00] [-1.58984112e-02 -7.78637067e-05 9.99873609e-01 -4.17016179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55 meters 0.013642460837024618 Centerline is valid? [True, True] Translation: X:20.53, Y:1.74, Z:-0.42 [[ 9.85702931e-01 -1.67617628e-01 1.71482658e-02 2.05294037e+01] [ 1.67590946e-01 9.85852081e-01 2.99158857e-03 1.73966500e+00] [-1.74070965e-02 -7.49235219e-05 9.99848482e-01 -4.16360266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58 meters 0.014761307685734665 Centerline is valid? [True, True] Translation: X:20.56, Y:1.75, Z:-0.42 [[ 9.85187974e-01 -1.70589244e-01 1.74346311e-02 2.05568051e+01] [ 1.70562027e-01 9.85342229e-01 3.04732449e-03 1.74525787e+00] [-1.76989190e-02 -2.85014306e-05 9.99843361e-01 -4.18348756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61 meters 0.013597051967397404 Centerline is valid? [True, True] Translation: X:20.58, Y:1.75, Z:-0.42 [[ 9.84930128e-01 -1.72099060e-01 1.71626402e-02 2.05839270e+01] [ 1.72072889e-01 9.85079648e-01 3.00119629e-03 1.74918794e+00] [-1.74230706e-02 -2.74356316e-06 9.99848207e-01 -4.17331948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64 meters 0.01364753368124473 Centerline is valid? [True, True] Translation: X:20.61, Y:1.75, Z:-0.42 [[ 9.84486842e-01 -1.74650010e-01 1.68235761e-02 2.06118719e+01] [ 1.74625211e-01 9.84630577e-01 2.94337857e-03 1.75282183e+00] [-1.70790685e-02 4.01030429e-05 9.99854141e-01 -4.17595139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669999999999998 meters 0.013729833517269988 Centerline is valid? [True, True] Translation: X:20.64, Y:1.76, Z:-0.42 [[ 9.83932328e-01 -1.77831267e-01 1.59126842e-02 2.06410409e+01] [ 1.77809423e-01 9.84060991e-01 2.78854677e-03 1.75599690e+00] [-1.61549426e-02 8.56838799e-05 9.99869497e-01 -4.18724885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.7 meters 0.014496709589750412 Centerline is valid? [True, True] Translation: X:20.67, Y:1.76, Z:-0.42 [[ 9.82673226e-01 -1.84764557e-01 1.46761611e-02 2.06695624e+01] [ 1.84746684e-01 9.82782797e-01 2.57617854e-03 1.75682785e+00] [-1.48994651e-02 1.79830416e-04 9.99888981e-01 -4.20554145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73 meters 0.01741875923865681 Centerline is valid? [True, True] Translation: X:20.70, Y:1.76, Z:-0.42 [[ 9.81801980e-01 -1.89363732e-01 1.43613937e-02 2.06970688e+01] [ 1.89347091e-01 9.81906980e-01 2.52209907e-03 1.75859205e+00] [-1.45791468e-02 2.43086271e-04 9.99893689e-01 -4.24423780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759999999999998 meters 0.018849678103029812 Centerline is valid? [True, True] Translation: X:20.73, Y:1.76, Z:-0.43 [[ 9.81050444e-01 -1.93259956e-01 1.38063677e-02 2.07260392e+01] [ 1.93244955e-01 9.81147546e-01 2.42512738e-03 1.76259216e+00] [-1.40147638e-02 2.88838620e-04 9.99901747e-01 -4.26297980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79 meters 0.018449340131121844 Centerline is valid? [True, True] Translation: X:20.75, Y:1.77, Z:-0.43 [[ 9.80366372e-01 -1.96700199e-01 1.38133357e-02 2.07542638e+01] [ 1.96685477e-01 9.80463625e-01 2.42975092e-03 1.76743602e+00] [-1.40214057e-02 3.34836420e-04 9.99901639e-01 -4.26164443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82 meters 0.019142843812462725 Centerline is valid? [True, True] Translation: X:20.78, Y:1.77, Z:-0.43 [[ 9.79331343e-01 -2.01779228e-01 1.39736760e-02 2.07836360e+01] [ 2.01764607e-01 9.79430946e-01 2.46295520e-03 1.77104102e+00] [-1.41832239e-02 4.07344020e-04 9.99899330e-01 -4.26340503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849999999999998 meters 0.01773161373182227 Centerline is valid? [True, True] Translation: X:20.81, Y:1.78, Z:-0.42 [[ 9.79041131e-01 -2.03173064e-01 1.41127278e-02 2.08120066e+01] [ 2.03158307e-01 9.79142747e-01 2.48662421e-03 1.77631861e+00] [-1.43235901e-02 4.32610509e-04 9.99897319e-01 -4.24322843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88 meters 0.021055351233835826 Centerline is valid? [True, True] Translation: X:20.84, Y:1.78, Z:-0.43 [[ 9.78537006e-01 -2.05620623e-01 1.36193722e-02 2.08405970e+01] [ 2.05607071e-01 9.78631676e-01 2.40301465e-03 1.78112571e+00] [-1.38224584e-02 4.48800464e-04 9.99904365e-01 -4.27764545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91 meters 0.018897279880832236 Centerline is valid? [True, True] Translation: X:20.87, Y:1.79, Z:-0.43 [[ 9.78749263e-01 -2.04625101e-01 1.33584506e-02 2.08684231e+01] [ 2.04611909e-01 9.78840329e-01 2.36147043e-03 1.78573401e+00] [-1.35590063e-02 4.22010633e-04 9.99907983e-01 -4.25470796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939999999999998 meters 0.018564337222425863 Centerline is valid? [True, True] Translation: X:20.90, Y:1.79, Z:-0.43 [[ 9.78867589e-01 -2.04012504e-01 1.40406920e-02 2.08971222e+01] [ 2.03997861e-01 9.78968186e-01 2.48256352e-03 1.79211089e+00] [-1.42518648e-02 4.34170166e-04 9.99898343e-01 -4.25697261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97 meters 0.018292252185167456 Centerline is valid? [True, True] Translation: X:20.93, Y:1.80, Z:-0.43 [[ 9.79145315e-01 -2.02646666e-01 1.44492572e-02 2.09251348e+01] [ 2.02630959e-01 9.79251832e-01 2.55820080e-03 1.79853287e+00] [-1.46678724e-02 4.23016510e-04 9.99892331e-01 -4.25881065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.0 meters 0.016781291211817807 Centerline is valid? [True, True] Translation: X:20.95, Y:1.81, Z:-0.43 [[ 9.80037161e-01 -1.98235807e-01 1.51567475e-02 2.09534976e+01] [ 1.98217919e-01 9.80154288e-01 2.68857919e-03 1.80852937e+00] [-1.53889237e-02 3.69431432e-04 9.99881515e-01 -4.25794002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029999999999998 meters 0.017677458297060862 Centerline is valid? [True, True] Translation: X:20.98, Y:1.82, Z:-0.43 [[ 9.80408197e-01 -1.96349806e-01 1.57009568e-02 2.09812447e+01] [ 1.96330375e-01 9.80533849e-01 2.78469368e-03 1.81700274e+00] [-1.59420937e-02 3.52438216e-04 9.99872855e-01 -4.27812333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06 meters 0.015215301217333095 Centerline is valid? [True, True] Translation: X:21.01, Y:1.83, Z:-0.43 [[ 9.81221875e-01 -1.92200405e-01 1.62060775e-02 2.10090970e+01] [ 1.92179053e-01 9.81355655e-01 2.87935828e-03 1.82518060e+00] [-1.64573396e-02 2.89179300e-04 9.99864527e-01 -4.25826876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09 meters 0.017121467098108464 Centerline is valid? [True, True] Translation: X:21.04, Y:1.83, Z:-0.43 [[ 9.81748956e-01 -1.89516620e-01 1.58883041e-02 2.10370900e+01] [ 1.89495741e-01 9.81877484e-01 2.82322339e-03 1.83320558e+00] [-1.61354158e-02 2.39069346e-04 9.99869787e-01 -4.29170362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119999999999997 meters 0.014492827595578952 Centerline is valid? [True, True] Translation: X:21.06, Y:1.85, Z:-0.43 [[ 9.83278667e-01 -1.81417183e-01 1.58388270e-02 2.10642314e+01] [ 1.81395304e-01 9.83406221e-01 2.81926928e-03 1.84534849e+00] [-1.60874649e-02 1.00961489e-04 9.99870583e-01 -4.27966876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15 meters 0.01349189149059774 Centerline is valid? [True, True] Translation: X:21.09, Y:1.85, Z:-0.43 [[ 9.84041821e-01 -1.77232759e-01 1.58190933e-02 2.10914719e+01] [ 1.77210376e-01 9.84168963e-01 2.81683559e-03 1.85396351e+00] [-1.60678962e-02 3.14234426e-05 9.99870903e-01 -4.27659961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18 meters 0.01689636414873695 Centerline is valid? [True, True] Translation: X:21.12, Y:1.86, Z:-0.43 [[ 9.84509748e-01 -1.74713652e-01 1.46865585e-02 2.11184186e+01] [ 1.74694077e-01 9.84619287e-01 2.61526415e-03 1.86223061e+00] [-1.49175911e-02 -9.09826248e-06 9.99888727e-01 -4.32272521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21 meters 0.016104293061940025 Centerline is valid? [True, True] Translation: X:21.15, Y:1.87, Z:-0.43 [[ 9.84997175e-01 -1.71967021e-01 1.44190601e-02 2.11463966e+01] [ 1.71947796e-01 9.85102706e-01 2.57192761e-03 1.87025509e+00] [-1.46465418e-02 -5.40158350e-05 9.99892732e-01 -4.33119216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24 meters 0.014859903057265143 Centerline is valid? [True, True] Translation: X:21.17, Y:1.88, Z:-0.43 [[ 9.85755321e-01 -1.67590908e-01 1.41327488e-02 2.11743799e+01] [ 1.67571939e-01 9.85856619e-01 2.52433637e-03 1.87931733e+00] [-1.43559197e-02 -1.20125901e-04 9.99896941e-01 -4.32775196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27 meters 0.017113222611631545 Centerline is valid? [True, True] Translation: X:21.20, Y:1.89, Z:-0.44 [[ 9.85850322e-01 -1.67046834e-01 1.39462819e-02 2.12023508e+01] [ 1.67028258e-01 9.85948953e-01 2.49449644e-03 1.88542229e+00] [-1.41670198e-02 -1.29776951e-04 9.99899634e-01 -4.35657312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.3 meters 0.017195144830166455 Centerline is valid? [True, True] Translation: X:21.23, Y:1.89, Z:-0.44 [[ 9.85913909e-01 -1.66618902e-01 1.45569427e-02 2.12298786e+01] [ 1.66598563e-01 9.86021359e-01 2.60744667e-03 1.89107729e+00] [-1.47879063e-02 -1.45552214e-04 9.99890642e-01 -4.35965850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33 meters 0.016181514249105106 Centerline is valid? [True, True] Translation: X:21.26, Y:1.90, Z:-0.44 [[ 9.85981826e-01 -1.66146026e-01 1.53406684e-02 2.12565612e+01] [ 1.66123292e-01 9.86101146e-01 2.75347433e-03 1.89642891e+00] [-1.55849296e-02 -1.66433315e-04 9.99878534e-01 -4.35266610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36 meters 0.01504397275212109 Centerline is valid? [True, True] Translation: X:21.28, Y:1.90, Z:-0.43 [[ 9.85942837e-01 -1.66361722e-01 1.55080386e-02 2.12847041e+01] [ 1.66338496e-01 9.86064780e-01 2.78473118e-03 1.90122655e+00] [-1.57552034e-02 -1.66001938e-04 9.99875865e-01 -4.34060356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39 meters 0.015690854333146757 Centerline is valid? [True, True] Translation: X:21.31, Y:1.90, Z:-0.43 [[ 9.85659195e-01 -1.68002823e-01 1.58430510e-02 2.13133387e+01] [ 1.67978716e-01 9.85786503e-01 2.84980391e-03 1.90433409e+00] [-1.60966410e-02 -1.47640057e-04 9.99870430e-01 -4.34814213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419999999999998 meters 0.01751624923939754 Centerline is valid? [True, True] Translation: X:21.34, Y:1.91, Z:-0.44 [[ 9.85416738e-01 -1.69488383e-01 1.50844203e-02 2.13407848e+01] [ 1.69466635e-01 9.85532178e-01 2.71782234e-03 1.90834851e+00] [-1.53268209e-02 -1.21881666e-04 9.99882530e-01 -4.36969159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45 meters 0.014811726718247552 Centerline is valid? [True, True] Translation: X:21.37, Y:1.91, Z:-0.44 [[ 9.85303270e-01 -1.70131196e-01 1.52591715e-02 2.13686864e+01] [ 1.70108996e-01 9.85421414e-01 2.75071795e-03 1.91290478e+00] [-1.55046973e-02 -1.14569034e-04 9.99879788e-01 -4.35918192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48 meters 0.014277200115361523 Centerline is valid? [True, True] Translation: X:21.40, Y:1.92, Z:-0.44 [[ 9.85093393e-01 -1.71333392e-01 1.53582543e-02 2.13965746e+01] [ 1.71311043e-01 9.85213104e-01 2.76897243e-03 1.91612673e+00] [-1.56055708e-02 -9.66578851e-05 9.99878221e-01 -4.35951097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509999999999998 meters 0.01487841089704704 Centerline is valid? [True, True] Translation: X:21.42, Y:1.92, Z:-0.44 [[ 9.84781725e-01 -1.73224359e-01 1.40810033e-02 2.14230907e+01] [ 1.73205700e-01 9.84882387e-01 2.54333357e-03 1.91898454e+00] [-1.43086995e-02 -6.57183802e-05 9.99897623e-01 -4.37499859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54 meters 0.01383872620315891 Centerline is valid? [True, True] Translation: X:21.45, Y:1.92, Z:-0.44 [[ 9.84720651e-01 -1.73599109e-01 1.37327849e-02 2.14509017e+01] [ 1.73581389e-01 9.84816402e-01 2.48102927e-03 1.92322322e+00] [-1.39549763e-02 -5.93648874e-05 9.99902623e-01 -4.37049444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57 meters 0.016325187891329 Centerline is valid? [True, True] Translation: X:21.48, Y:1.93, Z:-0.44 [[ 9.84568477e-01 -1.74563073e-01 1.23550346e-02 2.14784827e+01] [ 1.74548749e-01 9.84645993e-01 2.23672294e-03 1.92740524e+00] [-1.25557845e-02 -4.56510686e-05 9.99921172e-01 -4.41043696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.599999999999998 meters 0.01830015717021593 Centerline is valid? [True, True] Translation: X:21.51, Y:1.93, Z:-0.44 [[ 9.84363359e-01 -1.75819861e-01 1.07774691e-02 2.15073951e+01] [ 1.75809046e-01 9.84422356e-01 1.95029087e-03 1.93037525e+00] [-1.09524814e-02 -2.50183196e-05 9.99940019e-01 -4.42852108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63 meters 0.014104889675145182 Centerline is valid? [True, True] Translation: X:21.54, Y:1.93, Z:-0.44 [[ 9.84243191e-01 -1.76466228e-01 1.11808075e-02 2.15351804e+01] [ 1.76454599e-01 9.84306695e-01 2.02598876e-03 1.93438173e+00] [-1.13628623e-02 -2.11607348e-05 9.99935440e-01 -4.40723904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66 meters 0.016906239280061155 Centerline is valid? [True, True] Translation: X:21.56, Y:1.94, Z:-0.44 [[ 9.83907508e-01 -1.78393830e-01 1.00825347e-02 2.15636732e+01] [ 1.78384446e-01 9.83959167e-01 1.82974002e-03 1.93753015e+00] [-1.02472168e-02 -1.72757101e-06 9.99947496e-01 -4.43846764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689999999999998 meters 0.016592593735703605 Centerline is valid? [True, True] Translation: X:21.59, Y:1.94, Z:-0.44 [[ 9.83613495e-01 -1.80000258e-01 1.02176138e-02 2.15903099e+01] [ 1.79990667e-01 9.83666563e-01 1.85824461e-03 1.94038551e+00] [-1.03852095e-02 1.12806399e-05 9.99946072e-01 -4.44569756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72 meters 0.013970253781073928 Centerline is valid? [True, True] Translation: X:21.62, Y:1.94, Z:-0.44 [[ 9.82917166e-01 -1.83747160e-01 1.05273583e-02 2.16183670e+01] [ 1.83737178e-01 9.82973539e-01 1.91591564e-03 1.94040841e+00] [-1.07001587e-02 5.10807308e-05 9.99942750e-01 -4.42802571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75 meters 0.016440940000374597 Centerline is valid? [True, True] Translation: X:21.65, Y:1.94, Z:-0.44 [[ 9.82302072e-01 -1.87009533e-01 1.04915638e-02 2.16477466e+01] [ 1.86999803e-01 9.82358095e-01 1.90964377e-03 1.94238344e+00] [-1.06635942e-02 8.60733322e-05 9.99943139e-01 -4.43902745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779999999999998 meters 0.016233918667679696 Centerline is valid? [True, True] Translation: X:21.68, Y:1.94, Z:-0.44 [[ 9.81770305e-01 -1.89732457e-01 1.13429515e-02 2.16765407e+01] [ 1.89721226e-01 9.81835821e-01 2.06792842e-03 1.94438979e+00] [-1.15292693e-02 1.21767963e-04 9.99933528e-01 -4.43039890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81 meters 0.018403948817627195 Centerline is valid? [True, True] Translation: X:21.71, Y:1.94, Z:-0.44 [[ 9.80583616e-01 -1.95725971e-01 1.21291858e-02 2.17055613e+01] [ 1.95713533e-01 9.80658607e-01 2.21565112e-03 1.94362777e+00] [-1.23282510e-02 2.01214627e-04 9.99923984e-01 -4.43592907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84 meters 0.015552961113062444 Centerline is valid? [True, True] Translation: X:21.73, Y:1.95, Z:-0.44 [[ 9.80147978e-01 -1.97752654e-01 1.42768601e-02 2.17340383e+01] [ 1.97735611e-01 9.80251915e-01 2.60970289e-03 1.94679226e+00] [-1.45109951e-02 2.65148630e-04 9.99894675e-01 -4.39757551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869999999999997 meters 0.01604091301608535 Centerline is valid? [True, True] Translation: X:21.76, Y:1.95, Z:-0.44 [[ 9.79622925e-01 -2.00266651e-01 1.52378827e-02 2.17632122e+01] [ 2.00247474e-01 9.79741378e-01 2.78960336e-03 1.94985069e+00] [-1.54878487e-02 3.18588117e-04 9.99880005e-01 -4.39612792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.9 meters 0.018454591683159095 Centerline is valid? [True, True] Translation: X:21.79, Y:1.95, Z:-0.44 [[ 9.79084802e-01 -2.02917792e-01 1.47418093e-02 2.17910439e+01] [ 2.02900077e-01 9.79195717e-01 2.70327185e-03 1.95224718e+00] [-1.49836584e-02 3.44381843e-04 9.99887679e-01 -4.42369203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93 meters 0.016848877570094716 Centerline is valid? [True, True] Translation: X:21.82, Y:1.96, Z:-0.44 [[ 9.78555466e-01 -2.05429344e-01 1.50991507e-02 2.18200620e+01] [ 2.05411050e-01 9.78671871e-01 2.76934130e-03 1.95669898e+00] [-1.53460180e-02 3.91578322e-04 9.99882166e-01 -4.40485843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96 meters 0.018167776854924 Centerline is valid? [True, True] Translation: X:21.85, Y:1.96, Z:-0.44 [[ 9.78406325e-01 -2.06141242e-01 1.50616184e-02 2.18479732e+01] [ 2.06123054e-01 9.78522167e-01 2.76694716e-03 1.95917771e+00] [-1.53085094e-02 3.97348195e-04 9.99882739e-01 -4.41408593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99 meters 0.01864048069176707 Centerline is valid? [True, True] Translation: X:21.88, Y:1.97, Z:-0.44 [[ 9.78208276e-01 -2.07110790e-01 1.46181492e-02 2.18759767e+01] [ 2.07093748e-01 9.78317413e-01 2.68672338e-03 1.96597534e+00] [-1.48576393e-02 3.99152257e-04 9.99889540e-01 -4.43603210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02 meters 0.0170933483451018 Centerline is valid? [True, True] Translation: X:21.90, Y:1.97, Z:-0.44 [[ 9.78291685e-01 -2.06687962e-01 1.50155054e-02 2.19044424e+01] [ 2.06669870e-01 9.78406831e-01 2.76369773e-03 1.97199489e+00] [-1.52624961e-02 3.99550042e-04 9.99883441e-01 -4.42560846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05 meters 0.01686562812450765 Centerline is valid? [True, True] Translation: X:21.93, Y:1.98, Z:-0.44 [[ 9.78432645e-01 -2.05956314e-01 1.58605196e-02 2.19329461e+01] [ 2.05935962e-01 9.78561103e-01 2.92358578e-03 1.97867286e+00] [-1.61226185e-02 4.05719607e-04 9.99869940e-01 -4.42380151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08 meters 0.01686562812450765 Centerline is valid? [True, True] Translation: X:21.96, Y:1.98, Z:-0.44 [[ 9.78374509e-01 -2.06232360e-01 1.58598249e-02 2.19600905e+01] [ 2.06211984e-01 9.78502963e-01 2.92734881e-03 1.98375378e+00] [-1.61225997e-02 4.06442506e-04 9.99869940e-01 -4.42946785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11 meters 0.01659961551991626 Centerline is valid? [True, True] Translation: X:21.99, Y:1.99, Z:-0.44 [[ 9.78585506e-01 -2.05284662e-01 1.51200243e-02 2.19886151e+01] [ 2.05265962e-01 9.78702239e-01 2.79511905e-03 1.99018417e+00] [-1.53717967e-02 3.68363362e-04 9.99881779e-01 -4.43961404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14 meters 0.01920939338004516 Centerline is valid? [True, True] Translation: X:22.02, Y:2.00, Z:-0.45 [[ 9.78591984e-01 -2.05309751e-01 1.43399609e-02 2.20158613e+01] [ 2.05292888e-01 9.78696984e-01 2.65410965e-03 1.99577077e+00] [-1.45793911e-02 3.46601565e-04 9.99893655e-01 -4.47755490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169999999999998 meters 0.019848318228247733 Centerline is valid? [True, True] Translation: X:22.04, Y:2.00, Z:-0.45 [[ 9.78780523e-01 -2.04398028e-01 1.44959704e-02 2.20440459e+01] [ 2.04380629e-01 9.78887806e-01 2.68748222e-03 2.00201368e+00] [-1.47392448e-02 3.32240302e-04 9.99891316e-01 -4.49096270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.2 meters 0.01627790123426521 Centerline is valid? [True, True] Translation: X:22.07, Y:2.01, Z:-0.45 [[ 9.79495117e-01 -2.00966007e-01 1.42119476e-02 2.20713360e+01] [ 2.00948857e-01 9.79598178e-01 2.63932616e-03 2.00920819e+00] [-1.44524128e-02 2.70667545e-04 9.99895522e-01 -4.47188835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23 meters 0.018060514078067556 Centerline is valid? [True, True] Translation: X:22.10, Y:2.02, Z:-0.45 [[ 9.79609826e-01 -2.00492252e-01 1.29400533e-02 2.20987943e+01] [ 2.00478000e-01 9.79695258e-01 2.40265878e-03 2.01617004e+00] [-1.31590234e-02 2.40527861e-04 9.99913387e-01 -4.51393013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259999999999998 meters 0.01616304506566853 Centerline is valid? [True, True] Translation: X:22.13, Y:2.02, Z:-0.45 [[ 9.79851053e-01 -1.99289343e-01 1.32541004e-02 2.21271023e+01] [ 1.99274223e-01 9.79940665e-01 2.46521438e-03 2.02278888e+00] [-1.34795229e-02 2.25657659e-04 9.99909122e-01 -4.51088226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29 meters 0.015813370197263043 Centerline is valid? [True, True] Translation: X:22.15, Y:2.03, Z:-0.45 [[ 9.80061790e-01 -1.98240207e-01 1.34055400e-02 2.21544555e+01] [ 1.98224583e-01 9.80153445e-01 2.49766001e-03 2.02854635e+00] [-1.36346229e-02 2.09446443e-04 9.99907022e-01 -4.51598402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32 meters 0.01577448286985805 Centerline is valid? [True, True] Translation: X:22.18, Y:2.03, Z:-0.45 [[ 9.80275442e-01 -1.97205048e-01 1.30471072e-02 2.21820908e+01] [ 1.97190130e-01 9.80362246e-01 2.43287492e-03 2.03319834e+00] [-1.32706665e-02 1.87873229e-04 9.99911923e-01 -4.52588411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349999999999998 meters 0.01776471155764926 Centerline is valid? [True, True] Translation: X:22.21, Y:2.04, Z:-0.45 [[ 9.80336122e-01 -1.96950390e-01 1.23138910e-02 2.22088325e+01] [ 1.96937089e-01 9.80413440e-01 2.29549841e-03 2.04046762e+00] [-1.25248035e-02 1.74701837e-04 9.99921546e-01 -4.53721759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38 meters 0.014393042443836152 Centerline is valid? [True, True] Translation: X:22.24, Y:2.05, Z:-0.45 [[ 9.80562030e-01 -1.95765562e-01 1.31890337e-02 2.22359954e+01] [ 1.95750124e-01 9.80650711e-01 2.46408189e-03 2.04556969e+00] [-1.34162176e-02 1.65569827e-04 9.99909985e-01 -4.50872762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41 meters 0.015973998083132247 Centerline is valid? [True, True] Translation: X:22.26, Y:2.05, Z:-0.45 [[ 9.80376567e-01 -1.96714230e-01 1.28568466e-02 2.22643857e+01] [ 1.96699631e-01 9.80460852e-01 2.40281596e-03 2.05094770e+00] [-1.30783028e-02 1.73272509e-04 9.99914460e-01 -4.53227130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439999999999998 meters 0.014416726497582808 Centerline is valid? [True, True] Translation: X:22.29, Y:2.06, Z:-0.45 [[ 9.80393454e-01 -1.96584626e-01 1.35337015e-02 2.22918148e+01] [ 1.96568389e-01 9.80486845e-01 2.53278778e-03 2.05646278e+00] [-1.37675235e-02 1.77169349e-04 9.99905207e-01 -4.51837318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47 meters 0.014355196656985552 Centerline is valid? [True, True] Translation: X:22.32, Y:2.06, Z:-0.45 [[ 9.80189740e-01 -1.97475786e-01 1.52114285e-02 2.23196711e+01] [ 1.97455301e-01 9.80307743e-01 2.85193554e-03 2.06207994e+00] [-1.54750693e-02 2.08139227e-04 9.99880232e-01 -4.51797930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.5 meters 0.014537774793465977 Centerline is valid? [True, True] Translation: X:22.35, Y:2.07, Z:-0.45 [[ 9.80053408e-01 -1.98139190e-01 1.53680901e-02 2.23468534e+01] [ 1.98118274e-01 9.80173870e-01 2.88691167e-03 2.06644011e+00] [-1.56354106e-02 2.15371867e-04 9.99877736e-01 -4.52826924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529999999999998 meters 0.014656408636000907 Centerline is valid? [True, True] Translation: X:22.38, Y:2.07, Z:-0.45 [[ 9.79876273e-01 -1.99001591e-01 1.55195465e-02 2.23754914e+01] [ 1.98980359e-01 9.79999139e-01 2.91603516e-03 2.07120998e+00] [-1.57894378e-02 2.30731270e-04 9.99875312e-01 -4.53683283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56 meters 0.014789642088133558 Centerline is valid? [True, True] Translation: X:22.40, Y:2.08, Z:-0.45 [[ 9.79714408e-01 -1.99783283e-01 1.56945625e-02 2.24033700e+01] [ 1.99761607e-01 9.79840079e-01 2.95281309e-03 2.07594917e+00] [-1.59680841e-02 2.42257503e-04 9.99872473e-01 -4.54236418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59 meters 0.016878657731795036 Centerline is valid? [True, True] Translation: X:22.43, Y:2.08, Z:-0.46 [[ 9.79453032e-01 -2.01182703e-01 1.40455695e-02 2.24312392e+01] [ 2.01165419e-01 9.79553708e-01 2.64727372e-03 2.07997733e+00] [-1.42909754e-02 2.32602609e-04 9.99897852e-01 -4.57691786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.619999999999997 meters 0.015105370272307843 Centerline is valid? [True, True] Translation: X:22.46, Y:2.09, Z:-0.46 [[ 9.79631894e-01 -2.00299074e-01 1.41997887e-02 2.24586364e+01] [ 2.00281297e-01 9.79734776e-01 2.67764090e-03 2.08509349e+00] [-1.44483558e-02 2.20849677e-04 9.99895593e-01 -4.55992956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65 meters 0.014988191197516381 Centerline is valid? [True, True] Translation: X:22.49, Y:2.09, Z:-0.46 [[ 9.79720261e-01 -1.99878767e-01 1.40245478e-02 2.24865488e+01] [ 1.99861383e-01 9.79820613e-01 2.64461566e-03 2.09102063e+00] [-1.42701435e-02 2.11981979e-04 9.99898154e-01 -4.56257137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68 meters 0.01776199810488175 Centerline is valid? [True, True] Translation: X:22.51, Y:2.10, Z:-0.46 [[ 9.79753631e-01 -1.99821452e-01 1.24181622e-02 2.25137930e+01] [ 1.99807782e-01 9.79832309e-01 2.34455471e-03 2.09706808e+00] [-1.26362088e-02 1.84159446e-04 9.99920143e-01 -4.59959944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709999999999997 meters 0.017687968581074683 Centerline is valid? [True, True] Translation: X:22.54, Y:2.10, Z:-0.46 [[ 9.79980042e-01 -1.98717935e-01 1.22596826e-02 2.25415560e+01] [ 1.98704480e-01 9.80056710e-01 2.31825741e-03 2.10432824e+00] [-1.24758635e-02 1.64207868e-04 9.99922160e-01 -4.61257905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74 meters 0.01691880797971521 Centerline is valid? [True, True] Translation: X:22.57, Y:2.11, Z:-0.46 [[ 9.80506961e-01 -1.96143463e-01 1.15689596e-02 2.25685054e+01] [ 1.96131256e-01 9.80575202e-01 2.19162273e-03 2.11217013e+00] [-1.17741074e-02 1.20133237e-04 9.99930676e-01 -4.62211864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77 meters 0.01708263818638675 Centerline is valid? [True, True] Translation: X:22.60, Y:2.12, Z:-0.46 [[ 9.80665441e-01 -1.95365227e-01 1.13013521e-02 2.25961195e+01] [ 1.95353536e-01 9.80730552e-01 2.14003615e-03 2.11929639e+00] [-1.15016700e-02 1.09099608e-04 9.99933848e-01 -4.61980107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.8 meters 0.013765356177097923 Centerline is valid? [True, True] Translation: X:22.62, Y:2.13, Z:-0.46 [[ 9.81008586e-01 -1.93611979e-01 1.16857322e-02 2.26240414e+01] [ 1.93599307e-01 9.81078179e-01 2.21680104e-03 2.12502822e+00] [-1.18938161e-02 8.76488007e-05 9.99929262e-01 -4.59657504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83 meters 0.01679600110978259 Centerline is valid? [True, True] Translation: X:22.65, Y:2.13, Z:-0.46 [[ 9.81159891e-01 -1.92923813e-01 1.02796121e-02 2.26514413e+01] [ 1.92913952e-01 9.81213737e-01 1.95170116e-03 2.13127875e+00] [-1.04630262e-02 6.81497027e-05 9.99945259e-01 -4.63567946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86 meters 0.01761625707209926 Centerline is valid? [True, True] Translation: X:22.68, Y:2.14, Z:-0.47 [[ 9.81234485e-01 -1.92586893e-01 9.44319038e-03 2.26791920e+01] [ 1.92578513e-01 9.81279922e-01 1.79734917e-03 2.13668540e+00] [-9.61255901e-03 5.49345768e-05 9.99953797e-01 -4.66189353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89 meters 0.013617091351616593 Centerline is valid? [True, True] Translation: X:22.71, Y:2.14, Z:-0.46 [[ 9.81391261e-01 -1.91746157e-01 1.02276660e-02 2.27078440e+01] [ 1.91736287e-01 9.81444552e-01 1.94608716e-03 2.14299696e+00] [-1.04110418e-02 5.11417813e-05 9.99945802e-01 -4.62260948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919999999999998 meters 0.015423530011543608 Centerline is valid? [True, True] Translation: X:22.74, Y:2.15, Z:-0.46 [[ 9.81159338e-01 -1.92926684e-01 1.02785580e-02 2.27355500e+01] [ 1.92916758e-01 9.81213173e-01 1.95803458e-03 2.14789141e+00] [-1.04632136e-02 6.17621787e-05 9.99945257e-01 -4.64088309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95 meters 0.015426314395540878 Centerline is valid? [True, True] Translation: X:22.76, Y:2.15, Z:-0.46 [[ 9.80957472e-01 -1.93831975e-01 1.23127459e-02 2.27638193e+01] [ 1.93817737e-01 9.81034739e-01 2.35064556e-03 2.15163177e+00] [-1.25348618e-02 8.05452341e-05 9.99921432e-01 -4.62602497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98 meters 0.01606685227896605 Centerline is valid? [True, True] Translation: X:22.79, Y:2.16, Z:-0.46 [[ 9.80748292e-01 -1.94863414e-01 1.26900272e-02 2.27911225e+01] [ 1.94848337e-01 9.80830383e-01 2.42574965e-03 2.15688230e+00] [-1.29194541e-02 9.35808780e-05 9.99916536e-01 -4.62775475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009999999999998 meters 0.013737127272547438 Centerline is valid? [True, True] Translation: X:22.82, Y:2.16, Z:-0.46 [[ 9.80793906e-01 -1.94591229e-01 1.33254308e-02 2.28182044e+01] [ 1.94574503e-01 9.80884420e-01 2.55285687e-03 2.16135892e+00] [-1.35674711e-02 8.89626141e-05 9.99907954e-01 -4.60500429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04 meters 0.017011170025464022 Centerline is valid? [True, True] Translation: X:22.85, Y:2.17, Z:-0.46 [[ 9.80472135e-01 -1.96193270e-01 1.35126977e-02 2.28460771e+01] [ 1.96176205e-01 9.80565239e-01 2.59000221e-03 2.16522764e+00] [-1.37582227e-02 1.11444757e-04 9.99905345e-01 -4.63643065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07 meters 0.015818175458900078 Centerline is valid? [True, True] Translation: X:22.87, Y:2.17, Z:-0.46 [[ 9.80383245e-01 -1.96548015e-01 1.47502858e-02 2.28736891e+01] [ 1.96527715e-01 9.80494193e-01 2.82760808e-03 2.17015007e+00] [-1.50183303e-02 1.26700382e-04 9.99887210e-01 -4.62123680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099999999999998 meters 0.015847650339201495 Centerline is valid? [True, True] Translation: X:22.90, Y:2.17, Z:-0.46 [[ 9.80422230e-01 -1.96284667e-01 1.56390601e-02 2.29012974e+01] [ 1.96261721e-01 9.80546946e-01 3.00382407e-03 2.17494242e+00] [-1.59244372e-02 1.24332948e-04 9.99873190e-01 -4.62407755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13 meters 0.016382634874796655 Centerline is valid? [True, True] Translation: X:22.93, Y:2.18, Z:-0.46 [[ 9.80522059e-01 -1.95727183e-01 1.63512195e-02 2.29284965e+01] [ 1.95702009e-01 9.80658379e-01 3.14137637e-03 2.18109531e+00] [-1.66498131e-02 1.19777679e-04 9.99861375e-01 -4.63918242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16 meters 0.016386094952052326 Centerline is valid? [True, True] Translation: X:22.96, Y:2.19, Z:-0.47 [[ 9.80652739e-01 -1.95055113e-01 1.65441448e-02 2.29558192e+01] [ 1.95029162e-01 9.80792278e-01 3.18338252e-03 2.18704267e+00] [-1.68473045e-02 1.04797914e-04 9.99858069e-01 -4.65000062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189999999999998 meters 0.016264863876797254 Centerline is valid? [True, True] Translation: X:22.98, Y:2.19, Z:-0.47 [[ 9.80933275e-01 -1.93645193e-01 1.64756964e-02 2.29827758e+01] [ 1.93619177e-01 9.81071625e-01 3.17502735e-03 2.19310210e+00] [-1.67786670e-02 7.55208048e-05 9.99859225e-01 -4.65762242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22 meters 0.01720399503232786 Centerline is valid? [True, True] Translation: X:23.01, Y:2.20, Z:-0.47 [[ 9.81448761e-01 -1.91129304e-01 1.50969843e-02 2.30088467e+01] [ 1.91107088e-01 9.81564867e-01 2.91419250e-03 2.19941707e+00] [-1.53756570e-02 2.50100921e-05 9.99881787e-01 -4.68551445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25 meters 0.014343108205753689 Centerline is valid? [True, True] Translation: X:23.04, Y:2.21, Z:-0.47 [[ 9.81855560e-01 -1.89028734e-01 1.50929744e-02 2.30351284e+01] [ 1.89006251e-01 9.81971556e-01 2.91537330e-03 2.20566028e+00] [-1.53719609e-02 -9.80897343e-06 9.99881844e-01 -4.67180444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279999999999998 meters 0.015944547636978695 Centerline is valid? [True, True] Translation: X:23.06, Y:2.21, Z:-0.47 [[ 9.81956243e-01 -1.88591488e-01 1.39709317e-02 2.30625699e+01] [ 1.88572172e-01 9.82055625e-01 2.69916788e-03 2.21140207e+00] [-1.42292721e-02 -1.59358151e-05 9.99898759e-01 -4.69973537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31 meters 0.01647932255128952 Centerline is valid? [True, True] Translation: X:23.09, Y:2.22, Z:-0.47 [[ 9.82132317e-01 -1.87727763e-01 1.32060405e-02 2.30895633e+01] [ 1.87710379e-01 9.82221098e-01 2.55489848e-03 2.21746647e+00] [-1.34508770e-02 -3.03374906e-05 9.99909532e-01 -4.71929968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34 meters 0.013681580339588124 Centerline is valid? [True, True] Translation: X:23.12, Y:2.22, Z:-0.47 [[ 9.82470914e-01 -1.85896659e-01 1.39044841e-02 2.31173720e+01] [ 1.85877142e-01 9.82569300e-01 2.69436715e-03 2.22415655e+00] [-1.41629931e-02 -6.26115857e-05 9.99899698e-01 -4.70165673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369999999999997 meters 0.018807603267963595 Centerline is valid? [True, True] Translation: X:23.14, Y:2.23, Z:-0.48 [[ 9.82346811e-01 -1.86635028e-01 1.27321762e-02 2.31446523e+01] [ 1.86618684e-01 9.82429317e-01 2.47043019e-03 2.22889200e+00] [-1.29695320e-02 -5.07572469e-05 9.99915891e-01 -4.75940459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.4 meters 0.015051853316646283 Centerline is valid? [True, True] Translation: X:23.17, Y:2.23, Z:-0.47 [[ 9.82425278e-01 -1.86204085e-01 1.29850339e-02 2.31726766e+01] [ 1.86186996e-01 9.82511086e-01 2.52340140e-03 2.23453314e+00] [-1.32278074e-02 -6.14088734e-05 9.99912507e-01 -4.73575537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43 meters 0.013780237372681742 Centerline is valid? [True, True] Translation: X:23.20, Y:2.24, Z:-0.47 [[ 9.82460528e-01 -1.85978457e-01 1.35397586e-02 2.31999744e+01] [ 1.85959798e-01 9.82553820e-01 2.63538247e-03 2.23977726e+00] [-1.37936659e-02 -7.13084847e-05 9.99904860e-01 -4.71953817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459999999999997 meters 0.01660835213373697 Centerline is valid? [True, True] Translation: X:23.23, Y:2.24, Z:-0.48 [[ 9.82245408e-01 -1.87157613e-01 1.28835859e-02 2.32265795e+01] [ 1.87140766e-01 9.82329896e-01 2.51180695e-03 2.24420239e+00] [-1.31260354e-02 -5.61667018e-05 9.99913848e-01 -4.75980820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49 meters 0.01720168169804602 Centerline is valid? [True, True] Translation: X:23.25, Y:2.25, Z:-0.48 [[ 9.81991084e-01 -1.88509795e-01 1.25526212e-02 2.32545962e+01] [ 1.88493892e-01 9.82071309e-01 2.44892771e-03 2.24783715e+00] [-1.27892160e-02 -3.87327659e-05 9.99918214e-01 -4.76351844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52 meters 0.017031730578527516 Centerline is valid? [True, True] Translation: X:23.28, Y:2.25, Z:-0.48 [[ 9.81727478e-01 -1.89844984e-01 1.30399809e-02 2.32826378e+01] [ 1.89827885e-01 9.81814077e-01 2.54806375e-03 2.25228406e+00] [-1.32865739e-02 -2.61522116e-05 9.99911729e-01 -4.76554365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55 meters 0.015688501047651227 Centerline is valid? [True, True] Translation: X:23.31, Y:2.26, Z:-0.48 [[ 9.81429863e-01 -1.91346423e-01 1.34896552e-02 2.33089933e+01] [ 1.91328201e-01 9.81522565e-01 2.64071833e-03 2.25655107e+00] [-1.37456930e-02 -1.07283640e-05 9.99905523e-01 -4.75851734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58 meters 0.016787236603801 Centerline is valid? [True, True] Translation: X:23.34, Y:2.26, Z:-0.48 [[ 9.81002413e-01 -1.93514041e-01 1.36595049e-02 2.33365350e+01] [ 1.93495537e-01 9.81097506e-01 2.67608919e-03 2.26026543e+00] [-1.39191670e-02 1.78032722e-05 9.99903124e-01 -4.76587358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61 meters 0.01690349960197539 Centerline is valid? [True, True] Translation: X:23.37, Y:2.26, Z:-0.48 [[ 9.80060424e-01 -1.98181874e-01 1.43356111e-02 2.33651930e+01] [ 1.98161912e-01 9.80165261e-01 2.81401696e-03 2.26117551e+00] [-1.46089551e-02 8.28654452e-05 9.99893280e-01 -4.76241620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64 meters 0.015491499360676527 Centerline is valid? [True, True] Translation: X:23.39, Y:2.26, Z:-0.48 [[ 9.79568963e-01 -2.00594427e-01 1.43708990e-02 2.33926976e+01] [ 2.00574593e-01 9.79674365e-01 2.82320174e-03 2.26412597e+00] [-1.46451199e-02 1.16916424e-04 9.99892748e-01 -4.75145817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669999999999998 meters 0.015756816262977216 Centerline is valid? [True, True] Translation: X:23.42, Y:2.27, Z:-0.48 [[ 9.79057977e-01 -2.03123931e-01 1.36435522e-02 2.34217104e+01] [ 2.03106299e-01 9.79153025e-01 2.68035915e-03 2.26809736e+00] [-1.39035705e-02 1.46864382e-04 9.99903330e-01 -4.75649613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.7 meters 0.018500155928068657 Centerline is valid? [True, True] Translation: X:23.45, Y:2.27, Z:-0.48 [[ 9.78522845e-01 -2.05750734e-01 1.26363768e-02 2.34498587e+01] [ 2.05735775e-01 9.78604418e-01 2.48662736e-03 2.27069783e+00] [-1.28776395e-02 1.66533084e-04 9.99917066e-01 -4.77935418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73 meters 0.015270749506125347 Centerline is valid? [True, True] Translation: X:23.48, Y:2.27, Z:-0.47 [[ 9.77691767e-01 -2.09604924e-01 1.35862133e-02 2.34792843e+01] [ 2.09587999e-01 9.77786133e-01 2.67380523e-03 2.27298334e+00] [-1.38448537e-02 2.33349893e-04 9.99904128e-01 -4.73104557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759999999999998 meters 0.01890386044925407 Centerline is valid? [True, True] Translation: X:23.51, Y:2.28, Z:-0.48 [[ 9.77051656e-01 -2.12640290e-01 1.24164465e-02 2.35069363e+01] [ 2.12626347e-01 9.77130516e-01 2.44765976e-03 2.27567451e+00] [-1.26529599e-02 2.48573651e-04 9.99919917e-01 -4.77127660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79 meters 0.016569702886749246 Centerline is valid? [True, True] Translation: X:23.53, Y:2.28, Z:-0.47 [[ 9.76701326e-01 -2.14199306e-01 1.31596605e-02 2.35343130e+01] [ 2.14183768e-01 9.76789935e-01 2.59549699e-03 2.28039214e+00] [-1.34101776e-02 2.83560306e-04 9.99910039e-01 -4.74694296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82 meters 0.019128735600349722 Centerline is valid? [True, True] Translation: X:23.56, Y:2.28, Z:-0.48 [[ 9.76176381e-01 -2.16624224e-01 1.23943373e-02 2.35615507e+01] [ 2.16610625e-01 9.76255016e-01 2.44542584e-03 2.28374035e+00] [-1.26297725e-02 2.97578212e-04 9.99920197e-01 -4.78108586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849999999999998 meters 0.01892283668212681 Centerline is valid? [True, True] Translation: X:23.59, Y:2.29, Z:-0.48 [[ 9.75324083e-01 -2.20444648e-01 1.21280780e-02 2.35901535e+01] [ 2.20431900e-01 9.75399427e-01 2.39470735e-03 2.29162504e+00] [-1.23576207e-02 3.37799513e-04 9.99923585e-01 -4.78380430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88 meters 0.01955092978266978 Centerline is valid? [True, True] Translation: X:23.62, Y:2.29, Z:-0.48 [[ 9.74922270e-01 -2.22191192e-01 1.25555470e-02 2.36175630e+01] [ 2.22177673e-01 9.75003044e-01 2.47918366e-03 2.29481611e+00] [-1.27925493e-02 3.72550849e-04 9.99918103e-01 -4.78469246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91 meters 0.020992464906819327 Centerline is valid? [True, True] Translation: X:23.65, Y:2.30, Z:-0.48 [[ 9.74442335e-01 -2.24331452e-01 1.17275368e-02 2.36457007e+01] [ 2.24319817e-01 9.74512832e-01 2.31525457e-03 2.30040308e+00] [-1.19480195e-02 3.74636837e-04 9.99928550e-01 -4.79467367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.939999999999998 meters 0.020111946621912184 Centerline is valid? [True, True] Translation: X:23.67, Y:2.31, Z:-0.48 [[ 9.74255186e-01 -2.25095342e-01 1.26063165e-02 2.36727798e+01] [ 2.25081899e-01 9.74336657e-01 2.49360406e-03 2.30553106e+00] [-1.28440950e-02 4.08046985e-04 9.99917428e-01 -4.78323315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97 meters 0.021326430712026317 Centerline is valid? [True, True] Translation: X:23.70, Y:2.31, Z:-0.48 [[ 9.73874925e-01 -2.26780102e-01 1.17650005e-02 2.37012538e+01] [ 2.26768523e-01 9.73945904e-01 2.32670386e-03 2.31247373e+00] [-1.19861242e-02 4.02013241e-04 9.99928083e-01 -4.79889537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.0 meters 0.021326430712026317 Centerline is valid? [True, True] Translation: X:23.73, Y:2.32, Z:-0.48 [[ 9.73810303e-01 -2.27057461e-01 1.17644785e-02 2.37283412e+01] [ 2.27045869e-01 9.73881280e-01 2.32933928e-03 2.31790633e+00] [-1.19860992e-02 4.02741651e-04 9.99928083e-01 -4.80456330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029999999999998 meters 0.020367420769938905 Centerline is valid? [True, True] Translation: X:23.76, Y:2.32, Z:-0.48 [[ 9.73605211e-01 -2.27948155e-01 1.15122228e-02 2.37557400e+01] [ 2.27937058e-01 9.73673189e-01 2.28444989e-03 2.32301086e+00] [-1.17298788e-02 3.99909881e-04 9.99931123e-01 -4.80548091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06 meters 0.02042132778701946 Centerline is valid? [True, True] Translation: X:23.78, Y:2.33, Z:-0.48 [[ 9.73438410e-01 -2.28680292e-01 1.10898616e-02 2.37839440e+01] [ 2.28670048e-01 9.73501499e-01 2.20011538e-03 2.33014851e+00] [-1.12991199e-02 3.94242366e-04 9.99936085e-01 -4.82331455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09 meters 0.019119767313443177 Centerline is valid? [True, True] Translation: X:23.81, Y:2.34, Z:-0.48 [[ 9.73516868e-01 -2.28337669e-01 1.12613131e-02 2.38118070e+01] [ 2.28327049e-01 9.73581920e-01 2.23702765e-03 2.33816584e+00] [-1.14746085e-02 3.93478241e-04 9.99934087e-01 -4.82425991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119999999999997 meters 0.02005521957792496 Centerline is valid? [True, True] Translation: X:23.84, Y:2.34, Z:-0.48 [[ 9.73667447e-01 -2.27686902e-01 1.14182683e-02 2.38392380e+01] [ 2.27675888e-01 9.73734320e-01 2.27265704e-03 2.34285280e+00] [-1.16358140e-02 3.86852194e-04 9.99932227e-01 -4.83575632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15 meters 0.019156805785452966 Centerline is valid? [True, True] Translation: X:23.87, Y:2.35, Z:-0.48 [[ 9.74285938e-01 -2.25013616e-01 1.16526520e-02 2.38665353e+01] [ 2.25001940e-01 9.74355552e-01 2.32056331e-03 2.35189539e+00] [-1.18759845e-02 3.60977096e-04 9.99929413e-01 -4.83421291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18 meters 0.020314912718098762 Centerline is valid? [True, True] Translation: X:23.89, Y:2.36, Z:-0.49 [[ 9.74664939e-01 -2.23358789e-01 1.17944095e-02 2.38937746e+01] [ 2.23346697e-01 9.74736238e-01 2.34951272e-03 2.35904936e+00] [-1.20212226e-02 3.44254724e-04 9.99927683e-01 -4.85122275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209999999999997 meters 0.01971837141438601 Centerline is valid? [True, True] Translation: X:23.92, Y:2.37, Z:-0.49 [[ 9.75245058e-01 -2.20791648e-01 1.21706689e-02 2.39213690e+01] [ 2.20778556e-01 9.75320945e-01 2.42575471e-03 2.36678019e+00] [-1.24058946e-02 3.21317404e-04 9.99922992e-01 -4.85218311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24 meters 0.017247921794412407 Centerline is valid? [True, True] Translation: X:23.95, Y:2.38, Z:-0.48 [[ 9.75905885e-01 -2.17826384e-01 1.26241951e-02 2.39496197e+01] [ 2.17812053e-01 9.75987490e-01 2.51588568e-03 2.37567725e+00] [-1.28690827e-02 2.94434206e-04 9.99917147e-01 -4.84181535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27 meters 0.017748285501405486 Centerline is valid? [True, True] Translation: X:23.98, Y:2.39, Z:-0.49 [[ 9.76635389e-01 -2.14573185e-01 1.19023134e-02 2.39769799e+01] [ 2.14560177e-01 9.76707885e-01 2.37427856e-03 2.38707621e+00] [-1.21345398e-02 2.34958002e-04 9.99926346e-01 -4.86649884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.3 meters 0.018508826958245822 Centerline is valid? [True, True] Translation: X:24.00, Y:2.39, Z:-0.49 [[ 9.77022887e-01 -2.12788289e-01 1.21417550e-02 2.40037588e+01] [ 2.12774559e-01 9.77098306e-01 2.42659229e-03 2.39308888e+00] [-1.23800386e-02 2.12620348e-04 9.99923342e-01 -4.88411397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33 meters 0.01749894724296802 Centerline is valid? [True, True] Translation: X:24.03, Y:2.40, Z:-0.49 [[ 9.77307292e-01 -2.11445359e-01 1.27010915e-02 2.40312966e+01] [ 2.11430221e-01 9.77389799e-01 2.53837083e-03 2.40175268e+00] [-1.29506440e-02 2.04626259e-04 9.99916116e-01 -4.87807293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36 meters 0.014632875893867336 Centerline is valid? [True, True] Translation: X:24.06, Y:2.41, Z:-0.49 [[ 9.77855005e-01 -2.08787413e-01 1.44015661e-02 2.40596613e+01] [ 2.08767595e-01 9.77961033e-01 2.88271644e-03 2.41002436e+00] [-1.46860454e-02 1.87701623e-04 9.99892137e-01 -4.85546581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39 meters 0.014576419073521609 Centerline is valid? [True, True] Translation: X:24.09, Y:2.42, Z:-0.49 [[ 9.77895606e-01 -2.08556321e-01 1.49814951e-02 2.40873246e+01] [ 2.08534796e-01 9.78010340e-01 3.00225015e-03 2.41654114e+00] [-1.52781954e-02 1.88275801e-04 9.99883264e-01 -4.86274829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419999999999998 meters 0.014498102872658987 Centerline is valid? [True, True] Translation: X:24.11, Y:2.42, Z:-0.49 [[ 9.77851668e-01 -2.08740391e-01 1.52828175e-02 2.41148007e+01] [ 2.08717941e-01 9.77971070e-01 3.06723997e-03 2.42302366e+00] [-1.55864102e-02 1.90492484e-04 9.99878506e-01 -4.87112212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45 meters 0.017810045935471575 Centerline is valid? [True, True] Translation: X:24.14, Y:2.43, Z:-0.49 [[ 9.77682391e-01 -2.09547445e-01 1.50668948e-02 2.41430365e+01] [ 2.09525653e-01 9.77798461e-01 3.02838937e-03 2.42955629e+00] [-1.53669778e-02 1.96097997e-04 9.99881902e-01 -4.90393404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48 meters 0.015413676100946632 Centerline is valid? [True, True] Translation: X:24.17, Y:2.44, Z:-0.49 [[ 9.77887804e-01 -2.08518890e-01 1.59785707e-02 2.41704844e+01] [ 2.08494159e-01 9.78018322e-01 3.21676740e-03 2.43577429e+00] [-1.62980917e-02 1.85801057e-04 9.99867160e-01 -4.89408035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509999999999998 meters 0.015583084111623858 Centerline is valid? [True, True] Translation: X:24.20, Y:2.44, Z:-0.49 [[ 9.78026780e-01 -2.07914768e-01 1.53319167e-02 2.41982177e+01] [ 2.07891919e-01 9.78146932e-01 3.08691812e-03 2.44256652e+00] [-1.56386831e-02 1.68292992e-04 9.99877694e-01 -4.91265226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54 meters 0.014615833233907628 Centerline is valid? [True, True] Translation: X:24.23, Y:2.45, Z:-0.49 [[ 9.78189280e-01 -2.07127244e-01 1.56217032e-02 2.42259994e+01] [ 2.07103332e-01 9.78313999e-01 3.15091233e-03 2.44796068e+00] [-1.59355707e-02 1.53118117e-04 9.99873009e-01 -4.91161751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57 meters 0.014040936326748427 Centerline is valid? [True, True] Translation: X:24.25, Y:2.45, Z:-0.49 [[ 9.78265816e-01 -2.06768531e-01 1.55810100e-02 2.42532212e+01] [ 2.06744690e-01 9.78389878e-01 3.14320618e-03 2.45421091e+00] [-1.58942186e-02 1.46399923e-04 9.99873668e-01 -4.90709639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.599999999999998 meters 0.013951383971799607 Centerline is valid? [True, True] Translation: X:24.28, Y:2.46, Z:-0.49 [[ 9.78356896e-01 -2.06359084e-01 1.52876768e-02 2.42806212e+01] [ 2.06336016e-01 9.78476321e-01 3.08835944e-03 2.46004321e+00] [-1.55959407e-02 1.32880563e-04 9.99878367e-01 -4.91633211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63 meters 0.016074631209425604 Centerline is valid? [True, True] Translation: X:24.31, Y:2.47, Z:-0.50 [[ 9.78217585e-01 -2.07179754e-01 1.29192239e-02 2.43074487e+01] [ 2.07163295e-01 9.78302885e-01 2.61419032e-03 2.46553199e+00] [-1.31805213e-02 1.19142051e-04 9.99913126e-01 -4.96824935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66 meters 0.016422063456382148 Centerline is valid? [True, True] Translation: X:24.34, Y:2.47, Z:-0.50 [[ 9.78068106e-01 -2.07922704e-01 1.22853385e-02 2.43357244e+01] [ 2.07907882e-01 9.78145252e-01 2.48566635e-03 2.47099234e+00] [-1.25336719e-02 1.23067715e-04 9.99921443e-01 -4.98239732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689999999999998 meters 0.013988528372437675 Centerline is valid? [True, True] Translation: X:24.36, Y:2.48, Z:-0.50 [[ 9.78087829e-01 -2.07800635e-01 1.27708282e-02 2.43632101e+01] [ 2.07784568e-01 9.78171192e-01 2.58697565e-03 2.47630566e+00] [-1.30296314e-02 1.23291619e-04 9.99915103e-01 -4.96276998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72 meters 0.014280990606628373 Centerline is valid? [True, True] Translation: X:24.39, Y:2.48, Z:-0.50 [[ 9.77987630e-01 -2.08264454e-01 1.28884438e-02 2.43900614e+01] [ 2.08248071e-01 9.78072544e-01 2.61532148e-03 2.47992471e+00] [-1.31505116e-02 1.26241507e-04 9.99913520e-01 -4.97036717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75 meters 0.016633705653650584 Centerline is valid? [True, True] Translation: X:24.42, Y:2.48, Z:-0.50 [[ 9.77657747e-01 -2.09842445e-01 1.23076814e-02 2.44184639e+01] [ 2.09827607e-01 9.77735204e-01 2.49927490e-03 2.48497013e+00] [-1.25581074e-02 1.39055867e-04 9.99921134e-01 -4.99305923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.779999999999998 meters 0.014270361604589289 Centerline is valid? [True, True] Translation: X:24.45, Y:2.49, Z:-0.50 [[ 9.77654079e-01 -2.09845125e-01 1.25508828e-02 2.44454782e+01] [ 2.09829647e-01 9.77734629e-01 2.55245181e-03 2.48925458e+00] [-1.28070523e-02 1.38132382e-04 9.99917977e-01 -4.97663296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81 meters 0.015191722706314503 Centerline is valid? [True, True] Translation: X:24.47, Y:2.49, Z:-0.50 [[ 9.77325815e-01 -2.11349450e-01 1.28709707e-02 2.44743191e+01] [ 2.11333272e-01 9.77410551e-01 2.61985111e-03 2.49261583e+00] [-1.31339266e-02 1.59616216e-04 9.99913734e-01 -4.98579919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84 meters 0.016509450367965566 Centerline is valid? [True, True] Translation: X:24.50, Y:2.50, Z:-0.50 [[ 9.77120331e-01 -2.12293899e-01 1.29290157e-02 2.45029292e+01] [ 2.12277614e-01 9.77205849e-01 2.63494958e-03 2.49724446e+00] [-1.31936935e-02 1.69877803e-04 9.99912945e-01 -5.00023123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869999999999997 meters 0.014480826184578906 Centerline is valid? [True, True] Translation: X:24.53, Y:2.50, Z:-0.50 [[ 9.77196178e-01 -2.11952515e-01 1.27968820e-02 2.45303628e+01] [ 2.11936494e-01 9.77279952e-01 2.61099465e-03 2.50181717e+00] [-1.30595431e-02 1.60672304e-04 9.99914708e-01 -4.98755924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.9 meters 0.014366153590102904 Centerline is valid? [True, True] Translation: X:24.56, Y:2.51, Z:-0.50 [[ 9.77270633e-01 -2.11624730e-01 1.25332676e-02 2.45583991e+01] [ 2.11609289e-01 9.77350987e-01 2.56072784e-03 2.50672894e+00] [-1.27913148e-02 1.49631740e-04 9.99918177e-01 -4.99083048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93 meters 0.017070386052050898 Centerline is valid? [True, True] Translation: X:24.59, Y:2.51, Z:-0.50 [[ 9.77210558e-01 -2.11919778e-01 1.22283715e-02 2.45860515e+01] [ 2.11905060e-01 9.77287054e-01 2.50185942e-03 2.51176972e+00] [-1.24808226e-02 1.46410362e-04 9.99922101e-01 -5.02444645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959999999999997 meters 0.01643737539398174 Centerline is valid? [True, True] Translation: X:24.61, Y:2.52, Z:-0.50 [[ 9.77470617e-01 -2.10696031e-01 1.25846971e-02 2.46148199e+01] [ 2.10680288e-01 9.77551618e-01 2.57886805e-03 2.51752657e+00] [-1.28455483e-02 1.30579868e-04 9.99917484e-01 -5.02302121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99 meters 0.016900951186902154 Centerline is valid? [True, True] Translation: X:24.64, Y:2.52, Z:-0.50 [[ 9.78163641e-01 -2.07491889e-01 1.19585441e-02 2.46422958e+01] [ 2.07477389e-01 9.78236735e-01 2.45432380e-03 2.52326272e+00] [-1.22075394e-02 8.03971906e-05 9.99925482e-01 -5.03605160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02 meters 0.018503786439869142 Centerline is valid? [True, True] Translation: X:24.67, Y:2.53, Z:-0.51 [[ 9.78523280e-01 -2.05808012e-01 1.16298584e-02 2.46693593e+01] [ 2.05794176e-01 9.78592387e-01 2.38706933e-03 2.52948389e+00] [-1.18721689e-02 5.75542168e-05 9.99929522e-01 -5.05208798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05 meters 0.013409121124223865 Centerline is valid? [True, True] Translation: X:24.70, Y:2.54, Z:-0.50 [[ 9.79187550e-01 -2.02564678e-01 1.26211355e-02 2.46974775e+01] [ 2.02548059e-01 9.79268886e-01 2.59476937e-03 2.53659330e+00] [-1.28850940e-02 1.56206404e-05 9.99916984e-01 -5.01198113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08 meters 0.013791246717887362 Centerline is valid? [True, True] Translation: X:24.72, Y:2.54, Z:-0.50 [[ 9.79565516e-01 -2.00711435e-01 1.28965213e-02 2.47236654e+01] [ 2.00693871e-01 9.79650407e-01 2.65526182e-03 2.54236523e+00] [-1.31670237e-02 -1.27501395e-05 9.99913311e-01 -5.02103861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11 meters 0.01340201227881406 Centerline is valid? [True, True] Translation: X:24.75, Y:2.55, Z:-0.50 [[ 9.80031365e-01 -1.98385876e-01 1.34747134e-02 2.47515333e+01] [ 1.98366451e-01 9.80123993e-01 2.77657858e-03 2.54864996e+00] [-1.37577239e-02 -4.82030219e-05 9.99905357e-01 -5.01091672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14 meters 0.015474974448172111 Centerline is valid? [True, True] Translation: X:24.78, Y:2.55, Z:-0.50 [[ 9.80297474e-01 -1.97049109e-01 1.37298966e-02 2.47792224e+01] [ 1.97028752e-01 9.80393617e-01 2.83328873e-03 2.55464944e+00] [-1.40190000e-02 -7.22813854e-05 9.99901726e-01 -5.02948704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169999999999998 meters 0.014025880195159757 Centerline is valid? [True, True] Translation: X:24.81, Y:2.56, Z:-0.50 [[ 9.81361943e-01 -1.91614872e-01 1.45766280e-02 2.48056066e+01] [ 1.91591240e-01 9.81470180e-01 3.01378662e-03 2.56217227e+00] [-1.48840121e-02 -1.64861260e-04 9.99889213e-01 -5.00849592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.2 meters 0.01774472703826393 Centerline is valid? [True, True] Translation: X:24.83, Y:2.57, Z:-0.50 [[ 9.81619088e-01 -1.90403249e-01 1.30602235e-02 2.48334941e+01] [ 1.90384170e-01 9.81705952e-01 2.70043456e-03 2.56843635e+00] [-1.33354706e-02 -1.64338310e-04 9.99911065e-01 -5.04650366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23 meters 0.01722824679959301 Centerline is valid? [True, True] Translation: X:24.86, Y:2.58, Z:-0.51 [[ 9.81927958e-01 -1.88797509e-01 1.31524353e-02 2.48615740e+01] [ 1.88777969e-01 9.82016020e-01 2.72293936e-03 2.57516145e+00] [-1.34299864e-02 -1.90840264e-04 9.99909795e-01 -5.05043830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259999999999998 meters 0.019056660620212867 Centerline is valid? [True, True] Translation: X:24.89, Y:2.58, Z:-0.51 [[ 9.82270040e-01 -1.87070301e-01 1.22585054e-02 2.48893611e+01] [ 1.87053157e-01 9.82346508e-01 2.54064160e-03 2.58146817e+00] [-1.25173786e-02 -2.02603975e-04 9.99921634e-01 -5.07385590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29 meters 0.01928758658128401 Centerline is valid? [True, True] Translation: X:24.92, Y:2.59, Z:-0.51 [[ 9.82200158e-01 -1.87449838e-01 1.20585524e-02 2.49154295e+01] [ 1.87433228e-01 9.82274157e-01 2.50328102e-03 2.58728404e+00] [-1.23140440e-02 -1.98549613e-04 9.99924160e-01 -5.08972720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32 meters 0.015368296756115726 Centerline is valid? [True, True] Translation: X:24.94, Y:2.59, Z:-0.51 [[ 9.82156404e-01 -1.87649541e-01 1.25078877e-02 2.49436301e+01] [ 1.87631680e-01 9.82236025e-01 2.59698903e-03 2.59235294e+00] [-1.27730217e-02 -2.03773420e-04 9.99918401e-01 -5.06588198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349999999999998 meters 0.017585744307061037 Centerline is valid? [True, True] Translation: X:24.97, Y:2.60, Z:-0.51 [[ 9.81844323e-01 -1.89329969e-01 1.16571297e-02 2.49718722e+01] [ 1.89314534e-01 9.81913506e-01 2.42370347e-03 2.59714569e+00] [-1.19051728e-02 -1.72835411e-04 9.99929116e-01 -5.09613714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38 meters 0.017048383920643152 Centerline is valid? [True, True] Translation: X:25.00, Y:2.60, Z:-0.51 [[ 9.81592358e-01 -1.90642834e-01 1.14783788e-02 2.50008686e+01] [ 1.90627925e-01 9.81659455e-01 2.38938169e-03 2.60197249e+00] [-1.17233776e-02 -1.57299280e-04 9.99931266e-01 -5.10240638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41 meters 0.017914295719080178 Centerline is valid? [True, True] Translation: X:25.03, Y:2.61, Z:-0.51 [[ 9.81300737e-01 -1.92166488e-01 1.09956453e-02 2.50292451e+01] [ 1.92152874e-01 9.81362330e-01 2.29139920e-03 2.60595319e+00] [-1.12310422e-02 -1.35706883e-04 9.99936921e-01 -5.10952385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.439999999999998 meters 0.01565639882391918 Centerline is valid? [True, True] Translation: X:25.06, Y:2.61, Z:-0.51 [[ 9.80948384e-01 -1.93938303e-01 1.13226404e-02 2.50563002e+01] [ 1.93923932e-01 9.81013720e-01 2.36413001e-03 2.61131148e+00] [-1.15661609e-02 -1.23358573e-04 9.99933102e-01 -5.11074480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47 meters 0.016586982186061132 Centerline is valid? [True, True] Translation: X:25.09, Y:2.61, Z:-0.51 [[ 9.80449271e-01 -1.96493468e-01 1.04663825e-02 2.50852640e+01] [ 1.96481341e-01 9.80505130e-01 2.18462091e-03 2.61478038e+00] [-1.06916055e-02 -8.54610960e-05 9.99942840e-01 -5.12690966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.5 meters 0.0161402132764455 Centerline is valid? [True, True] Translation: X:25.11, Y:2.62, Z:-0.51 [[ 9.79948475e-01 -1.98992864e-01 1.01403596e-02 2.51134067e+01] [ 1.98981578e-01 9.80000937e-01 2.12017151e-03 2.61849131e+00] [-1.03594609e-02 -5.99140860e-05 9.99946338e-01 -5.13215817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529999999999998 meters 0.016429338888466698 Centerline is valid? [True, True] Translation: X:25.14, Y:2.62, Z:-0.51 [[ 9.79401191e-01 -2.01639140e-01 1.07221483e-02 2.51423668e+01] [ 2.01626675e-01 9.79459880e-01 2.24226872e-03 2.62179690e+00] [-1.09540432e-02 -3.42095485e-05 9.99940002e-01 -5.13205851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56 meters 0.014402006040042922 Centerline is valid? [True, True] Translation: X:25.17, Y:2.62, Z:-0.51 [[ 9.78637519e-01 -2.05194197e-01 1.28042468e-02 2.51718189e+01] [ 2.05176670e-01 9.78721279e-01 2.68193371e-03 2.62441868e+00] [-1.30821060e-02 2.49176279e-06 9.99914426e-01 -5.10510119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59 meters 0.015293105105642042 Centerline is valid? [True, True] Translation: X:25.20, Y:2.63, Z:-0.51 [[ 9.78397359e-01 -2.06304890e-01 1.33003851e-02 2.51982653e+01] [ 2.06286019e-01 9.78487758e-01 2.79035516e-03 2.62973040e+00] [-1.35899280e-02 1.36073860e-05 9.99907653e-01 -5.11759677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619999999999997 meters 0.015228652737758062 Centerline is valid? [True, True] Translation: X:25.23, Y:2.64, Z:-0.51 [[ 9.78149737e-01 -2.07459613e-01 1.35499411e-02 2.52259255e+01] [ 2.07440129e-01 9.78243583e-01 2.84335417e-03 2.63571271e+00] [-1.38450241e-02 2.95753951e-05 9.99904153e-01 -5.11318086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65 meters 0.01390635206753239 Centerline is valid? [True, True] Translation: X:25.25, Y:2.64, Z:-0.51 [[ 9.78020788e-01 -2.08035119e-01 1.40259636e-02 2.52537081e+01] [ 2.08014239e-01 9.78121356e-01 2.94759024e-03 2.64209181e+00] [-1.43322968e-02 3.47956084e-05 9.99897287e-01 -5.11040008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68 meters 0.01660482646940552 Centerline is valid? [True, True] Translation: X:25.28, Y:2.65, Z:-0.51 [[ 9.77880992e-01 -2.08767095e-01 1.28477641e-02 2.52805360e+01] [ 2.08749575e-01 9.77965387e-01 2.70487970e-03 2.64839768e+00] [-1.31293585e-02 3.69148487e-05 9.99913806e-01 -5.14379149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709999999999997 meters 0.01645251934058036 Centerline is valid? [True, True] Translation: X:25.31, Y:2.66, Z:-0.52 [[ 9.77902437e-01 -2.08687872e-01 1.24978562e-02 2.53078807e+01] [ 2.08671293e-01 9.77982296e-01 2.63075301e-03 2.65708964e+00] [-1.27716884e-02 3.53240317e-05 9.99918438e-01 -5.15273993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74 meters 0.015426755648116946 Centerline is valid? [True, True] Translation: X:25.34, Y:2.66, Z:-0.51 [[ 9.78034942e-01 -2.08026578e-01 1.31375783e-02 2.53352079e+01] [ 2.08008122e-01 9.78123173e-01 2.77109826e-03 2.66403432e+00] [-1.34266319e-02 2.24920586e-05 9.99909858e-01 -5.14976992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77 meters 0.01502519122316116 Centerline is valid? [True, True] Translation: X:25.36, Y:2.67, Z:-0.52 [[ 9.78247414e-01 -2.07038638e-01 1.29228543e-02 2.53612120e+01] [ 2.07020682e-01 9.78332767e-01 2.72670646e-03 2.67074594e+00] [-1.32073854e-02 7.90456654e-06 9.99912779e-01 -5.15104264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799999999999997 meters 0.014356351637697657 Centerline is valid? [True, True] Translation: X:25.39, Y:2.68, Z:-0.51 [[ 9.78409426e-01 -2.06259630e-01 1.31133279e-02 2.53889586e+01] [ 2.06241061e-01 9.78497300e-01 2.76757430e-03 2.67786035e+00] [-1.34021948e-02 -3.31410953e-06 9.99910187e-01 -5.14720553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83 meters 0.015789439743793345 Centerline is valid? [True, True] Translation: X:25.42, Y:2.68, Z:-0.52 [[ 9.78475624e-01 -2.05992866e-01 1.23447207e-02 2.54164968e+01] [ 2.05976352e-01 9.78553493e-01 2.60831602e-03 2.68486464e+00] [-1.26172640e-02 -9.45310927e-06 9.99920399e-01 -5.16319977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86 meters 0.015391685908247608 Centerline is valid? [True, True] Translation: X:25.44, Y:2.69, Z:-0.52 [[ 9.78812977e-01 -2.04432556e-01 1.15102650e-02 2.54443584e+01] [ 2.04418053e-01 9.78880651e-01 2.43527867e-03 2.69381565e+00] [-1.17650259e-02 -3.07764106e-05 9.99930789e-01 -5.17330371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89 meters 0.015391685908247608 Centerline is valid? [True, True] Translation: X:25.47, Y:2.70, Z:-0.52 [[ 9.78755134e-01 -2.04709339e-01 1.15097279e-02 2.54713490e+01] [ 2.04694825e-01 9.78822806e-01 2.43781356e-03 2.69961139e+00] [-1.17650273e-02 -3.00408130e-05 9.99930789e-01 -5.17896853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919999999999998 meters 0.015951905028291073 Centerline is valid? [True, True] Translation: X:25.50, Y:2.71, Z:-0.52 [[ 9.78832601e-01 -2.04377906e-01 1.07893677e-02 2.54994462e+01] [ 2.04365097e-01 9.78892063e-01 2.28841552e-03 2.70720608e+00] [-1.10293280e-02 -3.50055359e-05 9.99939174e-01 -5.20019570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95 meters 0.014874576807852417 Centerline is valid? [True, True] Translation: X:25.53, Y:2.71, Z:-0.52 [[ 9.78945454e-01 -2.03858293e-01 1.03727310e-02 2.55268272e+01] [ 2.03846403e-01 9.79000406e-01 2.20214569e-03 2.71451582e+00] [-1.06038336e-02 -4.13366008e-05 9.99943777e-01 -5.20692137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98 meters 0.014201044631985198 Centerline is valid? [True, True] Translation: X:25.55, Y:2.72, Z:-0.52 [[ 9.79045803e-01 -2.03382510e-01 1.02406539e-02 2.55546110e+01] [ 2.03370864e-01 9.79099358e-01 2.17701190e-03 2.72125960e+00] [-1.04693838e-02 -4.87437306e-05 9.99945193e-01 -5.20705024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009999999999998 meters 0.01650137708834757 Centerline is valid? [True, True] Translation: X:25.58, Y:2.73, Z:-0.52 [[ 9.79070217e-01 -2.03330225e-01 8.85036527e-03 2.55826171e+01] [ 2.03321504e-01 9.79110217e-01 1.88372283e-03 2.72776056e+00] [-9.04850085e-03 -4.48273458e-05 9.99959060e-01 -5.22628411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04 meters 0.016381554102203474 Centerline is valid? [True, True] Translation: X:25.61, Y:2.73, Z:-0.52 [[ 9.79048996e-01 -2.03425255e-01 9.01273842e-03 2.56091953e+01] [ 2.03416180e-01 9.79090477e-01 1.92215673e-03 2.73413258e+00] [-9.21530158e-03 -4.85487991e-05 9.99957537e-01 -5.23482150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07 meters 0.015879676782574445 Centerline is valid? [True, True] Translation: X:25.64, Y:2.74, Z:-0.52 [[ 9.78913921e-01 -2.04061037e-01 9.30746023e-03 2.56363339e+01] [ 2.04051392e-01 9.78958166e-01 1.98450108e-03 2.73950692e+00] [-9.51657355e-03 -4.34555209e-05 9.99954715e-01 -5.22204676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099999999999998 meters 0.015691080160381846 Centerline is valid? [True, True] Translation: X:25.66, Y:2.75, Z:-0.52 [[ 9.78833284e-01 -2.04432507e-01 9.63084395e-03 2.56633541e+01] [ 2.04422168e-01 9.78880661e-01 2.05645545e-03 2.74525463e+00] [-9.84785323e-03 -4.41690390e-05 9.99951508e-01 -5.22059471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13 meters 0.01674666017121361 Centerline is valid? [True, True] Translation: X:25.69, Y:2.75, Z:-0.52 [[ 9.78690892e-01 -2.05107703e-01 9.74510952e-03 2.56895842e+01] [ 2.05097104e-01 9.78739408e-01 2.08554524e-03 2.75121620e+00] [-9.96568412e-03 -4.24103851e-05 9.99950340e-01 -5.23480043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16 meters 0.01669563361871085 Centerline is valid? [True, True] Translation: X:25.72, Y:2.76, Z:-0.52 [[ 9.78559182e-01 -2.05711183e-01 1.02389701e-02 2.57167388e+01] [ 2.05699518e-01 9.78612746e-01 2.19101050e-03 2.75652743e+00] [-1.04707020e-02 -3.78822277e-05 9.99945180e-01 -5.22634451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189999999999998 meters 0.016443210600674 Centerline is valid? [True, True] Translation: X:25.74, Y:2.76, Z:-0.52 [[ 9.78568217e-01 -2.05659313e-01 1.04159234e-02 2.57433737e+01] [ 2.05647187e-01 9.78623648e-01 2.23370000e-03 2.76138285e+00] [-1.06526502e-02 -4.38224835e-05 9.99943258e-01 -5.21875232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22 meters 0.014076917212661737 Centerline is valid? [True, True] Translation: X:25.77, Y:2.77, Z:-0.52 [[ 9.78626522e-01 -2.05329447e-01 1.13995151e-02 2.57709238e+01] [ 2.05314898e-01 9.78692912e-01 2.44489042e-03 2.76688255e+00] [-1.16586327e-02 -5.21443234e-05 9.99932034e-01 -5.19965944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25 meters 0.013971517211593351 Centerline is valid? [True, True] Translation: X:25.80, Y:2.77, Z:-0.52 [[ 9.78585896e-01 -2.05524684e-01 1.13687964e-02 2.57988362e+01] [ 2.05510187e-01 9.78651931e-01 2.44160993e-03 2.77249819e+00] [-1.16279056e-02 -5.29215720e-05 9.99932392e-01 -5.19895944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279999999999998 meters 0.01610502097144942 Centerline is valid? [True, True] Translation: X:25.83, Y:2.78, Z:-0.52 [[ 9.78503908e-01 -2.05964971e-01 1.04179046e-02 2.58264403e+01] [ 2.05952774e-01 9.78559364e-01 2.24195903e-03 2.77830830e+00] [-1.06563031e-02 -4.81693196e-05 9.99943219e-01 -5.22387502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31 meters 0.016384888110715454 Centerline is valid? [True, True] Translation: X:25.86, Y:2.78, Z:-0.52 [[ 9.78202638e-01 -2.07449835e-01 9.17409332e-03 2.58552510e+01] [ 2.07440454e-01 9.78245657e-01 1.97308939e-03 2.78315236e+00] [-9.38383401e-03 -2.70031646e-05 9.99955970e-01 -5.24320045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34 meters 0.015445545119034745 Centerline is valid? [True, True] Translation: X:25.88, Y:2.79, Z:-0.52 [[ 9.77989443e-01 -2.08457111e-01 9.07094405e-03 2.58830694e+01] [ 2.08447966e-01 9.78031509e-01 1.95276330e-03 2.78758675e+00] [-9.27873649e-03 -1.89620607e-05 9.99956951e-01 -5.24512250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369999999999997 meters 0.013889395410310292 Centerline is valid? [True, True] Translation: X:25.91, Y:2.79, Z:-0.52 [[ 9.77693737e-01 -2.09832603e-01 9.23229942e-03 2.59107870e+01] [ 2.09823164e-01 9.77737326e-01 1.99034216e-03 2.79181603e+00] [-9.44440242e-03 -8.79479047e-06 9.99955401e-01 -5.24348131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.4 meters 0.0159046411342873 Centerline is valid? [True, True] Translation: X:25.94, Y:2.80, Z:-0.53 [[ 9.77319156e-01 -2.11595318e-01 8.64224287e-03 2.59387186e+01] [ 2.11587075e-01 9.77357366e-01 1.86763127e-03 2.79596429e+00] [-8.84174176e-03 3.31507621e-06 9.99960911e-01 -5.26946692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43 meters 0.013861489338815468 Centerline is valid? [True, True] Translation: X:25.97, Y:2.80, Z:-0.52 [[ 9.77069239e-01 -2.12718573e-01 9.30106763e-03 2.59665006e+01] [ 2.12709089e-01 9.77113508e-01 2.00873940e-03 2.80008460e+00] [-9.51549500e-03 1.57441460e-05 9.99954727e-01 -5.24339719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459999999999997 meters 0.014204482126883435 Centerline is valid? [True, True] Translation: X:25.99, Y:2.80, Z:-0.53 [[ 9.76852915e-01 -2.13695670e-01 9.61995227e-03 2.59927146e+01] [ 2.13685531e-01 9.76900282e-01 2.08169848e-03 2.80490631e+00] [-9.84258404e-03 2.21313778e-05 9.99951560e-01 -5.25066963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49 meters 0.01284463404251555 Centerline is valid? [True, True] Translation: X:26.02, Y:2.81, Z:-0.52 [[ 9.77230366e-01 -2.11903566e-01 1.08485118e-02 2.60199319e+01] [ 2.11890520e-01 9.77290581e-01 2.35131042e-03 2.81312310e+00] [-1.11003994e-02 9.24857888e-07 9.99938389e-01 -5.24321106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52 meters 0.015404451757425401 Centerline is valid? [True, True] Translation: X:26.05, Y:2.82, Z:-0.53 [[ 9.77330293e-01 -2.11472982e-01 1.02311908e-02 2.60470318e+01] [ 2.11461367e-01 9.77383844e-01 2.21636652e-03 2.82089199e+00] [-1.04685023e-02 -2.62053974e-06 9.99945204e-01 -5.26680560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549999999999997 meters 0.015489193940318037 Centerline is valid? [True, True] Translation: X:26.07, Y:2.83, Z:-0.53 [[ 9.77576029e-01 -2.10325638e-01 1.04034944e-02 2.60738934e+01] [ 2.10313532e-01 9.77631385e-01 2.25672940e-03 2.82852873e+00] [-1.06454307e-02 -1.81289166e-05 9.99943336e-01 -5.26941303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58 meters 0.013817991545657524 Centerline is valid? [True, True] Translation: X:26.10, Y:2.84, Z:-0.53 [[ 9.77979484e-01 -2.08396264e-01 1.12750467e-02 2.61000050e+01] [ 2.08381854e-01 9.78044475e-01 2.45109669e-03 2.83588975e+00] [-1.15382965e-02 -4.76071367e-05 9.99933431e-01 -5.26742654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61 meters 0.014813251421365305 Centerline is valid? [True, True] Translation: X:26.13, Y:2.84, Z:-0.53 [[ 9.78314882e-01 -2.06852858e-01 1.05776260e-02 2.61274585e+01] [ 2.06840074e-01 9.78372062e-01 2.30058218e-03 2.84323101e+00] [-1.08247357e-02 -6.28168508e-05 9.99941409e-01 -5.27937516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64 meters 0.013386428486553246 Centerline is valid? [True, True] Translation: X:26.16, Y:2.85, Z:-0.53 [[ 9.78451366e-01 -2.06196792e-01 1.07613848e-02 2.61550003e+01] [ 2.06183499e-01 9.78510540e-01 2.34251860e-03 2.84967290e+00] [-1.10131483e-02 -7.32205586e-05 9.99939351e-01 -5.28857458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669999999999998 meters 0.012732459336999116 Centerline is valid? [True, True] Translation: X:26.18, Y:2.85, Z:-0.53 [[ 9.78415747e-01 -2.06384768e-01 1.03900589e-02 2.61832085e+01] [ 2.06372398e-01 9.78470911e-01 2.26057973e-03 2.85424351e+00] [-1.06329196e-02 -6.75654236e-05 9.99943467e-01 -5.28095808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.7 meters 0.012766201118942208 Centerline is valid? [True, True] Translation: X:26.21, Y:2.86, Z:-0.53 [[ 9.78257891e-01 -2.07152018e-01 9.97693141e-03 2.62095523e+01] [ 2.07140608e-01 9.78308764e-01 2.17511919e-03 2.85921649e+00] [-1.02110998e-02 -6.11998754e-05 9.99947863e-01 -5.29136358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73 meters 0.012768194003483222 Centerline is valid? [True, True] Translation: X:26.24, Y:2.86, Z:-0.53 [[ 9.77996569e-01 -2.08429164e-01 8.94395574e-03 2.62360230e+01] [ 2.08420047e-01 9.78037464e-01 1.95000359e-03 2.86258431e+00] [-9.15396141e-03 -4.29971478e-05 9.99958101e-01 -5.30594711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759999999999998 meters 0.012681144633122535 Centerline is valid? [True, True] Translation: X:26.26, Y:2.87, Z:-0.53 [[ 9.77834960e-01 -2.09186077e-01 8.94294983e-03 2.62633359e+01] [ 2.09176986e-01 9.77875853e-01 1.95055000e-03 2.86735279e+00] [-9.15312260e-03 -3.66566834e-05 9.99958109e-01 -5.31146188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79 meters 0.012634620433312553 Centerline is valid? [True, True] Translation: X:26.29, Y:2.87, Z:-0.53 [[ 9.77689445e-01 -2.09842943e-01 9.44928420e-03 2.62914033e+01] [ 2.09832796e-01 9.77735106e-01 2.06394037e-03 2.87271319e+00] [-9.67200021e-03 -3.51229942e-05 9.99953224e-01 -5.30424991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82 meters 0.012741331114043165 Centerline is valid? [True, True] Translation: X:26.32, Y:2.88, Z:-0.53 [[ 9.77717540e-01 -2.09703887e-01 9.62768975e-03 2.63179395e+01] [ 2.09693298e-01 9.77764940e-01 2.10771420e-03 2.87907704e+00] [-9.85561335e-03 -4.18871189e-05 9.99951431e-01 -5.31834756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849999999999998 meters 0.013943409795029442 Centerline is valid? [True, True] Translation: X:26.35, Y:2.88, Z:-0.53 [[ 9.77633679e-01 -2.10111426e-01 9.25087412e-03 2.63458751e+01] [ 2.10101675e-01 9.77677446e-01 2.02454147e-03 2.88454436e+00] [-9.46975028e-03 -3.56357832e-05 9.99955160e-01 -5.31828117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88 meters 0.01270461011916415 Centerline is valid? [True, True] Translation: X:26.37, Y:2.89, Z:-0.53 [[ 9.77617972e-01 -2.10144905e-01 1.01103321e-02 2.63735025e+01] [ 2.10133224e-01 9.77670250e-01 2.21611371e-03 2.89022449e+00] [-1.03502759e-02 -4.19959084e-05 9.99946434e-01 -5.30666350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91 meters 0.012718761099998853 Centerline is valid? [True, True] Translation: X:26.40, Y:2.90, Z:-0.53 [[ 9.77531934e-01 -2.10516699e-01 1.06787852e-02 2.64004208e+01] [ 2.10503630e-01 9.77590260e-01 2.34618177e-03 2.89649483e+00] [-1.09333869e-02 -4.55445546e-05 9.99940228e-01 -5.31372466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939999999999998 meters 0.015115713194067733 Centerline is valid? [True, True] Translation: X:26.43, Y:2.90, Z:-0.53 [[ 9.77266511e-01 -2.11758380e-01 1.04189988e-02 2.64277128e+01] [ 2.11746021e-01 9.77322049e-01 2.28805154e-03 2.90283308e+00] [-1.06672314e-02 -2.98546055e-05 9.99943103e-01 -5.33531674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97 meters 0.013539469954018297 Centerline is valid? [True, True] Translation: X:26.46, Y:2.91, Z:-0.53 [[ 9.77195603e-01 -2.12039542e-01 1.13130841e-02 2.64556974e+01] [ 2.12024944e-01 9.77261087e-01 2.48823052e-03 2.90860506e+00] [-1.15834401e-02 -3.28319086e-05 9.99932909e-01 -5.32672087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.0 meters 0.012630471076466013 Centerline is valid? [True, True] Translation: X:26.48, Y:2.91, Z:-0.53 [[ 9.77077269e-01 -2.12559066e-01 1.17751073e-02 2.64834446e+01] [ 2.12543244e-01 9.77148219e-01 2.59359376e-03 2.91461133e+00] [-1.20573169e-02 -3.14220092e-05 9.99927307e-01 -5.32446482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029999999999998 meters 0.012728578792545428 Centerline is valid? [True, True] Translation: X:26.51, Y:2.92, Z:-0.53 [[ 9.76771156e-01 -2.13958130e-01 1.18333145e-02 2.65093470e+01] [ 2.13942194e-01 9.76842832e-01 2.61140755e-03 2.92031662e+00] [-1.21180203e-02 -1.91023011e-05 9.99926574e-01 -5.34812971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06 meters 0.012711704940416022 Centerline is valid? [True, True] Translation: X:26.54, Y:2.93, Z:-0.53 [[ 9.76537218e-01 -2.15006303e-01 1.21388268e-02 2.65365422e+01] [ 2.14989610e-01 9.76612661e-01 2.67915046e-03 2.92542734e+00] [-1.24309662e-02 -6.56848621e-06 9.99922733e-01 -5.34690054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09 meters 0.012666031527924235 Centerline is valid? [True, True] Translation: X:26.56, Y:2.93, Z:-0.54 [[ 9.76302778e-01 -2.16068403e-01 1.21380022e-02 2.65626110e+01] [ 2.16051734e-01 9.76378228e-01 2.68391964e-03 2.93058213e+00] [-1.24311913e-02 2.11821828e-06 9.99922730e-01 -5.35732399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119999999999997 meters 0.013541703664418607 Centerline is valid? [True, True] Translation: X:26.59, Y:2.94, Z:-0.54 [[ 9.75961554e-01 -2.17605010e-01 1.21286320e-02 2.65904140e+01] [ 2.17588482e-01 9.76036915e-01 2.68206926e-03 2.93613482e+00] [-1.24216243e-02 2.14541484e-05 9.99922848e-01 -5.37188132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15 meters 0.015274300789814486 Centerline is valid? [True, True] Translation: X:26.62, Y:2.94, Z:-0.54 [[ 9.75467833e-01 -2.19794827e-01 1.23588525e-02 2.66175577e+01] [ 2.19777777e-01 9.75546120e-01 2.73806074e-03 2.94070023e+00] [-1.26584422e-02 4.53109529e-05 9.99919878e-01 -5.38449712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18 meters 0.012809252808503875 Centerline is valid? [True, True] Translation: X:26.64, Y:2.95, Z:-0.54 [[ 9.75378395e-01 -2.20164112e-01 1.28355450e-02 2.66448792e+01] [ 2.20145745e-01 9.75462845e-01 2.84422366e-03 2.94580565e+00] [-1.31467932e-02 5.14963130e-05 9.99913576e-01 -5.37437648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209999999999997 meters 0.012837109908796494 Centerline is valid? [True, True] Translation: X:26.67, Y:2.95, Z:-0.54 [[ 9.75246689e-01 -2.20760992e-01 1.25888935e-02 2.66724625e+01] [ 2.20743329e-01 9.75327935e-01 2.79311330e-03 2.95193542e+00] [-1.28949100e-02 5.49397569e-05 9.99916856e-01 -5.38404062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24 meters 0.012852288730180872 Centerline is valid? [True, True] Translation: X:26.70, Y:2.96, Z:-0.54 [[ 9.75226492e-01 -2.20854358e-01 1.25156961e-02 2.66992448e+01] [ 2.20836844e-01 9.75306798e-01 2.78180615e-03 2.95809125e+00] [-1.28210175e-02 5.10357819e-05 9.99917806e-01 -5.39567442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27 meters 0.01274184982320774 Centerline is valid? [True, True] Translation: X:26.73, Y:2.96, Z:-0.54 [[ 9.75240123e-01 -2.20807010e-01 1.22868924e-02 2.67261525e+01] [ 2.20790124e-01 9.75317519e-01 2.73118503e-03 2.96465111e+00] [-1.25866862e-02 4.92632662e-05 9.99920783e-01 -5.40153828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299999999999997 meters 0.012776618309755907 Centerline is valid? [True, True] Translation: X:26.75, Y:2.97, Z:-0.54 [[ 9.75276651e-01 -2.20660257e-01 1.20210365e-02 2.67533898e+01] [ 2.20644041e-01 9.75350731e-01 2.67548487e-03 2.97123636e+00] [-1.23150999e-02 4.30321392e-05 9.99924165e-01 -5.41122051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33 meters 0.012982814885369004 Centerline is valid? [True, True] Translation: X:26.78, Y:2.98, Z:-0.54 [[ 9.75438242e-01 -2.19987487e-01 1.12134449e-02 2.67806624e+01] [ 2.19973299e-01 9.75502693e-01 2.49861603e-03 2.97788862e+00] [-1.14884099e-02 2.94128354e-05 9.99934006e-01 -5.42804674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36 meters 0.013080852653385253 Centerline is valid? [True, True] Translation: X:26.81, Y:2.98, Z:-0.54 [[ 9.75535861e-01 -2.19583062e-01 1.06331189e-02 2.68076998e+01] [ 2.19570228e-01 9.75593808e-01 2.37408885e-03 2.98426450e+00] [-1.08949146e-02 1.87075244e-05 9.99940648e-01 -5.44537165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39 meters 0.013104226271803241 Centerline is valid? [True, True] Translation: X:26.83, Y:2.99, Z:-0.55 [[ 9.75622185e-01 -2.19200806e-01 1.05999866e-02 2.68337116e+01] [ 2.19188022e-01 9.75679766e-01 2.36735601e-03 2.99061278e+00] [-1.08611188e-02 1.37450660e-05 9.99941016e-01 -5.45750712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419999999999998 meters 0.012982868870684958 Centerline is valid? [True, True] Translation: X:26.86, Y:3.00, Z:-0.55 [[ 9.75627837e-01 -2.19161923e-01 1.08800277e-02 2.68610814e+01] [ 2.19148454e-01 9.75688501e-01 2.42977425e-03 2.99714816e+00] [-1.11480319e-02 1.37858530e-05 9.99937859e-01 -5.45633960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45 meters 0.012945103177512617 Centerline is valid? [True, True] Translation: X:26.89, Y:3.00, Z:-0.54 [[ 9.75678513e-01 -2.18899064e-01 1.16034050e-02 2.68887187e+01] [ 2.18883682e-01 9.75747508e-01 2.59503386e-03 3.00337540e+00] [-1.18900440e-02 7.87722780e-06 9.99929311e-01 -5.44878960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48 meters 0.012827399799781947 Centerline is valid? [True, True] Translation: X:26.92, Y:3.01, Z:-0.54 [[ 9.75646420e-01 -2.19000856e-01 1.23566778e-02 2.69162537e+01] [ 2.18983369e-01 9.75724667e-01 2.76748288e-03 3.01007119e+00] [-1.26627965e-02 5.82217152e-06 9.99919824e-01 -5.44552203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509999999999998 meters 0.01283396030491547 Centerline is valid? [True, True] Translation: X:26.94, Y:3.02, Z:-0.54 [[ 9.75698440e-01 -2.18725614e-01 1.31019065e-02 2.69428869e+01] [ 2.18705854e-01 9.75786404e-01 2.94004142e-03 3.01667196e+00] [-1.34277245e-02 -3.13019193e-06 9.99909844e-01 -5.44848375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54 meters 0.015413179827626067 Centerline is valid? [True, True] Translation: X:26.97, Y:3.02, Z:-0.55 [[ 9.75858236e-01 -2.17993944e-01 1.33919256e-02 2.69695173e+01] [ 2.17973232e-01 9.75950122e-01 3.00500051e-03 3.02449896e+00] [-1.37249234e-02 -1.33731858e-05 9.99905809e-01 -5.45618653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57 meters 0.012595128806687594 Centerline is valid? [True, True] Translation: X:27.00, Y:3.03, Z:-0.54 [[ 9.75973518e-01 -2.17441845e-01 1.39548239e-02 2.69955279e+01] [ 2.17419221e-01 9.76073278e-01 3.13673657e-03 3.03100101e+00] [-1.43029885e-02 -2.73248743e-05 9.99897707e-01 -5.44829862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599999999999998 meters 0.012645817850007885 Centerline is valid? [True, True] Translation: X:27.02, Y:3.04, Z:-0.55 [[ 9.76006309e-01 -2.17336875e-01 1.32803222e-02 2.70212844e+01] [ 2.17316363e-01 9.76096656e-01 2.98603194e-03 3.03751939e+00] [-1.36118529e-02 -2.83547009e-05 9.99907354e-01 -5.46044898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63 meters 0.012523049358019428 Centerline is valid? [True, True] Translation: X:27.05, Y:3.04, Z:-0.55 [[ 9.75777021e-01 -2.18366478e-01 1.32395608e-02 2.70486937e+01] [ 2.18346152e-01 9.75866836e-01 2.97941739e-03 3.04338983e+00] [-1.35706532e-02 -1.64398828e-05 9.99907914e-01 -5.46716302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66 meters 0.014436283114260828 Centerline is valid? [True, True] Translation: X:27.07, Y:3.05, Z:-0.55 [[ 9.75456555e-01 -2.19790725e-01 1.32870820e-02 2.70747548e+01] [ 2.19770315e-01 9.75547045e-01 2.99520164e-03 3.04848380e+00] [-1.36204911e-02 -1.58288659e-06 9.99907237e-01 -5.48116028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689999999999998 meters 0.012495337624545988 Centerline is valid? [True, True] Translation: X:27.10, Y:3.05, Z:-0.55 [[ 9.75110886e-01 -2.21271586e-01 1.40586681e-02 2.71013745e+01] [ 2.21248862e-01 9.75212226e-01 3.17108885e-03 3.05309159e+00] [-1.44118568e-02 1.83010624e-05 9.99896144e-01 -5.46910203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72 meters 0.014849358506314525 Centerline is valid? [True, True] Translation: X:27.13, Y:3.06, Z:-0.55 [[ 9.74177621e-01 -2.25322528e-01 1.44125128e-02 2.71303343e+01] [ 2.25299072e-01 9.74284226e-01 3.25204642e-03 3.05670201e+00] [-1.47746432e-02 7.90549089e-05 9.99890846e-01 -5.45558485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75 meters 0.015563747634517002 Centerline is valid? [True, True] Translation: X:27.16, Y:3.06, Z:-0.55 [[ 9.73686620e-01 -2.27372573e-01 1.53648491e-02 2.71583620e+01] [ 2.27346107e-01 9.73807835e-01 3.47094088e-03 3.06195047e+00] [-1.57516072e-02 1.13529925e-04 9.99875929e-01 -5.45447945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779999999999998 meters 0.01659459734011307 Centerline is valid? [True, True] Translation: X:27.19, Y:3.07, Z:-0.55 [[ 9.72996644e-01 -2.30330770e-01 1.50089109e-02 2.71866391e+01] [ 2.30305787e-01 9.73112385e-01 3.39580533e-03 3.06521005e+00] [-1.53875155e-02 1.52531835e-04 9.99881594e-01 -5.45544185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81 meters 0.01659459734011307 Centerline is valid? [True, True] Translation: X:27.21, Y:3.07, Z:-0.55 [[ 9.72935297e-01 -2.30589772e-01 1.50088266e-02 2.72135401e+01] [ 2.30564814e-01 9.73051043e-01 3.39617828e-03 3.07139474e+00] [-1.53874784e-02 1.56245604e-04 9.99881594e-01 -5.46112064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84 meters 0.017295135982505306 Centerline is valid? [True, True] Translation: X:27.24, Y:3.08, Z:-0.55 [[ 9.72635493e-01 -2.31876852e-01 1.46056108e-02 2.72414707e+01] [ 2.31853300e-01 9.72745135e-01 3.30905494e-03 3.07738985e+00] [-1.49748301e-02 1.67854775e-04 9.99887857e-01 -5.47194515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869999999999997 meters 0.013967655957550508 Centerline is valid? [True, True] Translation: X:27.27, Y:3.08, Z:-0.55 [[ 9.72569815e-01 -2.32209353e-01 1.36664034e-02 2.72686198e+01] [ 2.32188727e-01 9.72665817e-01 3.09908003e-03 3.08343174e+00] [-1.40124788e-02 1.59113110e-04 9.99901808e-01 -5.46518156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.9 meters 0.014113921052022705 Centerline is valid? [True, True] Translation: X:27.30, Y:3.09, Z:-0.55 [[ 9.72459503e-01 -2.32733782e-01 1.25499845e-02 2.72970531e+01] [ 2.32716388e-01 9.72540469e-01 2.84931967e-03 3.09024019e+00] [-1.28685008e-02 1.49739072e-04 9.99917186e-01 -5.48628783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93 meters 0.016622286869101298 Centerline is valid? [True, True] Translation: X:27.32, Y:3.10, Z:-0.55 [[ 9.72646447e-01 -2.32072402e-01 1.00642449e-02 2.73243362e+01] [ 2.32061165e-01 9.72698508e-01 2.28647491e-03 3.09973958e+00] [-1.03201037e-02 1.11588687e-04 9.99946740e-01 -5.53195392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959999999999997 meters 0.013904923440871464 Centerline is valid? [True, True] Translation: X:27.35, Y:3.11, Z:-0.55 [[ 9.72902460e-01 -2.31040376e-01 9.00825689e-03 2.73512833e+01] [ 2.31031317e-01 9.72944159e-01 2.04789236e-03 3.10740032e+00] [-9.23767675e-03 8.87899423e-05 9.99957328e-01 -5.52921761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99 meters 0.01707115863359016 Centerline is valid? [True, True] Translation: X:27.38, Y:3.12, Z:-0.56 [[ 9.73344793e-01 -2.29215841e-01 7.74674435e-03 2.73780058e+01] [ 2.29209073e-01 9.73375618e-01 1.76250071e-03 3.11679524e+00] [-7.94448516e-03 6.01032001e-05 9.99968440e-01 -5.55905992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02 meters 0.013501550628758498 Centerline is valid? [True, True] Translation: X:27.40, Y:3.12, Z:-0.55 [[ 9.73599442e-01 -2.28137754e-01 7.56912370e-03 2.74042003e+01] [ 2.28131236e-01 9.73628863e-01 1.72524756e-03 3.12365987e+00] [-7.76311141e-03 4.70534820e-05 9.99969865e-01 -5.54354388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049999999999997 meters 0.016125480780916083 Centerline is valid? [True, True] Translation: X:27.43, Y:3.13, Z:-0.56 [[ 9.73624492e-01 -2.28019299e-01 7.90875380e-03 2.74313430e+01] [ 2.28012154e-01 9.73656612e-01 1.80565948e-03 3.13066785e+00] [-8.11213563e-03 4.52576981e-05 9.99967095e-01 -5.56130577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08 meters 0.015633268749903922 Centerline is valid? [True, True] Translation: X:27.46, Y:3.14, Z:-0.56 [[ 9.73620509e-01 -2.28018004e-01 8.41983192e-03 2.74589794e+01] [ 2.28009917e-01 9.73656915e-01 1.92098082e-03 3.13754127e+00] [-8.63604578e-03 4.94988581e-05 9.99962707e-01 -5.56105372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11 meters 0.014874674338148817 Centerline is valid? [True, True] Translation: X:27.49, Y:3.14, Z:-0.56 [[ 9.73487765e-01 -2.28563217e-01 8.96816528e-03 2.74866542e+01] [ 2.28554040e-01 9.73529071e-01 2.04888941e-03 3.14392239e+00] [-9.19907037e-03 5.51416358e-05 9.99957686e-01 -5.55862770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14 meters 0.017323646168799743 Centerline is valid? [True, True] Translation: X:27.51, Y:3.15, Z:-0.56 [[ 9.73266745e-01 -2.29477749e-01 9.58147481e-03 2.75139855e+01] [ 2.29467288e-01 9.73313905e-01 2.19209605e-03 3.14996681e+00] [-9.82881993e-03 6.51408588e-05 9.99951694e-01 -5.57037084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169999999999998 meters 0.016012710351452047 Centerline is valid? [True, True] Translation: X:27.54, Y:3.16, Z:-0.56 [[ 9.73294229e-01 -2.29342858e-01 1.00098626e-02 2.75416665e+01] [ 2.29331403e-01 9.73345699e-01 2.29307606e-03 3.15607485e+00] [-1.02689573e-02 6.37381408e-05 9.99947271e-01 -5.56767030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.2 meters 0.01568032261474619 Centerline is valid? [True, True] Translation: X:27.57, Y:3.16, Z:-0.56 [[ 9.73519217e-01 -2.28396427e-01 9.76766417e-03 2.75677039e+01] [ 2.28385428e-01 9.73568215e-01 2.24191069e-03 3.16208355e+00] [-1.00215318e-02 4.82490265e-05 9.99949782e-01 -5.57338892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23 meters 0.016278681326102024 Centerline is valid? [True, True] Translation: X:27.59, Y:3.17, Z:-0.56 [[ 9.74102089e-01 -2.25931216e-01 8.95579440e-03 2.75943521e+01] [ 2.25921858e-01 9.74143257e-01 2.05648151e-03 3.16825763e+00] [-9.18885010e-03 2.00867757e-05 9.99957781e-01 -5.58462580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.259999999999998 meters 0.016749706005120914 Centerline is valid? [True, True] Translation: X:27.62, Y:3.18, Z:-0.56 [[ 9.74403647e-01 -2.24638040e-01 8.67656272e-03 2.76220630e+01] [ 2.24629212e-01 9.74442277e-01 1.99152822e-03 3.17509439e+00] [-8.90218253e-03 8.45708678e-06 9.99960375e-01 -5.59384144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29 meters 0.012713922599541799 Centerline is valid? [True, True] Translation: X:27.65, Y:3.18, Z:-0.56 [[ 9.74849373e-01 -2.22691933e-01 8.77510910e-03 2.76480107e+01] [ 2.22682792e-01 9.74888867e-01 2.01772652e-03 3.18149676e+00] [-9.00408759e-03 -1.29136367e-05 9.99959462e-01 -5.58518890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32 meters 0.017043428848513415 Centerline is valid? [True, True] Translation: X:27.68, Y:3.19, Z:-0.56 [[ 9.74980932e-01 -2.22119084e-01 8.67727582e-03 2.76752901e+01] [ 2.22110118e-01 9.75019544e-01 1.99588425e-03 3.18880455e+00] [-8.90383750e-03 -1.86383363e-05 9.99960360e-01 -5.61560878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349999999999998 meters 0.013288532898388359 Centerline is valid? [True, True] Translation: X:27.70, Y:3.20, Z:-0.56 [[ 9.75478463e-01 -2.19920501e-01 8.76022890e-03 2.77037554e+01] [ 2.19911248e-01 9.75517797e-01 2.01780566e-03 3.19586488e+00] [-8.98951602e-03 -4.18530932e-05 9.99959593e-01 -5.61367460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38 meters 0.014958325744668575 Centerline is valid? [True, True] Translation: X:27.73, Y:3.20, Z:-0.56 [[ 9.75646935e-01 -2.19179669e-01 8.56339774e-03 2.77317927e+01] [ 2.19170782e-01 9.75684514e-01 1.97434750e-03 3.20325504e+00] [-8.78791139e-03 -4.94195159e-05 9.99961384e-01 -5.62071620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41 meters 0.015874295864991745 Centerline is valid? [True, True] Translation: X:27.76, Y:3.21, Z:-0.56 [[ 9.76063995e-01 -2.17329180e-01 8.19177539e-03 2.77584681e+01] [ 2.17320950e-01 9.76098367e-01 1.89250103e-03 3.21286207e+00] [-8.40727428e-03 -6.69577047e-05 9.99964656e-01 -5.63828158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439999999999998 meters 0.01588840783318614 Centerline is valid? [True, True] Translation: X:27.78, Y:3.22, Z:-0.57 [[ 9.76329582e-01 -2.16158347e-01 7.49107123e-03 2.77848314e+01] [ 2.16151426e-01 9.76358318e-01 1.73116331e-03 3.22114647e+00] [-7.68817510e-03 -7.09802256e-05 9.99970443e-01 -5.65122901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47 meters 0.013887232718041253 Centerline is valid? [True, True] Translation: X:27.81, Y:3.23, Z:-0.56 [[ 9.76439034e-01 -2.15667724e-01 7.36517862e-03 2.78131083e+01] [ 2.15661031e-01 9.76466808e-01 1.70067580e-03 3.22898610e+00] [-7.55863334e-03 -7.22242263e-05 9.99971431e-01 -5.64835465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.5 meters 0.01624766497059658 Centerline is valid? [True, True] Translation: X:27.84, Y:3.24, Z:-0.57 [[ 9.76612945e-01 -2.14879448e-01 7.34705446e-03 2.78410153e+01] [ 2.14872752e-01 9.76640577e-01 1.69821796e-03 3.23808455e+00] [-7.54034364e-03 -7.98198312e-05 9.99971568e-01 -5.65288443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529999999999998 meters 0.01704798309016614 Centerline is valid? [True, True] Translation: X:27.87, Y:3.25, Z:-0.57 [[ 9.76669924e-01 -2.14612850e-01 7.56200129e-03 2.78666860e+01] [ 2.14605720e-01 9.76699195e-01 1.75158319e-03 3.24736621e+00] [-7.76171283e-03 -8.78698933e-05 9.99969874e-01 -5.68304023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56 meters 0.01374837444585832 Centerline is valid? [True, True] Translation: X:27.89, Y:3.25, Z:-0.57 [[ 9.76745137e-01 -2.14257805e-01 7.90758043e-03 2.78940887e+01] [ 2.14250003e-01 9.76777142e-01 1.83079764e-03 3.25341638e+00] [-8.11620650e-03 -9.40235592e-05 9.99967059e-01 -5.67147474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59 meters 0.016970311214270405 Centerline is valid? [True, True] Translation: X:27.92, Y:3.26, Z:-0.57 [[ 9.76566846e-01 -2.15099831e-01 7.01841845e-03 2.79215748e+01] [ 2.15093697e-01 9.76592063e-01 1.62624300e-03 3.25990026e+00] [-7.20393634e-03 -7.85174221e-05 9.99974048e-01 -5.69379851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619999999999997 meters 0.016981189505727353 Centerline is valid? [True, True] Translation: X:27.95, Y:3.27, Z:-0.57 [[ 9.76394666e-01 -2.15893973e-01 6.57639443e-03 2.79478816e+01] [ 2.15888580e-01 9.76416810e-01 1.52758758e-03 3.26699172e+00] [-6.75109903e-03 -7.17599102e-05 9.99977208e-01 -5.72456263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65 meters 0.01662517558885607 Centerline is valid? [True, True] Translation: X:27.98, Y:3.27, Z:-0.57 [[ 9.76063411e-01 -2.17403997e-01 5.97657080e-03 2.79753675e+01] [ 2.17399582e-01 9.76081707e-01 1.38659444e-03 3.27238166e+00] [-6.13507261e-03 -5.41001000e-05 9.99981179e-01 -5.73745480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68 meters 0.012666146065427849 Centerline is valid? [True, True] Translation: X:28.00, Y:3.28, Z:-0.57 [[ 9.75299338e-01 -2.20792187e-01 6.48157554e-03 2.80046930e+01] [ 2.20787052e-01 9.75320875e-01 1.50631044e-03 3.27524231e+00] [-6.65419750e-03 -3.80556193e-05 9.99977860e-01 -5.72000941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709999999999997 meters 0.012619380008896336 Centerline is valid? [True, True] Translation: X:28.03, Y:3.28, Z:-0.57 [[ 9.74778526e-01 -2.23074064e-01 6.69231060e-03 2.80320560e+01] [ 2.23068619e-01 9.74801498e-01 1.55885750e-03 3.27960817e+00] [-6.87141507e-03 -2.66963344e-05 9.99976391e-01 -5.72233442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74 meters 0.012594127520757309 Centerline is valid? [True, True] Translation: X:28.06, Y:3.28, Z:-0.57 [[ 9.73558537e-01 -2.28309105e-01 7.66345175e-03 2.80615529e+01] [ 2.28302127e-01 9.73588698e-01 1.78506889e-03 3.28152128e+00] [-7.86859749e-03 1.17132745e-05 9.99969042e-01 -5.71429562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77 meters 0.015079341429491057 Centerline is valid? [True, True] Translation: X:28.09, Y:3.29, Z:-0.57 [[ 9.72950230e-01 -2.30883566e-01 7.78646525e-03 2.80880427e+01] [ 2.30876422e-01 9.72981386e-01 1.81650488e-03 3.28552569e+00] [-7.99548688e-03 3.03423998e-05 9.99968035e-01 -5.72005388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799999999999997 meters 0.01585545859370397 Centerline is valid? [True, True] Translation: X:28.12, Y:3.29, Z:-0.57 [[ 9.72267254e-01 -2.33725846e-01 8.28346367e-03 2.81157135e+01] [ 2.33717857e-01 9.72302538e-01 1.93324196e-03 3.29027964e+00] [-8.50588136e-03 5.63655243e-05 9.99963823e-01 -5.71990608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83 meters 0.01585300898354492 Centerline is valid? [True, True] Translation: X:28.14, Y:3.30, Z:-0.57 [[ 9.71281907e-01 -2.37720785e-01 1.00142530e-02 2.81441823e+01] [ 2.37709274e-01 9.71333525e-01 2.34171218e-03 3.29508831e+00] [-1.02838533e-02 1.06018141e-04 9.99947114e-01 -5.72149660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86 meters 0.016071507883264932 Centerline is valid? [True, True] Translation: X:28.17, Y:3.30, Z:-0.57 [[ 9.70886802e-01 -2.39294762e-01 1.08090221e-02 2.81719874e+01] [ 2.39281418e-01 9.70946960e-01 2.53046072e-03 3.30105795e+00] [-1.11005132e-02 1.29607223e-04 9.99938379e-01 -5.72521579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89 meters 0.01364917986372112 Centerline is valid? [True, True] Translation: X:28.20, Y:3.31, Z:-0.57 [[ 9.70499667e-01 -2.40779498e-01 1.24751564e-02 2.81988129e+01] [ 2.40761787e-01 9.70579830e-01 2.92504122e-03 3.30774967e+00] [-1.28124252e-02 1.64789421e-04 9.99917904e-01 -5.71795052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919999999999998 meters 0.014166767009828465 Centerline is valid? [True, True] Translation: X:28.23, Y:3.31, Z:-0.57 [[ 9.70222729e-01 -2.41861917e-01 1.30640434e-02 2.82263540e+01] [ 2.41842515e-01 9.70310662e-01 3.06881106e-03 3.31292256e+00] [-1.34184091e-02 1.82010880e-04 9.99909953e-01 -5.72326850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95 meters 0.014149959503711078 Centerline is valid? [True, True] Translation: X:28.25, Y:3.32, Z:-0.57 [[ 9.70003756e-01 -2.42732230e-01 1.31824777e-02 2.82545097e+01] [ 2.42712554e-01 9.70093308e-01 3.09674554e-03 3.31934273e+00] [-1.35399133e-02 1.95698022e-04 9.99908312e-01 -5.72279845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98 meters 0.014373698448325914 Centerline is valid? [True, True] Translation: X:28.28, Y:3.32, Z:-0.57 [[ 9.69930935e-01 -2.43025511e-01 1.31370663e-02 2.82811801e+01] [ 2.43005940e-01 9.70019878e-01 3.09037057e-03 3.32479341e+00] [-1.34942543e-02 1.94939120e-04 9.99908929e-01 -5.73163848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01 meters 0.015999960297347727 Centerline is valid? [True, True] Translation: X:28.31, Y:3.33, Z:-0.57 [[ 9.70072863e-01 -2.42518591e-01 1.19739051e-02 2.83083769e+01] [ 2.42502293e-01 9.70146743e-01 2.81675758e-03 3.33285441e+00] [-1.22995612e-02 1.71239363e-04 9.99924343e-01 -5.74611905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04 meters 0.015832561307198394 Centerline is valid? [True, True] Translation: X:28.34, Y:3.34, Z:-0.57 [[ 9.70309682e-01 -2.41570763e-01 1.19451516e-02 2.83360871e+01] [ 2.41554426e-01 9.70383194e-01 2.81371722e-03 3.34083671e+00] [-1.22710862e-02 1.55227181e-04 9.99924695e-01 -5.74928079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07 meters 0.01368886595191818 Centerline is valid? [True, True] Translation: X:28.36, Y:3.35, Z:-0.57 [[ 9.70562076e-01 -2.40496516e-01 1.30645114e-02 2.83634301e+01] [ 2.40476826e-01 9.70649990e-01 3.08116153e-03 3.34913295e+00] [-1.34220764e-02 1.51253697e-04 9.99909908e-01 -5.74805329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.1 meters 0.015428102535726924 Centerline is valid? [True, True] Translation: X:28.39, Y:3.36, Z:-0.58 [[ 9.70837601e-01 -2.39408964e-01 1.25578762e-02 2.83899086e+01] [ 2.39390645e-01 9.70918808e-01 2.96443004e-03 3.35869107e+00] [-1.29023893e-02 1.28257923e-04 9.99916752e-01 -5.75868552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129999999999995 meters 0.013981981561085701 Centerline is valid? [True, True] Translation: X:28.42, Y:3.37, Z:-0.58 [[ 9.70908820e-01 -2.39073831e-01 1.34077117e-02 2.84171237e+01] [ 2.39052840e-01 9.71001384e-01 3.17056648e-03 3.36536771e+00] [-1.37769061e-02 1.26820609e-04 9.99905086e-01 -5.76703135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16 meters 0.013337278028337788 Centerline is valid? [True, True] Translation: X:28.44, Y:3.37, Z:-0.58 [[ 9.70774481e-01 -2.39599160e-01 1.37531610e-02 2.84443128e+01] [ 2.39577111e-01 9.70871888e-01 3.25330339e-03 3.37205272e+00] [-1.41320462e-02 1.36718684e-04 9.99900128e-01 -5.77330576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19 meters 0.01569914320022794 Centerline is valid? [True, True] Translation: X:28.47, Y:3.38, Z:-0.58 [[ 9.70524630e-01 -2.40669311e-01 1.26580520e-02 2.84719373e+01] [ 2.40650680e-01 9.70607163e-01 2.99768075e-03 3.37892563e+00] [-1.30074457e-02 1.36845817e-04 9.99915390e-01 -5.77720069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22 meters 0.013793809188843775 Centerline is valid? [True, True] Translation: X:28.50, Y:3.38, Z:-0.58 [[ 9.69724485e-01 -2.43713817e-01 1.54272223e-02 2.84998239e+01] [ 2.43686433e-01 9.69847169e-01 3.65945499e-03 3.38293023e+00] [-1.58539076e-02 2.10741651e-04 9.99874297e-01 -5.76939393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25 meters 0.014356005268004264 Centerline is valid? [True, True] Translation: X:28.53, Y:3.39, Z:-0.58 [[ 9.69334605e-01 -2.45250242e-01 1.55801757e-02 2.85279330e+01] [ 2.45222499e-01 9.69459779e-01 3.69646790e-03 3.38866334e+00] [-1.60109133e-02 2.37495351e-04 9.99871789e-01 -5.77230741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28 meters 0.015125522781377354 Centerline is valid? [True, True] Translation: X:28.56, Y:3.39, Z:-0.58 [[ 9.69016920e-01 -2.46517596e-01 1.53389613e-02 2.85566950e+01] [ 2.46490803e-01 9.69138283e-01 3.64309523e-03 3.39478633e+00] [-1.57636617e-02 2.50691956e-04 9.99875714e-01 -5.77583412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31 meters 0.014868241951644157 Centerline is valid? [True, True] Translation: X:28.58, Y:3.40, Z:-0.58 [[ 9.68794015e-01 -2.47384921e-01 1.54550214e-02 2.85837414e+01] [ 2.47357755e-01 9.68917247e-01 3.67547087e-03 3.40005318e+00] [-1.58838929e-02 2.62145216e-04 9.99873809e-01 -5.77922225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339999999999996 meters 0.014489311971402526 Centerline is valid? [True, True] Translation: X:28.61, Y:3.41, Z:-0.58 [[ 9.68525359e-01 -2.48415085e-01 1.57662212e-02 2.86120912e+01] [ 2.48386938e-01 9.68653635e-01 3.75024952e-03 3.40720630e+00] [-1.62036260e-02 2.83911632e-04 9.99868672e-01 -5.78393195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37 meters 0.016836827689185697 Centerline is valid? [True, True] Translation: X:28.64, Y:3.41, Z:-0.58 [[ 9.68500388e-01 -2.48599331e-01 1.43307465e-02 2.86394353e+01] [ 2.48576034e-01 9.68606374e-01 3.41297770e-03 3.41288343e+00] [-1.47293164e-02 2.56809914e-04 9.99891485e-01 -5.79725488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.4 meters 0.015460715446644452 Centerline is valid? [True, True] Translation: X:28.67, Y:3.42, Z:-0.58 [[ 9.68456146e-01 -2.48758536e-01 1.45562207e-02 2.86668227e+01] [ 2.48734515e-01 9.68565497e-01 3.46693241e-03 3.41981398e+00] [-1.49610822e-02 2.63062500e-04 9.99888042e-01 -5.80133947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43 meters 0.014568370004364424 Centerline is valid? [True, True] Translation: X:28.69, Y:3.43, Z:-0.58 [[ 9.68587099e-01 -2.48210763e-01 1.51805272e-02 2.86944028e+01] [ 2.48184481e-01 9.68706018e-01 3.62129659e-03 3.42575617e+00] [-1.56043129e-02 2.60030115e-04 9.99878211e-01 -5.80606757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46 meters 0.016504251171578298 Centerline is valid? [True, True] Translation: X:28.72, Y:3.43, Z:-0.58 [[ 9.68640171e-01 -2.48103150e-01 1.34553442e-02 2.87212449e+01] [ 2.48082496e-01 9.68733593e-01 3.20946813e-03 3.43241746e+00] [-1.38309231e-02 2.29215616e-04 9.99904322e-01 -5.81785984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49 meters 0.014436283467711706 Centerline is valid? [True, True] Translation: X:28.75, Y:3.44, Z:-0.58 [[ 9.68675942e-01 -2.47909094e-01 1.44222420e-02 2.87493018e+01] [ 2.47885273e-01 9.68783270e-01 3.44488212e-03 3.43897702e+00] [-1.48260443e-02 2.38086950e-04 9.99890060e-01 -5.82433573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519999999999996 meters 0.014329932099179184 Centerline is valid? [True, True] Translation: X:28.78, Y:3.45, Z:-0.58 [[ 9.68749602e-01 -2.47615392e-01 1.45198726e-02 2.87769959e+01] [ 2.47591162e-01 9.68858382e-01 3.47169889e-03 3.44551984e+00] [-1.49273463e-02 2.31785200e-04 9.99888554e-01 -5.83287885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55 meters 0.014287907515780447 Centerline is valid? [True, True] Translation: X:28.80, Y:3.45, Z:-0.58 [[ 9.69163266e-01 -2.46033806e-01 1.37815021e-02 2.88048396e+01] [ 2.46011763e-01 9.69261228e-01 3.29898105e-03 3.45402886e+00] [-1.41695365e-02 1.93160375e-04 9.99899588e-01 -5.84575930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58 meters 0.015110318184489165 Centerline is valid? [True, True] Translation: X:28.83, Y:3.46, Z:-0.59 [[ 9.69489487e-01 -2.44776295e-01 1.32173989e-02 2.88332186e+01] [ 2.44755848e-01 9.69579568e-01 3.16798635e-03 3.46165512e+00] [-1.35907679e-02 1.63706213e-04 9.99907628e-01 -5.85870596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61 meters 0.012989694386927812 Centerline is valid? [True, True] Translation: X:28.86, Y:3.47, Z:-0.59 [[ 9.69889135e-01 -2.43124503e-01 1.43367021e-02 2.88611194e+01] [ 2.43100242e-01 9.69995079e-01 3.43786842e-03 3.46934754e+00] [-1.47423605e-02 1.50904529e-04 9.99891314e-01 -5.86278852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64 meters 0.013804219643090898 Centerline is valid? [True, True] Translation: X:28.89, Y:3.48, Z:-0.59 [[ 9.70341682e-01 -2.41348908e-01 1.37012855e-02 2.88884006e+01] [ 2.41326511e-01 9.70438402e-01 3.28989968e-03 3.47658187e+00] [-1.40902673e-02 1.14156632e-04 9.99900721e-01 -5.86946843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67 meters 0.013440030198715126 Centerline is valid? [True, True] Translation: X:28.92, Y:3.48, Z:-0.59 [[ 9.71048833e-01 -2.38544247e-01 1.26809632e-02 2.89158421e+01] [ 2.38524826e-01 9.71131627e-01 3.04469022e-03 3.48497248e+00] [-1.30411778e-02 6.81816604e-05 9.99914958e-01 -5.88194606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699999999999996 meters 0.013440030198715126 Centerline is valid? [True, True] Translation: X:28.94, Y:3.49, Z:-0.59 [[ 9.70981544e-01 -2.38818030e-01 1.26802731e-02 2.89426664e+01] [ 2.38798594e-01 9.71064336e-01 3.04756106e-03 3.49149649e+00] [-1.30411735e-02 6.89058461e-05 9.99914958e-01 -5.88761080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73 meters 0.016419228793364212 Centerline is valid? [True, True] Translation: X:28.97, Y:3.50, Z:-0.59 [[ 9.71165280e-01 -2.38123670e-01 1.16239917e-02 2.89693484e+01] [ 2.38107232e-01 9.71234840e-01 2.79839592e-03 3.49847247e+00] [-1.19559900e-02 5.00515318e-05 9.99928523e-01 -5.90617462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76 meters 0.01429979684020093 Centerline is valid? [True, True] Translation: X:29.00, Y:3.50, Z:-0.59 [[ 9.71328912e-01 -2.37414870e-01 1.24227304e-02 2.89965762e+01] [ 2.37396020e-01 9.71408348e-01 2.99196881e-03 3.50498834e+00] [-1.27778819e-02 4.29209437e-05 9.99918359e-01 -5.91263786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79 meters 0.01222764461036637 Centerline is valid? [True, True] Translation: X:29.02, Y:3.51, Z:-0.59 [[ 9.71378020e-01 -2.37146197e-01 1.36536804e-02 2.90245835e+01] [ 2.37123394e-01 9.71473973e-01 3.28885962e-03 3.51145538e+00] [-1.40441357e-02 4.28810841e-05 9.99901375e-01 -5.91174754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82 meters 0.01206736259864707 Centerline is valid? [True, True] Translation: X:29.05, Y:3.52, Z:-0.59 [[ 9.71446568e-01 -2.36789487e-01 1.49098643e-02 2.90515839e+01] [ 2.36762176e-01 9.71560980e-01 3.59644466e-03 3.51674532e+00] [-1.53374426e-02 3.63380895e-05 9.99882374e-01 -5.90689120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85 meters 0.013178898541541374 Centerline is valid? [True, True] Translation: X:29.08, Y:3.52, Z:-0.59 [[ 9.71308605e-01 -2.37356731e-01 1.48787140e-02 2.90786987e+01] [ 2.37329597e-01 9.71422555e-01 3.58918181e-03 3.52300116e+00] [-1.53054349e-02 4.49560221e-05 9.99882864e-01 -5.90767352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879999999999995 meters 0.013511811360779035 Centerline is valid? [True, True] Translation: X:29.11, Y:3.53, Z:-0.59 [[ 9.71138295e-01 -2.38049458e-01 1.49287637e-02 2.91064864e+01] [ 2.38022155e-01 9.71253032e-01 3.60566488e-03 3.52932746e+00] [-1.53579336e-02 5.17772784e-05 9.99882059e-01 -5.91443284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91 meters 0.014585440712628886 Centerline is valid? [True, True] Translation: X:29.13, Y:3.53, Z:-0.59 [[ 9.70880247e-01 -2.39064336e-01 1.54851304e-02 2.91328951e+01] [ 2.39035000e-01 9.71003728e-01 3.74559472e-03 3.53459892e+00] [-1.59315575e-02 6.49642281e-05 9.99873083e-01 -5.92559861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94 meters 0.012025309995798712 Centerline is valid? [True, True] Translation: X:29.16, Y:3.54, Z:-0.59 [[ 9.70816798e-01 -2.39267547e-01 1.63029377e-02 2.91587897e+01] [ 2.39235022e-01 9.70953673e-01 3.94563382e-03 3.54065353e+00] [-1.67734594e-02 6.97460863e-05 9.99859313e-01 -5.92566997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97 meters 0.012012979259962284 Centerline is valid? [True, True] Translation: X:29.19, Y:3.55, Z:-0.59 [[ 9.70618782e-01 -2.40075570e-01 1.62141954e-02 2.91856792e+01] [ 2.40043488e-01 9.70754199e-01 3.92555259e-03 3.54701125e+00] [-1.66824276e-02 8.18969417e-05 9.99860835e-01 -5.93265253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.0 meters 0.012042742952143392 Centerline is valid? [True, True] Translation: X:29.21, Y:3.55, Z:-0.59 [[ 9.70441909e-01 -2.40821645e-01 1.57301052e-02 2.92133149e+01] [ 2.40791477e-01 9.70569383e-01 3.81276081e-03 3.55324301e+00] [-1.61853538e-02 8.76123843e-05 9.99869005e-01 -5.93876285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03 meters 0.012480346247974894 Centerline is valid? [True, True] Translation: X:29.24, Y:3.56, Z:-0.60 [[ 9.69930865e-01 -2.42951069e-01 1.44532174e-02 2.92408430e+01] [ 2.42925761e-01 9.70038539e-01 3.50825938e-03 3.55807439e+00] [-1.48725132e-02 1.08289777e-04 9.99889392e-01 -5.96152828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06 meters 0.013408834164734477 Centerline is valid? [True, True] Translation: X:29.27, Y:3.56, Z:-0.60 [[ 9.69547749e-01 -2.44508688e-01 1.38803663e-02 2.92692477e+01] [ 2.44485503e-01 9.69647093e-01 3.36944903e-03 3.56419014e+00] [-1.42829164e-02 1.26706630e-04 9.99897986e-01 -5.97780657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089999999999996 meters 0.014856072577197732 Centerline is valid? [True, True] Translation: X:29.30, Y:3.57, Z:-0.60 [[ 9.69089751e-01 -2.46342376e-01 1.34345814e-02 2.92965230e+01] [ 2.46320773e-01 9.69182858e-01 3.26552588e-03 3.56956684e+00] [-1.38250034e-02 1.44628805e-04 9.99904420e-01 -5.99576412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12 meters 0.01609722461860253 Centerline is valid? [True, True] Translation: X:29.33, Y:3.57, Z:-0.60 [[ 9.68090007e-01 -2.50225521e-01 1.37450964e-02 2.93253377e+01] [ 2.50203296e-01 9.68187558e-01 3.34119420e-03 3.57499059e+00] [-1.41438833e-02 2.04491702e-04 9.99899949e-01 -5.99613653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15 meters 0.014839921516281511 Centerline is valid? [True, True] Translation: X:29.35, Y:3.58, Z:-0.60 [[ 9.67732390e-01 -2.51517661e-01 1.52606690e-02 2.93528501e+01] [ 2.51490341e-01 9.67852679e-01 3.71495350e-03 3.58056058e+00] [-1.57044558e-02 2.42830029e-04 9.99876648e-01 -5.99580073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18 meters 0.015125989861887292 Centerline is valid? [True, True] Translation: X:29.38, Y:3.59, Z:-0.60 [[ 9.67282874e-01 -2.53190230e-01 1.60794678e-02 2.93809392e+01] [ 2.53160116e-01 9.67416470e-01 3.91519096e-03 3.58755137e+00] [-1.65468301e-02 2.83582768e-04 9.99863052e-01 -5.99162783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21 meters 0.014094007250353577 Centerline is valid? [True, True] Translation: X:29.41, Y:3.59, Z:-0.60 [[ 9.66911236e-01 -2.54520237e-01 1.73813187e-02 2.94086636e+01] [ 2.54485169e-01 9.67067393e-01 4.23746614e-03 3.59367740e+00] [-1.78874275e-02 3.26034207e-04 9.99839954e-01 -5.98816126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24 meters 0.016620288654610165 Centerline is valid? [True, True] Translation: X:29.44, Y:3.60, Z:-0.60 [[ 9.66066696e-01 -2.57719595e-01 1.71973534e-02 2.94368319e+01] [ 2.57685736e-01 9.66219678e-01 4.19464198e-03 3.59941928e+00] [-1.76974627e-02 3.79208754e-04 9.99843316e-01 -5.99418544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269999999999996 meters 0.01499703042087751 Centerline is valid? [True, True] Translation: X:29.46, Y:3.61, Z:-0.60 [[ 9.65630176e-01 -2.59310164e-01 1.77933316e-02 2.94646374e+01] [ 2.59274100e-01 9.65794007e-01 4.34478611e-03 3.60628430e+00] [-1.83113402e-02 4.17893460e-04 9.99832246e-01 -6.00153953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.3 meters 0.017157943515563816 Centerline is valid? [True, True] Translation: X:29.49, Y:3.61, Z:-0.60 [[ 9.65299216e-01 -2.60552069e-01 1.76080224e-02 2.94922502e+01] [ 2.60516870e-01 9.65459700e-01 4.30439096e-03 3.61273336e+00] [-1.81213540e-02 4.32161665e-04 9.99835701e-01 -6.01144104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33 meters 0.015685575582558193 Centerline is valid? [True, True] Translation: X:29.52, Y:3.62, Z:-0.60 [[ 9.65200213e-01 -2.60914328e-01 1.76709548e-02 2.95196127e+01] [ 2.60878890e-01 9.65361861e-01 4.32235333e-03 3.61926124e+00] [-1.81866297e-02 4.38042717e-04 9.99834514e-01 -6.02331224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36 meters 0.015021609825044703 Centerline is valid? [True, True] Translation: X:29.55, Y:3.63, Z:-0.60 [[ 9.65182656e-01 -2.60975945e-01 1.77199268e-02 2.95461172e+01] [ 2.60940301e-01 9.65345204e-01 4.33548454e-03 3.62768332e+00] [-1.82373036e-02 4.39308551e-04 9.99833590e-01 -6.03133383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39 meters 0.015577468491215935 Centerline is valid? [True, True] Translation: X:29.57, Y:3.63, Z:-0.60 [[ 9.65355489e-01 -2.60351506e-01 1.74892194e-02 2.95728188e+01] [ 2.60316579e-01 9.65513811e-01 4.28470148e-03 3.63395709e+00] [-1.80016113e-02 4.16473661e-04 9.99837871e-01 -6.03811507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42 meters 0.016269864422899804 Centerline is valid? [True, True] Translation: X:29.60, Y:3.64, Z:-0.61 [[ 9.65966734e-01 -2.58057839e-01 1.77319393e-02 2.95991720e+01] [ 2.58021501e-01 9.66129396e-01 4.34682894e-03 3.64339689e+00] [-1.82530811e-02 3.76329428e-04 9.99833328e-01 -6.05175323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449999999999996 meters 0.015228525632103024 Centerline is valid? [True, True] Translation: X:29.63, Y:3.65, Z:-0.61 [[ 9.66377025e-01 -2.56495179e-01 1.80463111e-02 2.96268289e+01] [ 2.56457239e-01 9.66545446e-01 4.42550623e-03 3.65378006e+00] [-1.85777008e-02 3.51399578e-04 9.99827358e-01 -6.05505911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48 meters 0.01613445461795697 Centerline is valid? [True, True] Translation: X:29.65, Y:3.66, Z:-0.61 [[ 9.66717640e-01 -2.55176739e-01 1.84888173e-02 2.96545416e+01] [ 2.55136627e-01 9.66894370e-01 4.53649376e-03 3.66246962e+00] [-1.90343410e-02 3.31665924e-04 9.99818776e-01 -6.06159382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51 meters 0.013486274335199331 Centerline is valid? [True, True] Translation: X:29.68, Y:3.67, Z:-0.61 [[ 9.67585352e-01 -2.51864045e-01 1.85226864e-02 2.96809825e+01] [ 2.51823080e-01 9.67762592e-01 4.54996878e-03 3.67162047e+00] [-1.90715366e-02 2.61956809e-04 9.99818087e-01 -6.06719231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54 meters 0.015519769395492952 Centerline is valid? [True, True] Translation: X:29.71, Y:3.68, Z:-0.61 [[ 9.67840025e-01 -2.50887810e-01 1.84659828e-02 2.97087713e+01] [ 2.50846890e-01 9.68016141e-01 4.53750921e-03 3.67978913e+00] [-1.90137752e-02 2.40551334e-04 9.99819193e-01 -6.08526081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57 meters 0.013163213006155191 Centerline is valid? [True, True] Translation: X:29.74, Y:3.69, Z:-0.61 [[ 9.68181018e-01 -2.49560576e-01 1.85751442e-02 2.97361267e+01] [ 2.49518833e-01 9.68359166e-01 4.56918892e-03 3.68818848e+00] [-1.91277005e-02 2.11046317e-04 9.99817027e-01 -6.09463995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.6 meters 0.013003948359304147 Centerline is valid? [True, True] Translation: X:29.76, Y:3.70, Z:-0.61 [[ 9.68526928e-01 -2.48256588e-01 1.80071087e-02 2.97636292e+01] [ 2.48217050e-01 9.68694294e-01 4.43400800e-03 3.69638869e+00] [-1.85441551e-02 1.75215241e-04 9.99828027e-01 -6.10681954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629999999999995 meters 0.014383743526357075 Centerline is valid? [True, True] Translation: X:29.79, Y:3.71, Z:-0.61 [[ 9.69197308e-01 -2.45635612e-01 1.78808655e-02 2.97908065e+01] [ 2.45596094e-01 9.69362230e-01 4.40758444e-03 3.70523618e+00] [-1.84156954e-02 1.19651754e-04 9.99830410e-01 -6.12533026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66 meters 0.016049617628971138 Centerline is valid? [True, True] Translation: X:29.82, Y:3.71, Z:-0.61 [[ 9.69571118e-01 -2.44136482e-01 1.81445582e-02 2.98180991e+01] [ 2.44095438e-01 9.69740878e-01 4.47734924e-03 3.71301313e+00] [-1.86886041e-02 8.78953732e-05 9.99825349e-01 -6.13522429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69 meters 0.013392690324284976 Centerline is valid? [True, True] Translation: X:29.85, Y:3.72, Z:-0.61 [[ 9.70132058e-01 -2.41880179e-01 1.83784869e-02 2.98454544e+01] [ 2.41837559e-01 9.70306126e-01 4.54065388e-03 3.72077212e+00] [-1.89310526e-02 3.95745158e-05 9.99820791e-01 -6.13409282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72 meters 0.014566115466513898 Centerline is valid? [True, True] Translation: X:29.87, Y:3.73, Z:-0.61 [[ 9.71260594e-01 -2.37285212e-01 1.86704709e-02 2.98726377e+01] [ 2.37240268e-01 9.71440026e-01 4.61844838e-03 3.72927073e+00] [-1.92331323e-02 -5.63293824e-05 9.99815025e-01 -6.13793536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75 meters 0.016128390016116254 Centerline is valid? [True, True] Translation: X:29.90, Y:3.74, Z:-0.61 [[ 9.71747952e-01 -2.35211911e-01 1.95262320e-02 2.98997076e+01] [ 2.35162207e-01 9.71944106e-01 4.83644404e-03 3.73711637e+00] [-2.01159954e-02 -1.07972777e-04 9.99797647e-01 -6.14541496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78 meters 0.016675144656122097 Centerline is valid? [True, True] Translation: X:29.93, Y:3.74, Z:-0.62 [[ 9.72269009e-01 -2.33018553e-01 1.98828517e-02 2.99259986e+01] [ 2.32966519e-01 9.72472277e-01 4.92667582e-03 3.74473232e+00] [-2.04835290e-02 -1.58015463e-04 9.99790178e-01 -6.15040255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81 meters 0.013520422964627408 Centerline is valid? [True, True] Translation: X:29.95, Y:3.75, Z:-0.61 [[ 9.72768969e-01 -2.30800501e-01 2.12523348e-02 2.99544624e+01] [ 2.30740462e-01 9.73001069e-01 5.26871254e-03 3.75177411e+00] [-2.18945659e-02 -2.21466518e-04 9.99760261e-01 -6.13837993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839999999999996 meters 0.01549817992854576 Centerline is valid? [True, True] Translation: X:29.98, Y:3.76, Z:-0.61 [[ 9.73383125e-01 -2.28037509e-01 2.28951163e-02 2.99814433e+01] [ 2.27966924e-01 9.73652298e-01 5.68190785e-03 3.76046650e+00] [-2.35875707e-02 -3.11343995e-04 9.99721726e-01 -6.13229825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87 meters 0.01445177189033795 Centerline is valid? [True, True] Translation: X:30.01, Y:3.77, Z:-0.61 [[ 9.73641809e-01 -2.26889983e-01 2.32929806e-02 3.00090240e+01] [ 2.26816529e-01 9.73920333e-01 5.78340103e-03 3.76783792e+00] [-2.39977032e-02 -3.47728031e-04 9.99711953e-01 -6.13814349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.9 meters 0.014565366099340964 Centerline is valid? [True, True] Translation: X:30.04, Y:3.78, Z:-0.61 [[ 9.73715240e-01 -2.26576775e-01 2.32722255e-02 3.00367511e+01] [ 2.26503217e-01 9.73993242e-01 5.78428598e-03 3.77536184e+00] [-2.39775752e-02 -3.61013472e-04 9.99712431e-01 -6.14787903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93 meters 0.016087880063948765 Centerline is valid? [True, True] Translation: X:30.06, Y:3.78, Z:-0.62 [[ 9.74016366e-01 -2.25311854e-01 2.29496750e-02 3.00640631e+01] [ 2.25239842e-01 9.74286618e-01 5.70952707e-03 3.78291764e+00] [-2.36459854e-02 -3.91991639e-04 9.99720318e-01 -6.16980255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96 meters 0.016876596399170687 Centerline is valid? [True, True] Translation: X:30.09, Y:3.79, Z:-0.62 [[ 9.74095498e-01 -2.25063407e-01 2.20096174e-02 3.00910664e+01] [ 2.24997066e-01 9.74344044e-01 5.47762133e-03 3.79149111e+00] [-2.26777517e-02 -3.83626937e-04 9.99742753e-01 -6.19123483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99 meters 0.015134904777564972 Centerline is valid? [True, True] Translation: X:30.12, Y:3.80, Z:-0.62 [[ 9.74324033e-01 -2.24226313e-01 2.03774093e-02 3.01192865e+01] [ 2.24169228e-01 9.74537029e-01 5.07320841e-03 3.79841234e+00] [-2.09960867e-02 -3.74960783e-04 9.99779488e-01 -6.20675483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019999999999996 meters 0.01795362272936856 Centerline is valid? [True, True] Translation: X:30.15, Y:3.81, Z:-0.62 [[ 9.74200506e-01 -2.24780713e-01 2.01743610e-02 3.01460208e+01] [ 2.24724770e-01 9.74409307e-01 5.02789171e-03 3.80556381e+00] [-2.07882582e-02 -3.64496027e-04 9.99783834e-01 -6.24042747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05 meters 0.018999891877547442 Centerline is valid? [True, True] Translation: X:30.17, Y:3.81, Z:-0.63 [[ 9.74163941e-01 -2.25012949e-01 1.93336386e-02 3.01721593e+01] [ 2.24961505e-01 9.74355710e-01 4.82403254e-03 3.81408850e+00] [-1.99233110e-02 -3.50074118e-04 9.99801450e-01 -6.25844827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08 meters 0.018941219319250285 Centerline is valid? [True, True] Translation: X:30.20, Y:3.82, Z:-0.63 [[ 9.73806610e-01 -2.26580335e-01 1.90272884e-02 3.02011512e+01] [ 2.26530762e-01 9.73992429e-01 4.74991650e-03 3.81947864e+00] [-1.96086725e-02 -3.15233953e-04 9.99807682e-01 -6.26857843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11 meters 0.01790001888284792 Centerline is valid? [True, True] Translation: X:30.23, Y:3.82, Z:-0.63 [[ 9.73576846e-01 -2.27516369e-01 1.96068014e-02 3.02301893e+01] [ 2.27463822e-01 9.73774207e-01 4.89939185e-03 3.82473309e+00] [-2.02072893e-02 -3.10096495e-04 9.99795764e-01 -6.26364307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14 meters 0.01772819501711954 Centerline is valid? [True, True] Translation: X:30.26, Y:3.83, Z:-0.63 [[ 9.73257501e-01 -2.28847969e-01 1.99610354e-02 3.02570462e+01] [ 2.28793683e-01 9.73462132e-01 4.99288742e-03 3.83126696e+00] [-2.05739242e-02 -2.92406331e-04 9.99788292e-01 -6.26237040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17 meters 0.015848099170400066 Centerline is valid? [True, True] Translation: X:30.29, Y:3.84, Z:-0.63 [[ 9.72924291e-01 -2.30242626e-01 2.01657384e-02 3.02851323e+01] [ 2.30187480e-01 9.73133219e-01 5.04602091e-03 3.83689276e+00] [-2.07857591e-02 -2.67495793e-04 9.99783917e-01 -6.25660282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199999999999996 meters 0.013868857766837779 Centerline is valid? [True, True] Translation: X:30.31, Y:3.84, Z:-0.62 [[ 9.72446505e-01 -2.32203488e-01 2.07203882e-02 3.03135555e+01] [ 2.32145597e-01 9.72667201e-01 5.19017091e-03 3.84184589e+00] [-2.13592178e-02 -2.37016677e-04 9.99771838e-01 -6.24479661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23 meters 0.013558333187482764 Centerline is valid? [True, True] Translation: X:30.34, Y:3.85, Z:-0.63 [[ 9.71994192e-01 -2.34060855e-01 2.10429725e-02 3.03421314e+01] [ 2.34001460e-01 9.72221926e-01 5.27657797e-03 3.84767834e+00] [-2.16934796e-02 -2.04716850e-04 9.99764648e-01 -6.25441148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26 meters 0.01583703107190584 Centerline is valid? [True, True] Translation: X:30.37, Y:3.85, Z:-0.63 [[ 9.71355505e-01 -2.36665338e-01 2.14009613e-02 3.03693980e+01] [ 2.36604414e-01 9.71591218e-01 5.37191295e-03 3.85383151e+00] [-2.20643316e-02 -1.54475324e-04 9.99756541e-01 -6.27484970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29 meters 0.014287288447336854 Centerline is valid? [True, True] Translation: X:30.40, Y:3.86, Z:-0.63 [[ 9.70076974e-01 -2.41899154e-01 2.08677472e-02 3.03987379e+01] [ 2.41842393e-01 9.70301395e-01 5.24014195e-03 3.85605269e+00] [-2.15155901e-02 -3.66351286e-05 9.99768512e-01 -6.28096612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32 meters 0.015778517965908657 Centerline is valid? [True, True] Translation: X:30.43, Y:3.86, Z:-0.63 [[ 9.69188141e-01 -2.45435655e-01 2.08731248e-02 3.04257529e+01] [ 2.45379569e-01 9.69412883e-01 5.24681981e-03 3.85998644e+00] [-2.15224328e-02 3.66828436e-05 9.99768365e-01 -6.29609132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35 meters 0.01586204870983081 Centerline is valid? [True, True] Translation: X:30.45, Y:3.86, Z:-0.63 [[ 9.68318577e-01 -2.48830917e-01 2.10311083e-02 3.04540288e+01] [ 2.48774686e-01 9.68546934e-01 5.29083953e-03 3.86484460e+00] [-2.16861399e-02 1.08789141e-04 9.99764822e-01 -6.30096489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379999999999995 meters 0.014193148970086507 Centerline is valid? [True, True] Translation: X:30.48, Y:3.87, Z:-0.63 [[ 9.67753802e-01 -2.51018729e-01 2.10279972e-02 3.04820159e+01] [ 2.50962910e-01 9.67982218e-01 5.29558922e-03 3.87083743e+00] [-2.16840194e-02 1.52420764e-04 9.99764862e-01 -6.29001859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41 meters 0.017063229406207157 Centerline is valid? [True, True] Translation: X:30.51, Y:3.88, Z:-0.63 [[ 9.66970045e-01 -2.53937071e-01 2.20203602e-02 3.05105491e+01] [ 2.53876477e-01 9.67220717e-01 5.55156380e-03 3.87751483e+00] [-2.27082964e-02 2.22255558e-04 9.99742109e-01 -6.30340547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44 meters 0.017780327063447607 Centerline is valid? [True, True] Translation: X:30.54, Y:3.88, Z:-0.63 [[ 9.65917103e-01 -2.57969903e-01 2.13466523e-02 3.05375711e+01] [ 2.57913828e-01 9.66152906e-01 5.38693412e-03 3.88329836e+00] [-2.20137970e-02 3.02265020e-04 9.99757621e-01 -6.31238138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47 meters 0.01826518635416591 Centerline is valid? [True, True] Translation: X:30.56, Y:3.89, Z:-0.63 [[ 9.65382550e-01 -2.59980330e-01 2.11366932e-02 3.05646196e+01] [ 2.59925792e-01 9.65613852e-01 5.33589527e-03 3.88892783e+00] [-2.17971115e-02 3.42791545e-04 9.99762356e-01 -6.31763352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.5 meters 0.016139252116760233 Centerline is valid? [True, True] Translation: X:30.59, Y:3.90, Z:-0.63 [[ 9.65098251e-01 -2.61164662e-01 1.94521512e-02 3.05932270e+01] [ 2.61118681e-01 9.65294206e-01 4.91219485e-03 3.89505027e+00] [-2.00599406e-02 3.38569401e-04 9.99798722e-01 -6.30827170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53 meters 0.016296460351536736 Centerline is valid? [True, True] Translation: X:30.62, Y:3.90, Z:-0.63 [[ 9.63891268e-01 -2.65661011e-01 1.83807090e-02 3.06209201e+01] [ 2.65620689e-01 9.64066421e-01 4.64604465e-03 3.90294887e+00] [-1.89544973e-02 4.04014723e-04 9.99820266e-01 -6.31764922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56 meters 0.018871783139791022 Centerline is valid? [True, True] Translation: X:30.65, Y:3.91, Z:-0.63 [[ 9.63152119e-01 -2.68309822e-01 1.86503265e-02 3.06479949e+01] [ 2.68268701e-01 9.63332565e-01 4.71950900e-03 3.90874696e+00] [-1.92327575e-02 4.57693764e-04 9.99814929e-01 -6.33863189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589999999999996 meters 0.018677982517360473 Centerline is valid? [True, True] Translation: X:30.68, Y:3.92, Z:-0.63 [[ 9.62748511e-01 -2.69748299e-01 1.87392508e-02 3.06763439e+01] [ 2.69707027e-01 9.62930744e-01 4.74359101e-03 3.91609697e+00] [-1.93241763e-02 4.87222439e-04 9.99813152e-01 -6.33907028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62 meters 0.018677982517360473 Centerline is valid? [True, True] Translation: X:30.70, Y:3.92, Z:-0.63 [[ 9.62672449e-01 -2.70019702e-01 1.87380905e-02 3.07030967e+01] [ 2.69978392e-01 9.62854674e-01 4.74816987e-03 3.92294585e+00] [-1.93241574e-02 4.87947224e-04 9.99813152e-01 -6.34473659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65 meters 0.018070191968545927 Centerline is valid? [True, True] Translation: X:30.73, Y:3.93, Z:-0.63 [[ 9.62396522e-01 -2.71012995e-01 1.85712449e-02 3.07307389e+01] [ 2.70972496e-01 9.62575560e-01 4.71146136e-03 3.93024449e+00] [-1.91530937e-02 4.98002558e-04 9.99816439e-01 -6.33869848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68 meters 0.018051576947452224 Centerline is valid? [True, True] Translation: X:30.76, Y:3.94, Z:-0.63 [[ 9.62025583e-01 -2.72288368e-01 1.91264712e-02 3.07587020e+01] [ 2.72245561e-01 9.62215547e-01 4.85751560e-03 3.93780393e+00] [-1.97264330e-02 5.34042603e-04 9.99805272e-01 -6.32580109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71 meters 0.01987835591959021 Centerline is valid? [True, True] Translation: X:30.79, Y:3.95, Z:-0.63 [[ 9.61682176e-01 -2.73451666e-01 1.97883367e-02 3.07865812e+01] [ 2.73405980e-01 9.61885575e-01 5.03097584e-03 3.94530710e+00] [-2.04098443e-02 5.72049781e-04 9.99791534e-01 -6.34055084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74 meters 0.018042461069576042 Centerline is valid? [True, True] Translation: X:30.81, Y:3.95, Z:-0.63 [[ 9.61754529e-01 -2.73260198e-01 1.88968384e-02 3.08147130e+01] [ 2.73218408e-01 9.61940006e-01 4.80901844e-03 3.95323674e+00] [-1.94917382e-02 5.37868842e-04 9.99809873e-01 -6.32885950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769999999999996 meters 0.01849640260991629 Centerline is valid? [True, True] Translation: X:30.84, Y:3.96, Z:-0.63 [[ 9.61852135e-01 -2.72917329e-01 1.88839052e-02 3.08422925e+01] [ 2.72875430e-01 9.62037346e-01 4.81089109e-03 3.95942275e+00] [-1.94799975e-02 5.25587876e-04 9.99810109e-01 -6.33231219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.8 meters 0.01831390396282457 Centerline is valid? [True, True] Translation: X:30.87, Y:3.97, Z:-0.63 [[ 9.61954389e-01 -2.72570417e-01 1.86848123e-02 3.08704017e+01] [ 2.72529302e-01 9.62135701e-01 4.76168199e-03 3.96750401e+00] [-1.92752186e-02 5.11637964e-04 9.99814085e-01 -6.33378463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83 meters 0.019143507705878107 Centerline is valid? [True, True] Translation: X:30.90, Y:3.98, Z:-0.64 [[ 9.61994543e-01 -2.72455508e-01 1.82892115e-02 3.08976513e+01] [ 2.72416008e-01 9.62168256e-01 4.66545286e-03 3.97537934e+00] [-1.88684271e-02 4.94133794e-04 9.99821853e-01 -6.35004357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86 meters 0.02079972062864343 Centerline is valid? [True, True] Translation: X:30.92, Y:3.98, Z:-0.64 [[ 9.62722401e-01 -2.69962019e-01 1.69140922e-02 3.09236381e+01] [ 2.69927760e-01 9.62870886e-01 4.31985892e-03 3.98447998e+00] [-1.74522848e-02 4.06758079e-04 9.99847615e-01 -6.37839379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89 meters 0.01905906368844916 Centerline is valid? [True, True] Translation: X:30.95, Y:3.99, Z:-0.64 [[ 9.63281420e-01 -2.68009073e-01 1.61258133e-02 3.09517179e+01] [ 2.67977646e-01 9.63416323e-01 4.11937222e-03 3.99335485e+00] [-1.66399009e-02 3.53242765e-04 9.99861485e-01 -6.37678975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92 meters 0.018463167440220512 Centerline is valid? [True, True] Translation: X:30.98, Y:4.00, Z:-0.64 [[ 9.63794126e-01 -2.66212540e-01 1.52238504e-02 3.09794959e+01] [ 2.66184254e-01 9.63914308e-01 3.89226411e-03 4.00327997e+00] [-1.57106567e-02 3.01007971e-04 9.99876535e-01 -6.38412724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949999999999996 meters 0.01768528669980448 Centerline is valid? [True, True] Translation: X:31.01, Y:4.01, Z:-0.64 [[ 9.64925434e-01 -2.62161499e-01 1.37932933e-02 3.10069905e+01] [ 2.62137826e-01 9.65023992e-01 3.52926541e-03 4.01357045e+00] [-1.42360965e-02 2.10265963e-04 9.99898640e-01 -6.38221471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98 meters 0.0181073548732672 Centerline is valid? [True, True] Translation: X:31.03, Y:4.02, Z:-0.64 [[ 9.65413144e-01 -2.60398027e-01 1.30509854e-02 3.10347582e+01] [ 2.60376630e-01 9.65501340e-01 3.34244622e-03 4.02271771e+00] [-1.34711103e-02 1.71330086e-04 9.99909246e-01 -6.38376107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01 meters 0.018165565836112788 Centerline is valid? [True, True] Translation: X:31.06, Y:4.03, Z:-0.64 [[ 9.65911533e-01 -2.58547046e-01 1.29744362e-02 3.10613331e+01] [ 2.58525670e-01 9.65998657e-01 3.32751102e-03 4.03058823e+00] [-1.33936061e-02 1.40143555e-04 9.99910292e-01 -6.39363948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04 meters 0.017718074950455055 Centerline is valid? [True, True] Translation: X:31.09, Y:4.04, Z:-0.64 [[ 9.66305845e-01 -2.57079330e-01 1.27762217e-02 3.10893136e+01] [ 2.57058475e-01 9.66390296e-01 3.27665217e-03 4.03954358e+00] [-1.31891762e-02 1.17987916e-04 9.99913012e-01 -6.39939810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07 meters 0.016965009548130735 Centerline is valid? [True, True] Translation: X:31.12, Y:4.05, Z:-0.64 [[ 9.66619682e-01 -2.55895082e-01 1.28100662e-02 3.11173201e+01] [ 2.55873967e-01 9.66704555e-01 3.28872170e-03 4.04816104e+00] [-1.32251171e-02 9.88193300e-05 9.99912539e-01 -6.40159156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.1 meters 0.017970474623708512 Centerline is valid? [True, True] Translation: X:31.14, Y:4.06, Z:-0.64 [[ 9.66843054e-01 -2.55022080e-01 1.33509310e-02 3.11437386e+01] [ 2.54998994e-01 9.66935226e-01 3.43244643e-03 4.05620860e+00] [-1.37848352e-02 8.58369875e-05 9.99904981e-01 -6.41176160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129999999999995 meters 0.01839690840167529 Centerline is valid? [True, True] Translation: X:31.17, Y:4.07, Z:-0.64 [[ 9.67343212e-01 -2.53131651e-01 1.30949760e-02 3.11705243e+01] [ 2.53109257e-01 9.67431839e-01 3.36751802e-03 4.06518034e+00] [-1.35209222e-02 5.69139528e-05 9.99908587e-01 -6.41624806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16 meters 0.01636793232422906 Centerline is valid? [True, True] Translation: X:31.20, Y:4.07, Z:-0.64 [[ 9.67686987e-01 -2.51815897e-01 1.30632759e-02 3.11978250e+01] [ 2.51793481e-01 9.67775156e-01 3.36011387e-03 4.07283597e+00] [-1.34884439e-02 3.77092425e-05 9.99909026e-01 -6.40656421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19 meters 0.018062888387643986 Centerline is valid? [True, True] Translation: X:31.23, Y:4.08, Z:-0.64 [[ 9.67968249e-01 -2.50799647e-01 1.17049500e-02 3.12259748e+01] [ 2.50781537e-01 9.68039016e-01 3.01388405e-03 4.08083237e+00] [-1.20867294e-02 1.80412967e-05 9.99926953e-01 -6.41956050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22 meters 0.015100202301880701 Centerline is valid? [True, True] Translation: X:31.25, Y:4.09, Z:-0.64 [[ 9.68891906e-01 -2.47276141e-01 1.01481874e-02 3.12526409e+01] [ 2.47262297e-01 9.68945050e-01 2.61660361e-03 4.08961247e+00] [-1.04800595e-02 -2.59419384e-05 9.99945082e-01 -6.42083727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25 meters 0.01773406681966041 Centerline is valid? [True, True] Translation: X:31.28, Y:4.10, Z:-0.65 [[ 9.69294344e-01 -2.45780451e-01 7.77465355e-03 3.12805136e+01] [ 2.45772292e-01 9.69325523e-01 2.00290151e-03 4.09818202e+00] [-8.02844415e-03 -3.06066808e-05 9.99967771e-01 -6.45044932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28 meters 0.015444802793128584 Centerline is valid? [True, True] Translation: X:31.31, Y:4.11, Z:-0.64 [[ 9.69851928e-01 -2.43573082e-01 7.70658517e-03 3.13086897e+01] [ 2.43564981e-01 9.69882545e-01 1.98724803e-03 4.10661118e+00] [-7.95852256e-03 -5.02820689e-05 9.99968329e-01 -6.44471090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309999999999995 meters 0.01646628514371692 Centerline is valid? [True, True] Translation: X:31.34, Y:4.11, Z:-0.65 [[ 9.70285888e-01 -2.41883177e-01 6.15005479e-03 3.13362949e+01] [ 2.41877981e-01 9.70305378e-01 1.58640347e-03 4.11477617e+00] [-6.35115554e-03 -5.17020693e-05 9.99979830e-01 -6.46492399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339999999999996 meters 0.01871601065354163 Centerline is valid? [True, True] Translation: X:31.36, Y:4.12, Z:-0.65 [[ 9.71035788e-01 -2.38903596e-01 3.81705926e-03 3.13632479e+01] [ 2.38901564e-01 9.71043289e-01 9.86341126e-04 4.12315095e+00] [-3.94217022e-03 -4.58711045e-05 9.99992229e-01 -6.49476950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37 meters 0.017047108732472976 Centerline is valid? [True, True] Translation: X:31.39, Y:4.13, Z:-0.65 [[ 9.71297622e-01 -2.37831771e-01 4.12047989e-03 3.13919315e+01] [ 2.37829403e-01 9.71306361e-01 1.06266688e-03 4.12959407e+00] [-4.25498427e-03 -5.21945450e-05 9.99990946e-01 -6.48220575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.4 meters 0.01861137595794811 Centerline is valid? [True, True] Translation: X:31.42, Y:4.14, Z:-0.65 [[ 9.71501163e-01 -2.37015578e-01 3.01773968e-03 3.14187998e+01] [ 2.37014297e-01 9.71505849e-01 7.80484190e-04 4.13690210e+00] [-3.11673866e-03 -4.29938500e-05 9.99995142e-01 -6.50106916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43 meters 0.02041776708145221 Centerline is valid? [True, True] Translation: X:31.45, Y:4.14, Z:-0.65 [[ 9.71615478e-01 -2.36556712e-01 2.07004235e-03 3.14473695e+01] [ 2.36556115e-01 9.71617683e-01 5.32255595e-04 4.14346997e+00] [-2.13719838e-03 -2.74665997e-05 9.99997716e-01 -6.51045869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46 meters 0.019591666171278634 Centerline is valid? [True, True] Translation: X:31.48, Y:4.15, Z:-0.65 [[ 9.71718272e-01 -2.36133406e-01 2.14825512e-03 3.14754086e+01] [ 2.36132760e-01 9.71720646e-01 5.53060260e-04 4.14935686e+00] [-2.21809986e-03 -3.01453490e-05 9.99997540e-01 -6.50176557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49 meters 0.019479894460192354 Centerline is valid? [True, True] Translation: X:31.50, Y:4.15, Z:-0.65 [[ 9.72047092e-01 -2.34779415e-01 1.75408460e-03 3.15042469e+01] [ 2.34778984e-01 9.72048674e-01 4.50905713e-04 4.15305456e+00] [-1.81091899e-03 -2.64793876e-05 9.99998360e-01 -6.47241802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519999999999996 meters 0.018924879514952385 Centerline is valid? [True, True] Translation: X:31.53, Y:4.16, Z:-0.65 [[ 9.72224452e-01 -2.34039947e-01 2.21782679e-03 3.15325149e+01] [ 2.34039251e-01 9.72226981e-01 5.72042171e-04 4.15943294e+00] [-2.29011176e-03 -3.70948664e-05 9.99997377e-01 -6.46883037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55 meters 0.019882901745965003 Centerline is valid? [True, True] Translation: X:31.56, Y:4.17, Z:-0.65 [[ 9.72480050e-01 -2.32982832e-01 1.24587167e-03 3.15607525e+01] [ 2.32982614e-01 9.72480848e-01 3.19296379e-04 4.16560443e+00] [-1.28597692e-03 -2.02429184e-05 9.99999173e-01 -6.46255815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58 meters 0.01670039854718084 Centerline is valid? [True, True] Translation: X:31.59, Y:4.17, Z:-0.64 [[ 9.73042394e-01 -2.30615662e-01 2.21730012e-03 3.15895031e+01] [ 2.30614955e-01 9.73044919e-01 5.72812815e-04 4.17123261e+00] [-2.28963222e-03 -4.60285860e-05 9.99997378e-01 -6.44042454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61 meters 0.02126032248058304 Centerline is valid? [True, True] Translation: X:31.62, Y:4.18, Z:-0.65 [[ 9.73051389e-01 -2.30588341e-01 1.07507092e-04 3.16159726e+01] [ 2.30588340e-01 9.73051395e-01 2.61443477e-05 4.17861389e+00] [-1.10638507e-04 -6.49912071e-07 9.99999994e-01 -6.47426095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64 meters 0.01994480746400528 Centerline is valid? [True, True] Translation: X:31.64, Y:4.18, Z:-0.65 [[ 9.72810949e-01 -2.31600545e-01 2.11928694e-04 3.16439937e+01] [ 2.31600540e-01 9.72810972e-01 5.00181970e-05 4.18415622e+00] [-2.17750801e-04 4.24550280e-07 9.99999976e-01 -6.47132963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67 meters 0.020067038222529577 Centerline is valid? [True, True] Translation: X:31.67, Y:4.19, Z:-0.65 [[ 9.72589901e-01 -2.32527159e-01 6.66606850e-05 3.16715064e+01] [ 2.32527159e-01 9.72589903e-01 1.45922531e-05 4.19087284e+00] [-6.82266044e-05 1.30814169e-06 9.99999998e-01 -6.48298438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699999999999996 meters 0.01900328799198916 Centerline is valid? [True, True] Translation: X:31.70, Y:4.19, Z:-0.65 [[ 9.72029914e-01 -2.34857045e-01 -1.22618428e-04 3.17002035e+01] [ 2.34857042e-01 9.72029922e-01 -3.72789693e-05 4.19393463e+00] [ 1.27944010e-04 7.43847192e-06 9.99999992e-01 -6.46401543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73 meters 0.016414289802807038 Centerline is valid? [True, True] Translation: X:31.73, Y:4.20, Z:-0.64 [[ 9.71879336e-01 -2.35477067e-01 1.05210271e-03 3.17284931e+01] [ 2.35476912e-01 9.71879905e-01 2.70236613e-04 4.19998912e+00] [-1.08615201e-03 -1.48914812e-05 9.99999410e-01 -6.44976037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76 meters 0.01642907635535723 Centerline is valid? [True, True] Translation: X:31.75, Y:4.21, Z:-0.65 [[ 9.71683201e-01 -2.36287129e-01 3.87950819e-04 3.17546468e+01] [ 2.36287109e-01 9.71683278e-01 9.76045798e-05 4.20631287e+00] [-4.00028029e-04 -3.17295326e-06 9.99999920e-01 -6.45656525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79 meters 0.017907960241827992 Centerline is valid? [True, True] Translation: X:31.78, Y:4.21, Z:-0.65 [[ 9.71396271e-01 -2.37459211e-01 -1.55168526e-03 3.17824762e+01] [ 2.37458856e-01 9.71397510e-01 -4.12179057e-04 4.21248331e+00] [ 1.60517891e-03 3.19277939e-05 9.99998711e-01 -6.47326106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82 meters 0.018379290633255597 Centerline is valid? [True, True] Translation: X:31.81, Y:4.22, Z:-0.65 [[ 9.70963092e-01 -2.39208980e-01 -3.12041891e-03 3.18105227e+01] [ 2.39207565e-01 9.70968105e-01 -8.24495386e-04 4.21832404e+00] [ 3.22705394e-03 5.41267801e-05 9.99994792e-01 -6.48580036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85 meters 0.017684112186877196 Centerline is valid? [True, True] Translation: X:31.84, Y:4.23, Z:-0.65 [[ 9.70763719e-01 -2.40019621e-01 -2.89561259e-03 3.18379846e+01] [ 2.40018411e-01 9.70768036e-01 -7.63391036e-04 4.22517219e+00] [ 2.99419697e-03 4.60719877e-05 9.99995516e-01 -6.48822685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879999999999995 meters 0.01526079330773048 Centerline is valid? [True, True] Translation: X:31.87, Y:4.23, Z:-0.65 [[ 9.70526175e-01 -2.40987456e-01 -1.99743476e-03 3.18661154e+01] [ 2.40986874e-01 9.70528230e-01 -5.30404860e-04 4.23131208e+00] [ 2.06638774e-03 3.34162410e-05 9.99997864e-01 -6.47228761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91 meters 0.017438575133906373 Centerline is valid? [True, True] Translation: X:31.89, Y:4.24, Z:-0.65 [[ 9.69440670e-01 -2.45313966e-01 -2.41771065e-03 3.18947344e+01] [ 2.45313129e-01 9.69443684e-01 -6.41585334e-04 4.23581930e+00] [ 2.50122416e-03 2.88827519e-05 9.99996872e-01 -6.46475034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94 meters 0.015976756735685157 Centerline is valid? [True, True] Translation: X:31.92, Y:4.24, Z:-0.65 [[ 9.68835244e-01 -2.47699410e-01 -1.80881655e-03 3.19231018e+01] [ 2.47698942e-01 9.68836933e-01 -4.81916014e-04 4.24173891e+00] [ 1.87181859e-03 1.88552748e-05 9.99998248e-01 -6.45124400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97 meters 0.016881643347423998 Centerline is valid? [True, True] Translation: X:31.95, Y:4.25, Z:-0.65 [[ 9.68102165e-01 -2.50551102e-01 -1.53113910e-03 3.19501825e+01] [ 2.50550772e-01 9.68103375e-01 -4.06447916e-04 4.24831313e+00] [ 1.58413690e-03 9.85502278e-06 9.99998745e-01 -6.48331252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.0 meters 0.016048811413788455 Centerline is valid? [True, True] Translation: X:31.98, Y:4.25, Z:-0.65 [[ 9.67329058e-01 -2.53520592e-01 -1.34282239e-03 3.19785682e+01] [ 2.53520338e-01 9.67329990e-01 -3.59341601e-04 4.25419019e+00] [ 1.39005286e-03 7.16878692e-06 9.99999034e-01 -6.49052147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03 meters 0.015059322056916258 Centerline is valid? [True, True] Translation: X:32.01, Y:4.26, Z:-0.65 [[ 9.65555609e-01 -2.60195261e-01 -8.89865181e-04 3.20063439e+01] [ 2.60195149e-01 9.65556019e-01 -2.41025504e-04 4.25748337e+00] [ 9.21928376e-04 1.18492324e-06 9.99999575e-01 -6.47618550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059999999999995 meters 0.015954210486508174 Centerline is valid? [True, True] Translation: X:32.03, Y:4.26, Z:-0.65 [[ 9.64514003e-01 -2.64028678e-01 -1.26301230e-03 3.20335700e+01] [ 2.64028465e-01 9.64514830e-01 -3.35597862e-04 4.26186897e+00] [ 1.30680155e-03 -9.78236243e-06 9.99999146e-01 -6.48782152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089999999999996 meters 0.015197342678071686 Centerline is valid? [True, True] Translation: X:32.06, Y:4.27, Z:-0.65 [[ 9.63481799e-01 -2.67773702e-01 -2.61623986e-04 3.20628046e+01] [ 2.67773691e-01 9.63481834e-01 -7.43138169e-05 4.26621133e+00] [ 2.71969244e-04 1.54398950e-06 9.99999963e-01 -6.48416873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12 meters 0.017649150044564757 Centerline is valid? [True, True] Translation: X:32.09, Y:4.27, Z:-0.65 [[ 9.62348130e-01 -2.71816991e-01 -1.26476274e-03 3.20908917e+01] [ 2.71816779e-01 9.62348961e-01 -3.40094856e-04 4.27249007e+00] [ 1.30958667e-03 -1.64940861e-05 9.99999142e-01 -6.48670138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15 meters 0.016330385933091458 Centerline is valid? [True, True] Translation: X:32.12, Y:4.28, Z:-0.65 [[ 9.60895217e-01 -2.76909094e-01 1.31750496e-03 3.21196023e+01] [ 2.76908883e-01 9.60896119e-01 3.43932787e-04 4.27865862e+00] [-1.36122352e-03 3.43454559e-05 9.99999073e-01 -6.47676166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18 meters 0.020526883143297127 Centerline is valid? [True, True] Translation: X:32.15, Y:4.28, Z:-0.65 [[ 9.60155745e-01 -2.79465464e-01 -9.62992164e-06 3.21480781e+01] [ 2.79465464e-01 9.60155745e-01 -3.66595049e-06 4.28306771e+00] [ 1.02707311e-05 8.28652899e-07 1.00000000e+00 -6.51650909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21 meters 0.01756375253879489 Centerline is valid? [True, True] Translation: X:32.18, Y:4.29, Z:-0.65 [[ 9.59635481e-01 -2.81243248e-01 1.40701217e-03 3.21756326e+01] [ 2.81243010e-01 9.59636511e-01 3.68161747e-04 4.29208929e+00] [-1.45376326e-03 4.24112629e-05 9.99998942e-01 -6.49196192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24 meters 0.01821412168485039 Centerline is valid? [True, True] Translation: X:32.20, Y:4.30, Z:-0.65 [[ 9.59038049e-01 -2.83274618e-01 1.22936098e-03 3.22032245e+01] [ 2.83274439e-01 9.59038836e-01 3.21290995e-04 4.29984007e+00] [-1.27001851e-03 4.01162523e-05 9.99999193e-01 -6.49989721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269999999999996 meters 0.01946710866034283 Centerline is valid? [True, True] Translation: X:32.23, Y:4.31, Z:-0.65 [[ 9.58401832e-01 -2.85418599e-01 1.46712608e-03 3.22303698e+01] [ 2.85418339e-01 9.58402954e-01 3.87969630e-04 4.30543935e+00] [-1.51683172e-03 4.69138859e-05 9.99998849e-01 -6.52580016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.3 meters 0.02208994862652982 Centerline is valid? [True, True] Translation: X:32.26, Y:4.31, Z:-0.66 [[ 9.58051810e-01 -2.86594983e-01 2.13906425e-04 3.22573752e+01] [ 2.86594978e-01 9.58051833e-01 5.50580503e-05 4.31181373e+00] [-2.20712804e-04 8.55604239e-06 9.99999976e-01 -6.55436802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33 meters 0.020529307546146708 Centerline is valid? [True, True] Translation: X:32.29, Y:4.32, Z:-0.66 [[ 9.58019128e-01 -2.86701712e-01 1.21614446e-03 3.22850579e+01] [ 2.86701538e-01 9.58019899e-01 3.18554528e-04 4.32041778e+00] [-1.25642072e-03 4.34891563e-05 9.99999210e-01 -6.55795339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36 meters 0.020547854191799483 Centerline is valid? [True, True] Translation: X:32.31, Y:4.33, Z:-0.66 [[ 9.57846361e-01 -2.87280803e-01 2.98893151e-04 3.23120935e+01] [ 2.87280793e-01 9.57846407e-01 7.44363559e-05 4.33129852e+00] [-3.07677867e-04 1.45676691e-05 9.99999953e-01 -6.56113447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39 meters 0.020930914746028734 Centerline is valid? [True, True] Translation: X:32.34, Y:4.34, Z:-0.66 [[ 9.57945129e-01 -2.86950939e-01 5.37136583e-04 3.23386403e+01] [ 2.86950905e-01 9.57945279e-01 1.40389559e-04 4.33954770e+00] [-5.54832370e-04 1.96463342e-05 9.99999846e-01 -6.57874517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42 meters 0.019910379621788567 Centerline is valid? [True, True] Translation: X:32.37, Y:4.35, Z:-0.66 [[ 9.58310295e-01 -2.85720918e-01 2.22149149e-03 3.23660494e+01] [ 2.85720316e-01 9.58312868e-01 5.90612096e-04 4.34943997e+00] [-2.29763411e-03 6.87355984e-05 9.99997358e-01 -6.57731326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449999999999996 meters 0.020610589177197942 Centerline is valid? [True, True] Translation: X:32.39, Y:4.36, Z:-0.66 [[ 9.58500075e-01 -2.85079839e-01 2.66309613e-03 3.23925361e+01] [ 2.85078971e-01 9.58503771e-01 7.08199072e-04 4.35770078e+00] [-2.75448096e-03 8.03838406e-05 9.99996203e-01 -6.57821249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48 meters 0.0194769437626455 Centerline is valid? [True, True] Translation: X:32.42, Y:4.37, Z:-0.66 [[ 9.58975599e-01 -2.83466396e-01 3.55007257e-03 3.24198719e+01] [ 2.83464848e-01 9.58982164e-01 9.42339973e-04 4.36676356e+00] [-3.67157800e-03 1.02639744e-04 9.99993254e-01 -6.58060691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51 meters 0.0194769437626455 Centerline is valid? [True, True] Translation: X:32.45, Y:4.37, Z:-0.66 [[ 9.58899063e-01 -2.83725193e-01 3.54999658e-03 3.24465334e+01] [ 2.83723646e-01 9.58905628e-01 9.42627127e-04 4.37396452e+00] [-3.67155877e-03 1.03333705e-04 9.99993254e-01 -6.58627415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54 meters 0.018493505254431917 Centerline is valid? [True, True] Translation: X:32.47, Y:4.39, Z:-0.66 [[ 9.59320623e-01 -2.82286076e-01 4.30268487e-03 3.24738209e+01] [ 2.82283776e-01 9.59330265e-01 1.14541471e-03 4.38512838e+00] [-4.45103044e-03 1.15758176e-04 9.99990087e-01 -6.58253176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57 meters 0.019529101857881502 Centerline is valid? [True, True] Translation: X:32.50, Y:4.40, Z:-0.66 [[ 9.60594032e-01 -2.77902090e-01 5.43452943e-03 3.25005369e+01] [ 2.77898317e-01 9.60609398e-01 1.45261791e-03 4.39771114e+00] [-5.62414559e-03 1.14870488e-04 9.99984178e-01 -6.58696099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.6 meters 0.016100653314230173 Centerline is valid? [True, True] Translation: X:32.53, Y:4.41, Z:-0.66 [[ 9.61599757e-01 -2.74331751e-01 8.24607784e-03 3.25280698e+01] [ 2.74322934e-01 9.61635102e-01 2.20407920e-03 4.40835582e+00] [-8.53436681e-03 1.42646245e-04 9.99963571e-01 -6.59401053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629999999999995 meters 0.01508438051374744 Centerline is valid? [True, True] Translation: X:32.56, Y:4.42, Z:-0.66 [[ 9.62396023e-01 -2.71507156e-01 8.81810548e-03 3.25552621e+01] [ 2.71496946e-01 9.62436413e-01 2.35795412e-03 4.42040504e+00] [-9.12706723e-03 1.24803038e-04 9.99958340e-01 -6.59625684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66 meters 0.014218981471627371 Centerline is valid? [True, True] Translation: X:32.58, Y:4.43, Z:-0.66 [[ 9.64219231e-01 -2.64905813e-01 1.03045763e-02 3.25802111e+01] [ 2.64891468e-01 9.64274289e-01 2.75768872e-03 4.43400841e+00] [-1.06669658e-02 7.05778538e-05 9.99943104e-01 -6.62009335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69 meters 0.01763371993868789 Centerline is valid? [True, True] Translation: X:32.61, Y:4.44, Z:-0.66 [[ 9.64907334e-01 -2.62445972e-01 8.71479727e-03 3.26061720e+01] [ 2.62435626e-01 9.64946688e-01 2.33060812e-03 4.44448923e+00] [-9.02097348e-03 3.82524069e-05 9.99959309e-01 -6.62851518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72 meters 0.016479712672885786 Centerline is valid? [True, True] Translation: X:32.63, Y:4.45, Z:-0.66 [[ 9.65650687e-01 -2.59665249e-01 9.62858505e-03 3.26329941e+01] [ 2.59652445e-01 9.65698689e-01 2.57862222e-03 4.45438731e+00] [-9.96789054e-03 1.00373379e-05 9.99950319e-01 -6.62961537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75 meters 0.017309026843823 Centerline is valid? [True, True] Translation: X:32.66, Y:4.46, Z:-0.66 [[ 9.66325353e-01 -2.57147641e-01 9.50803036e-03 3.26596751e+01] [ 2.57134994e-01 9.66372128e-01 2.55039002e-03 4.46399427e+00] [-9.84412232e-03 -1.96592075e-05 9.99951545e-01 -6.63901347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78 meters 0.016560276821706688 Centerline is valid? [True, True] Translation: X:32.69, Y:4.48, Z:-0.66 [[ 9.67495530e-01 -2.52667797e-01 1.05538508e-02 3.26868584e+01] [ 2.52651953e-01 9.67553089e-01 2.83047213e-03 4.47557172e+00] [-1.09265801e-02 -7.20181205e-05 9.99940301e-01 -6.64148857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809999999999995 meters 0.018192096231691192 Centerline is valid? [True, True] Translation: X:32.71, Y:4.49, Z:-0.67 [[ 9.68023834e-01 -2.50629698e-01 1.07056944e-02 3.27130039e+01] [ 2.50613221e-01 9.68083026e-01 2.87559441e-03 4.48531046e+00] [-1.10847104e-02 -1.00655372e-04 9.99938558e-01 -6.65445225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839999999999996 meters 0.018534128024955562 Centerline is valid? [True, True] Translation: X:32.74, Y:4.49, Z:-0.67 [[ 9.68577598e-01 -2.48493797e-01 1.04052713e-02 3.27408024e+01] [ 2.48478116e-01 9.68633480e-01 2.79420513e-03 4.49420131e+00] [-1.07732367e-02 -1.20922295e-04 9.99941960e-01 -6.66119042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87 meters 0.018583255537898268 Centerline is valid? [True, True] Translation: X:32.77, Y:4.50, Z:-0.67 [[ 9.69449618e-01 -2.45084663e-01 1.00472279e-02 3.27662661e+01] [ 2.45069824e-01 9.69501668e-01 2.70147983e-03 4.50487997e+00] [-1.04028955e-02 -1.56676206e-04 9.99945876e-01 -6.68805169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.9 meters 0.01965684768618133 Centerline is valid? [True, True] Translation: X:32.79, Y:4.51, Z:-0.67 [[ 9.69683484e-01 -2.44175375e-01 9.60868507e-03 3.27937331e+01] [ 2.44161754e-01 9.69731077e-01 2.58403670e-03 4.51338732e+00] [-9.94879865e-03 -1.59624312e-04 9.99950497e-01 -6.70409346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93 meters 0.01810347241067421 Centerline is valid? [True, True] Translation: X:32.82, Y:4.52, Z:-0.67 [[ 9.69888170e-01 -2.43357598e-01 9.69628796e-03 3.28218640e+01] [ 2.43343662e-01 9.69936622e-01 2.61001931e-03 4.52047166e+00] [-1.00399528e-02 -1.71896632e-04 9.99949584e-01 -6.71023349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96 meters 0.020211377592269337 Centerline is valid? [True, True] Translation: X:32.85, Y:4.53, Z:-0.67 [[ 9.70048261e-01 -2.42704972e-01 1.00333312e-02 3.28478286e+01] [ 2.42689969e-01 9.70100129e-01 2.70521647e-03 4.52956183e+00] [-1.03899053e-02 -1.89201704e-04 9.99946006e-01 -6.73043769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99 meters 0.01843157376915243 Centerline is valid? [True, True] Translation: X:32.87, Y:4.54, Z:-0.67 [[ 9.69987914e-01 -2.42908874e-01 1.08960847e-02 3.28749254e+01] [ 2.42891199e-01 9.70049090e-01 2.93726993e-03 4.53634711e+00] [-1.12832260e-02 -2.02553250e-04 9.99936322e-01 -6.73142298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019999999999996 meters 0.01819080770166091 Centerline is valid? [True, True] Translation: X:32.90, Y:4.54, Z:-0.67 [[ 9.69826404e-01 -2.43492449e-01 1.21726543e-02 3.29034057e+01] [ 2.43470380e-01 9.69902767e-01 3.28581347e-03 4.54305328e+00] [-1.26063619e-02 -2.22987894e-04 9.99920512e-01 -6.72755005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05 meters 0.017941776401923553 Centerline is valid? [True, True] Translation: X:32.93, Y:4.55, Z:-0.67 [[ 9.69621353e-01 -2.44232225e-01 1.36034004e-02 3.29304664e+01] [ 2.44204668e-01 9.69716743e-01 3.67675693e-03 4.54960413e+00] [-1.40894277e-02 -2.43048143e-04 9.99900710e-01 -6.72346215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08 meters 0.0186577939332876 Centerline is valid? [True, True] Translation: X:32.96, Y:4.56, Z:-0.67 [[ 9.69299772e-01 -2.45436453e-01 1.47952450e-02 3.29591417e+01] [ 2.45403973e-01 9.69412650e-01 4.00044742e-03 4.55500533e+00] [-1.53245533e-02 -2.46820852e-04 9.99882542e-01 -6.72037607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11 meters 0.017780309732161558 Centerline is valid? [True, True] Translation: X:32.99, Y:4.56, Z:-0.67 [[ 9.68603559e-01 -2.48027282e-01 1.70180376e-02 3.29883330e+01] [ 2.47984617e-01 9.68753018e-01 4.60659550e-03 4.55966463e+00] [-1.76288366e-02 -2.41753259e-04 9.99844571e-01 -6.71604773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14 meters 0.017511824990538497 Centerline is valid? [True, True] Translation: X:33.02, Y:4.57, Z:-0.67 [[ 9.68253246e-01 -2.49345671e-01 1.76745117e-02 3.30165348e+01] [ 2.49299791e-01 9.68414520e-01 4.78860048e-03 4.56519781e+00] [-1.83102706e-02 -2.30325878e-04 9.99832326e-01 -6.72089981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17 meters 0.017356187073141936 Centerline is valid? [True, True] Translation: X:33.04, Y:4.57, Z:-0.67 [[ 9.67510702e-01 -2.52151357e-01 1.85130882e-02 3.30448443e+01] [ 2.52101438e-01 9.67687789e-01 5.02077455e-03 4.56909385e+00] [-1.91808845e-02 -1.90476952e-04 9.99816012e-01 -6.72991162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.199999999999996 meters 0.0169547561551649 Centerline is valid? [True, True] Translation: X:33.07, Y:4.57, Z:-0.67 [[ 9.67199363e-01 -2.53351322e-01 1.83983482e-02 3.30719639e+01] [ 2.53302146e-01 9.67374322e-01 4.99445439e-03 4.57493929e+00] [-1.90634412e-02 -1.70292036e-04 9.99818262e-01 -6.74223376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23 meters 0.01643996059952509 Centerline is valid? [True, True] Translation: X:33.10, Y:4.58, Z:-0.68 [[ 9.66854525e-01 -2.54663498e-01 1.84073373e-02 3.30995709e+01] [ 2.54614468e-01 9.67029721e-01 4.99915486e-03 4.58097892e+00] [-1.90735445e-02 -1.46681108e-04 9.99818073e-01 -6.75491344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26 meters 0.015664392097236645 Centerline is valid? [True, True] Translation: X:33.13, Y:4.59, Z:-0.68 [[ 9.66556232e-01 -2.55830295e-01 1.78860482e-02 3.31266333e+01] [ 2.55784111e-01 9.66721700e-01 4.86251545e-03 4.58680646e+00] [-1.85348097e-02 -1.24927678e-04 9.99828208e-01 -6.76572986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29 meters 0.015957109084038076 Centerline is valid? [True, True] Translation: X:33.16, Y:4.59, Z:-0.68 [[ 9.65920563e-01 -2.58205723e-01 1.80905924e-02 3.31556863e+01] [ 2.58158794e-01 9.66089953e-01 4.92339188e-03 4.59167132e+00] [-1.87483875e-02 -8.53599326e-05 9.99824230e-01 -6.78311179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32 meters 0.016155697106039788 Centerline is valid? [True, True] Translation: X:33.18, Y:4.60, Z:-0.68 [[ 9.65610028e-01 -2.59393420e-01 1.76727941e-02 3.31820965e+01] [ 2.59348750e-01 9.65771738e-01 4.81420045e-03 4.59743511e+00] [-1.83166570e-02 -6.52231861e-05 9.99832234e-01 -6.79553263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35 meters 0.015938123041265743 Centerline is valid? [True, True] Translation: X:33.21, Y:4.60, Z:-0.68 [[ 9.65173956e-01 -2.61000932e-01 1.78255086e-02 3.32093394e+01] [ 2.60955725e-01 9.65338548e-01 4.85767465e-03 4.60326916e+00] [-1.84755082e-02 -3.68325368e-05 9.99829313e-01 -6.80366902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379999999999995 meters 0.01735655968165664 Centerline is valid? [True, True] Translation: X:33.24, Y:4.61, Z:-0.68 [[ 9.64747024e-01 -2.62553887e-01 1.81283125e-02 3.32356686e+01] [ 2.62507303e-01 9.64917331e-01 4.94564292e-03 4.60889336e+00] [-1.87908207e-02 -1.24798621e-05 9.99823437e-01 -6.81451739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41 meters 0.012991957480215633 Centerline is valid? [True, True] Translation: X:33.26, Y:4.61, Z:-0.68 [[ 9.63567457e-01 -2.66894664e-01 1.74640741e-02 3.32636304e+01] [ 2.66852114e-01 9.63725705e-01 4.76609082e-03 4.61196242e+00] [-1.81026213e-02 6.78750690e-05 9.99836132e-01 -6.80753954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44 meters 0.016589665801533558 Centerline is valid? [True, True] Translation: X:33.29, Y:4.62, Z:-0.68 [[ 9.62774846e-01 -2.69612034e-01 1.93377298e-02 3.32918675e+01] [ 2.69560290e-01 9.62969021e-01 5.28344430e-03 4.61560512e+00] [-2.00461149e-02 1.25916786e-04 9.99799049e-01 -6.81756758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47 meters 0.014583907316191358 Centerline is valid? [True, True] Translation: X:33.32, Y:4.62, Z:-0.68 [[ 9.61958888e-01 -2.72533324e-01 1.89917372e-02 3.33205215e+01] [ 2.72483955e-01 9.62146327e-01 5.19036434e-03 4.62041050e+00] [-1.96873774e-02 1.82026544e-04 9.99806168e-01 -6.80737791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.5 meters 0.01721413666125656 Centerline is valid? [True, True] Translation: X:33.35, Y:4.62, Z:-0.68 [[ 9.61076402e-01 -2.75526214e-01 2.04317174e-02 3.33488400e+01] [ 2.75469640e-01 9.61293524e-01 5.58906578e-03 4.62391398e+00] [-2.11808117e-02 2.56798598e-04 9.99775628e-01 -6.80933891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53 meters 0.01835526709055438 Centerline is valid? [True, True] Translation: X:33.38, Y:4.62, Z:-0.68 [[ 9.59317010e-01 -2.81519871e-01 2.13877485e-02 3.33782738e+01] [ 2.81459324e-01 9.59555313e-01 5.85241940e-03 4.62427683e+00] [-2.21703000e-02 4.05455741e-04 9.99754126e-01 -6.79742141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559999999999995 meters 0.02092814790933389 Centerline is valid? [True, True] Translation: X:33.41, Y:4.63, Z:-0.68 [[ 9.58416261e-01 -2.84498501e-01 2.23354716e-02 3.34062585e+01] [ 2.84433248e-01 9.58676358e-01 6.11299349e-03 4.62804979e+00] [-2.31516261e-02 4.94158368e-04 9.99731843e-01 -6.80096709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589999999999996 meters 0.01930798703412508 Centerline is valid? [True, True] Translation: X:33.43, Y:4.64, Z:-0.68 [[ 9.57665905e-01 -2.87064219e-01 2.16829040e-02 3.34337980e+01] [ 2.87003335e-01 9.57911188e-01 5.93644190e-03 4.63641652e+00] [-2.24744364e-02 5.37937737e-04 9.99747273e-01 -6.80960563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62 meters 0.023345445646871504 Centerline is valid? [True, True] Translation: X:33.46, Y:4.64, Z:-0.68 [[ 9.56551556e-01 -2.90864748e-01 2.01697647e-02 3.34633700e+01] [ 2.90812812e-01 9.56764006e-01 5.52679458e-03 4.63535644e+00] [-2.09052545e-02 5.78962017e-04 9.99781294e-01 -6.82802030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65 meters 0.020624790369434817 Centerline is valid? [True, True] Translation: X:33.49, Y:4.65, Z:-0.68 [[ 9.56172083e-01 -2.92162302e-01 1.93942707e-02 3.34901317e+01] [ 2.92114525e-01 9.56368574e-01 5.31553171e-03 4.64552474e+00] [-2.01010690e-02 5.82785153e-04 9.99797783e-01 -6.83680389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68 meters 0.020803959922995552 Centerline is valid? [True, True] Translation: X:33.52, Y:4.65, Z:-0.68 [[ 9.55862704e-01 -2.93236453e-01 1.84085056e-02 3.35185645e+01] [ 2.93193527e-01 9.56039778e-01 5.04963784e-03 4.65204787e+00] [-1.90800015e-02 5.70494210e-04 9.99817797e-01 -6.84750763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71 meters 0.020592536094513978 Centerline is valid? [True, True] Translation: X:33.55, Y:4.66, Z:-0.69 [[ 9.55717790e-01 -2.93801379e-01 1.68599059e-02 3.35461115e+01] [ 2.93765394e-01 9.55866345e-01 4.62858419e-03 4.65949655e+00] [-1.74757011e-02 5.29236666e-04 9.99847148e-01 -6.86492952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74 meters 0.02011852245538328 Centerline is valid? [True, True] Translation: X:33.57, Y:4.67, Z:-0.69 [[ 9.55562369e-01 -2.94418546e-01 1.47742734e-02 3.35736933e+01] [ 2.94390941e-01 9.55676461e-01 4.05903829e-03 4.66883290e+00] [-1.53144815e-02 4.70748010e-04 9.99882616e-01 -6.89140163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769999999999996 meters 0.02022023330286072 Centerline is valid? [True, True] Translation: X:33.60, Y:4.68, Z:-0.69 [[ 9.55519752e-01 -2.94580721e-01 1.42899647e-02 3.36005690e+01] [ 2.94554864e-01 9.55626492e-01 3.92934400e-03 4.67562088e+00] [-1.48133779e-02 4.54612825e-04 9.99890173e-01 -6.90192762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.8 meters 0.02138287864527375 Centerline is valid? [True, True] Translation: X:33.63, Y:4.68, Z:-0.69 [[ 9.55427666e-01 -2.94872909e-01 1.44201795e-02 3.36278003e+01] [ 2.94846531e-01 9.55536372e-01 3.97058891e-03 4.68152663e+00] [-1.49498251e-02 4.58129421e-04 9.99888140e-01 -6.90841659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83 meters 0.020287236536764987 Centerline is valid? [True, True] Translation: X:33.66, Y:4.69, Z:-0.69 [[ 9.55339583e-01 -2.95172328e-01 1.41272286e-02 3.36552322e+01] [ 2.95147042e-01 9.55443924e-01 3.89003686e-03 4.68888912e+00] [-1.46460060e-02 4.53303540e-04 9.99892639e-01 -6.89896011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86 meters 0.02242552030897442 Centerline is valid? [True, True] Translation: X:33.68, Y:4.69, Z:-0.69 [[ 9.54865218e-01 -2.96612274e-01 1.59239855e-02 3.36827025e+01] [ 2.96580245e-01 9.54997842e-01 4.39096557e-03 4.69439059e+00] [-1.65097860e-02 5.29959206e-04 9.99863564e-01 -6.89853546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89 meters 0.02173207158488104 Centerline is valid? [True, True] Translation: X:33.71, Y:4.70, Z:-0.69 [[ 9.54617737e-01 -2.97391047e-01 1.62339356e-02 3.37109042e+01] [ 2.97357856e-01 9.54755602e-01 4.47733025e-03 4.70275549e+00] [-1.68309588e-02 5.53149398e-04 9.99858196e-01 -6.89370415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92 meters 0.029076929215009695 Centerline is valid? [True, True] Translation: X:33.74, Y:4.70, Z:-0.69 [[ 9.54493376e-01 -2.97804632e-01 1.59623479e-02 3.37412692e+01] [ 2.97772522e-01 9.54626682e-01 4.40709574e-03 4.69754037e+00] [-1.65505367e-02 5.46604892e-04 9.99862881e-01 -6.90248511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949999999999996 meters 0.02282545642156684 Centerline is valid? [True, True] Translation: X:33.77, Y:4.72, Z:-0.69 [[ 9.54275396e-01 -2.98479060e-01 1.63926506e-02 3.37655849e+01] [ 2.98445279e-01 9.54416012e-01 4.52686758e-03 4.71732546e+00] [-1.69965834e-02 5.72430820e-04 9.99855384e-01 -6.90732752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98 meters 0.019560322122473637 Centerline is valid? [True, True] Translation: X:33.79, Y:4.73, Z:-0.69 [[ 9.54245829e-01 -2.98610857e-01 1.56988872e-02 3.37914621e+01] [ 2.98579834e-01 9.54374799e-01 4.33887474e-03 4.72840209e+00] [-1.62782574e-02 5.47018014e-04 9.99867351e-01 -6.90294679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01 meters 0.02103706792110892 Centerline is valid? [True, True] Translation: X:33.82, Y:4.73, Z:-0.69 [[ 9.54397008e-01 -2.98165860e-01 1.49489332e-02 3.38188230e+01] [ 2.98137592e-01 9.54513940e-01 4.13699444e-03 4.73444532e+00] [-1.55024756e-02 5.08503821e-04 9.99879700e-01 -6.91910566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04 meters 0.018116174622947356 Centerline is valid? [True, True] Translation: X:33.85, Y:4.74, Z:-0.69 [[ 9.54736262e-01 -2.97141760e-01 1.36178215e-02 3.38461733e+01] [ 2.97118197e-01 9.54833270e-01 3.76869493e-03 4.74489991e+00] [-1.41225857e-02 4.47992868e-04 9.99900171e-01 -6.90353369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07 meters 0.019755426092730916 Centerline is valid? [True, True] Translation: X:33.87, Y:4.75, Z:-0.69 [[ 9.54772849e-01 -2.97042247e-01 1.32177938e-02 3.38728977e+01] [ 2.97019996e-01 9.54864241e-01 3.66111184e-03 4.75321477e+00] [-1.37087035e-02 4.30418868e-04 9.99905939e-01 -6.93310492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.1 meters 0.018301162125418116 Centerline is valid? [True, True] Translation: X:33.90, Y:4.76, Z:-0.69 [[ 9.55596138e-01 -2.94452225e-01 1.15718596e-02 3.38996971e+01] [ 2.94434944e-01 9.55666140e-01 3.20832156e-03 4.76388503e+00] [-1.20035319e-02 3.41300144e-04 9.99927897e-01 -6.93812218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129999999999995 meters 0.019975571382648924 Centerline is valid? [True, True] Translation: X:33.93, Y:4.77, Z:-0.70 [[ 9.55818473e-01 -2.93738634e-01 1.13428754e-02 3.39270429e+01] [ 2.93721947e-01 9.55885720e-01 3.14762683e-03 4.77359422e+00] [-1.17670722e-02 3.23091580e-04 9.99930713e-01 -6.96357398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16 meters 0.019097260778282436 Centerline is valid? [True, True] Translation: X:33.95, Y:4.78, Z:-0.70 [[ 9.56293004e-01 -2.92223753e-01 1.04388316e-02 3.39538762e+01] [ 2.92209491e-01 9.56349937e-01 2.90030049e-03 4.78219642e+00] [-1.08307126e-02 2.76788605e-04 9.99941308e-01 -6.96471544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19 meters 0.01743215635147721 Centerline is valid? [True, True] Translation: X:33.98, Y:4.79, Z:-0.70 [[ 9.56798179e-01 -2.90596325e-01 9.54049637e-03 3.39815446e+01] [ 2.90584333e-01 9.56845714e-01 2.65052884e-03 4.79182481e+00] [-9.89901700e-03 2.36297606e-04 9.99950976e-01 -6.95893323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22 meters 0.019226594007478476 Centerline is valid? [True, True] Translation: X:34.01, Y:4.80, Z:-0.70 [[ 9.57407070e-01 -2.88599358e-01 9.06155889e-03 3.40087455e+01] [ 2.88588431e-01 9.57449930e-01 2.51956006e-03 4.80286995e+00] [-9.40313234e-03 2.02816448e-04 9.99955769e-01 -6.98313058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25 meters 0.01600967327605359 Centerline is valid? [True, True] Translation: X:34.04, Y:4.81, Z:-0.70 [[ 9.57989578e-01 -2.86666793e-01 8.83848255e-03 3.40360731e+01] [ 2.86656295e-01 9.58030333e-01 2.45975057e-03 4.81279402e+00] [-9.17266319e-03 1.77191245e-04 9.99957915e-01 -6.96416577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28 meters 0.018250768899301967 Centerline is valid? [True, True] Translation: X:34.06, Y:4.82, Z:-0.70 [[ 9.58389688e-01 -2.85324728e-01 8.88848988e-03 3.40621109e+01] [ 2.85314013e-01 9.58430892e-01 2.47792455e-03 4.82132314e+00] [-9.22601643e-03 1.61193378e-04 9.99957426e-01 -6.98891081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309999999999995 meters 0.018309548944134082 Centerline is valid? [True, True] Translation: X:34.09, Y:4.83, Z:-0.70 [[ 9.59606186e-01 -2.81198279e-01 9.13754973e-03 3.40888247e+01] [ 2.81186777e-01 9.59649682e-01 2.54646840e-03 4.83230888e+00] [-9.48490922e-03 1.25751329e-04 9.99955009e-01 -6.98359114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339999999999996 meters 0.01745165560203813 Centerline is valid? [True, True] Translation: X:34.11, Y:4.84, Z:-0.70 [[ 9.60232202e-01 -2.79023543e-01 9.99905800e-03 3.41149910e+01] [ 2.79009602e-01 9.60284255e-01 2.79132952e-03 4.84121131e+00] [-1.03807846e-02 1.09508708e-04 9.99946112e-01 -6.97699387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37 meters 0.018260182249314437 Centerline is valid? [True, True] Translation: X:34.14, Y:4.85, Z:-0.70 [[ 9.60808625e-01 -2.77044745e-01 9.64335624e-03 3.41422815e+01] [ 2.77031687e-01 9.60857014e-01 2.69117700e-03 4.85037707e+00] [-1.00114629e-02 8.58091726e-05 9.99949880e-01 -6.98174667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.4 meters 0.01796193869318363 Centerline is valid? [True, True] Translation: X:34.17, Y:4.86, Z:-0.70 [[ 9.61432142e-01 -2.74868943e-01 9.76222914e-03 3.41696467e+01] [ 2.74855424e-01 9.61481700e-01 2.72682344e-03 4.86037766e+00] [-1.01357237e-02 6.15459323e-05 9.99948630e-01 -6.97555149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43 meters 0.01796193869318363 Centerline is valid? [True, True] Translation: X:34.20, Y:4.87, Z:-0.70 [[ 9.61353999e-01 -2.75142143e-01 9.76165216e-03 3.41962139e+01] [ 2.75128617e-01 9.61403556e-01 2.72888663e-03 4.86788874e+00] [-1.01357188e-02 6.22837808e-05 9.99948630e-01 -6.98121644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46 meters 0.015535828917163073 Centerline is valid? [True, True] Translation: X:34.22, Y:4.88, Z:-0.70 [[ 9.62617046e-01 -2.70692447e-01 9.69650366e-03 3.42221678e+01] [ 2.70678824e-01 9.62665881e-01 2.71575082e-03 4.87929999e+00] [-1.00696265e-02 1.04101760e-05 9.99949300e-01 -6.97477134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49 meters 0.01646218825197735 Centerline is valid? [True, True] Translation: X:34.25, Y:4.89, Z:-0.70 [[ 9.63202124e-01 -2.68629900e-01 8.92441900e-03 3.42486756e+01] [ 2.68618269e-01 9.63243467e-01 2.49970399e-03 4.88831601e+00] [-9.26788353e-03 -1.04582080e-05 9.99957052e-01 -6.98874194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519999999999996 meters 0.018709950471353484 Centerline is valid? [True, True] Translation: X:34.28, Y:4.90, Z:-0.70 [[ 9.63727228e-01 -2.66796840e-01 7.01963161e-03 3.42764757e+01] [ 2.66789605e-01 9.63752793e-01 1.96497715e-03 4.89759816e+00] [-7.28943927e-03 -2.09372350e-05 9.99973431e-01 -7.00587633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55 meters 0.01757564733125881 Centerline is valid? [True, True] Translation: X:34.30, Y:4.91, Z:-0.70 [[ 9.64682174e-01 -2.63358179e-01 5.54736271e-03 3.43027437e+01] [ 2.63353587e-01 9.64698123e-01 1.55566863e-03 4.90712451e+00] [-5.76122845e-03 -3.98079287e-05 9.99983403e-01 -7.01630926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58 meters 0.018467604842398996 Centerline is valid? [True, True] Translation: X:34.33, Y:4.92, Z:-0.70 [[ 9.64974730e-01 -2.62313059e-01 3.95333047e-03 3.43299410e+01] [ 2.62310719e-01 9.64982828e-01 1.10850961e-03 4.91520563e+00] [-4.10567257e-03 -3.26828007e-05 9.99991571e-01 -7.02864070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61 meters 0.018759394106165957 Centerline is valid? [True, True] Translation: X:34.36, Y:4.92, Z:-0.70 [[ 9.65084974e-01 -2.61922008e-01 2.80255630e-03 3.43580651e+01] [ 2.61920840e-01 9.65089043e-01 7.82703572e-04 4.92305368e+00] [-2.90972367e-03 -2.13275586e-05 9.99995767e-01 -7.03702786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64 meters 0.019276515406607825 Centerline is valid? [True, True] Translation: X:34.39, Y:4.93, Z:-0.70 [[ 9.65045358e-01 -2.62075733e-01 1.94071314e-03 3.43863954e+01] [ 2.62075176e-01 9.65047310e-01 5.40811678e-04 4.93041261e+00] [-2.01461361e-03 -1.32950630e-05 9.99997971e-01 -7.04111831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67 meters 0.01800842332257687 Centerline is valid? [True, True] Translation: X:34.41, Y:4.94, Z:-0.70 [[ 9.64825626e-01 -2.62878873e-01 2.49177550e-03 3.44137312e+01] [ 2.62877943e-01 9.64828844e-01 6.99520116e-04 4.93673559e+00] [-2.58802593e-03 -1.98821183e-05 9.99996651e-01 -7.04466298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699999999999996 meters 0.017513464634682993 Centerline is valid? [True, True] Translation: X:34.44, Y:4.94, Z:-0.70 [[ 9.64575138e-01 -2.63791135e-01 3.00685129e-03 3.44422775e+01] [ 2.63789792e-01 9.64579824e-01 8.41850136e-04 4.94254288e+00] [-3.12242069e-03 -1.88510326e-05 9.99995125e-01 -7.02671552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73 meters 0.015994666708252912 Centerline is valid? [True, True] Translation: X:34.47, Y:4.95, Z:-0.70 [[ 9.64286842e-01 -2.64827064e-01 4.18475084e-03 3.44702165e+01] [ 2.64824459e-01 9.64295922e-01 1.17486789e-03 4.94863091e+00] [-4.34647498e-03 -2.46852711e-05 9.99990554e-01 -7.01943941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76 meters 0.017025776531929666 Centerline is valid? [True, True] Translation: X:34.50, Y:4.95, Z:-0.70 [[ 9.63592032e-01 -2.67342508e-01 4.28714153e-03 3.44996953e+01] [ 2.67339791e-01 9.63601569e-01 1.20520057e-03 4.95250456e+00] [-4.45329765e-03 -1.51981482e-05 9.99990084e-01 -7.01606698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79 meters 0.0157851333248244 Centerline is valid? [True, True] Translation: X:34.53, Y:4.96, Z:-0.70 [[ 9.63344395e-01 -2.68215722e-01 5.28230056e-03 3.45274173e+01] [ 2.68211586e-01 9.63358877e-01 1.48964326e-03 4.95843612e+00] [-5.48829688e-03 -1.82652740e-05 9.99984939e-01 -7.01391233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82 meters 0.015350712398353153 Centerline is valid? [True, True] Translation: X:34.56, Y:4.96, Z:-0.70 [[ 9.63032379e-01 -2.69327440e-01 5.60066313e-03 3.45552893e+01] [ 2.69322823e-01 9.63048664e-01 1.57716553e-03 4.96433400e+00] [-5.81848510e-03 -1.04750710e-05 9.99983072e-01 -7.01575342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85 meters 0.017182673341277984 Centerline is valid? [True, True] Translation: X:34.58, Y:4.97, Z:-0.70 [[ 9.62440223e-01 -2.71465073e-01 3.94097651e-03 3.45836039e+01] [ 2.71462794e-01 9.62448292e-01 1.11246570e-03 4.96838023e+00] [-4.09498169e-03 -8.53240916e-07 9.99991616e-01 -7.02891758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879999999999995 meters 0.017484186908463033 Centerline is valid? [True, True] Translation: X:34.61, Y:4.97, Z:-0.70 [[ 9.62141463e-01 -2.72534224e-01 2.98348917e-03 3.46122316e+01] [ 2.72532932e-01 9.62146089e-01 8.39118709e-04 4.97482640e+00] [-3.09924101e-03 5.74814936e-06 9.99995197e-01 -7.03429094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91 meters 0.016912206755488175 Centerline is valid? [True, True] Translation: X:34.64, Y:4.98, Z:-0.70 [[ 9.61851234e-01 -2.73562091e-01 2.44680260e-03 3.46409031e+01] [ 2.73561227e-01 9.61854346e-01 6.87818372e-04 4.98128645e+00] [-2.54162875e-03 7.77137098e-06 9.99996770e-01 -7.04076831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94 meters 0.017088409345219095 Centerline is valid? [True, True] Translation: X:34.67, Y:4.99, Z:-0.70 [[ 9.61522535e-01 -2.74723088e-01 1.28061930e-03 3.46696252e+01] [ 2.74722855e-01 9.61523388e-01 3.57802703e-04 4.98710145e+00] [-1.32964207e-03 7.78002807e-06 9.99999116e-01 -7.04615853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97 meters 0.015515337324751499 Centerline is valid? [True, True] Translation: X:34.70, Y:5.00, Z:-0.71 [[ 9.61626293e-01 -2.74346718e-01 2.95834359e-03 3.46964287e+01] [ 2.74345440e-01 9.61630843e-01 8.37257289e-04 4.99525066e+00] [-3.07453323e-03 6.47945201e-06 9.99995274e-01 -7.05547170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.0 meters 0.016849198544510734 Centerline is valid? [True, True] Translation: X:34.72, Y:5.00, Z:-0.71 [[ 9.61707446e-01 -2.74074601e-01 1.37896899e-03 3.47238624e+01] [ 2.74074329e-01 9.61708434e-01 3.86304946e-04 5.00433806e+00] [-1.43204249e-03 6.42765931e-06 9.99998975e-01 -7.06065454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03 meters 0.016994788424333433 Centerline is valid? [True, True] Translation: X:34.75, Y:5.01, Z:-0.71 [[ 9.61942609e-01 -2.73248671e-01 1.25704188e-03 3.47496906e+01] [ 2.73248441e-01 9.61943431e-01 3.54479349e-04 5.01320470e+00] [-1.30606419e-03 2.49594439e-06 9.99999147e-01 -7.06559388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059999999999995 meters 0.01694205518309122 Centerline is valid? [True, True] Translation: X:34.78, Y:5.02, Z:-0.71 [[ 9.61989078e-01 -2.73080307e-01 2.03953855e-03 3.47774119e+01] [ 2.73079702e-01 9.61991240e-01 5.74692899e-04 5.02186567e+00] [-2.11895553e-03 4.10828883e-06 9.99997755e-01 -7.05846618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.089999999999996 meters 0.018391939193496628 Centerline is valid? [True, True] Translation: X:34.81, Y:5.03, Z:-0.71 [[ 9.61850438e-01 -2.73573138e-01 1.21321795e-03 3.48053399e+01] [ 2.73572927e-01 9.61851204e-01 3.40032158e-04 5.03008329e+00] [-1.25995881e-03 4.84350704e-06 9.99999206e-01 -7.06226736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12 meters 0.01823861315152383 Centerline is valid? [True, True] Translation: X:34.83, Y:5.04, Z:-0.71 [[ 9.61674786e-01 -2.74188491e-01 1.50909603e-03 3.48325718e+01] [ 2.74188163e-01 9.61675970e-01 4.23874077e-04 5.03752642e+00] [-1.56748279e-03 6.14725711e-06 9.99998771e-01 -7.06120608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15 meters 0.018295585597674625 Centerline is valid? [True, True] Translation: X:34.86, Y:5.04, Z:-0.71 [[ 9.61418383e-01 -2.75081416e-01 2.21545074e-03 3.48609008e+01] [ 2.75080702e-01 9.61420935e-01 6.26479240e-04 5.04496601e+00] [-2.30231352e-03 7.11908814e-06 9.99997350e-01 -7.06119232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18 meters 0.016087159894013145 Centerline is valid? [True, True] Translation: X:34.89, Y:5.05, Z:-0.71 [[ 9.61121840e-01 -2.76088458e-01 4.46898033e-03 3.48879886e+01] [ 2.76085524e-01 9.61132230e-01 1.27284314e-03 5.05183137e+00] [-4.64669833e-03 1.04634381e-05 9.99989204e-01 -7.06574396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21 meters 0.01829067018534799 Centerline is valid? [True, True] Translation: X:34.92, Y:5.06, Z:-0.71 [[ 9.60880887e-01 -2.76950994e-01 2.46334725e-03 3.49162485e+01] [ 2.76950115e-01 9.60884044e-01 6.97983289e-04 5.05951927e+00] [-2.56029823e-03 1.15455006e-05 9.99996722e-01 -7.06809239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24 meters 0.017899164596280114 Centerline is valid? [True, True] Translation: X:34.94, Y:5.07, Z:-0.71 [[ 9.60853389e-01 -2.77044395e-01 2.67752396e-03 3.49427845e+01] [ 2.77043355e-01 9.60857119e-01 7.59235604e-04 5.06711475e+00] [-2.78305993e-03 1.22761180e-05 9.99996127e-01 -7.07801395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269999999999996 meters 0.015100401994732041 Centerline is valid? [True, True] Translation: X:34.97, Y:5.08, Z:-0.71 [[ 9.60972782e-01 -2.76594037e-01 5.20112104e-03 3.49707522e+01] [ 2.76590064e-01 9.60986857e-01 1.48254640e-03 5.07587253e+00] [-5.40827245e-03 1.38916610e-05 9.99985375e-01 -7.07754322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.3 meters 0.018298203368824963 Centerline is valid? [True, True] Translation: X:35.00, Y:5.09, Z:-0.71 [[ 9.61333220e-01 -2.75381035e-01 1.93029554e-03 3.49970491e+01] [ 2.75380486e-01 9.61335158e-01 5.49639139e-04 5.08544410e+00] [-2.00702116e-03 3.17936064e-06 9.99997986e-01 -7.09556526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33 meters 0.015127426398857792 Centerline is valid? [True, True] Translation: X:35.02, Y:5.10, Z:-0.71 [[ 9.61780349e-01 -2.73784486e-01 4.54030179e-03 3.50249280e+01] [ 2.73781420e-01 9.61791066e-01 1.29577365e-03 5.09518174e+00] [-4.72158442e-03 -3.19936022e-06 9.99988853e-01 -7.10120070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36 meters 0.017546515885591987 Centerline is valid? [True, True] Translation: X:35.05, Y:5.10, Z:-0.71 [[ 9.62058056e-01 -2.72840268e-01 1.57616421e-03 3.50517533e+01] [ 2.72839897e-01 9.62059348e-01 4.49795946e-04 5.10446872e+00] [-1.63908596e-03 -2.68933136e-06 9.99998657e-01 -7.10906292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39 meters 0.01799852970877774 Centerline is valid? [True, True] Translation: X:35.08, Y:5.12, Z:-0.71 [[ 9.62895474e-01 -2.69872636e-01 1.03224396e-03 3.50774738e+01] [ 2.69872476e-01 9.62896028e-01 2.94043258e-04 5.11515010e+00] [-1.07329784e-03 -4.55868950e-06 9.99999424e-01 -7.12457453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42 meters 0.0185978699070148 Centerline is valid? [True, True] Translation: X:35.10, Y:5.12, Z:-0.71 [[ 9.63248907e-01 -2.68609436e-01 7.17058567e-04 3.51044860e+01] [ 2.68609361e-01 9.63249174e-01 2.00585600e-04 5.12476317e+00] [-7.44585257e-04 -6.05216706e-07 9.99999723e-01 -7.13294165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449999999999996 meters 0.018787833594475587 Centerline is valid? [True, True] Translation: X:35.13, Y:5.13, Z:-0.71 [[ 9.63560487e-01 -2.67489554e-01 7.25468025e-04 3.51318909e+01] [ 2.67489476e-01 9.63560760e-01 2.03215547e-04 5.13432940e+00] [-7.53390557e-04 -1.75540954e-06 9.99999716e-01 -7.14221737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48 meters 0.018266117538887985 Centerline is valid? [True, True] Translation: X:35.16, Y:5.14, Z:-0.71 [[ 9.63823436e-01 -2.66537607e-01 1.44497386e-03 3.51586041e+01] [ 2.66537292e-01 9.63824519e-01 4.09558767e-04 5.14388244e+00] [-1.50186405e-03 -9.60291729e-06 9.99998872e-01 -7.14930778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51 meters 0.018025530804566314 Centerline is valid? [True, True] Translation: X:35.18, Y:5.15, Z:-0.72 [[ 9.64114864e-01 -2.65468048e-01 3.04048879e-03 3.51847903e+01] [ 2.65466617e-01 9.64119658e-01 8.72494721e-04 5.15451317e+00] [-3.16301448e-03 -3.40368577e-05 9.99994997e-01 -7.16030501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54 meters 0.018853370012344065 Centerline is valid? [True, True] Translation: X:35.21, Y:5.16, Z:-0.72 [[ 9.63985226e-01 -2.65938483e-01 3.03450842e-03 3.52112473e+01] [ 2.65937069e-01 9.63990001e-01 8.67724436e-04 5.16269594e+00] [-3.15599709e-03 -2.94852638e-05 9.99995019e-01 -7.16451948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57 meters 0.018551784109965178 Centerline is valid? [True, True] Translation: X:35.24, Y:5.17, Z:-0.72 [[ 9.63822750e-01 -2.66519084e-01 3.64478016e-03 3.52387176e+01] [ 2.66517037e-01 9.63829641e-01 1.04506696e-03 5.17056865e+00] [-3.79147744e-03 -3.58632968e-05 9.99992812e-01 -7.16894949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.6 meters 0.01842159507726051 Centerline is valid? [True, True] Translation: X:35.27, Y:5.18, Z:-0.71 [[ 9.63254492e-01 -2.68554228e-01 4.40568874e-03 3.52676093e+01] [ 2.68551250e-01 9.63264567e-01 1.26510454e-03 5.17583289e+00] [-4.58359303e-03 -3.54644095e-05 9.99989495e-01 -7.14011083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629999999999995 meters 0.018872933469561495 Centerline is valid? [True, True] Translation: X:35.30, Y:5.18, Z:-0.71 [[ 9.62858363e-01 -2.69968215e-01 4.57567168e-03 3.52960236e+01] [ 2.69965012e-01 9.62869234e-01 1.31537889e-03 5.18318380e+00] [-4.76088398e-03 -3.12523063e-05 9.99988666e-01 -7.14325722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66 meters 0.01729794261195635 Centerline is valid? [True, True] Translation: X:35.32, Y:5.19, Z:-0.72 [[ 9.62523555e-01 -2.71132256e-01 5.97537804e-03 3.53228138e+01] [ 2.71126782e-01 9.62542102e-01 1.72335171e-03 5.19124743e+00] [-6.21880918e-03 -3.86815922e-05 9.99980662e-01 -7.17306730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69 meters 0.017849182698386513 Centerline is valid? [True, True] Translation: X:35.35, Y:5.20, Z:-0.72 [[ 9.62120783e-01 -2.72565056e-01 5.64708991e-03 3.53488776e+01] [ 2.72560197e-01 9.62137355e-01 1.62774167e-03 5.19791282e+00] [-5.87694165e-03 -2.69121532e-05 9.99982730e-01 -7.18455105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72 meters 0.018608736756683304 Centerline is valid? [True, True] Translation: X:35.38, Y:5.20, Z:-0.72 [[ 9.61282962e-01 -2.75510368e-01 5.39487152e-03 3.53763685e+01] [ 2.75505983e-01 9.61298100e-01 1.55431554e-03 5.20422613e+00] [-5.61430978e-03 -7.81766162e-06 9.99984240e-01 -7.18028750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75 meters 0.017457792472104265 Centerline is valid? [True, True] Translation: X:35.40, Y:5.21, Z:-0.72 [[ 9.60882621e-01 -2.76894553e-01 5.83051131e-03 3.54035648e+01] [ 2.76889444e-01 9.60900310e-01 1.68208128e-03 5.21141046e+00] [-6.06829927e-03 -1.87563832e-06 9.99981588e-01 -7.19494742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78 meters 0.017922629070321782 Centerline is valid? [True, True] Translation: X:35.43, Y:5.22, Z:-0.72 [[ 9.60433458e-01 -2.78452953e-01 5.61473014e-03 3.54308072e+01] [ 2.78448233e-01 9.60449870e-01 1.62121872e-03 5.21809153e+00] [-5.84409997e-03 6.33897985e-06 9.99982923e-01 -7.19956092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809999999999995 meters 0.017081807613087183 Centerline is valid? [True, True] Translation: X:35.46, Y:5.22, Z:-0.72 [[ 9.59366705e-01 -2.82087730e-01 6.48372768e-03 3.54585676e+01] [ 2.82081501e-01 9.59388613e-01 1.87494983e-03 5.22278366e+00] [-6.74931485e-03 3.01751947e-05 9.99977223e-01 -7.20320920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839999999999996 meters 0.017102537757427 Centerline is valid? [True, True] Translation: X:35.49, Y:5.23, Z:-0.72 [[ 9.58770696e-01 -2.84097307e-01 6.89000266e-03 3.54860423e+01] [ 2.84090286e-01 9.58795452e-01 1.99773141e-03 5.22884596e+00] [-7.17365333e-03 4.20164964e-05 9.99974268e-01 -7.21429525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87 meters 0.01780467102834833 Centerline is valid? [True, True] Translation: X:35.51, Y:5.23, Z:-0.72 [[ 9.58214556e-01 -2.85946593e-01 7.70782710e-03 3.55126746e+01] [ 2.85937862e-01 9.58245554e-01 2.23539266e-03 5.23430959e+00] [-8.02519397e-03 6.19738163e-05 9.99967796e-01 -7.22510507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.9 meters 0.01598314017244977 Centerline is valid? [True, True] Translation: X:35.54, Y:5.24, Z:-0.72 [[ 9.57933961e-01 -2.86813821e-01 1.00178691e-02 3.55405201e+01] [ 2.86799112e-01 9.57986338e-01 2.90613017e-03 5.24257155e+00] [-1.04305000e-02 8.92351591e-05 9.99945597e-01 -7.21819165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93 meters 0.017455512964595535 Centerline is valid? [True, True] Translation: X:35.57, Y:5.25, Z:-0.72 [[ 9.58065522e-01 -2.86352396e-01 1.06188865e-02 3.55676936e+01] [ 2.86335805e-01 9.58124365e-01 3.08364592e-03 5.25242830e+00] [-1.10572232e-02 8.62325669e-05 9.99938863e-01 -7.22429254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96 meters 0.018528033849904525 Centerline is valid? [True, True] Translation: X:35.59, Y:5.26, Z:-0.72 [[ 9.58180303e-01 -2.85935430e-01 1.14645719e-02 3.55948406e+01] [ 2.85916020e-01 9.58248883e-01 3.33268925e-03 5.26149695e+00] [-1.19388472e-02 8.45875768e-05 9.99928726e-01 -7.22891122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99 meters 0.01726263488819826 Centerline is valid? [True, True] Translation: X:35.62, Y:5.27, Z:-0.72 [[ 9.58424034e-01 -2.85092805e-01 1.20608301e-02 3.56226970e+01] [ 2.85071212e-01 9.58499915e-01 3.50950418e-03 5.27028474e+00] [-1.25608390e-02 7.46022912e-05 9.99921107e-01 -7.23274664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.019999999999996 meters 0.018270023174529606 Centerline is valid? [True, True] Translation: X:35.65, Y:5.28, Z:-0.72 [[ 9.58425481e-01 -2.85077769e-01 1.22989111e-02 3.56496369e+01] [ 2.85055275e-01 9.58504387e-01 3.58182263e-03 5.27855305e+00] [-1.28096582e-02 7.29594058e-05 9.99917950e-01 -7.23971649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05 meters 0.014452344823393349 Centerline is valid? [True, True] Translation: X:35.68, Y:5.29, Z:-0.72 [[ 9.58659761e-01 -2.84222901e-01 1.37406402e-02 3.56770662e+01] [ 2.84194663e-01 9.58758227e-01 4.00684712e-03 5.28651188e+00] [-1.43127896e-02 6.38135058e-05 9.99897565e-01 -7.22789168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08 meters 0.01711840544391827 Centerline is valid? [True, True] Translation: X:35.70, Y:5.29, Z:-0.72 [[ 9.58304210e-01 -2.85386085e-01 1.44160907e-02 3.57038005e+01] [ 2.85355076e-01 9.58412633e-01 4.20770394e-03 5.29415051e+00] [-1.50173836e-02 8.14442550e-05 9.99887229e-01 -7.24183165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11 meters 0.01755542575762132 Centerline is valid? [True, True] Translation: X:35.73, Y:5.30, Z:-0.72 [[ 9.58193523e-01 -2.85730690e-01 1.49380341e-02 3.57301167e+01] [ 2.85697350e-01 9.58309953e-01 4.36563743e-03 5.30179684e+00] [-1.55626633e-02 8.46312382e-05 9.99878891e-01 -7.24750475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14 meters 0.017145146889126064 Centerline is valid? [True, True] Translation: X:35.76, Y:5.31, Z:-0.72 [[ 9.58161204e-01 -2.85717061e-01 1.71134114e-02 3.57565930e+01] [ 2.85673261e-01 9.58314015e-01 5.00355725e-03 5.30997453e+00] [-1.78296236e-02 9.46296008e-05 9.99841035e-01 -7.23731171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17 meters 0.016719244615510227 Centerline is valid? [True, True] Translation: X:35.78, Y:5.32, Z:-0.72 [[ 9.58228150e-01 -2.85467952e-01 1.75174604e-02 3.57826760e+01] [ 2.85421910e-01 9.58388252e-01 5.12762080e-03 5.31769388e+00] [-1.82522996e-02 8.64364003e-05 9.99833409e-01 -7.23556924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199999999999996 meters 0.015295461551843942 Centerline is valid? [True, True] Translation: X:35.81, Y:5.33, Z:-0.72 [[ 9.58466138e-01 -2.84654013e-01 1.77413572e-02 3.58099755e+01] [ 2.84606609e-01 9.58630319e-01 5.19520132e-03 5.32597461e+00] [-1.84862378e-02 6.98829687e-05 9.99829112e-01 -7.23202546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23 meters 0.01774529594854187 Centerline is valid? [True, True] Translation: X:35.84, Y:5.33, Z:-0.72 [[ 9.58204117e-01 -2.85434322e-01 1.92903528e-02 3.58366927e+01] [ 2.85378306e-01 9.58398268e-01 5.65529229e-03 5.33424677e+00] [-2.01020552e-02 8.61238264e-05 9.99797930e-01 -7.24795789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26 meters 0.015196389385298137 Centerline is valid? [True, True] Translation: X:35.86, Y:5.34, Z:-0.72 [[ 9.59206669e-01 -2.82019750e-01 1.96831439e-02 3.58628132e+01] [ 2.81960582e-01 9.59408599e-01 5.77662735e-03 5.34302578e+00] [-2.05133006e-02 8.89124507e-06 9.99789580e-01 -7.23536867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29 meters 0.017509804817401615 Centerline is valid? [True, True] Translation: X:35.89, Y:5.35, Z:-0.73 [[ 9.59379616e-01 -2.81369703e-01 2.05388003e-02 3.58891034e+01] [ 2.81305083e-01 9.59599442e-01 6.02994143e-03 5.35214671e+00] [-2.14056641e-02 -7.33396979e-06 9.99770872e-01 -7.25506177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32 meters 0.017509804817401615 Centerline is valid? [True, True] Translation: X:35.92, Y:5.36, Z:-0.73 [[ 9.59300138e-01 -2.81640679e-01 2.05370962e-02 3.59155698e+01] [ 2.81575997e-01 9.59519946e-01 6.03573965e-03 5.36000090e+00] [-2.14056633e-02 -7.33253277e-06 9.99770873e-01 -7.26072301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35 meters 0.018648947859620547 Centerline is valid? [True, True] Translation: X:35.94, Y:5.37, Z:-0.73 [[ 9.59673086e-01 -2.80327314e-01 2.10752165e-02 3.59420138e+01] [ 2.80258735e-01 9.59904472e-01 6.20051770e-03 5.36934853e+00] [-2.19683691e-02 -4.39564286e-05 9.99758665e-01 -7.27846894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379999999999995 meters 0.01779336400644221 Centerline is valid? [True, True] Translation: X:35.97, Y:5.38, Z:-0.73 [[ 9.60888473e-01 -2.76207200e-01 2.00729945e-02 3.59690373e+01] [ 2.76143966e-01 9.61098103e-01 5.91154283e-03 5.38049010e+00] [-2.09249277e-02 -1.37297049e-04 9.99781040e-01 -7.30258035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41 meters 0.01845180617788958 Centerline is valid? [True, True] Translation: X:36.00, Y:5.39, Z:-0.73 [[ 9.61375442e-01 -2.74503435e-01 2.01276612e-02 3.59959351e+01] [ 2.74439367e-01 9.61586102e-01 5.93313146e-03 5.38993992e+00] [-2.09831443e-02 -1.80144260e-04 9.99779813e-01 -7.32059706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44 meters 0.017558906462792654 Centerline is valid? [True, True] Translation: X:36.02, Y:5.40, Z:-0.73 [[ 9.61980322e-01 -2.72415954e-01 1.95808067e-02 3.60222679e+01] [ 2.72354782e-01 9.62179556e-01 5.77711691e-03 5.39902241e+00] [-2.04140307e-02 -2.24546451e-04 9.99791587e-01 -7.32523897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47 meters 0.018641291906980707 Centerline is valid? [True, True] Translation: X:36.05, Y:5.41, Z:-0.73 [[ 9.62463497e-01 -2.70711215e-01 1.94795884e-02 3.60485645e+01] [ 2.70650268e-01 9.62660568e-01 5.75004956e-03 5.40816741e+00] [-2.03088346e-02 -2.62056989e-04 9.99793720e-01 -7.33861685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.5 meters 0.01987546511377511 Centerline is valid? [True, True] Translation: X:36.08, Y:5.42, Z:-0.74 [[ 9.63081885e-01 -2.68471788e-01 1.99043393e-02 3.60759801e+01] [ 2.68407634e-01 9.63287495e-01 5.87739455e-03 5.41756847e+00] [-2.07515158e-02 -3.17935594e-04 9.99784614e-01 -7.35437175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53 meters 0.01832765926754592 Centerline is valid? [True, True] Translation: X:36.10, Y:5.43, Z:-0.74 [[ 9.63008411e-01 -2.68841610e-01 1.84116432e-02 3.61031936e+01] [ 2.68786700e-01 9.63184356e-01 5.44110638e-03 5.42543951e+00] [-1.91966025e-02 -2.91026375e-04 9.99815686e-01 -7.36139945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559999999999995 meters 0.017842979712746773 Centerline is valid? [True, True] Translation: X:36.13, Y:5.43, Z:-0.74 [[ 9.62627081e-01 -2.70216613e-01 1.82231765e-02 3.61309040e+01] [ 2.70162962e-01 9.62799518e-01 5.39100625e-03 5.43240698e+00] [-1.90020050e-02 -2.66301272e-04 9.99819410e-01 -7.36883239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589999999999996 meters 0.018957797424207293 Centerline is valid? [True, True] Translation: X:36.16, Y:5.44, Z:-0.74 [[ 9.61973079e-01 -2.72491279e-01 1.88758541e-02 3.61582845e+01] [ 2.72434045e-01 9.62158224e-01 5.58959578e-03 5.43934324e+00] [-1.96846743e-02 -2.34615396e-04 9.99806210e-01 -7.38423761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62 meters 0.018446620316597766 Centerline is valid? [True, True] Translation: X:36.19, Y:5.44, Z:-0.74 [[ 9.60953957e-01 -2.75966415e-01 2.02491822e-02 3.61871085e+01] [ 2.75901273e-01 9.61167262e-01 5.99844244e-03 5.44416404e+00] [-2.11182197e-02 -1.77451853e-04 9.99776970e-01 -7.37420111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65 meters 0.016483422104328117 Centerline is valid? [True, True] Translation: X:36.21, Y:5.45, Z:-0.74 [[ 9.60704885e-01 -2.76817949e-01 2.04437279e-02 3.62149265e+01] [ 2.76751624e-01 9.60922367e-01 6.06161863e-03 5.45090918e+00] [-2.13228003e-02 -1.65591727e-04 9.99772630e-01 -7.35742675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68 meters 0.0167754438379206 Centerline is valid? [True, True] Translation: X:36.24, Y:5.46, Z:-0.74 [[ 9.60296525e-01 -2.78158398e-01 2.14123475e-02 3.62425509e+01] [ 2.78085819e-01 9.60535207e-01 6.35564012e-03 5.45773713e+00] [-2.23351883e-02 -1.48828941e-04 9.99750527e-01 -7.36384822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71 meters 0.01774960701262074 Centerline is valid? [True, True] Translation: X:36.27, Y:5.46, Z:-0.74 [[ 9.59801036e-01 -2.79831042e-01 2.18302595e-02 3.62692181e+01] [ 2.79755886e-01 9.60049256e-01 6.48616106e-03 5.46416717e+00] [-2.27731536e-02 -1.18280528e-04 9.99740651e-01 -7.37627860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74 meters 0.01745659604340092 Centerline is valid? [True, True] Translation: X:36.30, Y:5.47, Z:-0.74 [[ 9.59514254e-01 -2.80841942e-01 2.14522815e-02 3.62961486e+01] [ 2.80769566e-01 9.59754028e-01 6.37624408e-03 5.47144132e+00] [-2.23796303e-02 -9.49493279e-05 9.99749540e-01 -7.38470814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769999999999996 meters 0.017893919352670876 Centerline is valid? [True, True] Translation: X:36.32, Y:5.48, Z:-0.74 [[ 9.59351520e-01 -2.81394129e-01 2.14943296e-02 3.63227297e+01] [ 2.81321466e-01 9.59592276e-01 6.39498722e-03 5.47862268e+00] [-2.24253046e-02 -8.82243749e-05 9.99748517e-01 -7.39643893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.8 meters 0.017850102779797043 Centerline is valid? [True, True] Translation: X:36.35, Y:5.49, Z:-0.74 [[ 9.59241211e-01 -2.81775082e-01 2.14266834e-02 3.63505451e+01] [ 2.81702902e-01 9.59480483e-01 6.37797559e-03 5.48500622e+00] [-2.23556391e-02 -8.20581515e-05 9.99750078e-01 -7.40012285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83 meters 0.017385086907071322 Centerline is valid? [True, True] Translation: X:36.38, Y:5.49, Z:-0.74 [[ 9.59347518e-01 -2.81482242e-01 2.04960374e-02 3.63767638e+01] [ 2.81416003e-01 9.59566433e-01 6.10689578e-03 5.49221556e+00] [-2.13862922e-02 -9.07223867e-05 9.99771283e-01 -7.40040687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86 meters 0.017036844249414197 Centerline is valid? [True, True] Translation: X:36.40, Y:5.50, Z:-0.74 [[ 9.59363463e-01 -2.81456741e-01 2.00959642e-02 3.64034490e+01] [ 2.81393001e-01 9.59573913e-01 5.99040109e-03 5.49967444e+00] [-2.09696018e-02 -9.21082577e-05 9.99780109e-01 -7.40705683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89 meters 0.01748173214221434 Centerline is valid? [True, True] Translation: X:36.43, Y:5.51, Z:-0.74 [[ 9.59304205e-01 -2.81694134e-01 1.95922550e-02 3.64291311e+01] [ 2.81633477e-01 9.59504251e-01 5.84615935e-03 5.50748236e+00] [-2.04456807e-02 -9.04103576e-05 9.99790961e-01 -7.42277301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92 meters 0.017478354488574564 Centerline is valid? [True, True] Translation: X:36.46, Y:5.52, Z:-0.74 [[ 9.59304383e-01 -2.81793693e-01 1.80945955e-02 3.64559640e+01] [ 2.81741938e-01 9.59475017e-01 5.40120575e-03 5.51528612e+00] [-1.88833380e-02 -8.33939548e-05 9.99821690e-01 -7.43615806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949999999999996 meters 0.01674035354520523 Centerline is valid? [True, True] Translation: X:36.48, Y:5.52, Z:-0.74 [[ 9.59275680e-01 -2.81901718e-01 1.79329576e-02 3.64833322e+01] [ 2.81850801e-01 9.59443283e-01 5.35832141e-03 5.52352379e+00] [-1.87161757e-02 -8.56889446e-05 9.99824833e-01 -7.43112188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98 meters 0.01671906328106182 Centerline is valid? [True, True] Translation: X:36.51, Y:5.53, Z:-0.74 [[ 9.59318538e-01 -2.81701980e-01 1.87599736e-02 3.65091355e+01] [ 2.81646101e-01 9.59501946e-01 5.61152418e-03 5.53147532e+00] [-1.95810086e-02 -9.95657610e-05 9.99808269e-01 -7.42991621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01 meters 0.017941386971044613 Centerline is valid? [True, True] Translation: X:36.54, Y:5.54, Z:-0.74 [[ 9.59171939e-01 -2.82150471e-01 1.95013754e-02 3.65361040e+01] [ 2.82090127e-01 9.59370159e-01 5.83590147e-03 5.53971175e+00] [-2.03556400e-02 -9.64874465e-05 9.99792798e-01 -7.43712657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04 meters 0.015473413931712409 Centerline is valid? [True, True] Translation: X:36.56, Y:5.55, Z:-0.74 [[ 9.59088608e-01 -2.82452473e-01 1.92261078e-02 3.65636134e+01] [ 2.82393769e-01 9.59281289e-01 5.75912279e-03 5.54754431e+00] [-2.00699240e-02 -9.41760062e-05 9.99798574e-01 -7.41304425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07 meters 0.014240511820062527 Centerline is valid? [True, True] Translation: X:36.59, Y:5.56, Z:-0.74 [[ 9.59024304e-01 -2.82683822e-01 1.90326326e-02 3.65898892e+01] [ 2.82626221e-01 9.59213140e-01 5.70708651e-03 5.55504278e+00] [-1.98696523e-02 -9.41136327e-05 9.99802575e-01 -7.39205552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.1 meters 0.016591194323212436 Centerline is valid? [True, True] Translation: X:36.62, Y:5.56, Z:-0.74 [[ 9.58659786e-01 -2.83752209e-01 2.13564797e-02 3.66165551e+01] [ 2.83679871e-01 9.58897636e-01 6.40736279e-03 5.56313227e+00] [-2.22967813e-02 -8.40776375e-05 9.99751392e-01 -7.42357479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129999999999995 meters 0.016056530209212168 Centerline is valid? [True, True] Translation: X:36.64, Y:5.57, Z:-0.74 [[ 9.58509771e-01 -2.84305975e-01 2.07154737e-02 3.66433642e+01] [ 2.84237910e-01 9.58733595e-01 6.22123011e-03 5.57035251e+00] [-2.16293535e-02 -7.49868875e-05 9.99766055e-01 -7.41782585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16 meters 0.01618072919747167 Centerline is valid? [True, True] Translation: X:36.67, Y:5.58, Z:-0.74 [[ 9.58460118e-01 -2.84481406e-01 2.06041652e-02 3.66705477e+01] [ 2.84413976e-01 9.58681555e-01 6.19406041e-03 5.57803138e+00] [-2.15149281e-02 -7.66473387e-05 9.99768524e-01 -7.42309267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19 meters 0.018355758556505977 Centerline is valid? [True, True] Translation: X:36.70, Y:5.59, Z:-0.74 [[ 9.58482359e-01 -2.84367530e-01 2.11347094e-02 3.66958795e+01] [ 2.84296413e-01 9.58715338e-01 6.35999360e-03 5.58611115e+00] [-2.20707458e-02 -8.74195974e-05 9.99756408e-01 -7.44460206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22 meters 0.015940643562185042 Centerline is valid? [True, True] Translation: X:36.72, Y:5.59, Z:-0.74 [[ 9.58697188e-01 -2.83735195e-01 1.98504504e-02 3.67224291e+01] [ 2.83672272e-01 9.58902669e-01 5.97604019e-03 5.59460365e+00] [-2.07302628e-02 -9.81905604e-05 9.99785100e-01 -7.43332090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25 meters 0.01856828853902922 Centerline is valid? [True, True] Translation: X:36.75, Y:5.61, Z:-0.75 [[ 9.59328299e-01 -2.81651404e-01 1.90184666e-02 3.67481886e+01] [ 2.81593122e-01 9.59516788e-01 5.73127636e-03 5.60562085e+00] [-1.98627601e-02 -1.42706204e-04 9.99802706e-01 -7.47848026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28 meters 0.017564712000083055 Centerline is valid? [True, True] Translation: X:36.78, Y:5.61, Z:-0.75 [[ 9.59749766e-01 -2.80287534e-01 1.78685481e-02 3.67753966e+01] [ 2.80235827e-01 9.59916076e-01 5.38598681e-03 5.61497516e+00] [-1.86619315e-02 -1.61792232e-04 9.99825838e-01 -7.48559909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309999999999995 meters 0.018143589888621893 Centerline is valid? [True, True] Translation: X:36.80, Y:5.62, Z:-0.75 [[ 9.60223288e-01 -2.78706046e-01 1.71515704e-02 3.68009857e+01] [ 2.78658066e-01 9.60376439e-01 5.17476528e-03 5.62498508e+00] [-1.79142024e-02 -1.89506712e-04 9.99839510e-01 -7.50035022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339999999999996 meters 0.019704809975290324 Centerline is valid? [True, True] Translation: X:36.83, Y:5.63, Z:-0.75 [[ 9.60687781e-01 -2.77149100e-01 1.63512549e-02 3.68280579e+01] [ 2.77105246e-01 9.60826900e-01 4.93457468e-03 5.63460318e+00] [-1.70783385e-02 -2.09567077e-04 9.99854133e-01 -7.51883783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37 meters 0.01961987964353767 Centerline is valid? [True, True] Translation: X:36.85, Y:5.64, Z:-0.75 [[ 9.61190636e-01 -2.75434012e-01 1.57691597e-02 3.68537485e+01] [ 2.75392916e-01 9.61319952e-01 4.76366388e-03 5.64493708e+00] [-1.64712829e-02 -2.36074236e-04 9.99864311e-01 -7.52777462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.4 meters 0.02013608791639804 Centerline is valid? [True, True] Translation: X:36.88, Y:5.65, Z:-0.75 [[ 9.61644547e-01 -2.73844346e-01 1.57810011e-02 3.68811910e+01] [ 2.73802961e-01 9.61773988e-01 4.76806417e-03 5.65444758e+00] [-1.64834637e-02 -2.64298088e-04 9.99864104e-01 -7.53323240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43 meters 0.020578974089376686 Centerline is valid? [True, True] Translation: X:36.91, Y:5.67, Z:-0.75 [[ 9.62400105e-01 -2.71190375e-01 1.55504939e-02 3.69080457e+01] [ 2.71149777e-01 9.62525680e-01 4.70251676e-03 5.66580191e+00] [-1.62430270e-02 -3.09189671e-04 9.99868026e-01 -7.53599757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46 meters 0.02060576923741706 Centerline is valid? [True, True] Translation: X:36.93, Y:5.68, Z:-0.75 [[ 9.62717239e-01 -2.70055717e-01 1.56661580e-02 3.69335175e+01] [ 2.70014280e-01 9.62844638e-01 4.74248607e-03 5.67658534e+00] [-1.63648117e-02 -3.35586715e-04 9.99866031e-01 -7.54036037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49 meters 0.02144243976906154 Centerline is valid? [True, True] Translation: X:36.96, Y:5.68, Z:-0.76 [[ 9.62935436e-01 -2.69276105e-01 1.56756051e-02 3.69607014e+01] [ 2.69234491e-01 9.63062956e-01 4.74684415e-03 5.68463332e+00] [-1.63748063e-02 -3.50490887e-04 9.99865862e-01 -7.55217924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519999999999996 meters 0.022072384677234443 Centerline is valid? [True, True] Translation: X:36.99, Y:5.69, Z:-0.76 [[ 9.63089640e-01 -2.68752285e-01 1.51840019e-02 3.69876265e+01] [ 2.68713152e-01 9.63209265e-01 4.59938807e-03 5.69327354e+00] [-1.58614673e-02 -3.49482000e-04 9.99874138e-01 -7.55854575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55 meters 0.020246288126068702 Centerline is valid? [True, True] Translation: X:37.01, Y:5.70, Z:-0.76 [[ 9.62892121e-01 -2.69472505e-01 1.49443289e-02 3.70149916e+01] [ 2.69434680e-01 9.63008026e-01 4.52716753e-03 5.70009564e+00] [-1.56114558e-02 -3.32653480e-04 9.99878078e-01 -7.55071446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58 meters 0.020057908035347786 Centerline is valid? [True, True] Translation: X:37.04, Y:5.71, Z:-0.76 [[ 9.62614758e-01 -2.70457754e-01 1.50143311e-02 3.70434345e+01] [ 2.70419615e-01 9.62731790e-01 4.55330328e-03 5.70770886e+00] [-1.56862500e-02 -3.22907293e-04 9.99876911e-01 -7.55542049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61 meters 0.0200757767270854 Centerline is valid? [True, True] Translation: X:37.07, Y:5.72, Z:-0.76 [[ 9.62307104e-01 -2.71521532e-01 1.55272508e-02 3.70700014e+01] [ 2.71480804e-01 9.62432312e-01 4.71362518e-03 5.71539553e+00] [-1.62237786e-02 -3.20604459e-04 9.99868334e-01 -7.56597840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64 meters 0.019116276097871206 Centerline is valid? [True, True] Translation: X:37.10, Y:5.72, Z:-0.76 [[ 9.61551078e-01 -2.74214224e-01 1.50360446e-02 3.70981881e+01] [ 2.74176352e-01 9.61668596e-01 4.56509308e-03 5.72185045e+00] [-1.57115053e-02 -2.67042329e-04 9.99876531e-01 -7.57435056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67 meters 0.02006643282172091 Centerline is valid? [True, True] Translation: X:37.13, Y:5.73, Z:-0.76 [[ 9.60987037e-01 -2.76218229e-01 1.44015289e-02 3.71262774e+01] [ 2.76183655e-01 9.61094916e-01 4.37610166e-03 5.72873443e+00] [-1.50499953e-02 -2.27910075e-04 9.99886716e-01 -7.59672533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699999999999996 meters 0.018250672847522745 Centerline is valid? [True, True] Translation: X:37.15, Y:5.74, Z:-0.76 [[ 9.60301891e-01 -2.78612072e-01 1.39854284e-02 3.71546282e+01] [ 2.78579669e-01 9.60403706e-01 4.25324865e-03 5.73501568e+00] [-1.46166637e-02 -1.88346708e-04 9.99893153e-01 -7.59542825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73 meters 0.01761933709414282 Centerline is valid? [True, True] Translation: X:37.18, Y:5.74, Z:-0.76 [[ 9.58782447e-01 -2.83821932e-01 1.34659005e-02 3.71838182e+01] [ 2.83792356e-01 9.58876999e-01 4.09869652e-03 5.73806377e+00] [-1.40754422e-02 -1.08238638e-04 9.99900930e-01 -7.60187674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76 meters 0.01769665487587547 Centerline is valid? [True, True] Translation: X:37.21, Y:5.74, Z:-0.76 [[ 9.57986652e-01 -2.86518834e-01 1.29820113e-02 3.72113287e+01] [ 2.86491537e-01 9.58074607e-01 3.95556127e-03 5.74400322e+00] [-1.35710782e-02 -7.01385244e-05 9.99907906e-01 -7.61345004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79 meters 0.01646129767183905 Centerline is valid? [True, True] Translation: X:37.24, Y:5.75, Z:-0.76 [[ 9.57113451e-01 -2.89436031e-01 1.26738367e-02 3.72389217e+01] [ 2.89410262e-01 9.57197358e-01 3.86227630e-03 5.74925341e+00] [-1.32492449e-02 -2.86981962e-05 9.99912224e-01 -7.60518174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82 meters 0.015262417486956788 Centerline is valid? [True, True] Translation: X:37.27, Y:5.76, Z:-0.76 [[ 9.56220461e-01 -2.92374762e-01 1.26265156e-02 3.72662355e+01] [ 2.92349391e-01 9.56303821e-01 3.85167066e-03 5.75532388e+00] [-1.32009164e-02 8.30784335e-06 9.99912864e-01 -7.59943030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85 meters 0.018646006569753373 Centerline is valid? [True, True] Translation: X:37.29, Y:5.76, Z:-0.76 [[ 9.55027567e-01 -2.96287828e-01 1.16562767e-02 3.72936314e+01] [ 2.96266439e-01 9.55098697e-01 3.56044022e-03 5.76016747e+00] [-1.21878098e-02 5.30450249e-05 9.99925724e-01 -7.64463222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879999999999995 meters 0.017462815795325142 Centerline is valid? [True, True] Translation: X:37.32, Y:5.77, Z:-0.76 [[ 9.54386522e-01 -2.98335835e-01 1.19204152e-02 3.73212895e+01] [ 2.98313632e-01 9.54460959e-01 3.64056708e-03 5.76757267e+00] [-1.24636826e-02 8.15142171e-05 9.99922322e-01 -7.63525961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91 meters 0.016979253152101987 Centerline is valid? [True, True] Translation: X:37.35, Y:5.77, Z:-0.76 [[ 9.53946669e-01 -2.99737027e-01 1.19777900e-02 3.73489597e+01] [ 2.99714652e-01 9.54021858e-01 3.66354504e-03 5.77383690e+00] [-1.25251736e-02 9.50925706e-05 9.99921552e-01 -7.63671679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94 meters 0.01632891525319349 Centerline is valid? [True, True] Translation: X:37.38, Y:5.78, Z:-0.76 [[ 9.53615860e-01 -3.00780833e-01 1.21524862e-02 3.73764079e+01] [ 3.00757870e-01 9.53693283e-01 3.71821141e-03 5.78023287e+00] [-1.27081112e-02 1.09210505e-04 9.99919243e-01 -7.63042695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97 meters 0.01687227198036038 Centerline is valid? [True, True] Translation: X:37.40, Y:5.79, Z:-0.76 [[ 9.53400945e-01 -3.01464356e-01 1.20780698e-02 3.74028256e+01] [ 3.01441735e-01 9.53477440e-01 3.69492723e-03 5.78885288e+00] [-1.26300560e-02 1.18087214e-04 9.99920231e-01 -7.63218827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.0 meters 0.016040165737446457 Centerline is valid? [True, True] Translation: X:37.43, Y:5.80, Z:-0.76 [[ 9.53526357e-01 -3.01057021e-01 1.23351824e-02 3.74285691e+01] [ 3.01033332e-01 9.53606134e-01 3.77823152e-03 5.79738361e+00] [-1.29003687e-02 1.10657721e-04 9.99916781e-01 -7.63131733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03 meters 0.017744941468181313 Centerline is valid? [True, True] Translation: X:37.45, Y:5.81, Z:-0.77 [[ 9.53779249e-01 -3.00274131e-01 1.18571172e-02 3.74539325e+01] [ 3.00252146e-01 9.53852943e-01 3.63474540e-03 5.80627496e+00] [-1.24013662e-02 9.33801450e-05 9.99923096e-01 -7.65886047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059999999999995 meters 0.017878737076720073 Centerline is valid? [True, True] Translation: X:37.48, Y:5.82, Z:-0.77 [[ 9.54291735e-01 -2.98654706e-01 1.15174123e-02 3.74796499e+01] [ 2.98633844e-01 9.54361232e-01 3.53068267e-03 5.81742214e+00] [-1.20462268e-02 7.01878178e-05 9.99927439e-01 -7.67133156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.089999999999996 meters 0.014203994583301807 Centerline is valid? [True, True] Translation: X:37.51, Y:5.83, Z:-0.76 [[ 9.54578060e-01 -2.97681716e-01 1.28966610e-02 3.75071407e+01] [ 2.97655405e-01 9.54665173e-01 3.95822967e-03 5.82740080e+00] [-1.34902857e-02 6.03216738e-05 9.99909000e-01 -7.62146696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12 meters 0.015898468454925246 Centerline is valid? [True, True] Translation: X:37.53, Y:5.84, Z:-0.77 [[ 9.55000672e-01 -2.96333152e-01 1.26640870e-02 3.75326560e+01] [ 2.96307614e-01 9.55084636e-01 3.89059128e-03 5.83665096e+00] [-1.32481861e-02 3.69481052e-05 9.99912238e-01 -7.65313111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15 meters 0.01642825101992087 Centerline is valid? [True, True] Translation: X:37.56, Y:5.85, Z:-0.77 [[ 9.55762291e-01 -2.93893322e-01 1.20482037e-02 3.75584134e+01] [ 2.93869993e-01 9.55838227e-01 3.70293776e-03 5.84770509e+00] [-1.26044023e-02 1.47725394e-06 9.99920561e-01 -7.66921135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18 meters 0.015791989135297384 Centerline is valid? [True, True] Translation: X:37.58, Y:5.86, Z:-0.77 [[ 9.56113075e-01 -2.92752185e-01 1.19977431e-02 3.75836201e+01] [ 2.92728898e-01 9.56188349e-01 3.69247045e-03 5.85729268e+00] [-1.25530809e-02 -1.83331760e-05 9.99921207e-01 -7.68155314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21 meters 0.016469520787797887 Centerline is valid? [True, True] Translation: X:37.61, Y:5.87, Z:-0.77 [[ 9.56404466e-01 -2.91817893e-01 1.15245215e-02 3.76097995e+01] [ 2.91796337e-01 9.56473897e-01 3.54698664e-03 5.86653954e+00] [-1.20579782e-02 -2.95406965e-05 9.99927300e-01 -7.69241472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239999999999995 meters 0.016469520787797887 Centerline is valid? [True, True] Translation: X:37.64, Y:5.87, Z:-0.77 [[ 9.56320734e-01 -2.92092212e-01 1.15236252e-02 3.76361636e+01] [ 2.92070641e-01 9.56390160e-01 3.54989551e-03 5.87474763e+00] [-1.20579785e-02 -2.91260933e-05 9.99927300e-01 -7.69807804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269999999999996 meters 0.01535496155033704 Centerline is valid? [True, True] Translation: X:37.66, Y:5.88, Z:-0.77 [[ 9.56456549e-01 -2.91635899e-01 1.18056250e-02 3.76617102e+01] [ 2.91613160e-01 9.56529404e-01 3.64202899e-03 5.88373240e+00] [-1.23545738e-02 -4.07668702e-05 9.99923679e-01 -7.69803893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.3 meters 0.017480351576169666 Centerline is valid? [True, True] Translation: X:37.69, Y:5.89, Z:-0.77 [[ 9.56520387e-01 -2.91447433e-01 1.12757716e-02 3.76887988e+01] [ 2.91426677e-01 9.56586845e-01 3.47855915e-03 5.89263539e+00] [-1.18000720e-02 -4.12520886e-05 9.99930376e-01 -7.72024948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33 meters 0.01384554649439207 Centerline is valid? [True, True] Translation: X:37.72, Y:5.90, Z:-0.77 [[ 9.56445808e-01 -2.91619629e-01 1.30157252e-02 3.77162219e+01] [ 2.91591918e-01 9.56534364e-01 4.02045464e-03 5.90142036e+00] [-1.36224319e-02 -5.00667059e-05 9.99907209e-01 -7.67088360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36 meters 0.015262997762735361 Centerline is valid? [True, True] Translation: X:37.74, Y:5.91, Z:-0.77 [[ 9.56269299e-01 -2.92219068e-01 1.25317100e-02 3.77423005e+01] [ 2.92193375e-01 9.56351407e-01 3.87515704e-03 5.90956017e+00] [-1.31171133e-02 -4.40110522e-05 9.99913966e-01 -7.69695236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39 meters 0.016487427227359314 Centerline is valid? [True, True] Translation: X:37.77, Y:5.92, Z:-0.77 [[ 9.55932600e-01 -2.93326145e-01 1.23546751e-02 3.77693156e+01] [ 2.93301261e-01 9.56012433e-01 3.82078239e-03 5.91730470e+00] [-1.29319584e-02 -2.87686485e-05 9.99916378e-01 -7.70916593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42 meters 0.015534871845962613 Centerline is valid? [True, True] Translation: X:37.80, Y:5.92, Z:-0.77 [[ 9.55280211e-01 -2.95409224e-01 1.31570737e-02 3.77961090e+01] [ 2.95381121e-01 9.55370813e-01 4.07472856e-03 5.92415294e+00] [-1.37735966e-02 -6.15637741e-06 9.99905139e-01 -7.70584384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449999999999996 meters 0.01721455892171281 Centerline is valid? [True, True] Translation: X:37.82, Y:5.93, Z:-0.77 [[ 9.54784525e-01 -2.97038507e-01 1.24352934e-02 3.78229482e+01] [ 2.97013546e-01 9.54865501e-01 3.85076379e-03 5.93142097e+00] [-1.30178578e-02 1.68009278e-05 9.99915264e-01 -7.72745144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48 meters 0.017236214678414186 Centerline is valid? [True, True] Translation: X:37.85, Y:5.94, Z:-0.77 [[ 9.54295902e-01 -2.98615076e-01 1.21806549e-02 3.78502400e+01] [ 2.98591190e-01 9.54373635e-01 3.77704760e-03 5.93866535e+00] [-1.27527792e-02 3.26151841e-05 9.99918679e-01 -7.73523204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51 meters 0.013766162613260623 Centerline is valid? [True, True] Translation: X:37.88, Y:5.94, Z:-0.77 [[ 9.53331325e-01 -3.01656997e-01 1.27452706e-02 3.78777648e+01] [ 3.01631119e-01 9.53416515e-01 3.95189568e-03 5.94493827e+00] [-1.33436685e-02 7.69042968e-05 9.99910966e-01 -7.69163314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54 meters 0.0173248365070647 Centerline is valid? [True, True] Translation: X:37.90, Y:5.95, Z:-0.78 [[ 9.52817428e-01 -3.03335190e-01 1.12566361e-02 3.79045080e+01] [ 3.03315068e-01 9.52883915e-01 3.49491538e-03 5.95153935e+00] [-1.17863983e-02 8.42910512e-05 9.99930534e-01 -7.75452509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57 meters 0.014475789417552044 Centerline is valid? [True, True] Translation: X:37.93, Y:5.96, Z:-0.77 [[ 9.52484527e-01 -3.04347480e-01 1.20762998e-02 3.79317576e+01] [ 3.04324406e-01 9.52561074e-01 3.74909298e-03 5.95984016e+00] [-1.26444401e-02 1.04159704e-04 9.99920050e-01 -7.71932053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.6 meters 0.01417341404057865 Centerline is valid? [True, True] Translation: X:37.96, Y:5.97, Z:-0.77 [[ 9.52221357e-01 -3.05179193e-01 1.18383819e-02 3.79588309e+01] [ 3.05157019e-01 9.52294938e-01 3.68041937e-03 5.96744886e+00] [-1.23968186e-02 1.07991413e-04 9.99923151e-01 -7.71796900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629999999999995 meters 0.014295674574302773 Centerline is valid? [True, True] Translation: X:37.99, Y:5.98, Z:-0.77 [[ 9.52096190e-01 -3.05570919e-01 1.18007910e-02 3.79852316e+01] [ 3.05548905e-01 9.52169313e-01 3.66956175e-03 5.97519860e+00] [-1.23576625e-02 1.11943028e-04 9.99923635e-01 -7.72393573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66 meters 0.01578993699166453 Centerline is valid? [True, True] Translation: X:38.01, Y:5.98, Z:-0.78 [[ 9.52031078e-01 -3.05773802e-01 1.17986324e-02 3.80115370e+01] [ 3.05751809e-01 9.52104180e-01 3.66911730e-03 5.98396262e+00] [-1.23554471e-02 1.14339487e-04 9.99923662e-01 -7.75181645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69 meters 0.01680000072525661 Centerline is valid? [True, True] Translation: X:38.04, Y:5.99, Z:-0.78 [[ 9.52062466e-01 -3.05694619e-01 1.13075572e-02 3.80379377e+01] [ 3.05674376e-01 9.52129607e-01 3.51956837e-03 5.99295298e+00] [-1.18421731e-02 1.05581551e-04 9.99929873e-01 -7.77164975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72 meters 0.016913896129689854 Centerline is valid? [True, True] Translation: X:38.06, Y:6.00, Z:-0.78 [[ 9.52687493e-01 -3.03777766e-01 1.02766901e-02 3.80632730e+01] [ 3.03760897e-01 9.52742916e-01 3.20215018e-03 6.00234958e+00] [-1.07637857e-02 7.10081661e-05 9.99942066e-01 -7.79370104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75 meters 0.014424593439028296 Centerline is valid? [True, True] Translation: X:38.09, Y:6.01, Z:-0.78 [[ 9.53123311e-01 -3.02382442e-01 1.09915231e-02 3.80906681e+01] [ 3.02363028e-01 9.53186684e-01 3.42693736e-03 6.01165492e+00] [-1.15132191e-02 5.71363139e-05 9.99933719e-01 -7.76446554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78 meters 0.017496108128049154 Centerline is valid? [True, True] Translation: X:38.12, Y:6.02, Z:-0.78 [[ 9.53474759e-01 -3.01313729e-01 9.79393912e-03 3.81171367e+01] [ 3.01298221e-01 9.53525058e-01 3.05715300e-03 6.02096552e+00] [-1.02599285e-02 3.59782119e-05 9.99947365e-01 -7.80762280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809999999999995 meters 0.0146742304178327 Centerline is valid? [True, True] Translation: X:38.14, Y:6.03, Z:-0.78 [[ 9.53924896e-01 -2.99870986e-01 1.02315305e-02 3.81437836e+01] [ 2.99853988e-01 9.53979765e-01 3.19287227e-03 6.03047129e+00] [-1.07181229e-02 2.22048910e-05 9.99942559e-01 -7.78295847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839999999999996 meters 0.017012843134719145 Centerline is valid? [True, True] Translation: X:38.17, Y:6.04, Z:-0.78 [[ 9.54469825e-01 -2.98161240e-01 9.33963378e-03 3.81694898e+01] [ 2.98146953e-01 9.54515518e-01 2.91883427e-03 6.04011637e+00] [-9.78510862e-03 -1.35588614e-06 9.99952125e-01 -7.81091028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87 meters 0.017044200223435203 Centerline is valid? [True, True] Translation: X:38.20, Y:6.05, Z:-0.78 [[ 9.54721916e-01 -2.97339669e-01 9.75623020e-03 3.81960619e+01] [ 2.97324046e-01 9.54771764e-01 3.04805777e-03 6.04956238e+00] [-1.02212816e-02 -9.28571552e-06 9.99947761e-01 -7.81455416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.9 meters 0.01585421492095297 Centerline is valid? [True, True] Translation: X:38.22, Y:6.06, Z:-0.78 [[ 9.54965299e-01 -2.96530277e-01 1.05390513e-02 3.82228556e+01] [ 2.96511959e-01 9.55023452e-01 3.29602365e-03 6.05903382e+00] [-1.10424119e-02 -2.26334714e-05 9.99939030e-01 -7.80110687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93 meters 0.01780678780527752 Centerline is valid? [True, True] Translation: X:38.25, Y:6.07, Z:-0.78 [[ 9.55210984e-01 -2.95739522e-01 1.04934187e-02 3.82480167e+01] [ 2.95721272e-01 9.55268619e-01 3.28563556e-03 6.06831821e+00] [-1.09957259e-02 -3.53480361e-05 9.99939545e-01 -7.82325731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96 meters 0.017590873166171635 Centerline is valid? [True, True] Translation: X:38.27, Y:6.08, Z:-0.78 [[ 9.55665271e-01 -2.94266478e-01 1.05418490e-02 3.82748547e+01] [ 2.94247957e-01 9.55723410e-01 3.30187059e-03 6.07691010e+00] [-1.10467217e-02 -5.35655140e-05 9.99938982e-01 -7.80731484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989999999999995 meters 0.013964892280687603 Centerline is valid? [True, True] Translation: X:38.30, Y:6.08, Z:-0.78 [[ 9.55866697e-01 -2.93555956e-01 1.19899539e-02 3.83014673e+01] [ 2.93531885e-01 9.55941889e-01 3.75997069e-03 6.08484449e+00] [-1.25654609e-02 -7.45970077e-05 9.99921049e-01 -7.76757829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019999999999996 meters 0.017049371298432942 Centerline is valid? [True, True] Translation: X:38.33, Y:6.09, Z:-0.78 [[ 9.55676584e-01 -2.94219193e-01 1.08320936e-02 3.83278105e+01] [ 2.94199535e-01 9.55737967e-01 3.40163040e-03 6.09351231e+00] [-1.13534680e-02 -6.40616257e-05 9.99935545e-01 -7.81473054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05 meters 0.01740333626030896 Centerline is valid? [True, True] Translation: X:38.35, Y:6.10, Z:-0.78 [[ 9.55541922e-01 -2.94671247e-01 1.04159545e-02 3.83545424e+01] [ 2.94653109e-01 9.55598688e-01 3.26996234e-03 6.10086925e+00] [-1.09170363e-02 -5.54927299e-05 9.99940406e-01 -7.81598028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08 meters 0.016331821610070595 Centerline is valid? [True, True] Translation: X:38.38, Y:6.11, Z:-0.78 [[ 9.55447787e-01 -2.94972448e-01 1.05252700e-02 3.83810808e+01] [ 2.94953908e-01 9.55505757e-01 3.30759140e-03 6.10899968e+00] [-1.10326045e-02 -5.57613545e-05 9.99939137e-01 -7.81137921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11 meters 0.01752952706546976 Centerline is valid? [True, True] Translation: X:38.41, Y:6.12, Z:-0.78 [[ 9.55360170e-01 -2.95269367e-01 1.01462513e-02 3.84066717e+01] [ 2.95252107e-01 9.55414045e-01 3.19304097e-03 6.11749002e+00] [-1.06366782e-02 -5.48020954e-05 9.99943427e-01 -7.83207600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14 meters 0.016895196261361635 Centerline is valid? [True, True] Translation: X:38.43, Y:6.13, Z:-0.78 [[ 9.55205951e-01 -2.95768056e-01 1.01413767e-02 3.84331602e+01] [ 2.95750844e-01 9.55259784e-01 3.19120834e-03 6.12605402e+00] [-1.06315068e-02 -4.89404817e-05 9.99943483e-01 -7.83937866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17 meters 0.015687894961253147 Centerline is valid? [True, True] Translation: X:38.46, Y:6.13, Z:-0.78 [[ 9.54819744e-01 -2.97003876e-01 1.03901073e-02 3.84600551e+01] [ 2.96985846e-01 9.54876273e-01 3.27276266e-03 6.13423789e+00] [-1.08932901e-02 -3.91835883e-05 9.99940666e-01 -7.83758223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199999999999996 meters 0.016084136393492116 Centerline is valid? [True, True] Translation: X:38.49, Y:6.14, Z:-0.78 [[ 9.54546341e-01 -2.97863464e-01 1.08922142e-02 3.84866185e+01] [ 2.97843641e-01 9.54608483e-01 3.43650399e-03 6.14226533e+00] [-1.14214091e-02 -3.61255663e-05 9.99934773e-01 -7.84525215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23 meters 0.016131645902592355 Centerline is valid? [True, True] Translation: X:38.51, Y:6.15, Z:-0.79 [[ 9.54278899e-01 -2.98698762e-01 1.14381907e-02 3.85133836e+01] [ 2.98676948e-01 9.54347446e-01 3.60997879e-03 6.15029521e+00] [-1.19943043e-02 -2.86027007e-05 9.99928065e-01 -7.85401875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26 meters 0.016221367784422683 Centerline is valid? [True, True] Translation: X:38.54, Y:6.16, Z:-0.79 [[ 9.53529624e-01 -3.01045246e-01 1.23699188e-02 3.85410822e+01] [ 3.01019930e-01 9.53609857e-01 3.90412949e-03 6.15723252e+00] [-1.29713961e-02 8.88960596e-07 9.99915868e-01 -7.85531185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29 meters 0.0146696349746376 Centerline is valid? [True, True] Translation: X:38.57, Y:6.16, Z:-0.78 [[ 9.53246040e-01 -3.01929086e-01 1.26812779e-02 3.85677660e+01] [ 3.01902514e-01 9.53330387e-01 4.00562039e-03 6.16467037e+00] [-1.32988609e-02 1.01679031e-05 9.99911566e-01 -7.84044617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32 meters 0.01664481911915679 Centerline is valid? [True, True] Translation: X:38.60, Y:6.17, Z:-0.79 [[ 9.52753086e-01 -3.03513397e-01 1.18817422e-02 3.85952667e+01] [ 3.03490149e-01 9.52827171e-01 3.75659470e-03 6.17288290e+00] [-1.24614236e-02 2.68845083e-05 9.99922353e-01 -7.87331281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35 meters 0.01665874344173718 Centerline is valid? [True, True] Translation: X:38.62, Y:6.18, Z:-0.79 [[ 9.52466396e-01 -3.04445993e-01 1.09727776e-02 3.86232849e+01] [ 3.04426199e-01 9.52529599e-01 3.47173765e-03 6.18128045e+00] [-1.15088521e-02 3.36875342e-05 9.99933770e-01 -7.88866295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379999999999995 meters 0.01639173919418254 Centerline is valid? [True, True] Translation: X:38.65, Y:6.19, Z:-0.79 [[ 9.51883680e-01 -3.06263269e-01 1.09667365e-02 3.86504308e+01] [ 3.06243567e-01 9.51946851e-01 3.47427307e-03 6.18812308e+00] [-1.15037925e-02 5.13886613e-05 9.99933828e-01 -7.89781733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41 meters 0.013707229297188681 Centerline is valid? [True, True] Translation: X:38.68, Y:6.20, Z:-0.79 [[ 9.51664387e-01 -3.06923563e-01 1.15247797e-02 3.86774436e+01] [ 3.06901858e-01 9.51734166e-01 3.65057271e-03 6.19602624e+00] [-1.20889733e-02 6.28562568e-05 9.99926924e-01 -7.86654970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44 meters 0.017190789128776487 Centerline is valid? [True, True] Translation: X:38.71, Y:6.20, Z:-0.79 [[ 9.51303831e-01 -3.08057245e-01 1.10342979e-02 3.87050611e+01] [ 3.08037386e-01 9.51367820e-01 3.49852844e-03 6.20417564e+00] [-1.15754229e-02 7.08127661e-05 9.99933000e-01 -7.90606917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47 meters 0.01651683555372708 Centerline is valid? [True, True] Translation: X:38.73, Y:6.21, Z:-0.79 [[ 9.51160643e-01 -3.08460394e-01 1.20671615e-02 3.87316544e+01] [ 3.08436612e-01 9.51237183e-01 3.83111583e-03 6.21107428e+00] [-1.26604803e-02 7.79478212e-05 9.99919850e-01 -7.90254692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.5 meters 0.016453576105656047 Centerline is valid? [True, True] Translation: X:38.76, Y:6.22, Z:-0.79 [[ 9.51147624e-01 -3.08480540e-01 1.25679824e-02 3.87586122e+01] [ 3.08454745e-01 9.51230650e-01 3.99002333e-03 6.21985307e+00] [-1.31858946e-02 8.15526040e-05 9.99913059e-01 -7.90252774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53 meters 0.01729969860332035 Centerline is valid? [True, True] Translation: X:38.79, Y:6.23, Z:-0.79 [[ 9.51199917e-01 -3.08316647e-01 1.26318484e-02 3.87850374e+01] [ 3.08290527e-01 9.51283785e-01 4.01387071e-03 6.22958574e+00] [-1.32540157e-02 7.62857239e-05 9.99912159e-01 -7.90577073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559999999999995 meters 0.015871442584049357 Centerline is valid? [True, True] Translation: X:38.81, Y:6.24, Z:-0.79 [[ 9.51843766e-01 -3.06260747e-01 1.40641484e-02 3.88121861e+01] [ 3.06228066e-01 9.51947663e-01 4.47429354e-03 6.24075157e+00] [-1.47586337e-02 4.80085406e-05 9.99891084e-01 -7.90066664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589999999999996 meters 0.016171534857465582 Centerline is valid? [True, True] Translation: X:38.84, Y:6.25, Z:-0.79 [[ 9.52323637e-01 -3.04776441e-01 1.38207216e-02 3.88377445e+01] [ 3.04744660e-01 9.52423919e-01 4.40130840e-03 6.25000438e+00] [-1.45046010e-02 2.03210932e-05 9.99894803e-01 -7.91277494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62 meters 0.016233697789202656 Centerline is valid? [True, True] Translation: X:38.86, Y:6.26, Z:-0.79 [[ 9.52710265e-01 -3.03572417e-01 1.36725301e-02 3.88629671e+01] [ 3.03541170e-01 9.52808369e-01 4.35548826e-03 6.25893323e+00] [-1.43495072e-02 6.57420886e-07 9.99897041e-01 -7.92116457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65 meters 0.015178008969922155 Centerline is valid? [True, True] Translation: X:38.89, Y:6.27, Z:-0.79 [[ 9.53548734e-01 -3.00961556e-01 1.29210225e-02 3.88903986e+01] [ 3.00933382e-01 9.53636273e-01 4.11814269e-03 6.26844071e+00] [-1.35613583e-02 -3.84827640e-05 9.99908040e-01 -7.91146075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68 meters 0.016950362853661916 Centerline is valid? [True, True] Translation: X:38.92, Y:6.28, Z:-0.79 [[ 9.53688086e-01 -3.00543222e-01 1.23614758e-02 3.89172830e+01] [ 3.00517363e-01 9.53768195e-01 3.94266535e-03 6.27737221e+00] [-1.29749238e-02 -4.52348518e-05 9.99915821e-01 -7.93648540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71 meters 0.014763408187431258 Centerline is valid? [True, True] Translation: X:38.94, Y:6.29, Z:-0.79 [[ 9.53913930e-01 -2.99802229e-01 1.29165760e-02 3.89440468e+01] [ 2.99773869e-01 9.54001373e-01 4.12401460e-03 6.28633045e+00] [-1.35588200e-02 -6.19030061e-05 9.99908073e-01 -7.92148658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739999999999995 meters 0.016097427532885122 Centerline is valid? [True, True] Translation: X:38.97, Y:6.30, Z:-0.79 [[ 9.54109583e-01 -2.99185451e-01 1.27659297e-02 3.89702533e+01] [ 2.99157642e-01 9.54194980e-01 4.07980684e-03 6.29529856e+00] [-1.34018049e-02 -7.35573675e-05 9.99910189e-01 -7.94525979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769999999999996 meters 0.01844332424113327 Centerline is valid? [True, True] Translation: X:39.00, Y:6.30, Z:-0.80 [[ 9.54115046e-01 -2.99187813e-01 1.22935474e-02 3.89968540e+01] [ 2.99161978e-01 9.54194240e-01 3.93241261e-03 6.30376613e+00] [-1.29069620e-02 -7.42120829e-05 9.99916699e-01 -7.96946108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.8 meters 0.016751439938379267 Centerline is valid? [True, True] Translation: X:39.02, Y:6.31, Z:-0.80 [[ 9.54029689e-01 -2.99432992e-01 1.29319591e-02 3.90226114e+01] [ 2.99404360e-01 9.54117329e-01 4.14155528e-03 6.31180041e+00] [-1.35787246e-02 -7.92817527e-05 9.99907802e-01 -7.96809757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83 meters 0.01620298939639321 Centerline is valid? [True, True] Translation: X:39.05, Y:6.32, Z:-0.80 [[ 9.53855050e-01 -2.99989117e-01 1.29256761e-02 3.90484469e+01] [ 2.99960520e-01 9.53942621e-01 4.14275324e-03 6.31940525e+00] [-1.35731342e-02 -7.43935839e-05 9.99907878e-01 -7.97027068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86 meters 0.014716027285188045 Centerline is valid? [True, True] Translation: X:39.08, Y:6.33, Z:-0.80 [[ 9.53222837e-01 -3.01959896e-01 1.36544525e-02 3.90773328e+01] [ 3.01928169e-01 9.53320628e-01 4.37744708e-03 6.32514528e+00] [-1.43388847e-02 -5.00186764e-05 9.99897192e-01 -7.95570886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89 meters 0.013560146702625238 Centerline is valid? [True, True] Translation: X:39.10, Y:6.33, Z:-0.79 [[ 9.52899880e-01 -3.02984053e-01 1.35085664e-02 3.91047614e+01] [ 3.02953058e-01 9.52995625e-01 4.33393220e-03 6.33236647e+00] [-1.41867170e-02 -3.73419913e-05 9.99899363e-01 -7.94127956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92 meters 0.017402467659999126 Centerline is valid? [True, True] Translation: X:39.13, Y:6.34, Z:-0.80 [[ 9.52403898e-01 -3.04563306e-01 1.29617491e-02 3.91318796e+01] [ 3.04534865e-01 9.52492096e-01 4.16220396e-03 6.33989167e+00] [-1.36136181e-02 -1.67947790e-05 9.99907330e-01 -7.98764392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949999999999996 meters 0.013602710964467421 Centerline is valid? [True, True] Translation: X:39.16, Y:6.35, Z:-0.80 [[ 9.52440999e-01 -3.04388880e-01 1.42671788e-02 3.91576629e+01] [ 3.04354314e-01 9.52547851e-01 4.58717020e-03 6.34879540e+00] [-1.49864541e-02 -2.67315416e-05 9.99887696e-01 -7.95401406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98 meters 0.016523909169198547 Centerline is valid? [True, True] Translation: X:39.18, Y:6.36, Z:-0.80 [[ 9.52307914e-01 -3.04821193e-01 1.39167741e-02 3.91846022e+01] [ 3.04788316e-01 9.52409597e-01 4.47691342e-03 6.35786016e+00] [-1.46191273e-02 -2.17299265e-05 9.99893135e-01 -7.99414160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01 meters 0.014287096559196128 Centerline is valid? [True, True] Translation: X:39.21, Y:6.37, Z:-0.80 [[ 9.52442404e-01 -3.04405441e-01 1.38128387e-02 3.92107057e+01] [ 3.04372948e-01 9.52542559e-01 4.44770793e-03 6.36718223e+00] [-1.45112232e-02 -3.19311832e-05 9.99894706e-01 -7.97522271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04 meters 0.01804669924045964 Centerline is valid? [True, True] Translation: X:39.24, Y:6.38, Z:-0.80 [[ 9.52599083e-01 -3.03974500e-01 1.24294283e-02 3.92373341e+01] [ 3.03948107e-01 9.52680168e-01 4.00581847e-03 6.37795275e+00] [-1.30589365e-02 -3.80377916e-05 9.99914728e-01 -8.02564220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07 meters 0.016718516895539704 Centerline is valid? [True, True] Translation: X:39.26, Y:6.39, Z:-0.80 [[ 9.52576153e-01 -3.04024746e-01 1.29470509e-02 3.92639572e+01] [ 3.03996066e-01 9.52664134e-01 4.17611124e-03 6.38731447e+00] [-1.36038322e-02 -4.22114488e-05 9.99907463e-01 -8.02341926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.1 meters 0.017244099720698756 Centerline is valid? [True, True] Translation: X:39.29, Y:6.40, Z:-0.80 [[ 9.52587712e-01 -3.04006742e-01 1.25120754e-02 3.92898630e+01] [ 3.03979887e-01 9.52669879e-01 4.04104504e-03 6.39613550e+00] [-1.31483823e-02 -4.60305904e-05 9.99913555e-01 -8.03435489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129999999999995 meters 0.017244099720698756 Centerline is valid? [True, True] Translation: X:39.32, Y:6.40, Z:-0.80 [[ 9.52502840e-01 -3.04272553e-01 1.25121605e-02 3.93161106e+01] [ 3.04245723e-01 9.52585016e-01 4.04078262e-03 6.40470059e+00] [-1.31483958e-02 -4.20855928e-05 9.99913555e-01 -8.04003475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16 meters 0.017182572224416326 Centerline is valid? [True, True] Translation: X:39.34, Y:6.41, Z:-0.80 [[ 9.52443869e-01 -3.04466344e-01 1.22850189e-02 3.93424062e+01] [ 3.04440449e-01 9.52523093e-01 3.97108653e-03 6.41354206e+00] [-1.29108264e-02 -4.21803497e-05 9.99916651e-01 -8.04275187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19 meters 0.014870236578142347 Centerline is valid? [True, True] Translation: X:39.37, Y:6.42, Z:-0.80 [[ 9.52360778e-01 -3.04701658e-01 1.28782135e-02 3.93689742e+01] [ 3.04673165e-01 9.52447845e-01 4.16706734e-03 6.42211835e+00] [-1.35355390e-02 -4.49054296e-05 9.99908389e-01 -8.01823760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22 meters 0.017472855274137097 Centerline is valid? [True, True] Translation: X:39.39, Y:6.43, Z:-0.80 [[ 9.52137450e-01 -3.05422200e-01 1.23108150e-02 3.93947108e+01] [ 3.05396159e-01 9.52217033e-01 3.98846677e-03 6.43031689e+00] [-1.29407341e-02 -3.78929535e-05 9.99916264e-01 -8.04962193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25 meters 0.016276790789509107 Centerline is valid? [True, True] Translation: X:39.42, Y:6.44, Z:-0.80 [[ 9.51956373e-01 -3.05967781e-01 1.27585386e-02 3.94218860e+01] [ 3.05939850e-01 9.52041867e-01 4.13428230e-03 6.43870473e+00] [-1.34116201e-02 -3.23109941e-05 9.99910060e-01 -8.04357229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28 meters 0.013661638354875051 Centerline is valid? [True, True] Translation: X:39.45, Y:6.45, Z:-0.80 [[ 9.51418955e-01 -3.07632539e-01 1.28137835e-02 3.94494657e+01] [ 3.07604465e-01 9.51505239e-01 4.15598571e-03 6.44623241e+00] [-1.34708986e-02 -1.25065474e-05 9.99909263e-01 -8.01252381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309999999999995 meters 0.016373828202687138 Centerline is valid? [True, True] Translation: X:39.48, Y:6.45, Z:-0.81 [[ 9.50867265e-01 -3.09334209e-01 1.27981109e-02 3.94755984e+01] [ 3.09306287e-01 9.50953389e-01 4.15611936e-03 6.45349205e+00] [-1.34560368e-02 6.61833104e-06 9.99909463e-01 -8.05464071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339999999999996 meters 0.01653384722591133 Centerline is valid? [True, True] Translation: X:39.50, Y:6.46, Z:-0.81 [[ 9.50256049e-01 -3.11200991e-01 1.29377056e-02 3.95024667e+01] [ 3.11172622e-01 9.50344118e-01 4.20205252e-03 6.46078345e+00] [-1.36029553e-02 3.28339453e-05 9.99907475e-01 -8.05552991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37 meters 0.013759972639331201 Centerline is valid? [True, True] Translation: X:39.53, Y:6.47, Z:-0.80 [[ 9.49861147e-01 -3.12390109e-01 1.32748092e-02 3.95285679e+01] [ 3.12360282e-01 9.49953903e-01 4.31698824e-03 6.46774756e+00] [-1.39590412e-02 4.59837582e-05 9.99902567e-01 -8.02181655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.4 meters 0.017769856777147992 Centerline is valid? [True, True] Translation: X:39.56, Y:6.47, Z:-0.81 [[ 9.48623925e-01 -3.16119349e-01 1.34613005e-02 3.95566528e+01] [ 3.16089039e-01 9.48719425e-01 4.37864876e-03 6.47430810e+00] [-1.41551729e-02 1.01278567e-04 9.99899805e-01 -8.06132135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43 meters 0.013956055755559324 Centerline is valid? [True, True] Translation: X:39.58, Y:6.48, Z:-0.80 [[ 9.48375020e-01 -3.16826056e-01 1.43551859e-02 3.95840581e+01] [ 3.16791605e-01 9.48483651e-01 4.67351481e-03 6.48242313e+00] [-1.50963504e-02 1.15357700e-04 9.99886037e-01 -8.01635965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46 meters 0.017021901214961412 Centerline is valid? [True, True] Translation: X:39.61, Y:6.49, Z:-0.81 [[ 9.47839231e-01 -3.18449572e-01 1.38080652e-02 3.96105321e+01] [ 3.18417792e-01 9.47939794e-01 4.50075392e-03 6.49065540e+00] [-1.45224776e-02 1.30742489e-04 9.99894535e-01 -8.05876182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489999999999995 meters 0.01426466918484436 Centerline is valid? [True, True] Translation: X:39.64, Y:6.50, Z:-0.80 [[ 9.47623052e-01 -3.19037158e-01 1.50280985e-02 3.96369327e+01] [ 3.18999577e-01 9.47742195e-01 4.89909959e-03 6.49981439e+00] [-1.58057579e-02 1.51457368e-04 9.99875070e-01 -8.02307396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519999999999996 meters 0.017726482786546406 Centerline is valid? [True, True] Translation: X:39.66, Y:6.51, Z:-0.81 [[ 9.47078731e-01 -3.20656039e-01 1.48856022e-02 3.96644153e+01] [ 3.20619294e-01 9.47195690e-01 4.85730919e-03 6.50913801e+00] [-1.56571038e-02 1.72357045e-04 9.99877405e-01 -8.07090632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55 meters 0.017362770769068735 Centerline is valid? [True, True] Translation: X:39.69, Y:6.52, Z:-0.81 [[ 9.46922646e-01 -3.21125583e-01 1.46922447e-02 3.96909761e+01] [ 3.21089768e-01 9.47036604e-01 4.79899317e-03 6.51735948e+00] [-1.54551730e-02 1.73254132e-04 9.99880547e-01 -8.07982930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58 meters 0.014658213716158828 Centerline is valid? [True, True] Translation: X:39.72, Y:6.53, Z:-0.81 [[ 9.47049414e-01 -3.20748924e-01 1.47490492e-02 3.97179116e+01] [ 3.20712780e-01 9.47164241e-01 4.81800492e-03 6.52628951e+00] [-1.55151419e-02 1.67319847e-04 9.99879619e-01 -8.05070023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61 meters 0.01605811429555651 Centerline is valid? [True, True] Translation: X:39.75, Y:6.54, Z:-0.81 [[ 9.46898667e-01 -3.21280948e-01 1.27069914e-02 3.97452642e+01] [ 3.21254126e-01 9.46983912e-01 4.15410719e-03 6.53683720e+00] [-1.33679519e-02 1.48654863e-04 9.99910634e-01 -8.09135731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64 meters 0.017230144072106452 Centerline is valid? [True, True] Translation: X:39.77, Y:6.55, Z:-0.81 [[ 9.46916666e-01 -3.21284967e-01 1.11712541e-02 3.97725324e+01] [ 3.21264210e-01 9.46982552e-01 3.65433491e-03 6.54714469e+00] [-1.17530656e-02 1.28573489e-04 9.99930922e-01 -8.11582970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67 meters 0.014239295375098094 Centerline is valid? [True, True] Translation: X:39.80, Y:6.56, Z:-0.81 [[ 9.47293302e-01 -3.20188249e-01 1.07184494e-02 3.97985748e+01] [ 3.20169044e-01 9.47353933e-01 3.50852211e-03 6.55723759e+00] [-1.12775528e-02 1.08116214e-04 9.99936401e-01 -8.08974035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699999999999996 meters 0.01720685702800305 Centerline is valid? [True, True] Translation: X:39.82, Y:6.57, Z:-0.81 [[ 9.47665701e-01 -3.19126725e-01 9.37297328e-03 3.98243504e+01] [ 3.19111944e-01 9.47712049e-01 3.07247723e-03 6.56738736e+00] [-9.86338930e-03 7.93464397e-05 9.99951352e-01 -8.14210205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73 meters 0.017678622637407222 Centerline is valid? [True, True] Translation: X:39.85, Y:6.58, Z:-0.81 [[ 9.47793023e-01 -3.18775450e-01 8.40227271e-03 3.98510532e+01] [ 3.18763573e-01 9.47830263e-01 2.75255667e-03 6.57699917e+00] [-8.84137585e-03 6.94844671e-05 9.99960912e-01 -8.14871653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76 meters 0.017389602932113783 Centerline is valid? [True, True] Translation: X:39.88, Y:6.59, Z:-0.82 [[ 9.48020316e-01 -3.18094915e-01 8.55015970e-03 3.98780473e+01] [ 3.18082564e-01 9.48058870e-01 2.80373844e-03 6.58644379e+00] [-8.99790969e-03 6.16557194e-05 9.99959516e-01 -8.15169347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79 meters 0.013769943285745927 Centerline is valid? [True, True] Translation: X:39.90, Y:6.60, Z:-0.81 [[ 9.48778351e-01 -3.15783803e-01 1.00115244e-02 3.99049062e+01] [ 3.15766694e-01 9.48831169e-01 3.28737808e-03 6.59687365e+00] [-1.05373471e-02 4.23128036e-05 9.99944480e-01 -8.10088440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82 meters 0.013684422862262338 Centerline is valid? [True, True] Translation: X:39.93, Y:6.61, Z:-0.81 [[ 9.49075105e-01 -3.14878623e-01 1.03874115e-02 3.99317377e+01] [ 3.14860123e-01 9.49131946e-01 3.41342069e-03 6.60638149e+00] [-1.09338373e-02 3.09890657e-05 9.99940223e-01 -8.09758896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85 meters 0.017519934542416418 Centerline is valid? [True, True] Translation: X:39.96, Y:6.62, Z:-0.82 [[ 9.49148633e-01 -3.14669402e-01 1.00019719e-02 3.99580319e+01] [ 3.14652185e-01 9.49201331e-01 3.29175852e-03 6.61560528e+00] [-1.05297007e-02 2.27742099e-05 9.99944561e-01 -8.15075960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879999999999995 meters 0.013593638739801983 Centerline is valid? [True, True] Translation: X:39.99, Y:6.63, Z:-0.81 [[ 9.50049218e-01 -3.11839901e-01 1.27420059e-02 3.99851422e+01] [ 3.11811695e-01 9.50134662e-01 4.19413927e-03 6.62669516e+00] [-1.34145215e-02 -1.15322611e-05 9.99910021e-01 -8.09437650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91 meters 0.016735010854455837 Centerline is valid? [True, True] Translation: X:40.01, Y:6.64, Z:-0.81 [[ 9.50076744e-01 -3.11776283e-01 1.22363995e-02 4.00118021e+01] [ 3.11750231e-01 9.50155539e-01 4.03042940e-03 6.63665158e+00] [-1.28830751e-02 -1.45168664e-05 9.99917010e-01 -8.13636428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94 meters 0.014941265999736289 Centerline is valid? [True, True] Translation: X:40.04, Y:6.65, Z:-0.81 [[ 9.50927720e-01 -3.09156955e-01 1.25876407e-02 4.00382723e+01] [ 3.09129086e-01 9.51011027e-01 4.15140650e-03 6.64713680e+00] [-1.32544213e-02 -5.64816632e-05 9.99912155e-01 -8.12260451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97 meters 0.016578499375616073 Centerline is valid? [True, True] Translation: X:40.06, Y:6.66, Z:-0.81 [[ 9.51205513e-01 -3.08332902e-01 1.17853097e-02 4.00642316e+01] [ 3.08308385e-01 9.51278517e-01 3.88875053e-03 6.65679387e+00] [-1.24101417e-02 -6.54911500e-05 9.99922989e-01 -8.14982771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.0 meters 0.018459287637941565 Centerline is valid? [True, True] Translation: X:40.09, Y:6.67, Z:-0.82 [[ 9.51528303e-01 -3.07359681e-01 1.11316924e-02 4.00901698e+01] [ 3.07337735e-01 9.51593412e-01 3.67365536e-03 6.66667835e+00] [-1.17219787e-02 -7.43979218e-05 9.99931292e-01 -8.17559048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03 meters 0.017224474575104558 Centerline is valid? [True, True] Translation: X:40.12, Y:6.68, Z:-0.82 [[ 9.51934516e-01 -3.06103492e-01 1.10149702e-02 4.01175816e+01] [ 3.06081913e-01 9.51998238e-01 3.63564035e-03 6.67681519e+00] [-1.15991144e-02 -8.94083857e-05 9.99932724e-01 -8.17247715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059999999999995 meters 0.014436913919479828 Centerline is valid? [True, True] Translation: X:40.14, Y:6.69, Z:-0.81 [[ 9.52526887e-01 -3.04215820e-01 1.20525764e-02 4.01447692e+01] [ 3.04189787e-01 9.52603128e-01 3.98178365e-03 6.68640467e+00] [-1.26926435e-02 -1.26485348e-04 9.99919437e-01 -8.13796829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089999999999996 meters 0.01711941087369245 Centerline is valid? [True, True] Translation: X:40.17, Y:6.70, Z:-0.82 [[ 9.52722820e-01 -3.03639151e-01 1.10677338e-02 4.01718023e+01] [ 3.03617131e-01 9.52787096e-01 3.65890813e-03 6.69556815e+00] [-1.16561817e-02 -1.25571700e-04 9.99932057e-01 -8.17571687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12 meters 0.017478777605780735 Centerline is valid? [True, True] Translation: X:40.20, Y:6.70, Z:-0.82 [[ 9.52606166e-01 -3.04003146e-01 1.11166722e-02 4.01988803e+01] [ 3.03980924e-01 9.52671020e-01 3.67779137e-03 6.70383291e+00] [-1.17085916e-02 -1.24230458e-04 9.99931444e-01 -8.18550094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15 meters 0.016935449798754408 Centerline is valid? [True, True] Translation: X:40.22, Y:6.71, Z:-0.82 [[ 9.52601261e-01 -3.03996359e-01 1.17068576e-02 4.02239602e+01] [ 3.03971646e-01 9.52673184e-01 3.87861182e-03 6.71286386e+00] [-1.23318932e-02 -1.36217730e-04 9.99923950e-01 -8.19193344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18 meters 0.01748213414821669 Centerline is valid? [True, True] Translation: X:40.25, Y:6.72, Z:-0.82 [[ 9.52250894e-01 -3.05086241e-01 1.18583797e-02 4.02520181e+01] [ 3.05060960e-01 9.52324719e-01 3.92945135e-03 6.71953794e+00] [-1.24918497e-02 -1.24294858e-04 9.99921966e-01 -8.19779193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21 meters 0.017719481939830587 Centerline is valid? [True, True] Translation: X:40.28, Y:6.73, Z:-0.82 [[ 9.52104245e-01 -3.05558988e-01 1.14547182e-02 4.02782488e+01] [ 3.05535384e-01 9.52173141e-01 3.79980911e-03 6.72783453e+00] [-1.20679408e-02 -1.17992679e-04 9.99927173e-01 -8.20797719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239999999999995 meters 0.01793919004313918 Centerline is valid? [True, True] Translation: X:40.30, Y:6.74, Z:-0.82 [[ 9.51966856e-01 -3.05986960e-01 1.14492958e-02 4.03049941e+01] [ 3.05963407e-01 9.52035697e-01 3.79812640e-03 6.73607640e+00] [-1.20623155e-02 -1.12624893e-04 9.99927241e-01 -8.21397665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.269999999999996 meters 0.017398584482376005 Centerline is valid? [True, True] Translation: X:40.33, Y:6.75, Z:-0.82 [[ 9.52020990e-01 -3.05820176e-01 1.14041628e-02 4.03310237e+01] [ 3.05796732e-01 9.52089285e-01 3.78850918e-03 6.74504233e+00] [-1.20163837e-02 -1.19384539e-04 9.99927794e-01 -8.22290751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.3 meters 0.017545624736447312 Centerline is valid? [True, True] Translation: X:40.36, Y:6.75, Z:-0.82 [[ 9.52026877e-01 -3.05817030e-01 1.09895220e-02 4.03574306e+01] [ 3.05795270e-01 9.52090296e-01 3.64992823e-03 6.75405076e+00] [-1.15792274e-02 -1.14285937e-04 9.99932952e-01 -8.23152550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33 meters 0.01674004833831918 Centerline is valid? [True, True] Translation: X:40.38, Y:6.76, Z:-0.82 [[ 9.52041414e-01 -3.05765137e-01 1.11725694e-02 4.03843437e+01] [ 3.05742600e-01 9.52106962e-01 3.71432791e-03 6.76338460e+00] [-1.17731931e-02 -1.20263587e-04 9.99930686e-01 -8.23353837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36 meters 0.01740516290357713 Centerline is valid? [True, True] Translation: X:40.41, Y:6.77, Z:-0.83 [[ 9.52071120e-01 -3.05694686e-01 1.05518923e-02 4.04108183e+01] [ 3.05674524e-01 9.52129584e-01 3.51287014e-03 6.77296877e+00] [-1.11206345e-02 -1.19057560e-04 9.99938157e-01 -8.25719201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39 meters 0.01755102233132596 Centerline is valid? [True, True] Translation: X:40.44, Y:6.78, Z:-0.83 [[ 9.51984433e-01 -3.05976090e-01 1.02113522e-02 4.04378646e+01] [ 3.05957237e-01 9.52039190e-01 3.39846287e-03 6.78175872e+00] [-1.07614559e-02 -1.11046641e-04 9.99942088e-01 -8.26515247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42 meters 0.018290494347705296 Centerline is valid? [True, True] Translation: X:40.46, Y:6.79, Z:-0.83 [[ 9.51880733e-01 -3.06305622e-01 9.99679552e-03 4.04647078e+01] [ 3.06287540e-01 9.51933219e-01 3.32999087e-03 6.79066139e+00] [-1.05362767e-02 -1.07860247e-04 9.99944486e-01 -8.27960145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449999999999996 meters 0.016447604928038064 Centerline is valid? [True, True] Translation: X:40.49, Y:6.80, Z:-0.83 [[ 9.51838445e-01 -3.06431959e-01 1.01503339e-02 4.04913659e+01] [ 3.06413290e-01 9.51892558e-01 3.38430724e-03 6.79911829e+00] [-1.06990872e-02 -1.11116538e-04 9.99942757e-01 -8.27309307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48 meters 0.01828793258905767 Centerline is valid? [True, True] Translation: X:40.52, Y:6.81, Z:-0.83 [[ 9.51727678e-01 -3.06812230e-01 8.98233423e-03 4.05173347e+01] [ 3.06797586e-01 9.51770059e-01 2.99923432e-03 6.80852151e+00] [-9.46931855e-03 -9.86958509e-05 9.99955160e-01 -8.30416503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51 meters 0.01696444738010127 Centerline is valid? [True, True] Translation: X:40.54, Y:6.82, Z:-0.83 [[ 9.51638331e-01 -3.07089069e-01 8.98840483e-03 4.05441832e+01] [ 3.07074431e-01 9.51680774e-01 2.99989216e-03 6.81672330e+00] [-9.47532615e-03 -9.47030705e-05 9.99955104e-01 -8.29753535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54 meters 0.017805808737140348 Centerline is valid? [True, True] Translation: X:40.57, Y:6.82, Z:-0.83 [[ 9.51376999e-01 -3.07909495e-01 8.57598762e-03 4.05713680e+01] [ 3.07896182e-01 9.51415648e-01 2.86455021e-03 6.82497883e+00] [-9.04135103e-03 -8.47533353e-05 9.99959123e-01 -8.31411470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57 meters 0.01834008167447532 Centerline is valid? [True, True] Translation: X:40.60, Y:6.83, Z:-0.83 [[ 9.51168549e-01 -3.08547706e-01 8.75816073e-03 4.05977296e+01] [ 3.08533800e-01 9.51208865e-01 2.93060164e-03 6.83456851e+00] [-9.23507055e-03 -8.53074962e-05 9.99957352e-01 -8.33414443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.6 meters 0.018315912203667125 Centerline is valid? [True, True] Translation: X:40.63, Y:6.84, Z:-0.83 [[ 9.50816436e-01 -3.09621561e-01 9.08809062e-03 4.06254495e+01] [ 3.09606645e-01 9.50859865e-01 3.04016102e-03 6.84201968e+00] [-9.58280002e-03 -7.69018199e-05 9.99954081e-01 -8.32459848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629999999999995 meters 0.01751397152012209 Centerline is valid? [True, True] Translation: X:40.65, Y:6.85, Z:-0.83 [[ 9.50436051e-01 -3.10769434e-01 9.67841233e-03 4.06537065e+01] [ 3.10752547e-01 9.50485325e-01 3.24053197e-03 6.84996401e+00] [-1.02062472e-02 -7.23271230e-05 9.99947912e-01 -8.31884571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66 meters 0.017295478356411147 Centerline is valid? [True, True] Translation: X:40.68, Y:6.86, Z:-0.83 [[ 9.49469231e-01 -3.13653481e-01 1.13873994e-02 4.06815776e+01] [ 3.13630262e-01 9.49537514e-01 3.81680676e-03 6.85641052e+00] [-1.20099176e-02 -5.25075267e-05 9.99927877e-01 -8.30641345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69 meters 0.01643310712922087 Centerline is valid? [True, True] Translation: X:40.71, Y:6.86, Z:-0.83 [[ 9.48895861e-01 -3.15314540e-01 1.31675926e-02 4.07099849e+01] [ 3.15283581e-01 9.48987217e-01 4.41866615e-03 6.86433919e+00] [-1.38891467e-02 -4.13282907e-05 9.99903540e-01 -8.29140277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72 meters 0.017104522272854937 Centerline is valid? [True, True] Translation: X:40.74, Y:6.87, Z:-0.83 [[ 9.48417600e-01 -3.16721822e-01 1.38326818e-02 4.07369173e+01] [ 3.16687769e-01 9.48518469e-01 4.64437185e-03 6.87223662e+00] [-1.45915281e-02 -2.41628556e-05 9.99893538e-01 -8.29503766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75 meters 0.017173519491469162 Centerline is valid? [True, True] Translation: X:40.76, Y:6.88, Z:-0.83 [[ 9.47614771e-01 -3.19054762e-01 1.51757884e-02 4.07638366e+01] [ 3.19014062e-01 9.47736281e-01 5.09605661e-03 6.87971737e+00] [-1.60085664e-02 1.21913814e-05 9.99871855e-01 -8.28900351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78 meters 0.01675910007644972 Centerline is valid? [True, True] Translation: X:40.79, Y:6.89, Z:-0.83 [[ 9.47303707e-01 -3.19979605e-01 1.51241411e-02 4.07902329e+01] [ 3.19939224e-01 9.47424431e-01 5.08338493e-03 6.88846992e+00] [-1.59555602e-02 2.32965663e-05 9.99872702e-01 -8.29016835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809999999999995 meters 0.017103605995760277 Centerline is valid? [True, True] Translation: X:40.82, Y:6.90, Z:-0.83 [[ 9.47061211e-01 -3.20704446e-01 1.49573165e-02 4.08156974e+01] [ 3.20664956e-01 9.47179316e-01 5.03280324e-03 6.89704662e+00] [-1.57813032e-02 2.99144918e-05 9.99875467e-01 -8.30343299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839999999999996 meters 0.014696584121295264 Centerline is valid? [True, True] Translation: X:40.84, Y:6.91, Z:-0.83 [[ 9.46971653e-01 -3.20952895e-01 1.52946922e-02 4.08421141e+01] [ 3.20911612e-01 9.47095158e-01 5.14773719e-03 6.90623129e+00] [-1.61377100e-02 3.34831256e-05 9.99869778e-01 -8.29561338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87 meters 0.01690103604961974 Centerline is valid? [True, True] Translation: X:40.87, Y:6.92, Z:-0.83 [[ 9.46534625e-01 -3.22332776e-01 1.31827806e-02 4.08691152e+01] [ 3.22302192e-01 9.46626420e-01 4.44043831e-03 6.91510256e+00] [-1.39104672e-02 4.58104742e-05 9.99903244e-01 -8.33016851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.9 meters 0.018607090268586927 Centerline is valid? [True, True] Translation: X:40.90, Y:6.92, Z:-0.84 [[ 9.46293019e-01 -3.23080079e-01 1.21977380e-02 4.08968554e+01] [ 3.23053919e-01 9.46371629e-01 4.11162939e-03 6.92460502e+00] [-1.28719787e-02 4.97208778e-05 9.99917151e-01 -8.35492484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93 meters 0.01586088522911463 Centerline is valid? [True, True] Translation: X:40.92, Y:6.93, Z:-0.83 [[ 9.46202912e-01 -3.23319414e-01 1.28298725e-02 4.09230223e+01] [ 3.23290446e-01 9.46289889e-01 4.32828193e-03 6.93379460e+00] [-1.35401962e-02 5.23422346e-05 9.99908326e-01 -8.34663164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96 meters 0.016903637435890666 Centerline is valid? [True, True] Translation: X:40.95, Y:6.94, Z:-0.84 [[ 9.45794083e-01 -3.24531354e-01 1.23674185e-02 4.09496812e+01] [ 3.24504471e-01 9.45874937e-01 4.17758965e-03 6.94287533e+00] [-1.30537900e-02 6.21430341e-05 9.99914794e-01 -8.36081230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989999999999995 meters 0.016605005925728736 Centerline is valid? [True, True] Translation: X:40.98, Y:6.95, Z:-0.84 [[ 9.45493702e-01 -3.25383221e-01 1.29390208e-02 4.09761586e+01] [ 3.25353875e-01 9.45582230e-01 4.37062131e-03 6.95212292e+00] [-1.36570350e-02 7.73656362e-05 9.99906735e-01 -8.36081672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.019999999999996 meters 0.017036662144545786 Centerline is valid? [True, True] Translation: X:41.00, Y:6.96, Z:-0.84 [[ 9.45277864e-01 -3.26007258e-01 1.30010343e-02 4.10024705e+01] [ 3.25977633e-01 9.45367262e-01 4.39571071e-03 6.96107074e+00] [-1.37237858e-02 8.28783488e-05 9.99905821e-01 -8.36906723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05 meters 0.017036662144545786 Centerline is valid? [True, True] Translation: X:41.03, Y:6.97, Z:-0.84 [[ 9.45185987e-01 -3.26273591e-01 1.29997986e-02 4.10286015e+01] [ 3.26243940e-01 9.45275376e-01 4.39936111e-03 6.96999455e+00] [-1.37237849e-02 8.28910628e-05 9.99905821e-01 -8.37472863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08 meters 0.01569930250174054 Centerline is valid? [True, True] Translation: X:41.06, Y:6.98, Z:-0.84 [[ 9.44666183e-01 -3.27730681e-01 1.40855606e-02 4.10555948e+01] [ 3.27695959e-01 9.44771184e-01 4.77172736e-03 6.97895316e+00] [-1.48714732e-02 1.08091812e-04 9.99889408e-01 -8.36230418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11 meters 0.016836392709356326 Centerline is valid? [True, True] Translation: X:41.08, Y:6.99, Z:-0.84 [[ 9.44334168e-01 -3.28717571e-01 1.33318409e-02 4.10829238e+01] [ 3.28686506e-01 9.44428264e-01 4.52052418e-03 6.98776876e+00] [-1.40769431e-02 1.13110764e-04 9.99900909e-01 -8.37789540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14 meters 0.017482481771998692 Centerline is valid? [True, True] Translation: X:41.11, Y:7.00, Z:-0.84 [[ 9.44180254e-01 -3.29176442e-01 1.29042154e-02 4.11093227e+01] [ 3.29147318e-01 9.44268425e-01 4.38009074e-03 6.99584313e+00] [-1.36268658e-02 1.11792701e-04 9.99907144e-01 -8.39352509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17 meters 0.016692370509107116 Centerline is valid? [True, True] Translation: X:41.14, Y:7.00, Z:-0.84 [[ 9.44082419e-01 -3.29499236e-01 1.17745777e-02 4.11365313e+01] [ 3.29475017e-01 9.44155836e-01 3.99631723e-03 7.00493328e+00] [-1.24338197e-02 1.06576363e-04 9.99922691e-01 -8.41224963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199999999999996 meters 0.01700950359499129 Centerline is valid? [True, True] Translation: X:41.16, Y:7.01, Z:-0.84 [[ 9.44051044e-01 -3.29604983e-01 1.13217015e-02 4.11628838e+01] [ 3.29582570e-01 9.44118925e-01 3.84509199e-03 7.01477211e+00] [-1.19563941e-02 1.01472370e-04 9.99928515e-01 -8.42855780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23 meters 0.017737473195530876 Centerline is valid? [True, True] Translation: X:41.19, Y:7.02, Z:-0.84 [[ 9.44059010e-01 -3.29618063e-01 1.02234136e-02 4.11897009e+01] [ 3.29599756e-01 9.44114360e-01 3.47506765e-03 7.02432160e+00] [-1.07975166e-02 8.89656960e-05 9.99941701e-01 -8.44912627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26 meters 0.017242763217970136 Centerline is valid? [True, True] Translation: X:41.22, Y:7.03, Z:-0.85 [[ 9.44592982e-01 -3.28093726e-01 9.93003356e-03 4.12159561e+01] [ 3.28076326e-01 9.44645173e-01 3.37957731e-03 7.03449596e+00] [-1.04891764e-02 6.54839233e-05 9.99944985e-01 -8.45840845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29 meters 0.017642177052089193 Centerline is valid? [True, True] Translation: X:41.24, Y:7.04, Z:-0.85 [[ 9.44866026e-01 -3.27314563e-01 9.66284845e-03 4.12424872e+01] [ 3.27298059e-01 9.44915432e-01 3.28742102e-03 7.04474875e+00] [-1.02065954e-02 5.64591104e-05 9.99947910e-01 -8.46970749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32 meters 0.01639571205978856 Centerline is valid? [True, True] Translation: X:41.27, Y:7.05, Z:-0.85 [[ 9.45195873e-01 -3.26340096e-01 1.03394482e-02 4.12685557e+01] [ 3.26321085e-01 9.45252421e-01 3.52275458e-03 7.05465542e+00] [-1.09230045e-02 4.42868610e-05 9.99940341e-01 -8.46830852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35 meters 0.017348913252279084 Centerline is valid? [True, True] Translation: X:41.29, Y:7.07, Z:-0.85 [[ 9.45929151e-01 -3.24197555e-01 1.06764750e-02 4.12941236e+01] [ 3.24177146e-01 9.45989400e-01 3.63779834e-03 7.06604275e+00] [-1.12791975e-02 1.99696794e-05 9.99936388e-01 -8.47295389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379999999999995 meters 0.017908563651910216 Centerline is valid? [True, True] Translation: X:41.32, Y:7.08, Z:-0.85 [[ 9.46339576e-01 -3.22987996e-01 1.09617850e-02 4.13187961e+01] [ 3.22966342e-01 9.46403061e-01 3.73998604e-03 7.07613402e+00] [-1.15822375e-02 9.90802665e-07 9.99932924e-01 -8.48540647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41 meters 0.015640393440628602 Centerline is valid? [True, True] Translation: X:41.34, Y:7.09, Z:-0.85 [[ 9.46705633e-01 -3.21877904e-01 1.19607271e-02 4.13449240e+01] [ 3.21852028e-01 9.46781186e-01 4.08136367e-03 7.08678406e+00] [-1.26378922e-02 -1.42656871e-05 9.99920139e-01 -8.47396036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44 meters 0.016528665066111704 Centerline is valid? [True, True] Translation: X:41.37, Y:7.10, Z:-0.85 [[ 9.46867610e-01 -3.21409336e-01 1.17374151e-02 4.13709969e+01] [ 3.21384340e-01 9.46940356e-01 4.00850063e-03 7.09682776e+00] [-1.24030015e-02 -2.32980176e-05 9.99923080e-01 -8.48403849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47 meters 0.01737131042301869 Centerline is valid? [True, True] Translation: X:41.40, Y:7.11, Z:-0.85 [[ 9.47273069e-01 -3.20212031e-01 1.17468266e-02 4.13965919e+01] [ 3.20186836e-01 9.47345899e-01 4.01707103e-03 7.10754237e+00] [-1.24146225e-02 -4.40839650e-05 9.99922935e-01 -8.50397188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.5 meters 0.016113708026727108 Centerline is valid? [True, True] Translation: X:41.42, Y:7.12, Z:-0.85 [[ 9.47444562e-01 -3.19676533e-01 1.24785971e-02 4.14235506e+01] [ 3.19648057e-01 9.47526734e-01 4.26711177e-03 7.11718172e+00] [-1.31878999e-02 -5.40925157e-05 9.99913034e-01 -8.49590781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53 meters 0.016881346521854263 Centerline is valid? [True, True] Translation: X:41.45, Y:7.13, Z:-0.85 [[ 9.47551000e-01 -3.19378661e-01 1.20155606e-02 4.14500116e+01] [ 3.19352191e-01 9.47627177e-01 4.11230801e-03 7.12648451e+00] [-1.26996552e-02 -5.94259669e-05 9.99919354e-01 -8.50377721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.559999999999995 meters 0.01773081963811113 Centerline is valid? [True, True] Translation: X:41.48, Y:7.14, Z:-0.85 [[ 9.47594998e-01 -3.19263642e-01 1.15951047e-02 4.14761004e+01] [ 3.19238941e-01 9.47665934e-01 3.97184649e-03 7.13579004e+00] [-1.22563519e-02 -6.20929224e-05 9.99924886e-01 -8.51361182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589999999999996 meters 0.017660496265669824 Centerline is valid? [True, True] Translation: X:41.50, Y:7.15, Z:-0.85 [[ 9.48019635e-01 -3.18016369e-01 1.11516962e-02 4.15028861e+01] [ 3.17993392e-01 9.48085219e-01 3.82357700e-03 7.14608143e+00] [-1.17887184e-02 -7.86603887e-05 9.99930508e-01 -8.52187006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62 meters 0.017320519430681875 Centerline is valid? [True, True] Translation: X:41.53, Y:7.16, Z:-0.85 [[ 9.48280778e-01 -3.17240807e-01 1.10379627e-02 4.15298414e+01] [ 3.17218209e-01 9.48345012e-01 3.78757044e-03 7.15632315e+00] [-1.16693688e-02 -9.02374873e-05 9.99931907e-01 -8.52616354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65 meters 0.015438997452535526 Centerline is valid? [True, True] Translation: X:41.56, Y:7.17, Z:-0.85 [[ 9.49046268e-01 -3.14930922e-01 1.13883800e-02 4.15569693e+01] [ 3.14906660e-01 9.49114587e-01 3.91113187e-03 7.16765752e+00] [-1.20406140e-02 -1.25568385e-04 9.99927501e-01 -8.51945091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68 meters 0.01779577785366906 Centerline is valid? [True, True] Translation: X:41.58, Y:7.18, Z:-0.85 [[ 9.49140588e-01 -3.14675233e-01 1.05660636e-02 4.15827958e+01] [ 3.14654286e-01 9.49199390e-01 3.63289284e-03 7.17715142e+00] [-1.11724825e-02 -1.23468848e-04 9.99937578e-01 -8.54449082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71 meters 0.019689064962323803 Centerline is valid? [True, True] Translation: X:41.61, Y:7.19, Z:-0.86 [[ 9.49206819e-01 -3.14500834e-01 9.77955585e-03 4.16089823e+01] [ 3.14482871e-01 9.49257190e-01 3.36330587e-03 7.18642539e+00] [-1.03410762e-02 -1.16970058e-04 9.99946523e-01 -8.56280796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739999999999995 meters 0.015690299446881373 Centerline is valid? [True, True] Translation: X:41.64, Y:7.20, Z:-0.85 [[ 9.49322795e-01 -3.14121469e-01 1.06739552e-02 4.16357597e+01] [ 3.14100054e-01 9.49382792e-01 3.67021962e-03 7.19557656e+00] [-1.12865642e-02 -1.31533231e-04 9.99936296e-01 -8.54414755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769999999999996 meters 0.016588059335418168 Centerline is valid? [True, True] Translation: X:41.66, Y:7.20, Z:-0.86 [[ 9.48885436e-01 -3.15445092e-01 1.05272647e-02 4.16635747e+01] [ 3.15424304e-01 9.48943823e-01 3.62333344e-03 7.20319367e+00] [-1.11327456e-02 -1.17573181e-04 9.99938022e-01 -8.55352988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.8 meters 0.018353914656530343 Centerline is valid? [True, True] Translation: X:41.69, Y:7.21, Z:-0.86 [[ 9.48475356e-01 -3.16677649e-01 1.04769235e-02 4.16906197e+01] [ 3.16657106e-01 9.48533213e-01 3.60854951e-03 7.21140831e+00] [-1.10804569e-02 -1.05028007e-04 9.99938604e-01 -8.56917535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83 meters 0.014637973496379568 Centerline is valid? [True, True] Translation: X:41.72, Y:7.22, Z:-0.85 [[ 9.48333778e-01 -3.17071023e-01 1.13583267e-02 4.17177471e+01] [ 3.17046858e-01 9.48401789e-01 3.91621256e-03 7.21937114e+00] [-1.20139749e-02 -1.12754873e-04 9.99927823e-01 -8.54382039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86 meters 0.01814120251609909 Centerline is valid? [True, True] Translation: X:41.75, Y:7.23, Z:-0.86 [[ 9.47653421e-01 -3.19112318e-01 1.09691521e-02 4.17454753e+01] [ 3.19089874e-01 9.47716899e-01 3.78566615e-03 7.22756492e+00] [-1.16037035e-02 -8.73541217e-05 9.99932671e-01 -8.57393904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89 meters 0.017532183304727986 Centerline is valid? [True, True] Translation: X:41.77, Y:7.24, Z:-0.86 [[ 9.46950593e-01 -3.21175811e-01 1.14311782e-02 4.17726915e+01] [ 3.21151528e-01 9.47019584e-01 3.94998610e-03 7.23525993e+00] [-1.20941896e-02 -6.93013381e-05 9.99926860e-01 -8.57945707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92 meters 0.016103933015470077 Centerline is valid? [True, True] Translation: X:41.80, Y:7.24, Z:-0.86 [[ 9.46620078e-01 -3.22129361e-01 1.19625404e-02 4.17999115e+01] [ 3.22102848e-01 9.46695659e-01 4.13327571e-03 7.24363459e+00] [-1.26563345e-02 -5.94734497e-05 9.99919904e-01 -8.57286172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949999999999996 meters 0.014150724142489801 Centerline is valid? [True, True] Translation: X:41.83, Y:7.25, Z:-0.86 [[ 9.46460397e-01 -3.22572251e-01 1.26435322e-02 4.18263496e+01] [ 3.22542616e-01 9.46544843e-01 4.37283681e-03 7.25220070e+00] [-1.33782260e-02 -6.06389287e-05 9.99910506e-01 -8.56182561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98 meters 0.01409542782803501 Centerline is valid? [True, True] Translation: X:41.85, Y:7.26, Z:-0.86 [[ 9.45924832e-01 -3.24116991e-01 1.32056379e-02 4.18531758e+01] [ 3.24084751e-01 9.46017005e-01 4.57165031e-03 7.26127394e+00] [-1.39745075e-02 -4.46916847e-05 9.99902351e-01 -8.56607557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01 meters 0.016637881390633998 Centerline is valid? [True, True] Translation: X:41.88, Y:7.27, Z:-0.86 [[ 9.45451148e-01 -3.25514482e-01 1.27455592e-02 4.18794786e+01] [ 3.25484526e-01 9.45537054e-01 4.41611619e-03 7.27035316e+00] [-1.34889083e-02 -2.67398139e-05 9.99909020e-01 -8.59031051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04 meters 0.016544816119906602 Centerline is valid? [True, True] Translation: X:41.90, Y:7.28, Z:-0.86 [[ 9.45235459e-01 -3.26136988e-01 1.28293450e-02 4.19046923e+01] [ 3.26106622e-01 9.45322519e-01 4.45043850e-03 7.27952567e+00] [-1.35793214e-02 -2.29779099e-05 9.99907797e-01 -8.59685087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07 meters 0.016867013249339147 Centerline is valid? [True, True] Translation: X:41.93, Y:7.29, Z:-0.86 [[ 9.44890209e-01 -3.27133916e-01 1.28799943e-02 4.19304304e+01] [ 3.27103378e-01 9.44977990e-01 4.46980739e-03 7.28869566e+00] [-1.36335367e-02 -1.03875874e-05 9.99907059e-01 -8.60841648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.1 meters 0.016493788719344087 Centerline is valid? [True, True] Translation: X:41.96, Y:7.30, Z:-0.86 [[ 9.44671742e-01 -3.27773049e-01 1.26541795e-02 4.19570493e+01] [ 3.27743623e-01 9.44756492e-01 4.39192504e-03 7.29836216e+00] [-1.33946729e-02 -1.60081735e-06 9.99910287e-01 -8.61372567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129999999999995 meters 0.01815713713323999 Centerline is valid? [True, True] Translation: X:41.98, Y:7.31, Z:-0.86 [[ 9.44429523e-01 -3.28478027e-01 1.24523690e-02 4.19826125e+01] [ 3.28449535e-01 9.44511612e-01 4.32634943e-03 7.30738526e+00] [-1.31825179e-02 4.04268630e-06 9.99913107e-01 -8.63682973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16 meters 0.01791373611935888 Centerline is valid? [True, True] Translation: X:42.01, Y:7.32, Z:-0.86 [[ 9.44017699e-01 -3.29669963e-01 1.21778249e-02 4.20089677e+01] [ 3.29642790e-01 9.44096242e-01 4.23270964e-03 7.31618510e+00] [-1.28924360e-02 1.85793658e-05 9.99916889e-01 -8.64752918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19 meters 0.017608811831240564 Centerline is valid? [True, True] Translation: X:42.04, Y:7.32, Z:-0.87 [[ 9.43657733e-01 -3.30726492e-01 1.14048829e-02 4.20352739e+01] [ 3.30702698e-01 9.43726648e-01 3.96722885e-03 7.32488382e+00] [-1.20751595e-02 2.79193477e-05 9.99927092e-01 -8.65482418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22 meters 0.016795304246108974 Centerline is valid? [True, True] Translation: X:42.06, Y:7.33, Z:-0.87 [[ 9.43242415e-01 -3.31924515e-01 1.09481673e-02 4.20621075e+01] [ 3.31902615e-01 9.43305950e-01 3.81296324e-03 7.33311401e+00] [-1.15930874e-02 3.71767176e-05 9.99932797e-01 -8.66216906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25 meters 0.01666266274910346 Centerline is valid? [True, True] Translation: X:42.09, Y:7.34, Z:-0.87 [[ 9.42191198e-01 -3.34894798e-01 1.10100174e-02 4.20901926e+01] [ 3.34872847e-01 9.42255522e-01 3.83505421e-03 7.34094128e+00] [-1.16585894e-02 7.36015672e-05 9.99932034e-01 -8.65329337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28 meters 0.014310101661338307 Centerline is valid? [True, True] Translation: X:42.12, Y:7.35, Z:-0.86 [[ 9.41840288e-01 -3.35853985e-01 1.17886440e-02 4.21165125e+01] [ 3.35828843e-01 9.41914058e-01 4.11036944e-03 7.34867738e+00] [-1.24843735e-02 8.76551391e-05 9.99922063e-01 -8.63986821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309999999999995 meters 0.01735698778403577 Centerline is valid? [True, True] Translation: X:42.14, Y:7.36, Z:-0.87 [[ 9.41163398e-01 -3.37741422e-01 1.19243339e-02 4.21440551e+01] [ 3.37715823e-01 9.41238928e-01 4.15978701e-03 7.35807578e+00] [-1.26285796e-02 1.11996950e-04 9.99920250e-01 -8.65984205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.339999999999996 meters 0.017780395836296915 Centerline is valid? [True, True] Translation: X:42.17, Y:7.37, Z:-0.87 [[ 9.40297760e-01 -3.40112601e-01 1.27883226e-02 4.21706718e+01] [ 3.40083307e-01 9.40384706e-01 4.46632690e-03 7.36603608e+00] [-1.35449971e-02 1.49417880e-04 9.99908251e-01 -8.66262661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37 meters 0.016721328953624298 Centerline is valid? [True, True] Translation: X:42.20, Y:7.37, Z:-0.87 [[ 9.39877466e-01 -3.41225798e-01 1.39751464e-02 4.21972604e+01] [ 3.41190914e-01 9.39981342e-01 4.88238926e-03 7.37447595e+00] [-1.48023740e-02 1.79345310e-04 9.99890423e-01 -8.65593675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.4 meters 0.017444143831103646 Centerline is valid? [True, True] Translation: X:42.22, Y:7.38, Z:-0.87 [[ 9.39454601e-01 -3.42362467e-01 1.45943327e-02 4.22236189e+01] [ 3.42324554e-01 9.39567932e-01 5.09909850e-03 7.38482340e+00] [-1.54581070e-02 2.05626903e-04 9.99880495e-01 -8.65685937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43 meters 0.017598292767959097 Centerline is valid? [True, True] Translation: X:42.25, Y:7.39, Z:-0.87 [[ 9.39210550e-01 -3.42994801e-01 1.54307915e-02 4.22508855e+01] [ 3.42952401e-01 9.39337275e-01 5.39754333e-03 7.39246441e+00] [-1.63460469e-02 2.22597358e-04 9.99866370e-01 -8.66013612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46 meters 0.017633382124996155 Centerline is valid? [True, True] Translation: X:42.28, Y:7.40, Z:-0.87 [[ 9.38844017e-01 -3.43983479e-01 1.57250712e-02 4.22780057e+01] [ 3.43939569e-01 9.38975669e-01 5.50141902e-03 7.40392280e+00] [-1.66578565e-02 2.43499889e-04 9.99861219e-01 -8.66337783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489999999999995 meters 0.018466429415811732 Centerline is valid? [True, True] Translation: X:42.30, Y:7.41, Z:-0.87 [[ 9.38660177e-01 -3.44465164e-01 1.61500186e-02 4.23045393e+01] [ 3.44418831e-01 9.38799066e-01 5.65528427e-03 7.41392557e+00] [-1.71096708e-02 2.53980417e-04 9.99853587e-01 -8.67789997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519999999999996 meters 0.01700115415536551 Centerline is valid? [True, True] Translation: X:42.33, Y:7.42, Z:-0.87 [[ 9.38632453e-01 -3.44536309e-01 1.62434441e-02 4.23306575e+01] [ 3.44489433e-01 9.38772958e-01 5.68893599e-03 7.42336345e+00] [-1.72089511e-02 2.55874906e-04 9.99851882e-01 -8.67712289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55 meters 0.018920839660270677 Centerline is valid? [True, True] Translation: X:42.36, Y:7.43, Z:-0.87 [[ 9.38604848e-01 -3.44629252e-01 1.58624656e-02 4.23563628e+01] [ 3.44584475e-01 9.38738844e-01 5.56074686e-03 7.43308106e+00] [-1.68071086e-02 2.46615400e-04 9.99858720e-01 -8.70216206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58 meters 0.018883425654720613 Centerline is valid? [True, True] Translation: X:42.38, Y:7.44, Z:-0.87 [[ 9.38594350e-01 -3.44644833e-01 1.61426711e-02 4.23815613e+01] [ 3.44598401e-01 9.38733124e-01 5.66253085e-03 7.44208959e+00] [-1.71052221e-02 2.47919198e-04 9.99853664e-01 -8.71115274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61 meters 0.018108945671218433 Centerline is valid? [True, True] Translation: X:42.41, Y:7.45, Z:-0.87 [[ 9.38624518e-01 -3.44594341e-01 1.54516763e-02 4.24071611e+01] [ 3.44551748e-01 9.38751663e-01 5.42283703e-03 7.45315268e+00] [-1.63739657e-02 2.33894272e-04 9.99865910e-01 -8.72113607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64 meters 0.01613433615628468 Centerline is valid? [True, True] Translation: X:42.43, Y:7.46, Z:-0.87 [[ 9.38698536e-01 -3.44408731e-01 1.50892088e-02 4.24328192e+01] [ 3.44368016e-01 9.38819779e-01 5.30021851e-03 7.46392176e+00] [-1.59914892e-02 2.20933546e-04 9.99872104e-01 -8.71649185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67 meters 0.016032270531492792 Centerline is valid? [True, True] Translation: X:42.46, Y:7.47, Z:-0.87 [[ 9.38873335e-01 -3.43965471e-01 1.43044173e-02 4.24578596e+01] [ 3.43928751e-01 9.38982277e-01 5.02974389e-03 7.47361492e+00] [-1.51616525e-02 1.97407945e-04 9.99885036e-01 -8.74085761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699999999999996 meters 0.017779132678425954 Centerline is valid? [True, True] Translation: X:42.48, Y:7.48, Z:-0.88 [[ 9.38759622e-01 -3.44310433e-01 1.34424073e-02 4.24841380e+01] [ 3.44278032e-01 9.38855841e-01 4.72728251e-03 7.48428657e+00] [-1.42481353e-02 1.90143592e-04 9.99898472e-01 -8.76229113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73 meters 0.018697837214261177 Centerline is valid? [True, True] Translation: X:42.51, Y:7.49, Z:-0.88 [[ 9.38811492e-01 -3.44148463e-01 1.39577436e-02 4.25104478e+01] [ 3.44113426e-01 9.38915225e-01 4.91434810e-03 7.49388792e+00] [-1.47964034e-02 1.89400511e-04 9.99890509e-01 -8.77365171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76 meters 0.014670613321813297 Centerline is valid? [True, True] Translation: X:42.54, Y:7.50, Z:-0.87 [[ 9.39117366e-01 -3.43294305e-01 1.44080828e-02 4.25369137e+01] [ 3.43256847e-01 9.39227868e-01 5.07437888e-03 7.50371116e+00] [-1.52744782e-02 1.80235738e-04 9.99883322e-01 -8.74215991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79 meters 0.015450519604981361 Centerline is valid? [True, True] Translation: X:42.56, Y:7.52, Z:-0.87 [[ 9.39281973e-01 -3.42812360e-01 1.51347366e-02 4.25640151e+01] [ 3.42770953e-01 9.39403882e-01 5.33107708e-03 7.51521962e+00] [-1.60451895e-02 1.80363495e-04 9.99871251e-01 -8.74779095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82 meters 0.017128628097443543 Centerline is valid? [True, True] Translation: X:42.59, Y:7.53, Z:-0.88 [[ 9.39348494e-01 -3.42618801e-01 1.53871524e-02 4.25899618e+01] [ 3.42575907e-01 9.39474495e-01 5.42418280e-03 7.52550456e+00] [-1.63142642e-02 1.76069738e-04 9.99866898e-01 -8.76876047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85 meters 0.0166649602745581 Centerline is valid? [True, True] Translation: X:42.62, Y:7.54, Z:-0.88 [[ 9.39551849e-01 -3.42072914e-01 1.51144107e-02 4.26160042e+01] [ 3.42031366e-01 9.39673399e-01 5.33366447e-03 7.53561871e+00] [-1.60271119e-02 1.58348244e-04 9.99871545e-01 -8.77782522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879999999999995 meters 0.017309881076972965 Centerline is valid? [True, True] Translation: X:42.64, Y:7.55, Z:-0.88 [[ 9.39772930e-01 -3.41473939e-01 1.49127459e-02 4.26422783e+01] [ 3.41433410e-01 9.39891232e-01 5.26296620e-03 7.54618065e+00] [-1.58135249e-02 1.45716524e-04 9.99874948e-01 -8.79504921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91 meters 0.018122026800955145 Centerline is valid? [True, True] Translation: X:42.67, Y:7.56, Z:-0.88 [[ 9.39888891e-01 -3.41168352e-01 1.45954743e-02 4.26682132e+01] [ 3.41129410e-01 9.40002201e-01 5.15629602e-03 7.55537328e+00] [-1.54789430e-02 1.32600203e-04 9.99880185e-01 -8.81082200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94 meters 0.018122026800955145 Centerline is valid? [True, True] Translation: X:42.69, Y:7.56, Z:-0.88 [[ 9.39795270e-01 -3.41426174e-01 1.45951152e-02 4.26942136e+01] [ 3.41387248e-01 9.39908585e-01 5.15731275e-03 7.56465058e+00] [-1.54789156e-02 1.35768071e-04 9.99880185e-01 -8.81649805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97 meters 0.015549772290292758 Centerline is valid? [True, True] Translation: X:42.72, Y:7.57, Z:-0.88 [[ 9.40019992e-01 -3.40811488e-01 1.44894799e-02 4.27203139e+01] [ 3.40772982e-01 9.40131648e-01 5.12438908e-03 7.57439415e+00] [-1.53684693e-02 1.20595099e-04 9.99881891e-01 -8.80628192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.0 meters 0.016516130065904373 Centerline is valid? [True, True] Translation: X:42.75, Y:7.58, Z:-0.88 [[ 9.40030373e-01 -3.40788881e-01 1.43469627e-02 4.27464421e+01] [ 3.40751059e-01 9.40139843e-01 5.07843114e-03 7.58361760e+00] [-1.52188241e-02 1.14863209e-04 9.99884180e-01 -8.82031168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03 meters 0.01709096509444674 Centerline is valid? [True, True] Translation: X:42.77, Y:7.59, Z:-0.88 [[ 9.40434213e-01 -3.39688236e-01 1.39782926e-02 4.27731909e+01] [ 3.39652148e-01 9.40538088e-01 4.95215684e-03 7.59348484e+00] [-1.48293060e-02 9.05793852e-05 9.99890036e-01 -8.82859961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059999999999995 meters 0.017317538858426657 Centerline is valid? [True, True] Translation: X:42.80, Y:7.60, Z:-0.88 [[ 9.40779183e-01 -3.38715333e-01 1.43684659e-02 4.27996483e+01] [ 3.38677001e-01 9.40888898e-01 5.09618561e-03 7.60300246e+00] [-1.52452862e-02 7.18836011e-05 9.99883781e-01 -8.83653823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089999999999996 meters 0.018300087167293595 Centerline is valid? [True, True] Translation: X:42.83, Y:7.61, Z:-0.88 [[ 9.41030793e-01 -3.38011203e-01 1.44731718e-02 4.28254401e+01] [ 3.37972221e-01 9.41142085e-01 5.13364262e-03 7.61305898e+00] [-1.53565398e-02 6.06142403e-05 9.99882080e-01 -8.84425505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12 meters 0.016570280245430072 Centerline is valid? [True, True] Translation: X:42.85, Y:7.62, Z:-0.88 [[ 9.41436472e-01 -3.36861016e-01 1.49005406e-02 4.28517492e+01] [ 3.36819475e-01 9.41554382e-01 5.29021833e-03 7.62294910e+00] [-1.58117376e-02 3.83877877e-05 9.99874986e-01 -8.84124608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15 meters 0.01698721576932337 Centerline is valid? [True, True] Translation: X:42.88, Y:7.63, Z:-0.89 [[ 9.42294025e-01 -3.34431806e-01 1.54057381e-02 4.28767654e+01] [ 3.34386980e-01 9.42419953e-01 5.47547790e-03 7.63318571e+00] [-1.63498489e-02 -8.03187425e-06 9.99866332e-01 -8.85079983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18 meters 0.017046956864309983 Centerline is valid? [True, True] Translation: X:42.90, Y:7.64, Z:-0.89 [[ 9.42767737e-01 -3.33084758e-01 1.56057234e-02 4.29032020e+01] [ 3.33038550e-01 9.42896889e-01 5.54811264e-03 7.64371866e+00] [-1.65625798e-02 -3.32741233e-05 9.99862831e-01 -8.85795020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21 meters 0.015598661878432264 Centerline is valid? [True, True] Translation: X:42.93, Y:7.66, Z:-0.89 [[ 9.43891606e-01 -3.29854280e-01 1.62723810e-02 4.29298831e+01] [ 3.29803464e-01 9.44031855e-01 5.79060911e-03 7.65508906e+00] [-1.72717032e-02 -9.90197291e-05 9.99850828e-01 -8.85540076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.239999999999995 meters 0.01675758846847172 Centerline is valid? [True, True] Translation: X:42.96, Y:7.67, Z:-0.89 [[ 9.44370396e-01 -3.28469419e-01 1.65044016e-02 4.29558148e+01] [ 3.28416845e-01 9.44514597e-01 5.87814385e-03 7.66545403e+00] [-1.75194387e-02 -1.30821536e-04 9.99846514e-01 -8.87052112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269999999999996 meters 0.016686083205016317 Centerline is valid? [True, True] Translation: X:42.98, Y:7.68, Z:-0.89 [[ 9.44857307e-01 -3.27062040e-01 1.65858571e-02 4.29822490e+01] [ 3.27008691e-01 9.45002855e-01 5.90923579e-03 7.67626319e+00] [-1.76063691e-02 -1.59665184e-04 9.99844983e-01 -8.87630006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.3 meters 0.018591355112743554 Centerline is valid? [True, True] Translation: X:43.01, Y:7.69, Z:-0.89 [[ 9.45247664e-01 -3.25947100e-01 1.62893131e-02 4.30093565e+01] [ 3.25895402e-01 9.45387992e-01 5.80789676e-03 7.68700741e+00] [-1.72927881e-02 -1.81288604e-04 9.99850452e-01 -8.89411168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33 meters 0.019790542034110764 Centerline is valid? [True, True] Translation: X:43.04, Y:7.70, Z:-0.89 [[ 9.45860949e-01 -3.24171902e-01 1.61134402e-02 4.30354756e+01] [ 3.24120975e-01 9.45998167e-01 5.74994273e-03 7.69783248e+00] [-1.71072547e-02 -2.15942348e-04 9.99853637e-01 -8.91471650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36 meters 0.017598534278624074 Centerline is valid? [True, True] Translation: X:43.06, Y:7.71, Z:-0.89 [[ 9.45974933e-01 -3.23878509e-01 1.53015458e-02 4.30630321e+01] [ 3.23832522e-01 9.46098656e-01 5.46177389e-03 7.70807395e+00] [-1.62457231e-02 -2.11563023e-04 9.99868007e-01 -8.91170231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39 meters 0.018502540250235722 Centerline is valid? [True, True] Translation: X:43.09, Y:7.72, Z:-0.89 [[ 9.46096648e-01 -3.23560192e-01 1.44891325e-02 4.30896000e+01] [ 3.23518867e-01 9.46207566e-01 5.17538943e-03 7.71868499e+00] [-1.53842768e-02 -2.08910859e-04 9.99881633e-01 -8.93138636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42 meters 0.01578899060457325 Centerline is valid? [True, True] Translation: X:43.12, Y:7.73, Z:-0.89 [[ 9.46296901e-01 -3.22965186e-01 1.46855095e-02 4.31171211e+01] [ 3.22922600e-01 9.46410819e-01 5.24948159e-03 7.72904929e+00] [-1.55939249e-02 -2.25285250e-04 9.99878382e-01 -8.91572088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449999999999996 meters 0.017733111005575362 Centerline is valid? [True, True] Translation: X:43.14, Y:7.74, Z:-0.90 [[ 9.46313353e-01 -3.22957208e-01 1.37724436e-02 4.31426259e+01] [ 3.22919693e-01 9.46413544e-01 4.92709385e-03 7.73888633e+00] [-1.46256677e-02 -2.15181428e-04 9.99893016e-01 -8.95479560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48 meters 0.018001530617130033 Centerline is valid? [True, True] Translation: X:43.17, Y:7.75, Z:-0.90 [[ 9.46181172e-01 -3.23367894e-01 1.32058581e-02 4.31691327e+01] [ 3.23333430e-01 9.46273303e-01 4.72531042e-03 7.74702678e+00] [-1.40243647e-02 -2.01104352e-04 9.99901634e-01 -8.96390068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51 meters 0.018810820957157092 Centerline is valid? [True, True] Translation: X:43.20, Y:7.76, Z:-0.90 [[ 9.46058656e-01 -3.23748494e-01 1.26463914e-02 4.31960866e+01] [ 3.23716873e-01 9.46143158e-01 4.52878053e-03 7.75584458e+00] [-1.34314826e-02 -1.90641759e-04 9.99909775e-01 -8.97537029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54 meters 0.01726348772958742 Centerline is valid? [True, True] Translation: X:43.22, Y:7.77, Z:-0.90 [[ 9.45944061e-01 -3.24050439e-01 1.34590401e-02 4.32214661e+01] [ 3.24014568e-01 9.46039783e-01 4.82583911e-03 7.76652039e+00] [-1.42966026e-02 -2.04048799e-04 9.99897778e-01 -8.97053631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57 meters 0.018092988402146046 Centerline is valid? [True, True] Translation: X:43.25, Y:7.78, Z:-0.90 [[ 9.45739637e-01 -3.24635407e-01 1.37255682e-02 4.32479668e+01] [ 3.24598158e-01 9.45839211e-01 4.92170575e-03 7.77534213e+00] [-1.45799406e-02 -1.99358050e-04 9.99893687e-01 -8.98118707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.6 meters 0.018404206030815058 Centerline is valid? [True, True] Translation: X:43.28, Y:7.78, Z:-0.90 [[ 9.45433038e-01 -3.25515735e-01 1.39956063e-02 4.32761283e+01] [ 3.25477038e-01 9.45536604e-01 5.02286187e-03 7.78300256e+00] [-1.48683786e-02 -1.93531086e-04 9.99889441e-01 -8.98441099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629999999999995 meters 0.01983808448604495 Centerline is valid? [True, True] Translation: X:43.30, Y:7.79, Z:-0.90 [[ 9.45249580e-01 -3.26037888e-01 1.42312209e-02 4.33016348e+01] [ 3.25997862e-01 9.45356683e-01 5.11229172e-03 7.79343840e+00] [-1.51203806e-02 -1.93044006e-04 9.99885662e-01 -8.99510044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66 meters 0.01575118115167161 Centerline is valid? [True, True] Translation: X:43.33, Y:7.80, Z:-0.90 [[ 9.44963968e-01 -3.26771332e-01 1.62356593e-02 4.33280727e+01] [ 3.26719312e-01 9.45103409e-01 5.83420127e-03 7.80188851e+00] [-1.72508266e-02 -2.08606552e-04 9.99851172e-01 -8.95546632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69 meters 0.016444105727450746 Centerline is valid? [True, True] Translation: X:43.36, Y:7.81, Z:-0.90 [[ 9.44590401e-01 -3.27852635e-01 1.61748168e-02 4.33556742e+01] [ 3.27801147e-01 9.44728858e-01 5.81326684e-03 7.81107489e+00] [-1.71867110e-02 -1.89032566e-04 9.99852280e-01 -8.97161458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72 meters 0.017705036957291986 Centerline is valid? [True, True] Translation: X:43.38, Y:7.82, Z:-0.90 [[ 9.44089890e-01 -3.29305242e-01 1.58851303e-02 4.33843415e+01] [ 3.29255724e-01 9.44223507e-01 5.71290945e-03 7.81781534e+00] [-1.68804045e-02 -1.63229973e-04 9.99857502e-01 -8.98784366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75 meters 0.015203052198862031 Centerline is valid? [True, True] Translation: X:43.41, Y:7.83, Z:-0.90 [[ 9.43971648e-01 -3.29583972e-01 1.70860563e-02 4.34093625e+01] [ 3.29526631e-01 9.44126249e-01 6.15019418e-03 7.82968875e+00] [-1.81583997e-02 -1.75298369e-04 9.99835107e-01 -8.96683658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78 meters 0.017338227593237616 Centerline is valid? [True, True] Translation: X:43.44, Y:7.84, Z:-0.90 [[ 9.43515706e-01 -3.30902564e-01 1.67811183e-02 4.34370036e+01] [ 3.30847400e-01 9.43664914e-01 6.04377262e-03 7.83680311e+00] [-1.78356524e-02 -1.50405045e-04 9.99840921e-01 -8.99343513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809999999999995 meters 0.014575792488151364 Centerline is valid? [True, True] Translation: X:43.46, Y:7.85, Z:-0.90 [[ 9.43571682e-01 -3.30737507e-01 1.68873601e-02 4.34624308e+01] [ 3.30681511e-01 9.43722775e-01 6.08789530e-03 7.84699824e+00] [-1.79504816e-02 -1.60027858e-04 9.99838864e-01 -8.97668841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839999999999996 meters 0.015225035999017401 Centerline is valid? [True, True] Translation: X:43.49, Y:7.86, Z:-0.90 [[ 9.43442004e-01 -3.31162406e-01 1.57685205e-02 4.34890535e+01] [ 3.31113622e-01 9.43573760e-01 5.68589797e-03 7.85581542e+00] [-1.67617178e-02 -1.43143039e-04 9.99859502e-01 -8.99649035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87 meters 0.01781485485088443 Centerline is valid? [True, True] Translation: X:43.52, Y:7.87, Z:-0.90 [[ 9.43369462e-01 -3.31458061e-01 1.37699509e-02 4.35156513e+01] [ 3.31420820e-01 9.43469945e-01 4.97008443e-03 7.86541097e+00] [-1.46389094e-02 -1.24977443e-04 9.99892838e-01 -9.03863044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.9 meters 0.01537277536636282 Centerline is valid? [True, True] Translation: X:43.54, Y:7.88, Z:-0.90 [[ 9.43407452e-01 -3.31338711e-01 1.40370185e-02 4.35419026e+01] [ 3.31299994e-01 9.43511866e-01 5.06671372e-03 7.87518023e+00] [-1.49228920e-02 -1.29511314e-04 9.99888639e-01 -9.02649124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93 meters 0.01525794618366293 Centerline is valid? [True, True] Translation: X:43.57, Y:7.89, Z:-0.90 [[ 9.43350492e-01 -3.31506575e-01 1.39010858e-02 4.35682094e+01] [ 3.31468558e-01 9.43452900e-01 5.02207361e-03 7.88542567e+00] [-1.47798701e-02 -1.29802757e-04 9.99890763e-01 -9.03321744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96 meters 0.014424621702669296 Centerline is valid? [True, True] Translation: X:43.59, Y:7.90, Z:-0.90 [[ 9.43164585e-01 -3.32027134e-01 1.40907337e-02 4.35941376e+01] [ 3.31988062e-01 9.43269827e-01 5.09514882e-03 7.89529657e+00] [-1.49830916e-02 -1.27608537e-04 9.99887739e-01 -9.02665196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989999999999995 meters 0.01580055324134783 Centerline is valid? [True, True] Translation: X:43.62, Y:7.90, Z:-0.90 [[ 9.42923513e-01 -3.32708179e-01 1.41603747e-02 4.36198146e+01] [ 3.32668710e-01 9.43029826e-01 5.12609097e-03 7.90476143e+00] [-1.50591481e-02 -1.22798123e-04 9.99886597e-01 -9.04684382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019999999999996 meters 0.016592640183735866 Centerline is valid? [True, True] Translation: X:43.65, Y:7.91, Z:-0.91 [[ 9.42746952e-01 -3.33220112e-01 1.38759462e-02 4.36459988e+01] [ 3.33182266e-01 9.42849057e-01 5.02322605e-03 7.91403862e+00] [-1.47567627e-02 -1.12411842e-04 9.99891107e-01 -9.05724618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05 meters 0.015830172726579574 Centerline is valid? [True, True] Translation: X:43.67, Y:7.92, Z:-0.91 [[ 9.42728148e-01 -3.33248084e-01 1.44690542e-02 4.36715209e+01] [ 3.33206846e-01 9.42839170e-01 5.24384450e-03 7.92429265e+00] [-1.53894922e-02 -1.22331903e-04 9.99881567e-01 -9.05214800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08 meters 0.016177286246541193 Centerline is valid? [True, True] Translation: X:43.70, Y:7.94, Z:-0.91 [[ 9.42940984e-01 -3.32648464e-01 1.43979148e-02 4.36979828e+01] [ 3.32607541e-01 9.43050890e-01 5.21940855e-03 7.93501358e+00] [-1.53141946e-02 -1.32739199e-04 9.99882722e-01 -9.05854438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11 meters 0.01665425605202921 Centerline is valid? [True, True] Translation: X:43.72, Y:7.95, Z:-0.91 [[ 9.43252955e-01 -3.31747999e-01 1.47352639e-02 4.37242879e+01] [ 3.31704950e-01 9.43368031e-01 5.34651379e-03 7.94569619e+00] [-1.56744722e-02 -1.55354953e-04 9.99877136e-01 -9.06762761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14 meters 0.01715109496377146 Centerline is valid? [True, True] Translation: X:43.75, Y:7.96, Z:-0.91 [[ 9.44062578e-01 -3.29453468e-01 1.43617679e-02 4.37490864e+01] [ 3.29412272e-01 9.44171794e-01 5.21337856e-03 7.95904540e+00] [-1.52775418e-02 -1.90813019e-04 9.99883273e-01 -9.07977691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17 meters 0.018661423815586203 Centerline is valid? [True, True] Translation: X:43.78, Y:7.97, Z:-0.91 [[ 9.44432114e-01 -3.28421656e-01 1.36820414e-02 4.37760786e+01] [ 3.28384154e-01 9.44531194e-01 4.96690005e-03 7.97030977e+00] [-1.45543524e-02 -1.97934310e-04 9.99894060e-01 -9.09809984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199999999999996 meters 0.017149452790010636 Centerline is valid? [True, True] Translation: X:43.80, Y:7.98, Z:-0.91 [[ 9.44960821e-01 -3.26902820e-01 1.35496427e-02 4.38024305e+01] [ 3.26865830e-01 9.45057933e-01 4.92260181e-03 7.98210620e+00] [-1.44144098e-02 -2.22750626e-04 9.99896082e-01 -9.09332567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23 meters 0.016239176812184435 Centerline is valid? [True, True] Translation: X:43.83, Y:8.00, Z:-0.91 [[ 9.46192421e-01 -3.23357454e-01 1.26435316e-02 4.38277716e+01] [ 3.23324870e-01 9.46276856e-01 4.59782104e-03 7.99539613e+00] [-1.34510211e-02 -2.62455196e-04 9.99909496e-01 -9.08378625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26 meters 0.019155600659467354 Centerline is valid? [True, True] Translation: X:43.85, Y:8.01, Z:-0.91 [[ 9.46514083e-01 -3.22461092e-01 1.13989043e-02 4.38544239e+01] [ 3.22434550e-01 9.46582687e-01 4.14471022e-03 8.00648548e+00] [-1.21265132e-02 -2.47626014e-04 9.99926440e-01 -9.11709244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29 meters 0.019327958842740654 Centerline is valid? [True, True] Translation: X:43.88, Y:8.02, Z:-0.91 [[ 9.46845937e-01 -3.21509758e-01 1.06886505e-02 4.38810057e+01] [ 3.21486329e-01 9.46906234e-01 3.88914912e-03 8.01828680e+00] [-1.13715492e-02 -2.46170037e-04 9.99935312e-01 -9.12372515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32 meters 0.018932060326300196 Centerline is valid? [True, True] Translation: X:43.91, Y:8.03, Z:-0.91 [[ 9.47074279e-01 -3.20826568e-01 1.09828687e-02 4.39078234e+01] [ 3.20801747e-01 9.47137922e-01 3.99943974e-03 8.03016262e+00] [-1.16854179e-02 -2.64443045e-04 9.99931688e-01 -9.12742948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35 meters 0.017789793755241118 Centerline is valid? [True, True] Translation: X:43.93, Y:8.04, Z:-0.91 [[ 9.47453249e-01 -3.19693471e-01 1.13325178e-02 4.39344093e+01] [ 3.19666924e-01 9.47520976e-01 4.13009923e-03 8.04221158e+00] [-1.20581641e-02 -2.90444836e-04 9.99927256e-01 -9.12312209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.379999999999995 meters 0.017199290673730515 Centerline is valid? [True, True] Translation: X:43.96, Y:8.05, Z:-0.91 [[ 9.47288857e-01 -3.20171165e-01 1.15864542e-02 4.39609193e+01] [ 3.20143412e-01 9.47359667e-01 4.22569500e-03 8.05151770e+00] [-1.23294851e-02 -2.93626795e-04 9.99923946e-01 -9.12714869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41 meters 0.017680493607394356 Centerline is valid? [True, True] Translation: X:43.99, Y:8.06, Z:-0.91 [[ 9.46883536e-01 -3.21383844e-01 1.11352868e-02 4.39877646e+01] [ 3.21358250e-01 9.46948970e-01 4.06487398e-03 8.06095643e+00] [-1.18509332e-02 -2.70545974e-04 9.99929739e-01 -9.14506095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44 meters 0.016320090092144794 Centerline is valid? [True, True] Translation: X:44.02, Y:8.07, Z:-0.91 [[ 9.46217881e-01 -3.23309726e-01 1.19391234e-02 4.40155423e+01] [ 3.23280410e-01 9.46293162e-01 4.36202892e-03 8.06823262e+00] [-1.27081972e-02 -2.67745047e-04 9.99919212e-01 -9.12807079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47 meters 0.018473413757478283 Centerline is valid? [True, True] Translation: X:44.04, Y:8.08, Z:-0.92 [[ 9.45607767e-01 -3.25098882e-01 1.16905061e-02 4.40435096e+01] [ 3.25070870e-01 9.45679998e-01 4.27441776e-03 8.07683584e+00] [-1.24450862e-02 -2.41679633e-04 9.99922528e-01 -9.15413622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.5 meters 0.016620682370450342 Centerline is valid? [True, True] Translation: X:44.07, Y:8.09, Z:-0.91 [[ 9.45231232e-01 -3.26163915e-01 1.24506761e-02 4.40705023e+01] [ 3.26132183e-01 9.45313197e-01 4.55626254e-03 8.08587763e+00] [-1.32558768e-02 -2.46155481e-04 9.99912107e-01 -9.13547026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53 meters 0.018142788519358685 Centerline is valid? [True, True] Translation: X:44.10, Y:8.09, Z:-0.92 [[ 9.44260705e-01 -3.28982988e-01 1.19127674e-02 4.40981831e+01] [ 3.28954123e-01 9.44335826e-01 4.36253215e-03 8.09433590e+00] [-1.26848519e-02 -2.00613738e-04 9.99919524e-01 -9.15965592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559999999999995 meters 0.017594054654372075 Centerline is valid? [True, True] Translation: X:44.13, Y:8.10, Z:-0.92 [[ 9.43861177e-01 -3.30121918e-01 1.20663588e-02 4.41257420e+01] [ 3.30092352e-01 9.43938283e-01 4.42226613e-03 8.10444779e+00] [-1.28497850e-02 -1.90992553e-04 9.99917420e-01 -9.17076245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589999999999996 meters 0.015167139310818594 Centerline is valid? [True, True] Translation: X:44.15, Y:8.11, Z:-0.92 [[ 9.43628178e-01 -3.30788119e-01 1.20449913e-02 4.41523391e+01] [ 3.30758673e-01 9.43705031e-01 4.41750320e-03 8.11398343e+00] [-1.28281765e-02 -1.84495158e-04 9.99917699e-01 -9.15585143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62 meters 0.015535538234222724 Centerline is valid? [True, True] Translation: X:44.18, Y:8.12, Z:-0.92 [[ 9.43365556e-01 -3.31559320e-01 1.13949711e-02 4.41786156e+01] [ 3.31532981e-01 9.43434359e-01 4.18244543e-03 8.12348398e+00] [-1.21371360e-02 -1.67766230e-04 9.99926328e-01 -9.17765846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65 meters 0.016255475317087518 Centerline is valid? [True, True] Translation: X:44.20, Y:8.13, Z:-0.92 [[ 9.43180075e-01 -3.32116509e-01 1.04866656e-02 4.42047012e+01] [ 3.32094205e-01 9.43238359e-01 3.85190138e-03 8.13280092e+00] [-1.11707053e-02 -1.50475759e-04 9.99937594e-01 -9.20010191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68 meters 0.01733833533837627 Centerline is valid? [True, True] Translation: X:44.23, Y:8.14, Z:-0.92 [[ 9.42776733e-01 -3.33276503e-01 9.94005256e-03 4.42313587e+01] [ 3.33256498e-01 9.42829123e-01 3.65393695e-03 8.14095033e+00] [-1.05895424e-02 -1.32259628e-04 9.99943920e-01 -9.22369297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71 meters 0.015090892178890057 Centerline is valid? [True, True] Translation: X:44.26, Y:8.15, Z:-0.92 [[ 9.42742809e-01 -3.33380137e-01 9.67880972e-03 4.42581504e+01] [ 3.33361146e-01 9.42792484e-01 3.56083287e-03 8.15029561e+00] [-1.03122200e-02 -1.30410487e-04 9.99946819e-01 -9.20334936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739999999999995 meters 0.016761603858200906 Centerline is valid? [True, True] Translation: X:44.28, Y:8.16, Z:-0.92 [[ 9.42517325e-01 -3.34020320e-01 9.56645168e-03 4.42844140e+01] [ 3.34001747e-01 9.42565865e-01 3.52465240e-03 8.15943961e+00] [-1.01943163e-02 -1.26834381e-04 9.99948029e-01 -9.23027713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769999999999996 meters 0.0161576676652072 Centerline is valid? [True, True] Translation: X:44.31, Y:8.17, Z:-0.92 [[ 9.42453188e-01 -3.34202019e-01 9.53929569e-03 4.43110127e+01] [ 3.34183573e-01 9.42501456e-01 3.51344136e-03 8.16880842e+00] [-1.01649993e-02 -1.23378093e-04 9.99948327e-01 -9.22853767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.8 meters 0.015337140589285564 Centerline is valid? [True, True] Translation: X:44.34, Y:8.18, Z:-0.92 [[ 9.42415272e-01 -3.34300534e-01 9.82898036e-03 4.43376728e+01] [ 3.34280921e-01 9.42466518e-01 3.62342054e-03 8.17788182e+00] [-1.04747963e-02 -1.29126249e-04 9.99945129e-01 -9.21545015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83 meters 0.01654715935956974 Centerline is valid? [True, True] Translation: X:44.36, Y:8.19, Z:-0.92 [[ 9.42291732e-01 -3.34642423e-01 1.00369536e-02 4.43627679e+01] [ 3.34621937e-01 9.42345176e-01 3.70514262e-03 8.18703465e+00] [-1.06981727e-02 -1.32740388e-04 9.99942764e-01 -9.23182848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86 meters 0.01654715935956974 Centerline is valid? [True, True] Translation: X:44.39, Y:8.20, Z:-0.92 [[ 9.42199206e-01 -3.34902844e-01 1.00370222e-02 4.43886342e+01] [ 3.34882375e-01 9.42252656e-01 3.70495803e-03 8.19667867e+00] [-1.06982118e-02 -1.29586665e-04 9.99942764e-01 -9.23750454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89 meters 0.015074124136662828 Centerline is valid? [True, True] Translation: X:44.42, Y:8.21, Z:-0.92 [[ 9.42224996e-01 -3.34788084e-01 1.13576164e-02 4.44157178e+01] [ 3.34761813e-01 9.42293434e-01 4.19676565e-03 8.20558407e+00] [-1.21072345e-02 -1.52201237e-04 9.99926693e-01 -9.20929921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92 meters 0.01657500442061501 Centerline is valid? [True, True] Translation: X:44.44, Y:8.22, Z:-0.92 [[ 9.42012142e-01 -3.35370494e-01 1.18218605e-02 4.44415634e+01] [ 3.35342006e-01 9.42086306e-01 4.37396426e-03 8.21506008e+00] [-1.26041115e-02 -1.55961008e-04 9.99920553e-01 -9.23289051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949999999999996 meters 0.017235677489446648 Centerline is valid? [True, True] Translation: X:44.47, Y:8.22, Z:-0.92 [[ 9.41816613e-01 -3.35893145e-01 1.25404244e-02 4.44676847e+01] [ 3.35861116e-01 9.41900085e-01 4.64119073e-03 8.22456487e+00] [-1.33707710e-02 -1.59309579e-04 9.99910595e-01 -9.24062179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98 meters 0.014932624828544938 Centerline is valid? [True, True] Translation: X:44.49, Y:8.23, Z:-0.92 [[ 9.41885977e-01 -3.35684799e-01 1.29043693e-02 4.44945685e+01] [ 3.35650866e-01 9.41974356e-01 4.77575523e-03 8.23304551e+00] [-1.37587334e-02 -1.66854137e-04 9.99905330e-01 -9.21052283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01 meters 0.01463865285705377 Centerline is valid? [True, True] Translation: X:44.52, Y:8.24, Z:-0.92 [[ 9.41631931e-01 -3.36416633e-01 1.23756221e-02 4.45212211e+01] [ 3.36385440e-01 9.41713240e-01 4.58371685e-03 8.24089110e+00] [-1.31963258e-02 -1.53195057e-04 9.99912913e-01 -9.21110935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04 meters 0.01661319046203134 Centerline is valid? [True, True] Translation: X:44.55, Y:8.25, Z:-0.92 [[ 9.41437727e-01 -3.36973084e-01 1.20061373e-02 4.45460016e+01] [ 3.36943713e-01 9.41514269e-01 4.45137757e-03 8.25047973e+00] [-1.28039440e-02 -1.45302310e-04 9.99918016e-01 -9.24917913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07 meters 0.017588361710076057 Centerline is valid? [True, True] Translation: X:44.57, Y:8.26, Z:-0.93 [[ 9.41312194e-01 -3.37353830e-01 1.11241768e-02 4.45727577e+01] [ 3.37328627e-01 9.41377913e-01 4.12571358e-03 8.25903093e+00] [-1.18638796e-02 -1.31081205e-04 9.99929613e-01 -9.26531670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.1 meters 0.014764054186805113 Centerline is valid? [True, True] Translation: X:44.60, Y:8.27, Z:-0.92 [[ 9.41585447e-01 -3.36594823e-01 1.09896278e-02 4.45995789e+01] [ 3.36570129e-01 9.41649566e-01 4.07962626e-03 8.26912875e+00] [-1.17215593e-02 -1.42536265e-04 9.99931290e-01 -9.23674342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129999999999995 meters 0.014930211086499718 Centerline is valid? [True, True] Translation: X:44.63, Y:8.28, Z:-0.92 [[ 9.41696537e-01 -3.36289653e-01 1.08121230e-02 4.46258606e+01] [ 3.36265678e-01 9.41758593e-01 4.01827051e-03 8.27966081e+00] [-1.15337125e-02 -1.48245553e-04 9.99933474e-01 -9.24633085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16 meters 0.015092172609527802 Centerline is valid? [True, True] Translation: X:44.65, Y:8.29, Z:-0.93 [[ 9.41939054e-01 -3.35606567e-01 1.09110289e-02 4.46527622e+01] [ 3.35582110e-01 9.42002233e-01 4.05464064e-03 8.29095019e+00] [-1.16389776e-02 -1.57678280e-04 9.99932252e-01 -9.25776139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19 meters 0.01632760590975671 Centerline is valid? [True, True] Translation: X:44.68, Y:8.30, Z:-0.93 [[ 9.41837228e-01 -3.35887873e-01 1.10441202e-02 4.46775700e+01] [ 3.35862792e-01 9.41901965e-01 4.10776651e-03 8.30110338e+00] [-1.17822275e-02 -1.59538380e-04 9.99930574e-01 -9.28375692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22 meters 0.015216363484096513 Centerline is valid? [True, True] Translation: X:44.70, Y:8.31, Z:-0.93 [[ 9.42123941e-01 -3.35080871e-01 1.11035790e-02 4.47042787e+01] [ 3.35055423e-01 9.42189354e-01 4.13327658e-03 8.31082807e+00] [-1.18466559e-02 -1.73744456e-04 9.99929811e-01 -9.26424856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25 meters 0.015289901245420429 Centerline is valid? [True, True] Translation: X:44.73, Y:8.32, Z:-0.93 [[ 9.42080411e-01 -3.35190280e-01 1.14880738e-02 4.47306955e+01] [ 3.35163053e-01 9.42150436e-01 4.27589166e-03 8.32059535e+00] [-1.22567311e-02 -1.77855887e-04 9.99924868e-01 -9.26455467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28 meters 0.016184979220195676 Centerline is valid? [True, True] Translation: X:44.76, Y:8.33, Z:-0.93 [[ 9.41911272e-01 -3.35643381e-01 1.21109888e-02 4.47564532e+01] [ 3.35613084e-01 9.41989111e-01 4.51354163e-03 8.33057810e+00] [-1.29233599e-02 -1.86749447e-04 9.99916472e-01 -9.27429602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309999999999995 meters 0.018284689364972045 Centerline is valid? [True, True] Translation: X:44.78, Y:8.34, Z:-0.93 [[ 9.41633719e-01 -3.36411216e-01 1.23867921e-02 4.47828711e+01] [ 3.36379592e-01 9.41715170e-01 4.61613817e-03 8.34086708e+00] [-1.32177507e-02 -1.80047264e-04 9.99912626e-01 -9.30597449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339999999999996 meters 0.01547421631144648 Centerline is valid? [True, True] Translation: X:44.81, Y:8.35, Z:-0.93 [[ 9.41623998e-01 -3.36429353e-01 1.26307794e-02 4.48092294e+01] [ 3.36396418e-01 9.41708689e-01 4.71112579e-03 8.35082542e+00] [-1.34794757e-02 -1.87160167e-04 9.99909130e-01 -9.27370649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37 meters 0.018816939540880855 Centerline is valid? [True, True] Translation: X:44.84, Y:8.36, Z:-0.93 [[ 9.41257657e-01 -3.37479038e-01 1.19131167e-02 4.48355622e+01] [ 3.37449781e-01 9.41333029e-01 4.44674053e-03 8.36009775e+00] [-1.27148919e-02 -1.65449955e-04 9.99919149e-01 -9.32216729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.4 meters 0.018282059952920766 Centerline is valid? [True, True] Translation: X:44.86, Y:8.37, Z:-0.93 [[ 9.41195251e-01 -3.37661929e-01 1.16584919e-02 4.48608660e+01] [ 3.37633863e-01 9.41267440e-01 4.35660281e-03 8.37011857e+00] [-1.24448177e-02 -1.64112229e-04 9.99922547e-01 -9.32695146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43 meters 0.017320093999185146 Centerline is valid? [True, True] Translation: X:44.89, Y:8.38, Z:-0.93 [[ 9.41166056e-01 -3.37740112e-01 1.17503967e-02 4.48878554e+01] [ 3.37711605e-01 9.41239390e-01 4.39112722e-03 8.37887168e+00] [-1.25429960e-02 -1.64534563e-04 9.99921320e-01 -9.31939247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46 meters 0.017123844521103427 Centerline is valid? [True, True] Translation: X:44.91, Y:8.39, Z:-0.93 [[ 9.41137010e-01 -3.37826102e-01 1.16039969e-02 4.49143118e+01] [ 3.37798262e-01 9.41208530e-01 4.34015855e-03 8.38888893e+00] [-1.23879998e-02 -1.64873844e-04 9.99923252e-01 -9.32328313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489999999999995 meters 0.017650379283890773 Centerline is valid? [True, True] Translation: X:44.94, Y:8.40, Z:-0.93 [[ 9.40989650e-01 -3.38241726e-01 1.14460936e-02 4.49406426e+01] [ 3.38214624e-01 9.41059248e-01 4.28475206e-03 8.39899194e+00] [-1.22207342e-02 -1.60671096e-04 9.99925311e-01 -9.33519281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519999999999996 meters 0.015364417103165976 Centerline is valid? [True, True] Translation: X:44.97, Y:8.41, Z:-0.93 [[ 9.41040239e-01 -3.38077446e-01 1.21205826e-02 4.49666787e+01] [ 3.38046987e-01 9.41118276e-01 4.54153531e-03 8.40901313e+00] [-1.29422924e-02 -1.76441053e-04 9.99916229e-01 -9.31314687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55 meters 0.01738758747162178 Centerline is valid? [True, True] Translation: X:44.99, Y:8.42, Z:-0.94 [[ 9.40930104e-01 -3.38428836e-01 1.07917912e-02 4.49930904e+01] [ 3.38404676e-01 9.40991976e-01 4.04679260e-03 8.41940437e+00] [-1.15245403e-02 -1.55756361e-04 9.99933578e-01 -9.35319935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58 meters 0.017661420679187703 Centerline is valid? [True, True] Translation: X:45.02, Y:8.43, Z:-0.94 [[ 9.40946774e-01 -3.38397801e-01 1.03003017e-02 4.50202818e+01] [ 3.38375761e-01 9.41003138e-01 3.86514424e-03 8.42989665e+00] [-1.10005726e-02 -1.51522563e-04 9.99939480e-01 -9.36754819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61 meters 0.019454092480197322 Centerline is valid? [True, True] Translation: X:45.05, Y:8.44, Z:-0.94 [[ 9.40872921e-01 -3.38619595e-01 9.74249559e-03 4.50463759e+01] [ 3.38599867e-01 9.40923349e-01 3.65790155e-03 8.44022325e+00] [-1.04055787e-02 -1.42812801e-04 9.99945850e-01 -9.39464927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64 meters 0.015420444909886187 Centerline is valid? [True, True] Translation: X:45.07, Y:8.45, Z:-0.94 [[ 9.40975005e-01 -3.38319433e-01 1.02956883e-02 4.50722312e+01] [ 3.38297344e-01 9.41031315e-01 3.86926049e-03 8.45073198e+00] [-1.09976111e-02 -1.57873415e-04 9.99939512e-01 -9.35973199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669999999999995 meters 0.015507672096578419 Centerline is valid? [True, True] Translation: X:45.10, Y:8.46, Z:-0.94 [[ 9.40896855e-01 -3.38532028e-01 1.04486070e-02 4.50971431e+01] [ 3.38509235e-01 9.40954855e-01 3.93171103e-03 8.46016814e+00] [-1.11626776e-02 -1.62384596e-04 9.99937682e-01 -9.36898909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699999999999996 meters 0.015534314362324721 Centerline is valid? [True, True] Translation: X:45.12, Y:8.47, Z:-0.94 [[ 9.40685188e-01 -3.39105334e-01 1.09064131e-02 4.51237047e+01] [ 3.39080537e-01 9.40748397e-01 4.10403780e-03 8.46891604e+00] [-1.16518918e-02 -1.62455136e-04 9.99932101e-01 -9.36618206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73 meters 0.016293501079856283 Centerline is valid? [True, True] Translation: X:45.15, Y:8.48, Z:-0.94 [[ 9.40486671e-01 -3.39652864e-01 1.09888206e-02 4.51504069e+01] [ 3.39627687e-01 9.40550852e-01 4.13865033e-03 8.47838667e+00] [-1.17412490e-02 -1.60237762e-04 9.99931056e-01 -9.37908569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76 meters 0.015940648365250682 Centerline is valid? [True, True] Translation: X:45.18, Y:8.49, Z:-0.94 [[ 9.40276993e-01 -3.40195044e-01 1.21040624e-02 4.51773416e+01] [ 3.40164478e-01 9.40354881e-01 4.56355605e-03 8.48790325e+00] [-1.29346133e-02 -1.73634689e-04 9.99916329e-01 -9.36660952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79 meters 0.017546093207558074 Centerline is valid? [True, True] Translation: X:45.20, Y:8.50, Z:-0.94 [[ 9.40055254e-01 -3.40815207e-01 1.18791613e-02 4.52034831e+01] [ 3.40785778e-01 9.40130293e-01 4.48170597e-03 8.49711545e+00] [-1.26953930e-02 -1.64802008e-04 9.99919397e-01 -9.38796904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82 meters 0.01670644355100388 Centerline is valid? [True, True] Translation: X:45.23, Y:8.51, Z:-0.94 [[ 9.39891597e-01 -3.41265250e-01 1.19086589e-02 4.52301177e+01] [ 3.41235661e-01 9.39967022e-01 4.49677118e-03 8.50713780e+00] [-1.27283384e-02 -1.62818354e-04 9.99918978e-01 -9.38791508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85 meters 0.01643849404802123 Centerline is valid? [True, True] Translation: X:45.26, Y:8.52, Z:-0.94 [[ 9.39696329e-01 -3.41829485e-01 1.11091498e-02 4.52561134e+01] [ 3.41803737e-01 9.39761981e-01 4.19805241e-03 8.51660246e+00] [-1.18749747e-02 -1.47745511e-04 9.99929479e-01 -9.40124092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879999999999995 meters 0.017695567740463287 Centerline is valid? [True, True] Translation: X:45.28, Y:8.53, Z:-0.94 [[ 9.39736554e-01 -3.41738058e-01 1.05028418e-02 4.52815771e+01] [ 3.41714981e-01 9.39795232e-01 3.97400696e-03 8.52776383e+00] [-1.12285901e-02 -1.45541206e-04 9.99936947e-01 -9.42650656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91 meters 0.01742546071593335 Centerline is valid? [True, True] Translation: X:45.31, Y:8.54, Z:-0.94 [[ 9.39739888e-01 -3.41745108e-01 9.96116526e-03 4.53088049e+01] [ 3.41724359e-01 9.39792670e-01 3.76824499e-03 8.53676516e+00] [-1.06492094e-02 -1.37197308e-04 9.99943286e-01 -9.42506255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94 meters 0.018458562550470587 Centerline is valid? [True, True] Translation: X:45.34, Y:8.55, Z:-0.94 [[ 9.39750368e-01 -3.41720603e-01 9.81196917e-03 4.53350398e+01] [ 3.41700424e-01 9.39801580e-01 3.71626226e-03 8.54674843e+00] [-1.04912275e-02 -1.39604805e-04 9.99944956e-01 -9.44519013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97 meters 0.01635612942042055 Centerline is valid? [True, True] Translation: X:45.36, Y:8.56, Z:-0.94 [[ 9.39685930e-01 -3.41881330e-01 1.03686592e-02 4.53612243e+01] [ 3.41858793e-01 9.39743122e-01 3.92827421e-03 8.55734493e+00] [-1.10868798e-02 -1.46726684e-04 9.99938528e-01 -9.43171875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.0 meters 0.01700563253384388 Centerline is valid? [True, True] Translation: X:45.39, Y:8.57, Z:-0.94 [[ 9.39627885e-01 -3.42046475e-01 1.01807012e-02 4.53872229e+01] [ 3.42024767e-01 9.39683026e-01 3.85608360e-03 8.56729105e+00] [-1.08855919e-02 -1.41231707e-04 9.99940740e-01 -9.43972016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03 meters 0.016693213438000516 Centerline is valid? [True, True] Translation: X:45.41, Y:8.58, Z:-0.94 [[ 9.39523529e-01 -3.42318267e-01 1.06650387e-02 4.54131023e+01] [ 3.42294421e-01 9.39584047e-01 4.04317332e-03 8.57735703e+00] [-1.14047523e-02 -1.48073220e-04 9.99934953e-01 -9.43984368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059999999999995 meters 0.018136193251566044 Centerline is valid? [True, True] Translation: X:45.44, Y:8.59, Z:-0.95 [[ 9.39581484e-01 -3.42145795e-01 1.10855842e-02 4.54382184e+01] [ 3.42119957e-01 9.39646864e-01 4.20782933e-03 8.58815296e+00] [-1.18562256e-02 -1.60998920e-04 9.99929700e-01 -9.45736630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089999999999996 meters 0.014981642217697027 Centerline is valid? [True, True] Translation: X:45.47, Y:8.60, Z:-0.94 [[ 9.39502341e-01 -3.42344269e-01 1.16513205e-02 4.54652440e+01] [ 3.42315735e-01 9.39574571e-01 4.42305087e-03 8.59777911e+00] [-1.24614906e-02 -1.67036296e-04 9.99922339e-01 -9.41971744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12 meters 0.016873554694065568 Centerline is valid? [True, True] Translation: X:45.49, Y:8.61, Z:-0.95 [[ 9.39374938e-01 -3.42704448e-01 1.13308379e-02 4.54912430e+01] [ 3.42677452e-01 9.39443258e-01 4.30445721e-03 8.60711613e+00] [-1.21198359e-02 -1.60676546e-04 9.99926539e-01 -9.45141104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15 meters 0.016815007774567747 Centerline is valid? [True, True] Translation: X:45.52, Y:8.62, Z:-0.95 [[ 9.39516045e-01 -3.42302959e-01 1.17594565e-02 4.55171193e+01] [ 3.42273778e-01 9.39589619e-01 4.47306976e-03 8.61755600e+00] [-1.25802083e-02 -1.77567211e-04 9.99920850e-01 -9.45142060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18 meters 0.015106329199897031 Centerline is valid? [True, True] Translation: X:45.54, Y:8.63, Z:-0.94 [[ 9.39520803e-01 -3.42273887e-01 1.22166895e-02 4.55429308e+01] [ 3.42242393e-01 9.39600209e-01 4.64674482e-03 8.62819266e+00] [-1.30692635e-02 -1.84644357e-04 9.99914576e-01 -9.43012986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21 meters 0.017238717570848536 Centerline is valid? [True, True] Translation: X:45.57, Y:8.64, Z:-0.95 [[ 9.39367549e-01 -3.42711031e-01 1.17369677e-02 4.55690255e+01] [ 3.42681951e-01 9.39440854e-01 4.46783345e-03 8.63833988e+00] [-1.25573628e-02 -1.74890762e-04 9.99921138e-01 -9.46942845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239999999999995 meters 0.016469567071985595 Centerline is valid? [True, True] Translation: X:45.59, Y:8.65, Z:-0.95 [[ 9.39298529e-01 -3.42898991e-01 1.17709554e-02 4.55947241e+01] [ 3.42869710e-01 9.39372264e-01 4.48455770e-03 8.64852786e+00] [-1.25950593e-02 -1.76434389e-04 9.99920664e-01 -9.46502508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269999999999996 meters 0.0176433958683258 Centerline is valid? [True, True] Translation: X:45.62, Y:8.66, Z:-0.95 [[ 9.39043005e-01 -3.43624690e-01 1.09685132e-02 4.56214774e+01] [ 3.43599278e-01 9.39107048e-01 4.18191816e-03 8.65833264e+00] [-1.17376184e-02 -1.58227759e-04 9.99931099e-01 -9.48344519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.3 meters 0.01825585944912116 Centerline is valid? [True, True] Translation: X:45.65, Y:8.67, Z:-0.95 [[ 9.38954481e-01 -3.43886193e-01 1.03329171e-02 4.56475867e+01] [ 3.43863623e-01 9.39011323e-01 3.94260627e-03 8.66852047e+00] [-1.10585340e-02 -1.48813501e-04 9.99938841e-01 -9.49704698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33 meters 0.01748672604946918 Centerline is valid? [True, True] Translation: X:45.67, Y:8.68, Z:-0.95 [[ 9.38770364e-01 -3.44391037e-01 1.02477560e-02 4.56740726e+01] [ 3.44368833e-01 9.38826285e-01 3.91333089e-03 8.67857298e+00] [-1.09685788e-02 -1.44711284e-04 9.99939833e-01 -9.49928523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36 meters 0.014854796755891601 Centerline is valid? [True, True] Translation: X:45.70, Y:8.69, Z:-0.95 [[ 9.38548731e-01 -3.44973651e-01 1.09297568e-02 4.57017523e+01] [ 3.44948382e-01 9.38612357e-01 4.17803548e-03 8.68827156e+00] [-1.17001170e-02 -1.51087962e-04 9.99931540e-01 -9.46493587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39 meters 0.016734234246921068 Centerline is valid? [True, True] Translation: X:45.73, Y:8.70, Z:-0.95 [[ 9.38165993e-01 -3.46028443e-01 1.04348444e-02 4.57278313e+01] [ 3.46005428e-01 9.38224013e-01 3.99318554e-03 8.69821018e+00] [-1.11719774e-02 -1.35758071e-04 9.99937582e-01 -9.50171340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419999999999995 meters 0.01570377714004658 Centerline is valid? [True, True] Translation: X:45.76, Y:8.71, Z:-0.95 [[ 9.37686872e-01 -3.47301528e-01 1.11793770e-02 4.57552082e+01] [ 3.47275204e-01 9.37753503e-01 4.27790422e-03 8.70780799e+00] [-1.19692226e-02 -1.29014198e-04 9.99928358e-01 -9.49295412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449999999999996 meters 0.016611767546888315 Centerline is valid? [True, True] Translation: X:45.78, Y:8.72, Z:-0.95 [[ 9.37265807e-01 -3.48421826e-01 1.16205815e-02 4.57825645e+01] [ 3.48393426e-01 9.37337835e-01 4.45019433e-03 8.71718104e+00] [-1.24429555e-02 -1.22480778e-04 9.99922576e-01 -9.50247083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48 meters 0.017056900607275684 Centerline is valid? [True, True] Translation: X:45.81, Y:8.73, Z:-0.95 [[ 9.37016579e-01 -3.49090888e-01 1.16396895e-02 4.58075663e+01] [ 3.49062399e-01 9.37088863e-01 4.46137168e-03 8.72703098e+00] [-1.24648476e-02 -1.17401298e-04 9.99922304e-01 -9.51046423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51 meters 0.017399907167905997 Centerline is valid? [True, True] Translation: X:45.83, Y:8.74, Z:-0.95 [[ 9.36726020e-01 -3.49870663e-01 1.16138702e-02 4.58340707e+01] [ 3.49842315e-01 9.36798008e-01 4.45502390e-03 8.73704137e+00] [-1.24385326e-02 -1.10113586e-04 9.99922632e-01 -9.51663910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54 meters 0.014292749806725603 Centerline is valid? [True, True] Translation: X:45.86, Y:8.75, Z:-0.95 [[ 9.36827675e-01 -3.49575639e-01 1.22792439e-02 4.58604323e+01] [ 3.49543929e-01 9.36908137e-01 4.70997749e-03 8.74670444e+00] [-1.31510169e-02 -1.20302097e-04 9.99913514e-01 -9.47629060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57 meters 0.016468775844777652 Centerline is valid? [True, True] Translation: X:45.89, Y:8.76, Z:-0.95 [[ 9.36459447e-01 -3.50570357e-01 1.20053872e-02 4.58851172e+01] [ 3.50540068e-01 9.36536392e-01 4.60952353e-03 8.75731584e+00] [-1.28594443e-02 -1.08262622e-04 9.99917308e-01 -9.51682411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.6 meters 0.015273855545383706 Centerline is valid? [True, True] Translation: X:45.91, Y:8.77, Z:-0.95 [[ 9.36338788e-01 -3.50886947e-01 1.21665512e-02 4.59114864e+01] [ 3.50855839e-01 9.36417823e-01 4.67346167e-03 8.76787190e+00] [-1.30328321e-02 -1.07237892e-04 9.99915063e-01 -9.50318502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629999999999995 meters 0.014402103115679422 Centerline is valid? [True, True] Translation: X:45.94, Y:8.78, Z:-0.95 [[ 9.36406458e-01 -3.50697517e-01 1.24176218e-02 4.59361809e+01] [ 3.50665022e-01 9.36488781e-01 4.77539514e-03 8.77901117e+00] [-1.33036827e-02 -1.17285222e-04 9.99911495e-01 -9.50017110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66 meters 0.01714252505794425 Centerline is valid? [True, True] Translation: X:45.96, Y:8.79, Z:-0.95 [[ 9.36037817e-01 -3.51695997e-01 1.19637650e-02 4.59628644e+01] [ 3.51665912e-01 9.36114264e-01 4.60112105e-03 8.78870982e+00] [-1.28176470e-02 -9.95749611e-05 9.99917846e-01 -9.53855250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69 meters 0.01632475623747198 Centerline is valid? [True, True] Translation: X:45.99, Y:8.80, Z:-0.95 [[ 9.36075947e-01 -3.51601615e-01 1.17527006e-02 4.59884550e+01] [ 3.51572507e-01 9.36149717e-01 4.52537693e-03 8.79894281e+00] [-1.25934172e-02 -1.04170061e-04 9.99920694e-01 -9.54035300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72 meters 0.01423949431352379 Centerline is valid? [True, True] Translation: X:46.01, Y:8.81, Z:-0.95 [[ 9.36176294e-01 -3.51318037e-01 1.22304508e-02 4.60149099e+01] [ 3.51286493e-01 9.36256175e-01 4.70909053e-03 8.80917966e+00] [-1.31052235e-02 -1.12146755e-04 9.99914117e-01 -9.50809387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75 meters 0.01423949431352379 Centerline is valid? [True, True] Translation: X:46.04, Y:8.82, Z:-0.95 [[ 9.36077055e-01 -3.51582418e-01 1.22291169e-02 4.60406435e+01] [ 3.51550851e-01 9.36156926e-01 4.71255120e-03 8.81917910e+00] [-1.31052226e-02 -1.12154599e-04 9.99914117e-01 -9.51375540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78 meters 0.01648019870864973 Centerline is valid? [True, True] Translation: X:46.07, Y:8.83, Z:-0.96 [[ 9.35779118e-01 -3.52384013e-01 1.19561838e-02 4.60657594e+01] [ 3.52353847e-01 9.35855489e-01 4.61187110e-03 8.82948931e+00] [-1.28144099e-02 -1.02885303e-04 9.99917887e-01 -9.55224661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809999999999995 meters 0.01502266785630113 Centerline is valid? [True, True] Translation: X:46.09, Y:8.84, Z:-0.95 [[ 9.35910258e-01 -3.52019923e-01 1.24081847e-02 4.60920005e+01] [ 3.51987373e-01 9.35992500e-01 4.78838896e-03 8.83937235e+00] [-1.32995761e-02 -1.13978020e-04 9.99911550e-01 -9.53340620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839999999999996 meters 0.01663440595644855 Centerline is valid? [True, True] Translation: X:46.12, Y:8.85, Z:-0.96 [[ 9.35768733e-01 -3.52408635e-01 1.20429660e-02 4.61171397e+01] [ 3.52377946e-01 9.35846217e-01 4.65195928e-03 8.84996605e+00] [-1.29097548e-02 -1.09482426e-04 9.99916660e-01 -9.56058524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87 meters 0.017639440608184266 Centerline is valid? [True, True] Translation: X:46.14, Y:8.86, Z:-0.96 [[ 9.36160302e-01 -3.51384850e-01 1.15141646e-02 4.61437695e+01] [ 3.51356697e-01 9.36231100e-01 4.44956585e-03 8.86200938e+00] [-1.23434290e-02 -1.19928068e-04 9.99923810e-01 -9.57964210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.9 meters 0.019056862073632334 Centerline is valid? [True, True] Translation: X:46.17, Y:8.87, Z:-0.96 [[ 9.36437434e-01 -3.50649348e-01 1.14003436e-02 4.61689343e+01] [ 3.50621638e-01 9.36506816e-01 4.41022832e-03 8.87366105e+00] [-1.22229431e-02 -1.32695756e-04 9.99925288e-01 -9.60312877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93 meters 0.01665482734405249 Centerline is valid? [True, True] Translation: X:46.20, Y:8.89, Z:-0.96 [[ 9.37217252e-01 -3.48554113e-01 1.15694494e-02 4.61957765e+01] [ 3.48525418e-01 9.37288645e-01 4.47542250e-03 8.88501017e+00] [-1.24038405e-02 -1.62195976e-04 9.99923056e-01 -9.58071854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96 meters 0.01716477215536459 Centerline is valid? [True, True] Translation: X:46.22, Y:8.90, Z:-0.96 [[ 9.37226657e-01 -3.48535089e-01 1.13792036e-02 4.62218306e+01] [ 3.48507293e-01 9.37295719e-01 4.40470354e-03 8.89588833e+00] [-1.22008726e-02 -1.62470136e-04 9.99925553e-01 -9.59327584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989999999999995 meters 0.015185064898545469 Centerline is valid? [True, True] Translation: X:46.25, Y:8.91, Z:-0.96 [[ 9.37629946e-01 -3.47458624e-01 1.10720362e-02 4.62479052e+01] [ 3.47432175e-01 9.37695299e-01 4.29069604e-03 8.90699693e+00] [-1.18730357e-02 -1.76303473e-04 9.99929497e-01 -9.57196025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019999999999996 meters 0.017566303476954225 Centerline is valid? [True, True] Translation: X:46.27, Y:8.92, Z:-0.96 [[ 9.37248522e-01 -3.48497291e-01 1.07166096e-02 4.62737902e+01] [ 3.48472580e-01 9.37309774e-01 4.15300207e-03 8.91707106e+00] [-1.14920929e-02 -1.57950440e-04 9.99933951e-01 -9.61574106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05 meters 0.017888108304701944 Centerline is valid? [True, True] Translation: X:46.30, Y:8.93, Z:-0.96 [[ 9.37244303e-01 -3.48524041e-01 1.02034059e-02 4.63003320e+01] [ 3.48501605e-01 9.37299829e-01 3.95753580e-03 8.92773354e+00] [-1.09429469e-02 -1.53274568e-04 9.99940112e-01 -9.62495967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08 meters 0.018553354619360793 Centerline is valid? [True, True] Translation: X:46.33, Y:8.94, Z:-0.96 [[ 9.37458156e-01 -3.47955070e-01 9.97375330e-03 4.63273330e+01] [ 3.47933571e-01 9.37511197e-01 3.87118033e-03 8.93862218e+00] [-1.06975022e-02 -1.58865974e-04 9.99942767e-01 -9.63071429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11 meters 0.020033678965473933 Centerline is valid? [True, True] Translation: X:46.35, Y:8.95, Z:-0.96 [[ 9.37258181e-01 -3.48498291e-01 9.80017542e-03 4.63519554e+01] [ 3.48477521e-01 9.37309403e-01 3.80789547e-03 8.94931394e+00] [-1.05128416e-02 -1.53840346e-04 9.99944727e-01 -9.64854064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14 meters 0.019617877996742798 Centerline is valid? [True, True] Translation: X:46.38, Y:8.96, Z:-0.96 [[ 9.36997409e-01 -3.49177529e-01 1.05313011e-02 4.63795819e+01] [ 3.49153581e-01 9.37056577e-01 4.09247156e-03 8.95873793e+00] [-1.12974241e-02 -1.57593745e-04 9.99936170e-01 -9.64367348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169999999999995 meters 0.015075438086097367 Centerline is valid? [True, True] Translation: X:46.41, Y:8.97, Z:-0.96 [[ 9.37021602e-01 -3.49079627e-01 1.15728491e-02 4.64059194e+01] [ 3.49050656e-01 9.37093049e-01 4.50074593e-03 8.96854265e+00] [-1.24159551e-02 -1.77785601e-04 9.99922903e-01 -9.59267873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199999999999996 meters 0.018923446318321366 Centerline is valid? [True, True] Translation: X:46.43, Y:8.98, Z:-0.96 [[ 9.35673269e-01 -3.52661345e-01 1.20627625e-02 4.64324989e+01] [ 3.52630097e-01 9.35751012e-01 4.69669537e-03 8.97621442e+00] [-1.29440851e-02 -1.40879205e-04 9.99916212e-01 -9.63703994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23 meters 0.016722256176284204 Centerline is valid? [True, True] Translation: X:46.46, Y:8.99, Z:-0.96 [[ 9.34959640e-01 -3.54528728e-01 1.26432911e-02 4.64594635e+01] [ 3.54494539e-01 9.35045114e-01 4.92505849e-03 8.98506559e+00] [-1.35681223e-02 -1.22753273e-04 9.99907941e-01 -9.62416120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26 meters 0.017486675298195076 Centerline is valid? [True, True] Translation: X:46.49, Y:8.99, Z:-0.96 [[ 9.33192482e-01 -3.59163160e-01 1.23941886e-02 4.64876050e+01] [ 3.59130713e-01 9.33274784e-01 4.82796346e-03 8.99133523e+00] [-1.33012103e-02 -5.42853968e-05 9.99911534e-01 -9.63754742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29 meters 0.017441484101201297 Centerline is valid? [True, True] Translation: X:46.51, Y:9.00, Z:-0.96 [[ 9.32280502e-01 -3.61527798e-01 1.22766464e-02 4.65138163e+01] [ 3.61496107e-01 9.32361330e-01 4.78685874e-03 8.99955925e+00] [-1.31768529e-02 -2.47351794e-05 9.99913181e-01 -9.64819120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32 meters 0.017258164116064165 Centerline is valid? [True, True] Translation: X:46.54, Y:9.01, Z:-0.96 [[ 9.31292551e-01 -3.64061658e-01 1.23811658e-02 4.65409634e+01] [ 3.64029652e-01 9.31374849e-01 4.82738230e-03 9.00781972e+00] [-1.32889712e-02 1.14063101e-05 9.99911698e-01 -9.64985683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35 meters 0.015362859797472098 Centerline is valid? [True, True] Translation: X:46.57, Y:9.02, Z:-0.96 [[ 9.29826742e-01 -3.67774779e-01 1.28039874e-02 4.65682824e+01] [ 3.67740842e-01 9.29914893e-01 4.99653282e-03 9.01504047e+00] [-1.37442173e-02 6.26392593e-05 9.99905542e-01 -9.63432982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379999999999995 meters 0.017665696503347185 Centerline is valid? [True, True] Translation: X:46.59, Y:9.02, Z:-0.97 [[ 9.29123322e-01 -3.69567817e-01 1.22262495e-02 4.65944315e+01] [ 3.69536961e-01 9.29203757e-01 4.77618443e-03 9.02383013e+00] [-1.31258010e-02 8.03867386e-05 9.99913850e-01 -9.66346282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41 meters 0.01412052475401715 Centerline is valid? [True, True] Translation: X:46.62, Y:9.03, Z:-0.96 [[ 9.28789405e-01 -3.70411019e-01 1.20796502e-02 4.66208899e+01] [ 3.70380975e-01 9.28867950e-01 4.71856236e-03 9.03325004e+00] [-1.29682074e-02 9.15218849e-05 9.99915905e-01 -9.63061575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44 meters 0.017842150944454477 Centerline is valid? [True, True] Translation: X:46.65, Y:9.04, Z:-0.97 [[ 9.27576296e-01 -3.73441983e-01 1.19708004e-02 4.66483078e+01] [ 3.73412681e-01 9.27653528e-01 4.67986245e-03 9.04313320e+00] [-1.28524124e-02 1.29119200e-04 9.99917396e-01 -9.66521877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47 meters 0.016666622445257274 Centerline is valid? [True, True] Translation: X:46.67, Y:9.05, Z:-0.97 [[ 9.27301982e-01 -3.74107945e-01 1.24209106e-02 4.66737777e+01] [ 3.74076394e-01 9.27385155e-01 4.86058334e-03 9.05112224e+00] [-1.33373509e-02 1.39140869e-04 9.99911044e-01 -9.65920525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.5 meters 0.01723541754016009 Centerline is valid? [True, True] Translation: X:46.70, Y:9.06, Z:-0.97 [[ 9.26886443e-01 -3.75122031e-01 1.28446047e-02 4.66997482e+01] [ 3.75088378e-01 9.26975424e-01 5.02715804e-03 9.06227308e+00] [-1.37924306e-02 1.58257313e-04 9.99904867e-01 -9.65776942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53 meters 0.017650248843715268 Centerline is valid? [True, True] Translation: X:46.73, Y:9.07, Z:-0.97 [[ 9.26573575e-01 -3.75872085e-01 1.34753648e-02 4.67257923e+01] [ 3.75835038e-01 9.26671542e-01 5.27997961e-03 9.07196909e+00] [-1.44718340e-02 1.72224641e-04 9.99895263e-01 -9.65794830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559999999999995 meters 0.0167549043536079 Centerline is valid? [True, True] Translation: X:46.75, Y:9.08, Z:-0.96 [[ 9.26179690e-01 -3.76785738e-01 1.49562577e-02 4.67514852e+01] [ 3.76740207e-01 9.26300418e-01 5.86101321e-03 9.08339013e+00] [-1.60623339e-02 2.06272214e-04 9.99870971e-01 -9.64778022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589999999999996 meters 0.01659201271710545 Centerline is valid? [True, True] Translation: X:46.78, Y:9.09, Z:-0.97 [[ 9.26062642e-01 -3.77069508e-01 1.50522150e-02 4.67774167e+01] [ 3.77023349e-01 9.26184940e-01 5.90352500e-03 9.09413481e+00] [-1.61671741e-02 2.08002529e-04 9.99869281e-01 -9.65417775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62 meters 0.017550296122924778 Centerline is valid? [True, True] Translation: X:46.80, Y:9.10, Z:-0.97 [[ 9.25920255e-01 -3.77437295e-01 1.45866320e-02 4.68033243e+01] [ 3.77393923e-01 9.26035122e-01 5.72540481e-03 9.10495070e+00] [-1.56687148e-02 2.03637980e-04 9.99877217e-01 -9.67200870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65 meters 0.014860450720449895 Centerline is valid? [True, True] Translation: X:46.83, Y:9.12, Z:-0.97 [[ 9.26235450e-01 -3.76684435e-01 1.40259992e-02 4.68293668e+01] [ 3.76644165e-01 9.26341624e-01 5.51075599e-03 9.11569650e+00] [-1.50686829e-02 1.78553201e-04 9.99886445e-01 -9.65199264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68 meters 0.017200945024958763 Centerline is valid? [True, True] Translation: X:46.86, Y:9.13, Z:-0.97 [[ 9.26031509e-01 -3.77216413e-01 1.31689767e-02 4.68559788e+01] [ 3.77180966e-01 9.26125125e-01 5.17419086e-03 9.12734780e+00] [-1.41479099e-02 1.75623577e-04 9.99899898e-01 -9.69260142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71 meters 0.018701998512171296 Centerline is valid? [True, True] Translation: X:46.88, Y:9.14, Z:-0.97 [[ 9.26073572e-01 -3.77115507e-01 1.31009091e-02 4.68812594e+01] [ 3.77080369e-01 9.26166219e-01 5.15072156e-03 9.13991937e+00] [-1.40760364e-02 1.70148548e-04 9.99900913e-01 -9.70296056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739999999999995 meters 0.016670609372133143 Centerline is valid? [True, True] Translation: X:46.91, Y:9.15, Z:-0.97 [[ 9.26215238e-01 -3.76762362e-01 1.32459398e-02 4.69071699e+01] [ 3.76726346e-01 9.26309935e-01 5.21194461e-03 9.15213243e+00] [-1.42335102e-02 1.62711977e-04 9.99898685e-01 -9.69032525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769999999999996 meters 0.01764784397737371 Centerline is valid? [True, True] Translation: X:46.93, Y:9.16, Z:-0.97 [[ 9.26196532e-01 -3.76831546e-01 1.25686262e-02 4.69327582e+01] [ 3.76799074e-01 9.26281794e-01 4.94921951e-03 9.16373223e+00] [-1.35071117e-02 1.51896779e-04 9.99908763e-01 -9.70826728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.8 meters 0.014101098044578864 Centerline is valid? [True, True] Translation: X:46.96, Y:9.18, Z:-0.97 [[ 9.26784861e-01 -3.75402114e-01 1.19613418e-02 4.69585662e+01] [ 3.75372535e-01 9.26862038e-01 4.71404959e-03 9.17596544e+00] [-1.28561778e-02 1.21049383e-04 9.99917349e-01 -9.68322423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83 meters 0.015713415501543794 Centerline is valid? [True, True] Translation: X:46.98, Y:9.19, Z:-0.97 [[ 9.26610273e-01 -3.75853577e-01 1.12911365e-02 4.69844193e+01] [ 3.75827222e-01 9.26679057e-01 4.45252338e-03 9.18725517e+00] [-1.21367565e-02 1.17762542e-04 9.99926340e-01 -9.71266854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86 meters 0.016081798166897074 Centerline is valid? [True, True] Translation: X:47.01, Y:9.20, Z:-0.97 [[ 9.26631587e-01 -3.75810934e-01 1.09564215e-02 4.70101191e+01] [ 3.75786075e-01 9.26696353e-01 4.32392428e-03 9.19872391e+00] [-1.17782538e-02 1.10585803e-04 9.99930628e-01 -9.72787040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89 meters 0.01758521069693752 Centerline is valid? [True, True] Translation: X:47.04, Y:9.21, Z:-0.98 [[ 9.26529415e-01 -3.76101348e-01 9.54038141e-03 4.70357576e+01] [ 3.76082469e-01 9.26578527e-01 3.76957941e-03 9.21046386e+00] [-1.02576564e-02 9.53439867e-05 9.99947384e-01 -9.76261366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919999999999995 meters 0.018463312392943788 Centerline is valid? [True, True] Translation: X:47.06, Y:9.22, Z:-0.98 [[ 9.26253402e-01 -3.76780930e-01 9.52706858e-03 4.70608069e+01] [ 3.76762152e-01 9.26302391e-01 3.76311736e-03 9.22227663e+00] [-1.02428173e-02 1.03838600e-04 9.99947536e-01 -9.76686825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949999999999996 meters 0.01803473797193088 Centerline is valid? [True, True] Translation: X:47.09, Y:9.23, Z:-0.98 [[ 9.26071944e-01 -3.77203199e-01 1.04163810e-02 4.70872455e+01] [ 3.77180711e-01 9.26130517e-01 4.12033517e-03 9.23028606e+00] [-1.12011319e-02 1.13131197e-04 9.99937259e-01 -9.78660270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98 meters 0.01717763944123211 Centerline is valid? [True, True] Translation: X:47.11, Y:9.24, Z:-0.98 [[ 9.25746339e-01 -3.77980994e-01 1.11392836e-02 4.71121420e+01] [ 3.77955340e-01 9.25813345e-01 4.40573651e-03 9.24407085e+00] [-1.19781821e-02 1.31557275e-04 9.99928250e-01 -9.75422428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01 meters 0.01709606481903339 Centerline is valid? [True, True] Translation: X:47.14, Y:9.25, Z:-0.97 [[ 9.25137360e-01 -3.79441616e-01 1.20384799e-02 4.71383076e+01] [ 3.79411698e-01 9.25215670e-01 4.76742846e-03 9.25473382e+00] [-1.29471510e-02 1.57013920e-04 9.99916170e-01 -9.74591740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04 meters 0.014365861473246474 Centerline is valid? [True, True] Translation: X:47.16, Y:9.27, Z:-0.97 [[ 9.25215455e-01 -3.79231894e-01 1.26305914e-02 4.71645674e+01] [ 3.79198942e-01 9.25301651e-01 5.00181253e-03 9.26610891e+00] [-1.35839539e-02 1.61752639e-04 9.99907721e-01 -9.70753096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07 meters 0.016800916519101716 Centerline is valid? [True, True] Translation: X:47.19, Y:9.28, Z:-0.97 [[ 9.24719711e-01 -3.80425796e-01 1.30257201e-02 4.71902431e+01] [ 3.80390786e-01 9.24811430e-01 5.16411941e-03 9.27818565e+00] [-1.40108991e-02 1.79500898e-04 9.99901826e-01 -9.74385629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.1 meters 0.015837365512124973 Centerline is valid? [True, True] Translation: X:47.22, Y:9.29, Z:-0.97 [[ 9.24944205e-01 -3.79871543e-01 1.32600174e-02 4.72161937e+01] [ 3.79835201e-01 9.25039232e-01 5.25733016e-03 9.29163971e+00] [-1.42631464e-02 1.73884311e-04 9.99898261e-01 -9.74000645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129999999999995 meters 0.01664034665746159 Centerline is valid? [True, True] Translation: X:47.24, Y:9.30, Z:-0.98 [[ 9.24968907e-01 -3.79824366e-01 1.28830012e-02 4.72403961e+01] [ 3.79789995e-01 9.25058606e-01 5.11229404e-03 9.30286251e+00] [-1.38593050e-02 1.64121929e-04 9.99903942e-01 -9.75775914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16 meters 0.016905942492638628 Centerline is valid? [True, True] Translation: X:47.27, Y:9.32, Z:-0.98 [[ 9.24917588e-01 -3.79958226e-01 1.26175272e-02 4.72657257e+01] [ 3.79925262e-01 9.25003633e-01 5.00746016e-03 9.31507593e+00] [-1.35738842e-02 1.62229367e-04 9.99907857e-01 -9.76990121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19 meters 0.014155864965985384 Centerline is valid? [True, True] Translation: X:47.29, Y:9.33, Z:-0.98 [[ 9.25479754e-01 -3.78601201e-01 1.21801429e-02 4.72919824e+01] [ 3.78570310e-01 9.25559892e-01 4.83811622e-03 9.32879766e+00] [-1.31051683e-02 1.33461868e-04 9.99914115e-01 -9.75016991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22 meters 0.016932499997040003 Centerline is valid? [True, True] Translation: X:47.32, Y:9.34, Z:-0.98 [[ 9.25128518e-01 -3.79496053e-01 1.09531495e-02 4.73185839e+01] [ 3.79471109e-01 9.25193347e-01 4.35297558e-03 9.34090758e+00] [-1.17857181e-02 1.29341949e-04 9.99930538e-01 -9.79894447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25 meters 0.014257596506039017 Centerline is valid? [True, True] Translation: X:47.34, Y:9.35, Z:-0.98 [[ 9.25368636e-01 -3.78900626e-01 1.12784352e-02 4.73449538e+01] [ 3.78874093e-01 9.25437356e-01 4.48563003e-03 9.35280768e+00] [-1.21370932e-02 1.22245551e-04 9.99926335e-01 -9.77377318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28 meters 0.017725755603845095 Centerline is valid? [True, True] Translation: X:47.37, Y:9.37, Z:-0.98 [[ 9.25052399e-01 -3.79696900e-01 1.04078314e-02 4.73705655e+01] [ 3.79674328e-01 9.25110939e-01 4.14188873e-03 9.36632103e+00] [-1.12010610e-02 1.20122286e-04 9.99937259e-01 -9.81512414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309999999999995 meters 0.016978413883382885 Centerline is valid? [True, True] Translation: X:47.40, Y:9.38, Z:-0.98 [[ 9.25153606e-01 -3.79436960e-01 1.08811343e-02 4.73967040e+01] [ 3.79412212e-01 9.25217585e-01 4.33519106e-03 9.37729495e+00] [-1.17123485e-02 1.17717574e-04 9.99931401e-01 -9.81427390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339999999999996 meters 0.017434037008912273 Centerline is valid? [True, True] Translation: X:47.42, Y:9.39, Z:-0.98 [[ 9.25009090e-01 -3.79775259e-01 1.13549704e-02 4.74220175e+01] [ 3.79748340e-01 9.25078773e-01 4.52347172e-03 9.38874277e+00] [-1.22221447e-02 1.27778687e-04 9.99925299e-01 -9.81798177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37 meters 0.014229602216609606 Centerline is valid? [True, True] Translation: X:47.45, Y:9.40, Z:-0.98 [[ 9.25180969e-01 -3.79297380e-01 1.31785008e-02 4.74485193e+01] [ 3.79260993e-01 9.25274813e-01 5.25548514e-03 9.40016636e+00] [-1.41871266e-02 1.35816446e-04 9.99899348e-01 -9.77227247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.4 meters 0.015754537735526816 Centerline is valid? [True, True] Translation: X:47.48, Y:9.41, Z:-0.98 [[ 9.24721261e-01 -3.80424602e-01 1.29503767e-02 4.74750231e+01] [ 3.80389525e-01 9.24811927e-01 5.16807856e-03 9.41186489e+00] [-1.39427271e-02 1.47155515e-04 9.99902785e-01 -9.79350715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43 meters 0.016838111205582026 Centerline is valid? [True, True] Translation: X:47.50, Y:9.42, Z:-0.98 [[ 9.24404685e-01 -3.81210825e-01 1.24211973e-02 4.75015800e+01] [ 3.81178582e-01 9.24488120e-01 4.96025564e-03 9.42317345e+00] [-1.33741525e-02 1.49410810e-04 9.99910551e-01 -9.80655120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46 meters 0.014233293412444208 Centerline is valid? [True, True] Translation: X:47.53, Y:9.44, Z:-0.98 [[ 9.24528599e-01 -3.80903922e-01 1.26123512e-02 4.75273797e+01] [ 3.80870604e-01 9.24614612e-01 5.04003606e-03 9.43560590e+00] [-1.35813337e-02 1.44016336e-04 9.99907759e-01 -9.78871836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489999999999995 meters 0.018209222377952673 Centerline is valid? [True, True] Translation: X:47.55, Y:9.45, Z:-0.98 [[ 9.24037659e-01 -3.82134233e-01 1.13063584e-02 4.75535174e+01] [ 3.82107508e-01 9.24106816e-01 4.52151037e-03 9.44793641e+00] [-1.21761068e-02 1.42198586e-04 9.99925858e-01 -9.84056130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519999999999996 meters 0.018696015044587472 Centerline is valid? [True, True] Translation: X:47.58, Y:9.46, Z:-0.99 [[ 9.24126241e-01 -3.81921542e-01 1.12528694e-02 4.75781995e+01] [ 3.81895019e-01 9.24194740e-01 4.50305206e-03 9.46072733e+00] [-1.21196553e-02 1.36026188e-04 9.99926545e-01 -9.85194722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55 meters 0.017759352988447167 Centerline is valid? [True, True] Translation: X:47.60, Y:9.47, Z:-0.99 [[ 9.24111416e-01 -3.81948466e-01 1.15525075e-02 4.76039902e+01] [ 3.81920464e-01 9.24183613e-01 4.62694412e-03 9.47291119e+00] [-1.24438923e-02 1.36327147e-04 9.99922562e-01 -9.85861465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58 meters 0.01407163551569597 Centerline is valid? [True, True] Translation: X:47.63, Y:9.49, Z:-0.98 [[ 9.24533829e-01 -3.80904272e-01 1.22121117e-02 4.76302269e+01] [ 3.80872828e-01 9.24614471e-01 4.89580086e-03 9.48517811e+00] [-1.31563266e-02 1.24927990e-04 9.99913444e-01 -9.82778479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61 meters 0.017451601664716557 Centerline is valid? [True, True] Translation: X:47.66, Y:9.50, Z:-0.99 [[ 9.24168452e-01 -3.81849503e-01 1.01798321e-02 4.76561565e+01] [ 3.81827690e-01 9.24224509e-01 4.08306307e-03 9.49772566e+00] [-1.09675659e-02 1.13503694e-04 9.99939848e-01 -9.87866559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64 meters 0.016525301744579494 Centerline is valid? [True, True] Translation: X:47.68, Y:9.51, Z:-0.99 [[ 9.24275557e-01 -3.81611287e-01 9.35527594e-03 4.76815115e+01] [ 3.81592833e-01 9.24322896e-01 3.75420131e-03 9.51079543e+00] [-1.00799413e-02 9.99897516e-05 9.99949191e-01 -9.88505452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669999999999995 meters 0.016525301744579494 Centerline is valid? [True, True] Translation: X:47.71, Y:9.52, Z:-0.99 [[ 9.24166961e-01 -3.81874229e-01 9.35420434e-03 4.77070941e+01] [ 3.81855762e-01 9.24214295e-01 3.75686833e-03 9.52114974e+00] [-1.00799406e-02 9.99832382e-05 9.99949191e-01 -9.89071616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699999999999996 meters 0.0169249409538054 Centerline is valid? [True, True] Translation: X:47.73, Y:9.53, Z:-0.99 [[ 9.24125721e-01 -3.81982654e-01 8.99468138e-03 4.77328887e+01] [ 3.81965558e-01 9.24169488e-01 3.61521275e-03 9.53261368e+00] [-9.69355864e-03 9.47474008e-05 9.99953012e-01 -9.90134342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73 meters 0.015277015282684965 Centerline is valid? [True, True] Translation: X:47.76, Y:9.54, Z:-0.99 [[ 9.24172870e-01 -3.81859747e-01 9.36159361e-03 4.77588728e+01] [ 3.81841187e-01 9.24220280e-01 3.76603142e-03 9.54412683e+00] [-1.00902705e-02 9.41779453e-05 9.99949087e-01 -9.88973732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76 meters 0.013870070817717545 Centerline is valid? [True, True] Translation: X:47.78, Y:9.56, Z:-0.99 [[ 9.24458879e-01 -3.81145568e-01 1.01900238e-02 4.77849994e+01] [ 3.81123488e-01 9.24515034e-01 4.10355631e-03 9.55730853e+00] [-1.09848825e-02 9.00883318e-05 9.99939660e-01 -9.86535080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79 meters 0.018134517139679982 Centerline is valid? [True, True] Translation: X:47.81, Y:9.57, Z:-0.99 [[ 9.24076467e-01 -3.82076721e-01 1.00031100e-02 4.78098058e+01] [ 3.82055449e-01 9.24130603e-01 4.03281202e-03 9.56905241e+00] [-1.07850236e-02 9.51159842e-05 9.99941835e-01 -9.91013662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82 meters 0.015840205102651727 Centerline is valid? [True, True] Translation: X:47.84, Y:9.58, Z:-0.99 [[ 9.24267543e-01 -3.81581029e-01 1.11994221e-02 4.78350779e+01] [ 3.81554311e-01 9.24335388e-01 4.51651972e-03 9.58074375e+00] [-1.20754404e-02 9.87152142e-05 9.99927084e-01 -9.89462309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85 meters 0.017219583977107152 Centerline is valid? [True, True] Translation: X:47.86, Y:9.59, Z:-0.99 [[ 9.24537562e-01 -3.80928731e-01 1.11174973e-02 4.78603424e+01] [ 3.80902364e-01 9.24604398e-01 4.48283847e-03 9.59425123e+00] [-1.19869289e-02 9.01284548e-05 9.99928150e-01 -9.91079638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879999999999995 meters 0.01818397618851468 Centerline is valid? [True, True] Translation: X:47.88, Y:9.61, Z:-0.99 [[ 9.24826182e-01 -3.80242159e-01 1.06034572e-02 4.78845458e+01] [ 3.80218075e-01 9.24886963e-01 4.28023395e-03 9.60567623e+00] [-1.14345247e-02 7.31536552e-05 9.99934621e-01 -9.92762756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91 meters 0.013559734899087964 Centerline is valid? [True, True] Translation: X:47.91, Y:9.62, Z:-0.99 [[ 9.25543609e-01 -3.78467761e-01 1.14534563e-02 4.79105553e+01] [ 3.78439517e-01 9.25614472e-01 4.62403542e-03 9.61813398e+00] [-1.23515332e-02 5.46940339e-05 9.99923715e-01 -9.89108288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94 meters 0.016028661154317777 Centerline is valid? [True, True] Translation: X:47.94, Y:9.63, Z:-0.99 [[ 9.26267310e-01 -3.76752513e-01 9.29595467e-03 4.79353685e+01] [ 3.76733805e-01 9.26313955e-01 3.75460060e-03 9.63279765e+00] [-1.00255277e-02 2.43365824e-05 9.99949743e-01 -9.94172303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97 meters 0.014729987412204425 Centerline is valid? [True, True] Translation: X:47.96, Y:9.65, Z:-0.99 [[ 9.26892008e-01 -3.75220010e-01 9.00827912e-03 4.79606127e+01] [ 3.75202350e-01 9.26935782e-01 3.64042209e-03 9.64556222e+00] [-9.71605547e-03 5.64934833e-06 9.99952798e-01 -9.94588793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.0 meters 0.018825705995094647 Centerline is valid? [True, True] Translation: X:47.99, Y:9.66, Z:-1.00 [[ 9.27294667e-01 -3.74255925e-01 7.55668746e-03 4.79857695e+01] [ 3.74243433e-01 9.27325457e-01 3.05790899e-03 9.65856903e+00] [-8.15194921e-03 -7.54204155e-06 9.99966772e-01 -9.99205153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03 meters 0.01358145551516776 Centerline is valid? [True, True] Translation: X:48.01, Y:9.67, Z:-1.00 [[ 9.29201897e-01 -3.69478481e-01 8.33588252e-03 4.80113862e+01] [ 3.69463095e-01 9.29239285e-01 3.37232487e-03 9.67345381e+00] [-8.99203099e-03 -5.37697133e-05 9.99959569e-01 -9.95233900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059999999999995 meters 0.015972607475881296 Centerline is valid? [True, True] Translation: X:48.04, Y:9.69, Z:-1.00 [[ 9.29611335e-01 -3.68461360e-01 7.68065047e-03 4.80376608e+01] [ 3.68448248e-01 9.29643062e-01 3.10901649e-03 9.68647336e+00] [-8.28581586e-03 -6.02547618e-05 9.99965670e-01 -9.98178245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089999999999996 meters 0.018614707574243206 Centerline is valid? [True, True] Translation: X:48.06, Y:9.70, Z:-1.00 [[ 9.30931242e-01 -3.65127303e-01 7.00540751e-03 4.80628300e+01] [ 3.65116290e-01 9.30957596e-01 2.83709150e-03 9.70055908e+00] [-7.55763691e-03 -8.33487165e-05 9.99971437e-01 -9.99683592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12 meters 0.016836368033280584 Centerline is valid? [True, True] Translation: X:48.09, Y:9.71, Z:-1.00 [[ 9.31585755e-01 -3.63444947e-01 7.46673563e-03 4.80886150e+01] [ 3.63432361e-01 9.31615672e-01 3.02645434e-03 9.71331701e+00] [-8.05607747e-03 -1.05748385e-04 9.99967544e-01 -9.98982614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15 meters 0.01891573849638352 Centerline is valid? [True, True] Translation: X:48.11, Y:9.73, Z:-1.00 [[ 9.32004431e-01 -3.62376139e-01 7.16057873e-03 4.81144838e+01] [ 3.62364519e-01 9.32031932e-01 2.90419987e-03 9.72596064e+00] [-7.72630076e-03 -1.11987482e-04 9.99970145e-01 -1.00105615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18 meters 0.018924386904585477 Centerline is valid? [True, True] Translation: X:48.14, Y:9.74, Z:-1.00 [[ 9.32481048e-01 -3.61142795e-01 7.41463259e-03 4.81403046e+01] [ 3.61130278e-01 9.32510517e-01 3.00955881e-03 9.73810226e+00] [-8.00110336e-03 -1.28708229e-04 9.99967982e-01 -1.00139111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21 meters 0.01962470030868489 Centerline is valid? [True, True] Translation: X:48.17, Y:9.75, Z:-1.00 [[ 9.33257775e-01 -3.59135399e-01 7.18952997e-03 4.81660895e+01] [ 3.59123556e-01 9.33285457e-01 2.92011189e-03 9.75040082e+00] [-7.75859931e-03 -1.43287556e-04 9.99969891e-01 -1.00166348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239999999999995 meters 0.01948419001745021 Centerline is valid? [True, True] Translation: X:48.19, Y:9.76, Z:-1.00 [[ 9.33453810e-01 -3.58617375e-01 7.58703746e-03 4.81929356e+01] [ 3.58604149e-01 9.33484629e-01 3.08401564e-03 9.76096106e+00] [-8.18836444e-03 -1.58043041e-04 9.99966462e-01 -1.00166280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269999999999996 meters 0.01909888202914372 Centerline is valid? [True, True] Translation: X:48.22, Y:9.77, Z:-1.00 [[ 9.33610185e-01 -3.58209825e-01 7.59888357e-03 4.82198548e+01] [ 3.58196526e-01 9.33641095e-01 3.09105157e-03 9.77122227e+00] [-8.20187502e-03 -1.63943534e-04 9.99966351e-01 -1.00131935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.3 meters 0.020228745136619746 Centerline is valid? [True, True] Translation: X:48.25, Y:9.78, Z:-1.00 [[ 9.33719159e-01 -3.57934171e-01 7.18757625e-03 4.82453746e+01] [ 3.57922232e-01 9.33746809e-01 2.92781629e-03 9.78141426e+00] [-7.75934188e-03 -1.61164831e-04 9.99969883e-01 -1.00264085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33 meters 0.020854919227905236 Centerline is valid? [True, True] Translation: X:48.27, Y:9.79, Z:-1.00 [[ 9.33610357e-01 -3.58221045e-01 7.02739560e-03 4.82717508e+01] [ 3.58209656e-01 9.33636792e-01 2.86047413e-03 9.79129677e+00] [-7.58571711e-03 -1.53287307e-04 9.99971216e-01 -1.00346792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36 meters 0.020929444695375245 Centerline is valid? [True, True] Translation: X:48.30, Y:9.80, Z:-1.00 [[ 9.33662948e-01 -3.58082822e-01 7.08468895e-03 4.82970384e+01] [ 3.58071203e-01 9.33689813e-01 2.88899774e-03 9.80189409e+00] [-7.64940236e-03 -1.60527049e-04 9.99970730e-01 -1.00424469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39 meters 0.02033784041707618 Centerline is valid? [True, True] Translation: X:48.32, Y:9.81, Z:-1.00 [[ 9.33581301e-01 -3.58302914e-01 6.70644485e-03 4.83236207e+01] [ 3.58292525e-01 9.33605377e-01 2.73250869e-03 9.81109019e+00] [-7.24023880e-03 -1.48149958e-04 9.99973778e-01 -1.00459414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419999999999995 meters 0.020607909162303963 Centerline is valid? [True, True] Translation: X:48.35, Y:9.82, Z:-1.01 [[ 9.33418896e-01 -3.58734275e-01 6.23570130e-03 4.83502251e+01] [ 3.58725293e-01 9.33439715e-01 2.54229852e-03 9.82049044e+00] [-6.73266086e-03 -1.36125705e-04 9.99977326e-01 -1.00510332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449999999999996 meters 0.020609621887671233 Centerline is valid? [True, True] Translation: X:48.38, Y:9.83, Z:-1.01 [[ 9.33309157e-01 -3.59017426e-01 6.36438165e-03 4.83759253e+01] [ 3.59008039e-01 9.33330846e-01 2.59998851e-03 9.83034284e+00] [-6.87351489e-03 -1.41728905e-04 9.99976367e-01 -1.00635284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48 meters 0.018855885613010683 Centerline is valid? [True, True] Translation: X:48.40, Y:9.84, Z:-1.01 [[ 9.32714322e-01 -3.60569653e-01 5.78954108e-03 4.84028662e+01] [ 3.60561913e-01 9.32732283e-01 2.36560901e-03 9.83755955e+00] [-6.25305869e-03 -1.18949399e-04 9.99980442e-01 -1.00686849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51 meters 0.01992383904887491 Centerline is valid? [True, True] Translation: X:48.43, Y:9.85, Z:-1.01 [[ 9.32058170e-01 -3.62272671e-01 5.10676866e-03 4.84308467e+01] [ 3.62266687e-01 9.32072156e-01 2.08428621e-03 9.84594449e+00] [-5.51495680e-03 -9.26638355e-05 9.99984788e-01 -1.00816906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54 meters 0.02014842097121437 Centerline is valid? [True, True] Translation: X:48.46, Y:9.85, Z:-1.01 [[ 9.31332927e-01 -3.64135172e-01 4.95533424e-03 4.84576734e+01] [ 3.64129543e-01 9.31346106e-01 2.02640177e-03 9.85445691e+00] [-5.35301540e-03 -8.28710979e-05 9.99985669e-01 -1.00965967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57 meters 0.01802663814246914 Centerline is valid? [True, True] Translation: X:48.49, Y:9.86, Z:-1.01 [[ 9.29720866e-01 -3.68213018e-01 6.18739597e-03 4.84877997e+01] [ 3.68204339e-01 9.29741452e-01 2.52927142e-03 9.85868223e+00] [-6.68398918e-03 -7.32903740e-05 9.99977659e-01 -1.00831535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.6 meters 0.017468581102822973 Centerline is valid? [True, True] Translation: X:48.52, Y:9.87, Z:-1.01 [[ 9.28799343e-01 -3.70521708e-01 6.74128365e-03 4.85157396e+01] [ 3.70511451e-01 9.28823805e-01 2.75764168e-03 9.86572075e+00] [-7.28323084e-03 -6.35729943e-05 9.99973475e-01 -1.00769636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629999999999995 meters 0.01745954468566404 Centerline is valid? [True, True] Translation: X:48.54, Y:9.87, Z:-1.01 [[ 9.27898674e-01 -3.72756719e-01 7.51522033e-03 4.85441839e+01] [ 3.72744023e-01 9.27929106e-01 3.07701857e-03 9.87331079e+00] [-8.12057103e-03 -5.39079918e-05 9.99967026e-01 -1.00753370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66 meters 0.017069888825740027 Centerline is valid? [True, True] Translation: X:48.57, Y:9.88, Z:-1.01 [[ 9.27039433e-01 -3.74872438e-01 8.27917208e-03 4.85722886e+01] [ 3.74857088e-01 9.27076401e-01 3.39272950e-03 9.88090743e+00] [-8.94726583e-03 -4.16876936e-05 9.99959972e-01 -1.00719850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69 meters 0.01701031534421656 Centerline is valid? [True, True] Translation: X:48.60, Y:9.89, Z:-1.01 [[ 9.25465749e-01 -3.78721963e-01 9.10066906e-03 4.86014961e+01] [ 3.78703570e-01 9.25510494e-01 3.73252897e-03 9.88647875e+00] [-9.83635541e-03 -7.87185460e-06 9.99951622e-01 -1.00655965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72 meters 0.015930399006008168 Centerline is valid? [True, True] Translation: X:48.63, Y:9.89, Z:-1.01 [[ 9.24932951e-01 -3.80002301e-01 9.86345020e-03 4.86288545e+01] [ 3.79980735e-01 9.24985541e-01 4.04836185e-03 9.89468359e+00] [-1.06619356e-02 3.45778949e-06 9.99943160e-01 -1.00577337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75 meters 0.014199110760275442 Centerline is valid? [True, True] Translation: X:48.66, Y:9.90, Z:-1.00 [[ 9.24407363e-01 -3.81260038e-01 1.05740385e-02 4.86555158e+01] [ 3.81235291e-01 9.24467838e-01 4.34397424e-03 9.90274966e+00] [-1.14315423e-02 1.55948631e-05 9.99934658e-01 -1.00393050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78 meters 0.016235894231022438 Centerline is valid? [True, True] Translation: X:48.68, Y:9.91, Z:-1.01 [[ 9.23548451e-01 -3.83348367e-01 1.01137509e-02 4.86829837e+01] [ 3.83325800e-01 9.23603827e-01 4.15963857e-03 9.90896425e+00] [-1.09356897e-02 3.52339073e-05 9.99940203e-01 -1.00620109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809999999999995 meters 0.01660753406165951 Centerline is valid? [True, True] Translation: X:48.71, Y:9.92, Z:-1.01 [[ 9.23126021e-01 -3.84369792e-01 9.91019346e-03 4.87099112e+01] [ 3.84348184e-01 9.23179214e-01 4.07586404e-03 9.91808210e+00] [-1.07155236e-02 4.64286992e-05 9.99942586e-01 -1.00751844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839999999999996 meters 0.013550150092634149 Centerline is valid? [True, True] Translation: X:48.74, Y:9.93, Z:-1.01 [[ 9.23027770e-01 -3.84589879e-01 1.05052800e-02 4.87363462e+01] [ 3.84565569e-01 9.23087549e-01 4.32441809e-03 9.92712744e+00] [-1.13604206e-02 4.84109926e-05 9.99935467e-01 -1.00531983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87 meters 0.015616836934052617 Centerline is valid? [True, True] Translation: X:48.76, Y:9.94, Z:-1.01 [[ 9.22540676e-01 -3.85783545e-01 9.47404272e-03 4.87631555e+01] [ 3.85763806e-01 9.22589320e-01 3.90283873e-03 9.93687760e+00] [-1.02463016e-02 5.42152962e-05 9.99947504e-01 -1.00944071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.9 meters 0.017278376633557045 Centerline is valid? [True, True] Translation: X:48.79, Y:9.94, Z:-1.01 [[ 9.21857351e-01 -3.87444906e-01 8.09132935e-03 4.87910817e+01] [ 3.87430559e-01 9.21892858e-01 3.33475619e-03 9.94447256e+00] [-8.75137303e-03 6.06587494e-05 9.99961704e-01 -1.01282118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93 meters 0.01402620678570308 Centerline is valid? [True, True] Translation: X:48.82, Y:9.95, Z:-1.01 [[ 9.21685880e-01 -3.87837452e-01 8.78918477e-03 4.88178966e+01] [ 3.87820495e-01 9.21727783e-01 3.62729483e-03 9.95260199e+00] [-9.50803658e-03 6.53995639e-05 9.99954795e-01 -1.01052029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96 meters 0.014187578244451854 Centerline is valid? [True, True] Translation: X:48.84, Y:9.96, Z:-1.01 [[ 9.21216077e-01 -3.88945851e-01 9.05890408e-03 4.88443852e+01] [ 3.88927880e-01 9.21260614e-01 3.73962386e-03 9.96095374e+00] [-9.80012272e-03 7.82587393e-05 9.99951975e-01 -1.01088844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989999999999995 meters 0.017882877867278005 Centerline is valid? [True, True] Translation: X:48.87, Y:9.97, Z:-1.01 [[ 9.20061231e-01 -3.91662838e-01 9.35695633e-03 4.88720453e+01] [ 3.91643815e-01 9.20108803e-01 3.86178061e-03 9.96893545e+00] [-1.01219338e-02 1.11519453e-04 9.99948766e-01 -1.01311472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019999999999996 meters 0.014554564563788114 Centerline is valid? [True, True] Translation: X:48.90, Y:9.98, Z:-1.01 [[ 9.19903709e-01 -3.91993838e-01 1.08626743e-02 4.88994049e+01] [ 3.91968156e-01 9.19967834e-01 4.48883462e-03 9.97691085e+00] [-1.17529065e-02 1.28526808e-04 9.99930924e-01 -1.00946432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05 meters 0.014641966969116987 Centerline is valid? [True, True] Translation: X:48.93, Y:9.99, Z:-1.01 [[ 9.19669278e-01 -3.92519023e-01 1.17147512e-02 4.89251069e+01] [ 3.92489184e-01 9.19743875e-01 4.84204997e-03 9.98558080e+00] [-1.26751674e-02 1.44828527e-04 9.99919656e-01 -1.00914821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08 meters 0.016061043922094377 Centerline is valid? [True, True] Translation: X:48.95, Y:9.99, Z:-1.01 [[ 9.19060759e-01 -3.93915423e-01 1.25682136e-02 4.89513733e+01] [ 3.93881178e-01 9.19146674e-01 5.19701075e-03 9.99387676e+00] [-1.35992144e-02 1.74014138e-04 9.99907511e-01 -1.01099766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11 meters 0.015225874873582516 Centerline is valid? [True, True] Translation: X:48.98, Y:10.00, Z:-1.01 [[ 9.18917745e-01 -3.94235334e-01 1.29876617e-02 4.89767452e+01] [ 3.94198798e-01 9.19009503e-01 5.37036913e-03 1.00048765e+01] [-1.40529738e-02 1.84793125e-04 9.99901235e-01 -1.01060868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14 meters 0.016741054536827157 Centerline is valid? [True, True] Translation: X:49.00, Y:10.01, Z:-1.01 [[ 9.18687931e-01 -3.94774900e-01 1.28555221e-02 4.90026921e+01] [ 3.94739077e-01 9.18777854e-01 5.32138972e-03 1.00139006e+01] [-1.39121201e-02 1.85880418e-04 9.99903204e-01 -1.01343448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169999999999995 meters 0.0171733051494543 Centerline is valid? [True, True] Translation: X:49.03, Y:10.02, Z:-1.02 [[ 9.18418943e-01 -3.95437578e-01 1.16519432e-02 4.90299562e+01] [ 3.95408207e-01 9.18492836e-01 4.82283268e-03 1.00232865e+01] [-1.26093556e-02 1.77893088e-04 9.99920483e-01 -1.01521422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199999999999996 meters 0.018640830525040685 Centerline is valid? [True, True] Translation: X:49.06, Y:10.03, Z:-1.02 [[ 9.18228162e-01 -3.95917971e-01 1.02957543e-02 4.90569021e+01] [ 3.95895044e-01 9.18285867e-01 4.26383717e-03 1.00334122e+01] [-1.11425755e-02 1.60862737e-04 9.99937907e-01 -1.01751630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23 meters 0.014801666463624847 Centerline is valid? [True, True] Translation: X:49.08, Y:10.04, Z:-1.01 [[ 9.18252726e-01 -3.95856433e-01 1.04697340e-02 4.90835577e+01] [ 3.95832689e-01 9.18312397e-01 4.33866705e-03 1.00431176e+01] [-1.13319758e-02 1.60270128e-04 9.99935778e-01 -1.01460765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26 meters 0.01637698976676591 Centerline is valid? [True, True] Translation: X:49.11, Y:10.05, Z:-1.02 [[ 9.17599949e-01 -3.97373174e-01 1.02418144e-02 4.91104796e+01] [ 3.97350506e-01 9.17657088e-01 4.24779786e-03 1.00526504e+01] [-1.10864345e-02 1.71811043e-04 9.99938529e-01 -1.01683352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29 meters 0.017177464510748263 Centerline is valid? [True, True] Translation: X:49.14, Y:10.06, Z:-1.02 [[ 9.17287706e-01 -3.98088014e-01 1.04497851e-02 4.91367504e+01] [ 3.98064431e-01 9.17347208e-01 4.33685180e-03 1.00626716e+01] [-1.13125299e-02 1.81546914e-04 9.99935995e-01 -1.01789883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32 meters 0.016627925247416537 Centerline is valid? [True, True] Translation: X:49.16, Y:10.07, Z:-1.02 [[ 9.17117094e-01 -3.98470872e-01 1.08258792e-02 4.91631738e+01] [ 3.98445543e-01 9.17180968e-01 4.49675627e-03 1.00727597e+01] [-1.17211168e-02 1.89471278e-04 9.99931287e-01 -1.01755212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35 meters 0.016618277652417315 Centerline is valid? [True, True] Translation: X:49.19, Y:10.08, Z:-1.02 [[ 9.16906500e-01 -3.98949860e-01 1.10217785e-02 4.91889314e+01] [ 3.98923596e-01 9.16972721e-01 4.58185222e-03 1.00829594e+01] [-1.19345995e-02 1.95717436e-04 9.99928761e-01 -1.01787741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379999999999995 meters 0.016695248950298495 Centerline is valid? [True, True] Translation: X:49.21, Y:10.09, Z:-1.02 [[ 9.16710093e-01 -3.99379977e-01 1.17575445e-02 4.92147405e+01] [ 3.99350071e-01 9.16785465e-01 4.89196584e-03 1.00929742e+01] [-1.27328991e-02 2.10861759e-04 9.99918911e-01 -1.01812830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41 meters 0.016911936940571724 Centerline is valid? [True, True] Translation: X:49.24, Y:10.10, Z:-1.02 [[ 9.16487669e-01 -3.99873887e-01 1.22974276e-02 4.92406376e+01] [ 3.99841157e-01 9.16570141e-01 5.12098809e-03 1.01030155e+01] [-1.33192044e-02 2.23695243e-04 9.99911270e-01 -1.01878022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44 meters 0.01727522348638483 Centerline is valid? [True, True] Translation: X:49.27, Y:10.11, Z:-1.02 [[ 9.16339900e-01 -4.00196370e-01 1.28082906e-02 4.92662345e+01] [ 4.00160817e-01 9.16429382e-01 5.33940523e-03 1.01128900e+01] [-1.38747044e-02 2.32665963e-04 9.99903715e-01 -1.01943065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47 meters 0.01777549379208102 Centerline is valid? [True, True] Translation: X:49.29, Y:10.12, Z:-1.02 [[ 9.16046966e-01 -4.00847573e-01 1.33857931e-02 4.92927835e+01] [ 4.00808796e-01 9.16144726e-01 5.58112560e-03 1.01229333e+01] [-1.45005044e-02 2.52570461e-04 9.99894830e-01 -1.02041263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.5 meters 0.015307495412850196 Centerline is valid? [True, True] Translation: X:49.32, Y:10.13, Z:-1.02 [[ 9.16087194e-01 -4.00749014e-01 1.35823658e-02 4.93187678e+01] [ 4.00709003e-01 9.16187844e-01 5.66829775e-03 1.01321197e+01] [-1.47155632e-02 2.49921283e-04 9.99891689e-01 -1.01723180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53 meters 0.015256039063566356 Centerline is valid? [True, True] Translation: X:49.35, Y:10.14, Z:-1.02 [[ 9.16276314e-01 -4.00337286e-01 1.29527753e-02 4.93455317e+01] [ 4.00300828e-01 9.16367833e-01 5.40766699e-03 1.01412321e+01] [-1.40343974e-02 2.30089515e-04 9.99901487e-01 -1.01821202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559999999999995 meters 0.015256039063566356 Centerline is valid? [True, True] Translation: X:49.37, Y:10.15, Z:-1.02 [[ 9.16163868e-01 -4.00594598e-01 1.29512555e-02 4.93709817e+01] [ 4.00558114e-01 9.16255377e-01 5.41130376e-03 1.01519452e+01] [-1.40343966e-02 2.30089501e-04 9.99901487e-01 -1.01877822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.589999999999996 meters 0.01516990779319795 Centerline is valid? [True, True] Translation: X:49.40, Y:10.16, Z:-1.02 [[ 9.16374122e-01 -4.00135121e-01 1.22618671e-02 4.93970160e+01] [ 4.00102328e-01 9.16456132e-01 5.12698125e-03 1.01622606e+01] [-1.32889485e-02 2.07768619e-04 9.99911676e-01 -1.02003927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62 meters 0.017664849896529007 Centerline is valid? [True, True] Translation: X:49.42, Y:10.17, Z:-1.03 [[ 9.16537585e-01 -3.99795012e-01 1.10817264e-02 4.94229293e+01] [ 3.99768165e-01 9.16604558e-01 4.63658828e-03 1.01729100e+01] [-1.20112458e-02 1.80514025e-04 9.99927846e-01 -1.02502128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65 meters 0.014850157224595472 Centerline is valid? [True, True] Translation: X:49.45, Y:10.18, Z:-1.02 [[ 9.17694293e-01 -3.97149948e-01 1.04452261e-02 4.94489902e+01] [ 3.97125869e-01 9.17753726e-01 4.37528486e-03 1.01836994e+01] [-1.13237893e-02 1.32895554e-04 9.99935875e-01 -1.02365344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68 meters 0.01823939549405386 Centerline is valid? [True, True] Translation: X:49.47, Y:10.19, Z:-1.03 [[ 9.17973553e-01 -3.96529247e-01 9.43986832e-03 4.94749011e+01] [ 3.96509561e-01 9.18022082e-01 3.95282594e-03 1.01949617e+01] [-1.02334187e-02 1.14408370e-04 9.99947631e-01 -1.02893457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71 meters 0.01714779097643849 Centerline is valid? [True, True] Translation: X:49.50, Y:10.21, Z:-1.03 [[ 9.18672666e-01 -3.94914754e-01 9.10326830e-03 4.94999807e+01] [ 3.94896319e-01 9.18717764e-01 3.81679323e-03 1.02059936e+01] [-9.87064226e-03 8.84635314e-05 9.99951280e-01 -1.02943611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739999999999995 meters 0.01679856400751997 Centerline is valid? [True, True] Translation: X:49.53, Y:10.22, Z:-1.03 [[ 9.19332687e-01 -3.93381174e-01 8.86920227e-03 4.95265496e+01] [ 3.93363613e-01 9.19375466e-01 3.71759088e-03 1.02179673e+01] [-9.61655724e-03 7.11186408e-05 9.99953757e-01 -1.02974268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769999999999996 meters 0.017405092252713562 Centerline is valid? [True, True] Translation: X:49.55, Y:10.23, Z:-1.03 [[ 9.20774571e-01 -3.89994672e-01 8.85129037e-03 4.95528064e+01] [ 3.89977002e-01 9.20817112e-01 3.71262240e-03 1.02300179e+01] [-9.59832259e-03 3.33113835e-05 9.99953934e-01 -1.02971322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.8 meters 0.015145016368132785 Centerline is valid? [True, True] Translation: X:49.58, Y:10.24, Z:-1.03 [[ 9.21572359e-01 -3.88083654e-01 9.77062574e-03 4.95780596e+01] [ 3.88061965e-01 9.21624152e-01 4.10285855e-03 1.02412945e+01] [-1.05970970e-02 1.05271933e-05 9.99943849e-01 -1.02754337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83 meters 0.016907689174972044 Centerline is valid? [True, True] Translation: X:49.60, Y:10.25, Z:-1.03 [[ 9.22080689e-01 -3.86856729e-01 1.04438396e-02 4.96035141e+01] [ 3.86831866e-01 9.22139833e-01 4.38587614e-03 1.02532383e+01] [-1.13273862e-02 -4.12171461e-06 9.99935843e-01 -1.02885821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86 meters 0.013898294418452499 Centerline is valid? [True, True] Translation: X:49.63, Y:10.27, Z:-1.02 [[ 9.23743654e-01 -3.82804998e-01 1.25696333e-02 4.96287182e+01] [ 3.82768536e-01 9.23829166e-01 5.28384754e-03 1.02668970e+01] [-1.36348771e-02 -6.96604866e-05 9.99907038e-01 -1.02405480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89 meters 0.018128916843572013 Centerline is valid? [True, True] Translation: X:49.65, Y:10.28, Z:-1.03 [[ 9.24370449e-01 -3.81268258e-01 1.31828710e-02 4.96537233e+01] [ 3.81227908e-01 9.24464442e-01 5.54767198e-03 1.02798084e+01] [-1.43022467e-02 -1.02425703e-04 9.99897712e-01 -1.02925879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919999999999995 meters 0.01809624717780321 Centerline is valid? [True, True] Translation: X:49.68, Y:10.29, Z:-1.03 [[ 9.25053994e-01 -3.79597378e-01 1.34513440e-02 4.96803727e+01] [ 3.79555184e-01 9.25151779e-01 5.66118262e-03 1.02920998e+01] [-1.45935049e-02 -1.31372266e-04 9.99893501e-01 -1.02906768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.949999999999996 meters 0.018064864734636633 Centerline is valid? [True, True] Translation: X:49.71, Y:10.30, Z:-1.03 [[ 9.26099716e-01 -3.77075655e-01 1.23800449e-02 4.97069714e+01] [ 3.77039653e-01 9.26182447e-01 5.21303973e-03 1.03027945e+01] [-1.34318906e-02 -1.60026800e-04 9.99909775e-01 -1.02887861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98 meters 0.016920344098887725 Centerline is valid? [True, True] Translation: X:49.73, Y:10.32, Z:-1.03 [[ 9.26442114e-01 -3.76249811e-01 1.18780995e-02 4.97320391e+01] [ 3.76216541e-01 9.26518241e-01 5.00630528e-03 1.03154920e+01] [-1.28888972e-02 -1.69314546e-04 9.99916920e-01 -1.02969375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01 meters 0.01846296477532876 Centerline is valid? [True, True] Translation: X:49.76, Y:10.33, Z:-1.03 [[ 9.27026731e-01 -3.74854378e-01 1.02779540e-02 4.97575895e+01] [ 3.74829373e-01 9.27083690e-01 4.33269658e-03 1.03276076e+01] [-1.11526538e-02 -1.64046473e-04 9.99937794e-01 -1.03295755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04 meters 0.018473438091232128 Centerline is valid? [True, True] Translation: X:49.78, Y:10.34, Z:-1.03 [[ 9.27339923e-01 -3.74097499e-01 9.57752393e-03 4.97840550e+01] [ 3.74075756e-01 9.27389366e-01 4.03654264e-03 1.03398549e+01] [-1.03921543e-02 -1.60527633e-04 9.99945987e-01 -1.03420368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07 meters 0.01806349439712925 Centerline is valid? [True, True] Translation: X:49.81, Y:10.35, Z:-1.03 [[ 9.27464904e-01 -3.73802661e-01 8.96780991e-03 4.98106466e+01] [ 3.73783563e-01 9.27508246e-01 3.78176057e-03 1.03510358e+01] [-9.73134981e-03 -1.55430263e-04 9.99952637e-01 -1.03456464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.1 meters 0.019077978506245867 Centerline is valid? [True, True] Translation: X:49.84, Y:10.36, Z:-1.04 [[ 9.27568061e-01 -3.73549873e-01 8.83087343e-03 4.98358847e+01] [ 3.73531299e-01 9.27610084e-01 3.72847158e-03 1.03618198e+01] [-9.58437733e-03 -1.59803525e-04 9.99954056e-01 -1.03589786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129999999999995 meters 0.01883970461118089 Centerline is valid? [True, True] Translation: X:49.86, Y:10.37, Z:-1.04 [[ 9.27411453e-01 -3.73939667e-01 8.78196338e-03 4.98617062e+01] [ 3.73921330e-01 9.27453019e-01 3.70641527e-03 1.03725280e+01] [-9.53083414e-03 -1.53608539e-04 9.99954569e-01 -1.03601579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16 meters 0.019450563134425412 Centerline is valid? [True, True] Translation: X:49.89, Y:10.38, Z:-1.04 [[ 9.27216466e-01 -3.74418783e-01 8.95544671e-03 4.98878464e+01] [ 3.74399704e-01 9.27259700e-01 3.78291850e-03 1.03835244e+01] [-9.72042057e-03 -1.54667723e-04 9.99952744e-01 -1.03674838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19 meters 0.02023775526101206 Centerline is valid? [True, True] Translation: X:49.91, Y:10.39, Z:-1.04 [[ 9.26799937e-01 -3.75438361e-01 9.37622163e-03 4.99147671e+01] [ 3.75417465e-01 9.26847352e-01 3.96404169e-03 1.03937386e+01] [-1.01785795e-02 -1.53876236e-04 9.99948185e-01 -1.03720160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22 meters 0.017227254371362674 Centerline is valid? [True, True] Translation: X:49.94, Y:10.40, Z:-1.03 [[ 9.26110291e-01 -3.77076763e-01 1.15257763e-02 4.99415521e+01] [ 3.77045239e-01 9.26181993e-01 4.87883436e-03 1.04027372e+01] [-1.25146615e-02 -1.72599640e-04 9.99921674e-01 -1.03362909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25 meters 0.018017761479675265 Centerline is valid? [True, True] Translation: X:49.97, Y:10.41, Z:-1.03 [[ 9.25532366e-01 -3.78487231e-01 1.17156170e-02 4.99686642e+01] [ 3.78454774e-01 9.25606499e-01 4.95907007e-03 1.04120963e+01] [-1.27209959e-02 -1.55948670e-04 9.99919073e-01 -1.03416286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28 meters 0.01784245393359604 Centerline is valid? [True, True] Translation: X:49.99, Y:10.42, Z:-1.03 [[ 9.25057813e-01 -3.79615065e-01 1.26666604e-02 4.99940374e+01] [ 3.79577157e-01 9.25144517e-01 5.36691384e-03 1.04227519e+01] [-1.37558528e-02 -1.56730637e-04 9.99905371e-01 -1.03456288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309999999999995 meters 0.018512809220387078 Centerline is valid? [True, True] Translation: X:50.02, Y:10.43, Z:-1.03 [[ 9.24524683e-01 -3.80907621e-01 1.27865039e-02 5.00219451e+01] [ 3.80869115e-01 9.24613089e-01 5.41781483e-03 1.04322307e+01] [-1.38862558e-02 -1.38919111e-04 9.99903572e-01 -1.03440082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339999999999996 meters 0.015576211383080124 Centerline is valid? [True, True] Translation: X:50.05, Y:10.44, Z:-1.03 [[ 9.24084715e-01 -3.81934100e-01 1.39206069e-02 5.00477896e+01] [ 3.81888492e-01 9.24189550e-01 5.90392955e-03 1.04427577e+01] [-1.51201914e-02 -1.39611492e-04 9.99885674e-01 -1.03188988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37 meters 0.01636440885163659 Centerline is valid? [True, True] Translation: X:50.07, Y:10.45, Z:-1.03 [[ 9.23813891e-01 -3.82609152e-01 1.33465709e-02 5.00737966e+01] [ 3.82567298e-01 9.23910289e-01 5.66049767e-03 1.04539026e+01] [-1.44967924e-02 -1.23284807e-04 9.99894908e-01 -1.03374597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.4 meters 0.01666003813777601 Centerline is valid? [True, True] Translation: X:50.10, Y:10.47, Z:-1.04 [[ 9.23684588e-01 -3.82972617e-01 1.17794798e-02 5.01000153e+01] [ 3.82940000e-01 9.23759689e-01 4.99933209e-03 1.04665462e+01] [-1.27960159e-02 -1.06972012e-04 9.99918122e-01 -1.03644710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43 meters 0.014640424730114525 Centerline is valid? [True, True] Translation: X:50.12, Y:10.48, Z:-1.04 [[ 9.23803091e-01 -3.82718726e-01 1.06876071e-02 5.01246191e+01] [ 3.82691815e-01 9.23864907e-01 4.53972552e-03 1.04790350e+01] [-1.16113431e-02 -1.03752699e-04 9.99932581e-01 -1.03619680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46 meters 0.01445502916996998 Centerline is valid? [True, True] Translation: X:50.15, Y:10.49, Z:-1.04 [[ 9.23765116e-01 -3.82840530e-01 9.54665978e-03 5.01511321e+01] [ 3.82819065e-01 9.23814441e-01 4.05498923e-03 1.04904403e+01] [-1.03717564e-02 -9.12142207e-05 9.99946208e-01 -1.03749135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489999999999995 meters 0.016897095722997246 Centerline is valid? [True, True] Translation: X:50.18, Y:10.50, Z:-1.04 [[ 9.23698617e-01 -3.83030421e-01 8.28021023e-03 5.01762526e+01] [ 3.83014247e-01 9.23735725e-01 3.52078582e-03 1.05022306e+01] [-8.99729408e-03 -8.07065020e-05 9.99959520e-01 -1.04256819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519999999999996 meters 0.018307343575707898 Centerline is valid? [True, True] Translation: X:50.20, Y:10.51, Z:-1.04 [[ 9.23513234e-01 -3.83487647e-01 7.78024952e-03 5.02006051e+01] [ 3.83473389e-01 9.23546003e-01 3.30754707e-03 1.05131917e+01] [-8.45382179e-03 -7.10448389e-05 9.99964263e-01 -1.04470146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55 meters 0.01748325809821461 Centerline is valid? [True, True] Translation: X:50.23, Y:10.52, Z:-1.04 [[ 9.23380274e-01 -3.83799599e-01 8.16922465e-03 5.02260039e+01] [ 3.83783885e-01 9.23416408e-01 3.47384522e-03 1.05242497e+01] [-8.87685648e-03 -7.24633862e-05 9.99960597e-01 -1.04402252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58 meters 0.017546003816159665 Centerline is valid? [True, True] Translation: X:50.25, Y:10.54, Z:-1.04 [[ 9.23202996e-01 -3.84214831e-01 8.67136069e-03 5.02517513e+01] [ 3.84197114e-01 9.23243715e-01 3.69047768e-03 1.05351638e+01] [-9.42371552e-03 -7.55483035e-05 9.99955593e-01 -1.04307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61 meters 0.016424017900711033 Centerline is valid? [True, True] Translation: X:50.28, Y:10.55, Z:-1.04 [[ 9.23047007e-01 -3.84568168e-01 9.56797247e-03 5.02769021e+01] [ 3.84546554e-01 9.23096591e-01 4.07815648e-03 1.05472866e+01] [-1.04004919e-02 -8.49993010e-05 9.99945910e-01 -1.04178005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64 meters 0.014401181274969485 Centerline is valid? [True, True] Translation: X:50.30, Y:10.56, Z:-1.04 [[ 9.22924331e-01 -3.84838301e-01 1.04957740e-02 5.03029928e+01] [ 3.84812316e-01 9.22984005e-01 4.47294902e-03 1.05589519e+01] [-1.14087937e-02 -8.92903719e-05 9.99934914e-01 -1.03957080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669999999999995 meters 0.015710612741229642 Centerline is valid? [True, True] Translation: X:50.33, Y:10.57, Z:-1.04 [[ 9.22862484e-01 -3.84998141e-01 1.00631777e-02 5.03287611e+01] [ 3.84974207e-01 9.22917344e-01 4.29376820e-03 1.05705787e+01] [-1.09405740e-02 -8.84937441e-05 9.99940146e-01 -1.04248756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699999999999996 meters 0.014441185829273872 Centerline is valid? [True, True] Translation: X:50.35, Y:10.58, Z:-1.04 [[ 9.22841304e-01 -3.85056631e-01 9.76306243e-03 5.03543302e+01] [ 3.85034119e-01 9.22892943e-01 4.16453402e-03 1.05813842e+01] [-1.06138429e-02 -8.40918640e-05 9.99943668e-01 -1.04175580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73 meters 0.017599253217836928 Centerline is valid? [True, True] Translation: X:50.38, Y:10.59, Z:-1.05 [[ 9.22732517e-01 -3.85345983e-01 8.55427676e-03 5.03793724e+01] [ 3.85328673e-01 9.22772165e-01 3.65319728e-03 1.05922700e+01] [-9.30139338e-03 -7.47158082e-05 9.99956738e-01 -1.04637413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76 meters 0.01640090864615045 Centerline is valid? [True, True] Translation: X:50.40, Y:10.60, Z:-1.05 [[ 9.22786467e-01 -3.85201814e-01 9.20324433e-03 5.04048075e+01] [ 3.85181778e-01 9.22832355e-01 3.92962975e-03 1.06032957e+01] [-1.00067522e-02 -8.12871355e-05 9.99949928e-01 -1.04567478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79 meters 0.017828350126567208 Centerline is valid? [True, True] Translation: X:50.43, Y:10.62, Z:-1.05 [[ 9.23031560e-01 -3.84615787e-01 9.13432705e-03 5.04311581e+01] [ 3.84595988e-01 9.23076751e-01 3.90361108e-03 1.06157929e+01] [-9.93307538e-03 -9.01306874e-05 9.99950662e-01 -1.04734647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82 meters 0.014949208096084353 Centerline is valid? [True, True] Translation: X:50.46, Y:10.63, Z:-1.04 [[ 9.23234265e-01 -3.84107193e-01 1.00077842e-02 5.04570520e+01] [ 3.84083362e-01 9.23288499e-01 4.28002265e-03 1.06280711e+01] [-1.08840596e-02 -1.07640155e-04 9.99940761e-01 -1.04470573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85 meters 0.01884651539428848 Centerline is valid? [True, True] Translation: X:50.48, Y:10.64, Z:-1.05 [[ 9.23333654e-01 -3.83874241e-01 9.77396992e-03 5.04817349e+01] [ 3.83851441e-01 9.23385377e-01 4.18526988e-03 1.06397975e+01] [-1.06317582e-02 -1.12648096e-04 9.99943475e-01 -1.04933023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879999999999995 meters 0.018810249321305577 Centerline is valid? [True, True] Translation: X:50.51, Y:10.65, Z:-1.05 [[ 9.23442740e-01 -3.83604261e-01 1.00636380e-02 5.05075966e+01] [ 3.83580083e-01 9.23497568e-01 4.30841733e-03 1.06515059e+01] [-1.09464724e-02 -1.18365614e-04 9.99940079e-01 -1.04974445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91 meters 0.017700885178933964 Centerline is valid? [True, True] Translation: X:50.53, Y:10.66, Z:-1.05 [[ 9.23641367e-01 -3.83099199e-01 1.10285624e-02 5.05338435e+01] [ 3.83070077e-01 9.23707196e-01 4.72566944e-03 1.06624271e+01] [-1.19975626e-02 -1.40111548e-04 9.99928017e-01 -1.04864857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94 meters 0.01922464408519238 Centerline is valid? [True, True] Translation: X:50.56, Y:10.67, Z:-1.05 [[ 9.23616567e-01 -3.83141289e-01 1.16271414e-02 5.05582371e+01] [ 3.83108852e-01 9.23689736e-01 4.98780641e-03 1.06735357e+01] [-1.26509057e-02 -1.52359837e-04 9.99919962e-01 -1.04965212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97 meters 0.018915394573616014 Centerline is valid? [True, True] Translation: X:50.58, Y:10.68, Z:-1.05 [[ 9.23622567e-01 -3.83106292e-01 1.22850653e-02 5.05835148e+01] [ 3.83070068e-01 9.23704251e-01 5.27073510e-03 1.06849812e+01] [-1.33670189e-02 -1.62129070e-04 9.99910644e-01 -1.04952913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.0 meters 0.01869772719663543 Centerline is valid? [True, True] Translation: X:50.61, Y:10.70, Z:-1.05 [[ 9.23785634e-01 -3.82699820e-01 1.26866299e-02 5.06088564e+01] [ 3.82661089e-01 9.23872727e-01 5.44744564e-03 1.06968995e+01] [-1.38055678e-02 -1.77592416e-04 9.99904683e-01 -1.04982516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03 meters 0.017573567131441873 Centerline is valid? [True, True] Translation: X:50.63, Y:10.71, Z:-1.05 [[ 9.23827478e-01 -3.82581558e-01 1.31963091e-02 5.06348335e+01] [ 3.82539572e-01 9.23921704e-01 5.67103155e-03 1.07086306e+01] [-1.43619885e-02 -1.90944331e-04 9.99896843e-01 -1.04929793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059999999999995 meters 0.018166441456756416 Centerline is valid? [True, True] Translation: X:50.66, Y:10.72, Z:-1.05 [[ 9.24278727e-01 -3.81533248e-01 1.18834364e-02 5.06601407e+01] [ 3.81499050e-01 9.24355096e-01 5.11181362e-03 1.07213921e+01] [-1.29348418e-02 -1.91220900e-04 9.99916323e-01 -1.05088780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.089999999999996 meters 0.018527115128063237 Centerline is valid? [True, True] Translation: X:50.69, Y:10.73, Z:-1.05 [[ 9.24343417e-01 -3.81414871e-01 1.05803390e-02 5.06871395e+01] [ 3.81387762e-01 9.24403952e-01 4.55057605e-03 1.07316452e+01] [-1.15161646e-02 -1.71083193e-04 9.99933672e-01 -1.05238921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12 meters 0.01569630704591481 Centerline is valid? [True, True] Translation: X:50.71, Y:10.74, Z:-1.05 [[ 9.24716897e-01 -3.80520693e-01 1.01322188e-02 5.07138965e+01] [ 3.80495749e-01 9.24772389e-01 4.36053622e-03 1.07426925e+01] [-1.10292704e-02 -1.76995361e-04 9.99939160e-01 -1.04968096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15 meters 0.019682878729517253 Centerline is valid? [True, True] Translation: X:50.74, Y:10.75, Z:-1.06 [[ 9.24544232e-01 -3.80971845e-01 8.85526599e-03 5.07390190e+01] [ 3.80952778e-01 9.24586626e-01 3.81459896e-03 1.07533037e+01] [-9.64071531e-03 -1.53327285e-04 9.99953515e-01 -1.05536124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18 meters 0.018349364385909384 Centerline is valid? [True, True] Translation: X:50.77, Y:10.76, Z:-1.05 [[ 9.24630375e-01 -3.80767340e-01 8.65457321e-03 5.07661253e+01] [ 3.80749125e-01 9.24670866e-01 3.72744351e-03 1.07640046e+01] [-9.42192045e-03 -1.51286308e-04 9.99955601e-01 -1.05475619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21 meters 0.018463011461134028 Centerline is valid? [True, True] Translation: X:50.79, Y:10.78, Z:-1.06 [[ 9.24730115e-01 -3.80523946e-01 8.70295455e-03 5.07910816e+01] [ 3.80505473e-01 9.24771054e-01 3.75283227e-03 1.07760090e+01] [-9.47628300e-03 -1.58835184e-04 9.99955086e-01 -1.05566252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239999999999995 meters 0.018892137463302434 Centerline is valid? [True, True] Translation: X:50.82, Y:10.79, Z:-1.06 [[ 9.24703965e-01 -3.80588704e-01 8.64960978e-03 5.08171651e+01] [ 3.80570473e-01 9.24744405e-01 3.72842539e-03 1.07872739e+01] [-9.41767483e-03 -1.55903657e-04 9.99955641e-01 -1.05659074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.269999999999996 meters 0.018224093232035235 Centerline is valid? [True, True] Translation: X:50.84, Y:10.80, Z:-1.06 [[ 9.24960585e-01 -3.79962386e-01 8.74654559e-03 5.08448191e+01] [ 3.79943685e-01 9.25001923e-01 3.77346618e-03 1.07970981e+01] [-9.52434670e-03 -1.67112715e-04 9.99954628e-01 -1.05594771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.3 meters 0.018573652211704667 Centerline is valid? [True, True] Translation: X:50.87, Y:10.81, Z:-1.06 [[ 9.24938583e-01 -3.80021762e-01 8.48981481e-03 5.08711058e+01] [ 3.80004128e-01 9.24977531e-01 3.66462310e-03 1.08074144e+01] [-9.24552447e-03 -1.63386625e-04 9.99957246e-01 -1.05642413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33 meters 0.01692786261907771 Centerline is valid? [True, True] Translation: X:50.90, Y:10.82, Z:-1.06 [[ 9.24668041e-01 -3.80676859e-01 8.61067874e-03 5.08967849e+01] [ 3.80658701e-01 9.24708118e-01 3.72167684e-03 1.08175600e+01] [-9.37912078e-03 -1.63585850e-04 9.99956002e-01 -1.05519656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36 meters 0.018078182558522303 Centerline is valid? [True, True] Translation: X:50.92, Y:10.83, Z:-1.06 [[ 9.23708824e-01 -3.83005001e-01 8.31727592e-03 5.09239796e+01] [ 3.82988155e-01 9.23746259e-01 3.59466469e-03 1.08267140e+01] [-9.05982707e-03 -1.35005332e-04 9.99958950e-01 -1.05792633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39 meters 0.015557955153456447 Centerline is valid? [True, True] Translation: X:50.95, Y:10.84, Z:-1.05 [[ 9.23535816e-01 -3.83409324e-01 8.88183293e-03 5.09505051e+01] [ 3.83390109e-01 9.23578513e-01 3.84112056e-03 1.08365298e+01] [-9.67579149e-03 -1.42205515e-04 9.99953178e-01 -1.05487477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419999999999995 meters 0.017233179834453598 Centerline is valid? [True, True] Translation: X:50.98, Y:10.85, Z:-1.06 [[ 9.23027021e-01 -3.84628805e-01 9.04441278e-03 5.09762348e+01] [ 3.84608884e-01 9.23071321e-01 3.91697278e-03 1.08476406e+01] [-9.85521861e-03 -1.36910208e-04 9.99951427e-01 -1.05827904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449999999999996 meters 0.015671417407694257 Centerline is valid? [True, True] Translation: X:51.00, Y:10.86, Z:-1.06 [[ 9.22705088e-01 -3.85385892e-01 9.64551681e-03 5.10020362e+01] [ 3.85363264e-01 9.22755491e-01 4.17848733e-03 1.08576609e+01] [-1.05107837e-02 -1.38483685e-04 9.99944751e-01 -1.05671052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48 meters 0.015671417407694257 Centerline is valid? [True, True] Translation: X:51.03, Y:10.87, Z:-1.06 [[ 9.22598846e-01 -3.85640151e-01 9.64591220e-03 5.10273328e+01] [ 3.85617546e-01 9.22649259e-01 4.17757600e-03 1.08687204e+01] [-1.05108348e-02 -1.34593801e-04 9.99944751e-01 -1.05727850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51 meters 0.017838511800501427 Centerline is valid? [True, True] Translation: X:51.05, Y:10.88, Z:-1.06 [[ 9.22038218e-01 -3.86992900e-01 9.05653431e-03 5.10537571e+01] [ 3.86973013e-01 9.22082688e-01 3.92486673e-03 1.08788813e+01] [-9.86976905e-03 -1.14242761e-04 9.99951286e-01 -1.06091180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54 meters 0.017171049298548104 Centerline is valid? [True, True] Translation: X:51.08, Y:10.89, Z:-1.06 [[ 9.21865082e-01 -3.87414136e-01 8.66365978e-03 5.10804256e+01] [ 3.87395932e-01 9.21905785e-01 3.75714479e-03 1.08892406e+01] [-9.44264907e-03 -1.07314035e-04 9.99955411e-01 -1.06072149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57 meters 0.018080936387826006 Centerline is valid? [True, True] Translation: X:51.11, Y:10.90, Z:-1.06 [[ 9.21635187e-01 -3.87970773e-01 8.20131939e-03 5.11069350e+01] [ 3.87954461e-01 9.21671671e-01 3.55900221e-03 1.08996276e+01] [-8.93971258e-03 -9.83632247e-05 9.99960035e-01 -1.06154016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599999999999994 meters 0.018373300616316268 Centerline is valid? [True, True] Translation: X:51.13, Y:10.91, Z:-1.06 [[ 9.21640078e-01 -3.87954593e-01 8.41423461e-03 5.11317277e+01] [ 3.87937376e-01 9.21678481e-01 3.65652186e-03 1.09112899e+01] [-9.17378343e-03 -1.05801003e-04 9.99957914e-01 -1.06210427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629999999999995 meters 0.01508227768087646 Centerline is valid? [True, True] Translation: X:51.16, Y:10.92, Z:-1.06 [[ 9.22021037e-01 -3.87033114e-01 9.08711019e-03 5.11578095e+01] [ 3.87012991e-01 9.22065807e-01 3.94862377e-03 1.09229909e+01] [-9.90716175e-03 -1.23884492e-04 9.99950915e-01 -1.05782500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66 meters 0.01911545630360959 Centerline is valid? [True, True] Translation: X:51.18, Y:10.94, Z:-1.06 [[ 9.22099592e-01 -3.86841129e-01 9.28890755e-03 5.11814401e+01] [ 3.86820040e-01 9.22146367e-01 4.04147218e-03 1.09354853e+01] [-1.01291400e-02 -1.33504252e-04 9.99948690e-01 -1.06216818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69 meters 0.015507577134591765 Centerline is valid? [True, True] Translation: X:51.21, Y:10.95, Z:-1.06 [[ 9.22555085e-01 -3.85710452e-01 1.09344446e-02 5.12065472e+01] [ 3.85681143e-01 9.22619866e-01 4.75802118e-03 1.09477481e+01] [-1.19235544e-02 -1.72327532e-04 9.99928897e-01 -1.05822253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72 meters 0.01925368585366671 Centerline is valid? [True, True] Translation: X:51.23, Y:10.96, Z:-1.06 [[ 9.22304903e-01 -3.86328188e-01 1.02077018e-02 5.12318066e+01] [ 3.86302649e-01 9.22361375e-01 4.44479982e-03 1.09599267e+01] [-1.11323414e-02 -1.56198397e-04 9.99938021e-01 -1.06311403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75 meters 0.01829167946155482 Centerline is valid? [True, True] Translation: X:51.26, Y:10.97, Z:-1.06 [[ 9.22411836e-01 -3.86081040e-01 9.89121718e-03 5.12571256e+01] [ 3.86056990e-01 9.22464853e-01 4.31219580e-03 1.09720670e+01] [-1.07891572e-02 -1.59046908e-04 9.99941783e-01 -1.06377440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78 meters 0.015980640049529666 Centerline is valid? [True, True] Translation: X:51.28, Y:10.98, Z:-1.06 [[ 9.22618151e-01 -3.85579155e-01 1.02207325e-02 5.12836534e+01] [ 3.85553450e-01 9.22674746e-01 4.45539282e-03 1.09838957e+01] [-1.11483183e-02 -1.69987613e-04 9.99937841e-01 -1.06128313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.809999999999995 meters 0.016624668595639096 Centerline is valid? [True, True] Translation: X:51.31, Y:10.99, Z:-1.06 [[ 9.22414403e-01 -3.86069568e-01 1.00974450e-02 5.13101133e+01] [ 3.86044483e-01 9.22469654e-01 4.40401486e-03 1.09946175e+01] [-1.10148427e-02 -1.64263800e-04 9.99939321e-01 -1.06284282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839999999999996 meters 0.01821123822053904 Centerline is valid? [True, True] Translation: X:51.33, Y:11.01, Z:-1.07 [[ 9.22420577e-01 -3.86067799e-01 9.58816877e-03 5.13348866e+01] [ 3.86045127e-01 9.22470395e-01 4.18699530e-03 1.10069468e+01] [-1.04612659e-02 -1.60704786e-04 9.99945267e-01 -1.06538183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87 meters 0.01930855708289991 Centerline is valid? [True, True] Translation: X:51.36, Y:11.02, Z:-1.07 [[ 9.22657697e-01 -3.85509213e-01 9.24236791e-03 5.13606864e+01] [ 3.85488128e-01 9.22703973e-01 4.03508062e-03 1.10195381e+01] [-1.00835303e-02 -1.60175094e-04 9.99949147e-01 -1.06614840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.9 meters 0.01983466860840055 Centerline is valid? [True, True] Translation: X:51.39, Y:11.03, Z:-1.07 [[ 9.23032608e-01 -3.84608770e-01 9.32199205e-03 5.13864755e+01] [ 3.84587246e-01 9.23079663e-01 4.07259063e-03 1.10321482e+01] [-1.01712954e-02 -1.74014699e-04 9.99948256e-01 -1.06680546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93 meters 0.0193274074484216 Centerline is valid? [True, True] Translation: X:51.41, Y:11.05, Z:-1.07 [[ 9.23497699e-01 -3.83480797e-01 9.72003312e-03 5.14102278e+01] [ 3.83457282e-01 9.23548829e-01 4.25136234e-03 1.10463415e+01] [-1.06072410e-02 -1.98905857e-04 9.99943722e-01 -1.06727675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96 meters 0.01748340468417762 Centerline is valid? [True, True] Translation: X:51.44, Y:11.06, Z:-1.06 [[ 9.24671070e-01 -3.80658736e-01 9.07408084e-03 5.14360405e+01] [ 3.80638117e-01 9.24715567e-01 3.96780675e-03 1.10589067e+01] [-9.90132411e-03 -2.14975070e-04 9.99950958e-01 -1.06495498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.989999999999995 meters 0.019586006274983025 Centerline is valid? [True, True] Translation: X:51.46, Y:11.07, Z:-1.07 [[ 9.24767009e-01 -3.80441169e-01 8.39617625e-03 5.14616729e+01] [ 3.80423488e-01 9.24805101e-01 3.67341213e-03 1.10715222e+01] [-9.16234383e-03 -2.02947690e-04 9.99958004e-01 -1.06886778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.019999999999996 meters 0.018751298253628906 Centerline is valid? [True, True] Translation: X:51.49, Y:11.08, Z:-1.07 [[ 9.25278335e-01 -3.79188850e-01 8.70733906e-03 5.14869633e+01] [ 3.79169740e-01 9.25319277e-01 3.81372099e-03 1.10844602e+01] [-9.50318916e-03 -2.27193928e-04 9.99954818e-01 -1.06792201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05 meters 0.021729047244905788 Centerline is valid? [True, True] Translation: X:51.51, Y:11.10, Z:-1.07 [[ 9.25292548e-01 -3.79170564e-01 7.96141194e-03 5.15130972e+01] [ 3.79154592e-01 9.25326775e-01 3.48645090e-03 1.10961501e+01] [-8.68886719e-03 -2.07381148e-04 9.99962230e-01 -1.07169513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08 meters 0.021505503962271723 Centerline is valid? [True, True] Translation: X:51.54, Y:11.11, Z:-1.07 [[ 9.25473164e-01 -3.78705543e-01 9.02968605e-03 5.15373353e+01] [ 3.78684926e-01 9.25517181e-01 3.95920617e-03 1.11091796e+01] [-9.85650290e-03 -2.44733072e-04 9.99951394e-01 -1.07101762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11 meters 0.02120310466414836 Centerline is valid? [True, True] Translation: X:51.56, Y:11.12, Z:-1.07 [[ 9.25364681e-01 -3.78951909e-01 9.78043482e-03 5.15632281e+01] [ 3.78927735e-01 9.25416329e-01 4.28834675e-03 1.11208849e+01] [-1.06760513e-02 -2.62206607e-04 9.99942975e-01 -1.07070739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14 meters 0.022851700787416777 Centerline is valid? [True, True] Translation: X:51.59, Y:11.13, Z:-1.07 [[ 9.25126513e-01 -3.79488290e-01 1.13829851e-02 5.15879509e+01] [ 3.79455502e-01 9.25196490e-01 4.99765094e-03 1.11349572e+01] [-1.24280479e-02 -3.04123072e-04 9.99922723e-01 -1.07134507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169999999999995 meters 0.018238935005142787 Centerline is valid? [True, True] Translation: X:51.61, Y:11.14, Z:-1.07 [[ 9.25294808e-01 -3.79023358e-01 1.30694939e-02 5.16143727e+01] [ 3.78980083e-01 9.25387036e-01 5.73841403e-03 1.11445017e+01] [-1.42693332e-02 -3.56646818e-04 9.99898124e-01 -1.06628974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199999999999996 meters 0.019655719318868954 Centerline is valid? [True, True] Translation: X:51.64, Y:11.16, Z:-1.07 [[ 9.24829862e-01 -3.80143583e-01 1.34381055e-02 5.16412223e+01] [ 3.80097876e-01 9.24927420e-01 5.90533745e-03 1.11564963e+01] [-1.46741484e-02 -3.53637060e-04 9.99892266e-01 -1.06898834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23 meters 0.02169597542634838 Centerline is valid? [True, True] Translation: X:51.67, Y:11.17, Z:-1.07 [[ 9.24612797e-01 -3.80663033e-01 1.36686326e-02 5.16655300e+01] [ 3.80615730e-01 9.24713755e-01 6.01140611e-03 1.11701069e+01] [-1.49278927e-02 -3.55726440e-04 9.99888510e-01 -1.07192896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26 meters 0.019890707625753495 Centerline is valid? [True, True] Translation: X:51.69, Y:11.18, Z:-1.07 [[ 9.24565524e-01 -3.80772831e-01 1.38073379e-02 5.16917304e+01] [ 3.80724571e-01 9.24668548e-01 6.07269783e-03 1.11803196e+01] [-1.50795294e-02 -3.57814253e-04 9.99886233e-01 -1.07132156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29 meters 0.022538723969258545 Centerline is valid? [True, True] Translation: X:51.72, Y:11.19, Z:-1.07 [[ 9.24407946e-01 -3.81156421e-01 1.37742998e-02 5.17170812e+01] [ 3.81108346e-01 9.24510495e-01 6.06402113e-03 1.11925185e+01] [-1.50458253e-02 -3.56128713e-04 9.99886742e-01 -1.07431690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32 meters 0.020214442421250943 Centerline is valid? [True, True] Translation: X:51.74, Y:11.20, Z:-1.07 [[ 9.23971515e-01 -3.82219185e-01 1.36064222e-02 5.17440714e+01] [ 3.82172385e-01 9.24071633e-01 5.99051270e-03 1.12037961e+01] [-1.48629977e-02 -3.35064261e-04 9.99889483e-01 -1.07470868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349999999999994 meters 0.020346234738769425 Centerline is valid? [True, True] Translation: X:51.77, Y:11.22, Z:-1.08 [[ 9.23476716e-01 -3.83427929e-01 1.31825125e-02 5.17711814e+01] [ 3.83384067e-01 9.23570749e-01 5.80773272e-03 1.12151039e+01] [-1.44018299e-02 -3.09340676e-04 9.99896240e-01 -1.07658770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379999999999995 meters 0.020901325539414567 Centerline is valid? [True, True] Translation: X:51.80, Y:11.23, Z:-1.08 [[ 9.23049065e-01 -3.84446865e-01 1.34547807e-02 5.17959833e+01] [ 3.84401215e-01 9.23147071e-01 5.93216804e-03 1.12277656e+01] [-1.47013448e-02 -3.03648136e-04 9.99891883e-01 -1.07782609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41 meters 0.018872475081485953 Centerline is valid? [True, True] Translation: X:51.82, Y:11.24, Z:-1.08 [[ 9.22316174e-01 -3.86189273e-01 1.38101376e-02 5.18242593e+01] [ 3.86141351e-01 9.22419516e-01 6.09036633e-03 1.12364076e+01] [-1.50907746e-02 -2.84578191e-04 9.99886087e-01 -1.07700981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44 meters 0.015771377921373037 Centerline is valid? [True, True] Translation: X:51.85, Y:11.24, Z:-1.07 [[ 9.20797167e-01 -3.89769131e-01 1.45809017e-02 5.18509325e+01] [ 3.89716074e-01 9.20912572e-01 6.43556821e-03 1.12448843e+01] [-1.59361215e-02 -2.43441200e-04 9.99872982e-01 -1.07496405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47 meters 0.01740824796475691 Centerline is valid? [True, True] Translation: X:51.88, Y:11.25, Z:-1.08 [[ 9.19541030e-01 -3.92712746e-01 1.48658391e-02 5.18780463e+01] [ 3.92657949e-01 9.19661166e-01 6.56312605e-03 1.12542688e+01] [-1.62489582e-02 -1.97873785e-04 9.99867957e-01 -1.07811156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.5 meters 0.017587072140261614 Centerline is valid? [True, True] Translation: X:51.90, Y:11.26, Z:-1.08 [[ 9.18392908e-01 -3.95379075e-01 1.51609233e-02 5.19047957e+01] [ 3.95322369e-01 9.18518025e-01 6.69798954e-03 1.12640066e+01] [-1.65738262e-02 -1.57934004e-04 9.99862632e-01 -1.07914475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53 meters 0.016334432267688343 Centerline is valid? [True, True] Translation: X:51.93, Y:11.27, Z:-1.08 [[ 9.16251154e-01 -4.00296096e-01 1.57117223e-02 5.19332762e+01] [ 4.00235833e-01 9.16385852e-01 6.94611360e-03 1.12706386e+01] [-1.71785022e-02 -7.59903462e-05 9.99852436e-01 -1.07923074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559999999999995 meters 0.01609539461554346 Centerline is valid? [True, True] Translation: X:51.96, Y:11.28, Z:-1.08 [[ 9.15080216e-01 -4.02953183e-01 1.60290652e-02 5.19597657e+01] [ 4.02890785e-01 9.15220592e-01 7.09112819e-03 1.12798801e+01] [-1.75275232e-02 -3.09884605e-05 9.99846381e-01 -1.07946286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.589999999999996 meters 0.017049018792528438 Centerline is valid? [True, True] Translation: X:51.99, Y:11.29, Z:-1.08 [[ 9.14012642e-01 -4.05355063e-01 1.63757072e-02 5.19867090e+01] [ 4.05290219e-01 9.14159326e-01 7.25021672e-03 1.12894828e+01] [-1.79089175e-02 1.01242288e-05 9.99839622e-01 -1.08109379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62 meters 0.015777113475115876 Centerline is valid? [True, True] Translation: X:52.01, Y:11.30, Z:-1.08 [[ 9.12659993e-01 -4.08343956e-01 1.75199978e-02 5.20135975e+01] [ 4.08270159e-01 9.12828138e-01 7.76325868e-03 1.12979521e+01] [-1.91628267e-02 6.76766636e-05 9.99816374e-01 -1.07990004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65 meters 0.01711201919356883 Centerline is valid? [True, True] Translation: X:52.04, Y:11.31, Z:-1.08 [[ 9.11997709e-01 -4.09815358e-01 1.76507845e-02 5.20400315e+01] [ 4.09740609e-01 9.12168495e-01 7.82751544e-03 1.13082208e+01] [-1.93083256e-02 9.35670527e-05 9.99813573e-01 -1.08162767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68 meters 0.014443952807658336 Centerline is valid? [True, True] Translation: X:52.07, Y:11.32, Z:-1.08 [[ 9.11546230e-01 -4.10835471e-01 1.72535601e-02 5.20661009e+01] [ 4.10764205e-01 9.11709495e-01 7.65276666e-03 1.13180886e+01] [-1.88742625e-02 1.11294284e-04 9.99821859e-01 -1.07893790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71 meters 0.016250032136568632 Centerline is valid? [True, True] Translation: X:52.09, Y:11.33, Z:-1.08 [[ 9.11091148e-01 -4.11846101e-01 1.71961753e-02 5.20918087e+01] [ 4.11775379e-01 9.11253408e-01 7.63306487e-03 1.13289955e+01] [-1.88137213e-02 1.26543773e-04 9.99822998e-01 -1.08227847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739999999999995 meters 0.014470245221680113 Centerline is valid? [True, True] Translation: X:52.12, Y:11.34, Z:-1.08 [[ 9.11038290e-01 -4.11962091e-01 1.72182800e-02 5.21179761e+01] [ 4.11891100e-01 9.11200977e-01 7.64866553e-03 1.13405179e+01] [-1.88402738e-02 1.23829117e-04 9.99822499e-01 -1.08079092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.769999999999996 meters 0.015912505261278 Centerline is valid? [True, True] Translation: X:52.14, Y:11.35, Z:-1.08 [[ 9.10511236e-01 -4.13137891e-01 1.69225585e-02 5.21440270e+01] [ 4.13069407e-01 9.10668471e-01 7.52340287e-03 1.13512831e+01] [-1.85190432e-02 1.40048340e-04 9.99828498e-01 -1.08404005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.8 meters 0.016933638235698687 Centerline is valid? [True, True] Translation: X:52.17, Y:11.36, Z:-1.09 [[ 9.10204839e-01 -4.13835261e-01 1.63562806e-02 5.21702748e+01] [ 4.13771377e-01 9.10351775e-01 7.27274152e-03 1.13624373e+01] [-1.78996860e-02 1.48076226e-04 9.99839777e-01 -1.08592455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83 meters 0.01692325571485971 Centerline is valid? [True, True] Translation: X:52.20, Y:11.37, Z:-1.09 [[ 9.10035657e-01 -4.14214959e-01 1.61576872e-02 5.21957834e+01] [ 4.14152571e-01 9.10179073e-01 7.19041194e-03 1.13729307e+01] [-1.76847649e-02 1.48216440e-04 9.99843601e-01 -1.08653920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86 meters 0.017048095565766697 Centerline is valid? [True, True] Translation: X:52.22, Y:11.38, Z:-1.09 [[ 9.09815065e-01 -4.14702944e-01 1.60628433e-02 5.22212929e+01] [ 4.14641334e-01 9.09956836e-01 7.14986919e-03 1.13833219e+01] [-1.75815659e-02 1.55260083e-04 9.99845420e-01 -1.08696311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89 meters 0.016429510690668878 Centerline is valid? [True, True] Translation: X:52.25, Y:11.39, Z:-1.09 [[ 9.09790005e-01 -4.14747839e-01 1.63210554e-02 5.22460021e+01] [ 4.14684210e-01 9.09936374e-01 7.26642002e-03 1.13932453e+01] [-1.78648540e-02 1.57167672e-04 9.99840398e-01 -1.08601506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919999999999995 meters 0.016144968309150187 Centerline is valid? [True, True] Translation: X:52.27, Y:11.40, Z:-1.09 [[ 9.09844873e-01 -4.14616638e-01 1.65936865e-02 5.22708261e+01] [ 4.14550799e-01 9.09996165e-01 7.39022420e-03 1.14045761e+01] [-1.81643010e-02 1.54968398e-04 9.99835003e-01 -1.08655306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.949999999999996 meters 0.014447788971173556 Centerline is valid? [True, True] Translation: X:52.30, Y:11.42, Z:-1.09 [[ 9.10795067e-01 -4.12530112e-01 1.64697344e-02 5.22951355e+01] [ 4.12464870e-01 9.10943958e-01 7.33731746e-03 1.14176316e+01] [-1.80298695e-02 1.10394320e-04 9.99837443e-01 -1.08588887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98 meters 0.015269646683678766 Centerline is valid? [True, True] Translation: X:52.32, Y:11.43, Z:-1.09 [[ 9.10993117e-01 -4.12105130e-01 1.61524946e-02 5.23204418e+01] [ 4.12042277e-01 9.11136297e-01 7.19790484e-03 1.14304805e+01] [-1.76834176e-02 9.82688596e-05 9.99843631e-01 -1.08875195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01 meters 0.01413868690841977 Centerline is valid? [True, True] Translation: X:52.35, Y:11.44, Z:-1.09 [[ 9.11703287e-01 -4.10545230e-01 1.58028702e-02 5.23451490e+01] [ 4.10484750e-01 9.11840233e-01 7.04697579e-03 1.14432235e+01] [-1.73027951e-02 6.20862275e-05 9.99850294e-01 -1.08836582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04 meters 0.01638564044146381 Centerline is valid? [True, True] Translation: X:52.37, Y:11.46, Z:-1.09 [[ 9.12025521e-01 -4.09855308e-01 1.51021574e-02 5.23697195e+01] [ 4.09799888e-01 9.12150549e-01 6.73994437e-03 1.14554147e+01] [-1.65378431e-02 4.18611380e-05 9.99863240e-01 -1.09254572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07 meters 0.014061916506909281 Centerline is valid? [True, True] Translation: X:52.39, Y:11.47, Z:-1.09 [[ 9.13710705e-01 -4.06073834e-01 1.53879647e-02 5.23940183e+01] [ 4.06015732e-01 9.13840271e-01 6.86913210e-03 1.14689519e+01] [-1.68515167e-02 -2.86437798e-05 9.99858003e-01 -1.08947187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099999999999994 meters 0.01749185315811733 Centerline is valid? [True, True] Translation: X:52.42, Y:11.48, Z:-1.09 [[ 9.14047024e-01 -4.05318692e-01 1.53230471e-02 5.24177198e+01] [ 4.05260878e-01 9.14175451e-01 6.84582677e-03 1.14815643e+01] [-1.67826951e-02 -4.75760638e-05 9.99859160e-01 -1.09402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129999999999995 meters 0.014367551166857647 Centerline is valid? [True, True] Translation: X:52.44, Y:11.50, Z:-1.09 [[ 9.15792543e-01 -4.01334515e-01 1.59569922e-02 5.24428128e+01] [ 4.01271178e-01 9.15931542e-01 7.13102722e-03 1.14963906e+01] [-1.74774399e-02 -1.27460483e-04 9.99847250e-01 -1.09033544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16 meters 0.016492448957058918 Centerline is valid? [True, True] Translation: X:52.47, Y:11.51, Z:-1.09 [[ 9.16191810e-01 -4.00439256e-01 1.55231813e-02 5.24676106e+01] [ 4.00379106e-01 9.16323295e-01 6.94195435e-03 1.15101500e+01] [-1.70040837e-02 -1.45004277e-04 9.99855410e-01 -1.09383071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19 meters 0.016886530437323282 Centerline is valid? [True, True] Translation: X:52.49, Y:11.52, Z:-1.09 [[ 9.16717184e-01 -3.99251714e-01 1.50888504e-02 5.24939985e+01] [ 3.99194694e-01 9.16841339e-01 6.74941989e-03 1.15223097e+01] [-1.65287993e-02 -1.63920182e-04 9.99863377e-01 -1.09489911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22 meters 0.017280836741821553 Centerline is valid? [True, True] Translation: X:52.52, Y:11.54, Z:-1.10 [[ 9.17379748e-01 -3.97737875e-01 1.47980172e-02 5.25173556e+01] [ 3.97682753e-01 9.17499071e-01 6.62435943e-03 1.15370591e+01] [-1.62119257e-02 -1.92136954e-04 9.99868560e-01 -1.09632342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25 meters 0.01686732791831306 Centerline is valid? [True, True] Translation: X:52.54, Y:11.55, Z:-1.10 [[ 9.18150291e-01 -3.95990362e-01 1.38446963e-02 5.25439208e+01] [ 3.95941903e-01 9.18254643e-01 6.19835629e-03 1.15476927e+01] [-1.51674460e-02 -2.09327238e-04 9.99884946e-01 -1.09732578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28 meters 0.015610842127252913 Centerline is valid? [True, True] Translation: X:52.57, Y:11.56, Z:-1.10 [[ 9.18495270e-01 -3.95207313e-01 1.33273391e-02 5.25690558e+01] [ 3.95162259e-01 9.18591929e-01 5.97130292e-03 1.15600133e+01] [-1.46022887e-02 -2.18152069e-04 9.99893357e-01 -1.09647878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309999999999995 meters 0.01533042255354965 Centerline is valid? [True, True] Translation: X:52.60, Y:11.57, Z:-1.10 [[ 9.18654930e-01 -3.94846418e-01 1.30163408e-02 5.25952073e+01] [ 3.94803389e-01 9.18747113e-01 5.83314751e-03 1.15717549e+01] [-1.42619229e-02 -2.19754255e-04 9.99898269e-01 -1.09649449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339999999999996 meters 0.018337435056323317 Centerline is valid? [True, True] Translation: X:52.62, Y:11.58, Z:-1.10 [[ 9.18364423e-01 -3.95498292e-01 1.37072243e-02 5.26197102e+01] [ 3.95450570e-01 9.18466684e-01 6.14789298e-03 1.15847055e+01] [-1.50211100e-02 -2.25476529e-04 9.99887151e-01 -1.10008568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37 meters 0.018337435056323317 Centerline is valid? [True, True] Translation: X:52.64, Y:11.60, Z:-1.10 [[ 9.18257529e-01 -3.95746430e-01 1.37067213e-02 5.26448567e+01] [ 3.95698719e-01 9.18359795e-01 6.14901438e-03 1.15960899e+01] [-1.50211523e-02 -2.22646678e-04 9.99887151e-01 -1.10065314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.4 meters 0.017857907851554913 Centerline is valid? [True, True] Translation: X:52.67, Y:11.61, Z:-1.10 [[ 9.18021505e-01 -3.96265678e-01 1.44923570e-02 5.26708269e+01] [ 3.96212325e-01 9.18135861e-01 6.50646387e-03 1.16063719e+01] [-1.58842410e-02 -2.31023283e-04 9.99873811e-01 -1.09954048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43 meters 0.017105604267858836 Centerline is valid? [True, True] Translation: X:52.70, Y:11.62, Z:-1.10 [[ 9.17915487e-01 -3.96463860e-01 1.57342492e-02 5.26962354e+01] [ 3.96400887e-01 9.18050295e-01 7.07057897e-03 1.16181480e+01] [-1.72480611e-02 -2.53123603e-04 9.99851209e-01 -1.09808029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46 meters 0.016930826605041208 Centerline is valid? [True, True] Translation: X:52.72, Y:11.63, Z:-1.10 [[ 9.17448089e-01 -3.97486645e-01 1.71280852e-02 5.27216344e+01] [ 3.97412161e-01 9.17607924e-01 7.69889597e-03 1.16293552e+01] [-1.87770750e-02 -2.56428055e-04 9.99823662e-01 -1.09665956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489999999999995 meters 0.017448849933539033 Centerline is valid? [True, True] Translation: X:52.75, Y:11.64, Z:-1.10 [[ 9.17068748e-01 -3.98343948e-01 1.75217124e-02 5.27474431e+01] [ 3.98266127e-01 9.17236087e-01 7.87737580e-03 1.16404501e+01] [-1.92094519e-02 -2.45790623e-04 9.99815451e-01 -1.09754361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519999999999996 meters 0.01778154214697939 Centerline is valid? [True, True] Translation: X:52.77, Y:11.65, Z:-1.10 [[ 9.16677339e-01 -3.99257408e-01 1.72098488e-02 5.27729472e+01] [ 3.99182383e-01 9.16838846e-01 7.74306789e-03 1.16517008e+01] [-1.88701351e-02 -2.28026432e-04 9.99821917e-01 -1.09858525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55 meters 0.014600999855604741 Centerline is valid? [True, True] Translation: X:52.80, Y:11.66, Z:-1.10 [[ 9.16355945e-01 -3.99996729e-01 1.71580594e-02 5.27993489e+01] [ 3.99922259e-01 9.16516542e-01 7.72111491e-03 1.16613962e+01] [-1.88140660e-02 -2.13399663e-04 9.99822977e-01 -1.09626661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58 meters 0.017449909002116983 Centerline is valid? [True, True] Translation: X:52.83, Y:11.67, Z:-1.10 [[ 9.15672186e-01 -4.01568759e-01 1.69404838e-02 5.28253154e+01] [ 4.01496327e-01 9.15828858e-01 7.62900218e-03 1.16729841e+01] [-1.85781529e-02 -1.84123071e-04 9.99827394e-01 -1.10100587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61 meters 0.014365471296284429 Centerline is valid? [True, True] Translation: X:52.85, Y:11.68, Z:-1.10 [[ 9.15483712e-01 -4.02003727e-01 1.68100083e-02 5.28515211e+01] [ 4.01932389e-01 9.15638013e-01 7.57515832e-03 1.16844711e+01] [-1.84371245e-02 -1.78447244e-04 9.99830006e-01 -1.09868832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64 meters 0.016146696379105797 Centerline is valid? [True, True] Translation: X:52.88, Y:11.70, Z:-1.10 [[ 9.14991182e-01 -4.03139835e-01 1.64137073e-02 5.28765160e+01] [ 4.03071905e-01 9.15138377e-01 7.40206841e-03 1.16963983e+01] [-1.80048821e-02 -1.56923050e-04 9.99837887e-01 -1.10242543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669999999999995 meters 0.014295317472810461 Centerline is valid? [True, True] Translation: X:52.90, Y:11.71, Z:-1.10 [[ 9.15045440e-01 -4.03027105e-01 1.61553681e-02 5.29021517e+01] [ 4.02961183e-01 9.15188028e-01 7.29098689e-03 1.17081364e+01] [-1.77236648e-02 -1.61598063e-04 9.99842910e-01 -1.10081191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699999999999996 meters 0.01642537932737693 Centerline is valid? [True, True] Translation: X:52.93, Y:11.72, Z:-1.10 [[ 9.14612131e-01 -4.04042749e-01 1.53005500e-02 5.29277322e+01] [ 4.03983679e-01 9.14740093e-01 6.91008091e-03 1.17202135e+01] [-1.67879946e-02 -1.38871342e-04 9.99859062e-01 -1.10491109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73 meters 0.01638400334756539 Centerline is valid? [True, True] Translation: X:52.95, Y:11.73, Z:-1.11 [[ 9.14435770e-01 -4.04491663e-01 1.39182077e-02 5.29536057e+01] [ 4.04442773e-01 9.14541677e-01 6.28995217e-03 1.17322887e+01] [-1.52730142e-02 -1.22638739e-04 9.99883353e-01 -1.10673616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76 meters 0.01672708724599667 Centerline is valid? [True, True] Translation: X:52.98, Y:11.74, Z:-1.11 [[ 9.14430629e-01 -4.04506873e-01 1.38135510e-02 5.29778669e+01] [ 4.04458633e-01 9.14534949e-01 6.24825948e-03 1.17436933e+01] [-1.51604391e-02 -1.26589885e-04 9.99885066e-01 -1.10822722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79 meters 0.01656310679472939 Centerline is valid? [True, True] Translation: X:53.00, Y:11.76, Z:-1.11 [[ 9.14428454e-01 -4.04509916e-01 1.38683103e-02 5.30022992e+01] [ 4.04461261e-01 9.14533603e-01 6.27508855e-03 1.17555797e+01] [-1.52213713e-02 -1.28925260e-04 9.99884140e-01 -1.10873902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82 meters 0.014392798129912825 Centerline is valid? [True, True] Translation: X:53.03, Y:11.77, Z:-1.11 [[ 9.14943540e-01 -4.03333526e-01 1.41557662e-02 5.30292413e+01] [ 4.03282670e-01 9.15053028e-01 6.40659894e-03 1.17673711e+01] [-1.55372729e-02 -1.52901133e-04 9.99879278e-01 -1.10562270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849999999999994 meters 0.01580817861736409 Centerline is valid? [True, True] Translation: X:53.05, Y:11.78, Z:-1.11 [[ 9.14858086e-01 -4.03513181e-01 1.45532088e-02 5.30535802e+01] [ 4.03459371e-01 9.14973818e-01 6.59149929e-03 1.17793721e+01] [-1.59755619e-02 -1.58657935e-04 9.99872370e-01 -1.10810073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879999999999995 meters 0.01771374067037983 Centerline is valid? [True, True] Translation: X:53.08, Y:11.79, Z:-1.11 [[ 9.15169803e-01 -4.02789276e-01 1.50010573e-02 5.30785767e+01] [ 4.02731966e-01 9.15292722e-01 6.79676832e-03 1.17921922e+01] [-1.64680240e-02 -1.78791824e-04 9.99864377e-01 -1.11049426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91 meters 0.016720979143045833 Centerline is valid? [True, True] Translation: X:53.10, Y:11.80, Z:-1.11 [[ 9.15309579e-01 -4.02451872e-01 1.55198506e-02 5.31038915e+01] [ 4.02390466e-01 9.15441125e-01 7.03275373e-03 1.18040893e+01] [-1.70378544e-02 -1.92106936e-04 9.99854827e-01 -1.10950086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94 meters 0.01497316313059936 Centerline is valid? [True, True] Translation: X:53.13, Y:11.82, Z:-1.11 [[ 9.15689973e-01 -4.01582388e-01 1.56031516e-02 5.31296282e+01] [ 4.01520095e-01 9.15822875e-01 7.07632912e-03 1.18162050e+01] [-1.71314523e-02 -2.14744736e-04 9.99853223e-01 -1.10696521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97 meters 0.015908433670585035 Centerline is valid? [True, True] Translation: X:53.15, Y:11.83, Z:-1.11 [[ 9.16385537e-01 -3.99987098e-01 1.57438671e-02 5.31542811e+01] [ 3.99923412e-01 9.16520736e-01 7.14175423e-03 1.18291564e+01] [-1.72861902e-02 -2.48259259e-04 9.99850552e-01 -1.10821569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.0 meters 0.01942574701434317 Centerline is valid? [True, True] Translation: X:53.18, Y:11.84, Z:-1.11 [[ 9.16531200e-01 -3.99682544e-01 1.49807475e-02 5.31803272e+01] [ 3.99624830e-01 9.16653591e-01 6.79632671e-03 1.18422069e+01] [-1.64485292e-02 -2.42366790e-04 9.99864684e-01 -1.11330537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03 meters 0.016539174737917092 Centerline is valid? [True, True] Translation: X:53.21, Y:11.86, Z:-1.11 [[ 9.17282413e-01 -3.97944349e-01 1.52732084e-02 5.32061531e+01] [ 3.97884045e-01 9.17409513e-01 6.93336195e-03 1.18552125e+01] [-1.67708789e-02 -2.82885044e-04 9.99859319e-01 -1.10948054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059999999999995 meters 0.01819550245634263 Centerline is valid? [True, True] Translation: X:53.23, Y:11.87, Z:-1.11 [[ 9.17434963e-01 -3.97593604e-01 1.52451699e-02 5.32315035e+01] [ 3.97533402e-01 9.17561573e-01 6.92484387e-03 1.18680793e+01] [-1.67416557e-02 -2.92629619e-04 9.99859806e-01 -1.11298439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.089999999999996 meters 0.021261814375592346 Centerline is valid? [True, True] Translation: X:53.26, Y:11.88, Z:-1.12 [[ 9.18056232e-01 -3.96215514e-01 1.36389811e-02 5.32554042e+01] [ 3.96167117e-01 9.18157494e-01 6.19930680e-03 1.18816518e+01] [-1.49789942e-02 -2.87996418e-04 9.99887767e-01 -1.11697863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12 meters 0.02115543702978136 Centerline is valid? [True, True] Translation: X:53.28, Y:11.89, Z:-1.12 [[ 9.18159122e-01 -3.95979618e-01 1.35635356e-02 5.32813136e+01] [ 3.95931718e-01 9.18259254e-01 6.16579444e-03 1.18941891e+01] [-1.48963710e-02 -2.90946462e-04 9.99889001e-01 -1.11745694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15 meters 0.021206672457024338 Centerline is valid? [True, True] Translation: X:53.31, Y:11.91, Z:-1.12 [[ 9.18118369e-01 -3.96084182e-01 1.32657945e-02 5.33069008e+01] [ 3.96038326e-01 9.18214157e-01 6.03371073e-03 1.19061402e+01] [-1.45706977e-02 -2.85897593e-04 9.99893801e-01 -1.11783096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18 meters 0.020831505246476104 Centerline is valid? [True, True] Translation: X:53.33, Y:11.92, Z:-1.12 [[ 9.17642093e-01 -3.97177953e-01 1.35152727e-02 5.33324002e+01] [ 3.97130394e-01 9.17741573e-01 6.15257072e-03 1.19174783e+01] [-1.48471931e-02 -2.78532286e-04 9.99889736e-01 -1.11873843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21 meters 0.018002037889294296 Centerline is valid? [True, True] Translation: X:53.36, Y:11.93, Z:-1.11 [[ 9.17587853e-01 -3.97275222e-01 1.43153979e-02 5.33579885e+01] [ 3.97221853e-01 9.17699467e-01 6.51828133e-03 1.19293587e+01] [-1.57267847e-02 -2.94706873e-04 9.99876283e-01 -1.11463817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239999999999995 meters 0.019982847798615897 Centerline is valid? [True, True] Translation: X:53.38, Y:11.94, Z:-1.12 [[ 9.17038586e-01 -3.98538640e-01 1.43938927e-02 5.33840026e+01] [ 3.98484830e-01 9.17151502e-01 6.55466005e-03 1.19408562e+01] [-1.58136656e-02 -2.75128292e-04 9.99874918e-01 -1.11900959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.269999999999996 meters 0.01814419095973046 Centerline is valid? [True, True] Translation: X:53.41, Y:11.95, Z:-1.12 [[ 9.16627680e-01 -3.99442400e-01 1.54746631e-02 5.34105966e+01] [ 3.99380258e-01 9.16758250e-01 7.05126262e-03 1.19523080e+01] [-1.70030984e-02 -2.83107544e-04 9.99855397e-01 -1.11640308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.3 meters 0.019819210098214947 Centerline is valid? [True, True] Translation: X:53.44, Y:11.96, Z:-1.12 [[ 9.16289874e-01 -4.00226592e-01 1.52164708e-02 5.34373844e+01] [ 4.00166549e-01 9.16416173e-01 6.93757284e-03 1.19643293e+01] [-1.67212211e-02 -2.67705119e-04 9.99860155e-01 -1.11984840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33 meters 0.01551336440301775 Centerline is valid? [True, True] Translation: X:53.46, Y:11.97, Z:-1.12 [[ 9.16285459e-01 -4.00231234e-01 1.53596028e-02 5.34645330e+01] [ 4.00169998e-01 9.16414145e-01 7.00626686e-03 1.19719842e+01] [-1.68798841e-02 -2.73288239e-04 9.99857487e-01 -1.11590605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36 meters 0.019255571756692198 Centerline is valid? [True, True] Translation: X:53.49, Y:11.99, Z:-1.12 [[ 9.16207555e-01 -4.00457109e-01 1.40648208e-02 5.34877108e+01] [ 4.00405708e-01 9.16315470e-01 6.42095026e-03 1.19877746e+01] [-1.54591281e-02 -2.51288613e-04 9.99880469e-01 -1.12156943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39 meters 0.018246623148528457 Centerline is valid? [True, True] Translation: X:53.51, Y:12.00, Z:-1.12 [[ 9.16120259e-01 -4.00689327e-01 1.31047731e-02 5.35149879e+01] [ 4.00644729e-01 9.16213954e-01 5.98258084e-03 1.19950751e+01] [-1.44039323e-02 -2.30405227e-04 9.99896231e-01 -1.12247498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419999999999995 meters 0.018344011573797274 Centerline is valid? [True, True] Translation: X:53.54, Y:12.01, Z:-1.12 [[ 9.15966571e-01 -4.01044927e-01 1.29695160e-02 5.35409629e+01] [ 4.01001218e-01 9.16058358e-01 5.92514533e-03 1.20068868e+01] [-1.42570830e-02 -2.26443318e-04 9.99898337e-01 -1.12386857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.449999999999996 meters 0.01649699212968625 Centerline is valid? [True, True] Translation: X:53.57, Y:12.02, Z:-1.12 [[ 9.16041052e-01 -4.00897781e-01 1.22376740e-02 5.35671858e+01] [ 4.00858799e-01 9.16122765e-01 5.59486965e-03 1.20189896e+01] [-1.34541825e-02 -2.19550990e-04 9.99909464e-01 -1.12307520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48 meters 0.019769377073313193 Centerline is valid? [True, True] Translation: X:53.59, Y:12.03, Z:-1.13 [[ 9.16117005e-01 -4.00747664e-01 1.14430705e-02 5.35924307e+01] [ 4.00713511e-01 9.16188444e-01 5.23611986e-03 1.20317406e+01] [-1.25823717e-02 -2.11505489e-04 9.99920816e-01 -1.12733308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51 meters 0.018629956289339663 Centerline is valid? [True, True] Translation: X:53.62, Y:12.04, Z:-1.13 [[ 9.16160780e-01 -4.00664699e-01 1.08269757e-02 5.36172319e+01] [ 4.00634106e-01 9.16224731e-01 4.95528552e-03 1.20442871e+01] [-1.19053509e-02 -2.02182526e-04 9.99929108e-01 -1.12834906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54 meters 0.019054475669814473 Centerline is valid? [True, True] Translation: X:53.64, Y:12.05, Z:-1.13 [[ 9.15866566e-01 -4.01342375e-01 1.06174809e-02 5.36439644e+01] [ 4.01313011e-01 9.15928088e-01 4.85850689e-03 1.20538334e+01] [-1.16747737e-02 -1.88810802e-04 9.99931830e-01 -1.12934417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57 meters 0.015807968994053703 Centerline is valid? [True, True] Translation: X:53.67, Y:12.07, Z:-1.13 [[ 9.15678691e-01 -4.01765764e-01 1.08076421e-02 5.36691776e+01] [ 4.01735311e-01 9.15742450e-01 4.95027315e-03 1.20650722e+01] [-1.18858669e-02 -1.91048184e-04 9.99929342e-01 -1.12630544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599999999999994 meters 0.016433845577493906 Centerline is valid? [True, True] Translation: X:53.70, Y:12.08, Z:-1.13 [[ 9.15141919e-01 -4.02986321e-01 1.08302358e-02 5.36951248e+01] [ 4.02955784e-01 9.15205984e-01 4.96421287e-03 1.20756792e+01] [-1.19124065e-02 -1.78853130e-04 9.99929029e-01 -1.12768901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.629999999999995 meters 0.01754664374183163 Centerline is valid? [True, True] Translation: X:53.72, Y:12.09, Z:-1.13 [[ 9.14662425e-01 -4.04081715e-01 1.05173790e-02 5.37213400e+01] [ 4.04052999e-01 9.14722877e-01 4.81997046e-03 1.20856334e+01] [-1.15681491e-02 -1.59067339e-04 9.99933074e-01 -1.12974412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66 meters 0.017383832735660944 Centerline is valid? [True, True] Translation: X:53.75, Y:12.10, Z:-1.13 [[ 9.14292325e-01 -4.04909950e-01 1.08386699e-02 5.37479639e+01] [ 4.04879461e-01 9.14356554e-01 4.97133975e-03 1.20958595e+01] [-1.19233538e-02 -1.56902939e-04 9.99928902e-01 -1.12984082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69 meters 0.014775691575729527 Centerline is valid? [True, True] Translation: X:53.77, Y:12.11, Z:-1.13 [[ 9.13931990e-01 -4.05705936e-01 1.14460438e-02 5.37744807e+01] [ 4.05671949e-01 9.14003648e-01 5.25371022e-03 1.21070696e+01] [-1.25931872e-02 -1.58194956e-04 9.99920690e-01 -1.12663530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72 meters 0.015831024904688264 Centerline is valid? [True, True] Translation: X:53.80, Y:12.12, Z:-1.13 [[ 9.13400592e-01 -4.06880470e-01 1.21508089e-02 5.38013505e+01] [ 4.06842219e-01 9.13481395e-01 5.58121331e-03 1.21177844e+01] [-1.33704246e-02 -1.54421484e-04 9.99910600e-01 -1.12866075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75 meters 0.014631075309265383 Centerline is valid? [True, True] Translation: X:53.83, Y:12.13, Z:-1.13 [[ 9.13122844e-01 -4.07489669e-01 1.26032078e-02 5.38268332e+01] [ 4.07448522e-01 9.13209804e-01 5.79275873e-03 1.21288494e+01] [-1.38698623e-02 -1.54341931e-04 9.99903797e-01 -1.12689874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78 meters 0.01726302360028338 Centerline is valid? [True, True] Translation: X:53.85, Y:12.14, Z:-1.13 [[ 9.12880043e-01 -4.08038100e-01 1.24473207e-02 5.38515780e+01] [ 4.07997948e-01 9.12964888e-01 5.72605285e-03 1.21403823e+01] [-1.37004144e-02 -1.48718093e-04 9.99906134e-01 -1.13079828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809999999999995 meters 0.01792223182221858 Centerline is valid? [True, True] Translation: X:53.88, Y:12.15, Z:-1.13 [[ 9.12540708e-01 -4.08774525e-01 1.31469829e-02 5.38772448e+01] [ 4.08729769e-01 9.12635396e-01 6.05065509e-03 1.21523219e+01] [-1.44717556e-02 -1.47905797e-04 9.99895268e-01 -1.13121184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839999999999996 meters 0.015317930424826627 Centerline is valid? [True, True] Translation: X:53.90, Y:12.16, Z:-1.13 [[ 9.12339656e-01 -4.09197883e-01 1.39084789e-02 5.39026123e+01] [ 4.09147761e-01 9.12445653e-01 6.40626185e-03 1.21641257e+01] [-1.53121599e-02 -1.54063712e-04 9.99882750e-01 -1.12867776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87 meters 0.016221091017191037 Centerline is valid? [True, True] Translation: X:53.93, Y:12.18, Z:-1.13 [[ 9.11718563e-01 -4.10585858e-01 1.37301083e-02 5.39297898e+01] [ 4.10537097e-01 9.11821932e-01 6.32903065e-03 1.21754108e+01] [-1.51180243e-02 -1.33575926e-04 9.99885707e-01 -1.13065171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.9 meters 0.014418695351920837 Centerline is valid? [True, True] Translation: X:53.95, Y:12.19, Z:-1.13 [[ 9.11424719e-01 -4.11232484e-01 1.38861529e-02 5.39547939e+01] [ 4.11182619e-01 9.11530487e-01 6.40513540e-03 1.21867095e+01] [-1.52916515e-02 -1.28054013e-04 9.99883068e-01 -1.12851233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93 meters 0.014307776253229596 Centerline is valid? [True, True] Translation: X:53.98, Y:12.20, Z:-1.13 [[ 9.11052419e-01 -4.12051624e-01 1.40338551e-02 5.39808212e+01] [ 4.12000747e-01 9.11160494e-01 6.47607507e-03 1.21974237e+01] [-1.54555716e-02 -1.18085065e-04 9.99880549e-01 -1.12847767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96 meters 0.017329435583787866 Centerline is valid? [True, True] Translation: X:54.01, Y:12.21, Z:-1.13 [[ 9.10694889e-01 -4.12846560e-01 1.38757748e-02 5.40055072e+01] [ 4.12796834e-01 9.10800585e-01 6.40842025e-03 1.22094007e+01] [-1.52837581e-02 -1.08239657e-04 9.99883191e-01 -1.13324564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989999999999995 meters 0.016143752719858774 Centerline is valid? [True, True] Translation: X:54.03, Y:12.22, Z:-1.13 [[ 9.10590468e-01 -4.13066260e-01 1.41867562e-02 5.40315288e+01] [ 4.13014260e-01 9.10700968e-01 6.55501109e-03 1.22210916e+01] [-1.56275465e-02 -1.09597995e-04 9.99877876e-01 -1.13221543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019999999999996 meters 0.014282348126480581 Centerline is valid? [True, True] Translation: X:54.06, Y:12.23, Z:-1.13 [[ 9.10546772e-01 -4.13149017e-01 1.45762012e-02 5.40567104e+01] [ 4.13094051e-01 9.10663427e-01 6.74010131e-03 1.22334366e+01] [-1.60586795e-02 -1.15835509e-04 9.99871044e-01 -1.13002354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05 meters 0.014733146664306872 Centerline is valid? [True, True] Translation: X:54.08, Y:12.25, Z:-1.13 [[ 9.10415807e-01 -4.13426312e-01 1.48910210e-02 5.40804920e+01] [ 4.13368889e-01 9.10537572e-01 6.89137075e-03 1.22455441e+01] [-1.64079081e-02 -1.18528061e-04 9.99865374e-01 -1.13187251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08 meters 0.014658046233357525 Centerline is valid? [True, True] Translation: X:54.11, Y:12.26, Z:-1.13 [[ 9.10331563e-01 -4.13583572e-01 1.56548219e-02 5.41053084e+01] [ 4.13520069e-01 9.10466152e-01 7.24839310e-03 1.22576914e+01] [-1.72510017e-02 -1.24858004e-04 9.99851183e-01 -1.13209884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11 meters 0.017604809229850145 Centerline is valid? [True, True] Translation: X:54.13, Y:12.27, Z:-1.14 [[ 9.10195720e-01 -4.13906090e-01 1.50166782e-02 5.41300531e+01] [ 4.13847614e-01 9.10319578e-01 6.95830315e-03 1.22691218e+01] [-1.65500602e-02 -1.18801316e-04 9.99863031e-01 -1.13592770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14 meters 0.015438631090904202 Centerline is valid? [True, True] Translation: X:54.15, Y:12.28, Z:-1.13 [[ 9.10103617e-01 -4.14082138e-01 1.57285967e-02 5.41547269e+01] [ 4.14017939e-01 9.10239511e-01 7.29238602e-03 1.22807476e+01] [-1.73364370e-02 -1.24905695e-04 9.99849705e-01 -1.13350298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169999999999995 meters 0.014387510815887433 Centerline is valid? [True, True] Translation: X:54.18, Y:12.29, Z:-1.13 [[ 9.10013197e-01 -4.14252597e-01 1.64550138e-02 5.41804927e+01] [ 4.14182319e-01 9.10161947e-01 7.63130964e-03 1.22930191e+01] [-1.81380172e-02 -1.29216722e-04 9.99835484e-01 -1.13182588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199999999999996 meters 0.014402397485833553 Centerline is valid? [True, True] Translation: X:54.21, Y:12.31, Z:-1.13 [[ 9.09948687e-01 -4.14389345e-01 1.65788183e-02 5.42054301e+01] [ 4.14317924e-01 9.10099694e-01 7.69448768e-03 1.23052965e+01] [-1.82768911e-02 -1.32687408e-04 9.99832955e-01 -1.13294099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23 meters 0.01691446144841566 Centerline is valid? [True, True] Translation: X:54.23, Y:12.32, Z:-1.14 [[ 9.10029145e-01 -4.14257050e-01 1.54289028e-02 5.42301111e+01] [ 4.14195091e-01 9.10159920e-01 7.16567011e-03 1.23184554e+01] [-1.70111983e-02 -1.30392840e-04 9.99855291e-01 -1.13837073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26 meters 0.015757454786826205 Centerline is valid? [True, True] Translation: X:54.26, Y:12.33, Z:-1.14 [[ 9.10061222e-01 -4.14170773e-01 1.58475270e-02 5.42552125e+01] [ 4.14105294e-01 9.10199182e-01 7.36573285e-03 1.23308388e+01] [-1.74750774e-02 -1.40722992e-04 9.99847289e-01 -1.13769700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29 meters 0.015757454786826205 Centerline is valid? [True, True] Translation: X:54.28, Y:12.34, Z:-1.14 [[ 9.09944488e-01 -4.14427257e-01 1.58454466e-02 5.42802132e+01] [ 4.14361740e-01 9.10082430e-01 7.37020525e-03 1.23425494e+01] [-1.74750765e-02 -1.40730804e-04 9.99847289e-01 -1.13826313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32 meters 0.016020991249790027 Centerline is valid? [True, True] Translation: X:54.31, Y:12.35, Z:-1.14 [[ 9.09922892e-01 -4.14486505e-01 1.55328075e-02 5.43054878e+01] [ 4.14423467e-01 9.10055447e-01 7.22998658e-03 1.23544710e+01] [-1.71324479e-02 -1.41570378e-04 9.99853219e-01 -1.13935230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349999999999994 meters 0.016150938416446495 Centerline is valid? [True, True] Translation: X:54.33, Y:12.37, Z:-1.14 [[ 9.09857815e-01 -4.14660573e-01 1.46753131e-02 5.43308721e+01] [ 4.14604251e-01 9.09976148e-01 6.83552430e-03 1.23666253e+01] [-1.61886073e-02 -1.34907999e-04 9.99868947e-01 -1.14040417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379999999999995 meters 0.015448025895143535 Centerline is valid? [True, True] Translation: X:54.36, Y:12.38, Z:-1.14 [[ 9.09835544e-01 -4.14705707e-01 1.47803728e-02 5.43561059e+01] [ 4.14648498e-01 9.09955580e-01 6.88959396e-03 1.23786777e+01] [-1.63066366e-02 -1.39738096e-04 9.99867028e-01 -1.13996068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41 meters 0.01702410239622681 Centerline is valid? [True, True] Translation: X:54.38, Y:12.39, Z:-1.14 [[ 9.09890457e-01 -4.14606562e-01 1.41688128e-02 5.43809714e+01] [ 4.14553887e-01 9.10000758e-01 6.61026567e-03 1.23911644e+01] [-1.56342899e-02 -1.40881236e-04 9.99877767e-01 -1.14331316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44 meters 0.014524962133942977 Centerline is valid? [True, True] Translation: X:54.41, Y:12.40, Z:-1.14 [[ 9.10212165e-01 -4.13890856e-01 1.44282516e-02 5.44072052e+01] [ 4.13836132e-01 9.10326499e-01 6.73207085e-03 1.24039164e+01] [-1.59207623e-02 -1.56680966e-04 9.99873244e-01 -1.14101998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47 meters 0.014472213792379108 Centerline is valid? [True, True] Translation: X:54.43, Y:12.42, Z:-1.14 [[ 9.10168640e-01 -4.13988888e-01 1.43612912e-02 5.44326763e+01] [ 4.13934618e-01 9.10281921e-01 6.70495247e-03 1.24158662e+01] [-1.58485995e-02 -1.58001893e-04 9.99874391e-01 -1.14189470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.5 meters 0.016689724966106077 Centerline is valid? [True, True] Translation: X:54.46, Y:12.43, Z:-1.15 [[ 9.10263830e-01 -4.13794650e-01 1.39193075e-02 5.44580854e+01] [ 4.13743575e-01 9.10370233e-01 6.50326961e-03 1.24276658e+01] [-1.53627414e-02 -1.60667064e-04 9.99881973e-01 -1.14542102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53 meters 0.014788904426586745 Centerline is valid? [True, True] Translation: X:54.48, Y:12.44, Z:-1.14 [[ 9.10568078e-01 -4.13082713e-01 1.51144731e-02 5.44826946e+01] [ 4.13022289e-01 9.10693491e-01 7.06783105e-03 1.24402474e+01] [-1.66842511e-02 -1.93127071e-04 9.99860790e-01 -1.14227461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559999999999995 meters 0.014681907865844885 Centerline is valid? [True, True] Translation: X:54.51, Y:12.45, Z:-1.14 [[ 9.10597225e-01 -4.12991426e-01 1.58358850e-02 5.45083262e+01] [ 4.12925018e-01 9.10734889e-01 7.40879618e-03 1.24519277e+01] [-1.74820623e-02 -2.07396144e-04 9.99847156e-01 -1.14264099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.589999999999996 meters 0.017486045835097892 Centerline is valid? [True, True] Translation: X:54.53, Y:12.46, Z:-1.15 [[ 9.10377228e-01 -4.13502606e-01 1.51293976e-02 5.45330200e+01] [ 4.13441968e-01 9.10502915e-01 7.08388588e-03 1.24634693e+01] [-1.67045659e-02 -1.93880480e-04 9.99860450e-01 -1.14713104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62 meters 0.0181092260822801 Centerline is valid? [True, True] Translation: X:54.56, Y:12.47, Z:-1.15 [[ 9.09999552e-01 -4.14346912e-01 1.47462621e-02 5.45586675e+01] [ 4.14289395e-01 9.10119007e-01 6.90584825e-03 1.24746695e+01] [-1.62822703e-02 -1.75098816e-04 9.99867420e-01 -1.14862613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65 meters 0.014382803028277633 Centerline is valid? [True, True] Translation: X:54.58, Y:12.49, Z:-1.15 [[ 9.09815283e-01 -4.14711661e-01 1.58236886e-02 5.45840375e+01] [ 4.14645383e-01 9.09952858e-01 7.41638794e-03 1.24862335e+01] [-1.74744732e-02 -1.86323681e-04 9.99847292e-01 -1.14526981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68 meters 0.014339344643953103 Centerline is valid? [True, True] Translation: X:54.61, Y:12.50, Z:-1.15 [[ 9.09683313e-01 -4.15019997e-01 1.53190243e-02 5.46083749e+01] [ 4.14957825e-01 9.09812272e-01 7.18568247e-03 1.24971781e+01] [-1.69196382e-02 -1.79946433e-04 9.99856836e-01 -1.14583846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71 meters 0.014354222743932272 Centerline is valid? [True, True] Translation: X:54.63, Y:12.51, Z:-1.15 [[ 9.09489790e-01 -4.15448456e-01 1.51954622e-02 5.46333525e+01] [ 4.15387309e-01 9.09616705e-01 7.12971322e-03 1.25080892e+01] [-1.67840746e-02 -1.72399224e-04 9.99859123e-01 -1.14621831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739999999999995 meters 0.01698312014062221 Centerline is valid? [True, True] Translation: X:54.66, Y:12.52, Z:-1.15 [[ 9.09222419e-01 -4.16062295e-01 1.43791473e-02 5.46590133e+01] [ 4.16007576e-01 9.09336100e-01 6.74938159e-03 1.25196817e+01] [-1.58836409e-02 -1.54854835e-04 9.99873835e-01 -1.15044401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.769999999999996 meters 0.016535514462210285 Centerline is valid? [True, True] Translation: X:54.68, Y:12.53, Z:-1.15 [[ 9.09163572e-01 -4.16189801e-01 1.44100443e-02 5.46843119e+01] [ 4.16134783e-01 9.09277749e-01 6.76886973e-03 1.25320192e+01] [-1.59198672e-02 -1.57489131e-04 9.99873258e-01 -1.15066772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.8 meters 0.01640323801278257 Centerline is valid? [True, True] Translation: X:54.71, Y:12.55, Z:-1.15 [[ 9.09090353e-01 -4.16342531e-01 1.46160153e-02 5.47096456e+01] [ 4.16285866e-01 9.09207826e-01 6.87073952e-03 1.25453083e+01] [-1.61495766e-02 -1.61682420e-04 9.99869574e-01 -1.15164998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83 meters 0.01433934045465998 Centerline is valid? [True, True] Translation: X:54.73, Y:12.56, Z:-1.15 [[ 9.09154783e-01 -4.16177837e-01 1.52835878e-02 5.47348765e+01] [ 4.16115760e-01 9.09283221e-01 7.19010715e-03 1.25577177e+01] [-1.68894732e-02 -1.77178540e-04 9.99857347e-01 -1.14929082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86 meters 0.014347686387861668 Centerline is valid? [True, True] Translation: X:54.76, Y:12.57, Z:-1.15 [[ 9.08944839e-01 -4.16639609e-01 1.51893051e-02 5.47590823e+01] [ 4.16578263e-01 9.09071728e-01 7.15154125e-03 1.25692319e+01] [-1.67877832e-02 -1.72822163e-04 9.99859060e-01 -1.15001484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89 meters 0.0173888102427923 Centerline is valid? [True, True] Translation: X:54.78, Y:12.58, Z:-1.16 [[ 9.08364728e-01 -4.17954890e-01 1.36832618e-02 5.47841229e+01] [ 4.17905235e-01 9.08467772e-01 6.44378925e-03 1.25796790e+01] [-1.51240156e-02 -1.35004106e-04 9.99885616e-01 -1.15508607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919999999999995 meters 0.014168752737543007 Centerline is valid? [True, True] Translation: X:54.81, Y:12.59, Z:-1.15 [[ 9.08340694e-01 -4.17990538e-01 1.41807472e-02 5.48096465e+01] [ 4.17937166e-01 9.08451369e-01 6.68098932e-03 1.25914625e+01] [-1.56751095e-02 -1.41953183e-04 9.99877128e-01 -1.15216648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.949999999999996 meters 0.017613907931368217 Centerline is valid? [True, True] Translation: X:54.83, Y:12.60, Z:-1.16 [[ 9.07864648e-01 -4.19075726e-01 1.25425972e-02 5.48341129e+01] [ 4.19034011e-01 9.07951278e-01 5.91390579e-03 1.26022829e+01] [-1.38664415e-02 -1.13251205e-04 9.99903850e-01 -1.15853490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98 meters 0.014363191551842515 Centerline is valid? [True, True] Translation: X:54.86, Y:12.61, Z:-1.16 [[ 9.07955852e-01 -4.18867710e-01 1.28845644e-02 5.48585882e+01] [ 4.18823655e-01 9.08047260e-01 6.07605845e-03 1.26147160e+01] [-1.42448581e-02 -1.20432483e-04 9.99898530e-01 -1.15530854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01 meters 0.01444410263881997 Centerline is valid? [True, True] Translation: X:54.88, Y:12.63, Z:-1.16 [[ 9.07697960e-01 -4.19440413e-01 1.24158548e-02 5.48845143e+01] [ 4.19399506e-01 9.07782864e-01 5.85883997e-03 1.26253583e+01] [-1.37283345e-02 -1.10853705e-04 9.99905756e-01 -1.15581695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04 meters 0.015265876901213078 Centerline is valid? [True, True] Translation: X:54.91, Y:12.64, Z:-1.16 [[ 9.07434586e-01 -4.20025492e-01 1.18767926e-02 5.49087580e+01] [ 4.19988051e-01 9.07512301e-01 5.60904067e-03 1.26372676e+01] [-1.31342755e-02 -1.01726510e-04 9.99913737e-01 -1.15823759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07 meters 0.016853350062665137 Centerline is valid? [True, True] Translation: X:54.93, Y:12.65, Z:-1.16 [[ 9.06947120e-01 -4.21107862e-01 1.07280431e-02 5.49344313e+01] [ 4.21077375e-01 9.07010564e-01 5.06773101e-03 1.26481665e+01] [-1.18645098e-02 -7.88277994e-05 9.99929611e-01 -1.16035678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099999999999994 meters 0.013977099243189548 Centerline is valid? [True, True] Translation: X:54.96, Y:12.66, Z:-1.16 [[ 9.06927236e-01 -4.21130000e-01 1.15113458e-02 5.49598126e+01] [ 4.21094844e-01 9.07000284e-01 5.44211302e-03 1.26601624e+01] [-1.27326310e-02 -8.82321450e-05 9.99918933e-01 -1.15654571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.129999999999995 meters 0.016426930267195466 Centerline is valid? [True, True] Translation: X:54.98, Y:12.67, Z:-1.16 [[ 9.06330807e-01 -4.22429046e-01 1.08705831e-02 5.49837018e+01] [ 4.22397729e-01 9.06395993e-01 5.14410548e-03 1.26722365e+01] [-1.20260725e-02 -7.05516528e-05 9.99927682e-01 -1.16224440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16 meters 0.016430947564890594 Centerline is valid? [True, True] Translation: X:55.01, Y:12.68, Z:-1.16 [[ 9.06122725e-01 -4.22866608e-01 1.11999246e-02 5.50093644e+01] [ 4.22833395e-01 9.06191937e-01 5.30026751e-03 1.26829166e+01] [-1.23905876e-02 -6.69906772e-05 9.99923231e-01 -1.16109224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19 meters 0.013865852099879504 Centerline is valid? [True, True] Translation: X:55.04, Y:12.69, Z:-1.16 [[ 9.06218403e-01 -4.22627777e-01 1.24084099e-02 5.50351963e+01] [ 4.22586920e-01 9.06303346e-01 5.87710685e-03 1.26948917e+01] [-1.37296120e-02 -8.23106756e-05 9.99905741e-01 -1.15758706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22 meters 0.014188356971552886 Centerline is valid? [True, True] Translation: X:55.06, Y:12.71, Z:-1.16 [[ 9.05594995e-01 -4.23935278e-01 1.32884909e-02 5.50620140e+01] [ 4.23888482e-01 9.05692483e-01 6.29922548e-03 1.27065447e+01] [-1.47057502e-02 -7.17088379e-05 9.99891862e-01 -1.15748813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25 meters 0.013720077652056595 Centerline is valid? [True, True] Translation: X:55.09, Y:12.72, Z:-1.16 [[ 9.05383189e-01 -4.24366400e-01 1.39441708e-02 5.50874006e+01] [ 4.24314857e-01 9.05490559e-01 6.61430160e-03 1.27182842e+01] [-1.54332024e-02 -7.17586401e-05 9.99880898e-01 -1.15653464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28 meters 0.014356083243893411 Centerline is valid? [True, True] Translation: X:55.11, Y:12.73, Z:-1.16 [[ 9.04729776e-01 -4.25729398e-01 1.47821582e-02 5.51126692e+01] [ 4.25671564e-01 9.04850527e-01 7.01732109e-03 1.27301132e+01] [-1.63631235e-02 -5.64349205e-05 9.99866114e-01 -1.15766568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309999999999995 meters 0.01368711862360122 Centerline is valid? [True, True] Translation: X:55.14, Y:12.74, Z:-1.16 [[ 9.04437654e-01 -4.26289422e-01 1.64273925e-02 5.51374733e+01] [ 4.26217963e-01 9.04586826e-01 7.80531765e-03 1.27419121e+01] [-1.81873272e-02 -5.77734240e-05 9.99834595e-01 -1.15527097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339999999999996 meters 0.013650210484989015 Centerline is valid? [True, True] Translation: X:55.16, Y:12.75, Z:-1.16 [[ 9.04176288e-01 -4.26815818e-01 1.71317738e-02 5.51614534e+01] [ 4.26738157e-01 9.04338573e-01 8.14187236e-03 1.27534668e+01] [-1.89680038e-02 -5.09063394e-05 9.99820090e-01 -1.15538996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37 meters 0.016214273314392156 Centerline is valid? [True, True] Translation: X:55.19, Y:12.77, Z:-1.16 [[ 9.03488674e-01 -4.28286294e-01 1.67053073e-02 5.51871854e+01] [ 4.28212665e-01 9.03643099e-01 7.94124853e-03 1.27655370e+01] [-1.84967636e-02 -2.14039384e-05 9.99828920e-01 -1.15911838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.4 meters 0.0166591943397236 Centerline is valid? [True, True] Translation: X:55.21, Y:12.78, Z:-1.16 [[ 9.03408275e-01 -4.28466551e-01 1.64287619e-02 5.52107798e+01] [ 4.28395259e-01 9.03557643e-01 7.81587325e-03 1.27779258e+01] [-1.81931737e-02 -2.29208383e-05 9.99834490e-01 -1.16081489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43 meters 0.014712762626953214 Centerline is valid? [True, True] Translation: X:55.24, Y:12.79, Z:-1.16 [[ 9.03608692e-01 -4.28040001e-01 1.65253984e-02 5.52361721e+01] [ 4.27967758e-01 9.03759789e-01 7.86397561e-03 1.27909137e+01] [-1.83010867e-02 -3.36190304e-05 9.99832521e-01 -1.15997877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46 meters 0.01637006961123795 Centerline is valid? [True, True] Translation: X:55.26, Y:12.80, Z:-1.16 [[ 9.03837850e-01 -4.27580418e-01 1.58784942e-02 5.52601146e+01] [ 4.27513558e-01 9.03977314e-01 7.56134184e-03 1.28047627e+01] [-1.75868802e-02 -4.59554060e-05 9.99845338e-01 -1.16368222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489999999999995 meters 0.013702683833329383 Centerline is valid? [True, True] Translation: X:55.29, Y:12.82, Z:-1.16 [[ 9.04680377e-01 -4.25790593e-01 1.59933281e-02 5.52859692e+01] [ 4.25722381e-01 9.04821730e-01 7.62171085e-03 1.28185491e+01] [-1.77163636e-02 -8.64945392e-05 9.99843049e-01 -1.16119227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519999999999996 meters 0.014102516716673483 Centerline is valid? [True, True] Translation: X:55.31, Y:12.83, Z:-1.16 [[ 9.04909570e-01 -4.25325260e-01 1.53978384e-02 5.53107409e+01] [ 4.25261893e-01 9.05040559e-01 7.34224185e-03 1.28319345e+01] [-1.70585092e-02 -9.59510116e-05 9.99854488e-01 -1.16329959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55 meters 0.013828945383059139 Centerline is valid? [True, True] Translation: X:55.34, Y:12.85, Z:-1.16 [[ 9.05359469e-01 -4.24389238e-01 1.47650288e-02 5.53361209e+01] [ 4.24330766e-01 9.05479852e-01 7.04550556e-03 1.28453394e+01] [-1.63594728e-02 -1.13459199e-04 9.99866168e-01 -1.16379626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58 meters 0.01831332373417586 Centerline is valid? [True, True] Translation: X:55.36, Y:12.86, Z:-1.17 [[ 9.05620629e-01 -4.23895487e-01 1.28020496e-02 5.53594898e+01] [ 4.23851426e-01 9.05711104e-01 6.11264202e-03 1.28596097e+01] [-1.41860798e-02 -1.09567744e-04 9.99899367e-01 -1.17047678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61 meters 0.014279268649807395 Centerline is valid? [True, True] Translation: X:55.39, Y:12.87, Z:-1.17 [[ 9.06653538e-01 -4.21657289e-01 1.35827762e-02 5.53851565e+01] [ 4.21607405e-01 9.06755263e-01 6.48767184e-03 1.28734423e+01] [-1.50518279e-02 -1.55471599e-04 9.99886703e-01 -1.16611961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64 meters 0.017200002570372287 Centerline is valid? [True, True] Translation: X:55.41, Y:12.89, Z:-1.17 [[ 9.06617868e-01 -4.21752669e-01 1.29895314e-02 5.54098121e+01] [ 4.21707007e-01 9.06710904e-01 6.20773818e-03 1.28868463e+01] [-1.43958799e-02 -1.50269928e-04 9.99896363e-01 -1.17111560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669999999999995 meters 0.015553321653102246 Centerline is valid? [True, True] Translation: X:55.44, Y:12.90, Z:-1.17 [[ 9.06910424e-01 -4.21098843e-01 1.37567511e-02 5.54352161e+01] [ 4.21047473e-01 9.07014738e-01 6.57957727e-03 1.28995274e+01] [-1.52482284e-02 -1.74841901e-04 9.99883724e-01 -1.16944053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699999999999996 meters 0.017650824778730007 Centerline is valid? [True, True] Translation: X:55.46, Y:12.91, Z:-1.17 [[ 9.06519702e-01 -4.21942051e-01 1.36724579e-02 5.54601462e+01] [ 4.21891334e-01 9.06622787e-01 6.54397511e-03 1.29113044e+01] [-1.51569401e-02 -1.63950874e-04 9.99885114e-01 -1.17218684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73 meters 0.014559300179881924 Centerline is valid? [True, True] Translation: X:55.49, Y:12.92, Z:-1.17 [[ 9.06476390e-01 -4.21950866e-01 1.60630039e-02 5.54853259e+01] [ 4.21880733e-01 9.06618678e-01 7.69549342e-03 1.29234732e+01] [-1.78101395e-02 -1.99111224e-04 9.99841367e-01 -1.16694118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76 meters 0.016272230207955787 Centerline is valid? [True, True] Translation: X:55.51, Y:12.94, Z:-1.17 [[ 9.05593604e-01 -4.23836467e-01 1.62133832e-02 5.55115376e+01] [ 4.23765292e-01 9.05738716e-01 7.76885319e-03 1.29353196e+01] [-1.79778122e-02 -1.64754687e-04 9.99838373e-01 -1.17002634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79 meters 0.015409527100907856 Centerline is valid? [True, True] Translation: X:55.54, Y:12.95, Z:-1.17 [[ 9.05056467e-01 -4.24916968e-01 1.78426996e-02 5.55372753e+01] [ 4.24830862e-01 9.05232315e-01 8.55543501e-03 1.29478853e+01] [-1.97871378e-02 -1.63022332e-04 9.99804202e-01 -1.16920472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82 meters 0.017929571699426806 Centerline is valid? [True, True] Translation: X:55.56, Y:12.96, Z:-1.17 [[ 9.04712813e-01 -4.25681371e-01 1.70322081e-02 5.55616329e+01] [ 4.25602950e-01 9.04873112e-01 8.17186923e-03 1.29603235e+01] [-1.88905996e-02 -1.44236788e-04 9.99821546e-01 -1.17235601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849999999999994 meters 0.015421085534866208 Centerline is valid? [True, True] Translation: X:55.59, Y:12.97, Z:-1.17 [[ 9.04804257e-01 -4.25442427e-01 1.81106805e-02 5.55863823e+01] [ 4.25353621e-01 9.04985478e-01 8.69383157e-03 1.29727876e+01] [-2.00886277e-02 -1.62772284e-04 9.99798190e-01 -1.17063165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879999999999995 meters 0.015141082055493738 Centerline is valid? [True, True] Translation: X:55.61, Y:12.99, Z:-1.17 [[ 9.04756725e-01 -4.25540162e-01 1.81889767e-02 5.56116841e+01] [ 4.25450478e-01 9.04939524e-01 8.73771842e-03 1.29853401e+01] [-2.01781740e-02 -1.67000685e-04 9.99796386e-01 -1.17100230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91 meters 0.016185346476244887 Centerline is valid? [True, True] Translation: X:55.64, Y:13.00, Z:-1.17 [[ 9.04539384e-01 -4.26021817e-01 1.77176120e-02 5.56367377e+01] [ 4.25936696e-01 9.04712875e-01 8.51727226e-03 1.29983785e+01] [-1.96578955e-02 -1.57627108e-04 9.99806752e-01 -1.17358535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94 meters 0.017551964867333347 Centerline is valid? [True, True] Translation: X:55.66, Y:13.01, Z:-1.18 [[ 9.04459229e-01 -4.26213736e-01 1.71858668e-02 5.56607465e+01] [ 4.26133568e-01 9.04622478e-01 8.26770976e-03 1.30105709e+01] [-1.90705329e-02 -1.54331645e-04 9.99818129e-01 -1.17576350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97 meters 0.016854673903063413 Centerline is valid? [True, True] Translation: X:55.69, Y:13.02, Z:-1.18 [[ 9.04352959e-01 -4.26452711e-01 1.68467160e-02 5.56850395e+01] [ 4.26375670e-01 9.04509847e-01 8.10705353e-03 1.30231339e+01] [-1.86952955e-02 -1.48607999e-04 9.99825217e-01 -1.17742796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.0 meters 0.01498066717731196 Centerline is valid? [True, True] Translation: X:55.71, Y:13.04, Z:-1.18 [[ 9.04355883e-01 -4.26442047e-01 1.69593030e-02 5.57107397e+01] [ 4.26363930e-01 9.04514874e-01 8.16344686e-03 1.30356903e+01] [-1.88211788e-02 -1.51826104e-04 9.99822854e-01 -1.17629031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03 meters 0.013902365114215491 Centerline is valid? [True, True] Translation: X:55.73, Y:13.05, Z:-1.18 [[ 9.04417337e-01 -4.26310880e-01 1.69798217e-02 5.57348793e+01] [ 4.26232439e-01 9.04576701e-01 8.17926408e-03 1.30475442e+01] [-1.88464604e-02 -1.60117400e-04 9.99822377e-01 -1.17517772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059999999999995 meters 0.013769727336591408 Centerline is valid? [True, True] Translation: X:55.76, Y:13.06, Z:-1.18 [[ 9.03943294e-01 -4.27295644e-01 1.74629167e-02 5.57599906e+01] [ 4.27212781e-01 9.04111946e-01 8.41601941e-03 1.30592224e+01] [-1.93845600e-02 -1.47223121e-04 9.99812091e-01 -1.17581686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.089999999999996 meters 0.013761263952101498 Centerline is valid? [True, True] Translation: X:55.79, Y:13.07, Z:-1.18 [[ 9.03651880e-01 -4.27895463e-01 1.78536132e-02 5.57854436e+01] [ 4.27808845e-01 9.03828220e-01 8.61044543e-03 1.30714284e+01] [-1.98209700e-02 -1.42911563e-04 9.99803535e-01 -1.17651838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12 meters 0.01365806562273917 Centerline is valid? [True, True] Translation: X:55.81, Y:13.08, Z:-1.18 [[ 9.03279295e-01 -4.28672011e-01 1.80782461e-02 5.58105619e+01] [ 4.28583229e-01 9.03460176e-01 8.72501813e-03 1.30834520e+01] [-2.00731465e-02 -1.33095137e-04 9.99798505e-01 -1.17704042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15 meters 0.014434509974245597 Centerline is valid? [True, True] Translation: X:55.84, Y:13.09, Z:-1.18 [[ 9.02477173e-01 -4.30346280e-01 1.83584217e-02 5.58378596e+01] [ 4.30255032e-01 9.02663874e-01 8.86216711e-03 1.30944095e+01] [-2.03852847e-02 -9.91001975e-05 9.99792194e-01 -1.17932079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18 meters 0.014434509974245597 Centerline is valid? [True, True] Translation: X:55.86, Y:13.11, Z:-1.18 [[ 9.02353897e-01 -4.30604757e-01 1.83572150e-02 5.58626891e+01] [ 4.30513512e-01 9.02540600e-01 8.86466588e-03 1.31064771e+01] [-2.03852992e-02 -9.60366916e-05 9.99792194e-01 -1.17988828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21 meters 0.01413758452298007 Centerline is valid? [True, True] Translation: X:55.89, Y:13.12, Z:-1.18 [[ 9.02004147e-01 -4.31322192e-01 1.86998894e-02 5.58869966e+01] [ 4.31227523e-01 9.02197960e-01 9.03684131e-03 1.31180568e+01] [-2.07687923e-02 -8.73613548e-05 9.99784302e-01 -1.18025093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239999999999995 meters 0.013326164868037303 Centerline is valid? [True, True] Translation: X:55.91, Y:13.13, Z:-1.18 [[ 9.01137054e-01 -4.33137286e-01 1.85499669e-02 5.59132718e+01] [ 4.33044455e-01 9.01327959e-01 8.96720774e-03 1.31288348e+01] [-2.06036358e-02 -4.77228713e-05 9.99787721e-01 -1.18044611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.269999999999996 meters 0.014863879121774393 Centerline is valid? [True, True] Translation: X:55.94, Y:13.14, Z:-1.18 [[ 9.00356713e-01 -4.34788174e-01 1.78054127e-02 5.59383891e+01] [ 4.34702849e-01 9.00532755e-01 8.61334907e-03 1.31393917e+01] [-1.97793396e-02 -1.50230411e-05 9.99804370e-01 -1.18398058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.3 meters 0.013200978479791193 Centerline is valid? [True, True] Translation: X:55.96, Y:13.15, Z:-1.18 [[ 8.99843723e-01 -4.35841522e-01 1.79844750e-02 5.59640707e+01] [ 4.35754630e-01 9.00023426e-01 8.70259609e-03 1.31505325e+01] [-1.99794015e-02 5.84176838e-06 9.99800392e-01 -1.18258368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33 meters 0.014709327869022907 Centerline is valid? [True, True] Translation: X:55.99, Y:13.16, Z:-1.19 [[ 8.98986362e-01 -4.37640036e-01 1.71673860e-02 5.59892517e+01] [ 4.37561076e-01 8.99150264e-01 8.31306838e-03 1.31606982e+01] [-1.90741912e-02 3.84447756e-05 9.99818070e-01 -1.18551539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36 meters 0.013680733677577935 Centerline is valid? [True, True] Translation: X:56.01, Y:13.17, Z:-1.18 [[ 8.98095325e-01 -4.39454018e-01 1.74629339e-02 5.60147488e+01] [ 4.39372611e-01 8.98265084e-01 8.45862613e-03 1.31715726e+01] [-1.94035210e-02 7.60822532e-05 9.99811731e-01 -1.18436487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39 meters 0.014026066361292203 Centerline is valid? [True, True] Translation: X:56.04, Y:13.18, Z:-1.19 [[ 8.97658108e-01 -4.40345851e-01 1.74772121e-02 5.60395322e+01] [ 4.40264365e-01 8.97828226e-01 8.47145866e-03 1.31839841e+01] [-1.94219060e-02 9.01201361e-05 9.99811373e-01 -1.18589387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419999999999995 meters 0.013808073648525425 Centerline is valid? [True, True] Translation: X:56.06, Y:13.20, Z:-1.19 [[ 8.97066709e-01 -4.41584373e-01 1.65698707e-02 5.60642615e+01] [ 4.41511235e-01 8.97219722e-01 8.03733161e-03 1.31960515e+01] [-1.84159748e-02 1.05761470e-04 9.99830406e-01 -1.18696825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.449999999999996 meters 0.015498295826517842 Centerline is valid? [True, True] Translation: X:56.09, Y:13.21, Z:-1.19 [[ 8.96354329e-01 -4.43061200e-01 1.56745102e-02 5.60903540e+01] [ 4.42995962e-01 8.96491359e-01 7.60402655e-03 1.32077712e+01] [-1.74211120e-02 1.27842577e-04 9.99848233e-01 -1.19042018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48 meters 0.014913314989829392 Centerline is valid? [True, True] Translation: X:56.12, Y:13.22, Z:-1.19 [[ 8.95800252e-01 -4.44188757e-01 1.54355774e-02 5.61164192e+01] [ 4.44125585e-01 8.95933216e-01 7.49247213e-03 1.32195513e+01] [-1.71573184e-02 1.43576404e-04 9.99852792e-01 -1.19041286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51 meters 0.014123562335135268 Centerline is valid? [True, True] Translation: X:56.14, Y:13.23, Z:-1.19 [[ 8.94767022e-01 -4.46256390e-01 1.57229573e-02 5.61424365e+01] [ 4.46191076e-01 8.94905135e-01 7.63694063e-03 1.32307875e+01] [-1.74785888e-02 1.82160596e-04 9.99847221e-01 -1.18947117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54 meters 0.016256772773442396 Centerline is valid? [True, True] Translation: X:56.17, Y:13.24, Z:-1.19 [[ 8.93975821e-01 -4.47855734e-01 1.52470838e-02 5.61681238e+01] [ 4.47794505e-01 8.94105810e-01 7.40820259e-03 1.32426252e+01] [-1.69503122e-02 2.04806344e-04 9.99856312e-01 -1.19241548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57 meters 0.01666273264447028 Centerline is valid? [True, True] Translation: X:56.19, Y:13.25, Z:-1.19 [[ 8.92745911e-01 -4.50262539e-01 1.63824235e-02 5.61930957e+01] [ 4.50192224e-01 8.92896172e-01 7.96162542e-03 1.32545593e+01] [-1.82126249e-02 2.67531116e-04 9.99834101e-01 -1.19212556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599999999999994 meters 0.01719641884216256 Centerline is valid? [True, True] Translation: X:56.22, Y:13.27, Z:-1.19 [[ 8.92097751e-01 -4.51554875e-01 1.61182576e-02 5.62188817e+01] [ 4.51486999e-01 8.92243303e-01 7.83439668e-03 1.32668138e+01] [-1.79190675e-02 2.88136117e-04 9.99839399e-01 -1.19287900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.629999999999995 meters 0.016773986826617193 Centerline is valid? [True, True] Translation: X:56.24, Y:13.28, Z:-1.19 [[ 8.91557408e-01 -4.52604681e-01 1.65647532e-02 5.62446406e+01] [ 4.52533086e-01 8.91711222e-01 8.05615807e-03 1.32791435e+01] [-1.84172312e-02 3.13571486e-04 9.99830339e-01 -1.19235725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66 meters 0.01643794748815107 Centerline is valid? [True, True] Translation: X:56.27, Y:13.29, Z:-1.19 [[ 8.91039067e-01 -4.53618084e-01 1.67336194e-02 5.62705216e+01] [ 4.53545114e-01 8.91196119e-01 8.14294796e-03 1.32919136e+01] [-1.86067252e-02 3.33766583e-04 9.99826824e-01 -1.19176021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69 meters 0.018514865795950047 Centerline is valid? [True, True] Translation: X:56.30, Y:13.30, Z:-1.19 [[ 8.89907536e-01 -4.55861792e-01 1.59563343e-02 5.62958422e+01] [ 4.55795722e-01 8.90050503e-01 7.76931063e-03 1.33040184e+01] [-1.77436752e-02 3.58860825e-04 9.99842504e-01 -1.19452718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72 meters 0.019935540726984804 Centerline is valid? [True, True] Translation: X:56.32, Y:13.32, Z:-1.20 [[ 8.88835957e-01 -4.57975955e-01 1.51217079e-02 5.63205070e+01] [ 4.57916898e-01 8.88964499e-01 7.36430323e-03 1.33166993e+01] [-1.68153353e-02 3.78828072e-04 9.99858540e-01 -1.19671286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75 meters 0.019469166372652832 Centerline is valid? [True, True] Translation: X:56.35, Y:13.33, Z:-1.20 [[ 8.88398099e-01 -4.58836302e-01 1.47670269e-02 5.63457715e+01] [ 4.58780083e-01 8.88520737e-01 7.19277453e-03 1.33297756e+01] [-1.64211157e-02 3.84770610e-04 9.99865090e-01 -1.19608636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78 meters 0.020208235045502176 Centerline is valid? [True, True] Translation: X:56.37, Y:13.34, Z:-1.20 [[ 8.87825172e-01 -4.59953486e-01 1.44656447e-02 5.63710953e+01] [ 4.59899651e-01 8.87942923e-01 7.04818269e-03 1.33424129e+01] [-1.60865030e-02 3.95190926e-04 9.99870526e-01 -1.19733391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809999999999995 meters 0.021112356008286755 Centerline is valid? [True, True] Translation: X:56.40, Y:13.36, Z:-1.20 [[ 8.87129162e-01 -4.61322342e-01 1.35479563e-02 5.63966237e+01] [ 4.61275275e-01 8.87232519e-01 6.60138506e-03 1.33552923e+01] [-1.50655538e-02 3.93056095e-04 9.99886431e-01 -1.19880568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839999999999996 meters 0.024508625479774185 Centerline is valid? [True, True] Translation: X:56.42, Y:13.37, Z:-1.20 [[ 8.85854332e-01 -4.63821356e-01 1.14826648e-02 5.64220162e+01] [ 4.63787708e-01 8.85928674e-01 5.59879074e-03 1.33685463e+01] [-1.27696607e-02 3.65805753e-04 9.99918398e-01 -1.20391987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87 meters 0.023281172269548372 Centerline is valid? [True, True] Translation: X:56.45, Y:13.38, Z:-1.20 [[ 8.85827304e-01 -4.63871879e-01 1.15268017e-02 5.64459882e+01] [ 4.63837974e-01 8.85902221e-01 5.62047386e-03 1.33813823e+01] [-1.28187990e-02 3.67799144e-04 9.99917768e-01 -1.20240495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.9 meters 0.024291039317508922 Centerline is valid? [True, True] Translation: X:56.47, Y:13.40, Z:-1.21 [[ 8.85379840e-01 -4.64754220e-01 1.02982263e-02 5.64697214e+01] [ 4.64727201e-01 8.85439665e-01 5.02281204e-03 1.33959296e+01] [-1.14528311e-02 3.38769363e-04 9.99934357e-01 -1.20504793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93 meters 0.02625840264982824 Centerline is valid? [True, True] Translation: X:56.49, Y:13.41, Z:-1.21 [[ 8.84863335e-01 -4.65759667e-01 9.20925323e-03 5.64942244e+01] [ 4.65738107e-01 8.84911201e-01 4.49235551e-03 1.34090538e+01] [-1.02417293e-02 3.13979488e-04 9.99947503e-01 -1.20853032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96 meters 0.01977829861147585 Centerline is valid? [True, True] Translation: X:56.52, Y:13.43, Z:-1.20 [[ 8.84879651e-01 -4.65717964e-01 9.73556973e-03 5.65162662e+01] [ 4.65693876e-01 8.84933143e-01 4.74833766e-03 1.34306207e+01] [-1.08267145e-02 3.32087827e-04 9.99941334e-01 -1.20423143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989999999999995 meters 0.023098720493963783 Centerline is valid? [True, True] Translation: X:56.54, Y:13.44, Z:-1.21 [[ 8.83619213e-01 -4.68096637e-01 1.01303943e-02 5.65412795e+01] [ 4.68070663e-01 8.83677203e-01 4.94519738e-03 1.34431756e+01] [-1.12668287e-02 3.72068943e-04 9.99936458e-01 -1.20624481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02 meters 0.029346288334575428 Centerline is valid? [True, True] Translation: X:56.57, Y:13.45, Z:-1.21 [[ 8.83136995e-01 -4.68998669e-01 1.04545282e-02 5.65694335e+01] [ 4.68971043e-01 8.83198785e-01 5.10558207e-03 1.34486641e+01] [-1.16279378e-02 3.93942615e-04 9.99932316e-01 -1.20875600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05 meters 0.019436305189576085 Centerline is valid? [True, True] Translation: X:56.59, Y:13.47, Z:-1.20 [[ 8.82891187e-01 -4.69440092e-01 1.13644927e-02 5.65883637e+01] [ 4.69407490e-01 8.82964219e-01 5.54950983e-03 1.34742276e+01] [-1.26396028e-02 4.34964650e-04 9.99920022e-01 -1.20294531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08 meters 0.025525780534930285 Centerline is valid? [True, True] Translation: X:56.62, Y:13.48, Z:-1.21 [[ 8.82204681e-01 -4.70746077e-01 1.06316189e-02 5.66150607e+01] [ 4.70717578e-01 8.82268641e-01 5.19680209e-03 1.34824514e+01] [-1.18263181e-02 4.19846758e-04 9.99929979e-01 -1.20716023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11 meters 0.01974508491394298 Centerline is valid? [True, True] Translation: X:56.64, Y:13.50, Z:-1.20 [[ 8.82414055e-01 -4.70312161e-01 1.23250527e-02 5.66373467e+01] [ 4.70273812e-01 8.82499995e-01 6.02501662e-03 1.35030549e+01] [-1.37104975e-02 4.79590162e-04 9.99905892e-01 -1.20219451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14 meters 0.01937924259114598 Centerline is valid? [True, True] Translation: X:56.66, Y:13.52, Z:-1.20 [[ 8.82498820e-01 -4.70143005e-01 1.27038717e-02 5.66619524e+01] [ 4.70102188e-01 8.82590118e-01 6.21417438e-03 1.35183072e+01] [-1.41338623e-02 4.88116347e-04 9.99899993e-01 -1.20237931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17 meters 0.021504201053842688 Centerline is valid? [True, True] Translation: X:56.69, Y:13.54, Z:-1.21 [[ 8.82899123e-01 -4.69407336e-01 1.20785508e-02 5.66858947e+01] [ 4.69370324e-01 8.82981625e-01 5.91167543e-03 1.35356505e+01] [-1.34401222e-02 4.49900241e-04 9.99909576e-01 -1.20602365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.2 meters 0.018570416417619362 Centerline is valid? [True, True] Translation: X:56.71, Y:13.55, Z:-1.20 [[ 8.83949891e-01 -4.67408608e-01 1.27194244e-02 5.67105627e+01] [ 4.67367282e-01 8.84041290e-01 6.23071391e-03 1.35504170e+01] [-1.41567857e-02 4.37003937e-04 9.99899692e-01 -1.20327717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23 meters 0.018747923213150178 Centerline is valid? [True, True] Translation: X:56.73, Y:13.57, Z:-1.21 [[ 8.84222779e-01 -4.66906339e-01 1.21879785e-02 5.67342290e+01] [ 4.66868353e-01 8.84306678e-01 5.96994746e-03 1.35669748e+01] [-1.35653171e-02 4.11417925e-04 9.99907902e-01 -1.20560769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25999999999999 meters 0.017291044558790446 Centerline is valid? [True, True] Translation: X:56.76, Y:13.58, Z:-1.21 [[ 8.86605412e-01 -4.62373686e-01 1.18919645e-02 5.67567831e+01] [ 4.62337047e-01 8.86685100e-01 5.82992155e-03 1.35845350e+01] [-1.32400300e-02 3.29255753e-04 9.99912293e-01 -1.20567505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28999999999999 meters 0.017710973063818778 Centerline is valid? [True, True] Translation: X:56.78, Y:13.60, Z:-1.21 [[ 8.87693320e-01 -4.60286684e-01 1.16934957e-02 5.67812948e+01] [ 4.60251081e-01 8.87770287e-01 5.73237470e-03 1.36013349e+01] [-1.30196738e-02 2.93353330e-04 9.99915197e-01 -1.20750769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32 meters 0.018518397248092126 Centerline is valid? [True, True] Translation: X:56.81, Y:13.62, Z:-1.21 [[ 8.89104372e-01 -4.57559104e-01 1.15361063e-02 5.68052252e+01] [ 4.57524166e-01 8.89179175e-01 5.65968631e-03 1.36164312e+01] [-1.28473065e-02 2.45995597e-04 9.99917440e-01 -1.20915599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35 meters 0.014572678096466096 Centerline is valid? [True, True] Translation: X:56.83, Y:13.64, Z:-1.21 [[ 8.92444275e-01 -4.50992468e-01 1.22069247e-02 5.68278285e+01] [ 4.50952727e-01 8.92527741e-01 5.98912441e-03 1.36371928e+01] [-1.35960689e-02 1.59786170e-04 9.99907556e-01 -1.20674124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38 meters 0.014145199023194912 Centerline is valid? [True, True] Translation: X:56.85, Y:13.65, Z:-1.21 [[ 8.93970939e-01 -4.47961529e-01 1.21007597e-02 5.68520960e+01] [ 4.47922154e-01 8.94052827e-01 5.94032857e-03 1.36532623e+01] [-1.34797570e-02 1.09717219e-04 9.99909138e-01 -1.20795223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41 meters 0.0165446990051227 Centerline is valid? [True, True] Translation: X:56.88, Y:13.67, Z:-1.21 [[ 8.96747530e-01 -4.42412032e-01 1.07453204e-02 5.68753834e+01] [ 4.42380552e-01 8.96811905e-01 5.27761001e-03 1.36718505e+01] [-1.19714094e-02 2.08370400e-05 9.99928340e-01 -1.21128770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44 meters 0.016093404056195706 Centerline is valid? [True, True] Translation: X:56.90, Y:13.69, Z:-1.21 [[ 8.98223004e-01 -4.39408445e-01 1.07542519e-02 5.68981407e+01] [ 4.39376643e-01 8.98287380e-01 5.28654852e-03 1.36866746e+01] [-1.19833628e-02 -2.33323997e-05 9.99928197e-01 -1.21165187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47 meters 0.01305645117930507 Centerline is valid? [True, True] Translation: X:56.92, Y:13.70, Z:-1.21 [[ 8.99952177e-01 -4.35824778e-01 1.19516494e-02 5.69221054e+01] [ 4.35785172e-01 9.00031531e-01 5.87601473e-03 1.37020695e+01] [-1.33177741e-02 -7.97806670e-05 9.99911311e-01 -1.20855562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.5 meters 0.014017944812484638 Centerline is valid? [True, True] Translation: X:56.95, Y:13.72, Z:-1.21 [[ 9.01868276e-01 -4.31824936e-01 1.26822022e-02 5.69459705e+01] [ 4.31779871e-01 9.01957428e-01 6.24031499e-03 1.37195190e+01] [-1.41335301e-02 -1.52022489e-04 9.99900105e-01 -1.20984104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53 meters 0.018237484378144708 Centerline is valid? [True, True] Translation: X:56.97, Y:13.73, Z:-1.21 [[ 9.02247909e-01 -4.31047052e-01 1.21305509e-02 5.69707967e+01] [ 4.31005704e-01 9.02329437e-01 5.97241883e-03 1.37341390e+01] [-1.35201467e-02 -1.60265749e-04 9.99908586e-01 -1.21379563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56 meters 0.01758271131339627 Centerline is valid? [True, True] Translation: X:57.00, Y:13.75, Z:-1.21 [[ 9.03205400e-01 -4.28987332e-01 1.37795173e-02 5.69959217e+01] [ 4.28933661e-01 9.03310478e-01 6.78929557e-03 1.37488577e+01] [-1.53597042e-02 -2.21629602e-04 9.99882008e-01 -1.21317680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59 meters 0.015777365214807167 Centerline is valid? [True, True] Translation: X:57.02, Y:13.76, Z:-1.21 [[ 9.03783687e-01 -4.27748498e-01 1.43620690e-02 5.70204489e+01] [ 4.27689947e-01 9.03897758e-01 7.08188752e-03 1.37621012e+01] [-1.60111087e-02 -2.57981887e-04 9.99871781e-01 -1.21186989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62 meters 0.01710897199361911 Centerline is valid? [True, True] Translation: X:57.05, Y:13.77, Z:-1.21 [[ 9.03811816e-01 -4.27697428e-01 1.41106614e-02 5.70453421e+01] [ 4.27640896e-01 9.03921924e-01 6.95838628e-03 1.37748474e+01] [-1.57310201e-02 -2.54775867e-04 9.99876227e-01 -1.21373257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64999999999999 meters 0.017343102138765974 Centerline is valid? [True, True] Translation: X:57.07, Y:13.79, Z:-1.21 [[ 9.03848139e-01 -4.27623126e-01 1.40357974e-02 5.70706907e+01] [ 4.27567107e-01 9.03957076e-01 6.92636835e-03 1.37865655e+01] [-1.56496337e-02 -2.59139833e-04 9.99877503e-01 -1.21498913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67999999999999 meters 0.015415838227510477 Centerline is valid? [True, True] Translation: X:57.10, Y:13.80, Z:-1.21 [[ 9.03936440e-01 -4.27442424e-01 1.38523347e-02 5.70955645e+01] [ 4.27387745e-01 9.04042535e-01 6.84184082e-03 1.37984697e+01] [-1.54475928e-02 -2.64271135e-04 9.99880644e-01 -1.21382397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71 meters 0.014911634809490199 Centerline is valid? [True, True] Translation: X:57.12, Y:13.81, Z:-1.21 [[ 9.04045769e-01 -4.27228310e-01 1.33123888e-02 5.71209868e+01] [ 4.27177767e-01 9.04143741e-01 6.57655866e-03 1.38104786e+01] [-1.48460050e-02 -2.58753513e-04 9.99889759e-01 -1.21360531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74 meters 0.017124001484618116 Centerline is valid? [True, True] Translation: X:57.15, Y:13.82, Z:-1.22 [[ 9.02990200e-01 -4.29486170e-01 1.22608749e-02 5.71480005e+01] [ 4.29443505e-01 9.03073412e-01 6.05707275e-03 1.38203766e+01] [-1.36738991e-02 -2.04124263e-04 9.99906487e-01 -1.21879350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77 meters 0.014218558852667982 Centerline is valid? [True, True] Translation: X:57.17, Y:13.83, Z:-1.22 [[ 9.03011924e-01 -4.29435235e-01 1.24435979e-02 5.71747380e+01] [ 4.29391235e-01 9.03097633e-01 6.15087099e-03 1.38304627e+01] [-1.38791845e-02 -2.11137983e-04 9.99903657e-01 -1.21559131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.8 meters 0.01887651633014798 Centerline is valid? [True, True] Translation: X:57.20, Y:13.84, Z:-1.22 [[ 9.02034523e-01 -4.31522991e-01 1.10284689e-02 5.72008056e+01] [ 4.31488524e-01 9.02101924e-01 5.45641551e-03 1.38394990e+01] [-1.23033718e-02 -1.63217382e-04 9.99924297e-01 -1.22203608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83 meters 0.0174934463601721 Centerline is valid? [True, True] Translation: X:57.23, Y:13.85, Z:-1.22 [[ 9.01735797e-01 -4.32151496e-01 1.08460324e-02 5.72270811e+01] [ 4.32118213e-01 9.01801010e-01 5.36548220e-03 1.38502893e+01] [-1.20996641e-02 -1.51479242e-04 9.99926785e-01 -1.22241880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86 meters 0.016486707193152466 Centerline is valid? [True, True] Translation: X:57.25, Y:13.86, Z:-1.22 [[ 9.01052909e-01 -4.33598213e-01 9.81039813e-03 5.72533198e+01] [ 4.33571027e-01 9.01106306e-01 4.85697440e-03 1.38586063e+01] [-1.09461870e-02 -1.22886522e-04 9.99940081e-01 -1.22372113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89 meters 0.0146196072714359 Centerline is valid? [True, True] Translation: X:57.28, Y:13.87, Z:-1.22 [[ 9.00738368e-01 -4.34248857e-01 9.91583177e-03 5.72799336e+01] [ 4.34221106e-01 9.00792938e-01 4.91060598e-03 1.38684286e+01] [-1.10645363e-02 -1.17507772e-04 9.99938779e-01 -1.22242734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92 meters 0.014309439618659643 Centerline is valid? [True, True] Translation: X:57.31, Y:13.88, Z:-1.22 [[ 9.00220688e-01 -4.35321929e-01 9.87576818e-03 5.73067736e+01] [ 4.35294429e-01 9.00274851e-01 4.89423615e-03 1.38781695e+01] [-1.10214740e-02 -1.07025770e-04 9.99939256e-01 -1.22226809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95 meters 0.01464473684016837 Centerline is valid? [True, True] Translation: X:57.33, Y:13.89, Z:-1.22 [[ 8.99084195e-01 -4.37650769e-01 1.04601064e-02 5.73347783e+01] [ 4.37620023e-01 8.99145036e-01 5.18835545e-03 1.38855840e+01] [-1.16758405e-02 -8.72163635e-05 9.99931831e-01 -1.22218336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98 meters 0.015299933756492525 Centerline is valid? [True, True] Translation: X:57.36, Y:13.90, Z:-1.22 [[ 8.98360405e-01 -4.39132737e-01 1.05367076e-02 5.73615560e+01] [ 4.39101605e-01 8.98422192e-01 5.22933642e-03 1.38958756e+01] [-1.17627847e-02 -7.11435807e-05 9.99930814e-01 -1.22297168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00999999999999 meters 0.013241298016060228 Centerline is valid? [True, True] Translation: X:57.39, Y:13.91, Z:-1.22 [[ 8.98182657e-01 -4.39489122e-01 1.08270652e-02 5.73870164e+01] [ 4.39456210e-01 8.98247909e-01 5.37897796e-03 1.39061392e+01] [-1.20893910e-02 -7.32836645e-05 9.99926918e-01 -1.22054471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03999999999999 meters 0.013217671693778427 Centerline is valid? [True, True] Translation: X:57.41, Y:13.92, Z:-1.22 [[ 8.97264201e-01 -4.41321763e-01 1.23310426e-02 5.74148807e+01] [ 4.41279226e-01 8.97348928e-01 6.12752961e-03 1.39151603e+01] [-1.37694601e-02 -5.65800150e-05 9.99905195e-01 -1.21981817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07 meters 0.013147939132961304 Centerline is valid? [True, True] Translation: X:57.44, Y:13.93, Z:-1.22 [[ 8.96714285e-01 -4.42433451e-01 1.24952661e-02 5.74407998e+01] [ 4.42389831e-01 8.96801338e-01 6.21275357e-03 1.39257775e+01] [-1.39545014e-02 -4.32862116e-05 9.99902630e-01 -1.22051148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.1 meters 0.013147939132961304 Centerline is valid? [True, True] Translation: X:57.47, Y:13.94, Z:-1.22 [[ 8.96591563e-01 -4.42682144e-01 1.24935413e-02 5.74654665e+01] [ 4.42638500e-01 8.96678603e-01 6.21621953e-03 1.39381430e+01] [-1.39545006e-02 -4.32875953e-05 9.99902630e-01 -1.22107760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13 meters 0.013169864161392077 Centerline is valid? [True, True] Translation: X:57.49, Y:13.95, Z:-1.22 [[ 8.96080104e-01 -4.43709290e-01 1.27480351e-02 5.74918290e+01] [ 4.43663888e-01 8.96170779e-01 6.34740084e-03 1.39487358e+01] [-1.42408173e-02 -3.19367682e-05 9.99898594e-01 -1.22166767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16 meters 0.013193160092388481 Centerline is valid? [True, True] Translation: X:57.52, Y:13.96, Z:-1.22 [[ 8.95162168e-01 -4.45577166e-01 1.20698632e-02 5.75195650e+01] [ 4.45536585e-01 8.95243536e-01 6.01355161e-03 1.39567649e+01] [-1.34849683e-02 -5.53827318e-06 9.99909074e-01 -1.22229773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19 meters 0.013267953327569844 Centerline is valid? [True, True] Translation: X:57.55, Y:13.97, Z:-1.22 [[ 8.94609855e-01 -4.46697983e-01 1.15809750e-02 5.75459956e+01] [ 4.46660668e-01 8.94684812e-01 5.77369853e-03 1.39672583e+01] [-1.29404219e-02 7.55842268e-06 9.99916269e-01 -1.22331869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22 meters 0.015315616781797256 Centerline is valid? [True, True] Translation: X:57.57, Y:13.98, Z:-1.23 [[ 8.93271387e-01 -4.49402022e-01 1.02005684e-02 5.75736176e+01] [ 4.49373215e-01 8.93329626e-01 5.08847085e-03 1.39760597e+01] [-1.13992391e-02 3.84768138e-05 9.99935026e-01 -1.22649818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25 meters 0.01457840760754065 Centerline is valid? [True, True] Translation: X:57.60, Y:13.99, Z:-1.23 [[ 8.92864037e-01 -4.50211245e-01 1.01807267e-02 5.76001656e+01] [ 4.50182571e-01 8.92922075e-01 5.08136227e-03 1.39867759e+01] [-1.13782820e-02 4.62200743e-05 9.99935264e-01 -1.22604491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28 meters 0.013352807380115416 Centerline is valid? [True, True] Translation: X:57.63, Y:14.00, Z:-1.22 [[ 8.92670840e-01 -4.50591914e-01 1.02809588e-02 5.76258799e+01] [ 4.50562656e-01 8.92730040e-01 5.13504849e-03 1.39974467e+01] [-1.14919320e-02 4.83080258e-05 9.99933964e-01 -1.22487842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31 meters 0.014256435365946472 Centerline is valid? [True, True] Translation: X:57.65, Y:14.01, Z:-1.23 [[ 8.92157873e-01 -4.51628954e-01 9.25298136e-03 5.76530951e+01] [ 4.51605279e-01 8.92205854e-01 4.62457879e-03 1.40073727e+01] [-1.03441578e-02 5.28408519e-05 9.99946496e-01 -1.22684972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34 meters 0.01333027641968627 Centerline is valid? [True, True] Translation: X:57.68, Y:14.02, Z:-1.23 [[ 8.92133077e-01 -4.51676513e-01 9.32206115e-03 5.76791891e+01] [ 4.51652460e-01 8.92181778e-01 4.66158265e-03 1.40184359e+01] [-1.04225005e-02 5.15797813e-05 9.99945683e-01 -1.22606578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37 meters 0.01345265320694807 Centerline is valid? [True, True] Translation: X:57.70, Y:14.03, Z:-1.23 [[ 8.91789202e-01 -4.52351403e-01 9.49880661e-03 5.77046863e+01] [ 4.52326412e-01 8.91839786e-01 4.75527046e-03 1.40271421e+01] [-1.06224669e-02 5.58622597e-05 9.99943578e-01 -1.22664505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39999999999999 meters 0.016218780655567804 Centerline is valid? [True, True] Translation: X:57.73, Y:14.04, Z:-1.23 [[ 8.91292992e-01 -4.53340219e-01 8.91336086e-03 5.77311734e+01] [ 4.53318266e-01 8.91337558e-01 4.46190962e-03 1.40388621e+01] [-9.96757639e-03 6.37205105e-05 9.99950320e-01 -1.22971852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42999999999999 meters 0.013342788554210191 Centerline is valid? [True, True] Translation: X:57.76, Y:14.05, Z:-1.23 [[ 8.91598530e-01 -4.52705815e-01 1.04644822e-02 5.77574048e+01] [ 4.52675462e-01 8.91659936e-01 5.24261359e-03 1.40502420e+01] [-1.17041212e-02 6.27077579e-05 9.99931502e-01 -1.22692675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46 meters 0.013737626192275386 Centerline is valid? [True, True] Translation: X:57.78, Y:14.06, Z:-1.23 [[ 8.91787335e-01 -4.52310314e-01 1.14336658e-02 5.77834504e+01] [ 4.52273981e-01 8.91860626e-01 5.73326274e-03 1.40596582e+01] [-1.27904502e-02 5.82984566e-05 9.99918197e-01 -1.22710912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49 meters 0.015557200305576053 Centerline is valid? [True, True] Translation: X:57.81, Y:14.07, Z:-1.23 [[ 8.91943961e-01 -4.52019664e-01 1.06861764e-02 5.78092286e+01] [ 4.51987904e-01 8.92007971e-01 5.35857640e-03 1.40713810e+01] [-1.19543364e-02 5.04725999e-05 9.99928543e-01 -1.22881174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52 meters 0.016701055893812405 Centerline is valid? [True, True] Translation: X:57.83, Y:14.08, Z:-1.23 [[ 8.92399103e-01 -4.51120933e-01 1.06650687e-02 5.78343017e+01] [ 4.51089189e-01 8.92462830e-01 5.35174858e-03 1.40831687e+01] [-1.19324632e-02 3.50015484e-05 9.99928805e-01 -1.22998352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55 meters 0.014440532844879365 Centerline is valid? [True, True] Translation: X:57.86, Y:14.10, Z:-1.23 [[ 8.94433703e-01 -4.47072590e-01 1.06981158e-02 5.78595598e+01] [ 4.47040313e-01 8.94497680e-01 5.37208212e-03 1.40962839e+01] [-1.19711504e-02 -2.24822737e-05 9.99928343e-01 -1.22915554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58 meters 0.013359481567979621 Centerline is valid? [True, True] Translation: X:57.88, Y:14.11, Z:-1.23 [[ 8.95787709e-01 -4.44361316e-01 1.03634164e-02 5.78847473e+01] [ 4.44330784e-01 8.95847653e-01 5.20938368e-03 1.41093417e+01] [-1.15988909e-02 -6.17169292e-05 9.99932729e-01 -1.22879140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61 meters 0.014214146643656245 Centerline is valid? [True, True] Translation: X:57.91, Y:14.12, Z:-1.23 [[ 8.98271283e-01 -4.39352863e-01 8.81835536e-03 5.79087069e+01] [ 4.39330513e-01 8.98314561e-01 4.43287587e-03 1.41239864e+01] [-9.86925372e-03 -1.07752513e-04 9.99951292e-01 -1.23205313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64 meters 0.01518452741661741 Centerline is valid? [True, True] Translation: X:57.93, Y:14.14, Z:-1.23 [[ 8.99189486e-01 -4.37494092e-01 7.56228259e-03 5.79343499e+01] [ 4.37477596e-01 8.99221279e-01 3.80069541e-03 1.41369269e+01] [-8.46294721e-03 -1.09216143e-04 9.99964183e-01 -1.23374591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67 meters 0.016840149930451784 Centerline is valid? [True, True] Translation: X:57.96, Y:14.15, Z:-1.24 [[ 9.00018200e-01 -4.35805674e-01 6.37611649e-03 5.79594388e+01] [ 4.35793880e-01 9.00040778e-01 3.20806569e-03 1.41498684e+01] [-7.13685808e-03 -1.08644959e-04 9.99974526e-01 -1.23606012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.7 meters 0.02000481452381064 Centerline is valid? [True, True] Translation: X:57.98, Y:14.16, Z:-1.24 [[ 9.00491202e-01 -4.34856213e-01 3.95839423e-03 5.79849332e+01] [ 4.34851664e-01 9.00499899e-01 1.99050246e-03 1.41611094e+01] [-4.43011597e-03 -7.11156398e-05 9.99990184e-01 -1.24024373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73 meters 0.015492095115704018 Centerline is valid? [True, True] Translation: X:58.01, Y:14.17, Z:-1.24 [[ 9.00096069e-01 -4.35665600e-01 4.74892076e-03 5.80127248e+01] [ 4.35659066e-01 9.00108593e-01 2.38744574e-03 1.41713159e+01] [-5.31467236e-03 -8.00201487e-05 9.99985874e-01 -1.23720605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75999999999999 meters 0.017119551772977772 Centerline is valid? [True, True] Translation: X:58.04, Y:14.18, Z:-1.24 [[ 8.98768836e-01 -4.38407615e-01 3.65280342e-03 5.80388657e+01] [ 4.38403763e-01 8.98776257e-01 1.83834877e-03 1.41810195e+01] [-4.08899908e-03 -5.08478225e-05 9.99991639e-01 -1.23887985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78999999999999 meters 0.018675061041591196 Centerline is valid? [True, True] Translation: X:58.06, Y:14.19, Z:-1.24 [[ 8.98192746e-01 -4.39590728e-01 3.12768223e-03 5.80644588e+01] [ 4.39587922e-01 8.98198191e-01 1.57127469e-03 1.41930672e+01] [-3.49999631e-03 -3.64161952e-05 9.99993874e-01 -1.23900688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82 meters 0.017114829634477267 Centerline is valid? [True, True] Translation: X:58.09, Y:14.21, Z:-1.24 [[ 8.97848403e-01 -4.40286019e-01 4.05780846e-03 5.80888576e+01] [ 4.40281271e-01 8.97857572e-01 2.04538165e-03 1.42065314e+01] [-4.54388700e-03 -4.98655878e-05 9.99989675e-01 -1.23934393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85 meters 0.015543183532303512 Centerline is valid? [True, True] Translation: X:58.11, Y:14.22, Z:-1.24 [[ 8.97555890e-01 -4.40873561e-01 4.89166029e-03 5.81141317e+01] [ 4.40866679e-01 8.97569217e-01 2.46388912e-03 1.42208836e+01] [-5.47686727e-03 -5.49081638e-05 9.99985000e-01 -1.23683195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88 meters 0.014933862305781026 Centerline is valid? [True, True] Translation: X:58.14, Y:14.24, Z:-1.24 [[ 8.97842533e-01 -4.40290192e-01 4.83040214e-03 5.81386458e+01] [ 4.40283466e-01 8.97855525e-01 2.43447665e-03 1.42355254e+01] [-5.40887944e-03 -5.90304801e-05 9.99985370e-01 -1.23701486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91 meters 0.014523540597473142 Centerline is valid? [True, True] Translation: X:58.16, Y:14.25, Z:-1.24 [[ 8.98389183e-01 -4.39171718e-01 5.00773408e-03 5.81619916e+01] [ 4.39164448e-01 8.98403137e-01 2.52802781e-03 1.42500229e+01] [-5.60920233e-03 -7.19340709e-05 9.99984266e-01 -1.23772645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94 meters 0.015442742758813348 Centerline is valid? [True, True] Translation: X:58.19, Y:14.26, Z:-1.24 [[ 8.99473257e-01 -4.36956800e-01 4.07613881e-03 5.81874478e+01] [ 4.36951972e-01 8.99482490e-01 2.05522813e-03 1.42646206e+01] [-4.56446140e-03 -6.75458461e-05 9.99989581e-01 -1.23749952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97 meters 0.01834856932295253 Centerline is valid? [True, True] Translation: X:58.21, Y:14.28, Z:-1.24 [[ 8.99854780e-01 -4.36184918e-01 2.02307346e-03 5.82129327e+01] [ 4.36183732e-01 8.99857053e-01 1.01778153e-03 1.42784569e+01] [-2.26441787e-03 -3.34238474e-05 9.99997436e-01 -1.23895397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.0 meters 0.015838468535960454 Centerline is valid? [True, True] Translation: X:58.24, Y:14.29, Z:-1.24 [[ 9.01053120e-01 -4.33701788e-01 2.45635655e-03 5.82362012e+01] [ 4.33700017e-01 9.01056467e-01 1.24064608e-03 1.42930046e+01] [-2.75138638e-03 -5.25661475e-05 9.99996214e-01 -1.23875858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03 meters 0.01704576410405637 Centerline is valid? [True, True] Translation: X:58.26, Y:14.31, Z:-1.24 [[ 9.01047318e-01 -4.33720399e-01 5.88692696e-04 5.82620811e+01] [ 4.33720301e-01 9.01047510e-01 2.92283991e-04 1.43064699e+01] [-6.57209617e-04 -8.03373280e-06 9.99999784e-01 -1.24056125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06 meters 0.015421200396411436 Centerline is valid? [True, True] Translation: X:58.29, Y:14.32, Z:-1.24 [[ 9.01034444e-01 -4.33745864e-01 1.20672558e-03 5.82867487e+01] [ 4.33745443e-01 9.01035252e-01 6.04874799e-04 1.43195145e+01] [-1.34966423e-03 -2.16013056e-05 9.99999089e-01 -1.24017316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09 meters 0.018368317050581066 Centerline is valid? [True, True] Translation: X:58.31, Y:14.33, Z:-1.24 [[ 9.00606691e-01 -4.34634304e-01 -7.81738071e-04 5.83106140e+01] [ 4.34634121e-01 9.00607030e-01 -3.98717693e-04 1.43328408e+01] [ 8.77335189e-04 1.93177826e-05 9.99999615e-01 -1.24320013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12 meters 0.01685913938132159 Centerline is valid? [True, True] Translation: X:58.34, Y:14.34, Z:-1.24 [[ 8.99244028e-01 -4.37447331e-01 -1.04194338e-04 5.83377664e+01] [ 4.37447327e-01 8.99244034e-01 -5.85531697e-05 1.43440360e+01] [ 1.19310064e-04 7.07405360e-06 9.99999993e-01 -1.24206305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14999999999999 meters 0.014220563562580996 Centerline is valid? [True, True] Translation: X:58.36, Y:14.35, Z:-1.24 [[ 8.98206302e-01 -4.39570379e-01 1.82230464e-03 5.83649145e+01] [ 4.39569419e-01 8.98208150e-01 9.19167687e-04 1.43547200e+01] [-2.04084776e-03 -2.45728188e-05 9.99997917e-01 -1.23963428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17999999999999 meters 0.016209664408758737 Centerline is valid? [True, True] Translation: X:58.39, Y:14.37, Z:-1.24 [[ 8.96882630e-01 -4.42267852e-01 8.33742982e-04 5.83905301e+01] [ 4.42267652e-01 8.96883017e-01 4.21181640e-04 1.43661100e+01] [-9.34045021e-04 -9.01294538e-06 9.99999564e-01 -1.24178272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21 meters 0.012875457242923657 Centerline is valid? [True, True] Translation: X:58.42, Y:14.37, Z:-1.24 [[ 8.93835868e-01 -4.48376257e-01 4.02162375e-03 5.84195653e+01] [ 4.48371615e-01 8.93844915e-01 2.04022411e-03 1.43728828e+01] [-4.50949599e-03 -2.04435544e-05 9.99989832e-01 -1.23693352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24 meters 0.012806544980849963 Centerline is valid? [True, True] Translation: X:58.45, Y:14.38, Z:-1.24 [[ 8.92282141e-01 -4.51452493e-01 4.81941622e-03 5.84455657e+01] [ 4.51445871e-01 8.92295157e-01 2.44533935e-03 1.43830388e+01] [-5.40429630e-03 -6.22707941e-06 9.99985397e-01 -1.23740122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27 meters 0.01416059711329644 Centerline is valid? [True, True] Translation: X:58.47, Y:14.39, Z:-1.24 [[ 8.88832531e-01 -4.58207364e-01 4.76898547e-03 5.84738429e+01] [ 4.58200988e-01 8.88845324e-01 2.41753045e-03 1.43916312e+01] [-5.34662069e-03 3.63741459e-05 9.99985706e-01 -1.23724049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.3 meters 0.013446634954579473 Centerline is valid? [True, True] Translation: X:58.50, Y:14.40, Z:-1.24 [[ 8.87100658e-01 -4.61543384e-01 5.48890915e-03 5.85005331e+01] [ 4.61534985e-01 8.87117636e-01 2.78507311e-03 1.44022560e+01] [-6.15474018e-03 6.26834115e-05 9.99981057e-01 -1.23711574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33 meters 0.014762991378259354 Centerline is valid? [True, True] Translation: X:58.53, Y:14.41, Z:-1.24 [[ 8.85480027e-01 -4.64654870e-01 4.57967032e-03 5.85259885e+01] [ 4.64649049e-01 8.85491868e-01 2.32663601e-03 1.44126227e+01] [-5.13634357e-03 6.77497439e-05 9.99986807e-01 -1.23864592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36 meters 0.017561827851703064 Centerline is valid? [True, True] Translation: X:58.55, Y:14.42, Z:-1.24 [[ 8.83081694e-01 -4.69210952e-01 2.79364211e-03 5.85536438e+01] [ 4.69208807e-01 8.83086111e-01 1.41972602e-03 1.44219026e+01] [-3.13317755e-03 5.70674213e-05 9.99995090e-01 -1.24067162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39 meters 0.016071605019085 Centerline is valid? [True, True] Translation: X:58.58, Y:14.43, Z:-1.24 [[ 8.82239399e-01 -4.70782349e-01 4.19793136e-03 5.85793593e+01] [ 4.70777523e-01 8.82249382e-01 2.13365607e-03 1.44323904e+01] [-4.70810996e-03 9.38962769e-05 9.99988912e-01 -1.24038116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42 meters 0.016561118073822493 Centerline is valid? [True, True] Translation: X:58.61, Y:14.44, Z:-1.24 [[ 8.81591481e-01 -4.71997523e-01 3.84683226e-03 5.86059408e+01] [ 4.71993493e-01 8.81599869e-01 1.95270314e-03 1.44445955e+01] [-4.31303787e-03 9.41933454e-05 9.99990694e-01 -1.24088366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45 meters 0.01754893709610642 Centerline is valid? [True, True] Translation: X:58.63, Y:14.46, Z:-1.24 [[ 8.81779253e-01 -4.71652708e-01 3.01189046e-03 5.86301513e+01] [ 4.71650227e-01 8.81784394e-01 1.53151798e-03 1.44579688e+01] [-3.37818261e-03 7.00980429e-05 9.99994291e-01 -1.24248202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48 meters 0.015861314128845668 Centerline is valid? [True, True] Translation: X:58.65, Y:14.47, Z:-1.24 [[ 8.83037481e-01 -4.69289497e-01 3.48938908e-03 5.86537423e+01] [ 4.69286145e-01 8.83044372e-01 1.77501115e-03 1.44736821e+01] [-3.91427948e-03 7.01205762e-05 9.99992337e-01 -1.24405101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50999999999999 meters 0.014661443689573561 Centerline is valid? [True, True] Translation: X:58.68, Y:14.49, Z:-1.24 [[ 8.83789893e-01 -4.67875725e-01 2.78052191e-03 5.86777780e+01] [ 4.67873600e-01 8.83794265e-01 1.41104582e-03 1.44910886e+01] [-3.11760341e-03 5.38647648e-05 9.99995139e-01 -1.24314257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53999999999999 meters 0.01402742562496816 Centerline is valid? [True, True] Translation: X:58.70, Y:14.51, Z:-1.24 [[ 8.84706209e-01 -4.66138617e-01 3.11653783e-03 5.87022543e+01] [ 4.66135931e-01 8.84711697e-01 1.58327597e-03 1.45055762e+01] [-3.49526354e-03 5.19961794e-05 9.99993890e-01 -1.24415891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57 meters 0.014292484464232081 Centerline is valid? [True, True] Translation: X:58.73, Y:14.52, Z:-1.25 [[ 8.85621093e-01 -4.64393618e-01 3.72120391e-03 5.87275254e+01] [ 4.64389763e-01 8.85628909e-01 1.89276852e-03 1.45185518e+01] [-4.17459539e-03 5.18132788e-05 9.99991285e-01 -1.24729458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.6 meters 0.014439715244582424 Centerline is valid? [True, True] Translation: X:58.75, Y:14.54, Z:-1.25 [[ 8.87614377e-01 -4.60572500e-01 3.69996157e-03 5.87510269e+01] [ 4.60568652e-01 8.87622088e-01 1.88311106e-03 1.45370375e+01] [-4.15147678e-03 3.26098626e-05 9.99991382e-01 -1.24528284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63 meters 0.012454027422144687 Centerline is valid? [True, True] Translation: X:58.78, Y:14.55, Z:-1.24 [[ 8.89986229e-01 -4.55947540e-01 6.02933487e-03 5.87752736e+01] [ 4.55937176e-01 8.90006652e-01 3.07426236e-03 1.45544844e+01] [-6.76785050e-03 1.29467476e-05 9.99977098e-01 -1.24411539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66 meters 0.011959250334330306 Centerline is valid? [True, True] Translation: X:58.80, Y:14.57, Z:-1.24 [[ 8.91161641e-01 -4.53632708e-01 6.94948436e-03 5.87993865e+01] [ 4.53618830e-01 8.91188738e-01 3.54832125e-03 1.45692524e+01] [-7.80293677e-03 -9.71082527e-06 9.99969557e-01 -1.24491929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69 meters 0.011860464735461188 Centerline is valid? [True, True] Translation: X:58.82, Y:14.58, Z:-1.24 [[ 8.92158565e-01 -4.51653108e-01 7.90979391e-03 5.88232156e+01] [ 4.51635064e-01 8.92193628e-01 4.03725739e-03 1.45837514e+01] [-8.88050757e-03 -2.95334797e-05 9.99960567e-01 -1.24422304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72 meters 0.011936704417383124 Centerline is valid? [True, True] Translation: X:58.85, Y:14.60, Z:-1.24 [[ 8.93314617e-01 -4.49354344e-01 8.34674520e-03 5.88478969e+01] [ 4.49334116e-01 8.93353609e-01 4.26404320e-03 1.45987327e+01] [-9.37266128e-03 -5.86547470e-05 9.99956074e-01 -1.24446204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75 meters 0.014766070649885978 Centerline is valid? [True, True] Translation: X:58.87, Y:14.62, Z:-1.25 [[ 8.95289414e-01 -4.45406806e-01 8.34514929e-03 5.88707674e+01] [ 4.45386371e-01 8.95328301e-01 4.26783931e-03 1.46157954e+01] [-9.37257301e-03 -1.04135593e-04 9.99956071e-01 -1.24660374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78 meters 0.012815642438418474 Centerline is valid? [True, True] Translation: X:58.90, Y:14.63, Z:-1.25 [[ 8.95750545e-01 -4.44470570e-01 8.76777753e-03 5.88960176e+01] [ 4.44447977e-01 8.95793446e-01 4.48303727e-03 1.46293001e+01] [-9.84669578e-03 -1.18862098e-04 9.99951513e-01 -1.24610752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81 meters 0.013624976023795856 Centerline is valid? [True, True] Translation: X:58.92, Y:14.64, Z:-1.25 [[ 8.96148655e-01 -4.43681022e-01 8.04607220e-03 5.89196140e+01] [ 4.43661925e-01 8.96184767e-01 4.11825967e-03 1.46439391e+01] [-9.03796100e-03 -1.20836978e-04 9.99959149e-01 -1.24906589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84 meters 0.015752163089232274 Centerline is valid? [True, True] Translation: X:58.94, Y:14.66, Z:-1.25 [[ 8.95645491e-01 -4.44713045e-01 7.03288879e-03 5.89444204e+01] [ 4.44698504e-01 8.95673098e-01 3.59741330e-03 1.46565279e+01] [-7.89898591e-03 -9.44918784e-05 9.99968798e-01 -1.25104458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87 meters 0.01456975583355701 Centerline is valid? [True, True] Translation: X:58.97, Y:14.67, Z:-1.25 [[ 8.95046815e-01 -4.45915799e-01 7.09213953e-03 5.89701566e+01] [ 4.45901025e-01 8.95074909e-01 3.63085661e-03 1.46692669e+01] [-7.96705247e-03 -8.73943601e-05 9.99968259e-01 -1.25200601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89999999999999 meters 0.01193310213101315 Centerline is valid? [True, True] Translation: X:59.00, Y:14.68, Z:-1.25 [[ 8.93778413e-01 -4.48444205e-01 7.61209827e-03 5.89965533e+01] [ 4.48427254e-01 8.93810824e-01 3.89983723e-03 1.46802418e+01] [-8.55263523e-03 -7.21180067e-05 9.99963423e-01 -1.25203520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92999999999999 meters 0.011818910296920877 Centerline is valid? [True, True] Translation: X:59.02, Y:14.69, Z:-1.25 [[ 8.93202981e-01 -4.49585069e-01 7.85499199e-03 5.90228456e+01] [ 4.49567039e-01 8.93237517e-01 4.02693529e-03 1.46921856e+01] [-8.82682352e-03 -6.55251154e-05 9.99961041e-01 -1.25229286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96 meters 0.011602372918826667 Centerline is valid? [True, True] Translation: X:59.05, Y:14.70, Z:-1.25 [[ 8.92252107e-01 -4.51466935e-01 7.98643217e-03 5.90497893e+01] [ 4.51448348e-01 8.92287848e-01 4.09695380e-03 1.47035994e+01] [-8.97583555e-03 -5.00540542e-05 9.99959715e-01 -1.25307534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99 meters 0.011602372918826667 Centerline is valid? [True, True] Translation: X:59.07, Y:14.72, Z:-1.25 [[ 8.92123676e-01 -4.51720684e-01 7.98560028e-03 5.90743130e+01] [ 4.51702093e-01 8.92159415e-01 4.09857421e-03 1.47162778e+01] [-8.97583921e-03 -4.93227301e-05 9.99959715e-01 -1.25364182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02 meters 0.01158488725208035 Centerline is valid? [True, True] Translation: X:59.10, Y:14.73, Z:-1.25 [[ 8.91602174e-01 -4.52751821e-01 7.83271222e-03 5.90994555e+01] [ 4.52733950e-01 8.91636578e-01 4.02279721e-03 1.47281312e+01] [-8.80526148e-03 -4.05999966e-05 9.99961232e-01 -1.25452501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05 meters 0.011526895115879406 Centerline is valid? [True, True] Translation: X:59.13, Y:14.74, Z:-1.26 [[ 8.90994448e-01 -4.53944446e-01 7.95832302e-03 5.91252190e+01] [ 4.53926018e-01 8.91029988e-01 4.09027717e-03 1.47404564e+01] [-8.94786306e-03 -3.19243685e-05 9.99959967e-01 -1.25563217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08 meters 0.011516612950374434 Centerline is valid? [True, True] Translation: X:59.15, Y:14.75, Z:-1.26 [[ 8.89878990e-01 -4.56125624e-01 8.04968420e-03 5.91512425e+01] [ 4.56106834e-01 8.89915397e-01 4.14019859e-03 1.47517429e+01] [-9.05198858e-03 -1.27597636e-05 9.99959030e-01 -1.25717234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11 meters 0.011560459319274147 Centerline is valid? [True, True] Translation: X:59.18, Y:14.76, Z:-1.26 [[ 8.89283363e-01 -4.57288230e-01 7.91045068e-03 5.91766700e+01] [ 4.57270106e-01 8.89318545e-01 4.07129426e-03 1.47633320e+01] [-8.89666543e-03 -3.32163424e-06 9.99960424e-01 -1.25767047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14 meters 0.011659270081310494 Centerline is valid? [True, True] Translation: X:59.20, Y:14.77, Z:-1.26 [[ 8.88472525e-01 -4.58866281e-01 7.63607214e-03 5.92021194e+01] [ 4.58849418e-01 8.88505338e-01 3.93385393e-03 1.47732176e+01] [-8.58980378e-03 8.68612766e-06 9.99963107e-01 -1.25847951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17 meters 0.011679847663239198 Centerline is valid? [True, True] Translation: X:59.23, Y:14.79, Z:-1.26 [[ 8.88037689e-01 -4.59709194e-01 7.51793580e-03 5.92277032e+01] [ 4.59692874e-01 8.88069511e-01 3.87362978e-03 1.47851240e+01] [-8.45719279e-03 1.60122705e-05 9.99964237e-01 -1.25914762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.2 meters 0.011707754150033136 Centerline is valid? [True, True] Translation: X:59.25, Y:14.80, Z:-1.26 [[ 8.87644926e-01 -4.60471155e-01 7.26639915e-03 5.92530484e+01] [ 4.60455915e-01 8.87674667e-01 3.74631774e-03 1.47972430e+01] [-8.17526970e-03 2.04565365e-05 9.99966582e-01 -1.25950111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23 meters 0.01178186022615859 Centerline is valid? [True, True] Translation: X:59.28, Y:14.81, Z:-1.26 [[ 8.87390446e-01 -4.60964944e-01 7.03676245e-03 5.92780602e+01] [ 4.60950628e-01 8.87418346e-01 3.63300161e-03 1.48095502e+01] [-7.91923848e-03 1.97091513e-05 9.99968642e-01 -1.26094134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25999999999999 meters 0.014202992783041086 Centerline is valid? [True, True] Translation: X:59.30, Y:14.82, Z:-1.26 [[ 8.87239505e-01 -4.61262892e-01 6.52721015e-03 5.93029864e+01] [ 4.61250600e-01 8.87263514e-01 3.36759030e-03 1.48231148e+01] [-7.34469985e-03 2.28204457e-05 9.99973027e-01 -1.26187105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28999999999999 meters 0.011845123240273958 Centerline is valid? [True, True] Translation: X:59.33, Y:14.84, Z:-1.26 [[ 8.87525315e-01 -4.60700945e-01 7.31121507e-03 5.93277811e+01] [ 4.60685453e-01 8.87555429e-01 3.77820334e-03 1.48366973e+01] [-8.22973047e-03 1.49193117e-05 9.99966135e-01 -1.26261058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32 meters 0.011658047378249518 Centerline is valid? [True, True] Translation: X:59.35, Y:14.85, Z:-1.26 [[ 8.88119412e-01 -4.59530816e-01 8.67985070e-03 5.93521718e+01] [ 4.59508911e-01 8.88161826e-01 4.48682832e-03 1.48508250e+01] [-9.77094793e-03 3.62941323e-06 9.99952263e-01 -1.26198154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35 meters 0.013780402729224053 Centerline is valid? [True, True] Translation: X:59.38, Y:14.87, Z:-1.26 [[ 8.88896655e-01 -4.57985869e-01 1.05679510e-02 5.93768145e+01] [ 4.57953287e-01 8.88959473e-01 5.46284949e-03 1.48659793e+01] [-1.18963880e-02 -1.62807449e-05 9.99929235e-01 -1.26098210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38 meters 0.01168413701924211 Centerline is valid? [True, True] Translation: X:59.40, Y:14.88, Z:-1.26 [[ 8.89523084e-01 -4.56728909e-01 1.21402719e-02 5.94009219e+01] [ 4.56685734e-01 8.89605925e-01 6.27997633e-03 1.48801760e+01] [-1.36683046e-02 -4.18949022e-05 9.99906583e-01 -1.26025890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41 meters 0.014819838068738999 Centerline is valid? [True, True] Translation: X:59.43, Y:14.89, Z:-1.26 [[ 8.89900140e-01 -4.55976145e-01 1.27865990e-02 5.94254245e+01] [ 4.55928103e-01 8.89991995e-01 6.61913087e-03 1.48942078e+01] [-1.43981365e-02 -6.05956585e-05 9.99896340e-01 -1.26058845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44 meters 0.01200375070057625 Centerline is valid? [True, True] Translation: X:59.45, Y:14.91, Z:-1.26 [[ 8.90738712e-01 -4.54288909e-01 1.43573747e-02 5.94499437e+01] [ 4.54228023e-01 8.90854408e-01 7.43815875e-03 1.49082947e+01] [-1.61694036e-02 -1.03933997e-04 9.99869261e-01 -1.25934904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47 meters 0.015852224016362212 Centerline is valid? [True, True] Translation: X:59.47, Y:14.92, Z:-1.26 [[ 8.91966379e-01 -4.51813777e-01 1.61334791e-02 5.94740493e+01] [ 4.51736366e-01 8.92112258e-01 8.36508788e-03 1.49246208e+01] [-1.81723364e-02 -1.73297925e-04 9.99834854e-01 -1.25980087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.5 meters 0.014454080213039268 Centerline is valid? [True, True] Translation: X:59.50, Y:14.94, Z:-1.26 [[ 8.92561471e-01 -4.50618978e-01 1.66299888e-02 5.94990946e+01] [ 4.50536420e-01 8.92716356e-01 8.62796306e-03 1.49397140e+01] [-1.87337869e-02 -2.08571786e-04 9.99824485e-01 -1.25984387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53 meters 0.0131762660412394 Centerline is valid? [True, True] Translation: X:59.52, Y:14.96, Z:-1.26 [[ 8.93624068e-01 -4.48513613e-01 1.64792317e-02 5.95229280e+01] [ 4.48432090e-01 8.93775964e-01 8.55493015e-03 1.49559498e+01] [-1.85657438e-02 -2.55075192e-04 9.99827609e-01 -1.26121431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56 meters 0.013459848081545987 Centerline is valid? [True, True] Translation: X:59.55, Y:14.97, Z:-1.26 [[ 8.93769754e-01 -4.48229990e-01 1.62942544e-02 5.95462787e+01] [ 4.48150138e-01 8.93918233e-01 8.46448814e-03 1.49710149e+01] [-1.83597685e-02 -2.63031147e-04 9.99831411e-01 -1.26333430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59 meters 0.013529105622192727 Centerline is valid? [True, True] Translation: X:59.57, Y:14.99, Z:-1.27 [[ 8.93907882e-01 -4.48007203e-01 1.47730679e-02 5.95705157e+01] [ 4.47941522e-01 8.94029914e-01 7.67504378e-03 1.49862496e+01] [-1.66460395e-02 -2.43311594e-04 9.99861415e-01 -1.26604262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62 meters 0.013685065251143068 Centerline is valid? [True, True] Translation: X:59.60, Y:15.00, Z:-1.27 [[ 8.93897670e-01 -4.48041275e-01 1.43516756e-02 5.95951480e+01] [ 4.47979224e-01 8.94012840e-01 7.46030753e-03 1.49998311e+01] [-1.61731080e-02 -2.39498999e-04 9.99869178e-01 -1.26733645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64999999999999 meters 0.01558936857274586 Centerline is valid? [True, True] Translation: X:59.62, Y:15.01, Z:-1.27 [[ 8.93602820e-01 -4.48623575e-01 1.45219479e-02 5.96200645e+01] [ 4.48560034e-01 8.93720779e-01 7.55410182e-03 1.50132711e+01] [-1.63675148e-02 -2.36401263e-04 9.99866015e-01 -1.26874322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67999999999999 meters 0.017525928847746165 Centerline is valid? [True, True] Translation: X:59.65, Y:15.03, Z:-1.27 [[ 8.93247208e-01 -4.49332809e-01 1.44724461e-02 5.96450606e+01] [ 4.49269709e-01 8.93364413e-01 7.53350168e-03 1.50266730e+01] [-1.63142178e-02 -2.27247701e-04 9.99866888e-01 -1.26993450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71 meters 0.01565227915695664 Centerline is valid? [True, True] Translation: X:59.67, Y:15.04, Z:-1.27 [[ 8.92813370e-01 -4.50161530e-01 1.54558420e-02 5.96691379e+01] [ 4.50089571e-01 8.92947111e-01 8.05203984e-03 1.50398842e+01] [-1.74259680e-02 -2.32455544e-04 9.99848129e-01 -1.27041617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74 meters 0.015321483613489324 Centerline is valid? [True, True] Translation: X:59.69, Y:15.05, Z:-1.27 [[ 8.91588526e-01 -4.52570103e-01 1.58177665e-02 5.96948832e+01] [ 4.52495089e-01 8.91728807e-01 8.24190693e-03 1.50525387e+01] [-1.78351987e-02 -1.90927973e-04 9.99840922e-01 -1.27196328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77 meters 0.013167041446210469 Centerline is valid? [True, True] Translation: X:59.72, Y:15.07, Z:-1.27 [[ 8.91108457e-01 -4.53510694e-01 1.59301168e-02 5.97200673e+01] [ 4.53434664e-01 8.91250817e-01 8.30582521e-03 1.50653856e+01] [-1.79645102e-02 -1.78123943e-04 9.99838609e-01 -1.27205829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.8 meters 0.012943328096816345 Centerline is valid? [True, True] Translation: X:59.75, Y:15.08, Z:-1.27 [[ 8.90335078e-01 -4.55039479e-01 1.55730906e-02 5.97454018e+01] [ 4.54967024e-01 8.90471253e-01 8.12131937e-03 1.50774062e+01] [-1.75629104e-02 -1.45452829e-04 9.99845750e-01 -1.27301672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83 meters 0.014180866678821822 Centerline is valid? [True, True] Translation: X:59.77, Y:15.09, Z:-1.27 [[ 8.88885159e-01 -4.57854452e-01 1.58894641e-02 5.97731571e+01] [ 4.57779448e-01 8.89027161e-01 8.28764340e-03 1.50877835e+01] [-1.79206996e-02 -9.28931290e-05 9.99839407e-01 -1.27367889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86 meters 0.013370746343754417 Centerline is valid? [True, True] Translation: X:59.80, Y:15.10, Z:-1.27 [[ 8.88350444e-01 -4.58883815e-01 1.60976169e-02 5.97986340e+01] [ 4.58806921e-01 8.88496279e-01 8.40065628e-03 1.50994361e+01] [-1.81575979e-02 -7.70287152e-05 9.99835134e-01 -1.27340459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89 meters 0.01258080716673981 Centerline is valid? [True, True] Translation: X:59.82, Y:15.11, Z:-1.27 [[ 8.88000554e-01 -4.59564893e-01 1.59726180e-02 5.98229808e+01] [ 4.59489189e-01 8.88144191e-01 8.34148707e-03 1.51113961e+01] [-1.80194425e-02 -6.79998338e-05 9.99837634e-01 -1.27312888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92 meters 0.014768861584836 Centerline is valid? [True, True] Translation: X:59.85, Y:15.12, Z:-1.27 [[ 8.87290131e-01 -4.60900990e-01 1.69263386e-02 5.98491012e+01] [ 4.60816170e-01 8.87451562e-01 8.84204903e-03 1.51228600e+01] [-1.90966148e-02 -4.55323290e-05 9.99817642e-01 -1.27434808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95 meters 0.01252496573732308 Centerline is valid? [True, True] Translation: X:59.87, Y:15.14, Z:-1.27 [[ 8.87524162e-01 -4.60460389e-01 1.66460669e-02 5.98738062e+01] [ 4.60378169e-01 8.87680250e-01 8.70147091e-03 1.51359505e+01] [-1.87830675e-02 -5.92798924e-05 9.99823581e-01 -1.27406909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98 meters 0.014403514397732532 Centerline is valid? [True, True] Translation: X:59.90, Y:15.15, Z:-1.28 [[ 8.87360510e-01 -4.60768134e-01 1.68538681e-02 5.98989766e+01] [ 4.60683785e-01 8.87520548e-01 8.81628878e-03 1.51491280e+01] [-1.90204192e-02 -5.89227626e-05 9.99819094e-01 -1.27593199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00999999999999 meters 0.014860035898613485 Centerline is valid? [True, True] Translation: X:59.92, Y:15.16, Z:-1.28 [[ 8.87445775e-01 -4.60612526e-01 1.66162096e-02 5.99239112e+01] [ 4.60530401e-01 8.87601316e-01 8.69786142e-03 1.51621423e+01] [-1.87549134e-02 -6.66106897e-05 9.99824109e-01 -1.27692643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03999999999999 meters 0.01420125167493741 Centerline is valid? [True, True] Translation: X:59.95, Y:15.18, Z:-1.28 [[ 8.88110141e-01 -4.59361735e-01 1.57217704e-02 5.99480952e+01] [ 4.59287911e-01 8.88249282e-01 8.23574358e-03 1.51752035e+01] [-1.77480368e-02 -9.34282830e-05 9.99842487e-01 -1.27826510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07 meters 0.013868995698871543 Centerline is valid? [True, True] Translation: X:59.97, Y:15.19, Z:-1.28 [[ 8.88338209e-01 -4.58927147e-01 1.55274161e-02 5.99726570e+01] [ 4.58855052e-01 8.88473896e-01 8.13502055e-03 1.51883111e+01] [-1.75290857e-02 -1.01816255e-04 9.99846349e-01 -1.27913556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.1 meters 0.013078927849608419 Centerline is valid? [True, True] Translation: X:60.00, Y:15.20, Z:-1.28 [[ 8.89218898e-01 -4.57239110e-01 1.49046629e-02 5.99980839e+01] [ 4.57172345e-01 8.89343791e-01 7.81461306e-03 1.52009646e+01] [-1.68285162e-02 -1.34901898e-04 9.99858381e-01 -1.27812251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13 meters 0.014347949029268902 Centerline is valid? [True, True] Translation: X:60.02, Y:15.21, Z:-1.28 [[ 8.89349536e-01 -4.56976660e-01 1.51569807e-02 6.00232026e+01] [ 4.56907562e-01 8.89478674e-01 7.94787423e-03 1.52136023e+01] [-1.71138041e-02 -1.43099164e-04 9.99853538e-01 -1.27953609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16 meters 0.01465501030272277 Centerline is valid? [True, True] Translation: X:60.05, Y:15.23, Z:-1.28 [[ 8.90290490e-01 -4.55135747e-01 1.53066768e-02 6.00479142e+01] [ 4.55064896e-01 8.90422044e-01 8.03263323e-03 1.52276363e+01] [-1.72853410e-02 -1.85845666e-04 9.99850580e-01 -1.27969390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19 meters 0.01385023905742152 Centerline is valid? [True, True] Translation: X:60.07, Y:15.24, Z:-1.28 [[ 8.90946827e-01 -4.53853654e-01 1.51859229e-02 6.00733579e+01] [ 4.53783711e-01 8.91076213e-01 7.97032752e-03 1.52424126e+01] [-1.71491769e-02 -2.10013558e-04 9.99852920e-01 -1.27926496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22 meters 0.014020243862291903 Centerline is valid? [True, True] Translation: X:60.10, Y:15.26, Z:-1.28 [[ 8.91099996e-01 -4.53543877e-01 1.54515101e-02 6.00982203e+01] [ 4.53471336e-01 8.91233921e-01 8.11452292e-03 1.52563651e+01] [-1.74512021e-02 -2.24034413e-04 9.99847691e-01 -1.27964120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25 meters 0.01586699760226664 Centerline is valid? [True, True] Translation: X:60.12, Y:15.27, Z:-1.28 [[ 8.91251460e-01 -4.53203253e-01 1.66627478e-02 6.01234278e+01] [ 4.53118712e-01 8.91407172e-01 8.75706659e-03 1.52690020e+01] [-1.88220240e-02 -2.54545542e-04 9.99822818e-01 -1.28095124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28 meters 0.01615733996933536 Centerline is valid? [True, True] Translation: X:60.15, Y:15.28, Z:-1.28 [[ 8.91113407e-01 -4.53447045e-01 1.73974892e-02 6.01485084e+01] [ 4.53354799e-01 8.91283180e-01 9.14987297e-03 1.52819370e+01] [-1.96550724e-02 -2.66339250e-04 9.99806785e-01 -1.28130071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31 meters 0.014114231032941207 Centerline is valid? [True, True] Translation: X:60.17, Y:15.30, Z:-1.28 [[ 8.91318617e-01 -4.53065955e-01 1.68037020e-02 6.01737188e+01] [ 4.52979711e-01 8.91476958e-01 8.84386436e-03 1.52950908e+01] [-1.89869670e-02 -2.70964880e-04 9.99819695e-01 -1.27906349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34 meters 0.01621677231286504 Centerline is valid? [True, True] Translation: X:60.20, Y:15.31, Z:-1.28 [[ 8.90384745e-01 -4.54859456e-01 1.78292205e-02 6.02002844e+01] [ 4.54762681e-01 8.90563200e-01 9.38567538e-03 1.53063475e+01] [-2.01472108e-02 -2.48798088e-04 9.99796993e-01 -1.28084093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37 meters 0.013866541230904342 Centerline is valid? [True, True] Translation: X:60.22, Y:15.32, Z:-1.28 [[ 8.90334671e-01 -4.54994995e-01 1.68442319e-02 6.02244518e+01] [ 4.54908542e-01 8.90493963e-01 8.87241646e-03 1.53189104e+01] [-1.90365919e-02 -2.36835003e-04 9.99818760e-01 -1.27942353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39999999999999 meters 0.013570462578103097 Centerline is valid? [True, True] Translation: X:60.25, Y:15.33, Z:-1.28 [[ 8.89599833e-01 -4.56447234e-01 1.63725289e-02 6.02508740e+01] [ 4.56365761e-01 8.89750460e-01 8.62616108e-03 1.53308128e+01] [-1.85048525e-02 -2.01969835e-04 9.99828750e-01 -1.28086939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42999999999999 meters 0.013442832049262315 Centerline is valid? [True, True] Translation: X:60.28, Y:15.34, Z:-1.28 [[ 8.89169838e-01 -4.57284113e-01 1.63780034e-02 6.02757965e+01] [ 4.57202627e-01 8.89320642e-01 8.63448306e-03 1.53435129e+01] [-1.85137084e-02 -1.89455752e-04 9.99828589e-01 -1.28172481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46 meters 0.01559027211673399 Centerline is valid? [True, True] Translation: X:60.30, Y:15.36, Z:-1.28 [[ 8.88329373e-01 -4.58890057e-01 1.70540554e-02 6.03018433e+01] [ 4.58801944e-01 8.88493044e-01 8.99374154e-03 1.53560091e+01] [-1.92795482e-02 -1.64970992e-04 9.99814119e-01 -1.28481114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49 meters 0.013487797766464514 Centerline is valid? [True, True] Translation: X:60.33, Y:15.37, Z:-1.28 [[ 8.87067701e-01 -4.61358649e-01 1.60962754e-02 6.03277475e+01] [ 4.61280475e-01 8.87213720e-01 8.49340262e-03 1.53679010e+01] [-1.81993412e-02 -1.09325553e-04 9.99834372e-01 -1.28402969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52 meters 0.013708314078563714 Centerline is valid? [True, True] Translation: X:60.35, Y:15.38, Z:-1.29 [[ 8.86065218e-01 -4.63279311e-01 1.61464972e-02 6.03529123e+01] [ 4.63200870e-01 8.86212319e-01 8.52526678e-03 1.53797726e+01] [-1.82588044e-02 -7.48708367e-05 9.99833291e-01 -1.28549578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55 meters 0.015485206463670532 Centerline is valid? [True, True] Translation: X:60.38, Y:15.39, Z:-1.29 [[ 8.83745044e-01 -4.67671472e-01 1.66761064e-02 6.03789000e+01] [ 4.67588531e-01 8.83902367e-01 8.80746305e-03 1.53899987e+01] [-1.88590491e-02 1.40042738e-05 9.99822152e-01 -1.28740048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58 meters 0.0128516901982297 Centerline is valid? [True, True] Translation: X:60.40, Y:15.40, Z:-1.29 [[ 8.82974815e-01 -4.69147377e-01 1.60067193e-02 6.04039879e+01] [ 4.69071093e-01 8.83119889e-01 8.46001120e-03 1.54021846e+01] [-1.81048442e-02 3.83124926e-05 9.99836093e-01 -1.28518807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61 meters 0.014716479222716962 Centerline is valid? [True, True] Translation: X:60.43, Y:15.41, Z:-1.29 [[ 8.81940061e-01 -4.71067520e-01 1.66469370e-02 6.04291587e+01] [ 4.70985324e-01 8.82097152e-01 8.79996679e-03 1.54140725e+01] [-1.88295942e-02 7.94197567e-05 9.99822704e-01 -1.28781696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64 meters 0.016044962557796163 Centerline is valid? [True, True] Translation: X:60.45, Y:15.43, Z:-1.29 [[ 8.81014028e-01 -4.72785747e-01 1.69681896e-02 6.04538885e+01] [ 4.72700552e-01 8.81177408e-01 8.97572735e-03 1.54269351e+01] [-1.91955813e-02 1.13130875e-04 9.99815741e-01 -1.28903671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67 meters 0.013257460459168813 Centerline is valid? [True, True] Translation: X:60.48, Y:15.44, Z:-1.29 [[ 8.80620313e-01 -4.73564930e-01 1.56243698e-02 6.04778771e+01] [ 4.73492718e-01 8.80758902e-01 8.27057452e-03 1.54406189e+01] [-1.76779569e-02 1.14789418e-04 9.99843726e-01 -1.28731491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.7 meters 0.016484533779790516 Centerline is valid? [True, True] Translation: X:60.50, Y:15.45, Z:-1.29 [[ 8.80234024e-01 -4.74266388e-01 1.61076768e-02 6.05029203e+01] [ 4.74189731e-01 8.80381381e-01 8.52775001e-03 1.54540627e+01] [-1.82253239e-02 1.31679228e-04 9.99833896e-01 -1.29181972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73 meters 0.01523148270137218 Centerline is valid? [True, True] Translation: X:60.53, Y:15.47, Z:-1.29 [[ 8.80647532e-01 -4.73554061e-01 1.43692364e-02 6.05269948e+01] [ 4.73492894e-01 8.80764748e-01 7.61173824e-03 1.54688982e+01] [-1.62604864e-02 1.00472808e-04 9.99867785e-01 -1.29244782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75999999999999 meters 0.014117803595328087 Centerline is valid? [True, True] Translation: X:60.55, Y:15.48, Z:-1.29 [[ 8.81107064e-01 -4.72716769e-01 1.37549547e-02 6.05501226e+01] [ 4.72660533e-01 8.81214418e-01 7.29174348e-03 1.54826378e+01] [-1.55679938e-02 7.66175360e-05 9.99878809e-01 -1.29172575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78999999999999 meters 0.013216315202117298 Centerline is valid? [True, True] Translation: X:60.57, Y:15.50, Z:-1.29 [[ 8.82343117e-01 -4.70412955e-01 1.35009391e-02 6.05735949e+01] [ 4.70358474e-01 8.82446401e-01 7.15928963e-03 1.54988209e+01] [-1.52816777e-02 3.33312039e-05 9.99883228e-01 -1.29090113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82 meters 0.01315349918751481 Centerline is valid? [True, True] Translation: X:60.60, Y:15.51, Z:-1.29 [[ 8.82870766e-01 -4.69425766e-01 1.33664234e-02 6.05970056e+01] [ 4.69372234e-01 8.82971942e-01 7.08918264e-03 1.55131579e+01] [-1.51300219e-02 1.49959259e-05 9.99885535e-01 -1.29213320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85 meters 0.01315443653301386 Centerline is valid? [True, True] Translation: X:60.62, Y:15.53, Z:-1.29 [[ 8.83334374e-01 -4.68550805e-01 1.34360406e-02 6.06212071e+01] [ 4.68496596e-01 8.83436553e-01 7.12719778e-03 1.55281517e+01] [-1.52093437e-02 -9.59499337e-07 9.99884331e-01 -1.29242660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88 meters 0.015781951686344782 Centerline is valid? [True, True] Translation: X:60.64, Y:15.54, Z:-1.30 [[ 8.84178435e-01 -4.66918909e-01 1.46706288e-02 6.06443217e+01] [ 4.66853963e-01 8.84300136e-01 7.78755408e-03 1.55437880e+01] [-1.66093953e-02 -3.65461770e-05 9.99862054e-01 -1.29520661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91 meters 0.015781951686344782 Centerline is valid? [True, True] Translation: X:60.67, Y:15.56, Z:-1.30 [[ 8.84046482e-01 -4.67168764e-01 1.46684300e-02 6.06686653e+01] [ 4.67103784e-01 8.84168165e-01 7.79169318e-03 1.55568022e+01] [-1.66093945e-02 -3.65397712e-05 9.99862054e-01 -1.29577273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94 meters 0.01324736632498694 Centerline is valid? [True, True] Translation: X:60.69, Y:15.57, Z:-1.29 [[ 8.84604382e-01 -4.66126296e-01 1.41902924e-02 6.06925088e+01] [ 4.66065270e-01 8.84718188e-01 7.54264017e-03 1.55711367e+01] [-1.60702327e-02 -5.86501007e-05 9.99870864e-01 -1.29294152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97 meters 0.013356069463833496 Centerline is valid? [True, True] Translation: X:60.72, Y:15.58, Z:-1.29 [[ 8.84929059e-01 -4.65515469e-01 1.39967196e-02 6.07160742e+01] [ 4.65455934e-01 8.85039741e-01 7.44522053e-03 1.55848191e+01] [-1.58535184e-02 -7.36358059e-05 9.99874322e-01 -1.29349961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.0 meters 0.015079899670416362 Centerline is valid? [True, True] Translation: X:60.74, Y:15.60, Z:-1.30 [[ 8.85922391e-01 -4.63629283e-01 1.37624226e-02 6.07409941e+01] [ 4.63571450e-01 8.86029275e-01 7.32360321e-03 1.55996759e+01] [-1.55893462e-02 -1.08277864e-04 9.99878473e-01 -1.29650717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03 meters 0.01594039812379821 Centerline is valid? [True, True] Translation: X:60.77, Y:15.61, Z:-1.30 [[ 8.86434351e-01 -4.62659977e-01 1.34122173e-02 6.07663963e+01] [ 4.62604876e-01 8.86535803e-01 7.14133164e-03 1.56144647e+01] [-1.51944191e-02 -1.25764570e-04 9.99884550e-01 -1.29839639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06 meters 0.015930714656351236 Centerline is valid? [True, True] Translation: X:60.79, Y:15.63, Z:-1.30 [[ 8.87734379e-01 -4.60180012e-01 1.27290459e-02 6.07910396e+01] [ 4.60130073e-01 8.87825619e-01 6.78125497e-03 1.56304134e+01] [-1.44217711e-02 -1.62936330e-04 9.99895988e-01 -1.29924446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09 meters 0.017229097594701502 Centerline is valid? [True, True] Translation: X:60.82, Y:15.65, Z:-1.30 [[ 8.88320801e-01 -4.59039155e-01 1.30080051e-02 6.08157561e+01] [ 4.58986819e-01 8.88416016e-01 6.93413170e-03 1.56452971e+01] [-1.47395580e-02 -1.89230552e-04 9.99891349e-01 -1.30077084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12 meters 0.0164026921131848 Centerline is valid? [True, True] Translation: X:60.84, Y:15.66, Z:-1.30 [[ 8.88915746e-01 -4.57875824e-01 1.33613660e-02 6.08402668e+01] [ 4.57820406e-01 8.89016132e-01 7.12694983e-03 1.56603475e+01] [-1.51417280e-02 -2.18151908e-04 9.99885334e-01 -1.30042422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14999999999999 meters 0.014941100239343119 Centerline is valid? [True, True] Translation: X:60.87, Y:15.68, Z:-1.30 [[ 8.89447652e-01 -4.56840328e-01 1.34085193e-02 6.08655485e+01] [ 4.56784335e-01 8.89548682e-01 7.15641925e-03 1.56753522e+01] [-1.51968716e-02 -2.40458713e-04 9.99884492e-01 -1.29788274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17999999999999 meters 0.01791322459093828 Centerline is valid? [True, True] Translation: X:60.89, Y:15.69, Z:-1.30 [[ 8.90216150e-01 -4.55299973e-01 1.47356704e-02 6.08905502e+01] [ 4.55232047e-01 8.90338051e-01 7.87005907e-03 1.56898523e+01] [-1.67029658e-02 -2.97904292e-04 9.99860451e-01 -1.30032581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21 meters 0.01954132906321621 Centerline is valid? [True, True] Translation: X:60.92, Y:15.70, Z:-1.30 [[ 8.90494207e-01 -4.54734697e-01 1.53760477e-02 6.09153048e+01] [ 4.54660564e-01 8.90626885e-01 8.21726050e-03 1.57039985e+01] [-1.74309949e-02 -3.26540372e-04 9.99848015e-01 -1.30124395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24 meters 0.01877784076948896 Centerline is valid? [True, True] Translation: X:60.94, Y:15.72, Z:-1.30 [[ 8.91283151e-01 -4.53177221e-01 1.56444896e-02 6.09402399e+01] [ 4.53100146e-01 8.91420367e-01 8.36582032e-03 1.57190404e+01] [-1.77370159e-02 -3.67794160e-04 9.99842619e-01 -1.30010840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27 meters 0.01668672643420795 Centerline is valid? [True, True] Translation: X:60.97, Y:15.73, Z:-1.30 [[ 8.91871611e-01 -4.52036942e-01 1.50874706e-02 6.09654821e+01] [ 4.51965016e-01 8.91999136e-01 8.07256193e-03 1.57338607e+01] [-1.71071070e-02 -3.80679920e-04 9.99853590e-01 -1.29690445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.3 meters 0.020619557496757673 Centerline is valid? [True, True] Translation: X:60.99, Y:15.75, Z:-1.30 [[ 8.92090018e-01 -4.51609644e-01 1.49709576e-02 6.09894856e+01] [ 4.51538674e-01 8.92215544e-01 8.01560029e-03 1.57481765e+01] [-1.69772434e-02 -3.90670676e-04 9.99855800e-01 -1.30260221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33 meters 0.01923556078895058 Centerline is valid? [True, True] Translation: X:61.01, Y:15.76, Z:-1.30 [[ 8.92615296e-01 -4.50593461e-01 1.42641888e-02 6.10144670e+01] [ 4.50528892e-01 8.92729175e-01 7.63791699e-03 1.57632886e+01] [-1.61756529e-02 -3.91292367e-04 9.99869089e-01 -1.30241924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36 meters 0.01938613528930973 Centerline is valid? [True, True] Translation: X:61.04, Y:15.78, Z:-1.30 [[ 8.93592468e-01 -4.48703189e-01 1.25677736e-02 6.10373981e+01] [ 4.48652816e-01 8.93680762e-01 6.73395428e-03 1.57790182e+01] [-1.42531243e-02 -3.78843802e-04 9.99898347e-01 -1.30432135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39 meters 0.020467209709964723 Centerline is valid? [True, True] Translation: X:61.06, Y:15.79, Z:-1.31 [[ 8.93754111e-01 -4.48396870e-01 1.19931857e-02 6.10625588e+01] [ 4.48350969e-01 8.93834500e-01 6.42611337e-03 1.57935618e+01] [-1.36013723e-02 -3.66208787e-04 9.99907430e-01 -1.30668137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42 meters 0.01886421427110068 Centerline is valid? [True, True] Translation: X:61.09, Y:15.81, Z:-1.30 [[ 8.93522424e-01 -4.48890444e-01 1.07259659e-02 6.10871588e+01] [ 4.48853738e-01 8.93586742e-01 5.74951597e-03 1.58068848e+01] [-1.21654837e-02 -3.22931564e-04 9.99925946e-01 -1.30484880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45 meters 0.01875568076178805 Centerline is valid? [True, True] Translation: X:61.11, Y:15.82, Z:-1.31 [[ 8.92978310e-01 -4.49977851e-01 1.04724337e-02 6.11121277e+01] [ 4.49942875e-01 8.93039664e-01 5.61861264e-03 1.58194874e+01] [-1.18805499e-02 -3.05302313e-04 9.99929377e-01 -1.30577169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48 meters 0.021648374884069156 Centerline is valid? [True, True] Translation: X:61.14, Y:15.83, Z:-1.31 [[ 8.91782567e-01 -4.52342877e-01 1.04773461e-02 6.11384719e+01] [ 4.52308023e-01 8.91844071e-01 5.62185741e-03 1.58309338e+01] [-1.18871662e-02 -2.74486709e-04 9.99929307e-01 -1.31130213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50999999999999 meters 0.019436828062624742 Centerline is valid? [True, True] Translation: X:61.17, Y:15.84, Z:-1.31 [[ 8.89170115e-01 -4.57463814e-01 1.01668797e-02 6.11662121e+01] [ 4.57431275e-01 8.89228215e-01 5.45997631e-03 1.58396729e+01] [-1.15384179e-02 -2.04199014e-04 9.99933409e-01 -1.31075383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53999999999999 meters 0.015508052114990548 Centerline is valid? [True, True] Translation: X:61.19, Y:15.85, Z:-1.31 [[ 8.87566220e-01 -4.60574506e-01 9.86555138e-03 6.11937532e+01] [ 4.60544071e-01 8.87621033e-01 5.29715638e-03 1.58500097e+01] [-1.11966061e-02 -1.58055873e-04 9.99937304e-01 -1.30664271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57 meters 0.013967902857028088 Centerline is valid? [True, True] Translation: X:61.22, Y:15.86, Z:-1.30 [[ 8.83914839e-01 -4.67536126e-01 1.02239546e-02 6.12241718e+01] [ 4.67503863e-01 8.83973962e-01 5.49290676e-03 1.58556012e+01] [-1.16058420e-02 -7.55235108e-05 9.99932647e-01 -1.30444539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.6 meters 0.016390449804786315 Centerline is valid? [True, True] Translation: X:61.25, Y:15.87, Z:-1.31 [[ 8.81869333e-01 -4.71370632e-01 1.07799562e-02 6.12504029e+01] [ 4.71334997e-01 8.81935217e-01 5.79604707e-03 1.58656376e+01] [-1.22393094e-02 -3.03855304e-05 9.99925096e-01 -1.30752768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63 meters 0.01476667032351529 Centerline is valid? [True, True] Translation: X:61.28, Y:15.88, Z:-1.31 [[ 8.79906112e-01 -4.75012011e-01 1.13500804e-02 6.12765789e+01] [ 4.74972799e-01 8.79979312e-01 6.10340238e-03 1.58755113e+01] [-1.28870254e-02 2.05584165e-05 9.99916959e-01 -1.30509608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66 meters 0.01602815627593124 Centerline is valid? [True, True] Translation: X:61.30, Y:15.88, Z:-1.30 [[ 8.75739575e-01 -4.82604453e-01 1.31582037e-02 6.13048193e+01] [ 4.82552516e-01 8.75838410e-01 7.08158330e-03 1.58832518e+01] [-1.49420638e-02 1.47901537e-04 9.99888350e-01 -1.30447187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69 meters 0.01649807747610756 Centerline is valid? [True, True] Translation: X:61.33, Y:15.89, Z:-1.30 [[ 8.73816371e-01 -4.86070918e-01 1.34168789e-02 6.13315316e+01] [ 4.86017247e-01 8.73919344e-01 7.22603475e-03 1.58932952e+01] [-1.52376354e-02 2.06607079e-04 9.99883879e-01 -1.30414851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72 meters 0.015756368766712606 Centerline is valid? [True, True] Translation: X:61.36, Y:15.90, Z:-1.30 [[ 8.70710349e-01 -4.91596688e-01 1.40065875e-02 6.13588733e+01] [ 4.91538879e-01 8.70822942e-01 7.54539846e-03 1.59040378e+01] [-1.59065506e-02 3.14925788e-04 9.99873433e-01 -1.30066858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75 meters 0.017131314117931767 Centerline is valid? [True, True] Translation: X:61.39, Y:15.91, Z:-1.30 [[ 8.69479154e-01 -4.93764450e-01 1.42361433e-02 6.13852053e+01] [ 4.93705005e-01 8.69595618e-01 7.67002656e-03 1.59138683e+01] [-1.61668743e-02 3.59526982e-04 9.99869243e-01 -1.30115044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78 meters 0.019129680265517694 Centerline is valid? [True, True] Translation: X:61.41, Y:15.93, Z:-1.31 [[ 8.68097503e-01 -4.96194929e-01 1.40469699e-02 6.14106568e+01] [ 4.96137359e-01 8.68211054e-01 7.56883905e-03 1.59280372e+01] [-1.59513541e-02 3.98736269e-04 9.99872690e-01 -1.30532600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81 meters 0.02021250549889454 Centerline is valid? [True, True] Translation: X:61.44, Y:15.94, Z:-1.31 [[ 8.67358009e-01 -4.97493813e-01 1.37836736e-02 6.14370532e+01] [ 4.97438464e-01 8.67467428e-01 7.43216489e-03 1.59382910e+01] [-1.56543440e-02 4.10181688e-04 9.99877379e-01 -1.30575220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84 meters 0.018052173074246024 Centerline is valid? [True, True] Translation: X:61.46, Y:15.95, Z:-1.31 [[ 8.66727348e-01 -4.98633273e-01 1.21886559e-02 6.14612091e+01] [ 4.98590106e-01 8.66812964e-01 6.57204274e-03 1.59548837e+01] [-1.38423241e-02 3.80974048e-04 9.99904118e-01 -1.30565209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86999999999999 meters 0.019614617238915572 Centerline is valid? [True, True] Translation: X:61.49, Y:15.97, Z:-1.31 [[ 8.66555870e-01 -4.98957489e-01 1.10610841e-02 6.14865079e+01] [ 4.98921928e-01 8.66626392e-01 5.96708202e-03 1.59692699e+01] [-1.25631477e-02 3.47807449e-04 9.99921020e-01 -1.30964213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89999999999999 meters 0.017409928691897787 Centerline is valid? [True, True] Translation: X:61.51, Y:15.98, Z:-1.31 [[ 8.66907372e-01 -4.98357746e-01 1.05435010e-02 6.15109656e+01] [ 4.98325355e-01 8.66971426e-01 5.69092676e-03 1.59842734e+01] [-1.19770315e-02 3.20587496e-04 9.99928221e-01 -1.30770781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92999999999999 meters 0.01733908775871705 Centerline is valid? [True, True] Translation: X:61.53, Y:16.00, Z:-1.31 [[ 8.68115351e-01 -4.96270155e-01 9.57449652e-03 6.15343359e+01] [ 4.96243270e-01 8.68168109e-01 5.17218734e-03 1.59990381e+01] [-1.08790747e-02 2.61224238e-04 9.99940787e-01 -1.30940487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96 meters 0.017762195790024183 Centerline is valid? [True, True] Translation: X:61.56, Y:16.02, Z:-1.31 [[ 8.68635452e-01 -4.95361736e-01 9.44467740e-03 6.15590065e+01] [ 4.95335527e-01 8.68686762e-01 5.10151866e-03 1.60151911e+01] [-1.07315634e-02 2.46924292e-04 9.99942385e-01 -1.31164706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99 meters 0.015894496269016664 Centerline is valid? [True, True] Translation: X:61.58, Y:16.03, Z:-1.31 [[ 8.70447932e-01 -4.92159119e-01 9.98991651e-03 6.15827148e+01] [ 4.92129549e-01 8.70505229e-01 5.39929425e-03 1.60329855e+01] [-1.13535865e-02 2.16528588e-04 9.99935523e-01 -1.31000604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02 meters 0.015343764056301416 Centerline is valid? [True, True] Translation: X:61.61, Y:16.05, Z:-1.31 [[ 8.71231350e-01 -4.90759386e-01 1.05432278e-02 6.16071369e+01] [ 4.90726309e-01 8.71295118e-01 5.70153740e-03 1.60495386e+01] [-1.19843459e-02 2.06481135e-04 9.99928164e-01 -1.30966788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05 meters 0.01503605014094008 Centerline is valid? [True, True] Translation: X:61.63, Y:16.07, Z:-1.31 [[ 8.72092327e-01 -4.89208323e-01 1.14100786e-02 6.16315835e+01] [ 4.89169396e-01 8.72166944e-01 6.17447115e-03 1.60656733e+01] [-1.29720960e-02 1.96752323e-04 9.99915839e-01 -1.31001613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08 meters 0.016538263667226202 Centerline is valid? [True, True] Translation: X:61.65, Y:16.08, Z:-1.31 [[ 8.74151534e-01 -4.85497133e-01 1.23137779e-02 6.16536374e+01] [ 4.85451348e-01 8.74238247e-01 6.66907816e-03 1.60839129e+01] [-1.40029939e-02 1.47955166e-04 9.99901942e-01 -1.31254491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11 meters 0.016298146577801296 Centerline is valid? [True, True] Translation: X:61.68, Y:16.10, Z:-1.31 [[ 8.75119873e-01 -4.83720266e-01 1.34131606e-02 6.16775414e+01] [ 4.83665720e-01 8.75222650e-01 7.26524436e-03 1.61007779e+01] [-1.52538479e-02 1.29526248e-04 9.99883645e-01 -1.31226456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14 meters 0.015434278144463213 Centerline is valid? [True, True] Translation: X:61.70, Y:16.12, Z:-1.31 [[ 8.76256440e-01 -4.81640045e-01 1.40541358e-02 6.17017396e+01] [ 4.81579818e-01 8.76369134e-01 7.61713783e-03 1.61175387e+01] [-1.59853294e-02 9.36220662e-05 9.99872222e-01 -1.31154904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17 meters 0.01677952672220161 Centerline is valid? [True, True] Translation: X:61.72, Y:16.14, Z:-1.31 [[ 8.78669969e-01 -4.77232791e-01 1.37094433e-02 6.17232197e+01] [ 4.77174879e-01 8.78776913e-01 7.43444662e-03 1.61376614e+01] [-1.55955040e-02 9.37697818e-06 9.99878383e-01 -1.31368716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.2 meters 0.016804369504705503 Centerline is valid? [True, True] Translation: X:61.75, Y:16.15, Z:-1.31 [[ 8.79978887e-01 -4.74802963e-01 1.41175648e-02 6.17463317e+01] [ 4.74741167e-01 8.80092123e-01 7.66025519e-03 1.61546806e+01] [-1.60618694e-02 -3.86736645e-05 9.99870999e-01 -1.31481156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23 meters 0.014180015027077237 Centerline is valid? [True, True] Translation: X:61.77, Y:16.18, Z:-1.31 [[ 8.83036170e-01 -4.69077612e-01 1.46053793e-02 6.17665889e+01] [ 4.69010579e-01 8.83156934e-01 7.93137036e-03 1.61755731e+01] [-1.66192703e-02 -1.53609488e-04 9.99861879e-01 -1.31240327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25999999999999 meters 0.018750294805492354 Centerline is valid? [True, True] Translation: X:61.79, Y:16.19, Z:-1.32 [[ 8.84039861e-01 -4.67239252e-01 1.26888179e-02 6.17892182e+01] [ 4.67188455e-01 8.84130904e-01 6.89146337e-03 1.61925756e+01] [-1.44385382e-02 -1.64259073e-04 9.99895745e-01 -1.31891602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28999999999999 meters 0.015079196424281106 Centerline is valid? [True, True] Translation: X:61.81, Y:16.21, Z:-1.32 [[ 8.85409637e-01 -4.64608637e-01 1.37328056e-02 6.18132547e+01] [ 4.64548792e-01 8.85516100e-01 7.46035003e-03 1.62098323e+01] [-1.56267635e-02 -2.25907585e-04 9.99877869e-01 -1.31500667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32 meters 0.017484762229722232 Centerline is valid? [True, True] Translation: X:61.83, Y:16.23, Z:-1.32 [[ 8.86818167e-01 -4.61961010e-01 1.20649785e-02 6.18345238e+01] [ 4.61914514e-01 8.86900201e-01 6.55864450e-03 1.62284888e+01] [-1.37302699e-02 -2.43336416e-04 9.99905706e-01 -1.32023905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35 meters 0.01918068365026958 Centerline is valid? [True, True] Translation: X:61.86, Y:16.24, Z:-1.32 [[ 8.87016132e-01 -4.61611526e-01 1.08249623e-02 6.18596589e+01] [ 4.61574077e-01 8.87082155e-01 5.88405434e-03 1.62435492e+01] [-1.23187782e-02 -2.22729125e-04 9.99924096e-01 -1.32289431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38 meters 0.018576487847598397 Centerline is valid? [True, True] Translation: X:61.88, Y:16.26, Z:-1.32 [[ 8.87159957e-01 -4.61340779e-01 1.05781280e-02 6.18842749e+01] [ 4.61304960e-01 8.87222991e-01 5.75312852e-03 1.62588348e+01] [-1.20393111e-02 -2.24202360e-04 9.99927500e-01 -1.32353998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41 meters 0.0164042288180219 Centerline is valid? [True, True] Translation: X:61.91, Y:16.27, Z:-1.32 [[ 8.87799890e-01 -4.60110919e-01 1.04545195e-02 6.19070388e+01] [ 4.60075789e-01 8.87861410e-01 5.69075459e-03 1.62746782e+01] [-1.19005428e-02 -2.42379964e-04 9.99929157e-01 -1.32122539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44 meters 0.019821862807954546 Centerline is valid? [True, True] Translation: X:61.93, Y:16.29, Z:-1.33 [[ 8.87246915e-01 -4.61221757e-01 8.20991104e-03 6.19306984e+01] [ 4.61200159e-01 8.87284881e-01 4.46696000e-03 1.62887579e+01] [-9.34478908e-03 -1.76884207e-04 9.99956321e-01 -1.32771345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47 meters 0.017882754941261444 Centerline is valid? [True, True] Translation: X:61.95, Y:16.30, Z:-1.33 [[ 8.86945848e-01 -4.61805728e-01 7.90772287e-03 6.19535371e+01] [ 4.61785680e-01 8.86981083e-01 4.30634249e-03 1.63030734e+01] [-9.00269422e-03 -1.67819413e-04 9.99959461e-01 -1.32759656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.5 meters 0.01843447793585106 Centerline is valid? [True, True] Translation: X:61.98, Y:16.32, Z:-1.33 [[ 8.86201872e-01 -4.63237122e-01 7.59011452e-03 6.19789504e+01] [ 4.63218696e-01 8.86234363e-01 4.13440498e-03 1.63168764e+01] [-8.64183017e-03 -1.48034485e-04 9.99962648e-01 -1.32925862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53 meters 0.019349693903287002 Centerline is valid? [True, True] Translation: X:62.00, Y:16.33, Z:-1.33 [[ 8.85320743e-01 -4.64928107e-01 7.00265104e-03 6.20046500e+01] [ 4.64912462e-01 8.85348429e-01 3.81608651e-03 1.63294094e+01] [-7.97399197e-03 -1.22840815e-04 9.99968200e-01 -1.33061276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56 meters 0.015555052039811085 Centerline is valid? [True, True] Translation: X:62.03, Y:16.34, Z:-1.33 [[ 8.84926250e-01 -4.65659954e-01 8.14488647e-03 6.20293395e+01] [ 4.65638773e-01 8.84963721e-01 4.44354950e-03 1.63425393e+01] [-9.27711210e-03 -1.39638652e-04 9.99956957e-01 -1.32672273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59 meters 0.01686910617005549 Centerline is valid? [True, True] Translation: X:62.06, Y:16.35, Z:-1.33 [[ 8.82301764e-01 -4.70620031e-01 7.77070182e-03 6.20564321e+01] [ 4.70600947e-01 8.82335979e-01 4.23896610e-03 1.63528460e+01] [-8.85131215e-03 -8.31476310e-05 9.99960823e-01 -1.32855683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61999999999999 meters 0.014576267520579334 Centerline is valid? [True, True] Translation: X:62.08, Y:16.37, Z:-1.33 [[ 8.81234270e-01 -4.72597497e-01 8.81853261e-03 6.20821547e+01] [ 4.72572982e-01 8.81278390e-01 4.81418982e-03 1.63653338e+01] [-1.00467563e-02 -7.50287998e-05 9.99949527e-01 -1.32589419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64999999999999 meters 0.017155293391729432 Centerline is valid? [True, True] Translation: X:62.11, Y:16.38, Z:-1.33 [[ 8.79456646e-01 -4.75911491e-01 8.01632012e-03 6.21078189e+01] [ 4.75891352e-01 8.79493179e-01 4.37829948e-03 1.63779613e+01] [-9.13398190e-03 -3.56271536e-05 9.99958284e-01 -1.32931451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67999999999999 meters 0.015872034049983087 Centerline is valid? [True, True] Translation: X:62.13, Y:16.39, Z:-1.33 [[ 8.76999044e-01 -4.80396349e-01 9.59293423e-03 6.21339454e+01] [ 4.80367716e-01 8.77051508e-01 5.24493703e-03 1.63890671e+01] [-1.09331460e-02 8.33114302e-06 9.99940231e-01 -1.32810585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71 meters 0.015885507247267876 Centerline is valid? [True, True] Translation: X:62.16, Y:16.40, Z:-1.33 [[ 8.75731049e-01 -4.82686306e-01 1.04431750e-02 6.21596094e+01] [ 4.82652529e-01 8.75793314e-01 5.71036379e-03 1.64014508e+01] [-1.19023773e-02 3.96819736e-05 9.99929163e-01 -1.32656480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74 meters 0.01673748817122036 Centerline is valid? [True, True] Translation: X:62.19, Y:16.41, Z:-1.33 [[ 8.73255708e-01 -4.87129211e-01 1.13842024e-02 6.21860495e+01] [ 4.87089383e-01 8.73329904e-01 6.22994537e-03 1.64140879e+01] [-1.29769528e-02 1.04788787e-04 9.99915790e-01 -1.32678075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77 meters 0.017320694148920877 Centerline is valid? [True, True] Translation: X:62.21, Y:16.43, Z:-1.33 [[ 8.72050240e-01 -4.89284057e-01 1.13794120e-02 6.22103486e+01] [ 4.89244381e-01 8.72124472e-01 6.23234683e-03 1.64269673e+01] [-1.29736516e-02 1.32393835e-04 9.99915830e-01 -1.32773763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.8 meters 0.017320694148920877 Centerline is valid? [True, True] Translation: X:62.23, Y:16.44, Z:-1.33 [[ 8.71914145e-01 -4.89526535e-01 1.13795688e-02 6.22345133e+01] [ 4.89486883e-01 8.71988390e-01 6.23206124e-03 1.64402932e+01] [-1.29736112e-02 1.36327318e-04 9.99915830e-01 -1.32830541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83 meters 0.01715718298460385 Centerline is valid? [True, True] Translation: X:62.26, Y:16.45, Z:-1.33 [[ 8.70898601e-01 -4.91331863e-01 1.13414031e-02 6.22594650e+01] [ 4.91292573e-01 8.70972431e-01 6.21549735e-03 1.64544101e+01] [-1.29319213e-02 1.58879150e-04 9.99916367e-01 -1.32875409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86 meters 0.015025791431071696 Centerline is valid? [True, True] Translation: X:62.28, Y:16.47, Z:-1.33 [[ 8.69363726e-01 -4.94031760e-01 1.18038862e-02 6.22847389e+01] [ 4.93989394e-01 8.69443833e-01 6.47301362e-03 1.64680035e+01] [-1.34606903e-02 2.03591325e-04 9.99909380e-01 -1.32643656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89 meters 0.017869394274529715 Centerline is valid? [True, True] Translation: X:62.31, Y:16.48, Z:-1.33 [[ 8.68154686e-01 -4.96161024e-01 1.14751817e-02 6.23095160e+01] [ 4.96121106e-01 8.68230492e-01 6.29768044e-03 1.64809326e+01] [-1.30877662e-02 2.25719044e-04 9.99914326e-01 -1.33060807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92 meters 0.01887165072942474 Centerline is valid? [True, True] Translation: X:62.33, Y:16.49, Z:-1.33 [[ 8.67271883e-01 -4.97709337e-01 1.11757019e-02 6.23346741e+01] [ 4.97671606e-01 8.67343851e-01 6.13316982e-03 1.64947162e+01] [-1.27457122e-02 2.42703786e-04 9.99918741e-01 -1.33195972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95 meters 0.01885849607331593 Centerline is valid? [True, True] Translation: X:62.36, Y:16.51, Z:-1.33 [[ 8.66233639e-01 -4.99523235e-01 1.07619833e-02 6.23587269e+01] [ 4.99488348e-01 8.66300451e-01 5.90923541e-03 1.65104177e+01] [-1.22749114e-02 2.56706782e-04 9.99924627e-01 -1.33275072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98 meters 0.0182659437002526 Centerline is valid? [True, True] Translation: X:62.38, Y:16.53, Z:-1.33 [[ 8.66006959e-01 -4.99917873e-01 1.06802689e-02 6.23832114e+01] [ 4.99883506e-01 8.66072776e-01 5.86742714e-03 1.65252159e+01] [-1.21831218e-02 2.57657517e-04 9.99925750e-01 -1.33335406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00999999999999 meters 0.016641334298488103 Centerline is valid? [True, True] Translation: X:62.41, Y:16.54, Z:-1.33 [[ 8.66334161e-01 -4.99344250e-01 1.09745998e-02 6.24073682e+01] [ 4.99307846e-01 8.66403634e-01 6.03477624e-03 1.65399694e+01] [-1.25218640e-02 2.51570981e-04 9.99921567e-01 -1.33269602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03999999999999 meters 0.0162937573598725 Centerline is valid? [True, True] Translation: X:62.43, Y:16.56, Z:-1.33 [[ 8.67496437e-01 -4.97314596e-01 1.13192131e-02 6.24296781e+01] [ 4.97275670e-01 8.67570251e-01 6.22633019e-03 1.65567287e+01] [-1.29166575e-02 2.27450045e-04 9.99916551e-01 -1.33390285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07 meters 0.015083830860644923 Centerline is valid? [True, True] Translation: X:62.45, Y:16.57, Z:-1.33 [[ 8.68509168e-01 -4.95535908e-01 1.16614344e-02 6.24535449e+01] [ 4.95494418e-01 8.68587429e-01 6.41566063e-03 1.65726131e+01] [-1.33081655e-02 2.06115579e-04 9.99911421e-01 -1.33337823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.1 meters 0.01426403871722182 Centerline is valid? [True, True] Translation: X:62.48, Y:16.59, Z:-1.33 [[ 8.70667342e-01 -4.91742683e-01 1.12921449e-02 6.24767660e+01] [ 4.91703414e-01 8.70740555e-01 6.21603193e-03 1.65912981e+01] [-1.28892167e-02 1.40290201e-04 9.99916921e-01 -1.33462837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13 meters 0.013913381934352041 Centerline is valid? [True, True] Translation: X:62.50, Y:16.61, Z:-1.34 [[ 8.71696760e-01 -4.89915354e-01 1.13006724e-02 6.25002848e+01] [ 4.89875830e-01 8.71770001e-01 6.22388749e-03 1.66077093e+01] [-1.29007652e-02 1.10583718e-04 9.99916776e-01 -1.33560091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16 meters 0.016547513648869968 Centerline is valid? [True, True] Translation: X:62.52, Y:16.62, Z:-1.34 [[ 8.72545225e-01 -4.88422055e-01 1.04271820e-02 6.25231625e+01] [ 4.88388269e-01 8.72607523e-01 5.74538224e-03 1.66234082e+01] [-1.19050088e-02 7.94075001e-05 9.99929130e-01 -1.33963688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19 meters 0.015565310218731646 Centerline is valid? [True, True] Translation: X:62.55, Y:16.64, Z:-1.34 [[ 8.73695585e-01 -4.86352291e-01 1.08385308e-02 6.25461440e+01] [ 4.86315552e-01 8.73762809e-01 5.97807061e-03 1.66388882e+01] [-1.23777534e-02 4.79321757e-05 9.99923392e-01 -1.33973475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22 meters 0.016599449102198398 Centerline is valid? [True, True] Translation: X:62.57, Y:16.66, Z:-1.34 [[ 8.75711973e-01 -4.82713130e-01 1.07969543e-02 6.25682016e+01] [ 4.82676403e-01 8.75778530e-01 5.95454325e-03 1.66565834e+01] [-1.23300770e-02 -3.02973622e-06 9.99923982e-01 -1.34121192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25 meters 0.017380867788933992 Centerline is valid? [True, True] Translation: X:62.59, Y:16.67, Z:-1.34 [[ 8.76525364e-01 -4.81234777e-01 1.07877938e-02 6.25911380e+01] [ 4.81197951e-01 8.76591746e-01 5.95339689e-03 1.66721094e+01] [-1.23214726e-02 -2.72390932e-05 9.99924087e-01 -1.34228020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28 meters 0.014585599679653154 Centerline is valid? [True, True] Translation: X:62.61, Y:16.69, Z:-1.34 [[ 8.78872445e-01 -4.76903283e-01 1.21030143e-02 6.26134714e+01] [ 4.76856431e-01 8.78955771e-01 6.68559014e-03 1.66893180e+01] [-1.38263941e-02 -1.04380774e-04 9.99904405e-01 -1.33943394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31 meters 0.015008482061969855 Centerline is valid? [True, True] Translation: X:62.64, Y:16.71, Z:-1.34 [[ 8.79918277e-01 -4.74966854e-01 1.22601844e-02 6.26375761e+01] [ 4.74918571e-01 8.80003675e-01 6.77369437e-03 1.67053705e+01] [-1.40062876e-02 -1.37708243e-04 9.99901898e-01 -1.33971523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34 meters 0.014295897610780315 Centerline is valid? [True, True] Translation: X:62.66, Y:16.72, Z:-1.34 [[ 8.81099955e-01 -4.72761749e-01 1.26173587e-02 6.26623620e+01] [ 4.72710326e-01 8.81190272e-01 6.97507460e-03 1.67209878e+01] [-1.44158422e-02 -1.81382191e-04 9.99896070e-01 -1.33877615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36999999999999 meters 0.01753349644522929 Centerline is valid? [True, True] Translation: X:62.68, Y:16.74, Z:-1.34 [[ 8.82883503e-01 -4.69439095e-01 1.19856610e-02 6.26844520e+01] [ 4.69392319e-01 8.82964826e-01 6.63073144e-03 1.67388259e+01] [-1.36956416e-02 -2.28186192e-04 9.99906184e-01 -1.34297342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39999999999999 meters 0.019390296574995525 Centerline is valid? [True, True] Translation: X:62.71, Y:16.75, Z:-1.34 [[ 8.83488575e-01 -4.68303663e-01 1.18159555e-02 6.27087040e+01] [ 4.68258100e-01 8.83567553e-01 6.53692744e-03 1.67538720e+01] [-1.35014619e-02 -2.42383853e-04 9.99908822e-01 -1.34469673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42999999999999 meters 0.01892925232725896 Centerline is valid? [True, True] Translation: X:62.73, Y:16.77, Z:-1.34 [[ 8.84018616e-01 -4.67300090e-01 1.19043457e-02 6.27333718e+01] [ 4.67253699e-01 8.84098726e-01 6.58963901e-03 1.67683624e+01] [-1.36039558e-02 -2.63013972e-04 9.99907427e-01 -1.34474467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46 meters 0.020861161309435328 Centerline is valid? [True, True] Translation: X:62.76, Y:16.78, Z:-1.35 [[ 8.84663161e-01 -4.66112496e-01 1.04992211e-02 6.27585742e+01] [ 4.66076296e-01 8.84725426e-01 5.81446992e-03 1.67826695e+01] [-1.19991249e-02 -2.50409278e-04 9.99927977e-01 -1.34790070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49 meters 0.020703313836405834 Centerline is valid? [True, True] Translation: X:62.78, Y:16.80, Z:-1.35 [[ 8.84736858e-01 -4.65987638e-01 9.80880931e-03 6.27833705e+01] [ 4.65955985e-01 8.84791198e-01 5.43657225e-03 1.67964375e+01] [-1.12121236e-02 -2.39462457e-04 9.99937113e-01 -1.34916804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52 meters 0.016405970127376854 Centerline is valid? [True, True] Translation: X:62.81, Y:16.81, Z:-1.35 [[ 8.85021355e-01 -4.65449812e-01 9.67852195e-03 6.28099508e+01] [ 4.65418970e-01 8.85074242e-01 5.36367014e-03 1.68076188e+01] [-1.10627297e-02 -2.42394898e-04 9.99938777e-01 -1.34563336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55 meters 0.019793575055426924 Centerline is valid? [True, True] Translation: X:62.84, Y:16.82, Z:-1.35 [[ 8.84450459e-01 -4.66546606e-01 9.03599671e-03 6.28353092e+01] [ 4.66519754e-01 8.84496590e-01 5.01014590e-03 1.68205672e+01] [-1.03297748e-02 -2.15754878e-04 9.99946623e-01 -1.35002618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58 meters 0.01865553521366022 Centerline is valid? [True, True] Translation: X:62.86, Y:16.83, Z:-1.35 [[ 8.84388659e-01 -4.66661006e-01 9.17632678e-03 6.28594882e+01] [ 4.66633272e-01 8.84436236e-01 5.09244009e-03 1.68327885e+01] [-1.04923191e-02 -2.21716868e-04 9.99944930e-01 -1.34926244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61 meters 0.01907652350833775 Centerline is valid? [True, True] Translation: X:62.88, Y:16.85, Z:-1.35 [[ 8.84170596e-01 -4.67075276e-01 9.11282707e-03 6.28846321e+01] [ 4.67047951e-01 8.84217530e-01 5.05682098e-03 1.68454629e+01] [-1.04196375e-02 -2.14965210e-04 9.99945691e-01 -1.35006461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64 meters 0.01934357362553739 Centerline is valid? [True, True] Translation: X:62.91, Y:16.86, Z:-1.35 [[ 8.83987525e-01 -4.67434819e-01 8.41107522e-03 6.29101626e+01] [ 4.67411531e-01 8.84027517e-01 4.66999561e-03 1.68566623e+01] [-9.61854049e-03 -1.96784314e-04 9.99953721e-01 -1.35083664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67 meters 0.020142709440603528 Centerline is valid? [True, True] Translation: X:62.94, Y:16.87, Z:-1.35 [[ 8.83454137e-01 -4.68456348e-01 7.57877539e-03 6.29367207e+01] [ 4.68437462e-01 8.83486628e-01 4.20990851e-03 1.68673487e+01] [-8.66790507e-03 -1.69078782e-04 9.99962419e-01 -1.35255744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.7 meters 0.01875797119037428 Centerline is valid? [True, True] Translation: X:62.96, Y:16.88, Z:-1.35 [[ 8.83009295e-01 -4.69286537e-01 8.04554570e-03 6.29627716e+01] [ 4.69265251e-01 8.83045931e-01 4.47305034e-03 1.68799143e+01] [-9.20372870e-03 -1.74250006e-04 9.99957630e-01 -1.35210264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73 meters 0.01963350154211792 Centerline is valid? [True, True] Translation: X:62.99, Y:16.89, Z:-1.35 [[ 8.82271365e-01 -4.70674737e-01 7.90769022e-03 6.29874246e+01] [ 4.70654189e-01 8.82306787e-01 4.40093245e-03 1.68920073e+01] [-9.04841647e-03 -1.61029154e-04 9.99959049e-01 -1.35384551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75999999999999 meters 0.018020280562892715 Centerline is valid? [True, True] Translation: X:63.01, Y:16.90, Z:-1.35 [[ 8.81640529e-01 -4.71841818e-01 8.67621488e-03 6.30129684e+01] [ 4.71817127e-01 8.81683204e-01 4.82985779e-03 1.69029252e+01] [-9.92860181e-03 -1.64611604e-04 9.99950697e-01 -1.35299623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78999999999999 meters 0.01708214035177415 Centerline is valid? [True, True] Translation: X:63.04, Y:16.91, Z:-1.35 [[ 8.79601963e-01 -4.75633507e-01 8.55300838e-03 6.30404700e+01] [ 4.75609682e-01 8.79643537e-01 4.76219752e-03 1.69100566e+01] [-9.78865925e-03 -1.20944697e-04 9.99952083e-01 -1.35319847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82 meters 0.019131202046016788 Centerline is valid? [True, True] Translation: X:63.07, Y:16.92, Z:-1.36 [[ 8.78067021e-01 -4.78478104e-01 7.55048527e-03 6.30677542e+01] [ 4.78459655e-01 8.78099480e-01 4.20247243e-03 1.69198775e+01] [-8.64086824e-03 -7.74498738e-05 9.99962664e-01 -1.35512894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85 meters 0.013723321154120196 Centerline is valid? [True, True] Translation: X:63.10, Y:16.93, Z:-1.35 [[ 8.75666754e-01 -4.82831265e-01 9.03913119e-03 6.30959433e+01] [ 4.82804995e-01 8.75713405e-01 5.03677594e-03 1.69263146e+01] [-1.03476013e-02 -4.63995512e-05 9.99946461e-01 -1.35026099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88 meters 0.01506052171869956 Centerline is valid? [True, True] Translation: X:63.12, Y:16.94, Z:-1.35 [[ 8.73629936e-01 -4.86511004e-01 8.81919353e-03 6.31221131e+01] [ 4.86486197e-01 8.73674449e-01 4.91295045e-03 1.69362821e+01] [-1.00953085e-02 -1.68465858e-06 9.99949041e-01 -1.35246541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91 meters 0.017228875229822277 Centerline is valid? [True, True] Translation: X:63.15, Y:16.95, Z:-1.35 [[ 8.71589070e-01 -4.90165501e-01 8.38305161e-03 6.31496319e+01] [ 4.90143226e-01 8.71629383e-01 4.67305799e-03 1.69469260e+01] [-9.59748591e-03 3.59096956e-05 9.99953942e-01 -1.35484038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94 meters 0.01612751609868446 Centerline is valid? [True, True] Translation: X:63.18, Y:16.95, Z:-1.35 [[ 8.67902400e-01 -4.96663066e-01 8.43939633e-03 6.31785185e+01] [ 4.96640754e-01 8.67943424e-01 4.70894668e-03 1.69534361e+01] [-9.66367845e-03 1.04442033e-04 9.99953300e-01 -1.35441263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97 meters 0.015490612000452538 Centerline is valid? [True, True] Translation: X:63.21, Y:16.96, Z:-1.35 [[ 8.66274643e-01 -4.99484344e-01 9.14505977e-03 6.32052854e+01] [ 4.99458289e-01 8.66322901e-01 5.10384650e-03 1.69635761e+01] [-1.04718661e-02 1.46243100e-04 9.99945158e-01 -1.35289961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.0 meters 0.02058306371587008 Centerline is valid? [True, True] Translation: X:63.23, Y:16.97, Z:-1.36 [[ 8.62760638e-01 -5.05532508e-01 8.99805345e-03 6.32344229e+01] [ 5.05507601e-01 8.62807532e-01 5.02279302e-03 1.69702209e+01] [-1.03027734e-02 2.15116298e-04 9.99946902e-01 -1.35681956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03 meters 0.018449136663383582 Centerline is valid? [True, True] Translation: X:63.26, Y:16.98, Z:-1.35 [[ 8.61821416e-01 -5.07110060e-01 1.01603947e-02 6.32609278e+01] [ 5.07078415e-01 8.61881266e-01 5.67138110e-03 1.69817458e+01] [-1.16330683e-02 2.64399166e-04 9.99932299e-01 -1.35331265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06 meters 0.0224978784840284 Centerline is valid? [True, True] Translation: X:63.29, Y:16.99, Z:-1.36 [[ 8.60006278e-01 -5.10197322e-01 9.37516751e-03 6.32878063e+01] [ 5.10170518e-01 8.60057332e-01 5.23718218e-03 1.69919855e+01] [-1.07351779e-02 2.78924506e-04 9.99942337e-01 -1.35761339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09 meters 0.01995834506493395 Centerline is valid? [True, True] Translation: X:63.31, Y:17.01, Z:-1.35 [[ 8.60119370e-01 -5.09980883e-01 1.06849621e-02 6.33134853e+01] [ 5.09946053e-01 8.60185677e-01 5.96856407e-03 1.70050934e+01] [-1.22349049e-02 3.15076658e-04 9.99925101e-01 -1.35415576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11999999999999 meters 0.02165173812197824 Centerline is valid? [True, True] Translation: X:63.34, Y:17.02, Z:-1.36 [[ 8.59917230e-01 -5.10330312e-01 1.02630518e-02 6.33390252e+01] [ 5.10298170e-01 8.59978418e-01 5.73567191e-03 1.70186661e+01] [-1.17530903e-02 3.05013448e-04 9.99930884e-01 -1.35740384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14999999999999 meters 0.02165851072861257 Centerline is valid? [True, True] Translation: X:63.36, Y:17.03, Z:-1.36 [[ 8.61156897e-01 -5.08236321e-01 1.02294128e-02 6.33629149e+01] [ 5.08204190e-01 8.61217608e-01 5.72125558e-03 1.70322894e+01] [-1.17175003e-02 2.71731751e-04 9.99931311e-01 -1.35887905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17999999999999 meters 0.018603827719766958 Centerline is valid? [True, True] Translation: X:63.39, Y:17.05, Z:-1.36 [[ 8.62155007e-01 -5.06516909e-01 1.13738320e-02 6.33875141e+01] [ 5.06477035e-01 8.62229984e-01 6.36148839e-03 1.70470473e+01] [-1.30290605e-02 2.75995662e-04 9.99915080e-01 -1.35613478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21 meters 0.019628541814403613 Centerline is valid? [True, True] Translation: X:63.41, Y:17.06, Z:-1.36 [[ 8.62953703e-01 -5.05170219e-01 1.06750600e-02 6.34124204e+01] [ 5.05134957e-01 8.63019695e-01 5.97339050e-03 1.70624192e+01] [-1.22303660e-02 2.37586539e-04 9.99925178e-01 -1.35939722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24 meters 0.019114851837838405 Centerline is valid? [True, True] Translation: X:63.44, Y:17.08, Z:-1.36 [[ 8.64232973e-01 -5.02990748e-01 1.00834398e-02 6.34371778e+01] [ 5.02959107e-01 8.64291774e-01 5.64508444e-03 1.70783402e+01] [-1.15544594e-02 1.92889793e-04 9.99933226e-01 -1.36085824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27 meters 0.016743447360880716 Centerline is valid? [True, True] Translation: X:63.46, Y:17.10, Z:-1.36 [[ 8.67507341e-01 -4.97323591e-01 1.00129859e-02 6.34585764e+01] [ 4.97291966e-01 8.67565118e-01 5.60952941e-03 1.70967174e+01] [-1.14766686e-02 1.13069492e-04 9.99934134e-01 -1.36225544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.3 meters 0.014979024665941148 Centerline is valid? [True, True] Translation: X:63.48, Y:17.11, Z:-1.36 [[ 8.69326643e-01 -4.94146169e-01 9.52638064e-03 6.34814068e+01] [ 4.94117363e-01 8.69378835e-01 5.33595921e-03 1.71148309e+01] [-1.09187775e-02 6.84585817e-05 9.99940386e-01 -1.36102415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33 meters 0.015300834391541044 Centerline is valid? [True, True] Translation: X:63.51, Y:17.13, Z:-1.36 [[ 8.71219835e-01 -4.90810498e-01 9.00302699e-03 6.35050493e+01] [ 4.90784570e-01 8.71266351e-01 5.04489447e-03 1.71308110e+01] [-1.03201216e-02 2.33346139e-05 9.99946746e-01 -1.36234677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36 meters 0.01588961961562959 Centerline is valid? [True, True] Translation: X:63.53, Y:17.15, Z:-1.36 [[ 8.75153854e-01 -4.83778142e-01 8.02747144e-03 6.35284032e+01] [ 4.83757208e-01 8.75190668e-01 4.50089119e-03 1.71483569e+01] [-9.20300087e-03 -5.56251078e-05 9.99957650e-01 -1.36416166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39 meters 0.01701320519975554 Centerline is valid? [True, True] Translation: X:63.55, Y:17.16, Z:-1.37 [[ 8.76967947e-01 -4.80489087e-01 7.58007342e-03 6.35516148e+01] [ 4.80470260e-01 8.77000701e-01 4.25438755e-03 1.71642614e+01] [-8.69191650e-03 -8.89616646e-05 9.99962221e-01 -1.36648575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42 meters 0.015240201048670955 Centerline is valid? [True, True] Translation: X:63.58, Y:17.18, Z:-1.36 [[ 8.78579390e-01 -4.77524728e-01 8.26986069e-03 6.35761435e+01] [ 4.77502195e-01 8.78618300e-01 4.64065863e-03 1.71793163e+01] [-9.48208019e-03 -1.28310389e-04 9.99955036e-01 -1.36474530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45 meters 0.01977610049452264 Centerline is valid? [True, True] Translation: X:63.60, Y:17.20, Z:-1.37 [[ 8.81031418e-01 -4.72986241e-01 8.22534961e-03 6.35992199e+01] [ 4.72963706e-01 8.81069795e-01 4.62055476e-03 1.71954816e+01] [-9.43256592e-03 -1.80562078e-04 9.99955496e-01 -1.36799188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48 meters 0.017674731407589114 Centerline is valid? [True, True] Translation: X:63.62, Y:17.21, Z:-1.37 [[ 8.82001516e-01 -4.71147747e-01 9.65020484e-03 6.36249840e+01] [ 4.71116626e-01 8.82054276e-01 5.42031800e-03 1.72088713e+01] [-1.10657751e-02 -2.34356751e-04 9.99938745e-01 -1.36556658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50999999999999 meters 0.018504117975200046 Centerline is valid? [True, True] Translation: X:63.65, Y:17.22, Z:-1.37 [[ 8.82706601e-01 -4.69824835e-01 9.67890356e-03 6.36504311e+01] [ 4.69793413e-01 8.82759628e-01 5.43955318e-03 1.72233468e+01] [-1.10997825e-02 -2.54444356e-04 9.99938363e-01 -1.36587938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53999999999999 meters 0.02085088596880802 Centerline is valid? [True, True] Translation: X:63.68, Y:17.24, Z:-1.37 [[ 8.84151510e-01 -4.67099024e-01 9.72670597e-03 6.36761488e+01] [ 4.67067092e-01 8.84204963e-01 5.46949058e-03 1.72372464e+01] [-1.11551954e-02 -2.92834086e-04 9.99937736e-01 -1.36712699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57 meters 0.020739689598668853 Centerline is valid? [True, True] Translation: X:63.70, Y:17.25, Z:-1.37 [[ 8.85031787e-01 -4.65422258e-01 1.00428036e-02 6.37002033e+01] [ 4.65388050e-01 8.85088704e-01 5.65234475e-03 1.72519492e+01] [-1.15194991e-02 -3.28703998e-04 9.99933594e-01 -1.36705992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.6 meters 0.019263817207939557 Centerline is valid? [True, True] Translation: X:63.73, Y:17.27, Z:-1.36 [[ 8.86850823e-01 -4.61931045e-01 1.07390124e-02 6.37259654e+01] [ 4.61891653e-01 8.86915750e-01 6.04588931e-03 1.72655816e+01] [-1.23173832e-02 -4.01541713e-04 9.99924058e-01 -1.36447620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63 meters 0.02202142391953066 Centerline is valid? [True, True] Translation: X:63.75, Y:17.28, Z:-1.37 [[ 8.87061865e-01 -4.61553885e-01 9.44771561e-03 6.37509868e+01] [ 4.61523393e-01 8.87112104e-01 5.31722701e-03 1.72796710e+01] [-1.08353697e-02 -3.56367543e-04 9.99941232e-01 -1.36840970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66 meters 0.02025688211497855 Centerline is valid? [True, True] Translation: X:63.78, Y:17.29, Z:-1.37 [[ 8.87451391e-01 -4.60818553e-01 8.73443444e-03 6.37764478e+01] [ 4.60792432e-01 8.87494307e-01 4.91822634e-03 1.72929344e+01] [-1.00181708e-02 -3.39925519e-04 9.99949759e-01 -1.36806030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69 meters 0.02223174469925161 Centerline is valid? [True, True] Translation: X:63.80, Y:17.31, Z:-1.37 [[ 8.87157367e-01 -4.61405401e-01 7.54067249e-03 6.37989994e+01] [ 4.61385924e-01 8.87189366e-01 4.24942820e-03 1.73085359e+01] [-8.65071357e-03 -2.90751385e-04 9.99962540e-01 -1.37113048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72 meters 0.02223174469925161 Centerline is valid? [True, True] Translation: X:63.82, Y:17.32, Z:-1.37 [[ 8.87033494e-01 -4.61643492e-01 7.54099846e-03 6.38229995e+01] [ 4.61624029e-01 8.87065501e-01 4.24885104e-03 1.73221822e+01] [-8.65081401e-03 -2.87767102e-04 9.99962540e-01 -1.37169820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75 meters 0.023561238131135996 Centerline is valid? [True, True] Translation: X:63.85, Y:17.33, Z:-1.38 [[ 8.86073638e-01 -4.63512782e-01 5.42303841e-03 6.38497722e+01] [ 4.63502748e-01 8.86090211e-01 3.05613365e-03 1.73330074e+01] [-6.22185826e-03 -1.94366259e-04 9.99980625e-01 -1.37699883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78 meters 0.020315321745129882 Centerline is valid? [True, True] Translation: X:63.88, Y:17.34, Z:-1.38 [[ 8.85438374e-01 -4.64729388e-01 5.04786031e-03 6.38770535e+01] [ 4.64720707e-01 8.85452746e-01 2.84580014e-03 1.73437527e+01] [-5.79216873e-03 -1.73935435e-04 9.99983210e-01 -1.37586931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81 meters 0.020005574315377646 Centerline is valid? [True, True] Translation: X:63.91, Y:17.35, Z:-1.38 [[ 8.83692792e-01 -4.68053898e-01 3.54931856e-03 6.39062196e+01] [ 4.68049622e-01 8.83699913e-01 2.00370648e-03 1.73512465e+01] [-4.07437513e-03 -1.09403761e-04 9.99991694e-01 -1.37708417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84 meters 0.02014005652302372 Centerline is valid? [True, True] Translation: X:63.93, Y:17.36, Z:-1.38 [[ 8.82708098e-01 -4.69911472e-01 3.10190697e-03 6.39328128e+01] [ 4.69908230e-01 8.82713544e-01 1.74773595e-03 1.73628385e+01] [-3.55937647e-03 -8.51290643e-05 9.99993662e-01 -1.37819843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86999999999999 meters 0.01702922370306731 Centerline is valid? [True, True] Translation: X:63.96, Y:17.37, Z:-1.38 [[ 8.80822070e-01 -4.73429420e-01 4.13091843e-03 6.39592443e+01] [ 4.73423679e-01 8.80831751e-01 2.33375713e-03 1.73729290e+01] [-4.74351340e-03 -9.99501892e-05 9.99988744e-01 -1.37691776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89999999999999 meters 0.01855728130453612 Centerline is valid? [True, True] Translation: X:63.99, Y:17.39, Z:-1.38 [[ 8.79512053e-01 -4.75860489e-01 3.91724033e-03 6.39859344e+01] [ 4.75855361e-01 8.79520772e-01 2.21045585e-03 1.73851529e+01] [-4.49716284e-03 -8.00827473e-05 9.99989885e-01 -1.37924960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92999999999999 meters 0.018266067385579877 Centerline is valid? [True, True] Translation: X:64.01, Y:17.40, Z:-1.38 [[ 8.78696268e-01 -4.77358499e-01 4.66172151e-03 6.40100680e+01] [ 4.77351230e-01 8.78708629e-01 2.63598803e-03 1.73982890e+01] [-5.35460621e-03 -9.09543501e-05 9.99985660e-01 -1.37914089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96 meters 0.017850757433301525 Centerline is valid? [True, True] Translation: X:64.04, Y:17.41, Z:-1.38 [[ 8.77503127e-01 -4.79522693e-01 6.80062106e-03 6.40352627e+01] [ 4.79507278e-01 8.77529472e-01 3.84666035e-03 1.74134853e+01] [-7.81230634e-03 -1.14509196e-04 9.99969477e-01 -1.37766737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99 meters 0.014892936625793699 Centerline is valid? [True, True] Translation: X:64.06, Y:17.43, Z:-1.37 [[ 8.77316269e-01 -4.79838582e-01 8.43205564e-03 6.40605588e+01] [ 4.79814894e-01 8.77356778e-01 4.76988929e-03 1.74282906e+01] [-9.68669808e-03 -1.38875590e-04 9.99953073e-01 -1.37360987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02 meters 0.018334341260341325 Centerline is valid? [True, True] Translation: X:64.09, Y:17.44, Z:-1.38 [[ 8.76829304e-01 -4.80726838e-01 8.48990320e-03 6.40853525e+01] [ 4.80702838e-01 8.76870395e-01 4.80542259e-03 1.74438628e+01] [-9.75464038e-03 -1.32414780e-04 9.99952414e-01 -1.37651267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05 meters 0.01802923548641731 Centerline is valid? [True, True] Translation: X:64.11, Y:17.46, Z:-1.38 [[ 8.76929434e-01 -4.80509413e-01 1.02699480e-02 6.41082407e+01] [ 4.80474204e-01 8.76989553e-01 5.81928375e-03 1.74603665e+01] [-1.18028578e-02 -1.68656103e-04 9.99930330e-01 -1.37536495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08 meters 0.017835144822253516 Centerline is valid? [True, True] Translation: X:64.13, Y:17.48, Z:-1.38 [[ 8.77387377e-01 -4.79670175e-01 1.03881619e-02 6.41316074e+01] [ 4.79634076e-01 8.77448853e-01 5.88752884e-03 1.74755538e+01] [-1.19391528e-02 -1.83127047e-04 9.99928709e-01 -1.37533468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11 meters 0.019431988121133077 Centerline is valid? [True, True] Translation: X:64.16, Y:17.49, Z:-1.38 [[ 8.78135760e-01 -4.78317946e-01 9.46196609e-03 6.41558790e+01] [ 4.78287929e-01 8.78186716e-01 5.36175945e-03 1.74920727e+01] [-1.08739987e-02 -1.82808549e-04 9.99940860e-01 -1.37756617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14 meters 0.01900191629627953 Centerline is valid? [True, True] Translation: X:64.18, Y:17.51, Z:-1.38 [[ 8.78746804e-01 -4.77209744e-01 8.65533465e-03 6.41806611e+01] [ 4.77184550e-01 8.78789410e-01 4.90695242e-03 1.75077080e+01] [-9.94786194e-03 -1.81776787e-04 9.99950502e-01 -1.37883668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17 meters 0.018319824202596716 Centerline is valid? [True, True] Translation: X:64.20, Y:17.52, Z:-1.38 [[ 8.79202276e-01 -4.76387422e-01 7.64082789e-03 6.42045690e+01] [ 4.76367741e-01 8.79235461e-01 4.33363170e-03 1.75239844e+01] [-8.78257446e-03 -1.70294934e-04 9.99961418e-01 -1.38008380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.2 meters 0.019953324410620418 Centerline is valid? [True, True] Translation: X:64.23, Y:17.54, Z:-1.38 [[ 8.79954187e-01 -4.75022519e-01 5.85113239e-03 6.42258858e+01] [ 4.75010927e-01 8.79973628e-01 3.32166836e-03 1.75424763e+01] [-6.72670947e-03 -1.43564155e-04 9.99977365e-01 -1.38481089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23 meters 0.017835608320990723 Centerline is valid? [True, True] Translation: X:64.25, Y:17.56, Z:-1.38 [[ 8.79876706e-01 -4.75170806e-01 5.44869457e-03 6.42521217e+01] [ 4.75160770e-01 8.79893567e-01 3.09098185e-03 1.75558991e+01] [-6.26301563e-03 -1.30677018e-04 9.99980379e-01 -1.38348371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25999999999999 meters 0.01650505074253658 Centerline is valid? [True, True] Translation: X:64.28, Y:17.57, Z:-1.38 [[ 8.79730000e-01 -4.75443711e-01 5.32959559e-03 6.42751658e+01] [ 4.75434091e-01 8.79746134e-01 3.02718540e-03 1.75699513e+01] [-6.12794738e-03 -1.29234371e-04 9.99981216e-01 -1.38246382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28999999999999 meters 0.018935754151234274 Centerline is valid? [True, True] Translation: X:64.30, Y:17.58, Z:-1.39 [[ 8.77912752e-01 -4.78796555e-01 4.80199986e-03 6.43013408e+01] [ 4.78788805e-01 8.77925880e-01 2.72583795e-03 1.75819591e+01] [-5.52092177e-03 -9.39041262e-05 9.99984755e-01 -1.38516705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32 meters 0.019222493220700698 Centerline is valid? [True, True] Translation: X:64.33, Y:17.59, Z:-1.39 [[ 8.76832243e-01 -4.80767416e-01 5.28285268e-03 6.43261744e+01] [ 4.80758041e-01 8.76848153e-01 3.00382962e-03 1.75942873e+01] [-6.07640302e-03 -9.40807614e-05 9.99981534e-01 -1.38560659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35 meters 0.017551400933497812 Centerline is valid? [True, True] Translation: X:64.35, Y:17.61, Z:-1.38 [[ 8.75479178e-01 -4.83216334e-01 6.17934612e-03 6.43512536e+01] [ 4.83203560e-01 8.75500980e-01 3.51466848e-03 1.76066940e+01] [-7.10836880e-03 -9.11370280e-05 9.99974731e-01 -1.38499654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38 meters 0.014156261350343738 Centerline is valid? [True, True] Translation: X:64.38, Y:17.62, Z:-1.38 [[ 8.72875448e-01 -4.87866831e-01 8.62602216e-03 6.43779691e+01] [ 4.87842146e-01 8.72918066e-01 4.90832452e-03 1.76180041e+01] [-9.92441931e-03 -7.62188074e-05 9.99950749e-01 -1.38207814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41 meters 0.018642183591881644 Centerline is valid? [True, True] Translation: X:64.40, Y:17.63, Z:-1.39 [[ 8.70770929e-01 -4.91613886e-01 8.58934207e-03 6.44046606e+01] [ 4.91589603e-01 8.70813290e-01 4.88630602e-03 1.76304422e+01] [-9.88188912e-03 -3.24219747e-05 9.99951172e-01 -1.38648992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44 meters 0.015614992244612389 Centerline is valid? [True, True] Translation: X:64.43, Y:17.64, Z:-1.38 [[ 8.67524345e-01 -4.97285889e-01 1.04045907e-02 6.44324373e+01] [ 4.97250613e-01 8.67586735e-01 5.92320503e-03 1.76411458e+01] [-1.19724111e-02 3.51645322e-05 9.99928327e-01 -1.38407875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47 meters 0.01582546788436294 Centerline is valid? [True, True] Translation: X:64.46, Y:17.65, Z:-1.38 [[ 8.65743108e-01 -5.00362652e-01 1.12288798e-02 6.44581801e+01] [ 5.00321780e-01 8.65815922e-01 6.39578287e-03 1.76527895e+01] [-1.29223538e-02 8.09482131e-05 9.99916500e-01 -1.38339038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.5 meters 0.016685551143130837 Centerline is valid? [True, True] Translation: X:64.49, Y:17.66, Z:-1.38 [[ 8.64145864e-01 -5.03102125e-01 1.18396212e-02 6.44850600e+01] [ 5.03056874e-01 8.64226959e-01 6.74871517e-03 1.76649227e+01] [-1.36274127e-02 1.24128524e-04 9.99907135e-01 -1.38328538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53 meters 0.01691852151401088 Centerline is valid? [True, True] Translation: X:64.51, Y:17.68, Z:-1.38 [[ 8.62813715e-01 -5.05390005e-01 1.15514566e-02 6.45106080e+01] [ 5.05347074e-01 8.62891024e-01 6.58905217e-03 1.76756852e+01] [-1.32976894e-02 1.52370231e-04 9.99911570e-01 -1.38357196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56 meters 0.014821089830334921 Centerline is valid? [True, True] Translation: X:64.54, Y:17.69, Z:-1.38 [[ 8.61513496e-01 -5.07611791e-01 1.11698600e-02 6.45361319e+01] [ 5.07571825e-01 8.61585885e-01 6.37219238e-03 1.76896558e+01] [-1.28583937e-02 1.79776506e-04 9.99917311e-01 -1.38234961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59 meters 0.01876760784616445 Centerline is valid? [True, True] Translation: X:64.56, Y:17.70, Z:-1.39 [[ 8.60913062e-01 -5.08645868e-01 1.03961972e-02 6.45604764e+01] [ 5.08611268e-01 8.60975813e-01 5.93535955e-03 1.77025110e+01] [-1.19698704e-02 1.77794453e-04 9.99928343e-01 -1.38794238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61999999999999 meters 0.018230331987828852 Centerline is valid? [True, True] Translation: X:64.58, Y:17.72, Z:-1.39 [[ 8.60827632e-01 -5.08816012e-01 9.05833245e-03 6.45843284e+01] [ 5.08789746e-01 8.60875276e-01 5.17230852e-03 1.77178403e+01] [-1.04298478e-02 1.56320571e-04 9.99945595e-01 -1.39001672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64999999999999 meters 0.014825320969519058 Centerline is valid? [True, True] Translation: X:64.61, Y:17.73, Z:-1.39 [[ 8.60951651e-01 -5.08614526e-01 8.57428455e-03 6.46088691e+01] [ 5.08590997e-01 8.60994334e-01 4.89435674e-03 1.77323317e+01] [-9.87175134e-03 1.46999416e-04 9.99951262e-01 -1.38765397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67999999999999 meters 0.01762884886399154 Centerline is valid? [True, True] Translation: X:64.63, Y:17.75, Z:-1.39 [[ 8.60575888e-01 -5.09266989e-01 7.50167059e-03 6.46333842e+01] [ 5.09248963e-01 8.60608574e-01 4.28679444e-03 1.77450336e+01] [-8.63912492e-03 1.31106035e-04 9.99962673e-01 -1.39170063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71 meters 0.016818564841037487 Centerline is valid? [True, True] Translation: X:64.66, Y:17.76, Z:-1.39 [[ 8.60055930e-01 -5.10159261e-01 6.42856739e-03 6.46590969e+01] [ 5.10146063e-01 8.60079946e-01 3.67165880e-03 1.77577713e+01] [-7.40221264e-03 1.21676423e-04 9.99972596e-01 -1.39177592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74 meters 0.018855587272920683 Centerline is valid? [True, True] Translation: X:64.68, Y:17.77, Z:-1.39 [[ 8.59703124e-01 -5.10759043e-01 5.97810869e-03 6.46842914e+01] [ 5.10747634e-01 8.59723901e-01 3.41583970e-03 1.77720185e+01] [-6.88419394e-03 1.16696805e-04 9.99976297e-01 -1.39334057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77 meters 0.017334869173820135 Centerline is valid? [True, True] Translation: X:64.71, Y:17.79, Z:-1.39 [[ 8.59525582e-01 -5.11044573e-01 7.01551775e-03 6.47099200e+01] [ 5.11028843e-01 8.59554202e-01 4.01194152e-03 1.77861734e+01] [-8.08049870e-03 1.36765551e-04 9.99967343e-01 -1.39123758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.8 meters 0.01849530784464827 Centerline is valid? [True, True] Translation: X:64.73, Y:17.80, Z:-1.39 [[ 8.59547287e-01 -5.11006771e-01 7.10923898e-03 6.47333006e+01] [ 5.10990583e-01 8.59576676e-01 4.06974777e-03 1.77991282e+01] [-8.19060467e-03 1.34613514e-04 9.99966447e-01 -1.39236781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83 meters 0.017379207449443004 Centerline is valid? [True, True] Translation: X:64.76, Y:17.81, Z:-1.39 [[ 8.59763109e-01 -5.10637583e-01 7.52694608e-03 6.47584225e+01] [ 5.10619425e-01 8.59796045e-01 4.30860574e-03 1.78141356e+01] [-8.67177450e-03 1.39024610e-04 9.99962390e-01 -1.39137443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86 meters 0.015524414088815669 Centerline is valid? [True, True] Translation: X:64.78, Y:17.83, Z:-1.39 [[ 8.60369494e-01 -5.09601805e-01 8.38655020e-03 6.47827697e+01] [ 5.09579180e-01 8.60410356e-01 4.80400398e-03 1.78293377e+01] [-9.66400374e-03 1.40392900e-04 9.99953293e-01 -1.38947978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89 meters 0.016754699296164435 Centerline is valid? [True, True] Translation: X:64.81, Y:17.84, Z:-1.39 [[ 8.60712860e-01 -5.09020302e-01 8.46784139e-03 6.48072921e+01] [ 5.08997161e-01 8.60754504e-01 4.85539888e-03 1.78427412e+01] [-9.76022921e-03 1.31002965e-04 9.99952359e-01 -1.39115954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92 meters 0.01599665854021634 Centerline is valid? [True, True] Translation: X:64.83, Y:17.86, Z:-1.39 [[ 8.62031976e-01 -5.06766070e-01 9.43522627e-03 6.48307796e+01] [ 5.06737209e-01 8.62083602e-01 5.40967894e-03 1.78597953e+01] [-1.08753956e-02 1.17863997e-04 9.99940854e-01 -1.39015403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95 meters 0.013856941905303498 Centerline is valid? [True, True] Translation: X:64.85, Y:17.88, Z:-1.39 [[ 8.63264113e-01 -5.04649735e-01 1.01841170e-02 6.48544234e+01] [ 5.04615919e-01 8.63324178e-01 5.84279115e-03 1.78762214e+01] [-1.17407574e-02 9.51956322e-05 9.99931070e-01 -1.38797782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98 meters 0.017024157074735518 Centerline is valid? [True, True] Translation: X:64.88, Y:17.89, Z:-1.39 [[ 8.64033980e-01 -5.03338832e-01 9.76221692e-03 6.48778320e+01] [ 5.03307647e-01 8.64089124e-01 5.60331583e-03 1.78917153e+01] [-1.12557919e-02 7.19431511e-05 9.99936649e-01 -1.39140408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00999999999999 meters 0.017980479037910807 Centerline is valid? [True, True] Translation: X:64.90, Y:17.91, Z:-1.39 [[ 8.65390609e-01 -5.01004729e-01 9.66202193e-03 6.49011036e+01] [ 5.00973979e-01 8.65444545e-01 5.55092246e-03 1.79078188e+01] [-1.11429826e-02 3.67054023e-05 9.99937914e-01 -1.39278388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03999999999999 meters 0.015537727577444259 Centerline is valid? [True, True] Translation: X:64.92, Y:17.93, Z:-1.39 [[ 8.68089023e-01 -4.96316316e-01 9.56884637e-03 6.49233087e+01] [ 4.96285871e-01 8.68141759e-01 5.49729538e-03 1.79262655e+01] [-1.10355125e-02 -2.32585255e-05 9.99939107e-01 -1.39149331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07 meters 0.015704023398477547 Centerline is valid? [True, True] Translation: X:64.95, Y:17.94, Z:-1.39 [[ 8.69372305e-01 -4.94068158e-01 9.40480282e-03 6.49461723e+01] [ 4.94038555e-01 8.69423172e-01 5.40870355e-03 1.79418136e+01] [-1.08490217e-02 -5.58418812e-05 9.99941146e-01 -1.39268537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.1 meters 0.014279712022149317 Centerline is valid? [True, True] Translation: X:64.97, Y:17.96, Z:-1.39 [[ 8.71865563e-01 -4.89667493e-01 8.72845119e-03 6.49682530e+01] [ 4.89641765e-01 8.71909247e-01 5.02062070e-03 1.79592643e+01] [-1.00688521e-02 -1.03492049e-04 9.99949302e-01 -1.39162311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13 meters 0.017765585571727565 Centerline is valid? [True, True] Translation: X:64.99, Y:17.97, Z:-1.40 [[ 8.72105769e-01 -4.89254400e-01 7.85232822e-03 6.49920933e+01] [ 4.89233573e-01 8.72141114e-01 4.51532913e-03 1.79748312e+01] [-9.05748293e-03 -9.62219958e-05 9.99958976e-01 -1.39632236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16 meters 0.014718590582168203 Centerline is valid? [True, True] Translation: X:65.02, Y:17.99, Z:-1.39 [[ 8.73192079e-01 -4.87307448e-01 8.18808754e-03 6.50164734e+01] [ 4.87284690e-01 8.73230460e-01 4.71115674e-03 1.79901257e+01] [-9.44586921e-03 -1.23815044e-04 9.99955379e-01 -1.39319708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19 meters 0.016600508042801446 Centerline is valid? [True, True] Translation: X:65.04, Y:18.01, Z:-1.40 [[ 8.73826199e-01 -4.86175937e-01 7.79303625e-03 6.50403475e+01] [ 4.86155257e-01 8.73860939e-01 4.48616928e-03 1.80059455e+01] [-8.99109753e-03 -1.31506709e-04 9.99959571e-01 -1.39567579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22 meters 0.018829718941158723 Centerline is valid? [True, True] Translation: X:65.07, Y:18.02, Z:-1.40 [[ 8.73965774e-01 -4.85927755e-01 7.61862212e-03 6.50655474e+01] [ 4.85907959e-01 8.73998970e-01 4.38813975e-03 1.80209952e+01] [-8.79098678e-03 -1.33134829e-04 9.99961350e-01 -1.39769032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25 meters 0.01682669120360208 Centerline is valid? [True, True] Translation: X:65.09, Y:18.04, Z:-1.40 [[ 8.74298962e-01 -4.85315939e-01 8.35254335e-03 6.50893198e+01] [ 4.85292089e-01 8.74338845e-01 4.81375144e-03 1.80355016e+01] [-9.63914340e-03 -1.55234673e-04 9.99953530e-01 -1.39577656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28 meters 0.017912385772399456 Centerline is valid? [True, True] Translation: X:65.11, Y:18.05, Z:-1.40 [[ 8.74016209e-01 -4.85820553e-01 8.60562729e-03 6.51139660e+01] [ 4.85795226e-01 8.74058560e-01 4.96311710e-03 1.80497518e+01] [-9.93300649e-03 -1.57272140e-04 9.99950654e-01 -1.39704514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31 meters 0.018101817942994747 Centerline is valid? [True, True] Translation: X:65.14, Y:18.06, Z:-1.40 [[ 8.73664117e-01 -4.86441090e-01 9.27776945e-03 6.51393034e+01] [ 4.86411638e-01 8.73713362e-01 5.35543217e-03 1.80646355e+01] [-1.07112134e-02 -1.66033880e-04 9.99942620e-01 -1.39757490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34 meters 0.016405839859906225 Centerline is valid? [True, True] Translation: X:65.16, Y:18.08, Z:-1.40 [[ 8.72870684e-01 -4.87856227e-01 9.64733546e-03 6.51642415e+01] [ 4.87824434e-01 8.72923981e-01 5.57177113e-03 1.80788625e+01] [-1.11396137e-02 -1.57229726e-04 9.99937940e-01 -1.39755391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36999999999999 meters 0.017717125996166923 Centerline is valid? [True, True] Translation: X:65.19, Y:18.09, Z:-1.40 [[ 8.72051649e-01 -4.89333563e-01 8.86483835e-03 6.51893842e+01] [ 4.89306769e-01 8.72096696e-01 5.12232496e-03 1.80928421e+01] [-1.02375218e-02 -1.29306519e-04 9.99947587e-01 -1.40022582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39999999999999 meters 0.01716608171590574 Centerline is valid? [True, True] Translation: X:65.21, Y:18.11, Z:-1.40 [[ 8.71351684e-01 -4.90581737e-01 8.70642555e-03 6.52141669e+01] [ 4.90555907e-01 8.71395172e-01 5.03549697e-03 1.81060917e+01] [-1.00570600e-02 -1.16700286e-04 9.99949420e-01 -1.40150169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42999999999999 meters 0.01749574307884632 Centerline is valid? [True, True] Translation: X:65.24, Y:18.12, Z:-1.40 [[ 8.69742973e-01 -4.93452877e-01 7.17070837e-03 6.52412552e+01] [ 4.93435468e-01 8.69772530e-01 4.14554125e-03 1.81177001e+01] [-8.28251441e-03 -6.72735282e-05 9.99965697e-01 -1.40348310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46 meters 0.014871132520788607 Centerline is valid? [True, True] Translation: X:65.27, Y:18.13, Z:-1.40 [[ 8.69118686e-01 -4.94550686e-01 7.23382726e-03 6.52664520e+01] [ 4.94532992e-01 8.69148788e-01 4.18385109e-03 1.81303578e+01] [-8.35639862e-03 -5.88969259e-05 9.99965083e-01 -1.40172847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49 meters 0.01504903936330573 Centerline is valid? [True, True] Translation: X:65.29, Y:18.14, Z:-1.40 [[ 8.67680750e-01 -4.97073446e-01 6.93575471e-03 6.52923992e+01] [ 4.97057237e-01 8.67708470e-01 4.01433922e-03 1.81429481e+01] [-8.01363453e-03 -3.56977893e-05 9.99967890e-01 -1.40270500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52 meters 0.014598272496210724 Centerline is valid? [True, True] Translation: X:65.32, Y:18.16, Z:-1.40 [[ 8.66945510e-01 -4.98356864e-01 6.77631353e-03 6.53159643e+01] [ 4.98341400e-01 8.66971992e-01 3.92601543e-03 1.81555871e+01] [-7.83143077e-03 -2.67238768e-05 9.99969334e-01 -1.40283974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55 meters 0.016134227527035118 Centerline is valid? [True, True] Translation: X:65.34, Y:18.17, Z:-1.40 [[ 8.66108016e-01 -4.99815658e-01 6.41968353e-03 6.53413221e+01] [ 4.99801830e-01 8.66131807e-01 3.71792217e-03 1.81687013e+01] [-7.41856782e-03 -1.15526107e-05 9.99972482e-01 -1.40483946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58 meters 0.016628035211085017 Centerline is valid? [True, True] Translation: X:65.37, Y:18.18, Z:-1.41 [[ 8.64946951e-01 -5.01826658e-01 6.06447892e-03 6.53663173e+01] [ 5.01814353e-01 8.64968211e-01 3.51412416e-03 1.81807425e+01] [-7.00906267e-03 3.71159205e-06 9.99975436e-01 -1.40626944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61 meters 0.016628035211085017 Centerline is valid? [True, True] Translation: X:65.39, Y:18.19, Z:-1.41 [[ 8.64807832e-01 -5.02066377e-01 6.06349329e-03 6.53901508e+01] [ 5.02054067e-01 8.64829089e-01 3.51582295e-03 1.81946686e+01] [-7.00906187e-03 3.69023972e-06 9.99975436e-01 -1.40683559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64 meters 0.01589600080012177 Centerline is valid? [True, True] Translation: X:65.41, Y:18.21, Z:-1.41 [[ 8.64247808e-01 -5.03030352e-01 6.01595134e-03 6.54146542e+01] [ 5.03018243e-01 8.64268746e-01 3.49035490e-03 1.82077523e+01] [-6.95515318e-03 9.60169934e-06 9.99975813e-01 -1.40657470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67 meters 0.015613871609495508 Centerline is valid? [True, True] Translation: X:65.44, Y:18.22, Z:-1.41 [[ 8.63943840e-01 -5.03549939e-01 6.20487459e-03 6.54384791e+01] [ 5.03537035e-01 8.63966121e-01 3.60500110e-03 1.82202184e+01] [-7.17609952e-03 9.86565622e-06 9.99974251e-01 -1.40685436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.7 meters 0.01729696718516236 Centerline is valid? [True, True] Translation: X:65.46, Y:18.23, Z:-1.41 [[ 8.63436325e-01 -5.04411992e-01 6.80110862e-03 6.54635085e+01] [ 5.04396500e-01 8.63463110e-01 3.95333362e-03 1.82320148e+01] [-7.86661529e-03 1.70035343e-05 9.99969058e-01 -1.40747390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73 meters 0.013641819030041122 Centerline is valid? [True, True] Translation: X:65.49, Y:18.25, Z:-1.40 [[ 8.63520983e-01 -5.04243778e-01 8.35010499e-03 6.54880583e+01] [ 5.04220403e-01 8.63561354e-01 4.85517212e-03 1.82458183e+01] [-9.65901830e-03 1.77503005e-05 9.99953350e-01 -1.40388148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75999999999999 meters 0.013571200672582337 Centerline is valid? [True, True] Translation: X:65.51, Y:18.26, Z:-1.40 [[ 8.63060476e-01 -5.05004343e-01 9.86044714e-03 6.55136996e+01] [ 5.04971800e-01 8.63116801e-01 5.73314389e-03 1.82589908e+01] [-1.14059802e-02 3.11978452e-05 9.99934949e-01 -1.40161216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78999999999999 meters 0.015966245509547547 Centerline is valid? [True, True] Translation: X:65.54, Y:18.27, Z:-1.40 [[ 8.62666814e-01 -5.05676257e-01 9.87378183e-03 6.55373677e+01] [ 5.05643617e-01 8.62723317e-01 5.74547937e-03 1.82711731e+01] [-1.14236943e-02 3.61803754e-05 9.99934747e-01 -1.40368243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82 meters 0.015354632567043995 Centerline is valid? [True, True] Translation: X:65.56, Y:18.28, Z:-1.40 [[ 8.62607240e-01 -5.05770609e-01 1.02391698e-02 6.55615309e+01] [ 5.05735502e-01 8.62668007e-01 5.95918241e-03 1.82844122e+01] [-1.18469835e-02 3.78777893e-05 9.99929821e-01 -1.40294417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85 meters 0.01665924936491912 Centerline is valid? [True, True] Translation: X:65.59, Y:18.30, Z:-1.40 [[ 8.62485573e-01 -5.05982706e-01 1.00068488e-02 6.55854797e+01] [ 5.05949172e-01 8.62543622e-01 5.82544288e-03 1.82982148e+01] [-1.15789169e-02 3.85964144e-05 9.99932961e-01 -1.40392601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88 meters 0.013545288283936243 Centerline is valid? [True, True] Translation: X:65.61, Y:18.31, Z:-1.40 [[ 8.62981283e-01 -5.05114497e-01 1.10747281e-02 6.56094236e+01] [ 5.05073266e-01 8.63052342e-01 6.45378117e-03 1.83131078e+01] [-1.28179685e-02 2.40567512e-05 9.99917846e-01 -1.40202145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91 meters 0.017104965751896375 Centerline is valid? [True, True] Translation: X:65.63, Y:18.33, Z:-1.41 [[ 8.63108327e-01 -5.04920159e-01 9.98241806e-03 6.56343841e+01] [ 5.04886656e-01 8.63166051e-01 5.81654126e-03 1.83278796e+01] [-1.15533733e-02 1.96844790e-05 9.99933257e-01 -1.40641047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94 meters 0.01763931104468434 Centerline is valid? [True, True] Translation: X:65.66, Y:18.34, Z:-1.41 [[ 8.63251565e-01 -5.04690282e-01 9.18998301e-03 6.56592896e+01] [ 5.04661846e-01 8.63300480e-01 5.35739325e-03 1.83427881e+01] [-1.06375411e-02 1.30556900e-05 9.99943420e-01 -1.40747312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97 meters 0.01694424803297681 Centerline is valid? [True, True] Translation: X:65.68, Y:18.36, Z:-1.41 [[ 8.63185515e-01 -5.04802968e-01 9.20495650e-03 6.56829382e+01] [ 5.04774398e-01 8.63234594e-01 5.37057145e-03 1.83567002e+01] [-1.06571173e-02 1.06268988e-05 9.99943211e-01 -1.40828470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.0 meters 0.016698456240808027 Centerline is valid? [True, True] Translation: X:65.71, Y:18.37, Z:-1.41 [[ 8.62924384e-01 -5.05251385e-01 9.08544959e-03 6.57072253e+01] [ 5.05223583e-01 8.62972211e-01 5.30038545e-03 1.83711470e+01] [-1.05185176e-02 1.63515440e-05 9.99944679e-01 -1.40772200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03 meters 0.01593647774873144 Centerline is valid? [True, True] Translation: X:65.73, Y:18.38, Z:-1.41 [[ 8.62226676e-01 -5.06432391e-01 9.55995939e-03 6.57310988e+01] [ 5.06401625e-01 8.62279672e-01 5.58222128e-03 1.83848136e+01] [-1.10703763e-02 2.80388736e-05 9.99938721e-01 -1.40760317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06 meters 0.016456232225506393 Centerline is valid? [True, True] Translation: X:65.75, Y:18.40, Z:-1.41 [[ 8.61395539e-01 -5.07847485e-01 9.41574711e-03 6.57549125e+01] [ 5.07817687e-01 8.61446998e-01 5.50156297e-03 1.83985550e+01] [-1.09051220e-02 4.24611129e-05 9.99940536e-01 -1.40842158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09 meters 0.018520277669572725 Centerline is valid? [True, True] Translation: X:65.78, Y:18.41, Z:-1.41 [[ 8.60900153e-01 -5.08690780e-01 9.19875640e-03 6.57790613e+01] [ 5.08662399e-01 8.60949294e-01 5.37362324e-03 1.84129256e+01] [-1.06531754e-02 5.29084296e-05 9.99943252e-01 -1.41056757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11999999999999 meters 0.016305193963251332 Centerline is valid? [True, True] Translation: X:65.80, Y:18.43, Z:-1.41 [[ 8.60456855e-01 -5.09438656e-01 9.28740931e-03 6.58031750e+01] [ 5.09409732e-01 8.60506974e-01 5.42887525e-03 1.84276437e+01] [-1.07575594e-02 5.97837631e-05 9.99942134e-01 -1.41011725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14999999999999 meters 0.017723813232510217 Centerline is valid? [True, True] Translation: X:65.83, Y:18.44, Z:-1.41 [[ 8.59961680e-01 -5.10284703e-01 8.68510198e-03 6.58283014e+01] [ 5.10259419e-01 8.60005534e-01 5.08003450e-03 1.84425403e+01] [-1.00614997e-02 6.30200881e-05 9.99949380e-01 -1.41189737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17999999999999 meters 0.013768127491891966 Centerline is valid? [True, True] Translation: X:65.85, Y:18.46, Z:-1.41 [[ 8.59245518e-01 -5.11470328e-01 9.75922419e-03 6.58519294e+01] [ 5.11438440e-01 8.59300935e-01 5.71186717e-03 1.84570470e+01] [-1.13075610e-02 8.33461353e-05 9.99936064e-01 -1.40947835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21 meters 0.017390443735191483 Centerline is valid? [True, True] Translation: X:65.88, Y:18.47, Z:-1.41 [[ 8.58543473e-01 -5.12659565e-01 9.12554496e-03 6.58772784e+01] [ 5.12631714e-01 8.58591965e-01 5.34445877e-03 1.84711246e+01] [-1.05750075e-02 8.95935595e-05 9.99944079e-01 -1.41239730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24 meters 0.01801176820573377 Centerline is valid? [True, True] Translation: X:65.90, Y:18.49, Z:-1.41 [[ 8.58321302e-01 -5.13016284e-01 9.94156007e-03 6.59010992e+01] [ 5.12983213e-01 8.58378869e-01 5.82588332e-03 1.84853977e+01] [-1.15223981e-02 9.93736668e-05 9.99933610e-01 -1.41224372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27 meters 0.01661535604518299 Centerline is valid? [True, True] Translation: X:65.92, Y:18.50, Z:-1.41 [[ 8.58789989e-01 -5.12218916e-01 1.05611039e-02 6.59249927e+01] [ 5.12181456e-01 8.58854921e-01 6.19529451e-03 1.85003670e+01] [-1.22438031e-02 8.87446387e-05 9.99925038e-01 -1.41189059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.3 meters 0.016933675441484105 Centerline is valid? [True, True] Translation: X:65.95, Y:18.52, Z:-1.41 [[ 8.59383315e-01 -5.11223967e-01 1.05058863e-02 6.59484035e+01] [ 5.11186831e-01 8.59447526e-01 6.16223776e-03 1.85163318e+01] [-1.21795417e-02 7.47464370e-05 9.99925824e-01 -1.41296398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33 meters 0.017619920173308788 Centerline is valid? [True, True] Translation: X:65.97, Y:18.53, Z:-1.42 [[ 8.61638583e-01 -5.07427909e-01 9.79127925e-03 6.59697802e+01] [ 5.07395352e-01 8.61694213e-01 5.74801112e-03 1.85344427e+01] [-1.13537899e-02 1.53414238e-05 9.99935544e-01 -1.41628196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36 meters 0.016311235768193665 Centerline is valid? [True, True] Translation: X:65.99, Y:18.55, Z:-1.42 [[ 8.63120104e-01 -5.04921072e-01 8.85424400e-03 6.59929826e+01] [ 5.04894319e-01 8.63165518e-01 5.19766792e-03 1.85514295e+01] [-1.02670902e-02 -1.57541811e-05 9.99947292e-01 -1.41687327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39 meters 0.01566928747021258 Centerline is valid? [True, True] Translation: X:66.01, Y:18.57, Z:-1.42 [[ 8.66099608e-01 -4.99817450e-01 7.34741740e-03 6.60139006e+01] [ 4.99798813e-01 8.66130771e-01 4.31680885e-03 1.85699758e+01] [-8.52144069e-03 -6.65559546e-05 9.99963690e-01 -1.41942930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42 meters 0.017185539906635537 Centerline is valid? [True, True] Translation: X:66.04, Y:18.59, Z:-1.42 [[ 8.67179670e-01 -4.97950517e-01 6.68598817e-03 6.60365785e+01] [ 4.97935024e-01 8.67205441e-01 3.92884087e-03 1.85854663e+01] [-7.75449366e-03 -7.78232556e-05 9.99969930e-01 -1.42149230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45 meters 0.018445611845749367 Centerline is valid? [True, True] Translation: X:66.06, Y:18.60, Z:-1.42 [[ 8.67903070e-01 -4.96698194e-01 5.92996419e-03 6.60608928e+01] [ 4.96685992e-01 8.67923325e-01 3.48253462e-03 1.86011834e+01] [-6.87652289e-03 -7.71723428e-05 9.99976353e-01 -1.42244073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48 meters 0.018237220484870833 Centerline is valid? [True, True] Translation: X:66.09, Y:18.62, Z:-1.42 [[ 8.69387818e-01 -4.94099177e-01 5.55203601e-03 6.60851488e+01] [ 4.94088418e-01 8.69405541e-01 3.26192209e-03 1.86172799e+01] [-6.43868389e-03 -9.26786357e-05 9.99979267e-01 -1.42177984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50999999999999 meters 0.018676338353648087 Centerline is valid? [True, True] Translation: X:66.11, Y:18.63, Z:-1.42 [[ 8.69769991e-01 -4.93428592e-01 5.32800217e-03 6.61086524e+01] [ 4.93418646e-01 8.69786304e-01 3.13453101e-03 1.86320985e+01] [-6.18089054e-03 -9.73853917e-05 9.99980893e-01 -1.42255693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53999999999999 meters 0.01826495137147884 Centerline is valid? [True, True] Translation: X:66.13, Y:18.65, Z:-1.42 [[ 8.70048014e-01 -4.92928224e-01 6.18214645e-03 6.61324940e+01] [ 4.92914834e-01 8.70069970e-01 3.63506705e-03 1.86465402e+01] [-7.17072712e-03 -1.15411175e-04 9.99974283e-01 -1.42191684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57 meters 0.0178999790970722 Centerline is valid? [True, True] Translation: X:66.16, Y:18.66, Z:-1.42 [[ 8.69775159e-01 -4.93397871e-01 7.05079177e-03 6.61577498e+01] [ 4.93380436e-01 8.69803727e-01 4.14997048e-03 1.86604118e+01] [-8.18039156e-03 -1.30818514e-04 9.99966531e-01 -1.42088270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.6 meters 0.015101563060283813 Centerline is valid? [True, True] Translation: X:66.18, Y:18.67, Z:-1.42 [[ 8.69255784e-01 -4.94268401e-01 9.65035663e-03 6.61839040e+01] [ 4.94235728e-01 8.69309334e-01 5.68566677e-03 1.86741649e+01] [-1.11993905e-02 -1.72747693e-04 9.99937270e-01 -1.41632732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63 meters 0.016430478231709598 Centerline is valid? [True, True] Translation: X:66.21, Y:18.69, Z:-1.42 [[ 8.68352589e-01 -4.95841317e-01 1.02552231e-02 6.62095002e+01] [ 4.95804490e-01 8.68413128e-01 6.04538035e-03 1.86877172e+01] [-1.19033197e-02 -1.64936038e-04 9.99929139e-01 -1.41790934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66 meters 0.01729037194259947 Centerline is valid? [True, True] Translation: X:66.24, Y:18.70, Z:-1.42 [[ 8.67427784e-01 -4.97443793e-01 1.08955449e-02 6.62352471e+01] [ 4.97402298e-01 8.67496195e-01 6.42685121e-03 1.87015166e+01] [-1.26488410e-02 -1.55360232e-04 9.99919988e-01 -1.41866585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69 meters 0.017520343674295617 Centerline is valid? [True, True] Translation: X:66.26, Y:18.71, Z:-1.42 [[ 8.66112046e-01 -4.99714766e-01 1.16221987e-02 6.62611655e+01] [ 4.99667699e-01 8.66190010e-01 6.85977552e-03 1.87142854e+01] [-1.34949635e-02 -1.34096932e-04 9.99908930e-01 -1.41882943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72 meters 0.016171873003173437 Centerline is valid? [True, True] Translation: X:66.29, Y:18.73, Z:-1.42 [[ 8.65625031e-01 -5.00556294e-01 1.16919736e-02 6.62857461e+01] [ 5.00508665e-01 8.65703980e-01 6.90617851e-03 1.87282866e+01] [-1.35787192e-02 -1.26226889e-04 9.99907797e-01 -1.41903905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75 meters 0.017787981595224708 Centerline is valid? [True, True] Translation: X:66.31, Y:18.74, Z:-1.42 [[ 8.64742860e-01 -5.02098750e-01 1.07995670e-02 6.63108779e+01] [ 5.02058244e-01 8.64810289e-01 6.37834839e-03 1.87413349e+01] [-1.25421375e-02 -9.36195636e-05 9.99921340e-01 -1.42132880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78 meters 0.01385923840133514 Centerline is valid? [True, True] Translation: X:66.34, Y:18.75, Z:-1.42 [[ 8.64294899e-01 -5.02876126e-01 1.04847362e-02 6.63352101e+01] [ 5.02837959e-01 8.64358488e-01 6.19613892e-03 1.87548629e+01] [-1.21784611e-02 -8.31678900e-05 9.99925836e-01 -1.41913146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81 meters 0.01738777808067538 Centerline is valid? [True, True] Translation: X:66.36, Y:18.77, Z:-1.43 [[ 8.62118621e-01 -5.06644842e-01 7.90486153e-03 6.63601305e+01] [ 5.06623269e-01 8.62154860e-01 4.67551004e-03 1.87665131e+01] [-9.18403783e-03 -2.60574862e-05 9.99957825e-01 -1.42633342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84 meters 0.01680615261020168 Centerline is valid? [True, True] Translation: X:66.39, Y:18.78, Z:-1.43 [[ 8.60875218e-01 -5.08765503e-01 7.17791345e-03 6.63857734e+01] [ 5.08747805e-01 8.60905142e-01 4.24347620e-03 1.87792936e+01] [-8.33843690e-03 -1.35578554e-06 9.99965235e-01 -1.42627057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86999999999999 meters 0.017191129702097952 Centerline is valid? [True, True] Translation: X:66.41, Y:18.79, Z:-1.43 [[ 8.58242258e-01 -5.13203778e-01 6.48915715e-03 6.64118877e+01] [ 5.13189405e-01 8.58266789e-01 3.84103799e-03 1.87895489e+01] [-7.54066328e-03 3.36255798e-05 9.99971568e-01 -1.42746493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89999999999999 meters 0.01411147754091187 Centerline is valid? [True, True] Translation: X:66.44, Y:18.80, Z:-1.42 [[ 8.56935476e-01 -5.15365671e-01 7.73407974e-03 6.64369465e+01] [ 5.15345354e-01 8.56970374e-01 4.57658660e-03 1.88025861e+01] [-8.98649283e-03 6.38826407e-05 9.99959619e-01 -1.42325921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92999999999999 meters 0.018652934848079616 Centerline is valid? [True, True] Translation: X:66.46, Y:18.82, Z:-1.43 [[ 8.54749868e-01 -5.18985755e-01 7.51327648e-03 6.64634475e+01] [ 5.18966694e-01 8.54782883e-01 4.44909080e-03 1.88151607e+01] [-8.73123488e-03 9.62804805e-05 9.99961877e-01 -1.42636243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96 meters 0.015027356147076676 Centerline is valid? [True, True] Translation: X:66.49, Y:18.83, Z:-1.42 [[ 8.51788600e-01 -5.23791784e-01 9.91702042e-03 6.64901249e+01] [ 5.23758839e-01 8.51846307e-01 5.87767101e-03 1.88274644e+01] [-1.15264530e-02 1.87593937e-04 9.99933551e-01 -1.42129645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99 meters 0.017287187267028152 Centerline is valid? [True, True] Translation: X:66.52, Y:18.84, Z:-1.42 [[ 8.49961329e-01 -5.26751247e-01 9.94296206e-03 6.65155476e+01] [ 5.26718272e-01 8.50019455e-01 5.89811641e-03 1.88396733e+01] [-1.15585514e-02 2.23968933e-04 9.99933173e-01 -1.42336540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02 meters 0.016093969177272065 Centerline is valid? [True, True] Translation: X:66.54, Y:18.85, Z:-1.42 [[ 8.48681868e-01 -5.28793831e-01 1.07782460e-02 6.65405886e+01] [ 5.28755248e-01 8.48750263e-01 6.39356177e-03 1.88538622e+01] [-1.25289151e-02 2.72954180e-04 9.99921473e-01 -1.42182255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05 meters 0.017867591451062374 Centerline is valid? [True, True] Translation: X:66.57, Y:18.87, Z:-1.42 [[ 8.46520395e-01 -5.32236315e-01 1.13016005e-02 6.65663166e+01] [ 5.32194130e-01 8.46595767e-01 6.70934194e-03 1.88659472e+01] [-1.31388425e-02 3.35050633e-04 9.99913626e-01 -1.42280774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08 meters 0.017644630650271595 Centerline is valid? [True, True] Translation: X:66.59, Y:18.88, Z:-1.42 [[ 8.45875292e-01 -5.33255915e-01 1.15377186e-02 6.65917331e+01] [ 5.33212036e-01 8.45953900e-01 6.85005741e-03 1.88804538e+01] [-1.34132117e-02 3.57756097e-04 9.99909975e-01 -1.42261564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11 meters 0.01955391607242151 Centerline is valid? [True, True] Translation: X:66.62, Y:18.90, Z:-1.43 [[ 8.45210336e-01 -5.34331829e-01 1.04395031e-02 6.66165159e+01] [ 5.34295954e-01 8.45274738e-01 6.20089380e-03 1.88960735e+01] [-1.21375832e-02 3.36724746e-04 9.99926280e-01 -1.42539157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14 meters 0.017625498979677055 Centerline is valid? [True, True] Translation: X:66.64, Y:18.91, Z:-1.42 [[ 8.45909063e-01 -5.33228978e-01 1.02330173e-02 6.66399402e+01] [ 5.33194368e-01 8.45970898e-01 6.08314658e-03 1.89120073e+01] [-1.19005449e-02 3.10398372e-04 9.99929138e-01 -1.42453663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17 meters 0.017152962961275945 Centerline is valid? [True, True] Translation: X:66.66, Y:18.93, Z:-1.43 [[ 8.46439480e-01 -5.32393829e-01 9.84971256e-03 6.66638347e+01] [ 5.32361714e-01 8.46496738e-01 5.85467608e-03 1.89285626e+01] [-1.14547430e-02 2.87980886e-04 9.99934351e-01 -1.42543000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.2 meters 0.01701254544599945 Centerline is valid? [True, True] Translation: X:66.69, Y:18.95, Z:-1.43 [[ 8.48330290e-01 -5.29398484e-01 8.54190872e-03 6.66856161e+01] [ 5.29374144e-01 8.48373267e-01 5.08085514e-03 1.89456916e+01] [-9.93652402e-03 2.11622309e-04 9.99950609e-01 -1.42736534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23 meters 0.016302727362257036 Centerline is valid? [True, True] Translation: X:66.71, Y:18.96, Z:-1.43 [[ 8.49433392e-01 -5.27632231e-01 8.19396478e-03 6.67091917e+01] [ 5.27609754e-01 8.49472893e-01 4.87366352e-03 1.89633141e+01] [-9.53205292e-03 1.83363198e-04 9.99954552e-01 -1.42801117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25999999999999 meters 0.01748954728873927 Centerline is valid? [True, True] Translation: X:66.73, Y:18.98, Z:-1.43 [[ 8.50299714e-01 -5.26251252e-01 7.07219860e-03 6.67323478e+01] [ 5.26234434e-01 8.50329113e-01 4.20965630e-03 1.89792309e+01] [-8.22903325e-03 1.42164877e-04 9.99966131e-01 -1.43042018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28999999999999 meters 0.017901030090515996 Centerline is valid? [True, True] Translation: X:66.75, Y:19.00, Z:-1.43 [[ 8.52163562e-01 -5.23232825e-01 6.68384198e-03 6.67546269e+01] [ 5.23217716e-01 8.52189767e-01 3.97779251e-03 1.89978924e+01] [-7.77721335e-03 1.07374692e-04 9.99969751e-01 -1.43166641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32 meters 0.018807082242076285 Centerline is valid? [True, True] Translation: X:66.78, Y:19.01, Z:-1.43 [[ 8.52930852e-01 -5.21981755e-01 6.63400498e-03 6.67777631e+01] [ 5.21966797e-01 8.52956646e-01 3.95264574e-03 1.90139226e+01] [-7.72172759e-03 9.13968364e-05 9.99970183e-01 -1.43255028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35 meters 0.0173440914958526 Centerline is valid? [True, True] Translation: X:66.80, Y:19.03, Z:-1.43 [[ 8.54616741e-01 -5.19193396e-01 8.27310363e-03 6.68001118e+01] [ 5.19169988e-01 8.54656780e-01 4.93073647e-03 1.90315923e+01] [-9.63066992e-03 8.12571840e-05 9.99953621e-01 -1.43174781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38 meters 0.017046411117891087 Centerline is valid? [True, True] Translation: X:66.82, Y:19.05, Z:-1.43 [[ 8.55401116e-01 -5.17884343e-01 9.20534787e-03 6.68232337e+01] [ 5.17855273e-01 8.55450642e-01 5.48766594e-03 1.90472440e+01] [-1.07166970e-02 7.28823685e-05 9.99942572e-01 -1.43139558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41 meters 0.015711265592311622 Centerline is valid? [True, True] Translation: X:66.85, Y:19.06, Z:-1.43 [[ 8.56205489e-01 -5.16546461e-01 9.58719505e-03 6.68470473e+01] [ 5.16514851e-01 8.56259161e-01 5.71472008e-03 1.90644605e+01] [-1.11610420e-02 5.89539248e-05 9.99937712e-01 -1.43010712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44 meters 0.014238872667742314 Centerline is valid? [True, True] Translation: X:66.87, Y:19.08, Z:-1.43 [[ 8.57108883e-01 -5.15032752e-01 1.02775263e-02 6.68696842e+01] [ 5.14996252e-01 8.57170498e-01 6.13162739e-03 1.90803190e+01] [-1.19675812e-02 3.74152096e-05 9.99928385e-01 -1.43012436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47 meters 0.01773729887295884 Centerline is valid? [True, True] Translation: X:66.89, Y:19.10, Z:-1.43 [[ 8.58355856e-01 -5.12982424e-01 8.61729379e-03 6.68926496e+01] [ 5.12956673e-01 8.58399110e-01 5.13990823e-03 1.90988565e+01] [-1.00337599e-02 8.42802895e-06 9.99949661e-01 -1.43321116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.5 meters 0.015406908036522652 Centerline is valid? [True, True] Translation: X:66.91, Y:19.12, Z:-1.43 [[ 8.60519757e-01 -5.09334959e-01 9.14592521e-03 6.69131167e+01] [ 5.09305695e-01 8.60568357e-01 5.45996301e-03 1.91171805e+01] [-1.06516439e-02 -4.03342467e-05 9.99943269e-01 -1.43244201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53 meters 0.015406908036522652 Centerline is valid? [True, True] Translation: X:66.94, Y:19.13, Z:-1.43 [[ 8.60380422e-01 -5.09570288e-01 9.14606081e-03 6.69367644e+01] [ 5.09541040e-01 8.60429032e-01 5.45973671e-03 1.91314051e+01] [-1.06516559e-02 -3.71572393e-05 9.99943269e-01 -1.43300950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56 meters 0.019160249119820432 Centerline is valid? [True, True] Translation: X:66.96, Y:19.15, Z:-1.44 [[ 8.61206338e-01 -5.08190815e-01 8.10793098e-03 6.69599067e+01] [ 5.08167743e-01 8.61244503e-01 4.84274176e-03 1.91482054e+01] [-9.44394787e-03 -5.04109115e-05 9.99955404e-01 -1.43567107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59 meters 0.016746924598766685 Centerline is valid? [True, True] Translation: X:66.98, Y:19.17, Z:-1.44 [[ 8.62522625e-01 -5.05951306e-01 8.24603316e-03 6.69823940e+01] [ 5.05927293e-01 8.62562038e-01 4.92997444e-03 1.91652360e+01] [-9.60704218e-03 -8.03212581e-05 9.99953848e-01 -1.43564275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61999999999999 meters 0.018489358315900695 Centerline is valid? [True, True] Translation: X:67.01, Y:19.18, Z:-1.44 [[ 8.64484500e-01 -5.02610834e-01 6.99269599e-03 6.70054738e+01] [ 5.02593472e-01 8.64512776e-01 4.17881212e-03 1.91832869e+01] [-8.14559127e-03 -9.80349454e-05 9.99966819e-01 -1.43684254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64999999999999 meters 0.01618742623814831 Centerline is valid? [True, True] Translation: X:67.03, Y:19.20, Z:-1.44 [[ 8.65570329e-01 -5.00741830e-01 6.75466767e-03 6.70293553e+01] [ 5.00725556e-01 8.65596677e-01 4.03858965e-03 1.92001294e+01] [-7.86910865e-03 -1.13448647e-04 9.99969032e-01 -1.43651727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67999999999999 meters 0.01854335135822385 Centerline is valid? [True, True] Translation: X:67.05, Y:19.22, Z:-1.44 [[ 8.67039400e-01 -4.98216684e-01 4.77650756e-03 6.70525595e+01] [ 4.98208509e-01 8.67052551e-01 2.85568158e-03 1.92177727e+01] [-5.56423127e-03 -9.62917354e-05 9.99984515e-01 -1.44000735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71 meters 0.02032632011041711 Centerline is valid? [True, True] Translation: X:67.08, Y:19.23, Z:-1.44 [[ 8.67575210e-01 -4.97293768e-01 3.48746301e-03 6.70751587e+01] [ 4.97289397e-01 8.67582217e-01 2.08640516e-03 1.92332847e+01] [-4.06321718e-03 -7.58350206e-05 9.99991742e-01 -1.44267320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74 meters 0.01864382135667768 Centerline is valid? [True, True] Translation: X:67.10, Y:19.25, Z:-1.44 [[ 8.67921036e-01 -4.96691405e-01 3.27453643e-03 6.70993731e+01] [ 4.96687553e-01 8.67927210e-01 1.95769595e-03 1.92486047e+01] [-3.81443002e-03 -7.27040094e-05 9.99992722e-01 -1.44284876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77 meters 0.016363137924603317 Centerline is valid? [True, True] Translation: X:67.12, Y:19.26, Z:-1.44 [[ 8.68472899e-01 -4.95719295e-01 4.14780693e-03 6.71244415e+01] [ 4.95713088e-01 8.68482798e-01 2.48268238e-03 1.92638442e+01] [-4.83301253e-03 -1.00020176e-04 9.99988316e-01 -1.44088926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.8 meters 0.018727857946953898 Centerline is valid? [True, True] Translation: X:67.15, Y:19.28, Z:-1.44 [[ 8.68164063e-01 -4.96266354e-01 3.29620105e-03 6.71505856e+01] [ 4.96262439e-01 8.68170317e-01 1.97283286e-03 1.92772257e+01] [-3.84071449e-03 -7.69618223e-05 9.99992621e-01 -1.44312641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83 meters 0.01838375201050146 Centerline is valid? [True, True] Translation: X:67.18, Y:19.29, Z:-1.44 [[ 8.68071108e-01 -4.96426509e-01 3.64321952e-03 6.71752868e+01] [ 4.96421722e-01 8.68078749e-01 2.18174752e-03 1.92914563e+01] [-4.24567875e-03 -8.53386804e-05 9.99990983e-01 -1.44289558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86 meters 0.020443706473933773 Centerline is valid? [True, True] Translation: X:67.20, Y:19.31, Z:-1.45 [[ 8.67855999e-01 -4.96793919e-01 4.66552976e-03 6.71971504e+01] [ 4.96786039e-01 8.67868532e-01 2.80039794e-03 1.93084773e+01] [-5.44028713e-03 -1.12572101e-04 9.99985195e-01 -1.44505052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89 meters 0.017032673008305913 Centerline is valid? [True, True] Translation: X:67.22, Y:19.32, Z:-1.44 [[ 8.67757775e-01 -4.96954058e-01 5.75398653e-03 6.72241427e+01] [ 4.96942077e-01 8.67776841e-01 3.45359251e-03 1.93190314e+01] [-6.70945307e-03 -1.37483733e-04 9.99977482e-01 -1.44067055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92 meters 0.01786659580538858 Centerline is valid? [True, True] Translation: X:67.25, Y:19.33, Z:-1.44 [[ 8.67468723e-01 -4.97448406e-01 6.56485240e-03 6.72485129e+01] [ 4.97432782e-01 8.67493549e-01 3.94574225e-03 1.93332236e+01] [-7.65777030e-03 -1.57235195e-04 9.99970666e-01 -1.44183596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95 meters 0.020093029268666417 Centerline is valid? [True, True] Translation: X:67.27, Y:19.35, Z:-1.44 [[ 8.67399814e-01 -4.97570890e-01 6.38535523e-03 6.72715923e+01] [ 4.97556118e-01 8.67423303e-01 3.83701214e-03 1.93478042e+01] [-7.44799147e-03 -1.51151051e-04 9.99972252e-01 -1.44362901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98 meters 0.01752215811919032 Centerline is valid? [True, True] Translation: X:67.30, Y:19.36, Z:-1.44 [[ 8.67724855e-01 -4.96985418e-01 7.68574548e-03 6.72956107e+01] [ 4.96963978e-01 8.67758871e-01 4.62014051e-03 1.93615934e+01] [-8.96551628e-03 -1.89472106e-04 9.99959791e-01 -1.44116657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00999999999999 meters 0.019463664237010913 Centerline is valid? [True, True] Translation: X:67.32, Y:19.38, Z:-1.44 [[ 8.68091837e-01 -4.96348788e-01 7.37848767e-03 6.73203749e+01] [ 4.96328981e-01 8.68123173e-01 4.43838269e-03 1.93758312e+01] [-8.60842200e-03 -1.90766521e-04 9.99962929e-01 -1.44260959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03999999999999 meters 0.020571400598808957 Centerline is valid? [True, True] Translation: X:67.34, Y:19.39, Z:-1.44 [[ 8.68281250e-01 -4.96023765e-01 6.93509055e-03 6.73431355e+01] [ 4.96006222e-01 8.68308925e-01 4.17592552e-03 1.93912233e+01] [-8.09315932e-03 -1.86029768e-04 9.99967233e-01 -1.44420510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07 meters 0.018142332861170434 Centerline is valid? [True, True] Translation: X:67.37, Y:19.40, Z:-1.44 [[ 8.68337898e-01 -4.95920208e-01 7.24174773e-03 6.73681635e+01] [ 4.95901091e-01 8.68368073e-01 4.35864915e-03 1.94034456e+01] [-8.45004471e-03 -1.93589640e-04 9.99964279e-01 -1.44278744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.1 meters 0.02024849747300584 Centerline is valid? [True, True] Translation: X:67.39, Y:19.42, Z:-1.45 [[ 8.68716076e-01 -4.95264176e-01 6.76574436e-03 6.73907807e+01] [ 4.95247429e-01 8.68742401e-01 4.07732888e-03 1.94200507e+01] [-7.89704393e-03 -1.91323650e-04 9.99968800e-01 -1.44575669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13 meters 0.021407828110751353 Centerline is valid? [True, True] Translation: X:67.42, Y:19.43, Z:-1.45 [[ 8.68430499e-01 -4.95770034e-01 6.36727940e-03 6.74153116e+01] [ 4.95755231e-01 8.68453823e-01 3.83510842e-03 1.94343682e+01] [-7.43101997e-03 -1.73913052e-04 9.99972374e-01 -1.44691566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16 meters 0.019568930645301595 Centerline is valid? [True, True] Translation: X:67.44, Y:19.45, Z:-1.45 [[ 8.68009761e-01 -4.96499252e-01 6.89544562e-03 6.74419393e+01] [ 4.96481887e-01 8.68037130e-01 4.15657565e-03 1.94455325e+01] [-8.04923953e-03 -1.84484381e-04 9.99967587e-01 -1.44618122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19 meters 0.019764312148277348 Centerline is valid? [True, True] Translation: X:67.47, Y:19.46, Z:-1.45 [[ 8.67394598e-01 -4.97575139e-01 6.75222293e-03 6.74676166e+01] [ 4.97558504e-01 8.67420862e-01 4.07238897e-03 1.94594426e+01] [-7.88333854e-03 -1.72742251e-04 9.99968911e-01 -1.44719614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22 meters 0.01966031825849448 Centerline is valid? [True, True] Translation: X:67.49, Y:19.47, Z:-1.45 [[ 8.66571302e-01 -4.99014554e-01 6.21722484e-03 6.74938050e+01] [ 4.99000476e-01 8.66593592e-01 3.75130382e-03 1.94727390e+01] [-7.25976241e-03 -1.48374086e-04 9.99973637e-01 -1.44802151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25 meters 0.018114147530931875 Centerline is valid? [True, True] Translation: X:67.52, Y:19.48, Z:-1.45 [[ 8.64853406e-01 -5.01976519e-01 6.93977045e-03 6.75192744e+01] [ 5.01959029e-01 8.64881237e-01 4.19269779e-03 1.94841075e+01] [-8.10671310e-03 -1.42588530e-04 9.99967130e-01 -1.44861883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28 meters 0.01538260547344478 Centerline is valid? [True, True] Translation: X:67.55, Y:19.50, Z:-1.45 [[ 8.64102888e-01 -5.03247974e-01 8.22649436e-03 6.75455136e+01] [ 5.03223459e-01 8.64142033e-01 4.96967334e-03 1.94975920e+01] [-9.60983759e-03 -1.54544138e-04 9.99953813e-01 -1.44643790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31 meters 0.014580182167216576 Centerline is valid? [True, True] Translation: X:67.57, Y:19.51, Z:-1.45 [[ 8.61694749e-01 -5.07343950e-01 9.18015453e-03 6.75718497e+01] [ 5.07313602e-01 8.61743639e-01 5.55054958e-03 1.95081268e+01] [-1.07269775e-02 -1.25662161e-04 9.99942456e-01 -1.44681143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34 meters 0.01562969049258432 Centerline is valid? [True, True] Translation: X:67.60, Y:19.52, Z:-1.45 [[ 8.60019475e-01 -5.10180737e-01 9.06194251e-03 6.75989650e+01] [ 5.10151322e-01 8.60067211e-01 5.47917193e-03 1.95201636e+01] [-1.05892476e-02 -8.92326165e-05 9.99943928e-01 -1.44831311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36999999999999 meters 0.01390193417452915 Centerline is valid? [True, True] Translation: X:67.62, Y:19.53, Z:-1.45 [[ 8.58891875e-01 -5.12057513e-01 1.00921208e-02 6.76237607e+01] [ 5.12021096e-01 8.58951161e-01 6.10737252e-03 1.95330087e+01] [-1.17959649e-02 -7.81938605e-05 9.99930422e-01 -1.44731760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39999999999999 meters 0.01563450404241298 Centerline is valid? [True, True] Translation: X:67.65, Y:19.54, Z:-1.45 [[ 8.57064564e-01 -5.15122314e-01 9.45173809e-03 6.76495795e+01] [ 5.15090570e-01 8.57116679e-01 5.71873191e-03 1.95449101e+01] [-1.10470888e-02 -3.28213141e-05 9.99938979e-01 -1.44951975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42999999999999 meters 0.013571343490976296 Centerline is valid? [True, True] Translation: X:67.68, Y:19.55, Z:-1.45 [[ 8.54498425e-01 -5.19334747e-01 1.11293320e-02 6.76758222e+01] [ 5.19290997e-01 8.54570898e-01 6.74088667e-03 1.95547543e+01] [-1.30115799e-02 1.92848572e-05 9.99915346e-01 -1.44827108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46 meters 0.015981668842460134 Centerline is valid? [True, True] Translation: X:67.70, Y:19.57, Z:-1.45 [[ 8.52609867e-01 -5.22431973e-01 1.10112606e-02 6.77019534e+01] [ 5.22389394e-01 8.52680966e-01 6.67023001e-03 1.95663652e+01] [-1.28738337e-02 6.50618017e-05 9.99917127e-01 -1.45027288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49 meters 0.01657493734990315 Centerline is valid? [True, True] Translation: X:67.73, Y:19.58, Z:-1.45 [[ 8.49508749e-01 -5.27462321e-01 1.08804702e-02 6.77294663e+01] [ 5.27421128e-01 8.49578414e-01 6.59336220e-03 1.95754949e+01] [-1.27215628e-02 1.37470998e-04 9.99919068e-01 -1.45107855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52 meters 0.01452826944300044 Centerline is valid? [True, True] Translation: X:67.76, Y:19.59, Z:-1.45 [[ 8.48566758e-01 -5.28965528e-01 1.13985328e-02 6.77550273e+01] [ 5.28920453e-01 8.48643295e-01 6.90740051e-03 1.95889923e+01] [-1.33270652e-02 1.67526686e-04 9.99911177e-01 -1.44988363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55 meters 0.015139078766277694 Centerline is valid? [True, True] Translation: X:67.78, Y:19.60, Z:-1.45 [[ 8.47724237e-01 -5.30311711e-01 1.15371772e-02 6.77805052e+01] [ 5.30265585e-01 8.47802721e-01 6.99675481e-03 1.96010336e+01] [-1.34917113e-02 1.86449413e-04 9.99908965e-01 -1.45126358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58 meters 0.01458231246189505 Centerline is valid? [True, True] Translation: X:67.80, Y:19.62, Z:-1.45 [[ 8.48502963e-01 -5.29059390e-01 1.17848776e-02 6.78039302e+01] [ 5.29011139e-01 8.48584782e-01 7.14718198e-03 1.96183286e+01] [-1.37817516e-02 1.69926464e-04 9.99905013e-01 -1.45151572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61 meters 0.015575564623231784 Centerline is valid? [True, True] Translation: X:67.83, Y:19.63, Z:-1.45 [[ 8.49060411e-01 -5.28181578e-01 1.09835579e-02 6.78274668e+01] [ 5.28139555e-01 8.49131439e-01 6.66415203e-03 1.96341066e+01] [-1.28463667e-02 1.42583730e-04 9.99917472e-01 -1.45350524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64 meters 0.014210513112007132 Centerline is valid? [True, True] Translation: X:67.85, Y:19.65, Z:-1.46 [[ 8.50684617e-01 -5.25590402e-01 9.50852654e-03 6.78498133e+01] [ 5.25558691e-01 8.50737751e-01 5.77409550e-03 1.96505607e+01] [-1.11240717e-02 8.53545529e-05 9.99938122e-01 -1.45527834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67 meters 0.014374790853676489 Centerline is valid? [True, True] Translation: X:67.87, Y:19.66, Z:-1.46 [[ 8.50893736e-01 -5.25265778e-01 8.70132795e-03 6.78726862e+01] [ 5.25239209e-01 8.50938222e-01 5.28354037e-03 1.96644015e+01] [-1.01795555e-02 7.45472062e-05 9.99948184e-01 -1.45748613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.7 meters 0.01723820956588756 Centerline is valid? [True, True] Translation: X:67.90, Y:19.68, Z:-1.46 [[ 8.50514445e-01 -5.25901708e-01 7.25074993e-03 6.78974612e+01] [ 5.25883280e-01 8.50545348e-01 4.40302399e-03 1.96795122e+01] [-8.48264945e-03 6.82126552e-05 9.99964019e-01 -1.46030797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73 meters 0.01424769991412455 Centerline is valid? [True, True] Translation: X:67.92, Y:19.69, Z:-1.46 [[ 8.50481334e-01 -5.25953690e-01 7.36324204e-03 6.79213533e+01] [ 5.25934670e-01 8.50513205e-01 4.47343475e-03 1.96936821e+01] [-8.61535409e-03 6.80115152e-05 9.99962885e-01 -1.45898383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75999999999999 meters 0.01575772540137689 Centerline is valid? [True, True] Translation: X:67.95, Y:19.71, Z:-1.46 [[ 8.49926679e-01 -5.26845628e-01 7.63708857e-03 6.79461429e+01] [ 5.26825174e-01 8.49960986e-01 4.64302422e-03 1.97075089e+01] [-8.93738434e-03 7.71803603e-05 9.99960058e-01 -1.46005051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78999999999999 meters 0.014437153934563534 Centerline is valid? [True, True] Translation: X:67.97, Y:19.72, Z:-1.46 [[ 8.49932755e-01 -5.26816387e-01 8.87726877e-03 6.79700733e+01] [ 5.26788678e-01 8.49979110e-01 5.40378734e-03 1.97223324e+01] [-1.03922967e-02 8.35888234e-05 9.99945995e-01 -1.45797164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82 meters 0.016225447281395133 Centerline is valid? [True, True] Translation: X:67.99, Y:19.74, Z:-1.46 [[ 8.49602133e-01 -5.27335505e-01 9.66856316e-03 6.79933803e+01] [ 5.27302679e-01 8.49657140e-01 5.88469841e-03 1.97371782e+01] [-1.13181741e-02 9.86069328e-05 9.99935943e-01 -1.45878461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85 meters 0.014148319636826709 Centerline is valid? [True, True] Translation: X:68.02, Y:19.75, Z:-1.46 [[ 8.49977866e-01 -5.26717141e-01 1.03286545e-02 6.80171895e+01] [ 5.26679576e-01 8.50040614e-01 6.29122175e-03 1.97531552e+01] [-1.20934702e-02 9.24921419e-05 9.99926867e-01 -1.45663496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88 meters 0.014082999070781371 Centerline is valid? [True, True] Translation: X:68.04, Y:19.77, Z:-1.46 [[ 8.50720931e-01 -5.25504226e-01 1.09181554e-02 6.80404672e+01] [ 5.25462081e-01 8.50790987e-01 6.65571655e-03 1.97689278e+01] [-1.27866754e-02 7.49192667e-05 9.99918244e-01 -1.45667862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91 meters 0.013925954789706247 Centerline is valid? [True, True] Translation: X:68.06, Y:19.78, Z:-1.46 [[ 8.50869345e-01 -5.25259993e-01 1.11039384e-02 6.80638500e+01] [ 5.25216385e-01 8.50941793e-01 6.76866620e-03 1.97845063e+01] [-1.30041148e-02 7.27198144e-05 9.99915440e-01 -1.45738527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94 meters 0.013905363989024385 Centerline is valid? [True, True] Translation: X:68.09, Y:19.80, Z:-1.46 [[ 8.51413240e-01 -5.24378842e-01 1.10600293e-02 6.80860454e+01] [ 5.24335441e-01 8.51485071e-01 6.74678908e-03 1.98004992e+01] [-1.29553233e-02 5.48597990e-05 9.99916075e-01 -1.45864725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97 meters 0.016600304216282707 Centerline is valid? [True, True] Translation: X:68.11, Y:19.82, Z:-1.46 [[ 8.51154543e-01 -5.24813558e-01 1.03282247e-02 6.81101710e+01] [ 5.24775702e-01 8.51217203e-01 6.30371874e-03 1.98152894e+01] [-1.20998396e-02 5.45625416e-05 9.99926793e-01 -1.46203100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.0 meters 0.015225865759430041 Centerline is valid? [True, True] Translation: X:68.13, Y:19.83, Z:-1.46 [[ 8.51212807e-01 -5.24718465e-01 1.03581233e-02 6.81334036e+01] [ 5.24680391e-01 8.51275825e-01 6.32118877e-03 1.98308603e+01] [-1.21344644e-02 5.40273556e-05 9.99926373e-01 -1.46085638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03 meters 0.01417143587115806 Centerline is valid? [True, True] Translation: X:68.16, Y:19.85, Z:-1.46 [[ 8.51660485e-01 -5.24007811e-01 9.49901715e-03 6.81564070e+01] [ 5.23975713e-01 8.51713457e-01 5.79999517e-03 1.98468596e+01] [-1.11296835e-02 3.76275878e-05 9.99938062e-01 -1.46067980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06 meters 0.016960584411514445 Centerline is valid? [True, True] Translation: X:68.18, Y:19.86, Z:-1.46 [[ 8.51419625e-01 -5.24412256e-01 8.74118025e-03 6.81807267e+01] [ 5.24385063e-01 8.51464494e-01 5.34055467e-03 1.98621911e+01] [-1.02434569e-02 3.66913001e-05 9.99947534e-01 -1.46383552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09 meters 0.016248780064947396 Centerline is valid? [True, True] Translation: X:68.20, Y:19.88, Z:-1.47 [[ 8.51923985e-01 -5.23599897e-01 8.28686620e-03 6.82029796e+01] [ 5.23575387e-01 8.51964288e-01 5.06625469e-03 1.98777285e+01] [-9.71280449e-03 2.27352920e-05 9.99952829e-01 -1.46572989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11999999999999 meters 0.01652579022747286 Centerline is valid? [True, True] Translation: X:68.23, Y:19.89, Z:-1.47 [[ 8.51937827e-01 -5.23583627e-01 7.88194688e-03 6.82260557e+01] [ 5.23561447e-01 8.51974287e-01 4.81938471e-03 1.98931473e+01] [-9.23856700e-03 2.08673681e-05 9.99957323e-01 -1.46579483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14999999999999 meters 0.016070930283866518 Centerline is valid? [True, True] Translation: X:68.25, Y:19.91, Z:-1.47 [[ 8.52114245e-01 -5.23296821e-01 7.85812882e-03 6.82486596e+01] [ 5.23274714e-01 8.52150478e-01 4.81005852e-03 1.99078877e+01] [-9.21339656e-03 1.32407243e-05 9.99957556e-01 -1.46680873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17999999999999 meters 0.015269001667735227 Centerline is valid? [True, True] Translation: X:68.27, Y:19.92, Z:-1.47 [[ 8.52286376e-01 -5.23020954e-01 7.55083357e-03 6.82716349e+01] [ 5.23000521e-01 8.52319823e-01 4.62321907e-03 1.99222290e+01] [-8.85376558e-03 8.78326162e-06 9.99960805e-01 -1.46670355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21 meters 0.01619359056368392 Centerline is valid? [True, True] Translation: X:68.29, Y:19.94, Z:-1.47 [[ 8.52011851e-01 -5.23468757e-01 7.50103462e-03 6.82943632e+01] [ 5.23448599e-01 8.52044870e-01 4.59388178e-03 1.99359256e+01] [-8.79597165e-03 1.23643452e-05 9.99961315e-01 -1.46833580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24 meters 0.01653060815912843 Centerline is valid? [True, True] Translation: X:68.32, Y:19.95, Z:-1.47 [[ 8.51362602e-01 -5.24522976e-01 7.57411305e-03 6.83185713e+01] [ 5.24502473e-01 8.51396293e-01 4.63774253e-03 1.99498790e+01] [-8.88117428e-03 2.42404760e-05 9.99960561e-01 -1.46816878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27 meters 0.013857616656349778 Centerline is valid? [True, True] Translation: X:68.34, Y:19.96, Z:-1.47 [[ 8.51470796e-01 -5.24344901e-01 7.73999722e-03 6.83425175e+01] [ 5.24323454e-01 8.51505974e-01 4.74246991e-03 1.99641287e+01] [-9.07734379e-03 2.01874488e-05 9.99958800e-01 -1.46586114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.3 meters 0.013911842242167082 Centerline is valid? [True, True] Translation: X:68.37, Y:19.98, Z:-1.47 [[ 8.50626945e-01 -5.25712784e-01 7.73753118e-03 6.83666368e+01] [ 5.25691380e-01 8.50662135e-01 4.74395830e-03 1.99777211e+01] [-9.07598431e-03 3.22146871e-05 9.99958812e-01 -1.46662252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33 meters 0.013992273346894587 Centerline is valid? [True, True] Translation: X:68.39, Y:19.99, Z:-1.47 [[ 8.50230441e-01 -5.26358532e-01 7.40891637e-03 6.83903026e+01] [ 5.26338887e-01 8.50262721e-01 4.54773588e-03 1.99915558e+01] [-8.69326497e-03 3.29773129e-05 9.99962212e-01 -1.46779904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36 meters 0.014017278688425856 Centerline is valid? [True, True] Translation: X:68.41, Y:20.01, Z:-1.47 [[ 8.49683142e-01 -5.27245978e-01 7.08777626e-03 6.84149689e+01] [ 5.27228042e-01 8.49712703e-01 4.34911927e-03 2.00057663e+01] [-8.31562916e-03 4.15010655e-05 9.99965424e-01 -1.46827158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39 meters 0.0160646839471171 Centerline is valid? [True, True] Translation: X:68.44, Y:20.02, Z:-1.47 [[ 8.48461786e-01 -5.29210123e-01 7.01738636e-03 6.84410366e+01] [ 5.29192590e-01 8.48490803e-01 4.30814037e-03 2.00194240e+01] [-8.23409928e-03 5.82563903e-05 9.99966098e-01 -1.47005854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42 meters 0.0160646839471171 Centerline is valid? [True, True] Translation: X:68.46, Y:20.03, Z:-1.47 [[ 8.48312516e-01 -5.29449377e-01 7.01654707e-03 6.84645186e+01] [ 5.29431841e-01 8.48341531e-01 4.30950651e-03 2.00339425e+01] [-8.23409382e-03 5.89751221e-05 9.99966098e-01 -1.47062503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45 meters 0.016624140245946904 Centerline is valid? [True, True] Translation: X:68.49, Y:20.05, Z:-1.47 [[ 8.47745947e-01 -5.30351650e-01 7.34415447e-03 6.84890909e+01] [ 5.30332445e-01 8.47777755e-01 4.51385379e-03 2.00478196e+01] [-8.62014060e-03 6.82421456e-05 9.99962844e-01 -1.47084862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48 meters 0.014831070209185069 Centerline is valid? [True, True] Translation: X:68.51, Y:20.06, Z:-1.47 [[ 8.47642113e-01 -5.30515122e-01 7.52019748e-03 6.85137042e+01] [ 5.30494964e-01 8.47675469e-01 4.62518485e-03 2.00620478e+01] [-8.82841743e-03 6.89254361e-05 9.99961026e-01 -1.46973123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50999999999999 meters 0.01453238306406742 Centerline is valid? [True, True] Translation: X:68.54, Y:20.08, Z:-1.47 [[ 8.47743241e-01 -5.30349481e-01 7.79905242e-03 6.85375030e+01] [ 5.30327739e-01 8.47779112e-01 4.80263261e-03 2.00760182e+01] [-9.15894745e-03 6.46545061e-05 9.99958054e-01 -1.47001521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53999999999999 meters 0.014814228806370905 Centerline is valid? [True, True] Translation: X:68.56, Y:20.09, Z:-1.47 [[ 8.48033314e-01 -5.29877541e-01 8.32401362e-03 6.85621190e+01] [ 5.29852759e-01 8.48074164e-01 5.12505457e-03 2.00910793e+01] [-9.77503221e-03 6.42845696e-05 9.99952221e-01 -1.47041272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57 meters 0.016038094095342192 Centerline is valid? [True, True] Translation: X:68.59, Y:20.11, Z:-1.47 [[ 8.48125865e-01 -5.29723009e-01 8.72077019e-03 6.85858003e+01] [ 5.29695747e-01 8.48170697e-01 5.37448257e-03 2.01060825e+01] [-1.02436888e-02 6.11172065e-05 9.99947530e-01 -1.47196672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.6 meters 0.016616024321349135 Centerline is valid? [True, True] Translation: X:68.61, Y:20.12, Z:-1.47 [[ 8.49210721e-01 -5.27973645e-01 9.21855405e-03 6.86099853e+01] [ 5.27943085e-01 8.49260754e-01 5.68069032e-03 2.01224007e+01] [-1.08282109e-02 4.27687502e-05 9.99941372e-01 -1.47323978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63 meters 0.01612446386836585 Centerline is valid? [True, True] Translation: X:68.63, Y:20.14, Z:-1.47 [[ 8.49867691e-01 -5.26920930e-01 8.90175719e-03 6.86336147e+01] [ 5.26892352e-01 8.49914309e-01 5.48778494e-03 2.01376678e+01] [-1.04573596e-02 2.63766693e-05 9.99945320e-01 -1.47329728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66 meters 0.016527576611303295 Centerline is valid? [True, True] Translation: X:68.66, Y:20.15, Z:-1.47 [[ 8.50423065e-01 -5.26026289e-01 8.77232473e-03 6.86565652e+01] [ 5.25998435e-01 8.50468308e-01 5.41325327e-03 2.01522563e+01] [-1.03080977e-02 1.06736426e-05 9.99946870e-01 -1.47428302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69 meters 0.013732722398153147 Centerline is valid? [True, True] Translation: X:68.68, Y:20.17, Z:-1.47 [[ 8.52170940e-01 -5.23197630e-01 8.30230668e-03 6.86808656e+01] [ 5.23172550e-01 8.52211382e-01 5.12289308e-03 2.01686713e+01] [-9.75560577e-03 -2.20416614e-05 9.99952413e-01 -1.47264420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72 meters 0.014442079782551128 Centerline is valid? [True, True] Translation: X:68.70, Y:20.18, Z:-1.47 [[ 8.52288095e-01 -5.23006534e-01 8.31674377e-03 6.87043597e+01] [ 5.22981335e-01 8.52328672e-01 5.13410495e-03 2.01832566e+01] [-9.77376961e-03 -2.62347715e-05 9.99952235e-01 -1.47383920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75 meters 0.01633548787019062 Centerline is valid? [True, True] Translation: X:68.73, Y:20.20, Z:-1.48 [[ 8.52466689e-01 -5.22718431e-01 8.12321475e-03 6.87276229e+01] [ 5.22694326e-01 8.52505390e-01 5.02003680e-03 2.01976154e+01] [-9.54915012e-03 -3.34558924e-05 9.99954405e-01 -1.47634248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78 meters 0.013790288327043626 Centerline is valid? [True, True] Translation: X:68.75, Y:20.21, Z:-1.47 [[ 8.53310963e-01 -5.21339213e-01 8.11329638e-03 6.87524889e+01] [ 5.21315111e-01 8.53349531e-01 5.01326422e-03 2.02125039e+01] [-9.53708889e-03 -4.82893185e-05 9.99954520e-01 -1.47460478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81 meters 0.015898248162237522 Centerline is valid? [True, True] Translation: X:68.78, Y:20.23, Z:-1.48 [[ 8.52912989e-01 -5.21999743e-01 7.46331304e-03 6.87770859e+01] [ 5.21979359e-01 8.52945641e-01 4.61322750e-03 2.02267294e+01] [-8.77390389e-03 -3.89863063e-05 9.99961508e-01 -1.47785600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84 meters 0.01389938143592185 Centerline is valid? [True, True] Translation: X:68.80, Y:20.24, Z:-1.48 [[ 8.53283149e-01 -5.21393376e-01 7.53758223e-03 6.88009048e+01] [ 5.21372534e-01 8.53316439e-01 4.66219431e-03 2.02413922e+01] [-8.86278006e-03 -4.82834934e-05 9.99960724e-01 -1.47672185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86999999999999 meters 0.013893741702029744 Centerline is valid? [True, True] Translation: X:68.83, Y:20.26, Z:-1.48 [[ 8.53045368e-01 -5.21794133e-01 6.66958590e-03 6.88261367e+01] [ 5.21777809e-01 8.53071439e-01 4.12760840e-03 2.02552867e+01] [-7.84339509e-03 -4.09953095e-05 9.99969239e-01 -1.47805703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89999999999999 meters 0.01382837078561157 Centerline is valid? [True, True] Translation: X:68.85, Y:20.27, Z:-1.48 [[ 8.52735590e-01 -5.22298260e-01 6.82205609e-03 6.88505176e+01] [ 5.22281182e-01 8.52762878e-01 4.22388781e-03 2.02695052e+01] [-8.02372544e-03 -3.88279476e-05 9.99967809e-01 -1.47869932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92999999999999 meters 0.013724376286671522 Centerline is valid? [True, True] Translation: X:68.88, Y:20.28, Z:-1.48 [[ 8.52307638e-01 -5.22980588e-01 7.93685985e-03 6.88766695e+01] [ 5.22957456e-01 8.52344591e-01 4.91905662e-03 2.02831758e+01] [-9.33751070e-03 -4.19094964e-05 9.99956404e-01 -1.47844089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96 meters 0.016175840930859414 Centerline is valid? [True, True] Translation: X:68.90, Y:20.30, Z:-1.48 [[ 8.51594816e-01 -5.24139398e-01 8.00998981e-03 6.89017132e+01] [ 5.24115870e-01 8.51632486e-01 4.96629426e-03 2.02965778e+01] [-9.42459801e-03 -3.11076668e-05 9.99955587e-01 -1.48075045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99 meters 0.01451593893764858 Centerline is valid? [True, True] Translation: X:68.93, Y:20.31, Z:-1.48 [[ 8.51406649e-01 -5.24438631e-01 8.41666570e-03 6.89259436e+01] [ 5.24412633e-01 8.51448249e-01 5.22201631e-03 2.03101045e+01] [-9.90498236e-03 -3.22535917e-05 9.99950944e-01 -1.47868676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02 meters 0.013810399590772003 Centerline is valid? [True, True] Translation: X:68.95, Y:20.32, Z:-1.48 [[ 8.51563898e-01 -5.24177471e-01 8.76958151e-03 6.89498600e+01] [ 5.24149173e-01 8.51609052e-01 5.44676198e-03 2.03232230e+01] [-1.03233249e-02 -4.16969721e-05 9.99946712e-01 -1.47895178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05 meters 0.013799371930846918 Centerline is valid? [True, True] Translation: X:68.97, Y:20.34, Z:-1.48 [[ 8.51630013e-01 -5.24070868e-01 8.72048382e-03 6.89739781e+01] [ 5.24042884e-01 8.51674658e-01 5.41586676e-03 2.03369199e+01] [-1.02653131e-02 -4.24071887e-05 9.99947309e-01 -1.47911023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08 meters 0.01562678642743732 Centerline is valid? [True, True] Translation: X:69.00, Y:20.35, Z:-1.48 [[ 8.51975277e-01 -5.23510940e-01 8.62684751e-03 6.89983891e+01] [ 5.23483492e-01 8.52018951e-01 5.36102641e-03 2.03504770e+01] [-1.01567935e-02 -5.14497100e-05 9.99948417e-01 -1.48145337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11 meters 0.016495754770327997 Centerline is valid? [True, True] Translation: X:69.02, Y:20.37, Z:-1.48 [[ 8.52273008e-01 -5.23022443e-01 8.84554956e-03 6.90221398e+01] [ 5.22993522e-01 8.52318907e-01 5.50051196e-03 2.03653308e+01] [-1.04161203e-02 -6.17727540e-05 9.99945749e-01 -1.48262104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14 meters 0.014883104319079752 Centerline is valid? [True, True] Translation: X:69.05, Y:20.38, Z:-1.48 [[ 8.52930443e-01 -5.21951276e-01 8.74788056e-03 6.90462713e+01] [ 5.21922895e-01 8.52975299e-01 5.44355168e-03 2.03808763e+01] [-1.03029948e-02 -7.72518037e-05 9.99946920e-01 -1.48194508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17 meters 0.016865694507070497 Centerline is valid? [True, True] Translation: X:69.07, Y:20.40, Z:-1.48 [[ 8.52844496e-01 -5.22107960e-01 7.71642540e-03 6.90711063e+01] [ 5.22085867e-01 8.52879401e-01 4.80358694e-03 2.03961702e+01] [-9.08917125e-03 -6.80760378e-05 9.99958690e-01 -1.48462355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.2 meters 0.014434913718232589 Centerline is valid? [True, True] Translation: X:69.09, Y:20.41, Z:-1.48 [[ 8.53210584e-01 -5.21511074e-01 7.60910994e-03 6.90940016e+01] [ 5.21489525e-01 8.53244510e-01 4.74154316e-03 2.04126261e+01] [-8.96519855e-03 -7.74636788e-05 9.99959809e-01 -1.48398126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23 meters 0.016893340851995415 Centerline is valid? [True, True] Translation: X:69.12, Y:20.43, Z:-1.49 [[ 8.52932355e-01 -5.21971696e-01 7.20740556e-03 6.91178160e+01] [ 5.21952395e-01 8.52962804e-01 4.48924642e-03 2.04280652e+01] [-8.49090842e-03 -6.71009289e-05 9.99963949e-01 -1.48652719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25999999999999 meters 0.016198728077771788 Centerline is valid? [True, True] Translation: X:69.14, Y:20.44, Z:-1.49 [[ 8.53357956e-01 -5.21280882e-01 6.81473253e-03 6.91402071e+01] [ 5.21263569e-01 8.53385163e-01 4.24917908e-03 2.04441312e+01] [-8.03060745e-03 -7.37989814e-05 9.99967751e-01 -1.48681236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28999999999999 meters 0.016347480610005332 Centerline is valid? [True, True] Translation: X:69.16, Y:20.46, Z:-1.49 [[ 8.53021305e-01 -5.21830389e-01 6.90645287e-03 6.91636298e+01] [ 5.21812631e-01 8.53049260e-01 4.30550710e-03 2.04591465e+01] [-8.13828896e-03 -6.88149388e-05 9.99966881e-01 -1.48737499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32 meters 0.01854481710208671 Centerline is valid? [True, True] Translation: X:69.19, Y:20.47, Z:-1.49 [[ 8.52178889e-01 -5.23205511e-01 6.86548331e-03 6.91879238e+01] [ 5.23187982e-01 8.52206542e-01 4.28307859e-03 2.04739219e+01] [-8.09174011e-03 -5.80107963e-05 9.99967260e-01 -1.48844418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35 meters 0.01417649226805435 Centerline is valid? [True, True] Translation: X:69.21, Y:20.49, Z:-1.49 [[ 8.52022231e-01 -5.23444831e-01 7.97662260e-03 6.92125578e+01] [ 5.23421146e-01 8.52059566e-01 4.97993119e-03 2.04896627e+01] [-9.40327683e-03 -6.78791353e-05 9.99955786e-01 -1.48560346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38 meters 0.014692560682035498 Centerline is valid? [True, True] Translation: X:69.24, Y:20.50, Z:-1.49 [[ 8.51247887e-01 -5.24699360e-01 8.22296642e-03 6.92375557e+01] [ 5.24674220e-01 8.51287600e-01 5.13656714e-03 2.05042375e+01] [-9.69526284e-03 -5.81134280e-05 9.99952998e-01 -1.48633847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41 meters 0.014195100072555967 Centerline is valid? [True, True] Translation: X:69.26, Y:20.52, Z:-1.49 [[ 8.49878801e-01 -5.26896739e-01 9.26554549e-03 6.92618606e+01] [ 5.26864887e-01 8.49929306e-01 5.79358201e-03 2.05183381e+01] [-1.09276781e-02 -4.21519538e-05 9.99940290e-01 -1.48552128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44 meters 0.013676097110793418 Centerline is valid? [True, True] Translation: X:69.29, Y:20.53, Z:-1.48 [[ 8.49223972e-01 -5.27943554e-01 9.70818499e-03 6.92862926e+01] [ 5.27908665e-01 8.49279461e-01 6.06947770e-03 2.05328636e+01] [-1.14493037e-02 -2.93109766e-05 9.99934454e-01 -1.48460469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47 meters 0.01401810318919257 Centerline is valid? [True, True] Translation: X:69.31, Y:20.55, Z:-1.49 [[ 8.48284145e-01 -5.29447575e-01 9.96368443e-03 6.93104645e+01] [ 5.29410880e-01 8.48342658e-01 6.23337897e-03 2.05474468e+01] [-1.17528659e-02 -1.27936071e-05 9.99930933e-01 -1.48562522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.5 meters 0.016246804692571212 Centerline is valid? [True, True] Translation: X:69.33, Y:20.56, Z:-1.49 [[ 8.46860669e-01 -5.31724505e-01 9.80094757e-03 6.93342994e+01] [ 5.31689096e-01 8.46917381e-01 6.13634361e-03 2.05604864e+01] [-1.15634371e-02 1.44289014e-05 9.99933141e-01 -1.48866028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53 meters 0.015093140156260263 Centerline is valid? [True, True] Translation: X:69.36, Y:20.58, Z:-1.49 [[ 8.46443660e-01 -5.32376914e-01 1.03899880e-02 6.93579021e+01] [ 5.32337144e-01 8.46507425e-01 6.50731364e-03 2.05751827e+01] [-1.22595455e-02 2.29021360e-05 9.99924849e-01 -1.48661225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56 meters 0.015061516924843647 Centerline is valid? [True, True] Translation: X:69.38, Y:20.59, Z:-1.49 [[ 8.45981164e-01 -5.33120040e-01 9.94449691e-03 6.93818601e+01] [ 5.33083595e-01 8.46039610e-01 6.23366222e-03 2.05898101e+01] [-1.17367285e-02 2.76873501e-05 9.99931122e-01 -1.48951219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59 meters 0.017088832229927922 Centerline is valid? [True, True] Translation: X:69.41, Y:20.60, Z:-1.49 [[ 8.45532238e-01 -5.33843753e-01 9.27800404e-03 6.94061045e+01] [ 5.33812073e-01 8.45583139e-01 5.81596168e-03 2.06047593e+01] [-1.09501386e-02 3.51274684e-05 9.99940045e-01 -1.49158447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61999999999999 meters 0.013648667707098067 Centerline is valid? [True, True] Translation: X:69.43, Y:20.62, Z:-1.49 [[ 8.45581919e-01 -5.33756947e-01 9.73341354e-03 6.94294074e+01] [ 5.33722013e-01 8.45637937e-01 6.10680044e-03 2.06198112e+01] [-1.14904909e-02 3.11370326e-05 9.99933982e-01 -1.48933085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64999999999999 meters 0.013667069905820863 Centerline is valid? [True, True] Translation: X:69.45, Y:20.63, Z:-1.49 [[ 8.45449603e-01 -5.33974824e-01 9.26582548e-03 6.94526881e+01] [ 5.33943191e-01 8.45500376e-01 5.81230703e-03 2.06346908e+01] [-1.09378846e-02 3.34117527e-05 9.99940179e-01 -1.49033605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67999999999999 meters 0.013592478417266667 Centerline is valid? [True, True] Translation: X:69.48, Y:20.65, Z:-1.49 [[ 8.45590365e-01 -5.33753101e-01 9.19582055e-03 6.94754363e+01] [ 5.33721873e-01 8.45640365e-01 5.77370865e-03 2.06495682e+01] [-1.08580919e-02 2.58181624e-05 9.99941049e-01 -1.49143629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71 meters 0.013547549457359398 Centerline is valid? [True, True] Translation: X:69.50, Y:20.67, Z:-1.49 [[ 8.45763781e-01 -5.33476948e-01 9.27209699e-03 6.94980375e+01] [ 5.33445186e-01 8.45814604e-01 5.82141324e-03 2.06657365e+01] [-1.09480648e-02 2.26150219e-05 9.99940068e-01 -1.49212910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74 meters 0.013478210866798273 Centerline is valid? [True, True] Translation: X:69.52, Y:20.68, Z:-1.49 [[ 8.45717581e-01 -5.33549614e-01 9.30501554e-03 6.95210376e+01] [ 5.33517590e-01 8.45768768e-01 5.84562682e-03 2.06810538e+01] [-1.09888235e-02 2.06400929e-05 9.99939621e-01 -1.49233593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77 meters 0.017512443183170218 Centerline is valid? [True, True] Translation: X:69.54, Y:20.70, Z:-1.50 [[ 8.45148478e-01 -5.34461568e-01 8.65348032e-03 6.95449431e+01] [ 5.34433866e-01 8.45192778e-01 5.44162541e-03 2.06956852e+01] [-1.02221987e-02 2.57315104e-05 9.99947752e-01 -1.49596999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.8 meters 0.013558293673064704 Centerline is valid? [True, True] Translation: X:69.57, Y:20.71, Z:-1.49 [[ 8.44466083e-01 -5.35525288e-01 9.47104547e-03 6.95683625e+01] [ 5.35492180e-01 8.44519191e-01 5.95492420e-03 2.07106170e+01] [-1.11874922e-02 4.29392801e-05 9.99937417e-01 -1.49340069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83 meters 0.01361659042533441 Centerline is valid? [True, True] Translation: X:69.59, Y:20.73, Z:-1.49 [[ 8.43734711e-01 -5.36679724e-01 9.30655381e-03 6.95923743e+01] [ 5.36647787e-01 8.43786034e-01 5.85503373e-03 2.07252777e+01] [-1.09950180e-02 5.42463206e-05 9.99939551e-01 -1.49420640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86 meters 0.01499714433317281 Centerline is valid? [True, True] Translation: X:69.62, Y:20.74, Z:-1.50 [[ 8.42061391e-01 -5.39311755e-01 8.68590996e-03 6.96178588e+01] [ 5.39284040e-01 8.42106184e-01 5.46798750e-03 2.07392026e+01] [-1.02634084e-02 7.97914594e-05 9.99947327e-01 -1.49613983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89 meters 0.013854599834283285 Centerline is valid? [True, True] Translation: X:69.64, Y:20.75, Z:-1.50 [[ 8.41488397e-01 -5.40198730e-01 9.08902097e-03 6.96418073e+01] [ 5.40168403e-01 8.41537476e-01 5.72476089e-03 2.07538328e+01] [-1.07412603e-02 9.22820823e-05 9.99942307e-01 -1.49530947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92 meters 0.013895010007198167 Centerline is valid? [True, True] Translation: X:69.67, Y:20.77, Z:-1.50 [[ 8.40852322e-01 -5.41183507e-01 9.36930408e-03 6.96659121e+01] [ 5.41151299e-01 8.40904513e-01 5.90521224e-03 2.07685531e+01] [-1.10744936e-02 1.04799645e-04 9.99938670e-01 -1.49585812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95 meters 0.01720869440142023 Centerline is valid? [True, True] Translation: X:69.69, Y:20.78, Z:-1.50 [[ 8.39551291e-01 -5.43213114e-01 8.55242024e-03 6.96907053e+01] [ 5.43186329e-01 8.39594843e-01 5.39559525e-03 2.07822325e+01] [-1.01115260e-02 1.15678793e-04 9.99948871e-01 -1.49813784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98 meters 0.014365811180686167 Centerline is valid? [True, True] Translation: X:69.71, Y:20.80, Z:-1.50 [[ 8.39726142e-01 -5.42924329e-01 9.65294885e-03 6.97145219e+01] [ 5.42890171e-01 8.39781613e-01 6.09137272e-03 2.07970216e+01] [-1.14135234e-02 1.25406132e-04 9.99934856e-01 -1.49624423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00999999999999 meters 0.014226233379592935 Centerline is valid? [True, True] Translation: X:69.74, Y:20.81, Z:-1.50 [[ 8.40041327e-01 -5.42426883e-01 1.01806568e-02 6.97377446e+01] [ 5.42388835e-01 8.40103007e-01 6.42575331e-03 2.08125223e+01] [-1.20383017e-02 1.23976226e-04 9.99927529e-01 -1.49655721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03999999999999 meters 0.01384320541544175 Centerline is valid? [True, True] Translation: X:69.76, Y:20.83, Z:-1.50 [[ 8.40560558e-01 -5.41615786e-01 1.05018590e-02 6.97616216e+01] [ 5.41575239e-01 8.40626152e-01 6.62820075e-03 2.08295991e+01] [-1.24180754e-02 1.16142663e-04 9.99922886e-01 -1.49624317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07 meters 0.013787216314821167 Centerline is valid? [True, True] Translation: X:69.78, Y:20.85, Z:-1.50 [[ 8.41084850e-01 -5.40803351e-01 1.03928101e-02 6.97848178e+01] [ 5.40763521e-01 8.41149051e-01 6.56415052e-03 2.08451087e+01] [-1.22918170e-02 9.90450498e-05 9.99924448e-01 -1.49728999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.1 meters 0.013536570084715843 Centerline is valid? [True, True] Translation: X:69.81, Y:20.86, Z:-1.50 [[ 8.42554137e-01 -5.38511334e-01 1.03956450e-02 6.98077274e+01] [ 5.38471299e-01 8.42618264e-01 6.56665428e-03 2.08620382e+01] [-1.22957781e-02 6.49947407e-05 9.99924402e-01 -1.49841882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13 meters 0.013557019974208074 Centerline is valid? [True, True] Translation: X:69.83, Y:20.88, Z:-1.50 [[ 8.43238985e-01 -5.37434754e-01 1.05783058e-02 6.98304974e+01] [ 5.37393149e-01 8.43305332e-01 6.68726698e-03 2.08775095e+01] [-1.25147114e-02 4.57448559e-05 9.99921687e-01 -1.49918887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16 meters 0.013435740013580997 Centerline is valid? [True, True] Translation: X:69.85, Y:20.89, Z:-1.50 [[ 8.43792900e-01 -5.36565119e-01 1.05553090e-02 6.98537892e+01] [ 5.36523635e-01 8.43858917e-01 6.67211728e-03 2.08936017e+01] [-1.24872170e-02 3.32875683e-05 9.99922031e-01 -1.49916641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19 meters 0.013454170483361717 Centerline is valid? [True, True] Translation: X:69.88, Y:20.91, Z:-1.50 [[ 8.44285115e-01 -5.35779923e-01 1.10688508e-02 6.98774476e+01] [ 5.35734175e-01 8.44357670e-01 7.00142584e-03 2.09093849e+01] [-1.30972924e-02 1.87620156e-05 9.99914227e-01 -1.49916363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22 meters 0.013396147546689989 Centerline is valid? [True, True] Translation: X:69.90, Y:20.93, Z:-1.50 [[ 8.45592554e-01 -5.33706226e-01 1.14410450e-02 6.99000183e+01] [ 5.33657095e-01 8.45669950e-01 7.24164231e-03 2.09257631e+01] [-1.35402575e-02 -1.78839820e-05 9.99908326e-01 -1.49891437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25 meters 0.01595787839210889 Centerline is valid? [True, True] Translation: X:69.92, Y:20.94, Z:-1.50 [[ 8.46004395e-01 -5.33054250e-01 1.13899053e-02 6.99224555e+01] [ 5.33005418e-01 8.46081063e-01 7.21520041e-03 2.09406835e+01] [-1.34828765e-02 -3.32099940e-05 9.99909101e-01 -1.50178722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28 meters 0.013661473662323398 Centerline is valid? [True, True] Translation: X:69.95, Y:20.96, Z:-1.50 [[ 8.48205896e-01 -5.29543770e-01 1.14084863e-02 6.99458467e+01] [ 5.29494448e-01 8.48282611e-01 7.22790766e-03 2.09585100e+01] [-1.35051140e-02 -9.00237260e-05 9.99908798e-01 -1.49984982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31 meters 0.015955601462498168 Centerline is valid? [True, True] Translation: X:69.97, Y:20.97, Z:-1.50 [[ 8.48797489e-01 -5.28605140e-01 1.09283125e-02 6.99690617e+01] [ 5.28559739e-01 8.48867831e-01 6.92871813e-03 2.09745526e+01] [-1.29392490e-02 -1.04812532e-04 9.99916279e-01 -1.50324127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34 meters 0.015955601462498168 Centerline is valid? [True, True] Translation: X:69.99, Y:20.99, Z:-1.50 [[ 8.48648519e-01 -5.28844267e-01 1.09284972e-02 6.99923358e+01] [ 5.28798889e-01 8.48718877e-01 6.92842759e-03 2.09894015e+01] [-1.29392810e-02 -1.00822662e-04 9.99916279e-01 -1.50380921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36999999999999 meters 0.014204594091368827 Centerline is valid? [True, True] Translation: X:70.02, Y:21.01, Z:-1.50 [[ 8.49698670e-01 -5.27152048e-01 1.10855188e-02 7.00161476e+01] [ 5.27105150e-01 8.49770970e-01 7.03276668e-03 2.10063957e+01] [-1.31274894e-02 -1.32498436e-04 9.99913822e-01 -1.50240743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39999999999999 meters 0.014867225767460787 Centerline is valid? [True, True] Translation: X:70.04, Y:21.02, Z:-1.50 [[ 8.50547075e-01 -5.25791033e-01 1.06519299e-02 7.00391411e+01] [ 5.25747563e-01 8.50613759e-01 6.76265237e-03 2.10220178e+01] [-1.26164201e-02 -1.51728008e-04 9.99920398e-01 -1.50432787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42999999999999 meters 0.017681830217192773 Centerline is valid? [True, True] Translation: X:70.06, Y:21.04, Z:-1.51 [[ 8.49645893e-01 -5.27250954e-01 1.04061165e-02 7.00647507e+01] [ 5.27209581e-01 8.49709606e-01 6.60621557e-03 2.10363297e+01] [-1.23253106e-02 -1.26739593e-04 9.99924032e-01 -1.50737187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46 meters 0.014437367331069807 Centerline is valid? [True, True] Translation: X:70.09, Y:21.05, Z:-1.50 [[ 8.49470183e-01 -5.27521157e-01 1.10380013e-02 7.00872454e+01] [ 5.27474567e-01 8.49541883e-01 7.01210822e-03 2.10509673e+01] [-1.30762798e-02 -1.34311898e-04 9.99914493e-01 -1.50488188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49 meters 0.014274167562185221 Centerline is valid? [True, True] Translation: X:70.11, Y:21.07, Z:-1.50 [[ 8.48658844e-01 -5.28813270e-01 1.16057085e-02 7.01128126e+01] [ 5.28761842e-01 8.48738187e-01 7.37596186e-03 2.10655778e+01] [-1.37507145e-02 -1.23019444e-04 9.99905447e-01 -1.50462792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52 meters 0.013897264363071071 Centerline is valid? [True, True] Translation: X:70.14, Y:21.08, Z:-1.50 [[ 8.47390628e-01 -5.30838802e-01 1.18020780e-02 7.01385172e+01] [ 5.30785764e-01 8.47472806e-01 7.50437056e-03 2.10787585e+01] [-1.39855512e-02 -9.47582938e-05 9.99902193e-01 -1.50459898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55 meters 0.014897845653280796 Centerline is valid? [True, True] Translation: X:70.16, Y:21.09, Z:-1.51 [[ 8.46400008e-01 -5.32414496e-01 1.19092654e-02 7.01628674e+01] [ 5.32360574e-01 8.46483785e-01 7.57764955e-03 2.10931886e+01] [-1.41154505e-02 -7.36992682e-05 9.99900369e-01 -1.50726305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58 meters 0.01470536007445731 Centerline is valid? [True, True] Translation: X:70.19, Y:21.11, Z:-1.51 [[ 8.46115573e-01 -5.32875885e-01 1.14772950e-02 7.01871216e+01] [ 5.32825835e-01 8.46193410e-01 7.30355147e-03 2.11078028e+01] [-1.36038978e-02 -6.42493555e-05 9.99907461e-01 -1.50750984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61 meters 0.013798380917920891 Centerline is valid? [True, True] Translation: X:70.21, Y:21.12, Z:-1.51 [[ 8.46258802e-01 -5.32654780e-01 1.11769739e-02 7.02105913e+01] [ 5.32607239e-01 8.46332606e-01 7.11676875e-03 2.11226225e+01] [-1.32502183e-02 -6.96909928e-05 9.99912210e-01 -1.50680931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64 meters 0.01563517526433645 Centerline is valid? [True, True] Translation: X:70.23, Y:21.14, Z:-1.51 [[ 8.45496505e-01 -5.33874964e-01 1.06386883e-02 7.02345984e+01] [ 5.33831940e-01 8.45563433e-01 6.77793668e-03 2.11373255e+01] [-1.26142565e-02 -5.14501539e-05 9.99920436e-01 -1.50989584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67 meters 0.014815458937233732 Centerline is valid? [True, True] Translation: X:70.26, Y:21.15, Z:-1.51 [[ 8.45452640e-01 -5.33946793e-01 1.05193146e-02 7.02566971e+01] [ 5.33904663e-01 8.45518077e-01 6.70762396e-03 2.11524882e+01] [-1.24757849e-02 -5.46672861e-05 9.99922173e-01 -1.51039170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.7 meters 0.013745084740627937 Centerline is valid? [True, True] Translation: X:70.28, Y:21.17, Z:-1.51 [[ 8.45402894e-01 -5.34022142e-01 1.06910326e-02 7.02807652e+01] [ 5.33978625e-01 8.45470490e-01 6.81752612e-03 2.11678338e+01] [-1.26796625e-02 -5.47734142e-05 9.99919608e-01 -1.50885525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73 meters 0.016426939940466734 Centerline is valid? [True, True] Translation: X:70.30, Y:21.18, Z:-1.51 [[ 8.44056661e-01 -5.36137501e-01 1.11773486e-02 7.03045762e+01] [ 5.36090034e-01 8.44130665e-01 7.13413717e-03 2.11819506e+01] [-1.32600212e-02 -2.95508093e-05 9.99912082e-01 -1.51183614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75999999999999 meters 0.013613874624452342 Centerline is valid? [True, True] Translation: X:70.33, Y:21.20, Z:-1.51 [[ 8.44005146e-01 -5.36203129e-01 1.18961433e-02 7.03287392e+01] [ 5.36149363e-01 8.44088979e-01 7.59319036e-03 2.11973752e+01] [-1.41128959e-02 -3.05820692e-05 9.99900408e-01 -1.50903861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78999999999999 meters 0.016280506022867725 Centerline is valid? [True, True] Translation: X:70.35, Y:21.21, Z:-1.51 [[ 8.42571676e-01 -5.38428246e-01 1.29612833e-02 7.03525246e+01] [ 5.38364603e-01 8.42671362e-01 8.27832696e-03 2.12113644e+01] [-1.53793873e-02 2.81230180e-06 9.99881730e-01 -1.51148743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82 meters 0.015238585549856984 Centerline is valid? [True, True] Translation: X:70.38, Y:21.23, Z:-1.51 [[ 8.42177882e-01 -5.39034594e-01 1.33461986e-02 7.03765181e+01] [ 5.38967104e-01 8.42283626e-01 8.52960305e-03 2.12263593e+01] [-1.58390356e-02 9.71896805e-06 9.99874555e-01 -1.51089745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85 meters 0.016114355645073623 Centerline is valid? [True, True] Translation: X:70.40, Y:21.24, Z:-1.51 [[ 8.41537258e-01 -5.40039154e-01 1.31436351e-02 7.04007131e+01] [ 5.39973743e-01 8.41639894e-01 8.40508299e-03 2.12413493e+01] [-1.56012816e-02 2.40273422e-05 9.99878292e-01 -1.51187272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88 meters 0.01366314554049267 Centerline is valid? [True, True] Translation: X:70.42, Y:21.26, Z:-1.51 [[ 8.41812057e-01 -5.39623442e-01 1.26095992e-02 7.04236956e+01] [ 5.39563104e-01 8.41906492e-01 8.06940564e-03 2.12562503e+01] [-1.49705439e-02 1.07515477e-05 9.99887935e-01 -1.51027875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91 meters 0.01648908025613339 Centerline is valid? [True, True] Translation: X:70.45, Y:21.27, Z:-1.51 [[ 8.41026855e-01 -5.40841367e-01 1.28235886e-02 7.04462062e+01] [ 5.40779071e-01 8.41124613e-01 8.20865499e-03 2.12703834e+01] [-1.52258161e-02 3.10290093e-05 9.99884080e-01 -1.51386565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94 meters 0.015297331865294889 Centerline is valid? [True, True] Translation: X:70.47, Y:21.29, Z:-1.51 [[ 8.41491556e-01 -5.40119038e-01 1.27822771e-02 7.04687790e+01] [ 5.40057042e-01 8.41588631e-01 8.18333417e-03 2.12865405e+01] [-1.51773937e-02 1.69521627e-05 9.99884817e-01 -1.51291778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97 meters 0.013751922754991673 Centerline is valid? [True, True] Translation: X:70.49, Y:21.30, Z:-1.51 [[ 8.42147973e-01 -5.39100534e-01 1.25461370e-02 7.04918043e+01] [ 5.39040626e-01 8.42241423e-01 8.03675336e-03 2.13027388e+01] [-1.48994943e-02 -5.25798624e-06 9.99888996e-01 -1.51084674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.0 meters 0.013813205995203031 Centerline is valid? [True, True] Translation: X:70.51, Y:21.32, Z:-1.51 [[ 8.42403640e-01 -5.38700032e-01 1.25850285e-02 7.05134402e+01] [ 5.38639616e-01 8.42497641e-01 8.06772312e-03 2.13182623e+01] [-1.49489395e-02 -1.74844124e-05 9.99888258e-01 -1.51233997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03 meters 0.01632175121276962 Centerline is valid? [True, True] Translation: X:70.54, Y:21.33, Z:-1.52 [[ 8.42139196e-01 -5.39111550e-01 1.26613822e-02 7.05361905e+01] [ 5.39050429e-01 8.42234371e-01 8.11780533e-03 2.13345367e+01] [-1.50402539e-02 -1.11985481e-05 9.99886889e-01 -1.51540453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06 meters 0.01691697103101299 Centerline is valid? [True, True] Translation: X:70.56, Y:21.35, Z:-1.52 [[ 8.42114559e-01 -5.39150470e-01 1.26428319e-02 7.05598067e+01] [ 5.39089456e-01 8.42209458e-01 8.11094186e-03 2.13505014e+01] [-1.50209307e-02 -1.47248521e-05 9.99887179e-01 -1.51636498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09 meters 0.016078623177061217 Centerline is valid? [True, True] Translation: X:70.58, Y:21.37, Z:-1.52 [[ 8.42191444e-01 -5.39024023e-01 1.29102259e-02 7.05829637e+01] [ 5.38960305e-01 8.42290391e-01 8.28779274e-03 2.13655968e+01] [-1.53414786e-02 -2.18088379e-05 9.99882312e-01 -1.51600748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11999999999999 meters 0.016102871040067107 Centerline is valid? [True, True] Translation: X:70.61, Y:21.38, Z:-1.52 [[ 8.42150659e-01 -5.39091095e-01 1.27694641e-02 7.06056895e+01] [ 5.39028679e-01 8.42247464e-01 8.20313989e-03 2.13802766e+01] [-1.51772884e-02 -2.51723122e-05 9.99884818e-01 -1.51669980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14999999999999 meters 0.01606916353286478 Centerline is valid? [True, True] Translation: X:70.63, Y:21.39, Z:-1.52 [[ 8.42142426e-01 -5.39107060e-01 1.26377434e-02 7.06285940e+01] [ 5.39045869e-01 8.42237245e-01 8.12243651e-03 2.13944781e+01] [-1.50228410e-02 -2.79250343e-05 9.99887150e-01 -1.51736471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17999999999999 meters 0.01617036748200681 Centerline is valid? [True, True] Translation: X:70.65, Y:21.41, Z:-1.52 [[ 8.42078622e-01 -5.39207312e-01 1.26122482e-02 7.06523375e+01] [ 5.39146362e-01 8.42173066e-01 8.10718969e-03 2.14097224e+01] [-1.49931517e-02 -2.70433995e-05 9.99887596e-01 -1.51762463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21 meters 0.015530712484459648 Centerline is valid? [True, True] Translation: X:70.68, Y:21.43, Z:-1.52 [[ 8.42256298e-01 -5.38933802e-01 1.24372745e-02 7.06750402e+01] [ 5.38874414e-01 8.42348120e-01 8.00067987e-03 2.14250087e+01] [-1.47883516e-02 -3.64939862e-05 9.99890646e-01 -1.51794019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24 meters 0.013815892040158302 Centerline is valid? [True, True] Translation: X:70.70, Y:21.44, Z:-1.52 [[ 8.42861660e-01 -5.37982235e-01 1.26229175e-02 7.06987484e+01] [ 5.37920936e-01 8.42956175e-01 8.12125229e-03 2.14410821e+01] [-1.50096557e-02 -5.49605670e-05 9.99887347e-01 -1.51547325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27 meters 0.01649763245430632 Centerline is valid? [True, True] Translation: X:70.72, Y:21.46, Z:-1.52 [[ 8.42560230e-01 -5.38445618e-01 1.29836318e-02 7.07220026e+01] [ 5.38380737e-01 8.42660260e-01 8.35873547e-03 2.14564107e+01] [-1.54415150e-02 -5.26008446e-05 9.99880771e-01 -1.51918965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.3 meters 0.016174054610266206 Centerline is valid? [True, True] Translation: X:70.75, Y:21.47, Z:-1.52 [[ 8.43529357e-01 -5.36921264e-01 1.31825638e-02 7.07456428e+01] [ 5.36854106e-01 8.43632354e-01 8.49235796e-03 2.14732492e+01] [-1.56809649e-02 -8.64397119e-05 9.99877042e-01 -1.51927818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33 meters 0.014531742699693989 Centerline is valid? [True, True] Translation: X:70.77, Y:21.49, Z:-1.52 [[ 8.44432953e-01 -5.35505327e-01 1.29240949e-02 7.07695037e+01] [ 5.35440543e-01 8.44531842e-01 8.33022322e-03 2.14900572e+01] [-1.53756886e-02 -1.14230580e-04 9.99881781e-01 -1.51762768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36 meters 0.01620309731044486 Centerline is valid? [True, True] Translation: X:70.79, Y:21.51, Z:-1.52 [[ 8.45799970e-01 -5.33338152e-01 1.31463377e-02 7.07908688e+01] [ 5.33270771e-01 8.45902116e-01 8.47907684e-03 2.15077758e+01] [-1.56427300e-02 -1.61045317e-04 9.99877632e-01 -1.52013941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39 meters 0.018011344692911428 Centerline is valid? [True, True] Translation: X:70.81, Y:21.52, Z:-1.52 [[ 8.46335885e-01 -5.32491161e-01 1.29897439e-02 7.08145047e+01] [ 5.32425267e-01 8.46435545e-01 8.37868915e-03 2.15235797e+01] [-1.54565589e-02 -1.75117439e-04 9.99880525e-01 -1.52230930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42 meters 0.016479494111724835 Centerline is valid? [True, True] Translation: X:70.84, Y:21.54, Z:-1.52 [[ 8.47325221e-01 -5.30910132e-01 1.32061470e-02 7.08381976e+01] [ 5.30841758e-01 8.47428101e-01 8.52293543e-03 2.15407778e+01] [-1.57161729e-02 -2.11323836e-04 9.99876471e-01 -1.52159793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45 meters 0.015982285681092116 Centerline is valid? [True, True] Translation: X:70.86, Y:21.56, Z:-1.52 [[ 8.49689655e-01 -5.27143740e-01 1.21230276e-02 7.08602670e+01] [ 5.27085685e-01 8.49776093e-01 7.82765680e-03 2.15599588e+01] [-1.44281593e-02 -2.61204696e-04 9.99895875e-01 -1.52133672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48 meters 0.019263491628681365 Centerline is valid? [True, True] Translation: X:70.88, Y:21.58, Z:-1.53 [[ 8.49981286e-01 -5.26696808e-01 1.10582917e-02 7.08834872e+01] [ 5.26648421e-01 8.50053181e-01 7.14347794e-03 2.15763946e+01] [-1.31625831e-02 -2.47990698e-04 9.99913339e-01 -1.52647540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50999999999999 meters 0.018573933422444674 Centerline is valid? [True, True] Translation: X:70.91, Y:21.59, Z:-1.53 [[ 8.50744679e-01 -5.25468683e-01 1.07774946e-02 7.09072053e+01] [ 5.25422579e-01 8.50812902e-01 6.96563996e-03 2.15924508e+01] [-1.28298571e-02 -2.63242126e-04 9.99917659e-01 -1.52720160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53999999999999 meters 0.018301415094580383 Centerline is valid? [True, True] Translation: X:70.93, Y:21.61, Z:-1.53 [[ 8.52250996e-01 -5.23046470e-01 9.51992899e-03 7.09285165e+01] [ 5.23010296e-01 8.52304123e-01 6.15732648e-03 2.16106980e+01] [-1.13344426e-02 -2.68566749e-04 9.99935727e-01 -1.52817949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57 meters 0.0189971163231697 Centerline is valid? [True, True] Translation: X:70.95, Y:21.63, Z:-1.53 [[ 8.52291347e-01 -5.22991840e-01 8.88789549e-03 7.09535905e+01] [ 5.22960317e-01 8.52337651e-01 5.74756440e-03 2.16258173e+01] [-1.05814173e-02 -2.50582754e-04 9.99943984e-01 -1.53042920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.6 meters 0.017551894777704375 Centerline is valid? [True, True] Translation: X:70.98, Y:21.64, Z:-1.53 [[ 8.53011636e-01 -5.21818149e-01 8.77313820e-03 7.09768900e+01] [ 5.21787326e-01 8.53056709e-01 5.67786388e-03 2.16418563e+01] [-1.04467968e-02 -2.65571638e-04 9.99945395e-01 -1.52859716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63 meters 0.018667155668603306 Centerline is valid? [True, True] Translation: X:71.00, Y:21.66, Z:-1.53 [[ 8.52419787e-01 -5.22797743e-01 7.93897795e-03 7.10020779e+01] [ 5.22772549e-01 8.52456725e-01 5.13759791e-03 2.16558528e+01] [-9.45355973e-03 -2.29110381e-04 9.99955288e-01 -1.53181979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66 meters 0.020643290304156202 Centerline is valid? [True, True] Translation: X:71.03, Y:21.67, Z:-1.53 [[ 8.51859794e-01 -5.23715481e-01 7.54894518e-03 7.10262731e+01] [ 5.23692695e-01 8.51893215e-01 4.88986598e-03 2.16703136e+01] [-8.99179369e-03 -2.12152780e-04 9.99959550e-01 -1.53408652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69 meters 0.019309618695175664 Centerline is valid? [True, True] Translation: X:71.05, Y:21.68, Z:-1.53 [[ 8.50921471e-01 -5.25226072e-01 8.37995922e-03 7.10511469e+01] [ 5.25198059e-01 8.50962705e-01 5.42896451e-03 2.16829485e+01] [-9.98246647e-03 -2.18484145e-04 9.99950150e-01 -1.53273055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72 meters 0.02028660047716618 Centerline is valid? [True, True] Translation: X:71.08, Y:21.70, Z:-1.53 [[ 8.49972621e-01 -5.26757513e-01 8.54788154e-03 7.10772225e+01] [ 5.26728441e-01 8.50015577e-01 5.53791117e-03 2.16965312e+01] [-1.01829688e-02 -2.04660549e-04 9.99948131e-01 -1.53327611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75 meters 0.017182559295694306 Centerline is valid? [True, True] Translation: X:71.10, Y:21.71, Z:-1.53 [[ 8.49194481e-01 -5.27990920e-01 9.71196949e-03 7.11028123e+01] [ 5.27953422e-01 8.49249987e-01 6.29635351e-03 2.17097403e+01] [-1.15723074e-02 -2.19361122e-04 9.99933015e-01 -1.53049600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78 meters 0.018775256763863164 Centerline is valid? [True, True] Translation: X:71.13, Y:21.72, Z:-1.53 [[ 8.47871363e-01 -5.30105153e-01 1.01330966e-02 7.11267729e+01] [ 5.30064421e-01 8.47931888e-01 6.57450311e-03 2.17241003e+01] [-1.20773537e-02 -2.03138951e-04 9.99927045e-01 -1.53210676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81 meters 0.017152441435236452 Centerline is valid? [True, True] Translation: X:71.15, Y:21.74, Z:-1.53 [[ 8.45727177e-01 -5.33489447e-01 1.15996851e-02 7.11537275e+01] [ 5.33436365e-01 8.45806703e-01 7.52771801e-03 2.17352411e+01] [-1.38270495e-02 -1.78701846e-04 9.99904386e-01 -1.53027872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84 meters 0.01565954309233282 Centerline is valid? [True, True] Translation: X:71.18, Y:21.75, Z:-1.53 [[ 8.44956080e-01 -5.34688494e-01 1.25473832e-02 7.11778772e+01] [ 5.34626425e-01 8.45049219e-01 8.14880614e-03 2.17498804e+01] [-1.49602292e-02 -1.77220697e-04 9.99888074e-01 -1.52928637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86999999999999 meters 0.0178018121993617 Centerline is valid? [True, True] Translation: X:71.20, Y:21.76, Z:-1.53 [[ 8.43982872e-01 -5.36230140e-01 1.22534671e-02 7.12032806e+01] [ 5.36171102e-01 8.44071807e-01 7.95830382e-03 2.17646173e+01] [-1.46102885e-02 -1.46717151e-04 9.99893253e-01 -1.53131667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89999999999999 meters 0.018211764676643205 Centerline is valid? [True, True] Translation: X:71.23, Y:21.78, Z:-1.53 [[ 8.43254022e-01 -5.37380517e-01 1.20347006e-02 7.12273530e+01] [ 5.37323630e-01 8.43339886e-01 7.82002868e-03 2.17786088e+01] [-1.43516741e-02 -1.27741600e-04 9.99897001e-01 -1.53127468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92999999999999 meters 0.017329793490635476 Centerline is valid? [True, True] Translation: X:71.25, Y:21.79, Z:-1.53 [[ 8.43170823e-01 -5.37512033e-01 1.19906835e-02 7.12497875e+01] [ 5.37455490e-01 8.43256068e-01 7.79740425e-03 2.17940955e+01] [-1.43024153e-02 -1.30085070e-04 9.99897707e-01 -1.53183779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96 meters 0.016300859128871237 Centerline is valid? [True, True] Translation: X:71.27, Y:21.81, Z:-1.53 [[ 8.43265406e-01 -5.37377658e-01 1.13449667e-02 7.12734902e+01] [ 5.37327018e-01 8.43341708e-01 7.37826146e-03 2.18099244e+01] [-1.35325964e-02 -1.25875524e-04 9.99908422e-01 -1.53219273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99 meters 0.014181544718662923 Centerline is valid? [True, True] Translation: X:71.30, Y:21.83, Z:-1.53 [[ 8.43934593e-01 -5.36349915e-01 1.01573833e-02 7.12968965e+01] [ 5.36309213e-01 8.43995706e-01 6.60879433e-03 2.18270004e+01] [-1.21174141e-02 -1.29891924e-04 9.99926573e-01 -1.53206653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02 meters 0.01727552523427465 Centerline is valid? [True, True] Translation: X:71.32, Y:21.84, Z:-1.54 [[ 8.43665869e-01 -5.36797199e-01 8.75604915e-03 7.13192891e+01] [ 5.36766933e-01 8.43711298e-01 5.70126381e-03 2.18426887e+01] [-1.04480000e-02 -1.10004041e-04 9.99945412e-01 -1.53772011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05 meters 0.016202159901186588 Centerline is valid? [True, True] Translation: X:71.34, Y:21.86, Z:-1.54 [[ 8.43784639e-01 -5.36619066e-01 8.21351240e-03 7.13430053e+01] [ 5.36592417e-01 8.43824607e-01 5.34890822e-03 2.18582803e+01] [-9.80109000e-03 -1.06018124e-04 9.99951963e-01 -1.53812901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08 meters 0.014330238015190122 Centerline is valid? [True, True] Translation: X:71.37, Y:21.87, Z:-1.54 [[ 8.44125713e-01 -5.36084212e-01 8.09311946e-03 7.13670814e+01] [ 5.36058325e-01 8.44164502e-01 5.26939821e-03 2.18737149e+01] [-9.65676534e-03 -1.09650460e-04 9.99953366e-01 -1.53680686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11 meters 0.018045337316366764 Centerline is valid? [True, True] Translation: X:71.39, Y:21.89, Z:-1.54 [[ 8.43558986e-01 -5.36989169e-01 7.13224172e-03 7.13900596e+01] [ 5.36969066e-01 8.43589132e-01 4.64739413e-03 2.18885910e+01] [-8.51228192e-03 -9.05579065e-05 9.99963766e-01 -1.54127054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14 meters 0.014211259635547783 Centerline is valid? [True, True] Translation: X:71.41, Y:21.90, Z:-1.54 [[ 8.43696201e-01 -5.36741783e-01 9.21836759e-03 7.14143557e+01] [ 5.36708173e-01 8.43746552e-01 6.00780127e-03 2.19040803e+01] [-1.10026038e-02 -1.21185887e-04 9.99939462e-01 -1.53648765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17 meters 0.014050367114743407 Centerline is valid? [True, True] Translation: X:71.44, Y:21.92, Z:-1.54 [[ 8.43338324e-01 -5.37292783e-01 9.84564495e-03 7.14378870e+01] [ 5.37254440e-01 8.43395785e-01 6.42009013e-03 2.19189135e+01] [-1.17532435e-02 -1.24691586e-04 9.99930920e-01 -1.53605475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.2 meters 0.016265356045921685 Centerline is valid? [True, True] Translation: X:71.46, Y:21.93, Z:-1.54 [[ 8.42536308e-01 -5.38545179e-01 1.00826327e-02 7.14619241e+01] [ 5.38505001e-01 8.42596628e-01 6.57929053e-03 2.19341101e+01] [-1.20388375e-02 -1.13743024e-04 9.99927524e-01 -1.53886919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23 meters 0.016265356045921685 Centerline is valid? [True, True] Translation: X:71.49, Y:21.95, Z:-1.54 [[ 8.42381955e-01 -5.38786611e-01 1.00811534e-02 7.14850044e+01] [ 5.38746423e-01 8.42442268e-01 6.58155611e-03 2.19492665e+01] [-1.20388440e-02 -1.12998795e-04 9.99927524e-01 -1.53943568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25999999999999 meters 0.014037856994285941 Centerline is valid? [True, True] Translation: X:71.51, Y:21.96, Z:-1.54 [[ 8.42465296e-01 -5.38633812e-01 1.12179538e-02 7.15086737e+01] [ 5.38583940e-01 8.42539969e-01 7.33080884e-03 2.19648417e+01] [-1.34001960e-02 -1.34142277e-04 9.99910204e-01 -1.53688190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28999999999999 meters 0.014015698810036692 Centerline is valid? [True, True] Translation: X:71.53, Y:21.98, Z:-1.54 [[ 8.42119859e-01 -5.39163586e-01 1.16949055e-02 7.15325201e+01] [ 5.39109433e-01 8.42201051e-01 7.64256080e-03 2.19804236e+01] [-1.39700522e-02 -1.31118319e-04 9.99902405e-01 -1.53751311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32 meters 0.013952390253645714 Centerline is valid? [True, True] Translation: X:71.56, Y:22.00, Z:-1.54 [[ 8.41810301e-01 -5.39629001e-01 1.24883466e-02 7.15567987e+01] [ 5.39567220e-01 8.41902918e-01 8.16650128e-03 2.19955552e+01] [-1.49208563e-02 -1.36342454e-04 9.99888669e-01 -1.53734961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35 meters 0.016094216786893337 Centerline is valid? [True, True] Translation: X:71.58, Y:22.01, Z:-1.54 [[ 8.41324041e-01 -5.40392532e-01 1.22380638e-02 7.15807830e+01] [ 5.40333214e-01 8.41413035e-01 8.00756508e-03 2.20108784e+01] [-1.46244948e-02 -1.24324664e-04 9.99893049e-01 -1.53993123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38 meters 0.013945571272114387 Centerline is valid? [True, True] Translation: X:71.60, Y:22.03, Z:-1.54 [[ 8.41714450e-01 -5.39766140e-01 1.30114905e-02 7.16044359e+01] [ 5.39698926e-01 8.41814999e-01 8.51925238e-03 2.20262116e+01] [-1.55516718e-02 -1.48490396e-04 9.99879054e-01 -1.53714372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41 meters 0.015973905242590392 Centerline is valid? [True, True] Translation: X:71.63, Y:22.04, Z:-1.54 [[ 8.41727704e-01 -5.39757859e-01 1.24870416e-02 7.16264441e+01] [ 5.39695862e-01 8.41820309e-01 8.18198170e-03 2.20428616e+01] [-1.49281341e-02 -1.47795993e-04 9.99888558e-01 -1.54098872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44 meters 0.014704094625729953 Centerline is valid? [True, True] Translation: X:71.65, Y:22.06, Z:-1.54 [[ 8.42043218e-01 -5.39279337e-01 1.18749874e-02 7.16504564e+01] [ 5.39223219e-01 8.42126935e-01 7.78115286e-03 2.20591159e+01] [-1.41964617e-02 -1.48798087e-04 9.99899214e-01 -1.54095199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47 meters 0.01719821224910467 Centerline is valid? [True, True] Translation: X:71.67, Y:22.07, Z:-1.55 [[ 8.41733296e-01 -5.39794269e-01 1.03539746e-02 7.16741565e+01] [ 5.39751610e-01 8.41796966e-01 6.78731220e-03 2.20749628e+01] [-1.23796966e-02 -1.24532207e-04 9.99923361e-01 -1.54610938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.5 meters 0.016996100423831324 Centerline is valid? [True, True] Translation: X:71.70, Y:22.09, Z:-1.55 [[ 8.41522877e-01 -5.40127014e-01 1.01023276e-02 7.16975704e+01] [ 5.40086392e-01 8.41583504e-01 6.62526253e-03 2.20897012e+01] [-1.20804356e-02 -1.19180300e-04 9.99927022e-01 -1.54640586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53 meters 0.01666658079499024 Centerline is valid? [True, True] Translation: X:71.72, Y:22.10, Z:-1.55 [[ 8.41259283e-01 -5.40537265e-01 1.01135187e-02 7.17198338e+01] [ 5.40496514e-01 8.41320064e-01 6.63832284e-03 2.21045097e+01] [-1.20969671e-02 -1.18229116e-04 9.99926822e-01 -1.54713085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56 meters 0.01630802996457162 Centerline is valid? [True, True] Translation: X:71.74, Y:22.12, Z:-1.55 [[ 8.40907779e-01 -5.41083927e-01 1.01139500e-02 7.17437637e+01] [ 5.41043208e-01 8.40968592e-01 6.63889568e-03 2.21197802e+01] [-1.20977140e-02 -1.10615057e-04 9.99926814e-01 -1.54719624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59 meters 0.017446639606400312 Centerline is valid? [True, True] Translation: X:71.77, Y:22.13, Z:-1.55 [[ 8.39512909e-01 -5.43242817e-01 1.02624612e-02 7.17689553e+01] [ 5.43201002e-01 8.39575628e-01 6.74068466e-03 2.21341029e+01] [-1.22779408e-02 -8.43126045e-05 9.99924620e-01 -1.54807949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61999999999999 meters 0.016394773780798445 Centerline is valid? [True, True] Translation: X:71.79, Y:22.15, Z:-1.55 [[ 8.38093208e-01 -5.45421986e-01 1.07066805e-02 7.17934323e+01] [ 5.45376598e-01 8.38161592e-01 7.03650271e-03 2.21489155e+01] [-1.28117917e-02 -5.80721245e-05 9.99917924e-01 -1.54827708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64999999999999 meters 0.016870800884139867 Centerline is valid? [True, True] Translation: X:71.82, Y:22.16, Z:-1.55 [[ 8.36751421e-01 -5.47469850e-01 1.11275571e-02 7.18177157e+01] [ 5.47420930e-01 8.36825408e-01 7.31862664e-03 2.21634468e+01] [-1.33185499e-02 -3.24135846e-05 9.99911304e-01 -1.54881149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67999999999999 meters 0.016257507676973947 Centerline is valid? [True, True] Translation: X:71.84, Y:22.18, Z:-1.55 [[ 8.35104519e-01 -5.49932954e-01 1.31980738e-02 7.18430968e+01] [ 5.49864424e-01 8.35208804e-01 8.68152723e-03 2.21768188e+01] [-1.57974054e-02 7.16864553e-06 9.99875213e-01 -1.54597304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71 meters 0.013558978193140328 Centerline is valid? [True, True] Translation: X:71.87, Y:22.19, Z:-1.54 [[ 8.34945083e-01 -5.50161609e-01 1.37445242e-02 7.18671425e+01] [ 5.50087237e-01 8.35058204e-01 9.04589244e-03 2.21921158e+01] [-1.64541804e-02 7.86392564e-06 9.99864621e-01 -1.54322304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74 meters 0.01448771871082457 Centerline is valid? [True, True] Translation: X:71.89, Y:22.21, Z:-1.55 [[ 8.34434581e-01 -5.50944326e-01 1.33895638e-02 7.18901617e+01] [ 5.50873762e-01 8.34542000e-01 8.81755166e-03 2.22075174e+01] [-1.60321334e-02 1.82893601e-05 9.99871477e-01 -1.54568171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77 meters 0.013446028530634535 Centerline is valid? [True, True] Translation: X:71.91, Y:22.22, Z:-1.55 [[ 8.34611213e-01 -5.50691100e-01 1.27842244e-02 7.19119906e+01] [ 5.50626651e-01 8.34709118e-01 8.42488207e-03 2.22236072e+01] [-1.53106163e-02 7.83365025e-06 9.99882786e-01 -1.54722941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.8 meters 0.01556973187578283 Centerline is valid? [True, True] Translation: X:71.93, Y:22.24, Z:-1.55 [[ 8.34421802e-01 -5.50996932e-01 1.19431113e-02 7.19349031e+01] [ 5.50940707e-01 8.34507268e-01 7.87121437e-03 2.22399695e+01] [-1.43036282e-02 1.20333359e-05 9.99897698e-01 -1.55094122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83 meters 0.013492325657090845 Centerline is valid? [True, True] Translation: X:71.96, Y:22.26, Z:-1.55 [[ 8.35637794e-01 -5.49164483e-01 1.13069530e-02 7.19574105e+01] [ 5.49113840e-01 8.35714287e-01 7.45791493e-03 2.22567940e+01] [-1.35450041e-02 -2.33112224e-05 9.99908262e-01 -1.55060913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86 meters 0.013529882818087296 Centerline is valid? [True, True] Translation: X:71.98, Y:22.27, Z:-1.55 [[ 8.36155539e-01 -5.48383542e-01 1.09272930e-02 7.19806559e+01] [ 5.48336182e-01 8.36226937e-01 7.20707674e-03 2.22731627e+01] [-1.30899390e-02 -3.44069920e-05 9.99914322e-01 -1.55081318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89 meters 0.013591606953506042 Centerline is valid? [True, True] Translation: X:72.00, Y:22.29, Z:-1.55 [[ 8.36835029e-01 -5.47355663e-01 1.04361102e-02 7.20043651e+01] [ 5.47312332e-01 8.36900099e-01 6.88736715e-03 2.22899569e+01] [-1.25038210e-02 -5.17782992e-05 9.99921823e-01 -1.55124850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92 meters 0.01775463172340768 Centerline is valid? [True, True] Translation: X:72.03, Y:22.31, Z:-1.56 [[ 8.37938199e-01 -5.45692526e-01 8.90176441e-03 7.20270207e+01] [ 5.45660882e-01 8.37985479e-01 5.87703950e-03 2.23077279e+01] [-1.06666058e-02 -6.72512800e-05 9.99943108e-01 -1.55599076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95 meters 0.013776488748353822 Centerline is valid? [True, True] Translation: X:72.05, Y:22.32, Z:-1.55 [[ 8.38642510e-01 -5.44593263e-01 9.84470151e-03 7.20495484e+01] [ 5.44554439e-01 8.38700286e-01 6.50331180e-03 2.23242238e+01] [-1.17984138e-02 -9.29778263e-05 9.99930392e-01 -1.55294315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98 meters 0.013978786483497175 Centerline is valid? [True, True] Translation: X:72.07, Y:22.34, Z:-1.55 [[ 8.38859328e-01 -5.44251440e-01 1.02663482e-02 7.20712228e+01] [ 5.44209127e-01 8.38922141e-01 6.78730756e-03 2.23404274e+01] [-1.23066687e-02 -1.06555886e-04 9.99924264e-01 -1.55407497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00999999999999 meters 0.01445611573926703 Centerline is valid? [True, True] Translation: X:72.09, Y:22.36, Z:-1.56 [[ 8.38551403e-01 -5.44714329e-01 1.08556703e-02 7.20938189e+01] [ 5.44667006e-01 8.38621660e-01 7.18080292e-03 2.23565965e+01] [-1.30152865e-02 -1.08746910e-04 9.99915292e-01 -1.55537258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03999999999999 meters 0.01576849667408907 Centerline is valid? [True, True] Translation: X:72.12, Y:22.37, Z:-1.56 [[ 8.37733550e-01 -5.45966143e-01 1.11117034e-02 7.21186533e+01] [ 5.45916656e-01 8.37807235e-01 7.35132716e-03 2.23715741e+01] [-1.33230412e-02 -9.23894309e-05 9.99911240e-01 -1.55655215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07 meters 0.013478014087105548 Centerline is valid? [True, True] Translation: X:72.14, Y:22.38, Z:-1.55 [[ 8.36285708e-01 -5.48147366e-01 1.26759169e-02 7.21436316e+01] [ 5.48083119e-01 8.36381767e-01 8.39258359e-03 2.23848588e+01] [-1.52022784e-02 -7.11416276e-05 9.99884436e-01 -1.55277083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.1 meters 0.015295734834716997 Centerline is valid? [True, True] Translation: X:72.17, Y:22.40, Z:-1.55 [[ 8.34847604e-01 -5.50336426e-01 1.26212306e-02 7.21683561e+01] [ 5.50272977e-01 8.34943002e-01 8.35669398e-03 2.23992422e+01] [-1.51370013e-02 -3.14438207e-05 9.99885429e-01 -1.55454280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13 meters 0.013300345866846702 Centerline is valid? [True, True] Translation: X:72.19, Y:22.41, Z:-1.55 [[ 8.33778748e-01 -5.51932501e-01 1.35466836e-02 7.21925318e+01] [ 5.51859506e-01 8.33888790e-01 8.97617277e-03 2.24137937e+01] [-1.62506691e-02 -8.27595753e-06 9.99867949e-01 -1.55247421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16 meters 0.015241508441900371 Centerline is valid? [True, True] Translation: X:72.22, Y:22.43, Z:-1.56 [[ 8.32229530e-01 -5.54266084e-01 1.35320789e-02 7.22163469e+01] [ 5.54193525e-01 8.32339538e-01 8.96827864e-03 2.24284141e+01] [-1.62340970e-02 3.57241818e-05 9.99868218e-01 -1.55505609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19 meters 0.016178019782570056 Centerline is valid? [True, True] Translation: X:72.24, Y:22.44, Z:-1.56 [[ 8.29923266e-01 -5.57708848e-01 1.37190958e-02 7.22407272e+01] [ 5.57634635e-01 8.30036644e-01 9.09855537e-03 2.24420153e+01] [-1.64616970e-02 9.91401569e-05 9.99864492e-01 -1.55717281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22 meters 0.014736677482063795 Centerline is valid? [True, True] Translation: X:72.27, Y:22.46, Z:-1.56 [[ 8.28813685e-01 -5.59353898e-01 1.38236529e-02 7.22650174e+01] [ 5.59278743e-01 8.28928947e-01 9.16992421e-03 2.24578594e+01] [-1.65880589e-02 1.31116560e-04 9.99862400e-01 -1.55631203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25 meters 0.014937363631490152 Centerline is valid? [True, True] Translation: X:72.29, Y:22.47, Z:-1.56 [[ 8.27692335e-01 -5.61023653e-01 1.33364011e-02 7.22894152e+01] [ 5.60953847e-01 8.27799757e-01 8.85122878e-03 2.24728032e+01] [-1.60056183e-02 1.55011285e-04 9.99871890e-01 -1.55727532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28 meters 0.015584320273489844 Centerline is valid? [True, True] Translation: X:72.31, Y:22.49, Z:-1.56 [[ 8.25231645e-01 -5.64677062e-01 1.15129387e-02 7.23146547e+01] [ 5.64625351e-01 8.25311928e-01 7.64428336e-03 2.24868487e+01] [-1.38183171e-02 1.92192496e-04 9.99904504e-01 -1.55982845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31 meters 0.015253317542701542 Centerline is valid? [True, True] Translation: X:72.34, Y:22.50, Z:-1.56 [[ 8.24108549e-01 -5.66330756e-01 1.07038996e-02 7.23394650e+01] [ 5.66286154e-01 8.24178035e-01 7.11046531e-03 2.25019992e+01] [-1.28487941e-02 2.01674886e-04 9.99917430e-01 -1.56026676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34 meters 0.015504763206618876 Centerline is valid? [True, True] Translation: X:72.36, Y:22.52, Z:-1.56 [[ 8.22845661e-01 -5.68171884e-01 1.02823931e-02 7.23641987e+01] [ 5.68130827e-01 8.22909875e-01 6.83380238e-03 2.25178110e+01] [-1.23442572e-02 2.18579874e-04 9.99923783e-01 -1.56115691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36999999999999 meters 0.015788585198628063 Centerline is valid? [True, True] Translation: X:72.39, Y:22.53, Z:-1.56 [[ 8.21628392e-01 -5.69930634e-01 1.02887618e-02 7.23882584e+01] [ 5.69889599e-01 8.21692774e-01 6.84327860e-03 2.25321983e+01] [-1.23543953e-02 2.40826326e-04 9.99923653e-01 -1.56167706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39999999999999 meters 0.016367098287590077 Centerline is valid? [True, True] Translation: X:72.41, Y:22.55, Z:-1.56 [[ 8.19253211e-01 -5.73337274e-01 1.04185315e-02 7.24123462e+01] [ 5.73295455e-01 8.19319403e-01 6.93094305e-03 2.25473365e+01] [-1.25098730e-02 2.94699412e-04 9.99921705e-01 -1.56131900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42999999999999 meters 0.016637477124494364 Centerline is valid? [True, True] Translation: X:72.44, Y:22.56, Z:-1.56 [[ 8.18073998e-01 -5.75002141e-01 1.12903027e-02 7.24364637e+01] [ 5.74953186e-01 8.18151830e-01 7.51109190e-03 2.25628397e+01] [-1.35560757e-02 3.46766502e-04 9.99908052e-01 -1.56089498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46 meters 0.01843532988636802 Centerline is valid? [True, True] Translation: X:72.46, Y:22.58, Z:-1.56 [[ 8.15958255e-01 -5.77951568e-01 1.35687164e-02 7.24599136e+01] [ 5.77881154e-01 8.16070931e-01 9.03370242e-03 2.25771250e+01] [-1.62940775e-02 4.69981413e-04 9.99867132e-01 -1.56066441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49 meters 0.01938114533589822 Centerline is valid? [True, True] Translation: X:72.48, Y:22.59, Z:-1.56 [[ 8.15109524e-01 -5.79135140e-01 1.41050492e-02 7.24844767e+01] [ 5.79059198e-01 8.15231395e-01 9.39242477e-03 2.25929535e+01] [-1.69383622e-02 5.11803603e-04 9.99856405e-01 -1.56103899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52 meters 0.019088390414170618 Centerline is valid? [True, True] Translation: X:72.51, Y:22.61, Z:-1.56 [[ 8.14771190e-01 -5.79587637e-01 1.50358979e-02 7.25079649e+01] [ 5.79501308e-01 8.14909730e-01 1.00183180e-02 2.26083529e+01] [-1.80593927e-02 5.50685624e-04 9.99836764e-01 -1.55982300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55 meters 0.01833343688360547 Centerline is valid? [True, True] Translation: X:72.53, Y:22.63, Z:-1.56 [[ 8.15018573e-01 -5.79219785e-01 1.57849943e-02 7.25311705e+01] [ 5.79124515e-01 8.15171221e-01 1.05203401e-02 2.26264278e+01] [-1.89610622e-02 5.67204596e-04 9.99820062e-01 -1.55891554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58 meters 0.020042743577189295 Centerline is valid? [True, True] Translation: X:72.55, Y:22.64, Z:-1.56 [[ 8.15480133e-01 -5.78585455e-01 1.51994737e-02 7.25544631e+01] [ 5.78496919e-01 8.15621599e-01 1.01352073e-02 2.26426085e+01] [-1.82611026e-02 5.27788524e-04 9.99833113e-01 -1.56195867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61 meters 0.018022519764253495 Centerline is valid? [True, True] Translation: X:72.58, Y:22.66, Z:-1.56 [[ 8.16627757e-01 -5.76966099e-01 1.51402558e-02 7.25773234e+01] [ 5.76877876e-01 8.16767951e-01 1.01010083e-02 2.26614309e+01] [-1.81940151e-02 4.85314913e-04 9.99834357e-01 -1.56122537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64 meters 0.017721283992676327 Centerline is valid? [True, True] Translation: X:72.60, Y:22.68, Z:-1.57 [[ 8.19436386e-01 -5.73007936e-01 1.36350084e-02 7.25970203e+01] [ 5.72935762e-01 8.19549742e-01 9.10124910e-03 2.26819208e+01] [-1.63896556e-02 3.54089267e-04 9.99865618e-01 -1.56547014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67 meters 0.016683496386000845 Centerline is valid? [True, True] Translation: X:72.62, Y:22.70, Z:-1.57 [[ 8.20735392e-01 -5.71163414e-01 1.28751780e-02 7.26179541e+01] [ 5.71098827e-01 8.20836320e-01 8.59448454e-03 2.27024153e+01] [-1.54772689e-02 2.99201406e-04 9.99880175e-01 -1.56725456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.7 meters 0.015898186856181967 Centerline is valid? [True, True] Translation: X:72.64, Y:22.72, Z:-1.57 [[ 8.23546606e-01 -5.67135694e-01 1.13178092e-02 7.26393898e+01] [ 5.67085360e-01 8.23624348e-01 7.55826408e-03 2.27216259e+01] [-1.36081846e-02 1.93581168e-04 9.99907386e-01 -1.56897020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73 meters 0.014368576144947682 Centerline is valid? [True, True] Translation: X:72.66, Y:22.74, Z:-1.57 [[ 8.24729846e-01 -5.65420334e-01 1.09784776e-02 7.26622120e+01] [ 5.65372772e-01 8.24802899e-01 7.33536369e-03 2.27401910e+01] [-1.32026439e-02 1.57238949e-04 9.99912829e-01 -1.56844560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75999999999999 meters 0.014502250396605071 Centerline is valid? [True, True] Translation: X:72.69, Y:22.76, Z:-1.57 [[ 8.25550019e-01 -5.64222131e-01 1.09796374e-02 7.26852621e+01] [ 5.64174402e-01 8.25623018e-01 7.33999021e-03 2.27578828e+01] [-1.32064263e-02 1.34901313e-04 9.99912782e-01 -1.56941736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78999999999999 meters 0.01565552946484961 Centerline is valid? [True, True] Translation: X:72.71, Y:22.78, Z:-1.57 [[ 8.26808106e-01 -5.62362919e-01 1.16748974e-02 7.27072130e+01] [ 5.62308688e-01 8.26890522e-01 7.81044747e-03 2.27756643e+01] [-1.40461680e-02 1.07154960e-04 9.99901342e-01 -1.57111101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82 meters 0.014504781119679618 Centerline is valid? [True, True] Translation: X:72.73, Y:22.79, Z:-1.57 [[ 8.27485903e-01 -5.61346995e-01 1.25152374e-02 7.27303389e+01] [ 5.61284549e-01 8.27580535e-01 8.37332633e-03 2.27926830e+01] [-1.50577085e-02 9.57999080e-05 9.99886622e-01 -1.57002137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85 meters 0.01343766985220232 Centerline is valid? [True, True] Translation: X:72.75, Y:22.81, Z:-1.57 [[ 8.29272512e-01 -5.58669204e-01 1.39936213e-02 7.27530678e+01] [ 5.58590658e-01 8.29390570e-01 9.36795127e-03 2.28116814e+01] [-1.68397634e-02 4.81216594e-05 9.99858200e-01 -1.56781655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88 meters 0.014455747406330773 Centerline is valid? [True, True] Translation: X:72.78, Y:22.83, Z:-1.57 [[ 8.29960598e-01 -5.57629910e-01 1.46386087e-02 7.27751145e+01] [ 5.57543707e-01 8.30089684e-01 9.80470102e-03 2.28284731e+01] [-1.76187526e-02 2.41486086e-05 9.99844777e-01 -1.57021129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91 meters 0.013276187107676394 Centerline is valid? [True, True] Translation: X:72.80, Y:22.85, Z:-1.57 [[ 8.31100937e-01 -5.55922992e-01 1.48613290e-02 7.27977519e+01] [ 5.55833760e-01 8.31233798e-01 9.96013243e-03 2.28458468e+01] [-1.78903056e-02 -1.74470129e-05 9.99839956e-01 -1.56910229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94 meters 0.013566792139489222 Centerline is valid? [True, True] Translation: X:72.82, Y:22.86, Z:-1.57 [[ 8.33318156e-01 -5.52557928e-01 1.61426973e-02 7.28196930e+01] [ 5.52451869e-01 8.33474490e-01 1.08262056e-02 2.28643199e+01] [-1.94366322e-02 -1.03610419e-04 9.99811085e-01 -1.56892881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97 meters 0.013702171841874479 Centerline is valid? [True, True] Translation: X:72.84, Y:22.88, Z:-1.57 [[ 8.34530858e-01 -5.50719207e-01 1.63279313e-02 7.28423185e+01] [ 5.50610228e-01 8.34690560e-01 1.09565170e-02 2.28815027e+01] [-1.96627345e-02 -1.53225575e-04 9.99806658e-01 -1.56925141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.0 meters 0.016891056375912455 Centerline is valid? [True, True] Translation: X:72.86, Y:22.90, Z:-1.57 [[ 8.36358444e-01 -5.47964541e-01 1.54730730e-02 7.28646609e+01] [ 5.47866175e-01 8.36501536e-01 1.03843575e-02 2.28994666e+01] [-1.86335090e-02 -2.07871806e-04 9.99826359e-01 -1.57393159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03 meters 0.01911359259839111 Centerline is valid? [True, True] Translation: X:72.89, Y:22.92, Z:-1.58 [[ 8.37245741e-01 -5.46639543e-01 1.43101021e-02 7.28878351e+01] [ 5.46555134e-01 8.37367995e-01 9.60861185e-03 2.29166676e+01] [-1.72352687e-02 -2.23509570e-04 9.99851437e-01 -1.57668163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06 meters 0.015474212910317541 Centerline is valid? [True, True] Translation: X:72.91, Y:22.93, Z:-1.57 [[ 8.38588985e-01 -5.44581437e-01 1.41270492e-02 7.29095090e+01] [ 5.44498784e-01 8.38707927e-01 9.49143802e-03 2.29337626e+01] [-1.70173291e-02 -2.67254253e-04 9.99855159e-01 -1.57435531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09 meters 0.018913172229242475 Centerline is valid? [True, True] Translation: X:72.93, Y:22.95, Z:-1.58 [[ 8.39757592e-01 -5.42825135e-01 1.21680027e-02 7.29324528e+01] [ 5.42763631e-01 8.39845703e-01 8.17533689e-03 2.29510331e+01] [-1.46570231e-02 -2.60951903e-04 9.99892546e-01 -1.57990593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11999999999999 meters 0.01664253696865475 Centerline is valid? [True, True] Translation: X:72.96, Y:22.97, Z:-1.58 [[ 8.39760724e-01 -5.42814269e-01 1.24336481e-02 7.29557707e+01] [ 5.42749983e-01 8.39852723e-01 8.35819207e-03 2.29671075e+01] [-1.49793792e-02 -2.70519114e-04 9.99887766e-01 -1.57890403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14999999999999 meters 0.01664253696865475 Centerline is valid? [True, True] Translation: X:72.98, Y:22.98, Z:-1.58 [[ 8.39606912e-01 -5.43052204e-01 1.24312764e-02 7.29786330e+01] [ 5.42987892e-01 8.39698893e-01 8.36171772e-03 2.29825767e+01] [-1.49793783e-02 -2.70523441e-04 9.99887766e-01 -1.57947023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17999999999999 meters 0.017416301386772397 Centerline is valid? [True, True] Translation: X:73.00, Y:23.00, Z:-1.58 [[ 8.39284165e-01 -5.43555607e-01 1.22226174e-02 7.30016641e+01] [ 5.43493396e-01 8.39373120e-01 8.22766363e-03 2.29984784e+01] [-1.47315292e-02 -2.62435976e-04 9.99891451e-01 -1.58137915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21 meters 0.018399241277966865 Centerline is valid? [True, True] Translation: X:73.03, Y:23.01, Z:-1.58 [[ 8.38910126e-01 -5.44131991e-01 1.22546609e-02 7.30256370e+01] [ 5.44069513e-01 8.38999590e-01 8.24940122e-03 2.30127830e+01] [-1.47704186e-02 -2.53118817e-04 9.99890879e-01 -1.58240278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24 meters 0.019668837165472696 Centerline is valid? [True, True] Translation: X:73.05, Y:23.03, Z:-1.58 [[ 8.37890072e-01 -5.45699810e-01 1.23265823e-02 7.30499860e+01] [ 5.45636673e-01 8.37980706e-01 8.30407344e-03 2.30268370e+01] [-1.48609695e-02 -2.32065312e-04 9.99889543e-01 -1.58332824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27 meters 0.01489323254037742 Centerline is valid? [True, True] Translation: X:73.07, Y:23.04, Z:-1.58 [[ 8.37578544e-01 -5.46166995e-01 1.27982778e-02 7.30737632e+01] [ 5.46098962e-01 8.37676285e-01 8.62348458e-03 2.30417608e+01] [-1.54306765e-02 -2.33719423e-04 9.99880913e-01 -1.57938132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.3 meters 0.014611298857851573 Centerline is valid? [True, True] Translation: X:73.10, Y:23.06, Z:-1.58 [[ 8.35931416e-01 -5.48677608e-01 1.30977147e-02 7.30985435e+01] [ 5.48606570e-01 8.36033997e-01 8.83099603e-03 2.30557581e+01] [-1.57955046e-02 -1.96614657e-04 9.99875224e-01 -1.58061757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33 meters 0.01440331158577751 Centerline is valid? [True, True] Translation: X:73.12, Y:23.07, Z:-1.58 [[ 8.34788020e-01 -5.50409614e-01 1.33498665e-02 7.31238479e+01] [ 5.50335958e-01 8.34894740e-01 9.00586948e-03 2.30692536e+01] [-1.61026505e-02 -1.71080359e-04 9.99870329e-01 -1.58100349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36 meters 0.013584389033417625 Centerline is valid? [True, True] Translation: X:73.15, Y:23.08, Z:-1.58 [[ 8.32591777e-01 -5.53703355e-01 1.42662953e-02 7.31500379e+01] [ 5.53619624e-01 8.32713985e-01 9.62971323e-03 2.30818701e+01] [-1.72117482e-02 -1.19518985e-04 9.99851860e-01 -1.57968986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39 meters 0.016118596341988763 Centerline is valid? [True, True] Translation: X:73.18, Y:23.10, Z:-1.58 [[ 8.31252533e-01 -5.55703027e-01 1.46072520e-02 7.31754196e+01] [ 5.55615457e-01 8.31380862e-01 9.86535757e-03 2.30960215e+01] [-1.76263988e-02 -8.45884684e-05 9.99844639e-01 -1.58267061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42 meters 0.013386019456591703 Centerline is valid? [True, True] Translation: X:73.20, Y:23.11, Z:-1.58 [[ 8.30634725e-01 -5.56614021e-01 1.50593792e-02 7.31994898e+01] [ 5.56520983e-01 8.30771224e-01 1.01768982e-02 2.31102574e+01] [-1.81755031e-02 -7.24245548e-05 9.99834809e-01 -1.57902302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45 meters 0.013349506965233487 Centerline is valid? [True, True] Translation: X:73.22, Y:23.12, Z:-1.58 [[ 8.28983318e-01 -5.59048978e-01 1.58397551e-02 7.32243868e+01] [ 5.58946456e-01 8.29134633e-01 1.07060879e-02 2.31230804e+01] [-1.91185171e-02 -2.15933163e-05 9.99817224e-01 -1.57818419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47999999999999 meters 0.013346535355841745 Centerline is valid? [True, True] Translation: X:73.25, Y:23.14, Z:-1.58 [[ 8.28050627e-01 -5.60424663e-01 1.60111337e-02 7.32472013e+01] [ 5.60320032e-01 8.28205407e-01 1.08288901e-02 2.31372747e+01] [-1.93292846e-02 4.48968470e-06 9.99813172e-01 -1.57899652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50999999999999 meters 0.014939435606398663 Centerline is valid? [True, True] Translation: X:73.27, Y:23.15, Z:-1.58 [[ 8.26336684e-01 -5.62951779e-01 1.59053352e-02 7.32715983e+01] [ 5.62848944e-01 8.26489740e-01 1.07599006e-02 2.31514028e+01] [-1.92029015e-02 6.10005399e-05 9.99815605e-01 -1.58256515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53999999999999 meters 0.013460362301058338 Centerline is valid? [True, True] Translation: X:73.29, Y:23.17, Z:-1.58 [[ 8.25757459e-01 -5.63807372e-01 1.56801131e-02 7.32940779e+01] [ 5.63707456e-01 8.25906315e-01 1.06142401e-02 2.31656765e+01] [-1.89346912e-02 7.42087650e-05 9.99820720e-01 -1.58100031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57 meters 0.01367526198654615 Centerline is valid? [True, True] Translation: X:73.32, Y:23.18, Z:-1.58 [[ 8.24424276e-01 -5.65793145e-01 1.42383316e-02 7.33188043e+01] [ 5.65711025e-01 8.24547213e-01 9.64003026e-03 2.31804958e+01] [-1.71944397e-02 1.07306186e-04 9.99852159e-01 -1.58272678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.6 meters 0.013708557625450393 Centerline is valid? [True, True] Translation: X:73.34, Y:23.20, Z:-1.58 [[ 8.23737335e-01 -5.66798225e-01 1.40205415e-02 7.33423177e+01] [ 5.66718664e-01 8.23856636e-01 9.49729390e-03 2.31956724e+01] [-1.69339655e-02 1.22427014e-04 9.99856603e-01 -1.58346420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63 meters 0.013788674930598023 Centerline is valid? [True, True] Translation: X:73.37, Y:23.21, Z:-1.58 [[ 8.23281083e-01 -5.67472943e-01 1.35172688e-02 7.33661589e+01] [ 5.67398995e-01 8.23392035e-01 9.16177745e-03 2.32107372e+01] [-1.63290723e-02 1.26966671e-04 9.99866664e-01 -1.58359677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66 meters 0.015391363394013334 Centerline is valid? [True, True] Translation: X:73.39, Y:23.23, Z:-1.59 [[ 8.22725614e-01 -5.68280202e-01 1.34230099e-02 7.33893386e+01] [ 5.68207299e-01 8.22835095e-01 9.10340820e-03 2.32257795e+01] [-1.62182103e-02 1.37445087e-04 9.99868467e-01 -1.58582494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69 meters 0.015406258762005083 Centerline is valid? [True, True] Translation: X:73.41, Y:23.24, Z:-1.59 [[ 8.22884156e-01 -5.68057008e-01 1.31492059e-02 7.34111899e+01] [ 5.67986921e-01 8.22989198e-01 8.92395976e-03 2.32408732e+01] [-1.58909723e-02 1.25191898e-04 9.99873723e-01 -1.58646583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72 meters 0.01371628508856258 Centerline is valid? [True, True] Translation: X:73.43, Y:23.26, Z:-1.58 [[ 8.23222703e-01 -5.67567458e-01 1.30981229e-02 7.34343315e+01] [ 5.67497831e-01 8.23326890e-01 8.89072356e-03 2.32576400e+01] [-1.58301222e-02 1.14110850e-04 9.99874689e-01 -1.58468710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75 meters 0.013630016648116762 Centerline is valid? [True, True] Translation: X:73.46, Y:23.27, Z:-1.58 [[ 8.23904761e-01 -5.66571332e-01 1.33368010e-02 7.34563886e+01] [ 5.66498905e-01 8.24012693e-01 9.05938175e-03 2.32738118e+01] [-1.61224793e-02 9.12154075e-05 9.99870020e-01 -1.58497357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78 meters 0.014737926052769822 Centerline is valid? [True, True] Translation: X:73.48, Y:23.29, Z:-1.59 [[ 8.24129085e-01 -5.66240669e-01 1.35187228e-02 7.34789838e+01] [ 5.66166191e-01 8.24239952e-01 9.18399224e-03 2.32901270e+01] [-1.63430214e-02 8.50486991e-05 9.99866440e-01 -1.58678369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81 meters 0.013442862784100163 Centerline is valid? [True, True] Translation: X:73.50, Y:23.31, Z:-1.59 [[ 8.24895484e-01 -5.65115975e-01 1.38338445e-02 7.35016910e+01] [ 5.65037711e-01 8.25011473e-01 9.40497966e-03 2.33065274e+01] [-1.67279847e-02 5.85185634e-05 9.99860076e-01 -1.58557029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84 meters 0.01687823004468853 Centerline is valid? [True, True] Translation: X:73.52, Y:23.32, Z:-1.59 [[ 8.26401866e-01 -5.62933395e-01 1.28821483e-02 7.35239240e+01] [ 5.62865259e-01 8.26502264e-01 8.75829463e-03 2.33245059e+01] [-1.55774612e-02 1.30426847e-05 9.99878664e-01 -1.59003862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86999999999999 meters 0.01337072412353955 Centerline is valid? [True, True] Translation: X:73.55, Y:23.34, Z:-1.59 [[ 8.27570240e-01 -5.61204764e-01 1.32932330e-02 7.35460758e+01] [ 5.61131893e-01 8.27676997e-01 9.04357732e-03 2.33421777e+01] [-1.60778019e-02 -2.49384413e-05 9.99870743e-01 -1.58724591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89999999999999 meters 0.014497648168863817 Centerline is valid? [True, True] Translation: X:73.57, Y:23.36, Z:-1.59 [[ 8.30083684e-01 -5.57482439e-01 1.32063515e-02 7.35665871e+01] [ 5.57409941e-01 8.30188726e-01 8.99096504e-03 2.33608142e+01] [-1.59760692e-02 -1.01901792e-04 9.99872369e-01 -1.58987039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92999999999999 meters 0.01594485474507896 Centerline is valid? [True, True] Translation: X:73.59, Y:23.38, Z:-1.59 [[ 8.31253271e-01 -5.55744853e-01 1.28708242e-02 7.35893921e+01] [ 5.55675774e-01 8.31352898e-01 8.76316382e-03 2.33781998e+01] [-1.55702801e-02 -1.32403408e-04 9.99878767e-01 -1.59191161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96 meters 0.014410822644930594 Centerline is valid? [True, True] Translation: X:73.61, Y:23.40, Z:-1.59 [[ 8.32836456e-01 -5.53367420e-01 1.29590094e-02 7.36123139e+01] [ 5.53297029e-01 8.32937251e-01 8.82793303e-03 2.33964530e+01] [-1.56791322e-02 -1.82043065e-04 9.99877058e-01 -1.58978559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99 meters 0.018274475346463866 Centerline is valid? [True, True] Translation: X:73.64, Y:23.41, Z:-1.59 [[ 8.33598886e-01 -5.52237258e-01 1.21205790e-02 7.36356653e+01] [ 5.52175504e-01 8.33686975e-01 8.26073747e-03 2.34141027e+01] [-1.46666558e-02 -1.93454758e-04 9.99892420e-01 -1.59496876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02 meters 0.015367357010168317 Centerline is valid? [True, True] Translation: X:73.66, Y:23.43, Z:-1.59 [[ 8.35738728e-01 -5.48972500e-01 1.30373998e-02 7.36589733e+01] [ 5.48900571e-01 8.35840367e-01 8.89065764e-03 2.34319808e+01] [-1.57779116e-02 -2.74030733e-04 9.99875483e-01 -1.59065903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05 meters 0.017171850896455544 Centerline is valid? [True, True] Translation: X:73.68, Y:23.45, Z:-1.59 [[ 8.36166161e-01 -5.48322905e-01 1.29669802e-02 7.36823160e+01] [ 5.48251599e-01 8.36266649e-01 8.84732472e-03 2.34482078e+01] [-1.56950439e-02 -2.88665892e-04 9.99876784e-01 -1.59389927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08 meters 0.01756706155397114 Centerline is valid? [True, True] Translation: X:73.71, Y:23.47, Z:-1.60 [[ 8.37312977e-01 -5.46584554e-01 1.23411538e-02 7.37059080e+01] [ 5.46519714e-01 8.37403863e-01 8.42451666e-03 2.34651756e+01] [-1.49392406e-02 -3.09273277e-04 9.99888355e-01 -1.59505785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11 meters 0.019483239074875362 Centerline is valid? [True, True] Translation: X:73.73, Y:23.48, Z:-1.60 [[ 8.37511229e-01 -5.46296951e-01 1.16009845e-02 7.37298160e+01] [ 5.46239575e-01 8.37591518e-01 7.92310739e-03 2.34816383e+01] [-1.40452556e-02 -2.98774558e-04 9.99901316e-01 -1.59771389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14 meters 0.018216346949139775 Centerline is valid? [True, True] Translation: X:73.75, Y:23.50, Z:-1.60 [[ 8.37790106e-01 -5.45878269e-01 1.11648759e-02 7.37532058e+01] [ 5.45825022e-01 8.37864444e-01 7.63011967e-03 2.34975539e+01] [-1.35197690e-02 -2.98370149e-04 9.99908559e-01 -1.59806451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17 meters 0.019980584202649365 Centerline is valid? [True, True] Translation: X:73.78, Y:23.51, Z:-1.60 [[ 8.37219734e-01 -5.46774177e-01 1.00556620e-02 7.37776439e+01] [ 5.46731048e-01 8.37280081e-01 6.87218025e-03 2.35122499e+01] [-1.21769362e-02 -2.55782309e-04 9.99925826e-01 -1.60147413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.2 meters 0.016533888140452754 Centerline is valid? [True, True] Translation: X:73.80, Y:23.53, Z:-1.60 [[ 8.36752790e-01 -5.47490174e-01 9.96379343e-03 7.38020665e+01] [ 5.47447807e-01 8.36812074e-01 6.81549571e-03 2.35266114e+01] [-1.20692396e-02 -2.48228197e-04 9.99927133e-01 -1.59869218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22999999999999 meters 0.019230385295125295 Centerline is valid? [True, True] Translation: X:73.83, Y:23.54, Z:-1.60 [[ 8.35736650e-01 -5.49063392e-01 8.58159987e-03 7.38266488e+01] [ 5.49032059e-01 8.35780685e-01 5.86893667e-03 2.35412459e+01] [-1.03947537e-02 -1.93312028e-04 9.99945954e-01 -1.60372514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25999999999999 meters 0.017214536063085175 Centerline is valid? [True, True] Translation: X:73.85, Y:23.56, Z:-1.60 [[ 8.35324236e-01 -5.49691509e-01 8.52444925e-03 7.38504157e+01] [ 5.49660598e-01 8.35367710e-01 5.83241090e-03 2.35555035e+01] [-1.03270764e-02 -1.86400307e-04 9.99946657e-01 -1.60227572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28999999999999 meters 0.015616008419552817 Centerline is valid? [True, True] Translation: X:73.88, Y:23.57, Z:-1.60 [[ 8.34468537e-01 -5.51000912e-01 7.76245143e-03 7.38762182e+01] [ 5.50975308e-01 8.34504626e-01 5.31402965e-03 2.35691499e+01] [-9.40583681e-03 -1.57471478e-04 9.99955752e-01 -1.60205670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32 meters 0.015347881550488378 Centerline is valid? [True, True] Translation: X:73.90, Y:23.58, Z:-1.60 [[ 8.33955446e-01 -5.51780522e-01 7.52129191e-03 7.38997238e+01] [ 5.51756498e-01 8.33989349e-01 5.15089555e-03 2.35845171e+01] [-9.11484118e-03 -1.45695708e-04 9.99958448e-01 -1.60329647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35 meters 0.015192615011067322 Centerline is valid? [True, True] Translation: X:73.92, Y:23.60, Z:-1.60 [[ 8.33555900e-01 -5.52387177e-01 7.27787237e-03 7.39235722e+01] [ 5.52364683e-01 8.33587661e-01 4.98692813e-03 2.36001856e+01] [-8.82145976e-03 -1.36843708e-04 9.99961081e-01 -1.60404332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38 meters 0.015191558590145553 Centerline is valid? [True, True] Translation: X:73.95, Y:23.62, Z:-1.60 [[ 8.33129356e-01 -5.53029978e-01 7.30201456e-03 7.39467129e+01] [ 5.53007307e-01 8.33161344e-01 5.00932804e-03 2.36158913e+01] [-8.85406484e-03 -1.35350840e-04 9.99960793e-01 -1.60483565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41 meters 0.01622684968458421 Centerline is valid? [True, True] Translation: X:73.97, Y:23.63, Z:-1.61 [[ 8.31965214e-01 -5.54780489e-01 7.24511009e-03 7.39722169e+01] [ 5.54758246e-01 8.31996753e-01 4.96917383e-03 2.36306765e+01] [-8.78470875e-03 -1.14895206e-04 9.99961407e-01 -1.60633187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44 meters 0.017093190163539655 Centerline is valid? [True, True] Translation: X:74.00, Y:23.65, Z:-1.61 [[ 8.31390011e-01 -5.55644554e-01 7.05548104e-03 7.39957845e+01] [ 5.55623454e-01 8.31419941e-01 4.84342610e-03 2.36463837e+01] [-8.55729096e-03 -1.06585338e-04 9.99963380e-01 -1.60749435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47 meters 0.014701623879499078 Centerline is valid? [True, True] Translation: X:74.02, Y:23.66, Z:-1.60 [[ 8.31158291e-01 -5.55975541e-01 8.19103711e-03 7.40187864e+01] [ 5.55947105e-01 8.31198642e-01 5.62438157e-03 2.36618875e+01] [-9.93539751e-03 -1.20968002e-04 9.99950635e-01 -1.60427721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.5 meters 0.01636184965152498 Centerline is valid? [True, True] Translation: X:74.04, Y:23.68, Z:-1.61 [[ 8.29377197e-01 -5.58630938e-01 8.05856026e-03 7.40433897e+01] [ 5.58603550e-01 8.29416342e-01 5.53226980e-03 2.36770966e+01] [-9.77439864e-03 -8.67980463e-05 9.99952226e-01 -1.60612461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53 meters 0.014244987359842424 Centerline is valid? [True, True] Translation: X:74.07, Y:23.69, Z:-1.60 [[ 8.29034150e-01 -5.59124760e-01 9.04878817e-03 7.40658536e+01] [ 5.59090192e-01 8.29083526e-01 6.21800966e-03 2.36937284e+01] [-1.09788444e-02 -9.58536329e-05 9.99939726e-01 -1.60429029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56 meters 0.013887624650261075 Centerline is valid? [True, True] Translation: X:74.09, Y:23.71, Z:-1.60 [[ 8.27486349e-01 -5.61406259e-01 9.45276935e-03 7.40901271e+01] [ 5.61368689e-01 8.27540336e-01 6.49516779e-03 2.37089719e+01] [-1.14689758e-02 -6.81739414e-05 9.99934227e-01 -1.60275529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59 meters 0.013734701377752581 Centerline is valid? [True, True] Translation: X:74.11, Y:23.72, Z:-1.60 [[ 8.26415432e-01 -5.62971969e-01 1.00048163e-02 7.41143103e+01] [ 5.62929948e-01 8.26475988e-01 6.87850440e-03 2.37246875e+01] [-1.21411456e-02 -5.24914438e-05 9.99926292e-01 -1.60255009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61999999999999 meters 0.013700179535004086 Centerline is valid? [True, True] Translation: X:74.14, Y:23.74, Z:-1.60 [[ 8.25148009e-01 -5.64831682e-01 9.79458305e-03 7.41371877e+01] [ 5.64791492e-01 8.25206138e-01 6.73802721e-03 2.37392510e+01] [-1.18884013e-02 -2.79725678e-05 9.99929330e-01 -1.60302859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64999999999999 meters 0.013741908310749442 Centerline is valid? [True, True] Translation: X:74.16, Y:23.75, Z:-1.60 [[ 8.21940140e-01 -5.69488643e-01 9.85352228e-03 7.41616722e+01] [ 5.69448278e-01 8.21999200e-01 6.78049145e-03 2.37530774e+01] [-1.19610003e-02 3.79132041e-05 9.99928464e-01 -1.60354127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67999999999999 meters 0.0150801791498199 Centerline is valid? [True, True] Translation: X:74.19, Y:23.77, Z:-1.61 [[ 8.19768951e-01 -5.72613589e-01 9.61996118e-03 7.41861040e+01] [ 5.72575280e-01 8.19825391e-01 6.62397562e-03 2.37680703e+01] [-1.16796669e-02 7.80224188e-05 9.99931787e-01 -1.60609119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71 meters 0.014233010930949622 Centerline is valid? [True, True] Translation: X:74.21, Y:23.78, Z:-1.60 [[ 8.18116830e-01 -5.74966011e-01 9.94676938e-03 7.42103194e+01] [ 5.74925162e-01 8.18177288e-01 6.85448449e-03 2.37827372e+01] [-1.20793164e-02 1.10878873e-04 9.99927036e-01 -1.60487224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74 meters 0.015711139131143595 Centerline is valid? [True, True] Translation: X:74.24, Y:23.80, Z:-1.61 [[ 8.14339554e-01 -5.80302708e-01 9.99289714e-03 7.42350915e+01] [ 5.80261864e-01 8.14400842e-01 6.88756029e-03 2.37966131e+01] [-1.21350937e-02 1.89684344e-04 9.99926349e-01 -1.60601431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77 meters 0.015565085164266261 Centerline is valid? [True, True] Translation: X:74.26, Y:23.81, Z:-1.61 [[ 8.12640573e-01 -5.82676906e-01 1.01450620e-02 7.42597892e+01] [ 5.82634996e-01 8.12703864e-01 6.99220586e-03 2.38116117e+01] [-1.23191279e-02 2.28717946e-04 9.99924091e-01 -1.60526399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.8 meters 0.016475735819790532 Centerline is valid? [True, True] Translation: X:74.28, Y:23.83, Z:-1.61 [[ 8.09837038e-01 -5.86583988e-01 9.12123601e-03 7.42845381e+01] [ 5.86550305e-01 8.09888362e-01 6.29126017e-03 2.38264528e+01] [-1.10775354e-02 2.55168268e-04 9.99938610e-01 -1.60643244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83 meters 0.017020829715271694 Centerline is valid? [True, True] Translation: X:74.31, Y:23.84, Z:-1.61 [[ 8.08775974e-01 -5.88053232e-01 8.64993550e-03 7.43085542e+01] [ 5.88023037e-01 8.08822186e-01 5.96492185e-03 2.38423839e+01] [-1.05039513e-02 2.62075865e-04 9.99944798e-01 -1.60819615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86 meters 0.017357930678437352 Centerline is valid? [True, True] Translation: X:74.33, Y:23.86, Z:-1.61 [[ 8.07902002e-01 -5.89262241e-01 8.02286199e-03 7.43319937e+01] [ 5.89236301e-01 8.07941796e-01 5.53497435e-03 2.38587944e+01] [-9.74355692e-03 2.55644656e-04 9.99952498e-01 -1.60924501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89 meters 0.01936252245483969 Centerline is valid? [True, True] Translation: X:74.35, Y:23.88, Z:-1.61 [[ 8.07779404e-01 -5.89440293e-01 7.25081575e-03 7.43548577e+01] [ 5.89419095e-01 8.07811913e-01 5.00438109e-03 2.38758361e+01] [-8.80707920e-03 2.31333278e-04 9.99961190e-01 -1.61239058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92 meters 0.017099049808764286 Centerline is valid? [True, True] Translation: X:74.38, Y:23.89, Z:-1.61 [[ 8.08540809e-01 -5.88389136e-01 7.74498922e-03 7.43777173e+01] [ 5.88364870e-01 8.08577870e-01 5.34868827e-03 2.38936035e+01] [-9.40953695e-03 2.32246835e-04 9.99955702e-01 -1.61088225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95 meters 0.01685320385308722 Centerline is valid? [True, True] Translation: X:74.40, Y:23.91, Z:-1.61 [[ 8.10730911e-01 -5.85359636e-01 8.33589872e-03 7.43995232e+01] [ 5.85331325e-01 8.10773737e-01 5.76075999e-03 2.39122563e+01] [-1.01306441e-02 2.08836449e-04 9.99948662e-01 -1.61209796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97999999999999 meters 0.015702414046828362 Centerline is valid? [True, True] Translation: X:74.42, Y:23.93, Z:-1.61 [[ 8.12121448e-01 -5.83420119e-01 8.92850174e-03 7.44216666e+01] [ 5.83387493e-01 8.12170503e-01 6.17304148e-03 2.39318191e+01] [-1.08529423e-02 1.95516863e-04 9.99941086e-01 -1.61142831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00999999999999 meters 0.014790954253524195 Centerline is valid? [True, True] Translation: X:74.44, Y:23.95, Z:-1.61 [[ 8.13594863e-01 -5.81356441e-01 9.38545033e-03 7.44431146e+01] [ 5.81320217e-01 8.13648977e-01 6.49207393e-03 2.39511480e+01] [-1.14106711e-02 1.74034022e-04 9.99934881e-01 -1.61122081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03999999999999 meters 0.014790954253524195 Centerline is valid? [True, True] Translation: X:74.47, Y:23.97, Z:-1.61 [[ 8.13429946e-01 -5.81587193e-01 9.38402848e-03 7.44657775e+01] [ 5.81550961e-01 8.13484054e-01 6.49412814e-03 2.39669207e+01] [-1.14106593e-02 1.74772472e-04 9.99934881e-01 -1.61178733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07 meters 0.01513064410673089 Centerline is valid? [True, True] Translation: X:74.49, Y:23.99, Z:-1.61 [[ 8.16863572e-01 -5.76752744e-01 9.49615182e-03 7.44858271e+01] [ 5.76715260e-01 8.16918761e-01 6.57624317e-03 2.39879462e+01] [-1.15504509e-02 1.04682180e-04 9.99933286e-01 -1.61431764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.1 meters 0.014909314803972151 Centerline is valid? [True, True] Translation: X:74.51, Y:24.01, Z:-1.62 [[ 8.18745516e-01 -5.74076467e-01 9.59109935e-03 7.45068659e+01] [ 5.74037991e-01 8.18801689e-01 6.64673365e-03 2.40059803e+01] [-1.16689417e-02 6.36720322e-05 9.99931914e-01 -1.61544120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13 meters 0.016180594666866763 Centerline is valid? [True, True] Translation: X:74.53, Y:24.03, Z:-1.62 [[ 8.22118508e-01 -5.69235993e-01 9.56782390e-03 7.45271110e+01] [ 5.69197367e-01 8.22174181e-01 6.63122791e-03 2.40272666e+01] [-1.16411514e-02 -5.67502769e-06 9.99932239e-01 -1.61719751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16 meters 0.01610206575530837 Centerline is valid? [True, True] Translation: X:74.55, Y:24.05, Z:-1.62 [[ 8.23643789e-01 -5.67012380e-01 1.03860834e-02 7.45487097e+01] [ 5.66966638e-01 8.23709269e-01 7.20221918e-03 2.40456981e+01] [-1.26388606e-02 -4.35002849e-05 9.99920125e-01 -1.61741847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19 meters 0.015129747275183118 Centerline is valid? [True, True] Translation: X:74.57, Y:24.06, Z:-1.62 [[ 8.25424484e-01 -5.64413660e-01 1.05660440e-02 7.45700354e+01] [ 5.64366027e-01 8.25492103e-01 7.33318393e-03 2.40643411e+01] [-1.28611351e-02 -8.98732800e-05 9.99917288e-01 -1.61710697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22 meters 0.01558918493088601 Centerline is valid? [True, True] Translation: X:74.59, Y:24.08, Z:-1.62 [[ 8.28380507e-01 -5.60057210e-01 1.10298733e-02 7.45903406e+01] [ 5.60004895e-01 8.28453918e-01 7.65658013e-03 2.40847462e+01] [-1.34258646e-02 -1.65778705e-04 9.99909855e-01 -1.61704449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25 meters 0.017334022145516336 Centerline is valid? [True, True] Translation: X:74.61, Y:24.10, Z:-1.62 [[ 8.29187726e-01 -5.58869280e-01 1.06227264e-02 7.46135437e+01] [ 5.58820663e-01 8.29255748e-01 7.37367322e-03 2.41015003e+01] [-1.29298764e-02 -1.77960310e-04 9.99916390e-01 -1.61906363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28 meters 0.015832712790062486 Centerline is valid? [True, True] Translation: X:74.64, Y:24.12, Z:-1.62 [[ 8.31509658e-01 -5.55396465e-01 1.12452568e-02 7.46358931e+01] [ 5.55341602e-01 8.31585657e-01 7.81026203e-03 2.41205619e+01] [-1.36891862e-02 -2.49349360e-04 9.99906268e-01 -1.61676027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31 meters 0.01590540191593755 Centerline is valid? [True, True] Translation: X:74.66, Y:24.14, Z:-1.62 [[ 8.32111287e-01 -5.54495621e-01 1.11987359e-02 7.46590101e+01] [ 5.54441057e-01 8.32186598e-01 7.78329940e-03 2.41369843e+01] [-1.36352433e-02 -2.67532338e-04 9.99907000e-01 -1.61770863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34 meters 0.017685730687350385 Centerline is valid? [True, True] Translation: X:74.68, Y:24.15, Z:-1.62 [[ 8.32182249e-01 -5.54410438e-01 1.00881170e-02 7.46830139e+01] [ 5.54366161e-01 8.32243359e-01 7.01086687e-03 2.41533709e+01] [-1.22826661e-02 -2.41808278e-04 9.99924536e-01 -1.62110265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36999999999999 meters 0.01859889945840259 Centerline is valid? [True, True] Translation: X:74.71, Y:24.17, Z:-1.62 [[ 8.32835347e-01 -5.53449922e-01 8.85829059e-03 7.47053913e+01] [ 5.53415680e-01 8.32882424e-01 6.16063161e-03 2.41693539e+01] [-1.07875156e-02 -2.28474854e-04 9.99941787e-01 -1.62377406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39999999999999 meters 0.01907274246656915 Centerline is valid? [True, True] Translation: X:74.73, Y:24.18, Z:-1.62 [[ 8.33122600e-01 -5.53033481e-01 7.79117246e-03 7.47296997e+01] [ 5.53006988e-01 8.33159005e-01 5.41704803e-03 2.41842758e+01] [-9.48709442e-03 -2.04492326e-04 9.99954976e-01 -1.62489990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42999999999999 meters 0.017240074958492523 Centerline is valid? [True, True] Translation: X:74.75, Y:24.20, Z:-1.62 [[ 8.33648713e-01 -5.52231531e-01 8.37612736e-03 7.47535010e+01] [ 5.52200833e-01 8.33690759e-01 5.82734156e-03 2.42004687e+01] [-1.02011417e-02 -2.32651286e-04 9.99947940e-01 -1.62380417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46 meters 0.019825643589096463 Centerline is valid? [True, True] Translation: X:74.78, Y:24.22, Z:-1.63 [[ 8.34052629e-01 -5.51640769e-01 6.97664344e-03 7.47766487e+01] [ 5.51619418e-01 8.34081783e-01 4.85765034e-03 2.42166437e+01] [-8.49876917e-03 -2.03084042e-04 9.99963864e-01 -1.62737113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49 meters 0.018089732170379843 Centerline is valid? [True, True] Translation: X:74.80, Y:24.23, Z:-1.63 [[ 8.34852365e-01 -5.50430425e-01 6.91918194e-03 7.48005928e+01] [ 5.50409376e-01 8.34881010e-01 4.81854232e-03 2.42320023e+01] [-8.42896591e-03 -2.14388838e-04 9.99964453e-01 -1.62667991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52 meters 0.018070601641158302 Centerline is valid? [True, True] Translation: X:74.82, Y:24.25, Z:-1.63 [[ 8.35148734e-01 -5.49973871e-01 7.43863452e-03 7.48233402e+01] [ 5.49949519e-01 8.35181828e-01 5.18082315e-03 2.42477002e+01] [-9.06192974e-03 -2.35884418e-04 9.99958912e-01 -1.62637200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55 meters 0.020801766622239558 Centerline is valid? [True, True] Translation: X:74.85, Y:24.26, Z:-1.63 [[ 8.34415874e-01 -5.51093783e-01 6.76687936e-03 7.48480482e+01] [ 5.51073654e-01 8.34443288e-01 4.71467640e-03 2.42607609e+01] [-8.24480591e-03 -2.04951904e-04 9.99965990e-01 -1.63008639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58 meters 0.01861745833285645 Centerline is valid? [True, True] Translation: X:74.87, Y:24.27, Z:-1.63 [[ 8.33868038e-01 -5.51913722e-01 7.43899243e-03 7.48734463e+01] [ 5.51889438e-01 8.33901191e-01 5.18183139e-03 2.42741968e+01] [-9.06330850e-03 -2.15462217e-04 9.99958904e-01 -1.62863268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61 meters 0.016337556714094665 Centerline is valid? [True, True] Translation: X:74.90, Y:24.29, Z:-1.63 [[ 8.33346968e-01 -5.52690181e-01 8.14831459e-03 7.48990399e+01] [ 5.52661046e-01 8.33386772e-01 5.67950907e-03 2.42887019e+01] [-9.92970649e-03 -2.29745601e-04 9.99950673e-01 -1.62644343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64 meters 0.01671749340247871 Centerline is valid? [True, True] Translation: X:74.92, Y:24.30, Z:-1.63 [[ 8.31459630e-01 -5.55521301e-01 8.42422024e-03 7.49230399e+01] [ 5.55490248e-01 8.31502280e-01 5.87729136e-03 2.43032791e+01] [-1.02697189e-02 -2.07158306e-04 9.99947244e-01 -1.62801329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67 meters 0.015857280856250638 Centerline is valid? [True, True] Translation: X:74.95, Y:24.32, Z:-1.63 [[ 8.30544083e-01 -5.56890399e-01 8.34323400e-03 7.49490848e+01] [ 5.56860017e-01 8.30585967e-01 5.82004287e-03 2.43173555e+01] [-1.01708991e-02 -1.87788751e-04 9.99948257e-01 -1.62787771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.7 meters 0.016482824846472687 Centerline is valid? [True, True] Translation: X:74.97, Y:24.34, Z:-1.63 [[ 8.29874921e-01 -5.57887273e-01 8.33101084e-03 7.49709549e+01] [ 5.57857003e-01 8.29916718e-01 5.81422317e-03 2.43356284e+01] [-1.01577263e-02 -1.77565255e-04 9.99948393e-01 -1.62958082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72999999999999 meters 0.017210923364071925 Centerline is valid? [True, True] Translation: X:75.00, Y:24.35, Z:-1.63 [[ 8.29291838e-01 -5.58765640e-01 7.48374363e-03 7.49950801e+01] [ 5.58741234e-01 8.29325591e-01 5.22458864e-03 2.43502802e+01] [-9.12578073e-03 -1.51232565e-04 9.99958348e-01 -1.63170149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75999999999999 meters 0.016606075320374225 Centerline is valid? [True, True] Translation: X:75.02, Y:24.37, Z:-1.63 [[ 8.29775771e-01 -5.58037237e-01 8.16165957e-03 7.50158633e+01] [ 5.58008108e-01 8.29815890e-01 5.70448840e-03 2.43683984e+01] [-9.95599174e-03 -1.79174042e-04 9.99950422e-01 -1.63174819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78999999999999 meters 0.01613589333002085 Centerline is valid? [True, True] Translation: X:75.04, Y:24.38, Z:-1.63 [[ 8.30298791e-01 -5.57266254e-01 7.63149494e-03 7.50399867e+01] [ 5.57240767e-01 8.30333843e-01 5.33258323e-03 2.43844181e+01] [-9.30835721e-03 -1.75057311e-04 9.99956661e-01 -1.63235625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82 meters 0.01638379009101861 Centerline is valid? [True, True] Translation: X:75.06, Y:24.40, Z:-1.63 [[ 8.30443105e-01 -5.57057638e-01 7.14404066e-03 7.50638429e+01] [ 5.57035276e-01 8.30473816e-01 4.99416685e-03 2.44007967e+01] [-8.71497750e-03 -1.67888766e-04 9.99962010e-01 -1.63353508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85 meters 0.017337214073088206 Centerline is valid? [True, True] Translation: X:75.09, Y:24.42, Z:-1.64 [[ 8.30995934e-01 -5.56232693e-01 7.13782521e-03 7.50856855e+01] [ 5.56210301e-01 8.31026569e-01 4.99420031e-03 2.44181496e+01] [-8.70965989e-03 -1.80028240e-04 9.99962054e-01 -1.63502180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88 meters 0.016705582302866596 Centerline is valid? [True, True] Translation: X:75.11, Y:24.43, Z:-1.63 [[ 8.31275233e-01 -5.55809517e-01 7.56758068e-03 7.51102602e+01] [ 5.55784329e-01 8.31309655e-01 5.29497781e-03 2.44342445e+01] [-9.23400194e-03 -1.95641164e-04 9.99957347e-01 -1.63379544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91 meters 0.019092990893211634 Centerline is valid? [True, True] Translation: X:75.13, Y:24.45, Z:-1.64 [[ 8.30968911e-01 -5.56270114e-01 7.36406705e-03 7.51320349e+01] [ 5.56246237e-01 8.31001519e-01 5.15739971e-03 2.44516673e+01] [-8.98845823e-03 -1.89404235e-04 9.99959585e-01 -1.63733314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94 meters 0.017557362390019038 Centerline is valid? [True, True] Translation: X:75.16, Y:24.47, Z:-1.63 [[ 8.31701935e-01 -5.55148498e-01 9.05741219e-03 7.51554903e+01] [ 5.55112313e-01 8.31751215e-01 6.34320601e-03 2.44694679e+01] [-1.10549349e-02 -2.47775690e-04 9.99938862e-01 -1.63383038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97 meters 0.01824682623370121 Centerline is valid? [True, True] Translation: X:75.18, Y:24.49, Z:-1.64 [[ 8.31485985e-01 -5.55471871e-01 9.05857528e-03 7.51776236e+01] [ 5.55435664e-01 8.31535291e-01 6.34693629e-03 2.44860700e+01] [-1.10580696e-02 -2.45932803e-04 9.99938827e-01 -1.63527559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.0 meters 0.0201840097213209 Centerline is valid? [True, True] Translation: X:75.20, Y:24.50, Z:-1.64 [[ 8.31094189e-01 -5.56066956e-01 8.48465282e-03 7.52016088e+01] [ 5.56035192e-01 8.31137467e-01 5.94771429e-03 2.45012881e+01] [-1.03592402e-02 -2.25345218e-04 9.99946316e-01 -1.63706786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03 meters 0.01825835693550157 Centerline is valid? [True, True] Translation: X:75.22, Y:24.52, Z:-1.64 [[ 8.31143510e-01 -5.55973231e-01 9.70738497e-03 7.52244867e+01] [ 5.55931583e-01 8.31200155e-01 6.81008769e-03 2.45182038e+01] [-1.18550063e-02 -2.63518286e-04 9.99929692e-01 -1.63562433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06 meters 0.017141772787601855 Centerline is valid? [True, True] Translation: X:75.25, Y:24.53, Z:-1.63 [[ 8.31281857e-01 -5.55750679e-01 1.05667810e-02 7.52471159e+01] [ 5.55701247e-01 8.31348962e-01 7.41811908e-03 2.45349608e+01] [-1.29073071e-02 -2.94574412e-04 9.99916654e-01 -1.63399544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09 meters 0.017863725914181523 Centerline is valid? [True, True] Translation: X:75.27, Y:24.55, Z:-1.64 [[ 8.30840421e-01 -5.56405541e-01 1.08198430e-02 7.52700422e+01] [ 5.56353682e-01 8.30910817e-01 7.60229053e-03 2.45514128e+01] [-1.32202812e-02 -2.96630766e-04 9.99912564e-01 -1.63513972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11999999999999 meters 0.016984689367500198 Centerline is valid? [True, True] Translation: X:75.29, Y:24.57, Z:-1.63 [[ 8.30582622e-01 -5.56756443e-01 1.24406721e-02 7.52939684e+01] [ 5.56687908e-01 8.30675719e-01 8.74202553e-03 2.45676811e+01] [-1.52013433e-02 -3.35402779e-04 9.99884397e-01 -1.63339476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14999999999999 meters 0.01859482489740757 Centerline is valid? [True, True] Translation: X:75.32, Y:24.58, Z:-1.64 [[ 8.29773462e-01 -5.57968374e-01 1.21365447e-02 7.53165735e+01] [ 5.57903196e-01 8.29862156e-01 8.53380655e-03 2.45837524e+01] [-1.48332533e-02 -3.10109119e-04 9.99889933e-01 -1.63634872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17999999999999 meters 0.02050460621767397 Centerline is valid? [True, True] Translation: X:75.34, Y:24.60, Z:-1.64 [[ 8.29166361e-01 -5.58878268e-01 1.17569911e-02 7.53401621e+01] [ 5.58817191e-01 8.29249661e-01 8.26718552e-03 2.45997651e+01] [-1.43698312e-02 -2.84863367e-04 9.99896708e-01 -1.63861882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21 meters 0.01900762487210312 Centerline is valid? [True, True] Translation: X:75.36, Y:24.62, Z:-1.64 [[ 8.28769768e-01 -5.59461076e-01 1.19989967e-02 7.53632956e+01] [ 5.59397456e-01 8.28856576e-01 8.44168215e-03 2.46163154e+01] [-1.46682399e-02 -2.84002716e-04 9.99892375e-01 -1.63857145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24 meters 0.01730112661480214 Centerline is valid? [True, True] Translation: X:75.39, Y:24.63, Z:-1.64 [[ 8.27981891e-01 -5.60623744e-01 1.21246363e-02 7.53858564e+01] [ 5.60558816e-01 8.28070616e-01 8.53637252e-03 2.46319280e+01] [-1.48257481e-02 -2.71390109e-04 9.99890056e-01 -1.63883907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27 meters 0.018891951845463936 Centerline is valid? [True, True] Translation: X:75.41, Y:24.65, Z:-1.64 [[ 8.27002512e-01 -5.62081751e-01 1.14433827e-02 7.54096042e+01] [ 5.62024038e-01 8.27081647e-01 8.05790742e-03 2.46475546e+01] [-1.39938146e-02 -2.32453499e-04 9.99902055e-01 -1.64126655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.3 meters 0.016230755234347576 Centerline is valid? [True, True] Translation: X:75.43, Y:24.66, Z:-1.64 [[ 8.26578394e-01 -5.62693186e-01 1.20223976e-02 7.54336980e+01] [ 5.62629481e-01 8.26665786e-01 8.47023931e-03 2.46638438e+01] [-1.47046507e-02 -2.37161457e-04 9.99891853e-01 -1.63982713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33 meters 0.01592466348641674 Centerline is valid? [True, True] Translation: X:75.46, Y:24.68, Z:-1.64 [[ 8.24786683e-01 -5.65315197e-01 1.20687689e-02 7.54591766e+01] [ 5.65251217e-01 8.24874954e-01 8.50716770e-03 2.46776061e+01] [-1.47644563e-02 -1.94712346e-04 9.99890981e-01 -1.64111519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36 meters 0.015381238540461292 Centerline is valid? [True, True] Translation: X:75.48, Y:24.69, Z:-1.64 [[ 8.24447246e-01 -5.65792106e-01 1.28853281e-02 7.54813896e+01] [ 5.65719136e-01 8.24547907e-01 9.08891943e-03 2.46941508e+01] [-1.57670092e-02 -2.03857933e-04 9.99875672e-01 -1.64081857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39 meters 0.014712347879554565 Centerline is valid? [True, True] Translation: X:75.51, Y:24.71, Z:-1.64 [[ 8.23065416e-01 -5.67797584e-01 1.30086132e-02 7.55066439e+01] [ 5.67723447e-01 8.23168194e-01 9.17674111e-03 2.47077506e+01] [-1.59188080e-02 -1.67763546e-04 9.99873274e-01 -1.64098374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42 meters 0.014334075576483155 Centerline is valid? [True, True] Translation: X:75.53, Y:24.72, Z:-1.64 [[ 8.22350852e-01 -5.68840359e-01 1.26381292e-02 7.55304843e+01] [ 5.68770444e-01 8.22447947e-01 8.91950513e-03 2.47222249e+01] [-1.54679779e-02 -1.46768307e-04 9.99880353e-01 -1.64159629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45 meters 0.014227970981039825 Centerline is valid? [True, True] Translation: X:75.55, Y:24.74, Z:-1.64 [[ 8.21588955e-01 -5.69952838e-01 1.20561468e-02 7.55537594e+01] [ 5.69889263e-01 8.21677398e-01 8.51356835e-03 2.47375313e+01] [-1.47585958e-02 -1.23985128e-04 9.99891078e-01 -1.64300555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47999999999999 meters 0.014058168607317326 Centerline is valid? [True, True] Translation: X:75.58, Y:24.75, Z:-1.65 [[ 8.20574862e-01 -5.71444862e-01 1.03762087e-02 7.55777393e+01] [ 5.71397847e-01 8.20640458e-01 7.33066293e-03 2.47519614e+01] [-1.27042063e-02 -8.64144219e-05 9.99919295e-01 -1.64605415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50999999999999 meters 0.017081207759341653 Centerline is valid? [True, True] Translation: X:75.60, Y:24.77, Z:-1.65 [[ 8.19606942e-01 -5.72857090e-01 8.90029720e-03 7.56006359e+01] [ 5.72822530e-01 8.19655263e-01 6.29270934e-03 2.47662463e+01] [-1.08999986e-02 -5.92574968e-05 9.99940591e-01 -1.65045596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53999999999999 meters 0.015071082908772276 Centerline is valid? [True, True] Translation: X:75.62, Y:24.78, Z:-1.65 [[ 8.19732065e-01 -5.72678036e-01 8.89995663e-03 7.56226772e+01] [ 5.72643453e-01 8.19780375e-01 6.29379411e-03 2.47811014e+01] [-1.09003274e-02 -6.27229371e-05 9.99940588e-01 -1.64976262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57 meters 0.014132871931467424 Centerline is valid? [True, True] Translation: X:75.65, Y:24.80, Z:-1.65 [[ 8.19965256e-01 -5.72351340e-01 8.42153786e-03 7.56471226e+01] [ 5.72320356e-01 8.20008499e-01 5.95574865e-03 2.47966547e+01] [-1.03145133e-02 -6.36894146e-05 9.99946802e-01 -1.64955547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.6 meters 0.015207117952630859 Centerline is valid? [True, True] Translation: X:75.67, Y:24.81, Z:-1.65 [[ 8.19418366e-01 -5.73134633e-01 8.38060589e-03 7.56710218e+01] [ 5.73103964e-01 8.19461219e-01 5.92926248e-03 2.48121142e+01] [-1.02658472e-02 -5.55881100e-05 9.99947303e-01 -1.65047985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63 meters 0.014029481513159333 Centerline is valid? [True, True] Translation: X:75.69, Y:24.83, Z:-1.65 [[ 8.19770236e-01 -5.72621138e-01 9.04388552e-03 7.56926098e+01] [ 5.72585322e-01 8.19820118e-01 6.40491363e-03 2.48277113e+01] [-1.10819482e-02 -7.21614587e-05 9.99938591e-01 -1.64921117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66 meters 0.014145874691868014 Centerline is valid? [True, True] Translation: X:75.72, Y:24.84, Z:-1.65 [[ 8.20207578e-01 -5.71956671e-01 1.11846226e-02 7.57161101e+01] [ 5.71901804e-01 8.20283827e-01 7.92278229e-03 2.48447637e+01] [-1.37060532e-02 -1.01820226e-04 9.99906062e-01 -1.64757323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69 meters 0.014277317301907936 Centerline is valid? [True, True] Translation: X:75.74, Y:24.86, Z:-1.65 [[ 8.20290511e-01 -5.71817238e-01 1.21870318e-02 7.57375436e+01] [ 5.71751990e-01 8.20381029e-01 8.63887787e-03 2.48617999e+01] [-1.49378689e-02 -1.18429888e-04 9.99888417e-01 -1.64788673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72 meters 0.015937132254859022 Centerline is valid? [True, True] Translation: X:75.76, Y:24.88, Z:-1.65 [[ 8.19849960e-01 -5.72441116e-01 1.25384126e-02 7.57608581e+01] [ 5.72372103e-01 8.19945825e-01 8.88932309e-03 2.48772548e+01] [-1.53694331e-02 -1.11273601e-04 9.99881877e-01 -1.64905329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75 meters 0.016213627686595504 Centerline is valid? [True, True] Translation: X:75.78, Y:24.89, Z:-1.65 [[ 8.19893872e-01 -5.72359884e-01 1.33492347e-02 7.57822858e+01] [ 5.72281528e-01 8.20002529e-01 9.47125175e-03 2.48931200e+01] [-1.63673707e-02 -1.25900855e-04 9.99866038e-01 -1.64913547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78 meters 0.015694563336729615 Centerline is valid? [True, True] Translation: X:75.81, Y:24.91, Z:-1.65 [[ 8.19983514e-01 -5.72218676e-01 1.38860977e-02 7.58053013e+01] [ 5.72133836e-01 8.20101072e-01 9.85416857e-03 2.49096706e+01] [-1.70267429e-02 -1.35549455e-04 9.99855025e-01 -1.64885013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81 meters 0.016845394421002507 Centerline is valid? [True, True] Translation: X:75.83, Y:24.93, Z:-1.65 [[ 8.19805401e-01 -5.72485944e-01 1.33771512e-02 7.58270643e+01] [ 5.72407141e-01 8.19914524e-01 9.49936653e-03 2.49261759e+01] [-1.64063744e-02 -1.30455109e-04 9.99865398e-01 -1.65115059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84 meters 0.014289025722474006 Centerline is valid? [True, True] Translation: X:75.85, Y:24.94, Z:-1.65 [[ 8.20375894e-01 -5.71655003e-01 1.39266053e-02 7.58502876e+01] [ 5.71569436e-01 8.20494079e-01 9.89175529e-03 2.49437774e+01] [-1.70813685e-02 -1.54935683e-04 9.99854091e-01 -1.64992038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86999999999999 meters 0.014147337825995789 Centerline is valid? [True, True] Translation: X:75.87, Y:24.96, Z:-1.65 [[ 8.20255959e-01 -5.71858291e-01 1.25800411e-02 7.58729210e+01] [ 5.71788437e-01 8.20352409e-01 8.93911831e-03 2.49595933e+01] [-1.54319760e-02 -1.39243010e-04 9.99880910e-01 -1.65199226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89999999999999 meters 0.017326488135083588 Centerline is valid? [True, True] Translation: X:75.89, Y:24.98, Z:-1.66 [[ 8.19318153e-01 -5.73232899e-01 1.10366622e-02 7.58945632e+01] [ 5.73179187e-01 8.19392478e-01 7.84771418e-03 2.49753310e+01] [-1.35419259e-02 -1.03789635e-04 9.99908299e-01 -1.65668461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92999999999999 meters 0.014159090679792343 Centerline is valid? [True, True] Translation: X:75.92, Y:24.99, Z:-1.65 [[ 8.19974988e-01 -5.72292654e-01 1.10516188e-02 7.59180937e+01] [ 5.72238697e-01 8.20049452e-01 7.85933560e-03 2.49917443e+01] [-1.35607140e-02 -1.20294678e-04 9.99908042e-01 -1.65453006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96 meters 0.014159090679792343 Centerline is valid? [True, True] Translation: X:75.94, Y:25.01, Z:-1.66 [[ 8.19810702e-01 -5.72528004e-01 1.10497950e-02 7.59405501e+01] [ 5.72474035e-01 8.19885157e-01 7.86189865e-03 2.50078086e+01] [-1.35607200e-02 -1.19547936e-04 9.99908042e-01 -1.65509654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99 meters 0.016312068211349093 Centerline is valid? [True, True] Translation: X:75.96, Y:25.02, Z:-1.66 [[ 8.18871999e-01 -5.73889015e-01 1.00023821e-02 7.59626769e+01] [ 5.73844838e-01 8.18933080e-01 7.12124559e-03 2.50229692e+01] [-1.22780862e-02 -9.15732501e-05 9.99924617e-01 -1.65842791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02 meters 0.016847184928698935 Centerline is valid? [True, True] Translation: X:75.99, Y:25.04, Z:-1.66 [[ 8.18304890e-01 -5.74700316e-01 9.83131589e-03 7.59854529e+01] [ 5.74657673e-01 8.18363941e-01 7.00132163e-03 2.50387112e+01] [-1.20692562e-02 -7.95746157e-05 9.99927161e-01 -1.65951435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05 meters 0.013855724697496668 Centerline is valid? [True, True] Translation: X:76.01, Y:25.05, Z:-1.66 [[ 8.18013945e-01 -5.75106700e-01 1.02698567e-02 7.60078348e+01] [ 5.75060128e-01 8.18078405e-01 7.31925231e-03 2.50541390e+01] [-1.26108990e-02 -8.14653412e-05 9.99920476e-01 -1.65815834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08 meters 0.01379456474591479 Centerline is valid? [True, True] Translation: X:76.03, Y:25.07, Z:-1.66 [[ 8.17436414e-01 -5.75926174e-01 1.03320659e-02 7.60302408e+01] [ 5.75879055e-01 8.17501704e-01 7.36734445e-03 2.50692142e+01] [-1.26895280e-02 -7.23152881e-05 9.99919482e-01 -1.65894124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11 meters 0.01786384065352232 Centerline is valid? [True, True] Translation: X:76.05, Y:25.08, Z:-1.66 [[ 8.15767677e-01 -5.78301741e-01 9.49707871e-03 7.60538156e+01] [ 5.78262094e-01 8.15822956e-01 6.77163492e-03 2.50837765e+01] [-1.16639831e-02 -3.22802687e-05 9.99931973e-01 -1.66216420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14 meters 0.01621182278562651 Centerline is valid? [True, True] Translation: X:76.08, Y:25.10, Z:-1.66 [[ 8.14526617e-01 -5.80024943e-01 1.08376769e-02 7.60780903e+01] [ 5.79973366e-01 8.14598714e-01 7.73490985e-03 2.50983260e+01] [-1.33147983e-02 -1.47259710e-05 9.99911354e-01 -1.66101510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17 meters 0.01394678029642565 Centerline is valid? [True, True] Translation: X:76.10, Y:25.11, Z:-1.66 [[ 8.14517569e-01 -5.80024562e-01 1.15168116e-02 7.61001774e+01] [ 5.79966298e-01 8.14598986e-01 8.22101805e-03 2.51135933e+01] [-1.41499754e-02 -1.68010656e-05 9.99899884e-01 -1.66038067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.2 meters 0.013448759017570347 Centerline is valid? [True, True] Translation: X:76.12, Y:25.13, Z:-1.66 [[ 8.14231074e-01 -5.80423988e-01 1.16512548e-02 7.61236638e+01] [ 5.80364385e-01 8.14314432e-01 8.31785515e-03 2.51296634e+01] [-1.43156676e-02 -1.06828010e-05 9.99897526e-01 -1.65966215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22999999999999 meters 0.013425687446883699 Centerline is valid? [True, True] Translation: X:76.15, Y:25.15, Z:-1.66 [[ 8.13663334e-01 -5.81210841e-01 1.20804576e-02 7.61468179e+01] [ 5.81146771e-01 8.13753008e-01 8.62968787e-03 2.51461148e+01] [-1.48461768e-02 -1.14168147e-06 9.99889789e-01 -1.66001659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25999999999999 meters 0.013815411285641082 Centerline is valid? [True, True] Translation: X:76.17, Y:25.16, Z:-1.66 [[ 8.13169620e-01 -5.81889099e-01 1.26588058e-02 7.61683716e+01] [ 5.81818724e-01 8.13268146e-01 9.04963237e-03 2.51618477e+01] [-1.55608859e-02 6.24410082e-06 9.99878922e-01 -1.66122776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28999999999999 meters 0.015296709378684036 Centerline is valid? [True, True] Translation: X:76.19, Y:25.18, Z:-1.66 [[ 8.12702869e-01 -5.82544377e-01 1.24938052e-02 7.61911383e+01] [ 5.82475883e-01 8.12798898e-01 8.93293291e-03 2.51783700e+01] [-1.53587810e-02 1.75200229e-05 9.99882047e-01 -1.66278706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32 meters 0.015541309485990902 Centerline is valid? [True, True] Translation: X:76.21, Y:25.20, Z:-1.66 [[ 8.12605826e-01 -5.82685360e-01 1.22288191e-02 7.62133775e+01] [ 5.82619680e-01 8.12697835e-01 8.74854077e-03 2.51950887e+01] [-1.50359814e-02 1.56354591e-05 9.99886953e-01 -1.66367033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35 meters 0.013386521032813917 Centerline is valid? [True, True] Translation: X:76.23, Y:25.21, Z:-1.66 [[ 8.13392966e-01 -5.81583415e-01 1.23537418e-02 7.62348539e+01] [ 5.81516163e-01 8.13486774e-01 8.84428095e-03 2.52112376e+01] [-1.51932927e-02 -9.97539088e-06 9.99884575e-01 -1.66237084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38 meters 0.01679637228877981 Centerline is valid? [True, True] Translation: X:76.26, Y:25.23, Z:-1.67 [[ 8.12755980e-01 -5.82489760e-01 1.15497310e-02 7.62573160e+01] [ 5.82431059e-01 8.12838040e-01 8.26935400e-03 2.52274179e+01] [-1.42048748e-02 5.95516012e-06 9.99899106e-01 -1.66554311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41 meters 0.013368248523429082 Centerline is valid? [True, True] Translation: X:76.28, Y:25.24, Z:-1.66 [[ 8.14078561e-01 -5.80643207e-01 1.13825671e-02 7.62794366e+01] [ 5.80585946e-01 8.14158133e-01 8.15434750e-03 2.52447964e+01] [-1.40019761e-02 -2.97209947e-05 9.99901967e-01 -1.66347260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44 meters 0.014740203720804248 Centerline is valid? [True, True] Translation: X:76.30, Y:25.26, Z:-1.67 [[ 8.13761250e-01 -5.81093881e-01 1.10693131e-02 7.63024807e+01] [ 5.81039709e-01 8.13836532e-01 7.93446748e-03 2.52616032e+01] [-1.36192819e-02 -2.50517351e-05 9.99907253e-01 -1.66535302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47 meters 0.01576668887905063 Centerline is valid? [True, True] Translation: X:76.33, Y:25.28, Z:-1.67 [[ 8.13145872e-01 -5.81960922e-01 1.07366229e-02 7.63255254e+01] [ 5.81909976e-01 8.13216751e-01 7.70037889e-03 2.52779343e+01] [-1.32125212e-02 -1.37833212e-05 9.99912711e-01 -1.66665516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.5 meters 0.014422885189475034 Centerline is valid? [True, True] Translation: X:76.35, Y:25.29, Z:-1.67 [[ 8.12824407e-01 -5.82408709e-01 1.07971661e-02 7.63487653e+01] [ 5.82357163e-01 8.12896116e-01 7.74846196e-03 2.52945681e+01] [-1.32897462e-02 -1.03319501e-05 9.99911687e-01 -1.66617122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53 meters 0.015314727061927972 Centerline is valid? [True, True] Translation: X:76.37, Y:25.31, Z:-1.67 [[ 8.11976456e-01 -5.83574499e-01 1.16206152e-02 7.63706833e+01] [ 5.83514811e-01 8.12059606e-01 8.34632320e-03 2.53102040e+01] [-1.43073336e-02 3.78316734e-06 9.99897645e-01 -1.66746531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56 meters 0.013193116121039888 Centerline is valid? [True, True] Translation: X:76.39, Y:25.33, Z:-1.67 [[ 8.12255016e-01 -5.83169288e-01 1.24647301e-02 7.63936781e+01] [ 5.83100542e-01 8.12350652e-01 8.95412688e-03 2.53272882e+01] [-1.53475034e-02 -4.84361647e-06 9.99882220e-01 -1.66563053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59 meters 0.013288344078837151 Centerline is valid? [True, True] Translation: X:76.42, Y:25.34, Z:-1.67 [[ 8.12346937e-01 -5.83033014e-01 1.28435961e-02 7.64157997e+01] [ 5.82959910e-01 8.12448462e-01 9.23251759e-03 2.53434439e+01] [-1.58176225e-02 -1.27057544e-05 9.99874894e-01 -1.66624757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61999999999999 meters 0.013269947277079829 Centerline is valid? [True, True] Translation: X:76.44, Y:25.36, Z:-1.67 [[ 8.11571027e-01 -5.84110634e-01 1.29319228e-02 7.64383641e+01] [ 5.84036633e-01 8.11674052e-01 9.29755772e-03 2.53595369e+01] [-1.59273085e-02 7.08818610e-06 9.99873152e-01 -1.66685274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64999999999999 meters 0.013252476743578887 Centerline is valid? [True, True] Translation: X:76.46, Y:25.38, Z:-1.67 [[ 8.10766594e-01 -5.85232688e-01 1.26582816e-02 7.64613720e+01] [ 5.85161841e-01 8.10865402e-01 9.10598339e-03 2.53761193e+01] [-1.55932817e-02 2.43162251e-05 9.99878417e-01 -1.66808919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67999999999999 meters 0.013322668979883191 Centerline is valid? [True, True] Translation: X:76.48, Y:25.39, Z:-1.67 [[ 8.10472838e-01 -5.85641202e-01 1.25762065e-02 7.64829402e+01] [ 5.85571228e-01 8.10570405e-01 9.05290214e-03 2.53916542e+01] [-1.54956533e-02 2.71333995e-05 9.99879935e-01 -1.66908482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71 meters 0.013265864825929135 Centerline is valid? [True, True] Translation: X:76.51, Y:25.41, Z:-1.67 [[ 8.10842339e-01 -5.85133787e-01 1.23755062e-02 7.65059006e+01] [ 5.85065925e-01 8.10936774e-01 8.91137956e-03 2.54086374e+01] [-1.52501023e-02 1.47631200e-05 9.99883710e-01 -1.66897321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74 meters 0.01328573749622529 Centerline is valid? [True, True] Translation: X:76.53, Y:25.42, Z:-1.67 [[ 8.10903946e-01 -5.85058443e-01 1.18915236e-02 7.65279813e+01] [ 5.84995689e-01 8.10991133e-01 8.56890426e-03 2.54248903e+01] [-1.46572300e-02 7.93174928e-06 9.99892577e-01 -1.66958209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77 meters 0.013304590653912212 Centerline is valid? [True, True] Translation: X:76.55, Y:25.44, Z:-1.67 [[ 8.10999734e-01 -5.84930449e-01 1.16533924e-02 7.65495039e+01] [ 5.84870139e-01 8.11083454e-01 8.39945532e-03 2.54410481e+01] [-1.43649709e-02 3.76517952e-06 9.99896818e-01 -1.67078017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.8 meters 0.01564126141550398 Centerline is valid? [True, True] Translation: X:76.57, Y:25.46, Z:-1.67 [[ 8.10673279e-01 -5.85395379e-01 1.10038806e-02 7.65710615e+01] [ 5.85341621e-01 8.10747957e-01 7.93322117e-03 2.54568913e+01] [-1.35654447e-02 9.77891037e-06 9.99907985e-01 -1.67382394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83 meters 0.01335690264649376 Centerline is valid? [True, True] Translation: X:76.59, Y:25.48, Z:-1.67 [[ 8.11419381e-01 -5.84360551e-01 1.10151998e-02 7.65931487e+01] [ 5.84306582e-01 8.11494144e-01 7.94183690e-03 2.54752266e+01] [-1.35796663e-02 -7.90663057e-06 9.99907792e-01 -1.67219965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86 meters 0.013405769922107652 Centerline is valid? [True, True] Translation: X:76.62, Y:25.49, Z:-1.67 [[ 8.11504900e-01 -5.84236673e-01 1.12830747e-02 7.66152524e+01] [ 5.84179963e-01 8.11583335e-01 8.14009060e-03 2.54923306e+01] [-1.39128948e-02 -1.43772684e-05 9.99903211e-01 -1.67276900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89 meters 0.015163518471944247 Centerline is valid? [True, True] Translation: X:76.64, Y:25.51, Z:-1.68 [[ 8.10894166e-01 -5.85082419e-01 1.13672460e-02 7.66378080e+01] [ 5.85024872e-01 8.10973836e-01 8.20581909e-03 2.55090613e+01] [-1.40196196e-02 -3.92920048e-06 9.99901720e-01 -1.67520230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92 meters 0.015386159826150474 Centerline is valid? [True, True] Translation: X:76.66, Y:25.53, Z:-1.68 [[ 8.10981720e-01 -5.84956969e-01 1.15755662e-02 7.66596455e+01] [ 5.84897189e-01 8.11064328e-01 8.36261006e-03 2.55256640e+01] [-1.42802959e-02 -1.14077455e-05 9.99898031e-01 -1.67635530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95 meters 0.013497440014030025 Centerline is valid? [True, True] Translation: X:76.68, Y:25.54, Z:-1.67 [[ 8.11774516e-01 -5.83852831e-01 1.17476512e-02 7.66817814e+01] [ 5.83791129e-01 8.11859514e-01 8.48800540e-03 2.55427074e+01] [-1.44931884e-02 -3.21718880e-05 9.99894968e-01 -1.67444874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97999999999999 meters 0.01355505387097985 Centerline is valid? [True, True] Translation: X:76.70, Y:25.56, Z:-1.67 [[ 8.11974916e-01 -5.83572894e-01 1.18073398e-02 7.67032964e+01] [ 5.83510443e-01 8.12060758e-01 8.53739572e-03 2.55591928e+01] [-1.45704700e-02 -4.24450965e-05 9.99893844e-01 -1.67471413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00999999999999 meters 0.014310711641430857 Centerline is valid? [True, True] Translation: X:76.72, Y:25.58, Z:-1.68 [[ 8.11885044e-01 -5.83693081e-01 1.20441807e-02 7.67248613e+01] [ 5.83628086e-01 8.11974375e-01 8.71046378e-03 2.55758854e+01] [-1.48638035e-02 -4.25731635e-05 9.99889527e-01 -1.67603761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03999999999999 meters 0.013571808828954833 Centerline is valid? [True, True] Translation: X:76.75, Y:25.60, Z:-1.68 [[ 8.13340791e-01 -5.81672520e-01 1.15688215e-02 7.67469355e+01] [ 5.81612309e-01 8.13423059e-01 8.36951333e-03 2.55951739e+01] [-1.42786621e-02 -7.86975717e-05 9.99898052e-01 -1.67627697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07 meters 0.014041255404582181 Centerline is valid? [True, True] Translation: X:76.77, Y:25.61, Z:-1.68 [[ 8.14151158e-01 -5.80547419e-01 1.10718299e-02 7.67677151e+01] [ 5.80492101e-01 8.14226433e-01 8.01477159e-03 2.56132059e+01] [-1.36679316e-02 -9.81257466e-05 9.99906585e-01 -1.67818459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.1 meters 0.014180837623354871 Centerline is valid? [True, True] Translation: X:76.79, Y:25.63, Z:-1.68 [[ 8.15958438e-01 -5.78018981e-01 1.02900702e-02 7.67894915e+01] [ 5.77971002e-01 8.16023309e-01 7.44853630e-03 2.56322166e+01] [-1.27023325e-02 -1.30333866e-04 9.99919314e-01 -1.67866618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13 meters 0.014990742423659921 Centerline is valid? [True, True] Translation: X:76.81, Y:25.65, Z:-1.68 [[ 8.16496809e-01 -5.77261775e-01 1.00898002e-02 7.68122917e+01] [ 5.77215542e-01 8.16559136e-01 7.30721518e-03 2.56501022e+01] [-1.24570945e-02 -1.42328400e-04 9.99922397e-01 -1.68029075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16 meters 0.014617882818828103 Centerline is valid? [True, True] Translation: X:76.83, Y:25.67, Z:-1.68 [[ 8.17566982e-01 -5.75753291e-01 9.61133714e-03 7.68345933e+01] [ 5.75711195e-01 8.17623460e-01 6.96406229e-03 2.56684269e+01] [-1.18680365e-02 -1.60232994e-04 9.99929560e-01 -1.68051364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19 meters 0.014936041389611758 Centerline is valid? [True, True] Translation: X:76.86, Y:25.69, Z:-1.68 [[ 8.18765400e-01 -5.74057192e-01 9.03105092e-03 7.68564597e+01] [ 5.74019888e-01 8.18815186e-01 6.54663570e-03 2.56871439e+01] [-1.11529049e-02 -1.76155955e-04 9.99937789e-01 -1.68159257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22 meters 0.015326822958978865 Centerline is valid? [True, True] Translation: X:76.88, Y:25.70, Z:-1.68 [[ 8.19132833e-01 -5.73532647e-01 9.03911263e-03 7.68784497e+01] [ 5.73495191e-01 8.19182683e-01 6.55729166e-03 2.57043514e+01] [-1.11655054e-02 -1.87405269e-04 9.99937646e-01 -1.68260571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25 meters 0.015128388326781171 Centerline is valid? [True, True] Translation: X:76.90, Y:25.72, Z:-1.68 [[ 8.19239563e-01 -5.73377824e-01 9.18742394e-03 7.69013361e+01] [ 5.73339117e-01 8.19291056e-01 6.66502117e-03 2.57205908e+01] [-1.13487496e-02 -1.92739498e-04 9.99935582e-01 -1.68256922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28 meters 0.01605350438980799 Centerline is valid? [True, True] Translation: X:76.93, Y:25.74, Z:-1.68 [[ 8.18700935e-01 -5.74134155e-01 9.93738806e-03 7.69253125e+01] [ 5.74088862e-01 8.18761218e-01 7.21440320e-03 2.57375115e+01] [-1.22783832e-02 -2.01494838e-04 9.99924598e-01 -1.68340608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31 meters 0.014998635603316464 Centerline is valid? [True, True] Translation: X:76.95, Y:25.75, Z:-1.68 [[ 8.18475175e-01 -5.74442619e-01 1.06801350e-02 7.69482819e+01] [ 5.74390272e-01 8.18544826e-01 7.75785076e-03 2.57542222e+01] [-1.31986093e-02 -2.15042647e-04 9.99912871e-01 -1.68203661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34 meters 0.01626242024672208 Centerline is valid? [True, True] Translation: X:76.97, Y:25.77, Z:-1.68 [[ 8.17652100e-01 -5.75604739e-01 1.11457448e-02 7.69718481e+01] [ 5.75547760e-01 8.17728036e-01 8.10154500e-03 2.57706406e+01] [-1.37774757e-02 -2.09336836e-04 9.99905064e-01 -1.68374970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36999999999999 meters 0.01724869703473486 Centerline is valid? [True, True] Translation: X:76.99, Y:25.79, Z:-1.68 [[ 8.17097212e-01 -5.76387655e-01 1.13761699e-02 7.69947461e+01] [ 5.76328291e-01 8.17176376e-01 8.27474693e-03 2.57865469e+01] [-1.40657993e-02 -2.04864103e-04 9.99901051e-01 -1.68433054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39999999999999 meters 0.014326167743667264 Centerline is valid? [True, True] Translation: X:77.02, Y:25.80, Z:-1.68 [[ 8.16507610e-01 -5.77206176e-01 1.21800110e-02 7.70193117e+01] [ 5.77138207e-01 8.16598425e-01 8.86012122e-03 2.58015726e+01] [-1.50602945e-02 -2.04806719e-04 9.99886566e-01 -1.68140369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42999999999999 meters 0.01445863136516199 Centerline is valid? [True, True] Translation: X:77.04, Y:25.82, Z:-1.68 [[ 8.16099198e-01 -5.77780743e-01 1.23089935e-02 7.70412583e+01] [ 5.77711307e-01 8.16191995e-01 8.95955465e-03 2.58174597e+01] [-1.52231601e-02 -2.00840637e-04 9.99884101e-01 -1.68219093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46 meters 0.017112518218706747 Centerline is valid? [True, True] Translation: X:77.06, Y:25.83, Z:-1.69 [[ 8.15302591e-01 -5.78918308e-01 1.16308486e-02 7.70641707e+01] [ 5.78856419e-01 8.15385530e-01 8.46658050e-03 2.58329103e+01] [-1.43850841e-02 -1.70233656e-04 9.99896515e-01 -1.68529946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49 meters 0.01434809977957883 Centerline is valid? [True, True] Translation: X:77.09, Y:25.85, Z:-1.68 [[ 8.15482679e-01 -5.78651565e-01 1.22624296e-02 7.70854520e+01] [ 5.78582639e-01 8.15574847e-01 8.93305074e-03 2.58492607e+01] [-1.51700529e-02 -1.89919289e-04 9.99884910e-01 -1.68409356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52 meters 0.014464499752027533 Centerline is valid? [True, True] Translation: X:77.11, Y:25.87, Z:-1.69 [[ 8.15554718e-01 -5.78574249e-01 1.10607529e-02 7.71079104e+01] [ 5.78518135e-01 8.15629701e-01 8.05968964e-03 2.58660390e+01] [-1.36846074e-02 -1.74271776e-04 9.99906346e-01 -1.68665716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55 meters 0.014442055255996669 Centerline is valid? [True, True] Translation: X:77.13, Y:25.88, Z:-1.69 [[ 8.15408325e-01 -5.78797761e-01 1.01200298e-02 7.71313326e+01] [ 5.78750809e-01 8.15471108e-01 7.37384279e-03 2.58829133e+01] [-1.25205556e-02 -1.55717368e-04 9.99921603e-01 -1.68825201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58 meters 0.014575704806330326 Centerline is valid? [True, True] Translation: X:77.15, Y:25.90, Z:-1.69 [[ 8.15622311e-01 -5.78519277e-01 8.70014918e-03 7.71547475e+01] [ 5.78484535e-01 8.15668699e-01 6.34159317e-03 2.58995609e+01] [-1.07651733e-02 -1.39443119e-04 9.99942044e-01 -1.69012542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61 meters 0.014581085250355482 Centerline is valid? [True, True] Translation: X:77.18, Y:25.92, Z:-1.69 [[ 8.15731083e-01 -5.78371832e-01 8.29602968e-03 7.71779615e+01] [ 5.78340208e-01 8.15773256e-01 6.04971743e-03 2.59161604e+01] [-1.02666653e-02 -1.37015020e-04 9.99947287e-01 -1.69098496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64 meters 0.014302233257155439 Centerline is valid? [True, True] Translation: X:77.20, Y:25.93, Z:-1.69 [[ 8.15859009e-01 -5.78201604e-01 7.54870997e-03 7.72021257e+01] [ 5.78175394e-01 8.15893920e-01 5.50684618e-03 2.59327751e+01] [-9.34301387e-03 -1.28331707e-04 9.99956345e-01 -1.69143664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67 meters 0.01710778816328541 Centerline is valid? [True, True] Translation: X:77.22, Y:25.95, Z:-1.70 [[ 8.15919049e-01 -5.78134948e-01 6.00723215e-03 7.72242746e+01] [ 5.78118321e-01 8.15941156e-01 4.38593238e-03 2.59493142e+01] [-7.43720874e-03 -1.05674808e-04 9.99972338e-01 -1.69542759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.7 meters 0.01467079051933358 Centerline is valid? [True, True] Translation: X:77.25, Y:25.97, Z:-1.69 [[ 8.16407259e-01 -5.77435294e-01 6.90424052e-03 7.72472428e+01] [ 5.77413319e-01 8.16436443e-01 5.03923355e-03 2.59662517e+01] [-8.54670488e-03 -1.27466411e-04 9.99963468e-01 -1.69374618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72999999999999 meters 0.014864679604651184 Centerline is valid? [True, True] Translation: X:77.27, Y:25.98, Z:-1.69 [[ 8.16450488e-01 -5.77374075e-01 6.91215823e-03 7.72690668e+01] [ 5.77352002e-01 8.16479736e-01 5.05035936e-03 2.59822682e+01] [-8.55958369e-03 -1.32619975e-04 9.99963357e-01 -1.69437170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75999999999999 meters 0.014911298191857304 Centerline is valid? [True, True] Translation: X:77.29, Y:26.00, Z:-1.69 [[ 8.16354792e-01 -5.77499385e-01 7.70154200e-03 7.72918880e+01] [ 5.77471990e-01 8.16391107e-01 5.62678193e-03 2.59991039e+01] [-9.53693350e-03 -1.46025605e-04 9.99954512e-01 -1.69430417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78999999999999 meters 0.01744862160678743 Centerline is valid? [True, True] Translation: X:77.31, Y:26.02, Z:-1.70 [[ 8.16427221e-01 -5.77381312e-01 8.79843291e-03 7.73140052e+01] [ 5.77345481e-01 8.16474611e-01 6.43469707e-03 2.60161471e+01] [-1.08989709e-02 -1.73726362e-04 9.99940589e-01 -1.69588903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82 meters 0.015579163102622319 Centerline is valid? [True, True] Translation: X:77.34, Y:26.03, Z:-1.69 [[ 8.16967158e-01 -5.76584743e-01 1.07097194e-02 7.73354700e+01] [ 5.76531545e-01 8.17037321e-01 7.83543688e-03 2.60332340e+01] [-1.32680338e-02 -2.26803549e-04 9.99911950e-01 -1.69334185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85 meters 0.015579163102622319 Centerline is valid? [True, True] Translation: X:77.36, Y:26.05, Z:-1.69 [[ 8.16811776e-01 -5.76804846e-01 1.07094461e-02 7.73576892e+01] [ 5.76751662e-01 8.16881950e-01 7.83581074e-03 2.60496111e+01] [-1.32680868e-02 -2.23691676e-04 9.99911950e-01 -1.69390942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88 meters 0.017581098459978385 Centerline is valid? [True, True] Translation: X:77.38, Y:26.07, Z:-1.70 [[ 8.16307320e-01 -5.77509042e-01 1.12100877e-02 7.73824058e+01] [ 5.77450765e-01 8.16384257e-01 8.20725818e-03 2.60653375e+01] [-1.38915050e-02 -2.26371191e-04 9.99903483e-01 -1.69540870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91 meters 0.014699061217778005 Centerline is valid? [True, True] Translation: X:77.41, Y:26.08, Z:-1.69 [[ 8.16101404e-01 -5.77758436e-01 1.31790635e-02 7.74059975e+01] [ 5.77677820e-01 8.16207767e-01 9.65492440e-03 2.60826230e+01] [-1.63350680e-02 -2.66144708e-04 9.99866538e-01 -1.69271111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94 meters 0.017225616737355415 Centerline is valid? [True, True] Translation: X:77.43, Y:26.10, Z:-1.70 [[ 8.15502766e-01 -5.78607799e-01 1.29712853e-02 7.74284861e+01] [ 5.78529719e-01 8.15605881e-01 9.50851578e-03 2.60996998e+01] [-1.60811579e-02 -2.49946894e-04 9.99870659e-01 -1.69606829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97 meters 0.014827912038915229 Centerline is valid? [True, True] Translation: X:77.45, Y:26.12, Z:-1.69 [[ 8.15941296e-01 -5.77983552e-01 1.32217483e-02 7.74515428e+01] [ 5.77902329e-01 8.16048370e-01 9.69312227e-03 2.61175005e+01] [-1.63920514e-02 -2.68139629e-04 9.99865605e-01 -1.69439788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.0 meters 0.015044918226792027 Centerline is valid? [True, True] Translation: X:77.47, Y:26.14, Z:-1.70 [[ 8.16547357e-01 -5.77140316e-01 1.26280835e-02 7.74745206e+01] [ 5.77066052e-01 8.16644953e-01 9.26243053e-03 2.61356924e+01] [-1.56583827e-02 -2.75974901e-04 9.99877362e-01 -1.69551239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03 meters 0.016106582415202565 Centerline is valid? [True, True] Translation: X:77.50, Y:26.15, Z:-1.70 [[ 8.16768361e-01 -5.76849089e-01 1.16005515e-02 7.74975666e+01] [ 5.76786333e-01 8.16850697e-01 8.51268570e-03 2.61534058e+01] [-1.43864535e-02 -2.61852809e-04 9.99896475e-01 -1.69797426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06 meters 0.01620445113183508 Centerline is valid? [True, True] Translation: X:77.52, Y:26.17, Z:-1.70 [[ 8.17333924e-01 -5.76056238e-01 1.11564847e-02 7.75187417e+01] [ 5.75998046e-01 8.17410018e-01 8.19224997e-03 2.61712961e+01] [-1.38386190e-02 -2.69690441e-04 9.99904205e-01 -1.69913054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09 meters 0.017299334614477593 Centerline is valid? [True, True] Translation: X:77.54, Y:26.19, Z:-1.70 [[ 8.17647944e-01 -5.75638144e-01 9.62119353e-03 7.75414678e+01] [ 5.75594847e-01 8.17704513e-01 7.06414708e-03 2.61894819e+01] [-1.19336859e-02 -2.38075924e-04 9.99928763e-01 -1.70190319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11999999999999 meters 0.016608331196389957 Centerline is valid? [True, True] Translation: X:77.56, Y:26.21, Z:-1.70 [[ 8.17444268e-01 -5.75933745e-01 9.22986101e-03 7.75638245e+01] [ 5.75893883e-01 8.17496343e-01 6.77971798e-03 2.62065790e+01] [-1.14500460e-02 -2.26621102e-04 9.99934420e-01 -1.70245674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14999999999999 meters 0.015497807457153763 Centerline is valid? [True, True] Translation: X:77.59, Y:26.22, Z:-1.70 [[ 8.17185522e-01 -5.76299998e-01 9.28081973e-03 7.75866059e+01] [ 5.76259672e-01 8.17238191e-01 6.82124310e-03 2.62229597e+01] [-1.15157227e-02 -2.26058968e-04 9.99933666e-01 -1.70230168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17999999999999 meters 0.016178151192805957 Centerline is valid? [True, True] Translation: X:77.61, Y:26.24, Z:-1.70 [[ 8.16665610e-01 -5.77044650e-01 8.76094164e-03 7.76085075e+01] [ 5.77008694e-01 8.16712574e-01 6.44499898e-03 2.62396893e+01] [-1.08742234e-02 -2.08269527e-04 9.99940852e-01 -1.70426631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21 meters 0.014664749718727147 Centerline is valid? [True, True] Translation: X:77.63, Y:26.25, Z:-1.70 [[ 8.15163296e-01 -5.79169826e-01 8.43291011e-03 7.76342200e+01] [ 5.79136636e-01 8.15206896e-01 6.20272694e-03 2.62535949e+01] [-1.04669988e-02 -1.72428140e-04 9.99945205e-01 -1.70341819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24 meters 0.016921533550978873 Centerline is valid? [True, True] Translation: X:77.66, Y:26.27, Z:-1.71 [[ 8.13624754e-01 -5.81339945e-01 7.65689452e-03 7.76586246e+01] [ 5.81312656e-01 8.13660771e-01 5.63427363e-03 2.62687246e+01] [-9.50554302e-03 -1.33134798e-04 9.99954812e-01 -1.70575536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27 meters 0.016824076358625602 Centerline is valid? [True, True] Translation: X:77.68, Y:26.28, Z:-1.71 [[ 8.12532279e-01 -5.82867873e-01 7.50579955e-03 7.76821861e+01] [ 5.82841669e-01 8.12566938e-01 5.52813036e-03 2.62843727e+01] [-9.32113414e-03 -1.17091626e-04 9.99956550e-01 -1.70656324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.3 meters 0.014558416212592172 Centerline is valid? [True, True] Translation: X:77.71, Y:26.30, Z:-1.71 [[ 8.11481475e-01 -5.84320733e-01 8.19128976e-03 7.77071085e+01] [ 5.84289605e-01 8.11522809e-01 6.03229752e-03 2.62999513e+01] [-1.01722150e-02 -1.09012227e-04 9.99948256e-01 -1.70537855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33 meters 0.014602426326372734 Centerline is valid? [True, True] Translation: X:77.73, Y:26.31, Z:-1.71 [[ 8.08667155e-01 -5.88207031e-01 8.36188160e-03 7.77330810e+01] [ 5.88174766e-01 8.08710383e-01 6.16122142e-03 2.63129905e+01] [-1.03864142e-02 -6.41296464e-05 9.99946058e-01 -1.70551791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36 meters 0.012843808461521592 Centerline is valid? [True, True] Translation: X:77.76, Y:26.33, Z:-1.70 [[ 8.07429250e-01 -5.89890343e-01 9.34818791e-03 7.77582201e+01] [ 5.89850078e-01 8.07483362e-01 6.89243008e-03 2.63285340e+01] [-1.16142842e-02 -5.11202897e-05 9.99932551e-01 -1.70351507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39 meters 0.014553951391484 Centerline is valid? [True, True] Translation: X:77.78, Y:26.34, Z:-1.71 [[ 8.05537746e-01 -5.92465305e-01 9.68513119e-03 7.77820764e+01] [ 5.92422207e-01 8.05595967e-01 7.14610783e-03 2.63428607e+01] [-1.20361236e-02 -1.87728053e-05 9.99927563e-01 -1.70510049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42 meters 0.01261442960499218 Centerline is valid? [True, True] Translation: X:77.81, Y:26.36, Z:-1.70 [[ 8.02771174e-01 -5.96187934e-01 1.08806634e-02 7.78077915e+01] [ 5.96133879e-01 8.02844908e-01 8.02826988e-03 2.63555045e+01] [-1.35218428e-02 4.14684101e-05 9.99908575e-01 -1.70202724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45 meters 0.015215811594490071 Centerline is valid? [True, True] Translation: X:77.83, Y:26.37, Z:-1.70 [[ 8.00659129e-01 -5.99024968e-01 1.06792617e-02 7.78326347e+01] [ 5.98973083e-01 8.00730342e-01 7.88455295e-03 2.63705823e+01] [-1.32742530e-02 8.37510051e-05 9.99911890e-01 -1.70436205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47999999999999 meters 0.012924186175063105 Centerline is valid? [True, True] Translation: X:77.86, Y:26.39, Z:-1.70 [[ 7.99422674e-01 -6.00665929e-01 1.11279235e-02 7.78568623e+01] [ 6.00609688e-01 7.99500112e-01 8.22033952e-03 2.63862140e+01] [-1.38344540e-02 1.12012865e-04 9.99904293e-01 -1.70266030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50999999999999 meters 0.01472538493377276 Centerline is valid? [True, True] Translation: X:77.88, Y:26.40, Z:-1.70 [[ 7.97026007e-01 -6.03843481e-01 1.10722308e-02 7.78802525e+01] [ 6.03788031e-01 7.97102894e-01 8.18472447e-03 2.64013185e+01] [-1.37679997e-02 1.61842140e-04 9.99905204e-01 -1.70498057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53999999999999 meters 0.015338019269424392 Centerline is valid? [True, True] Translation: X:77.90, Y:26.42, Z:-1.71 [[ 7.95896398e-01 -6.05334956e-01 1.08864045e-02 7.79038512e+01] [ 6.05281490e-01 7.95970826e-01 8.04743868e-03 2.64180856e+01] [-1.35366563e-02 1.84411651e-04 9.99908358e-01 -1.70614467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57 meters 0.013864007575743692 Centerline is valid? [True, True] Translation: X:77.93, Y:26.44, Z:-1.70 [[ 7.95171670e-01 -6.06289121e-01 1.07478394e-02 7.79273398e+01] [ 6.06237042e-01 7.95244279e-01 7.94891552e-03 2.64352571e+01] [-1.33664988e-02 1.94985930e-04 9.99910645e-01 -1.70458781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.6 meters 0.0162268076431669 Centerline is valid? [True, True] Translation: X:77.95, Y:26.45, Z:-1.71 [[ 7.93721441e-01 -6.08199232e-01 9.99836600e-03 7.79504346e+01] [ 6.08154259e-01 7.93784385e-01 7.39911586e-03 2.64517331e+01] [-1.24366834e-02 2.07711961e-04 9.99922640e-01 -1.70715958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63 meters 0.014721160663085554 Centerline is valid? [True, True] Translation: X:77.97, Y:26.47, Z:-1.71 [[ 7.92196094e-01 -6.10193580e-01 9.44154493e-03 7.79740560e+01] [ 6.10153612e-01 7.92252324e-01 6.98751099e-03 2.64689021e+01] [-1.17438203e-02 2.25313828e-04 9.99931014e-01 -1.70596347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66 meters 0.01574393851707548 Centerline is valid? [True, True] Translation: X:78.00, Y:26.48, Z:-1.71 [[ 7.91176077e-01 -6.11511778e-01 9.68300628e-03 7.79976051e+01] [ 6.11469771e-01 7.91235291e-01 7.17175562e-03 2.64842382e+01] [-1.20471493e-02 2.46744151e-04 9.99927400e-01 -1.70725153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69 meters 0.0173452768929641 Centerline is valid? [True, True] Translation: X:78.02, Y:26.50, Z:-1.71 [[ 7.89554513e-01 -6.13605567e-01 9.58541552e-03 7.80201068e+01] [ 6.13564562e-01 7.89612647e-01 7.09905031e-03 2.65018632e+01] [-1.19247821e-02 2.76184062e-04 9.99928859e-01 -1.70904832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72 meters 0.017583666244420225 Centerline is valid? [True, True] Translation: X:78.04, Y:26.52, Z:-1.71 [[ 7.87443254e-01 -6.16307056e-01 9.93651315e-03 7.80437202e+01] [ 6.16263157e-01 7.87505877e-01 7.36307161e-03 2.65191769e+01] [-1.23629755e-02 3.25505894e-04 9.99923523e-01 -1.70890752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75 meters 0.01680552940293473 Centerline is valid? [True, True] Translation: X:78.07, Y:26.54, Z:-1.71 [[ 7.86832003e-01 -6.17081930e-01 1.02611241e-02 7.80669772e+01] [ 6.17035129e-01 7.86898833e-01 7.60768289e-03 2.65366829e+01] [-1.27690302e-02 3.45505636e-04 9.99918413e-01 -1.70792471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78 meters 0.01734042550728415 Centerline is valid? [True, True] Translation: X:78.09, Y:26.55, Z:-1.71 [[ 7.85996883e-01 -6.18140254e-01 1.05605938e-02 7.80906423e+01] [ 6.18090722e-01 7.86067739e-01 7.83390482e-03 2.65540910e+01] [-1.31437940e-02 3.69980271e-04 9.99913548e-01 -1.70862163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81 meters 0.01927402775092178 Centerline is valid? [True, True] Translation: X:78.11, Y:26.57, Z:-1.71 [[ 7.85085556e-01 -6.19314220e-01 9.51666500e-03 7.81128236e+01] [ 6.19274048e-01 7.85143156e-01 7.06247320e-03 2.65723412e+01] [-1.18458345e-02 3.48777961e-04 9.99929775e-01 -1.71090837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84 meters 0.01702838809080251 Centerline is valid? [True, True] Translation: X:78.14, Y:26.59, Z:-1.71 [[ 7.85933823e-01 -6.18236506e-01 9.57330072e-03 7.81351367e+01] [ 6.18195731e-01 7.85992056e-01 7.10810914e-03 2.65907655e+01] [-1.19190309e-02 3.31670247e-04 9.99928911e-01 -1.70943156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86999999999999 meters 0.0168558118350749 Centerline is valid? [True, True] Translation: X:78.16, Y:26.61, Z:-1.71 [[ 7.86563633e-01 -6.17433904e-01 9.64497262e-03 7.81570897e+01] [ 6.17392412e-01 7.86622700e-01 7.16506028e-03 2.66088661e+01] [-1.20109055e-02 3.18957065e-04 9.99927816e-01 -1.71006047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89999999999999 meters 0.015473227053217433 Centerline is valid? [True, True] Translation: X:78.18, Y:26.63, Z:-1.71 [[ 7.89058260e-01 -6.14243995e-01 9.55915923e-03 7.81765414e+01] [ 6.14202955e-01 7.89116116e-01 7.10532159e-03 2.66311373e+01] [-1.19076877e-02 2.64751159e-04 9.99929066e-01 -1.71118933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92999999999999 meters 0.014941547209153192 Centerline is valid? [True, True] Translation: X:78.20, Y:26.65, Z:-1.71 [[ 7.90721281e-01 -6.12097329e-01 9.83440914e-03 7.81967641e+01] [ 6.12053676e-01 7.90782400e-01 7.31388654e-03 2.66501281e+01] [-1.22536881e-02 2.35940532e-04 9.99924893e-01 -1.71226706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96 meters 0.014253202026638387 Centerline is valid? [True, True] Translation: X:78.22, Y:26.67, Z:-1.71 [[ 7.92414364e-01 -6.09900390e-01 1.00493843e-02 7.82178022e+01] [ 6.09854620e-01 7.92478058e-01 7.47465490e-03 2.66704819e+01] [-1.25227115e-02 2.05639553e-04 9.99921567e-01 -1.71289939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99 meters 0.013552148112804106 Centerline is valid? [True, True] Translation: X:78.24, Y:26.69, Z:-1.71 [[ 7.95954168e-01 -6.05259286e-01 1.08701234e-02 7.82370396e+01] [ 6.05205234e-01 7.96028377e-01 8.08999223e-03 2.66930636e+01] [-1.35494696e-02 1.39392518e-04 9.99908192e-01 -1.71407605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02 meters 0.012933772501115846 Centerline is valid? [True, True] Translation: X:78.26, Y:26.71, Z:-1.71 [[ 7.97916685e-01 -6.02661189e-01 1.13337840e-02 7.82580099e+01] [ 6.02602090e-01 7.97997169e-01 8.44030451e-03 2.67114353e+01] [-1.41309715e-02 9.51021533e-05 9.99900148e-01 -1.71448580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05 meters 0.012585071972553596 Centerline is valid? [True, True] Translation: X:78.28, Y:26.73, Z:-1.71 [[ 7.99557724e-01 -6.00474447e-01 1.17424386e-02 7.82797566e+01] [ 6.00410765e-01 7.99643943e-01 8.74516263e-03 2.67310243e+01] [-1.46410166e-02 5.80242153e-05 9.99892813e-01 -1.71406162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08 meters 0.012430785941168124 Centerline is valid? [True, True] Translation: X:78.30, Y:26.75, Z:-1.71 [[ 8.02645783e-01 -5.96327692e-01 1.23705468e-02 7.82993998e+01] [ 5.96256447e-01 8.02741106e-01 9.21769219e-03 2.67513933e+01] [-1.54271116e-02 -2.25234572e-05 9.99880995e-01 -1.71372843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11 meters 0.01388751783651635 Centerline is valid? [True, True] Translation: X:78.32, Y:26.77, Z:-1.72 [[ 8.03913580e-01 -5.94613395e-01 1.25644822e-02 7.83204860e+01] [ 5.94539601e-01 8.04011758e-01 9.36784062e-03 2.67698349e+01] [-1.56722349e-02 -6.08520645e-05 9.99877181e-01 -1.71526408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14 meters 0.012813594523402186 Centerline is valid? [True, True] Translation: X:78.34, Y:26.79, Z:-1.71 [[ 8.05387119e-01 -5.92601826e-01 1.32160675e-02 7.83418014e+01] [ 5.92519789e-01 8.05495539e-01 9.86083633e-03 2.67886702e+01] [-1.64890330e-02 -1.11009033e-04 9.99864040e-01 -1.71499359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17 meters 0.01493434288647853 Centerline is valid? [True, True] Translation: X:78.36, Y:26.81, Z:-1.72 [[ 8.06131799e-01 -5.91599225e-01 1.27231966e-02 7.83640275e+01] [ 5.91523057e-01 8.06232188e-01 9.49379988e-03 2.68069541e+01] [-1.58743753e-02 -1.27189824e-04 9.99873986e-01 -1.71725590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.2 meters 0.016229549135630204 Centerline is valid? [True, True] Translation: X:78.39, Y:26.83, Z:-1.72 [[ 8.07019883e-01 -5.90389660e-01 1.26078315e-02 7.83851144e+01] [ 5.90314633e-01 8.07118347e-01 9.41320967e-03 2.68260354e+01] [-1.57334738e-02 -1.54059937e-04 9.99876209e-01 -1.71933663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22999999999999 meters 0.01598845998324654 Centerline is valid? [True, True] Translation: X:78.41, Y:26.84, Z:-1.72 [[ 8.08485393e-01 -5.88372904e-01 1.29882505e-02 7.84081044e+01] [ 5.88292985e-01 8.08589689e-01 9.69937591e-03 2.68442956e+01] [-1.62090154e-02 -2.00907100e-04 9.99868605e-01 -1.71957358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25999999999999 meters 0.013987497388397102 Centerline is valid? [True, True] Translation: X:78.43, Y:26.86, Z:-1.72 [[ 8.09236600e-01 -5.87321668e-01 1.37616381e-02 7.84313325e+01] [ 5.87231700e-01 8.09353569e-01 1.02824963e-02 2.68620867e+01] [-1.71771639e-02 -2.39702210e-04 9.99852433e-01 -1.71810391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28999999999999 meters 0.014040153769096116 Centerline is valid? [True, True] Translation: X:78.45, Y:26.88, Z:-1.72 [[ 8.09949093e-01 -5.86362015e-01 1.27300219e-02 7.84548945e+01] [ 5.86284844e-01 8.10049089e-01 9.51601756e-03 2.68793111e+01] [-1.58917739e-02 -2.44070879e-04 9.99873688e-01 -1.72014033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32 meters 0.013985415994007714 Centerline is valid? [True, True] Translation: X:78.48, Y:26.90, Z:-1.72 [[ 8.10175100e-01 -5.86066755e-01 1.19191781e-02 7.84784503e+01] [ 5.85999007e-01 8.10262737e-01 8.91407224e-03 2.68959031e+01] [-1.48819072e-02 -2.37332848e-04 9.99889230e-01 -1.72166033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35 meters 0.014336453394274787 Centerline is valid? [True, True] Translation: X:78.50, Y:26.91, Z:-1.72 [[ 8.10336487e-01 -5.85862875e-01 1.09301626e-02 7.85010413e+01] [ 5.85805821e-01 8.10410168e-01 8.17919250e-03 2.69128029e+01] [-1.36498002e-02 -2.24945230e-04 9.99906812e-01 -1.72359085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38 meters 0.01472808919632916 Centerline is valid? [True, True] Translation: X:78.52, Y:26.93, Z:-1.73 [[ 8.10648323e-01 -5.85450245e-01 9.86443883e-03 7.85240771e+01] [ 5.85403717e-01 8.10708311e-01 7.38389848e-03 2.69288463e+01] [-1.23200877e-02 -2.11065764e-04 9.99924083e-01 -1.72648763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41 meters 0.014692629281216944 Centerline is valid? [True, True] Translation: X:78.55, Y:26.95, Z:-1.73 [[ 8.10450647e-01 -5.85738053e-01 8.98226087e-03 7.85482046e+01] [ 5.85699502e-01 8.10500399e-01 6.72274497e-03 2.69454132e+01] [-1.12178936e-02 -1.87547296e-04 9.99937060e-01 -1.72792566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44 meters 0.014296650850358474 Centerline is valid? [True, True] Translation: X:78.57, Y:26.96, Z:-1.73 [[ 8.10237884e-01 -5.86036404e-01 8.71230436e-03 7.85721912e+01] [ 5.86000124e-01 8.10284704e-01 6.52331869e-03 2.69607990e+01] [-1.08823492e-02 -1.80028500e-04 9.99940769e-01 -1.72869668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47 meters 0.015247352092737474 Centerline is valid? [True, True] Translation: X:78.60, Y:26.98, Z:-1.73 [[ 8.09420779e-01 -5.87167100e-01 8.53220637e-03 7.85951489e+01] [ 5.87132302e-01 8.09465731e-01 6.39458723e-03 2.69770979e+01] [-1.06612199e-02 -1.66377805e-04 9.99943154e-01 -1.73086254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.5 meters 0.014087222775352227 Centerline is valid? [True, True] Translation: X:78.62, Y:26.99, Z:-1.73 [[ 8.08556223e-01 -5.88351698e-01 8.89462960e-03 7.86212903e+01] [ 5.88313958e-01 8.08605129e-01 6.66565444e-03 2.69907211e+01] [-1.11139922e-02 -1.56721635e-04 9.99938225e-01 -1.72954438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53 meters 0.013890376199187053 Centerline is valid? [True, True] Translation: X:78.65, Y:27.01, Z:-1.73 [[ 8.07499008e-01 -5.89796812e-01 9.22353853e-03 7.86461028e+01] [ 5.89756280e-01 8.07551670e-01 6.91596824e-03 2.70057115e+01] [-1.15275000e-02 -1.44997724e-04 9.99933546e-01 -1.72937167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56 meters 0.013226254195699078 Centerline is valid? [True, True] Translation: X:78.67, Y:27.02, Z:-1.73 [[ 8.04783997e-01 -5.93475038e-01 1.04927539e-02 7.86730204e+01] [ 5.93422831e-01 8.04852389e-01 7.87250469e-03 2.70178894e+01] [-1.31172531e-02 -1.09026061e-04 9.99913959e-01 -1.72778261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59 meters 0.013066706329015236 Centerline is valid? [True, True] Translation: X:78.70, Y:27.03, Z:-1.73 [[ 8.03224623e-01 -5.95577520e-01 1.08453658e-02 7.86967066e+01] [ 5.95521857e-01 8.03297834e-01 8.14291183e-03 2.70321029e+01] [-1.35617941e-02 -8.19348989e-05 9.99908031e-01 -1.72780691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61999999999999 meters 0.012952310856967355 Centerline is valid? [True, True] Translation: X:78.72, Y:27.05, Z:-1.73 [[ 8.01347560e-01 -5.98094234e-01 1.11970962e-02 7.87208614e+01] [ 5.98035125e-01 8.01425783e-01 8.40861232e-03 2.70466775e+01] [-1.40027841e-02 -4.19641534e-05 9.99901955e-01 -1.72854018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64999999999999 meters 0.012860380775102577 Centerline is valid? [True, True] Translation: X:78.75, Y:27.06, Z:-1.73 [[ 7.99313882e-01 -6.00808451e-01 1.12482378e-02 7.87452664e+01] [ 6.00749067e-01 7.99393023e-01 8.44708456e-03 2.70609036e+01] [-1.40668426e-02 5.49640515e-06 9.99901057e-01 -1.72889239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67999999999999 meters 0.013013645659291374 Centerline is valid? [True, True] Translation: X:78.77, Y:27.08, Z:-1.73 [[ 7.97172890e-01 -6.03640876e-01 1.15358821e-02 7.87698248e+01] [ 6.03578639e-01 7.97256351e-01 8.66813118e-03 2.70753924e+01] [-1.44294936e-02 5.28128670e-05 9.99895888e-01 -1.72903163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71 meters 0.013252323870464185 Centerline is valid? [True, True] Translation: X:78.79, Y:27.09, Z:-1.73 [[ 7.94835137e-01 -6.06695275e-01 1.25677186e-02 7.87940159e+01] [ 6.06621691e-01 7.94934482e-01 9.44951820e-03 2.70920550e+01] [-1.57234909e-02 1.13041598e-04 9.99876372e-01 -1.72746605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74 meters 0.01351055964061485 Centerline is valid? [True, True] Translation: X:78.82, Y:27.11, Z:-1.73 [[ 7.93633590e-01 -6.08267380e-01 1.25108021e-02 7.88178221e+01] [ 6.08194582e-01 7.93732181e-01 9.41143246e-03 2.71091240e+01] [-1.56548936e-02 1.39773125e-04 9.99877445e-01 -1.72763479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77 meters 0.01351055964061485 Centerline is valid? [True, True] Translation: X:78.84, Y:27.13, Z:-1.73 [[ 7.93464850e-01 -6.08487523e-01 1.25086374e-02 7.88398300e+01] [ 6.08414708e-01 7.93563428e-01 9.41430838e-03 2.71257947e+01] [-1.56548864e-02 1.40516213e-04 9.99877445e-01 -1.72820126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.8 meters 0.013737692352495058 Centerline is valid? [True, True] Translation: X:78.86, Y:27.14, Z:-1.73 [[ 7.92433038e-01 -6.09826355e-01 1.27159793e-02 7.88636851e+01] [ 6.09751184e-01 7.92535040e-01 9.57621555e-03 2.71429081e+01] [-1.59176878e-02 1.65073884e-04 9.99873292e-01 -1.72822298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83 meters 0.014225099070322824 Centerline is valid? [True, True] Translation: X:78.89, Y:27.16, Z:-1.73 [[ 7.89593088e-01 -6.13505683e-01 1.23908190e-02 7.88872794e+01] [ 6.13434689e-01 7.89690271e-01 9.33583972e-03 2.71593537e+01] [-1.55124999e-02 2.29443658e-04 9.99879648e-01 -1.72842518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86 meters 0.01685268935256208 Centerline is valid? [True, True] Translation: X:78.91, Y:27.18, Z:-1.73 [[ 7.87665503e-01 -6.15991105e-01 1.17479489e-02 7.89105648e+01] [ 6.15927483e-01 7.87753065e-01 8.85686820e-03 2.71756658e+01] [-1.47102348e-02 2.59635044e-04 9.99891765e-01 -1.73119200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89 meters 0.016270973136348007 Centerline is valid? [True, True] Translation: X:78.93, Y:27.19, Z:-1.73 [[ 7.86059189e-01 -6.18033850e-01 1.20462390e-02 7.89342134e+01] [ 6.17967186e-01 7.86151428e-01 9.08238816e-03 2.71919616e+01] [-1.50833913e-02 3.04885735e-04 9.99886193e-01 -1.73143955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92 meters 0.016850092921158168 Centerline is valid? [True, True] Translation: X:78.96, Y:27.21, Z:-1.73 [[ 7.82947679e-01 -6.21974503e-01 1.18596075e-02 7.89574620e+01] [ 6.21910255e-01 7.83037407e-01 8.94728179e-03 2.72072164e+01] [-1.48514974e-02 3.70358009e-04 9.99889642e-01 -1.73203385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95 meters 0.017231270071180173 Centerline is valid? [True, True] Translation: X:78.98, Y:27.22, Z:-1.73 [[ 7.81205055e-01 -6.24161279e-01 1.18894661e-02 7.89799862e+01] [ 6.24096953e-01 7.81295416e-01 8.97028549e-03 2.72248611e+01] [-1.48880902e-02 4.12547183e-04 9.99889081e-01 -1.73265798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97999999999999 meters 0.019075518999506453 Centerline is valid? [True, True] Translation: X:79.00, Y:27.24, Z:-1.73 [[ 7.79367937e-01 -6.26450342e-01 1.20659925e-02 7.90025223e+01] [ 6.26384293e-01 7.79461197e-01 9.10819797e-03 2.72426600e+01] [-1.51108067e-02 4.59310750e-04 9.99885720e-01 -1.73456033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00999999999999 meters 0.018579827555525383 Centerline is valid? [True, True] Translation: X:79.02, Y:27.26, Z:-1.73 [[ 7.76987651e-01 -6.29377838e-01 1.31805803e-02 7.90249365e+01] [ 6.29299347e-01 7.77099237e-01 9.95529195e-03 2.72613294e+01] [-1.65082590e-02 5.59391680e-04 9.99863573e-01 -1.73247017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03999999999999 meters 0.021236780332243944 Centerline is valid? [True, True] Translation: X:79.05, Y:27.28, Z:-1.73 [[ 7.75675697e-01 -6.30981795e-01 1.37545157e-02 7.90472416e+01] [ 6.30896469e-01 7.75797394e-01 1.03946948e-02 2.72777957e+01] [-1.72295806e-02 6.14763264e-04 9.99851371e-01 -1.73406626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07 meters 0.01891989182360974 Centerline is valid? [True, True] Translation: X:79.07, Y:27.30, Z:-1.73 [[ 7.74803613e-01 -6.32031017e-01 1.47021983e-02 7.90683733e+01] [ 6.31933683e-01 7.74942791e-01 1.11126131e-02 2.72974038e+01] [-1.84168788e-02 6.80721593e-04 9.99830163e-01 -1.73173140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.1 meters 0.023003257407892018 Centerline is valid? [True, True] Translation: X:79.09, Y:27.31, Z:-1.73 [[ 7.73889920e-01 -6.33133572e-01 1.53711226e-02 7.90930241e+01] [ 6.33027270e-01 7.74042209e-01 1.16247223e-02 2.73104977e+01] [-1.92578996e-02 7.34084407e-04 9.99814280e-01 -1.73211860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13 meters 0.021511620673910044 Centerline is valid? [True, True] Translation: X:79.11, Y:27.34, Z:-1.73 [[ 7.72339705e-01 -6.34985229e-01 1.68860511e-02 7.91100320e+01] [ 6.34857299e-01 7.72523805e-01 1.27742359e-02 2.73354580e+01] [-2.11563276e-02 8.54183187e-04 9.99775815e-01 -1.73478429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16 meters 0.022103032792941884 Centerline is valid? [True, True] Translation: X:79.13, Y:27.35, Z:-1.74 [[ 7.71918835e-01 -6.35485781e-01 1.72955005e-02 7.91321062e+01] [ 6.35351640e-01 7.72112062e-01 1.30865282e-02 2.73546634e+01] [-2.16703672e-02 8.86986998e-04 9.99764777e-01 -1.73574025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19 meters 0.02224428612897188 Centerline is valid? [True, True] Translation: X:79.15, Y:27.37, Z:-1.74 [[ 7.71634679e-01 -6.35824489e-01 1.75254305e-02 7.91523314e+01] [ 6.35686693e-01 7.71833145e-01 1.32674711e-02 2.73743741e+01] [-2.19624912e-02 9.03042115e-04 9.99758388e-01 -1.73674887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22 meters 0.02361845587698803 Centerline is valid? [True, True] Translation: X:79.17, Y:27.39, Z:-1.74 [[ 7.72107664e-01 -6.35237390e-01 1.79781475e-02 7.91725490e+01] [ 6.35092047e-01 7.72316413e-01 1.36179936e-02 2.73932415e+01] [-2.25354771e-02 9.03221325e-04 9.99745636e-01 -1.73754592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25 meters 0.022868480435448015 Centerline is valid? [True, True] Translation: X:79.19, Y:27.41, Z:-1.74 [[ 7.72442111e-01 -6.34831852e-01 1.79361281e-02 7.91927661e+01] [ 6.34687014e-01 7.72649813e-01 1.35890323e-02 2.74148818e+01] [-2.24850965e-02 8.87086769e-04 9.99746785e-01 -1.73857120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28 meters 0.02195864246361732 Centerline is valid? [True, True] Translation: X:79.21, Y:27.43, Z:-1.74 [[ 7.73182608e-01 -6.33937519e-01 1.76600168e-02 7.92132710e+01] [ 6.33796731e-01 7.73383806e-01 1.33862833e-02 2.74343114e+01] [-2.21440382e-02 8.42819483e-04 9.99754435e-01 -1.73903201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31 meters 0.021525361210944876 Centerline is valid? [True, True] Translation: X:79.23, Y:27.46, Z:-1.74 [[ 7.75045612e-01 -6.31671119e-01 1.72016290e-02 7.92311538e+01] [ 6.31536938e-01 7.75236109e-01 1.30411262e-02 2.74566487e+01] [-2.15730267e-02 7.55996469e-04 9.99766989e-01 -1.74070137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34 meters 0.020683695245184784 Centerline is valid? [True, True] Translation: X:79.25, Y:27.48, Z:-1.74 [[ 7.76119798e-01 -6.30359389e-01 1.68849263e-02 7.92517079e+01] [ 6.30229743e-01 7.76303127e-01 1.28033950e-02 2.74768048e+01] [-2.11785613e-02 7.04414408e-04 9.99775461e-01 -1.74116194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36999999999999 meters 0.017696979589763198 Centerline is valid? [True, True] Translation: X:79.27, Y:27.50, Z:-1.74 [[ 7.77462843e-01 -6.28716930e-01 1.63263677e-02 7.92714592e+01] [ 6.28595236e-01 7.77633989e-01 1.23858272e-02 2.74986781e+01] [-2.04831177e-02 6.33156510e-04 9.99789998e-01 -1.74062547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39999999999999 meters 0.020473285142209478 Centerline is valid? [True, True] Translation: X:79.29, Y:27.52, Z:-1.74 [[ 7.77994110e-01 -6.28058712e-01 1.63529287e-02 7.92926764e+01] [ 6.27936345e-01 7.78165715e-01 1.24123512e-02 2.75166755e+01] [-2.05209738e-02 6.11862148e-04 9.99789235e-01 -1.74401562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42999999999999 meters 0.017704233199593373 Centerline is valid? [True, True] Translation: X:79.31, Y:27.54, Z:-1.74 [[ 7.80319936e-01 -6.25176938e-01 1.59559765e-02 7.93111238e+01] [ 6.25059775e-01 7.80482880e-01 1.21141492e-02 2.75397215e+01] [-2.00268532e-02 5.20526901e-04 9.99799307e-01 -1.74303739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46 meters 0.019395157709995642 Centerline is valid? [True, True] Translation: X:79.33, Y:27.56, Z:-1.75 [[ 7.80658285e-01 -6.24748549e-01 1.61831263e-02 7.93325730e+01] [ 6.24627810e-01 7.80825838e-01 1.22926901e-02 2.75598091e+01] [-2.03160434e-02 5.12040313e-04 9.99793477e-01 -1.74600743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49 meters 0.01769806330770023 Centerline is valid? [True, True] Translation: X:79.35, Y:27.58, Z:-1.75 [[ 7.81176291e-01 -6.24103235e-01 1.60858288e-02 7.93525684e+01] [ 6.23983688e-01 7.81341740e-01 1.22246780e-02 2.75808650e+01] [-2.01979906e-02 4.87666166e-04 9.99795881e-01 -1.74616647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52 meters 0.015485038300063885 Centerline is valid? [True, True] Translation: X:79.37, Y:27.60, Z:-1.74 [[ 7.82640171e-01 -6.22280027e-01 1.55541173e-02 7.93726016e+01] [ 6.22167777e-01 7.82794603e-01 1.18265164e-02 2.76031442e+01] [-1.95350840e-02 4.21363746e-04 9.99809083e-01 -1.74460656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55 meters 0.015118747353080872 Centerline is valid? [True, True] Translation: X:79.39, Y:27.62, Z:-1.74 [[ 7.83252181e-01 -6.21510340e-01 1.55215433e-02 7.93937586e+01] [ 6.21398351e-01 7.83405858e-01 1.18047105e-02 2.76226900e+01] [-1.94964176e-02 3.98996212e-04 9.99809847e-01 -1.74487490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58 meters 0.015579744031792672 Centerline is valid? [True, True] Translation: X:79.42, Y:27.64, Z:-1.75 [[ 7.83804867e-01 -6.20813635e-01 1.55035785e-02 7.94150959e+01] [ 6.20701646e-01 7.83958091e-01 1.17973537e-02 2.76412446e+01] [-1.94781138e-02 3.76273442e-04 9.99810213e-01 -1.74583043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61 meters 0.01646032426895768 Centerline is valid? [True, True] Translation: X:79.43, Y:27.66, Z:-1.75 [[ 7.85323803e-01 -6.18895532e-01 1.53246186e-02 7.94344518e+01] [ 6.18785687e-01 7.85473243e-01 1.16643449e-02 2.76643352e+01] [-1.92560888e-02 3.22366956e-04 9.99814532e-01 -1.74897833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64 meters 0.015487612327145725 Centerline is valid? [True, True] Translation: X:79.46, Y:27.68, Z:-1.75 [[ 7.86527611e-01 -6.17371240e-01 1.50688319e-02 7.94555280e+01] [ 6.17264690e-01 7.86671898e-01 1.14728766e-02 2.76832666e+01] [-1.89372506e-02 2.77723665e-04 9.99820636e-01 -1.74927788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67 meters 0.015512553655989232 Centerline is valid? [True, True] Translation: X:79.48, Y:27.70, Z:-1.75 [[ 7.87524229e-01 -6.16104842e-01 1.48462784e-02 7.94760547e+01] [ 6.16001153e-01 7.87664119e-01 1.13055174e-02 2.77015862e+01] [-1.86592648e-02 2.41955764e-04 9.99825871e-01 -1.75061704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.7 meters 0.016546832594989166 Centerline is valid? [True, True] Translation: X:79.50, Y:27.72, Z:-1.75 [[ 7.89407234e-01 -6.13704545e-01 1.42460999e-02 7.94964951e+01] [ 6.13608654e-01 7.89535750e-01 1.08498209e-02 2.77218955e+01] [-1.79063896e-02 1.76603082e-04 9.99839652e-01 -1.75228921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72999999999999 meters 0.016232080828357337 Centerline is valid? [True, True] Translation: X:79.52, Y:27.74, Z:-1.75 [[ 7.90349626e-01 -6.12490662e-01 1.42357660e-02 7.95180622e+01] [ 6.12394613e-01 7.90477810e-01 1.08475808e-02 2.77405285e+01] [-1.78970991e-02 1.44524949e-04 9.99839824e-01 -1.75251495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75999999999999 meters 0.015982768260602506 Centerline is valid? [True, True] Translation: X:79.54, Y:27.76, Z:-1.75 [[ 7.91701784e-01 -6.10749771e-01 1.38925734e-02 7.95392833e+01] [ 6.10657925e-01 7.91823660e-01 1.05920232e-02 2.77593658e+01] [-1.74695440e-02 9.78864298e-05 9.99847391e-01 -1.75324466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78999999999999 meters 0.01295883445850347 Centerline is valid? [True, True] Translation: X:79.56, Y:27.78, Z:-1.75 [[ 7.94604389e-01 -6.06989205e-01 1.29603205e-02 7.95593412e+01] [ 6.06908761e-01 7.94710076e-01 9.88185704e-03 2.77798876e+01] [-1.62978778e-02 1.35650775e-05 9.99867181e-01 -1.75090219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82 meters 0.01680124805666211 Centerline is valid? [True, True] Translation: X:79.58, Y:27.80, Z:-1.76 [[ 7.95255030e-01 -6.06137961e-01 1.28922435e-02 7.95803353e+01] [ 6.06058155e-01 7.95359524e-01 9.83566560e-03 2.77977440e+01] [-1.62157389e-02 -8.41323092e-06 9.99868516e-01 -1.75584463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85 meters 0.017029116102230037 Centerline is valid? [True, True] Translation: X:79.60, Y:27.82, Z:-1.76 [[ 7.96223448e-01 -6.04876681e-01 1.23459169e-02 7.96012410e+01] [ 6.04803247e-01 7.96319156e-01 9.42513400e-03 2.78156306e+01] [-1.55323339e-02 -3.76620790e-05 9.99879365e-01 -1.75680773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88 meters 0.014635160752567895 Centerline is valid? [True, True] Translation: X:79.62, Y:27.83, Z:-1.76 [[ 7.97332798e-01 -6.03420988e-01 1.19800560e-02 7.96235030e+01] [ 6.03351659e-01 7.97422791e-01 9.14704041e-03 2.78337615e+01] [-1.50726858e-02 -6.50486705e-05 9.99886399e-01 -1.75573072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91 meters 0.015996023229509465 Centerline is valid? [True, True] Translation: X:79.65, Y:27.85, Z:-1.76 [[ 7.98686361e-01 -6.01632508e-01 1.17652770e-02 7.96465253e+01] [ 6.01565384e-01 7.98773006e-01 8.98744625e-03 2.78512820e+01] [-1.48049255e-02 -1.00567370e-04 9.99890396e-01 -1.75706445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94 meters 0.01621245524016889 Centerline is valid? [True, True] Translation: X:79.67, Y:27.87, Z:-1.76 [[ 7.99248176e-01 -6.00886595e-01 1.17325832e-02 7.96695331e+01] [ 6.00819695e-01 7.99334277e-01 8.96705546e-03 2.78680308e+01] [-1.47664393e-02 -1.17735669e-04 9.99890963e-01 -1.75696047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97 meters 0.01795273810811038 Centerline is valid? [True, True] Translation: X:79.69, Y:27.88, Z:-1.76 [[ 8.00116790e-01 -5.99722721e-01 1.20739382e-02 7.96925068e+01] [ 5.99651652e-01 8.00207870e-01 9.23367366e-03 2.78842725e+01] [-1.51993043e-02 -1.47860329e-04 9.99884473e-01 -1.75820435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.0 meters 0.016766547240756005 Centerline is valid? [True, True] Translation: X:79.72, Y:27.90, Z:-1.76 [[ 8.00431223e-01 -5.99296958e-01 1.23698748e-02 7.97155274e+01] [ 5.99222284e-01 8.00526783e-01 9.46168965e-03 2.79006295e+01] [-1.55727779e-02 -1.61127166e-04 9.99878724e-01 -1.75791643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03 meters 0.018938005368801747 Centerline is valid? [True, True] Translation: X:79.74, Y:27.92, Z:-1.76 [[ 8.00537281e-01 -5.99160264e-01 1.21259861e-02 7.97380386e+01] [ 5.99088409e-01 8.00629097e-01 9.28050258e-03 2.79166831e+01] [-1.52689257e-02 -1.64850590e-04 9.99883410e-01 -1.76006706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06 meters 0.01588702518571934 Centerline is valid? [True, True] Translation: X:79.76, Y:27.93, Z:-1.76 [[ 8.01642028e-01 -5.97666829e-01 1.28226786e-02 7.97608314e+01] [ 5.97586169e-01 8.01744546e-01 9.82101147e-03 2.79322992e+01] [-1.61502054e-02 -2.10280170e-04 9.99869555e-01 -1.75793589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09 meters 0.017307407820216718 Centerline is valid? [True, True] Translation: X:79.78, Y:27.95, Z:-1.76 [[ 8.01963925e-01 -5.97237782e-01 1.26844264e-02 7.97845804e+01] [ 5.97158786e-01 8.02064202e-01 9.71595634e-03 2.79481620e+01] [-1.59764606e-02 -2.17229795e-04 9.99872345e-01 -1.75958719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11999999999999 meters 0.01714361401130109 Centerline is valid? [True, True] Translation: X:79.81, Y:27.96, Z:-1.76 [[ 8.02700322e-01 -5.96250001e-01 1.25749513e-02 7.98084878e+01] [ 5.96172165e-01 8.02798779e-01 9.63691302e-03 2.79649081e+01] [-1.58411650e-02 -2.38717217e-04 9.99874492e-01 -1.76002334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14999999999999 meters 0.020105916167171015 Centerline is valid? [True, True] Translation: X:79.83, Y:27.98, Z:-1.76 [[ 8.03344685e-01 -5.95397912e-01 1.17746971e-02 7.98317630e+01] [ 5.95329514e-01 8.03430935e-01 9.02784639e-03 2.79814124e+01] [-1.48353168e-02 -2.42647721e-04 9.99889921e-01 -1.76269128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17999999999999 meters 0.01897259369394651 Centerline is valid? [True, True] Translation: X:79.85, Y:28.00, Z:-1.76 [[ 8.05243813e-01 -5.92850308e-01 1.05315587e-02 7.98536970e+01] [ 5.92795314e-01 8.05312637e-01 8.07920288e-03 2.79991998e+01] [-1.32709552e-02 -2.62669471e-04 9.99911902e-01 -1.76276855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21 meters 0.016298422582167425 Centerline is valid? [True, True] Translation: X:79.88, Y:28.01, Z:-1.76 [[ 8.06024348e-01 -5.91791746e-01 1.03576028e-02 7.98787007e+01] [ 5.91738452e-01 8.06090846e-01 7.94678579e-03 2.80136232e+01] [-1.30520110e-02 -2.76310986e-04 9.99914781e-01 -1.76032869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24 meters 0.02082269322716069 Centerline is valid? [True, True] Translation: X:79.90, Y:28.03, Z:-1.77 [[ 8.05896737e-01 -5.91982665e-01 9.32596717e-03 7.99021181e+01] [ 5.91939437e-01 8.05950658e-01 7.15826422e-03 2.80298228e+01] [-1.17538377e-02 -2.48414026e-04 9.99930890e-01 -1.76609261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27 meters 0.020382663567325546 Centerline is valid? [True, True] Translation: X:79.93, Y:28.04, Z:-1.77 [[ 8.06366586e-01 -5.91339450e-01 9.51756495e-03 7.99272348e+01] [ 5.91294337e-01 8.06422708e-01 7.30911969e-03 2.80440623e+01] [-1.19973513e-02 -2.66147628e-04 9.99927994e-01 -1.76619167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.3 meters 0.02033414114206813 Centerline is valid? [True, True] Translation: X:79.95, Y:28.06, Z:-1.77 [[ 8.06174251e-01 -5.91596206e-01 9.84918236e-03 7.99499770e+01] [ 5.91547856e-01 8.06234367e-01 7.56838934e-03 2.80587709e+01] [-1.24181797e-02 -2.75177901e-04 9.99922854e-01 -1.76635164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33 meters 0.018262077475308804 Centerline is valid? [True, True] Translation: X:79.98, Y:28.07, Z:-1.76 [[ 8.05804672e-01 -5.92086996e-01 1.05745212e-02 7.99751379e+01] [ 5.92031264e-01 8.05874001e-01 8.12876787e-03 2.80731616e+01] [-1.33346694e-02 -2.89751984e-04 9.99911047e-01 -1.76483511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36 meters 0.018923420100817608 Centerline is valid? [True, True] Translation: X:80.00, Y:28.09, Z:-1.77 [[ 8.04529820e-01 -5.93806241e-01 1.12213067e-02 8.00002521e+01] [ 5.93743562e-01 8.04608022e-01 8.63212029e-03 2.80862200e+01] [-1.41545603e-02 -2.82219589e-04 9.99899779e-01 -1.76540784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39 meters 0.020391944206687593 Centerline is valid? [True, True] Translation: X:80.03, Y:28.10, Z:-1.77 [[ 8.03416999e-01 -5.95301811e-01 1.16995633e-02 8.00252126e+01] [ 5.95233823e-01 8.03502136e-01 9.00076165e-03 2.81009987e+01] [-1.47587938e-02 -2.67389158e-04 9.99891047e-01 -1.76627668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42 meters 0.019916914329935614 Centerline is valid? [True, True] Translation: X:80.05, Y:28.11, Z:-1.77 [[ 8.02424311e-01 -5.96636124e-01 1.18558569e-02 8.00513510e+01] [ 5.96566391e-01 8.02511853e-01 9.12510180e-03 2.81143602e+01] [-1.49588310e-02 -2.49397781e-04 9.99888079e-01 -1.76579624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45 meters 0.018096161707421687 Centerline is valid? [True, True] Translation: X:80.07, Y:28.13, Z:-1.77 [[ 8.01438893e-01 -5.97937767e-01 1.28890553e-02 8.00747321e+01] [ 5.97855409e-01 8.01542491e-01 9.92701903e-03 2.81303262e+01] [-1.62668651e-02 -2.50107725e-04 9.99867655e-01 -1.76541262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47999999999999 meters 0.015539662453892813 Centerline is valid? [True, True] Translation: X:80.10, Y:28.14, Z:-1.76 [[ 7.99403285e-01 -6.00641677e-01 1.35633200e-02 8.01027090e+01] [ 6.00550839e-01 7.99518313e-01 1.04477964e-02 2.81423203e+01] [-1.71195047e-02 -2.06539569e-04 9.99853429e-01 -1.76349874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50999999999999 meters 0.016684784675137183 Centerline is valid? [True, True] Translation: X:80.13, Y:28.16, Z:-1.77 [[ 7.98169613e-01 -6.02285127e-01 1.33377608e-02 8.01280512e+01] [ 6.02197439e-01 7.98281026e-01 1.02785307e-02 2.81563753e+01] [-1.68378876e-02 -1.72045485e-04 9.99858218e-01 -1.76505458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53999999999999 meters 0.013652050189826641 Centerline is valid? [True, True] Translation: X:80.15, Y:28.17, Z:-1.76 [[ 7.97342186e-01 -6.03377794e-01 1.34416238e-02 8.01528788e+01] [ 6.03288799e-01 7.97455462e-01 1.03638873e-02 2.81712962e+01] [-1.69724358e-02 -1.54383485e-04 9.99855946e-01 -1.76268999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57 meters 0.013493884530854986 Centerline is valid? [True, True] Translation: X:80.18, Y:28.19, Z:-1.76 [[ 7.96272985e-01 -6.04797550e-01 1.30098621e-02 8.01765771e+01] [ 6.04714275e-01 7.96379249e-01 1.00368155e-02 2.81859963e+01] [-1.64310256e-02 -1.24795692e-04 9.99864994e-01 -1.76409498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.6 meters 0.014075366305465659 Centerline is valid? [True, True] Translation: X:80.20, Y:28.20, Z:-1.77 [[ 7.93410959e-01 -6.08575332e-01 1.16239073e-02 8.02034772e+01] [ 6.08509256e-01 7.93496102e-01 8.96778809e-03 2.81980333e+01] [-1.46810997e-02 -4.18861613e-05 9.99892226e-01 -1.76806201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63 meters 0.016816671452177617 Centerline is valid? [True, True] Translation: X:80.23, Y:28.21, Z:-1.77 [[ 7.91659817e-01 -6.10871888e-01 1.05009883e-02 8.02282737e+01] [ 6.10818121e-01 7.91729459e-01 8.10466249e-03 2.82125148e+01] [-1.32648523e-02 -1.94167685e-06 9.99912018e-01 -1.77237509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66 meters 0.016816671452177617 Centerline is valid? [True, True] Translation: X:80.25, Y:28.23, Z:-1.77 [[ 7.91488678e-01 -6.11093651e-01 1.04987130e-02 8.02500743e+01] [ 6.11039865e-01 7.91558305e-01 8.10760831e-03 2.82294484e+01] [-1.32648515e-02 -1.94798429e-06 9.99912018e-01 -1.77294120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69 meters 0.014344507468291821 Centerline is valid? [True, True] Translation: X:80.27, Y:28.24, Z:-1.77 [[ 7.89904969e-01 -6.13147030e-01 1.00428700e-02 8.02743895e+01] [ 6.13097926e-01 7.89968809e-01 7.75977159e-03 2.82436467e+01] [-1.26914349e-02 2.77806229e-05 9.99919460e-01 -1.77181626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72 meters 0.016716276048263142 Centerline is valid? [True, True] Translation: X:80.30, Y:28.26, Z:-1.78 [[ 7.86138655e-01 -6.17981043e-01 9.24369024e-03 8.03021757e+01] [ 6.17939731e-01 7.86192992e-01 7.14620691e-03 2.82555020e+01] [-1.16835449e-02 9.41339713e-05 9.99931741e-01 -1.77523119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75 meters 0.014003371297203202 Centerline is valid? [True, True] Translation: X:80.33, Y:28.27, Z:-1.77 [[ 7.84376298e-01 -6.20208231e-01 9.77619862e-03 8.03275181e+01] [ 6.20162142e-01 7.84437208e-01 7.56205314e-03 2.82703113e+01] [-1.23588616e-02 1.31333031e-04 9.99923618e-01 -1.77186065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78 meters 0.01814020627430888 Centerline is valid? [True, True] Translation: X:80.35, Y:28.28, Z:-1.78 [[ 7.81665880e-01 -6.23626322e-01 9.41607169e-03 8.03525463e+01] [ 6.23583772e-01 7.81722572e-01 7.28693840e-03 2.82849981e+01] [-1.19050824e-02 1.75758383e-04 9.99929117e-01 -1.77586196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81 meters 0.017245093946941476 Centerline is valid? [True, True] Translation: X:80.38, Y:28.30, Z:-1.77 [[ 7.79494580e-01 -6.26301006e-01 1.16297241e-02 8.03762660e+01] [ 6.26236304e-01 7.79581286e-01 9.00616676e-03 2.83015473e+01] [-1.47068866e-02 2.62697271e-04 9.99891813e-01 -1.77328926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84 meters 0.016460170590484626 Centerline is valid? [True, True] Translation: X:80.40, Y:28.32, Z:-1.77 [[ 7.79027694e-01 -6.26860235e-01 1.27317342e-02 8.03984123e+01] [ 6.26782658e-01 7.79131670e-01 9.86608998e-03 2.83169925e+01] [-1.61043568e-02 2.94072850e-04 9.99870273e-01 -1.77172643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86999999999999 meters 0.017113174923528495 Centerline is valid? [True, True] Translation: X:80.42, Y:28.33, Z:-1.77 [[ 7.78481126e-01 -6.27537693e-01 1.27898513e-02 8.04217477e+01] [ 6.27459467e-01 7.78586122e-01 9.91303044e-03 2.83347618e+01] [-1.61788010e-02 3.08006192e-04 9.99869067e-01 -1.77211665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89999999999999 meters 0.015376857708383413 Centerline is valid? [True, True] Translation: X:80.44, Y:28.35, Z:-1.77 [[ 7.78452206e-01 -6.27565334e-01 1.31877019e-02 8.04437916e+01] [ 6.27482082e-01 7.78563840e-01 1.02266129e-02 2.83528011e+01] [-1.66853356e-02 3.14117267e-04 9.99860741e-01 -1.76997686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92999999999999 meters 0.017546375427276342 Centerline is valid? [True, True] Translation: X:80.47, Y:28.37, Z:-1.77 [[ 7.78344633e-01 -6.27718743e-01 1.21988608e-02 8.04658097e+01] [ 6.27647431e-01 7.78440169e-01 9.46605209e-03 2.83705773e+01] [-1.54381016e-02 2.88732778e-04 9.99880784e-01 -1.77429591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96 meters 0.015259929493274352 Centerline is valid? [True, True] Translation: X:80.49, Y:28.39, Z:-1.77 [[ 7.78828799e-01 -6.27125476e-01 1.18042069e-02 8.04885860e+01] [ 6.27058627e-01 7.78918202e-01 9.16038308e-03 2.83892801e+01] [-1.49392212e-02 2.67559619e-04 9.99888368e-01 -1.77268834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99 meters 0.015033359545354705 Centerline is valid? [True, True] Translation: X:80.51, Y:28.41, Z:-1.78 [[ 7.79705911e-01 -6.26072428e-01 9.59207239e-03 8.05085352e+01] [ 6.26028185e-01 7.79764885e-01 7.44554743e-03 2.84087890e+01] [-1.21410132e-02 1.99570331e-04 9.99926275e-01 -1.77615889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02 meters 0.017370815035027028 Centerline is valid? [True, True] Translation: X:80.53, Y:28.43, Z:-1.78 [[ 7.79951668e-01 -6.25789987e-01 7.89221893e-03 8.05295974e+01] [ 6.25759973e-01 7.79991582e-01 6.13101161e-03 2.84274940e+01] [-9.99259000e-03 1.56741966e-04 9.99950061e-01 -1.78121770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05 meters 0.018884567554949352 Centerline is valid? [True, True] Translation: X:80.55, Y:28.45, Z:-1.78 [[ 7.80316211e-01 -6.25344662e-01 7.11795944e-03 8.05509619e+01] [ 6.25320247e-01 7.80348663e-01 5.52750688e-03 2.84463766e+01] [-9.01108705e-03 1.37800934e-04 9.99959390e-01 -1.78462092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08 meters 0.01606825784957313 Centerline is valid? [True, True] Translation: X:80.57, Y:28.47, Z:-1.78 [[ 7.81695241e-01 -6.23628741e-01 6.30429369e-03 8.05713811e+01] [ 6.23609513e-01 7.81720655e-01 4.89817846e-03 2.84669073e+01] [-7.98284146e-03 1.02534730e-04 9.99968131e-01 -1.78338021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11 meters 0.014450699967489536 Centerline is valid? [True, True] Translation: X:80.59, Y:28.49, Z:-1.78 [[ 7.82410146e-01 -6.22729268e-01 6.52847348e-03 8.05928400e+01] [ 6.22708595e-01 7.82437377e-01 5.07513118e-03 2.84857552e+01] [-8.26855440e-03 9.45024144e-05 9.99965810e-01 -1.78216624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14 meters 0.01926116705069742 Centerline is valid? [True, True] Translation: X:80.61, Y:28.50, Z:-1.79 [[ 7.82389883e-01 -6.22764199e-01 5.55191066e-03 8.06143766e+01] [ 6.22749220e-01 7.82409578e-01 4.31996540e-03 2.85037566e+01] [-7.03418787e-03 7.75508081e-05 9.99975257e-01 -1.78756695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17 meters 0.01581501365908574 Centerline is valid? [True, True] Translation: X:80.64, Y:28.52, Z:-1.78 [[ 7.83072280e-01 -6.21894280e-01 6.73117232e-03 8.06359742e+01] [ 6.21872217e-01 7.83101205e-01 5.23901129e-03 2.85220747e+01] [-8.52930031e-03 8.34045419e-05 9.99963621e-01 -1.78496573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.2 meters 0.014385278155069656 Centerline is valid? [True, True] Translation: X:80.66, Y:28.54, Z:-1.78 [[ 7.83246482e-01 -6.21664919e-01 7.59459650e-03 8.06583593e+01] [ 6.21636830e-01 7.83283295e-01 5.91022190e-03 2.85407448e+01] [-9.62289819e-03 9.19203854e-05 9.99953695e-01 -1.78277386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22999999999999 meters 0.0178702089923223 Centerline is valid? [True, True] Translation: X:80.68, Y:28.56, Z:-1.79 [[ 7.82719445e-01 -6.22331622e-01 7.32272417e-03 8.06804801e+01] [ 6.22305514e-01 7.82753692e-01 5.70120237e-03 2.85592549e+01] [-9.27992790e-03 9.45296762e-05 9.99956936e-01 -1.78621518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25999999999999 meters 0.014263271878218518 Centerline is valid? [True, True] Translation: X:80.70, Y:28.58, Z:-1.78 [[ 7.83195192e-01 -6.21709011e-01 9.12121759e-03 8.07031048e+01] [ 6.21668401e-01 7.83248297e-01 7.10660432e-03 2.85780608e+01] [-1.15624181e-02 1.04514417e-04 9.99933148e-01 -1.78253358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28999999999999 meters 0.015510771041424959 Centerline is valid? [True, True] Translation: X:80.72, Y:28.60, Z:-1.78 [[ 7.83960441e-01 -6.20730385e-01 9.99080570e-03 8.07245799e+01] [ 6.20681506e-01 7.84024094e-01 7.79027169e-03 2.85958331e+01] [-1.26686907e-02 9.38435027e-05 9.99919745e-01 -1.78428662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32 meters 0.013857453430199155 Centerline is valid? [True, True] Translation: X:80.75, Y:28.62, Z:-1.78 [[ 7.84846273e-01 -6.19600332e-01 1.05714791e-02 8.07466293e+01] [ 6.19545501e-01 7.84917462e-01 8.24318491e-03 2.86153395e+01] [-1.34052186e-02 7.98793573e-05 9.99910143e-01 -1.78170924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35 meters 0.013776407391681735 Centerline is valid? [True, True] Translation: X:80.77, Y:28.63, Z:-1.78 [[ 7.85692200e-01 -6.18520818e-01 1.09437210e-02 8.07682626e+01] [ 6.18461870e-01 7.85768410e-01 8.53940737e-03 2.86332509e+01] [-1.38810315e-02 5.89283803e-05 9.99903652e-01 -1.78255988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38 meters 0.015231169134194337 Centerline is valid? [True, True] Translation: X:80.79, Y:28.65, Z:-1.79 [[ 7.87696959e-01 -6.15980126e-01 1.00987786e-02 8.07880689e+01] [ 6.15929708e-01 7.87761693e-01 7.88103753e-03 2.86520526e+01] [-1.28099934e-02 1.22684686e-05 9.99917949e-01 -1.78529415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41 meters 0.016642906119766432 Centerline is valid? [True, True] Translation: X:80.81, Y:28.67, Z:-1.79 [[ 7.88608841e-01 -6.14815629e-01 9.89131371e-03 8.08095281e+01] [ 6.14767166e-01 7.88670870e-01 7.71941024e-03 2.86708045e+01] [-1.25470051e-02 -6.74025536e-06 9.99921283e-01 -1.78808207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44 meters 0.015690306505880706 Centerline is valid? [True, True] Translation: X:80.83, Y:28.69, Z:-1.79 [[ 7.89945577e-01 -6.13103556e-01 9.48757148e-03 8.08316528e+01] [ 6.13058795e-01 7.90002549e-01 7.40848422e-03 2.86899368e+01] [-1.20373737e-02 -3.58602065e-05 9.99927548e-01 -1.78825644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47 meters 0.018304094119426958 Centerline is valid? [True, True] Translation: X:80.85, Y:28.71, Z:-1.79 [[ 7.92335922e-01 -6.10040754e-01 7.35295368e-03 8.08513819e+01] [ 6.10013702e-01 7.92370036e-01 5.74537014e-03 2.87090925e+01] [-9.33117011e-03 -6.68606502e-05 9.99956461e-01 -1.79318893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.5 meters 0.014671624131907889 Centerline is valid? [True, True] Translation: X:80.87, Y:28.73, Z:-1.79 [[ 7.93974814e-01 -6.07906454e-01 7.33067494e-03 8.08734645e+01] [ 6.07879486e-01 7.94008649e-01 5.72675612e-03 2.87275382e+01] [-9.30195131e-03 -9.07332077e-05 9.99956732e-01 -1.79063963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53 meters 0.018018361998900567 Centerline is valid? [True, True] Translation: X:80.90, Y:28.75, Z:-1.80 [[ 7.94194457e-01 -6.07638541e-01 5.52882477e-03 8.08956501e+01] [ 6.07623190e-01 7.94213698e-01 4.31979933e-03 2.87458072e+01] [-7.01594493e-03 -7.13185311e-05 9.99975385e-01 -1.79582978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56 meters 0.018381565376423607 Centerline is valid? [True, True] Translation: X:80.92, Y:28.76, Z:-1.80 [[ 7.95019932e-01 -6.06567055e-01 4.44024763e-03 8.09183308e+01] [ 6.06557135e-01 7.95032328e-01 3.46973068e-03 2.87639912e+01] [-5.63476474e-03 -6.52411700e-05 9.99984122e-01 -1.79785514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59 meters 0.016407163364058272 Centerline is valid? [True, True] Translation: X:80.94, Y:28.78, Z:-1.80 [[ 7.96387079e-01 -6.04772955e-01 4.15844262e-03 8.09409487e+01] [ 6.04764223e-01 7.96397933e-01 3.25075755e-03 2.87823856e+01] [-5.27774536e-03 -7.39839954e-05 9.99986070e-01 -1.79799938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61999999999999 meters 0.01942328374005976 Centerline is valid? [True, True] Translation: X:80.96, Y:28.80, Z:-1.80 [[ 7.96148376e-01 -6.05093544e-01 3.09282705e-03 8.09622358e+01] [ 6.05088705e-01 7.96154382e-01 2.42059332e-03 2.87995748e+01] [-3.92705320e-03 -5.57167266e-05 9.99992288e-01 -1.80239916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64999999999999 meters 0.015527016231130342 Centerline is valid? [True, True] Translation: X:80.99, Y:28.81, Z:-1.80 [[ 7.96685538e-01 -6.04380235e-01 4.08475956e-03 8.09870217e+01] [ 6.04371796e-01 7.96696006e-01 3.19466927e-03 2.88144988e+01] [-5.18510659e-03 -7.64333396e-05 9.99986554e-01 -1.79705670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67999999999999 meters 0.01791739067644387 Centerline is valid? [True, True] Translation: X:81.01, Y:28.83, Z:-1.80 [[ 7.95057393e-01 -6.06518694e-01 4.33769616e-03 8.10132314e+01] [ 6.06509194e-01 7.95069223e-01 3.39539032e-03 2.88288018e+01] [-5.50813642e-03 -6.86775695e-05 9.99984828e-01 -1.79815777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71 meters 0.01739963190794783 Centerline is valid? [True, True] Translation: X:81.04, Y:28.84, Z:-1.80 [[ 7.94241722e-01 -6.07580293e-01 5.12587495e-03 8.10365843e+01] [ 6.07567013e-01 7.94258258e-01 4.01794727e-03 2.88445038e+01] [-6.51249409e-03 -7.69088304e-05 9.99978791e-01 -1.79756652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74 meters 0.014806544304451622 Centerline is valid? [True, True] Translation: X:81.06, Y:28.86, Z:-1.79 [[ 7.93801678e-01 -6.08139503e-01 6.72613521e-03 8.10612651e+01] [ 6.08116663e-01 7.93830168e-01 5.27154574e-03 2.88597964e+01] [-8.54524425e-03 -9.42869542e-05 9.99963484e-01 -1.79420756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77 meters 0.014517439072273956 Centerline is valid? [True, True] Translation: X:81.09, Y:28.87, Z:-1.79 [[ 7.92065559e-01 -6.10386026e-01 7.81342699e-03 8.10862779e+01] [ 6.10355254e-01 7.92104092e-01 6.12951493e-03 2.88726620e+01] [-9.93041775e-03 -8.60114560e-05 9.99950688e-01 -1.79342258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.8 meters 0.017525630489525032 Centerline is valid? [True, True] Translation: X:81.11, Y:28.89, Z:-1.80 [[ 7.90558307e-01 -6.12343921e-01 7.24472793e-03 8.11092403e+01] [ 6.12317531e-01 7.90591499e-01 5.68526331e-03 2.88880239e+01] [-9.20895675e-03 -5.84582201e-05 9.99957595e-01 -1.79692080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83 meters 0.01448560356247703 Centerline is valid? [True, True] Translation: X:81.13, Y:28.90, Z:-1.79 [[ 7.90567951e-01 -6.12314026e-01 8.59347187e-03 8.11320402e+01] [ 6.12276876e-01 7.90614652e-01 6.74534197e-03 2.89044100e+01] [-1.09243923e-02 -7.10670721e-05 9.99940325e-01 -1.79461608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86 meters 0.01736474862931772 Centerline is valid? [True, True] Translation: X:81.15, Y:28.92, Z:-1.80 [[ 7.89737904e-01 -6.13390436e-01 8.13728444e-03 8.11540722e+01] [ 6.13357198e-01 7.89779824e-01 6.38572013e-03 2.89210180e+01] [-1.03436027e-02 -5.19832491e-05 9.99946502e-01 -1.79656925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89 meters 0.01655047066374644 Centerline is valid? [True, True] Translation: X:81.18, Y:28.94, Z:-1.80 [[ 7.89823814e-01 -6.13279274e-01 8.17768931e-03 8.11754162e+01] [ 6.13245659e-01 7.89866146e-01 6.42121618e-03 2.89389263e+01] [-1.03972787e-02 -5.66969849e-05 9.99945945e-01 -1.79633581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92 meters 0.01540183865834769 Centerline is valid? [True, True] Translation: X:81.20, Y:28.96, Z:-1.80 [[ 7.90196811e-01 -6.12798940e-01 8.15223372e-03 8.11962572e+01] [ 6.12765471e-01 7.90238859e-01 6.40492948e-03 2.89573747e+01] [-1.03671459e-02 -6.57475121e-05 9.99946258e-01 -1.79642443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95 meters 0.01740868688908095 Centerline is valid? [True, True] Translation: X:81.22, Y:28.98, Z:-1.80 [[ 7.89922421e-01 -6.13165887e-01 7.08260728e-03 8.12178758e+01] [ 6.13140614e-01 7.89954171e-01 5.56734458e-03 2.89762415e+01] [-9.00864094e-03 -5.51361329e-05 9.99959420e-01 -1.79944238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97999999999999 meters 0.014357120923971968 Centerline is valid? [True, True] Translation: X:81.24, Y:29.00, Z:-1.80 [[ 7.90628796e-01 -6.12244473e-01 7.92546328e-03 8.12386502e+01] [ 6.12212746e-01 7.90668514e-01 6.23325021e-03 2.89955084e+01] [-1.00826873e-02 -7.61174631e-05 9.99949166e-01 -1.79767427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00999999999999 meters 0.016122463275844528 Centerline is valid? [True, True] Translation: X:81.26, Y:29.01, Z:-1.80 [[ 7.90240661e-01 -6.12755755e-01 7.07686258e-03 8.12603192e+01] [ 6.12730431e-01 7.90272345e-01 5.57123565e-03 2.90134286e+01] [-9.00645550e-03 -6.64078844e-05 9.99959439e-01 -1.80012265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03999999999999 meters 0.014498954885321607 Centerline is valid? [True, True] Translation: X:81.28, Y:29.03, Z:-1.80 [[ 7.90906650e-01 -6.11886009e-01 7.88556692e-03 8.12804795e+01] [ 6.11854514e-01 7.90945955e-01 6.20882385e-03 2.90313840e+01] [-1.00361497e-02 -8.57803588e-05 9.99949633e-01 -1.79938077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07 meters 0.014416235743601945 Centerline is valid? [True, True] Translation: X:81.30, Y:29.05, Z:-1.80 [[ 7.90796438e-01 -6.12025780e-01 8.08941282e-03 8.13027043e+01] [ 6.11992646e-01 7.90837808e-01 6.36896487e-03 2.90487673e+01] [-1.02953842e-02 -8.58935811e-05 9.99946997e-01 -1.79999505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.1 meters 0.015801607984106267 Centerline is valid? [True, True] Translation: X:81.32, Y:29.07, Z:-1.80 [[ 7.90267976e-01 -6.12715402e-01 7.50748516e-03 8.13239606e+01] [ 6.12686847e-01 7.90303632e-01 5.91584530e-03 2.90654928e+01] [-9.55792232e-03 -7.53656757e-05 9.99954319e-01 -1.80240632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13 meters 0.01613047854255437 Centerline is valid? [True, True] Translation: X:81.35, Y:29.08, Z:-1.80 [[ 7.89939696e-01 -6.13141318e-01 7.28018264e-03 8.13467342e+01] [ 6.13114494e-01 7.89973240e-01 5.73560657e-03 2.90825423e+01] [-9.26788683e-03 -6.71978167e-05 9.99957050e-01 -1.80249829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16 meters 0.014306003830385274 Centerline is valid? [True, True] Translation: X:81.37, Y:29.10, Z:-1.80 [[ 7.89130158e-01 -6.14166423e-01 8.55559208e-03 8.13691140e+01] [ 6.14129374e-01 7.89176533e-01 6.74623314e-03 2.91012237e+01] [-1.08951824e-02 -6.94156105e-05 9.99940643e-01 -1.80294824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19 meters 0.014991983819225944 Centerline is valid? [True, True] Translation: X:81.39, Y:29.12, Z:-1.81 [[ 7.88383392e-01 -6.15126586e-01 8.42086202e-03 8.13900270e+01] [ 6.15090697e-01 7.88428361e-01 6.64492498e-03 2.91179359e+01] [-1.07267165e-02 -5.91546117e-05 9.99942465e-01 -1.80504964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22 meters 0.013762671193193491 Centerline is valid? [True, True] Translation: X:81.41, Y:29.13, Z:-1.80 [[ 7.87807522e-01 -6.15854691e-01 9.07240085e-03 8.14136053e+01] [ 6.15813074e-01 7.87859757e-01 7.15966195e-03 2.91348063e+01] [-1.15570909e-02 -5.35324798e-05 9.99933213e-01 -1.80351117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25 meters 0.013591037636516727 Centerline is valid? [True, True] Translation: X:81.44, Y:29.15, Z:-1.80 [[ 7.86290292e-01 -6.17773564e-01 1.01685662e-02 8.14369242e+01] [ 6.17721358e-01 7.86356041e-01 8.03130147e-03 2.91503307e+01] [-1.29576392e-02 -3.35938832e-05 9.99916046e-01 -1.80306407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28 meters 0.016867176555919617 Centerline is valid? [True, True] Translation: X:81.46, Y:29.17, Z:-1.81 [[ 7.84982852e-01 -6.19442787e-01 9.62059299e-03 8.14600698e+01] [ 6.19396192e-01 7.85041803e-01 7.59768914e-03 2.91665213e+01] [-1.22589014e-02 -5.09702773e-06 9.99924857e-01 -1.80539289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31 meters 0.01669861183589158 Centerline is valid? [True, True] Translation: X:81.48, Y:29.18, Z:-1.81 [[ 7.83454351e-01 -6.21356099e-01 1.07646471e-02 8.14830799e+01] [ 6.21297861e-01 7.83528300e-01 8.50709581e-03 2.91825036e+01] [-1.37203415e-02 2.31309679e-05 9.99905871e-01 -1.80543730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34 meters 0.015143153274022561 Centerline is valid? [True, True] Translation: X:81.51, Y:29.20, Z:-1.80 [[ 7.83056527e-01 -6.21836222e-01 1.19243003e-02 8.15053003e+01] [ 6.21764719e-01 7.83147312e-01 9.42989466e-03 2.91995847e+01] [-1.52023338e-02 2.99686586e-05 9.99884437e-01 -1.80465019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36999999999999 meters 0.01728670763267037 Centerline is valid? [True, True] Translation: X:81.53, Y:29.22, Z:-1.81 [[ 7.82503022e-01 -6.22534419e-01 1.18286861e-02 8.15267964e+01] [ 6.22464047e-01 7.82592420e-01 9.36028146e-03 2.92161084e+01] [-1.50841374e-02 3.84832719e-05 9.99886227e-01 -1.80650575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39999999999999 meters 0.014095806073084772 Centerline is valid? [True, True] Translation: X:81.55, Y:29.23, Z:-1.80 [[ 7.82541960e-01 -6.22467573e-01 1.27358719e-02 8.15481306e+01] [ 6.22385920e-01 7.82645590e-01 1.00819835e-02 2.92339756e+01] [-1.62433818e-02 3.70522149e-05 9.99868067e-01 -1.80494598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42999999999999 meters 0.0165469617754198 Centerline is valid? [True, True] Translation: X:81.57, Y:29.25, Z:-1.81 [[ 7.81993444e-01 -6.23175794e-01 1.17551097e-02 8.15700218e+01] [ 6.23106221e-01 7.82081791e-01 9.31184765e-03 2.92517882e+01] [-1.49963753e-02 4.28781862e-05 9.99887547e-01 -1.80795940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46 meters 0.015847796159992003 Centerline is valid? [True, True] Translation: X:81.59, Y:29.27, Z:-1.81 [[ 7.81766592e-01 -6.23465981e-01 1.14527943e-02 8.15912727e+01] [ 6.23399959e-01 7.81850477e-01 9.07319282e-03 2.92685924e+01] [-1.46111997e-02 4.65524430e-05 9.99893250e-01 -1.80868690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49 meters 0.016451364111074868 Centerline is valid? [True, True] Translation: X:81.61, Y:29.29, Z:-1.81 [[ 7.81207965e-01 -6.24176078e-01 1.08784022e-02 8.16132919e+01] [ 6.24116550e-01 7.81283701e-01 8.62038854e-03 2.92862227e+01] [-1.38797586e-02 5.50746587e-05 9.99903670e-01 -1.80919850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52 meters 0.014249659019999472 Centerline is valid? [True, True] Translation: X:81.63, Y:29.30, Z:-1.81 [[ 7.80602642e-01 -6.24925276e-01 1.13099715e-02 8.16349742e+01] [ 6.24860929e-01 7.80684568e-01 8.96792836e-03 2.93033668e+01] [-1.44338053e-02 6.67707499e-05 9.99895825e-01 -1.80902474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55 meters 0.014347510432552125 Centerline is valid? [True, True] Translation: X:81.66, Y:29.32, Z:-1.81 [[ 7.80182255e-01 -6.25453367e-01 1.11235887e-02 8.16565152e+01] [ 6.25391088e-01 7.80261546e-01 8.82648127e-03 2.93200447e+01] [-1.41998609e-02 7.03291646e-05 9.99899174e-01 -1.81003811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58 meters 0.014347510432552125 Centerline is valid? [True, True] Translation: X:81.68, Y:29.34, Z:-1.81 [[ 7.80008442e-01 -6.25670126e-01 1.11231218e-02 8.16780887e+01] [ 6.25607861e-01 7.80087744e-01 8.82706988e-03 2.93372708e+01] [-1.41998449e-02 7.35233852e-05 9.99899174e-01 -1.81060569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61 meters 0.017026474130322586 Centerline is valid? [True, True] Translation: X:81.70, Y:29.35, Z:-1.81 [[ 7.79089233e-01 -6.26827664e-01 1.03463179e-02 8.17001684e+01] [ 6.26773820e-01 7.79157925e-01 8.21619890e-03 2.93540593e+01] [-1.32115563e-02 8.36490678e-05 9.99912720e-01 -1.81284555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64 meters 0.016365375561666777 Centerline is valid? [True, True] Translation: X:81.72, Y:29.37, Z:-1.81 [[ 7.78338378e-01 -6.27760548e-01 1.02987506e-02 8.17220310e+01] [ 6.27707269e-01 7.78406504e-01 8.17920470e-03 2.93709964e+01] [-1.31511964e-02 9.84116734e-05 9.99913514e-01 -1.81325803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67 meters 0.017520684658908527 Centerline is valid? [True, True] Translation: X:81.74, Y:29.39, Z:-1.81 [[ 7.77277086e-01 -6.29094094e-01 8.99739665e-03 8.17449519e+01] [ 6.29053480e-01 7.77329152e-01 7.14904406e-03 2.93889072e+01] [-1.14913601e-02 1.03055541e-04 9.99933967e-01 -1.81435450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.7 meters 0.013757306266726554 Centerline is valid? [True, True] Translation: X:81.77, Y:29.41, Z:-1.81 [[ 7.77278000e-01 -6.29079649e-01 9.88457218e-03 8.17673648e+01] [ 6.29030571e-01 7.77340841e-01 7.85865397e-03 2.94065593e+01] [-1.26274009e-02 1.09339236e-04 9.99920265e-01 -1.81308836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72999999999999 meters 0.014025544487022827 Centerline is valid? [True, True] Translation: X:81.79, Y:29.42, Z:-1.81 [[ 7.77078577e-01 -6.29330587e-01 9.58633343e-03 8.17892820e+01] [ 6.29284392e-01 7.77137697e-01 7.62583182e-03 2.94231333e+01] [-1.22490703e-02 1.06659466e-04 9.99924972e-01 -1.81444976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75999999999999 meters 0.016055640694616027 Centerline is valid? [True, True] Translation: X:81.81, Y:29.44, Z:-1.82 [[ 7.76364665e-01 -6.30223937e-01 8.70039810e-03 8.18115620e+01] [ 6.30185924e-01 7.76413407e-01 6.92268529e-03 2.94414468e+01] [-1.11179477e-02 1.08340172e-04 9.99938188e-01 -1.81567834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78999999999999 meters 0.013797726224135456 Centerline is valid? [True, True] Translation: X:81.83, Y:29.46, Z:-1.81 [[ 7.76887065e-01 -6.29567231e-01 9.57031037e-03 8.18334285e+01] [ 6.29521131e-01 7.76946003e-01 7.61936896e-03 2.94605567e+01] [-1.22325194e-02 1.05323421e-04 9.99925174e-01 -1.81454842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82 meters 0.013886510060580743 Centerline is valid? [True, True] Translation: X:81.85, Y:29.48, Z:-1.81 [[ 7.76897463e-01 -6.29553279e-01 9.64370548e-03 8.18541398e+01] [ 6.29506402e-01 7.76957308e-01 7.68310846e-03 2.94776932e+01] [-1.23296736e-02 1.01786872e-04 9.99923982e-01 -1.81476446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85 meters 0.013879474329590403 Centerline is valid? [True, True] Translation: X:81.88, Y:29.50, Z:-1.81 [[ 7.76822860e-01 -6.29632995e-01 1.04180614e-02 8.18752458e+01] [ 6.29578284e-01 7.76892707e-01 8.30091536e-03 2.94960934e+01] [-1.33202461e-02 1.10644410e-04 9.99911275e-01 -1.81480818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88 meters 0.013863794648647664 Centerline is valid? [True, True] Translation: X:81.90, Y:29.51, Z:-1.82 [[ 7.76811734e-01 -6.29648484e-01 1.03109808e-02 8.18956880e+01] [ 6.29594820e-01 7.76880155e-01 8.22114597e-03 2.95131352e+01] [-1.31868284e-02 1.05457436e-04 9.99913044e-01 -1.81566223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91 meters 0.013757050853993993 Centerline is valid? [True, True] Translation: X:81.92, Y:29.53, Z:-1.82 [[ 7.76899413e-01 -6.29544346e-01 1.00607009e-02 8.19167869e+01] [ 6.29493220e-01 7.76964546e-01 8.02367295e-03 2.95315796e+01] [-1.28680659e-02 9.95562122e-05 9.99917198e-01 -1.81582597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94 meters 0.014203846755935643 Centerline is valid? [True, True] Translation: X:81.94, Y:29.55, Z:-1.82 [[ 7.77521760e-01 -6.28786249e-01 9.36835827e-03 8.19372000e+01] [ 6.28741794e-01 7.77578194e-01 7.47721129e-03 2.95492888e+01] [-1.19861987e-02 7.65839090e-05 9.99928160e-01 -1.81765262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97 meters 0.01372319045357548 Centerline is valid? [True, True] Translation: X:81.96, Y:29.57, Z:-1.82 [[ 7.78258437e-01 -6.27870816e-01 9.59398229e-03 8.19587342e+01] [ 6.27824121e-01 7.78317567e-01 7.65760891e-03 2.95676872e+01] [-1.22751541e-02 6.37347561e-05 9.99924655e-01 -1.81804298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.0 meters 0.016698143132616534 Centerline is valid? [True, True] Translation: X:81.98, Y:29.59, Z:-1.82 [[ 7.78241523e-01 -6.27906970e-01 8.54213735e-03 8.19798475e+01] [ 6.27869896e-01 7.78288400e-01 6.82345952e-03 2.95850292e+01] [-1.09327442e-02 5.30513589e-05 9.99940234e-01 -1.82095796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03 meters 0.015057097067079785 Centerline is valid? [True, True] Translation: X:82.00, Y:29.61, Z:-1.82 [[ 7.79944431e-01 -6.25784654e-01 8.95833360e-03 8.20012543e+01] [ 6.25743738e-01 7.79995876e-01 7.15593672e-03 2.96051325e+01] [-1.14655386e-02 2.43881618e-05 9.99934268e-01 -1.82048937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06 meters 0.016703900040162648 Centerline is valid? [True, True] Translation: X:82.02, Y:29.62, Z:-1.82 [[ 7.80600343e-01 -6.24964302e-01 9.09536130e-03 8.20219419e+01] [ 6.24922008e-01 7.80653329e-01 7.27066279e-03 2.96229189e+01] [-1.16442288e-02 8.40958308e-06 9.99932204e-01 -1.82182574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09 meters 0.016014880200572974 Centerline is valid? [True, True] Translation: X:82.04, Y:29.64, Z:-1.82 [[ 7.81548020e-01 -6.23775732e-01 9.30209091e-03 8.20435478e+01] [ 6.23731408e-01 7.81603375e-01 7.43604743e-03 2.96416881e+01] [-1.19089716e-02 -9.62189108e-06 9.99929086e-01 -1.82105448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11999999999999 meters 0.017468854474621914 Centerline is valid? [True, True] Translation: X:82.06, Y:29.66, Z:-1.82 [[ 7.83327717e-01 -6.21533370e-01 9.69315942e-03 8.20635875e+01] [ 6.21484986e-01 7.83387686e-01 7.75528922e-03 2.96600088e+01] [-1.24136728e-02 -5.07799516e-05 9.99922946e-01 -1.82215815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14999999999999 meters 0.016108995956779344 Centerline is valid? [True, True] Translation: X:82.09, Y:29.68, Z:-1.82 [[ 7.84128408e-01 -6.20514621e-01 1.02099817e-02 8.20853400e+01] [ 6.20460845e-01 7.84194873e-01 8.16949895e-03 2.96781377e+01] [-1.30759088e-02 -7.10423575e-05 9.99914504e-01 -1.82188186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17999999999999 meters 0.01520799618611385 Centerline is valid? [True, True] Translation: X:82.11, Y:29.70, Z:-1.82 [[ 7.84766945e-01 -6.19705828e-01 1.02727590e-02 8.21075109e+01] [ 6.19651255e-01 7.84834173e-01 8.22457668e-03 2.96961445e+01] [-1.31592304e-02 -8.88479218e-05 9.99913410e-01 -1.82183276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21 meters 0.016137152936597565 Centerline is valid? [True, True] Translation: X:82.13, Y:29.71, Z:-1.82 [[ 7.84869698e-01 -6.19577664e-01 1.01526295e-02 8.21283312e+01] [ 6.19524275e-01 7.84935354e-01 8.13402880e-03 2.97129155e+01] [-1.30088204e-02 -9.43523058e-05 9.99915377e-01 -1.82274931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24 meters 0.014026876940580657 Centerline is valid? [True, True] Translation: X:82.15, Y:29.73, Z:-1.82 [[ 7.85391313e-01 -6.18905524e-01 1.07906495e-02 8.21492116e+01] [ 6.18845090e-01 7.85465428e-01 8.64962515e-03 2.97299237e+01] [-1.38289829e-02 -1.15599999e-04 9.99904368e-01 -1.82176660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27 meters 0.01584530138880436 Centerline is valid? [True, True] Translation: X:82.17, Y:29.75, Z:-1.82 [[ 7.84645434e-01 -6.19855265e-01 1.05353375e-02 8.21715780e+01] [ 6.19797733e-01 7.84716153e-01 8.44559222e-03 2.97470793e+01] [-1.35022943e-02 -9.70171013e-05 9.99908835e-01 -1.82411095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.3 meters 0.013943726164669625 Centerline is valid? [True, True] Translation: X:82.19, Y:29.76, Z:-1.82 [[ 7.84812438e-01 -6.19638099e-01 1.08657312e-02 8.21936442e+01] [ 6.19576809e-01 7.84887645e-01 8.71568552e-03 2.97649024e+01] [-1.39289490e-02 -1.08023328e-04 9.99902982e-01 -1.82287245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33 meters 0.015560795277905994 Centerline is valid? [True, True] Translation: X:82.22, Y:29.78, Z:-1.83 [[ 7.83595041e-01 -6.21177311e-01 1.08425275e-02 8.22155666e+01] [ 6.21116334e-01 7.83670046e-01 8.70394151e-03 2.97826486e+01] [-1.39036550e-02 -8.58944594e-05 9.99903336e-01 -1.82583177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36 meters 0.013743244823647261 Centerline is valid? [True, True] Translation: X:82.24, Y:29.80, Z:-1.82 [[ 7.83469227e-01 -6.21331974e-01 1.10701704e-02 8.22373997e+01] [ 6.21268424e-01 7.83547427e-01 8.88676362e-03 2.98004526e+01] [-1.41956339e-02 -8.49584981e-05 9.99899233e-01 -1.82486214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39 meters 0.016918501503572478 Centerline is valid? [True, True] Translation: X:82.26, Y:29.82, Z:-1.83 [[ 7.82445507e-01 -6.22636607e-01 1.01332943e-02 8.22589496e+01] [ 6.22583403e-01 7.82511119e-01 8.13967286e-03 2.98175267e+01] [-1.29974737e-02 -6.00296326e-05 9.99915527e-01 -1.82832402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42 meters 0.016027732017320443 Centerline is valid? [True, True] Translation: X:82.28, Y:29.84, Z:-1.83 [[ 7.82242615e-01 -6.22894269e-01 9.96097933e-03 8.22806997e+01] [ 6.22842852e-01 7.82306031e-01 8.00343265e-03 2.98352947e+01] [-1.27778265e-02 -5.65013026e-05 9.99918359e-01 -1.82879766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45 meters 0.013757333808164242 Centerline is valid? [True, True] Translation: X:82.30, Y:29.85, Z:-1.83 [[ 7.82740235e-01 -6.22267116e-01 1.00678180e-02 8.23011820e+01] [ 6.22214457e-01 7.82804976e-01 8.09560685e-03 2.98529038e+01] [-1.29187680e-02 -7.24153016e-05 9.99916547e-01 -1.82767843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47999999999999 meters 0.01379852964648587 Centerline is valid? [True, True] Translation: X:82.32, Y:29.87, Z:-1.83 [[ 7.82963815e-01 -6.21987627e-01 9.95266855e-03 8.23223681e+01] [ 6.21936138e-01 7.83027066e-01 8.00343069e-03 2.98708110e+01] [-1.27712437e-02 -7.64723918e-05 9.99918441e-01 -1.82819577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50999999999999 meters 0.013960302622794256 Centerline is valid? [True, True] Translation: X:82.34, Y:29.89, Z:-1.83 [[ 7.84001398e-01 -6.20685380e-01 9.56380271e-03 8.23437633e+01] [ 6.20637684e-01 7.84059723e-01 7.69514786e-03 2.98898686e+01] [-1.22748583e-02 -9.73503108e-05 9.99924656e-01 -1.82951554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53999999999999 meters 0.01818833700430626 Centerline is valid? [True, True] Translation: X:82.36, Y:29.91, Z:-1.83 [[ 7.83800124e-01 -6.20954940e-01 8.50457592e-03 8.23649738e+01] [ 6.20917210e-01 7.83846257e-01 6.84563469e-03 2.99081204e+01] [-1.09171107e-02 -8.49717640e-05 9.99940403e-01 -1.83438675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57 meters 0.014162492989251693 Centerline is valid? [True, True] Translation: X:82.39, Y:29.93, Z:-1.83 [[ 7.84676166e-01 -6.19844942e-01 8.69265438e-03 8.23873051e+01] [ 6.19805417e-01 7.84724307e-01 7.00058674e-03 2.99269550e+01] [-1.11606155e-02 -1.05439299e-04 9.99937713e-01 -1.83245459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.6 meters 0.014182122418371901 Centerline is valid? [True, True] Translation: X:82.41, Y:29.95, Z:-1.83 [[ 7.85008813e-01 -6.19427904e-01 8.38061966e-03 8.24091732e+01] [ 6.19391107e-01 7.85053540e-01 6.75255302e-03 2.99452471e+01] [-1.07619549e-02 -1.09932350e-04 9.99942082e-01 -1.83365145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63 meters 0.016543087471007207 Centerline is valid? [True, True] Translation: X:82.43, Y:29.96, Z:-1.84 [[ 7.84432816e-01 -6.20163510e-01 7.89800403e-03 8.24315690e+01] [ 6.20130841e-01 7.84472569e-01 6.36614485e-03 2.99627253e+01] [-1.01438183e-02 -9.60170513e-05 9.99948546e-01 -1.83599809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66 meters 0.014868043367367672 Centerline is valid? [True, True] Translation: X:82.45, Y:29.98, Z:-1.84 [[ 7.84481056e-01 -6.20092147e-01 8.67191729e-03 8.24530080e+01] [ 6.20052705e-01 7.84528978e-01 6.99476422e-03 2.99802968e+01] [-1.11407688e-02 -1.10214249e-04 9.99937934e-01 -1.83512989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69 meters 0.014265491026133599 Centerline is valid? [True, True] Translation: X:82.47, Y:30.00, Z:-1.83 [[ 7.84464403e-01 -6.20100645e-01 9.52843830e-03 8.24746405e+01] [ 6.20052961e-01 7.84522259e-01 7.69093097e-03 2.99982722e+01] [-1.22444232e-02 -1.25125183e-04 9.99925026e-01 -1.83426829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72 meters 0.016428314157386905 Centerline is valid? [True, True] Translation: X:82.50, Y:30.02, Z:-1.84 [[ 7.83837343e-01 -6.20888451e-01 9.82604144e-03 8.24979732e+01] [ 6.20837735e-01 7.83898920e-01 7.93658380e-03 3.00161594e+01] [-1.26303565e-02 -1.20613441e-04 9.99920227e-01 -1.83540185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75 meters 0.014358807569683801 Centerline is valid? [True, True] Translation: X:82.52, Y:30.03, Z:-1.83 [[ 7.84358554e-01 -6.20220063e-01 1.04275239e-02 8.25195137e+01] [ 6.20162837e-01 7.84427851e-01 8.42628006e-03 3.00343920e+01] [-1.34057881e-02 -1.42462068e-04 9.99910128e-01 -1.83366911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78 meters 0.014579554107622477 Centerline is valid? [True, True] Translation: X:82.54, Y:30.05, Z:-1.83 [[ 7.84749209e-01 -6.19720131e-01 1.07535011e-02 8.25413129e+01] [ 6.19659151e-01 7.84822868e-01 8.69497536e-03 3.00527119e+01] [-1.38280448e-02 -1.59869671e-04 9.99904375e-01 -1.83364989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81 meters 0.01738656797630872 Centerline is valid? [True, True] Translation: X:82.56, Y:30.07, Z:-1.84 [[ 7.84098387e-01 -6.20545227e-01 1.06461126e-02 8.25633131e+01] [ 6.20485468e-01 7.84170644e-01 8.61304032e-03 3.00700329e+01] [-1.36931501e-02 -1.47712857e-04 9.99906234e-01 -1.83605294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84 meters 0.017056431714397084 Centerline is valid? [True, True] Translation: X:82.58, Y:30.09, Z:-1.84 [[ 7.84653072e-01 -6.19842177e-01 1.07346170e-02 8.25827278e+01] [ 6.19781266e-01 7.84726480e-01 8.69102262e-03 3.00900027e+01] [-1.38108006e-02 -1.66323063e-04 9.99904613e-01 -1.83706479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86999999999999 meters 0.014655989487769142 Centerline is valid? [True, True] Translation: X:82.61, Y:30.11, Z:-1.83 [[ 7.85199867e-01 -6.19147342e-01 1.08506949e-02 8.26071064e+01] [ 6.19085022e-01 7.85274816e-01 8.78634456e-03 3.01052822e+01] [-1.39608193e-02 -1.81533875e-04 9.99902527e-01 -1.83418297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89999999999999 meters 0.016104317243349955 Centerline is valid? [True, True] Translation: X:82.63, Y:30.12, Z:-1.84 [[ 7.85178725e-01 -6.19185218e-01 1.01997558e-02 8.26268318e+01] [ 6.19130086e-01 7.85244953e-01 8.26443666e-03 3.01237840e+01] [-1.31265238e-02 -1.74084136e-04 9.99913828e-01 -1.83734121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92999999999999 meters 0.015553387229631632 Centerline is valid? [True, True] Translation: X:82.65, Y:30.14, Z:-1.84 [[ 7.85824657e-01 -6.18370180e-01 9.89586874e-03 8.26477827e+01] [ 6.18318193e-01 7.85886943e-01 8.02037323e-03 3.01428981e+01] [-1.27365937e-02 -1.83811376e-04 9.99918869e-01 -1.83800228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96 meters 0.01489082538174732 Centerline is valid? [True, True] Translation: X:82.67, Y:30.16, Z:-1.84 [[ 7.85713229e-01 -6.18519208e-01 9.41867928e-03 8.26705242e+01] [ 6.18472135e-01 7.85769661e-01 7.63264486e-03 3.01594269e+01] [-1.21218499e-02 -1.71879353e-04 9.99926513e-01 -1.83838072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99 meters 0.015078228959084377 Centerline is valid? [True, True] Translation: X:82.69, Y:30.18, Z:-1.84 [[ 7.85480641e-01 -6.18820433e-01 9.02409447e-03 8.26913813e+01] [ 6.18777175e-01 7.85532459e-01 7.31873171e-03 3.01762731e+01] [-1.16176998e-02 -1.64818393e-04 9.99932499e-01 -1.83937286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02 meters 0.014898846931736423 Centerline is valid? [True, True] Translation: X:82.71, Y:30.19, Z:-1.84 [[ 7.85039191e-01 -6.19379846e-01 9.05950361e-03 8.27137679e+01] [ 6.19336284e-01 7.85091448e-01 7.34745656e-03 3.01930867e+01] [-1.16634053e-02 -1.57162050e-04 9.99931968e-01 -1.83962524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05 meters 0.015379756409802606 Centerline is valid? [True, True] Translation: X:82.74, Y:30.21, Z:-1.84 [[ 7.84211810e-01 -6.20431824e-01 8.72857778e-03 8.27360088e+01] [ 6.20391409e-01 7.84260373e-01 7.08293389e-03 3.02101988e+01] [-1.12399553e-02 -1.39385748e-04 9.99936820e-01 -1.84082500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08 meters 0.01511118855712231 Centerline is valid? [True, True] Translation: X:82.76, Y:30.23, Z:-1.84 [[ 7.83338934e-01 -6.21521971e-01 9.51600460e-03 8.27596379e+01] [ 6.21473946e-01 7.83396720e-01 7.72746677e-03 3.02274662e+01] [-1.22575972e-02 -1.39276645e-04 9.99924863e-01 -1.84022885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11 meters 0.017029247469453602 Centerline is valid? [True, True] Translation: X:82.78, Y:30.24, Z:-1.84 [[ 7.82181488e-01 -6.22967507e-01 1.01786707e-02 8.27816417e+01] [ 6.22912600e-01 7.82247702e-01 8.27190186e-03 3.02447503e+01] [-1.31153679e-02 -1.29706261e-04 9.99913981e-01 -1.84279469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14 meters 0.014443579148760318 Centerline is valid? [True, True] Translation: X:82.80, Y:30.26, Z:-1.84 [[ 7.82397396e-01 -6.22691052e-01 1.04961710e-02 8.28027126e+01] [ 6.22632631e-01 7.82467785e-01 8.53062531e-03 3.02620175e+01] [-1.35248597e-02 -1.39080451e-04 9.99908525e-01 -1.84087874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17 meters 0.014213944994404277 Centerline is valid? [True, True] Translation: X:82.83, Y:30.28, Z:-1.84 [[ 7.81161052e-01 -6.24213019e-01 1.20630498e-02 8.28261793e+01] [ 6.24135969e-01 7.81254177e-01 9.80834648e-03 3.02794606e+01] [-1.55468056e-02 -1.32915014e-04 9.99879132e-01 -1.84075073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.2 meters 0.014155877524181598 Centerline is valid? [True, True] Translation: X:82.85, Y:30.30, Z:-1.84 [[ 7.80629015e-01 -6.24868571e-01 1.25543234e-02 8.28478492e+01] [ 6.24785116e-01 7.80729949e-01 1.02130198e-02 3.02966745e+01] [-1.61833313e-02 -1.28825166e-04 9.99869033e-01 -1.84094726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22999999999999 meters 0.014217673456571227 Centerline is valid? [True, True] Translation: X:82.87, Y:30.31, Z:-1.84 [[ 7.80211586e-01 -6.25377064e-01 1.31684992e-02 8.28691265e+01] [ 6.25285191e-01 7.80322697e-01 1.07200087e-02 3.03142240e+01] [-1.69797264e-02 -1.29807399e-04 9.99855826e-01 -1.84167177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25999999999999 meters 0.01408116022528225 Centerline is valid? [True, True] Translation: X:82.89, Y:30.33, Z:-1.84 [[ 7.79586736e-01 -6.26153373e-01 1.32843374e-02 8.28906893e+01] [ 6.26059956e-01 7.79699904e-01 1.08162460e-02 3.03316253e+01] [-1.71304255e-02 -1.15410290e-04 9.99853257e-01 -1.84236890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28999999999999 meters 0.017439820044402598 Centerline is valid? [True, True] Translation: X:82.91, Y:30.35, Z:-1.85 [[ 7.77613670e-01 -6.28594779e-01 1.36229437e-02 8.29137618e+01] [ 6.28496796e-01 7.77732987e-01 1.10985221e-02 3.03488113e+01] [-1.75714857e-02 -6.83860321e-05 9.99845607e-01 -1.84686678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32 meters 0.0139308170470829 Centerline is valid? [True, True] Translation: X:82.94, Y:30.37, Z:-1.84 [[ 7.77847463e-01 -6.28315107e-01 1.31700866e-02 8.29350218e+01] [ 6.28223405e-01 7.77958945e-01 1.07346800e-02 3.03666582e+01] [-1.69905483e-02 -7.61869424e-05 9.99855647e-01 -1.84490977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35 meters 0.013904753605834201 Centerline is valid? [True, True] Translation: X:82.96, Y:30.38, Z:-1.85 [[ 7.77181267e-01 -6.29150266e-01 1.26182808e-02 8.29554148e+01] [ 6.29066091e-01 7.77283692e-01 1.02914542e-02 3.03841460e+01] [-1.62828550e-02 -6.05928267e-05 9.99867424e-01 -1.84764063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38 meters 0.01464369906899554 Centerline is valid? [True, True] Translation: X:82.98, Y:30.40, Z:-1.85 [[ 7.76660200e-01 -6.29805496e-01 1.19988109e-02 8.29766588e+01] [ 6.29729442e-01 7.76752879e-01 9.78748182e-03 3.04017838e+01] [-1.54843208e-02 -4.55430649e-05 9.99880110e-01 -1.85040901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41 meters 0.013859312500669163 Centerline is valid? [True, True] Translation: X:83.00, Y:30.42, Z:-1.85 [[ 7.76652421e-01 -6.29821254e-01 1.16706906e-02 8.29983263e+01] [ 6.29749226e-01 7.76740102e-01 9.52507272e-03 3.04202178e+01] [-1.50641866e-02 -4.80624211e-05 9.99886528e-01 -1.85096606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44 meters 0.01386957501249657 Centerline is valid? [True, True] Translation: X:83.02, Y:30.44, Z:-1.85 [[ 7.76472306e-01 -6.30051012e-01 1.12463507e-02 8.30199415e+01] [ 6.29984080e-01 7.76553746e-01 9.18364816e-03 3.04382430e+01] [-1.45195626e-02 -4.58265639e-05 9.99894585e-01 -1.85211127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47 meters 0.01386957501249657 Centerline is valid? [True, True] Translation: X:83.04, Y:30.46, Z:-1.85 [[ 7.76294653e-01 -6.30269934e-01 1.12437563e-02 8.30412705e+01] [ 6.30202978e-01 7.76376074e-01 9.18682309e-03 3.04557681e+01] [-1.45195617e-02 -4.58329510e-05 9.99894585e-01 -1.85267738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.5 meters 0.01383529968289143 Centerline is valid? [True, True] Translation: X:83.06, Y:30.47, Z:-1.85 [[ 7.75932291e-01 -6.30723492e-01 1.08146600e-02 8.30624338e+01] [ 6.30661507e-01 7.76007651e-01 8.84239503e-03 3.04732220e+01] [-1.39693652e-02 -4.07100631e-05 9.99902423e-01 -1.85471330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53 meters 0.016850962061328467 Centerline is valid? [True, True] Translation: X:83.08, Y:30.49, Z:-1.86 [[ 7.74828579e-01 -6.32074338e-01 1.10772144e-02 8.30841357e+01] [ 6.32009414e-01 7.74907756e-01 9.05922427e-03 3.04900314e+01] [-1.43099225e-02 -1.84420897e-05 9.99897608e-01 -1.85836132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56 meters 0.013831578422143524 Centerline is valid? [True, True] Translation: X:83.11, Y:30.51, Z:-1.86 [[ 7.74558214e-01 -6.32401832e-01 1.12913983e-02 8.31067463e+01] [ 6.32334381e-01 7.74640512e-01 9.23618290e-03 3.05074339e+01] [-1.45877535e-02 -1.40219983e-05 9.99893593e-01 -1.85507924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59 meters 0.013806293488449245 Centerline is valid? [True, True] Translation: X:83.13, Y:30.52, Z:-1.85 [[ 7.73829346e-01 -6.33285002e-01 1.17579813e-02 8.31290472e+01] [ 6.33211878e-01 7.73918669e-01 9.62344497e-03 3.05245901e+01] [-1.51941046e-02 -1.61072877e-06 9.99884563e-01 -1.85487378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61999999999999 meters 0.015299867357271256 Centerline is valid? [True, True] Translation: X:83.15, Y:30.54, Z:-1.86 [[ 7.72661048e-01 -6.34699988e-01 1.22812605e-02 8.31511898e+01] [ 6.34620291e-01 7.72758646e-01 1.00579011e-02 3.05412039e+01] [-1.58741999e-02 2.25887227e-05 9.99873997e-01 -1.85664391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64999999999999 meters 0.015248055772257775 Centerline is valid? [True, True] Translation: X:83.17, Y:30.56, Z:-1.86 [[ 7.71368973e-01 -6.36259176e-01 1.28128480e-02 8.31740995e+01] [ 6.36172540e-01 7.71475378e-01 1.04996035e-02 3.05578111e+01] [-1.65652658e-02 5.21137125e-05 9.99862785e-01 -1.85595471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67999999999999 meters 0.013852526686136504 Centerline is valid? [True, True] Translation: X:83.19, Y:30.57, Z:-1.85 [[ 7.71167089e-01 -6.36501995e-01 1.29046685e-02 8.31949447e+01] [ 6.36414030e-01 7.71275053e-01 1.05818505e-02 3.05743729e+01] [-1.66884179e-02 5.23372628e-05 9.99860737e-01 -1.85441071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71 meters 0.013883672932569759 Centerline is valid? [True, True] Translation: X:83.22, Y:30.59, Z:-1.85 [[ 7.70571870e-01 -6.37219900e-01 1.30304473e-02 8.32172048e+01] [ 6.37130281e-01 7.70682032e-01 1.06869300e-02 3.05919036e+01] [-1.68522561e-02 6.70448722e-05 9.99857988e-01 -1.85446202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74 meters 0.013875464857213075 Centerline is valid? [True, True] Translation: X:83.24, Y:30.61, Z:-1.85 [[ 7.70056127e-01 -6.37847070e-01 1.28326314e-02 8.32386242e+01] [ 6.37760126e-01 7.70163041e-01 1.05314730e-02 3.06084370e+01] [-1.66006876e-02 7.43152943e-05 9.99862196e-01 -1.85470685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77 meters 0.01393892785910499 Centerline is valid? [True, True] Translation: X:83.26, Y:30.63, Z:-1.86 [[ 7.68998308e-01 -6.39134412e-01 1.21985508e-02 8.32616317e+01] [ 6.39055985e-01 7.69095049e-01 1.00126784e-02 3.06266313e+01] [-1.57812923e-02 9.58241654e-05 9.99875463e-01 -1.85562211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.8 meters 0.013934677668785062 Centerline is valid? [True, True] Translation: X:83.28, Y:30.64, Z:-1.86 [[ 7.68401707e-01 -6.39859362e-01 1.17819533e-02 8.32832726e+01] [ 6.39786221e-01 7.68492021e-01 9.67500412e-03 3.06446980e+01] [-1.52449791e-02 1.03641712e-04 9.99883783e-01 -1.85654359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83 meters 0.014742622136185912 Centerline is valid? [True, True] Translation: X:83.31, Y:30.66, Z:-1.86 [[ 7.67931302e-01 -6.40439087e-01 1.09220203e-02 8.33060427e+01] [ 6.40376222e-01 7.68008961e-01 8.97381256e-03 3.06630011e+01] [-1.41353898e-02 1.02930528e-04 9.99900085e-01 -1.85842342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86 meters 0.01438561412610013 Centerline is valid? [True, True] Translation: X:83.33, Y:30.68, Z:-1.86 [[ 7.68052042e-01 -6.40309522e-01 9.98881030e-03 8.33279169e+01] [ 6.40256867e-01 7.68116988e-01 8.21198898e-03 3.06791962e+01] [-1.29307896e-02 8.81694817e-05 9.99916390e-01 -1.85871849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89 meters 0.014058794606250676 Centerline is valid? [True, True] Translation: X:83.35, Y:30.70, Z:-1.86 [[ 7.68149299e-01 -6.40198471e-01 9.62142889e-03 8.33484241e+01] [ 6.40149609e-01 7.68209549e-01 7.90993970e-03 3.06978957e+01] [-1.24552048e-02 8.31393067e-05 9.99922427e-01 -1.85834055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92 meters 0.014046958307960624 Centerline is valid? [True, True] Translation: X:83.37, Y:30.72, Z:-1.86 [[ 7.68486802e-01 -6.39805061e-01 8.80454405e-03 8.33695293e+01] [ 6.39764078e-01 7.68537234e-01 7.24184794e-03 3.07167298e+01] [-1.13999909e-02 6.75664488e-05 9.99935016e-01 -1.85895222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95 meters 0.014088364016521525 Centerline is valid? [True, True] Translation: X:83.39, Y:30.73, Z:-1.86 [[ 7.69137200e-01 -6.39035032e-01 7.88647621e-03 8.33900346e+01] [ 6.39002056e-01 7.69177630e-01 6.49203720e-03 3.07347847e+01] [-1.02147403e-02 4.62071988e-05 9.99947827e-01 -1.86076642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97999999999999 meters 0.014039984836903099 Centerline is valid? [True, True] Translation: X:83.41, Y:30.76, Z:-1.86 [[ 7.70726959e-01 -6.37137369e-01 5.99397271e-03 8.34108734e+01] [ 6.37118276e-01 7.70750266e-01 4.93247803e-03 3.07555513e+01] [-7.76252214e-03 1.72757715e-05 9.99969871e-01 -1.86181165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00999999999999 meters 0.014036384298190176 Centerline is valid? [True, True] Translation: X:83.43, Y:30.77, Z:-1.86 [[ 7.71402522e-01 -6.36324450e-01 5.41700021e-03 8.34311038e+01] [ 6.36308814e-01 7.71421541e-01 4.46087369e-03 3.07740376e+01] [-7.01735364e-03 5.75576656e-06 9.99975378e-01 -1.86288140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03999999999999 meters 0.01405379123696664 Centerline is valid? [True, True] Translation: X:83.45, Y:30.79, Z:-1.86 [[ 7.71691651e-01 -6.35974561e-01 5.32473347e-03 8.34522319e+01] [ 6.35959451e-01 7.71710021e-01 4.38395675e-03 3.07926006e+01] [-6.89723515e-03 3.25174883e-06 9.99976214e-01 -1.86276643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07 meters 0.013844708746405001 Centerline is valid? [True, True] Translation: X:83.47, Y:30.81, Z:-1.86 [[ 7.71752735e-01 -6.35900985e-01 5.25864556e-03 8.34738744e+01] [ 6.35886230e-01 7.71770651e-01 4.33184750e-03 3.08113248e+01] [-6.81309440e-03 7.85138535e-07 9.99976791e-01 -1.86156161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.1 meters 0.013929073829186085 Centerline is valid? [True, True] Translation: X:83.49, Y:30.83, Z:-1.86 [[ 7.71517011e-01 -6.36184455e-01 5.55343180e-03 8.34948538e+01] [ 6.36167965e-01 7.71536998e-01 4.58064149e-03 3.08285757e+01] [-7.19881101e-03 -1.12742587e-06 9.99974088e-01 -1.86212514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13 meters 0.017370520230217297 Centerline is valid? [True, True] Translation: X:83.52, Y:30.85, Z:-1.86 [[ 7.70697833e-01 -6.37185702e-01 4.38531261e-03 8.35170499e+01] [ 6.37175448e-01 7.70710309e-01 3.61497195e-03 3.08469633e+01] [-5.68321408e-03 8.16248080e-06 9.99983850e-01 -1.86326079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16 meters 0.013678042696984109 Centerline is valid? [True, True] Translation: X:83.54, Y:30.87, Z:-1.86 [[ 7.71449283e-01 -6.36267038e-01 5.50094284e-03 8.35389284e+01] [ 6.36250850e-01 7.71468896e-01 4.53858299e-03 3.08655088e+01] [-7.13155705e-03 -1.30703749e-06 9.99974570e-01 -1.86171568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19 meters 0.013624825853454918 Centerline is valid? [True, True] Translation: X:83.56, Y:30.88, Z:-1.86 [[ 7.71501539e-01 -6.36204695e-01 5.38160483e-03 8.35595686e+01] [ 6.36189180e-01 7.71520308e-01 4.44319540e-03 3.08833325e+01] [-6.97879919e-03 -4.21332482e-06 9.99975648e-01 -1.86213482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22 meters 0.013661760341991102 Centerline is valid? [True, True] Translation: X:83.58, Y:30.90, Z:-1.86 [[ 7.71541806e-01 -6.36157278e-01 5.21147447e-03 8.35804132e+01] [ 6.36142708e-01 7.71559406e-01 4.30553516e-03 3.09011153e+01] [-6.75995967e-03 -6.65889252e-06 9.99977151e-01 -1.86318262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25 meters 0.015636438835199686 Centerline is valid? [True, True] Translation: X:83.60, Y:30.92, Z:-1.86 [[ 7.71359003e-01 -6.36389968e-01 3.61887123e-03 8.36024670e+01] [ 6.36382958e-01 7.71367492e-01 2.98698265e-03 3.09196584e+01] [-4.69236542e-03 -1.04798487e-06 9.99988991e-01 -1.86338906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28 meters 0.013611822472832116 Centerline is valid? [True, True] Translation: X:83.62, Y:30.94, Z:-1.86 [[ 7.71549356e-01 -6.36156891e-01 4.00024249e-03 8.36243312e+01] [ 6.36148314e-01 7.71559726e-01 3.30332763e-03 3.09375206e+01] [-5.18786063e-03 -3.93278599e-06 9.99986543e-01 -1.86244460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31 meters 0.016533757434001945 Centerline is valid? [True, True] Translation: X:83.65, Y:30.96, Z:-1.87 [[ 7.70602344e-01 -6.37312134e-01 2.29609955e-03 8.36453681e+01] [ 6.37309309e-01 7.70605764e-01 1.89742223e-03 3.09551566e+01] [-2.97863776e-03 1.16760145e-06 9.99995564e-01 -1.86535911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34 meters 0.014779098410007263 Centerline is valid? [True, True] Translation: X:83.67, Y:30.97, Z:-1.87 [[ 7.69533019e-01 -6.38603200e-01 2.21051301e-03 8.36678354e+01] [ 6.38600596e-01 7.69536194e-01 1.82362432e-03 3.09716789e+01] [-2.86564209e-03 8.29579826e-06 9.99995894e-01 -1.86534370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36999999999999 meters 0.015403845671271696 Centerline is valid? [True, True] Translation: X:83.69, Y:30.99, Z:-1.87 [[ 7.68340165e-01 -6.40038998e-01 1.86337890e-03 8.36906636e+01] [ 6.40037151e-01 7.68342425e-01 1.53767683e-03 3.09891306e+01] [-2.41588620e-03 1.11728569e-05 9.99997082e-01 -1.86554492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39999999999999 meters 0.016437528066003758 Centerline is valid? [True, True] Translation: X:83.71, Y:31.01, Z:-1.87 [[ 7.67037439e-01 -6.41600024e-01 1.72515948e-03 8.37129935e+01] [ 6.41598436e-01 7.67039379e-01 1.42769453e-03 3.10052156e+01] [-2.23927411e-03 1.17644698e-05 9.99997493e-01 -1.86738434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42999999999999 meters 0.013735210339967817 Centerline is valid? [True, True] Translation: X:83.74, Y:31.02, Z:-1.86 [[ 7.64919127e-01 -6.44112632e-01 4.20077837e-03 8.37375477e+01] [ 6.44103247e-01 7.64930660e-01 3.47734749e-03 3.10205416e+01] [-5.45310762e-03 4.58453858e-05 9.99985131e-01 -1.86387491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46 meters 0.01400133331110207 Centerline is valid? [True, True] Translation: X:83.76, Y:31.04, Z:-1.86 [[ 7.63452244e-01 -6.45847239e-01 4.69215595e-03 8.37601575e+01] [ 6.45835532e-01 7.63466660e-01 3.88900992e-03 3.10364625e+01] [-6.09401095e-03 6.12876882e-05 9.99981429e-01 -1.86343773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49 meters 0.014371660365599679 Centerline is valid? [True, True] Translation: X:83.78, Y:31.05, Z:-1.86 [[ 7.61846640e-01 -6.47733048e-01 5.62105213e-03 8.37826135e+01] [ 6.47716288e-01 7.61867371e-01 4.66039556e-03 3.10523079e+01] [-7.30118843e-03 9.03403223e-05 9.99973342e-01 -1.86279418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52 meters 0.014542922142829933 Centerline is valid? [True, True] Translation: X:83.81, Y:31.07, Z:-1.86 [[ 7.60328030e-01 -6.49510598e-01 6.10498961e-03 8.38056456e+01] [ 6.49490881e-01 7.60352530e-01 5.06217951e-03 3.10697414e+01] [-7.92988353e-03 1.16218102e-04 9.99968551e-01 -1.86261511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55 meters 0.01512434772654106 Centerline is valid? [True, True] Translation: X:83.83, Y:31.09, Z:-1.86 [[ 7.57452022e-01 -6.52860850e-01 6.25666494e-03 8.38297279e+01] [ 6.52840233e-01 7.57477846e-01 5.19066064e-03 3.10866535e+01] [-8.12806420e-03 1.52926205e-04 9.99966955e-01 -1.86284293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58 meters 0.015459424403233545 Centerline is valid? [True, True] Translation: X:83.85, Y:31.10, Z:-1.86 [[ 7.56100595e-01 -6.54427089e-01 6.08896571e-03 8.38529844e+01] [ 6.54407594e-01 7.56125095e-01 5.05393825e-03 3.11043829e+01] [-7.91145387e-03 1.63379681e-04 9.99968691e-01 -1.86399591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61 meters 0.015937492857808794 Centerline is valid? [True, True] Translation: X:83.88, Y:31.12, Z:-1.86 [[ 7.55078193e-01 -6.55606448e-01 6.09160806e-03 8.38753327e+01] [ 6.55586933e-01 7.55102746e-01 5.06133682e-03 3.11214265e+01] [-7.91803502e-03 1.71873581e-04 9.99968637e-01 -1.86486540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64 meters 0.016218598269436273 Centerline is valid? [True, True] Translation: X:83.90, Y:31.14, Z:-1.87 [[ 7.54118024e-01 -6.56707558e-01 6.41787116e-03 8.38974437e+01] [ 6.56685948e-01 7.54145308e-01 5.33097170e-03 3.11395890e+01] [-8.34089683e-03 1.94343959e-04 9.99965195e-01 -1.86582431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67 meters 0.017153327114835793 Centerline is valid? [True, True] Translation: X:83.92, Y:31.16, Z:-1.87 [[ 7.54101903e-01 -6.56721193e-01 6.89892159e-03 8.39188169e+01] [ 6.56696177e-01 7.54133432e-01 5.73564532e-03 3.11555515e+01] [-8.96942725e-03 2.05234388e-04 9.99959753e-01 -1.86686752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.7 meters 0.016158388365567013 Centerline is valid? [True, True] Translation: X:83.94, Y:31.18, Z:-1.87 [[ 7.54536135e-01 -6.56212741e-01 7.74978870e-03 8.39398069e+01] [ 6.56181139e-01 7.54575900e-01 6.44395234e-03 3.11763913e+01] [-1.00764074e-02 2.23070284e-04 9.99949207e-01 -1.86593653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72999999999999 meters 0.01569858902660785 Centerline is valid? [True, True] Translation: X:83.96, Y:31.20, Z:-1.87 [[ 7.55151995e-01 -6.55502614e-01 7.86054868e-03 8.39610185e+01] [ 6.55470034e-01 7.55192874e-01 6.53887151e-03 3.11962655e+01] [-1.02224777e-02 2.14512249e-04 9.99947726e-01 -1.86653186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75999999999999 meters 0.01566610184241038 Centerline is valid? [True, True] Translation: X:83.98, Y:31.21, Z:-1.87 [[ 7.55968601e-01 -6.54559666e-01 7.94465517e-03 8.39822095e+01] [ 6.54526277e-01 7.56010320e-01 6.61430408e-03 3.12149685e+01] [-1.03356980e-02 1.99779367e-04 9.99946565e-01 -1.86745210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78999999999999 meters 0.014976108784074025 Centerline is valid? [True, True] Translation: X:84.00, Y:31.24, Z:-1.87 [[ 7.56875197e-01 -6.53507776e-01 8.21721451e-03 8.40033268e+01] [ 6.53472001e-01 7.56919777e-01 6.84068363e-03 3.12355574e+01] [-1.06902121e-02 1.92175836e-04 9.99942840e-01 -1.86782234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82 meters 0.014106393983590338 Centerline is valid? [True, True] Translation: X:84.02, Y:31.26, Z:-1.87 [[ 7.59407258e-01 -6.50561059e-01 8.42168187e-03 8.40225744e+01] [ 6.50523264e-01 7.59453939e-01 7.01406526e-03 3.12577700e+01] [-1.09589572e-02 1.51967909e-04 9.99939937e-01 -1.86889893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85 meters 0.013882708382935847 Centerline is valid? [True, True] Translation: X:84.04, Y:31.28, Z:-1.87 [[ 7.60993686e-01 -6.48704871e-01 8.40235620e-03 8.40421489e+01] [ 6.48667077e-01 7.61040062e-01 7.00345977e-03 3.12773893e+01] [-1.09377081e-02 1.20743171e-04 9.99940174e-01 -1.87057637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88 meters 0.013529058176031174 Centerline is valid? [True, True] Translation: X:84.06, Y:31.30, Z:-1.87 [[ 7.62357156e-01 -6.47103178e-01 8.30932082e-03 8.40621683e+01] [ 6.47066128e-01 7.62402432e-01 6.92517286e-03 3.12979313e+01] [-1.08163478e-02 9.72249615e-05 9.99941497e-01 -1.87220276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91 meters 0.013020803459214747 Centerline is valid? [True, True] Translation: X:84.08, Y:31.32, Z:-1.87 [[ 7.65109981e-01 -6.43849921e-01 7.99974484e-03 8.40799601e+01] [ 6.43815357e-01 7.65151800e-01 6.67149007e-03 3.13195959e+01] [-1.04164575e-02 4.59349288e-05 9.99945746e-01 -1.87405688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94 meters 0.012896462289665523 Centerline is valid? [True, True] Translation: X:84.10, Y:31.34, Z:-1.88 [[ 7.66032620e-01 -6.42751244e-01 8.05374132e-03 8.40994724e+01] [ 6.42716131e-01 7.66074955e-01 6.71844724e-03 3.13388351e+01] [-1.04880598e-02 2.97197201e-05 9.99944998e-01 -1.87595629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97 meters 0.012713108903799996 Centerline is valid? [True, True] Translation: X:84.12, Y:31.36, Z:-1.88 [[ 7.66577956e-01 -6.42099702e-01 8.13692822e-03 8.41197882e+01] [ 6.42063821e-01 7.66621140e-01 6.78803923e-03 3.13583948e+01] [-1.05965392e-02 2.08659843e-05 9.99943855e-01 -1.87533695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.0 meters 0.012871088003832925 Centerline is valid? [True, True] Translation: X:84.14, Y:31.38, Z:-1.88 [[ 7.66987458e-01 -6.41612669e-01 7.96382995e-03 8.41396096e+01] [ 6.41578221e-01 7.67028802e-01 6.64850754e-03 3.13760657e+01] [-1.03742536e-02 1.00979561e-05 9.99946186e-01 -1.87760327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03 meters 0.012665071796177726 Centerline is valid? [True, True] Translation: X:84.16, Y:31.40, Z:-1.88 [[ 7.67287682e-01 -6.41248645e-01 8.35392946e-03 8.41603678e+01] [ 6.41210698e-01 7.67333158e-01 6.97601065e-03 3.13952271e+01] [-1.08836045e-02 4.02190324e-06 9.99940772e-01 -1.87633524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06 meters 0.012630977338345383 Centerline is valid? [True, True] Translation: X:84.18, Y:31.41, Z:-1.88 [[ 7.67182582e-01 -6.41366985e-01 8.90368834e-03 8.41813876e+01] [ 6.41323833e-01 7.67234247e-01 7.43987543e-03 3.14139357e+01] [-1.16029051e-02 2.40468790e-06 9.99932684e-01 -1.87696260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09 meters 0.012580271970921823 Centerline is valid? [True, True] Translation: X:84.20, Y:31.43, Z:-1.88 [[ 7.66937815e-01 -6.41640309e-01 1.02030286e-02 8.42032292e+01] [ 6.41583582e-01 7.67005680e-01 8.53192325e-03 3.14333291e+01] [-1.33002068e-02 2.64105534e-06 9.99911548e-01 -1.87726739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11999999999999 meters 0.01256784330237661 Centerline is valid? [True, True] Translation: X:84.22, Y:31.45, Z:-1.88 [[ 7.66607710e-01 -6.42028915e-01 1.05589965e-02 8.42245343e+01] [ 6.41968137e-01 7.66680424e-01 8.83393984e-03 3.14511541e+01] [-1.37670207e-02 6.37292172e-06 9.99905230e-01 -1.87770812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14999999999999 meters 0.012569468425508844 Centerline is valid? [True, True] Translation: X:84.25, Y:31.47, Z:-1.88 [[ 7.65957353e-01 -6.42794615e-01 1.11542282e-02 8.42461942e+01] [ 6.42726789e-01 7.66038565e-01 9.33769662e-03 3.14690600e+01] [-1.45467900e-02 1.68438691e-05 9.99894190e-01 -1.87787597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17999999999999 meters 0.012664796935548764 Centerline is valid? [True, True] Translation: X:84.27, Y:31.49, Z:-1.88 [[ 7.64982809e-01 -6.43939998e-01 1.19407407e-02 8.42678046e+01] [ 6.43862301e-01 7.65075995e-01 1.00029681e-02 3.14860830e+01] [-1.55768853e-02 3.60941660e-05 9.99878672e-01 -1.87806786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21 meters 0.01266454177706286 Centerline is valid? [True, True] Translation: X:84.29, Y:31.50, Z:-1.88 [[ 7.64123876e-01 -6.44945153e-01 1.26669234e-02 8.42893558e+01] [ 6.44857791e-01 7.64228857e-01 1.06152621e-02 3.15037529e+01] [-1.65266902e-02 5.69890153e-05 9.99863423e-01 -1.87811754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24 meters 0.012747217596354728 Centerline is valid? [True, True] Translation: X:84.31, Y:31.52, Z:-1.88 [[ 7.63335377e-01 -6.45873186e-01 1.29201217e-02 8.43107353e+01] [ 6.45782308e-01 7.63444708e-01 1.08346063e-02 3.15210607e+01] [-1.68615803e-02 7.31477230e-05 9.99857831e-01 -1.87876450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27 meters 0.0128651920722224 Centerline is valid? [True, True] Translation: X:84.33, Y:31.54, Z:-1.88 [[ 7.62574468e-01 -6.46768211e-01 1.30790658e-02 8.43327232e+01] [ 6.46675180e-01 7.62686615e-01 1.09699260e-02 3.15392352e+01] [-1.70702278e-02 9.25217871e-05 9.99854289e-01 -1.87954069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.3 meters 0.015244335014177502 Centerline is valid? [True, True] Translation: X:84.35, Y:31.56, Z:-1.88 [[ 7.60859604e-01 -6.48777956e-01 1.34099301e-02 8.43540758e+01] [ 6.48680339e-01 7.60977756e-01 1.12548741e-02 3.15563727e+01] [-1.75065727e-02 1.35378971e-04 9.99846739e-01 -1.88173340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33 meters 0.013996552622129252 Centerline is valid? [True, True] Translation: X:84.38, Y:31.57, Z:-1.88 [[ 7.60145301e-01 -6.49618834e-01 1.32095475e-02 8.43756487e+01] [ 6.49524221e-01 7.60260052e-01 1.10877923e-02 3.15738357e+01] [-1.72455300e-02 1.51587877e-04 9.99851273e-01 -1.88216183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36 meters 0.01356785225903418 Centerline is valid? [True, True] Translation: X:84.40, Y:31.59, Z:-1.88 [[ 7.58946665e-01 -6.51031168e-01 1.25847997e-02 8.43984167e+01] [ 6.50945392e-01 7.59050979e-01 1.05692232e-02 3.15917540e+01] [-1.64333983e-02 1.70540633e-04 9.99864948e-01 -1.88290423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39 meters 0.01356785225903418 Centerline is valid? [True, True] Translation: X:84.42, Y:31.61, Z:-1.88 [[ 7.58764864e-01 -6.51243094e-01 1.25823109e-02 8.44195020e+01] [ 6.51157297e-01 7.58869161e-01 1.05721850e-02 3.16095690e+01] [-1.64333902e-02 1.71261083e-04 9.99864948e-01 -1.88347068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42 meters 0.013731107079056042 Centerline is valid? [True, True] Translation: X:84.44, Y:31.63, Z:-1.88 [[ 7.58261518e-01 -6.51832115e-01 1.24243071e-02 8.44414624e+01] [ 6.51748426e-01 7.58363279e-01 1.04463497e-02 3.16275006e+01] [-1.62314045e-02 1.76457586e-04 9.99868247e-01 -1.88435486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45 meters 0.014164851379264567 Centerline is valid? [True, True] Translation: X:84.46, Y:31.64, Z:-1.89 [[ 7.57339317e-01 -6.52913126e-01 1.18999877e-02 8.44627144e+01] [ 6.52836468e-01 7.57432779e-01 1.00066190e-02 3.16447280e+01] [-1.55468936e-02 1.90339950e-04 9.99879122e-01 -1.88567302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47999999999999 meters 0.014456404204059217 Centerline is valid? [True, True] Translation: X:84.49, Y:31.66, Z:-1.89 [[ 7.56142665e-01 -6.54296255e-01 1.20283289e-02 8.44850348e+01] [ 6.54218061e-01 7.56238298e-01 1.01176093e-02 3.16628509e+01] [-1.57161968e-02 2.18793925e-04 9.99876469e-01 -1.88643591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50999999999999 meters 0.015921567632632718 Centerline is valid? [True, True] Translation: X:84.51, Y:31.68, Z:-1.89 [[ 7.53408875e-01 -6.57433138e-01 1.25194210e-02 8.45081049e+01] [ 6.57348760e-01 7.53512830e-01 1.05367349e-02 3.16796111e+01] [-1.63607431e-02 2.91156252e-04 9.99866112e-01 -1.88730991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53999999999999 meters 0.01721959530277297 Centerline is valid? [True, True] Translation: X:84.53, Y:31.70, Z:-1.89 [[ 7.51605003e-01 -6.59481720e-01 1.31825770e-02 8.45304075e+01] [ 6.59388424e-01 7.51720519e-01 1.10981402e-02 3.16971990e+01] [-1.72286342e-02 3.51020943e-04 9.99851514e-01 -1.88757876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57 meters 0.01641447207621289 Centerline is valid? [True, True] Translation: X:84.55, Y:31.71, Z:-1.89 [[ 7.49910284e-01 -6.61406832e-01 1.32502411e-02 8.45535983e+01] [ 6.61312853e-01 7.50027230e-01 1.11564098e-02 3.17147392e+01] [-1.73169673e-02 3.96248278e-04 9.99849972e-01 -1.88691795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.6 meters 0.017679618351697342 Centerline is valid? [True, True] Translation: X:84.58, Y:31.73, Z:-1.89 [[ 7.48121731e-01 -6.63418084e-01 1.37957112e-02 8.45761811e+01] [ 6.63316431e-01 7.48248781e-01 1.16221399e-02 3.17304541e+01] [-1.80329619e-02 4.56146507e-04 9.99837289e-01 -1.88710459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63 meters 0.018055018171742664 Centerline is valid? [True, True] Translation: X:84.60, Y:31.75, Z:-1.89 [[ 7.44673251e-01 -6.67277963e-01 1.42080755e-02 8.45986204e+01] [ 6.67170798e-01 7.44808567e-01 1.19717872e-02 3.17498975e+01] [-1.85708062e-02 5.64143367e-04 9.99827389e-01 -1.88756105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66 meters 0.02002024829401772 Centerline is valid? [True, True] Translation: X:84.62, Y:31.76, Z:-1.89 [[ 7.43169097e-01 -6.68950270e-01 1.43258063e-02 8.46223658e+01] [ 6.68841520e-01 7.43306914e-01 1.20769621e-02 3.17643117e+01] [-1.87273579e-02 6.06469035e-04 9.99824444e-01 -1.88792887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69 meters 0.021754041454945684 Centerline is valid? [True, True] Translation: X:84.64, Y:31.78, Z:-1.89 [[ 7.41358478e-01 -6.70951138e-01 1.45663015e-02 8.46437447e+01] [ 6.70839044e-01 7.41501265e-01 1.22821249e-02 3.17840839e+01] [-1.90416367e-02 6.66186308e-04 9.99818470e-01 -1.88994280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72 meters 0.02057776181624661 Centerline is valid? [True, True] Translation: X:84.67, Y:31.80, Z:-1.89 [[ 7.39214853e-01 -6.73317785e-01 1.43025025e-02 8.46665108e+01] [ 6.73210045e-01 7.39352864e-01 1.20655731e-02 3.18019323e+01] [-1.86985611e-02 7.09537559e-04 9.99824915e-01 -1.88929798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75 meters 0.02377261360560672 Centerline is valid? [True, True] Translation: X:84.69, Y:31.82, Z:-1.89 [[ 7.38779156e-01 -6.73796309e-01 1.42791290e-02 8.46909595e+01] [ 6.73688895e-01 7.38916790e-01 1.20520160e-02 3.18160123e+01] [-1.86716921e-02 7.15912406e-04 9.99825412e-01 -1.88951776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78 meters 0.020304217569552592 Centerline is valid? [True, True] Translation: X:84.71, Y:31.84, Z:-1.89 [[ 7.38364594e-01 -6.74250781e-01 1.42692156e-02 8.47090956e+01] [ 6.74143547e-01 7.38502105e-01 1.20465312e-02 3.18396705e+01] [-1.86602288e-02 7.24767436e-04 9.99825620e-01 -1.88994808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81 meters 0.02199370586921481 Centerline is valid? [True, True] Translation: X:84.73, Y:31.86, Z:-1.89 [[ 7.39146757e-01 -6.73407901e-01 1.35598784e-02 8.47292454e+01] [ 6.73310827e-01 7.39270828e-01 1.14530806e-02 3.18603928e+01] [-1.77370176e-02 6.64505555e-04 9.99842466e-01 -1.89248723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84 meters 0.02003734881852855 Centerline is valid? [True, True] Translation: X:84.75, Y:31.88, Z:-1.89 [[ 7.40591470e-01 -6.71830610e-01 1.29578323e-02 8.47495011e+01] [ 6.71741627e-01 7.40704582e-01 1.09502581e-02 3.18798180e+01] [-1.69546443e-02 5.94647632e-04 9.99856083e-01 -1.89282107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86999999999999 meters 0.02170826902887512 Centerline is valid? [True, True] Translation: X:84.77, Y:31.90, Z:-1.90 [[ 7.41781234e-01 -6.70525085e-01 1.25184301e-02 8.47702304e+01] [ 6.70441816e-01 7.41886659e-01 1.05809881e-02 3.18993410e+01] [-1.63820742e-02 5.44100593e-04 9.99865657e-01 -1.89560903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89999999999999 meters 0.01761474790882425 Centerline is valid? [True, True] Translation: X:84.79, Y:31.93, Z:-1.90 [[ 7.45368671e-01 -6.66552440e-01 1.15494550e-02 8.47869044e+01] [ 6.66481007e-01 7.45458028e-01 9.76713147e-03 3.19251586e+01] [-1.51199393e-02 4.17378599e-04 9.99885600e-01 -1.89698797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92999999999999 meters 0.018003956090293084 Centerline is valid? [True, True] Translation: X:84.81, Y:31.94, Z:-1.90 [[ 7.46909823e-01 -6.64824999e-01 1.15514789e-02 8.48073748e+01] [ 6.64753301e-01 7.46999046e-01 9.77104285e-03 3.19446076e+01] [-1.51249773e-02 3.80795830e-04 9.99885538e-01 -1.89848103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96 meters 0.01624994187789296 Centerline is valid? [True, True] Translation: X:84.83, Y:31.97, Z:-1.90 [[ 7.48598591e-01 -6.62927051e-01 1.13082176e-02 8.48264271e+01] [ 6.62858102e-01 7.48683921e-01 9.56676672e-03 3.19667286e+01] [-1.48083492e-02 3.34075593e-04 9.99890295e-01 -1.89841582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99 meters 0.015067310595047581 Centerline is valid? [True, True] Translation: X:84.84, Y:31.99, Z:-1.90 [[ 7.51923085e-01 -6.59147026e-01 1.16992290e-02 8.48443897e+01] [ 6.59072683e-01 7.52014048e-01 9.90308249e-03 3.19900751e+01] [-1.53255719e-02 2.64285888e-04 9.99882522e-01 -1.89825288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02 meters 0.0167966025677295 Centerline is valid? [True, True] Translation: X:84.86, Y:32.01, Z:-1.90 [[ 7.53271909e-01 -6.57599042e-01 1.20387214e-02 8.48645515e+01] [ 6.57520060e-01 7.53368067e-01 1.01944658e-02 3.20108384e+01] [-1.57734593e-02 2.36496084e-04 9.99875563e-01 -1.89913277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05 meters 0.01552006786524786 Centerline is valid? [True, True] Translation: X:84.88, Y:32.03, Z:-1.90 [[ 7.55120408e-01 -6.55465162e-01 1.25932769e-02 8.48841131e+01] [ 6.55378328e-01 7.55225386e-01 1.06706639e-02 3.20313443e+01] [-1.65050109e-02 1.95724675e-04 9.99863764e-01 -1.89869491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08 meters 0.015197636896791022 Centerline is valid? [True, True] Translation: X:84.90, Y:32.05, Z:-1.90 [[ 7.59138172e-01 -6.50784923e-01 1.37193650e-02 8.49013954e+01] [ 6.50681055e-01 7.59262125e-01 1.16271407e-02 3.20546232e+01] [-1.79833621e-02 1.00324549e-04 9.99838281e-01 -1.89865947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11 meters 0.016741200977253484 Centerline is valid? [True, True] Translation: X:84.92, Y:32.08, Z:-1.90 [[ 7.60831701e-01 -6.48813388e-01 1.32781828e-02 8.49204087e+01] [ 6.48715773e-01 7.60947558e-01 1.12543459e-02 3.20752322e+01] [-1.74059710e-02 5.11035022e-05 9.99848503e-01 -1.89970250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14 meters 0.017537366963014684 Centerline is valid? [True, True] Translation: X:84.94, Y:32.10, Z:-1.90 [[ 7.62433522e-01 -6.46929288e-01 1.33274351e-02 8.49395939e+01] [ 6.46830546e-01 7.62549996e-01 1.13026097e-02 3.20953729e+01] [-1.74748248e-02 3.10359487e-06 9.99847304e-01 -1.90058044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17 meters 0.01711550883941175 Centerline is valid? [True, True] Translation: X:84.96, Y:32.12, Z:-1.90 [[ 7.63894985e-01 -6.45206383e-01 1.31596245e-02 8.49592805e+01] [ 6.45109746e-01 7.64008326e-01 1.11666056e-02 3.21152076e+01] [-1.72588279e-02 -4.07120376e-05 9.99851055e-01 -1.90108771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.2 meters 0.01738288093473243 Centerline is valid? [True, True] Translation: X:84.98, Y:32.14, Z:-1.90 [[ 7.66406760e-01 -6.42242173e-01 1.20693553e-02 8.49778048e+01] [ 6.42160432e-01 7.66501781e-01 1.02468862e-02 3.21375661e+01] [-1.58321648e-02 -1.02820454e-04 9.99874658e-01 -1.90252740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22999999999999 meters 0.014052104493461283 Centerline is valid? [True, True] Translation: X:85.00, Y:32.16, Z:-1.90 [[ 7.67707186e-01 -6.40682589e-01 1.23084152e-02 8.49989098e+01] [ 6.40597292e-01 7.67805835e-01 1.04551306e-02 3.21579937e+01] [-1.61488931e-02 -1.41741486e-04 9.99869588e-01 -1.90270703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25999999999999 meters 0.016567595923591076 Centerline is valid? [True, True] Translation: X:85.02, Y:32.18, Z:-1.90 [[ 7.68230116e-01 -6.40086232e-01 1.05879302e-02 8.50195369e+01] [ 6.40023008e-01 7.68303063e-01 8.99734358e-03 3.21777699e+01] [-1.38938150e-02 -1.35511363e-04 9.99903467e-01 -1.90496026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28999999999999 meters 0.014507701363793975 Centerline is valid? [True, True] Translation: X:85.04, Y:32.20, Z:-1.91 [[ 7.69606210e-01 -6.38441401e-01 9.94284208e-03 8.50397835e+01] [ 6.38385457e-01 7.69670418e-01 8.45309156e-03 3.21979454e+01] [-1.30495150e-02 -1.58185966e-04 9.99914839e-01 -1.90680946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32 meters 0.016799845937076736 Centerline is valid? [True, True] Translation: X:85.06, Y:32.22, Z:-1.91 [[ 7.69382175e-01 -6.38736129e-01 8.19919795e-03 8.50608903e+01] [ 6.38698056e-01 7.69425851e-01 6.97515495e-03 3.22167136e+01] [-1.07639583e-02 -1.29748097e-04 9.99942059e-01 -1.90893021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35 meters 0.01794183593069266 Centerline is valid? [True, True] Translation: X:85.08, Y:32.24, Z:-1.91 [[ 7.69185184e-01 -6.38984447e-01 7.28209007e-03 8.50833596e+01] [ 6.38954440e-01 7.69219646e-01 6.19349267e-03 3.22355279e+01] [-9.55907223e-03 -1.11019014e-04 9.99954305e-01 -1.91047074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38 meters 0.016358637847651392 Centerline is valid? [True, True] Translation: X:85.10, Y:32.25, Z:-1.91 [[ 7.68758435e-01 -6.39497630e-01 7.29722917e-03 8.51047009e+01] [ 6.39467496e-01 7.68793061e-01 6.20898524e-03 3.22530889e+01] [-9.58069049e-03 -1.06868917e-04 9.99954098e-01 -1.91105164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41 meters 0.014588818606170218 Centerline is valid? [True, True] Translation: X:85.13, Y:32.27, Z:-1.91 [[ 7.68343887e-01 -6.39987486e-01 7.98053525e-03 8.51266088e+01] [ 6.39951395e-01 7.68385323e-01 6.79765294e-03 3.22700297e+01] [-1.04825390e-02 -1.15780416e-04 9.99945050e-01 -1.91114072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44 meters 0.01453959894281527 Centerline is valid? [True, True] Translation: X:85.15, Y:32.29, Z:-1.91 [[ 7.67682846e-01 -6.40779243e-01 8.06286954e-03 8.51485250e+01] [ 6.40742460e-01 7.67725180e-01 6.86650481e-03 3.22877172e+01] [-1.05899817e-02 -1.05075096e-04 9.99943919e-01 -1.91132428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47 meters 0.014501459384639818 Centerline is valid? [True, True] Translation: X:85.17, Y:32.31, Z:-1.91 [[ 7.67272551e-01 -6.41271712e-01 7.96391470e-03 8.51709463e+01] [ 6.41235814e-01 7.67313874e-01 6.78594980e-03 3.23052448e+01] [-1.04624599e-02 -9.99256862e-05 9.99945262e-01 -1.91144749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.5 meters 0.01813440468987297 Centerline is valid? [True, True] Translation: X:85.19, Y:32.32, Z:-1.91 [[ 7.66618810e-01 -6.42065189e-01 6.92047011e-03 8.51927909e+01] [ 6.42038093e-01 7.66650042e-01 5.89925553e-03 3.23228238e+01] [-9.09328532e-03 -7.92748212e-05 9.99958652e-01 -1.91266951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53 meters 0.016595224872956543 Centerline is valid? [True, True] Translation: X:85.22, Y:32.34, Z:-1.91 [[ 7.67301268e-01 -6.41247576e-01 7.09300500e-03 8.52151721e+01] [ 6.41219037e-01 7.67334046e-01 6.05051336e-03 3.23409789e+01] [-9.32258125e-03 -9.43967420e-05 9.99956539e-01 -1.91333034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56 meters 0.014740753714280361 Centerline is valid? [True, True] Translation: X:85.24, Y:32.36, Z:-1.91 [[ 7.67874978e-01 -6.40554626e-01 7.60187289e-03 8.52364770e+01] [ 6.40521779e-01 7.67912598e-01 6.48784996e-03 3.23589053e+01] [-9.99339627e-03 -1.12692500e-04 9.99950058e-01 -1.91363300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58999999999999 meters 0.015169672720099793 Centerline is valid? [True, True] Translation: X:85.26, Y:32.38, Z:-1.92 [[ 7.68081403e-01 -6.40315983e-01 6.81177108e-03 8.52575475e+01] [ 6.40289550e-01 7.68111600e-01 5.81905430e-03 3.23771513e+01] [-8.95823386e-03 -1.08001550e-04 9.99959868e-01 -1.91552923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61999999999999 meters 0.01715538592565492 Centerline is valid? [True, True] Translation: X:85.28, Y:32.39, Z:-1.92 [[ 7.68320933e-01 -6.40043441e-01 5.22850739e-03 8.52812132e+01] [ 6.40027861e-01 7.68338718e-01 4.46676025e-03 3.23930288e+01] [-6.87618527e-03 -8.55150043e-05 9.99976355e-01 -1.91627927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64999999999999 meters 0.016542229202116614 Centerline is valid? [True, True] Translation: X:85.30, Y:32.41, Z:-1.92 [[ 7.68747921e-01 -6.39529898e-01 5.30505590e-03 8.53037435e+01] [ 6.39513860e-01 7.68766220e-01 4.53008190e-03 3.24109407e+01] [-6.97547059e-03 -8.98342667e-05 9.99975667e-01 -1.91652653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67999999999999 meters 0.016140225325218912 Centerline is valid? [True, True] Translation: X:85.32, Y:32.43, Z:-1.92 [[ 7.69599713e-01 -6.38501262e-01 5.69387195e-03 8.53239115e+01] [ 6.38482715e-01 7.69620768e-01 4.86786353e-03 3.24304039e+01] [-7.49025911e-03 -1.10867557e-04 9.99971941e-01 -1.91894085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71 meters 0.01652611466598342 Centerline is valid? [True, True] Translation: X:85.35, Y:32.45, Z:-1.92 [[ 7.69671282e-01 -6.38423158e-01 4.68925091e-03 8.53479886e+01] [ 6.38410594e-01 7.69685561e-01 4.00621311e-03 3.24466797e+01] [-6.16690795e-03 -8.97997248e-05 9.99980980e-01 -1.91821029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74 meters 0.01730466763647219 Centerline is valid? [True, True] Translation: X:85.37, Y:32.46, Z:-1.92 [[ 7.70291532e-01 -6.37682954e-01 3.37715800e-03 8.53713950e+01] [ 6.37676432e-01 7.70298933e-01 2.88480285e-03 3.24634142e+01] [-4.44101081e-03 -6.86051471e-05 9.99990136e-01 -1.91914714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77 meters 0.017210535541284544 Centerline is valid? [True, True] Translation: X:85.39, Y:32.48, Z:-1.92 [[ 7.70424645e-01 -6.37522249e-01 3.35373468e-03 8.53927034e+01] [ 6.37515798e-01 7.70431941e-01 2.86902069e-03 3.24802807e+01] [-4.41288884e-03 -7.23054041e-05 9.99990261e-01 -1.92012347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.8 meters 0.015969736091182754 Centerline is valid? [True, True] Translation: X:85.42, Y:32.50, Z:-1.92 [[ 7.70661886e-01 -6.37231972e-01 3.95870462e-03 8.54150866e+01] [ 6.37222989e-01 7.70672049e-01 3.38462322e-03 3.24971681e+01] [-5.20765312e-03 -8.58225281e-05 9.99986436e-01 -1.91961260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83 meters 0.015525756099746069 Centerline is valid? [True, True] Translation: X:85.44, Y:32.51, Z:-1.92 [[ 7.69542905e-01 -6.38573751e-01 5.22320267e-03 8.54404521e+01] [ 6.38558105e-01 7.69560623e-01 4.47134146e-03 3.25122600e+01] [-6.87485240e-03 -1.05570695e-04 9.99976362e-01 -1.91850354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86 meters 0.015281187584181717 Centerline is valid? [True, True] Translation: X:85.46, Y:32.53, Z:-1.92 [[ 7.68678342e-01 -6.39609211e-01 5.80202287e-03 8.54644997e+01] [ 6.39589910e-01 7.68700231e-01 4.97007734e-03 3.25289028e+01] [-7.63892357e-03 -1.09475524e-04 9.99970817e-01 -1.91755027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89 meters 0.014899381777182823 Centerline is valid? [True, True] Translation: X:85.49, Y:32.55, Z:-1.92 [[ 7.67421429e-01 -6.41107042e-01 6.79055076e-03 8.54890789e+01] [ 6.41080624e-01 7.67451463e-01 5.82118520e-03 3.25454677e+01] [-8.94342094e-03 -1.14011747e-04 9.99960000e-01 -1.91691956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92 meters 0.014272367389891589 Centerline is valid? [True, True] Translation: X:85.52, Y:32.56, Z:-1.92 [[ 7.63710620e-01 -6.45500409e-01 8.67824393e-03 8.55152164e+01] [ 6.45457482e-01 7.63759920e-01 7.44471900e-03 3.25584917e+01] [-1.14336640e-02 -8.41734898e-05 9.99934630e-01 -1.91587489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95 meters 0.014068931715860824 Centerline is valid? [True, True] Translation: X:85.54, Y:32.57, Z:-1.92 [[ 7.61444809e-01 -6.48162877e-01 9.31063551e-03 8.55395975e+01] [ 6.48113616e-01 7.61501728e-01 7.99119942e-03 3.25740806e+01] [-1.22696638e-02 -5.05076661e-05 9.99924724e-01 -1.91576332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97999999999999 meters 0.013975780232448162 Centerline is valid? [True, True] Translation: X:85.56, Y:32.59, Z:-1.92 [[ 7.59186417e-01 -6.50799329e-01 9.80907009e-03 8.55640051e+01] [ 6.50744812e-01 7.59249783e-01 8.42352495e-03 3.25896425e+01] [-1.29295587e-02 -1.18242479e-05 9.99916410e-01 -1.91589157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00999999999999 meters 0.014021226976348184 Centerline is valid? [True, True] Translation: X:85.59, Y:32.60, Z:-1.92 [[ 7.55159663e-01 -6.55466493e-01 9.87723324e-03 8.55911886e+01] [ 6.55411558e-01 7.55224253e-01 8.48629188e-03 3.26027707e+01] [-1.30220061e-02 6.51475004e-05 9.99915208e-01 -1.91685755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03999999999999 meters 0.01423101595025307 Centerline is valid? [True, True] Translation: X:85.62, Y:32.62, Z:-1.92 [[ 7.53450915e-01 -6.57437073e-01 9.39215490e-03 8.56154980e+01] [ 6.57387509e-01 7.53509447e-01 8.07322429e-03 3.26188903e+01] [-1.23847144e-02 9.15070754e-05 9.99923302e-01 -1.91802590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07 meters 0.014540543857606305 Centerline is valid? [True, True] Translation: X:85.64, Y:32.64, Z:-1.92 [[ 7.51880150e-01 -6.59242363e-01 8.70329693e-03 8.56397070e+01] [ 6.59199886e-01 7.51930512e-01 7.48433130e-03 3.26356337e+01] [-1.14782628e-02 1.09892211e-04 9.99934117e-01 -1.91990546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.1 meters 0.016598091294711646 Centerline is valid? [True, True] Translation: X:85.66, Y:32.65, Z:-1.92 [[ 7.50401748e-01 -6.60940878e-01 7.37375161e-03 8.56625404e+01] [ 6.60910450e-01 7.50437967e-01 6.34301996e-03 3.26528591e+01] [-9.72590435e-03 1.13576232e-04 9.99952696e-01 -1.92169379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13 meters 0.01470877477201158 Centerline is valid? [True, True] Translation: X:85.68, Y:32.67, Z:-1.92 [[ 7.50995993e-01 -6.60268393e-01 7.11812607e-03 8.56827766e+01] [ 6.60239967e-01 7.51029719e-01 6.12749158e-03 3.26705413e+01] [-9.39171324e-03 9.79497061e-05 9.99955892e-01 -1.92305294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16 meters 0.01508567436487305 Centerline is valid? [True, True] Translation: X:85.70, Y:32.69, Z:-1.92 [[ 7.51739882e-01 -6.59424386e-01 6.82852105e-03 8.57026553e+01] [ 6.59398176e-01 7.51770891e-01 5.87985246e-03 3.26893037e+01] [-9.01080145e-03 8.25947346e-05 9.99959398e-01 -1.92444248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19 meters 0.015434060615383882 Centerline is valid? [True, True] Translation: X:85.72, Y:32.71, Z:-1.93 [[ 7.52526495e-01 -6.58526527e-01 6.83281359e-03 8.57230244e+01] [ 6.58500246e-01 7.52557512e-01 5.88368201e-03 3.27104644e+01] [-9.01664587e-03 7.17828241e-05 9.99959347e-01 -1.92523940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22 meters 0.016405913417923496 Centerline is valid? [True, True] Translation: X:85.74, Y:32.73, Z:-1.93 [[ 7.54181140e-01 -6.56631949e-01 6.72987934e-03 8.57415426e+01] [ 6.56606354e-01 7.54211165e-01 5.79773811e-03 3.27325837e+01] [-8.88273021e-03 4.63368003e-05 9.99960547e-01 -1.92660400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25 meters 0.013902631179553544 Centerline is valid? [True, True] Translation: X:85.76, Y:32.75, Z:-1.93 [[ 7.55133282e-01 -6.55530290e-01 7.33249959e-03 8.57623560e+01] [ 6.55499818e-01 7.55168881e-01 6.32062841e-03 3.27520863e+01] [-9.68063888e-03 3.35352694e-05 9.99953141e-01 -1.92652616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28 meters 0.013902631179553544 Centerline is valid? [True, True] Translation: X:85.78, Y:32.77, Z:-1.93 [[ 7.54948396e-01 -6.55743222e-01 7.33119489e-03 8.57832102e+01] [ 6.55712745e-01 7.54983991e-01 6.32214105e-03 3.27701752e+01] [-9.68063591e-03 3.42676874e-05 9.99953141e-01 -1.92709262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31 meters 0.015013844276419754 Centerline is valid? [True, True] Translation: X:85.80, Y:32.79, Z:-1.93 [[ 7.54731770e-01 -6.55993126e-01 7.27835042e-03 8.58045843e+01] [ 6.55963065e-01 7.54766863e-01 6.28008191e-03 3.27878317e+01] [-9.61314827e-03 3.45517128e-05 9.99953792e-01 -1.92760409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33999999999999 meters 0.01392579517265287 Centerline is valid? [True, True] Translation: X:85.83, Y:32.81, Z:-1.93 [[ 7.54962020e-01 -6.55720051e-01 7.97261298e-03 8.58266706e+01] [ 6.55683890e-01 7.55004115e-01 6.88639563e-03 3.28054314e+01] [-1.05349033e-02 2.85467386e-05 9.99944506e-01 -1.92819247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36999999999999 meters 0.013829082574262587 Centerline is valid? [True, True] Translation: X:85.85, Y:32.82, Z:-1.93 [[ 7.54911491e-01 -6.55776184e-01 8.13859619e-03 8.58468384e+01] [ 6.55738500e-01 7.54955360e-01 7.03021276e-03 3.28228288e+01] [-1.07545229e-02 2.96024579e-05 9.99942168e-01 -1.92917669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39999999999999 meters 0.015607710909368678 Centerline is valid? [True, True] Translation: X:85.87, Y:32.84, Z:-1.93 [[ 7.54989181e-01 -6.55688039e-01 8.03322994e-03 8.58680246e+01] [ 6.55651316e-01 7.55031917e-01 6.93953085e-03 3.28414300e+01] [-1.06155124e-02 2.77270641e-05 9.99943653e-01 -1.92989019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42999999999999 meters 0.014601078416089498 Centerline is valid? [True, True] Translation: X:85.89, Y:32.86, Z:-1.93 [[ 7.55875500e-01 -6.54661047e-01 8.43458537e-03 8.58883473e+01] [ 6.54620424e-01 7.55922558e-01 7.29291593e-03 3.28600099e+01] [-1.11502813e-02 8.91538038e-06 9.99937834e-01 -1.93065462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46 meters 0.016457016407432135 Centerline is valid? [True, True] Translation: X:85.91, Y:32.88, Z:-1.93 [[ 7.58144166e-01 -6.52032493e-01 8.42918494e-03 8.59081661e+01] [ 6.51991761e-01 7.58191023e-01 7.28806965e-03 3.28799032e+01] [-1.11429906e-02 -2.96483567e-05 9.99937915e-01 -1.93175140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49 meters 0.01687573952849253 Centerline is valid? [True, True] Translation: X:85.93, Y:32.90, Z:-1.93 [[ 7.59730774e-01 -6.50186008e-01 8.20399267e-03 8.59293346e+01] [ 6.50147271e-01 7.59775067e-01 7.09744984e-03 3.28996700e+01] [-1.08478516e-02 -5.83476148e-05 9.99941159e-01 -1.93158009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52 meters 0.016737966090863626 Centerline is valid? [True, True] Translation: X:85.95, Y:32.92, Z:-1.93 [[ 7.61555513e-01 -6.48051811e-01 7.87727180e-03 8.59488470e+01] [ 6.48015929e-01 7.61596246e-01 6.82008178e-03 3.29196147e+01] [-1.04190670e-02 -8.92732732e-05 9.99945716e-01 -1.93233109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55 meters 0.017479888354427105 Centerline is valid? [True, True] Translation: X:85.97, Y:32.94, Z:-1.93 [[ 7.65542273e-01 -6.43333889e-01 8.15688473e-03 8.59679590e+01] [ 6.43295154e-01 7.65585712e-01 7.06141145e-03 3.29421697e+01] [-1.07876397e-02 -1.58524557e-04 9.99941799e-01 -1.93205921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58 meters 0.017543757891367067 Centerline is valid? [True, True] Translation: X:85.99, Y:32.96, Z:-1.93 [[ 7.67436504e-01 -6.41069959e-01 8.39764190e-03 8.59874004e+01] [ 6.41028724e-01 7.67482422e-01 7.27369111e-03 3.29634566e+01] [-1.11079874e-02 -1.98966403e-04 9.99938285e-01 -1.93259230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61 meters 0.016539771725868988 Centerline is valid? [True, True] Translation: X:86.01, Y:32.99, Z:-1.93 [[ 7.69164076e-01 -6.38987364e-01 9.04286860e-03 8.60072199e+01] [ 6.38939351e-01 7.69217190e-01 7.83703296e-03 3.29853591e+01] [-1.19636950e-02 -2.50119609e-04 9.99928401e-01 -1.93274159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64 meters 0.02021998438445602 Centerline is valid? [True, True] Translation: X:86.03, Y:33.01, Z:-1.93 [[ 7.71500260e-01 -6.36160611e-01 9.32882864e-03 8.60258934e+01] [ 6.36109232e-01 7.71556597e-01 8.09083763e-03 3.30073094e+01] [-1.23447915e-02 -3.07929308e-04 9.99923753e-01 -1.93457328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67 meters 0.017992529188178882 Centerline is valid? [True, True] Translation: X:86.05, Y:33.03, Z:-1.93 [[ 7.72096692e-01 -6.35427290e-01 9.94267590e-03 8.60465954e+01] [ 6.35368866e-01 7.72160633e-01 8.62329674e-03 3.30271545e+01] [-1.31568210e-02 -3.40752177e-04 9.99913387e-01 -1.93424084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.7 meters 0.01810920659745455 Centerline is valid? [True, True] Translation: X:86.07, Y:33.04, Z:-1.94 [[ 7.71844614e-01 -6.35733426e-01 9.94496598e-03 8.60666522e+01] [ 6.35674928e-01 7.71908605e-01 8.63082767e-03 3.30447915e+01] [-1.31635105e-02 -3.39892315e-04 9.99913299e-01 -1.93500934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72999999999999 meters 0.019289332505310206 Centerline is valid? [True, True] Translation: X:86.09, Y:33.06, Z:-1.94 [[ 7.70950079e-01 -6.36820909e-01 9.75221226e-03 8.60898658e+01] [ 6.36764735e-01 7.71011693e-01 8.46415782e-03 3.30621708e+01] [-1.29092224e-02 -3.15578286e-04 9.99916623e-01 -1.93615021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75999999999999 meters 0.019610203777931174 Centerline is valid? [True, True] Translation: X:86.11, Y:33.08, Z:-1.94 [[ 7.69542579e-01 -6.38524454e-01 9.52578731e-03 8.61133072e+01] [ 6.38470938e-01 7.69601483e-01 8.27160927e-03 3.30787781e+01] [-1.26126848e-02 -2.83417174e-04 9.99920417e-01 -1.93627942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78999999999999 meters 0.017739607679320528 Centerline is valid? [True, True] Translation: X:86.14, Y:33.10, Z:-1.94 [[ 7.68862561e-01 -6.39338037e-01 9.86087043e-03 8.61359825e+01] [ 6.39280698e-01 7.68925740e-01 8.56711211e-03 3.30968877e+01] [-1.30595577e-02 -2.83067629e-04 9.99914680e-01 -1.93661201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82 meters 0.017293618872398903 Centerline is valid? [True, True] Translation: X:86.16, Y:33.12, Z:-1.94 [[ 7.68082186e-01 -6.40280583e-01 9.51477241e-03 8.61579658e+01] [ 6.40227220e-01 7.68141072e-01 8.27037331e-03 3.31150813e+01] [-1.26040469e-02 -2.60710115e-04 9.99920532e-01 -1.93731198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85 meters 0.015944152364071748 Centerline is valid? [True, True] Translation: X:86.18, Y:33.13, Z:-1.94 [[ 7.67293022e-01 -6.41232877e-01 9.04522711e-03 8.61809483e+01] [ 6.41184674e-01 7.67346299e-01 7.86585132e-03 3.31327299e+01] [-1.19846640e-02 -2.35751827e-04 9.99928154e-01 -1.93818742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88 meters 0.01627855642675537 Centerline is valid? [True, True] Translation: X:86.20, Y:33.15, Z:-1.94 [[ 7.66725581e-01 -6.41924154e-01 8.07866872e-03 8.62015641e+01] [ 6.41885693e-01 7.66768113e-01 7.02978949e-03 3.31508312e+01] [-1.07070572e-02 -2.04337559e-04 9.99942657e-01 -1.94035261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91 meters 0.016572254299958847 Centerline is valid? [True, True] Translation: X:86.22, Y:33.17, Z:-1.94 [[ 7.65581368e-01 -6.43299442e-01 7.14119999e-03 8.62244952e+01] [ 6.43269455e-01 7.65614656e-01 6.21342787e-03 3.31686420e+01] [-9.46450205e-03 -1.63168779e-04 9.99955197e-01 -1.94239738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94 meters 0.01712815751889132 Centerline is valid? [True, True] Translation: X:86.25, Y:33.18, Z:-1.94 [[ 7.62892216e-01 -6.46502796e-01 5.44076558e-03 8.62496765e+01] [ 6.46485463e-01 7.62911611e-01 4.73497292e-03 3.31844943e+01] [-7.21199646e-03 -9.48981373e-05 9.99973989e-01 -1.94480311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97 meters 0.015984759261126597 Centerline is valid? [True, True] Translation: X:86.27, Y:33.20, Z:-1.94 [[ 7.61091292e-01 -6.48623087e-01 5.30442826e-03 8.62734861e+01] [ 6.48606652e-01 7.61109773e-01 4.61786022e-03 3.32008338e+01] [-7.03250294e-03 -7.41257475e-05 9.99975269e-01 -1.94433270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.0 meters 0.014430969854329236 Centerline is valid? [True, True] Translation: X:86.30, Y:33.22, Z:-1.94 [[ 7.59423995e-01 -6.50576212e-01 5.07825486e-03 8.62968245e+01] [ 6.50561180e-01 7.59440972e-01 4.42288597e-03 3.32180644e+01] [-6.73405921e-03 -5.51302560e-05 9.99977324e-01 -1.94374401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03 meters 0.014204701514734536 Centerline is valid? [True, True] Translation: X:86.32, Y:33.24, Z:-1.94 [[ 7.58083600e-01 -6.52130649e-01 5.90532062e-03 8.63192799e+01] [ 6.52110339e-01 7.58106598e-01 5.14692562e-03 3.32365923e+01] [-7.83333047e-03 -5.08792703e-05 9.99969318e-01 -1.94301115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06 meters 0.015758191993114564 Centerline is valid? [True, True] Translation: X:86.34, Y:33.25, Z:-1.94 [[ 7.56564725e-01 -6.53889551e-01 6.18645664e-03 8.63416955e+01] [ 6.53867296e-01 7.56590017e-01 5.39497704e-03 3.32549662e+01] [-8.20833045e-03 -3.65276506e-05 9.99966310e-01 -1.94338578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08999999999999 meters 0.01410468620433562 Centerline is valid? [True, True] Translation: X:86.36, Y:33.27, Z:-1.94 [[ 7.54220279e-01 -6.56586819e-01 6.74681543e-03 8.63638392e+01] [ 6.56560409e-01 7.54250455e-01 5.88903846e-03 3.32719913e+01] [-8.95545364e-03 -1.19403278e-05 9.99959899e-01 -1.94191378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11999999999999 meters 0.01444483946903698 Centerline is valid? [True, True] Translation: X:86.39, Y:33.29, Z:-1.94 [[ 7.52536238e-01 -6.58512375e-01 7.11778737e-03 8.63856151e+01] [ 6.58483069e-01 7.52569899e-01 6.21246375e-03 3.32895484e+01] [-9.44761678e-03 1.18383758e-05 9.99955370e-01 -1.94190077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14999999999999 meters 0.014140165284967076 Centerline is valid? [True, True] Translation: X:86.41, Y:33.31, Z:-1.94 [[ 7.51211411e-01 -6.60018146e-01 7.58046293e-03 8.64076360e+01] [ 6.59984940e-01 7.51249656e-01 6.62057378e-03 3.33070962e+01] [-1.00645190e-02 2.95408056e-05 9.99949351e-01 -1.94156335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17999999999999 meters 0.01675440315995798 Centerline is valid? [True, True] Translation: X:86.43, Y:33.32, Z:-1.94 [[ 7.48073014e-01 -6.63558840e-01 8.74249609e-03 8.64301995e+01] [ 6.63514851e-01 7.48124093e-01 7.64089011e-03 3.33235937e+01] [-1.16106521e-02 8.48322997e-05 9.99932591e-01 -1.94077797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21 meters 0.01580325591992956 Centerline is valid? [True, True] Translation: X:86.45, Y:33.34, Z:-1.94 [[ 7.47015822e-01 -6.64741794e-01 9.25793380e-03 8.64513968e+01] [ 6.64692493e-01 7.47073180e-01 8.09652038e-03 3.33417512e+01] [-1.22984495e-02 1.05450270e-04 9.99924366e-01 -1.94053071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24 meters 0.015983766314600543 Centerline is valid? [True, True] Translation: X:86.47, Y:33.36, Z:-1.94 [[ 7.46124002e-01 -6.65740077e-01 9.44049445e-03 8.64724475e+01] [ 6.65688831e-01 7.46183714e-01 8.26103719e-03 3.33608616e+01] [-1.25440467e-02 1.20673587e-04 9.99921313e-01 -1.94108007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27 meters 0.014721000317279926 Centerline is valid? [True, True] Translation: X:86.49, Y:33.38, Z:-1.94 [[ 7.45876636e-01 -6.66019006e-01 9.31280640e-03 8.64917614e+01] [ 6.65969080e-01 7.45934763e-01 8.15566620e-03 3.33804696e+01] [-1.23785747e-02 1.18920235e-04 9.99923375e-01 -1.94193130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.3 meters 0.017441395820654515 Centerline is valid? [True, True] Translation: X:86.51, Y:33.40, Z:-1.94 [[ 7.45665463e-01 -6.66265164e-01 8.58773677e-03 8.65126236e+01] [ 6.66222725e-01 7.45714904e-01 7.52077450e-03 3.34002930e+01] [-1.14148334e-02 1.13363598e-04 9.99934842e-01 -1.94382666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33 meters 0.014687602241563905 Centerline is valid? [True, True] Translation: X:86.53, Y:33.42, Z:-1.94 [[ 7.46653191e-01 -6.65166390e-01 7.91738351e-03 8.65322278e+01] [ 6.65130212e-01 7.46695162e-01 6.93795836e-03 3.34190634e+01] [-1.05267687e-02 8.58422198e-05 9.99944588e-01 -1.94418895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36 meters 0.014514756253423081 Centerline is valid? [True, True] Translation: X:86.55, Y:33.44, Z:-1.95 [[ 7.47275789e-01 -6.64472203e-01 7.45563998e-03 8.65526050e+01] [ 6.64440088e-01 7.47312977e-01 6.53321109e-03 3.34387621e+01] [-9.91283368e-03 7.17156086e-05 9.99950864e-01 -1.94517679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39 meters 0.014321047419829869 Centerline is valid? [True, True] Translation: X:86.57, Y:33.46, Z:-1.95 [[ 7.48873660e-01 -6.62684084e-01 6.16814809e-03 8.65723599e+01] [ 6.62662028e-01 7.48899061e-01 5.40677249e-03 3.34587178e+01] [-8.20230239e-03 3.84080178e-05 9.99966360e-01 -1.94627964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42 meters 0.014209197462353496 Centerline is valid? [True, True] Translation: X:86.59, Y:33.48, Z:-1.95 [[ 7.49524143e-01 -6.61948565e-01 6.13655071e-03 8.65927479e+01] [ 6.61926685e-01 7.49549262e-01 5.38206851e-03 3.34783137e+01] [-8.16229958e-03 2.79563833e-05 9.99966687e-01 -1.94703816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45 meters 0.016766597386473136 Centerline is valid? [True, True] Translation: X:86.61, Y:33.50, Z:-1.95 [[ 7.49884591e-01 -6.61541210e-01 6.02721417e-03 8.66128450e+01] [ 6.61520067e-01 7.49908812e-01 5.28905902e-03 3.34973912e+01] [-8.01879152e-03 2.09392571e-05 9.99967849e-01 -1.94903807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47999999999999 meters 0.013962152568196093 Centerline is valid? [True, True] Translation: X:86.63, Y:33.52, Z:-1.95 [[ 7.51802863e-01 -6.59346396e-01 7.40169403e-03 8.66323141e+01] [ 6.59314321e-01 7.51839298e-01 6.50353795e-03 3.35175590e+01] [-9.85296875e-03 -9.33557759e-06 9.99951458e-01 -1.94774715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50999999999999 meters 0.013959762548044062 Centerline is valid? [True, True] Translation: X:86.65, Y:33.54, Z:-1.95 [[ 7.52448189e-01 -6.58601869e-01 8.08086225e-03 8.66527608e+01] [ 6.58563606e-01 7.52491580e-01 7.09923835e-03 3.35365266e+01] [-1.07563524e-02 -2.00472545e-05 9.99942149e-01 -1.94702988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53999999999999 meters 0.013891366978091846 Centerline is valid? [True, True] Translation: X:86.67, Y:33.56, Z:-1.95 [[ 7.53159574e-01 -6.57774875e-01 9.10322701e-03 8.66733711e+01] [ 6.57726191e-01 7.53214585e-01 8.00287070e-03 3.35552394e+01] [-1.21207706e-02 -4.00078623e-05 9.99926540e-01 -1.94601178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57 meters 0.016060844693319056 Centerline is valid? [True, True] Translation: X:86.69, Y:33.57, Z:-1.95 [[ 7.53688826e-01 -6.57160405e-01 9.66208479e-03 8.66934882e+01] [ 6.57105418e-01 7.53750753e-01 8.50127135e-03 3.35730555e+01] [-1.28695026e-02 -5.83049599e-05 9.99917183e-01 -1.94680840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.6 meters 0.016362083057245687 Centerline is valid? [True, True] Translation: X:86.71, Y:33.59, Z:-1.95 [[ 7.55104603e-01 -6.55514900e-01 1.08284146e-02 8.67139865e+01] [ 6.55445645e-01 7.55182233e-01 9.52896493e-03 3.35918326e+01] [-1.44238048e-02 -9.79281198e-05 9.99895967e-01 -1.94559857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63 meters 0.01485464341591547 Centerline is valid? [True, True] Translation: X:86.73, Y:33.61, Z:-1.94 [[ 7.56025373e-01 -6.54444567e-01 1.13112418e-02 8.67348358e+01] [ 6.54368782e-01 7.56109973e-01 9.96020052e-03 3.36114157e+01] [-1.50709418e-02 -1.28440801e-04 9.99886419e-01 -1.94485496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66 meters 0.019076680163885574 Centerline is valid? [True, True] Translation: X:86.76, Y:33.63, Z:-1.95 [[ 7.57321651e-01 -6.52936557e-01 1.17375389e-02 8.67553304e+01] [ 6.52854684e-01 7.57412585e-01 1.03410650e-02 3.36313857e+01] [-1.56422191e-02 -1.68605161e-04 9.99877639e-01 -1.94759979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69 meters 0.017444933529978657 Centerline is valid? [True, True] Translation: X:86.78, Y:33.65, Z:-1.95 [[ 7.58192401e-01 -6.51930052e-01 1.14669342e-02 8.67757224e+01] [ 6.51851703e-01 7.58279085e-01 1.01087048e-02 3.36510925e+01] [-1.52853048e-02 -1.89602571e-04 9.99883155e-01 -1.94789421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72 meters 0.015601229588096248 Centerline is valid? [True, True] Translation: X:86.80, Y:33.67, Z:-1.95 [[ 7.59126596e-01 -6.50847388e-01 1.11574519e-02 8.67971787e+01] [ 6.50773087e-01 7.59208558e-01 9.83636059e-03 3.36709162e+01] [-1.48728026e-02 -2.06073511e-04 9.99889373e-01 -1.94807522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75 meters 0.017017734026088215 Centerline is valid? [True, True] Translation: X:86.82, Y:33.69, Z:-1.95 [[ 7.60582551e-01 -6.49161358e-01 1.01840049e-02 8.68167345e+01] [ 6.49099239e-01 7.60650697e-01 8.98310034e-03 3.36902189e+01] [-1.35779520e-02 -2.21959553e-04 9.99907791e-01 -1.95096118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78 meters 0.015467789055869116 Centerline is valid? [True, True] Translation: X:86.84, Y:33.71, Z:-1.95 [[ 7.61399072e-01 -6.48216203e-01 9.33847011e-03 8.68390580e+01] [ 6.48163893e-01 7.61456306e-01 8.23784053e-03 3.37091722e+01] [-1.24507387e-02 -2.19424995e-04 9.99922462e-01 -1.95090530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81 meters 0.018382310086595542 Centerline is valid? [True, True] Translation: X:86.86, Y:33.73, Z:-1.95 [[ 7.61483796e-01 -6.48128980e-01 8.44119184e-03 8.68594747e+01] [ 6.48086177e-01 7.61530553e-01 7.45143265e-03 3.37276002e+01] [-1.12577149e-02 -2.03525469e-04 9.99936609e-01 -1.95427341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83999999999999 meters 0.01598282304717655 Centerline is valid? [True, True] Translation: X:86.88, Y:33.75, Z:-1.95 [[ 7.62225037e-01 -6.47270279e-01 7.36062969e-03 8.68816782e+01] [ 6.47237707e-01 7.62260553e-01 6.49614184e-03 3.37459316e+01] [-9.81547720e-03 -1.87444876e-04 9.99951809e-01 -1.95421445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86999999999999 meters 0.015954883404590333 Centerline is valid? [True, True] Translation: X:86.90, Y:33.76, Z:-1.96 [[ 7.61740315e-01 -6.47844906e-01 6.97640717e-03 8.69034293e+01] [ 6.47815650e-01 7.61772241e-01 6.15921671e-03 3.37639814e+01] [-9.30465050e-03 -1.72297927e-04 9.99956696e-01 -1.95517458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89999999999999 meters 0.017559699371650785 Centerline is valid? [True, True] Translation: X:86.93, Y:33.78, Z:-1.96 [[ 7.60623508e-01 -6.49160021e-01 6.56855098e-03 8.69262404e+01] [ 6.49134105e-01 7.60651855e-01 5.80250485e-03 3.37814752e+01] [-8.76313466e-03 -1.49651138e-04 9.99961592e-01 -1.95749243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92999999999999 meters 0.01740758924479162 Centerline is valid? [True, True] Translation: X:86.95, Y:33.80, Z:-1.96 [[ 7.59741793e-01 -6.50194470e-01 6.28965079e-03 8.69478358e+01] [ 6.50170700e-01 7.59767815e-01 5.56125918e-03 3.37983874e+01] [-8.39457420e-03 -1.35774358e-04 9.99964756e-01 -1.95840765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96 meters 0.015383725542336956 Centerline is valid? [True, True] Translation: X:86.97, Y:33.81, Z:-1.96 [[ 7.57027358e-01 -6.53355163e-01 6.05057854e-03 8.69733031e+01] [ 6.53333281e-01 7.57051532e-01 5.34806692e-03 3.38137962e+01] [-8.07478689e-03 -9.55886376e-05 9.99967394e-01 -1.95792852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99 meters 0.014519329544307388 Centerline is valid? [True, True] Translation: X:87.00, Y:33.83, Z:-1.96 [[ 7.55551749e-01 -6.55059377e-01 6.22635926e-03 8.69960512e+01] [ 6.55036238e-01 7.55577399e-01 5.50645639e-03 3.38309472e+01] [-8.31155222e-03 -8.19218100e-05 9.99965455e-01 -1.95788360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02 meters 0.014070888117976786 Centerline is valid? [True, True] Translation: X:87.02, Y:33.85, Z:-1.96 [[ 7.53771339e-01 -6.57105391e-01 6.42448136e-03 8.70202307e+01] [ 6.57080802e-01 7.53798714e-01 5.68492502e-03 3.38480088e+01] [-8.57836066e-03 -6.37301777e-05 9.99963203e-01 -1.95730239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05 meters 0.015278454142679757 Centerline is valid? [True, True] Translation: X:87.04, Y:33.87, Z:-1.96 [[ 7.51767955e-01 -6.59391754e-01 6.88880393e-03 8.70434837e+01] [ 6.59363550e-01 7.51799516e-01 6.09885682e-03 3.38655220e+01] [-9.20053536e-03 -4.26989084e-05 9.99957673e-01 -1.95838080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08 meters 0.013616680760486985 Centerline is valid? [True, True] Translation: X:87.07, Y:33.88, Z:-1.96 [[ 7.49243871e-01 -6.62248073e-01 7.81741913e-03 8.70672255e+01] [ 6.62211863e-01 7.49284652e-01 6.92526550e-03 3.38822185e+01] [-1.04437159e-02 -1.19250423e-05 9.99945463e-01 -1.95590106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11 meters 0.013594377246117758 Centerline is valid? [True, True] Translation: X:87.09, Y:33.90, Z:-1.96 [[ 7.47877902e-01 -6.63785844e-01 8.18516444e-03 8.70894073e+01] [ 6.63746200e-01 7.47922692e-01 7.25457999e-03 3.39002918e+01] [-1.09373577e-02 7.33172997e-06 9.99940185e-01 -1.95594107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14 meters 0.013658632143137514 Centerline is valid? [True, True] Translation: X:87.11, Y:33.92, Z:-1.96 [[ 7.46021714e-01 -6.65862786e-01 8.85165811e-03 8.71107878e+01] [ 6.65816495e-01 7.46074225e-01 7.85154475e-03 3.39176795e+01] [-1.18320454e-02 3.61571080e-05 9.99929998e-01 -1.95596202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17 meters 0.013624851953391205 Centerline is valid? [True, True] Translation: X:87.13, Y:33.94, Z:-1.96 [[ 7.45377373e-01 -6.66581337e-01 9.04953575e-03 8.71314872e+01] [ 6.66532978e-01 7.45432304e-01 8.02930711e-03 3.39367271e+01] [-1.20980025e-02 4.69501801e-05 9.99926815e-01 -1.95542110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.2 meters 0.013624851953391205 Centerline is valid? [True, True] Translation: X:87.15, Y:33.96, Z:-1.96 [[ 7.45186899e-01 -6.66794296e-01 9.04723723e-03 8.71520884e+01] [ 6.66745921e-01 7.45241817e-01 8.03189567e-03 3.39551108e+01] [-1.20980017e-02 4.69450890e-05 9.99926815e-01 -1.95598721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22999999999999 meters 0.01369272140586974 Centerline is valid? [True, True] Translation: X:87.17, Y:33.97, Z:-1.96 [[ 7.44720270e-01 -6.67314733e-01 9.09762439e-03 8.71720380e+01] [ 6.67265783e-01 7.44775835e-01 8.08274320e-03 3.39737631e+01] [-1.21694244e-02 5.11507672e-05 9.99925949e-01 -1.95681389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25999999999999 meters 0.013784843282847027 Centerline is valid? [True, True] Translation: X:87.19, Y:33.99, Z:-1.96 [[ 7.44604189e-01 -6.67443674e-01 9.14021265e-03 8.71920153e+01] [ 6.67394246e-01 7.44660285e-01 8.12284996e-03 3.39921874e+01] [-1.22278982e-02 5.18172289e-05 9.99925235e-01 -1.95804940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28999999999999 meters 0.013680646432665205 Centerline is valid? [True, True] Translation: X:87.21, Y:34.01, Z:-1.96 [[ 7.44602722e-01 -6.67445760e-01 9.10738668e-03 8.72125841e+01] [ 6.67396660e-01 7.44658415e-01 8.09587990e-03 3.40120526e+01] [-1.21854528e-02 5.00252357e-05 9.99925753e-01 -1.95873617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32 meters 0.013645862314899388 Centerline is valid? [True, True] Translation: X:87.23, Y:34.03, Z:-1.96 [[ 7.44753592e-01 -6.67286674e-01 8.40132659e-03 8.72317903e+01] [ 6.67244843e-01 7.44800975e-01 7.47173554e-03 3.40320714e+01] [-1.12431058e-02 4.11399585e-05 9.99936793e-01 -1.95968584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35 meters 0.01360608022817667 Centerline is valid? [True, True] Translation: X:87.25, Y:34.05, Z:-1.96 [[ 7.44953327e-01 -6.67070203e-01 7.86667396e-03 8.72519138e+01] [ 6.67033480e-01 7.44994861e-01 6.99957485e-03 3.40515359e+01] [-1.05298395e-02 3.29783380e-05 9.99944559e-01 -1.96028116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38 meters 0.013528498393846221 Centerline is valid? [True, True] Translation: X:87.27, Y:34.07, Z:-1.96 [[ 7.45010261e-01 -6.67011279e-01 7.46094444e-03 8.72712241e+01] [ 6.66978192e-01 7.45047618e-01 6.64368804e-03 3.40700060e+01] [-9.99017373e-03 2.66714705e-05 9.99950097e-01 -1.96183792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41 meters 0.01355896325939144 Centerline is valid? [True, True] Translation: X:87.29, Y:34.09, Z:-1.96 [[ 7.44986791e-01 -6.67046342e-01 6.62263556e-03 8.72918084e+01] [ 6.67020273e-01 7.45016226e-01 5.89729165e-03 3.40901918e+01] [-8.86773778e-03 2.40277957e-05 9.99960681e-01 -1.96287933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44 meters 0.013666392071798737 Centerline is valid? [True, True] Translation: X:87.31, Y:34.11, Z:-1.96 [[ 7.44789619e-01 -6.67267294e-01 6.54076708e-03 8.73115754e+01] [ 6.67241837e-01 7.44818339e-01 5.82860035e-03 3.41083398e+01] [-8.76091766e-03 2.31924108e-05 9.99961622e-01 -1.96420487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47 meters 0.013563905456348441 Centerline is valid? [True, True] Translation: X:87.33, Y:34.13, Z:-1.96 [[ 7.44369769e-01 -6.67735138e-01 6.59035177e-03 8.73319302e+01] [ 6.67709313e-01 7.44398942e-01 5.87263524e-03 3.41273899e+01] [-8.82721578e-03 2.90271206e-05 9.99961039e-01 -1.96361460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.5 meters 0.013593445809006219 Centerline is valid? [True, True] Translation: X:87.35, Y:34.15, Z:-1.96 [[ 7.43587183e-01 -6.68600831e-01 7.14353362e-03 8.73528633e+01] [ 6.68570488e-01 7.43621495e-01 6.36991712e-03 3.41462624e+01] [-9.57101703e-03 3.93670272e-05 9.99954196e-01 -1.96367012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53 meters 0.013717598142620595 Centerline is valid? [True, True] Translation: X:87.37, Y:34.16, Z:-1.96 [[ 7.41703019e-01 -6.70681754e-01 7.91306519e-03 8.73735136e+01] [ 6.70644564e-01 7.41745226e-01 7.06324204e-03 3.41633035e+01] [-1.06066659e-02 6.80262069e-05 9.99943745e-01 -1.96298020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56 meters 0.013824887286824582 Centerline is valid? [True, True] Translation: X:87.40, Y:34.18, Z:-1.96 [[ 7.40262590e-01 -6.72263164e-01 8.57533527e-03 8.73953816e+01] [ 6.72219590e-01 7.40312251e-01 7.65469828e-03 3.41816856e+01] [-1.14943974e-02 9.80215814e-05 9.99933932e-01 -1.96258693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58999999999999 meters 0.014769069670460981 Centerline is valid? [True, True] Translation: X:87.42, Y:34.20, Z:-1.96 [[ 7.38627637e-01 -6.74050966e-01 9.19285553e-03 8.74168564e+01] [ 6.74000943e-01 7.38684830e-01 8.21283167e-03 3.41995752e+01] [-1.23264900e-02 1.29768846e-04 9.99924018e-01 -1.96327133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61999999999999 meters 0.014599791585836075 Centerline is valid? [True, True] Translation: X:87.44, Y:34.22, Z:-1.96 [[ 7.35428492e-01 -6.77528829e-01 9.98093642e-03 8.74388133e+01] [ 6.77470162e-01 7.35496189e-01 8.91821029e-03 3.42179815e+01] [-1.33832853e-02 2.03080675e-04 9.99910419e-01 -1.96249063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64999999999999 meters 0.016081198195975567 Centerline is valid? [True, True] Translation: X:87.46, Y:34.24, Z:-1.96 [[ 7.33680241e-01 -6.79420461e-01 1.00569127e-02 8.74605270e+01] [ 6.79360993e-01 7.33749127e-01 8.99214927e-03 3.42355597e+01] [-1.34887011e-02 2.34911946e-04 9.99908996e-01 -1.96419995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67999999999999 meters 0.01767393934935091 Centerline is valid? [True, True] Translation: X:87.48, Y:34.25, Z:-1.97 [[ 7.31853527e-01 -6.81388429e-01 1.00112221e-02 8.74827259e+01] [ 6.81329683e-01 7.31921947e-01 8.95135447e-03 3.42542719e+01] [-1.34267825e-02 2.69862447e-04 9.99909820e-01 -1.96539191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71 meters 0.016166116747459335 Centerline is valid? [True, True] Translation: X:87.50, Y:34.27, Z:-1.96 [[ 7.30995041e-01 -6.82303252e-01 1.04174148e-02 8.75045052e+01] [ 6.82239667e-01 7.31069207e-01 9.31940234e-03 3.42734647e+01] [-1.39745097e-02 2.94736736e-04 9.99902308e-01 -1.96390872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74 meters 0.018441133127248596 Centerline is valid? [True, True] Translation: X:87.53, Y:34.29, Z:-1.97 [[ 7.29035950e-01 -6.84395584e-01 1.04531018e-02 8.75258398e+01] [ 6.84331712e-01 7.29110810e-01 9.35594217e-03 3.42930412e+01] [-1.40246350e-02 3.32570836e-04 9.99901595e-01 -1.96566438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77 meters 0.016311564837443407 Centerline is valid? [True, True] Translation: X:87.55, Y:34.31, Z:-1.96 [[ 7.29243905e-01 -6.84176557e-01 1.02842469e-02 8.75454483e+01] [ 6.84114635e-01 7.29316349e-01 9.21025867e-03 3.43116170e+01] [-1.38019125e-02 3.19078823e-04 9.99904698e-01 -1.96460654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.8 meters 0.01945062451499031 Centerline is valid? [True, True] Translation: X:87.57, Y:34.33, Z:-1.97 [[ 7.28428036e-01 -6.85053512e-01 9.70994025e-03 8.75663811e+01] [ 6.84998375e-01 7.28492681e-01 8.69713673e-03 3.43310426e+01] [-1.30316245e-02 3.16055070e-04 9.99915035e-01 -1.96810772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83 meters 0.015619703688153328 Centerline is valid? [True, True] Translation: X:87.59, Y:34.35, Z:-1.97 [[ 7.30355926e-01 -6.83011606e-01 8.68147272e-03 8.75850768e+01] [ 6.82967351e-01 7.30407479e-01 7.77899424e-03 3.43536180e+01] [-1.16541560e-02 2.47727889e-04 9.99932057e-01 -1.96734508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86 meters 0.015544373803209655 Centerline is valid? [True, True] Translation: X:87.60, Y:34.37, Z:-1.97 [[ 7.31427491e-01 -6.81874131e-01 7.84186635e-03 8.76044760e+01] [ 6.81837904e-01 7.31469499e-01 7.03168043e-03 3.43731834e+01] [-1.05308070e-02 2.03717341e-04 9.99944529e-01 -1.96863604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89 meters 0.01494265034680754 Centerline is valid? [True, True] Translation: X:87.62, Y:34.39, Z:-1.97 [[ 7.32193823e-01 -6.81056645e-01 7.35208719e-03 8.76242380e+01] [ 6.81024774e-01 7.32230711e-01 6.59116132e-03 3.43943042e+01] [-9.87237824e-03 1.80945919e-04 9.99951251e-01 -1.96922258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92 meters 0.015951870256749864 Centerline is valid? [True, True] Translation: X:87.64, Y:34.41, Z:-1.97 [[ 7.33052257e-01 -6.80136917e-01 6.93991537e-03 8.76442552e+01] [ 6.80108438e-01 7.33085090e-01 6.22595887e-03 3.44137777e+01] [-9.32205296e-03 1.55941799e-04 9.99956537e-01 -1.97112758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95 meters 0.015541942766967751 Centerline is valid? [True, True] Translation: X:87.66, Y:34.44, Z:-1.97 [[ 7.35029670e-01 -6.78004268e-01 6.44954578e-03 8.76637384e+01] [ 6.77979591e-01 7.35057955e-01 5.78590451e-03 3.44359351e+01] [-8.66365789e-03 1.19848927e-04 9.99962463e-01 -1.97187214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97999999999999 meters 0.014134609967011933 Centerline is valid? [True, True] Translation: X:87.68, Y:34.46, Z:-1.97 [[ 7.36204478e-01 -6.76730061e-01 6.27628011e-03 8.76841048e+01] [ 6.76706623e-01 7.36231224e-01 5.63306020e-03 3.44563917e+01] [-8.43285456e-03 1.00116182e-04 9.99964438e-01 -1.97160159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00999999999999 meters 0.013999830027172503 Centerline is valid? [True, True] Translation: X:87.70, Y:34.48, Z:-1.97 [[ 7.37092276e-01 -6.75762167e-01 6.36158363e-03 8.77049973e+01] [ 6.75738027e-01 7.37119723e-01 5.71259300e-03 3.44766928e+01] [-8.54960299e-03 8.80557959e-05 9.99963448e-01 -1.97203006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03999999999999 meters 0.014817619243451428 Centerline is valid? [True, True] Translation: X:87.72, Y:34.50, Z:-1.97 [[ 7.38923692e-01 -6.73754774e-01 6.80314794e-03 8.77245918e+01] [ 6.73727026e-01 7.38955006e-01 6.11505857e-03 3.44971563e+01] [-9.14727013e-03 6.49029744e-05 9.99958161e-01 -1.97260401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07 meters 0.013498154435457672 Centerline is valid? [True, True] Translation: X:87.74, Y:34.52, Z:-1.97 [[ 7.40530497e-01 -6.71984517e-01 7.16883279e-03 8.77449528e+01] [ 6.71953632e-01 7.40565194e-01 6.44272414e-03 3.45179861e+01] [-9.63839891e-03 4.60895210e-05 9.99953548e-01 -1.97149127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.1 meters 0.014526729355194825 Centerline is valid? [True, True] Translation: X:87.76, Y:34.54, Z:-1.97 [[ 7.41736755e-01 -6.70647847e-01 7.61913920e-03 8.77646250e+01] [ 6.70612829e-01 7.41775886e-01 6.85336869e-03 3.45381027e+01] [-1.02478907e-02 2.60970433e-05 9.99947489e-01 -1.97296073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13 meters 0.014826196950824252 Centerline is valid? [True, True] Translation: X:87.78, Y:34.56, Z:-1.97 [[ 7.43038858e-01 -6.69198349e-01 8.17467408e-03 8.77836153e+01] [ 6.69157962e-01 7.43083824e-01 7.35204361e-03 3.45584218e+01] [-1.09944435e-02 7.29416197e-06 9.99939559e-01 -1.97307424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16 meters 0.013449908976689668 Centerline is valid? [True, True] Translation: X:87.80, Y:34.58, Z:-1.97 [[ 7.46703624e-01 -6.65104060e-01 8.38376172e-03 8.78020590e+01] [ 6.65061267e-01 7.46750685e-01 7.54485156e-03 3.45806517e+01] [-1.12786912e-02 -5.80528105e-05 9.99936392e-01 -1.97189943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19 meters 0.014805547450924043 Centerline is valid? [True, True] Translation: X:87.82, Y:34.60, Z:-1.97 [[ 7.48076211e-01 -6.63563486e-01 8.09214246e-03 8.78227218e+01] [ 6.63523492e-01 7.48119973e-01 7.28578172e-03 3.46012211e+01] [-1.08884721e-02 -8.09933652e-05 9.99940716e-01 -1.97319182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22 meters 0.014242999080422482 Centerline is valid? [True, True] Translation: X:87.84, Y:34.62, Z:-1.97 [[ 7.50011171e-01 -6.61379676e-01 7.75673783e-03 8.78416284e+01] [ 6.61342754e-01 7.50051273e-01 6.98925964e-03 3.46224125e+01] [-1.04405054e-02 -1.12160445e-04 9.99945490e-01 -1.97405596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25 meters 0.01634469810177498 Centerline is valid? [True, True] Translation: X:87.86, Y:34.64, Z:-1.98 [[ 7.52473067e-01 -6.58585200e-01 7.05817044e-03 8.78614664e+01] [ 6.58554520e-01 7.52506157e-01 6.35827473e-03 3.46432893e+01] [-9.49878234e-03 -1.36240442e-04 9.99954876e-01 -1.97573301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28 meters 0.0166570594367314 Centerline is valid? [True, True] Translation: X:87.88, Y:34.66, Z:-1.98 [[ 7.53694883e-01 -6.57188402e-01 6.88680760e-03 8.78804075e+01] [ 6.57159095e-01 7.53726330e-01 6.20835852e-03 3.46631585e+01] [-9.27082943e-03 -1.53479801e-04 9.99957013e-01 -1.97709833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31 meters 0.015375616304789794 Centerline is valid? [True, True] Translation: X:87.90, Y:34.68, Z:-1.98 [[ 7.55118246e-01 -6.55552262e-01 6.90411699e-03 8.79010391e+01] [ 6.55522734e-01 7.55149788e-01 6.22448192e-03 3.46830200e+01] [-9.29411568e-03 -1.74414225e-04 9.99956794e-01 -1.97592175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33999999999999 meters 0.01666423532002464 Centerline is valid? [True, True] Translation: X:87.92, Y:34.70, Z:-1.98 [[ 7.55740207e-01 -6.54833759e-01 7.03473923e-03 8.79200884e+01] [ 6.54803027e-01 7.55772923e-01 6.34702712e-03 3.47027859e+01] [-9.47291306e-03 -1.90335045e-04 9.99955113e-01 -1.97791880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36999999999999 meters 0.019570717467671393 Centerline is valid? [True, True] Translation: X:87.94, Y:34.72, Z:-1.98 [[ 7.56675556e-01 -6.53755335e-01 6.78711653e-03 8.79407499e+01] [ 6.53726681e-01 7.56705969e-01 6.12397178e-03 3.47228985e+01] [-9.13943081e-03 -1.96940588e-04 9.99958215e-01 -1.98067222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39999999999999 meters 0.018031403032257552 Centerline is valid? [True, True] Translation: X:87.96, Y:34.74, Z:-1.98 [[ 7.57307796e-01 -6.53020307e-01 7.02714362e-03 8.79609291e+01] [ 6.52989503e-01 7.57340367e-01 6.34639348e-03 3.47424574e+01] [-9.46626334e-03 -2.17522236e-04 9.99955170e-01 -1.98013777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42999999999999 meters 0.017143904379081212 Centerline is valid? [True, True] Translation: X:87.98, Y:34.76, Z:-1.98 [[ 7.57982900e-01 -6.52235588e-01 7.11768415e-03 8.79827704e+01] [ 6.52203963e-01 7.58016283e-01 6.42696412e-03 3.47615876e+01] [-9.58721520e-03 -2.29347096e-04 9.99954015e-01 -1.97928176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46 meters 0.017663258553577994 Centerline is valid? [True, True] Translation: X:88.00, Y:34.78, Z:-1.98 [[ 7.58239350e-01 -6.51936452e-01 7.20777322e-03 8.80031412e+01] [ 6.51903958e-01 7.58273569e-01 6.51334305e-03 3.47802147e+01] [-9.71174968e-03 -2.39897107e-04 9.99952811e-01 -1.97997782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49 meters 0.02080870382263219 Centerline is valid? [True, True] Translation: X:88.03, Y:34.80, Z:-1.98 [[ 7.57634803e-01 -6.52640884e-01 7.02718776e-03 8.80269382e+01] [ 6.52610031e-01 7.57667358e-01 6.34996214e-03 3.47975728e+01] [-9.46851569e-03 -2.24939098e-04 9.99955147e-01 -1.98238003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52 meters 0.018291392563799563 Centerline is valid? [True, True] Translation: X:88.05, Y:34.82, Z:-1.98 [[ 7.58193263e-01 -6.51985426e-01 7.61439981e-03 8.80489208e+01] [ 6.51949126e-01 7.58231454e-01 6.88463006e-03 3.48168885e+01] [-1.02621559e-02 -2.55678827e-04 9.99947310e-01 -1.98077278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55 meters 0.0202909638638679 Centerline is valid? [True, True] Translation: X:88.07, Y:34.83, Z:-1.98 [[ 7.58074331e-01 -6.52125943e-01 7.42036832e-03 8.80704171e+01] [ 6.52091450e-01 7.58110607e-01 6.71187896e-03 3.48348218e+01] [-1.00024503e-02 -2.49344421e-04 9.99949943e-01 -1.98335608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58 meters 0.020022500402549447 Centerline is valid? [True, True] Translation: X:88.09, Y:34.85, Z:-1.98 [[ 7.58064367e-01 -6.52138579e-01 7.32723716e-03 8.80905980e+01] [ 6.52104886e-01 7.58099737e-01 6.63374507e-03 3.48534542e+01] [-9.88089764e-03 -2.50678605e-04 9.99951151e-01 -1.98416579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61 meters 0.02086270313935124 Centerline is valid? [True, True] Translation: X:88.11, Y:34.87, Z:-1.98 [[ 7.57824556e-01 -6.52413483e-01 7.65438809e-03 8.81123633e+01] [ 6.52376731e-01 7.57863168e-01 6.92962366e-03 3.48717574e+01] [-1.03219587e-02 -2.57894294e-04 9.99946694e-01 -1.98491159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64 meters 0.01923922486528098 Centerline is valid? [True, True] Translation: X:88.14, Y:34.89, Z:-1.98 [[ 7.57547234e-01 -6.52728646e-01 8.21597936e-03 8.81356064e+01] [ 6.52686264e-01 7.57591736e-01 7.44324061e-03 3.48897430e+01] [-1.10827744e-02 -2.76149466e-04 9.99938546e-01 -1.98382970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67 meters 0.020005133596766422 Centerline is valid? [True, True] Translation: X:88.16, Y:34.91, Z:-1.98 [[ 7.56238723e-01 -6.54235062e-01 8.91501294e-03 8.81581098e+01] [ 6.54185209e-01 7.56291218e-01 8.08124005e-03 3.49070949e+01] [-1.20293766e-02 -2.79277056e-04 9.99927605e-01 -1.98415673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.7 meters 0.018863610903223423 Centerline is valid? [True, True] Translation: X:88.18, Y:34.92, Z:-1.98 [[ 7.55306198e-01 -6.55310486e-01 8.98409836e-03 8.81815173e+01] [ 6.55259884e-01 7.55359580e-01 8.14801032e-03 3.49237250e+01] [-1.21257014e-02 -2.67323447e-04 9.99926445e-01 -1.98386563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72999999999999 meters 0.018234895953962847 Centerline is valid? [True, True] Translation: X:88.20, Y:34.94, Z:-1.98 [[ 7.54322865e-01 -6.56440187e-01 9.12670256e-03 8.82042643e+01] [ 6.56387994e-01 7.54378032e-01 8.28166752e-03 3.49418589e+01] [-1.23214033e-02 -2.56393185e-04 9.99924056e-01 -1.98398523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75999999999999 meters 0.01941676862988921 Centerline is valid? [True, True] Translation: X:88.23, Y:34.96, Z:-1.99 [[ 7.52998242e-01 -6.57965389e-01 8.67148300e-03 8.82267452e+01] [ 6.57918332e-01 7.53048137e-01 7.87219432e-03 3.49595354e+01] [-1.17096755e-02 -2.22620851e-04 9.99931415e-01 -1.98622876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78999999999999 meters 0.018899871360519876 Centerline is valid? [True, True] Translation: X:88.25, Y:34.98, Z:-1.99 [[ 7.51545444e-01 -6.59628596e-01 8.34027522e-03 8.82492075e+01] [ 6.59585128e-01 7.51591696e-01 7.57501989e-03 3.49773340e+01] [-1.12651813e-02 -1.91850187e-04 9.99936527e-01 -1.98717855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82 meters 0.015041819451772912 Centerline is valid? [True, True] Translation: X:88.27, Y:34.99, Z:-1.99 [[ 7.49437568e-01 -6.62015910e-01 8.84691219e-03 8.82720144e+01] [ 6.61967090e-01 7.49489764e-01 8.04144722e-03 3.49931390e+01] [-1.19542361e-02 -1.70197923e-04 9.99928531e-01 -1.98543542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85 meters 0.014668314942834562 Centerline is valid? [True, True] Translation: X:88.30, Y:35.01, Z:-1.99 [[ 7.47888000e-01 -6.63764021e-01 8.99246118e-03 8.82955185e+01] [ 6.63713712e-01 7.47942045e-01 8.17347931e-03 3.50108136e+01] [-1.21511013e-02 -1.44427307e-04 9.99926162e-01 -1.98585180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88 meters 0.01396514308435728 Centerline is valid? [True, True] Translation: X:88.32, Y:35.02, Z:-1.99 [[ 7.44112159e-01 -6.67990729e-01 9.24556721e-03 8.83204946e+01] [ 6.67937798e-01 7.44169590e-01 8.40947542e-03 3.50243180e+01] [-1.24977216e-02 -8.21291120e-05 9.99921897e-01 -1.98587743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91 meters 0.01583598731134216 Centerline is valid? [True, True] Translation: X:88.34, Y:35.04, Z:-1.99 [[ 7.41529102e-01 -6.70858684e-01 9.12232302e-03 8.83446162e+01] [ 6.70807375e-01 7.41585211e-01 8.29705282e-03 3.50406016e+01] [-1.23311298e-02 -3.31845630e-05 9.99923968e-01 -1.98837255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94 meters 0.013543998854729263 Centerline is valid? [True, True] Translation: X:88.37, Y:35.06, Z:-1.99 [[ 7.39652076e-01 -6.72929640e-01 8.97252124e-03 8.83669330e+01] [ 6.72880095e-01 7.39706496e-01 8.16565329e-03 3.50562925e+01] [-1.21319424e-02 -2.31146152e-06 9.99926405e-01 -1.98684320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97 meters 0.014893464862176332 Centerline is valid? [True, True] Translation: X:88.39, Y:35.07, Z:-1.99 [[ 7.37202496e-01 -6.75614518e-01 8.80356470e-03 8.83893786e+01] [ 6.75566986e-01 7.37255059e-01 8.01407118e-03 3.50711772e+01] [-1.19048954e-02 3.94043978e-05 9.99929133e-01 -1.98912159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.0 meters 0.013925063572756054 Centerline is valid? [True, True] Translation: X:88.41, Y:35.09, Z:-1.99 [[ 7.34231330e-01 -6.78843071e-01 8.74293708e-03 8.84135986e+01] [ 6.78796404e-01 7.34283376e-01 7.96024107e-03 3.50873014e+01] [-1.18235478e-02 9.00158620e-05 9.99930095e-01 -1.98791123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03 meters 0.01398061507769465 Centerline is valid? [True, True] Translation: X:88.43, Y:35.11, Z:-1.99 [[ 7.33581432e-01 -6.79542579e-01 8.95361105e-03 8.84343152e+01] [ 6.79493641e-01 7.33636063e-01 8.15584544e-03 3.51065881e+01] [-1.21109362e-02 1.00945008e-04 9.99926655e-01 -1.98860058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06 meters 0.01436486511485796 Centerline is valid? [True, True] Translation: X:88.45, Y:35.13, Z:-1.99 [[ 7.33447430e-01 -6.79685934e-01 9.04978132e-03 8.84545489e+01] [ 6.79635892e-01 7.33503252e-01 8.24820472e-03 3.51258831e+01] [-1.22442328e-02 1.00931643e-04 9.99925031e-01 -1.98949290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08999999999999 meters 0.01436486511485796 Centerline is valid? [True, True] Translation: X:88.47, Y:35.14, Z:-1.99 [[ 7.33255215e-01 -6.79893325e-01 9.04743491e-03 8.84749010e+01] [ 6.79843268e-01 7.33311023e-01 8.25077719e-03 3.51445435e+01] [-1.22442321e-02 1.00912312e-04 9.99925031e-01 -1.99005902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11999999999999 meters 0.01383126003971895 Centerline is valid? [True, True] Translation: X:88.50, Y:35.16, Z:-1.99 [[ 7.33458136e-01 -6.79674975e-01 9.00502045e-03 8.84952889e+01] [ 6.79625313e-01 7.33513408e-01 8.21668625e-03 3.51642848e+01] [-1.21899793e-02 9.34444598e-05 9.99925695e-01 -1.98957474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14999999999999 meters 0.016746575147819624 Centerline is valid? [True, True] Translation: X:88.51, Y:35.18, Z:-1.99 [[ 7.33475341e-01 -6.79661791e-01 8.58923163e-03 8.85142739e+01] [ 6.79616543e-01 7.33525625e-01 7.84294891e-03 3.51833058e+01] [-1.16309742e-02 8.47742827e-05 9.99932354e-01 -1.99195848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17999999999999 meters 0.01526038158909973 Centerline is valid? [True, True] Translation: X:88.53, Y:35.20, Z:-1.99 [[ 7.33635719e-01 -6.79483592e-01 8.98219220e-03 8.85340779e+01] [ 6.79434078e-01 7.33690698e-01 8.20326757e-03 3.52030346e+01] [-1.21641366e-02 8.45973773e-05 9.99926011e-01 -1.99144233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21 meters 0.0160585577538485 Centerline is valid? [True, True] Translation: X:88.55, Y:35.22, Z:-1.99 [[ 7.33555598e-01 -6.79571510e-01 8.87400397e-03 8.85540852e+01] [ 6.79523115e-01 7.33609267e-01 8.11043643e-03 3.52219274e+01] [-1.20216731e-02 8.06347771e-05 9.99927734e-01 -1.99280375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24 meters 0.01433055710242001 Centerline is valid? [True, True] Translation: X:88.57, Y:35.24, Z:-1.99 [[ 7.33730348e-01 -6.79382523e-01 8.89737631e-03 8.85737436e+01] [ 6.79333828e-01 7.33784288e-01 8.13446430e-03 3.52407637e+01] [-1.20551678e-02 7.57853865e-05 9.99927331e-01 -1.99177356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27 meters 0.0163357653691317 Centerline is valid? [True, True] Translation: X:88.59, Y:35.26, Z:-1.99 [[ 7.33115892e-01 -6.80049050e-01 8.62430049e-03 8.85934113e+01] [ 6.80003337e-01 7.33166613e-01 7.88541505e-03 3.52614413e+01] [-1.16855182e-02 8.36300282e-05 9.99931719e-01 -1.99408789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.3 meters 0.014638999358863473 Centerline is valid? [True, True] Translation: X:88.61, Y:35.28, Z:-1.99 [[ 7.33024968e-01 -6.80136666e-01 9.40803909e-03 8.86133257e+01] [ 6.80082183e-01 7.33085334e-01 8.60916033e-03 3.52802052e+01] [-1.27523011e-02 8.75102829e-05 9.99918682e-01 -1.99345533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33 meters 0.015924629125525523 Centerline is valid? [True, True] Translation: X:88.63, Y:35.30, Z:-1.99 [[ 7.32562234e-01 -6.80633890e-01 9.49106069e-03 8.86335401e+01] [ 6.80578470e-01 7.32623708e-01 8.68606507e-03 3.52997994e+01] [-1.28654063e-02 9.63283333e-05 9.99917233e-01 -1.99407580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36 meters 0.015367226223373616 Centerline is valid? [True, True] Translation: X:88.65, Y:35.32, Z:-1.99 [[ 7.32599544e-01 -6.80583587e-01 1.01926063e-02 8.86529827e+01] [ 6.80519566e-01 7.32670439e-01 9.33536725e-03 3.53188020e+01] [-1.38213191e-02 9.71822254e-05 9.99904476e-01 -1.99298370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39 meters 0.013663964731356367 Centerline is valid? [True, True] Translation: X:88.67, Y:35.34, Z:-1.99 [[ 7.33004025e-01 -6.80140505e-01 1.06767402e-02 8.86727624e+01] [ 6.80070184e-01 7.33081772e-01 9.78064098e-03 3.53390698e+01] [-1.44791337e-02 9.16834663e-05 9.99895168e-01 -1.99154823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42 meters 0.015198168226877648 Centerline is valid? [True, True] Translation: X:88.69, Y:35.36, Z:-1.99 [[ 7.32792380e-01 -6.80374079e-01 1.03170183e-02 8.86923995e+01] [ 6.80308369e-01 7.32864998e-01 9.45613474e-03 3.53587564e+01] [-1.39946905e-02 8.93703854e-05 9.99902066e-01 -1.99350005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45 meters 0.013555095287479151 Centerline is valid? [True, True] Translation: X:88.71, Y:35.38, Z:-1.99 [[ 7.33350101e-01 -6.79770929e-01 1.04457576e-02 8.87125630e+01] [ 6.79703429e-01 7.33424488e-01 9.57967186e-03 3.53791036e+01] [-1.41731568e-02 7.47639338e-05 9.99899553e-01 -1.99245507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47999999999999 meters 0.01587775404080376 Centerline is valid? [True, True] Translation: X:88.73, Y:35.40, Z:-2.00 [[ 7.33620930e-01 -6.79495072e-01 9.31541921e-03 8.87320565e+01] [ 6.79441298e-01 7.33680069e-01 8.54861959e-03 3.53994863e+01] [-1.26432823e-02 5.78342662e-05 9.99920069e-01 -1.99627386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50999999999999 meters 0.015850612350368908 Centerline is valid? [True, True] Translation: X:88.75, Y:35.42, Z:-2.00 [[ 7.34012702e-01 -6.79076981e-01 8.93348428e-03 8.87516961e+01] [ 6.79027487e-01 7.34067062e-01 8.19881505e-03 3.54198408e+01] [-1.21254031e-02 4.80469924e-05 9.99926483e-01 -1.99666875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53999999999999 meters 0.013418938902739623 Centerline is valid? [True, True] Translation: X:88.77, Y:35.44, Z:-2.00 [[ 7.34688747e-01 -6.78346489e-01 8.85929473e-03 8.87706683e+01] [ 6.78297691e-01 7.34742159e-01 8.13645021e-03 3.54390533e+01] [-1.20286298e-02 3.14807548e-05 9.99927653e-01 -1.99560433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57 meters 0.01356202728987302 Centerline is valid? [True, True] Translation: X:88.79, Y:35.46, Z:-2.00 [[ 7.35078223e-01 -6.77935562e-01 7.96113987e-03 8.87905650e+01] [ 6.77896098e-01 7.35121332e-01 7.31481196e-03 3.54592589e+01] [-1.08113749e-02 1.98666766e-05 9.99941555e-01 -1.99759788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.6 meters 0.0160130034287481 Centerline is valid? [True, True] Translation: X:88.81, Y:35.48, Z:-2.00 [[ 7.34569260e-01 -6.78492714e-01 7.45920263e-03 8.88110630e+01] [ 6.78458106e-01 7.34607131e-01 6.85293488e-03 3.54789083e+01] [-1.01292498e-02 2.68011773e-05 9.99948697e-01 -2.00014762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63 meters 0.013865056878076595 Centerline is valid? [True, True] Translation: X:88.83, Y:35.50, Z:-2.00 [[ 7.34956310e-01 -6.78070262e-01 7.74224445e-03 8.88312655e+01] [ 6.78032908e-01 7.34997088e-01 7.11731854e-03 3.54983461e+01] [-1.05165692e-02 1.85783547e-05 9.99944699e-01 -1.99896919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66 meters 0.013526820717779059 Centerline is valid? [True, True] Translation: X:88.85, Y:35.52, Z:-2.00 [[ 7.35929657e-01 -6.77014764e-01 7.65169637e-03 8.88506628e+01] [ 6.76978163e-01 7.35969435e-01 7.03970792e-03 3.55173817e+01] [-1.03974009e-02 -6.98476901e-07 9.99945946e-01 -1.99856105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69 meters 0.01352243156642626 Centerline is valid? [True, True] Translation: X:88.87, Y:35.54, Z:-2.00 [[ 7.36519054e-01 -6.76375777e-01 7.44927117e-03 8.88707379e+01] [ 6.76341052e-01 7.36556725e-01 6.85364130e-03 3.55370319e+01] [-1.01224477e-02 -9.58950548e-06 9.99948767e-01 -1.99779107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72 meters 0.015964546654540418 Centerline is valid? [True, True] Translation: X:88.89, Y:35.56, Z:-2.00 [[ 7.36872837e-01 -6.75993807e-01 7.12709676e-03 8.88907887e+01] [ 6.75961970e-01 7.36907303e-01 6.56068340e-03 3.55569650e+01] [-9.68699099e-03 -1.67430270e-05 9.99953080e-01 -2.00082918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75 meters 0.016318480706253878 Centerline is valid? [True, True] Translation: X:88.91, Y:35.58, Z:-2.00 [[ 7.37855737e-01 -6.74925110e-01 6.70869620e-03 8.89106815e+01] [ 6.74896807e-01 7.37886234e-01 6.18106886e-03 3.55772667e+01] [-9.12201315e-03 -3.30594799e-05 9.99958393e-01 -2.00166750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78 meters 0.01646459634094966 Centerline is valid? [True, True] Translation: X:88.93, Y:35.60, Z:-2.00 [[ 7.40203257e-01 -6.72355539e-01 6.09652270e-03 8.89299612e+01] [ 6.72332085e-01 7.40228361e-01 5.61613556e-03 3.55993726e+01] [-8.28885886e-03 -5.81940100e-05 9.99965645e-01 -2.00264002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81 meters 0.01666165237921178 Centerline is valid? [True, True] Translation: X:88.95, Y:35.62, Z:-2.00 [[ 7.41354945e-01 -6.71088297e-01 5.77429888e-03 8.89501560e+01] [ 6.71067201e-01 7.41377429e-01 5.32160422e-03 3.56201325e+01] [-7.85220117e-03 -7.02550160e-05 9.99969169e-01 -2.00338808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83999999999999 meters 0.016669391259027326 Centerline is valid? [True, True] Translation: X:88.97, Y:35.64, Z:-2.00 [[ 7.42106326e-01 -6.70256985e-01 5.81157192e-03 8.89700440e+01] [ 6.70235569e-01 7.42129077e-01 5.35869216e-03 3.56405320e+01] [-7.90463736e-03 -8.15971350e-05 9.99968755e-01 -2.00418425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86999999999999 meters 0.018136472545203113 Centerline is valid? [True, True] Translation: X:88.99, Y:35.66, Z:-2.01 [[ 7.42602312e-01 -6.69712127e-01 5.24154763e-03 8.89906730e+01] [ 6.69694680e-01 7.42620806e-01 4.83479356e-03 3.56605728e+01] [-7.13040220e-03 -8.00923100e-05 9.99974575e-01 -2.00553552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89999999999999 meters 0.017839667449597724 Centerline is valid? [True, True] Translation: X:89.01, Y:35.68, Z:-2.00 [[ 7.43579558e-01 -6.68626238e-01 5.32864253e-03 8.90113756e+01] [ 6.68608160e-01 7.43598645e-01 4.91772582e-03 3.56807871e+01] [-7.25049188e-03 -9.39465122e-05 9.99973710e-01 -2.00484026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92999999999999 meters 0.01789774665487612 Centerline is valid? [True, True] Translation: X:89.03, Y:35.70, Z:-2.01 [[ 7.43728431e-01 -6.68460504e-01 5.34554840e-03 8.90316481e+01] [ 6.68442293e-01 7.43747635e-01 4.93517217e-03 3.56996308e+01] [-7.27470666e-03 -9.72372239e-05 9.99973534e-01 -2.00536637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96 meters 0.014780307638398143 Centerline is valid? [True, True] Translation: X:89.05, Y:35.72, Z:-2.00 [[ 7.44233580e-01 -6.67891021e-01 6.16139270e-03 8.90526246e+01] [ 6.67866771e-01 7.44259074e-01 5.69268502e-03 3.57187701e+01] [-8.38776564e-03 -1.21697897e-04 9.99964815e-01 -2.00257982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99 meters 0.01647189830802464 Centerline is valid? [True, True] Translation: X:89.07, Y:35.74, Z:-2.01 [[ 7.44132154e-01 -6.68014728e-01 4.86422187e-03 8.90727363e+01] [ 6.67999585e-01 7.44148046e-01 4.49887354e-03 3.57373823e+01] [-6.62501498e-03 -9.84582647e-05 9.99978049e-01 -2.00592074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02 meters 0.015936427068841182 Centerline is valid? [True, True] Translation: X:89.09, Y:35.76, Z:-2.01 [[ 7.44216114e-01 -6.67920709e-01 4.92973517e-03 8.90932305e+01] [ 6.67905173e-01 7.44232435e-01 4.55666903e-03 3.57567950e+01] [-6.71236242e-03 -9.85508971e-05 9.99977467e-01 -2.00680852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05 meters 0.014996310361210023 Centerline is valid? [True, True] Translation: X:89.11, Y:35.78, Z:-2.01 [[ 7.44120493e-01 -6.68026536e-01 5.02380527e-03 8.91140413e+01] [ 6.68010385e-01 7.44137445e-01 4.64633807e-03 3.57751531e+01] [-6.84227875e-03 -1.01481285e-04 9.99976586e-01 -2.00662659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08 meters 0.014910069550163477 Centerline is valid? [True, True] Translation: X:89.14, Y:35.79, Z:-2.01 [[ 7.43008483e-01 -6.69265806e-01 4.65571091e-03 8.91369599e+01] [ 6.69251942e-01 7.43023064e-01 4.30852460e-03 3.57929842e+01] [-6.34284878e-03 -8.54267590e-05 9.99979880e-01 -2.00743930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11 meters 0.01468145959098568 Centerline is valid? [True, True] Translation: X:89.16, Y:35.81, Z:-2.01 [[ 7.41938757e-01 -6.70447588e-01 5.18769480e-03 8.91593051e+01] [ 6.70430382e-01 7.41956888e-01 4.80401906e-03 3.58109224e+01] [-7.06988889e-03 -8.62997231e-05 9.99975004e-01 -2.00714722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14 meters 0.016343854430569228 Centerline is valid? [True, True] Translation: X:89.18, Y:35.83, Z:-2.01 [[ 7.40477181e-01 -6.72066116e-01 4.54753016e-03 8.91813815e+01] [ 6.72052921e-01 7.40491142e-01 4.21177882e-03 3.58283605e+01] [-6.19799964e-03 -6.25451817e-05 9.99980790e-01 -2.00863142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17 meters 0.014282708795818798 Centerline is valid? [True, True] Translation: X:89.20, Y:35.85, Z:-2.01 [[ 7.39234280e-01 -6.73418295e-01 6.36231716e-03 8.92043826e+01] [ 6.73392456e-01 7.39261654e-01 5.89968069e-03 3.58454399e+01] [-8.67637002e-03 -7.69098210e-05 9.99962357e-01 -2.00655070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.2 meters 0.018704585238715085 Centerline is valid? [True, True] Translation: X:89.23, Y:35.86, Z:-2.01 [[ 7.38085990e-01 -6.74689152e-01 4.86003230e-03 8.92268125e+01] [ 6.74674099e-01 7.38101989e-01 4.50714274e-03 3.58634508e+01] [-6.62811982e-03 -4.77209953e-05 9.99978033e-01 -2.00929163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22999999999999 meters 0.014048776828024589 Centerline is valid? [True, True] Translation: X:89.25, Y:35.88, Z:-2.01 [[ 7.38229318e-01 -6.74516068e-01 6.74900820e-03 8.92482415e+01] [ 6.74486978e-01 7.38260164e-01 6.26478982e-03 3.58830292e+01] [-9.20822529e-03 -7.27333674e-05 9.99957601e-01 -2.00684835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25999999999999 meters 0.014189613327003614 Centerline is valid? [True, True] Translation: X:89.27, Y:35.90, Z:-2.01 [[ 7.37942168e-01 -6.74826515e-01 7.10854943e-03 8.92684328e+01] [ 6.74794207e-01 7.37976402e-01 6.60372045e-03 3.59011196e+01] [-9.70230739e-03 -7.63558125e-05 9.99952929e-01 -2.00764563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28999999999999 meters 0.015427428602070865 Centerline is valid? [True, True] Translation: X:89.29, Y:35.92, Z:-2.01 [[ 7.37232626e-01 -6.75604490e-01 6.82853076e-03 8.92907784e+01] [ 6.75574715e-01 7.37264247e-01 6.34309722e-03 3.59187186e+01] [-9.31985655e-03 -6.31555049e-05 9.99956567e-01 -2.00893026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32 meters 0.014130082326744101 Centerline is valid? [True, True] Translation: X:89.31, Y:35.94, Z:-2.01 [[ 7.37660997e-01 -6.75127043e-01 7.72845762e-03 8.93122167e+01] [ 6.75088823e-01 7.37701477e-01 7.18415793e-03 3.59374887e+01] [-1.05515139e-02 -8.20777476e-05 9.99944328e-01 -2.00793339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35 meters 0.01442976510957302 Centerline is valid? [True, True] Translation: X:89.33, Y:35.96, Z:-2.01 [[ 7.37800614e-01 -6.74972964e-01 7.85819873e-03 8.93321126e+01] [ 6.74933378e-01 7.37842456e-01 7.31066498e-03 3.59551432e+01] [-1.07326139e-02 -9.00525001e-05 9.99942400e-01 -2.00836319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38 meters 0.01485516813949176 Centerline is valid? [True, True] Translation: X:89.35, Y:35.97, Z:-2.01 [[ 7.38050604e-01 -6.74702108e-01 7.64016998e-03 8.93533346e+01] [ 6.74664663e-01 7.38090142e-01 7.10881859e-03 3.59742290e+01] [-1.04354690e-02 -9.21151502e-05 9.99945545e-01 -2.00858161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41 meters 0.01754537233443198 Centerline is valid? [True, True] Translation: X:89.37, Y:35.99, Z:-2.01 [[ 7.39132745e-01 -6.73526103e-01 6.73601737e-03 8.93744560e+01] [ 6.73496928e-01 7.39163432e-01 6.26961022e-03 3.59939679e+01] [-9.20176386e-03 -9.73872065e-05 9.99957658e-01 -2.01030379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44 meters 0.016969841262497398 Centerline is valid? [True, True] Translation: X:89.39, Y:36.01, Z:-2.01 [[ 7.39892241e-01 -6.72687976e-01 7.09642951e-03 8.93948271e+01] [ 6.72655522e-01 7.39926263e-01 6.60865875e-03 3.60141437e+01] [-9.69639984e-03 -1.16242834e-04 9.99952982e-01 -2.01089679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47 meters 0.015068356232087533 Centerline is valid? [True, True] Translation: X:89.41, Y:36.03, Z:-2.01 [[ 7.40826052e-01 -6.71648666e-01 8.05171614e-03 8.94140681e+01] [ 6.71606759e-01 7.40869791e-01 7.50427344e-03 3.60340649e+01] [-1.10055085e-02 -1.51774280e-04 9.99939426e-01 -2.01032943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.5 meters 0.0162160534573247 Centerline is valid? [True, True] Translation: X:89.43, Y:36.05, Z:-2.01 [[ 7.40715936e-01 -6.71786484e-01 6.54393223e-03 8.94337148e+01] [ 6.71758790e-01 7.40744832e-01 6.10100487e-03 3.60536291e+01] [-8.94595659e-03 -1.23167535e-04 9.99959977e-01 -2.01377274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53 meters 0.017420953225101662 Centerline is valid? [True, True] Translation: X:89.46, Y:36.07, Z:-2.02 [[ 7.39992407e-01 -6.72594171e-01 5.32152776e-03 8.94553500e+01] [ 6.72575896e-01 7.40011536e-01 4.95887029e-03 3.60728908e+01] [-7.27329919e-03 -9.03950574e-05 9.99973545e-01 -2.01573243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56 meters 0.014885860579871145 Centerline is valid? [True, True] Translation: X:89.48, Y:36.09, Z:-2.02 [[ 7.39817281e-01 -6.72778590e-01 6.27372581e-03 8.94769637e+01] [ 6.72753161e-01 7.39843874e-01 5.85029347e-03 3.60927268e+01] [-8.57752979e-03 -1.07479339e-04 9.99963207e-01 -2.01501512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58999999999999 meters 0.01766579629539921 Centerline is valid? [True, True] Translation: X:89.50, Y:36.11, Z:-2.02 [[ 7.38639368e-01 -6.74084934e-01 4.62449896e-03 8.94978445e+01] [ 6.74071126e-01 7.38653841e-01 4.31498092e-03 3.61104856e+01] [-6.32456755e-03 -6.99735603e-05 9.99979997e-01 -2.01742425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61999999999999 meters 0.015945388981463023 Centerline is valid? [True, True] Translation: X:89.52, Y:36.13, Z:-2.02 [[ 7.37464289e-01 -6.75361779e-01 5.73492750e-03 8.95197968e+01] [ 6.75340561e-01 7.37486584e-01 5.35400174e-03 3.61278101e+01] [-7.84532023e-03 -7.53559354e-05 9.99969222e-01 -2.01656590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64999999999999 meters 0.014382340220499876 Centerline is valid? [True, True] Translation: X:89.54, Y:36.15, Z:-2.02 [[ 7.36885754e-01 -6.75981515e-01 6.95534903e-03 8.95415243e+01] [ 6.75950339e-01 7.36918574e-01 6.49266176e-03 3.61467299e+01] [-9.51444523e-03 -8.28794182e-05 9.99954733e-01 -2.01546281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67999999999999 meters 0.016121870550040898 Centerline is valid? [True, True] Translation: X:89.56, Y:36.16, Z:-2.02 [[ 7.35499847e-01 -6.77495658e-01 6.29352893e-03 8.95633100e+01] [ 6.77470176e-01 7.35526770e-01 5.87638572e-03 3.61640666e+01] [-8.61028482e-03 -5.84026424e-05 9.99962929e-01 -2.01583928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71 meters 0.01402118047403183 Centerline is valid? [True, True] Translation: X:89.58, Y:36.18, Z:-2.02 [[ 7.34821485e-01 -6.78213992e-01 7.94770631e-03 8.95840608e+01] [ 6.78173299e-01 7.34864461e-01 7.42971285e-03 3.61825224e+01] [-1.08794221e-02 -6.95904283e-05 9.99940815e-01 -2.01528759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74 meters 0.015015866723532308 Centerline is valid? [True, True] Translation: X:89.61, Y:36.20, Z:-2.02 [[ 7.32047858e-01 -6.81201580e-01 8.38699613e-03 8.96069049e+01] [ 6.81156449e-01 7.32095900e-01 7.84120335e-03 3.61986483e+01] [-1.14815256e-02 -2.72796078e-05 9.99934085e-01 -2.01579385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77 meters 0.014641412396600216 Centerline is valid? [True, True] Translation: X:89.63, Y:36.22, Z:-2.02 [[ 7.30881629e-01 -6.82448869e-01 8.69397960e-03 8.96286180e+01] [ 6.82400449e-01 7.30933336e-01 8.12934095e-03 3.62173313e+01] [-1.19025790e-02 -8.81037497e-06 9.99929162e-01 -2.01558791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.8 meters 0.01349245593083017 Centerline is valid? [True, True] Translation: X:89.65, Y:36.24, Z:-2.01 [[ 7.30088275e-01 -6.83284305e-01 9.67827090e-03 8.96502138e+01] [ 6.83224303e-01 7.30152422e-01 9.05504315e-03 3.62368541e+01] [-1.32537818e-02 1.44905150e-06 9.99912165e-01 -2.01458370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83 meters 0.01343549611283956 Centerline is valid? [True, True] Translation: X:89.67, Y:36.26, Z:-2.01 [[ 7.29169366e-01 -6.84261393e-01 9.91879845e-03 8.96711394e+01] [ 6.84198400e-01 7.29236825e-01 9.28456928e-03 3.62560482e+01] [-1.35862254e-02 1.64025315e-05 9.99907703e-01 -2.01467133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86 meters 0.01463980003173389 Centerline is valid? [True, True] Translation: X:89.69, Y:36.28, Z:-2.02 [[ 7.27098013e-01 -6.86477627e-01 8.77196930e-03 8.96930401e+01] [ 6.86428473e-01 7.27150923e-01 8.21495564e-03 3.62755734e+01] [-1.20179288e-02 4.82515724e-05 9.99927781e-01 -2.01572228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89 meters 0.0136248330961953 Centerline is valid? [True, True] Translation: X:89.71, Y:36.29, Z:-2.02 [[ 7.26147933e-01 -6.87477378e-01 9.16697617e-03 8.97138627e+01] [ 6.87423725e-01 7.26205791e-01 8.58906556e-03 3.62947844e+01] [-1.25618994e-02 6.46646953e-05 9.99921094e-01 -2.01645245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92 meters 0.016686770283028035 Centerline is valid? [True, True] Translation: X:89.74, Y:36.31, Z:-2.02 [[ 7.24022151e-01 -6.89734230e-01 7.65612162e-03 8.97355931e+01] [ 6.89696898e-01 7.24062625e-01 7.17668509e-03 3.63143053e+01] [-1.04935169e-02 8.43243487e-05 9.99944938e-01 -2.01886374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95 meters 0.01607375530070548 Centerline is valid? [True, True] Translation: X:89.76, Y:36.33, Z:-2.02 [[ 7.20656882e-01 -6.93255072e-01 7.14592599e-03 8.97573939e+01] [ 6.93222676e-01 7.20692299e-01 6.70302843e-03 3.63321154e+01] [-9.79692228e-03 1.23134374e-04 9.99952001e-01 -2.02084914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97999999999999 meters 0.01481370799285209 Centerline is valid? [True, True] Translation: X:89.78, Y:36.35, Z:-2.02 [[ 7.19051015e-01 -6.94916843e-01 7.49798367e-03 8.97788936e+01] [ 6.94881263e-01 7.19090090e-01 7.03364525e-03 3.63521697e+01] [-1.02795243e-02 1.52658610e-04 9.99947153e-01 -2.02114237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00999999999999 meters 0.01481370799285209 Centerline is valid? [True, True] Translation: X:89.80, Y:36.37, Z:-2.02 [[ 7.18853695e-01 -6.95120973e-01 7.49647568e-03 8.97989795e+01] [ 6.95085388e-01 7.18892766e-01 7.03525179e-03 3.63711223e+01] [-1.02795132e-02 1.53373962e-04 9.99947153e-01 -2.02170889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03999999999999 meters 0.015785780018138768 Centerline is valid? [True, True] Translation: X:89.82, Y:36.39, Z:-2.02 [[ 7.16637375e-01 -6.97411960e-01 6.88704433e-03 8.98203437e+01] [ 6.97381980e-01 7.16670447e-01 6.46866711e-03 3.63888520e+01] [-9.44706695e-03 1.67212001e-04 9.99955361e-01 -2.02356064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07 meters 0.017393581138109244 Centerline is valid? [True, True] Translation: X:89.84, Y:36.41, Z:-2.02 [[ 7.12316012e-01 -7.01833741e-01 5.94125249e-03 8.98429946e+01] [ 7.01811589e-01 7.12340762e-01 5.57959539e-03 3.64067039e+01] [-8.14814463e-03 1.95204708e-04 9.99966784e-01 -2.02455956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.1 meters 0.01799792306265659 Centerline is valid? [True, True] Translation: X:89.86, Y:36.43, Z:-2.02 [[ 7.09967125e-01 -7.04208924e-01 6.03927403e-03 8.98645370e+01] [ 7.04186100e-01 7.09992775e-01 5.67420432e-03 3.64259608e+01] [-8.28366625e-03 2.24274294e-04 9.99965665e-01 -2.02492101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13 meters 0.018917964627405116 Centerline is valid? [True, True] Translation: X:89.89, Y:36.44, Z:-2.02 [[ 7.08092663e-01 -7.06092746e-01 6.14938960e-03 8.98852769e+01] [ 7.06069114e-01 7.08119321e-01 5.78213620e-03 3.64437913e+01] [-8.43722602e-03 2.47605849e-04 9.99964375e-01 -2.02469097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16 meters 0.018657203224655024 Centerline is valid? [True, True] Translation: X:89.90, Y:36.47, Z:-2.02 [[ 7.05778897e-01 -7.08396989e-01 7.06076443e-03 8.99042543e+01] [ 7.08365916e-01 7.05814145e-01 6.64243685e-03 3.64650795e+01] [-9.68906967e-03 3.13513108e-04 9.99953011e-01 -2.02324981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19 meters 0.021824862619430115 Centerline is valid? [True, True] Translation: X:89.93, Y:36.48, Z:-2.03 [[ 7.04777339e-01 -7.09393197e-01 7.08480677e-03 8.99252607e+01] [ 7.09361946e-01 7.04812873e-01 6.66667231e-03 3.64828527e+01] [-9.72275499e-03 3.27172748e-04 9.99952679e-01 -2.02514520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22 meters 0.020592389608419276 Centerline is valid? [True, True] Translation: X:89.94, Y:36.51, Z:-2.03 [[ 7.04644458e-01 -7.09521004e-01 7.49217524e-03 8.99426672e+01] [ 7.09486075e-01 7.04684201e-01 7.04885566e-03 3.65061044e+01] [-1.02809287e-02 3.48656930e-04 9.99947089e-01 -2.02505935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25 meters 0.018358938925532437 Centerline is valid? [True, True] Translation: X:89.96, Y:36.53, Z:-2.02 [[ 7.06486347e-01 -7.07675631e-01 8.49956226e-03 8.99604385e+01] [ 7.07630479e-01 7.06537381e-01 8.00216294e-03 3.65288791e+01] [-1.16681942e-02 3.61130448e-04 9.99931859e-01 -2.02473801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28 meters 0.02197648127273168 Centerline is valid? [True, True] Translation: X:89.98, Y:36.55, Z:-2.03 [[ 7.06569637e-01 -7.07596023e-01 8.19860258e-03 8.99795469e+01] [ 7.07553952e-01 7.06617117e-01 7.72360047e-03 3.65475197e+01] [-1.12584619e-02 3.43692079e-04 9.99936562e-01 -2.02841093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31 meters 0.01824583710921139 Centerline is valid? [True, True] Translation: X:90.00, Y:36.57, Z:-2.03 [[ 7.08872984e-01 -7.05282518e-01 8.69839620e-03 8.99980058e+01] [ 7.05234950e-01 7.08926276e-01 8.19754160e-03 3.65705638e+01] [-1.19481044e-02 3.23397234e-04 9.99928567e-01 -2.02707870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33999999999999 meters 0.017463169985278408 Centerline is valid? [True, True] Translation: X:90.01, Y:36.60, Z:-2.03 [[ 7.11608700e-01 -7.02519751e-01 8.89144705e-03 9.00123725e+01] [ 7.02469825e-01 7.11664190e-01 8.38007759e-03 3.65970400e+01] [-1.22148945e-02 2.82637132e-04 9.99925355e-01 -2.02735810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36999999999999 meters 0.017719163330451485 Centerline is valid? [True, True] Translation: X:90.03, Y:36.62, Z:-2.03 [[ 7.13541856e-01 -7.00548570e-01 9.47209416e-03 9.00323562e+01] [ 7.00491670e-01 7.13604676e-01 8.93234253e-03 3.66172717e+01] [-1.30168705e-02 2.61522783e-04 9.99915243e-01 -2.02862747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39999999999999 meters 0.015385535028886524 Centerline is valid? [True, True] Translation: X:90.05, Y:36.64, Z:-2.03 [[ 7.15586771e-01 -6.98451882e-01 1.00270171e-02 9.00497798e+01] [ 6.98387840e-01 7.15656981e-01 9.46100722e-03 3.66415363e+01] [-1.37839631e-02 2.32575230e-04 9.99904970e-01 -2.02786271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42999999999999 meters 0.017475852788285614 Centerline is valid? [True, True] Translation: X:90.07, Y:36.66, Z:-2.03 [[ 7.16940014e-01 -6.97060805e-01 1.01612834e-02 9.00683592e+01] [ 6.96994835e-01 7.17011989e-01 9.59205094e-03 3.66639906e+01] [-1.39720048e-02 2.05436903e-04 9.99902366e-01 -2.02983833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46 meters 0.013720151123774236 Centerline is valid? [True, True] Translation: X:90.08, Y:36.69, Z:-2.03 [[ 7.21946606e-01 -6.91876432e-01 1.00050351e-02 9.00837063e+01] [ 6.91811896e-01 7.22015923e-01 9.45024556e-03 3.66886590e+01] [-1.37621968e-02 9.90295740e-05 9.99905292e-01 -2.02937609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49 meters 0.013430925881676258 Centerline is valid? [True, True] Translation: X:90.10, Y:36.71, Z:-2.03 [[ 7.23715339e-01 -6.90028035e-01 9.87011962e-03 9.01024201e+01] [ 6.89965039e-01 7.23782638e-01 9.32405505e-03 3.67114366e+01] [-1.35776806e-02 6.20758166e-05 9.99907817e-01 -2.03071373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52 meters 0.013323069907534265 Centerline is valid? [True, True] Translation: X:90.12, Y:36.73, Z:-2.03 [[ 7.25760478e-01 -6.87880658e-01 9.58793350e-03 9.01204344e+01] [ 6.87820974e-01 7.25823807e-01 9.06136059e-03 3.67331621e+01] [-1.31922851e-02 1.84043664e-05 9.99912978e-01 -2.03163232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55 meters 0.013418424869678505 Centerline is valid? [True, True] Translation: X:90.14, Y:36.76, Z:-2.03 [[ 7.30020787e-01 -6.83358885e-01 9.50182288e-03 9.01359677e+01] [ 6.83299796e-01 7.30082618e-01 8.98665167e-03 3.67575191e+01] [-1.30782240e-02 -6.78488907e-05 9.99914474e-01 -2.03325848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58 meters 0.013528084686392489 Centerline is valid? [True, True] Translation: X:90.16, Y:36.78, Z:-2.03 [[ 7.31847840e-01 -6.81400411e-01 9.60309313e-03 9.01552355e+01] [ 6.81339872e-01 7.31910834e-01 9.08345324e-03 3.67798793e+01] [-1.32180767e-02 -1.04735385e-04 9.99912632e-01 -2.03403831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61 meters 0.01418302868050718 Centerline is valid? [True, True] Translation: X:90.17, Y:36.80, Z:-2.03 [[ 7.33257710e-01 -6.79880084e-01 9.80829523e-03 9.01739605e+01] [ 6.79816708e-01 7.33323293e-01 9.28395428e-03 3.68013355e+01] [-1.35046270e-02 -1.39688084e-04 9.99908799e-01 -2.03474581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64 meters 0.017451910041308274 Centerline is valid? [True, True] Translation: X:90.19, Y:36.82, Z:-2.04 [[ 7.34632334e-01 -6.78392559e-01 9.94328293e-03 9.01921991e+01] [ 6.78327272e-01 7.34699603e-01 9.41303049e-03 3.68225857e+01] [-1.36910559e-02 -1.70316579e-04 9.99906259e-01 -2.03633940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67 meters 0.01769352411386266 Centerline is valid? [True, True] Translation: X:90.21, Y:36.84, Z:-2.04 [[ 7.34822031e-01 -6.78181922e-01 1.02889520e-02 9.02113178e+01] [ 6.78111961e-01 7.34894038e-01 9.74275988e-03 3.68420129e+01] [-1.41686531e-02 -1.82133188e-04 9.99899603e-01 -2.03683431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.7 meters 0.014357392970472942 Centerline is valid? [True, True] Translation: X:90.23, Y:36.86, Z:-2.04 [[ 7.35309488e-01 -6.77648118e-01 1.06294491e-02 9.02326140e+01] [ 6.77573355e-01 7.35386285e-01 1.00678136e-02 3.68610420e+01] [-1.46391860e-02 -2.00727394e-04 9.99892821e-01 -2.03518203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72999999999999 meters 0.014197450386588855 Centerline is valid? [True, True] Translation: X:90.25, Y:36.88, Z:-2.04 [[ 7.35079041e-01 -6.77900379e-01 1.04823475e-02 9.02538460e+01] [ 6.77827633e-01 7.35153751e-01 9.93290347e-03 3.68800105e+01] [-1.44396561e-02 -1.96244348e-04 9.99895723e-01 -2.03550847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75999999999999 meters 0.014219201085602096 Centerline is valid? [True, True] Translation: X:90.27, Y:36.90, Z:-2.04 [[ 7.34993421e-01 -6.77991600e-01 1.05859587e-02 9.02739944e+01] [ 6.77917313e-01 7.35069623e-01 1.00382593e-02 3.68985014e+01] [-1.45872721e-02 -2.01649875e-04 9.99893580e-01 -2.03624986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78999999999999 meters 0.015779736169443656 Centerline is valid? [True, True] Translation: X:90.29, Y:36.92, Z:-2.04 [[ 7.34660720e-01 -6.78355577e-01 1.03603380e-02 9.02946149e+01] [ 6.78284446e-01 7.34733744e-01 9.82528971e-03 3.69172892e+01] [-1.42771300e-02 -1.90998286e-04 9.99898058e-01 -2.03807758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82 meters 0.014347169350201609 Centerline is valid? [True, True] Translation: X:90.32, Y:36.94, Z:-2.04 [[ 7.35043842e-01 -6.77945551e-01 1.00189816e-02 9.03156167e+01] [ 6.77878916e-01 7.35112095e-01 9.50700082e-03 3.69366891e+01] [-1.38103034e-02 -1.96406049e-04 9.99904614e-01 -2.03767593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85 meters 0.01430671808829897 Centerline is valid? [True, True] Translation: X:90.34, Y:36.95, Z:-2.04 [[ 7.35094074e-01 -6.77894121e-01 9.81139606e-03 9.03365965e+01] [ 6.77830159e-01 7.35159522e-01 9.31417426e-03 3.69547661e+01] [-1.35269652e-02 -1.96334158e-04 9.99908487e-01 -2.03837089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88 meters 0.014455909110314944 Centerline is valid? [True, True] Translation: X:90.36, Y:36.97, Z:-2.04 [[ 7.35003160e-01 -6.77999088e-01 9.35900512e-03 9.03565316e+01] [ 6.77940813e-01 7.35062719e-01 8.89118836e-03 3.69725046e+01] [-1.29076733e-02 -1.90199998e-04 9.99916674e-01 -2.03905748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91 meters 0.014309270671661472 Centerline is valid? [True, True] Translation: X:90.38, Y:36.99, Z:-2.04 [[ 7.34352083e-01 -6.78704314e-01 9.35269076e-03 9.03778932e+01] [ 6.78646169e-01 7.34411616e-01 8.88565263e-03 3.69905924e+01] [-1.28994555e-02 -1.78029756e-04 9.99916783e-01 -2.03974522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94 meters 0.014092396774074225 Centerline is valid? [True, True] Translation: X:90.40, Y:37.01, Z:-2.04 [[ 7.33503838e-01 -6.79624093e-01 9.12202895e-03 9.03996545e+01] [ 6.79568792e-01 7.33560540e-01 8.67126545e-03 3.70086657e+01] [-1.25847614e-02 -1.61360301e-04 9.99920796e-01 -2.04072904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97 meters 0.013695660589612545 Centerline is valid? [True, True] Translation: X:90.42, Y:37.02, Z:-2.04 [[ 7.31030195e-01 -6.82285128e-01 9.04751055e-03 9.04225868e+01] [ 6.82230842e-01 7.31086171e-01 8.60747221e-03 3.70244580e+01] [-1.24872601e-02 -1.19831347e-04 9.99922024e-01 -2.04186251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.0 meters 0.013390609972916663 Centerline is valid? [True, True] Translation: X:90.45, Y:37.04, Z:-2.04 [[ 7.29083670e-01 -6.84364722e-01 9.05152115e-03 9.04462124e+01] [ 6.84310551e-01 7.29139850e-01 8.61099429e-03 3.70420481e+01] [-1.24928855e-02 -8.40838924e-05 9.99921957e-01 -2.04214853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03 meters 0.014457388743088667 Centerline is valid? [True, True] Translation: X:90.47, Y:37.06, Z:-2.04 [[ 7.26481831e-01 -6.87126447e-01 9.02185616e-03 9.04700341e+01] [ 6.87072790e-01 7.26537847e-01 8.58702245e-03 3.70593155e+01] [-1.24550902e-02 -3.96439055e-05 9.99922432e-01 -2.04335868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06 meters 0.013251166975409037 Centerline is valid? [True, True] Translation: X:90.50, Y:37.07, Z:-2.04 [[ 7.21579089e-01 -6.92263304e-01 9.75377139e-03 9.04960089e+01] [ 6.92200987e-01 7.21645007e-01 9.28859305e-03 3.70721434e+01] [-1.34689125e-02 4.91156624e-05 9.99909289e-01 -2.04179232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08999999999999 meters 0.016567158823856246 Centerline is valid? [True, True] Translation: X:90.52, Y:37.09, Z:-2.04 [[ 7.18712314e-01 -6.95238368e-01 9.80921667e-03 9.05194246e+01] [ 6.95175518e-01 7.18779244e-01 9.34871246e-03 3.70882196e+01] [-1.35502449e-02 1.00092508e-04 9.99908186e-01 -2.04361745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11999999999999 meters 0.013988751593198031 Centerline is valid? [True, True] Translation: X:90.54, Y:37.11, Z:-2.04 [[ 7.16444244e-01 -6.97566849e-01 1.03988242e-02 9.05427144e+01] [ 6.97496453e-01 7.16519691e-01 9.91115938e-03 3.71055190e+01] [-1.43646585e-02 1.52349877e-04 9.99896811e-01 -2.04157691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14999999999999 meters 0.01448919001024679 Centerline is valid? [True, True] Translation: X:90.57, Y:37.12, Z:-2.04 [[ 7.14061961e-01 -7.00001401e-01 1.06561818e-02 9.05663405e+01] [ 6.99927670e-01 7.14141441e-01 1.01616415e-02 3.71227912e+01] [-1.47231843e-02 2.02514846e-04 9.99891588e-01 -2.04200797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17999999999999 meters 0.015289689382398372 Centerline is valid? [True, True] Translation: X:90.59, Y:37.14, Z:-2.04 [[ 7.09838386e-01 -7.04280732e-01 1.08681580e-02 9.05909522e+01] [ 7.04204459e-01 7.09921520e-01 1.03689567e-02 3.71389150e+01] [-1.50181956e-02 2.93121845e-04 9.99887178e-01 -2.04246907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21 meters 0.016292976567137168 Centerline is valid? [True, True] Translation: X:90.61, Y:37.16, Z:-2.04 [[ 7.08188458e-01 -7.05938115e-01 1.09766417e-02 9.06136268e+01] [ 7.05860412e-01 7.08273444e-01 1.04789011e-02 3.71556563e+01] [-1.51719195e-02 3.26940002e-04 9.99884846e-01 -2.04354092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24 meters 0.015742886153362508 Centerline is valid? [True, True] Translation: X:90.63, Y:37.18, Z:-2.04 [[ 7.07313602e-01 -7.06811804e-01 1.11598550e-02 9.06336820e+01] [ 7.06731564e-01 7.07401549e-01 1.06557108e-02 3.71756960e+01] [-1.54260809e-02 3.50092543e-04 9.99880950e-01 -2.04336273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27 meters 0.01608454765471565 Centerline is valid? [True, True] Translation: X:90.65, Y:37.19, Z:-2.04 [[ 7.07562478e-01 -7.06552523e-01 1.17843806e-02 9.06544159e+01] [ 7.06462986e-01 7.07660512e-01 1.12538322e-02 3.71947988e+01] [-1.62907644e-02 3.62439287e-04 9.99867231e-01 -2.04294603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.3 meters 0.016381024131385553 Centerline is valid? [True, True] Translation: X:90.68, Y:37.21, Z:-2.04 [[ 7.07903607e-01 -7.06212150e-01 1.16996331e-02 9.06750997e+01] [ 7.06123792e-01 7.08000195e-01 1.11764932e-02 3.72135970e+01] [-1.61763178e-02 3.49509455e-04 9.99869094e-01 -2.04342585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33 meters 0.01687894661057521 Centerline is valid? [True, True] Translation: X:90.69, Y:37.23, Z:-2.04 [[ 7.08041246e-01 -7.06085409e-01 1.09995197e-02 9.06947013e+01] [ 7.06007285e-01 7.08126605e-01 1.05082829e-02 3.72344293e+01] [-1.52087978e-02 3.25443340e-04 9.99884287e-01 -2.04485413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36 meters 0.015252050116999157 Centerline is valid? [True, True] Translation: X:90.71, Y:37.26, Z:-2.05 [[ 7.10065910e-01 -7.04065534e-01 9.90586555e-03 9.07130058e+01] [ 7.04001908e-01 7.10134959e-01 9.46848719e-03 3.72577759e+01] [-1.37009369e-02 2.50498271e-04 9.99906106e-01 -2.04641147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39 meters 0.014784555818550087 Centerline is valid? [True, True] Translation: X:90.73, Y:37.28, Z:-2.05 [[ 7.11008203e-01 -7.03124956e-01 9.09017735e-03 9.07323726e+01] [ 7.03071261e-01 7.11066278e-01 8.69201055e-03 3.72799267e+01] [-1.25752881e-02 2.10951651e-04 9.99920906e-01 -2.04753093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42 meters 0.01641744867016789 Centerline is valid? [True, True] Translation: X:90.75, Y:37.30, Z:-2.05 [[ 7.11956944e-01 -7.02173136e-01 8.37831085e-03 9.07512106e+01] [ 7.02127393e-01 7.12006219e-01 8.01675986e-03 3.73000822e+01] [-1.15945628e-02 1.75053702e-04 9.99932765e-01 -2.05010131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45 meters 0.015042159736151254 Centerline is valid? [True, True] Translation: X:90.77, Y:37.32, Z:-2.05 [[ 7.12880497e-01 -7.01233818e-01 8.51638284e-03 9.07703787e+01] [ 7.01186493e-01 7.12931347e-01 8.14837391e-03 3.73218763e+01] [-1.17855116e-02 1.62755778e-04 9.99930535e-01 -2.05008102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47999999999999 meters 0.014038240794779432 Centerline is valid? [True, True] Translation: X:90.79, Y:37.34, Z:-2.05 [[ 7.14264549e-01 -6.99826183e-01 8.33469340e-03 9.07898198e+01] [ 6.99780715e-01 7.14313164e-01 7.97838158e-03 3.73435511e+01] [-1.15370615e-02 1.33782586e-04 9.99933437e-01 -2.04940158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50999999999999 meters 0.015052378227327086 Centerline is valid? [True, True] Translation: X:90.81, Y:37.36, Z:-2.05 [[ 7.14118083e-01 -6.99975376e-01 8.35682533e-03 9.08103372e+01] [ 6.99929636e-01 7.14166966e-01 8.00310481e-03 3.73632943e+01] [-1.15701449e-02 1.34027852e-04 9.99933055e-01 -2.05017109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53999999999999 meters 0.01564040222457886 Centerline is valid? [True, True] Translation: X:90.83, Y:37.38, Z:-2.05 [[ 7.14049531e-01 -7.00045632e-01 8.32952994e-03 9.08304439e+01] [ 7.00000123e-01 7.14098100e-01 7.98315782e-03 3.73814421e+01] [-1.15366763e-02 1.30301892e-04 9.99933442e-01 -2.05062544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57 meters 0.014676410857388243 Centerline is valid? [True, True] Translation: X:90.85, Y:37.40, Z:-2.05 [[ 7.13928287e-01 -7.00162014e-01 8.91939028e-03 9.08506141e+01] [ 7.00109821e-01 7.13983988e-01 8.55008357e-03 3.74016669e+01] [-1.23547456e-02 1.40406217e-04 9.99923667e-01 -2.04943388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.6 meters 0.016166910772107645 Centerline is valid? [True, True] Translation: X:90.87, Y:37.42, Z:-2.05 [[ 7.13645520e-01 -7.00451646e-01 8.80701519e-03 9.08709137e+01] [ 7.00400724e-01 7.13699848e-01 8.44705996e-03 3.74215387e+01] [-1.22023224e-02 1.40233325e-04 9.99925539e-01 -2.05042575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63 meters 0.016342635044943456 Centerline is valid? [True, True] Translation: X:90.89, Y:37.44, Z:-2.05 [[ 7.13648540e-01 -7.00443939e-01 9.16781282e-03 9.08906894e+01] [ 7.00388692e-01 7.13707411e-01 8.79841784e-03 3.74416163e+01] [-1.27059344e-02 1.42054381e-04 9.99919266e-01 -2.05049588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66 meters 0.014321687925185062 Centerline is valid? [True, True] Translation: X:90.91, Y:37.46, Z:-2.05 [[ 7.14717702e-01 -6.99336272e-01 1.03626457e-02 9.09096830e+01] [ 6.99265468e-01 7.14792810e-01 9.95212480e-03 3.74631317e+01] [-1.43670265e-02 1.33280510e-04 9.99896780e-01 -2.04966302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69 meters 0.01513298560532997 Centerline is valid? [True, True] Translation: X:90.93, Y:37.48, Z:-2.05 [[ 7.15337261e-01 -6.98708491e-01 9.95220355e-03 9.09285582e+01] [ 6.98643055e-01 7.15406480e-01 9.56296061e-03 3.74824785e+01] [-1.38015927e-02 1.12295837e-04 9.99904747e-01 -2.05113053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72 meters 0.013477856782985643 Centerline is valid? [True, True] Translation: X:90.95, Y:37.50, Z:-2.05 [[ 7.16116812e-01 -6.97900189e-01 1.05847781e-02 9.09481524e+01] [ 6.97826024e-01 7.16195027e-01 1.01746690e-02 3.75034848e+01] [-1.46816689e-02 1.00082069e-04 9.99892213e-01 -2.05082262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75 meters 0.013252703539427297 Centerline is valid? [True, True] Translation: X:90.97, Y:37.53, Z:-2.05 [[ 7.17571190e-01 -6.96410362e-01 1.02076245e-02 9.09668358e+01] [ 6.96341175e-01 7.17643787e-01 9.81650787e-03 3.75253033e+01] [-1.41617561e-02 6.39460125e-05 9.99899715e-01 -2.05205048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78 meters 0.013192457792034037 Centerline is valid? [True, True] Translation: X:90.99, Y:37.55, Z:-2.05 [[ 7.18129455e-01 -6.95836641e-01 1.00724536e-02 9.09856739e+01] [ 6.95769133e-01 7.18200088e-01 9.69258424e-03 3.75451685e+01] [-1.39784923e-02 4.75720436e-05 9.99902295e-01 -2.05307131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81 meters 0.014815120599922375 Centerline is valid? [True, True] Translation: X:91.01, Y:37.57, Z:-2.06 [[ 7.18490268e-01 -6.95476057e-01 9.20807064e-03 9.10054906e+01] [ 6.95419597e-01 7.18549269e-01 8.86177045e-03 3.75654421e+01] [-1.27796016e-02 3.63769529e-05 9.99918337e-01 -2.05542304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83999999999999 meters 0.013093139549665223 Centerline is valid? [True, True] Translation: X:91.02, Y:37.59, Z:-2.06 [[ 7.19417799e-01 -6.94512375e-01 9.51800335e-03 9.10237337e+01] [ 6.94451876e-01 7.19480758e-01 9.16683680e-03 3.75856933e+01] [-1.32145019e-02 1.50097266e-05 9.99912685e-01 -2.05530013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86999999999999 meters 0.014801350092735968 Centerline is valid? [True, True] Translation: X:91.04, Y:37.61, Z:-2.06 [[ 7.20551060e-01 -6.93354567e-01 8.10024345e-03 9.10435305e+01] [ 6.93310672e-01 7.20596589e-01 7.80183456e-03 3.76074147e+01] [-1.12464454e-02 -5.63494174e-06 9.99936757e-01 -2.05865344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89999999999999 meters 0.014801350092735968 Centerline is valid? [True, True] Translation: X:91.06, Y:37.63, Z:-2.06 [[ 7.20354599e-01 -6.93558696e-01 8.09854355e-03 9.10633533e+01] [ 6.93514794e-01 7.20400121e-01 7.80359843e-03 3.76266230e+01] [-1.12464453e-02 -4.89825613e-06 9.99936757e-01 -2.05921987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92999999999999 meters 0.015699184242420713 Centerline is valid? [True, True] Translation: X:91.08, Y:37.65, Z:-2.06 [[ 7.20941575e-01 -6.92957349e-01 7.30460450e-03 9.10837610e+01] [ 6.92921564e-01 7.20978580e-01 7.04228341e-03 3.76473186e+01] [-1.01464654e-02 -1.55569153e-05 9.99948523e-01 -2.06084524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96 meters 0.017903082601295986 Centerline is valid? [True, True] Translation: X:91.10, Y:37.67, Z:-2.06 [[ 7.21466373e-01 -6.92419940e-01 6.39530039e-03 9.11038442e+01] [ 6.92392451e-01 7.21494717e-01 6.16980511e-03 3.76670870e+01] [-8.88627152e-03 -2.32492012e-05 9.99960516e-01 -2.06292920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99 meters 0.015745998989568015 Centerline is valid? [True, True] Translation: X:91.12, Y:37.69, Z:-2.06 [[ 7.21689550e-01 -6.92187833e-01 6.34006608e-03 9.11239113e+01] [ 6.92160819e-01 7.21717398e-01 6.11536520e-03 3.76862564e+01] [-8.80871738e-03 -2.50498282e-05 9.99961202e-01 -2.06224191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02 meters 0.013028132581756325 Centerline is valid? [True, True] Translation: X:91.14, Y:37.71, Z:-2.06 [[ 7.21405628e-01 -6.92477062e-01 7.03120636e-03 9.11447180e+01] [ 6.92443799e-01 7.21439892e-01 6.78734050e-03 3.77064519e+01] [-9.77267036e-03 -2.77103940e-05 9.99952246e-01 -2.06023921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05 meters 0.015685246172015374 Centerline is valid? [True, True] Translation: X:91.16, Y:37.72, Z:-2.06 [[ 7.21156280e-01 -6.92741626e-01 6.53140766e-03 9.11646363e+01] [ 6.92712898e-01 7.21185856e-01 6.30897062e-03 3.77246533e+01] [-9.08084539e-03 -2.53634592e-05 9.99958768e-01 -2.06234007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08 meters 0.014239273041847833 Centerline is valid? [True, True] Translation: X:91.19, Y:37.74, Z:-2.06 [[ 7.20783383e-01 -6.93121528e-01 7.33902036e-03 9.11855174e+01] [ 6.93085257e-01 7.20820745e-01 7.09083726e-03 3.77447510e+01] [-1.02049301e-02 -2.43908611e-05 9.99947928e-01 -2.06125102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11 meters 0.013352764278879554 Centerline is valid? [True, True] Translation: X:91.21, Y:37.76, Z:-2.06 [[ 7.20374092e-01 -6.93532517e-01 8.59159252e-03 9.12057132e+01] [ 6.93482757e-01 7.20425324e-01 8.30770360e-03 3.77637922e+01] [-1.19512634e-02 -2.65331702e-05 9.99928581e-01 -2.06115835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14 meters 0.014606564125010803 Centerline is valid? [True, True] Translation: X:91.23, Y:37.78, Z:-2.06 [[ 7.19945457e-01 -6.93980330e-01 8.35707955e-03 9.12261139e+01] [ 6.93933273e-01 7.19993959e-01 8.08152134e-03 3.77825206e+01] [-1.16254636e-02 -1.89990073e-05 9.99932422e-01 -2.06215950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17 meters 0.01293306357985822 Centerline is valid? [True, True] Translation: X:91.25, Y:37.80, Z:-2.06 [[ 7.19490508e-01 -6.94449380e-01 8.57139344e-03 9.12461055e+01] [ 6.94399853e-01 7.19541562e-01 8.29369203e-03 3.78019338e+01] [-1.19270231e-02 -1.52583447e-05 9.99928870e-01 -2.06139630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.2 meters 0.014685692311701352 Centerline is valid? [True, True] Translation: X:91.27, Y:37.82, Z:-2.06 [[ 7.18443140e-01 -6.95537254e-01 8.20869843e-03 9.12673499e+01] [ 6.95491853e-01 7.18490034e-01 7.94696165e-03 3.78196574e+01] [-1.14252759e-02 -3.57211623e-07 9.99934729e-01 -2.06328707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22999999999999 meters 0.012930728347300429 Centerline is valid? [True, True] Translation: X:91.29, Y:37.84, Z:-2.06 [[ 7.17882655e-01 -6.96113503e-01 8.39555937e-03 9.12880327e+01] [ 6.96065994e-01 7.17931746e-01 8.13266089e-03 3.78385162e+01] [-1.16886937e-02 5.56719301e-06 9.99931685e-01 -2.06252214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25999999999999 meters 0.014972397623482087 Centerline is valid? [True, True] Translation: X:91.31, Y:37.86, Z:-2.06 [[ 7.16841172e-01 -6.97194255e-01 7.67491449e-03 9.13099460e+01] [ 6.97154572e-01 7.16882257e-01 7.43859624e-03 3.78574379e+01] [-1.06881566e-02 1.83096784e-05 9.99942880e-01 -2.06445860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28999999999999 meters 0.012990616490602708 Centerline is valid? [True, True] Translation: X:91.33, Y:37.88, Z:-2.06 [[ 7.16292999e-01 -6.97754200e-01 7.96344536e-03 9.13299969e+01] [ 6.97711458e-01 7.16337264e-01 7.72309766e-03 3.78757781e+01] [-1.10933365e-02 2.41862869e-05 9.99938467e-01 -2.06460942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32 meters 0.012971630948449475 Centerline is valid? [True, True] Translation: X:91.35, Y:37.89, Z:-2.06 [[ 7.14631139e-01 -6.99454898e-01 8.07343548e-03 9.13521102e+01] [ 6.99411054e-01 7.14676740e-01 7.83167618e-03 3.78934667e+01] [-1.12478008e-02 4.98903513e-05 9.99936740e-01 -2.06424859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35 meters 0.013108927525166483 Centerline is valid? [True, True] Translation: X:91.37, Y:37.91, Z:-2.06 [[ 7.13611651e-01 -7.00490373e-01 8.46463021e-03 9.13729655e+01] [ 7.00442170e-01 7.13661848e-01 8.21780475e-03 3.79108597e+01] [-1.17973768e-02 6.46627443e-05 9.99930406e-01 -2.06487738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38 meters 0.015604644970897325 Centerline is valid? [True, True] Translation: X:91.39, Y:37.93, Z:-2.07 [[ 7.12226987e-01 -7.01894803e-01 8.74091742e-03 9.13946609e+01] [ 7.01843492e-01 7.12280617e-01 8.48743027e-03 3.79289705e+01] [-1.21832693e-02 8.97791085e-05 9.99925777e-01 -2.06643084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41 meters 0.013321129976287777 Centerline is valid? [True, True] Translation: X:91.42, Y:37.95, Z:-2.06 [[ 7.11327575e-01 -7.02797711e-01 9.40526852e-03 9.14157372e+01] [ 7.02738306e-01 7.11389742e-01 9.13826479e-03 3.79478966e+01] [-1.31131631e-02 1.09142739e-04 9.99914013e-01 -2.06495471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44 meters 0.013466140392789795 Centerline is valid? [True, True] Translation: X:91.44, Y:37.97, Z:-2.06 [[ 7.09539970e-01 -7.04586185e-01 1.05517448e-02 9.14387353e+01] [ 7.04511506e-01 7.09618407e-01 1.02593261e-02 3.79654992e+01] [-1.47162918e-02 1.54423684e-04 9.99891698e-01 -2.06453947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47 meters 0.013670250044831645 Centerline is valid? [True, True] Translation: X:91.46, Y:37.98, Z:-2.06 [[ 7.08984922e-01 -7.05141263e-01 1.07787018e-02 9.14594374e+01] [ 7.05063311e-01 7.09066832e-01 1.04859876e-02 3.79834782e+01] [-1.50369225e-02 1.65260058e-04 9.99886925e-01 -2.06478678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.5 meters 0.01351891705903677 Centerline is valid? [True, True] Translation: X:91.48, Y:38.00, Z:-2.06 [[ 7.08663696e-01 -7.05464059e-01 1.07808862e-02 9.14803102e+01] [ 7.05386076e-01 7.08745675e-01 1.04905249e-02 3.80027092e+01] [-1.50415947e-02 1.70432829e-04 9.99886854e-01 -2.06469897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53 meters 0.013477081574562145 Centerline is valid? [True, True] Translation: X:91.50, Y:38.02, Z:-2.07 [[ 7.08838876e-01 -7.05287924e-01 1.07885334e-02 9.15009777e+01] [ 7.05209720e-01 7.08920953e-01 1.05039618e-02 3.80219789e+01] [-1.50565347e-02 1.62562152e-04 9.99886631e-01 -2.06527791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56 meters 0.013423934124501841 Centerline is valid? [True, True] Translation: X:91.52, Y:38.04, Z:-2.07 [[ 7.09170973e-01 -7.04956738e-01 1.06079461e-02 9.15209340e+01] [ 7.04881008e-01 7.09250291e-01 1.03338862e-02 3.80413872e+01] [-1.48086315e-02 1.48847651e-04 9.99890335e-01 -2.06602341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58999999999999 meters 0.013316684712083093 Centerline is valid? [True, True] Translation: X:91.54, Y:38.06, Z:-2.07 [[ 7.09470623e-01 -7.04658314e-01 1.03968881e-02 9.15407286e+01] [ 7.04585456e-01 7.09546786e-01 1.01337969e-02 3.80617434e+01] [-1.45179428e-02 1.35864976e-04 9.99894600e-01 -2.06668633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61999999999999 meters 0.013246058715737074 Centerline is valid? [True, True] Translation: X:91.56, Y:38.08, Z:-2.07 [[ 7.10172227e-01 -7.03947433e-01 1.06498777e-02 9.15604451e+01] [ 7.03870798e-01 7.10252066e-01 1.03875745e-02 3.80810740e+01] [-1.48764040e-02 1.19170956e-04 9.99889333e-01 -2.06778842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64999999999999 meters 0.013172076158329368 Centerline is valid? [True, True] Translation: X:91.58, Y:38.10, Z:-2.07 [[ 7.11340921e-01 -7.02771569e-01 1.03061130e-02 9.15800953e+01] [ 7.02699654e-01 7.11415570e-01 1.00539892e-02 3.81009922e+01] [-1.43975870e-02 9.02881192e-05 9.99896345e-01 -2.06795393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67999999999999 meters 0.01296379896764647 Centerline is valid? [True, True] Translation: X:91.60, Y:38.12, Z:-2.07 [[ 7.11732271e-01 -7.02375681e-01 1.02751001e-02 9.15998491e+01] [ 7.02304078e-01 7.11806432e-01 1.00292344e-02 3.81214599e+01] [-1.43581727e-02 7.81149021e-05 9.99896913e-01 -2.06810008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71 meters 0.012905601960496612 Centerline is valid? [True, True] Translation: X:91.62, Y:38.14, Z:-2.07 [[ 7.12222833e-01 -7.01876382e-01 1.04009676e-02 9.16193700e+01] [ 7.01802874e-01 7.12298772e-01 1.01580124e-02 3.81416218e+01] [-1.45382654e-02 6.46606470e-05 9.99894312e-01 -2.06857529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74 meters 0.012836150975664542 Centerline is valid? [True, True] Translation: X:91.64, Y:38.16, Z:-2.07 [[ 7.13350877e-01 -7.00722372e-01 1.08941981e-02 9.16382202e+01] [ 7.00641494e-01 7.13434059e-01 1.06461876e-02 3.81620953e+01] [-1.52323138e-02 3.84599819e-05 9.99883981e-01 -2.06942244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77 meters 0.012844946490348511 Centerline is valid? [True, True] Translation: X:91.66, Y:38.18, Z:-2.07 [[ 7.13823298e-01 -7.00247113e-01 1.05014209e-02 9.16581210e+01] [ 7.00171829e-01 7.13900540e-01 1.02678908e-02 3.81820718e+01] [-1.46870310e-02 2.33393784e-05 9.99892139e-01 -2.07004452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.8 meters 0.012832064552337838 Centerline is valid? [True, True] Translation: X:91.68, Y:38.20, Z:-2.07 [[ 7.13958781e-01 -7.00114451e-01 1.01298739e-02 9.16781480e+01] [ 7.00044312e-01 7.14030640e-01 9.90991145e-03 3.82023957e+01] [-1.41711126e-02 1.60922835e-05 9.99899585e-01 -2.07066525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83 meters 0.012794641814397297 Centerline is valid? [True, True] Translation: X:91.70, Y:38.22, Z:-2.07 [[ 7.14042588e-01 -7.00030605e-01 1.00166973e-02 9.16980046e+01] [ 6.99961939e-01 7.14112842e-01 9.80468760e-03 3.82226937e+01] [-1.40166336e-02 1.03423390e-05 9.99901762e-01 -2.07173877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86 meters 0.012848339047869623 Centerline is valid? [True, True] Translation: X:91.72, Y:38.24, Z:-2.07 [[ 7.13844380e-01 -7.00243362e-01 9.24304992e-03 9.17169678e+01] [ 7.00184837e-01 7.13904219e-01 9.05321674e-03 3.82413832e+01] [-1.29381073e-02 9.25550406e-06 9.99916299e-01 -2.07314461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89 meters 0.012799439931042237 Centerline is valid? [True, True] Translation: X:91.74, Y:38.26, Z:-2.07 [[ 7.13331180e-01 -7.00770711e-01 8.89033418e-03 9.17363430e+01] [ 7.00716574e-01 7.13386579e-01 8.71045270e-03 3.82597113e+01] [-1.24462752e-02 1.61670008e-05 9.99922542e-01 -2.07406500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92 meters 0.012862739652622279 Centerline is valid? [True, True] Translation: X:91.76, Y:38.28, Z:-2.07 [[ 7.12811715e-01 -7.01301309e-01 8.71390293e-03 9.17566869e+01] [ 7.01249325e-01 7.12864975e-01 8.53879845e-03 3.82790878e+01] [-1.22001067e-02 2.40629844e-05 9.99925576e-01 -2.07446386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95 meters 0.012899334889248848 Centerline is valid? [True, True] Translation: X:91.78, Y:38.30, Z:-2.07 [[ 7.12006744e-01 -7.02123373e-01 8.31656136e-03 9.17774094e+01] [ 7.02076028e-01 7.12055312e-01 8.15370833e-03 3.82984083e+01] [-1.16467609e-02 3.33630445e-05 9.99932174e-01 -2.07497011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97999999999999 meters 0.014152335978239977 Centerline is valid? [True, True] Translation: X:91.80, Y:38.32, Z:-2.08 [[ 7.11328970e-01 -7.02814747e-01 7.90744551e-03 9.17979367e+01] [ 7.02771944e-01 7.11372919e-01 7.75660325e-03 3.83179777e+01] [-1.10765977e-02 3.96342554e-05 9.99938652e-01 -2.07555679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00999999999999 meters 0.013062838289301737 Centerline is valid? [True, True] Translation: X:91.82, Y:38.34, Z:-2.08 [[ 7.11389949e-01 -7.02750623e-01 8.11804323e-03 9.18170672e+01] [ 7.02705433e-01 7.11436266e-01 7.96956903e-03 3.83366068e+01] [-1.13760900e-02 3.51217709e-05 9.99935290e-01 -2.07592445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03999999999999 meters 0.012960710485474935 Centerline is valid? [True, True] Translation: X:91.84, Y:38.36, Z:-2.07 [[ 7.10911240e-01 -7.03228386e-01 8.66294687e-03 9.18367979e+01] [ 7.03176945e-01 7.10964018e-01 8.50581210e-03 3.83572604e+01] [-1.21405720e-02 4.47070866e-05 9.99926300e-01 -2.07492630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07 meters 0.012967560418544214 Centerline is valid? [True, True] Translation: X:91.86, Y:38.38, Z:-2.08 [[ 7.10719953e-01 -7.03419911e-01 8.80781463e-03 9.18557786e+01] [ 7.03366669e-01 7.10774526e-01 8.65458996e-03 3.83759226e+01] [-1.23481812e-02 4.41334652e-05 9.99923757e-01 -2.07605281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.1 meters 0.012829323334508255 Centerline is valid? [True, True] Translation: X:91.88, Y:38.40, Z:-2.08 [[ 7.10449671e-01 -7.03694412e-01 8.68558620e-03 9.18757977e+01] [ 7.03642646e-01 7.10502760e-01 8.53553309e-03 3.83963909e+01] [-1.21775399e-02 4.74821841e-05 9.99925850e-01 -2.07563827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13 meters 0.01293362964804067 Centerline is valid? [True, True] Translation: X:91.89, Y:38.42, Z:-2.08 [[ 7.10301346e-01 -7.03848168e-01 8.35190645e-03 9.18948603e+01] [ 7.03800249e-01 7.10350445e-01 8.21316393e-03 3.84154460e+01] [-1.17136008e-02 4.42524466e-05 9.99931392e-01 -2.07781010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16 meters 0.012871113725686952 Centerline is valid? [True, True] Translation: X:91.91, Y:38.44, Z:-2.08 [[ 7.10121628e-01 -7.04034736e-01 7.89703846e-03 9.19141848e+01] [ 7.03991889e-01 7.10165536e-01 7.76732481e-03 3.84357024e+01] [-1.10766710e-02 4.37056801e-05 9.99938651e-01 -2.07771222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19 meters 0.012846223841022242 Centerline is valid? [True, True] Translation: X:91.93, Y:38.46, Z:-2.08 [[ 7.10035495e-01 -7.04128466e-01 7.25936199e-03 9.19349702e+01] [ 7.04092225e-01 7.10072603e-01 7.14406628e-03 3.84563210e+01] [-1.01850145e-02 3.87196922e-05 9.99948131e-01 -2.07854005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22 meters 0.014983061024105557 Centerline is valid? [True, True] Translation: X:91.95, Y:38.48, Z:-2.08 [[ 7.09846703e-01 -7.04328653e-01 6.22940898e-03 9.19543740e+01] [ 7.04301933e-01 7.09874036e-01 6.13516974e-03 3.84758520e+01] [-8.74327154e-03 3.23547696e-05 9.99961776e-01 -2.08130406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25 meters 0.01464770966236928 Centerline is valid? [True, True] Translation: X:91.97, Y:38.49, Z:-2.08 [[ 7.10000771e-01 -7.04173685e-01 6.19081560e-03 9.19734678e+01] [ 7.04147294e-01 7.10027760e-01 6.09654485e-03 3.84948298e+01] [-8.68867739e-03 3.06945132e-05 9.99962252e-01 -2.08306537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28 meters 0.012731965278045891 Centerline is valid? [True, True] Translation: X:91.99, Y:38.52, Z:-2.08 [[ 7.10159873e-01 -7.04011437e-01 6.39142520e-03 9.19929202e+01] [ 7.03983293e-01 7.10188634e-01 6.29503423e-03 3.85156524e+01] [-8.97089363e-03 2.89758488e-05 9.99959760e-01 -2.08026182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31 meters 0.012736227413330206 Centerline is valid? [True, True] Translation: X:92.01, Y:38.54, Z:-2.08 [[ 7.10318900e-01 -7.03851500e-01 6.33449124e-03 9.20124205e+01] [ 7.03823817e-01 7.10347144e-01 6.24250082e-03 3.85352829e+01] [-8.89348133e-03 2.41994903e-05 9.99960452e-01 -2.08043495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33999999999999 meters 0.012580268403806355 Centerline is valid? [True, True] Translation: X:92.03, Y:38.56, Z:-2.08 [[ 7.11021226e-01 -7.03135577e-01 7.01260453e-03 9.20318442e+01] [ 7.03101563e-01 7.11055807e-01 6.91604458e-03 3.85562642e+01] [-9.84927017e-03 1.31187113e-05 9.99951495e-01 -2.08029545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36999999999999 meters 0.012558719422404642 Centerline is valid? [True, True] Translation: X:92.05, Y:38.58, Z:-2.08 [[ 7.11426515e-01 -7.02724439e-01 7.11879732e-03 9.20509683e+01] [ 7.02689335e-01 7.11462131e-01 7.02389203e-03 3.85765241e+01] [-1.00006153e-02 5.31992085e-06 9.99949993e-01 -2.08076954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39999999999999 meters 0.012611019772803059 Centerline is valid? [True, True] Translation: X:92.07, Y:38.60, Z:-2.08 [[ 7.12848017e-01 -7.01277919e-01 7.54888187e-03 9.20688443e+01] [ 7.01238294e-01 7.12887986e-01 7.45481992e-03 3.85975635e+01] [-1.06094078e-02 -2.05885533e-05 9.99943718e-01 -2.08155030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42999999999999 meters 0.014786165378319468 Centerline is valid? [True, True] Translation: X:92.09, Y:38.62, Z:-2.08 [[ 7.13210974e-01 -7.00911362e-01 7.30546732e-03 9.20881835e+01] [ 7.00874230e-01 7.13248388e-01 7.21461344e-03 3.86178751e+01] [-1.02674173e-02 -2.53276929e-05 9.99947288e-01 -2.08273093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46 meters 0.012542111995177432 Centerline is valid? [True, True] Translation: X:92.11, Y:38.64, Z:-2.08 [[ 7.14291761e-01 -6.99806480e-01 7.62695913e-03 9.21070542e+01] [ 6.99765897e-01 7.14332478e-01 7.53662535e-03 3.86386502e+01] [-1.07223639e-02 -4.62635033e-05 9.99942513e-01 -2.08167208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49 meters 0.014352803955137562 Centerline is valid? [True, True] Translation: X:92.13, Y:38.66, Z:-2.08 [[ 7.14968338e-01 -6.99120951e-01 7.08317865e-03 9.21260526e+01] [ 6.99085857e-01 7.15003421e-01 7.00517319e-03 3.86596151e+01] [-9.96196031e-03 -5.67270179e-05 9.99950377e-01 -2.08371817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52 meters 0.012914186566611096 Centerline is valid? [True, True] Translation: X:92.15, Y:38.68, Z:-2.08 [[ 7.16850665e-01 -6.97192754e-01 6.88389451e-03 9.21452082e+01] [ 6.97159519e-01 7.16883713e-01 6.80788991e-03 3.86819468e+01] [-9.68136337e-03 -8.10678245e-05 9.99953131e-01 -2.08389596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55 meters 0.015977200976955357 Centerline is valid? [True, True] Translation: X:92.17, Y:38.70, Z:-2.09 [[ 7.16967211e-01 -6.97082492e-01 5.83249327e-03 9.21652123e+01] [ 6.97058616e-01 7.16990930e-01 5.76987953e-03 3.87032729e+01] [-8.20392678e-03 -7.12247421e-05 9.99966345e-01 -2.08639358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58 meters 0.01348560904433644 Centerline is valid? [True, True] Translation: X:92.18, Y:38.72, Z:-2.09 [[ 7.18056401e-01 -6.95957492e-01 6.17848622e-03 9.21838343e+01] [ 6.95930613e-01 7.18082976e-01 6.11731965e-03 3.87241204e+01] [-8.69406022e-03 -9.27828362e-05 9.99962202e-01 -2.08709129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61 meters 0.013417882909345686 Centerline is valid? [True, True] Translation: X:92.20, Y:38.74, Z:-2.09 [[ 7.18372952e-01 -6.95632013e-01 6.03366170e-03 9.22037678e+01] [ 6.95606351e-01 7.18398283e-01 5.97587843e-03 3.87443386e+01] [-8.49158455e-03 -9.58560244e-05 9.99963941e-01 -2.08721265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64 meters 0.016760408226653825 Centerline is valid? [True, True] Translation: X:92.22, Y:38.76, Z:-2.09 [[ 7.18030109e-01 -6.95992375e-01 5.23218895e-03 9.22233660e+01] [ 6.95973081e-01 7.18049168e-01 5.18297418e-03 3.87642424e+01] [-7.36427943e-03 -8.00688492e-05 9.99972880e-01 -2.08862011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67 meters 0.0136518954781881 Centerline is valid? [True, True] Translation: X:92.24, Y:38.78, Z:-2.09 [[ 7.18515676e-01 -6.95483619e-01 6.14483236e-03 9.22433971e+01] [ 6.95456991e-01 7.18541944e-01 6.08668624e-03 3.87838280e+01] [-8.64851036e-03 -9.99128543e-05 9.99962596e-01 -2.08714838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.7 meters 0.013529229060885278 Centerline is valid? [True, True] Translation: X:92.26, Y:38.80, Z:-2.09 [[ 7.18204430e-01 -6.95806313e-01 5.99762025e-03 9.22638593e+01] [ 6.95780931e-01 7.18229466e-01 5.94388972e-03 3.88033338e+01] [-8.44346358e-03 -9.58981316e-05 9.99964349e-01 -2.08687112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72999999999999 meters 0.013749740011967498 Centerline is valid? [True, True] Translation: X:92.28, Y:38.82, Z:-2.09 [[ 7.17890210e-01 -6.96131377e-01 5.89512108e-03 9.22827738e+01] [ 6.96106822e-01 7.17914408e-01 5.84767105e-03 3.88229251e+01] [-8.30293966e-03 -9.43518020e-05 9.99965526e-01 -2.08764143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75999999999999 meters 0.013824421240113372 Centerline is valid? [True, True] Translation: X:92.30, Y:38.84, Z:-2.09 [[ 7.17950173e-01 -6.96071681e-01 5.63594376e-03 9.23021975e+01] [ 6.96049222e-01 7.17972288e-01 5.59229667e-03 3.88426245e+01] [-7.93909078e-03 -9.20960924e-05 9.99968481e-01 -2.08847344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78999999999999 meters 0.013511904603833514 Centerline is valid? [True, True] Translation: X:92.32, Y:38.86, Z:-2.09 [[ 7.18086853e-01 -6.95933834e-01 5.23161569e-03 9.23237799e+01] [ 6.95914485e-01 7.18105905e-01 5.19026291e-03 3.88623445e+01] [-7.36893369e-03 -8.63024238e-05 9.99972845e-01 -2.08773923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82 meters 0.013511904603833514 Centerline is valid? [True, True] Translation: X:92.34, Y:38.88, Z:-2.09 [[ 7.17887621e-01 -6.96139356e-01 5.23064344e-03 9.23433170e+01] [ 6.96120005e-01 7.17906672e-01 5.19124230e-03 3.88818514e+01] [-7.36894190e-03 -8.55730435e-05 9.99972845e-01 -2.08830574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85 meters 0.013414985551709835 Centerline is valid? [True, True] Translation: X:92.36, Y:38.90, Z:-2.09 [[ 7.18081938e-01 -6.95942196e-01 4.77393144e-03 9.23634540e+01] [ 6.95926055e-01 7.18097802e-01 4.74062597e-03 3.89025407e+01] [-6.72735132e-03 -8.18546051e-05 9.99977368e-01 -2.08901241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88 meters 0.013805132146266913 Centerline is valid? [True, True] Translation: X:92.38, Y:38.92, Z:-2.09 [[ 7.19225012e-01 -6.94767008e-01 3.76657510e-03 9.23826533e+01] [ 6.94756942e-01 7.19234871e-01 3.74066981e-03 3.89240190e+01] [-5.30794613e-03 -7.35290922e-05 9.99985910e-01 -2.09030376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91 meters 0.01411244848809584 Centerline is valid? [True, True] Translation: X:92.40, Y:38.94, Z:-2.09 [[ 7.19708244e-01 -6.94269418e-01 3.16530486e-03 9.24018182e+01] [ 6.94262286e-01 7.19715201e-01 3.14763806e-03 3.89446958e+01] [-4.46342687e-03 -6.78292674e-05 9.99990037e-01 -2.09156999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94 meters 0.014273048819447678 Centerline is valid? [True, True] Translation: X:92.42, Y:38.97, Z:-2.09 [[ 7.20112261e-01 -6.93853638e-01 2.33660365e-03 9.24218770e+01] [ 6.93849764e-01 7.20116050e-01 2.31940102e-03 3.89652020e+01] [-3.29195063e-03 -4.89772183e-05 9.99994580e-01 -2.09194420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97 meters 0.014453838192260414 Centerline is valid? [True, True] Translation: X:92.44, Y:38.99, Z:-2.09 [[ 7.20601515e-01 -6.93346330e-01 2.07942046e-03 9.24417853e+01] [ 6.93343258e-01 7.20604513e-01 2.06433554e-03 3.89858958e+01] [-2.92973924e-03 -4.58111592e-05 9.99995707e-01 -2.09255393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.0 meters 0.015066167475595487 Centerline is valid? [True, True] Translation: X:92.46, Y:39.01, Z:-2.09 [[ 7.21662107e-01 -6.92242834e-01 1.91380722e-03 9.24600543e+01] [ 6.92240216e-01 7.21664643e-01 1.90436027e-03 3.90067879e+01] [-2.69940675e-03 -4.94903201e-05 9.99996355e-01 -2.09332932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03 meters 0.014575880354567082 Centerline is valid? [True, True] Translation: X:92.48, Y:39.03, Z:-2.09 [[ 7.21930930e-01 -6.91961671e-01 2.18571569e-03 9.24806105e+01] [ 6.91958269e-01 7.21934237e-01 2.17073375e-03 3.90262336e+01] [-3.08000754e-03 -5.46957935e-05 9.99995255e-01 -2.09258321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06 meters 0.018255880863951558 Centerline is valid? [True, True] Translation: X:92.50, Y:39.05, Z:-2.09 [[ 7.22062251e-01 -6.91826797e-01 1.33731203e-03 9.24987410e+01] [ 6.91825518e-01 7.22063489e-01 1.33091912e-03 3.90473444e+01] [-1.88638971e-03 -3.58198692e-05 9.99998220e-01 -2.09434911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08999999999999 meters 0.015576949458508276 Centerline is valid? [True, True] Translation: X:92.52, Y:39.07, Z:-2.09 [[ 7.22856086e-01 -6.90995214e-01 2.16637342e-03 9.25191657e+01] [ 6.90991860e-01 7.22859329e-01 2.15383048e-03 3.90678452e+01] [-3.05426979e-03 -5.99630689e-05 9.99995334e-01 -2.09412375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11999999999999 meters 0.01587009019424323 Centerline is valid? [True, True] Translation: X:92.54, Y:39.09, Z:-2.10 [[ 7.22858389e-01 -6.90993608e-01 1.89324023e-03 9.25385057e+01] [ 6.90991038e-01 7.22860866e-01 1.88516487e-03 3.90885384e+01] [-2.67118614e-03 -5.44952073e-05 9.99996431e-01 -2.09505096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14999999999999 meters 0.01613233858392124 Centerline is valid? [True, True] Translation: X:92.56, Y:39.11, Z:-2.10 [[ 7.22804504e-01 -6.91049969e-01 1.89484742e-03 9.25579790e+01] [ 6.91047402e-01 7.22806985e-01 1.88408844e-03 3.91087053e+01] [-2.67160821e-03 -5.23982179e-05 9.99996430e-01 -2.09610965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17999999999999 meters 0.01606664591887453 Centerline is valid? [True, True] Translation: X:92.58, Y:39.13, Z:-2.09 [[ 7.22070405e-01 -6.91817130e-01 1.84110039e-03 9.25800380e+01] [ 6.91814706e-01 7.22072750e-01 1.83201441e-03 3.91272892e+01] [-2.59682737e-03 -4.91430564e-05 9.99996627e-01 -2.09461412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21 meters 0.016157699197520848 Centerline is valid? [True, True] Translation: X:92.60, Y:39.15, Z:-2.09 [[ 7.21382417e-01 -6.92533880e-01 2.05784533e-03 9.26015607e+01] [ 6.92530849e-01 7.21385350e-01 2.04952374e-03 3.91472957e+01] [-2.90386410e-03 -5.33690177e-05 9.99995782e-01 -2.09454627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24 meters 0.014000596661981479 Centerline is valid? [True, True] Translation: X:92.62, Y:39.17, Z:-2.09 [[ 7.20751626e-01 -6.93183802e-01 3.64836442e-03 9.26232584e+01] [ 6.93174246e-01 7.20760853e-01 3.64100641e-03 3.91665789e+01] [-5.15348492e-03 -9.53090300e-05 9.99986716e-01 -2.09359478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27 meters 0.016484210689717727 Centerline is valid? [True, True] Translation: X:92.64, Y:39.19, Z:-2.09 [[ 7.18992666e-01 -6.95009259e-01 3.41706094e-03 9.26431234e+01] [ 6.95000873e-01 7.19000782e-01 3.41504851e-03 3.91865907e+01] [-4.83035982e-03 -8.05344967e-05 9.99988331e-01 -2.09498154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.3 meters 0.012460890532836454 Centerline is valid? [True, True] Translation: X:92.67, Y:39.20, Z:-2.09 [[ 7.14977568e-01 -6.99126627e-01 5.38852860e-03 9.26664547e+01] [ 6.99105894e-01 7.14997869e-01 5.38486001e-03 3.92044319e+01] [-7.61748548e-03 -8.29020125e-05 9.99970983e-01 -2.09419262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33 meters 0.015526251087645408 Centerline is valid? [True, True] Translation: X:92.69, Y:39.22, Z:-2.10 [[ 7.12276955e-01 -7.01879711e-01 5.13917095e-03 9.26873017e+01] [ 7.01860893e-01 7.12295493e-01 5.13984102e-03 3.92233456e+01] [-7.26815843e-03 -5.40072046e-05 9.99973585e-01 -2.09502908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36 meters 0.015469898372964712 Centerline is valid? [True, True] Translation: X:92.71, Y:39.24, Z:-2.09 [[ 7.08444362e-01 -7.05736504e-01 6.52487138e-03 9.27116336e+01] [ 7.05706319e-01 7.08474408e-01 6.52716708e-03 3.92399198e+01] [-9.22916446e-03 -1.94917508e-05 9.99957410e-01 -2.09361049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39 meters 0.011449578204611111 Centerline is valid? [True, True] Translation: X:92.73, Y:39.26, Z:-2.09 [[ 7.06911268e-01 -7.07262473e-01 7.50022590e-03 9.27340957e+01] [ 7.07222626e-01 7.06951055e-01 7.50761175e-03 3.92586578e+01] [-1.06121447e-02 -2.88588547e-06 9.99943690e-01 -2.09358173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42 meters 0.011576838275896204 Centerline is valid? [True, True] Translation: X:92.76, Y:39.28, Z:-2.10 [[ 7.05050230e-01 -7.09124497e-01 6.82799965e-03 9.27559637e+01] [ 7.09091533e-01 7.05083291e-01 6.83746718e-03 3.92778989e+01] [-9.66292394e-03 2.09189354e-05 9.99953313e-01 -2.09518520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45 meters 0.012863347397770137 Centerline is valid? [True, True] Translation: X:92.78, Y:39.30, Z:-2.10 [[ 7.01716227e-01 -7.12439144e-01 4.98033331e-03 9.27774622e+01] [ 7.12421664e-01 7.01733899e-01 4.99082224e-03 3.92962014e+01] [-7.05052583e-03 4.59563889e-05 9.99975144e-01 -2.09889878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47999999999999 meters 0.01223533810070323 Centerline is valid? [True, True] Translation: X:92.80, Y:39.32, Z:-2.10 [[ 7.00454297e-01 -7.13681054e-01 4.80945898e-03 9.27986365e+01] [ 7.13664798e-01 7.00470806e-01 4.81728156e-03 3.93164661e+01] [-6.80688819e-03 5.80559931e-05 9.99976831e-01 -2.10016772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50999999999999 meters 0.012410941550700208 Centerline is valid? [True, True] Translation: X:92.82, Y:39.34, Z:-2.10 [[ 6.99365458e-01 -7.14749531e-01 4.58950550e-03 9.28199870e+01] [ 7.14734738e-01 6.99380514e-01 4.59892519e-03 3.93366414e+01] [-6.49689034e-03 6.39495891e-05 9.99978893e-01 -2.10145654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53999999999999 meters 0.012389481049825435 Centerline is valid? [True, True] Translation: X:92.84, Y:39.36, Z:-2.10 [[ 6.98384402e-01 -7.15705867e-01 4.93341264e-03 9.28402544e+01] [ 7.15688783e-01 6.98401823e-01 4.94570204e-03 3.93558848e+01] [-6.98517234e-03 7.67869258e-05 9.99975600e-01 -2.10085677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57 meters 0.012399515143523804 Centerline is valid? [True, True] Translation: X:92.86, Y:39.37, Z:-2.10 [[ 6.97232467e-01 -7.16822922e-01 5.63796469e-03 9.28617445e+01] [ 7.16800611e-01 6.97255254e-01 5.65637619e-03 3.93741933e+01] [-7.98572061e-03 9.74874085e-05 9.99968109e-01 -2.09906133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.6 meters 0.012921112213119722 Centerline is valid? [True, True] Translation: X:92.88, Y:39.39, Z:-2.10 [[ 6.96734480e-01 -7.17303215e-01 6.09610035e-03 9.28816206e+01] [ 7.17277100e-01 6.96761140e-01 6.12172969e-03 3.93918985e+01] [-8.63866222e-03 1.07373022e-04 9.99962680e-01 -2.09998224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63 meters 0.012442403543584302 Centerline is valid? [True, True] Translation: X:92.90, Y:39.41, Z:-2.10 [[ 6.96504581e-01 -7.17522744e-01 6.51775383e-03 9.29008102e+01] [ 7.17492887e-01 6.96535066e-01 6.54667627e-03 3.94124893e+01] [-9.23723321e-03 1.16652001e-04 9.99957329e-01 -2.09969540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66 meters 0.012072869085997048 Centerline is valid? [True, True] Translation: X:92.92, Y:39.43, Z:-2.10 [[ 6.96902061e-01 -7.17129042e-01 7.31126609e-03 9.29202364e+01] [ 7.17091392e-01 6.96940401e-01 7.34932003e-03 3.94341166e+01] [-1.03659276e-02 1.21089699e-04 9.99946265e-01 -2.10004994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69 meters 0.011984991944090488 Centerline is valid? [True, True] Translation: X:92.94, Y:39.46, Z:-2.10 [[ 6.97417221e-01 -7.16624557e-01 7.64617178e-03 9.29403858e+01] [ 7.16583304e-01 6.97459125e-01 7.69014966e-03 3.94551843e+01] [-1.08438424e-02 1.15876227e-04 9.99941197e-01 -2.10104144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72 meters 0.011740143500015681 Centerline is valid? [True, True] Translation: X:92.96, Y:39.48, Z:-2.10 [[ 6.98165044e-01 -7.15895413e-01 7.70251536e-03 9.29602958e+01] [ 7.15853463e-01 6.98207524e-01 7.75069411e-03 3.94765109e+01] [-1.09266405e-02 1.02608599e-04 9.99940297e-01 -2.10152961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75 meters 0.011649575708114465 Centerline is valid? [True, True] Translation: X:92.98, Y:39.50, Z:-2.10 [[ 6.99151067e-01 -7.14935075e-01 7.45817250e-03 9.29789928e+01] [ 7.14895636e-01 6.99190841e-01 7.50987073e-03 3.94962192e+01] [-1.05837559e-02 8.12808439e-05 9.99943987e-01 -2.10234316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78 meters 0.011178123566100354 Centerline is valid? [True, True] Translation: X:93.00, Y:39.52, Z:-2.10 [[ 7.02074972e-01 -7.12062851e-01 7.56506473e-03 9.29969369e+01] [ 7.12022074e-01 7.02115727e-01 7.62044129e-03 3.95177834e+01] [-1.07377841e-02 3.63719858e-05 9.99942348e-01 -2.10373259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81 meters 0.010996973185260397 Centerline is valid? [True, True] Translation: X:93.02, Y:39.54, Z:-2.10 [[ 7.03536806e-01 -7.10618040e-01 7.61336661e-03 9.30153604e+01] [ 7.10576670e-01 7.03577999e-01 7.66781123e-03 3.95393741e+01] [-1.08054822e-02 1.52932728e-05 9.99941619e-01 -2.10445277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83999999999999 meters 0.010936034114645183 Centerline is valid? [True, True] Translation: X:93.03, Y:39.56, Z:-2.10 [[ 7.05469469e-01 -7.08700839e-01 7.47987258e-03 9.30332442e+01] [ 7.08660758e-01 7.05509121e-01 7.53722414e-03 3.95607754e+01] [-1.06187554e-02 -1.65893479e-05 9.99943619e-01 -2.10445008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86999999999999 meters 0.011122653723997835 Centerline is valid? [True, True] Translation: X:93.05, Y:39.58, Z:-2.11 [[ 7.07650822e-01 -7.06521143e-01 7.62810108e-03 9.30503312e+01] [ 7.06479260e-01 7.07691932e-01 7.69311549e-03 3.95827863e+01] [-1.08336943e-02 -5.49442942e-05 9.99941312e-01 -2.10614924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89999999999999 meters 0.011744332755855501 Centerline is valid? [True, True] Translation: X:93.07, Y:39.61, Z:-2.11 [[ 7.12333024e-01 -7.01797426e-01 7.87628437e-03 9.30670373e+01] [ 7.01752469e-01 7.12376555e-01 7.94456207e-03 3.96070766e+01] [-1.11863535e-02 -1.31971921e-04 9.99937422e-01 -2.10593232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92999999999999 meters 0.01413051026557071 Centerline is valid? [True, True] Translation: X:93.09, Y:39.63, Z:-2.11 [[ 7.14722757e-01 -6.99370062e-01 7.27306443e-03 9.30852252e+01] [ 6.99331552e-01 7.14759743e-01 7.34093023e-03 3.96290253e+01] [-1.03325205e-02 -1.60446460e-04 9.99946605e-01 -2.10609726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96 meters 0.016727553841608563 Centerline is valid? [True, True] Translation: X:93.10, Y:39.65, Z:-2.11 [[ 7.18824507e-01 -6.95153401e-01 7.28536979e-03 9.31015635e+01] [ 6.95114526e-01 7.18861391e-01 7.35507583e-03 3.96517711e+01] [-1.03500770e-02 -2.22842395e-04 9.99946412e-01 -2.10670576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99 meters 0.01758755415041078 Centerline is valid? [True, True] Translation: X:93.12, Y:39.67, Z:-2.11 [[ 7.20223821e-01 -6.93702356e-01 7.39527849e-03 9.31212657e+01] [ 6.93662211e-01 7.20261744e-01 7.46704550e-03 3.96729862e+01] [-1.05064432e-02 -2.48118810e-04 9.99944775e-01 -2.10690000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02 meters 0.01620172297086835 Centerline is valid? [True, True] Translation: X:93.14, Y:39.69, Z:-2.11 [[ 7.21231315e-01 -6.92650539e-01 7.78601349e-03 9.31413261e+01] [ 6.92605931e-01 7.21273286e-01 7.86585635e-03 3.96939526e+01] [-1.10641332e-02 -2.80462793e-04 9.99938751e-01 -2.10727383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05 meters 0.016527758254603578 Centerline is valid? [True, True] Translation: X:93.16, Y:39.72, Z:-2.11 [[ 7.21852159e-01 -6.92000946e-01 8.00946150e-03 9.31615958e+01] [ 6.91953653e-01 7.21896530e-01 8.09583953e-03 3.97151299e+01] [-1.13843311e-02 -3.01823098e-04 9.99935151e-01 -2.10800578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08 meters 0.015865800272733148 Centerline is valid? [True, True] Translation: X:93.18, Y:39.74, Z:-2.11 [[ 7.22743448e-01 -6.91065107e-01 8.42179196e-03 9.31808455e+01] [ 6.91012675e-01 7.22792435e-01 8.51929836e-03 3.97352893e+01] [-1.19745973e-02 -3.37702082e-04 9.99928245e-01 -2.10847289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11 meters 0.01872002228491474 Centerline is valid? [True, True] Translation: X:93.20, Y:39.76, Z:-2.11 [[ 7.22284536e-01 -6.91549269e-01 8.04097327e-03 9.32008005e+01] [ 6.91501516e-01 7.22329225e-01 8.13283866e-03 3.97554280e+01] [-1.14324886e-02 -3.13878387e-04 9.99934598e-01 -2.10946917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14 meters 0.015330062656785427 Centerline is valid? [True, True] Translation: X:93.22, Y:39.77, Z:-2.11 [[ 7.22316805e-01 -6.91511465e-01 8.38607514e-03 9.32215369e+01] [ 6.91459461e-01 7.22365408e-01 8.48704956e-03 3.97745833e+01] [-1.19267027e-02 -3.31707524e-04 9.99928819e-01 -2.10936522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17 meters 0.018328298252202304 Centerline is valid? [True, True] Translation: X:93.24, Y:39.80, Z:-2.11 [[ 7.21878234e-01 -6.91971307e-01 8.21740616e-03 9.32402498e+01] [ 6.91921319e-01 7.21924931e-01 8.32360669e-03 3.97951488e+01] [-1.16920474e-02 -3.22831992e-04 9.99931594e-01 -2.11045939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.2 meters 0.01581430435027737 Centerline is valid? [True, True] Translation: X:93.26, Y:39.81, Z:-2.11 [[ 7.21688957e-01 -6.92171393e-01 7.98830308e-03 9.32611939e+01] [ 6.92124179e-01 7.21733100e-01 8.09036434e-03 3.98137802e+01] [-1.13653415e-02 -3.09828887e-04 9.99935364e-01 -2.11020955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22999999999999 meters 0.018331713176210414 Centerline is valid? [True, True] Translation: X:93.28, Y:39.83, Z:-2.11 [[ 7.21098223e-01 -6.92789657e-01 7.73588848e-03 9.32806004e+01] [ 6.92745339e-01 7.21139656e-01 7.84165240e-03 3.98332694e+01] [-1.10112716e-02 -2.95600919e-04 9.99939330e-01 -2.11134547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25999999999999 meters 0.018941308153247946 Centerline is valid? [True, True] Translation: X:93.30, Y:39.85, Z:-2.11 [[ 7.20520009e-01 -6.93393847e-01 7.47593421e-03 9.33000783e+01] [ 6.93352476e-01 7.20558739e-01 7.57941023e-03 3.98533005e+01] [-1.06423661e-02 -2.77659231e-04 9.99943330e-01 -2.11264244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28999999999999 meters 0.01693949480841791 Centerline is valid? [True, True] Translation: X:93.32, Y:39.87, Z:-2.11 [[ 7.18804391e-01 -6.95184129e-01 6.26687011e-03 9.33240613e+01] [ 6.95155144e-01 7.18831679e-01 6.35156511e-03 3.98700362e+01] [-8.92033202e-03 -2.09085896e-04 9.99960191e-01 -2.11297648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32 meters 0.01749604829326253 Centerline is valid? [True, True] Translation: X:93.35, Y:39.89, Z:-2.11 [[ 7.17634367e-01 -6.96395127e-01 5.89427383e-03 9.33450692e+01] [ 6.96369505e-01 7.17658549e-01 5.97655012e-03 3.98897384e+01] [-8.39211639e-03 -1.84385213e-04 9.99964769e-01 -2.11428602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35 meters 0.017246601871456026 Centerline is valid? [True, True] Translation: X:93.37, Y:39.91, Z:-2.12 [[ 7.16329057e-01 -6.97742150e-01 5.34552163e-03 9.33654669e+01] [ 6.97721076e-01 7.16348985e-01 5.42517695e-03 3.99088196e+01] [-7.61463362e-03 -1.56528786e-04 9.99970996e-01 -2.11509439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38 meters 0.014097343386784955 Centerline is valid? [True, True] Translation: X:93.39, Y:39.93, Z:-2.12 [[ 7.15214914e-01 -6.98885104e-01 5.21896287e-03 9.33874539e+01] [ 6.98865063e-01 7.15233942e-01 5.29462529e-03 3.99280246e+01] [-7.43311413e-03 -1.39444153e-04 9.99972364e-01 -2.11512094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41 meters 0.015695970595045083 Centerline is valid? [True, True] Translation: X:93.41, Y:39.95, Z:-2.12 [[ 7.11897317e-01 -7.02262971e-01 5.37860409e-03 9.34086521e+01] [ 7.02241735e-01 7.11917627e-01 5.46245905e-03 3.99466104e+01] [-7.66520578e-03 -1.11629677e-04 9.99970616e-01 -2.11676782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44 meters 0.012505929830546283 Centerline is valid? [True, True] Translation: X:93.43, Y:39.97, Z:-2.12 [[ 7.09852974e-01 -7.04330796e-01 5.18506928e-03 9.34315435e+01] [ 7.04311132e-01 7.09871906e-01 5.26373274e-03 3.99652910e+01] [-7.38814408e-03 -8.45743286e-05 9.99972704e-01 -2.11634336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47 meters 0.011959328878058515 Centerline is valid? [True, True] Translation: X:93.45, Y:39.98, Z:-2.12 [[ 7.06684390e-01 -7.07508847e-01 5.32951693e-03 9.34537984e+01] [ 7.07488140e-01 7.06704484e-01 5.41328891e-03 3.99831977e+01] [-7.59634331e-03 -5.49167556e-05 9.99971146e-01 -2.11712017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.5 meters 0.01447874717671432 Centerline is valid? [True, True] Translation: X:93.48, Y:40.00, Z:-2.12 [[ 7.02866253e-01 -7.11293557e-01 6.36444350e-03 9.34768479e+01] [ 7.11264140e-01 7.02895067e-01 6.46906668e-03 4.00006104e+01] [-9.07494140e-03 -2.00882251e-05 9.99958822e-01 -2.11743444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53 meters 0.013467735386203281 Centerline is valid? [True, True] Translation: X:93.50, Y:40.01, Z:-2.12 [[ 6.95783031e-01 -7.18217441e-01 7.04843098e-03 9.35024110e+01] [ 7.18181651e-01 6.95818728e-01 7.17037149e-03 4.00142094e+01] [-1.00543161e-02 7.30309872e-05 9.99949451e-01 -2.11599873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56 meters 0.012294724238909241 Centerline is valid? [True, True] Translation: X:93.52, Y:40.03, Z:-2.11 [[ 6.92731343e-01 -7.21156617e-01 7.51132351e-03 9.35246496e+01] [ 7.21116138e-01 6.92772054e-01 7.64174480e-03 4.00324519e+01] [-1.07145298e-02 1.22860458e-04 9.99942590e-01 -2.11492344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58999999999999 meters 0.012904119025808075 Centerline is valid? [True, True] Translation: X:93.55, Y:40.05, Z:-2.12 [[ 6.89818561e-01 -7.23940140e-01 7.81197587e-03 9.35460322e+01] [ 7.23896486e-01 6.89862773e-01 7.95183632e-03 4.00516424e+01] [-1.11458448e-02 1.69737589e-04 9.99937869e-01 -2.11516869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61999999999999 meters 0.01440420092746613 Centerline is valid? [True, True] Translation: X:93.57, Y:40.07, Z:-2.12 [[ 6.87252896e-01 -7.26373828e-01 8.03236043e-03 9.35666817e+01] [ 7.26327794e-01 6.87299801e-01 8.18044473e-03 4.00718804e+01] [-1.14627007e-02 2.12092302e-04 9.99934279e-01 -2.11552211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64999999999999 meters 0.01631048620113929 Centerline is valid? [True, True] Translation: X:93.59, Y:40.09, Z:-2.12 [[ 6.83748838e-01 -7.29674761e-01 7.89111905e-03 9.35870798e+01] [ 7.29630505e-01 6.83794323e-01 8.04053294e-03 4.00925038e+01] [-1.12628764e-02 2.59896126e-04 9.99936538e-01 -2.11645711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67999999999999 meters 0.015117654355534384 Centerline is valid? [True, True] Translation: X:93.61, Y:40.11, Z:-2.12 [[ 6.82562873e-01 -7.30786747e-01 7.65861026e-03 9.36074876e+01] [ 7.30745091e-01 6.82605786e-01 7.80724624e-03 4.01131814e+01] [-1.09332438e-02 2.67555429e-04 9.99940195e-01 -2.11702771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71 meters 0.015117654355534384 Centerline is valid? [True, True] Translation: X:93.63, Y:40.13, Z:-2.12 [[ 6.82357047e-01 -7.30978955e-01 7.65692912e-03 9.36267715e+01] [ 7.30937292e-01 6.82399953e-01 7.80889437e-03 4.01329551e+01] [-1.09332255e-02 2.68280938e-04 9.99940195e-01 -2.11759434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74 meters 0.015684360975409328 Centerline is valid? [True, True] Translation: X:93.65, Y:40.15, Z:-2.12 [[ 6.81027271e-01 -7.32218788e-01 7.58312461e-03 9.36466749e+01] [ 7.32177949e-01 6.81069429e-01 7.73841212e-03 4.01536119e+01] [-1.08308451e-02 2.82126946e-04 9.99941305e-01 -2.11881482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77 meters 0.0182727935229314 Centerline is valid? [True, True] Translation: X:93.67, Y:40.17, Z:-2.12 [[ 6.79435188e-01 -7.33696206e-01 7.59620959e-03 9.36662191e+01] [ 7.33655277e-01 6.79477582e-01 7.75559778e-03 4.01745114e+01] [-1.08517068e-02 3.03573221e-04 9.99941072e-01 -2.11978125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.8 meters 0.019195661508438495 Centerline is valid? [True, True] Translation: X:93.69, Y:40.19, Z:-2.12 [[ 6.77269033e-01 -7.35695471e-01 7.67011541e-03 9.36857688e+01] [ 7.35653805e-01 6.77312381e-01 7.83690146e-03 4.01942691e+01] [-1.09606370e-02 3.34858910e-04 9.99939874e-01 -2.12019012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83 meters 0.017835731711854652 Centerline is valid? [True, True] Translation: X:93.71, Y:40.22, Z:-2.12 [[ 6.76642842e-01 -7.36271061e-01 7.70651780e-03 9.37059558e+01] [ 7.36229038e-01 6.76686638e-01 7.87385002e-03 4.02152813e+01] [-1.10121855e-02 3.45977940e-04 9.99939304e-01 -2.12041230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86 meters 0.018834437470181438 Centerline is valid? [True, True] Translation: X:93.73, Y:40.24, Z:-2.12 [[ 6.76001097e-01 -7.36859185e-01 7.81395924e-03 9.37252496e+01] [ 7.36815978e-01 6.76046162e-01 7.98758442e-03 4.02365869e+01] [-1.11683221e-02 3.57834189e-04 9.99937568e-01 -2.12152972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89 meters 0.01849851436380192 Centerline is valid? [True, True] Translation: X:93.74, Y:40.26, Z:-2.12 [[ 6.76124683e-01 -7.36745965e-01 7.79713511e-03 9.37444587e+01] [ 7.36702894e-01 6.76169548e-01 7.97420928e-03 4.02584821e+01] [-1.11471518e-02 3.52612276e-04 9.99937806e-01 -2.12241416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92 meters 0.017583983499419687 Centerline is valid? [True, True] Translation: X:93.76, Y:40.28, Z:-2.12 [[ 6.77949699e-01 -7.35064278e-01 8.04434971e-03 9.37612354e+01] [ 7.35018268e-01 6.77997342e-01 8.23099012e-03 4.02813938e+01] [-1.15043545e-02 3.32546715e-04 9.99933767e-01 -2.12259615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95 meters 0.016451384291979246 Centerline is valid? [True, True] Translation: X:93.78, Y:40.30, Z:-2.12 [[ 6.79525441e-01 -7.33606099e-01 8.20161405e-03 9.37790841e+01] [ 7.33558111e-01 6.79574864e-01 8.39654478e-03 4.03043642e+01] [-1.17333672e-02 3.10694715e-04 9.99931113e-01 -2.12267441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97999999999999 meters 0.018379975402491224 Centerline is valid? [True, True] Translation: X:93.80, Y:40.33, Z:-2.12 [[ 6.81180537e-01 -7.32071545e-01 8.02058964e-03 9.37965071e+01] [ 7.32025479e-01 6.81227699e-01 8.21702097e-03 4.03263238e+01] [-1.14792951e-02 2.74001222e-04 9.99934073e-01 -2.12380549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00999999999999 meters 0.016236164532269542 Centerline is valid? [True, True] Translation: X:93.81, Y:40.35, Z:-2.12 [[ 6.83548000e-01 -7.29857712e-01 8.35776389e-03 9.38138705e+01] [ 7.29807509e-01 6.83599049e-01 8.56387944e-03 4.03479103e+01] [-1.19637729e-02 2.45736181e-04 9.99928401e-01 -2.12411433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03999999999999 meters 0.01346240920941917 Centerline is valid? [True, True] Translation: X:93.83, Y:40.37, Z:-2.13 [[ 6.88752849e-01 -7.24950765e-01 8.11791136e-03 9.38277360e+01] [ 7.24903065e-01 6.88800670e-01 8.31761475e-03 4.03734261e+01] [-1.16214840e-02 1.55917966e-04 9.99932456e-01 -2.12511444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07 meters 0.012613969426974363 Centerline is valid? [True, True] Translation: X:93.84, Y:40.40, Z:-2.13 [[ 6.91529260e-01 -7.22305375e-01 7.88848427e-03 9.38444690e+01] [ 7.22260113e-01 6.91574244e-01 8.08672543e-03 4.03971627e+01] [-1.12965578e-02 1.05330282e-04 9.99936186e-01 -2.12653997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.1 meters 0.011581705014496959 Centerline is valid? [True, True] Translation: X:93.86, Y:40.42, Z:-2.13 [[ 6.93998850e-01 -7.19934095e-01 7.77779508e-03 9.38610368e+01] [ 7.19889909e-01 6.94042430e-01 7.97650196e-03 4.04219665e+01] [-1.11406755e-02 6.34729979e-05 9.99937939e-01 -2.12604753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13 meters 0.011554212069696524 Centerline is valid? [True, True] Translation: X:93.88, Y:40.45, Z:-2.13 [[ 6.99035212e-01 -7.15047747e-01 7.51612731e-03 9.38750851e+01] [ 7.15006145e-01 6.99075617e-01 7.71323418e-03 4.04464278e+01] [-1.07696721e-02 -1.77450744e-05 9.99942005e-01 -2.12973423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16 meters 0.014317201874902725 Centerline is valid? [True, True] Translation: X:93.89, Y:40.47, Z:-2.13 [[ 7.00803434e-01 -7.13316340e-01 7.37199791e-03 9.38931981e+01] [ 7.13276215e-01 7.00842206e-01 7.56597462e-03 4.04688950e+01] [-1.05635406e-02 -4.39902364e-05 9.99944203e-01 -2.12881873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19 meters 0.011737777572831155 Centerline is valid? [True, True] Translation: X:93.91, Y:40.49, Z:-2.13 [[ 7.03008950e-01 -7.11137231e-01 7.89018950e-03 9.39119238e+01] [ 7.11091078e-01 7.03053221e-01 8.10233293e-03 4.04910567e+01] [-1.13090937e-02 -8.53692076e-05 9.99936047e-01 -2.12874571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22 meters 0.014244581628375849 Centerline is valid? [True, True] Translation: X:93.93, Y:40.51, Z:-2.13 [[ 7.04389209e-01 -7.09769481e-01 7.94514654e-03 9.39302840e+01] [ 7.09722550e-01 7.04434007e-01 8.16274977e-03 4.05131576e+01] [-1.13905021e-02 -1.10903189e-04 9.99935120e-01 -2.12891023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25 meters 0.015184818252493444 Centerline is valid? [True, True] Translation: X:93.95, Y:40.54, Z:-2.13 [[ 7.07877873e-01 -7.06275624e-01 9.14657677e-03 9.39460217e+01] [ 7.06213033e-01 7.07936935e-01 9.40467573e-03 4.05368659e+01] [-1.31174927e-02 -1.97930137e-04 9.99913942e-01 -2.12882935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28 meters 0.01677387187782932 Centerline is valid? [True, True] Translation: X:93.96, Y:40.56, Z:-2.13 [[ 7.09167147e-01 -7.04972943e-01 9.75231070e-03 9.39643846e+01] [ 7.04901657e-01 7.09234160e-01 1.00279559e-02 4.05589097e+01] [-1.39861095e-02 -2.37076913e-04 9.99902161e-01 -2.12934334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31 meters 0.016547177037239538 Centerline is valid? [True, True] Translation: X:93.98, Y:40.58, Z:-2.13 [[ 7.10477023e-01 -7.03644428e-01 1.03401766e-02 9.39827814e+01] [ 7.03564063e-01 7.10552207e-01 1.06381647e-02 4.05809347e+01] [-1.48327206e-02 -2.83194929e-04 9.99889949e-01 -2.12964024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33999999999999 meters 0.016065048547517963 Centerline is valid? [True, True] Translation: X:94.00, Y:40.60, Z:-2.13 [[ 7.11623290e-01 -7.02481397e-01 1.05915341e-02 9.40017186e+01] [ 7.02396864e-01 7.11702034e-01 1.09022880e-02 4.06022967e+01] [-1.51966709e-02 -3.18861734e-04 9.99884473e-01 -2.13007679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36999999999999 meters 0.018430323346524214 Centerline is valid? [True, True] Translation: X:94.02, Y:40.62, Z:-2.13 [[ 7.13071487e-01 -7.01016931e-01 1.02135816e-02 9.40198866e+01] [ 7.00938101e-01 7.13144548e-01 1.05182035e-02 4.06245567e+01] [-1.46571988e-02 -3.41142534e-04 9.99892519e-01 -2.13232615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39999999999999 meters 0.017936870465421983 Centerline is valid? [True, True] Translation: X:94.04, Y:40.65, Z:-2.13 [[ 7.13773961e-01 -7.00305008e-01 9.98138844e-03 9.40390801e+01] [ 7.00229560e-01 7.13843660e-01 1.02855275e-02 4.06453838e+01] [-1.43281573e-02 -3.52278446e-04 9.99897285e-01 -2.13369469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42999999999999 meters 0.018421419739833016 Centerline is valid? [True, True] Translation: X:94.06, Y:40.67, Z:-2.13 [[ 7.13913160e-01 -7.00169210e-01 9.54346445e-03 9.40588929e+01] [ 7.00100224e-01 7.13976864e-01 9.83431019e-03 4.06664739e+01] [-1.36994940e-02 -3.39461860e-04 9.99906100e-01 -2.13480790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46 meters 0.017782053314368815 Centerline is valid? [True, True] Translation: X:94.08, Y:40.69, Z:-2.14 [[ 7.13936371e-01 -7.00149855e-01 9.22161008e-03 9.40789482e+01] [ 7.00085383e-01 7.13995847e-01 9.50716483e-03 4.06870182e+01] [-1.32406314e-02 -3.31596329e-04 9.99912284e-01 -2.13568905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49 meters 0.01770847407261377 Centerline is valid? [True, True] Translation: X:94.10, Y:40.71, Z:-2.14 [[ 7.13678744e-01 -7.00417145e-01 8.85853347e-03 9.40990059e+01] [ 7.00357621e-01 7.13733650e-01 9.13673053e-03 4.07063748e+01] [-1.27221561e-02 -3.16548941e-04 9.99919020e-01 -2.13677009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52 meters 0.016180347224890815 Centerline is valid? [True, True] Translation: X:94.12, Y:40.73, Z:-2.14 [[ 7.13176287e-01 -7.00929752e-01 8.77870964e-03 9.41186834e+01] [ 7.00871241e-01 7.13230248e-01 9.06184898e-03 4.07259358e+01] [-1.26129608e-02 -3.09950690e-04 9.99920405e-01 -2.13692035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55 meters 0.014824688036985738 Centerline is valid? [True, True] Translation: X:94.14, Y:40.75, Z:-2.14 [[ 7.12563482e-01 -7.01553085e-01 8.74947417e-03 9.41397940e+01] [ 7.01495013e-01 7.12617135e-01 9.03140753e-03 4.07452480e+01] [-1.25710370e-02 -2.97738704e-04 9.99920937e-01 -2.13718476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58 meters 0.017314192538764834 Centerline is valid? [True, True] Translation: X:94.16, Y:40.77, Z:-2.14 [[ 7.11619592e-01 -7.02518759e-01 8.05915625e-03 9.41602508e+01] [ 7.02469509e-01 7.11665178e-01 8.32247052e-03 4.07657601e+01] [-1.15821125e-02 -2.61121543e-04 9.99932891e-01 -2.13884068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61 meters 0.0143546262360355 Centerline is valid? [True, True] Translation: X:94.18, Y:40.79, Z:-2.14 [[ 7.10758338e-01 -7.03385173e-01 8.47835094e-03 9.41813564e+01] [ 7.03330670e-01 7.10808855e-01 8.76009098e-03 4.07850834e+01] [-1.21882050e-02 -2.63223462e-04 9.99925686e-01 -2.13909106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64 meters 0.01587380110034021 Centerline is valid? [True, True] Translation: X:94.20, Y:40.80, Z:-2.14 [[ 7.09201807e-01 -7.04953790e-01 8.54108666e-03 9.42016861e+01] [ 7.04898512e-01 7.09253195e-01 8.83132342e-03 4.08036850e+01] [-1.22834679e-02 -2.42591248e-04 9.99924526e-01 -2.14073710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67 meters 0.01555495470078175 Centerline is valid? [True, True] Translation: X:94.22, Y:40.82, Z:-2.14 [[ 7.08355589e-01 -7.05801319e-01 8.76687262e-03 9.42229403e+01] [ 7.05743146e-01 7.08409800e-01 9.06461827e-03 4.08233949e+01] [-1.26083580e-02 -2.33812749e-04 9.99920484e-01 -2.14099799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.7 meters 0.015191421068263801 Centerline is valid? [True, True] Translation: X:94.24, Y:40.84, Z:-2.14 [[ 7.07365686e-01 -7.06788815e-01 9.13003529e-03 9.42449675e+01] [ 7.06725740e-01 7.07424568e-01 9.44506662e-03 4.08429371e+01] [-1.31344787e-02 -2.28685078e-04 9.99913713e-01 -2.14064534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72999999999999 meters 0.014418029056330413 Centerline is valid? [True, True] Translation: X:94.27, Y:40.86, Z:-2.14 [[ 7.05598696e-01 -7.08527474e-01 1.09223754e-02 9.42655311e+01] [ 7.08437277e-01 7.05683187e-01 1.13076752e-02 4.08614747e+01] [-1.57195352e-02 -2.40862979e-04 9.99876411e-01 -2.13984944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75999999999999 meters 0.012619870501184622 Centerline is valid? [True, True] Translation: X:94.29, Y:40.88, Z:-2.14 [[ 7.04810443e-01 -7.09296428e-01 1.18666147e-02 9.42874065e+01] [ 7.09190040e-01 7.04910291e-01 1.22869619e-02 4.08812684e+01] [-1.70799970e-02 -2.44294112e-04 9.99854096e-01 -2.13924162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78999999999999 meters 0.012636895017797774 Centerline is valid? [True, True] Translation: X:94.31, Y:40.90, Z:-2.14 [[ 7.04032535e-01 -7.10062673e-01 1.22143418e-02 9.43073884e+01] [ 7.09949956e-01 7.04138441e-01 1.26536843e-02 4.09013366e+01] [-1.75854965e-02 -2.37033994e-04 9.99845335e-01 -2.13935230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82 meters 0.012338161536347437 Centerline is valid? [True, True] Translation: X:94.33, Y:40.92, Z:-2.14 [[ 7.03493503e-01 -7.10590865e-01 1.25504406e-02 9.43278143e+01] [ 7.10471913e-01 7.03605407e-01 1.30035174e-02 4.09206018e+01] [-1.80707386e-02 -2.31154460e-04 9.99836684e-01 -2.13946798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85 meters 0.01225166437170906 Centerline is valid? [True, True] Translation: X:94.35, Y:40.94, Z:-2.14 [[ 7.03233743e-01 -7.10848545e-01 1.25159318e-02 9.43476581e+01] [ 7.10730154e-01 7.03345075e-01 1.29751519e-02 4.09403707e+01] [-1.80263868e-02 -2.29114448e-04 9.99837485e-01 -2.14010311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88 meters 0.012283180213204167 Centerline is valid? [True, True] Translation: X:94.37, Y:40.96, Z:-2.14 [[ 7.03136314e-01 -7.10947637e-01 1.23604936e-02 9.43669333e+01] [ 7.10832054e-01 7.03244911e-01 1.28212834e-02 4.09607484e+01] [-1.78077153e-02 -2.28874907e-04 9.99841404e-01 -2.14101522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91 meters 0.013281247376841242 Centerline is valid? [True, True] Translation: X:94.38, Y:40.98, Z:-2.14 [[ 7.03933084e-01 -7.10168912e-01 1.17613815e-02 9.43846846e+01] [ 7.10064032e-01 7.04031291e-01 1.22070618e-02 4.09816228e+01] [-1.69494564e-02 -2.41620697e-04 9.99856318e-01 -2.14300608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94 meters 0.014694586937495232 Centerline is valid? [True, True] Translation: X:94.40, Y:41.00, Z:-2.14 [[ 7.04529215e-01 -7.09585948e-01 1.12413914e-02 9.44044317e+01] [ 7.09490017e-01 7.04618849e-01 1.16701818e-02 4.10026234e+01] [-1.62018933e-02 -2.46328984e-04 9.99868710e-01 -2.14433562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97 meters 0.01314838652448098 Centerline is valid? [True, True] Translation: X:94.42, Y:41.02, Z:-2.15 [[ 7.05194536e-01 -7.08925987e-01 1.11629431e-02 9.44242768e+01] [ 7.08831216e-01 7.05282834e-01 1.15944669e-02 4.10236587e+01] [-1.60926510e-02 -2.63712154e-04 9.99870470e-01 -2.14506202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.0 meters 0.01395329971774823 Centerline is valid? [True, True] Translation: X:94.44, Y:41.04, Z:-2.15 [[ 7.05801484e-01 -7.08331210e-01 1.05433809e-02 9.44424541e+01] [ 7.08246510e-01 7.05880179e-01 1.09569274e-02 4.10447973e+01] [-1.52034972e-02 -2.66102941e-04 9.99884385e-01 -2.14676070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03 meters 0.013702518213305393 Centerline is valid? [True, True] Translation: X:94.46, Y:41.06, Z:-2.15 [[ 7.06584562e-01 -7.07563934e-01 9.56741631e-03 9.44634308e+01] [ 7.07494105e-01 7.06649286e-01 9.94380019e-03 4.10647420e+01] [-1.37966823e-02 -2.57245068e-04 9.99904788e-01 -2.14811121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06 meters 0.013593425252495522 Centerline is valid? [True, True] Translation: X:94.48, Y:41.08, Z:-2.15 [[ 7.06608818e-01 -7.07544841e-01 9.18015948e-03 9.44839083e+01] [ 7.07480490e-01 7.06668405e-01 9.54575026e-03 4.10849074e+01] [-1.32413750e-02 -2.50327578e-04 9.99912298e-01 -2.14903777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08999999999999 meters 0.016122269539870053 Centerline is valid? [True, True] Translation: X:94.50, Y:41.10, Z:-2.15 [[ 7.06501654e-01 -7.07657594e-01 8.72602419e-03 9.45021095e+01] [ 7.07599395e-01 7.06555499e-01 9.07874710e-03 4.11045921e+01] [-1.25900647e-02 -2.39620398e-04 9.99920713e-01 -2.15035000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11999999999999 meters 0.016629456266445006 Centerline is valid? [True, True] Translation: X:94.52, Y:41.12, Z:-2.15 [[ 7.06186382e-01 -7.07974622e-01 8.52803879e-03 9.45222859e+01] [ 7.07919041e-01 7.06237836e-01 8.87407842e-03 4.11236937e+01] [-1.23054460e-02 -2.29592289e-04 9.99924259e-01 -2.15090962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14999999999999 meters 0.013607403413509876 Centerline is valid? [True, True] Translation: X:94.54, Y:41.14, Z:-2.15 [[ 7.05293438e-01 -7.08848967e-01 9.71127524e-03 9.45435899e+01] [ 7.08776870e-01 7.05360249e-01 1.01127585e-02 4.11426234e+01] [-1.40183659e-02 -2.49334954e-04 9.99901707e-01 -2.15008979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17999999999999 meters 0.01539775554799085 Centerline is valid? [True, True] Translation: X:94.56, Y:41.16, Z:-2.15 [[ 7.04508928e-01 -7.09628651e-01 9.71322833e-03 9.45639563e+01] [ 7.09556507e-01 7.04575844e-01 1.01214154e-02 4.11623095e+01] [-1.40261524e-02 -2.38543132e-04 9.99901600e-01 -2.15083806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21 meters 0.015501680703854596 Centerline is valid? [True, True] Translation: X:94.59, Y:41.18, Z:-2.15 [[ 7.03400558e-01 -7.10720664e-01 1.01878869e-02 9.45858579e+01] [ 7.10641402e-01 7.03474296e-01 1.06166240e-02 4.11814616e+01] [-1.47123707e-02 -2.27805000e-04 9.99891741e-01 -2.15055534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24 meters 0.016830056357411798 Centerline is valid? [True, True] Translation: X:94.61, Y:41.20, Z:-2.15 [[ 7.02322441e-01 -7.11780430e-01 1.05739616e-02 9.46070486e+01] [ 7.11695076e-01 7.02402002e-01 1.10247953e-02 4.12008285e+01] [-1.52744053e-02 -2.17524791e-04 9.99883316e-01 -2.15089497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27 meters 0.012937699732328584 Centerline is valid? [True, True] Translation: X:94.63, Y:41.22, Z:-2.15 [[ 7.01630670e-01 -7.12447903e-01 1.15060372e-02 9.46270972e+01] [ 7.12346798e-01 7.01724970e-01 1.20043656e-02 4.12206885e+01] [-1.66265587e-02 -2.26342301e-04 9.99861744e-01 -2.15037965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.3 meters 0.015068850810564449 Centerline is valid? [True, True] Translation: X:94.65, Y:41.24, Z:-2.15 [[ 7.00820288e-01 -7.13247355e-01 1.13637129e-02 9.46488086e+01] [ 7.13148812e-01 7.00912383e-01 1.18576721e-02 4.12405651e+01] [-1.64224204e-02 -2.06078851e-04 9.99865122e-01 -2.15137752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33 meters 0.016416237515885505 Centerline is valid? [True, True] Translation: X:94.67, Y:41.26, Z:-2.15 [[ 7.00140988e-01 -7.13917386e-01 1.11607890e-02 9.46677059e+01] [ 7.13822363e-01 7.00229913e-01 1.16491911e-02 4.12593406e+01] [-1.61316784e-02 -1.89255364e-04 9.99869858e-01 -2.15320353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36 meters 0.01573101868685929 Centerline is valid? [True, True] Translation: X:94.69, Y:41.28, Z:-2.15 [[ 6.99789318e-01 -7.14268492e-01 1.07439582e-02 9.46878239e+01] [ 7.14180442e-01 6.99871767e-01 1.12162870e-02 4.12791621e+01] [-1.55308334e-02 -1.75912938e-04 9.99879374e-01 -2.15428787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39 meters 0.012815192784388963 Centerline is valid? [True, True] Translation: X:94.71, Y:41.30, Z:-2.16 [[ 6.99440785e-01 -7.14621072e-01 9.96548341e-03 9.47085234e+01] [ 7.14545283e-01 6.99511757e-01 1.04086884e-02 4.12977394e+01] [-1.44092409e-02 -1.59472046e-04 9.99896169e-01 -2.15562177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42 meters 0.012748075744349635 Centerline is valid? [True, True] Translation: X:94.73, Y:41.32, Z:-2.16 [[ 6.99168812e-01 -7.14897744e-01 9.17540528e-03 9.47289075e+01] [ 7.14833459e-01 6.99229001e-01 9.58804915e-03 4.13168830e+01] [-1.32701842e-02 -1.44778246e-04 9.99911937e-01 -2.15681222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45 meters 0.01289118537222786 Centerline is valid? [True, True] Translation: X:94.75, Y:41.34, Z:-2.16 [[ 6.98903291e-01 -7.15164604e-01 8.58948838e-03 9.47483399e+01] [ 7.15108215e-01 6.98956058e-01 8.98165331e-03 4.13355207e+01] [-1.24270355e-02 -1.34893344e-04 9.99922772e-01 -2.15810325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47999999999999 meters 0.01294276416224868 Centerline is valid? [True, True] Translation: X:94.77, Y:41.35, Z:-2.16 [[ 6.98586814e-01 -7.15479554e-01 8.09140353e-03 9.47690785e+01] [ 7.15429526e-01 6.98633661e-01 8.46173207e-03 4.13549129e+01] [-1.17071232e-02 -1.22425455e-04 9.99931462e-01 -2.15909589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50999999999999 meters 0.015903142789773686 Centerline is valid? [True, True] Translation: X:94.79, Y:41.38, Z:-2.16 [[ 6.98374386e-01 -7.15696246e-01 7.21813315e-03 9.47901252e+01] [ 7.15656406e-01 6.98411678e-01 7.55225021e-03 4.13750072e+01] [-1.04463456e-02 -1.08594871e-04 9.99945430e-01 -2.16097562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53999999999999 meters 0.014393868299203916 Centerline is valid? [True, True] Translation: X:94.81, Y:41.39, Z:-2.16 [[ 6.98181687e-01 -7.15886896e-01 6.94862842e-03 9.48107351e+01] [ 7.15849960e-01 6.98216256e-01 7.27283172e-03 4.13937778e+01] [-1.00581703e-02 -1.03582544e-04 9.99949410e-01 -2.16104888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57 meters 0.014712196170873318 Centerline is valid? [True, True] Translation: X:94.83, Y:41.41, Z:-2.16 [[ 6.98351358e-01 -7.15725590e-01 6.50077129e-03 9.48320473e+01] [ 7.15693218e-01 6.98381607e-01 6.80796991e-03 4.14133521e+01] [-9.41265738e-03 -1.01797104e-04 9.99955695e-01 -2.16257880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.6 meters 0.015337403440115114 Centerline is valid? [True, True] Translation: X:94.85, Y:41.43, Z:-2.16 [[ 6.98680753e-01 -7.15404413e-01 6.46006621e-03 9.48500873e+01] [ 7.15372387e-01 6.98710609e-01 6.77002014e-03 4.14337205e+01] [-9.35701908e-03 -1.08729783e-04 9.99956216e-01 -2.16437564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63 meters 0.015337403440115114 Centerline is valid? [True, True] Translation: X:94.87, Y:41.45, Z:-2.16 [[ 6.98489398e-01 -7.15591247e-01 6.45982613e-03 9.48690637e+01] [ 7.15559227e-01 6.98519260e-01 6.77024962e-03 4.14537647e+01] [-9.35704434e-03 -1.06559385e-04 9.99956216e-01 -2.16494277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66 meters 0.013311928688671568 Centerline is valid? [True, True] Translation: X:94.89, Y:41.47, Z:-2.16 [[ 6.98931481e-01 -7.15155689e-01 6.86486690e-03 9.48892308e+01] [ 7.15119466e-01 6.98965182e-01 7.19888948e-03 4.14733346e+01] [-9.94662970e-03 -1.22330536e-04 9.99950524e-01 -2.16334187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69 meters 0.013374018526710588 Centerline is valid? [True, True] Translation: X:94.91, Y:41.49, Z:-2.16 [[ 6.98773775e-01 -7.15310142e-01 6.82728148e-03 9.49083878e+01] [ 7.15274282e-01 6.98807116e-01 7.16346661e-03 4.14937638e+01] [-9.89505320e-03 -1.22263746e-04 9.99951035e-01 -2.16377376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72 meters 0.014651896244327911 Centerline is valid? [True, True] Translation: X:94.93, Y:41.52, Z:-2.17 [[ 6.98096473e-01 -7.15969147e-01 7.03522585e-03 9.49262090e+01] [ 7.15931028e-01 6.98131911e-01 7.38902458e-03 4.15155521e+01] [-1.02018293e-02 -1.21515523e-04 9.99947953e-01 -2.16628660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75 meters 0.013148242929911904 Centerline is valid? [True, True] Translation: X:94.95, Y:41.54, Z:-2.17 [[ 6.97769843e-01 -7.16285389e-01 7.24484266e-03 9.49461684e+01] [ 7.16244997e-01 6.97807443e-01 7.60772677e-03 4.15353529e+01] [-1.05048087e-02 -1.19360010e-04 9.99944816e-01 -2.16507892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78 meters 0.01474092176936285 Centerline is valid? [True, True] Translation: X:94.96, Y:41.56, Z:-2.17 [[ 6.97599252e-01 -7.16452228e-01 7.17550589e-03 9.49645361e+01] [ 7.16412571e-01 6.97636145e-01 7.53907213e-03 4.15560290e+01] [-1.04072773e-02 -1.18628455e-04 9.99945836e-01 -2.16602861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81 meters 0.013295262689272358 Centerline is valid? [True, True] Translation: X:94.98, Y:41.58, Z:-2.17 [[ 6.97601926e-01 -7.16448285e-01 7.30805819e-03 9.49827424e+01] [ 7.16407100e-01 6.97640194e-01 7.68292468e-03 4.15775065e+01] [-1.06028133e-02 -1.24078278e-04 9.99943781e-01 -2.16646648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83999999999999 meters 0.013779219461093796 Centerline is valid? [True, True] Translation: X:95.00, Y:41.60, Z:-2.17 [[ 6.99000922e-01 -7.15079112e-01 7.71845191e-03 9.50001508e+01] [ 7.15033001e-01 6.99043517e-01 8.12211668e-03 4.15998467e+01] [-1.12034898e-02 -1.58419222e-04 9.99937226e-01 -2.16678124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86999999999999 meters 0.014156583820093143 Centerline is valid? [True, True] Translation: X:95.02, Y:41.62, Z:-2.17 [[ 7.00184391e-01 -7.13919229e-01 7.82002599e-03 9.50187654e+01] [ 7.13871831e-01 7.00228036e-01 8.22839842e-03 4.16223877e+01] [-1.13502133e-02 -1.78899872e-04 9.99935568e-01 -2.16710145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89999999999999 meters 0.01453033551730969 Centerline is valid? [True, True] Translation: X:95.04, Y:41.64, Z:-2.17 [[ 7.01400833e-01 -7.12723001e-01 7.92428289e-03 9.50372051e+01] [ 7.12674207e-01 7.01445566e-01 8.34221487e-03 4.16442352e+01] [-1.15041415e-02 -2.03804438e-04 9.99933804e-01 -2.16770423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92999999999999 meters 0.014814703286966168 Centerline is valid? [True, True] Translation: X:95.06, Y:41.67, Z:-2.17 [[ 7.02617458e-01 -7.11523372e-01 7.94977704e-03 9.50556373e+01] [ 7.11474139e-01 7.02662393e-01 8.37319482e-03 4.16660563e+01] [-1.15437332e-02 -2.27092087e-04 9.99933343e-01 -2.16860629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96 meters 0.0183947079571413 Centerline is valid? [True, True] Translation: X:95.07, Y:41.69, Z:-2.17 [[ 7.03698064e-01 -7.10461645e-01 7.29966572e-03 9.50731032e+01] [ 7.10420018e-01 7.03735887e-01 7.69411354e-03 4.16881885e+01] [-1.06034093e-02 -2.28504152e-04 9.99943756e-01 -2.17064490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99 meters 0.015924038817335114 Centerline is valid? [True, True] Translation: X:95.09, Y:41.71, Z:-2.17 [[ 7.04810782e-01 -7.09351041e-01 7.92860321e-03 9.50905486e+01] [ 7.09301841e-01 7.04855325e-01 8.35878541e-03 4.17103769e+01] [-1.15178313e-02 -2.67589229e-04 9.99933632e-01 -2.17089011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02 meters 0.017691581308381926 Centerline is valid? [True, True] Translation: X:95.11, Y:41.73, Z:-2.17 [[ 7.07262774e-01 -7.06906542e-01 7.90622662e-03 9.51063458e+01] [ 7.06857455e-01 7.07306897e-01 8.33622788e-03 4.17343840e+01] [-1.14850626e-02 -3.07328432e-04 9.99933997e-01 -2.17239945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05 meters 0.02033582130879949 Centerline is valid? [True, True] Translation: X:95.12, Y:41.76, Z:-2.17 [[ 7.08325193e-01 -7.05846063e-01 7.53365789e-03 9.51226520e+01] [ 7.05801409e-01 7.08365187e-01 7.94560443e-03 4.17571895e+01] [-1.09449546e-02 -3.10805434e-04 9.99940054e-01 -2.17392043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08 meters 0.02114875229577829 Centerline is valid? [True, True] Translation: X:95.14, Y:41.78, Z:-2.17 [[ 7.09397381e-01 -7.04769970e-01 7.39220561e-03 9.51414790e+01] [ 7.04726929e-01 7.09435823e-01 7.79546288e-03 4.17791365e+01] [-1.07383036e-02 -3.20594596e-04 9.99942291e-01 -2.17435597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11 meters 0.022010221551217426 Centerline is valid? [True, True] Translation: X:95.16, Y:41.80, Z:-2.18 [[ 7.11296737e-01 -7.02847664e-01 7.88119370e-03 9.51582987e+01] [ 7.02798569e-01 7.11340298e-01 8.31573011e-03 4.18034842e+01] [-1.14509022e-02 -3.76060030e-04 9.99934366e-01 -2.17509934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14 meters 0.018833999616730296 Centerline is valid? [True, True] Translation: X:95.18, Y:41.82, Z:-2.17 [[ 7.12193404e-01 -7.01922148e-01 9.26572053e-03 9.51776469e+01] [ 7.01854127e-01 7.12253524e-01 9.78274095e-03 4.18249090e+01] [-1.34662646e-02 -4.64019377e-04 9.99909218e-01 -2.17437862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17 meters 0.02272223355748339 Centerline is valid? [True, True] Translation: X:95.19, Y:41.85, Z:-2.18 [[ 7.12653913e-01 -7.01458740e-01 8.94636937e-03 9.51946753e+01] [ 7.01395207e-01 7.12709916e-01 9.45195390e-03 4.18471665e+01] [-1.30063218e-02 -4.61031332e-04 9.99915308e-01 -2.17596044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19999999999999 meters 0.023350585674787816 Centerline is valid? [True, True] Translation: X:95.21, Y:41.87, Z:-2.18 [[ 7.12743736e-01 -7.01356662e-01 9.75703646e-03 9.52113449e+01] [ 7.01281064e-01 7.12810337e-01 1.03098577e-02 4.18692294e+01] [-1.41858038e-02 -5.05861607e-04 9.99899248e-01 -2.17648055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22999999999999 meters 0.022639175780969047 Centerline is valid? [True, True] Translation: X:95.23, Y:41.89, Z:-2.18 [[ 7.12385152e-01 -7.01715946e-01 1.01057724e-02 9.52321426e+01] [ 7.01634842e-01 7.12456639e-01 1.06810993e-02 4.18893450e+01] [-1.46950223e-02 -5.18494496e-04 9.99891888e-01 -2.17670838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25999999999999 meters 0.021172421547858387 Centerline is valid? [True, True] Translation: X:95.25, Y:41.91, Z:-2.18 [[ 7.11462758e-01 -7.02632867e-01 1.13048014e-02 9.52499387e+01] [ 7.02531349e-01 7.11552342e-01 1.19569586e-02 4.19105000e+01] [-1.64453100e-02 -5.64953373e-04 9.99864607e-01 -2.17636818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28999999999999 meters 0.020829633459629456 Centerline is valid? [True, True] Translation: X:95.27, Y:41.93, Z:-2.18 [[ 7.10512129e-01 -7.03588105e-01 1.16744776e-02 9.52713050e+01] [ 7.03479931e-01 7.10607813e-01 1.23500195e-02 4.19306455e+01] [-1.69853018e-02 -5.62077980e-04 9.99855581e-01 -2.17683489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32 meters 0.02102217536623774 Centerline is valid? [True, True] Translation: X:95.29, Y:41.95, Z:-2.18 [[ 7.09089858e-01 -7.05025421e-01 1.14336692e-02 9.52914833e+01] [ 7.04921809e-01 7.09181843e-01 1.20977689e-02 4.19518228e+01] [-1.66377852e-02 -5.18562438e-04 9.99861448e-01 -2.17761396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35 meters 0.018060693932684214 Centerline is valid? [True, True] Translation: X:95.31, Y:41.97, Z:-2.18 [[ 7.08241454e-01 -7.05865021e-01 1.21907504e-02 9.53106419e+01] [ 7.05747218e-01 7.08346160e-01 1.29066269e-02 4.19716101e+01] [-1.77456077e-02 -5.37420042e-04 9.99842390e-01 -2.17678974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38 meters 0.020328035533271505 Centerline is valid? [True, True] Translation: X:95.33, Y:41.99, Z:-2.18 [[ 7.04283968e-01 -7.09823541e-01 1.16031751e-02 9.53321465e+01] [ 7.09717332e-01 7.04379419e-01 1.22858439e-02 4.19912245e+01] [-1.68938190e-02 -4.17748425e-04 9.99857202e-01 -2.17977428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41 meters 0.016980609679344776 Centerline is valid? [True, True] Translation: X:95.35, Y:42.01, Z:-2.18 [[ 7.02383273e-01 -7.11696623e-01 1.20687794e-02 9.53535774e+01] [ 7.11581881e-01 7.02486842e-01 1.27852986e-02 4.20110150e+01] [-1.75774126e-02 -3.92255159e-04 9.99845428e-01 -2.17978482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44 meters 0.01768337532462895 Centerline is valid? [True, True] Translation: X:95.37, Y:42.03, Z:-2.18 [[ 6.99722560e-01 -7.14317143e-01 1.18049695e-02 9.53737091e+01] [ 7.14207628e-01 6.99822059e-01 1.25120293e-02 4.20309555e+01] [-1.71989351e-02 -3.23749878e-04 9.99852035e-01 -2.18162274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47 meters 0.01792156380405295 Centerline is valid? [True, True] Translation: X:95.40, Y:42.05, Z:-2.18 [[ 6.97021816e-01 -7.16952537e-01 1.18172698e-02 9.53951127e+01] [ 7.16843061e-01 6.97121934e-01 1.25313834e-02 4.20502526e+01] [-1.72224851e-02 -2.63519723e-04 9.99851647e-01 -2.18297988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.5 meters 0.013754416942606786 Centerline is valid? [True, True] Translation: X:95.42, Y:42.07, Z:-2.18 [[ 6.92910936e-01 -7.20905147e-01 1.30462637e-02 9.54167505e+01] [ 7.20772255e-01 6.93033718e-01 1.38427611e-02 4.20678055e+01] [-1.90208184e-02 -1.88415599e-04 9.99819070e-01 -2.18250708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53 meters 0.015035817904871417 Centerline is valid? [True, True] Translation: X:95.44, Y:42.09, Z:-2.18 [[ 6.90438898e-01 -7.23274734e-01 1.29533095e-02 9.54380887e+01] [ 7.23144106e-01 6.90560384e-01 1.37461608e-02 4.20876866e+01] [-1.88872932e-02 -1.23774716e-04 9.99821612e-01 -2.18419627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56 meters 0.016381387805491684 Centerline is valid? [True, True] Translation: X:95.46, Y:42.11, Z:-2.19 [[ 6.88338925e-01 -7.25271567e-01 1.30644047e-02 9.54596374e+01] [ 7.25138916e-01 6.88462888e-01 1.38710115e-02 4.21076813e+01] [-1.90546081e-02 -7.44488549e-05 9.99818442e-01 -2.18533729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58999999999999 meters 0.013556114648395606 Centerline is valid? [True, True] Translation: X:95.48, Y:42.13, Z:-2.18 [[ 6.87090279e-01 -7.26444094e-01 1.36355019e-02 9.54799731e+01] [ 7.26299671e-01 6.87225564e-01 1.44848670e-02 4.21266732e+01] [-1.98931116e-02 -4.89507739e-05 9.99802111e-01 -2.18447925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61999999999999 meters 0.013102080504172125 Centerline is valid? [True, True] Translation: X:95.50, Y:42.15, Z:-2.18 [[ 6.85592395e-01 -7.27848123e-01 1.41484166e-02 9.54995789e+01] [ 7.27692742e-01 6.85738368e-01 1.50387289e-02 4.21452896e+01] [-2.06480227e-02 -1.47381238e-05 9.99786807e-01 -2.18464518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64999999999999 meters 0.013834169086727455 Centerline is valid? [True, True] Translation: X:95.52, Y:42.16, Z:-2.19 [[ 6.83358410e-01 -7.29937150e-01 1.45958977e-02 9.55207818e+01] [ 7.29772123e-01 6.83514269e-01 1.55207294e-02 4.21644709e+01] [-2.13056613e-02 4.54583062e-05 9.99773008e-01 -2.18625254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67999999999999 meters 0.013171994191703432 Centerline is valid? [True, True] Translation: X:95.54, Y:42.18, Z:-2.19 [[ 6.82878436e-01 -7.30383873e-01 1.47119263e-02 9.55398327e+01] [ 7.30216124e-01 6.83036892e-01 1.56529961e-02 4.21832605e+01] [-2.14814844e-02 5.37922946e-05 9.99769245e-01 -2.18658988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71 meters 0.013146517193800044 Centerline is valid? [True, True] Translation: X:95.56, Y:42.20, Z:-2.19 [[ 6.82389361e-01 -7.30834685e-01 1.50141024e-02 9.55594598e+01] [ 7.30659963e-01 6.82554510e-01 1.59799470e-02 4.22031492e+01] [-2.19266428e-02 6.56576497e-05 9.99759580e-01 -2.18770026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74 meters 0.013197219401335177 Centerline is valid? [True, True] Translation: X:95.58, Y:42.22, Z:-2.19 [[ 6.81892956e-01 -7.31297135e-01 1.50498336e-02 9.55784395e+01] [ 7.31121496e-01 6.82059012e-01 1.60269377e-02 4.22219101e+01] [-2.19853282e-02 7.46009531e-05 9.99758291e-01 -2.18834504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77 meters 0.013239984042905637 Centerline is valid? [True, True] Translation: X:95.60, Y:42.24, Z:-2.19 [[ 6.81559035e-01 -7.31607437e-01 1.50943950e-02 9.55980561e+01] [ 7.31430713e-01 6.81726156e-01 1.60798013e-02 4.22423714e+01] [-2.20543462e-02 8.11702427e-05 9.99756770e-01 -2.18951378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.8 meters 0.014001428628674263 Centerline is valid? [True, True] Translation: X:95.62, Y:42.26, Z:-2.19 [[ 6.81004495e-01 -7.32123833e-01 1.50854494e-02 9.56176028e+01] [ 7.31947250e-01 6.81171553e-01 1.60791446e-02 4.22621420e+01] [-2.20477040e-02 9.17834821e-05 9.99756916e-01 -2.19110052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83 meters 0.013299195890441538 Centerline is valid? [True, True] Translation: X:95.64, Y:42.28, Z:-2.19 [[ 6.80981520e-01 -7.32143394e-01 1.51729742e-02 9.56371785e+01] [ 7.31964554e-01 6.81150529e-01 1.61817322e-02 4.22823068e+01] [-2.21824277e-02 8.66187469e-05 9.99753936e-01 -2.19121351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86 meters 0.014835173986437815 Centerline is valid? [True, True] Translation: X:95.66, Y:42.30, Z:-2.19 [[ 6.79889357e-01 -7.33154779e-01 1.53144611e-02 9.56565190e+01] [ 7.32972637e-01 6.80061804e-01 1.63418477e-02 4.23006736e+01] [-2.23958838e-02 1.14432636e-04 9.99749174e-01 -2.19267516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89 meters 0.014905732931342572 Centerline is valid? [True, True] Translation: X:95.68, Y:42.32, Z:-2.19 [[ 6.79668101e-01 -7.33357750e-01 1.54169930e-02 9.56758236e+01] [ 7.33173080e-01 6.79842921e-01 1.64571371e-02 4.23208067e+01] [-2.25501026e-02 1.17933142e-04 9.99745707e-01 -2.19319702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92 meters 0.01481211095889141 Centerline is valid? [True, True] Translation: X:95.70, Y:42.34, Z:-2.19 [[ 6.79061649e-01 -7.33913757e-01 1.56803977e-02 9.56957452e+01] [ 7.33722649e-01 6.79242652e-01 1.67479840e-02 4.23410338e+01] [-2.29423708e-02 1.32149246e-04 9.99736780e-01 -2.19329822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94999999999999 meters 0.016100004988358126 Centerline is valid? [True, True] Translation: X:95.72, Y:42.36, Z:-2.19 [[ 6.78346423e-01 -7.34567369e-01 1.60284504e-02 9.57152907e+01] [ 7.34367631e-01 6.78535746e-01 1.71296551e-02 4.23609691e+01] [-2.34587622e-02 1.50934868e-04 9.99724794e-01 -2.19384738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97999999999999 meters 0.013561537325736154 Centerline is valid? [True, True] Translation: X:95.73, Y:42.38, Z:-2.19 [[ 6.78380756e-01 -7.34520843e-01 1.66937838e-02 9.57347032e+01] [ 7.34303905e-01 6.78586111e-01 1.78512006e-02 4.23807018e+01] [-2.44402487e-02 1.48399681e-04 9.99701281e-01 -2.19186834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00999999999999 meters 0.013737640159074931 Centerline is valid? [True, True] Translation: X:95.76, Y:42.40, Z:-2.19 [[ 6.77330074e-01 -7.35463365e-01 1.78215948e-02 9.57552132e+01] [ 7.35216153e-01 6.77564465e-01 1.90684119e-02 4.24011876e+01] [-2.60993977e-02 1.87115526e-04 9.99659335e-01 -2.19096629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03999999999999 meters 0.01431345622589751 Centerline is valid? [True, True] Translation: X:95.77, Y:42.42, Z:-2.19 [[ 6.76488060e-01 -7.36226757e-01 1.82775317e-02 9.57745776e+01] [ 7.35966772e-01 6.76734894e-01 1.95651471e-02 4.24213796e+01] [-2.67734282e-02 2.16067617e-04 9.99641504e-01 -2.19120440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07 meters 0.013921269807350908 Centerline is valid? [True, True] Translation: X:95.79, Y:42.44, Z:-2.19 [[ 6.76161048e-01 -7.36505656e-01 1.91221434e-02 9.57943186e+01] [ 7.36221005e-01 6.76431345e-01 2.04759950e-02 4.24428534e+01] [-2.80155033e-02 2.33053393e-04 9.99607462e-01 -2.19120427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.1 meters 0.014639158136858586 Centerline is valid? [True, True] Translation: X:95.81, Y:42.46, Z:-2.19 [[ 6.75267020e-01 -7.37316183e-01 1.94755699e-02 9.58135329e+01] [ 7.37020945e-01 6.75547760e-01 2.08650733e-02 4.24639281e+01] [-2.85408338e-02 2.64407068e-04 9.99592592e-01 -2.19222686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13 meters 0.01641440045306003 Centerline is valid? [True, True] Translation: X:95.83, Y:42.48, Z:-2.19 [[ 6.74423539e-01 -7.38078912e-01 1.98093479e-02 9.58332006e+01] [ 7.37773524e-01 6.74714334e-01 2.12319456e-02 4.24832815e+01] [-2.90365023e-02 2.95488480e-04 9.99578308e-01 -2.19290051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16 meters 0.016988140085601827 Centerline is valid? [True, True] Translation: X:95.85, Y:42.50, Z:-2.20 [[ 6.73244695e-01 -7.39171640e-01 1.91537702e-02 9.58521213e+01] [ 7.38886384e-01 6.73517022e-01 2.05361105e-02 4.25044759e+01] [-2.80801007e-02 3.26632516e-04 9.99605623e-01 -2.19616505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19 meters 0.014268114444391177 Centerline is valid? [True, True] Translation: X:95.87, Y:42.53, Z:-2.20 [[ 6.73358450e-01 -7.39087743e-01 1.83767624e-02 9.58720833e+01] [ 7.38824848e-01 6.73609098e-01 1.97136466e-02 4.25256390e+01] [-2.69488689e-02 3.02858160e-04 9.99636767e-01 -2.19565718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22 meters 0.014472423132115522 Centerline is valid? [True, True] Translation: X:95.89, Y:42.55, Z:-2.20 [[ 6.72759929e-01 -7.39646324e-01 1.78155527e-02 9.58917201e+01] [ 7.39399184e-01 6.72995706e-01 1.91213742e-02 4.25462750e+01] [-2.61328446e-02 3.08710746e-04 9.99658431e-01 -2.19737633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25 meters 0.01580779295752829 Centerline is valid? [True, True] Translation: X:95.91, Y:42.57, Z:-2.20 [[ 6.71763129e-01 -7.40555454e-01 1.76612000e-02 9.59120051e+01] [ 7.40312620e-01 6.71995170e-01 1.89661728e-02 4.25674699e+01] [-2.59137438e-02 3.34033624e-04 9.99664127e-01 -2.20023379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28 meters 0.01468062077302142 Centerline is valid? [True, True] Translation: X:95.93, Y:42.59, Z:-2.20 [[ 6.71108646e-01 -7.41169667e-01 1.67544127e-02 9.59319724e+01] [ 7.40951107e-01 6.71317670e-01 1.80011762e-02 4.25879336e+01] [-2.45894591e-02 3.33455678e-04 9.99697578e-01 -2.20068062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31 meters 0.014731265280114078 Centerline is valid? [True, True] Translation: X:95.95, Y:42.61, Z:-2.20 [[ 6.70589185e-01 -7.41640376e-01 1.67241815e-02 9.59508773e+01] [ 7.41422498e-01 6.70797611e-01 1.79789886e-02 4.26084850e+01] [-2.45524849e-02 3.43169072e-04 9.99698483e-01 -2.20168660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33999999999999 meters 0.016518345786024256 Centerline is valid? [True, True] Translation: X:95.97, Y:42.63, Z:-2.20 [[ 6.69696813e-01 -7.42447844e-01 1.66546536e-02 9.59698962e+01] [ 7.42231794e-01 6.69903773e-01 1.79136509e-02 4.26285592e+01] [-2.44569668e-02 3.64898569e-04 9.99700817e-01 -2.20409570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36999999999999 meters 0.01490214505015606 Centerline is valid? [True, True] Translation: X:95.99, Y:42.65, Z:-2.20 [[ 6.69979027e-01 -7.42205544e-01 1.60945667e-02 9.59902605e+01] [ 7.42003598e-01 6.70172228e-01 1.73160415e-02 4.26495914e+01] [-2.36381936e-02 3.40841725e-04 9.99720521e-01 -2.20289521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39999999999999 meters 0.015017161385306543 Centerline is valid? [True, True] Translation: X:96.01, Y:42.67, Z:-2.20 [[ 6.69746647e-01 -7.42418446e-01 1.59461778e-02 9.60098285e+01] [ 7.42220064e-01 6.69936368e-01 1.71650973e-02 4.26700488e+01] [-2.34266092e-02 3.39306736e-04 9.99725502e-01 -2.20342584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42999999999999 meters 0.01495423118512877 Centerline is valid? [True, True] Translation: X:96.03, Y:42.69, Z:-2.20 [[ 6.69729340e-01 -7.42433752e-01 1.59603857e-02 9.60288192e+01] [ 7.42234792e-01 6.69919407e-01 1.71901569e-02 4.26902944e+01] [-2.34547248e-02 3.33601077e-04 9.99724844e-01 -2.20415269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46 meters 0.01492199315459815 Centerline is valid? [True, True] Translation: X:96.05, Y:42.71, Z:-2.20 [[ 6.70270266e-01 -7.41944296e-01 1.60135071e-02 9.60480104e+01] [ 7.41743642e-01 6.70461457e-01 1.72570073e-02 4.27113626e+01] [-2.35401774e-02 3.11058228e-04 9.99722843e-01 -2.20475601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49 meters 0.014707562268051215 Centerline is valid? [True, True] Translation: X:96.07, Y:42.73, Z:-2.20 [[ 6.70384170e-01 -7.41841407e-01 1.60122255e-02 9.60669131e+01] [ 7.41640553e-01 6.70575302e-01 1.72642555e-02 4.27322724e+01] [-2.35447425e-02 3.01632230e-04 9.99722739e-01 -2.20494438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52 meters 0.014707562268051215 Centerline is valid? [True, True] Translation: X:96.09, Y:42.75, Z:-2.21 [[ 6.70174862e-01 -7.42030606e-01 1.60073505e-02 9.60856310e+01] [ 7.41829697e-01 6.70365937e-01 1.72687746e-02 4.27525650e+01] [-2.35447417e-02 3.01629348e-04 9.99722739e-01 -2.20551051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55 meters 0.015760716624930827 Centerline is valid? [True, True] Translation: X:96.10, Y:42.77, Z:-2.21 [[ 6.70107077e-01 -7.42078435e-01 1.66163403e-02 9.61038222e+01] [ 7.41861722e-01 6.70312988e-01 1.79355268e-02 4.27719566e+01] [-2.44477164e-02 3.08303457e-04 9.99701062e-01 -2.20682101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58 meters 0.014386397601569716 Centerline is valid? [True, True] Translation: X:96.12, Y:42.79, Z:-2.21 [[ 6.71204202e-01 -7.41080198e-01 1.68837016e-02 9.61228633e+01] [ 7.40855978e-01 6.71416463e-01 1.82305480e-02 4.27938693e+01] [-2.48462933e-02 2.71970881e-04 9.99691246e-01 -2.20536167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61 meters 0.0159728714296718 Centerline is valid? [True, True] Translation: X:96.14, Y:42.81, Z:-2.21 [[ 6.71005885e-01 -7.41250342e-01 1.72925783e-02 9.61412937e+01] [ 7.41014935e-01 6.71228615e-01 1.86818914e-02 4.28145979e+01] [-2.54552318e-02 2.78399740e-04 9.99675924e-01 -2.20733692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64 meters 0.014373336483924368 Centerline is valid? [True, True] Translation: X:96.16, Y:42.83, Z:-2.21 [[ 6.72102599e-01 -7.40261139e-01 1.70746191e-02 9.61603394e+01] [ 7.40031080e-01 6.72319413e-01 1.84555809e-02 4.28344893e+01] [-2.51415472e-02 2.31704977e-04 9.99683874e-01 -2.20505619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67 meters 0.014112666403310863 Centerline is valid? [True, True] Translation: X:96.18, Y:42.86, Z:-2.21 [[ 6.72643793e-01 -7.39761243e-01 1.74250170e-02 9.61781839e+01] [ 7.39521351e-01 6.72869421e-01 1.88391686e-02 4.28558360e+01] [-2.56612479e-02 2.14122311e-04 9.99670673e-01 -2.20522590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69999999999999 meters 0.016397253447949713 Centerline is valid? [True, True] Translation: X:96.20, Y:42.88, Z:-2.21 [[ 6.72927969e-01 -7.39481846e-01 1.82906371e-02 9.61961079e+01] [ 7.39217106e-01 6.73176468e-01 1.97866967e-02 4.28776511e+01] [-2.69447294e-02 2.05730200e-04 9.99636904e-01 -2.20811403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72999999999999 meters 0.01524633092875173 Centerline is valid? [True, True] Translation: X:96.21, Y:42.90, Z:-2.21 [[ 6.73835449e-01 -7.38657616e-01 1.81855685e-02 9.62143283e+01] [ 7.38395310e-01 6.74080782e-01 1.96841631e-02 4.28990281e+01] [-2.67983992e-02 1.64251578e-04 9.99640845e-01 -2.20822280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75999999999999 meters 0.015164562622511491 Centerline is valid? [True, True] Translation: X:96.23, Y:42.92, Z:-2.21 [[ 6.75159329e-01 -7.37461956e-01 1.75995687e-02 9.62324466e+01] [ 7.37215618e-01 6.75388668e-01 1.90598870e-02 4.29216015e+01] [-2.59424908e-02 1.06216352e-04 9.99663431e-01 -2.20968434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78999999999999 meters 0.014459824746941699 Centerline is valid? [True, True] Translation: X:96.25, Y:42.94, Z:-2.21 [[ 6.76002342e-01 -7.36704192e-01 1.69636700e-02 9.62508781e+01] [ 7.36474867e-01 6.76215149e-01 1.83804891e-02 4.29425607e+01] [-2.50120740e-02 6.80628542e-05 9.99687147e-01 -2.20961398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82 meters 0.014607296590599485 Centerline is valid? [True, True] Translation: X:96.27, Y:42.96, Z:-2.21 [[ 6.76331526e-01 -7.36415452e-01 1.63691600e-02 9.62691173e+01] [ 7.36201609e-01 6.76529585e-01 1.77457548e-02 4.29631744e+01] [-2.41424691e-02 4.89885195e-05 9.99708527e-01 -2.21089965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85 meters 0.013569048441015776 Centerline is valid? [True, True] Translation: X:96.29, Y:42.98, Z:-2.21 [[ 6.77351989e-01 -7.35513445e-01 1.46374580e-02 9.62876558e+01] [ 7.35342125e-01 6.77510127e-01 1.58741303e-02 4.29836504e+01] [-2.15926623e-02 1.11657773e-05 9.99766851e-01 -2.21159867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88 meters 0.013523158123007558 Centerline is valid? [True, True] Translation: X:96.31, Y:43.00, Z:-2.21 [[ 6.77512121e-01 -7.35379113e-01 1.39601668e-02 9.63065820e+01] [ 7.35223087e-01 6.77655931e-01 1.51476867e-02 4.30045650e+01] [-2.05994822e-02 1.09552818e-06 9.99787808e-01 -2.21271716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91 meters 0.015133570562387563 Centerline is valid? [True, True] Translation: X:96.33, Y:43.03, Z:-2.22 [[ 6.77428920e-01 -7.35452063e-01 1.41534974e-02 9.63253266e+01] [ 7.35291519e-01 6.77576758e-01 1.53661875e-02 4.30258686e+01] [-2.08911752e-02 -2.55324600e-06 9.99781756e-01 -2.21560153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94 meters 0.015034411751072686 Centerline is valid? [True, True] Translation: X:96.34, Y:43.05, Z:-2.22 [[ 6.77789433e-01 -7.35124527e-01 1.39073485e-02 9.63432678e+01] [ 7.34969278e-01 6.77932098e-01 1.51072987e-02 4.30457332e+01] [-2.05339838e-02 -1.80935063e-05 9.99789155e-01 -2.21654146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97 meters 0.013475890706873843 Centerline is valid? [True, True] Translation: X:96.36, Y:43.07, Z:-2.22 [[ 6.78607507e-01 -7.34377483e-01 1.34745845e-02 9.63618228e+01] [ 7.34231511e-01 6.78741270e-01 1.46416078e-02 4.30661050e+01] [-1.98982237e-02 -4.24404556e-05 9.99802010e-01 -2.21544072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.0 meters 0.013564439761948694 Centerline is valid? [True, True] Translation: X:96.38, Y:43.09, Z:-2.22 [[ 6.78869749e-01 -7.34135424e-01 1.34552290e-02 9.63799313e+01] [ 7.33989734e-01 6.79003075e-01 1.46251502e-02 4.30861120e+01] [-1.98729827e-02 -5.25720331e-05 9.99802511e-01 -2.21575350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03 meters 0.013464173807450084 Centerline is valid? [True, True] Translation: X:96.40, Y:43.11, Z:-2.22 [[ 6.78893977e-01 -7.34112647e-01 1.34755064e-02 9.63988709e+01] [ 7.33966425e-01 6.79027701e-01 1.46515582e-02 4.31062774e+01] [-1.99061363e-02 -5.62853647e-05 9.99801852e-01 -2.21584861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06 meters 0.013546343974452459 Centerline is valid? [True, True] Translation: X:96.42, Y:43.13, Z:-2.22 [[ 6.79437234e-01 -7.33606501e-01 1.36581963e-02 9.64167292e+01] [ 7.33456015e-01 6.79574496e-01 1.48586381e-02 4.31259933e+01] [-2.01821553e-02 -7.78257122e-05 9.99796317e-01 -2.21627133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08999999999999 meters 0.015638523322438307 Centerline is valid? [True, True] Translation: X:96.43, Y:43.15, Z:-2.22 [[ 6.79802978e-01 -7.33258497e-01 1.41381865e-02 9.64349391e+01] [ 7.33097065e-01 6.79949975e-01 1.53858601e-02 4.31467273e+01] [-2.08950722e-02 -9.46904689e-05 9.99781670e-01 -2.21861065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11999999999999 meters 0.013689688691892346 Centerline is valid? [True, True] Translation: X:96.45, Y:43.17, Z:-2.22 [[ 6.80884707e-01 -7.32256709e-01 1.40045984e-02 9.64547744e+01] [ 7.32097935e-01 6.81028704e-01 1.52485594e-02 4.31676527e+01] [-2.07033935e-02 -1.29773322e-04 9.99785653e-01 -2.21646654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14999999999999 meters 0.014272694477344534 Centerline is valid? [True, True] Translation: X:96.47, Y:43.19, Z:-2.22 [[ 6.83657626e-01 -7.29681069e-01 1.33337098e-02 9.64710326e+01] [ 7.29536514e-01 6.83787610e-01 1.45251192e-02 4.31899524e+01] [-1.97161300e-02 -2.02780345e-04 9.99805598e-01 -2.21774452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17999999999999 meters 0.017444258501376955 Centerline is valid? [True, True] Translation: X:96.49, Y:43.21, Z:-2.22 [[ 6.84742855e-01 -7.28668975e-01 1.29902656e-02 9.64900647e+01] [ 7.28531510e-01 6.84866025e-01 1.41550673e-02 4.32117820e+01] [-1.92109499e-02 -2.28763445e-04 9.99815427e-01 -2.22236921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21 meters 0.015637911468832127 Centerline is valid? [True, True] Translation: X:96.51, Y:43.23, Z:-2.22 [[ 6.86211095e-01 -7.27295045e-01 1.25000407e-02 9.65082137e+01] [ 7.27167401e-01 6.86324886e-01 1.36279562e-02 4.32330735e+01] [-1.84906340e-02 -2.62032646e-04 9.99828999e-01 -2.22119439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24 meters 0.016451667487911333 Centerline is valid? [True, True] Translation: X:96.53, Y:43.26, Z:-2.22 [[ 6.87259400e-01 -7.26312446e-01 1.20311304e-02 9.65255767e+01] [ 7.26194009e-01 6.87364644e-01 1.31189881e-02 4.32550965e+01] [-1.77982580e-02 -2.79213013e-04 9.99841559e-01 -2.22240029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27 meters 0.015286408682853187 Centerline is valid? [True, True] Translation: X:96.55, Y:43.28, Z:-2.22 [[ 6.89223535e-01 -7.24453643e-01 1.17404289e-02 9.65464834e+01] [ 7.24340567e-01 6.89323449e-01 1.28033690e-02 4.32753913e+01] [-1.73684002e-02 -3.20314334e-04 9.99849107e-01 -2.22230590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.3 meters 0.018663780491600335 Centerline is valid? [True, True] Translation: X:96.56, Y:43.30, Z:-2.23 [[ 6.89900457e-01 -7.23816077e-01 1.12980571e-02 9.65647326e+01] [ 7.23711165e-01 6.89992883e-01 1.23276153e-02 4.32969591e+01] [-1.67185051e-02 -3.28297344e-04 9.99860182e-01 -2.22693369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33 meters 0.01737859830456477 Centerline is valid? [True, True] Translation: X:96.58, Y:43.32, Z:-2.23 [[ 6.90128936e-01 -7.23607899e-01 1.06611491e-02 9.65811946e+01] [ 7.23514411e-01 6.90211206e-01 1.16356408e-02 4.33193565e+01] [-1.57780862e-02 -3.16597445e-04 9.99875468e-01 -2.22596525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36 meters 0.01682114067523653 Centerline is valid? [True, True] Translation: X:96.60, Y:43.34, Z:-2.23 [[ 6.90163115e-01 -7.23593491e-01 9.34528446e-03 9.66028927e+01] [ 7.23521642e-01 6.90226327e-01 1.02005347e-02 4.33384057e+01] [-1.38314019e-02 -2.78517255e-04 9.99904303e-01 -2.22746993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39 meters 0.015774465916818137 Centerline is valid? [True, True] Translation: X:96.62, Y:43.36, Z:-2.23 [[ 6.89767445e-01 -7.23975292e-01 8.98043009e-03 9.66246466e+01] [ 7.23908926e-01 6.89825853e-01 9.80610749e-03 4.33566265e+01] [-1.32943124e-02 -2.62920206e-04 9.99911592e-01 -2.22750805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42 meters 0.016799194387885394 Centerline is valid? [True, True] Translation: X:96.64, Y:43.38, Z:-2.23 [[ 6.89062211e-01 -7.24649385e-01 8.74860221e-03 9.66446314e+01] [ 7.24586359e-01 6.89117702e-01 9.56041908e-03 4.33766148e+01] [-1.29567685e-02 -2.48605692e-04 9.99916027e-01 -2.23012832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44999999999999 meters 0.019793742780241423 Centerline is valid? [True, True] Translation: X:96.67, Y:43.40, Z:-2.23 [[ 6.88243128e-01 -7.25432311e-01 8.32824531e-03 9.66658148e+01] [ 7.25375260e-01 6.88293479e-01 9.10047161e-03 4.33966630e+01] [-1.23340531e-02 -2.22233934e-04 9.99923908e-01 -2.23330664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47999999999999 meters 0.016754221179380076 Centerline is valid? [True, True] Translation: X:96.69, Y:43.41, Z:-2.23 [[ 6.86714281e-01 -7.26873519e-01 8.85339402e-03 9.66880252e+01] [ 7.26809093e-01 6.86771317e-01 9.67991689e-03 4.34148639e+01] [-1.31163323e-02 -2.12609892e-04 9.99913955e-01 -2.23120438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50999999999999 meters 0.017592134453906637 Centerline is valid? [True, True] Translation: X:96.71, Y:43.43, Z:-2.23 [[ 6.85446341e-01 -7.28065262e-01 9.18080984e-03 9.67103062e+01] [ 7.27996016e-01 6.85507793e-01 1.00432280e-02 4.34342747e+01] [-1.36056421e-02 -2.00500915e-04 9.99907419e-01 -2.23234391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53999999999999 meters 0.017198564777572912 Centerline is valid? [True, True] Translation: X:96.73, Y:43.45, Z:-2.23 [[ 6.84170971e-01 -7.29257541e-01 9.67068425e-03 9.67304288e+01] [ 7.29180730e-01 6.84239288e-01 1.05858326e-02 4.34531667e+01] [-1.43368604e-02 -1.90842787e-04 9.99897204e-01 -2.23252696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57 meters 0.014064089427509856 Centerline is valid? [True, True] Translation: X:96.75, Y:43.47, Z:-2.23 [[ 6.82370328e-01 -7.30937228e-01 1.00748701e-02 9.67523105e+01] [ 7.30854034e-01 6.82444680e-01 1.10290165e-02 4.34720646e+01] [-1.49370603e-02 -1.62614137e-04 9.99888423e-01 -2.22920678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.6 meters 0.013734568942108926 Centerline is valid? [True, True] Translation: X:96.77, Y:43.49, Z:-2.23 [[ 6.80421106e-01 -7.32747740e-01 1.03859966e-02 9.67734674e+01] [ 7.32659427e-01 6.80500355e-01 1.13767614e-02 4.34907293e+01] [-1.54039706e-02 -1.31590254e-04 9.99881343e-01 -2.22964015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63 meters 0.014932775645603281 Centerline is valid? [True, True] Translation: X:96.80, Y:43.51, Z:-2.23 [[ 6.76626529e-01 -7.36253075e-01 1.03898915e-02 9.67975174e+01] [ 7.36165096e-01 6.76706293e-01 1.13818048e-02 4.35084286e+01] [-1.54107938e-02 -5.25556189e-05 9.99881245e-01 -2.23231324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66 meters 0.013367287458554932 Centerline is valid? [True, True] Translation: X:96.82, Y:43.53, Z:-2.23 [[ 6.75493640e-01 -7.37295669e-01 1.01705502e-02 9.68168942e+01] [ 7.37211389e-01 6.75570201e-01 1.11477098e-02 4.35270901e+01] [-1.50900788e-02 -3.23616791e-05 9.99886138e-01 -2.23110104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69 meters 0.014516229252564947 Centerline is valid? [True, True] Translation: X:96.84, Y:43.55, Z:-2.23 [[ 6.75178941e-01 -7.37586770e-01 9.95759442e-03 9.68355278e+01] [ 7.37505983e-01 6.75252364e-01 1.09164654e-02 4.35486771e+01] [-1.47757296e-02 -2.67820925e-05 9.99890833e-01 -2.23353388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72 meters 0.013297868984711182 Centerline is valid? [True, True] Translation: X:96.85, Y:43.57, Z:-2.23 [[ 6.75841415e-01 -7.36978768e-01 1.00338220e-02 9.68537887e+01] [ 7.36896577e-01 6.75915893e-01 1.10064273e-02 4.35703446e+01] [-1.48935230e-02 -4.47103169e-05 9.99889084e-01 -2.23228341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75 meters 0.013376686611289311 Centerline is valid? [True, True] Translation: X:96.87, Y:43.59, Z:-2.23 [[ 6.76858126e-01 -7.36050588e-01 9.62337501e-03 9.68721004e+01] [ 7.35974804e-01 6.76926531e-01 1.05622352e-02 4.35930482e+01] [-1.42886573e-02 -6.65732100e-05 9.99897910e-01 -2.23313708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78 meters 0.013877996138214105 Centerline is valid? [True, True] Translation: X:96.89, Y:43.62, Z:-2.23 [[ 6.80328122e-01 -7.32855339e-01 8.75779013e-03 9.68870724e+01] [ 7.32792230e-01 6.80384477e-01 9.61822460e-03 4.36175333e+01] [-1.30074317e-02 -1.25908121e-04 9.99915392e-01 -2.23486848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81 meters 0.016400549331717938 Centerline is valid? [True, True] Translation: X:96.90, Y:43.64, Z:-2.24 [[ 6.81796207e-01 -7.31494647e-01 8.33747706e-03 9.69025567e+01] [ 7.31437341e-01 6.81847168e-01 9.15733827e-03 4.36404347e+01] [-1.23834290e-02 -1.45096446e-04 9.99923312e-01 -2.23911414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83999999999999 meters 0.017261111410614555 Centerline is valid? [True, True] Translation: X:96.92, Y:43.66, Z:-2.24 [[ 6.83386723e-01 -7.30010582e-01 8.19371608e-03 9.69202250e+01] [ 7.29955091e-01 6.83435821e-01 9.00240131e-03 4.36627726e+01] [-1.21717273e-02 -1.71076759e-04 9.99925907e-01 -2.23990274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86999999999999 meters 0.01528902268596611 Centerline is valid? [True, True] Translation: X:96.94, Y:43.69, Z:-2.24 [[ 6.85811693e-01 -7.27731246e-01 8.33998500e-03 9.69362502e+01] [ 7.27673550e-01 6.85862366e-01 9.16617305e-03 4.36861589e+01] [-1.23905924e-02 -2.17482157e-04 9.99923210e-01 -2.23756012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89999999999999 meters 0.017798838394001978 Centerline is valid? [True, True] Translation: X:96.95, Y:43.71, Z:-2.24 [[ 6.86071861e-01 -7.27487023e-01 8.24818647e-03 9.69542330e+01] [ 7.27430577e-01 6.86121406e-01 9.06488157e-03 4.37085056e+01] [-1.22538410e-02 -2.19177134e-04 9.99924895e-01 -2.24129165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92999999999999 meters 0.015616876546234558 Centerline is valid? [True, True] Translation: X:96.97, Y:43.73, Z:-2.24 [[ 6.86652762e-01 -7.26931033e-01 8.90271664e-03 9.69729158e+01] [ 7.26865153e-01 6.86710427e-01 9.78968387e-03 4.37301661e+01] [-1.32300133e-02 -2.51038970e-04 9.99912448e-01 -2.23835161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96 meters 0.018412628827169507 Centerline is valid? [True, True] Translation: X:96.99, Y:43.75, Z:-2.24 [[ 6.86650860e-01 -7.26934491e-01 8.76595690e-03 9.69910146e+01] [ 7.26870565e-01 6.86706767e-01 9.64355020e-03 4.37514863e+01] [-1.30298712e-02 -2.50035999e-04 9.99915076e-01 -2.24226490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99 meters 0.01937460937482108 Centerline is valid? [True, True] Translation: X:97.01, Y:43.77, Z:-2.24 [[ 6.86730049e-01 -7.26857363e-01 8.95623483e-03 9.70093371e+01] [ 7.26790547e-01 6.86788399e-01 9.85873597e-03 4.37732861e+01] [-1.33169330e-02 -2.60983414e-04 9.99911292e-01 -2.24332089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02 meters 0.018252663827146746 Centerline is valid? [True, True] Translation: X:97.03, Y:43.80, Z:-2.24 [[ 6.87274231e-01 -7.26339235e-01 9.24379829e-03 9.70258390e+01] [ 7.26267905e-01 6.87336333e-01 1.01830808e-02 4.37961594e+01] [-1.37499696e-02 -2.85095032e-04 9.99905424e-01 -2.24282458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05 meters 0.01878048654338255 Centerline is valid? [True, True] Translation: X:97.04, Y:43.82, Z:-2.24 [[ 6.87415706e-01 -7.26206877e-01 9.12238995e-03 9.70449944e+01] [ 7.26137380e-01 6.87476174e-01 1.00505897e-02 4.38174279e+01] [-1.35702331e-02 -2.84824909e-04 9.99907880e-01 -2.24391914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08 meters 0.017913621863974195 Centerline is valid? [True, True] Translation: X:97.06, Y:43.84, Z:-2.24 [[ 6.87830091e-01 -7.25816138e-01 8.98332854e-03 9.70624169e+01] [ 7.25748628e-01 6.87888689e-01 9.90352807e-03 4.38395543e+01] [-1.33676706e-02 -2.92306241e-04 9.99910606e-01 -2.24322725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11 meters 0.01646235382970508 Centerline is valid? [True, True] Translation: X:97.08, Y:43.86, Z:-2.24 [[ 6.88219392e-01 -7.25446984e-01 8.98561899e-03 9.70816816e+01] [ 7.25379375e-01 6.88277984e-01 9.90853914e-03 4.38604439e+01] [-1.33727236e-02 -3.01266089e-04 9.99910536e-01 -2.24190520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14 meters 0.016667617969385113 Centerline is valid? [True, True] Translation: X:97.10, Y:43.88, Z:-2.24 [[ 6.88306956e-01 -7.25365425e-01 8.86192104e-03 9.70996853e+01] [ 7.25299645e-01 6.88363937e-01 9.77320062e-03 4.38826762e+01] [-1.31893687e-02 -2.99413787e-04 9.99912972e-01 -2.24343727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17 meters 0.020019608304015828 Centerline is valid? [True, True] Translation: X:97.12, Y:43.90, Z:-2.25 [[ 6.87544241e-01 -7.26092536e-01 8.51737566e-03 9.71177304e+01] [ 7.26031748e-01 6.87596939e-01 9.39943426e-03 4.39034773e+01] [-1.26813805e-02 -2.78641750e-04 9.99919549e-01 -2.24910712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19999999999999 meters 0.017684901391460055 Centerline is valid? [True, True] Translation: X:97.14, Y:43.92, Z:-2.25 [[ 6.87120718e-01 -7.26493414e-01 8.51106644e-03 9.71375022e+01] [ 7.26432755e-01 6.87173374e-01 9.39178791e-03 4.39235138e+01] [-1.26716503e-02 -2.70574608e-04 9.99919675e-01 -2.24741572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22999999999999 meters 0.01574016637330705 Centerline is valid? [True, True] Translation: X:97.16, Y:43.94, Z:-2.25 [[ 6.86191098e-01 -7.27368247e-01 8.78694975e-03 9.71574699e+01] [ 7.27303582e-01 6.86247304e-01 9.70245749e-03 4.39442047e+01] [-1.30872801e-02 -2.66959934e-04 9.99914322e-01 -2.24527779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25999999999999 meters 0.017840878203734745 Centerline is valid? [True, True] Translation: X:97.18, Y:43.96, Z:-2.25 [[ 6.84798076e-01 -7.28680227e-01 8.75908481e-03 9.71771752e+01] [ 7.28616016e-01 6.84854048e-01 9.67650925e-03 4.39649304e+01] [-1.30497756e-02 -2.44445433e-04 9.99914818e-01 -2.24883591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28999999999999 meters 0.015046592718128169 Centerline is valid? [True, True] Translation: X:97.20, Y:43.99, Z:-2.25 [[ 6.83535760e-01 -7.29860865e-01 9.05439990e-03 9.71978837e+01] [ 7.29792283e-01 6.83595687e-01 1.00079966e-02 4.39854183e+01] [-1.34939938e-02 -2.32992377e-04 9.99908925e-01 -2.24532481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32 meters 0.014340749202118567 Centerline is valid? [True, True] Translation: X:97.22, Y:44.00, Z:-2.25 [[ 6.80300347e-01 -7.32872501e-01 9.45172801e-03 9.72184571e+01] [ 7.32797956e-01 6.80365977e-01 1.04543056e-02 4.40040017e+01] [-1.40923072e-02 -1.85860732e-04 9.99900681e-01 -2.24503302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35 meters 0.01704294404538853 Centerline is valid? [True, True] Translation: X:97.24, Y:44.02, Z:-2.25 [[ 6.77868697e-01 -7.35126685e-01 9.09875748e-03 9.72391062e+01] [ 7.35057806e-01 6.77929745e-01 1.00638874e-02 4.40241534e+01] [-1.35665505e-02 -1.33881525e-04 9.99907961e-01 -2.24978441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38 meters 0.01611714211224352 Centerline is valid? [True, True] Translation: X:97.26, Y:44.04, Z:-2.25 [[ 6.75834682e-01 -7.36996192e-01 9.17039205e-03 9.72590460e+01] [ 7.36926303e-01 6.75896888e-01 1.01499261e-02 4.40436463e+01] [-1.36786963e-02 -1.01768936e-04 9.99906437e-01 -2.24966188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41 meters 0.015053697155466745 Centerline is valid? [True, True] Translation: X:97.28, Y:44.06, Z:-2.25 [[ 6.71307273e-01 -7.41111866e-01 9.98736214e-03 9.72809646e+01] [ 7.41029410e-01 6.71381562e-01 1.10549665e-02 4.40626058e+01] [-1.48982976e-02 -2.03503417e-05 9.99889014e-01 -2.25006210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44 meters 0.015053697155466745 Centerline is valid? [True, True] Translation: X:97.30, Y:44.08, Z:-2.25 [[ 6.71093665e-01 -7.41305334e-01 9.98472906e-03 9.72994164e+01] [ 7.41222863e-01 6.71167939e-01 1.10573440e-02 4.40831431e+01] [-1.48982981e-02 -1.96040220e-05 9.99889014e-01 -2.25062853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47 meters 0.013154224481117865 Centerline is valid? [True, True] Translation: X:97.32, Y:44.10, Z:-2.25 [[ 6.68958912e-01 -7.43232284e-01 9.98730231e-03 9.73187153e+01] [ 7.43149878e-01 6.69033461e-01 1.10673951e-02 4.41017737e+01] [-1.49074848e-02 1.84299126e-05 9.99888877e-01 -2.24843218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.5 meters 0.013220468055541107 Centerline is valid? [True, True] Translation: X:97.34, Y:44.12, Z:-2.25 [[ 6.66925735e-01 -7.45057321e-01 9.98260540e-03 9.73384120e+01] [ 7.44975128e-01 6.67000438e-01 1.10668182e-02 4.41206522e+01] [-1.49038161e-02 5.60468624e-05 9.99888930e-01 -2.24932391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53 meters 0.013377776390901692 Centerline is valid? [True, True] Translation: X:97.36, Y:44.14, Z:-2.25 [[ 6.65181155e-01 -7.46621326e-01 9.51984168e-03 9.73587778e+01] [ 7.46546702e-01 6.65249268e-01 1.05562093e-02 4.41411498e+01] [-1.42145587e-02 8.52149495e-05 9.99898964e-01 -2.24958895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56 meters 0.015238785202136514 Centerline is valid? [True, True] Translation: X:97.38, Y:44.16, Z:-2.25 [[ 6.62720970e-01 -7.48816879e-01 8.61381980e-03 9.73795109e+01] [ 7.48755898e-01 6.62776937e-01 9.55698160e-03 4.41605445e+01] [-1.28654702e-02 1.16036263e-04 9.99917230e-01 -2.25353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58999999999999 meters 0.013867509186850096 Centerline is valid? [True, True] Translation: X:97.40, Y:44.18, Z:-2.25 [[ 6.61711362e-01 -7.49711985e-01 8.36734065e-03 9.73998367e+01] [ 7.49654505e-01 6.61764250e-01 9.28447866e-03 4.41818561e+01] [-1.24978918e-02 1.28969594e-04 9.99921890e-01 -2.25190388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61999999999999 meters 0.014082152742492613 Centerline is valid? [True, True] Translation: X:97.42, Y:44.20, Z:-2.25 [[ 6.60905082e-01 -7.50424410e-01 8.22655190e-03 9.74189429e+01] [ 7.50368838e-01 6.60956266e-01 9.13356773e-03 4.42015304e+01] [-1.22914432e-02 1.36526853e-04 9.99924448e-01 -2.25306192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64999999999999 meters 0.014968282662520928 Centerline is valid? [True, True] Translation: X:97.44, Y:44.22, Z:-2.26 [[ 6.59919418e-01 -7.51294761e-01 7.90845822e-03 9.74387641e+01] [ 7.51243442e-01 6.59966788e-01 8.78234445e-03 4.42227213e+01] [-1.18174491e-02 1.45537737e-04 9.99930161e-01 -2.25532889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67999999999999 meters 0.014444167593776773 Centerline is valid? [True, True] Translation: X:97.46, Y:44.24, Z:-2.25 [[ 6.59395958e-01 -7.51755216e-01 7.81445282e-03 9.74575037e+01] [ 7.51705080e-01 6.59442244e-01 8.68323268e-03 4.42420735e+01] [-1.16808458e-02 1.48475350e-04 9.99931766e-01 -2.25481035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71 meters 0.01457030877566934 Centerline is valid? [True, True] Translation: X:97.48, Y:44.26, Z:-2.26 [[ 6.57973127e-01 -7.53002817e-01 7.62373645e-03 9.74772235e+01] [ 7.52955166e-01 6.58017272e-01 8.47276180e-03 4.42629782e+01] [-1.13965638e-02 1.65482164e-04 9.99935043e-01 -2.25574025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74 meters 0.014509288385313034 Centerline is valid? [True, True] Translation: X:97.50, Y:44.28, Z:-2.26 [[ 6.57268659e-01 -7.53616741e-01 7.72768578e-03 9.74959852e+01] [ 7.53567780e-01 6.57314062e-01 8.59210249e-03 4.42835990e+01] [-1.15546688e-02 1.76015343e-04 9.99933227e-01 -2.25595997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77 meters 0.015132987759177662 Centerline is valid? [True, True] Translation: X:97.51, Y:44.30, Z:-2.26 [[ 6.56770113e-01 -7.54047858e-01 8.05277394e-03 9.75146867e+01] [ 7.53994638e-01 6.56819453e-01 8.96059548e-03 4.43034209e+01] [-1.20459364e-02 1.86697073e-04 9.99927428e-01 -2.25680808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.8 meters 0.0166620517887655 Centerline is valid? [True, True] Translation: X:97.53, Y:44.32, Z:-2.26 [[ 6.56337646e-01 -7.54422077e-01 8.25979752e-03 9.75330378e+01] [ 7.54366077e-01 6.56389588e-01 9.19402986e-03 4.43231185e+01] [-1.23578242e-02 1.96523131e-04 9.99923620e-01 -2.25921311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83 meters 0.014497970055757653 Centerline is valid? [True, True] Translation: X:97.55, Y:44.35, Z:-2.25 [[ 6.56328768e-01 -7.54413843e-01 9.60737100e-03 9.75515690e+01] [ 7.54338030e-01 6.56399042e-01 1.06973993e-02 4.43451507e+01] [-1.43765352e-02 2.26194417e-04 9.99896627e-01 -2.25477868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86 meters 0.017600004856746582 Centerline is valid? [True, True] Translation: X:97.57, Y:44.37, Z:-2.26 [[ 6.56137700e-01 -7.54577668e-01 9.79090628e-03 9.75700091e+01] [ 7.54498855e-01 6.56210705e-01 1.09081664e-02 4.43650176e+01] [-1.46559563e-02 2.29968339e-04 9.99892569e-01 -2.25823807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89 meters 0.016835388511878067 Centerline is valid? [True, True] Translation: X:97.59, Y:44.38, Z:-2.26 [[ 6.56349170e-01 -7.54385885e-01 1.03780850e-02 9.75883219e+01] [ 7.54297245e-01 6.56431170e-01 1.15665220e-02 4.43845499e+01] [-1.55381194e-02 2.36483863e-04 9.99879248e-01 -2.25705928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92 meters 0.014127080531333215 Centerline is valid? [True, True] Translation: X:97.61, Y:44.41, Z:-2.25 [[ 6.57379707e-01 -7.53478850e-01 1.10247068e-02 9.76062904e+01] [ 7.53378650e-01 6.57472107e-01 1.22897666e-02 4.44074312e+01] [-1.65085164e-02 2.26735591e-04 9.99863699e-01 -2.25396201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94999999999999 meters 0.015639805000226263 Centerline is valid? [True, True] Translation: X:97.62, Y:44.43, Z:-2.26 [[ 6.57742789e-01 -7.53165600e-01 1.07704751e-02 9.76248557e+01] [ 7.53069836e-01 6.57830932e-01 1.20119662e-02 4.44288235e+01] [-1.61321514e-02 2.10135750e-04 9.99869846e-01 -2.25754083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97999999999999 meters 0.01634726655904484 Centerline is valid? [True, True] Translation: X:97.64, Y:44.45, Z:-2.26 [[ 6.58432922e-01 -7.52572261e-01 1.00538191e-02 9.76433976e+01] [ 7.52488661e-01 6.58509651e-01 1.12185258e-02 4.44504991e+01] [-1.50632882e-02 1.78738093e-04 9.99886526e-01 -2.25978424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00999999999999 meters 0.016134663747505315 Centerline is valid? [True, True] Translation: X:97.66, Y:44.47, Z:-2.26 [[ 6.59732071e-01 -7.51441503e-01 9.44787456e-03 9.76619064e+01] [ 7.51367457e-01 6.59799703e-01 1.05497249e-02 4.44717595e+01] [-1.41612060e-02 1.38833620e-04 9.99899715e-01 -2.26163784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03999999999999 meters 0.01756359562769977 Centerline is valid? [True, True] Translation: X:97.68, Y:44.49, Z:-2.26 [[ 6.60590102e-01 -7.50697815e-01 8.57362423e-03 9.76793510e+01] [ 7.50636787e-01 6.60645728e-01 9.57271295e-03 4.44936347e+01] [-1.28503429e-02 1.12038313e-04 9.99917425e-01 -2.26380696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07 meters 0.013808836559818965 Centerline is valid? [True, True] Translation: X:97.70, Y:44.52, Z:-2.26 [[ 6.63152725e-01 -7.48436620e-01 8.43149998e-03 9.76966367e+01] [ 7.48377344e-01 6.63206320e-01 9.41956876e-03 4.45166301e+01] [-1.26417743e-02 6.33308765e-05 9.99920088e-01 -2.26120775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.1 meters 0.015275396661073528 Centerline is valid? [True, True] Translation: X:97.71, Y:44.54, Z:-2.26 [[ 6.63654777e-01 -7.47997983e-01 7.83292043e-03 9.77143380e+01] [ 7.47946755e-01 6.63700999e-01 8.75421633e-03 4.45381923e+01] [-1.17468533e-02 4.88299267e-05 9.99931002e-01 -2.26433995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13 meters 0.013326469032048385 Centerline is valid? [True, True] Translation: X:97.73, Y:44.56, Z:-2.26 [[ 6.64567929e-01 -7.47184647e-01 8.03564282e-03 9.77324356e+01] [ 7.47130609e-01 6.64616508e-01 8.98613294e-03 4.45597667e+01] [-1.20549214e-02 3.17789553e-05 9.99927336e-01 -2.26236860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16 meters 0.013331394494385309 Centerline is valid? [True, True] Translation: X:97.75, Y:44.58, Z:-2.26 [[ 6.65490575e-01 -7.46360304e-01 8.28201835e-03 9.77500935e+01] [ 7.46302769e-01 6.65542108e-01 9.26711405e-03 4.45810860e+01] [-1.24286380e-02 1.37161750e-05 9.99922761e-01 -2.26222356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19 meters 0.013327452090901425 Centerline is valid? [True, True] Translation: X:97.77, Y:44.60, Z:-2.26 [[ 6.65802883e-01 -7.46078292e-01 8.58503052e-03 9.77682906e+01] [ 7.46016360e-01 6.65858229e-01 9.61294178e-03 4.46016060e+01] [-1.28884204e-02 4.24887286e-06 9.99916941e-01 -2.26228437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22 meters 0.0159025929111947 Centerline is valid? [True, True] Translation: X:97.79, Y:44.62, Z:-2.27 [[ 6.65350701e-01 -7.46482654e-01 8.49069523e-03 9.77872862e+01] [ 7.46422076e-01 6.65404874e-01 9.50986826e-03 4.46228206e+01] [-1.27487017e-02 1.02448503e-05 9.99918732e-01 -2.26568696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25 meters 0.01323417880625635 Centerline is valid? [True, True] Translation: X:97.81, Y:44.64, Z:-2.26 [[ 6.66026676e-01 -7.45866896e-01 9.54150361e-03 9.78064929e+01] [ 7.45790232e-01 6.66095018e-01 1.06937653e-02 4.46439105e+01] [-1.43316736e-02 -6.37278040e-06 9.99897296e-01 -2.26161858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28 meters 0.014355599662550317 Centerline is valid? [True, True] Translation: X:97.82, Y:44.66, Z:-2.26 [[ 6.66680495e-01 -7.45282146e-01 9.57287283e-03 9.78243860e+01] [ 7.45204810e-01 6.66749219e-01 1.07363431e-02 4.46637168e+01] [-1.43843103e-02 -2.39596323e-05 9.99896540e-01 -2.26274484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31 meters 0.014439842779553954 Centerline is valid? [True, True] Translation: X:97.84, Y:44.69, Z:-2.26 [[ 6.66889929e-01 -7.45091384e-01 9.83121854e-03 9.78430727e+01] [ 7.45009758e-01 6.66962389e-01 1.10287122e-02 4.46850450e+01] [-1.47744515e-02 -3.05833760e-05 9.99890851e-01 -2.26337839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33999999999999 meters 0.016365503852514365 Centerline is valid? [True, True] Translation: X:97.86, Y:44.71, Z:-2.27 [[ 6.67054536e-01 -7.44951991e-01 9.20746191e-03 9.78615738e+01] [ 7.44880307e-01 6.67118078e-01 1.03342844e-02 4.47062425e+01] [-1.38410100e-02 -3.50742200e-05 9.99904208e-01 -2.26619777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36999999999999 meters 0.015667070616446926 Centerline is valid? [True, True] Translation: X:97.88, Y:44.73, Z:-2.27 [[ 6.67699291e-01 -7.44374593e-01 9.17180440e-03 9.78795022e+01] [ 7.44303329e-01 6.67762280e-01 1.03000677e-02 4.47275356e+01] [-1.37916937e-02 -5.07433572e-05 9.99904889e-01 -2.26648335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39999999999999 meters 0.015590471504411717 Centerline is valid? [True, True] Translation: X:97.90, Y:44.75, Z:-2.27 [[ 6.68432880e-01 -7.43720658e-01 8.77885257e-03 9.78975610e+01] [ 7.43655221e-01 6.68490523e-01 9.86580390e-03 4.47491833e+01] [-1.32059819e-02 -6.61881729e-05 9.99912795e-01 -2.26791085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42999999999999 meters 0.01533204735279376 Centerline is valid? [True, True] Translation: X:97.92, Y:44.77, Z:-2.27 [[ 6.69485433e-01 -7.42777806e-01 8.38963090e-03 9.79160704e+01] [ 7.42717958e-01 6.69537993e-01 9.42923173e-03 4.47712785e+01] [-1.26210007e-02 -8.16037539e-05 9.99920349e-01 -2.26929135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46 meters 0.013737304665948698 Centerline is valid? [True, True] Translation: X:97.93, Y:44.79, Z:-2.27 [[ 6.70389274e-01 -7.41962203e-01 8.38515353e-03 9.79349612e+01] [ 7.41902296e-01 6.70441705e-01 9.42891804e-03 4.47926631e+01] [-1.26176574e-02 -1.00080864e-04 9.99920389e-01 -2.26700775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49 meters 0.0174630619890942 Centerline is valid? [True, True] Translation: X:97.95, Y:44.81, Z:-2.27 [[ 6.70080055e-01 -7.42252823e-01 7.31210050e-03 9.79538376e+01] [ 7.42207251e-01 6.70119944e-01 8.22537257e-03 4.48143568e+01] [-1.10052904e-02 -8.45640906e-05 9.99939436e-01 -2.27215909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52 meters 0.016975859874800138 Centerline is valid? [True, True] Translation: X:97.97, Y:44.83, Z:-2.27 [[ 6.70374899e-01 -7.41984435e-01 7.52282341e-03 9.79719599e+01] [ 7.41936118e-01 6.70417101e-01 8.46810518e-03 4.48347832e+01] [-1.13266317e-02 -9.53507586e-05 9.99935847e-01 -2.27228395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55 meters 0.015762308781916017 Centerline is valid? [True, True] Translation: X:97.99, Y:44.86, Z:-2.27 [[ 6.70263110e-01 -7.42085633e-01 7.50177193e-03 9.79911809e+01] [ 7.42037582e-01 6.70305083e-01 8.44532307e-03 4.48553717e+01] [-1.12956288e-02 -9.39918061e-05 9.99936198e-01 -2.27117523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58 meters 0.01440545577563072 Centerline is valid? [True, True] Translation: X:98.01, Y:44.88, Z:-2.27 [[ 6.69649501e-01 -7.42639133e-01 7.52761771e-03 9.80103067e+01] [ 7.42590728e-01 6.69691803e-01 8.47932588e-03 4.48760026e+01] [-1.13382631e-02 -8.82372178e-05 9.99935716e-01 -2.27020548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61 meters 0.015799733600753325 Centerline is valid? [True, True] Translation: X:98.03, Y:44.90, Z:-2.27 [[ 6.67933274e-01 -7.44188890e-01 6.93094380e-03 9.80298261e+01] [ 7.44147899e-01 6.67969230e-01 7.81101143e-03 4.48967774e+01] [-1.04425251e-02 -5.95871680e-05 9.99945474e-01 -2.27303748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64 meters 0.01587824411189706 Centerline is valid? [True, True] Translation: X:98.05, Y:44.92, Z:-2.27 [[ 6.64832248e-01 -7.46954326e-01 7.57080003e-03 9.80505417e+01] [ 7.46905524e-01 6.64875353e-01 8.53837750e-03 4.49166979e+01] [-1.14114163e-02 -2.19163470e-05 9.99934887e-01 -2.27404251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67 meters 0.013127579487552525 Centerline is valid? [True, True] Translation: X:98.07, Y:44.94, Z:-2.27 [[ 6.63972805e-01 -7.47710308e-01 8.33127003e-03 9.80702887e+01] [ 7.47651201e-01 6.64025071e-01 9.40136138e-03 4.49373792e+01] [-1.25616670e-02 -1.33642368e-05 9.99921099e-01 -2.27038573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69999999999999 meters 0.013045661978210036 Centerline is valid? [True, True] Translation: X:98.09, Y:44.96, Z:-2.27 [[ 6.62602143e-01 -7.48920039e-01 8.78493369e-03 9.80888074e+01] [ 7.48854332e-01 6.62660377e-01 9.92036365e-03 4.49566060e+01] [-1.32509866e-02 5.38143164e-06 9.99912202e-01 -2.27035180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72999999999999 meters 0.013856974340904098 Centerline is valid? [True, True] Translation: X:98.11, Y:44.98, Z:-2.27 [[ 6.61395776e-01 -7.49980968e-01 9.17470594e-03 9.81079069e+01] [ 7.49909375e-01 6.61459407e-01 1.03625693e-02 4.49769547e+01] [-1.38404253e-02 2.64384005e-05 9.99904216e-01 -2.27206199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75999999999999 meters 0.013944394505878808 Centerline is valid? [True, True] Translation: X:98.13, Y:45.00, Z:-2.27 [[ 6.60293304e-01 -7.50949704e-01 9.34317453e-03 9.81272571e+01] [ 7.50875467e-01 6.60359402e-01 1.05590214e-02 4.49978752e+01] [-1.40991471e-02 4.35094301e-05 9.99900601e-01 -2.27239105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78999999999999 meters 0.013066746027086538 Centerline is valid? [True, True] Translation: X:98.15, Y:45.02, Z:-2.27 [[ 6.60181321e-01 -7.51048534e-01 9.31250125e-03 9.81457901e+01] [ 7.50974711e-01 6.60246997e-01 1.05302830e-02 4.50195414e+01] [-1.40573046e-02 4.15567710e-05 9.99901190e-01 -2.27150193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82 meters 0.0143169364668139 Centerline is valid? [True, True] Translation: X:98.16, Y:45.04, Z:-2.27 [[ 6.59643302e-01 -7.51525654e-01 8.93901108e-03 9.81636375e+01] [ 7.51457604e-01 6.59703865e-01 1.01133642e-02 4.50410703e+01] [-1.34975528e-02 4.60749156e-05 9.99908903e-01 -2.27476498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85 meters 0.013044282398071406 Centerline is valid? [True, True] Translation: X:98.18, Y:45.06, Z:-2.27 [[ 6.60024005e-01 -7.51186252e-01 9.35558552e-03 9.81816953e+01] [ 7.51111585e-01 6.60090307e-01 1.05912234e-02 4.50633490e+01] [-1.41315128e-02 3.66269575e-05 9.99900145e-01 -2.27321758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88 meters 0.013356780807808687 Centerline is valid? [True, True] Translation: X:98.20, Y:45.08, Z:-2.27 [[ 6.60455181e-01 -7.50808527e-01 9.24716382e-03 9.81984265e+01] [ 7.50735456e-01 6.60519913e-01 1.04746921e-02 4.50842332e+01] [-1.39724240e-02 2.41090657e-05 9.99902381e-01 -2.27465866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91 meters 0.012929983851891558 Centerline is valid? [True, True] Translation: X:98.22, Y:45.11, Z:-2.27 [[ 6.61203476e-01 -7.50151327e-01 9.10773438e-03 9.82154780e+01] [ 7.50080335e-01 6.61266200e-01 1.03200335e-02 4.51060061e+01] [-1.37642237e-02 7.89045417e-06 9.99905269e-01 -2.27415252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94 meters 0.01293215154031818 Centerline is valid? [True, True] Translation: X:98.23, Y:45.13, Z:-2.27 [[ 6.63236438e-01 -7.48352578e-01 9.26528677e-03 9.82314910e+01] [ 7.48278861e-01 6.63301152e-01 1.05037157e-02 4.51291368e+01] [-1.40061581e-02 -3.34287899e-05 9.99901908e-01 -2.27383651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97 meters 0.013130298027955243 Centerline is valid? [True, True] Translation: X:98.25, Y:45.15, Z:-2.27 [[ 6.64014757e-01 -7.47658385e-01 9.55727627e-03 9.82485708e+01] [ 7.47579784e-01 6.64083531e-01 1.08411605e-02 4.51508908e+01] [-1.44523143e-02 -5.38640554e-05 9.99895558e-01 -2.27451952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.0 meters 0.014809987898177468 Centerline is valid? [True, True] Translation: X:98.27, Y:45.17, Z:-2.28 [[ 6.64280354e-01 -7.47430091e-01 8.93698739e-03 9.82665869e+01] [ 7.47361267e-01 6.64340467e-01 1.01430135e-02 4.51732664e+01] [-1.35183959e-02 -5.86463879e-05 9.99908621e-01 -2.27813501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03 meters 0.014584160304331953 Centerline is valid? [True, True] Translation: X:98.28, Y:45.20, Z:-2.28 [[ 6.65330147e-01 -7.46492492e-01 9.20619371e-03 9.82837288e+01] [ 7.46419299e-01 6.65393832e-01 1.04536309e-02 4.51959393e+01] [-1.39293015e-02 -8.34351603e-05 9.99902979e-01 -2.27802098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06 meters 0.014975613609343647 Centerline is valid? [True, True] Translation: X:98.30, Y:45.22, Z:-2.28 [[ 6.65194859e-01 -7.46607656e-01 9.63369517e-03 9.83016878e+01] [ 7.46527424e-01 6.65264609e-01 1.09455534e-02 4.52173420e+01] [-1.45809904e-02 -8.91082034e-05 9.99893688e-01 -2.27881625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08999999999999 meters 0.01345902302024481 Centerline is valid? [True, True] Translation: X:98.32, Y:45.24, Z:-2.28 [[ 6.65365151e-01 -7.46454223e-01 9.76259736e-03 9.83200638e+01] [ 7.46371716e-01 6.65436761e-01 1.10985493e-02 4.52392813e+01] [-1.47809501e-02 -9.80613587e-05 9.99890751e-01 -2.27647202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11999999999999 meters 0.015845793225196803 Centerline is valid? [True, True] Translation: X:98.34, Y:45.26, Z:-2.28 [[ 6.64010192e-01 -7.47658508e-01 9.86004116e-03 9.83387469e+01] [ 7.47574381e-01 6.64083391e-01 1.12158271e-02 4.52605072e+01] [-1.49334982e-02 -7.63093720e-05 9.99888486e-01 -2.28081706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14999999999999 meters 0.016052566186800895 Centerline is valid? [True, True] Translation: X:98.36, Y:45.28, Z:-2.28 [[ 6.63217168e-01 -7.48365810e-01 9.57091113e-03 9.83574466e+01] [ 7.48286531e-01 6.63286221e-01 1.08929385e-02 4.52815107e+01] [-1.45001562e-02 -6.25999666e-05 9.99894865e-01 -2.28146706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17999999999999 meters 0.013335103663476455 Centerline is valid? [True, True] Translation: X:98.38, Y:45.30, Z:-2.28 [[ 6.63000393e-01 -7.48552561e-01 9.97708185e-03 9.83756750e+01] [ 7.48466316e-01 6.63075455e-01 1.13628263e-02 4.53017535e+01] [-1.51212308e-02 -6.60485844e-05 9.99885665e-01 -2.27810577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21 meters 0.014623847739442034 Centerline is valid? [True, True] Translation: X:98.39, Y:45.32, Z:-2.28 [[ 6.62005993e-01 -7.49438238e-01 9.50755299e-03 9.83949001e+01] [ 7.49359966e-01 6.62074260e-01 1.08312073e-02 4.53227900e+01] [-1.44120270e-02 -4.57445427e-05 9.99896140e-01 -2.28120132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24 meters 0.013421976854564482 Centerline is valid? [True, True] Translation: X:98.41, Y:45.34, Z:-2.28 [[ 6.61425452e-01 -7.49953336e-01 9.29328680e-03 9.84142043e+01] [ 7.49878524e-01 6.61490735e-01 1.05927526e-02 4.53431891e+01] [-1.40914933e-02 -3.74800018e-05 9.99900709e-01 -2.27899720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27 meters 0.015012854139523222 Centerline is valid? [True, True] Translation: X:98.43, Y:45.36, Z:-2.28 [[ 6.59378784e-01 -7.51758599e-01 8.86722605e-03 9.84334688e+01] [ 7.51690581e-01 6.59438404e-01 1.01124415e-02 4.53635232e+01] [-1.34495043e-02 -2.51909430e-06 9.99909551e-01 -2.28307805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.3 meters 0.013385284195695119 Centerline is valid? [True, True] Translation: X:98.45, Y:45.38, Z:-2.28 [[ 6.59108558e-01 -7.51995399e-01 8.87858875e-03 9.84516186e+01] [ 7.51927130e-01 6.59168355e-01 1.01326383e-02 4.53836202e+01] [-1.34721821e-02 -2.45687807e-06 9.99909246e-01 -2.28084211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33 meters 0.013385284195695119 Centerline is valid? [True, True] Translation: X:98.47, Y:45.40, Z:-2.28 [[ 6.58895553e-01 -7.52182050e-01 8.87766902e-03 9.84697539e+01] [ 7.52113788e-01 6.58955358e-01 1.01334442e-02 4.54044344e+01] [-1.34721824e-02 1.35930945e-07 9.99909246e-01 -2.28140937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36 meters 0.016896489867615116 Centerline is valid? [True, True] Translation: X:98.49, Y:45.43, Z:-2.29 [[ 6.57241050e-01 -7.53627643e-01 8.92062417e-03 9.84878792e+01] [ 7.53558773e-01 6.57301586e-01 1.01883068e-02 4.54252849e+01] [-1.35417301e-02 2.60411198e-05 9.99908306e-01 -2.28678510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39 meters 0.013369306476800054 Centerline is valid? [True, True] Translation: X:98.51, Y:45.45, Z:-2.28 [[ 6.57170390e-01 -7.53683354e-01 9.40637806e-03 9.85064089e+01] [ 7.53606670e-01 6.57237705e-01 1.07510727e-02 4.54457028e+01] [-1.42851309e-02 2.34225937e-05 9.99897962e-01 -2.28295146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42 meters 0.013367096958150334 Centerline is valid? [True, True] Translation: X:98.52, Y:45.47, Z:-2.28 [[ 6.56490549e-01 -7.54272796e-01 9.62851216e-03 9.85246452e+01] [ 7.54192476e-01 6.56561153e-01 1.10073192e-02 4.54664550e+01] [-1.46242285e-02 3.55503950e-05 9.99893060e-01 -2.28374082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44999999999999 meters 0.016516746359646246 Centerline is valid? [True, True] Translation: X:98.54, Y:45.49, Z:-2.29 [[ 6.54988325e-01 -7.55586366e-01 8.91839112e-03 9.85434030e+01] [ 7.55517486e-01 6.55049037e-01 1.02023360e-02 4.54865816e+01] [-1.35507295e-02 5.55895005e-05 9.99908183e-01 -2.28930992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47999999999999 meters 0.01341212819306932 Centerline is valid? [True, True] Translation: X:98.56, Y:45.51, Z:-2.29 [[ 6.55255673e-01 -7.55346786e-01 9.55177228e-03 9.85622389e+01] [ 7.55267726e-01 6.55325286e-01 1.09284757e-02 4.55074339e+01] [-1.45143069e-02 5.31995989e-05 9.99894660e-01 -2.28520709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50999999999999 meters 0.013385327788237153 Centerline is valid? [True, True] Translation: X:98.58, Y:45.53, Z:-2.29 [[ 6.54907072e-01 -7.55646215e-01 9.77365001e-03 9.85809161e+01] [ 7.55563376e-01 6.54979995e-01 1.11888502e-02 4.55290297e+01] [-1.48563576e-02 5.69548539e-05 9.99889637e-01 -2.28546501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53999999999999 meters 0.01579592495233597 Centerline is valid? [True, True] Translation: X:98.60, Y:45.55, Z:-2.29 [[ 6.54261094e-01 -7.56200887e-01 1.01311332e-02 9.85991165e+01] [ 7.56111836e-01 6.54339525e-01 1.16050800e-02 4.55506245e+01] [-1.54049727e-02 6.75173928e-05 9.99881334e-01 -2.28927961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57 meters 0.015450184834603808 Centerline is valid? [True, True] Translation: X:98.62, Y:45.57, Z:-2.29 [[ 6.54178503e-01 -7.56262732e-01 1.08243577e-02 9.86177235e+01] [ 7.56160958e-01 6.54268046e-01 1.24068278e-02 4.55720060e+01] [-1.64648528e-02 6.86765854e-05 9.99864443e-01 -2.28922193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.6 meters 0.01572576669566207 Centerline is valid? [True, True] Translation: X:98.64, Y:45.59, Z:-2.29 [[ 6.54114768e-01 -7.56316401e-01 1.09257572e-02 9.86356593e+01] [ 7.56212587e-01 6.54206005e-01 1.25310151e-02 4.55928609e+01] [-1.66251082e-02 6.54730670e-05 9.99861791e-01 -2.29033486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63 meters 0.015026937804577468 Centerline is valid? [True, True] Translation: X:98.65, Y:45.61, Z:-2.29 [[ 6.54349118e-01 -7.56113279e-01 1.09517553e-02 9.86532851e+01] [ 7.56008885e-01 6.54440758e-01 1.25642144e-02 4.56134358e+01] [-1.66672444e-02 5.82417359e-05 9.99861090e-01 -2.29047568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66 meters 0.01586565890368446 Centerline is valid? [True, True] Translation: X:98.67, Y:45.63, Z:-2.29 [[ 6.55011908e-01 -7.55541507e-01 1.07903943e-02 9.86706355e+01] [ 7.55439989e-01 6.55100779e-01 1.23851675e-02 4.56345960e+01] [-1.64263038e-02 3.90631106e-05 9.99865078e-01 -2.29311148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69 meters 0.015636229001188502 Centerline is valid? [True, True] Translation: X:98.69, Y:45.66, Z:-2.29 [[ 6.55532510e-01 -7.55093179e-01 1.05555879e-02 9.86885398e+01] [ 7.54995884e-01 6.55617488e-01 1.21212207e-02 4.56559087e+01] [-1.60730791e-02 2.35712051e-05 9.99870819e-01 -2.29326468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72 meters 0.01655239556776337 Centerline is valid? [True, True] Translation: X:98.71, Y:45.68, Z:-2.29 [[ 6.55967304e-01 -7.54714306e-01 1.06401076e-02 9.87065219e+01] [ 7.54615282e-01 6.56053593e-01 1.22253552e-02 4.56775472e+01] [-1.62071312e-02 9.75452665e-06 9.99868656e-01 -2.29481160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75 meters 0.015834307649047072 Centerline is valid? [True, True] Translation: X:98.72, Y:45.70, Z:-2.29 [[ 6.56291786e-01 -7.54430142e-01 1.07820390e-02 9.87244282e+01] [ 7.54328301e-01 6.56380348e-01 1.23956866e-02 4.56990850e+01] [-1.64287981e-02 -1.99011625e-06 9.99865038e-01 -2.29456286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78 meters 0.014767687985072726 Centerline is valid? [True, True] Translation: X:98.74, Y:45.72, Z:-2.29 [[ 6.57158400e-01 -7.53658383e-01 1.19112892e-02 9.87417296e+01] [ 7.53533794e-01 6.57266339e-01 1.37033328e-02 4.57205886e+01] [-1.81565211e-02 -2.97013183e-05 9.99835156e-01 -2.29352340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81 meters 0.013272600580623616 Centerline is valid? [True, True] Translation: X:98.76, Y:45.74, Z:-2.29 [[ 6.57333191e-01 -7.53488993e-01 1.29388304e-02 9.87591491e+01] [ 7.53341846e-01 6.57460521e-01 1.48905117e-02 4.57408729e+01] [-1.97266068e-02 -4.06651785e-05 9.99805411e-01 -2.29149486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83999999999999 meters 0.014035211377755335 Centerline is valid? [True, True] Translation: X:98.78, Y:45.76, Z:-2.29 [[ 6.56832463e-01 -7.53920543e-01 1.32261106e-02 9.87779685e+01] [ 7.53766755e-01 6.56965611e-01 1.52271204e-02 4.57623090e+01] [-2.01691387e-02 -3.22645107e-05 9.99796582e-01 -2.29309867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86999999999999 meters 0.014764181548899812 Centerline is valid? [True, True] Translation: X:98.80, Y:45.78, Z:-2.29 [[ 6.56362036e-01 -7.54325884e-01 1.34661985e-02 9.87970219e+01] [ 7.54166362e-01 6.56500160e-01 1.55124964e-02 4.57834666e+01] [-2.05420391e-02 -2.60597887e-05 9.99788990e-01 -2.29446749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89999999999999 meters 0.01321322603533303 Centerline is valid? [True, True] Translation: X:98.82, Y:45.80, Z:-2.29 [[ 6.55755840e-01 -7.54850388e-01 1.36076853e-02 9.88160581e+01] [ 7.54687420e-01 6.55897012e-01 1.56846150e-02 4.58029994e+01] [-2.07647779e-02 -1.57289870e-05 9.99784389e-01 -2.29335703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92999999999999 meters 0.013221488791009876 Centerline is valid? [True, True] Translation: X:98.83, Y:45.82, Z:-2.29 [[ 6.55349260e-01 -7.55209469e-01 1.32667185e-02 9.88347669e+01] [ 7.55054545e-01 6.55483530e-01 1.52962658e-02 4.58238562e+01] [-2.02480003e-02 -7.30034435e-06 9.99794988e-01 -2.29475947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96 meters 0.013252439180072888 Centerline is valid? [True, True] Translation: X:98.85, Y:45.84, Z:-2.30 [[ 6.55003852e-01 -7.55513013e-01 1.30399835e-02 9.88535268e+01] [ 7.55363234e-01 6.55133641e-01 1.50431881e-02 4.58448283e+01] [-1.99082562e-02 -3.42203273e-06 9.99801811e-01 -2.29617106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99 meters 0.013295381807013389 Centerline is valid? [True, True] Translation: X:98.87, Y:45.87, Z:-2.30 [[ 6.54681156e-01 -7.55794504e-01 1.29325771e-02 9.88723390e+01] [ 7.55647070e-01 6.54808879e-01 1.49277341e-02 4.58663057e+01] [-1.97506657e-02 -4.42188552e-07 9.99804937e-01 -2.29729738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02 meters 0.013275558645692255 Centerline is valid? [True, True] Translation: X:98.89, Y:45.89, Z:-2.30 [[ 6.54452448e-01 -7.55999100e-01 1.25441137e-02 9.88907628e+01] [ 7.55860275e-01 6.54572655e-01 1.44873502e-02 4.58879156e+01] [-1.91634575e-02 3.15408070e-07 9.99816364e-01 -2.29835994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05 meters 0.013252948331193525 Centerline is valid? [True, True] Translation: X:98.91, Y:45.91, Z:-2.30 [[ 6.54388387e-01 -7.56056971e-01 1.23974140e-02 9.89076628e+01] [ 7.55921226e-01 6.54505811e-01 1.43262954e-02 4.59086537e+01] [-1.89456750e-02 -3.49298807e-06 9.99820515e-01 -2.29924597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08 meters 0.01325416637512344 Centerline is valid? [True, True] Translation: X:98.93, Y:45.93, Z:-2.30 [[ 6.53943313e-01 -7.56438781e-01 1.25901890e-02 9.89255771e+01] [ 7.56298768e-01 6.54064500e-01 1.45534974e-02 4.59307304e+01] [-1.92436255e-02 4.78208005e-06 9.99814824e-01 -2.30001214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11 meters 0.016407163318660056 Centerline is valid? [True, True] Translation: X:98.94, Y:45.95, Z:-2.30 [[ 6.52832540e-01 -7.57403065e-01 1.22585660e-02 9.89426924e+01] [ 7.57270352e-01 6.52947622e-01 1.41780427e-02 4.59515716e+01] [-1.87426945e-02 2.71609370e-05 9.99824340e-01 -2.30443688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14 meters 0.013293666799202073 Centerline is valid? [True, True] Translation: X:98.96, Y:45.97, Z:-2.30 [[ 6.51213665e-01 -7.58776466e-01 1.33805018e-02 9.89598158e+01] [ 7.58618440e-01 6.51351112e-01 1.54852423e-02 4.59727385e+01] [-2.04652422e-02 6.64940561e-05 9.99790563e-01 -2.30068874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17 meters 0.013381488924429459 Centerline is valid? [True, True] Translation: X:98.98, Y:45.99, Z:-2.30 [[ 6.49702375e-01 -7.60063195e-01 1.38117188e-02 9.89777627e+01] [ 7.59894932e-01 6.49849159e-01 1.59926048e-02 4.59933769e+01] [-2.11309242e-02 1.05021745e-04 9.99776712e-01 -2.30129296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19999999999999 meters 0.015190868368710732 Centerline is valid? [True, True] Translation: X:99.00, Y:46.01, Z:-2.30 [[ 6.47632294e-01 -7.61827335e-01 1.38391781e-02 9.89965226e+01] [ 7.61658634e-01 6.47780122e-01 1.60324051e-02 4.60132199e+01] [-2.11786690e-02 1.57626168e-04 9.99775694e-01 -2.30417848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22999999999999 meters 0.014134121934001128 Centerline is valid? [True, True] Translation: X:99.02, Y:46.03, Z:-2.30 [[ 6.45359642e-01 -7.63751338e-01 1.39580368e-02 9.90159599e+01] [ 7.63580006e-01 6.45510532e-01 1.61779813e-02 4.60348009e+01] [-2.13660146e-02 2.17461627e-04 9.99771697e-01 -2.30314791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25999999999999 meters 0.014465134417416092 Centerline is valid? [True, True] Translation: X:99.04, Y:46.05, Z:-2.30 [[ 6.40816969e-01 -7.67563363e-01 1.41455713e-02 9.90372111e+01] [ 7.67388137e-01 6.40972984e-01 1.64036965e-02 4.60547190e+01] [-2.16578055e-02 3.43376563e-04 9.99765383e-01 -2.30252568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28999999999999 meters 0.014739347092504861 Centerline is valid? [True, True] Translation: X:99.06, Y:46.08, Z:-2.30 [[ 6.38755310e-01 -7.69277231e-01 1.42897162e-02 9.90566367e+01] [ 7.69098656e-01 6.38915003e-01 1.65793656e-02 4.60763079e+01] [-2.18840425e-02 4.00043704e-04 9.99760436e-01 -2.30312055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32 meters 0.015299384314570248 Centerline is valid? [True, True] Translation: X:99.08, Y:46.10, Z:-2.30 [[ 6.37298457e-01 -7.70483189e-01 1.43642908e-02 9.90751239e+01] [ 7.70302870e-01 6.37460166e-01 1.66740697e-02 4.60971302e+01] [-2.20037536e-02 4.38495573e-04 9.99757792e-01 -2.30401442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35 meters 0.015496590654134284 Centerline is valid? [True, True] Translation: X:99.09, Y:46.12, Z:-2.31 [[ 6.36348716e-01 -7.71271545e-01 1.41603479e-02 9.90938197e+01] [ 7.71096436e-01 6.36506084e-01 1.64405189e-02 4.61192178e+01] [-2.16932520e-02 4.57090730e-04 9.99764569e-01 -2.30503458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38 meters 0.015391255174262502 Centerline is valid? [True, True] Translation: X:99.11, Y:46.14, Z:-2.31 [[ 6.36374525e-01 -7.71263283e-01 1.34317582e-02 9.91109712e+01] [ 7.71105578e-01 6.36516115e-01 1.56020203e-02 4.61420074e+01] [-2.05827959e-02 4.28575427e-04 9.99788060e-01 -2.30686174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41 meters 0.015441003487119657 Centerline is valid? [True, True] Translation: X:99.13, Y:46.16, Z:-2.31 [[ 6.37001505e-01 -7.70753680e-01 1.29556242e-02 9.91290763e+01] [ 7.70606683e-01 6.37133119e-01 1.50575040e-02 4.61636466e+01] [-1.98600839e-02 3.92037874e-04 9.99802692e-01 -2.30795729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44 meters 0.015005182627959102 Centerline is valid? [True, True] Translation: X:99.15, Y:46.19, Z:-2.31 [[ 6.37948225e-01 -7.69979159e-01 1.24159914e-02 9.91466407e+01] [ 7.69843968e-01 6.38068939e-01 1.44323908e-02 4.61862457e+01] [-1.90348986e-02 3.51257946e-04 9.99818758e-01 -2.30876519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47 meters 0.01433347756571237 Centerline is valid? [True, True] Translation: X:99.16, Y:46.21, Z:-2.31 [[ 6.40978542e-01 -7.67470310e-01 1.16547322e-02 9.91629141e+01] [ 7.67350661e-01 6.41084439e-01 1.35537639e-02 4.62108061e+01] [-1.78737788e-02 2.55594702e-04 9.99840219e-01 -2.31019877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.5 meters 0.013973413833772336 Centerline is valid? [True, True] Translation: X:99.18, Y:46.23, Z:-2.31 [[ 6.42752319e-01 -7.65984376e-01 1.17214479e-02 9.91798801e+01] [ 7.65862983e-01 6.42859154e-01 1.36381885e-02 4.62343515e+01] [-1.79818794e-02 2.11045796e-04 9.99838291e-01 -2.31122404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53 meters 0.013543383223240715 Centerline is valid? [True, True] Translation: X:99.20, Y:46.26, Z:-2.31 [[ 6.44784757e-01 -7.64276258e-01 1.15938877e-02 9.91965739e+01] [ 7.64157098e-01 6.44888964e-01 1.34964408e-02 4.62587220e+01] [-1.77917795e-02 1.57252239e-04 9.99841701e-01 -2.31185500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56 meters 0.01330616791706044 Centerline is valid? [True, True] Translation: X:99.21, Y:46.28, Z:-2.31 [[ 6.47204011e-01 -7.62224751e-01 1.18489106e-02 9.92127373e+01] [ 7.62099814e-01 6.47312459e-01 1.38004897e-02 4.62817067e+01] [-1.81890223e-02 9.83202100e-05 9.99834561e-01 -2.31253395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58999999999999 meters 0.013112919793119737 Centerline is valid? [True, True] Translation: X:99.23, Y:46.31, Z:-2.31 [[ 6.49370645e-01 -7.60377872e-01 1.19689933e-02 9.92289952e+01] [ 7.60250039e-01 6.49480938e-01 1.39423476e-02 4.63055752e+01] [-1.83750856e-02 4.56763775e-05 9.99831163e-01 -2.31284655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61999999999999 meters 0.016488402801592354 Centerline is valid? [True, True] Translation: X:99.24, Y:46.33, Z:-2.32 [[ 6.53882467e-01 -7.56503775e-01 1.18219372e-02 9.92431646e+01] [ 7.56378308e-01 6.53989323e-01 1.37775470e-02 4.63309363e+01] [-1.81541871e-02 -6.70395692e-05 9.99835197e-01 -2.31606492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64999999999999 meters 0.013652987859661823 Centerline is valid? [True, True] Translation: X:99.26, Y:46.35, Z:-2.31 [[ 6.56851167e-01 -7.53908382e-01 1.29882923e-02 9.92590840e+01] [ 7.53756230e-01 6.56979547e-01 1.51466297e-02 4.63547191e+01] [-1.99522135e-02 -1.59075126e-04 9.99800922e-01 -2.31223927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67999999999999 meters 0.017893394450066494 Centerline is valid? [True, True] Translation: X:99.28, Y:46.38, Z:-2.32 [[ 6.58375493e-01 -7.52590515e-01 1.22158806e-02 9.92758903e+01] [ 7.52455659e-01 6.58488786e-01 1.42477859e-02 4.63777216e+01] [-1.87667689e-02 -1.88484544e-04 9.99823871e-01 -2.31748177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71 meters 0.015594383753759627 Centerline is valid? [True, True] Translation: X:99.29, Y:46.40, Z:-2.31 [[ 6.60917142e-01 -7.50343375e-01 1.31662629e-02 9.92907678e+01] [ 7.50186100e-01 6.61048215e-01 1.53646754e-02 4.64015363e+01] [-2.02323170e-02 -2.77629979e-04 9.99795267e-01 -2.31459514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74 meters 0.016768932742170853 Centerline is valid? [True, True] Translation: X:99.31, Y:46.43, Z:-2.32 [[ 6.64257982e-01 -7.47383395e-01 1.33938315e-02 9.93076243e+01] [ 7.47219973e-01 6.64392895e-01 1.56330761e-02 4.64252330e+01] [-2.05826679e-02 -3.76257186e-04 9.99788084e-01 -2.31649166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77 meters 0.016198332448193718 Centerline is valid? [True, True] Translation: X:99.33, Y:46.45, Z:-2.32 [[ 6.65666735e-01 -7.46123976e-01 1.36678580e-02 9.93253528e+01] [ 7.45953359e-01 6.65806901e-01 1.59611010e-02 4.64475380e+01] [-2.10091143e-02 -4.29189349e-04 9.99779192e-01 -2.31552559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.8 meters 0.015852093455954824 Centerline is valid? [True, True] Translation: X:99.34, Y:46.47, Z:-2.31 [[ 6.66546106e-01 -7.45334460e-01 1.38863260e-02 9.93434824e+01] [ 7.45158075e-01 6.66690578e-01 1.62208947e-02 4.64699699e+01] [-2.13478745e-02 -4.64466283e-04 9.99772000e-01 -2.31456875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83 meters 0.019608816801143014 Centerline is valid? [True, True] Translation: X:99.36, Y:46.49, Z:-2.32 [[ 6.66650270e-01 -7.45254955e-01 1.31327625e-02 9.93596003e+01] [ 7.45097029e-01 6.66779463e-01 1.53481257e-02 4.64912201e+01] [-2.01949230e-02 -4.46649864e-04 9.99795962e-01 -2.31937562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86 meters 0.0166335151362844 Centerline is valid? [True, True] Translation: X:99.38, Y:46.51, Z:-2.32 [[ 6.67567506e-01 -7.44419112e-01 1.39216073e-02 9.93779282e+01] [ 7.44241334e-01 6.67712462e-01 1.62759107e-02 4.65137549e+01] [-2.14117297e-02 -5.04233566e-04 9.99770615e-01 -2.31552798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89 meters 0.016751389120323288 Centerline is valid? [True, True] Translation: X:99.40, Y:46.54, Z:-2.32 [[ 6.68198850e-01 -7.43860487e-01 1.34860354e-02 9.93957361e+01] [ 7.43693387e-01 6.68334733e-01 1.57743657e-02 4.65370614e+01] [-2.07471132e-02 -5.10937691e-04 9.99784625e-01 -2.31698545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92 meters 0.018948434750262647 Centerline is valid? [True, True] Translation: X:99.41, Y:46.56, Z:-2.32 [[ 6.67899880e-01 -7.44157421e-01 1.18102757e-02 9.94134270e+01] [ 7.44029212e-01 6.68004144e-01 1.38201299e-02 4.65588320e+01] [-1.81736653e-02 -4.43272992e-04 9.99834747e-01 -2.32251449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94999999999999 meters 0.01709297075780596 Centerline is valid? [True, True] Translation: X:99.43, Y:46.58, Z:-2.32 [[ 6.67808275e-01 -7.44253768e-01 1.08828513e-02 9.94295292e+01] [ 7.44144794e-01 6.67896818e-01 1.27422844e-02 4.65800620e+01] [-1.67521149e-02 -4.10985866e-04 9.99859589e-01 -2.32221872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97999999999999 meters 0.019263527201087757 Centerline is valid? [True, True] Translation: X:99.45, Y:46.60, Z:-2.33 [[ 6.66671777e-01 -7.45290348e-01 9.54139995e-03 9.94492780e+01] [ 7.45206656e-01 6.66739966e-01 1.11739800e-02 4.66016423e+01] [-1.46894921e-02 -3.39062323e-04 9.99892046e-01 -2.32725492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00999999999999 meters 0.015742319712384007 Centerline is valid? [True, True] Translation: X:99.47, Y:46.62, Z:-2.32 [[ 6.66003895e-01 -7.45885330e-01 9.68947267e-03 9.94700210e+01] [ 7.45798998e-01 6.66074292e-01 1.13530407e-02 4.66216542e+01] [-1.49219752e-02 -3.34770321e-04 9.99888605e-01 -2.32409015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03999999999999 meters 0.016902849159985304 Centerline is valid? [True, True] Translation: X:99.49, Y:46.64, Z:-2.33 [[ 6.64444471e-01 -7.47286238e-01 8.76491415e-03 9.94896689e+01] [ 7.47215657e-01 6.64502221e-01 1.02742697e-02 4.66425907e+01] [-1.35021253e-02 -2.77400643e-04 9.99908804e-01 -2.32746775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07 meters 0.017887966356573054 Centerline is valid? [True, True] Translation: X:99.51, Y:46.66, Z:-2.33 [[ 6.62855895e-01 -7.48701656e-01 8.23968894e-03 9.95085280e+01] [ 7.48639308e-01 6.62907063e-01 9.66507290e-03 4.66629186e+01] [-1.26984041e-02 -2.37995530e-04 9.99919344e-01 -2.32946540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.1 meters 0.014874928076177107 Centerline is valid? [True, True] Translation: X:99.53, Y:46.68, Z:-2.33 [[ 6.61763194e-01 -7.49655448e-01 9.28357485e-03 9.95276924e+01] [ 7.49576360e-01 6.61828262e-01 1.08918780e-02 4.66831847e+01] [-1.43092879e-02 -2.49095712e-04 9.99897586e-01 -2.32587246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13 meters 0.013832031193907454 Centerline is valid? [True, True] Translation: X:99.55, Y:46.70, Z:-2.32 [[ 6.58402598e-01 -7.52599652e-01 9.98914507e-03 9.95506320e+01] [ 7.52508404e-01 6.58478339e-01 1.17208226e-02 4.67023541e+01] [-1.53987227e-02 -2.00104431e-04 9.99881413e-01 -2.32438802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16 meters 0.013435299632523838 Centerline is valid? [True, True] Translation: X:99.57, Y:46.72, Z:-2.32 [[ 6.56575124e-01 -7.54184521e-01 1.07151443e-02 9.95709272e+01] [ 7.54079631e-01 6.56662528e-01 1.25790770e-02 4.67229971e+01] [-1.65231789e-02 -1.79036940e-04 9.99863467e-01 -2.32383441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19 meters 0.014951464006350059 Centerline is valid? [True, True] Translation: X:99.59, Y:46.74, Z:-2.33 [[ 6.54519053e-01 -7.55970997e-01 1.06142163e-02 9.95904021e+01] [ 7.55868188e-01 6.54605097e-01 1.24679666e-02 4.67429606e+01] [-1.63735413e-02 -1.37573222e-04 9.99865935e-01 -2.32598043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22 meters 0.013024441845582442 Centerline is valid? [True, True] Translation: X:99.61, Y:46.76, Z:-2.32 [[ 6.52914070e-01 -7.57342523e-01 1.16412934e-02 9.96110300e+01] [ 7.57219032e-01 6.53017833e-01 1.36765374e-02 4.67638338e+01] [-1.79597955e-02 -1.14594802e-04 9.99838703e-01 -2.32320088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25 meters 0.013024441845582442 Centerline is valid? [True, True] Translation: X:99.63, Y:46.78, Z:-2.32 [[ 6.52701124e-01 -7.57526105e-01 1.16380039e-02 9.96288570e+01] [ 7.57402593e-01 6.52804862e-01 1.36793359e-02 4.67849047e+01] [-1.79597996e-02 -1.13863564e-04 9.99838703e-01 -2.32376730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28 meters 0.015115158971829917 Centerline is valid? [True, True] Translation: X:99.65, Y:46.80, Z:-2.33 [[ 6.48781688e-01 -7.60888474e-01 1.14477821e-02 9.96502526e+01] [ 7.60769352e-01 6.48882678e-01 1.34634226e-02 4.68041972e+01] [-1.76724306e-02 -2.57002781e-05 9.99843830e-01 -2.32678940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31 meters 0.015072769744430711 Centerline is valid? [True, True] Translation: X:99.67, Y:46.82, Z:-2.33 [[ 6.47030067e-01 -7.62379292e-01 1.13976698e-02 9.96695939e+01] [ 7.62261326e-01 6.47130446e-01 1.34110378e-02 4.68244291e+01] [-1.76000766e-02 1.06582521e-05 9.99845107e-01 -2.32742468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33999999999999 meters 0.012721711947618774 Centerline is valid? [True, True] Translation: X:99.69, Y:46.85, Z:-2.32 [[ 6.45527970e-01 -7.63640732e-01 1.21025556e-02 9.96892640e+01] [ 7.63507780e-01 6.45641410e-01 1.42491913e-02 4.68451855e+01] [-1.86951739e-02 4.21438010e-05 9.99825229e-01 -2.32471074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36999999999999 meters 0.012867782070657311 Centerline is valid? [True, True] Translation: X:99.71, Y:46.87, Z:-2.33 [[ 6.43775869e-01 -7.65116769e-01 1.22049788e-02 9.97083916e+01] [ 7.64981656e-01 6.43891547e-01 1.43785036e-02 4.68650315e+01] [-1.88599169e-02 8.00512215e-05 9.99822133e-01 -2.32519887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39999999999999 meters 0.013992874143049424 Centerline is valid? [True, True] Translation: X:99.73, Y:46.89, Z:-2.33 [[ 6.40482530e-01 -7.67876559e-01 1.21539459e-02 9.97286508e+01] [ 7.67742984e-01 6.40597818e-01 1.43228944e-02 4.68858449e+01] [-1.87840061e-02 1.57543004e-04 9.99823553e-01 -2.32703636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42999999999999 meters 0.013304746899175896 Centerline is valid? [True, True] Translation: X:99.75, Y:46.91, Z:-2.33 [[ 6.39367016e-01 -7.68799832e-01 1.25154571e-02 9.97477222e+01] [ 7.68658220e-01 6.39489471e-01 1.47565860e-02 4.69070663e+01] [-1.93483638e-02 1.85234607e-04 9.99812786e-01 -2.32624427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46 meters 0.013406581055201804 Centerline is valid? [True, True] Translation: X:99.77, Y:46.93, Z:-2.33 [[ 6.38327965e-01 -7.69660272e-01 1.26678844e-02 9.97669211e+01] [ 7.69515210e-01 6.38453618e-01 1.49438943e-02 4.69292276e+01] [-1.95895784e-02 2.09024042e-04 9.99808084e-01 -2.32686633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49 meters 0.013530887790037343 Centerline is valid? [True, True] Translation: X:99.79, Y:46.95, Z:-2.33 [[ 6.37539567e-01 -7.70319074e-01 1.23217011e-02 9.97855980e+01] [ 7.70181820e-01 6.37658589e-01 1.45426330e-02 4.69509802e+01] [-1.90595062e-02 2.18446246e-04 9.99818327e-01 -2.32767169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52 meters 0.013587210130502162 Centerline is valid? [True, True] Translation: X:99.80, Y:46.97, Z:-2.33 [[ 6.37058355e-01 -7.70720565e-01 1.21021902e-02 9.98032469e+01] [ 7.70588094e-01 6.37173259e-01 1.42908307e-02 4.69713748e+01] [-1.87254290e-02 2.21710585e-04 9.99824639e-01 -2.32847982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55 meters 0.013973850268938654 Centerline is valid? [True, True] Translation: X:99.82, Y:46.99, Z:-2.33 [[ 6.36893077e-01 -7.70863130e-01 1.17150816e-02 9.98215771e+01] [ 7.70738925e-01 6.37000776e-01 1.38391064e-02 4.69917133e+01] [-1.81305730e-02 2.15238336e-04 9.99835604e-01 -2.32964281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58 meters 0.013411657878417992 Centerline is valid? [True, True] Translation: X:99.84, Y:47.02, Z:-2.33 [[ 6.37804791e-01 -7.70112935e-01 1.14505505e-02 9.98384507e+01] [ 7.69994088e-01 6.37907542e-01 1.35304388e-02 4.70153915e+01] [-1.77243585e-02 1.87077496e-04 9.99842894e-01 -2.33002271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61 meters 0.013332485554489253 Centerline is valid? [True, True] Translation: X:99.86, Y:47.04, Z:-2.33 [[ 6.38792551e-01 -7.69291325e-01 1.16161377e-02 9.98563938e+01] [ 7.69168750e-01 6.38898138e-01 1.37332475e-02 4.70374030e+01] [-1.79863970e-02 1.62073936e-04 9.99838219e-01 -2.33052683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64 meters 0.015706181685703084 Centerline is valid? [True, True] Translation: X:99.87, Y:47.06, Z:-2.34 [[ 6.41694865e-01 -7.66889121e-01 1.04295770e-02 9.98717043e+01] [ 7.66789893e-01 6.41779611e-01 1.23365804e-02 4.70609425e+01] [-1.61542792e-02 8.09739770e-05 9.99869508e-01 -2.33553374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67 meters 0.013662940924352818 Centerline is valid? [True, True] Translation: X:99.89, Y:47.08, Z:-2.33 [[ 6.44204936e-01 -7.64779136e-01 1.06241658e-02 9.98882171e+01] [ 7.64675830e-01 6.44292536e-01 1.25699055e-02 4.70845140e+01] [-1.64582722e-02 2.64476577e-05 9.99864553e-01 -2.33465229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69999999999999 meters 0.012839904108334165 Centerline is valid? [True, True] Translation: X:99.90, Y:47.11, Z:-2.33 [[ 6.46855440e-01 -7.62535716e-01 1.08315204e-02 9.99046125e+01] [ 7.62427916e-01 6.46946119e-01 1.28215318e-02 4.71076669e+01] [-1.67842860e-02 -3.54240681e-05 9.99859133e-01 -2.33436589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72999999999999 meters 0.01316535131713791 Centerline is valid? [True, True] Translation: X:99.92, Y:47.13, Z:-2.34 [[ 6.49473812e-01 -7.60309886e-01 1.06133990e-02 9.99206790e+01] [ 7.60205955e-01 6.49560519e-01 1.25713453e-02 4.71311529e+01] [-1.64521630e-02 -9.63904455e-05 9.99864649e-01 -2.33553140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75999999999999 meters 0.013970146832904493 Centerline is valid? [True, True] Translation: X:99.94, Y:47.16, Z:-2.34 [[ 6.54938167e-01 -7.55610781e-01 1.04089106e-02 9.99355743e+01] [ 7.55510172e-01 6.55020841e-01 1.23320000e-02 4.71563516e+01] [-1.61362456e-02 -2.12659656e-04 9.99869780e-01 -2.33681574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78999999999999 meters 0.014480061172970439 Centerline is valid? [True, True] Translation: X:99.95, Y:47.18, Z:-2.34 [[ 6.57575299e-01 -7.53319118e-01 1.02484915e-02 9.99522986e+01] [ 7.53221193e-01 6.57655102e-01 1.21491399e-02 4.71794781e+01] [-1.58921521e-02 -2.69593309e-04 9.99873675e-01 -2.33742449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82 meters 0.015207378425856113 Centerline is valid? [True, True] Translation: X:99.97, Y:47.20, Z:-2.34 [[ 6.59838376e-01 -7.51336953e-01 1.03004911e-02 9.99692970e+01] [ 7.51237772e-01 6.59918692e-01 1.22118817e-02 4.72034014e+01] [-1.59727246e-02 -3.19750158e-04 9.99872377e-01 -2.33822496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85 meters 0.01888846225414017 Centerline is valid? [True, True] Translation: X:99.98, Y:47.23, Z:-2.34 [[ 6.61294101e-01 -7.50059313e-01 1.00567834e-02 9.99848251e+01] [ 7.49964509e-01 6.61370476e-01 1.19301592e-02 4.72270118e+01] [-1.55995867e-02 -3.47113274e-04 9.99878259e-01 -2.34316886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88 meters 0.018399369835289277 Centerline is valid? [True, True] Translation: X:100.00, Y:47.25, Z:-2.34 [[ 6.63080382e-01 -7.48476683e-01 1.03470961e-02 1.00003951e+02] [ 7.48376115e-01 6.63160989e-01 1.22756848e-02 4.72492070e+01] [-1.60498543e-02 -3.96246166e-04 9.99871114e-01 -2.34270207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91 meters 0.018169218434085047 Centerline is valid? [True, True] Translation: X:100.02, Y:47.27, Z:-2.34 [[ 6.64662183e-01 -7.47064487e-01 1.09010957e-02 1.00019974e+02] [ 7.46952535e-01 6.64751413e-01 1.29409757e-02 4.72716786e+01] [-1.69142622e-02 -4.58776124e-04 9.99856838e-01 -2.34149223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94 meters 0.017757740826353167 Centerline is valid? [True, True] Translation: X:100.04, Y:47.29, Z:-2.34 [[ 6.66721920e-01 -7.45213101e-01 1.18031878e-02 1.00037048e+02] [ 7.45081499e-01 6.66826163e-01 1.40153056e-02 4.72944576e+01] [-1.83150638e-02 -5.49974600e-04 9.99832114e-01 -2.33931004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97 meters 0.018351915504381696 Centerline is valid? [True, True] Translation: X:100.05, Y:47.32, Z:-2.34 [[ 6.66905496e-01 -7.45046823e-01 1.19285518e-02 1.00053673e+02] [ 7.44912333e-01 6.67011930e-01 1.41668833e-02 4.73165151e+01] [-1.85114778e-02 -5.62246984e-04 9.99828490e-01 -2.34015078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.0 meters 0.018436344774831977 Centerline is valid? [True, True] Translation: X:100.07, Y:47.34, Z:-2.34 [[ 6.66864519e-01 -7.45081343e-01 1.20625997e-02 1.00071445e+02] [ 7.44943756e-01 6.66973364e-01 1.43294533e-02 4.73379776e+01] [-1.87220410e-02 -5.69845614e-04 9.99824565e-01 -2.34070828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03 meters 0.018652128492350782 Centerline is valid? [True, True] Translation: X:100.09, Y:47.36, Z:-2.34 [[ 6.66339668e-01 -7.45546184e-01 1.23423663e-02 1.00089029e+02] [ 7.45402044e-01 6.66453716e-01 1.46709572e-02 4.73595599e+01] [-1.91634920e-02 -5.75815705e-04 9.99816198e-01 -2.34179582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06 meters 0.019348485546668785 Centerline is valid? [True, True] Translation: X:100.11, Y:47.38, Z:-2.35 [[ 6.64198931e-01 -7.47463059e-01 1.17795015e-02 1.00108830e+02] [ 7.47332033e-01 6.64303190e-01 1.40037345e-02 4.73805411e+01] [-1.82924346e-02 -4.98066665e-04 9.99832555e-01 -2.34615669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08999999999999 meters 0.016806629329554925 Centerline is valid? [True, True] Translation: X:100.13, Y:47.40, Z:-2.34 [[ 6.63385853e-01 -7.48187255e-01 1.16207201e-02 1.00129647e+02] [ 7.48059729e-01 6.63487456e-01 1.38216268e-02 4.74002806e+01] [-1.80513670e-02 -4.76078950e-04 9.99836947e-01 -2.34434539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11999999999999 meters 0.01893670836321163 Centerline is valid? [True, True] Translation: X:100.15, Y:47.42, Z:-2.35 [[ 6.61619105e-01 -7.49764645e-01 1.06366238e-02 1.00148129e+02] [ 7.49657894e-01 6.61704479e-01 1.26580226e-02 4.74210211e+01] [-1.65288394e-02 -4.00960642e-04 9.99863309e-01 -2.34940917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14999999999999 meters 0.0156552957327334 Centerline is valid? [True, True] Translation: X:100.17, Y:47.44, Z:-2.35 [[ 6.59503977e-01 -7.51629039e-01 1.04063632e-02 1.00169267e+02] [ 7.51527073e-01 6.59585982e-01 1.23850812e-02 4.74410677e+01] [-1.61728780e-02 -3.47346659e-04 9.99869150e-01 -2.34711823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17999999999999 meters 0.015605316206980423 Centerline is valid? [True, True] Translation: X:100.19, Y:47.46, Z:-2.35 [[ 6.58350516e-01 -7.52645288e-01 9.98344273e-03 1.00187431e+02] [ 7.52551449e-01 6.58426133e-01 1.18888027e-02 4.74619541e+01] [-1.55214109e-02 -3.13945096e-04 9.99879486e-01 -2.34852002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21 meters 0.0149735448840061 Centerline is valid? [True, True] Translation: X:100.21, Y:47.48, Z:-2.35 [[ 6.56748295e-01 -7.54047534e-01 9.69503126e-03 1.00207236e+02] [ 7.53959182e-01 6.56819794e-01 1.15459660e-02 4.74826259e+01] [-1.50740956e-02 -2.73135630e-04 9.99886342e-01 -2.34969859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24 meters 0.014762472319684423 Centerline is valid? [True, True] Translation: X:100.23, Y:47.50, Z:-2.35 [[ 6.55404958e-01 -7.55220133e-01 9.32156016e-03 1.00225406e+02] [ 7.55138476e-01 6.55471199e-01 1.11081001e-02 4.75032127e+01] [-1.44990750e-02 -2.41235121e-04 9.99894854e-01 -2.35097813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27 meters 0.015275178278917782 Centerline is valid? [True, True] Translation: X:100.25, Y:47.52, Z:-2.35 [[ 6.53652155e-01 -7.56743350e-01 8.85233691e-03 1.00245710e+02] [ 7.56669846e-01 6.53712065e-01 1.05489667e-02 4.75243272e+01] [-1.37697398e-02 -1.97058409e-04 9.99905173e-01 -2.35353928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.3 meters 0.015276895759778005 Centerline is valid? [True, True] Translation: X:100.26, Y:47.55, Z:-2.35 [[ 6.52076446e-01 -7.58104132e-01 8.62749948e-03 1.00264649e+02] [ 7.58034340e-01 6.52133497e-01 1.02879346e-02 4.75452414e+01] [-1.34256071e-02 -1.68578969e-04 9.99909858e-01 -2.35464661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33 meters 0.013335037629359729 Centerline is valid? [True, True] Translation: X:100.29, Y:47.56, Z:-2.35 [[ 6.48685494e-01 -7.61003192e-01 9.01506321e-03 1.00286103e+02] [ 7.60927262e-01 6.48748124e-01 1.07505416e-02 4.75647566e+01] [-1.40297018e-02 -1.13913015e-04 9.99901572e-01 -2.35323739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36 meters 0.013206472078239983 Centerline is valid? [True, True] Translation: X:100.31, Y:47.59, Z:-2.35 [[ 6.46579559e-01 -7.62794528e-01 8.90969654e-03 1.00306037e+02] [ 7.62720458e-01 6.46640938e-01 1.06301348e-02 4.75855557e+01] [-1.38699832e-02 -7.76200727e-05 9.99903804e-01 -2.35366291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39 meters 0.012950102387180836 Centerline is valid? [True, True] Translation: X:100.33, Y:47.61, Z:-2.35 [[ 6.44309480e-01 -7.64712246e-01 8.97080671e-03 1.00325784e+02] [ 7.64637265e-01 6.44371926e-01 1.07085593e-02 4.76065464e+01] [-1.39695024e-02 -4.02131462e-05 9.99902421e-01 -2.35439754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42 meters 0.01300253200803673 Centerline is valid? [True, True] Translation: X:100.35, Y:47.63, Z:-2.36 [[ 6.40100281e-01 -7.68240569e-01 8.83502860e-03 1.00345799e+02] [ 7.68168089e-01 6.40161250e-01 1.05527273e-02 4.76256122e+01] [-1.37628762e-02 3.19833516e-05 9.99905287e-01 -2.35543276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44999999999999 meters 0.01311078604989924 Centerline is valid? [True, True] Translation: X:100.36, Y:47.65, Z:-2.36 [[ 6.38033948e-01 -7.69952839e-01 9.23616235e-03 1.00364734e+02] [ 7.69873770e-01 6.38100792e-01 1.10343925e-02 4.76464458e+01] [-1.43895644e-02 7.03620831e-05 9.99896462e-01 -2.35584394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47999999999999 meters 0.013228019504923121 Centerline is valid? [True, True] Translation: X:100.38, Y:47.67, Z:-2.36 [[ 6.36349721e-01 -7.71343655e-01 9.38074716e-03 1.00383651e+02] [ 7.71262124e-01 6.36418853e-01 1.12151611e-02 4.76671609e+01] [-1.46208277e-02 9.82503645e-05 9.99893105e-01 -2.35607805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50999999999999 meters 0.0157466721109621 Centerline is valid? [True, True] Translation: X:100.40, Y:47.69, Z:-2.36 [[ 6.34272270e-01 -7.73048298e-01 9.74759686e-03 1.00402558e+02] [ 7.72960418e-01 6.34347151e-01 1.16569308e-02 4.76863316e+01] [-1.51947308e-02 1.40838581e-04 9.99884543e-01 -2.35927840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53999999999999 meters 0.013655501419344613 Centerline is valid? [True, True] Translation: X:100.42, Y:47.71, Z:-2.36 [[ 6.33025579e-01 -7.74059824e-01 1.04883297e-02 1.00420235e+02] [ 7.73958177e-01 6.33112437e-01 1.25451897e-02 4.77077532e+01] [-1.63510193e-02 1.76102517e-04 9.99866298e-01 -2.35546549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57 meters 0.014155667263205107 Centerline is valid? [True, True] Translation: X:100.44, Y:47.73, Z:-2.35 [[ 6.30890082e-01 -7.75796866e-01 1.08133118e-02 1.00439126e+02] [ 7.75688933e-01 6.30982705e-01 1.29423925e-02 4.77287602e+01] [-1.68636803e-02 2.22539196e-04 9.99857773e-01 -2.35491390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.6 meters 0.01440996021569318 Centerline is valid? [True, True] Translation: X:100.46, Y:47.75, Z:-2.36 [[ 6.30156963e-01 -7.76388497e-01 1.10952076e-02 1.00456436e+02] [ 7.76274900e-01 6.30254586e-01 1.32829282e-02 4.77496342e+01] [-1.73055181e-02 2.42601475e-04 9.99850219e-01 -2.35548358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63 meters 0.014260963301232821 Centerline is valid? [True, True] Translation: X:100.47, Y:47.77, Z:-2.36 [[ 6.29691794e-01 -7.76766255e-01 1.10647675e-02 1.00472978e+02] [ 7.76653224e-01 6.29788951e-01 1.32531898e-02 4.77717657e+01] [-1.72630989e-02 2.48062430e-04 9.99850951e-01 -2.35590410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66 meters 0.01438120453487356 Centerline is valid? [True, True] Translation: X:100.49, Y:47.79, Z:-2.36 [[ 6.29587077e-01 -7.76852033e-01 1.10014310e-02 1.00489959e+02] [ 7.76740188e-01 6.29683142e-01 1.31840899e-02 4.77933645e+01] [-1.71695027e-02 2.44720976e-04 9.99852563e-01 -2.35701435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69 meters 0.016286439368718 Centerline is valid? [True, True] Translation: X:100.51, Y:47.82, Z:-2.36 [[ 6.29509260e-01 -7.76925435e-01 1.02450494e-02 1.00506597e+02] [ 7.76828364e-01 6.29592581e-01 1.22831176e-02 4.78162286e+01] [-1.59932736e-02 2.26308689e-04 9.99872074e-01 -2.36125784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72 meters 0.013676374698108913 Centerline is valid? [True, True] Translation: X:100.52, Y:47.84, Z:-2.36 [[ 6.31427492e-01 -7.75370897e-01 9.96469721e-03 1.00521781e+02] [ 7.75278769e-01 6.31506089e-01 1.19536623e-02 4.78414090e+01] [-1.55612888e-02 1.77547160e-04 9.99878900e-01 -2.36091112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75 meters 0.01354453303664134 Centerline is valid? [True, True] Translation: X:100.54, Y:47.86, Z:-2.36 [[ 6.32346056e-01 -7.74629297e-01 9.37644825e-03 1.00538234e+02] [ 7.74547574e-01 6.32415552e-01 1.12527987e-02 4.78638612e+01] [-1.46465593e-02 1.46842360e-04 9.99892723e-01 -2.36219702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78 meters 0.014056675160117426 Centerline is valid? [True, True] Translation: X:100.55, Y:47.89, Z:-2.36 [[ 6.33016000e-01 -7.74091407e-01 8.55792465e-03 1.00554566e+02] [ 7.74023214e-01 6.33073834e-01 1.02754608e-02 4.78870010e+01] [-1.33719441e-02 1.19501242e-04 9.99910584e-01 -2.36492011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81 meters 0.013207153173030024 Centerline is valid? [True, True] Translation: X:100.57, Y:47.91, Z:-2.36 [[ 6.34217513e-01 -7.73108858e-01 8.41668644e-03 1.00571286e+02] [ 7.73042711e-01 6.34273352e-01 1.01134564e-02 4.79089687e+01] [-1.31572826e-02 9.23269622e-05 9.99913435e-01 -2.36497600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83999999999999 meters 0.012972174022931772 Centerline is valid? [True, True] Translation: X:100.59, Y:47.93, Z:-2.36 [[ 6.36189520e-01 -7.71484105e-01 8.67014515e-03 1.00588219e+02] [ 7.71413724e-01 6.36248594e-01 1.04208078e-02 4.79330911e+01] [-1.35558552e-02 5.86602674e-05 9.99908113e-01 -2.36488255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86999999999999 meters 0.012832315211394399 Centerline is valid? [True, True] Translation: X:100.61, Y:47.96, Z:-2.36 [[ 6.37025562e-01 -7.70789385e-01 9.06409406e-03 1.00605015e+02] [ 7.70712365e-01 6.37090042e-01 1.08962411e-02 4.79551602e+01] [-1.41733510e-02 4.46252847e-05 9.99899552e-01 -2.36459074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89999999999999 meters 0.012662714383391784 Centerline is valid? [True, True] Translation: X:100.62, Y:47.98, Z:-2.36 [[ 6.38093277e-01 -7.69899315e-01 9.59239428e-03 1.00622230e+02] [ 7.69812847e-01 6.38165373e-01 1.15385098e-02 4.79780074e+01] [-1.50050247e-02 2.17028071e-05 9.99887418e-01 -2.36427960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92999999999999 meters 0.012717482783123766 Centerline is valid? [True, True] Translation: X:100.64, Y:48.00, Z:-2.36 [[ 6.39351963e-01 -7.68846238e-01 1.02239764e-02 1.00638119e+02] [ 7.68747733e-01 6.39433705e-01 1.23068933e-02 4.79997086e+01] [-1.59996638e-02 -8.77772390e-06 9.99871997e-01 -2.36405035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96 meters 0.012712880415350323 Centerline is valid? [True, True] Translation: X:100.66, Y:48.02, Z:-2.36 [[ 6.40597238e-01 -7.67799483e-01 1.09147717e-02 1.00655042e+02] [ 7.67687002e-01 6.40690215e-01 1.31421059e-02 4.80226449e+01] [-1.70834896e-02 -3.96684157e-05 9.99854066e-01 -2.36414222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99 meters 0.012899853030963809 Centerline is valid? [True, True] Translation: X:100.67, Y:48.05, Z:-2.36 [[ 6.43548014e-01 -7.65319064e-01 1.15188719e-02 1.00670832e+02] [ 7.65193233e-01 6.43651083e-01 1.38780510e-02 4.80466989e+01] [-1.80352714e-02 -1.17029325e-04 9.99837344e-01 -2.36385286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02 meters 0.013121144122586446 Centerline is valid? [True, True] Translation: X:100.69, Y:48.07, Z:-2.36 [[ 6.44942092e-01 -7.64138942e-01 1.18901319e-02 1.00687760e+02] [ 7.64004528e-01 6.45051666e-01 1.43328503e-02 4.80697986e+01] [-1.86220385e-02 -1.59743841e-04 9.99826582e-01 -2.36436559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05 meters 0.01359207847764023 Centerline is valid? [True, True] Translation: X:100.70, Y:48.09, Z:-2.37 [[ 6.46746259e-01 -7.62611512e-01 1.19564943e-02 1.00703258e+02] [ 7.62475183e-01 6.46856736e-01 1.44207663e-02 4.80930198e+01] [-1.87315813e-02 -2.10046504e-04 9.99824526e-01 -2.36520548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08 meters 0.014068426571893444 Centerline is valid? [True, True] Translation: X:100.72, Y:48.12, Z:-2.37 [[ 6.50044383e-01 -7.59804092e-01 1.18339017e-02 1.00718775e+02] [ 7.59670029e-01 6.50152027e-01 1.42754683e-02 4.81170576e+01] [-1.85403944e-02 -2.89827553e-04 9.99828070e-01 -2.36639761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11 meters 0.014773033990399854 Centerline is valid? [True, True] Translation: X:100.73, Y:48.14, Z:-2.37 [[ 6.51493530e-01 -7.58561481e-01 1.18600218e-02 1.00734240e+02] [ 7.58426573e-01 6.51601391e-01 1.43094683e-02 4.81401806e+01] [-1.85826181e-02 -3.27570272e-04 9.99827275e-01 -2.36770950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14 meters 0.014773033990399854 Centerline is valid? [True, True] Translation: X:100.75, Y:48.16, Z:-2.37 [[ 6.51279148e-01 -7.58745577e-01 1.18583379e-02 1.00751790e+02] [ 7.58610674e-01 6.51387016e-01 1.43108636e-02 4.81614811e+01] [-1.85826718e-02 -3.24505332e-04 9.99827275e-01 -2.36827693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17 meters 0.014948237030050876 Centerline is valid? [True, True] Translation: X:100.77, Y:48.18, Z:-2.37 [[ 6.52818290e-01 -7.57421561e-01 1.18683915e-02 1.00768985e+02] [ 7.57286046e-01 6.52926062e-01 1.43318500e-02 4.81839973e+01] [-1.86044343e-02 -3.68326567e-04 9.99826855e-01 -2.36897670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19999999999999 meters 0.015923372444445527 Centerline is valid? [True, True] Translation: X:100.78, Y:48.21, Z:-2.37 [[ 6.54111182e-01 -7.56307493e-01 1.17276476e-02 1.00784574e+02] [ 7.56174949e-01 6.54216187e-01 1.41643107e-02 4.82075587e+01] [-1.83849912e-02 -3.96880659e-04 9.99830903e-01 -2.37020043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22999999999999 meters 0.016184575943634368 Centerline is valid? [True, True] Translation: X:100.80, Y:48.23, Z:-2.37 [[ 6.55372976e-01 -7.55221098e-01 1.12851882e-02 1.00801975e+02] [ 7.55098153e-01 6.55470001e-01 1.36329478e-02 4.82302411e+01] [-1.76929921e-02 -4.13240868e-04 9.99843381e-01 -2.37120663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25999999999999 meters 0.01636461599375495 Centerline is valid? [True, True] Translation: X:100.82, Y:48.25, Z:-2.37 [[ 6.56919082e-01 -7.53884871e-01 1.07201237e-02 1.00819025e+02] [ 7.53773649e-01 6.57006404e-01 1.29564842e-02 4.82536585e+01] [-1.68108873e-02 -4.30814951e-04 9.99858594e-01 -2.37317701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28999999999999 meters 0.016924304001091437 Centerline is valid? [True, True] Translation: X:100.84, Y:48.28, Z:-2.37 [[ 6.57388992e-01 -7.53477159e-01 1.05775225e-02 1.00835515e+02] [ 7.53368703e-01 6.57473936e-01 1.27913984e-02 4.82761983e+01] [-1.65924719e-02 -4.40150113e-04 9.99862239e-01 -2.37430046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32 meters 0.017034256621849694 Centerline is valid? [True, True] Translation: X:100.85, Y:48.30, Z:-2.38 [[ 6.57666923e-01 -7.53242993e-01 9.96046024e-03 1.00853592e+02] [ 7.53146763e-01 6.57742210e-01 1.20473372e-02 4.82988773e+01] [-1.56259875e-02 -4.21446796e-04 9.99877818e-01 -2.37550731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35 meters 0.01680498498862421 Centerline is valid? [True, True] Translation: X:100.87, Y:48.32, Z:-2.38 [[ 6.57722609e-01 -7.53198274e-01 9.66071101e-03 1.00871922e+02] [ 7.53107658e-01 6.57793424e-01 1.16904623e-02 4.83208170e+01] [-1.51599882e-02 -4.13525924e-04 9.99884995e-01 -2.37682322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38 meters 0.017235535209836804 Centerline is valid? [True, True] Translation: X:100.89, Y:48.34, Z:-2.38 [[ 6.57381082e-01 -7.53508158e-01 8.69307798e-03 1.00888374e+02] [ 7.53434736e-01 6.57438453e-01 1.05251406e-02 4.83417894e+01] [-1.36459431e-02 -3.69361415e-04 9.99906822e-01 -2.37896875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41 meters 0.016586009636114157 Centerline is valid? [True, True] Translation: X:100.91, Y:48.36, Z:-2.38 [[ 6.56693950e-01 -7.54112972e-01 8.16588062e-03 1.00907436e+02] [ 7.54048215e-01 6.56744633e-01 9.88820068e-03 4.83621896e+01] [-1.28197187e-02 -3.36053853e-04 9.99917768e-01 -2.37995091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44 meters 0.016154098996709818 Centerline is valid? [True, True] Translation: X:100.93, Y:48.38, Z:-2.38 [[ 6.55796202e-01 -7.54895311e-01 8.02560793e-03 1.00927114e+02] [ 7.54832744e-01 6.55845231e-01 9.72429406e-03 4.83838676e+01] [-1.26043807e-02 -3.19163456e-04 9.99920511e-01 -2.38098692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47 meters 0.016095937621923958 Centerline is valid? [True, True] Translation: X:100.95, Y:48.40, Z:-2.38 [[ 6.54985142e-01 -7.55601608e-01 7.78934950e-03 1.00945521e+02] [ 7.55542637e-01 6.55031388e-01 9.44479964e-03 4.84049477e+01] [-1.22387742e-02 -3.01017767e-04 9.99925058e-01 -2.38216116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.5 meters 0.015719265418113058 Centerline is valid? [True, True] Translation: X:100.97, Y:48.43, Z:-2.38 [[ 6.53796786e-01 -7.56628920e-01 7.90190021e-03 1.00965513e+02] [ 7.56568311e-01 6.53844474e-01 9.58097422e-03 4.84262282e+01] [-1.24158560e-02 -2.85682868e-04 9.99922879e-01 -2.38242510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53 meters 0.015260514711134647 Centerline is valid? [True, True] Translation: X:100.99, Y:48.45, Z:-2.38 [[ 6.51420027e-01 -7.58671104e-01 8.37280536e-03 1.00985454e+02] [ 7.58603124e-01 6.51473779e-01 1.01595367e-02 4.84460446e+01] [-1.31624100e-02 -2.66489344e-04 9.99913336e-01 -2.38240302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56 meters 0.014748301955081717 Centerline is valid? [True, True] Translation: X:101.01, Y:48.47, Z:-2.38 [[ 6.50323912e-01 -7.59607003e-01 8.71845254e-03 1.01005497e+02] [ 7.59533373e-01 6.50382299e-01 1.05792282e-02 4.84665220e+01] [-1.37063831e-02 -2.57969418e-04 9.99906030e-01 -2.38178866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58999999999999 meters 0.014493851376766528 Centerline is valid? [True, True] Translation: X:101.03, Y:48.49, Z:-2.38 [[ 6.49111805e-01 -7.60637124e-01 9.22116506e-03 1.01025557e+02] [ 7.60554757e-01 6.49177249e-01 1.11964760e-02 4.84880824e+01] [-1.45026259e-02 -2.54563821e-04 9.99894799e-01 -2.38139792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61999999999999 meters 0.014074312200007126 Centerline is valid? [True, True] Translation: X:101.05, Y:48.51, Z:-2.38 [[ 6.47361444e-01 -7.62113959e-01 1.02700286e-02 1.01046825e+02] [ 7.62011916e-01 6.47442856e-01 1.24735383e-02 4.85087549e+01] [-1.61555143e-02 -2.49003633e-04 9.99869460e-01 -2.38000530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64999999999999 meters 0.015493915765793884 Centerline is valid? [True, True] Translation: X:101.07, Y:48.53, Z:-2.38 [[ 6.46523497e-01 -7.62821135e-01 1.05491523e-02 1.01065585e+02] [ 7.62713461e-01 6.46609510e-01 1.28186696e-02 4.85304845e+01] [-1.65995343e-02 -2.41590637e-04 9.99862189e-01 -2.38216333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67999999999999 meters 0.013893472336805116 Centerline is valid? [True, True] Translation: X:101.08, Y:48.55, Z:-2.38 [[ 6.46117157e-01 -7.63159356e-01 1.09734740e-02 1.01083546e+02] [ 7.63042775e-01 6.46210288e-01 1.33412026e-02 4.85516285e+01] [-1.72726354e-02 -2.46749869e-04 9.99850786e-01 -2.38080593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71 meters 0.015900852057409837 Centerline is valid? [True, True] Translation: X:101.10, Y:48.57, Z:-2.38 [[ 6.45868401e-01 -7.63376001e-01 1.05399218e-02 1.01100580e+02] [ 7.63268347e-01 6.45954353e-01 1.28220677e-02 4.85730764e+01] [-1.65963672e-02 -2.36579711e-04 9.99862243e-01 -2.38426948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74 meters 0.014210449836861911 Centerline is valid? [True, True] Translation: X:101.12, Y:48.60, Z:-2.38 [[ 6.46203297e-01 -7.63093781e-01 1.04489266e-02 1.01118778e+02] [ 7.62987883e-01 6.46287724e-01 1.27149296e-02 4.85950451e+01] [-1.64556967e-02 -2.44025011e-04 9.99864566e-01 -2.38320939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77 meters 0.01620869351021658 Centerline is valid? [True, True] Translation: X:101.14, Y:48.62, Z:-2.39 [[ 6.46838135e-01 -7.62573618e-01 9.05007121e-03 1.01135723e+02] [ 7.62494049e-01 6.46901403e-01 1.10181988e-02 4.86169950e+01] [-1.42566915e-02 -2.26365759e-04 9.99898343e-01 -2.38745894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.8 meters 0.014573843198897625 Centerline is valid? [True, True] Translation: X:101.15, Y:48.64, Z:-2.39 [[ 6.47340009e-01 -7.62148350e-01 8.98915450e-03 1.01154720e+02] [ 7.62069777e-01 6.47402376e-01 1.09461415e-02 4.86389308e+01] [-1.41621836e-02 -2.35512344e-04 9.99899684e-01 -2.38638227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83 meters 0.014621815535008298 Centerline is valid? [True, True] Translation: X:101.17, Y:48.66, Z:-2.39 [[ 6.47755061e-01 -7.61797321e-01 8.84440638e-03 1.01173471e+02] [ 7.61721152e-01 6.47815393e-01 1.07751471e-02 4.86610379e+01] [-1.39380208e-02 -2.42684640e-04 9.99902832e-01 -2.38741468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86 meters 0.01483466025783265 Centerline is valid? [True, True] Translation: X:101.19, Y:48.68, Z:-2.39 [[ 6.47777486e-01 -7.61785101e-01 8.23345305e-03 1.01191017e+02] [ 7.61719013e-01 6.47829767e-01 1.00368486e-02 4.86822442e+01] [-1.29797977e-02 -2.30066839e-04 9.99915732e-01 -2.38819723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89 meters 0.014652831479151121 Centerline is valid? [True, True] Translation: X:101.21, Y:48.70, Z:-2.39 [[ 6.47572049e-01 -7.61956337e-01 8.54294514e-03 1.01209745e+02] [ 7.61885186e-01 6.47628354e-01 1.04152920e-02 4.87032722e+01] [-1.34686512e-02 -2.35908617e-04 9.99909266e-01 -2.38816104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92 meters 0.014574100454559882 Centerline is valid? [True, True] Translation: X:101.23, Y:48.72, Z:-2.39 [[ 6.47147914e-01 -7.62315673e-01 8.62508812e-03 1.01228439e+02] [ 7.62243094e-01 6.47205346e-01 1.05217107e-02 4.87241329e+01] [-1.36030681e-02 -2.34689301e-04 9.99907446e-01 -2.38801904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94999999999999 meters 0.014713102022757659 Centerline is valid? [True, True] Translation: X:101.25, Y:48.75, Z:-2.39 [[ 6.46919578e-01 -7.62512531e-01 8.34860550e-03 1.01245605e+02] [ 7.62444451e-01 6.46973406e-01 1.01916964e-02 4.87450550e+01] [-1.31726220e-02 -2.27860009e-04 9.99913211e-01 -2.38878839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97999999999999 meters 0.014751457380119438 Centerline is valid? [True, True] Translation: X:101.26, Y:48.77, Z:-2.39 [[ 6.46562065e-01 -7.62814794e-01 8.43124621e-03 1.01264077e+02] [ 7.62745359e-01 6.46616995e-01 1.02945808e-02 4.87667352e+01] [-1.33046457e-02 -2.25191524e-04 9.99911464e-01 -2.38916209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00999999999999 meters 0.014633114678891602 Centerline is valid? [True, True] Translation: X:101.28, Y:48.79, Z:-2.39 [[ 6.46013523e-01 -7.63278814e-01 8.48409759e-03 1.01282269e+02] [ 7.63208464e-01 6.46069194e-01 1.03652055e-02 4.87876513e+01] [-1.33928558e-02 -2.20927799e-04 9.99910287e-01 -2.38924792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03999999999999 meters 0.014588361772423253 Centerline is valid? [True, True] Translation: X:101.30, Y:48.81, Z:-2.39 [[ 6.45146214e-01 -7.64009655e-01 8.69545491e-03 1.01301799e+02] [ 7.63935727e-01 6.45204775e-01 1.06303268e-02 4.88093554e+01] [-1.37320213e-02 -2.15346426e-04 9.99905688e-01 -2.38971375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07 meters 0.014609527460669704 Centerline is valid? [True, True] Translation: X:101.32, Y:48.83, Z:-2.39 [[ 6.44540328e-01 -7.64518313e-01 8.91712437e-03 1.01319397e+02] [ 7.64440512e-01 6.44601973e-01 1.09087507e-02 4.88305233e+01] [-1.40879356e-02 -2.14518619e-04 9.99900737e-01 -2.39049642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.1 meters 0.014421196285323727 Centerline is valid? [True, True] Translation: X:101.34, Y:48.85, Z:-2.39 [[ 6.43763204e-01 -7.65171479e-01 9.03018300e-03 1.01338663e+02] [ 7.65091750e-01 6.43826503e-01 1.10475246e-02 4.88527065e+01] [-1.42671219e-02 -2.03071311e-04 9.99898199e-01 -2.39118287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13 meters 0.014382651078217935 Centerline is valid? [True, True] Translation: X:101.36, Y:48.87, Z:-2.39 [[ 6.42774824e-01 -7.65998881e-01 9.28653500e-03 1.01357062e+02] [ 7.65914558e-01 6.42841875e-01 1.13671895e-02 4.88743822e+01] [-1.46770280e-02 -1.93850907e-04 9.99892268e-01 -2.39171333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16 meters 0.014133490942112033 Centerline is valid? [True, True] Translation: X:101.38, Y:48.90, Z:-2.39 [[ 6.41803452e-01 -7.66811938e-01 9.36913031e-03 1.01376467e+02] [ 7.66726109e-01 6.41871809e-01 1.14741254e-02 4.88956687e+01] [-1.48122770e-02 -1.80576482e-04 9.99890276e-01 -2.39179304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19 meters 0.01364895483809707 Centerline is valid? [True, True] Translation: X:101.40, Y:48.92, Z:-2.39 [[ 6.39500162e-01 -7.68724613e-01 1.01000811e-02 1.01396959e+02] [ 7.68624995e-01 6.39579898e-01 1.23762206e-02 4.89164215e+01] [-1.59737142e-02 -1.51420317e-04 9.99872401e-01 -2.39141195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22 meters 0.013413117254930225 Centerline is valid? [True, True] Translation: X:101.42, Y:48.94, Z:-2.39 [[ 6.38077064e-01 -7.69901880e-01 1.04285716e-02 1.01416629e+02] [ 7.69795722e-01 6.38162266e-01 1.27855088e-02 4.89378115e+01] [-1.64987081e-02 -1.30270084e-04 9.99863879e-01 -2.39121820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25 meters 0.013355464374109187 Centerline is valid? [True, True] Translation: X:101.44, Y:48.96, Z:-2.39 [[ 6.36581123e-01 -7.71134442e-01 1.07771088e-02 1.01436001e+02] [ 7.71021124e-01 6.36672334e-01 1.32199320e-02 4.89594318e+01] [-1.70558319e-02 -1.06180607e-04 9.99854533e-01 -2.39136725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28 meters 0.013222829497023074 Centerline is valid? [True, True] Translation: X:101.45, Y:48.98, Z:-2.39 [[ 6.35131599e-01 -7.72324862e-01 1.10525904e-02 1.01454133e+02] [ 7.72205719e-01 6.35227755e-01 1.35656159e-02 4.89799979e+01] [-1.74979746e-02 -8.10777681e-05 9.99846895e-01 -2.39193228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31 meters 0.013090499618437956 Centerline is valid? [True, True] Translation: X:101.47, Y:49.00, Z:-2.39 [[ 6.32185826e-01 -7.74735897e-01 1.11969050e-02 1.01474586e+02] [ 7.74613943e-01 6.32284974e-01 1.37459155e-02 4.90002398e+01] [-1.77290890e-02 -1.66941758e-05 9.99842827e-01 -2.39242131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33999999999999 meters 0.013090376981978838 Centerline is valid? [True, True] Translation: X:101.49, Y:49.02, Z:-2.39 [[ 6.30439680e-01 -7.76159149e-01 1.10808467e-02 1.01493683e+02] [ 7.76039808e-01 6.30537052e-01 1.36103729e-02 4.90212495e+01] [-1.75506999e-02 1.86590036e-05 9.99845974e-01 -2.39349189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36999999999999 meters 0.013165612614558654 Centerline is valid? [True, True] Translation: X:101.51, Y:49.04, Z:-2.39 [[ 6.28769300e-01 -7.77517735e-01 1.07395656e-02 1.01512358e+02] [ 7.77405705e-01 6.28861009e-01 1.31985515e-02 4.90419093e+01] [-1.70158019e-02 5.01555566e-05 9.99855220e-01 -2.39470402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39999999999999 meters 0.013373150303916273 Centerline is valid? [True, True] Translation: X:101.53, Y:49.06, Z:-2.40 [[ 6.25809195e-01 -7.79908050e-01 1.03094793e-02 1.01532844e+02] [ 7.79805019e-01 6.25894098e-01 1.26771568e-02 4.90628387e+01] [-1.63396588e-02 1.05902402e-04 9.99866493e-01 -2.39670014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42999999999999 meters 0.01355162384369736 Centerline is valid? [True, True] Translation: X:101.55, Y:49.08, Z:-2.40 [[ 6.24513287e-01 -7.80944145e-01 1.04593104e-02 1.01551893e+02] [ 7.80838133e-01 6.24600853e-01 1.28679548e-02 4.90844767e+01] [-1.65820482e-02 1.30819626e-04 9.99862500e-01 -2.39751864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46 meters 0.013789858803475729 Centerline is valid? [True, True] Translation: X:101.57, Y:49.10, Z:-2.40 [[ 6.23138841e-01 -7.82035774e-01 1.08643406e-02 1.01570446e+02] [ 7.81921436e-01 6.23233522e-01 1.33732920e-02 4.91047982e+01] [-1.72294140e-02 1.61643102e-04 9.99851550e-01 -2.39810262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49 meters 0.013964606971035251 Centerline is valid? [True, True] Translation: X:101.59, Y:49.13, Z:-2.40 [[ 6.21647646e-01 -7.83217949e-01 1.11287397e-02 1.01589013e+02] [ 7.83098037e-01 6.21747221e-01 1.37061077e-02 4.91263908e+01] [-1.76541325e-02 1.94524678e-04 9.99844135e-01 -2.39846279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52 meters 0.014282469936856564 Centerline is valid? [True, True] Translation: X:101.61, Y:49.15, Z:-2.40 [[ 6.20350260e-01 -7.84241807e-01 1.14168106e-02 1.01607544e+02] [ 7.84115642e-01 6.20455267e-01 1.40684866e-02 4.91470327e+01] [-1.81167157e-02 2.24710478e-04 9.99835854e-01 -2.39893784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55 meters 0.014985816465893502 Centerline is valid? [True, True] Translation: X:101.63, Y:49.17, Z:-2.40 [[ 6.18881738e-01 -7.85400079e-01 1.14938901e-02 1.01625787e+02] [ 7.85272314e-01 6.18988408e-01 1.41684104e-02 4.91689211e+01] [-1.82424554e-02 2.57263249e-04 9.99833559e-01 -2.40042153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58 meters 0.01484767039626583 Centerline is valid? [True, True] Translation: X:101.65, Y:49.19, Z:-2.40 [[ 6.16450732e-01 -7.87317186e-01 1.09610005e-02 1.01646201e+02] [ 7.87201182e-01 6.16548102e-01 1.35180501e-02 4.91894104e+01] [-1.74009772e-02 2.95300614e-04 9.99848548e-01 -2.40003222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61 meters 0.015055540473145512 Centerline is valid? [True, True] Translation: X:101.67, Y:49.21, Z:-2.40 [[ 6.14931023e-01 -7.88505779e-01 1.08845640e-02 1.01665404e+02] [ 7.88391456e-01 6.15027262e-01 1.34305356e-02 4.92114945e+01] [-1.72843586e-02 3.22444267e-04 9.99850562e-01 -2.40061126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64 meters 0.015353520955162648 Centerline is valid? [True, True] Translation: X:101.68, Y:49.23, Z:-2.40 [[ 6.13552260e-01 -7.89576304e-01 1.10853492e-02 1.01684693e+02] [ 7.89457772e-01 6.13652291e-01 1.36854586e-02 4.92331837e+01] [-1.76082638e-02 3.54671077e-04 9.99844900e-01 -2.40109899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67 meters 0.01644351426049004 Centerline is valid? [True, True] Translation: X:101.70, Y:49.25, Z:-2.40 [[ 6.11074838e-01 -7.91493074e-01 1.12363514e-02 1.01704875e+02] [ 7.91371480e-01 6.11177998e-01 1.38793095e-02 4.92531471e+01] [-1.78527881e-02 4.10831239e-04 9.99840542e-01 -2.40118553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69999999999999 meters 0.016866484719637448 Centerline is valid? [True, True] Translation: X:101.72, Y:49.28, Z:-2.40 [[ 6.09561218e-01 -7.92657716e-01 1.13519006e-02 1.01722750e+02] [ 7.92533712e-01 6.09666750e-01 1.40274794e-02 4.92758216e+01] [-1.80398661e-02 4.46156527e-04 9.99837169e-01 -2.40308439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72999999999999 meters 0.017125006574050333 Centerline is valid? [True, True] Translation: X:101.74, Y:49.30, Z:-2.40 [[ 6.08694698e-01 -7.93321832e-01 1.14558158e-02 1.01741301e+02] [ 7.93195523e-01 6.08802312e-01 1.41636023e-02 4.92968811e+01] [-1.82106221e-02 4.65392136e-04 9.99834065e-01 -2.40247017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75999999999999 meters 0.017183691928609655 Centerline is valid? [True, True] Translation: X:101.76, Y:49.32, Z:-2.40 [[ 6.07663629e-01 -7.94107208e-01 1.17752660e-02 1.01759477e+02] [ 7.93973834e-01 6.07777502e-01 1.45622328e-02 4.93195424e+01] [-1.87207158e-02 5.00313853e-04 9.99824627e-01 -2.40331545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78999999999999 meters 0.017650699811487258 Centerline is valid? [True, True] Translation: X:101.78, Y:49.34, Z:-2.40 [[ 6.06742916e-01 -7.94814109e-01 1.15570913e-02 1.01777682e+02] [ 7.94685624e-01 6.06852761e-01 1.42998203e-02 4.93409446e+01] [-1.83791517e-02 5.07939624e-04 9.99830960e-01 -2.40398930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82 meters 0.01805397577816254 Centerline is valid? [True, True] Translation: X:101.80, Y:49.36, Z:-2.40 [[ 6.04825511e-01 -7.96272831e-01 1.16482064e-02 1.01796467e+02] [ 7.96142514e-01 6.04937411e-01 1.44161876e-02 4.93633676e+01] [-1.85256543e-02 5.54354284e-04 9.99828232e-01 -2.40419001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85 meters 0.018410925111497712 Centerline is valid? [True, True] Translation: X:101.81, Y:49.39, Z:-2.40 [[ 6.03844651e-01 -7.97020359e-01 1.14098167e-02 1.01814914e+02] [ 7.96895330e-01 6.03952177e-01 1.41280418e-02 4.93854920e+01] [-1.81513206e-02 5.61287155e-04 9.99835094e-01 -2.40431522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88 meters 0.0189982044937692 Centerline is valid? [True, True] Translation: X:101.83, Y:49.41, Z:-2.40 [[ 6.02964191e-01 -7.97689121e-01 1.12361537e-02 1.01833111e+02] [ 7.97567854e-01 6.03068606e-01 1.39202821e-02 4.94068988e+01] [-1.78802291e-02 5.68163344e-04 9.99839974e-01 -2.40460053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91 meters 0.018929496472978372 Centerline is valid? [True, True] Translation: X:101.85, Y:49.43, Z:-2.41 [[ 6.01499919e-01 -7.98801368e-01 1.06874831e-02 1.01849860e+02] [ 7.98691782e-01 6.01594589e-01 1.32433745e-02 4.94303350e+01] [-1.70083576e-02 5.70116223e-04 9.99855185e-01 -2.40546809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94 meters 0.018997196014402196 Centerline is valid? [True, True] Translation: X:101.87, Y:49.45, Z:-2.41 [[ 6.00914086e-01 -7.99245734e-01 1.04172358e-02 1.01866506e+02] [ 7.99141586e-01 6.01004109e-01 1.29146198e-02 4.94530390e+01] [-1.65827563e-02 5.64269433e-04 9.99862337e-01 -2.40639407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97 meters 0.018764095624060204 Centerline is valid? [True, True] Translation: X:101.88, Y:49.48, Z:-2.41 [[ 6.00427278e-01 -7.99614236e-01 1.02057520e-02 1.01883068e+02] [ 7.99514217e-01 6.00513747e-01 1.26591975e-02 4.94763187e+01] [-1.62511689e-02 5.58716292e-04 9.99867785e-01 -2.40732334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.0 meters 0.019338322642548252 Centerline is valid? [True, True] Translation: X:101.90, Y:49.50, Z:-2.41 [[ 6.00100394e-01 -7.99861175e-01 1.00805585e-02 1.01899526e+02] [ 7.99763516e-01 6.00184800e-01 1.25109532e-02 4.94979868e+01] [-1.60572237e-02 5.54235006e-04 9.99870921e-01 -2.40860505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03 meters 0.01815728378505822 Centerline is valid? [True, True] Translation: X:101.91, Y:49.52, Z:-2.41 [[ 5.99906808e-01 -8.00009309e-01 9.84509811e-03 1.01914641e+02] [ 7.99916086e-01 5.99987343e-01 1.22246940e-02 4.95222643e+01] [-1.56868033e-02 5.41575166e-04 9.99876808e-01 -2.40940934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06 meters 0.01815728378505822 Centerline is valid? [True, True] Translation: X:101.93, Y:49.54, Z:-2.41 [[ 5.99675969e-01 -8.00182402e-01 9.84157844e-03 1.01931915e+02] [ 8.00089156e-01 5.99756476e-01 1.22275266e-02 4.95438230e+01] [-1.56868020e-02 5.41586294e-04 9.99876808e-01 -2.40997576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08999999999999 meters 0.018223957051041167 Centerline is valid? [True, True] Translation: X:101.95, Y:49.57, Z:-2.41 [[ 6.00080307e-01 -7.99884040e-01 9.44179206e-03 1.01948132e+02] [ 7.99798074e-01 6.00154367e-01 1.17378598e-02 4.95685395e+01] [-1.50554594e-02 5.07868610e-04 9.99886531e-01 -2.41069770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11999999999999 meters 0.018704615925902626 Centerline is valid? [True, True] Translation: X:101.96, Y:49.59, Z:-2.41 [[ 6.00457520e-01 -7.99604042e-01 9.17286353e-03 1.01964996e+02] [ 7.99522774e-01 6.00527387e-01 1.14101276e-02 4.95909177e+01] [-1.46321399e-02 4.82616366e-04 9.99892828e-01 -2.41131373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14999999999999 meters 0.01853862037348116 Centerline is valid? [True, True] Translation: X:101.98, Y:49.61, Z:-2.41 [[ 6.01134239e-01 -7.99094425e-01 9.25883784e-03 1.01981994e+02] [ 7.99011556e-01 6.01205351e-01 1.15177395e-02 4.96148672e+01] [-1.47702243e-02 4.74210873e-04 9.99890802e-01 -2.41126845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17999999999999 meters 0.018467235930061856 Centerline is valid? [True, True] Translation: X:102.00, Y:49.64, Z:-2.41 [[ 6.01904172e-01 -7.98512576e-01 9.43581625e-03 1.01998369e+02] [ 7.98426345e-01 6.01977949e-01 1.17439583e-02 4.96386235e+01] [-1.50578517e-02 4.65066784e-04 9.99886516e-01 -2.41148680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21 meters 0.01710096212443002 Centerline is valid? [True, True] Translation: X:102.01, Y:49.67, Z:-2.41 [[ 6.04080715e-01 -7.96862987e-01 9.79126925e-03 1.02011265e+02] [ 7.96769824e-01 6.04159904e-01 1.21925299e-02 4.96651755e+01] [-1.56312681e-02 4.36115725e-04 9.99877729e-01 -2.41079498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24 meters 0.019135375022315916 Centerline is valid? [True, True] Translation: X:102.03, Y:49.69, Z:-2.41 [[ 6.05031465e-01 -7.96141290e-01 9.79656755e-03 1.02026484e+02] [ 7.96047804e-01 6.05110632e-01 1.22072644e-02 4.96883440e+01] [-1.56467144e-02 4.12756993e-04 9.99877497e-01 -2.41483708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27 meters 0.016090239280276853 Centerline is valid? [True, True] Translation: X:102.04, Y:49.71, Z:-2.41 [[ 6.07111769e-01 -7.94553840e-01 9.97474390e-03 1.02040917e+02] [ 7.94456691e-01 6.07193587e-01 1.24303786e-02 4.97135195e+01] [-1.59332056e-02 3.77872881e-04 9.99872987e-01 -2.41236307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.3 meters 0.015689970433507314 Centerline is valid? [True, True] Translation: X:102.06, Y:49.74, Z:-2.41 [[ 6.09202468e-01 -7.92952052e-01 9.96975418e-03 1.02055799e+02] [ 7.92854664e-01 6.09283952e-01 1.24316992e-02 4.97374224e+01] [-1.59321526e-02 3.31144260e-04 9.99873020e-01 -2.41295527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33 meters 0.014213392807433155 Centerline is valid? [True, True] Translation: X:102.07, Y:49.77, Z:-2.41 [[ 6.13681054e-01 -7.89496239e-01 9.55260238e-03 1.02067478e+02] [ 7.89406398e-01 6.13755355e-01 1.19123109e-02 4.97655688e+01] [-1.52676855e-02 2.30525914e-04 9.99883416e-01 -2.41362393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36 meters 0.015591552342400268 Centerline is valid? [True, True] Translation: X:102.08, Y:49.79, Z:-2.42 [[ 6.15640844e-01 -7.87971770e-01 9.31890797e-03 1.02082977e+02] [ 7.87886017e-01 6.15711342e-01 1.16261459e-02 4.97894019e+01] [-1.48988321e-02 1.84707031e-04 9.99888989e-01 -2.41690940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39 meters 0.016421701909032665 Centerline is valid? [True, True] Translation: X:102.10, Y:49.81, Z:-2.42 [[ 6.17466639e-01 -7.86543361e-01 9.19196023e-03 1.02097994e+02] [ 7.86459685e-01 6.17535036e-01 1.14735610e-02 4.98144955e+01] [-1.47008107e-02 1.44564995e-04 9.99891927e-01 -2.41788915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42 meters 0.013248891713936835 Centerline is valid? [True, True] Translation: X:102.11, Y:49.84, Z:-2.41 [[ 6.19389917e-01 -7.85021175e-01 9.89370725e-03 1.02114035e+02] [ 7.84923929e-01 6.19468920e-01 1.23565094e-02 4.98388761e+01] [-1.58289657e-02 1.12310234e-04 9.99874708e-01 -2.41438315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44999999999999 meters 0.013060123767254368 Centerline is valid? [True, True] Translation: X:102.13, Y:49.86, Z:-2.41 [[ 6.21116633e-01 -7.83652695e-01 1.01282666e-02 1.02129335e+02] [ 7.83550474e-01 6.21199202e-01 1.26572861e-02 4.98626360e+01] [-1.62105875e-02 7.43571482e-05 9.99868597e-01 -2.41494966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47999999999999 meters 0.01289569765744244 Centerline is valid? [True, True] Translation: X:102.14, Y:49.89, Z:-2.42 [[ 6.24131973e-01 -7.81250687e-01 1.03268835e-02 1.02142600e+02] [ 7.81144066e-01 6.24217401e-01 1.29067502e-02 4.98878967e+01] [-1.65296278e-02 1.12682769e-05 9.99863376e-01 -2.41550152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50999999999999 meters 0.014278551265360507 Centerline is valid? [True, True] Translation: X:102.16, Y:49.91, Z:-2.42 [[ 6.25228408e-01 -7.80374446e-01 1.02548462e-02 1.02158506e+02] [ 7.80269078e-01 6.25312501e-01 1.28235264e-02 4.99112837e+01] [-1.64196359e-02 -1.60936262e-05 9.99865189e-01 -2.41814250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53999999999999 meters 0.012872368516897914 Centerline is valid? [True, True] Translation: X:102.18, Y:49.93, Z:-2.42 [[ 6.26349557e-01 -7.79476828e-01 1.01047596e-02 1.02175210e+02] [ 7.79374289e-01 6.26431059e-01 1.26429824e-02 4.99344273e+01] [-1.61848471e-02 -4.35366074e-05 9.99869016e-01 -2.41626046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57 meters 0.012864005393529226 Centerline is valid? [True, True] Translation: X:102.19, Y:49.96, Z:-2.42 [[ 6.27023343e-01 -7.78935695e-01 1.00454117e-02 1.02191280e+02] [ 7.78834170e-01 6.27103803e-01 1.25759869e-02 4.99570553e+01] [-1.60954010e-02 -6.17274688e-05 9.99870459e-01 -2.41757951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.6 meters 0.013014066762178256 Centerline is valid? [True, True] Translation: X:102.21, Y:49.98, Z:-2.42 [[ 6.28364065e-01 -7.77866191e-01 9.09894741e-03 1.02207187e+02] [ 7.77782696e-01 6.28429934e-01 1.13971622e-02 4.99813658e+01] [-1.45835181e-02 -8.45633092e-05 9.99893651e-01 -2.41976941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63 meters 0.015742754216478194 Centerline is valid? [True, True] Translation: X:102.22, Y:50.00, Z:-2.42 [[ 6.28563220e-01 -7.77711413e-01 8.55786312e-03 1.02223931e+02] [ 7.77637472e-01 6.28621469e-01 1.07243409e-02 5.00046422e+01] [-1.37200988e-02 -8.60111815e-05 9.99905871e-01 -2.42474873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66 meters 0.013189023584161233 Centerline is valid? [True, True] Translation: X:102.24, Y:50.03, Z:-2.42 [[ 6.29065828e-01 -7.77304751e-01 8.57372941e-03 1.02241426e+02] [ 7.77230428e-01 6.29124245e-01 1.07493022e-02 5.00272259e+01] [-1.37494247e-02 -9.82553142e-05 9.99905467e-01 -2.42224251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69 meters 0.013262203136583793 Centerline is valid? [True, True] Translation: X:102.26, Y:50.05, Z:-2.42 [[ 6.29605998e-01 -7.76871691e-01 8.16477641e-03 1.02259462e+02] [ 7.76804175e-01 6.29658927e-01 1.02425322e-02 5.00504200e+01] [-1.30981576e-02 -1.06327300e-04 9.99914210e-01 -2.42333229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72 meters 0.013396453514420722 Centerline is valid? [True, True] Translation: X:102.28, Y:50.07, Z:-2.42 [[ 6.30667982e-01 -7.76011511e-01 8.00199134e-03 1.02277372e+02] [ 7.75946528e-01 6.30718733e-01 1.00431802e-02 5.00736383e+01] [-1.28406293e-02 -1.24794782e-04 9.99917548e-01 -2.42370142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75 meters 0.013374111005217938 Centerline is valid? [True, True] Translation: X:102.30, Y:50.10, Z:-2.43 [[ 6.30929799e-01 -7.75802238e-01 7.64698491e-03 1.02295150e+02] [ 7.75742823e-01 6.30976126e-01 9.60217407e-03 5.00961148e+01] [-1.22744530e-02 -1.26204097e-04 9.99924658e-01 -2.42501128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78 meters 0.013583268049730186 Centerline is valid? [True, True] Translation: X:102.31, Y:50.12, Z:-2.43 [[ 6.31132388e-01 -7.75639386e-01 7.44659395e-03 1.02311841e+02] [ 7.75582963e-01 6.31176303e-01 9.35637810e-03 5.01174167e+01] [-1.19572890e-02 -1.29661859e-04 9.99928501e-01 -2.42620540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81 meters 0.01367279411942409 Centerline is valid? [True, True] Translation: X:102.33, Y:50.14, Z:-2.43 [[ 6.31310257e-01 -7.75496936e-01 7.20155440e-03 1.02328747e+02] [ 7.75444121e-01 6.31351317e-01 9.05146917e-03 5.01385561e+01] [-1.15660975e-02 -1.29882297e-04 9.99933102e-01 -2.42689516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83999999999999 meters 0.013739104622117053 Centerline is valid? [True, True] Translation: X:102.35, Y:50.16, Z:-2.43 [[ 6.31215962e-01 -7.75572168e-01 7.36352974e-03 1.02345930e+02] [ 7.75516917e-01 6.31258896e-01 9.25840977e-03 5.01596041e+01] [-1.18288586e-02 -1.33514151e-04 9.99930028e-01 -2.42754525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86999999999999 meters 0.013712335281941315 Centerline is valid? [True, True] Translation: X:102.36, Y:50.18, Z:-2.43 [[ 6.30983580e-01 -7.75758771e-01 7.61912369e-03 1.02364900e+02] [ 7.75699612e-01 6.31029565e-01 9.58126693e-03 5.01806562e+01] [-1.22406442e-02 -1.35470821e-04 9.99925071e-01 -2.42701687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89999999999999 meters 0.01497702541426365 Centerline is valid? [True, True] Translation: X:102.38, Y:50.20, Z:-2.43 [[ 6.30419412e-01 -7.76218672e-01 7.47911194e-03 1.02383057e+02] [ 7.76161637e-01 6.30463763e-01 9.41049571e-03 5.02019584e+01] [-1.20199115e-02 -1.27559415e-04 9.99927750e-01 -2.42908645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92999999999999 meters 0.01362217698909483 Centerline is valid? [True, True] Translation: X:102.40, Y:50.22, Z:-2.43 [[ 6.29648441e-01 -7.76839569e-01 7.94518317e-03 1.02401446e+02] [ 7.76775147e-01 6.29698554e-01 1.00051186e-02 5.02234914e+01] [-1.27754424e-02 -1.28086522e-04 9.99918383e-01 -2.42747771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96 meters 0.013173533189208032 Centerline is valid? [True, True] Translation: X:102.42, Y:50.24, Z:-2.43 [[ 6.26983582e-01 -7.78986057e-01 8.50365603e-03 1.02422829e+02] [ 7.78912420e-01 6.27041239e-01 1.07110338e-02 5.02440760e+01] [-1.36758890e-02 -9.20390582e-05 9.99906476e-01 -2.42665552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99 meters 0.014854380140805458 Centerline is valid? [True, True] Translation: X:102.44, Y:50.26, Z:-2.43 [[ 6.25186184e-01 -7.80427223e-01 8.69398978e-03 1.02441791e+02] [ 7.80350294e-01 6.25246628e-01 1.09577609e-02 5.02647256e+01] [-1.39876227e-02 -6.62832635e-05 9.99902166e-01 -2.42934726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02 meters 0.012984118255597843 Centerline is valid? [True, True] Translation: X:102.46, Y:50.29, Z:-2.43 [[ 6.23296116e-01 -7.81930623e-01 9.29800952e-03 1.02461681e+02] [ 7.81842787e-01 6.23365462e-01 1.17199413e-02 5.02856928e+01] [-1.49602390e-02 -3.54122063e-05 9.99888089e-01 -2.42687508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05 meters 0.012900662635348776 Centerline is valid? [True, True] Translation: X:102.48, Y:50.31, Z:-2.43 [[ 6.21179465e-01 -7.83608597e-01 9.67668564e-03 1.02481040e+02] [ 7.83513564e-01 6.21254832e-01 1.22036144e-02 5.03062421e+01] [-1.55745448e-02 1.17980899e-06 9.99878709e-01 -2.42698047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08 meters 0.012967704177640246 Centerline is valid? [True, True] Translation: X:102.50, Y:50.33, Z:-2.43 [[ 6.18681664e-01 -7.85581216e-01 9.75459079e-03 1.02499992e+02] [ 7.85484775e-01 6.18758557e-01 1.23091805e-02 5.03265146e+01] [-1.57055975e-02 4.66182985e-05 9.99876658e-01 -2.42733749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11 meters 0.013415749335256086 Centerline is valid? [True, True] Translation: X:102.52, Y:50.35, Z:-2.43 [[ 6.14558143e-01 -7.88809593e-01 9.88504265e-03 1.02521636e+02] [ 7.88710848e-01 6.14637625e-01 1.24815332e-02 5.03459720e+01] [-1.59212723e-02 1.25812469e-04 9.99873241e-01 -2.42803185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14 meters 0.013576862009497353 Centerline is valid? [True, True] Translation: X:102.54, Y:50.37, Z:-2.43 [[ 6.12533976e-01 -7.90383277e-01 9.81852532e-03 1.02541022e+02] [ 7.90285959e-01 6.12612642e-01 1.24038083e-02 5.03672776e+01] [-1.58187154e-02 1.61688687e-04 9.99874863e-01 -2.42842855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17 meters 0.014388595240975806 Centerline is valid? [True, True] Translation: X:102.56, Y:50.39, Z:-2.43 [[ 6.10877553e-01 -7.91668217e-01 9.48946850e-03 1.02559920e+02] [ 7.91577361e-01 6.10951226e-01 1.19950201e-02 5.03883293e+01] [-1.52936786e-02 1.84159874e-04 9.99883028e-01 -2.42996756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19999999999999 meters 0.016534138796617248 Centerline is valid? [True, True] Translation: X:102.58, Y:50.41, Z:-2.43 [[ 6.08654130e-01 -7.93385926e-01 8.88383131e-03 1.02579380e+02] [ 7.93306457e-01 6.08718924e-01 1.12310644e-02 5.04099158e+01] [-1.43183247e-02 2.11767018e-04 9.99897465e-01 -2.43369350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22999999999999 meters 0.014428496875507107 Centerline is valid? [True, True] Translation: X:102.60, Y:50.43, Z:-2.43 [[ 6.08404509e-01 -7.93577247e-01 8.89421881e-03 1.02597269e+02] [ 7.93497536e-01 6.08469480e-01 1.12495417e-02 5.04314141e+01] [-1.43392410e-02 2.13268832e-04 9.99897165e-01 -2.43132403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25999999999999 meters 0.014519372241409744 Centerline is valid? [True, True] Translation: X:102.61, Y:50.45, Z:-2.43 [[ 6.08005229e-01 -7.93885682e-01 8.66982722e-03 1.02614819e+02] [ 7.93809888e-01 6.08067002e-01 1.09719008e-02 5.04528189e+01] [-1.39822708e-02 2.11221531e-04 9.99902221e-01 -2.43226513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28999999999999 meters 0.014647464511330926 Centerline is valid? [True, True] Translation: X:102.63, Y:50.47, Z:-2.43 [[ 6.07803157e-01 -7.94042762e-01 8.45071137e-03 1.02632531e+02] [ 7.93970684e-01 6.07861867e-01 1.07006154e-02 5.04744772e+01] [-1.36336114e-02 2.05749273e-04 9.99907037e-01 -2.43306021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32 meters 0.01429677897546634 Centerline is valid? [True, True] Translation: X:102.65, Y:50.50, Z:-2.43 [[ 6.08008788e-01 -7.93884740e-01 8.50485466e-03 1.02649832e+02] [ 7.93811635e-01 6.08068236e-01 1.07753687e-02 5.04970575e+01] [-1.37259327e-02 1.99733724e-04 9.99905775e-01 -2.43285966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35 meters 0.0144311494599684 Centerline is valid? [True, True] Translation: X:102.67, Y:50.52, Z:-2.43 [[ 6.08539116e-01 -7.93476541e-01 8.66734112e-03 1.02667378e+02] [ 7.93400453e-01 6.08600807e-01 1.09899209e-02 5.05183997e+01] [-1.39951952e-02 1.88875659e-04 9.99902045e-01 -2.43333761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38 meters 0.01647039442661294 Centerline is valid? [True, True] Translation: X:102.68, Y:50.54, Z:-2.44 [[ 6.09075913e-01 -7.93065077e-01 8.62060893e-03 1.02683847e+02] [ 7.92989755e-01 6.09136891e-01 1.09315000e-02 5.05402308e+01] [-1.39205218e-02 1.77941223e-04 9.99903089e-01 -2.43742104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41 meters 0.013909195016808514 Centerline is valid? [True, True] Translation: X:102.70, Y:50.56, Z:-2.43 [[ 6.10479793e-01 -7.91974039e-01 9.56781425e-03 1.02700969e+02] [ 7.91881013e-01 6.10554742e-01 1.21394900e-02 5.05641321e+01] [-1.54558353e-02 1.65657090e-04 9.99880538e-01 -2.43418559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44 meters 0.01648917890381494 Centerline is valid? [True, True] Translation: X:102.72, Y:50.59, Z:-2.44 [[ 6.13421321e-01 -7.89695313e-01 9.77727756e-03 1.02716333e+02] [ 7.89597776e-01 6.13499227e-01 1.24117337e-02 5.05884624e+01] [-1.57998401e-02 1.06494535e-04 9.99875169e-01 -2.43822033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47 meters 0.01327341128571337 Centerline is valid? [True, True] Translation: X:102.73, Y:50.61, Z:-2.43 [[ 6.15937417e-01 -7.87725289e-01 1.04865245e-02 1.02733455e+02] [ 7.87612674e-01 6.16026677e-01 1.33195272e-02 5.06125194e+01] [-1.69521073e-02 5.53244321e-05 9.99856301e-01 -2.43468177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.5 meters 0.013108216826979668 Centerline is valid? [True, True] Translation: X:102.75, Y:50.64, Z:-2.44 [[ 6.18249102e-01 -7.85913057e-01 1.04266209e-02 1.02749107e+02] [ 7.85801366e-01 6.18337017e-01 1.32493796e-02 5.06359336e+01] [-1.68600261e-02 1.83590268e-06 9.99857860e-01 -2.43542387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53 meters 0.01322307109473705 Centerline is valid? [True, True] Translation: X:102.76, Y:50.66, Z:-2.44 [[ 6.20841779e-01 -7.83868442e-01 1.02834775e-02 1.02764893e+02] [ 7.83759388e-01 6.20926937e-01 1.30751639e-02 5.06595802e+01] [-1.66344966e-02 -5.78359978e-05 9.99861636e-01 -2.43613118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56 meters 0.0164124077852721 Centerline is valid? [True, True] Translation: X:102.78, Y:50.69, Z:-2.44 [[ 6.25885453e-01 -7.79850429e-01 1.00352902e-02 1.02778950e+02] [ 7.79745949e-01 6.25965878e-01 1.27661205e-02 5.06855092e+01] [-1.62374138e-02 -1.65152265e-04 9.99868151e-01 -2.44067407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58999999999999 meters 0.01460680398341116 Centerline is valid? [True, True] Translation: X:102.80, Y:50.71, Z:-2.44 [[ 6.28841832e-01 -7.77465481e-01 1.02652758e-02 1.02795141e+02] [ 7.77355724e-01 6.28925567e-01 1.30655785e-02 5.07094705e+01] [-1.66141307e-02 -2.36411382e-04 9.99861948e-01 -2.43781367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61999999999999 meters 0.01524455819369507 Centerline is valid? [True, True] Translation: X:102.81, Y:50.73, Z:-2.44 [[ 6.30971625e-01 -7.75741929e-01 9.96333533e-03 1.02811447e+02] [ 7.75638217e-01 6.31050222e-01 1.26875083e-02 5.07332726e+01] [-1.61295971e-02 -2.77514070e-04 9.99869871e-01 -2.43893122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64999999999999 meters 0.016882978582975845 Centerline is valid? [True, True] Translation: X:102.83, Y:50.76, Z:-2.44 [[ 6.32574116e-01 -7.74440596e-01 9.57869894e-03 1.02827151e+02] [ 7.74344486e-01 6.32646562e-01 1.22043220e-02 5.07560168e+01] [-1.55114533e-02 -3.02925489e-04 9.99879644e-01 -2.44210104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67999999999999 meters 0.019621860226471447 Centerline is valid? [True, True] Translation: X:102.85, Y:50.78, Z:-2.45 [[ 6.34056086e-01 -7.73242854e-01 8.26851369e-03 1.02845852e+02] [ 7.73171115e-01 6.34109932e-01 1.05366769e-02 5.07784985e+01] [-1.33905567e-02 -2.87868153e-04 9.99910301e-01 -2.44687373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71 meters 0.01914544894308726 Centerline is valid? [True, True] Translation: X:102.86, Y:50.80, Z:-2.45 [[ 6.34289491e-01 -7.73052483e-01 8.16708316e-03 1.02864858e+02] [ 7.72982408e-01 6.34342001e-01 1.04126223e-02 5.08008424e+01] [-1.32302274e-02 -2.91605315e-04 9.99912434e-01 -2.44718740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74 meters 0.018109619302154954 Centerline is valid? [True, True] Translation: X:102.88, Y:50.82, Z:-2.45 [[ 6.34126242e-01 -7.73187736e-01 8.03951852e-03 1.02883755e+02] [ 7.73119785e-01 6.34177138e-01 1.02545635e-02 5.08211282e+01] [-1.30271816e-02 -2.87176987e-04 9.99915101e-01 -2.44722844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77 meters 0.01841610461950079 Centerline is valid? [True, True] Translation: X:102.90, Y:50.84, Z:-2.45 [[ 6.33578129e-01 -7.73640967e-01 7.64252569e-03 1.02902747e+02] [ 7.73579529e-01 6.33624165e-01 9.75347698e-03 5.08421178e+01] [-1.23881783e-02 -2.67488277e-04 9.99923228e-01 -2.44882616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.8 meters 0.016275569749556615 Centerline is valid? [True, True] Translation: X:102.92, Y:50.86, Z:-2.45 [[ 6.32515237e-01 -7.74514212e-01 7.22568389e-03 1.02924064e+02] [ 7.74459260e-01 6.32556462e-01 9.22918957e-03 5.08604599e+01] [-1.17187915e-02 -2.41605233e-04 9.99931303e-01 -2.44681412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83 meters 0.01609247004373251 Centerline is valid? [True, True] Translation: X:102.94, Y:50.88, Z:-2.45 [[ 6.31745731e-01 -7.75141282e-01 7.30236447e-03 1.02944646e+02] [ 7.75085187e-01 6.31787891e-01 9.32811480e-03 5.08816285e+01] [-1.18441523e-02 -2.33042176e-04 9.99929828e-01 -2.44748649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86 meters 0.018398255608948602 Centerline is valid? [True, True] Translation: X:102.96, Y:50.90, Z:-2.45 [[ 6.30357272e-01 -7.76275085e-01 6.83387125e-03 1.02964932e+02] [ 7.76226018e-01 6.30394283e-01 8.73022930e-03 5.09023522e+01] [-1.10850929e-02 -1.98534852e-04 9.99938539e-01 -2.45202763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89 meters 0.015787680190759646 Centerline is valid? [True, True] Translation: X:102.98, Y:50.92, Z:-2.45 [[ 6.29677258e-01 -7.76824787e-01 7.05701372e-03 1.02983809e+02] [ 7.76772414e-01 6.29716771e-01 9.02249430e-03 5.09230077e+01] [-1.14528171e-02 -1.99565891e-04 9.99934394e-01 -2.44890378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92 meters 0.015119483539434762 Centerline is valid? [True, True] Translation: X:103.00, Y:50.94, Z:-2.45 [[ 6.27347023e-01 -7.78704489e-01 7.41826068e-03 1.03004379e+02] [ 7.78646753e-01 6.27390858e-01 9.48402339e-03 5.09432290e+01] [-1.20394005e-02 -1.73569252e-04 9.99927509e-01 -2.44925462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94999999999999 meters 0.015119483539434762 Centerline is valid? [True, True] Translation: X:103.02, Y:50.97, Z:-2.45 [[ 6.27130330e-01 -7.78879034e-01 7.41617634e-03 1.03021311e+02] [ 7.78821290e-01 6.27174155e-01 9.48565275e-03 5.09650263e+01] [-1.20394102e-02 -1.72864520e-04 9.99927509e-01 -2.44982109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97999999999999 meters 0.015131150910270083 Centerline is valid? [True, True] Translation: X:103.04, Y:50.99, Z:-2.45 [[ 6.26687843e-01 -7.79230959e-01 7.83957778e-03 1.03038025e+02] [ 7.79166366e-01 6.26736850e-01 1.00346914e-02 5.09861459e+01] [-1.27326945e-02 -1.80283773e-04 9.99918920e-01 -2.44962780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01 meters 0.014957185634851291 Centerline is valid? [True, True] Translation: X:103.06, Y:51.01, Z:-2.45 [[ 6.26759988e-01 -7.79166945e-01 8.41368233e-03 1.03055330e+02] [ 7.79092490e-01 6.26816427e-01 1.07730166e-02 5.10082302e+01] [-1.36678127e-02 -1.97059040e-04 9.99906572e-01 -2.44898740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04 meters 0.017385731902379957 Centerline is valid? [True, True] Translation: X:103.07, Y:51.03, Z:-2.45 [[ 6.28339220e-01 -7.77894144e-01 8.39796522e-03 1.03071465e+02] [ 7.77819764e-01 6.28395296e-01 1.07594595e-02 5.10322549e+01] [-1.36469624e-02 -2.28487055e-04 9.99906850e-01 -2.45199543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07 meters 0.015656051691769455 Centerline is valid? [True, True] Translation: X:103.09, Y:51.06, Z:-2.45 [[ 6.29673194e-01 -7.76809719e-01 8.85033587e-03 1.03088000e+02] [ 7.76726897e-01 6.29735331e-01 1.13463761e-02 5.10553949e+01] [-1.43873444e-02 -2.70214974e-04 9.99896460e-01 -2.44942470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.1 meters 0.016307718095777645 Centerline is valid? [True, True] Translation: X:103.10, Y:51.08, Z:-2.45 [[ 6.30778406e-01 -7.75921134e-01 8.06208341e-03 1.03103574e+02] [ 7.75852305e-01 6.30829869e-01 1.03381859e-02 5.10788635e+01] [-1.31074199e-02 -2.66118417e-04 9.99914059e-01 -2.45139624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13 meters 0.016381164270586585 Centerline is valid? [True, True] Translation: X:103.12, Y:51.10, Z:-2.45 [[ 6.31590639e-01 -7.75269170e-01 7.13996244e-03 1.03120625e+02] [ 7.75215134e-01 6.31630946e-01 9.15658285e-03 5.11025174e+01] [-1.16086376e-02 -2.48205062e-04 9.99932587e-01 -2.45325671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16 meters 0.018074154140992588 Centerline is valid? [True, True] Translation: X:103.13, Y:51.13, Z:-2.46 [[ 6.32682974e-01 -7.74388506e-01 5.89040197e-03 1.03134088e+02] [ 7.74351656e-01 6.32710355e-01 7.55771239e-03 5.11275133e+01] [-9.57952392e-03 -2.20393428e-04 9.99954091e-01 -2.45770767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19 meters 0.01704642990964779 Centerline is valid? [True, True] Translation: X:103.15, Y:51.15, Z:-2.46 [[ 6.32911738e-01 -7.74201806e-01 5.85633480e-03 1.03153585e+02] [ 7.74165358e-01 6.32938792e-01 7.51555747e-03 5.11494019e+01] [-9.52525964e-03 -2.22913009e-04 9.99954609e-01 -2.45753682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22 meters 0.016851748360075972 Centerline is valid? [True, True] Translation: X:103.17, Y:51.17, Z:-2.46 [[ 6.32801815e-01 -7.74292848e-01 5.69628734e-03 1.03171120e+02] [ 7.74258344e-01 6.32827416e-01 7.31295989e-03 5.11709662e+01] [-9.26713934e-03 -2.17256297e-04 9.99957036e-01 -2.45723767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25 meters 0.016913085766179323 Centerline is valid? [True, True] Translation: X:103.19, Y:51.19, Z:-2.46 [[ 6.32671418e-01 -7.74399278e-01 5.71279765e-03 1.03188329e+02] [ 7.74364536e-01 6.32697171e-01 7.33853628e-03 5.11928979e+01] [-9.29742811e-03 -2.19094250e-04 9.99956754e-01 -2.45773766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28 meters 0.016756984831336516 Centerline is valid? [True, True] Translation: X:103.21, Y:51.21, Z:-2.46 [[ 6.32349406e-01 -7.74662870e-01 5.62721653e-03 1.03206145e+02] [ 7.74629135e-01 6.32374407e-01 7.23267272e-03 5.12143028e+01] [-9.16139073e-03 -2.14570428e-04 9.99958011e-01 -2.45775959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31 meters 0.016699024930320917 Centerline is valid? [True, True] Translation: X:103.22, Y:51.24, Z:-2.46 [[ 6.31836814e-01 -7.75080029e-01 5.76104525e-03 1.03224694e+02] [ 7.75044635e-01 6.31863040e-01 7.41031467e-03 5.12371279e+01] [-9.38377847e-03 -2.17042398e-04 9.99955948e-01 -2.45805283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34 meters 0.016222733512751695 Centerline is valid? [True, True] Translation: X:103.24, Y:51.26, Z:-2.46 [[ 6.30223219e-01 -7.76388087e-01 6.34287520e-03 1.03244690e+02] [ 7.76345200e-01 6.30255099e-01 8.16341430e-03 5.12589563e+01] [-1.03356071e-02 -2.20512524e-04 9.99946562e-01 -2.45711175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37 meters 0.01632056450297319 Centerline is valid? [True, True] Translation: X:103.26, Y:51.28, Z:-2.46 [[ 6.29224060e-01 -7.77192148e-01 7.03196338e-03 1.03262343e+02] [ 7.77139428e-01 6.29263309e-01 9.05523138e-03 5.12812464e+01] [-1.14626113e-02 -2.32953451e-04 9.99934275e-01 -2.45665542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.4 meters 0.015611021215270806 Centerline is valid? [True, True] Translation: X:103.28, Y:51.30, Z:-2.45 [[ 6.27043999e-01 -7.78936491e-01 8.58873396e-03 1.03281998e+02] [ 7.78857902e-01 6.27102766e-01 1.10674387e-02 5.13030706e+01] [-1.40068507e-02 -2.50367681e-04 9.99901868e-01 -2.45499924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43 meters 0.016636627943413355 Centerline is valid? [True, True] Translation: X:103.30, Y:51.32, Z:-2.46 [[ 6.25787974e-01 -7.79941308e-01 8.99818356e-03 1.03300021e+02] [ 7.79855061e-01 6.25852616e-01 1.16011356e-02 5.13244087e+01] [-1.46797416e-02 -2.42572132e-04 9.99892217e-01 -2.45685311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46 meters 0.017203440815763867 Centerline is valid? [True, True] Translation: X:103.32, Y:51.35, Z:-2.46 [[ 6.24739185e-01 -7.80777619e-01 9.34136799e-03 1.03319414e+02] [ 7.80684649e-01 6.24808975e-01 1.20508876e-02 5.13464995e+01] [-1.52456339e-02 -2.35999130e-04 9.99883751e-01 -2.45736303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49 meters 0.01684509630198673 Centerline is valid? [True, True] Translation: X:103.34, Y:51.37, Z:-2.46 [[ 6.23727431e-01 -7.81577472e-01 1.00373400e-02 1.03337911e+02] [ 7.81470115e-01 6.23808143e-01 1.29560412e-02 5.13687994e+01] [-1.63875243e-02 -2.37157038e-04 9.99865687e-01 -2.45722389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51999999999998 meters 0.015023881407670213 Centerline is valid? [True, True] Translation: X:103.36, Y:51.39, Z:-2.45 [[ 6.22819033e-01 -7.82287875e-01 1.10513747e-02 1.03355906e+02] [ 7.82157681e-01 6.22917025e-01 1.42737891e-02 5.13899393e+01] [-1.80503016e-02 -2.46069900e-04 9.99837050e-01 -2.45441835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54999999999998 meters 0.01731057138602333 Centerline is valid? [True, True] Translation: X:103.37, Y:51.41, Z:-2.46 [[ 6.21832499e-01 -7.83085063e-01 1.01057811e-02 1.03374429e+02] [ 7.82976289e-01 6.21914578e-01 1.30532889e-02 5.14114770e+01] [-1.65067681e-02 -2.04372287e-04 9.99863733e-01 -2.45940390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57999999999998 meters 0.01653438957181805 Centerline is valid? [True, True] Translation: X:103.39, Y:51.43, Z:-2.46 [[ 6.21262403e-01 -7.83542496e-01 9.70481911e-03 1.03391912e+02] [ 7.83442128e-01 6.21338170e-01 1.25423642e-02 5.14335065e+01] [-1.58574499e-02 -1.88935179e-04 9.99874245e-01 -2.46003737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60999999999999 meters 0.014562983343003556 Centerline is valid? [True, True] Translation: X:103.41, Y:51.45, Z:-2.46 [[ 6.20916516e-01 -7.83819641e-01 9.45784823e-03 1.03408500e+02] [ 7.83724230e-01 6.20988516e-01 1.22308589e-02 5.14547349e+01] [-1.54600025e-02 -1.81997437e-04 9.99880470e-01 -2.45882361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64 meters 0.014523242728044386 Centerline is valid? [True, True] Translation: X:103.43, Y:51.48, Z:-2.46 [[ 6.20104832e-01 -7.84479401e-01 7.87826418e-03 1.03426755e+02] [ 7.84413229e-01 6.20154860e-01 1.01900194e-02 5.14758553e+01] [-1.28796042e-02 -1.39065636e-04 9.99917045e-01 -2.46166385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67 meters 0.014481328819927268 Centerline is valid? [True, True] Translation: X:103.44, Y:51.50, Z:-2.46 [[ 6.19336082e-01 -7.85090926e-01 7.41991650e-03 1.03444118e+02] [ 7.85032208e-01 6.19380515e-01 9.60260684e-03 5.14971495e+01] [-1.21346712e-02 -1.22367464e-04 9.99926365e-01 -2.46300273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.7 meters 0.017383407078874098 Centerline is valid? [True, True] Translation: X:103.46, Y:51.52, Z:-2.47 [[ 6.17956278e-01 -7.86185194e-01 6.54826936e-03 1.03462788e+02] [ 7.86139491e-01 6.17990965e-01 8.47747307e-03 5.15186905e+01] [-1.07116351e-02 -9.08545610e-05 9.99942625e-01 -2.46734490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73 meters 0.0160049119771301 Centerline is valid? [True, True] Translation: X:103.48, Y:51.54, Z:-2.47 [[ 6.16807848e-01 -7.87083091e-01 6.94882115e-03 1.03481870e+02] [ 7.87031610e-01 6.16846983e-01 9.00239922e-03 5.15409016e+01] [-1.13719956e-02 -8.38085953e-05 9.99935333e-01 -2.46681517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76 meters 0.013919435940370055 Centerline is valid? [True, True] Translation: X:103.50, Y:51.56, Z:-2.46 [[ 6.15282147e-01 -7.88269760e-01 7.65936570e-03 1.03501351e+02] [ 7.88207230e-01 6.15329815e-01 9.92885667e-03 5.15629564e+01] [-1.25396535e-02 -7.18808286e-05 9.99921373e-01 -2.46438234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79 meters 0.016012707190833492 Centerline is valid? [True, True] Translation: X:103.52, Y:51.58, Z:-2.47 [[ 6.10636102e-01 -7.91873442e-01 7.74621820e-03 1.03521895e+02] [ 7.91809702e-01 6.10685232e-01 1.00470209e-02 5.15817340e+01] [-1.26864701e-02 -1.54296528e-06 9.99919523e-01 -2.46671915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82 meters 0.015631547360973153 Centerline is valid? [True, True] Translation: X:103.54, Y:51.60, Z:-2.47 [[ 6.07944009e-01 -7.93936795e-01 8.27335791e-03 1.03541284e+02] [ 7.93864209e-01 6.08000300e-01 1.07356189e-02 5.16025263e+01] [-1.35536069e-02 4.12675595e-05 9.99908145e-01 -2.46637453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85 meters 0.01393476323212914 Centerline is valid? [True, True] Translation: X:103.56, Y:51.62, Z:-2.46 [[ 6.05349193e-01 -7.95908279e-01 9.07557195e-03 1.03560818e+02] [ 7.95821041e-01 6.05417214e-01 1.17842228e-02 5.16235324e+01] [-1.48736679e-02 8.89613724e-05 9.99889377e-01 -2.46335975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88 meters 0.014219420282608477 Centerline is valid? [True, True] Translation: X:103.58, Y:51.64, Z:-2.46 [[ 6.02620711e-01 -7.97971014e-01 9.51522611e-03 1.03580232e+02] [ 7.97875232e-01 6.02695811e-01 1.23642007e-02 5.16440156e+01] [-1.56010607e-02 1.41039834e-04 9.99878286e-01 -2.46351622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91 meters 0.014636944792770543 Centerline is valid? [True, True] Translation: X:103.60, Y:51.67, Z:-2.46 [[ 5.99109239e-01 -8.00604591e-01 1.00204150e-02 1.03600026e+02] [ 8.00498686e-01 5.99192991e-01 1.30235348e-02 5.16656560e+01] [-1.64308642e-02 2.18809032e-04 9.99864980e-01 -2.46347958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94 meters 0.014683912645096045 Centerline is valid? [True, True] Translation: X:103.62, Y:51.69, Z:-2.46 [[ 5.98331328e-01 -8.01185261e-01 1.00895129e-02 1.03617025e+02] [ 8.01077864e-01 5.98416346e-01 1.31199585e-02 5.16881518e+01] [-1.65492468e-02 2.32403223e-04 9.99863025e-01 -2.46402738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97 meters 0.014820271392254742 Centerline is valid? [True, True] Translation: X:103.63, Y:51.71, Z:-2.47 [[ 5.98087048e-01 -8.01366978e-01 1.01414699e-02 1.03633201e+02] [ 8.01258358e-01 5.98172978e-01 1.31958890e-02 5.17099993e+01] [-1.66411029e-02 2.33647293e-04 9.99861500e-01 -2.46509843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.0 meters 0.014775026031326044 Centerline is valid? [True, True] Translation: X:103.65, Y:51.73, Z:-2.47 [[ 5.98175789e-01 -8.01304961e-01 9.80230524e-03 1.03648911e+02] [ 8.01203408e-01 5.98256058e-01 1.27588476e-02 5.17327606e+01] [-1.60880164e-02 2.21606619e-04 9.99870555e-01 -2.46604117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03 meters 0.016194465736689583 Centerline is valid? [True, True] Translation: X:103.66, Y:51.76, Z:-2.47 [[ 5.98479834e-01 -8.01081854e-01 9.47374858e-03 1.03663832e+02] [ 8.00986858e-01 5.98554778e-01 1.23382235e-02 5.17551197e+01] [-1.55544844e-02 2.04170151e-04 9.99879001e-01 -2.46958154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06 meters 0.014130517206620999 Centerline is valid? [True, True] Translation: X:103.68, Y:51.78, Z:-2.47 [[ 6.00216713e-01 -7.99779794e-01 9.60091932e-03 1.03677492e+02] [ 7.99681962e-01 6.00293472e-01 1.25103199e-02 5.17813927e+01] [-1.57688703e-02 1.68778898e-04 9.99875649e-01 -2.46852618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09 meters 0.014138373767204076 Centerline is valid? [True, True] Translation: X:103.69, Y:51.80, Z:-2.47 [[ 6.01193391e-01 -7.99052397e-01 9.04283447e-03 1.03692856e+02] [ 7.98965427e-01 6.01261380e-01 1.17897576e-02 5.18042187e+01] [-1.48577412e-02 1.36987767e-04 9.99889608e-01 -2.46984217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12 meters 0.013886626778627795 Centerline is valid? [True, True] Translation: X:103.71, Y:51.83, Z:-2.47 [[ 6.02155294e-01 -7.98332590e-01 8.60679772e-03 1.03707997e+02] [ 7.98253707e-01 6.02216790e-01 1.12230141e-02 5.18277636e+01] [-1.41428560e-02 1.12410829e-04 9.99899978e-01 -2.47115730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15 meters 0.013714653421303043 Centerline is valid? [True, True] Translation: X:103.72, Y:51.85, Z:-2.47 [[ 6.04013032e-01 -7.96936987e-01 7.72636869e-03 1.03721975e+02] [ 7.96873241e-01 6.04062443e-01 1.00798373e-02 5.18519496e+01] [-1.27002043e-02 6.85833505e-05 9.99919347e-01 -2.47299974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18 meters 0.017046649346479002 Centerline is valid? [True, True] Translation: X:103.74, Y:51.88, Z:-2.48 [[ 6.04471099e-01 -7.96599760e-01 6.59637045e-03 1.03737518e+02] [ 7.96553237e-01 6.04507088e-01 8.60939305e-03 5.18750155e+01] [-1.08457931e-02 5.02309591e-05 9.99941181e-01 -2.47807559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21 meters 0.013491031194251874 Centerline is valid? [True, True] Translation: X:103.75, Y:51.90, Z:-2.48 [[ 6.05255633e-01 -7.95999260e-01 7.12715118e-03 1.03753262e+02] [ 7.95944837e-01 6.05297593e-01 9.30806667e-03 5.18984793e+01] [-1.17232616e-02 3.90593954e-05 9.99931279e-01 -2.47510213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24 meters 0.013362109813610181 Centerline is valid? [True, True] Translation: X:103.77, Y:51.92, Z:-2.48 [[ 6.06355115e-01 -7.95162291e-01 7.09971391e-03 1.03767439e+02] [ 7.95108162e-01 6.06396678e-01 9.27787992e-03 5.19215191e+01] [-1.16826632e-02 1.93505324e-05 9.99931755e-01 -2.47625725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26999999999998 meters 0.014116235012383764 Centerline is valid? [True, True] Translation: X:103.78, Y:51.94, Z:-2.48 [[ 6.06560655e-01 -7.95005070e-01 7.14920590e-03 1.03783798e+02] [ 7.94950121e-01 6.06602785e-01 9.34696306e-03 5.19446069e+01] [-1.17676112e-02 1.37620658e-05 9.99930759e-01 -2.47695045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29999999999998 meters 0.013230335411136837 Centerline is valid? [True, True] Translation: X:103.80, Y:51.97, Z:-2.48 [[ 6.06952931e-01 -7.94699806e-01 7.76904549e-03 1.03800189e+02] [ 7.94634806e-01 6.07002652e-01 1.01639671e-02 5.19672701e+01] [-1.27931339e-02 4.50430194e-06 9.99918165e-01 -2.47521810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32999999999998 meters 0.013097023485440664 Centerline is valid? [True, True] Translation: X:103.82, Y:51.99, Z:-2.47 [[ 6.07313243e-01 -7.94418051e-01 8.40152595e-03 1.03817082e+02] [ 7.94341909e-01 6.07371353e-01 1.09986987e-02 5.19901343e+01] [-1.38404110e-02 -5.97121250e-06 9.99904217e-01 -2.47473380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35999999999999 meters 0.01303565837485905 Centerline is valid? [True, True] Translation: X:103.83, Y:52.01, Z:-2.47 [[ 6.07730346e-01 -7.94094034e-01 8.85955458e-03 1.03832719e+02] [ 7.94009207e-01 6.07794920e-01 1.16066877e-02 5.20119848e+01] [-1.46015937e-02 -1.91684207e-05 9.99893391e-01 -2.47447630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39 meters 0.01306088753855211 Centerline is valid? [True, True] Translation: X:103.85, Y:52.04, Z:-2.47 [[ 6.09223057e-01 -7.92939724e-01 9.68820501e-03 1.03848612e+02] [ 7.92838058e-01 6.09300083e-01 1.26973803e-02 5.20354361e+01] [-1.59712814e-02 -5.43592135e-05 9.99872449e-01 -2.47443272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42 meters 0.013169709873666603 Centerline is valid? [True, True] Translation: X:103.87, Y:52.06, Z:-2.48 [[ 6.10315341e-01 -7.92101722e-01 9.48925284e-03 1.03865054e+02] [ 7.92003972e-01 6.10389102e-01 1.24439990e-02 5.20591127e+01] [-1.56490495e-02 -7.92375356e-05 9.99877543e-01 -2.47512005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45 meters 0.013284229736602173 Centerline is valid? [True, True] Translation: X:103.88, Y:52.08, Z:-2.48 [[ 6.11739306e-01 -7.91004461e-01 9.32538826e-03 1.03880634e+02] [ 7.90909817e-01 6.11810371e-01 1.22364963e-02 5.20825609e+01] [-1.53844924e-02 -1.10004640e-04 9.99881646e-01 -2.47646246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48 meters 0.01360112570382498 Centerline is valid? [True, True] Translation: X:103.90, Y:52.11, Z:-2.48 [[ 6.13412006e-01 -7.89714402e-01 8.76778155e-03 1.03896309e+02] [ 7.89630583e-01 6.13474649e-01 1.15063629e-02 5.21064145e+01] [-1.44655522e-02 -1.34832719e-04 9.99895359e-01 -2.47821519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51 meters 0.014285855501277174 Centerline is valid? [True, True] Translation: X:103.91, Y:52.13, Z:-2.48 [[ 6.17224888e-01 -7.86752199e-01 7.37658814e-03 1.03911026e+02] [ 7.86692614e-01 6.17268942e-01 9.68427876e-03 5.21316573e+01] [-1.21724664e-02 -1.74270472e-04 9.99925898e-01 -2.48063136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54 meters 0.014915345273522892 Centerline is valid? [True, True] Translation: X:103.93, Y:52.16, Z:-2.48 [[ 6.19149952e-01 -7.85243964e-01 6.72704291e-03 1.03927171e+02] [ 7.85194278e-01 6.19186467e-01 8.83540325e-03 5.21557888e+01] [-1.11032410e-02 -1.88403896e-04 9.99938339e-01 -2.48207249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57 meters 0.015318351822213585 Centerline is valid? [True, True] Translation: X:103.94, Y:52.18, Z:-2.48 [[ 6.20798963e-01 -7.83943605e-01 6.40878990e-03 1.03943630e+02] [ 7.83898398e-01 6.20832009e-01 8.42135752e-03 5.21796203e+01] [-1.05806513e-02 -2.04129880e-04 9.99944003e-01 -2.48297747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.6 meters 0.01790772132713696 Centerline is valid? [True, True] Translation: X:103.96, Y:52.20, Z:-2.49 [[ 6.21934196e-01 -7.83051052e-01 5.37647494e-03 1.03959687e+02] [ 7.83019182e-01 6.21957407e-01 7.06717946e-03 5.22033189e+01] [-8.87790073e-03 -1.85437566e-04 9.99960573e-01 -2.48681454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63 meters 0.016484435064191744 Centerline is valid? [True, True] Translation: X:103.98, Y:52.23, Z:-2.49 [[ 6.24216443e-01 -7.81231950e-01 5.52016771e-03 1.03975434e+02] [ 7.81198218e-01 6.24240812e-01 7.26314865e-03 5.22270390e+01] [-9.12011776e-03 -2.21431638e-04 9.99958386e-01 -2.48545126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66 meters 0.01707076526945134 Centerline is valid? [True, True] Translation: X:103.99, Y:52.25, Z:-2.49 [[ 6.24677384e-01 -7.80862794e-01 5.60926562e-03 1.03990991e+02] [ 7.80827950e-01 6.24702525e-01 7.38020548e-03 5.22495842e+01] [-9.26705026e-03 -2.30376076e-04 9.99957033e-01 -2.48627941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69 meters 0.019606521319378525 Centerline is valid? [True, True] Translation: X:104.01, Y:52.27, Z:-2.49 [[ 6.24252542e-01 -7.81207396e-01 4.87532545e-03 1.04008787e+02] [ 7.81181091e-01 6.24271549e-01 6.41377998e-03 5.22718881e+01] [-8.05401933e-03 -1.95306398e-04 9.99967547e-01 -2.48948391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72 meters 0.018488306130885396 Centerline is valid? [True, True] Translation: X:104.03, Y:52.29, Z:-2.49 [[ 6.24094919e-01 -7.81328552e-01 5.58801525e-03 1.04027057e+02] [ 7.81293939e-01 6.24119895e-01 7.35787533e-03 5.22949241e+01] [-9.23650956e-03 -2.26130166e-04 9.99957317e-01 -2.48871404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75 meters 0.01677102000365988 Centerline is valid? [True, True] Translation: X:104.05, Y:52.32, Z:-2.49 [[ 6.22269633e-01 -7.82778270e-01 6.21970160e-03 1.04046233e+02] [ 7.82735406e-01 6.22300673e-01 8.19494228e-03 5.23160190e+01] [-1.02853472e-02 -2.31083074e-04 9.99947078e-01 -2.48659931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78 meters 0.015785573808716553 Centerline is valid? [True, True] Translation: X:104.07, Y:52.34, Z:-2.49 [[ 6.20879325e-01 -7.83877640e-01 6.68651186e-03 1.04066468e+02] [ 7.83828107e-01 6.20915285e-01 8.81517150e-03 5.23373590e+01] [-1.10617733e-02 -2.32081795e-04 9.99938790e-01 -2.48578697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81 meters 0.015598589325027097 Centerline is valid? [True, True] Translation: X:104.08, Y:52.36, Z:-2.49 [[ 6.19671758e-01 -7.84829156e-01 7.07873044e-03 1.04084367e+02] [ 7.84773612e-01 6.19712144e-01 9.34002832e-03 5.23591764e+01] [-1.17171018e-02 -2.32550914e-04 9.99931325e-01 -2.48574188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84 meters 0.016800037847648858 Centerline is valid? [True, True] Translation: X:104.10, Y:52.38, Z:-2.49 [[ 6.18579855e-01 -7.85691826e-01 6.87881597e-03 1.04102910e+02] [ 7.85639438e-01 6.18618066e-01 9.07538492e-03 5.23813454e+01] [-1.13858156e-02 -2.09581176e-04 9.99935158e-01 -2.48759470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87 meters 0.016800037847648858 Centerline is valid? [True, True] Translation: X:104.12, Y:52.40, Z:-2.49 [[ 6.18355305e-01 -7.85868581e-01 6.87681155e-03 1.04119520e+02] [ 7.85816187e-01 6.18393507e-01 9.07690324e-03 5.24033952e+01] [-1.13858287e-02 -2.08841437e-04 9.99935158e-01 -2.48816122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.9 meters 0.015245841068032458 Centerline is valid? [True, True] Translation: X:104.14, Y:52.43, Z:-2.49 [[ 6.17777719e-01 -7.86316269e-01 7.57732143e-03 1.04137350e+02] [ 7.86252597e-01 6.17824146e-01 1.00089592e-02 5.24256532e+01] [-1.25516596e-02 -2.25623329e-04 9.99921199e-01 -2.48647191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93 meters 0.01498543168453591 Centerline is valid? [True, True] Translation: X:104.16, Y:52.45, Z:-2.49 [[ 6.16204665e-01 -7.87549466e-01 7.59272116e-03 1.04156368e+02] [ 7.87485563e-01 6.16251407e-01 1.00345161e-02 5.24476814e+01] [-1.25817029e-02 -2.04157313e-04 9.99920826e-01 -2.48721087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96 meters 0.016342508808266223 Centerline is valid? [True, True] Translation: X:104.17, Y:52.47, Z:-2.49 [[ 6.14691574e-01 -7.88735375e-01 7.12583943e-03 1.04173364e+02] [ 7.88679113e-01 6.14732852e-01 9.42217706e-03 5.24691601e+01] [-1.18120919e-02 -1.71732121e-04 9.99930220e-01 -2.48983871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99 meters 0.014325427674889037 Centerline is valid? [True, True] Translation: X:104.19, Y:52.49, Z:-2.49 [[ 6.13617806e-01 -7.89567148e-01 7.54369348e-03 1.04192433e+02] [ 7.89504097e-01 6.13664152e-01 9.97944302e-03 5.24911505e+01] [-1.25087346e-02 -1.67787020e-04 9.99921749e-01 -2.48807753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01999999999998 meters 0.01393022035199189 Centerline is valid? [True, True] Translation: X:104.21, Y:52.51, Z:-2.49 [[ 6.10411171e-01 -7.92044415e-01 7.99047109e-03 1.04212145e+02] [ 7.91973780e-01 6.10463454e-01 1.05784138e-02 5.25110037e+01] [-1.32564642e-02 -1.28938382e-04 9.99912121e-01 -2.48831052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04999999999998 meters 0.014688865326441003 Centerline is valid? [True, True] Translation: X:104.23, Y:52.53, Z:-2.49 [[ 6.07966591e-01 -7.93923160e-01 7.91454784e-03 1.04231746e+02] [ 7.93854026e-01 6.08018099e-01 1.04774524e-02 5.25312747e+01] [-1.31304804e-02 -8.69453264e-05 9.99913788e-01 -2.48924460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07999999999998 meters 0.013236978552303597 Centerline is valid? [True, True] Translation: X:104.25, Y:52.55, Z:-2.49 [[ 6.05832850e-01 -7.95549379e-01 8.23062589e-03 1.04250356e+02] [ 7.95474657e-01 6.05888754e-01 1.09035735e-02 5.25515844e+01] [-1.36611748e-02 -5.84887213e-05 9.99906680e-01 -2.48771015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10999999999999 meters 0.013159232935246514 Centerline is valid? [True, True] Translation: X:104.27, Y:52.57, Z:-2.49 [[ 6.03482509e-01 -7.97331683e-01 8.42906641e-03 1.04268570e+02] [ 7.97253434e-01 6.03541371e-01 1.11702768e-02 5.25714933e+01] [-1.39937059e-02 -2.09645257e-05 9.99902083e-01 -2.48819440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14 meters 0.013229120597383187 Centerline is valid? [True, True] Translation: X:104.29, Y:52.59, Z:-2.49 [[ 5.98525989e-01 -8.01053978e-01 8.89750431e-03 1.04289505e+02] [ 8.00967109e-01 5.98592115e-01 1.17970328e-02 5.25909416e+01] [-1.47760360e-02 6.57775809e-05 9.99890826e-01 -2.48792671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17 meters 0.013294194271589666 Centerline is valid? [True, True] Translation: X:104.31, Y:52.61, Z:-2.49 [[ 5.95986542e-01 -8.02942962e-01 9.09077063e-03 1.04308297e+02] [ 8.02852384e-01 5.96055860e-01 1.20607507e-02 5.26132345e+01] [-1.51027020e-02 1.10501793e-04 9.99885942e-01 -2.48826593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.2 meters 0.013764833335010548 Centerline is valid? [True, True] Translation: X:104.33, Y:52.63, Z:-2.49 [[ 5.93327204e-01 -8.04907020e-01 9.35507143e-03 1.04326765e+02] [ 8.04811221e-01 5.93400929e-01 1.24191899e-02 5.26339728e+01] [-1.55476012e-02 1.60423246e-04 9.99879116e-01 -2.48924159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23 meters 0.014194149459849138 Centerline is valid? [True, True] Translation: X:104.35, Y:52.66, Z:-2.49 [[ 5.90784377e-01 -8.06772755e-01 9.56777370e-03 1.04345557e+02] [ 8.06672749e-01 5.90861809e-01 1.27043060e-02 5.26558544e+01] [-1.59027200e-02 2.12556791e-04 9.99873521e-01 -2.48987592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26 meters 0.015108251593238607 Centerline is valid? [True, True] Translation: X:104.36, Y:52.68, Z:-2.49 [[ 5.86181547e-01 -8.10120109e-01 9.82864849e-03 1.04364566e+02] [ 8.10014928e-01 5.86263861e-01 1.30576421e-02 5.26772234e+01] [-1.63404398e-02 3.07203172e-04 9.99866439e-01 -2.49063313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29 meters 0.01565746624975279 Centerline is valid? [True, True] Translation: X:104.38, Y:52.70, Z:-2.49 [[ 5.83861291e-01 -8.11792308e-01 9.96202985e-03 1.04382943e+02] [ 8.11684387e-01 5.83946164e-01 1.32413680e-02 5.27000728e+01] [-1.65665298e-02 3.54901873e-04 9.99862703e-01 -2.49139704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32 meters 0.015916099900273685 Centerline is valid? [True, True] Translation: X:104.40, Y:52.72, Z:-2.49 [[ 5.81698526e-01 -8.13343379e-01 9.96861074e-03 1.04400577e+02] [ 8.13235429e-01 5.81783802e-01 1.32569032e-02 5.27229393e+01] [-1.65819907e-02 3.95306373e-04 9.99862431e-01 -2.49163220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35 meters 0.01721608419074078 Centerline is valid? [True, True] Translation: X:104.42, Y:52.74, Z:-2.49 [[ 5.79997784e-01 -8.14553471e-01 1.02573835e-02 1.04418701e+02] [ 8.14439230e-01 5.80088314e-01 1.36487848e-02 5.27439768e+01] [-1.70678533e-02 4.37750538e-04 9.99854238e-01 -2.49228909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38 meters 0.017091423824772134 Centerline is valid? [True, True] Translation: X:104.44, Y:52.77, Z:-2.49 [[ 5.78832038e-01 -8.15380368e-01 1.04080201e-02 1.04435313e+02] [ 8.15262806e-01 5.78925416e-01 1.38534965e-02 5.27678808e+01] [-1.73213364e-02 4.66424023e-04 9.99849866e-01 -2.49263871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41 meters 0.017473296535888982 Centerline is valid? [True, True] Translation: X:104.45, Y:52.79, Z:-2.49 [[ 5.78102105e-01 -8.15897989e-01 1.04128990e-02 1.04450614e+02] [ 8.15780279e-01 5.78195679e-01 1.38669935e-02 5.27918830e+01] [-1.73347453e-02 4.78099579e-04 9.99849628e-01 -2.49334064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44 meters 0.01708443884633436 Centerline is valid? [True, True] Translation: X:104.47, Y:52.82, Z:-2.49 [[ 5.78280771e-01 -8.15774894e-01 1.01327656e-02 1.04465818e+02] [ 8.15663291e-01 5.78369358e-01 1.35011601e-02 5.28160912e+01] [-1.68743886e-02 4.57463694e-04 9.99857513e-01 -2.49407075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47 meters 0.016535657832284785 Centerline is valid? [True, True] Translation: X:104.48, Y:52.84, Z:-2.49 [[ 5.78875592e-01 -8.15352027e-01 1.02039422e-02 1.04480469e+02] [ 8.15238649e-01 5.78965349e-01 1.36040499e-02 5.28401696e+01] [-1.69998187e-02 4.43595606e-04 9.99855394e-01 -2.49467042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.5 meters 0.016297935250381045 Centerline is valid? [True, True] Translation: X:104.50, Y:52.86, Z:-2.50 [[ 5.79685745e-01 -8.14776093e-01 1.02154194e-02 1.04495367e+02] [ 8.14662236e-01 5.79775594e-01 1.36272239e-02 5.28642698e+01] [-1.70257871e-02 4.22608943e-04 9.99854961e-01 -2.49544921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53 meters 0.0156746976775679 Centerline is valid? [True, True] Translation: X:104.51, Y:52.89, Z:-2.50 [[ 5.82647597e-01 -8.12652816e-01 1.08248899e-02 1.04507706e+02] [ 8.12524440e-01 5.82748023e-01 1.44491104e-02 5.28898931e+01] [-1.80502935e-02 3.76748168e-04 9.99837009e-01 -2.49568202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56 meters 0.01568296579604193 Centerline is valid? [True, True] Translation: X:104.52, Y:52.91, Z:-2.50 [[ 5.84390113e-01 -8.11392177e-01 1.14424855e-02 1.04522445e+02] [ 8.11248308e-01 5.84502020e-01 1.52830110e-02 5.29133596e+01] [-1.90886715e-02 3.51456510e-04 9.99817733e-01 -2.49594213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59 meters 0.014653282021447939 Centerline is valid? [True, True] Translation: X:104.54, Y:52.94, Z:-2.50 [[ 5.86092703e-01 -8.10161366e-01 1.15716929e-02 1.04535887e+02] [ 8.10013941e-01 5.86206843e-01 1.54580851e-02 5.29393266e+01] [-1.93069489e-02 3.13361729e-04 9.99813554e-01 -2.49618964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62 meters 0.014802239100467707 Centerline is valid? [True, True] Translation: X:104.55, Y:52.96, Z:-2.50 [[ 5.88095149e-01 -8.08706568e-01 1.17380644e-02 1.04550685e+02] [ 8.08554420e-01 5.88212221e-01 1.56886063e-02 5.29637723e+01] [-1.95919519e-02 2.64470564e-04 9.99808024e-01 -2.49694459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65 meters 0.01369008457183176 Centerline is valid? [True, True] Translation: X:104.56, Y:52.99, Z:-2.50 [[ 5.92642547e-01 -8.05383496e-01 1.14993650e-02 1.04562287e+02] [ 8.05236695e-01 5.92754083e-01 1.53773518e-02 5.29918833e+01] [-1.92009609e-02 1.46437753e-04 9.99815634e-01 -2.49777133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68 meters 0.015012996558211849 Centerline is valid? [True, True] Translation: X:104.58, Y:53.02, Z:-2.50 [[ 5.94431791e-01 -8.04068691e-01 1.11528846e-02 1.04576603e+02] [ 8.03930245e-01 5.94536400e-01 1.49207850e-02 5.30163169e+01] [-1.86281319e-02 9.67523348e-05 9.99826477e-01 -2.50097029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71 meters 0.013363991254118367 Centerline is valid? [True, True] Translation: X:104.59, Y:53.04, Z:-2.50 [[ 5.96700029e-01 -8.02389209e-01 1.09832587e-02 1.04590562e+02] [ 8.02254504e-01 5.96801102e-01 1.47022272e-02 5.30403606e+01] [-1.83517294e-02 3.85493782e-05 9.99831592e-01 -2.50086328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74 meters 0.015930113470073573 Centerline is valid? [True, True] Translation: X:104.61, Y:53.06, Z:-2.50 [[ 5.97741547e-01 -8.01621809e-01 1.03691022e-02 1.04605225e+02] [ 8.01501502e-01 5.97831477e-01 1.38876732e-02 5.30642660e+01] [-1.73316374e-02 9.61173505e-06 9.99849796e-01 -2.50453297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76999999999998 meters 0.013689478214666373 Centerline is valid? [True, True] Translation: X:104.62, Y:53.09, Z:-2.50 [[ 6.00448310e-01 -7.99594426e-01 1.05157358e-02 1.04617671e+02] [ 7.99470230e-01 6.00540382e-01 1.40925927e-02 5.30882938e+01] [-1.75834826e-02 -5.48558044e-05 9.99845397e-01 -2.50399885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79999999999998 meters 0.013614704068418568 Centerline is valid? [True, True] Translation: X:104.63, Y:53.11, Z:-2.50 [[ 6.00783751e-01 -7.99346546e-01 1.01972349e-02 1.04633569e+02] [ 7.99229607e-01 6.00870282e-01 1.36725728e-02 5.31109813e+01] [-1.70563392e-02 -6.43275656e-05 9.99854528e-01 -2.50464344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82999999999998 meters 0.013686408783774303 Centerline is valid? [True, True] Translation: X:104.65, Y:53.13, Z:-2.51 [[ 6.00856289e-01 -7.99295986e-01 9.88167019e-03 1.04649508e+02] [ 7.99186041e-01 6.00937536e-01 1.32570468e-02 5.31337838e+01] [-1.65345708e-02 -6.82870792e-05 9.99863292e-01 -2.50568798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85999999999999 meters 0.014877952316484989 Centerline is valid? [True, True] Translation: X:104.67, Y:53.16, Z:-2.51 [[ 6.00326677e-01 -7.99697419e-01 9.58748464e-03 1.04666800e+02] [ 7.99593857e-01 6.00403227e-01 1.28696557e-02 5.31565073e+01] [-1.60481872e-02 -5.99038299e-05 9.99871218e-01 -2.50796984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89 meters 0.013727689363059617 Centerline is valid? [True, True] Translation: X:104.68, Y:53.18, Z:-2.51 [[ 6.00165117e-01 -7.99813350e-01 1.00218050e-02 1.04683451e+02] [ 7.99700051e-01 6.00248782e-01 1.34621081e-02 5.31781710e+01] [-1.67827500e-02 -6.50496803e-05 9.99859158e-01 -2.50752278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92 meters 0.013784334592437506 Centerline is valid? [True, True] Translation: X:104.70, Y:53.20, Z:-2.51 [[ 5.99764192e-01 -8.00114205e-01 1.00086354e-02 1.04700371e+02] [ 8.00001185e-01 5.99847694e-01 1.34479992e-02 5.32002148e+01] [-1.67635921e-02 -5.87081683e-05 9.99859479e-01 -2.50797081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95 meters 0.015211191027568434 Centerline is valid? [True, True] Translation: X:104.72, Y:53.22, Z:-2.51 [[ 5.98856942e-01 -8.00795687e-01 9.83003403e-03 1.04717545e+02] [ 8.00686630e-01 5.98937614e-01 1.32156984e-02 5.32222786e+01] [-1.64706514e-02 -4.35359055e-05 9.99864349e-01 -2.51029305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98 meters 0.014915730050565233 Centerline is valid? [True, True] Translation: X:104.73, Y:53.24, Z:-2.51 [[ 5.98402225e-01 -8.01133672e-01 9.98078094e-03 1.04734378e+02] [ 8.01021145e-01 5.98485453e-01 1.34271160e-02 5.32439529e+01] [-1.67302670e-02 -3.99995278e-05 9.99860038e-01 -2.51049274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01 meters 0.013725916975375299 Centerline is valid? [True, True] Translation: X:104.75, Y:53.27, Z:-2.51 [[ 5.98383224e-01 -8.01143497e-01 1.03253988e-02 1.04751420e+02] [ 8.01022974e-01 5.98472301e-01 1.38960672e-02 5.32660885e+01] [-1.73122090e-02 -4.42918276e-05 9.99850131e-01 -2.50919117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04 meters 0.01456209946800616 Centerline is valid? [True, True] Translation: X:104.77, Y:53.29, Z:-2.51 [[ 5.97982959e-01 -8.01438579e-01 1.06106078e-02 1.04769193e+02] [ 8.01311183e-01 5.98077088e-01 1.42893592e-02 5.32870607e+01] [-1.77980051e-02 -4.23946284e-05 9.99841602e-01 -2.50999448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07 meters 0.014571076627206678 Centerline is valid? [True, True] Translation: X:104.79, Y:53.31, Z:-2.51 [[ 5.97929068e-01 -8.01481547e-01 1.03999683e-02 1.04786519e+02] [ 8.01359100e-01 5.98019504e-01 1.40094777e-02 5.33091415e+01] [-1.74477217e-02 -4.25647469e-05 9.99847776e-01 -2.51038490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.1 meters 0.013892251262942535 Centerline is valid? [True, True] Translation: X:104.80, Y:53.33, Z:-2.51 [[ 5.98563144e-01 -8.01006138e-01 1.05513162e-02 1.04803371e+02] [ 8.00879875e-01 5.98656131e-01 1.42219121e-02 5.33313763e+01] [-1.77084491e-02 -6.23756061e-05 9.99843191e-01 -2.51043893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13 meters 0.014053405285062196 Centerline is valid? [True, True] Translation: X:104.82, Y:53.35, Z:-2.51 [[ 6.00107159e-01 -7.99862378e-01 9.56943333e-03 1.04820334e+02] [ 7.99758265e-01 6.00183446e-01 1.29054025e-02 5.33542960e+01] [-1.60659614e-02 -9.13910184e-05 9.99870930e-01 -2.51247271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16 meters 0.016457436459492412 Centerline is valid? [True, True] Translation: X:104.84, Y:53.38, Z:-2.52 [[ 6.00557088e-01 -7.99534260e-01 8.72647833e-03 1.04837469e+02] [ 7.99447573e-01 6.00620478e-01 1.17736762e-02 5.33772603e+01] [-1.46547591e-02 -9.44027807e-05 9.99892609e-01 -2.51651139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19 meters 0.014248882455231777 Centerline is valid? [True, True] Translation: X:104.85, Y:53.40, Z:-2.51 [[ 6.01885626e-01 -7.98535303e-01 8.66392751e-03 1.04854553e+02] [ 7.98449651e-01 6.01947967e-01 1.16961544e-02 5.34005112e+01] [-1.45550258e-02 -1.22037348e-04 9.99894063e-01 -2.51485048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22 meters 0.014462930969605685 Centerline is valid? [True, True] Translation: X:104.87, Y:53.42, Z:-2.52 [[ 6.02993180e-01 -7.97702990e-01 8.31656800e-03 1.04872074e+02] [ 7.97623913e-01 6.03050512e-01 1.12326738e-02 5.34236850e+01] [-1.39756480e-02 -1.39732161e-04 9.99902326e-01 -2.51567034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25 meters 0.016147397646680026 Centerline is valid? [True, True] Translation: X:104.89, Y:53.45, Z:-2.52 [[ 6.04621073e-01 -7.96480954e-01 7.17263935e-03 1.04888872e+02] [ 7.96421973e-01 6.04663598e-01 9.69398585e-03 5.34458767e+01] [-1.20581090e-02 -1.48740545e-04 9.99927287e-01 -2.51953979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28 meters 0.015020355620170399 Centerline is valid? [True, True] Translation: X:104.91, Y:53.47, Z:-2.52 [[ 6.05793842e-01 -7.95589858e-01 7.11333104e-03 1.04906083e+02] [ 7.95531793e-01 6.05835581e-01 9.61329075e-03 5.34691034e+01] [-1.19577457e-02 -1.64791343e-04 9.99928490e-01 -2.51907929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31 meters 0.01528833910601518 Centerline is valid? [True, True] Translation: X:104.92, Y:53.49, Z:-2.52 [[ 6.06431171e-01 -7.95105438e-01 6.96971399e-03 1.04923733e+02] [ 7.95049606e-01 6.06471196e-01 9.42401121e-03 5.34923147e+01] [-1.17200133e-02 -1.73745791e-04 9.99931303e-01 -2.51995569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34 meters 0.01547352750253452 Centerline is valid? [True, True] Translation: X:104.94, Y:53.51, Z:-2.52 [[ 6.06923214e-01 -7.94730216e-01 6.93511557e-03 1.04941302e+02] [ 7.94674855e-01 6.06962808e-01 9.38210054e-03 5.35149591e+01] [-1.16655960e-02 -1.83052655e-04 9.99931938e-01 -2.52036257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37 meters 0.015936728311763734 Centerline is valid? [True, True] Translation: X:104.96, Y:53.54, Z:-2.52 [[ 6.07932053e-01 -7.93951784e-01 7.69309264e-03 1.04958543e+02] [ 7.93883516e-01 6.07980687e-01 1.04138337e-02 5.35361346e+01] [-1.29453336e-02 -2.23483873e-04 9.99916181e-01 -2.51965074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.4 meters 0.01601713307857804 Centerline is valid? [True, True] Translation: X:104.98, Y:53.56, Z:-2.52 [[ 6.08110055e-01 -7.93810049e-01 8.23211174e-03 1.04975675e+02] [ 7.93731780e-01 6.08165722e-01 1.11496673e-02 5.35584901e+01] [-1.38572061e-02 -2.46136061e-04 9.99903954e-01 -2.51939626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43 meters 0.01620037617050978 Centerline is valid? [True, True] Translation: X:104.99, Y:53.58, Z:-2.52 [[ 6.08333531e-01 -7.93627130e-01 9.28943656e-03 1.04991689e+02] [ 7.93527304e-01 6.08404385e-01 1.25905728e-02 5.35799035e+01] [-1.56439541e-02 -2.87846056e-04 9.99877584e-01 -2.51876064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46 meters 0.016396988744199398 Centerline is valid? [True, True] Translation: X:105.01, Y:53.60, Z:-2.52 [[ 6.08132117e-01 -7.93761575e-01 1.08577211e-02 1.05009433e+02] [ 7.93625049e-01 6.08228944e-01 1.47252672e-02 5.36019054e+01] [-1.82923315e-02 -3.37948522e-04 9.99832624e-01 -2.51712967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49 meters 0.015346447635054048 Centerline is valid? [True, True] Translation: X:105.03, Y:53.62, Z:-2.52 [[ 6.06465829e-01 -7.95031997e-01 1.11050202e-02 1.05028836e+02] [ 7.94889225e-01 6.06567413e-01 1.50696439e-02 5.36233969e+01] [-1.87167924e-02 -3.11963217e-04 9.99824777e-01 -2.51773628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51999999999998 meters 0.017853329347776847 Centerline is valid? [True, True] Translation: X:105.05, Y:53.65, Z:-2.52 [[ 6.04327315e-01 -7.96659231e-01 1.10709416e-02 1.05045962e+02] [ 7.96517458e-01 6.04428655e-01 1.50312844e-02 5.36460115e+01] [-1.86664059e-02 -2.65617458e-04 9.99825732e-01 -2.52145653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54999999999998 meters 0.015276354908660727 Centerline is valid? [True, True] Translation: X:105.06, Y:53.67, Z:-2.52 [[ 6.03173253e-01 -7.97517504e-01 1.21596898e-02 1.05064278e+02] [ 7.97346452e-01 6.03295747e-01 1.65189604e-02 5.36683471e+01] [-2.05100492e-02 -2.68309575e-04 9.99789611e-01 -2.51825880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57999999999998 meters 0.01485013090573527 Centerline is valid? [True, True] Translation: X:105.08, Y:53.69, Z:-2.52 [[ 6.01306871e-01 -7.98924454e-01 1.22377810e-02 1.05081675e+02] [ 7.98751374e-01 6.01431347e-01 1.66306067e-02 5.36888470e+01] [-2.06467835e-02 -2.25153684e-04 9.99786807e-01 -2.51880966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60999999999999 meters 0.014210285327412902 Centerline is valid? [True, True] Translation: X:105.10, Y:53.71, Z:-2.52 [[ 5.97885032e-01 -8.01490081e-01 1.21301112e-02 1.05100989e+02] [ 8.01320416e-01 5.98008053e-01 1.64911998e-02 5.37092492e+01] [-2.04714372e-02 -1.39735706e-04 9.99790428e-01 -2.52004383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64 meters 0.013887527058299364 Centerline is valid? [True, True] Translation: X:105.12, Y:53.73, Z:-2.52 [[ 5.96637827e-01 -8.02421677e-01 1.19480271e-02 1.05119347e+02] [ 8.02257202e-01 5.96757439e-01 1.62462739e-02 5.37307287e+01] [-2.01664364e-02 -1.07750740e-04 9.99796631e-01 -2.52087123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67 meters 0.013723058009945556 Centerline is valid? [True, True] Translation: X:105.14, Y:53.75, Z:-2.52 [[ 5.95662313e-01 -8.03148242e-01 1.18029833e-02 1.05136343e+02] [ 8.02987691e-01 5.95779233e-01 1.60584616e-02 5.37531207e+01] [-1.99292976e-02 -8.77700905e-05 9.99801388e-01 -2.52201717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.7 meters 0.013648238763171417 Centerline is valid? [True, True] Translation: X:105.15, Y:53.77, Z:-2.52 [[ 5.95319168e-01 -8.03411311e-01 1.11961561e-02 1.05152144e+02] [ 8.03266730e-01 5.95424436e-01 1.52414381e-02 5.37749886e+01] [-1.89116087e-02 -8.00205852e-05 9.99821156e-01 -2.52334553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73 meters 0.013774136609686474 Centerline is valid? [True, True] Translation: X:105.17, Y:53.80, Z:-2.53 [[ 5.94865659e-01 -8.03761377e-01 1.01240784e-02 1.05167115e+02] [ 8.03643094e-01 5.94951800e-01 1.37888604e-02 5.37970746e+01] [-1.71062920e-02 -6.63738454e-05 9.99853674e-01 -2.52623732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76 meters 0.013774136609686474 Centerline is valid? [True, True] Translation: X:105.18, Y:53.82, Z:-2.53 [[ 5.94646719e-01 -8.03923399e-01 1.01217253e-02 1.05183374e+02] [ 8.03805110e-01 5.94732852e-01 1.37905874e-02 5.38193738e+01] [-1.71062984e-02 -6.46330690e-05 9.99853674e-01 -2.52680417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79 meters 0.013658213620214129 Centerline is valid? [True, True] Translation: X:105.20, Y:53.84, Z:-2.53 [[ 5.93981972e-01 -8.04421795e-01 9.53898719e-03 1.05199993e+02] [ 8.04316690e-01 5.94058560e-01 1.30034285e-02 5.38419755e+01] [-1.61269583e-02 -5.14355054e-05 9.99869951e-01 -2.52821750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82 meters 0.013606149654112255 Centerline is valid? [True, True] Translation: X:105.22, Y:53.86, Z:-2.53 [[ 5.93015664e-01 -8.05139309e-01 9.11677978e-03 1.05216682e+02] [ 8.05043281e-01 5.93085737e-01 1.24347969e-02 5.38645759e+01] [-1.54187758e-02 -3.46270018e-05 9.99881123e-01 -2.52960934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85 meters 0.013555164292346893 Centerline is valid? [True, True] Translation: X:105.23, Y:53.89, Z:-2.53 [[ 5.91570398e-01 -8.06203240e-01 8.98886429e-03 1.05234063e+02] [ 8.06109902e-01 5.91638686e-01 1.22674933e-02 5.38870831e+01] [-1.52082527e-02 -1.10733773e-05 9.99884348e-01 -2.53059527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88 meters 0.013538902135111509 Centerline is valid? [True, True] Translation: X:105.25, Y:53.91, Z:-2.53 [[ 5.90005707e-01 -8.07348522e-01 9.03492621e-03 1.05250581e+02] [ 8.07254241e-01 5.90074880e-01 1.23380199e-02 5.39081055e+01] [-1.52923651e-02 1.39803330e-05 9.99883065e-01 -2.53046834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91 meters 0.013560024260140024 Centerline is valid? [True, True] Translation: X:105.27, Y:53.93, Z:-2.53 [[ 5.86687778e-01 -8.09752720e-01 9.89862684e-03 1.05269456e+02] [ 8.09639758e-01 5.86771272e-01 1.35254091e-02 5.39295130e+01] [-1.67604667e-02 7.91296222e-05 9.99859530e-01 -2.52956383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94 meters 0.013713845869277392 Centerline is valid? [True, True] Translation: X:105.29, Y:53.95, Z:-2.53 [[ 5.84803474e-01 -8.11110375e-01 1.02399883e-02 1.05287120e+02] [ 8.10989544e-01 5.84893107e-01 1.40004704e-02 5.39516644e+01] [-1.73452253e-02 1.16999693e-04 9.99849553e-01 -2.52929695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97 meters 0.01382051902732931 Centerline is valid? [True, True] Translation: X:105.30, Y:53.97, Z:-2.53 [[ 5.83050596e-01 -8.12366764e-01 1.05945030e-02 1.05304575e+02] [ 8.12237470e-01 5.83146823e-01 1.44939779e-02 5.39745129e+01] [-1.79525767e-02 1.54529835e-04 9.99838828e-01 -2.52950543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.0 meters 0.014033895310776224 Centerline is valid? [True, True] Translation: X:105.32, Y:54.00, Z:-2.53 [[ 5.81250105e-01 -8.13649969e-01 1.10473086e-02 1.05322221e+02] [ 8.13509446e-01 5.81355045e-01 1.51226107e-02 5.39971861e+01] [-1.87269204e-02 1.97070838e-04 9.99824616e-01 -2.52982090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03 meters 0.01420768361551239 Centerline is valid? [True, True] Translation: X:105.34, Y:54.02, Z:-2.53 [[ 5.79381354e-01 -8.14979598e-01 1.12028026e-02 1.05339350e+02] [ 8.14835169e-01 5.79489602e-01 1.53443506e-02 5.40202175e+01] [-1.89972403e-02 2.38206893e-04 9.99819508e-01 -2.53005713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06 meters 0.015456597345353967 Centerline is valid? [True, True] Translation: X:105.36, Y:54.04, Z:-2.53 [[ 5.75948646e-01 -8.17405551e-01 1.14595906e-02 1.05358745e+02] [ 8.17254735e-01 5.76062551e-01 1.57046199e-02 5.40410645e+01] [-1.94384845e-02 3.20350145e-04 9.99811003e-01 -2.53037031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09 meters 0.015828628801082593 Centerline is valid? [True, True] Translation: X:105.38, Y:54.06, Z:-2.53 [[ 5.74370202e-01 -8.18514697e-01 1.15135952e-02 1.05376149e+02] [ 8.18362561e-01 5.74485478e-01 1.57846391e-02 5.40640615e+01] [-1.95343523e-02 3.56068925e-04 9.99809123e-01 -2.53107879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12 meters 0.0162533837681523 Centerline is valid? [True, True] Translation: X:105.39, Y:54.09, Z:-2.53 [[ 5.73170276e-01 -8.19354590e-01 1.15711002e-02 1.05393222e+02] [ 8.19200942e-01 5.73286935e-01 1.58715755e-02 5.40866006e+01] [-1.96380088e-02 3.81940839e-04 9.99807083e-01 -2.53173894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15 meters 0.015745126454679174 Centerline is valid? [True, True] Translation: X:105.41, Y:54.11, Z:-2.53 [[ 5.71432015e-01 -8.20567825e-01 1.15713759e-02 1.05408106e+02] [ 8.20414338e-01 5.71549007e-01 1.58759659e-02 5.41113819e+01] [-1.96409152e-02 4.21287526e-04 9.99807010e-01 -2.53229593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18 meters 0.015501341246831923 Centerline is valid? [True, True] Translation: X:105.42, Y:54.14, Z:-2.53 [[ 5.71164099e-01 -8.20758188e-01 1.12946053e-02 1.05423187e+02] [ 8.20611845e-01 5.71275613e-01 1.55039940e-02 5.41351406e+01] [-1.91773626e-02 4.13162120e-04 9.99816012e-01 -2.53255000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21 meters 0.015564246005272982 Centerline is valid? [True, True] Translation: X:105.44, Y:54.16, Z:-2.53 [[ 5.71060441e-01 -8.20828066e-01 1.14568479e-02 1.05438468e+02] [ 8.20677314e-01 5.71175203e-01 1.57363834e-02 5.41583504e+01] [-1.94607326e-02 4.15949144e-04 9.99810535e-01 -2.53344174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24 meters 0.015466449839518403 Centerline is valid? [True, True] Translation: X:105.45, Y:54.18, Z:-2.53 [[ 5.71591342e-01 -8.20458236e-01 1.14726446e-02 1.05453801e+02] [ 8.20306808e-01 5.71706327e-01 1.57675577e-02 5.41822883e+01] [-1.94956061e-02 3.98488991e-04 9.99809863e-01 -2.53391594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26999999999998 meters 0.015095022368069713 Centerline is valid? [True, True] Translation: X:105.47, Y:54.21, Z:-2.53 [[ 5.73731886e-01 -8.18961898e-01 1.15383220e-02 1.05466854e+02] [ 8.18808239e-01 5.73847795e-01 1.58674439e-02 5.42070803e+01] [-1.96160726e-02 3.44014583e-04 9.99807527e-01 -2.53424926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29999999999998 meters 0.0164194213976482 Centerline is valid? [True, True] Translation: X:105.48, Y:54.23, Z:-2.54 [[ 5.74520406e-01 -8.18408136e-01 1.15942834e-02 1.05481812e+02] [ 8.18252817e-01 5.74637293e-01 1.59470927e-02 5.42305127e+01] [-1.97137380e-02 3.25124874e-04 9.99805613e-01 -2.53670453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32999999999998 meters 0.014368000912204386 Centerline is valid? [True, True] Translation: X:105.50, Y:54.26, Z:-2.53 [[ 5.76282738e-01 -8.17165107e-01 1.18065232e-02 1.05496163e+02] [ 8.17003598e-01 5.76403599e-01 1.62484676e-02 5.42560875e+01] [-2.00830032e-02 2.82260550e-04 9.99798276e-01 -2.53493266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35999999999999 meters 0.013955689064800823 Centerline is valid? [True, True] Translation: X:105.51, Y:54.28, Z:-2.54 [[ 5.77872818e-01 -8.16038684e-01 1.19946972e-02 1.05510749e+02] [ 8.15871565e-01 5.77997239e-01 1.65161046e-02 5.42806699e+01] [-2.04106822e-02 2.41924466e-04 9.99791651e-01 -2.53552082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39 meters 0.01371003781223607 Centerline is valid? [True, True] Translation: X:105.53, Y:54.31, Z:-2.54 [[ 5.79490148e-01 -8.14885921e-01 1.23330286e-02 1.05525354e+02] [ 8.14708768e-01 5.79621338e-01 1.69919907e-02 5.43052982e+01] [-2.09950205e-02 2.01135322e-04 9.99779560e-01 -2.53617182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42 meters 0.01318191693409636 Centerline is valid? [True, True] Translation: X:105.54, Y:54.33, Z:-2.54 [[ 5.83429654e-01 -8.12073600e-01 1.20957712e-02 1.05538353e+02] [ 8.11902395e-01 5.83555019e-01 1.66745655e-02 5.43315296e+01] [-2.05995224e-02 9.21496790e-05 9.99787803e-01 -2.53693097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45 meters 0.013087577789956862 Centerline is valid? [True, True] Translation: X:105.55, Y:54.36, Z:-2.54 [[ 5.85602012e-01 -8.10508870e-01 1.20687434e-02 1.05552084e+02] [ 8.10337913e-01 5.85726361e-01 1.66462039e-02 5.43555627e+01] [-2.05608770e-02 3.17098266e-05 9.99788602e-01 -2.53776233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48 meters 0.013134292260233639 Centerline is valid? [True, True] Translation: X:105.57, Y:54.38, Z:-2.54 [[ 5.88062862e-01 -8.08724447e-01 1.21177333e-02 1.05566090e+02] [ 8.08551537e-01 5.88187698e-01 1.67225688e-02 5.43806204e+01] [-2.06514519e-02 -3.61097527e-05 9.99786735e-01 -2.53847790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51 meters 0.013328179834374097 Centerline is valid? [True, True] Translation: X:105.58, Y:54.41, Z:-2.54 [[ 5.90609313e-01 -8.06865951e-01 1.21645745e-02 1.05580109e+02] [ 8.06691097e-01 5.90734565e-01 1.67972375e-02 5.44052589e+01] [-2.07391537e-02 -1.07550975e-04 9.99784915e-01 -2.53914894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54 meters 0.014062764862205871 Centerline is valid? [True, True] Translation: X:105.59, Y:54.43, Z:-2.54 [[ 5.95792444e-01 -8.03053599e-01 1.16739160e-02 1.05592010e+02] [ 8.02891652e-01 5.95906755e-01 1.61286806e-02 5.44318753e+01] [-1.99087604e-02 -2.36456336e-04 9.99801773e-01 -2.54029571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57 meters 0.014483809327951165 Centerline is valid? [True, True] Translation: X:105.61, Y:54.46, Z:-2.54 [[ 5.97812465e-01 -8.01553020e-01 1.15331091e-02 1.05607360e+02] [ 8.01394516e-01 5.97923635e-01 1.59422740e-02 5.44567873e+01] [-1.96744964e-02 -2.87919768e-04 9.99806397e-01 -2.54154735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.6 meters 0.014997220951383897 Centerline is valid? [True, True] Translation: X:105.62, Y:54.48, Z:-2.54 [[ 5.99446242e-01 -8.00335300e-01 1.12964960e-02 1.05622633e+02] [ 8.00182863e-01 5.99552584e-01 1.56232253e-02 5.44812738e+01] [-1.92766621e-02 -3.26021207e-04 9.99814135e-01 -2.54272422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63 meters 0.015178509459701698 Centerline is valid? [True, True] Translation: X:105.64, Y:54.51, Z:-2.54 [[ 6.00524277e-01 -7.99528554e-01 1.11662263e-02 1.05638521e+02] [ 7.99379321e-01 6.00627978e-01 1.54510181e-02 5.45051852e+01] [-1.90602781e-02 -3.52661107e-04 9.99818274e-01 -2.54412405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66 meters 0.01526797583634529 Centerline is valid? [True, True] Translation: X:105.65, Y:54.53, Z:-2.54 [[ 5.99912595e-01 -7.99988060e-01 1.11347403e-02 1.05654819e+02] [ 7.99839586e-01 6.00015822e-01 1.54159221e-02 5.45278606e+01] [-1.90135739e-02 -3.42199793e-04 9.99819167e-01 -2.54473160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69 meters 0.01505118388765867 Centerline is valid? [True, True] Translation: X:105.67, Y:54.55, Z:-2.55 [[ 5.98858905e-01 -8.00777240e-01 1.11275830e-02 1.05671816e+02] [ 8.00629031e-01 5.98962194e-01 1.54092329e-02 5.45506243e+01] [-1.90043645e-02 -3.18890345e-04 9.99819350e-01 -2.54542497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72 meters 0.014715875224074946 Centerline is valid? [True, True] Translation: X:105.69, Y:54.57, Z:-2.55 [[ 5.97156630e-01 -8.02042839e-01 1.14561687e-02 1.05689576e+02] [ 8.01885793e-01 5.97266439e-01 1.58737671e-02 5.45724432e+01] [-1.95738263e-02 -2.92586380e-04 9.99808371e-01 -2.54558604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75 meters 0.013825158036812186 Centerline is valid? [True, True] Translation: X:105.71, Y:54.59, Z:-2.55 [[ 5.93035032e-01 -8.05090635e-01 1.17694769e-02 1.05710393e+02] [ 8.04925282e-01 5.93151775e-01 1.63175384e-02 5.45930618e+01] [-2.01181835e-02 -2.03322362e-04 9.99797588e-01 -2.54556291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78 meters 0.01357639424437494 Centerline is valid? [True, True] Translation: X:105.73, Y:54.61, Z:-2.55 [[ 5.90309907e-01 -8.07089137e-01 1.18885700e-02 1.05728502e+02] [ 8.06920646e-01 5.90429593e-01 1.64914111e-02 5.46137154e+01] [-2.03294023e-02 -1.41910742e-04 9.99793326e-01 -2.54629574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81 meters 0.013335303789853861 Centerline is valid? [True, True] Translation: X:105.75, Y:54.63, Z:-2.55 [[ 5.87565408e-01 -8.09088650e-01 1.19351154e-02 1.05747237e+02] [ 8.08919096e-01 5.87686608e-01 1.65633933e-02 5.46345990e+01] [-2.04153610e-02 -7.75341423e-05 9.99791582e-01 -2.54707692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84 meters 0.013277148724875076 Centerline is valid? [True, True] Translation: X:105.77, Y:54.66, Z:-2.55 [[ 5.84778735e-01 -8.11106922e-01 1.18064953e-02 1.05766005e+02] [ 8.10941223e-01 5.84897907e-01 1.63942624e-02 5.46557595e+01] [-2.02030941e-02 -1.26422382e-05 9.99795897e-01 -2.54809520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87 meters 0.013385153078209469 Centerline is valid? [True, True] Translation: X:105.79, Y:54.68, Z:-2.55 [[ 5.80138849e-01 -8.14440048e-01 1.12393963e-02 1.05786542e+02] [ 8.14290334e-01 5.80247706e-01 1.56157807e-02 5.46762607e+01] [-1.92397511e-02 9.28107333e-05 9.99814895e-01 -2.54961348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.9 meters 0.013616288413169437 Centerline is valid? [True, True] Translation: X:105.80, Y:54.70, Z:-2.55 [[ 5.78326443e-01 -8.15729777e-01 1.11110597e-02 1.05804173e+02] [ 8.15583546e-01 5.78433154e-01 1.54455430e-02 5.46972510e+01] [-1.90263946e-02 1.29431536e-04 9.99818973e-01 -2.55067698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93 meters 0.013758253519037941 Centerline is valid? [True, True] Translation: X:105.82, Y:54.72, Z:-2.55 [[ 5.76855855e-01 -8.16772210e-01 1.09763140e-02 1.05821352e+02] [ 8.16629539e-01 5.76960252e-01 1.52664305e-02 5.47181420e+01] [-1.88020931e-02 1.57052456e-04 9.99823213e-01 -2.55168682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96 meters 0.013756594782128706 Centerline is valid? [True, True] Translation: X:105.84, Y:54.74, Z:-2.55 [[ 5.75877548e-01 -8.17465585e-01 1.07269126e-02 1.05838170e+02] [ 8.17329305e-01 5.75977419e-01 1.49271203e-02 5.47402201e+01] [-1.83808666e-02 1.71226563e-04 9.99831043e-01 -2.55234982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99 meters 0.013995278976816072 Centerline is valid? [True, True] Translation: X:105.86, Y:54.76, Z:-2.55 [[ 5.75281209e-01 -8.17896431e-01 9.84676792e-03 1.05855469e+02] [ 8.17781527e-01 5.75365449e-01 1.37103443e-02 5.47615181e+01] [-1.68791317e-02 1.65201486e-04 9.99857524e-01 -2.55399903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01999999999998 meters 0.013920840405574482 Centerline is valid? [True, True] Translation: X:105.87, Y:54.78, Z:-2.55 [[ 5.75588336e-01 -8.17684887e-01 9.46010907e-03 1.05871595e+02] [ 8.17578734e-01 5.75666052e-01 1.31761166e-02 5.47840785e+01] [-1.62197750e-02 1.50364988e-04 9.99868439e-01 -2.55474227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04999999999998 meters 0.013877505729729234 Centerline is valid? [True, True] Translation: X:105.89, Y:54.81, Z:-2.56 [[ 5.75718108e-01 -8.17599836e-01 8.89766895e-03 1.05887748e+02] [ 8.17505816e-01 5.75786845e-01 1.23995918e-02 5.48070067e+01] [-1.52610650e-02 1.35226568e-04 9.99883534e-01 -2.55604242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07999999999998 meters 0.013754572000832996 Centerline is valid? [True, True] Translation: X:105.90, Y:54.83, Z:-2.56 [[ 5.76548138e-01 -8.17017389e-01 8.65042788e-03 1.05903291e+02] [ 8.16928349e-01 5.76613018e-01 1.20623385e-02 5.48287741e+01] [-1.48430896e-02 1.12260972e-04 9.99889829e-01 -2.55655737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10999999999999 meters 0.013740810503683719 Centerline is valid? [True, True] Translation: X:105.92, Y:54.85, Z:-2.56 [[ 5.76829623e-01 -8.16817910e-01 8.72284125e-03 1.05919869e+02] [ 8.16727241e-01 5.76895564e-01 1.21705689e-02 5.48520441e+01] [-1.49733071e-02 1.03837375e-04 9.99887888e-01 -2.55668560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14 meters 0.013678480825086 Centerline is valid? [True, True] Translation: X:105.94, Y:54.87, Z:-2.56 [[ 5.76969122e-01 -8.16717342e-01 8.91156974e-03 1.05936537e+02] [ 8.16622637e-01 5.77037931e-01 1.24376553e-02 5.48749459e+01] [-1.53003626e-02 1.01246493e-04 9.99882937e-01 -2.55656385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17 meters 0.014802225440024418 Centerline is valid? [True, True] Translation: X:105.95, Y:54.90, Z:-2.56 [[ 5.76776150e-01 -8.16851645e-01 9.09193957e-03 1.05952949e+02] [ 8.16752964e-01 5.76847796e-01 1.26970532e-02 5.48973384e+01] [-1.56162741e-02 1.02511136e-04 9.99878053e-01 -2.55812543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.2 meters 0.013526435802456237 Centerline is valid? [True, True] Translation: X:105.97, Y:54.92, Z:-2.56 [[ 5.77088352e-01 -8.16621583e-01 9.91085740e-03 1.05969597e+02] [ 8.16504138e-01 5.77173441e-01 1.38496255e-02 5.49200690e+01] [-1.70301868e-02 9.97985186e-05 9.99854971e-01 -2.55580716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23 meters 0.013516261601157669 Centerline is valid? [True, True] Translation: X:105.99, Y:54.94, Z:-2.56 [[ 5.77231116e-01 -8.16512795e-01 1.05401279e-02 1.05985516e+02] [ 8.16379778e-01 5.77327330e-01 1.47381021e-02 5.49427924e+01] [-1.81189529e-02 9.74561502e-05 9.99835834e-01 -2.55581509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26 meters 0.013426095141577653 Centerline is valid? [True, True] Translation: X:106.00, Y:54.97, Z:-2.56 [[ 5.77426506e-01 -8.16368176e-01 1.10286285e-02 1.06001479e+02] [ 8.16222339e-01 5.77531811e-01 1.54305479e-02 5.49655017e+01] [-1.89663920e-02 9.18055480e-05 9.99820118e-01 -2.55574037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29 meters 0.013305724526924807 Centerline is valid? [True, True] Translation: X:106.02, Y:54.99, Z:-2.56 [[ 5.77960196e-01 -8.15981248e-01 1.16882463e-02 1.06017102e+02] [ 8.15817162e-01 5.78078366e-01 1.63634101e-02 5.49890268e+01] [-2.01089581e-02 7.80721783e-05 9.99797791e-01 -2.55545194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32 meters 0.013265037403709528 Centerline is valid? [True, True] Translation: X:106.03, Y:55.01, Z:-2.56 [[ 5.79889161e-01 -8.14600513e-01 1.24324396e-02 1.06031879e+02] [ 8.14414310e-01 5.80022417e-01 1.74162866e-02 5.50118757e+01] [-2.13984097e-02 2.56409148e-05 9.99771027e-01 -2.55504530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35 meters 0.01328852573291152 Centerline is valid? [True, True] Translation: X:106.05, Y:55.03, Z:-2.56 [[ 5.80719185e-01 -8.14005451e-01 1.26631106e-02 1.06047168e+02] [ 8.13811967e-01 5.80857233e-01 1.77470102e-02 5.50349165e+01] [-2.18016224e-02 -6.38345168e-07 9.99762316e-01 -2.55553059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38 meters 0.013325782390454495 Centerline is valid? [True, True] Translation: X:106.06, Y:55.06, Z:-2.56 [[ 5.82518328e-01 -8.12719986e-01 1.25945501e-02 1.06061871e+02] [ 8.12528062e-01 5.82654462e-01 1.76614353e-02 5.50582595e+01] [-2.16920722e-02 -5.46843462e-05 9.99764698e-01 -2.55661238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41 meters 0.013418918176265315 Centerline is valid? [True, True] Translation: X:106.08, Y:55.08, Z:-2.56 [[ 5.83158841e-01 -8.12265699e-01 1.22556396e-02 1.06077547e+02] [ 8.12083673e-01 5.83287604e-01 1.71953070e-02 5.50811741e+01] [-2.11157207e-02 -7.49905267e-05 9.99777036e-01 -2.55786477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44 meters 0.013526287121783075 Centerline is valid? [True, True] Translation: X:106.09, Y:55.10, Z:-2.56 [[ 5.83886927e-01 -8.11744848e-01 1.20978536e-02 1.06093525e+02] [ 8.11567155e-01 5.84012236e-01 1.69841529e-02 5.51047119e+01] [-2.08520932e-02 -9.86042062e-05 9.99782567e-01 -2.55935718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47 meters 0.013584929151252438 Centerline is valid? [True, True] Translation: X:106.11, Y:55.13, Z:-2.56 [[ 5.84458391e-01 -8.11340487e-01 1.16191357e-02 1.06109301e+02] [ 8.11176307e-01 5.84573863e-01 1.63216598e-02 5.51281394e+01] [-2.00346665e-02 -1.14163479e-04 9.99799279e-01 -2.56109416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.5 meters 0.01375718747149983 Centerline is valid? [True, True] Translation: X:106.12, Y:55.15, Z:-2.56 [[ 5.85017120e-01 -8.10945899e-01 1.10326105e-02 1.06124628e+02] [ 8.10797638e-01 5.85121127e-01 1.55066636e-02 5.51511335e+01] [-1.90304787e-02 -1.26449139e-04 9.99818896e-01 -2.56297446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53 meters 0.013984491240934128 Centerline is valid? [True, True] Translation: X:106.14, Y:55.18, Z:-2.56 [[ 5.86670435e-01 -8.09760158e-01 1.03096012e-02 1.06140445e+02] [ 8.09630363e-01 5.86760992e-01 1.44987206e-02 5.51751430e+01] [-1.77897581e-02 -1.59004484e-04 9.99841737e-01 -2.56490815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56 meters 0.014190683498311518 Centerline is valid? [True, True] Translation: X:106.16, Y:55.20, Z:-2.57 [[ 5.87263616e-01 -8.09335506e-01 9.87338411e-03 1.06155990e+02] [ 8.09216279e-01 5.87346584e-01 1.38925829e-02 5.51978611e+01] [-1.70428591e-02 -1.68905338e-04 9.99854746e-01 -2.56578423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59 meters 0.014215850100256312 Centerline is valid? [True, True] Translation: X:106.17, Y:55.22, Z:-2.57 [[ 5.87581831e-01 -8.09109273e-01 9.47500571e-03 1.06172469e+02] [ 8.08999376e-01 5.87658196e-01 1.33361992e-02 5.52211210e+01] [-1.63585072e-02 -1.70834648e-04 9.99866176e-01 -2.56656906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62 meters 0.01413308493983383 Centerline is valid? [True, True] Translation: X:106.19, Y:55.24, Z:-2.57 [[ 5.87782665e-01 -8.08962819e-01 9.52341088e-03 1.06188792e+02] [ 8.08851647e-01 5.87859783e-01 1.34122740e-02 5.52440004e+01] [-1.64484612e-02 -1.80475567e-04 9.99864699e-01 -2.56729965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65 meters 0.014328803553733777 Centerline is valid? [True, True] Translation: X:106.20, Y:55.27, Z:-2.57 [[ 5.87811867e-01 -8.08941984e-01 9.49078905e-03 1.06203850e+02] [ 8.08831420e-01 5.87888452e-01 1.33754196e-02 5.52667751e+01] [-1.63994638e-02 -1.85781995e-04 9.99865502e-01 -2.56837227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68 meters 0.014328803553733777 Centerline is valid? [True, True] Translation: X:106.22, Y:55.29, Z:-2.57 [[ 5.87581808e-01 -8.09109126e-01 9.48902518e-03 1.06219758e+02] [ 8.08998564e-01 5.87658395e-01 1.33766709e-02 5.52893292e+01] [-1.63994918e-02 -1.83280706e-04 9.99865502e-01 -2.56893944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71 meters 0.014349072877490881 Centerline is valid? [True, True] Translation: X:106.24, Y:55.31, Z:-2.57 [[ 5.87456693e-01 -8.09200462e-01 9.44704312e-03 1.06235690e+02] [ 8.09090753e-01 5.87532619e-01 1.33256882e-02 5.53114012e+01] [-1.63335990e-02 -1.84749497e-04 9.99866581e-01 -2.56945109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74 meters 0.01414023539344144 Centerline is valid? [True, True] Translation: X:106.25, Y:55.33, Z:-2.57 [[ 5.86859495e-01 -8.09633981e-01 9.42071705e-03 1.06252771e+02] [ 8.09524826e-01 5.86935078e-01 1.32955037e-02 5.53338553e+01] [-1.62938409e-02 -1.76288279e-04 9.99867231e-01 -2.57002560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76999999999998 meters 0.014038280062518274 Centerline is valid? [True, True] Translation: X:106.27, Y:55.36, Z:-2.57 [[ 5.86131002e-01 -8.10160295e-01 9.52602754e-03 1.06269440e+02] [ 8.10048617e-01 5.86208383e-01 1.34524576e-02 5.53562792e+01] [-1.64828843e-02 -1.68357040e-04 9.99864134e-01 -2.57079828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79999999999998 meters 0.013931251504363681 Centerline is valid? [True, True] Translation: X:106.29, Y:55.38, Z:-2.57 [[ 5.85084894e-01 -8.10910839e-01 9.96387224e-03 1.06286818e+02] [ 8.10788608e-01 5.85169707e-01 1.40799887e-02 5.53789342e+01] [-1.72481716e-02 -1.59394583e-04 9.99851227e-01 -2.57120208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82999999999998 meters 0.01373397437315388 Centerline is valid? [True, True] Translation: X:106.30, Y:55.40, Z:-2.57 [[ 5.83007714e-01 -8.12396171e-01 1.06989009e-02 1.06304193e+02] [ 8.12255323e-01 5.83105860e-01 1.51276464e-02 5.54000488e+01] [-1.85282338e-02 -1.29295294e-04 9.99828329e-01 -2.57111612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85999999999999 meters 0.014053231469546693 Centerline is valid? [True, True] Translation: X:106.32, Y:55.42, Z:-2.57 [[ 5.81779585e-01 -8.13271619e-01 1.10358234e-02 1.06321033e+02] [ 8.13121799e-01 5.81884235e-01 1.56101678e-02 5.54221467e+01] [-1.91168781e-02 -1.08208385e-04 9.99817250e-01 -2.57165805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89 meters 0.013602040764447428 Centerline is valid? [True, True] Translation: X:106.34, Y:55.44, Z:-2.57 [[ 5.80754173e-01 -8.13996959e-01 1.15559945e-02 1.06337477e+02] [ 8.13832619e-01 5.80869126e-01 1.63562225e-02 5.54441609e+01] [-2.00264358e-02 -9.42991671e-05 9.99799446e-01 -2.57114266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92 meters 0.013608355367686877 Centerline is valid? [True, True] Translation: X:106.35, Y:55.47, Z:-2.57 [[ 5.79386503e-01 -8.14969877e-01 1.16352643e-02 1.06354188e+02] [ 8.14803293e-01 5.79503317e-01 1.64771973e-02 5.54661175e+01] [-2.01710937e-02 -6.62140684e-05 9.99796541e-01 -2.57095150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95 meters 0.013513013297504355 Centerline is valid? [True, True] Translation: X:106.37, Y:55.49, Z:-2.57 [[ 5.78665716e-01 -8.15485272e-01 1.13912783e-02 1.06370879e+02] [ 8.15325538e-01 5.78777823e-01 1.61399409e-02 5.54889333e+01] [-1.97549034e-02 -5.20303314e-05 9.99804852e-01 -2.57173038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98 meters 0.01339340685399895 Centerline is valid? [True, True] Translation: X:106.39, Y:55.51, Z:-2.57 [[ 5.77813633e-01 -8.16093262e-01 1.10992600e-02 1.06386817e+02] [ 8.15941550e-01 5.77920225e-01 1.57353010e-02 5.55116569e+01] [-1.92559599e-02 -3.57240212e-05 9.99814586e-01 -2.57292504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01 meters 0.013440044517989698 Centerline is valid? [True, True] Translation: X:106.40, Y:55.53, Z:-2.57 [[ 5.77132199e-01 -8.16581661e-01 1.06214948e-02 1.06403098e+02] [ 8.16442656e-01 5.77229928e-01 1.50664860e-02 5.55343755e+01] [-1.84340609e-02 -2.35127678e-05 9.99830078e-01 -2.57388294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04 meters 0.01342871863969988 Centerline is valid? [True, True] Translation: X:106.42, Y:55.56, Z:-2.58 [[ 5.75595251e-01 -8.17673152e-01 1.00361653e-02 1.06420028e+02] [ 8.17549073e-01 5.75682740e-01 1.42441586e-02 5.55572943e+01] [-1.74247132e-02 6.18763258e-06 9.99848178e-01 -2.57573980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07 meters 0.013478736990820047 Centerline is valid? [True, True] Translation: X:106.44, Y:55.58, Z:-2.58 [[ 5.74536881e-01 -8.18421007e-01 9.71738239e-03 1.06436358e+02] [ 8.18304659e-01 5.74619052e-01 1.37996448e-02 5.55796225e+01] [-1.68777122e-02 2.33743967e-05 9.99857561e-01 -2.57639800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.1 meters 0.013558269093840888 Centerline is valid? [True, True] Translation: X:106.45, Y:55.60, Z:-2.58 [[ 5.73253172e-01 -8.19320514e-01 9.73119945e-03 1.06453366e+02] [ 8.19203826e-01 5.73335760e-01 1.38274758e-02 5.56024578e+01] [-1.69083792e-02 4.51914728e-05 9.99857042e-01 -2.57720746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13 meters 0.013619089308470044 Centerline is valid? [True, True] Translation: X:106.47, Y:55.63, Z:-2.58 [[ 5.71624074e-01 -8.20454973e-01 9.97774060e-03 1.06470453e+02] [ 8.20332318e-01 5.71711144e-01 1.41865016e-02 5.56250568e+01] [-1.73437713e-02 7.57172311e-05 9.99849583e-01 -2.57753554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16 meters 0.01400596016834958 Centerline is valid? [True, True] Translation: X:106.49, Y:55.65, Z:-2.58 [[ 5.68305308e-01 -8.22751280e-01 1.04598434e-02 1.06488492e+02] [ 8.22616687e-01 5.68401539e-01 1.48820652e-02 5.56462301e+01] [-1.81896293e-02 1.46885117e-04 9.99834544e-01 -2.57735017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19 meters 0.0141923425203342 Centerline is valid? [True, True] Translation: X:106.51, Y:55.67, Z:-2.58 [[ 5.66380034e-01 -8.24071925e-01 1.09141798e-02 1.06505163e+02] [ 8.23925554e-01 5.66485149e-01 1.55324958e-02 5.56689345e+01] [-1.89826145e-02 1.95176135e-04 9.99819795e-01 -2.57744686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22 meters 0.014602704103568709 Centerline is valid? [True, True] Translation: X:106.52, Y:55.69, Z:-2.58 [[ 5.64173624e-01 -8.25572572e-01 1.17494583e-02 1.06522326e+02] [ 8.25403047e-01 5.64295899e-01 1.67316498e-02 5.56903426e+01] [-2.04433623e-02 2.58483210e-04 9.99790979e-01 -2.57681544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25 meters 0.014891874559057923 Centerline is valid? [True, True] Translation: X:106.54, Y:55.71, Z:-2.58 [[ 5.63561689e-01 -8.25986680e-01 1.20094680e-02 1.06538366e+02] [ 8.25809579e-01 5.63689567e-01 1.71058816e-02 5.57125458e+01] [-2.08988422e-02 2.77314183e-04 9.99781557e-01 -2.57712040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28 meters 0.014571737643643189 Centerline is valid? [True, True] Translation: X:106.55, Y:55.74, Z:-2.58 [[ 5.63172709e-01 -8.26250607e-01 1.21010056e-02 1.06553159e+02] [ 8.26070660e-01 5.63302631e-01 1.72455951e-02 5.57364092e+01] [-2.10657117e-02 2.84037125e-04 9.99778053e-01 -2.57790002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31 meters 0.014607405894636724 Centerline is valid? [True, True] Translation: X:106.57, Y:55.76, Z:-2.58 [[ 5.63106753e-01 -8.26295972e-01 1.20727609e-02 1.06568592e+02] [ 8.26116658e-01 5.63236086e-01 1.72156751e-02 5.57589010e+01] [-2.10250576e-02 2.79245945e-04 9.99778910e-01 -2.57831559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34 meters 0.014406919417434138 Centerline is valid? [True, True] Translation: X:106.58, Y:55.78, Z:-2.58 [[ 5.63745471e-01 -8.25862455e-01 1.19268332e-02 1.06583377e+02] [ 8.25687164e-01 5.63871564e-01 1.70166568e-02 5.57831065e+01] [-2.07786201e-02 2.54769904e-04 9.99784069e-01 -2.57878487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37 meters 0.01437678810381905 Centerline is valid? [True, True] Translation: X:106.60, Y:55.81, Z:-2.58 [[ 5.63923564e-01 -8.25742951e-01 1.17810646e-02 1.06598129e+02] [ 8.25571690e-01 5.64046559e-01 1.68185294e-02 5.58065469e+01] [-2.05328510e-02 2.41748351e-04 9.99789150e-01 -2.57930516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.4 meters 0.01423121720846808 Centerline is valid? [True, True] Translation: X:106.61, Y:55.83, Z:-2.58 [[ 5.64221981e-01 -8.25539693e-01 1.17376048e-02 1.06613139e+02] [ 8.25369446e-01 5.64344012e-01 1.67664365e-02 5.58306696e+01] [-2.04654058e-02 2.27868350e-04 9.99790536e-01 -2.58014743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43 meters 0.014193966794961654 Centerline is valid? [True, True] Translation: X:106.63, Y:55.85, Z:-2.58 [[ 5.64216636e-01 -8.25549123e-01 1.13240461e-02 1.06628385e+02] [ 8.25390480e-01 5.64330222e-01 1.61850483e-02 5.58544326e+01] [-1.97520539e-02 2.14886350e-04 9.99804886e-01 -2.58095564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46 meters 0.01402664981109142 Centerline is valid? [True, True] Translation: X:106.64, Y:55.88, Z:-2.58 [[ 5.64531616e-01 -8.25342422e-01 1.06743334e-02 1.06641845e+02] [ 8.25201267e-01 5.64632491e-01 1.52649764e-02 5.58787015e+01] [-1.86259080e-02 1.90911642e-04 9.99826505e-01 -2.58208236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49 meters 0.01407923053638218 Centerline is valid? [True, True] Translation: X:106.66, Y:55.90, Z:-2.58 [[ 5.64258412e-01 -8.25534140e-01 1.02872576e-02 1.06656607e+02] [ 8.25402912e-01 5.64352150e-01 1.47201809e-02 5.59013940e+01] [-1.79576478e-02 1.85146508e-04 9.99838731e-01 -2.58357162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51999999999998 meters 0.014053664911727604 Centerline is valid? [True, True] Translation: X:106.67, Y:55.93, Z:-2.58 [[ 5.63990895e-01 -8.25724461e-01 9.66358889e-03 1.06671758e+02] [ 8.25608575e-01 5.64073650e-01 1.38346418e-02 5.59254015e+01] [-1.68745780e-02 1.75729878e-04 9.99857599e-01 -2.58469416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54999999999998 meters 0.01412927822065736 Centerline is valid? [True, True] Translation: X:106.69, Y:55.95, Z:-2.59 [[ 5.63662171e-01 -8.25954750e-01 9.14923906e-03 1.06686716e+02] [ 8.25850773e-01 5.63736395e-01 1.31064385e-02 5.59477173e+01] [-1.59830842e-02 1.68302587e-04 9.99872248e-01 -2.58611520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57999999999998 meters 0.014277397290072862 Centerline is valid? [True, True] Translation: X:106.70, Y:55.97, Z:-2.59 [[ 5.62633571e-01 -8.26660939e-01 8.66928252e-03 1.06702137e+02] [ 8.26567608e-01 5.62700330e-01 1.24228860e-02 5.59711595e+01] [-1.51477228e-02 1.76215386e-04 9.99885251e-01 -2.58744754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60999999999999 meters 0.014239936260499691 Centerline is valid? [True, True] Translation: X:106.72, Y:55.99, Z:-2.59 [[ 5.61925445e-01 -8.27143615e-01 8.55766032e-03 1.06717795e+02] [ 8.27052627e-01 5.61990575e-01 1.22697465e-02 5.59948531e+01] [-1.49581669e-02 1.82952703e-04 9.99888104e-01 -2.58749630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64 meters 0.014258884172960914 Centerline is valid? [True, True] Translation: X:106.73, Y:56.02, Z:-2.59 [[ 5.61219269e-01 -8.27619893e-01 8.84563068e-03 1.06733074e+02] [ 8.27522613e-01 5.61288940e-01 1.26905580e-02 5.60182494e+01] [-1.54679129e-02 1.97773739e-04 9.99880345e-01 -2.58776389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67 meters 0.014318647475822678 Centerline is valid? [True, True] Translation: X:106.75, Y:56.04, Z:-2.59 [[ 5.60548178e-01 -8.28072416e-01 9.04507392e-03 1.06748595e+02] [ 8.27970631e-01 5.60621110e-01 1.29848015e-02 5.60416290e+01] [-1.58232153e-02 2.10448754e-04 9.99874783e-01 -2.58772969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.7 meters 0.014257249187790082 Centerline is valid? [True, True] Translation: X:106.76, Y:56.07, Z:-2.59 [[ 5.60412139e-01 -8.28164133e-01 9.07765742e-03 1.06762590e+02] [ 8.28061499e-01 5.60485616e-01 1.30394959e-02 5.60663381e+01] [-1.58867392e-02 2.09366834e-04 9.99873776e-01 -2.58874457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73 meters 0.01427625904485354 Centerline is valid? [True, True] Translation: X:106.78, Y:56.09, Z:-2.59 [[ 5.60878291e-01 -8.27849047e-01 9.02759747e-03 1.06777040e+02] [ 8.27747373e-01 5.60950904e-01 1.29756930e-02 5.60891377e+01] [-1.58059541e-02 1.94785552e-04 9.99875059e-01 -2.58975706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76 meters 0.01399400368283413 Centerline is valid? [True, True] Translation: X:106.79, Y:56.11, Z:-2.59 [[ 5.61568156e-01 -8.27383309e-01 8.83550672e-03 1.06791864e+02] [ 8.27285764e-01 5.61637632e-01 1.27057323e-02 5.61130993e+01] [-1.54748639e-02 1.74354287e-04 9.99880242e-01 -2.59067638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79 meters 0.013603811154283949 Centerline is valid? [True, True] Translation: X:106.81, Y:56.14, Z:-2.59 [[ 5.64076954e-01 -8.25680581e-01 8.29260075e-03 1.06805398e+02] [ 8.25594360e-01 5.64137895e-01 1.19326524e-02 5.61372636e+01] [-1.45307297e-02 1.15390187e-04 9.99894417e-01 -2.59191464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82 meters 0.013383263743242509 Centerline is valid? [True, True] Translation: X:106.82, Y:56.16, Z:-2.59 [[ 5.65603961e-01 -8.24640674e-01 7.74071608e-03 1.06819776e+02] [ 8.24565413e-01 5.65656921e-01 1.11412093e-02 5.61616605e+01] [-1.35660840e-02 8.12146397e-05 9.99907973e-01 -2.59254073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85 meters 0.01322963574844582 Centerline is valid? [True, True] Translation: X:106.83, Y:56.19, Z:-2.59 [[ 5.67438276e-01 -8.23382750e-01 7.39252539e-03 1.06833923e+02] [ 8.23313925e-01 5.67486427e-01 1.06459573e-02 5.61862899e+01] [-1.29608554e-02 4.54454370e-05 9.99916004e-01 -2.59368409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88 meters 0.013170559630889615 Centerline is valid? [True, True] Translation: X:106.85, Y:56.21, Z:-2.60 [[ 5.69341319e-01 -8.22074137e-01 6.67642912e-03 1.06847578e+02] [ 8.22017854e-01 5.69380464e-01 9.61952967e-03 5.62104806e+01] [-1.17093949e-02 1.13482209e-05 9.99931443e-01 -2.59513216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91 meters 0.0134085646681769 Centerline is valid? [True, True] Translation: X:106.86, Y:56.24, Z:-2.60 [[ 5.73782813e-01 -8.18990050e-01 5.34612628e-03 1.06859001e+02] [ 8.18953777e-01 5.73807716e-01 7.70817585e-03 5.62364320e+01] [-9.38056784e-03 -4.45885138e-05 9.99956001e-01 -2.59902840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94 meters 0.013448480775434734 Centerline is valid? [True, True] Translation: X:106.87, Y:56.26, Z:-2.60 [[ 5.75605765e-01 -8.17713562e-01 4.74706081e-03 1.06874072e+02] [ 8.17684924e-01 5.75625337e-01 6.84379833e-03 5.62609498e+01] [-8.32879518e-03 -5.77297168e-05 9.99965313e-01 -2.59989536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97 meters 0.01362595985989087 Centerline is valid? [True, True] Translation: X:106.89, Y:56.29, Z:-2.60 [[ 5.76977099e-01 -8.16748834e-01 4.33241857e-03 1.06889363e+02] [ 8.16724934e-01 5.76993361e-01 6.24848582e-03 5.62854450e+01] [-7.60322025e-03 -6.68389519e-05 9.99971093e-01 -2.60114844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.0 meters 0.013981878395348896 Centerline is valid? [True, True] Translation: X:106.90, Y:56.31, Z:-2.60 [[ 5.78196706e-01 -8.15886042e-01 4.30533085e-03 1.06904009e+02] [ 8.15862380e-01 5.78212730e-01 6.21426383e-03 5.63090673e+01] [-7.55952822e-03 -8.05094039e-05 9.99971423e-01 -2.60234911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03 meters 0.01412164707005909 Centerline is valid? [True, True] Translation: X:106.92, Y:56.33, Z:-2.60 [[ 5.78782977e-01 -8.15469158e-01 4.50754429e-03 1.06919685e+02] [ 8.15443204e-01 5.78800522e-01 6.50666379e-03 5.63322370e+01] [-7.91495263e-03 -9.02998827e-05 9.99968672e-01 -2.60239329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06 meters 0.014113825733935456 Centerline is valid? [True, True] Translation: X:106.94, Y:56.36, Z:-2.60 [[ 5.79660836e-01 -8.14841033e-01 5.23501177e-03 1.06935603e+02] [ 8.14805944e-01 5.79684463e-01 7.56290862e-03 5.63558487e+01] [-9.19722326e-03 -1.18403233e-04 9.99957698e-01 -2.60124712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09 meters 0.014239757990513188 Centerline is valid? [True, True] Translation: X:106.95, Y:56.38, Z:-2.60 [[ 5.79820609e-01 -8.14723030e-01 5.86905523e-03 1.06950857e+02] [ 8.14678837e-01 5.79850295e-01 8.48694025e-03 5.63787607e+01] [-1.03176791e-02 -1.39507770e-04 9.99946762e-01 -2.60133277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12 meters 0.014195908797917609 Centerline is valid? [True, True] Translation: X:106.97, Y:56.40, Z:-2.60 [[ 5.79908455e-01 -8.14656871e-01 6.35348827e-03 1.06967299e+02] [ 8.14605045e-01 5.79943238e-01 9.19030962e-03 5.64014879e+01] [-1.11716114e-02 -1.53954654e-04 9.99937584e-01 -2.60074588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15 meters 0.014346030057066065 Centerline is valid? [True, True] Translation: X:106.98, Y:56.42, Z:-2.60 [[ 5.79722876e-01 -8.14781290e-01 7.26881720e-03 1.06983811e+02] [ 8.14713356e-01 5.79768417e-01 1.05228516e-02 5.64231566e+01] [-1.27880533e-02 -1.78335363e-04 9.99918214e-01 -2.59919081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18 meters 0.014141118859038758 Centerline is valid? [True, True] Translation: X:107.00, Y:56.45, Z:-2.60 [[ 5.79457143e-01 -8.14969452e-01 7.36281104e-03 1.07001098e+02] [ 8.14899701e-01 5.79503891e-01 1.06638406e-02 5.64459433e+01] [-1.29574820e-02 -1.79286106e-04 9.99916032e-01 -2.59875489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21 meters 0.014143520079162895 Centerline is valid? [True, True] Translation: X:107.02, Y:56.47, Z:-2.60 [[ 5.79239756e-01 -8.15119942e-01 7.79647955e-03 1.07017508e+02] [ 8.15041643e-01 5.79292192e-01 1.12993857e-02 5.64687357e+01] [-1.37267943e-02 -1.90597913e-04 9.99905765e-01 -2.59921561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24 meters 0.014196511102962798 Centerline is valid? [True, True] Translation: X:107.03, Y:56.49, Z:-2.60 [[ 5.79087828e-01 -8.15225368e-01 8.05517848e-03 1.07033364e+02] [ 8.15141692e-01 5.79143816e-01 1.16817489e-02 5.64913535e+01] [-1.41883649e-02 -1.98646792e-04 9.99899320e-01 -2.59974682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26999999999998 meters 0.01437622868942144 Centerline is valid? [True, True] Translation: X:107.05, Y:56.51, Z:-2.60 [[ 5.79472420e-01 -8.14955312e-01 7.71707094e-03 1.07049721e+02] [ 8.14878401e-01 5.79523769e-01 1.11978836e-02 5.65149539e+01] [-1.35980008e-02 -2.00390287e-04 9.99907523e-01 -2.60163208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29999999999998 meters 0.01424305941946679 Centerline is valid? [True, True] Translation: X:107.07, Y:56.54, Z:-2.60 [[ 5.79297837e-01 -8.15083107e-01 7.31744226e-03 1.07065899e+02] [ 8.15013894e-01 5.79344019e-01 1.06235609e-02 5.65376640e+01] [-1.28984015e-02 -1.90388750e-04 9.99916794e-01 -2.60316172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32999999999998 meters 0.014453274529828527 Centerline is valid? [True, True] Translation: X:107.08, Y:56.56, Z:-2.60 [[ 5.79077090e-01 -8.15243876e-01 6.86624049e-03 1.07081328e+02] [ 8.15182858e-01 5.79117768e-01 9.97585671e-03 5.65600197e+01] [-1.21091180e-02 -1.79548531e-04 9.99926666e-01 -2.60492085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35999999999999 meters 0.014274539737707101 Centerline is valid? [True, True] Translation: X:107.10, Y:56.58, Z:-2.61 [[ 5.78198343e-01 -8.15871390e-01 6.36793626e-03 1.07098143e+02] [ 8.15818936e-01 5.78233388e-01 9.25274914e-03 5.65825291e+01] [-1.12312067e-02 -1.54841240e-04 9.99936916e-01 -2.60640091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39 meters 0.013742685948788675 Centerline is valid? [True, True] Translation: X:107.12, Y:56.60, Z:-2.61 [[ 5.75247088e-01 -8.17958160e-01 5.93604025e-03 1.07117521e+02] [ 8.17912638e-01 5.75277704e-01 8.63019851e-03 5.66042209e+01] [-1.04740129e-02 -1.09334219e-04 9.99945140e-01 -2.60747423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42 meters 0.013501490459274129 Centerline is valid? [True, True] Translation: X:107.13, Y:56.63, Z:-2.61 [[ 5.72934448e-01 -8.19578923e-01 6.04217469e-03 1.07134524e+02] [ 8.19531787e-01 5.72966301e-01 8.79023370e-03 5.66255024e+01] [-1.06662528e-02 -8.44734669e-05 9.99943110e-01 -2.60803608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45 meters 0.013163318294949865 Centerline is valid? [True, True] Translation: X:107.15, Y:56.65, Z:-2.61 [[ 5.70160427e-01 -8.21510371e-01 6.14795036e-03 1.07152880e+02] [ 8.21461648e-01 5.70193570e-01 8.94726017e-03 5.66477124e+01] [-1.08557888e-02 -5.10682422e-05 9.99941073e-01 -2.60797315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48 meters 0.013150142208873679 Centerline is valid? [True, True] Translation: X:107.17, Y:56.67, Z:-2.61 [[ 5.63846780e-01 -8.25853391e-01 6.55624963e-03 1.07172241e+02] [ 8.25798189e-01 5.63884895e-01 9.54857598e-03 5.66670329e+01] [-1.15826940e-02 3.02052534e-05 9.99932918e-01 -2.60811677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51 meters 0.013380961086269688 Centerline is valid? [True, True] Translation: X:107.19, Y:56.69, Z:-2.61 [[ 5.59940949e-01 -8.28504872e-01 6.76837743e-03 1.07190686e+02] [ 8.28446179e-01 5.59981848e-01 9.86198373e-03 5.66890036e+01] [-1.19608701e-02 8.51078882e-05 9.99928463e-01 -2.60829867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54 meters 0.01403252124652102 Centerline is valid? [True, True] Translation: X:107.21, Y:56.71, Z:-2.61 [[ 5.55804946e-01 -8.31283433e-01 6.97963668e-03 1.07209014e+02] [ 8.31221140e-01 5.55848750e-01 1.01775921e-02 5.67109493e+01] [-1.23400860e-02 1.44865552e-04 9.99923848e-01 -2.60849580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57 meters 0.01403252124652102 Centerline is valid? [True, True] Translation: X:107.22, Y:56.73, Z:-2.61 [[ 5.55571781e-01 -8.31439289e-01 6.97896570e-03 1.07224558e+02] [ 8.31377002e-01 5.55615593e-01 1.01780524e-02 5.67337555e+01] [-1.23400548e-02 1.47512917e-04 9.99923848e-01 -2.60906306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.6 meters 0.014900217033005493 Centerline is valid? [True, True] Translation: X:107.24, Y:56.76, Z:-2.61 [[ 5.50941589e-01 -8.34512475e-01 7.23157401e-03 1.07243755e+02] [ 8.34445768e-01 5.50989003e-01 1.05536525e-02 5.67558934e+01] [-1.27916724e-02 2.19910265e-04 9.99918159e-01 -2.60909712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63 meters 0.0158049164810759 Centerline is valid? [True, True] Translation: X:107.26, Y:56.78, Z:-2.61 [[ 5.46248618e-01 -8.37590589e-01 7.37926908e-03 1.07262252e+02] [ 8.37521332e-01 5.46298379e-01 1.07749463e-02 5.67777553e+01] [-1.30562763e-02 2.94495748e-04 9.99914720e-01 -2.60877596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66 meters 0.01846039823580975 Centerline is valid? [True, True] Translation: X:107.28, Y:56.80, Z:-2.61 [[ 5.37479432e-01 -8.43238120e-01 8.08292120e-03 1.07283245e+02] [ 8.43155548e-01 5.37540003e-01 1.18096013e-02 5.67976313e+01] [-1.43031995e-02 4.67742035e-04 9.99897595e-01 -2.60777047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69 meters 0.019433297849269535 Centerline is valid? [True, True] Translation: X:107.30, Y:56.82, Z:-2.61 [[ 5.33644898e-01 -8.45667495e-01 8.34334849e-03 1.07300686e+02] [ 8.45579702e-01 5.33709838e-01 1.21973908e-02 5.68199636e+01] [-1.47678641e-02 5.45890740e-04 9.99890800e-01 -2.60755260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72 meters 0.020042665124657678 Centerline is valid? [True, True] Translation: X:107.32, Y:56.84, Z:-2.61 [[ 5.30561319e-01 -8.47605454e-01 8.34745905e-03 1.07317343e+02] [ 8.47517710e-01 5.30626647e-01 1.22103432e-02 5.68431419e+01] [-1.47789377e-02 5.96283588e-04 9.99890608e-01 -2.60757119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75 meters 0.021651287214762956 Centerline is valid? [True, True] Translation: X:107.33, Y:56.86, Z:-2.61 [[ 5.28022377e-01 -8.49189522e-01 8.33817840e-03 1.07334482e+02] [ 8.49102051e-01 5.28087826e-01 1.22047195e-02 5.68644563e+01] [-1.47674104e-02 6.35599362e-04 9.99890754e-01 -2.60819908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78 meters 0.02302214094317311 Centerline is valid? [True, True] Translation: X:107.35, Y:56.89, Z:-2.61 [[ 5.25469390e-01 -8.50777228e-01 7.74774726e-03 1.07350148e+02] [ 8.50701815e-01 5.25526128e-01 1.13451110e-02 5.68871827e+01] [-1.37238057e-02 6.29514107e-04 9.99905626e-01 -2.60864909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81 meters 0.021826746003046665 Centerline is valid? [True, True] Translation: X:107.36, Y:56.91, Z:-2.61 [[ 5.25216368e-01 -8.50938092e-01 7.22012712e-03 1.07363415e+02] [ 8.50872620e-01 5.25265661e-01 1.05721447e-02 5.69115790e+01] [-1.27887255e-02 5.90745026e-04 9.99918046e-01 -2.60953409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84 meters 0.023345943312585094 Centerline is valid? [True, True] Translation: X:107.38, Y:56.93, Z:-2.61 [[ 5.25693950e-01 -8.50648425e-01 6.56713738e-03 1.07379146e+02] [ 8.50594163e-01 5.25734704e-01 9.62248097e-03 5.69336327e+01] [-1.16379203e-02 5.27488684e-04 9.99932138e-01 -2.61109420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87 meters 0.02263649787464809 Centerline is valid? [True, True] Translation: X:107.39, Y:56.96, Z:-2.61 [[ 5.26686352e-01 -8.50045136e-01 4.97521712e-03 1.07391799e+02] [ 8.50013967e-01 5.26709706e-01 7.28985152e-03 5.69603883e+01] [-8.81719798e-03 3.89538734e-04 9.99961052e-01 -2.61279918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.9 meters 0.019844739698380257 Centerline is valid? [True, True] Translation: X:107.40, Y:56.99, Z:-2.61 [[ 5.32589111e-01 -8.46361473e-01 4.59297544e-03 1.07402736e+02] [ 8.46334752e-01 5.32608829e-01 6.73216674e-03 5.69875988e+01] [-8.14410584e-03 3.01716036e-04 9.99966791e-01 -2.61426483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93 meters 0.01843811951470539 Centerline is valid? [True, True] Translation: X:107.42, Y:57.01, Z:-2.61 [[ 5.35849015e-01 -8.44302733e-01 4.32753565e-03 1.07415049e+02] [ 8.44278900e-01 5.35866431e-01 6.34885356e-03 5.70143749e+01] [-7.67933550e-03 2.51620111e-04 9.99970482e-01 -2.61495342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96 meters 0.017245421690535834 Centerline is valid? [True, True] Translation: X:107.43, Y:57.04, Z:-2.62 [[ 5.39325201e-01 -8.42087574e-01 4.10420023e-03 1.07427170e+02] [ 8.42066081e-01 5.39340777e-01 6.02008382e-03 5.70401793e+01] [-7.28300032e-03 2.09224884e-04 9.99973457e-01 -2.61575226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99 meters 0.015393695813451992 Centerline is valid? [True, True] Translation: X:107.44, Y:57.07, Z:-2.62 [[ 5.46364006e-01 -8.37540180e-01 3.58037167e-03 1.07436248e+02] [ 8.37523713e-01 5.46375722e-01 5.25366047e-03 5.70685239e+01] [-6.35637990e-03 1.28235188e-04 9.99979790e-01 -2.61667314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01999999999998 meters 0.014433018087031249 Centerline is valid? [True, True] Translation: X:107.45, Y:57.09, Z:-2.62 [[ 5.49693706e-01 -8.35358826e-01 3.53010697e-03 1.07449347e+02] [ 8.35342752e-01 5.49705032e-01 5.18311554e-03 5.70949123e+01] [-6.27027888e-03 9.97232781e-05 9.99980337e-01 -2.61707029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04999999999998 meters 0.013708628455396454 Centerline is valid? [True, True] Translation: X:107.46, Y:57.12, Z:-2.62 [[ 5.52509326e-01 -8.33499572e-01 3.45078921e-03 1.07462750e+02] [ 8.33484144e-01 5.52520097e-01 5.07189621e-03 5.71213523e+01] [-6.13405371e-03 7.39081355e-05 9.99981184e-01 -2.61695385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07999999999998 meters 0.013175302240687702 Centerline is valid? [True, True] Translation: X:107.48, Y:57.15, Z:-2.62 [[ 5.54946569e-01 -8.31878387e-01 3.55748300e-03 1.07476365e+02] [ 8.31861960e-01 5.54957968e-01 5.22802100e-03 5.71476716e+01] [-6.32333121e-03 5.80624643e-05 9.99980006e-01 -2.61678016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10999999999999 meters 0.01269837342479263 Centerline is valid? [True, True] Translation: X:107.49, Y:57.17, Z:-2.62 [[ 5.59514517e-01 -8.28813154e-01 3.50165004e-03 1.07487241e+02] [ 8.28797140e-01 5.59525474e-01 5.15217656e-03 5.71738770e+01] [-6.22945410e-03 1.94399567e-05 9.99980597e-01 -2.61753988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14 meters 0.012595119811802443 Centerline is valid? [True, True] Translation: X:107.50, Y:57.20, Z:-2.62 [[ 5.61155999e-01 -8.27703666e-01 3.25365835e-03 1.07500974e+02] [ 8.27689847e-01 5.61165431e-01 4.78284886e-03 5.71987635e+01] [-5.78462212e-03 9.09565116e-06 9.99983269e-01 -2.61805893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17 meters 0.01259134976932062 Centerline is valid? [True, True] Translation: X:107.52, Y:57.22, Z:-2.62 [[ 5.62561804e-01 -8.26749930e-01 2.96140747e-03 1.07515385e+02] [ 8.26738455e-01 5.62569598e-01 4.35592349e-03 5.72241333e+01] [-5.26725725e-03 -2.16674105e-06 9.99986128e-01 -2.61869127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.2 meters 0.01273056728128077 Centerline is valid? [True, True] Translation: X:107.53, Y:57.25, Z:-2.62 [[ 5.65447222e-01 -8.24781757e-01 2.11957392e-03 1.07528096e+02] [ 8.24775857e-01 5.65451194e-01 3.11982445e-03 5.72497748e+01] [-3.77168989e-03 -1.59226655e-05 9.99992887e-01 -2.61927201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23 meters 0.01277137791252642 Centerline is valid? [True, True] Translation: X:107.54, Y:57.27, Z:-2.62 [[ 5.66601767e-01 -8.23989342e-01 2.00056900e-03 1.07543144e+02] [ 8.23984089e-01 5.66605299e-01 2.94211382e-03 5.72746399e+01] [-3.55780343e-03 -1.85698612e-05 9.99993671e-01 -2.61978070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26 meters 0.013058280457869777 Centerline is valid? [True, True] Translation: X:107.56, Y:57.30, Z:-2.62 [[ 5.67971673e-01 -8.23046310e-01 1.71745166e-03 1.07557203e+02] [ 8.23042423e-01 5.67974269e-01 2.52959804e-03 5.72987911e+01] [-3.05744469e-03 -2.32044569e-05 9.99995326e-01 -2.62098964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29 meters 0.01322504423938493 Centerline is valid? [True, True] Translation: X:107.57, Y:57.32, Z:-2.62 [[ 5.69217902e-01 -8.22185376e-01 1.47926939e-03 1.07571877e+02] [ 8.22182499e-01 5.69219824e-01 2.17502759e-03 5.73238237e+01] [-2.63030534e-03 -2.18352397e-05 9.99996541e-01 -2.62183892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32 meters 0.013609732988678666 Centerline is valid? [True, True] Translation: X:107.59, Y:57.35, Z:-2.62 [[ 5.71742478e-01 -8.20432457e-01 1.05950984e-03 1.07585907e+02] [ 8.20430982e-01 5.71743459e-01 1.55600816e-03 5.73493052e+01] [-1.88236742e-03 -2.03812691e-05 9.99998228e-01 -2.62285106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35 meters 0.01396543958618291 Centerline is valid? [True, True] Translation: X:107.60, Y:57.37, Z:-2.62 [[ 5.72592205e-01 -8.19840063e-01 6.61065007e-04 1.07600825e+02] [ 8.19839488e-01 5.72592587e-01 9.71762015e-04 5.73734724e+01] [-1.17521035e-03 -1.44561586e-05 9.99999309e-01 -2.62378081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38 meters 0.014148112895622135 Centerline is valid? [True, True] Translation: X:107.62, Y:57.40, Z:-2.62 [[ 5.73213837e-01 -8.19405763e-01 3.04778121e-04 1.07616533e+02] [ 8.19405644e-01 5.73213918e-01 4.41467127e-04 5.73979934e+01] [-5.36443769e-04 -3.31815315e-06 9.99999856e-01 -2.62492222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41 meters 0.01440651725152955 Centerline is valid? [True, True] Translation: X:107.63, Y:57.42, Z:-2.63 [[ 5.73616606e-01 -8.19123876e-01 -2.52890161e-04 1.07632433e+02] [ 8.19123787e-01 5.73616662e-01 -3.83217052e-04 5.74224045e+01] [ 4.58964247e-04 1.26713184e-05 9.99999895e-01 -2.62581602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44 meters 0.014566637299623066 Centerline is valid? [True, True] Translation: X:107.65, Y:57.45, Z:-2.63 [[ 5.73849647e-01 -8.18960346e-01 -7.31225404e-04 1.07648972e+02] [ 8.18959619e-01 5.73850112e-01 -1.09131868e-03 5.74461683e+01] [ 1.31336050e-03 2.74087606e-05 9.99999137e-01 -2.62668938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47 meters 0.014579639229058321 Centerline is valid? [True, True] Translation: X:107.67, Y:57.47, Z:-2.63 [[ 5.73283582e-01 -8.19356575e-01 -8.58893455e-04 1.07665614e+02] [ 8.19355572e-01 5.73284225e-01 -1.28229960e-03 5.74686885e+01] [ 1.54305067e-03 3.13821692e-05 9.99998809e-01 -2.62717851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.5 meters 0.014603155382353428 Centerline is valid? [True, True] Translation: X:107.68, Y:57.49, Z:-2.63 [[ 5.72206344e-01 -8.20109171e-01 -9.20714301e-04 1.07682259e+02] [ 8.20108023e-01 5.72207084e-01 -1.37273548e-03 5.74902534e+01] [ 1.65263220e-03 3.04027631e-05 9.99998634e-01 -2.62767043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53 meters 0.013905696376764143 Centerline is valid? [True, True] Translation: X:107.70, Y:57.51, Z:-2.63 [[ 5.70574978e-01 -8.21244748e-01 -1.12185710e-03 1.07701048e+02] [ 8.21243044e-01 5.70576079e-01 -1.67341819e-03 5.75121130e+01] [ 2.01439072e-03 3.34932097e-05 9.99997971e-01 -2.62607213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56 meters 0.013119165156901159 Centerline is valid? [True, True] Translation: X:107.72, Y:57.53, Z:-2.62 [[ 5.67119390e-01 -8.23635522e-01 -3.52248566e-04 1.07722244e+02] [ 8.23635353e-01 5.67119499e-01 -5.27415021e-04 5.75332719e+01] [ 6.34164777e-04 8.98291286e-06 9.99999799e-01 -2.62388488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59 meters 0.013020273095995166 Centerline is valid? [True, True] Translation: X:107.74, Y:57.55, Z:-2.62 [[ 5.65138345e-01 -8.24996137e-01 -1.59451429e-04 1.07739411e+02] [ 8.24996100e-01 5.65138368e-01 -2.44585436e-04 5.75548956e+01] [ 2.91894160e-04 6.67780139e-06 9.99999957e-01 -2.62418595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62 meters 0.012684947010586305 Centerline is valid? [True, True] Translation: X:107.76, Y:57.58, Z:-2.62 [[ 5.62997598e-01 -8.26458495e-01 2.45466485e-04 1.07757567e+02] [ 8.26458419e-01 5.62997652e-01 3.55098861e-04 5.75773480e+01] [-4.31671525e-04 2.94803742e-06 9.99999907e-01 -2.62343552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65 meters 0.012714418643497032 Centerline is valid? [True, True] Translation: X:107.77, Y:57.60, Z:-2.62 [[ 5.61048747e-01 -8.27782665e-01 4.03421368e-04 1.07774814e+02] [ 8.27782451e-01 5.61048892e-01 5.95714040e-04 5.75993349e+01] [-7.19460868e-04 -2.79487248e-07 9.99999741e-01 -2.62394561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68 meters 0.013985519102366195 Centerline is valid? [True, True] Translation: X:107.79, Y:57.62, Z:-2.62 [[ 5.56887918e-01 -8.30587639e-01 1.43652625e-04 1.07794360e+02] [ 8.30587614e-01 5.56887937e-01 2.02895558e-04 5.76206191e+01] [-2.48520957e-04 6.32600597e-06 9.99999969e-01 -2.62398570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71 meters 0.012915687597030247 Centerline is valid? [True, True] Translation: X:107.81, Y:57.64, Z:-2.62 [[ 5.55160559e-01 -8.31743183e-01 1.76123154e-04 1.07811762e+02] [ 8.31743145e-01 5.55160587e-01 2.51343155e-04 5.76428259e+01] [-3.06829589e-04 6.95341919e-06 9.99999953e-01 -2.62427844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74 meters 0.013013128629756149 Centerline is valid? [True, True] Translation: X:107.83, Y:57.67, Z:-2.62 [[ 5.53268167e-01 -8.33003178e-01 2.03921471e-04 1.07829145e+02] [ 8.33003126e-01 5.53268204e-01 2.92784009e-04 5.76653298e+01] [-3.56713276e-04 7.87915046e-06 9.99999936e-01 -2.62394520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76999999999998 meters 0.013232051307769423 Centerline is valid? [True, True] Translation: X:107.85, Y:57.69, Z:-2.62 [[ 5.51508782e-01 -8.34169027e-01 3.11437656e-04 1.07845487e+02] [ 8.34168904e-01 5.51508870e-01 4.53891151e-04 5.76866812e+01] [-5.50382570e-04 9.46665256e-06 9.99999848e-01 -2.62386330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79999999999998 meters 0.013808259501677439 Centerline is valid? [True, True] Translation: X:107.86, Y:57.71, Z:-2.63 [[ 5.49669578e-01 -8.35381698e-01 8.79529542e-04 1.07861757e+02] [ 8.35380686e-01 5.49670281e-01 1.30042836e-03 5.77080391e+01] [-1.56980530e-03 1.99360838e-05 9.99998768e-01 -2.62514833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82999999999998 meters 0.013657370202234644 Centerline is valid? [True, True] Translation: X:107.88, Y:57.73, Z:-2.62 [[ 5.46239309e-01 -8.37626749e-01 2.01192793e-03 1.07877575e+02] [ 8.37621423e-01 5.46243011e-01 2.98741146e-03 5.77311933e+01] [-3.60133732e-03 5.33923649e-05 9.99993514e-01 -2.62202244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85999999999999 meters 0.01384882428911866 Centerline is valid? [True, True] Translation: X:107.89, Y:57.75, Z:-2.62 [[ 5.44676917e-01 -8.38641729e-01 2.66572245e-03 1.07893213e+02] [ 8.38632364e-01 5.44683435e-01 3.96415890e-03 5.77541780e+01] [-4.77648394e-03 7.63752689e-05 9.99988590e-01 -2.62216854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89 meters 0.014239369968723048 Centerline is valid? [True, True] Translation: X:107.91, Y:57.78, Z:-2.62 [[ 5.43535541e-01 -8.39380209e-01 3.15927583e-03 1.07908566e+02] [ 8.39367025e-01 5.43544714e-01 4.70544789e-03 5.77768706e+01] [-5.66686751e-03 9.42137920e-05 9.99983939e-01 -2.62289381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92 meters 0.014414846802175965 Centerline is valid? [True, True] Translation: X:107.92, Y:57.80, Z:-2.62 [[ 5.42221449e-01 -8.40226597e-01 3.89445847e-03 1.07923386e+02] [ 8.40206571e-01 5.42235420e-01 5.80236731e-03 5.78006374e+01] [-6.98701666e-03 1.25981589e-04 9.99975583e-01 -2.62292137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95 meters 0.01454960306029257 Centerline is valid? [True, True] Translation: X:107.94, Y:57.82, Z:-2.62 [[ 5.42001988e-01 -8.40367215e-01 4.09727856e-03 1.07937988e+02] [ 8.40345017e-01 5.42017459e-01 6.10957871e-03 5.78229805e+01] [-7.35508616e-03 1.31723810e-04 9.99972942e-01 -2.62358867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98 meters 0.01444078312110288 Centerline is valid? [True, True] Translation: X:107.95, Y:57.85, Z:-2.62 [[ 5.42375844e-01 -8.40126355e-01 4.01879342e-03 1.07952984e+02] [ 8.40104975e-01 5.42390719e-01 5.99497391e-03 5.78472623e+01] [-7.21629183e-03 1.24679308e-04 9.99973954e-01 -2.62435339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01 meters 0.013499960609122065 Centerline is valid? [True, True] Translation: X:107.96, Y:57.87, Z:-2.62 [[ 5.44971108e-01 -8.38445717e-01 3.90772704e-03 1.07964766e+02] [ 8.38425432e-01 5.44985109e-01 5.83320571e-03 5.78738517e+01] [-7.02047940e-03 9.74091467e-05 9.99975351e-01 -2.62487589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04 meters 0.01344071253886929 Centerline is valid? [True, True] Translation: X:107.98, Y:57.90, Z:-2.63 [[ 5.47059864e-01 -8.37085101e-01 3.74697493e-03 1.07978468e+02] [ 8.37066404e-01 5.47072690e-01 5.59527975e-03 5.78980883e+01] [-6.73359297e-03 7.55138492e-05 9.99977326e-01 -2.62674128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07 meters 0.013035572982731287 Centerline is valid? [True, True] Translation: X:107.99, Y:57.92, Z:-2.63 [[ 5.48999313e-01 -8.35814650e-01 3.69120048e-03 1.07991678e+02] [ 8.35796455e-01 5.49011719e-01 5.51532528e-03 5.79232480e+01] [-6.63630199e-03 5.71824876e-05 9.99977978e-01 -2.62734682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.1 meters 0.0125276546023343 Centerline is valid? [True, True] Translation: X:108.00, Y:57.95, Z:-2.63 [[ 5.50797378e-01 -8.34628771e-01 4.13064060e-03 1.08004684e+02] [ 8.34605918e-01 5.50812865e-01 6.17659737e-03 5.79482966e+01] [-7.43037585e-03 4.54034517e-05 9.99972393e-01 -2.62769871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13 meters 0.012460409575979043 Centerline is valid? [True, True] Translation: X:108.02, Y:57.97, Z:-2.63 [[ 5.52687445e-01 -8.33379700e-01 3.85540551e-03 1.08017686e+02] [ 8.33359727e-01 5.52700891e-01 5.76981728e-03 5.79718667e+01] [-6.93933466e-03 2.40341105e-05 9.99975922e-01 -2.62822722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16 meters 0.012260047725909854 Centerline is valid? [True, True] Translation: X:108.03, Y:58.00, Z:-2.63 [[ 5.55474051e-01 -8.31520302e-01 4.75048090e-03 1.08028984e+02] [ 8.31489873e-01 5.55494364e-01 7.11355178e-03 5.79968233e+01] [-8.55392809e-03 -1.41665636e-06 9.99963414e-01 -2.62811055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19 meters 0.012181563175774695 Centerline is valid? [True, True] Translation: X:108.04, Y:58.02, Z:-2.63 [[ 5.56414726e-01 -8.30888239e-01 5.23325551e-03 1.08042300e+02] [ 8.30851255e-01 5.56439335e-01 7.83950522e-03 5.80214476e+01] [-9.42574190e-03 -1.39592357e-05 9.99955577e-01 -2.62834687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22 meters 0.01208510860646788 Centerline is valid? [True, True] Translation: X:108.06, Y:58.05, Z:-2.63 [[ 5.56994825e-01 -8.30496402e-01 5.70001569e-03 1.08055736e+02] [ 8.30452443e-01 5.57023990e-01 8.54486679e-03 5.80463239e+01] [-1.02715266e-02 -2.58546328e-05 9.99947246e-01 -2.62875976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25 meters 0.012158361188991985 Centerline is valid? [True, True] Translation: X:108.07, Y:58.07, Z:-2.63 [[ 5.57536830e-01 -8.30130910e-01 5.94603275e-03 1.08069014e+02] [ 8.30082990e-01 5.57568534e-01 8.91960498e-03 5.80707928e+01] [-1.07197606e-02 -3.73076357e-05 9.99942541e-01 -2.62944335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28 meters 0.012139218236263117 Centerline is valid? [True, True] Translation: X:108.08, Y:58.09, Z:-2.63 [[ 5.57627063e-01 -8.30069837e-01 6.01037201e-03 1.08082639e+02] [ 8.30020809e-01 5.57659452e-01 9.02178147e-03 5.80949397e+01] [-1.08404494e-02 -4.20556720e-05 9.99941240e-01 -2.63008596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31 meters 0.012072058875482081 Centerline is valid? [True, True] Translation: X:108.10, Y:58.12, Z:-2.63 [[ 5.57205864e-01 -8.30348213e-01 6.59321231e-03 1.08095174e+02] [ 8.30289143e-01 5.57244868e-01 9.90435980e-03 5.81196279e+01] [-1.18981012e-02 -4.44947613e-05 9.99929214e-01 -2.63014888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34 meters 0.011929100335425043 Centerline is valid? [True, True] Translation: X:108.11, Y:58.14, Z:-2.63 [[ 5.56496445e-01 -8.30821411e-01 6.89131699e-03 1.08109861e+02] [ 8.30756849e-01 5.56539111e-01 1.03573568e-02 5.81437641e+01] [-1.24404012e-02 -3.88234464e-05 9.99922614e-01 -2.62971837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37 meters 0.011966331414692348 Centerline is valid? [True, True] Translation: X:108.12, Y:58.17, Z:-2.63 [[ 5.55620238e-01 -8.31403893e-01 7.32918634e-03 1.08124447e+02] [ 8.31330817e-01 5.55668575e-01 1.10230505e-02 5.81681750e+01] [-1.32372057e-02 -3.16515036e-05 9.99912384e-01 -2.63001699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.4 meters 0.011844456818368142 Centerline is valid? [True, True] Translation: X:108.14, Y:58.19, Z:-2.63 [[ 5.53655944e-01 -8.32710235e-01 7.66545058e-03 1.08136981e+02] [ 8.32630293e-01 5.53709006e-01 1.15382629e-02 5.81917261e+01] [-1.38524586e-02 -5.74145078e-06 9.99904050e-01 -2.63106743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43 meters 0.011887388828822332 Centerline is valid? [True, True] Translation: X:108.15, Y:58.22, Z:-2.63 [[ 5.52566240e-01 -8.33435329e-01 7.49022198e-03 1.08151092e+02] [ 8.33359028e-01 5.52617003e-01 1.12773436e-02 5.82150005e+01] [-1.35381606e-02 1.05647400e-05 9.99908355e-01 -2.63295178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46 meters 0.01189263280354829 Centerline is valid? [True, True] Translation: X:108.17, Y:58.24, Z:-2.63 [[ 5.51564649e-01 -8.34103321e-01 6.93463658e-03 1.08166458e+02] [ 8.34037934e-01 5.51608240e-01 1.04438994e-02 5.82396644e+01] [-1.25364938e-02 2.32642910e-05 9.99921415e-01 -2.63428750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49 meters 0.01189263280354829 Centerline is valid? [True, True] Translation: X:108.18, Y:58.26, Z:-2.63 [[ 5.51327563e-01 -8.34260069e-01 6.93227540e-03 1.08181650e+02] [ 8.34194675e-01 5.51371143e-01 1.04454662e-02 5.82626869e+01] [-1.25364919e-02 2.39938273e-05 9.99921415e-01 -2.63485386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51999999999998 meters 0.012040796457327127 Centerline is valid? [True, True] Translation: X:108.20, Y:58.29, Z:-2.64 [[ 5.49879306e-01 -8.35220423e-01 6.29238370e-03 1.08197348e+02] [ 8.35166545e-01 5.49915306e-01 9.48678039e-03 5.82870371e+01] [-1.13838308e-02 3.86041335e-05 9.99935201e-01 -2.63690522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54999999999998 meters 0.012371174116776844 Centerline is valid? [True, True] Translation: X:108.21, Y:58.31, Z:-2.64 [[ 5.48057843e-01 -8.36426779e-01 4.77956613e-03 1.08213053e+02] [ 8.36395706e-01 5.48078682e-01 7.20981434e-03 5.83101310e+01] [-8.65006009e-03 4.62132966e-05 9.99962586e-01 -2.64021036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57999999999998 meters 0.01248203967299613 Centerline is valid? [True, True] Translation: X:108.23, Y:58.33, Z:-2.64 [[ 5.46608399e-01 -8.37376594e-01 4.43826869e-03 1.08228791e+02] [ 8.37349837e-01 5.46626414e-01 6.69433711e-03 5.83343805e+01] [-8.03175610e-03 5.72026761e-05 9.99967743e-01 -2.64074678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60999999999999 meters 0.012561739532414788 Centerline is valid? [True, True] Translation: X:108.25, Y:58.36, Z:-2.64 [[ 5.45258822e-01 -8.38256380e-01 4.36550155e-03 1.08245088e+02] [ 8.38230494e-01 5.45276294e-01 6.58802003e-03 5.83582820e+01] [-7.90285433e-03 6.71204786e-05 9.99968770e-01 -2.64170555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64 meters 0.013018575135318256 Centerline is valid? [True, True] Translation: X:108.26, Y:58.38, Z:-2.64 [[ 5.42579702e-01 -8.39993977e-01 4.16947985e-03 1.08261917e+02] [ 8.39970392e-01 5.42595716e-01 6.29519996e-03 5.83814591e+01] [-7.55027196e-03 8.65919017e-05 9.99971493e-01 -2.64228292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67 meters 0.013052173097900155 Centerline is valid? [True, True] Translation: X:108.28, Y:58.41, Z:-2.64 [[ 5.41190846e-01 -8.40889101e-01 4.24121076e-03 1.08277913e+02] [ 8.40864698e-01 5.41207455e-01 6.40706481e-03 5.84050188e+01] [-7.68300585e-03 9.88395856e-05 9.99970480e-01 -2.64249741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.7 meters 0.01326418457544932 Centerline is valid? [True, True] Translation: X:108.29, Y:58.43, Z:-2.64 [[ 5.39769944e-01 -8.41800440e-01 4.51965137e-03 1.08294712e+02] [ 8.41772723e-01 5.39788853e-01 6.83207119e-03 5.84288501e+01] [-8.19089796e-03 1.16772554e-04 9.99966447e-01 -2.64278960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73 meters 0.013406596027366798 Centerline is valid? [True, True] Translation: X:108.31, Y:58.45, Z:-2.64 [[ 5.38673058e-01 -8.42502192e-01 4.62517623e-03 1.08311535e+02] [ 8.42473158e-01 5.38692899e-01 6.99567024e-03 5.84528645e+01] [-8.38541711e-03 1.28207742e-04 9.99964834e-01 -2.64297001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76 meters 0.013572528293894435 Centerline is valid? [True, True] Translation: X:108.33, Y:58.48, Z:-2.64 [[ 5.37830195e-01 -8.43036017e-01 5.38096886e-03 1.08327575e+02] [ 8.42996693e-01 5.37857090e-01 8.14410529e-03 5.84763918e+01] [-9.75996634e-03 1.55993209e-04 9.99952358e-01 -2.64202432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79 meters 0.013319994575358367 Centerline is valid? [True, True] Translation: X:108.34, Y:58.50, Z:-2.64 [[ 5.38010016e-01 -8.42918959e-01 5.73152952e-03 1.08342693e+02] [ 8.42874267e-01 5.38040521e-01 8.68142321e-03 5.85009665e+01] [-1.04015314e-02 1.60266103e-04 9.99945890e-01 -2.64183921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82 meters 0.013261424713847397 Centerline is valid? [True, True] Translation: X:108.36, Y:58.53, Z:-2.64 [[ 5.38610174e-01 -8.42533573e-01 6.02162267e-03 1.08357942e+02] [ 8.42484157e-01 5.38643810e-01 9.12639575e-03 5.85260837e+01] [-1.09328046e-02 1.57552103e-04 9.99940223e-01 -2.64206244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85 meters 0.013169867949584427 Centerline is valid? [True, True] Translation: X:108.37, Y:58.55, Z:-2.64 [[ 5.39560441e-01 -8.41922260e-01 6.43724679e-03 1.08372544e+02] [ 8.41865643e-01 5.39598819e-01 9.76496431e-03 5.85503005e+01] [-1.16948716e-02 1.50508451e-04 9.99931601e-01 -2.64236189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88 meters 0.013010648060682153 Centerline is valid? [True, True] Translation: X:108.39, Y:58.57, Z:-2.64 [[ 5.40713768e-01 -8.41182336e-01 6.39518973e-03 1.08385948e+02] [ 8.41126401e-01 5.40751569e-01 9.70146914e-03 5.85741021e+01] [-1.16189134e-02 1.33444988e-04 9.99932489e-01 -2.64273443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91 meters 0.012407411479751631 Centerline is valid? [True, True] Translation: X:108.40, Y:58.60, Z:-2.64 [[ 5.44709555e-01 -8.38594341e-01 7.14361612e-03 1.08397779e+02] [ 8.38524266e-01 5.44756389e-01 1.08411818e-02 5.86006166e+01] [-1.29828842e-02 8.48001670e-05 9.99915715e-01 -2.64246084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94 meters 0.012144263797190368 Centerline is valid? [True, True] Translation: X:108.41, Y:58.63, Z:-2.64 [[ 5.47258339e-01 -8.36932236e-01 7.26238943e-03 1.08411004e+02] [ 8.36859586e-01 5.47306523e-01 1.10273993e-02 5.86263968e+01] [-1.32039391e-02 4.27639776e-05 9.99912823e-01 -2.64262631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97 meters 0.012121396999772474 Centerline is valid? [True, True] Translation: X:108.42, Y:58.65, Z:-2.64 [[ 5.50101648e-01 -8.35066910e-01 7.17162099e-03 1.08423558e+02] [ 8.34995837e-01 5.50148394e-01 1.08948294e-02 5.86517206e+01] [-1.30433673e-02 -4.98992313e-06 9.99914932e-01 -2.64353208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.0 meters 0.014193504885101854 Centerline is valid? [True, True] Translation: X:108.44, Y:58.68, Z:-2.65 [[ 5.53130674e-01 -8.33070540e-01 6.31925406e-03 1.08436051e+02] [ 8.33015166e-01 5.53166768e-01 9.60520868e-03 5.86780615e+01] [-1.14974177e-02 -4.89010782e-05 9.99933901e-01 -2.64534860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03 meters 0.012771279876688081 Centerline is valid? [True, True] Translation: X:108.45, Y:58.70, Z:-2.65 [[ 5.56799829e-01 -8.30627143e-01 5.70078274e-03 1.08448147e+02] [ 8.30581890e-01 5.56829005e-01 8.67086624e-03 5.87036357e+01] [-1.03766180e-02 -9.29699456e-05 9.99946157e-01 -2.64742178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06 meters 0.014520930568709685 Centerline is valid? [True, True] Translation: X:108.46, Y:58.73, Z:-2.65 [[ 5.63615681e-01 -8.26028432e-01 3.79382011e-03 1.08458603e+02] [ 8.26008306e-01 5.63628437e-01 5.76744571e-03 5.87308991e+01] [-6.90237904e-03 -1.16895922e-04 9.99976171e-01 -2.65118772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09 meters 0.01582740478093753 Centerline is valid? [True, True] Translation: X:108.47, Y:58.76, Z:-2.65 [[ 5.66248482e-01 -8.24228769e-01 3.09721776e-03 1.08471514e+02] [ 8.24215319e-01 5.66256941e-01 4.71015390e-03 5.87559478e+01] [-5.63606541e-03 -1.14343174e-04 9.99984111e-01 -2.65336202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12 meters 0.016287991517267474 Centerline is valid? [True, True] Translation: X:108.49, Y:58.78, Z:-2.65 [[ 5.70226565e-01 -8.21482543e-01 2.84525867e-03 1.08487245e+02] [ 8.21471152e-01 5.70233649e-01 4.32815337e-03 5.87807524e+01] [-5.17796467e-03 -1.30730114e-04 9.99986586e-01 -2.65318451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15 meters 0.01816708680828305 Centerline is valid? [True, True] Translation: X:108.50, Y:58.81, Z:-2.65 [[ 5.71234308e-01 -8.20781587e-01 2.99184406e-03 1.08500338e+02] [ 8.20768950e-01 5.71242124e-01 4.55712428e-03 5.88051046e+01] [-5.44947106e-03 -1.47573033e-04 9.99985141e-01 -2.65494470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18 meters 0.017792095466898163 Centerline is valid? [True, True] Translation: X:108.52, Y:58.83, Z:-2.65 [[ 5.71389901e-01 -8.20671427e-01 3.46267309e-03 1.08516633e+02] [ 8.20654506e-01 5.71400367e-01 5.27282250e-03 5.88274562e+01] [-6.30582745e-03 -1.71179255e-04 9.99980103e-01 -2.65464181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21 meters 0.018663049302082662 Centerline is valid? [True, True] Translation: X:108.53, Y:58.85, Z:-2.66 [[ 5.71092211e-01 -8.20875379e-01 4.15923021e-03 1.08531215e+02] [ 8.20850914e-01 5.71107319e-01 6.34093102e-03 5.88506892e+01] [-7.58048097e-03 -2.07148404e-04 9.99971246e-01 -2.65501453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24 meters 0.017361063602855133 Centerline is valid? [True, True] Translation: X:108.55, Y:58.87, Z:-2.65 [[ 5.70361038e-01 -8.21380526e-01 4.72410542e-03 1.08550388e+02] [ 8.21348949e-01 5.70380555e-01 7.20593315e-03 5.88722175e+01] [-8.61335104e-03 -2.29844489e-04 9.99962878e-01 -2.65347649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26999999999998 meters 0.016426979391183514 Centerline is valid? [True, True] Translation: X:108.57, Y:58.89, Z:-2.65 [[ 5.68111744e-01 -8.22928805e-01 6.10155101e-03 1.08570625e+02] [ 8.22876130e-01 5.68144444e-01 9.31481431e-03 5.88936760e+01] [-1.11319913e-02 -2.71034717e-04 9.99938001e-01 -2.65145807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29999999999998 meters 0.015786447038326122 Centerline is valid? [True, True] Translation: X:108.59, Y:58.92, Z:-2.65 [[ 5.66637852e-01 -8.23937640e-01 6.95060538e-03 1.08589651e+02] [ 8.23869267e-01 5.66680405e-01 1.06183658e-02 5.89163815e+01] [-1.26876431e-02 -2.90377814e-04 9.99919466e-01 -2.65088364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32999999999998 meters 0.014529368324808757 Centerline is valid? [True, True] Translation: X:108.61, Y:58.94, Z:-2.65 [[ 5.64931437e-01 -8.25104319e-01 7.43871571e-03 1.08609292e+02] [ 8.25026025e-01 5.64980337e-01 1.13700184e-02 5.89381135e+01] [-1.35841794e-02 -2.86146759e-04 9.99907690e-01 -2.64985836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35999999999999 meters 0.014777860864745484 Centerline is valid? [True, True] Translation: X:108.63, Y:58.96, Z:-2.65 [[ 5.62193642e-01 -8.26968021e-01 7.88673319e-03 1.08627798e+02] [ 8.26880059e-01 5.62248899e-01 1.20641744e-02 5.89596604e+01] [-1.44109935e-02 -2.61019768e-04 9.99896122e-01 -2.64986286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39 meters 0.014000399538465793 Centerline is valid? [True, True] Translation: X:108.65, Y:58.98, Z:-2.65 [[ 5.61166086e-01 -8.27667154e-01 7.72704276e-03 1.08645459e+02] [ 8.27582778e-01 5.61219232e-01 1.18202799e-02 5.89823057e+01] [-1.41198224e-02 -2.38372666e-04 9.99900282e-01 -2.65016155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42 meters 0.01674998077360185 Centerline is valid? [True, True] Translation: X:108.66, Y:59.00, Z:-2.65 [[ 5.60374213e-01 -8.28207126e-01 7.32794243e-03 1.08661248e+02] [ 8.28131191e-01 5.60422082e-01 1.12169779e-02 5.90047900e+01] [-1.33967218e-02 -2.17207482e-04 9.99910236e-01 -2.65205826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45 meters 0.014109449047683296 Centerline is valid? [True, True] Translation: X:108.68, Y:59.03, Z:-2.65 [[ 5.60288571e-01 -8.28265378e-01 7.29256875e-03 1.08677556e+02] [ 8.28190158e-01 5.60335986e-01 1.11644403e-02 5.90271196e+01] [-1.33334081e-02 -2.15674632e-04 9.99911083e-01 -2.65280785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48 meters 0.01418706276778396 Centerline is valid? [True, True] Translation: X:108.70, Y:59.05, Z:-2.66 [[ 5.60951585e-01 -8.27827802e-01 5.86933771e-03 1.08695251e+02] [ 8.27778978e-01 5.60982259e-01 8.99265796e-03 5.90493740e+01] [-1.07369666e-02 -1.85931364e-04 9.99942340e-01 -2.65511272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51 meters 0.015483034255119913 Centerline is valid? [True, True] Translation: X:108.71, Y:59.07, Z:-2.66 [[ 5.61373167e-01 -8.27547347e-01 5.05532623e-03 1.08710722e+02] [ 8.27511114e-01 5.61395905e-01 7.74558453e-03 5.90730238e+01] [-9.24787736e-03 -1.64824679e-04 9.99957224e-01 -2.65715908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54 meters 0.014448794268087916 Centerline is valid? [True, True] Translation: X:108.73, Y:59.10, Z:-2.66 [[ 5.62122198e-01 -8.27042312e-01 4.43263186e-03 1.08727575e+02] [ 8.27014421e-01 5.62139654e-01 6.79393622e-03 5.90959200e+01] [-8.11063086e-03 -1.53171894e-04 9.99967097e-01 -2.65841616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57 meters 0.016492240921337734 Centerline is valid? [True, True] Translation: X:108.74, Y:59.12, Z:-2.66 [[ 5.62488423e-01 -8.26796524e-01 3.77918747e-03 1.08739919e+02] [ 8.26776239e-01 5.62501103e-01 5.79306637e-03 5.91206929e+01] [-6.91548425e-03 -1.33990367e-04 9.99976079e-01 -2.66312116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.6 meters 0.014808343114604734 Centerline is valid? [True, True] Translation: X:108.76, Y:59.14, Z:-2.66 [[ 5.62384532e-01 -8.26869446e-01 3.24920376e-03 1.08759893e+02] [ 8.26854476e-01 5.62393907e-01 4.97681189e-03 5.91427432e+01] [-5.94250609e-03 -1.12263350e-04 9.99982337e-01 -2.66256363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63 meters 0.015144624140705186 Centerline is valid? [True, True] Translation: X:108.78, Y:59.16, Z:-2.66 [[ 5.62144094e-01 -8.27035674e-01 2.45199502e-03 1.08777761e+02] [ 8.27027135e-01 5.62149435e-01 3.75913632e-03 5.91641208e+01] [-4.48732746e-03 -8.53098625e-05 9.99989928e-01 -2.66459156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66 meters 0.01503290776636984 Centerline is valid? [True, True] Translation: X:108.80, Y:59.19, Z:-2.66 [[ 5.61309890e-01 -8.27602414e-01 2.33492927e-03 1.08795186e+02] [ 8.27594692e-01 5.61314741e-01 3.57579346e-03 5.91864179e+01] [-4.26996552e-03 -7.47531595e-05 9.99990881e-01 -2.66480374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69 meters 0.014491966236176481 Centerline is valid? [True, True] Translation: X:108.81, Y:59.21, Z:-2.66 [[ 5.60204594e-01 -8.28350120e-01 2.62528356e-03 1.08813772e+02] [ 8.28340344e-01 5.60210740e-01 4.02515538e-03 5.92088526e+01] [-4.80494998e-03 -8.02822483e-05 9.99988453e-01 -2.66446736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72 meters 0.015667423994879495 Centerline is valid? [True, True] Translation: X:108.83, Y:59.23, Z:-2.67 [[ 5.59223424e-01 -8.29012877e-01 2.61001198e-03 1.08829190e+02] [ 8.29003188e-01 5.59229510e-01 4.00866406e-03 5.92324612e+01] [-4.78282984e-03 -7.80305919e-05 9.99988559e-01 -2.66648260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75 meters 0.014035488913417379 Centerline is valid? [True, True] Translation: X:108.85, Y:59.25, Z:-2.66 [[ 5.55925640e-01 -8.31225283e-01 3.34829004e-03 1.08851825e+02] [ 8.31209392e-01 5.55935718e-01 5.14034595e-03 5.92518341e+01] [-6.13421955e-03 -7.45199799e-05 9.99981183e-01 -2.66355627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78 meters 0.013641723288762517 Centerline is valid? [True, True] Translation: X:108.87, Y:59.27, Z:-2.66 [[ 5.54265037e-01 -8.32331711e-01 3.76714790e-03 1.08870004e+02] [ 8.32311595e-01 5.54277835e-01 5.78708771e-03 5.92739651e+01] [-6.90482319e-03 -7.21395116e-05 9.99976159e-01 -2.66282758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81 meters 0.013378036214108487 Centerline is valid? [True, True] Translation: X:108.89, Y:59.30, Z:-2.66 [[ 5.52598181e-01 -8.33436876e-01 4.26895543e-03 1.08887862e+02] [ 8.33411037e-01 5.52614665e-01 6.56318476e-03 5.92960402e+01] [-7.82908759e-03 -6.90093847e-05 9.99969350e-01 -2.66219752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84 meters 0.0132007816022864 Centerline is valid? [True, True] Translation: X:108.90, Y:59.32, Z:-2.66 [[ 5.50929910e-01 -8.34538802e-01 4.60669319e-03 1.08904948e+02] [ 8.34508698e-01 5.50949166e-01 7.08873254e-03 5.93173975e+01] [-8.45387613e-03 -6.10692382e-05 9.99964263e-01 -2.66199839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87 meters 0.013003114979526505 Centerline is valid? [True, True] Translation: X:108.92, Y:59.34, Z:-2.66 [[ 5.47398617e-01 -8.36857082e-01 4.99775486e-03 1.08924986e+02] [ 8.36821697e-01 5.47421431e-01 7.69570638e-03 5.93370177e+01] [-9.17608451e-03 -3.03893233e-05 9.99957898e-01 -2.66201533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.9 meters 0.012873279151760992 Centerline is valid? [True, True] Translation: X:108.94, Y:59.36, Z:-2.66 [[ 5.45723412e-01 -8.37950685e-01 4.96057316e-03 1.08942396e+02] [ 8.37915861e-01 5.45745957e-01 7.63941790e-03 5.93590062e+01] [-9.10866821e-03 -1.24662752e-05 9.99958515e-01 -2.66185340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93 meters 0.012858360238856854 Centerline is valid? [True, True] Translation: X:108.96, Y:59.38, Z:-2.66 [[ 5.44139980e-01 -8.38979793e-01 4.95879438e-03 1.08959523e+02] [ 8.38944996e-01 5.44162575e-01 7.64111833e-03 5.93817643e+01] [-9.10913419e-03 2.31775267e-06 9.99958511e-01 -2.66203960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96 meters 0.013033676812460461 Centerline is valid? [True, True] Translation: X:108.98, Y:59.40, Z:-2.66 [[ 5.42688026e-01 -8.39920777e-01 4.77441245e-03 1.08975923e+02] [ 8.39888514e-01 5.42709027e-01 7.36171624e-03 5.94037668e+01] [-8.77437516e-03 1.48589266e-05 9.99961504e-01 -2.66288184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98999999999998 meters 0.013114836118675852 Centerline is valid? [True, True] Translation: X:108.99, Y:59.43, Z:-2.66 [[ 5.41328182e-01 -8.40799024e-01 4.56078194e-03 1.08992744e+02] [ 8.40769592e-01 5.41347394e-01 7.03513639e-03 5.94265196e+01] [-8.38410323e-03 2.62491751e-05 9.99964852e-01 -2.66280126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01999999999998 meters 0.013175559606288405 Centerline is valid? [True, True] Translation: X:109.01, Y:59.45, Z:-2.66 [[ 5.40258683e-01 -8.41488545e-01 4.19342946e-03 1.09009357e+02] [ 8.41463659e-01 5.40274956e-01 6.47173094e-03 5.94493480e+01] [-7.71149237e-03 3.22096673e-05 9.99970265e-01 -2.66327202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04999999999998 meters 0.013497173015982643 Centerline is valid? [True, True] Translation: X:109.03, Y:59.47, Z:-2.66 [[ 5.38566836e-01 -8.42576200e-01 3.33324333e-03 1.09026936e+02] [ 8.42560468e-01 5.38577150e-01 5.14896198e-03 5.94710939e+01] [-6.13360151e-03 3.53989020e-05 9.99981189e-01 -2.66484773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07999999999998 meters 0.013867272201358775 Centerline is valid? [True, True] Translation: X:109.04, Y:59.49, Z:-2.67 [[ 5.37529264e-01 -8.43240025e-01 2.92428359e-03 1.09043573e+02] [ 8.43227920e-01 5.37537217e-01 4.51832748e-03 5.94935253e+01] [-5.38194584e-03 3.71043265e-05 9.99985517e-01 -2.66632073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10999999999999 meters 0.013937067950105365 Centerline is valid? [True, True] Translation: X:109.06, Y:59.52, Z:-2.67 [[ 5.36229958e-01 -8.44068179e-01 2.51821023e-03 1.09060198e+02] [ 8.44059227e-01 5.36235869e-01 3.88773368e-03 5.95168394e+01] [-4.63186694e-03 4.07993141e-05 9.99989272e-01 -2.66674613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14 meters 0.01433687344005712 Centerline is valid? [True, True] Translation: X:109.08, Y:59.54, Z:-2.67 [[ 5.34463674e-01 -8.45189080e-01 2.00021283e-03 1.09078417e+02] [ 8.45183428e-01 5.34467416e-01 3.09112488e-03 5.95389141e+01] [-3.68163357e-03 3.84527814e-05 9.99993222e-01 -2.66771326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17 meters 0.014551120795292728 Centerline is valid? [True, True] Translation: X:109.09, Y:59.56, Z:-2.67 [[ 5.33667040e-01 -8.45692190e-01 2.05204580e-03 1.09094794e+02] [ 8.45686246e-01 5.33670984e-01 3.17078664e-03 5.95611242e+01] [-3.77662680e-03 4.32425911e-05 9.99992868e-01 -2.66850988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.2 meters 0.01670284826456533 Centerline is valid? [True, True] Translation: X:109.11, Y:59.59, Z:-2.67 [[ 5.33103714e-01 -8.46049369e-01 9.46497337e-04 1.09111133e+02] [ 8.46048114e-01 5.33104554e-01 1.45737623e-03 5.95851293e+01] [-1.73759428e-03 2.38496068e-05 9.99998490e-01 -2.66827336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23 meters 0.014497560707278173 Centerline is valid? [True, True] Translation: X:109.13, Y:59.61, Z:-2.67 [[ 5.32924502e-01 -8.46160199e-01 2.09595608e-03 1.09128637e+02] [ 8.46153997e-01 5.32928621e-01 3.24011728e-03 5.96077846e+01] [-3.85865327e-03 4.67637273e-05 9.99992554e-01 -2.66850256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26 meters 0.014483406641351474 Centerline is valid? [True, True] Translation: X:109.14, Y:59.63, Z:-2.67 [[ 5.32904208e-01 -8.46172307e-01 2.35192268e-03 1.09144533e+02] [ 8.46164489e-01 5.32909396e-01 3.63786459e-03 5.96306269e+01] [-4.33162197e-03 5.14801046e-05 9.99990617e-01 -2.66832565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29 meters 0.014136992092385276 Centerline is valid? [True, True] Translation: X:109.16, Y:59.65, Z:-2.67 [[ 5.33172815e-01 -8.46002824e-01 2.44350819e-03 1.09160352e+02] [ 8.45994372e-01 5.33178412e-01 3.78208865e-03 5.96544333e+01] [-4.50248349e-03 5.06873243e-05 9.99989862e-01 -2.66753228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32 meters 0.014041461683566169 Centerline is valid? [True, True] Translation: X:109.18, Y:59.68, Z:-2.67 [[ 5.33864526e-01 -8.45565546e-01 2.75241389e-03 1.09175540e+02] [ 8.45554780e-01 5.33871619e-01 4.26718579e-03 5.96766846e+01] [-5.07762094e-03 4.92176025e-05 9.99987108e-01 -2.66778261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35 meters 0.013711064541172 Centerline is valid? [True, True] Translation: X:109.19, Y:59.70, Z:-2.67 [[ 5.35486122e-01 -8.44537877e-01 3.22307088e-03 1.09191864e+02] [ 8.44523090e-01 5.35495819e-01 4.99773290e-03 5.97002729e+01] [-5.94671572e-03 4.57411655e-05 9.99982317e-01 -2.66664748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38 meters 0.013711064541172 Centerline is valid? [True, True] Translation: X:109.21, Y:59.72, Z:-2.67 [[ 5.35244804e-01 -8.44690843e-01 3.22180767e-03 1.09206748e+02] [ 8.44676054e-01 5.35254498e-01 4.99854655e-03 5.97235207e+01] [-5.94671355e-03 4.59377235e-05 9.99982317e-01 -2.66721371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41 meters 0.013786827011637248 Centerline is valid? [True, True] Translation: X:109.22, Y:59.75, Z:-2.67 [[ 5.36399395e-01 -8.43956596e-01 3.59904483e-03 1.09221465e+02] [ 8.43938083e-01 5.36411468e-01 5.59011424e-03 5.97458601e+01] [-6.64838270e-03 3.88370966e-05 9.99977899e-01 -2.66837285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44 meters 0.013293897898969481 Centerline is valid? [True, True] Translation: X:109.24, Y:59.77, Z:-2.67 [[ 5.37551394e-01 -8.43222255e-01 3.83759270e-03 1.09235755e+02] [ 8.43201172e-01 5.37565092e-01 5.96281211e-03 5.97698481e+01] [-7.09093175e-03 3.05446954e-05 9.99974859e-01 -2.66751497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47 meters 0.013177170940687663 Centerline is valid? [True, True] Translation: X:109.25, Y:59.79, Z:-2.67 [[ 5.39248553e-01 -8.42137304e-01 3.96978055e-03 1.09249221e+02] [ 8.42114678e-01 5.39263165e-01 6.17319369e-03 5.97929243e+01] [-7.33943312e-03 1.41247016e-05 9.99973066e-01 -2.66848511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.5 meters 0.013211930700152547 Centerline is valid? [True, True] Translation: X:109.26, Y:59.82, Z:-2.67 [[ 5.43406556e-01 -8.39459713e-01 4.08716903e-03 1.09261814e+02] [ 8.39435630e-01 5.43421926e-01 6.35881575e-03 5.98179351e+01] [-7.55902691e-03 -2.45068564e-05 9.99971430e-01 -2.66986801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53 meters 0.013393550671849285 Centerline is valid? [True, True] Translation: X:109.28, Y:59.84, Z:-2.67 [[ 5.45495781e-01 -8.38104926e-01 3.80603064e-03 1.09276262e+02] [ 8.38083982e-01 5.45509057e-01 5.92519600e-03 5.98427025e+01] [-7.04216014e-03 -4.23961094e-05 9.99975203e-01 -2.67060937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56 meters 0.013565734047606625 Centerline is valid? [True, True] Translation: X:109.29, Y:59.87, Z:-2.67 [[ 5.47284801e-01 -8.36937391e-01 3.89237648e-03 1.09290748e+02] [ 8.36915435e-01 5.47298639e-01 6.06251169e-03 5.98674740e+01] [-7.20423506e-03 -6.03305449e-05 9.99974047e-01 -2.67159176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59 meters 0.014052876642391795 Centerline is valid? [True, True] Translation: X:109.30, Y:59.89, Z:-2.67 [[ 5.49168223e-01 -8.35704175e-01 3.57695897e-03 1.09304846e+02] [ 8.35685569e-01 5.49179867e-01 5.57703026e-03 5.98913834e+01] [-6.62514132e-03 -7.35147995e-05 9.99978051e-01 -2.67283773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62 meters 0.015003996925984765 Centerline is valid? [True, True] Translation: X:109.32, Y:59.92, Z:-2.67 [[ 5.51983680e-01 -8.33850093e-01 2.83544770e-03 1.09318623e+02] [ 8.33838386e-01 5.51990958e-01 4.41914442e-03 5.99156266e+01] [-5.25004547e-03 -7.49904623e-05 9.99986216e-01 -2.67476450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65 meters 0.015153305288494366 Centerline is valid? [True, True] Translation: X:109.33, Y:59.94, Z:-2.68 [[ 5.53195700e-01 -8.33047835e-01 2.41300455e-03 1.09333972e+02] [ 8.33039351e-01 5.53200958e-01 3.76035006e-03 5.99399490e+01] [-4.46742791e-03 -7.00817412e-05 9.99990019e-01 -2.67537084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68 meters 0.015162030899696508 Centerline is valid? [True, True] Translation: X:109.35, Y:59.96, Z:-2.68 [[ 5.53871284e-01 -8.32600133e-01 1.90255268e-03 1.09349135e+02] [ 8.32594857e-01 5.53874549e-01 2.96438649e-03 5.99642748e+01] [-3.52192409e-03 -5.78329784e-05 9.99993796e-01 -2.67642006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71 meters 0.015349125043185818 Centerline is valid? [True, True] Translation: X:109.36, Y:59.99, Z:-2.68 [[ 5.54287413e-01 -8.32324462e-01 1.20533766e-03 1.09363943e+02] [ 8.32322350e-01 5.54288723e-01 1.87561699e-03 5.99892968e+01] [-2.22922698e-03 -3.64014207e-05 9.99997515e-01 -2.67810929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73999999999998 meters 0.015423968908851208 Centerline is valid? [True, True] Translation: X:109.38, Y:60.01, Z:-2.68 [[ 5.54716571e-01 -8.32039370e-01 -1.15941566e-04 1.09378321e+02] [ 8.32039348e-01 5.54716583e-01 -1.90975954e-04 6.00143013e+01] [ 2.23214221e-04 9.46958100e-06 9.99999975e-01 -2.68138910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76999999999998 meters 0.015347786851886439 Centerline is valid? [True, True] Translation: X:109.39, Y:60.04, Z:-2.68 [[ 5.54474453e-01 -8.32200398e-01 -7.60763652e-04 1.09393360e+02] [ 8.32199533e-01 5.54474974e-01 -1.20065059e-03 6.00387372e+01] [ 1.42100630e-03 3.26229214e-05 9.99998990e-01 -2.68328333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79999999999998 meters 0.015486898256790498 Centerline is valid? [True, True] Translation: X:109.41, Y:60.06, Z:-2.68 [[ 5.54246376e-01 -8.32352251e-01 -8.27457798e-04 1.09408501e+02] [ 8.32351225e-01 5.54246993e-01 -1.30729817e-03 6.00627045e+01] [ 1.54674857e-03 3.58297625e-05 9.99998803e-01 -2.68432506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82999999999998 meters 0.015038389308628544 Centerline is valid? [True, True] Translation: X:109.42, Y:60.09, Z:-2.68 [[ 5.53804497e-01 -8.32646162e-01 -9.73497345e-04 1.09424651e+02] [ 8.32644744e-01 5.53805351e-01 -1.53726734e-03 6.00857044e+01] [ 1.81912779e-03 4.07681198e-05 9.99998345e-01 -2.68362397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85999999999999 meters 0.015196672049714898 Centerline is valid? [True, True] Translation: X:109.44, Y:60.11, Z:-2.68 [[ 5.53610309e-01 -8.32775631e-01 -6.12222742e-04 1.09439518e+02] [ 8.32775067e-01 5.53610647e-01 -9.69531729e-04 6.01081754e+01] [ 1.14633542e-03 2.68989254e-05 9.99999343e-01 -2.68368517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89 meters 0.015344903264650923 Centerline is valid? [True, True] Translation: X:109.46, Y:60.13, Z:-2.68 [[ 5.53144094e-01 -8.33085597e-01 -1.27637094e-05 1.09455181e+02] [ 8.33085596e-01 5.53144094e-01 -2.81491696e-05 6.01302840e+01] [ 3.05108382e-05 4.93728450e-06 1.00000000e+00 -2.68361968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92 meters 0.015233778287704005 Centerline is valid? [True, True] Translation: X:109.47, Y:60.15, Z:-2.68 [[ 5.52713458e-01 -8.33371198e-01 5.28755526e-04 1.09471163e+02] [ 8.33370795e-01 5.52713711e-01 8.19660689e-04 6.01541177e+01] [-9.75332039e-04 -1.23880804e-05 9.99999524e-01 -2.68356000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95 meters 0.015316687467346837 Centerline is valid? [True, True] Translation: X:109.49, Y:60.18, Z:-2.68 [[ 5.52589817e-01 -8.33452501e-01 1.19306769e-03 1.09486359e+02] [ 8.33450417e-01 5.52591104e-01 1.86383512e-03 6.01775240e+01] [-2.21269663e-03 -3.55735392e-05 9.99997551e-01 -2.68375647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98 meters 0.015019975991707925 Centerline is valid? [True, True] Translation: X:109.50, Y:60.20, Z:-2.68 [[ 5.52401888e-01 -8.33576058e-01 1.76369968e-03 1.09502225e+02] [ 8.33571484e-01 5.52404700e-01 2.76188417e-03 6.02010749e+01] [-3.27651651e-03 -5.55002637e-05 9.99994631e-01 -2.68312018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01 meters 0.014894597695810093 Centerline is valid? [True, True] Translation: X:109.52, Y:60.22, Z:-2.68 [[ 5.51584563e-01 -8.34114685e-01 2.67602731e-03 1.09519375e+02] [ 8.34104117e-01 5.51591048e-01 4.19964492e-03 6.02245540e+01] [-4.97905821e-03 -8.43739076e-05 9.99987601e-01 -2.68227977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04 meters 0.014823099518173172 Centerline is valid? [True, True] Translation: X:109.54, Y:60.25, Z:-2.68 [[ 5.50908781e-01 -8.34559936e-01 3.03790057e-03 1.09535437e+02] [ 8.34546305e-01 5.50917149e-01 4.77069902e-03 6.02482894e+01] [-5.65506579e-03 -9.29512834e-05 9.99984006e-01 -2.68199767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07 meters 0.014794145122678739 Centerline is valid? [True, True] Translation: X:109.55, Y:60.27, Z:-2.68 [[ 5.49189644e-01 -8.35691079e-01 3.33997006e-03 1.09551065e+02] [ 8.35674581e-01 5.49199793e-01 5.25191639e-03 6.02707660e+01] [-6.22329054e-03 -9.31700166e-05 9.99980631e-01 -2.68265113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.1 meters 0.014200519298482837 Centerline is valid? [True, True] Translation: X:109.57, Y:60.29, Z:-2.68 [[ 5.47484166e-01 -8.36809689e-01 3.26084725e-03 1.09567181e+02] [ 8.36793987e-01 5.47493871e-01 5.12686377e-03 6.02938768e+01] [-6.07550316e-03 -7.82193580e-05 9.99981541e-01 -2.68316106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13 meters 0.013972086681175217 Centerline is valid? [True, True] Translation: X:109.58, Y:60.32, Z:-2.68 [[ 5.45839286e-01 -8.37883068e-01 3.38214719e-03 1.09583636e+02] [ 8.37866155e-01 5.45849759e-01 5.32413642e-03 6.03175520e+01] [-6.30714798e-03 -7.23361615e-05 9.99980107e-01 -2.68378688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16 meters 0.01390604921845999 Centerline is valid? [True, True] Translation: X:109.60, Y:60.34, Z:-2.68 [[ 5.44168124e-01 -8.38968196e-01 3.66313682e-03 1.09599190e+02] [ 8.38948371e-01 5.44180449e-01 5.76791616e-03 6.03402131e+01] [-6.83250565e-03 -6.55334489e-05 9.99976656e-01 -2.68461971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19 meters 0.01368525870245868 Centerline is valid? [True, True] Translation: X:109.62, Y:60.36, Z:-2.69 [[ 5.42339633e-01 -8.40151308e-01 3.67449040e-03 1.09615626e+02] [ 8.40131379e-01 5.42352078e-01 5.78700748e-03 6.03636026e+01] [-6.85482941e-03 -5.14688282e-05 9.99976504e-01 -2.68513629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22 meters 0.013519331086276126 Centerline is valid? [True, True] Translation: X:109.63, Y:60.39, Z:-2.69 [[ 5.40576769e-01 -8.41287442e-01 3.49224976e-03 1.09631987e+02] [ 8.41269448e-01 5.40588048e-01 5.50261484e-03 6.03867406e+01] [-6.51714924e-03 -3.66627245e-05 9.99978762e-01 -2.68569529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25 meters 0.013545433186976456 Centerline is valid? [True, True] Translation: X:109.65, Y:60.41, Z:-2.69 [[ 5.37488938e-01 -8.43262027e-01 3.84639214e-03 1.09648661e+02] [ 8.43240195e-01 5.37502701e-01 6.06797187e-03 6.04082191e+01] [-7.18433642e-03 -1.80352946e-05 9.99974192e-01 -2.68660249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28 meters 0.013627226143326388 Centerline is valid? [True, True] Translation: X:109.66, Y:60.43, Z:-2.69 [[ 5.35765035e-01 -8.44359555e-01 3.57328373e-03 1.09664144e+02] [ 8.44340738e-01 5.35776951e-01 5.63707490e-03 6.04302160e+01] [-6.67420112e-03 -3.07860762e-06 9.99977727e-01 -2.68795635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31 meters 0.013641690574513822 Centerline is valid? [True, True] Translation: X:109.68, Y:60.45, Z:-2.69 [[ 5.33764964e-01 -8.45625538e-01 3.52318594e-03 1.09680169e+02] [ 8.45607259e-01 5.33776591e-01 5.56009370e-03 6.04531542e+01] [-6.58235141e-03 1.14483972e-05 9.99978336e-01 -2.68819865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34 meters 0.013810342201585479 Centerline is valid? [True, True] Translation: X:109.70, Y:60.48, Z:-2.69 [[ 5.31409561e-01 -8.47108155e-01 3.41364904e-03 1.09696567e+02] [ 8.47091005e-01 5.31420524e-01 5.39027376e-03 6.04762248e+01] [-6.38022802e-03 2.72283880e-05 9.99979646e-01 -2.68867093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37 meters 0.01435713830183498 Centerline is valid? [True, True] Translation: X:109.71, Y:60.50, Z:-2.69 [[ 5.26668969e-01 -8.50061069e-01 3.99690624e-03 1.09714151e+02] [ 8.50037581e-01 5.26684131e-01 6.31964596e-03 6.04978693e+01] [-7.47719209e-03 6.91590880e-05 9.99972043e-01 -2.68871972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.4 meters 0.014510421868655832 Centerline is valid? [True, True] Translation: X:109.73, Y:60.52, Z:-2.69 [[ 5.24126852e-01 -8.51627210e-01 4.70519364e-03 1.09730077e+02] [ 8.51594704e-01 5.24147960e-01 7.44145517e-03 6.05209771e+01] [-8.80356335e-03 1.06651522e-04 9.99961242e-01 -2.68784628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43 meters 0.015708491531076004 Centerline is valid? [True, True] Translation: X:109.75, Y:60.54, Z:-2.69 [[ 5.21848249e-01 -8.53021057e-01 5.42962143e-03 1.09747771e+02] [ 8.52977771e-01 5.21876474e-01 8.59465853e-03 6.05425344e+01] [-1.01650164e-02 1.46238882e-04 9.99948324e-01 -2.68888471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46 meters 0.015316957739138616 Centerline is valid? [True, True] Translation: X:109.76, Y:60.57, Z:-2.69 [[ 5.19939074e-01 -8.54180789e-01 6.20798870e-03 1.09762696e+02] [ 8.54124179e-01 5.19976099e-01 9.83583171e-03 6.05667524e+01] [-1.16295842e-02 1.88360020e-04 9.99932356e-01 -2.68671315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48999999999998 meters 0.015596782968449685 Centerline is valid? [True, True] Translation: X:109.78, Y:60.59, Z:-2.69 [[ 5.16739556e-01 -8.56108791e-01 7.61375705e-03 1.09778185e+02] [ 8.56023786e-01 5.16795567e-01 1.20673041e-02 6.05906641e+01] [-1.42656810e-02 2.81903775e-04 9.99898200e-01 -2.68574671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51999999999998 meters 0.015802521840200194 Centerline is valid? [True, True] Translation: X:109.79, Y:60.62, Z:-2.69 [[ 5.15607898e-01 -8.56782422e-01 8.50746762e-03 1.09793121e+02] [ 8.56676317e-01 5.15677971e-01 1.34876760e-02 6.06150397e+01] [-1.59431173e-02 3.33793776e-04 9.99872845e-01 -2.68610682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54999999999998 meters 0.015977262173594454 Centerline is valid? [True, True] Translation: X:109.81, Y:60.64, Z:-2.69 [[ 5.15154928e-01 -8.57046753e-01 9.28777789e-03 1.09807138e+02] [ 8.56920157e-01 5.15238515e-01 1.47349108e-02 6.06385059e+01] [-1.74139283e-02 3.68122199e-04 9.99848298e-01 -2.68649298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57999999999998 meters 0.015691939566279664 Centerline is valid? [True, True] Translation: X:109.82, Y:60.66, Z:-2.69 [[ 5.14825164e-01 -8.57236615e-01 1.00217894e-02 1.09820508e+02] [ 8.57089071e-01 5.14922544e-01 1.59090414e-02 6.06631468e+01] [-1.87982581e-02 3.99191324e-04 9.99823217e-01 -2.68688435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60999999999999 meters 0.0155856764153972 Centerline is valid? [True, True] Translation: X:109.83, Y:60.69, Z:-2.69 [[ 5.16260820e-01 -8.56357376e-01 1.12609718e-02 1.09833144e+02] [ 8.56170613e-01 5.16383461e-01 1.78885991e-02 6.06880416e+01] [-2.11340134e-02 4.06130273e-04 9.99776569e-01 -2.68697394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64 meters 0.014888033091447567 Centerline is valid? [True, True] Translation: X:109.85, Y:60.71, Z:-2.69 [[ 5.17762592e-01 -8.55446224e-01 1.15610103e-02 1.09846144e+02] [ 8.55249060e-01 5.17891510e-01 1.83692229e-02 6.07144733e+01] [-2.17012314e-02 3.76646704e-04 9.99764430e-01 -2.68800480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67 meters 0.014617025121580708 Centerline is valid? [True, True] Translation: X:109.86, Y:60.74, Z:-2.69 [[ 5.19781548e-01 -8.54223289e-01 1.13892371e-02 1.09858534e+02] [ 8.54031441e-01 5.19906216e-01 1.81059149e-02 6.07392146e+01] [-2.13878293e-02 3.15646113e-04 9.99771204e-01 -2.68922784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.7 meters 0.013823112174338622 Centerline is valid? [True, True] Translation: X:109.87, Y:60.77, Z:-2.69 [[ 5.22371207e-01 -8.52639365e-01 1.15946243e-02 1.09870142e+02] [ 8.52440007e-01 5.22499808e-01 1.84386688e-02 6.07657473e+01] [-2.17797239e-02 2.51891918e-04 9.99762762e-01 -2.69065972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73 meters 0.01348251396372321 Centerline is valid? [True, True] Translation: X:109.88, Y:60.79, Z:-2.69 [[ 5.25397377e-01 -8.50775342e-01 1.17861722e-02 1.09881658e+02] [ 8.50568646e-01 5.25529531e-01 1.87534232e-02 6.07912764e+01] [-2.21489316e-02 1.71949100e-04 9.99754668e-01 -2.69174236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76 meters 0.013088707730696238 Centerline is valid? [True, True] Translation: X:109.89, Y:60.82, Z:-2.69 [[ 5.32504411e-01 -8.46343700e-01 1.18909618e-02 1.09889106e+02] [ 8.46132094e-01 5.32637158e-01 1.89245352e-02 6.08196138e+01] [-2.23502292e-02 -1.60739995e-05 9.99750202e-01 -2.69338753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79 meters 0.013203479584103948 Centerline is valid? [True, True] Translation: X:109.90, Y:60.85, Z:-2.69 [[ 5.35790211e-01 -8.44264845e-01 1.20714932e-02 1.09900797e+02] [ 8.44045964e-01 5.35926169e-01 1.92237253e-02 6.08457951e+01] [-2.26993446e-02 -1.10988671e-04 9.99742331e-01 -2.69452806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82 meters 0.013555154422299877 Centerline is valid? [True, True] Translation: X:109.91, Y:60.87, Z:-2.70 [[ 5.38535645e-01 -8.42519001e-01 1.18781789e-02 1.09912868e+02] [ 8.42306395e-01 5.38666592e-01 1.89272251e-02 6.08722527e+01] [-2.23449249e-02 -1.87919357e-04 9.99750303e-01 -2.69551420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85 meters 0.014348103429197076 Centerline is valid? [True, True] Translation: X:109.92, Y:60.90, Z:-2.70 [[ 5.42971927e-01 -8.39665799e-01 1.19512106e-02 1.09923399e+02] [ 8.39449639e-01 5.43103348e-01 1.90540558e-02 6.08992998e+01] [-2.24897815e-02 -3.13378015e-04 9.99747024e-01 -2.69688791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88 meters 0.014974436980955276 Centerline is valid? [True, True] Translation: X:109.94, Y:60.92, Z:-2.70 [[ 5.44396667e-01 -8.38740833e-01 1.20865116e-02 1.09936148e+02] [ 8.38519332e-01 5.44530701e-01 1.92780957e-02 6.09239311e+01] [-2.27508027e-02 -3.60157456e-04 9.99741102e-01 -2.69736340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91 meters 0.014939112406700377 Centerline is valid? [True, True] Translation: X:109.95, Y:60.95, Z:-2.70 [[ 5.45081940e-01 -8.38297077e-01 1.19870378e-02 1.09950879e+02] [ 8.38078959e-01 5.45213597e-01 1.91256738e-02 6.09485994e+01] [-2.25684924e-02 -3.78975249e-04 9.99745227e-01 -2.69795136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94 meters 0.014842755132332392 Centerline is valid? [True, True] Translation: X:109.97, Y:60.97, Z:-2.70 [[ 5.45279231e-01 -8.38166866e-01 1.21187992e-02 1.09965692e+02] [ 8.37943622e-01 5.45413741e-01 1.93478076e-02 6.09735037e+01] [-2.28264508e-02 -3.95087152e-04 9.99739365e-01 -2.69867845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97 meters 0.015101893940308666 Centerline is valid? [True, True] Translation: X:109.98, Y:61.00, Z:-2.70 [[ 5.45189655e-01 -8.38226144e-01 1.20486863e-02 1.09979301e+02] [ 8.38005242e-01 5.45322633e-01 1.92468366e-02 6.09969350e+01] [-2.27036230e-02 -3.96313977e-04 9.99742161e-01 -2.69941906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.0 meters 0.01476870546844505 Centerline is valid? [True, True] Translation: X:109.99, Y:61.02, Z:-2.70 [[ 5.43953636e-01 -8.39032828e-01 1.17624390e-02 1.09994674e+02] [ 8.38822244e-01 5.44080678e-01 1.88004888e-02 6.10206363e+01] [-2.21739431e-02 -3.59998796e-04 9.99754063e-01 -2.70041647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03 meters 0.014629490013604318 Centerline is valid? [True, True] Translation: X:110.01, Y:61.04, Z:-2.70 [[ 5.42820045e-01 -8.39771847e-01 1.13860876e-02 1.10009534e+02] [ 8.39574450e-01 5.42939351e-01 1.82099789e-02 6.10439022e+01] [-2.14741826e-02 -3.25273370e-04 9.99769350e-01 -2.70107884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06 meters 0.014427103212340286 Centerline is valid? [True, True] Translation: X:110.02, Y:61.07, Z:-2.70 [[ 5.41574337e-01 -8.40577300e-01 1.12712172e-02 1.10024666e+02] [ 8.40383842e-01 5.41691532e-01 1.80355850e-02 6.10672238e+01] [-2.12658263e-02 -2.95461169e-04 9.99773813e-01 -2.70218808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09 meters 0.014297569047079385 Centerline is valid? [True, True] Translation: X:110.04, Y:61.09, Z:-2.70 [[ 5.40120928e-01 -8.41513763e-01 1.11342150e-02 1.10040023e+02] [ 8.41324946e-01 5.40235614e-01 1.78273906e-02 6.10907658e+01] [-2.10170941e-02 -2.61453905e-04 9.99779082e-01 -2.70315072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12 meters 0.0140578458637853 Centerline is valid? [True, True] Translation: X:110.06, Y:61.11, Z:-2.70 [[ 5.38939932e-01 -8.42270623e-01 1.11331340e-02 1.10056104e+02] [ 8.42081772e-01 5.39054859e-01 1.78367083e-02 6.11145160e+01] [-2.10247054e-02 -2.37905163e-04 9.99778928e-01 -2.70349866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15 meters 0.013913174090425735 Centerline is valid? [True, True] Translation: X:110.07, Y:61.14, Z:-2.70 [[ 5.37315947e-01 -8.43310482e-01 1.09088908e-02 1.10072100e+02] [ 8.43129170e-01 5.37426638e-01 1.74874903e-02 6.11367223e+01] [-2.06101124e-02 -1.98703401e-04 9.99787569e-01 -2.70402148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18 meters 0.013968144010576498 Centerline is valid? [True, True] Translation: X:110.09, Y:61.16, Z:-2.71 [[ 5.36742591e-01 -8.43679513e-01 1.05958075e-02 1.10086326e+02] [ 8.43508363e-01 5.36847135e-01 1.69939885e-02 6.11598739e+01] [-2.00258088e-02 -1.83745186e-04 9.99799447e-01 -2.70500093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21 meters 0.013673030937539379 Centerline is valid? [True, True] Translation: X:110.10, Y:61.18, Z:-2.71 [[ 5.36082462e-01 -8.44101817e-01 1.03786435e-02 1.10101872e+02] [ 8.43937514e-01 5.36182891e-01 1.66547290e-02 6.11829776e+01] [-1.96231381e-02 -1.69381579e-04 9.99807433e-01 -2.70598749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23999999999998 meters 0.013717315175524453 Centerline is valid? [True, True] Translation: X:110.12, Y:61.21, Z:-2.71 [[ 5.35507488e-01 -8.44470214e-01 1.00890221e-02 1.10116997e+02] [ 8.44314828e-01 5.35602496e-01 1.61999229e-02 6.12062563e+01] [-1.90840578e-02 -1.56869018e-04 9.99817870e-01 -2.70720590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26999999999998 meters 0.013437181152753547 Centerline is valid? [True, True] Translation: X:110.13, Y:61.23, Z:-2.71 [[ 5.33633354e-01 -8.45666878e-01 9.10902204e-03 1.10134156e+02] [ 8.45540248e-01 5.33711082e-01 1.46345194e-02 6.12286957e+01] [-1.72375144e-02 -1.07422928e-04 9.99851417e-01 -2.70908643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29999999999998 meters 0.013437181152753547 Centerline is valid? [True, True] Translation: X:110.15, Y:61.25, Z:-2.71 [[ 5.33395112e-01 -8.45817212e-01 9.10489151e-03 1.10148669e+02] [ 8.45690560e-01 5.33472805e-01 1.46370886e-02 6.12521655e+01] [-1.72375135e-02 -1.07430737e-04 9.99851417e-01 -2.70965251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32999999999998 meters 0.013334368832248877 Centerline is valid? [True, True] Translation: X:110.16, Y:61.27, Z:-2.71 [[ 5.31956210e-01 -8.46728935e-01 8.52646863e-03 1.10164947e+02] [ 8.46617854e-01 5.32024534e-01 1.37151222e-02 6.12748207e+01] [-1.61492813e-02 -7.71838529e-05 9.99869589e-01 -2.71105949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35999999999999 meters 0.0131391017850744 Centerline is valid? [True, True] Translation: X:110.18, Y:61.30, Z:-2.71 [[ 5.27872444e-01 -8.49288123e-01 7.76959387e-03 1.10184616e+02] [ 8.49196062e-01 5.27929620e-01 1.25045615e-02 6.12960264e+01] [-1.47217743e-02 -2.90492089e-06 9.99891629e-01 -2.71186301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39 meters 0.013278985942059283 Centerline is valid? [True, True] Translation: X:110.20, Y:61.32, Z:-2.71 [[ 5.25199525e-01 -8.50945356e-01 7.58027589e-03 1.10202182e+02] [ 8.50857791e-01 5.25254224e-01 1.22073414e-02 6.13183442e+01] [-1.43693524e-02 3.84469055e-05 9.99896755e-01 -2.71183813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42 meters 0.013460467344212374 Centerline is valid? [True, True] Translation: X:110.22, Y:61.34, Z:-2.71 [[ 5.22026224e-01 -8.52893178e-01 7.86434039e-03 1.10219910e+02] [ 8.52799021e-01 5.22085451e-01 1.26733011e-02 6.13410489e+01] [-1.49148298e-02 9.09062703e-05 9.99888764e-01 -2.71152921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45 meters 0.01384508317144532 Centerline is valid? [True, True] Translation: X:110.24, Y:61.36, Z:-2.71 [[ 5.18828058e-01 -8.54839702e-01 8.15662426e-03 1.10237442e+02] [ 8.54738493e-01 5.18892150e-01 1.31546931e-02 6.13624639e+01] [-1.54775622e-02 1.46756854e-04 9.99880205e-01 -2.71116444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48 meters 0.014749193563409896 Centerline is valid? [True, True] Translation: X:110.26, Y:61.38, Z:-2.71 [[ 5.12563073e-01 -8.58601480e-01 9.08818958e-03 1.10256936e+02] [ 8.58476361e-01 5.12643557e-01 1.46602202e-02 6.13839130e+01] [-1.72462886e-02 2.87708410e-04 9.99851230e-01 -2.70877342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51 meters 0.015578192599784038 Centerline is valid? [True, True] Translation: X:110.27, Y:61.41, Z:-2.71 [[ 5.09437968e-01 -8.60454945e-01 9.49975997e-03 1.10273610e+02] [ 8.60318398e-01 5.09526405e-01 1.53328608e-02 6.14064472e+01] [-1.80336145e-02 3.61676811e-04 9.99837316e-01 -2.70830134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54 meters 0.01616976403456186 Centerline is valid? [True, True] Translation: X:110.29, Y:61.43, Z:-2.71 [[ 5.06544167e-01 -8.62154310e-01 1.01465257e-02 1.10290034e+02] [ 8.61998733e-01 5.06645581e-01 1.63841261e-02 6.14302948e+01] [-1.92663373e-02 4.47008825e-04 9.99814287e-01 -2.70762653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57 meters 0.017007302847785198 Centerline is valid? [True, True] Translation: X:110.31, Y:61.45, Z:-2.71 [[ 5.04318282e-01 -8.63451437e-01 1.07091637e-02 1.10306270e+02] [ 8.63278211e-01 5.04431706e-01 1.73027136e-02 6.14534838e+01] [-2.03420947e-02 5.18912901e-04 9.99792944e-01 -2.70719872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.6 meters 0.018063664983833095 Centerline is valid? [True, True] Translation: X:110.32, Y:61.48, Z:-2.71 [[ 5.02397415e-01 -8.64567950e-01 1.09131351e-02 1.10322274e+02] [ 8.64388171e-01 5.02515605e-01 1.76396072e-02 6.14762992e+01] [-2.07346597e-02 5.71091834e-04 9.99784851e-01 -2.70677715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63 meters 0.017368982511333834 Centerline is valid? [True, True] Translation: X:110.34, Y:61.50, Z:-2.71 [[ 5.00460295e-01 -8.65685193e-01 1.13419519e-02 1.10335008e+02] [ 8.65491131e-01 5.00588394e-01 1.83401941e-02 6.15018999e+01] [-2.15544839e-02 6.37819856e-04 9.99767472e-01 -2.70578293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66 meters 0.017968188459606144 Centerline is valid? [True, True] Translation: X:110.35, Y:61.53, Z:-2.71 [[ 5.00277039e-01 -8.65790382e-01 1.13972664e-02 1.10349250e+02] [ 8.65594278e-01 5.00406437e-01 1.84375450e-02 6.15250469e+01] [-2.16663147e-02 6.41528157e-04 9.99765052e-01 -2.70605219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69 meters 0.019283495315982835 Centerline is valid? [True, True] Translation: X:110.36, Y:61.55, Z:-2.71 [[ 5.00679630e-01 -8.65561252e-01 1.11187700e-02 1.10363876e+02] [ 8.65374349e-01 5.00802701e-01 1.79969913e-02 6.15480452e+01] [-2.11458084e-02 6.11171411e-04 9.99776216e-01 -2.70720148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72 meters 0.017103533497431607 Centerline is valid? [True, True] Translation: X:110.37, Y:61.58, Z:-2.71 [[ 5.01857331e-01 -8.64881743e-01 1.08990638e-02 1.10374135e+02] [ 8.64701818e-01 5.01975347e-01 1.76498480e-02 6.15761247e+01] [-2.07360926e-02 5.66734629e-04 9.99784823e-01 -2.70849184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75 meters 0.016650609994706904 Centerline is valid? [True, True] Translation: X:110.39, Y:61.60, Z:-2.71 [[ 5.03808588e-01 -8.63752294e-01 1.04345986e-02 1.10386686e+02] [ 8.63586959e-01 5.03916393e-01 1.69066001e-02 6.16018924e+01] [-1.98612799e-02 4.93492953e-04 9.99802624e-01 -2.70949588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78 meters 0.014879610611855918 Centerline is valid? [True, True] Translation: X:110.39, Y:61.63, Z:-2.71 [[ 5.09766403e-01 -8.60256936e-01 9.80913738e-03 1.10394712e+02] [ 8.60110025e-01 5.09860662e-01 1.59012541e-02 6.16306772e+01] [-1.86804575e-02 3.31012275e-04 9.99825450e-01 -2.71006971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81 meters 0.014391744859660948 Centerline is valid? [True, True] Translation: X:110.41, Y:61.66, Z:-2.71 [[ 5.13592716e-01 -8.57981516e-01 9.49954282e-03 1.10405666e+02] [ 8.57843165e-01 5.13680507e-01 1.54090833e-02 6.16562217e+01] [-1.81004386e-02 2.35124937e-04 9.99836146e-01 -2.71089083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84 meters 0.013842712185344847 Centerline is valid? [True, True] Translation: X:110.42, Y:61.68, Z:-2.71 [[ 5.17481683e-01 -8.55644514e-01 9.22891798e-03 1.10416221e+02] [ 8.55513510e-01 5.17563951e-01 1.49729726e-02 6.16821969e+01] [-1.75880972e-02 1.47224935e-04 9.99845307e-01 -2.71160694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87 meters 0.013328499939929633 Centerline is valid? [True, True] Translation: X:110.43, Y:61.71, Z:-2.71 [[ 5.20886209e-01 -8.53576878e-01 9.16903854e-03 1.10426416e+02] [ 8.53447216e-01 5.20966897e-01 1.48775669e-02 6.17093483e+01] [-1.74759126e-02 7.57710134e-05 9.99847282e-01 -2.71220990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.9 meters 0.013351112324221134 Centerline is valid? [True, True] Translation: X:110.43, Y:61.74, Z:-2.71 [[ 5.27235054e-01 -8.49674831e-01 8.71090440e-03 1.10433800e+02] [ 8.49557132e-01 5.27307006e-01 1.41421572e-02 6.17376095e+01] [-1.66095560e-02 -5.58300641e-05 9.99862050e-01 -2.71278673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93 meters 0.013493865603859208 Centerline is valid? [True, True] Translation: X:110.45, Y:61.76, Z:-2.71 [[ 5.29288628e-01 -8.48399189e-01 8.50673651e-03 1.10445729e+02] [ 8.48286642e-01 5.29356975e-01 1.38190492e-02 6.17633550e+01] [-1.62271704e-02 -9.81146511e-05 9.99868326e-01 -2.71291061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96 meters 0.013543300646658247 Centerline is valid? [True, True] Translation: X:110.46, Y:61.79, Z:-2.71 [[ 5.30726084e-01 -8.47498276e-01 8.74617521e-03 1.10457777e+02] [ 8.47379031e-01 5.30798129e-01 1.42170318e-02 6.17885978e+01] [-1.66913634e-02 -1.34024134e-04 9.99860681e-01 -2.71315141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98999999999998 meters 0.013749786715499195 Centerline is valid? [True, True] Translation: X:110.47, Y:61.81, Z:-2.71 [[ 5.31587678e-01 -8.46954577e-01 9.08209975e-03 1.10470396e+02] [ 8.46825751e-01 5.31665231e-01 1.47725876e-02 6.18136120e+01] [-1.73403473e-02 -1.61969600e-04 9.99849632e-01 -2.71291835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01999999999998 meters 0.013883988468041035 Centerline is valid? [True, True] Translation: X:110.48, Y:61.84, Z:-2.71 [[ 5.31809167e-01 -8.46813581e-01 9.26114551e-03 1.10482966e+02] [ 8.46679429e-01 5.31889771e-01 1.50736975e-02 6.18378905e+01] [-1.76905203e-02 -1.75109101e-04 9.99843495e-01 -2.71227400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04999999999998 meters 0.013798991175328746 Centerline is valid? [True, True] Translation: X:110.50, Y:61.86, Z:-2.71 [[ 5.30884745e-01 -8.47387453e-01 9.79245501e-03 1.10495474e+02] [ 8.47237380e-01 5.30975024e-01 1.59482120e-02 6.18634613e+01] [-1.87138638e-02 -1.70128545e-04 9.99824866e-01 -2.71179276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07999999999998 meters 0.01364310136271693 Centerline is valid? [True, True] Translation: X:110.51, Y:61.89, Z:-2.71 [[ 5.29630377e-01 -8.48170438e-01 9.92833950e-03 1.10509682e+02] [ 8.48016111e-01 5.29723404e-01 1.61799151e-02 6.18878977e+01] [-1.89825994e-02 -1.49982645e-04 9.99819803e-01 -2.71233749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10999999999999 meters 0.013487079016660724 Centerline is valid? [True, True] Translation: X:110.52, Y:61.91, Z:-2.71 [[ 5.28417315e-01 -8.48925575e-01 1.00254637e-02 1.10523157e+02] [ 8.48768143e-01 5.28512395e-01 1.63489200e-02 6.19112279e+01] [-1.91775981e-02 -1.29758211e-04 9.99816085e-01 -2.71260499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14 meters 0.01334081537759836 Centerline is valid? [True, True] Translation: X:110.54, Y:61.93, Z:-2.71 [[ 5.27000454e-01 -8.49808470e-01 9.80235106e-03 1.10537660e+02] [ 8.49657959e-01 5.27091600e-01 1.59936993e-02 6.19347913e+01] [-1.87583181e-02 -1.00041224e-04 9.99824042e-01 -2.71296283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17 meters 0.013233916516620108 Centerline is valid? [True, True] Translation: X:110.55, Y:61.96, Z:-2.71 [[ 5.25521086e-01 -8.50725692e-01 9.66365923e-03 1.10550144e+02] [ 8.50579375e-01 5.25609924e-01 1.57776488e-02 6.19592421e+01] [-1.85017664e-02 -7.17779168e-05 9.99828825e-01 -2.71351071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.2 meters 0.013240005132323318 Centerline is valid? [True, True] Translation: X:110.56, Y:61.98, Z:-2.71 [[ 5.25180802e-01 -8.50943845e-01 8.92741155e-03 1.10563449e+02] [ 8.50818880e-01 5.25256670e-01 1.45830408e-02 6.19838923e+01] [-1.70985313e-02 -6.31227598e-05 9.99853807e-01 -2.71484161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23 meters 0.013302796335930482 Centerline is valid? [True, True] Translation: X:110.58, Y:62.01, Z:-2.72 [[ 5.25261084e-01 -8.50901279e-01 8.23455638e-03 1.10575565e+02] [ 8.50794828e-01 5.25325623e-01 1.34592505e-02 6.20084487e+01] [-1.57783169e-02 -6.37025229e-05 9.99875513e-01 -2.71728732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26 meters 0.013332947238356293 Centerline is valid? [True, True] Translation: X:110.59, Y:62.03, Z:-2.72 [[ 5.25737437e-01 -8.50616862e-01 7.14857331e-03 1.10589049e+02] [ 8.50536540e-01 5.25786031e-01 1.16894955e-02 6.20336975e+01] [-1.37019019e-02 -6.54825649e-05 9.99906122e-01 -2.71881065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29 meters 0.013455271572086579 Centerline is valid? [True, True] Translation: X:110.60, Y:62.06, Z:-2.72 [[ 5.27152050e-01 -8.49754096e-01 5.35651839e-03 1.10601142e+02] [ 8.49708922e-01 5.27179260e-01 8.76224728e-03 6.20602535e+01] [-1.02696009e-02 -6.75551602e-05 9.99947264e-01 -2.72216917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32 meters 0.013635639806415308 Centerline is valid? [True, True] Translation: X:110.61, Y:62.09, Z:-2.72 [[ 5.27827833e-01 -8.49339719e-01 4.45194952e-03 1.10614706e+02] [ 8.49308479e-01 5.27846604e-01 7.28497366e-03 6.20854309e+01] [-8.53736391e-03 -6.41333859e-05 9.99963554e-01 -2.72390747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35 meters 0.013627024676781412 Centerline is valid? [True, True] Translation: X:110.63, Y:62.11, Z:-2.73 [[ 5.28053790e-01 -8.49203257e-01 3.60891235e-03 1.10628606e+02] [ 8.49182714e-01 5.28066119e-01 5.90694628e-03 6.21112333e+01] [-6.92194236e-03 -5.45593837e-05 9.99976042e-01 -2.72547625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38 meters 0.01385037480988987 Centerline is valid? [True, True] Translation: X:110.64, Y:62.14, Z:-2.73 [[ 5.28494023e-01 -8.48931385e-01 3.09382564e-03 1.10641846e+02] [ 8.48916254e-01 5.28503076e-01 5.06874486e-03 6.21358921e+01] [-5.93811296e-03 -5.24024881e-05 9.99982368e-01 -2.72696516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41 meters 0.013916845892934786 Centerline is valid? [True, True] Translation: X:110.66, Y:62.16, Z:-2.73 [[ 5.28390723e-01 -8.48996819e-01 2.76511042e-03 1.10655279e+02] [ 8.48984752e-01 5.28397956e-01 4.52665704e-03 6.21605302e+01] [-5.30419612e-03 -4.43070020e-05 9.99985932e-01 -2.72827818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44 meters 0.013853451102073179 Centerline is valid? [True, True] Translation: X:110.67, Y:62.19, Z:-2.73 [[ 5.27848406e-01 -8.49334954e-01 2.48901174e-03 1.10668455e+02] [ 8.49325175e-01 5.27854273e-01 4.07594032e-03 6.21852126e+01] [-4.77567407e-03 -3.74982700e-05 9.99988596e-01 -2.72895105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47 meters 0.01387703495890023 Centerline is valid? [True, True] Translation: X:110.68, Y:62.21, Z:-2.73 [[ 5.27653078e-01 -8.49455853e-01 2.64243059e-03 1.10681913e+02] [ 8.49444811e-01 5.27659693e-01 4.33149230e-03 6.22086215e+01] [-5.07371560e-03 -4.09262889e-05 9.99987128e-01 -2.72898353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.5 meters 0.013873804433768235 Centerline is valid? [True, True] Translation: X:110.70, Y:62.23, Z:-2.73 [[ 5.27363943e-01 -8.49635026e-01 2.75580235e-03 1.10696020e+02] [ 8.49623007e-01 5.27371142e-01 4.51946353e-03 6.22327866e+01] [-5.29322515e-03 -4.20090311e-05 9.99985990e-01 -2.72864932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53 meters 0.013920762570979057 Centerline is valid? [True, True] Translation: X:110.71, Y:62.26, Z:-2.73 [[ 5.27205947e-01 -8.49733027e-01 2.76983987e-03 1.10709807e+02] [ 8.49720867e-01 5.27213221e-01 4.54623286e-03 6.22564759e+01] [-5.32338041e-03 -4.32102670e-05 9.99985830e-01 -2.72851165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56 meters 0.013771916454093073 Centerline is valid? [True, True] Translation: X:110.72, Y:62.28, Z:-2.73 [[ 5.26869454e-01 -8.49940035e-01 3.24277979e-03 1.10723445e+02] [ 8.49923346e-01 5.26879431e-01 5.32647397e-03 6.22807546e+01] [-6.23573744e-03 -5.02421816e-05 9.99980556e-01 -2.72685075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59 meters 0.013888607846486671 Centerline is valid? [True, True] Translation: X:110.74, Y:62.31, Z:-2.73 [[ 5.26530473e-01 -8.50147461e-01 3.86718268e-03 1.10736561e+02] [ 8.50123669e-01 5.26544671e-01 6.36054644e-03 6.23051854e+01] [-7.44364684e-03 -6.14379978e-05 9.99972294e-01 -2.72726709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62 meters 0.013646959568374459 Centerline is valid? [True, True] Translation: X:110.75, Y:62.33, Z:-2.73 [[ 5.26220013e-01 -8.50338545e-01 4.10566207e-03 1.10751039e+02] [ 8.50311728e-01 5.26236026e-01 6.75352649e-03 6.23294307e+01] [-7.90333118e-03 -6.27481843e-05 9.99968766e-01 -2.72592069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65 meters 0.013713571454462897 Centerline is valid? [True, True] Translation: X:110.76, Y:62.35, Z:-2.73 [[ 5.25816553e-01 -8.50586812e-01 4.36206156e-03 1.10764196e+02] [ 8.50556498e-01 5.25834642e-01 7.18137949e-03 6.23532216e+01] [-8.40210976e-03 -6.59084067e-05 9.99964699e-01 -2.72639389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68 meters 0.01355448670493154 Centerline is valid? [True, True] Translation: X:110.78, Y:62.38, Z:-2.73 [[ 5.25585188e-01 -8.50728351e-01 4.63501277e-03 1.10778686e+02] [ 8.50694093e-01 5.25605621e-01 7.63485304e-03 6.23776435e+01] [-8.93137470e-03 -6.97876813e-05 9.99960112e-01 -2.72571943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71 meters 0.013499743491527869 Centerline is valid? [True, True] Translation: X:110.79, Y:62.40, Z:-2.73 [[ 5.25308339e-01 -8.50897279e-01 4.99693126e-03 1.10792567e+02] [ 8.50857412e-01 5.25332099e-01 8.23709965e-03 6.24017301e+01] [-9.63397407e-03 -7.53411315e-05 9.99953589e-01 -2.72520324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73999999999998 meters 0.013443554329585827 Centerline is valid? [True, True] Translation: X:110.80, Y:62.43, Z:-2.73 [[ 5.25120678e-01 -8.51010732e-01 5.38590590e-03 1.10804510e+02] [ 8.50964335e-01 5.25148291e-01 8.88670775e-03 6.24258986e+01] [-1.03910829e-02 -8.33801692e-05 9.99946008e-01 -2.72509639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76999999999998 meters 0.013478951292100876 Centerline is valid? [True, True] Translation: X:110.82, Y:62.45, Z:-2.73 [[ 5.24764524e-01 -8.51229864e-01 5.46931007e-03 1.10817988e+02] [ 8.51182006e-01 5.24793018e-01 9.02667023e-03 6.24506745e+01] [-1.05540270e-02 -8.14979886e-05 9.99944301e-01 -2.72573897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79999999999998 meters 0.013548034815773713 Centerline is valid? [True, True] Translation: X:110.83, Y:62.48, Z:-2.73 [[ 5.24262842e-01 -8.51538919e-01 5.47191318e-03 1.10831511e+02] [ 8.51490971e-01 5.24291392e-01 9.03670659e-03 6.24753637e+01] [-1.05639843e-02 -7.83248164e-05 9.99944196e-01 -2.72670928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82999999999998 meters 0.013428012271163909 Centerline is valid? [True, True] Translation: X:110.84, Y:62.50, Z:-2.73 [[ 5.23429321e-01 -8.52052941e-01 5.24707469e-03 1.10844170e+02] [ 8.52008828e-01 5.23455615e-01 8.67037229e-03 6.25004211e+01] [-1.01342269e-02 -6.77731225e-05 9.99948645e-01 -2.72774889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85999999999999 meters 0.013362863309263645 Centerline is valid? [True, True] Translation: X:110.86, Y:62.53, Z:-2.73 [[ 5.22819256e-01 -8.52428514e-01 5.06498727e-03 1.10857668e+02] [ 8.52387379e-01 5.22843786e-01 8.37443605e-03 6.25250365e+01] [-9.78680520e-03 -6.09851944e-05 9.99952106e-01 -2.72871673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89 meters 0.013398895757208866 Centerline is valid? [True, True] Translation: X:110.87, Y:62.55, Z:-2.73 [[ 5.22063694e-01 -8.52893301e-01 4.74522183e-03 1.10871549e+02] [ 8.52857176e-01 5.22085256e-01 7.85002369e-03 6.25497971e+01] [-9.17264297e-03 -5.12158764e-05 9.99957929e-01 -2.73003731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92 meters 0.013299373525845381 Centerline is valid? [True, True] Translation: X:110.88, Y:62.57, Z:-2.73 [[ 5.20393856e-01 -8.53914946e-01 4.41580362e-03 1.10884270e+02] [ 8.53883661e-01 5.20412590e-01 7.30954277e-03 6.25737803e+01] [-8.53976762e-03 -3.32585894e-05 9.99963535e-01 -2.73233554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95 meters 0.013322977932717446 Centerline is valid? [True, True] Translation: X:110.90, Y:62.60, Z:-2.73 [[ 5.19290068e-01 -8.54587003e-01 4.34500802e-03 1.10898406e+02] [ 8.54556709e-01 5.19308245e-01 7.19564908e-03 6.25984883e+01] [-8.40570667e-03 -2.35733397e-05 9.99964671e-01 -2.73389968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98 meters 0.013241079067529452 Centerline is valid? [True, True] Translation: X:110.91, Y:62.62, Z:-2.73 [[ 5.18251028e-01 -8.55218143e-01 4.21901478e-03 1.10912391e+02] [ 8.55189569e-01 5.18268200e-01 6.99101047e-03 6.26225475e+01] [-8.16542019e-03 -1.50409267e-05 9.99966662e-01 -2.73467154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01 meters 0.01318654560744795 Centerline is valid? [True, True] Translation: X:110.93, Y:62.65, Z:-2.74 [[ 5.17294430e-01 -8.55796288e-01 4.38013005e-03 1.10926628e+02] [ 8.55765470e-01 5.17312974e-01 7.26276742e-03 6.26467944e+01] [-8.48134750e-03 -8.62508173e-06 9.99964033e-01 -2.73516922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04 meters 0.013068823390159036 Centerline is valid? [True, True] Translation: X:110.94, Y:62.67, Z:-2.73 [[ 5.15956083e-01 -8.56603600e-01 4.42634063e-03 1.10940955e+02] [ 8.56572121e-01 5.15975069e-01 7.34368520e-03 6.26711700e+01] [-8.57450859e-03 2.46092607e-06 9.99963238e-01 -2.73455446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07 meters 0.013187622872481665 Centerline is valid? [True, True] Translation: X:110.95, Y:62.70, Z:-2.74 [[ 5.14541717e-01 -8.57454558e-01 4.30142892e-03 1.10953713e+02] [ 8.57424799e-01 5.14559696e-01 7.14376193e-03 6.26952471e+01] [-8.33879319e-03 1.23882966e-05 9.99965232e-01 -2.73648184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.1 meters 0.013102082789906934 Centerline is valid? [True, True] Translation: X:110.97, Y:62.72, Z:-2.74 [[ 5.14098980e-01 -8.57720232e-01 4.27112824e-03 1.10967126e+02] [ 8.57690903e-01 5.14116722e-01 7.09309146e-03 6.27198673e+01] [-8.27974650e-03 1.67567520e-05 9.99965722e-01 -2.73636096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13 meters 0.014008866463232883 Centerline is valid? [True, True] Translation: X:110.98, Y:62.74, Z:-2.74 [[ 5.13670351e-01 -8.57977050e-01 4.26054825e-03 1.10980456e+02] [ 8.57947837e-01 5.13688019e-01 7.08006807e-03 6.27443820e+01] [-8.26312851e-03 1.85071071e-05 9.99965860e-01 -2.73783361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16 meters 0.013076895345738178 Centerline is valid? [True, True] Translation: X:110.99, Y:62.77, Z:-2.74 [[ 5.14141888e-01 -8.57692776e-01 4.60648879e-03 1.10994005e+02] [ 8.57658563e-01 5.14162524e-01 7.66085001e-03 6.27694237e+01] [-8.93913962e-03 1.20306612e-05 9.99960045e-01 -2.73754966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19 meters 0.013076895345738178 Centerline is valid? [True, True] Translation: X:111.01, Y:62.79, Z:-2.74 [[ 5.13896481e-01 -8.57839849e-01 4.60430067e-03 1.11008144e+02] [ 8.57805630e-01 5.13917107e-01 7.66216433e-03 6.27931021e+01] [-8.93913877e-03 1.20357534e-05 9.99960045e-01 -2.73811577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22 meters 0.01311446934319147 Centerline is valid? [True, True] Translation: X:111.02, Y:62.82, Z:-2.74 [[ 5.14429100e-01 -8.57519205e-01 4.84920971e-03 1.11021508e+02] [ 8.57481178e-01 5.14451955e-01 8.07561783e-03 6.28180215e+01] [-9.41968279e-03 3.77323730e-06 9.99955634e-01 -2.73852940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25 meters 0.013117214816942084 Centerline is valid? [True, True] Translation: X:111.03, Y:62.84, Z:-2.74 [[ 5.16141151e-01 -8.56488333e-01 5.10369440e-03 1.11032914e+02] [ 8.56446094e-01 5.16166383e-01 8.50612832e-03 6.28424640e+01] [-9.91975514e-03 -1.93237233e-05 9.99950798e-01 -2.73835951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28 meters 0.013152035479470824 Centerline is valid? [True, True] Translation: X:111.05, Y:62.87, Z:-2.74 [[ 5.16660569e-01 -8.56173544e-01 5.35908031e-03 1.11046604e+02] [ 8.56126902e-01 5.16688361e-01 8.93673051e-03 6.28675631e+01] [-1.04203666e-02 -2.92034452e-05 9.99945706e-01 -2.73828972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31 meters 0.013167334570721558 Centerline is valid? [True, True] Translation: X:111.06, Y:62.89, Z:-2.74 [[ 5.16859114e-01 -8.56053023e-01 5.46601365e-03 1.11060085e+02] [ 8.56004429e-01 5.16888015e-01 9.12126584e-03 6.28923728e+01] [-1.06336041e-02 -3.54774928e-05 9.99943461e-01 -2.73914092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34 meters 0.013065944804534085 Centerline is valid? [True, True] Translation: X:111.07, Y:62.92, Z:-2.74 [[ 5.16614523e-01 -8.56198182e-01 5.84021567e-03 1.11073109e+02] [ 8.56142634e-01 5.16647532e-01 9.75279968e-03 6.29168521e+01] [-1.13676624e-02 -3.83803359e-05 9.99935385e-01 -2.73906469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37 meters 0.013042399012090023 Centerline is valid? [True, True] Translation: X:111.09, Y:62.94, Z:-2.74 [[ 5.15937569e-01 -8.56603855e-01 6.18546086e-03 1.11087181e+02] [ 8.56541455e-01 5.15974645e-01 1.03392968e-02 6.29404774e+01] [-1.20482224e-02 -3.63279893e-05 9.99927417e-01 -2.73953646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.4 meters 0.01307071571897882 Centerline is valid? [True, True] Translation: X:111.10, Y:62.96, Z:-2.74 [[ 5.14975205e-01 -8.57179604e-01 6.60788373e-03 1.11101877e+02] [ 8.57108412e-01 5.15017597e-01 1.10474108e-02 6.29639554e+01] [-1.28727916e-02 -2.54699241e-05 9.99917142e-01 -2.73930393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43 meters 0.016112541637485118 Centerline is valid? [True, True] Translation: X:111.12, Y:62.99, Z:-2.74 [[ 5.13053402e-01 -8.58331861e-01 6.52861091e-03 1.11116447e+02] [ 8.58262365e-01 5.13094939e-01 1.09223068e-02 6.29869244e+01] [-1.27247611e-02 -4.65632528e-07 9.99919037e-01 -2.74169516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46 meters 0.012931613017976162 Centerline is valid? [True, True] Translation: X:111.13, Y:63.01, Z:-2.74 [[ 5.11134558e-01 -8.59465662e-01 7.76147606e-03 1.11132167e+02] [ 8.59367423e-01 5.11193482e-01 1.29944636e-02 6.30109840e+01] [-1.51359112e-02 2.80402860e-05 9.99885445e-01 -2.73919236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48999999999998 meters 0.012966889784416138 Centerline is valid? [True, True] Translation: X:111.15, Y:63.04, Z:-2.74 [[ 5.09959125e-01 -8.60163482e-01 7.77659589e-03 1.11146859e+02] [ 8.60064835e-01 5.10018414e-01 1.30267700e-02 6.30352775e+01] [-1.51713589e-02 4.52564457e-05 9.99884907e-01 -2.73965333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51999999999998 meters 0.012973246681284127 Centerline is valid? [True, True] Translation: X:111.16, Y:63.06, Z:-2.74 [[ 5.09541164e-01 -8.60410975e-01 7.79470977e-03 1.11160839e+02] [ 8.60311742e-01 5.09600778e-01 1.30673189e-02 6.30582478e+01] [-1.52154547e-02 4.75434832e-05 9.99884237e-01 -2.74065355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54999999999998 meters 0.01293662270252814 Centerline is valid? [True, True] Translation: X:111.17, Y:63.08, Z:-2.74 [[ 5.09210086e-01 -8.60606228e-01 7.87458485e-03 1.11174907e+02] [ 8.60504916e-01 5.09270967e-01 1.32050076e-02 6.30822516e+01] [-1.53746093e-02 5.19958903e-05 9.99881802e-01 -2.74103724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57999999999998 meters 0.012996111383333543 Centerline is valid? [True, True] Translation: X:111.19, Y:63.11, Z:-2.74 [[ 5.09499914e-01 -8.60433860e-01 7.96305374e-03 1.11188497e+02] [ 8.60330095e-01 5.09562137e-01 1.33624907e-02 6.31053890e+01] [-1.55552101e-02 4.26669303e-05 9.99879009e-01 -2.74118801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60999999999999 meters 0.012889122150617426 Centerline is valid? [True, True] Translation: X:111.20, Y:63.13, Z:-2.74 [[ 5.10525178e-01 -8.59822754e-01 8.29909075e-03 1.11201815e+02] [ 8.59709831e-01 5.10592628e-01 1.39346575e-02 6.31304077e+01] [-1.62187902e-02 2.08163973e-05 9.99868467e-01 -2.74121969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64 meters 0.012955175853734128 Centerline is valid? [True, True] Translation: X:111.21, Y:63.15, Z:-2.74 [[ 5.11309680e-01 -8.59355465e-01 8.40212632e-03 1.11214669e+02] [ 8.59239500e-01 5.11378709e-01 1.41172765e-02 6.31546196e+01] [-1.64284273e-02 1.13867746e-06 9.99865044e-01 -2.74174146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67 meters 0.012847251217707885 Centerline is valid? [True, True] Translation: X:111.23, Y:63.18, Z:-2.74 [[ 5.12279977e-01 -8.58775739e-01 8.57058542e-03 1.11227780e+02] [ 8.58654855e-01 5.12351666e-01 1.44087123e-02 6.31799165e+01] [-1.67650063e-02 -2.21200459e-05 9.99859457e-01 -2.74213017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.7 meters 0.01289500490137911 Centerline is valid? [True, True] Translation: X:111.24, Y:63.20, Z:-2.74 [[ 5.13663940e-01 -8.57949065e-01 8.52987327e-03 1.11240091e+02] [ 8.57829038e-01 5.13734756e-01 1.43507188e-02 6.32041694e+01] [-1.66942782e-02 -5.42737970e-05 9.99860639e-01 -2.74275234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73 meters 0.013071215141418574 Centerline is valid? [True, True] Translation: X:111.25, Y:63.23, Z:-2.74 [[ 5.15318001e-01 -8.56954652e-01 8.72255623e-03 1.11253262e+02] [ 8.56828910e-01 5.15391809e-01 1.46799994e-02 6.32294832e+01] [-1.70756278e-02 -9.11296076e-05 9.99854197e-01 -2.74321847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76 meters 0.014789467795567475 Centerline is valid? [True, True] Translation: X:111.26, Y:63.26, Z:-2.74 [[ 5.19769475e-01 -8.54261519e-01 8.77215250e-03 1.11263933e+02] [ 8.54133787e-01 5.19843460e-01 1.47732906e-02 6.32558397e+01] [-1.71803998e-02 -1.86113676e-04 9.99852389e-01 -2.74453957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79 meters 0.014090968481421976 Centerline is valid? [True, True] Translation: X:111.28, Y:63.28, Z:-2.74 [[ 5.22582104e-01 -8.52543052e-01 8.84813285e-03 1.11277142e+02] [ 8.52412797e-01 5.22656947e-01 1.49043468e-02 6.32809740e+01] [-1.73311354e-02 -2.46483261e-04 9.99849774e-01 -2.74405510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82 meters 0.01454147717917547 Centerline is valid? [True, True] Translation: X:111.29, Y:63.31, Z:-2.74 [[ 5.25014361e-01 -8.51048701e-01 8.71945765e-03 1.11290134e+02] [ 8.50921969e-01 5.25086681e-01 1.46894469e-02 6.33071546e+01] [-1.70799057e-02 -2.92592488e-04 9.99854085e-01 -2.74468310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85 meters 0.019217063943837126 Centerline is valid? [True, True] Translation: X:111.30, Y:63.34, Z:-2.75 [[ 5.29726637e-01 -8.48127951e-01 8.28659913e-03 1.11298350e+02] [ 8.48013003e-01 5.29791317e-01 1.39680974e-02 6.33351103e+01] [-1.62369021e-02 -3.72129477e-04 9.99868104e-01 -2.74836711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88 meters 0.018789507858414364 Centerline is valid? [True, True] Translation: X:111.31, Y:63.36, Z:-2.75 [[ 5.32275703e-01 -8.46527265e-01 8.61194207e-03 1.11311660e+02] [ 8.46402755e-01 5.32345183e-01 1.45252075e-02 6.33602820e+01] [-1.68805100e-02 -4.42243532e-04 9.99857416e-01 -2.74821399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91 meters 0.019505187342643174 Centerline is valid? [True, True] Translation: X:111.32, Y:63.39, Z:-2.75 [[ 5.34719651e-01 -8.44985043e-01 8.67016515e-03 1.11323262e+02] [ 8.44858592e-01 5.34789707e-01 1.46263239e-02 6.33851131e+01] [-1.69957400e-02 -4.95919294e-04 9.99855439e-01 -2.74840391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94 meters 0.01874301762837116 Centerline is valid? [True, True] Translation: X:111.34, Y:63.41, Z:-2.75 [[ 5.37036774e-01 -8.43511492e-01 8.93675569e-03 1.11336481e+02] [ 8.43376876e-01 5.37110833e-01 1.50797033e-02 6.34104892e+01] [-1.75199314e-02 -5.61302133e-04 9.99846357e-01 -2.74754936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97 meters 0.01935832730559985 Centerline is valid? [True, True] Translation: X:111.35, Y:63.44, Z:-2.75 [[ 5.39651521e-01 -8.41844359e-01 8.62039491e-03 1.11349927e+02] [ 8.41718835e-01 5.39720039e-01 1.45493225e-02 6.34362494e+01] [-1.69008650e-02 -5.95615253e-04 9.99856993e-01 -2.74848403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.0 meters 0.023789075034022993 Centerline is valid? [True, True] Translation: X:111.36, Y:63.46, Z:-2.75 [[ 5.39665858e-01 -8.41841607e-01 7.96677955e-03 1.11363587e+02] [ 8.41734272e-01 5.39724374e-01 1.34541999e-02 6.34610226e+01] [-1.56261704e-02 -5.54860936e-04 9.99877750e-01 -2.75258256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03 meters 0.020477156527695158 Centerline is valid? [True, True] Translation: X:111.38, Y:63.49, Z:-2.75 [[ 5.40633873e-01 -8.41218476e-01 8.15412876e-03 1.11376551e+02] [ 8.41105891e-01 5.40695042e-01 1.37750451e-02 6.34852580e+01] [-1.59967195e-02 -5.88770273e-04 9.99871871e-01 -2.75090368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06 meters 0.02050421899949096 Centerline is valid? [True, True] Translation: X:111.39, Y:63.51, Z:-2.75 [[ 5.40566625e-01 -8.41265600e-01 7.74043503e-03 1.11391999e+02] [ 8.41164132e-01 5.40621752e-01 1.30776246e-02 6.35099501e+01] [-1.51864032e-02 -5.58351076e-04 9.99884524e-01 -2.75285523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09 meters 0.020347762380094694 Centerline is valid? [True, True] Translation: X:111.41, Y:63.53, Z:-2.75 [[ 5.40368323e-01 -8.41394167e-01 7.61127425e-03 1.11406757e+02] [ 8.41295967e-01 5.40421645e-01 1.28662905e-02 6.35341564e+01] [-1.49389191e-02 -5.49201489e-04 9.99888257e-01 -2.75314182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12 meters 0.020389788230480255 Centerline is valid? [True, True] Translation: X:111.42, Y:63.56, Z:-2.75 [[ 5.39959770e-01 -8.41657254e-01 7.51753606e-03 1.11422124e+02] [ 8.41561362e-01 5.40011829e-01 1.27160569e-02 6.35580095e+01] [-1.47621199e-02 -5.39691245e-04 9.99890888e-01 -2.75365570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15 meters 0.020730518811223002 Centerline is valid? [True, True] Translation: X:111.44, Y:63.58, Z:-2.75 [[ 5.39503117e-01 -8.41950368e-01 7.48089204e-03 1.11436923e+02] [ 8.41855282e-01 5.39554716e-01 1.26646380e-02 6.35812620e+01] [-1.46993472e-02 -5.34783213e-04 9.99891816e-01 -2.75410696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18 meters 0.023130298080594733 Centerline is valid? [True, True] Translation: X:111.45, Y:63.60, Z:-2.76 [[ 5.38493900e-01 -8.42596469e-01 7.45043785e-03 1.11453847e+02] [ 8.42502208e-01 5.38545192e-01 1.26137145e-02 6.36044008e+01] [-1.46406688e-02 -5.15397961e-04 9.99892687e-01 -2.75696931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21 meters 0.0202458131771968 Centerline is valid? [True, True] Translation: X:111.47, Y:63.63, Z:-2.75 [[ 5.37829361e-01 -8.43016271e-01 7.94638249e-03 1.11469657e+02] [ 8.42908954e-01 5.37887788e-01 1.34618544e-02 6.36288469e+01] [-1.56228244e-02 -5.42103599e-04 9.99877809e-01 -2.75491962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23999999999998 meters 0.019531107585014616 Centerline is valid? [True, True] Translation: X:111.49, Y:63.65, Z:-2.75 [[ 5.35939729e-01 -8.44215483e-01 8.29604188e-03 1.11487891e+02] [ 8.44098496e-01 5.36003668e-01 1.40640679e-02 6.36506417e+01] [-1.63198127e-02 -5.34816265e-04 9.99866680e-01 -2.75463237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26999999999998 meters 0.019408247146886836 Centerline is valid? [True, True] Translation: X:111.51, Y:63.67, Z:-2.76 [[ 5.34331316e-01 -8.45233638e-01 8.37507987e-03 1.11505279e+02] [ 8.45114504e-01 5.34396705e-01 1.41999033e-02 6.36743864e+01] [-1.64778510e-02 -5.09551549e-04 9.99864101e-01 -2.75578974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29999999999998 meters 0.019928135064096943 Centerline is valid? [True, True] Translation: X:111.52, Y:63.70, Z:-2.76 [[ 5.32349237e-01 -8.46483483e-01 8.36678218e-03 1.11522481e+02] [ 8.46364618e-01 5.32414771e-01 1.41931544e-02 6.36973515e+01] [-1.64688692e-02 -4.74366504e-04 9.99864266e-01 -2.75779252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32999999999998 meters 0.01936381638852402 Centerline is valid? [True, True] Translation: X:111.54, Y:63.72, Z:-2.76 [[ 5.28489185e-01 -8.48896778e-01 8.56979866e-03 1.11543242e+02] [ 8.48772228e-01 5.28558501e-01 1.45470190e-02 6.37167346e+01] [-1.68785575e-02 -4.14135095e-04 9.99857461e-01 -2.75856303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35999999999999 meters 0.016109231352949872 Centerline is valid? [True, True] Translation: X:111.56, Y:63.74, Z:-2.76 [[ 5.26686874e-01 -8.50016945e-01 8.49295803e-03 1.11563811e+02] [ 8.49894720e-01 5.26755211e-01 1.44191682e-02 6.37388492e+01] [-1.67302472e-02 -3.76266454e-04 9.99859969e-01 -2.75668910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39 meters 0.016741688271526157 Centerline is valid? [True, True] Translation: X:111.58, Y:63.76, Z:-2.76 [[ 5.24284260e-01 -8.51502301e-01 8.35743103e-03 1.11582768e+02] [ 8.51384014e-01 5.24350765e-01 1.41963437e-02 6.37613220e+01] [-1.64704447e-02 -3.27536380e-04 9.99864299e-01 -2.75885324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42 meters 0.01509998100051795 Centerline is valid? [True, True] Translation: X:111.60, Y:63.78, Z:-2.76 [[ 5.22273931e-01 -8.52740693e-01 7.95302747e-03 1.11601919e+02] [ 8.52633603e-01 5.22334407e-01 1.35168876e-02 6.37841681e+01] [-1.56805400e-02 -2.78499548e-04 9.99877014e-01 -2.75869183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45 meters 0.01411373017664987 Centerline is valid? [True, True] Translation: X:111.63, Y:63.80, Z:-2.76 [[ 5.17706171e-01 -8.55531548e-01 6.78902443e-03 1.11626307e+02] [ 8.55453687e-01 5.17750656e-01 1.15432924e-02 6.38037431e+01] [-1.33906727e-02 -1.68337729e-04 9.99910327e-01 -2.76092958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48 meters 0.014839251906248645 Centerline is valid? [True, True] Translation: X:111.64, Y:63.83, Z:-2.76 [[ 5.15346667e-01 -8.56958802e-01 6.27890234e-03 1.11644466e+02] [ 8.56892243e-01 5.15384902e-01 1.06811639e-02 6.38250718e+01] [-1.23893689e-02 -1.24159515e-04 9.99923241e-01 -2.76363742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51 meters 0.013706828781930146 Centerline is valid? [True, True] Translation: X:111.66, Y:63.85, Z:-2.76 [[ 5.13462307e-01 -8.58090663e-01 6.07233662e-03 1.11662347e+02] [ 8.58028431e-01 5.13498203e-01 1.03347222e-02 6.38458446e+01] [-1.19862625e-02 -9.62528318e-05 9.99928158e-01 -2.76404466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54 meters 0.01359691763718327 Centerline is valid? [True, True] Translation: X:111.68, Y:63.87, Z:-2.76 [[ 5.11611857e-01 -8.59196146e-01 5.94061476e-03 1.11680829e+02] [ 8.59136607e-01 5.11646340e-01 1.01149515e-02 6.38672636e+01] [-1.17302211e-02 -7.11294780e-05 9.99931196e-01 -2.76493154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57 meters 0.01352462625753587 Centerline is valid? [True, True] Translation: X:111.70, Y:63.89, Z:-2.77 [[ 5.10453746e-01 -8.59884578e-01 5.95699218e-03 1.11698428e+02] [ 8.59824673e-01 5.10488501e-01 1.01500256e-02 6.38883503e+01] [-1.17688265e-02 -5.91497273e-05 9.99930743e-01 -2.76606435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.6 meters 0.013583853952424372 Centerline is valid? [True, True] Translation: X:111.72, Y:63.91, Z:-2.77 [[ 5.10947184e-01 -8.59590857e-01 6.04435301e-03 1.11718846e+02] [ 8.59529096e-01 5.10982930e-01 1.03043385e-02 6.39093698e+01] [-1.19460763e-02 -6.96754482e-05 9.99928641e-01 -2.76631080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63 meters 0.013795957195635344 Centerline is valid? [True, True] Translation: X:111.73, Y:63.93, Z:-2.77 [[ 5.12256630e-01 -8.58809806e-01 6.23389625e-03 1.11733796e+02] [ 8.58743957e-01 5.12294552e-01 1.06352557e-02 6.39321341e+01] [-1.23272530e-02 -9.46595044e-05 9.99924012e-01 -2.76692120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66 meters 0.01386528649929379 Centerline is valid? [True, True] Translation: X:111.75, Y:63.96, Z:-2.77 [[ 5.14234709e-01 -8.57622447e-01 6.81191123e-03 1.11750020e+02] [ 8.57543614e-01 5.14279806e-01 1.16289072e-02 6.39556736e+01] [-1.34764402e-02 -1.38476718e-04 9.99909179e-01 -2.76637331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69 meters 0.014207779163109236 Centerline is valid? [True, True] Translation: X:111.77, Y:63.98, Z:-2.77 [[ 5.16585410e-01 -8.56204571e-01 7.29704654e-03 1.11765984e+02] [ 8.56113835e-01 5.16636908e-01 1.24661829e-02 6.39799600e+01] [-1.44435264e-02 -1.92745724e-04 9.99895668e-01 -2.76584857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72 meters 0.016843501943698085 Centerline is valid? [True, True] Translation: X:111.78, Y:64.00, Z:-2.77 [[ 5.21931443e-01 -8.52945761e-01 8.43198020e-03 1.11779263e+02] [ 8.52823993e-01 5.21999443e-01 1.44159099e-02 6.40039232e+01] [-1.66974782e-02 -3.33121630e-04 9.99860532e-01 -2.76577725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75 meters 0.016330434510946595 Centerline is valid? [True, True] Translation: X:111.80, Y:64.03, Z:-2.76 [[ 5.24507003e-01 -8.51358279e-01 9.02693629e-03 1.11795024e+02] [ 8.51218369e-01 5.24584512e-01 1.54395028e-02 6.40281769e+01] [-1.78799395e-02 -4.14233356e-04 9.99840055e-01 -2.76466841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78 meters 0.018973850298118388 Centerline is valid? [True, True] Translation: X:111.81, Y:64.05, Z:-2.77 [[ 5.26632569e-01 -8.50044459e-01 9.08602056e-03 1.11808939e+02] [ 8.49902347e-01 5.26710737e-01 1.55499427e-02 6.40523040e+01] [-1.80038472e-02 -4.66876049e-04 9.99837809e-01 -2.76658307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81 meters 0.01800406182994416 Centerline is valid? [True, True] Translation: X:111.82, Y:64.08, Z:-2.77 [[ 5.29142392e-01 -8.48481696e-01 9.33491465e-03 1.11823769e+02] [ 8.48331305e-01 5.29224453e-01 1.59836133e-02 6.40769849e+01] [-1.85020684e-02 -5.38507038e-04 9.99828677e-01 -2.76565150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84 meters 0.01974137923455807 Centerline is valid? [True, True] Translation: X:111.84, Y:64.10, Z:-2.77 [[ 5.32876229e-01 -8.46148524e-01 8.69479466e-03 1.11838001e+02] [ 8.46017604e-01 5.32946843e-01 1.48955423e-02 6.41019274e+01] [-1.72377045e-02 -5.81531097e-04 9.99851251e-01 -2.76776895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87 meters 0.021071165709558647 Centerline is valid? [True, True] Translation: X:111.85, Y:64.13, Z:-2.77 [[ 5.34316102e-01 -8.45245417e-01 8.15407623e-03 1.11850744e+02] [ 8.45130038e-01 5.34378005e-01 1.39773404e-02 6.41262887e+01] [-1.61716419e-02 -5.77063296e-04 9.99869064e-01 -2.76961668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.9 meters 0.02102956643818277 Centerline is valid? [True, True] Translation: X:111.87, Y:64.15, Z:-2.77 [[ 5.35346208e-01 -8.44597266e-01 7.73918237e-03 1.11865930e+02] [ 8.44493200e-01 5.35401844e-01 1.32702680e-02 6.41508296e+01] [-1.53516046e-02 -5.68500792e-04 9.99881996e-01 -2.77149357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93 meters 0.022064342483068433 Centerline is valid? [True, True] Translation: X:111.88, Y:64.18, Z:-2.77 [[ 5.36233470e-01 -8.44040679e-01 6.99988915e-03 1.11878897e+02] [ 8.43955402e-01 5.36278891e-01 1.20095948e-02 6.41750542e+01] [-1.38904793e-02 -5.32352418e-04 9.99903381e-01 -2.77354426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96 meters 0.023360802172834004 Centerline is valid? [True, True] Translation: X:111.89, Y:64.20, Z:-2.78 [[ 5.36883466e-01 -8.43631406e-01 6.49576292e-03 1.11891947e+02] [ 8.43557885e-01 5.36922522e-01 1.11490443e-02 6.41994031e+01] [-1.28934053e-02 -5.06185499e-04 9.99916748e-01 -2.77549497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98999999999998 meters 0.021186100752635783 Centerline is valid? [True, True] Translation: X:111.91, Y:64.22, Z:-2.78 [[ 5.37294651e-01 -8.43375289e-01 5.70789865e-03 1.11911239e+02] [ 8.43318501e-01 5.37324780e-01 9.79725874e-03 6.42213367e+01] [-1.13297613e-02 -4.50438181e-04 9.99935715e-01 -2.77562400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01999999999998 meters 0.0227391314739633 Centerline is valid? [True, True] Translation: X:111.92, Y:64.25, Z:-2.78 [[ 5.37227489e-01 -8.43418212e-01 5.68723564e-03 1.11923343e+02] [ 8.43361775e-01 5.37257402e-01 9.76731129e-03 6.42451296e+01] [-1.12934377e-02 -4.50870970e-04 9.99936125e-01 -2.77621155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04999999999998 meters 0.02343500915928458 Centerline is valid? [True, True] Translation: X:111.94, Y:64.27, Z:-2.78 [[ 5.36977509e-01 -8.43575321e-01 5.98611313e-03 1.11936752e+02] [ 8.43512720e-01 5.37010664e-01 1.02877860e-02 6.42689896e+01] [-1.18931290e-02 -4.74947125e-04 9.99929161e-01 -2.77606517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07999999999998 meters 0.022130714489895623 Centerline is valid? [True, True] Translation: X:111.95, Y:64.29, Z:-2.78 [[ 5.36459450e-01 -8.43900963e-01 6.51330227e-03 1.11953294e+02] [ 8.43826780e-01 5.36498743e-01 1.12010663e-02 6.42926873e+01] [-1.29469691e-02 -5.12818968e-04 9.99916053e-01 -2.77542228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10999999999999 meters 0.022130714489895623 Centerline is valid? [True, True] Translation: X:111.97, Y:64.32, Z:-2.78 [[ 5.36217733e-01 -8.44054593e-01 6.51055781e-03 1.11967100e+02] [ 8.43980402e-01 5.36257011e-01 1.12026610e-02 6.43166034e+01] [-1.29469897e-02 -5.12282278e-04 9.99916053e-01 -2.77598903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14 meters 0.024322693868984023 Centerline is valid? [True, True] Translation: X:111.98, Y:64.34, Z:-2.78 [[ 5.35259468e-01 -8.44654029e-01 7.54144706e-03 1.11979711e+02] [ 8.44554377e-01 5.35312276e-01 1.29873539e-02 6.43421081e+01] [-1.50068500e-02 -5.82442027e-04 9.99887221e-01 -2.77511045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17 meters 0.023793729767113917 Centerline is valid? [True, True] Translation: X:112.00, Y:64.37, Z:-2.77 [[ 5.34601648e-01 -8.45067153e-01 7.91111240e-03 1.11995522e+02] [ 8.44957393e-01 5.34659838e-01 1.36331196e-02 6.43662925e+01] [-1.57506556e-02 -6.03735286e-04 9.99875768e-01 -2.77447436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.2 meters 0.021350365644743463 Centerline is valid? [True, True] Translation: X:112.01, Y:64.39, Z:-2.77 [[ 5.33803844e-01 -8.45565550e-01 8.50626899e-03 1.12013442e+02] [ 8.45438630e-01 5.33871235e-01 1.46637886e-02 6.43883041e+01] [-1.69404468e-02 -6.36058302e-04 9.99856298e-01 -2.77349653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23 meters 0.021067075808924626 Centerline is valid? [True, True] Translation: X:112.03, Y:64.41, Z:-2.77 [[ 5.32927478e-01 -8.46113203e-01 8.98618734e-03 1.12028574e+02] [ 8.45971442e-01 5.33002827e-01 1.55018006e-02 6.44126640e+01] [-1.79059414e-02 -6.59277651e-04 9.99839458e-01 -2.77319334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26 meters 0.020952817579070086 Centerline is valid? [True, True] Translation: X:112.04, Y:64.44, Z:-2.77 [[ 5.31568227e-01 -8.46966164e-01 9.13984842e-03 1.12042305e+02] [ 8.46819460e-01 5.31646404e-01 1.57766829e-02 6.44364508e+01] [-1.82214842e-02 -6.46581877e-04 9.99833766e-01 -2.77419153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29 meters 0.021064169862379228 Centerline is valid? [True, True] Translation: X:112.06, Y:64.46, Z:-2.78 [[ 5.30780681e-01 -8.47460627e-01 9.07487842e-03 1.12055432e+02] [ 8.47315982e-01 5.30857882e-01 1.56696111e-02 6.44604987e+01] [-1.80968492e-02 -6.27837330e-04 9.99836041e-01 -2.77533013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32 meters 0.019462041368041264 Centerline is valid? [True, True] Translation: X:112.07, Y:64.48, Z:-2.78 [[ 5.30113272e-01 -8.47881606e-01 8.75788925e-03 1.12071792e+02] [ 8.47746852e-01 5.30185277e-01 1.51277101e-02 6.44839836e+01] [-1.74698111e-02 -5.94926856e-04 9.99847214e-01 -2.77614452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35 meters 0.021384402712884807 Centerline is valid? [True, True] Translation: X:112.08, Y:64.51, Z:-2.78 [[ 5.28888469e-01 -8.48657008e-01 7.63347032e-03 1.12082234e+02] [ 8.48554595e-01 5.28943317e-01 1.31934597e-02 6.45091606e+01] [-1.52343951e-02 -5.00452397e-04 9.99883825e-01 -2.77864002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38 meters 0.019461331883577383 Centerline is valid? [True, True] Translation: X:112.10, Y:64.53, Z:-2.78 [[ 5.28108683e-01 -8.49148335e-01 6.95153435e-03 1.12098655e+02] [ 8.49063389e-01 5.28154246e-01 1.20188848e-02 6.45317679e+01] [-1.38772984e-02 -4.44984099e-04 9.99903607e-01 -2.77994669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41 meters 0.018961274721381653 Centerline is valid? [True, True] Translation: X:112.11, Y:64.56, Z:-2.78 [[ 5.26833242e-01 -8.49944212e-01 6.44757142e-03 1.12113156e+02] [ 8.49871112e-01 5.26872545e-01 1.11541316e-02 6.45563182e+01] [-1.28774379e-02 -3.96762598e-04 9.99917004e-01 -2.78149033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44 meters 0.018423670184245632 Centerline is valid? [True, True] Translation: X:112.13, Y:64.58, Z:-2.78 [[ 5.25139376e-01 -8.50995664e-01 5.91744397e-03 1.12128082e+02] [ 8.50934085e-01 5.25172602e-01 1.02430951e-02 6.45810397e+01] [-1.18245090e-02 -3.43697801e-04 9.99930029e-01 -2.78309571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47 meters 0.016865525933204905 Centerline is valid? [True, True] Translation: X:112.15, Y:64.60, Z:-2.78 [[ 5.20656541e-01 -8.53748994e-01 5.42420541e-03 1.12145573e+02] [ 8.53697352e-01 5.20684730e-01 9.39374990e-03 6.46041426e+01] [-1.08442055e-02 -2.60287535e-04 9.99941166e-01 -2.78311333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.5 meters 0.016220690874933427 Centerline is valid? [True, True] Translation: X:112.16, Y:64.63, Z:-2.78 [[ 5.17557985e-01 -8.55631582e-01 5.32238948e-03 1.12161343e+02] [ 8.55581870e-01 5.17585303e-01 9.22591037e-03 6.46273084e+01] [-1.06487709e-02 -2.21203633e-04 9.99943276e-01 -2.78312989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53 meters 0.01532899687349671 Centerline is valid? [True, True] Translation: X:112.18, Y:64.65, Z:-2.78 [[ 5.13778751e-01 -8.57904949e-01 5.52207992e-03 1.12178240e+02] [ 8.57851576e-01 5.13808394e-01 9.57114322e-03 6.46504765e+01] [-1.10484222e-02 -1.80325043e-04 9.99938948e-01 -2.78289697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56 meters 0.01442134682582309 Centerline is valid? [True, True] Translation: X:112.20, Y:64.67, Z:-2.78 [[ 5.09587880e-01 -8.60398039e-01 5.95047339e-03 1.12195967e+02] [ 8.60336146e-01 5.09622601e-01 1.03208620e-02 6.46736009e+01] [-1.19125451e-02 -1.39978825e-04 9.99929033e-01 -2.78191083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59 meters 0.013825729858982616 Centerline is valid? [True, True] Translation: X:112.21, Y:64.70, Z:-2.78 [[ 5.05370164e-01 -8.62879006e-01 6.38899628e-03 1.12212993e+02] [ 8.62807727e-01 5.05410539e-01 1.10911047e-02 6.46963970e+01] [-1.27993475e-02 -9.26380457e-05 9.99918081e-01 -2.78109702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62 meters 0.013437113153939856 Centerline is valid? [True, True] Translation: X:112.23, Y:64.72, Z:-2.78 [[ 4.96634629e-01 -8.67923913e-01 7.88202218e-03 1.12233022e+02] [ 8.67816018e-01 4.96697170e-01 1.36850371e-02 6.47179517e+01] [-1.57925491e-02 4.36817682e-05 9.99875289e-01 -2.77922633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65 meters 0.013773518319833917 Centerline is valid? [True, True] Translation: X:112.25, Y:64.74, Z:-2.78 [[ 4.92330529e-01 -8.70367938e-01 8.38464045e-03 1.12249636e+02] [ 8.70246026e-01 4.92401906e-01 1.45676945e-02 6.47403053e+01] [-1.68078672e-02 1.24579272e-04 9.99858730e-01 -2.77906740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68 meters 0.014162291672639386 Centerline is valid? [True, True] Translation: X:112.27, Y:64.76, Z:-2.78 [[ 4.87916135e-01 -8.72847890e-01 8.62586081e-03 1.12265895e+02] [ 8.72719182e-01 4.87992331e-01 1.49905031e-02 6.47643439e+01] [-1.72937829e-02 2.13845867e-04 9.99850428e-01 -2.77927096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71 meters 0.014821153344637076 Centerline is valid? [True, True] Translation: X:112.28, Y:64.79, Z:-2.78 [[ 4.83936289e-01 -8.75059842e-01 8.71448387e-03 1.12281746e+02] [ 8.74928665e-01 4.84014658e-01 1.51539579e-02 6.47867712e+01] [-1.74785579e-02 2.91001605e-04 9.99847196e-01 -2.77950694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73999999999998 meters 0.015539386021971144 Centerline is valid? [True, True] Translation: X:112.30, Y:64.81, Z:-2.78 [[ 4.80004851e-01 -8.77221443e-01 8.82509200e-03 1.12297754e+02] [ 8.77087172e-01 4.80085828e-01 1.53522098e-02 6.48105021e+01] [-1.77040893e-02 3.71239794e-04 9.99843201e-01 -2.78004238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76999999999998 meters 0.016870595727296114 Centerline is valid? [True, True] Translation: X:112.31, Y:64.83, Z:-2.78 [[ 4.73955523e-01 -8.80503834e-01 8.89722611e-03 1.12314441e+02] [ 8.80367770e-01 4.74038770e-01 1.54866074e-02 6.48335614e+01] [-1.78536473e-02 4.92868003e-04 9.99840489e-01 -2.78035222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79999999999998 meters 0.017854957273581062 Centerline is valid? [True, True] Translation: X:112.33, Y:64.86, Z:-2.78 [[ 4.71866328e-01 -8.81625428e-01 8.87538156e-03 1.12329657e+02] [ 8.81490136e-01 4.71949490e-01 1.54537393e-02 6.48571237e+01] [-1.78131413e-02 5.31462103e-04 9.99841192e-01 -2.78083551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82999999999998 meters 0.018625203687834373 Centerline is valid? [True, True] Translation: X:112.34, Y:64.88, Z:-2.78 [[ 4.69737303e-01 -8.82770067e-01 7.99211545e-03 1.12342826e+02] [ 8.82660445e-01 4.69805005e-01 1.39210420e-02 6.48817225e+01] [-1.60438150e-02 5.15091471e-04 9.99871157e-01 -2.78265207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85999999999999 meters 0.018782443174104733 Centerline is valid? [True, True] Translation: X:112.36, Y:64.91, Z:-2.78 [[ 4.69483195e-01 -8.82911370e-01 7.28304613e-03 1.12355593e+02] [ 8.82820278e-01 4.69539445e-01 1.26912120e-02 6.49069603e+01] [-1.46248929e-02 4.71310027e-04 9.99892939e-01 -2.78455812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89 meters 0.018101300879184348 Centerline is valid? [True, True] Translation: X:112.37, Y:64.93, Z:-2.79 [[ 4.69534139e-01 -8.82889907e-01 6.56536540e-03 1.12366954e+02] [ 8.82815801e-01 4.69579848e-01 1.14467166e-02 6.49332129e+01] [-1.31891539e-02 4.21384085e-04 9.99912931e-01 -2.78633992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92 meters 0.018050518736504956 Centerline is valid? [True, True] Translation: X:112.38, Y:64.96, Z:-2.79 [[ 4.69897058e-01 -8.82699697e-01 6.16441498e-03 1.12379297e+02] [ 8.82634267e-01 4.69937331e-01 1.07543717e-02 6.49591527e+01] [-1.23897693e-02 3.87476283e-04 9.99923169e-01 -2.78844893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95 meters 0.01747719523226153 Centerline is valid? [True, True] Translation: X:112.39, Y:64.99, Z:-2.79 [[ 4.71876990e-01 -8.81647247e-01 5.49889081e-03 1.12390021e+02] [ 8.81595057e-01 4.71908922e-01 9.59822078e-03 6.49859960e+01] [-1.10572206e-02 3.18615422e-04 9.99938816e-01 -2.78979962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98 meters 0.017006237669215628 Centerline is valid? [True, True] Translation: X:112.40, Y:65.01, Z:-2.79 [[ 4.72716306e-01 -8.81196971e-01 5.58495853e-03 1.12402252e+02] [ 8.81143039e-01 4.72749195e-01 9.75416293e-03 6.50122944e+01] [-1.12356235e-02 3.10195465e-04 9.99936830e-01 -2.79017613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01 meters 0.017560064167262333 Centerline is valid? [True, True] Translation: X:112.42, Y:65.04, Z:-2.79 [[ 4.73905077e-01 -8.80556443e-01 5.85915993e-03 1.12415422e+02] [ 8.80496927e-01 4.73941197e-01 1.02422576e-02 6.50370364e+01] [-1.17957832e-02 3.05114426e-04 9.99930381e-01 -2.79084187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04 meters 0.017082774225172234 Centerline is valid? [True, True] Translation: X:112.43, Y:65.06, Z:-2.79 [[ 4.75337050e-01 -8.79783853e-01 5.92122401e-03 1.12427200e+02] [ 8.79723017e-01 4.75373840e-01 1.03501750e-02 6.50636119e+01] [-1.19207118e-02 2.89215413e-04 9.99928904e-01 -2.79115012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07 meters 0.015769884067655792 Centerline is valid? [True, True] Translation: X:112.44, Y:65.09, Z:-2.79 [[ 4.76976984e-01 -8.78892743e-01 6.36421405e-03 1.12437360e+02] [ 8.78822293e-01 4.77019356e-01 1.11315130e-02 6.50914192e+01] [-1.28192593e-02 2.83537690e-04 9.99917790e-01 -2.79096773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.1 meters 0.01459434260356001 Centerline is valid? [True, True] Translation: X:112.44, Y:65.12, Z:-2.79 [[ 4.80907318e-01 -8.76741093e-01 7.29434197e-03 1.12444506e+02] [ 8.76648171e-01 4.80962567e-01 1.27668403e-02 6.51201129e+01] [-1.47015189e-02 2.54904623e-04 9.99891894e-01 -2.79095843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13 meters 0.013911312855740198 Centerline is valid? [True, True] Translation: X:112.46, Y:65.15, Z:-2.79 [[ 4.82766959e-01 -8.75715447e-01 7.64977932e-03 1.12455005e+02] [ 8.75612980e-01 4.82827509e-01 1.33979797e-02 6.51478828e+01] [-1.54263417e-02 2.30144128e-04 9.99880980e-01 -2.79073680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16 meters 0.013688309008547558 Centerline is valid? [True, True] Translation: X:112.47, Y:65.17, Z:-2.79 [[ 4.85081087e-01 -8.74434209e-01 7.82007432e-03 1.12465574e+02] [ 8.74326807e-01 4.85144080e-01 1.37060361e-02 6.51736666e+01] [-1.57788896e-02 1.88761707e-04 9.99875488e-01 -2.79105328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19 meters 0.013316556704869652 Centerline is valid? [True, True] Translation: X:112.48, Y:65.20, Z:-2.79 [[ 4.87435229e-01 -8.73122454e-01 8.00487503e-03 1.12476630e+02] [ 8.73009712e-01 4.87500932e-01 1.40315109e-02 6.52009395e+01] [-1.61536113e-02 1.48880894e-04 9.99869511e-01 -2.79136228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22 meters 0.012655233039777364 Centerline is valid? [True, True] Translation: X:112.48, Y:65.23, Z:-2.79 [[ 4.92471201e-01 -8.70291729e-01 8.02638601e-03 1.12482756e+02] [ 8.70177862e-01 4.92536602e-01 1.40778261e-02 6.52287548e+01] [-1.62051045e-02 5.14595002e-05 9.99868687e-01 -2.79241131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25 meters 0.012510983936041817 Centerline is valid? [True, True] Translation: X:112.49, Y:65.26, Z:-2.79 [[ 4.94630948e-01 -8.69068367e-01 7.77173582e-03 1.12492447e+02] [ 8.68961389e-01 4.94691999e-01 1.36356508e-02 6.52551379e+01] [-1.56949283e-02 8.72346491e-06 9.99876827e-01 -2.79319906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28 meters 0.012574148952309287 Centerline is valid? [True, True] Translation: X:112.50, Y:65.28, Z:-2.79 [[ 4.96559371e-01 -8.67968565e-01 7.70457444e-03 1.12502583e+02] [ 8.67863162e-01 4.96619138e-01 1.35264079e-02 6.52811317e+01] [-1.55667360e-02 -3.01482500e-05 9.99878831e-01 -2.79357822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31 meters 0.012839941376401622 Centerline is valid? [True, True] Translation: X:112.51, Y:65.31, Z:-2.79 [[ 5.00137724e-01 -8.65917102e-01 7.05903387e-03 1.12510793e+02] [ 8.65828286e-01 5.00187530e-01 1.24022276e-02 6.53080954e+01] [-1.42701417e-02 -9.09106660e-05 9.99898172e-01 -2.79422759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34 meters 0.013023696706620165 Centerline is valid? [True, True] Translation: X:112.52, Y:65.33, Z:-2.80 [[ 5.01336089e-01 -8.65227643e-01 6.57655762e-03 1.12522613e+02] [ 8.65150479e-01 5.01379212e-01 1.15557441e-02 6.53344507e+01] [-1.32956986e-02 -1.03599594e-04 9.99911603e-01 -2.79523488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37 meters 0.016183693775653214 Centerline is valid? [True, True] Translation: X:112.54, Y:65.36, Z:-2.80 [[ 5.01243068e-01 -8.65287393e-01 5.75446707e-03 1.12535425e+02] [ 8.65228259e-01 5.01276090e-01 1.01164408e-02 6.53601154e+01] [-1.16382055e-02 -9.18683146e-05 9.99932270e-01 -2.79819138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.4 meters 0.013322300480960721 Centerline is valid? [True, True] Translation: X:112.55, Y:65.39, Z:-2.80 [[ 5.02941774e-01 -8.64300618e-01 5.83206831e-03 1.12546728e+02] [ 8.64239710e-01 5.02975573e-01 1.02613790e-02 6.53854797e+01] [-1.18023041e-02 -1.20571135e-04 9.99930343e-01 -2.79691988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43 meters 0.013360832486646804 Centerline is valid? [True, True] Translation: X:112.56, Y:65.41, Z:-2.80 [[ 5.03617219e-01 -8.63909927e-01 5.41615959e-03 1.12558920e+02] [ 8.63857378e-01 5.03646328e-01 9.52931950e-03 6.54110455e+01] [-1.09603026e-02 -1.20339962e-04 9.99939927e-01 -2.79794029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46 meters 0.013795131154149487 Centerline is valid? [True, True] Translation: X:112.57, Y:65.44, Z:-2.80 [[ 5.04893192e-01 -8.63168939e-01 4.71669448e-03 1.12568630e+02] [ 8.63128991e-01 5.04915208e-01 8.30530685e-03 6.54375911e+01] [-9.55041367e-03 -1.22177142e-04 9.99954386e-01 -2.80037503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48999999999998 meters 0.013697202751341493 Centerline is valid? [True, True] Translation: X:112.58, Y:65.46, Z:-2.80 [[ 5.05152258e-01 -8.63019472e-01 4.31131753e-03 1.12581724e+02] [ 8.62986099e-01 5.05170643e-01 7.59044629e-03 6.54630718e+01] [-8.72865399e-03 -1.13723984e-04 9.99961898e-01 -2.80129179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51999999999998 meters 0.013670977160543822 Centerline is valid? [True, True] Translation: X:112.59, Y:65.49, Z:-2.80 [[ 5.05362473e-01 -8.62897107e-01 4.16577812e-03 1.12594734e+02] [ 8.62865910e-01 5.05379629e-01 7.33833533e-03 6.54878759e+01] [-8.43752773e-03 -1.14011357e-04 9.99964397e-01 -2.80189685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54999999999998 meters 0.013737543491172574 Centerline is valid? [True, True] Translation: X:112.61, Y:65.51, Z:-2.80 [[ 5.05121346e-01 -8.63037940e-01 4.23558733e-03 1.12607912e+02] [ 8.63005651e-01 5.05139091e-01 7.46628692e-03 6.55127014e+01] [-8.58324961e-03 -1.16045095e-04 9.99963157e-01 -2.80158937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57999999999998 meters 0.013661369426795984 Centerline is valid? [True, True] Translation: X:112.62, Y:65.54, Z:-2.80 [[ 5.04622808e-01 -8.63328419e-01 4.45679450e-03 1.12621947e+02] [ 8.63292628e-01 5.04642475e-01 7.86205225e-03 6.55371646e+01] [-9.03662094e-03 -1.19853047e-04 9.99959162e-01 -2.80157864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60999999999999 meters 0.013589104555511147 Centerline is valid? [True, True] Translation: X:112.64, Y:65.56, Z:-2.80 [[ 5.03592775e-01 -8.63929588e-01 4.47037105e-03 1.12635581e+02] [ 8.63893553e-01 5.03612604e-01 7.89143594e-03 6.55614115e+01] [-9.06898020e-03 -1.12145392e-04 9.99958870e-01 -2.80146165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64 meters 0.01340280260073518 Centerline is valid? [True, True] Translation: X:112.65, Y:65.59, Z:-2.80 [[ 5.02220453e-01 -8.64727246e-01 4.62666754e-03 1.12649457e+02] [ 8.64688626e-01 5.02241754e-01 8.17323262e-03 6.55857902e+01] [-9.39132255e-03 -1.04137795e-04 9.99955895e-01 -2.80135188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67 meters 0.012917364984395222 Centerline is valid? [True, True] Translation: X:112.66, Y:65.61, Z:-2.80 [[ 4.98845888e-01 -8.66678820e-01 4.53899809e-03 1.12664677e+02] [ 8.66641678e-01 4.98866533e-01 8.02395253e-03 6.56100065e+01] [-9.21854395e-03 -6.90308036e-05 9.99957506e-01 -2.80212865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.7 meters 0.012867943575924053 Centerline is valid? [True, True] Translation: X:112.68, Y:65.63, Z:-2.80 [[ 4.96898981e-01 -8.67796922e-01 4.46151118e-03 1.12678472e+02] [ 8.67761040e-01 4.96919007e-01 7.89161010e-03 6.56332131e+01] [-9.06532465e-03 -4.98074328e-05 9.99958908e-01 -2.80320362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73 meters 0.012627427306388583 Centerline is valid? [True, True] Translation: X:112.69, Y:65.66, Z:-2.80 [[ 4.94573103e-01 -8.69123393e-01 4.68763940e-03 1.12693793e+02] [ 8.69083798e-01 4.94595317e-01 8.29607197e-03 6.56574569e+01] [-9.52879471e-03 -2.90626045e-05 9.99954600e-01 -2.80290072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76 meters 0.012590018122208564 Centerline is valid? [True, True] Translation: X:112.71, Y:65.68, Z:-2.80 [[ 4.90845568e-01 -8.71231725e-01 5.09011851e-03 1.12709386e+02] [ 8.71185081e-01 4.90871960e-01 9.01524638e-03 6.56805877e+01] [-1.03529651e-02 9.34157071e-06 9.99946407e-01 -2.80194930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79 meters 0.012657359066004709 Centerline is valid? [True, True] Translation: X:112.72, Y:65.70, Z:-2.80 [[ 4.88996535e-01 -8.72269101e-01 5.38553936e-03 1.12723536e+02] [ 8.72216873e-01 4.89026190e-01 9.54526926e-03 6.57045895e+01] [-1.09597132e-02 2.97547026e-05 9.99939940e-01 -2.80194505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82 meters 0.012634147861367304 Centerline is valid? [True, True] Translation: X:112.74, Y:65.73, Z:-2.80 [[ 4.87255561e-01 -8.73241193e-01 5.64252291e-03 1.12737777e+02] [ 8.73183842e-01 4.87288228e-01 1.00080663e-02 6.57293289e+01] [-1.14889907e-02 5.04738946e-05 9.99933998e-01 -2.80169228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85 meters 0.012722764909119754 Centerline is valid? [True, True] Translation: X:112.75, Y:65.75, Z:-2.80 [[ 4.86031310e-01 -8.73921076e-01 5.95982695e-03 1.12751522e+02] [ 8.73857050e-01 4.86067844e-01 1.05786445e-02 6.57539947e+01] [-1.21417806e-02 6.64843400e-05 9.99926284e-01 -2.80131558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88 meters 0.012753460237520874 Centerline is valid? [True, True] Translation: X:112.76, Y:65.78, Z:-2.80 [[ 4.84931909e-01 -8.74529995e-01 6.19127321e-03 1.12764036e+02] [ 8.74460831e-01 4.84971423e-01 1.09988352e-02 6.57781216e+01] [-1.26214018e-02 8.03397840e-05 9.99920344e-01 -2.80123998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91 meters 0.012769173491571853 Centerline is valid? [True, True] Translation: X:112.78, Y:65.80, Z:-2.80 [[ 4.84756735e-01 -8.74627071e-01 6.19629789e-03 1.12776949e+02] [ 8.74557751e-01 4.84796328e-01 1.10118331e-02 6.58022952e+01] [-1.26351898e-02 8.09601014e-05 9.99920170e-01 -2.80189440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94 meters 0.012766678778187811 Centerline is valid? [True, True] Translation: X:112.79, Y:65.83, Z:-2.80 [[ 4.85025537e-01 -8.74477818e-01 6.22685475e-03 1.12789777e+02] [ 8.74407723e-01 4.85065500e-01 1.10722739e-02 6.58268511e+01] [-1.27028903e-02 7.44743086e-05 9.99919312e-01 -2.80199728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97 meters 0.012650256676632715 Centerline is valid? [True, True] Translation: X:112.80, Y:65.85, Z:-2.80 [[ 4.85623282e-01 -8.74147367e-01 6.03402884e-03 1.12802000e+02] [ 8.74081429e-01 4.85660764e-01 1.07367630e-02 6.58505592e+01] [-1.23160041e-02 6.02104835e-05 9.99924153e-01 -2.80276704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.0 meters 0.012650256676632715 Centerline is valid? [True, True] Translation: X:112.82, Y:65.87, Z:-2.80 [[ 4.85375611e-01 -8.74284930e-01 6.03144828e-03 1.12815444e+02] [ 8.74218984e-01 4.85413080e-01 1.07382122e-02 6.58746443e+01] [-1.23160009e-02 6.07403022e-05 9.99924153e-01 -2.80333333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03 meters 0.012563961616583642 Centerline is valid? [True, True] Translation: X:112.83, Y:65.90, Z:-2.80 [[ 4.87295899e-01 -8.73220455e-01 5.36140560e-03 1.12826398e+02] [ 8.73168228e-01 4.87325391e-01 9.55032163e-03 6.59002410e+01] [-1.09522853e-02 2.75764656e-05 9.99940022e-01 -2.80495587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06 meters 0.012451795092179517 Centerline is valid? [True, True] Translation: X:112.84, Y:65.93, Z:-2.81 [[ 4.88713994e-01 -8.72428132e-01 5.27133950e-03 1.12838458e+02] [ 8.72377533e-01 4.88742422e-01 9.39594945e-03 6.59255372e+01] [-1.07736179e-02 6.66616204e-06 9.99941963e-01 -2.80611995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09 meters 0.01473779188092524 Centerline is valid? [True, True] Translation: X:112.85, Y:65.95, Z:-2.81 [[ 4.89307177e-01 -8.72097115e-01 5.01072015e-03 1.12850830e+02] [ 8.72051325e-01 4.89332833e-01 8.93672782e-03 6.59512050e+01] [-1.02456044e-02 -3.19991752e-06 9.99947512e-01 -2.80898803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12 meters 0.012394869375543823 Centerline is valid? [True, True] Translation: X:112.86, Y:65.97, Z:-2.81 [[ 4.91065686e-01 -8.71105733e-01 5.41241757e-03 1.12862866e+02] [ 8.71052146e-01 4.91095511e-01 9.66217836e-03 6.59749732e+01] [-1.10747929e-02 -3.02663006e-05 9.99938672e-01 -2.80737902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15 meters 0.012372957131332307 Centerline is valid? [True, True] Translation: X:112.88, Y:66.00, Z:-2.81 [[ 4.91932312e-01 -8.70614407e-01 5.75793063e-03 1.12875693e+02] [ 8.70553685e-01 4.91966006e-01 1.02825408e-02 6.59996625e+01] [-1.17848343e-02 -4.57263281e-05 9.99930555e-01 -2.80769346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18 meters 0.015754414304002835 Centerline is valid? [True, True] Translation: X:112.89, Y:66.02, Z:-2.81 [[ 4.92236377e-01 -8.70442849e-01 5.70926122e-03 1.12888877e+02] [ 8.70383061e-01 4.92269483e-01 1.02021050e-02 6.60248103e+01] [-1.16908444e-02 -5.26029227e-05 9.99931658e-01 -2.81009727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21 meters 0.01284072064037594 Centerline is valid? [True, True] Translation: X:112.90, Y:66.05, Z:-2.81 [[ 4.95429885e-01 -8.68625177e-01 6.28732237e-03 1.12901334e+02] [ 8.68552382e-01 4.95469766e-01 1.12459546e-02 6.60496178e+01] [-1.28836974e-02 -1.10713151e-04 9.99916996e-01 -2.80783452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23999999999998 meters 0.01319201761681412 Centerline is valid? [True, True] Translation: X:112.91, Y:66.07, Z:-2.81 [[ 4.96770008e-01 -8.67861942e-01 5.93366041e-03 1.12914176e+02] [ 8.67797043e-01 4.96805429e-01 1.06140484e-02 6.60744018e+01] [-1.21594034e-02 -1.23527962e-04 9.99926064e-01 -2.80882869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26999999999998 meters 0.014188665566515215 Centerline is valid? [True, True] Translation: X:112.93, Y:66.10, Z:-2.81 [[ 5.00064917e-01 -8.65968350e-01 5.82194812e-03 1.12925563e+02] [ 8.65905677e-01 5.00098778e-01 1.04197157e-02 6.60998216e+01] [-1.19346932e-02 -1.69276355e-04 9.99928765e-01 -2.81114855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29999999999998 meters 0.015085776461654033 Centerline is valid? [True, True] Translation: X:112.94, Y:66.12, Z:-2.81 [[ 5.01914004e-01 -8.64897882e-01 5.82968901e-03 1.12937957e+02] [ 8.64834893e-01 5.01947820e-01 1.04400111e-02 6.61245554e+01] [-1.19557431e-02 -1.98269283e-04 9.99928508e-01 -2.81216714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32999999999998 meters 0.016884241764962664 Centerline is valid? [True, True] Translation: X:112.95, Y:66.15, Z:-2.81 [[ 5.03027377e-01 -8.64252726e-01 5.53921556e-03 1.12953177e+02] [ 8.64195760e-01 5.03057832e-01 9.92495967e-03 6.61492421e+01] [-1.13642192e-02 -2.05559826e-04 9.99935404e-01 -2.81418518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35999999999999 meters 0.014763451472200644 Centerline is valid? [True, True] Translation: X:112.97, Y:66.17, Z:-2.81 [[ 5.04641890e-01 -8.63306740e-01 6.16729915e-03 1.12967962e+02] [ 8.63235957e-01 5.04679509e-01 1.10578269e-02 6.61742333e+01] [-1.26588060e-02 -2.56408251e-04 9.99919841e-01 -2.81269789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39 meters 0.015182040847693319 Centerline is valid? [True, True] Translation: X:112.98, Y:66.20, Z:-2.81 [[ 5.05717643e-01 -8.62676025e-01 6.30408570e-03 1.12982284e+02] [ 8.62601929e-01 5.05756855e-01 1.13099995e-02 6.61992473e+01] [-1.29452000e-02 -2.81749822e-04 9.99916168e-01 -2.81321616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42 meters 0.015340666737935995 Centerline is valid? [True, True] Translation: X:113.00, Y:66.22, Z:-2.81 [[ 5.06134265e-01 -8.62430195e-01 6.50107423e-03 1.12997089e+02] [ 8.62351285e-01 5.06175926e-01 1.16702224e-02 6.62238303e+01] [-1.33554395e-02 -3.00489743e-04 9.99910767e-01 -2.81416542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45 meters 0.015655570437804387 Centerline is valid? [True, True] Translation: X:113.01, Y:66.25, Z:-2.82 [[ 5.06307731e-01 -8.62327580e-01 6.60504617e-03 1.13013191e+02] [ 8.62246009e-01 5.06350716e-01 1.18647630e-02 6.62466064e+01] [-1.35757822e-02 -3.12046539e-04 9.99907796e-01 -2.81534326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48 meters 0.015789793142313064 Centerline is valid? [True, True] Translation: X:113.03, Y:66.27, Z:-2.82 [[ 5.06208420e-01 -8.62385724e-01 6.62561165e-03 1.13028830e+02] [ 8.62303543e-01 5.06251680e-01 1.19095373e-02 6.62705476e+01] [-1.36248419e-02 -3.15419642e-04 9.99907128e-01 -2.81634832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51 meters 0.015942043819556523 Centerline is valid? [True, True] Translation: X:113.04, Y:66.29, Z:-2.82 [[ 5.06359899e-01 -8.62297773e-01 6.49642237e-03 1.13044127e+02] [ 8.62218655e-01 5.06401472e-01 1.16850296e-02 6.62942491e+01] [-1.33657728e-02 -3.15493824e-04 9.99910624e-01 -2.81757811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54 meters 0.016137054982767032 Centerline is valid? [True, True] Translation: X:113.06, Y:66.32, Z:-2.82 [[ 5.06740569e-01 -8.62076116e-01 6.22628650e-03 1.13059111e+02] [ 8.62003317e-01 5.06778722e-01 1.12074686e-02 6.63178157e+01] [-1.28170405e-02 -3.12199388e-04 9.99917810e-01 -2.81861890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57 meters 0.01685978313949621 Centerline is valid? [True, True] Translation: X:113.07, Y:66.34, Z:-2.82 [[ 5.08022133e-01 -8.61327501e-01 5.33367260e-03 1.13074984e+02] [ 8.61274008e-01 5.08050051e-01 9.60357914e-03 6.63414549e+01] [-1.09815995e-02 -2.85077182e-04 9.99939660e-01 -2.82159709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.6 meters 0.016412134091521143 Centerline is valid? [True, True] Translation: X:113.09, Y:66.37, Z:-2.82 [[ 5.08595670e-01 -8.60992217e-01 4.77987982e-03 1.13091382e+02] [ 8.60949226e-01 5.08618063e-01 8.60790179e-03 6.63657064e+01] [-9.84246966e-03 -2.62707750e-04 9.99951527e-01 -2.82301408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63 meters 0.01691297119330236 Centerline is valid? [True, True] Translation: X:113.11, Y:66.39, Z:-2.82 [[ 5.09297841e-01 -8.60578425e-01 4.52583523e-03 1.13106245e+02] [ 8.60539827e-01 5.09317884e-01 8.15473326e-03 6.63903478e+01] [-9.32287633e-03 -2.58526573e-04 9.99956508e-01 -2.82457320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66 meters 0.017424220954210347 Centerline is valid? [True, True] Translation: X:113.12, Y:66.41, Z:-2.83 [[ 5.09890745e-01 -8.60227318e-01 4.51538946e-03 1.13121266e+02] [ 8.60188813e-01 5.09910667e-01 8.14348498e-03 6.64144867e+01] [-9.30769350e-03 -2.68200120e-04 9.99956647e-01 -2.82552593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69 meters 0.018575459120333773 Centerline is valid? [True, True] Translation: X:113.14, Y:66.44, Z:-2.83 [[ 5.10451743e-01 -8.59894652e-01 4.49498513e-03 1.13135999e+02] [ 8.59856462e-01 5.10471461e-01 8.10886044e-03 6.64385527e+01] [-9.26732735e-03 -2.74139939e-04 9.99957020e-01 -2.82672310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72 meters 0.018193600123634367 Centerline is valid? [True, True] Translation: X:113.15, Y:66.46, Z:-2.83 [[ 5.11020226e-01 -8.59555580e-01 4.74686919e-03 1.13152266e+02] [ 8.59512965e-01 5.11042186e-01 8.56427673e-03 6.64621836e+01] [-9.78732226e-03 -2.96523018e-04 9.99952059e-01 -2.82594227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75 meters 0.018158617597257082 Centerline is valid? [True, True] Translation: X:113.17, Y:66.48, Z:-2.83 [[ 5.10871116e-01 -8.59641703e-01 5.18119064e-03 1.13170332e+02] [ 8.59590876e-01 5.10897286e-01 9.35357011e-03 6.64845934e+01] [-1.06877752e-02 -3.24764601e-04 9.99942831e-01 -2.82558023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78 meters 0.017621917873053734 Centerline is valid? [True, True] Translation: X:113.19, Y:66.51, Z:-2.83 [[ 5.10098519e-01 -8.60098980e-01 5.40789774e-03 1.13186997e+02] [ 8.60043553e-01 5.10127076e-01 9.77004740e-03 6.65081743e+01] [-1.11619229e-02 -3.32659126e-04 9.99937648e-01 -2.82572688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81 meters 0.01760821027096777 Centerline is valid? [True, True] Translation: X:113.20, Y:66.53, Z:-2.83 [[ 5.08994470e-01 -8.60750816e-01 5.71508284e-03 1.13202567e+02] [ 8.60688825e-01 5.09026439e-01 1.03359493e-02 6.65309583e+01] [-1.18058050e-02 -3.42033080e-04 9.99930251e-01 -2.82637565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84 meters 0.017082828171387846 Centerline is valid? [True, True] Translation: X:113.22, Y:66.55, Z:-2.83 [[ 5.07345151e-01 -8.61722116e-01 5.99106770e-03 1.13219972e+02] [ 8.61654059e-01 5.07380412e-01 1.08351218e-02 6.65548354e+01] [-1.23766145e-02 -3.34918690e-04 9.99923351e-01 -2.82685253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87 meters 0.01548778078081872 Centerline is valid? [True, True] Translation: X:113.24, Y:66.57, Z:-2.83 [[ 5.02264178e-01 -8.64690512e-01 6.40411751e-03 1.13242115e+02] [ 8.64612904e-01 5.02304925e-01 1.15883380e-02 6.65745352e+01] [-1.32371457e-02 -2.83324431e-04 9.99912345e-01 -2.82658156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.9 meters 0.014363972553344137 Centerline is valid? [True, True] Translation: X:113.26, Y:66.60, Z:-2.83 [[ 4.98672368e-01 -8.66764918e-01 6.66684498e-03 1.13261265e+02] [ 8.66680871e-01 4.98716872e-01 1.20726673e-02 6.65965244e+01] [-1.37890326e-02 -2.42278588e-04 9.99904897e-01 -2.82671787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93 meters 0.013534119948244017 Centerline is valid? [True, True] Translation: X:113.28, Y:66.62, Z:-2.83 [[ 4.94602286e-01 -8.69093815e-01 6.67226535e-03 1.13280410e+02] [ 8.69009737e-01 4.94647256e-01 1.20900853e-02 6.66189441e+01] [-1.38078361e-02 -1.81520257e-04 9.99904651e-01 -2.82727454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96 meters 0.012895264805403461 Centerline is valid? [True, True] Translation: X:113.30, Y:66.64, Z:-2.83 [[ 4.90043429e-01 -8.71670616e-01 6.91199143e-03 1.13300148e+02] [ 8.71580526e-01 4.90092159e-01 1.25324858e-02 6.66415597e+01] [-1.43117124e-02 -1.17105194e-04 9.99897575e-01 -2.82766325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98999999999998 meters 0.012513306049524248 Centerline is valid? [True, True] Translation: X:113.32, Y:66.66, Z:-2.83 [[ 4.80995146e-01 -8.76692018e-01 7.40106614e-03 1.13323739e+02] [ 8.76589163e-01 4.81052082e-01 1.34288735e-02 6.66600233e+01] [-1.53332845e-02 2.84714027e-05 9.99882438e-01 -2.82764404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01999999999998 meters 0.012739524074530778 Centerline is valid? [True, True] Translation: X:113.34, Y:66.68, Z:-2.83 [[ 4.77073711e-01 -8.78829950e-01 7.65456976e-03 1.13341467e+02] [ 8.78720183e-01 4.77135105e-01 1.38899763e-02 6.66822695e+01] [-1.58591912e-02 9.96823816e-05 9.99874230e-01 -2.82719052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04999999999998 meters 0.013328513830255379 Centerline is valid? [True, True] Translation: X:113.36, Y:66.70, Z:-2.83 [[ 4.73567328e-01 -8.80723811e-01 7.71714822e-03 1.13359820e+02] [ 8.80612319e-01 4.73630175e-01 1.40143214e-02 6.67039975e+01] [-1.59978208e-02 1.59091074e-04 9.99872014e-01 -2.82755210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07999999999998 meters 0.014028466651693782 Centerline is valid? [True, True] Translation: X:113.38, Y:66.73, Z:-2.83 [[ 4.70318212e-01 -8.82461054e-01 7.95405245e-03 1.13377677e+02] [ 8.82342793e-01 4.70385415e-01 1.44484484e-02 6.67269850e+01] [-1.64916633e-02 2.22832429e-04 9.99863978e-01 -2.82761636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10999999999999 meters 0.01481751148966477 Centerline is valid? [True, True] Translation: X:113.40, Y:66.75, Z:-2.83 [[ 4.64911723e-01 -8.85319822e-01 8.11803339e-03 1.13396826e+02] [ 8.85196895e-01 4.64982480e-01 1.47564066e-02 6.67487385e+01] [-1.68388826e-02 3.25631516e-04 9.99858163e-01 -2.82735973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14 meters 0.015532362974914324 Centerline is valid? [True, True] Translation: X:113.41, Y:66.77, Z:-2.83 [[ 4.62268704e-01 -8.86703274e-01 8.05915494e-03 1.13413974e+02] [ 8.86582261e-01 4.62338801e-01 1.46535852e-02 6.67727228e+01] [-1.67194420e-02 3.71209966e-04 9.99860151e-01 -2.82822299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17 meters 0.01626747275866367 Centerline is valid? [True, True] Translation: X:113.43, Y:66.80, Z:-2.83 [[ 4.59909528e-01 -8.87930210e-01 7.94788021e-03 1.13430280e+02] [ 8.87812563e-01 4.59978019e-01 1.44594161e-02 6.67961030e+01] [-1.64948026e-02 4.06204665e-04 9.99863869e-01 -2.82886966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.2 meters 0.016748198354403145 Centerline is valid? [True, True] Translation: X:113.45, Y:66.82, Z:-2.83 [[ 4.58188653e-01 -8.88821852e-01 7.67294391e-03 1.13446309e+02] [ 8.88712197e-01 4.58252703e-01 1.39675365e-02 6.68200342e+01] [-1.59307989e-02 4.19272107e-04 9.99873009e-01 -2.82952872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23 meters 0.016525284925270094 Centerline is valid? [True, True] Translation: X:113.46, Y:66.85, Z:-2.83 [[ 4.57282322e-01 -8.89286505e-01 7.89867975e-03 1.13459175e+02] [ 8.89170220e-01 4.57350319e-01 1.43876661e-02 6.68455478e+01] [-1.64072210e-02 4.44045459e-04 9.99865294e-01 -2.83017589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26 meters 0.017666827821249103 Centerline is valid? [True, True] Translation: X:113.47, Y:66.87, Z:-2.83 [[ 4.57463760e-01 -8.89195816e-01 7.59659237e-03 1.13473410e+02] [ 8.89088106e-01 4.57526637e-01 1.38461874e-02 6.68687819e+01] [-1.57876152e-02 4.19910986e-04 9.99875280e-01 -2.83148982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29 meters 0.016389018107677237 Centerline is valid? [True, True] Translation: X:113.48, Y:66.89, Z:-2.83 [[ 4.57667850e-01 -8.89092990e-01 7.33449715e-03 1.13484380e+02] [ 8.88992462e-01 4.57726443e-01 1.33755595e-02 6.68949160e+01] [-1.52493095e-02 3.98749133e-04 9.99883643e-01 -2.83229409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32 meters 0.01667643782930871 Centerline is valid? [True, True] Translation: X:113.50, Y:66.92, Z:-2.83 [[ 4.57808143e-01 -8.89023160e-01 7.03740226e-03 1.13497554e+02] [ 8.88930478e-01 4.57862074e-01 1.28423661e-02 6.69188372e+01] [-1.46393205e-02 3.76421555e-04 9.99892769e-01 -2.83334738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35 meters 0.01645572329808978 Centerline is valid? [True, True] Translation: X:113.51, Y:66.94, Z:-2.83 [[ 4.58119607e-01 -8.88864761e-01 6.77217026e-03 1.13510373e+02] [ 8.88778824e-01 4.58169522e-01 1.23649404e-02 6.69441508e+01] [-1.40935618e-02 3.54339868e-04 9.99900618e-01 -2.83432880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38 meters 0.016571434813070506 Centerline is valid? [True, True] Translation: X:113.52, Y:66.97, Z:-2.84 [[ 4.58313675e-01 -8.88767805e-01 6.35337791e-03 1.13523396e+02] [ 8.88692066e-01 4.58357593e-01 1.16072718e-02 6.69690009e+01] [-1.32282885e-02 3.26425154e-04 9.99912449e-01 -2.83535340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41 meters 0.016536838346148445 Centerline is valid? [True, True] Translation: X:113.54, Y:66.99, Z:-2.84 [[ 4.59610591e-01 -8.88099083e-01 6.17440815e-03 1.13535250e+02] [ 8.88027382e-01 4.59651968e-01 1.12888195e-02 6.69939369e+01] [-1.28636691e-02 2.94582507e-04 9.99917216e-01 -2.83676690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44 meters 0.016518476251346188 Centerline is valid? [True, True] Translation: X:113.55, Y:67.02, Z:-2.84 [[ 4.60568924e-01 -8.87603209e-01 6.06713526e-03 1.13547120e+02] [ 8.87533887e-01 4.60608802e-01 1.10964612e-02 6.70189106e+01] [-1.26438305e-02 2.74102954e-04 9.99920026e-01 -2.83773924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47 meters 0.016066393453159064 Centerline is valid? [True, True] Translation: X:113.56, Y:67.05, Z:-2.84 [[ 4.61878480e-01 -8.86921660e-01 6.18370154e-03 1.13558623e+02] [ 8.86849487e-01 4.61919801e-01 1.13174473e-02 6.70453065e+01] [-1.28940633e-02 2.56727202e-04 9.99916835e-01 -2.83835264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.5 meters 0.015723515846554705 Centerline is valid? [True, True] Translation: X:113.57, Y:67.07, Z:-2.84 [[ 4.63266043e-01 -8.86194986e-01 6.55903791e-03 1.13569962e+02] [ 8.86113582e-01 4.63312407e-01 1.20138612e-02 6.70706203e+01] [-1.36855072e-02 2.46438645e-04 9.99906319e-01 -2.83861732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53 meters 0.0144667487170659 Centerline is valid? [True, True] Translation: X:113.58, Y:67.10, Z:-2.84 [[ 4.66211433e-01 -8.84646501e-01 6.88966590e-03 1.13578729e+02] [ 8.84556450e-01 4.66262292e-01 1.26238514e-02 6.70981139e+01] [-1.43800374e-02 2.08914574e-04 9.99896580e-01 -2.83807591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56 meters 0.014194190754286887 Centerline is valid? [True, True] Translation: X:113.59, Y:67.12, Z:-2.84 [[ 4.67606546e-01 -8.83910639e-01 6.78967625e-03 1.13590356e+02] [ 8.83822996e-01 4.67655802e-01 1.24483693e-02 6.71235720e+01] [-1.41784775e-02 1.79933049e-04 9.99899464e-01 -2.83852945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59 meters 0.013952551023895097 Centerline is valid? [True, True] Translation: X:113.60, Y:67.15, Z:-2.84 [[ 4.68777089e-01 -8.83289609e-01 6.89258974e-03 1.13601934e+02] [ 8.83199101e-01 4.68827732e-01 1.26454023e-02 6.71498842e+01] [-1.44009896e-02 1.59654196e-04 9.99896288e-01 -2.83900498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62 meters 0.01367648001938156 Centerline is valid? [True, True] Translation: X:113.61, Y:67.18, Z:-2.84 [[ 4.69990394e-01 -8.82643286e-01 7.06106472e-03 1.13613255e+02] [ 8.82548098e-01 4.70043413e-01 1.29632243e-02 6.71756671e+01] [-1.47609098e-02 1.39138355e-04 9.99891042e-01 -2.83943433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65 meters 0.013603602734225227 Centerline is valid? [True, True] Translation: X:113.62, Y:67.20, Z:-2.84 [[ 4.71139596e-01 -8.82030210e-01 7.08453021e-03 1.13624474e+02] [ 8.81934185e-01 4.71192843e-01 1.30152995e-02 6.72007300e+01] [-1.48180673e-02 1.16066419e-04 9.99890200e-01 -2.84061784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68 meters 0.013435343170496498 Centerline is valid? [True, True] Translation: X:113.64, Y:67.23, Z:-2.84 [[ 4.72164336e-01 -8.81480381e-01 7.29224441e-03 1.13635818e+02] [ 8.81378464e-01 4.72220634e-01 1.34042899e-02 6.72263708e+01] [-1.52591669e-02 9.81995413e-05 9.99883567e-01 -2.84096393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71 meters 0.013238618954623218 Centerline is valid? [True, True] Translation: X:113.65, Y:67.25, Z:-2.84 [[ 4.74173850e-01 -8.80399146e-01 7.51693746e-03 1.13645089e+02] [ 8.80290568e-01 4.74233424e-01 1.38266376e-02 6.72531374e+01] [-1.57377429e-02 6.08591570e-05 9.99876152e-01 -2.84079270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73999999999998 meters 0.013189352899562455 Centerline is valid? [True, True] Translation: X:113.66, Y:67.28, Z:-2.84 [[ 4.74973277e-01 -8.79967826e-01 7.55064836e-03 1.13656565e+02] [ 8.79858060e-01 4.75033288e-01 1.38985605e-02 6.72781405e+01] [-1.58170954e-02 4.20539727e-05 9.99874901e-01 -2.84151607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76999999999998 meters 0.013198933607263182 Centerline is valid? [True, True] Translation: X:113.67, Y:67.30, Z:-2.84 [[ 4.75772468e-01 -8.79536106e-01 7.53642734e-03 1.13668172e+02] [ 8.79426616e-01 4.75832153e-01 1.38776464e-02 6.73038968e+01] [-1.57919655e-02 2.51327333e-05 9.99875299e-01 -2.84117679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79999999999998 meters 0.013222485283786174 Centerline is valid? [True, True] Translation: X:113.68, Y:67.33, Z:-2.84 [[ 4.78108654e-01 -8.78271237e-01 7.19370651e-03 1.13678443e+02] [ 8.78171195e-01 4.78162769e-01 1.32559108e-02 6.73293706e+01] [-1.50820478e-02 -2.04598514e-05 9.99886259e-01 -2.84221380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82999999999998 meters 0.013319690880130484 Centerline is valid? [True, True] Translation: X:113.69, Y:67.35, Z:-2.84 [[ 4.79242152e-01 -8.77654611e-01 7.02441577e-03 1.13690110e+02] [ 8.77559090e-01 4.79293628e-01 1.29484756e-02 6.73549931e+01] [-1.47310471e-02 -4.11154259e-05 9.99891491e-01 -2.84303548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85999999999999 meters 0.01344301956282101 Centerline is valid? [True, True] Translation: X:113.70, Y:67.38, Z:-2.84 [[ 4.80804327e-01 -8.76802462e-01 6.68143344e-03 1.13700713e+02] [ 8.76715843e-01 4.80850744e-01 1.23244568e-02 6.73797060e+01] [-1.40188863e-02 -6.79336176e-05 9.99901728e-01 -2.84478708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89 meters 0.013549252863902376 Centerline is valid? [True, True] Translation: X:113.71, Y:67.41, Z:-2.85 [[ 4.82242754e-01 -8.76015991e-01 6.15708647e-03 1.13712623e+02] [ 8.75942291e-01 4.82282051e-01 1.13633934e-02 6.74057357e+01] [-1.29239667e-02 -8.66617297e-05 9.99916478e-01 -2.84621850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92 meters 0.013549252863902376 Centerline is valid? [True, True] Translation: X:113.73, Y:67.43, Z:-2.85 [[ 4.81992402e-01 -8.76153780e-01 6.15449423e-03 1.13725701e+02] [ 8.76080074e-01 4.82031685e-01 1.13647970e-02 6.74300392e+01] [-1.29239711e-02 -8.59160558e-05 9.99916478e-01 -2.84678491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95 meters 0.013775429142476139 Centerline is valid? [True, True] Translation: X:113.74, Y:67.46, Z:-2.85 [[ 4.83388029e-01 -8.75387312e-01 5.75038713e-03 1.13737704e+02] [ 8.75322827e-01 4.83422220e-01 1.06256677e-02 6.74563363e+01] [-1.20814396e-02 -1.02875460e-04 9.99927011e-01 -2.84841771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98 meters 0.014347441903546143 Centerline is valid? [True, True] Translation: X:113.75, Y:67.48, Z:-2.85 [[ 4.85911877e-01 -8.73997052e-01 4.33594078e-03 1.13748591e+02] [ 8.73960303e-01 4.85931210e-01 8.01544797e-03 6.74822653e+01] [-9.11244685e-03 -1.05361245e-04 9.99958475e-01 -2.85144539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01 meters 0.014524592809757585 Centerline is valid? [True, True] Translation: X:113.76, Y:67.51, Z:-2.85 [[ 4.86672934e-01 -8.73576535e-01 3.67331524e-03 1.13762011e+02] [ 8.73550144e-01 4.86686787e-01 6.79094079e-03 6.75081261e+01] [-7.72016052e-03 -9.61420239e-05 9.99970194e-01 -2.85252507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04 meters 0.014681774688349702 Centerline is valid? [True, True] Translation: X:113.78, Y:67.53, Z:-2.85 [[ 4.87240692e-01 -8.73262047e-01 3.14716623e-03 1.13775636e+02] [ 8.73242656e-01 4.87250848e-01 5.82020141e-03 6.75337522e+01] [-6.61602041e-03 -8.75991603e-05 9.99978110e-01 -2.85349045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07 meters 0.015073435602330472 Centerline is valid? [True, True] Translation: X:113.79, Y:67.56, Z:-2.85 [[ 4.87766834e-01 -8.72969653e-01 2.73863478e-03 1.13788471e+02] [ 8.72954937e-01 4.87774516e-01 5.06953901e-03 6.75582012e+01] [-5.76138997e-03 -8.20482466e-05 9.99983400e-01 -2.85443525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.1 meters 0.01512795451001276 Centerline is valid? [True, True] Translation: X:113.80, Y:67.58, Z:-2.85 [[ 4.88220400e-01 -8.72717202e-01 2.35083981e-03 1.13802996e+02] [ 8.72706369e-01 4.88226055e-01 4.34886996e-03 6.75829138e+01] [-4.94307486e-03 -7.16141594e-05 9.99987780e-01 -2.85397820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13 meters 0.015420478163671229 Centerline is valid? [True, True] Translation: X:113.82, Y:67.61, Z:-2.85 [[ 4.88281987e-01 -8.72682379e-01 2.48325330e-03 1.13815649e+02] [ 8.72670275e-01 4.88288296e-01 4.59693486e-03 6.76070061e+01] [-5.22420757e-03 -7.75391518e-05 9.99986351e-01 -2.85437382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16 meters 0.014922525985038949 Centerline is valid? [True, True] Translation: X:113.83, Y:67.63, Z:-2.85 [[ 4.88104928e-01 -8.72781065e-01 2.60612900e-03 1.13830183e+02] [ 8.72767721e-01 4.88111879e-01 4.82682828e-03 6.76307562e+01] [-5.48484685e-03 -8.14534005e-05 9.99984955e-01 -2.85308296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19 meters 0.015251219194127015 Centerline is valid? [True, True] Translation: X:113.84, Y:67.65, Z:-2.85 [[ 4.87985178e-01 -8.72847552e-01 2.76008324e-03 1.13843042e+02] [ 8.72832555e-01 4.87992975e-01 5.11724670e-03 6.76545128e+01] [-5.81347749e-03 -8.80500345e-05 9.99983098e-01 -2.85328733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22 meters 0.017313977720494707 Centerline is valid? [True, True] Translation: X:113.86, Y:67.68, Z:-2.86 [[ 4.87317993e-01 -8.73221288e-01 2.39887879e-03 1.13856399e+02] [ 8.73209947e-01 4.87323892e-01 4.45109893e-03 6.76785497e+01] [-5.05582529e-03 -7.43757821e-05 9.99987216e-01 -2.85504978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25 meters 0.014948462929232409 Centerline is valid? [True, True] Translation: X:113.87, Y:67.70, Z:-2.85 [[ 4.87403606e-01 -8.73170007e-01 3.44435981e-03 1.13871276e+02] [ 8.73146590e-01 4.87415764e-01 6.39567122e-03 6.77032921e+01] [-7.26334355e-03 -1.09842194e-04 9.99973616e-01 -2.85220851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28 meters 0.014886801691918767 Centerline is valid? [True, True] Translation: X:113.89, Y:67.73, Z:-2.85 [[ 4.86762825e-01 -8.73524367e-01 4.13904612e-03 1.13885818e+02] [ 8.73490493e-01 4.86780405e-01 7.69384446e-03 6.77265858e+01] [-8.73556716e-03 -1.29660026e-04 9.99961836e-01 -2.85131440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31 meters 0.01599591971319936 Centerline is valid? [True, True] Translation: X:113.90, Y:67.75, Z:-2.85 [[ 4.85840317e-01 -8.74039001e-01 3.87439527e-03 1.13899892e+02] [ 8.74009325e-01 4.85855752e-01 7.20335372e-03 6.77503693e+01] [-8.17840932e-03 -1.13422057e-04 9.99966550e-01 -2.85240211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34 meters 0.014773610369331915 Centerline is valid? [True, True] Translation: X:113.91, Y:67.78, Z:-2.85 [[ 4.85633382e-01 -8.74151852e-01 4.33106603e-03 1.13914316e+02] [ 8.74114704e-01 4.85652678e-01 8.05982276e-03 6.77751446e+01] [-9.14890280e-03 -1.28270483e-04 9.99958140e-01 -2.85144702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37 meters 0.014839378795814663 Centerline is valid? [True, True] Translation: X:113.93, Y:67.80, Z:-2.85 [[ 4.84688562e-01 -8.74675684e-01 4.40981437e-03 1.13928101e+02] [ 8.74637137e-01 4.84708606e-01 8.21253434e-03 6.77987108e+01] [-9.32077907e-03 -1.23534034e-04 9.99956553e-01 -2.85218398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.4 meters 0.014527025007817298 Centerline is valid? [True, True] Translation: X:113.94, Y:67.82, Z:-2.85 [[ 4.82341328e-01 -8.75973437e-01 4.16895094e-03 1.13944454e+02] [ 8.75938995e-01 4.82359335e-01 7.76842314e-03 6.78211082e+01] [-8.81586473e-03 -9.52848356e-05 9.99961135e-01 -2.85359090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43 meters 0.01419490242327132 Centerline is valid? [True, True] Translation: X:113.96, Y:67.84, Z:-2.85 [[ 4.80800609e-01 -8.76821122e-01 3.93625296e-03 1.13960130e+02] [ 8.76790434e-01 4.80816715e-01 7.33624805e-03 6.78444361e+01] [-8.32519347e-03 -7.60035855e-05 9.99965342e-01 -2.85362350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46 meters 0.014095617998476423 Centerline is valid? [True, True] Translation: X:113.98, Y:67.87, Z:-2.85 [[ 4.79014738e-01 -8.77797185e-01 4.12106242e-03 1.13975703e+02] [ 8.77763531e-01 4.79032461e-01 7.68668439e-03 6.78679442e+01] [-8.72147259e-03 -6.47168088e-05 9.99961965e-01 -2.85430303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48999999999998 meters 0.01654365155912855 Centerline is valid? [True, True] Translation: X:113.99, Y:67.89, Z:-2.86 [[ 4.76342980e-01 -8.79253036e-01 3.38571285e-03 1.13990954e+02] [ 8.79230339e-01 4.76355012e-01 6.31773927e-03 6.78900408e+01] [-7.16769272e-03 -3.25892992e-05 9.99974311e-01 -2.85655232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51999999999998 meters 0.01564275727503836 Centerline is valid? [True, True] Translation: X:114.01, Y:67.91, Z:-2.86 [[ 4.74710376e-01 -8.80135076e-01 3.50806813e-03 1.14006542e+02] [ 8.80110704e-01 4.74723338e-01 6.54987972e-03 6.79136195e+01] [-7.43014070e-03 -2.18075589e-05 9.99972396e-01 -2.85631369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54999999999998 meters 0.01363201274996933 Centerline is valid? [True, True] Translation: X:114.02, Y:67.94, Z:-2.85 [[ 4.71695623e-01 -8.81751247e-01 4.24005501e-03 1.14024088e+02] [ 8.81715637e-01 4.71714679e-01 7.92444421e-03 6.79367779e+01] [-8.98748476e-03 5.97161270e-07 9.99959612e-01 -2.85494949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57999999999998 meters 0.013676191770190445 Centerline is valid? [True, True] Translation: X:114.04, Y:67.96, Z:-2.86 [[ 4.70007806e-01 -8.82651327e-01 4.39288979e-03 1.14038748e+02] [ 8.82613083e-01 4.70028335e-01 8.21647469e-03 6.79597810e+01] [-9.31706496e-03 1.54147559e-05 9.99956595e-01 -2.85521617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60999999999999 meters 0.013609475264579987 Centerline is valid? [True, True] Translation: X:114.05, Y:67.98, Z:-2.85 [[ 4.68269523e-01 -8.83572808e-01 4.76945365e-03 1.14053653e+02] [ 8.83527717e-01 4.68293810e-01 8.92645912e-03 6.79831969e+01] [-1.01206822e-02 3.39557436e-05 9.99948784e-01 -2.85468017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64 meters 0.01373340520696096 Centerline is valid? [True, True] Translation: X:114.07, Y:68.01, Z:-2.85 [[ 4.66625906e-01 -8.84439858e-01 5.13830003e-03 1.14068258e+02] [ 8.84387485e-01 4.66654192e-01 9.62501303e-03 6.80061851e+01] [-1.09105544e-02 5.29678131e-05 9.99940477e-01 -2.85460897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67 meters 0.0138377060449492 Centerline is valid? [True, True] Translation: X:114.08, Y:68.03, Z:-2.85 [[ 4.64449878e-01 -8.85581159e-01 5.68521594e-03 1.14083666e+02] [ 8.85517040e-01 4.64484665e-01 1.06568418e-02 6.80301774e+01] [-1.20781939e-02 8.47867202e-05 9.99927052e-01 -2.85402662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.7 meters 0.01386334155167328 Centerline is valid? [True, True] Translation: X:114.10, Y:68.06, Z:-2.85 [[ 4.64034048e-01 -8.85796454e-01 6.08642764e-03 1.14097051e+02] [ 8.85722872e-01 4.64073953e-01 1.14175533e-02 6.80551120e+01] [-1.29381807e-02 9.27546983e-05 9.99916294e-01 -2.85425076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73 meters 0.013809815090738595 Centerline is valid? [True, True] Translation: X:114.11, Y:68.08, Z:-2.85 [[ 4.63709061e-01 -8.85964573e-01 6.37820741e-03 1.14110003e+02] [ 8.85883664e-01 4.63752914e-01 1.19736592e-02 6.80802857e+01] [-1.35661502e-02 9.80554785e-05 9.99907971e-01 -2.85457330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76 meters 0.01376591474128311 Centerline is valid? [True, True] Translation: X:114.12, Y:68.11, Z:-2.85 [[ 4.64042646e-01 -8.85782645e-01 7.31628051e-03 1.14122217e+02] [ 8.85675988e-01 4.64100307e-01 1.37458528e-02 6.81059042e+01] [-1.55713259e-02 1.01192061e-04 9.99878754e-01 -2.85461928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79 meters 0.013705713504424748 Centerline is valid? [True, True] Translation: X:114.14, Y:68.13, Z:-2.85 [[ 4.64238569e-01 -8.85677365e-01 7.62598380e-03 1.14135102e+02] [ 8.85561310e-01 4.64301190e-01 1.43377270e-02 6.81306448e+01] [-1.62393536e-02 9.71503408e-05 9.99868128e-01 -2.85440576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82 meters 0.015353594962106634 Centerline is valid? [True, True] Translation: X:114.15, Y:68.15, Z:-2.86 [[ 4.64118764e-01 -8.85739570e-01 7.69326628e-03 1.14147684e+02] [ 8.85621300e-01 4.64182512e-01 1.44744447e-02 6.81548725e+01] [-1.63916681e-02 9.54591072e-05 9.99865643e-01 -2.85518499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85 meters 0.013604487410800017 Centerline is valid? [True, True] Translation: X:114.16, Y:68.18, Z:-2.85 [[ 4.64923811e-01 -8.85314219e-01 8.03633900e-03 1.14160037e+02] [ 8.85184938e-01 4.64993254e-01 1.51293859e-02 6.81797208e+01] [-1.71311039e-02 7.96344855e-05 9.99853249e-01 -2.85370796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88 meters 0.013619965979842318 Centerline is valid? [True, True] Translation: X:114.17, Y:68.20, Z:-2.85 [[ 4.65443293e-01 -8.85039677e-01 8.20432068e-03 1.14172609e+02] [ 8.84904704e-01 4.65515591e-01 1.54563814e-02 6.82047348e+01] [-1.74987500e-02 6.59728910e-05 9.99846883e-01 -2.85366391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91 meters 0.013670820895411488 Centerline is valid? [True, True] Translation: X:114.18, Y:68.23, Z:-2.85 [[ 4.67271461e-01 -8.84073675e-01 8.43326070e-03 1.14182794e+02] [ 8.83930700e-01 4.67347555e-01 1.58990924e-02 6.82295991e+01] [-1.79972328e-02 2.52259163e-05 9.99838036e-01 -2.85378795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94 meters 0.016734731961518024 Centerline is valid? [True, True] Translation: X:114.19, Y:68.25, Z:-2.86 [[ 4.68056816e-01 -8.83658425e-01 8.40267462e-03 1.14193541e+02] [ 8.83516247e-01 4.68132234e-01 1.58509383e-02 6.82541306e+01] [-1.79403780e-02 4.75983053e-06 9.99839058e-01 -2.85696312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97 meters 0.013762865046711844 Centerline is valid? [True, True] Translation: X:114.20, Y:68.28, Z:-2.86 [[ 4.69960625e-01 -8.82647895e-01 8.34889061e-03 1.14204543e+02] [ 8.82507205e-01 4.70034777e-01 1.57588374e-02 6.82800619e+01] [-1.78337736e-02 -3.80769566e-05 9.99840965e-01 -2.85573213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.0 meters 0.015671224623856103 Centerline is valid? [True, True] Translation: X:114.22, Y:68.31, Z:-2.86 [[ 4.70715521e-01 -8.82244970e-01 8.40898088e-03 1.14216269e+02] [ 8.82101991e-01 4.70790621e-01 1.58829573e-02 6.83052950e+01] [-1.79715286e-02 -5.87757642e-05 9.99838497e-01 -2.85789273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03 meters 0.014000094498293245 Centerline is valid? [True, True] Translation: X:114.23, Y:68.33, Z:-2.86 [[ 4.72447603e-01 -8.81319168e-01 8.35380614e-03 1.14227531e+02] [ 8.81177718e-01 4.72521443e-01 1.57897379e-02 6.83297971e+01] [-1.78631512e-02 -9.86360078e-05 9.99840436e-01 -2.85713774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06 meters 0.0142330362605993 Centerline is valid? [True, True] Translation: X:114.24, Y:68.36, Z:-2.86 [[ 4.73827686e-01 -8.80580171e-01 8.11709037e-03 1.14238925e+02] [ 8.80446345e-01 4.73897190e-01 1.53520732e-02 6.83552109e+01] [-1.73653975e-02 -1.27574754e-04 9.99849202e-01 -2.85765102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09 meters 0.014267401737681784 Centerline is valid? [True, True] Translation: X:114.25, Y:68.38, Z:-2.86 [[ 4.74106558e-01 -8.80428339e-01 8.30132432e-03 1.14251878e+02] [ 8.80288233e-01 4.74179208e-01 1.57068912e-02 6.83805346e+01] [-1.77651075e-02 -1.39181988e-04 9.99842178e-01 -2.85770782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12 meters 0.014445929864295205 Centerline is valid? [True, True] Translation: X:114.26, Y:68.41, Z:-2.86 [[ 4.74612855e-01 -8.80153815e-01 8.47939764e-03 1.14264478e+02] [ 8.80007386e-01 4.74688569e-01 1.60550328e-02 6.84056856e+01] [-1.81559715e-02 -1.57992419e-04 9.99835154e-01 -2.85790678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15 meters 0.014545385523295058 Centerline is valid? [True, True] Translation: X:114.28, Y:68.43, Z:-2.86 [[ 4.75017024e-01 -8.79936514e-01 8.39996103e-03 1.14277128e+02] [ 8.79792588e-01 4.75091258e-01 1.59153598e-02 6.84310425e+01] [-1.79952543e-02 -1.69843382e-04 9.99838058e-01 -2.85815644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18 meters 0.014673393218171012 Centerline is valid? [True, True] Translation: X:114.29, Y:68.46, Z:-2.86 [[ 4.75574591e-01 -8.79631360e-01 8.80224051e-03 1.14288703e+02] [ 8.79473041e-01 4.75656002e-01 1.66894490e-02 6.84564584e+01] [-1.88674013e-02 -1.95744664e-04 9.99821976e-01 -2.85933822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21 meters 0.016140435211638174 Centerline is valid? [True, True] Translation: X:114.30, Y:68.48, Z:-2.86 [[ 4.75290327e-01 -8.79783470e-01 8.95270059e-03 1.14301581e+02] [ 8.79619496e-01 4.75374596e-01 1.69863403e-02 6.84810050e+01] [-1.92001879e-02 -1.98473282e-04 9.99815640e-01 -2.86169269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23999999999998 meters 0.014814284166999665 Centerline is valid? [True, True] Translation: X:114.31, Y:68.51, Z:-2.86 [[ 4.75441542e-01 -8.79703292e-01 8.80103202e-03 1.14313823e+02] [ 8.79544594e-01 4.75522950e-01 1.67101878e-02 6.85057047e+01] [-1.88851000e-02 -2.03817321e-04 9.99821640e-01 -2.86122172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26999999999998 meters 0.01450653708316593 Centerline is valid? [True, True] Translation: X:114.33, Y:68.53, Z:-2.86 [[ 4.75083656e-01 -8.79896923e-01 8.77072840e-03 1.14327628e+02] [ 8.79739210e-01 4.75164567e-01 1.66600416e-02 6.85297607e+01] [-1.88266587e-02 -1.98959799e-04 9.99822743e-01 -2.86208768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29999999999998 meters 0.014633154082073654 Centerline is valid? [True, True] Translation: X:114.34, Y:68.55, Z:-2.86 [[ 4.74597303e-01 -8.80159558e-01 8.74941037e-03 1.14341087e+02] [ 8.80002440e-01 4.74677906e-01 1.66309999e-02 6.85545330e+01] [-1.87910853e-02 -1.93525213e-04 9.99823413e-01 -2.86254476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32999999999998 meters 0.014345638321320058 Centerline is valid? [True, True] Translation: X:114.36, Y:68.58, Z:-2.86 [[ 4.74326016e-01 -8.80309185e-01 8.40056573e-03 1.14355004e+02] [ 8.80164183e-01 4.74400363e-01 1.59782952e-02 6.85790919e+01] [-1.80510715e-02 -1.85044032e-04 9.99837049e-01 -2.86320235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35999999999999 meters 0.016348946997167532 Centerline is valid? [True, True] Translation: X:114.37, Y:68.60, Z:-2.87 [[ 4.74160071e-01 -8.80396127e-01 8.65375033e-03 1.14366779e+02] [ 8.80242040e-01 4.74238993e-01 1.64720282e-02 6.86030157e+01] [-1.86058557e-02 -1.92983227e-04 9.99826877e-01 -2.86617441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39 meters 0.014820072058365764 Centerline is valid? [True, True] Translation: X:114.38, Y:68.63, Z:-2.87 [[ 4.74573233e-01 -8.80179462e-01 8.02256456e-03 1.14378069e+02] [ 8.80046849e-01 4.74640999e-01 1.52795587e-02 6.86274079e+01] [-1.72565918e-02 -1.91036882e-04 9.99851076e-01 -2.86601546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42 meters 0.015672437195692033 Centerline is valid? [True, True] Translation: X:114.39, Y:68.65, Z:-2.87 [[ 4.74540151e-01 -8.80195704e-01 8.19553155e-03 1.14391241e+02] [ 8.80057144e-01 4.74610875e-01 1.56185913e-02 6.86520662e+01] [-1.76371054e-02 -1.99112601e-04 9.99844434e-01 -2.86813242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45 meters 0.014690658382820293 Centerline is valid? [True, True] Translation: X:114.40, Y:68.68, Z:-2.87 [[ 4.75021386e-01 -8.79939836e-01 7.78250097e-03 1.14403183e+02] [ 8.79814690e-01 4.75085090e-01 1.48414237e-02 6.86764986e+01] [-1.67569101e-02 -2.02834991e-04 9.99859573e-01 -2.86868307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48 meters 0.014758376452616665 Centerline is valid? [True, True] Translation: X:114.42, Y:68.70, Z:-2.87 [[ 4.74719273e-01 -8.80104449e-01 7.60072013e-03 1.14416800e+02] [ 8.79984962e-01 4.74780076e-01 1.45033064e-02 6.87014228e+01] [-1.63730949e-02 -1.96479645e-04 9.99865933e-01 -2.86937401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51 meters 0.014556674214225235 Centerline is valid? [True, True] Translation: X:114.43, Y:68.73, Z:-2.87 [[ 4.74078102e-01 -8.80451525e-01 7.42062128e-03 1.14430943e+02] [ 8.80337525e-01 4.74136139e-01 1.41690963e-02 6.87260170e+01] [-1.59935872e-02 -1.84606940e-04 9.99872077e-01 -2.87003737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54 meters 0.014293337604717545 Centerline is valid? [True, True] Translation: X:114.45, Y:68.75, Z:-2.87 [[ 4.72483816e-01 -8.81309075e-01 7.30465191e-03 1.14445545e+02] [ 8.81198563e-01 4.72540251e-01 1.39572196e-02 6.87500981e+01] [-1.57523663e-02 -1.57711588e-04 9.99875911e-01 -2.87096464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57 meters 0.014327223680112352 Centerline is valid? [True, True] Translation: X:114.46, Y:68.77, Z:-2.87 [[ 4.71702823e-01 -8.81727090e-01 7.33391978e-03 1.14458521e+02] [ 8.81615573e-01 4.71759809e-01 1.40236763e-02 6.87737047e+01] [-1.58249039e-02 -1.49309793e-04 9.99874767e-01 -2.87167292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.6 meters 0.01405777392202679 Centerline is valid? [True, True] Translation: X:114.47, Y:68.80, Z:-2.87 [[ 4.70233918e-01 -8.82509629e-01 7.53774799e-03 1.14473087e+02] [ 8.82391826e-01 4.70294310e-01 1.44196972e-02 6.87981600e+01] [-1.62704816e-02 -1.29383495e-04 9.99867619e-01 -2.87204884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63 meters 0.01691373523577549 Centerline is valid? [True, True] Translation: X:114.49, Y:68.82, Z:-2.88 [[ 4.68320718e-01 -8.83522770e-01 7.95108360e-03 1.14487008e+02] [ 8.83391647e-01 4.68388198e-01 1.52215121e-02 6.88221543e+01] [-1.71727462e-02 -1.04628636e-04 9.99852532e-01 -2.87516744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66 meters 0.013792519703594096 Centerline is valid? [True, True] Translation: X:114.50, Y:68.85, Z:-2.87 [[ 4.67289040e-01 -8.84071139e-01 7.69252248e-03 1.14501494e+02] [ 8.83948324e-01 4.67352345e-01 1.47358973e-02 6.88465148e+01] [-1.66226999e-02 -8.61309673e-05 9.99861830e-01 -2.87303905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69 meters 0.013588346622689875 Centerline is valid? [True, True] Translation: X:114.52, Y:68.87, Z:-2.87 [[ 4.64418182e-01 -8.85581789e-01 7.78763303e-03 1.14516731e+02] [ 8.85455945e-01 4.64483469e-01 1.49290248e-02 6.88692056e+01] [-1.68380993e-02 -3.77045867e-05 9.99858228e-01 -2.87413050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72 meters 0.01348901795765201 Centerline is valid? [True, True] Translation: X:114.53, Y:68.89, Z:-2.87 [[ 4.63046199e-01 -8.86299598e-01 7.82559073e-03 1.14530699e+02] [ 8.86172478e-01 4.63112321e-01 1.50105959e-02 6.88926188e+01] [-1.69280126e-02 -1.57762530e-05 9.99856711e-01 -2.87468727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75 meters 0.013448260184682722 Centerline is valid? [True, True] Translation: X:114.55, Y:68.92, Z:-2.87 [[ 4.61685094e-01 -8.87009618e-01 7.79817221e-03 1.14545304e+02] [ 8.86883337e-01 4.61750947e-01 1.49669137e-02 6.89172126e+01] [-1.68766098e-02 6.06803889e-06 9.99857580e-01 -2.87478441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78 meters 0.013453366178954415 Centerline is valid? [True, True] Translation: X:114.56, Y:68.94, Z:-2.87 [[ 4.60631996e-01 -8.87553531e-01 8.17889787e-03 1.14559365e+02] [ 8.87414500e-01 4.60704601e-01 1.57090885e-02 6.89412107e+01] [-1.77107128e-02 2.19637781e-05 9.99843153e-01 -2.87452988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81 meters 0.013453366178954415 Centerline is valid? [True, True] Translation: X:114.57, Y:68.97, Z:-2.88 [[ 4.60371610e-01 -8.87688663e-01 8.17428808e-03 1.14572057e+02] [ 8.87549611e-01 4.60444174e-01 1.57114867e-02 6.89657308e+01] [-1.77107119e-02 2.19637770e-05 9.99843153e-01 -2.87509595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84 meters 0.013498075727120648 Centerline is valid? [True, True] Translation: X:114.59, Y:68.99, Z:-2.88 [[ 4.59644283e-01 -8.88062986e-01 8.44196231e-03 1.14585351e+02] [ 8.87914517e-01 4.59721799e-01 1.62381937e-02 6.89888457e+01] [-1.83014929e-02 3.19479780e-05 9.99832513e-01 -2.87502545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87 meters 0.013476105479748455 Centerline is valid? [True, True] Translation: X:114.60, Y:69.01, Z:-2.87 [[ 4.58643593e-01 -8.88572210e-01 9.24560785e-03 1.14599334e+02] [ 8.88393976e-01 4.58736770e-01 1.77965961e-02 6.90124881e+01] [-2.00548610e-02 5.14475419e-05 9.99798880e-01 -2.87375123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.9 meters 0.01349351102858783 Centerline is valid? [True, True] Translation: X:114.61, Y:69.04, Z:-2.87 [[ 4.58112308e-01 -8.88842111e-01 9.63410671e-03 1.14612438e+02] [ 8.88648389e-01 4.58213595e-01 1.85564549e-02 6.90375403e+01] [-2.09082372e-02 6.03930176e-05 9.99781397e-01 -2.87388175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93 meters 0.013425674962395133 Centerline is valid? [True, True] Translation: X:114.63, Y:69.06, Z:-2.87 [[ 4.57698745e-01 -8.89053278e-01 9.80445684e-03 1.14625358e+02] [ 8.88852413e-01 4.57803740e-01 1.88977182e-02 6.90630388e+01] [-2.12895953e-02 6.52532204e-05 9.99773349e-01 -2.87459708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96 meters 0.013426870042494375 Centerline is valid? [True, True] Translation: X:114.64, Y:69.09, Z:-2.88 [[ 4.57478004e-01 -8.89167880e-01 9.71373507e-03 1.14638100e+02] [ 8.88970471e-01 4.57581115e-01 1.87356792e-02 6.90885698e+01] [-2.11039859e-02 6.40625095e-05 9.99777284e-01 -2.87554754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98999999999998 meters 0.013502029465740646 Centerline is valid? [True, True] Translation: X:114.65, Y:69.11, Z:-2.88 [[ 4.56104944e-01 -8.89874889e-01 9.53743530e-03 1.14651466e+02] [ 8.89684476e-01 4.56204641e-01 1.84080941e-02 6.91137837e+01] [-2.07319229e-02 8.92854109e-05 9.99785067e-01 -2.87735608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01999999999998 meters 0.013456218424749738 Centerline is valid? [True, True] Translation: X:114.66, Y:69.14, Z:-2.88 [[ 4.55221758e-01 -8.90326152e-01 9.61732197e-03 1.14664912e+02] [ 8.90132363e-01 4.55323326e-01 1.85754036e-02 6.91387732e+01] [-2.09171586e-02 1.04761640e-04 9.99781207e-01 -2.87814179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04999999999998 meters 0.013469870494100825 Centerline is valid? [True, True] Translation: X:114.68, Y:69.16, Z:-2.88 [[ 4.54312126e-01 -8.90793297e-01 9.36985784e-03 1.14677725e+02] [ 8.90609199e-01 4.54408724e-01 1.81098499e-02 6.91622473e+01] [-2.03898780e-02 1.17357165e-04 9.99792098e-01 -2.87881131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07999999999998 meters 0.013534034245048905 Centerline is valid? [True, True] Translation: X:114.69, Y:69.19, Z:-2.88 [[ 4.53481668e-01 -8.91218687e-01 9.14485492e-03 1.14690148e+02] [ 8.91043194e-01 4.53573848e-01 1.76859078e-02 6.91870552e+01] [-1.99098786e-02 1.28225764e-04 9.99801771e-01 -2.87967121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10999999999999 meters 0.013520489339253145 Centerline is valid? [True, True] Translation: X:114.70, Y:69.21, Z:-2.88 [[ 4.53097842e-01 -8.91414115e-01 9.12259838e-03 1.14702376e+02] [ 8.91239270e-01 4.53189650e-01 1.76551420e-02 6.92122152e+01] [-1.98723100e-02 1.30911166e-04 9.99802518e-01 -2.88036923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14 meters 0.014295159802914244 Centerline is valid? [True, True] Translation: X:114.71, Y:69.24, Z:-2.88 [[ 4.52599340e-01 -8.91664412e-01 9.40286175e-03 1.14713939e+02] [ 8.91478446e-01 4.52696981e-01 1.82105275e-02 6.92373724e+01] [-2.04943264e-02 1.40375849e-04 9.99789959e-01 -2.88259468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17 meters 0.013483755643569741 Centerline is valid? [True, True] Translation: X:114.72, Y:69.26, Z:-2.88 [[ 4.53371417e-01 -8.91272324e-01 9.38103092e-03 1.14724810e+02] [ 8.91086877e-01 4.53468446e-01 1.81809346e-02 6.92630269e+01] [-2.04581653e-02 1.16597475e-04 9.99790703e-01 -2.88129543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.2 meters 0.013436234290642893 Centerline is valid? [True, True] Translation: X:114.74, Y:69.29, Z:-2.88 [[ 4.53778005e-01 -8.91062516e-01 9.64958972e-03 1.14736761e+02] [ 8.90865968e-01 4.53880581e-01 1.87148600e-02 6.92889009e+01] [-2.10558716e-02 1.04099256e-04 9.99778295e-01 -2.88118884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23 meters 0.013466122110771351 Centerline is valid? [True, True] Translation: X:114.75, Y:69.31, Z:-2.88 [[ 4.54140160e-01 -8.90877356e-01 9.70830913e-03 1.14748005e+02] [ 8.90678085e-01 4.54243908e-01 1.88419817e-02 6.93141149e+01] [-2.11958352e-02 9.00775835e-05 9.99775339e-01 -2.88159065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26 meters 0.013474450510508718 Centerline is valid? [True, True] Translation: X:114.76, Y:69.34, Z:-2.88 [[ 4.55410368e-01 -8.90228517e-01 9.72542121e-03 1.14757991e+02] [ 8.90028143e-01 4.55514197e-01 1.88870590e-02 6.93403170e+01] [-2.12438660e-02 5.45360914e-05 9.99774322e-01 -2.88274849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29 meters 0.013415184097717674 Centerline is valid? [True, True] Translation: X:114.77, Y:69.37, Z:-2.88 [[ 4.56129056e-01 -8.89857851e-01 9.96443100e-03 1.14768612e+02] [ 8.89647124e-01 4.56237881e-01 1.93646570e-02 6.93655591e+01] [-2.17779429e-02 3.20446987e-05 9.99762832e-01 -2.88369415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32 meters 0.013386352787153565 Centerline is valid? [True, True] Translation: X:114.78, Y:69.39, Z:-2.88 [[ 4.57095893e-01 -8.89361110e-01 1.00080278e-02 1.14779434e+02] [ 8.89148210e-01 4.57205441e-01 1.94587930e-02 6.93911049e+01] [-2.18816185e-02 4.08567070e-06 9.99760569e-01 -2.88438341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35 meters 0.013358270378746723 Centerline is valid? [True, True] Translation: X:114.79, Y:69.42, Z:-2.89 [[ 4.57771934e-01 -8.89014939e-01 9.86377865e-03 1.14790395e+02] [ 8.88807770e-01 4.57878190e-01 1.91914347e-02 6.94168323e+01] [-2.15778812e-02 -1.82970482e-05 9.99767170e-01 -2.88547559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38 meters 0.013434377471954096 Centerline is valid? [True, True] Translation: X:114.80, Y:69.44, Z:-2.89 [[ 4.58753201e-01 -8.88512535e-01 9.53814485e-03 1.14801737e+02] [ 8.88318449e-01 4.58852344e-01 1.85703790e-02 6.94422425e+01] [-2.08766147e-02 -4.63107763e-05 9.99782059e-01 -2.88655509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41 meters 0.013585803630271372 Centerline is valid? [True, True] Translation: X:114.81, Y:69.47, Z:-2.89 [[ 4.60255069e-01 -8.87742863e-01 8.82494567e-03 1.14811568e+02] [ 8.87576362e-01 4.60339659e-01 1.71930255e-02 6.94675832e+01] [-1.93254582e-02 -8.03639774e-05 9.99813243e-01 -2.88868158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44 meters 0.013605322279336255 Centerline is valid? [True, True] Translation: X:114.82, Y:69.49, Z:-2.89 [[ 4.60878911e-01 -8.87423151e-01 8.41308377e-03 1.14823603e+02] [ 8.87271653e-01 4.60955684e-01 1.63972982e-02 6.94935023e+01] [-1.84294008e-02 -9.24781780e-05 9.99830160e-01 -2.89004127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47 meters 0.013660993827903967 Centerline is valid? [True, True] Translation: X:114.84, Y:69.52, Z:-2.89 [[ 4.61216764e-01 -8.87249881e-01 8.16979661e-03 1.14835234e+02] [ 8.87106799e-01 4.61289106e-01 1.59338407e-02 6.95188537e+01] [-1.79059364e-02 -1.01472328e-04 9.99839671e-01 -2.89167521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.5 meters 0.013785267231587722 Centerline is valid? [True, True] Translation: X:114.85, Y:69.54, Z:-2.89 [[ 4.61642479e-01 -8.87029069e-01 8.10260394e-03 1.14847417e+02] [ 8.86888106e-01 4.61713566e-01 1.58135966e-02 6.95446667e+01] [-1.77682021e-02 -1.14124887e-04 9.99842127e-01 -2.89281671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53 meters 0.013880403948821268 Centerline is valid? [True, True] Translation: X:114.86, Y:69.57, Z:-2.89 [[ 4.62444453e-01 -8.86613171e-01 7.88755118e-03 1.14859116e+02] [ 8.86479350e-01 4.62511695e-01 1.54043546e-02 6.95708033e+01] [-1.73057884e-02 -1.31507110e-04 9.99850235e-01 -2.89382707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56 meters 0.013917673558217256 Centerline is valid? [True, True] Translation: X:114.87, Y:69.60, Z:-2.89 [[ 4.62773564e-01 -8.86445053e-01 7.46967850e-03 1.14871255e+02] [ 8.86324864e-01 4.62833825e-01 1.45974873e-02 6.95957537e+01] [-1.63970903e-02 -1.34769432e-04 9.99865550e-01 -2.89478790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59 meters 0.014056385737134728 Centerline is valid? [True, True] Translation: X:114.88, Y:69.62, Z:-2.90 [[ 4.62826174e-01 -8.86419284e-01 7.26541518e-03 1.14883662e+02] [ 8.86305425e-01 4.62883176e-01 1.42076867e-02 6.96212861e+01] [-1.59570059e-02 -1.36312372e-04 9.99872670e-01 -2.89572259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62 meters 0.0142273099649004 Centerline is valid? [True, True] Translation: X:114.90, Y:69.65, Z:-2.90 [[ 4.63108987e-01 -8.86272161e-01 7.19191189e-03 1.14895369e+02] [ 8.86160422e-01 4.63164805e-01 1.40737454e-02 6.96455934e+01] [-1.58042092e-02 -1.44490291e-04 9.99875095e-01 -2.89712328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65 meters 0.014365707258400244 Centerline is valid? [True, True] Translation: X:114.91, Y:69.67, Z:-2.90 [[ 4.63637103e-01 -8.85993379e-01 7.50798578e-03 1.14907328e+02] [ 8.85871399e-01 4.63697860e-01 1.47023698e-02 6.96698846e+01] [-1.65076392e-02 -1.65454256e-04 9.99863726e-01 -2.89764907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68 meters 0.014585571720522252 Centerline is valid? [True, True] Translation: X:114.92, Y:69.70, Z:-2.90 [[ 4.64147015e-01 -8.85722268e-01 7.97572826e-03 1.14920320e+02] [ 8.85584436e-01 4.64215497e-01 1.56261914e-02 6.96951265e+01] [-1.75429223e-02 -1.89669270e-04 9.99846093e-01 -2.89700566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71 meters 0.014434070587448762 Centerline is valid? [True, True] Translation: X:114.93, Y:69.72, Z:-2.90 [[ 4.64600357e-01 -8.85479301e-01 8.53902797e-03 1.14933749e+02] [ 8.85321044e-01 4.64678770e-01 1.67418677e-02 6.97194513e+01] [-1.87924823e-02 -2.18496558e-04 9.99823382e-01 -2.89640250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73999999999998 meters 0.01510541793323078 Centerline is valid? [True, True] Translation: X:114.94, Y:69.74, Z:-2.90 [[ 4.65331739e-01 -8.85091009e-01 8.95985495e-03 1.14944604e+02] [ 8.84916437e-01 4.65417923e-01 1.75800092e-02 6.97449841e+01] [-1.97299852e-02 -2.51813351e-04 9.99805313e-01 -2.89610625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76999999999998 meters 0.015427917274755714 Centerline is valid? [True, True] Translation: X:114.96, Y:69.77, Z:-2.90 [[ 4.66359593e-01 -8.84546382e-01 9.29662423e-03 1.14956481e+02] [ 8.84358087e-01 4.66452155e-01 1.82526838e-02 6.97710260e+01] [-2.04817759e-02 -2.90769391e-04 9.99790184e-01 -2.89591432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79999999999998 meters 0.015564900375230695 Centerline is valid? [True, True] Translation: X:114.97, Y:69.80, Z:-2.90 [[ 4.69139077e-01 -8.83067834e-01 9.98639839e-03 1.14969135e+02] [ 8.82849929e-01 4.69245193e-01 1.96202115e-02 6.97972809e+01] [-2.20120471e-02 -3.88116805e-04 9.99757630e-01 -2.89569969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82999999999998 meters 0.016028654730532353 Centerline is valid? [True, True] Translation: X:114.98, Y:69.82, Z:-2.90 [[ 4.70612494e-01 -8.82283290e-01 1.00038472e-02 1.14980971e+02] [ 8.82064178e-01 4.70718611e-01 1.96666150e-02 6.98234283e+01] [-2.20605229e-02 -4.31319469e-04 9.99756544e-01 -2.89582338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85999999999999 meters 0.016818914776297045 Centerline is valid? [True, True] Translation: X:114.99, Y:69.85, Z:-2.90 [[ 4.72209716e-01 -8.81431846e-01 9.79214701e-03 1.14991880e+02] [ 8.81221480e-01 4.72311004e-01 1.92618354e-02 6.98491661e+01] [-2.16029339e-02 -4.66575554e-04 9.99766521e-01 -2.89669318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89 meters 0.016680127989195676 Centerline is valid? [True, True] Translation: X:115.01, Y:69.88, Z:-2.90 [[ 4.73574131e-01 -8.80702663e-01 9.50586686e-03 1.15005127e+02] [ 8.80504128e-01 4.73669273e-01 1.87055906e-02 6.98751957e+01] [-2.09767005e-02 -4.88528821e-04 9.99779845e-01 -2.89797223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92 meters 0.01786771575056603 Centerline is valid? [True, True] Translation: X:115.02, Y:69.90, Z:-2.90 [[ 4.76298735e-01 -8.79242288e-01 8.51553577e-03 1.15015445e+02] [ 8.79082560e-01 4.76374589e-01 1.67661469e-02 6.99011495e+01] [-1.87980903e-02 -4.99835595e-04 9.99823175e-01 -2.90007193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95 meters 0.017868627086613745 Centerline is valid? [True, True] Translation: X:115.03, Y:69.93, Z:-2.90 [[ 4.77318764e-01 -8.78692703e-01 8.11976910e-03 1.15028510e+02] [ 8.78547230e-01 4.77387559e-01 1.59963648e-02 6.99263515e+01] [-1.79321658e-02 -5.01764440e-04 9.99839080e-01 -2.90121842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98 meters 0.018785618197635606 Centerline is valid? [True, True] Translation: X:115.04, Y:69.95, Z:-2.90 [[ 4.78032899e-01 -8.78306589e-01 7.87931377e-03 1.15039645e+02] [ 8.78169454e-01 4.78097565e-01 1.55283024e-02 6.99518992e+01] [-1.74056910e-02 -5.03666730e-04 9.99848383e-01 -2.90253022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01 meters 0.01889818818663485 Centerline is valid? [True, True] Translation: X:115.05, Y:69.98, Z:-2.90 [[ 4.78234433e-01 -8.78200260e-01 7.49204255e-03 1.15052355e+02] [ 8.78076204e-01 4.78292869e-01 1.47686006e-02 6.99774795e+01] [-1.65531794e-02 -4.84269046e-04 9.99862869e-01 -2.90385898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04 meters 0.01847311018379534 Centerline is valid? [True, True] Translation: X:115.07, Y:70.00, Z:-2.91 [[ 4.77124930e-01 -8.78808579e-01 6.87617180e-03 1.15066517e+02] [ 8.78704022e-01 4.77174283e-01 1.35626126e-02 7.00019556e+01] [-1.52000726e-02 -4.28940754e-04 9.99884380e-01 -2.90549745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07 meters 0.018213203845448236 Centerline is valid? [True, True] Translation: X:115.08, Y:70.03, Z:-2.91 [[ 4.75912968e-01 -8.79466933e-01 6.69038850e-03 1.15080418e+02] [ 8.79367885e-01 4.75959823e-01 1.32049190e-02 7.00263189e+01] [-1.47976457e-02 -4.01079397e-04 9.99890428e-01 -2.90580798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.1 meters 0.01738240057354429 Centerline is valid? [True, True] Translation: X:115.10, Y:70.05, Z:-2.91 [[ 4.74000772e-01 -8.80496831e-01 6.97124526e-03 1.15095791e+02] [ 8.80389247e-01 4.74051874e-01 1.37693540e-02 7.00510565e+01] [-1.54286044e-02 -3.89275063e-04 9.99880896e-01 -2.90520392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13 meters 0.01657479915132308 Centerline is valid? [True, True] Translation: X:115.11, Y:70.08, Z:-2.91 [[ 4.71226457e-01 -8.81984363e-01 7.01487968e-03 1.15110822e+02] [ 8.81875454e-01 4.71278540e-01 1.38643890e-02 7.00765141e+01] [-1.55341366e-02 -3.47016703e-04 9.99879278e-01 -2.90546416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16 meters 0.015825053168876543 Centerline is valid? [True, True] Translation: X:115.13, Y:70.10, Z:-2.91 [[ 4.65036513e-01 -8.85259944e-01 7.47479655e-03 1.15125119e+02] [ 8.85136557e-01 4.65096511e-01 1.47821370e-02 7.01003461e+01] [-1.65625356e-02 -2.58017771e-04 9.99862799e-01 -2.90617169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19 meters 0.01509755906891547 Centerline is valid? [True, True] Translation: X:115.14, Y:70.12, Z:-2.91 [[ 4.62132991e-01 -8.86774016e-01 8.05875953e-03 1.15140358e+02] [ 8.86630601e-01 4.62203196e-01 1.59493991e-02 7.01246204e+01] [-1.78682971e-02 -2.25600689e-04 9.99840324e-01 -2.90500299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22 meters 0.014378160967275311 Centerline is valid? [True, True] Translation: X:115.16, Y:70.15, Z:-2.90 [[ 4.59556905e-01 -8.88104930e-01 8.77975585e-03 1.15157316e+02] [ 8.87934707e-01 4.59640723e-01 1.73885471e-02 7.01487797e+01] [-1.94783878e-02 -1.95176956e-04 9.99810259e-01 -2.90325295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25 meters 0.014247048499364846 Centerline is valid? [True, True] Translation: X:115.17, Y:70.17, Z:-2.90 [[ 4.57381458e-01 -8.89222606e-01 9.23898946e-03 1.15171572e+02] [ 8.89034091e-01 4.57474733e-01 1.83099474e-02 7.01717994e+01] [-2.05082233e-02 -1.60853825e-04 9.99789671e-01 -2.90246502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28 meters 0.013873282868362827 Centerline is valid? [True, True] Translation: X:115.19, Y:70.20, Z:-2.90 [[ 4.54060145e-01 -8.90924716e-01 9.08492866e-03 1.15186926e+02] [ 8.90742578e-01 4.54151014e-01 1.80143423e-02 7.01958109e+01] [-2.01753523e-02 -8.72620910e-05 9.99796453e-01 -2.90268320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31 meters 0.013816978353414331 Centerline is valid? [True, True] Translation: X:115.20, Y:70.22, Z:-2.90 [[ 4.52665322e-01 -8.91637912e-01 8.71441929e-03 1.15199482e+02] [ 8.91470242e-01 4.52749193e-01 1.72909181e-02 7.02213761e+01] [-1.93626844e-02 -5.83535336e-05 9.99812524e-01 -2.90485761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34 meters 0.01377999996390471 Centerline is valid? [True, True] Translation: X:115.21, Y:70.25, Z:-2.91 [[ 4.51779925e-01 -8.92091864e-01 8.18570731e-03 1.15210914e+02] [ 8.91943802e-01 4.51854074e-01 1.62526650e-02 7.02459725e+01] [-1.81976154e-02 -4.14368922e-05 9.99834409e-01 -2.90726656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37 meters 0.01372337836869594 Centerline is valid? [True, True] Translation: X:115.22, Y:70.27, Z:-2.91 [[ 4.51215380e-01 -8.92380717e-01 7.83174212e-03 1.15222887e+02] [ 8.92245069e-01 4.51283341e-01 1.55590107e-02 7.02709416e+01] [-1.74188959e-02 -3.26316276e-05 9.99848279e-01 -2.90909723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.4 meters 0.013794513483901373 Centerline is valid? [True, True] Translation: X:115.24, Y:70.30, Z:-2.91 [[ 4.50982999e-01 -8.92501053e-01 7.49703773e-03 1.15235128e+02] [ 8.92376599e-01 4.51045308e-01 1.49041991e-02 7.02951230e+01] [-1.66835170e-02 -3.13593431e-05 9.99860820e-01 -2.91065555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43 meters 0.013789972215736811 Centerline is valid? [True, True] Translation: X:115.25, Y:70.32, Z:-2.91 [[ 4.50643934e-01 -8.92676145e-01 7.02458608e-03 1.15248574e+02] [ 8.92566783e-01 4.50698680e-01 1.39727690e-02 7.03192684e+01] [-1.56391292e-02 -2.68313873e-05 9.99877701e-01 -2.91118000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46 meters 0.013798441849935067 Centerline is valid? [True, True] Translation: X:115.26, Y:70.34, Z:-2.91 [[ 4.50350933e-01 -8.92826329e-01 6.72195412e-03 1.15261662e+02] [ 8.92726075e-01 4.50401095e-01 1.33793838e-02 7.03438164e+01] [-1.49730416e-02 -2.45542673e-05 9.99887897e-01 -2.91111647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48999999999998 meters 0.013763631814588926 Centerline is valid? [True, True] Translation: X:115.27, Y:70.37, Z:-2.91 [[ 4.49809600e-01 -8.93099857e-01 6.63100770e-03 1.15274004e+02] [ 8.93002185e-01 4.49858473e-01 1.32080453e-02 7.03680165e+01] [-1.47791183e-02 -1.96011910e-05 9.99890783e-01 -2.91163248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51999999999998 meters 0.013760289263915359 Centerline is valid? [True, True] Translation: X:115.29, Y:70.39, Z:-2.91 [[ 4.48590149e-01 -8.93710335e-01 6.97961702e-03 1.15286125e+02] [ 8.93602052e-01 4.48644444e-01 1.39117476e-02 7.03937649e+01] [-1.55644390e-02 -3.67285302e-06 9.99878867e-01 -2.91271806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54999999999998 meters 0.013699811880351988 Centerline is valid? [True, True] Translation: X:115.30, Y:70.42, Z:-2.91 [[ 4.47809067e-01 -8.94098189e-01 7.44767553e-03 1.15298755e+02] [ 8.93974763e-01 4.47870995e-01 1.48558383e-02 7.04193062e+01] [-1.66181760e-02 5.45485935e-06 9.99861909e-01 -2.91302107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57999999999998 meters 0.013712441387477124 Centerline is valid? [True, True] Translation: X:115.31, Y:70.44, Z:-2.91 [[ 4.47006701e-01 -8.94498151e-01 7.62023151e-03 1.15311304e+02] [ 8.94368809e-01 4.47071648e-01 1.52110034e-02 7.04442078e+01] [-1.70130038e-02 1.58769610e-05 9.99855268e-01 -2.91296070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60999999999999 meters 0.013624320854411889 Centerline is valid? [True, True] Translation: X:115.32, Y:70.47, Z:-2.91 [[ 4.45967408e-01 -8.95008553e-01 8.53002226e-03 1.15324492e+02] [ 8.94846319e-01 4.46048976e-01 1.70404475e-02 7.04693560e+01] [-1.90561540e-02 3.35748104e-05 9.99818414e-01 -2.91154571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64 meters 0.013574305948148865 Centerline is valid? [True, True] Translation: X:115.34, Y:70.49, Z:-2.91 [[ 4.45232149e-01 -8.95371081e-01 8.88600930e-03 1.15337040e+02] [ 8.95194837e-01 4.45320812e-01 1.77644974e-02 7.04947830e+01] [-1.98629421e-02 4.53842980e-05 9.99802711e-01 -2.91129257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67 meters 0.013608321985233459 Centerline is valid? [True, True] Translation: X:115.35, Y:70.52, Z:-2.91 [[ 4.45016737e-01 -8.95473223e-01 9.37074337e-03 1.15348593e+02] [ 8.95276955e-01 4.45115384e-01 1.87475067e-02 7.05192215e+01] [-2.09589523e-02 4.64563408e-05 9.99780336e-01 -2.91126151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.7 meters 0.013647277337534165 Centerline is valid? [True, True] Translation: X:115.36, Y:70.54, Z:-2.91 [[ 4.44946289e-01 -8.95503961e-01 9.77018329e-03 1.15359936e+02] [ 8.95290325e-01 4.45053541e-01 1.95596408e-02 7.05449415e+01] [-2.18639905e-02 4.41610024e-05 9.99760953e-01 -2.91161545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73 meters 0.013647277337534165 Centerline is valid? [True, True] Translation: X:115.37, Y:70.57, Z:-2.91 [[ 4.44695808e-01 -8.95628432e-01 9.76470372e-03 1.15372197e+02] [ 8.95414767e-01 4.44803001e-01 1.95623760e-02 7.05696695e+01] [-2.18639897e-02 4.41532966e-05 9.99760953e-01 -2.91218152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76 meters 0.01400372166136239 Centerline is valid? [True, True] Translation: X:115.38, Y:70.60, Z:-2.91 [[ 4.44652972e-01 -8.95647648e-01 9.95114969e-03 1.15383047e+02] [ 8.95425431e-01 4.44764308e-01 1.99501264e-02 7.05952945e+01] [-2.22942000e-02 3.96295034e-05 9.99751453e-01 -2.91336691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79 meters 0.013602922079193709 Centerline is valid? [True, True] Translation: X:115.39, Y:70.62, Z:-2.91 [[ 4.46218878e-01 -8.94867236e-01 1.00669496e-02 1.15391615e+02] [ 8.94639295e-01 4.46332421e-01 2.01965911e-02 7.06208471e+01] [-2.25664737e-02 -5.81157303e-06 9.99745345e-01 -2.91414870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82 meters 0.013606348641893631 Centerline is valid? [True, True] Translation: X:115.40, Y:70.65, Z:-2.92 [[ 4.46866505e-01 -8.94549578e-01 9.55919200e-03 1.15402404e+02] [ 8.94343732e-01 4.46968736e-01 1.91895388e-02 7.06466136e+01] [-2.14386538e-02 -2.59586803e-05 9.99770165e-01 -2.91601957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85 meters 0.013648861181798137 Centerline is valid? [True, True] Translation: X:115.41, Y:70.67, Z:-2.92 [[ 4.47567775e-01 -8.94205419e-01 8.93065380e-03 1.15413641e+02] [ 8.94025460e-01 4.47656864e-01 1.79390700e-02 7.06722987e+01] [-2.00390820e-02 -4.47177618e-05 9.99799196e-01 -2.91795959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88 meters 0.013588623500680304 Centerline is valid? [True, True] Translation: X:115.42, Y:70.70, Z:-2.92 [[ 4.48288978e-01 -8.93849010e-01 8.42261079e-03 1.15424669e+02] [ 8.93688670e-01 4.48368090e-01 1.69297594e-02 7.06981349e+01] [-1.89090786e-02 -6.22326872e-05 9.99821205e-01 -2.91987627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91 meters 0.01366523368671935 Centerline is valid? [True, True] Translation: X:115.44, Y:70.72, Z:-2.92 [[ 4.48775221e-01 -8.93608992e-01 7.98566426e-03 1.15435292e+02] [ 8.93464623e-01 4.48846260e-01 1.60624808e-02 7.07234867e+01] [-1.79379128e-02 -7.35348876e-05 9.99839100e-01 -2.92167400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94 meters 0.01370743789295408 Centerline is valid? [True, True] Translation: X:115.45, Y:70.75, Z:-2.92 [[ 4.49813087e-01 -8.93089316e-01 7.72401924e-03 1.15445869e+02] [ 8.92954011e-01 4.49879389e-01 1.55457367e-02 7.07494574e+01] [-1.73586085e-02 -9.54818738e-05 9.99849323e-01 -2.92274759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97 meters 0.013897706832778403 Centerline is valid? [True, True] Translation: X:115.46, Y:70.77, Z:-2.92 [[ 4.50074899e-01 -8.92958912e-01 7.54766277e-03 1.15456275e+02] [ 8.92829514e-01 4.50138169e-01 1.52015709e-02 7.07741825e+01] [-1.69718693e-02 -1.03069428e-04 9.99855962e-01 -2.92434703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.0 meters 0.013810948968250381 Centerline is valid? [True, True] Translation: X:115.47, Y:70.80, Z:-2.92 [[ 4.50283794e-01 -8.92854170e-01 7.47902089e-03 1.15468391e+02] [ 8.92726940e-01 4.50345888e-01 1.50728776e-02 7.07991858e+01] [-1.68260279e-02 -1.10349080e-04 9.99858426e-01 -2.92484214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03 meters 0.013804361969582 Centerline is valid? [True, True] Translation: X:115.48, Y:70.82, Z:-2.93 [[ 4.50485384e-01 -8.92753040e-01 7.41139463e-03 1.15479950e+02] [ 8.92627909e-01 4.50546331e-01 1.49472263e-02 7.08245828e+01] [-1.66833584e-02 -1.17889293e-04 9.99860816e-01 -2.92549594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06 meters 0.013825977456079198 Centerline is valid? [True, True] Translation: X:115.49, Y:70.85, Z:-2.93 [[ 4.50436602e-01 -8.92776407e-01 7.56000884e-03 1.15491467e+02] [ 8.92646017e-01 4.50500023e-01 1.52583367e-02 7.08489385e+01] [-1.70280672e-02 -1.24501557e-04 9.99855004e-01 -2.92606872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09 meters 0.013799959703286135 Centerline is valid? [True, True] Translation: X:115.50, Y:70.87, Z:-2.93 [[ 4.50308173e-01 -8.92840096e-01 7.68849900e-03 1.15503817e+02] [ 8.92705072e-01 4.50373786e-01 1.55276321e-02 7.08745498e+01] [-1.73263909e-02 -1.28657588e-04 9.99849879e-01 -2.92656214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12 meters 0.013804913045627537 Centerline is valid? [True, True] Translation: X:115.52, Y:70.90, Z:-2.93 [[ 4.50536641e-01 -8.92723040e-01 7.89360388e-03 1.15515508e+02] [ 8.92580490e-01 4.50605763e-01 1.59535495e-02 7.08996252e+01] [-1.77990046e-02 -1.41981793e-04 9.99841575e-01 -2.92714127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15 meters 0.013975776772535609 Centerline is valid? [True, True] Translation: X:115.53, Y:70.93, Z:-2.93 [[ 4.51286648e-01 -8.92342012e-01 8.12986968e-03 1.15525806e+02] [ 8.92190514e-01 4.51359840e-01 1.64432998e-02 7.09251861e+01] [-1.83425439e-02 -1.67249034e-04 9.99831747e-01 -2.92807080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18 meters 0.013975776772535609 Centerline is valid? [True, True] Translation: X:115.54, Y:70.95, Z:-2.93 [[ 4.51037280e-01 -8.92468120e-01 8.12567500e-03 1.15537960e+02] [ 8.92316605e-01 4.51110437e-01 1.64453723e-02 7.09499619e+01] [-1.83425473e-02 -1.66801255e-04 9.99831747e-01 -2.92863707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21 meters 0.013920513105370869 Centerline is valid? [True, True] Translation: X:115.55, Y:70.97, Z:-2.93 [[ 4.51550282e-01 -8.92205609e-01 8.45540114e-03 1.15549675e+02] [ 8.92041259e-01 4.51629400e-01 1.71253459e-02 7.09749494e+01] [-1.90980374e-02 -1.90388108e-04 9.99817598e-01 -2.92945406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23999999999998 meters 0.01401390355908423 Centerline is valid? [True, True] Translation: X:115.56, Y:71.00, Z:-2.93 [[ 4.51822809e-01 -8.92069578e-01 8.24731054e-03 1.15561785e+02] [ 8.91912998e-01 4.51898031e-01 1.67144752e-02 7.10007967e+01] [-1.86374182e-02 -1.96097654e-04 9.99826289e-01 -2.93022198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26999999999998 meters 0.014110597013540217 Centerline is valid? [True, True] Translation: X:115.57, Y:71.03, Z:-2.93 [[ 4.52177577e-01 -8.91890706e-01 8.14902602e-03 1.15573670e+02] [ 8.91737593e-01 4.52250954e-01 1.65269363e-02 7.10265192e+01] [-1.84256257e-02 -2.06317164e-04 9.99830212e-01 -2.93119122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29999999999998 meters 0.014422178854953945 Centerline is valid? [True, True] Translation: X:115.58, Y:71.05, Z:-2.93 [[ 4.53444355e-01 -8.91249095e-01 7.95406263e-03 1.15584446e+02] [ 8.91102912e-01 4.53514053e-01 1.61432415e-02 7.10521435e+01] [-1.79949286e-02 -2.32173366e-04 9.99838051e-01 -2.93250234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32999999999998 meters 0.014627583713034808 Centerline is valid? [True, True] Translation: X:115.60, Y:71.08, Z:-2.93 [[ 4.53651079e-01 -8.91145829e-01 7.73369816e-03 1.15595216e+02] [ 8.91007515e-01 4.53716936e-01 1.57019369e-02 7.10774422e+01] [-1.75016254e-02 -2.32417432e-04 9.99846808e-01 -2.93436636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35999999999999 meters 0.014572004678880443 Centerline is valid? [True, True] Translation: X:115.61, Y:71.10, Z:-2.94 [[ 4.53452672e-01 -8.91248578e-01 7.52637517e-03 1.15607463e+02] [ 8.91117406e-01 4.53515072e-01 1.52921066e-02 7.11029080e+01] [-1.70423928e-02 -2.27362667e-04 9.99854742e-01 -2.93587105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39 meters 0.014499995735319742 Centerline is valid? [True, True] Translation: X:115.62, Y:71.13, Z:-2.94 [[ 4.53107461e-01 -8.91427113e-01 7.16459728e-03 1.15620079e+02] [ 8.91308117e-01 4.53164050e-01 1.45665113e-02 7.11284906e+01] [-1.62317210e-02 -2.14331242e-04 9.99868234e-01 -2.93763409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42 meters 0.014331197917236258 Centerline is valid? [True, True] Translation: X:115.63, Y:71.15, Z:-2.94 [[ 4.52180326e-01 -8.91899781e-01 6.90897316e-03 1.15633273e+02] [ 8.91789035e-01 4.52233063e-01 1.40560607e-02 7.11537793e+01] [-1.56610636e-02 -1.94527609e-04 9.99877339e-01 -2.93881685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45 meters 0.01366713896203475 Centerline is valid? [True, True] Translation: X:115.65, Y:71.18, Z:-2.94 [[ 4.49610619e-01 -8.93199429e-01 6.71358109e-03 1.15649614e+02] [ 8.93094865e-01 4.49660715e-01 1.36676230e-02 7.11777312e+01] [-1.52267467e-02 -1.49243645e-04 9.99884055e-01 -2.93950774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48 meters 0.013344546639201227 Centerline is valid? [True, True] Translation: X:115.66, Y:71.20, Z:-2.94 [[ 4.47726120e-01 -8.94145072e-01 6.77589996e-03 1.15664676e+02] [ 8.94038521e-01 4.47777373e-01 1.38038711e-02 7.12022770e+01] [-1.53767580e-02 -1.22438070e-04 9.99881763e-01 -2.93936953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51 meters 0.01319670062104983 Centerline is valid? [True, True] Translation: X:115.68, Y:71.23, Z:-2.94 [[ 4.45599549e-01 -8.95206469e-01 6.81318355e-03 1.15678418e+02] [ 8.95098707e-01 4.45651623e-01 1.38901451e-02 7.12254939e+01] [-1.54708541e-02 -9.09706156e-05 9.99880315e-01 -2.93948297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54 meters 0.012881690892433597 Centerline is valid? [True, True] Translation: X:115.69, Y:71.25, Z:-2.94 [[ 4.41187232e-01 -8.97383983e-01 7.47087412e-03 1.15694259e+02] [ 8.97254556e-01 4.41250481e-01 1.52405742e-02 7.12494310e+01] [-1.69731740e-02 -2.06709251e-05 9.99855945e-01 -2.93923086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57 meters 0.012888320377601093 Centerline is valid? [True, True] Translation: X:115.71, Y:71.27, Z:-2.94 [[ 4.39069671e-01 -8.98418492e-01 7.87637481e-03 1.15707293e+02] [ 8.98274591e-01 4.39140311e-01 1.60793574e-02 7.12731541e+01] [-1.79048257e-02 1.51892046e-05 9.99839696e-01 -2.93908469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.6 meters 0.012904627902827898 Centerline is valid? [True, True] Translation: X:115.72, Y:71.30, Z:-2.94 [[ 4.37260673e-01 -8.99297871e-01 8.15127833e-03 1.15720588e+02] [ 8.99143661e-01 4.37336641e-01 1.66535379e-02 7.12981782e+01] [-1.85413438e-02 4.72330591e-05 9.99828093e-01 -2.93958442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63 meters 0.013011106135277468 Centerline is valid? [True, True] Translation: X:115.73, Y:71.32, Z:-2.94 [[ 4.35462550e-01 -9.00168635e-01 8.29436542e-03 1.15733398e+02] [ 9.00008895e-01 4.35541528e-01 1.69578027e-02 7.13217961e+01] [-1.88774227e-02 8.05146526e-05 9.99821802e-01 -2.94030825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66 meters 0.013159329487298093 Centerline is valid? [True, True] Translation: X:115.75, Y:71.35, Z:-2.94 [[ 4.33541518e-01 -9.01093210e-01 8.53102564e-03 1.15746765e+02] [ 9.00924145e-01 4.33625428e-01 1.74548572e-02 7.13464326e+01] [-1.94277229e-02 1.18401707e-04 9.99811257e-01 -2.94081501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69 meters 0.013231999409656631 Centerline is valid? [True, True] Translation: X:115.76, Y:71.37, Z:-2.94 [[ 4.32734964e-01 -9.01477644e-01 8.86046966e-03 1.15758734e+02] [ 9.01295083e-01 4.32825644e-01 1.81420695e-02 7.13708574e+01] [-2.01897086e-02 1.35189941e-04 9.99796158e-01 -2.94077035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72 meters 0.013286441368833208 Centerline is valid? [True, True] Translation: X:115.77, Y:71.40, Z:-2.94 [[ 4.32323102e-01 -9.01673957e-01 8.98943970e-03 1.15770829e+02] [ 9.01485803e-01 4.32416529e-01 1.84198796e-02 7.13962799e+01] [-2.04959080e-02 1.40512790e-04 9.99789927e-01 -2.94061676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75 meters 0.013153365322403304 Centerline is valid? [True, True] Translation: X:115.78, Y:71.42, Z:-2.94 [[ 4.32232817e-01 -9.01719496e-01 8.76025123e-03 1.15780896e+02] [ 9.01540584e-01 4.32321561e-01 1.79622777e-02 7.14224467e+01] [-1.99841815e-02 1.33836136e-04 9.99800287e-01 -2.94166337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78 meters 0.01314125378897817 Centerline is valid? [True, True] Translation: X:115.79, Y:71.45, Z:-2.94 [[ 4.32361786e-01 -9.01660845e-01 8.42653939e-03 1.15792081e+02] [ 9.01495065e-01 4.32443876e-01 1.72899300e-02 7.14486520e+01] [-1.92336582e-02 1.20978665e-04 9.99815009e-01 -2.94305583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81 meters 0.013154437443724144 Centerline is valid? [True, True] Translation: X:115.80, Y:71.47, Z:-2.94 [[ 4.32562227e-01 -9.01566272e-01 8.25687334e-03 1.15803458e+02] [ 9.01406856e-01 4.32641011e-01 1.69539171e-02 7.14748157e+01] [-1.88573418e-02 1.09178114e-04 9.99822179e-01 -2.94404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84 meters 0.013186554195321009 Centerline is valid? [True, True] Translation: X:115.81, Y:71.50, Z:-2.94 [[ 4.32831299e-01 -9.01438411e-01 8.11534365e-03 1.15814690e+02] [ 9.01284167e-01 4.32907360e-01 1.66753804e-02 7.14996801e+01] [-1.85450204e-02 9.66042039e-05 9.99828022e-01 -2.94472685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87 meters 0.01314135932332511 Centerline is valid? [True, True] Translation: X:115.83, Y:71.53, Z:-2.95 [[ 4.33200664e-01 -9.01260236e-01 8.19579986e-03 1.15825869e+02] [ 9.01102681e-01 4.33278178e-01 1.68516781e-02 7.15252623e+01] [-1.87388086e-02 8.50990748e-05 9.99824409e-01 -2.94543436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.9 meters 0.013112685120609723 Centerline is valid? [True, True] Translation: X:115.84, Y:71.55, Z:-2.95 [[ 4.33276745e-01 -9.01224041e-01 8.15419536e-03 1.15836780e+02] [ 9.01067845e-01 4.33353462e-01 1.67784265e-02 7.15505283e+01] [-1.86547701e-02 7.77812064e-05 9.99825982e-01 -2.94576421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93 meters 0.01306376631196824 Centerline is valid? [True, True] Translation: X:115.85, Y:71.58, Z:-2.95 [[ 4.34817712e-01 -9.00482634e-01 8.03637241e-03 1.15845499e+02] [ 9.00330600e-01 4.34891968e-01 1.65465214e-02 7.15772314e+01] [-1.83948090e-02 4.06714110e-05 9.99830800e-01 -2.94696472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96 meters 0.013044898995566757 Centerline is valid? [True, True] Translation: X:115.86, Y:71.60, Z:-2.95 [[ 4.35361432e-01 -9.00220182e-01 8.00296536e-03 1.15855692e+02] [ 9.00069149e-01 4.35434981e-01 1.64894945e-02 7.16029838e+01] [-1.83289468e-02 2.43322846e-05 9.99832010e-01 -2.94743572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98999999999998 meters 0.013016955990101747 Centerline is valid? [True, True] Translation: X:115.87, Y:71.63, Z:-2.95 [[ 4.36382466e-01 -8.99724155e-01 8.17241224e-03 1.15865775e+02] [ 8.99566333e-01 4.36458985e-01 1.68513193e-02 7.16282679e+01] [-1.87284617e-02 -1.99335648e-06 9.99824607e-01 -2.94783924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01999999999998 meters 0.012998843801993069 Centerline is valid? [True, True] Translation: X:115.88, Y:71.65, Z:-2.95 [[ 4.37384899e-01 -8.99238915e-01 7.98903207e-03 1.15876336e+02] [ 8.99087827e-01 4.37457854e-01 1.64835024e-02 7.16540217e+01] [-1.83174716e-02 -2.67935349e-05 9.99832221e-01 -2.94839114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04999999999998 meters 0.01309687953270474 Centerline is valid? [True, True] Translation: X:115.89, Y:71.68, Z:-2.95 [[ 4.39072737e-01 -8.98416755e-01 7.90357732e-03 1.15886553e+02] [ 8.98268534e-01 4.39143861e-01 1.63190047e-02 7.16807712e+01] [-1.81320747e-02 -6.56952231e-05 9.99835598e-01 -2.94855138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07999999999998 meters 0.013167181023025469 Centerline is valid? [True, True] Translation: X:115.90, Y:71.71, Z:-2.95 [[ 4.39543145e-01 -8.98185880e-01 7.99681721e-03 1.15897365e+02] [ 8.98033878e-01 4.39615877e-01 1.65237936e-02 7.17064288e+01] [-1.83569659e-02 -8.15074277e-05 9.99831493e-01 -2.94853450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10999999999999 meters 0.013199099860544555 Centerline is valid? [True, True] Translation: X:115.91, Y:71.73, Z:-2.95 [[ 4.39755416e-01 -8.98081126e-01 8.09110951e-03 1.15907506e+02] [ 8.97925267e-01 4.39829835e-01 1.67311575e-02 7.17318999e+01] [-1.85846481e-02 -9.24054666e-05 9.99827286e-01 -2.94891488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14 meters 0.013149867795184294 Centerline is valid? [True, True] Translation: X:115.92, Y:71.76, Z:-2.95 [[ 4.39387589e-01 -8.98260554e-01 8.15619614e-03 1.15917203e+02] [ 8.98102000e-01 4.39463274e-01 1.68768690e-02 7.17588373e+01] [-1.87441744e-02 -9.03907215e-05 9.99824308e-01 -2.94941754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17 meters 0.01302622691403658 Centerline is valid? [True, True] Translation: X:115.93, Y:71.78, Z:-2.95 [[ 4.38310518e-01 -8.98787070e-01 8.10509228e-03 1.15928866e+02] [ 8.98630362e-01 4.38385444e-01 1.67831645e-02 7.17848306e+01] [-1.86376457e-02 -7.27555169e-05 9.99826301e-01 -2.95021939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.2 meters 0.012932558902744262 Centerline is valid? [True, True] Translation: X:115.94, Y:71.81, Z:-2.95 [[ 4.36638218e-01 -8.99600805e-01 8.09058786e-03 1.15940637e+02] [ 8.99444574e-01 4.36713166e-01 1.67650987e-02 7.18101702e+01] [-1.86151625e-02 -4.32474499e-05 9.99826722e-01 -2.95095156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23 meters 0.012819656799787346 Centerline is valid? [True, True] Translation: X:115.95, Y:71.83, Z:-2.95 [[ 4.35113829e-01 -9.00340644e-01 7.91715793e-03 1.15952621e+02] [ 9.00190946e-01 4.35185852e-01 1.64175444e-02 7.18346084e+01] [-1.82268176e-02 -1.65467413e-05 9.99833878e-01 -2.95135804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26 meters 0.012928193583997275 Centerline is valid? [True, True] Translation: X:115.97, Y:71.86, Z:-2.95 [[ 4.31449092e-01 -9.02101818e-01 7.99942607e-03 1.15965852e+02] [ 9.01949093e-01 4.31523240e-01 1.65989678e-02 7.18594357e+01] [-1.84258973e-02 5.34654872e-05 9.99830227e-01 -2.95144268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29 meters 0.012963302862191531 Centerline is valid? [True, True] Translation: X:115.98, Y:71.88, Z:-2.95 [[ 4.29453213e-01 -9.03053783e-01 7.98761999e-03 1.15977820e+02] [ 9.02901450e-01 4.29527481e-01 1.65865970e-02 7.18832453e+01] [-1.84094915e-02 8.88662796e-05 9.99830527e-01 -2.95200573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32 meters 0.013127413824868248 Centerline is valid? [True, True] Translation: X:115.99, Y:71.91, Z:-2.95 [[ 4.27725970e-01 -9.03873344e-01 7.96693897e-03 1.15989415e+02] [ 9.03721736e-01 4.27800144e-01 1.65548007e-02 7.19075640e+01] [-1.83717008e-02 1.18977718e-04 9.99831219e-01 -2.95290410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35 meters 0.01320938999403756 Centerline is valid? [True, True] Translation: X:116.00, Y:71.93, Z:-2.95 [[ 4.26037129e-01 -9.04669818e-01 8.05511480e-03 1.16000304e+02] [ 9.04514821e-01 4.26113245e-01 1.67463684e-02 7.19336368e+01] [-1.85823251e-02 1.51396019e-04 9.99827322e-01 -2.95380276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38 meters 0.013375741485644696 Centerline is valid? [True, True] Translation: X:116.01, Y:71.96, Z:-2.95 [[ 4.23881105e-01 -9.05680458e-01 8.22904331e-03 1.16011460e+02] [ 9.05518635e-01 4.23960931e-01 1.71210567e-02 7.19597230e+01] [-1.89949993e-02 1.94259638e-04 9.99819560e-01 -2.95440268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41 meters 0.013544154498444034 Centerline is valid? [True, True] Translation: X:116.02, Y:71.98, Z:-2.96 [[ 4.22988408e-01 -9.06098345e-01 8.16063892e-03 1.16022840e+02] [ 9.05939183e-01 4.23067070e-01 1.69838317e-02 7.19838256e+01] [-1.88415194e-02 2.09078636e-04 9.99822461e-01 -2.95532075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44 meters 0.01362710329425573 Centerline is valid? [True, True] Translation: X:116.03, Y:72.01, Z:-2.96 [[ 4.22708449e-01 -9.06230490e-01 7.99162144e-03 1.16034112e+02] [ 9.06077675e-01 4.22783936e-01 1.66430520e-02 7.20082676e+01] [-1.84611703e-02 2.05871070e-04 9.99829557e-01 -2.95606802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47 meters 0.01354764515650265 Centerline is valid? [True, True] Translation: X:116.04, Y:72.03, Z:-2.96 [[ 4.23131010e-01 -9.06035452e-01 7.74004945e-03 1.16044416e+02] [ 9.05891895e-01 4.23201754e-01 1.61291764e-02 7.20349922e+01] [-1.78892082e-02 1.86893347e-04 9.99839958e-01 -2.95766634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.5 meters 0.013433794017789887 Centerline is valid? [True, True] Translation: X:116.06, Y:72.06, Z:-2.96 [[ 4.23955420e-01 -9.05652430e-01 7.44837504e-03 1.16055272e+02] [ 9.05519260e-01 4.24020814e-01 1.55312510e-02 7.20608977e+01] [-1.72241813e-02 1.60089004e-04 9.99851640e-01 -2.95906606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53 meters 0.01322857161998782 Centerline is valid? [True, True] Translation: X:116.07, Y:72.09, Z:-2.96 [[ 4.25297054e-01 -9.05026464e-01 7.03672700e-03 1.16065474e+02] [ 9.04907363e-01 4.25355245e-01 1.46826313e-02 7.20872403e+01] [-1.62812786e-02 1.23106260e-04 9.99867444e-01 -2.96024489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56 meters 0.013020335235319805 Centerline is valid? [True, True] Translation: X:116.07, Y:72.11, Z:-2.96 [[ 4.29212111e-01 -9.03181114e-01 6.39052861e-03 1.16073899e+02] [ 9.03082543e-01 4.29259680e-01 1.33434428e-02 7.21133293e+01] [-1.47947418e-02 4.40075998e-05 9.99890551e-01 -2.96302619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59 meters 0.012997991954236182 Centerline is valid? [True, True] Translation: X:116.08, Y:72.14, Z:-2.96 [[ 4.31147647e-01 -9.02262396e-01 5.85453889e-03 1.16084712e+02] [ 9.02179504e-01 4.31187395e-01 1.22299770e-02 7.21397544e+01] [-1.35590518e-02 8.91916984e-06 9.99908072e-01 -2.96428674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62 meters 0.012997991954236182 Centerline is valid? [True, True] Translation: X:116.10, Y:72.16, Z:-2.96 [[ 4.30893606e-01 -9.02383768e-01 5.85109158e-03 1.16096550e+02] [ 9.02300866e-01 4.30933330e-01 1.22316258e-02 7.21646755e+01] [-1.35590509e-02 8.91565882e-06 9.99908072e-01 -2.96485282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65 meters 0.013027929338676815 Centerline is valid? [True, True] Translation: X:116.11, Y:72.19, Z:-2.97 [[ 4.32997034e-01 -9.01379168e-01 5.40028215e-03 1.16107402e+02] [ 9.01308381e-01 4.33030708e-01 1.12963985e-02 7.21906265e+01] [-1.25208263e-02 -2.39874961e-05 9.99921611e-01 -2.96591596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68 meters 0.013188253841910268 Centerline is valid? [True, True] Translation: X:116.12, Y:72.22, Z:-2.97 [[ 4.35140404e-01 -9.00346978e-01 5.30556804e-03 1.16117583e+02] [ 9.00278473e-01 4.35172744e-01 1.11064736e-02 7.22162983e+01] [-1.23085185e-02 -5.63867062e-05 9.99924246e-01 -2.96774078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71 meters 0.013341605918282448 Centerline is valid? [True, True] Translation: X:116.13, Y:72.24, Z:-2.97 [[ 4.37313672e-01 -8.99293447e-01 5.29604945e-03 1.16128876e+02] [ 8.99225026e-01 4.37345730e-01 1.10934398e-02 7.22422996e+01] [-1.22924623e-02 -8.89726639e-05 9.99924441e-01 -2.96796586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73999999999998 meters 0.014463623749331064 Centerline is valid? [True, True] Translation: X:116.14, Y:72.27, Z:-2.97 [[ 4.41920358e-01 -8.97035818e-01 5.75662462e-03 1.16137571e+02] [ 8.96954630e-01 4.41957817e-01 1.20697647e-02 7.22688452e+01] [-1.33711965e-02 -1.70443608e-04 9.99910587e-01 -2.96894758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76999999999998 meters 0.01455875787933297 Centerline is valid? [True, True] Translation: X:116.15, Y:72.29, Z:-2.97 [[ 4.43892114e-01 -8.96059937e-01 6.03161510e-03 1.16149508e+02] [ 8.95970630e-01 4.43933041e-01 1.26524618e-02 7.22945911e+01] [-1.40149973e-02 -2.12178024e-04 9.99901763e-01 -2.96858605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79999999999998 meters 0.014826431731985853 Centerline is valid? [True, True] Translation: X:116.16, Y:72.32, Z:-2.97 [[ 4.45422583e-01 -8.95297405e-01 6.42498447e-03 1.16161513e+02] [ 8.95195935e-01 4.45468847e-01 1.34812751e-02 7.23209460e+01] [-1.49318810e-02 -2.53244387e-04 9.99888481e-01 -2.96868904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82999999999998 meters 0.0156453630112152 Centerline is valid? [True, True] Translation: X:116.17, Y:72.35, Z:-2.97 [[ 4.47807133e-01 -8.94102223e-01 7.07010088e-03 1.16173314e+02] [ 8.93979009e-01 4.47862822e-01 1.48466809e-02 7.23463502e+01] [-1.64408857e-02 -3.27927815e-04 9.99864786e-01 -2.96844643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85999999999999 meters 0.016279332893030244 Centerline is valid? [True, True] Translation: X:116.18, Y:72.37, Z:-2.97 [[ 4.48774652e-01 -8.93616096e-01 7.18225708e-03 1.16184603e+02] [ 8.93488781e-01 4.48831981e-01 1.50881003e-02 7.23716728e+01] [-1.67065960e-02 -3.53890827e-04 9.99860372e-01 -2.96891613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89 meters 0.015700755873271043 Centerline is valid? [True, True] Translation: X:116.20, Y:72.40, Z:-2.97 [[ 4.49496777e-01 -8.93250209e-01 7.53074663e-03 1.16198867e+02] [ 8.93110103e-01 4.49559690e-01 1.58249395e-02 7.23970485e+01] [-1.75211506e-02 -3.87473393e-04 9.99846418e-01 -2.96904318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92 meters 0.016113983469738184 Centerline is valid? [True, True] Translation: X:116.21, Y:72.42, Z:-2.97 [[ 4.50201572e-01 -8.92893883e-01 7.68492466e-03 1.16210831e+02] [ 8.92747735e-01 4.50266967e-01 1.61598317e-02 7.24232647e+01] [-1.78892826e-02 -4.14482546e-04 9.99839888e-01 -2.96962618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95 meters 0.016549001010904046 Centerline is valid? [True, True] Translation: X:116.22, Y:72.45, Z:-2.97 [[ 4.50904301e-01 -8.92538812e-01 7.73171410e-03 1.16222265e+02] [ 8.92390620e-01 4.50970374e-01 1.62697339e-02 7.24482717e+01] [-1.80081430e-02 -4.36383875e-04 9.99837745e-01 -2.97070155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98 meters 0.016690625666633912 Centerline is valid? [True, True] Translation: X:116.24, Y:72.47, Z:-2.97 [[ 4.51923168e-01 -8.92025717e-01 7.45462246e-03 1.16235847e+02] [ 8.91887813e-01 4.51984430e-01 1.56908857e-02 7.24739832e+01] [-1.73660468e-02 -4.42387842e-04 9.99849101e-01 -2.97263718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01 meters 0.016902149978066643 Centerline is valid? [True, True] Translation: X:116.25, Y:72.50, Z:-2.97 [[ 4.51748199e-01 -8.92115842e-01 7.27248282e-03 1.16248124e+02] [ 8.91984443e-01 4.51806526e-01 1.53171926e-02 7.24981438e+01] [-1.69504654e-02 -4.32572660e-04 9.99856237e-01 -2.97363553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04 meters 0.017079579514957876 Centerline is valid? [True, True] Translation: X:116.26, Y:72.52, Z:-2.97 [[ 4.51360068e-01 -8.92313008e-01 7.18223650e-03 1.16261574e+02] [ 8.92184709e-01 4.51417008e-01 1.51370264e-02 7.25232314e+01] [-1.67491493e-02 -4.24367696e-04 9.99859633e-01 -2.97436434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07 meters 0.016604957210672094 Centerline is valid? [True, True] Translation: X:116.28, Y:72.55, Z:-2.97 [[ 4.50069359e-01 -8.92967142e-01 6.87421239e-03 1.16277731e+02] [ 8.92849525e-01 4.50121686e-01 1.44980355e-02 7.25464154e+01] [-1.60405014e-02 -3.87484283e-04 9.99871268e-01 -2.97482575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.1 meters 0.016456809395965527 Centerline is valid? [True, True] Translation: X:116.29, Y:72.57, Z:-2.98 [[ 4.49062142e-01 -8.93473602e-01 6.93651444e-03 1.16291089e+02] [ 8.93353720e-01 4.49115553e-01 1.46407265e-02 7.25698535e+01] [-1.61963991e-02 -3.77835010e-04 9.99868758e-01 -2.97575228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13 meters 0.015838372556168403 Centerline is valid? [True, True] Translation: X:116.31, Y:72.59, Z:-2.98 [[ 4.47548055e-01 -8.94234133e-01 6.78628005e-03 1.16306384e+02] [ 8.94119351e-01 4.47599369e-01 1.43314824e-02 7.25947617e+01] [-1.58532354e-02 -3.46282762e-04 9.99874270e-01 -2.97726377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16 meters 0.015691238912311792 Centerline is valid? [True, True] Translation: X:116.32, Y:72.62, Z:-2.98 [[ 4.45994027e-01 -8.95011859e-01 6.56512185e-03 1.16320418e+02] [ 8.94904373e-01 4.46042235e-01 1.38739810e-02 7.26186964e+01] [-1.53456992e-02 -3.12556409e-04 9.99882199e-01 -2.97870468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19 meters 0.014939167501830546 Centerline is valid? [True, True] Translation: X:116.34, Y:72.64, Z:-2.98 [[ 4.41613929e-01 -8.97183134e-01 6.28983712e-03 1.16338148e+02] [ 8.97084586e-01 4.41658659e-01 1.32994244e-02 7.26403245e+01] [-1.47099803e-02 -2.30695107e-04 9.99891776e-01 -2.98077397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22 meters 0.014257634216614802 Centerline is valid? [True, True] Translation: X:116.35, Y:72.66, Z:-2.98 [[ 4.39175489e-01 -8.98378240e-01 6.43637127e-03 1.16354888e+02] [ 8.98275147e-01 4.39222607e-01 1.36111004e-02 7.26642694e+01] [-1.50549162e-02 -1.96029335e-04 9.99886649e-01 -2.98116496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25 meters 0.014158110281049841 Centerline is valid? [True, True] Translation: X:116.37, Y:72.69, Z:-2.98 [[ 4.36446744e-01 -8.99707202e-01 6.41797241e-03 1.16370237e+02] [ 8.99604713e-01 4.36493902e-01 1.35806328e-02 7.26877947e+01] [-1.50199990e-02 -1.53584734e-04 9.99887182e-01 -2.98245020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28 meters 0.01338694143676095 Centerline is valid? [True, True] Translation: X:116.39, Y:72.71, Z:-2.98 [[ 4.31732827e-01 -9.01980106e-01 6.21726878e-03 1.16391353e+02] [ 9.01884031e-01 4.31777584e-01 1.31648117e-02 7.27091627e+01] [-1.45588756e-02 -7.64259608e-05 9.99894011e-01 -2.98254776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31 meters 0.013303539134917244 Centerline is valid? [True, True] Translation: X:116.41, Y:72.73, Z:-2.98 [[ 4.29524378e-01 -9.03033543e-01 6.26340282e-03 1.16407263e+02] [ 9.02936012e-01 4.29570040e-01 1.32717185e-02 7.27331974e+01] [-1.46753772e-02 -4.50746575e-05 9.99892310e-01 -2.98245555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34 meters 0.013275810420872098 Centerline is valid? [True, True] Translation: X:116.42, Y:72.76, Z:-2.98 [[ 4.27356777e-01 -9.04059949e-01 6.46474247e-03 1.16422075e+02] [ 9.03955997e-01 4.27405671e-01 1.37094124e-02 7.27562590e+01] [-1.51571983e-02 -1.49675704e-05 9.99885123e-01 -2.98276551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37 meters 0.013349390624419973 Centerline is valid? [True, True] Translation: X:116.44, Y:72.78, Z:-2.98 [[ 4.26064871e-01 -9.04669418e-01 6.47837773e-03 1.16436158e+02] [ 9.04564966e-01 4.26114120e-01 1.37469466e-02 7.27804728e+01] [-1.51969704e-02 3.02250497e-06 9.99884519e-01 -2.98295088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.4 meters 0.013385338045818053 Centerline is valid? [True, True] Translation: X:116.45, Y:72.81, Z:-2.98 [[ 4.26769926e-01 -9.04332617e-01 7.06740329e-03 1.16447419e+02] [ 9.04208056e-01 4.26828441e-01 1.50091337e-02 7.28059811e+01] [-1.65898178e-02 -1.50438736e-05 9.99862379e-01 -2.98321141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43 meters 0.013447972870848656 Centerline is valid? [True, True] Translation: X:116.46, Y:72.83, Z:-2.98 [[ 4.27782458e-01 -9.03853486e-01 7.14447042e-03 1.16458083e+02] [ 9.03725931e-01 4.27842113e-01 1.51844481e-02 7.28306262e+01] [-1.67812217e-02 -3.89973621e-05 9.99859185e-01 -2.98333592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46 meters 0.013452515700638075 Centerline is valid? [True, True] Translation: X:116.47, Y:72.86, Z:-2.98 [[ 4.29218885e-01 -9.03171680e-01 7.21554602e-03 1.16469174e+02] [ 9.03041305e-01 4.29279525e-01 1.53456867e-02 7.28567210e+01] [-1.69572758e-02 -7.07224579e-05 9.99856213e-01 -2.98390471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48999999999998 meters 0.013830663173779203 Centerline is valid? [True, True] Translation: X:116.48, Y:72.88, Z:-2.99 [[ 4.31330777e-01 -9.02169668e-01 6.60695521e-03 1.16478578e+02] [ 9.02060094e-01 4.31381363e-01 1.40608571e-02 7.28823019e+01] [-1.55353961e-02 -1.05009787e-04 9.99879313e-01 -2.98583607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51999999999998 meters 0.014008908637711617 Centerline is valid? [True, True] Translation: X:116.49, Y:72.91, Z:-2.99 [[ 4.32319692e-01 -9.01697883e-01 6.37274444e-03 1.16489781e+02] [ 9.01595768e-01 4.32366642e-01 1.35705135e-02 7.29084034e+01] [-1.49918654e-02 -1.21160794e-04 9.99887608e-01 -2.98686008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54999999999998 meters 0.013904729659667506 Centerline is valid? [True, True] Translation: X:116.50, Y:72.93, Z:-2.99 [[ 4.32948588e-01 -9.01396738e-01 6.28023286e-03 1.16502061e+02] [ 9.01297400e-01 4.32994114e-01 1.33826107e-02 7.29343409e+01] [-1.47823455e-02 -1.33624859e-04 9.99890726e-01 -2.98710291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57999999999998 meters 0.014230682905457998 Centerline is valid? [True, True] Translation: X:116.51, Y:72.96, Z:-2.99 [[ 4.34154111e-01 -9.00815853e-01 6.40366222e-03 1.16511342e+02] [ 9.00712348e-01 4.34201304e-01 1.36562623e-02 7.29604370e+01] [-1.50822560e-02 -1.61064768e-04 9.99886243e-01 -2.98895173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60999999999999 meters 0.014320872165770908 Centerline is valid? [True, True] Translation: X:116.52, Y:72.99, Z:-2.99 [[ 4.34537930e-01 -9.00629808e-01 6.53726684e-03 1.16522595e+02] [ 9.00521776e-01 4.34587066e-01 1.39503875e-02 7.29866435e+01] [-1.54051464e-02 -1.75021354e-04 9.99881318e-01 -2.98922049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64 meters 0.014677973606430736 Centerline is valid? [True, True] Translation: X:116.53, Y:73.01, Z:-2.99 [[ 4.34855808e-01 -9.00473109e-01 6.97180337e-03 1.16532500e+02] [ 9.00350025e-01 4.34911647e-01 1.48893337e-02 7.30121331e+01] [-1.64395631e-02 -1.97649910e-04 9.99864842e-01 -2.98982719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67 meters 0.014865540168765982 Centerline is valid? [True, True] Translation: X:116.54, Y:73.04, Z:-2.99 [[ 4.35467988e-01 -9.00177048e-01 6.99380655e-03 1.16543178e+02] [ 9.00052953e-01 4.35524094e-01 1.49481235e-02 7.30377435e+01] [-1.65019289e-02 -2.14633018e-04 9.99863811e-01 -2.99019946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.7 meters 0.01460903982007915 Centerline is valid? [True, True] Translation: X:116.56, Y:73.06, Z:-2.99 [[ 4.35889748e-01 -8.99971853e-01 7.12677025e-03 1.16555368e+02] [ 8.99842781e-01 4.35947944e-01 1.52433327e-02 7.30629326e+01] [-1.68254713e-02 -2.31439712e-04 9.99858415e-01 -2.99050791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73 meters 0.015078353997924659 Centerline is valid? [True, True] Translation: X:116.57, Y:73.09, Z:-2.99 [[ 4.37665156e-01 -8.99111287e-01 6.93577189e-03 1.16565309e+02] [ 8.98988733e-01 4.37720030e-01 1.48469855e-02 7.30880255e+01] [-1.63850185e-02 -2.62827442e-04 9.99865722e-01 -2.99117528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76 meters 0.015415008247895075 Centerline is valid? [True, True] Translation: X:116.58, Y:73.11, Z:-2.99 [[ 4.38370072e-01 -8.98768953e-01 6.78593787e-03 1.16576244e+02] [ 8.98651548e-01 4.38422508e-01 1.45292671e-02 7.31139321e+01] [-1.60335620e-02 -2.71002265e-04 9.99871417e-01 -2.99241331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79 meters 0.015620551612518735 Centerline is valid? [True, True] Translation: X:116.59, Y:73.14, Z:-2.99 [[ 4.38785120e-01 -8.98567197e-01 6.67914410e-03 1.16587273e+02] [ 8.98453282e-01 4.38835864e-01 1.43102837e-02 7.31394607e+01] [-1.57897995e-02 -2.78240610e-04 9.99875295e-01 -2.99363557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82 meters 0.015410493711419187 Centerline is valid? [True, True] Translation: X:116.60, Y:73.16, Z:-2.99 [[ 4.39524645e-01 -8.98204925e-01 6.78223600e-03 1.16600236e+02] [ 8.98087249e-01 4.39576867e-01 1.45420531e-02 7.31649387e+01] [-1.60430578e-02 -3.00551060e-04 9.99871257e-01 -2.99412456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85 meters 0.01573545172835266 Centerline is valid? [True, True] Translation: X:116.61, Y:73.19, Z:-2.99 [[ 4.39502484e-01 -8.98215294e-01 6.84480870e-03 1.16611320e+02] [ 8.98095263e-01 4.39555674e-01 1.46870274e-02 7.31891808e+01] [-1.62007871e-02 -3.07694755e-04 9.99868711e-01 -2.99457881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88 meters 0.015546068358548016 Centerline is valid? [True, True] Translation: X:116.62, Y:73.21, Z:-3.00 [[ 4.39157085e-01 -8.98384476e-01 6.81086385e-03 1.16623635e+02] [ 8.98265498e-01 4.39209791e-01 1.46237638e-02 7.32143380e+01] [-1.61291605e-02 -3.04165476e-04 9.99869870e-01 -2.99521507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91 meters 0.01538445939804253 Centerline is valid? [True, True] Translation: X:116.64, Y:73.24, Z:-3.00 [[ 4.38610167e-01 -8.98652480e-01 6.69633732e-03 1.16635949e+02] [ 8.98537336e-01 4.38661183e-01 1.43882962e-02 7.32397007e+01] [-1.58675013e-02 -2.93943894e-04 9.99874060e-01 -2.99618203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94 meters 0.015421989904910878 Centerline is valid? [True, True] Translation: X:116.65, Y:73.26, Z:-3.00 [[ 4.38082502e-01 -8.98913779e-01 6.14323776e-03 1.16646933e+02] [ 8.98816763e-01 4.38125493e-01 1.32090675e-02 7.32641083e+01] [-1.45653219e-02 -2.65016275e-04 9.99893885e-01 -2.99807038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97 meters 0.015379478114043561 Centerline is valid? [True, True] Translation: X:116.66, Y:73.29, Z:-3.00 [[ 4.37777179e-01 -8.99063330e-01 6.02247996e-03 1.16659144e+02] [ 8.98969988e-01 4.37818526e-01 1.29576048e-02 7.32899605e+01] [-1.42864606e-02 -2.58514939e-04 9.99897910e-01 -2.99886178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.0 meters 0.015358989697918376 Centerline is valid? [True, True] Translation: X:116.67, Y:73.32, Z:-3.00 [[ 4.37362089e-01 -8.99264054e-01 6.20995856e-03 1.16671286e+02] [ 8.99164676e-01 4.37406094e-01 1.33714025e-02 7.33157995e+01] [-1.47406954e-02 -2.64369171e-04 9.99891315e-01 -2.99891423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03 meters 0.01567856017049277 Centerline is valid? [True, True] Translation: X:116.68, Y:73.34, Z:-3.00 [[ 4.36814219e-01 -8.99529571e-01 6.31585203e-03 1.16682008e+02] [ 8.99426627e-01 4.36859796e-01 1.36110936e-02 7.33410197e+01] [-1.50027230e-02 -2.64873751e-04 9.99887418e-01 -2.99972534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06 meters 0.015125401312360143 Centerline is valid? [True, True] Translation: X:116.70, Y:73.37, Z:-3.00 [[ 4.36310969e-01 -8.99774122e-01 6.26635837e-03 1.16695108e+02] [ 8.99672729e-01 4.36355890e-01 1.35099203e-02 7.33661686e+01] [-1.48902391e-02 -2.56854706e-04 9.99889101e-01 -2.99957723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09 meters 0.015280900608940192 Centerline is valid? [True, True] Translation: X:116.71, Y:73.39, Z:-3.00 [[ 4.35964335e-01 -8.99941479e-01 6.35871599e-03 1.16705951e+02] [ 8.99836916e-01 4.36010627e-01 1.37206829e-02 7.33907810e+01] [-1.51202794e-02 -2.59921027e-04 9.99885648e-01 -3.00040689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12 meters 0.01529571299813026 Centerline is valid? [True, True] Translation: X:116.72, Y:73.42, Z:-3.00 [[ 4.35756400e-01 -9.00042472e-01 6.31735662e-03 1.16717173e+02] [ 8.99939189e-01 4.35802114e-01 1.36371756e-02 7.34166669e+01] [-1.50271547e-02 -2.57249765e-04 9.99887053e-01 -3.00156991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15 meters 0.015189040841152997 Centerline is valid? [True, True] Translation: X:116.73, Y:73.44, Z:-3.00 [[ 4.36441975e-01 -8.99713470e-01 5.83727056e-03 1.16728832e+02] [ 8.99625114e-01 4.36480936e-01 1.26113959e-02 7.34425213e+01] [-1.38945001e-02 -2.52787357e-04 9.99903435e-01 -3.00320352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18 meters 0.015597437631532408 Centerline is valid? [True, True] Translation: X:116.74, Y:73.47, Z:-3.00 [[ 4.36865555e-01 -8.99510521e-01 5.41391459e-03 1.16739543e+02] [ 8.99434484e-01 4.36899033e-01 1.16980455e-02 7.34681181e+01] [-1.28878491e-02 -2.41011682e-04 9.99916919e-01 -3.00480405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21 meters 0.015539883302541344 Centerline is valid? [True, True] Translation: X:116.75, Y:73.49, Z:-3.01 [[ 4.37176794e-01 -8.99362930e-01 4.77184652e-03 1.16751105e+02] [ 8.99303788e-01 4.37202782e-01 1.03162078e-02 7.34946491e+01] [-1.13642794e-02 -2.18666995e-04 9.99935401e-01 -3.00665326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23999999999998 meters 0.01642564506864179 Centerline is valid? [True, True] Translation: X:116.76, Y:73.52, Z:-3.01 [[ 4.38050067e-01 -8.98941038e-01 4.14122366e-03 1.16760251e+02] [ 8.98896403e-01 4.38069595e-01 8.96030944e-03 7.35200588e+01] [-9.86893403e-03 -2.02533096e-04 9.99951280e-01 -3.00907529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26999999999998 meters 0.016823254664636335 Centerline is valid? [True, True] Translation: X:116.77, Y:73.55, Z:-3.01 [[ 4.39623500e-01 -8.98177903e-01 2.76261557e-03 1.16770799e+02] [ 8.98158056e-01 4.39632156e-01 5.97276099e-03 7.35466008e+01] [-6.57913658e-03 -1.44500661e-04 9.99978347e-01 -3.01255627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29999999999998 meters 0.01715301266785674 Centerline is valid? [True, True] Translation: X:116.78, Y:73.57, Z:-3.01 [[ 4.40176363e-01 -8.97908211e-01 2.36923177e-03 1.16782406e+02] [ 8.97893601e-01 4.40182721e-01 5.12388097e-03 7.35728664e+01] [-5.64366968e-03 -1.28093248e-04 9.99984066e-01 -3.01408404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32999999999998 meters 0.01677857845876619 Centerline is valid? [True, True] Translation: X:116.80, Y:73.60, Z:-3.01 [[ 4.40292050e-01 -8.97852283e-01 2.04680611e-03 1.16795185e+02] [ 8.97841346e-01 4.40296793e-01 4.43295909e-03 7.35982618e+01] [-4.88134460e-03 -1.14089488e-04 9.99988080e-01 -3.01434958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35999999999999 meters 0.01778518100242602 Centerline is valid? [True, True] Translation: X:116.80, Y:73.62, Z:-3.02 [[ 4.39975234e-01 -8.98007621e-01 2.02634660e-03 1.16804605e+02] [ 8.97996920e-01 4.39979886e-01 4.38526405e-03 7.36232054e+01] [-4.82955228e-03 -1.09754569e-04 9.99988332e-01 -3.01539604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39 meters 0.01667942952762865 Centerline is valid? [True, True] Translation: X:116.82, Y:73.65, Z:-3.01 [[ 4.38625773e-01 -8.98665966e-01 2.62943459e-03 1.16818256e+02] [ 8.98647915e-01 4.38633633e-01 5.69743380e-03 7.36481520e+01] [-6.27344829e-03 -1.36105390e-04 9.99980312e-01 -3.01324718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42 meters 0.016087134657338346 Centerline is valid? [True, True] Translation: X:116.83, Y:73.67, Z:-3.01 [[ 4.37353435e-01 -8.99284831e-01 2.96084229e-03 1.16831482e+02] [ 8.99261909e-01 4.37363432e-01 6.42244022e-03 7.36739793e+01] [-7.07056721e-03 -1.46303596e-04 9.99974993e-01 -3.01253674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45 meters 0.016269609127812182 Centerline is valid? [True, True] Translation: X:116.84, Y:73.70, Z:-3.01 [[ 4.35756341e-01 -9.00058575e-01 3.31245644e-03 1.16842844e+02] [ 9.00029843e-01 4.35768904e-01 7.19334006e-03 7.36988587e+01] [-7.91789292e-03 -1.53233891e-04 9.99968641e-01 -3.01303459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48 meters 0.015451194159602515 Centerline is valid? [True, True] Translation: X:116.86, Y:73.72, Z:-3.01 [[ 4.33729737e-01 -9.01033988e-01 4.03343876e-03 1.16856650e+02] [ 9.00991390e-01 4.33748459e-01 8.76295526e-03 7.37236293e+01] [-9.64521837e-03 -1.66660690e-04 9.99953470e-01 -3.01189222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51 meters 0.01442889922282174 Centerline is valid? [True, True] Translation: X:116.87, Y:73.75, Z:-3.01 [[ 4.29726488e-01 -9.02943237e-01 5.35321071e-03 1.16873079e+02] [ 9.02868186e-01 4.29759797e-01 1.16428262e-02 7.37476601e+01] [-1.28134059e-02 -1.69987183e-04 9.99917890e-01 -3.00918743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54 meters 0.01442889922282174 Centerline is valid? [True, True] Translation: X:116.88, Y:73.77, Z:-3.01 [[ 4.29469684e-01 -9.03065427e-01 5.35021811e-03 1.16884533e+02] [ 9.02990369e-01 4.29502975e-01 1.16442010e-02 7.37727747e+01] [-1.28134099e-02 -1.69635876e-04 9.99917891e-01 -3.00975370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57 meters 0.014105274518675147 Centerline is valid? [True, True] Translation: X:116.90, Y:73.80, Z:-3.01 [[ 4.27325043e-01 -9.04077464e-01 6.10300653e-03 1.16898495e+02] [ 9.03979723e-01 4.27368591e-01 1.32946681e-02 7.37972790e+01] [-1.46276431e-02 -1.64150456e-04 9.99892997e-01 -3.00868394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.6 meters 0.013794425080959759 Centerline is valid? [True, True] Translation: X:116.91, Y:73.82, Z:-3.01 [[ 4.25198339e-01 -9.05075913e-01 6.63052349e-03 1.16911907e+02] [ 9.04960464e-01 4.25250009e-01 1.44564574e-02 7.38212584e+01] [-1.59038216e-02 -1.46500084e-04 9.99873516e-01 -3.00719121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63 meters 0.013610564406669525 Centerline is valid? [True, True] Translation: X:116.93, Y:73.85, Z:-3.01 [[ 4.23468536e-01 -9.05884771e-01 6.86886942e-03 1.16925286e+02] [ 9.05760869e-01 4.23524222e-01 1.49826935e-02 7.38464670e+01] [-1.64817265e-02 -1.23146143e-04 9.99864160e-01 -3.00671451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66 meters 0.013407361845241094 Centerline is valid? [True, True] Translation: X:116.94, Y:73.87, Z:-3.01 [[ 4.20651427e-01 -9.07198051e-01 6.63879854e-03 1.16938212e+02] [ 9.07082310e-01 4.20703804e-01 1.44910837e-02 7.38715722e+01] [-1.59392507e-02 -7.37583191e-05 9.99872959e-01 -3.00758698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69 meters 0.013419584253353965 Centerline is valid? [True, True] Translation: X:116.95, Y:73.90, Z:-3.01 [[ 4.19330050e-01 -9.07809754e-01 6.61505914e-03 1.16949675e+02] [ 9.07694749e-01 4.19382221e-01 1.44497679e-02 7.38972304e+01] [-1.58918784e-02 -5.47674458e-05 9.99873715e-01 -3.00889251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72 meters 0.013331567026376025 Centerline is valid? [True, True] Translation: X:116.96, Y:73.92, Z:-3.01 [[ 4.18090583e-01 -9.08381609e-01 6.56636806e-03 1.16960781e+02] [ 9.08268196e-01 4.18142143e-01 1.43538014e-02 7.39216814e+01] [-1.57844044e-02 -3.71659105e-05 9.99875418e-01 -3.00975684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75 meters 0.013370763501302587 Centerline is valid? [True, True] Translation: X:116.97, Y:73.95, Z:-3.01 [[ 4.16949643e-01 -9.08907073e-01 6.39741474e-03 1.16971965e+02] [ 9.08799320e-01 4.16998719e-01 1.39951316e-02 7.39461085e+01] [-1.53879879e-02 -2.12989769e-05 9.99881598e-01 -3.01077379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78 meters 0.013380372566299946 Centerline is valid? [True, True] Translation: X:116.98, Y:73.97, Z:-3.01 [[ 4.14751216e-01 -9.09917725e-01 5.58240003e-03 1.16983686e+02] [ 9.09835646e-01 4.14788783e-01 1.22213910e-02 7.39710376e+01] [-1.34359772e-02 1.02297575e-05 9.99909733e-01 -3.01259941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81 meters 0.01349674912249608 Centerline is valid? [True, True] Translation: X:117.00, Y:74.00, Z:-3.01 [[ 4.13017323e-01 -9.10709080e-01 5.06587847e-03 1.16995478e+02] [ 9.10641502e-01 4.13048388e-01 1.10942812e-02 7.39970875e+01] [-1.21961156e-02 3.10688501e-05 9.99925624e-01 -3.01423640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84 meters 0.013628391010770562 Centerline is valid? [True, True] Translation: X:117.01, Y:74.02, Z:-3.02 [[ 4.10832184e-01 -9.11699576e-01 4.56058596e-03 1.17007557e+02] [ 9.11644803e-01 4.10857493e-01 9.99365594e-03 7.40231350e+01] [-1.09849628e-02 5.19189894e-05 9.99939662e-01 -3.01604880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87 meters 0.014196910805022028 Centerline is valid? [True, True] Translation: X:117.02, Y:74.05, Z:-3.02 [[ 4.05746161e-01 -9.13975983e-01 4.23738000e-03 1.17021759e+02] [ 9.13928761e-01 4.05768274e-01 9.29123097e-03 7.40482508e+01] [-1.02113563e-02 1.02782159e-04 9.99947857e-01 -3.01702114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.9 meters 0.014573331548940222 Centerline is valid? [True, True] Translation: X:117.03, Y:74.07, Z:-3.02 [[ 4.02647095e-01 -9.15344507e-01 4.44408957e-03 1.17034615e+02] [ 9.15292570e-01 4.02671595e-01 9.75184977e-03 7.40732375e+01] [-1.07158108e-02 1.41088179e-04 9.99942574e-01 -3.01672594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93 meters 0.01511891600572786 Centerline is valid? [True, True] Translation: X:117.05, Y:74.10, Z:-3.02 [[ 3.99615060e-01 -9.16669607e-01 4.96337728e-03 1.17047562e+02] [ 9.16604796e-01 3.99645836e-01 1.09020216e-02 7.40969746e+01] [-1.19771449e-02 1.92843406e-04 9.99928253e-01 -3.01651574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96 meters 0.016557612958903446 Centerline is valid? [True, True] Translation: X:117.06, Y:74.12, Z:-3.01 [[ 3.93624743e-01 -9.19251257e-01 6.05709616e-03 1.17062212e+02] [ 9.19154890e-01 3.93671208e-01 1.33142231e-02 7.41211301e+01] [-1.46236207e-02 3.26601909e-04 9.99893016e-01 -3.01461777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98999999999998 meters 0.01684503929038153 Centerline is valid? [True, True] Translation: X:117.07, Y:74.15, Z:-3.01 [[ 3.91015306e-01 -9.20361410e-01 6.47343871e-03 1.17074263e+02] [ 9.20251396e-01 3.91068692e-01 1.42353550e-02 7.41463603e+01] [-1.56332306e-02 3.90949308e-04 9.99877717e-01 -3.01390767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01999999999998 meters 0.01717447425063873 Centerline is valid? [True, True] Translation: X:117.09, Y:74.17, Z:-3.01 [[ 3.89063238e-01 -9.21185035e-01 6.92301623e-03 1.17086326e+02] [ 9.21059142e-01 3.89124568e-01 1.52357278e-02 7.41718114e+01] [-1.67288402e-02 4.48845778e-04 9.99859962e-01 -3.01356296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04999999999998 meters 0.01785797932534229 Centerline is valid? [True, True] Translation: X:117.10, Y:74.20, Z:-3.01 [[ 3.87989594e-01 -9.21638156e-01 6.86906834e-03 1.17096638e+02] [ 9.21514111e-01 3.88050122e-01 1.51276781e-02 7.41972006e+01] [-1.66077882e-02 4.60561701e-04 9.99861975e-01 -3.01452567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07999999999998 meters 0.018118670378251222 Centerline is valid? [True, True] Translation: X:117.11, Y:74.22, Z:-3.02 [[ 3.88904813e-01 -9.21252758e-01 6.81195700e-03 1.17106888e+02] [ 9.21130542e-01 3.88964222e-01 1.50119182e-02 7.42221458e+01] [-1.64793786e-02 4.36494400e-04 9.99864111e-01 -3.01558443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10999999999999 meters 0.016533918544425867 Centerline is valid? [True, True] Translation: X:117.11, Y:74.25, Z:-3.02 [[ 3.90495859e-01 -9.20580818e-01 6.62880494e-03 1.17114163e+02] [ 9.20464851e-01 3.90551919e-01 1.46170053e-02 7.42496106e+01] [-1.60450272e-02 3.93701902e-04 9.99871193e-01 -3.01604621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14 meters 0.016083627653848673 Centerline is valid? [True, True] Translation: X:117.12, Y:74.28, Z:-3.02 [[ 3.92999144e-01 -9.19516156e-01 6.45844371e-03 1.17122540e+02] [ 9.19405753e-01 3.93052065e-01 1.42525887e-02 7.42755664e+01] [-1.56439902e-02 3.36675145e-04 9.99877569e-01 -3.01717405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17 meters 0.014806495809526062 Centerline is valid? [True, True] Translation: X:117.13, Y:74.30, Z:-3.02 [[ 3.99039483e-01 -9.16913534e-01 6.08795419e-03 1.17126883e+02] [ 9.16815068e-01 3.99085861e-01 1.34389900e-02 7.43040911e+01] [-1.47520083e-02 2.18840502e-04 9.99891159e-01 -3.01833488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.2 meters 0.014327186584850467 Centerline is valid? [True, True] Translation: X:117.13, Y:74.33, Z:-3.02 [[ 4.01991657e-01 -9.15623861e-01 5.97094480e-03 1.17134859e+02] [ 9.15528843e-01 4.02035966e-01 1.31916921e-02 7.43305100e+01] [-1.44791626e-02 1.63622024e-04 9.99895158e-01 -3.01971572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23 meters 0.01355246476653075 Centerline is valid? [True, True] Translation: X:117.14, Y:74.36, Z:-3.02 [[ 4.07581098e-01 -9.13151462e-01 5.66180004e-03 1.17140084e+02] [ 9.13065704e-01 4.07620415e-01 1.25146902e-02 7.43577645e+01] [-1.37356729e-02 6.88442853e-05 9.99905659e-01 -3.02165273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26 meters 0.013387173052360323 Centerline is valid? [True, True] Translation: X:117.15, Y:74.38, Z:-3.02 [[ 4.09693105e-01 -9.12206564e-01 5.54472137e-03 1.17149361e+02] [ 9.12124173e-01 4.09730622e-01 1.22601158e-02 7.43848015e+01] [-1.34556002e-02 3.45894916e-05 9.99909469e-01 -3.02238747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29 meters 0.01330422770914215 Centerline is valid? [True, True] Translation: X:117.16, Y:74.41, Z:-3.02 [[ 4.11487589e-01 -9.11398995e-01 5.46224997e-03 1.17159147e+02] [ 9.11318849e-01 4.11523841e-01 1.20865375e-02 7.44114467e+01] [-1.32635042e-02 4.39117553e-06 9.99912036e-01 -3.02330655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32 meters 0.013315338817453165 Centerline is valid? [True, True] Translation: X:117.17, Y:74.44, Z:-3.02 [[ 4.12862494e-01 -9.10777579e-01 5.36300494e-03 1.17169579e+02] [ 9.10700155e-01 4.12897324e-01 1.18754824e-02 7.44379532e+01] [-1.30302936e-02 -1.88518671e-05 9.99915102e-01 -3.02405610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35 meters 0.013462602666851708 Centerline is valid? [True, True] Translation: X:117.18, Y:74.46, Z:-3.02 [[ 4.14162548e-01 -9.10187613e-01 5.28143365e-03 1.17180092e+02] [ 9.10112369e-01 4.14196219e-01 1.17033631e-02 7.44635144e+01] [-1.28398060e-02 -4.03965921e-05 9.99917565e-01 -3.02440900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38 meters 0.013526498893434932 Centerline is valid? [True, True] Translation: X:117.19, Y:74.49, Z:-3.02 [[ 4.15429362e-01 -9.09610354e-01 5.23920874e-03 1.17190578e+02] [ 9.09536135e-01 4.15462393e-01 1.16197508e-02 7.44887696e+01] [-1.27461398e-02 -6.19359749e-05 9.99918763e-01 -3.02485698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41 meters 0.013861997954106324 Centerline is valid? [True, True] Translation: X:117.20, Y:74.52, Z:-3.02 [[ 4.17593735e-01 -9.08619028e-01 5.18978488e-03 1.17201427e+02] [ 9.08546066e-01 4.17625972e-01 1.15149219e-02 7.45150091e+01] [-1.26300661e-02 -9.34005983e-05 9.99920233e-01 -3.02489821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44 meters 0.014137553898746998 Centerline is valid? [True, True] Translation: X:117.21, Y:74.54, Z:-3.03 [[ 4.18726443e-01 -9.08098002e-01 5.11708735e-03 1.17212677e+02] [ 9.08026930e-01 4.18757694e-01 1.13617294e-02 7.45412174e+01] [-1.24603834e-02 -1.11003403e-04 9.99922360e-01 -3.02533231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47 meters 0.01413282523973466 Centerline is valid? [True, True] Translation: X:117.22, Y:74.57, Z:-3.03 [[ 4.19604967e-01 -9.07692219e-01 5.14845379e-03 1.17224557e+02] [ 9.07620139e-01 4.19636532e-01 1.14396223e-02 7.45668376e+01] [-1.25441355e-02 -1.27282008e-04 9.99921311e-01 -3.02554133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.5 meters 0.014794252108579367 Centerline is valid? [True, True] Translation: X:117.23, Y:74.59, Z:-3.03 [[ 4.20691217e-01 -9.07189198e-01 5.16333607e-03 1.17233708e+02] [ 9.07116548e-01 4.20722876e-01 1.14817380e-02 7.45923540e+01] [-1.25884423e-02 -1.46518748e-04 9.99920752e-01 -3.02722497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53 meters 0.015540751379360016 Centerline is valid? [True, True] Translation: X:117.24, Y:74.62, Z:-3.03 [[ 4.23520007e-01 -9.05871378e-01 5.27727252e-03 1.17244279e+02] [ 9.05795277e-01 4.23552840e-01 1.17434037e-02 7.46187372e+01] [-1.28732171e-02 -1.93437888e-04 9.99917118e-01 -3.02765050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56 meters 0.015186901454533046 Centerline is valid? [True, True] Translation: X:117.26, Y:74.64, Z:-3.03 [[ 4.24843067e-01 -9.05251492e-01 5.30141443e-03 1.17257587e+02] [ 9.05174539e-01 4.24876088e-01 1.18052329e-02 7.46448799e+01] [-1.29391489e-02 -2.16666007e-04 9.99916262e-01 -3.02746793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59 meters 0.01572553384880739 Centerline is valid? [True, True] Translation: X:117.27, Y:74.67, Z:-3.03 [[ 4.26139007e-01 -9.04642796e-01 5.19210096e-03 1.17268868e+02] [ 9.04568849e-01 4.26170572e-01 1.15689307e-02 7.46712133e+01] [-1.26784704e-02 -2.33359831e-04 9.99919598e-01 -3.02832238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62 meters 0.01595714689885031 Centerline is valid? [True, True] Translation: X:117.28, Y:74.70, Z:-3.03 [[ 4.27397291e-01 -9.04050108e-01 4.99571171e-03 1.17280820e+02] [ 9.03981513e-01 4.27426417e-01 1.11392081e-02 7.46976411e+01] [-1.22057014e-02 -2.44836329e-04 9.99925478e-01 -3.02917435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65 meters 0.016702933092640215 Centerline is valid? [True, True] Translation: X:117.29, Y:74.72, Z:-3.03 [[ 4.28727131e-01 -9.03421798e-01 4.70134260e-03 1.17291864e+02] [ 9.03360941e-01 4.28752835e-01 1.04888705e-02 7.47230752e+01] [-1.14915882e-02 -2.49854079e-04 9.99933938e-01 -3.03145587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68 meters 0.016060370950918727 Centerline is valid? [True, True] Translation: X:117.31, Y:74.75, Z:-3.03 [[ 4.27604450e-01 -9.03955197e-01 4.40874027e-03 1.17305124e+02] [ 9.03901648e-01 4.27627119e-01 9.84160712e-03 7.47478219e+01] [-1.07816688e-02 -2.23247401e-04 9.99941851e-01 -3.03211783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71 meters 0.015856282092014368 Centerline is valid? [True, True] Translation: X:117.32, Y:74.77, Z:-3.03 [[ 4.26118819e-01 -9.04657804e-01 4.12420771e-03 1.17317886e+02] [ 9.04610915e-01 4.26138732e-01 9.21266928e-03 7.47727262e+01] [-1.00917978e-02 -1.94888447e-04 9.99949058e-01 -3.03316207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73999999999998 meters 0.015715295919508678 Centerline is valid? [True, True] Translation: X:117.33, Y:74.80, Z:-3.03 [[ 4.23252571e-01 -9.06004062e-01 3.72830212e-03 1.17332293e+02] [ 9.05965728e-01 4.23268965e-01 8.33562551e-03 7.47962914e+01] [-9.13018516e-03 -1.50360982e-04 9.99958308e-01 -3.03441121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76999999999998 meters 0.015108764450495174 Centerline is valid? [True, True] Translation: X:117.35, Y:74.82, Z:-3.04 [[ 4.21306575e-01 -9.06911949e-01 3.38920276e-03 1.17346518e+02] [ 9.06880296e-01 4.21320190e-01 7.57801721e-03 7.48205470e+01] [-8.30053391e-03 -1.19067270e-04 9.99965543e-01 -3.03500864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79999999999998 meters 0.015324253924570092 Centerline is valid? [True, True] Translation: X:117.36, Y:74.85, Z:-3.04 [[ 4.19030088e-01 -9.07966084e-01 3.37281574e-03 1.17358771e+02] [ 9.07934723e-01 4.19043649e-01 7.54704956e-03 7.48455262e+01] [-8.26582205e-03 -1.00144313e-04 9.99965832e-01 -3.03723158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82999999999998 meters 0.014435204902273378 Centerline is valid? [True, True] Translation: X:117.37, Y:74.87, Z:-3.04 [[ 4.17037876e-01 -9.08881843e-01 3.63394584e-03 1.17374334e+02] [ 9.08845412e-01 4.17053699e-01 8.13818473e-03 7.48694412e+01] [-8.91219889e-03 -9.12362736e-05 9.99960281e-01 -3.03540364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85999999999999 meters 0.013957119353230617 Centerline is valid? [True, True] Translation: X:117.39, Y:74.89, Z:-3.03 [[ 4.13414758e-01 -9.10534027e-01 4.00292484e-03 1.17390849e+02] [ 9.10489819e-01 4.13434132e-01 8.97258452e-03 7.48935441e+01] [-9.82478927e-03 -6.47765400e-05 9.99951733e-01 -3.03453558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89 meters 0.013845929379559993 Centerline is valid? [True, True] Translation: X:117.40, Y:74.92, Z:-3.03 [[ 4.11594999e-01 -9.11357320e-01 4.17035071e-03 1.17404676e+02] [ 9.11309300e-01 4.11616123e-01 9.35562570e-03 7.49188427e+01] [-1.02429016e-02 -5.02493629e-05 9.99947539e-01 -3.03411771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92 meters 0.01384657862046544 Centerline is valid? [True, True] Translation: X:117.42, Y:74.94, Z:-3.03 [[ 4.10002552e-01 -9.12073391e-01 4.47631487e-03 1.17417450e+02] [ 9.12018012e-01 4.10026985e-01 1.00507400e-02 7.49431106e+01] [-1.10024224e-02 -3.83492570e-05 9.99939471e-01 -3.03436780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95 meters 0.013746981084401637 Centerline is valid? [True, True] Translation: X:117.43, Y:74.97, Z:-3.04 [[ 4.08716281e-01 -9.12649258e-01 4.72593978e-03 1.17429773e+02] [ 9.12587473e-01 4.08743602e-01 1.06193909e-02 7.49675138e+01] [-1.16234769e-02 -2.74845206e-05 9.99932445e-01 -3.03568679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98 meters 0.01368634470030162 Centerline is valid? [True, True] Translation: X:117.44, Y:74.99, Z:-3.03 [[ 4.07324544e-01 -9.13269946e-01 4.97217677e-03 1.17442656e+02] [ 9.13201539e-01 4.07354890e-01 1.11777700e-02 7.49925266e+01] [-1.22337619e-02 -1.23805687e-05 9.99925165e-01 -3.03391544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01 meters 0.013679236956102413 Centerline is valid? [True, True] Translation: X:117.45, Y:75.02, Z:-3.03 [[ 4.05777320e-01 -9.13954703e-01 5.61843640e-03 1.17454863e+02] [ 9.13867266e-01 4.05816215e-01 1.26420125e-02 7.50172197e+01] [-1.38342793e-02 4.66317736e-06 9.99904302e-01 -3.03316151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04 meters 0.013615848819140011 Centerline is valid? [True, True] Translation: X:117.47, Y:75.04, Z:-3.03 [[ 4.05010916e-01 -9.14293507e-01 5.79141696e-03 1.17466395e+02] [ 9.14200479e-01 4.05052321e-01 1.30422870e-02 7.50432629e+01] [-1.42703052e-02 1.22475546e-05 9.99898174e-01 -3.03335579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07 meters 0.013604565590824734 Centerline is valid? [True, True] Translation: X:117.48, Y:75.07, Z:-3.03 [[ 4.04733936e-01 -9.14414178e-01 6.09525241e-03 1.17477050e+02] [ 9.14310970e-01 4.04779830e-01 1.37382444e-02 7.50684680e+01] [-1.50296807e-02 1.26224172e-05 9.99887048e-01 -3.03378742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.1 meters 0.013603993229399957 Centerline is valid? [True, True] Translation: X:117.49, Y:75.09, Z:-3.03 [[ 4.04761958e-01 -9.14402691e-01 5.95611155e-03 1.17487855e+02] [ 9.14304016e-01 4.04805778e-01 1.34330929e-02 7.50942492e+01] [-1.46943246e-02 8.49173185e-06 9.99892033e-01 -3.03416884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13 meters 0.01362959485051164 Centerline is valid? [True, True] Translation: X:117.50, Y:75.12, Z:-3.04 [[ 4.05509040e-01 -9.14071912e-01 5.91246879e-03 1.17497279e+02] [ 9.13974495e-01 4.05552141e-01 1.33447738e-02 7.51208426e+01] [-1.45958973e-02 -7.58074002e-06 9.99893474e-01 -3.03550473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16 meters 0.013627201370868978 Centerline is valid? [True, True] Translation: X:117.51, Y:75.15, Z:-3.04 [[ 4.06236256e-01 -9.13748939e-01 5.91446051e-03 1.17507361e+02] [ 9.13651275e-01 4.06279308e-01 1.33593469e-02 7.51475938e+01] [-1.46100120e-02 -2.32966951e-05 9.99893268e-01 -3.03637392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19 meters 0.013606567569008007 Centerline is valid? [True, True] Translation: X:117.52, Y:75.17, Z:-3.04 [[ 4.07055030e-01 -9.13383962e-01 5.99496522e-03 1.17517043e+02] [ 9.13283424e-01 4.07099171e-01 1.35518246e-02 7.51739099e+01] [-1.48185646e-02 -4.12359911e-05 9.99890198e-01 -3.03735085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22 meters 0.0137372082147199 Centerline is valid? [True, True] Translation: X:117.53, Y:75.20, Z:-3.04 [[ 4.08201892e-01 -9.12870952e-01 6.15154914e-03 1.17526029e+02] [ 9.12764847e-01 4.08248235e-01 1.39180752e-02 7.51994467e+01] [-1.52167656e-02 -6.64668069e-05 9.99884216e-01 -3.03790409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25 meters 0.013796223171843137 Centerline is valid? [True, True] Translation: X:117.54, Y:75.23, Z:-3.04 [[ 4.09652311e-01 -9.12221066e-01 6.14093871e-03 1.17535715e+02] [ 9.12115161e-01 4.09698326e-01 1.39001621e-02 7.52264416e+01] [-1.51959530e-02 -9.29902365e-05 9.99884531e-01 -3.03808781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28 meters 0.014206919161223129 Centerline is valid? [True, True] Translation: X:117.54, Y:75.25, Z:-3.04 [[ 4.12841314e-01 -9.10779443e-01 6.54641183e-03 1.17543178e+02] [ 9.10658710e-01 4.12893182e-01 1.48302051e-02 7.52541495e+01] [-1.62100148e-02 -1.60974419e-04 9.99868596e-01 -3.03812507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31 meters 0.014586287824466708 Centerline is valid? [True, True] Translation: X:117.55, Y:75.28, Z:-3.04 [[ 4.14593258e-01 -9.09983271e-01 6.54804220e-03 1.17551531e+02] [ 9.09862187e-01 4.14644917e-01 1.48456538e-02 7.52799932e+01] [-1.62244090e-02 -1.97091963e-04 9.99868356e-01 -3.03834805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34 meters 0.01471715636628181 Centerline is valid? [True, True] Translation: X:117.56, Y:75.31, Z:-3.04 [[ 4.16061085e-01 -9.09310859e-01 6.85100074e-03 1.17561745e+02] [ 9.09178097e-01 4.16117419e-01 1.55396764e-02 7.53068937e+01] [-1.69812172e-02 -2.36674799e-04 9.99855781e-01 -3.03844445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37 meters 0.015295456975206166 Centerline is valid? [True, True] Translation: X:117.57, Y:75.33, Z:-3.04 [[ 4.17408498e-01 -9.08692592e-01 6.92239630e-03 1.17569961e+02] [ 9.08556778e-01 4.17465809e-01 1.57123810e-02 7.53334682e+01] [-1.71675879e-02 -2.69091263e-04 9.99852590e-01 -3.03938750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.4 meters 0.015853516147330507 Centerline is valid? [True, True] Translation: X:117.58, Y:75.36, Z:-3.04 [[ 4.20164871e-01 -9.07421149e-01 6.95273411e-03 1.17578147e+02] [ 9.07283779e-01 4.20222265e-01 1.57921344e-02 7.53605837e+01] [-1.72518104e-02 -3.27197247e-04 9.99851123e-01 -3.04057617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43 meters 0.015853516147330507 Centerline is valid? [True, True] Translation: X:117.59, Y:75.39, Z:-3.04 [[ 4.19907792e-01 -9.07540172e-01 6.94850540e-03 1.17589193e+02] [ 9.07402789e-01 4.19965152e-01 1.57939947e-02 7.53858781e+01] [-1.72518148e-02 -3.26928272e-04 9.99851123e-01 -3.04114245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46 meters 0.01712828870320307 Centerline is valid? [True, True] Translation: X:117.60, Y:75.41, Z:-3.04 [[ 4.21012055e-01 -9.07030298e-01 6.69985102e-03 1.17596883e+02] [ 9.06902316e-01 4.21065224e-01 1.52402872e-02 7.54125596e+01] [-1.66444765e-02 -3.40234229e-04 9.99861413e-01 -3.04236790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48999999999998 meters 0.01628804042239507 Centerline is valid? [True, True] Translation: X:117.61, Y:75.44, Z:-3.04 [[ 4.21905804e-01 -9.06614694e-01 6.72969961e-03 1.17609453e+02] [ 9.06485338e-01 4.21959316e-01 1.53188811e-02 7.54390345e+01] [-1.67279822e-02 -3.62750817e-04 9.99860012e-01 -3.04327494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51999999999998 meters 0.01628748782054368 Centerline is valid? [True, True] Translation: X:117.62, Y:75.47, Z:-3.04 [[ 4.22270175e-01 -9.06447233e-01 6.42758621e-03 1.17620243e+02] [ 9.06329066e-01 4.22318940e-01 1.46402368e-02 7.54652450e+01] [-1.59850936e-02 -3.56627153e-04 9.99872167e-01 -3.04398381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54999999999998 meters 0.01644684210205116 Centerline is valid? [True, True] Translation: X:117.63, Y:75.49, Z:-3.05 [[ 4.22042346e-01 -9.06554646e-01 6.23962071e-03 1.17629889e+02] [ 9.06443144e-01 4.22088326e-01 1.42222452e-02 7.54914638e+01] [-1.55269135e-02 -3.46528318e-04 9.99879390e-01 -3.04584193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57999999999998 meters 0.016502833941344466 Centerline is valid? [True, True] Translation: X:117.64, Y:75.52, Z:-3.05 [[ 4.21337374e-01 -9.06882295e-01 6.27063721e-03 1.17640186e+02] [ 9.06769535e-01 4.21383895e-01 1.43046637e-02 7.55162388e+01] [-1.56149918e-02 -3.41066650e-04 9.99878020e-01 -3.04674361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60999999999999 meters 0.01645656109121839 Centerline is valid? [True, True] Translation: X:117.65, Y:75.54, Z:-3.05 [[ 4.20759612e-01 -9.07151515e-01 6.12190741e-03 1.17651672e+02] [ 9.07043942e-01 4.20804018e-01 1.39737628e-02 7.55418824e+01] [-1.52524433e-02 -3.26755986e-04 9.99883621e-01 -3.04732978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64 meters 0.01639642995207299 Centerline is valid? [True, True] Translation: X:117.66, Y:75.57, Z:-3.05 [[ 4.20257372e-01 -9.07384500e-01 6.09181887e-03 1.17663124e+02] [ 9.07277845e-01 4.20301399e-01 1.39156733e-02 7.55676425e+01] [-1.51872662e-02 -3.21191989e-04 9.99884615e-01 -3.04813477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67 meters 0.016191758661843133 Centerline is valid? [True, True] Translation: X:117.67, Y:75.59, Z:-3.05 [[ 4.19926746e-01 -9.07538110e-01 6.00892213e-03 1.17674903e+02] [ 9.07434201e-01 4.19969617e-01 1.37365291e-02 7.55935691e+01] [-1.49899884e-02 -3.15634516e-04 9.99887594e-01 -3.04877996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.7 meters 0.016167224192632435 Centerline is valid? [True, True] Translation: X:117.69, Y:75.62, Z:-3.05 [[ 4.19544351e-01 -9.07714916e-01 6.01413430e-03 1.17685877e+02] [ 9.07610685e-01 4.19587337e-01 1.37590463e-02 7.56192871e+01] [-1.50127462e-02 -3.14037603e-04 9.99887253e-01 -3.04947014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73 meters 0.016198168490933508 Centerline is valid? [True, True] Translation: X:117.70, Y:75.65, Z:-3.05 [[ 4.19125198e-01 -9.07908660e-01 5.99449536e-03 1.17696935e+02] [ 9.07804970e-01 4.19167949e-01 1.37246918e-02 7.56451899e+01] [-1.49734668e-02 -3.10531471e-04 9.99887843e-01 -3.05024509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76 meters 0.016198457187622774 Centerline is valid? [True, True] Translation: X:117.71, Y:75.67, Z:-3.05 [[ 4.18420589e-01 -9.08234475e-01 5.86078546e-03 1.17708184e+02] [ 9.08135245e-01 4.18461528e-01 1.34285997e-02 7.56712848e+01] [-1.46488305e-02 -2.96416775e-04 9.99892656e-01 -3.05166168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79 meters 0.015698113459882205 Centerline is valid? [True, True] Translation: X:117.72, Y:75.70, Z:-3.05 [[ 4.17545542e-01 -9.08638430e-01 5.65007498e-03 1.17720237e+02] [ 9.08546113e-01 4.17583676e-01 1.29550885e-02 7.56965278e+01] [-1.41308703e-02 -2.75985778e-04 9.99900116e-01 -3.05216892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82 meters 0.015558278219782229 Centerline is valid? [True, True] Translation: X:117.73, Y:75.72, Z:-3.05 [[ 4.16652902e-01 -9.09049383e-01 5.43870604e-03 1.17731992e+02] [ 9.08963753e-01 4.16688318e-01 1.24796296e-02 7.57225070e+01] [-1.36108449e-02 -2.56087239e-04 9.99907335e-01 -3.05357241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85 meters 0.015299972080792886 Centerline is valid? [True, True] Translation: X:117.74, Y:75.75, Z:-3.06 [[ 4.15574990e-01 -9.09545057e-01 5.02160889e-03 1.17744145e+02] [ 9.09471996e-01 4.15605268e-01 1.15303741e-02 7.57480239e+01] [-1.25744019e-02 -2.24722462e-04 9.99920914e-01 -3.05521912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88 meters 0.015384442947695353 Centerline is valid? [True, True] Translation: X:117.75, Y:75.77, Z:-3.06 [[ 4.14971953e-01 -9.09821987e-01 4.71484209e-03 1.17754831e+02] [ 9.09757501e-01 4.14998685e-01 1.08342136e-02 7.57728891e+01] [-1.18138590e-02 -2.06531810e-04 9.99930193e-01 -3.05640710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91 meters 0.015308061706488692 Centerline is valid? [True, True] Translation: X:117.77, Y:75.80, Z:-3.06 [[ 4.14443282e-01 -9.10063745e-01 4.55477398e-03 1.17766574e+02] [ 9.10003507e-01 4.14468264e-01 1.04726395e-02 7.57986511e+01] [-1.14185788e-02 -1.95454813e-04 9.99934787e-01 -3.05736207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94 meters 0.015134589844162738 Centerline is valid? [True, True] Translation: X:117.78, Y:75.82, Z:-3.06 [[ 4.13444861e-01 -9.10518130e-01 4.48135580e-03 1.17778097e+02] [ 9.10459756e-01 4.13469107e-01 1.03116564e-02 7.58239398e+01] [-1.12418523e-02 -1.83207229e-04 9.99936792e-01 -3.05813902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97 meters 0.014594160288638528 Centerline is valid? [True, True] Translation: X:117.79, Y:75.85, Z:-3.06 [[ 4.10152236e-01 -9.12007027e-01 4.28084380e-03 1.17791669e+02] [ 9.11953764e-01 4.10174551e-01 9.85745504e-03 7.58486615e+01] [-1.07459615e-02 -1.39125601e-04 9.99942251e-01 -3.05959556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.0 meters 0.014113879485506407 Centerline is valid? [True, True] Translation: X:117.81, Y:75.87, Z:-3.06 [[ 4.06240006e-01 -9.13756685e-01 4.21634664e-03 1.17806505e+02] [ 9.13705012e-01 4.06261875e-01 9.71804355e-03 7.58715942e+01] [-1.05928682e-02 -9.53610123e-05 9.99943889e-01 -3.05976949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03 meters 0.013708144233480183 Centerline is valid? [True, True] Translation: X:117.82, Y:75.90, Z:-3.06 [[ 4.04378937e-01 -9.14580682e-01 4.45559030e-03 1.17820206e+02] [ 9.14522987e-01 4.04403475e-01 1.02730303e-02 7.58963657e+01] [-1.11973712e-02 -7.94573084e-05 9.99937304e-01 -3.05893074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06 meters 0.013656426487433097 Centerline is valid? [True, True] Translation: X:117.83, Y:75.92, Z:-3.06 [[ 4.02966884e-01 -9.15202366e-01 4.72429586e-03 1.17832493e+02] [ 9.15137425e-01 4.02994571e-01 1.09027548e-02 7.59205167e+01] [-1.18820926e-02 -7.00691829e-05 9.99929403e-01 -3.05860066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09 meters 0.013507858761726842 Centerline is valid? [True, True] Translation: X:117.85, Y:75.95, Z:-3.06 [[ 4.01816969e-01 -9.15706525e-01 4.96832351e-03 1.17845082e+02] [ 9.15634653e-01 4.01847679e-01 1.14728181e-02 7.59459370e+01] [-1.25022437e-02 -6.08038357e-05 9.99921842e-01 -3.05786672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12 meters 0.013470112371416397 Centerline is valid? [True, True] Translation: X:117.86, Y:75.97, Z:-3.06 [[ 4.00782400e-01 -9.16157749e-01 5.33351662e-03 1.17855875e+02] [ 9.16074794e-01 4.00817883e-01 1.23286472e-02 7.59709539e+01] [-1.34327546e-02 -5.52046928e-05 9.99909775e-01 -3.05851000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15 meters 0.013470112371416397 Centerline is valid? [True, True] Translation: X:117.87, Y:76.00, Z:-3.06 [[ 4.00531061e-01 -9.16267670e-01 5.33171582e-03 1.17866746e+02] [ 9.16184714e-01 4.00566542e-01 1.23294260e-02 7.59963184e+01] [-1.34327614e-02 -5.34815265e-05 9.99909775e-01 -3.05907682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18 meters 0.013475761737296478 Centerline is valid? [True, True] Translation: X:117.88, Y:76.02, Z:-3.06 [[ 4.00431337e-01 -9.16310202e-01 5.50972340e-03 1.17877551e+02] [ 9.16221479e-01 4.00469237e-01 1.27511799e-02 7.60227510e+01] [-1.38905109e-02 -5.78450825e-05 9.99903521e-01 -3.05923450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21 meters 0.01343327174979643 Centerline is valid? [True, True] Translation: X:117.89, Y:76.05, Z:-3.06 [[ 4.00406077e-01 -9.16320349e-01 5.65614964e-03 1.17887924e+02] [ 9.16226701e-01 4.00446020e-01 1.31002610e-02 7.60486620e+01] [-1.42690184e-02 -6.31088014e-05 9.99898190e-01 -3.05969262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23999999999998 meters 0.01341799794579504 Centerline is valid? [True, True] Translation: X:117.90, Y:76.07, Z:-3.06 [[ 4.00424769e-01 -9.16312519e-01 5.60101526e-03 1.17898623e+02] [ 9.16220554e-01 4.00463934e-01 1.29820407e-02 7.60749240e+01] [-1.41386110e-02 -6.65653326e-05 9.99900043e-01 -3.05999992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26999999999998 meters 0.013472283783133395 Centerline is valid? [True, True] Translation: X:117.91, Y:76.10, Z:-3.06 [[ 4.00834993e-01 -9.16132386e-01 5.72365464e-03 1.17909223e+02] [ 9.16036181e-01 4.00875849e-01 1.32766440e-02 7.61014029e+01] [-1.44576385e-02 -7.86687815e-05 9.99895480e-01 -3.06044129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29999999999998 meters 0.01348049477429325 Centerline is valid? [True, True] Translation: X:117.92, Y:76.13, Z:-3.06 [[ 4.00650492e-01 -9.16211978e-01 5.89874235e-03 1.17920556e+02] [ 9.16109640e-01 4.00693904e-01 1.36938714e-02 7.61275822e+01] [-1.49100791e-02 -8.25615955e-05 9.99888835e-01 -3.06037864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32999999999998 meters 0.01346476154159268 Centerline is valid? [True, True] Translation: X:117.93, Y:76.15, Z:-3.06 [[ 4.00264102e-01 -9.16379081e-01 6.16674639e-03 1.17932337e+02] [ 9.16267070e-01 4.00311595e-01 1.43277404e-02 7.61535449e+01] [-1.55982616e-02 -8.44934873e-05 9.99878336e-01 -3.06020740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35999999999999 meters 0.013438555509375965 Centerline is valid? [True, True] Translation: X:117.94, Y:76.18, Z:-3.06 [[ 3.98828260e-01 -9.17001717e-01 6.62346597e-03 1.17943752e+02] [ 9.16872368e-01 3.98883249e-01 1.54017572e-02 7.61784788e+01] [-1.67654274e-02 -6.97831109e-05 9.99859448e-01 -3.05983337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39 meters 0.013408822015888505 Centerline is valid? [True, True] Translation: X:117.96, Y:76.20, Z:-3.06 [[ 3.97797220e-01 -9.17449179e-01 6.66143172e-03 1.17955338e+02] [ 9.17318191e-01 3.97852988e-01 1.55027715e-02 7.62045124e+01] [-1.68732755e-02 -5.63069126e-05 9.99857635e-01 -3.06037120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42 meters 0.013407050190326142 Centerline is valid? [True, True] Translation: X:117.97, Y:76.23, Z:-3.06 [[ 3.96591960e-01 -9.17970247e-01 6.74118314e-03 1.17965872e+02] [ 9.17835969e-01 3.96649246e-01 1.57006411e-02 7.62299887e+01] [-1.70866066e-02 -3.94476904e-05 9.99854013e-01 -3.06203945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45 meters 0.013402200562168195 Centerline is valid? [True, True] Translation: X:117.98, Y:76.26, Z:-3.06 [[ 3.95020904e-01 -9.18648179e-01 6.63394025e-03 1.17977557e+02] [ 9.18518040e-01 3.95076604e-01 1.54624489e-02 7.62552728e+01] [-1.68254651e-02 -1.45967303e-05 9.99858442e-01 -3.06234962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48 meters 0.013388714673084601 Centerline is valid? [True, True] Translation: X:117.99, Y:76.28, Z:-3.06 [[ 3.93360249e-01 -9.19360354e-01 6.65229417e-03 1.17989095e+02] [ 9.19229397e-01 3.93416495e-01 1.55169710e-02 7.62806403e+01] [-1.68828102e-02 1.12247805e-05 9.99857475e-01 -3.06290966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51 meters 0.013518540844507796 Centerline is valid? [True, True] Translation: X:118.00, Y:76.31, Z:-3.06 [[ 3.90233908e-01 -9.20692338e-01 6.56626899e-03 1.18001705e+02] [ 9.20564737e-01 3.90289142e-01 1.53280743e-02 7.63063203e+01] [-1.66751841e-02 6.31413420e-05 9.99860957e-01 -3.06378036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54 meters 0.013629459361915987 Centerline is valid? [True, True] Translation: X:118.01, Y:76.33, Z:-3.06 [[ 3.88716479e-01 -9.21334866e-01 6.44697485e-03 1.18013245e+02] [ 9.21211760e-01 3.88769929e-01 1.50610754e-02 7.63318738e+01] [-1.63826838e-02 8.45408607e-05 9.99865791e-01 -3.06444593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57 meters 0.013770705420304234 Centerline is valid? [True, True] Translation: X:118.02, Y:76.36, Z:-3.07 [[ 3.87155338e-01 -9.21992688e-01 6.34251904e-03 1.18024790e+02] [ 9.21873446e-01 3.87207273e-01 1.48282391e-02 7.63576798e+01] [-1.61273975e-02 1.06167971e-04 9.99869939e-01 -3.06550452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.6 meters 0.014139505296589125 Centerline is valid? [True, True] Translation: X:118.04, Y:76.38, Z:-3.07 [[ 3.85252724e-01 -9.22791238e-01 6.05553882e-03 1.18036942e+02] [ 9.22682460e-01 3.85300291e-01 1.41691157e-02 7.63817583e+01] [-1.54083367e-02 1.28649050e-04 9.99881276e-01 -3.06713369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63 meters 0.014098938358880922 Centerline is valid? [True, True] Translation: X:118.05, Y:76.41, Z:-3.07 [[ 3.84541361e-01 -9.23089020e-01 5.88246695e-03 1.18047932e+02] [ 9.22986329e-01 3.84586328e-01 1.37692634e-02 7.64077747e+01] [-1.49725722e-02 1.34585273e-04 9.99887896e-01 -3.06726656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66 meters 0.014141462201864964 Centerline is valid? [True, True] Translation: X:118.06, Y:76.43, Z:-3.07 [[ 3.84441609e-01 -9.23131907e-01 5.66846790e-03 1.18058436e+02] [ 9.23036397e-01 3.84483376e-01 1.32794587e-02 7.64329606e+01] [-1.44381237e-02 1.27025700e-04 9.99895757e-01 -3.06820322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69 meters 0.014084600030832584 Centerline is valid? [True, True] Translation: X:118.07, Y:76.46, Z:-3.07 [[ 3.84665947e-01 -9.23039847e-01 5.43600336e-03 1.18068942e+02] [ 9.22951923e-01 3.84704338e-01 1.27404644e-02 7.64594737e+01] [-1.38512104e-02 1.16346934e-04 9.99904061e-01 -3.06898406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72 meters 0.013972384488210757 Centerline is valid? [True, True] Translation: X:118.08, Y:76.49, Z:-3.07 [[ 3.85267990e-01 -9.22789346e-01 5.32911008e-03 1.18078661e+02] [ 9.22704695e-01 3.85304831e-01 1.24993110e-02 7.64861611e+01] [-1.35875629e-02 1.01610478e-04 9.99907680e-01 -3.06967436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75 meters 0.01381811323367555 Centerline is valid? [True, True] Translation: X:118.09, Y:76.51, Z:-3.07 [[ 3.87634970e-01 -9.21803000e-01 4.28474769e-03 1.18086364e+02] [ 9.21748155e-01 3.87658647e-01 1.00554259e-02 7.65117719e+01] [-1.09301412e-02 5.16235766e-05 9.99940263e-01 -3.07244843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78 meters 0.013744205429458546 Centerline is valid? [True, True] Translation: X:118.10, Y:76.54, Z:-3.07 [[ 3.89148604e-01 -9.21165859e-01 4.10163732e-03 1.18095818e+02] [ 9.21115507e-01 3.89170218e-01 9.63136811e-03 7.65387137e+01] [-1.04683226e-02 3.00482823e-05 9.99945205e-01 -3.07393388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81 meters 0.0137523573154257 Centerline is valid? [True, True] Translation: X:118.10, Y:76.56, Z:-3.08 [[ 3.90282105e-01 -9.20686216e-01 4.09505755e-03 1.18104995e+02] [ 9.20635925e-01 3.90303588e-01 9.62305190e-03 7.65639027e+01] [-1.04581269e-02 1.43521439e-05 9.99945312e-01 -3.07535925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84 meters 0.013782125069263988 Centerline is valid? [True, True] Translation: X:118.11, Y:76.59, Z:-3.07 [[ 3.93211126e-01 -9.19437769e-01 4.38171150e-03 1.18113713e+02] [ 9.19379999e-01 3.93235538e-01 1.03067462e-02 7.65907860e+01] [-1.11994564e-02 -2.42693626e-05 9.99937284e-01 -3.07472097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87 meters 0.01384966010641515 Centerline is valid? [True, True] Translation: X:118.12, Y:76.62, Z:-3.07 [[ 3.94338990e-01 -9.18954595e-01 4.38325459e-03 1.18123669e+02] [ 9.18896665e-01 3.94363348e-01 1.03183664e-02 7.66170226e+01] [-1.12107052e-02 -4.11761726e-05 9.99937157e-01 -3.07475355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.9 meters 0.01384966010641515 Centerline is valid? [True, True] Translation: X:118.13, Y:76.64, Z:-3.08 [[ 3.94078139e-01 -9.19066501e-01 4.38033243e-03 1.18134382e+02] [ 9.19008564e-01 3.94102481e-01 1.03196064e-02 7.66424577e+01] [-1.12107044e-02 -4.11682590e-05 9.99937157e-01 -3.07531964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93 meters 0.014002807569939905 Centerline is valid? [True, True] Translation: X:118.14, Y:76.67, Z:-3.08 [[ 3.95981150e-01 -9.18249405e-01 4.11822009e-03 1.18143419e+02] [ 9.18198075e-01 3.96002559e-01 9.70922061e-03 7.66692401e+01] [-1.05463117e-02 -6.33265802e-05 9.99944384e-01 -3.07695354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96 meters 0.01416354934003254 Centerline is valid? [True, True] Translation: X:118.15, Y:76.69, Z:-3.08 [[ 3.96669321e-01 -9.17951465e-01 4.30788347e-03 1.18153245e+02] [ 9.17895196e-01 3.96692704e-01 1.01639950e-02 7.66949322e+01] [-1.10389600e-02 -7.75594458e-05 9.99939066e-01 -3.07753357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98999999999998 meters 0.014198444828097592 Centerline is valid? [True, True] Translation: X:118.16, Y:76.72, Z:-3.08 [[ 3.97342745e-01 -9.17659184e-01 4.51281961e-03 1.18163822e+02] [ 9.17597299e-01 3.97368360e-01 1.06575422e-02 7.67212810e+01] [-1.15732432e-02 -9.37459981e-05 9.99933023e-01 -3.07731424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01999999999998 meters 0.014377644889135115 Centerline is valid? [True, True] Translation: X:118.17, Y:76.75, Z:-3.08 [[ 3.98523955e-01 -9.17143368e-01 5.16723540e-03 1.18174510e+02] [ 9.17062034e-01 3.98557432e-01 1.22146870e-02 7.67469413e+01] [-1.32620593e-02 -1.29169979e-04 9.99912047e-01 -3.07564898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04999999999998 meters 0.014477429919159936 Centerline is valid? [True, True] Translation: X:118.18, Y:76.77, Z:-3.08 [[ 3.98535051e-01 -9.17138921e-01 5.10033045e-03 1.18184697e+02] [ 9.17059550e-01 3.98567664e-01 1.20664078e-02 7.67719084e+01] [-1.30993991e-02 -1.31579714e-04 9.99914191e-01 -3.07562327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07999999999998 meters 0.01475150577116656 Centerline is valid? [True, True] Translation: X:118.19, Y:76.80, Z:-3.08 [[ 3.98272445e-01 -9.17252610e-01 5.16813849e-03 1.18194770e+02] [ 9.17171015e-01 3.98305953e-01 1.22350440e-02 7.67972131e+01] [-1.32811264e-02 -1.32814051e-04 9.99911793e-01 -3.07630483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10999999999999 meters 0.014383257840546806 Centerline is valid? [True, True] Translation: X:118.21, Y:76.82, Z:-3.08 [[ 3.97511720e-01 -9.17582387e-01 5.19580958e-03 1.18206544e+02] [ 9.17499805e-01 3.97545655e-01 1.23109963e-02 7.68227872e+01] [-1.33619249e-02 -1.26611026e-04 9.99910717e-01 -3.07629473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14 meters 0.014190003039835001 Centerline is valid? [True, True] Translation: X:118.22, Y:76.85, Z:-3.08 [[ 3.95746183e-01 -9.18345537e-01 5.14137176e-03 1.18219578e+02] [ 9.18264616e-01 3.95779565e-01 1.21914014e-02 7.68482286e+01] [-1.32307690e-02 -1.03560809e-04 9.99912464e-01 -3.07688384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17 meters 0.014200542071296283 Centerline is valid? [True, True] Translation: X:118.23, Y:76.87, Z:-3.08 [[ 3.94549525e-01 -9.18861107e-01 4.99378949e-03 1.18231593e+02] [ 9.18784688e-01 3.94581117e-01 1.18507090e-02 7.68741743e+01] [-1.28596106e-02 -8.74742777e-05 9.99917308e-01 -3.07783914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.2 meters 0.014077740216266807 Centerline is valid? [True, True] Translation: X:118.24, Y:76.90, Z:-3.08 [[ 3.93430515e-01 -9.19342035e-01 4.75950018e-03 1.18243390e+02] [ 9.19272567e-01 3.93459296e-01 1.13017215e-02 7.68990500e+01] [-1.22628172e-02 -7.11641548e-05 9.99924806e-01 -3.07853072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23 meters 0.013998029957880062 Centerline is valid? [True, True] Translation: X:118.26, Y:76.92, Z:-3.08 [[ 3.91954341e-01 -9.19972420e-01 4.74781809e-03 1.18255548e+02] [ 9.19903219e-01 3.91983092e-01 1.12837420e-02 7.69247055e+01] [-1.22417958e-02 -5.51784951e-05 9.99925065e-01 -3.07932060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26 meters 0.013919693742182791 Centerline is valid? [True, True] Translation: X:118.27, Y:76.95, Z:-3.08 [[ 3.89338490e-01 -9.21082083e-01 4.83081693e-03 1.18269023e+02] [ 9.21010410e-01 3.89368458e-01 1.14903459e-02 7.69500248e+01] [-1.24645195e-02 -2.44012519e-05 9.99922315e-01 -3.07983145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29 meters 0.013825260771882923 Centerline is valid? [True, True] Translation: X:118.28, Y:76.98, Z:-3.08 [[ 3.87850684e-01 -9.21709643e-01 4.81469904e-03 1.18280558e+02] [ 9.21638384e-01 3.87880567e-01 1.14609908e-02 7.69751608e+01] [-1.24312340e-02 -7.74169198e-06 9.99922729e-01 -3.08034333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32 meters 0.013862353539283716 Centerline is valid? [True, True] Translation: X:118.29, Y:77.00, Z:-3.08 [[ 3.86616485e-01 -9.22228781e-01 4.66582032e-03 1.18291643e+02] [ 9.22161797e-01 3.86644638e-01 1.11150104e-02 7.70004722e+01] [-1.20545969e-02 5.39502433e-06 9.99927341e-01 -3.08138548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35 meters 0.013862353539283716 Centerline is valid? [True, True] Translation: X:118.30, Y:77.03, Z:-3.08 [[ 3.86354061e-01 -9.22338766e-01 4.66265561e-03 1.18302252e+02] [ 9.22271775e-01 3.86382195e-01 1.11163374e-02 7.70259528e+01] [-1.20545960e-02 5.39356457e-06 9.99927341e-01 -3.08195156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38 meters 0.013894211567025621 Centerline is valid? [True, True] Translation: X:118.31, Y:77.05, Z:-3.08 [[ 3.85526517e-01 -9.22687154e-01 4.20966384e-03 1.18313116e+02] [ 9.22632454e-01 3.85549499e-01 1.00467952e-02 7.70504555e+01] [-1.08930827e-02 1.06665057e-05 9.99940669e-01 -3.08366097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41 meters 0.013825229068560948 Centerline is valid? [True, True] Translation: X:118.32, Y:77.08, Z:-3.08 [[ 3.85541499e-01 -9.22682076e-01 3.94206580e-03 1.18323991e+02] [ 9.22634122e-01 3.85561652e-01 9.40688397e-03 7.70765248e+01] [-1.01994726e-02 1.03402740e-05 9.99947984e-01 -3.08367313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44 meters 0.013792019437992046 Centerline is valid? [True, True] Translation: X:118.33, Y:77.10, Z:-3.08 [[ 3.85687697e-01 -9.22621459e-01 3.82671242e-03 1.18334418e+02] [ 9.22576199e-01 3.85706680e-01 9.13857290e-03 7.71022543e+01] [-9.90743201e-03 5.79866668e-06 9.99950920e-01 -3.08435613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47 meters 0.013824409627727467 Centerline is valid? [True, True] Translation: X:118.34, Y:77.13, Z:-3.08 [[ 3.87324661e-01 -9.21935708e-01 3.76269298e-03 1.18343651e+02] [ 9.21891842e-01 3.87342936e-01 8.99342495e-03 7.71281668e+01] [-9.74881214e-03 -1.45793064e-05 9.99952479e-01 -3.08477669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.5 meters 0.013902697659934843 Centerline is valid? [True, True] Translation: X:118.35, Y:77.15, Z:-3.08 [[ 3.88232238e-01 -9.21553572e-01 3.83986601e-03 1.18353783e+02] [ 9.21507806e-01 3.88251225e-01 9.18423350e-03 7.71549269e+01] [-9.95459587e-03 -2.71490169e-05 9.99950451e-01 -3.08481624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53 meters 0.013902697659934843 Centerline is valid? [True, True] Translation: X:118.36, Y:77.18, Z:-3.09 [[ 3.87974392e-01 -9.21662165e-01 3.83729458e-03 1.18364345e+02] [ 9.21616394e-01 3.87993368e-01 9.18530730e-03 7.71804245e+01] [-9.95459506e-03 -2.71504237e-05 9.99950451e-01 -3.08538233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56 meters 0.013961265811804431 Centerline is valid? [True, True] Translation: X:118.37, Y:77.21, Z:-3.08 [[ 3.89901563e-01 -9.20846416e-01 4.31844522e-03 1.18372412e+02] [ 9.20788284e-01 3.89925473e-01 1.03470373e-02 7.72076691e+01] [-1.12119040e-02 -5.79522399e-05 9.99937143e-01 -3.08484218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59 meters 0.014070283364951322 Centerline is valid? [True, True] Translation: X:118.38, Y:77.23, Z:-3.08 [[ 3.91107338e-01 -9.20332771e-01 4.75823826e-03 1.18381009e+02] [ 9.20262031e-01 3.91136272e-01 1.14110060e-02 7.72329812e+01] [-1.23630424e-02 -8.41021902e-05 9.99923571e-01 -3.08483203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62 meters 0.014297840943301634 Centerline is valid? [True, True] Translation: X:118.39, Y:77.26, Z:-3.08 [[ 3.92159138e-01 -9.19883493e-01 5.05671321e-03 1.18389793e+02] [ 9.19803413e-01 3.92191724e-01 1.21380589e-02 7.72583469e+01] [-1.31488011e-02 -1.08868634e-04 9.99913545e-01 -3.08423165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65 meters 0.01448078599558954 Centerline is valid? [True, True] Translation: X:118.40, Y:77.29, Z:-3.08 [[ 3.94610250e-01 -9.18832048e-01 5.51526199e-03 1.18399110e+02] [ 9.18736503e-01 3.94648757e-01 1.32513028e-02 7.72857679e+01] [-1.43523130e-02 -1.62027410e-04 9.99896987e-01 -3.08263685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68 meters 0.014785279209313688 Centerline is valid? [True, True] Translation: X:118.41, Y:77.31, Z:-3.08 [[ 3.95646301e-01 -9.18385987e-01 5.58430215e-03 1.18408277e+02] [ 9.18287841e-01 3.95685665e-01 1.34274036e-02 7.73125227e+01] [-1.45411676e-02 -1.84505807e-04 9.99894255e-01 -3.08307644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71 meters 0.014910296136718258 Centerline is valid? [True, True] Translation: X:118.42, Y:77.34, Z:-3.08 [[ 3.96783409e-01 -9.17895023e-01 5.62612263e-03 1.18418722e+02] [ 9.17795187e-01 3.96823240e-01 1.35392580e-02 7.73399402e+01] [-1.46601938e-02 -2.08524697e-04 9.99892512e-01 -3.08323441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73999999999998 meters 0.015512809643910639 Centerline is valid? [True, True] Translation: X:118.43, Y:77.37, Z:-3.08 [[ 3.98828211e-01 -9.17009469e-01 5.44909452e-03 1.18427135e+02] [ 9.16915590e-01 3.98865363e-01 1.31233364e-02 7.73665529e+01] [-1.42076788e-02 -2.37597042e-04 9.99899038e-01 -3.08370712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76999999999998 meters 0.01576418031653969 Centerline is valid? [True, True] Translation: X:118.44, Y:77.39, Z:-3.08 [[ 3.99379172e-01 -9.16770592e-01 5.28759054e-03 1.18436973e+02] [ 9.16682114e-01 3.99414101e-01 1.27388082e-02 7.73936093e+01] [-1.37905029e-02 -2.40574991e-04 9.99904878e-01 -3.08442393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79999999999998 meters 0.01616304355006366 Centerline is valid? [True, True] Translation: X:118.45, Y:77.42, Z:-3.09 [[ 3.99717385e-01 -9.16623916e-01 5.15834265e-03 1.18446134e+02] [ 9.16539584e-01 3.99750594e-01 1.24360256e-02 7.74196808e+01] [-1.34612090e-02 -2.43070403e-04 9.99909364e-01 -3.08551815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82999999999998 meters 0.016029456314004684 Centerline is valid? [True, True] Translation: X:118.46, Y:77.45, Z:-3.09 [[ 3.99634019e-01 -9.16662445e-01 4.75533492e-03 1.18456453e+02] [ 9.16590670e-01 3.99662247e-01 1.14731397e-02 7.74455782e+01] [-1.24175241e-02 -2.26361303e-04 9.99922874e-01 -3.08667481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85999999999999 meters 0.01567611123503382 Centerline is valid? [True, True] Translation: X:118.47, Y:77.47, Z:-3.09 [[ 3.98271664e-01 -9.17257456e-01 4.29441546e-03 1.18468353e+02] [ 9.17198879e-01 3.98294770e-01 1.03678760e-02 7.74713951e+01] [-1.12204548e-02 -1.90398188e-04 9.99937031e-01 -3.08813194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89 meters 0.015446787573774249 Centerline is valid? [True, True] Translation: X:118.48, Y:77.50, Z:-3.09 [[ 3.96732461e-01 -9.17925311e-01 4.05940672e-03 1.18479967e+02] [ 9.17872929e-01 3.96753194e-01 9.80766035e-03 7.74967879e+01] [-1.06132823e-02 -1.64997691e-04 9.99943664e-01 -3.08906791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92 meters 0.01515028893657906 Centerline is valid? [True, True] Translation: X:118.49, Y:77.52, Z:-3.09 [[ 3.94496517e-01 -9.18889016e-01 3.93363513e-03 1.18491509e+02] [ 9.18839808e-01 3.94516104e-01 9.51053346e-03 7.75214310e+01] [-1.02910071e-02 -1.37491777e-04 9.99947037e-01 -3.08997823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95 meters 0.014658655770048367 Centerline is valid? [True, True] Translation: X:118.50, Y:77.55, Z:-3.09 [[ 3.92101665e-01 -9.19913155e-01 4.00890885e-03 1.18504379e+02] [ 9.19862010e-01 3.92122141e-01 9.70103420e-03 7.75470443e+01] [-1.04960909e-02 -1.16148710e-04 9.99944908e-01 -3.08963989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98 meters 0.014005969451141338 Centerline is valid? [True, True] Translation: X:118.52, Y:77.57, Z:-3.09 [[ 3.86967116e-01 -9.22084755e-01 4.01951360e-03 1.18518835e+02] [ 9.22033373e-01 3.86987986e-01 9.73432800e-03 7.75720819e+01] [-1.05313789e-02 -6.07391420e-05 9.99944542e-01 -3.08963625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01 meters 0.01376537947862114 Centerline is valid? [True, True] Translation: X:118.53, Y:77.60, Z:-3.09 [[ 3.83679483e-01 -9.23456735e-01 4.20874899e-03 1.18531332e+02] [ 9.23400392e-01 3.83702565e-01 1.02009054e-02 7.75973620e+01] [-1.10350026e-02 -2.75176410e-05 9.99939112e-01 -3.08975865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04 meters 0.01375796582461176 Centerline is valid? [True, True] Translation: X:118.54, Y:77.62, Z:-3.09 [[ 3.80232856e-01 -9.24879546e-01 4.56068733e-03 1.18544167e+02] [ 9.24813367e-01 3.80260206e-01 1.10640214e-02 7.76225001e+01] [-1.19671350e-02 1.08801509e-05 9.99928391e-01 -3.08963978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07 meters 0.01394242688413701 Centerline is valid? [True, True] Translation: X:118.56, Y:77.65, Z:-3.09 [[ 3.76899315e-01 -9.26242212e-01 4.71915213e-03 1.18556845e+02] [ 9.26171343e-01 3.76928855e-01 1.14578728e-02 7.76461216e+01] [-1.23915500e-02 5.22790709e-05 9.99923220e-01 -3.08997747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.1 meters 0.014570918997325667 Centerline is valid? [True, True] Translation: X:118.57, Y:77.67, Z:-3.09 [[ 3.70392149e-01 -9.28862404e-01 4.92860541e-03 1.18571691e+02] [ 9.28785181e-01 3.70424912e-01 1.19779791e-02 7.76712861e+01] [-1.29515726e-02 1.41066271e-04 9.99916115e-01 -3.08968212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13 meters 0.014719099124372028 Centerline is valid? [True, True] Translation: X:118.58, Y:77.70, Z:-3.09 [[ 3.67472726e-01 -9.30020230e-01 5.11546902e-03 1.18583364e+02] [ 9.29937022e-01 3.67508283e-01 1.24417519e-02 7.76969592e+01] [-1.34510582e-02 1.85059522e-04 9.99909513e-01 -3.09008020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16 meters 0.015076652913002206 Centerline is valid? [True, True] Translation: X:118.59, Y:77.72, Z:-3.09 [[ 3.64667542e-01 -9.31122506e-01 5.33507313e-03 1.18594977e+02] [ 9.31031969e-01 3.64706492e-01 1.29864160e-02 7.77227690e+01] [-1.40376800e-02 2.31399258e-04 9.99901440e-01 -3.09066089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19 meters 0.016285513292760536 Centerline is valid? [True, True] Translation: X:118.61, Y:77.75, Z:-3.09 [[ 3.62383896e-01 -9.32013839e-01 5.30235773e-03 1.18607906e+02] [ 9.31924364e-01 3.62422592e-01 1.29168101e-02 7.77468867e+01] [-1.39603400e-02 2.60552382e-04 9.99902516e-01 -3.09189822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22 meters 0.016302086856972382 Centerline is valid? [True, True] Translation: X:118.62, Y:77.77, Z:-3.09 [[ 3.58829036e-01 -9.33389573e-01 5.06238817e-03 1.18618103e+02] [ 9.33308014e-01 3.58864622e-01 1.23423860e-02 7.77729451e+01] [-1.33369664e-02 2.95960982e-04 9.99911015e-01 -3.09260869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25 meters 0.01676185592213951 Centerline is valid? [True, True] Translation: X:118.63, Y:77.80, Z:-3.09 [[ 3.57729061e-01 -9.33813409e-01 4.73660637e-03 1.18628896e+02] [ 9.33742003e-01 3.57760300e-01 1.15515946e-02 7.77981250e+01] [-1.24816037e-02 2.90427206e-04 9.99922060e-01 -3.09384999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28 meters 0.016332696048713458 Centerline is valid? [True, True] Translation: X:118.64, Y:77.83, Z:-3.10 [[ 3.57937093e-01 -9.33736442e-01 4.15864264e-03 1.18636079e+02] [ 9.33681341e-01 3.57961163e-01 1.01469200e-02 7.78252277e+01] [-1.09631815e-02 2.50888002e-04 9.99939871e-01 -3.09540823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31 meters 0.01617333730526498 Centerline is valid? [True, True] Translation: X:118.65, Y:77.85, Z:-3.10 [[ 3.58425928e-01 -9.33550332e-01 3.82502592e-03 1.18645646e+02] [ 9.33503638e-01 3.58446268e-01 9.33971997e-03 7.78522060e+01] [-1.00901649e-02 2.23077818e-04 9.99949068e-01 -3.09645596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34 meters 0.01629795288462766 Centerline is valid? [True, True] Translation: X:118.66, Y:77.88, Z:-3.10 [[ 3.59424285e-01 -9.33167206e-01 3.62624692e-03 1.18655489e+02] [ 9.33125149e-01 3.59442523e-01 8.86166537e-03 7.78776143e+01] [-9.57284286e-03 1.98644457e-04 9.99954160e-01 -3.09787947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37 meters 0.01604379330626422 Centerline is valid? [True, True] Translation: X:118.66, Y:77.90, Z:-3.10 [[ 3.60600833e-01 -9.32714036e-01 3.40087247e-03 1.18664821e+02] [ 9.32677000e-01 3.60616828e-01 8.31372837e-03 7.79040709e+01] [-8.98074298e-03 1.73978155e-04 9.99959657e-01 -3.09848932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.4 meters 0.01558510124709709 Centerline is valid? [True, True] Translation: X:118.67, Y:77.93, Z:-3.10 [[ 3.62257967e-01 -9.32071920e-01 3.33179605e-03 1.18673752e+02] [ 9.32036288e-01 3.62273256e-01 8.15143995e-03 7.79305548e+01] [-8.80474889e-03 1.52430759e-04 9.99961226e-01 -3.09880500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43 meters 0.014963825958739574 Centerline is valid? [True, True] Translation: X:118.68, Y:77.96, Z:-3.10 [[ 3.66497928e-01 -9.30410922e-01 3.84504764e-03 1.18680076e+02] [ 9.30363247e-01 3.66518076e-01 9.41960593e-03 7.79572846e+01] [-1.01733837e-02 1.25024948e-04 9.99948242e-01 -3.09869286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46 meters 0.014467579823463654 Centerline is valid? [True, True] Translation: X:118.69, Y:77.99, Z:-3.10 [[ 3.68855502e-01 -9.29477678e-01 4.10654257e-03 1.18687705e+02] [ 9.29423209e-01 3.68878346e-01 1.00630168e-02 7.79850968e+01] [-1.08681641e-02 1.04916862e-04 9.99940934e-01 -3.09867226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48999999999998 meters 0.014080949008538415 Centerline is valid? [True, True] Translation: X:118.70, Y:78.01, Z:-3.10 [[ 3.71346826e-01 -9.28483087e-01 4.54878150e-03 1.18695223e+02] [ 9.28416054e-01 3.71374677e-01 1.11570335e-02 7.80129272e+01] [-1.20484192e-02 8.00327873e-05 9.99927412e-01 -3.09818178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51999999999998 meters 0.013756888816441536 Centerline is valid? [True, True] Translation: X:118.70, Y:78.04, Z:-3.10 [[ 3.73681547e-01 -9.27542650e-01 5.17050755e-03 1.18702513e+02] [ 9.27455795e-01 3.73717313e-01 1.26932461e-02 7.80403596e+01] [-1.37058353e-02 5.21853457e-05 9.99906069e-01 -3.09806404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54999999999998 meters 0.013650724252671045 Centerline is valid? [True, True] Translation: X:118.71, Y:78.07, Z:-3.10 [[ 3.76130508e-01 -9.26549063e-01 5.71616771e-03 1.18710108e+02] [ 9.26442596e-01 3.76173940e-01 1.40457474e-02 7.80677954e+01] [-1.51643474e-02 1.26671439e-05 9.99885015e-01 -3.09735542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57999999999998 meters 0.013688617542652225 Centerline is valid? [True, True] Translation: X:118.72, Y:78.10, Z:-3.10 [[ 3.80441936e-01 -9.24782618e-01 6.40652582e-03 1.18715269e+02] [ 9.24648380e-01 3.80495867e-01 1.57565598e-02 7.80956008e+01] [-1.70090492e-02 -7.06723803e-05 9.99855333e-01 -3.09613754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60999999999999 meters 0.013829541721330284 Centerline is valid? [True, True] Translation: X:118.72, Y:78.12, Z:-3.10 [[ 3.82211732e-01 -9.24052119e-01 6.47102793e-03 1.18723587e+02] [ 9.23914832e-01 3.82266491e-01 1.59283881e-02 7.81229027e+01] [-1.71923179e-02 -1.09338111e-04 9.99852195e-01 -3.09622385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64 meters 0.014178414077257229 Centerline is valid? [True, True] Translation: X:118.73, Y:78.15, Z:-3.10 [[ 3.84154437e-01 -9.23245395e-01 6.58098774e-03 1.18729277e+02] [ 9.23103048e-01 3.84210772e-01 1.62125037e-02 7.81503912e+01] [-1.74966058e-02 -1.53175401e-04 9.99846911e-01 -3.09712069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67 meters 0.01415021494144897 Centerline is valid? [True, True] Translation: X:118.74, Y:78.18, Z:-3.10 [[ 3.84245121e-01 -9.23208454e-01 6.46818200e-03 1.18738208e+02] [ 9.23070748e-01 3.84299527e-01 1.59457613e-02 7.81772844e+01] [-1.72069809e-02 -1.56491394e-04 9.99851937e-01 -3.09857234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.7 meters 0.013995022004424642 Centerline is valid? [True, True] Translation: X:118.75, Y:78.20, Z:-3.10 [[ 3.83572323e-01 -9.23489864e-01 6.22450292e-03 1.18747359e+02] [ 9.23362180e-01 3.83622798e-01 1.53568511e-02 7.82035117e+01] [-1.65697576e-02 -1.42992459e-04 9.99862702e-01 -3.10007904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73 meters 0.013940649154062927 Centerline is valid? [True, True] Translation: X:118.76, Y:78.23, Z:-3.10 [[ 3.82262290e-01 -9.24034411e-01 5.99571880e-03 1.18756300e+02] [ 9.23915816e-01 3.82309289e-01 1.48045081e-02 7.82291207e+01] [-1.59720939e-02 -1.19665732e-04 9.99872431e-01 -3.10196167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76 meters 0.013735866943579266 Centerline is valid? [True, True] Translation: X:118.77, Y:78.26, Z:-3.10 [[ 3.80559516e-01 -9.24737819e-01 5.86693458e-03 1.18766554e+02] [ 9.24624191e-01 3.80604726e-01 1.44964864e-02 7.82551814e+01] [-1.56384323e-02 -9.20662019e-05 9.99877708e-01 -3.10356785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79 meters 0.013568017852196225 Centerline is valid? [True, True] Translation: X:118.78, Y:78.28, Z:-3.11 [[ 3.76861260e-01 -9.26254201e-01 5.36145453e-03 1.18777988e+02] [ 9.26159330e-01 3.76899395e-01 1.32567831e-02 7.82805909e+01] [-1.42998800e-02 -3.04068463e-05 9.99897751e-01 -3.10530420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82 meters 0.013533053658754563 Centerline is valid? [True, True] Translation: X:118.79, Y:78.31, Z:-3.11 [[ 3.74602195e-01 -9.27171479e-01 5.12296638e-03 1.18789344e+02] [ 9.27084813e-01 3.74637224e-01 1.26767346e-02 7.83062513e+01] [-1.36727607e-02 6.91722207e-07 9.99906523e-01 -3.10624593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85 meters 0.013607295858138156 Centerline is valid? [True, True] Translation: X:118.80, Y:78.33, Z:-3.11 [[ 3.72685109e-01 -9.27944491e-01 4.98306480e-03 1.18800313e+02] [ 9.27862417e-01 3.72718421e-01 1.23415716e-02 7.83308531e+01] [-1.33095734e-02 2.40785840e-05 9.99911423e-01 -3.10736163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88 meters 0.013661359764095141 Centerline is valid? [True, True] Translation: X:118.81, Y:78.36, Z:-3.11 [[ 3.70689817e-01 -9.28743654e-01 4.92798825e-03 1.18810854e+02] [ 9.28663381e-01 3.70722569e-01 1.22106905e-02 7.83565354e+01] [-1.31675178e-02 5.00636089e-05 9.99913303e-01 -3.10734671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91 meters 0.013818940046997786 Centerline is valid? [True, True] Translation: X:118.82, Y:78.38, Z:-3.11 [[ 3.68018967e-01 -9.29805360e-01 4.90237429e-03 1.18821429e+02] [ 9.29725882e-01 3.68051608e-01 1.21572361e-02 7.83829037e+01] [-1.31081901e-02 8.37707770e-05 9.99914080e-01 -3.10814565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94 meters 0.013898247460987263 Centerline is valid? [True, True] Translation: X:118.83, Y:78.41, Z:-3.11 [[ 3.66849565e-01 -9.30266533e-01 5.05717641e-03 1.18831548e+02] [ 9.30181853e-01 3.66884407e-01 1.25519455e-02 7.84075167e+01] [-1.35320540e-02 9.94179792e-05 9.99908433e-01 -3.10865674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97 meters 0.013890717263591404 Centerline is valid? [True, True] Translation: X:118.84, Y:78.43, Z:-3.11 [[ 3.66029293e-01 -9.30588707e-01 5.21681287e-03 1.18841741e+02] [ 9.30498496e-01 3.66066450e-01 1.29577153e-02 7.84334568e+01] [-1.39680037e-02 1.11333148e-04 9.99902436e-01 -3.10859150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.0 meters 0.013904256369036505 Centerline is valid? [True, True] Translation: X:118.85, Y:78.46, Z:-3.11 [[ 3.65308001e-01 -9.30871795e-01 5.26927336e-03 1.18852220e+02] [ 9.30779636e-01 3.65345983e-01 1.30989169e-02 7.84591454e+01] [-1.41185201e-02 1.19393199e-04 9.99900322e-01 -3.10821640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03 meters 0.013950276247464283 Centerline is valid? [True, True] Translation: X:118.86, Y:78.49, Z:-3.11 [[ 3.64852933e-01 -9.31050494e-01 5.22639476e-03 1.18862618e+02] [ 9.30959701e-01 3.64890344e-01 1.30027694e-02 7.84854902e+01] [-1.40132958e-02 1.21464367e-04 9.99901802e-01 -3.10876112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06 meters 0.013945750766813963 Centerline is valid? [True, True] Translation: X:118.87, Y:78.51, Z:-3.11 [[ 3.64533875e-01 -9.31176183e-01 5.09600198e-03 1.18872411e+02] [ 9.31089741e-01 3.64569474e-01 1.26882717e-02 7.85113798e+01] [-1.36728631e-02 1.19530322e-04 9.99906515e-01 -3.10940241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09 meters 0.01400773270923506 Centerline is valid? [True, True] Translation: X:118.88, Y:78.54, Z:-3.11 [[ 3.64324780e-01 -9.31258675e-01 4.97353324e-03 1.18881932e+02] [ 9.31176217e-01 3.64358707e-01 1.23929804e-02 7.85379066e+01] [-1.33532206e-02 1.16166018e-04 9.99910835e-01 -3.11055294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12 meters 0.013881550458238788 Centerline is valid? [True, True] Translation: X:118.89, Y:78.56, Z:-3.11 [[ 3.63736603e-01 -9.31492314e-01 4.21348018e-03 1.18890403e+02] [ 9.31433078e-01 3.63760991e-01 1.05053896e-02 7.85648828e+01] [-1.13183894e-02 1.03380107e-04 9.99935940e-01 -3.11271566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15 meters 0.014034366691472988 Centerline is valid? [True, True] Translation: X:118.90, Y:78.59, Z:-3.11 [[ 3.63099792e-01 -9.31742661e-01 3.76214990e-03 1.18900679e+02] [ 9.31695391e-01 3.63119269e-01 9.38585874e-03 7.85917514e+01] [-1.01113141e-02 9.71743628e-05 9.99948875e-01 -3.11440178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18 meters 0.014017372070702987 Centerline is valid? [True, True] Translation: X:118.91, Y:78.62, Z:-3.11 [[ 3.62369648e-01 -9.32027904e-01 3.49629730e-03 1.18910823e+02] [ 9.31987040e-01 3.62386502e-01 8.72813517e-03 7.86184482e+01] [-9.40187648e-03 9.56925090e-05 9.99955797e-01 -3.11484055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21 meters 0.014325956971200735 Centerline is valid? [True, True] Translation: X:118.92, Y:78.64, Z:-3.12 [[ 3.61180100e-01 -9.32491420e-01 2.94734313e-03 1.18921883e+02] [ 9.32462329e-01 3.61192115e-01 7.36617526e-03 7.86440376e+01] [-7.93345233e-03 8.77705197e-05 9.99968526e-01 -3.11526326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23999999999998 meters 0.014325956971200735 Centerline is valid? [True, True] Translation: X:118.93, Y:78.67, Z:-3.12 [[ 3.60915990e-01 -9.32593672e-01 2.94803705e-03 1.18932060e+02] [ 9.32564587e-01 3.60928019e-01 7.36589844e-03 7.86696848e+01] [-7.93341945e-03 9.07644220e-05 9.99968526e-01 -3.11583056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26999999999998 meters 0.014375231129729374 Centerline is valid? [True, True] Translation: X:118.94, Y:78.70, Z:-3.12 [[ 3.60108728e-01 -9.32905852e-01 2.89396678e-03 1.18942616e+02] [ 9.32877790e-01 3.60120344e-01 7.23652718e-03 7.86955961e+01] [-7.79317487e-03 9.37807316e-05 9.99969628e-01 -3.11599694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29999999999998 meters 0.014930294120390786 Centerline is valid? [True, True] Translation: X:118.95, Y:78.72, Z:-3.12 [[ 3.59192634e-01 -9.33258363e-01 3.07891509e-03 1.18953133e+02] [ 9.33226531e-01 3.59205814e-01 7.70878936e-03 7.87207103e+01] [-8.30025634e-03 1.04384892e-04 9.99965547e-01 -3.11726932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32999999999998 meters 0.014465497531034929 Centerline is valid? [True, True] Translation: X:118.96, Y:78.75, Z:-3.12 [[ 3.58499700e-01 -9.33523181e-01 3.52641599e-03 1.18961876e+02] [ 9.33481391e-01 3.58517022e-01 8.83393773e-03 7.87474890e+01] [-9.51096581e-03 1.24879673e-04 9.99954762e-01 -3.11637563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35999999999999 meters 0.015031638688061118 Centerline is valid? [True, True] Translation: X:118.97, Y:78.77, Z:-3.12 [[ 3.57771732e-01 -9.33800725e-01 3.94894623e-03 1.18972397e+02] [ 9.33748234e-01 3.57793496e-01 9.90197588e-03 7.87720062e+01] [-1.06593795e-02 1.44674503e-04 9.99943177e-01 -3.11754072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39 meters 0.014304766221939295 Centerline is valid? [True, True] Translation: X:118.98, Y:78.80, Z:-3.12 [[ 3.57412017e-01 -9.33936841e-01 4.31592914e-03 1.18981038e+02] [ 9.33874021e-01 3.57438039e-01 1.08333621e-02 7.87987750e+01] [-1.16603532e-02 1.58560301e-04 9.99932003e-01 -3.11578246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42 meters 0.01422631968815547 Centerline is valid? [True, True] Translation: X:118.99, Y:78.82, Z:-3.11 [[ 3.57737584e-01 -9.33807344e-01 5.25978821e-03 1.18991421e+02] [ 9.33713819e-01 3.57776202e-01 1.32171685e-02 7.88247620e+01] [-1.42241161e-02 1.82859009e-04 9.99898815e-01 -3.11422117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45 meters 0.014095106726078298 Centerline is valid? [True, True] Translation: X:119.00, Y:78.85, Z:-3.11 [[ 3.58489792e-01 -9.33519007e-01 5.22807333e-03 1.19001201e+02] [ 9.33426430e-01 3.58527874e-01 1.31477752e-02 7.88513258e+01] [-1.41481081e-02 1.66678620e-04 9.99899897e-01 -3.11382219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48 meters 0.013830076633588081 Centerline is valid? [True, True] Translation: X:119.01, Y:78.88, Z:-3.11 [[ 3.59462429e-01 -9.33143666e-01 5.44614618e-03 1.19010613e+02] [ 9.33042984e-01 3.59503651e-01 1.37082471e-02 7.88781949e+01] [-1.47496734e-02 1.53888662e-04 9.99891206e-01 -3.11410005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51 meters 0.01352762644913962 Centerline is valid? [True, True] Translation: X:119.02, Y:78.90, Z:-3.12 [[ 3.62996103e-01 -9.31774174e-01 5.54236243e-03 1.19017435e+02] [ 9.31669549e-01 3.63038399e-01 1.39632346e-02 7.89044327e+01] [-1.50226718e-02 9.50505721e-05 9.99887149e-01 -3.11552784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54 meters 0.013432940746367713 Centerline is valid? [True, True] Translation: X:119.03, Y:78.93, Z:-3.12 [[ 3.64927352e-01 -9.31020002e-01 5.45735680e-03 1.19025602e+02] [ 9.30918368e-01 3.64968151e-01 1.37564808e-02 7.89302166e+01] [-1.47993202e-02 6.02375706e-05 9.99890482e-01 -3.11679004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57 meters 0.01331981388167588 Centerline is valid? [True, True] Translation: X:119.03, Y:78.96, Z:-3.12 [[ 3.66544999e-01 -9.30384790e-01 5.37646208e-03 1.19034227e+02] [ 9.30285949e-01 3.66584427e-01 1.35613850e-02 7.89572591e+01] [-1.45882336e-02 3.07892925e-05 9.99893586e-01 -3.11747389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.6 meters 0.013334105181618094 Centerline is valid? [True, True] Translation: X:119.04, Y:78.98, Z:-3.12 [[ 3.68568062e-01 -9.29586557e-01 5.13972102e-03 1.19042839e+02] [ 9.29495986e-01 3.68603897e-01 1.29760684e-02 7.89827852e+01] [-1.39569000e-02 -5.21434090e-06 9.99902598e-01 -3.11857319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63 meters 0.013489213628664948 Centerline is valid? [True, True] Translation: X:119.05, Y:79.01, Z:-3.12 [[ 3.70404304e-01 -9.28858309e-01 4.78471300e-03 1.19051884e+02] [ 9.28779700e-01 3.70435204e-01 1.20842181e-02 7.90100442e+01] [-1.29969526e-02 -3.21021012e-05 9.99915536e-01 -3.11943301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66 meters 0.013844675434497848 Centerline is valid? [True, True] Translation: X:119.06, Y:79.04, Z:-3.12 [[ 3.74053668e-01 -9.27398057e-01 4.08608641e-03 1.19058845e+02] [ 9.27340568e-01 3.74075978e-01 1.03263861e-02 7.90371435e+01] [-1.11051771e-02 -7.34288977e-05 9.99938333e-01 -3.12149717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69 meters 0.013878918301222423 Centerline is valid? [True, True] Translation: X:119.07, Y:79.06, Z:-3.12 [[ 3.75206767e-01 -9.26933379e-01 3.79379862e-03 1.19067955e+02] [ 9.26883732e-01 3.75225937e-01 9.59396757e-03 7.90635128e+01] [-1.03165004e-02 -8.33113348e-05 9.99946780e-01 -3.12218332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72 meters 0.013997906175955008 Centerline is valid? [True, True] Translation: X:119.08, Y:79.09, Z:-3.12 [[ 3.76363254e-01 -9.26464900e-01 3.67276286e-03 1.19076943e+02] [ 9.26418290e-01 3.76381162e-01 9.29365307e-03 7.90899537e+01] [-9.99260212e-03 -9.52748261e-05 9.99950068e-01 -3.12327936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75 meters 0.01405383116462659 Centerline is valid? [True, True] Translation: X:119.09, Y:79.12, Z:-3.12 [[ 3.76001482e-01 -9.26611143e-01 3.83081369e-03 1.19086100e+02] [ 9.26560348e-01 3.76020983e-01 9.70269081e-03 7.91151142e+01] [-1.04310878e-02 -9.87460621e-05 9.99945590e-01 -3.12392010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78 meters 0.014006903346175657 Centerline is valid? [True, True] Translation: X:119.10, Y:79.14, Z:-3.12 [[ 3.75259600e-01 -9.26911689e-01 3.86702705e-03 1.19096329e+02] [ 9.26859863e-01 3.75279513e-01 9.80210539e-03 7.91406114e+01] [-1.05369021e-02 -9.41419892e-05 9.99944481e-01 -3.12432477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81 meters 0.013688202942471625 Centerline is valid? [True, True] Translation: X:119.11, Y:79.17, Z:-3.12 [[ 3.74141277e-01 -9.27363153e-01 3.98574838e-03 1.19108493e+02] [ 9.27308043e-01 3.74162497e-01 1.01103669e-02 7.91665955e+01] [-1.08672993e-02 -8.66890496e-05 9.99940945e-01 -3.12350182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84 meters 0.013579853246360686 Centerline is valid? [True, True] Translation: X:119.12, Y:79.19, Z:-3.12 [[ 3.71570264e-01 -9.28395399e-01 4.18598579e-03 1.19120664e+02] [ 9.28334558e-01 3.71593836e-01 1.06286794e-02 7.91910703e+01] [-1.14231036e-02 -6.33059500e-05 9.99934752e-01 -3.12355232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87 meters 0.013390627174417769 Centerline is valid? [True, True] Translation: X:119.13, Y:79.22, Z:-3.13 [[ 3.69262189e-01 -9.29316132e-01 4.11850683e-03 1.19132546e+02] [ 9.29257236e-01 3.69285154e-01 1.04625219e-02 7.92160587e+01] [-1.12438938e-02 -3.62614774e-05 9.99936785e-01 -3.12509748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.9 meters 0.013414703875233575 Centerline is valid? [True, True] Translation: X:119.14, Y:79.24, Z:-3.13 [[ 3.68178589e-01 -9.29745180e-01 4.29277086e-03 1.19143293e+02] [ 9.29681098e-01 3.68203612e-01 1.09158439e-02 7.92404687e+01] [-1.17295670e-02 -2.80720797e-05 9.99931206e-01 -3.12580049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93 meters 0.013397854455406527 Centerline is valid? [True, True] Translation: X:119.15, Y:79.27, Z:-3.13 [[ 3.67181958e-01 -9.30139374e-01 4.26077513e-03 1.19154458e+02] [ 9.30076193e-01 3.67206678e-01 1.08412052e-02 7.92652448e+01] [-1.16484169e-02 -1.78494322e-05 9.99932155e-01 -3.12594695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96 meters 0.013366952123561409 Centerline is valid? [True, True] Translation: X:119.17, Y:79.29, Z:-3.13 [[ 3.66550114e-01 -9.30387928e-01 4.39519336e-03 1.19165998e+02] [ 9.30320585e-01 3.66576463e-01 1.11940397e-02 7.92912724e+01] [-1.20259738e-02 -1.42376687e-05 9.99927685e-01 -3.12629924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98999999999998 meters 0.013408047593451017 Centerline is valid? [True, True] Translation: X:119.18, Y:79.32, Z:-3.13 [[ 3.66079204e-01 -9.30573846e-01 4.28168725e-03 1.19177354e+02] [ 9.30509850e-01 3.66104242e-01 1.09133853e-02 7.93173700e+01] [-1.17232548e-02 -1.10112265e-05 9.99931280e-01 -3.12654294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01999999999998 meters 0.013444513444263199 Centerline is valid? [True, True] Translation: X:119.19, Y:79.34, Z:-3.13 [[ 3.65781603e-01 -9.30692651e-01 3.87397150e-03 1.19188587e+02] [ 9.30640199e-01 3.65802117e-01 9.88081104e-03 7.93434600e+01] [-1.06131052e-02 -8.94530045e-06 9.99943679e-01 -3.12775334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04999999999998 meters 0.013531542524421137 Centerline is valid? [True, True] Translation: X:119.20, Y:79.37, Z:-3.13 [[ 3.65952365e-01 -9.30629108e-01 2.88627442e-03 1.19201246e+02] [ 9.30599967e-01 3.65963747e-01 7.36461711e-03 7.93695198e+01] [-7.90999885e-03 -9.13216495e-06 9.99968715e-01 -3.12927638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07999999999998 meters 0.013633563859826362 Centerline is valid? [True, True] Translation: X:119.21, Y:79.39, Z:-3.13 [[ 3.66044624e-01 -9.30593676e-01 2.59673546e-03 1.19211772e+02] [ 9.30570065e-01 3.66053834e-01 6.62910906e-03 7.93941029e+01] [-7.11955195e-03 -1.01054485e-05 9.99974656e-01 -3.13082642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10999999999999 meters 0.01366423499300444 Centerline is valid? [True, True] Translation: X:119.22, Y:79.42, Z:-3.13 [[ 3.65991338e-01 -9.30615140e-01 2.40867599e-03 1.19222839e+02] [ 9.30594808e-01 3.65999263e-01 6.15159774e-03 7.94197753e+01] [-6.60634363e-03 -9.93011759e-06 9.99978178e-01 -3.13176466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14 meters 0.013565963140721586 Centerline is valid? [True, True] Translation: X:119.23, Y:79.45, Z:-3.13 [[ 3.65723441e-01 -9.30720546e-01 2.37290047e-03 1.19234228e+02] [ 9.30700784e-01 3.65731139e-01 6.06507736e-03 7.94458644e+01] [-6.51273570e-03 -9.68063819e-06 9.99978792e-01 -3.13227966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17 meters 0.013670667129500495 Centerline is valid? [True, True] Translation: X:119.25, Y:79.47, Z:-3.13 [[ 3.64235157e-01 -9.31303067e-01 2.71072810e-03 1.19247521e+02] [ 9.31277220e-01 3.64245244e-01 6.93849971e-03 7.94703357e+01] [-7.44921588e-03 -2.80619987e-06 9.99972254e-01 -3.13237786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.2 meters 0.01365026034336518 Centerline is valid? [True, True] Translation: X:119.26, Y:79.50, Z:-3.13 [[ 3.63125798e-01 -9.31735205e-01 3.02703887e-03 1.19260102e+02] [ 9.31702943e-01 3.63138414e-01 7.75364963e-03 7.94957883e+01] [-8.32358242e-03 4.75081624e-06 9.99965358e-01 -3.13207622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23 meters 0.01364805198283107 Centerline is valid? [True, True] Translation: X:119.27, Y:79.52, Z:-3.13 [[ 3.61636396e-01 -9.32313274e-01 3.32810927e-03 1.19272798e+02] [ 9.32274220e-01 3.61651709e-01 8.53343534e-03 7.95213240e+01] [-9.15945145e-03 1.67096782e-05 9.99958051e-01 -3.13143481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26 meters 0.013735190791080851 Centerline is valid? [True, True] Translation: X:119.29, Y:79.55, Z:-3.13 [[ 3.59330853e-01 -9.33201824e-01 3.96155315e-03 1.19287300e+02] [ 9.33146416e-01 3.59352687e-01 1.01692117e-02 7.95459603e+01] [-1.09135217e-02 4.25976138e-05 9.99940445e-01 -3.13031218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29 meters 0.013766368737665171 Centerline is valid? [True, True] Translation: X:119.30, Y:79.57, Z:-3.13 [[ 3.58407429e-01 -9.33556470e-01 4.05371713e-03 1.19298912e+02] [ 9.33498354e-01 3.58430349e-01 1.04167155e-02 7.95704668e+01] [-1.11775674e-02 5.07100376e-05 9.99937528e-01 -3.13099959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32 meters 0.013782293867010093 Centerline is valid? [True, True] Translation: X:119.31, Y:79.60, Z:-3.13 [[ 3.57739782e-01 -9.33812283e-01 4.10704520e-03 1.19310813e+02] [ 9.33752592e-01 3.57763352e-01 1.05584419e-02 7.95963679e+01] [-1.13289530e-02 5.77893882e-05 9.99935824e-01 -3.13131464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35 meters 0.01389483675247582 Centerline is valid? [True, True] Translation: X:119.32, Y:79.62, Z:-3.13 [[ 3.57115895e-01 -9.34051162e-01 4.08215755e-03 1.19321996e+02] [ 9.33992110e-01 3.57139220e-01 1.05031655e-02 7.96218466e+01] [-1.12683925e-02 6.18555944e-05 9.99936508e-01 -3.13184183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38 meters 0.013915971181457112 Centerline is valid? [True, True] Translation: X:119.33, Y:79.65, Z:-3.13 [[ 3.57045045e-01 -9.34079217e-01 3.85378395e-03 1.19333693e+02] [ 9.34026515e-01 3.57065838e-01 9.92252957e-03 7.96459824e+01] [-1.06444833e-02 5.67463752e-05 9.99943344e-01 -3.13377739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41 meters 0.013913149469494512 Centerline is valid? [True, True] Translation: X:119.34, Y:79.67, Z:-3.14 [[ 3.57792217e-01 -9.33794649e-01 3.50468488e-03 1.19344436e+02] [ 9.33750980e-01 3.57809379e-01 9.03080050e-03 7.96718859e+01] [-9.68692230e-03 4.13528049e-05 9.99953080e-01 -3.13515381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44 meters 0.01396906676118438 Centerline is valid? [True, True] Translation: X:119.35, Y:79.70, Z:-3.14 [[ 3.58856718e-01 -9.33387736e-01 3.03142264e-03 1.19354897e+02] [ 9.33354994e-01 3.58869521e-01 7.81805654e-03 7.96973122e+01] [-8.38516329e-03 2.38313518e-05 9.99964844e-01 -3.13675304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47 meters 0.013871789302899302 Centerline is valid? [True, True] Translation: X:119.37, Y:79.72, Z:-3.14 [[ 3.60258922e-01 -9.32848536e-01 2.66785418e-03 1.19365150e+02] [ 9.32823165e-01 3.60268800e-01 6.88008616e-03 7.97235196e+01] [-7.37922293e-03 1.00237648e-05 9.99972773e-01 -3.13684176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.5 meters 0.01399525856490558 Centerline is valid? [True, True] Translation: X:119.38, Y:79.75, Z:-3.14 [[ 3.63278844e-01 -9.31677249e-01 2.44659167e-03 1.19375754e+02] [ 9.31655857e-01 3.63287082e-01 6.31349911e-03 7.97492334e+01] [-6.77095863e-03 -1.41791958e-05 9.99977077e-01 -3.13845943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53 meters 0.014110864638018378 Centerline is valid? [True, True] Translation: X:119.39, Y:79.78, Z:-3.14 [[ 3.64380871e-01 -9.31247438e-01 2.18880288e-03 1.19386445e+02] [ 9.31230290e-01 3.64387444e-01 5.65125180e-03 7.97754289e+01] [-6.06028605e-03 -2.09285133e-05 9.99981636e-01 -3.13957023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56 meters 0.014335321097120575 Centerline is valid? [True, True] Translation: X:119.40, Y:79.80, Z:-3.14 [[ 3.66087854e-01 -9.30577665e-01 2.21168992e-03 1.19398668e+02] [ 9.30560114e-01 3.66094534e-01 5.71544311e-03 7.98007772e+01] [-6.12835129e-03 -3.42438798e-05 9.99981221e-01 -3.14053485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59 meters 0.014341281215941576 Centerline is valid? [True, True] Translation: X:119.41, Y:79.83, Z:-3.14 [[ 3.66493394e-01 -9.30417668e-01 2.35687952e-03 1.19410490e+02] [ 9.30397695e-01 3.66500970e-01 6.09660559e-03 7.98265298e+01] [-6.53618818e-03 -4.15304014e-05 9.99978638e-01 -3.14030599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62 meters 0.01427485727587829 Centerline is valid? [True, True] Translation: X:119.42, Y:79.85, Z:-3.14 [[ 3.66531750e-01 -9.30401782e-01 2.64561208e-03 1.19422388e+02] [ 9.30376558e-01 3.66541295e-01 6.85129068e-03 7.98525012e+01] [-7.34417914e-03 -4.98001072e-05 9.99973030e-01 -3.13995581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65 meters 0.014430602903835478 Centerline is valid? [True, True] Translation: X:119.43, Y:79.88, Z:-3.14 [[ 3.66712710e-01 -9.30330177e-01 2.74772286e-03 1.19434283e+02] [ 9.30302915e-01 3.66722999e-01 7.12240291e-03 7.98781348e+01] [-7.63383952e-03 -5.56610863e-05 9.99970860e-01 -3.14006303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68 meters 0.014417522833685095 Centerline is valid? [True, True] Translation: X:119.45, Y:79.90, Z:-3.14 [[ 3.66444724e-01 -9.30435954e-01 2.68341701e-03 1.19447697e+02] [ 9.30409914e-01 3.66454545e-01 6.96115686e-03 7.99026500e+01] [-7.46026098e-03 -5.42014149e-05 9.99972170e-01 -3.14088727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71 meters 0.014487280031758074 Centerline is valid? [True, True] Translation: X:119.46, Y:79.93, Z:-3.14 [[ 3.66192199e-01 -9.30535599e-01 2.60256834e-03 1.19459420e+02] [ 9.30511069e-01 3.66201443e-01 6.75667764e-03 7.99285636e+01] [-7.24039335e-03 -5.25239907e-05 9.99973787e-01 -3.14134900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73999999999998 meters 0.014488522615448415 Centerline is valid? [True, True] Translation: X:119.47, Y:79.95, Z:-3.14 [[ 3.65944125e-01 -9.30632907e-01 2.69979368e-03 1.19471654e+02] [ 9.30606466e-01 3.65954080e-01 7.01554040e-03 7.99544334e+01] [-7.51689327e-03 -5.48503336e-05 9.99971746e-01 -3.14134716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76999999999998 meters 0.014586639145189125 Centerline is valid? [True, True] Translation: X:119.48, Y:79.98, Z:-3.14 [[ 3.65578065e-01 -9.30776162e-01 2.90087584e-03 1.19483788e+02] [ 9.30745573e-01 3.65589570e-01 7.54623989e-03 7.99804021e+01] [-8.08439015e-03 -5.87624332e-05 9.99967319e-01 -3.14142967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79999999999998 meters 0.014455200921509577 Centerline is valid? [True, True] Translation: X:119.50, Y:80.01, Z:-3.14 [[ 3.64786386e-01 -9.31085411e-01 3.29389156e-03 1.19496590e+02] [ 9.31045909e-01 3.64801252e-01 8.57678939e-03 8.00054096e+01] [-9.18733924e-03 -6.19317384e-05 9.99957794e-01 -3.14081694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82999999999998 meters 0.014331190709892545 Centerline is valid? [True, True] Translation: X:119.51, Y:80.03, Z:-3.14 [[ 3.63539965e-01 -9.31572799e-01 3.28844300e-03 1.19507390e+02] [ 9.31533382e-01 3.63554834e-01 8.56980043e-03 8.00308723e+01] [-9.17892233e-03 -5.21705125e-05 9.99957871e-01 -3.14179873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85999999999999 meters 0.014287574696956146 Centerline is valid? [True, True] Translation: X:119.52, Y:80.06, Z:-3.14 [[ 3.62688098e-01 -9.31905028e-01 3.21902823e-03 1.19517753e+02] [ 9.31867209e-01 3.62702380e-01 8.39570373e-03 8.00565174e+01] [-8.99154772e-03 -4.53149694e-05 9.99959574e-01 -3.14248949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89 meters 0.01430023683620125 Centerline is valid? [True, True] Translation: X:119.53, Y:80.08, Z:-3.14 [[ 3.62428056e-01 -9.32006309e-01 3.18506755e-03 1.19527200e+02] [ 9.31969228e-01 3.62442049e-01 8.31379719e-03 8.00826131e+01] [-8.90291384e-03 -4.47684151e-05 9.99960367e-01 -3.14245582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92 meters 0.014365916329670821 Centerline is valid? [True, True] Translation: X:119.54, Y:80.11, Z:-3.14 [[ 3.62788041e-01 -9.31866333e-01 3.15841081e-03 1.19535343e+02] [ 9.31829808e-01 3.62801786e-01 8.25063705e-03 8.01084824e+01] [-8.83436797e-03 -5.01311129e-05 9.99960975e-01 -3.14364596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95 meters 0.014429143646230255 Centerline is valid? [True, True] Translation: X:119.54, Y:80.14, Z:-3.14 [[ 3.63670643e-01 -9.31522778e-01 2.99620719e-03 1.19544467e+02] [ 9.31489839e-01 3.63682981e-01 7.83383761e-03 8.01356504e+01] [-8.38706773e-03 -5.80002090e-05 9.99964826e-01 -3.14400234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98 meters 0.014587799681489405 Centerline is valid? [True, True] Translation: X:119.55, Y:80.16, Z:-3.15 [[ 3.64344525e-01 -9.31260177e-01 2.74763999e-03 1.19552781e+02] [ 9.31232436e-01 3.64354880e-01 7.18834593e-03 8.01620534e+01] [-7.69533634e-03 -6.03429967e-05 9.99970389e-01 -3.14518755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01 meters 0.01495480293780245 Centerline is valid? [True, True] Translation: X:119.56, Y:80.19, Z:-3.15 [[ 3.65115998e-01 -9.30959130e-01 2.32495929e-03 1.19560821e+02] [ 9.30939236e-01 3.65123396e-01 6.08642688e-03 8.01887330e+01] [-6.51511171e-03 -5.78559986e-05 9.99978775e-01 -3.14746966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04 meters 0.014826488170559005 Centerline is valid? [True, True] Translation: X:119.57, Y:80.22, Z:-3.15 [[ 3.65162557e-01 -9.30941936e-01 1.84901825e-03 1.19569960e+02] [ 9.30929353e-01 3.65167235e-01 4.84039957e-03 8.02154946e+01] [-5.18133183e-03 -4.62273178e-05 9.99986576e-01 -3.14857781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07 meters 0.014834427897324585 Centerline is valid? [True, True] Translation: X:119.58, Y:80.24, Z:-3.15 [[ 3.64180179e-01 -9.31327171e-01 1.58055299e-03 1.19579498e+02] [ 9.31317982e-01 3.64183607e-01 4.13734947e-03 8.02406628e+01] [-4.42883747e-03 -3.47432501e-05 9.99990192e-01 -3.15009745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.1 meters 0.014862928105160713 Centerline is valid? [True, True] Translation: X:119.59, Y:80.27, Z:-3.15 [[ 3.62498412e-01 -9.31983000e-01 1.60890137e-03 1.19589401e+02] [ 9.31973464e-01 3.62501981e-01 4.21604666e-03 8.02657782e+01] [-4.51251375e-03 -2.88568394e-05 9.99989818e-01 -3.15222903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13 meters 0.01430968247059525 Centerline is valid? [True, True] Translation: X:119.60, Y:80.29, Z:-3.15 [[ 3.56771130e-01 -9.34190224e-01 1.72814242e-03 1.19604507e+02] [ 9.34179219e-01 3.56775315e-01 4.53457649e-03 8.02906355e+01] [-4.85271558e-03 -3.41123937e-06 9.99988226e-01 -3.15000167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16 meters 0.01430968247059525 Centerline is valid? [True, True] Translation: X:119.61, Y:80.32, Z:-3.15 [[ 3.56503472e-01 -9.34292402e-01 1.72702254e-03 1.19614246e+02] [ 9.34281395e-01 3.56507656e-01 4.53500246e-03 8.03164666e+01] [-4.85271510e-03 -3.21910151e-06 9.99988226e-01 -3.15056788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19 meters 0.01444968928310738 Centerline is valid? [True, True] Translation: X:119.63, Y:80.34, Z:-3.15 [[ 3.52740432e-01 -9.35719077e-01 1.99907877e-03 1.19626685e+02] [ 9.35704315e-01 3.52746096e-01 5.25603448e-03 8.03407425e+01] [-5.62333897e-03 1.65307636e-05 9.99984189e-01 -3.15044248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22 meters 0.01459703353200321 Centerline is valid? [True, True] Translation: X:119.64, Y:80.37, Z:-3.15 [[ 3.48455233e-01 -9.37322390e-01 2.38490384e-03 1.19639765e+02] [ 9.37301353e-01 3.48463391e-01 6.28002267e-03 8.03658681e+01] [-6.71745754e-03 4.70668312e-05 9.99977437e-01 -3.14974307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25 meters 0.01564224996634438 Centerline is valid? [True, True] Translation: X:119.65, Y:80.39, Z:-3.15 [[ 3.40669531e-01 -9.40177527e-01 3.23866963e-03 1.19654943e+02] [ 9.40138730e-01 3.40684899e-01 8.54209051e-03 8.03898558e+01] [-9.13444737e-03 1.34768788e-04 9.99958271e-01 -3.14878755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28 meters 0.016266774939210315 Centerline is valid? [True, True] Translation: X:119.67, Y:80.41, Z:-3.15 [[ 3.37152734e-01 -9.41442695e-01 3.69935206e-03 1.19666754e+02] [ 9.41392045e-01 3.37172976e-01 9.76743706e-03 8.04149017e+01] [-1.04428038e-02 1.89422490e-04 9.99945455e-01 -3.14856839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31 meters 0.016615488824959685 Centerline is valid? [True, True] Translation: X:119.68, Y:80.44, Z:-3.15 [[ 3.34668754e-01 -9.42326796e-01 4.12732549e-03 1.19677458e+02] [ 9.42263694e-01 3.34694118e-01 1.09076898e-02 8.04408167e+01] [-1.16600000e-02 2.38565990e-04 9.99931991e-01 -3.14825941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34 meters 0.016954413823550573 Centerline is valid? [True, True] Translation: X:119.69, Y:80.47, Z:-3.15 [[ 3.33187273e-01 -9.42850051e-01 4.47453919e-03 1.19687995e+02] [ 9.42775808e-01 3.33217204e-01 1.18351353e-02 8.04672237e+01] [-1.26497513e-02 2.75170856e-04 9.99919951e-01 -3.14847202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37 meters 0.01729811526928348 Centerline is valid? [True, True] Translation: X:119.70, Y:80.49, Z:-3.15 [[ 3.32881722e-01 -9.42957502e-01 4.57265503e-03 1.19697422e+02] [ 9.42879844e-01 3.32913007e-01 1.21048934e-02 8.04930071e+01] [-1.29366964e-02 2.81966507e-04 9.99916278e-01 -3.14846907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.4 meters 0.017925117628511355 Centerline is valid? [True, True] Translation: X:119.71, Y:80.52, Z:-3.15 [[ 3.33417809e-01 -9.42767823e-01 4.62564835e-03 1.19707321e+02] [ 9.42688189e-01 3.33449782e-01 1.22564982e-02 8.05183090e+01] [-1.30974536e-02 2.74009281e-04 9.99914187e-01 -3.14949095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43 meters 0.017068253352843527 Centerline is valid? [True, True] Translation: X:119.71, Y:80.55, Z:-3.15 [[ 3.34518513e-01 -9.42377088e-01 4.77381056e-03 1.19714551e+02] [ 9.42292071e-01 3.34552470e-01 1.26608657e-02 8.05460573e+01] [-1.35283999e-02 2.63029860e-04 9.99908452e-01 -3.14996800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46 meters 0.015698038148108485 Centerline is valid? [True, True] Translation: X:119.72, Y:80.58, Z:-3.15 [[ 3.38221153e-01 -9.41055140e-01 4.65567749e-03 1.19718588e+02] [ 9.40974026e-01 3.38253135e-01 1.23571267e-02 8.05754702e+01] [-1.32035351e-02 2.01429958e-04 9.99912809e-01 -3.15091251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48999999999998 meters 0.015264042548172475 Centerline is valid? [True, True] Translation: X:119.73, Y:80.60, Z:-3.15 [[ 3.40474707e-01 -9.40242537e-01 4.57652303e-03 1.19725206e+02] [ 9.40163975e-01 3.40505424e-01 1.21554584e-02 8.06029562e+01] [-1.29874099e-02 1.64055953e-04 9.99915647e-01 -3.15187254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51999999999998 meters 0.015014384127761324 Centerline is valid? [True, True] Translation: X:119.73, Y:80.63, Z:-3.15 [[ 3.42930822e-01 -9.39349850e-01 4.50664921e-03 1.19731900e+02] [ 9.39273472e-01 3.42960410e-01 1.19792373e-02 8.06290980e+01] [-1.27982970e-02 1.24926351e-04 9.99918091e-01 -3.15323069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54999999999998 meters 0.014596825138218262 Centerline is valid? [True, True] Translation: X:119.74, Y:80.66, Z:-3.15 [[ 3.45596890e-01 -9.38372889e-01 4.37154522e-03 1.19738334e+02] [ 9.38300823e-01 3.45624527e-01 1.16298109e-02 8.06568327e+01] [-1.24240125e-02 8.25979859e-05 9.99922816e-01 -3.15429139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57999999999998 meters 0.014405089339179077 Centerline is valid? [True, True] Translation: X:119.74, Y:80.68, Z:-3.16 [[ 3.50582613e-01 -9.36523457e-01 3.95548503e-03 1.19742750e+02] [ 9.36464257e-01 3.50604926e-01 1.05299842e-02 8.06844766e+01] [-1.12483898e-02 1.25409779e-05 9.99936735e-01 -3.15676744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60999999999999 meters 0.014326369902049604 Centerline is valid? [True, True] Translation: X:119.75, Y:80.71, Z:-3.16 [[ 3.52874977e-01 -9.35663388e-01 3.64345922e-03 1.19750223e+02] [ 9.35613035e-01 3.52893786e-01 9.70698687e-03 8.07113906e+01] [-1.03682263e-02 -1.64848340e-05 9.99946248e-01 -3.15713051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64 meters 0.014568921364022977 Centerline is valid? [True, True] Translation: X:119.76, Y:80.74, Z:-3.16 [[ 3.55031555e-01 -9.34848116e-01 3.40514467e-03 1.19757354e+02] [ 9.34804036e-01 3.55047882e-01 9.07832837e-03 8.07375895e+01] [-9.69584757e-03 -3.99500509e-05 9.99952993e-01 -3.15895643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67 meters 0.014795592411357568 Centerline is valid? [True, True] Translation: X:119.76, Y:80.76, Z:-3.16 [[ 3.58196400e-01 -9.33641091e-01 3.10672943e-03 1.19764762e+02] [ 9.33604291e-01 3.58209866e-01 8.28967236e-03 8.07649223e+01] [-8.85243988e-03 -6.88748702e-05 9.99960814e-01 -3.15996065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.7 meters 0.015117860590148238 Centerline is valid? [True, True] Translation: X:119.77, Y:80.79, Z:-3.16 [[ 3.58715469e-01 -9.33441286e-01 3.25242845e-03 1.19772983e+02] [ 9.33400882e-01 3.58730205e-01 8.68529391e-03 8.07910609e+01] [-9.27395623e-03 -7.97296956e-05 9.99956993e-01 -3.16121268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73 meters 0.01484170560000539 Centerline is valid? [True, True] Translation: X:119.78, Y:80.82, Z:-3.16 [[ 3.59041670e-01 -9.33315473e-01 3.36251117e-03 1.19784037e+02] [ 9.33272195e-01 3.59057404e-01 8.98839059e-03 8.08174475e+01] [-9.59633855e-03 -8.90685953e-05 9.99953950e-01 -3.15987751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76 meters 0.014866469359596988 Centerline is valid? [True, True] Translation: X:119.79, Y:80.84, Z:-3.16 [[ 3.58835423e-01 -9.33393606e-01 3.67637261e-03 1.19793409e+02] [ 9.33341754e-01 3.58854241e-01 9.83887016e-03 8.08433113e+01] [-1.05028204e-02 -9.92230738e-05 9.99944839e-01 -3.15981746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79 meters 0.014729765101703986 Centerline is valid? [True, True] Translation: X:119.81, Y:80.87, Z:-3.16 [[ 3.57332071e-01 -9.33966493e-01 4.51450280e-03 1.19805063e+02] [ 9.33888169e-01 3.57360572e-01 1.20958663e-02 8.08685446e+01] [-1.29104391e-02 -1.06200201e-04 9.99916651e-01 -3.15820262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82 meters 0.014658402867094673 Centerline is valid? [True, True] Translation: X:119.82, Y:80.89, Z:-3.16 [[ 3.55635458e-01 -9.34612700e-01 4.74569189e-03 1.19816020e+02] [ 9.34526113e-01 3.55667109e-01 1.27220675e-02 8.08936031e+01] [-1.35780924e-02 -8.94453194e-05 9.99907809e-01 -3.15843377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85 meters 0.014293304942761181 Centerline is valid? [True, True] Translation: X:119.83, Y:80.92, Z:-3.16 [[ 3.53308839e-01 -9.35493609e-01 4.95700192e-03 1.19828602e+02] [ 9.35399045e-01 3.53343605e-01 1.33012660e-02 8.09189254e+01] [-1.41947742e-02 -6.26799762e-05 9.99899247e-01 -3.15780025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88 meters 0.014167566923042777 Centerline is valid? [True, True] Translation: X:119.84, Y:80.94, Z:-3.16 [[ 3.51050353e-01 -9.36344114e-01 4.83220628e-03 1.19840934e+02] [ 9.36254182e-01 3.51083608e-01 1.29771566e-02 8.09442092e+01] [-1.38475926e-02 -3.14620588e-05 9.99904117e-01 -3.15772436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91 meters 0.014207104901328165 Centerline is valid? [True, True] Translation: X:119.85, Y:80.97, Z:-3.16 [[ 3.46241816e-01 -9.38131592e-01 5.07159588e-03 1.19854913e+02] [ 9.38032513e-01 3.46278956e-01 1.36341535e-02 8.09674459e+01] [-1.45468171e-02 3.66077467e-05 9.99894189e-01 -3.15902957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94 meters 0.014304330598556412 Centerline is valid? [True, True] Translation: X:119.87, Y:80.99, Z:-3.16 [[ 3.44023571e-01 -9.38946696e-01 5.18499240e-03 1.19866735e+02] [ 9.38843109e-01 3.44062635e-01 1.39470205e-02 8.09925077e+01] [-1.48794710e-02 6.97905825e-05 9.99889292e-01 -3.15982169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97 meters 0.014617956654260982 Centerline is valid? [True, True] Translation: X:119.88, Y:81.02, Z:-3.16 [[ 3.40309117e-01 -9.40300802e-01 4.90985392e-03 1.19880539e+02] [ 9.40207907e-01 3.40344513e-01 1.32175854e-02 8.10176564e+01] [-1.40995480e-02 1.18218671e-04 9.99900589e-01 -3.16105164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.0 meters 0.014818657715269952 Centerline is valid? [True, True] Translation: X:119.89, Y:81.04, Z:-3.16 [[ 3.39305975e-01 -9.40664735e-01 4.61641157e-03 1.19891378e+02] [ 9.40582502e-01 3.39337356e-01 1.24384906e-02 8.10419478e+01] [-1.32669704e-02 1.21661749e-04 9.99911982e-01 -3.16257030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03 meters 0.014925822404073294 Centerline is valid? [True, True] Translation: X:119.90, Y:81.07, Z:-3.16 [[ 3.38526657e-01 -9.40946444e-01 4.41489205e-03 1.19902351e+02] [ 9.40871203e-01 3.38555421e-01 1.18998503e-02 8.10677711e+01] [-1.26918074e-02 1.25428252e-04 9.99919448e-01 -3.16391078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06 meters 0.014596112045558428 Centerline is valid? [True, True] Translation: X:119.91, Y:81.09, Z:-3.16 [[ 3.39985570e-01 -9.40422575e-01 3.89773591e-03 1.19911251e+02] [ 9.40363819e-01 3.40007900e-01 1.05126620e-02 8.10939782e+01] [-1.12116057e-02 9.11364358e-05 9.99937144e-01 -3.16443659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09 meters 0.014561622582522396 Centerline is valid? [True, True] Translation: X:119.92, Y:81.12, Z:-3.17 [[ 3.41203898e-01 -9.39981911e-01 3.72915748e-03 1.19919933e+02] [ 9.39928019e-01 3.41224269e-01 1.00657098e-02 8.11200583e+01] [-1.07340642e-02 7.06801896e-05 9.99942386e-01 -3.16572139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12 meters 0.014518622715906707 Centerline is valid? [True, True] Translation: X:119.93, Y:81.15, Z:-3.17 [[ 3.42625180e-01 -9.39465694e-01 3.49232498e-03 1.19928603e+02] [ 9.39418324e-01 3.42642975e-01 9.43419572e-03 8.11460869e+01] [-1.00597238e-02 4.83610673e-05 9.99949399e-01 -3.16699520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15 meters 0.014432923341201285 Centerline is valid? [True, True] Translation: X:119.94, Y:81.17, Z:-3.17 [[ 3.43601554e-01 -9.39110570e-01 3.05102886e-03 1.19937064e+02] [ 9.39074349e-01 3.43615099e-01 8.24806153e-03 8.11725843e+01] [-8.79422135e-03 3.10961766e-05 9.99961330e-01 -3.16769413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18 meters 0.014448144777712101 Centerline is valid? [True, True] Translation: X:119.95, Y:81.20, Z:-3.17 [[ 3.44497835e-01 -9.38783284e-01 2.68079890e-03 1.19945778e+02] [ 9.38755278e-01 3.44508265e-01 7.25151029e-03 8.11995136e+01] [-7.73115403e-03 1.84845261e-05 9.99970114e-01 -3.16928329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21 meters 0.014365149515053518 Centerline is valid? [True, True] Translation: X:119.95, Y:81.23, Z:-3.17 [[ 3.46186930e-01 -9.38163314e-01 2.05095240e-03 1.19954039e+02] [ 9.38146898e-01 3.46193005e-01 5.54990044e-03 8.12261769e+01] [-5.91673836e-03 2.79163634e-06 9.99982496e-01 -3.17083752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23999999999998 meters 0.01433678656838502 Centerline is valid? [True, True] Translation: X:119.96, Y:81.25, Z:-3.17 [[ 3.46384250e-01 -9.38090236e-01 2.15873486e-03 1.19963548e+02] [ 9.38072024e-01 3.46390977e-01 5.84551187e-03 8.12530325e+01] [-6.23138388e-03 2.55531705e-07 9.99980585e-01 -3.17094557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26999999999998 meters 0.014207630447361189 Centerline is valid? [True, True] Translation: X:119.97, Y:81.28, Z:-3.17 [[ 3.46151200e-01 -9.38175140e-01 2.59875802e-03 1.19972747e+02] [ 9.38148674e-01 3.46160955e-01 7.04693180e-03 8.12795718e+01] [-7.51084479e-03 -1.28250695e-06 9.99971793e-01 -3.16989676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29999999999998 meters 0.014133581100208036 Centerline is valid? [True, True] Translation: X:119.98, Y:81.31, Z:-3.17 [[ 3.45121806e-01 -9.38553733e-01 2.79800761e-03 1.19982214e+02] [ 9.38523003e-01 3.45133148e-01 7.59489110e-03 8.13056298e+01] [-8.09389857e-03 4.83196881e-06 9.99967244e-01 -3.16997723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32999999999998 meters 0.014086155103054552 Centerline is valid? [True, True] Translation: X:119.99, Y:81.33, Z:-3.17 [[ 3.43840211e-01 -9.39023337e-01 3.01367338e-03 1.19991571e+02] [ 9.38987607e-01 3.43853418e-01 8.19151905e-03 8.13309585e+01] [-8.72828944e-03 1.32283200e-05 9.99961908e-01 -3.17001881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35999999999999 meters 0.014080209183053466 Centerline is valid? [True, True] Translation: X:120.00, Y:81.36, Z:-3.17 [[ 3.41037301e-01 -9.40041581e-01 3.92238546e-03 1.20001891e+02] [ 9.39981025e-01 3.41059853e-01 1.06699764e-02 8.13558218e+01] [-1.13679897e-02 4.81079370e-05 9.99935381e-01 -3.16852095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39 meters 0.014157131983738127 Centerline is valid? [True, True] Translation: X:120.01, Y:81.38, Z:-3.17 [[ 3.39446134e-01 -9.40615855e-01 4.25868822e-03 1.20012655e+02] [ 9.40544364e-01 3.39472840e-01 1.15969814e-02 8.13817618e+01] [-1.23540136e-02 6.89346877e-05 9.99923684e-01 -3.16809888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42 meters 0.014209633100358972 Centerline is valid? [True, True] Translation: X:120.02, Y:81.41, Z:-3.17 [[ 3.37722410e-01 -9.41235683e-01 4.35475985e-03 1.20023440e+02] [ 9.41160825e-01 3.37750473e-01 1.18709619e-02 8.14064859e+01] [-1.26441951e-02 8.94395247e-05 9.99920055e-01 -3.16808092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45 meters 0.014407719760917401 Centerline is valid? [True, True] Translation: X:120.03, Y:81.43, Z:-3.17 [[ 3.35670149e-01 -9.41969770e-01 4.30148914e-03 1.20034963e+02] [ 9.41896725e-01 3.35697689e-01 1.17311516e-02 8.14322482e+01] [-1.24943902e-02 1.13761135e-04 9.99921936e-01 -3.16756074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48 meters 0.014432180076258006 Centerline is valid? [True, True] Translation: X:120.04, Y:81.46, Z:-3.17 [[ 3.34939520e-01 -9.42229930e-01 4.27525047e-03 1.20044715e+02] [ 9.42157647e-01 3.34966783e-01 1.16714501e-02 8.14572158e+01] [-1.24292565e-02 1.18730045e-04 9.99922747e-01 -3.16834960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51 meters 0.01446233385083698 Centerline is valid? [True, True] Translation: X:120.05, Y:81.48, Z:-3.17 [[ 3.34872488e-01 -9.42254647e-01 4.07393638e-03 1.20053762e+02] [ 9.42188963e-01 3.34897249e-01 1.11260993e-02 8.14832034e+01] [-1.18479689e-02 1.12593331e-04 9.99929804e-01 -3.16926245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54 meters 0.014533171346946287 Centerline is valid? [True, True] Translation: X:120.06, Y:81.51, Z:-3.17 [[ 3.35105157e-01 -9.42172343e-01 3.97605968e-03 1.20062787e+02] [ 9.42109634e-01 3.35128729e-01 1.08706982e-02 8.15089852e+01] [-1.15745631e-02 1.03057094e-04 9.99933007e-01 -3.17139288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57 meters 0.014158036856668964 Centerline is valid? [True, True] Translation: X:120.07, Y:81.54, Z:-3.17 [[ 3.35675848e-01 -9.41970051e-01 3.76147189e-03 1.20070262e+02] [ 9.41913877e-01 3.35696910e-01 1.02875366e-02 8.15366878e+01] [-1.09532659e-02 8.97049936e-05 9.99940007e-01 -3.17174520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.6 meters 0.01408023579854191 Centerline is valid? [True, True] Translation: X:120.08, Y:81.56, Z:-3.17 [[ 3.36647543e-01 -9.41624124e-01 3.52713271e-03 1.20078230e+02] [ 9.41574638e-01 3.36666012e-01 9.65389179e-03 8.15633826e+01] [-1.02778031e-02 7.10997491e-05 9.99947179e-01 -3.17258333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63 meters 0.013899257258076158 Centerline is valid? [True, True] Translation: X:120.09, Y:81.59, Z:-3.17 [[ 3.39026188e-01 -9.40769864e-01 3.64777374e-03 1.20085768e+02] [ 9.40716787e-01 3.39045809e-01 9.99327121e-03 8.15898628e+01] [-1.06381308e-02 4.35413533e-05 9.99943413e-01 -3.17324586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66 meters 0.013811968175429401 Centerline is valid? [True, True] Translation: X:120.09, Y:81.62, Z:-3.17 [[ 3.40327068e-01 -9.40299831e-01 3.70334746e-03 1.20094036e+02] [ 9.40244993e-01 3.40347216e-01 1.01550457e-02 8.16153555e+01] [-1.08092118e-02 2.60169755e-05 9.99941578e-01 -3.17341811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69 meters 0.013729661496015143 Centerline is valid? [True, True] Translation: X:120.10, Y:81.64, Z:-3.17 [[ 3.41361844e-01 -9.39924351e-01 3.78234348e-03 1.20102454e+02] [ 9.39867013e-01 3.41382797e-01 1.03819303e-02 8.16418855e+01] [-1.10494561e-02 1.09050103e-05 9.99938953e-01 -3.17330856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72 meters 0.013800778503356988 Centerline is valid? [True, True] Translation: X:120.11, Y:81.67, Z:-3.17 [[ 3.43829781e-01 -9.39024594e-01 3.72752459e-03 1.20109250e+02] [ 9.38968761e-01 3.43849985e-01 1.02398313e-02 8.16683032e+01] [-1.08971627e-02 -2.07298172e-05 9.99940624e-01 -3.17459535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75 meters 0.013809871689635614 Centerline is valid? [True, True] Translation: X:120.12, Y:81.69, Z:-3.18 [[ 3.44814387e-01 -9.38663961e-01 3.60638698e-03 1.20117851e+02] [ 9.38611583e-01 3.44833245e-01 9.91612624e-03 8.16947064e+01] [-1.05515125e-02 -3.42263984e-05 9.99944331e-01 -3.17506024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78 meters 0.013820221341503024 Centerline is valid? [True, True] Translation: X:120.13, Y:81.72, Z:-3.18 [[ 3.45587932e-01 -9.38378986e-01 3.72298741e-03 1.20126536e+02] [ 9.38323045e-01 3.45607981e-01 1.02462824e-02 8.17211682e+01] [-1.09015903e-02 -4.76266640e-05 9.99940575e-01 -3.17540317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81 meters 0.013923521007324654 Centerline is valid? [True, True] Translation: X:120.13, Y:81.75, Z:-3.18 [[ 3.46342671e-01 -9.38100213e-01 3.83979510e-03 1.20134653e+02] [ 9.38040584e-01 3.46363950e-01 1.05771935e-02 8.17465487e+01] [-1.12524341e-02 -6.14498288e-05 9.99936687e-01 -3.17581128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84 meters 0.014053027461255082 Centerline is valid? [True, True] Translation: X:120.14, Y:81.77, Z:-3.18 [[ 3.46932971e-01 -9.37881833e-01 3.89631464e-03 1.20143340e+02] [ 9.37820297e-01 3.46954842e-01 1.07437318e-02 8.17731224e+01] [-1.14281961e-02 -7.33118507e-05 9.99934693e-01 -3.17603237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87 meters 0.013993960858970724 Centerline is valid? [True, True] Translation: X:120.15, Y:81.80, Z:-3.18 [[ 3.47295038e-01 -9.37746536e-01 4.19413253e-03 1.20151800e+02] [ 9.37675088e-01 3.47320351e-01 1.15759572e-02 8.17993285e+01] [-1.23120214e-02 -8.75389082e-05 9.99924200e-01 -3.17657467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.9 meters 0.013963451342621424 Centerline is valid? [True, True] Translation: X:120.16, Y:81.83, Z:-3.18 [[ 3.47087447e-01 -9.37823291e-01 4.21643420e-03 1.20161427e+02] [ 9.37750948e-01 3.47113045e-01 1.16487639e-02 8.18252030e+01] [-1.23880614e-02 -8.91745658e-05 9.99923261e-01 -3.17679267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93 meters 0.01403413821748633 Centerline is valid? [True, True] Translation: X:120.17, Y:81.85, Z:-3.18 [[ 3.46618029e-01 -9.37996598e-01 4.28056768e-03 1.20170668e+02] [ 9.37921922e-01 3.46644448e-01 1.18361218e-02 8.18505096e+01] [-1.25860770e-02 -8.77749537e-05 9.99920788e-01 -3.17745679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96 meters 0.0138598364228136 Centerline is valid? [True, True] Translation: X:120.18, Y:81.88, Z:-3.18 [[ 3.44904511e-01 -9.38628591e-01 4.15296946e-03 1.20182072e+02] [ 9.38558218e-01 3.44929506e-01 1.14937843e-02 8.18761758e+01] [-1.22208762e-02 -6.64544246e-05 9.99925320e-01 -3.17837750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98999999999998 meters 0.013723049536519902 Centerline is valid? [True, True] Translation: X:120.19, Y:81.90, Z:-3.18 [[ 3.43360794e-01 -9.39194062e-01 4.22834305e-03 1.20193056e+02] [ 9.39121027e-01 3.43386825e-01 1.17126237e-02 8.19017854e+01] [-1.24523839e-02 -5.07298960e-05 9.99922465e-01 -3.17872848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01999999999998 meters 0.013703500263222925 Centerline is valid? [True, True] Translation: X:120.20, Y:81.93, Z:-3.18 [[ 3.41791085e-01 -9.39766802e-01 4.14872429e-03 1.20203603e+02] [ 9.39696420e-01 3.41816262e-01 1.15013827e-02 8.19269046e+01] [-1.22267191e-02 -3.25287187e-05 9.99925250e-01 -3.17936684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04999999999998 meters 0.013703500263222925 Centerline is valid? [True, True] Translation: X:120.21, Y:81.95, Z:-3.18 [[ 3.41537122e-01 -9.39859145e-01 4.14518271e-03 1.20212872e+02] [ 9.39788754e-01 3.41562275e-01 1.15026586e-02 8.19528977e+01] [-1.22267169e-02 -3.29888123e-05 9.99925250e-01 -3.17993271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07999999999998 meters 0.013624639232980407 Centerline is valid? [True, True] Translation: X:120.23, Y:81.98, Z:-3.18 [[ 3.38687083e-01 -9.40889945e-01 4.14388686e-03 1.20225480e+02] [ 9.40819558e-01 3.38712433e-01 1.15085994e-02 8.19778937e+01] [-1.22319114e-02 8.35859082e-07 9.99925187e-01 -3.17962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10999999999999 meters 0.01364147673662882 Centerline is valid? [True, True] Translation: X:120.24, Y:82.00, Z:-3.18 [[ 3.37488626e-01 -9.41320658e-01 4.10449086e-03 1.20236461e+02] [ 9.41251517e-01 3.37513584e-01 1.14088602e-02 8.20035170e+01] [-1.21247172e-02 1.29976830e-05 9.99926493e-01 -3.17942556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14 meters 0.013715861255259592 Centerline is valid? [True, True] Translation: X:120.25, Y:82.03, Z:-3.18 [[ 3.36140152e-01 -9.41804065e-01 3.86017857e-03 1.20247060e+02] [ 9.41742844e-01 3.36162315e-01 1.07384393e-02 8.20292846e+01] [-1.14111524e-02 2.56749314e-05 9.99934890e-01 -3.18010421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17 meters 0.013730378991097997 Centerline is valid? [True, True] Translation: X:120.26, Y:82.06, Z:-3.18 [[ 3.35106888e-01 -9.42172968e-01 3.67047102e-03 1.20257539e+02] [ 9.42117549e-01 3.35126987e-01 1.02189295e-02 8.20554401e+01] [-1.08580730e-02 3.35815063e-05 9.99941049e-01 -3.18114155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.2 meters 0.013869387138159765 Centerline is valid? [True, True] Translation: X:120.27, Y:82.08, Z:-3.18 [[ 3.34104102e-01 -9.42529345e-01 3.58927660e-03 1.20267916e+02] [ 9.42476279e-01 3.34123379e-01 1.00015320e-02 8.20811685e+01] [-1.06259986e-02 4.12551831e-05 9.99943542e-01 -3.18269609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23 meters 0.013811652856095858 Centerline is valid? [True, True] Translation: X:120.28, Y:82.11, Z:-3.18 [[ 3.33843793e-01 -9.42621460e-01 3.62010159e-03 1.20277413e+02] [ 9.42567385e-01 3.33863418e-01 1.00966509e-02 8.21074212e+01] [-1.07259393e-02 4.14854552e-05 9.99942475e-01 -3.18303699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26 meters 0.01383573806230375 Centerline is valid? [True, True] Translation: X:120.29, Y:82.13, Z:-3.18 [[ 3.33957731e-01 -9.42580282e-01 3.82697331e-03 1.20286918e+02] [ 9.42519729e-01 3.33979655e-01 1.06841135e-02 8.21335256e+01] [-1.13487659e-02 3.89555593e-05 9.99935600e-01 -3.18270443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29 meters 0.01383203664436074 Centerline is valid? [True, True] Translation: X:120.30, Y:82.16, Z:-3.18 [[ 3.34452476e-01 -9.42404285e-01 3.96283847e-03 1.20296009e+02] [ 9.42339225e-01 3.34475951e-01 1.10735179e-02 8.21594202e+01] [-1.17612049e-02 3.07726436e-05 9.99930834e-01 -3.18269473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32 meters 0.013732311029722884 Centerline is valid? [True, True] Translation: X:120.30, Y:82.19, Z:-3.18 [[ 3.34986032e-01 -9.42214466e-01 4.03217727e-03 1.20304559e+02] [ 9.42146960e-01 3.35010298e-01 1.12785820e-02 8.21858767e+01] [-1.19776640e-02 2.07361170e-05 9.99928265e-01 -3.18262042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35 meters 0.01377692798991482 Centerline is valid? [True, True] Translation: X:120.31, Y:82.21, Z:-3.18 [[ 3.35849543e-01 -9.41907417e-01 3.93736698e-03 1.20312652e+02] [ 9.41842915e-01 3.35872622e-01 1.10229369e-02 8.22124142e+01] [-1.17050398e-02 6.33286935e-06 9.99931494e-01 -3.18366102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38 meters 0.013845678680569695 Centerline is valid? [True, True] Translation: X:120.32, Y:82.24, Z:-3.18 [[ 3.37785653e-01 -9.41215824e-01 3.69122767e-03 1.20319780e+02] [ 9.41159004e-01 3.37805820e-01 1.03420468e-02 8.22395709e+01] [-1.09810163e-02 -1.93628664e-05 9.99939707e-01 -3.18447830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41 meters 0.013882400798050601 Centerline is valid? [True, True] Translation: X:120.33, Y:82.27, Z:-3.19 [[ 3.38340411e-01 -9.41016413e-01 3.72506468e-03 1.20328690e+02] [ 9.40958428e-01 3.38360915e-01 1.04463870e-02 8.22667477e+01] [-1.10906379e-02 -2.93038656e-05 9.99938497e-01 -3.18515262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44 meters 0.013905642258098695 Centerline is valid? [True, True] Translation: X:120.34, Y:82.29, Z:-3.19 [[ 3.38620207e-01 -9.40915842e-01 3.70598245e-03 1.20337695e+02] [ 9.40858342e-01 3.38640484e-01 1.04020625e-02 8.22934653e+01] [-1.10424611e-02 -3.55440388e-05 9.99939030e-01 -3.18543968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47 meters 0.013836410092199247 Centerline is valid? [True, True] Translation: X:120.35, Y:82.32, Z:-3.18 [[ 3.38644715e-01 -9.40906417e-01 3.85626465e-03 1.20347123e+02] [ 9.40844042e-01 3.38666669e-01 1.08340270e-02 8.23203484e+01] [-1.14997939e-02 -4.07423765e-05 9.99933874e-01 -3.18469206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.5 meters 0.013836892697861397 Centerline is valid? [True, True] Translation: X:120.36, Y:82.35, Z:-3.18 [[ 3.38369957e-01 -9.41003783e-01 4.20146792e-03 1.20355737e+02] [ 9.40929571e-01 3.38396037e-01 1.18179728e-02 8.23459708e+01] [-1.25425173e-02 -4.55615579e-05 9.99921339e-01 -3.18421436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53 meters 0.01389297658284348 Centerline is valid? [True, True] Translation: X:120.36, Y:82.37, Z:-3.18 [[ 3.37793030e-01 -9.41210457e-01 4.32939806e-03 1.20364600e+02] [ 9.41131586e-01 3.37820771e-01 1.21846198e-02 8.23726301e+01] [-1.29308521e-02 -4.13463756e-05 9.99916392e-01 -3.18449852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56 meters 0.013751558720325465 Centerline is valid? [True, True] Translation: X:120.37, Y:82.40, Z:-3.18 [[ 3.37108907e-01 -9.41454939e-01 4.49247916e-03 1.20373743e+02] [ 9.41369876e-01 3.37138838e-01 1.26554271e-02 8.23991344e+01] [-1.34291036e-02 -3.71726454e-05 9.99909825e-01 -3.18482201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59 meters 0.013803129034441343 Centerline is valid? [True, True] Translation: X:120.38, Y:82.43, Z:-3.18 [[ 3.35351714e-01 -9.42080653e-01 4.82403356e-03 1.20383552e+02] [ 9.41982441e-01 3.35386409e-01 1.36028853e-02 8.24253450e+01] [-1.44329304e-02 -1.75959992e-05 9.99895840e-01 -3.18455620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62 meters 0.013776113724179577 Centerline is valid? [True, True] Translation: X:120.39, Y:82.45, Z:-3.18 [[ 3.34365673e-01 -9.42431207e-01 4.79764314e-03 1.20393343e+02] [ 9.42333929e-01 3.34400091e-01 1.35405306e-02 8.24512746e+01] [-1.43653509e-02 -6.50671191e-06 9.99896813e-01 -3.18447564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65 meters 0.013768150825498053 Centerline is valid? [True, True] Translation: X:120.40, Y:82.48, Z:-3.18 [[ 3.33257255e-01 -9.42824264e-01 4.69143601e-03 1.20402934e+02] [ 9.42731099e-01 3.33290276e-01 1.32539786e-02 8.24763949e+01] [-1.40597826e-02 5.77809024e-06 9.99901156e-01 -3.18495772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68 meters 0.013797678618925323 Centerline is valid? [True, True] Translation: X:120.41, Y:82.50, Z:-3.19 [[ 3.31836951e-01 -9.43326013e-01 4.50226587e-03 1.20413094e+02] [ 9.43240170e-01 3.31867492e-01 1.27259271e-02 8.25028792e+01] [-1.34988538e-02 2.37851664e-05 9.99908886e-01 -3.18577059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71 meters 0.013975552367641392 Centerline is valid? [True, True] Translation: X:120.42, Y:82.53, Z:-3.19 [[ 3.29148462e-01 -9.44270043e-01 3.92118021e-03 1.20424320e+02] [ 9.44204901e-01 3.29171814e-01 1.10914951e-02 8.25294283e+01] [-1.17641086e-02 5.16490002e-05 9.99930799e-01 -3.18655928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73999999999998 meters 0.01393635118047238 Centerline is valid? [True, True] Translation: X:120.43, Y:82.56, Z:-3.19 [[ 3.27573416e-01 -9.44818954e-01 3.57783326e-03 1.20434183e+02] [ 9.44764681e-01 3.27592949e-01 1.01270587e-02 8.25556604e+01] [-1.07403100e-02 6.28552823e-05 9.99942319e-01 -3.18712462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76999999999998 meters 0.01417896442327107 Centerline is valid? [True, True] Translation: X:120.44, Y:82.58, Z:-3.19 [[ 3.26188449e-01 -9.45298647e-01 3.40052905e-03 1.20444022e+02] [ 9.45249570e-01 3.26206166e-01 9.63261914e-03 8.25812275e+01] [-1.02149754e-02 7.22995302e-05 9.99947823e-01 -3.18889723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79999999999998 meters 0.014201838126977595 Centerline is valid? [True, True] Translation: X:120.45, Y:82.61, Z:-3.19 [[ 3.24960836e-01 -9.45722303e-01 3.12742820e-03 1.20453408e+02] [ 9.45680740e-01 3.24975876e-01 8.86669795e-03 8.26078649e+01] [-9.40177272e-03 7.62190412e-05 9.99955799e-01 -3.18983401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82999999999998 meters 0.014383740207568748 Centerline is valid? [True, True] Translation: X:120.46, Y:82.63, Z:-3.19 [[ 3.23837032e-01 -9.46108987e-01 2.71320345e-03 1.20462686e+02] [ 9.46077671e-01 3.23848390e-01 7.69812313e-03 8.26336712e+01] [-8.16193004e-03 7.39638539e-05 9.99966688e-01 -3.19079063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85999999999999 meters 0.014554406305192195 Centerline is valid? [True, True] Translation: X:120.47, Y:82.66, Z:-3.19 [[ 3.22475101e-01 -9.46575172e-01 2.29187061e-03 1.20472532e+02] [ 9.46552823e-01 3.22483238e-01 6.50492603e-03 8.26604967e+01] [-6.89649133e-03 7.16999164e-05 9.99976216e-01 -3.19138893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89 meters 0.014370119505012876 Centerline is valid? [True, True] Translation: X:120.48, Y:82.69, Z:-3.19 [[ 3.21847017e-01 -9.46789041e-01 2.23808179e-03 1.20481366e+02] [ 9.46767708e-01 3.21854790e-01 6.35625188e-03 8.26876243e+01] [-6.73836697e-03 7.32028631e-05 9.99977294e-01 -3.19100789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92 meters 0.014441270182831686 Centerline is valid? [True, True] Translation: X:120.49, Y:82.71, Z:-3.19 [[ 3.21327621e-01 -9.46965395e-01 2.25853406e-03 1.20490201e+02] [ 9.46943633e-01 3.21335549e-01 6.42038819e-03 8.27144314e+01] [-6.80563272e-03 7.56563831e-05 9.99976839e-01 -3.19125090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95 meters 0.014322445983878768 Centerline is valid? [True, True] Translation: X:120.50, Y:82.74, Z:-3.19 [[ 3.21690424e-01 -9.46842541e-01 2.11492634e-03 1.20496943e+02] [ 9.46823433e-01 3.21697369e-01 6.01582877e-03 8.27404921e+01] [-6.37640884e-03 6.72273080e-05 9.99979668e-01 -3.19146517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98 meters 0.014256987751000075 Centerline is valid? [True, True] Translation: X:120.50, Y:82.77, Z:-3.19 [[ 3.22203126e-01 -9.46668144e-01 2.13805241e-03 1.20504517e+02] [ 9.46648570e-01 3.22210214e-01 6.08796473e-03 8.27660640e+01] [-6.45218460e-03 6.24229903e-05 9.99979182e-01 -3.19231305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01 meters 0.014132943212448798 Centerline is valid? [True, True] Translation: X:120.51, Y:82.79, Z:-3.19 [[ 3.24197605e-01 -9.45986807e-01 2.20769748e-03 1.20510891e+02] [ 9.45965851e-01 3.24205118e-01 6.29683996e-03 8.27923901e+01] [-6.67247435e-03 4.69860000e-05 9.99977738e-01 -3.19358558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04 meters 0.013682868814064646 Centerline is valid? [True, True] Translation: X:120.52, Y:82.82, Z:-3.19 [[ 3.25554933e-01 -9.45520533e-01 2.21511586e-03 1.20518004e+02] [ 9.45499419e-01 3.25562467e-01 6.31890811e-03 8.28192678e+01] [-6.69581595e-03 3.72390498e-05 9.99977582e-01 -3.19226554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07 meters 0.013635311511225504 Centerline is valid? [True, True] Translation: X:120.53, Y:82.85, Z:-3.19 [[ 3.26986679e-01 -9.45026076e-01 2.32969499e-03 1.20525225e+02] [ 9.45002659e-01 3.26994977e-01 6.65271895e-03 8.28460497e+01] [-7.04879144e-03 2.62174874e-05 9.99975157e-01 -3.19205344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.1 meters 0.013442980020505903 Centerline is valid? [True, True] Translation: X:120.53, Y:82.87, Z:-3.19 [[ 3.28302391e-01 -9.44569491e-01 2.45302927e-03 1.20532492e+02] [ 9.44543462e-01 3.28311555e-01 7.01224787e-03 8.28735029e+01] [-7.42891326e-03 1.48550136e-05 9.99972405e-01 -3.19220951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13 meters 0.013484666396122301 Centerline is valid? [True, True] Translation: X:120.54, Y:82.90, Z:-3.19 [[ 3.31895978e-01 -9.43312561e-01 2.54386692e-03 1.20537132e+02] [ 9.43284481e-01 3.31905726e-01 7.27852732e-03 8.29003968e+01] [-7.71025025e-03 -1.61237610e-05 9.99970275e-01 -3.19212472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16 meters 0.013582906874173023 Centerline is valid? [True, True] Translation: X:120.54, Y:82.93, Z:-3.19 [[ 3.33453774e-01 -9.42763280e-01 2.44502466e-03 1.20544207e+02] [ 9.42737276e-01 3.33462737e-01 7.00226685e-03 8.29273509e+01] [-7.41680468e-03 -2.99164159e-05 9.99972495e-01 -3.19213046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19 meters 0.013656926778904685 Centerline is valid? [True, True] Translation: X:120.55, Y:82.95, Z:-3.19 [[ 3.35198473e-01 -9.42144398e-01 2.43257648e-03 1.20551269e+02] [ 9.42118595e-01 3.35207297e-01 6.97284444e-03 8.29544803e+01] [-7.38484371e-03 -4.55112766e-05 9.99972731e-01 -3.19285213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22 meters 0.013818531544023203 Centerline is valid? [True, True] Translation: X:120.56, Y:82.98, Z:-3.19 [[ 3.36967927e-01 -9.41512952e-01 2.44496238e-03 1.20558473e+02] [ 9.41486822e-01 3.36976791e-01 7.01476773e-03 8.29815950e+01] [-7.42839025e-03 -6.18518816e-05 9.99972407e-01 -3.19321458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25 meters 0.01416049736639344 Centerline is valid? [True, True] Translation: X:120.57, Y:83.01, Z:-3.19 [[ 3.38543066e-01 -9.40947410e-01 2.56195025e-03 1.20565549e+02] [ 9.40918644e-01 3.38552750e-01 7.35807042e-03 8.30087180e+01] [-7.79091260e-03 -8.04369677e-05 9.99969647e-01 -3.19383398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28 meters 0.014500829412890959 Centerline is valid? [True, True] Translation: X:120.57, Y:83.04, Z:-3.19 [[ 3.40197484e-01 -9.40350265e-01 2.65553865e-03 1.20572417e+02] [ 9.40319268e-01 3.40207833e-01 7.63571356e-03 8.30351793e+01] [-8.08368031e-03 -1.00596376e-04 9.99967321e-01 -3.19430562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31 meters 0.015195067583207954 Centerline is valid? [True, True] Translation: X:120.58, Y:83.06, Z:-3.19 [[ 3.42768069e-01 -9.39415960e-01 2.77569945e-03 1.20577848e+02] [ 9.39382005e-01 3.42779283e-01 7.98827980e-03 8.30624642e+01] [-8.45576980e-03 -1.30685133e-04 9.99964241e-01 -3.19485442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34 meters 0.015364075682789606 Centerline is valid? [True, True] Translation: X:120.59, Y:83.09, Z:-3.20 [[ 3.43314846e-01 -9.39216181e-01 2.80734533e-03 1.20585872e+02] [ 9.39181389e-01 3.43326296e-01 8.08542089e-03 8.30893959e+01] [-8.55779360e-03 -1.39238544e-04 9.99963372e-01 -3.19523688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37 meters 0.015794358411343294 Centerline is valid? [True, True] Translation: X:120.59, Y:83.12, Z:-3.20 [[ 3.44011714e-01 -9.38961331e-01 2.74941966e-03 1.20592435e+02] [ 9.38927885e-01 3.44022670e-01 7.92654720e-03 8.31157578e+01] [-8.38858400e-03 -1.45318300e-04 9.99964805e-01 -3.19656184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.4 meters 0.01609694190129363 Centerline is valid? [True, True] Translation: X:120.60, Y:83.14, Z:-3.20 [[ 3.44222565e-01 -9.38884347e-01 2.64741220e-03 1.20600213e+02] [ 9.38853275e-01 3.44232715e-01 7.63977459e-03 8.31417638e+01] [-8.08419067e-03 -1.44251188e-04 9.99967312e-01 -3.19769635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43 meters 0.016074464625239166 Centerline is valid? [True, True] Translation: X:120.61, Y:83.17, Z:-3.20 [[ 3.44120890e-01 -9.38921953e-01 2.52576875e-03 1.20609014e+02] [ 9.38893661e-01 3.44130132e-01 7.29007540e-03 8.31683872e+01] [-7.71400496e-03 -1.37238966e-04 9.99970237e-01 -3.19806983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46 meters 0.016120187350615617 Centerline is valid? [True, True] Translation: X:120.62, Y:83.19, Z:-3.20 [[ 3.43980607e-01 -9.38973595e-01 2.43511405e-03 1.20616982e+02] [ 9.38947257e-01 3.43989200e-01 7.03406052e-03 8.31948937e+01] [-7.44245003e-03 -1.33136744e-04 9.99972296e-01 -3.19906216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48999999999998 meters 0.01637255673033725 Centerline is valid? [True, True] Translation: X:120.62, Y:83.22, Z:-3.20 [[ 3.43930973e-01 -9.38992273e-01 2.23533016e-03 1.20624316e+02] [ 9.38970055e-01 3.43938215e-01 6.46060479e-03 8.32207772e+01] [-6.83527344e-03 -1.23094010e-04 9.99976632e-01 -3.20060662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51999999999998 meters 0.016290505047349677 Centerline is valid? [True, True] Translation: X:120.63, Y:83.25, Z:-3.20 [[ 3.42804913e-01 -9.39404666e-01 1.91442346e-03 1.20631700e+02] [ 9.39388337e-01 3.42810244e-01 5.53970086e-03 8.32471491e+01] [-5.86030481e-03 -1.00649608e-04 9.99982823e-01 -3.20317038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54999999999998 meters 0.01606957312636627 Centerline is valid? [True, True] Translation: X:120.64, Y:83.27, Z:-3.20 [[ 3.41424560e-01 -9.39907365e-01 1.84798121e-03 1.20641086e+02] [ 9.39892158e-01 3.41429550e-01 5.34729711e-03 8.32734549e+01] [-5.65691933e-03 -8.87955124e-05 9.99983996e-01 -3.20431759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57999999999998 meters 0.0146814237761508 Centerline is valid? [True, True] Translation: X:120.65, Y:83.30, Z:-3.20 [[ 3.39460091e-01 -9.40618816e-01 1.75785206e-03 1.20653389e+02] [ 9.40605051e-01 3.39464634e-01 5.08917811e-03 8.32991630e+01] [-5.38370529e-03 -7.41283406e-05 9.99985505e-01 -3.20272095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60999999999999 meters 0.014999677943969244 Centerline is valid? [True, True] Translation: X:120.66, Y:83.33, Z:-3.20 [[ 3.37131812e-01 -9.41455655e-01 1.84157734e-03 1.20662389e+02] [ 9.41440507e-01 3.37136835e-01 5.34108066e-03 8.33251933e+01] [-5.64925414e-03 -6.69126985e-05 9.99984041e-01 -3.20485743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64 meters 0.013493005581178346 Centerline is valid? [True, True] Translation: X:120.68, Y:83.35, Z:-3.20 [[ 3.31842847e-01 -9.43332554e-01 2.00432672e-03 1.20676897e+02] [ 9.43314633e-01 3.31848897e-01 5.81481688e-03 8.33501455e+01] [-6.15043967e-03 -3.88946616e-05 9.99981085e-01 -3.20124126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67 meters 0.01331012810012809 Centerline is valid? [True, True] Translation: X:120.69, Y:83.38, Z:-3.20 [[ 3.28596332e-01 -9.44468207e-01 2.06320297e-03 1.20687598e+02] [ 9.44449206e-01 3.28602808e-01 5.99096627e-03 8.33756844e+01] [-6.33625146e-03 -2.00191331e-05 9.99979926e-01 -3.20168769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.7 meters 0.013204150894211229 Centerline is valid? [True, True] Translation: X:120.70, Y:83.40, Z:-3.20 [[ 3.25261549e-01 -9.45621944e-01 2.01598098e-03 1.20698257e+02] [ 9.45603798e-01 3.25267797e-01 5.85814076e-03 8.34009818e+01] [-6.19532014e-03 8.91328230e-07 9.99980809e-01 -3.20223364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73 meters 0.013475569620485284 Centerline is valid? [True, True] Translation: X:120.71, Y:83.43, Z:-3.20 [[ 3.18235688e-01 -9.48009183e-01 2.15323122e-03 1.20711165e+02] [ 9.47988481e-01 3.18242969e-01 6.26515894e-03 8.34258656e+01] [-6.62467891e-03 4.74412277e-05 9.99978055e-01 -3.20248950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76 meters 0.013757742463391209 Centerline is valid? [True, True] Translation: X:120.72, Y:83.45, Z:-3.20 [[ 3.14409510e-01 -9.49284440e-01 2.39003768e-03 1.20722119e+02] [ 9.49258908e-01 3.14418584e-01 6.96271428e-03 8.34523445e+01] [-7.36106859e-03 7.96209738e-05 9.99972904e-01 -3.20156179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79 meters 0.014273121322497157 Centerline is valid? [True, True] Translation: X:120.73, Y:83.48, Z:-3.20 [[ 3.10439768e-01 -9.50589129e-01 2.73113422e-03 1.20733490e+02] [ 9.50555757e-01 3.10451757e-01 7.96613171e-03 8.34783608e+01] [-8.42040361e-03 1.23091276e-04 9.99964540e-01 -3.20113973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82 meters 0.015321189452427093 Centerline is valid? [True, True] Translation: X:120.75, Y:83.50, Z:-3.20 [[ 3.06410818e-01 -9.51894943e-01 2.90300783e-03 1.20745845e+02] [ 9.51857190e-01 3.06424525e-01 8.47940308e-03 8.35035151e+01] [-8.96105371e-03 1.65068044e-04 9.99959835e-01 -3.20151694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85 meters 0.01708036056810738 Centerline is valid? [True, True] Translation: X:120.76, Y:83.53, Z:-3.20 [[ 3.01898300e-01 -9.53335908e-01 2.83956221e-03 1.20758556e+02] [ 9.53299842e-01 3.01911586e-01 8.29491418e-03 8.35285030e+01] [-8.76513627e-03 2.02733714e-04 9.99961565e-01 -3.20240480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88 meters 0.01863346252996762 Centerline is valid? [True, True] Translation: X:120.77, Y:83.55, Z:-3.20 [[ 2.97295659e-01 -9.54781100e-01 2.88814618e-03 1.20770494e+02] [ 9.54743785e-01 2.97309585e-01 8.44485637e-03 8.35538116e+01] [-8.92166280e-03 2.46820474e-04 9.99960171e-01 -3.20332622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91 meters 0.020411888376672946 Centerline is valid? [True, True] Translation: X:120.78, Y:83.58, Z:-3.20 [[ 2.88662118e-01 -9.57425578e-01 3.23167355e-03 1.20782642e+02] [ 9.57378915e-01 2.88679978e-01 9.45954125e-03 8.35797557e+01] [-9.98972621e-03 3.63324908e-04 9.99950035e-01 -3.20330543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94 meters 0.020675194132174883 Centerline is valid? [True, True] Translation: X:120.79, Y:83.61, Z:-3.20 [[ 2.84643075e-01 -9.58627446e-01 3.42632431e-03 1.20792408e+02] [ 9.58574964e-01 2.84663377e-01 1.00399269e-02 8.36063951e+01] [-1.05998985e-02 4.26593050e-04 9.99943729e-01 -3.20338369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97 meters 0.020675194132174883 Centerline is valid? [True, True] Translation: X:120.80, Y:83.63, Z:-3.20 [[ 2.84374213e-01 -9.58707247e-01 3.42374242e-03 1.20801252e+02] [ 9.58654760e-01 2.84394502e-01 1.00408069e-02 8.36325645e+01] [-1.05998878e-02 4.26840411e-04 9.99943729e-01 -3.20395031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.0 meters 0.021703552777063335 Centerline is valid? [True, True] Translation: X:120.81, Y:83.66, Z:-3.20 [[ 2.80777502e-01 -9.59766554e-01 3.48642669e-03 1.20812095e+02] [ 9.59712098e-01 2.80798750e-01 1.02347557e-02 8.36589740e+01] [-1.08019605e-02 4.72276726e-04 9.99941546e-01 -3.20394215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03 meters 0.024675151964062843 Centerline is valid? [True, True] Translation: X:120.82, Y:83.68, Z:-3.20 [[ 2.75227816e-01 -9.61372836e-01 3.45256277e-03 1.20824559e+02] [ 9.61319465e-01 2.75248965e-01 1.01435983e-02 8.36837410e+01] [-1.07020942e-02 5.27215375e-04 9.99942592e-01 -3.20431751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06 meters 0.0237090581552882 Centerline is valid? [True, True] Translation: X:120.83, Y:83.71, Z:-3.20 [[ 2.73280488e-01 -9.61928580e-01 3.34398472e-03 1.20831681e+02] [ 9.61878457e-01 2.73300434e-01 9.83395820e-03 8.37111997e+01] [-1.03734779e-02 5.29077970e-04 9.99946054e-01 -3.20494590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09 meters 0.02399142042322879 Centerline is valid? [True, True] Translation: X:120.84, Y:83.74, Z:-3.21 [[ 2.71919120e-01 -9.62314865e-01 3.17704276e-03 1.20840400e+02] [ 9.62269577e-01 2.71937192e-01 9.35014221e-03 8.37385125e+01] [-9.86173693e-03 5.14689149e-04 9.99951239e-01 -3.20590486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12 meters 0.024200403019421658 Centerline is valid? [True, True] Translation: X:120.85, Y:83.77, Z:-3.21 [[ 2.70655487e-01 -9.62670907e-01 3.21432699e-03 1.20848447e+02] [ 9.62624491e-01 2.70674051e-01 9.46822396e-03 8.37662418e+01] [-9.98481865e-03 5.31563118e-04 9.99950009e-01 -3.20691169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15 meters 0.02426046379192304 Centerline is valid? [True, True] Translation: X:120.85, Y:83.79, Z:-3.21 [[ 2.69972615e-01 -9.62862192e-01 3.34460121e-03 1.20854225e+02] [ 9.62811861e-01 2.69992755e-01 9.86062589e-03 8.37941521e+01] [-1.03974420e-02 5.58122757e-04 9.99945789e-01 -3.20798898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18 meters 0.02419490370181197 Centerline is valid? [True, True] Translation: X:120.86, Y:83.82, Z:-3.21 [[ 2.70382673e-01 -9.62747007e-01 3.37793566e-03 1.20861466e+02] [ 9.62695557e-01 2.70403200e-01 9.96865451e-03 8.38214386e+01] [-1.05106969e-02 5.56572201e-04 9.99944606e-01 -3.20877225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21 meters 0.02286211023014374 Centerline is valid? [True, True] Translation: X:120.87, Y:83.85, Z:-3.21 [[ 2.71408663e-01 -9.62458454e-01 3.32612317e-03 1.20867202e+02] [ 9.62408426e-01 2.71428518e-01 9.82759663e-03 8.38500419e+01] [-1.03614581e-02 5.33794108e-04 9.99946176e-01 -3.20928347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23999999999998 meters 0.022676537441162527 Centerline is valid? [True, True] Translation: X:120.87, Y:83.88, Z:-3.21 [[ 2.73029318e-01 -9.61999814e-01 3.36892783e-03 1.20874096e+02] [ 9.61948438e-01 2.73049602e-01 9.95582006e-03 8.38771808e+01] [-1.04973814e-02 5.22504103e-04 9.99944764e-01 -3.21023066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26999999999998 meters 0.02177253400125748 Centerline is valid? [True, True] Translation: X:120.88, Y:83.90, Z:-3.21 [[ 2.77840949e-01 -9.60622030e-01 3.11804313e-03 1.20877543e+02] [ 9.60577869e-01 2.77858107e-01 9.22113326e-03 8.39047190e+01] [-9.72439731e-03 4.33114812e-04 9.99952623e-01 -3.21151136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29999999999998 meters 0.020651140488759618 Centerline is valid? [True, True] Translation: X:120.88, Y:83.93, Z:-3.21 [[ 2.80997530e-01 -9.59703802e-01 3.00012807e-03 1.20882310e+02] [ 9.59662788e-01 2.81013283e-01 8.88082095e-03 8.39323460e+01] [-9.36603347e-03 3.83622520e-04 9.99956064e-01 -3.21226647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32999999999998 meters 0.01988703693025994 Centerline is valid? [True, True] Translation: X:120.89, Y:83.96, Z:-3.21 [[ 2.84599486e-01 -9.58642345e-01 2.82622266e-03 1.20886995e+02] [ 9.58605836e-01 2.84613331e-01 8.37279671e-03 8.39593467e+01] [-8.83089812e-03 3.26339894e-04 9.99960954e-01 -3.21317277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35999999999999 meters 0.018165302239294266 Centerline is valid? [True, True] Translation: X:120.89, Y:83.99, Z:-3.21 [[ 2.88370572e-01 -9.57514896e-01 2.76356519e-03 1.20890419e+02] [ 9.57479870e-01 2.88383675e-01 8.19478398e-03 8.39879449e+01] [-8.64359482e-03 2.82923499e-04 9.99962603e-01 -3.21398562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39 meters 0.01765080531356557 Centerline is valid? [True, True] Translation: X:120.90, Y:84.02, Z:-3.22 [[ 2.92375728e-01 -9.56299898e-01 2.63403421e-03 1.20895563e+02] [ 9.56267974e-01 2.92387500e-01 7.81735098e-03 8.40151167e+01] [-8.24589062e-03 2.33238876e-04 9.99965975e-01 -3.21522702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42 meters 0.016366889031638174 Centerline is valid? [True, True] Translation: X:120.90, Y:84.04, Z:-3.22 [[ 2.96185363e-01 -9.55127220e-01 2.49478732e-03 1.20899603e+02] [ 9.55098494e-01 2.96195810e-01 7.41001706e-03 8.40433781e+01] [-7.81645455e-03 1.88029018e-04 9.99969433e-01 -3.21541409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45 meters 0.015609654439127416 Centerline is valid? [True, True] Translation: X:120.90, Y:84.07, Z:-3.22 [[ 3.03328059e-01 -9.52883216e-01 2.37998906e-03 1.20901130e+02] [ 9.52856929e-01 3.03337372e-01 7.07902150e-03 8.40708654e+01] [-7.46742040e-03 1.20523212e-04 9.99972111e-01 -3.21519567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48 meters 0.014856095078836732 Centerline is valid? [True, True] Translation: X:120.91, Y:84.10, Z:-3.21 [[ 3.05974039e-01 -9.52036887e-01 2.37768914e-03 1.20906522e+02] [ 9.52010622e-01 3.05983261e-01 7.07239614e-03 8.40991840e+01] [-7.46071509e-03 9.96157088e-05 9.99972164e-01 -3.21407399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51 meters 0.014751947452180206 Centerline is valid? [True, True] Translation: X:120.91, Y:84.13, Z:-3.21 [[ 3.07801432e-01 -9.51447382e-01 2.48134478e-03 1.20912277e+02] [ 9.51418703e-01 3.07811422e-01 7.38779251e-03 8.41269684e+01] [-7.79288211e-03 8.68247218e-05 9.99969631e-01 -3.21290197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54 meters 0.014689151098949136 Centerline is valid? [True, True] Translation: X:120.92, Y:84.15, Z:-3.21 [[ 3.10040748e-01 -9.50718987e-01 2.85365870e-03 1.20916147e+02] [ 9.50680905e-01 3.10053871e-01 8.50968826e-03 8.41544667e+01] [-8.97511013e-03 7.45687203e-05 9.99959720e-01 -3.21232197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57 meters 0.014448256671278631 Centerline is valid? [True, True] Translation: X:120.92, Y:84.18, Z:-3.21 [[ 3.10434766e-01 -9.50589370e-01 3.17890476e-03 1.20922871e+02] [ 9.50542054e-01 3.10451032e-01 9.48471631e-03 8.41819506e+01] [-1.00029648e-02 7.72969817e-05 9.99949966e-01 -3.21191652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.6 meters 0.014443380555629324 Centerline is valid? [True, True] Translation: X:120.93, Y:84.21, Z:-3.21 [[ 3.10462254e-01 -9.50580147e-01 3.25152157e-03 1.20930354e+02] [ 9.50530546e-01 3.10479271e-01 9.71096507e-03 8.42090990e+01] [-1.02405807e-02 7.57824756e-05 9.99947561e-01 -3.21193048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63 meters 0.014420333352770374 Centerline is valid? [True, True] Translation: X:120.94, Y:84.24, Z:-3.21 [[ 3.10246300e-01 -9.50650540e-01 3.28383940e-03 1.20937846e+02] [ 9.50599855e-01 3.10263669e-01 9.81685138e-03 8.42361656e+01] [-1.03512511e-02 7.59754383e-05 9.99946421e-01 -3.21219864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66 meters 0.014566758202045116 Centerline is valid? [True, True] Translation: X:120.95, Y:84.26, Z:-3.21 [[ 3.10157361e-01 -9.50679546e-01 3.28810876e-03 1.20945385e+02] [ 9.50628635e-01 3.10174781e-01 9.83892905e-03 8.42630773e+01] [-1.03735570e-02 7.41540753e-05 9.99946190e-01 -3.21254148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69 meters 0.014499470539179845 Centerline is valid? [True, True] Translation: X:120.95, Y:84.29, Z:-3.21 [[ 3.09817995e-01 -9.50791430e-01 2.90963362e-03 1.20951236e+02] [ 9.50751515e-01 3.09831650e-01 8.71240085e-03 8.42908461e+01] [-9.18517265e-03 6.70800121e-05 9.99957813e-01 -3.21421637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72 meters 0.014583591517299804 Centerline is valid? [True, True] Translation: X:120.96, Y:84.32, Z:-3.22 [[ 3.09379569e-01 -9.50935044e-01 2.61240394e-03 1.20958799e+02] [ 9.50902802e-01 3.09390592e-01 7.83086544e-03 8.43169346e+01] [-8.25489758e-03 6.14324501e-05 9.99965926e-01 -3.21584421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75 meters 0.014575678181883378 Centerline is valid? [True, True] Translation: X:120.97, Y:84.34, Z:-3.22 [[ 3.08761781e-01 -9.51136352e-01 2.40869548e-03 1.20966236e+02] [ 9.51108942e-01 3.08771170e-01 7.22116284e-03 8.43442314e+01] [-7.61204621e-03 6.13127029e-05 9.99971026e-01 -3.21620322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78 meters 0.014549713819654518 Centerline is valid? [True, True] Translation: X:120.97, Y:84.37, Z:-3.22 [[ 3.08316192e-01 -9.51280982e-01 2.37043952e-03 1.20973655e+02] [ 9.51254394e-01 3.08325298e-01 7.11250596e-03 8.43708947e+01] [-7.49685813e-03 6.19902504e-05 9.99971896e-01 -3.21693227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81 meters 0.014781610735909292 Centerline is valid? [True, True] Translation: X:120.98, Y:84.40, Z:-3.22 [[ 3.07206684e-01 -9.51641010e-01 1.85527510e-03 1.20981078e+02] [ 9.51624714e-01 3.07212281e-01 5.56940363e-03 8.43975768e+01] [-5.87003619e-03 5.45676179e-05 9.99982770e-01 -3.21854322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84 meters 0.014887359271014027 Centerline is valid? [True, True] Translation: X:120.99, Y:84.43, Z:-3.22 [[ 3.06230673e-01 -9.51956071e-01 1.55365333e-03 1.20989734e+02] [ 9.51944645e-01 3.06234610e-01 4.66443658e-03 8.44250363e+01] [-4.91612114e-03 5.05984160e-05 9.99987915e-01 -3.21894850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87 meters 0.015169550333738721 Centerline is valid? [True, True] Translation: X:121.00, Y:84.45, Z:-3.22 [[ 3.04984711e-01 -9.52356246e-01 1.38096327e-03 1.20998687e+02] [ 9.52347215e-01 3.04987833e-01 4.14780346e-03 8.44515043e+01] [-4.37136352e-03 5.01398812e-05 9.99990444e-01 -3.21961161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.9 meters 0.015439235485583912 Centerline is valid? [True, True] Translation: X:121.01, Y:84.48, Z:-3.22 [[ 3.03542798e-01 -9.52816920e-01 1.29885942e-03 1.21007645e+02] [ 9.52808927e-01 3.03545572e-01 3.90310656e-03 8.44777115e+01] [-4.11320899e-03 5.28049627e-05 9.99991539e-01 -3.22033556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93 meters 0.016030614282849368 Centerline is valid? [True, True] Translation: X:121.02, Y:84.50, Z:-3.22 [[ 3.00362079e-01 -9.53824195e-01 1.42368421e-03 1.21018106e+02] [ 9.53814570e-01 3.00365445e-01 4.28545739e-03 8.45028072e+01] [-4.51519849e-03 7.07418487e-05 9.99989804e-01 -3.22004853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95999999999998 meters 0.017105823502596908 Centerline is valid? [True, True] Translation: X:121.03, Y:84.53, Z:-3.22 [[ 2.98513882e-01 -9.54403999e-01 1.57116480e-03 1.21028733e+02] [ 9.54392224e-01 2.98518005e-01 4.74169090e-03 8.45276251e+01] [-4.99450974e-03 8.40469061e-05 9.99987524e-01 -3.22076996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98999999999998 meters 0.016359845342425076 Centerline is valid? [True, True] Translation: X:121.04, Y:84.55, Z:-3.22 [[ 2.96465398e-01 -9.55041535e-01 1.98349156e-03 1.21036544e+02] [ 9.55022798e-01 2.96472009e-01 5.98359935e-03 8.45548024e+01] [-6.30263563e-03 1.20349496e-04 9.99980131e-01 -3.21824973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01999999999998 meters 0.017156743262526423 Centerline is valid? [True, True] Translation: X:121.05, Y:84.58, Z:-3.22 [[ 2.93457141e-01 -9.55969092e-01 2.44981423e-03 1.21047369e+02] [ 9.55940448e-01 2.93467317e-01 7.40227766e-03 8.45801722e+01] [-7.79528906e-03 1.69625279e-04 9.99969602e-01 -3.21695312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04999999999998 meters 0.016698743446600935 Centerline is valid? [True, True] Translation: X:121.06, Y:84.61, Z:-3.22 [[ 2.92560091e-01 -9.56243751e-01 2.54587995e-03 1.21055444e+02] [ 9.56212776e-01 2.92571111e-01 7.69889852e-03 8.46075418e+01] [-8.10687453e-03 1.82012485e-04 9.99967122e-01 -3.21619754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07999999999998 meters 0.0172075548476451 Centerline is valid? [True, True] Translation: X:121.06, Y:84.63, Z:-3.22 [[ 2.91732257e-01 -9.56496253e-01 2.68485636e-03 1.21064224e+02] [ 9.56461732e-01 2.91744545e-01 8.12872598e-03 8.46327686e+01] [-8.55838814e-03 1.96550790e-04 9.99963357e-01 -3.21688174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10999999999999 meters 0.017441500010805886 Centerline is valid? [True, True] Translation: X:121.07, Y:84.66, Z:-3.22 [[ 2.91415053e-01 -9.56592941e-01 2.68546810e-03 1.21072424e+02] [ 9.56558359e-01 2.91427359e-01 8.13634329e-03 8.46580759e+01] [-8.56578744e-03 1.97754053e-04 9.99963293e-01 -3.21726719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14 meters 0.017583923545441305 Centerline is valid? [True, True] Translation: X:121.08, Y:84.69, Z:-3.22 [[ 2.91210767e-01 -9.56655138e-01 2.68994855e-03 1.21080880e+02] [ 9.56620360e-01 2.91223124e-01 8.15957010e-03 8.46853751e+01] [-8.58926988e-03 1.97104878e-04 9.99963092e-01 -3.21788876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17 meters 0.01696885741451572 Centerline is valid? [True, True] Translation: X:121.09, Y:84.71, Z:-3.22 [[ 2.91646559e-01 -9.56522296e-01 2.71695804e-03 1.21087412e+02] [ 9.56486752e-01 2.91659151e-01 8.24822540e-03 8.47126243e+01] [-8.68203717e-03 1.93167810e-04 9.99962292e-01 -3.21760010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.2 meters 0.016758045263457356 Centerline is valid? [True, True] Translation: X:121.10, Y:84.74, Z:-3.22 [[ 2.92291495e-01 -9.56325146e-01 2.81015881e-03 1.21095300e+02] [ 9.56287034e-01 2.92304941e-01 8.53988385e-03 8.47396301e+01] [-8.98832897e-03 1.91183013e-04 9.99959586e-01 -3.21767472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23 meters 0.016570621678675856 Centerline is valid? [True, True] Translation: X:121.10, Y:84.77, Z:-3.22 [[ 2.92904044e-01 -9.56137110e-01 3.00807330e-03 1.21103300e+02] [ 9.56093336e-01 2.92919425e-01 9.15113752e-03 8.47671091e+01] [-9.63086528e-03 1.95593651e-04 9.99953603e-01 -3.21785624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26 meters 0.016449209837431863 Centerline is valid? [True, True] Translation: X:121.11, Y:84.79, Z:-3.22 [[ 2.93142846e-01 -9.56063271e-01 3.20829750e-03 1.21111320e+02] [ 9.56013369e-01 2.93160332e-01 9.77027334e-03 8.47944903e+01] [-1.02815451e-02 2.03089561e-04 9.99947123e-01 -3.21831984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29 meters 0.0158813910691903 Centerline is valid? [True, True] Translation: X:121.12, Y:84.82, Z:-3.22 [[ 2.93456624e-01 -9.55966589e-01 3.33031823e-03 1.21118565e+02] [ 9.55912702e-01 2.93475450e-01 1.01521900e-02 8.48214437e+01] [-1.06825211e-02 2.04266092e-04 9.99942919e-01 -3.21801051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32 meters 0.01618460662356892 Centerline is valid? [True, True] Translation: X:121.13, Y:84.85, Z:-3.22 [[ 2.92929994e-01 -9.56128081e-01 3.33330403e-03 1.21127619e+02] [ 9.56073995e-01 2.92948885e-01 1.01718450e-02 8.48470803e+01] [-1.07020744e-02 2.07246799e-04 9.99942710e-01 -3.21880967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35 meters 0.016530507225477466 Centerline is valid? [True, True] Translation: X:121.14, Y:84.87, Z:-3.22 [[ 2.91787681e-01 -9.56476851e-01 3.46158970e-03 1.21136800e+02] [ 9.56418432e-01 2.91808126e-01 1.05735994e-02 8.48723495e+01] [-1.11235230e-02 2.25482159e-04 9.99938106e-01 -3.21977088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38 meters 0.016962592710177707 Centerline is valid? [True, True] Translation: X:121.15, Y:84.90, Z:-3.22 [[ 2.90523551e-01 -9.56860631e-01 3.71483344e-03 1.21146595e+02] [ 9.56793265e-01 2.90547188e-01 1.13569541e-02 8.48976591e+01] [-1.19463567e-02 2.54864987e-04 9.99928607e-01 -3.22037728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41 meters 0.0171235113940677 Centerline is valid? [True, True] Translation: X:121.16, Y:84.92, Z:-3.22 [[ 2.86575488e-01 -9.58048908e-01 4.09619399e-03 1.21156893e+02] [ 9.57966916e-01 2.86604570e-01 1.25382777e-02 8.49239688e+01] [-1.31862712e-02 3.30855277e-04 9.99913003e-01 -3.22017881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44 meters 0.01784487645540191 Centerline is valid? [True, True] Translation: X:121.17, Y:84.95, Z:-3.22 [[ 2.84036420e-01 -9.58803961e-01 4.27514075e-03 1.21167440e+02] [ 9.58714558e-01 2.84068340e-01 1.30986613e-02 8.49503422e+01] [-1.37734805e-02 3.78142799e-04 9.99905070e-01 -3.22058260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47 meters 0.018358154152753606 Centerline is valid? [True, True] Translation: X:121.18, Y:84.98, Z:-3.22 [[ 2.80931650e-01 -9.59716332e-01 4.68730354e-03 1.21177309e+02] [ 9.59608738e-01 2.80970377e-01 1.43776895e-02 8.49767387e+01] [-1.51154969e-02 4.58829401e-04 9.99885649e-01 -3.22098238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.5 meters 0.019424208496224605 Centerline is valid? [True, True] Translation: X:121.19, Y:85.00, Z:-3.22 [[ 2.77579039e-01 -9.60689449e-01 5.06559758e-03 1.21187645e+02] [ 9.60563801e-01 2.77624711e-01 1.55468081e-02 8.50023953e+01] [-1.63419896e-02 5.50361620e-04 9.99866309e-01 -3.22152060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53 meters 0.01997181200392611 Centerline is valid? [True, True] Translation: X:121.20, Y:85.03, Z:-3.22 [[ 2.74363024e-01 -9.61612131e-01 5.20012040e-03 1.21197296e+02] [ 9.61479616e-01 2.74411606e-01 1.59755632e-02 8.50289945e+01] [-1.67892688e-02 6.16705935e-04 9.99858860e-01 -3.22233204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56 meters 0.021061567744190688 Centerline is valid? [True, True] Translation: X:121.21, Y:85.05, Z:-3.22 [[ 2.71022036e-01 -9.62558756e-01 5.26278959e-03 1.21207179e+02] [ 9.62422952e-01 2.71072278e-01 1.61827604e-02 8.50546122e+01] [-1.70034541e-02 6.79144817e-04 9.99855200e-01 -3.22331636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59 meters 0.022489194838201946 Centerline is valid? [True, True] Translation: X:121.22, Y:85.08, Z:-3.22 [[ 2.64433464e-01 -9.64387016e-01 5.71189927e-03 1.21216502e+02] [ 9.64227105e-01 2.64493755e-01 1.75824639e-02 8.50814326e+01] [-1.84670616e-02 8.58176255e-04 9.99829101e-01 -3.22426165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62 meters 0.022624984666455506 Centerline is valid? [True, True] Translation: X:121.22, Y:85.11, Z:-3.22 [[ 2.60998039e-01 -9.65320607e-01 6.01244251e-03 1.21224287e+02] [ 9.65143303e-01 2.61065489e-01 1.85260425e-02 8.51081257e+01] [-1.94532119e-02 9.67607847e-04 9.99810300e-01 -3.22446136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65 meters 0.022748404059705987 Centerline is valid? [True, True] Translation: X:121.23, Y:85.14, Z:-3.22 [[ 2.57675597e-01 -9.66210892e-01 6.30859020e-03 1.21231922e+02] [ 9.66015530e-01 2.57750548e-01 1.94589254e-02 8.51356561e+01] [-2.04274682e-02 1.08010589e-03 9.99790754e-01 -3.22470819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68 meters 0.027130377196631292 Centerline is valid? [True, True] Translation: X:121.24, Y:85.16, Z:-3.22 [[ 2.51619931e-01 -9.67800431e-01 7.05242326e-03 1.21243145e+02] [ 9.67556372e-01 2.51715153e-01 2.17749451e-02 8.51608869e+01] [-2.28490031e-02 1.34460687e-03 9.99738023e-01 -3.22465649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70999999999998 meters 0.024211041912875594 Centerline is valid? [True, True] Translation: X:121.25, Y:85.19, Z:-3.23 [[ 2.48793747e-01 -9.68528479e-01 7.36594818e-03 1.21245596e+02] [ 9.68262152e-01 2.48898423e-01 2.27591766e-02 8.51898811e+01] [-2.38762835e-02 1.46982804e-03 9.99713840e-01 -3.22526196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73999999999998 meters 0.025544174361890295 Centerline is valid? [True, True] Translation: X:121.25, Y:85.22, Z:-3.23 [[ 2.46264248e-01 -9.69172691e-01 7.62987078e-03 1.21253591e+02] [ 9.68886723e-01 2.46377338e-01 2.35950283e-02 8.52161719e+01] [-2.47474844e-02 1.58186859e-03 9.99692483e-01 -3.22589052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76999999999998 meters 0.02850924816858348 Centerline is valid? [True, True] Translation: X:121.26, Y:85.24, Z:-3.23 [[ 2.44071731e-01 -9.69724773e-01 7.92805630e-03 1.21263417e+02] [ 9.69416004e-01 2.44194549e-01 2.45282223e-02 8.52415035e+01] [-2.57216129e-02 1.69893898e-03 9.99667701e-01 -3.22631441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79999999999998 meters 0.029691310075292503 Centerline is valid? [True, True] Translation: X:121.27, Y:85.27, Z:-3.23 [[ 2.42274501e-01 -9.70173927e-01 8.10051034e-03 1.21270964e+02] [ 9.69851305e-01 2.42403351e-01 2.50810868e-02 8.52692171e+01] [-2.62966073e-02 1.77978274e-03 9.99652600e-01 -3.22685464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82999999999998 meters 0.03162794681768789 Centerline is valid? [True, True] Translation: X:121.27, Y:85.30, Z:-3.23 [[ 2.39558892e-01 -9.70844406e-01 8.52507523e-03 1.21274832e+02] [ 9.70486812e-01 2.39702647e-01 2.64194719e-02 8.52959863e+01] [-2.76926796e-02 1.94445367e-03 9.99614593e-01 -3.22708500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85999999999999 meters 0.03162794681768789 Centerline is valid? [True, True] Translation: X:121.28, Y:85.32, Z:-3.23 [[ 2.39292898e-01 -9.70910058e-01 8.51868550e-03 1.21283251e+02] [ 9.70552434e-01 2.39436577e-01 2.64215322e-02 8.53223200e+01] [-2.76926163e-02 1.94534594e-03 9.99614593e-01 -3.22765278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89 meters 0.03232699762017632 Centerline is valid? [True, True] Translation: X:121.29, Y:85.35, Z:-3.23 [[ 2.38264234e-01 -9.71161723e-01 8.66386076e-03 1.21289114e+02] [ 9.70791254e-01 2.38413294e-01 2.68968959e-02 8.53506543e+01] [-2.81868154e-02 2.00223196e-03 9.99600668e-01 -3.22839142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92 meters 0.030608521556742523 Centerline is valid? [True, True] Translation: X:121.29, Y:85.38, Z:-3.23 [[ 2.36965998e-01 -9.71479857e-01 8.60255928e-03 1.21291332e+02] [ 9.71114144e-01 2.37113492e-01 2.67303562e-02 8.53794983e+01] [-2.80077855e-02 2.01988146e-03 9.99605664e-01 -3.22988625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95 meters 0.028888560611038398 Centerline is valid? [True, True] Translation: X:121.29, Y:85.41, Z:-3.23 [[ 2.35449017e-01 -9.71849347e-01 8.52097883e-03 1.21293401e+02] [ 9.71490158e-01 2.35594333e-01 2.64987573e-02 8.54084764e+01] [-2.77602943e-02 2.03894071e-03 9.99612529e-01 -3.23153881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98 meters 0.029883215936888013 Centerline is valid? [True, True] Translation: X:121.30, Y:85.44, Z:-3.23 [[ 2.33734681e-01 -9.72263840e-01 8.43356213e-03 1.21299134e+02] [ 9.71911790e-01 2.33877684e-01 2.62431128e-02 8.54361121e+01] [-2.74876516e-02 2.06275288e-03 9.99620015e-01 -3.23247534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01 meters 0.03274687991558248 Centerline is valid? [True, True] Translation: X:121.30, Y:85.46, Z:-3.23 [[ 2.28737984e-01 -9.73454699e-01 8.05502508e-03 1.21302541e+02] [ 9.73133600e-01 2.28870137e-01 2.50889778e-02 8.54637223e+01] [-2.62665380e-02 2.09981337e-03 9.99652770e-01 -3.23435550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04 meters 0.03419849183145697 Centerline is valid? [True, True] Translation: X:121.31, Y:85.49, Z:-3.24 [[ 2.25642840e-01 -9.74179111e-01 7.76977476e-03 1.21307978e+02] [ 9.73880159e-01 2.25766797e-01 2.42237317e-02 8.54916628e+01] [-2.53524106e-02 2.10091786e-03 9.99676368e-01 -3.23591448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07 meters 0.030580416391800643 Centerline is valid? [True, True] Translation: X:121.31, Y:85.52, Z:-3.24 [[ 2.22573625e-01 -9.74888119e-01 7.35773676e-03 1.21306621e+02] [ 9.74619894e-01 2.22685671e-01 2.29598155e-02 8.55216269e+01] [-2.40217139e-02 2.06074726e-03 9.99709313e-01 -3.23767810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.1 meters 0.036059985064543915 Centerline is valid? [True, True] Translation: X:121.31, Y:85.55, Z:-3.24 [[ 2.16545040e-01 -9.76245819e-01 7.23503644e-03 1.21310159e+02] [ 9.75986656e-01 2.16655026e-01 2.25975110e-02 8.55487825e+01] [-2.36282327e-02 2.16792009e-03 9.99718464e-01 -3.23903367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13 meters 0.03413466406605566 Centerline is valid? [True, True] Translation: X:121.31, Y:85.58, Z:-3.24 [[ 2.13910382e-01 -9.76826443e-01 7.24210820e-03 1.21310221e+02] [ 9.76566648e-01 2.14021323e-01 2.26374731e-02 8.55785301e+01] [-2.36628480e-02 2.23001081e-03 9.99717508e-01 -3.23989578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16 meters 0.039388853775096835 Centerline is valid? [True, True] Translation: X:121.32, Y:85.60, Z:-3.24 [[ 2.12068849e-01 -9.77227258e-01 7.32735119e-03 1.21319118e+02] [ 9.76961050e-01 2.12182964e-01 2.29237188e-02 8.56042163e+01] [-2.39564220e-02 2.29713003e-03 9.99710365e-01 -3.23998133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19 meters 0.034640863123327585 Centerline is valid? [True, True] Translation: X:121.32, Y:85.64, Z:-3.24 [[ 2.10276468e-01 -9.77614530e-01 7.32377761e-03 1.21315513e+02] [ 9.77348547e-01 2.10390983e-01 2.29227564e-02 8.56354965e+01] [-2.39504765e-02 2.33776716e-03 9.99710413e-01 -3.24034183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22 meters 0.03416311746546293 Centerline is valid? [True, True] Translation: X:121.31, Y:85.67, Z:-3.24 [[ 2.08750853e-01 -9.77940199e-01 7.48659875e-03 1.21310786e+02] [ 9.77661902e-01 2.08871003e-01 2.34544203e-02 8.56670308e+01] [-2.45007538e-02 2.42323213e-03 9.99696875e-01 -3.24065245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25 meters 0.0336710400235982 Centerline is valid? [True, True] Translation: X:121.31, Y:85.70, Z:-3.24 [[ 2.08725947e-01 -9.77946517e-01 7.35455026e-03 1.21311949e+02] [ 9.77677450e-01 2.08841953e-01 2.30617159e-02 8.56968487e+01] [-2.40890634e-02 2.37679945e-03 9.99706991e-01 -3.24108960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28 meters 0.03634920202981392 Centerline is valid? [True, True] Translation: X:121.32, Y:85.72, Z:-3.24 [[ 2.09081479e-01 -9.77871023e-01 7.29371809e-03 1.21316682e+02] [ 9.77605889e-01 2.09195523e-01 2.28901474e-02 8.57248869e+01] [-2.39094250e-02 2.34447589e-03 9.99711380e-01 -3.24170532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31 meters 0.03331972608814622 Centerline is valid? [True, True] Translation: X:121.31, Y:85.76, Z:-3.24 [[ 2.10379658e-01 -9.77595068e-01 6.94853176e-03 1.21305795e+02] [ 9.77354038e-01 2.10482869e-01 2.18184881e-02 8.57578104e+01] [-2.27921933e-02 2.20100951e-03 9.99737801e-01 -3.24285074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34 meters 0.03378267563526364 Centerline is valid? [True, True] Translation: X:121.31, Y:85.79, Z:-3.24 [[ 2.11260277e-01 -9.77405938e-01 6.83576884e-03 1.21307110e+02] [ 9.77172109e-01 2.11360000e-01 2.14853530e-02 8.57872784e+01] [-2.24447197e-02 2.14072103e-03 9.99745794e-01 -3.24355607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37 meters 0.033108481126214576 Centerline is valid? [True, True] Translation: X:121.31, Y:85.82, Z:-3.24 [[ 2.12140078e-01 -9.77215481e-01 6.81848022e-03 1.21306892e+02] [ 9.76982293e-01 2.12239130e-01 2.14511145e-02 8.58175026e+01] [-2.24095095e-02 2.11089335e-03 9.99746647e-01 -3.24400801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.4 meters 0.03384308683970186 Centerline is valid? [True, True] Translation: X:121.31, Y:85.85, Z:-3.24 [[ 2.13006318e-01 -9.77027384e-01 6.76749972e-03 1.21308889e+02] [ 9.76797167e-01 2.13103730e-01 2.13094825e-02 8.58471160e+01] [-2.22621274e-02 2.07142014e-03 9.99750022e-01 -3.24422046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43 meters 0.03357900021952252 Centerline is valid? [True, True] Translation: X:121.31, Y:85.88, Z:-3.24 [[ 2.13974997e-01 -9.76814889e-01 6.88279248e-03 1.21310252e+02] [ 9.76576221e-01 2.14075560e-01 2.16919009e-02 8.58770738e+01] [-2.26624095e-02 2.08004704e-03 9.99741011e-01 -3.24416624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45999999999998 meters 0.037635668214115674 Centerline is valid? [True, True] Translation: X:121.32, Y:85.90, Z:-3.24 [[ 2.15124485e-01 -9.76562053e-01 6.92916665e-03 1.21316389e+02] [ 9.76319621e-01 2.15226160e-01 2.18562764e-02 8.59035308e+01] [-2.28353481e-02 2.06326117e-03 9.99737110e-01 -3.24411969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48999999999998 meters 0.03428093190838599 Centerline is valid? [True, True] Translation: X:121.31, Y:85.94, Z:-3.24 [[ 2.18374687e-01 -9.75840970e-01 6.84814249e-03 1.21306070e+02] [ 9.75603656e-01 2.18473227e-01 2.16091716e-02 8.59370259e+01] [-2.25832508e-02 1.96217676e-03 9.99743040e-01 -3.24467726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51999999999998 meters 0.034201794344167945 Centerline is valid? [True, True] Translation: X:121.31, Y:85.97, Z:-3.25 [[ 2.20367168e-01 -9.75393741e-01 6.73502846e-03 1.21307131e+02] [ 9.75163734e-01 2.20462034e-01 2.12646183e-02 8.59665050e+01] [-2.22261937e-02 1.88173180e-03 9.99751197e-01 -3.24544599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54999999999998 meters 0.03477738790793196 Centerline is valid? [True, True] Translation: X:121.31, Y:86.00, Z:-3.25 [[ 2.22489940e-01 -9.74911628e-01 6.74863718e-03 1.21308952e+02] [ 9.74680048e-01 2.22584722e-01 2.13271246e-02 8.59950871e+01] [-2.22942053e-02 1.83269135e-03 9.99749774e-01 -3.24558794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57999999999998 meters 0.032635962084287415 Centerline is valid? [True, True] Translation: X:121.31, Y:86.03, Z:-3.25 [[ 2.25030401e-01 -9.74328940e-01 6.66600605e-03 1.21307684e+02] [ 9.74102321e-01 2.25122323e-01 2.10857426e-02 8.60253833e+01] [-2.20451160e-02 1.74843884e-03 9.99755448e-01 -3.24647751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60999999999999 meters 0.031143967220754794 Centerline is valid? [True, True] Translation: X:121.30, Y:86.06, Z:-3.25 [[ 2.30833567e-01 -9.72972146e-01 6.40832549e-03 1.21300759e+02] [ 9.72761831e-01 2.30917297e-01 2.02884776e-02 8.60570333e+01] [-2.12199168e-02 1.55051279e-03 9.99773630e-01 -3.24724615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64 meters 0.030794778535922905 Centerline is valid? [True, True] Translation: X:121.30, Y:86.09, Z:-3.25 [[ 2.34176511e-01 -9.72173996e-01 6.25174223e-03 1.21302304e+02] [ 9.71973198e-01 2.34255536e-01 1.98102557e-02 8.60854288e+01] [-2.07235207e-02 1.43742933e-03 9.99784211e-01 -3.24789403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67 meters 0.029859270621034852 Centerline is valid? [True, True] Translation: X:121.30, Y:86.11, Z:-3.25 [[ 2.37835699e-01 -9.71287600e-01 5.88039814e-03 1.21303354e+02] [ 9.71109438e-01 2.37904963e-01 1.86464150e-02 8.61147463e+01] [-1.95100076e-02 1.27572699e-03 9.99808848e-01 -3.24855517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.7 meters 0.02925955756211076 Centerline is valid? [True, True] Translation: X:121.30, Y:86.14, Z:-3.25 [[ 2.41604567e-01 -9.70358215e-01 5.67173520e-03 1.21304648e+02] [ 9.70191924e-01 2.41668377e-01 1.80007451e-02 8.61428065e+01] [-1.88378499e-02 1.15360946e-03 9.99821886e-01 -3.25013806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73 meters 0.02719280888884921 Centerline is valid? [True, True] Translation: X:121.30, Y:86.17, Z:-3.25 [[ 2.48699481e-01 -9.68567689e-01 5.01996653e-03 1.21299278e+02] [ 9.68436893e-01 2.48748523e-01 1.59422867e-02 8.61739539e+01] [-1.66898931e-02 8.96682358e-04 9.99860312e-01 -3.25150982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76 meters 0.02606279567862518 Centerline is valid? [True, True] Translation: X:121.30, Y:86.20, Z:-3.25 [[ 2.51708962e-01 -9.67790471e-01 4.91964253e-03 1.21300863e+02] [ 9.67664465e-01 2.51755685e-01 1.56383790e-02 8.62034695e+01] [-1.63732221e-02 8.24243113e-04 9.99865610e-01 -3.25225297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79 meters 0.024816228353376702 Centerline is valid? [True, True] Translation: X:121.30, Y:86.23, Z:-3.25 [[ 2.57048556e-01 -9.66385904e-01 4.93203706e-03 1.21297819e+02] [ 9.66258763e-01 2.57094826e-01 1.56924574e-02 8.62329677e+01] [-1.64329708e-02 7.31900522e-04 9.99864702e-01 -3.25187049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82 meters 0.02488400574429533 Centerline is valid? [True, True] Translation: X:121.30, Y:86.26, Z:-3.25 [[ 2.58920234e-01 -9.65884859e-01 5.17214541e-03 1.21301853e+02] [ 9.65744708e-01 2.58970857e-01 1.64698181e-02 8.62598867e+01] [-1.72473828e-02 7.30602909e-04 9.99850986e-01 -3.25137759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85 meters 0.02409717705423692 Centerline is valid? [True, True] Translation: X:121.31, Y:86.29, Z:-3.25 [[ 2.60787500e-01 -9.65381610e-01 5.31281342e-03 1.21305315e+02] [ 9.65233441e-01 2.60840636e-01 1.69283176e-02 8.62880632e+01] [-1.77280841e-02 7.13411551e-04 9.99842591e-01 -3.25137076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88 meters 0.02325293499649261 Centerline is valid? [True, True] Translation: X:121.31, Y:86.32, Z:-3.25 [[ 2.62611539e-01 -9.64887204e-01 5.27859368e-03 1.21309280e+02] [ 9.64740540e-01 2.62663727e-01 1.68361804e-02 8.63174080e+01] [-1.76315101e-02 6.71098077e-04 9.99844328e-01 -3.25189286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91 meters 0.022228415596326778 Centerline is valid? [True, True] Translation: X:121.31, Y:86.35, Z:-3.25 [[ 2.64753253e-01 -9.64303008e-01 5.04227837e-03 1.21313061e+02] [ 9.64168987e-01 2.64800579e-01 1.60878392e-02 8.63457580e+01] [-1.68487499e-02 6.02300674e-04 9.99857868e-01 -3.25313144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94 meters 0.019162544449546653 Centerline is valid? [True, True] Translation: X:121.31, Y:86.38, Z:-3.26 [[ 2.70158059e-01 -9.62806496e-01 4.27492457e-03 1.21311548e+02] [ 9.62709825e-01 2.70191541e-01 1.36500561e-02 8.63762077e+01] [-1.42974111e-02 4.27839223e-04 9.99897695e-01 -3.25562731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97 meters 0.019760313282183705 Centerline is valid? [True, True] Translation: X:121.32, Y:86.40, Z:-3.26 [[ 2.73675044e-01 -9.61813877e-01 4.00444601e-03 1.21319001e+02] [ 9.61728770e-01 2.73704118e-01 1.27995469e-02 8.64026134e+01] [-1.34068152e-02 3.48274373e-04 9.99910064e-01 -3.25832539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.0 meters 0.017220955460239322 Centerline is valid? [True, True] Translation: X:121.32, Y:86.43, Z:-3.26 [[ 2.77162487e-01 -9.60815887e-01 3.71313799e-03 1.21321247e+02] [ 9.60742624e-01 2.77187219e-01 1.18682493e-02 8.64312983e+01] [-1.24324369e-02 2.77936434e-04 9.99922676e-01 -3.25820474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03 meters 0.017356844182730036 Centerline is valid? [True, True] Translation: X:121.33, Y:86.46, Z:-3.26 [[ 2.80749152e-01 -9.59773955e-01 3.72424792e-03 1.21328243e+02] [ 9.59700022e-01 2.80773759e-01 1.19148609e-02 8.64583337e+01] [-1.24812443e-02 2.29073723e-04 9.99922080e-01 -3.25974963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06 meters 0.014805998114722552 Centerline is valid? [True, True] Translation: X:121.33, Y:86.49, Z:-3.26 [[ 2.87743313e-01 -9.57698964e-01 4.05961720e-03 1.21329212e+02] [ 9.57610686e-01 2.87771912e-01 1.30038667e-02 8.64888796e+01] [-1.36220335e-02 1.45757115e-04 9.99907205e-01 -3.25808488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09 meters 0.014710669133336081 Centerline is valid? [True, True] Translation: X:121.34, Y:86.52, Z:-3.26 [[ 2.90444192e-01 -9.56882168e-01 4.32305437e-03 1.21336782e+02] [ 9.56781863e-01 2.90476341e-01 1.38550399e-02 8.65153963e+01] [-1.45133857e-02 1.12104146e-04 9.99894669e-01 -3.25845667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12 meters 0.014331449373000078 Centerline is valid? [True, True] Translation: X:121.34, Y:86.54, Z:-3.26 [[ 2.92239656e-01 -9.56334076e-01 4.59548378e-03 1.21344105e+02] [ 9.56220629e-01 2.92275772e-01 1.47302950e-02 8.65429626e+01] [-1.54302316e-02 8.95200558e-05 9.99880943e-01 -3.25816089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15 meters 0.014260155100801948 Centerline is valid? [True, True] Translation: X:121.35, Y:86.57, Z:-3.26 [[ 2.93522548e-01 -9.55940514e-01 4.71676248e-03 1.21352873e+02] [ 9.55820705e-01 2.93560437e-01 1.51344275e-02 8.65681110e+01] [-1.58522673e-02 6.60834976e-05 9.99874343e-01 -3.25870242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18 meters 0.014226926842440948 Centerline is valid? [True, True] Translation: X:121.37, Y:86.59, Z:-3.26 [[ 2.92822223e-01 -9.56155048e-01 4.76135475e-03 1.21366257e+02] [ 9.56032905e-01 2.92860921e-01 1.52828721e-02 8.65935220e+01] [-1.60072100e-02 7.68472246e-05 9.99871873e-01 -3.25952394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20999999999998 meters 0.014410729687295966 Centerline is valid? [True, True] Translation: X:121.38, Y:86.62, Z:-3.26 [[ 2.91233786e-01 -9.56640295e-01 4.71476400e-03 1.21378450e+02] [ 9.56520319e-01 2.91271930e-01 1.51506310e-02 8.66183561e+01] [-1.58669826e-02 9.73919297e-05 9.99874107e-01 -3.26022702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23999999999998 meters 0.01451209689268682 Centerline is valid? [True, True] Translation: X:121.39, Y:86.64, Z:-3.26 [[ 2.88902600e-01 -9.57347193e-01 4.65183696e-03 1.21390996e+02] [ 9.57230407e-01 2.88940018e-01 1.49537102e-02 8.66445760e+01] [-1.56599943e-02 1.32714045e-04 9.99877366e-01 -3.26105065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26999999999998 meters 0.014800922502150341 Centerline is valid? [True, True] Translation: X:121.40, Y:86.67, Z:-3.26 [[ 2.86454720e-01 -9.58083006e-01 4.54401120e-03 1.21404006e+02] [ 9.57971473e-01 2.86490710e-01 1.46195293e-02 8.66702668e+01] [-1.53085396e-02 1.65199930e-04 9.99882804e-01 -3.26184676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29999999999998 meters 0.015678840368671287 Centerline is valid? [True, True] Translation: X:121.42, Y:86.69, Z:-3.26 [[ 2.81806379e-01 -9.59462595e-01 4.08565170e-03 1.21421567e+02] [ 9.59372391e-01 2.81835915e-01 1.31579527e-02 8.66935079e+01] [-1.37760468e-02 2.11666434e-04 9.99905083e-01 -3.26352362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32999999999998 meters 0.015938812847691566 Centerline is valid? [True, True] Translation: X:121.43, Y:86.72, Z:-3.26 [[ 2.79721942e-01 -9.60072863e-01 3.96640935e-03 1.21433722e+02] [ 9.59987860e-01 2.79749965e-01 1.27775238e-02 8.67193756e+01] [-1.33769567e-02 2.33551058e-04 9.99910497e-01 -3.26438782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35999999999999 meters 0.01628048950085887 Centerline is valid? [True, True] Translation: X:121.45, Y:86.75, Z:-3.27 [[ 2.78173839e-01 -9.60523513e-01 3.72768442e-03 1.21446617e+02] [ 9.60448439e-01 2.78198712e-01 1.20113403e-02 8.67456037e+01] [-1.25742118e-02 2.39008028e-04 9.99920913e-01 -3.26549321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39 meters 0.016581429689870253 Centerline is valid? [True, True] Translation: X:121.46, Y:86.77, Z:-3.27 [[ 2.76886685e-01 -9.60895878e-01 3.58829698e-03 1.21459203e+02] [ 9.60826230e-01 2.76909828e-01 1.15716826e-02 8.67717542e+01] [-1.21128168e-02 2.43685028e-04 9.99926607e-01 -3.26617683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42 meters 0.016966373942107506 Centerline is valid? [True, True] Translation: X:121.48, Y:86.80, Z:-3.27 [[ 2.76045407e-01 -9.61137544e-01 3.68174802e-03 1.21475102e+02] [ 9.61064111e-01 2.76069838e-01 1.18835809e-02 8.67956612e+01] [-1.24381753e-02 2.57987973e-04 9.99922610e-01 -3.26633335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45 meters 0.016679151077161967 Centerline is valid? [True, True] Translation: X:121.49, Y:86.82, Z:-3.27 [[ 2.75898401e-01 -9.61179680e-01 3.70060050e-03 1.21486101e+02] [ 9.61105372e-01 2.75923097e-01 1.19544180e-02 8.68211464e+01] [-1.25114249e-02 2.58462198e-04 9.99921696e-01 -3.26596870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48 meters 0.016689942958634258 Centerline is valid? [True, True] Translation: X:121.50, Y:86.85, Z:-3.27 [[ 2.75526294e-01 -9.61286072e-01 3.78809308e-03 1.21497891e+02] [ 9.61208056e-01 2.75552205e-01 1.22497408e-02 8.68470396e+01] [-1.28193226e-02 2.66019896e-04 9.99917794e-01 -3.26635707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51 meters 0.017269461208153977 Centerline is valid? [True, True] Translation: X:121.51, Y:86.87, Z:-3.27 [[ 2.74921195e-01 -9.61458683e-01 3.94172003e-03 1.21510531e+02] [ 9.61374038e-01 2.74949307e-01 1.27607486e-02 8.68709047e+01] [-1.33527057e-02 2.81267054e-04 9.99910809e-01 -3.26692194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54 meters 0.01712797805117618 Centerline is valid? [True, True] Translation: X:121.52, Y:86.90, Z:-3.27 [[ 2.73917093e-01 -9.61744890e-01 4.02408199e-03 1.21522161e+02] [ 9.61656540e-01 2.73946488e-01 1.30391730e-02 8.68968384e+01] [-1.36427412e-02 2.98132387e-04 9.99906889e-01 -3.26694113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57 meters 0.017827450506444745 Centerline is valid? [True, True] Translation: X:121.54, Y:86.92, Z:-3.27 [[ 2.71169567e-01 -9.62523043e-01 4.05686940e-03 1.21539750e+02] [ 9.62433152e-01 2.71199703e-01 1.31586400e-02 8.69216572e+01] [-1.37657160e-02 3.36242895e-04 9.99905192e-01 -3.26825874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.6 meters 0.019318166856859352 Centerline is valid? [True, True] Translation: X:121.55, Y:86.95, Z:-3.27 [[ 2.69729298e-01 -9.62927823e-01 4.01424425e-03 1.21554660e+02] [ 9.62839672e-01 2.69758941e-01 1.30338195e-02 8.69463373e+01] [-1.36335057e-02 3.49470626e-04 9.99906998e-01 -3.26973558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63 meters 0.019895113958273855 Centerline is valid? [True, True] Translation: X:121.57, Y:86.97, Z:-3.27 [[ 2.67754363e-01 -9.63478616e-01 4.06904408e-03 1.21567873e+02] [ 9.63388046e-01 2.67785008e-01 1.32159707e-02 8.69723912e+01] [-1.38229342e-02 3.81434605e-04 9.99904386e-01 -3.27024868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66 meters 0.020417970876174796 Centerline is valid? [True, True] Translation: X:121.58, Y:87.00, Z:-3.27 [[ 2.64253362e-01 -9.64443603e-01 4.32402399e-03 1.21583640e+02] [ 9.64341255e-01 2.64288345e-01 1.40575741e-02 8.69971389e+01] [-1.47005266e-02 4.55073493e-04 9.99891838e-01 -3.26945538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69 meters 0.019683541436423233 Centerline is valid? [True, True] Translation: X:121.59, Y:87.02, Z:-3.27 [[ 2.62381336e-01 -9.64953151e-01 4.63161547e-03 1.21593973e+02] [ 9.64835566e-01 2.62421708e-01 1.50724337e-02 8.70246124e+01] [-1.57596288e-02 5.14022043e-04 9.99875677e-01 -3.26877168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72 meters 0.020266907023995376 Centerline is valid? [True, True] Translation: X:121.61, Y:87.05, Z:-3.27 [[ 2.60444375e-01 -9.65477113e-01 4.76156913e-03 1.21606039e+02] [ 9.65352682e-01 2.60487302e-01 1.55101435e-02 8.70505498e+01] [-1.62150168e-02 5.57063914e-04 9.99868373e-01 -3.26842143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75 meters 0.020943721227731922 Centerline is valid? [True, True] Translation: X:121.62, Y:87.08, Z:-3.27 [[ 2.58319937e-01 -9.66047218e-01 4.85617532e-03 1.21618097e+02] [ 9.65917727e-01 2.58364878e-01 1.58283086e-02 8.70768222e+01] [-1.65455586e-02 6.01898151e-04 9.99862932e-01 -3.26901198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78 meters 0.020943721227731922 Centerline is valid? [True, True] Translation: X:121.63, Y:87.10, Z:-3.27 [[ 2.58053528e-01 -9.66118435e-01 4.85249074e-03 1.21626100e+02] [ 9.65988935e-01 2.58098444e-01 1.58294380e-02 8.71031751e+01] [-1.65455321e-02 6.02610050e-04 9.99862932e-01 -3.26957851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81 meters 0.02204285212688416 Centerline is valid? [True, True] Translation: X:121.64, Y:87.13, Z:-3.27 [[ 2.55694391e-01 -9.66746128e-01 4.72264075e-03 1.21638150e+02] [ 9.66623325e-01 2.55737244e-01 1.54210776e-02 8.71294425e+01] [-1.61160222e-02 6.21931654e-04 9.99869935e-01 -3.26997688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84 meters 0.02363769226285254 Centerline is valid? [True, True] Translation: X:121.65, Y:87.15, Z:-3.27 [[ 2.52039432e-01 -9.67705878e-01 4.63234699e-03 1.21651374e+02] [ 9.67587687e-01 2.52081117e-01 1.51386272e-02 8.71546998e+01] [-1.58174657e-02 6.66670897e-04 9.99874674e-01 -3.27087869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87 meters 0.024375999372703905 Centerline is valid? [True, True] Translation: X:121.66, Y:87.18, Z:-3.27 [[ 2.50731449e-01 -9.68046007e-01 4.54623981e-03 1.21661508e+02] [ 9.67932018e-01 2.50771761e-01 1.48705248e-02 8.71812884e+01] [-1.55354208e-02 6.71942829e-04 9.99879092e-01 -3.27169301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.9 meters 0.02484952117530039 Centerline is valid? [True, True] Translation: X:121.67, Y:87.21, Z:-3.27 [[ 2.49780460e-01 -9.68292050e-01 4.49758268e-03 1.21671520e+02] [ 9.68180324e-01 2.49820033e-01 1.47244881e-02 8.72082651e+01] [-1.53811910e-02 6.76581643e-04 9.99881474e-01 -3.27229838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93 meters 0.025705129651414957 Centerline is valid? [True, True] Translation: X:121.68, Y:87.23, Z:-3.27 [[ 2.49140560e-01 -9.68456256e-01 4.63265311e-03 1.21682378e+02] [ 9.68337517e-01 2.49182634e-01 1.51812105e-02 8.72334476e+01] [-1.58567150e-02 7.03716514e-04 9.99874027e-01 -3.27274239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95999999999998 meters 0.023080844689807707 Centerline is valid? [True, True] Translation: X:121.69, Y:87.26, Z:-3.27 [[ 2.49314094e-01 -9.68412661e-01 4.40467324e-03 1.21687216e+02] [ 9.68305151e-01 2.49352117e-01 1.44449694e-02 8.72613344e+01] [-1.50870058e-02 6.63733331e-04 9.99885964e-01 -3.27342612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98999999999998 meters 0.02617464020139634 Centerline is valid? [True, True] Translation: X:121.70, Y:87.29, Z:-3.28 [[ 2.49527436e-01 -9.68358905e-01 4.13399673e-03 1.21699718e+02] [ 9.68264012e-01 2.49560916e-01 1.35703056e-02 8.72860938e+01] [-1.41726103e-02 6.16636697e-04 9.99899373e-01 -3.27567558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01999999999998 meters 0.023191267478497396 Centerline is valid? [True, True] Translation: X:121.70, Y:87.31, Z:-3.28 [[ 2.49108867e-01 -9.68467984e-01 3.81275291e-03 1.21704592e+02] [ 9.68387172e-01 2.49137386e-01 1.25239055e-02 8.73146266e+01] [-1.30789008e-02 5.72405085e-04 9.99914304e-01 -3.27657106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04999999999998 meters 0.027686876004165847 Centerline is valid? [True, True] Translation: X:121.72, Y:87.34, Z:-3.28 [[ 2.48296143e-01 -9.68676550e-01 3.84276951e-03 1.21719257e+02] [ 9.68594282e-01 2.48325191e-01 1.26379295e-02 8.73393160e+01] [-1.31963224e-02 5.84135431e-04 9.99912754e-01 -3.27795604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07999999999998 meters 0.028353685707539263 Centerline is valid? [True, True] Translation: X:121.73, Y:87.37, Z:-3.28 [[ 2.47014341e-01 -9.69003449e-01 4.02869680e-03 1.21728762e+02] [ 9.68913002e-01 2.47046390e-01 1.32542552e-02 8.73665486e+01] [-1.38386940e-02 6.29465596e-04 9.99904043e-01 -3.27749245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10999999999999 meters 0.025475121692732586 Centerline is valid? [True, True] Translation: X:121.73, Y:87.39, Z:-3.28 [[ 2.45696337e-01 -9.69337693e-01 4.21283857e-03 1.21733418e+02] [ 9.69238654e-01 2.45731525e-01 1.38726238e-02 8.73947542e+01] [-1.44824844e-02 6.74793133e-04 9.99894896e-01 -3.27670200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14 meters 0.030086261873944954 Centerline is valid? [True, True] Translation: X:121.75, Y:87.42, Z:-3.28 [[ 2.43954795e-01 -9.69776892e-01 4.34020794e-03 1.21747740e+02] [ 9.69671641e-01 2.43992342e-01 1.43054425e-02 8.74187726e+01] [-1.49320651e-02 7.18695267e-04 9.99888252e-01 -3.27732400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17 meters 0.026936533328474364 Centerline is valid? [True, True] Translation: X:121.75, Y:87.45, Z:-3.28 [[ 2.40668180e-01 -9.70597191e-01 4.46315992e-03 1.21751514e+02] [ 9.70485800e-01 2.40708273e-01 1.47254545e-02 8.74474452e+01] [-1.53668043e-02 7.87484979e-04 9.99881614e-01 -3.27705025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.2 meters 0.03408307989170551 Centerline is valid? [True, True] Translation: X:121.77, Y:87.47, Z:-3.28 [[ 2.38731578e-01 -9.71074794e-01 4.58030101e-03 1.21768595e+02] [ 9.70957298e-01 2.38774050e-01 1.51287118e-02 8.74705251e+01] [-1.57847677e-02 8.35575461e-04 9.99875064e-01 -3.27837407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23 meters 0.029958625058446566 Centerline is valid? [True, True] Translation: X:121.77, Y:87.50, Z:-3.28 [[ 2.36718008e-01 -9.71566817e-01 4.74391910e-03 1.21771422e+02] [ 9.71440774e-01 2.36763835e-01 1.56750912e-02 8.74996955e+01] [-1.63525870e-02 8.97860071e-04 9.99865884e-01 -3.27859991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26 meters 0.028900739919921602 Centerline is valid? [True, True] Translation: X:121.78, Y:87.53, Z:-3.28 [[ 2.33297728e-01 -9.72393266e-01 4.84827693e-03 1.21778032e+02] [ 9.72261541e-01 2.33346071e-01 1.60345724e-02 8.75276179e+01] [-1.67232366e-02 9.72963882e-04 9.99859684e-01 -3.27934291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29 meters 0.02984527074117115 Centerline is valid? [True, True] Translation: X:121.79, Y:87.55, Z:-3.28 [[ 2.31400212e-01 -9.72846760e-01 4.80879953e-03 1.21787305e+02] [ 9.72717020e-01 2.31448038e-01 1.59186930e-02 8.75546730e+01] [-1.65994361e-02 9.94012224e-04 9.99861726e-01 -3.28023860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32 meters 0.034267538878401345 Centerline is valid? [True, True] Translation: X:121.80, Y:87.58, Z:-3.28 [[ 2.29525870e-01 -9.73291422e-01 4.65652556e-03 1.21799925e+02] [ 9.73169610e-01 2.29570965e-01 1.54299097e-02 8.75788764e+01] [-1.60868018e-02 9.90025710e-04 9.99870109e-01 -3.28191924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35 meters 0.031118813407426844 Centerline is valid? [True, True] Translation: X:121.80, Y:87.61, Z:-3.28 [[ 2.26049154e-01 -9.74107011e-01 4.16066518e-03 1.21800997e+02] [ 9.74009835e-01 2.26085508e-01 1.37907676e-02 8.76081051e+01] [-1.43743495e-02 9.35137459e-04 9.99896246e-01 -3.28448184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38 meters 0.029350499399944063 Centerline is valid? [True, True] Translation: X:121.81, Y:87.64, Z:-3.29 [[ 2.24245646e-01 -9.74524558e-01 3.97189938e-03 1.21805208e+02] [ 9.74435901e-01 2.24278951e-01 1.31767656e-02 8.76365739e+01] [-1.37318951e-02 9.15529044e-04 9.99905294e-01 -3.28528026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41 meters 0.033332625204483705 Centerline is valid? [True, True] Translation: X:121.82, Y:87.66, Z:-3.29 [[ 2.22536552e-01 -9.74916252e-01 3.97289798e-03 1.21816907e+02] [ 9.74827433e-01 2.22570041e-01 1.31928812e-02 8.76620578e+01] [-1.37462024e-02 9.36991652e-04 9.99905077e-01 -3.28613372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44 meters 0.03388215744096365 Centerline is valid? [True, True] Translation: X:121.82, Y:87.69, Z:-3.29 [[ 2.21051687e-01 -9.75253704e-01 4.04544776e-03 1.21824061e+02] [ 9.75161489e-01 2.21086562e-01 1.34462732e-02 8.76899259e+01] [-1.40079219e-02 9.72643484e-04 9.99901411e-01 -3.28622316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47 meters 0.03250894308140809 Centerline is valid? [True, True] Translation: X:121.83, Y:87.72, Z:-3.28 [[ 2.18739151e-01 -9.75773868e-01 4.30602437e-03 1.21826747e+02] [ 9.75669270e-01 2.18778927e-01 1.43267712e-02 8.77195221e+01] [-1.49217563e-02 1.06742989e-03 9.99888095e-01 -3.28494364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.5 meters 0.03380130537003544 Centerline is valid? [True, True] Translation: X:121.83, Y:87.75, Z:-3.28 [[ 2.18233766e-01 -9.75885670e-01 4.60234397e-03 1.21833722e+02] [ 9.75765972e-01 2.18279282e-01 1.53271604e-02 8.77454497e+01] [-1.59621525e-02 1.14590671e-03 9.99871940e-01 -3.28497717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53 meters 0.030216819041331888 Centerline is valid? [True, True] Translation: X:121.83, Y:87.77, Z:-3.29 [[ 2.17932998e-01 -9.75952803e-01 4.61892689e-03 1.21833671e+02] [ 9.75832045e-01 2.17978895e-01 1.53955026e-02 8.77747414e+01] [-1.60321125e-02 1.15210885e-03 9.99870814e-01 -3.28508502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56 meters 0.031096529383309604 Centerline is valid? [True, True] Translation: X:121.84, Y:87.80, Z:-3.29 [[ 2.18669233e-01 -9.75787558e-01 4.73382396e-03 1.21839099e+02] [ 9.75660361e-01 2.18717368e-01 1.57978842e-02 8.78024570e+01] [-1.64507484e-02 1.16409317e-03 9.99864000e-01 -3.28548048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59 meters 0.03406284599512562 Centerline is valid? [True, True] Translation: X:121.84, Y:87.83, Z:-3.29 [[ 2.21826961e-01 -9.75074059e-01 4.83522218e-03 1.21842755e+02] [ 9.74941141e-01 2.21876755e-01 1.61393310e-02 8.78298670e+01] [-1.68098664e-02 1.13391827e-03 9.99858061e-01 -3.28614417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62 meters 0.029859479322221123 Centerline is valid? [True, True] Translation: X:121.84, Y:87.86, Z:-3.29 [[ 2.24467063e-01 -9.74469738e-01 4.82368469e-03 1.21841373e+02] [ 9.74337072e-01 2.24516276e-01 1.61155830e-02 8.78598176e+01] [-1.67871437e-02 1.08247725e-03 9.99858500e-01 -3.28616032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65 meters 0.028479393500820963 Centerline is valid? [True, True] Translation: X:121.84, Y:87.89, Z:-3.29 [[ 2.27554954e-01 -9.73753769e-01 4.72646686e-03 1.21843845e+02] [ 9.73626009e-01 2.27601815e-01 1.58053414e-02 8.78887384e+01] [-1.64662632e-02 1.00522733e-03 9.99863917e-01 -3.28672447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68 meters 0.025774285322123103 Centerline is valid? [True, True] Translation: X:121.84, Y:87.92, Z:-3.29 [[ 2.30282761e-01 -9.73112804e-01 4.61739836e-03 1.21844436e+02] [ 9.72990519e-01 2.30327155e-01 1.54548093e-02 8.79182247e+01] [-1.61027850e-02 9.33708682e-04 9.99869906e-01 -3.28723083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70999999999998 meters 0.026559682204110983 Centerline is valid? [True, True] Translation: X:121.85, Y:87.95, Z:-3.29 [[ 2.32680472e-01 -9.72542555e-01 4.55813268e-03 1.21849354e+02] [ 9.72423056e-01 2.32723453e-01 1.52707429e-02 8.79452076e+01] [-1.59122317e-02 8.79229649e-04 9.99873006e-01 -3.28799337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73999999999998 meters 0.025153697533052 Centerline is valid? [True, True] Translation: X:121.85, Y:87.98, Z:-3.29 [[ 2.35482859e-01 -9.71865450e-01 5.03691108e-03 1.21847239e+02] [ 9.71719029e-01 2.35534940e-01 1.68943698e-02 8.79758535e+01] [-1.76054228e-02 9.16127850e-04 9.99844593e-01 -3.28677125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76999999999998 meters 0.02567425186552789 Centerline is valid? [True, True] Translation: X:121.85, Y:88.00, Z:-3.29 [[ 2.36182312e-01 -9.71694084e-01 5.34067096e-03 1.21851852e+02] [ 9.71529082e-01 2.36240763e-01 1.79316769e-02 8.80040649e+01] [-1.86857885e-02 9.53472246e-04 9.99824951e-01 -3.28656384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79999999999998 meters 0.02537908535134102 Centerline is valid? [True, True] Translation: X:121.86, Y:88.03, Z:-3.29 [[ 2.37055683e-01 -9.71480467e-01 5.50500879e-03 1.21855562e+02] [ 9.71304771e-01 2.37117645e-01 1.85003650e-02 8.80327168e+01] [-1.92780780e-02 9.61424644e-04 9.99813698e-01 -3.28638475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82999999999998 meters 0.02496655372911464 Centerline is valid? [True, True] Translation: X:121.86, Y:88.06, Z:-3.29 [[ 2.38168696e-01 -9.71207755e-01 5.58287915e-03 1.21859297e+02] [ 9.71026651e-01 2.38232232e-01 1.87788910e-02 8.80619786e+01] [-1.95682263e-02 9.48580477e-04 9.99808074e-01 -3.28706145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85999999999999 meters 0.025081043844633406 Centerline is valid? [True, True] Translation: X:121.86, Y:88.09, Z:-3.29 [[ 2.40642234e-01 -9.70598906e-01 5.39257656e-03 1.21860252e+02] [ 9.70429497e-01 2.40701095e-01 1.81541586e-02 8.80905671e+01] [-1.89184056e-02 8.64458076e-04 9.99820657e-01 -3.28863305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89 meters 0.022776709516621033 Centerline is valid? [True, True] Translation: X:121.86, Y:88.12, Z:-3.29 [[ 2.41943444e-01 -9.70276478e-01 5.18903226e-03 1.21861629e+02] [ 9.70119235e-01 2.41997749e-01 1.74859674e-02 8.81206149e+01] [-1.82219570e-02 8.03364824e-04 9.99833644e-01 -3.28957658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92 meters 0.023804248661400268 Centerline is valid? [True, True] Translation: X:121.87, Y:88.15, Z:-3.29 [[ 2.43304930e-01 -9.69936467e-01 5.09528754e-03 1.21867619e+02] [ 9.69784651e-01 2.43357084e-01 1.71773307e-02 8.81483624e+01] [-1.79008938e-02 7.62002401e-04 9.99839476e-01 -3.29114951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95 meters 0.023129268627581582 Centerline is valid? [True, True] Translation: X:121.87, Y:88.18, Z:-3.29 [[ 2.44667836e-01 -9.69594591e-01 4.89679463e-03 1.21871446e+02] [ 9.69454060e-01 2.44715818e-01 1.65225302e-02 8.81779012e+01] [-1.72184790e-02 7.04685722e-04 9.99851503e-01 -3.29224147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98 meters 0.02361134407280452 Centerline is valid? [True, True] Translation: X:121.87, Y:88.21, Z:-3.29 [[ 2.48487356e-01 -9.68624564e-01 4.52637486e-03 1.21873337e+02] [ 9.68504124e-01 2.48527888e-01 1.52856067e-02 8.82053080e+01] [-1.59309445e-02 5.85532730e-04 9.99872923e-01 -3.29470096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01 meters 0.019900298820026877 Centerline is valid? [True, True] Translation: X:121.87, Y:88.24, Z:-3.30 [[ 2.50888831e-01 -9.68006338e-01 4.30404077e-03 1.21872845e+02] [ 9.67897304e-01 2.50925211e-01 1.45377962e-02 8.82350234e+01] [-1.51526712e-02 5.18498768e-04 9.99885057e-01 -3.29529361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04 meters 0.021502862221031944 Centerline is valid? [True, True] Translation: X:121.88, Y:88.26, Z:-3.30 [[ 2.53311496e-01 -9.67375825e-01 4.15925140e-03 1.21880623e+02] [ 9.67273723e-01 2.53345220e-01 1.40621265e-02 8.82617295e+01] [-1.46570877e-02 4.61036288e-04 9.99892473e-01 -3.29703709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07 meters 0.01859588245829217 Centerline is valid? [True, True] Translation: X:121.88, Y:88.29, Z:-3.30 [[ 2.55652769e-01 -9.66759757e-01 4.15144597e-03 1.21881398e+02] [ 9.66657751e-01 2.55686127e-01 1.40498275e-02 8.82917461e+01] [-1.46442750e-02 4.21150111e-04 9.99892678e-01 -3.29706974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.1 meters 0.017352003387988035 Centerline is valid? [True, True] Translation: X:121.88, Y:88.32, Z:-3.30 [[ 2.60928209e-01 -9.65348964e-01 4.22469870e-03 1.21881728e+02] [ 9.65242963e-01 2.60962181e-01 1.43095329e-02 8.83207966e+01] [-1.49161794e-02 3.44099903e-04 9.99888688e-01 -3.29682367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13 meters 0.018284178174996238 Centerline is valid? [True, True] Translation: X:121.89, Y:88.35, Z:-3.30 [[ 2.63090197e-01 -9.64761876e-01 4.25089254e-03 1.21890027e+02] [ 9.64654201e-01 2.63124357e-01 1.44168410e-02 8.83475775e+01] [-1.50273320e-02 3.07711805e-04 9.99887036e-01 -3.29811188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16 meters 0.015991270973697676 Centerline is valid? [True, True] Translation: X:121.89, Y:88.38, Z:-3.30 [[ 2.64446316e-01 -9.64391052e-01 4.24784478e-03 1.21892395e+02] [ 9.64283464e-01 2.64480276e-01 1.44078317e-02 8.83764912e+01] [-1.50182551e-02 2.86028459e-04 9.99887179e-01 -3.29760389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19 meters 0.01570796813594767 Centerline is valid? [True, True] Translation: X:121.90, Y:88.40, Z:-3.30 [[ 2.65501622e-01 -9.64100886e-01 4.28600955e-03 1.21899592e+02] [ 9.63991111e-01 2.65536079e-01 1.45508846e-02 8.84039782e+01] [-1.51666109e-02 2.68391636e-04 9.99884944e-01 -3.29806234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22 meters 0.016105490899624455 Centerline is valid? [True, True] Translation: X:121.91, Y:88.43, Z:-3.30 [[ 2.66187834e-01 -9.63910802e-01 4.47249689e-03 1.21908346e+02] [ 9.63790961e-01 2.66225274e-01 1.52015732e-02 8.84308700e+01] [-1.58436523e-02 2.64078229e-04 9.99874447e-01 -3.29862899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25 meters 0.015484654916471729 Centerline is valid? [True, True] Translation: X:121.92, Y:88.46, Z:-3.30 [[ 2.66787106e-01 -9.63744771e-01 4.54501085e-03 1.21915673e+02] [ 9.63620946e-01 2.66825693e-01 1.54506437e-02 8.84585308e+01] [-1.61032027e-02 2.57635154e-04 9.99870302e-01 -3.29878752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28 meters 0.01535524204043291 Centerline is valid? [True, True] Translation: X:121.92, Y:88.49, Z:-3.30 [[ 2.66443574e-01 -9.63840408e-01 4.41469027e-03 1.21924384e+02] [ 9.63723401e-01 2.66480025e-01 1.50200678e-02 8.84854980e+01] [-1.56533750e-02 2.52539790e-04 9.99877447e-01 -3.29948511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31 meters 0.015353093760379233 Centerline is valid? [True, True] Translation: X:121.93, Y:88.51, Z:-3.30 [[ 2.65909672e-01 -9.63987782e-01 4.42734703e-03 1.21933446e+02] [ 9.63869872e-01 2.65946402e-01 1.50791843e-02 8.85125214e+01] [-1.57135864e-02 2.57685467e-04 9.99876501e-01 -3.30004311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34 meters 0.015401548111048909 Centerline is valid? [True, True] Translation: X:121.94, Y:88.54, Z:-3.30 [[ 2.65554897e-01 -9.64085748e-01 4.38948032e-03 1.21942383e+02] [ 9.63969576e-01 2.65591049e-01 1.49683171e-02 8.85382936e+01] [-1.55965478e-02 2.56415584e-04 9.99878334e-01 -3.30045568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37 meters 0.015427418931171196 Centerline is valid? [True, True] Translation: X:121.95, Y:88.57, Z:-3.30 [[ 2.65093798e-01 -9.64212773e-01 4.35964585e-03 1.21951512e+02] [ 9.64098088e-01 2.65129516e-01 1.48733800e-02 8.85651850e+01] [-1.54969737e-02 2.60285449e-04 9.99879881e-01 -3.30112392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.4 meters 0.015465428824922692 Centerline is valid? [True, True] Translation: X:121.96, Y:88.59, Z:-3.30 [[ 2.64850159e-01 -9.64279667e-01 4.37232084e-03 1.21960788e+02] [ 9.64164075e-01 2.64886119e-01 1.49325119e-02 8.85915696e+01] [-1.55572847e-02 2.60756516e-04 9.99878944e-01 -3.30155751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43 meters 0.015549504407275226 Centerline is valid? [True, True] Translation: X:121.97, Y:88.62, Z:-3.30 [[ 2.65337364e-01 -9.64145453e-01 4.43052744e-03 1.21972126e+02] [ 9.64026443e-01 2.65374233e-01 1.51503555e-02 8.86162247e+01] [-1.57828942e-02 2.51190224e-04 9.99875411e-01 -3.30161970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45999999999998 meters 0.015483669127619485 Centerline is valid? [True, True] Translation: X:121.98, Y:88.64, Z:-3.30 [[ 2.65806717e-01 -9.64016246e-01 4.41203782e-03 1.21981464e+02] [ 9.63898133e-01 2.65843222e-01 1.50920348e-02 8.86432813e+01] [-1.57218771e-02 2.41190789e-04 9.99876375e-01 -3.30211219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48999999999998 meters 0.014952606088855144 Centerline is valid? [True, True] Translation: X:121.99, Y:88.67, Z:-3.30 [[ 2.66539311e-01 -9.63814092e-01 4.38089838e-03 1.21989572e+02] [ 9.63697384e-01 2.66575218e-01 1.50002038e-02 8.86708128e+01] [-1.56252468e-02 2.23716306e-04 9.99877893e-01 -3.30244207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51999999999998 meters 0.014940464436442667 Centerline is valid? [True, True] Translation: X:122.00, Y:88.70, Z:-3.30 [[ 2.68039441e-01 -9.63398740e-01 4.21022963e-03 1.22001202e+02] [ 9.63290671e-01 2.68072439e-01 1.44308861e-02 8.86966906e+01] [-1.50313440e-02 1.87628286e-04 9.99887005e-01 -3.30385197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54999999999998 meters 0.014848967941401654 Centerline is valid? [True, True] Translation: X:122.01, Y:88.72, Z:-3.30 [[ 2.68325655e-01 -9.63319149e-01 4.19055412e-03 1.22011046e+02] [ 9.63211958e-01 2.68358316e-01 1.43714257e-02 8.87219412e+01] [-1.49688396e-02 1.80169627e-04 9.99887944e-01 -3.30481414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57999999999998 meters 0.01472862350770517 Centerline is valid? [True, True] Translation: X:122.02, Y:88.75, Z:-3.31 [[ 2.68493702e-01 -9.63271809e-01 4.30735442e-03 1.22020623e+02] [ 9.63158458e-01 2.68528189e-01 1.47782184e-02 8.87478172e+01] [-1.53920873e-02 1.80806282e-04 9.99881518e-01 -3.30552964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60999999999999 meters 0.014704301490716498 Centerline is valid? [True, True] Translation: X:122.03, Y:88.77, Z:-3.31 [[ 2.68163484e-01 -9.63363520e-01 4.36729262e-03 1.22030816e+02] [ 9.63246751e-01 2.68198981e-01 1.50001154e-02 8.87735614e+01] [-1.56218674e-02 1.84297231e-04 9.99877954e-01 -3.30620168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64 meters 0.014745749593532203 Centerline is valid? [True, True] Translation: X:122.04, Y:88.80, Z:-3.31 [[ 2.67753896e-01 -9.63476682e-01 4.53148441e-03 1.22044851e+02] [ 9.63350697e-01 2.67792169e-01 1.55816926e-02 8.87987357e+01] [-1.62260935e-02 1.93349777e-04 9.99868330e-01 -3.30705818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67 meters 0.014745749593532203 Centerline is valid? [True, True] Translation: X:122.05, Y:88.83, Z:-3.31 [[ 2.67476814e-01 -9.63553662e-01 4.52700889e-03 1.22052462e+02] [ 9.63427666e-01 2.67515051e-01 1.55829926e-02 8.88251661e+01] [-1.62260926e-02 1.93356400e-04 9.99868330e-01 -3.30762427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.7 meters 0.014707149060851299 Centerline is valid? [True, True] Translation: X:122.06, Y:88.85, Z:-3.31 [[ 2.66855313e-01 -9.63724760e-01 4.77794194e-03 1.22063390e+02] [ 9.63584111e-01 2.66898001e-01 1.64656528e-02 8.88513245e+01] [-1.71435804e-02 2.10002002e-04 9.99853016e-01 -3.30794970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73 meters 0.014919517414619735 Centerline is valid? [True, True] Translation: X:122.07, Y:88.88, Z:-3.31 [[ 2.66133228e-01 -9.63923757e-01 4.90873550e-03 1.22074564e+02] [ 9.63774983e-01 2.66178400e-01 1.69364158e-02 8.88764249e+01] [-1.76320129e-02 2.23573480e-04 9.99844519e-01 -3.30833907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76 meters 0.014980067585104326 Centerline is valid? [True, True] Translation: X:122.09, Y:88.90, Z:-3.31 [[ 2.64497358e-01 -9.64373627e-01 4.96538991e-03 1.22086259e+02] [ 9.64221302e-01 2.64543840e-01 1.71416790e-02 8.89034853e+01] [-1.78445464e-02 2.53805926e-04 9.99840741e-01 -3.30892293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79 meters 0.015324655759187997 Centerline is valid? [True, True] Translation: X:122.10, Y:88.93, Z:-3.31 [[ 2.62453729e-01 -9.64931940e-01 4.93867007e-03 1.22098805e+02] [ 9.64781065e-01 2.62500035e-01 1.70653794e-02 8.89294641e+01] [-1.77633307e-02 2.85862919e-04 9.99842179e-01 -3.30947265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82 meters 0.016139341397595545 Centerline is valid? [True, True] Translation: X:122.12, Y:88.95, Z:-3.31 [[ 2.57486900e-01 -9.66267809e-01 5.19782885e-03 1.22116600e+02] [ 9.66100598e-01 2.57539060e-01 1.79796132e-02 8.89539796e+01] [-1.87117654e-02 3.92110692e-04 9.99824843e-01 -3.30991872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85 meters 0.01635015955898324 Centerline is valid? [True, True] Translation: X:122.13, Y:88.98, Z:-3.31 [[ 2.55103003e-01 -9.66899083e-01 5.34986141e-03 1.22128786e+02] [ 9.66721932e-01 2.55158699e-01 1.85133653e-02 8.89802726e+01] [-1.92656196e-02 4.49013283e-04 9.99814300e-01 -3.30988300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88 meters 0.01785890751793661 Centerline is valid? [True, True] Translation: X:122.14, Y:89.00, Z:-3.31 [[ 2.53028441e-01 -9.67443062e-01 5.52538430e-03 1.22142825e+02] [ 9.67253843e-01 2.53088266e-01 1.91398275e-02 8.90047963e+01] [-1.99151033e-02 5.01528488e-04 9.99801549e-01 -3.30991016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91 meters 0.017511599176785776 Centerline is valid? [True, True] Translation: X:122.15, Y:89.03, Z:-3.31 [[ 2.51428476e-01 -9.67859373e-01 5.65288608e-03 1.22153487e+02] [ 9.67661173e-01 2.51491427e-01 1.95938078e-02 8.90319737e+01] [-2.03857029e-02 5.43637155e-04 9.99792042e-01 -3.30977184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94 meters 0.018092932268824427 Centerline is valid? [True, True] Translation: X:122.17, Y:89.06, Z:-3.31 [[ 2.49820360e-01 -9.68275092e-01 5.75629057e-03 1.22167280e+02] [ 9.68069288e-01 2.49885988e-01 1.99711505e-02 8.90564096e+01] [-2.07759839e-02 5.83288120e-04 9.99783986e-01 -3.31011198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97 meters 0.01856309100733231 Centerline is valid? [True, True] Translation: X:122.18, Y:89.08, Z:-3.31 [[ 2.49442301e-01 -9.68372529e-01 5.76051430e-03 1.22178098e+02] [ 9.68166181e-01 2.49508113e-01 1.99986798e-02 8.90813929e+01] [-2.08034672e-02 5.88618428e-04 9.99783411e-01 -3.31049357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.0 meters 0.018519689400140222 Centerline is valid? [True, True] Translation: X:122.19, Y:89.11, Z:-3.31 [[ 2.49452781e-01 -9.68369608e-01 5.79769845e-03 1.22188366e+02] [ 9.68160280e-01 2.49519451e-01 2.01424006e-02 8.91073566e+01] [-2.09519271e-02 5.88523523e-04 9.99780311e-01 -3.31124667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03 meters 0.018579209831081946 Centerline is valid? [True, True] Translation: X:122.20, Y:89.13, Z:-3.31 [[ 2.49340371e-01 -9.68398337e-01 5.83448926e-03 1.22198422e+02] [ 9.68185903e-01 2.49407927e-01 2.02914363e-02 8.91334601e+01] [-2.11053611e-02 5.89395992e-04 9.99777083e-01 -3.31175511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06 meters 0.01894826547429384 Centerline is valid? [True, True] Translation: X:122.21, Y:89.16, Z:-3.31 [[ 2.50788401e-01 -9.68024890e-01 5.74362169e-03 1.22210909e+02] [ 9.67818504e-01 2.50853574e-01 1.99957058e-02 8.91585988e+01] [-2.07971489e-02 5.44092270e-04 9.99783568e-01 -3.31303805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09 meters 0.016908372312670873 Centerline is valid? [True, True] Translation: X:122.22, Y:89.19, Z:-3.31 [[ 2.51945901e-01 -9.67725845e-01 5.47288620e-03 1.22216901e+02] [ 9.67538281e-01 2.52004853e-01 1.90585447e-02 8.91865027e+01] [-1.98226402e-02 4.93504683e-04 9.99803390e-01 -3.31452785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12 meters 0.01664712911322418 Centerline is valid? [True, True] Translation: X:122.23, Y:89.21, Z:-3.32 [[ 2.53338008e-01 -9.67364474e-01 5.08206847e-03 1.22225951e+02] [ 9.67202389e-01 2.53388615e-01 1.77129500e-02 8.92134905e+01] [-1.84226169e-02 4.28025291e-04 9.99830198e-01 -3.31597025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15 meters 0.016177608269910944 Centerline is valid? [True, True] Translation: X:122.24, Y:89.24, Z:-3.32 [[ 2.57065966e-01 -9.66381342e-01 4.91847144e-03 1.22235337e+02] [ 9.66229050e-01 2.57112788e-01 1.71592029e-02 8.92398650e+01] [-1.78469354e-02 3.41322926e-04 9.99840673e-01 -3.31747810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18 meters 0.015832480271340706 Centerline is valid? [True, True] Translation: X:122.24, Y:89.27, Z:-3.32 [[ 2.58673607e-01 -9.65951828e-01 5.00313686e-03 1.22243790e+02] [ 9.65793990e-01 2.58721795e-01 1.74643114e-02 8.92671692e+01] [-1.81641040e-02 3.14443105e-04 9.99834970e-01 -3.31775444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20999999999998 meters 0.01566907766456808 Centerline is valid? [True, True] Translation: X:122.25, Y:89.29, Z:-3.32 [[ 2.60656373e-01 -9.65418291e-01 5.07734615e-03 1.22252564e+02] [ 9.65255304e-01 2.60705673e-01 1.77411785e-02 8.92940261e+01] [-1.84513511e-02 2.76584075e-04 9.99829721e-01 -3.31782217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23999999999998 meters 0.015315706935801678 Centerline is valid? [True, True] Translation: X:122.26, Y:89.32, Z:-3.32 [[ 2.62037305e-01 -9.65043346e-01 5.27170357e-03 1.22260906e+02] [ 9.64867464e-01 2.62090201e-01 1.84256143e-02 8.93211594e+01] [-1.91631783e-02 2.58296948e-04 9.99816336e-01 -3.31793266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26999999999998 meters 0.014874117526213091 Centerline is valid? [True, True] Translation: X:122.27, Y:89.35, Z:-3.32 [[ 2.63422642e-01 -9.64665558e-01 5.37331876e-03 1.22269246e+02] [ 9.64482372e-01 2.63477339e-01 1.88001551e-02 8.93479885e+01] [-1.95516098e-02 2.30084702e-04 9.99808823e-01 -3.31840695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29999999999998 meters 0.014466841259191943 Centerline is valid? [True, True] Translation: X:122.28, Y:89.37, Z:-3.32 [[ 2.66658372e-01 -9.63775861e-01 5.42249433e-03 1.22279738e+02] [ 9.63588728e-01 2.66713451e-01 1.89920389e-02 8.93747396e+01] [-1.97503208e-02 1.60668252e-04 9.99804930e-01 -3.31913597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32999999999998 meters 0.014281210806499408 Centerline is valid? [True, True] Translation: X:122.29, Y:89.40, Z:-3.32 [[ 2.68171491e-01 -9.63356233e-01 5.36831454e-03 1.22288522e+02] [ 9.63172401e-01 2.68225189e-01 1.88195045e-02 8.94002631e+01] [-1.95698042e-02 1.23757814e-04 9.99808485e-01 -3.32025305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35999999999999 meters 0.013997881244482714 Centerline is valid? [True, True] Translation: X:122.30, Y:89.43, Z:-3.32 [[ 2.69853428e-01 -9.62886671e-01 5.32789048e-03 1.22296682e+02] [ 9.62705188e-01 2.69906005e-01 1.86941214e-02 8.94270952e+01] [-1.94383499e-02 8.45150772e-05 9.99811054e-01 -3.32158925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39 meters 0.013919116869004646 Centerline is valid? [True, True] Translation: X:122.31, Y:89.45, Z:-3.32 [[ 2.71598004e-01 -9.62396522e-01 5.24006976e-03 1.22305822e+02] [ 9.62220481e-01 2.71648546e-01 1.84068761e-02 8.94526582e+01] [-1.91381708e-02 4.28316526e-05 9.99816848e-01 -3.32301820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42 meters 0.013719840925500975 Centerline is valid? [True, True] Translation: X:122.32, Y:89.48, Z:-3.32 [[ 2.74312158e-01 -9.61625887e-01 5.33797331e-03 1.22316918e+02] [ 9.61442845e-01 2.74364090e-01 1.87617133e-02 8.94785827e+01] [-1.95062974e-02 -1.44098316e-05 9.99809734e-01 -3.32379318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45 meters 0.01372422041729822 Centerline is valid? [True, True] Translation: X:122.33, Y:89.50, Z:-3.32 [[ 2.75170595e-01 -9.61379997e-01 5.44472879e-03 1.22326349e+02] [ 9.61189085e-01 2.75224454e-01 1.91583449e-02 8.95036885e+01] [-1.99169721e-02 -3.83992889e-05 9.99801637e-01 -3.32416856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48 meters 0.013744670791126437 Centerline is valid? [True, True] Translation: X:122.34, Y:89.53, Z:-3.32 [[ 2.75439157e-01 -9.61302547e-01 5.53928744e-03 1.22336390e+02] [ 9.61104535e-01 2.75494846e-01 1.95105665e-02 8.95298883e+01] [-2.02816025e-02 -5.01397177e-05 9.99794306e-01 -3.32442525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51 meters 0.013724022489537729 Centerline is valid? [True, True] Translation: X:122.35, Y:89.55, Z:-3.32 [[ 2.75254659e-01 -9.61354198e-01 5.74278769e-03 1.22346107e+02] [ 9.61140890e-01 2.75314554e-01 2.02505696e-02 8.95547840e+01] [-2.10490431e-02 -5.44355454e-05 9.99778443e-01 -3.32491074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54 meters 0.013621078445807755 Centerline is valid? [True, True] Translation: X:122.36, Y:89.58, Z:-3.33 [[ 2.74945187e-01 -9.61443371e-01 5.63807558e-03 1.22360640e+02] [ 9.61237388e-01 2.75002983e-01 1.99008345e-02 8.95797511e+01] [-2.06840130e-02 -5.21096134e-05 9.99786062e-01 -3.32579415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57 meters 0.013636401649116146 Centerline is valid? [True, True] Translation: X:122.37, Y:89.61, Z:-3.33 [[ 2.74374515e-01 -9.61606500e-01 5.61819392e-03 1.22372061e+02] [ 9.61401546e-01 2.74432025e-01 1.98527489e-02 8.96057296e+01] [-2.06323448e-02 -4.57480328e-05 9.99787129e-01 -3.32701465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.6 meters 0.016968380326118297 Centerline is valid? [True, True] Translation: X:122.38, Y:89.63, Z:-3.33 [[ 2.72862052e-01 -9.62040849e-01 4.86884562e-03 1.22382757e+02] [ 9.61886678e-01 2.72905487e-01 1.72224941e-02 8.96310638e+01] [-1.78974775e-02 -1.60873416e-05 9.99839827e-01 -3.33097462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63 meters 0.013511375290139734 Centerline is valid? [True, True] Translation: X:122.39, Y:89.66, Z:-3.33 [[ 2.72664778e-01 -9.62093419e-01 5.49284825e-03 1.22394318e+02] [ 9.61896930e-01 2.72720099e-01 1.94433438e-02 8.96566674e+01] [-2.02043233e-02 -1.79611695e-05 9.99795872e-01 -3.32846840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66 meters 0.013453952510147943 Centerline is valid? [True, True] Translation: X:122.41, Y:89.68, Z:-3.33 [[ 2.71175840e-01 -9.62514182e-01 5.48745988e-03 1.22405675e+02] [ 9.62317732e-01 2.71231356e-01 1.94456968e-02 8.96824760e+01] [-2.02051301e-02 7.47678728e-06 9.99795855e-01 -3.32922525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69 meters 0.013470851800555962 Centerline is valid? [True, True] Translation: X:122.42, Y:89.71, Z:-3.33 [[ 2.69762067e-01 -9.62911500e-01 5.46543848e-03 1.22416992e+02] [ 9.62716271e-01 2.69817425e-01 1.93891523e-02 8.97087971e+01] [-2.01447082e-02 3.12087651e-05 9.99797074e-01 -3.33035980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72 meters 0.013551556096925127 Centerline is valid? [True, True] Translation: X:122.43, Y:89.73, Z:-3.33 [[ 2.66972533e-01 -9.63689587e-01 5.29592391e-03 1.22432227e+02] [ 9.63506038e-01 2.67025043e-01 1.88079892e-02 8.97335111e+01] [-1.95392077e-02 8.14381556e-05 9.99809088e-01 -3.33195236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75 meters 0.013678313921958766 Centerline is valid? [True, True] Translation: X:122.44, Y:89.76, Z:-3.33 [[ 2.64960014e-01 -9.64245842e-01 5.11336659e-03 1.22444371e+02] [ 9.64074457e-01 2.65009326e-01 1.81796175e-02 8.97585533e+01] [-1.88847104e-02 1.12794419e-04 9.99821662e-01 -3.33323880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78 meters 0.013798878511186892 Centerline is valid? [True, True] Translation: X:122.46, Y:89.78, Z:-3.33 [[ 2.62446535e-01 -9.64933949e-01 4.92861585e-03 1.22456427e+02] [ 9.64774534e-01 2.62492765e-01 1.75398801e-02 8.97840912e+01] [-1.82185518e-02 1.51722299e-04 9.99834017e-01 -3.33422611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81 meters 0.013964638788591461 Centerline is valid? [True, True] Translation: X:122.47, Y:89.81, Z:-3.34 [[ 2.59548809e-01 -9.65719288e-01 4.54664495e-03 1.22468749e+02] [ 9.65583452e-01 2.59588562e-01 1.61980123e-02 8.98100996e+01] [-1.68229900e-02 1.85990320e-04 9.99858466e-01 -3.33503372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84 meters 0.01511396543962038 Centerline is valid? [True, True] Translation: X:122.49, Y:89.83, Z:-3.34 [[ 2.52073154e-01 -9.67698082e-01 4.42113695e-03 1.22486491e+02] [ 9.67569790e-01 2.52111738e-01 1.57598506e-02 8.98335622e+01] [-1.63653978e-02 3.05123286e-04 9.99866031e-01 -3.33592759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87 meters 0.016204650787345825 Centerline is valid? [True, True] Translation: X:122.50, Y:89.86, Z:-3.34 [[ 2.47639620e-01 -9.68841317e-01 4.59586483e-03 1.22499341e+02] [ 9.68702751e-01 2.47681950e-01 1.63899666e-02 8.98584693e+01] [-1.70175895e-02 3.93221823e-04 9.99855113e-01 -3.33591322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.9 meters 0.016954697595085323 Centerline is valid? [True, True] Translation: X:122.51, Y:89.88, Z:-3.34 [[ 2.42560653e-01 -9.70124537e-01 4.76577166e-03 1.22511551e+02] [ 9.69975674e-01 2.42606954e-01 1.70016754e-02 8.98849484e+01] [-1.76499518e-02 4.98745092e-04 9.99844103e-01 -3.33530739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93 meters 0.02102228740155257 Centerline is valid? [True, True] Translation: X:122.53, Y:89.91, Z:-3.33 [[ 2.31441398e-01 -9.72835228e-01 5.14756943e-03 1.22531813e+02] [ 9.72661807e-01 2.31497414e-01 1.83835770e-02 8.99079241e+01] [-1.90758403e-02 7.52123421e-04 9.99817757e-01 -3.33418003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95999999999998 meters 0.020902444008768995 Centerline is valid? [True, True] Translation: X:122.54, Y:89.93, Z:-3.33 [[ 2.25294830e-01 -9.74275455e-01 5.43842000e-03 1.22542220e+02] [ 9.74082017e-01 2.25358587e-01 1.94353273e-02 8.99346835e+01] [-2.01609570e-02 9.18788364e-04 9.99796325e-01 -3.33372835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98999999999998 meters 0.022888753104789123 Centerline is valid? [True, True] Translation: X:122.56, Y:89.96, Z:-3.33 [[ 2.19220814e-01 -9.75658700e-01 5.68652819e-03 1.22555350e+02] [ 9.75447174e-01 2.19291861e-01 2.03442796e-02 8.99606753e+01] [-2.10960827e-02 1.08701833e-03 9.99776862e-01 -3.33397565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01999999999998 meters 0.024429666457947658 Centerline is valid? [True, True] Translation: X:122.57, Y:89.99, Z:-3.33 [[ 2.13362863e-01 -9.76955776e-01 5.80528381e-03 1.22566853e+02] [ 9.76735486e-01 2.13438246e-01 2.07823571e-02 8.99864992e+01] [-2.15425134e-02 1.23604351e-03 9.99767169e-01 -3.33400878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04999999999998 meters 0.028914290560790513 Centerline is valid? [True, True] Translation: X:122.58, Y:90.01, Z:-3.33 [[ 2.08311453e-01 -9.78044880e-01 5.87805889e-03 1.22581869e+02] [ 9.77818964e-01 2.08389933e-01 2.10643977e-02 9.00108365e+01] [-2.18268546e-02 1.35972216e-03 9.99760841e-01 -3.33452361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07999999999998 meters 0.028093254196957337 Centerline is valid? [True, True] Translation: X:122.59, Y:90.04, Z:-3.34 [[ 2.00877720e-01 -9.79599436e-01 5.75215391e-03 1.22589004e+02] [ 9.79383372e-01 2.00954536e-01 2.06272697e-02 9.00384658e+01] [-2.13623832e-02 1.49000499e-03 9.99770688e-01 -3.33562835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10999999999999 meters 0.02902126203859299 Centerline is valid? [True, True] Translation: X:122.60, Y:90.07, Z:-3.34 [[ 1.98423267e-01 -9.80100073e-01 5.66163923e-03 1.22596623e+02] [ 9.79890682e-01 1.98498228e-01 2.03151362e-02 9.00655473e+01] [-2.10346918e-02 1.51679183e-03 9.99777596e-01 -3.33658150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14 meters 0.028676669448264105 Centerline is valid? [True, True] Translation: X:122.60, Y:90.09, Z:-3.34 [[ 1.96975657e-01 -9.80392451e-01 5.58868868e-03 1.22602450e+02] [ 9.80188289e-01 1.97049018e-01 2.00649831e-02 9.00936555e+01] [-2.07728036e-02 1.52565396e-03 9.99783058e-01 -3.33742636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17 meters 0.032961526324284736 Centerline is valid? [True, True] Translation: X:122.61, Y:90.12, Z:-3.34 [[ 1.96227569e-01 -9.80542313e-01 5.61370198e-03 1.22613561e+02] [ 9.80335970e-01 1.96301774e-01 2.01742089e-02 9.01199007e+01] [-2.08836451e-02 1.54457802e-03 9.99780720e-01 -3.33780567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.2 meters 0.02723379169875005 Centerline is valid? [True, True] Translation: X:122.61, Y:90.15, Z:-3.34 [[ 1.96177978e-01 -9.80551500e-01 5.74085154e-03 1.22611213e+02] [ 9.80335444e-01 1.96255613e-01 2.06434355e-02 9.01502396e+01] [-2.13686260e-02 1.57817283e-03 9.99770419e-01 -3.33809563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23 meters 0.031030077427580023 Centerline is valid? [True, True] Translation: X:122.62, Y:90.18, Z:-3.34 [[ 1.96992683e-01 -9.80387569e-01 5.83927221e-03 1.22616456e+02] [ 9.80163481e-01 1.97072853e-01 2.10200267e-02 9.01774678e+01] [-2.17585349e-02 1.58264992e-03 9.99762002e-01 -3.33852216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26 meters 0.02781587583148027 Centerline is valid? [True, True] Translation: X:122.62, Y:90.21, Z:-3.34 [[ 1.97624208e-01 -9.80260565e-01 5.82212710e-03 1.22615786e+02] [ 9.80037566e-01 1.97703777e-01 2.09662866e-02 9.02073203e+01] [-2.17034804e-02 1.56245750e-03 9.99763231e-01 -3.33968691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29 meters 0.03291725439106333 Centerline is valid? [True, True] Translation: X:122.63, Y:90.23, Z:-3.34 [[ 1.98391681e-01 -9.80106831e-01 5.59819912e-03 1.22626021e+02] [ 9.79900211e-01 1.98465114e-01 2.01785826e-02 9.02336080e+01] [-2.08882139e-02 1.48241356e-03 9.99780718e-01 -3.34047583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32 meters 0.02893697643637094 Centerline is valid? [True, True] Translation: X:122.62, Y:90.27, Z:-3.34 [[ 1.99282214e-01 -9.79927582e-01 5.34172081e-03 1.22620155e+02] [ 9.79739282e-01 1.99348911e-01 1.92601108e-02 9.02655721e+01] [-1.99383800e-02 1.39529618e-03 9.99800237e-01 -3.34271369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35 meters 0.02972000026366098 Centerline is valid? [True, True] Translation: X:122.62, Y:90.29, Z:-3.34 [[ 1.99409131e-01 -9.79902864e-01 5.13576902e-03 1.22624225e+02] [ 9.79728486e-01 1.99470782e-01 1.85337597e-02 9.02936650e+01] [-1.91857201e-02 1.33585829e-03 9.99815045e-01 -3.34406569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38 meters 0.03003052556767522 Centerline is valid? [True, True] Translation: X:122.63, Y:90.32, Z:-3.35 [[ 1.98827989e-01 -9.80021695e-01 4.99089794e-03 1.22627521e+02] [ 9.79856704e-01 1.98886334e-01 1.80295716e-02 9.03223302e+01] [-1.86619927e-02 1.30558134e-03 9.99824997e-01 -3.34589037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41 meters 0.03232806727276014 Centerline is valid? [True, True] Translation: X:122.63, Y:90.35, Z:-3.35 [[ 1.98129807e-01 -9.80165091e-01 4.57978255e-03 1.22629604e+02] [ 9.80025926e-01 1.98179054e-01 1.65604084e-02 9.03501384e+01] [-1.71395512e-02 1.20719511e-03 9.99852378e-01 -3.34792360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44 meters 0.03151370002319464 Centerline is valid? [True, True] Translation: X:122.63, Y:90.38, Z:-3.35 [[ 1.97423503e-01 -9.80308430e-01 4.39804196e-03 1.22632191e+02] [ 9.80180059e-01 1.97469017e-01 1.59072160e-02 9.03798107e+01] [-1.64624549e-02 1.17041472e-03 9.99863800e-01 -3.34888391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47 meters 0.03274753948441071 Centerline is valid? [True, True] Translation: X:122.64, Y:90.41, Z:-3.35 [[ 1.96870210e-01 -9.80420392e-01 4.23982212e-03 1.22636649e+02] [ 9.80300898e-01 1.96912591e-01 1.53486270e-02 9.04065374e+01] [-1.58829812e-02 1.13461402e-03 9.99873214e-01 -3.35017345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.5 meters 0.032938368852694175 Centerline is valid? [True, True] Translation: X:122.64, Y:90.43, Z:-3.35 [[ 1.96603557e-01 -9.80474602e-01 4.07376660e-03 1.22639742e+02] [ 9.80364100e-01 1.96642727e-01 1.47603792e-02 9.04349325e+01] [-1.52732535e-02 1.09183148e-03 9.99882761e-01 -3.35075974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53 meters 0.03457830796532011 Centerline is valid? [True, True] Translation: X:122.64, Y:90.46, Z:-3.35 [[ 1.97028902e-01 -9.80389210e-01 4.07536779e-03 1.22644320e+02] [ 9.80278336e-01 1.97068074e-01 1.47837252e-02 9.04615969e+01] [-1.52969296e-02 1.08217361e-03 9.99882410e-01 -3.35150376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56 meters 0.026621096557150038 Centerline is valid? [True, True] Translation: X:122.64, Y:90.49, Z:-3.35 [[ 1.97863402e-01 -9.80221204e-01 4.05780496e-03 1.22637094e+02] [ 9.80111115e-01 1.97902153e-01 1.47288652e-02 9.04936139e+01] [-1.52405943e-02 1.06279638e-03 9.99883291e-01 -3.35066385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59 meters 0.026621096557150038 Centerline is valid? [True, True] Translation: X:122.64, Y:90.52, Z:-3.35 [[ 1.97579735e-01 -9.80278436e-01 4.05425592e-03 1.22644373e+02] [ 9.80168340e-01 1.97618465e-01 1.47298419e-02 9.05202385e+01] [-1.52405422e-02 1.06353504e-03 9.99883291e-01 -3.35123142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62 meters 0.029093533217077746 Centerline is valid? [True, True] Translation: X:122.65, Y:90.55, Z:-3.35 [[ 2.01366293e-01 -9.79506627e-01 4.28767682e-03 1.22646051e+02] [ 9.79382986e-01 2.01409156e-01 1.55986749e-02 9.05483825e+01] [-1.61425828e-02 1.05823040e-03 9.99869140e-01 -3.35094770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65 meters 0.028139046326251298 Centerline is valid? [True, True] Translation: X:122.65, Y:90.58, Z:-3.35 [[ 2.03945722e-01 -9.78972656e-01 4.32221154e-03 1.22647468e+02] [ 9.78846713e-01 2.03988959e-01 1.57358815e-02 9.05777689e+01] [-1.62866812e-02 1.02151684e-03 9.99866841e-01 -3.35106193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68 meters 0.03255600411833078 Centerline is valid? [True, True] Translation: X:122.66, Y:90.60, Z:-3.35 [[ 2.07135352e-01 -9.78301912e-01 4.50714325e-03 1.22655365e+02] [ 9.78164630e-01 2.07181933e-01 1.64195937e-02 9.06036245e+01] [-1.69971186e-02 1.00764978e-03 9.99855031e-01 -3.35152337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70999999999998 meters 0.0291034920643539 Centerline is valid? [True, True] Translation: X:122.65, Y:90.63, Z:-3.35 [[ 2.15985984e-01 -9.76385098e-01 4.71127330e-03 1.22647837e+02] [ 9.76234405e-01 2.16035530e-01 1.71766291e-02 9.06338085e+01] [-1.77888071e-02 8.89395963e-04 9.99841371e-01 -3.35113145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73999999999998 meters 0.021698996520783536 Centerline is valid? [True, True] Translation: X:122.64, Y:90.67, Z:-3.35 [[ 2.21225707e-01 -9.75211335e-01 4.69453220e-03 1.22640016e+02] [ 9.75061123e-01 2.21274112e-01 1.71340164e-02 9.06654860e+01] [-1.77480654e-02 7.86970956e-04 9.99842181e-01 -3.35105900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76999999999998 meters 0.020050113445484984 Centerline is valid? [True, True] Translation: X:122.64, Y:90.70, Z:-3.35 [[ 2.27140538e-01 -9.73850446e-01 4.74183309e-03 1.22640243e+02] [ 9.73696546e-01 2.27189006e-01 1.73260549e-02 9.06952074e+01] [-1.79502786e-02 6.81657068e-04 9.99838648e-01 -3.35180844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79999999999998 meters 0.018481986401126117 Centerline is valid? [True, True] Translation: X:122.64, Y:90.72, Z:-3.35 [[ 2.32914537e-01 -9.72485990e-01 4.67084783e-03 1.22640590e+02] [ 9.72336233e-01 2.32960683e-01 1.70754505e-02 9.07247582e+01] [-1.76937603e-02 5.64513927e-04 9.99843294e-01 -3.35266346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82999999999998 meters 0.016767407769502866 Centerline is valid? [True, True] Translation: X:122.64, Y:90.75, Z:-3.35 [[ 2.38112450e-01 -9.71226861e-01 4.56578407e-03 1.22640452e+02] [ 9.71083240e-01 2.38155785e-01 1.67081943e-02 9.07542364e+01] [-1.73148150e-02 4.55327303e-04 9.99849984e-01 -3.35339712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85999999999999 meters 0.015211940241312677 Centerline is valid? [True, True] Translation: X:122.64, Y:90.78, Z:-3.35 [[ 2.47215116e-01 -9.68948835e-01 4.77921235e-03 1.22636595e+02] [ 9.68790657e-01 2.47261125e-01 1.75099947e-02 9.07831495e+01] [-1.81480024e-02 3.01320891e-04 9.99835266e-01 -3.35353148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89 meters 0.014356056440899519 Centerline is valid? [True, True] Translation: X:122.64, Y:90.81, Z:-3.35 [[ 2.50510778e-01 -9.68100454e-01 5.08532390e-03 1.22638803e+02] [ 9.67921009e-01 2.50562261e-01 1.86406582e-02 9.08121068e+01] [-1.93202200e-02 2.52506049e-04 9.99813315e-01 -3.35353807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92 meters 0.0161865399850951 Centerline is valid? [True, True] Translation: X:122.64, Y:90.84, Z:-3.36 [[ 2.53265355e-01 -9.67384033e-01 4.97931283e-03 1.22641701e+02] [ 9.67211523e-01 2.53314227e-01 1.82694495e-02 9.08412315e+01] [-1.89349045e-02 1.89030141e-04 9.99820701e-01 -3.35632817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95 meters 0.013438940120285585 Centerline is valid? [True, True] Translation: X:122.64, Y:90.87, Z:-3.35 [[ 2.57695535e-01 -9.66211136e-01 5.38998271e-03 1.22644122e+02] [ 9.66008294e-01 2.57751876e-01 1.97976558e-02 9.08699122e+01] [-2.05179936e-02 1.05000505e-04 9.99789478e-01 -3.35465583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98 meters 0.013223680291750431 Centerline is valid? [True, True] Translation: X:122.65, Y:90.90, Z:-3.36 [[ 2.59561262e-01 -9.65712011e-01 5.31632903e-03 1.22649251e+02] [ 9.65514183e-01 2.59615694e-01 1.95462227e-02 9.08971654e+01] [-2.02562244e-02 5.95488601e-05 9.99794820e-01 -3.35559457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01 meters 0.013267275643673224 Centerline is valid? [True, True] Translation: X:122.65, Y:90.92, Z:-3.36 [[ 2.61437339e-01 -9.65205766e-01 5.32418383e-03 1.22654607e+02] [ 9.65006799e-01 2.61491547e-01 1.95971907e-02 9.09245547e+01] [-2.03075505e-02 1.44362109e-05 9.99793780e-01 -3.35707926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04 meters 0.013261522077915385 Centerline is valid? [True, True] Translation: X:122.66, Y:90.95, Z:-3.36 [[ 2.65136895e-01 -9.64197859e-01 4.99148929e-03 1.22659226e+02] [ 9.64022415e-01 2.65183868e-01 1.83929430e-02 9.09510171e+01] [-1.90580987e-02 -6.47402351e-05 9.99818376e-01 -3.35955663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07 meters 0.013261522077915385 Centerline is valid? [True, True] Translation: X:122.67, Y:90.98, Z:-3.36 [[ 2.64860931e-01 -9.64273717e-01 4.98860135e-03 1.22666361e+02] [ 9.64098271e-01 2.64907900e-01 1.83937262e-02 9.09775825e+01] [-1.90581066e-02 -6.22775227e-05 9.99818376e-01 -3.36012293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.1 meters 0.013411949862046612 Centerline is valid? [True, True] Translation: X:122.67, Y:91.00, Z:-3.36 [[ 2.67328401e-01 -9.63593921e-01 4.72038240e-03 1.22674340e+02] [ 9.63436388e-01 2.67370050e-01 1.74236213e-02 9.10049630e+01] [-1.80513845e-02 -1.10040653e-04 9.99837054e-01 -3.36200714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13 meters 0.013461234962237575 Centerline is valid? [True, True] Translation: X:122.68, Y:91.03, Z:-3.36 [[ 2.67903623e-01 -9.63434711e-01 4.60506674e-03 1.22682905e+02] [ 9.63284471e-01 2.67943171e-01 1.70142495e-02 9.10311697e+01] [-1.76260147e-02 -1.22189804e-04 9.99844642e-01 -3.36282333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16 meters 0.01355732143498354 Centerline is valid? [True, True] Translation: X:122.69, Y:91.06, Z:-3.36 [[ 2.68437130e-01 -9.63286690e-01 4.50113454e-03 1.22691757e+02] [ 9.63142781e-01 2.68474831e-01 1.66507865e-02 9.10578443e+01] [-1.72479224e-02 -1.34454107e-04 9.99851234e-01 -3.36340133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19 meters 0.0137385920758015 Centerline is valid? [True, True] Translation: X:122.70, Y:91.08, Z:-3.36 [[ 2.68598119e-01 -9.63241185e-01 4.63361988e-03 1.22701143e+02] [ 9.63088507e-01 2.68638045e-01 1.71501549e-02 9.10839565e+01] [-1.77645021e-02 -1.43913296e-04 9.99842188e-01 -3.36366585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22 meters 0.013730788078237416 Centerline is valid? [True, True] Translation: X:122.71, Y:91.11, Z:-3.36 [[ 2.68646356e-01 -9.63227417e-01 4.69878743e-03 1.22713331e+02] [ 9.63070045e-01 2.68687402e-01 1.74117187e-02 9.11099025e+01] [-1.80339498e-02 -1.52333348e-04 9.99837364e-01 -3.36347430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25 meters 0.013756146416379898 Centerline is valid? [True, True] Translation: X:122.72, Y:91.13, Z:-3.36 [[ 2.68438504e-01 -9.63285557e-01 4.65894608e-03 1.22722781e+02] [ 9.63130472e-01 2.68478887e-01 1.72852573e-02 9.11348111e+01] [-1.79014673e-02 -1.52855664e-04 9.99839744e-01 -3.36385425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28 meters 0.01374005986320526 Centerline is valid? [True, True] Translation: X:122.73, Y:91.16, Z:-3.36 [[ 2.67932583e-01 -9.63426411e-01 4.65639094e-03 1.22732968e+02] [ 9.63271343e-01 2.67973002e-01 1.72855436e-02 9.11611872e+01] [-1.79011363e-02 -1.45992399e-04 9.99839751e-01 -3.36435657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31 meters 0.013837095137146403 Centerline is valid? [True, True] Translation: X:122.74, Y:91.19, Z:-3.37 [[ 2.67679271e-01 -9.63497191e-01 4.57935655e-03 1.22743198e+02] [ 9.63346881e-01 2.67718400e-01 1.70189419e-02 9.11864323e+01] [-1.76236807e-02 -1.44109100e-04 9.99844680e-01 -3.36507488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34 meters 0.013733915600080233 Centerline is valid? [True, True] Translation: X:122.76, Y:91.21, Z:-3.37 [[ 2.66409122e-01 -9.63850654e-01 4.25388731e-03 1.22758292e+02] [ 9.63720762e-01 2.66443057e-01 1.58237186e-02 9.12112467e+01] [-1.63851202e-02 -1.16023453e-04 9.99865748e-01 -3.36642704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37 meters 0.013647031321282447 Centerline is valid? [True, True] Translation: X:122.77, Y:91.24, Z:-3.37 [[ 2.65759084e-01 -9.64031273e-01 3.97664216e-03 1.22768709e+02] [ 9.63917539e-01 2.65788814e-01 1.48082264e-02 9.12364804e+01] [-1.53325403e-02 -1.02265549e-04 9.99882444e-01 -3.36793993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.4 meters 0.013642249157958333 Centerline is valid? [True, True] Translation: X:122.78, Y:91.26, Z:-3.37 [[ 2.65065239e-01 -9.64223294e-01 3.72266345e-03 1.22779525e+02] [ 9.64123470e-01 2.65091364e-01 1.38745854e-02 9.12623008e+01] [-1.43650444e-02 -8.85630929e-05 9.99896814e-01 -3.36873415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43 meters 0.013649807229117586 Centerline is valid? [True, True] Translation: X:122.79, Y:91.29, Z:-3.37 [[ 2.64419080e-01 -9.64400918e-01 3.66320183e-03 1.22790143e+02] [ 9.64304060e-01 2.64444440e-01 1.36681672e-02 9.12885507e+01] [-1.41503063e-02 -8.16837940e-05 9.99899876e-01 -3.36913984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45999999999998 meters 0.013521234438899852 Centerline is valid? [True, True] Translation: X:122.80, Y:91.31, Z:-3.37 [[ 2.63512984e-01 -9.64648528e-01 3.75823168e-03 1.22801448e+02] [ 9.64546363e-01 2.63539772e-01 1.40393346e-02 9.13144714e+01] [-1.45334670e-02 -7.45582607e-05 9.99894381e-01 -3.36946849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48999999999998 meters 0.013408407506535347 Centerline is valid? [True, True] Translation: X:122.81, Y:91.34, Z:-3.37 [[ 2.62094270e-01 -9.65034740e-01 3.81363151e-03 1.22812968e+02] [ 9.64929336e-01 2.62122007e-01 1.42628572e-02 9.13406391e+01] [-1.47637894e-02 -5.83282222e-05 9.99891008e-01 -3.36977290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51999999999998 meters 0.013323862640951067 Centerline is valid? [True, True] Translation: X:122.83, Y:91.36, Z:-3.37 [[ 2.57855269e-01 -9.66176215e-01 3.76596440e-03 1.22830052e+02] [ 9.66073324e-01 2.57882769e-01 1.40999995e-02 9.13648624e+01] [-1.45942614e-02 2.43859222e-06 9.99893498e-01 -3.36902457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54999999999998 meters 0.013403625978401062 Centerline is valid? [True, True] Translation: X:122.84, Y:91.39, Z:-3.37 [[ 2.54334606e-01 -9.67108852e-01 3.79158776e-03 1.22842826e+02] [ 9.67004414e-01 2.54362861e-01 1.42126206e-02 9.13902158e+01] [-1.47095903e-02 5.17208387e-05 9.99891807e-01 -3.36888547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57999999999998 meters 0.01372407359782069 Centerline is valid? [True, True] Translation: X:122.86, Y:91.42, Z:-3.37 [[ 2.49806684e-01 -9.68288124e-01 3.83784599e-03 1.22856519e+02] [ 9.68180992e-01 2.49836136e-01 1.44038687e-02 9.14165258e+01] [-1.49059277e-02 1.17546852e-04 9.99888894e-01 -3.36918701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60999999999999 meters 0.014343399533173078 Centerline is valid? [True, True] Translation: X:122.87, Y:91.44, Z:-3.37 [[ 2.44634388e-01 -9.69607254e-01 3.97353938e-03 1.22870519e+02] [ 9.69492313e-01 2.44666575e-01 1.49305737e-02 9.14422532e+01] [-1.54489849e-02 1.99784108e-04 9.99880637e-01 -3.36897022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64 meters 0.01683876474297241 Centerline is valid? [True, True] Translation: X:122.89, Y:91.47, Z:-3.37 [[ 2.32933494e-01 -9.72483918e-01 4.12499112e-03 1.22892396e+02] [ 9.72360292e-01 2.32969676e-01 1.55110537e-02 9.14651843e+01] [-1.60452482e-02 3.97933622e-04 9.99871188e-01 -3.36909715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67 meters 0.018788598853012973 Centerline is valid? [True, True] Translation: X:122.91, Y:91.49, Z:-3.37 [[ 2.26599292e-01 -9.73979186e-01 4.16000499e-03 1.22907517e+02] [ 9.73853532e-01 2.26636914e-01 1.56527223e-02 9.14901991e+01] [-1.61882364e-02 5.04339751e-04 9.99868835e-01 -3.36928868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.7 meters 0.020749980456641587 Centerline is valid? [True, True] Translation: X:122.92, Y:91.52, Z:-3.37 [[ 2.20325511e-01 -9.75417530e-01 4.16075026e-03 1.22921767e+02] [ 9.75291955e-01 2.20363959e-01 1.56629863e-02 9.15157086e+01] [-1.61948308e-02 6.06990798e-04 9.99868671e-01 -3.36956982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73 meters 0.021525546800216844 Centerline is valid? [True, True] Translation: X:122.93, Y:91.54, Z:-3.37 [[ 2.14606878e-01 -9.76691564e-01 4.18049616e-03 1.22933255e+02] [ 9.76564719e-01 2.14646446e-01 1.57560134e-02 9.15419372e+01] [-1.62860940e-02 7.01176227e-04 9.99867127e-01 -3.36972339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76 meters 0.023842786504646208 Centerline is valid? [True, True] Translation: X:122.95, Y:91.57, Z:-3.37 [[ 2.06186633e-01 -9.78504517e-01 3.99787659e-03 1.22948855e+02] [ 9.78388691e-01 2.06223825e-01 1.50765801e-02 9.15668962e+01] [-1.55769591e-02 8.02887945e-04 9.99878349e-01 -3.36992736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79 meters 0.0228210669394096 Centerline is valid? [True, True] Translation: X:122.96, Y:91.59, Z:-3.37 [[ 2.03493957e-01 -9.79067651e-01 4.09191919e-03 1.22956609e+02] [ 9.78946278e-01 2.03533261e-01 1.54401205e-02 9.15947126e+01] [-1.59497642e-02 8.63797834e-04 9.99872421e-01 -3.36973174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82 meters 0.02555356501555974 Centerline is valid? [True, True] Translation: X:122.97, Y:91.62, Z:-3.37 [[ 2.01895134e-01 -9.79397923e-01 4.25013839e-03 1.22968568e+02] [ 9.79266727e-01 2.01937768e-01 1.60566410e-02 9.16199819e+01] [-1.65841043e-02 9.20261422e-04 9.99862051e-01 -3.36995995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85 meters 0.024723913290748977 Centerline is valid? [True, True] Translation: X:122.98, Y:91.65, Z:-3.37 [[ 2.00974271e-01 -9.79586749e-01 4.37536742e-03 1.22975356e+02] [ 9.79447655e-01 2.01019590e-01 1.65352727e-02 9.16477790e+01] [-1.70772686e-02 9.62278984e-04 9.99853710e-01 -3.36953783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88 meters 0.024457994313027108 Centerline is valid? [True, True] Translation: X:122.98, Y:91.68, Z:-3.37 [[ 2.01265090e-01 -9.79525635e-01 4.67909734e-03 1.22982529e+02] [ 9.79366192e-01 2.01316891e-01 1.77022947e-02 9.16761437e+01] [-1.82818328e-02 1.01969580e-03 9.99832353e-01 -3.36912147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91 meters 0.022682904212337426 Centerline is valid? [True, True] Translation: X:122.99, Y:91.70, Z:-3.37 [[ 2.02153754e-01 -9.79342445e-01 4.71545658e-03 1.22986601e+02] [ 9.79180133e-01 2.02206235e-01 1.78579436e-02 9.17048679e+01] [-1.84425369e-02 1.00723105e-03 9.99829415e-01 -3.36927793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94 meters 0.024220241648188177 Centerline is valid? [True, True] Translation: X:122.99, Y:91.73, Z:-3.37 [[ 2.03507930e-01 -9.79061577e-01 4.79068703e-03 1.22994721e+02] [ 9.78893591e-01 2.03561886e-01 1.81630306e-02 9.17309996e+01] [-1.87579267e-02 9.93252081e-04 9.99823561e-01 -3.36986359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97 meters 0.022644606195858133 Centerline is valid? [True, True] Translation: X:123.00, Y:91.76, Z:-3.37 [[ 2.04947876e-01 -9.78760772e-01 4.87014087e-03 1.22998423e+02] [ 9.78586964e-01 2.05003388e-01 1.84706410e-02 9.17594442e+01] [-1.90767342e-02 9.80337720e-04 9.99817542e-01 -3.37048736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.0 meters 0.02163479604699516 Centerline is valid? [True, True] Translation: X:123.00, Y:91.79, Z:-3.37 [[ 2.08210120e-01 -9.78072616e-01 4.74385039e-03 1.23000814e+02] [ 9.77907156e-01 2.08262258e-01 1.80118271e-02 9.17885182e+01] [-1.86048399e-02 8.88800561e-04 9.99826520e-01 -3.37138838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03 meters 0.023322554196470363 Centerline is valid? [True, True] Translation: X:123.01, Y:91.81, Z:-3.37 [[ 2.09964593e-01 -9.77697340e-01 4.77283971e-03 1.23008295e+02] [ 9.77529518e-01 2.10017081e-01 1.81346780e-02 9.18145748e+01] [-1.87326043e-02 8.57951425e-04 9.99824161e-01 -3.37230478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06 meters 0.02226858355937632 Centerline is valid? [True, True] Translation: X:123.01, Y:91.84, Z:-3.37 [[ 2.11538075e-01 -9.77358684e-01 4.65258043e-03 1.23011945e+02] [ 9.77199020e-01 2.11587700e-01 1.76839196e-02 9.18429251e+01] [-1.82679611e-02 8.05674732e-04 9.99832802e-01 -3.37332191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09 meters 0.022430306004426113 Centerline is valid? [True, True] Translation: X:123.02, Y:91.87, Z:-3.37 [[ 2.13314807e-01 -9.76973224e-01 4.48475341e-03 1.23016874e+02] [ 9.76824453e-01 2.13360660e-01 1.70650982e-02 9.18700769e+01] [-1.76290140e-02 7.40578666e-04 9.99844323e-01 -3.37490459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12 meters 0.02085700773593465 Centerline is valid? [True, True] Translation: X:123.02, Y:91.90, Z:-3.38 [[ 2.16179023e-01 -9.76344925e-01 4.14930869e-03 1.23017699e+02] [ 9.76217384e-01 2.16217904e-01 1.57935548e-02 9.18998012e+01] [-1.63171119e-02 6.36392012e-04 9.99866665e-01 -3.37638440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15 meters 0.02020060434430449 Centerline is valid? [True, True] Translation: X:123.02, Y:91.93, Z:-3.38 [[ 2.17223045e-01 -9.76113051e-01 4.17865770e-03 1.23022634e+02] [ 9.75983515e-01 2.17262344e-01 1.59138758e-02 9.19289271e+01] [-1.64416069e-02 6.21440466e-04 9.99864635e-01 -3.37675078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18 meters 0.020069281036862285 Centerline is valid? [True, True] Translation: X:123.03, Y:91.96, Z:-3.38 [[ 2.18250790e-01 -9.75883228e-01 4.30315925e-03 1.23028367e+02] [ 9.75745546e-01 2.18292331e-01 1.64039082e-02 9.19577402e+01] [-1.69476456e-02 6.18622549e-04 9.99856187e-01 -3.37728009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20999999999998 meters 0.01986911271348623 Centerline is valid? [True, True] Translation: X:123.03, Y:91.99, Z:-3.38 [[ 2.18822204e-01 -9.75754958e-01 4.37084728e-03 1.23033901e+02] [ 9.75612622e-01 2.18864988e-01 1.66771978e-02 9.19856875e+01] [-1.72294839e-02 6.14912593e-04 9.99851372e-01 -3.37751364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23999999999998 meters 0.020086132326568668 Centerline is valid? [True, True] Translation: X:123.04, Y:92.01, Z:-3.38 [[ 2.19783310e-01 -9.75538972e-01 4.36022432e-03 1.23039947e+02] [ 9.75396938e-01 2.19825760e-01 1.66567902e-02 9.20128393e+01] [-1.72078376e-02 5.92064963e-04 9.99851759e-01 -3.37831896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26999999999998 meters 0.019821256421541984 Centerline is valid? [True, True] Translation: X:123.05, Y:92.04, Z:-3.38 [[ 2.20733709e-01 -9.75323943e-01 4.45378754e-03 1.23045522e+02] [ 9.75175544e-01 2.20777861e-01 1.70233337e-02 9.20411933e+01] [-1.75865626e-02 5.85601104e-04 9.99845173e-01 -3.37928767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29999999999998 meters 0.019307635192919594 Centerline is valid? [True, True] Translation: X:123.05, Y:92.07, Z:-3.38 [[ 2.23036122e-01 -9.74801792e-01 4.04418929e-03 1.23048699e+02] [ 9.74679142e-01 2.23072243e-01 1.54707588e-02 9.20688866e+01] [-1.59830697e-02 4.91248920e-04 9.99872142e-01 -3.38172050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32999999999998 meters 0.018981975094190612 Centerline is valid? [True, True] Translation: X:123.05, Y:92.10, Z:-3.38 [[ 2.24442008e-01 -9.74479919e-01 3.83047076e-03 1.23054298e+02] [ 9.74369613e-01 2.24474260e-01 1.46684445e-02 9.20967191e+01] [-1.51539467e-02 4.40079180e-04 9.99885076e-01 -3.38342683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35999999999999 meters 0.01861767726028577 Centerline is valid? [True, True] Translation: X:123.06, Y:92.12, Z:-3.38 [[ 2.26155570e-01 -9.74084439e-01 3.62821796e-03 1.23059943e+02] [ 9.73985225e-01 2.26184339e-01 1.39077660e-02 9.21247416e+01] [-1.43679846e-02 3.88511929e-04 9.99896700e-01 -3.38480071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39 meters 0.016882771241602267 Centerline is valid? [True, True] Translation: X:123.06, Y:92.15, Z:-3.39 [[ 2.29693050e-01 -9.73256434e-01 3.60771907e-03 1.23062467e+02] [ 9.73158029e-01 2.29721142e-01 1.38437083e-02 9.21536405e+01] [-1.43022475e-02 3.31077201e-04 9.99897663e-01 -3.38538461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42 meters 0.016555526260387435 Centerline is valid? [True, True] Translation: X:123.07, Y:92.18, Z:-3.39 [[ 2.31759313e-01 -9.72766732e-01 3.53646464e-03 1.23068285e+02] [ 9.72671849e-01 2.31786112e-01 1.35894455e-02 9.21806988e+01] [-1.40390639e-02 2.90339046e-04 9.99901405e-01 -3.38591211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45 meters 0.015706951813872095 Centerline is valid? [True, True] Translation: X:123.07, Y:92.21, Z:-3.39 [[ 2.33609129e-01 -9.72323695e-01 3.66165457e-03 1.23073155e+02] [ 9.72221900e-01 2.33637665e-01 1.40718814e-02 9.22094678e+01] [-1.45379241e-02 2.72620798e-04 9.99894282e-01 -3.38613447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48 meters 0.015706951813872095 Centerline is valid? [True, True] Translation: X:123.08, Y:92.24, Z:-3.39 [[ 2.33332709e-01 -9.72390078e-01 3.65836713e-03 1.23080018e+02] [ 9.72288278e-01 2.33361227e-01 1.40727359e-02 9.22361329e+01] [-1.45379098e-02 2.73357893e-04 9.99894282e-01 -3.38670076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51 meters 0.01558823589227523 Centerline is valid? [True, True] Translation: X:123.09, Y:92.26, Z:-3.39 [[ 2.35639260e-01 -9.71833826e-01 3.62676835e-03 1.23085970e+02] [ 9.71733466e-01 2.35667053e-01 1.39682422e-02 9.22638804e+01] [-1.44295201e-02 2.32785931e-04 9.99895862e-01 -3.38721392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54 meters 0.01509881647755316 Centerline is valid? [True, True] Translation: X:123.09, Y:92.29, Z:-3.39 [[ 2.37611005e-01 -9.71353234e-01 3.72907267e-03 1.23091673e+02] [ 9.71246846e-01 2.37640176e-01 1.43774643e-02 9.22926187e+01] [-1.48517739e-02 2.05606330e-04 9.99889685e-01 -3.38778526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57 meters 0.01466191718777294 Centerline is valid? [True, True] Translation: X:123.10, Y:92.32, Z:-3.39 [[ 2.39460270e-01 -9.70899116e-01 3.69950832e-03 1.23097268e+02] [ 9.70794153e-01 2.39488783e-01 1.42770545e-02 9.23200710e+01] [-1.47475703e-02 1.72673729e-04 9.99891234e-01 -3.38837875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.6 meters 0.014626424329928693 Centerline is valid? [True, True] Translation: X:123.10, Y:92.35, Z:-3.39 [[ 2.42821187e-01 -9.70063395e-01 3.85756381e-03 1.23104412e+02] [ 9.69948833e-01 2.42851796e-01 1.49086251e-02 9.23469299e+01] [-1.53991278e-02 1.21509464e-04 9.99881419e-01 -3.38948197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63 meters 0.014123444687351244 Centerline is valid? [True, True] Translation: X:123.11, Y:92.37, Z:-3.39 [[ 2.43630671e-01 -9.69859874e-01 3.99023043e-03 1.23109864e+02] [ 9.69737234e-01 2.43663320e-01 1.54234791e-02 9.23746849e+01] [-1.59308863e-02 1.11842449e-04 9.99873089e-01 -3.38861361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66 meters 0.014151449719483145 Centerline is valid? [True, True] Translation: X:123.12, Y:92.40, Z:-3.39 [[ 2.43979021e-01 -9.69772114e-01 4.03547880e-03 1.23116618e+02] [ 9.69646366e-01 2.44012371e-01 1.56169251e-02 9.24017205e+01] [-1.61295652e-02 1.02785248e-04 9.99869905e-01 -3.38883236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69 meters 0.014118811980897586 Centerline is valid? [True, True] Translation: X:123.12, Y:92.43, Z:-3.39 [[ 2.43114467e-01 -9.69988345e-01 4.23859613e-03 1.23124969e+02] [ 9.69849301e-01 2.43151385e-01 1.64237081e-02 9.24285462e+01] [-1.69614260e-02 1.17958443e-04 9.99856138e-01 -3.38940890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72 meters 0.01429221139313819 Centerline is valid? [True, True] Translation: X:123.13, Y:92.45, Z:-3.39 [[ 2.41868320e-01 -9.70300223e-01 4.14636134e-03 1.23133390e+02] [ 9.70166874e-01 2.41903822e-01 1.60865524e-02 9.24541212e+01] [-1.66118061e-02 1.31835017e-04 9.99862006e-01 -3.39008627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75 meters 0.014464489203456762 Centerline is valid? [True, True] Translation: X:123.14, Y:92.48, Z:-3.39 [[ 2.39933306e-01 -9.70780363e-01 4.18272139e-03 1.23142685e+02] [ 9.70644522e-01 2.39969706e-01 1.62404499e-02 9.24804758e+01] [-1.67696363e-02 1.63310755e-04 9.99859366e-01 -3.39057178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78 meters 0.014912707120706805 Centerline is valid? [True, True] Translation: X:123.15, Y:92.51, Z:-3.39 [[ 2.37734267e-01 -9.71320916e-01 4.25392987e-03 1.23152757e+02] [ 9.71180267e-01 2.37772238e-01 1.65303332e-02 9.25067234e+01] [-1.70677248e-02 2.01506091e-04 9.99854315e-01 -3.39105688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81 meters 0.01581728060791463 Centerline is valid? [True, True] Translation: X:123.17, Y:92.53, Z:-3.39 [[ 2.32054110e-01 -9.72692546e-01 4.48341522e-03 1.23165420e+02] [ 9.72536404e-01 2.32097202e-01 1.74307543e-02 9.25333773e+01] [-1.79953529e-02 3.15406362e-04 9.99838021e-01 -3.39077084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84 meters 0.015927709347252 Centerline is valid? [True, True] Translation: X:123.17, Y:92.56, Z:-3.39 [[ 2.28358263e-01 -9.73566451e-01 4.56821198e-03 1.23174302e+02] [ 9.73404183e-01 2.28403624e-01 1.77786761e-02 9.25609771e+01] [-1.83521187e-02 3.86809064e-04 9.99831511e-01 -3.39098046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87 meters 0.016292617802600357 Centerline is valid? [True, True] Translation: X:123.18, Y:92.59, Z:-3.39 [[ 2.24506665e-01 -9.74461474e-01 4.64685335e-03 1.23183590e+02] [ 9.74293397e-01 2.24554273e-01 1.81039904e-02 9.25883835e+01] [-1.86851120e-02 4.62932021e-04 9.99825311e-01 -3.39140998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.9 meters 0.017384466841561093 Centerline is valid? [True, True] Translation: X:123.19, Y:92.61, Z:-3.39 [[ 2.20375305e-01 -9.75403951e-01 4.67511011e-03 1.23193840e+02] [ 9.75233648e-01 2.20424225e-01 1.82344090e-02 9.26146763e+01] [-1.88164221e-02 5.40911245e-04 9.99822809e-01 -3.39201545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93 meters 0.01799513131803279 Centerline is valid? [True, True] Translation: X:123.20, Y:92.64, Z:-3.39 [[ 2.16276852e-01 -9.76320653e-01 4.72292422e-03 1.23202988e+02] [ 9.76146850e-01 2.16327515e-01 1.84318779e-02 9.26420958e+01] [-1.90171215e-02 6.23879058e-04 9.99818964e-01 -3.39243948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95999999999998 meters 0.019316727631005746 Centerline is valid? [True, True] Translation: X:123.21, Y:92.67, Z:-3.39 [[ 2.12263584e-01 -9.77200795e-01 4.77257938e-03 1.23213091e+02] [ 9.77023149e-01 2.12316060e-01 1.86455730e-02 9.26685601e+01] [-1.92337640e-02 7.05144389e-04 9.99814765e-01 -3.39296278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98999999999998 meters 0.02186185371921852 Centerline is valid? [True, True] Translation: X:123.23, Y:92.69, Z:-3.39 [[ 2.04608412e-01 -9.78831335e-01 4.96128450e-03 1.23225050e+02] [ 9.78639352e-01 2.04666641e-01 1.94058008e-02 9.26934768e+01] [-2.00104154e-02 8.84718150e-04 9.99799380e-01 -3.39320663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01999999999998 meters 0.02161449556230809 Centerline is valid? [True, True] Translation: X:123.23, Y:92.72, Z:-3.39 [[ 2.01138798e-01 -9.79551129e-01 4.77167374e-03 1.23231790e+02] [ 9.79373492e-01 2.01193302e-01 1.86766954e-02 9.27213803e+01] [-1.92548069e-02 9.16642704e-04 9.99814189e-01 -3.39390512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04999999999998 meters 0.022930517472170276 Centerline is valid? [True, True] Translation: X:123.24, Y:92.75, Z:-3.39 [[ 1.98109102e-01 -9.80168665e-01 4.70863768e-03 1.23240140e+02] [ 9.79995481e-01 1.98162729e-01 1.84496407e-02 9.27472545e+01] [-1.90168362e-02 9.59401900e-04 9.99818703e-01 -3.39495693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07999999999998 meters 0.02336090405422299 Centerline is valid? [True, True] Translation: X:123.25, Y:92.78, Z:-3.40 [[ 1.95576526e-01 -9.80677531e-01 4.62632413e-03 1.23247188e+02] [ 9.80510248e-01 1.95628738e-01 1.81397432e-02 9.27753403e+01] [-1.86942805e-02 9.88450275e-04 9.99824758e-01 -3.39628476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10999999999999 meters 0.02491168361373112 Centerline is valid? [True, True] Translation: X:123.25, Y:92.80, Z:-3.40 [[ 1.93078085e-01 -9.81173703e-01 4.36095098e-03 1.23253280e+02] [ 9.81024889e-01 1.93124874e-01 1.71157718e-02 9.28024441e+01] [-1.76357533e-02 9.73521021e-04 9.99844004e-01 -3.39712979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14 meters 0.02555650510994941 Centerline is valid? [True, True] Translation: X:123.26, Y:92.83, Z:-3.40 [[ 1.92685836e-01 -9.81251169e-01 4.27931642e-03 1.23258947e+02] [ 9.81107579e-01 1.92730965e-01 1.68135142e-02 9.28298847e+01] [-1.73230372e-02 9.58743729e-04 9.99849485e-01 -3.39778875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17 meters 0.026065594834254944 Centerline is valid? [True, True] Translation: X:123.26, Y:92.86, Z:-3.40 [[ 1.92946880e-01 -9.81199693e-01 4.32006763e-03 1.23263667e+02] [ 9.81052968e-01 1.92992854e-01 1.69950626e-02 9.28564363e+01] [-1.75092924e-02 9.59070852e-04 9.99846241e-01 -3.39803349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.2 meters 0.026234513893437336 Centerline is valid? [True, True] Translation: X:123.27, Y:92.88, Z:-3.40 [[ 1.93557154e-01 -9.81079175e-01 4.39101116e-03 1.23268225e+02] [ 9.80927340e-01 1.93604568e-01 1.72865782e-02 9.28842780e+01] [-1.78096217e-02 9.61322016e-04 9.99840934e-01 -3.39830381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23 meters 0.025305773286772727 Centerline is valid? [True, True] Translation: X:123.27, Y:92.91, Z:-3.40 [[ 1.94325564e-01 -9.80927085e-01 4.43038939e-03 1.23270821e+02] [ 9.80772120e-01 1.94373730e-01 1.74614244e-02 9.29131820e+01] [-1.79895355e-02 9.52001246e-04 9.99837722e-01 -3.39874039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26 meters 0.02387797858816229 Centerline is valid? [True, True] Translation: X:123.27, Y:92.94, Z:-3.40 [[ 1.95190297e-01 -9.80755493e-01 4.40586771e-03 1.23272639e+02] [ 9.80601881e-01 1.95237812e-01 1.73823836e-02 9.29424839e+01] [-1.79080602e-02 9.27529545e-04 9.99839208e-01 -3.39907980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29 meters 0.02347557860829302 Centerline is valid? [True, True] Translation: X:123.27, Y:92.97, Z:-3.40 [[ 1.97427786e-01 -9.80307798e-01 4.34640099e-03 1.23272357e+02] [ 9.80157869e-01 1.97473702e-01 1.71664987e-02 9.29722862e+01] [-1.76867525e-02 8.71015302e-04 9.99843198e-01 -3.40000991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32 meters 0.0222225819986368 Centerline is valid? [True, True] Translation: X:123.27, Y:93.00, Z:-3.40 [[ 1.98173750e-01 -9.80157118e-01 4.38055020e-03 1.23273628e+02] [ 9.80004609e-01 1.98220284e-01 1.73114088e-02 9.30014914e+01] [-1.78362144e-02 8.62292600e-04 9.99840550e-01 -3.40020282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35 meters 0.022227737884631078 Centerline is valid? [True, True] Translation: X:123.28, Y:93.03, Z:-3.40 [[ 1.98753819e-01 -9.80038637e-01 4.60315228e-03 1.23276697e+02] [ 9.79869822e-01 1.98805121e-01 1.82114513e-02 9.30308671e+01] [-1.87630562e-02 8.90894500e-04 9.99823561e-01 -3.40059460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38 meters 0.022771631160450577 Centerline is valid? [True, True] Translation: X:123.28, Y:93.06, Z:-3.40 [[ 1.99420040e-01 -9.79902751e-01 4.71659752e-03 1.23280306e+02] [ 9.79725069e-01 1.99473799e-01 1.86813605e-02 9.30590649e+01] [-1.92467542e-02 8.95531177e-04 9.99814363e-01 -3.40075172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41 meters 0.026267261437631827 Centerline is valid? [True, True] Translation: X:123.29, Y:93.09, Z:-3.40 [[ 1.99713471e-01 -9.79842845e-01 4.74645078e-03 1.23288020e+02] [ 9.79662765e-01 1.99767865e-01 1.88060331e-02 9.30851041e+01] [-1.93751453e-02 8.94102951e-04 9.99811884e-01 -3.40115573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44 meters 0.022469636827234983 Centerline is valid? [True, True] Translation: X:123.29, Y:93.11, Z:-3.40 [[ 1.99754680e-01 -9.79834296e-01 4.77694851e-03 1.23285382e+02] [ 9.79651559e-01 1.99809783e-01 1.89439481e-02 9.31143507e+01] [-1.95164111e-02 8.95602750e-04 9.99809136e-01 -3.40167166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47 meters 0.022749318534365924 Centerline is valid? [True, True] Translation: X:123.28, Y:93.14, Z:-3.40 [[ 1.99384542e-01 -9.79910254e-01 4.65823740e-03 1.23284363e+02] [ 9.79736103e-01 1.99437025e-01 1.84943483e-02 9.31431955e+01] [-1.90518266e-02 8.76356176e-04 9.99818113e-01 -3.40288247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.5 meters 0.023570764952747354 Centerline is valid? [True, True] Translation: X:123.29, Y:93.17, Z:-3.40 [[ 1.98872287e-01 -9.80014757e-01 4.57056653e-03 1.23288222e+02] [ 9.79846727e-01 1.98922919e-01 1.81676733e-02 9.31706491e+01] [-1.87137783e-02 8.65407931e-04 9.99824507e-01 -3.40384322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53 meters 0.0244132151963017 Centerline is valid? [True, True] Translation: X:123.29, Y:93.20, Z:-3.40 [[ 1.98233030e-01 -9.80144184e-01 4.58741540e-03 1.23287619e+02] [ 9.79974564e-01 1.98284164e-01 1.82549668e-02 9.31992391e+01] [-1.88021113e-02 8.76813039e-04 9.99822840e-01 -3.40456051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56 meters 0.025074520422351983 Centerline is valid? [True, True] Translation: X:123.29, Y:93.23, Z:-3.41 [[ 1.98188410e-01 -9.80153226e-01 4.58338606e-03 1.23290867e+02] [ 9.79983735e-01 1.98239470e-01 1.82480758e-02 9.32266788e+01] [-1.87945184e-02 8.75086648e-04 9.99822984e-01 -3.40535778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59 meters 0.02532541018100233 Centerline is valid? [True, True] Translation: X:123.29, Y:93.25, Z:-3.41 [[ 1.97903463e-01 -9.80211381e-01 4.45726321e-03 1.23293571e+02] [ 9.80050792e-01 1.97951814e-01 1.77630174e-02 9.32547723e+01] [-1.82938352e-02 8.52981670e-04 9.99832290e-01 -3.40589333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62 meters 0.024603639180794036 Centerline is valid? [True, True] Translation: X:123.30, Y:93.28, Z:-3.41 [[ 1.97830221e-01 -9.80226123e-01 4.46673624e-03 1.23295011e+02] [ 9.80064479e-01 1.97878806e-01 1.78212241e-02 9.32828751e+01] [-1.83527018e-02 8.52112835e-04 9.99831212e-01 -3.40677005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65 meters 0.024420373198387867 Centerline is valid? [True, True] Translation: X:123.30, Y:93.31, Z:-3.41 [[ 1.97968751e-01 -9.80198779e-01 4.32746842e-03 1.23297406e+02] [ 9.80046707e-01 1.98014348e-01 1.72849401e-02 9.33108122e+01] [-1.77995780e-02 8.19243177e-04 9.99841239e-01 -3.40759251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68 meters 0.025544660372607872 Centerline is valid? [True, True] Translation: X:123.30, Y:93.34, Z:-3.41 [[ 1.98491972e-01 -9.80093608e-01 4.17820305e-03 1.23296962e+02] [ 9.79951494e-01 1.98534417e-01 1.67079172e-02 9.33392845e+01] [-1.72048400e-02 7.78048887e-04 9.99851683e-01 -3.40878156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70999999999998 meters 0.026054940755707606 Centerline is valid? [True, True] Translation: X:123.30, Y:93.37, Z:-3.41 [[ 1.98825680e-01 -9.80026353e-01 4.08607302e-03 1.23299460e+02] [ 9.79890219e-01 1.98866238e-01 1.63516780e-02 9.33664879e+01] [-1.68376573e-02 7.52769493e-04 9.99857953e-01 -3.41010503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73999999999998 meters 0.0221727343850541 Centerline is valid? [True, True] Translation: X:123.30, Y:93.40, Z:-3.41 [[ 1.99125313e-01 -9.79965908e-01 3.99114714e-03 1.23296546e+02] [ 9.79835721e-01 1.99163981e-01 1.59896507e-02 9.33964315e+01] [-1.64642053e-02 7.26724351e-04 9.99864192e-01 -3.41048902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76999999999998 meters 0.026060225173231935 Centerline is valid? [True, True] Translation: X:123.30, Y:93.42, Z:-3.41 [[ 1.99501397e-01 -9.79889438e-01 3.98517357e-03 1.23304876e+02] [ 9.79759300e-01 1.99539914e-01 1.59855264e-02 9.34220522e+01] [-1.64592497e-02 7.15376020e-04 9.99864281e-01 -3.41179681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79999999999998 meters 0.026519992363970256 Centerline is valid? [True, True] Translation: X:123.31, Y:93.45, Z:-3.41 [[ 1.99715222e-01 -9.79845749e-01 4.01718006e-03 1.23308755e+02] [ 9.79713264e-01 1.99754342e-01 1.61283205e-02 9.34499770e+01] [-1.66057155e-02 7.14613471e-04 9.99861860e-01 -3.41230141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82999999999998 meters 0.021437450990545955 Centerline is valid? [True, True] Translation: X:123.30, Y:93.48, Z:-3.41 [[ 2.00605180e-01 -9.79662722e-01 4.30263909e-03 1.23301734e+02] [ 9.79510350e-01 2.00649933e-01 1.72938945e-02 9.34812668e+01] [-1.78055080e-02 7.45234699e-04 9.99841192e-01 -3.41156735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85999999999999 meters 0.021112541677158946 Centerline is valid? [True, True] Translation: X:123.30, Y:93.51, Z:-3.41 [[ 2.01353434e-01 -9.79508988e-01 4.35160262e-03 1.23304786e+02] [ 9.79352753e-01 2.01399106e-01 1.75095667e-02 9.35098508e+01] [-1.80271869e-02 7.36142616e-04 9.99837226e-01 -3.41204553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89 meters 0.020321562306781425 Centerline is valid? [True, True] Translation: X:123.31, Y:93.54, Z:-3.41 [[ 2.02195759e-01 -9.79334970e-01 4.46006397e-03 1.23307257e+02] [ 9.79170448e-01 2.02243610e-01 1.79654336e-02 9.35391715e+01] [-1.84961968e-02 7.34628342e-04 9.99828661e-01 -3.41248493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92 meters 0.020284215225177715 Centerline is valid? [True, True] Translation: X:123.31, Y:93.57, Z:-3.41 [[ 2.03296272e-01 -9.79107415e-01 4.39264420e-03 1.23310799e+02] [ 9.78947440e-01 2.03342520e-01 1.77123748e-02 9.35683788e+01] [-1.82355288e-02 6.99308037e-04 9.99833474e-01 -3.41316888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95 meters 0.02033605541865561 Centerline is valid? [True, True] Translation: X:123.31, Y:93.60, Z:-3.41 [[ 2.04653625e-01 -9.78825312e-01 4.23100087e-03 1.23314631e+02] [ 9.78676532e-01 2.04696338e-01 1.70778955e-02 9.35973108e+01] [-1.75823468e-02 6.45728026e-04 9.99845210e-01 -3.41412121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98 meters 0.01920969362851313 Centerline is valid? [True, True] Translation: X:123.31, Y:93.63, Z:-3.42 [[ 2.06925098e-01 -9.78347372e-01 4.29222606e-03 1.23313621e+02] [ 9.78193826e-01 2.06968711e-01 1.73433294e-02 9.36263878e+01] [-1.78561572e-02 6.09858906e-04 9.99840380e-01 -3.41501099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01 meters 0.01875944970927271 Centerline is valid? [True, True] Translation: X:123.32, Y:93.66, Z:-3.42 [[ 2.07435104e-01 -9.78238921e-01 4.39224513e-03 1.23317061e+02] [ 9.78077720e-01 2.07480703e-01 1.77688117e-02 9.36551964e+01] [-1.82934493e-02 6.10081792e-04 9.99832475e-01 -3.41513531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04 meters 0.01907187768984453 Centerline is valid? [True, True] Translation: X:123.32, Y:93.68, Z:-3.42 [[ 2.07280122e-01 -9.78270930e-01 4.57582383e-03 1.23321820e+02] [ 9.78095588e-01 2.07329652e-01 1.85320526e-02 9.36824699e+01] [-1.90780723e-02 6.34266987e-04 9.99817796e-01 -3.41521441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07 meters 0.021055905778540503 Centerline is valid? [True, True] Translation: X:123.33, Y:93.71, Z:-3.42 [[ 2.07057110e-01 -9.78317227e-01 4.77045510e-03 1.23329504e+02] [ 9.78126167e-01 2.07111003e-01 1.93451280e-02 9.37080897e+01] [-1.99136857e-02 6.60560668e-04 9.99801485e-01 -3.41506496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.1 meters 0.019325619143339464 Centerline is valid? [True, True] Translation: X:123.33, Y:93.74, Z:-3.41 [[ 2.06294892e-01 -9.78476810e-01 5.05466462e-03 1.23331537e+02] [ 9.78261968e-01 2.06355577e-01 2.05157781e-02 9.37377644e+01] [-2.11172713e-02 7.12485941e-04 9.99776752e-01 -3.41472779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13 meters 0.01878273896815114 Centerline is valid? [True, True] Translation: X:123.33, Y:93.77, Z:-3.41 [[ 2.04450965e-01 -9.78862186e-01 5.35017163e-03 1.23333061e+02] [ 9.78621069e-01 2.04519426e-01 2.17395266e-02 9.37669347e+01] [-2.23742145e-02 7.91123492e-04 9.99749353e-01 -3.41499088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16 meters 0.019094736109444916 Centerline is valid? [True, True] Translation: X:123.34, Y:93.80, Z:-3.42 [[ 2.03915176e-01 -9.78974886e-01 5.17443479e-03 1.23338507e+02] [ 9.78748904e-01 2.03979354e-01 2.10477278e-02 9.37954733e+01] [-2.16606747e-02 7.72521278e-04 9.99765082e-01 -3.41616550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19 meters 0.020040168583432653 Centerline is valid? [True, True] Translation: X:123.34, Y:93.82, Z:-3.42 [[ 2.04214675e-01 -9.78913490e-01 4.97440800e-03 1.23344983e+02] [ 9.78704188e-01 2.04273940e-01 2.02551096e-02 9.38228937e+01] [-2.08441420e-02 7.32083305e-04 9.99782469e-01 -3.41780458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22 meters 0.01936329168780328 Centerline is valid? [True, True] Translation: X:123.35, Y:93.85, Z:-3.42 [[ 2.05744733e-01 -9.78595096e-01 4.55449136e-03 1.23347985e+02] [ 9.78419460e-01 2.05794144e-01 1.85507758e-02 9.38513750e+01] [-1.90909858e-02 6.39478577e-04 9.99817546e-01 -3.42054433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25 meters 0.018794513716704594 Centerline is valid? [True, True] Translation: X:123.35, Y:93.88, Z:-3.42 [[ 2.06687295e-01 -9.78397008e-01 4.43356388e-03 1.23352611e+02] [ 9.78230186e-01 2.06733968e-01 1.80767779e-02 9.38797873e+01] [-1.86028336e-02 6.00805696e-04 9.99826772e-01 -3.42145803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28 meters 0.018343765944535417 Centerline is valid? [True, True] Translation: X:123.36, Y:93.91, Z:-3.42 [[ 2.08003744e-01 -9.78118309e-01 4.36082889e-03 1.23358099e+02] [ 9.77956513e-01 2.08048691e-01 1.77989019e-02 9.39083831e+01] [-1.83166965e-02 5.62462795e-04 9.99832077e-01 -3.42245108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31 meters 0.018070535084557676 Centerline is valid? [True, True] Translation: X:123.36, Y:93.94, Z:-3.42 [[ 2.09754271e-01 -9.77744585e-01 4.32124040e-03 1.23363478e+02] [ 9.77585265e-01 2.09798132e-01 1.76576708e-02 9.39353047e+01] [-1.81712801e-02 5.20609089e-04 9.99834753e-01 -3.42290916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34 meters 0.018376608146024785 Centerline is valid? [True, True] Translation: X:123.37, Y:93.96, Z:-3.42 [[ 2.11480931e-01 -9.77372465e-01 4.34526082e-03 1.23369653e+02] [ 9.77211167e-01 2.11525000e-01 1.77626153e-02 9.39620691e+01] [-1.82798224e-02 4.89782982e-04 9.99832790e-01 -3.42381260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37 meters 0.016474701998814362 Centerline is valid? [True, True] Translation: X:123.37, Y:93.99, Z:-3.42 [[ 2.15937967e-01 -9.76397514e-01 4.32298878e-03 1.23371819e+02] [ 9.76237582e-01 2.15980858e-01 1.76763501e-02 9.39905620e+01] [-1.81928271e-02 4.03269007e-04 9.99834416e-01 -3.42427369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.4 meters 0.016474701998814362 Centerline is valid? [True, True] Translation: X:123.38, Y:94.02, Z:-3.42 [[ 2.15665482e-01 -9.76457757e-01 4.31834108e-03 1.23378270e+02] [ 9.76297814e-01 2.15708333e-01 1.76774854e-02 9.40172891e+01] [-1.81928199e-02 4.03563556e-04 9.99834416e-01 -3.42483988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43 meters 0.015581144542141085 Centerline is valid? [True, True] Translation: X:123.38, Y:94.05, Z:-3.43 [[ 2.18114046e-01 -9.75913458e-01 4.38013441e-03 1.23383056e+02] [ 9.75748380e-01 2.18157728e-01 1.79528307e-02 9.40459029e+01] [-1.84759692e-02 3.58144517e-04 9.99829241e-01 -3.42523500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45999999999998 meters 0.014949869700456262 Centerline is valid? [True, True] Translation: X:123.39, Y:94.07, Z:-3.43 [[ 2.20842946e-01 -9.75299462e-01 4.39920026e-03 1.23388358e+02] [ 9.75132456e-01 2.20886549e-01 1.80506672e-02 9.40747456e+01] [-1.85765301e-02 3.03440441e-04 9.99827395e-01 -3.42575100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48999999999998 meters 0.014376501170359242 Centerline is valid? [True, True] Translation: X:123.39, Y:94.10, Z:-3.43 [[ 2.24390676e-01 -9.74489021e-01 4.46904492e-03 1.23393286e+02] [ 9.74316134e-01 2.24435052e-01 1.83569915e-02 9.41022158e+01] [-1.88916970e-02 2.35124824e-04 9.99821508e-01 -3.42628820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51999999999998 meters 0.0138642383267674 Centerline is valid? [True, True] Translation: X:123.40, Y:94.13, Z:-3.43 [[ 2.28239032e-01 -9.73594730e-01 4.49963583e-03 1.23398305e+02] [ 9.73419175e-01 2.28283325e-01 1.84887508e-02 9.41310328e+01] [-1.90277422e-02 1.60177213e-04 9.99818943e-01 -3.42714536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54999999999998 meters 0.013370912759747926 Centerline is valid? [True, True] Translation: X:123.40, Y:94.16, Z:-3.43 [[ 2.32195741e-01 -9.72659310e-01 4.35936540e-03 1.23403239e+02] [ 9.72494027e-01 2.32236647e-01 1.79306029e-02 9.41593322e+01] [-1.84527723e-02 7.60471949e-05 9.99829730e-01 -3.42795244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57999999999998 meters 0.013421860412192286 Centerline is valid? [True, True] Translation: X:123.41, Y:94.19, Z:-3.43 [[ 2.40632670e-01 -9.70606825e-01 4.27896734e-03 1.23407514e+02] [ 9.70446889e-01 2.40670696e-01 1.76196566e-02 9.41856597e+01] [-1.81315810e-02 -8.73544650e-05 9.99835606e-01 -3.42980358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60999999999999 meters 0.013703995556448516 Centerline is valid? [True, True] Translation: X:123.41, Y:94.21, Z:-3.43 [[ 2.44329173e-01 -9.69682358e-01 4.40232119e-03 1.23414521e+02] [ 9.69512677e-01 2.44368775e-01 1.81403292e-02 9.42134469e+01] [-1.86661470e-02 -1.64105417e-04 9.99825759e-01 -3.42991037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64 meters 0.01430111268773821 Centerline is valid? [True, True] Translation: X:123.42, Y:94.24, Z:-3.43 [[ 2.47907848e-01 -9.68773447e-01 4.43933466e-03 1.23420546e+02] [ 9.68600349e-01 2.47947477e-01 1.83142576e-02 9.42401025e+01] [-1.88430882e-02 -2.40307077e-04 9.99822424e-01 -3.43018162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67 meters 0.015191204408454341 Centerline is valid? [True, True] Translation: X:123.43, Y:94.27, Z:-3.43 [[ 2.50971555e-01 -9.67983493e-01 4.60812062e-03 1.23426977e+02] [ 9.67796671e-01 2.51013661e-01 1.90195890e-02 9.42672479e+01] [-1.95673495e-02 -3.13652049e-04 9.99808492e-01 -3.43007523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.7 meters 0.015284650254787284 Centerline is valid? [True, True] Translation: X:123.44, Y:94.29, Z:-3.43 [[ 2.53183231e-01 -9.67406121e-01 4.86302912e-03 1.23435725e+02] [ 9.67197635e-01 2.53229642e-01 2.00869099e-02 9.42942326e+01] [-2.06636627e-02 -3.82158506e-04 9.99786411e-01 -3.42976028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73 meters 0.015449102776945695 Centerline is valid? [True, True] Translation: X:123.44, Y:94.32, Z:-3.43 [[ 2.54775026e-01 -9.66986592e-01 5.15923666e-03 1.23444864e+02] [ 9.66751652e-01 2.54826872e-01 2.13192023e-02 9.43211265e+01] [-2.19300949e-02 -4.43899767e-04 9.99759408e-01 -3.42962871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76 meters 0.016179673473874157 Centerline is valid? [True, True] Translation: X:123.46, Y:94.35, Z:-3.43 [[ 2.54625432e-01 -9.67023605e-01 5.58903416e-03 1.23456985e+02] [ 9.66747638e-01 2.54686311e-01 2.31060155e-02 9.43463592e+01] [-2.37675129e-02 -4.80193595e-04 9.99717397e-01 -3.42862215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79 meters 0.015562948806741764 Centerline is valid? [True, True] Translation: X:123.47, Y:94.37, Z:-3.43 [[ 2.53404939e-01 -9.67344456e-01 5.53544923e-03 1.23469488e+02] [ 9.67073411e-01 2.53464991e-01 2.29023171e-02 9.43723137e+01] [-2.35574721e-02 -4.50374497e-04 9.99722383e-01 -3.42921985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82 meters 0.015495311208139472 Centerline is valid? [True, True] Translation: X:123.48, Y:94.40, Z:-3.43 [[ 2.51947389e-01 -9.67725393e-01 5.48433610e-03 1.23480627e+02] [ 9.67458799e-01 2.52006726e-01 2.27174635e-02 9.43973095e+01] [-2.33663559e-02 -4.17736384e-04 9.99726882e-01 -3.43023523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85 meters 0.014965607953798492 Centerline is valid? [True, True] Translation: X:123.49, Y:94.42, Z:-3.43 [[ 2.50278413e-01 -9.68159265e-01 5.32486965e-03 1.23493233e+02] [ 9.67907574e-01 2.50334776e-01 2.20777680e-02 9.44234220e+01] [-2.27077957e-02 -3.71607082e-04 9.99742076e-01 -3.43166007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88 meters 0.01453619139644371 Centerline is valid? [True, True] Translation: X:123.51, Y:94.45, Z:-3.43 [[ 2.48683209e-01 -9.68571470e-01 5.09609609e-03 1.23506194e+02] [ 9.68340506e-01 2.48735205e-01 2.11532816e-02 9.44495829e+01] [-2.17560435e-02 -3.25709666e-04 9.99763256e-01 -3.43334805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91 meters 0.013959034064949555 Centerline is valid? [True, True] Translation: X:123.52, Y:94.47, Z:-3.44 [[ 2.45321789e-01 -9.69431263e-01 4.49960360e-03 1.23524470e+02] [ 9.69250952e-01 2.45362947e-01 1.86980044e-02 9.44737854e+01] [-1.92304660e-02 -2.25782816e-04 9.99815052e-01 -3.43693530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94 meters 0.013587683184373187 Centerline is valid? [True, True] Translation: X:123.54, Y:94.50, Z:-3.44 [[ 2.43393332e-01 -9.69918238e-01 4.27758516e-03 1.23537307e+02] [ 9.69755274e-01 2.43430852e-01 1.77800297e-02 9.44997059e+01] [-1.82864713e-02 -1.79329909e-04 9.99832772e-01 -3.43864211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97 meters 0.013238943589312225 Centerline is valid? [True, True] Translation: X:123.55, Y:94.53, Z:-3.44 [[ 2.41222714e-01 -9.70461682e-01 3.96566031e-03 1.23550431e+02] [ 9.70321392e-01 2.41255272e-01 1.65012262e-02 9.45250115e+01] [-1.69705442e-02 -1.32505527e-04 9.99855981e-01 -3.44013028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.0 meters 0.013162340779299524 Centerline is valid? [True, True] Translation: X:123.56, Y:94.55, Z:-3.44 [[ 2.39404648e-01 -9.70912232e-01 3.85396952e-03 1.23563245e+02] [ 9.70779477e-01 2.39435645e-01 1.60554783e-02 9.45500869e+01] [-1.65112380e-02 -1.02401629e-04 9.99863675e-01 -3.44104302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03 meters 0.012753756325036546 Centerline is valid? [True, True] Translation: X:123.58, Y:94.57, Z:-3.44 [[ 2.36282565e-01 -9.71676283e-01 3.96882486e-03 1.23583090e+02] [ 9.71535310e-01 2.36315888e-01 1.65512082e-02 9.45738813e+01] [-1.70203128e-02 -5.49084244e-05 9.99855142e-01 -3.44035465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06 meters 0.012684889788552908 Centerline is valid? [True, True] Translation: X:123.60, Y:94.60, Z:-3.44 [[ 2.35062636e-01 -9.71972398e-01 3.90062167e-03 1.23595541e+02] [ 9.71835953e-01 2.35094994e-01 1.62856825e-02 9.45994375e+01] [-1.67462505e-02 -3.73910801e-05 9.99859771e-01 -3.44011664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09 meters 0.012689332854715766 Centerline is valid? [True, True] Translation: X:123.61, Y:94.63, Z:-3.44 [[ 2.33921575e-01 -9.72247231e-01 4.00242378e-03 1.23607519e+02] [ 9.72103232e-01 2.33955812e-01 1.67327297e-02 9.46251374e+01] [-1.72047404e-02 -2.33773959e-05 9.99851987e-01 -3.44042377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12 meters 0.012720569038494264 Centerline is valid? [True, True] Translation: X:123.62, Y:94.65, Z:-3.44 [[ 2.32753638e-01 -9.72527196e-01 4.07389166e-03 1.23618752e+02] [ 9.72377660e-01 2.32789288e-01 1.70538438e-02 9.46510896e+01] [-1.75336852e-02 -7.98294326e-06 9.99846273e-01 -3.44061680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15 meters 0.012654943844974266 Centerline is valid? [True, True] Translation: X:123.63, Y:94.67, Z:-3.44 [[ 2.31566781e-01 -9.72809289e-01 4.34899760e-03 1.23633284e+02] [ 9.72638445e-01 2.31607616e-01 1.82309511e-02 9.46749152e+01] [-1.87424995e-02 8.31961857e-06 9.99824344e-01 -3.44091477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18 meters 0.012646290803841446 Centerline is valid? [True, True] Translation: X:123.64, Y:94.70, Z:-3.44 [[ 2.31122461e-01 -9.72914947e-01 4.34897367e-03 1.23643828e+02] [ 9.72743733e-01 2.31163374e-01 1.82516707e-02 9.47016940e+01] [-1.87626467e-02 1.20658242e-05 9.99823966e-01 -3.44095847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20999999999998 meters 0.012648721412898481 Centerline is valid? [True, True] Translation: X:123.65, Y:94.73, Z:-3.44 [[ 2.30974723e-01 -9.72950178e-01 4.31605230e-03 1.23654293e+02] [ 9.72781131e-01 2.31015045e-01 1.81361642e-02 9.47279536e+01] [-1.86426572e-02 9.57872828e-06 9.99826211e-01 -3.44156905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23999999999998 meters 0.01269562968196448 Centerline is valid? [True, True] Translation: X:123.66, Y:94.75, Z:-3.44 [[ 2.30639191e-01 -9.73030011e-01 4.26166025e-03 1.23664493e+02] [ 9.72864799e-01 2.30678561e-01 1.79299766e-02 9.47528250e+01] [-1.84294790e-02 1.06639239e-05 9.99830163e-01 -3.44296679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26999999999998 meters 0.012760963051109823 Centerline is valid? [True, True] Translation: X:123.68, Y:94.78, Z:-3.44 [[ 2.30648260e-01 -9.73028569e-01 4.09685985e-03 1.23675022e+02] [ 9.72875566e-01 2.30684642e-01 1.72548496e-02 9.47794899e+01] [-1.77345442e-02 5.93380756e-06 9.99842731e-01 -3.44300057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29999999999998 meters 0.012711268832056909 Centerline is valid? [True, True] Translation: X:123.68, Y:94.81, Z:-3.44 [[ 2.30524805e-01 -9.73057723e-01 4.12102686e-03 1.23684871e+02] [ 9.72902521e-01 2.30561637e-01 1.73786141e-02 9.48053877e+01] [-1.78605454e-02 3.15578184e-06 9.99840488e-01 -3.44378934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32999999999998 meters 0.012762848026386091 Centerline is valid? [True, True] Translation: X:123.70, Y:94.83, Z:-3.44 [[ 2.30784338e-01 -9.72995131e-01 4.36623598e-03 1.23697184e+02] [ 9.72820490e-01 2.30825636e-01 1.84341967e-02 9.48313899e+01] [-1.89442228e-02 -6.76004219e-06 9.99820542e-01 -3.44181396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35999999999999 meters 0.012728112826224863 Centerline is valid? [True, True] Translation: X:123.71, Y:94.86, Z:-3.44 [[ 2.30643993e-01 -9.73027272e-01 4.61267649e-03 1.23705877e+02] [ 9.72831835e-01 2.30690113e-01 1.95010900e-02 9.48577208e+01] [-2.00391912e-02 -1.04507332e-05 9.99799195e-01 -3.44170346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39 meters 0.012780051771419294 Centerline is valid? [True, True] Translation: X:123.71, Y:94.88, Z:-3.44 [[ 2.30270322e-01 -9.73115364e-01 4.69757910e-03 1.23714655e+02] [ 9.72912147e-01 2.30318233e-01 1.98863304e-02 9.48842047e+01] [-2.04336317e-02 -8.89993090e-06 9.99791212e-01 -3.44158333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42 meters 0.012806868778404354 Centerline is valid? [True, True] Translation: X:123.72, Y:94.91, Z:-3.44 [[ 2.29475523e-01 -9.73302433e-01 4.83301958e-03 1.23723572e+02] [ 9.73086790e-01 2.29526411e-01 2.04871985e-02 9.49103643e+01] [-2.10495458e-02 1.63692844e-06 9.99778434e-01 -3.44194056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45 meters 0.012806708534601467 Centerline is valid? [True, True] Translation: X:123.74, Y:94.94, Z:-3.44 [[ 2.27162348e-01 -9.73845568e-01 4.69862916e-03 1.23736737e+02] [ 9.73641401e-01 2.27210932e-01 1.99402957e-02 9.49363500e+01] [-2.04863485e-02 4.50954922e-05 9.99790132e-01 -3.44252437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48 meters 0.012806708534601467 Centerline is valid? [True, True] Translation: X:123.74, Y:94.96, Z:-3.44 [[ 2.26877868e-01 -9.73911911e-01 4.69279760e-03 1.23742988e+02] [ 9.73707729e-01 2.26926392e-01 1.99416680e-02 9.49631594e+01] [-2.04863476e-02 4.50901697e-05 9.99790132e-01 -3.44309042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51 meters 0.012925405479657936 Centerline is valid? [True, True] Translation: X:123.76, Y:94.99, Z:-3.44 [[ 2.23320794e-01 -9.74734554e-01 4.51361777e-03 1.23756922e+02] [ 9.74545354e-01 2.23366376e-01 1.92045650e-02 9.49881897e+01] [-1.97275436e-02 1.09946507e-04 9.99805387e-01 -3.44480169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54 meters 0.013115589251667416 Centerline is valid? [True, True] Translation: X:123.77, Y:95.01, Z:-3.45 [[ 2.21159315e-01 -9.75228095e-01 4.32663047e-03 1.23766840e+02] [ 9.75053954e-01 2.21201586e-01 1.84294835e-02 9.50146505e+01] [-1.89300076e-02 1.42846199e-04 9.99820801e-01 -3.44562141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57 meters 0.013410605997482868 Centerline is valid? [True, True] Translation: X:123.78, Y:95.04, Z:-3.45 [[ 2.18969690e-01 -9.75722658e-01 4.19154379e-03 1.23776671e+02] [ 9.75558885e-01 2.19009735e-01 1.78773228e-02 9.50410224e+01] [-1.83612978e-02 1.74505961e-04 9.99831402e-01 -3.44672604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.6 meters 0.013691163229153602 Centerline is valid? [True, True] Translation: X:123.79, Y:95.07, Z:-3.45 [[ 2.16912665e-01 -9.76182980e-01 3.96056578e-03 1.23786037e+02] [ 9.76036677e-01 2.16948728e-01 1.69013071e-02 9.50679358e+01] [-1.73580080e-02 1.99549901e-04 9.99849319e-01 -3.44762757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63 meters 0.014387118177868767 Centerline is valid? [True, True] Translation: X:123.80, Y:95.09, Z:-3.45 [[ 2.12855374e-01 -9.77076121e-01 3.85268703e-03 1.23798478e+02] [ 9.76937698e-01 2.12890076e-01 1.64483963e-02 9.50944200e+01] [-1.68915341e-02 2.62705641e-04 9.99857293e-01 -3.44805875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66 meters 0.014755260231802729 Centerline is valid? [True, True] Translation: X:123.81, Y:95.12, Z:-3.45 [[ 2.10785325e-01 -9.77524528e-01 3.91700945e-03 1.23807826e+02] [ 9.77381194e-01 2.10821504e-01 1.67420058e-02 9.51218161e+01] [-1.71915112e-02 2.99442234e-04 9.99852170e-01 -3.44795551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69 meters 0.014941624157291238 Centerline is valid? [True, True] Translation: X:123.82, Y:95.15, Z:-3.45 [[ 2.09128679e-01 -9.77879610e-01 4.08217687e-03 1.23816631e+02] [ 9.77723635e-01 2.09168244e-01 1.74682329e-02 9.51492150e+01] [-1.79356905e-02 3.38132339e-04 9.99839085e-01 -3.44743827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72 meters 0.015256138680042339 Centerline is valid? [True, True] Translation: X:123.82, Y:95.18, Z:-3.45 [[ 2.07074505e-01 -9.78316091e-01 4.21606802e-03 1.23824994e+02] [ 9.78149417e-01 2.07117065e-01 1.80620820e-02 9.51768556e+01] [-1.85436451e-02 3.83747789e-04 9.99827978e-01 -3.44748191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75 meters 0.01593131806212352 Centerline is valid? [True, True] Translation: X:123.83, Y:95.20, Z:-3.45 [[ 2.04961777e-01 -9.78760846e-01 4.22807892e-03 1.23833835e+02] [ 9.78592917e-01 2.05004951e-01 1.81348815e-02 9.52035402e+01] [-1.86164891e-02 4.20610541e-04 9.99826610e-01 -3.44793258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78 meters 0.017502153532085705 Centerline is valid? [True, True] Translation: X:123.84, Y:95.23, Z:-3.45 [[ 1.99751314e-01 -9.79837908e-01 4.13350232e-03 1.23844304e+02] [ 9.79677397e-01 1.99793438e-01 1.77420218e-02 9.52291276e+01] [-1.82101521e-02 5.05506635e-04 9.99834054e-01 -3.44903339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81 meters 0.018284672145539384 Centerline is valid? [True, True] Translation: X:123.85, Y:95.26, Z:-3.45 [[ 1.96611490e-01 -9.80473272e-01 4.01059834e-03 1.23852509e+02] [ 9.80322185e-01 1.96651633e-01 1.72205821e-02 9.52566111e+01] [-1.76730112e-02 5.45914221e-04 9.99843671e-01 -3.45035976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84 meters 0.019335431845333706 Centerline is valid? [True, True] Translation: X:123.86, Y:95.28, Z:-3.45 [[ 1.93237731e-01 -9.81144003e-01 3.95285831e-03 1.23860866e+02] [ 9.80997053e-01 1.93277242e-01 1.69908960e-02 9.52839592e+01] [-1.74345133e-02 5.94460149e-04 9.99847831e-01 -3.45163642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87 meters 0.018612247364116798 Centerline is valid? [True, True] Translation: X:123.87, Y:95.31, Z:-3.45 [[ 1.89868257e-01 -9.81802560e-01 3.71192306e-03 1.23866778e+02] [ 9.81672809e-01 1.89903554e-01 1.59729669e-02 9.53122637e+01] [-1.63872072e-02 6.11134564e-04 9.99865534e-01 -3.45252235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.9 meters 0.020719388213875783 Centerline is valid? [True, True] Translation: X:123.88, Y:95.34, Z:-3.45 [[ 1.86509690e-01 -9.82446423e-01 3.62776745e-03 1.23876582e+02] [ 9.82322302e-01 1.86543841e-01 1.56298084e-02 9.53379497e+01] [-1.60321871e-02 6.48526158e-04 9.99871266e-01 -3.45391719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93 meters 0.020571372839959634 Centerline is valid? [True, True] Translation: X:123.88, Y:95.37, Z:-3.45 [[ 1.83524237e-01 -9.83009310e-01 3.39853991e-03 1.23882950e+02] [ 9.82900337e-01 1.83554545e-01 1.46511733e-02 9.53662859e+01] [-1.50260573e-02 6.51580610e-04 9.99886890e-01 -3.45469870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95999999999998 meters 0.02334182664805335 Centerline is valid? [True, True] Translation: X:123.89, Y:95.39, Z:-3.46 [[ 1.78677467e-01 -9.83902830e-01 3.09575627e-03 1.23891914e+02] [ 9.83812363e-01 1.78703069e-01 1.33584334e-02 9.53927630e+01] [-1.36966216e-02 6.58792254e-04 9.99905980e-01 -3.45570430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98999999999998 meters 0.024286238289470387 Centerline is valid? [True, True] Translation: X:123.90, Y:95.42, Z:-3.46 [[ 1.76594353e-01 -9.84279181e-01 2.98815992e-03 1.23898006e+02] [ 9.84194746e-01 1.76618394e-01 1.29090629e-02 9.54200306e+01] [-1.32338859e-02 6.61263686e-04 9.99912210e-01 -3.45652373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01999999999998 meters 0.023091447615173108 Centerline is valid? [True, True] Translation: X:123.90, Y:95.45, Z:-3.46 [[ 1.75158613e-01 -9.84535508e-01 3.04854461e-03 1.23901449e+02] [ 9.84447419e-01 1.75183777e-01 1.31879730e-02 9.54487583e+01] [-1.35180833e-02 6.91144807e-04 9.99908388e-01 -3.45615592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04999999999998 meters 0.022691549829024608 Centerline is valid? [True, True] Translation: X:123.91, Y:95.48, Z:-3.46 [[ 1.73953531e-01 -9.84749309e-01 2.99458098e-03 1.23905615e+02] [ 9.84664121e-01 1.73977927e-01 1.29710979e-02 9.54768526e+01] [-1.32942706e-02 6.92288181e-04 9.99911388e-01 -3.45628999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07999999999998 meters 0.02565603473630164 Centerline is valid? [True, True] Translation: X:123.91, Y:95.50, Z:-3.46 [[ 1.72943078e-01 -9.84926606e-01 3.20499051e-03 1.23914066e+02] [ 9.84828864e-01 1.72971133e-01 1.38959154e-02 9.55030883e+01] [-1.42408277e-02 7.53164777e-04 9.99898311e-01 -3.45670782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10999999999999 meters 0.02342911512648799 Centerline is valid? [True, True] Translation: X:123.91, Y:95.53, Z:-3.46 [[ 1.71611220e-01 -9.85159458e-01 3.22966553e-03 1.23913218e+02] [ 9.85060142e-01 1.71639849e-01 1.40099726e-02 9.55327656e+01] [-1.43563963e-02 7.77146291e-04 9.99896640e-01 -3.45701237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14 meters 0.023127787305129675 Centerline is valid? [True, True] Translation: X:123.92, Y:95.56, Z:-3.46 [[ 1.70950310e-01 -9.85274545e-01 3.17213457e-03 1.23917109e+02] [ 9.85178537e-01 1.70978004e-01 1.37757604e-02 9.55615118e+01] [-1.41152713e-02 7.70148376e-04 9.99900078e-01 -3.45741577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17 meters 0.024504115189432404 Centerline is valid? [True, True] Translation: X:123.92, Y:95.59, Z:-3.46 [[ 1.70182203e-01 -9.85407296e-01 3.23712634e-03 1.23922616e+02] [ 9.85307051e-01 1.70211137e-01 1.40777881e-02 9.55884396e+01] [-1.44233501e-02 7.93774414e-04 9.99895663e-01 -3.45816155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.2 meters 0.024314948695620724 Centerline is valid? [True, True] Translation: X:123.93, Y:95.62, Z:-3.46 [[ 1.69302162e-01 -9.85558095e-01 3.46686485e-03 1.23925838e+02] [ 9.85443015e-01 1.69335459e-01 1.50853171e-02 9.56173094e+01] [-1.54545195e-02 8.62420947e-04 9.99880200e-01 -3.45850920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23 meters 0.02480321663044945 Centerline is valid? [True, True] Translation: X:123.93, Y:95.65, Z:-3.46 [[ 1.68452958e-01 -9.85703268e-01 3.55931796e-03 1.23929786e+02] [ 9.85581707e-01 1.68488175e-01 1.55059488e-02 9.56461169e+01] [-1.58839673e-02 8.95975737e-04 9.99873440e-01 -3.45883928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26 meters 0.023129534420217382 Centerline is valid? [True, True] Translation: X:123.93, Y:95.68, Z:-3.46 [[ 1.67517788e-01 -9.85862467e-01 3.60369076e-03 1.23929976e+02] [ 9.85737599e-01 1.67554023e-01 1.57173404e-02 9.56754750e+01] [-1.60989488e-02 9.19359390e-04 9.99869981e-01 -3.45908471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29 meters 0.023129534420217382 Centerline is valid? [True, True] Translation: X:123.94, Y:95.70, Z:-3.46 [[ 1.67230907e-01 -9.85911185e-01 3.59983678e-03 1.23936087e+02] [ 9.85786310e-01 1.67267118e-01 1.57182229e-02 9.57023689e+01] [-1.60989061e-02 9.20097138e-04 9.99869981e-01 -3.45965183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32 meters 0.02495886666901212 Centerline is valid? [True, True] Translation: X:123.94, Y:95.73, Z:-3.46 [[ 1.66465070e-01 -9.86041389e-01 3.42925919e-03 1.23936413e+02] [ 9.85927754e-01 1.66498038e-01 1.49955780e-02 9.57305757e+01] [-1.53572255e-02 8.84761858e-04 9.99881679e-01 -3.46050408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35 meters 0.02495106347120125 Centerline is valid? [True, True] Translation: X:123.94, Y:95.76, Z:-3.46 [[ 1.66280722e-01 -9.86072740e-01 3.35754743e-03 1.23938328e+02] [ 9.85963719e-01 1.66312351e-01 1.46883181e-02 9.57588166e+01] [-1.50421517e-02 8.68035818e-04 9.99886484e-01 -3.46103928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38 meters 0.027431246766698475 Centerline is valid? [True, True] Translation: X:123.94, Y:95.79, Z:-3.46 [[ 1.66179719e-01 -9.86089487e-01 3.43856223e-03 1.23943332e+02] [ 9.85974817e-01 1.66212924e-01 1.50640335e-02 9.57850553e+01] [-1.54260186e-02 8.86998908e-04 9.99880618e-01 -3.46161489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41 meters 0.025928335718307324 Centerline is valid? [True, True] Translation: X:123.94, Y:95.81, Z:-3.46 [[ 1.66007736e-01 -9.86118321e-01 3.47689335e-03 1.23942818e+02] [ 9.86000823e-01 1.66041720e-01 1.52487213e-02 9.58143331e+01] [-1.56143528e-02 8.96814017e-04 9.99877686e-01 -3.46118276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44 meters 0.02588277985355161 Centerline is valid? [True, True] Translation: X:123.94, Y:95.84, Z:-3.46 [[ 1.66177785e-01 -9.86088928e-01 3.68374056e-03 1.23943931e+02] [ 9.85956650e-01 1.66215931e-01 1.61786192e-02 9.58431959e+01] [-1.65658536e-02 9.43481408e-04 9.99862332e-01 -3.46125819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47 meters 0.026188346387719153 Centerline is valid? [True, True] Translation: X:123.95, Y:95.87, Z:-3.46 [[ 1.66317603e-01 -9.86064847e-01 3.81729567e-03 1.23945569e+02] [ 9.85922420e-01 1.66358567e-01 1.67871752e-02 9.58718351e+01] [-1.71882832e-02 9.71554654e-04 9.99851799e-01 -3.46172753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.5 meters 0.026122114047736497 Centerline is valid? [True, True] Translation: X:123.94, Y:95.90, Z:-3.46 [[ 1.67108811e-01 -9.85930743e-01 3.90056914e-03 1.23942271e+02] [ 9.85781605e-01 1.67151485e-01 1.71758330e-02 9.59022994e+01] [-1.75861677e-02 9.74876271e-04 9.99844876e-01 -3.46241349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53 meters 0.026557373534888035 Centerline is valid? [True, True] Translation: X:123.94, Y:95.93, Z:-3.46 [[ 1.67038102e-01 -9.85942528e-01 3.95011938e-03 1.23944211e+02] [ 9.85789231e-01 1.67081897e-01 1.74135550e-02 9.59302585e+01] [-1.78287579e-02 9.85257968e-04 9.99840570e-01 -3.46308505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56 meters 0.02567074157743304 Centerline is valid? [True, True] Translation: X:123.94, Y:95.96, Z:-3.46 [[ 1.66882188e-01 -9.85968900e-01 3.95778834e-03 1.23944285e+02] [ 9.85814616e-01 1.66926200e-01 1.74695693e-02 9.59591026e+01] [-1.78851106e-02 9.86285628e-04 9.99839562e-01 -3.46379062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59 meters 0.026184808660735054 Centerline is valid? [True, True] Translation: X:123.95, Y:95.99, Z:-3.47 [[ 1.66494349e-01 -9.86034760e-01 3.88384410e-03 1.23945895e+02] [ 9.85885821e-01 1.66536811e-01 1.71650214e-02 9.59873561e+01] [-1.75721108e-02 9.71147772e-04 9.99845127e-01 -3.46525487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62 meters 0.027519046299734132 Centerline is valid? [True, True] Translation: X:123.94, Y:96.02, Z:-3.47 [[ 1.66009461e-01 -9.86117767e-01 3.55086829e-03 1.23944658e+02] [ 9.85992952e-01 1.66045035e-01 1.57145038e-02 9.60164536e+01] [-1.60859554e-02 8.92374793e-04 9.99870214e-01 -3.46775734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65 meters 0.027879118696651908 Centerline is valid? [True, True] Translation: X:123.95, Y:96.05, Z:-3.47 [[ 1.65349934e-01 -9.86229358e-01 3.32458620e-03 1.23946504e+02] [ 9.86119892e-01 1.65381196e-01 1.47179529e-02 9.60450340e+01] [-1.50651013e-02 8.44828039e-04 9.99886158e-01 -3.46921604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68 meters 0.028575431298519312 Centerline is valid? [True, True] Translation: X:123.95, Y:96.07, Z:-3.47 [[ 1.64976619e-01 -9.86292203e-01 3.22590820e-03 1.23948898e+02] [ 9.86188912e-01 1.65006105e-01 1.42974205e-02 9.60734518e+01] [-1.46337289e-02 8.22614796e-04 9.99892583e-01 -3.47021036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70999999999998 meters 0.025059962247221727 Centerline is valid? [True, True] Translation: X:123.95, Y:96.10, Z:-3.47 [[ 1.64343702e-01 -9.86397685e-01 3.27958032e-03 1.23945673e+02] [ 9.86290663e-01 1.64374262e-01 1.45544059e-02 9.61040961e+01] [-1.48955109e-02 8.42694502e-04 9.99888701e-01 -3.47032201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73999999999998 meters 0.02541623498644314 Centerline is valid? [True, True] Translation: X:123.95, Y:96.13, Z:-3.47 [[ 1.63788344e-01 -9.86490091e-01 3.26786587e-03 1.23947507e+02] [ 9.86383608e-01 1.63818759e-01 1.45186841e-02 9.61328742e+01] [-1.48578757e-02 8.45378114e-04 9.99889258e-01 -3.47058452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76999999999998 meters 0.02693698794909072 Centerline is valid? [True, True] Translation: X:123.95, Y:96.16, Z:-3.47 [[ 1.63474388e-01 -9.86541876e-01 3.35439355e-03 1.23950681e+02] [ 9.86429357e-01 1.63506490e-01 1.49248677e-02 9.61593419e+01] [-1.52724721e-02 8.69038673e-04 9.99882991e-01 -3.47091936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79999999999998 meters 0.024183715913174912 Centerline is valid? [True, True] Translation: X:123.94, Y:96.19, Z:-3.47 [[ 1.63735842e-01 -9.86497304e-01 3.69368161e-03 1.23943895e+02] [ 9.86360597e-01 1.63774745e-01 1.64501228e-02 9.61900529e+01] [-1.68329336e-02 9.49827279e-04 9.99857865e-01 -3.46983834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82999999999998 meters 0.025019750570231383 Centerline is valid? [True, True] Translation: X:123.95, Y:96.22, Z:-3.47 [[ 1.64502438e-01 -9.86369781e-01 3.68819389e-03 1.23946303e+02] [ 9.86233122e-01 1.64541138e-01 1.64451377e-02 9.62184574e+01] [-1.68278465e-02 9.32153733e-04 9.99857967e-01 -3.47005775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85999999999999 meters 0.02560741101187805 Centerline is valid? [True, True] Translation: X:123.95, Y:96.25, Z:-3.47 [[ 1.65714837e-01 -9.86166733e-01 3.71056804e-03 1.23947977e+02] [ 9.86028034e-01 1.65753856e-01 1.65643134e-02 9.62468637e+01] [-1.69502158e-02 9.13771607e-04 9.99855917e-01 -3.47103478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89 meters 0.024498134151657212 Centerline is valid? [True, True] Translation: X:123.94, Y:96.28, Z:-3.47 [[ 1.69775688e-01 -9.85475951e-01 3.65584321e-03 1.23943402e+02] [ 9.85340834e-01 1.69813025e-01 1.63394726e-02 9.62769626e+01] [-1.67229671e-02 8.28206403e-04 9.99859818e-01 -3.47226546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92 meters 0.02454205784653552 Centerline is valid? [True, True] Translation: X:123.95, Y:96.31, Z:-3.47 [[ 1.72140892e-01 -9.85065655e-01 3.62898192e-03 1.23945075e+02] [ 9.84932097e-01 1.72177379e-01 1.62393007e-02 9.63053374e+01] [-1.66216060e-02 7.78853055e-04 9.99861548e-01 -3.47379800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95 meters 0.021274469609463838 Centerline is valid? [True, True] Translation: X:123.94, Y:96.33, Z:-3.47 [[ 1.74430038e-01 -9.84663246e-01 3.52888608e-03 1.23942000e+02] [ 9.84536601e-01 1.74464258e-01 1.58083378e-02 9.63348876e+01] [-1.61815537e-02 7.16868537e-04 9.99868813e-01 -3.47424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98 meters 0.022620520909310472 Centerline is valid? [True, True] Translation: X:123.95, Y:96.36, Z:-3.48 [[ 1.76797829e-01 -9.84240970e-01 3.49879879e-03 1.23945795e+02] [ 9.84116016e-01 1.76831184e-01 1.56971066e-02 9.63619306e+01] [-1.60684322e-02 6.68009557e-04 9.99870671e-01 -3.47561756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01 meters 0.020543422747435067 Centerline is valid? [True, True] Translation: X:123.94, Y:96.39, Z:-3.48 [[ 1.78657603e-01 -9.83904992e-01 3.52533064e-03 1.23944960e+02] [ 9.83777988e-01 1.78691230e-01 1.58213110e-02 9.63908290e+01] [-1.61966125e-02 6.41545185e-04 9.99868620e-01 -3.47618138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04 meters 0.02239967662615382 Centerline is valid? [True, True] Translation: X:123.95, Y:96.42, Z:-3.48 [[ 1.79920638e-01 -9.83674854e-01 3.51361535e-03 1.23950489e+02] [ 9.83548323e-01 1.79953892e-01 1.57890443e-02 9.64184778e+01] [-1.61635746e-02 6.15035562e-04 9.99869172e-01 -3.47760124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07 meters 0.019627989449443644 Centerline is valid? [True, True] Translation: X:123.95, Y:96.45, Z:-3.48 [[ 1.80250492e-01 -9.83614775e-01 3.42550596e-03 1.23945775e+02] [ 9.83494230e-01 1.80282068e-01 1.54102666e-02 9.64488358e+01] [-1.57753232e-02 5.91257227e-04 9.99875387e-01 -3.47804182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.1 meters 0.020533897054816074 Centerline is valid? [True, True] Translation: X:123.95, Y:96.48, Z:-3.48 [[ 1.79348753e-01 -9.83779545e-01 3.43968658e-03 1.23950155e+02] [ 9.83657699e-01 1.79380716e-01 1.54948193e-02 9.64767689e+01] [-1.58604997e-02 6.04497678e-04 9.99874032e-01 -3.47894550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13 meters 0.020626454713870167 Centerline is valid? [True, True] Translation: X:123.95, Y:96.51, Z:-3.48 [[ 1.77660454e-01 -9.84085810e-01 3.44687728e-03 1.23953861e+02] [ 9.83963388e-01 1.77692765e-01 1.55348463e-02 9.65051728e+01] [-1.59001069e-02 6.31673215e-04 9.99873386e-01 -3.47947190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16 meters 0.02205505362512977 Centerline is valid? [True, True] Translation: X:123.96, Y:96.53, Z:-3.48 [[ 1.75301618e-01 -9.84508950e-01 3.38682731e-03 1.23959867e+02] [ 9.84390551e-01 1.75333108e-01 1.52821517e-02 9.65331330e+01] [-1.56392381e-02 6.54974888e-04 9.99877485e-01 -3.48034493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19 meters 0.024232877190742793 Centerline is valid? [True, True] Translation: X:123.97, Y:96.56, Z:-3.48 [[ 1.72801485e-01 -9.84950787e-01 3.40512258e-03 1.23966680e+02] [ 9.84830922e-01 1.72833631e-01 1.53814908e-02 9.65602665e+01] [-1.57385312e-02 6.95525562e-04 9.99875900e-01 -3.48095860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22 meters 0.023201095457693378 Centerline is valid? [True, True] Translation: X:123.97, Y:96.59, Z:-3.48 [[ 1.69933874e-01 -9.85449518e-01 3.42436310e-03 1.23968739e+02] [ 9.85328102e-01 1.69966752e-01 1.54866107e-02 9.65895924e+01] [-1.58433009e-02 7.42421437e-04 9.99874211e-01 -3.48099593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25 meters 0.0285849988597921 Centerline is valid? [True, True] Translation: X:123.98, Y:96.62, Z:-3.48 [[ 1.65902571e-01 -9.86135945e-01 3.49799655e-03 1.23976569e+02] [ 9.86009037e-01 1.65937413e-01 1.58415331e-02 9.66164872e+01] [-1.62023537e-02 8.20905151e-04 9.99868396e-01 -3.48160478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28 meters 0.02812391010270268 Centerline is valid? [True, True] Translation: X:123.98, Y:96.65, Z:-3.48 [[ 1.64707864e-01 -9.86335843e-01 3.59494589e-03 1.23979453e+02] [ 9.86201673e-01 1.64744836e-01 1.62910709e-02 9.66450414e+01] [-1.66607159e-02 8.62074157e-04 9.99860829e-01 -3.48193538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31 meters 0.0280988759964337 Centerline is valid? [True, True] Translation: X:123.98, Y:96.67, Z:-3.48 [[ 1.63776000e-01 -9.86490506e-01 3.72867669e-03 1.23982826e+02] [ 9.86345792e-01 1.63815932e-01 1.69209827e-02 9.66733726e+01] [-1.73032055e-02 9.06513690e-04 9.99849877e-01 -3.48231816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34 meters 0.025689617851161462 Centerline is valid? [True, True] Translation: X:123.98, Y:96.70, Z:-3.48 [[ 1.63452387e-01 -9.86543680e-01 3.85795204e-03 1.23982588e+02] [ 9.86388569e-01 1.63495197e-01 1.75189034e-02 9.67016497e+01] [-1.79139200e-02 9.41933223e-04 9.99839089e-01 -3.48243684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37 meters 0.02551402674773013 Centerline is valid? [True, True] Translation: X:123.98, Y:96.73, Z:-3.48 [[ 1.64577995e-01 -9.86356419e-01 3.88573172e-03 1.23981735e+02] [ 9.86198560e-01 1.64621268e-01 1.76702920e-02 9.67309816e+01] [-1.80688801e-02 9.23961782e-04 9.99836318e-01 -3.48262749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.4 meters 0.0263587260848259 Centerline is valid? [True, True] Translation: X:123.99, Y:96.76, Z:-3.48 [[ 1.65599936e-01 -9.86185761e-01 3.78242691e-03 1.23985343e+02] [ 9.86035746e-01 1.65640803e-01 1.72230174e-02 9.67583286e+01] [-1.76116188e-02 8.77477558e-04 9.99844518e-01 -3.48343504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43 meters 0.025747100198186667 Centerline is valid? [True, True] Translation: X:123.99, Y:96.79, Z:-3.48 [[ 1.66391483e-01 -9.86052768e-01 3.71659649e-03 1.23987400e+02] [ 9.85907818e-01 1.66430827e-01 1.69279336e-02 9.67876082e+01] [-1.73103920e-02 8.47557560e-04 9.99849805e-01 -3.48415233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45999999999998 meters 0.027134190363433026 Centerline is valid? [True, True] Translation: X:123.99, Y:96.82, Z:-3.48 [[ 1.67955515e-01 -9.85787029e-01 3.85727952e-03 1.23989839e+02] [ 9.85630415e-01 1.67997666e-01 1.75917501e-02 9.68150923e+01] [-1.79897330e-02 8.47220576e-04 9.99837813e-01 -3.48450280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48999999999998 meters 0.025735074675845775 Centerline is valid? [True, True] Translation: X:123.99, Y:96.84, Z:-3.49 [[ 1.68293265e-01 -9.85728864e-01 3.99787220e-03 1.23990948e+02] [ 9.85560355e-01 1.68338498e-01 1.82465301e-02 9.68440935e+01] [-1.86591272e-02 8.69376221e-04 9.99825525e-01 -3.48503925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51999999999998 meters 0.0235306510479525 Centerline is valid? [True, True] Translation: X:123.99, Y:96.87, Z:-3.49 [[ 1.68613135e-01 -9.85674445e-01 3.93685290e-03 1.23990865e+02] [ 9.85510602e-01 1.68656965e-01 1.79911323e-02 9.68727508e+01] [-1.83973770e-02 8.46269056e-04 9.99830396e-01 -3.48539376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54999999999998 meters 0.02308874294431862 Centerline is valid? [True, True] Translation: X:123.99, Y:96.90, Z:-3.49 [[ 1.68695856e-01 -9.85660676e-01 3.83927748e-03 1.23993362e+02] [ 9.85504429e-01 1.68737547e-01 1.75687566e-02 9.69017062e+01] [-1.79646628e-02 8.19848531e-04 9.99838286e-01 -3.48663385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57999999999998 meters 0.02427477786513912 Centerline is valid? [True, True] Translation: X:124.00, Y:96.93, Z:-3.49 [[ 1.68465089e-01 -9.85700426e-01 3.76617837e-03 1.23997925e+02] [ 9.85549695e-01 1.68505260e-01 1.72562165e-02 9.69280979e+01] [-1.76440808e-02 8.04685907e-04 9.99844007e-01 -3.48793522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60999999999999 meters 0.023164152140762884 Centerline is valid? [True, True] Translation: X:124.00, Y:96.96, Z:-3.49 [[ 1.66221510e-01 -9.86082057e-01 3.54776129e-03 1.23997699e+02] [ 9.85948213e-01 1.66257470e-01 1.62657859e-02 9.69576490e+01] [-1.66292414e-02 7.94185409e-04 9.99861409e-01 -3.48974067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64 meters 0.025740790745456068 Centerline is valid? [True, True] Translation: X:124.01, Y:96.98, Z:-3.49 [[ 1.63950846e-01 -9.86462305e-01 3.49883281e-03 1.24005252e+02] [ 9.86331855e-01 1.63986138e-01 1.60629581e-02 9.69841217e+01] [-1.64192627e-02 8.17474689e-04 9.99864861e-01 -3.49079870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67 meters 0.02490640108521398 Centerline is valid? [True, True] Translation: X:124.01, Y:97.01, Z:-3.49 [[ 1.61501840e-01 -9.86866119e-01 3.52407868e-03 1.24008724e+02] [ 9.86733657e-01 1.61537983e-01 1.61916951e-02 9.70126156e+01] [-1.65483079e-02 8.62338487e-04 9.99862696e-01 -3.49143045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.7 meters 0.027176721645234696 Centerline is valid? [True, True] Translation: X:124.02, Y:97.04, Z:-3.49 [[ 1.58575576e-01 -9.87340551e-01 3.52468400e-03 1.24016195e+02] [ 9.87208020e-01 1.58612131e-01 1.62023517e-02 9.70393458e+01] [-1.65562965e-02 9.10299055e-04 9.99862521e-01 -3.49224784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73 meters 0.028119337138470906 Centerline is valid? [True, True] Translation: X:124.02, Y:97.07, Z:-3.49 [[ 1.55323703e-01 -9.87857532e-01 3.47028596e-03 1.24021551e+02] [ 9.87728840e-01 1.55359581e-01 1.59730796e-02 9.70671587e+01] [-1.63182692e-02 9.46703655e-04 9.99866400e-01 -3.49296667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76 meters 0.029127845180766176 Centerline is valid? [True, True] Translation: X:124.03, Y:97.09, Z:-3.49 [[ 1.52206767e-01 -9.88342761e-01 3.41865691e-03 1.24026779e+02] [ 9.88217651e-01 1.52242000e-01 1.57558733e-02 9.70948595e+01] [-1.60926664e-02 9.80226561e-04 9.99870024e-01 -3.49338718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79 meters 0.03160943557191176 Centerline is valid? [True, True] Translation: X:124.03, Y:97.12, Z:-3.49 [[ 1.46852328e-01 -9.89152420e-01 3.44739975e-03 1.24032533e+02] [ 9.89025043e-01 1.46888866e-01 1.59098852e-02 9.71230571e+01] [-1.62436861e-02 1.07316100e-03 9.99867487e-01 -3.49390421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82 meters 0.030809548952803283 Centerline is valid? [True, True] Translation: X:124.04, Y:97.15, Z:-3.49 [[ 1.44816172e-01 -9.89452690e-01 3.41339150e-03 1.24035721e+02] [ 9.89327562e-01 1.44852272e-01 1.57732262e-02 9.71521319e+01] [-1.61012986e-02 1.09274406e-03 9.99869769e-01 -3.49420154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85 meters 0.03371888965719975 Centerline is valid? [True, True] Translation: X:124.04, Y:97.18, Z:-3.49 [[ 1.43458479e-01 -9.89650326e-01 3.44910418e-03 1.24043447e+02] [ 9.89522246e-01 1.43495540e-01 1.59610281e-02 9.71782850e+01] [-1.62907678e-02 1.12322050e-03 9.99866666e-01 -3.49484695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88 meters 0.03355604326264181 Centerline is valid? [True, True] Translation: X:124.05, Y:97.21, Z:-3.50 [[ 1.42455114e-01 -9.89794964e-01 3.53128272e-03 1.24046986e+02] [ 9.89660641e-01 1.42494106e-01 1.63476731e-02 9.72069696e+01] [-1.66840315e-02 1.16596187e-03 9.99860132e-01 -3.49516147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91 meters 0.0323441075468179 Centerline is valid? [True, True] Translation: X:124.05, Y:97.24, Z:-3.50 [[ 1.42092498e-01 -9.89846935e-01 3.57317865e-03 1.24048776e+02] [ 9.89709081e-01 1.42132494e-01 1.65616525e-02 9.72353053e+01] [-1.69013658e-02 1.18312078e-03 9.99856462e-01 -3.49524316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94 meters 0.03407935059531845 Centerline is valid? [True, True] Translation: X:124.05, Y:97.26, Z:-3.50 [[ 1.42757199e-01 -9.89750976e-01 3.65882783e-03 1.24053929e+02] [ 9.89605919e-01 1.42799072e-01 1.69867872e-02 9.72622989e+01] [-1.73351664e-02 1.19581153e-03 9.99849020e-01 -3.49585921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97 meters 0.030522386779237506 Centerline is valid? [True, True] Translation: X:124.05, Y:97.29, Z:-3.50 [[ 1.46060735e-01 -9.89268713e-01 3.69811632e-03 1.24049982e+02] [ 9.89120289e-01 1.46103023e-01 1.71744022e-02 9.72928755e+01] [-1.75304047e-02 1.14937609e-03 9.99845670e-01 -3.49647578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.0 meters 0.031505655358428225 Centerline is valid? [True, True] Translation: X:124.05, Y:97.32, Z:-3.50 [[ 1.48263872e-01 -9.88941416e-01 3.56364862e-03 1.24054935e+02] [ 9.88803163e-01 1.48302855e-01 1.65700904e-02 9.73204110e+01] [-1.69153480e-02 1.06700126e-03 9.99856356e-01 -3.49763564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03 meters 0.030213096330127264 Centerline is valid? [True, True] Translation: X:124.06, Y:97.35, Z:-3.50 [[ 1.50561859e-01 -9.88594439e-01 3.48724950e-03 1.24056373e+02] [ 9.88461606e-01 1.50598903e-01 1.62364963e-02 9.73489762e+01] [-1.65764859e-02 1.00241517e-03 9.99862098e-01 -3.49879147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06 meters 0.02818298372053834 Centerline is valid? [True, True] Translation: X:124.06, Y:97.38, Z:-3.50 [[ 1.53120028e-01 -9.88201903e-01 3.35487494e-03 1.24056279e+02] [ 9.88078562e-01 1.53154013e-01 1.56397979e-02 9.73779261e+01] [-1.59690906e-02 9.20113707e-04 9.99872063e-01 -3.49969752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09 meters 0.027752359468113535 Centerline is valid? [True, True] Translation: X:124.06, Y:97.41, Z:-3.50 [[ 1.55967700e-01 -9.87756622e-01 3.30654709e-03 1.24058393e+02] [ 9.87636392e-01 1.56000384e-01 1.54349626e-02 9.74058331e+01] [-1.57618091e-02 8.58310630e-04 9.99875407e-01 -3.50066563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12 meters 0.024250989918788383 Centerline is valid? [True, True] Translation: X:124.05, Y:97.44, Z:-3.50 [[ 1.62174115e-01 -9.86756874e-01 3.22926895e-03 1.24053450e+02] [ 9.86641722e-01 1.62204582e-01 1.50926108e-02 9.74362974e+01] [-1.54165396e-02 7.38500678e-04 9.99880885e-01 -3.50131792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15 meters 0.02334598878402143 Centerline is valid? [True, True] Translation: X:124.05, Y:97.47, Z:-3.50 [[ 1.64630490e-01 -9.86349748e-01 3.31310794e-03 1.24054881e+02] [ 9.86228121e-01 1.64662273e-01 1.55058073e-02 9.74653761e+01] [-1.58396930e-02 7.14751560e-04 9.99874289e-01 -3.50175049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18 meters 0.023677571905993962 Centerline is valid? [True, True] Translation: X:124.06, Y:97.49, Z:-3.50 [[ 1.67084972e-01 -9.85936711e-01 3.37835440e-03 1.24058051e+02] [ 9.85809780e-01 1.67117721e-01 1.58349254e-02 9.74930047e+01] [-1.61768172e-02 6.84636729e-04 9.99868912e-01 -3.50241981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20999999999998 meters 0.023677571905993962 Centerline is valid? [True, True] Translation: X:124.06, Y:97.52, Z:-3.50 [[ 1.66800992e-01 -9.85984797e-01 3.37776421e-03 1.24063707e+02] [ 9.85857873e-01 1.66833768e-01 1.58350514e-02 9.75198992e+01] [-1.61766451e-02 6.88693142e-04 9.99868912e-01 -3.50298608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23999999999998 meters 0.022134901513106188 Centerline is valid? [True, True] Translation: X:124.07, Y:97.55, Z:-3.50 [[ 1.68422676e-01 -9.85708895e-01 3.43162434e-03 1.24065034e+02] [ 9.85577443e-01 1.68456306e-01 1.61114174e-02 9.75487391e+01] [-1.64592462e-02 6.68603504e-04 9.99864314e-01 -3.50318203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26999999999998 meters 0.02231428371313664 Centerline is valid? [True, True] Translation: X:124.07, Y:97.58, Z:-3.50 [[ 1.69621851e-01 -9.85503172e-01 3.45324657e-03 1.24068824e+02] [ 9.85369635e-01 1.69655758e-01 1.62359414e-02 9.75778897e+01] [-1.65864349e-02 6.48753886e-04 9.99862225e-01 -3.50424606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29999999999998 meters 0.022729884879226277 Centerline is valid? [True, True] Translation: X:124.07, Y:97.61, Z:-3.51 [[ 1.70980627e-01 -9.85268684e-01 3.35359641e-03 1.24071440e+02] [ 9.85142539e-01 1.71012438e-01 1.57772952e-02 9.76060934e+01] [-1.61183816e-02 6.06158659e-04 9.99869907e-01 -3.50541165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32999999999998 meters 0.022121879252103575 Centerline is valid? [True, True] Translation: X:124.07, Y:97.63, Z:-3.51 [[ 1.71421432e-01 -9.85191888e-01 3.41135252e-03 1.24073875e+02] [ 9.85061210e-01 1.71454295e-01 1.60572897e-02 9.76345435e+01] [-1.64044025e-02 6.07827452e-04 9.99865254e-01 -3.50594368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35999999999999 meters 0.0238003277033146 Centerline is valid? [True, True] Translation: X:124.08, Y:97.66, Z:-3.51 [[ 1.72288912e-01 -9.85040314e-01 3.48012751e-03 1.24077396e+02] [ 9.84903931e-01 1.72323006e-01 1.64020948e-02 9.76637303e+01] [-1.67564307e-02 6.01692197e-04 9.99859420e-01 -3.50753032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39 meters 0.021668514100550026 Centerline is valid? [True, True] Translation: X:124.08, Y:97.69, Z:-3.51 [[ 1.73265841e-01 -9.84867869e-01 3.77205838e-03 1.24080708e+02] [ 9.84707201e-01 1.73305750e-01 1.78001388e-02 9.76924712e+01] [-1.81845042e-02 6.30217028e-04 9.99834450e-01 -3.50625836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42 meters 0.020322046937131053 Centerline is valid? [True, True] Translation: X:124.08, Y:97.72, Z:-3.51 [[ 1.74996430e-01 -9.84561594e-01 3.83628466e-03 1.24082167e+02] [ 9.84394913e-01 1.75037431e-01 1.81260476e-02 9.77221126e+01] [-1.85177038e-02 6.04425481e-04 9.99828350e-01 -3.50649166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45 meters 0.019662203005563993 Centerline is valid? [True, True] Translation: X:124.09, Y:97.75, Z:-3.51 [[ 1.77204909e-01 -9.84166293e-01 3.88947693e-03 1.24085021e+02] [ 9.83994451e-01 1.77246683e-01 1.83992898e-02 9.77515421e+01] [-1.87973577e-02 5.66779241e-04 9.99823153e-01 -3.50734335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48 meters 0.019939546140923064 Centerline is valid? [True, True] Translation: X:124.09, Y:97.78, Z:-3.51 [[ 1.82176602e-01 -9.83258554e-01 3.78180982e-03 1.24088062e+02] [ 9.83095524e-01 1.82215283e-01 1.79103690e-02 9.77795986e+01] [-1.82996271e-02 4.55030145e-04 9.99832444e-01 -3.50888137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51 meters 0.018567033134789048 Centerline is valid? [True, True] Translation: X:124.09, Y:97.81, Z:-3.51 [[ 1.83681872e-01 -9.82978706e-01 3.71941776e-03 1.24089755e+02] [ 9.82820566e-01 1.83719055e-01 1.76364205e-02 9.78091596e+01] [-1.80195537e-02 4.16029534e-04 9.99837548e-01 -3.50949525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54 meters 0.018198130369266523 Centerline is valid? [True, True] Translation: X:124.09, Y:97.84, Z:-3.51 [[ 1.84753911e-01 -9.82777628e-01 3.75854750e-03 1.24094360e+02] [ 9.82615908e-01 1.84791708e-01 1.78326253e-02 9.78376303e+01] [-1.82200536e-02 3.98561303e-04 9.99833922e-01 -3.50995536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57 meters 0.0192833579315763 Centerline is valid? [True, True] Translation: X:124.10, Y:97.86, Z:-3.51 [[ 1.86011343e-01 -9.82540749e-01 3.66834465e-03 1.24101009e+02] [ 9.82386238e-01 1.86047160e-01 1.74279554e-02 9.78643296e+01] [-1.78061615e-02 3.61933900e-04 9.99841392e-01 -3.51053863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.6 meters 0.01804288767915403 Centerline is valid? [True, True] Translation: X:124.10, Y:97.89, Z:-3.51 [[ 1.85997287e-01 -9.82543343e-01 3.68630591e-03 1.24103199e+02] [ 9.82387224e-01 1.86033459e-01 1.75184133e-02 9.78926077e+01] [-1.78983766e-02 3.63002486e-04 9.99839745e-01 -3.51086413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63 meters 0.018063488400472772 Centerline is valid? [True, True] Translation: X:124.11, Y:97.92, Z:-3.51 [[ 1.86177098e-01 -9.82509226e-01 3.70255230e-03 1.24109409e+02] [ 9.82351230e-01 1.86213571e-01 1.76229286e-02 9.79184861e+01] [-1.80041554e-02 3.56221092e-04 9.99837849e-01 -3.51116050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66 meters 0.017938155840365066 Centerline is valid? [True, True] Translation: X:124.11, Y:97.95, Z:-3.51 [[ 1.86179010e-01 -9.82508990e-01 3.66900142e-03 1.24114928e+02] [ 9.82353640e-01 1.86214828e-01 1.74746809e-02 9.79459285e+01] [-1.78522535e-02 3.50838111e-04 9.99840574e-01 -3.51159457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69 meters 0.01779001478114116 Centerline is valid? [True, True] Translation: X:124.12, Y:97.97, Z:-3.51 [[ 1.86224527e-01 -9.82500218e-01 3.70775469e-03 1.24120754e+02] [ 9.82341106e-01 1.86261107e-01 1.76847987e-02 9.79729420e+01] [-1.80659291e-02 3.48936574e-04 9.99836737e-01 -3.51221753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72 meters 0.01785506193286541 Centerline is valid? [True, True] Translation: X:124.13, Y:98.00, Z:-3.51 [[ 1.87696670e-01 -9.82220285e-01 3.64311040e-03 1.24127781e+02] [ 9.82066173e-01 1.87731764e-01 1.74016441e-02 9.80005927e+01] [-1.77761753e-02 3.11544832e-04 9.99841943e-01 -3.51343545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75 meters 0.016904579306096713 Centerline is valid? [True, True] Translation: X:124.13, Y:98.03, Z:-3.51 [[ 1.89032638e-01 -9.81964218e-01 3.59661661e-03 1.24134143e+02] [ 9.81813547e-01 1.89066644e-01 1.72035795e-02 9.80276508e+01] [-1.75732997e-02 2.79168898e-04 9.99845539e-01 -3.51377438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78 meters 0.02026814894370796 Centerline is valid? [True, True] Translation: X:124.14, Y:98.06, Z:-3.52 [[ 1.90917762e-01 -9.81600532e-01 3.28677142e-03 1.24139996e+02] [ 9.81474600e-01 1.90945921e-01 1.57246380e-02 9.80562901e+01] [-1.60629087e-02 2.23769962e-04 9.99870958e-01 -3.51658824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81 meters 0.016544574678644557 Centerline is valid? [True, True] Translation: X:124.15, Y:98.08, Z:-3.52 [[ 1.92113247e-01 -9.81367170e-01 3.31325102e-03 1.24145789e+02] [ 9.81238870e-01 1.92141709e-01 1.58696133e-02 9.80848020e+01] [-1.62105313e-02 2.02327742e-04 9.99868580e-01 -3.51613090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84 meters 0.0158500468744071 Centerline is valid? [True, True] Translation: X:124.15, Y:98.11, Z:-3.52 [[ 1.96487759e-01 -9.80501352e-01 3.10796753e-03 1.24151732e+02] [ 9.80388088e-01 1.96512302e-01 1.49034421e-02 9.81133238e+01] [-1.52235990e-02 1.18670409e-04 9.99884107e-01 -3.51698416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87 meters 0.0178328602265631 Centerline is valid? [True, True] Translation: X:124.16, Y:98.14, Z:-3.52 [[ 1.98758065e-01 -9.80044309e-01 2.89558979e-03 1.24157232e+02] [ 9.79945742e-01 1.98779142e-01 1.38995183e-02 9.81404807e+01] [-1.41977267e-02 7.48795267e-05 9.99899204e-01 -3.51822201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.9 meters 0.01565898308313033 Centerline is valid? [True, True] Translation: X:124.16, Y:98.17, Z:-3.52 [[ 2.00626069e-01 -9.79663228e-01 3.02333594e-03 1.24163084e+02] [ 9.79555307e-01 2.00648843e-01 1.45410314e-02 9.81674149e+01] [-1.48519427e-02 4.42147891e-05 9.99889703e-01 -3.51738283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93 meters 0.015372837091339547 Centerline is valid? [True, True] Translation: X:124.17, Y:98.19, Z:-3.52 [[ 2.02133580e-01 -9.79352905e-01 3.14699353e-03 1.24169819e+02] [ 9.79235838e-01 2.02158075e-01 1.51422069e-02 9.81938920e+01] [-1.54657545e-02 2.09003706e-05 9.99880398e-01 -3.51685226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95999999999998 meters 0.016071171137858817 Centerline is valid? [True, True] Translation: X:124.18, Y:98.22, Z:-3.52 [[ 2.03689266e-01 -9.79029398e-01 3.48160673e-03 1.24179982e+02] [ 9.78885915e-01 2.03719019e-01 1.67608615e-02 9.82202346e+01] [-1.71186456e-02 -5.91178420e-06 9.99853465e-01 -3.51544716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98999999999998 meters 0.0149318557950091 Centerline is valid? [True, True] Translation: X:124.19, Y:98.25, Z:-3.51 [[ 2.03011062e-01 -9.79169561e-01 3.67150190e-03 1.24188745e+02] [ 9.79009519e-01 2.03044260e-01 1.77028486e-02 9.82473263e+01] [-1.80795678e-02 5.61216732e-07 9.99836551e-01 -3.51466412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01999999999998 meters 0.016939457257629235 Centerline is valid? [True, True] Translation: X:124.20, Y:98.27, Z:-3.52 [[ 2.02545989e-01 -9.79266119e-01 3.60413890e-03 1.24197813e+02] [ 9.79111426e-01 2.02578052e-01 1.74054113e-02 9.82726474e+01] [-1.77746490e-02 3.45734858e-06 9.99842018e-01 -3.51623005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04999999999998 meters 0.016288320030469455 Centerline is valid? [True, True] Translation: X:124.21, Y:98.30, Z:-3.52 [[ 2.01111691e-01 -9.79561217e-01 3.72962760e-03 1.24207063e+02] [ 9.79395427e-01 2.01146269e-01 1.80215589e-02 9.82990378e+01] [-1.84034208e-02 2.84340384e-05 9.99830642e-01 -3.51617527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07999999999998 meters 0.014775258718085552 Centerline is valid? [True, True] Translation: X:124.22, Y:98.32, Z:-3.52 [[ 1.99163384e-01 -9.79959055e-01 3.76787153e-03 1.24216567e+02] [ 9.79789377e-01 1.99199013e-01 1.82353950e-02 9.83242272e+01] [-1.86204967e-02 5.98975254e-05 9.99826622e-01 -3.51596776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10999999999999 meters 0.014693671656609193 Centerline is valid? [True, True] Translation: X:124.23, Y:98.35, Z:-3.52 [[ 1.96709399e-01 -9.80455166e-01 3.61659475e-03 1.24226561e+02] [ 9.80298761e-01 1.96742617e-01 1.75123284e-02 9.83513871e+01] [-1.78815912e-02 1.00503754e-04 9.99840107e-01 -3.51674205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14 meters 0.019106812837204733 Centerline is valid? [True, True] Translation: X:124.24, Y:98.38, Z:-3.52 [[ 1.90535383e-01 -9.81675825e-01 2.97364370e-03 1.24242134e+02] [ 9.81570033e-01 1.90558507e-01 1.44127037e-02 9.83776946e+01] [-1.47152559e-02 1.72709536e-04 9.99891710e-01 -3.52155590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17 meters 0.01757444699702944 Centerline is valid? [True, True] Translation: X:124.25, Y:98.40, Z:-3.52 [[ 1.86215245e-01 -9.82504792e-01 2.86660119e-03 1.24253251e+02] [ 9.82406338e-01 1.86237171e-01 1.39105342e-02 9.84049195e+01] [-1.42010342e-02 2.25813648e-04 9.99899135e-01 -3.52174920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.2 meters 0.016153680399453207 Centerline is valid? [True, True] Translation: X:124.26, Y:98.43, Z:-3.52 [[ 1.81419620e-01 -9.83401786e-01 2.80172276e-03 1.24264995e+02] [ 9.83307604e-01 1.81441029e-01 1.36128472e-02 9.84322686e+01] [-1.38952457e-02 2.85317718e-04 9.99903416e-01 -3.52076019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23 meters 0.017273323027886048 Centerline is valid? [True, True] Translation: X:124.28, Y:98.46, Z:-3.52 [[ 1.76627270e-01 -9.84274152e-01 2.68349418e-03 1.24276791e+02] [ 9.84187608e-01 1.76647337e-01 1.30564129e-02 9.84590683e+01] [-1.33251218e-02 3.34943151e-04 9.99911161e-01 -3.52113782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26 meters 0.01955346543299396 Centerline is valid? [True, True] Translation: X:124.29, Y:98.49, Z:-3.52 [[ 1.67684075e-01 -9.85837103e-01 2.69403713e-03 1.24292988e+02] [ 9.85749921e-01 1.67705095e-01 1.31184867e-02 9.84854308e+01] [-1.33844947e-02 4.55885572e-04 9.99910320e-01 -3.52078552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29 meters 0.022048942471373994 Centerline is valid? [True, True] Translation: X:124.30, Y:98.51, Z:-3.52 [[ 1.63591721e-01 -9.86524268e-01 2.76012274e-03 1.24304908e+02] [ 9.86432540e-01 1.63614177e-01 1.34627367e-02 9.85111534e+01] [-1.37329117e-02 5.20282615e-04 9.99905564e-01 -3.52083230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32 meters 0.02110663921591271 Centerline is valid? [True, True] Translation: X:124.31, Y:98.54, Z:-3.52 [[ 1.60181940e-01 -9.87083669e-01 2.75242807e-03 1.24311295e+02] [ 9.86992422e-01 1.60204590e-01 1.34331212e-02 9.85391646e+01] [-1.37005662e-02 5.64882227e-04 9.99905983e-01 -3.51982342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35 meters 0.023182389906306788 Centerline is valid? [True, True] Translation: X:124.32, Y:98.57, Z:-3.52 [[ 1.55556427e-01 -9.87822593e-01 2.95351854e-03 1.24322865e+02] [ 9.87717315e-01 1.55583015e-01 1.44371384e-02 9.85651777e+01] [-1.47208488e-02 6.71451735e-04 9.99891417e-01 -3.51914045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38 meters 0.024800938194039866 Centerline is valid? [True, True] Translation: X:124.33, Y:98.59, Z:-3.52 [[ 1.54191801e-01 -9.88036742e-01 2.87820180e-03 1.24330267e+02] [ 9.87936771e-01 1.54217189e-01 1.40710637e-02 9.85928995e+01] [-1.43465961e-02 6.73838747e-04 9.99896855e-01 -3.52163112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41 meters 0.024475004721817944 Centerline is valid? [True, True] Translation: X:124.34, Y:98.62, Z:-3.52 [[ 1.53574145e-01 -9.88132320e-01 3.08237733e-03 1.24338171e+02] [ 9.88017296e-01 1.53603353e-01 1.50941450e-02 9.86199998e+01] [-1.53884760e-02 7.27371710e-04 9.99881326e-01 -3.52037973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44 meters 0.026465283234779046 Centerline is valid? [True, True] Translation: X:124.35, Y:98.65, Z:-3.52 [[ 1.53439773e-01 -9.88153389e-01 3.01941801e-03 1.24346561e+02] [ 9.88042929e-01 1.53467819e-01 1.47918277e-02 9.86454287e+01] [-1.50799782e-02 7.13659938e-04 9.99886036e-01 -3.52162542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47 meters 0.023231636072866706 Centerline is valid? [True, True] Translation: X:124.35, Y:98.67, Z:-3.52 [[ 1.53881414e-01 -9.88084936e-01 2.94449686e-03 1.24347617e+02] [ 9.87979608e-01 1.53908051e-01 1.44431869e-02 9.86743973e+01] [-1.47242772e-02 6.86564819e-04 9.99891356e-01 -3.52203703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.5 meters 0.024108374649668446 Centerline is valid? [True, True] Translation: X:124.35, Y:98.70, Z:-3.52 [[ 1.56465771e-01 -9.87678913e-01 2.97115613e-03 1.24353043e+02] [ 9.87571248e-01 1.56492628e-01 1.45975556e-02 9.87013178e+01] [-1.48826619e-02 6.50210571e-04 9.99889036e-01 -3.52266106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53 meters 0.02172526245213868 Centerline is valid? [True, True] Translation: X:124.35, Y:98.73, Z:-3.52 [[ 1.58048305e-01 -9.87426951e-01 2.95800424e-03 1.24353940e+02] [ 9.87320132e-01 1.58074756e-01 1.45371077e-02 9.87303064e+01] [-1.48219177e-02 6.22931908e-04 9.99889955e-01 -3.52263802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56 meters 0.02168552566492085 Centerline is valid? [True, True] Translation: X:124.36, Y:98.76, Z:-3.52 [[ 1.59709809e-01 -9.87159566e-01 2.96103148e-03 1.24358091e+02] [ 9.87052145e-01 1.59736147e-01 1.45748354e-02 9.87580694e+01] [-1.48606719e-02 5.94948302e-04 9.99889397e-01 -3.52306302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59 meters 0.0232342690778052 Centerline is valid? [True, True] Translation: X:124.36, Y:98.79, Z:-3.52 [[ 1.61158750e-01 -9.86924277e-01 2.88585640e-03 1.24364336e+02] [ 9.86822050e-01 1.61183624e-01 1.42155005e-02 9.87854397e+01] [-1.44947753e-02 5.56874438e-04 9.99894790e-01 -3.52387182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62 meters 0.02012567800747889 Centerline is valid? [True, True] Translation: X:124.36, Y:98.82, Z:-3.52 [[ 1.63679615e-01 -9.86508892e-01 3.03135797e-03 1.24362167e+02] [ 9.86395984e-01 1.63706774e-01 1.49350177e-02 9.88151831e+01] [-1.52297816e-02 5.45561367e-04 9.99883871e-01 -3.52389996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65 meters 0.02359338067037659 Centerline is valid? [True, True] Translation: X:124.37, Y:98.84, Z:-3.53 [[ 1.65171640e-01 -9.86260129e-01 3.04738256e-03 1.24370319e+02] [ 9.86145606e-01 1.65198927e-01 1.50385860e-02 9.88420878e+01] [-1.53353821e-02 5.21215015e-04 9.99882270e-01 -3.52644057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68 meters 0.019982894280556964 Centerline is valid? [True, True] Translation: X:124.37, Y:98.87, Z:-3.52 [[ 1.66862097e-01 -9.85974802e-01 3.27577622e-03 1.24370984e+02] [ 9.85842329e-01 1.66893403e-01 1.61707783e-02 9.88711099e+01] [-1.64906854e-02 5.31108872e-04 9.99863878e-01 -3.52396947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70999999999998 meters 0.01823530671040138 Centerline is valid? [True, True] Translation: X:124.37, Y:98.90, Z:-3.52 [[ 1.69431154e-01 -9.85536643e-01 3.25735116e-03 1.24371791e+02] [ 9.85405242e-01 1.69461777e-01 1.61001567e-02 9.88999668e+01] [-1.64192909e-02 4.81942789e-04 9.99865078e-01 -3.52472008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73999999999998 meters 0.021341407663350857 Centerline is valid? [True, True] Translation: X:124.37, Y:98.93, Z:-3.53 [[ 1.72796569e-01 -9.84953537e-01 2.80638556e-03 1.24374994e+02] [ 9.84855643e-01 1.72818974e-01 1.38911594e-02 9.89277306e+01] [-1.41671433e-02 3.63539975e-04 9.99899575e-01 -3.52980696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76999999999998 meters 0.016969078265202917 Centerline is valid? [True, True] Translation: X:124.38, Y:98.96, Z:-3.53 [[ 1.75733180e-01 -9.84433454e-01 2.93673709e-03 1.24376387e+02] [ 9.84326145e-01 1.75757396e-01 1.45388635e-02 9.89569370e+01] [-1.48286969e-02 3.35746381e-04 9.99889992e-01 -3.52799869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79999999999998 meters 0.015392164744963487 Centerline is valid? [True, True] Translation: X:124.38, Y:98.99, Z:-3.53 [[ 1.82817706e-01 -9.83143084e-01 2.71352130e-03 1.24375155e+02] [ 9.83051102e-01 1.82837724e-01 1.34498405e-02 9.89868099e+01] [-1.37192517e-02 2.08661110e-04 9.99905865e-01 -3.53005556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82999999999998 meters 0.015179742716862605 Centerline is valid? [True, True] Translation: X:124.38, Y:99.02, Z:-3.53 [[ 1.85976885e-01 -9.82550713e-01 2.58750022e-03 1.24378311e+02] [ 9.82466835e-01 1.85994820e-01 1.28392104e-02 9.90159223e+01] [-1.30964369e-02 1.54336804e-04 9.99914226e-01 -3.53160194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85999999999999 meters 0.014671044102394322 Centerline is valid? [True, True] Translation: X:124.38, Y:99.04, Z:-3.53 [[ 1.88506120e-01 -9.82068966e-01 2.44726020e-03 1.24382057e+02] [ 9.81993711e-01 1.88521972e-01 1.21580377e-02 9.90447591e+01] [-1.24013938e-02 1.11329612e-04 9.99923094e-01 -3.53215968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89 meters 0.01839965415660847 Centerline is valid? [True, True] Translation: X:124.39, Y:99.07, Z:-3.54 [[ 1.91506408e-01 -9.81489040e-01 2.13539101e-03 1.24385831e+02] [ 9.81431535e-01 1.91518303e-01 1.06245562e-02 9.90714625e+01] [-1.08368519e-02 6.10694878e-05 9.99941278e-01 -3.53651556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92 meters 0.014582110740903445 Centerline is valid? [True, True] Translation: X:124.39, Y:99.10, Z:-3.53 [[ 1.92995383e-01 -9.81197155e-01 2.21935446e-03 1.24389686e+02] [ 9.81134976e-01 1.93008137e-01 1.10461441e-02 9.90997257e+01] [-1.12667987e-02 4.56314719e-05 9.99936527e-01 -3.53448691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95 meters 0.017817000653984526 Centerline is valid? [True, True] Translation: X:124.39, Y:99.13, Z:-3.54 [[ 1.96621444e-01 -9.80477509e-01 1.96551228e-03 1.24393357e+02] [ 9.80428556e-01 1.96631267e-01 9.79756530e-03 9.91265562e+01] [-9.99277359e-03 6.32933685e-07 9.99950071e-01 -3.53802357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98 meters 0.014661135513083252 Centerline is valid? [True, True] Translation: X:124.40, Y:99.16, Z:-3.54 [[ 1.97627071e-01 -9.80274574e-01 2.30219875e-03 1.24398921e+02] [ 9.80207282e-01 1.97640480e-01 1.14858848e-02 9.91553658e+01] [-1.17143285e-02 -1.32898040e-05 9.99931385e-01 -3.53582596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01 meters 0.014536559926296837 Centerline is valid? [True, True] Translation: X:124.40, Y:99.18, Z:-3.54 [[ 1.98505801e-01 -9.80096782e-01 2.39696514e-03 1.24404442e+02] [ 9.80023616e-01 1.98520270e-01 1.19756151e-02 9.91818887e+01] [-1.22131080e-02 -2.81466294e-05 9.99925417e-01 -3.53578240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04 meters 0.014316328828192096 Centerline is valid? [True, True] Translation: X:124.41, Y:99.21, Z:-3.54 [[ 1.99108472e-01 -9.79974165e-01 2.54030942e-03 1.24410958e+02] [ 9.79891839e-01 1.99124672e-01 1.27022946e-02 9.92089773e+01] [-1.29537588e-02 -3.99060031e-05 9.99916096e-01 -3.53533141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07 meters 0.01453983229538033 Centerline is valid? [True, True] Translation: X:124.42, Y:99.24, Z:-3.54 [[ 1.99379935e-01 -9.79918361e-01 2.76542355e-03 1.24417893e+02] [ 9.79820469e-01 1.99399106e-01 1.38508012e-02 9.92364169e+01] [-1.41240774e-02 -5.19532416e-05 9.99900249e-01 -3.53569838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.1 meters 0.01453983229538033 Centerline is valid? [True, True] Translation: X:124.42, Y:99.26, Z:-3.54 [[ 1.99108422e-01 -9.79973576e-01 2.76158662e-03 1.24423183e+02] [ 9.79875679e-01 1.99127565e-01 1.38515659e-02 9.92633631e+01] [-1.41240766e-02 -5.19518555e-05 9.99900249e-01 -3.53626444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13 meters 0.014279943568534532 Centerline is valid? [True, True] Translation: X:124.43, Y:99.29, Z:-3.54 [[ 1.98346496e-01 -9.80127293e-01 3.02621174e-03 1.24432847e+02] [ 9.80009352e-01 1.98369574e-01 1.52046609e-02 9.92890268e+01] [-1.55028114e-02 -5.00753965e-05 9.99879823e-01 -3.53546134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16 meters 0.01861117311474402 Centerline is valid? [True, True] Translation: X:124.44, Y:99.32, Z:-3.54 [[ 1.97449277e-01 -9.80309061e-01 2.81574687e-03 1.24441490e+02] [ 9.80206759e-01 1.97469350e-01 1.41621035e-02 9.93159623e+01] [-1.44392621e-02 -3.62829868e-05 9.99895748e-01 -3.53938222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19 meters 0.014035376908888366 Centerline is valid? [True, True] Translation: X:124.45, Y:99.34, Z:-3.54 [[ 1.94931148e-01 -9.80812027e-01 3.10087664e-03 1.24449974e+02] [ 9.80687597e-01 1.94955810e-01 1.56227166e-02 9.93414358e+01] [-1.59274822e-02 -4.36281081e-06 9.99873150e-01 -3.53632609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22 meters 0.014051052996436173 Centerline is valid? [True, True] Translation: X:124.46, Y:99.37, Z:-3.54 [[ 1.92591598e-01 -9.81274213e-01 3.06513562e-03 1.24459367e+02] [ 9.81152413e-01 1.92615985e-01 1.54604026e-02 9.93685603e+01] [-1.57612885e-02 2.98215769e-05 9.99875783e-01 -3.53735880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25 meters 0.016367575192504893 Centerline is valid? [True, True] Translation: X:124.47, Y:99.40, Z:-3.54 [[ 1.90352616e-01 -9.81711727e-01 2.82259802e-03 1.24469444e+02] [ 9.81608225e-01 1.90373533e-01 1.42551765e-02 9.93952144e+01] [-1.45318218e-02 5.71753066e-05 9.99894406e-01 -3.54050625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28 meters 0.014574290962912576 Centerline is valid? [True, True] Translation: X:124.48, Y:99.42, Z:-3.54 [[ 1.84998677e-01 -9.82734596e-01 2.86409051e-03 1.24484194e+02] [ 9.82627849e-01 1.85020797e-01 1.44849938e-02 9.94216700e+01] [-1.47648208e-02 1.34630405e-04 9.99890985e-01 -3.53902414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31 meters 0.01790038338986307 Centerline is valid? [True, True] Translation: X:124.49, Y:99.45, Z:-3.54 [[ 1.82650037e-01 -9.83174897e-01 2.46692262e-03 1.24492637e+02] [ 9.83095581e-01 1.82666639e-01 1.24891103e-02 9.94496976e+01] [-1.27296042e-02 1.44084258e-04 9.99918965e-01 -3.54228273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34 meters 0.014781750599087467 Centerline is valid? [True, True] Translation: X:124.50, Y:99.48, Z:-3.54 [[ 1.79824386e-01 -9.83695490e-01 2.52448217e-03 1.24501801e+02] [ 9.83612249e-01 1.79842014e-01 1.27981848e-02 9.94775137e+01] [-1.30435246e-02 1.81685851e-04 9.99914913e-01 -3.54050069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37 meters 0.015257673502478522 Centerline is valid? [True, True] Translation: X:124.51, Y:99.50, Z:-3.54 [[ 1.77588618e-01 -9.84101924e-01 2.38461586e-03 1.24511121e+02] [ 9.84027443e-01 1.77604519e-01 1.21089078e-02 9.95045701e+01] [-1.23399180e-02 1.96123250e-04 9.99923841e-01 -3.54162248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.4 meters 0.01593925312681134 Centerline is valid? [True, True] Translation: X:124.52, Y:99.53, Z:-3.54 [[ 1.73313245e-01 -9.84863728e-01 2.44051957e-03 1.24523926e+02] [ 9.84785734e-01 1.73330240e-01 1.23970521e-02 9.95311911e+01] [-1.26324228e-02 2.54815538e-04 9.99920175e-01 -3.54127632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43 meters 0.018891007572522205 Centerline is valid? [True, True] Translation: X:124.53, Y:99.56, Z:-3.54 [[ 1.71777090e-01 -9.85133100e-01 2.32528282e-03 1.24533399e+02] [ 9.85062146e-01 1.71792632e-01 1.18262512e-02 9.95588344e+01] [-1.20498980e-02 2.59069073e-04 9.99927364e-01 -3.54366906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45999999999998 meters 0.017762728796132953 Centerline is valid? [True, True] Translation: X:124.54, Y:99.59, Z:-3.54 [[ 1.70122530e-01 -9.85419813e-01 2.47318189e-03 1.24542520e+02] [ 9.85339336e-01 1.70140252e-01 1.25971375e-02 9.95865215e+01] [-1.28342567e-02 2.93866500e-04 9.99917594e-01 -3.54240392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48999999999998 meters 0.018677813779148324 Centerline is valid? [True, True] Translation: X:124.55, Y:99.61, Z:-3.54 [[ 1.68634778e-01 -9.85675475e-01 2.48373981e-03 1.24552613e+02] [ 9.85594119e-01 1.68652780e-01 1.26678099e-02 9.96141903e+01] [-1.29052392e-02 3.11726030e-04 9.99916675e-01 -3.54299703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51999999999998 meters 0.016585865867304796 Centerline is valid? [True, True] Translation: X:124.56, Y:99.64, Z:-3.54 [[ 1.68450165e-01 -9.85706791e-01 2.58148560e-03 1.24560153e+02] [ 9.85618625e-01 1.68469635e-01 1.31874122e-02 9.96397816e+01] [-1.34338236e-02 3.22938527e-04 9.99909710e-01 -3.54164018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54999999999998 meters 0.01688243635652475 Centerline is valid? [True, True] Translation: X:124.57, Y:99.67, Z:-3.54 [[ 1.68805459e-01 -9.85646157e-01 2.52393284e-03 1.24568445e+02] [ 9.85561675e-01 1.68824045e-01 1.29084177e-02 9.96675673e+01] [-1.31492329e-02 3.08480092e-04 9.99913498e-01 -3.54259782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57999999999998 meters 0.01636329998376104 Centerline is valid? [True, True] Translation: X:124.58, Y:99.70, Z:-3.54 [[ 1.69435246e-01 -9.85537994e-01 2.56119428e-03 1.24575222e+02] [ 9.85450907e-01 1.69454330e-01 1.31049206e-02 9.96958693e+01] [-1.33494026e-02 3.03495781e-04 9.99910847e-01 -3.54314164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60999999999999 meters 0.01575645037868172 Centerline is valid? [True, True] Translation: X:124.58, Y:99.72, Z:-3.54 [[ 1.70231722e-01 -9.85400698e-01 2.57385543e-03 1.24581220e+02] [ 9.85312494e-01 1.70250930e-01 1.31874836e-02 9.97236933e+01] [-1.34331568e-02 2.91123867e-04 9.99909729e-01 -3.54305964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64 meters 0.015872449882891437 Centerline is valid? [True, True] Translation: X:124.59, Y:99.75, Z:-3.54 [[ 1.71858708e-01 -9.85118068e-01 2.64115415e-03 1.24588643e+02] [ 9.85024841e-01 1.71878787e-01 1.35552998e-02 9.97508946e+01] [-1.38075292e-02 2.72006127e-04 9.99904635e-01 -3.54364746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67 meters 0.014616199904092313 Centerline is valid? [True, True] Translation: X:124.59, Y:99.78, Z:-3.54 [[ 1.76863311e-01 -9.84231366e-01 2.82627358e-03 1.24594140e+02] [ 9.84124353e-01 1.76885761e-01 1.45150025e-02 9.97790865e+01] [-1.47860483e-02 2.14233258e-04 9.99890657e-01 -3.54300453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.7 meters 0.014277791163096775 Centerline is valid? [True, True] Translation: X:124.60, Y:99.81, Z:-3.54 [[ 1.79631340e-01 -9.83729856e-01 2.85508864e-03 1.24600014e+02] [ 9.83620272e-01 1.79653948e-01 1.46839682e-02 9.98077976e+01] [-1.49579859e-02 1.70622179e-04 9.99888109e-01 -3.54332770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73 meters 0.014134086822170714 Centerline is valid? [True, True] Translation: X:124.61, Y:99.84, Z:-3.54 [[ 1.82640200e-01 -9.83175561e-01 2.89369718e-03 1.24605733e+02] [ 9.83062572e-01 1.82663081e-01 1.49056234e-02 9.98351801e+01] [-1.51834163e-02 1.22319354e-04 9.99884718e-01 -3.54391525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76 meters 0.013711222122691056 Centerline is valid? [True, True] Translation: X:124.61, Y:99.86, Z:-3.54 [[ 1.85286783e-01 -9.82679962e-01 2.98344610e-03 1.24610813e+02] [ 9.82559736e-01 1.85310782e-01 1.53714074e-02 9.98632389e+01] [-1.56580388e-02 8.32953848e-05 9.99877402e-01 -3.54412853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79 meters 0.0135820288470541 Centerline is valid? [True, True] Translation: X:124.62, Y:99.89, Z:-3.54 [[ 1.91091092e-01 -9.81567185e-01 3.17117114e-03 1.24616936e+02] [ 9.81430766e-01 1.91117402e-01 1.63642714e-02 9.98908313e+01] [-1.66686978e-02 -1.47815630e-05 9.99861068e-01 -3.54445892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82 meters 0.013677451213522285 Centerline is valid? [True, True] Translation: X:124.62, Y:99.92, Z:-3.54 [[ 1.93268275e-01 -9.81140218e-01 3.35369145e-03 1.24622834e+02] [ 9.80987355e-01 1.93297362e-01 1.73187385e-02 9.99179578e+01] [-1.76403706e-02 -5.72338168e-05 9.99844395e-01 -3.54484486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85 meters 0.01383249246345987 Centerline is valid? [True, True] Translation: X:124.63, Y:99.95, Z:-3.55 [[ 1.95722251e-01 -9.80653672e-01 3.34318342e-03 1.24629156e+02] [ 9.80501224e-01 1.95750773e-01 1.72911941e-02 9.99463518e+01] [-1.76111037e-02 -1.06275990e-04 9.99844907e-01 -3.54561939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88 meters 0.014083378334896045 Centerline is valid? [True, True] Translation: X:124.64, Y:99.97, Z:-3.55 [[ 1.98117384e-01 -9.80172648e-01 3.32901030e-03 1.24635352e+02] [ 9.80021021e-01 1.98145292e-01 1.72407080e-02 9.99744127e+01] [-1.75584981e-02 -1.53183888e-04 9.99845826e-01 -3.54725655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91 meters 0.014537930353874814 Centerline is valid? [True, True] Translation: X:124.64, Y:100.00, Z:-3.55 [[ 2.01598479e-01 -9.79463660e-01 2.99868086e-03 1.24644560e+02] [ 9.79340271e-01 2.01620683e-01 1.55477836e-02 1.00001661e+02] [-1.58330851e-02 -1.97680591e-04 9.99874629e-01 -3.55001706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94 meters 0.014738144587929559 Centerline is valid? [True, True] Translation: X:124.65, Y:100.03, Z:-3.55 [[ 2.02637969e-01 -9.79249583e-01 2.84738637e-03 1.24652731e+02] [ 9.79138032e-01 2.02657867e-01 1.47818770e-02 1.00029529e+02] [-1.50521922e-02 -2.07385252e-04 9.99886688e-01 -3.55195418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97 meters 0.014629447948848242 Centerline is valid? [True, True] Translation: X:124.66, Y:100.06, Z:-3.55 [[ 2.03076089e-01 -9.79159370e-01 2.65130905e-03 1.24662317e+02] [ 9.79062415e-01 2.03093295e-01 1.37804817e-02 1.00056560e+02] [-1.40317508e-02 -2.02689283e-04 9.99901530e-01 -3.55343876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.0 meters 0.014760765478376514 Centerline is valid? [True, True] Translation: X:124.67, Y:100.08, Z:-3.55 [[ 2.02722252e-01 -9.79232925e-01 2.56271870e-03 1.24671525e+02] [ 9.79142080e-01 2.02738356e-01 1.33396802e-02 1.00082716e+02] [-1.35822155e-02 -1.94984300e-04 9.99907738e-01 -3.55496964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03 meters 0.014967871329562092 Centerline is valid? [True, True] Translation: X:124.68, Y:100.11, Z:-3.56 [[ 2.01836670e-01 -9.79415983e-01 2.50805646e-03 1.24681181e+02] [ 9.79328780e-01 2.01852170e-01 1.30706435e-02 1.00109419e+02] [-1.33078538e-02 -1.81923296e-04 9.99911430e-01 -3.55596164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06 meters 0.014421393161586806 Centerline is valid? [True, True] Translation: X:124.70, Y:100.13, Z:-3.56 [[ 1.99442642e-01 -9.79906184e-01 2.55009874e-03 1.24698571e+02] [ 9.79815983e-01 1.99458886e-01 1.32963617e-02 1.00134751e+02] [-1.35378269e-02 -1.53234007e-04 9.99908348e-01 -3.55571184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09 meters 0.014139233487465028 Centerline is valid? [True, True] Translation: X:124.71, Y:100.16, Z:-3.56 [[ 1.97961873e-01 -9.80206097e-01 2.66520222e-03 1.24710413e+02] [ 9.80107277e-01 1.97979762e-01 1.39190499e-02 1.00161710e+02] [-1.41711937e-02 -1.43257109e-04 9.99899573e-01 -3.55527763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12 meters 0.014009271932596365 Centerline is valid? [True, True] Translation: X:124.72, Y:100.19, Z:-3.56 [[ 1.96010674e-01 -9.80598010e-01 2.71255853e-03 1.24721633e+02] [ 9.80495395e-01 1.96029405e-01 1.41863602e-02 1.00189242e+02] [-1.44428578e-02 -1.21026872e-04 9.99895689e-01 -3.55549769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15 meters 0.013928359919846115 Centerline is valid? [True, True] Translation: X:124.73, Y:100.21, Z:-3.56 [[ 1.94194252e-01 -9.80959357e-01 2.70791441e-03 1.24731898e+02] [ 9.80856844e-01 1.94213107e-01 1.41816693e-02 1.00214393e+02] [-1.44375537e-02 -9.79222921e-05 9.99895768e-01 -3.55591224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18 meters 0.01364282642431269 Centerline is valid? [True, True] Translation: X:124.75, Y:100.24, Z:-3.56 [[ 1.91297487e-01 -9.81528276e-01 2.74125878e-03 1.24749033e+02] [ 9.81423014e-01 1.91317117e-01 1.43745512e-02 1.00239407e+02] [-1.46334782e-02 -5.94810749e-05 9.99892923e-01 -3.55569004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20999999999998 meters 0.013548555009172118 Centerline is valid? [True, True] Translation: X:124.76, Y:100.27, Z:-3.56 [[ 1.90103011e-01 -9.81760317e-01 2.74314469e-03 1.24760327e+02] [ 9.81654609e-01 1.90122796e-01 1.44066476e-02 1.00266264e+02] [-1.46654092e-02 -4.59264523e-05 9.99892456e-01 -3.55611086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23999999999998 meters 0.013600834147893388 Centerline is valid? [True, True] Translation: X:124.77, Y:100.29, Z:-3.56 [[ 1.88801896e-01 -9.82011123e-01 2.82820840e-03 1.24771276e+02] [ 9.81898451e-01 1.88823075e-01 1.48754397e-02 1.00292342e+02] [-1.51418782e-02 -3.14977694e-05 9.99885355e-01 -3.55669539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26999999999998 meters 0.013552903301856286 Centerline is valid? [True, True] Translation: X:124.79, Y:100.32, Z:-3.56 [[ 1.86732087e-01 -9.82406797e-01 2.83070719e-03 1.24788322e+02] [ 9.82293621e-01 1.86753541e-01 1.49116306e-02 1.00317411e+02] [-1.51779319e-02 -3.89429737e-06 9.99884809e-01 -3.55655876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29999999999998 meters 0.013599692954038801 Centerline is valid? [True, True] Translation: X:124.80, Y:100.34, Z:-3.56 [[ 1.85605587e-01 -9.82620125e-01 2.87333563e-03 1.24798861e+02] [ 9.82503160e-01 1.85627827e-01 1.51608405e-02 1.00343324e+02] [-1.54307180e-02 9.12463753e-06 9.99880939e-01 -3.55648998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32999999999998 meters 0.01353320785007162 Centerline is valid? [True, True] Translation: X:124.81, Y:100.37, Z:-3.56 [[ 1.84542964e-01 -9.82819919e-01 2.98356661e-03 1.24809181e+02] [ 9.82693480e-01 1.84567079e-01 1.57644714e-02 1.00369753e+02] [-1.60443047e-02 2.27091869e-05 9.99871282e-01 -3.55614997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35999999999999 meters 0.013619021356279131 Centerline is valid? [True, True] Translation: X:124.82, Y:100.40, Z:-3.56 [[ 1.83267142e-01 -9.83058180e-01 3.12553704e-03 1.24819333e+02] [ 9.82918989e-01 1.83293788e-01 1.65422967e-02 1.00395922e+02] [-1.68349316e-02 4.04902779e-05 9.99858282e-01 -3.55559661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39 meters 0.013621248601758191 Centerline is valid? [True, True] Translation: X:124.83, Y:100.42, Z:-3.56 [[ 1.81612309e-01 -9.83364880e-01 3.23770302e-03 1.24833884e+02] [ 9.83215076e-01 1.81641155e-01 1.71640455e-02 1.00422027e+02] [-1.74666196e-02 6.61564994e-05 9.99847445e-01 -3.55543499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42 meters 0.013654738678126674 Centerline is valid? [True, True] Translation: X:124.84, Y:100.45, Z:-3.56 [[ 1.80575482e-01 -9.83555531e-01 3.31840549e-03 1.24843603e+02] [ 9.83397688e-01 1.80605952e-01 1.76203831e-02 1.00448934e+02] [-1.79299490e-02 8.15031089e-05 9.99839242e-01 -3.55588620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45 meters 0.013740014294352332 Centerline is valid? [True, True] Translation: X:124.85, Y:100.48, Z:-3.56 [[ 1.79755388e-01 -9.83705923e-01 3.26462167e-03 1.24853312e+02] [ 9.83552708e-01 1.79785008e-01 1.73615173e-02 1.00475271e+02] [-1.76655574e-02 9.01012126e-05 9.99843948e-01 -3.55607214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48 meters 0.01384618405602367 Centerline is valid? [True, True] Translation: X:124.86, Y:100.50, Z:-3.56 [[ 1.78722862e-01 -9.83894101e-01 3.24599332e-03 1.24862592e+02] [ 9.83742179e-01 1.78752306e-01 1.72898526e-02 1.00500617e+02] [-1.75916128e-02 1.03128606e-04 9.99845250e-01 -3.55708925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51 meters 0.013746806596590843 Centerline is valid? [True, True] Translation: X:124.87, Y:100.53, Z:-3.56 [[ 1.77849244e-01 -9.84052432e-01 3.23371618e-03 1.24871893e+02] [ 9.83901265e-01 1.77878603e-01 1.72482920e-02 1.00527731e+02] [-1.75484326e-02 1.14061749e-04 9.99846008e-01 -3.55760300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54 meters 0.013912049568920802 Centerline is valid? [True, True] Translation: X:124.88, Y:100.55, Z:-3.56 [[ 1.76966384e-01 -9.84211776e-01 3.17481924e-03 1.24882014e+02] [ 9.84065618e-01 1.76994818e-01 1.69615714e-02 1.00552964e+02] [-1.72557048e-02 1.22602505e-04 9.99851102e-01 -3.55863858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57 meters 0.01403484392167028 Centerline is valid? [True, True] Translation: X:124.89, Y:100.58, Z:-3.56 [[ 1.74653608e-01 -9.84625200e-01 3.05484646e-03 1.24894757e+02] [ 9.84489565e-01 1.74680254e-01 1.63433364e-02 1.00579077e+02] [-1.66256822e-02 1.53041804e-04 9.99861772e-01 -3.56005594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.6 meters 0.014096793230992716 Centerline is valid? [True, True] Translation: X:124.90, Y:100.61, Z:-3.56 [[ 1.73481199e-01 -9.84832844e-01 2.92269692e-03 1.24903726e+02] [ 9.84708363e-01 1.73505742e-01 1.56588012e-02 1.00606532e+02] [-1.59284064e-02 1.61496495e-04 9.99873122e-01 -3.56113037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63 meters 0.014312094891602633 Centerline is valid? [True, True] Translation: X:124.91, Y:100.63, Z:-3.56 [[ 1.71749059e-01 -9.85136664e-01 2.83083548e-03 1.24912517e+02] [ 9.85019573e-01 1.71772293e-01 1.51894746e-02 1.00633290e+02] [-1.54499674e-02 1.79650390e-04 9.99880626e-01 -3.56223535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66 meters 0.01571360623738779 Centerline is valid? [True, True] Translation: X:124.92, Y:100.66, Z:-3.56 [[ 1.69951976e-01 -9.85448875e-01 2.61556630e-03 1.24921398e+02] [ 9.85348666e-01 1.69971997e-01 1.40543940e-02 1.00660685e+02] [-1.42944597e-02 1.88672740e-04 9.99897811e-01 -3.56457705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69 meters 0.014794909828432274 Centerline is valid? [True, True] Translation: X:124.93, Y:100.69, Z:-3.56 [[ 1.67071597e-01 -9.85941533e-01 2.52473746e-03 1.24934356e+02] [ 9.85847974e-01 1.67090528e-01 1.35841202e-02 1.00688075e+02] [-1.38150080e-02 2.19486658e-04 9.99904544e-01 -3.56326934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72 meters 0.015348354492514699 Centerline is valid? [True, True] Translation: X:124.94, Y:100.71, Z:-3.56 [[ 1.65375760e-01 -9.86227345e-01 2.54595645e-03 1.24944284e+02] [ 9.86131902e-01 1.65395180e-01 1.37224757e-02 1.00714801e+02] [-1.39545697e-02 2.41284034e-04 9.99902601e-01 -3.56413839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75 meters 0.015365085925764166 Centerline is valid? [True, True] Translation: X:124.95, Y:100.74, Z:-3.56 [[ 1.63405925e-01 -9.86555588e-01 2.56418196e-03 1.24952207e+02] [ 9.86458726e-01 1.63425819e-01 1.38268866e-02 1.00743037e+02] [-1.40600458e-02 2.70064467e-04 9.99901116e-01 -3.56404126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78 meters 0.015969607261997223 Centerline is valid? [True, True] Translation: X:124.96, Y:100.77, Z:-3.56 [[ 1.61589425e-01 -9.86854236e-01 2.75216678e-03 1.24961274e+02] [ 9.86742289e-01 1.61612557e-01 1.48672643e-02 1.00769789e+02] [-1.51166075e-02 3.13286652e-04 9.99885688e-01 -3.56444093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81 meters 0.017261657328677373 Centerline is valid? [True, True] Translation: X:124.97, Y:100.80, Z:-3.56 [[ 1.58427270e-01 -9.87366150e-01 2.98095639e-03 1.24973144e+02] [ 9.87234702e-01 1.58454833e-01 1.61154743e-02 1.00795604e+02] [-1.63842207e-02 3.89773003e-04 9.99865694e-01 -3.56454414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84 meters 0.016282032731050763 Centerline is valid? [True, True] Translation: X:124.98, Y:100.82, Z:-3.56 [[ 1.57366674e-01 -9.87535436e-01 3.08094399e-03 1.24978373e+02] [ 9.87394769e-01 1.57396275e-01 1.66728249e-02 1.00823027e+02] [-1.69499345e-02 4.18360984e-04 9.99856252e-01 -3.56472072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87 meters 0.016447033407848054 Centerline is valid? [True, True] Translation: X:124.99, Y:100.85, Z:-3.57 [[ 1.56533993e-01 -9.87668093e-01 2.97434224e-03 1.24985694e+02] [ 9.87536622e-01 1.56561701e-01 1.61199981e-02 1.00850050e+02] [-1.63868759e-02 4.13944215e-04 9.99865640e-01 -3.56568334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.9 meters 0.01705589811797876 Centerline is valid? [True, True] Translation: X:124.99, Y:100.88, Z:-3.57 [[ 1.56338302e-01 -9.87699189e-01 2.94080366e-03 1.24993153e+02] [ 9.87570267e-01 1.56365425e-01 1.59631364e-02 1.00875946e+02] [-1.62266169e-02 4.08600623e-04 9.99868256e-01 -3.56719285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93 meters 0.017026228008256598 Centerline is valid? [True, True] Translation: X:125.00, Y:100.90, Z:-3.57 [[ 1.56558028e-01 -9.87664547e-01 2.88550081e-03 1.25000335e+02] [ 9.87540078e-01 1.56584121e-01 1.56846065e-02 1.00903228e+02] [-1.59429533e-02 3.93996634e-04 9.99872825e-01 -3.56864060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95999999999998 meters 0.01689323951789337 Centerline is valid? [True, True] Translation: X:125.01, Y:100.93, Z:-3.57 [[ 1.56854065e-01 -9.87617619e-01 2.87076395e-03 1.25005652e+02] [ 9.87494023e-01 1.56879865e-01 1.56289040e-02 1.00930648e+02] [-1.58857460e-02 3.83405123e-04 9.99873740e-01 -3.56942117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98999999999998 meters 0.01685318695115415 Centerline is valid? [True, True] Translation: X:125.01, Y:100.96, Z:-3.57 [[ 1.57633956e-01 -9.87493312e-01 2.91468237e-03 1.25010915e+02] [ 9.87365482e-01 1.57660460e-01 1.58929215e-02 1.00957052e+02] [-1.61536838e-02 3.72592685e-04 9.99869451e-01 -3.57031561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01999999999998 meters 0.01685318695115415 Centerline is valid? [True, True] Translation: X:125.02, Y:100.98, Z:-3.57 [[ 1.57361334e-01 -9.87536805e-01 2.91016444e-03 1.25015800e+02] [ 9.87408967e-01 1.57387801e-01 1.58937486e-02 1.00984155e+02] [-1.61536860e-02 3.72460986e-04 9.99869451e-01 -3.57088177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04999999999998 meters 0.01663969800497836 Centerline is valid? [True, True] Translation: X:125.02, Y:101.01, Z:-3.57 [[ 1.58423496e-01 -9.87367008e-01 2.89615867e-03 1.25020430e+02] [ 9.87239975e-01 1.58449581e-01 1.58417869e-02 1.01010770e+02] [-1.61005528e-02 3.49492344e-04 9.99870317e-01 -3.57177837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07999999999998 meters 0.015323103905044579 Centerline is valid? [True, True] Translation: X:125.02, Y:101.04, Z:-3.57 [[ 1.61475279e-01 -9.86872696e-01 2.83137780e-03 1.25023798e+02] [ 9.86750819e-01 1.61499841e-01 1.55120140e-02 1.01039310e+02] [-1.57656501e-02 2.89057581e-04 9.99875673e-01 -3.57193015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10999999999999 meters 0.014781579111662276 Centerline is valid? [True, True] Translation: X:125.03, Y:101.07, Z:-3.57 [[ 1.63008956e-01 -9.86620336e-01 2.89723802e-03 1.25027670e+02] [ 9.86492318e-01 1.63034482e-01 1.58954029e-02 1.01067876e+02] [-1.61550774e-02 2.67010021e-04 9.99869463e-01 -3.57194882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14 meters 0.01448544947980017 Centerline is valid? [True, True] Translation: X:125.03, Y:101.10, Z:-3.57 [[ 1.64667820e-01 -9.86344735e-01 2.92798986e-03 1.25031858e+02] [ 9.86213555e-01 1.64693677e-01 1.60878054e-02 1.01096032e+02] [-1.63503436e-02 2.38479447e-04 9.99866296e-01 -3.57248742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17 meters 0.014118401301130866 Centerline is valid? [True, True] Translation: X:125.04, Y:101.12, Z:-3.57 [[ 1.66586796e-01 -9.86022583e-01 2.88189280e-03 1.25035667e+02] [ 9.85895049e-01 1.66611603e-01 1.58595684e-02 1.01124512e+02] [-1.61180494e-02 1.99249150e-04 9.99870076e-01 -3.57293104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.2 meters 0.01382007161685361 Centerline is valid? [True, True] Translation: X:125.04, Y:101.15, Z:-3.57 [[ 1.68451829e-01 -9.85705697e-01 2.87420669e-03 1.25039641e+02] [ 9.85578427e-01 1.68476268e-01 1.58402085e-02 1.01152549e+02] [-1.60980194e-02 1.64444010e-04 9.99870405e-01 -3.57381107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23 meters 0.013531372481797104 Centerline is valid? [True, True] Translation: X:125.04, Y:101.18, Z:-3.57 [[ 1.71557612e-01 -9.85169794e-01 2.90897711e-03 1.25043709e+02] [ 9.85038920e-01 1.71582238e-01 1.60580940e-02 1.01180428e+02] [-1.63190779e-02 1.10567412e-04 9.99866829e-01 -3.57426293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26 meters 0.013547467803391266 Centerline is valid? [True, True] Translation: X:125.05, Y:101.21, Z:-3.57 [[ 1.72173247e-01 -9.85062305e-01 2.93747348e-03 1.25048484e+02] [ 9.84928410e-01 1.72198276e-01 1.62413497e-02 1.01207913e+02] [-1.65045692e-02 9.68751738e-05 9.99863786e-01 -3.57495710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29 meters 0.013497747546658449 Centerline is valid? [True, True] Translation: X:125.05, Y:101.23, Z:-3.58 [[ 1.72582939e-01 -9.84990598e-01 2.94134135e-03 1.25053525e+02] [ 9.84855885e-01 1.72607980e-01 1.62902267e-02 1.01234218e+02] [-1.65534191e-02 8.53821442e-05 9.99862979e-01 -3.57543867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32 meters 0.013553573472682191 Centerline is valid? [True, True] Translation: X:125.06, Y:101.26, Z:-3.58 [[ 1.72382369e-01 -9.85025917e-01 2.87430270e-03 1.25058862e+02] [ 9.84896912e-01 1.72406310e-01 1.59416523e-02 1.01261061e+02] [-1.61984886e-02 8.28320846e-05 9.99868792e-01 -3.57600210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35 meters 0.01362893851275494 Centerline is valid? [True, True] Translation: X:125.07, Y:101.29, Z:-3.58 [[ 1.70433670e-01 -9.85365542e-01 2.66714600e-03 1.25065736e+02] [ 9.85254206e-01 1.70454507e-01 1.48124904e-02 1.01287955e+02] [-1.50503447e-02 1.03269712e-04 9.99886732e-01 -3.57741637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38 meters 0.013644235956300509 Centerline is valid? [True, True] Translation: X:125.07, Y:101.32, Z:-3.58 [[ 1.68581705e-01 -9.85684166e-01 2.63319906e-03 1.25071664e+02] [ 9.85575395e-01 1.68602221e-01 1.46435268e-02 1.01315143e+02] [-1.48778557e-02 1.26585494e-04 9.99889311e-01 -3.57763226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41 meters 0.014065106403962246 Centerline is valid? [True, True] Translation: X:125.08, Y:101.34, Z:-3.58 [[ 1.66263760e-01 -9.86078023e-01 2.54851004e-03 1.25078918e+02] [ 9.85975795e-01 1.66283221e-01 1.41993403e-02 1.01341772e+02] [-1.44254319e-02 1.51933512e-04 9.99895937e-01 -3.57867082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44 meters 0.01436442153691863 Centerline is valid? [True, True] Translation: X:125.09, Y:101.37, Z:-3.58 [[ 1.63774681e-01 -9.86494275e-01 2.62646520e-03 1.25085673e+02] [ 9.86385548e-01 1.63795628e-01 1.46472833e-02 1.01369406e+02] [-1.48796646e-02 1.91853167e-04 9.99889273e-01 -3.57871791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47 meters 0.015355908152248427 Centerline is valid? [True, True] Translation: X:125.09, Y:101.40, Z:-3.58 [[ 1.58223633e-01 -9.87399313e-01 2.80680372e-03 1.25094783e+02] [ 9.87275119e-01 1.58248256e-01 1.56629538e-02 1.01397030e+02] [-1.59097617e-02 2.92838011e-04 9.99873389e-01 -3.57732477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.5 meters 0.015742986144351535 Centerline is valid? [True, True] Translation: X:125.10, Y:101.42, Z:-3.58 [[ 1.55093896e-01 -9.87895522e-01 2.88463066e-03 1.25101264e+02] [ 9.87763999e-01 1.55120328e-01 1.61234930e-02 1.01424710e+02] [-1.63757914e-02 3.48678971e-04 9.99865847e-01 -3.57714654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53 meters 0.01644758631924586 Centerline is valid? [True, True] Translation: X:125.11, Y:101.45, Z:-3.58 [[ 1.51599260e-01 -9.88437980e-01 2.83278841e-03 1.25108364e+02] [ 9.88311057e-01 1.51625203e-01 1.58446430e-02 1.01452238e+02] [-1.60909690e-02 3.97639955e-04 9.99870453e-01 -3.57753999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56 meters 0.018277325691961974 Centerline is valid? [True, True] Translation: X:125.12, Y:101.48, Z:-3.58 [[ 1.44721931e-01 -9.89469298e-01 2.46377397e-03 1.25117090e+02] [ 9.89373238e-01 1.44742228e-01 1.37943045e-02 1.01479399e+02] [-1.40056529e-02 4.41253648e-04 9.99901819e-01 -3.57945487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59 meters 0.018640710271697933 Centerline is valid? [True, True] Translation: X:125.12, Y:101.51, Z:-3.58 [[ 1.41276392e-01 -9.89967466e-01 2.32335310e-03 1.25122525e+02] [ 9.89881862e-01 1.41294748e-01 1.30266775e-02 1.01507271e+02] [-1.32242645e-02 4.59483093e-04 9.99912450e-01 -3.58029108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62 meters 0.021042500044271037 Centerline is valid? [True, True] Translation: X:125.13, Y:101.53, Z:-3.58 [[ 1.38324291e-01 -9.90384422e-01 2.25558283e-03 1.25130847e+02] [ 9.90303496e-01 1.38341843e-01 1.26696236e-02 1.01533576e+02] [-1.28598394e-02 4.81194857e-04 9.99917193e-01 -3.58189474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65 meters 0.02149484138508249 Centerline is valid? [True, True] Translation: X:125.14, Y:101.56, Z:-3.58 [[ 1.35545839e-01 -9.90768610e-01 2.21052682e-03 1.25135816e+02] [ 9.90690832e-01 1.35562919e-01 1.24246213e-02 1.01561601e+02] [-1.26095902e-02 5.05842944e-04 9.99920368e-01 -3.58234201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68 meters 0.01989078832433851 Centerline is valid? [True, True] Translation: X:125.14, Y:101.59, Z:-3.58 [[ 1.33780602e-01 -9.91008545e-01 2.19428535e-03 1.25137672e+02] [ 9.90931639e-01 1.33797581e-01 1.23569909e-02 1.01590180e+02] [-1.25394736e-02 5.21261103e-04 9.99921242e-01 -3.58210849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70999999999998 meters 0.020746544666854074 Centerline is valid? [True, True] Translation: X:125.14, Y:101.62, Z:-3.58 [[ 1.32900215e-01 -9.91126490e-01 2.41098170e-03 1.25141821e+02] [ 9.91033467e-01 1.32920803e-01 1.35914248e-02 1.01617896e+02] [-1.37912907e-02 5.83060284e-04 9.99904726e-01 -3.58182955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73999999999998 meters 0.021276433113650236 Centerline is valid? [True, True] Translation: X:125.15, Y:101.65, Z:-3.58 [[ 1.33640397e-01 -9.91026872e-01 2.44592881e-03 1.25145972e+02] [ 9.90930944e-01 1.33661522e-01 1.38008168e-02 1.01645390e+02] [-1.40039069e-02 5.79399912e-04 9.99901773e-01 -3.58235656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76999999999998 meters 0.02036344257428172 Centerline is valid? [True, True] Translation: X:125.15, Y:101.67, Z:-3.58 [[ 1.35035223e-01 -9.90837500e-01 2.55681887e-03 1.25147671e+02] [ 9.90732607e-01 1.35058161e-01 1.44289422e-02 1.01674401e+02] [-1.46420563e-02 5.84708387e-04 9.99892628e-01 -3.58254422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79999999999998 meters 0.019545739318505076 Centerline is valid? [True, True] Translation: X:125.15, Y:101.70, Z:-3.58 [[ 1.36855772e-01 -9.90587636e-01 2.57530724e-03 1.25149185e+02] [ 9.90480870e-01 1.36878859e-01 1.45541477e-02 1.01702985e+02] [-1.47696639e-02 5.58973439e-04 9.99890766e-01 -3.58299495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82999999999998 meters 0.018622219491227086 Centerline is valid? [True, True] Translation: X:125.15, Y:101.73, Z:-3.58 [[ 1.40971017e-01 -9.90009935e-01 2.73875288e-03 1.25148146e+02] [ 9.89888678e-01 1.40996639e-01 1.55032959e-02 1.01732087e+02] [-1.57345720e-02 5.25545067e-04 9.99876066e-01 -3.58351013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85999999999999 meters 0.017837767311664296 Centerline is valid? [True, True] Translation: X:125.15, Y:101.76, Z:-3.58 [[ 1.42684032e-01 -9.89763995e-01 2.91551586e-03 1.25149322e+02] [ 9.89626059e-01 1.42712845e-01 1.65319824e-02 1.01761468e+02] [-1.67788426e-02 5.26420559e-04 9.99859087e-01 -3.58375280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89 meters 0.01892540732037864 Centerline is valid? [True, True] Translation: X:125.15, Y:101.79, Z:-3.58 [[ 1.43798885e-01 -9.89602486e-01 2.96654502e-03 1.25153441e+02] [ 9.89459213e-01 1.43828568e-01 1.68466524e-02 1.01789592e+02] [-1.70981630e-02 5.12745466e-04 9.99853684e-01 -3.58454875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92 meters 0.016857887852640883 Centerline is valid? [True, True] Translation: X:125.15, Y:101.82, Z:-3.58 [[ 1.44852901e-01 -9.89448660e-01 2.99787835e-03 1.25152140e+02] [ 9.89301877e-01 1.44883070e-01 1.70497116e-02 1.01818714e+02] [-1.73041561e-02 4.96106500e-04 9.99850149e-01 -3.58484192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95 meters 0.016730330589562692 Centerline is valid? [True, True] Translation: X:125.15, Y:101.85, Z:-3.59 [[ 1.45943034e-01 -9.89288311e-01 3.04451444e-03 1.25152763e+02] [ 9.89136426e-01 1.45973995e-01 1.73414048e-02 1.01847414e+02] [-1.76000690e-02 4.80582903e-04 9.99844991e-01 -3.58611229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98 meters 0.017056411586192522 Centerline is valid? [True, True] Translation: X:125.16, Y:101.87, Z:-3.59 [[ 1.45997510e-01 -9.89280330e-01 3.02574451e-03 1.25156044e+02] [ 9.89129864e-01 1.46028094e-01 1.72600105e-02 1.01874178e+02] [-1.75168326e-02 4.72935704e-04 9.99846457e-01 -3.58717297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01 meters 0.017161401840174857 Centerline is valid? [True, True] Translation: X:125.16, Y:101.90, Z:-3.59 [[ 1.46446344e-01 -9.89214267e-01 2.93303623e-03 1.25159034e+02] [ 9.89072451e-01 1.46475030e-01 1.67556887e-02 1.01901505e+02] [-1.70045829e-02 4.47175976e-04 9.99855312e-01 -3.58837048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04 meters 0.016884596345684743 Centerline is valid? [True, True] Translation: X:125.16, Y:101.93, Z:-3.59 [[ 1.47016311e-01 -9.89129931e-01 2.86062530e-03 1.25161169e+02] [ 9.88994672e-01 1.47043529e-01 1.63627375e-02 1.01929836e+02] [-1.66055098e-02 4.23553882e-04 9.99862029e-01 -3.58936179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07 meters 0.016318438825365007 Centerline is valid? [True, True] Translation: X:125.16, Y:101.96, Z:-3.59 [[ 1.50419806e-01 -9.88618613e-01 2.66842673e-03 1.25160320e+02] [ 9.88500477e-01 1.50443092e-01 1.52866794e-02 1.01958328e+02] [-1.55141421e-02 3.38321753e-04 9.99879591e-01 -3.59120029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.1 meters 0.015772766712078844 Centerline is valid? [True, True] Translation: X:125.16, Y:101.99, Z:-3.59 [[ 1.52563662e-01 -9.88290312e-01 2.56683965e-03 1.25161929e+02] [ 9.88180630e-01 1.52584978e-01 1.47264348e-02 1.01987064e+02] [-1.49456540e-02 2.89782400e-04 9.99888265e-01 -3.59236856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13 meters 0.014753007035150763 Centerline is valid? [True, True] Translation: X:125.16, Y:102.02, Z:-3.59 [[ 1.55021582e-01 -9.87907826e-01 2.53695657e-03 1.25162525e+02] [ 9.87800319e-01 1.55042144e-01 1.45761002e-02 1.02016692e+02] [-1.47931787e-02 2.46396396e-04 9.99890545e-01 -3.59257957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16 meters 0.01424283715077373 Centerline is valid? [True, True] Translation: X:125.16, Y:102.05, Z:-3.59 [[ 1.60387092e-01 -9.87051140e-01 2.45522027e-03 1.25162154e+02] [ 9.86949998e-01 1.60405807e-01 1.41307545e-02 1.02045184e+02] [-1.43416089e-02 1.56789014e-04 9.99897142e-01 -3.59393411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19 meters 0.013938802130533112 Centerline is valid? [True, True] Translation: X:125.16, Y:102.07, Z:-3.59 [[ 1.62967525e-01 -9.86628330e-01 2.47487048e-03 1.25164224e+02] [ 9.86525497e-01 1.62986272e-01 1.42449759e-02 1.02073513e+02] [-1.44578667e-02 1.20054364e-04 9.99895472e-01 -3.59446178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22 meters 0.013650238278130873 Centerline is valid? [True, True] Translation: X:125.17, Y:102.10, Z:-3.60 [[ 1.65296995e-01 -9.86240621e-01 2.51825151e-03 1.25166626e+02] [ 9.86133749e-01 1.65316155e-01 1.45188808e-02 1.02101725e+02] [-1.47354176e-02 8.34054380e-05 9.99891424e-01 -3.59504103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25 meters 0.01349156749521403 Centerline is valid? [True, True] Translation: X:125.17, Y:102.13, Z:-3.60 [[ 1.67992455e-01 -9.85784911e-01 2.57781354e-03 1.25169126e+02] [ 9.85672491e-01 1.68012227e-01 1.48872867e-02 1.02130268e+02] [-1.51087668e-02 3.99280473e-05 9.99885855e-01 -3.59556535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28 meters 0.013440829973482133 Centerline is valid? [True, True] Translation: X:125.17, Y:102.16, Z:-3.60 [[ 1.70356221e-01 -9.85379128e-01 2.59478202e-03 1.25171956e+02] [ 9.85264799e-01 1.70375981e-01 1.50100431e-02 1.02158170e+02] [-1.52326717e-02 -5.06829538e-07 9.99883976e-01 -3.59581945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31 meters 0.01366575827798228 Centerline is valid? [True, True] Translation: X:125.17, Y:102.18, Z:-3.60 [[ 1.72944018e-01 -9.84928203e-01 2.60786679e-03 1.25174973e+02] [ 9.84812258e-01 1.72963674e-01 1.51123603e-02 1.02184707e+02] [-1.53356561e-02 -4.53331264e-05 9.99882401e-01 -3.59636099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34 meters 0.013984654365836334 Centerline is valid? [True, True] Translation: X:125.18, Y:102.21, Z:-3.60 [[ 1.78497692e-01 -9.83936871e-01 2.60902491e-03 1.25178507e+02] [ 9.83820305e-01 1.78516706e-01 1.51457281e-02 1.02212836e+02] [-1.53681948e-02 -1.36665829e-04 9.99881893e-01 -3.59696907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37 meters 0.014367491214079018 Centerline is valid? [True, True] Translation: X:125.18, Y:102.24, Z:-3.60 [[ 1.81266055e-01 -9.83430760e-01 2.56094435e-03 1.25183126e+02] [ 9.83318258e-01 1.81284057e-01 1.48759645e-02 1.02240969e+02] [-1.50937395e-02 -1.78284073e-04 9.99886067e-01 -3.59757148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.4 meters 0.01757100722334097 Centerline is valid? [True, True] Translation: X:125.19, Y:102.27, Z:-3.60 [[ 1.83523486e-01 -9.83012232e-01 2.46625181e-03 1.25187642e+02] [ 9.82907503e-01 1.83539937e-01 1.43503402e-02 1.02268848e+02] [-1.45592157e-02 -2.09527058e-04 9.99893987e-01 -3.60152759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43 meters 0.015098037900543315 Centerline is valid? [True, True] Translation: X:125.19, Y:102.30, Z:-3.60 [[ 1.86119216e-01 -9.82523496e-01 2.68665229e-03 1.25193136e+02] [ 9.82398958e-01 1.86138406e-01 1.56454575e-02 1.02296933e+02] [-1.58721187e-02 -2.72555860e-04 9.99873993e-01 -3.59824929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45999999999998 meters 0.015669919382026463 Centerline is valid? [True, True] Translation: X:125.20, Y:102.32, Z:-3.60 [[ 1.87819720e-01 -9.82199355e-01 2.85997005e-03 1.25198819e+02] [ 9.82057686e-01 1.87841212e-01 1.66847290e-02 1.02324677e+02] [-1.69249503e-02 -3.25065572e-04 9.99856710e-01 -3.59817215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48999999999998 meters 0.016536429677710726 Centerline is valid? [True, True] Translation: X:125.21, Y:102.35, Z:-3.60 [[ 1.89236200e-01 -9.81926698e-01 3.10168677e-03 1.25207739e+02] [ 9.81759702e-01 1.89261231e-01 1.81128130e-02 1.02351001e+02] [-1.83724837e-02 -3.82488831e-04 9.99831139e-01 -3.59729620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51999999999998 meters 0.020158015711195573 Centerline is valid? [True, True] Translation: X:125.22, Y:102.38, Z:-3.60 [[ 1.88631604e-01 -9.82042960e-01 3.12120297e-03 1.25216375e+02] [ 9.81873630e-01 1.88657050e-01 1.82398802e-02 1.02377547e+02] [-1.85011829e-02 -3.75990958e-04 9.99828768e-01 -3.60197174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54999999999998 meters 0.016203882725530517 Centerline is valid? [True, True] Translation: X:125.22, Y:102.40, Z:-3.60 [[ 1.89117893e-01 -9.81949056e-01 3.23623170e-03 1.25224895e+02] [ 9.81766343e-01 1.89145146e-01 1.89462692e-02 1.02404952e+02] [-1.92163887e-02 -4.05855157e-04 9.99815266e-01 -3.59775129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57999999999998 meters 0.01655769879285143 Centerline is valid? [True, True] Translation: X:125.23, Y:102.43, Z:-3.60 [[ 1.89210124e-01 -9.81931191e-01 3.26575612e-03 1.25232073e+02] [ 9.81744487e-01 1.89237845e-01 1.91520378e-02 1.02431206e+02] [-1.94239879e-02 -4.17621379e-04 9.99811249e-01 -3.59802808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60999999999999 meters 0.01644450867187581 Centerline is valid? [True, True] Translation: X:125.24, Y:102.46, Z:-3.60 [[ 1.88800456e-01 -9.82010067e-01 3.25808211e-03 1.25240543e+02] [ 9.81823662e-01 1.88828112e-01 1.91374315e-02 1.02457989e+02] [-1.94083679e-02 -4.14293702e-04 9.99811554e-01 -3.59853144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64 meters 0.016815361945777596 Centerline is valid? [True, True] Translation: X:125.25, Y:102.48, Z:-3.60 [[ 1.88625235e-01 -9.82043752e-01 3.25428538e-03 1.25253342e+02] [ 9.81857136e-01 1.88652846e-01 1.91485941e-02 1.02484062e+02] [-1.94186874e-02 -4.16664750e-04 9.99811353e-01 -3.60047691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67 meters 0.01704655758618371 Centerline is valid? [True, True] Translation: X:125.26, Y:102.51, Z:-3.60 [[ 1.88812069e-01 -9.82007894e-01 3.24025123e-03 1.25260614e+02] [ 9.81822225e-01 1.88839392e-01 1.90998184e-02 1.02510033e+02] [-1.93680595e-02 -4.24925556e-04 9.99812331e-01 -3.60030342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.7 meters 0.01699249754182167 Centerline is valid? [True, True] Translation: X:125.27, Y:102.54, Z:-3.60 [[ 1.88846651e-01 -9.82001370e-01 3.20173437e-03 1.25269885e+02] [ 9.81819521e-01 1.88873309e-01 1.89024141e-02 1.02537125e+02] [-1.91669188e-02 -4.26132297e-04 9.99816207e-01 -3.60089649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73 meters 0.017404042416600148 Centerline is valid? [True, True] Translation: X:125.28, Y:102.56, Z:-3.60 [[ 1.89670246e-01 -9.81843026e-01 3.07724302e-03 1.25283087e+02] [ 9.81674468e-01 1.89694719e-01 1.81976000e-02 1.02563310e+02] [-1.84509234e-02 -4.30692369e-04 9.99829674e-01 -3.60148656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76 meters 0.01711894731978127 Centerline is valid? [True, True] Translation: X:125.29, Y:102.59, Z:-3.60 [[ 1.89973555e-01 -9.81784361e-01 3.08490074e-03 1.25292812e+02] [ 9.81614407e-01 1.89998084e-01 1.82724814e-02 1.02590265e+02] [-1.85257617e-02 -4.43105226e-04 9.99828285e-01 -3.60166322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79 meters 0.017295862016364922 Centerline is valid? [True, True] Translation: X:125.30, Y:102.62, Z:-3.60 [[ 1.90331776e-01 -9.81715233e-01 3.00277162e-03 1.25301721e+02] [ 9.81553670e-01 1.90354944e-01 1.78153735e-02 1.02617546e+02] [-1.80612160e-02 -4.43450169e-04 9.99836785e-01 -3.60243537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82 meters 0.01747216828966675 Centerline is valid? [True, True] Translation: X:125.31, Y:102.64, Z:-3.60 [[ 1.90367591e-01 -9.81708481e-01 2.93911895e-03 1.25310528e+02] [ 9.81553190e-01 1.90389770e-01 1.74662611e-02 1.02644218e+02] [-1.77063548e-02 -4.40108476e-04 9.99843133e-01 -3.60358593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85 meters 0.01728974113419015 Centerline is valid? [True, True] Translation: X:125.32, Y:102.67, Z:-3.60 [[ 1.89830266e-01 -9.81812939e-01 2.79697929e-03 1.25324734e+02] [ 9.81671862e-01 1.89850418e-01 1.66485670e-02 1.02669887e+02] [-1.68767862e-02 -4.14686042e-04 9.99857491e-01 -3.60486173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88 meters 0.016860690401909958 Centerline is valid? [True, True] Translation: X:125.34, Y:102.70, Z:-3.61 [[ 1.89119386e-01 -9.81950320e-01 2.72540961e-03 1.25335199e+02] [ 9.81815930e-01 1.89138605e-01 1.62501843e-02 1.02696492e+02] [-1.64723538e-02 -3.97374308e-04 9.99864243e-01 -3.60555310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91 meters 0.016860690401909958 Centerline is valid? [True, True] Translation: X:125.34, Y:102.72, Z:-3.61 [[ 1.88833788e-01 -9.82005295e-01 2.72068100e-03 1.25339681e+02] [ 9.81870899e-01 1.88852968e-01 1.62509758e-02 1.02723675e+02] [-1.64723529e-02 -3.97375811e-04 9.99864243e-01 -3.60611932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94 meters 0.01675753441729833 Centerline is valid? [True, True] Translation: X:125.35, Y:102.75, Z:-3.61 [[ 1.87845920e-01 -9.82195065e-01 2.60086180e-03 1.25350105e+02] [ 9.82071849e-01 1.87863562e-01 1.55616503e-02 1.02750831e+02] [-1.57731833e-02 -3.68959360e-04 9.99875528e-01 -3.60704944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97 meters 0.016104318270564164 Centerline is valid? [True, True] Translation: X:125.36, Y:102.78, Z:-3.61 [[ 1.86684472e-01 -9.82416399e-01 2.63188499e-03 1.25362054e+02] [ 9.82289797e-01 1.86702677e-01 1.57754740e-02 1.02777228e+02] [-1.59894643e-02 -3.59762260e-04 9.99872096e-01 -3.60729281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.0 meters 0.016738050721365864 Centerline is valid? [True, True] Translation: X:125.37, Y:102.80, Z:-3.61 [[ 1.85199784e-01 -9.82697604e-01 2.54158709e-03 1.25370662e+02] [ 9.82579131e-01 1.85216931e-01 1.52623981e-02 1.02803098e+02] [-1.54690670e-02 -3.29282399e-04 9.99880293e-01 -3.60854662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03 meters 0.01685349013340446 Centerline is valid? [True, True] Translation: X:125.38, Y:102.83, Z:-3.61 [[ 1.83746544e-01 -9.82970682e-01 2.41780877e-03 1.25380599e+02] [ 9.82863199e-01 1.83762213e-01 1.45389324e-02 1.02829153e+02] [-1.47356462e-02 -2.95103324e-04 9.99891381e-01 -3.60971415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06 meters 0.015678715430639666 Centerline is valid? [True, True] Translation: X:125.40, Y:102.86, Z:-3.61 [[ 1.81455156e-01 -9.83396299e-01 2.39701202e-03 1.25399606e+02] [ 9.83290451e-01 1.81470799e-01 1.44304260e-02 1.02855699e+02] [-1.46258153e-02 -2.61516185e-04 9.99893003e-01 -3.60963522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09 meters 0.01567879921895758 Centerline is valid? [True, True] Translation: X:125.41, Y:102.88, Z:-3.61 [[ 1.80352344e-01 -9.83599140e-01 2.40058673e-03 1.25409534e+02] [ 9.83492648e-01 1.80368147e-01 1.44756083e-02 1.02881467e+02] [-1.46711853e-02 -2.49750488e-04 9.99892341e-01 -3.61013338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12 meters 0.01562949828916627 Centerline is valid? [True, True] Translation: X:125.42, Y:102.91, Z:-3.61 [[ 1.79705439e-01 -9.83717440e-01 2.43987948e-03 1.25420092e+02] [ 9.83607132e-01 1.79721830e-01 1.47333898e-02 1.02908325e+02] [-1.49319922e-02 -2.47787424e-04 9.99888481e-01 -3.61025183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15 meters 0.015724643445914052 Centerline is valid? [True, True] Translation: X:125.43, Y:102.93, Z:-3.61 [[ 1.79179459e-01 -9.83813319e-01 2.46494285e-03 1.25429489e+02] [ 9.83700313e-01 1.79196242e-01 1.49131374e-02 1.02933711e+02] [-1.51134517e-02 -2.47362845e-04 9.99885755e-01 -3.61051900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18 meters 0.016199732025204108 Centerline is valid? [True, True] Translation: X:125.44, Y:102.96, Z:-3.61 [[ 1.79280484e-01 -9.83794488e-01 2.62947945e-03 1.25442935e+02] [ 9.83665460e-01 1.79299563e-01 1.59351859e-02 1.02958888e+02] [-1.61484125e-02 -2.70339730e-04 9.99869569e-01 -3.60958009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20999999999998 meters 0.01589354921526139 Centerline is valid? [True, True] Translation: X:125.45, Y:102.99, Z:-3.61 [[ 1.79801431e-01 -9.83699123e-01 2.73500040e-03 1.25452933e+02] [ 9.83558958e-01 1.79821988e-01 1.66081266e-02 1.02985578e+02] [-1.68292127e-02 -2.96130785e-04 9.99858335e-01 -3.60905541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23999999999998 meters 0.018820639393565937 Centerline is valid? [True, True] Translation: X:125.47, Y:103.01, Z:-3.61 [[ 1.81691702e-01 -9.83351761e-01 2.72756119e-03 1.25465411e+02] [ 9.83211821e-01 1.81711869e-01 1.65925070e-02 1.03012425e+02] [-1.68119012e-02 -3.32950446e-04 9.99858615e-01 -3.61220288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26999999999998 meters 0.016387622707705364 Centerline is valid? [True, True] Translation: X:125.47, Y:103.04, Z:-3.61 [[ 1.83898648e-01 -9.82941504e-01 2.69926948e-03 1.25472717e+02] [ 9.82803937e-01 1.83918081e-01 1.64487522e-02 1.03039781e+02] [-1.66646057e-02 -3.72050629e-04 9.99861067e-01 -3.61054936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29999999999998 meters 0.017018342883791095 Centerline is valid? [True, True] Translation: X:125.48, Y:103.07, Z:-3.61 [[ 1.85440389e-01 -9.82652339e-01 2.49869633e-03 1.25479761e+02] [ 9.82534242e-01 1.85456852e-01 1.52387224e-02 1.03066385e+02] [-1.54377666e-02 -3.70819908e-04 9.99880762e-01 -3.61227929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32999999999998 meters 0.017898988791222904 Centerline is valid? [True, True] Translation: X:125.49, Y:103.09, Z:-3.61 [[ 1.86796468e-01 -9.82395972e-01 2.28773316e-03 1.25486894e+02] [ 9.82296659e-01 1.86810124e-01 1.39732449e-02 1.03092653e+02] [-1.41546312e-02 -3.62920163e-04 9.99899752e-01 -3.61386996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35999999999999 meters 0.017634991127697584 Centerline is valid? [True, True] Translation: X:125.50, Y:103.12, Z:-3.61 [[ 1.88442525e-01 -9.82082167e-01 2.00821795e-03 1.25501090e+02] [ 9.82005419e-01 1.88452914e-01 1.22823204e-02 1.03118873e+02] [-1.24407023e-02 -3.42430552e-04 9.99922553e-01 -3.61486535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39 meters 0.01806009253616258 Centerline is valid? [True, True] Translation: X:125.51, Y:103.14, Z:-3.62 [[ 1.88588663e-01 -9.82054354e-01 1.88763430e-03 1.25509434e+02] [ 9.81986299e-01 1.88597825e-01 1.15658956e-02 1.03144879e+02] [-1.17143418e-02 -3.27565755e-04 9.99931331e-01 -3.61549307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42 meters 0.018229958349172563 Centerline is valid? [True, True] Translation: X:125.52, Y:103.17, Z:-3.62 [[ 1.88209324e-01 -9.82127337e-01 1.77340082e-03 1.25518148e+02] [ 9.82067190e-01 1.88217431e-01 1.08734586e-02 1.03170444e+02] [-1.10129059e-02 -3.04887531e-04 9.99939310e-01 -3.61619525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45 meters 0.01783423505342992 Centerline is valid? [True, True] Translation: X:125.53, Y:103.20, Z:-3.62 [[ 1.87531042e-01 -9.82257280e-01 1.65632150e-03 1.25528253e+02] [ 9.82204634e-01 1.87538146e-01 1.01735663e-02 1.03197708e+02] [-1.03036830e-02 -2.81012829e-04 9.99946876e-01 -3.61689831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48 meters 0.01715942689083822 Centerline is valid? [True, True] Translation: X:125.54, Y:103.22, Z:-3.62 [[ 1.85236502e-01 -9.82692900e-01 1.44968870e-03 1.25544648e+02] [ 9.82652472e-01 1.85242036e-01 8.91665894e-03 1.03223772e+02] [-9.03088072e-03 -2.27150528e-04 9.99959195e-01 -3.61769680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51 meters 0.016340427080953252 Centerline is valid? [True, True] Translation: X:125.56, Y:103.25, Z:-3.62 [[ 1.83820309e-01 -9.82958907e-01 1.37158631e-03 1.25556437e+02] [ 9.82922621e-01 1.83825312e-01 8.44847178e-03 1.03250820e+02] [-8.55663287e-03 -2.04837484e-04 9.99963370e-01 -3.61765173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54 meters 0.01700904971409333 Centerline is valid? [True, True] Translation: X:125.56, Y:103.28, Z:-3.62 [[ 1.82291507e-01 -9.83243653e-01 1.31384332e-03 1.25564697e+02] [ 9.83210214e-01 1.82296146e-01 8.11117774e-03 1.03276872e+02] [-8.21477260e-03 -1.86814641e-04 9.99966241e-01 -3.61889444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57 meters 0.015966509228622073 Centerline is valid? [True, True] Translation: X:125.58, Y:103.30, Z:-3.62 [[ 1.80410004e-01 -9.83590481e-01 1.41282033e-03 1.25576629e+02] [ 9.83551732e-01 1.80415441e-01 8.73263164e-03 1.03303959e+02] [-8.84422796e-03 -1.85872229e-04 9.99960872e-01 -3.61782742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.6 meters 0.016492099106748776 Centerline is valid? [True, True] Translation: X:125.59, Y:103.33, Z:-3.62 [[ 1.79122927e-01 -9.83825320e-01 1.64829919e-03 1.25585036e+02] [ 9.83772283e-01 1.79130389e-01 1.02175318e-02 1.03330564e+02] [-1.03475270e-02 -2.08643144e-04 9.99946441e-01 -3.61801247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63 meters 0.015682115896345765 Centerline is valid? [True, True] Translation: X:125.60, Y:103.36, Z:-3.62 [[ 1.77193297e-01 -9.84173949e-01 2.04311221e-03 1.25600554e+02] [ 9.84092230e-01 1.77204917e-01 1.26846805e-02 1.03357364e+02] [-1.28459816e-02 -2.37029507e-04 9.99917459e-01 -3.61525602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66 meters 0.015848556862454174 Centerline is valid? [True, True] Translation: X:125.61, Y:103.38, Z:-3.62 [[ 1.77036443e-01 -9.84201842e-01 2.19828601e-03 1.25608194e+02] [ 9.84106923e-01 1.77049904e-01 1.36709812e-02 1.03383406e+02] [-1.38442112e-02 -2.56913394e-04 9.99904131e-01 -3.61519145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69 meters 0.01592882600811612 Centerline is valid? [True, True] Translation: X:125.62, Y:103.41, Z:-3.62 [[ 1.77267846e-01 -9.84160022e-01 2.27182898e-03 1.25615985e+02] [ 9.84058222e-01 1.77282191e-01 1.41577073e-02 1.03410383e+02] [-1.43362044e-02 -2.74094300e-04 9.99897194e-01 -3.61524074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72 meters 0.016037856587155435 Centerline is valid? [True, True] Translation: X:125.62, Y:103.44, Z:-3.62 [[ 1.78028415e-01 -9.84022689e-01 2.28722220e-03 1.25623930e+02] [ 9.83919109e-01 1.78042867e-01 1.42802125e-02 1.03438276e+02] [-1.44592767e-02 -2.91841966e-04 9.99895417e-01 -3.61534944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75 meters 0.016993799972124555 Centerline is valid? [True, True] Translation: X:125.63, Y:103.47, Z:-3.62 [[ 1.79008517e-01 -9.83844992e-01 2.23233731e-03 1.25631210e+02] [ 9.83745969e-01 1.79022179e-01 1.39616520e-02 1.03465332e+02] [-1.41357393e-02 -3.03201791e-04 9.99900039e-01 -3.61702308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78 meters 0.017501730406685588 Centerline is valid? [True, True] Translation: X:125.64, Y:103.49, Z:-3.62 [[ 1.83572203e-01 -9.83004244e-01 1.97527619e-03 1.25638698e+02] [ 9.82926466e-01 1.83582535e-01 1.23699543e-02 1.03492732e+02] [-1.25223438e-02 -3.29228525e-04 9.99921538e-01 -3.61736745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81 meters 0.01857667171356814 Centerline is valid? [True, True] Translation: X:125.64, Y:103.52, Z:-3.62 [[ 1.85666535e-01 -9.82611165e-01 1.79913446e-03 1.25643686e+02] [ 9.82546437e-01 1.85674963e-01 1.12830096e-02 1.03519855e+02] [-1.14208655e-02 -3.27144149e-04 9.99934726e-01 -3.61893237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84 meters 0.019197377684464587 Centerline is valid? [True, True] Translation: X:125.65, Y:103.55, Z:-3.62 [[ 1.87398480e-01 -9.82282785e-01 1.52986801e-03 1.25649570e+02] [ 9.82235841e-01 1.87404488e-01 9.60781533e-03 1.03547582e+02] [-9.72429573e-03 -2.97798798e-04 9.99952674e-01 -3.62051593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87 meters 0.022637277815312783 Centerline is valid? [True, True] Translation: X:125.66, Y:103.58, Z:-3.63 [[ 1.88160516e-01 -9.82137597e-01 1.16618426e-03 1.25655590e+02] [ 9.82110286e-01 1.88163985e-01 7.32813260e-03 1.03575144e+02] [-7.41666843e-03 -2.33543654e-04 9.99972469e-01 -3.62611552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.9 meters 0.020495934031875964 Centerline is valid? [True, True] Translation: X:125.66, Y:103.60, Z:-3.62 [[ 1.90100214e-01 -9.81763980e-01 1.18151150e-03 1.25661900e+02] [ 9.81735839e-01 1.90103715e-01 7.43778740e-03 1.03602744e+02] [-7.52676149e-03 -2.53992790e-04 9.99971641e-01 -3.62339033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93 meters 0.020569769619905726 Centerline is valid? [True, True] Translation: X:125.67, Y:103.63, Z:-3.62 [[ 1.90899083e-01 -9.81609061e-01 1.09160844e-03 1.25669051e+02] [ 9.81584975e-01 1.90902051e-01 6.88067504e-03 1.03630140e+02] [-6.96252325e-03 -2.42008116e-04 9.99975732e-01 -3.62426323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95999999999998 meters 0.021654836118824215 Centerline is valid? [True, True] Translation: X:125.68, Y:103.66, Z:-3.63 [[ 1.91143522e-01 -9.81561564e-01 1.02429022e-03 1.25677745e+02] [ 9.81540289e-01 1.91146127e-01 6.46672201e-03 1.03656693e+02] [-6.54327488e-03 -2.30689897e-04 9.99978566e-01 -3.62576838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98999999999998 meters 0.020603827012558 Centerline is valid? [True, True] Translation: X:125.69, Y:103.68, Z:-3.63 [[ 1.90028435e-01 -9.81778083e-01 9.95333722e-04 1.25686814e+02] [ 9.81757955e-01 1.90030916e-01 6.29039523e-03 1.03683592e+02] [-6.36491635e-03 -2.18177160e-04 9.99979720e-01 -3.62599014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01999999999998 meters 0.021317313085997863 Centerline is valid? [True, True] Translation: X:125.70, Y:103.71, Z:-3.63 [[ 1.87860417e-01 -9.82195254e-01 9.72926838e-04 1.25695668e+02] [ 9.82175957e-01 1.87862828e-01 6.16019070e-03 1.03710778e+02] [-6.23328686e-03 -2.01670644e-04 9.99980553e-01 -3.62902749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04999999999998 meters 0.01861945831129694 Centerline is valid? [True, True] Translation: X:125.71, Y:103.74, Z:-3.63 [[ 1.83451485e-01 -9.83028090e-01 1.15179055e-03 1.25709430e+02] [ 9.83000880e-01 1.83454980e-01 7.31713498e-03 1.03735794e+02] [-7.40425094e-03 -2.10128155e-04 9.99972566e-01 -3.62536512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07999999999998 meters 0.017636688551301266 Centerline is valid? [True, True] Translation: X:125.72, Y:103.76, Z:-3.62 [[ 1.80318457e-01 -9.83607432e-01 1.29372653e-03 1.25719601e+02] [ 9.83573024e-01 1.80322974e-01 8.22986764e-03 1.03762856e+02] [-8.32824759e-03 -2.11522521e-04 9.99965297e-01 -3.62429398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10999999999999 meters 0.01723819952492017 Centerline is valid? [True, True] Translation: X:125.73, Y:103.79, Z:-3.62 [[ 1.77105581e-01 -9.84190844e-01 1.41294627e-03 1.25728172e+02] [ 9.84149557e-01 1.77111097e-01 9.01713016e-03 1.03789060e+02] [-9.12482541e-03 -2.06433634e-04 9.99958347e-01 -3.62407271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14 meters 0.01608976126189641 Centerline is valid? [True, True] Translation: X:125.74, Y:103.82, Z:-3.62 [[ 1.73143114e-01 -9.84895545e-01 1.49259945e-03 1.25738063e+02] [ 9.84849459e-01 1.73149454e-01 9.52945240e-03 1.03816323e+02] [-9.64395799e-03 -1.79973301e-04 9.99953480e-01 -3.62376940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17 meters 0.01534138197815427 Centerline is valid? [True, True] Translation: X:125.75, Y:103.84, Z:-3.62 [[ 1.69373245e-01 -9.85550766e-01 1.54625560e-03 1.25747558e+02] [ 9.85501132e-01 1.69380235e-01 9.89211433e-03 1.03843725e+02] [-1.00110860e-02 -1.51622857e-04 9.99949876e-01 -3.62387324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.2 meters 0.01429307133290586 Centerline is valid? [True, True] Translation: X:125.76, Y:103.87, Z:-3.62 [[ 1.62035347e-01 -9.86783315e-01 1.79868185e-03 1.25760608e+02] [ 9.86715845e-01 1.62045302e-01 1.15395326e-02 1.03870661e+02] [-1.16784862e-02 -9.50242963e-05 9.99931800e-01 -3.62355259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23 meters 0.014039010541465594 Centerline is valid? [True, True] Translation: X:125.77, Y:103.90, Z:-3.62 [[ 1.58968867e-01 -9.87281787e-01 1.89036246e-03 1.25768473e+02] [ 9.87207190e-01 1.58980093e-01 1.21364348e-02 1.03897518e+02] [-1.22826110e-02 -6.31358660e-05 9.99924564e-01 -3.62325586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26 meters 0.013946233322284271 Centerline is valid? [True, True] Translation: X:125.78, Y:103.92, Z:-3.62 [[ 1.56054744e-01 -9.87746485e-01 1.94878543e-03 1.25775123e+02] [ 9.87666925e-01 1.56066908e-01 1.25365267e-02 1.03924901e+02] [-1.26870511e-02 -3.16335580e-05 9.99919516e-01 -3.62326283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29 meters 0.01642146968903286 Centerline is valid? [True, True] Translation: X:125.78, Y:103.95, Z:-3.63 [[ 1.53202924e-01 -9.88192889e-01 1.91774194e-03 1.25780496e+02] [ 9.88115598e-01 1.53214927e-01 1.23592564e-02 1.03952152e+02] [-1.25071559e-02 1.47650823e-06 9.99921782e-01 -3.62718042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32 meters 0.013992537186407446 Centerline is valid? [True, True] Translation: X:125.78, Y:103.98, Z:-3.63 [[ 1.51925916e-01 -9.88390136e-01 1.85899729e-03 1.25783918e+02] [ 9.88317257e-01 1.51937288e-01 1.20024810e-02 1.03980553e+02] [-1.21455849e-02 1.37911748e-05 9.99926240e-01 -3.62540066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35 meters 0.014052322023717178 Centerline is valid? [True, True] Translation: X:125.79, Y:104.01, Z:-3.63 [[ 1.52429732e-01 -9.88312703e-01 1.78293964e-03 1.25786414e+02] [ 9.88245427e-01 1.52440159e-01 1.15314529e-02 1.04008145e+02] [-1.16684730e-02 4.24567706e-06 9.99931921e-01 -3.62664243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38 meters 0.014094493616278 Centerline is valid? [True, True] Translation: X:125.79, Y:104.04, Z:-3.63 [[ 1.53437958e-01 -9.88156988e-01 1.59990870e-03 1.25788039e+02] [ 9.88102652e-01 1.53446298e-01 1.03625593e-02 1.04035323e+02] [-1.04853355e-02 -9.13590624e-06 9.99945027e-01 -3.62834302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41 meters 0.016881607870823247 Centerline is valid? [True, True] Translation: X:125.79, Y:104.06, Z:-3.63 [[ 1.54309016e-01 -9.88021702e-01 1.35822306e-03 1.25789923e+02] [ 9.87982411e-01 1.54314992e-01 8.81123385e-03 1.04063326e+02] [-8.91528444e-03 -1.77523326e-05 9.99960258e-01 -3.63322205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44 meters 0.0144138856875513 Centerline is valid? [True, True] Translation: X:125.79, Y:104.09, Z:-3.63 [[ 1.58319161e-01 -9.87387234e-01 1.22198679e-03 1.25789881e+02] [ 9.87355322e-01 1.58323869e-01 7.93849398e-03 1.04092430e+02] [-8.03183729e-03 -5.02805447e-05 9.99967743e-01 -3.63123279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47 meters 0.014522025703660266 Centerline is valid? [True, True] Translation: X:125.79, Y:104.12, Z:-3.63 [[ 1.59088531e-01 -9.87263543e-01 1.23968551e-03 1.25792662e+02] [ 9.87230584e-01 1.59093350e-01 8.06720538e-03 1.04120653e+02] [-8.16168348e-03 -5.95444032e-05 9.99966691e-01 -3.63182599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.5 meters 0.016052053392400036 Centerline is valid? [True, True] Translation: X:125.80, Y:104.15, Z:-3.63 [[ 1.59258374e-01 -9.87236246e-01 1.16821829e-03 1.25795868e+02] [ 9.87206880e-01 1.59262648e-01 7.61473998e-03 1.04148544e+02] [-7.70360085e-03 -5.94379773e-05 9.99970325e-01 -3.63462554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53 meters 0.014704314434279588 Centerline is valid? [True, True] Translation: X:125.80, Y:104.18, Z:-3.63 [[ 1.58833746e-01 -9.87304521e-01 1.27451867e-03 1.25799559e+02] [ 9.87269405e-01 1.58838846e-01 8.32722199e-03 1.04176817e+02] [-8.42394699e-03 -6.43505728e-05 9.99964516e-01 -3.63306603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56 meters 0.015321216157704853 Centerline is valid? [True, True] Translation: X:125.80, Y:104.20, Z:-3.63 [[ 1.57279667e-01 -9.87553272e-01 1.28150378e-03 1.25804339e+02] [ 9.87517644e-01 1.57284878e-01 8.38863378e-03 1.04204424e+02] [-8.48578390e-03 -5.38539303e-05 9.99963994e-01 -3.63426733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59 meters 0.014444250208984957 Centerline is valid? [True, True] Translation: X:125.81, Y:104.23, Z:-3.63 [[ 1.55545944e-01 -9.87827593e-01 1.45094311e-03 1.25809336e+02] [ 9.87781653e-01 1.55552704e-01 9.52696164e-03 1.04231238e+02] [-9.63669371e-03 -4.86652566e-05 9.99953565e-01 -3.63323447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62 meters 0.015533061968074744 Centerline is valid? [True, True] Translation: X:125.82, Y:104.26, Z:-3.63 [[ 1.49371774e-01 -9.88779504e-01 1.77948075e-03 1.25817378e+02] [ 9.88710238e-01 1.49382373e-01 1.17034778e-02 1.04258847e+02] [-1.18379821e-02 1.12215884e-05 9.99929929e-01 -3.63318403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65 meters 0.014464804442302113 Centerline is valid? [True, True] Translation: X:125.82, Y:104.29, Z:-3.63 [[ 1.46050453e-01 -9.89275069e-01 2.02573355e-03 1.25823362e+02] [ 9.89184964e-01 1.46064491e-01 1.33518642e-02 1.04286015e+02] [-1.35045541e-02 5.37793596e-05 9.99908808e-01 -3.63071267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68 meters 0.014718418412894127 Centerline is valid? [True, True] Translation: X:125.83, Y:104.31, Z:-3.63 [[ 1.42373935e-01 -9.89810327e-01 2.27570873e-03 1.25829228e+02] [ 9.89696175e-01 1.42392077e-01 1.50325384e-02 1.04313870e+02] [-1.52034047e-02 1.12018575e-04 9.99884415e-01 -3.62965952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70999999999998 meters 0.015488574340720585 Centerline is valid? [True, True] Translation: X:125.84, Y:104.34, Z:-3.63 [[ 1.36253832e-01 -9.90670910e-01 2.45785090e-03 1.25836138e+02] [ 9.90537309e-01 1.36275825e-01 1.62708357e-02 1.04342089e+02] [-1.64539893e-02 2.17629301e-04 9.99864600e-01 -3.62979378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73999999999998 meters 0.01583902242531594 Centerline is valid? [True, True] Translation: X:125.84, Y:104.37, Z:-3.63 [[ 1.33830045e-01 -9.91001462e-01 2.37093598e-03 1.25841081e+02] [ 9.90876763e-01 1.33850820e-01 1.57225642e-02 1.04370096e+02] [-1.58984359e-02 2.45153892e-04 9.99873582e-01 -3.63085377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76999999999998 meters 0.016233546303938678 Centerline is valid? [True, True] Translation: X:125.85, Y:104.40, Z:-3.63 [[ 1.31913926e-01 -9.91258583e-01 2.26651803e-03 1.25845862e+02] [ 9.91144269e-01 1.31933139e-01 1.50560357e-02 1.04398099e+02] [-1.52234535e-02 2.60345571e-04 9.99884083e-01 -3.63255167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79999999999998 meters 0.016400476362179353 Centerline is valid? [True, True] Translation: X:125.85, Y:104.43, Z:-3.63 [[ 1.30868353e-01 -9.91397545e-01 2.09351440e-03 1.25849946e+02] [ 9.91299718e-01 1.30884854e-01 1.39292406e-02 1.04425735e+02] [-1.40834242e-02 2.52403461e-04 9.99900792e-01 -3.63440059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82999999999998 meters 0.016400476362179353 Centerline is valid? [True, True] Translation: X:125.85, Y:104.45, Z:-3.63 [[ 1.30588168e-01 -9.91434498e-01 2.08984706e-03 1.25853972e+02] [ 9.91336667e-01 1.30604644e-01 1.39297906e-02 1.04453053e+02] [-1.40834186e-02 2.52676195e-04 9.99900792e-01 -3.63496685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85999999999999 meters 0.01672458803885308 Centerline is valid? [True, True] Translation: X:125.86, Y:104.48, Z:-3.64 [[ 1.31091161e-01 -9.91368925e-01 1.66203458e-03 1.25857166e+02] [ 9.91306840e-01 1.31101554e-01 1.10964486e-02 1.04479565e+02] [-1.12185697e-02 1.92939917e-04 9.99937051e-01 -3.63789951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89 meters 0.01642470540201191 Centerline is valid? [True, True] Translation: X:125.86, Y:104.51, Z:-3.64 [[ 1.32185129e-01 -9.91223802e-01 1.57030492e-03 1.25859490e+02] [ 9.91168285e-01 1.32194347e-01 1.04921821e-02 1.04508013e+02] [-1.06076860e-02 1.69525996e-04 9.99943723e-01 -3.63926825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92 meters 0.016265575642049387 Centerline is valid? [True, True] Translation: X:125.86, Y:104.54, Z:-3.64 [[ 1.33282481e-01 -9.91077121e-01 1.38591404e-03 1.25861875e+02] [ 9.91033744e-01 1.33289615e-01 9.27347031e-03 1.04535879e+02] [-9.37545220e-03 1.37496452e-04 9.99956040e-01 -3.64040134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95 meters 0.016172894525335494 Centerline is valid? [True, True] Translation: X:125.86, Y:104.56, Z:-3.64 [[ 1.35039319e-01 -9.90839297e-01 1.36742297e-03 1.25864228e+02] [ 9.90796902e-01 1.35046192e-01 9.16653061e-03 1.04563243e+02] [-9.26722401e-03 1.16996389e-04 9.99957052e-01 -3.64167736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98 meters 0.0154926236353161 Centerline is valid? [True, True] Translation: X:125.86, Y:104.59, Z:-3.64 [[ 1.39102302e-01 -9.90277108e-01 1.34094681e-03 1.25863522e+02] [ 9.90236073e-01 1.39108745e-01 9.01535573e-03 1.04592547e+02] [-9.11423783e-03 7.37971722e-05 9.99958462e-01 -3.64119346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01 meters 0.015345405349136339 Centerline is valid? [True, True] Translation: X:125.87, Y:104.62, Z:-3.64 [[ 1.40850739e-01 -9.90029808e-01 1.43098758e-03 1.25866060e+02] [ 9.89983034e-01 1.40857995e-01 9.62375841e-03 1.04619859e+02] [-9.72937373e-03 6.11399380e-05 9.99952667e-01 -3.64193937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04 meters 0.01668331726002571 Centerline is valid? [True, True] Translation: X:125.87, Y:104.65, Z:-3.64 [[ 1.42243804e-01 -9.89830471e-01 1.52931963e-03 1.25868534e+02] [ 9.89776783e-01 1.42252017e-01 1.03093636e-02 1.04647427e+02] [-1.04220711e-02 4.72419607e-05 9.99945688e-01 -3.64419514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07 meters 0.015045074379444199 Centerline is valid? [True, True] Translation: X:125.87, Y:104.67, Z:-3.64 [[ 1.44308125e-01 -9.89531426e-01 1.65004090e-03 1.25870711e+02] [ 9.89468638e-01 1.44317556e-01 1.11471251e-02 1.04674110e+02] [-1.12685605e-02 2.40429976e-05 9.99936507e-01 -3.64223629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.1 meters 0.015657483641555312 Centerline is valid? [True, True] Translation: X:125.87, Y:104.70, Z:-3.64 [[ 1.47517593e-01 -9.89057846e-01 1.77104532e-03 1.25872165e+02] [ 9.88985158e-01 1.47528223e-01 1.19908693e-02 1.04701488e+02] [-1.21209425e-02 -1.73266381e-05 9.99926539e-01 -3.64375284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13 meters 0.014885843111856452 Centerline is valid? [True, True] Translation: X:125.87, Y:104.73, Z:-3.64 [[ 1.49252192e-01 -9.88797416e-01 1.85810445e-03 1.25874783e+02] [ 9.88717000e-01 1.49263751e-01 1.26105879e-02 1.04729132e+02] [-1.27466644e-02 -4.50184282e-05 9.99918757e-01 -3.64176856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16 meters 0.014885149987906311 Centerline is valid? [True, True] Translation: X:125.88, Y:104.76, Z:-3.64 [[ 1.50571521e-01 -9.88597174e-01 1.96091670e-03 1.25877755e+02] [ 9.88507226e-01 1.50584274e-01 1.33357269e-02 1.04756649e+02] [-1.34789452e-02 -6.96003715e-05 9.99909152e-01 -3.64160181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19 meters 0.0149343695092612 Centerline is valid? [True, True] Translation: X:125.88, Y:104.78, Z:-3.64 [[ 1.51583668e-01 -9.88442465e-01 1.97120054e-03 1.25880365e+02] [ 9.88351206e-01 1.51596459e-01 1.34315653e-02 1.04783265e+02] [-1.35751565e-02 -8.77675008e-05 9.99907849e-01 -3.64234577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22 meters 0.015056243706667471 Centerline is valid? [True, True] Translation: X:125.88, Y:104.81, Z:-3.64 [[ 1.53698521e-01 -9.88115552e-01 2.10252666e-03 1.25882297e+02] [ 9.88011215e-01 1.53712847e-01 1.43596374e-02 1.04811081e+02] [-1.45121664e-02 -1.29735119e-04 9.99894685e-01 -3.64315425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25 meters 0.015266710916499282 Centerline is valid? [True, True] Translation: X:125.89, Y:104.84, Z:-3.64 [[ 1.54888093e-01 -9.87929728e-01 2.12885214e-03 1.25885312e+02] [ 9.87822313e-01 1.54902646e-01 1.45687088e-02 1.04839516e+02] [-1.47226254e-02 -1.53591882e-04 9.99891604e-01 -3.64375228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28 meters 0.015390561367206755 Centerline is valid? [True, True] Translation: X:125.89, Y:104.87, Z:-3.64 [[ 1.55950435e-01 -9.87762605e-01 2.12080890e-03 1.25888420e+02] [ 9.87655573e-01 1.55964759e-01 1.45417493e-02 1.04866966e+02] [-1.46945676e-02 -1.73163398e-04 9.99892014e-01 -3.64461141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31 meters 0.015708467840226652 Centerline is valid? [True, True] Translation: X:125.89, Y:104.89, Z:-3.65 [[ 1.56835367e-01 -9.87622423e-01 2.14870323e-03 1.25891341e+02] [ 9.87512058e-01 1.56849966e-01 1.47656102e-02 1.04894952e+02] [-1.49198717e-02 -1.93899545e-04 9.99888674e-01 -3.64557354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34 meters 0.015756440720774537 Centerline is valid? [True, True] Translation: X:125.89, Y:104.92, Z:-3.65 [[ 1.57454514e-01 -9.87523995e-01 2.10580325e-03 1.25894659e+02] [ 9.87417577e-01 1.57468464e-01 1.44986904e-02 1.04922630e+02] [-1.46494023e-02 -2.03577116e-04 9.99892671e-01 -3.64669774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37 meters 0.016033999364091448 Centerline is valid? [True, True] Translation: X:125.90, Y:104.95, Z:-3.65 [[ 1.58077524e-01 -9.87424508e-01 2.08254392e-03 1.25897758e+02] [ 9.87320009e-01 1.58091096e-01 1.43668161e-02 1.04950976e+02] [-1.45153780e-02 -2.14933439e-04 9.99894623e-01 -3.64776510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.4 meters 0.016360399352003566 Centerline is valid? [True, True] Translation: X:125.90, Y:104.98, Z:-3.65 [[ 1.58728692e-01 -9.87320166e-01 2.02290897e-03 1.25900321e+02] [ 9.87221164e-01 1.58741426e-01 1.39833260e-02 1.04978458e+02] [-1.41271392e-02 -2.22496496e-04 9.99900182e-01 -3.64964422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43 meters 0.016494846135854717 Centerline is valid? [True, True] Translation: X:125.90, Y:105.01, Z:-3.65 [[ 1.58819884e-01 -9.87305683e-01 1.93220595e-03 1.25903788e+02] [ 9.87215092e-01 1.58831490e-01 1.33760647e-02 1.05005312e+02] [-1.35131598e-02 -2.16882170e-04 9.99908670e-01 -3.65082389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45999999999998 meters 0.016624670187879616 Centerline is valid? [True, True] Translation: X:125.91, Y:105.03, Z:-3.65 [[ 1.58632723e-01 -9.87335789e-01 1.92349211e-03 1.25907781e+02] [ 9.87245633e-01 1.58644235e-01 1.33441918e-02 1.05033120e+02] [-1.34803490e-02 -2.17866298e-04 9.99909112e-01 -3.65214131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48999999999998 meters 0.016676735416320275 Centerline is valid? [True, True] Translation: X:125.91, Y:105.06, Z:-3.65 [[ 1.58238254e-01 -9.87399307e-01 1.80646424e-03 1.25911902e+02] [ 9.87319535e-01 1.58248435e-01 1.25526443e-02 1.05060025e+02] [-1.26803425e-02 -2.02751091e-04 9.99919581e-01 -3.65355759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51999999999998 meters 0.016757574747704063 Centerline is valid? [True, True] Translation: X:125.92, Y:105.09, Z:-3.66 [[ 1.57689376e-01 -9.87487351e-01 1.67136059e-03 1.25915886e+02] [ 9.87418809e-01 1.57698125e-01 1.16360612e-02 1.05087095e+02] [-1.17540337e-02 -1.84550343e-04 9.99930902e-01 -3.65509442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54999999999998 meters 0.016797427591837208 Centerline is valid? [True, True] Translation: X:125.92, Y:105.11, Z:-3.66 [[ 1.57084615e-01 -9.87583912e-01 1.56212589e-03 1.25919923e+02] [ 9.87523825e-01 1.57092291e-01 1.08953128e-02 1.05112722e+02] [-1.10054336e-02 -1.68849486e-04 9.99939424e-01 -3.65689353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57999999999998 meters 0.016634859645704703 Centerline is valid? [True, True] Translation: X:125.93, Y:105.14, Z:-3.66 [[ 1.55375826e-01 -9.87854453e-01 1.39005199e-03 1.25926001e+02] [ 9.87806715e-01 1.55381985e-01 9.71247014e-03 1.05138198e+02] [-9.81049592e-03 -1.35980381e-04 9.99951867e-01 -3.65884771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60999999999999 meters 0.016330102305578173 Centerline is valid? [True, True] Translation: X:125.93, Y:105.17, Z:-3.66 [[ 1.53878202e-01 -9.88088829e-01 1.40199882e-03 1.25931764e+02] [ 9.88040039e-01 1.53884537e-01 9.81986049e-03 1.05165365e+02] [-9.91864039e-03 -1.25831502e-04 9.99950801e-01 -3.65892457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64 meters 0.016144817828116963 Centerline is valid? [True, True] Translation: X:125.94, Y:105.19, Z:-3.66 [[ 1.52365388e-01 -9.88323238e-01 1.40175313e-03 1.25937309e+02] [ 9.88274265e-01 1.52371794e-01 9.83943937e-03 1.05191743e+02] [-9.93813422e-03 -1.13873459e-04 9.99950609e-01 -3.65899512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67 meters 0.015885170278727562 Centerline is valid? [True, True] Translation: X:125.94, Y:105.22, Z:-3.66 [[ 1.50663721e-01 -9.88583991e-01 1.46128161e-03 1.25943200e+02] [ 9.88530535e-01 1.50670771e-01 1.02810270e-02 1.05218786e+02] [-1.03838311e-02 -1.04456300e-04 9.99946081e-01 -3.65879018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.7 meters 0.015476368734133576 Centerline is valid? [True, True] Translation: X:125.95, Y:105.24, Z:-3.66 [[ 1.47633065e-01 -9.89041035e-01 1.51993138e-03 1.25950387e+02] [ 9.88982969e-01 1.47640867e-01 1.07173226e-02 1.05244037e+02] [-1.08242759e-02 -7.90449337e-05 9.99941413e-01 -3.65832160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73 meters 0.014994166210537943 Centerline is valid? [True, True] Translation: X:125.96, Y:105.27, Z:-3.66 [[ 1.45974446e-01 -9.89287070e-01 1.59822020e-03 1.25956913e+02] [ 9.89222540e-01 1.45983179e-01 1.12994258e-02 1.05271488e+02] [-1.14116891e-02 -6.84319694e-05 9.99934882e-01 -3.65726752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76 meters 0.015062087134201364 Centerline is valid? [True, True] Translation: X:125.96, Y:105.30, Z:-3.66 [[ 1.44293013e-01 -9.89533696e-01 1.60987599e-03 1.25961354e+02] [ 9.89468010e-01 1.44301984e-01 1.14015580e-02 1.05297703e+02] [-1.15145341e-02 -5.22443608e-05 9.99933704e-01 -3.65898493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79 meters 0.014799811928488607 Centerline is valid? [True, True] Translation: X:125.97, Y:105.32, Z:-3.66 [[ 1.42794335e-01 -9.89751001e-01 1.65324122e-03 1.25967362e+02] [ 9.89681387e-01 1.42803899e-01 1.17387915e-02 1.05324615e+02] [-1.18545699e-02 -4.00508582e-05 9.99929731e-01 -3.65807862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82 meters 0.014697907568326833 Centerline is valid? [True, True] Translation: X:125.97, Y:105.35, Z:-3.66 [[ 1.41205474e-01 -9.89978917e-01 1.66061187e-03 1.25972424e+02] [ 9.89908380e-01 1.41215237e-01 1.18176297e-02 1.05351850e+02] [-1.19337079e-02 -2.48603988e-05 9.99928790e-01 -3.65836392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85 meters 0.014593861419557675 Centerline is valid? [True, True] Translation: X:125.98, Y:105.38, Z:-3.66 [[ 1.39319977e-01 -9.90245871e-01 1.74894203e-03 1.25977780e+02] [ 9.90167222e-01 1.39330954e-01 1.24803153e-02 1.05377443e+02] [-1.26022625e-02 -7.01217392e-06 9.99920588e-01 -3.65843734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88 meters 0.014549203884309872 Centerline is valid? [True, True] Translation: X:125.98, Y:105.41, Z:-3.66 [[ 1.38691925e-01 -9.90333899e-01 1.82173963e-03 1.25981904e+02] [ 9.90248291e-01 1.38703889e-01 1.30212941e-02 1.05405699e+02] [-1.31481113e-02 -1.97378522e-06 9.99913560e-01 -3.65825452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91 meters 0.014489277588495329 Centerline is valid? [True, True] Translation: X:125.99, Y:105.43, Z:-3.66 [[ 1.37987657e-01 -9.90432239e-01 1.84044590e-03 1.25985583e+02] [ 9.90344511e-01 1.37999930e-01 1.31821315e-02 1.05433999e+02] [-1.33099894e-02 3.70405683e-06 9.99911418e-01 -3.65887602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94 meters 0.014476239607196802 Centerline is valid? [True, True] Translation: X:125.99, Y:105.46, Z:-3.66 [[ 1.37982040e-01 -9.90432928e-01 1.89019743e-03 1.25988791e+02] [ 9.90339999e-01 1.37994986e-01 1.35672501e-02 1.05461958e+02] [-1.36982890e-02 -9.87309561e-08 9.99906174e-01 -3.65932405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97 meters 0.014430393545636968 Centerline is valid? [True, True] Translation: X:125.99, Y:105.49, Z:-3.66 [[ 1.38852757e-01 -9.90311073e-01 1.97233058e-03 1.25989562e+02] [ 9.90209479e-01 1.38866763e-01 1.41848283e-02 1.05488248e+02] [-1.43212837e-02 -1.65820793e-05 9.99897445e-01 -3.65999101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.0 meters 0.014452402709309989 Centerline is valid? [True, True] Translation: X:125.99, Y:105.51, Z:-3.66 [[ 1.39347242e-01 -9.90241536e-01 2.01177282e-03 1.25991461e+02] [ 9.90135309e-01 1.39361760e-01 1.45041503e-02 1.05514084e+02] [-1.46429763e-02 -2.91860465e-05 9.99892785e-01 -3.66058462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03 meters 0.01445066292379459 Centerline is valid? [True, True] Translation: X:125.99, Y:105.54, Z:-3.66 [[ 1.39900548e-01 -9.90163622e-01 1.95892651e-03 1.25993686e+02] [ 9.90062428e-01 1.39914257e-01 1.41558836e-02 1.05541231e+02] [-1.42907227e-02 -4.09563405e-05 9.99897882e-01 -3.66148552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06 meters 0.014567980266836542 Centerline is valid? [True, True] Translation: X:126.00, Y:105.57, Z:-3.66 [[ 1.41034947e-01 -9.90002830e-01 1.88161215e-03 1.25995006e+02] [ 9.89909073e-01 1.41047486e-01 1.36247597e-02 1.05567435e+02] [-1.37539473e-02 -5.89423170e-05 9.99905408e-01 -3.66281038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09 meters 0.01462218931507647 Centerline is valid? [True, True] Translation: X:126.00, Y:105.59, Z:-3.66 [[ 1.41286550e-01 -9.89967138e-01 1.78202467e-03 1.25997642e+02] [ 9.89882668e-01 1.41297774e-01 1.29322315e-02 1.05594113e+02] [-1.30542803e-02 -6.31550321e-05 9.99914787e-01 -3.66403428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12 meters 0.014755970240788625 Centerline is valid? [True, True] Translation: X:126.00, Y:105.62, Z:-3.67 [[ 1.41507246e-01 -9.89935837e-01 1.65452055e-03 1.26000472e+02] [ 9.89862739e-01 1.41516903e-01 1.20300944e-02 1.05621532e+02] [-1.21431642e-02 -6.45972944e-05 9.99926267e-01 -3.66538515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15 meters 0.014787572794893811 Centerline is valid? [True, True] Translation: X:126.00, Y:105.65, Z:-3.67 [[ 1.41270779e-01 -9.89969767e-01 1.55826259e-03 1.26003349e+02] [ 9.89904688e-01 1.41279360e-01 1.13512956e-02 1.05647563e+02] [-1.14575898e-02 -6.10749343e-05 9.99934358e-01 -3.66685375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18 meters 0.0148355405470816 Centerline is valid? [True, True] Translation: X:126.01, Y:105.68, Z:-3.67 [[ 1.41078340e-01 -9.89997227e-01 1.54683648e-03 1.26006360e+02] [ 9.89932796e-01 1.41086806e-01 1.12947983e-02 1.05675162e+02] [-1.14000572e-02 -6.21872303e-05 9.99935015e-01 -3.66775150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20999999999998 meters 0.014886681889116567 Centerline is valid? [True, True] Translation: X:126.01, Y:105.70, Z:-3.67 [[ 1.40784357e-01 -9.90038940e-01 1.63157424e-03 1.26009413e+02] [ 9.89966921e-01 1.40793796e-01 1.19416473e-02 1.05702146e+02] [-1.20524113e-02 -6.59926039e-05 9.99927365e-01 -3.66760985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23999999999998 meters 0.014751384049338474 Centerline is valid? [True, True] Translation: X:126.01, Y:105.73, Z:-3.67 [[ 1.39535757e-01 -9.90215317e-01 1.84339027e-03 1.26012600e+02] [ 9.90122936e-01 1.39547919e-01 1.35258854e-02 1.05727959e+02] [-1.36507801e-02 -6.21616651e-05 9.99906822e-01 -3.66669042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26999999999998 meters 0.014625156696499836 Centerline is valid? [True, True] Translation: X:126.02, Y:105.75, Z:-3.67 [[ 1.38494906e-01 -9.90361221e-01 1.95285742e-03 1.26016530e+02] [ 9.90257057e-01 1.38508662e-01 1.43635196e-02 1.05753893e+02] [-1.44955605e-02 -5.54434497e-05 9.99894932e-01 -3.66592502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29999999999998 meters 0.014457990883842371 Centerline is valid? [True, True] Translation: X:126.02, Y:105.78, Z:-3.66 [[ 1.37047858e-01 -9.90562142e-01 2.12755833e-03 1.26020434e+02] [ 9.90437849e-01 1.37064365e-01 1.56916566e-02 1.05778929e+02] [-1.58351734e-02 -4.32936344e-05 9.99874615e-01 -3.66435773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32999999999998 meters 0.014338367970634515 Centerline is valid? [True, True] Translation: X:126.02, Y:105.81, Z:-3.66 [[ 1.36408707e-01 -9.90650418e-01 2.10085409e-03 1.26024687e+02] [ 9.90528808e-01 1.36424879e-01 1.55220168e-02 1.05807171e+02] [-1.56635012e-02 -3.63817451e-05 9.99877319e-01 -3.66348626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35999999999999 meters 0.01441508983165986 Centerline is valid? [True, True] Translation: X:126.03, Y:105.83, Z:-3.67 [[ 1.36036637e-01 -9.90701622e-01 2.08080931e-03 1.26027116e+02] [ 9.90581789e-01 1.36052545e-01 1.54085917e-02 1.05833798e+02] [-1.55484162e-02 -3.49211859e-05 9.99879115e-01 -3.66550130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39 meters 0.014286660449005423 Centerline is valid? [True, True] Translation: X:126.03, Y:105.86, Z:-3.67 [[ 1.35848156e-01 -9.90727634e-01 2.00863659e-03 1.26030796e+02] [ 9.90615713e-01 1.35863001e-01 1.48914458e-02 1.05860798e+02] [-1.50262662e-02 -3.31884784e-05 9.99887099e-01 -3.66526589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42 meters 0.014242298150280079 Centerline is valid? [True, True] Translation: X:126.03, Y:105.89, Z:-3.67 [[ 1.35681205e-01 -9.90750687e-01 1.92013249e-03 1.26034131e+02] [ 9.90647967e-01 1.35694787e-01 1.42664096e-02 1.05887956e+02] [-1.43950071e-02 -3.35083066e-05 9.99896386e-01 -3.66601188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45 meters 0.01423577692098035 Centerline is valid? [True, True] Translation: X:126.04, Y:105.92, Z:-3.67 [[ 1.35677246e-01 -9.90751302e-01 1.88210221e-03 1.26037422e+02] [ 9.90652143e-01 1.35690295e-01 1.40169932e-02 1.05915641e+02] [-1.41427373e-02 -3.72784504e-05 9.99899986e-01 -3.66670990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48 meters 0.014264985777923615 Centerline is valid? [True, True] Translation: X:126.04, Y:105.94, Z:-3.67 [[ 1.35848082e-01 -9.90728179e-01 1.72447480e-03 1.26039419e+02] [ 9.90644667e-01 1.35859021e-01 1.28635534e-02 1.05941446e+02] [-1.29785703e-02 -3.91472926e-05 9.99915774e-01 -3.66849596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51 meters 0.014114640845762404 Centerline is valid? [True, True] Translation: X:126.04, Y:105.97, Z:-3.67 [[ 1.35547120e-01 -9.90769508e-01 1.66147905e-03 1.26042582e+02] [ 9.90691589e-01 1.35557298e-01 1.24255234e-02 1.05968978e+02] [-1.25360553e-02 -3.82305954e-05 9.99921420e-01 -3.66919499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54 meters 0.014078237161370098 Centerline is valid? [True, True] Translation: X:126.05, Y:106.00, Z:-3.67 [[ 1.35057456e-01 -9.90836510e-01 1.57923910e-03 1.26045789e+02] [ 9.90765848e-01 1.35066684e-01 1.18331988e-02 1.05997299e+02] [-1.19380680e-02 -3.35055667e-05 9.99928738e-01 -3.67035322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57 meters 0.014027813023762709 Centerline is valid? [True, True] Translation: X:126.05, Y:106.03, Z:-3.67 [[ 1.34582754e-01 -9.90901253e-01 1.47960041e-03 1.26049500e+02] [ 9.90839006e-01 1.34590884e-01 1.11066826e-02 1.06025461e+02] [-1.12047665e-02 -2.87221430e-05 9.99937224e-01 -3.67096857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.6 meters 0.014075827341732315 Centerline is valid? [True, True] Translation: X:126.05, Y:106.05, Z:-3.67 [[ 1.33612219e-01 -9.91032748e-01 1.36661645e-03 1.26053093e+02] [ 9.90979468e-01 1.33619206e-01 1.02762617e-02 1.06052122e+02] [-1.03667181e-02 -1.87452865e-05 9.99946264e-01 -3.67253402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63 meters 0.01403910836822869 Centerline is valid? [True, True] Translation: X:126.06, Y:106.08, Z:-3.67 [[ 1.32701001e-01 -9.91155445e-01 1.15207874e-03 1.26057357e+02] [ 9.91117463e-01 1.32706002e-01 8.67705317e-03 1.06080304e+02] [-8.75319626e-03 -9.60828299e-06 9.99961690e-01 -3.67347947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66 meters 0.014064376358713836 Centerline is valid? [True, True] Translation: X:126.06, Y:106.11, Z:-3.67 [[ 1.30633662e-01 -9.91430271e-01 9.29398089e-04 1.26062844e+02] [ 9.91405505e-01 1.30636968e-01 7.00763459e-03 1.06108043e+02] [-7.06899481e-03 5.97741312e-06 9.99975014e-01 -3.67436174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69 meters 0.014070719107395319 Centerline is valid? [True, True] Translation: X:126.07, Y:106.14, Z:-3.67 [[ 1.29553078e-01 -9.91572115e-01 8.60130501e-04 1.26067391e+02] [ 9.91550847e-01 1.29555933e-01 6.49448318e-03 1.06136129e+02] [-6.55118343e-03 1.14828396e-05 9.99978541e-01 -3.67482491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72 meters 0.014070719107395319 Centerline is valid? [True, True] Translation: X:126.07, Y:106.16, Z:-3.68 [[ 1.29274087e-01 -9.91608529e-01 8.58300224e-04 1.26070918e+02] [ 9.91587259e-01 1.29276936e-01 6.49472449e-03 1.06163508e+02] [-6.55118262e-03 1.14799876e-05 9.99978541e-01 -3.67539100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75 meters 0.014143030538119692 Centerline is valid? [True, True] Translation: X:126.08, Y:106.19, Z:-3.67 [[ 1.27493955e-01 -9.91838985e-01 8.48013947e-04 1.26075557e+02] [ 9.91818142e-01 1.27496773e-01 6.43013752e-03 1.06191496e+02] [-6.48578012e-03 2.12719530e-05 9.99978967e-01 -3.67476559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78 meters 0.014206047086598766 Centerline is valid? [True, True] Translation: X:126.08, Y:106.22, Z:-3.68 [[ 1.26554879e-01 -9.91959211e-01 8.86500747e-04 1.26079386e+02] [ 9.91936320e-01 1.26557981e-01 6.73899121e-03 1.06219776e+02] [-6.79699815e-03 2.65000715e-05 9.99976900e-01 -3.67505474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81 meters 0.01420346578289151 Centerline is valid? [True, True] Translation: X:126.08, Y:106.25, Z:-3.68 [[ 1.25452164e-01 -9.92099225e-01 9.38921329e-04 1.26083086e+02] [ 9.92073418e-01 1.25455673e-01 7.15593370e-03 1.06247777e+02] [-7.21718929e-03 3.37515269e-05 9.99973955e-01 -3.67552083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84 meters 0.014112717576835356 Centerline is valid? [True, True] Translation: X:126.09, Y:106.28, Z:-3.68 [[ 1.24643388e-01 -9.92201161e-01 9.39256126e-04 1.26086708e+02] [ 9.92175226e-01 1.24646921e-01 7.17403181e-03 1.06275610e+02] [-7.23515807e-03 3.77110322e-05 9.99973825e-01 -3.67546798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87 meters 0.014137313690215819 Centerline is valid? [True, True] Translation: X:126.09, Y:106.30, Z:-3.68 [[ 1.24121403e-01 -9.92266536e-01 9.99340145e-04 1.26090439e+02] [ 9.92237026e-01 1.24125419e-01 7.65271564e-03 1.06303517e+02] [-7.71757716e-03 4.17164918e-05 9.99970218e-01 -3.67508627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.9 meters 0.014249301379868122 Centerline is valid? [True, True] Translation: X:126.09, Y:106.33, Z:-3.68 [[ 1.23736254e-01 -9.92314576e-01 1.05880120e-03 1.26094280e+02] [ 9.92281293e-01 1.23740776e-01 8.12745845e-03 1.06330828e+02] [-8.19601237e-03 4.49673576e-05 9.99966411e-01 -3.67521893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93 meters 0.014220266010546418 Centerline is valid? [True, True] Translation: X:126.10, Y:106.36, Z:-3.67 [[ 1.24113852e-01 -9.92267274e-01 1.18654357e-03 1.26097660e+02] [ 9.92225215e-01 1.24119516e-01 9.13606339e-03 1.06357528e+02] [-9.21268993e-03 4.34064361e-05 9.99957561e-01 -3.67408451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95999999999998 meters 0.014157377842563131 Centerline is valid? [True, True] Translation: X:126.10, Y:106.39, Z:-3.67 [[ 1.24494457e-01 -9.92219559e-01 1.21504735e-03 1.26100279e+02] [ 9.92175231e-01 1.24500380e-01 9.37908076e-03 1.06385402e+02] [-9.45738124e-03 3.78963225e-05 9.99955277e-01 -3.67449150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98999999999998 meters 0.014057235132773979 Centerline is valid? [True, True] Translation: X:126.10, Y:106.41, Z:-3.67 [[ 1.25471084e-01 -9.92096601e-01 1.15782331e-03 1.26102448e+02] [ 9.92056190e-01 1.25476424e-01 8.95445433e-03 1.06413251e+02] [-9.02896324e-03 2.51006916e-05 9.99959238e-01 -3.67485864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01999999999998 meters 0.01407820287083462 Centerline is valid? [True, True] Translation: X:126.10, Y:106.44, Z:-3.68 [[ 1.26853701e-01 -9.91920833e-01 1.09482250e-03 1.26104216e+02] [ 9.91884564e-01 1.26858425e-01 8.48240072e-03 1.06440551e+02] [-8.55275745e-03 9.91361614e-06 9.99963424e-01 -3.67635669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04999999999998 meters 0.014057442778429375 Centerline is valid? [True, True] Translation: X:126.11, Y:106.47, Z:-3.68 [[ 1.28286589e-01 -9.91736536e-01 1.09263918e-03 1.26105856e+02] [ 9.91700217e-01 1.28291242e-01 8.48746003e-03 1.06469070e+02] [-8.55750025e-03 -5.25678412e-06 9.99963384e-01 -3.67734995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07999999999998 meters 0.014151334475988438 Centerline is valid? [True, True] Translation: X:126.11, Y:106.50, Z:-3.68 [[ 1.30290395e-01 -9.91475275e-01 1.09149070e-03 1.26107272e+02] [ 9.91438859e-01 1.30294964e-01 8.49772636e-03 1.06497103e+02] [-8.56750133e-03 -2.50258308e-05 9.99963298e-01 -3.67855713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10999999999999 meters 0.014578291488376294 Centerline is valid? [True, True] Translation: X:126.11, Y:106.52, Z:-3.68 [[ 1.34747132e-01 -9.90879505e-01 1.00885352e-03 1.26107154e+02] [ 9.90848244e-01 1.34750895e-01 7.87110211e-03 1.06524537e+02] [-7.93525767e-03 -6.09876960e-05 9.99968513e-01 -3.67975854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14 meters 0.017392906019668763 Centerline is valid? [True, True] Translation: X:126.11, Y:106.55, Z:-3.68 [[ 1.35724647e-01 -9.90746234e-01 8.48875667e-04 1.26109561e+02] [ 9.90724061e-01 1.35727289e-01 6.62859881e-03 1.06553251e+02] [-6.68247490e-03 -5.86626860e-05 9.99977670e-01 -3.68359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17 meters 0.015106974156839202 Centerline is valid? [True, True] Translation: X:126.11, Y:106.58, Z:-3.68 [[ 1.38193181e-01 -9.90404823e-01 9.65323874e-04 1.26110661e+02] [ 9.90375926e-01 1.38196523e-01 7.56611576e-03 1.06580278e+02] [-7.62692194e-03 -8.95520761e-05 9.99970911e-01 -3.68145255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.2 meters 0.0153391380785614 Centerline is valid? [True, True] Translation: X:126.11, Y:106.61, Z:-3.68 [[ 1.39290342e-01 -9.90251076e-01 1.00401663e-03 1.26112771e+02] [ 9.90219760e-01 1.39293922e-01 7.87598583e-03 1.06608299e+02] [-7.93905685e-03 -1.02851656e-04 9.99968480e-01 -3.68222828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23 meters 0.0156328862078389 Centerline is valid? [True, True] Translation: X:126.11, Y:106.63, Z:-3.68 [[ 1.40425168e-01 -9.90090764e-01 1.02517368e-03 1.26114584e+02] [ 9.90057883e-01 1.40428860e-01 8.06989647e-03 1.06634841e+02] [-8.13389393e-03 -1.18235277e-04 9.99966912e-01 -3.68296867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26 meters 0.01612722895981861 Centerline is valid? [True, True] Translation: X:126.12, Y:106.66, Z:-3.68 [[ 1.41703403e-01 -9.89908410e-01 1.21867983e-03 1.26115952e+02] [ 9.89861825e-01 1.41708559e-01 9.60475434e-03 1.06661732e+02] [-9.68052446e-03 -1.54701733e-04 9.99953131e-01 -3.68382523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29 meters 0.017784440735245533 Centerline is valid? [True, True] Translation: X:126.12, Y:106.69, Z:-3.69 [[ 1.40942812e-01 -9.90017063e-01 1.15664689e-03 1.26120455e+02] [ 9.89974922e-01 1.40947486e-01 9.13562325e-03 1.06689829e+02] [-9.20744937e-03 -1.42549012e-04 9.99957600e-01 -3.68621172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32 meters 0.018801133338463227 Centerline is valid? [True, True] Translation: X:126.12, Y:106.72, Z:-3.69 [[ 1.40316800e-01 -9.90105905e-01 1.22158340e-03 1.26123679e+02] [ 9.90058671e-01 1.40322040e-01 9.67225864e-03 1.06716370e+02] [-9.74797547e-03 -1.47741140e-04 9.99952476e-01 -3.68740205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35 meters 0.01894742390745233 Centerline is valid? [True, True] Translation: X:126.13, Y:106.74, Z:-3.69 [[ 1.39691515e-01 -9.90194237e-01 1.28613172e-03 1.26127117e+02] [ 9.90141588e-01 1.39697352e-01 1.02119876e-02 1.06743743e+02] [-1.02915205e-02 -1.53075518e-04 9.99947029e-01 -3.68812562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38 meters 0.017364812620185043 Centerline is valid? [True, True] Translation: X:126.13, Y:106.77, Z:-3.69 [[ 1.38694310e-01 -9.90334241e-01 1.40727384e-03 1.26131096e+02] [ 9.90270879e-01 1.38701357e-01 1.12035710e-02 1.06771859e+02] [-1.12904708e-02 -1.60289248e-04 9.99936248e-01 -3.68733885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41 meters 0.017064413471707035 Centerline is valid? [True, True] Translation: X:126.14, Y:106.80, Z:-3.69 [[ 1.36419437e-01 -9.90649979e-01 1.53489007e-03 1.26135968e+02] [ 9.90574220e-01 1.36427988e-01 1.22522635e-02 1.06799545e+02] [-1.23471065e-02 -1.51024353e-04 9.99923760e-01 -3.68828071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44 meters 0.0168024405547337 Centerline is valid? [True, True] Translation: X:126.14, Y:106.83, Z:-3.69 [[ 1.35121792e-01 -9.90827741e-01 1.57770265e-03 1.26139126e+02] [ 9.90747352e-01 1.35130928e-01 1.26221003e-02 1.06826594e+02] [-1.27195236e-02 -1.42416088e-04 9.99919093e-01 -3.68922031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47 meters 0.0177015578720924 Centerline is valid? [True, True] Translation: X:126.14, Y:106.85, Z:-3.69 [[ 1.33453572e-01 -9.91053912e-01 1.51251185e-03 1.26144316e+02] [ 9.90979705e-01 1.33462089e-01 1.21283156e-02 1.06854592e+02] [-1.22216776e-02 -1.19698493e-04 9.99925305e-01 -3.69086008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.5 meters 0.014957925976331339 Centerline is valid? [True, True] Translation: X:126.15, Y:106.88, Z:-3.69 [[ 1.32499797e-01 -9.91181771e-01 1.58147442e-03 1.26147700e+02] [ 9.91100248e-01 1.32509183e-01 1.27128093e-02 1.06881651e+02] [-1.28102647e-02 -1.17044959e-04 9.99917938e-01 -3.68875335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53 meters 0.01731614952742611 Centerline is valid? [True, True] Translation: X:126.15, Y:106.91, Z:-3.69 [[ 1.30519489e-01 -9.91444591e-01 1.51231015e-03 1.26152308e+02] [ 9.91369706e-01 1.30528218e-01 1.21856930e-02 1.06909040e+02] [-1.22788385e-02 -9.12119415e-05 9.99924608e-01 -3.69275536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56 meters 0.0165576375912886 Centerline is valid? [True, True] Translation: X:126.16, Y:106.94, Z:-3.69 [[ 1.28792024e-01 -9.91670465e-01 1.51781245e-03 1.26156364e+02] [ 9.91594704e-01 1.28800946e-01 1.22580023e-02 1.06935503e+02] [-1.23513945e-02 -7.36781399e-05 9.99923716e-01 -3.69298113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59 meters 0.01699191940277761 Centerline is valid? [True, True] Translation: X:126.16, Y:106.96, Z:-3.69 [[ 1.25376230e-01 -9.92108176e-01 1.47225686e-03 1.26161990e+02] [ 9.92036578e-01 1.25384869e-01 1.19189616e-02 1.06962992e+02] [-1.20094980e-02 -3.38218007e-05 9.99927883e-01 -3.69427767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62 meters 0.01828599055905248 Centerline is valid? [True, True] Translation: X:126.17, Y:106.99, Z:-3.70 [[ 1.23419230e-01 -9.92353564e-01 1.44829586e-03 1.26166600e+02] [ 9.92283980e-01 1.23427727e-01 1.17515515e-02 1.06990449e+02] [-1.18404539e-02 -1.32466631e-05 9.99929899e-01 -3.69597012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65 meters 0.01704372739101899 Centerline is valid? [True, True] Translation: X:126.17, Y:107.02, Z:-3.70 [[ 1.21835707e-01 -9.92549228e-01 1.44600523e-03 1.26171138e+02] [ 9.92479550e-01 1.21844288e-01 1.17606184e-02 1.07018512e+02] [-1.18491802e-02 2.26735577e-06 9.99929796e-01 -3.69587589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68 meters 0.014478877930369923 Centerline is valid? [True, True] Translation: X:126.18, Y:107.05, Z:-3.69 [[ 1.20411955e-01 -9.92722741e-01 1.58786087e-03 1.26175110e+02] [ 9.92638289e-01 1.20422423e-01 1.29486570e-02 1.07045766e+02] [-1.30456403e-02 1.69983953e-05 9.99914902e-01 -3.69342211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70999999999998 meters 0.017703417801994227 Centerline is valid? [True, True] Translation: X:126.18, Y:107.07, Z:-3.70 [[ 1.18185712e-01 -9.92990325e-01 1.53374234e-03 1.26180213e+02] [ 9.92911171e-01 1.18195656e-01 1.25376684e-02 1.07073407e+02] [-1.26310651e-02 4.10966409e-05 9.99920224e-01 -3.69754932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73999999999998 meters 0.016289376036601272 Centerline is valid? [True, True] Translation: X:126.19, Y:107.10, Z:-3.70 [[ 1.15817398e-01 -9.93269196e-01 1.62338995e-03 1.26185360e+02] [ 9.93180034e-01 1.15828753e-01 1.33086455e-02 1.07100443e+02] [-1.34071028e-02 7.09457975e-05 9.99910118e-01 -3.69629808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76999999999998 meters 0.01780123306440549 Centerline is valid? [True, True] Translation: X:126.19, Y:107.13, Z:-3.70 [[ 1.14547016e-01 -9.93416564e-01 1.58478022e-03 1.26189379e+02] [ 9.93331390e-01 1.14557947e-01 1.30087224e-02 1.07128461e+02] [-1.31046294e-02 8.41016196e-05 9.99914127e-01 -3.69813347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79999999999998 meters 0.017771705875243602 Centerline is valid? [True, True] Translation: X:126.19, Y:107.16, Z:-3.70 [[ 1.13396465e-01 -9.93548562e-01 1.57983486e-03 1.26192316e+02] [ 9.93463548e-01 1.13407430e-01 1.29974129e-02 1.07156199e+02] [-1.30927259e-02 9.56476611e-05 9.99914282e-01 -3.69843020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82999999999998 meters 0.0182241962809777 Centerline is valid? [True, True] Translation: X:126.20, Y:107.18, Z:-3.70 [[ 1.12693569e-01 -9.93628639e-01 1.51262919e-03 1.26195921e+02] [ 9.93550353e-01 1.12703678e-01 1.24730501e-02 1.07184372e+02] [-1.25640586e-02 9.72407389e-05 9.99921064e-01 -3.70012106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85999999999999 meters 0.016635503395469677 Centerline is valid? [True, True] Translation: X:126.20, Y:107.21, Z:-3.70 [[ 1.11902965e-01 -9.93717978e-01 1.51906291e-03 1.26199290e+02] [ 9.93638657e-01 1.11913226e-01 1.25558441e-02 1.07211218e+02] [-1.26469712e-02 1.04363456e-04 9.99920018e-01 -3.70042199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89 meters 0.01682275958943135 Centerline is valid? [True, True] Translation: X:126.20, Y:107.24, Z:-3.70 [[ 1.11723826e-01 -9.93738239e-01 1.44895593e-03 1.26202559e+02] [ 9.93665626e-01 1.11733179e-01 1.20133483e-02 1.07237562e+02] [-1.21000201e-02 9.76004604e-05 9.99926787e-01 -3.70172891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92 meters 0.01739836384147188 Centerline is valid? [True, True] Translation: X:126.21, Y:107.27, Z:-3.70 [[ 1.11385387e-01 -9.93776162e-01 1.49508526e-03 1.26205769e+02] [ 9.93698681e-01 1.11395373e-01 1.24097819e-02 1.07265481e+02] [-1.24990910e-02 1.03395887e-04 9.99921878e-01 -3.70253125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95 meters 0.017324695574861354 Centerline is valid? [True, True] Translation: X:126.21, Y:107.29, Z:-3.70 [[ 1.11475446e-01 -9.93765942e-01 1.57375332e-03 1.26208782e+02] [ 9.93679644e-01 1.11486506e-01 1.30967143e-02 1.07293381e+02] [-1.31905209e-02 1.03844577e-04 9.99912996e-01 -3.70229041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98 meters 0.014890681835233018 Centerline is valid? [True, True] Translation: X:126.21, Y:107.32, Z:-3.70 [[ 1.12033788e-01 -9.93702824e-01 1.76890214e-03 1.26211149e+02] [ 9.93593163e-01 1.12047704e-01 1.47627531e-02 1.07321458e+02] [-1.48679909e-02 1.03641930e-04 9.99889460e-01 -3.69921810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01 meters 0.014808404016621025 Centerline is valid? [True, True] Translation: X:126.21, Y:107.35, Z:-3.70 [[ 1.12139062e-01 -9.93690751e-01 1.87650868e-03 1.26213765e+02] [ 9.93566693e-01 1.12154714e-01 1.57017783e-02 1.07349275e+02] [-1.58131712e-02 1.03653827e-04 9.99874959e-01 -3.69938415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04 meters 0.014751341963034353 Centerline is valid? [True, True] Translation: X:126.22, Y:107.38, Z:-3.70 [[ 1.14246021e-01 -9.93450566e-01 1.95460584e-03 1.26215184e+02] [ 9.93315182e-01 1.14262720e-01 1.64005875e-02 1.07377860e+02] [-1.65165115e-02 6.78377882e-05 9.99863591e-01 -3.69993250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07 meters 0.015818679876349058 Centerline is valid? [True, True] Translation: X:126.22, Y:107.41, Z:-3.70 [[ 1.15258248e-01 -9.93333851e-01 1.84306729e-03 1.26217591e+02] [ 9.93213199e-01 1.15272974e-01 1.54817240e-02 1.07406247e+02] [-1.55909764e-02 4.61623730e-05 9.99878452e-01 -3.70284614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.1 meters 0.017955141314321164 Centerline is valid? [True, True] Translation: X:126.22, Y:107.43, Z:-3.71 [[ 1.16393328e-01 -9.93201713e-01 1.71790396e-03 1.26219733e+02] [ 9.93096430e-01 1.16406003e-01 1.44610985e-02 1.07433202e+02] [-1.45627621e-02 2.28689147e-05 9.99893957e-01 -3.70635241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13 meters 0.017710711318300012 Centerline is valid? [True, True] Translation: X:126.22, Y:107.46, Z:-3.71 [[ 1.20327673e-01 -9.92733030e-01 1.54380651e-03 1.26219517e+02] [ 9.92647589e-01 1.20337571e-01 1.30243657e-02 1.07461617e+02] [-1.31154960e-02 -3.47358032e-05 9.99913988e-01 -3.70822725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16 meters 0.016311415297946066 Centerline is valid? [True, True] Translation: X:126.22, Y:107.49, Z:-3.71 [[ 1.22796651e-01 -9.92430832e-01 1.42359679e-03 1.26220495e+02] [ 9.92357838e-01 1.22804885e-01 1.20366666e-02 1.07490287e+02] [-1.21203837e-02 -6.53449093e-05 9.99926543e-01 -3.70841425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19 meters 0.017773779820444976 Centerline is valid? [True, True] Translation: X:126.22, Y:107.52, Z:-3.71 [[ 1.24555986e-01 -9.92211734e-01 1.29681530e-03 1.26222018e+02] [ 9.92150916e-01 1.24562710e-01 1.09859704e-02 1.07518722e+02] [-1.10619435e-02 -8.17318832e-05 9.99938811e-01 -3.71147590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22 meters 0.015944697421067522 Centerline is valid? [True, True] Translation: X:126.22, Y:107.55, Z:-3.71 [[ 1.26566989e-01 -9.91957266e-01 1.25651584e-03 1.26223798e+02] [ 9.91899911e-01 1.26573184e-01 1.06675446e-02 1.07546880e+02] [-1.07407896e-02 -1.03821062e-04 9.99942311e-01 -3.71034254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25 meters 0.016729590277080972 Centerline is valid? [True, True] Translation: X:126.23, Y:107.58, Z:-3.71 [[ 1.27197496e-01 -9.91876668e-01 1.21373839e-03 1.26226413e+02] [ 9.91822926e-01 1.27203240e-01 1.03256240e-02 1.07575201e+02] [-1.03961370e-02 -1.09579961e-04 9.99945953e-01 -3.71195163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28 meters 0.018520663129106718 Centerline is valid? [True, True] Translation: X:126.23, Y:107.60, Z:-3.71 [[ 1.27658918e-01 -9.91817470e-01 1.14359800e-03 1.26229327e+02] [ 9.91769546e-01 1.27663992e-01 9.75049513e-03 1.07602809e+02] [-9.81670770e-03 -1.10551983e-04 9.99951809e-01 -3.71389887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31 meters 0.0190814951719418 Centerline is valid? [True, True] Translation: X:126.23, Y:107.63, Z:-3.71 [[ 1.28820426e-01 -9.91667146e-01 1.25315121e-03 1.26232309e+02] [ 9.91609255e-01 1.28826448e-01 1.07159176e-02 1.07630415e+02] [-1.07880624e-02 -1.37792736e-04 9.99941798e-01 -3.71378289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34 meters 0.018091367234722048 Centerline is valid? [True, True] Translation: X:126.23, Y:107.66, Z:-3.71 [[ 1.29331599e-01 -9.91600597e-01 1.26205959e-03 1.26234956e+02] [ 9.91541579e-01 1.29337672e-01 1.08196082e-02 1.07657968e+02] [-1.08919618e-02 -1.47932676e-04 9.99940670e-01 -3.71329628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37 meters 0.017897308455883665 Centerline is valid? [True, True] Translation: X:126.24, Y:107.69, Z:-3.71 [[ 1.29493105e-01 -9.91579556e-01 1.23312008e-03 1.26237870e+02] [ 9.91522943e-01 1.29498890e-01 1.05967571e-02 1.07686367e+02] [-1.06672154e-02 -1.49540135e-04 9.99943092e-01 -3.71374531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.4 meters 0.01805725375848196 Centerline is valid? [True, True] Translation: X:126.24, Y:107.71, Z:-3.72 [[ 1.29277707e-01 -9.91607693e-01 1.20748359e-03 1.26241124e+02] [ 9.91553163e-01 1.29283262e-01 1.04001529e-02 1.07713505e+02] [-1.04689791e-02 -1.47223744e-04 9.99945188e-01 -3.71521846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43 meters 0.01593576641902643 Centerline is valid? [True, True] Translation: X:126.25, Y:107.74, Z:-3.71 [[ 1.29476346e-01 -9.91581745e-01 1.23223549e-03 1.26245336e+02] [ 9.91524631e-01 1.29482115e-01 1.06437259e-02 1.07741708e+02] [-1.07136767e-02 -1.56318893e-04 9.99942595e-01 -3.71229137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45999999999998 meters 0.01815902383139223 Centerline is valid? [True, True] Translation: X:126.25, Y:107.77, Z:-3.72 [[ 1.27269300e-01 -9.91867474e-01 1.19962327e-03 1.26250569e+02] [ 9.91813098e-01 1.27274885e-01 1.03866673e-02 1.07769135e+02] [-1.04548794e-02 -1.32101811e-04 9.99945338e-01 -3.71581051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48999999999998 meters 0.017844050433200746 Centerline is valid? [True, True] Translation: X:126.25, Y:107.80, Z:-3.72 [[ 1.26007646e-01 -9.92028545e-01 1.19932034e-03 1.26254859e+02] [ 9.91973940e-01 1.26013294e-01 1.04092549e-02 1.07796124e+02] [-1.04774083e-02 -1.21951180e-04 9.99945103e-01 -3.71594825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51999999999998 meters 0.016984605751439185 Centerline is valid? [True, True] Translation: X:126.26, Y:107.82, Z:-3.72 [[ 1.24419835e-01 -9.92228911e-01 1.22164122e-03 1.26259822e+02] [ 9.92171939e-01 1.24425783e-01 1.06333920e-02 1.07823561e+02] [-1.07027626e-02 -1.10926733e-04 9.99942718e-01 -3.71524718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54999999999998 meters 0.01661452043223013 Centerline is valid? [True, True] Translation: X:126.26, Y:107.85, Z:-3.72 [[ 1.22665346e-01 -9.92447383e-01 1.18553574e-03 1.26264703e+02] [ 9.92393481e-01 1.22671040e-01 1.03438246e-02 1.07851020e+02] [-1.04111326e-02 -9.23108744e-05 9.99945798e-01 -3.71527365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57999999999998 meters 0.018138520460739938 Centerline is valid? [True, True] Translation: X:126.27, Y:107.88, Z:-3.72 [[ 1.18677901e-01 -9.92932174e-01 1.11953052e-03 1.26272011e+02] [ 9.92883918e-01 1.18683170e-01 9.78929211e-03 1.07878214e+02] [-9.85297253e-03 -5.02087906e-05 9.99951457e-01 -3.71752812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60999999999999 meters 0.01764498825222516 Centerline is valid? [True, True] Translation: X:126.28, Y:107.91, Z:-3.72 [[ 1.16900287e-01 -9.93143053e-01 1.09498900e-03 1.26276710e+02] [ 9.93096674e-01 1.16905410e-01 9.59795865e-03 1.07905525e+02] [-9.66015610e-03 -3.45741925e-05 9.99953339e-01 -3.71822749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64 meters 0.01764498825222516 Centerline is valid? [True, True] Translation: X:126.28, Y:107.93, Z:-3.72 [[ 1.16615753e-01 -9.93176507e-01 1.09224845e-03 1.26279753e+02] [ 9.93130126e-01 1.16620863e-01 9.59827007e-03 1.07932963e+02] [-9.66015529e-03 -3.45646583e-05 9.99953339e-01 -3.71879357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67 meters 0.01469116197770123 Centerline is valid? [True, True] Translation: X:126.28, Y:107.96, Z:-3.72 [[ 1.16017451e-01 -9.93246616e-01 1.05394852e-03 1.26283713e+02] [ 9.93203157e-01 1.16022234e-01 9.29144379e-03 1.07960030e+02] [-9.35097656e-03 -3.11846313e-05 9.99956278e-01 -3.71598278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.7 meters 0.018203430676140886 Centerline is valid? [True, True] Translation: X:126.29, Y:107.99, Z:-3.72 [[ 1.12546177e-01 -9.93646059e-01 9.31513750e-04 1.26289456e+02] [ 9.93612100e-01 1.12550032e-01 8.21490100e-03 1.07988050e+02] [-8.26754590e-03 1.00762909e-06 9.99965823e-01 -3.72105588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73 meters 0.01591611488383409 Centerline is valid? [True, True] Translation: X:126.29, Y:108.02, Z:-3.72 [[ 1.11259520e-01 -9.93790971e-01 9.08368360e-04 1.26293855e+02] [ 9.93758528e-01 1.11263227e-01 8.03007368e-03 1.08016330e+02] [-8.08128272e-03 9.27666322e-06 9.99967346e-01 -3.71964515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76 meters 0.014684226707385863 Centerline is valid? [True, True] Translation: X:126.30, Y:108.04, Z:-3.72 [[ 1.10270560e-01 -9.93901220e-01 8.76236552e-04 1.26297907e+02] [ 9.93870900e-01 1.10274040e-01 7.76344877e-03 1.08044352e+02] [-7.81272736e-03 1.47861695e-05 9.99969480e-01 -3.71790836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79 meters 0.016363467821497918 Centerline is valid? [True, True] Translation: X:126.30, Y:108.07, Z:-3.72 [[ 1.06207325e-01 -9.94343703e-01 7.77619589e-04 1.26304204e+02] [ 9.94319726e-01 1.06210164e-01 6.90535899e-03 1.08071417e+02] [-6.94889133e-03 3.98027898e-05 9.99975855e-01 -3.72083550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82 meters 0.018998367044621413 Centerline is valid? [True, True] Translation: X:126.31, Y:108.10, Z:-3.72 [[ 1.03908538e-01 -9.94586584e-01 7.36490968e-04 1.26308826e+02] [ 9.94564892e-01 1.03911136e-01 6.56891829e-03 1.08097899e+02] [-6.60988761e-03 4.99213647e-05 9.99978153e-01 -3.72371978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85 meters 0.01490539814640896 Centerline is valid? [True, True] Translation: X:126.31, Y:108.13, Z:-3.72 [[ 1.03461132e-01 -9.94633138e-01 8.45103225e-04 1.26312149e+02] [ 9.94604627e-01 1.03464565e-01 7.53122887e-03 1.08125777e+02] [-7.57824805e-03 6.13541151e-05 9.99971283e-01 -3.71851498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88 meters 0.0172101608227107 Centerline is valid? [True, True] Translation: X:126.32, Y:108.15, Z:-3.72 [[ 1.00756685e-01 -9.94910675e-01 9.16287715e-04 1.26316718e+02] [ 9.94876960e-01 1.00760814e-01 8.19102414e-03 1.08153680e+02] [-8.24166326e-03 8.62930987e-05 9.99966033e-01 -3.72192695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91 meters 0.01621166415196853 Centerline is valid? [True, True] Translation: X:126.32, Y:108.18, Z:-3.72 [[ 9.96801304e-02 -9.95018979e-01 1.05075177e-03 1.26320043e+02] [ 9.94974349e-01 9.96856120e-02 9.42465822e-03 1.08181224e+02] [-9.48245863e-03 1.06019902e-04 9.99955035e-01 -3.71987103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94 meters 0.018857968578910596 Centerline is valid? [True, True] Translation: X:126.32, Y:108.21, Z:-3.72 [[ 9.76113983e-02 -9.95224015e-01 1.08424243e-03 1.26324721e+02] [ 9.95176210e-01 9.76173376e-02 9.75528576e-03 1.08208341e+02] [-9.81453552e-03 1.26785184e-04 9.99951828e-01 -3.72242778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97 meters 0.017781703652436975 Centerline is valid? [True, True] Translation: X:126.33, Y:108.24, Z:-3.72 [[ 9.65810434e-02 -9.95324339e-01 1.24997395e-03 1.26327004e+02] [ 9.95260462e-01 9.65890076e-02 1.12772776e-02 1.08236697e+02] [-1.13452826e-02 1.54878413e-04 9.99935628e-01 -3.72038337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.0 meters 0.016762284435514675 Centerline is valid? [True, True] Translation: X:126.33, Y:108.26, Z:-3.72 [[ 9.71460054e-02 -9.95269331e-01 1.26973699e-03 1.26329135e+02] [ 9.95203056e-01 9.71541907e-02 1.14865479e-02 1.08264676e+02] [-1.15555691e-02 1.47773882e-04 9.99933221e-01 -3.72023114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03 meters 0.01788542051286253 Centerline is valid? [True, True] Translation: X:126.33, Y:108.29, Z:-3.72 [[ 9.73217940e-02 -9.95252288e-01 1.16268267e-03 1.26330738e+02] [ 9.95196478e-01 9.73286504e-02 1.05406199e-02 1.08292494e+02] [-1.06037384e-02 1.31265655e-04 9.99943770e-01 -3.72301885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06 meters 0.017127611270727483 Centerline is valid? [True, True] Translation: X:126.33, Y:108.32, Z:-3.72 [[ 9.87259484e-02 -9.95114092e-01 1.06373414e-03 1.26332402e+02] [ 9.95067179e-01 9.87316236e-02 9.66307480e-03 1.08319279e+02] [-9.72088610e-03 1.04490703e-04 9.99952746e-01 -3.72380426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09 meters 0.014788717887777653 Centerline is valid? [True, True] Translation: X:126.33, Y:108.35, Z:-3.72 [[ 1.03303090e-01 -9.94649526e-01 8.89531077e-04 1.26331423e+02] [ 9.94616590e-01 1.03306908e-01 8.09454794e-03 1.08346306e+02] [-8.14313298e-03 4.85505515e-05 9.99966843e-01 -3.72307483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12 meters 0.014593755963620532 Centerline is valid? [True, True] Translation: X:126.33, Y:108.37, Z:-3.72 [[ 1.05199713e-01 -9.94450773e-01 8.25296584e-04 1.26332344e+02] [ 9.94422308e-01 1.05202946e-01 7.52419441e-03 1.08373754e+02] [-7.56926458e-03 2.91502410e-05 9.99971352e-01 -3.72435843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15 meters 0.0173798177130022 Centerline is valid? [True, True] Translation: X:126.33, Y:108.40, Z:-3.73 [[ 1.06264397e-01 -9.94337668e-01 6.92148279e-04 1.26333525e+02] [ 9.94317569e-01 1.06266650e-01 6.32233419e-03 1.08402044e+02] [-6.36008731e-03 1.63761618e-05 9.99979774e-01 -3.72864696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18 meters 0.015655678121688464 Centerline is valid? [True, True] Translation: X:126.33, Y:108.43, Z:-3.73 [[ 1.08532068e-01 -9.94092688e-01 7.20189718e-04 1.26333870e+02] [ 9.94070805e-01 1.08534457e-01 6.59599402e-03 1.08429474e+02] [-6.63519482e-03 4.27016880e-08 9.99977987e-01 -3.72781958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20999999999998 meters 0.014555055449000877 Centerline is valid? [True, True] Translation: X:126.33, Y:108.46, Z:-3.73 [[ 1.11286944e-01 -9.93788035e-01 7.46885068e-04 1.26333880e+02] [ 9.93764344e-01 1.11289448e-01 6.86203390e-03 1.08456942e+02] [-6.90252762e-03 -2.14270307e-05 9.99976177e-01 -3.72713504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23999999999998 meters 0.017565322383376283 Centerline is valid? [True, True] Translation: X:126.33, Y:108.49, Z:-3.73 [[ 1.14413017e-01 -9.93432999e-01 7.34030415e-04 1.26333554e+02] [ 9.93409964e-01 1.14415362e-01 6.76527811e-03 1.08485682e+02] [-6.80483487e-03 -4.48427487e-05 9.99976846e-01 -3.73032955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26999999999998 meters 0.015076587883934662 Centerline is valid? [True, True] Translation: X:126.33, Y:108.51, Z:-3.73 [[ 1.16935986e-01 -9.93139047e-01 8.99225250e-04 1.26333839e+02] [ 9.93104225e-01 1.16939417e-01 8.31689748e-03 1.08512742e+02] [-8.36499052e-03 -7.95202163e-05 9.99965010e-01 -3.72681724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29999999999998 meters 0.017955594982268414 Centerline is valid? [True, True] Translation: X:126.34, Y:108.54, Z:-3.73 [[ 1.17452504e-01 -9.93078130e-01 8.58737030e-04 1.26335821e+02] [ 9.93046197e-01 1.17455614e-01 7.96422239e-03 1.08540846e+02] [-8.00995856e-03 -8.26523210e-05 9.99967916e-01 -3.73104476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32999999999998 meters 0.017822072530623845 Centerline is valid? [True, True] Translation: X:126.34, Y:108.57, Z:-3.73 [[ 1.18403517e-01 -9.92965095e-01 9.62508753e-04 1.26338065e+02] [ 9.92924713e-01 1.18407383e-01 8.95582095e-03 1.08568560e+02] [-9.00678574e-03 -1.04701974e-04 9.99959433e-01 -3.73005274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35999999999999 meters 0.016551142623432415 Centerline is valid? [True, True] Translation: X:126.34, Y:108.60, Z:-3.73 [[ 1.20211964e-01 -9.92747496e-01 1.22182946e-03 1.26338388e+02] [ 9.92681892e-01 1.20218067e-01 1.14139152e-02 1.08596581e+02] [-1.14780217e-02 -1.59201180e-04 9.99934113e-01 -3.72742181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39 meters 0.018631915962968933 Centerline is valid? [True, True] Translation: X:126.34, Y:108.62, Z:-3.73 [[ 1.19959405e-01 -9.92778060e-01 1.21031358e-03 1.26340392e+02] [ 9.92713352e-01 1.19965406e-01 1.13358803e-02 1.08624940e+02] [-1.13992090e-02 -1.58351001e-04 9.99935014e-01 -3.73040800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42 meters 0.01736155943602983 Centerline is valid? [True, True] Translation: X:126.34, Y:108.65, Z:-3.73 [[ 1.20250366e-01 -9.92742778e-01 1.27546427e-03 1.26343316e+02] [ 9.92670509e-01 1.20257003e-01 1.19797511e-02 1.08653287e+02] [-1.20461949e-02 -1.74453685e-04 9.99927427e-01 -3.72940521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45 meters 0.018263251365127933 Centerline is valid? [True, True] Translation: X:126.34, Y:108.68, Z:-3.73 [[ 1.20215301e-01 -9.92747024e-01 1.27567169e-03 1.26343669e+02] [ 9.92674349e-01 1.20221938e-01 1.20134356e-02 1.08680227e+02] [-1.20796662e-02 -1.77872213e-04 9.99927022e-01 -3.73119972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48 meters 0.01824748637310318 Centerline is valid? [True, True] Translation: X:126.35, Y:108.71, Z:-3.73 [[ 1.19804138e-01 -9.92796724e-01 1.27815143e-03 1.26346905e+02] [ 9.92723321e-01 1.19810824e-01 1.20736763e-02 1.08707821e+02] [-1.21398427e-02 -1.77625644e-04 9.99926294e-01 -3.73191511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51 meters 0.017754538555817094 Centerline is valid? [True, True] Translation: X:126.35, Y:108.73, Z:-3.73 [[ 1.19875279e-01 -9.92788210e-01 1.21991238e-03 1.26347533e+02] [ 9.92720930e-01 1.19881358e-01 1.15591924e-02 1.08734768e+02] [-1.16220747e-02 -1.74628859e-04 9.99932446e-01 -3.73301842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54 meters 0.01541800688447703 Centerline is valid? [True, True] Translation: X:126.35, Y:108.76, Z:-3.73 [[ 1.19287891e-01 -9.92859156e-01 1.04704864e-03 1.26351723e+02] [ 9.92809537e-01 1.19292398e-01 9.92711691e-03 1.08762952e+02] [-9.98113385e-03 -1.44664962e-04 9.99950177e-01 -3.73131688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57 meters 0.016613931338796836 Centerline is valid? [True, True] Translation: X:126.36, Y:108.79, Z:-3.74 [[ 1.17663867e-01 -9.93053116e-01 8.50065562e-04 1.26355286e+02] [ 9.93020321e-01 1.17666890e-01 8.07123157e-03 1.08790819e+02] [-8.11518624e-03 -1.05559938e-04 9.99967066e-01 -3.73570744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.6 meters 0.016786033450076083 Centerline is valid? [True, True] Translation: X:126.36, Y:108.82, Z:-3.74 [[ 1.16025431e-01 -9.93246002e-01 6.91703010e-04 1.26358491e+02] [ 9.93224242e-01 1.16027468e-01 6.57506771e-03 1.08818236e+02] [-6.61091626e-03 -7.58588672e-05 9.99978145e-01 -3.73800319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63 meters 0.016469344426975462 Centerline is valid? [True, True] Translation: X:126.36, Y:108.85, Z:-3.74 [[ 1.14632003e-01 -9.93407844e-01 5.98707363e-04 1.26361327e+02] [ 9.93391510e-01 1.14633552e-01 5.69701630e-03 1.08845660e+02] [-5.72809264e-03 -5.83095810e-05 9.99983593e-01 -3.73938873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66 meters 0.017946313402729615 Centerline is valid? [True, True] Translation: X:126.37, Y:108.87, Z:-3.74 [[ 1.10786342e-01 -9.93844148e-01 4.41993577e-04 1.26366675e+02] [ 9.93835249e-01 1.10787221e-01 4.20581904e-03 1.08873568e+02] [-4.22889588e-03 -2.66785099e-05 9.99991058e-01 -3.74211256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69 meters 0.017920996391175014 Centerline is valid? [True, True] Translation: X:126.37, Y:108.90, Z:-3.74 [[ 1.08510928e-01 -9.94095168e-01 4.18776237e-04 1.26371730e+02] [ 9.94087151e-01 1.08511735e-01 3.99252900e-03 1.08901442e+02] [-4.01439593e-03 -1.69329521e-05 9.99991942e-01 -3.74177798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72 meters 0.018284588269867185 Centerline is valid? [True, True] Translation: X:126.38, Y:108.93, Z:-3.74 [[ 1.05822193e-01 -9.94384970e-01 4.40876624e-04 1.26376754e+02] [ 9.94376024e-01 1.05823111e-01 4.21798833e-03 1.08929509e+02] [-4.24095914e-03 -7.95963027e-06 9.99991007e-01 -3.74176908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75 meters 0.01610190968852826 Centerline is valid? [True, True] Translation: X:126.38, Y:108.96, Z:-3.74 [[ 1.03151175e-01 -9.94665519e-01 5.83869138e-04 1.26381700e+02] [ 9.94649644e-01 1.03152827e-01 5.61953728e-03 1.08956393e+02] [-5.64978772e-03 1.08335916e-06 9.99984040e-01 -3.73992830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78 meters 0.016117440471506126 Centerline is valid? [True, True] Translation: X:126.39, Y:108.98, Z:-3.74 [[ 1.00233983e-01 -9.94963676e-01 6.57434764e-04 1.26387107e+02] [ 9.94943375e-01 1.00236137e-01 6.35588035e-03 1.08984607e+02] [-6.38976880e-03 1.70351606e-05 9.99979585e-01 -3.73893443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81 meters 0.014377169903343279 Centerline is valid? [True, True] Translation: X:126.39, Y:109.01, Z:-3.74 [[ 9.53708414e-02 -9.95441412e-01 8.93618657e-04 1.26393636e+02] [ 9.95403575e-01 9.53750079e-02 8.67930552e-03 1.09012440e+02] [-8.72496902e-03 6.17585367e-05 9.99961935e-01 -3.73501300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84 meters 0.017908370692791102 Centerline is valid? [True, True] Translation: X:126.40, Y:109.04, Z:-3.74 [[ 9.24981559e-02 -9.95712511e-01 8.28691852e-04 1.26398808e+02] [ 9.95679802e-01 9.25018346e-02 8.07104103e-03 1.09039376e+02] [-8.11309204e-03 7.85553281e-05 9.99967085e-01 -3.73929496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87 meters 0.017660035862837174 Centerline is valid? [True, True] Translation: X:126.40, Y:109.07, Z:-3.74 [[ 9.07777788e-02 -9.95870731e-01 9.38716590e-04 1.26402639e+02] [ 9.95828521e-01 9.07825744e-02 9.16961778e-03 1.09067689e+02] [-9.21697307e-03 1.02403220e-04 9.99957518e-01 -3.73894686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.9 meters 0.015958657522496932 Centerline is valid? [True, True] Translation: X:126.41, Y:109.10, Z:-3.74 [[ 8.97781387e-02 -9.95961278e-01 1.00889748e-03 1.26405854e+02] [ 9.95912210e-01 8.97837309e-02 9.88689798e-03 1.09095267e+02] [-9.93755013e-03 1.17146018e-04 9.99950614e-01 -3.73700248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93 meters 0.014926665644039707 Centerline is valid? [True, True] Translation: X:126.41, Y:109.12, Z:-3.74 [[ 8.88747169e-02 -9.96042270e-01 1.03972427e-03 1.26409141e+02] [ 9.95989864e-01 8.88807071e-02 1.02181391e-02 1.09122241e+02] [-1.02701098e-02 1.27420617e-04 9.99947253e-01 -3.73582270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95999999999998 meters 0.016614478619265897 Centerline is valid? [True, True] Translation: X:126.41, Y:109.15, Z:-3.74 [[ 8.82165269e-02 -9.96100839e-01 9.81104789e-04 1.26411768e+02] [ 9.96053916e-01 8.82218949e-02 9.66923278e-03 1.09149902e+02] [-9.71808581e-03 1.24247133e-04 9.99952771e-01 -3.73887380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98999999999998 meters 0.017481449929103658 Centerline is valid? [True, True] Translation: X:126.41, Y:109.18, Z:-3.74 [[ 8.82113708e-02 -9.96101381e-01 8.90444009e-04 1.26414551e+02] [ 9.96062476e-01 8.82157960e-02 8.80437461e-03 1.09176457e+02] [-8.84860094e-03 1.10291910e-04 9.99960844e-01 -3.74049127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01999999999998 meters 0.01813463991883288 Centerline is valid? [True, True] Translation: X:126.42, Y:109.20, Z:-3.74 [[ 8.81440438e-02 -9.96107380e-01 8.45411065e-04 1.26416820e+02] [ 9.96072257e-01 8.81480358e-02 8.36558379e-03 1.09204691e+02] [-8.40754108e-03 1.04714123e-04 9.99964651e-01 -3.74163641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04999999999998 meters 0.015875368139146553 Centerline is valid? [True, True] Translation: X:126.42, Y:109.23, Z:-3.74 [[ 8.88908824e-02 -9.96040987e-01 8.74007019e-04 1.26418031e+02] [ 9.96003218e-01 8.88951235e-02 8.67449403e-03 1.09233178e+02] [-8.71784655e-03 9.94303747e-05 9.99961994e-01 -3.73992305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07999999999998 meters 0.016400719142707465 Centerline is valid? [True, True] Translation: X:126.42, Y:109.26, Z:-3.74 [[ 9.03578292e-02 -9.95909033e-01 8.13166512e-04 1.26418274e+02] [ 9.95876178e-01 9.03614537e-02 8.08990744e-03 1.09261501e+02] [-8.13029080e-03 7.88266827e-05 9.99966946e-01 -3.74182496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10999999999999 meters 0.01596570825771953 Centerline is valid? [True, True] Translation: X:126.42, Y:109.29, Z:-3.74 [[ 9.11486270e-02 -9.95836997e-01 7.76277247e-04 1.26419372e+02] [ 9.95806905e-01 9.11519077e-02 7.74199353e-03 1.09289823e+02] [-7.78052274e-03 6.73501619e-05 9.99969729e-01 -3.74205436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14 meters 0.018120759638745938 Centerline is valid? [True, True] Translation: X:126.42, Y:109.32, Z:-3.74 [[ 9.13356133e-02 -9.95819928e-01 6.90945317e-04 1.26420896e+02] [ 9.95795996e-01 9.13382087e-02 6.90404203e-03 1.09318341e+02] [-6.93829234e-03 5.74556666e-05 9.99975928e-01 -3.74459070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17 meters 0.018380132922380915 Centerline is valid? [True, True] Translation: X:126.42, Y:109.35, Z:-3.75 [[ 9.17097744e-02 -9.95785565e-01 6.52984484e-04 1.26422530e+02] [ 9.95764101e-01 9.17120851e-02 6.53822308e-03 1.09345254e+02] [-6.57055473e-03 5.05995442e-05 9.99978412e-01 -3.74571796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.2 meters 0.014686762144428073 Centerline is valid? [True, True] Translation: X:126.42, Y:109.37, Z:-3.74 [[ 9.35754446e-02 -9.95611885e-01 7.81011306e-04 1.26422446e+02] [ 9.95580863e-01 9.35786944e-02 7.85959338e-03 1.09373903e+02] [-7.89819060e-03 4.20949656e-05 9.99968808e-01 -3.74248078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23 meters 0.01762995872658523 Centerline is valid? [True, True] Translation: X:126.42, Y:109.40, Z:-3.75 [[ 9.32497635e-02 -9.95642508e-01 6.91145430e-04 1.26424719e+02] [ 9.95618129e-01 9.32523168e-02 6.96756609e-03 1.09401516e+02] [-7.00165589e-03 3.83930292e-05 9.99975487e-01 -3.74524451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26 meters 0.017051216430670948 Centerline is valid? [True, True] Translation: X:126.43, Y:109.43, Z:-3.74 [[ 9.36515842e-02 -9.95604761e-01 7.35915763e-04 1.26426576e+02] [ 9.95576931e-01 9.36544688e-02 7.44418976e-03 1.09429527e+02] [-7.48039257e-03 3.55005923e-05 9.99972021e-01 -3.74478075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29 meters 0.0171400315625463 Centerline is valid? [True, True] Translation: X:126.43, Y:109.46, Z:-3.75 [[ 9.39224941e-02 -9.95579202e-01 7.85691532e-04 1.26428145e+02] [ 9.95547276e-01 9.39257744e-02 7.97312168e-03 1.09456250e+02] [-8.01167081e-03 3.33375905e-05 9.99967906e-01 -3.74542111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32 meters 0.01603092435407509 Centerline is valid? [True, True] Translation: X:126.43, Y:109.48, Z:-3.74 [[ 9.45981600e-02 -9.95515149e-01 8.81137969e-04 1.26429181e+02] [ 9.95474660e-01 9.46022596e-02 8.97848050e-03 1.09484806e+02] [-9.02157100e-03 2.78027846e-05 9.99959304e-01 -3.74462285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35 meters 0.015543136490953818 Centerline is valid? [True, True] Translation: X:126.43, Y:109.51, Z:-3.74 [[ 9.52535001e-02 -9.95452577e-01 9.68582075e-04 1.26430266e+02] [ 9.95403311e-01 9.52584222e-02 9.90364279e-03 1.09513174e+02] [-9.95087234e-03 2.07731645e-05 9.99950489e-01 -3.74413620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38 meters 0.017455600360841105 Centerline is valid? [True, True] Translation: X:126.43, Y:109.54, Z:-3.75 [[ 9.66432899e-02 -9.95318668e-01 9.07123826e-04 1.26430065e+02] [ 9.95275247e-01 9.66475470e-02 9.29700480e-03 1.09540711e+02] [-9.34115373e-03 4.34475910e-06 9.99956370e-01 -3.74684389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41 meters 0.017373773995903025 Centerline is valid? [True, True] Translation: X:126.43, Y:109.57, Z:-3.75 [[ 9.77159769e-02 -9.95213933e-01 9.02704349e-04 1.26431019e+02] [ 9.95170644e-01 9.77201460e-02 9.28236734e-03 1.09568701e+02] [-9.32615371e-03 -8.69072446e-06 9.99956510e-01 -3.74649665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44 meters 0.01636644817188754 Centerline is valid? [True, True] Translation: X:126.43, Y:109.60, Z:-3.75 [[ 9.90779659e-02 -9.95079254e-01 9.13543355e-04 1.26431568e+02] [ 9.95034648e-01 9.90821744e-02 9.42191786e-03 1.09596415e+02] [-9.46607086e-03 -2.44971659e-05 9.99955195e-01 -3.74630765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47 meters 0.016201564480500204 Centerline is valid? [True, True] Translation: X:126.43, Y:109.62, Z:-3.75 [[ 1.00534938e-01 -9.94933125e-01 8.95760582e-04 1.26432000e+02] [ 9.94889986e-01 1.00538920e-01 9.26501079e-03 1.09624172e+02] [-9.30812495e-03 -4.02740514e-05 9.99956678e-01 -3.74699886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.5 meters 0.017040337445359714 Centerline is valid? [True, True] Translation: X:126.43, Y:109.65, Z:-3.75 [[ 1.03606561e-01 -9.94618065e-01 7.64675804e-04 1.26430234e+02] [ 9.94586486e-01 1.03609365e-01 7.92601512e-03 1.09652999e+02] [-7.96258540e-03 -6.06509463e-05 9.99968296e-01 -3.74889612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53 meters 0.017040337445359714 Centerline is valid? [True, True] Translation: X:126.43, Y:109.68, Z:-3.75 [[ 1.03323822e-01 -9.94647478e-01 7.62773607e-04 1.26432795e+02] [ 9.94615898e-01 1.03326619e-01 7.92619783e-03 1.09680478e+02] [-7.96258750e-03 -6.02982935e-05 9.99968296e-01 -3.74946236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56 meters 0.014643237437203678 Centerline is valid? [True, True] Translation: X:126.43, Y:109.71, Z:-3.75 [[ 1.05644707e-01 -9.94403598e-01 8.25303139e-04 1.26432897e+02] [ 9.94366357e-01 1.05647893e-01 8.60640369e-03 1.09709223e+02] [-8.64543033e-03 -8.85673161e-05 9.99962624e-01 -3.74720057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59 meters 0.016448044624924687 Centerline is valid? [True, True] Translation: X:126.43, Y:109.74, Z:-3.75 [[ 1.06374687e-01 -9.94325833e-01 7.50515445e-04 1.26433466e+02] [ 9.94294857e-01 1.06377297e-01 7.84911866e-03 1.09737021e+02] [-7.88441926e-03 -8.87138915e-05 9.99968914e-01 -3.75045669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62 meters 0.01772567381960639 Centerline is valid? [True, True] Translation: X:126.43, Y:109.77, Z:-3.75 [[ 1.07153884e-01 -9.94242181e-01 7.29090614e-04 1.26434720e+02] [ 9.94212834e-01 1.07156324e-01 7.63955634e-03 1.09765180e+02] [-7.67369582e-03 -9.37368886e-05 9.99970552e-01 -3.75191085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65 meters 0.018763066496207823 Centerline is valid? [True, True] Translation: X:126.43, Y:109.79, Z:-3.75 [[ 1.08677773e-01 -9.94076735e-01 7.65738574e-04 1.26434393e+02] [ 9.94044098e-01 1.08680411e-01 8.05599415e-03 1.09792396e+02] [-8.09149714e-03 -1.14329596e-04 9.99967257e-01 -3.75276096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68 meters 0.017532648510831406 Centerline is valid? [True, True] Translation: X:126.44, Y:109.82, Z:-3.75 [[ 1.08940923e-01 -9.94047884e-01 8.24879147e-04 1.26435870e+02] [ 9.94009793e-01 1.08943971e-01 8.70303773e-03 1.09820754e+02] [-8.74110185e-03 -1.28179014e-04 9.99961788e-01 -3.75248573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70999999999998 meters 0.01881970604483603 Centerline is valid? [True, True] Translation: X:126.44, Y:109.85, Z:-3.75 [[ 1.08723606e-01 -9.94071748e-01 7.33522034e-04 1.26437974e+02] [ 9.94041498e-01 1.08726020e-01 7.75584707e-03 1.09848438e+02] [-7.78962138e-03 -1.14092319e-04 9.99969654e-01 -3.75434496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73999999999998 meters 0.018220773190916785 Centerline is valid? [True, True] Translation: X:126.44, Y:109.88, Z:-3.75 [[ 1.08127163e-01 -9.94136796e-01 7.39786915e-04 1.26440085e+02] [ 9.94105837e-01 1.08129635e-01 7.84651470e-03 1.09876027e+02] [-7.88050187e-03 -1.12994886e-04 9.99968942e-01 -3.75470712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76999999999998 meters 0.01595729015639953 Centerline is valid? [True, True] Translation: X:126.44, Y:109.90, Z:-3.75 [[ 1.08264303e-01 -9.94121822e-01 8.01734687e-04 1.26441797e+02] [ 9.94085193e-01 1.08267197e-01 8.53483115e-03 1.09904476e+02] [-8.57146346e-03 -1.27024966e-04 9.99963256e-01 -3.75316583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79999999999998 meters 0.018960626227701515 Centerline is valid? [True, True] Translation: X:126.44, Y:109.93, Z:-3.76 [[ 1.07006616e-01 -9.94258059e-01 7.04438180e-04 1.26444647e+02] [ 9.94229669e-01 1.07008884e-01 7.51425000e-03 1.09932693e+02] [-7.54648477e-03 -1.03701125e-04 9.99971520e-01 -3.75709768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82999999999998 meters 0.017164504714925158 Centerline is valid? [True, True] Translation: X:126.45, Y:109.96, Z:-3.76 [[ 1.06412829e-01 -9.94321802e-01 6.81354646e-04 1.26447512e+02] [ 9.94295095e-01 1.06414965e-01 7.28825689e-03 1.09960953e+02] [-7.31937905e-03 -9.80964521e-05 9.99973208e-01 -3.75643641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85999999999999 meters 0.017591889775448524 Centerline is valid? [True, True] Translation: X:126.45, Y:109.99, Z:-3.76 [[ 1.05586699e-01 -9.94409908e-01 6.19262093e-04 1.26450304e+02] [ 9.94387669e-01 1.05588480e-01 6.65113038e-03 1.09987609e+02] [-6.67933690e-03 -8.64843157e-05 9.99977689e-01 -3.75778561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89 meters 0.018049706281211945 Centerline is valid? [True, True] Translation: X:126.45, Y:110.02, Z:-3.76 [[ 1.04219737e-01 -9.94554134e-01 5.67254425e-04 1.26453503e+02] [ 9.94535485e-01 1.04221257e-01 6.09084738e-03 1.10015251e+02] [-6.11679741e-03 -7.06318573e-05 9.99981290e-01 -3.75912873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92 meters 0.01706000481938154 Centerline is valid? [True, True] Translation: X:126.46, Y:110.04, Z:-3.76 [[ 1.03493434e-01 -9.94629972e-01 5.73306594e-04 1.26456560e+02] [ 9.94610800e-01 1.03494998e-01 6.17597272e-03 1.10043013e+02] [-6.20214194e-03 -6.89556924e-05 9.99980764e-01 -3.75888584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95 meters 0.018488326493182744 Centerline is valid? [True, True] Translation: X:126.46, Y:110.07, Z:-3.76 [[ 1.01343999e-01 -9.94851322e-01 4.91337998e-04 1.26461265e+02] [ 9.94837206e-01 1.01345178e-01 5.29987656e-03 1.10071071e+02] [-5.32238394e-03 -4.83093622e-05 9.99985835e-01 -3.76054114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98 meters 0.014526296494946104 Centerline is valid? [True, True] Translation: X:126.46, Y:110.10, Z:-3.76 [[ 1.01093780e-01 -9.94876732e-01 5.78784211e-04 1.26464041e+02] [ 9.94856958e-01 1.01095420e-01 6.27292957e-03 1.10098084e+02] [-6.29930410e-03 -5.83466624e-05 9.99980157e-01 -3.75699288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01 meters 0.01807461362021809 Centerline is valid? [True, True] Translation: X:126.47, Y:110.13, Z:-3.76 [[ 9.87416784e-02 -9.95112989e-01 4.68838543e-04 1.26468803e+02] [ 9.95099986e-01 9.87427849e-02 5.08720303e-03 1.10126083e+02] [-5.10863624e-03 -3.57777381e-05 9.99986950e-01 -3.76141747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04 meters 0.01762591647956476 Centerline is valid? [True, True] Translation: X:126.47, Y:110.15, Z:-3.76 [[ 9.71660741e-02 -9.95268074e-01 4.62983475e-04 1.26472657e+02] [ 9.95255331e-01 9.71671729e-02 5.03658125e-03 1.10152497e+02] [-5.05773532e-03 -2.85980554e-05 9.99987209e-01 -3.76215140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07 meters 0.01712510774212865 Centerline is valid? [True, True] Translation: X:126.48, Y:110.18, Z:-3.76 [[ 9.37914871e-02 -9.95591767e-01 4.36238766e-04 1.26478968e+02] [ 9.95580385e-01 9.37925008e-02 4.76059243e-03 1.10180440e+02] [-4.78052255e-03 -1.21922841e-05 9.99988573e-01 -3.76187651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.1 meters 0.01870187899182488 Centerline is valid? [True, True] Translation: X:126.48, Y:110.21, Z:-3.76 [[ 9.15352098e-02 -9.95801728e-01 4.72256167e-04 1.26483412e+02] [ 9.95788278e-01 9.15364279e-02 5.17568994e-03 1.10207938e+02] [-5.19718963e-03 -3.49070921e-06 9.99986495e-01 -3.76302815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13 meters 0.017798497666119604 Centerline is valid? [True, True] Translation: X:126.49, Y:110.24, Z:-3.76 [[ 8.94743585e-02 -9.95989000e-01 5.01656181e-04 1.26487765e+02] [ 9.95973704e-01 8.94757646e-02 5.51979104e-03 1.10236148e+02] [-5.54253723e-03 5.75660248e-06 9.99984640e-01 -3.76265778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16 meters 0.016330512217241473 Centerline is valid? [True, True] Translation: X:126.49, Y:110.26, Z:-3.76 [[ 8.70851175e-02 -9.96200701e-01 5.87148000e-04 1.26492456e+02] [ 9.96179558e-01 8.70870946e-02 6.49042349e-03 1.10262975e+02] [-6.51689745e-03 1.96855424e-05 9.99978765e-01 -3.76186659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19 meters 0.015665508929088964 Centerline is valid? [True, True] Translation: X:126.50, Y:110.29, Z:-3.76 [[ 8.47227641e-02 -9.96404327e-01 6.85894448e-04 1.26497095e+02] [ 9.96375181e-01 8.47255321e-02 7.62119071e-03 1.10290583e+02] [-7.65190017e-03 3.77198620e-05 9.99970723e-01 -3.76049558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22 meters 0.017828178391492668 Centerline is valid? [True, True] Translation: X:126.50, Y:110.32, Z:-3.76 [[ 7.90463874e-02 -9.96870637e-01 7.76278188e-04 1.26504077e+02] [ 9.96833007e-01 7.90501488e-02 8.66198878e-03 1.10318310e+02] [-8.69624717e-03 8.91208000e-05 9.99962183e-01 -3.76058013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25 meters 0.014554281354339954 Centerline is valid? [True, True] Translation: X:126.51, Y:110.35, Z:-3.76 [[ 7.71561171e-02 -9.97018647e-01 8.66273582e-04 1.26508620e+02] [ 9.96971356e-01 7.71608953e-02 9.71145208e-03 1.10345659e+02] [-9.74934126e-03 1.14352013e-04 9.99952468e-01 -3.75666911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28 meters 0.01829237959451932 Centerline is valid? [True, True] Translation: X:126.51, Y:110.37, Z:-3.76 [[ 7.30957600e-02 -9.97324522e-01 8.98274886e-04 1.26514826e+02] [ 9.97273493e-01 7.31011079e-02 1.00900110e-02 1.10372550e+02] [-1.01286803e-02 1.58288713e-04 9.99948691e-01 -3.76101334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31 meters 0.01777323676447023 Centerline is valid? [True, True] Translation: X:126.52, Y:110.40, Z:-3.76 [[ 7.02947079e-02 -9.97525816e-01 9.48895523e-04 1.26519633e+02] [ 9.97468525e-01 7.03008420e-02 1.06926395e-02 1.10400688e+02] [-1.07328921e-02 1.94857449e-04 9.99942382e-01 -3.76003269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34 meters 0.018705937589021882 Centerline is valid? [True, True] Translation: X:126.52, Y:110.43, Z:-3.76 [[ 6.71795734e-02 -9.97740472e-01 9.25332014e-04 1.26523427e+02] [ 9.97685675e-01 6.71855839e-02 1.04590608e-02 1.10428519e+02] [-1.04975972e-02 2.20555255e-04 9.99944874e-01 -3.76088810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37 meters 0.020246017697636818 Centerline is valid? [True, True] Translation: X:126.53, Y:110.46, Z:-3.76 [[ 6.17560497e-02 -9.98090883e-01 8.82643196e-04 1.26528944e+02] [ 9.98040778e-01 6.17617966e-02 1.00042481e-02 1.10456517e+02] [-1.00396625e-02 2.63091059e-04 9.99949567e-01 -3.76237988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.4 meters 0.020807407077371862 Centerline is valid? [True, True] Translation: X:126.53, Y:110.48, Z:-3.76 [[ 5.92690830e-02 -9.98241675e-01 8.56807104e-04 1.26531881e+02] [ 9.98194210e-01 5.92746236e-02 9.73853136e-03 1.10484402e+02] [-9.77219477e-03 2.78066067e-04 9.99952212e-01 -3.76333682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43 meters 0.0198608725160197 Centerline is valid? [True, True] Translation: X:126.53, Y:110.51, Z:-3.76 [[ 5.70969184e-02 -9.98368283e-01 8.44860056e-04 1.26533938e+02] [ 9.98321856e-01 5.71024147e-02 9.63251917e-03 1.10512691e+02] [-9.66504517e-03 2.93455098e-04 9.99953249e-01 -3.76290803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45999999999998 meters 0.02193280761197892 Centerline is valid? [True, True] Translation: X:126.54, Y:110.54, Z:-3.76 [[ 5.33288995e-02 -9.98576710e-01 7.63222585e-04 1.26538150e+02] [ 9.98538680e-01 5.33335334e-02 8.72007467e-03 1.10540032e+02] [-8.74836883e-03 2.97075287e-04 9.99961688e-01 -3.76499413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48999999999998 meters 0.0217082856801419 Centerline is valid? [True, True] Translation: X:126.54, Y:110.57, Z:-3.76 [[ 5.19019973e-02 -9.98651885e-01 7.71608888e-04 1.26541718e+02] [ 9.98612713e-01 5.19067999e-02 8.85067655e-03 1.10567134e+02] [-8.87879657e-03 3.11170654e-04 9.99960534e-01 -3.76456931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51999999999998 meters 0.021772609856878938 Centerline is valid? [True, True] Translation: X:126.54, Y:110.60, Z:-3.77 [[ 5.04230905e-02 -9.98727663e-01 7.53283609e-04 1.26543555e+02] [ 9.98690129e-01 5.04277305e-02 8.66430257e-03 1.10595222e+02] [-8.69126504e-03 3.15415992e-04 9.99962181e-01 -3.76500727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54999999999998 meters 0.019474902106191624 Centerline is valid? [True, True] Translation: X:126.54, Y:110.62, Z:-3.76 [[ 4.97037702e-02 -9.98763733e-01 7.35340330e-04 1.26543333e+02] [ 9.98727793e-01 4.97082241e-02 8.47870383e-03 1.10623792e+02] [-8.50477435e-03 3.12981278e-04 9.99963785e-01 -3.76294330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57999999999998 meters 0.021023086880536123 Centerline is valid? [True, True] Translation: X:126.55, Y:110.65, Z:-3.76 [[ 4.85319964e-02 -9.98821354e-01 7.40139059e-04 1.26546030e+02] [ 9.98784662e-01 4.85365621e-02 8.56748307e-03 1.10651406e+02] [-8.59330885e-03 3.23442482e-04 9.99963025e-01 -3.76482397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60999999999999 meters 0.022378793953486686 Centerline is valid? [True, True] Translation: X:126.55, Y:110.68, Z:-3.77 [[ 4.76682033e-02 -9.98862948e-01 7.44181393e-04 1.26547953e+02] [ 9.98825640e-01 4.76728594e-02 8.63940594e-03 1.10679354e+02] [-8.66505974e-03 3.31482498e-04 9.99962403e-01 -3.76636671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64 meters 0.02213338132370357 Centerline is valid? [True, True] Translation: X:126.55, Y:110.71, Z:-3.77 [[ 4.88233775e-02 -9.98807156e-01 7.36394015e-04 1.26546676e+02] [ 9.98770393e-01 4.88279028e-02 8.57540075e-03 1.10708058e+02] [-8.60112822e-03 3.16808511e-04 9.99962959e-01 -3.76702922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67 meters 0.021238668292860908 Centerline is valid? [True, True] Translation: X:126.55, Y:110.74, Z:-3.77 [[ 5.03806599e-02 -9.98729779e-01 7.85717208e-04 1.26546003e+02] [ 9.98687610e-01 5.03857573e-02 9.18331570e-03 1.10736396e+02] [-9.21123982e-03 3.22024535e-04 9.99957524e-01 -3.76671693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.7 meters 0.0212159451545268 Centerline is valid? [True, True] Translation: X:126.55, Y:110.76, Z:-3.77 [[ 5.23548863e-02 -9.98628208e-01 8.17650838e-04 1.26546029e+02] [ 9.98582073e-01 5.23603312e-02 9.60411075e-03 1.10763659e+02] [-9.63374838e-03 3.13669343e-04 9.99953545e-01 -3.76735977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73 meters 0.018146455842311688 Centerline is valid? [True, True] Translation: X:126.54, Y:110.79, Z:-3.77 [[ 5.87656965e-02 -9.98271436e-01 8.56351661e-04 1.26540608e+02] [ 9.98220713e-01 5.87713461e-02 1.00666123e-02 1.10792275e+02] [-1.00995405e-02 2.63256481e-04 9.99948964e-01 -3.76606707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76 meters 0.019480533056641564 Centerline is valid? [True, True] Translation: X:126.54, Y:110.82, Z:-3.77 [[ 6.10646819e-02 -9.98133492e-01 7.98085128e-04 1.26539127e+02] [ 9.98089151e-01 6.10694939e-02 9.41083089e-03 1.10820745e+02] [-9.44200415e-03 2.21890713e-04 9.99955399e-01 -3.76938666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79 meters 0.018185649733339557 Centerline is valid? [True, True] Translation: X:126.54, Y:110.85, Z:-3.77 [[ 6.50453646e-02 -9.97882006e-01 7.75945557e-04 1.26536811e+02] [ 9.97839832e-01 6.50497507e-02 9.17604915e-03 1.10849124e+02] [-9.20708940e-03 1.77409922e-04 9.99957598e-01 -3.76993362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82 meters 0.01826841621796744 Centerline is valid? [True, True] Translation: X:126.53, Y:110.88, Z:-3.77 [[ 6.90855041e-02 -9.97610481e-01 7.22565259e-04 1.26534477e+02] [ 9.97573672e-01 6.90891628e-02 8.57064334e-03 1.10877308e+02] [-8.60008505e-03 1.28704863e-04 9.99963010e-01 -3.77176041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85 meters 0.014179490461213456 Centerline is valid? [True, True] Translation: X:126.53, Y:110.91, Z:-3.77 [[ 8.03614579e-02 -9.96765533e-01 7.13553303e-04 1.26526008e+02] [ 9.96729390e-01 8.03646205e-02 8.48831451e-03 1.10906237e+02] [-8.51820377e-03 2.90862193e-05 9.99963719e-01 -3.76915820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88 meters 0.017275704463877082 Centerline is valid? [True, True] Translation: X:126.52, Y:110.93, Z:-3.77 [[ 8.40282955e-02 -9.96463123e-01 7.00645846e-04 1.26523199e+02] [ 9.96428036e-01 8.40312164e-02 8.36203175e-03 1.10934103e+02] [-8.39133239e-03 -4.50411120e-06 9.99964792e-01 -3.77404572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91 meters 0.018488628053895735 Centerline is valid? [True, True] Translation: X:126.52, Y:110.96, Z:-3.78 [[ 8.86781973e-02 -9.96060049e-01 7.45992965e-04 1.26520287e+02] [ 9.96019945e-01 8.86813211e-02 8.93828832e-03 1.10962860e+02] [-8.96922754e-03 -4.96074225e-05 9.99959774e-01 -3.77511970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94 meters 0.01755293315703853 Centerline is valid? [True, True] Translation: X:126.52, Y:110.99, Z:-3.77 [[ 9.36410120e-02 -9.95605737e-01 7.59813239e-04 1.26517394e+02] [ 9.95563793e-01 9.36440419e-02 9.13932162e-03 1.10991360e+02] [-9.17031302e-03 -9.93727753e-05 9.99957947e-01 -3.77469864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97 meters 0.018567926630440088 Centerline is valid? [True, True] Translation: X:126.52, Y:111.02, Z:-3.78 [[ 9.72485584e-02 -9.95259824e-01 7.74729658e-04 1.26515440e+02] [ 9.95215911e-01 9.72515460e-02 9.35029674e-03 1.11019711e+02] [-9.38131835e-03 -1.38279596e-04 9.99955985e-01 -3.77562621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.0 meters 0.02037666945808315 Centerline is valid? [True, True] Translation: X:126.51, Y:111.05, Z:-3.78 [[ 1.00181374e-01 -9.94968898e-01 7.64271532e-04 1.26514285e+02] [ 9.94925884e-01 1.00184151e-01 9.25323202e-03 1.11048253e+02] [-9.28324596e-03 -1.66607969e-04 9.99956896e-01 -3.77720389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03 meters 0.019563247528435017 Centerline is valid? [True, True] Translation: X:126.51, Y:111.08, Z:-3.78 [[ 1.04607134e-01 -9.94513255e-01 8.55771274e-04 1.26512862e+02] [ 9.94458904e-01 1.04610366e-01 1.03999522e-02 1.11076576e+02] [-1.04324128e-02 -2.36879824e-04 9.99945553e-01 -3.77516305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06 meters 0.02107663027340561 Centerline is valid? [True, True] Translation: X:126.51, Y:111.10, Z:-3.78 [[ 1.05264703e-01 -9.94443851e-01 8.77391281e-04 1.26514014e+02] [ 9.94386295e-01 1.05268053e-01 1.07020475e-02 1.11104961e+02] [-1.07349466e-02 -2.54081984e-04 9.99942347e-01 -3.77652765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09 meters 0.021152778596650414 Centerline is valid? [True, True] Translation: X:126.52, Y:111.13, Z:-3.78 [[ 1.05450314e-01 -9.94424182e-01 8.81574066e-04 1.26515747e+02] [ 9.94365683e-01 1.05453676e-01 1.07893578e-02 1.11132495e+02] [-1.08221635e-02 -2.61134173e-04 9.99941405e-01 -3.77675604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12 meters 0.020426543910790407 Centerline is valid? [True, True] Translation: X:126.52, Y:111.16, Z:-3.78 [[ 1.05136002e-01 -9.94457432e-01 9.15319950e-04 1.26518202e+02] [ 9.94393835e-01 1.05139633e-01 1.12497843e-02 1.11160915e+02] [-1.12836680e-02 -2.72568834e-04 9.99936300e-01 -3.77674025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15 meters 0.020521023466406003 Centerline is valid? [True, True] Translation: X:126.52, Y:111.19, Z:-3.78 [[ 1.04645807e-01 -9.94509160e-01 8.86425081e-04 1.26520392e+02] [ 9.94449113e-01 1.04649232e-01 1.09315928e-02 1.11188487e+02] [-1.09643329e-02 -2.62440716e-04 9.99939855e-01 -3.77779070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18 meters 0.019452400739914437 Centerline is valid? [True, True] Translation: X:126.52, Y:111.22, Z:-3.78 [[ 1.02923972e-01 -9.94688882e-01 8.26601074e-04 1.26522729e+02] [ 9.94636353e-01 1.02927033e-01 1.02250673e-02 1.11215598e+02] [-1.02558404e-02 -2.30237060e-04 9.99947381e-01 -3.77889249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20999999999998 meters 0.0211632215522873 Centerline is valid? [True, True] Translation: X:126.53, Y:111.24, Z:-3.78 [[ 1.01084513e-01 -9.94877573e-01 7.32093137e-04 1.26525934e+02] [ 9.94836134e-01 1.01086986e-01 9.08230333e-03 1.11243157e+02] [-9.10978498e-03 -1.89767507e-04 9.99958487e-01 -3.78167092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23999999999998 meters 0.018034482520700626 Centerline is valid? [True, True] Translation: X:126.53, Y:111.27, Z:-3.78 [[ 1.00440505e-01 -9.94942802e-01 7.25814971e-04 1.26530030e+02] [ 9.94901792e-01 1.00442956e-01 9.03528429e-03 1.11271030e+02] [-9.06249406e-03 -1.85393898e-04 9.99958918e-01 -3.77954064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26999999999998 meters 0.01901139647694697 Centerline is valid? [True, True] Translation: X:126.53, Y:111.30, Z:-3.78 [[ 9.79420961e-02 -9.95191912e-01 6.36076502e-04 1.26533962e+02] [ 9.95160252e-01 9.79440548e-02 7.93940046e-03 1.11298887e+02] [-7.96352703e-03 -1.44603470e-04 9.99968280e-01 -3.78249642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29999999999998 meters 0.016157277971632664 Centerline is valid? [True, True] Translation: X:126.54, Y:111.33, Z:-3.78 [[ 9.72112886e-02 -9.95263579e-01 6.11895119e-04 1.26538580e+02] [ 9.95234115e-01 9.72131198e-02 7.65934159e-03 1.11326921e+02] [-7.68254796e-03 -1.35595569e-04 9.99970480e-01 -3.77967659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32999999999998 meters 0.017017076524673276 Centerline is valid? [True, True] Translation: X:126.55, Y:111.35, Z:-3.78 [[ 9.12213026e-02 -9.95830526e-01 4.86692501e-04 1.26546353e+02] [ 9.95811842e-01 9.12225726e-02 6.10065345e-03 1.11354985e+02] [-6.11961428e-03 -7.18553987e-05 9.99981272e-01 -3.78427366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35999999999999 meters 0.01841442719000676 Centerline is valid? [True, True] Translation: X:126.55, Y:111.38, Z:-3.79 [[ 8.80496288e-02 -9.96115990e-01 4.45033609e-04 1.26551361e+02] [ 9.96100307e-01 8.80507399e-02 5.58981418e-03 1.11382709e+02] [-5.60728882e-03 -4.88829491e-05 9.99984278e-01 -3.78664107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39 meters 0.01773288196801119 Centerline is valid? [True, True] Translation: X:126.56, Y:111.41, Z:-3.79 [[ 8.56063050e-02 -9.96328945e-01 4.41146385e-04 1.26556275e+02] [ 9.96313344e-01 8.56074333e-02 5.57568441e-03 1.11409300e+02] [-5.59298117e-03 -3.77937099e-05 9.99984358e-01 -3.78694957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42 meters 0.017644070897337116 Centerline is valid? [True, True] Translation: X:126.56, Y:111.44, Z:-3.79 [[ 8.27273158e-02 -9.96572115e-01 4.59922568e-04 1.26561410e+02] [ 9.96555148e-01 8.27285911e-02 5.81534264e-03 1.11435845e+02] [-5.83345706e-03 -2.27494840e-05 9.99982985e-01 -3.78757685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45 meters 0.017644070897337116 Centerline is valid? [True, True] Translation: X:126.56, Y:111.46, Z:-3.79 [[ 8.24463996e-02 -9.96595395e-01 4.58061779e-04 1.26563484e+02] [ 9.96578427e-01 8.24476689e-02 5.81548846e-03 1.11463359e+02] [-5.83345514e-03 -2.29715979e-05 9.99982985e-01 -3.78814286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48 meters 0.018899958123590382 Centerline is valid? [True, True] Translation: X:126.57, Y:111.49, Z:-3.79 [[ 7.93485812e-02 -9.96846811e-01 4.88463415e-04 1.26569049e+02] [ 9.96827352e-01 7.93500844e-02 6.22846245e-03 1.11490760e+02] [-6.24758254e-03 -7.30596611e-06 9.99980484e-01 -3.78875573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51 meters 0.01884752140445887 Centerline is valid? [True, True] Translation: X:126.57, Y:111.52, Z:-3.79 [[ 7.64699569e-02 -9.97071721e-01 5.73933792e-04 1.26574236e+02] [ 9.97044575e-01 7.64721101e-02 7.35742912e-03 1.11517726e+02] [-7.37977444e-03 9.61528572e-06 9.99972769e-01 -3.78898526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54 meters 0.017605263471821585 Centerline is valid? [True, True] Translation: X:126.58, Y:111.55, Z:-3.79 [[ 7.15625515e-02 -9.97435838e-01 7.41384321e-04 1.26582006e+02] [ 9.97389977e-01 7.15663707e-02 9.56491936e-03 1.11545396e+02] [-9.59345154e-03 5.49592564e-05 9.99953980e-01 -3.78730001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57 meters 0.014446600203603053 Centerline is valid? [True, True] Translation: X:126.59, Y:111.57, Z:-3.78 [[ 7.05433158e-02 -9.97508378e-01 8.22306717e-04 1.26586703e+02] [ 9.97451453e-01 7.05480751e-02 1.06568154e-02 1.11573266e+02] [-1.06882748e-02 6.84439359e-05 9.99942876e-01 -3.78261185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.6 meters 0.014748273619811616 Centerline is valid? [True, True] Translation: X:126.59, Y:111.60, Z:-3.78 [[ 6.62032282e-02 -9.97805778e-01 8.72649540e-04 1.26593383e+02] [ 9.97741112e-01 6.62088731e-02 1.13604376e-02 1.11600757e+02] [-1.13932875e-02 1.18580676e-04 9.99935087e-01 -3.78264271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63 meters 0.016273682637094902 Centerline is valid? [True, True] Translation: X:126.60, Y:111.63, Z:-3.79 [[ 6.34293040e-02 -9.97985951e-01 8.74850212e-04 1.26597495e+02] [ 9.97920454e-01 6.34351649e-02 1.14344624e-02 1.11627481e+02] [-1.14669291e-02 1.47750926e-04 9.99934242e-01 -3.78516947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66 meters 0.017108484846820905 Centerline is valid? [True, True] Translation: X:126.60, Y:111.66, Z:-3.79 [[ 6.11430782e-02 -9.98128618e-01 8.87058978e-04 1.26601462e+02] [ 9.98061003e-01 6.11492624e-02 1.16190808e-02 1.11656050e+02] [-1.16515801e-02 1.74912607e-04 9.99932103e-01 -3.78626728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69 meters 0.01717309846237156 Centerline is valid? [True, True] Translation: X:126.61, Y:111.68, Z:-3.79 [[ 5.90404453e-02 -9.98255179e-01 9.07198915e-04 1.26605675e+02] [ 9.98183918e-01 5.90470719e-02 1.19293763e-02 1.11682870e+02] [-1.19621292e-02 2.01235675e-04 9.99928431e-01 -3.78654120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72 meters 0.01840833097141917 Centerline is valid? [True, True] Translation: X:126.61, Y:111.71, Z:-3.79 [[ 5.66740551e-02 -9.98392349e-01 8.76605409e-04 1.26610132e+02] [ 9.98325288e-01 5.66804102e-02 1.15737246e-02 1.11710351e+02] [-1.16048045e-02 2.19207441e-04 9.99932638e-01 -3.78789352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75 meters 0.018610815186647783 Centerline is valid? [True, True] Translation: X:126.61, Y:111.74, Z:-3.79 [[ 5.45169805e-02 -9.98512459e-01 8.76466805e-04 1.26613337e+02] [ 9.98445253e-01 5.45234822e-02 1.15873859e-02 1.11738615e+02] [-1.16179372e-02 2.43394830e-04 9.99932480e-01 -3.78822228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78 meters 0.018987132946292725 Centerline is valid? [True, True] Translation: X:126.62, Y:111.77, Z:-3.79 [[ 5.08182016e-02 -9.98707556e-01 8.53662883e-04 1.26618941e+02] [ 9.98643382e-01 5.08246164e-02 1.13249208e-02 1.11766637e+02] [-1.13536710e-02 2.76992681e-04 9.99935507e-01 -3.78806430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81 meters 0.018234354196860942 Centerline is valid? [True, True] Translation: X:126.62, Y:111.79, Z:-3.79 [[ 4.95206377e-02 -9.98772742e-01 8.45891567e-04 1.26622803e+02] [ 9.98709168e-01 4.95270327e-02 1.12725511e-02 1.11794076e+02] [-1.13006113e-02 2.86575745e-04 9.99936105e-01 -3.78731574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84 meters 0.017534478519877 Centerline is valid? [True, True] Translation: X:126.63, Y:111.82, Z:-3.79 [[ 4.79905484e-02 -9.98847452e-01 8.21388511e-04 1.26625401e+02] [ 9.98787377e-01 4.79966738e-02 1.09587686e-02 1.11822090e+02] [-1.09855621e-02 2.94475159e-04 9.99939614e-01 -3.78680129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87 meters 0.018355444878431434 Centerline is valid? [True, True] Translation: X:126.63, Y:111.85, Z:-3.79 [[ 4.66077997e-02 -9.98912951e-01 7.93314249e-04 1.26629374e+02] [ 9.98856520e-01 4.66136024e-02 1.06219300e-02 1.11849608e+02] [-1.06473627e-02 2.97342324e-04 9.99943271e-01 -3.78802213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.9 meters 0.01777950302823178 Centerline is valid? [True, True] Translation: X:126.63, Y:111.88, Z:-3.79 [[ 4.43319637e-02 -9.99016548e-01 7.83661374e-04 1.26631352e+02] [ 9.98961137e-01 4.43377622e-02 1.05265775e-02 1.11878023e+02] [-1.05509709e-02 3.16183406e-04 9.99944287e-01 -3.78821156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93 meters 0.018576492466180237 Centerline is valid? [True, True] Translation: X:126.64, Y:111.91, Z:-3.79 [[ 4.33926148e-02 -9.99057762e-01 8.17838519e-04 1.26635693e+02] [ 9.98996980e-01 4.33990004e-02 1.10254598e-02 1.11905041e+02] [-1.10505646e-02 3.38594681e-04 9.99938883e-01 -3.78908172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95999999999998 meters 0.02025516640067513 Centerline is valid? [True, True] Translation: X:126.64, Y:111.93, Z:-3.79 [[ 4.17536821e-02 -9.99127602e-01 8.15165816e-04 1.26637899e+02] [ 9.99066660e-01 4.17601432e-02 1.10408351e-02 1.11932841e+02] [-1.10652445e-02 3.53409471e-04 9.99938716e-01 -3.79217118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98999999999998 meters 0.02180286397544475 Centerline is valid? [True, True] Translation: X:126.64, Y:111.96, Z:-3.79 [[ 4.12564678e-02 -9.99148257e-01 8.15421630e-04 1.26641910e+02] [ 9.99086750e-01 4.12629805e-02 1.10919633e-02 1.11959628e+02] [-1.11161625e-02 3.57061721e-04 9.99938150e-01 -3.79354168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01999999999998 meters 0.018569949169181033 Centerline is valid? [True, True] Translation: X:126.64, Y:111.99, Z:-3.79 [[ 4.25458087e-02 -9.99094151e-01 8.55859875e-04 1.26643698e+02] [ 9.99026043e-01 4.25529063e-02 1.16711497e-02 1.11988385e+02] [-1.16969967e-02 3.58467801e-04 9.99931524e-01 -3.78970439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04999999999998 meters 0.020056204032293776 Centerline is valid? [True, True] Translation: X:126.64, Y:112.02, Z:-3.79 [[ 4.37106950e-02 -9.99043862e-01 8.58249842e-04 1.26644262e+02] [ 9.98974845e-01 4.37177677e-02 1.17480033e-02 1.12016356e+02] [-1.17742913e-02 3.43856616e-04 9.99930622e-01 -3.79369758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07999999999998 meters 0.018839504615555547 Centerline is valid? [True, True] Translation: X:126.65, Y:112.04, Z:-3.79 [[ 4.59267946e-02 -9.98944423e-01 8.77048968e-04 1.26645128e+02] [ 9.98871762e-01 4.59340360e-02 1.20527058e-02 1.12044831e+02] [-1.20802697e-02 3.22517301e-04 9.99926979e-01 -3.79327453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10999999999999 meters 0.018645839603999514 Centerline is valid? [True, True] Translation: X:126.64, Y:112.07, Z:-3.79 [[ 4.79915269e-02 -9.98847328e-01 9.10393108e-04 1.26644622e+02] [ 9.98768389e-01 4.79991830e-02 1.25612331e-02 1.12073548e+02] [-1.25904522e-02 3.06439101e-04 9.99920690e-01 -3.79437011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14 meters 0.018424075804074444 Centerline is valid? [True, True] Translation: X:126.64, Y:112.10, Z:-3.80 [[ 5.08317162e-02 -9.98706852e-01 8.72281271e-04 1.26644816e+02] [ 9.98633811e-01 5.08385504e-02 1.20811146e-02 1.12102402e+02] [-1.21098375e-02 2.56985779e-04 9.99926640e-01 -3.79518902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17 meters 0.01514204037132106 Centerline is valid? [True, True] Translation: X:126.64, Y:112.13, Z:-3.79 [[ 5.87259194e-02 -9.98273735e-01 9.04050816e-04 1.26642243e+02] [ 9.98194630e-01 5.87326477e-02 1.25680611e-02 1.12131380e+02] [-1.25994625e-02 1.64347729e-04 9.99920610e-01 -3.79253958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.2 meters 0.017628562261017562 Centerline is valid? [True, True] Translation: X:126.64, Y:112.16, Z:-3.80 [[ 6.17353001e-02 -9.98092175e-01 8.73872073e-04 1.26641206e+02] [ 9.98017738e-01 6.17413689e-02 1.21900962e-02 1.12158709e+02] [-1.22207937e-02 1.19580582e-04 9.99925316e-01 -3.79775043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23 meters 0.015642758176669738 Centerline is valid? [True, True] Translation: X:126.64, Y:112.19, Z:-3.80 [[ 6.65848795e-02 -9.97780397e-01 8.56794947e-04 1.26639556e+02] [ 9.97708120e-01 6.65903689e-02 1.20096155e-02 1.12185940e+02] [-1.20400132e-02 5.51724739e-05 9.99927515e-01 -3.79710959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26 meters 0.017028641544370813 Centerline is valid? [True, True] Translation: X:126.64, Y:112.21, Z:-3.80 [[ 7.09147782e-02 -9.97482042e-01 8.18475346e-04 1.26637873e+02] [ 9.97415797e-01 7.09195013e-02 1.14957773e-02 1.12214666e+02] [-1.15248773e-02 1.13973873e-06 9.99933586e-01 -3.80006554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29 meters 0.014900165430441632 Centerline is valid? [True, True] Translation: X:126.63, Y:112.24, Z:-3.80 [[ 8.07776063e-02 -9.96731834e-01 7.93630869e-04 1.26632953e+02] [ 9.96669070e-01 8.07814265e-02 1.11860142e-02 1.12243527e+02] [-1.12135671e-02 -1.12592115e-04 9.99937120e-01 -3.79734410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32 meters 0.017795862050218766 Centerline is valid? [True, True] Translation: X:126.63, Y:112.27, Z:-3.80 [[ 8.36577531e-02 -9.96494254e-01 7.62975311e-04 1.26631144e+02] [ 9.96435810e-01 8.36611106e-02 1.07932776e-02 1.12271363e+02] [-1.08192704e-02 -1.42685427e-04 9.99941460e-01 -3.80250962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35 meters 0.018708022371647547 Centerline is valid? [True, True] Translation: X:126.63, Y:112.30, Z:-3.80 [[ 8.64152986e-02 -9.96258919e-01 7.50247809e-04 1.26630888e+02] [ 9.96201985e-01 8.64183820e-02 1.06521832e-02 1.12299730e+02] [-1.06771677e-02 -1.73113237e-04 9.99942982e-01 -3.80359619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38 meters 0.016889956972168583 Centerline is valid? [True, True] Translation: X:126.63, Y:112.33, Z:-3.80 [[ 8.95982827e-02 -9.95977687e-01 7.71252511e-04 1.26630857e+02] [ 9.95917022e-01 8.96013392e-02 1.09948168e-02 1.12328299e+02] [-1.10196975e-02 -2.17013199e-04 9.99939258e-01 -3.79993346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41 meters 0.01741420316141557 Centerline is valid? [True, True] Translation: X:126.63, Y:112.36, Z:-3.80 [[ 9.12137802e-02 -9.95831050e-01 7.52340116e-04 1.26631265e+02] [ 9.95772929e-01 9.12165867e-02 1.07614543e-02 1.12356330e+02] [-1.07852163e-02 -2.32433008e-04 9.99941811e-01 -3.80071125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44 meters 0.0197691700001643 Centerline is valid? [True, True] Translation: X:126.63, Y:112.38, Z:-3.81 [[ 9.19931642e-02 -9.95759421e-01 6.58195379e-04 1.26634113e+02] [ 9.95714661e-01 9.19952713e-02 9.44368781e-03 1.12384311e+02] [-9.46419197e-03 -2.13379934e-04 9.99955191e-01 -3.80535204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47 meters 0.01851170759718296 Centerline is valid? [True, True] Translation: X:126.64, Y:112.41, Z:-3.80 [[ 9.23702897e-02 -9.95724498e-01 6.73615500e-04 1.26636082e+02] [ 9.95677274e-01 9.23724711e-02 9.70016807e-03 1.12411403e+02] [-9.72091851e-03 -2.25303690e-04 9.99952725e-01 -3.80416512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.5 meters 0.01760493761567571 Centerline is valid? [True, True] Translation: X:126.64, Y:112.44, Z:-3.80 [[ 9.21092003e-02 -9.95748667e-01 6.97592414e-04 1.26638529e+02] [ 9.95697507e-01 9.21115411e-02 1.00965084e-02 1.12439408e+02] [-1.01178411e-02 -2.35390284e-04 9.99948786e-01 -3.80348586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53 meters 0.016951079272297012 Centerline is valid? [True, True] Translation: X:126.64, Y:112.47, Z:-3.80 [[ 9.02938769e-02 -9.95914966e-01 6.29600453e-04 1.26642983e+02] [ 9.95873019e-01 9.02958537e-02 9.14264919e-03 1.12466910e+02] [-9.16215146e-03 -1.98523136e-04 9.99958007e-01 -3.80429502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56 meters 0.020326547318832593 Centerline is valid? [True, True] Translation: X:126.65, Y:112.49, Z:-3.81 [[ 8.79019063e-02 -9.96129015e-01 4.90891641e-04 1.26647144e+02] [ 9.96103439e-01 8.79031677e-02 7.13945027e-03 1.12494857e+02] [-7.15496450e-03 -1.38592437e-04 9.99974393e-01 -3.81060253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59 meters 0.01978996585471326 Centerline is valid? [True, True] Translation: X:126.65, Y:112.52, Z:-3.81 [[ 8.62333957e-02 -9.96274874e-01 4.21841687e-04 1.26651770e+02] [ 9.96255905e-01 8.62343573e-02 6.14882596e-03 1.12522659e+02] [-6.16229805e-03 -1.09971870e-04 9.99981007e-01 -3.81158813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62 meters 0.01910835710074794 Centerline is valid? [True, True] Translation: X:126.66, Y:112.55, Z:-3.81 [[ 8.44121029e-02 -9.96430850e-01 3.98440900e-04 1.26656332e+02] [ 9.96413789e-01 8.44129895e-02 5.83174973e-03 1.12551007e+02] [-5.84456892e-03 -9.52582519e-05 9.99982916e-01 -3.81173872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65 meters 0.019207026712248186 Centerline is valid? [True, True] Translation: X:126.66, Y:112.58, Z:-3.81 [[ 8.12582209e-02 -9.96693001e-01 4.04103115e-04 1.26664143e+02] [ 9.96675318e-01 8.12591866e-02 5.93764252e-03 1.12579044e+02] [-5.95084383e-03 -7.97226673e-05 9.99982290e-01 -3.81158306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68 meters 0.017874299661911293 Centerline is valid? [True, True] Translation: X:126.67, Y:112.61, Z:-3.81 [[ 7.97695927e-02 -9.96813243e-01 4.13879407e-04 1.26668148e+02] [ 9.96794554e-01 7.97706317e-02 6.10445770e-03 1.12605696e+02] [-6.11801969e-03 -7.43973652e-05 9.99981282e-01 -3.81118219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70999999999998 meters 0.017929082728390836 Centerline is valid? [True, True] Translation: X:126.67, Y:112.63, Z:-3.81 [[ 7.84215344e-02 -9.96920201e-01 4.19165351e-04 1.26672777e+02] [ 9.96900831e-01 7.84226239e-02 6.21489129e-03 1.12633558e+02] [-6.22862272e-03 -6.95150243e-05 9.99980600e-01 -3.81174704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73999999999998 meters 0.01873952908017808 Centerline is valid? [True, True] Translation: X:126.68, Y:112.66, Z:-3.81 [[ 7.69617374e-02 -9.97033957e-01 4.23962404e-04 1.26677184e+02] [ 9.97013968e-01 7.69628792e-02 6.31368432e-03 1.12661300e+02] [-6.32758702e-03 -6.32156756e-05 9.99979979e-01 -3.81256369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76999999999998 meters 0.018482737386411298 Centerline is valid? [True, True] Translation: X:126.68, Y:112.69, Z:-3.81 [[ 7.46207423e-02 -9.97211868e-01 4.84301742e-04 1.26684149e+02] [ 9.97185452e-01 7.46222908e-02 7.25871692e-03 1.12689264e+02] [-7.27461837e-03 -5.87121937e-05 9.99973538e-01 -3.81319357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79999999999998 meters 0.018189278899023033 Centerline is valid? [True, True] Translation: X:126.69, Y:112.72, Z:-3.81 [[ 7.35355632e-02 -9.97292472e-01 4.95578332e-04 1.26688894e+02] [ 9.97264579e-01 7.35372131e-02 7.45905444e-03 1.12716637e+02] [-7.47530229e-03 -5.42830527e-05 9.99972058e-01 -3.81331507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82999999999998 meters 0.01663567436543416 Centerline is valid? [True, True] Translation: X:126.69, Y:112.74, Z:-3.81 [[ 7.25138126e-02 -9.97367262e-01 5.39852912e-04 1.26693876e+02] [ 9.97333808e-01 7.25158020e-02 8.16904415e-03 1.12744070e+02] [-8.18668507e-03 -5.39549754e-05 9.99966487e-01 -3.81205666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85999999999999 meters 0.016544713118788405 Centerline is valid? [True, True] Translation: X:126.70, Y:112.77, Z:-3.81 [[ 7.15631546e-02 -9.97435896e-01 5.89778667e-04 1.26698765e+02] [ 9.97395544e-01 7.15655646e-02 8.97210737e-03 1.12771624e+02] [-8.99130980e-03 -5.38296919e-05 9.99959576e-01 -3.81194811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89 meters 0.018573437821785724 Centerline is valid? [True, True] Translation: X:126.70, Y:112.80, Z:-3.81 [[ 7.06873781e-02 -9.97498361e-01 5.59934750e-04 1.26703145e+02] [ 9.97461739e-01 7.06895810e-02 8.54769301e-03 1.12798008e+02] [-8.56589132e-03 -4.57005184e-05 9.99963311e-01 -3.81418301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92 meters 0.014649473280649007 Centerline is valid? [True, True] Translation: X:126.71, Y:112.83, Z:-3.81 [[ 7.13096404e-02 -9.97454027e-01 6.31394921e-04 1.26707134e+02] [ 9.97406858e-01 7.13124087e-02 9.70049896e-03 1.12826534e+02] [-9.72082805e-03 -6.19814687e-05 9.99952750e-01 -3.80888500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95 meters 0.01477002423433012 Centerline is valid? [True, True] Translation: X:126.71, Y:112.85, Z:-3.81 [[ 7.15366774e-02 -9.97437757e-01 6.51161411e-04 1.26710243e+02] [ 9.97387173e-01 7.15396075e-02 1.00454624e-02 1.12854098e+02] [-1.00663073e-02 -6.91589630e-05 9.99949331e-01 -3.80922255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98 meters 0.014989906439805968 Centerline is valid? [True, True] Translation: X:126.71, Y:112.88, Z:-3.81 [[ 7.37777169e-02 -9.97274509e-01 6.34384655e-04 1.26713669e+02] [ 9.97226062e-01 7.37803861e-02 9.83031641e-03 1.12882653e+02] [-9.85032912e-03 -9.26333904e-05 9.99951480e-01 -3.80944624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01 meters 0.017428994507087944 Centerline is valid? [True, True] Translation: X:126.72, Y:112.91, Z:-3.81 [[ 7.44699489e-02 -9.97223073e-01 6.08528531e-04 1.26716200e+02] [ 9.97178172e-01 7.44723707e-02 9.46358243e-03 1.12910471e+02] [-9.48262131e-03 -9.79411320e-05 9.99955034e-01 -3.81407177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04 meters 0.018128097811299974 Centerline is valid? [True, True] Translation: X:126.72, Y:112.94, Z:-3.82 [[ 7.56315994e-02 -9.97135666e-01 5.70042351e-04 1.26717263e+02] [ 9.97095905e-01 7.56336745e-02 8.90524749e-03 1.12938235e+02] [-8.92285428e-03 -1.05131216e-04 9.99960185e-01 -3.81645937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07 meters 0.017918823763394345 Centerline is valid? [True, True] Translation: X:126.72, Y:112.97, Z:-3.82 [[ 7.57966977e-02 -9.97123162e-01 5.09398403e-04 1.26720553e+02] [ 9.97091279e-01 7.57983479e-02 7.97445621e-03 1.12966415e+02] [-7.99012656e-03 -9.65207417e-05 9.99968074e-01 -3.81687835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.1 meters 0.017233121456111885 Centerline is valid? [True, True] Translation: X:126.72, Y:112.99, Z:-3.82 [[ 7.49900220e-02 -9.97184185e-01 4.44436245e-04 1.26721941e+02] [ 9.97159776e-01 7.49912963e-02 6.97764400e-03 1.12994268e+02] [-6.99132510e-03 -8.00797318e-05 9.99975557e-01 -3.81828443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13 meters 0.016704633316713298 Centerline is valid? [True, True] Translation: X:126.72, Y:113.02, Z:-3.82 [[ 7.45501279e-02 -9.97217165e-01 4.51180075e-04 1.26722201e+02] [ 9.97191796e-01 7.45514498e-02 7.11361354e-03 1.13021379e+02] [-7.12745366e-03 -8.04077297e-05 9.99974596e-01 -3.81867893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16 meters 0.015396911640916357 Centerline is valid? [True, True] Translation: X:126.72, Y:113.05, Z:-3.82 [[ 7.41900165e-02 -9.97244019e-01 4.56717149e-04 1.26723772e+02] [ 9.97217735e-01 7.41913773e-02 7.24072759e-03 1.13049941e+02] [-7.25465676e-03 -8.17432592e-05 9.99973681e-01 -3.81651949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19 meters 0.01833212889480452 Centerline is valid? [True, True] Translation: X:126.72, Y:113.08, Z:-3.82 [[ 7.24134035e-02 -9.97374611e-01 4.29313106e-04 1.26724785e+02] [ 9.97351214e-01 7.24146455e-02 6.83186471e-03 1.13078106e+02] [-6.84501696e-03 -6.65426278e-05 9.99976570e-01 -3.82210824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22 meters 0.018262261895292637 Centerline is valid? [True, True] Translation: X:126.73, Y:113.11, Z:-3.82 [[ 7.11029462e-02 -9.97468859e-01 4.96263242e-04 1.26725922e+02] [ 9.97437195e-01 7.11046434e-02 7.94807112e-03 1.13106493e+02] [-7.96324005e-03 -7.01398572e-05 9.99968290e-01 -3.82163051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25 meters 0.0174787335316622 Centerline is valid? [True, True] Translation: X:126.73, Y:113.13, Z:-3.82 [[ 7.08270406e-02 -9.97488478e-01 5.16306987e-04 1.26727666e+02] [ 9.97453859e-01 7.08288842e-02 8.31072845e-03 1.13134794e+02] [-8.32642532e-03 -7.36319044e-05 9.99965332e-01 -3.82078169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28 meters 0.0172190451143508 Centerline is valid? [True, True] Translation: X:126.73, Y:113.16, Z:-3.82 [[ 7.06850937e-02 -9.97498537e-01 5.34479306e-04 1.26729537e+02] [ 9.97461061e-01 7.06870712e-02 8.64696488e-03 1.13163225e+02] [-8.66311560e-03 -7.80892273e-05 9.99962471e-01 -3.82037995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31 meters 0.01808320772413461 Centerline is valid? [True, True] Translation: X:126.73, Y:113.19, Z:-3.82 [[ 7.04773193e-02 -9.97513214e-01 5.78752720e-04 1.26730600e+02] [ 9.97468804e-01 7.04796430e-02 9.41301107e-03 1.13190058e+02] [-9.43039322e-03 -8.61160039e-05 9.99955529e-01 -3.82213274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34 meters 0.01808320772413461 Centerline is valid? [True, True] Translation: X:126.73, Y:113.22, Z:-3.82 [[ 7.01716762e-02 -9.97534763e-01 5.76035930e-04 1.26732109e+02] [ 9.97490353e-01 7.01739878e-02 9.41317686e-03 1.13216799e+02] [-9.43039389e-03 -8.59481160e-05 9.99955529e-01 -3.82268171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37 meters 0.015288650507667584 Centerline is valid? [True, True] Translation: X:126.73, Y:113.24, Z:-3.82 [[ 6.99341503e-02 -9.97551356e-01 7.12037339e-04 1.26734440e+02] [ 9.97482476e-01 6.99376892e-02 1.17230122e-02 1.13244672e+02] [-1.17441050e-02 -1.09594132e-04 9.99931030e-01 -3.81781387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.4 meters 0.0175804875056121 Centerline is valid? [True, True] Translation: X:126.74, Y:113.27, Z:-3.82 [[ 6.86933336e-02 -9.97637554e-01 7.32767962e-04 1.26736674e+02] [ 9.97563882e-01 6.86971662e-02 1.21243553e-02 1.13272630e+02] [-1.21460513e-02 -1.01879532e-04 9.99926229e-01 -3.82122021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42999999999998 meters 0.017881396445970418 Centerline is valid? [True, True] Translation: X:126.74, Y:113.30, Z:-3.82 [[ 6.74244243e-02 -9.97724074e-01 7.86759411e-04 1.26738291e+02] [ 9.97638250e-01 6.74289439e-02 1.30866195e-02 1.13299314e+02] [-1.31098857e-02 -9.74565035e-05 9.99914057e-01 -3.82119520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45999999999998 meters 0.0176211099541725 Centerline is valid? [True, True] Translation: X:126.74, Y:113.33, Z:-3.82 [[ 6.64197121e-02 -9.97791458e-01 7.92035106e-04 1.26740356e+02] [ 9.97703575e-01 6.64243742e-02 1.32430997e-02 1.13327300e+02] [-1.32664622e-02 -8.93866124e-05 9.99911993e-01 -3.82111396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48999999999998 meters 0.015041565491062336 Centerline is valid? [True, True] Translation: X:126.74, Y:113.36, Z:-3.82 [[ 6.60061676e-02 -9.97818893e-01 8.01379499e-04 1.26741882e+02] [ 9.97728046e-01 6.60109720e-02 1.34647033e-02 1.13355074e+02] [-1.34882352e-02 -8.91946620e-05 9.99909026e-01 -3.81796969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51999999999998 meters 0.015381602266874185 Centerline is valid? [True, True] Translation: X:126.74, Y:113.38, Z:-3.82 [[ 6.42667052e-02 -9.97932490e-01 7.32013842e-04 1.26743520e+02] [ 9.97856093e-01 6.42708429e-02 1.23481674e-02 1.13381606e+02] [-1.23696846e-02 -6.31315590e-05 9.99923491e-01 -3.82053268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54999999999998 meters 0.014637720842539958 Centerline is valid? [True, True] Translation: X:126.75, Y:113.41, Z:-3.82 [[ 6.36395347e-02 -9.97972691e-01 7.19025525e-04 1.26745389e+02] [ 9.97898206e-01 6.36435697e-02 1.21928924e-02 1.13409553e+02] [-1.22139350e-02 -5.84357205e-05 9.99925405e-01 -3.81986144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57999999999998 meters 0.014651642217650822 Centerline is valid? [True, True] Translation: X:126.75, Y:113.44, Z:-3.82 [[ 6.30411831e-02 -9.98010690e-01 6.86588290e-04 1.26747315e+02] [ 9.97942169e-01 6.30449004e-02 1.16948199e-02 1.13437444e+02] [-1.17148412e-02 -5.20798786e-05 9.99931378e-01 -3.82079883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60999999999999 meters 0.014550217191232466 Centerline is valid? [True, True] Translation: X:126.75, Y:113.47, Z:-3.82 [[ 6.21955230e-02 -9.98063768e-01 6.56906648e-04 1.26749191e+02] [ 9.98000483e-01 6.21989768e-02 1.12393851e-02 1.13465816e+02] [-1.12584820e-02 -4.34462815e-05 9.99936620e-01 -3.82217532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64 meters 0.014546872349675676 Centerline is valid? [True, True] Translation: X:126.75, Y:113.49, Z:-3.82 [[ 5.98469482e-02 -9.98207382e-01 6.04451566e-04 1.26751455e+02] [ 9.98153361e-01 5.98499978e-02 1.03848675e-02 1.13494202e+02] [-1.04024278e-02 -1.81672639e-05 9.99945893e-01 -3.82474982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67 meters 0.016041488259240688 Centerline is valid? [True, True] Translation: X:126.75, Y:113.52, Z:-3.83 [[ 5.78386708e-02 -9.98325801e-01 5.31640890e-04 1.26754259e+02] [ 9.98283716e-01 5.78411141e-02 9.16672109e-03 1.13522400e+02] [-9.18212488e-03 5.37479610e-07 9.99957843e-01 -3.82866344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.7 meters 0.017251713076378277 Centerline is valid? [True, True] Translation: X:126.76, Y:113.55, Z:-3.83 [[ 5.62067974e-02 -9.98419038e-01 4.69089597e-04 1.26757032e+02] [ 9.98386060e-01 5.62087535e-02 8.11492947e-03 1.13550128e+02] [-8.12846701e-03 1.22183176e-05 9.99966963e-01 -3.83057680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73 meters 0.018699470888898815 Centerline is valid? [True, True] Translation: X:126.76, Y:113.58, Z:-3.83 [[ 5.48962868e-02 -9.98491961e-01 4.49163852e-04 1.26759504e+02] [ 9.98461483e-01 5.48981206e-02 7.80143427e-03 1.13576818e+02] [-7.81432765e-03 2.02030329e-05 9.99969467e-01 -3.83185739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76 meters 0.01454748376186229 Centerline is valid? [True, True] Translation: X:126.76, Y:113.61, Z:-3.82 [[ 5.46824094e-02 -9.98503622e-01 5.93087557e-04 1.26761951e+02] [ 9.98449491e-01 5.46856205e-02 1.03970020e-02 1.13605493e+02] [-1.04138775e-02 2.36348479e-05 9.99945774e-01 -3.82448538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79 meters 0.014512266335165084 Centerline is valid? [True, True] Translation: X:126.76, Y:113.63, Z:-3.82 [[ 5.44929756e-02 -9.98513948e-01 6.40802876e-04 1.26763531e+02] [ 9.98450125e-01 5.44967376e-02 1.12895520e-02 1.13632746e+02] [-1.13076968e-02 2.46084282e-05 9.99936066e-01 -3.82422511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82 meters 0.016163171814942943 Centerline is valid? [True, True] Translation: X:126.76, Y:113.66, Z:-3.83 [[ 5.42008581e-02 -9.98529840e-01 6.51759626e-04 1.26764797e+02] [ 9.98463044e-01 5.42047709e-02 1.15495427e-02 1.13660688e+02] [-1.15678915e-02 2.47627780e-05 9.99933089e-01 -3.82716561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85 meters 0.01755119563920911 Centerline is valid? [True, True] Translation: X:126.77, Y:113.69, Z:-3.83 [[ 5.42459166e-02 -9.98527398e-01 6.45057712e-04 1.26765994e+02] [ 9.98461314e-01 5.42497478e-02 1.14877608e-02 1.13688340e+02] [-1.15058382e-02 2.09010539e-05 9.99933805e-01 -3.82879113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88 meters 0.017584577345620977 Centerline is valid? [True, True] Translation: X:126.77, Y:113.72, Z:-3.83 [[ 5.56758596e-02 -9.98448672e-01 6.69305485e-04 1.26766123e+02] [ 9.98376727e-01 5.56798824e-02 1.19858559e-02 1.13716407e+02] [-1.20045288e-02 8.96190517e-07 9.99927943e-01 -3.82924537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91 meters 0.01665595459595918 Centerline is valid? [True, True] Translation: X:126.77, Y:113.74, Z:-3.83 [[ 5.77454497e-02 -9.98331115e-01 6.68837973e-04 1.26765747e+02] [ 9.98258547e-01 5.77493165e-02 1.20370190e-02 1.13743875e+02] [-1.20555555e-02 -2.74098488e-05 9.99927329e-01 -3.82988179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94 meters 0.017585407320695082 Centerline is valid? [True, True] Translation: X:126.77, Y:113.77, Z:-3.83 [[ 5.80750292e-02 -9.98312036e-01 6.07981987e-04 1.26766416e+02] [ 9.98251485e-01 5.80782030e-02 1.09952277e-02 1.13771878e+02] [-1.10119786e-02 -3.16292476e-05 9.99939366e-01 -3.83227483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97 meters 0.016112947502257356 Centerline is valid? [True, True] Translation: X:126.77, Y:113.80, Z:-3.83 [[ 5.90586777e-02 -9.98254366e-01 5.41693152e-04 1.26766959e+02] [ 9.98205917e-01 5.90611482e-02 9.83503840e-03 1.13800338e+02] [-9.84986304e-03 -4.01230536e-05 9.99951488e-01 -3.83248442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.0 meters 0.016590175256457673 Centerline is valid? [True, True] Translation: X:126.77, Y:113.83, Z:-3.83 [[ 5.94211842e-02 -9.98232887e-01 4.76104567e-04 1.26767596e+02] [ 9.98195179e-01 5.94230778e-02 8.67660140e-03 1.13828123e+02] [-8.68956046e-03 -4.03286461e-05 9.99962244e-01 -3.83366492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03 meters 0.014901311928830055 Centerline is valid? [True, True] Translation: X:126.77, Y:113.86, Z:-3.83 [[ 6.12597991e-02 -9.98121726e-01 5.06763989e-04 1.26767241e+02] [ 9.98078489e-01 6.12618624e-02 9.29056783e-03 1.13856454e+02] [-9.30416290e-03 -6.33480822e-05 9.99956713e-01 -3.83034322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06 meters 0.01708063486507879 Centerline is valid? [True, True] Translation: X:126.77, Y:113.88, Z:-3.83 [[ 6.12773810e-02 -9.98120654e-01 4.93304692e-04 1.26767409e+02] [ 9.98079376e-01 6.12793333e-02 9.07758900e-03 1.13882830e+02] [-9.09075845e-03 -6.38936404e-05 9.99958676e-01 -3.83441995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09 meters 0.01708063486507879 Centerline is valid? [True, True] Translation: X:126.77, Y:113.91, Z:-3.83 [[ 6.09684164e-02 -9.98139575e-01 4.90126585e-04 1.26768731e+02] [ 9.98098297e-01 6.09703525e-02 9.07775989e-03 1.13909582e+02] [-9.09075460e-03 -6.42621349e-05 9.99958676e-01 -3.83496869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12 meters 0.015017744426865329 Centerline is valid? [True, True] Translation: X:126.77, Y:113.94, Z:-3.83 [[ 6.22279040e-02 -9.98061815e-01 5.49751043e-04 1.26768639e+02] [ 9.98009062e-01 6.22302673e-02 1.02618850e-02 1.13937752e+02] [-1.02762067e-02 -8.99190686e-05 9.99947194e-01 -3.83143970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15 meters 0.015017744426865329 Centerline is valid? [True, True] Translation: X:126.77, Y:113.97, Z:-3.83 [[ 6.19467899e-02 -9.98079304e-01 5.46865420e-04 1.26770026e+02] [ 9.98026550e-01 6.19491384e-02 1.02620383e-02 1.13965322e+02] [-1.02762059e-02 -8.99141222e-05 9.99947194e-01 -3.83200578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17999999999998 meters 0.017433550367848657 Centerline is valid? [True, True] Translation: X:126.77, Y:113.99, Z:-3.84 [[ 6.30132092e-02 -9.98012545e-01 5.43629119e-04 1.26769350e+02] [ 9.97959858e-01 6.30154689e-02 1.02553603e-02 1.13993740e+02] [-1.02692353e-02 -1.03703125e-04 9.99947265e-01 -3.83604299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20999999999998 meters 0.015341399368650959 Centerline is valid? [True, True] Translation: X:126.77, Y:114.02, Z:-3.83 [[ 6.40756210e-02 -9.97944880e-01 5.75961523e-04 1.26769711e+02] [ 9.97885015e-01 6.40780862e-02 1.09313823e-02 1.14021953e+02] [-1.09458236e-02 -1.25691739e-04 9.99940085e-01 -3.83300836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23999999999998 meters 0.017361567752386824 Centerline is valid? [True, True] Translation: X:126.77, Y:114.05, Z:-3.84 [[ 6.35413714e-02 -9.97979062e-01 5.34754166e-04 1.26770900e+02] [ 9.97926976e-01 6.35435188e-02 1.01967040e-02 1.14050231e+02] [-1.02100772e-02 -1.14266946e-04 9.99947869e-01 -3.83717591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26999999999998 meters 0.015419026897773306 Centerline is valid? [True, True] Translation: X:126.77, Y:114.08, Z:-3.83 [[ 6.43659472e-02 -9.97926217e-01 5.38210334e-04 1.26771862e+02] [ 9.97872877e-01 6.43680719e-02 1.03185896e-02 1.14078558e+02] [-1.03318346e-02 -1.27100300e-04 9.99946617e-01 -3.83441679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29999999999998 meters 0.017130837971394326 Centerline is valid? [True, True] Translation: X:126.77, Y:114.11, Z:-3.84 [[ 6.37278635e-02 -9.97967202e-01 4.73288403e-04 1.26773269e+02] [ 9.97925627e-01 6.37295290e-02 9.10992482e-03 1.14106821e+02] [-9.12156863e-03 -1.08249420e-04 9.99958392e-01 -3.83835443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32999999999998 meters 0.017310203663025037 Centerline is valid? [True, True] Translation: X:126.77, Y:114.13, Z:-3.84 [[ 6.33396595e-02 -9.97991916e-01 4.73199718e-04 1.26773518e+02] [ 9.97949925e-01 6.33413356e-02 9.15546075e-03 1.14133667e+02] [-9.16704891e-03 -1.07674144e-04 9.99957976e-01 -3.83985027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35999999999999 meters 0.01782174135519573 Centerline is valid? [True, True] Translation: X:126.77, Y:114.16, Z:-3.84 [[ 6.29199513e-02 -9.98018478e-01 4.44932821e-04 1.26773944e+02] [ 9.97980995e-01 6.29214446e-02 8.65014817e-03 1.14161303e+02] [-8.66100352e-03 -1.00232403e-04 9.99962488e-01 -3.84089306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39 meters 0.019059476339540974 Centerline is valid? [True, True] Translation: X:126.77, Y:114.19, Z:-3.84 [[ 6.27012141e-02 -9.98032266e-01 3.93448674e-04 1.26774879e+02] [ 9.98002644e-01 6.27023847e-02 7.68987213e-03 1.14189698e+02] [-7.69941067e-03 -8.95015021e-05 9.99970355e-01 -3.84274767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42 meters 0.016370149857790974 Centerline is valid? [True, True] Translation: X:126.78, Y:114.22, Z:-3.84 [[ 6.32612295e-02 -9.97996921e-01 4.03049666e-04 1.26776597e+02] [ 9.97965500e-01 6.32624363e-02 7.91992686e-03 1.14218061e+02] [-7.92956053e-03 -9.87946503e-05 9.99968556e-01 -3.83985717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45 meters 0.01892359519546165 Centerline is valid? [True, True] Translation: X:126.78, Y:114.25, Z:-3.84 [[ 6.31055693e-02 -9.98006800e-01 3.37432910e-04 1.26775471e+02] [ 9.97984587e-01 6.31064163e-02 6.65914441e-03 1.14245085e+02] [-6.66716559e-03 -8.34762562e-05 9.99977771e-01 -3.84470168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48 meters 0.015453514655681733 Centerline is valid? [True, True] Translation: X:126.78, Y:114.27, Z:-3.84 [[ 6.33664766e-02 -9.97990263e-01 3.54187429e-04 1.26777780e+02] [ 9.97965556e-01 6.33674003e-02 7.02297241e-03 1.14273437e+02] [-7.03130201e-03 -9.15541626e-05 9.99975276e-01 -3.83930426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51 meters 0.01719083254498558 Centerline is valid? [True, True] Translation: X:126.78, Y:114.30, Z:-3.84 [[ 6.22896564e-02 -9.98058065e-01 3.13883744e-04 1.26779218e+02] [ 9.98038516e-01 6.22904010e-02 6.24706908e-03 1.14300985e+02] [-6.25448962e-03 -7.58597205e-05 9.99980438e-01 -3.84352203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54 meters 0.017882539066211667 Centerline is valid? [True, True] Translation: X:126.78, Y:114.33, Z:-3.85 [[ 6.11020765e-02 -9.98131474e-01 3.09862279e-04 1.26780432e+02] [ 9.98112232e-01 6.11028227e-02 6.19819668e-03 1.14328215e+02] [-6.20554865e-03 -6.94453566e-05 9.99980743e-01 -3.84546761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57 meters 0.015325351405980688 Centerline is valid? [True, True] Translation: X:126.78, Y:114.36, Z:-3.84 [[ 6.04647119e-02 -9.98170274e-01 3.50080064e-04 1.26781939e+02] [ 9.98145247e-01 6.04656750e-02 7.06879495e-03 1.14355950e+02] [-7.07702882e-03 -7.79818975e-05 9.99974954e-01 -3.84204668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.6 meters 0.016222609868025095 Centerline is valid? [True, True] Translation: X:126.78, Y:114.38, Z:-3.84 [[ 5.85926192e-02 -9.98281909e-01 3.66479879e-04 1.26784362e+02] [ 9.98254117e-01 5.85937227e-02 7.44945653e-03 1.14384299e+02] [-7.45813111e-03 -7.06431217e-05 9.99972185e-01 -3.84428720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63 meters 0.014862857070765558 Centerline is valid? [True, True] Translation: X:126.79, Y:114.41, Z:-3.84 [[ 5.58519621e-02 -9.98438951e-01 4.69123299e-04 1.26787656e+02] [ 9.98392286e-01 5.58538874e-02 9.65327789e-03 1.14413171e+02] [-9.66441100e-03 -7.07854281e-05 9.99953296e-01 -3.84105710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66 meters 0.018140916087580346 Centerline is valid? [True, True] Translation: X:126.79, Y:114.44, Z:-3.84 [[ 5.38856346e-02 -9.98546988e-01 5.00578619e-04 1.26790573e+02] [ 9.98493719e-01 5.38879306e-02 1.03142220e-02 1.14441405e+02] [-1.03262104e-02 -5.59637902e-05 9.99946682e-01 -3.84379130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69 meters 0.01690927197273951 Centerline is valid? [True, True] Translation: X:126.79, Y:114.47, Z:-3.84 [[ 5.29892354e-02 -9.98594910e-01 5.89223795e-04 1.26792629e+02] [ 9.98519957e-01 5.29924774e-02 1.22348976e-02 1.14469104e+02] [-1.22489309e-02 -5.99661513e-05 9.99924977e-01 -3.84133158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72 meters 0.017218132928057506 Centerline is valid? [True, True] Translation: X:126.79, Y:114.50, Z:-3.84 [[ 5.22389264e-02 -9.98634456e-01 5.63787588e-04 1.26794328e+02] [ 9.98565080e-01 5.22419428e-02 1.17711499e-02 1.14496718e+02] [-1.17845293e-02 -5.19336354e-05 9.99930559e-01 -3.84196523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75 meters 0.016527964194445775 Centerline is valid? [True, True] Translation: X:126.80, Y:114.52, Z:-3.85 [[ 5.13165557e-02 -9.98682334e-01 4.54832367e-04 1.26795293e+02] [ 9.98636796e-01 5.13185593e-02 9.53699771e-03 1.14524443e+02] [-9.54777247e-03 -3.51935361e-05 9.99954418e-01 -3.84581008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78 meters 0.016228606256380007 Centerline is valid? [True, True] Translation: X:126.80, Y:114.55, Z:-3.85 [[ 5.03718653e-02 -9.98730447e-01 4.11506036e-04 1.26796880e+02] [ 9.98692929e-01 5.03735399e-02 8.65673861e-03 1.14552256e+02] [-8.66647744e-03 -2.50879034e-05 9.99962445e-01 -3.84693938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81 meters 0.014717210826405128 Centerline is valid? [True, True] Translation: X:126.80, Y:114.58, Z:-3.85 [[ 5.04942081e-02 -9.98724259e-01 4.34483945e-04 1.26798210e+02] [ 9.98681868e-01 5.04960680e-02 9.20185288e-03 1.14580433e+02] [-9.21205343e-03 -3.07290365e-05 9.99957568e-01 -3.84535761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84 meters 0.014737734954946118 Centerline is valid? [True, True] Translation: X:126.80, Y:114.61, Z:-3.85 [[ 5.02409053e-02 -9.98737035e-01 4.30801983e-04 1.26799793e+02] [ 9.98694861e-01 5.02427427e-02 9.17830466e-03 1.14608822e+02] [-9.18835746e-03 -3.08866085e-05 9.99957786e-01 -3.84569281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87 meters 0.017157692582668613 Centerline is valid? [True, True] Translation: X:126.80, Y:114.64, Z:-3.85 [[ 4.93770851e-02 -9.98780131e-01 3.91505487e-04 1.26802061e+02] [ 9.98744966e-01 4.93786319e-02 8.38108862e-03 1.14636743e+02] [-8.39019679e-03 -2.28195917e-05 9.99964801e-01 -3.85019511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.9 meters 0.016357913085970323 Centerline is valid? [True, True] Translation: X:126.80, Y:114.66, Z:-3.85 [[ 4.94853128e-02 -9.98774792e-01 3.45082052e-04 1.26803245e+02] [ 9.98747083e-01 4.94865104e-02 7.43979228e-03 1.14663381e+02] [-7.44775389e-03 -2.35107555e-05 9.99972265e-01 -3.85000258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92999999999998 meters 0.017316534505932114 Centerline is valid? [True, True] Translation: X:126.80, Y:114.69, Z:-3.85 [[ 4.91353896e-02 -9.98792086e-01 2.87893493e-04 1.26803576e+02] [ 9.98772868e-01 4.91362301e-02 6.19583418e-03 1.14691517e+02] [-6.20249615e-03 -1.68945168e-05 9.99980764e-01 -3.85297395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95999999999998 meters 0.015671421550399637 Centerline is valid? [True, True] Translation: X:126.80, Y:114.72, Z:-3.85 [[ 4.95982003e-02 -9.98769210e-01 2.90515899e-04 1.26803986e+02] [ 9.98749386e-01 4.95990463e-02 6.29270575e-03 1.14719338e+02] [-6.29937006e-03 -2.19543045e-05 9.99980159e-01 -3.85178499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98999999999998 meters 0.017483223797892217 Centerline is valid? [True, True] Translation: X:126.81, Y:114.75, Z:-3.85 [[ 4.89696680e-02 -9.98800225e-01 2.86999962e-04 1.26805507e+02] [ 9.98780680e-01 4.89705052e-02 6.24850440e-03 1.14746310e+02] [-6.25506213e-03 -1.93371691e-05 9.99980437e-01 -3.85464159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01999999999998 meters 0.014983818231219043 Centerline is valid? [True, True] Translation: X:126.81, Y:114.77, Z:-3.85 [[ 4.91012119e-02 -9.98793739e-01 3.72580819e-04 1.26806962e+02] [ 9.98759904e-01 4.91026154e-02 8.22118230e-03 1.14772719e+02] [-8.22956009e-03 -3.15512314e-05 9.99966136e-01 -3.85005890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04999999999998 meters 0.014843768524068573 Centerline is valid? [True, True] Translation: X:126.81, Y:114.80, Z:-3.85 [[ 4.84660658e-02 -9.98824742e-01 4.18635822e-04 1.26808898e+02] [ 9.98781537e-01 4.84678631e-02 9.29023880e-03 1.14800623e+02] [-9.29961076e-03 -3.21355950e-05 9.99956757e-01 -3.84852913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07999999999998 meters 0.014844584066494283 Centerline is valid? [True, True] Translation: X:126.81, Y:114.83, Z:-3.85 [[ 4.77492148e-02 -9.98859247e-01 4.65346697e-04 1.26810805e+02] [ 9.98805022e-01 4.77514715e-02 1.04079652e-02 1.14829034e+02] [-1.04183133e-02 -3.21815477e-05 9.99945727e-01 -3.84837734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10999999999999 meters 0.018206554145893086 Centerline is valid? [True, True] Translation: X:126.81, Y:114.86, Z:-3.85 [[ 4.62922274e-02 -9.98927830e-01 4.69705344e-04 1.26813143e+02] [ 9.98871856e-01 4.62946058e-02 1.05746807e-02 1.14856464e+02] [-1.05850877e-02 -2.03500756e-05 9.99943976e-01 -3.85312466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14 meters 0.017547208796076727 Centerline is valid? [True, True] Translation: X:126.81, Y:114.88, Z:-3.85 [[ 4.61510773e-02 -9.98934336e-01 5.21036501e-04 1.26813825e+02] [ 9.98864464e-01 4.61540117e-02 1.18148490e-02 1.14883276e+02] [-1.18263063e-02 -2.48231656e-05 9.99930066e-01 -3.85267362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17 meters 0.01667890856962509 Centerline is valid? [True, True] Translation: X:126.81, Y:114.91, Z:-3.85 [[ 4.64357678e-02 -9.98921134e-01 5.37182674e-04 1.26814200e+02] [ 9.98845759e-01 4.64388629e-02 1.22711982e-02 1.14910200e+02] [-1.22829054e-02 -3.32598756e-05 9.99924562e-01 -3.85240804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.2 meters 0.015988732422923292 Centerline is valid? [True, True] Translation: X:126.81, Y:114.94, Z:-3.85 [[ 4.69494846e-02 -9.98897130e-01 5.19913828e-04 1.26814711e+02] [ 9.98825521e-01 4.69523443e-02 1.19605908e-02 1.14938189e+02] [-1.19718110e-02 -4.22403736e-05 9.99928334e-01 -3.85162314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23 meters 0.015143290186046245 Centerline is valid? [True, True] Translation: X:126.81, Y:114.97, Z:-3.85 [[ 4.80198574e-02 -9.98846244e-01 5.23292328e-04 1.26813807e+02] [ 9.98772539e-01 4.80226711e-02 1.21341725e-02 1.14965521e+02] [-1.21453025e-02 -6.00312270e-05 9.99926241e-01 -3.85100894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26 meters 0.015143290186046245 Centerline is valid? [True, True] Translation: X:126.81, Y:114.99, Z:-3.85 [[ 4.77186143e-02 -9.98860682e-01 5.21590413e-04 1.26814826e+02] [ 9.98786977e-01 4.77214295e-02 1.21342457e-02 1.14992280e+02] [-1.21453120e-02 -5.80716785e-05 9.99926241e-01 -3.85155868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29 meters 0.017096343655759592 Centerline is valid? [True, True] Translation: X:126.82, Y:115.02, Z:-3.86 [[ 4.74831986e-02 -9.98871915e-01 4.94293489e-04 1.26816300e+02] [ 9.98804814e-01 4.74857382e-02 1.15779533e-02 1.15019862e+02] [-1.15883642e-02 -5.60555375e-05 9.99932851e-01 -3.85512354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32 meters 0.01516411566202301 Centerline is valid? [True, True] Translation: X:126.82, Y:115.05, Z:-3.85 [[ 4.85274677e-02 -9.98821716e-01 5.14159104e-04 1.26816005e+02] [ 9.98748056e-01 4.85301333e-02 1.21303829e-02 1.15047601e+02] [-1.21410421e-02 -7.51413587e-05 9.99926292e-01 -3.85228298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35 meters 0.018121810463882684 Centerline is valid? [True, True] Translation: X:126.82, Y:115.08, Z:-3.86 [[ 4.81504299e-02 -9.98839988e-01 4.63651652e-04 1.26817245e+02] [ 9.98779430e-01 4.81526162e-02 1.09989392e-02 1.15075108e+02] [-1.10085064e-02 -6.65179199e-05 9.99939402e-01 -3.85777206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38 meters 0.017548619545913257 Centerline is valid? [True, True] Translation: X:126.82, Y:115.10, Z:-3.86 [[ 4.78046838e-02 -9.98856596e-01 4.61042021e-04 1.26818299e+02] [ 9.98795903e-01 4.78068615e-02 1.10112892e-02 1.15103663e+02] [-1.10207398e-02 -6.59043140e-05 9.99939268e-01 -3.85796008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41 meters 0.016520408336485628 Centerline is valid? [True, True] Translation: X:126.82, Y:115.13, Z:-3.86 [[ 4.76234161e-02 -9.98865245e-01 4.82481511e-04 1.26819227e+02] [ 9.98797788e-01 4.76258073e-02 1.16086445e-02 1.15131467e+02] [-1.16184501e-02 -7.09418417e-05 9.99932501e-01 -3.85706748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44 meters 0.017818329853491712 Centerline is valid? [True, True] Translation: X:126.82, Y:115.16, Z:-3.86 [[ 4.62335865e-02 -9.98930570e-01 4.14697925e-04 1.26821118e+02] [ 9.98880235e-01 4.62354199e-02 1.00280743e-02 1.15159598e+02] [-1.00365237e-02 -4.94002787e-05 9.99949632e-01 -3.86022350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47 meters 0.016802645498242702 Centerline is valid? [True, True] Translation: X:126.82, Y:115.19, Z:-3.86 [[ 4.55838913e-02 -9.98960421e-01 4.30383022e-04 1.26822187e+02] [ 9.98905170e-01 4.55858967e-02 1.05065727e-02 1.15186435e+02] [-1.05152697e-02 -4.90186427e-05 9.99944712e-01 -3.86046173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.5 meters 0.015116286208041885 Centerline is valid? [True, True] Translation: X:126.82, Y:115.21, Z:-3.86 [[ 4.52035317e-02 -9.98977696e-01 4.51846032e-04 1.26823153e+02] [ 9.98916285e-01 4.52057630e-02 1.10767662e-02 1.15214414e+02] [-1.10858684e-02 -4.93525927e-05 9.99938549e-01 -3.85768356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53 meters 0.017994656384154383 Centerline is valid? [True, True] Translation: X:126.83, Y:115.24, Z:-3.86 [[ 4.33865538e-02 -9.99058265e-01 4.35691580e-04 1.26825633e+02] [ 9.99000436e-01 4.33887302e-02 1.07492407e-02 1.15242405e+02] [-1.07580219e-02 -3.11164331e-05 9.99942130e-01 -3.86241281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56 meters 0.015001409545422293 Centerline is valid? [True, True] Translation: X:126.83, Y:115.27, Z:-3.86 [[ 4.30848528e-02 -9.99071292e-01 4.99525873e-04 1.26826931e+02] [ 9.98993938e-01 4.30877329e-02 1.24321818e-02 1.15270965e+02] [-1.24421594e-02 -3.66154031e-05 9.99922593e-01 -3.85709464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59 meters 0.015016400248842644 Centerline is valid? [True, True] Translation: X:126.83, Y:115.30, Z:-3.86 [[ 4.22622273e-02 -9.99106424e-01 5.07722243e-04 1.26827807e+02] [ 9.99025348e-01 4.22652658e-02 1.27280084e-02 1.15297622e+02] [-1.27380940e-02 -3.06865945e-05 9.99918867e-01 -3.85800519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62 meters 0.014987945200026566 Centerline is valid? [True, True] Translation: X:126.83, Y:115.33, Z:-3.86 [[ 4.15880046e-02 -9.99134716e-01 5.07805199e-04 1.26829161e+02] [ 9.99052300e-01 4.15910964e-02 1.28328593e-02 1.15325635e+02] [-1.28428754e-02 -2.63690601e-05 9.99917527e-01 -3.85869657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65 meters 0.014919461441886678 Centerline is valid? [True, True] Translation: X:126.83, Y:115.35, Z:-3.86 [[ 4.10836459e-02 -9.99155588e-01 4.94175525e-04 1.26830517e+02] [ 9.99076450e-01 4.10866115e-02 1.25752531e-02 1.15353487e+02] [-1.25849384e-02 -2.29181138e-05 9.99920806e-01 -3.85953270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67999999999998 meters 0.017991983856814442 Centerline is valid? [True, True] Translation: X:126.83, Y:115.38, Z:-3.87 [[ 3.88339745e-02 -9.99245592e-01 4.11960719e-04 1.26833664e+02] [ 9.99190087e-01 3.88361594e-02 1.05319442e-02 1.15380744e+02] [-1.05399978e-02 2.62981611e-06 9.99944453e-01 -3.86645909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70999999999998 meters 0.018042892609886115 Centerline is valid? [True, True] Translation: X:126.84, Y:115.41, Z:-3.87 [[ 3.80387600e-02 -9.99276188e-01 3.91690350e-04 1.26835767e+02] [ 9.99225230e-01 3.80407758e-02 1.00915652e-02 1.15409041e+02] [-1.00991610e-02 7.51625531e-06 9.99949002e-01 -3.86765959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73999999999998 meters 0.017002035740998764 Centerline is valid? [True, True] Translation: X:126.84, Y:115.44, Z:-3.87 [[ 3.71313467e-02 -9.99310323e-01 3.75661778e-04 1.26838001e+02] [ 9.99262820e-01 3.71332445e-02 9.74363247e-03 1.15437189e+02] [-9.75086206e-03 1.35906514e-05 9.99952459e-01 -3.86716951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76999999999998 meters 0.017628437001926775 Centerline is valid? [True, True] Translation: X:126.84, Y:115.47, Z:-3.87 [[ 3.58339831e-02 -9.99357700e-01 3.37017733e-04 1.26840454e+02] [ 9.99319047e-01 3.58355612e-02 8.78944428e-03 1.15465135e+02] [-8.79587604e-03 2.18274420e-05 9.99961315e-01 -3.86842575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79999999999998 meters 0.018151922789295893 Centerline is valid? [True, True] Translation: X:126.84, Y:115.49, Z:-3.87 [[ 3.36000311e-02 -9.99435314e-01 3.02069070e-04 1.26843786e+02] [ 9.99403920e-01 3.36013699e-02 7.92163223e-03 1.15493300e+02] [-7.92730893e-03 3.57219233e-05 9.99968578e-01 -3.87010084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82999999999998 meters 0.016956241635366572 Centerline is valid? [True, True] Translation: X:126.85, Y:115.52, Z:-3.87 [[ 3.28739767e-02 -9.99459455e-01 3.15690313e-04 1.26845601e+02] [ 9.99424619e-01 3.28754667e-02 8.34479348e-03 1.15520504e+02] [-8.35066121e-03 4.11821243e-05 9.99965132e-01 -3.86961843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85999999999999 meters 0.018426915892549925 Centerline is valid? [True, True] Translation: X:126.85, Y:115.55, Z:-3.87 [[ 3.20665863e-02 -9.99485689e-01 3.03515295e-04 1.26847885e+02] [ 9.99453004e-01 3.20679923e-02 8.08313984e-03 1.15547797e+02] [-8.08871572e-03 4.41505720e-05 9.99967285e-01 -3.87211036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89 meters 0.018137710568078808 Centerline is valid? [True, True] Translation: X:126.85, Y:115.58, Z:-3.87 [[ 3.17706152e-02 -9.99495136e-01 3.18138109e-04 1.26848835e+02] [ 9.99458532e-01 3.17721744e-02 8.55402264e-03 1.15575493e+02] [-8.55981196e-03 4.61992859e-05 9.99963363e-01 -3.87082940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92 meters 0.01812227860612412 Centerline is valid? [True, True] Translation: X:126.85, Y:115.60, Z:-3.87 [[ 3.27686064e-02 -9.99462896e-01 3.70754561e-04 1.26849751e+02] [ 9.99412138e-01 3.27706787e-02 1.00727554e-02 1.15602346e+02] [-1.00794952e-02 4.04664518e-05 9.99949200e-01 -3.87041850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95 meters 0.016137546993342286 Centerline is valid? [True, True] Translation: X:126.85, Y:115.63, Z:-3.87 [[ 3.36048404e-02 -9.99435113e-01 4.10956076e-04 1.26850004e+02] [ 9.99371495e-01 3.36073382e-02 1.12766088e-02 1.15630345e+02] [-1.12840499e-02 3.17491489e-05 9.99936333e-01 -3.86802581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98 meters 0.01737708503667044 Centerline is valid? [True, True] Translation: X:126.85, Y:115.66, Z:-3.87 [[ 3.35672524e-02 -9.99436371e-01 4.23354503e-04 1.26851275e+02] [ 9.99367778e-01 3.35699085e-02 1.17091862e-02 1.15657408e+02] [-1.17167985e-02 3.00416407e-05 9.99931356e-01 -3.87038774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01 meters 0.01854190928362087 Centerline is valid? [True, True] Translation: X:126.85, Y:115.69, Z:-3.87 [[ 3.49322626e-02 -9.99389565e-01 4.83852572e-04 1.26851609e+02] [ 9.99298068e-01 3.49356116e-02 1.35231110e-02 1.15685736e+02] [-1.35317597e-02 1.11200784e-05 9.99908441e-01 -3.86965187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04 meters 0.018261472475927507 Centerline is valid? [True, True] Translation: X:126.85, Y:115.71, Z:-3.87 [[ 3.54382447e-02 -9.99371734e-01 5.17851222e-04 1.26852133e+02] [ 9.99265082e-01 3.54420281e-02 1.45999793e-02 1.15712593e+02] [-1.46091603e-02 7.30053126e-08 9.99893281e-01 -3.86937102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07 meters 0.016854507740166336 Centerline is valid? [True, True] Translation: X:126.85, Y:115.74, Z:-3.87 [[ 3.63919590e-02 -9.99337445e-01 5.44503034e-04 1.26852155e+02] [ 9.99217307e-01 3.63960268e-02 1.54952747e-02 1.15740696e+02] [-1.55048260e-02 -1.98265461e-05 9.99879793e-01 -3.86799938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.1 meters 0.017992320042009072 Centerline is valid? [True, True] Translation: X:126.85, Y:115.77, Z:-3.87 [[ 3.65759304e-02 -9.99330733e-01 5.36613923e-04 1.26852823e+02] [ 9.99212172e-01 3.65798568e-02 1.53931567e-02 1.15768512e+02] [-1.54024838e-02 -2.68278659e-05 9.99881374e-01 -3.86989388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13 meters 0.015965747446277302 Centerline is valid? [True, True] Translation: X:126.85, Y:115.80, Z:-3.87 [[ 3.87636227e-02 -9.99248257e-01 5.49544040e-04 1.26851874e+02] [ 9.99121800e-01 3.87674597e-02 1.58969545e-02 1.15795772e+02] [-1.59063085e-02 -6.71621146e-05 9.99873484e-01 -3.86716590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16 meters 0.017052676836917614 Centerline is valid? [True, True] Translation: X:126.85, Y:115.82, Z:-3.87 [[ 3.90685913e-02 -9.99236392e-01 5.27900841e-04 1.26852465e+02] [ 9.99117698e-01 3.90720871e-02 1.54012509e-02 1.15823785e+02] [-1.54101166e-02 -7.42701062e-05 9.99881254e-01 -3.86996411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19 meters 0.018187354259333918 Centerline is valid? [True, True] Translation: X:126.85, Y:115.85, Z:-3.87 [[ 3.97280518e-02 -9.99210409e-01 4.91159410e-04 1.26852537e+02] [ 9.99106105e-01 3.97310014e-02 1.44374139e-02 1.15851633e+02] [-1.44455285e-02 -8.28499627e-05 9.99895654e-01 -3.87257935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22 meters 0.018633999237981126 Centerline is valid? [True, True] Translation: X:126.85, Y:115.88, Z:-3.87 [[ 4.05052207e-02 -9.99179220e-01 4.62692611e-04 1.26851828e+02] [ 9.99085260e-01 4.05077570e-02 1.37027245e-02 1.15878286e+02] [-1.37102202e-02 -9.27625109e-05 9.99906006e-01 -3.87435264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25 meters 0.017094019800827677 Centerline is valid? [True, True] Translation: X:126.85, Y:115.91, Z:-3.87 [[ 4.27837117e-02 -9.99084264e-01 4.33118138e-04 1.26849678e+02] [ 9.99000307e-01 4.27857316e-02 1.29525406e-02 1.15905335e+02] [-1.29592107e-02 -1.21472609e-04 9.99916019e-01 -3.87433621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28 meters 0.0170207168951416 Centerline is valid? [True, True] Translation: X:126.85, Y:115.93, Z:-3.87 [[ 4.29895277e-02 -9.99075438e-01 4.11824752e-04 1.26850451e+02] [ 9.98998928e-01 4.29913324e-02 1.23647725e-02 1.15933511e+02] [-1.23710454e-02 -1.20143243e-04 9.99923468e-01 -3.87498451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31 meters 0.01592255751023854 Centerline is valid? [True, True] Translation: X:126.85, Y:115.96, Z:-3.87 [[ 4.35767817e-02 -9.99050006e-01 3.87419180e-04 1.26850300e+02] [ 9.98981231e-01 4.35783279e-02 1.17230314e-02 1.15961398e+02] [-1.17287777e-02 -1.23827491e-04 9.99931208e-01 -3.87327335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34 meters 0.017805014628347222 Centerline is valid? [True, True] Translation: X:126.85, Y:115.99, Z:-3.88 [[ 4.15873049e-02 -9.99134807e-01 3.64245949e-04 1.26852363e+02] [ 9.99073057e-01 4.15887844e-02 1.11085858e-02 1.15989507e+02] [-1.11141233e-02 -9.80678316e-05 9.99938231e-01 -3.87830688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37 meters 0.015479808394358715 Centerline is valid? [True, True] Translation: X:126.85, Y:116.02, Z:-3.88 [[ 3.91898352e-02 -9.99231722e-01 3.49576578e-04 1.26854443e+02] [ 9.99173943e-01 3.91913284e-02 1.07457349e-02 1.16017104e+02] [-1.07511796e-02 -7.18357728e-05 9.99942202e-01 -3.87534157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.4 meters 0.015873509486540774 Centerline is valid? [True, True] Translation: X:126.86, Y:116.05, Z:-3.88 [[ 3.63328251e-02 -9.99339688e-01 3.37919663e-04 1.26857576e+02] [ 9.99284696e-01 3.63343708e-02 1.04837736e-02 1.16045154e+02] [-1.04891291e-02 -4.32271646e-05 9.99944987e-01 -3.87734136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42999999999998 meters 0.015168981788611952 Centerline is valid? [True, True] Translation: X:126.86, Y:116.07, Z:-3.88 [[ 3.35689345e-02 -9.99436339e-01 3.60584391e-04 1.26860296e+02] [ 9.99372205e-01 3.35708653e-02 1.13222194e-02 1.16072391e+02] [-1.13279427e-02 -1.97168247e-05 9.99935837e-01 -3.87599822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45999999999998 meters 0.015117853385989461 Centerline is valid? [True, True] Translation: X:126.86, Y:116.10, Z:-3.88 [[ 2.99967559e-02 -9.99549926e-01 3.75364021e-04 1.26863972e+02] [ 9.99479862e-01 2.99990976e-02 1.18346612e-02 1.16099006e+02] [-1.18405953e-02 2.01673351e-05 9.99929897e-01 -3.87645531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48999999999998 meters 0.017630170996875423 Centerline is valid? [True, True] Translation: X:126.87, Y:116.13, Z:-3.88 [[ 2.17334520e-02 -9.99763721e-01 3.98342056e-04 1.26870164e+02] [ 9.99682769e-01 2.17367615e-02 1.27229608e-02 1.16127475e+02] [-1.27286133e-02 1.21701833e-04 9.99918981e-01 -3.87863573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51999999999998 meters 0.01700463021165066 Centerline is valid? [True, True] Translation: X:126.87, Y:116.15, Z:-3.88 [[ 1.91493959e-02 -9.99816541e-01 4.30559668e-04 1.26872212e+02] [ 9.99719908e-01 1.91535315e-02 1.39013893e-02 1.16154953e+02] [-1.39070857e-02 1.64235865e-04 9.99903278e-01 -3.87799849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54999999999998 meters 0.017323648407932452 Centerline is valid? [True, True] Translation: X:126.87, Y:116.18, Z:-3.88 [[ 1.65450989e-02 -9.99863022e-01 4.43773387e-04 1.26872963e+02] [ 9.99759089e-01 1.65497782e-02 1.44176298e-02 1.16183631e+02] [-1.44229993e-02 2.05125365e-04 9.99895962e-01 -3.87830056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57999999999998 meters 0.01861298501960444 Centerline is valid? [True, True] Translation: X:126.87, Y:116.21, Z:-3.88 [[ 1.37725836e-02 -9.99905058e-01 4.37710549e-04 1.26874194e+02] [ 9.99802162e-01 1.37774465e-02 1.43463696e-02 1.16212371e+02] [-1.43510381e-02 2.40037379e-04 9.99896990e-01 -3.88036470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60999999999999 meters 0.018120532916444002 Centerline is valid? [True, True] Translation: X:126.88, Y:116.24, Z:-3.88 [[ 1.20663739e-02 -9.99927107e-01 4.27656527e-04 1.26875705e+02] [ 9.99827106e-01 1.20712162e-02 1.41437196e-02 1.16239688e+02] [-1.41478510e-02 2.56919178e-04 9.99899881e-01 -3.88050715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64 meters 0.01724276269833114 Centerline is valid? [True, True] Translation: X:126.88, Y:116.27, Z:-3.88 [[ 9.39024918e-03 -9.99955828e-01 4.05828377e-04 1.26876984e+02] [ 9.99864364e-01 9.39488030e-03 1.35273734e-02 1.16267724e+02] [-1.35305885e-02 2.78747926e-04 9.99908419e-01 -3.88011015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67 meters 0.017812273095605062 Centerline is valid? [True, True] Translation: X:126.88, Y:116.30, Z:-3.88 [[ 8.06878736e-03 -9.99967372e-01 3.86444300e-04 1.26878215e+02] [ 9.99883040e-01 8.07312681e-03 1.29896399e-02 1.16296328e+02] [-1.29923359e-02 2.81588460e-04 9.99915556e-01 -3.88182913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.7 meters 0.019847491635948396 Centerline is valid? [True, True] Translation: X:126.88, Y:116.33, Z:-3.89 [[ 6.67045138e-03 -9.99977690e-01 3.53913845e-04 1.26878591e+02] [ 9.99905832e-01 6.67421590e-03 1.19909515e-02 1.16325122e+02] [-1.19930461e-02 2.73895458e-04 9.99928043e-01 -3.88517250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73 meters 0.02005886568364641 Centerline is valid? [True, True] Translation: X:126.88, Y:116.35, Z:-3.89 [[ 6.57836440e-03 -9.99978303e-01 3.45352337e-04 1.26876891e+02] [ 9.99908760e-01 6.58198083e-03 1.17961744e-02 1.16351995e+02] [-1.17981915e-02 2.67721293e-04 9.99930363e-01 -3.88665975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76 meters 0.018667030370067093 Centerline is valid? [True, True] Translation: X:126.88, Y:116.38, Z:-3.89 [[ 7.61684983e-03 -9.99970929e-01 3.52906782e-04 1.26875326e+02] [ 9.99896642e-01 7.62058657e-03 1.21914915e-02 1.16380483e+02] [-1.21938264e-02 2.60009546e-04 9.99925619e-01 -3.88570734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79 meters 0.01916672210260821 Centerline is valid? [True, True] Translation: X:126.87, Y:116.41, Z:-3.89 [[ 8.34705313e-03 -9.99965102e-01 3.47934316e-04 1.26874348e+02] [ 9.99891498e-01 8.35066107e-03 1.21350575e-02 1.16407966e+02] [-1.21375395e-02 2.46604594e-04 9.99926307e-01 -3.88708182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82 meters 0.01615948240187216 Centerline is valid? [True, True] Translation: X:126.87, Y:116.44, Z:-3.88 [[ 1.11105550e-02 -9.99938214e-01 3.53157377e-04 1.26872434e+02] [ 9.99860703e-01 1.11140915e-02 1.24519962e-02 1.16436366e+02] [-1.24551519e-02 2.14759594e-04 9.99922409e-01 -3.88345504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85 meters 0.017186810573725002 Centerline is valid? [True, True] Translation: X:126.87, Y:116.46, Z:-3.89 [[ 1.33573507e-02 -9.99910715e-01 3.79794697e-04 1.26869082e+02] [ 9.99819008e-01 1.33612699e-02 1.35435760e-02 1.16464982e+02] [-1.35474413e-02 1.98819662e-04 9.99908209e-01 -3.88569764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88 meters 0.01780495330667462 Centerline is valid? [True, True] Translation: X:126.87, Y:116.49, Z:-3.89 [[ 1.48619201e-02 -9.99889482e-01 3.82577558e-04 1.26867785e+02] [ 9.99794491e-01 1.48657821e-02 1.37835081e-02 1.16493647e+02] [-1.37876721e-02 1.77649537e-04 9.99904930e-01 -3.88701324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91 meters 0.01717652323419193 Centerline is valid? [True, True] Translation: X:126.87, Y:116.52, Z:-3.89 [[ 1.67690722e-02 -9.99859313e-01 3.89474276e-04 1.26866885e+02] [ 9.99758923e-01 1.67729078e-02 1.41691921e-02 1.16520535e+02] [-1.41737313e-02 1.51776178e-04 9.99899536e-01 -3.88735135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94 meters 0.015789546570817742 Centerline is valid? [True, True] Translation: X:126.86, Y:116.55, Z:-3.89 [[ 1.90096043e-02 -9.99819217e-01 4.10711346e-04 1.26864507e+02] [ 9.99704936e-01 1.90136413e-02 1.51169872e-02 1.16548831e+02] [-1.51220635e-02 1.23222214e-04 9.99885647e-01 -3.88639683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97 meters 0.017580534652022927 Centerline is valid? [True, True] Translation: X:126.86, Y:116.58, Z:-3.89 [[ 2.16485165e-02 -9.99765562e-01 4.03428848e-04 1.26861911e+02] [ 9.99652725e-01 2.16521343e-02 1.50204465e-02 1.16576145e+02] [-1.50256602e-02 7.81183630e-05 9.99887105e-01 -3.88957451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.0 meters 0.01431806057859324 Centerline is valid? [True, True] Translation: X:126.86, Y:116.60, Z:-3.89 [[ 2.44854728e-02 -9.99700095e-01 4.27110399e-04 1.26860214e+02] [ 9.99571673e-01 2.44891733e-02 1.60234519e-02 1.16604735e+02] [-1.60291060e-02 3.45856596e-05 9.99871525e-01 -3.88558960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03 meters 0.016711445779482175 Centerline is valid? [True, True] Translation: X:126.86, Y:116.63, Z:-3.89 [[ 2.45563594e-02 -9.99698359e-01 4.19544337e-04 1.26859879e+02] [ 9.99571541e-01 2.45599267e-02 1.59230747e-02 1.16631336e+02] [-1.59285756e-02 2.83518339e-05 9.99873132e-01 -3.88991767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06 meters 0.01424448149820687 Centerline is valid? [True, True] Translation: X:126.86, Y:116.66, Z:-3.89 [[ 2.71836101e-02 -9.99630367e-01 4.25501469e-04 1.26858316e+02] [ 9.99497996e-01 2.71869348e-02 1.62673635e-02 1.16659050e+02] [-1.62729187e-02 -1.69178031e-05 9.99867587e-01 -3.88711240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09 meters 0.017358500083438994 Centerline is valid? [True, True] Translation: X:126.86, Y:116.69, Z:-3.89 [[ 2.71110118e-02 -9.99632349e-01 3.99563475e-04 1.26858226e+02] [ 9.99513051e-01 2.71139492e-02 1.54432704e-02 1.16687465e+02] [-1.54484264e-02 -1.93137771e-05 9.99880666e-01 -3.89158054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12 meters 0.01544282622882909 Centerline is valid? [True, True] Translation: X:126.86, Y:116.72, Z:-3.89 [[ 3.05607537e-02 -9.99532839e-01 3.79713301e-04 1.26856455e+02] [ 9.99422851e-01 3.05630238e-02 1.48279261e-02 1.16715246e+02] [-1.48326043e-02 -7.36584486e-05 9.99889988e-01 -3.89138089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15 meters 0.01544282622882909 Centerline is valid? [True, True] Translation: X:126.86, Y:116.74, Z:-3.89 [[ 3.02764263e-02 -9.99541493e-01 3.75502807e-04 1.26857080e+02] [ 9.99431504e-01 3.02786652e-02 1.48280325e-02 1.16742840e+02] [-1.48326035e-02 -7.36504993e-05 9.99889988e-01 -3.89194694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17999999999998 meters 0.01675204306911487 Centerline is valid? [True, True] Translation: X:126.86, Y:116.77, Z:-3.89 [[ 3.03840517e-02 -9.99538234e-01 3.57820665e-04 1.26856993e+02] [ 9.99436256e-01 3.03860630e-02 1.42778597e-02 1.16769652e+02] [-1.42821394e-02 -7.62002812e-05 9.99898002e-01 -3.89449325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20999999999998 meters 0.014486426549719813 Centerline is valid? [True, True] Translation: X:126.86, Y:116.80, Z:-3.89 [[ 3.18176340e-02 -9.99493621e-01 3.73840973e-04 1.26856870e+02] [ 9.99379311e-01 3.18196490e-02 1.51163267e-02 1.16797563e+02] [-1.51205676e-02 -1.07356816e-04 9.99885672e-01 -3.89123792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23999999999998 meters 0.017275002471575696 Centerline is valid? [True, True] Translation: X:126.86, Y:116.82, Z:-3.90 [[ 2.99595047e-02 -9.99551038e-01 3.87581583e-04 1.26858099e+02] [ 9.99424889e-01 2.99618812e-02 1.58800928e-02 1.16824941e+02] [-1.58845759e-02 -8.84010332e-05 9.99873828e-01 -3.89550467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26999999999998 meters 0.016618672113973776 Centerline is valid? [True, True] Translation: X:126.86, Y:116.85, Z:-3.89 [[ 2.81027218e-02 -9.99604952e-01 4.21605535e-04 1.26859822e+02] [ 9.99453019e-01 2.81058009e-02 1.74277872e-02 1.16851722e+02] [-1.74327520e-02 -6.83933313e-05 9.99848036e-01 -3.89469559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29999999999998 meters 0.016490120915505335 Centerline is valid? [True, True] Translation: X:126.86, Y:116.88, Z:-3.90 [[ 2.65114063e-02 -9.99648421e-01 4.23402859e-04 1.26861986e+02] [ 9.99491376e-01 2.65147462e-02 1.77188478e-02 1.16879509e+02] [-1.77238446e-02 -4.65640655e-05 9.99842919e-01 -3.89501616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32999999999998 meters 0.01639903784483381 Centerline is valid? [True, True] Translation: X:126.86, Y:116.91, Z:-3.90 [[ 2.46788170e-02 -9.99695343e-01 4.21959033e-04 1.26863925e+02] [ 9.99535539e-01 2.46824165e-02 1.78741510e-02 1.16906246e+02] [-1.78791205e-02 -1.93498530e-05 9.99840156e-01 -3.89575002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35999999999999 meters 0.01563538921314144 Centerline is valid? [True, True] Translation: X:126.87, Y:116.93, Z:-3.90 [[ 2.18115328e-02 -9.99762012e-01 4.21061415e-04 1.26867373e+02] [ 9.99598637e-01 2.18155802e-02 1.80733178e-02 1.16934040e+02] [-1.80782023e-02 2.66856528e-05 9.99836576e-01 -3.89576560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39 meters 0.01599956078990978 Centerline is valid? [True, True] Translation: X:126.87, Y:116.96, Z:-3.90 [[ 2.06980967e-02 -9.99785689e-01 4.06499951e-04 1.26869341e+02] [ 9.99629743e-01 2.07020477e-02 1.76579330e-02 1.16962243e+02] [-1.76625641e-02 4.08638377e-05 9.99844004e-01 -3.89663945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42 meters 0.016967338761138602 Centerline is valid? [True, True] Translation: X:126.87, Y:116.99, Z:-3.90 [[ 1.99589818e-02 -9.99800723e-01 3.92501503e-04 1.26870671e+02] [ 9.99651792e-01 1.99627832e-02 1.72563785e-02 1.16989308e+02] [-1.72607752e-02 4.79450854e-05 9.99851021e-01 -3.89830395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45 meters 0.01673060913003407 Centerline is valid? [True, True] Translation: X:126.87, Y:117.02, Z:-3.90 [[ 1.96749946e-02 -9.99806356e-01 3.80900760e-04 1.26871526e+02] [ 9.99662339e-01 1.96786254e-02 1.69693468e-02 1.17017346e+02] [-1.69735564e-02 4.69003396e-05 9.99855938e-01 -3.89925154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48 meters 0.013919920758316162 Centerline is valid? [True, True] Translation: X:126.87, Y:117.05, Z:-3.90 [[ 2.09448726e-02 -9.99780571e-01 3.51031479e-04 1.26872074e+02] [ 9.99655374e-01 2.09478049e-02 1.58215746e-02 1.17045779e+02] [-1.58254562e-02 1.95296405e-05 9.99874769e-01 -3.89803288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51 meters 0.0156863914580086 Centerline is valid? [True, True] Translation: X:126.87, Y:117.07, Z:-3.90 [[ 2.00499787e-02 -9.99798930e-01 3.14272699e-04 1.26873493e+02] [ 9.99696358e-01 2.00524233e-02 1.43210321e-02 1.17073628e+02] [-1.43244545e-02 2.70408849e-05 9.99897399e-01 -3.90220155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54 meters 0.015323535601897911 Centerline is valid? [True, True] Translation: X:126.87, Y:117.10, Z:-3.90 [[ 2.01286299e-02 -9.99797355e-01 2.96418213e-04 1.26874794e+02] [ 9.99703846e-01 2.01308013e-02 1.36737258e-02 1.17101577e+02] [-1.36769221e-02 2.10970611e-05 9.99906466e-01 -3.90329967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57 meters 0.017151346966374104 Centerline is valid? [True, True] Translation: X:126.88, Y:117.13, Z:-3.91 [[ 1.98041237e-02 -9.99803847e-01 2.53133704e-04 1.26876228e+02] [ 9.99733896e-01 1.98057324e-02 1.18266322e-02 1.17128347e+02] [-1.18293259e-02 1.88502571e-05 9.99930031e-01 -3.90748327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.6 meters 0.015832445928137654 Centerline is valid? [True, True] Translation: X:126.88, Y:117.16, Z:-3.91 [[ 2.05973312e-02 -9.99787828e-01 2.22763315e-04 1.26877627e+02] [ 9.99733204e-01 2.05985344e-02 1.04508690e-02 1.17156334e+02] [-1.04532402e-02 7.44387366e-06 9.99945363e-01 -3.90799227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63 meters 0.013978229715176867 Centerline is valid? [True, True] Translation: X:126.88, Y:117.18, Z:-3.91 [[ 2.12748938e-02 -9.99773640e-01 2.16420608e-04 1.26878440e+02] [ 9.99720357e-01 2.12759943e-02 1.03218507e-02 1.17183445e+02] [-1.03241188e-02 -3.23618953e-06 9.99946705e-01 -3.90657167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66 meters 0.01541507508957422 Centerline is valid? [True, True] Translation: X:126.88, Y:117.21, Z:-3.91 [[ 2.02887140e-02 -9.99794139e-01 2.17214333e-04 1.26880555e+02] [ 9.99739794e-01 2.02898759e-02 1.04242443e-02 1.17211274e+02] [-1.04265056e-02 5.66330141e-06 9.99945643e-01 -3.90889290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69 meters 0.016427428115086 Centerline is valid? [True, True] Translation: X:126.88, Y:117.24, Z:-3.91 [[ 1.95687428e-02 -9.99808482e-01 2.50987441e-04 1.26883875e+02] [ 9.99733337e-01 1.95703492e-02 1.22578897e-02 1.17238261e+02] [-1.22604540e-02 1.10490216e-05 9.99924838e-01 -3.90898040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72 meters 0.015994807288387806 Centerline is valid? [True, True] Translation: X:126.89, Y:117.27, Z:-3.91 [[ 1.93256299e-02 -9.99813207e-01 2.67721011e-04 1.26885584e+02] [ 9.99724810e-01 1.93274812e-02 1.32948394e-02 1.17266360e+02] [-1.32975304e-02 1.07161901e-05 9.99911584e-01 -3.90794600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75 meters 0.01384417452344886 Centerline is valid? [True, True] Translation: X:126.89, Y:117.29, Z:-3.90 [[ 2.04429377e-02 -9.99790976e-01 3.02269620e-04 1.26886844e+02] [ 9.99674448e-01 2.04451699e-02 1.52641020e-02 1.17294131e+02] [-1.52670914e-02 -9.87187041e-06 9.99883451e-01 -3.90379784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78 meters 0.017136249301068458 Centerline is valid? [True, True] Translation: X:126.89, Y:117.32, Z:-3.91 [[ 1.98940172e-02 -9.99802049e-01 3.00399303e-04 1.26888359e+02] [ 9.99683590e-01 1.98962842e-02 1.53901556e-02 1.17321975e+02] [-1.53930859e-02 -5.86776571e-06 9.99881519e-01 -3.90772021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81 meters 0.015012418609797832 Centerline is valid? [True, True] Translation: X:126.89, Y:117.35, Z:-3.91 [[ 2.22762926e-02 -9.99751802e-01 3.18563553e-04 1.26889135e+02] [ 9.99614293e-01 2.22785121e-02 1.65811369e-02 1.17350450e+02] [-1.65841186e-02 -5.09255762e-05 9.99862473e-01 -3.90551062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84 meters 0.014141057139543394 Centerline is valid? [True, True] Translation: X:126.89, Y:117.38, Z:-3.90 [[ 2.37426322e-02 -9.99718052e-01 3.22174747e-04 1.26889309e+02] [ 9.99573096e-01 2.37446758e-02 1.70239881e-02 1.17377699e+02] [-1.70268382e-02 -8.21570786e-05 9.99855030e-01 -3.90395279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87 meters 0.0144678489041635 Centerline is valid? [True, True] Translation: X:126.89, Y:117.41, Z:-3.91 [[ 2.40980775e-02 -9.99709552e-01 3.06230467e-04 1.26890052e+02] [ 9.99574454e-01 2.40998553e-02 1.64349888e-02 1.17405871e+02] [-1.64375954e-02 -8.99514813e-05 9.99864890e-01 -3.90562369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.9 meters 0.01682978651801728 Centerline is valid? [True, True] Translation: X:126.89, Y:117.43, Z:-3.91 [[ 2.35637949e-02 -9.99722296e-01 2.79340932e-04 1.26890598e+02] [ 9.99607035e-01 2.35653199e-02 1.51806513e-02 1.17433597e+02] [-1.51830183e-02 -7.84825920e-05 9.99884728e-01 -3.90999401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92999999999998 meters 0.014148907126127297 Centerline is valid? [True, True] Translation: X:126.89, Y:117.46, Z:-3.91 [[ 2.43216936e-02 -9.99704149e-01 2.65400779e-04 1.26889790e+02] [ 9.99597000e-01 2.43229725e-02 1.46366049e-02 1.17460808e+02] [-1.46387299e-02 -9.06931969e-05 9.99892844e-01 -3.90770841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95999999999998 meters 0.014317623402418574 Centerline is valid? [True, True] Translation: X:126.89, Y:117.49, Z:-3.91 [[ 2.42336938e-02 -9.99706293e-01 2.37645789e-04 1.26888697e+02] [ 9.99617877e-01 2.42347111e-02 1.32958454e-02 1.17487500e+02] [-1.32976996e-02 -8.46524676e-05 9.99911578e-01 -3.91043932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98999999999998 meters 0.014291684582645996 Centerline is valid? [True, True] Translation: X:126.89, Y:117.52, Z:-3.91 [[ 2.40619370e-02 -9.99710451e-01 1.91242997e-04 1.26886087e+02] [ 9.99651792e-01 2.40625968e-02 1.08298327e-02 1.17516211e+02] [-1.08312987e-02 -6.94103455e-05 9.99941337e-01 -3.91303952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01999999999998 meters 0.01650106816465476 Centerline is valid? [True, True] Translation: X:126.88, Y:117.54, Z:-3.92 [[ 2.31187216e-02 -9.99732712e-01 1.68655515e-04 1.26884491e+02] [ 9.99686167e-01 2.31192727e-02 9.64711469e-03 1.17543621e+02] [-9.64843533e-03 -5.44263738e-05 9.99953451e-01 -3.91831831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04999999999998 meters 0.016498150912927903 Centerline is valid? [True, True] Translation: X:126.88, Y:117.57, Z:-3.92 [[ 2.32185368e-02 -9.99730401e-01 1.56857757e-04 1.26883383e+02] [ 9.99688795e-01 2.32190016e-02 9.12087755e-03 1.17572057e+02] [-9.12206065e-03 -5.49644888e-05 9.99958392e-01 -3.91918036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07999999999998 meters 0.015796460977460982 Centerline is valid? [True, True] Translation: X:126.88, Y:117.60, Z:-3.92 [[ 2.38070049e-02 -9.99716561e-01 1.55853919e-04 1.26882973e+02] [ 9.99674080e-01 2.38074301e-02 9.21629702e-03 1.17600342e+02] [-9.21739524e-03 -6.36093055e-05 9.99957517e-01 -3.91891432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10999999999999 meters 0.01597979108288667 Centerline is valid? [True, True] Translation: X:126.88, Y:117.63, Z:-3.92 [[ 2.38733369e-02 -9.99714979e-01 1.56381531e-04 1.26882923e+02] [ 9.99670750e-01 2.38737517e-02 9.40400744e-03 1.17627849e+02] [-9.40506051e-03 -6.81749954e-05 9.99955769e-01 -3.91912892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14 meters 0.014433980398144922 Centerline is valid? [True, True] Translation: X:126.88, Y:117.66, Z:-3.92 [[ 2.37314264e-02 -9.99718358e-01 1.57649788e-04 1.26883647e+02] [ 9.99671486e-01 2.37318404e-02 9.68086171e-03 1.17656427e+02] [-9.68187649e-03 -7.21426593e-05 9.99953127e-01 -3.91692830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17 meters 0.016855565140903955 Centerline is valid? [True, True] Translation: X:126.89, Y:117.68, Z:-3.92 [[ 1.96652370e-02 -9.99806610e-01 1.48029803e-04 1.26885535e+02] [ 9.99764015e-01 1.96657656e-02 9.22891824e-03 1.17683247e+02] [-9.23004457e-03 -3.34939944e-05 9.99957402e-01 -3.92214845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.2 meters 0.014239151482990025 Centerline is valid? [True, True] Translation: X:126.89, Y:117.71, Z:-3.92 [[ 1.79260668e-02 -9.99839304e-01 1.50909495e-04 1.26886900e+02] [ 9.99793147e-01 1.79266893e-02 9.60710967e-03 1.17711249e+02] [-9.60827115e-03 -2.13394107e-05 9.99953839e-01 -3.91962371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23 meters 0.016082707708957384 Centerline is valid? [True, True] Translation: X:126.89, Y:117.74, Z:-3.92 [[ 1.45665238e-02 -9.99893892e-01 1.47395991e-04 1.26888672e+02] [ 9.99848383e-01 1.45672671e-02 9.53972576e-03 1.17738149e+02] [-9.54086067e-03 8.41300053e-06 9.99954485e-01 -3.92365392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26 meters 0.015362038583452704 Centerline is valid? [True, True] Translation: X:126.89, Y:117.77, Z:-3.92 [[ 1.17687730e-02 -9.99930734e-01 1.53980960e-04 1.26890441e+02] [ 9.99878779e-01 1.17697311e-02 1.01932132e-02 1.17766634e+02] [-1.01943195e-02 3.40006829e-05 9.99948036e-01 -3.92195734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29 meters 0.014382472820416794 Centerline is valid? [True, True] Translation: X:126.89, Y:117.79, Z:-3.92 [[ 9.20829803e-03 -9.99957589e-01 1.64461583e-04 1.26892979e+02] [ 9.99895709e-01 9.20955783e-03 1.11245680e-02 1.17793620e+02] [-1.11256108e-02 6.20060939e-05 9.99938107e-01 -3.91999793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32 meters 0.016887736142532445 Centerline is valid? [True, True] Translation: X:126.90, Y:117.82, Z:-3.92 [[ 2.67645674e-03 -9.99996403e-01 1.77250464e-04 1.26898778e+02] [ 9.99920916e-01 2.67843271e-03 1.22877245e-02 1.17820303e+02] [-1.22881551e-02 1.44348883e-04 9.99924487e-01 -3.92184544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35 meters 0.015173565153381587 Centerline is valid? [True, True] Translation: X:126.90, Y:117.85, Z:-3.92 [[ 5.61292665e-04 -9.99999827e-01 1.75155648e-04 1.26899772e+02] [ 9.99922783e-01 5.63423828e-04 1.24141518e-02 1.17848632e+02] [-1.24142483e-02 1.68174151e-04 9.99922926e-01 -3.91881400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38 meters 0.017270124313020628 Centerline is valid? [True, True] Translation: X:126.90, Y:117.88, Z:-3.92 [[-2.47139764e-03 -9.99996933e-01 1.64544388e-04 1.26901413e+02] [ 9.99926455e-01 -2.46926969e-03 1.18738183e-02 1.17877026e+02] [-1.18733756e-02 1.93877213e-04 9.99929490e-01 -3.92279612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41 meters 0.018468938796676652 Centerline is valid? [True, True] Translation: X:126.90, Y:117.91, Z:-3.93 [[-4.91785229e-03 -9.99987896e-01 1.48638462e-04 1.26902620e+02] [ 9.99928484e-01 -4.91593959e-03 1.09022842e-02 1.17905859e+02] [-1.09014216e-02 2.02243656e-04 9.99940557e-01 -3.92532995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44 meters 0.01815587477764465 Centerline is valid? [True, True] Translation: X:126.90, Y:117.93, Z:-3.93 [[-6.48104644e-03 -9.99978988e-01 1.41739972e-04 1.26903884e+02] [ 9.99922802e-01 -6.47917948e-03 1.06023562e-02 1.17933187e+02] [-1.06012150e-02 2.10443393e-04 9.99943783e-01 -3.92626766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47 meters 0.017493564404440182 Centerline is valid? [True, True] Translation: X:126.91, Y:117.96, Z:-3.93 [[-7.69603787e-03 -9.99970378e-01 1.20906582e-04 1.26906162e+02] [ 9.99927987e-01 -7.69459811e-03 9.20944590e-03 1.17960564e+02] [-9.20824277e-03 1.91774119e-04 9.99957585e-01 -3.92630849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.5 meters 0.01786874990845788 Centerline is valid? [True, True] Translation: X:126.90, Y:117.99, Z:-3.93 [[-8.37829186e-03 -9.99964896e-01 1.07192190e-04 1.26904411e+02] [ 9.99931330e-01 -8.37713215e-03 8.19510059e-03 1.17989050e+02] [-8.19391494e-03 1.75845774e-04 9.99966414e-01 -3.92805686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53 meters 0.018959086829976768 Centerline is valid? [True, True] Translation: X:126.90, Y:118.02, Z:-3.93 [[-8.76349331e-03 -9.99961595e-01 1.01413401e-04 1.26904514e+02] [ 9.99930516e-01 -8.76242120e-03 7.88564933e-03 1.18016924e+02] [-7.88445785e-03 1.70512190e-04 9.99968903e-01 -3.92985605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56 meters 0.017224116507004235 Centerline is valid? [True, True] Translation: X:126.90, Y:118.05, Z:-3.93 [[-7.92368532e-03 -9.99968602e-01 1.03852177e-04 1.26904210e+02] [ 9.99934312e-01 -7.92255339e-03 8.28283307e-03 1.18045241e+02] [-8.28175023e-03 1.69475918e-04 9.99965691e-01 -3.92804633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59 meters 0.017821825425764784 Centerline is valid? [True, True] Translation: X:126.90, Y:118.07, Z:-3.93 [[-6.24942460e-03 -9.99980467e-01 1.02093486e-04 1.26902349e+02] [ 9.99945660e-01 -6.24835511e-03 8.34476835e-03 1.18073498e+02] [-8.34396744e-03 1.54237939e-04 9.99965177e-01 -3.92853973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62 meters 0.018495439826362467 Centerline is valid? [True, True] Translation: X:126.90, Y:118.10, Z:-3.93 [[-4.88129400e-03 -9.99988081e-01 1.06717219e-04 1.26901723e+02] [ 9.99947303e-01 -4.88013108e-03 9.03193973e-03 1.18100662e+02] [-9.03131128e-03 1.50799148e-04 9.99959206e-01 -3.93022152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65 meters 0.017541251519416524 Centerline is valid? [True, True] Translation: X:126.90, Y:118.13, Z:-3.93 [[-2.93690086e-03 -9.99995681e-01 1.10285972e-04 1.26899346e+02] [ 9.99951061e-01 -2.93572787e-03 9.44757845e-03 1.18128853e+02] [-9.44721388e-03 1.38027176e-04 9.99955365e-01 -3.92915123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67999999999998 meters 0.014877978158577592 Centerline is valid? [True, True] Translation: X:126.90, Y:118.16, Z:-3.93 [[-6.00644091e-05 -9.99999991e-01 1.21609214e-04 1.26897347e+02] [ 9.99941466e-01 -5.87451452e-05 1.08194927e-02 1.18156373e+02] [-1.08194855e-02 1.22251962e-04 9.99941460e-01 -3.92597138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70999999999998 meters 0.016483397383535426 Centerline is valid? [True, True] Translation: X:126.89, Y:118.18, Z:-3.93 [[ 3.83300451e-03 -9.99992646e-01 1.27897015e-04 1.26894270e+02] [ 9.99926387e-01 3.83422286e-03 1.15116977e-02 1.18184311e+02] [-1.15121034e-02 8.37632105e-05 9.99933730e-01 -3.92879221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73999999999998 meters 0.015984780503436186 Centerline is valid? [True, True] Translation: X:126.89, Y:118.21, Z:-3.93 [[ 5.86160259e-03 -9.99982812e-01 1.28126503e-04 1.26893050e+02] [ 9.99912099e-01 5.86271181e-03 1.18921599e-02 1.18211762e+02] [-1.18927067e-02 5.84081256e-05 9.99929278e-01 -3.92852120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76999999999998 meters 0.01743640271544616 Centerline is valid? [True, True] Translation: X:126.89, Y:118.24, Z:-3.93 [[ 7.19591293e-03 -9.99974102e-01 1.21242486e-04 1.26891776e+02] [ 9.99909197e-01 7.19682724e-03 1.13931712e-02 1.18239874e+02] [-1.13937487e-02 3.92472086e-05 9.99935088e-01 -3.93092005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79999999999998 meters 0.01623983074483157 Centerline is valid? [True, True] Translation: X:126.89, Y:118.27, Z:-3.93 [[ 1.03250685e-02 -9.99946688e-01 1.20666560e-04 1.26889025e+02] [ 9.99878515e-01 1.03257735e-02 1.16761919e-02 1.18268512e+02] [-1.16768154e-02 9.44200519e-08 9.99931824e-01 -3.93105651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82999999999998 meters 0.01699170057048558 Centerline is valid? [True, True] Translation: X:126.89, Y:118.30, Z:-3.93 [[ 1.11994261e-02 -9.99937278e-01 1.11431354e-04 1.26888155e+02] [ 9.99876755e-01 1.11999742e-02 1.10016061e-02 1.18295336e+02] [-1.10021641e-02 -1.17940529e-05 9.99939474e-01 -3.93276611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85999999999999 meters 0.016037516484835364 Centerline is valid? [True, True] Translation: X:126.89, Y:118.32, Z:-3.93 [[ 1.22315240e-02 -9.99925186e-01 1.10242048e-04 1.26887567e+02] [ 9.99862058e-01 1.22319906e-02 1.12358467e-02 1.18323815e+02] [-1.12363546e-02 -2.72046880e-05 9.99936870e-01 -3.93205256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89 meters 0.014317574250147928 Centerline is valid? [True, True] Translation: X:126.89, Y:118.35, Z:-3.93 [[ 1.34356552e-02 -9.99909732e-01 1.07391098e-04 1.26886688e+02] [ 9.99846166e-01 1.34360120e-02 1.12746606e-02 1.18352184e+02] [-1.12750858e-02 -4.41078743e-05 9.99936433e-01 -3.92936732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92 meters 0.01692565772789556 Centerline is valid? [True, True] Translation: X:126.89, Y:118.38, Z:-3.93 [[ 1.28062566e-02 -9.99917991e-01 1.01808151e-04 1.26886731e+02] [ 9.99857635e-01 1.28066022e-02 1.09863752e-02 1.18379123e+02] [-1.09867780e-02 -3.89006829e-05 9.99939643e-01 -3.93426207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95 meters 0.015866243976901465 Centerline is valid? [True, True] Translation: X:126.89, Y:118.41, Z:-3.93 [[ 1.22072103e-02 -9.99925484e-01 1.01580325e-04 1.26887423e+02] [ 9.99860839e-01 1.22075762e-02 1.13700412e-02 1.18406854e+02] [-1.13704340e-02 -3.72302952e-05 9.99935354e-01 -3.93331249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98 meters 0.0160621448148755 Centerline is valid? [True, True] Translation: X:126.89, Y:118.44, Z:-3.93 [[ 1.08748910e-02 -9.99940861e-01 1.01893687e-04 1.26888851e+02] [ 9.99871156e-01 1.08753360e-02 1.18066725e-02 1.18435362e+02] [-1.18070824e-02 -2.65157171e-05 9.99930294e-01 -3.93376495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01 meters 0.014280558485122058 Centerline is valid? [True, True] Translation: X:126.89, Y:118.46, Z:-3.93 [[ 8.22453565e-03 -9.99966172e-01 1.11724028e-04 1.26891842e+02] [ 9.99875319e-01 8.22529442e-03 1.34792506e-02 1.18462425e+02] [-1.34797136e-02 8.49520917e-07 9.99909145e-01 -3.93042159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04 meters 0.016706833928937407 Centerline is valid? [True, True] Translation: X:126.89, Y:118.49, Z:-3.93 [[ 5.63036758e-03 -9.99984144e-01 1.05578184e-04 1.26894331e+02] [ 9.99896971e-01 5.63127079e-03 1.32036170e-02 1.18490216e+02] [-1.32040021e-02 3.12260901e-05 9.99912823e-01 -3.93404682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07 meters 0.016706833928937407 Centerline is valid? [True, True] Translation: X:126.89, Y:118.52, Z:-3.93 [[ 5.35090980e-03 -9.99985679e-01 1.01892806e-04 1.26894464e+02] [ 9.99898506e-01 5.35178871e-03 1.32036451e-02 1.18517818e+02] [-1.32040013e-02 3.12309508e-05 9.99912823e-01 -3.93461286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.1 meters 0.014395891186371112 Centerline is valid? [True, True] Translation: X:126.90, Y:118.55, Z:-3.93 [[ 4.39765494e-03 -9.99990325e-01 1.02580364e-04 1.26895876e+02] [ 9.99894739e-01 4.39865289e-03 1.38261487e-02 1.18546401e+02] [-1.38264662e-02 4.17669353e-05 9.99904409e-01 -3.93096515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13 meters 0.01734536270803667 Centerline is valid? [True, True] Translation: X:126.90, Y:118.57, Z:-3.94 [[ 1.92142707e-03 -9.99998150e-01 9.14567597e-05 1.26897593e+02] [ 9.99916909e-01 1.92243674e-03 1.27467402e-02 1.18574777e+02] [-1.27468924e-02 6.69572289e-05 9.99918753e-01 -3.93628541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16 meters 0.017733774631829125 Centerline is valid? [True, True] Translation: X:126.90, Y:118.60, Z:-3.94 [[ 4.97272381e-04 -9.99999874e-01 7.56514363e-05 1.26899227e+02] [ 9.99939205e-01 4.98075540e-04 1.10153800e-02 1.18601742e+02] [-1.10154163e-02 7.01691929e-05 9.99939326e-01 -3.93929999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19 meters 0.01791877152639916 Centerline is valid? [True, True] Translation: X:126.90, Y:118.63, Z:-3.94 [[ 1.75806377e-04 -9.99999982e-01 6.86886872e-05 1.26899573e+02] [ 9.99949475e-01 1.76487865e-04 1.00506920e-02 1.18630131e+02] [-1.00507040e-02 6.69182410e-05 9.99949488e-01 -3.94064314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22 meters 0.016881742108358754 Centerline is valid? [True, True] Translation: X:126.90, Y:118.66, Z:-3.94 [[ 8.91118305e-04 -9.99999601e-01 6.72522490e-05 1.26900070e+02] [ 9.99946641e-01 8.91763255e-04 1.02917698e-02 1.18658518e+02] [-1.02918257e-02 5.80774760e-05 9.99947036e-01 -3.94042699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25 meters 0.014349936983795233 Centerline is valid? [True, True] Translation: X:126.90, Y:118.69, Z:-3.94 [[ 2.35582324e-03 -9.99997223e-01 6.52192068e-05 1.26899947e+02] [ 9.99942852e-01 2.35637525e-03 1.04278813e-02 1.18685849e+02] [-1.04280060e-02 4.06492347e-05 9.99945626e-01 -3.93720514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28 meters 0.015458363477564477 Centerline is valid? [True, True] Translation: X:126.90, Y:118.71, Z:-3.94 [[ 4.03952889e-03 -9.99991840e-01 5.48129147e-05 1.26899809e+02] [ 9.99950315e-01 4.03986066e-03 9.11305124e-03 1.18714204e+02] [-9.11319831e-03 1.79977576e-05 9.99958474e-01 -3.94041715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31 meters 0.014349689965442211 Centerline is valid? [True, True] Translation: X:126.90, Y:118.74, Z:-3.94 [[ 5.54709993e-03 -9.99984613e-01 5.04162446e-05 1.26898760e+02] [ 9.99946284e-01 5.54732873e-03 8.75530848e-03 1.18742104e+02] [-8.75545344e-03 1.84696544e-06 9.99961670e-01 -3.93961945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34 meters 0.016683226121890504 Centerline is valid? [True, True] Translation: X:126.90, Y:118.77, Z:-3.95 [[ 5.94668042e-03 -9.99982317e-01 4.21888666e-05 1.26898421e+02] [ 9.99954066e-01 5.94682954e-03 7.51677939e-03 1.18769104e+02] [-7.51689737e-03 -2.51295609e-06 9.99971748e-01 -3.94510544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37 meters 0.01679738022311818 Centerline is valid? [True, True] Translation: X:126.90, Y:118.80, Z:-3.95 [[ 7.39818876e-03 -9.99972632e-01 3.67060654e-05 1.26898010e+02] [ 9.99949359e-01 7.39826701e-03 6.82234804e-03 1.18796793e+02] [-6.82243289e-03 -1.37688120e-05 9.99976727e-01 -3.94549229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.4 meters 0.01732494946586624 Centerline is valid? [True, True] Translation: X:126.90, Y:118.82, Z:-3.95 [[ 1.06322976e-02 -9.99943475e-01 3.00990152e-05 1.26897657e+02] [ 9.99923796e-01 1.06322772e-02 6.27348875e-03 1.18823711e+02] [-6.27345416e-03 -3.66048778e-05 9.99980321e-01 -3.94694443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42999999999998 meters 0.018553994687292023 Centerline is valid? [True, True] Translation: X:126.90, Y:118.85, Z:-3.95 [[ 1.18047208e-02 -9.99930321e-01 2.89376485e-05 1.26897523e+02] [ 9.99912894e-01 1.18046859e-02 5.90366089e-03 1.18850900e+02] [-5.90359113e-03 -4.07559407e-05 9.99982573e-01 -3.94839552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45999999999998 meters 0.014889544445831415 Centerline is valid? [True, True] Translation: X:126.90, Y:118.88, Z:-3.94 [[ 1.36510203e-02 -9.99906820e-01 3.34532221e-05 1.26897177e+02] [ 9.99881663e-01 1.36509142e-02 7.09319651e-03 1.18878776e+02] [-7.09299223e-03 -6.33801063e-05 9.99974842e-01 -3.94343318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48999999999998 meters 0.015007192993162697 Centerline is valid? [True, True] Translation: X:126.90, Y:118.91, Z:-3.94 [[ 1.52055722e-02 -9.99884388e-01 3.65358792e-05 1.26897389e+02] [ 9.99848186e-01 1.52053326e-02 8.50902709e-03 1.18906908e+02] [-8.50859888e-03 -9.28542930e-05 9.99963797e-01 -3.94277228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51999999999998 meters 0.015007192993162697 Centerline is valid? [True, True] Translation: X:126.90, Y:118.93, Z:-3.94 [[ 1.49213364e-02 -9.99888670e-01 3.41205216e-05 1.26897418e+02] [ 9.99852468e-01 1.49210865e-02 8.50903629e-03 1.18934515e+02] [-8.50859809e-03 -9.28507051e-05 9.99963797e-01 -3.94333838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54999999999998 meters 0.015057518869768707 Centerline is valid? [True, True] Translation: X:126.90, Y:118.96, Z:-3.94 [[ 1.48080973e-02 -9.99890353e-01 3.97994109e-05 1.26897470e+02] [ 9.99827831e-01 1.48076165e-02 1.11822790e-02 1.18962391e+02] [-1.11816422e-02 -1.25795717e-04 9.99937476e-01 -3.94208456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57999999999998 meters 0.015936628936284166 Centerline is valid? [True, True] Translation: X:126.90, Y:118.99, Z:-3.94 [[ 1.29072024e-02 -9.99916698e-01 3.77433481e-05 1.26898154e+02] [ 9.99849939e-01 1.29067768e-02 1.15548280e-02 1.18989035e+02] [-1.15543526e-02 -1.11402820e-04 9.99933240e-01 -3.94480081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60999999999999 meters 0.016757742685539815 Centerline is valid? [True, True] Translation: X:126.90, Y:119.01, Z:-3.95 [[ 1.06931004e-02 -9.99942827e-01 3.57787602e-05 1.26898456e+02] [ 9.99871152e-01 1.06927624e-02 1.19726361e-02 1.19014851e+02] [-1.19723342e-02 -9.22504502e-05 9.99928325e-01 -3.94717006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64 meters 0.0160705055352172 Centerline is valid? [True, True] Translation: X:126.90, Y:119.04, Z:-3.95 [[ 7.59925495e-03 -9.99971125e-01 3.26817969e-05 1.26900453e+02] [ 9.99892063e-01 7.59906509e-03 1.25744361e-02 1.19042991e+02] [-1.25743214e-02 -6.28780764e-05 9.99920938e-01 -3.94608650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67 meters 0.014323632341022713 Centerline is valid? [True, True] Translation: X:126.90, Y:119.07, Z:-3.94 [[ 7.03837747e-03 -9.99975230e-01 2.99577766e-05 1.26900311e+02] [ 9.99890701e-01 7.03817203e-03 1.30018965e-02 1.19071477e+02] [-1.30017853e-02 -6.15577533e-05 9.99915471e-01 -3.94344003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.7 meters 0.014225078858502355 Centerline is valid? [True, True] Translation: X:126.90, Y:119.10, Z:-3.94 [[ 6.38883075e-03 -9.99979591e-01 2.51970596e-05 1.26900322e+02] [ 9.99904200e-01 6.38865849e-03 1.22791106e-02 1.19099219e+02] [-1.22790210e-02 -5.32545138e-05 9.99924609e-01 -3.94411939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73 meters 0.014264172298504966 Centerline is valid? [True, True] Translation: X:126.90, Y:119.13, Z:-3.95 [[ 6.47735338e-03 -9.99979022e-01 2.20397619e-05 1.26899842e+02] [ 9.99900303e-01 6.47712002e-03 1.25471365e-02 1.19127685e+02] [-1.25470160e-02 -5.92346725e-05 9.99921281e-01 -3.94508777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76 meters 0.014403015760999642 Centerline is valid? [True, True] Translation: X:126.90, Y:119.16, Z:-3.95 [[ 8.17633716e-03 -9.99966573e-01 1.81406177e-05 1.26897773e+02] [ 9.99891972e-01 8.17594877e-03 1.22146532e-02 1.19155698e+02] [-1.22143932e-02 -8.17324648e-05 9.99925398e-01 -3.94644484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79 meters 0.014544113416660362 Centerline is valid? [True, True] Translation: X:126.90, Y:119.18, Z:-3.95 [[ 8.98841974e-03 -9.99959603e-01 1.43248441e-05 1.26896284e+02] [ 9.99893187e-01 8.98798784e-03 1.15252215e-02 1.19182822e+02] [-1.15248847e-02 -8.92702143e-05 9.99933582e-01 -3.94776928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82 meters 0.01752813341719322 Centerline is valid? [True, True] Translation: X:126.90, Y:119.21, Z:-3.95 [[ 8.88863133e-03 -9.99960495e-01 1.02349929e-05 1.26895848e+02] [ 9.99906967e-01 8.88826142e-03 1.03468382e-02 1.19211288e+02] [-1.03465204e-02 -8.17351896e-05 9.99946470e-01 -3.95345722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85 meters 0.01732997918383477 Centerline is valid? [True, True] Translation: X:126.89, Y:119.24, Z:-3.95 [[ 8.95160841e-03 -9.99959934e-01 7.27765718e-06 1.26894610e+02] [ 9.99906727e-01 8.95120719e-03 1.03156430e-02 1.19239832e+02] [-1.03152948e-02 -8.50646182e-05 9.99946792e-01 -3.95476716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88 meters 0.014679853864660516 Centerline is valid? [True, True] Translation: X:126.89, Y:119.27, Z:-3.95 [[ 9.66091529e-03 -9.99953332e-01 4.40017557e-06 1.26893098e+02] [ 9.99901894e-01 9.66046296e-03 1.01428644e-02 1.19268149e+02] [-1.01424336e-02 -9.35896101e-05 9.99948560e-01 -3.95204192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91 meters 0.01464438306336944 Centerline is valid? [True, True] Translation: X:126.89, Y:119.30, Z:-3.95 [[ 8.77185081e-03 -9.99961527e-01 1.89602826e-06 1.26892261e+02] [ 9.99914354e-01 8.77145542e-03 9.71316632e-03 1.19295220e+02] [-9.71280925e-03 -8.33065799e-05 9.99952826e-01 -3.95383781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94 meters 0.014560564304763513 Centerline is valid? [True, True] Translation: X:126.89, Y:119.32, Z:-3.95 [[ 8.08731148e-03 -9.99967297e-01 -9.92385827e-07 1.26892512e+02] [ 9.99918115e-01 8.08690387e-03 9.91796265e-03 1.19322662e+02] [-9.91763027e-03 -8.12019577e-05 9.99950816e-01 -3.95415607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97 meters 0.014342699063958034 Centerline is valid? [True, True] Translation: X:126.89, Y:119.35, Z:-3.95 [[ 7.35329654e-03 -9.99972964e-01 -4.43121613e-06 1.26893511e+02] [ 9.99922578e-01 7.35288153e-03 1.00386189e-02 1.19350751e+02] [-1.00383149e-02 -7.82478144e-05 9.99949612e-01 -3.95365921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.0 meters 0.016285647339278966 Centerline is valid? [True, True] Translation: X:126.89, Y:119.38, Z:-3.96 [[ 6.18602608e-03 -9.99980866e-01 -7.44141836e-06 1.26894333e+02] [ 9.99929072e-01 6.18562993e-03 1.01778653e-02 1.19378529e+02] [-1.01776246e-02 -7.04014309e-05 9.99948204e-01 -3.95721848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03 meters 0.01665257424572469 Centerline is valid? [True, True] Translation: X:126.89, Y:119.41, Z:-3.96 [[ 5.53553602e-03 -9.99984679e-01 -1.06710280e-05 1.26894504e+02] [ 9.99930944e-01 5.53512794e-03 1.03667276e-02 1.19406553e+02] [-1.03665097e-02 -6.80556851e-05 9.99946264e-01 -3.95759441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06 meters 0.014133259557663303 Centerline is valid? [True, True] Translation: X:126.89, Y:119.43, Z:-3.95 [[ 5.42072667e-03 -9.99985308e-01 -1.74040097e-05 1.26893962e+02] [ 9.99909021e-01 5.42009815e-03 1.23519928e-02 1.19434221e+02] [-1.23517169e-02 -8.43592027e-05 9.99923711e-01 -3.95333417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09 meters 0.01409104286229088 Centerline is valid? [True, True] Translation: X:126.89, Y:119.46, Z:-3.95 [[ 4.91021244e-03 -9.99987945e-01 -2.13935240e-05 1.26893486e+02] [ 9.99908928e-01 4.90955551e-03 1.25710397e-02 1.19462125e+02] [-1.25707832e-02 -8.31180512e-05 9.99920981e-01 -3.95416225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12 meters 0.015892965488635835 Centerline is valid? [True, True] Translation: X:126.89, Y:119.49, Z:-3.96 [[ 3.96568110e-03 -9.99992136e-01 -2.37711605e-05 1.26893246e+02] [ 9.99922314e-01 3.96512329e-03 1.18171285e-02 1.19488981e+02] [-1.18169414e-02 -7.06322770e-05 9.99930175e-01 -3.95892443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15 meters 0.016803146432643752 Centerline is valid? [True, True] Translation: X:126.89, Y:119.52, Z:-3.96 [[ 3.19218026e-03 -9.99994905e-01 -2.48904433e-05 1.26893800e+02] [ 9.99927743e-01 3.19167739e-03 1.15897186e-02 1.19517422e+02] [-1.15895801e-02 -6.18851155e-05 9.99932837e-01 -3.96040992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17999999999998 meters 0.015455484836454586 Centerline is valid? [True, True] Translation: X:126.89, Y:119.55, Z:-3.96 [[ 2.74255941e-03 -9.99996239e-01 -2.77451115e-05 1.26894337e+02] [ 9.99931011e-01 2.74206362e-03 1.14216282e-02 1.19545860e+02] [-1.14215091e-02 -5.90676911e-05 9.99934771e-01 -3.95964416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20999999999998 meters 0.0156893200074106 Centerline is valid? [True, True] Translation: X:126.90, Y:119.57, Z:-3.96 [[ 1.43366246e-03 -9.99998972e-01 -3.16436067e-05 1.26895383e+02] [ 9.99931550e-01 1.43319835e-03 1.16121607e-02 1.19573713e+02] [-1.16121034e-02 -4.82893595e-05 9.99932576e-01 -3.96058601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23999999999998 meters 0.0137369404790203 Centerline is valid? [True, True] Translation: X:126.90, Y:119.60, Z:-3.96 [[-5.38877778e-04 -9.99999854e-01 -3.86437553e-05 1.26897069e+02] [ 9.99919465e-01 -5.39324448e-04 1.26796152e-02 1.19602159e+02] [-1.26796342e-02 -3.18078802e-05 9.99919610e-01 -3.95743856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26999999999998 meters 0.016673392559813257 Centerline is valid? [True, True] Translation: X:126.90, Y:119.63, Z:-3.96 [[-2.50070282e-03 -9.99996873e-01 -3.85524954e-05 1.26898039e+02] [ 9.99927991e-01 -2.50098306e-03 1.17370702e-02 1.19629248e+02] [-1.17371299e-02 -9.19879464e-06 9.99931117e-01 -3.96188429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29999999999998 meters 0.016561432230268916 Centerline is valid? [True, True] Translation: X:126.90, Y:119.66, Z:-3.96 [[-3.65958263e-03 -9.99993303e-01 -4.38263889e-05 1.26898533e+02] [ 9.99919906e-01 -3.65984501e-03 1.21155918e-02 1.19657410e+02] [-1.21156711e-02 5.15130751e-07 9.99926603e-01 -3.96209247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32999999999998 meters 0.013754293704589516 Centerline is valid? [True, True] Translation: X:126.90, Y:119.68, Z:-3.96 [[-3.99106751e-03 -9.99992034e-01 -5.02018164e-05 1.26898384e+02] [ 9.99909845e-01 -3.99138311e-03 1.28206799e-02 1.19684396e+02] [-1.28207781e-02 9.70908518e-07 9.99917810e-01 -3.95934225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35999999999999 meters 0.01627532471257589 Centerline is valid? [True, True] Translation: X:126.90, Y:119.71, Z:-3.96 [[-5.23559224e-03 -9.99986293e-01 -4.93798490e-05 1.26898610e+02] [ 9.99916623e-01 -5.23581036e-03 1.18039452e-02 1.19712682e+02] [-1.18040419e-02 1.24249121e-05 9.99930330e-01 -3.96289611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39 meters 0.01527907710319435 Centerline is valid? [True, True] Translation: X:126.90, Y:119.74, Z:-3.96 [[-6.67845066e-03 -9.99977698e-01 -4.95740984e-05 1.26898283e+02] [ 9.99915184e-01 -6.67858747e-03 1.11813157e-02 1.19740508e+02] [-1.11813974e-02 2.51039718e-05 9.99937486e-01 -3.96292291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42 meters 0.016550278822629286 Centerline is valid? [True, True] Translation: X:126.90, Y:119.77, Z:-3.97 [[-8.00917609e-03 -9.99967925e-01 -5.04967090e-05 1.26897841e+02] [ 9.99910131e-01 -8.00925610e-03 1.07509120e-02 1.19768256e+02] [-1.07509716e-02 3.56137763e-05 9.99942206e-01 -3.96541350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45 meters 0.013740245355354775 Centerline is valid? [True, True] Translation: X:126.90, Y:119.80, Z:-3.96 [[-8.28735454e-03 -9.99965657e-01 -6.19673830e-05 1.26897066e+02] [ 9.99890198e-01 -8.28749043e-03 1.22845031e-02 1.19796769e+02] [-1.22845947e-02 3.98454534e-05 9.99924541e-01 -3.96187122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48 meters 0.013781363911818287 Centerline is valid? [True, True] Translation: X:126.90, Y:119.82, Z:-3.96 [[-1.07742103e-02 -9.99941954e-01 -6.82079193e-05 1.26897880e+02] [ 9.99860396e-01 -1.07742027e-02 1.27712483e-02 1.19823515e+02] [-1.27712419e-02 6.94017180e-05 9.99918442e-01 -3.96205322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51 meters 0.01676133352960582 Centerline is valid? [True, True] Translation: X:126.90, Y:119.85, Z:-3.97 [[-1.32562210e-02 -9.99912130e-01 -6.94421573e-05 1.26898524e+02] [ 9.99836278e-01 -1.32560708e-02 1.23163912e-02 1.19851674e+02] [-1.23162295e-02 9.38380167e-05 9.99924148e-01 -3.96624094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54 meters 0.01636800649470002 Centerline is valid? [True, True] Translation: X:126.90, Y:119.88, Z:-3.97 [[-1.52727385e-02 -9.99883362e-01 -7.48941275e-05 1.26899502e+02] [ 9.99803483e-01 -1.52724651e-02 1.26391450e-02 1.19879102e+02] [-1.26388146e-02 1.18154948e-04 9.99920120e-01 -3.96615830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57 meters 0.014554333428255652 Centerline is valid? [True, True] Translation: X:126.90, Y:119.91, Z:-3.96 [[-1.93236446e-02 -9.99813277e-01 -8.73885581e-05 1.26901013e+02] [ 9.99716639e-01 -1.93229920e-02 1.39019259e-02 1.19907598e+02] [-1.39010187e-02 1.81272080e-04 9.99903360e-01 -3.96274730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.6 meters 0.014554333428255652 Centerline is valid? [True, True] Translation: X:126.90, Y:119.94, Z:-3.96 [[-1.96046171e-02 -9.99807807e-01 -9.09750006e-05 1.26900757e+02] [ 9.99711169e-01 -1.96039871e-02 1.39019022e-02 1.19935205e+02] [-1.39010138e-02 1.81592745e-04 9.99903360e-01 -3.96331353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63 meters 0.018453988363828226 Centerline is valid? [True, True] Translation: X:126.90, Y:119.96, Z:-3.97 [[-2.53840464e-02 -9.99677769e-01 -9.35554225e-05 1.26902657e+02] [ 9.99583894e-01 -2.53829450e-02 1.37019844e-02 1.19963549e+02] [-1.36999439e-02 2.54295315e-04 9.99906119e-01 -3.96743793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66 meters 0.017899128444772504 Centerline is valid? [True, True] Translation: X:126.90, Y:119.99, Z:-3.97 [[-2.78064952e-02 -9.99613320e-01 -1.01316007e-04 1.26902053e+02] [ 9.99511583e-01 -2.78051109e-02 1.42643332e-02 1.19992212e+02] [-1.42616345e-02 2.95374588e-04 9.99898254e-01 -3.96715839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69 meters 0.01860526651328857 Centerline is valid? [True, True] Translation: X:126.90, Y:120.02, Z:-3.97 [[-2.99570549e-02 -9.99551181e-01 -1.02622639e-04 1.26903015e+02] [ 9.99454248e-01 -2.99555793e-02 1.39237169e-02 1.20019562e+02] [-1.39205418e-02 3.14546920e-04 9.99903055e-01 -3.96787890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72 meters 0.018283577599253604 Centerline is valid? [True, True] Translation: X:126.90, Y:120.05, Z:-3.97 [[-3.31872241e-02 -9.99449147e-01 -1.07411202e-04 1.26902795e+02] [ 9.99350324e-01 -3.31854536e-02 1.40590216e-02 1.20047836e+02] [-1.40548417e-02 3.59238483e-04 9.99901161e-01 -3.96754374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75 meters 0.01653907061875306 Centerline is valid? [True, True] Translation: X:126.90, Y:120.08, Z:-3.97 [[-3.38847913e-02 -9.99425740e-01 -1.09643255e-04 1.26900375e+02] [ 9.99329091e-01 -3.38830397e-02 1.39035263e-02 1.20075668e+02] [-1.38992571e-02 3.61548392e-04 9.99903335e-01 -3.96601058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78 meters 0.016661287185824106 Centerline is valid? [True, True] Translation: X:126.90, Y:120.10, Z:-3.97 [[-3.43986577e-02 -9.99408185e-01 -1.13023549e-04 1.26899275e+02] [ 9.99312548e-01 -3.43969301e-02 1.38304641e-02 1.20104006e+02] [-1.38261667e-02 3.62803549e-04 9.99904348e-01 -3.96714598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81 meters 0.01771919121659581 Centerline is valid? [True, True] Translation: X:126.90, Y:120.13, Z:-3.97 [[-3.34195517e-02 -9.99441404e-01 -1.12698214e-04 1.26898498e+02] [ 9.99352297e-01 -3.34180774e-02 1.33498587e-02 1.20130628e+02] [-1.33461677e-02 3.33521073e-04 9.99910880e-01 -3.96894828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84 meters 0.01908982398197467 Centerline is valid? [True, True] Translation: X:126.89, Y:120.16, Z:-3.97 [[-3.29593758e-02 -9.99456687e-01 -1.06640041e-04 1.26894794e+02] [ 9.99381521e-01 -3.29582053e-02 1.22610078e-02 1.20158437e+02] [-1.22578609e-02 2.97541078e-04 9.99924825e-01 -3.97258649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87 meters 0.01618995412873335 Centerline is valid? [True, True] Translation: X:126.89, Y:120.19, Z:-3.97 [[-3.07930302e-02 -9.99525775e-01 -1.21223839e-04 1.26891909e+02] [ 9.99435597e-01 -3.07918808e-02 1.34293850e-02 1.20186518e+02] [-1.34267492e-02 2.92376039e-04 9.99909814e-01 -3.96920849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.9 meters 0.015421516705617736 Centerline is valid? [True, True] Translation: X:126.89, Y:120.21, Z:-3.97 [[-2.88109357e-02 -9.99584871e-01 -1.27206758e-04 1.26888121e+02] [ 9.99491330e-01 -2.88099802e-02 1.36772316e-02 1.20214534e+02] [-1.36752186e-02 2.66911789e-04 9.99906454e-01 -3.96962348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92999999999998 meters 0.01524207130148145 Centerline is valid? [True, True] Translation: X:126.89, Y:120.24, Z:-3.97 [[-2.63784264e-02 -9.99652019e-01 -1.37309046e-04 1.26885331e+02] [ 9.99550405e-01 -2.63777030e-02 1.42550212e-02 1.20241549e+02] [-1.42536826e-02 2.38777715e-04 9.99898383e-01 -3.97013104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95999999999998 meters 0.01524207130148145 Centerline is valid? [True, True] Translation: X:126.88, Y:120.27, Z:-3.97 [[-2.66583835e-02 -9.99644592e-01 -1.39270912e-04 1.26884986e+02] [ 9.99542978e-01 -2.66576597e-02 1.42550020e-02 1.20269151e+02] [-1.42536483e-02 2.40808049e-04 9.99898383e-01 -3.97069804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98999999999998 meters 0.01748715992468307 Centerline is valid? [True, True] Translation: X:126.88, Y:120.30, Z:-3.98 [[-2.18831618e-02 -9.99760526e-01 -1.34691000e-04 1.26878329e+02] [ 9.99670265e-01 -2.18829961e-02 1.34348631e-02 1.20296945e+02] [-1.34345933e-02 1.59350697e-04 9.99909739e-01 -3.97566636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01999999999998 meters 0.013825681528901743 Centerline is valid? [True, True] Translation: X:126.87, Y:120.32, Z:-3.97 [[-1.79521747e-02 -9.99838836e-01 -1.47526802e-04 1.26874595e+02] [ 9.99736897e-01 -1.79524510e-02 1.42775045e-02 1.20324185e+02] [-1.42778519e-02 1.08824267e-04 9.99898060e-01 -3.97249697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04999999999998 meters 0.015533782033717457 Centerline is valid? [True, True] Translation: X:126.87, Y:120.35, Z:-3.98 [[-1.53930822e-02 -9.99881510e-01 -1.39472557e-04 1.26871230e+02] [ 9.99794508e-01 -1.53935827e-02 1.31900886e-02 1.20351721e+02] [-1.31906727e-02 6.35922216e-05 9.99912997e-01 -3.97634935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07999999999998 meters 0.01338424746071157 Centerline is valid? [True, True] Translation: X:126.86, Y:120.38, Z:-3.97 [[-7.72466089e-03 -9.99970154e-01 -1.46021596e-04 1.26863924e+02] [ 9.99879702e-01 -7.72592615e-03 1.34495639e-02 1.20379836e+02] [-1.34502907e-02 -4.21107093e-05 9.99909540e-01 -3.97474744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10999999999999 meters 0.013647094398909671 Centerline is valid? [True, True] Translation: X:126.86, Y:120.41, Z:-3.98 [[-4.37830251e-03 -9.99990404e-01 -1.51260038e-04 1.26859994e+02] [ 9.99898559e-01 -4.37995045e-03 1.35531303e-02 1.20406693e+02] [-1.35536627e-02 -9.19049896e-05 9.99908141e-01 -3.97589477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14 meters 0.013979627829022118 Centerline is valid? [True, True] Translation: X:126.86, Y:120.44, Z:-3.98 [[-1.34400605e-03 -9.99999084e-01 -1.58566895e-04 1.26856795e+02] [ 9.99902560e-01 -1.34607954e-03 1.38945241e-02 1.20435023e+02] [-1.38947248e-02 -1.39877120e-04 9.99903454e-01 -3.97612214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17 meters 0.01440128288645398 Centerline is valid? [True, True] Translation: X:126.85, Y:120.46, Z:-3.98 [[ 1.56989492e-03 -9.99998755e-01 -1.61081601e-04 1.26853468e+02] [ 9.99903697e-01 1.56752451e-03 1.37891091e-02 1.20463658e+02] [-1.37888394e-02 -1.82713541e-04 9.99904913e-01 -3.97698945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.2 meters 0.017731325408229866 Centerline is valid? [True, True] Translation: X:126.85, Y:120.49, Z:-3.98 [[ 2.75357000e-03 -9.99996198e-01 -1.50944986e-04 1.26850370e+02] [ 9.99916086e-01 2.75143858e-03 1.26590146e-02 1.20490757e+02] [-1.26585512e-02 -1.85789802e-04 9.99919860e-01 -3.98223608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23 meters 0.015254305515800997 Centerline is valid? [True, True] Translation: X:126.85, Y:120.52, Z:-3.98 [[ 5.24941213e-03 -9.99986209e-01 -1.60094176e-04 1.26848128e+02] [ 9.99899960e-01 5.24685644e-03 1.31354328e-02 1.20518970e+02] [-1.31344117e-02 -2.29031461e-04 9.99913714e-01 -3.97950136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26 meters 0.018583435860538202 Centerline is valid? [True, True] Translation: X:126.85, Y:120.55, Z:-3.98 [[ 5.78734159e-03 -9.99983244e-01 -1.38489776e-04 1.26847454e+02] [ 9.99920717e-01 5.78543079e-03 1.11842543e-02 1.20547645e+02] [-1.11832657e-02 -2.03205897e-04 9.99937445e-01 -3.98454280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29 meters 0.01816312816653054 Centerline is valid? [True, True] Translation: X:126.85, Y:120.58, Z:-3.98 [[ 5.61284618e-03 -9.99984237e-01 -1.48138853e-04 1.26846960e+02] [ 9.99915715e-01 5.61072710e-03 1.17082250e-02 1.20575047e+02] [-1.17072093e-02 -2.13842833e-04 9.99931445e-01 -3.98481950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32 meters 0.01532696258111621 Centerline is valid? [True, True] Translation: X:126.85, Y:120.60, Z:-3.98 [[ 5.46188724e-03 -9.99985070e-01 -1.65377275e-04 1.26848230e+02] [ 9.99904214e-01 5.45934223e-03 1.27184249e-02 1.20602999e+02] [-1.27173322e-02 -2.34828037e-04 9.99919104e-01 -3.98091922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35 meters 0.016800701059435576 Centerline is valid? [True, True] Translation: X:126.85, Y:120.63, Z:-3.98 [[ 2.44907738e-03 -9.99996987e-01 -1.66074353e-04 1.26849743e+02] [ 9.99919647e-01 2.44682228e-03 1.24383237e-02 1.20630359e+02] [-1.24378799e-02 -1.96523426e-04 9.99922627e-01 -3.98475654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38 meters 0.01451507858676416 Centerline is valid? [True, True] Translation: X:126.85, Y:120.66, Z:-3.98 [[ 1.33295780e-03 -9.99999097e-01 -1.70532593e-04 1.26851652e+02] [ 9.99919013e-01 1.33069263e-03 1.26569217e-02 1.20658826e+02] [-1.26566834e-02 -1.87389924e-04 9.99919883e-01 -3.98274503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41 meters 0.016849309394222415 Centerline is valid? [True, True] Translation: X:126.85, Y:120.69, Z:-3.99 [[-1.55654730e-03 -9.99998776e-01 -1.57120881e-04 1.26853355e+02] [ 9.99933195e-01 -1.55824477e-03 1.14532628e-02 1.20686714e+02] [-1.14534936e-02 -1.39282840e-04 9.99934397e-01 -3.98702078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44 meters 0.01417086800660395 Centerline is valid? [True, True] Translation: X:126.85, Y:120.71, Z:-3.98 [[-2.92560106e-03 -9.99995706e-01 -1.71670579e-04 1.26854704e+02] [ 9.99920945e-01 -2.92748160e-03 1.22283854e-02 1.20714030e+02] [-1.22288354e-02 -1.35881631e-04 9.99925216e-01 -3.98480023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47 meters 0.014069249981450916 Centerline is valid? [True, True] Translation: X:126.86, Y:120.74, Z:-3.99 [[-5.35430332e-03 -9.99985650e-01 -1.77989881e-04 1.26856791e+02] [ 9.99908745e-01 -5.35609904e-03 1.24021532e-02 1.20741594e+02] [-1.24029286e-02 -1.11568748e-04 9.99923075e-01 -3.98553824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.5 meters 0.013757887204266243 Centerline is valid? [True, True] Translation: X:126.86, Y:120.77, Z:-3.99 [[-7.63027680e-03 -9.99970873e-01 -1.79236265e-04 1.26859455e+02] [ 9.99895979e-01 -7.63189901e-03 1.22386749e-02 1.20769506e+02] [-1.22396864e-02 -8.58331434e-05 9.99925089e-01 -3.98624302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53 meters 0.013574077645322565 Centerline is valid? [True, True] Translation: X:126.87, Y:120.80, Z:-3.99 [[-1.29011607e-02 -9.99916759e-01 -1.89394565e-04 1.26866043e+02] [ 9.99836453e-01 -1.29025249e-02 1.26725072e-02 1.20796364e+02] [-1.26738960e-02 -2.58735381e-05 9.99919683e-01 -3.98629150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56 meters 0.016170315450009003 Centerline is valid? [True, True] Translation: X:126.87, Y:120.82, Z:-3.99 [[-1.63829965e-02 -9.99865772e-01 -1.87493305e-04 1.26869408e+02] [ 9.99789945e-01 -1.63840631e-02 1.23137141e-02 1.20824049e+02] [-1.23151332e-02 1.42816141e-05 9.99924166e-01 -3.98992769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59 meters 0.013623675709331486 Centerline is valid? [True, True] Translation: X:126.87, Y:120.85, Z:-3.99 [[-1.84253098e-02 -9.99830219e-01 -2.04670841e-04 1.26871794e+02] [ 9.99743415e-01 -1.84264070e-02 1.31746296e-02 1.20852610e+02] [-1.31761641e-02 3.81283060e-05 9.99913190e-01 -3.98656523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62 meters 0.014996724548283368 Centerline is valid? [True, True] Translation: X:126.87, Y:120.88, Z:-3.99 [[-2.15236537e-02 -9.99768318e-01 -2.05287534e-04 1.26874644e+02] [ 9.99683984e-01 -2.15245045e-02 1.29856591e-02 1.20879320e+02] [-1.29870693e-02 7.42761702e-05 9.99915662e-01 -3.98901693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65 meters 0.016114918715187953 Centerline is valid? [True, True] Translation: X:126.88, Y:120.91, Z:-3.99 [[-2.43952677e-02 -9.99702370e-01 -2.05079398e-04 1.26877213e+02] [ 9.99621382e-01 -2.43959018e-02 1.27252751e-02 1.20907847e+02] [-1.27264908e-02 1.05434741e-04 9.99919009e-01 -3.99063503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67999999999998 meters 0.014411526983203207 Centerline is valid? [True, True] Translation: X:126.88, Y:120.94, Z:-3.99 [[-2.76888842e-02 -9.99616569e-01 -2.04284469e-04 1.26881386e+02] [ 9.99539533e-01 -2.76892866e-02 1.24106622e-02 1.20935907e+02] [-1.24115600e-02 1.39446984e-04 9.99922964e-01 -3.98950389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70999999999998 meters 0.014561702202594519 Centerline is valid? [True, True] Translation: X:126.88, Y:120.96, Z:-3.99 [[-2.88142388e-02 -9.99584763e-01 -2.03994618e-04 1.26881278e+02] [ 9.99508880e-01 -2.88145652e-02 1.23174511e-02 1.20963677e+02] [-1.23182144e-02 1.51023545e-04 9.99924117e-01 -3.99006314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73999999999998 meters 0.017276355143709714 Centerline is valid? [True, True] Translation: X:126.88, Y:120.99, Z:-3.99 [[-3.01490540e-02 -9.99545396e-01 -1.92099135e-04 1.26880941e+02] [ 9.99480155e-01 -3.01492812e-02 1.14210387e-02 1.20992364e+02] [-1.14216383e-02 1.52334240e-04 9.99934759e-01 -3.99393121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76999999999998 meters 0.01732680587428129 Centerline is valid? [True, True] Translation: X:126.88, Y:121.02, Z:-3.99 [[-3.05505622e-02 -9.99533205e-01 -1.90148857e-04 1.26880398e+02] [ 9.99471041e-01 -3.05507831e-02 1.11484246e-02 1.21019647e+02] [-1.11490298e-02 1.50542365e-04 9.99937836e-01 -3.99483232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79999999999998 meters 0.014738223189289657 Centerline is valid? [True, True] Translation: X:126.88, Y:121.05, Z:-3.99 [[-3.05575322e-02 -9.99532989e-01 -2.02589813e-04 1.26879748e+02] [ 9.99465146e-01 -3.05578187e-02 1.16465625e-02 1.21048124e+02] [-1.16473141e-02 1.53408751e-04 9.99932156e-01 -3.99222615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82999999999998 meters 0.017716514699372687 Centerline is valid? [True, True] Translation: X:126.88, Y:121.08, Z:-4.00 [[-3.25901510e-02 -9.99468782e-01 -1.87311740e-04 1.26879439e+02] [ 9.99412376e-01 -3.25903020e-02 1.06195483e-02 1.21076285e+02] [-1.06200116e-02 1.58891013e-04 9.99943593e-01 -3.99584163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85999999999999 meters 0.017591356922341737 Centerline is valid? [True, True] Translation: X:126.88, Y:121.10, Z:-4.00 [[-3.32213456e-02 -9.99448000e-01 -1.95811936e-04 1.26879010e+02] [ 9.99388121e-01 -3.32214989e-02 1.09414816e-02 1.21103103e+02] [-1.09419471e-02 1.67798620e-04 9.99940121e-01 -3.99618281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89 meters 0.014733549393367086 Centerline is valid? [True, True] Translation: X:126.88, Y:121.13, Z:-3.99 [[-3.30187211e-02 -9.99454709e-01 -2.22849227e-04 1.26877571e+02] [ 9.99380272e-01 -3.30189820e-02 1.21990928e-02 1.21130855e+02] [-1.21997990e-02 1.80087322e-04 9.99925563e-01 -3.99337683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92 meters 0.01628255182381542 Centerline is valid? [True, True] Translation: X:126.88, Y:121.16, Z:-4.00 [[-3.37159060e-02 -9.99431432e-01 -2.23741006e-04 1.26875997e+02] [ 9.99359081e-01 -3.37161577e-02 1.20269958e-02 1.21157504e+02] [-1.20277013e-02 1.81903453e-04 9.99927648e-01 -3.99571670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95 meters 0.016809623289038903 Centerline is valid? [True, True] Translation: X:126.87, Y:121.19, Z:-4.00 [[-3.34904698e-02 -9.99439011e-01 -2.26704211e-04 1.26874399e+02] [ 9.99365994e-01 -3.34907637e-02 1.20822040e-02 1.21185484e+02] [-1.20830185e-02 1.78078209e-04 9.99926982e-01 -3.99722123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98 meters 0.016270510890191256 Centerline is valid? [True, True] Translation: X:126.87, Y:121.21, Z:-4.00 [[-3.27595919e-02 -9.99463229e-01 -2.49872265e-04 1.26872530e+02] [ 9.99377855e-01 -3.27600598e-02 1.30645488e-02 1.21212272e+02] [-1.30657220e-02 1.78272480e-04 9.99914624e-01 -3.99689493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01 meters 0.016451793973038167 Centerline is valid? [True, True] Translation: X:126.87, Y:121.24, Z:-4.00 [[-3.15328397e-02 -9.99502684e-01 -2.54389001e-04 1.26870505e+02] [ 9.99415701e-01 -3.15334518e-02 1.31870080e-02 1.21239431e+02] [-1.31884716e-02 1.61583446e-04 9.99913015e-01 -3.99783332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04 meters 0.014102899535821941 Centerline is valid? [True, True] Translation: X:126.87, Y:121.27, Z:-4.00 [[-2.93399701e-02 -9.99569449e-01 -2.87560909e-04 1.26866976e+02] [ 9.99462080e-01 -2.93410334e-02 1.46510964e-02 1.21267891e+02] [-1.46532257e-02 1.42456506e-04 9.99892626e-01 -3.99502564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07 meters 0.01394356185560645 Centerline is valid? [True, True] Translation: X:126.86, Y:121.30, Z:-4.00 [[-2.71920748e-02 -9.99630182e-01 -2.99368001e-04 1.26864044e+02] [ 9.99517075e-01 -2.71935014e-02 1.50376088e-02 1.21295977e+02] [-1.50401885e-02 1.09680354e-04 9.99886884e-01 -3.99514784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.1 meters 0.01676662292164186 Centerline is valid? [True, True] Translation: X:126.86, Y:121.32, Z:-4.00 [[-2.24955620e-02 -9.99746901e-01 -2.88459213e-04 1.26859062e+02] [ 9.99644972e-01 -2.24973875e-02 1.42757898e-02 1.21322493e+02] [-1.42786662e-02 3.27851127e-05 9.99898054e-01 -3.99912178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13 meters 0.01363540751891023 Centerline is valid? [True, True] Translation: X:126.86, Y:121.35, Z:-4.00 [[-1.89583543e-02 -9.99820225e-01 -3.15202382e-04 1.26855092e+02] [ 9.99700915e-01 -1.89609613e-02 1.54454642e-02 1.21349573e+02] [-1.54486640e-02 -2.22875279e-05 9.99880662e-01 -3.99671439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16 meters 0.015913484693592606 Centerline is valid? [True, True] Translation: X:126.85, Y:121.38, Z:-4.00 [[-1.75567166e-02 -9.99845820e-01 -3.12751593e-04 1.26852638e+02] [ 9.99731681e-01 -1.75594379e-02 1.51073456e-02 1.21377845e+02] [-1.51105081e-02 -4.74322908e-05 9.99885829e-01 -4.00018414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19 meters 0.01391646723810944 Centerline is valid? [True, True] Translation: X:126.85, Y:121.40, Z:-4.00 [[-1.48958534e-02 -9.99888997e-01 -3.28250373e-04 1.26849129e+02] [ 9.99766752e-01 -1.48991651e-02 1.56350969e-02 1.21404576e+02] [-1.56382521e-02 -9.52756976e-05 9.99877711e-01 -3.99836149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22 meters 0.014196141663121609 Centerline is valid? [True, True] Translation: X:126.85, Y:121.43, Z:-4.00 [[-1.18379605e-02 -9.99929876e-01 -3.23818691e-04 1.26845190e+02] [ 9.99814237e-01 -1.18415163e-02 1.52075787e-02 1.21433123e+02] [-1.52103468e-02 -1.43731821e-04 9.99884306e-01 -3.99953467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25 meters 0.01445242075086568 Centerline is valid? [True, True] Translation: X:126.84, Y:121.46, Z:-4.00 [[-1.10044843e-02 -9.99939395e-01 -3.29539351e-04 1.26843323e+02] [ 9.99822568e-01 -1.10082362e-02 1.52856612e-02 1.21461539e+02] [-1.52883625e-02 -1.61270060e-04 9.99883113e-01 -4.00051053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28 meters 0.01460498586588569 Centerline is valid? [True, True] Translation: X:126.84, Y:121.49, Z:-4.00 [[-1.05018698e-02 -9.99944800e-01 -3.27608951e-04 1.26841666e+02] [ 9.99832528e-01 -1.05056002e-02 1.49849214e-02 1.21488273e+02] [-1.49875359e-02 -1.70184392e-04 9.99887666e-01 -4.00111238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31 meters 0.016627486618007326 Centerline is valid? [True, True] Translation: X:126.84, Y:121.52, Z:-4.00 [[-1.16833151e-02 -9.99931700e-01 -3.09679253e-04 1.26840741e+02] [ 9.99832716e-01 -1.16865161e-02 1.40700071e-02 1.21515332e+02] [-1.40726652e-02 -1.45243122e-04 9.99900965e-01 -4.00457351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34 meters 0.014662410833273958 Centerline is valid? [True, True] Translation: X:126.84, Y:121.54, Z:-4.00 [[-1.10935194e-02 -9.99938408e-01 -3.36656956e-04 1.26839277e+02] [ 9.99824765e-01 -1.10973344e-02 1.50760620e-02 1.21542170e+02] [-1.50788694e-02 -1.69351375e-04 9.99886293e-01 -4.00214158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37 meters 0.014246319945375334 Centerline is valid? [True, True] Translation: X:126.84, Y:121.57, Z:-4.00 [[-1.27868137e-02 -9.99918184e-01 -3.50956587e-04 1.26839661e+02] [ 9.99798331e-01 -1.27907150e-02 1.54821161e-02 1.21570804e+02] [-1.54853384e-02 -1.52918875e-04 9.99880083e-01 -4.00225853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.4 meters 0.016880028081467605 Centerline is valid? [True, True] Translation: X:126.84, Y:121.60, Z:-4.01 [[-1.50927736e-02 -9.99886037e-01 -3.49515965e-04 1.26839970e+02] [ 9.99770050e-01 -1.50963466e-02 1.52298402e-02 1.21598229e+02] [-1.52333810e-02 -1.19575063e-04 9.99883958e-01 -4.00653948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42999999999998 meters 0.014047435857400179 Centerline is valid? [True, True] Translation: X:126.84, Y:121.63, Z:-4.00 [[-1.55434867e-02 -9.99879120e-01 -3.81167227e-04 1.26839452e+02] [ 9.99743638e-01 -1.55476553e-02 1.64599039e-02 1.21626457e+02] [-1.64638405e-02 -1.25225213e-04 9.99864454e-01 -4.00370333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45999999999998 meters 0.015280370512309417 Centerline is valid? [True, True] Translation: X:126.84, Y:121.65, Z:-4.01 [[-1.86292208e-02 -9.99826396e-01 -3.61680485e-04 1.26840189e+02] [ 9.99707113e-01 -1.86325850e-02 1.54439391e-02 1.21654883e+02] [-1.54479971e-02 -7.38660004e-05 9.99880670e-01 -4.00799128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48999999999998 meters 0.013758630780811555 Centerline is valid? [True, True] Translation: X:126.84, Y:121.68, Z:-4.01 [[-1.90144516e-02 -9.99819147e-01 -3.51470650e-04 1.26839726e+02] [ 9.99709017e-01 -1.90175738e-02 1.48395699e-02 1.21682639e+02] [-1.48435702e-02 -6.92020940e-05 9.99889826e-01 -4.00732168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51999999999998 meters 0.013706779000861109 Centerline is valid? [True, True] Translation: X:126.84, Y:121.71, Z:-4.01 [[-1.98987295e-02 -9.99801942e-01 -3.42346823e-04 1.26839796e+02] [ 9.99699786e-01 -1.99015902e-02 1.42921351e-02 1.21711064e+02] [-1.42961176e-02 -5.78487158e-05 9.99897804e-01 -4.00847686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54999999999998 meters 0.01568613950383591 Centerline is valid? [True, True] Translation: X:126.84, Y:121.74, Z:-4.01 [[-2.12356875e-02 -9.99774444e-01 -3.25768885e-04 1.26840199e+02] [ 9.99684219e-01 -2.12381476e-02 1.34314671e-02 1.21737989e+02] [-1.34353563e-02 -4.04395764e-05 9.99909741e-01 -4.01225679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57999999999998 meters 0.013801312630638732 Centerline is valid? [True, True] Translation: X:126.84, Y:121.77, Z:-4.01 [[-2.06450862e-02 -9.99786814e-01 -3.26800493e-04 1.26839794e+02] [ 9.99697247e-01 -2.06476110e-02 1.33824395e-02 1.21765921e+02] [-1.33863342e-02 -5.04199366e-05 9.99910398e-01 -4.01025304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60999999999999 meters 0.015116129682300073 Centerline is valid? [True, True] Translation: X:126.84, Y:121.79, Z:-4.01 [[-2.01046272e-02 -9.99797843e-01 -2.76676989e-04 1.26839667e+02] [ 9.99734827e-01 -2.01064664e-02 1.12251897e-02 1.21793308e+02] [-1.12284834e-02 -5.09253692e-05 9.99936957e-01 -4.01355822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64 meters 0.0170381415104882 Centerline is valid? [True, True] Translation: X:126.84, Y:121.82, Z:-4.02 [[-1.96829937e-02 -9.99806238e-01 -2.58548648e-04 1.26838982e+02] [ 9.99752037e-01 -1.96846189e-02 1.04106182e-02 1.21821658e+02] [-1.04136905e-02 -5.35724046e-05 9.99945775e-01 -4.01635464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67 meters 0.016779565030850832 Centerline is valid? [True, True] Translation: X:126.84, Y:121.85, Z:-4.02 [[-1.88387847e-02 -9.99822507e-01 -2.35936174e-04 1.26838063e+02] [ 9.99778168e-01 -1.88401713e-02 9.41612513e-03 1.21849818e+02] [-9.41889890e-03 -5.84954815e-05 9.99955639e-01 -4.01718769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.7 meters 0.014363698536937091 Centerline is valid? [True, True] Translation: X:126.84, Y:121.88, Z:-4.02 [[-1.66352207e-02 -9.99861596e-01 -2.40005604e-04 1.26836506e+02] [ 9.99816893e-01 -1.66367465e-02 9.45509819e-03 1.21877694e+02] [-9.45778248e-03 -8.26740118e-05 9.99955271e-01 -4.01534989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73 meters 0.016835418731070386 Centerline is valid? [True, True] Translation: X:126.84, Y:121.91, Z:-4.02 [[-1.67229449e-02 -9.99860140e-01 -2.07221338e-04 1.26836229e+02] [ 9.99827412e-01 -1.67240742e-02 8.09025714e-03 1.21905213e+02] [-8.09259122e-03 -7.18926497e-05 9.99967252e-01 -4.01924030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76 meters 0.01598028162972515 Centerline is valid? [True, True] Translation: X:126.84, Y:121.93, Z:-4.02 [[-1.60576566e-02 -9.99871046e-01 -2.05511513e-04 1.26835841e+02] [ 9.99838986e-01 -1.60587876e-02 8.00733141e-03 1.21932861e+02] [-8.00959910e-03 -7.68994442e-05 9.99967920e-01 -4.01861865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79 meters 0.017451456991145194 Centerline is valid? [True, True] Translation: X:126.84, Y:121.96, Z:-4.02 [[-1.60655325e-02 -9.99870919e-01 -2.08406261e-04 1.26837069e+02] [ 9.99838796e-01 -1.60666870e-02 8.01526528e-03 1.21961474e+02] [-8.01757906e-03 -7.96031597e-05 9.99967856e-01 -4.01968055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82 meters 0.014747306704611258 Centerline is valid? [True, True] Translation: X:126.84, Y:121.99, Z:-4.02 [[-1.53703938e-02 -9.99881840e-01 -2.37133714e-04 1.26837260e+02] [ 9.99841695e-01 -1.53719017e-02 8.96046833e-03 1.21988400e+02] [-8.96305476e-03 -9.93702481e-05 9.99959826e-01 -4.01605190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85 meters 0.015393020846370741 Centerline is valid? [True, True] Translation: X:126.84, Y:122.02, Z:-4.02 [[-1.66985278e-02 -9.99860537e-01 -2.57717203e-04 1.26837888e+02] [ 9.99813696e-01 -1.67002402e-02 9.67865004e-03 1.22016162e+02] [-9.68160417e-03 -9.60499823e-05 9.99953128e-01 -4.01740461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88 meters 0.015393020846370741 Centerline is valid? [True, True] Translation: X:126.84, Y:122.04, Z:-4.02 [[-1.69790844e-02 -9.99855811e-01 -2.60426695e-04 1.26837062e+02] [ 9.99808970e-01 -1.69808099e-02 9.67857671e-03 1.22043751e+02] [-9.68160342e-03 -9.60435754e-05 9.99953128e-01 -4.01797070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91 meters 0.014508916308575034 Centerline is valid? [True, True] Translation: X:126.84, Y:122.07, Z:-4.02 [[-1.83198072e-02 -9.99832135e-01 -2.95848461e-04 1.26839515e+02] [ 9.99773208e-01 -1.83219396e-02 1.08554150e-02 1.22072346e+02] [-1.08590133e-02 -9.69122551e-05 9.99941034e-01 -4.01593221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94 meters 0.01701991872532748 Centerline is valid? [True, True] Translation: X:126.84, Y:122.10, Z:-4.02 [[-2.04749799e-02 -9.99790320e-01 -3.03468561e-04 1.26841205e+02] [ 9.99729593e-01 -2.04770810e-02 1.10195607e-02 1.22100539e+02] [-1.10234642e-02 -7.77612177e-05 9.99939237e-01 -4.01900370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97 meters 0.014221030777222534 Centerline is valid? [True, True] Translation: X:126.84, Y:122.13, Z:-4.02 [[-2.08090021e-02 -9.99783407e-01 -3.52799677e-04 1.26841700e+02] [ 9.99703396e-01 -2.08118002e-02 1.26487060e-02 1.22128254e+02] [-1.26533088e-02 -8.94880848e-05 9.99919940e-01 -4.01564145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.0 meters 0.014164503295453237 Centerline is valid? [True, True] Translation: X:126.84, Y:122.16, Z:-4.02 [[-2.19391331e-02 -9.99759240e-01 -3.70148809e-04 1.26842382e+02] [ 9.99673022e-01 -2.19421022e-02 1.31298291e-02 1.22156039e+02] [-1.31347898e-02 -8.19707111e-05 9.99913732e-01 -4.01554894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03 meters 0.014768976894218053 Centerline is valid? [True, True] Translation: X:126.84, Y:122.18, Z:-4.02 [[-2.33115325e-02 -9.99728174e-01 -3.87907811e-04 1.26843074e+02] [ 9.99635420e-01 -2.33146537e-02 1.36181303e-02 1.22184603e+02] [-1.36234725e-02 -7.03069005e-05 9.99907194e-01 -4.01674895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06 meters 0.014109748870243913 Centerline is valid? [True, True] Translation: X:126.84, Y:122.21, Z:-4.02 [[-2.36715275e-02 -9.99719712e-01 -3.95375830e-04 1.26843290e+02] [ 9.99625250e-01 -2.36747259e-02 1.37429076e-02 1.22212417e+02] [-1.37484161e-02 -6.99120481e-05 9.99905484e-01 -4.01626201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09 meters 0.015768133461865185 Centerline is valid? [True, True] Translation: X:126.84, Y:122.24, Z:-4.02 [[-2.45620720e-02 -9.99698235e-01 -3.78878584e-04 1.26844080e+02] [ 9.99613048e-01 -2.45649251e-02 1.30506419e-02 1.22240896e+02] [-1.30560108e-02 -5.81811691e-05 9.99914765e-01 -4.01968778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12 meters 0.01423587360396293 Centerline is valid? [True, True] Translation: X:126.84, Y:122.27, Z:-4.02 [[-2.34089900e-02 -9.99725904e-01 -3.68808754e-04 1.26842825e+02] [ 9.99646610e-01 -2.34117784e-02 1.25914506e-02 1.22267674e+02] [-1.25966338e-02 -7.39252781e-05 9.99920657e-01 -4.01824964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15 meters 0.01442328939635125 Centerline is valid? [True, True] Translation: X:126.84, Y:122.30, Z:-4.02 [[-2.26643725e-02 -9.99743063e-01 -3.65347635e-04 1.26840793e+02] [ 9.99666845e-01 -2.26671560e-02 1.23450114e-02 1.22295844e+02] [-1.23501210e-02 -8.54339794e-05 9.99923731e-01 -4.01940580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17999999999998 meters 0.0168310626630388 Centerline is valid? [True, True] Translation: X:126.84, Y:122.32, Z:-4.02 [[-2.12319045e-02 -9.99774525e-01 -3.25308127e-04 1.26837173e+02] [ 9.99715332e-01 -2.12341874e-02 1.08795076e-02 1.22323556e+02] [-1.08839622e-02 -9.42228565e-05 9.99940763e-01 -4.02470443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20999999999998 meters 0.014835330574934818 Centerline is valid? [True, True] Translation: X:126.83, Y:122.35, Z:-4.02 [[-1.92035714e-02 -9.99815542e-01 -3.22764501e-04 1.26834317e+02] [ 9.99757633e-01 -1.92059332e-02 1.07613901e-02 1.22351724e+02] [-1.07656041e-02 -1.16029150e-04 9.99942042e-01 -4.02292804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23999999999998 meters 0.014910533836460592 Centerline is valid? [True, True] Translation: X:126.83, Y:122.38, Z:-4.02 [[-1.85907015e-02 -9.99827133e-01 -3.00572579e-04 1.26832094e+02] [ 9.99777617e-01 -1.85927724e-02 9.95113312e-03 1.22379671e+02] [-9.95500138e-03 -1.15507191e-04 9.99950441e-01 -4.02420753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26999999999998 meters 0.01580319934980316 Centerline is valid? [True, True] Translation: X:126.83, Y:122.41, Z:-4.03 [[-1.83979986e-02 -9.99830699e-01 -2.95167842e-04 1.26830052e+02] [ 9.99783789e-01 -1.83999948e-02 9.68586074e-03 1.22407443e+02] [-9.68965200e-03 -1.16903571e-04 9.99953047e-01 -4.02629811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29999999999998 meters 0.015239676066452233 Centerline is valid? [True, True] Translation: X:126.83, Y:122.44, Z:-4.03 [[-1.75995762e-02 -9.99845072e-01 -2.95622849e-04 1.26828178e+02] [ 9.99798856e-01 -1.76016053e-02 9.61405977e-03 1.22435509e+02] [-9.61777372e-03 -1.26360009e-04 9.99953740e-01 -4.02551313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32999999999998 meters 0.017414164988662894 Centerline is valid? [True, True] Translation: X:126.83, Y:122.46, Z:-4.03 [[-1.81007757e-02 -9.99836129e-01 -2.77062991e-04 1.26827241e+02] [ 9.99796147e-01 -1.81025298e-02 8.94224135e-03 1.22463913e+02] [-8.94579152e-03 -1.15145006e-04 9.99959979e-01 -4.02911686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35999999999999 meters 0.015481332117218726 Centerline is valid? [True, True] Translation: X:126.82, Y:122.49, Z:-4.03 [[-1.73406688e-02 -9.99849589e-01 -3.17337618e-04 1.26824738e+02] [ 9.99798293e-01 -1.73429939e-02 1.01288644e-02 1.22491460e+02] [-1.01328445e-02 -1.41632326e-04 9.99948651e-01 -4.02665817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39 meters 0.017466831459596835 Centerline is valid? [True, True] Translation: X:126.82, Y:122.52, Z:-4.03 [[-1.87631243e-02 -9.99823911e-01 -3.02532343e-04 1.26824826e+02] [ 9.99778127e-01 -1.87651606e-02 9.56904077e-03 1.22519479e+02] [-9.57303284e-03 -1.22920118e-04 9.99954170e-01 -4.02992641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42 meters 0.01613559616112446 Centerline is valid? [True, True] Translation: X:126.82, Y:122.55, Z:-4.03 [[-1.87949011e-02 -9.99823310e-01 -3.17204977e-04 1.26823700e+02] [ 9.99773929e-01 -1.87971257e-02 9.93770817e-03 1.22547542e+02] [-9.94191482e-03 -1.30355024e-04 9.99950569e-01 -4.02904343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45 meters 0.015084697877132638 Centerline is valid? [True, True] Translation: X:126.82, Y:122.58, Z:-4.03 [[-1.94450851e-02 -9.99810869e-01 -3.39637033e-04 1.26822997e+02] [ 9.99755371e-01 -1.94475846e-02 1.05351598e-02 1.22575541e+02] [-1.05397723e-02 -1.34696870e-04 9.99944446e-01 -4.02750173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48 meters 0.017527558466421612 Centerline is valid? [True, True] Translation: X:126.82, Y:122.60, Z:-4.03 [[-2.13741412e-02 -9.99771496e-01 -3.18540243e-04 1.26822671e+02] [ 9.99723410e-01 -2.13762376e-02 9.80611879e-03 1.22603893e+02] [-9.81068725e-03 -1.08854770e-04 9.99951868e-01 -4.03157757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51 meters 0.017202551679379955 Centerline is valid? [True, True] Translation: X:126.82, Y:122.63, Z:-4.03 [[-2.25879054e-02 -9.99744807e-01 -3.27920242e-04 1.26822214e+02] [ 9.99694766e-01 -2.25900559e-02 1.00032224e-02 1.22631688e+02] [-1.00080773e-02 -1.01868309e-04 9.99949913e-01 -4.03220694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54 meters 0.014786230061776023 Centerline is valid? [True, True] Translation: X:126.82, Y:122.66, Z:-4.03 [[-2.31872614e-02 -9.99731087e-01 -3.23139451e-04 1.26821667e+02] [ 9.99683284e-01 -2.31893128e-02 9.77685072e-03 1.22659999e+02] [-9.78171498e-03 -9.63387143e-05 9.99952153e-01 -4.03009050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57 meters 0.016964479481103568 Centerline is valid? [True, True] Translation: X:126.82, Y:122.69, Z:-4.03 [[-2.58148363e-02 -9.99666694e-01 -3.09542233e-04 1.26822507e+02] [ 9.99623470e-01 -2.58165987e-02 9.29636406e-03 1.22688331e+02] [-9.30125685e-03 -6.94415645e-05 9.99956740e-01 -4.03341794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.6 meters 0.016162017723062413 Centerline is valid? [True, True] Translation: X:126.82, Y:122.72, Z:-4.03 [[-2.77066899e-02 -9.99616045e-01 -3.18393085e-04 1.26822594e+02] [ 9.99571105e-01 -2.77084634e-02 9.47876277e-03 1.22716197e+02] [-9.48394554e-03 -5.56313873e-05 9.99955025e-01 -4.03318433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63 meters 0.014034668178807748 Centerline is valid? [True, True] Translation: X:126.82, Y:122.74, Z:-4.03 [[-3.12057510e-02 -9.99512921e-01 -3.50123830e-04 1.26823864e+02] [ 9.99459636e-01 -3.12077027e-02 1.03206751e-02 1.22744021e+02] [-1.03265746e-02 -2.78702180e-05 9.99946679e-01 -4.03096036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66 meters 0.015397437714564794 Centerline is valid? [True, True] Translation: X:126.82, Y:122.77, Z:-4.03 [[-3.45840894e-02 -9.99401726e-01 -3.60531614e-04 1.26824829e+02] [ 9.99346177e-01 -3.45859683e-02 1.05370720e-02 1.22771897e+02] [-1.05432372e-02 4.11914880e-06 9.99944419e-01 -4.03296215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69 meters 0.014022873889196152 Centerline is valid? [True, True] Translation: X:126.83, Y:122.80, Z:-4.03 [[-3.65791522e-02 -9.99330687e-01 -3.80148314e-04 1.26825670e+02] [ 9.99269981e-01 -3.65811203e-02 1.10148257e-02 1.22799037e+02] [-1.10213596e-02 2.30421868e-05 9.99939263e-01 -4.03151308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72 meters 0.014212136281684043 Centerline is valid? [True, True] Translation: X:126.83, Y:122.83, Z:-4.03 [[-3.94220776e-02 -9.99222573e-01 -3.87611483e-04 1.26826407e+02] [ 9.99160611e-01 -3.94239497e-02 1.11277006e-02 1.22827426e+02] [-1.11343308e-02 5.13909493e-05 9.99938010e-01 -4.03143657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75 meters 0.01474531562720581 Centerline is valid? [True, True] Translation: X:126.83, Y:122.86, Z:-4.03 [[-4.46677993e-02 -9.99001827e-01 -3.71073625e-04 1.26829239e+02] [ 9.98945914e-01 -4.46692254e-02 1.05698537e-02 1.22856136e+02] [-1.05758787e-02 1.01449622e-04 9.99944069e-01 -4.03195861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78 meters 0.01724805118045178 Centerline is valid? [True, True] Translation: X:126.83, Y:122.88, Z:-4.03 [[-4.76325580e-02 -9.98864864e-01 -3.50328772e-04 1.26830042e+02] [ 9.98816124e-01 -4.76336948e-02 9.86823366e-03 1.22883140e+02] [-9.87371933e-03 1.20135187e-04 9.99951246e-01 -4.03489624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81 meters 0.01524661277560131 Centerline is valid? [True, True] Translation: X:126.83, Y:122.91, Z:-4.03 [[-4.86663876e-02 -9.98815023e-01 -3.65250790e-04 1.26829085e+02] [ 9.98761962e-01 -4.86675674e-02 1.02961674e-02 1.22911591e+02] [-1.03017425e-02 1.36278677e-04 9.99946926e-01 -4.03257817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84 meters 0.018307071397313343 Centerline is valid? [True, True] Translation: X:126.83, Y:122.94, Z:-4.04 [[-5.11167344e-02 -9.98692632e-01 -3.24866433e-04 1.26828572e+02] [ 9.98651223e-01 -5.11175736e-02 9.09548955e-03 1.22939180e+02] [-9.10020478e-03 1.40503463e-04 9.99958582e-01 -4.03638819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87 meters 0.015721671628149234 Centerline is valid? [True, True] Translation: X:126.83, Y:122.97, Z:-4.03 [[-5.15876673e-02 -9.98668413e-01 -3.35800554e-04 1.26827161e+02] [ 9.98624795e-01 -5.15885530e-02 9.33491010e-03 1.22967225e+02] [-9.33980332e-03 1.46227478e-04 9.99956372e-01 -4.03450297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.9 meters 0.01587360968494727 Centerline is valid? [True, True] Translation: X:126.83, Y:123.00, Z:-4.04 [[-5.31482974e-02 -9.98586587e-01 -2.93285337e-04 1.26825865e+02] [ 9.98553694e-01 -5.31489275e-02 8.10625730e-03 1.22995625e+02] [-8.11038762e-03 1.37972617e-04 9.99967101e-01 -4.03535034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92999999999998 meters 0.017868034801647597 Centerline is valid? [True, True] Translation: X:126.83, Y:123.02, Z:-4.04 [[-5.70372945e-02 -9.98372023e-01 -2.27315720e-04 1.26825380e+02] [ 9.98352296e-01 -5.70375968e-02 6.27735130e-03 1.23023634e+02] [-6.28009746e-03 1.31101964e-04 9.99980271e-01 -4.03770359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95999999999998 meters 0.017071629070670304 Centerline is valid? [True, True] Translation: X:126.83, Y:123.05, Z:-4.04 [[-5.84621139e-02 -9.98289597e-01 -2.47779769e-04 1.26825519e+02] [ 9.98266691e-01 -5.84624514e-02 6.76422546e-03 1.23050791e+02] [-6.76714172e-03 1.48100629e-04 9.99977092e-01 -4.03742309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98999999999998 meters 0.018195967170570173 Centerline is valid? [True, True] Translation: X:126.82, Y:123.08, Z:-4.04 [[-6.06866539e-02 -9.98156834e-01 -2.55456780e-04 1.26824700e+02] [ 9.98132786e-01 -6.06869655e-02 6.93066332e-03 1.23079180e+02] [-6.93339186e-03 1.65618979e-04 9.99975950e-01 -4.03902367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01999999999998 meters 0.017115603936384692 Centerline is valid? [True, True] Translation: X:126.82, Y:123.11, Z:-4.04 [[-6.22729918e-02 -9.98059105e-01 -3.13139507e-04 1.26822117e+02] [ 9.98023764e-01 -6.22734227e-02 8.40165178e-03 1.23107400e+02] [-8.40484532e-03 2.10675323e-04 9.99964656e-01 -4.03776583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04999999999998 meters 0.02061036355734725 Centerline is valid? [True, True] Translation: X:126.82, Y:123.13, Z:-4.04 [[-6.62043174e-02 -9.97806025e-01 -3.54300086e-04 1.26820922e+02] [ 9.97762081e-01 -6.62047282e-02 9.36818796e-03 1.23134492e+02] [-9.37109072e-03 2.66707298e-04 9.99956055e-01 -4.03982006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07999999999998 meters 0.01931526922281832 Centerline is valid? [True, True] Translation: X:126.82, Y:123.16, Z:-4.04 [[-6.60352379e-02 -9.97817197e-01 -4.35456608e-04 1.26820640e+02] [ 9.97751221e-01 -6.60358811e-02 1.14788454e-02 1.23161213e+02] [-1.14825451e-02 3.23530927e-04 9.99934021e-01 -4.03748607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10999999999999 meters 0.01888768451768942 Centerline is valid? [True, True] Translation: X:126.81, Y:123.19, Z:-4.04 [[-6.74249219e-02 -9.97724251e-01 -4.46052385e-04 1.26813890e+02] [ 9.97655628e-01 -6.74255182e-02 1.17067087e-02 1.23188896e+02] [-1.17101425e-02 3.44317246e-04 9.99931375e-01 -4.03823650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14 meters 0.017256386986647575 Centerline is valid? [True, True] Translation: X:126.81, Y:123.22, Z:-4.04 [[-6.64856355e-02 -9.97787260e-01 -4.95056746e-04 1.26811219e+02] [ 9.97704035e-01 -6.64864864e-02 1.28920919e-02 1.23216683e+02] [-1.28964796e-02 3.63218807e-04 9.99916771e-01 -4.03662208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17 meters 0.019163136148397056 Centerline is valid? [True, True] Translation: X:126.81, Y:123.24, Z:-4.04 [[-6.65151088e-02 -9.97785307e-01 -4.71574681e-04 1.26808252e+02] [ 9.97710711e-01 -6.65159046e-02 1.22053930e-02 1.23243909e+02] [-1.22097290e-02 3.41347931e-04 9.99925400e-01 -4.03886600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.2 meters 0.016515377770201664 Centerline is valid? [True, True] Translation: X:126.80, Y:123.27, Z:-4.04 [[-6.25940676e-02 -9.98038931e-01 -5.23566396e-04 1.26800700e+02] [ 9.97948679e-01 -6.25954502e-02 1.34254892e-02 1.23271463e+02] [-1.34319338e-02 3.17863588e-04 9.99909737e-01 -4.03837049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23 meters 0.018538944161162987 Centerline is valid? [True, True] Translation: X:126.80, Y:123.30, Z:-4.04 [[-6.20400423e-02 -9.98073545e-01 -4.81814857e-04 1.26796424e+02] [ 9.97998253e-01 -6.20412818e-02 1.22624140e-02 1.23298499e+02] [-1.22686834e-02 2.79910297e-04 9.99924698e-01 -4.04151958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26 meters 0.016852984108972482 Centerline is valid? [True, True] Translation: X:126.79, Y:123.33, Z:-4.04 [[-6.02435291e-02 -9.98183582e-01 -5.03994375e-04 1.26791569e+02] [ 9.98101959e-01 -6.02450494e-02 1.27676704e-02 1.23326504e+02] [-1.27748421e-02 2.66131749e-04 9.99918363e-01 -4.04169282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29 meters 0.0187342205861586 Centerline is valid? [True, True] Translation: X:126.79, Y:123.35, Z:-4.05 [[-5.89411974e-02 -9.98261371e-01 -4.12663853e-04 1.26785233e+02] [ 9.98207061e-01 -5.89422960e-02 1.04148142e-02 1.23353392e+02] [-1.04210300e-02 2.01937646e-04 9.99945679e-01 -4.04532519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32 meters 0.017738070101400452 Centerline is valid? [True, True] Translation: X:126.78, Y:123.38, Z:-4.05 [[-5.83624459e-02 -9.98295367e-01 -4.29904042e-04 1.26782113e+02] [ 9.98237395e-01 -5.83636905e-02 1.07602209e-02 1.23381013e+02] [-1.07669695e-02 1.98846519e-04 9.99942015e-01 -4.04578477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35 meters 0.017827277874605172 Centerline is valid? [True, True] Translation: X:126.78, Y:123.41, Z:-4.05 [[-5.81329922e-02 -9.98308759e-01 -4.21286400e-04 1.26778624e+02] [ 9.98253808e-01 -5.81342133e-02 1.04760363e-02 1.23409198e+02] [-1.04828100e-02 1.88452585e-04 9.99945036e-01 -4.04626905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38 meters 0.014718102378213752 Centerline is valid? [True, True] Translation: X:126.77, Y:123.44, Z:-4.04 [[-5.69946300e-02 -9.98374370e-01 -4.79411440e-04 1.26774777e+02] [ 9.98304438e-01 -5.69963128e-02 1.18182150e-02 1.23437740e+02] [-1.18263276e-02 1.94976221e-04 9.99930048e-01 -4.04453966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41 meters 0.014896129479066662 Centerline is valid? [True, True] Translation: X:126.77, Y:123.46, Z:-4.05 [[-5.60935874e-02 -9.98425409e-01 -4.60737952e-04 1.26771043e+02] [ 9.98361571e-01 -5.60952115e-02 1.12916080e-02 1.23464844e+02] [-1.12996735e-02 1.73403734e-04 9.99936142e-01 -4.04549737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44 meters 0.01684407640411147 Centerline is valid? [True, True] Translation: X:126.77, Y:123.49, Z:-4.05 [[-5.63611539e-02 -9.98410359e-01 -4.19428367e-04 1.26767822e+02] [ 9.98358127e-01 -5.63624962e-02 1.02136720e-02 1.23492696e+02] [-1.02210760e-02 1.56914621e-04 9.99947751e-01 -4.04737672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47 meters 0.0181614152562305 Centerline is valid? [True, True] Translation: X:126.76, Y:123.52, Z:-4.05 [[-5.61065461e-02 -9.98424698e-01 -4.22315949e-04 1.26764997e+02] [ 9.98372428e-01 -5.61079305e-02 1.02173610e-02 1.23519328e+02] [-1.02249608e-02 1.51632235e-04 9.99947712e-01 -4.04880077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.5 meters 0.014422497579551122 Centerline is valid? [True, True] Translation: X:126.76, Y:123.55, Z:-4.05 [[-5.43382393e-02 -9.98522464e-01 -4.95675761e-04 1.26760799e+02] [ 9.98451822e-01 -5.43402915e-02 1.18781764e-02 1.23547149e+02] [-1.18875611e-02 1.50530824e-04 9.99929329e-01 -4.04668262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53 meters 0.016272435047718862 Centerline is valid? [True, True] Translation: X:126.76, Y:123.57, Z:-4.05 [[-5.28176936e-02 -9.98604061e-01 -4.70695039e-04 1.26755723e+02] [ 9.98541051e-01 -5.28196488e-02 1.12184846e-02 1.23574088e+02] [-1.12276863e-02 1.22526166e-04 9.99936960e-01 -4.04871028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56 meters 0.013961767632604458 Centerline is valid? [True, True] Translation: X:126.75, Y:123.60, Z:-4.05 [[-5.10952010e-02 -9.98693649e-01 -5.25378036e-04 1.26752547e+02] [ 9.98616459e-01 -5.10977840e-02 1.24171265e-02 1.23601745e+02] [-1.24277510e-02 1.09804419e-04 9.99922767e-01 -4.04700015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59 meters 0.017258977972107528 Centerline is valid? [True, True] Translation: X:126.75, Y:123.63, Z:-4.05 [[-5.10244722e-02 -9.98697286e-01 -4.84837884e-04 1.26749969e+02] [ 9.98632260e-01 -5.10266827e-02 1.13968367e-02 1.23628550e+02] [-1.14067295e-02 9.73428244e-05 9.99934936e-01 -4.04963395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62 meters 0.016578330741892078 Centerline is valid? [True, True] Translation: X:126.75, Y:123.66, Z:-4.05 [[-4.97313026e-02 -9.98762494e-01 -5.27786022e-04 1.26746982e+02] [ 9.98686694e-01 -4.97340308e-02 1.23050449e-02 1.23655225e+02] [-1.23160662e-02 8.48530335e-05 9.99924151e-01 -4.04974011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65 meters 0.015703838833182486 Centerline is valid? [True, True] Translation: X:126.74, Y:123.68, Z:-4.05 [[-4.84600652e-02 -9.98824969e-01 -5.50494488e-04 1.26743303e+02] [ 9.98743689e-01 -4.84631446e-02 1.27423467e-02 1.23683178e+02] [-1.27540527e-02 6.76920546e-05 9.99918661e-01 -4.04929823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67999999999998 meters 0.014836054034087096 Centerline is valid? [True, True] Translation: X:126.74, Y:123.71, Z:-4.05 [[-4.58198851e-02 -9.98949558e-01 -5.64208127e-04 1.26737714e+02] [ 9.98865496e-01 -4.58233488e-02 1.29591958e-02 1.23710166e+02] [-1.29714368e-02 3.02208325e-05 9.99915867e-01 -4.05005028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70999999999998 meters 0.013498663988808415 Centerline is valid? [True, True] Translation: X:126.73, Y:123.74, Z:-4.05 [[-4.42516737e-02 -9.99020252e-01 -5.69926217e-04 1.26734322e+02] [ 9.98935123e-01 -4.42553430e-02 1.30416694e-02 1.23738382e+02] [-1.30541142e-02 7.79638577e-06 9.99914791e-01 -4.04965728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73999999999998 meters 0.015092648525937682 Centerline is valid? [True, True] Translation: X:126.73, Y:123.77, Z:-4.05 [[-4.40545266e-02 -9.99028973e-01 -5.55839668e-04 1.26731433e+02] [ 9.98948995e-01 -4.40580330e-02 1.26409989e-02 1.23766825e+02] [-1.26532134e-02 1.63774489e-06 9.99919945e-01 -4.05214338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76999999999998 meters 0.015092648525937682 Centerline is valid? [True, True] Translation: X:126.73, Y:123.79, Z:-4.05 [[-4.43413000e-02 -9.99016284e-01 -5.59468546e-04 1.26730144e+02] [ 9.98936307e-01 -4.43448293e-02 1.26408380e-02 1.23794385e+02] [-1.26532125e-02 1.63774501e-06 9.99919945e-01 -4.05270941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79999999999998 meters 0.013926410562350635 Centerline is valid? [True, True] Translation: X:126.73, Y:123.82, Z:-4.05 [[-4.31605369e-02 -9.99067995e-01 -5.55494112e-04 1.26727192e+02] [ 9.98990113e-01 -4.31641083e-02 1.24745695e-02 1.23821391e+02] [-1.24869206e-02 -1.65240072e-05 9.99922035e-01 -4.05294892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82999999999998 meters 0.01660918718051036 Centerline is valid? [True, True] Translation: X:126.72, Y:123.85, Z:-4.06 [[-4.30241420e-02 -9.99073914e-01 -4.88469974e-04 1.26723937e+02] [ 9.99014345e-01 -4.30269108e-02 1.09097647e-02 1.23849716e+02] [-1.09206786e-02 -1.86052469e-05 9.99940367e-01 -4.05606151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85999999999999 meters 0.015541934807413468 Centerline is valid? [True, True] Translation: X:126.72, Y:123.88, Z:-4.06 [[-4.22968637e-02 -9.99104974e-01 -4.76309354e-04 1.26721670e+02] [ 9.99049201e-01 -4.22995354e-02 1.05566550e-02 1.23876760e+02] [-1.05673542e-02 -2.93430814e-05 9.99944164e-01 -4.05711560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89 meters 0.013545999211925827 Centerline is valid? [True, True] Translation: X:126.72, Y:123.90, Z:-4.06 [[-4.12741449e-02 -9.99147745e-01 -4.78713075e-04 1.26719355e+02] [ 9.99091777e-01 -4.12768998e-02 1.05753884e-02 1.23904384e+02] [-1.05861353e-02 -4.17881824e-05 9.99943964e-01 -4.05663737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92 meters 0.016706148643080093 Centerline is valid? [True, True] Translation: X:126.72, Y:123.93, Z:-4.06 [[-4.21188362e-02 -9.99112515e-01 -4.30650374e-04 1.26717433e+02] [ 9.99067649e-01 -4.21210261e-02 9.46850094e-03 1.23932339e+02] [-9.47823723e-03 -3.14466160e-05 9.99955080e-01 -4.06017241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95 meters 0.014799006392665974 Centerline is valid? [True, True] Translation: X:126.72, Y:123.96, Z:-4.06 [[-4.14927868e-02 -9.99138713e-01 -4.25596607e-04 1.26715510e+02] [ 9.99095398e-01 -4.14949509e-02 9.30348092e-03 1.23960867e+02] [-9.31312806e-03 -3.91842616e-05 9.99956631e-01 -4.05979923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98 meters 0.016638887701593615 Centerline is valid? [True, True] Translation: X:126.71, Y:123.99, Z:-4.06 [[-4.16290013e-02 -9.99133056e-01 -4.04210963e-04 1.26713718e+02] [ 9.99094370e-01 -4.16309465e-02 8.79224284e-03 1.23987966e+02] [-8.80144813e-03 -3.78326091e-05 9.99961266e-01 -4.06192127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01 meters 0.0136212731785469 Centerline is valid? [True, True] Translation: X:126.71, Y:124.02, Z:-4.06 [[-4.00094386e-02 -9.99199192e-01 -4.68192529e-04 1.26712916e+02] [ 9.99148213e-01 -4.00121268e-02 1.00935008e-02 1.24015765e+02] [-1.01041512e-02 -6.39584284e-05 9.99948950e-01 -4.05990695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04 meters 0.01638722242878583 Centerline is valid? [True, True] Translation: X:126.71, Y:124.04, Z:-4.06 [[-4.10256553e-02 -9.99157980e-01 -4.76100843e-04 1.26712802e+02] [ 9.99105890e-01 -4.10283780e-02 1.02025921e-02 1.24043590e+02] [-1.02135349e-02 -5.71071316e-05 9.99947839e-01 -4.06129541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07 meters 0.016599311082312097 Centerline is valid? [True, True] Translation: X:126.71, Y:124.07, Z:-4.06 [[-4.12349474e-02 -9.99149342e-01 -5.21946243e-04 1.26712581e+02] [ 9.99087621e-01 -4.12382017e-02 1.11057285e-02 1.24072186e+02] [-1.11178054e-02 -6.35259015e-05 9.99938193e-01 -4.06068477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.1 meters 0.01666563837300496 Centerline is valid? [True, True] Translation: X:126.71, Y:124.10, Z:-4.06 [[-4.14205585e-02 -9.99141626e-01 -5.90065554e-04 1.26712052e+02] [ 9.99063868e-01 -4.14246965e-02 1.24652709e-02 1.24099128e+02] [-1.24790143e-02 -7.31946923e-05 9.99922131e-01 -4.06055380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13 meters 0.013591737847765652 Centerline is valid? [True, True] Translation: X:126.71, Y:124.13, Z:-4.06 [[-4.02094838e-02 -9.99191045e-01 -6.73338310e-04 1.26711441e+02] [ 9.99091346e-01 -4.02149837e-02 1.41151720e-02 1.24126898e+02] [-1.41308317e-02 -1.05162699e-04 9.99900149e-01 -4.05774128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16 meters 0.014802965136876215 Centerline is valid? [True, True] Translation: X:126.71, Y:124.15, Z:-4.06 [[-3.98821990e-02 -9.99204118e-01 -7.35762275e-04 1.26710751e+02] [ 9.99086646e-01 -3.98887924e-02 1.53218450e-02 1.24154813e+02] [-1.53389993e-02 -1.24021393e-04 9.99882343e-01 -4.05917243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19 meters 0.015658542339425065 Centerline is valid? [True, True] Translation: X:126.71, Y:124.18, Z:-4.06 [[-3.92121593e-02 -9.99230609e-01 -7.72316146e-04 1.26709170e+02] [ 9.99102943e-01 -3.92194952e-02 1.59731184e-02 1.24181444e+02] [-1.59911187e-02 -1.45282869e-04 9.99872123e-01 -4.06031353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22 meters 0.01394678692447579 Centerline is valid? [True, True] Translation: X:126.71, Y:124.21, Z:-4.06 [[-3.71957041e-02 -9.99307684e-01 -7.94906855e-04 1.26708033e+02] [ 9.99173583e-01 -3.72037356e-02 1.63717201e-02 1.24209793e+02] [-1.63899592e-02 -1.85292272e-04 9.99865658e-01 -4.05925826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25 meters 0.017038488142709373 Centerline is valid? [True, True] Translation: X:126.71, Y:124.24, Z:-4.06 [[-3.71545813e-02 -9.99309229e-01 -7.75890941e-04 1.26706322e+02] [ 9.99182814e-01 -3.71622230e-02 1.58956997e-02 1.24236472e+02] [-1.59135532e-02 -1.84658828e-04 9.99873354e-01 -4.06281366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28 meters 0.017807010331570845 Centerline is valid? [True, True] Translation: X:126.70, Y:124.26, Z:-4.06 [[-3.44931709e-02 -9.99404679e-01 -7.13992422e-04 1.26704615e+02] [ 9.99298889e-01 -3.44999092e-02 1.45426005e-02 1.24264494e+02] [-1.45585756e-02 -2.11871430e-04 9.99893996e-01 -4.06491834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31 meters 0.015116021920530855 Centerline is valid? [True, True] Translation: X:126.70, Y:124.29, Z:-4.06 [[-3.22648847e-02 -9.99479093e-01 -7.21062694e-04 1.26702394e+02] [ 9.99372416e-01 -3.22719773e-02 1.46045771e-02 1.24291739e+02] [-1.46202396e-02 -2.49395171e-04 9.99893087e-01 -4.06359385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34 meters 0.015279632059523056 Centerline is valid? [True, True] Translation: X:126.70, Y:124.32, Z:-4.06 [[-3.11420350e-02 -9.99514718e-01 -7.09180524e-04 1.26701058e+02] [ 9.99412573e-01 -3.11489927e-02 1.42915608e-02 1.24320291e+02] [-1.43067156e-02 -2.63695645e-04 9.99897619e-01 -4.06481192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37 meters 0.015385190232805202 Centerline is valid? [True, True] Translation: X:126.70, Y:124.35, Z:-4.07 [[-3.03056954e-02 -9.99540431e-01 -7.01213598e-04 1.26699933e+02] [ 9.99441639e-01 -3.03125606e-02 1.40555684e-02 1.24349053e+02] [-1.40703645e-02 -2.74858292e-04 9.99900970e-01 -4.06607070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.4 meters 0.015704594982609846 Centerline is valid? [True, True] Translation: X:126.70, Y:124.38, Z:-4.07 [[-2.99984689e-02 -9.99549714e-01 -6.78570535e-04 1.26698551e+02] [ 9.99458107e-01 -3.00049082e-02 1.35350951e-02 1.24376035e+02] [-1.35493609e-02 -2.72170692e-04 9.99908166e-01 -4.06709679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42999999999998 meters 0.01562908764866287 Centerline is valid? [True, True] Translation: X:126.70, Y:124.40, Z:-4.07 [[-2.97221997e-02 -9.99557982e-01 -6.57103328e-04 1.26698241e+02] [ 9.99473091e-01 -2.97282410e-02 1.30296417e-02 1.24403860e+02] [-1.30434169e-02 -2.69487481e-04 9.99914895e-01 -4.06808889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45999999999998 meters 0.01597937079071849 Centerline is valid? [True, True] Translation: X:126.70, Y:124.43, Z:-4.07 [[-3.03883159e-02 -9.99537949e-01 -6.62734132e-04 1.26698538e+02] [ 9.99452555e-01 -3.03943843e-02 1.30679579e-02 1.24431145e+02] [-1.30820633e-02 -2.65258088e-04 9.99914391e-01 -4.06933455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48999999999998 meters 0.01574712150303004 Centerline is valid? [True, True] Translation: X:126.70, Y:124.46, Z:-4.07 [[-3.13955850e-02 -9.99506791e-01 -7.01766948e-04 1.26699026e+02] [ 9.99412302e-01 -3.14022681e-02 1.37458133e-02 1.24459161e+02] [-1.37610708e-02 -2.69796670e-04 9.99905276e-01 -4.06959192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51999999999998 meters 0.015509442316869931 Centerline is valid? [True, True] Translation: X:126.70, Y:124.49, Z:-4.07 [[-3.27560487e-02 -9.99463103e-01 -7.40107875e-04 1.26699694e+02] [ 9.99359234e-01 -3.27633162e-02 1.44113012e-02 1.24486992e+02] [-1.44278122e-02 -2.67576357e-04 9.99895878e-01 -4.06947440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54999999999998 meters 0.01505033105850591 Centerline is valid? [True, True] Translation: X:126.70, Y:124.52, Z:-4.07 [[-3.42749498e-02 -9.99412125e-01 -7.94866047e-04 1.26700892e+02] [ 9.99293731e-01 -3.42831259e-02 1.53852748e-02 1.24515422e+02] [-1.54034806e-02 -2.66975138e-04 9.99881324e-01 -4.06896778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57999999999998 meters 0.014514752420551716 Centerline is valid? [True, True] Translation: X:126.70, Y:124.54, Z:-4.07 [[-3.74531426e-02 -9.99298004e-01 -8.72862061e-04 1.26703986e+02] [ 9.99156993e-01 -3.74625222e-02 1.67887488e-02 1.24544422e+02] [-1.68096627e-02 -2.43334831e-04 9.99858678e-01 -4.06883829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60999999999999 meters 0.014294410343241365 Centerline is valid? [True, True] Translation: X:126.70, Y:124.57, Z:-4.07 [[-3.93387916e-02 -9.99225524e-01 -9.01281119e-04 1.26704969e+02] [ 9.99076653e-01 -3.93484891e-02 1.72492633e-02 1.24573053e+02] [-1.72713682e-02 -2.21883751e-04 9.99850814e-01 -4.06922191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64 meters 0.014154516158316872 Centerline is valid? [True, True] Translation: X:126.71, Y:124.60, Z:-4.07 [[-4.12878429e-02 -9.99146886e-01 -9.02665504e-04 1.26706258e+02] [ 9.98999140e-01 -4.12972613e-02 1.71829952e-02 1.24599915e+02] [-1.72056137e-02 -1.92313257e-04 9.99851954e-01 -4.06960667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67 meters 0.013767891808785876 Centerline is valid? [True, True] Translation: X:126.71, Y:124.63, Z:-4.07 [[-4.33446614e-02 -9.99059739e-01 -9.36857600e-04 1.26708345e+02] [ 9.98902397e-01 -4.33544621e-02 1.77310991e-02 1.24627991e+02] [-1.77550442e-02 -1.67280818e-04 9.99842353e-01 -4.06991092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.7 meters 0.013535323326469416 Centerline is valid? [True, True] Translation: X:126.71, Y:124.66, Z:-4.07 [[-4.65399387e-02 -9.98915998e-01 -9.28536040e-04 1.26712116e+02] [ 9.98763050e-01 -4.65490613e-02 1.74801288e-02 1.24655475e+02] [-1.75044028e-02 -1.13863365e-04 9.99846780e-01 -4.07114340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73 meters 0.013527416184148044 Centerline is valid? [True, True] Translation: X:126.71, Y:124.68, Z:-4.07 [[-4.82206622e-02 -9.98836272e-01 -9.32971971e-04 1.26713240e+02] [ 9.98683554e-01 -4.82296038e-02 1.74660810e-02 1.24683637e+02] [-1.74907521e-02 -8.95177737e-05 9.99847021e-01 -4.07199605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76 meters 0.013590630976167724 Centerline is valid? [True, True] Translation: X:126.71, Y:124.71, Z:-4.07 [[-5.00274549e-02 -9.98747429e-01 -9.09052093e-04 1.26714468e+02] [ 9.98603883e-01 -5.00356766e-02 1.69327057e-02 1.24710898e+02] [-1.69569813e-02 -6.06827809e-05 9.99856218e-01 -4.07349031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79 meters 0.013543176982850862 Centerline is valid? [True, True] Translation: X:126.72, Y:124.74, Z:-4.07 [[-5.12860374e-02 -9.98683620e-01 -8.77296292e-04 1.26715767e+02] [ 9.98551349e-01 -5.12935227e-02 1.62535355e-02 1.24739479e+02] [-1.62771393e-02 -4.24459675e-05 9.99867518e-01 -4.07453211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82 meters 0.013506796743263473 Centerline is valid? [True, True] Translation: X:126.72, Y:124.77, Z:-4.08 [[-5.25316455e-02 -9.98618909e-01 -8.37526625e-04 1.26717157e+02] [ 9.98499506e-01 -5.25383155e-02 1.54422273e-02 1.24767612e+02] [-1.54649024e-02 -2.50643113e-05 9.99880411e-01 -4.07538495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85 meters 0.013693317023264083 Centerline is valid? [True, True] Translation: X:126.72, Y:124.80, Z:-4.08 [[-5.44995795e-02 -9.98513493e-01 -7.74129293e-04 1.26721388e+02] [ 9.98412402e-01 -5.45050772e-02 1.42081737e-02 1.24795857e+02] [-1.42292472e-02 1.43920807e-06 9.99898759e-01 -4.07674372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88 meters 0.013739656604384861 Centerline is valid? [True, True] Translation: X:126.72, Y:124.82, Z:-4.08 [[-5.56469705e-02 -9.98450216e-01 -7.61567863e-04 1.26721961e+02] [ 9.98353353e-01 -5.56521799e-02 1.39074564e-02 1.24823894e+02] [-1.39282858e-02 1.35939880e-05 9.99902997e-01 -4.07783999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91 meters 0.013866356880024449 Centerline is valid? [True, True] Translation: X:126.72, Y:124.85, Z:-4.08 [[-5.66749307e-02 -9.98392400e-01 -7.53767708e-04 1.26722382e+02] [ 9.98298447e-01 -5.66799380e-02 1.36965810e-02 1.24852551e+02] [-1.37172859e-02 2.37676500e-05 9.99905913e-01 -4.07839090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94 meters 0.013772425229181753 Centerline is valid? [True, True] Translation: X:126.72, Y:124.88, Z:-4.08 [[-5.89180980e-02 -9.98262483e-01 -8.20611383e-04 1.26724947e+02] [ 9.98152365e-01 -5.89237873e-02 1.48271191e-02 1.24879374e+02] [-1.48497103e-02 5.44904666e-05 9.99889735e-01 -4.07834186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97 meters 0.013807579321525449 Centerline is valid? [True, True] Translation: X:126.73, Y:124.91, Z:-4.08 [[-6.01872268e-02 -9.98186715e-01 -8.82873850e-04 1.26725280e+02] [ 9.98060761e-01 -6.01936573e-02 1.58568629e-02 1.24907977e+02] [-1.58812533e-02 7.32188575e-05 9.99873882e-01 -4.07777002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.0 meters 0.013913312038503909 Centerline is valid? [True, True] Translation: X:126.73, Y:124.93, Z:-4.08 [[-6.17082238e-02 -9.98093775e-01 -9.54873276e-04 1.26725686e+02] [ 9.97948041e-01 -6.17155309e-02 1.70557866e-02 1.24934793e+02] [-1.70822049e-02 9.95683789e-05 9.99854084e-01 -4.07745531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03 meters 0.01396144702862019 Centerline is valid? [True, True] Translation: X:126.72, Y:124.96, Z:-4.08 [[-6.20785814e-02 -9.98070749e-01 -1.01489516e-03 1.26724835e+02] [ 9.97907948e-01 -6.20867859e-02 1.80266040e-02 1.24960946e+02] [-1.80548377e-02 1.06294051e-04 9.99836992e-01 -4.07711555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06 meters 0.013749436336252663 Centerline is valid? [True, True] Translation: X:126.72, Y:124.99, Z:-4.08 [[-6.06091682e-02 -9.98161001e-01 -1.06953410e-03 1.26721653e+02] [ 9.97982436e-01 -6.06185554e-02 1.88798390e-02 1.24988565e+02] [-1.89099526e-02 7.69150878e-05 9.99821188e-01 -4.07714478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09 meters 0.013683078865415328 Centerline is valid? [True, True] Translation: X:126.72, Y:125.02, Z:-4.08 [[-5.92898016e-02 -9.98240251e-01 -1.05880613e-03 1.26718246e+02] [ 9.98067123e-01 -5.92992375e-02 1.85908406e-02 1.25016132e+02] [-1.86209118e-02 4.54876637e-05 9.99826615e-01 -4.07777029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12 meters 0.013601909510862513 Centerline is valid? [True, True] Translation: X:126.71, Y:125.04, Z:-4.08 [[-5.76274220e-02 -9.98337630e-01 -1.02823124e-03 1.26714316e+02] [ 9.98176077e-01 -5.76365939e-02 1.79594694e-02 1.25044479e+02] [-1.79888778e-02 8.60209964e-06 9.99838187e-01 -4.07905027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15 meters 0.013609185041481049 Centerline is valid? [True, True] Translation: X:126.71, Y:125.07, Z:-4.08 [[-5.62756593e-02 -9.98414774e-01 -9.94699095e-04 1.26710620e+02] [ 9.98264955e-01 -5.62844461e-02 1.72956964e-02 1.25070992e+02] [-1.73242649e-02 -1.96465278e-05 9.99849923e-01 -4.08039987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17999999999998 meters 0.01371808193694078 Centerline is valid? [True, True] Translation: X:126.71, Y:125.10, Z:-4.08 [[-5.43417881e-02 -9.98522000e-01 -8.86839466e-04 1.26706663e+02] [ 9.98404099e-01 -5.43489996e-02 1.53440864e-02 1.25098310e+02] [-1.53696067e-02 -5.15990665e-05 9.99881879e-01 -4.08259155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20999999999998 meters 0.013713773455445426 Centerline is valid? [True, True] Translation: X:126.70, Y:125.12, Z:-4.08 [[-5.41456235e-02 -9.98532704e-01 -8.30426366e-04 1.26704286e+02] [ 9.98430312e-01 -5.41519634e-02 1.42995713e-02 1.25124289e+02] [-1.43235589e-02 -5.48636494e-05 9.99897411e-01 -4.08405632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23999999999998 meters 0.0136946026350402 Centerline is valid? [True, True] Translation: X:126.70, Y:125.15, Z:-4.09 [[-5.42850895e-02 -9.98525153e-01 -8.04436154e-04 1.26701853e+02] [ 9.98430162e-01 -5.42910212e-02 1.37730066e-02 1.25152722e+02] [-1.37963672e-02 -5.55044253e-05 9.99904824e-01 -4.08528772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26999999999998 meters 0.013656365841085191 Centerline is valid? [True, True] Translation: X:126.70, Y:125.18, Z:-4.09 [[-5.46069010e-02 -9.98507630e-01 -7.73615101e-04 1.26699585e+02] [ 9.98420564e-01 -5.46123555e-02 1.31858935e-02 1.25180283e+02] [-1.32084642e-02 -5.23524474e-05 9.99912763e-01 -4.08612856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29999999999998 meters 0.013637715919980208 Centerline is valid? [True, True] Translation: X:126.70, Y:125.21, Z:-4.09 [[-5.53574991e-02 -9.98466306e-01 -7.63832859e-04 1.26697495e+02] [ 9.98382126e-01 -5.53627504e-02 1.29652089e-02 1.25206142e+02] [-1.29876122e-02 -4.48755310e-05 9.99915656e-01 -4.08713935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32999999999998 meters 0.013497621749565035 Centerline is valid? [True, True] Translation: X:126.70, Y:125.23, Z:-4.09 [[-5.66759220e-02 -9.98392322e-01 -7.82038447e-04 1.26695939e+02] [ 9.98305166e-01 -5.66813075e-02 1.31918363e-02 1.25233855e+02] [-1.32149550e-02 -3.30535371e-05 9.99912678e-01 -4.08729786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35999999999999 meters 0.013618808423787114 Centerline is valid? [True, True] Translation: X:126.70, Y:125.26, Z:-4.09 [[-5.97851079e-02 -9.98210970e-01 -7.74423895e-04 1.26695936e+02] [ 9.98126220e-01 -5.97901233e-02 1.30073395e-02 1.25260683e+02] [-1.30303719e-02 4.67239916e-06 9.99915101e-01 -4.08756287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39 meters 0.013669585742505803 Centerline is valid? [True, True] Translation: X:126.70, Y:125.29, Z:-4.09 [[-6.23105687e-02 -9.98056489e-01 -7.98723801e-04 1.26695866e+02] [ 9.97967292e-01 -6.23156782e-02 1.33432013e-02 1.25286933e+02] [-1.33670416e-02 3.43222303e-05 9.99910657e-01 -4.08819730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42 meters 0.014042804194749434 Centerline is valid? [True, True] Translation: X:126.70, Y:125.32, Z:-4.09 [[-6.75562970e-02 -9.97715109e-01 -8.41763842e-04 1.26697273e+02] [ 9.97617200e-01 -6.75614602e-02 1.39775193e-02 1.25315411e+02] [-1.40024530e-02 1.04511356e-04 9.99901955e-01 -4.08723218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45 meters 0.014504108394652911 Centerline is valid? [True, True] Translation: X:126.70, Y:125.34, Z:-4.09 [[-7.03171111e-02 -9.97524292e-01 -8.88894581e-04 1.26696955e+02] [ 9.97416084e-01 -7.03225764e-02 1.46932306e-02 1.25343182e+02] [-1.47193638e-02 1.46587775e-04 9.99891654e-01 -4.08768259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48 meters 0.01445913895565492 Centerline is valid? [True, True] Translation: X:126.70, Y:125.37, Z:-4.09 [[-7.23682764e-02 -9.97377555e-01 -9.19960188e-04 1.26695332e+02] [ 9.97262942e-01 -7.23739075e-02 1.51209211e-02 1.25370727e+02] [-1.51478484e-02 1.76832792e-04 9.99885249e-01 -4.08690702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51 meters 0.01533817933687451 Centerline is valid? [True, True] Translation: X:126.70, Y:125.40, Z:-4.09 [[-7.43014935e-02 -9.97235336e-01 -9.86631475e-04 1.26696144e+02] [ 9.97104416e-01 -7.43077272e-02 1.61600089e-02 1.25397385e+02] [-1.61886463e-02 2.16938199e-04 9.99868932e-01 -4.08800447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54 meters 0.014873428462745123 Centerline is valid? [True, True] Translation: X:126.69, Y:125.43, Z:-4.09 [[-7.61239535e-02 -9.97097836e-01 -1.02443193e-03 1.26692925e+02] [ 9.96957816e-01 -7.61304332e-02 1.67113908e-02 1.25425236e+02] [-1.67408821e-02 2.50821724e-04 9.99859830e-01 -4.08769597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57 meters 0.014706276296960885 Centerline is valid? [True, True] Translation: X:126.69, Y:125.45, Z:-4.09 [[-7.62993215e-02 -9.97084433e-01 -1.02298736e-03 1.26690489e+02] [ 9.96946005e-01 -7.63057763e-02 1.66160139e-02 1.25453074e+02] [-1.66456286e-02 2.47927423e-04 9.99861421e-01 -4.08896888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.6 meters 0.014649166516083086 Centerline is valid? [True, True] Translation: X:126.69, Y:125.48, Z:-4.09 [[-7.58468042e-02 -9.97119023e-01 -9.57454971e-04 1.26688072e+02] [ 9.96998789e-01 -7.58525283e-02 1.54857674e-02 1.25481329e+02] [-1.55137787e-02 2.19964524e-04 9.99879630e-01 -4.09015891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63 meters 0.014568191443734108 Centerline is valid? [True, True] Translation: X:126.69, Y:125.51, Z:-4.09 [[-7.48967174e-02 -9.97190896e-01 -8.93285116e-04 1.26685649e+02] [ 9.97087094e-01 -7.49018108e-02 1.43890604e-02 1.25507882e+02] [-1.44155487e-02 1.87010331e-04 9.99896073e-01 -4.09179086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66 meters 0.014637162381573372 Centerline is valid? [True, True] Translation: X:126.68, Y:125.53, Z:-4.09 [[-7.36454614e-02 -9.97284163e-01 -8.03247138e-04 1.26683180e+02] [ 9.97200913e-01 -7.36496930e-02 1.28864989e-02 1.25534818e+02] [-1.29106602e-02 1.48033377e-04 9.99916643e-01 -4.09374020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69 meters 0.014637162381573372 Centerline is valid? [True, True] Translation: X:126.68, Y:125.56, Z:-4.09 [[-7.39522913e-02 -9.97261454e-01 -8.06991965e-04 1.26681390e+02] [ 9.97178206e-01 -7.39565457e-02 1.28862640e-02 1.25561540e+02] [-1.29106568e-02 1.48253953e-04 9.99916643e-01 -4.09428917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72 meters 0.01417667436006569 Centerline is valid? [True, True] Translation: X:126.68, Y:125.59, Z:-4.10 [[-7.22103191e-02 -9.97389163e-01 -7.25646079e-04 1.26677490e+02] [ 9.97322441e-01 -7.22138822e-02 1.15370981e-02 1.25589744e+02] [-1.15593784e-02 1.09394418e-04 9.99933182e-01 -4.09598074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75 meters 0.01377590583125945 Centerline is valid? [True, True] Translation: X:126.67, Y:125.62, Z:-4.10 [[-6.82549087e-02 -9.97667778e-01 -5.20939497e-04 1.26672170e+02] [ 9.97633487e-01 -6.82568819e-02 8.27190097e-03 1.25617495e+02] [-8.28816677e-03 4.48911591e-05 9.99965652e-01 -4.09886197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78 meters 0.01373786329293524 Centerline is valid? [True, True] Translation: X:126.67, Y:125.64, Z:-4.10 [[-6.63435055e-02 -9.97796750e-01 -4.30649249e-04 1.26668850e+02] [ 9.97773394e-01 -6.63448992e-02 6.82702641e-03 1.25644186e+02] [-6.84055615e-03 2.32385022e-05 9.99976603e-01 -4.10063432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81 meters 0.013776144396400392 Centerline is valid? [True, True] Translation: X:126.67, Y:125.67, Z:-4.10 [[-6.45083100e-02 -9.97917099e-01 -3.75227546e-04 1.26665510e+02] [ 9.97899616e-01 -6.45094009e-02 5.90709959e-03 1.25670572e+02] [-5.91900140e-03 6.61758718e-06 9.99982483e-01 -4.10253649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84 meters 0.013809347422926025 Centerline is valid? [True, True] Translation: X:126.66, Y:125.70, Z:-4.10 [[-6.33290128e-02 -9.97992645e-01 -3.40932023e-04 1.26662727e+02] [ 9.97978143e-01 -6.33299305e-02 5.38017819e-03 1.25698427e+02] [-5.39096946e-03 4.78665687e-07 9.99985469e-01 -4.10263618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87 meters 0.013810259651319441 Centerline is valid? [True, True] Translation: X:126.66, Y:125.73, Z:-4.10 [[-6.18634508e-02 -9.98084568e-01 -3.31072157e-04 1.26659952e+02] [ 9.98070996e-01 -6.18643361e-02 5.20492413e-03 1.25726542e+02] [-5.21543601e-03 -8.43894934e-06 9.99986399e-01 -4.10274227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.9 meters 0.013866727108065755 Centerline is valid? [True, True] Translation: X:126.66, Y:125.75, Z:-4.10 [[-6.19156185e-02 -9.98081311e-01 -3.90463582e-04 1.26657865e+02] [ 9.98062683e-01 -6.19168485e-02 6.09799073e-03 1.25753942e+02] [-6.11046686e-03 -1.21462620e-05 9.99981331e-01 -4.10364099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92999999999998 meters 0.013584227411731726 Centerline is valid? [True, True] Translation: X:126.66, Y:125.78, Z:-4.10 [[-6.23631479e-02 -9.98053402e-01 -4.95077667e-04 1.26656661e+02] [ 9.98023934e-01 -6.23651110e-02 7.66945843e-03 1.25781893e+02] [-7.68540465e-03 -1.58077907e-05 9.99970467e-01 -4.10135769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95999999999998 meters 0.013540757801874054 Centerline is valid? [True, True] Translation: X:126.66, Y:125.81, Z:-4.10 [[-6.26929145e-02 -9.98032604e-01 -7.21276106e-04 1.26656177e+02] [ 9.97971206e-01 -6.26970582e-02 1.10703095e-02 1.25809149e+02] [-1.10937518e-02 -2.57828152e-05 9.99938462e-01 -4.09850121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98999999999998 meters 0.013463617278800927 Centerline is valid? [True, True] Translation: X:126.65, Y:125.84, Z:-4.10 [[-6.25718822e-02 -9.98040106e-01 -8.41015521e-04 1.26654737e+02] [ 9.97957142e-01 -6.25775246e-02 1.28684492e-02 1.25837073e+02] [-1.28958570e-02 -3.40943592e-05 9.99916844e-01 -4.09678072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01999999999998 meters 0.013491288950228407 Centerline is valid? [True, True] Translation: X:126.65, Y:125.86, Z:-4.10 [[-6.20134381e-02 -9.98074887e-01 -9.23652449e-04 1.26652492e+02] [ 9.97975796e-01 -6.20202964e-02 1.40639183e-02 1.25863763e+02] [-1.40941289e-02 -4.96308624e-05 9.99900672e-01 -4.09646750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04999999999998 meters 0.013572585619189852 Centerline is valid? [True, True] Translation: X:126.65, Y:125.89, Z:-4.10 [[-6.07308932e-02 -9.98153694e-01 -9.80963721e-04 1.26650049e+02] [ 9.98043067e-01 -6.07387670e-02 1.48606618e-02 1.25891699e+02] [-1.48928070e-02 -7.65427781e-05 9.99889093e-01 -4.09617693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07999999999998 meters 0.013899907913737393 Centerline is valid? [True, True] Translation: X:126.65, Y:125.92, Z:-4.10 [[-5.73555731e-02 -9.98353346e-01 -9.66966577e-04 1.26645471e+02] [ 9.98246794e-01 -5.73635794e-02 1.45861999e-02 1.25919594e+02] [-1.46176501e-02 -1.28671432e-04 9.99893148e-01 -4.09788126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10999999999999 meters 0.014159642911671554 Centerline is valid? [True, True] Translation: X:126.64, Y:125.95, Z:-4.10 [[-5.56659627e-02 -9.98449032e-01 -9.11382799e-04 1.26642212e+02] [ 9.98355063e-01 -5.56732280e-02 1.36988743e-02 1.25947378e+02] [-1.37283674e-02 -1.47322606e-04 9.99905751e-01 -4.09968899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14 meters 0.014514239233782669 Centerline is valid? [True, True] Translation: X:126.64, Y:125.97, Z:-4.10 [[-5.39758955e-02 -9.98541885e-01 -8.40111211e-04 1.26639056e+02] [ 9.98462615e-01 -5.39821970e-02 1.25829146e-02 1.25974794e+02] [-1.26099183e-02 -1.59645555e-04 9.99920479e-01 -4.10137126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17 meters 0.014871130830054504 Centerline is valid? [True, True] Translation: X:126.64, Y:126.00, Z:-4.10 [[-5.25406666e-02 -9.98618507e-01 -7.45434890e-04 1.26635731e+02] [ 9.98556577e-01 -5.25457108e-02 1.11225700e-02 1.26003056e+02] [-1.11463736e-02 -1.59971671e-04 9.99937864e-01 -4.10355531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.2 meters 0.015064244377139385 Centerline is valid? [True, True] Translation: X:126.63, Y:126.03, Z:-4.11 [[-5.13789633e-02 -9.98679019e-01 -6.48204529e-04 1.26633293e+02] [ 9.98632498e-01 -5.13828273e-02 9.64045618e-03 1.26031454e+02] [-9.66102790e-03 -1.52001464e-04 9.99953320e-01 -4.10566278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23 meters 0.015418976257587924 Centerline is valid? [True, True] Translation: X:126.63, Y:126.06, Z:-4.11 [[-5.02076799e-02 -9.98738697e-01 -4.51619897e-04 1.26630861e+02] [ 9.98716131e-01 -5.02095819e-02 6.71465674e-03 1.26059513e+02] [-6.72886317e-03 -1.13912740e-04 9.99977354e-01 -4.10836737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26 meters 0.015557390872892138 Centerline is valid? [True, True] Translation: X:126.63, Y:126.09, Z:-4.11 [[-5.02749439e-02 -9.98735341e-01 -3.84904320e-04 1.26629673e+02] [ 9.98718989e-01 -5.02763237e-02 5.71598235e-03 1.26087390e+02] [-5.72810516e-03 -9.70405614e-05 9.99983590e-01 -4.10940588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29 meters 0.015515500188463996 Centerline is valid? [True, True] Translation: X:126.63, Y:126.12, Z:-4.11 [[-5.09796694e-02 -9.98699636e-01 -3.32661717e-04 1.26628761e+02] [ 9.98687465e-01 -5.09806906e-02 4.93110288e-03 1.26115498e+02] [-4.94164997e-03 -8.08390922e-05 9.99987787e-01 -4.11015409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32 meters 0.015346064386783424 Centerline is valid? [True, True] Translation: X:126.63, Y:126.14, Z:-4.11 [[-5.21253723e-02 -9.98640500e-01 -3.13351952e-04 1.26628031e+02] [ 9.98629767e-01 -5.21262651e-02 4.63038383e-03 1.26143537e+02] [-4.64042269e-03 -7.15621058e-05 9.99989231e-01 -4.11045289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35 meters 0.015158602342501527 Centerline is valid? [True, True] Translation: X:126.63, Y:126.17, Z:-4.11 [[-5.37535327e-02 -9.98554174e-01 -3.45664266e-04 1.26627484e+02] [ 9.98541260e-01 -5.37545956e-02 5.07889814e-03 1.26170539e+02] [-5.09013598e-03 -7.21513143e-05 9.99987043e-01 -4.11098768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38 meters 0.014406903922217081 Centerline is valid? [True, True] Translation: X:126.63, Y:126.20, Z:-4.11 [[-5.76916432e-02 -9.98334333e-01 -4.83119784e-04 1.26630206e+02] [ 9.98309568e-01 -5.76936152e-02 7.03228646e-03 1.26199252e+02] [-7.04844594e-03 -7.65989412e-05 9.99975156e-01 -4.10861236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41 meters 0.014069567381681275 Centerline is valid? [True, True] Translation: X:126.63, Y:126.23, Z:-4.11 [[-6.00424545e-02 -9.98195646e-01 -5.97115665e-04 1.26630503e+02] [ 9.98158251e-01 -6.00453739e-02 8.64049089e-03 1.26227898e+02] [-8.66075441e-03 -7.72196475e-05 9.99962492e-01 -4.10764745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44 meters 0.013824447333709819 Centerline is valid? [True, True] Translation: X:126.63, Y:126.26, Z:-4.11 [[-6.24651998e-02 -9.98046886e-01 -7.15843971e-04 1.26630629e+02] [ 9.97993822e-01 -6.24692605e-02 1.02918640e-02 1.26255170e+02] [-1.03164810e-02 -7.15245215e-05 9.99946781e-01 -4.10696762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47 meters 0.013509017488117229 Centerline is valid? [True, True] Translation: X:126.63, Y:126.28, Z:-4.11 [[-6.70619966e-02 -9.97748417e-01 -8.86120992e-04 1.26631995e+02] [ 9.97667647e-01 -6.70678427e-02 1.26952885e-02 1.26283009e+02] [-1.27261342e-02 -3.26828501e-05 9.99919019e-01 -4.10502649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.5 meters 0.013427966663658308 Centerline is valid? [True, True] Translation: X:126.63, Y:126.31, Z:-4.10 [[-6.90786342e-02 -9.97610738e-01 -9.78632938e-04 1.26631156e+02] [ 9.97513107e-01 -6.90855650e-02 1.39566134e-02 1.26311612e+02] [-1.39908768e-02 -1.20953873e-05 9.99902123e-01 -4.10473430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53 meters 0.01345044246983336 Centerline is valid? [True, True] Translation: X:126.63, Y:126.34, Z:-4.10 [[-7.09339757e-02 -9.97480514e-01 -9.97665554e-04 1.26629511e+02] [ 9.97379868e-01 -7.09409906e-02 1.41695027e-02 1.26340076e+02] [-1.42045783e-02 1.00476254e-05 9.99899110e-01 -4.10457106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56 meters 0.013382935447918952 Centerline is valid? [True, True] Translation: X:126.63, Y:126.37, Z:-4.11 [[-7.24880889e-02 -9.97368738e-01 -1.03762881e-03 1.26627677e+02] [ 9.97260772e-01 -7.24955093e-02 1.46749569e-02 1.26368390e+02] [-1.47115667e-02 2.89730752e-05 9.99891779e-01 -4.10507734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59 meters 0.013479524754224401 Centerline is valid? [True, True] Translation: X:126.63, Y:126.40, Z:-4.11 [[-7.40334759e-02 -9.97255258e-01 -9.97179870e-04 1.26625580e+02] [ 9.97156269e-01 -7.40401771e-02 1.40508746e-02 1.26396839e+02] [-1.40861400e-02 4.58909289e-05 9.99900784e-01 -4.10551763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62 meters 0.013649768870734037 Centerline is valid? [True, True] Translation: X:126.62, Y:126.42, Z:-4.11 [[-7.61098868e-02 -9.97099030e-01 -8.99580285e-04 1.26623225e+02] [ 9.97019048e-01 -7.61151757e-02 1.26292185e-02 1.26423642e+02] [-1.26610532e-02 6.43097118e-05 9.99919844e-01 -4.10821280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65 meters 0.013775485293291029 Centerline is valid? [True, True] Translation: X:126.62, Y:126.45, Z:-4.11 [[-7.72523758e-02 -9.97011225e-01 -8.29405057e-04 1.26621026e+02] [ 9.96943608e-01 -7.72567962e-02 1.16115973e-02 1.26451763e+02] [-1.16409701e-02 7.01534110e-05 9.99932239e-01 -4.10960814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67999999999998 meters 0.01384166390810949 Centerline is valid? [True, True] Translation: X:126.62, Y:126.48, Z:-4.11 [[-7.81247138e-02 -9.96943269e-01 -8.05085793e-04 1.26618968e+02] [ 9.96880027e-01 -7.81288262e-02 1.12293942e-02 1.26479946e+02] [-1.12579694e-02 7.47192613e-05 9.99936624e-01 -4.11038882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70999999999998 meters 0.013955166384763691 Centerline is valid? [True, True] Translation: X:126.62, Y:126.51, Z:-4.11 [[-7.89007789e-02 -9.96882180e-01 -7.65615343e-04 1.26616789e+02] [ 9.96825385e-01 -7.89044563e-02 1.06413625e-02 1.26508265e+02] [-1.06685952e-02 7.64269842e-05 9.99943086e-01 -4.11148363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73999999999998 meters 0.014306003693248482 Centerline is valid? [True, True] Translation: X:126.62, Y:126.54, Z:-4.11 [[-8.08924607e-02 -9.96722606e-01 -6.75061126e-04 1.26615342e+02] [ 9.96678676e-01 -8.08952336e-02 9.35826598e-03 1.26535198e+02] [-9.38220448e-03 8.41941332e-05 9.99955983e-01 -4.11268703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76999999999998 meters 0.014274266292677678 Centerline is valid? [True, True] Translation: X:126.61, Y:126.56, Z:-4.11 [[-8.21676331e-02 -9.96618304e-01 -6.59959616e-04 1.26612531e+02] [ 9.96576657e-01 -8.21702331e-02 9.11145589e-03 1.26563413e+02] [-9.13487275e-03 9.09664164e-05 9.99958272e-01 -4.11256311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79999999999998 meters 0.014386888848619361 Centerline is valid? [True, True] Translation: X:126.61, Y:126.59, Z:-4.11 [[-8.33130966e-02 -9.96523210e-01 -6.48561262e-04 1.26609792e+02] [ 9.96483275e-01 -8.33155645e-02 8.92182477e-03 1.26591195e+02] [-8.94484070e-03 9.70243977e-05 9.99959989e-01 -4.11305911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82999999999998 meters 0.014554295274701137 Centerline is valid? [True, True] Translation: X:126.61, Y:126.62, Z:-4.11 [[-8.45047882e-02 -9.96422866e-01 -6.42683447e-04 1.26607385e+02] [ 9.96383923e-01 -8.45071679e-02 8.81000660e-03 1.26618211e+02] [-8.83280339e-03 1.04128287e-04 9.99960985e-01 -4.11409222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85999999999999 meters 0.014752231621670208 Centerline is valid? [True, True] Translation: X:126.60, Y:126.65, Z:-4.11 [[-8.62036489e-02 -9.96277304e-01 -6.80897274e-04 1.26603791e+02] [ 9.96234011e-01 -8.62062511e-02 9.28860104e-03 1.26646584e+02] [-9.31272001e-03 1.22378281e-04 9.99956628e-01 -4.11449323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89 meters 0.014944472287404814 Centerline is valid? [True, True] Translation: X:126.60, Y:126.67, Z:-4.12 [[-8.72665111e-02 -9.96184751e-01 -7.05579346e-04 1.26601655e+02] [ 9.96138617e-01 -8.72692608e-02 9.58809990e-03 1.26673807e+02] [-9.61309430e-03 1.33865193e-04 9.99953784e-01 -4.11500221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92 meters 0.015015389932908884 Centerline is valid? [True, True] Translation: X:126.60, Y:126.70, Z:-4.12 [[-8.80895118e-02 -9.96112296e-01 -7.29171532e-04 1.26599180e+02] [ 9.96063468e-01 -8.80924142e-02 9.86374029e-03 1.26701994e+02] [-9.88962747e-03 1.42590942e-04 9.99951086e-01 -4.11508419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95 meters 0.014811791875603856 Centerline is valid? [True, True] Translation: X:126.60, Y:126.73, Z:-4.11 [[-8.88885062e-02 -9.96041287e-01 -7.66927747e-04 1.26596224e+02] [ 9.95987703e-01 -8.88916802e-02 1.03327016e-02 1.26729863e+02] [-1.03599709e-02 1.54607809e-04 9.99946322e-01 -4.11458717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98 meters 0.014977403692137447 Centerline is valid? [True, True] Translation: X:126.59, Y:126.76, Z:-4.12 [[-8.95394038e-02 -9.95982984e-01 -7.68260829e-04 1.26594207e+02] [ 9.95929737e-01 -8.95425618e-02 1.02999324e-02 1.26756916e+02] [-1.03273495e-02 1.57116003e-04 9.99946659e-01 -4.11518190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01 meters 0.01497471951946154 Centerline is valid? [True, True] Translation: X:126.59, Y:126.78, Z:-4.12 [[-8.98320805e-02 -9.95956663e-01 -7.23640297e-04 1.26591133e+02] [ 9.95909546e-01 -8.98348704e-02 9.68876742e-03 1.26784508e+02] [-9.71460060e-03 1.49681856e-04 9.99952801e-01 -4.11578628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04 meters 0.0150261046460845 Centerline is valid? [True, True] Translation: X:126.59, Y:126.81, Z:-4.12 [[-8.98048508e-02 -9.95959126e-01 -7.12509901e-04 1.26588455e+02] [ 9.95913787e-01 -8.98075619e-02 9.50429852e-03 1.26812042e+02] [-9.52988162e-03 1.43933677e-04 9.99954579e-01 -4.11669728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07 meters 0.015071100655673086 Centerline is valid? [True, True] Translation: X:126.59, Y:126.84, Z:-4.12 [[-8.97490469e-02 -9.95964164e-01 -7.01323585e-04 1.26585661e+02] [ 9.95920558e-01 -8.97516809e-02 9.32080701e-03 1.26839970e+02] [-9.34613473e-03 1.38070969e-04 9.99956314e-01 -4.11787579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.1 meters 0.015008374671399266 Centerline is valid? [True, True] Translation: X:126.58, Y:126.87, Z:-4.12 [[-8.92873227e-02 -9.96005680e-01 -6.78306917e-04 1.26582447e+02] [ 9.95965168e-01 -8.92898094e-02 8.98414339e-03 1.26868395e+02] [-9.00882374e-03 1.26600048e-04 9.99959412e-01 -4.11802124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13 meters 0.014813855155530124 Centerline is valid? [True, True] Translation: X:126.58, Y:126.90, Z:-4.12 [[-8.88667932e-02 -9.96043307e-01 -6.50666250e-04 1.26579377e+02] [ 9.96006282e-01 -8.88691005e-02 8.58886250e-03 1.26896377e+02] [-8.61270314e-03 1.15196996e-04 9.99962903e-01 -4.11866510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16 meters 0.01475684981988618 Centerline is valid? [True, True] Translation: X:126.58, Y:126.92, Z:-4.12 [[-8.71970286e-02 -9.96190888e-01 -6.26450771e-04 1.26575414e+02] [ 9.96156791e-01 -8.71992274e-02 8.24270079e-03 1.26923123e+02] [-8.26592945e-03 9.46958270e-05 9.99965832e-01 -4.12021500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19 meters 0.014692634227158656 Centerline is valid? [True, True] Translation: X:126.57, Y:126.95, Z:-4.12 [[-8.65952937e-02 -9.96243382e-01 -6.15396382e-04 1.26572796e+02] [ 9.96210667e-01 -8.65974375e-02 8.07412913e-03 1.26949232e+02] [-8.09708946e-03 8.61171431e-05 9.99967214e-01 -4.12102387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22 meters 0.014401753126189534 Centerline is valid? [True, True] Translation: X:126.57, Y:126.98, Z:-4.12 [[-8.46906417e-02 -9.96407078e-01 -6.55836977e-04 1.26569128e+02] [ 9.96370295e-01 -8.46931508e-02 8.56189188e-03 1.26975256e+02] [-8.58667457e-03 7.16556354e-05 9.99963131e-01 -4.12136064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25 meters 0.014008699327434766 Centerline is valid? [True, True] Translation: X:126.57, Y:127.00, Z:-4.12 [[-8.34779356e-02 -9.96509360e-01 -7.28303320e-04 1.26565404e+02] [ 9.96464533e-01 -8.34810886e-02 9.45214129e-03 1.27003541e+02] [-9.47994682e-03 6.33168151e-05 9.99955062e-01 -4.12046763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28 meters 0.01392133834712923 Centerline is valid? [True, True] Translation: X:126.56, Y:127.03, Z:-4.12 [[-8.23044261e-02 -9.96606930e-01 -7.80174573e-04 1.26562110e+02] [ 9.96555926e-01 -8.23081070e-02 1.00827728e-02 1.27031193e+02] [-1.01127760e-02 5.23692364e-05 9.99948863e-01 -4.12078723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31 meters 0.013852993177904283 Centerline is valid? [True, True] Translation: X:126.56, Y:127.06, Z:-4.12 [[-8.10119353e-02 -9.96712805e-01 -8.07202460e-04 1.26558830e+02] [ 9.96658633e-01 -8.10159481e-02 1.03916141e-02 1.27059519e+02] [-1.04228511e-02 3.73394691e-05 9.99945680e-01 -4.12117210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34 meters 0.013697190169496498 Centerline is valid? [True, True] Translation: X:126.55, Y:127.09, Z:-4.12 [[-7.78166638e-02 -9.96967322e-01 -8.51519250e-04 1.26554814e+02] [ 9.96907516e-01 -7.78213226e-02 1.09199661e-02 1.27086306e+02] [-1.09531157e-02 8.69390086e-07 9.99940013e-01 -4.12148374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37 meters 0.013777911741729562 Centerline is valid? [True, True] Translation: X:126.55, Y:127.11, Z:-4.12 [[-7.61631952e-02 -9.97095007e-01 -8.45621293e-04 1.26551395e+02] [ 9.97036450e-01 -7.61678868e-02 1.08059964e-02 1.27113796e+02] [-1.08390142e-02 -2.00960409e-05 9.99941256e-01 -4.12199047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.4 meters 0.013806528309765408 Centerline is valid? [True, True] Translation: X:126.55, Y:127.14, Z:-4.12 [[-7.43925415e-02 -9.97228683e-01 -8.39143565e-04 1.26547968e+02] [ 9.97171521e-01 -7.43972620e-02 1.06773080e-02 1.27141286e+02] [-1.07101478e-02 -4.24579845e-05 9.99942644e-01 -4.12222834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42999999999998 meters 0.014045730999085453 Centerline is valid? [True, True] Translation: X:126.54, Y:127.17, Z:-4.12 [[-7.22392300e-02 -9.97386993e-01 -8.24567151e-04 1.26544293e+02] [ 9.97332291e-01 -7.22439040e-02 1.04460744e-02 1.27167792e+02] [-1.04783486e-02 -6.77510771e-05 9.99945098e-01 -4.12322618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45999999999998 meters 0.014348972508685167 Centerline is valid? [True, True] Translation: X:126.54, Y:127.20, Z:-4.12 [[-7.01263100e-02 -9.97537795e-01 -8.05246033e-04 1.26540461e+02] [ 9.97485775e-01 -7.01308769e-02 1.01877126e-02 1.27195007e+02] [-1.02191010e-02 -8.87947711e-05 9.99947780e-01 -4.12425633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48999999999998 meters 0.014635248161627997 Centerline is valid? [True, True] Translation: X:126.54, Y:127.22, Z:-4.12 [[-6.80475429e-02 -9.97681753e-01 -8.07475472e-04 1.26537050e+02] [ 9.97629859e-01 -6.80522396e-02 1.01762683e-02 1.27222509e+02] [-1.02076277e-02 -1.13091588e-04 9.99947894e-01 -4.12458828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51999999999998 meters 0.015479889265771563 Centerline is valid? [True, True] Translation: X:126.53, Y:127.25, Z:-4.13 [[-6.40209016e-02 -9.97948292e-01 -7.29020573e-04 1.26532129e+02] [ 9.97906304e-01 -6.40248962e-02 9.15543535e-03 1.27248873e+02] [-9.18332653e-03 -1.41355000e-04 9.99957822e-01 -4.12654323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54999999999998 meters 0.015957069107122693 Centerline is valid? [True, True] Translation: X:126.53, Y:127.28, Z:-4.13 [[-6.25356112e-02 -9.98042511e-01 -6.65966610e-04 1.26528901e+02] [ 9.98007581e-01 -6.25389950e-02 8.35114001e-03 1.27276986e+02] [-8.37644163e-03 -1.42396081e-04 9.99964907e-01 -4.12770503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57999999999998 meters 0.015957069107122693 Centerline is valid? [True, True] Translation: X:126.53, Y:127.30, Z:-4.13 [[-6.28445348e-02 -9.98023105e-01 -6.67848766e-04 1.26526639e+02] [ 9.97988176e-01 -6.28479236e-02 8.35098922e-03 1.27303669e+02] [-8.37645310e-03 -1.41691139e-04 9.99964907e-01 -4.12825428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60999999999999 meters 0.016519044843844668 Centerline is valid? [True, True] Translation: X:126.52, Y:127.33, Z:-4.13 [[-6.17797366e-02 -9.98089585e-01 -6.67088715e-04 1.26523497e+02] [ 9.98055052e-01 -6.17831491e-02 8.30401533e-03 1.27331846e+02] [-8.32936606e-03 -1.52771382e-04 9.99965299e-01 -4.12971813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64 meters 0.017210403359323077 Centerline is valid? [True, True] Translation: X:126.52, Y:127.36, Z:-4.13 [[-6.00538348e-02 -9.98194909e-01 -6.79340441e-04 1.26520625e+02] [ 9.98159448e-01 -6.00574288e-02 8.41554590e-03 1.27358737e+02] [-8.44115451e-03 -1.72704276e-04 9.99964358e-01 -4.12993634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67 meters 0.017589792664009948 Centerline is valid? [True, True] Translation: X:126.52, Y:127.39, Z:-4.13 [[-5.96740744e-02 -9.98217661e-01 -7.11582279e-04 1.26518285e+02] [ 9.98178837e-01 -5.96780307e-02 8.80576408e-03 1.27386158e+02] [-8.83253505e-03 -1.84810550e-04 9.99960975e-01 -4.13003617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.7 meters 0.018055849492377908 Centerline is valid? [True, True] Translation: X:126.52, Y:127.41, Z:-4.13 [[-5.90436430e-02 -9.98255076e-01 -8.07616709e-04 1.26516289e+02] [ 9.98205525e-01 -5.90487609e-02 9.94854050e-03 1.27412086e+02] [-9.97886982e-03 -2.18769388e-04 9.99950186e-01 -4.12913606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73 meters 0.01833734983887086 Centerline is valid? [True, True] Translation: X:126.51, Y:127.44, Z:-4.13 [[-5.88632736e-02 -9.98265723e-01 -8.12798572e-04 1.26513936e+02] [ 9.98215955e-01 -5.88684572e-02 9.97058286e-03 1.27439257e+02] [-1.00011393e-02 -2.24447355e-04 9.99949962e-01 -4.12965492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76 meters 0.01874174028115342 Centerline is valid? [True, True] Translation: X:126.51, Y:127.47, Z:-4.13 [[-5.85200091e-02 -9.98285891e-01 -8.29303919e-04 1.26511480e+02] [ 9.98234479e-01 -5.85254140e-02 1.01341840e-02 1.27466358e+02] [-1.01653482e-02 -2.34787227e-04 9.99948304e-01 -4.13027311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79 meters 0.018835678049040214 Centerline is valid? [True, True] Translation: X:126.51, Y:127.49, Z:-4.13 [[-5.87627946e-02 -9.98271639e-01 -8.18173463e-04 1.26509459e+02] [ 9.98221948e-01 -5.87680351e-02 9.96301044e-03 1.27493855e+02] [-9.99387320e-03 -2.31264372e-04 9.99950033e-01 -4.13130356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82 meters 0.01907985581044293 Centerline is valid? [True, True] Translation: X:126.51, Y:127.52, Z:-4.13 [[-5.88189719e-02 -9.98268328e-01 -8.21213782e-04 1.26507387e+02] [ 9.98218631e-01 -5.88242401e-02 9.96362084e-03 1.27521330e+02] [-9.99467439e-03 -2.33700963e-04 9.99950025e-01 -4.13224729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85 meters 0.019121843864790423 Centerline is valid? [True, True] Translation: X:126.51, Y:127.55, Z:-4.13 [[-5.93397413e-02 -9.98237518e-01 -8.07428919e-04 1.26505463e+02] [ 9.98189806e-01 -5.93448015e-02 9.76246552e-03 1.27548641e+02] [-9.79317606e-03 -2.26665137e-04 9.99952020e-01 -4.13349922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88 meters 0.018850614300488754 Centerline is valid? [True, True] Translation: X:126.51, Y:127.57, Z:-4.14 [[-6.09592648e-02 -9.98139964e-01 -7.61775864e-04 1.26505087e+02] [ 9.98097732e-01 -6.09636947e-02 9.18394998e-03 1.27574507e+02] [-9.21330817e-03 -2.00479923e-04 9.99957536e-01 -4.13527332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91 meters 0.01618866697704127 Centerline is valid? [True, True] Translation: X:126.51, Y:127.60, Z:-4.13 [[-6.21286017e-02 -9.98067891e-01 -7.22547797e-04 1.26508864e+02] [ 9.98030160e-01 -6.21325371e-02 8.68032353e-03 1.27603186e+02] [-8.70844592e-03 -1.81828130e-04 9.99962064e-01 -4.13378652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94 meters 0.018413290533328085 Centerline is valid? [True, True] Translation: X:126.50, Y:127.63, Z:-4.14 [[-6.33661786e-02 -9.97990110e-01 -6.84048136e-04 1.26502985e+02] [ 9.97956478e-01 -6.33696601e-02 8.19476365e-03 1.27629726e+02] [-8.22164097e-03 -1.63379412e-04 9.99966188e-01 -4.13743303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97 meters 0.018093190154363517 Centerline is valid? [True, True] Translation: X:126.50, Y:127.66, Z:-4.14 [[-6.51718110e-02 -9.97873872e-01 -6.08359072e-04 1.26502361e+02] [ 9.97847453e-01 -6.51745132e-02 7.26242322e-03 1.27655145e+02] [-7.28663188e-03 -1.33744277e-04 9.99973443e-01 -4.13974000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.0 meters 0.017913437608943154 Centerline is valid? [True, True] Translation: X:126.50, Y:127.68, Z:-4.14 [[-6.62211986e-02 -9.97804815e-01 -5.51671670e-04 1.26500521e+02] [ 9.97783114e-01 -6.62233974e-02 6.58171515e-03 1.27681963e+02] [-6.60380064e-03 -1.14599610e-04 9.99978188e-01 -4.14079656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03 meters 0.017865330029922587 Centerline is valid? [True, True] Translation: X:126.50, Y:127.71, Z:-4.14 [[-6.69275717e-02 -9.97757704e-01 -5.13958324e-04 1.26498641e+02] [ 9.97738978e-01 -6.69294649e-02 6.11386130e-03 1.27708773e+02] [-6.13455116e-03 -1.03610363e-04 9.99981178e-01 -4.14189108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06 meters 0.017857738467330797 Centerline is valid? [True, True] Translation: X:126.50, Y:127.73, Z:-4.14 [[-6.77308432e-02 -9.97703507e-01 -4.94431782e-04 1.26497061e+02] [ 9.97686272e-01 -6.77325798e-02 5.86512430e-03 1.27734199e+02] [-5.88514423e-03 -9.60379866e-05 9.99982678e-01 -4.14288508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09 meters 0.01763045510649581 Centerline is valid? [True, True] Translation: X:126.50, Y:127.76, Z:-4.14 [[-6.87242301e-02 -9.97635558e-01 -5.23151468e-04 1.26495787e+02] [ 9.97616456e-01 -6.87261520e-02 6.17432456e-03 1.27760326e+02] [-6.19567991e-03 -9.75788123e-05 9.99980802e-01 -4.14293900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12 meters 0.015081459687229492 Centerline is valid? [True, True] Translation: X:126.50, Y:127.79, Z:-4.14 [[-7.04629264e-02 -9.97514198e-01 -6.32416127e-04 1.26499970e+02] [ 9.97486635e-01 -7.04656812e-02 7.41620830e-03 1.27789587e+02] [-7.44233671e-03 -1.08258895e-04 9.99972300e-01 -4.13857660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15 meters 0.016945103448406343 Centerline is valid? [True, True] Translation: X:126.49, Y:127.82, Z:-4.14 [[-7.16749232e-02 -9.97427778e-01 -7.30039126e-04 1.26494168e+02] [ 9.97391350e-01 -7.16785453e-02 8.52531921e-03 1.27816471e+02] [-8.55571834e-03 -1.17083110e-04 9.99963392e-01 -4.14195207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17999999999998 meters 0.014743564764696782 Centerline is valid? [True, True] Translation: X:126.50, Y:127.85, Z:-4.14 [[-7.28170072e-02 -9.97345003e-01 -7.92257917e-04 1.26497641e+02] [ 9.97302448e-01 -7.28212195e-02 9.21400667e-03 1.27845074e+02] [-9.24723670e-03 -1.19184369e-04 9.99957236e-01 -4.13763404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20999999999998 meters 0.014535818429453005 Centerline is valid? [True, True] Translation: X:126.50, Y:127.87, Z:-4.14 [[-7.51500401e-02 -9.97171786e-01 -9.48756015e-04 1.26496789e+02] [ 9.97111428e-01 -7.51559307e-02 1.09720798e-02 1.27872061e+02] [-1.10123530e-02 -1.21463228e-04 9.99939355e-01 -4.13687947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23999999999998 meters 0.014474326654317094 Centerline is valid? [True, True] Translation: X:126.49, Y:127.90, Z:-4.14 [[-7.60737772e-02 -9.97101692e-01 -9.98250715e-04 1.26494649e+02] [ 9.97035056e-01 -7.60802345e-02 1.15280142e-02 1.27900507e+02] [-1.15705496e-02 -1.18311374e-04 9.99933052e-01 -4.13693970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26999999999998 meters 0.014284743298792797 Centerline is valid? [True, True] Translation: X:126.49, Y:127.93, Z:-4.14 [[-7.72045246e-02 -9.97014685e-01 -1.08628943e-03 1.26492273e+02] [ 9.96936359e-01 -7.72120762e-02 1.24976942e-02 1.27928166e+02] [-1.25442593e-02 -1.18082886e-04 9.99921311e-01 -4.13742818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29999999999998 meters 0.014254925190994626 Centerline is valid? [True, True] Translation: X:126.49, Y:127.96, Z:-4.14 [[-7.82087407e-02 -9.96936334e-01 -1.15747713e-03 1.26489726e+02] [ 9.96848033e-01 -7.82172194e-02 1.32689415e-02 1.27956344e+02] [-1.33188246e-02 -1.16081594e-04 9.99911294e-01 -4.13787948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32999999999998 meters 0.014101727487637782 Centerline is valid? [True, True] Translation: X:126.49, Y:127.98, Z:-4.14 [[-7.89014741e-02 -9.96881748e-01 -1.15663238e-03 1.26487637e+02] [ 9.96794128e-01 -7.89098746e-02 1.32173092e-02 1.27984653e+02] [-1.32673640e-02 -1.10059189e-04 9.99911979e-01 -4.13776637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35999999999999 meters 0.01416090109933478 Centerline is valid? [True, True] Translation: X:126.48, Y:128.01, Z:-4.14 [[-7.91255499e-02 -9.96864078e-01 -1.07563056e-03 1.26484060e+02] [ 9.96788834e-01 -7.91327935e-02 1.22483231e-02 1.28011616e+02] [-1.22950310e-02 -1.03021233e-04 9.99924408e-01 -4.13942204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39 meters 0.014275889434890065 Centerline is valid? [True, True] Translation: X:126.48, Y:128.04, Z:-4.14 [[-7.90212866e-02 -9.96872414e-01 -1.01285530e-03 1.26480934e+02] [ 9.96805898e-01 -7.90277147e-02 1.15162029e-02 1.28039121e+02] [-1.15602286e-02 -9.95949679e-05 9.99933173e-01 -4.14055059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42 meters 0.01430954069096143 Centerline is valid? [True, True] Translation: X:126.48, Y:128.07, Z:-4.14 [[-7.88841967e-02 -9.96883297e-01 -9.87298299e-04 1.26478031e+02] [ 9.96820483e-01 -7.88903098e-02 1.11912548e-02 1.28066869e+02] [-1.12342632e-02 -1.01346022e-04 9.99936889e-01 -4.14153959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45 meters 0.014556225585230039 Centerline is valid? [True, True] Translation: X:126.47, Y:128.09, Z:-4.14 [[-7.86841409e-02 -9.96899170e-01 -9.22817627e-04 1.26474676e+02] [ 9.96844580e-01 -7.86894899e-02 1.04329598e-02 1.28093745e+02] [-1.04732250e-02 -9.89972749e-05 9.99945149e-01 -4.14316228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48 meters 0.014450234024143757 Centerline is valid? [True, True] Translation: X:126.47, Y:128.12, Z:-4.14 [[-7.83818197e-02 -9.96923008e-01 -8.97869635e-04 1.26471789e+02] [ 9.96871677e-01 -7.83868957e-02 1.01170308e-02 1.28121695e+02] [-1.01562820e-02 -1.02069525e-04 9.99948418e-01 -4.14377709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51 meters 0.014634695443000263 Centerline is valid? [True, True] Translation: X:126.47, Y:128.15, Z:-4.15 [[-7.86491207e-02 -9.96901993e-01 -8.55644243e-04 1.26468063e+02] [ 9.96855623e-01 -7.86537156e-02 9.61564041e-03 1.28148072e+02] [-9.65315069e-03 -9.66921108e-05 9.99953403e-01 -4.14538248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54 meters 0.01436942325624241 Centerline is valid? [True, True] Translation: X:126.47, Y:128.18, Z:-4.15 [[-7.93081744e-02 -9.96849792e-01 -8.39898025e-04 1.26465599e+02] [ 9.96805413e-01 -7.93125693e-02 9.40661188e-03 1.28176381e+02] [-9.44359357e-03 -9.11936825e-05 9.99955404e-01 -4.14584819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57 meters 0.014391180189175151 Centerline is valid? [True, True] Translation: X:126.46, Y:128.20, Z:-4.15 [[-7.96228116e-02 -9.96824690e-01 -8.63561034e-04 1.26462787e+02] [ 9.96778085e-01 -7.96274398e-02 9.63949715e-03 1.28204382e+02] [-9.67765191e-03 -9.32548491e-05 9.99953166e-01 -4.14666373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.6 meters 0.014338750174320038 Centerline is valid? [True, True] Translation: X:126.46, Y:128.23, Z:-4.15 [[-8.01731590e-02 -9.96780545e-01 -9.00230455e-04 1.26459799e+02] [ 9.96730241e-01 -8.01781574e-02 1.00144385e-02 1.28232642e+02] [-1.00543763e-02 -9.43977507e-05 9.99949449e-01 -4.14747229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63 meters 0.014384314299365996 Centerline is valid? [True, True] Translation: X:126.46, Y:128.26, Z:-4.15 [[-8.02060493e-02 -9.96777900e-01 -8.98844778e-04 1.26457380e+02] [ 9.96728064e-01 -8.02110277e-02 9.96780546e-03 1.28260870e+02] [-1.00077855e-02 -9.64255190e-05 9.99949916e-01 -4.14742128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66 meters 0.014316167551691315 Centerline is valid? [True, True] Translation: X:126.45, Y:128.29, Z:-4.15 [[-8.05463287e-02 -9.96750465e-01 -8.93709641e-04 1.26454986e+02] [ 9.96701500e-01 -8.05512307e-02 9.88027201e-03 1.28288785e+02] [-9.92015514e-03 -9.49421023e-05 9.99950790e-01 -4.14767241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69 meters 0.014672895586119181 Centerline is valid? [True, True] Translation: X:126.45, Y:128.32, Z:-4.15 [[-8.01100744e-02 -9.96785611e-01 -9.07003509e-04 1.26451132e+02] [ 9.96735487e-01 -8.01151423e-02 9.99668264e-03 1.28315624e+02] [-1.00372141e-02 -1.03207593e-04 9.99949621e-01 -4.14862832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72 meters 0.014890809895258992 Centerline is valid? [True, True] Translation: X:126.45, Y:128.34, Z:-4.15 [[-7.98298012e-02 -9.96808117e-01 -8.83263242e-04 1.26447674e+02] [ 9.96760954e-01 -7.98346167e-02 9.69718566e-03 1.28342148e+02] [-9.73674836e-03 -1.06277908e-04 9.99952591e-01 -4.14941361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75 meters 0.01478283187148085 Centerline is valid? [True, True] Translation: X:126.44, Y:128.37, Z:-4.15 [[-7.97164789e-02 -9.96817160e-01 -9.12302877e-04 1.26444894e+02] [ 9.96767040e-01 -7.97216198e-02 9.99655120e-03 1.28369439e+02] [-1.00374640e-02 -1.12463576e-04 9.99949617e-01 -4.14960525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78 meters 0.014755520408271985 Centerline is valid? [True, True] Translation: X:126.44, Y:128.40, Z:-4.15 [[-7.94875163e-02 -9.96835439e-01 -9.17317369e-04 1.26441939e+02] [ 9.96785152e-01 -7.94927210e-02 1.00134201e-02 1.28397223e+02] [-1.00546521e-02 -1.18426436e-04 9.99949444e-01 -4.14975808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81 meters 0.014830823947899998 Centerline is valid? [True, True] Translation: X:126.44, Y:128.43, Z:-4.15 [[-7.89049175e-02 -9.96881778e-01 -8.57678746e-04 1.26437542e+02] [ 9.96838055e-01 -7.89094902e-02 9.33729162e-03 1.28425088e+02] [-9.37585486e-03 -1.18208588e-04 9.99956039e-01 -4.15090780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84 meters 0.014848726577824095 Centerline is valid? [True, True] Translation: X:126.43, Y:128.45, Z:-4.15 [[-7.87336485e-02 -9.96895377e-01 -7.87259601e-04 1.26434617e+02] [ 9.96858721e-01 -7.87375052e-02 8.54962593e-03 1.28452602e+02] [-8.58506942e-03 -1.11643357e-04 9.99963141e-01 -4.15199989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87 meters 0.015053051622647261 Centerline is valid? [True, True] Translation: X:126.43, Y:128.48, Z:-4.15 [[-7.86316652e-02 -9.96903496e-01 -6.93266058e-04 1.26431910e+02] [ 9.96875225e-01 -7.86346568e-02 7.50838858e-03 1.28479510e+02] [-7.53965356e-03 -1.00702660e-04 9.99971571e-01 -4.15316265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.9 meters 0.015097518834305516 Centerline is valid? [True, True] Translation: X:126.43, Y:128.51, Z:-4.15 [[-7.88384013e-02 -9.96887205e-01 -6.38632761e-04 1.26428985e+02] [ 9.96863286e-01 -7.88409340e-02 6.90617646e-03 1.28507082e+02] [-6.93502935e-03 -9.21576416e-05 9.99975948e-01 -4.15390469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92999999999998 meters 0.015263037126851118 Centerline is valid? [True, True] Translation: X:126.43, Y:128.53, Z:-4.16 [[-7.91005591e-02 -9.96866466e-01 -5.92875691e-04 1.26426120e+02] [ 9.96845934e-01 -7.91027354e-02 6.39853680e-03 1.28533713e+02] [-6.42538485e-03 -8.48778832e-05 9.99979353e-01 -4.15532085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95999999999998 meters 0.015130534442761228 Centerline is valid? [True, True] Translation: X:126.42, Y:128.56, Z:-4.16 [[-7.96037184e-02 -9.96826425e-01 -5.71191773e-04 1.26424106e+02] [ 9.96807488e-01 -7.96057273e-02 6.14491344e-03 1.28561752e+02] [-6.17088224e-03 -8.02102771e-05 9.99980957e-01 -4.15504561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98999999999998 meters 0.015235644032700998 Centerline is valid? [True, True] Translation: X:126.42, Y:128.59, Z:-4.16 [[-8.03597992e-02 -9.96765728e-01 -6.20805080e-04 1.26421215e+02] [ 9.96743518e-01 -8.03621532e-02 6.65460087e-03 1.28589089e+02] [-6.68296732e-03 -8.40210494e-05 9.99977665e-01 -4.15599719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01999999999998 meters 0.014944212006462418 Centerline is valid? [True, True] Translation: X:126.42, Y:128.62, Z:-4.16 [[-8.09147459e-02 -9.96720819e-01 -6.42026891e-04 1.26419370e+02] [ 9.96697237e-01 -8.09172482e-02 6.85682038e-03 1.28617595e+02] [-6.88628667e-03 -8.50885504e-05 9.99976286e-01 -4.15584022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04999999999998 meters 0.01500976440128088 Centerline is valid? [True, True] Translation: X:126.42, Y:128.65, Z:-4.16 [[-8.15965090e-02 -9.96665217e-01 -6.73934857e-04 1.26416879e+02] [ 9.96639413e-01 -8.15992464e-02 7.17235341e-03 1.28645070e+02] [-7.20342775e-03 -8.64310406e-05 9.99974051e-01 -4.15619817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07999999999998 meters 0.01483802826311848 Centerline is valid? [True, True] Translation: X:126.42, Y:128.67, Z:-4.16 [[-8.20443379e-02 -9.96628422e-01 -7.17374062e-04 1.26415924e+02] [ 9.96599384e-01 -8.20474239e-02 7.60836586e-03 1.28673253e+02] [-7.64157236e-03 -9.07112085e-05 9.99970799e-01 -4.15536863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10999999999999 meters 0.014723855395573394 Centerline is valid? [True, True] Translation: X:126.41, Y:128.70, Z:-4.16 [[-8.26582459e-02 -9.96577659e-01 -7.64526438e-04 1.26414111e+02] [ 9.96544923e-01 -8.26617279e-02 8.07805304e-03 1.28701801e+02] [-8.11360426e-03 -9.41672459e-05 9.99967080e-01 -4.15515179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14 meters 0.014490173463008186 Centerline is valid? [True, True] Translation: X:126.41, Y:128.73, Z:-4.16 [[-8.34676468e-02 -9.96510151e-01 -8.19379647e-04 1.26412139e+02] [ 9.96472775e-01 -8.34716133e-02 8.63126766e-03 1.28729868e+02] [-8.66954077e-03 -9.60579105e-05 9.99962414e-01 -4.15514825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17 meters 0.014461863078139646 Centerline is valid? [True, True] Translation: X:126.41, Y:128.76, Z:-4.16 [[-8.43371615e-02 -9.96436853e-01 -9.17505812e-04 1.26409991e+02] [ 9.96390338e-01 -8.43420903e-02 9.62842789e-03 1.28757978e+02] [-9.67150474e-03 -1.02159649e-04 9.99953225e-01 -4.15516380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.2 meters 0.014355745407526575 Centerline is valid? [True, True] Translation: X:126.41, Y:128.79, Z:-4.16 [[-8.50067940e-02 -9.96379903e-01 -9.66174719e-04 1.26407544e+02] [ 9.96328656e-01 -8.50122214e-02 1.01059661e-02 1.28785764e+02] [-1.01515182e-02 -1.03551780e-04 9.99948467e-01 -4.15575223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23 meters 0.014409258001713898 Centerline is valid? [True, True] Translation: X:126.40, Y:128.81, Z:-4.16 [[-8.52422257e-02 -9.96359843e-01 -9.08642669e-04 1.26404752e+02] [ 9.96314752e-01 -8.52470129e-02 9.47955639e-03 1.28813524e+02] [-9.52250839e-03 -9.72356109e-05 9.99954655e-01 -4.15674593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26 meters 0.014525201297277497 Centerline is valid? [True, True] Translation: X:126.40, Y:128.84, Z:-4.16 [[-8.55076844e-02 -9.96337151e-01 -8.47537838e-04 1.26401431e+02] [ 9.96298098e-01 -8.55118372e-02 8.82193045e-03 1.28840638e+02] [-8.86209157e-03 -9.00574898e-05 9.99960727e-01 -4.15820347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29 meters 0.01448294442172796 Centerline is valid? [True, True] Translation: X:126.40, Y:128.87, Z:-4.16 [[-8.56636312e-02 -9.96323813e-01 -7.76452320e-04 1.26398790e+02] [ 9.96291215e-01 -8.56671096e-02 8.05989007e-03 1.28868443e+02] [-8.09677683e-03 -8.31331753e-05 9.99967217e-01 -4.15880944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32 meters 0.014461611378022887 Centerline is valid? [True, True] Translation: X:126.40, Y:128.90, Z:-4.16 [[-8.55510944e-02 -9.96333533e-01 -7.08248453e-04 1.26395487e+02] [ 9.96306530e-01 -8.55539904e-02 7.33575242e-03 1.28895904e+02] [-7.36944961e-03 -7.80509107e-05 9.99972842e-01 -4.15927309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35 meters 0.014781526247713462 Centerline is valid? [True, True] Translation: X:126.39, Y:128.92, Z:-4.16 [[-8.56111957e-02 -9.96328380e-01 -6.94317169e-04 1.26391298e+02] [ 9.96302651e-01 -8.56139749e-02 7.16064761e-03 1.28922454e+02] [-7.19379969e-03 -7.87184321e-05 9.99974121e-01 -4.16098589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38 meters 0.014569353325898862 Centerline is valid? [True, True] Translation: X:126.39, Y:128.95, Z:-4.16 [[-8.56900872e-02 -9.96321591e-01 -7.03846812e-04 1.26388334e+02] [ 9.96295194e-01 -8.56929408e-02 7.25299994e-03 1.28950587e+02] [-7.28663514e-03 -7.97289984e-05 9.99973449e-01 -4.16084793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41 meters 0.014373664611217269 Centerline is valid? [True, True] Translation: X:126.39, Y:128.98, Z:-4.16 [[-8.59068761e-02 -9.96302926e-01 -6.98186204e-04 1.26385316e+02] [ 9.96277093e-01 -8.59096767e-02 7.17510376e-03 1.28978226e+02] [-7.20855782e-03 -7.91961716e-05 9.99974015e-01 -4.16082038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44 meters 0.01449009022298791 Centerline is valid? [True, True] Translation: X:126.38, Y:129.01, Z:-4.16 [[-8.63051084e-02 -9.96268477e-01 -7.42040028e-04 1.26381912e+02] [ 9.96239480e-01 -8.63082582e-02 7.60153072e-03 1.29005136e+02] [-7.63720961e-03 -8.31986390e-05 9.99970833e-01 -4.16202105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47 meters 0.014259924604575144 Centerline is valid? [True, True] Translation: X:126.38, Y:129.03, Z:-4.16 [[-8.78936126e-02 -9.96129527e-01 -8.24205787e-04 1.26380039e+02] [ 9.96094045e-01 -8.78974387e-02 8.40793290e-03 1.29033307e+02] [-8.44783580e-03 -8.19828793e-05 9.99964313e-01 -4.16167569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.5 meters 0.014259924604575144 Centerline is valid? [True, True] Translation: X:126.38, Y:129.06, Z:-4.16 [[-8.81776891e-02 -9.96104418e-01 -8.26598443e-04 1.26377256e+02] [ 9.96068938e-01 -8.81815253e-02 8.40769718e-03 1.29060771e+02] [-8.44783502e-03 -8.19777248e-05 9.99964313e-01 -4.16224178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53 meters 0.014130389392197122 Centerline is valid? [True, True] Translation: X:126.38, Y:129.09, Z:-4.16 [[-8.95002969e-02 -9.95986393e-01 -8.95572822e-04 1.26375395e+02] [ 9.95945023e-01 -8.95047423e-02 9.07816285e-03 1.29088516e+02] [-9.12188468e-03 -7.94430242e-05 9.99958392e-01 -4.16221149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56 meters 0.013940741610385003 Centerline is valid? [True, True] Translation: X:126.37, Y:129.12, Z:-4.16 [[-9.20417081e-02 -9.95754651e-01 -9.99263848e-04 1.26374988e+02] [ 9.95703505e-01 -9.20471086e-02 1.00926019e-02 1.29116213e+02] [-1.01417346e-02 -6.60301964e-05 9.99948569e-01 -4.16106158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59 meters 0.01378823552154928 Centerline is valid? [True, True] Translation: X:126.37, Y:129.14, Z:-4.16 [[-9.39653148e-02 -9.95574894e-01 -1.07272466e-03 1.26373497e+02] [ 9.95516328e-01 -9.39714228e-02 1.07987202e-02 1.29144531e+02] [-1.08517401e-02 -5.32097706e-05 9.99941117e-01 -4.16097563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62 meters 0.013774320564788785 Centerline is valid? [True, True] Translation: X:126.37, Y:129.17, Z:-4.16 [[-9.57730082e-02 -9.95402606e-01 -1.08727916e-03 1.26371680e+02] [ 9.95342783e-01 -9.57791726e-02 1.09130406e-02 1.29172317e+02] [-1.09670077e-02 -3.70407396e-05 9.99939860e-01 -4.16157800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65 meters 0.01363722595032272 Centerline is valid? [True, True] Translation: X:126.37, Y:129.20, Z:-4.16 [[-9.76986211e-02 -9.95215440e-01 -1.09929510e-03 1.26369814e+02] [ 9.95154628e-01 -9.77048036e-02 1.10017425e-02 1.29200376e+02] [-1.10565104e-02 -1.91135386e-05 9.99938875e-01 -4.16231590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67999999999998 meters 0.013708639634449005 Centerline is valid? [True, True] Translation: X:126.37, Y:129.23, Z:-4.16 [[-9.95530337e-02 -9.95031685e-01 -1.06733423e-03 1.26367940e+02] [ 9.94974640e-01 -9.95587551e-02 1.06546233e-02 1.29227127e+02] [-1.07079503e-02 -1.27042105e-06 9.99942668e-01 -4.16408672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70999999999998 meters 0.013733509570427892 Centerline is valid? [True, True] Translation: X:126.37, Y:129.25, Z:-4.16 [[-1.02493770e-01 -9.94733104e-01 -1.03882548e-03 1.26367545e+02] [ 9.94679354e-01 -1.02499031e-01 1.03407696e-02 1.29254835e+02] [-1.03927845e-02 2.65662049e-05 9.99945993e-01 -4.16460677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73999999999998 meters 0.01380696589271268 Centerline is valid? [True, True] Translation: X:126.37, Y:129.28, Z:-4.16 [[-1.03499797e-01 -9.94628914e-01 -1.05665958e-03 1.26365206e+02] [ 9.94573654e-01 -1.03505185e-01 1.04844325e-02 1.29282427e+02] [-1.05374895e-02 3.42108547e-05 9.99944479e-01 -4.16499036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76999999999998 meters 0.013781198604338803 Centerline is valid? [True, True] Translation: X:126.36, Y:129.31, Z:-4.17 [[-1.04087178e-01 -9.94567601e-01 -1.07120258e-03 1.26362884e+02] [ 9.94511117e-01 -1.04092683e-01 1.05996011e-02 1.29309788e+02] [-1.06535242e-02 3.79596921e-05 9.99943249e-01 -4.16545382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79999999999998 meters 0.013803993149462117 Centerline is valid? [True, True] Translation: X:126.36, Y:129.34, Z:-4.17 [[-1.04685226e-01 -9.94504887e-01 -1.01605017e-03 1.26360538e+02] [ 9.94454354e-01 -1.04690150e-01 1.00254564e-02 1.29337467e+02] [-1.00767359e-02 3.91016585e-05 9.99949228e-01 -4.16602689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82999999999998 meters 0.013851041565636666 Centerline is valid? [True, True] Translation: X:126.36, Y:129.36, Z:-4.17 [[-1.04805417e-01 -9.94492287e-01 -9.56526959e-04 1.26357765e+02] [ 9.94447719e-01 -1.04809776e-01 9.41519507e-03 1.29364947e+02] [-9.46359226e-03 3.55473977e-05 9.99955219e-01 -4.16658936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85999999999999 meters 0.013865234772214814 Centerline is valid? [True, True] Translation: X:126.35, Y:129.39, Z:-4.17 [[-1.04745892e-01 -9.94498525e-01 -9.90992323e-04 1.26354307e+02] [ 9.94450936e-01 -1.04750574e-01 9.72903139e-03 1.29392354e+02] [-9.77931438e-03 3.35828293e-05 9.99952181e-01 -4.16729883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89 meters 0.013929876642297508 Centerline is valid? [True, True] Translation: X:126.35, Y:129.42, Z:-4.17 [[-1.04500088e-01 -9.94524368e-01 -1.00685175e-03 1.26351305e+02] [ 9.94475540e-01 -1.04504935e-01 9.85484974e-03 1.29417999e+02] [-9.90610918e-03 2.85432337e-05 9.99950933e-01 -4.16838248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92 meters 0.013805703680418464 Centerline is valid? [True, True] Translation: X:126.35, Y:129.45, Z:-4.17 [[-1.03999816e-01 -9.94576750e-01 -1.06140585e-03 1.26347652e+02] [ 9.94522891e-01 -1.04005231e-01 1.03504748e-02 1.29445006e+02] [-1.04047333e-02 2.08550660e-05 9.99945869e-01 -4.16775136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95 meters 0.013778101337137527 Centerline is valid? [True, True] Translation: X:126.34, Y:129.47, Z:-4.17 [[-1.03572960e-01 -9.94621273e-01 -1.07928087e-03 1.26344200e+02] [ 9.94565971e-01 -1.03578583e-01 1.04883935e-02 1.29472917e+02] [-1.05437697e-02 1.28979406e-05 9.99944413e-01 -4.16753156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98 meters 0.013678559333376162 Centerline is valid? [True, True] Translation: X:126.34, Y:129.50, Z:-4.17 [[-1.01707014e-01 -9.94813696e-01 -1.18045396e-03 1.26339033e+02] [ 9.94747974e-01 -1.01713864e-01 1.14349226e-02 1.29500867e+02] [-1.14956861e-02 -1.12423509e-05 9.99933922e-01 -4.16728172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01 meters 0.013758123450405547 Centerline is valid? [True, True] Translation: X:126.33, Y:129.53, Z:-4.17 [[-1.01009109e-01 -9.94884807e-01 -1.17471853e-03 1.26334729e+02] [ 9.94820080e-01 -1.01015937e-01 1.13484997e-02 1.29528892e+02] [-1.14091152e-02 -2.23317457e-05 9.99934914e-01 -4.16783723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04 meters 0.01380025328634438 Centerline is valid? [True, True] Translation: X:126.33, Y:129.56, Z:-4.17 [[-1.00270085e-01 -9.94959540e-01 -1.19319612e-03 1.26330525e+02] [ 9.94893141e-01 -1.00277178e-01 1.14945472e-02 1.29556513e+02] [-1.15562597e-02 -3.45434167e-05 9.99933224e-01 -4.16841658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07 meters 0.013961224465064422 Centerline is valid? [True, True] Translation: X:126.33, Y:129.58, Z:-4.17 [[-9.82029478e-02 -9.95165758e-01 -1.13777066e-03 1.26325355e+02] [ 9.95105694e-01 -9.82095212e-02 1.09337724e-02 1.29584133e+02] [-1.09926558e-02 -5.84733866e-05 9.99939577e-01 -4.16806880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.1 meters 0.014007758877955218 Centerline is valid? [True, True] Translation: X:126.32, Y:129.61, Z:-4.17 [[-9.72448987e-02 -9.95259887e-01 -1.08935910e-03 1.26321409e+02] [ 9.95205189e-01 -9.72509754e-02 1.04345754e-02 1.29611432e+02] [-1.04910555e-02 -6.94266010e-05 9.99944965e-01 -4.16857762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13 meters 0.014145618289973428 Centerline is valid? [True, True] Translation: X:126.32, Y:129.64, Z:-4.17 [[-9.64529357e-02 -9.95336978e-01 -1.06386831e-03 1.26317496e+02] [ 9.95284940e-01 -9.64587719e-02 1.01780574e-02 1.29639660e+02] [-1.02332163e-02 -7.71485879e-05 9.99947636e-01 -4.16869508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16 meters 0.014343543774097838 Centerline is valid? [True, True] Translation: X:126.31, Y:129.67, Z:-4.17 [[-9.57530091e-02 -9.95404643e-01 -9.78670530e-04 1.26313607e+02] [ 9.95360794e-01 -9.57579774e-02 9.34338177e-03 1.29666782e+02] [-9.39416110e-03 -7.94733568e-05 9.99955871e-01 -4.16900679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19 meters 0.01433793667675196 Centerline is valid? [True, True] Translation: X:126.31, Y:129.69, Z:-4.17 [[-9.50094037e-02 -9.95475906e-01 -9.66621763e-04 1.26309970e+02] [ 9.95433387e-01 -9.50142800e-02 9.20106033e-03 1.29694579e+02] [-9.25127673e-03 -8.80203199e-05 9.99957202e-01 -4.16871414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22 meters 0.014596259965771602 Centerline is valid? [True, True] Translation: X:126.30, Y:129.72, Z:-4.17 [[-9.38296205e-02 -9.95587940e-01 -8.09623621e-04 1.26304897e+02] [ 9.95558222e-01 -9.38330757e-02 7.69293705e-03 1.29723019e+02] [-7.73496483e-03 -8.42020874e-05 9.99970081e-01 -4.16924595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25 meters 0.015087843781029547 Centerline is valid? [True, True] Translation: X:126.30, Y:129.75, Z:-4.17 [[-9.33608096e-02 -9.95632092e-01 -7.04467619e-04 1.26299922e+02] [ 9.95609719e-01 -9.33634347e-02 6.67510885e-03 1.29749527e+02] [-6.71172411e-03 -7.81812419e-05 9.99977473e-01 -4.17143171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28 meters 0.014912730420340983 Centerline is valid? [True, True] Translation: X:126.30, Y:129.78, Z:-4.17 [[-9.30602803e-02 -9.95660297e-01 -5.98414152e-04 1.26297258e+02] [ 9.95644130e-01 -9.30621796e-02 5.67431462e-03 1.29777821e+02] [-5.70537950e-03 -6.77542280e-05 9.99983722e-01 -4.17151489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31 meters 0.014941982709553535 Centerline is valid? [True, True] Translation: X:126.29, Y:129.81, Z:-4.17 [[-9.33455429e-02 -9.95633695e-01 -3.94791365e-04 1.26294594e+02] [ 9.95626628e-01 -9.33463679e-02 3.75138868e-03 1.29805745e+02] [-3.77186132e-03 -4.28893820e-05 9.99992886e-01 -4.17297687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34 meters 0.015151235073847816 Centerline is valid? [True, True] Translation: X:126.29, Y:129.83, Z:-4.17 [[-9.35099803e-02 -9.95618295e-01 -3.05699972e-04 1.26291767e+02] [ 9.95614075e-01 -9.35104740e-02 2.89899687e-03 1.29832725e+02] [-2.91488047e-03 -3.32740549e-05 9.99995751e-01 -4.17411223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37 meters 0.014923270266379652 Centerline is valid? [True, True] Translation: X:126.29, Y:129.86, Z:-4.17 [[-9.40912555e-02 -9.95563541e-01 -2.67158534e-04 1.26290021e+02] [ 9.95560284e-01 -9.40916311e-02 2.54657414e-03 1.29861176e+02] [-2.56041375e-03 -2.63620680e-05 9.99996722e-01 -4.17310375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.4 meters 0.014905798659133785 Centerline is valid? [True, True] Translation: X:126.29, Y:129.89, Z:-4.17 [[-9.47189623e-02 -9.95504024e-01 -2.35830826e-04 1.26287327e+02] [ 9.95501487e-01 -9.47192534e-02 2.24797154e-03 1.29888690e+02] [-2.26020244e-03 -2.18444061e-05 9.99997446e-01 -4.17354666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42999999999998 meters 0.014728520304414674 Centerline is valid? [True, True] Translation: X:126.29, Y:129.92, Z:-4.17 [[-9.53090638e-02 -9.95447695e-01 -2.64082846e-04 1.26285496e+02] [ 9.95444543e-01 -9.53094266e-02 2.50488000e-03 1.29916367e+02] [-2.51864660e-03 -2.41420611e-05 9.99996828e-01 -4.17280244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45999999999998 meters 0.014870136198548857 Centerline is valid? [True, True] Translation: X:126.28, Y:129.94, Z:-4.17 [[-9.53616742e-02 -9.95442662e-01 -2.39508664e-04 1.26282792e+02] [ 9.95440066e-01 -9.53619725e-02 2.27369734e-03 1.29943546e+02] [-2.28617535e-03 -2.15929354e-05 9.99997386e-01 -4.17309255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48999999999998 meters 0.01481635420373924 Centerline is valid? [True, True] Translation: X:126.28, Y:129.97, Z:-4.17 [[-9.55447359e-02 -9.95425117e-01 -2.02134614e-04 1.26280357e+02] [ 9.95423266e-01 -9.55449481e-02 1.91939764e-03 1.29971643e+02] [-1.92992956e-03 -1.78211570e-05 9.99998138e-01 -4.17307168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51999999999998 meters 0.015030239318416993 Centerline is valid? [True, True] Translation: X:126.28, Y:130.00, Z:-4.17 [[-9.54952431e-02 -9.95429864e-01 -2.09849350e-04 1.26277109e+02] [ 9.95427880e-01 -9.54954718e-02 1.98778813e-03 1.29998856e+02] [-1.99874334e-03 -1.90655827e-05 9.99998002e-01 -4.17372135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54999999999998 meters 0.014938105148344566 Centerline is valid? [True, True] Translation: X:126.28, Y:130.03, Z:-4.17 [[-9.47413594e-02 -9.95501905e-01 -1.80395177e-04 1.26275535e+02] [ 9.95500437e-01 -9.47415295e-02 1.70981325e-03 1.30027319e+02] [-1.71921326e-03 -1.75934464e-05 9.99998522e-01 -4.17214323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57999999999998 meters 0.014997659355149675 Centerline is valid? [True, True] Translation: X:126.27, Y:130.06, Z:-4.17 [[-9.42895353e-02 -9.95544806e-01 -1.53701148e-04 1.26272624e+02] [ 9.95543734e-01 -9.42896594e-02 1.46100067e-03 1.30055661e+02] [-1.46898406e-03 -1.52591405e-05 9.99998921e-01 -4.17206653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60999999999999 meters 0.01545090621252736 Centerline is valid? [True, True] Translation: X:126.27, Y:130.08, Z:-4.17 [[-9.34518058e-02 -9.95623801e-01 -8.70135496e-05 1.26269053e+02] [ 9.95623444e-01 -9.34518459e-02 8.43016188e-04 1.30082835e+02] [-8.47458558e-04 -7.85134487e-06 9.99999641e-01 -4.17337656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64 meters 0.015314482032379064 Centerline is valid? [True, True] Translation: X:126.27, Y:130.11, Z:-4.17 [[-9.28865277e-02 -9.95676701e-01 -1.31197041e-05 1.26266358e+02] [ 9.95676686e-01 -9.28865285e-02 1.71696289e-04 1.30110951e+02] [-1.72172638e-04 2.88528860e-06 9.99999985e-01 -4.17330092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67 meters 0.016181126448197615 Centerline is valid? [True, True] Translation: X:126.26, Y:130.14, Z:-4.17 [[-9.16986268e-02 -9.95786795e-01 1.44212379e-04 1.26262328e+02] [ 9.95786000e-01 -9.16987358e-02 -1.25826458e-03 1.30138541e+02] [ 1.26618735e-03 2.82235343e-05 9.99999198e-01 -4.17454452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.7 meters 0.015952795270660937 Centerline is valid? [True, True] Translation: X:126.26, Y:130.17, Z:-4.17 [[-9.15127358e-02 -9.95803888e-01 1.88813565e-04 1.26260432e+02] [ 9.95802513e-01 -9.15129233e-02 -1.65545547e-03 1.30166396e+02] [ 1.66578787e-03 3.65257630e-05 9.99998612e-01 -4.17358605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73 meters 0.016171761980994084 Centerline is valid? [True, True] Translation: X:126.26, Y:130.19, Z:-4.17 [[-9.17628919e-02 -9.95780868e-01 1.87420504e-04 1.26257603e+02] [ 9.95779525e-01 -9.17630760e-02 -1.63559361e-03 1.30193159e+02] [ 1.64589111e-03 3.65427007e-05 9.99998645e-01 -4.17358489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76 meters 0.01609378513198611 Centerline is valid? [True, True] Translation: X:126.26, Y:130.22, Z:-4.17 [[-9.27476223e-02 -9.95689627e-01 2.10855984e-04 1.26255043e+02] [ 9.95687917e-01 -9.27478539e-02 -1.84592546e-03 1.30221050e+02] [ 1.85752527e-03 3.87415582e-05 9.99998274e-01 -4.17362045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79 meters 0.016181652510059083 Centerline is valid? [True, True] Translation: X:126.25, Y:130.25, Z:-4.17 [[-9.37313435e-02 -9.95597510e-01 1.81132525e-04 1.26252961e+02] [ 9.95596266e-01 -9.37315128e-02 -1.57412257e-03 1.30248632e+02] [ 1.58417034e-03 3.27902420e-05 9.99998745e-01 -4.17350124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82 meters 0.0158042346186871 Centerline is valid? [True, True] Translation: X:126.25, Y:130.28, Z:-4.17 [[-9.50573454e-02 -9.95471774e-01 2.18784078e-04 1.26251564e+02] [ 9.95469949e-01 -9.50575902e-02 -1.90662820e-03 1.30277061e+02] [ 1.91879164e-03 3.65539598e-05 9.99998158e-01 -4.17234153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85 meters 0.015687716761567813 Centerline is valid? [True, True] Translation: X:126.25, Y:130.30, Z:-4.17 [[-9.75862084e-02 -9.95227038e-01 2.72964583e-04 1.26250343e+02] [ 9.95224182e-01 -9.75865824e-02 -2.38465089e-03 1.30304258e+02] [ 2.39990673e-03 3.89519144e-05 9.99997119e-01 -4.17227055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88 meters 0.015711304222998438 Centerline is valid? [True, True] Translation: X:126.25, Y:130.33, Z:-4.17 [[-9.86825222e-02 -9.95118926e-01 2.86846380e-04 1.26247612e+02] [ 9.95115775e-01 -9.86829317e-02 -2.50470298e-03 1.30332643e+02] [ 2.52078418e-03 3.82749500e-05 9.99996822e-01 -4.17262446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91 meters 0.0157601721803504 Centerline is valid? [True, True] Translation: X:126.24, Y:130.36, Z:-4.17 [[-9.96762286e-02 -9.95019881e-01 2.91915923e-04 1.26244754e+02] [ 9.95016631e-01 -9.96766492e-02 -2.54363245e-03 1.30360510e+02] [ 2.56006206e-03 3.69215083e-05 9.99996722e-01 -4.17341038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94 meters 0.015696497837667283 Centerline is valid? [True, True] Translation: X:126.24, Y:130.39, Z:-4.17 [[-1.00392754e-01 -9.94947844e-01 2.87438693e-04 1.26241998e+02] [ 9.94944711e-01 -1.00393159e-01 -2.49730839e-03 1.30388422e+02] [ 2.51354848e-03 3.52739401e-05 9.99996840e-01 -4.17346168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97 meters 0.01577123791063694 Centerline is valid? [True, True] Translation: X:126.24, Y:130.42, Z:-4.17 [[-1.01557467e-01 -9.94829652e-01 2.11080904e-04 1.26239161e+02] [ 9.94827997e-01 -1.01557683e-01 -1.81496331e-03 1.30415316e+02] [ 1.82701621e-03 2.56661164e-05 9.99998331e-01 -4.17344249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.0 meters 0.015587040814073779 Centerline is valid? [True, True] Translation: X:126.24, Y:130.44, Z:-4.17 [[-1.02058759e-01 -9.94778348e-01 2.20438662e-04 1.26236458e+02] [ 9.94776545e-01 -1.02058994e-01 -1.89409571e-03 1.30443414e+02] [ 1.90670315e-03 2.59781535e-05 9.99998182e-01 -4.17274171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03 meters 0.015544765616310765 Centerline is valid? [True, True] Translation: X:126.23, Y:130.47, Z:-4.17 [[-1.02531892e-01 -9.94729688e-01 2.44014774e-04 1.26233165e+02] [ 9.94727479e-01 -1.02532178e-01 -2.09649132e-03 1.30471388e+02] [ 2.11046152e-03 2.77709799e-05 9.99997773e-01 -4.17276252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06 meters 0.015650646744687254 Centerline is valid? [True, True] Translation: X:126.23, Y:130.50, Z:-4.17 [[-1.02793268e-01 -9.94702723e-01 1.91780471e-04 1.26229341e+02] [ 9.94701372e-01 -1.02793445e-01 -1.63990823e-03 1.30497023e+02] [ 1.65093496e-03 2.21927716e-05 9.99998637e-01 -4.17440059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09 meters 0.015307334975694158 Centerline is valid? [True, True] Translation: X:126.23, Y:130.52, Z:-4.17 [[-1.02757012e-01 -9.94706464e-01 2.18680553e-04 1.26226085e+02] [ 9.94704717e-01 -1.02757241e-01 -1.86431210e-03 1.30524589e+02] [ 1.87691430e-03 2.59514364e-05 9.99998238e-01 -4.17302974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12 meters 0.015447605153507432 Centerline is valid? [True, True] Translation: X:126.22, Y:130.55, Z:-4.17 [[-1.02563867e-01 -9.94726398e-01 2.13233741e-04 1.26222252e+02] [ 9.94724754e-01 -1.02564085e-01 -1.80878825e-03 1.30551825e+02] [ 1.82111955e-03 2.65925625e-05 9.99998341e-01 -4.17351495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15 meters 0.015335637978312475 Centerline is valid? [True, True] Translation: X:126.22, Y:130.58, Z:-4.17 [[-1.02499505e-01 -9.94733036e-01 1.93994939e-04 1.26218691e+02] [ 9.94731686e-01 -1.02499686e-01 -1.63923503e-03 1.30579890e+02] [ 1.65048566e-03 2.49521325e-05 9.99998638e-01 -4.17291234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17999999999998 meters 0.01542769499811838 Centerline is valid? [True, True] Translation: X:126.21, Y:130.61, Z:-4.17 [[-1.01876065e-01 -9.94797082e-01 1.84366638e-04 1.26214158e+02] [ 9.94795872e-01 -1.01876228e-01 -1.55167836e-03 1.30607955e+02] [ 1.56238768e-03 2.53282858e-05 9.99998779e-01 -4.17364559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20999999999998 meters 0.015773540949113117 Centerline is valid? [True, True] Translation: X:126.21, Y:130.63, Z:-4.17 [[-1.01355843e-01 -9.94850222e-01 1.71333316e-04 1.26209299e+02] [ 9.94849192e-01 -1.01355985e-01 -1.43164563e-03 1.30634313e+02] [ 1.44163863e-03 2.53451609e-05 9.99998961e-01 -4.17482082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23999999999998 meters 0.01549396578918566 Centerline is valid? [True, True] Translation: X:126.21, Y:130.66, Z:-4.17 [[-1.00609786e-01 -9.94925957e-01 1.08133887e-04 1.26205333e+02] [ 9.94925565e-01 -1.00609843e-01 -8.83384560e-04 1.30661794e+02] [ 8.89781562e-04 1.87080366e-05 9.99999604e-01 -4.17405824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26999999999998 meters 0.015802995091339447 Centerline is valid? [True, True] Translation: X:126.20, Y:130.69, Z:-4.17 [[-9.91599868e-02 -9.95071501e-01 -7.33453112e-05 1.26199625e+02] [ 9.95071263e-01 -9.91600138e-02 6.87582881e-04 1.30688086e+02] [-6.91467052e-04 -4.80310196e-06 9.99999761e-01 -4.17438337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29999999999998 meters 0.01596894669400893 Centerline is valid? [True, True] Translation: X:126.20, Y:130.72, Z:-4.17 [[-9.87302643e-02 -9.95114226e-01 -1.10651521e-04 1.26195078e+02] [ 9.95113721e-01 -9.87303257e-02 1.00270350e-03 1.30716345e+02] [-1.00872918e-03 -1.11136650e-05 9.99999491e-01 -4.17469172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32999999999998 meters 0.016005700391814752 Centerline is valid? [True, True] Translation: X:126.19, Y:130.74, Z:-4.17 [[-9.79256929e-02 -9.95193712e-01 -1.83996171e-04 1.26191098e+02] [ 9.95192377e-01 -9.79258629e-02 1.63037073e-03 1.30744443e+02] [-1.64055269e-03 -2.34564033e-05 9.99998654e-01 -4.17418968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35999999999999 meters 0.015988145299013105 Centerline is valid? [True, True] Translation: X:126.19, Y:130.77, Z:-4.18 [[-9.81155653e-02 -9.95175004e-01 -2.18470034e-04 1.26187393e+02] [ 9.95173149e-01 -9.81158043e-02 1.92139798e-03 1.30771864e+02] [-1.93356260e-03 -2.88964624e-05 9.99998130e-01 -4.17507161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39 meters 0.015988145299013105 Centerline is valid? [True, True] Translation: X:126.18, Y:130.80, Z:-4.18 [[-9.84007902e-02 -9.95146842e-01 -2.19033074e-04 1.26184121e+02] [ 9.95144987e-01 -9.84010298e-02 1.92133299e-03 1.30799279e+02] [-1.93356153e-03 -2.89089812e-05 9.99998130e-01 -4.17563781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42 meters 0.015951633834739323 Centerline is valid? [True, True] Translation: X:126.18, Y:130.83, Z:-4.18 [[-9.84313431e-02 -9.95143811e-01 -2.58909535e-04 1.26180685e+02] [ 9.95141252e-01 -9.84316772e-02 2.25669664e-03 1.30826829e+02] [-2.27122260e-03 -3.55218777e-05 9.99997420e-01 -4.17573291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45 meters 0.016334286543708783 Centerline is valid? [True, True] Translation: X:126.18, Y:130.85, Z:-4.18 [[-9.83470129e-02 -9.95152139e-01 -2.92104563e-04 1.26176340e+02] [ 9.95148910e-01 -9.83474380e-02 2.53555674e-03 1.30853234e+02] [-2.55199245e-03 -4.13231058e-05 9.99996743e-01 -4.17737551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48 meters 0.016636550403860362 Centerline is valid? [True, True] Translation: X:126.17, Y:130.88, Z:-4.18 [[-9.82217647e-02 -9.95164503e-01 -3.12499594e-04 1.26172398e+02] [ 9.95160838e-01 -9.82222512e-02 2.70113634e-03 1.30879849e+02] [-2.71876941e-03 -4.56769804e-05 9.99996303e-01 -4.17812124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51 meters 0.01668069644229549 Centerline is valid? [True, True] Translation: X:126.17, Y:130.91, Z:-4.18 [[-9.85657872e-02 -9.95130480e-01 -3.35415741e-04 1.26168764e+02] [ 9.95126286e-01 -9.85663457e-02 2.88986767e-03 1.30906870e+02] [-2.90885611e-03 -4.89389388e-05 9.99995768e-01 -4.17907755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54 meters 0.01630280251383939 Centerline is valid? [True, True] Translation: X:126.17, Y:130.93, Z:-4.18 [[-9.89370885e-02 -9.95093620e-01 -3.74193393e-04 1.26165875e+02] [ 9.95088461e-01 -9.89377807e-02 3.20474010e-03 1.30934383e+02] [-3.22603829e-03 -5.52878727e-05 9.99994795e-01 -4.17900770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57 meters 0.016077533539675514 Centerline is valid? [True, True] Translation: X:126.16, Y:130.96, Z:-4.18 [[-9.96268349e-02 -9.95024793e-01 -3.93998871e-04 1.26162533e+02] [ 9.95019108e-01 -9.96275977e-02 3.36395493e-03 1.30962562e+02] [-3.38647172e-03 -5.68962231e-05 9.99994264e-01 -4.17979589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.6 meters 0.016693431210588992 Centerline is valid? [True, True] Translation: X:126.16, Y:130.99, Z:-4.18 [[-9.97849802e-02 -9.95008920e-01 -4.54208309e-04 1.26157841e+02] [ 9.95001424e-01 -9.97859918e-02 3.86301160e-03 1.30988978e+02] [-3.88905462e-03 -6.64673787e-05 9.99992435e-01 -4.18199463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63 meters 0.01631370894439996 Centerline is valid? [True, True] Translation: X:126.16, Y:131.02, Z:-4.18 [[-9.98378347e-02 -9.95003556e-01 -5.74537118e-04 1.26155215e+02] [ 9.94991715e-01 -9.98394500e-02 4.85501013e-03 1.31017471e+02] [-4.88811382e-03 -8.69459735e-05 9.99988049e-01 -4.18121396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66 meters 0.016247612095929242 Centerline is valid? [True, True] Translation: X:126.15, Y:131.05, Z:-4.18 [[-9.98977313e-02 -9.94997480e-01 -6.77090819e-04 1.26151901e+02] [ 9.94981141e-01 -9.98999717e-02 5.70298473e-03 1.31045093e+02] [-5.74209679e-03 -1.03977359e-04 9.99983509e-01 -4.18137976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69 meters 0.016704396583113356 Centerline is valid? [True, True] Translation: X:126.15, Y:131.07, Z:-4.18 [[-9.87866520e-02 -9.95108358e-01 -7.43647485e-04 1.26147368e+02] [ 9.95088838e-01 -9.87893730e-02 6.23415331e-03 1.31071349e+02] [-6.27712253e-03 -1.24144178e-04 9.99980291e-01 -4.18222303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72 meters 0.016914616697380293 Centerline is valid? [True, True] Translation: X:126.14, Y:131.10, Z:-4.18 [[-9.84168388e-02 -9.95144982e-01 -7.68698908e-04 1.26142925e+02] [ 9.95124150e-01 -9.84197534e-02 6.44033118e-03 1.31099344e+02] [-6.48471841e-03 -1.31113813e-04 9.99978965e-01 -4.18317751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75 meters 0.01734400413513945 Centerline is valid? [True, True] Translation: X:126.14, Y:131.13, Z:-4.18 [[-9.79633270e-02 -9.95189714e-01 -7.87762111e-04 1.26138256e+02] [ 9.95167938e-01 -9.79663959e-02 6.58490741e-03 1.31125879e+02] [-6.63040634e-03 -1.38876157e-04 9.99978009e-01 -4.18457381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78 meters 0.017178151687100147 Centerline is valid? [True, True] Translation: X:126.13, Y:131.15, Z:-4.18 [[-9.74503117e-02 -9.95240083e-01 -7.83558744e-04 1.26134627e+02] [ 9.95218656e-01 -9.74533565e-02 6.53229463e-03 1.31153603e+02] [-6.57756188e-03 -1.43238132e-04 9.99978357e-01 -4.18488196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81 meters 0.018152871008657274 Centerline is valid? [True, True] Translation: X:126.13, Y:131.18, Z:-4.19 [[-9.72094241e-02 -9.95263657e-01 -7.62074977e-04 1.26129068e+02] [ 9.95243467e-01 -9.72123074e-02 6.34108968e-03 1.31179946e+02] [-6.38513917e-03 -1.42036466e-04 9.99979605e-01 -4.18701087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84 meters 0.01777755278484233 Centerline is valid? [True, True] Translation: X:126.13, Y:131.21, Z:-4.19 [[-9.70044464e-02 -9.95283670e-01 -7.43969454e-04 1.26126028e+02] [ 9.95264532e-01 -9.70071960e-02 6.17375359e-03 1.31208103e+02] [-6.21680653e-03 -1.41564861e-04 9.99980665e-01 -4.18782763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87 meters 0.017496288419250404 Centerline is valid? [True, True] Translation: X:126.12, Y:131.24, Z:-4.19 [[-9.73140553e-02 -9.95253451e-01 -7.37124924e-04 1.26123197e+02] [ 9.95234745e-01 -9.73167468e-02 6.10349180e-03 1.31236084e+02] [-6.14625588e-03 -1.39656797e-04 9.99981102e-01 -4.18827902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.9 meters 0.01734900354565361 Centerline is valid? [True, True] Translation: X:126.12, Y:131.26, Z:-4.19 [[-9.75241472e-02 -9.95232872e-01 -7.55179133e-04 1.26120650e+02] [ 9.95213338e-01 -9.75269658e-02 6.23721608e-03 1.31263642e+02] [-6.28113281e-03 -1.43285166e-04 9.99980263e-01 -4.18816015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92999999999998 meters 0.01754298125225028 Centerline is valid? [True, True] Translation: X:126.12, Y:131.29, Z:-4.19 [[-9.80157288e-02 -9.95184581e-01 -7.52448279e-04 1.26117152e+02] [ 9.95165281e-01 -9.80185154e-02 6.19952598e-03 1.31291004e+02] [-6.24342653e-03 -1.41159346e-04 9.99980500e-01 -4.18925485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95999999999998 meters 0.017559514698423265 Centerline is valid? [True, True] Translation: X:126.11, Y:131.32, Z:-4.19 [[-9.86413912e-02 -9.95122780e-01 -7.27427244e-04 1.26113936e+02] [ 9.95104817e-01 -9.86439824e-02 5.98058529e-03 1.31318896e+02] [-6.02317298e-03 -1.33933102e-04 9.99981852e-01 -4.19054348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98999999999998 meters 0.01748807104277385 Centerline is valid? [True, True] Translation: X:126.11, Y:131.35, Z:-4.19 [[-9.93508313e-02 -9.95052186e-01 -7.48433394e-04 1.26110722e+02] [ 9.95033267e-01 -9.93535586e-02 6.13741150e-03 1.31346542e+02] [-6.18140424e-03 -1.34959191e-04 9.99980886e-01 -4.19171439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01999999999998 meters 0.017144673204422815 Centerline is valid? [True, True] Translation: X:126.11, Y:131.37, Z:-4.19 [[-1.00056467e-01 -9.94981462e-01 -7.70748054e-04 1.26108390e+02] [ 9.94961498e-01 -1.00059343e-01 6.30446240e-03 1.31374861e+02] [-6.34994375e-03 -1.36062402e-04 9.99979830e-01 -4.19236955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04999999999998 meters 0.016905891369246123 Centerline is valid? [True, True] Translation: X:126.11, Y:131.40, Z:-4.19 [[-1.01214141e-01 -9.94864296e-01 -8.55031238e-04 1.26106187e+02] [ 9.94839875e-01 -1.01217649e-01 6.97218557e-03 1.31403261e+02] [-7.02292274e-03 -1.44935393e-04 9.99975328e-01 -4.19251569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07999999999998 meters 0.01688040390557403 Centerline is valid? [True, True] Translation: X:126.10, Y:131.43, Z:-4.19 [[-1.02375228e-01 -9.94745391e-01 -9.59132778e-04 1.26103490e+02] [ 9.94714850e-01 -1.02379602e-01 7.79648670e-03 1.31430724e+02] [-7.85371484e-03 -1.55896511e-04 9.99969147e-01 -4.19253701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10999999999999 meters 0.016538600347979195 Centerline is valid? [True, True] Translation: X:126.10, Y:131.46, Z:-4.19 [[-1.04931316e-01 -9.94478730e-01 -1.21435471e-03 1.26102532e+02] [ 9.94430112e-01 -1.04938196e-01 9.83497348e-03 1.31458600e+02] [-9.90810413e-03 -1.75594181e-04 9.99950898e-01 -4.19159001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14 meters 0.016254766499528863 Centerline is valid? [True, True] Translation: X:126.10, Y:131.49, Z:-4.19 [[-1.06261095e-01 -9.94337336e-01 -1.35722406e-03 1.26100667e+02] [ 9.94276933e-01 -1.06269602e-01 1.09614397e-02 1.31486402e+02] [-1.10436004e-02 -1.84681982e-04 9.99939001e-01 -4.19156911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17 meters 0.016002520116378267 Centerline is valid? [True, True] Translation: X:126.10, Y:131.51, Z:-4.19 [[-1.07433355e-01 -9.94211172e-01 -1.48984526e-03 1.26098053e+02] [ 9.94138861e-01 -1.07443512e-01 1.19923822e-02 1.31514875e+02] [-1.20830346e-02 -1.92731214e-04 9.99926979e-01 -4.19170746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.2 meters 0.016115035331458936 Centerline is valid? [True, True] Translation: X:126.09, Y:131.54, Z:-4.19 [[-1.08829543e-01 -9.94059172e-01 -1.57926046e-03 1.26094711e+02] [ 9.93978072e-01 -1.08840839e-01 1.26989587e-02 1.31541756e+02] [-1.27954044e-02 -1.87728391e-04 9.99918118e-01 -4.19244364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23 meters 0.01565915329163643 Centerline is valid? [True, True] Translation: X:126.09, Y:131.57, Z:-4.19 [[-1.10676271e-01 -9.93854903e-01 -1.78759608e-03 1.26092844e+02] [ 9.93751563e-01 -1.10690543e-01 1.43329662e-02 1.31569902e+02] [-1.44427587e-02 -1.90107145e-04 9.99895680e-01 -4.19271014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26 meters 0.01585246221632444 Centerline is valid? [True, True] Translation: X:126.09, Y:131.60, Z:-4.19 [[-1.11286148e-01 -9.93786729e-01 -1.82483361e-03 1.26088370e+02] [ 9.93679527e-01 -1.11300949e-01 1.45977960e-02 1.31597092e+02] [-1.47102017e-02 -1.88767307e-04 9.99891781e-01 -4.19388098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29 meters 0.015569039659633589 Centerline is valid? [True, True] Translation: X:126.09, Y:131.62, Z:-4.19 [[-1.11106774e-01 -9.93806765e-01 -1.84368101e-03 1.26085118e+02] [ 9.93697884e-01 -1.11121894e-01 1.47119231e-02 1.31624902e+02] [-1.48256820e-02 -1.97467613e-04 9.99890074e-01 -4.19467507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32 meters 0.015696089116484607 Centerline is valid? [True, True] Translation: X:126.08, Y:131.65, Z:-4.20 [[-1.10794026e-01 -9.93841805e-01 -1.77514055e-03 1.26080639e+02] [ 9.93741310e-01 -1.10808068e-01 1.41343587e-02 1.31652979e+02] [-1.42440164e-02 -1.98028004e-04 9.99898529e-01 -4.19587835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35 meters 0.015803517839411453 Centerline is valid? [True, True] Translation: X:126.08, Y:131.68, Z:-4.20 [[-1.10255048e-01 -9.93901848e-01 -1.71510949e-03 1.26076113e+02] [ 9.93808446e-01 -1.10268202e-01 1.36270500e-02 1.31681125e+02] [-1.37330722e-02 -2.02039249e-04 9.99905677e-01 -4.19738461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38 meters 0.016502789042105538 Centerline is valid? [True, True] Translation: X:126.07, Y:131.71, Z:-4.20 [[-1.08310436e-01 -9.94115909e-01 -1.55223041e-03 1.26069086e+02] [ 9.94039710e-01 -1.08321355e-01 1.23101047e-02 1.31707742e+02] [-1.24058106e-02 -2.09665861e-04 9.99923023e-01 -4.20074904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41 meters 0.01629845141112478 Centerline is valid? [True, True] Translation: X:126.06, Y:131.74, Z:-4.20 [[-1.07257441e-01 -9.94230156e-01 -1.49610434e-03 1.26064771e+02] [ 9.94159721e-01 -1.07267654e-01 1.18363249e-02 1.31736276e+02] [-1.19285147e-02 -2.17832751e-04 9.99928829e-01 -4.20189395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44 meters 0.01651201378896853 Centerline is valid? [True, True] Translation: X:126.06, Y:131.76, Z:-4.20 [[-1.06218482e-01 -9.94341748e-01 -1.45676589e-03 1.26059536e+02] [ 9.94275256e-01 -1.06228229e-01 1.15012787e-02 1.31764342e+02] [-1.15909513e-02 -2.26777908e-04 9.99932797e-01 -4.20346721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47 meters 0.017206245265197543 Centerline is valid? [True, True] Translation: X:126.05, Y:131.79, Z:-4.20 [[-1.03875069e-01 -9.94589237e-01 -1.48967310e-03 1.26052875e+02] [ 9.94520049e-01 -1.03885418e-01 1.17342274e-02 1.31791153e+02] [-1.18254916e-02 -2.62616081e-04 9.99930042e-01 -4.20391958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.5 meters 0.01747626442950898 Centerline is valid? [True, True] Translation: X:126.05, Y:131.82, Z:-4.20 [[-1.03410146e-01 -9.94637478e-01 -1.62137966e-03 1.26047868e+02] [ 9.94555914e-01 -1.03422435e-01 1.27409939e-02 1.31818458e+02] [-1.28403571e-02 -2.95004692e-04 9.99917516e-01 -4.20403124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53 meters 0.017993091139422636 Centerline is valid? [True, True] Translation: X:126.04, Y:131.85, Z:-4.20 [[-1.02900424e-01 -9.94690080e-01 -1.77412485e-03 1.26042827e+02] [ 9.94592924e-01 -1.02915177e-01 1.39062173e-02 1.31845597e+02] [-1.40149607e-02 -3.33576368e-04 9.99901730e-01 -4.20376467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56 meters 0.017672020340304274 Centerline is valid? [True, True] Translation: X:126.04, Y:131.87, Z:-4.20 [[-1.02863190e-01 -9.94693748e-01 -1.87396680e-03 1.26039284e+02] [ 9.94585914e-01 -1.02879640e-01 1.46506060e-02 1.31873863e+02] [-1.47656593e-02 -3.56812910e-04 9.99890918e-01 -4.20345965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59 meters 0.018023013167309407 Centerline is valid? [True, True] Translation: X:126.03, Y:131.90, Z:-4.20 [[-1.02970099e-01 -9.94682579e-01 -1.93020210e-03 1.26034487e+02] [ 9.94568706e-01 -1.02987526e-01 1.50552043e-02 1.31900317e+02] [-1.51739362e-02 -3.69482718e-04 9.99884801e-01 -4.20401039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62 meters 0.01760232437590014 Centerline is valid? [True, True] Translation: X:126.03, Y:131.93, Z:-4.20 [[-1.03354110e-01 -9.94642561e-01 -2.02564743e-03 1.26030978e+02] [ 9.94517791e-01 -1.03373238e-01 1.57587184e-02 1.31928579e+02] [-1.58836897e-02 -3.85814100e-04 9.99873772e-01 -4.20438928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65 meters 0.017544522877469146 Centerline is valid? [True, True] Translation: X:126.03, Y:131.96, Z:-4.20 [[-1.04302254e-01 -9.94543265e-01 -2.17570790e-03 1.26027253e+02] [ 9.94400011e-01 -1.04324167e-01 1.68845133e-02 1.31955694e+02] [-1.70193579e-02 -4.02431170e-04 9.99855079e-01 -4.20496434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67999999999998 meters 0.01718233843714825 Centerline is valid? [True, True] Translation: X:126.02, Y:131.98, Z:-4.21 [[-1.05130614e-01 -9.94455890e-01 -2.24407862e-03 1.26024371e+02] [ 9.94304208e-01 -1.05153783e-01 1.73730905e-02 1.31983967e+02] [-1.75127456e-02 -4.04853132e-04 9.99846558e-01 -4.20522741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70999999999998 meters 0.01694795057827457 Centerline is valid? [True, True] Translation: X:126.02, Y:132.01, Z:-4.21 [[-1.05811291e-01 -9.94383653e-01 -2.26296286e-03 1.26021204e+02] [ 9.94230093e-01 -1.05834730e-01 1.74794587e-02 1.32012167e+02] [-1.76207881e-02 -4.00381685e-04 9.99844662e-01 -4.20539282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73999999999998 meters 0.017355644475228024 Centerline is valid? [True, True] Translation: X:126.02, Y:132.04, Z:-4.21 [[-1.06566974e-01 -9.94302890e-01 -2.28990352e-03 1.26016653e+02] [ 9.94146351e-01 -1.06590839e-01 1.76472752e-02 1.32038639e+02] [-1.77908194e-02 -3.95882510e-04 9.99841652e-01 -4.20606218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76999999999998 meters 0.016912495997168667 Centerline is valid? [True, True] Translation: X:126.01, Y:132.07, Z:-4.21 [[-1.07106054e-01 -9.94244852e-01 -2.33844514e-03 1.26013335e+02] [ 9.94082383e-01 -1.07130835e-01 1.79777391e-02 1.32066266e+02] [-1.81247941e-02 -3.99082424e-04 9.99835653e-01 -4.20694331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79999999999998 meters 0.01729780651041108 Centerline is valid? [True, True] Translation: X:126.01, Y:132.09, Z:-4.21 [[-1.07427839e-01 -9.94210114e-01 -2.34686497e-03 1.26008783e+02] [ 9.94047197e-01 -1.07452730e-01 1.80022279e-02 1.32092564e+02] [-1.81501741e-02 -3.98954117e-04 9.99835192e-01 -4.20782640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82999999999998 meters 0.017414851804634267 Centerline is valid? [True, True] Translation: X:126.00, Y:132.12, Z:-4.21 [[-1.07749535e-01 -9.94175314e-01 -2.34146641e-03 1.26004571e+02] [ 9.94013897e-01 -1.07774243e-01 1.79188718e-02 1.32119446e+02] [-1.80668497e-02 -3.96700049e-04 9.99836702e-01 -4.20900406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85999999999999 meters 0.01694961124099662 Centerline is valid? [True, True] Translation: X:126.00, Y:132.15, Z:-4.21 [[-1.08194762e-01 -9.94126932e-01 -2.35314822e-03 1.26001453e+02] [ 9.93964694e-01 -1.08219626e-01 1.79638516e-02 1.32147539e+02] [-1.81130055e-02 -3.95351604e-04 9.99835868e-01 -4.21031720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89 meters 0.016520106338181267 Centerline is valid? [True, True] Translation: X:126.00, Y:132.18, Z:-4.21 [[-1.08673810e-01 -9.94074910e-01 -2.25297809e-03 1.25998458e+02] [ 9.93926802e-01 -1.08696517e-01 1.71633296e-02 1.32175193e+02] [-1.73065262e-02 -3.74090894e-04 9.99850161e-01 -4.21251771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92 meters 0.0164947870317818 Centerline is valid? [True, True] Translation: X:125.99, Y:132.20, Z:-4.21 [[-1.09502079e-01 -9.93984102e-01 -2.21340606e-03 1.25994774e+02] [ 9.93841770e-01 -1.09523863e-01 1.68243943e-02 1.32203552e+02] [-1.69656012e-02 -3.57469245e-04 9.99856010e-01 -4.21351510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95 meters 0.016641185182353142 Centerline is valid? [True, True] Translation: X:125.99, Y:132.23, Z:-4.21 [[-1.10657443e-01 -9.93856166e-01 -2.20253442e-03 1.25991186e+02] [ 9.93715815e-01 -1.10678838e-01 1.67055209e-02 1.32230431e+02] [-1.68466589e-02 -3.40103055e-04 9.99858027e-01 -4.21469313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98 meters 0.016656462537199497 Centerline is valid? [True, True] Translation: X:125.99, Y:132.26, Z:-4.22 [[-1.11647867e-01 -9.93745345e-01 -2.22341852e-03 1.25987991e+02] [ 9.93602710e-01 -1.11669519e-01 1.68396348e-02 1.32256085e+02] [-1.69825967e-02 -3.29085371e-04 9.99855731e-01 -4.21525328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01 meters 0.015984525530472134 Centerline is valid? [True, True] Translation: X:125.99, Y:132.28, Z:-4.22 [[-1.13050572e-01 -9.93586721e-01 -2.23533377e-03 1.25986135e+02] [ 9.93443282e-01 -1.13072240e-01 1.68853368e-02 1.32283756e+02] [-1.70298006e-02 -3.11780332e-04 9.99854934e-01 -4.21566459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04 meters 0.015825629719916818 Centerline is valid? [True, True] Translation: X:125.98, Y:132.31, Z:-4.22 [[-1.14475043e-01 -9.93423403e-01 -2.32515970e-03 1.25983669e+02] [ 9.93268883e-01 -1.14498252e-01 1.75235969e-02 1.32311941e+02] [-1.76745780e-02 -3.03494271e-04 9.99843746e-01 -4.21599266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07 meters 0.015932898741706142 Centerline is valid? [True, True] Translation: X:125.98, Y:132.34, Z:-4.22 [[-1.15990465e-01 -9.93247535e-01 -2.35523322e-03 1.25980314e+02] [ 9.93089658e-01 -1.16014026e-01 1.77109294e-02 1.32339032e+02] [-1.78645770e-02 -2.84658814e-04 9.99840375e-01 -4.21664440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.1 meters 0.015583148477088046 Centerline is valid? [True, True] Translation: X:125.98, Y:132.37, Z:-4.22 [[-1.17579366e-01 -9.93060510e-01 -2.43215969e-03 1.25978117e+02] [ 9.92892897e-01 -1.17604209e-01 1.82467639e-02 1.32367221e+02] [-1.84061729e-02 -2.69431154e-04 9.99830556e-01 -4.21712098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13 meters 0.01492053467000779 Centerline is valid? [True, True] Translation: X:125.98, Y:132.40, Z:-4.22 [[-1.20331760e-01 -9.92730728e-01 -2.44300834e-03 1.25977328e+02] [ 9.92562278e-01 -1.20356348e-01 1.82886394e-02 1.32395322e+02] [-1.84497259e-02 -2.24133743e-04 9.99829764e-01 -4.21753781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16 meters 0.01504056052384285 Centerline is valid? [True, True] Translation: X:125.97, Y:132.42, Z:-4.22 [[-1.21422950e-01 -9.92597997e-01 -2.38416843e-03 1.25974074e+02] [ 9.92438226e-01 -1.21446183e-01 1.78099056e-02 1.32422393e+02] [-1.79676248e-02 -2.03608618e-04 9.99838548e-01 -4.21851945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19 meters 0.014934300886824183 Centerline is valid? [True, True] Translation: X:125.97, Y:132.45, Z:-4.22 [[-1.22634384e-01 -9.92449219e-01 -2.31418892e-03 1.25971323e+02] [ 9.92299081e-01 -1.22656086e-01 1.72631972e-02 1.32448167e+02] [-1.74166959e-02 -1.79305981e-04 9.99848302e-01 -4.21952165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22 meters 0.014685004926842278 Centerline is valid? [True, True] Translation: X:125.97, Y:132.48, Z:-4.22 [[-1.23739265e-01 -9.92312148e-01 -2.27921512e-03 1.25968873e+02] [ 9.92167226e-01 -1.23760148e-01 1.69593912e-02 1.32475857e+02] [-1.71110859e-02 -1.62819940e-04 9.99853581e-01 -4.22064232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25 meters 0.014709184160977754 Centerline is valid? [True, True] Translation: X:125.97, Y:132.50, Z:-4.22 [[-1.25027097e-01 -9.92151024e-01 -2.13793856e-03 1.25965805e+02] [ 9.92023992e-01 -1.25045301e-01 1.58767819e-02 1.32502589e+02] [-1.60195045e-02 -1.35858390e-04 9.99871670e-01 -4.22222815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28 meters 0.014721013100974425 Centerline is valid? [True, True] Translation: X:125.96, Y:132.53, Z:-4.22 [[-1.25690919e-01 -9.92067342e-01 -2.04496221e-03 1.25962200e+02] [ 9.91951669e-01 -1.25707492e-01 1.51496524e-02 1.32529835e+02] [-1.52865425e-02 -1.24329941e-04 9.99883146e-01 -4.22325958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31 meters 0.014721013100974425 Centerline is valid? [True, True] Translation: X:125.96, Y:132.56, Z:-4.22 [[-1.26000079e-01 -9.92028118e-01 -2.04753651e-03 1.25958501e+02] [ 9.91912446e-01 -1.26016655e-01 1.51493045e-02 1.32556357e+02] [-1.52865597e-02 -1.22163385e-04 9.99883146e-01 -4.22380936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34 meters 0.014613248960320556 Centerline is valid? [True, True] Translation: X:125.96, Y:132.58, Z:-4.22 [[-1.26713036e-01 -9.91937419e-01 -1.99095098e-03 1.25955692e+02] [ 9.91828548e-01 -1.26728626e-01 1.46964517e-02 1.32583860e+02] [-1.48302708e-02 -1.12450007e-04 9.99890019e-01 -4.22468977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37 meters 0.014583688031182283 Centerline is valid? [True, True] Translation: X:125.95, Y:132.61, Z:-4.23 [[-1.27995135e-01 -9.91772896e-01 -1.94125650e-03 1.25952340e+02] [ 9.91669851e-01 -1.28009820e-01 1.42965680e-02 1.32611176e+02] [-1.44274486e-02 -9.51943969e-05 9.99895914e-01 -4.22574801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.4 meters 0.014311771106882636 Centerline is valid? [True, True] Translation: X:125.95, Y:132.64, Z:-4.23 [[-1.31188987e-01 -9.91355522e-01 -1.91792859e-03 1.25950670e+02] [ 9.91255156e-01 -1.31202996e-01 1.41063769e-02 1.32638796e+02] [-1.42360726e-02 -5.05553059e-05 9.99898661e-01 -4.22700499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42999999999998 meters 0.014233059881124544 Centerline is valid? [True, True] Translation: X:125.95, Y:132.67, Z:-4.23 [[-1.33578174e-01 -9.91036417e-01 -1.92140400e-03 1.25948811e+02] [ 9.90936075e-01 -1.33591990e-01 1.41023414e-02 1.32666973e+02] [-1.42326181e-02 -2.02235258e-05 9.99898711e-01 -4.22738610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45999999999998 meters 0.014165088712328258 Centerline is valid? [True, True] Translation: X:125.95, Y:132.70, Z:-4.23 [[-1.36446765e-01 -9.90645534e-01 -1.92508531e-03 1.25947402e+02] [ 9.90545186e-01 -1.36460343e-01 1.40999500e-02 1.32695594e+02] [-1.42307503e-02 1.70085724e-05 9.99898738e-01 -4.22740977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48999999999998 meters 0.01447796045051571 Centerline is valid? [True, True] Translation: X:125.95, Y:132.72, Z:-4.23 [[-1.42583556e-01 -9.89780729e-01 -2.00958231e-03 1.25949956e+02] [ 9.89671765e-01 -1.42597678e-01 1.46867002e-02 1.32723646e+02] [-1.48231746e-02 1.05255078e-04 9.99890125e-01 -4.22682863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51999999999998 meters 0.01477380236220647 Centerline is valid? [True, True] Translation: X:125.95, Y:132.75, Z:-4.23 [[-1.45682343e-01 -9.89329109e-01 -2.13747241e-03 1.25948771e+02] [ 9.89206367e-01 -1.45697940e-01 1.55844139e-02 1.32751455e+02] [-1.57295396e-02 1.55972618e-04 9.99876271e-01 -4.22633706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54999999999998 meters 0.014957935166834241 Centerline is valid? [True, True] Translation: X:125.95, Y:132.78, Z:-4.23 [[-1.48095050e-01 -9.88970643e-01 -2.21869469e-03 1.25945896e+02] [ 9.88838995e-01 -1.48111539e-01 1.61373660e-02 1.32779152e+02] [-1.62879955e-02 1.95932185e-04 9.99867323e-01 -4.22535272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57999999999998 meters 0.014973188442794735 Centerline is valid? [True, True] Translation: X:125.94, Y:132.81, Z:-4.22 [[-1.49867038e-01 -9.88703362e-01 -2.35237425e-03 1.25942263e+02] [ 9.88555987e-01 -1.49885318e-01 1.70719800e-02 1.32806903e+02] [-1.72317104e-02 2.33073438e-04 9.99851496e-01 -4.22465386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60999999999999 meters 0.015596068702794447 Centerline is valid? [True, True] Translation: X:125.94, Y:132.83, Z:-4.22 [[-1.52504972e-01 -9.88299410e-01 -2.55149719e-03 1.25939807e+02] [ 9.88126772e-01 -1.52526027e-01 1.84741256e-02 1.32834276e+02] [-1.86471372e-02 2.96193327e-04 9.99826083e-01 -4.22405881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64 meters 0.015465299775411974 Centerline is valid? [True, True] Translation: X:125.93, Y:132.86, Z:-4.22 [[-1.53606718e-01 -9.88128820e-01 -2.53191004e-03 1.25934989e+02] [ 9.87959424e-01 -1.53627272e-01 1.82985564e-02 1.32861533e+02] [-1.84703014e-02 3.09356802e-04 9.99829362e-01 -4.22452641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67 meters 0.015376551742829469 Centerline is valid? [True, True] Translation: X:125.93, Y:132.89, Z:-4.23 [[-1.54242724e-01 -9.88029873e-01 -2.48033712e-03 1.25930234e+02] [ 9.87867956e-01 -1.54262356e-01 1.78893188e-02 1.32889102e+02] [-1.80578041e-02 3.09051717e-04 9.99836897e-01 -4.22556721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.7 meters 0.01572702458447956 Centerline is valid? [True, True] Translation: X:125.93, Y:132.92, Z:-4.23 [[-1.54687564e-01 -9.87960268e-01 -2.50349144e-03 1.25926809e+02] [ 9.87795999e-01 -1.54707502e-01 1.80181626e-02 1.32916465e+02] [-1.81885377e-02 3.14246851e-04 9.99834525e-01 -4.22646708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73 meters 0.015737150370106322 Centerline is valid? [True, True] Translation: X:125.92, Y:132.94, Z:-4.23 [[-1.54786361e-01 -9.87944756e-01 -2.51812843e-03 1.25922350e+02] [ 9.87779292e-01 -1.54806529e-01 1.80834009e-02 1.32943615e+02] [-1.82552239e-02 3.11708710e-04 9.99833311e-01 -4.22684491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76 meters 0.0153652652000202 Centerline is valid? [True, True] Translation: X:125.92, Y:132.97, Z:-4.23 [[-1.54575906e-01 -9.87977736e-01 -2.50644951e-03 1.25915952e+02] [ 9.87814551e-01 -1.54595935e-01 1.79585386e-02 1.32971250e+02] [-1.81301232e-02 3.00050074e-04 9.99835591e-01 -4.22712828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79 meters 0.015162197382127856 Centerline is valid? [True, True] Translation: X:125.91, Y:133.00, Z:-4.23 [[-1.54452418e-01 -9.87997407e-01 -2.36080890e-03 1.25909914e+02] [ 9.87853187e-01 -1.54470214e-01 1.68829429e-02 1.32998792e+02] [-1.70449785e-02 2.75478769e-04 9.99854686e-01 -4.22801441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82 meters 0.015067848985749723 Centerline is valid? [True, True] Translation: X:125.90, Y:133.03, Z:-4.23 [[-1.54294376e-01 -9.88022509e-01 -2.18353314e-03 1.25904007e+02] [ 9.87899603e-01 -1.54309627e-01 1.55856761e-02 1.33026389e+02] [-1.57359390e-02 2.47670655e-04 9.99876152e-01 -4.22946407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85 meters 0.015050293654111046 Centerline is valid? [True, True] Translation: X:125.90, Y:133.05, Z:-4.23 [[-1.54480133e-01 -9.87993914e-01 -1.97833903e-03 1.25898018e+02] [ 9.87893386e-01 -1.54492640e-01 1.40954486e-02 1.33053470e+02] [-1.42318563e-02 2.23078744e-04 9.99898697e-01 -4.23102989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88 meters 0.015479988665578386 Centerline is valid? [True, True] Translation: X:125.89, Y:133.08, Z:-4.23 [[-1.55267613e-01 -9.87870860e-01 -1.76973178e-03 1.25892245e+02] [ 9.87790709e-01 -1.55277562e-01 1.25854611e-02 1.33080540e+02] [-1.27076099e-02 2.05989899e-04 9.99919234e-01 -4.23350331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91 meters 0.01529119537106332 Centerline is valid? [True, True] Translation: X:125.89, Y:133.11, Z:-4.23 [[-1.56422930e-01 -9.87688579e-01 -1.77153029e-03 1.25886657e+02] [ 9.87608527e-01 -1.56432809e-01 1.25767229e-02 1.33108276e+02] [-1.26990110e-02 2.17709419e-04 9.99919341e-01 -4.23395023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94 meters 0.015480719300733895 Centerline is valid? [True, True] Translation: X:125.88, Y:133.14, Z:-4.23 [[-1.57746408e-01 -9.87478188e-01 -1.70283708e-03 1.25882435e+02] [ 9.87404521e-01 -1.57755443e-01 1.20637081e-02 1.33135166e+02] [-1.21812804e-02 2.21617588e-04 9.99925781e-01 -4.23460148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97 meters 0.015877499392673772 Centerline is valid? [True, True] Translation: X:125.88, Y:133.16, Z:-4.23 [[-1.59848631e-01 -9.87139949e-01 -1.77115733e-03 1.25878206e+02] [ 9.87060532e-01 -1.59858242e-01 1.25239195e-02 1.33163716e+02] [-1.26459954e-02 2.53691889e-04 9.99920004e-01 -4.23497952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.0 meters 0.016280813611576826 Centerline is valid? [True, True] Translation: X:125.87, Y:133.19, Z:-4.24 [[-1.61961740e-01 -9.86795363e-01 -1.81833547e-03 1.25874226e+02] [ 9.86711972e-01 -1.61971697e-01 1.28317501e-02 1.33192132e+02] [-1.29568304e-02 2.84079186e-04 9.99916016e-01 -4.23525690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03 meters 0.01667739514837145 Centerline is valid? [True, True] Translation: X:125.87, Y:133.22, Z:-4.24 [[-1.64474971e-01 -9.86379595e-01 -1.81069147e-03 1.25870213e+02] [ 9.86297191e-01 -1.64484642e-01 1.27535884e-02 1.33220303e+02] [-1.28777103e-02 3.11766162e-04 9.99917030e-01 -4.23585283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06 meters 0.017788512624322222 Centerline is valid? [True, True] Translation: X:125.87, Y:133.25, Z:-4.24 [[-1.69330185e-01 -9.85557645e-01 -1.84858424e-03 1.25866160e+02] [ 9.85472038e-01 -1.69339852e-01 1.29952308e-02 1.33248331e+02] [-1.31205880e-02 3.78756758e-04 9.99913850e-01 -4.23655437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09 meters 0.018999381853048253 Centerline is valid? [True, True] Translation: X:125.86, Y:133.27, Z:-4.24 [[-1.71886838e-01 -9.85114827e-01 -1.92151737e-03 1.25863502e+02] [ 9.85022704e-01 -1.71897055e-01 1.34786719e-02 1.33274846e+02] [-1.36083427e-02 4.24068059e-04 9.99907312e-01 -4.23678437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12 meters 0.018385630868056713 Centerline is valid? [True, True] Translation: X:125.86, Y:133.30, Z:-4.24 [[-1.73991051e-01 -9.84745329e-01 -1.93661294e-03 1.25857576e+02] [ 9.84652010e-01 -1.74001239e-01 1.35642387e-02 1.33302892e+02] [-1.36942938e-02 4.53166331e-04 9.99906126e-01 -4.23628799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15 meters 0.018891590337905228 Centerline is valid? [True, True] Translation: X:125.85, Y:133.33, Z:-4.24 [[-1.75503766e-01 -9.84476734e-01 -1.99701841e-03 1.25853295e+02] [ 9.84377879e-01 -1.75514460e-01 1.39594175e-02 1.33330594e+02] [-1.40932274e-02 4.84109603e-04 9.99900568e-01 -4.23650210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17999999999998 meters 0.01904777849193674 Centerline is valid? [True, True] Translation: X:125.85, Y:133.36, Z:-4.24 [[-1.76943453e-01 -9.84218949e-01 -2.01877132e-03 1.25846616e+02] [ 9.84118284e-01 -1.76954247e-01 1.40853911e-02 1.33358267e+02] [-1.42203389e-02 5.05607966e-04 9.99898758e-01 -4.23654858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20999999999998 meters 0.019114121550524315 Centerline is valid? [True, True] Translation: X:125.84, Y:133.39, Z:-4.24 [[-1.77015292e-01 -9.84205957e-01 -2.05421001e-03 1.25840759e+02] [ 9.84102116e-01 -1.77026474e-01 1.43056852e-02 1.33385969e+02] [-1.44433902e-02 5.10772626e-04 9.99895558e-01 -4.23712607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23999999999998 meters 0.018251597327434047 Centerline is valid? [True, True] Translation: X:125.83, Y:133.41, Z:-4.24 [[-1.76776942e-01 -9.84248922e-01 -1.99310300e-03 1.25833084e+02] [ 9.84151537e-01 -1.76787505e-01 1.38539232e-02 1.33413019e+02] [-1.39880646e-02 4.87538785e-04 9.99902043e-01 -4.23782243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26999999999998 meters 0.01840814979836825 Centerline is valid? [True, True] Translation: X:125.83, Y:133.44, Z:-4.24 [[-1.76215848e-01 -9.84349503e-01 -2.00772915e-03 1.25827094e+02] [ 9.84251089e-01 -1.76226637e-01 1.39272011e-02 1.33439479e+02] [-1.40630488e-02 4.78083943e-04 9.99900996e-01 -4.23874548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29999999999998 meters 0.017858176688977746 Centerline is valid? [True, True] Translation: X:125.82, Y:133.47, Z:-4.24 [[-1.75415410e-01 -9.84492560e-01 -1.95793001e-03 1.25819584e+02] [ 9.84399350e-01 -1.75425758e-01 1.35544214e-02 1.33466772e+02] [-1.36876984e-02 4.50269354e-04 9.99906218e-01 -4.23965017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32999999999998 meters 0.018014983112371773 Centerline is valid? [True, True] Translation: X:125.81, Y:133.49, Z:-4.24 [[-1.73304713e-01 -9.84866131e-01 -2.04487803e-03 1.25810580e+02] [ 9.84764965e-01 -1.73316234e-01 1.41225661e-02 1.33492713e+02] [-1.42632476e-02 4.33783032e-04 9.99898181e-01 -4.24103969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35999999999999 meters 0.016793434627953036 Centerline is valid? [True, True] Translation: X:125.80, Y:133.52, Z:-4.24 [[-1.72370662e-01 -9.85030058e-01 -2.03461520e-03 1.25802169e+02] [ 9.84930084e-01 -1.72382168e-01 1.40398450e-02 1.33519744e+02] [-1.41804007e-02 4.16103657e-04 9.99899366e-01 -4.24097887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39 meters 0.016148302922671273 Centerline is valid? [True, True] Translation: X:125.79, Y:133.55, Z:-4.24 [[-1.71551310e-01 -9.85173034e-01 -2.05927895e-03 1.25794365e+02] [ 9.85071023e-01 -1.71563192e-01 1.41827413e-02 1.33547294e+02] [-1.43257507e-02 4.04531816e-04 9.99897299e-01 -4.24129274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42 meters 0.0160427185711022 Centerline is valid? [True, True] Translation: X:125.78, Y:133.57, Z:-4.24 [[-1.69262551e-01 -9.85568610e-01 -2.16889149e-03 1.25784390e+02] [ 9.85456031e-01 -1.69276008e-01 1.49011400e-02 1.33573552e+02] [-1.50532371e-02 3.84857762e-04 9.99886620e-01 -4.24211162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45 meters 0.01576469443987756 Centerline is valid? [True, True] Translation: X:125.78, Y:133.60, Z:-4.24 [[-1.68104869e-01 -9.85766344e-01 -2.33829023e-03 1.25776771e+02] [ 9.85635835e-01 -1.68120672e-01 1.60449700e-02 1.33601025e+02] [-1.62097064e-02 3.92534938e-04 9.99868537e-01 -4.24250689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48 meters 0.01550008676322039 Centerline is valid? [True, True] Translation: X:125.77, Y:133.63, Z:-4.24 [[-1.66625743e-01 -9.86017189e-01 -2.44249902e-03 1.25768956e+02] [ 9.85875375e-01 -1.66643212e-01 1.67267973e-02 1.33628628e+02] [-1.68999355e-02 3.79115386e-04 9.99857114e-01 -4.24301952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51 meters 0.015190150709311706 Centerline is valid? [True, True] Translation: X:125.76, Y:133.66, Z:-4.24 [[-1.65305555e-01 -9.86239067e-01 -2.56461378e-03 1.25761160e+02] [ 9.86083386e-01 -1.65325037e-01 1.75267861e-02 1.33655984e+02] [-1.77095961e-02 3.68352059e-04 9.99843105e-01 -4.24391015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54 meters 0.014483110167833478 Centerline is valid? [True, True] Translation: X:125.75, Y:133.68, Z:-4.25 [[-1.64023509e-01 -9.86453191e-01 -2.52791030e-03 1.25752461e+02] [ 9.86302530e-01 -1.64042645e-01 1.72432336e-02 1.33683166e+02] [-1.74243279e-02 3.35011351e-04 9.99848129e-01 -4.24506662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57 meters 0.01486930077184971 Centerline is valid? [True, True] Translation: X:125.75, Y:133.71, Z:-4.25 [[-1.62796549e-01 -9.86656577e-01 -2.46633887e-03 1.25746196e+02] [ 9.86513734e-01 -1.62814953e-01 1.67911757e-02 1.33709577e+02] [-1.69686807e-02 3.00468283e-04 9.99855976e-01 -4.24651941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.6 meters 0.013892895576763582 Centerline is valid? [True, True] Translation: X:125.73, Y:133.74, Z:-4.25 [[-1.60663657e-01 -9.87006412e-01 -2.35198922e-03 1.25733366e+02] [ 9.86877037e-01 -1.60680682e-01 1.59822621e-02 1.33736388e+02] [-1.61525144e-02 2.46644526e-04 9.99869509e-01 -4.24933557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63 meters 0.013662907705565363 Centerline is valid? [True, True] Translation: X:125.73, Y:133.76, Z:-4.25 [[-1.59691314e-01 -9.87164311e-01 -2.30358434e-03 1.25725427e+02] [ 9.87040690e-01 -1.59707775e-01 1.56237944e-02 1.33763615e+02] [-1.57911526e-02 2.21252775e-04 9.99875288e-01 -4.25053869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66 meters 0.013456164385385853 Centerline is valid? [True, True] Translation: X:125.72, Y:133.79, Z:-4.25 [[-1.58692808e-01 -9.87325271e-01 -2.32408302e-03 1.25717576e+02] [ 9.87199950e-01 -1.58709697e-01 1.57318215e-02 1.33790428e+02] [-1.59012794e-02 2.02192282e-04 9.99873546e-01 -4.25180451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69 meters 0.013567947689494438 Centerline is valid? [True, True] Translation: X:125.71, Y:133.82, Z:-4.25 [[-1.57725285e-01 -9.87480305e-01 -2.31988839e-03 1.25710914e+02] [ 9.87355932e-01 -1.57742241e-01 1.56731772e-02 1.33816601e+02] [-1.58428982e-02 1.81500785e-04 9.99874477e-01 -4.25313927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72 meters 0.012835076400861813 Centerline is valid? [True, True] Translation: X:125.70, Y:133.84, Z:-4.25 [[-1.55742247e-01 -9.87795013e-01 -2.31634360e-03 1.25699315e+02] [ 9.87671555e-01 -1.55759405e-01 1.56175243e-02 1.33843510e+02] [-1.57877049e-02 1.44521646e-04 9.99875356e-01 -4.25401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75 meters 0.012902975249816902 Centerline is valid? [True, True] Translation: X:125.69, Y:133.87, Z:-4.26 [[-1.55281433e-01 -9.87867520e-01 -2.33240307e-03 1.25693065e+02] [ 9.87742851e-01 -1.55298892e-01 1.56944324e-02 1.33869999e+02] [-1.58662396e-02 1.33239495e-04 9.99874114e-01 -4.25521924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78 meters 0.01283751729428158 Centerline is valid? [True, True] Translation: X:125.69, Y:133.90, Z:-4.26 [[-1.54534288e-01 -9.87984715e-01 -2.31438151e-03 1.25686501e+02] [ 9.87862503e-01 -1.54551575e-01 1.55398073e-02 1.33897637e+02] [-1.57107834e-02 1.15142335e-04 9.99876571e-01 -4.25590394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81 meters 0.012782424584844566 Centerline is valid? [True, True] Translation: X:125.68, Y:133.92, Z:-4.26 [[-1.54101867e-01 -9.88052286e-01 -2.30099040e-03 1.25680360e+02] [ 9.87931999e-01 -1.54119011e-01 1.54173865e-02 1.33924322e+02] [-1.55878103e-02 1.02625998e-04 9.99878497e-01 -4.25688616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84 meters 0.012562052538154645 Centerline is valid? [True, True] Translation: X:125.67, Y:133.95, Z:-4.26 [[-1.53113504e-01 -9.88205927e-01 -2.30226854e-03 1.25671641e+02] [ 9.88085822e-01 -1.53130789e-01 1.54068190e-02 1.33951359e+02] [-1.55776581e-02 8.41531486e-05 9.99878657e-01 -4.25748872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87 meters 0.012608288629360713 Centerline is valid? [True, True] Translation: X:125.67, Y:133.98, Z:-4.26 [[-1.53256508e-01 -9.88183681e-01 -2.33582042e-03 1.25666247e+02] [ 9.88060538e-01 -1.53274285e-01 1.56002040e-02 1.33978211e+02] [-1.57738883e-02 8.29008117e-05 9.99875581e-01 -4.25827333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.9 meters 0.012513991604259225 Centerline is valid? [True, True] Translation: X:125.66, Y:134.01, Z:-4.26 [[-1.53485035e-01 -9.88147895e-01 -2.46597799e-03 1.25660731e+02] [ 9.88011266e-01 -1.53504820e-01 1.64319524e-02 1.34006230e+02] [-1.66157387e-02 8.56447517e-05 9.99861945e-01 -4.25846110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92999999999998 meters 0.012496372622414424 Centerline is valid? [True, True] Translation: X:125.65, Y:134.03, Z:-4.26 [[-1.54351853e-01 -9.88012334e-01 -2.67098692e-03 1.25654791e+02] [ 9.87852692e-01 -1.54374927e-01 1.77606501e-02 1.34033377e+02] [-1.79600748e-02 1.02847631e-04 9.99838700e-01 -4.25767088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95999999999998 meters 0.012510481866401168 Centerline is valid? [True, True] Translation: X:125.65, Y:134.06, Z:-4.26 [[-1.54666122e-01 -9.87962980e-01 -2.74606982e-03 1.25650016e+02] [ 9.87794906e-01 -1.54690462e-01 1.82232072e-02 1.34060800e+02] [-1.84286449e-02 1.05959012e-04 9.99830172e-01 -4.25786776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98999999999998 meters 0.01245416540602898 Centerline is valid? [True, True] Translation: X:125.65, Y:134.09, Z:-4.26 [[-1.55050080e-01 -9.87902801e-01 -2.74367677e-03 1.25645454e+02] [ 9.87735680e-01 -1.55074316e-01 1.81709294e-02 1.34087503e+02] [-1.83765858e-02 1.07376617e-04 9.99831131e-01 -4.25854729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01999999999998 meters 0.012489345307317436 Centerline is valid? [True, True] Translation: X:125.64, Y:134.12, Z:-4.26 [[-1.55288751e-01 -9.87865544e-01 -2.65916314e-03 1.25640527e+02] [ 9.87708956e-01 -1.55311481e-01 1.75886889e-02 1.34115076e+02] [-1.77882583e-02 1.04846287e-04 9.99841771e-01 -4.25963925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04999999999998 meters 0.012471782773994761 Centerline is valid? [True, True] Translation: X:125.64, Y:134.14, Z:-4.26 [[-1.55367440e-01 -9.87853947e-01 -2.35341118e-03 1.25635883e+02] [ 9.87731694e-01 -1.55385237e-01 1.55411711e-02 1.34141409e+02] [-1.57180926e-02 9.00531641e-05 9.99876459e-01 -4.26173669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07999999999998 meters 0.01242030351007758 Centerline is valid? [True, True] Translation: X:125.63, Y:134.17, Z:-4.26 [[-1.55461794e-01 -9.87839351e-01 -2.24671398e-03 1.25631061e+02] [ 9.87728367e-01 -1.55478006e-01 1.48075230e-02 1.34168834e+02] [-1.49767685e-02 8.28609666e-05 9.99887838e-01 -4.26297105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10999999999999 meters 0.012421573586717858 Centerline is valid? [True, True] Translation: X:125.63, Y:134.20, Z:-4.26 [[-1.55328533e-01 -9.87860373e-01 -2.22024127e-03 1.25626464e+02] [ 9.87752401e-01 -1.55344381e-01 1.46054079e-02 1.34196175e+02] [-1.47730057e-02 7.55879368e-05 9.99890870e-01 -4.26346031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14 meters 0.012396787367378388 Centerline is valid? [True, True] Translation: X:125.62, Y:134.22, Z:-4.26 [[-1.55455612e-01 -9.87840302e-01 -2.25623773e-03 1.25622350e+02] [ 9.87729228e-01 -1.55471967e-01 1.48134723e-02 1.34223227e+02] [-1.49841267e-02 7.42854483e-05 9.99887729e-01 -4.26431456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17 meters 0.012322644953342033 Centerline is valid? [True, True] Translation: X:125.62, Y:134.25, Z:-4.26 [[-1.55377540e-01 -9.87852678e-01 -2.21515415e-03 1.25617489e+02] [ 9.87746044e-01 -1.55393315e-01 1.45145179e-02 1.34250412e+02] [-1.46824255e-02 6.72203333e-05 9.99892205e-01 -4.26399398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.2 meters 0.012322644953342033 Centerline is valid? [True, True] Translation: X:125.61, Y:134.28, Z:-4.26 [[-1.55668190e-01 -9.87806909e-01 -2.21942274e-03 1.25613264e+02] [ 9.87700279e-01 -1.55683996e-01 1.45138649e-02 1.34277664e+02] [-1.46824246e-02 6.72226080e-05 9.99892205e-01 -4.26456000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23 meters 0.012286170611447735 Centerline is valid? [True, True] Translation: X:125.61, Y:134.30, Z:-4.27 [[-1.55473802e-01 -9.87837642e-01 -2.16580789e-03 1.25609557e+02] [ 9.87736479e-01 -1.55488876e-01 1.41371091e-02 1.34304293e+02] [-1.43019276e-02 5.87026435e-05 9.99897720e-01 -4.26511268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26 meters 0.012306451556541169 Centerline is valid? [True, True] Translation: X:125.61, Y:134.33, Z:-4.27 [[-1.55858866e-01 -9.87776945e-01 -2.17262094e-03 1.25605765e+02] [ 9.87675562e-01 -1.55873997e-01 1.41520951e-02 1.34331327e+02] [-1.43177684e-02 5.98848819e-05 9.99897494e-01 -4.26583507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29 meters 0.012293333267079114 Centerline is valid? [True, True] Translation: X:125.60, Y:134.36, Z:-4.27 [[-1.56604138e-01 -9.87659138e-01 -2.13812478e-03 1.25602124e+02] [ 9.87561340e-01 -1.56618720e-01 1.38988167e-02 1.34359215e+02] [-1.40621637e-02 6.50828426e-05 9.99901121e-01 -4.26691074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32 meters 0.01245072970159521 Centerline is valid? [True, True] Translation: X:125.60, Y:134.39, Z:-4.27 [[-1.57958262e-01 -9.87443615e-01 -2.07224627e-03 1.25598854e+02] [ 9.87352067e-01 -1.57971835e-01 1.34460114e-02 1.34387049e+02] [-1.36045347e-02 7.78719534e-05 9.99907451e-01 -4.26800086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35 meters 0.012534349560240821 Centerline is valid? [True, True] Translation: X:125.60, Y:134.42, Z:-4.27 [[-1.59598400e-01 -9.87179921e-01 -2.03837134e-03 1.25595684e+02] [ 9.87091645e-01 -1.59611389e-01 1.32018851e-02 1.34415144e+02] [-1.33579832e-02 9.49404347e-05 9.99910774e-01 -4.26913121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38 meters 0.013288134164743648 Centerline is valid? [True, True] Translation: X:125.60, Y:134.44, Z:-4.27 [[-1.64786210e-01 -9.86327311e-01 -1.98528871e-03 1.25596357e+02] [ 9.86243826e-01 -1.64798094e-01 1.28337409e-02 1.34443174e+02] [-1.29854409e-02 1.56844781e-04 9.99915673e-01 -4.27031947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41 meters 0.013806101589841805 Centerline is valid? [True, True] Translation: X:125.59, Y:134.47, Z:-4.27 [[-1.67996308e-01 -9.85785629e-01 -1.98351016e-03 1.25594680e+02] [ 9.85702545e-01 -1.68007904e-01 1.27999017e-02 1.34471791e+02] [-1.29512046e-02 1.95185225e-04 9.99916111e-01 -4.27041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44 meters 0.014629213327169108 Centerline is valid? [True, True] Translation: X:125.59, Y:134.50, Z:-4.27 [[-1.71390263e-01 -9.85201245e-01 -1.97077845e-03 1.25593813e+02] [ 9.85119471e-01 -1.71401433e-01 1.26955590e-02 1.34499129e+02] [-1.28454748e-02 2.34442985e-04 9.99917466e-01 -4.27080698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47 meters 0.015786000002233975 Centerline is valid? [True, True] Translation: X:125.59, Y:134.53, Z:-4.27 [[-1.78116537e-01 -9.84007526e-01 -1.92024988e-03 1.25593941e+02] [ 9.83930073e-01 -1.78126617e-01 1.23498676e-02 1.34527760e+02] [-1.24944103e-02 3.10324041e-04 9.99921894e-01 -4.27027091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.5 meters 0.01655473077736187 Centerline is valid? [True, True] Translation: X:125.59, Y:134.56, Z:-4.27 [[-1.81154686e-01 -9.83452816e-01 -1.88085647e-03 1.25591584e+02] [ 9.83378739e-01 -1.81164135e-01 1.20752427e-02 1.34556166e+02] [-1.22161751e-02 3.37892525e-04 9.99925323e-01 -4.27088926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53 meters 0.01744027104946829 Centerline is valid? [True, True] Translation: X:125.59, Y:134.58, Z:-4.27 [[-1.83864072e-01 -9.82950038e-01 -1.79589895e-03 1.25589328e+02] [ 9.82882695e-01 -1.83872506e-01 1.15112600e-02 1.34584785e+02] [-1.16452099e-02 3.51349126e-04 9.99932131e-01 -4.27147610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56 meters 0.017675658783027105 Centerline is valid? [True, True] Translation: X:125.59, Y:134.61, Z:-4.27 [[-1.85989031e-01 -9.82550175e-01 -1.79864737e-03 1.25585649e+02] [ 9.82482836e-01 -1.85997353e-01 1.15091835e-02 1.34612715e+02] [-1.16428940e-02 3.73441726e-04 9.99932149e-01 -4.27187767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59 meters 0.017684345161595547 Centerline is valid? [True, True] Translation: X:125.58, Y:134.64, Z:-4.27 [[-1.87879375e-01 -9.82190535e-01 -1.75886122e-03 1.25581537e+02] [ 9.82126339e-01 -1.87887216e-01 1.12360534e-02 1.34640595e+02] [-1.13664128e-02 3.83598744e-04 9.99935327e-01 -4.27208511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62 meters 0.01903680476780437 Centerline is valid? [True, True] Translation: X:125.58, Y:134.67, Z:-4.27 [[-1.89194302e-01 -9.81938187e-01 -1.70692637e-03 1.25579985e+02] [ 9.81877978e-01 -1.89201615e-01 1.08804611e-02 1.34667790e+02] [-1.10068935e-02 3.82527840e-04 9.99939349e-01 -4.27305598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65 meters 0.0197651455212488 Centerline is valid? [True, True] Translation: X:125.58, Y:134.69, Z:-4.27 [[-1.90438703e-01 -9.81697864e-01 -1.55067315e-03 1.25577589e+02] [ 9.81648241e-01 -1.90444678e-01 9.87697544e-03 1.34694396e+02] [-9.99152314e-03 3.58742822e-04 9.99950019e-01 -4.27434623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67999999999998 meters 0.019655279836853556 Centerline is valid? [True, True] Translation: X:125.57, Y:134.72, Z:-4.28 [[-1.90627347e-01 -9.81661363e-01 -1.47773778e-03 1.25572969e+02] [ 9.81616354e-01 -1.90632767e-01 9.40651034e-03 1.34721934e+02] [-9.51571300e-03 3.42566545e-04 9.99954666e-01 -4.27525927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70999999999998 meters 0.018167811025339004 Centerline is valid? [True, True] Translation: X:125.57, Y:134.75, Z:-4.28 [[-1.90494131e-01 -9.81687391e-01 -1.36113224e-03 1.25566378e+02] [ 9.81649311e-01 -1.90498738e-01 8.65224380e-03 1.34749648e+02] [-8.75309262e-03 3.12047138e-04 9.99961642e-01 -4.27541002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73999999999998 meters 0.0176979828513005 Centerline is valid? [True, True] Translation: X:125.56, Y:134.78, Z:-4.28 [[-1.88666961e-01 -9.82040476e-01 -1.13227117e-03 1.25561696e+02] [ 9.82014189e-01 -1.88670201e-01 7.18940794e-03 1.34777989e+02] [-7.27391542e-03 2.44497393e-04 9.99973515e-01 -4.27546026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76999999999998 meters 0.017498033172849765 Centerline is valid? [True, True] Translation: X:125.56, Y:134.81, Z:-4.28 [[-1.87314491e-01 -9.82299270e-01 -1.19427572e-03 1.25557231e+02] [ 9.82270209e-01 -1.87318141e-01 7.55985272e-03 1.34805287e+02] [-7.64974731e-03 2.42968499e-04 9.99970711e-01 -4.27570924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79999999999998 meters 0.016827684661206883 Centerline is valid? [True, True] Translation: X:125.55, Y:134.83, Z:-4.28 [[-1.85692491e-01 -9.82607232e-01 -1.15216589e-03 1.25551417e+02] [ 9.82580188e-01 -1.85695932e-01 7.29347776e-03 1.34832965e+02] [-7.38057651e-03 2.22248677e-04 9.99972738e-01 -4.27554868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82999999999998 meters 0.01688768763770943 Centerline is valid? [True, True] Translation: X:125.55, Y:134.86, Z:-4.28 [[-1.83501081e-01 -9.83018702e-01 -1.25915063e-03 1.25547224e+02] [ 9.82986609e-01 -1.83505269e-01 7.94623632e-03 1.34860097e+02] [-8.04235968e-03 2.20414750e-04 9.99967635e-01 -4.27583029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85999999999999 meters 0.016559122847163356 Centerline is valid? [True, True] Translation: X:125.54, Y:134.89, Z:-4.28 [[-1.81396996e-01 -9.83409214e-01 -1.20338968e-03 1.25542409e+02] [ 9.83379913e-01 -1.81400884e-01 7.59381491e-03 1.34887164e+02] [-7.68612350e-03 1.94105979e-04 9.99970442e-01 -4.27583843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89 meters 0.0151462290164476 Centerline is valid? [True, True] Translation: X:125.54, Y:134.91, Z:-4.27 [[-1.76650410e-01 -9.84272813e-01 -1.28918359e-03 1.25535932e+02] [ 9.84239342e-01 -1.76655036e-01 8.11886965e-03 1.34914619e+02] [-8.21892344e-03 1.65336445e-04 9.99966210e-01 -4.27485798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92 meters 0.014610434256110685 Centerline is valid? [True, True] Translation: X:125.53, Y:134.94, Z:-4.28 [[-1.74561420e-01 -9.84645403e-01 -1.31924039e-03 1.25530469e+02] [ 9.84610506e-01 -1.74566342e-01 8.29120889e-03 1.34942033e+02] [-8.39419569e-03 1.48387249e-04 9.99964757e-01 -4.27511577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95 meters 0.013678536258544552 Centerline is valid? [True, True] Translation: X:125.52, Y:134.97, Z:-4.28 [[-1.72487194e-01 -9.85010860e-01 -1.33153757e-03 1.25523884e+02] [ 9.84975450e-01 -1.72492285e-01 8.35306864e-03 1.34969441e+02] [-8.45754328e-03 1.29265551e-04 9.99964226e-01 -4.27502318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98 meters 0.013589391373962622 Centerline is valid? [True, True] Translation: X:125.52, Y:135.00, Z:-4.28 [[-1.70539663e-01 -9.85349809e-01 -1.40616052e-03 1.25518834e+02] [ 9.85310533e-01 -1.70545421e-01 8.79847963e-03 1.34996260e+02] [-8.90939446e-03 1.14984976e-04 9.99960304e-01 -4.27568468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01 meters 0.01333773847580664 Centerline is valid? [True, True] Translation: X:125.51, Y:135.02, Z:-4.28 [[-1.68679776e-01 -9.85669904e-01 -1.40484842e-03 1.25513593e+02] [ 9.85630770e-01 -1.68685598e-01 8.78377697e-03 1.35023446e+02] [-8.89488230e-03 9.69836992e-05 9.99960435e-01 -4.27642775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04 meters 0.01298489224991356 Centerline is valid? [True, True] Translation: X:125.51, Y:135.05, Z:-4.28 [[-1.64576570e-01 -9.86363499e-01 -1.26523829e-03 1.25507550e+02] [ 9.86331858e-01 -1.64581425e-01 7.90061185e-03 1.35049879e+02] [-8.00110987e-03 5.23107636e-05 9.99967989e-01 -4.27819780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07 meters 0.01269101377057426 Centerline is valid? [True, True] Translation: X:125.50, Y:135.08, Z:-4.28 [[-1.62441853e-01 -9.86717493e-01 -1.11097831e-03 1.25502076e+02] [ 9.86693164e-01 -1.62445649e-01 6.92900195e-03 1.35077544e+02] [-7.01744103e-03 2.93652110e-05 9.99975377e-01 -4.27833845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.1 meters 0.012617952534009672 Centerline is valid? [True, True] Translation: X:125.50, Y:135.11, Z:-4.28 [[-1.60754984e-01 -9.86993815e-01 -1.02207366e-03 1.25497488e+02] [ 9.86973282e-01 -1.60758233e-01 6.36634833e-03 1.35105046e+02] [-6.44785318e-03 1.46628331e-05 9.99979212e-01 -4.27857085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13 meters 0.012702857922767992 Centerline is valid? [True, True] Translation: X:125.49, Y:135.13, Z:-4.28 [[-1.58989984e-01 -9.87279753e-01 -9.34591614e-04 1.25493488e+02] [ 9.87262678e-01 -1.58992731e-01 5.80648207e-03 1.35131638e+02] [-5.88121546e-03 4.85071734e-07 9.99982706e-01 -4.27973730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16 meters 0.012718785352949017 Centerline is valid? [True, True] Translation: X:125.49, Y:135.16, Z:-4.28 [[-1.57603388e-01 -9.87502082e-01 -9.00040621e-04 1.25489384e+02] [ 9.87486249e-01 -1.57605957e-01 5.59190734e-03 1.35159374e+02] [-5.66387190e-03 -7.47419825e-06 9.99983960e-01 -4.28038670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19 meters 0.012974328636473366 Centerline is valid? [True, True] Translation: X:125.49, Y:135.19, Z:-4.28 [[-1.55493868e-01 -9.87836544e-01 -7.87551641e-04 1.25486614e+02] [ 9.87824462e-01 -1.55495861e-01 4.88561976e-03 1.35186957e+02] [-4.94865475e-03 -1.82788627e-05 9.99987755e-01 -4.28164067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22 meters 0.013077340518679165 Centerline is valid? [True, True] Translation: X:125.48, Y:135.21, Z:-4.28 [[-1.55066558e-01 -9.87903773e-01 -7.06150461e-04 1.25483462e+02] [ 9.87894050e-01 -1.55068165e-01 4.38290830e-03 1.35214280e+02] [-4.43939310e-03 -1.79593361e-05 9.99990146e-01 -4.28266142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25 meters 0.01296788511495093 Centerline is valid? [True, True] Translation: X:125.48, Y:135.24, Z:-4.28 [[-1.54819880e-01 -9.87942519e-01 -6.19938246e-04 1.25480639e+02] [ 9.87935046e-01 -1.54821121e-01 3.84263008e-03 1.35242618e+02] [-3.89227717e-03 -1.75431907e-05 9.99992425e-01 -4.28235877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28 meters 0.013201704928008762 Centerline is valid? [True, True] Translation: X:125.48, Y:135.27, Z:-4.28 [[-1.54703183e-01 -9.87960774e-01 -6.58678579e-04 1.25477649e+02] [ 9.87952372e-01 -1.54704584e-01 4.07464519e-03 1.35269108e+02] [-4.12749021e-03 -2.03824846e-05 9.99991482e-01 -4.28447533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31 meters 0.01295524784397704 Centerline is valid? [True, True] Translation: X:125.48, Y:135.30, Z:-4.28 [[-1.54882404e-01 -9.87932622e-01 -7.57946887e-04 1.25475775e+02] [ 9.87921574e-01 -1.54884257e-01 4.67235272e-03 1.35297227e+02] [-4.73336372e-03 -2.51268576e-05 9.99988797e-01 -4.28317910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34 meters 0.013097724974212051 Centerline is valid? [True, True] Translation: X:125.48, Y:135.32, Z:-4.28 [[-1.54672162e-01 -9.87965402e-01 -9.41663886e-04 1.25476166e+02] [ 9.87948456e-01 -1.54675024e-01 5.78658953e-03 1.35324550e+02] [-5.86260213e-03 -3.52910715e-05 9.99982814e-01 -4.28348936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37 meters 0.012961136391157396 Centerline is valid? [True, True] Translation: X:125.47, Y:135.35, Z:-4.28 [[-1.54886931e-01 -9.87931696e-01 -1.00155904e-03 1.25474447e+02] [ 9.87912617e-01 -1.54890165e-01 6.13987951e-03 1.35352892e+02] [-6.22091322e-03 -3.84657130e-05 9.99980649e-01 -4.28288846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.4 meters 0.013084512423901627 Centerline is valid? [True, True] Translation: X:125.47, Y:135.38, Z:-4.28 [[-1.54619356e-01 -9.87973535e-01 -1.07231173e-03 1.25474693e+02] [ 9.87951764e-01 -1.54623068e-01 6.55891271e-03 1.35381754e+02] [-6.64583631e-03 -4.52574077e-05 9.99977915e-01 -4.28331741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42999999999998 meters 0.013121589598298507 Centerline is valid? [True, True] Translation: X:125.47, Y:135.41, Z:-4.28 [[-1.54766779e-01 -9.87950446e-01 -1.07773533e-03 1.25472682e+02] [ 9.87928534e-01 -1.54770524e-01 6.58001732e-03 1.35410334e+02] [-6.66753270e-03 -4.63574023e-05 9.99977771e-01 -4.28414032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45999999999998 meters 0.013242584463122473 Centerline is valid? [True, True] Translation: X:125.47, Y:135.44, Z:-4.29 [[-1.55231633e-01 -9.87877482e-01 -1.10470237e-03 1.25470791e+02] [ 9.87854537e-01 -1.55235557e-01 6.73310836e-03 1.35437444e+02] [-6.82297523e-03 -4.60938439e-05 9.99976722e-01 -4.28524592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48999999999998 meters 0.013224147261872064 Centerline is valid? [True, True] Translation: X:125.47, Y:135.47, Z:-4.29 [[-1.55327142e-01 -9.87862515e-01 -1.06295281e-03 1.25469007e+02] [ 9.87841352e-01 -1.55330772e-01 6.46640743e-03 1.35465865e+02] [-6.55303079e-03 -4.56201599e-05 9.99978528e-01 -4.28617813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51999999999998 meters 0.013265502813895984 Centerline is valid? [True, True] Translation: X:125.47, Y:135.49, Z:-4.29 [[-1.55560261e-01 -9.87825870e-01 -1.02704325e-03 1.25467124e+02] [ 9.87806174e-01 -1.55563645e-01 6.23823065e-03 1.35494419e+02] [-6.32205622e-03 -4.40988776e-05 9.99980015e-01 -4.28710141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54999999999998 meters 0.013341832388928214 Centerline is valid? [True, True] Translation: X:125.47, Y:135.52, Z:-4.29 [[-1.55704762e-01 -9.87803153e-01 -9.78655439e-04 1.25465410e+02] [ 9.87785319e-01 -1.55707831e-01 5.93593404e-03 1.35522284e+02] [-6.01591867e-03 -4.24482809e-05 9.99981903e-01 -4.28780343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57999999999998 meters 0.013706282314943814 Centerline is valid? [True, True] Translation: X:125.47, Y:135.55, Z:-4.29 [[-1.55727833e-01 -9.87799646e-01 -8.37908856e-04 1.25465661e+02] [ 9.87786584e-01 -1.55730083e-01 5.07991172e-03 1.35549813e+02] [-5.14842261e-03 -3.65914807e-05 9.99986746e-01 -4.29015298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60999999999999 meters 0.01350732889229816 Centerline is valid? [True, True] Translation: X:125.46, Y:135.58, Z:-4.29 [[-1.56021221e-01 -9.87753382e-01 -7.96660556e-04 1.25464236e+02] [ 9.87741617e-01 -1.56023251e-01 4.82108316e-03 1.35577777e+02] [-4.88633877e-03 -3.47035070e-05 9.99988061e-01 -4.28994966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64 meters 0.01384704009599897 Centerline is valid? [True, True] Translation: X:125.46, Y:135.61, Z:-4.29 [[-1.56444351e-01 -9.87686457e-01 -7.92344204e-04 1.25461758e+02] [ 9.87674894e-01 -1.56446354e-01 4.77944540e-03 1.35605232e+02] [-4.84455286e-03 -3.48612431e-05 9.99988264e-01 -4.29203611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67 meters 0.01382509141711176 Centerline is valid? [True, True] Translation: X:125.46, Y:135.63, Z:-4.29 [[-1.57129401e-01 -9.87577644e-01 -8.64971229e-04 1.25460304e+02] [ 9.87563862e-01 -1.57131778e-01 5.21755938e-03 1.35632412e+02] [-5.28865947e-03 -3.43823447e-05 9.99986014e-01 -4.29267620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.7 meters 0.013372848006380682 Centerline is valid? [True, True] Translation: X:125.46, Y:135.66, Z:-4.29 [[-1.58625617e-01 -9.87338223e-01 -1.07116011e-03 1.25463421e+02] [ 9.87317229e-01 -1.58629230e-01 6.43862206e-03 1.35661244e+02] [-6.52701497e-03 -3.62444346e-05 9.99978698e-01 -4.29124937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73 meters 0.013419990475260343 Centerline is valid? [True, True] Translation: X:125.46, Y:135.69, Z:-4.29 [[-1.59378940e-01 -9.87216780e-01 -1.17591156e-03 1.25462453e+02] [ 9.87191592e-01 -1.59383274e-01 7.05216825e-03 1.35689343e+02] [-7.14943947e-03 -3.68829048e-05 9.99974442e-01 -4.29130854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76 meters 0.013398737512874832 Centerline is valid? [True, True] Translation: X:125.46, Y:135.72, Z:-4.29 [[-1.59958318e-01 -9.87122896e-01 -1.31339327e-03 1.25461369e+02] [ 9.87091660e-01 -1.59963705e-01 7.85294038e-03 1.35716247e+02] [-7.96191250e-03 -4.02964072e-05 9.99968303e-01 -4.29131587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79 meters 0.013373883122683575 Centerline is valid? [True, True] Translation: X:125.46, Y:135.74, Z:-4.29 [[-1.60170519e-01 -9.87088332e-01 -1.42452056e-03 1.25459996e+02] [ 9.87051650e-01 -1.60176848e-01 8.50988138e-03 1.35744044e+02] [-8.62817983e-03 -4.30432557e-05 9.99962776e-01 -4.29082628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82 meters 0.013546884225614802 Centerline is valid? [True, True] Translation: X:125.46, Y:135.77, Z:-4.29 [[-1.59416849e-01 -9.87209954e-01 -1.66595918e-03 1.25460093e+02] [ 9.87160015e-01 -1.59425542e-01 9.92979715e-03 1.35771593e+02] [-1.00683910e-02 -6.15913155e-05 9.99949311e-01 -4.29096454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85 meters 0.013720415223696708 Centerline is valid? [True, True] Translation: X:125.46, Y:135.80, Z:-4.29 [[-1.58616241e-01 -9.87338639e-01 -1.81650988e-03 1.25457575e+02] [ 9.87279520e-01 -1.58626622e-01 1.08047857e-02 1.35798630e+02] [-1.09561292e-02 -7.95885049e-05 9.99939977e-01 -4.29100111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88 meters 0.013754751067695862 Centerline is valid? [True, True] Translation: X:125.45, Y:135.83, Z:-4.29 [[-1.57742437e-01 -9.87478440e-01 -1.91157126e-03 1.25454802e+02] [ 9.87413268e-01 -1.57753989e-01 1.13453225e-02 1.35827064e+02] [-1.15048193e-02 -9.78720092e-05 9.99933813e-01 -4.29105933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91 meters 0.014043802931533494 Centerline is valid? [True, True] Translation: X:125.45, Y:135.85, Z:-4.29 [[-1.56531812e-01 -9.87671121e-01 -1.88382865e-03 1.25451220e+02] [ 9.87608054e-01 -1.56543106e-01 1.11618410e-02 1.35854805e+02] [-1.13191284e-02 -1.13301153e-04 9.99935930e-01 -4.29176800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94 meters 0.014079030975157546 Centerline is valid? [True, True] Translation: X:125.45, Y:135.88, Z:-4.29 [[-1.55788095e-01 -9.87788619e-01 -1.92721161e-03 1.25448288e+02] [ 9.87722855e-01 -1.55799963e-01 1.13987990e-02 1.35882633e+02] [-1.15598634e-02 -1.27753776e-04 9.99933174e-01 -4.29252172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97 meters 0.014152768043596048 Centerline is valid? [True, True] Translation: X:125.45, Y:135.91, Z:-4.29 [[-1.55800781e-01 -9.87787072e-01 -1.67859661e-03 1.25446281e+02] [ 9.87737309e-01 -1.55809783e-01 9.91559825e-03 1.35911123e+02] [-1.00560415e-02 -1.13154548e-04 9.99949430e-01 -4.29383638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.0 meters 0.014182022733086363 Centerline is valid? [True, True] Translation: X:125.44, Y:135.94, Z:-4.30 [[-1.56386190e-01 -9.87694664e-01 -1.61585215e-03 1.25440474e+02] [ 9.87648685e-01 -1.56394502e-01 9.53067807e-03 1.35937572e+02] [-9.66611027e-03 -1.05427822e-04 9.99953277e-01 -4.29542715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03 meters 0.014091145416113341 Centerline is valid? [True, True] Translation: X:125.43, Y:135.96, Z:-4.30 [[-1.57321304e-01 -9.87546216e-01 -1.57462203e-03 1.25434433e+02] [ 9.87502710e-01 -1.57329154e-01 9.27015013e-03 1.35964761e+02] [-9.40243563e-03 -9.65514182e-05 9.99955791e-01 -4.29700677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06 meters 0.013826035127616624 Centerline is valid? [True, True] Translation: X:125.43, Y:135.99, Z:-4.30 [[-1.59331832e-01 -9.87224154e-01 -1.35556782e-03 1.25427272e+02] [ 9.87191970e-01 -1.59337584e-01 7.97175507e-03 1.35991867e+02] [-8.08590205e-03 -6.80513328e-05 9.99967306e-01 -4.29944973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09 meters 0.013826266074900858 Centerline is valid? [True, True] Translation: X:125.42, Y:136.02, Z:-4.30 [[-1.60551886e-01 -9.87026491e-01 -1.34111187e-03 1.25421440e+02] [ 9.86995079e-01 -1.60557476e-01 7.87469095e-03 1.36018679e+02] [-7.98785411e-03 -5.93743318e-05 9.99968095e-01 -4.30076983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12 meters 0.013826266074900858 Centerline is valid? [True, True] Translation: X:125.42, Y:136.05, Z:-4.30 [[-1.60859588e-01 -9.86976387e-01 -1.34331490e-03 1.25416814e+02] [ 9.86944977e-01 -1.60865186e-01 7.87431463e-03 1.36045057e+02] [-7.98785520e-03 -5.91188819e-05 9.99968095e-01 -4.30131882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15 meters 0.013500592583618999 Centerline is valid? [True, True] Translation: X:125.41, Y:136.07, Z:-4.30 [[-1.61776506e-01 -9.86826354e-01 -1.45233377e-03 1.25412069e+02] [ 9.86789813e-01 -1.61783014e-01 8.49243428e-03 1.36073258e+02] [-8.61552089e-03 -5.92718261e-05 9.99962884e-01 -4.30057758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17999999999998 meters 0.013584140140360013 Centerline is valid? [True, True] Translation: X:125.41, Y:136.10, Z:-4.30 [[-1.61924746e-01 -9.86801727e-01 -1.65181203e-03 1.25407594e+02] [ 9.86754666e-01 -1.61933156e-01 9.63755633e-03 1.36101185e+02] [-9.77784036e-03 -6.93743704e-05 9.99952193e-01 -4.29990566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20999999999998 meters 0.013404547193898605 Centerline is valid? [True, True] Translation: X:125.40, Y:136.13, Z:-4.30 [[-1.62696863e-01 -9.86674440e-01 -1.81128312e-03 1.25403985e+02] [ 9.86618067e-01 -1.62706930e-01 1.05472388e-02 1.36129184e+02] [-1.07013992e-02 -7.10419877e-05 9.99942736e-01 -4.29850927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23999999999998 meters 0.013350770241980503 Centerline is valid? [True, True] Translation: X:125.40, Y:136.16, Z:-4.30 [[-1.63191987e-01 -9.86592212e-01 -2.04517704e-03 1.25400044e+02] [ 9.86520637e-01 -1.63204783e-01 1.18841198e-02 1.36156522e+02] [-1.20585627e-02 -7.82162342e-05 9.99927290e-01 -4.29816309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26999999999998 meters 0.013214025810851656 Centerline is valid? [True, True] Translation: X:125.40, Y:136.18, Z:-4.30 [[-1.64958020e-01 -9.86297341e-01 -2.53100787e-03 1.25396338e+02] [ 9.86188180e-01 -1.64977419e-01 1.46739698e-02 1.36184256e+02] [-1.48904565e-02 -7.54610482e-05 9.99889128e-01 -4.29732496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29999999999998 meters 0.013186047604365425 Centerline is valid? [True, True] Translation: X:125.39, Y:136.21, Z:-4.30 [[-1.66103596e-01 -9.86104725e-01 -2.65844044e-03 1.25391849e+02] [ 9.85984698e-01 -1.66124855e-01 1.53853289e-02 1.36210899e+02] [-1.56131785e-02 -6.56231485e-05 9.99878105e-01 -4.29797761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32999999999998 meters 0.013109633469769007 Centerline is valid? [True, True] Translation: X:125.39, Y:136.24, Z:-4.30 [[-1.67529076e-01 -9.85863322e-01 -2.74216338e-03 1.25387419e+02] [ 9.85736061e-01 -1.67551510e-01 1.58401260e-02 1.36238234e+02] [-1.60756528e-02 -4.93676469e-05 9.99870777e-01 -4.29911972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35999999999999 meters 0.013026529160480384 Centerline is valid? [True, True] Translation: X:125.38, Y:136.27, Z:-4.30 [[-1.68678455e-01 -9.85667162e-01 -2.79724919e-03 1.25383399e+02] [ 9.85535196e-01 -1.68701643e-01 1.61286664e-02 1.36265257e+02] [-1.63693974e-02 -3.62289964e-05 9.99866012e-01 -4.29987669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39 meters 0.0129931983474326 Centerline is valid? [True, True] Translation: X:125.38, Y:136.29, Z:-4.30 [[-1.70500975e-01 -9.85353671e-01 -2.74960430e-03 1.25380533e+02] [ 9.85226393e-01 -1.70523144e-01 1.58370350e-02 1.36292975e+02] [-1.60739517e-02 -8.75281958e-06 9.99870806e-01 -4.30034716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42 meters 0.013046427978249132 Centerline is valid? [True, True] Translation: X:125.38, Y:136.32, Z:-4.30 [[-1.70938427e-01 -9.85278119e-01 -2.66137996e-03 1.25376414e+02] [ 9.85159250e-01 -1.70959143e-01 1.53043297e-02 1.36320960e+02] [-1.55340084e-02 -5.78505220e-06 9.99879340e-01 -4.30036327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45 meters 0.012978100987071245 Centerline is valid? [True, True] Translation: X:125.37, Y:136.35, Z:-4.30 [[-1.71288635e-01 -9.85217483e-01 -2.59120196e-03 1.25372089e+02] [ 9.85105156e-01 -1.71308233e-01 1.48768766e-02 1.36347990e+02] [-1.51008531e-02 -4.36653205e-06 9.99885976e-01 -4.30130728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48 meters 0.013041693843820224 Centerline is valid? [True, True] Translation: X:125.37, Y:136.38, Z:-4.30 [[-1.71045163e-01 -9.85260276e-01 -2.39581155e-03 1.25367148e+02] [ 9.85164570e-01 -1.71061941e-01 1.37325288e-02 1.36375930e+02] [-1.39399473e-02 -1.13860222e-05 9.99902834e-01 -4.30258509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51 meters 0.01316677496778923 Centerline is valid? [True, True] Translation: X:125.36, Y:136.40, Z:-4.31 [[-1.70890663e-01 -9.85287695e-01 -2.13067845e-03 1.25361445e+02] [ 9.85212199e-01 -1.70903945e-01 1.21968813e-02 1.36402786e+02] [-1.23815784e-02 -1.48372668e-05 9.99923345e-01 -4.30515523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54 meters 0.013272389414133407 Centerline is valid? [True, True] Translation: X:125.36, Y:136.43, Z:-4.31 [[-1.70851966e-01 -9.85294815e-01 -1.93198570e-03 1.25355875e+02] [ 9.85232936e-01 -1.70862889e-01 1.10424011e-02 1.36430518e+02] [-1.12101252e-02 -1.68400048e-05 9.99937164e-01 -4.30712079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57 meters 0.01328190152424827 Centerline is valid? [True, True] Translation: X:125.35, Y:136.46, Z:-4.31 [[-1.71881155e-01 -9.85116197e-01 -1.71688726e-03 1.25351699e+02] [ 9.85067443e-01 -1.71889730e-01 9.80064477e-03 1.36458014e+02] [-9.94988919e-03 -6.70360136e-06 9.99950499e-01 -4.30935001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.6 meters 0.013212599225868576 Centerline is valid? [True, True] Translation: X:125.35, Y:136.49, Z:-4.31 [[-1.73494304e-01 -9.84833421e-01 -1.69122865e-03 1.25347793e+02] [ 9.84786250e-01 -1.73502547e-01 9.63888226e-03 1.36485903e+02] [-9.78612586e-03 6.79244801e-06 9.99952115e-01 -4.30939319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63 meters 0.013301199191563789 Centerline is valid? [True, True] Translation: X:125.34, Y:136.51, Z:-4.31 [[-1.75738037e-01 -9.84435344e-01 -1.78786357e-03 1.25344787e+02] [ 9.84382796e-01 -1.75747129e-01 1.01713995e-02 1.36512991e+02] [-1.03272970e-02 2.75596384e-05 9.99946672e-01 -4.30991571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66 meters 0.013666815069825864 Centerline is valid? [True, True] Translation: X:125.34, Y:136.54, Z:-4.31 [[-1.81242246e-01 -9.83436224e-01 -2.10734493e-03 1.25344578e+02] [ 9.83363497e-01 -1.81254472e-01 1.19602995e-02 1.36541202e+02] [-1.21441575e-02 9.54254638e-05 9.99926252e-01 -4.30726922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69 meters 0.013818395378460266 Centerline is valid? [True, True] Translation: X:125.34, Y:136.57, Z:-4.31 [[-1.84217283e-01 -9.82882802e-01 -2.32156751e-03 1.25341646e+02] [ 9.82794825e-01 -1.84231857e-01 1.31512203e-02 1.36569570e+02] [-1.33538150e-02 1.41057538e-04 9.99910824e-01 -4.30617017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72 meters 0.01421442591560223 Centerline is valid? [True, True] Translation: X:125.34, Y:136.60, Z:-4.31 [[-1.87128994e-01 -9.82332000e-01 -2.56562553e-03 1.25339115e+02] [ 9.82224925e-01 -1.87146480e-01 1.45049035e-02 1.36596571e+02] [-1.47287787e-02 1.94266655e-04 9.99891507e-01 -4.30581450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75 meters 0.014483871482250485 Centerline is valid? [True, True] Translation: X:125.34, Y:136.63, Z:-4.31 [[-1.89850343e-01 -9.81809188e-01 -2.75060379e-03 1.25335236e+02] [ 9.81686450e-01 -1.89870107e-01 1.55259852e-02 1.36625257e+02] [-1.57658123e-02 2.47383143e-04 9.99875681e-01 -4.30509352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78 meters 0.015263472837863352 Centerline is valid? [True, True] Translation: X:125.33, Y:136.65, Z:-4.31 [[-1.92124426e-01 -9.81366183e-01 -2.93607489e-03 1.25332977e+02] [ 9.81226769e-01 -1.92146629e-01 1.65439009e-02 1.36651818e+02] [-1.67997817e-02 2.97532183e-04 9.99858829e-01 -4.30548838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81 meters 0.015177104792992831 Centerline is valid? [True, True] Translation: X:125.33, Y:136.68, Z:-4.31 [[-1.94072056e-01 -9.80982581e-01 -3.03533831e-03 1.25327898e+02] [ 9.80833934e-01 -1.94095498e-01 1.70801787e-02 1.36680117e+02] [-1.73445033e-02 3.37622587e-04 9.99849516e-01 -4.30572991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84 meters 0.01609775511560969 Centerline is valid? [True, True] Translation: X:125.33, Y:136.71, Z:-4.31 [[-1.96104257e-01 -9.80578324e-01 -3.04476701e-03 1.25325784e+02] [ 9.80429158e-01 -1.96127544e-01 1.71070848e-02 1.36707448e+02] [-1.73719992e-02 3.69593786e-04 9.99849027e-01 -4.30658708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87 meters 0.01626991251593216 Centerline is valid? [True, True] Translation: X:125.32, Y:136.73, Z:-4.31 [[-1.96258709e-01 -9.80547681e-01 -2.96050724e-03 1.25320892e+02] [ 9.80407119e-01 -1.96280713e-01 1.66060827e-02 1.36733925e+02] [-1.68641464e-02 3.56585984e-04 9.99857727e-01 -4.30753251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.9 meters 0.01606034988830932 Centerline is valid? [True, True] Translation: X:125.32, Y:136.76, Z:-4.31 [[-1.95648315e-01 -9.80669999e-01 -2.84415545e-03 1.25315013e+02] [ 9.80540717e-01 -1.95668713e-01 1.59266003e-02 1.36760960e+02] [-1.61752514e-02 3.27202287e-04 9.99869119e-01 -4.30893696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92999999999998 meters 0.015096135645935375 Centerline is valid? [True, True] Translation: X:125.31, Y:136.79, Z:-4.31 [[-1.94573210e-01 -9.80884346e-01 -2.67707603e-03 1.25307383e+02] [ 9.80770208e-01 -1.94591415e-01 1.49659481e-02 1.36788029e+02] [-1.52008002e-02 2.86376140e-04 9.99884420e-01 -4.30988041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95999999999998 meters 0.014475396378232449 Centerline is valid? [True, True] Translation: X:125.30, Y:136.82, Z:-4.31 [[-1.91191142e-01 -9.81550244e-01 -2.25071158e-03 1.25299604e+02] [ 9.81469815e-01 -1.91204291e-01 1.25666974e-02 1.36815093e+02] [-1.27651906e-02 1.93635754e-04 9.99918503e-01 -4.31141536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98999999999998 meters 0.014116738960472566 Centerline is valid? [True, True] Translation: X:125.29, Y:136.84, Z:-4.31 [[-1.89196232e-01 -9.81936962e-01 -2.14230088e-03 1.25292868e+02] [ 9.81864321e-01 -1.89208295e-01 1.19446809e-02 1.36842215e+02] [-1.21342648e-02 1.56439817e-04 9.99926365e-01 -4.31237607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01999999999998 meters 0.013913019750107534 Centerline is valid? [True, True] Translation: X:125.29, Y:136.87, Z:-4.31 [[-1.87432116e-01 -9.82275357e-01 -2.07962631e-03 1.25286283e+02] [ 9.82207134e-01 -1.87443610e-01 1.15775302e-02 1.36868440e+02] [-1.17621352e-02 1.27377181e-04 9.99930816e-01 -4.31336593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04999999999998 meters 0.01372497443728315 Centerline is valid? [True, True] Translation: X:125.28, Y:136.90, Z:-4.31 [[-1.85945417e-01 -9.82557878e-01 -2.07788974e-03 1.25279230e+02] [ 9.82490022e-01 -1.85956997e-01 1.15478406e-02 1.36895965e+02] [-1.17328199e-02 1.05762092e-04 9.99931163e-01 -4.31450302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07999999999998 meters 0.013462073359428114 Centerline is valid? [True, True] Translation: X:125.27, Y:136.92, Z:-4.32 [[-1.83394848e-01 -9.83036918e-01 -2.17878432e-03 1.25270904e+02] [ 9.82962607e-01 -1.83407775e-01 1.20872134e-02 1.36922969e+02] [-1.22817830e-02 7.50691551e-05 9.99924573e-01 -4.31530833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10999999999999 meters 0.013347489346139392 Centerline is valid? [True, True] Translation: X:125.26, Y:136.95, Z:-4.32 [[-1.82904781e-01 -9.83127858e-01 -2.33588560e-03 1.25264838e+02] [ 9.83042755e-01 -1.82919683e-01 1.29356787e-02 1.36950354e+02] [-1.31447055e-02 6.97220549e-05 9.99913602e-01 -4.31531496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14 meters 0.013436754625049655 Centerline is valid? [True, True] Translation: X:125.26, Y:136.98, Z:-4.32 [[-1.83385966e-01 -9.83037948e-01 -2.44552524e-03 1.25259746e+02] [ 9.82944974e-01 -1.83402256e-01 1.35199967e-02 1.36977316e+02] [-1.37391847e-02 7.55609278e-05 9.99905610e-01 -4.31533547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17 meters 0.013503808190100528 Centerline is valid? [True, True] Translation: X:125.25, Y:137.01, Z:-4.32 [[-1.84113799e-01 -9.82901535e-01 -2.58472460e-03 1.25254948e+02] [ 9.82798054e-01 -1.84131921e-01 1.42625526e-02 1.37005199e+02] [-1.44946151e-02 8.56704246e-05 9.99894944e-01 -4.31515360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.2 meters 0.01353293607741229 Centerline is valid? [True, True] Translation: X:125.25, Y:137.03, Z:-4.31 [[-1.85336055e-01 -9.82671490e-01 -2.69991552e-03 1.25250614e+02] [ 9.82558935e-01 -1.85355690e-01 1.48730693e-02 1.37032573e+02] [-1.51157858e-02 1.03689864e-04 9.99885745e-01 -4.31467891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23 meters 0.013814065469104162 Centerline is valid? [True, True] Translation: X:125.25, Y:137.06, Z:-4.31 [[-1.87435260e-01 -9.82272181e-01 -3.06369932e-03 1.25246998e+02] [ 9.82127756e-01 -1.87460238e-01 1.68442705e-02 1.37059207e+02] [-1.71199801e-02 1.48266086e-04 9.99853431e-01 -4.31413565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26 meters 0.013744940068030813 Centerline is valid? [True, True] Translation: X:125.24, Y:137.09, Z:-4.31 [[-1.88281184e-01 -9.82109945e-01 -3.20191133e-03 1.25241461e+02] [ 9.81952535e-01 -1.88308334e-01 1.75837885e-02 1.37086862e+02] [-1.78721601e-02 1.66571561e-04 9.99840266e-01 -4.31413184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29 meters 0.013803675517887287 Centerline is valid? [True, True] Translation: X:125.24, Y:137.11, Z:-4.31 [[-1.88848097e-01 -9.82000859e-01 -3.27233492e-03 1.25236194e+02] [ 9.81836971e-01 -1.88876365e-01 1.79410591e-02 1.37114332e+02] [-1.82362022e-02 1.75235473e-04 9.99833691e-01 -4.31443331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32 meters 0.013787672930604842 Centerline is valid? [True, True] Translation: X:125.23, Y:137.14, Z:-4.32 [[-1.88688305e-01 -9.82031660e-01 -3.24701313e-03 1.25230892e+02] [ 9.81870809e-01 -1.88716168e-01 1.77741888e-02 1.37141897e+02] [-1.80675800e-02 1.65634144e-04 9.99836754e-01 -4.31502974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35 meters 0.013790693288170222 Centerline is valid? [True, True] Translation: X:125.22, Y:137.17, Z:-4.32 [[-1.87791146e-01 -9.82204378e-01 -3.00749780e-03 1.25224587e+02] [ 9.82066797e-01 -1.87815180e-01 1.64397023e-02 1.37167848e+02] [-1.67120013e-02 1.33666797e-04 9.99860336e-01 -4.31689812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38 meters 0.013724011596125976 Centerline is valid? [True, True] Translation: X:125.22, Y:137.19, Z:-4.32 [[-1.86902578e-01 -9.82374514e-01 -2.78202364e-03 1.25218058e+02] [ 9.82257156e-01 -1.86923253e-01 1.51847603e-02 1.37194300e+02] [-1.54371464e-02 1.05408219e-04 9.99880835e-01 -4.31874363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41 meters 0.013620602397153144 Centerline is valid? [True, True] Translation: X:125.21, Y:137.22, Z:-4.32 [[-1.85794196e-01 -9.82585298e-01 -2.57855069e-03 1.25211348e+02] [ 9.82484828e-01 -1.85812072e-01 1.40512224e-02 1.37221265e+02] [-1.42856504e-02 7.72486334e-05 9.99897952e-01 -4.32083035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44 meters 0.013674722066193743 Centerline is valid? [True, True] Translation: X:125.20, Y:137.25, Z:-4.32 [[-1.84501927e-01 -9.82829463e-01 -2.29902822e-03 1.25204704e+02] [ 9.82749821e-01 -1.84516244e-01 1.25117878e-02 1.37249074e+02] [-1.27211618e-02 4.90793964e-05 9.99919082e-01 -4.32262068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47 meters 0.013562150701133152 Centerline is valid? [True, True] Translation: X:125.20, Y:137.28, Z:-4.32 [[-1.83303765e-01 -9.83054180e-01 -2.05178339e-03 1.25198208e+02] [ 9.82990916e-01 -1.83315246e-01 1.11525419e-02 1.37276669e+02] [-1.13396761e-02 2.74184857e-05 9.99935703e-01 -4.32402855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.5 meters 0.013688506109518472 Centerline is valid? [True, True] Translation: X:125.19, Y:137.30, Z:-4.33 [[-1.80894759e-01 -9.83501078e-01 -1.64810938e-03 1.25191512e+02] [ 9.83460397e-01 -1.80902266e-01 8.94523008e-03 1.37302802e+02] [-9.09579015e-03 -2.70507032e-06 9.99958632e-01 -4.32669642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53 meters 0.01370985447313104 Centerline is valid? [True, True] Translation: X:125.19, Y:137.33, Z:-4.33 [[-1.80357411e-01 -9.83599938e-01 -1.53843523e-03 1.25185923e+02] [ 9.83564520e-01 -1.80363972e-01 8.34702177e-03 1.37330763e+02] [-8.48760838e-03 -7.70306626e-06 9.99963980e-01 -4.32774431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56 meters 0.01382582593277339 Centerline is valid? [True, True] Translation: X:125.18, Y:137.36, Z:-4.33 [[-1.80213417e-01 -9.83626460e-01 -1.45334634e-03 1.25180686e+02] [ 9.83594931e-01 -1.80219277e-01 7.87551180e-03 1.37357331e+02] [-8.00848282e-03 -1.02312026e-05 9.99967932e-01 -4.32889239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59 meters 0.01381416168423689 Centerline is valid? [True, True] Translation: X:125.18, Y:137.38, Z:-4.33 [[-1.80289240e-01 -9.83612455e-01 -1.52616288e-03 1.25175878e+02] [ 9.83577873e-01 -1.80295699e-01 8.24799067e-03 1.37383886e+02] [-8.38798695e-03 -1.40760701e-05 9.99964820e-01 -4.32965501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62 meters 0.013814973371797969 Centerline is valid? [True, True] Translation: X:125.17, Y:137.41, Z:-4.33 [[-1.81079772e-01 -9.83466918e-01 -1.71396738e-03 1.25172423e+02] [ 9.83423380e-01 -1.81087883e-01 9.25386941e-03 1.37411673e+02] [-9.41125316e-03 -9.86703359e-06 9.99955713e-01 -4.32909694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65 meters 0.013746218074950137 Centerline is valid? [True, True] Translation: X:125.17, Y:137.44, Z:-4.33 [[-1.81618115e-01 -9.83367554e-01 -1.76484714e-03 1.25168285e+02] [ 9.83321539e-01 -1.81626690e-01 9.51299001e-03 1.37439447e+02] [-9.67530906e-03 -7.68088620e-06 9.99953193e-01 -4.32836236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67999999999998 meters 0.013728928486834296 Centerline is valid? [True, True] Translation: X:125.16, Y:137.47, Z:-4.33 [[-1.82060951e-01 -9.83285176e-01 -2.01792447e-03 1.25164120e+02] [ 9.83225255e-01 -1.82072133e-01 1.08552589e-02 1.37466980e+02] [-1.10412229e-02 -7.75554941e-06 9.99939044e-01 -4.32818037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70999999999998 meters 0.013686748165448145 Centerline is valid? [True, True] Translation: X:125.16, Y:137.49, Z:-4.33 [[-1.81190948e-01 -9.83444989e-01 -2.40709600e-03 1.25158705e+02] [ 9.83360131e-01 -1.81206935e-01 1.29189964e-02 1.37493158e+02] [-1.31413048e-02 -2.62370234e-05 9.99913649e-01 -4.32700301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73999999999998 meters 0.013672467740491901 Centerline is valid? [True, True] Translation: X:125.15, Y:137.52, Z:-4.33 [[-1.80916995e-01 -9.83495115e-01 -2.52984199e-03 1.25153360e+02] [ 9.83401557e-01 -1.80934679e-01 1.35653976e-02 1.37518878e+02] [-1.37992384e-02 -3.36395772e-05 9.99904785e-01 -4.32748650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76999999999998 meters 0.013719861895241806 Centerline is valid? [True, True] Translation: X:125.15, Y:137.55, Z:-4.33 [[-1.80172717e-01 -9.83631535e-01 -2.60692619e-03 1.25147696e+02] [ 9.83532589e-01 -1.80191569e-01 1.39515283e-02 1.37545808e+02] [-1.41929093e-02 -5.03121121e-05 9.99899274e-01 -4.32799894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79999999999998 meters 0.013754035609269648 Centerline is valid? [True, True] Translation: X:125.14, Y:137.57, Z:-4.33 [[-1.79846373e-01 -9.83691439e-01 -2.53657477e-03 1.25142122e+02] [ 9.83598115e-01 -1.79864251e-01 1.35498734e-02 1.37571024e+02] [-1.37851336e-02 -5.80745776e-05 9.99904979e-01 -4.32927501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82999999999998 meters 0.013961599499144972 Centerline is valid? [True, True] Translation: X:125.14, Y:137.60, Z:-4.33 [[-1.78992915e-01 -9.83847285e-01 -2.46108250e-03 1.25136310e+02] [ 9.83759637e-01 -1.79009820e-01 1.31324319e-02 1.37598092e+02] [-1.33608654e-02 -7.05013614e-05 9.99910737e-01 -4.33056805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85999999999999 meters 0.014050949627757698 Centerline is valid? [True, True] Translation: X:125.13, Y:137.63, Z:-4.33 [[-1.78235851e-01 -9.83984998e-01 -2.34634927e-03 1.25130512e+02] [ 9.83905594e-01 -1.78251276e-01 1.25006300e-02 1.37625137e+02] [-1.27186722e-02 -8.05257450e-05 9.99919111e-01 -4.33176387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89 meters 0.014336276654201589 Centerline is valid? [True, True] Translation: X:125.12, Y:137.65, Z:-4.33 [[-1.76460978e-01 -9.84305305e-01 -2.14220636e-03 1.25124144e+02] [ 9.84239346e-01 -1.76473953e-01 1.13953065e-02 1.37652484e+02] [-1.15945042e-02 -9.76168646e-05 9.99932777e-01 -4.33314644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92 meters 0.01426013307041657 Centerline is valid? [True, True] Translation: X:125.12, Y:137.68, Z:-4.33 [[-1.75613275e-01 -9.84456921e-01 -2.13265323e-03 1.25118307e+02] [ 9.84391749e-01 -1.75626189e-01 1.13280797e-02 1.37680368e+02] [-1.15265562e-02 -1.10005070e-04 9.99933561e-01 -4.33328349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95 meters 0.01453387096887595 Centerline is valid? [True, True] Translation: X:125.11, Y:137.71, Z:-4.33 [[-1.74928131e-01 -9.84579011e-01 -2.07839869e-03 1.25111994e+02] [ 9.84517285e-01 -1.74940438e-01 1.10253564e-02 1.37707326e+02] [-1.12189305e-02 -1.17574438e-04 9.99937059e-01 -4.33428643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98 meters 0.014590826343242436 Centerline is valid? [True, True] Translation: X:125.11, Y:137.73, Z:-4.33 [[-1.74391733e-01 -9.84674228e-01 -2.04656826e-03 1.25106273e+02] [ 9.84614592e-01 -1.74403696e-01 1.08377277e-02 1.37734364e+02] [-1.10285602e-02 -1.25070863e-04 9.99939176e-01 -4.33480728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01 meters 0.014590826343242436 Centerline is valid? [True, True] Translation: X:125.10, Y:137.76, Z:-4.34 [[-1.74668628e-01 -9.84625141e-01 -2.04997605e-03 1.25101063e+02] [ 9.84565509e-01 -1.74680612e-01 1.08370826e-02 1.37761469e+02] [-1.10285550e-02 -1.25437370e-04 9.99939176e-01 -4.33537319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04 meters 0.014470861390049224 Centerline is valid? [True, True] Translation: X:125.10, Y:137.79, Z:-4.34 [[-1.75202930e-01 -9.84530029e-01 -2.13423750e-03 1.25096264e+02] [ 9.84465598e-01 -1.75215882e-01 1.12641742e-02 1.37788891e+02] [-1.14638701e-02 -1.27567071e-04 9.99934280e-01 -4.33522536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07 meters 0.014492996908846215 Centerline is valid? [True, True] Translation: X:125.09, Y:137.82, Z:-4.34 [[-1.76284080e-01 -9.84336789e-01 -2.23810047e-03 1.25091422e+02] [ 9.84266151e-01 -1.76298243e-01 1.17929617e-02 1.37815233e+02] [-1.20028192e-02 -1.23975145e-04 9.99927956e-01 -4.33559720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.1 meters 0.014343855896685513 Centerline is valid? [True, True] Translation: X:125.09, Y:137.84, Z:-4.34 [[-1.77605780e-01 -9.84099288e-01 -2.18571789e-03 1.25086864e+02] [ 9.84032128e-01 -1.77619196e-01 1.14974811e-02 1.37843472e+02] [-1.17028884e-02 -1.08797518e-04 9.99931513e-01 -4.33602781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13 meters 0.014346130885965326 Centerline is valid? [True, True] Translation: X:125.08, Y:137.87, Z:-4.34 [[-1.79016071e-01 -9.83843541e-01 -2.26548835e-03 1.25082628e+02] [ 9.83771598e-01 -1.79030378e-01 1.18981409e-02 1.37869254e+02] [-1.21115003e-02 -9.87646645e-05 9.99926648e-01 -4.33692825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16 meters 0.014155519834974642 Centerline is valid? [True, True] Translation: X:125.08, Y:137.90, Z:-4.34 [[-1.80819003e-01 -9.83513856e-01 -2.23211133e-03 1.25078564e+02] [ 9.83444161e-01 -1.80832763e-01 1.17086827e-02 1.37897571e+02] [-1.19192906e-02 -7.80045140e-05 9.99928960e-01 -4.33770962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19 meters 0.014123813359412695 Centerline is valid? [True, True] Translation: X:125.07, Y:137.92, Z:-4.34 [[-1.82348936e-01 -9.83231449e-01 -2.18724712e-03 1.25074495e+02] [ 9.83164664e-01 -1.82362043e-01 1.14599104e-02 1.37924594e+02] [-1.16666152e-02 -6.07216052e-05 9.99931941e-01 -4.33882436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22 meters 0.013972453074308971 Centerline is valid? [True, True] Translation: X:125.07, Y:137.95, Z:-4.34 [[-1.85560691e-01 -9.82630691e-01 -2.03862708e-03 1.25072071e+02] [ 9.82572823e-01 -1.85571887e-01 1.06640662e-02 1.37952647e+02] [-1.08571506e-02 -2.42680882e-05 9.99941059e-01 -4.33937946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25 meters 0.014001581570762279 Centerline is valid? [True, True] Translation: X:125.07, Y:137.98, Z:-4.34 [[-1.87363460e-01 -9.82288344e-01 -2.13149669e-03 1.25068037e+02] [ 9.82225266e-01 -1.87375583e-01 1.11318662e-02 1.37978994e+02] [-1.13340928e-02 -7.90494557e-06 9.99935767e-01 -4.34051028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28 meters 0.014039143837125973 Centerline is valid? [True, True] Translation: X:125.06, Y:138.01, Z:-4.34 [[-1.89127575e-01 -9.81950131e-01 -2.16829319e-03 1.25063964e+02] [ 9.81885063e-01 -1.89140004e-01 1.13040946e-02 1.38006528e+02] [-1.15101682e-02 8.90130026e-06 9.99933756e-01 -4.34024689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31 meters 0.014159857996801504 Centerline is valid? [True, True] Translation: X:125.06, Y:138.04, Z:-4.34 [[-1.92118591e-01 -9.81368555e-01 -2.49110300e-03 1.25060641e+02] [ 9.81282941e-01 -1.92134735e-01 1.29627540e-02 1.38035003e+02] [-1.31998665e-02 4.59091392e-05 9.99912877e-01 -4.33996269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34 meters 0.014174241538884993 Centerline is valid? [True, True] Translation: X:125.06, Y:138.06, Z:-4.34 [[-1.93349961e-01 -9.81126830e-01 -2.43658262e-03 1.25055723e+02] [ 9.81045140e-01 -1.93365305e-01 1.26606882e-02 1.38062578e+02] [-1.28928914e-02 5.75460251e-05 9.99916882e-01 -4.34037189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37 meters 0.014119545361612654 Centerline is valid? [True, True] Translation: X:125.05, Y:138.09, Z:-4.34 [[-1.94203406e-01 -9.80958236e-01 -2.44463052e-03 1.25050372e+02] [ 9.80876243e-01 -1.94218781e-01 1.26831201e-02 1.38090043e+02] [-1.29164043e-02 6.52251312e-05 9.99916578e-01 -4.34105428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.4 meters 0.014167652843189842 Centerline is valid? [True, True] Translation: X:125.05, Y:138.12, Z:-4.34 [[-1.94595563e-01 -9.80880714e-01 -2.36480165e-03 1.25045315e+02] [ 9.80804198e-01 -1.94609921e-01 1.22516842e-02 1.38116561e+02] [-1.24776546e-02 6.47159869e-05 9.99922149e-01 -4.34231222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42999999999998 meters 0.014246625644608062 Centerline is valid? [True, True] Translation: X:125.04, Y:138.14, Z:-4.34 [[-1.93455448e-01 -9.81106556e-01 -2.21718402e-03 1.25039968e+02] [ 9.81039555e-01 -1.93468149e-01 1.14658795e-02 1.38142744e+02] [-1.16782041e-02 4.29916422e-05 9.99931807e-01 -4.34437061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45999999999998 meters 0.014148161884435984 Centerline is valid? [True, True] Translation: X:125.03, Y:138.17, Z:-4.34 [[-1.92613701e-01 -9.81272409e-01 -2.10285623e-03 1.25033288e+02] [ 9.81212228e-01 -1.92625178e-01 1.08675549e-02 1.38170370e+02] [-1.10690948e-02 2.98917233e-05 9.99938735e-01 -4.34433262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48999999999998 meters 0.014118381211180068 Centerline is valid? [True, True] Translation: X:125.03, Y:138.20, Z:-4.35 [[-1.91427781e-01 -9.81504714e-01 -1.97516662e-03 1.25026488e+02] [ 9.81451775e-01 -1.91437970e-01 1.01939791e-02 1.38197441e+02] [-1.03835604e-02 1.28800079e-05 9.99946089e-01 -4.34590042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51999999999998 meters 0.014129279976044967 Centerline is valid? [True, True] Translation: X:125.02, Y:138.22, Z:-4.35 [[-1.90295970e-01 -9.81724989e-01 -1.86828566e-03 1.25019839e+02] [ 9.81677753e-01 -1.90305141e-01 9.63031619e-03 1.38223595e+02] [-9.80986642e-03 -1.44410424e-06 9.99951882e-01 -4.34752605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54999999999998 meters 0.014267574584192578 Centerline is valid? [True, True] Translation: X:125.01, Y:138.25, Z:-4.35 [[-1.89314750e-01 -9.81914874e-01 -1.76230849e-03 1.25013414e+02] [ 9.81872980e-01 -1.89322952e-01 9.07035712e-03 1.38250814e+02] [-9.23996401e-03 -1.32106952e-05 9.99957311e-01 -4.34881901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57999999999998 meters 0.014217463239612465 Centerline is valid? [True, True] Translation: X:125.01, Y:138.28, Z:-4.35 [[-1.88710254e-01 -9.82031357e-01 -1.68941521e-03 1.25007391e+02] [ 9.81992947e-01 -1.88717815e-01 8.68553606e-03 1.38277208e+02] [-8.84829151e-03 -1.99440965e-05 9.99960853e-01 -4.34970821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60999999999999 meters 0.014311960299973546 Centerline is valid? [True, True] Translation: X:125.00, Y:138.30, Z:-4.35 [[-1.88006977e-01 -9.82165839e-01 -1.90845606e-03 1.25002291e+02] [ 9.82117027e-01 -1.88016660e-01 9.79188028e-03 1.38302718e+02] [-9.97607184e-03 -3.33853839e-05 9.99950237e-01 -4.34941676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64 meters 0.014212216153708346 Centerline is valid? [True, True] Translation: X:125.00, Y:138.33, Z:-4.35 [[-1.88086465e-01 -9.82150016e-01 -2.19723155e-03 1.24997419e+02] [ 9.82085623e-01 -1.88099294e-01 1.12465274e-02 1.38330304e+02] [-1.14590747e-02 -4.25499390e-05 9.99934342e-01 -4.34840880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67 meters 0.014200162573866054 Centerline is valid? [True, True] Translation: X:124.99, Y:138.36, Z:-4.35 [[-1.88045699e-01 -9.82157659e-01 -2.26872002e-03 1.24992319e+02] [ 9.82089223e-01 -1.88059378e-01 1.15943049e-02 1.38358337e+02] [-1.18140894e-02 -4.78263134e-05 9.99930210e-01 -4.34770630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.7 meters 0.014233193970932085 Centerline is valid? [True, True] Translation: X:124.99, Y:138.39, Z:-4.35 [[-1.87898273e-01 -9.82185185e-01 -2.54988915e-03 1.24987262e+02] [ 9.82099045e-01 -1.87915565e-01 1.30079510e-02 1.38386047e+02] [-1.32553806e-02 -6.00721689e-05 9.99912142e-01 -4.34720687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73 meters 0.014309003027579715 Centerline is valid? [True, True] Translation: X:124.98, Y:138.41, Z:-4.35 [[-1.87966192e-01 -9.82171770e-01 -2.70642358e-03 1.24981663e+02] [ 9.82075040e-01 -1.87985663e-01 1.37842640e-02 1.38412342e+02] [-1.40472838e-02 -6.69354301e-05 9.99901330e-01 -4.34790104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76 meters 0.014397245460889321 Centerline is valid? [True, True] Translation: X:124.98, Y:138.44, Z:-4.35 [[-1.87995051e-01 -9.82166088e-01 -2.76322963e-03 1.24975838e+02] [ 9.82065589e-01 -1.88015344e-01 1.40502510e-02 1.38439303e+02] [-1.43192096e-02 -7.22950722e-05 9.99897472e-01 -4.34887606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79 meters 0.014364133391667129 Centerline is valid? [True, True] Translation: X:124.97, Y:138.47, Z:-4.35 [[-1.88383257e-01 -9.82091544e-01 -2.81903289e-03 1.24970863e+02] [ 9.81987277e-01 -1.88404335e-01 1.43106525e-02 1.38467134e+02] [-1.45854888e-02 -7.23670923e-05 9.99893623e-01 -4.34882409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82 meters 0.01436148876162685 Centerline is valid? [True, True] Translation: X:124.97, Y:138.49, Z:-4.35 [[-1.88941503e-01 -9.81983935e-01 -2.94276672e-03 1.24965349e+02] [ 9.81870658e-01 -1.88964405e-01 1.49152720e-02 1.38493833e+02] [-1.52026356e-02 -7.13023784e-05 9.99884431e-01 -4.34963652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85 meters 0.014339511236850722 Centerline is valid? [True, True] Translation: X:124.96, Y:138.52, Z:-4.35 [[-1.90279706e-01 -9.81724916e-01 -3.13414789e-03 1.24961073e+02] [ 9.81596840e-01 -1.90305507e-01 1.58574389e-02 1.38521173e+02] [-1.61640884e-02 -5.91208591e-05 9.99869351e-01 -4.34971747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88 meters 0.01430466016346068 Centerline is valid? [True, True] Translation: X:124.96, Y:138.55, Z:-4.35 [[-1.91545991e-01 -9.81478534e-01 -3.16570112e-03 1.24956281e+02] [ 9.81348261e-01 -1.91572144e-01 1.59907537e-02 1.38548256e+02] [-1.63010417e-02 -4.36905214e-05 9.99867128e-01 -4.35054797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91 meters 0.014350421964144579 Centerline is valid? [True, True] Translation: X:124.95, Y:138.58, Z:-4.35 [[-1.93229468e-01 -9.81148482e-01 -3.16688662e-03 1.24951940e+02] [ 9.81018330e-01 -1.93255417e-01 1.59806437e-02 1.38575907e+02] [-1.62914023e-02 -1.88425373e-05 9.99867286e-01 -4.35133686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94 meters 0.014379551365113114 Centerline is valid? [True, True] Translation: X:124.95, Y:138.60, Z:-4.35 [[-1.94873199e-01 -9.80823174e-01 -3.21511486e-03 1.24947937e+02] [ 9.80689389e-01 -1.94899720e-01 1.61994264e-02 1.38603421e+02] [-1.65153979e-02 3.80502726e-06 9.99863612e-01 -4.35190814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97 meters 0.01440200610630817 Centerline is valid? [True, True] Translation: X:124.94, Y:138.63, Z:-4.35 [[-1.97751722e-01 -9.80246632e-01 -3.28575078e-03 1.24944773e+02] [ 9.80107250e-01 -1.97779012e-01 1.65299834e-02 1.38631083e+02] [-1.68533131e-02 4.84445270e-05 9.99857972e-01 -4.35276340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.0 meters 0.014459878323083444 Centerline is valid? [True, True] Translation: X:124.94, Y:138.66, Z:-4.35 [[-1.99080910e-01 -9.79977696e-01 -3.24123038e-03 1.24940220e+02] [ 9.79842423e-01 -1.99107283e-01 1.62823925e-02 1.38657968e+02] [-1.66017341e-02 6.56184956e-05 9.99862180e-01 -4.35367789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03 meters 0.01438481373695697 Centerline is valid? [True, True] Translation: X:124.93, Y:138.69, Z:-4.36 [[-2.00249036e-01 -9.79739876e-01 -3.17784637e-03 1.24934724e+02] [ 9.79610215e-01 -2.00274235e-01 1.59392064e-02 1.38685465e+02] [-1.62527169e-02 7.87599675e-05 9.99867913e-01 -4.35505401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06 meters 0.014477062095004193 Centerline is valid? [True, True] Translation: X:124.93, Y:138.71, Z:-4.36 [[-2.01051896e-01 -9.79576020e-01 -2.99275370e-03 1.24929368e+02] [ 9.79461320e-01 -2.01074152e-01 1.49902283e-02 1.38713128e+02] [-1.52858336e-02 8.25273370e-05 9.99883161e-01 -4.35711444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09 meters 0.01453908861271788 Centerline is valid? [True, True] Translation: X:124.92, Y:138.74, Z:-4.36 [[-2.01764771e-01 -9.79430139e-01 -2.75321648e-03 1.24923971e+02] [ 9.79333306e-01 -2.01783538e-01 1.37724184e-02 1.38740462e+02] [-1.40446754e-02 8.24722278e-05 9.99901365e-01 -4.35902628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12 meters 0.014472390262449092 Centerline is valid? [True, True] Translation: X:124.92, Y:138.77, Z:-4.36 [[-2.02807865e-01 -9.79215068e-01 -2.61150232e-03 1.24918126e+02] [ 9.79128162e-01 -2.02824658e-01 1.30460884e-02 1.38768041e+02] [-1.33046034e-02 8.88538746e-05 9.99911486e-01 -4.36063359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15 meters 0.014412259406651728 Centerline is valid? [True, True] Translation: X:124.91, Y:138.80, Z:-4.36 [[-2.03076939e-01 -9.79159176e-01 -2.65798093e-03 1.24912503e+02] [ 9.79069418e-01 -2.03094312e-01 1.32580088e-02 1.38795600e+02] [-1.35215218e-02 9.00479976e-05 9.99908576e-01 -4.36123835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17999999999998 meters 0.014470518451951651 Centerline is valid? [True, True] Translation: X:124.91, Y:138.82, Z:-4.36 [[-2.03805877e-01 -9.79007773e-01 -2.63530757e-03 1.24907121e+02] [ 9.78919777e-01 -2.03822892e-01 1.31262693e-02 1.38822061e+02] [-1.33878557e-02 9.54561152e-05 9.99910374e-01 -4.36186373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20999999999998 meters 0.014348134695557822 Centerline is valid? [True, True] Translation: X:124.90, Y:138.85, Z:-4.36 [[-2.04418711e-01 -9.78879695e-01 -2.74471849e-03 1.24901006e+02] [ 9.78784551e-01 -2.04437110e-01 1.36481081e-02 1.38849929e+02] [-1.39209782e-02 1.03440618e-04 9.99903093e-01 -4.36224775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23999999999998 meters 0.01436827515352941 Centerline is valid? [True, True] Translation: X:124.90, Y:138.88, Z:-4.36 [[-2.04765758e-01 -9.78806691e-01 -2.90633799e-03 1.24895164e+02] [ 9.78700338e-01 -2.04786353e-01 1.44290482e-02 1.38876666e+02] [-1.47184273e-02 1.10141019e-04 9.99891672e-01 -4.36271043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26999999999998 meters 0.014294844798972505 Centerline is valid? [True, True] Translation: X:124.89, Y:138.90, Z:-4.36 [[-2.04825095e-01 -9.78793823e-01 -3.05509706e-03 1.24889616e+02] [ 9.78676701e-01 -2.04847848e-01 1.51417875e-02 1.38903721e+02] [-1.54465181e-02 1.11465747e-04 9.99880689e-01 -4.36270537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29999999999998 meters 0.014178214161071744 Centerline is valid? [True, True] Translation: X:124.88, Y:138.93, Z:-4.36 [[-2.04915210e-01 -9.78774737e-01 -3.12598182e-03 1.24883429e+02] [ 9.78652476e-01 -2.04939022e-01 1.54702529e-02 1.38930983e+02] [-1.57825284e-02 1.10840293e-04 9.99875442e-01 -4.36200421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32999999999998 meters 0.01413714840319781 Centerline is valid? [True, True] Translation: X:124.88, Y:138.96, Z:-4.36 [[-2.04930464e-01 -9.78771180e-01 -3.23759892e-03 1.24877971e+02] [ 9.78640429e-01 -2.04956008e-01 1.59983024e-02 1.38957066e+02] [-1.63222426e-02 1.10094335e-04 9.99866777e-01 -4.36227760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35999999999999 meters 0.014017050041045608 Centerline is valid? [True, True] Translation: X:124.87, Y:138.98, Z:-4.36 [[-2.04233629e-01 -9.78916502e-01 -3.33284685e-03 1.24871340e+02] [ 9.78778415e-01 -2.04260799e-01 1.64420562e-02 1.38984009e+02] [-1.67761701e-02 9.59022630e-05 9.99859266e-01 -4.36271794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39 meters 0.013977709238030106 Centerline is valid? [True, True] Translation: X:124.86, Y:139.01, Z:-4.36 [[-2.03468550e-01 -9.79076035e-01 -3.26605972e-03 1.24864732e+02] [ 9.78943819e-01 -2.03494747e-01 1.60899728e-02 1.39011431e+02] [-1.64179328e-02 7.65144675e-05 9.99865214e-01 -4.36365965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42 meters 0.013917530621106443 Centerline is valid? [True, True] Translation: X:124.86, Y:139.04, Z:-4.36 [[-2.02663913e-01 -9.79243135e-01 -3.19689972e-03 1.24858778e+02] [ 9.79116870e-01 -2.02689118e-01 1.57250294e-02 1.39037568e+02] [-1.60466039e-02 5.67575461e-05 9.99871243e-01 -4.36493092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45 meters 0.013871229102167261 Centerline is valid? [True, True] Translation: X:124.85, Y:139.06, Z:-4.37 [[-2.01860382e-01 -9.79409549e-01 -3.05317943e-03 1.24851858e+02] [ 9.79294601e-01 -2.01883467e-01 1.50049925e-02 1.39064993e+02] [-1.53124194e-02 3.89513781e-05 9.99882757e-01 -4.36543561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48 meters 0.013850527380789273 Centerline is valid? [True, True] Translation: X:124.84, Y:139.09, Z:-4.37 [[-1.99538039e-01 -9.79884861e-01 -3.19840402e-03 1.24843760e+02] [ 9.79759194e-01 -1.99563671e-01 1.56927496e-02 1.39091149e+02] [-1.60153730e-02 -2.36526285e-06 9.99871746e-01 -4.36614660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51 meters 0.01386344140772307 Centerline is valid? [True, True] Translation: X:124.84, Y:139.12, Z:-4.37 [[-1.98726728e-01 -9.80049614e-01 -3.23139079e-03 1.24836918e+02] [ 9.79921593e-01 -1.98752998e-01 1.58403975e-02 1.39116539e+02] [-1.61666240e-02 -1.85992517e-05 9.99869311e-01 -4.36643459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54 meters 0.01386007096415183 Centerline is valid? [True, True] Translation: X:124.83, Y:139.14, Z:-4.37 [[-1.97987855e-01 -9.80198454e-01 -3.43509566e-03 1.24829934e+02] [ 9.80054344e-01 -1.98017648e-01 1.68075768e-02 1.39143558e+02] [-1.71549704e-02 -3.88843433e-05 9.99852842e-01 -4.36622565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57 meters 0.013893927698649958 Centerline is valid? [True, True] Translation: X:124.82, Y:139.17, Z:-4.37 [[-1.97229764e-01 -9.80351131e-01 -3.47572588e-03 1.24823508e+02] [ 9.80204042e-01 -1.97260379e-01 1.69817357e-02 1.39170514e+02] [-1.73336868e-02 -5.76168244e-05 9.99849759e-01 -4.36663140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.6 meters 0.013932179684517354 Centerline is valid? [True, True] Translation: X:124.82, Y:139.20, Z:-4.37 [[-1.96819234e-01 -9.80433377e-01 -3.54708024e-03 1.24817261e+02] [ 9.80280651e-01 -1.96851181e-01 1.73048511e-02 1.39196650e+02] [-1.76645006e-02 -7.12065868e-05 9.99843968e-01 -4.36717031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63 meters 0.013950415450742925 Centerline is valid? [True, True] Translation: X:124.81, Y:139.22, Z:-4.37 [[-1.96700655e-01 -9.80457372e-01 -3.49196791e-03 1.24811476e+02] [ 9.80309807e-01 -1.96731634e-01 1.70102017e-02 1.39223711e+02] [-1.73647583e-02 -7.72925540e-05 9.99849218e-01 -4.36801431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66 meters 0.013967846679760015 Centerline is valid? [True, True] Translation: X:124.81, Y:139.25, Z:-4.37 [[-1.97054611e-01 -9.80386375e-01 -3.46916422e-03 1.24806660e+02] [ 9.80241132e-01 -1.97085132e-01 1.68752741e-02 1.39250348e+02] [-1.72280095e-02 -7.52668737e-05 9.99851584e-01 -4.36887427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69 meters 0.013992030526413292 Centerline is valid? [True, True] Translation: X:124.80, Y:139.28, Z:-4.37 [[-1.97619959e-01 -9.80272380e-01 -3.52318627e-03 1.24801748e+02] [ 9.80123024e-01 -1.97651350e-01 1.71114572e-02 1.39278097e+02] [-1.74702514e-02 -7.15904961e-05 9.99847381e-01 -4.36958480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72 meters 0.01405766531232835 Centerline is valid? [True, True] Translation: X:124.80, Y:139.30, Z:-4.37 [[-1.98530634e-01 -9.80088859e-01 -3.37885481e-03 1.24797226e+02] [ 9.79951834e-01 -1.98559376e-01 1.63883487e-02 1.39304499e+02] [-1.67329412e-02 -5.75257154e-05 9.99859993e-01 -4.37043433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75 meters 0.01398164543709309 Centerline is valid? [True, True] Translation: X:124.79, Y:139.33, Z:-4.37 [[-2.00114071e-01 -9.79766787e-01 -3.37662650e-03 1.24793596e+02] [ 9.79630317e-01 -2.00142554e-01 1.63524015e-02 1.39332817e+02] [-1.66973466e-02 -3.55000442e-05 9.99860589e-01 -4.37111041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78 meters 0.013944894352342767 Centerline is valid? [True, True] Translation: X:124.79, Y:139.36, Z:-4.37 [[-2.00697568e-01 -9.79647336e-01 -3.40327534e-03 1.24788663e+02] [ 9.79509084e-01 -2.00726419e-01 1.64577963e-02 1.39360381e+02] [-1.68059636e-02 -3.04994088e-05 9.99858769e-01 -4.37207438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81 meters 0.013973841173180354 Centerline is valid? [True, True] Translation: X:124.78, Y:139.39, Z:-4.37 [[-2.01334499e-01 -9.79516669e-01 -3.39344546e-03 1.24783822e+02] [ 9.79379578e-01 -2.01363093e-01 1.63874113e-02 1.39387638e+02] [-1.67350572e-02 -2.41199469e-05 9.99859959e-01 -4.37254396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84 meters 0.013935389626507942 Centerline is valid? [True, True] Translation: X:124.78, Y:139.41, Z:-4.37 [[-2.01969687e-01 -9.79385978e-01 -3.36914382e-03 1.24778880e+02] [ 9.79251209e-01 -2.01997785e-01 1.62470085e-02 1.39414370e+02] [-1.65926519e-02 -1.78349351e-05 9.99862332e-01 -4.37375004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87 meters 0.01397787755140339 Centerline is valid? [True, True] Translation: X:124.78, Y:139.44, Z:-4.37 [[-2.02371120e-01 -9.79303593e-01 -3.22530072e-03 1.24775124e+02] [ 9.79180425e-01 -2.02396820e-01 1.55313399e-02 1.39441113e+02] [-1.58626876e-02 -1.50566717e-05 9.99874180e-01 -4.37451233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.9 meters 0.013945289523895414 Centerline is valid? [True, True] Translation: X:124.77, Y:139.47, Z:-4.38 [[-2.02433463e-01 -9.79290867e-01 -3.17673187e-03 1.24769971e+02] [ 9.79171761e-01 -2.02458386e-01 1.52729667e-02 1.39468745e+02] [-1.55998328e-02 -1.88066139e-05 9.99878315e-01 -4.37537252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92999999999998 meters 0.013945289523895414 Centerline is valid? [True, True] Translation: X:124.76, Y:139.50, Z:-4.38 [[-2.02707120e-01 -9.79234244e-01 -3.18099741e-03 1.24764267e+02] [ 9.79115146e-01 -2.02732076e-01 1.52720780e-02 1.39495751e+02] [-1.55998320e-02 -1.88038025e-05 9.99878315e-01 -4.37593853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95999999999998 meters 0.014021697045956863 Centerline is valid? [True, True] Translation: X:124.76, Y:139.52, Z:-4.38 [[-2.02654455e-01 -9.79245533e-01 -3.05894821e-03 1.24758952e+02] [ 9.79135691e-01 -2.02677539e-01 1.46667409e-02 1.39523191e+02] [-1.49823206e-02 -2.28449946e-05 9.99887758e-01 -4.37665024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98999999999998 meters 0.014002947270319943 Centerline is valid? [True, True] Translation: X:124.75, Y:139.55, Z:-4.38 [[-2.02735689e-01 -9.79228648e-01 -3.08148816e-03 1.24753493e+02] [ 9.79117494e-01 -2.02759105e-01 1.47539238e-02 1.39550355e+02] [-1.50722646e-02 -2.59920643e-05 9.99886407e-01 -4.37699924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01999999999998 meters 0.014050292982469697 Centerline is valid? [True, True] Translation: X:124.75, Y:139.58, Z:-4.38 [[-2.02273082e-01 -9.79324334e-01 -3.07400629e-03 1.24748301e+02] [ 9.79214040e-01 -2.02296436e-01 1.46974571e-02 1.39577493e+02] [-1.50154379e-02 -3.72101820e-05 9.99887261e-01 -4.37734728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04999999999998 meters 0.014076413734159403 Centerline is valid? [True, True] Translation: X:124.74, Y:139.60, Z:-4.38 [[-2.02082161e-01 -9.79363598e-01 -3.12147322e-03 1.24742570e+02] [ 9.79250181e-01 -2.02106263e-01 1.49044432e-02 1.39603332e+02] [-1.52277384e-02 -4.47811173e-05 9.99884050e-01 -4.37783392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07999999999998 meters 0.014013956523266615 Centerline is valid? [True, True] Translation: X:124.74, Y:139.63, Z:-4.38 [[-2.01807815e-01 -9.79420039e-01 -3.16127978e-03 1.24736877e+02] [ 9.79304127e-01 -2.01832566e-01 1.50679206e-02 1.39630998e+02] [-1.53958726e-02 -5.50302001e-05 9.99881475e-01 -4.37789720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10999999999999 meters 0.01405299258392231 Centerline is valid? [True, True] Translation: X:124.73, Y:139.66, Z:-4.38 [[-2.01390487e-01 -9.79505552e-01 -3.27806712e-03 1.24730770e+02] [ 9.79381292e-01 -2.01417153e-01 1.56018103e-02 1.39658875e+02] [-1.59423188e-02 -6.84214286e-05 9.99872911e-01 -4.37815476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14 meters 0.014075612908463826 Centerline is valid? [True, True] Translation: X:124.72, Y:139.69, Z:-4.38 [[-2.01204259e-01 -9.79543446e-01 -3.38887432e-03 1.24724675e+02] [ 9.79411038e-01 -2.01232781e-01 1.61054892e-02 1.39686716e+02] [-1.64579790e-02 -7.86078998e-05 9.99864555e-01 -4.37863969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17 meters 0.014106954947562172 Centerline is valid? [True, True] Translation: X:124.72, Y:139.71, Z:-4.38 [[-2.00982012e-01 -9.79588657e-01 -3.50625513e-03 1.24719269e+02] [ 9.79447324e-01 -2.01012574e-01 1.66398768e-02 1.39712908e+02] [-1.70050360e-02 -8.98762843e-05 9.99855400e-01 -4.37895783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.2 meters 0.014016581088213742 Centerline is valid? [True, True] Translation: X:124.71, Y:139.74, Z:-4.38 [[-2.00870429e-01 -9.79611042e-01 -3.64379433e-03 1.24714217e+02] [ 9.79458944e-01 -2.00903450e-01 1.72621370e-02 1.39740654e+02] [-1.76422309e-02 -1.01494067e-04 9.99844359e-01 -4.37891296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23 meters 0.014031837422568513 Centerline is valid? [True, True] Translation: X:124.71, Y:139.77, Z:-4.38 [[-2.01014350e-01 -9.79581311e-01 -3.69956245e-03 1.24708449e+02] [ 9.79424967e-01 -2.01048363e-01 1.75011573e-02 1.39768548e+02] [-1.78875976e-02 -1.05460077e-04 9.99839999e-01 -4.37940650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26 meters 0.014005173504280415 Centerline is valid? [True, True] Translation: X:124.70, Y:139.80, Z:-4.38 [[-2.01496079e-01 -9.79482252e-01 -3.72127361e-03 1.24703005e+02] [ 9.79324495e-01 -2.01530413e-01 1.75791391e-02 1.39796028e+02] [-1.79684046e-02 -1.02206797e-04 9.99838550e-01 -4.38002337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29 meters 0.013939023967890643 Centerline is valid? [True, True] Translation: X:124.70, Y:139.82, Z:-4.38 [[-2.01788672e-01 -9.79422515e-01 -3.58720106e-03 1.24697348e+02] [ 9.79276305e-01 -2.01820531e-01 1.69231223e-02 1.39823783e+02] [-1.72988578e-02 -9.79666274e-05 9.99850359e-01 -4.38102986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32 meters 0.013967058263785559 Centerline is valid? [True, True] Translation: X:124.69, Y:139.85, Z:-4.38 [[-2.02068228e-01 -9.79365178e-01 -3.50426464e-03 1.24691841e+02] [ 9.79226018e-01 -2.02098588e-01 1.65095671e-02 1.39851166e+02] [-1.68771020e-02 -9.54081552e-05 9.99857567e-01 -4.38177422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35 meters 0.013807592988486375 Centerline is valid? [True, True] Translation: X:124.69, Y:139.88, Z:-4.38 [[-2.02508888e-01 -9.79274109e-01 -3.51706225e-03 1.24686273e+02] [ 9.79134311e-01 -2.02539406e-01 1.65465912e-02 1.39878780e+02] [-1.69159920e-02 -9.28445450e-05 9.99856910e-01 -4.38208117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38 meters 0.013783987535829626 Centerline is valid? [True, True] Translation: X:124.68, Y:139.91, Z:-4.38 [[-2.02889468e-01 -9.79194924e-01 -3.62821605e-03 1.24680337e+02] [ 9.79046589e-01 -2.02921885e-01 1.70436309e-02 1.39905569e+02] [-1.74252813e-02 -9.42193302e-05 9.99848164e-01 -4.38255376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41 meters 0.013825184397479573 Centerline is valid? [True, True] Translation: X:124.67, Y:139.93, Z:-4.38 [[-2.03242127e-01 -9.79121417e-01 -3.72672549e-03 1.24674228e+02] [ 9.78965215e-01 -2.03276270e-01 1.74890243e-02 1.39933444e+02] [-1.78814331e-02 -9.38281268e-05 9.99840110e-01 -4.38292602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44 meters 0.013720469399592322 Centerline is valid? [True, True] Translation: X:124.67, Y:139.96, Z:-4.38 [[-2.03970078e-01 -9.78968771e-01 -4.04395260e-03 1.24668104e+02] [ 9.78785366e-01 -2.04010141e-01 1.89491254e-02 1.39960934e+02] [-1.93756094e-02 -9.31070312e-05 9.99812271e-01 -4.38323332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47 meters 0.013696358960993001 Centerline is valid? [True, True] Translation: X:124.66, Y:139.99, Z:-4.38 [[-2.04409211e-01 -9.78877694e-01 -3.91604259e-03 1.24662381e+02] [ 9.78706150e-01 -2.04446700e-01 1.83253320e-02 1.39987984e+02] [-1.87388807e-02 -8.67883202e-05 9.99824408e-01 -4.38348617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.5 meters 0.013766567639809916 Centerline is valid? [True, True] Translation: X:124.66, Y:140.02, Z:-4.38 [[-2.04858673e-01 -9.78783610e-01 -3.94574506e-03 1.24656385e+02] [ 9.78609927e-01 -2.04896651e-01 1.84383878e-02 1.40015723e+02] [-1.88556617e-02 -8.40816396e-05 9.99822213e-01 -4.38414701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53 meters 0.013740167001024036 Centerline is valid? [True, True] Translation: X:124.65, Y:140.04, Z:-4.39 [[-2.05738217e-01 -9.78599270e-01 -3.90566233e-03 1.24650618e+02] [ 9.78429533e-01 -2.05775273e-01 1.82259879e-02 1.40042569e+02] [-1.86396271e-02 -7.16331324e-05 9.99826265e-01 -4.38513252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56 meters 0.013687803187167254 Centerline is valid? [True, True] Translation: X:124.64, Y:140.07, Z:-4.39 [[-2.06054671e-01 -9.78533618e-01 -3.66496312e-03 1.24644394e+02] [ 9.78384562e-01 -2.06087251e-01 1.70790677e-02 1.40069691e+02] [-1.74677440e-02 -6.65216698e-05 9.99847425e-01 -4.38651411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59 meters 0.013731919075774087 Centerline is valid? [True, True] Translation: X:124.64, Y:140.10, Z:-4.39 [[-2.06330202e-01 -9.78475649e-01 -3.64038677e-03 1.24638160e+02] [ 9.78328967e-01 -2.06362303e-01 1.69420098e-02 1.40095917e+02] [-1.73285826e-02 -6.58475285e-05 9.99849847e-01 -4.38799805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62 meters 0.013755700018788737 Centerline is valid? [True, True] Translation: X:124.63, Y:140.12, Z:-4.39 [[-2.06402689e-01 -9.78460931e-01 -3.48360230e-03 1.24631557e+02] [ 9.78327010e-01 -2.06432074e-01 1.61882575e-02 1.40122855e+02] [-1.65587047e-02 -6.68023457e-05 9.99862893e-01 -4.38926139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65 meters 0.013747474630379862 Centerline is valid? [True, True] Translation: X:124.63, Y:140.15, Z:-4.39 [[-2.06342993e-01 -9.78473812e-01 -3.40114120e-03 1.24625187e+02] [ 9.78346493e-01 -2.06371009e-01 1.57843944e-02 1.40149771e+02] [-1.61465135e-02 -7.04953815e-05 9.99869634e-01 -4.39015570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67999999999998 meters 0.013841315973662453 Centerline is valid? [True, True] Translation: X:124.62, Y:140.18, Z:-4.39 [[-2.06069767e-01 -9.78531655e-01 -3.32428472e-03 1.24618496e+02] [ 9.78410356e-01 -2.06096564e-01 1.54071665e-02 1.40175899e+02] [-1.57615238e-02 -7.75633831e-05 9.99875776e-01 -4.39151752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70999999999998 meters 0.01384570398509538 Centerline is valid? [True, True] Translation: X:124.61, Y:140.20, Z:-4.39 [[-2.05763412e-01 -9.78596716e-01 -3.14410167e-03 1.24611709e+02] [ 9.78488522e-01 -2.05787415e-01 1.45517030e-02 1.40203065e+02] [-1.48872653e-02 -8.22593398e-05 9.99889175e-01 -4.39246823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73999999999998 meters 0.013980574642106645 Centerline is valid? [True, True] Translation: X:124.60, Y:140.23, Z:-4.39 [[-2.04800343e-01 -9.78799545e-01 -2.87597048e-03 1.24604252e+02] [ 9.78709252e-01 -2.04820514e-01 1.32949727e-02 1.40230206e+02] [-1.36021710e-02 -9.19239554e-05 9.99907482e-01 -4.39424814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76999999999998 meters 0.014183679296509804 Centerline is valid? [True, True] Translation: X:124.60, Y:140.26, Z:-4.40 [[-2.04565771e-01 -9.78849087e-01 -2.70378337e-03 1.24597028e+02] [ 9.78769480e-01 -2.04583618e-01 1.24838970e-02 1.40256525e+02] [-1.27730010e-02 -9.26026192e-05 9.99918418e-01 -4.39594924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79999999999998 meters 0.014037447543171069 Centerline is valid? [True, True] Translation: X:124.59, Y:140.28, Z:-4.40 [[-2.04735368e-01 -9.78813709e-01 -2.67443312e-03 1.24591108e+02] [ 9.78736051e-01 -2.04752814e-01 1.23299220e-02 1.40283737e+02] [-1.26162943e-02 -9.31929999e-05 9.99920407e-01 -4.39619554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82999999999998 meters 0.013954173841899046 Centerline is valid? [True, True] Translation: X:124.59, Y:140.31, Z:-4.40 [[-2.05073032e-01 -9.78742869e-01 -2.72913243e-03 1.24585314e+02] [ 9.78662221e-01 -2.05091169e-01 1.25646179e-02 1.40310761e+02] [-1.28572511e-02 -9.42345219e-05 9.99917338e-01 -4.39619880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85999999999999 meters 0.013878797164629446 Centerline is valid? [True, True] Translation: X:124.58, Y:140.34, Z:-4.40 [[-2.06069036e-01 -9.78533753e-01 -2.69197038e-03 1.24579878e+02] [ 9.78455475e-01 -2.06086602e-01 1.23772376e-02 1.40336905e+02] [-1.26663238e-02 -8.34077367e-05 9.99919775e-01 -4.39652608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89 meters 0.013868278509757035 Centerline is valid? [True, True] Translation: X:124.57, Y:140.36, Z:-4.40 [[-2.06959283e-01 -9.78345771e-01 -2.72160914e-03 1.24573805e+02] [ 9.78265984e-01 -2.06977163e-01 1.24947707e-02 1.40363553e+02] [-1.27875170e-02 -7.65488495e-05 9.99918233e-01 -4.39719143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92 meters 0.013883263206821907 Centerline is valid? [True, True] Translation: X:124.57, Y:140.39, Z:-4.40 [[-2.07945916e-01 -9.78136254e-01 -2.82220200e-03 1.24568275e+02] [ 9.78050688e-01 -2.07965055e-01 1.29378419e-02 1.40389144e+02] [-1.32418916e-02 -6.98852201e-05 9.99912320e-01 -4.39784417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95 meters 0.013787065781002899 Centerline is valid? [True, True] Translation: X:124.56, Y:140.42, Z:-4.40 [[-2.09589178e-01 -9.77785332e-01 -2.86717233e-03 1.24563787e+02] [ 9.77697290e-01 -2.09608782e-01 1.31212734e-02 1.40417084e+02] [-1.34307731e-02 -5.31497198e-05 9.99909802e-01 -4.39739350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98 meters 0.013714989152008913 Centerline is valid? [True, True] Translation: X:124.56, Y:140.44, Z:-4.40 [[-2.10592092e-01 -9.77569778e-01 -2.88087988e-03 1.24558433e+02] [ 9.77481108e-01 -2.10611792e-01 1.31665061e-02 1.40443702e+02] [-1.34779257e-02 -4.32435958e-05 9.99909168e-01 -4.39759809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01 meters 0.013769148288129286 Centerline is valid? [True, True] Translation: X:124.55, Y:140.47, Z:-4.40 [[-2.11160905e-01 -9.77446675e-01 -3.01153156e-03 1.24552660e+02] [ 9.77350049e-01 -2.11182375e-01 1.37436076e-02 1.40469838e+02] [-1.40696259e-02 -4.12078988e-05 9.99901017e-01 -4.39822419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04 meters 0.013558965641195584 Centerline is valid? [True, True] Translation: X:124.55, Y:140.50, Z:-4.40 [[-2.12073353e-01 -9.77248993e-01 -3.04947577e-03 1.24547160e+02] [ 9.77150230e-01 -2.12095274e-01 1.38932764e-02 1.40497512e+02] [-1.42239697e-02 -3.34022485e-05 9.99898834e-01 -4.39770862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07 meters 0.013584668095135782 Centerline is valid? [True, True] Translation: X:124.54, Y:140.52, Z:-4.40 [[-2.12751954e-01 -9.77101498e-01 -3.04435120e-03 1.24541038e+02] [ 9.77003354e-01 -2.12773733e-01 1.38486461e-02 1.40523765e+02] [-1.41792908e-02 -2.80148100e-05 9.99899468e-01 -4.39833203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.1 meters 0.01360461566657631 Centerline is valid? [True, True] Translation: X:124.53, Y:140.55, Z:-4.40 [[-2.12707047e-01 -9.77111455e-01 -2.98617429e-03 1.24533918e+02] [ 9.77017178e-01 -2.12728005e-01 1.35731482e-02 1.40550882e+02] [-1.38977215e-02 -3.04393101e-05 9.99903422e-01 -4.39903904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13 meters 0.013538600572747446 Centerline is valid? [True, True] Translation: X:124.53, Y:140.58, Z:-4.40 [[-2.12544896e-01 -9.77146711e-01 -2.99535503e-03 1.24527048e+02] [ 9.77052112e-01 -2.12565999e-01 1.35965979e-02 1.40578577e+02] [-1.39225816e-02 -3.67304543e-05 9.99903076e-01 -4.39977776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16 meters 0.013553709156856898 Centerline is valid? [True, True] Translation: X:124.52, Y:140.61, Z:-4.40 [[-2.12429983e-01 -9.77171758e-01 -2.97633388e-03 1.24520039e+02] [ 9.77078606e-01 -2.12450829e-01 1.34923428e-02 1.40605946e+02] [-1.38166609e-02 -4.19340031e-05 9.99904545e-01 -4.40044783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19 meters 0.013587242905723898 Centerline is valid? [True, True] Translation: X:124.51, Y:140.63, Z:-4.40 [[-2.12322601e-01 -9.77195117e-01 -2.96918263e-03 1.24513076e+02] [ 9.77102665e-01 -2.12343355e-01 1.34417960e-02 1.40632962e+02] [-1.37657436e-02 -4.71991837e-05 9.99905247e-01 -4.40145099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22 meters 0.013613960452656164 Centerline is valid? [True, True] Translation: X:124.51, Y:140.66, Z:-4.40 [[-2.11975274e-01 -9.77270727e-01 -2.89984296e-03 1.24505565e+02] [ 9.77182775e-01 -2.11995101e-01 1.31111047e-02 1.40660251e+02] [-1.34278513e-02 -5.44465831e-05 9.99909841e-01 -4.40211280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25 meters 0.013644600749531078 Centerline is valid? [True, True] Translation: X:124.50, Y:140.69, Z:-4.40 [[-2.11844656e-01 -9.77299241e-01 -2.83467371e-03 1.24499151e+02] [ 9.77215417e-01 -2.11863612e-01 1.27999165e-02 1.40687270e+02] [-1.31099129e-02 -5.84929510e-05 9.99914060e-01 -4.40252228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28 meters 0.013691508089738316 Centerline is valid? [True, True] Translation: X:124.49, Y:140.71, Z:-4.40 [[-2.11412058e-01 -9.77392823e-01 -2.86554049e-03 1.24492279e+02] [ 9.77307441e-01 -2.11431466e-01 1.29189937e-02 1.40713692e+02] [-1.32327971e-02 -6.92830057e-05 9.99912440e-01 -4.40333790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31 meters 0.013660049050138645 Centerline is valid? [True, True] Translation: X:124.49, Y:140.74, Z:-4.40 [[-2.10940689e-01 -9.77494725e-01 -2.84402932e-03 1.24485311e+02] [ 9.77410757e-01 -2.10959847e-01 1.28122987e-02 1.40741346e+02] [-1.31239304e-02 -7.71497351e-05 9.99913875e-01 -4.40360575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34 meters 0.013875646691477728 Centerline is valid? [True, True] Translation: X:124.48, Y:140.77, Z:-4.40 [[-2.09045370e-01 -9.77901995e-01 -2.77880047e-03 1.24476796e+02] [ 9.77822080e-01 -2.09063812e-01 1.25021222e-02 1.40768642e+02] [-1.28067968e-02 -1.03661706e-04 9.99917984e-01 -4.40380217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37 meters 0.014063287515804256 Centerline is valid? [True, True] Translation: X:124.47, Y:140.79, Z:-4.40 [[-2.07773759e-01 -9.78173097e-01 -2.73075925e-03 1.24469302e+02] [ 9.78096181e-01 -2.07791668e-01 1.22672099e-02 1.40794947e+02] [-1.25668837e-02 -1.22140884e-04 9.99921026e-01 -4.40449354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39999999999998 meters 0.01421896859878508 Centerline is valid? [True, True] Translation: X:124.46, Y:140.82, Z:-4.40 [[-2.06646568e-01 -9.78411865e-01 -2.72355555e-03 1.24462042e+02] [ 9.78335488e-01 -2.06664469e-01 1.22258268e-02 1.40822158e+02] [-1.25247562e-02 -1.38125895e-04 9.99921553e-01 -4.40489854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42999999999998 meters 0.014513499879549011 Centerline is valid? [True, True] Translation: X:124.45, Y:140.85, Z:-4.41 [[-2.05690027e-01 -9.78613512e-01 -2.68443318e-03 1.24454500e+02] [ 9.78539516e-01 -2.05707488e-01 1.20351717e-02 1.40847830e+02] [-1.23299896e-02 -1.51309152e-04 9.99923971e-01 -4.40577922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45999999999998 meters 0.014963046731373005 Centerline is valid? [True, True] Translation: X:124.45, Y:140.87, Z:-4.41 [[-2.04914226e-01 -9.78776645e-01 -2.53764764e-03 1.24446648e+02] [ 9.78710701e-01 -2.04929879e-01 1.13625485e-02 1.40874181e+02] [-1.16414369e-02 -1.55275076e-04 9.99932224e-01 -4.40712069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48999999999998 meters 0.014548472580562707 Centerline is valid? [True, True] Translation: X:124.44, Y:140.90, Z:-4.41 [[-2.04847806e-01 -9.78790398e-01 -2.59494275e-03 1.24440539e+02] [ 9.78721646e-01 -2.04864177e-01 1.16020881e-02 1.40901408e+02] [-1.18876232e-02 -1.63064337e-04 9.99929326e-01 -4.40731295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51999999999998 meters 0.014789852461745797 Centerline is valid? [True, True] Translation: X:124.43, Y:140.93, Z:-4.41 [[-2.05557252e-01 -9.78641422e-01 -2.68030243e-03 1.24433434e+02] [ 9.78568305e-01 -2.05574661e-01 1.19637679e-02 1.40927848e+02] [-1.22592411e-02 -1.63619752e-04 9.99924839e-01 -4.40831821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54999999999998 meters 0.014195864491712411 Centerline is valid? [True, True] Translation: X:124.43, Y:140.96, Z:-4.41 [[-2.06971012e-01 -9.78343138e-01 -2.77566900e-03 1.24429109e+02] [ 9.78264826e-01 -2.06989567e-01 1.23793739e-02 1.40955605e+02] [-1.26858101e-02 -1.53167798e-04 9.99919520e-01 -4.40747494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57999999999998 meters 0.014104531886103068 Centerline is valid? [True, True] Translation: X:124.42, Y:140.98, Z:-4.41 [[-2.08708263e-01 -9.77973553e-01 -2.93088489e-03 1.24423715e+02] [ 9.77886453e-01 -2.08728793e-01 1.30528088e-02 1.40982215e+02] [-1.33770619e-02 -1.41843570e-04 9.99910513e-01 -4.40746276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60999999999999 meters 0.013718129622177706 Centerline is valid? [True, True] Translation: X:124.42, Y:141.01, Z:-4.41 [[-2.11050182e-01 -9.77470447e-01 -3.05727567e-03 1.24419067e+02] [ 9.77375900e-01 -2.11072291e-01 1.35954871e-02 1.41010044e+02] [-1.39344930e-02 -1.18777532e-04 9.99902903e-01 -4.40714827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64 meters 0.013313126500255375 Centerline is valid? [True, True] Translation: X:124.42, Y:141.04, Z:-4.41 [[-2.16252892e-01 -9.76331197e-01 -3.47569343e-03 1.24415802e+02] [ 9.76209234e-01 -2.16280814e-01 1.54318434e-02 1.41038485e+02] [-1.58183159e-02 -5.58232524e-05 9.99874881e-01 -4.40621611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67 meters 0.013230926675846421 Centerline is valid? [True, True] Translation: X:124.41, Y:141.07, Z:-4.41 [[-2.19325630e-01 -9.75645172e-01 -3.57288566e-03 1.24411116e+02] [ 9.75516533e-01 -2.19354730e-01 1.58428815e-02 1.41065673e+02] [-1.62407602e-02 -1.06590601e-05 9.99868110e-01 -4.40643435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.7 meters 0.013317198361528775 Centerline is valid? [True, True] Translation: X:124.41, Y:141.09, Z:-4.41 [[-2.22756495e-01 -9.74867052e-01 -3.71156382e-03 1.24406329e+02] [ 9.74728531e-01 -2.22787410e-01 1.64335171e-02 1.41093851e+02] [-1.68473840e-02 4.29055163e-05 9.99858072e-01 -4.40734578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73 meters 0.01338515793325655 Centerline is valid? [True, True] Translation: X:124.40, Y:141.12, Z:-4.41 [[-2.25855931e-01 -9.74153734e-01 -3.68794769e-03 1.24401442e+02] [ 9.74017226e-01 -2.25886021e-01 1.63079297e-02 1.41121648e+02] [-1.67194864e-02 9.11180663e-05 9.99860215e-01 -4.40755416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76 meters 0.013745017342976376 Centerline is valid? [True, True] Translation: X:124.40, Y:141.15, Z:-4.41 [[-2.29079459e-01 -9.73400795e-01 -3.67350253e-03 1.24397108e+02] [ 9.73265625e-01 -2.29108868e-01 1.62218839e-02 1.41149097e+02] [-1.66320266e-02 1.40806641e-04 9.99861668e-01 -4.40860315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79 meters 0.014541459955789017 Centerline is valid? [True, True] Translation: X:124.39, Y:141.18, Z:-4.41 [[-2.35724972e-01 -9.71814026e-01 -3.35196042e-03 1.24394528e+02] [ 9.71701538e-01 -2.35748692e-01 1.47876451e-02 1.41176921e+02] [-1.51610612e-02 2.28712135e-04 9.99885038e-01 -4.41016125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82 meters 0.014541459955789017 Centerline is valid? [True, True] Translation: X:124.39, Y:141.20, Z:-4.41 [[-2.35998801e-01 -9.71747550e-01 -3.35649087e-03 1.24388348e+02] [ 9.71635069e-01 -2.36022558e-01 1.47866165e-02 1.41203827e+02] [-1.51610659e-02 2.28339517e-04 9.99885038e-01 -4.41072716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85 meters 0.015024319981415315 Centerline is valid? [True, True] Translation: X:124.38, Y:141.23, Z:-4.41 [[-2.39174444e-01 -9.70971494e-01 -3.15320053e-03 1.24383412e+02] [ 9.70872400e-01 -2.39195090e-01 1.38741131e-02 1.41232280e+02] [-1.42255984e-02 2.56977902e-04 9.99898778e-01 -4.41200882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88 meters 0.015865418638561325 Centerline is valid? [True, True] Translation: X:124.38, Y:141.26, Z:-4.41 [[-2.42067488e-01 -9.70254597e-01 -3.05753134e-03 1.24379499e+02] [ 9.70161603e-01 -2.42086628e-01 1.34360769e-02 1.41258584e+02] [-1.37766028e-02 2.86137877e-04 9.99905057e-01 -4.41355531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91 meters 0.016478226246344423 Centerline is valid? [True, True] Translation: X:124.37, Y:141.29, Z:-4.41 [[-2.46451773e-01 -9.69150894e-01 -2.84050156e-03 1.24374479e+02] [ 9.69070687e-01 -2.46467933e-01 1.24724057e-02 1.41286911e+02] [-1.27877357e-02 3.21199698e-04 9.99918182e-01 -4.41489609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94 meters 0.016698812756945233 Centerline is valid? [True, True] Translation: X:124.37, Y:141.31, Z:-4.42 [[-2.48041672e-01 -9.68745460e-01 -2.75004064e-03 1.24368395e+02] [ 9.68670430e-01 -2.48056700e-01 1.20611554e-02 1.41314545e+02] [-1.23663555e-02 3.27786091e-04 9.99923480e-01 -4.41600268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97 meters 0.01723532923899817 Centerline is valid? [True, True] Translation: X:124.36, Y:141.34, Z:-4.42 [[-2.49071034e-01 -9.68481722e-01 -2.60258640e-03 1.24363022e+02] [ 9.68414690e-01 -2.49084427e-01 1.13989927e-02 1.41340575e+02] [-1.16879798e-02 3.18775990e-04 9.99931642e-01 -4.41755523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.0 meters 0.017036631073023684 Centerline is valid? [True, True] Translation: X:124.36, Y:141.37, Z:-4.42 [[-2.49550547e-01 -9.68358719e-01 -2.43238157e-03 1.24356175e+02] [ 9.68300216e-01 -2.49562219e-01 1.06484758e-02 1.41367503e+02] [-1.09185749e-02 3.02057359e-04 9.99940345e-01 -4.41850214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03 meters 0.01727042196354046 Centerline is valid? [True, True] Translation: X:124.35, Y:141.39, Z:-4.42 [[-2.49792408e-01 -9.68296526e-01 -2.36452864e-03 1.24350412e+02] [ 9.68241368e-01 -2.49803427e-01 1.03393349e-02 1.41394260e+02] [-1.06022095e-02 2.93252929e-04 9.99943752e-01 -4.41960774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06 meters 0.017122093815823396 Centerline is valid? [True, True] Translation: X:124.34, Y:141.42, Z:-4.42 [[-2.49350631e-01 -9.68410323e-01 -2.38937844e-03 1.24343563e+02] [ 9.68354180e-01 -2.49361913e-01 1.04316438e-02 1.41422052e+02] [-1.06979315e-02 2.87372358e-04 9.99942734e-01 -4.42036640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09 meters 0.016337972111003112 Centerline is valid? [True, True] Translation: X:124.33, Y:141.45, Z:-4.42 [[-2.46451106e-01 -9.69152066e-01 -2.47492220e-03 1.24334550e+02] [ 9.69092010e-01 -2.46463394e-01 1.07921596e-02 1.41449045e+02] [-1.10692215e-02 2.61312349e-04 9.99938700e-01 -4.42040749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12 meters 0.015768378795167882 Centerline is valid? [True, True] Translation: X:124.33, Y:141.48, Z:-4.42 [[-2.44569819e-01 -9.69628491e-01 -2.48860900e-03 1.24326017e+02] [ 9.69567954e-01 -2.44582365e-01 1.08374187e-02 1.41475544e+02] [-1.11169398e-02 2.37629987e-04 9.99938177e-01 -4.42085733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14999999999998 meters 0.015099697261337239 Centerline is valid? [True, True] Translation: X:124.32, Y:141.50, Z:-4.42 [[-2.42334676e-01 -9.70189448e-01 -2.51792210e-03 1.24316892e+02] [ 9.70127724e-01 -2.42347665e-01 1.09457201e-02 1.41503094e+02] [-1.12296346e-02 2.09821484e-04 9.99936924e-01 -4.42107689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17999999999998 meters 0.014767786220070628 Centerline is valid? [True, True] Translation: X:124.31, Y:141.53, Z:-4.42 [[-2.40175675e-01 -9.70726012e-01 -2.57977367e-03 1.24308257e+02] [ 9.70661294e-01 -2.40189455e-01 1.12106075e-02 1.41529704e+02] [-1.15020627e-02 1.88428770e-04 9.99933831e-01 -4.42183722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20999999999998 meters 0.014043543616974722 Centerline is valid? [True, True] Translation: X:124.30, Y:141.56, Z:-4.42 [[-2.36064120e-01 -9.71733130e-01 -2.90789354e-03 1.24297819e+02] [ 9.71651237e-01 -2.36081979e-01 1.26163336e-02 1.41556659e+02] [-1.29462106e-02 1.52805338e-04 9.99916183e-01 -4.42152144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23999999999998 meters 0.013576250812228685 Centerline is valid? [True, True] Translation: X:124.29, Y:141.58, Z:-4.42 [[-2.34621016e-01 -9.72082067e-01 -3.07131852e-03 1.24289310e+02] [ 9.71990971e-01 -2.34641078e-01 1.33085038e-02 1.41584019e+02] [-1.36576153e-02 1.37160804e-04 9.99906721e-01 -4.42089809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26999999999998 meters 0.013509241989192103 Centerline is valid? [True, True] Translation: X:124.28, Y:141.61, Z:-4.42 [[-2.33363307e-01 -9.72384499e-01 -3.15476126e-03 1.24281897e+02] [ 9.72288672e-01 -2.33384601e-01 1.36516099e-02 1.41610377e+02] [-1.40108865e-02 1.18446198e-04 9.99901836e-01 -4.42102188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29999999999998 meters 0.013407489535868148 Centerline is valid? [True, True] Translation: X:124.27, Y:141.64, Z:-4.42 [[-2.32149384e-01 -9.72674125e-01 -3.42198033e-03 1.24274184e+02] [ 9.72561753e-01 -2.32174580e-01 1.47851788e-02 1.41636304e+02] [-1.51756577e-02 1.04282953e-04 9.99884838e-01 -4.42098550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32999999999998 meters 0.01316039972407996 Centerline is valid? [True, True] Translation: X:124.26, Y:141.66, Z:-4.42 [[-2.30240268e-01 -9.73127212e-01 -3.58457849e-03 1.24263919e+02] [ 9.73004306e-01 -2.30268159e-01 1.54659265e-02 1.41662419e+02] [-1.58757282e-02 7.30687457e-05 9.99873970e-01 -4.42055157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35999999999999 meters 0.01313706357137447 Centerline is valid? [True, True] Translation: X:124.26, Y:141.69, Z:-4.42 [[-2.29732674e-01 -9.73247168e-01 -3.58451606e-03 1.24256020e+02] [ 9.73124626e-01 -2.29760629e-01 1.54439650e-02 1.41688664e+02] [-1.58543758e-02 5.98025212e-05 9.99874310e-01 -4.42162718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39 meters 0.013226237054200934 Centerline is valid? [True, True] Translation: X:124.25, Y:141.71, Z:-4.42 [[-2.29698305e-01 -9.73255312e-01 -3.57567677e-03 1.24248291e+02] [ 9.73133576e-01 -2.29726128e-01 1.53931956e-02 1.41714778e+02] [-1.58029358e-02 5.61798353e-05 9.99875124e-01 -4.42289028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42 meters 0.013090401954621052 Centerline is valid? [True, True] Translation: X:124.24, Y:141.74, Z:-4.42 [[-2.29894309e-01 -9.73209282e-01 -3.50717375e-03 1.24240891e+02] [ 9.73092472e-01 -2.29921053e-01 1.50781232e-02 1.41741865e+02] [-1.54805425e-02 5.35703283e-05 9.99880168e-01 -4.42404806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45 meters 0.013131384191339752 Centerline is valid? [True, True] Translation: X:124.23, Y:141.77, Z:-4.43 [[-2.30482554e-01 -9.73070391e-01 -3.43604518e-03 1.24234546e+02] [ 9.72958528e-01 -2.30508158e-01 1.47543669e-02 1.41767744e+02] [-1.51490740e-02 5.74947100e-05 9.99885245e-01 -4.42535552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48 meters 0.013189309640063191 Centerline is valid? [True, True] Translation: X:124.23, Y:141.80, Z:-4.43 [[-2.32330859e-01 -9.72631559e-01 -3.19724196e-03 1.24228688e+02] [ 9.72534902e-01 -2.32352845e-01 1.37119944e-02 1.41795034e+02] [-1.40796067e-02 7.62900389e-05 9.99900875e-01 -4.42657393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51 meters 0.01316525215473539 Centerline is valid? [True, True] Translation: X:124.22, Y:141.82, Z:-4.43 [[-2.33653419e-01 -9.72314645e-01 -3.21116410e-03 1.24222534e+02] [ 9.72217363e-01 -2.33675466e-01 1.37541129e-02 1.41822706e+02] [-1.41236957e-02 9.17460223e-05 9.99900251e-01 -4.42722239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54 meters 0.013313811333751294 Centerline is valid? [True, True] Translation: X:124.22, Y:141.85, Z:-4.43 [[-2.34364987e-01 -9.72143626e-01 -3.13414548e-03 1.24216633e+02] [ 9.72051205e-01 -2.34385923e-01 1.34050232e-02 1.41849214e+02] [-1.37662075e-02 9.51182091e-05 9.99905237e-01 -4.42800592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57 meters 0.013270057345731012 Centerline is valid? [True, True] Translation: X:124.21, Y:141.88, Z:-4.43 [[-2.34956959e-01 -9.72000699e-01 -3.14147104e-03 1.24209767e+02] [ 9.71907975e-01 -2.34977938e-01 1.34259597e-02 1.41876566e+02] [-1.37882186e-02 1.01301905e-04 9.99904933e-01 -4.42835033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.6 meters 0.013263628431546392 Centerline is valid? [True, True] Translation: X:124.20, Y:141.90, Z:-4.43 [[-2.34804259e-01 -9.72037568e-01 -3.15052884e-03 1.24203470e+02] [ 9.71944550e-01 -2.34825375e-01 1.34474827e-02 1.41902901e+02] [-1.38112825e-02 9.53868646e-05 9.99904615e-01 -4.42917965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63 meters 0.013178101815385906 Centerline is valid? [True, True] Translation: X:124.20, Y:141.93, Z:-4.43 [[-2.34067186e-01 -9.72215223e-01 -3.18003449e-03 1.24196380e+02] [ 9.72120743e-01 -2.34088773e-01 1.35538743e-02 1.41930123e+02] [-1.39216933e-02 8.11397121e-05 9.99903085e-01 -4.42955174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66 meters 0.013087560050378566 Centerline is valid? [True, True] Translation: X:124.19, Y:141.96, Z:-4.43 [[-2.32854276e-01 -9.72506850e-01 -3.05157285e-03 1.24189614e+02] [ 9.72420076e-01 -2.32874263e-01 1.29912618e-02 1.41956243e+02] [-1.33447239e-02 5.76601529e-05 9.99910954e-01 -4.43053141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69 meters 0.013016943632961483 Centerline is valid? [True, True] Translation: X:124.18, Y:141.98, Z:-4.43 [[-2.31610053e-01 -9.72804210e-01 -2.95844413e-03 1.24182488e+02] [ 9.72722888e-01 -2.31628944e-01 1.25783383e-02 1.41982939e+02] [-1.29215218e-02 3.55232937e-05 9.99916513e-01 -4.43087781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72 meters 0.013036632290520928 Centerline is valid? [True, True] Translation: X:124.18, Y:142.01, Z:-4.43 [[-2.28644019e-01 -9.73506397e-01 -2.68479150e-03 1.24175160e+02] [ 9.73439611e-01 -2.28659781e-01 1.14029911e-02 1.42009138e+02] [-1.17147886e-02 -6.25667202e-06 9.99931380e-01 -4.43284033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75 meters 0.013131495469480989 Centerline is valid? [True, True] Translation: X:124.17, Y:142.04, Z:-4.43 [[-2.27116550e-01 -9.73864063e-01 -2.61910845e-03 1.24168103e+02] [ 9.73800707e-01 -2.27131649e-01 1.11084333e-02 1.42036397e+02] [-1.14129864e-02 -2.75806160e-05 9.99934869e-01 -4.43381373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78 meters 0.013299468130066895 Centerline is valid? [True, True] Translation: X:124.16, Y:142.06, Z:-4.43 [[-2.25877761e-01 -9.74152184e-01 -2.59981914e-03 1.24160960e+02] [ 9.74089926e-01 -2.25892718e-01 1.10134975e-02 1.42062898e+02] [-1.13161029e-02 -4.47534671e-05 9.99935970e-01 -4.43494366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81 meters 0.013379206686634787 Centerline is valid? [True, True] Translation: X:124.15, Y:142.09, Z:-4.44 [[-2.24662251e-01 -9.74433282e-01 -2.57917049e-03 1.24154057e+02] [ 9.74372195e-01 -2.24677047e-01 1.09109776e-02 1.42089791e+02] [-1.12115001e-02 -6.17872270e-05 9.99937147e-01 -4.43544755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84 meters 0.013525388704656006 Centerline is valid? [True, True] Translation: X:124.15, Y:142.12, Z:-4.44 [[-2.23178359e-01 -9.74773864e-01 -2.70814907e-03 1.24147095e+02] [ 9.74706723e-01 -2.23194773e-01 1.14410131e-02 1.42117311e+02] [-1.17568453e-02 -8.62645742e-05 9.99930882e-01 -4.43560459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87 meters 0.013802637801145835 Centerline is valid? [True, True] Translation: X:124.14, Y:142.14, Z:-4.44 [[-2.21050792e-01 -9.75257866e-01 -2.93978608e-03 1.24140709e+02] [ 9.75179019e-01 -2.21070304e-01 1.24017213e-02 1.42144910e+02] [-1.27447757e-02 -1.25407380e-04 9.99918774e-01 -4.43501504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89999999999998 meters 0.013887122216972895 Centerline is valid? [True, True] Translation: X:124.13, Y:142.17, Z:-4.43 [[-2.20803929e-01 -9.75313381e-01 -3.07148295e-03 1.24134682e+02] [ 9.75227544e-01 -2.20825248e-01 1.29401423e-02 1.42171700e+02] [-1.32989549e-02 -1.38160513e-04 9.99911555e-01 -4.43498204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92999999999998 meters 0.014003846162616062 Centerline is valid? [True, True] Translation: X:124.13, Y:142.20, Z:-4.44 [[-2.21026016e-01 -9.75262569e-01 -3.22819544e-03 1.24129266e+02] [ 9.75168019e-01 -2.21049541e-01 1.35807013e-02 1.42197974e+02] [-1.39583408e-02 -1.46344646e-04 9.99902567e-01 -4.43505337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95999999999998 meters 0.013973620569164498 Centerline is valid? [True, True] Translation: X:124.12, Y:142.23, Z:-4.43 [[-2.21406455e-01 -9.75175778e-01 -3.37405777e-03 1.24124012e+02] [ 9.75072778e-01 -2.21432110e-01 1.41738700e-02 1.42226046e+02] [-1.45691394e-02 -1.51765581e-04 9.99893853e-01 -4.43487074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98999999999998 meters 0.013839389052781995 Centerline is valid? [True, True] Translation: X:124.12, Y:142.25, Z:-4.44 [[-2.23486799e-01 -9.74699911e-01 -3.70584310e-03 1.24120536e+02] [ 9.74575943e-01 -2.23517480e-01 1.55456594e-02 1.42252659e+02] [-1.59806735e-02 -1.37375880e-04 9.99872291e-01 -4.43519891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01999999999998 meters 0.013650749680867203 Centerline is valid? [True, True] Translation: X:124.12, Y:142.28, Z:-4.44 [[-2.25004953e-01 -9.74350204e-01 -3.80157010e-03 1.24116208e+02] [ 9.74220044e-01 -2.25037033e-01 1.59260773e-02 1.42280676e+02] [-1.63730707e-02 -1.20119519e-04 9.99865945e-01 -4.43547564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04999999999998 meters 0.01353274324770116 Centerline is valid? [True, True] Translation: X:124.11, Y:142.31, Z:-4.44 [[-2.26339654e-01 -9.74040814e-01 -3.85413103e-03 1.24111770e+02] [ 9.73907324e-01 -2.26372442e-01 1.61258321e-02 1.42308978e+02] [-1.65796877e-02 -1.03651186e-04 9.99862542e-01 -4.43607082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07999999999998 meters 0.01344638567797245 Centerline is valid? [True, True] Translation: X:124.11, Y:142.34, Z:-4.44 [[-2.27908934e-01 -9.73674938e-01 -3.82519759e-03 1.24107380e+02] [ 9.73543719e-01 -2.27941018e-01 1.59849831e-02 1.42336078e+02] [-1.64360969e-02 -8.08766246e-05 9.99864915e-01 -4.43665379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10999999999999 meters 0.013500297333641777 Centerline is valid? [True, True] Translation: X:124.10, Y:142.36, Z:-4.44 [[-2.29419232e-01 -9.73320596e-01 -3.71929123e-03 1.24103051e+02] [ 9.73196804e-01 -2.29449371e-01 1.55230855e-02 1.42362033e+02] [-1.59623278e-02 -5.83079857e-05 9.99872592e-01 -4.43755174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14 meters 0.013365943506266414 Centerline is valid? [True, True] Translation: X:124.10, Y:142.39, Z:-4.44 [[-2.30946426e-01 -9.72959399e-01 -3.70887952e-03 1.24098519e+02] [ 9.72836626e-01 -2.30976202e-01 1.54561664e-02 1.42389730e+02] [-1.58948853e-02 -3.85874506e-05 9.99873668e-01 -4.43855211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17 meters 0.013434693640509055 Centerline is valid? [True, True] Translation: X:124.10, Y:142.42, Z:-4.44 [[-2.33580519e-01 -9.72331621e-01 -3.37042113e-03 1.24095402e+02] [ 9.72230367e-01 -2.33604834e-01 1.40319251e-02 1.42416132e+02] [-1.44310312e-02 7.58576031e-07 9.99895867e-01 -4.44071674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.2 meters 0.013374417468924472 Centerline is valid? [True, True] Translation: X:124.09, Y:142.44, Z:-4.44 [[-2.35097492e-01 -9.71966249e-01 -3.28327203e-03 1.24090351e+02] [ 9.71870416e-01 -2.35120417e-01 1.36486041e-02 1.42444212e+02] [-1.40379468e-02 1.78376272e-05 9.99901463e-01 -4.44155945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23 meters 0.013490790688285492 Centerline is valid? [True, True] Translation: X:124.09, Y:142.47, Z:-4.44 [[-2.36775980e-01 -9.71558866e-01 -3.24129520e-03 1.24085771e+02] [ 9.71465653e-01 -2.36798162e-01 1.34579426e-02 1.42471559e+02] [-1.38427162e-02 3.77105940e-05 9.99904184e-01 -4.44242958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26 meters 0.013594866928431919 Centerline is valid? [True, True] Translation: X:124.08, Y:142.50, Z:-4.44 [[-2.38619522e-01 -9.71108082e-01 -3.13334142e-03 1.24081865e+02] [ 9.71021118e-01 -2.38640086e-01 1.29960962e-02 1.42497661e+02] [-1.33683550e-02 5.85815790e-05 9.99910638e-01 -4.44361978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29 meters 0.013698205969195899 Centerline is valid? [True, True] Translation: X:124.08, Y:142.52, Z:-4.44 [[-2.40549968e-01 -9.70631750e-01 -3.11745575e-03 1.24076893e+02] [ 9.70545893e-01 -2.40570155e-01 1.29100597e-02 1.42524932e+02] [-1.32808806e-02 7.98805745e-05 9.99911802e-01 -4.44368031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32 meters 0.013783094189920566 Centerline is valid? [True, True] Translation: X:124.07, Y:142.55, Z:-4.44 [[-2.42058228e-01 -9.70256556e-01 -3.16704292e-03 1.24071389e+02] [ 9.70168135e-01 -2.42078925e-01 1.30990300e-02 1.42552097e+02] [-1.34760940e-02 9.81638511e-05 9.99909189e-01 -4.44391631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35 meters 0.013901631260221722 Centerline is valid? [True, True] Translation: X:124.06, Y:142.58, Z:-4.44 [[-2.43618495e-01 -9.69865510e-01 -3.30480100e-03 1.24064458e+02] [ 9.69769443e-01 -2.43640880e-01 1.36510002e-02 1.42579390e+02] [-1.40448189e-02 1.20741111e-04 9.99901359e-01 -4.44445358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38 meters 0.013829878939162259 Centerline is valid? [True, True] Translation: X:124.06, Y:142.61, Z:-4.44 [[-2.44482449e-01 -9.69647897e-01 -3.35965954e-03 1.24057017e+02] [ 9.69548841e-01 -2.44505497e-01 1.38602346e-02 1.42606800e+02] [-1.42610025e-02 1.31230085e-04 9.99898298e-01 -4.44489754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41 meters 0.014008545898653212 Centerline is valid? [True, True] Translation: X:124.05, Y:142.63, Z:-4.45 [[-2.45596576e-01 -9.69365840e-01 -3.49130151e-03 1.24050567e+02] [ 9.69259120e-01 -2.45621346e-01 1.43844549e-02 1.42633339e+02] [-1.48013374e-02 1.48797052e-04 9.99890443e-01 -4.44545914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44 meters 0.014103113075818631 Centerline is valid? [True, True] Translation: X:124.04, Y:142.66, Z:-4.45 [[-2.46514758e-01 -9.69132507e-01 -3.55779090e-03 1.24043743e+02] [ 9.69021968e-01 -2.46540378e-01 1.46378876e-02 1.42660168e+02] [-1.50631918e-02 1.60877776e-04 9.99886531e-01 -4.44577565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47 meters 0.014572232365947811 Centerline is valid? [True, True] Translation: X:124.04, Y:142.69, Z:-4.45 [[-2.48106371e-01 -9.68724749e-01 -3.94826887e-03 1.24037639e+02] [ 9.68588939e-01 -2.48137703e-01 1.62218307e-02 1.42686313e+02] [-1.66942033e-02 2.00489992e-04 9.99860622e-01 -4.44566021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.5 meters 0.014426437492814569 Centerline is valid? [True, True] Translation: X:124.03, Y:142.71, Z:-4.45 [[-2.49074703e-01 -9.68475570e-01 -4.10635627e-03 1.24029911e+02] [ 9.68329037e-01 -2.49108453e-01 1.68480170e-02 1.42713109e+02] [-1.73398210e-02 2.20110828e-04 9.99849630e-01 -4.44556479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53 meters 0.014499408281964037 Centerline is valid? [True, True] Translation: X:124.02, Y:142.74, Z:-4.45 [[-2.50221146e-01 -9.68179625e-01 -4.19439472e-03 1.24022425e+02] [ 9.68027080e-01 -2.50256183e-01 1.71876641e-02 1.42740532e+02] [-1.76904194e-02 2.40429325e-04 9.99843483e-01 -4.44557098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56 meters 0.01521179083220397 Centerline is valid? [True, True] Translation: X:124.02, Y:142.77, Z:-4.45 [[-2.51030137e-01 -9.67970161e-01 -4.19963051e-03 1.24017485e+02] [ 9.67817580e-01 -2.51065139e-01 1.71879897e-02 1.42767105e+02] [-1.76918420e-02 2.50227183e-04 9.99843456e-01 -4.44640608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59 meters 0.014731475512831937 Centerline is valid? [True, True] Translation: X:124.01, Y:142.79, Z:-4.45 [[-2.51856699e-01 -9.67755545e-01 -4.17225478e-03 1.24008456e+02] [ 9.67605309e-01 -2.51891124e-01 1.70536943e-02 1.42794167e+02] [-1.75547611e-02 2.57991269e-04 9.99845870e-01 -4.44683248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62 meters 0.014794109609358745 Centerline is valid? [True, True] Translation: X:124.00, Y:142.82, Z:-4.45 [[-2.52200293e-01 -9.67666096e-01 -4.16391649e-03 1.24000815e+02] [ 9.67516809e-01 -2.52234532e-01 1.69989453e-02 1.42821182e+02] [-1.74995866e-02 2.58479790e-04 9.99846837e-01 -4.44789855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64999999999998 meters 0.014508789917690553 Centerline is valid? [True, True] Translation: X:123.99, Y:142.85, Z:-4.45 [[-2.51944231e-01 -9.67733182e-01 -4.07355985e-03 1.23990761e+02] [ 9.67590646e-01 -2.51977043e-01 1.66105895e-02 1.42847834e+02] [-1.71010621e-02 2.43403778e-04 9.99853737e-01 -4.44907676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67999999999998 meters 0.014614109403153391 Centerline is valid? [True, True] Translation: X:123.98, Y:142.87, Z:-4.45 [[-2.51759984e-01 -9.67781509e-01 -3.98269013e-03 1.23983418e+02] [ 9.67645591e-01 -2.51791379e-01 1.62207528e-02 1.42873600e+02] [-1.67009517e-02 2.29903923e-04 9.99860503e-01 -4.44968946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70999999999998 meters 0.014411823514472143 Centerline is valid? [True, True] Translation: X:123.97, Y:142.90, Z:-4.45 [[-2.51304716e-01 -9.67900156e-01 -3.90238419e-03 1.23974859e+02] [ 9.67770012e-01 -2.51334923e-01 1.58732327e-02 1.42900296e+02] [-1.63445099e-02 2.12407841e-04 9.99866397e-01 -4.45025671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73999999999998 meters 0.014411823514472143 Centerline is valid? [True, True] Translation: X:123.97, Y:142.93, Z:-4.45 [[-2.51582460e-01 -9.67827982e-01 -3.90693237e-03 1.23968198e+02] [ 9.67697847e-01 -2.51612705e-01 1.58721130e-02 1.42927086e+02] [-1.63445089e-02 2.12415200e-04 9.99866397e-01 -4.45082276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76999999999998 meters 0.014444203276438063 Centerline is valid? [True, True] Translation: X:123.96, Y:142.95, Z:-4.45 [[-2.51242572e-01 -9.67916642e-01 -3.81368756e-03 1.23960637e+02] [ 9.67792946e-01 -2.51271438e-01 1.54750778e-02 1.42952747e+02] [-1.59368561e-02 1.97138445e-04 9.99872981e-01 -4.45161944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79999999999998 meters 0.014141317684817066 Centerline is valid? [True, True] Translation: X:123.95, Y:142.98, Z:-4.45 [[-2.50160182e-01 -9.68197055e-01 -3.78771214e-03 1.23950921e+02] [ 9.68075388e-01 -2.50188796e-01 1.53495555e-02 1.42979746e+02] [-1.58090375e-02 1.73056694e-04 9.99875014e-01 -4.45244384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82999999999998 meters 0.014099905970953109 Centerline is valid? [True, True] Translation: X:123.94, Y:143.01, Z:-4.45 [[-2.49877145e-01 -9.68269932e-01 -3.84072768e-03 1.23942667e+02] [ 9.68145159e-01 -2.49906605e-01 1.55447739e-02 1.43007141e+02] [-1.60113604e-02 1.65901823e-04 9.99871796e-01 -4.45325930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85999999999999 meters 0.014087216820114544 Centerline is valid? [True, True] Translation: X:123.94, Y:143.03, Z:-4.45 [[-2.49586010e-01 -9.68344822e-01 -3.88959658e-03 1.23935025e+02] [ 9.68217179e-01 -2.49616267e-01 1.57230509e-02 1.43033050e+02] [-1.61962415e-02 1.58279331e-04 9.99868820e-01 -4.45454380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89 meters 0.014048192872474101 Centerline is valid? [True, True] Translation: X:123.93, Y:143.06, Z:-4.46 [[-2.49304341e-01 -9.68417316e-01 -3.90492702e-03 1.23927024e+02] [ 9.68288888e-01 -2.49334875e-01 1.57717867e-02 1.43060512e+02] [-1.62473058e-02 1.50877433e-04 9.99867992e-01 -4.45534649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92 meters 0.013859180178666382 Centerline is valid? [True, True] Translation: X:123.92, Y:143.09, Z:-4.46 [[-2.48629323e-01 -9.68590556e-01 -3.97412060e-03 1.23918856e+02] [ 9.68457861e-01 -2.48661045e-01 1.60330073e-02 1.43087599e+02] [-1.65176285e-02 1.37507421e-04 9.99863565e-01 -4.45557237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95 meters 0.013760139624886128 Centerline is valid? [True, True] Translation: X:123.91, Y:143.12, Z:-4.46 [[-2.48362369e-01 -9.68658961e-01 -3.99389162e-03 1.23911408e+02] [ 9.68525274e-01 -2.48394446e-01 1.60932657e-02 1.43115043e+02] [-1.65809465e-02 1.28776618e-04 9.99862518e-01 -4.45587464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98 meters 0.013706248683095137 Centerline is valid? [True, True] Translation: X:123.90, Y:143.14, Z:-4.46 [[-2.47998149e-01 -9.68752878e-01 -3.84452942e-03 1.23903667e+02] [ 9.68629297e-01 -2.48027920e-01 1.54737167e-02 1.43142060e+02] [-1.59437582e-02 1.13529258e-04 9.99872884e-01 -4.45674892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01 meters 0.013568787816418208 Centerline is valid? [True, True] Translation: X:123.90, Y:143.17, Z:-4.46 [[-2.47561445e-01 -9.68865250e-01 -3.66852760e-03 1.23895508e+02] [ 9.68752989e-01 -2.47588605e-01 1.47488852e-02 1.43169172e+02] [-1.51979679e-02 9.73582414e-05 9.99884499e-01 -4.45753436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04 meters 0.013420732988937164 Centerline is valid? [True, True] Translation: X:123.89, Y:143.20, Z:-4.46 [[-2.46305688e-01 -9.69186072e-01 -3.44459438e-03 1.23887928e+02] [ 9.69087347e-01 -2.46329763e-01 1.38333421e-02 1.43195018e+02] [-1.42555886e-02 6.91180073e-05 9.99898382e-01 -4.45954659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07 meters 0.013414164279917996 Centerline is valid? [True, True] Translation: X:123.88, Y:143.22, Z:-4.46 [[-2.45777626e-01 -9.69319941e-01 -3.49424639e-03 1.23880586e+02] [ 9.69218640e-01 -2.45802457e-01 1.40135636e-02 1.43222109e+02] [-1.44425210e-02 5.75316648e-05 9.99895700e-01 -4.46042366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.1 meters 0.013404249331428255 Centerline is valid? [True, True] Translation: X:123.87, Y:143.25, Z:-4.46 [[-2.45527468e-01 -9.69383598e-01 -3.42093766e-03 1.23873538e+02] [ 9.69286732e-01 -2.45551294e-01 1.37037684e-02 1.43248676e+02] [-1.41242240e-02 4.87820886e-05 9.99900247e-01 -4.46147914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13 meters 0.013425284198730495 Centerline is valid? [True, True] Translation: X:123.87, Y:143.28, Z:-4.46 [[-2.45440142e-01 -9.69405846e-01 -3.38262062e-03 1.23866487e+02] [ 9.69311386e-01 -2.45463446e-01 1.35327087e-02 1.43276269e+02] [-1.39489966e-02 4.26572569e-05 9.99902707e-01 -4.46211810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16 meters 0.013367110754073317 Centerline is valid? [True, True] Translation: X:123.86, Y:143.30, Z:-4.46 [[-2.45335058e-01 -9.69432429e-01 -3.38747125e-03 1.23859931e+02] [ 9.69337923e-01 -2.45358440e-01 1.35360983e-02 1.43302899e+02] [-1.39534774e-02 3.72751256e-05 9.99902645e-01 -4.46266959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19 meters 0.013369993765322885 Centerline is valid? [True, True] Translation: X:123.85, Y:143.33, Z:-4.46 [[-2.45070785e-01 -9.69499089e-01 -3.43892709e-03 1.23853619e+02] [ 9.69401958e-01 -2.45094911e-01 1.37233071e-02 1.43330375e+02] [-1.41475972e-02 2.94789949e-05 9.99899917e-01 -4.46254380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22 meters 0.013379048573430207 Centerline is valid? [True, True] Translation: X:123.85, Y:143.36, Z:-4.46 [[-2.45339041e-01 -9.69430956e-01 -3.51804404e-03 1.23847245e+02] [ 9.69329547e-01 -2.45364262e-01 1.40217257e-02 1.43357959e+02] [-1.44562973e-02 2.99327183e-05 9.99895502e-01 -4.46257620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25 meters 0.013331059598145215 Centerline is valid? [True, True] Translation: X:123.84, Y:143.39, Z:-4.46 [[-2.45357932e-01 -9.69426030e-01 -3.55778294e-03 1.23841341e+02] [ 9.69322570e-01 -2.45383724e-01 1.41627520e-02 1.43385196e+02] [-1.46027625e-02 2.63042508e-05 9.99893374e-01 -4.46297245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28 meters 0.013309503925070128 Centerline is valid? [True, True] Translation: X:123.83, Y:143.41, Z:-4.46 [[-2.45514075e-01 -9.69386695e-01 -3.50339859e-03 1.23834905e+02] [ 9.69286603e-01 -2.45539069e-01 1.39301099e-02 1.43412710e+02] [-1.43638844e-02 2.42407227e-05 9.99896834e-01 -4.46344006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31 meters 0.013340525966547525 Centerline is valid? [True, True] Translation: X:123.83, Y:143.44, Z:-4.46 [[-2.45462073e-01 -9.69399800e-01 -3.52112340e-03 1.23828226e+02] [ 9.69298938e-01 -2.45487326e-01 1.39836209e-02 1.43440022e+02] [-1.44201105e-02 1.94274176e-05 9.99896025e-01 -4.46412274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34 meters 0.013328026030352082 Centerline is valid? [True, True] Translation: X:123.82, Y:143.47, Z:-4.47 [[-2.44176378e-01 -9.69725245e-01 -3.29318397e-03 1.23821045e+02] [ 9.69637235e-01 -2.44198585e-01 1.30645921e-02 1.43465834e+02] [-1.34732556e-02 -3.12902324e-06 9.99909232e-01 -4.46618106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37 meters 0.013350045597443728 Centerline is valid? [True, True] Translation: X:123.81, Y:143.49, Z:-4.47 [[-2.43599175e-01 -9.69870594e-01 -3.23604037e-03 1.23814133e+02] [ 9.69785844e-01 -2.43620668e-01 1.28213664e-02 1.43492745e+02] [-1.32234326e-02 -1.49918538e-05 9.99912566e-01 -4.46715529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39999999999998 meters 0.013383399472106674 Centerline is valid? [True, True] Translation: X:123.81, Y:143.52, Z:-4.47 [[-2.42894098e-01 -9.70047807e-01 -3.11607187e-03 1.23807201e+02] [ 9.69969408e-01 -2.42914084e-01 1.23326950e-02 1.43519021e+02] [-1.27202415e-02 -2.69555586e-05 9.99919094e-01 -4.46823074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42999999999998 meters 0.013470658776092763 Centerline is valid? [True, True] Translation: X:123.80, Y:143.55, Z:-4.47 [[-2.40982659e-01 -9.70525360e-01 -2.80789842e-03 1.23800184e+02] [ 9.70461874e-01 -2.40999012e-01 1.11008262e-02 1.43545819e+02] [-1.14503341e-02 -4.98517382e-05 9.99934442e-01 -4.46939944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45999999999998 meters 0.013553454514227136 Centerline is valid? [True, True] Translation: X:123.79, Y:143.57, Z:-4.47 [[-2.40578426e-01 -9.70625559e-01 -2.83635135e-03 1.23793813e+02] [ 9.70560940e-01 -2.40595138e-01 1.12000668e-02 1.43572915e+02] [-1.15534834e-02 -5.83573957e-05 9.99933255e-01 -4.46971173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48999999999998 meters 0.013645123632175163 Centerline is valid? [True, True] Translation: X:123.79, Y:143.60, Z:-4.47 [[-2.39993401e-01 -9.70770709e-01 -2.72005152e-03 1.23787570e+02] [ 9.70711413e-01 -2.40008806e-01 1.07296193e-02 1.43599296e+02] [-1.10688365e-02 -6.53472181e-05 9.99938736e-01 -4.47031270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51999999999998 meters 0.013657669666360296 Centerline is valid? [True, True] Translation: X:123.78, Y:143.63, Z:-4.47 [[-2.39690148e-01 -9.70845671e-01 -2.70487022e-03 1.23781252e+02] [ 9.70787194e-01 -2.39705399e-01 1.06558247e-02 1.43626883e+02] [-1.09935332e-02 -7.17571760e-05 9.99939567e-01 -4.47056331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54999999999998 meters 0.013776810313942294 Centerline is valid? [True, True] Translation: X:123.78, Y:143.65, Z:-4.47 [[-2.39428811e-01 -9.70910087e-01 -2.72885450e-03 1.23775032e+02] [ 9.70850731e-01 -2.39444348e-01 1.07360224e-02 1.43652009e+02] [-1.10771212e-02 -7.87973210e-05 9.99938644e-01 -4.47101656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57999999999998 meters 0.013755767826702967 Centerline is valid? [True, True] Translation: X:123.77, Y:143.68, Z:-4.47 [[-2.39311935e-01 -9.70938589e-01 -2.83797878e-03 1.23768736e+02] [ 9.70874504e-01 -2.39328747e-01 1.11556805e-02 1.43678643e+02] [-1.15106906e-02 -8.56337510e-05 9.99933746e-01 -4.47124165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60999999999999 meters 0.013960344801018484 Centerline is valid? [True, True] Translation: X:123.76, Y:143.70, Z:-4.47 [[-2.38855039e-01 -9.71051098e-01 -2.83483973e-03 1.23763287e+02] [ 9.70987360e-01 -2.38871842e-01 1.11260832e-02 1.43704278e+02] [-1.14811587e-02 -9.50725244e-05 9.99934085e-01 -4.47190721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64 meters 0.013764610987724525 Centerline is valid? [True, True] Translation: X:123.76, Y:143.73, Z:-4.47 [[-2.39053013e-01 -9.71002528e-01 -2.78353351e-03 1.23758371e+02] [ 9.70941177e-01 -2.39069200e-01 1.09154771e-02 1.43731685e+02] [-1.12644130e-02 -9.32696149e-05 9.99936550e-01 -4.47154781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67 meters 0.013792796553765349 Centerline is valid? [True, True] Translation: X:123.75, Y:143.76, Z:-4.47 [[-2.39431514e-01 -9.70908921e-01 -2.90118282e-03 1.23753092e+02] [ 9.70842442e-01 -2.39449071e-01 1.13620024e-02 1.43758944e+02] [-1.17261551e-02 -9.61699705e-05 9.99931242e-01 -4.47160531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.7 meters 0.013851182964339206 Centerline is valid? [True, True] Translation: X:123.75, Y:143.79, Z:-4.47 [[-2.40042639e-01 -9.70757665e-01 -3.01445950e-03 1.23747092e+02] [ 9.70686037e-01 -2.40061547e-01 1.17928245e-02 1.43785699e+02] [-1.21716306e-02 -9.53130228e-05 9.99925918e-01 -4.47225544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73 meters 0.013688590768722005 Centerline is valid? [True, True] Translation: X:123.74, Y:143.81, Z:-4.47 [[-2.40488800e-01 -9.70646342e-01 -3.28888570e-03 1.23741982e+02] [ 9.70561363e-01 -2.40511266e-01 1.28441611e-02 1.43813915e+02] [-1.32581520e-02 -1.03188503e-04 9.99912102e-01 -4.47147196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76 meters 0.013612490250157148 Centerline is valid? [True, True] Translation: X:123.74, Y:143.84, Z:-4.47 [[-2.40768037e-01 -9.70576284e-01 -3.52560919e-03 1.23736496e+02] [ 9.70478742e-01 -2.40793824e-01 1.37603241e-02 1.43841170e+02] [-1.42043891e-02 -1.08482551e-04 9.99899107e-01 -4.47086327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79 meters 0.013659049448792912 Centerline is valid? [True, True] Translation: X:123.73, Y:143.87, Z:-4.47 [[-2.41147181e-01 -9.70480611e-01 -3.92687807e-03 1.23730761e+02] [ 9.70359919e-01 -2.41179122e-01 1.53055104e-02 1.43868521e+02] [-1.58007821e-02 -1.19604397e-04 9.99875153e-01 -4.47009210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82 meters 0.01356973060756067 Centerline is valid? [True, True] Translation: X:123.72, Y:143.90, Z:-4.47 [[-2.41576720e-01 -9.70373801e-01 -3.92108545e-03 1.23723248e+02] [ 9.70253734e-01 -2.41608511e-01 1.52649494e-02 1.43895862e+02] [-1.57600746e-02 -1.16791413e-04 9.99875796e-01 -4.47071341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85 meters 0.0135183236368419 Centerline is valid? [True, True] Translation: X:123.72, Y:143.92, Z:-4.47 [[-2.42117406e-01 -9.70239293e-01 -3.85696270e-03 1.23715429e+02] [ 9.70123398e-01 -2.42148100e-01 1.49963477e-02 1.43922152e+02] [-1.54840020e-02 -1.10852964e-04 9.99880110e-01 -4.47196954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88 meters 0.013372667073428093 Centerline is valid? [True, True] Translation: X:123.71, Y:143.95, Z:-4.47 [[-2.43378311e-01 -9.69925449e-01 -3.40900341e-03 1.23706192e+02] [ 9.69834982e-01 -2.43402171e-01 1.32473007e-02 1.43949146e+02] [-1.36786529e-02 -8.20651012e-05 9.99906439e-01 -4.47439508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91 meters 0.01333782874407941 Centerline is valid? [True, True] Translation: X:123.70, Y:143.98, Z:-4.48 [[-2.44157521e-01 -9.69730206e-01 -3.22982129e-03 1.23697608e+02] [ 9.69649192e-01 -2.44178872e-01 1.25348642e-02 1.43975144e+02] [-1.29440906e-02 -7.13122305e-05 9.99916219e-01 -4.47636421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94 meters 0.01332086533065075 Centerline is valid? [True, True] Translation: X:123.69, Y:144.00, Z:-4.48 [[-2.44521532e-01 -9.69639007e-01 -3.06867501e-03 1.23689812e+02] [ 9.69565953e-01 -2.44540778e-01 1.19025337e-02 1.44002337e+02] [-1.22915771e-02 -6.48570411e-05 9.99924454e-01 -4.47728061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97 meters 0.013271075131066174 Centerline is valid? [True, True] Translation: X:123.68, Y:144.03, Z:-4.48 [[-2.45045654e-01 -9.69507177e-01 -2.90875132e-03 1.23682460e+02] [ 9.69441665e-01 -2.45062910e-01 1.12707069e-02 1.44027969e+02] [-1.16398583e-02 -5.80269777e-05 9.99932253e-01 -4.47821384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.0 meters 0.013362613938280515 Centerline is valid? [True, True] Translation: X:123.68, Y:144.06, Z:-4.48 [[-2.45139296e-01 -9.69483476e-01 -2.91812688e-03 1.23675478e+02] [ 9.69417711e-01 -2.45156657e-01 1.12922816e-02 1.44055295e+02] [-1.16630786e-02 -6.07019166e-05 9.99931982e-01 -4.47839434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03 meters 0.013425959625194352 Centerline is valid? [True, True] Translation: X:123.67, Y:144.08, Z:-4.48 [[-2.45262508e-01 -9.69452702e-01 -2.78580541e-03 1.23668723e+02] [ 9.69392892e-01 -2.45278321e-01 1.07687602e-02 1.44082902e+02] [-1.11231014e-02 -5.93668167e-05 9.99938135e-01 -4.47837689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06 meters 0.013539052337346626 Centerline is valid? [True, True] Translation: X:123.66, Y:144.11, Z:-4.48 [[-2.45904381e-01 -9.69290535e-01 -2.62585976e-03 1.23661400e+02] [ 9.69237490e-01 -2.45918395e-01 1.01405334e-02 1.44108730e+02] [-1.04748702e-02 -5.14801459e-05 9.99945136e-01 -4.48007986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09 meters 0.013410126990582654 Centerline is valid? [True, True] Translation: X:123.65, Y:144.13, Z:-4.48 [[-2.46853330e-01 -9.69049684e-01 -2.47840445e-03 1.23654394e+02] [ 9.69002519e-01 -2.46865768e-01 9.56086369e-03 1.44134695e+02] [-9.87678516e-03 -4.14491152e-05 9.99951223e-01 -4.48145503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12 meters 0.013334748807223617 Centerline is valid? [True, True] Translation: X:123.65, Y:144.16, Z:-4.48 [[-2.48327709e-01 -9.68673114e-01 -2.39748442e-03 1.23647603e+02] [ 9.68629071e-01 -2.48339280e-01 9.23710217e-03 1.44162414e+02] [-9.54312207e-03 -2.84446896e-05 9.99954463e-01 -4.48217965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14999999999998 meters 0.013323276456122114 Centerline is valid? [True, True] Translation: X:123.64, Y:144.19, Z:-4.48 [[-2.50436353e-01 -9.68130447e-01 -2.25186191e-03 1.23640981e+02] [ 9.68091649e-01 -2.50446477e-01 8.66730793e-03 1.44189953e+02] [-8.95505558e-03 -9.39972019e-06 9.99959903e-01 -4.48334494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17999999999998 meters 0.013369367106775646 Centerline is valid? [True, True] Translation: X:123.64, Y:144.22, Z:-4.48 [[-2.52709355e-01 -9.67539509e-01 -2.29798942e-03 1.23635094e+02] [ 9.67499179e-01 -2.52719803e-01 8.83401177e-03 1.44217035e+02] [-9.12800284e-03 9.13454657e-06 9.99958339e-01 -4.48374179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20999999999998 meters 0.013415189125162092 Centerline is valid? [True, True] Translation: X:123.63, Y:144.24, Z:-4.48 [[-2.55311022e-01 -9.66856342e-01 -2.25743767e-03 1.23630121e+02] [ 9.66817477e-01 -2.55321000e-01 8.66905151e-03 1.44243807e+02] [-8.95809867e-03 3.07742099e-05 9.99959875e-01 -4.48423928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23999999999998 meters 0.013695870514205342 Centerline is valid? [True, True] Translation: X:123.63, Y:144.27, Z:-4.48 [[-2.60702854e-01 -9.65416084e-01 -2.40971877e-03 1.23627398e+02] [ 9.65371872e-01 -2.60713977e-01 9.23958979e-03 1.44272495e+02] [-9.54829596e-03 8.25127033e-05 9.99954411e-01 -4.48270238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26999999999998 meters 0.0141843933935856 Centerline is valid? [True, True] Translation: X:123.62, Y:144.30, Z:-4.48 [[-2.63571551e-01 -9.64636467e-01 -2.55428149e-03 1.23623224e+02] [ 9.64586888e-01 -2.63583902e-01 9.78070188e-03 1.44299909e+02] [-1.01080892e-02 1.14088333e-04 9.99948905e-01 -4.48335695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29999999999998 meters 0.014534166302508044 Centerline is valid? [True, True] Translation: X:123.62, Y:144.33, Z:-4.48 [[-2.66140526e-01 -9.63930645e-01 -2.63282233e-03 1.23617737e+02] [ 9.63878034e-01 -2.66153510e-01 1.00719886e-02 1.44327071e+02] [-1.04094334e-02 1.42844737e-04 9.99945810e-01 -4.48336856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32999999999998 meters 0.014998709217927864 Centerline is valid? [True, True] Translation: X:123.61, Y:144.35, Z:-4.48 [[-2.68461372e-01 -9.63286532e-01 -2.74767338e-03 1.23612483e+02] [ 9.63229348e-01 -2.68475378e-01 1.04973672e-02 1.44353506e+02] [-1.08496551e-02 1.71497953e-04 9.99941126e-01 -4.48400803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35999999999999 meters 0.015237741216830983 Centerline is valid? [True, True] Translation: X:123.61, Y:144.38, Z:-4.48 [[-2.70336018e-01 -9.62762075e-01 -2.76102076e-03 1.23605918e+02] [ 9.62704454e-01 -2.70350051e-01 1.05349147e-02 1.44380994e+02] [-1.08890584e-02 1.89919898e-04 9.99940694e-01 -4.48467913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39 meters 0.015797244933815208 Centerline is valid? [True, True] Translation: X:123.60, Y:144.41, Z:-4.49 [[-2.73731939e-01 -9.61802732e-01 -2.51620797e-03 1.23599274e+02] [ 9.61754923e-01 -2.73743426e-01 9.59190681e-03 1.44408659e+02] [-9.91431756e-03 2.05635846e-04 9.99950831e-01 -4.48594467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42 meters 0.015751923933569154 Centerline is valid? [True, True] Translation: X:123.59, Y:144.44, Z:-4.49 [[-2.75107811e-01 -9.61410118e-01 -2.50534356e-03 1.23591554e+02] [ 9.61362818e-01 -2.75119134e-01 9.53913327e-03 1.44435773e+02] [-9.86028720e-03 2.15745933e-04 9.99951363e-01 -4.48603652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45 meters 0.016090546482400568 Centerline is valid? [True, True] Translation: X:123.59, Y:144.46, Z:-4.49 [[-2.76356762e-01 -9.61052486e-01 -2.24926206e-03 1.23585543e+02] [ 9.61014420e-01 -2.76365840e-01 8.55616384e-03 1.44462431e+02] [-8.84454173e-03 2.02980456e-04 9.99960866e-01 -4.48675437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48 meters 0.016595156392511183 Centerline is valid? [True, True] Translation: X:123.58, Y:144.49, Z:-4.49 [[-2.78017239e-01 -9.60573742e-01 -2.12137481e-03 1.23579213e+02] [ 9.60539926e-01 -2.78025258e-01 8.06272497e-03 1.44490579e+02] [-8.33463767e-03 2.03911338e-04 9.99965246e-01 -4.48742493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51 meters 0.017697766336266824 Centerline is valid? [True, True] Translation: X:123.57, Y:144.52, Z:-4.49 [[-2.80951576e-01 -9.59719695e-01 -2.07823648e-03 1.23573876e+02] [ 9.59687269e-01 -2.80959174e-01 7.89225485e-03 1.44517252e+02] [-8.15825202e-03 2.22884344e-04 9.99966696e-01 -4.48744359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54 meters 0.017555048692026894 Centerline is valid? [True, True] Translation: X:123.57, Y:144.54, Z:-4.49 [[-2.82235738e-01 -9.59342557e-01 -2.20128936e-03 1.23565934e+02] [ 9.59306274e-01 -2.82244217e-01 8.34717525e-03 1.44544688e+02] [-8.62910164e-03 2.44160473e-04 9.99962739e-01 -4.48712091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57 meters 0.017963741924000822 Centerline is valid? [True, True] Translation: X:123.56, Y:144.57, Z:-4.49 [[-2.83241315e-01 -9.59045702e-01 -2.38704485e-03 1.23558883e+02] [ 9.59003135e-01 -2.83251244e-01 9.03992704e-03 1.44571356e+02] [-9.34583660e-03 2.71297333e-04 9.99956290e-01 -4.48713989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.6 meters 0.01805215238139762 Centerline is valid? [True, True] Translation: X:123.55, Y:144.60, Z:-4.49 [[-2.83692593e-01 -9.58911431e-01 -2.71667118e-03 1.23550638e+02] [ 9.58856463e-01 -2.83705432e-01 1.02718489e-02 1.44598598e+02] [-1.06205277e-02 3.09149736e-04 9.99943553e-01 -4.48707593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63 meters 0.01805215238139762 Centerline is valid? [True, True] Translation: X:123.54, Y:144.63, Z:-4.49 [[-2.83960634e-01 -9.58832082e-01 -2.71953492e-03 1.23543494e+02] [ 9.58777118e-01 -2.83973488e-01 1.02710903e-02 1.44625274e+02] [-1.06205267e-02 3.09157464e-04 9.99943553e-01 -4.48764219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66 meters 0.0175940288682662 Centerline is valid? [True, True] Translation: X:123.53, Y:144.65, Z:-4.49 [[-2.84189078e-01 -9.58763762e-01 -2.93552938e-03 1.23534214e+02] [ 9.58699878e-01 -2.84204045e-01 1.10727118e-02 1.44651445e+02] [-1.14504041e-02 3.32452100e-04 9.99934387e-01 -4.48688807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69 meters 0.018136216478720053 Centerline is valid? [True, True] Translation: X:123.53, Y:144.68, Z:-4.49 [[-2.83936601e-01 -9.58837706e-01 -3.20312115e-03 1.23526652e+02] [ 9.58761848e-01 -2.83954446e-01 1.20661479e-02 1.44677967e+02] [-1.24790181e-02 3.54990668e-04 9.99922071e-01 -4.48755655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72 meters 0.017625062567584473 Centerline is valid? [True, True] Translation: X:123.52, Y:144.70, Z:-4.49 [[-2.81613761e-01 -9.59521987e-01 -3.35357198e-03 1.23516504e+02] [ 9.59439090e-01 -2.81633528e-01 1.26170219e-02 1.44703515e+02] [-1.30507883e-02 3.35578948e-04 9.99914779e-01 -4.48739530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75 meters 0.016224843961943052 Centerline is valid? [True, True] Translation: X:123.51, Y:144.73, Z:-4.49 [[-2.80012663e-01 -9.59990161e-01 -3.43498015e-03 1.23505574e+02] [ 9.59903409e-01 -2.80033551e-01 1.29095438e-02 1.44729843e+02] [-1.33549447e-02 3.17586569e-04 9.99910768e-01 -4.48705352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78 meters 0.015726686778190082 Centerline is valid? [True, True] Translation: X:123.50, Y:144.76, Z:-4.49 [[-2.77987764e-01 -9.60578604e-01 -3.39827947e-03 1.23495621e+02] [ 9.60493962e-01 -2.78008392e-01 1.27547367e-02 1.44757018e+02] [-1.31966774e-02 2.81633827e-04 9.99912880e-01 -4.48725944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81 meters 0.015473003454912978 Centerline is valid? [True, True] Translation: X:123.49, Y:144.78, Z:-4.49 [[-2.75655260e-01 -9.61250673e-01 -3.36480413e-03 1.23486186e+02] [ 9.61167804e-01 -2.75675686e-01 1.26241239e-02 1.44782408e+02] [-1.30625423e-02 2.45764767e-04 9.99914651e-01 -4.48835113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84 meters 0.014496357892571478 Centerline is valid? [True, True] Translation: X:123.47, Y:144.81, Z:-4.49 [[-2.70145294e-01 -9.62814907e-01 -2.99572326e-03 1.23472056e+02] [ 9.62749430e-01 -2.70161863e-01 1.12295603e-02 1.44807257e+02] [-1.16213182e-02 1.49482012e-04 9.99932459e-01 -4.49058074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87 meters 0.014096775417271779 Centerline is valid? [True, True] Translation: X:123.46, Y:144.83, Z:-4.49 [[-2.67060608e-01 -9.63675975e-01 -2.69192290e-03 1.23461464e+02] [ 9.63623244e-01 -2.67074156e-01 1.00816457e-02 1.44832831e+02] [-1.04343828e-02 9.84109439e-05 9.99945556e-01 -4.49260753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89999999999998 meters 0.013839212504074683 Centerline is valid? [True, True] Translation: X:123.45, Y:144.86, Z:-4.49 [[-2.64282394e-01 -9.64442346e-01 -2.40368664e-03 1.23450856e+02] [ 9.64400408e-01 -2.64293318e-01 8.99411306e-03 1.44859325e+02] [-9.30958182e-03 5.88693549e-05 9.99956663e-01 -4.49446912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92999999999998 meters 0.013693075522642924 Centerline is valid? [True, True] Translation: X:123.44, Y:144.89, Z:-4.50 [[-2.59357804e-01 -9.65779480e-01 -1.87787194e-03 1.23439374e+02] [ 9.65753939e-01 -2.59364602e-01 7.02377415e-03 1.44885246e+02] [-7.27047046e-03 8.10841346e-06 9.99973570e-01 -4.49710344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95999999999998 meters 0.01370292455951956 Centerline is valid? [True, True] Translation: X:123.43, Y:144.91, Z:-4.50 [[-2.57348288e-01 -9.66317292e-01 -1.65808312e-03 1.23431260e+02] [ 9.66297414e-01 -2.57353630e-01 6.19815549e-03 1.44911137e+02] [-6.41609854e-03 -7.11672692e-06 9.99979417e-01 -4.49848165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98999999999998 meters 0.013852349599069712 Centerline is valid? [True, True] Translation: X:123.42, Y:144.94, Z:-4.50 [[-2.55798903e-01 -9.66728821e-01 -1.51899213e-03 1.23423476e+02] [ 9.66712205e-01 -2.55803413e-01 5.66801951e-03 1.44937099e+02] [-5.86800119e-03 -1.85550538e-05 9.99982783e-01 -4.49944869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01999999999998 meters 0.013911705864305372 Centerline is valid? [True, True] Translation: X:123.42, Y:144.96, Z:-4.50 [[-2.54726268e-01 -9.67011918e-01 -1.57453163e-03 1.23415826e+02] [ 9.66994077e-01 -2.54731132e-01 5.87412560e-03 1.44963910e+02] [-6.08143169e-03 -2.62686680e-05 9.99981508e-01 -4.49913885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04999999999998 meters 0.013919503375145177 Centerline is valid? [True, True] Translation: X:123.41, Y:144.99, Z:-4.50 [[-2.54070693e-01 -9.67184029e-01 -1.77131467e-03 1.23408140e+02] [ 9.67161522e-01 -2.54076865e-01 6.59826120e-03 1.44990950e+02] [-6.83178293e-03 -3.67225953e-05 9.99976662e-01 -4.49886741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07999999999998 meters 0.014069034121157623 Centerline is valid? [True, True] Translation: X:123.40, Y:145.02, Z:-4.50 [[-2.52582766e-01 -9.67571888e-01 -2.56680902e-03 1.23400496e+02] [ 9.67524886e-01 -2.52595797e-01 9.53724412e-03 1.45016672e+02] [-9.87633446e-03 -7.45081056e-05 9.99951225e-01 -4.49832191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10999999999999 meters 0.014114084248364842 Centerline is valid? [True, True] Translation: X:123.39, Y:145.04, Z:-4.50 [[-2.52026141e-01 -9.67716122e-01 -2.88631472e-03 1.23393486e+02] [ 9.67656792e-01 -2.52042651e-01 1.07161063e-02 1.45044348e+02] [-1.10976233e-02 -9.22231154e-05 9.99938415e-01 -4.49729019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14 meters 0.014104383011614213 Centerline is valid? [True, True] Translation: X:123.39, Y:145.07, Z:-4.50 [[-2.51582355e-01 -9.67830537e-01 -3.22023573e-03 1.23386562e+02] [ 9.67756891e-01 -2.51602938e-01 1.19398852e-02 1.45071853e+02] [-1.23660063e-02 -1.12540887e-04 9.99923532e-01 -4.49669322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17 meters 0.01430100461716925 Centerline is valid? [True, True] Translation: X:123.38, Y:145.10, Z:-4.50 [[-2.50880138e-01 -9.68012050e-01 -3.43916131e-03 1.23379826e+02] [ 9.67928271e-01 -2.50903674e-01 1.27360903e-02 1.45098259e+02] [-1.31915871e-02 -1.33629365e-04 9.99912978e-01 -4.49623440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.2 meters 0.01431484110040377 Centerline is valid? [True, True] Translation: X:123.37, Y:145.13, Z:-4.50 [[-2.50351923e-01 -9.68147922e-01 -3.67631257e-03 1.23373627e+02] [ 9.68052461e-01 -2.50378867e-01 1.35961645e-02 1.45125262e+02] [-1.40835694e-02 -1.55037486e-04 9.99900810e-01 -4.49566380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23 meters 0.014640698023613974 Centerline is valid? [True, True] Translation: X:123.37, Y:145.15, Z:-4.50 [[-2.49158277e-01 -9.68455824e-01 -3.67027546e-03 1.23367041e+02] [ 9.68360938e-01 -2.49185246e-01 1.35575281e-02 1.45152024e+02] [-1.40444455e-02 -1.76181044e-04 9.99901356e-01 -4.49666729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26 meters 0.014956541515221458 Centerline is valid? [True, True] Translation: X:123.36, Y:145.18, Z:-4.50 [[-2.48720811e-01 -9.68568325e-01 -3.65472869e-03 1.23359551e+02] [ 9.68474430e-01 -2.48747593e-01 1.34875600e-02 1.45177952e+02] [-1.39727284e-02 -1.84874414e-04 9.99902360e-01 -4.49794513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29 meters 0.014762740937105737 Centerline is valid? [True, True] Translation: X:123.35, Y:145.20, Z:-4.50 [[-2.48291657e-01 -9.68678881e-01 -3.53261160e-03 1.23353296e+02] [ 9.68591367e-01 -2.48316714e-01 1.30219988e-02 1.45204895e+02] [-1.34913417e-02 -1.88403446e-04 9.99908970e-01 -4.49830949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32 meters 0.015093294748166935 Centerline is valid? [True, True] Translation: X:123.35, Y:145.23, Z:-4.50 [[-2.47528320e-01 -9.68875172e-01 -3.26068421e-03 1.23345885e+02] [ 9.68800792e-01 -2.47549725e-01 1.20065904e-02 1.45231331e+02] [-1.24400688e-02 -1.86982286e-04 9.99922602e-01 -4.50005810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35 meters 0.015219483782628152 Centerline is valid? [True, True] Translation: X:123.34, Y:145.26, Z:-4.50 [[-2.47337921e-01 -9.68924729e-01 -2.97017046e-03 1.23338689e+02] [ 9.68863111e-01 -2.47355693e-01 1.09285715e-02 1.45258560e+02] [-1.13236518e-02 -1.74638428e-04 9.99935870e-01 -4.50170131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38 meters 0.015217069234856832 Centerline is valid? [True, True] Translation: X:123.33, Y:145.29, Z:-4.51 [[-2.47779182e-01 -9.68814230e-01 -2.11283608e-03 1.23333557e+02] [ 9.68783071e-01 -2.47788161e-01 7.77108437e-03 1.45286444e+02] [-8.05227289e-03 -1.21366895e-04 9.99967573e-01 -4.50506375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41 meters 0.014877348503066537 Centerline is valid? [True, True] Translation: X:123.33, Y:145.31, Z:-4.51 [[-2.49095580e-01 -9.68477394e-01 -1.71168062e-03 1.23328575e+02] [ 9.68456946e-01 -2.49101445e-01 6.29395291e-03 1.45313699e+02] [-6.52193322e-03 -8.98931333e-05 9.99978728e-01 -4.50647303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44 meters 0.014722554264658587 Centerline is valid? [True, True] Translation: X:123.32, Y:145.34, Z:-4.51 [[-2.51243382e-01 -9.67922837e-01 -1.46464050e-03 1.23323710e+02] [ 9.67907872e-01 -2.51247643e-01 5.38262364e-03 1.45341595e+02] [-5.57795181e-03 -6.52885013e-05 9.99984441e-01 -4.50788659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47 meters 0.014477978197806106 Centerline is valid? [True, True] Translation: X:123.32, Y:145.37, Z:-4.51 [[-2.54209807e-01 -9.67148349e-01 -1.20223209e-03 1.23319993e+02] [ 9.67138284e-01 -2.54212646e-01 4.41253356e-03 1.45368750e+02] [-4.57319715e-03 -4.10153746e-05 9.99989542e-01 -4.50897454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.5 meters 0.013962951648062164 Centerline is valid? [True, True] Translation: X:123.32, Y:145.40, Z:-4.51 [[-2.62527772e-01 -9.64923657e-01 -1.22679441e-03 1.23322334e+02] [ 9.64913150e-01 -2.62530638e-01 4.50303489e-03 1.45398478e+02] [-4.66715601e-03 -1.57834145e-06 9.99989109e-01 -4.50826012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53 meters 0.013990346897510398 Centerline is valid? [True, True] Translation: X:123.32, Y:145.43, Z:-4.51 [[-2.67673156e-01 -9.63508529e-01 -1.54806229e-03 1.23320395e+02] [ 9.63491841e-01 -2.67677632e-01 5.67077525e-03 1.45425994e+02] [-5.87822196e-03 2.63689288e-05 9.99982723e-01 -4.50781209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56 meters 0.014392150515105742 Centerline is valid? [True, True] Translation: X:123.32, Y:145.45, Z:-4.51 [[-2.73025628e-01 -9.62004738e-01 -1.97273312e-03 1.23317983e+02] [ 9.61977714e-01 -2.73032745e-01 7.21099293e-03 1.45454575e+02] [-7.47563010e-03 7.10605739e-05 9.99972055e-01 -4.50646964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59 meters 0.014783933423280422 Centerline is valid? [True, True] Translation: X:123.31, Y:145.48, Z:-4.50 [[-2.76846549e-01 -9.60910546e-01 -2.62889140e-03 1.23313003e+02] [ 9.60862681e-01 -2.76859000e-01 9.59177372e-03 1.45482869e+02] [-9.94466877e-03 1.29445811e-04 9.99950542e-01 -4.50478959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62 meters 0.015101416933359046 Centerline is valid? [True, True] Translation: X:123.31, Y:145.51, Z:-4.50 [[-2.80068555e-01 -9.59974277e-01 -3.31525735e-03 1.23307116e+02] [ 9.59898328e-01 -2.80088105e-01 1.20770121e-02 1.45510474e+02] [-1.25221851e-02 2.00081339e-04 9.99921574e-01 -4.50337284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64999999999998 meters 0.016217569243539835 Centerline is valid? [True, True] Translation: X:123.30, Y:145.54, Z:-4.50 [[-2.85659999e-01 -9.58322967e-01 -3.93133189e-03 1.23301938e+02] [ 9.58216327e-01 -2.85686873e-01 1.42997209e-02 1.45537704e+02] [-1.48268809e-02 3.17791854e-04 9.99890025e-01 -4.50217379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67999999999998 meters 0.016871886246989615 Centerline is valid? [True, True] Translation: X:123.30, Y:145.57, Z:-4.50 [[-2.88716197e-01 -9.57406149e-01 -4.05272380e-03 1.23295583e+02] [ 9.57292897e-01 -2.88744398e-01 1.47303233e-02 1.45565522e+02] [-1.52731034e-02 3.73239230e-04 9.99883290e-01 -4.50218081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70999999999998 meters 0.017607955274672293 Centerline is valid? [True, True] Translation: X:123.29, Y:145.59, Z:-4.50 [[-2.91714758e-01 -9.56496718e-01 -4.06552744e-03 1.23289285e+02] [ 9.56382905e-01 -2.91742787e-01 1.47609434e-02 1.45592448e+02] [-1.53048822e-02 4.17784074e-04 9.99882786e-01 -4.50267039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73999999999998 meters 0.01834484878007558 Centerline is valid? [True, True] Translation: X:123.28, Y:145.62, Z:-4.50 [[-2.94826537e-01 -9.55543055e-01 -3.84485117e-03 1.23282577e+02] [ 9.55441398e-01 -2.94851281e-01 1.39448054e-02 1.45619145e+02] [-1.44585213e-02 4.37768727e-04 9.99895374e-01 -4.50344898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76999999999998 meters 0.020287116786460783 Centerline is valid? [True, True] Translation: X:123.28, Y:145.65, Z:-4.51 [[-3.00330729e-01 -9.53828698e-01 -3.50243777e-03 1.23276154e+02] [ 9.53744391e-01 -3.00350782e-01 1.26903069e-02 1.45645451e+02] [-1.31563389e-02 4.70858760e-04 9.99913341e-01 -4.50544393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79999999999998 meters 0.020115103071496377 Centerline is valid? [True, True] Translation: X:123.27, Y:145.67, Z:-4.51 [[-3.02950213e-01 -9.53000693e-01 -3.29357001e-03 1.23266236e+02] [ 9.52926256e-01 -3.02967747e-01 1.19203760e-02 1.45672107e+02] [-1.23579721e-02 4.72751109e-04 9.99923526e-01 -4.50675368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82999999999998 meters 0.020601887219563273 Centerline is valid? [True, True] Translation: X:123.26, Y:145.70, Z:-4.51 [[-3.05222522e-01 -9.52276370e-01 -2.98770587e-03 1.23256693e+02] [ 9.52215201e-01 -3.05236810e-01 1.08028270e-02 1.45699124e+02] [-1.11992346e-02 4.52327150e-04 9.99937184e-01 -4.50815830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85999999999999 meters 0.0221141702505284 Centerline is valid? [True, True] Translation: X:123.25, Y:145.72, Z:-4.51 [[-3.07210912e-01 -9.51637449e-01 -2.76051704e-03 1.23249096e+02] [ 9.51585280e-01 -3.07223004e-01 9.97399120e-03 1.45724962e+02] [-1.03397179e-02 4.37251560e-04 9.99946448e-01 -4.50951195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89 meters 0.02458951477054386 Centerline is valid? [True, True] Translation: X:123.24, Y:145.75, Z:-4.51 [[-3.08956315e-01 -9.51072383e-01 -2.70520190e-03 1.23242647e+02] [ 9.51022375e-01 -3.08967840e-01 9.76298215e-03 1.45750978e+02] [-1.01211231e-02 4.43627451e-04 9.99948682e-01 -4.51088238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92 meters 0.02183112181016517 Centerline is valid? [True, True] Translation: X:123.23, Y:145.78, Z:-4.51 [[-3.10110653e-01 -9.50696489e-01 -2.75123217e-03 1.23228479e+02] [ 9.50644874e-01 -3.10122516e-01 9.91708000e-03 1.45776157e+02] [-1.02813522e-02 4.59947400e-04 9.99947040e-01 -4.51004179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95 meters 0.02465630547361668 Centerline is valid? [True, True] Translation: X:123.22, Y:145.80, Z:-4.51 [[-3.10515532e-01 -9.50564388e-01 -2.72921924e-03 1.23220533e+02] [ 9.50513729e-01 -3.10527191e-01 9.82416716e-03 1.45801833e+02] [-1.01860002e-02 4.56396136e-04 9.99948017e-01 -4.51100021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98 meters 0.021581637155435034 Centerline is valid? [True, True] Translation: X:123.21, Y:145.83, Z:-4.51 [[-3.10235283e-01 -9.50655462e-01 -2.87432395e-03 1.23205926e+02] [ 9.50599345e-01 -3.10248234e-01 1.03401971e-02 1.45827061e+02] [-1.07217188e-02 4.75563530e-04 9.99942408e-01 -4.50977742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01 meters 0.022227047325559877 Centerline is valid? [True, True] Translation: X:123.20, Y:145.85, Z:-4.51 [[-3.09578225e-01 -9.50869117e-01 -3.04054796e-03 1.23196847e+02] [ 9.50806483e-01 -3.09592767e-01 1.09247674e-02 1.45852536e+02] [-1.13293556e-02 4.91097389e-04 9.99935700e-01 -4.51022325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04 meters 0.021383368498338644 Centerline is valid? [True, True] Translation: X:123.18, Y:145.88, Z:-4.51 [[-3.08026300e-01 -9.51372058e-01 -3.31738290e-03 1.23184949e+02] [ 9.51297707e-01 -3.08043739e-01 1.19049613e-02 1.45878042e+02] [-1.23479466e-02 5.11222443e-04 9.99923631e-01 -4.51039652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07 meters 0.02002811069555961 Centerline is valid? [True, True] Translation: X:123.17, Y:145.90, Z:-4.51 [[-3.02184954e-01 -9.53241410e-01 -3.88171509e-03 1.23168540e+02] [ 9.53140023e-01 -3.02209464e-01 1.39117490e-02 1.45901369e+02] [-1.44343463e-02 5.04103231e-04 9.99895692e-01 -4.51062097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.1 meters 0.017565280538982406 Centerline is valid? [True, True] Translation: X:123.15, Y:145.93, Z:-4.51 [[-2.98578047e-01 -9.54376975e-01 -3.96719190e-03 1.23153388e+02] [ 9.54271436e-01 -2.98604057e-01 1.42001089e-02 1.45926048e+02] [-1.47368766e-02 4.54062892e-04 9.99891303e-01 -4.51065890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13 meters 0.0167222874464648 Centerline is valid? [True, True] Translation: X:123.14, Y:145.95, Z:-4.51 [[-2.94407843e-01 -9.55671143e-01 -4.08526846e-03 1.23140802e+02] [ 9.55559638e-01 -2.94435919e-01 1.46036840e-02 1.45952211e+02] [-1.51591691e-02 3.95721436e-04 9.99885015e-01 -4.51130563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16 meters 0.01631410137895713 Centerline is valid? [True, True] Translation: X:123.13, Y:145.98, Z:-4.51 [[-2.90085722e-01 -9.56992160e-01 -4.03490035e-03 1.23129510e+02] [ 9.56883620e-01 -2.90113604e-01 1.44164993e-02 1.45977542e+02] [-1.49670563e-02 3.21090562e-04 9.99887936e-01 -4.51199225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19 meters 0.014904965762066482 Centerline is valid? [True, True] Translation: X:123.12, Y:146.00, Z:-4.51 [[-2.85670431e-01 -9.58319470e-01 -4.02476917e-03 1.23115877e+02] [ 9.58211849e-01 -2.85698675e-01 1.43637997e-02 1.46003394e+02] [-1.49149801e-02 2.46731330e-04 9.99888735e-01 -4.51256049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22 meters 0.013691382658949865 Centerline is valid? [True, True] Translation: X:123.10, Y:146.03, Z:-4.51 [[-2.76641732e-01 -9.60966403e-01 -3.59507377e-03 1.23098936e+02] [ 9.60880922e-01 -2.76665076e-01 1.28175563e-02 1.46026522e+02] [-1.33118723e-02 9.14331927e-05 9.99911389e-01 -4.51475503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25 meters 0.013384142265084158 Centerline is valid? [True, True] Translation: X:123.09, Y:146.05, Z:-4.52 [[-2.72520970e-01 -9.62143424e-01 -3.51461063e-03 1.23086236e+02] [ 9.62061917e-01 -2.72543631e-01 1.25234433e-02 1.46051432e+02] [-1.30072333e-02 3.16278672e-05 9.99915402e-01 -4.51640541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28 meters 0.013336876254113311 Centerline is valid? [True, True] Translation: X:123.07, Y:146.08, Z:-4.52 [[-2.68583003e-01 -9.63250696e-01 -3.35661933e-03 1.23073808e+02] [ 9.63176614e-01 -2.68603976e-01 1.19463486e-02 1.46077083e+02] [-1.24089299e-02 -2.44310598e-05 9.99923006e-01 -4.51759171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31 meters 0.013577144129190189 Centerline is valid? [True, True] Translation: X:123.06, Y:146.10, Z:-4.52 [[-2.65213281e-01 -9.64184444e-01 -3.20522349e-03 1.23062068e+02] [ 9.64117110e-01 -2.65232640e-01 1.13949307e-02 1.46101764e+02] [-1.18369448e-02 -6.81238434e-05 9.99929939e-01 -4.51942465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34 meters 0.014191347696926124 Centerline is valid? [True, True] Translation: X:123.05, Y:146.13, Z:-4.52 [[-2.60629260e-01 -9.65435240e-01 -2.68058873e-03 1.23048185e+02] [ 9.65388254e-01 -2.60643023e-01 9.52545413e-03 1.46125610e+02] [-9.89488585e-03 -1.05196812e-04 9.99951039e-01 -4.52224688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37 meters 0.014334112253987577 Centerline is valid? [True, True] Translation: X:123.04, Y:146.15, Z:-4.52 [[-2.59687383e-01 -9.65689238e-01 -2.59989044e-03 1.23039119e+02] [ 9.65645181e-01 -2.59700372e-01 9.22500075e-03 1.46151651e+02] [-9.58367646e-03 -1.14955378e-04 9.99954069e-01 -4.52327112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39999999999998 meters 0.014165620025882253 Centerline is valid? [True, True] Translation: X:123.03, Y:146.18, Z:-4.52 [[-2.59630620e-01 -9.65704392e-01 -2.63970737e-03 1.23031635e+02] [ 9.65659019e-01 -2.59644012e-01 9.36192949e-03 1.46178722e+02] [-9.72624064e-03 -1.18413671e-04 9.99952692e-01 -4.52334141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42999999999998 meters 0.014199199856468874 Centerline is valid? [True, True] Translation: X:123.02, Y:146.20, Z:-4.52 [[-2.60085173e-01 -9.65581922e-01 -2.69356168e-03 1.23024209e+02] [ 9.65534811e-01 -2.60099093e-01 9.53885575e-03 1.46204720e+02] [-9.91113962e-03 -1.19812619e-04 9.99950876e-01 -4.52410788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45999999999998 meters 0.014264006665116444 Centerline is valid? [True, True] Translation: X:123.02, Y:146.23, Z:-4.52 [[-2.61022350e-01 -9.65328753e-01 -2.78050862e-03 1.23017364e+02] [ 9.65278591e-01 -2.61037134e-01 9.84157403e-03 1.46230623e+02] [-1.02261704e-02 -1.15094664e-04 9.99947705e-01 -4.52453492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48999999999998 meters 0.014053249501711168 Centerline is valid? [True, True] Translation: X:123.01, Y:146.26, Z:-4.52 [[-2.62407846e-01 -9.64952723e-01 -2.89206589e-03 1.23010898e+02] [ 9.64898572e-01 -2.62423760e-01 1.02233010e-02 1.46258296e+02] [-1.06239489e-02 -1.07875860e-04 9.99943558e-01 -4.52433953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51999999999998 meters 0.013592372858300103 Centerline is valid? [True, True] Translation: X:123.01, Y:146.29, Z:-4.52 [[-2.65441271e-01 -9.64121401e-01 -3.29489926e-03 1.23005997e+02] [ 9.64051234e-01 -2.65461705e-01 1.16318902e-02 1.46286221e+02] [-1.20892238e-02 -8.88679932e-05 9.99926919e-01 -4.52379583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54999999999998 meters 0.013592372858300103 Centerline is valid? [True, True] Translation: X:123.00, Y:146.31, Z:-4.52 [[-2.65720309e-01 -9.64044522e-01 -3.29803936e-03 1.22998404e+02] [ 9.63974361e-01 -2.65740761e-01 1.16309995e-02 1.46312744e+02] [-1.20892248e-02 -8.86326095e-05 9.99926919e-01 -4.52436196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57999999999998 meters 0.013447471633588993 Centerline is valid? [True, True] Translation: X:122.99, Y:146.34, Z:-4.52 [[-2.67292665e-01 -9.63609908e-01 -3.25226364e-03 1.22991924e+02] [ 9.63541795e-01 -2.67312440e-01 1.14572421e-02 1.46340453e+02] [-1.19096825e-02 -7.12551923e-05 9.99929075e-01 -4.52490544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60999999999999 meters 0.013372585955309553 Centerline is valid? [True, True] Translation: X:122.99, Y:146.37, Z:-4.53 [[-2.69056952e-01 -9.63119003e-01 -3.18487614e-03 1.22985842e+02] [ 9.63053787e-01 -2.69075796e-01 1.12079902e-02 1.46367818e+02] [-1.16516014e-02 -5.16193447e-05 9.99932116e-01 -4.52607907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64 meters 0.013318496738336245 Centerline is valid? [True, True] Translation: X:122.98, Y:146.40, Z:-4.53 [[-2.70904296e-01 -9.62601531e-01 -3.02557813e-03 1.22979761e+02] [ 9.62542761e-01 -2.70921190e-01 1.06367978e-02 1.46395733e+02] [-1.10586911e-02 -3.06941018e-05 9.99938850e-01 -4.52723618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67 meters 0.013322902307794525 Centerline is valid? [True, True] Translation: X:122.98, Y:146.42, Z:-4.53 [[-2.73829174e-01 -9.61775021e-01 -2.52851709e-03 1.22976104e+02] [ 9.61733995e-01 -2.73840848e-01 8.88326199e-03 1.46423544e+02] [-9.23611075e-03 7.35447726e-07 9.99957346e-01 -4.52873629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.7 meters 0.013425766033025787 Centerline is valid? [True, True] Translation: X:122.97, Y:146.45, Z:-4.53 [[-2.75301935e-01 -9.61354937e-01 -2.35138728e-03 1.22970753e+02] [ 9.61319503e-01 -2.75311976e-01 8.25403898e-03 1.46449946e+02] [-8.58242621e-03 1.19184540e-05 9.99963170e-01 -4.53057259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73 meters 0.013457336241658133 Centerline is valid? [True, True] Translation: X:122.96, Y:146.48, Z:-4.53 [[-2.76950226e-01 -9.60881538e-01 -2.28946563e-03 1.22964863e+02] [ 9.60848008e-01 -2.76959688e-01 8.02719765e-03 1.46477738e+02] [-8.34727571e-03 2.33057179e-05 9.99965161e-01 -4.53022945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76 meters 0.013610354440274303 Centerline is valid? [True, True] Translation: X:122.96, Y:146.51, Z:-4.53 [[-2.80754483e-01 -9.59776960e-01 -2.25986134e-03 1.22961595e+02] [ 9.59744326e-01 -2.80763573e-01 7.91485688e-03 1.46506298e+02] [-8.23098402e-03 5.32424535e-05 9.99966123e-01 -4.53044788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79 meters 0.013925160329501127 Centerline is valid? [True, True] Translation: X:122.96, Y:146.53, Z:-4.53 [[-2.83336939e-01 -9.59017730e-01 -2.27416690e-03 1.22957485e+02] [ 9.58984759e-01 -2.83346056e-01 7.95263151e-03 1.46533108e+02] [-8.27109085e-03 7.23828753e-05 9.99965791e-01 -4.53104197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82 meters 0.014203931294317268 Centerline is valid? [True, True] Translation: X:122.95, Y:146.56, Z:-4.53 [[-2.86294611e-01 -9.58138890e-01 -2.29424047e-03 1.22952697e+02] [ 9.58105337e-01 -2.86303786e-01 8.01899986e-03 1.46561677e+02] [-8.34016536e-03 9.76723998e-05 9.99965215e-01 -4.53069864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85 meters 0.01456916435007194 Centerline is valid? [True, True] Translation: X:122.95, Y:146.59, Z:-4.53 [[-2.89422771e-01 -9.57198089e-01 -2.50573320e-03 1.22948058e+02] [ 9.57158127e-01 -2.89433587e-01 8.74750727e-03 1.46589734e+02] [-9.09834059e-03 1.33344896e-04 9.99958600e-01 -4.53022491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88 meters 0.015395231783113123 Centerline is valid? [True, True] Translation: X:122.94, Y:146.62, Z:-4.53 [[-2.92802875e-01 -9.56169148e-01 -2.65254270e-03 1.22944704e+02] [ 9.56124430e-01 -2.92814840e-01 9.24901969e-03 1.46616991e+02] [-9.62033114e-03 1.71978679e-04 9.99953709e-01 -4.53008734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91 meters 0.016686234510789662 Centerline is valid? [True, True] Translation: X:122.94, Y:146.65, Z:-4.53 [[-2.99669544e-01 -9.54037400e-01 -3.28703653e-03 1.22943666e+02] [ 9.53968788e-01 -2.99687426e-01 1.14454497e-02 1.46646129e+02] [-1.19044706e-02 2.94122437e-04 9.99929096e-01 -4.52773726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94 meters 0.01735423756591949 Centerline is valid? [True, True] Translation: X:122.94, Y:146.67, Z:-4.53 [[-3.03176383e-01 -9.52927209e-01 -3.71677450e-03 1.22938601e+02] [ 9.52839645e-01 -3.03198931e-01 1.29235923e-02 1.46673901e+02] [-1.34421648e-02 3.76637884e-04 9.99909579e-01 -4.52692101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97 meters 0.01799515592851737 Centerline is valid? [True, True] Translation: X:122.93, Y:146.70, Z:-4.53 [[-3.06194295e-01 -9.51960601e-01 -4.00847792e-03 1.22933124e+02] [ 9.51858788e-01 -3.06220202e-01 1.39296664e-02 1.46701706e+02] [-1.44879705e-02 4.49679437e-04 9.99894943e-01 -4.52633321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.0 meters 0.01831131647617037 Centerline is valid? [True, True] Translation: X:122.93, Y:146.73, Z:-4.53 [[-3.08627639e-01 -9.51173022e-01 -4.34322290e-03 1.22926451e+02] [ 9.51053677e-01 -3.08657756e-01 1.50762750e-02 1.46729730e+02] [-1.56807154e-02 5.22317033e-04 9.99876914e-01 -4.52624176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03 meters 0.01949703408080729 Centerline is valid? [True, True] Translation: X:122.92, Y:146.76, Z:-4.53 [[-3.10833965e-01 -9.50452351e-01 -4.75118722e-03 1.22921272e+02] [ 9.50309761e-01 -3.10869685e-01 1.64741528e-02 1.46757273e+02] [-1.71348974e-02 6.05626666e-04 9.99853003e-01 -4.52579215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06 meters 0.01951894104883222 Centerline is valid? [True, True] Translation: X:122.91, Y:146.78, Z:-4.53 [[-3.11256418e-01 -9.50313642e-01 -4.83988373e-03 1.22913225e+02] [ 9.50165967e-01 -3.11293429e-01 1.67641623e-02 1.46784623e+02] [-1.74378362e-02 6.19260315e-04 9.99847758e-01 -4.52644233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09 meters 0.019648680999410657 Centerline is valid? [True, True] Translation: X:122.91, Y:146.81, Z:-4.53 [[-3.10920111e-01 -9.50423582e-01 -4.86822547e-03 1.22905441e+02] [ 9.50274497e-01 -3.10957620e-01 1.68445589e-02 1.46811015e+02] [-1.75232778e-02 6.11161611e-04 9.99846269e-01 -4.52730615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12 meters 0.018472002824129086 Centerline is valid? [True, True] Translation: X:122.89, Y:146.84, Z:-4.53 [[-3.09974660e-01 -9.50732792e-01 -4.78204673e-03 1.22894940e+02] [ 9.50589277e-01 -3.10011006e-01 1.65288630e-02 1.46837779e+02] [-1.71970192e-02 5.77766337e-04 9.99851953e-01 -4.52859717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14999999999998 meters 0.019350780412825255 Centerline is valid? [True, True] Translation: X:122.89, Y:146.86, Z:-4.53 [[-3.08769141e-01 -9.51126214e-01 -4.53233365e-03 1.22887873e+02] [ 9.50997580e-01 -3.08801962e-01 1.56509022e-02 1.46863892e+02] [-1.62855769e-02 5.22277297e-04 9.99867245e-01 -4.53035473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17999999999998 meters 0.017647726495563537 Centerline is valid? [True, True] Translation: X:122.88, Y:146.89, Z:-4.53 [[-3.06998300e-01 -9.51700719e-01 -4.21737602e-03 1.22876264e+02] [ 9.51589605e-01 -3.07026932e-01 1.45494573e-02 1.46890377e+02] [-1.51415770e-02 4.53447482e-04 9.99885257e-01 -4.53164800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20999999999998 meters 0.016671983614452046 Centerline is valid? [True, True] Translation: X:122.86, Y:146.92, Z:-4.53 [[-3.02560960e-01 -9.53122699e-01 -3.73979488e-03 1.22864244e+02] [ 9.53035572e-01 -3.02583885e-01 1.28915280e-02 1.46915580e+02] [-1.34188096e-02 3.36315541e-04 9.99909907e-01 -4.53428730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23999999999998 meters 0.016213547394367082 Centerline is valid? [True, True] Translation: X:122.85, Y:146.94, Z:-4.54 [[-3.00271169e-01 -9.53847216e-01 -3.56559275e-03 1.22853924e+02] [ 9.53768267e-01 -3.00292203e-01 1.22754357e-02 1.46942288e+02] [-1.27796098e-02 2.85210194e-04 9.99918297e-01 -4.53589552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26999999999998 meters 0.015901190962197793 Centerline is valid? [True, True] Translation: X:122.84, Y:146.97, Z:-4.54 [[-2.98221869e-01 -9.54490141e-01 -3.50537211e-03 1.22844472e+02] [ 9.54413940e-01 -2.98242364e-01 1.20633080e-02 1.46967490e+02] [-1.25597591e-02 2.51966269e-04 9.99921091e-01 -4.53727963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29999999999998 meters 0.014494007706593167 Centerline is valid? [True, True] Translation: X:122.83, Y:146.99, Z:-4.54 [[-2.93844483e-01 -9.55847322e-01 -3.36393508e-03 1.22830785e+02] [ 9.55777364e-01 -2.93863681e-01 1.15657986e-02 1.46993025e+02] [-1.20436759e-02 1.83373105e-04 9.99927456e-01 -4.53791711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32999999999998 meters 0.014268956436384844 Centerline is valid? [True, True] Translation: X:122.82, Y:147.02, Z:-4.54 [[-2.92236245e-01 -9.56340018e-01 -3.42738850e-03 1.22821544e+02] [ 9.56267583e-01 -2.92256298e-01 1.17714236e-02 1.47018491e+02] [-1.22591593e-02 1.62536118e-04 9.99924840e-01 -4.53881893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35999999999999 meters 0.013935146435284646 Centerline is valid? [True, True] Translation: X:122.81, Y:147.05, Z:-4.54 [[-2.91104422e-01 -9.56684619e-01 -3.57132621e-03 1.22811679e+02] [ 9.56606187e-01 -2.91126290e-01 1.22510006e-02 1.47045375e+02] [-1.27600508e-02 1.49967702e-04 9.99918576e-01 -4.53890713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39 meters 0.013977190474151462 Centerline is valid? [True, True] Translation: X:122.80, Y:147.07, Z:-4.54 [[-2.90572189e-01 -9.56845876e-01 -3.71107540e-03 1.22803931e+02] [ 9.56761370e-01 -2.90595850e-01 1.27174024e-02 1.47071207e+02] [-1.32470172e-02 1.44709868e-04 9.99912244e-01 -4.53952279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42 meters 0.013883892262955059 Centerline is valid? [True, True] Translation: X:122.80, Y:147.10, Z:-4.54 [[-2.90492518e-01 -9.56868420e-01 -4.11396004e-03 1.22795443e+02] [ 9.56764847e-01 -2.90521606e-01 1.40792012e-02 1.47098035e+02] [-1.46671373e-02 1.53810255e-04 9.99892420e-01 -4.53908469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45 meters 0.013865546612230733 Centerline is valid? [True, True] Translation: X:122.79, Y:147.12, Z:-4.54 [[-2.90777279e-01 -9.56779601e-01 -4.62265568e-03 1.22788047e+02] [ 9.56649135e-01 -2.90813970e-01 1.58008835e-02 1.47124199e+02] [-1.64622959e-02 1.72278358e-04 9.99864472e-01 -4.53829482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48 meters 0.013819635177743225 Centerline is valid? [True, True] Translation: X:122.78, Y:147.15, Z:-4.54 [[-2.91078924e-01 -9.56686555e-01 -4.88825311e-03 1.22780075e+02] [ 9.56541002e-01 -2.91119909e-01 1.66886144e-02 1.47151052e+02] [-1.73888408e-02 1.81889380e-04 9.99848786e-01 -4.53837127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51 meters 0.013888874614228275 Centerline is valid? [True, True] Translation: X:122.77, Y:147.18, Z:-4.54 [[-2.90971283e-01 -9.56718615e-01 -5.02039344e-03 1.22772471e+02] [ 9.56565423e-01 -2.91014536e-01 1.71210710e-02 1.47177588e+02] [-1.78410548e-02 1.79405233e-04 9.99840820e-01 -4.53899829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54 meters 0.013791488666574626 Centerline is valid? [True, True] Translation: X:122.76, Y:147.20, Z:-4.54 [[-2.90773282e-01 -9.56779213e-01 -4.94335127e-03 1.22764400e+02] [ 9.56631001e-01 -2.90815250e-01 1.68409752e-02 1.47204118e+02] [-1.75506970e-02 1.67942566e-04 9.99845961e-01 -4.53997856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57 meters 0.01383751597556537 Centerline is valid? [True, True] Translation: X:122.76, Y:147.23, Z:-4.54 [[-2.90118312e-01 -9.56979147e-01 -4.71997684e-03 1.22756633e+02] [ 9.56844320e-01 -2.90156669e-01 1.60641118e-02 1.47229636e+02] [-1.67425528e-02 1.44209976e-04 9.99859823e-01 -4.54150644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.6 meters 0.013635166083591796 Centerline is valid? [True, True] Translation: X:122.75, Y:147.26, Z:-4.54 [[-2.86978329e-01 -9.57927941e-01 -4.18315138e-03 1.22747971e+02] [ 9.57822344e-01 -2.87008805e-01 1.42233029e-02 1.47255840e+02] [-1.48255005e-02 7.50638156e-05 9.99890093e-01 -4.54414586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63 meters 0.01356164191516909 Centerline is valid? [True, True] Translation: X:122.74, Y:147.28, Z:-4.55 [[-2.85153061e-01 -9.58474671e-01 -3.74669168e-03 1.22739164e+02] [ 9.58390156e-01 -2.85177671e-01 1.27281294e-02 1.47282978e+02] [-1.32680624e-02 3.86726232e-05 9.99911975e-01 -4.54611743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66 meters 0.013685978663665183 Centerline is valid? [True, True] Translation: X:122.73, Y:147.31, Z:-4.55 [[-2.83087437e-01 -9.59088366e-01 -3.31804388e-03 1.22730855e+02] [ 9.59022230e-01 -2.83106881e-01 1.12630104e-02 1.47308374e+02] [-1.17415833e-02 6.33890273e-06 9.99931065e-01 -4.54836644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69 meters 0.013757329976495251 Centerline is valid? [True, True] Translation: X:122.72, Y:147.34, Z:-4.55 [[-2.80718740e-01 -9.59785833e-01 -2.85382941e-03 1.22722169e+02] [ 9.59737031e-01 -2.80733245e-01 9.67869602e-03 1.47335594e+02] [-1.00906401e-02 -2.19344128e-05 9.99949088e-01 -4.54955717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72 meters 0.013930557736581705 Centerline is valid? [True, True] Translation: X:122.71, Y:147.36, Z:-4.55 [[-2.78558425e-01 -9.60416200e-01 -2.43433502e-03 1.22713942e+02] [ 9.60380785e-01 -2.78569059e-01 8.24787514e-03 1.47361634e+02] [-8.59952331e-03 -4.03734647e-05 9.99963023e-01 -4.55139601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75 meters 0.01412055941141867 Centerline is valid? [True, True] Translation: X:122.71, Y:147.39, Z:-4.55 [[-2.76589546e-01 -9.60985745e-01 -2.14978960e-03 1.22705875e+02] [ 9.60958145e-01 -2.76597896e-01 7.28337521e-03 1.47388843e+02] [-7.59384703e-03 -5.13523778e-05 9.99971165e-01 -4.55258164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78 meters 0.014551014448659532 Centerline is valid? [True, True] Translation: X:122.70, Y:147.42, Z:-4.55 [[-2.73442650e-01 -9.61886452e-01 -1.88984291e-03 1.22699513e+02] [ 9.61865176e-01 -2.73449172e-01 6.39791663e-03 1.47416361e+02] [-6.67084530e-03 -6.83107993e-05 9.99977747e-01 -4.55263126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81 meters 0.014721178558864855 Centerline is valid? [True, True] Translation: X:122.69, Y:147.44, Z:-4.55 [[-2.72568119e-01 -9.62134808e-01 -1.79765981e-03 1.22692790e+02] [ 9.62115590e-01 -2.72574038e-01 6.08159088e-03 1.47443563e+02] [-6.34130567e-03 -7.19087392e-05 9.99979891e-01 -4.55280352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84 meters 0.014812887948021483 Centerline is valid? [True, True] Translation: X:122.69, Y:147.47, Z:-4.55 [[-2.72241818e-01 -9.62226986e-01 -1.90268260e-03 1.22686539e+02] [ 9.62205511e-01 -2.72248455e-01 6.42909035e-03 1.47471051e+02] [-6.70424663e-03 -8.05044384e-05 9.99977523e-01 -4.55227890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87 meters 0.014996859513779867 Centerline is valid? [True, True] Translation: X:122.68, Y:147.50, Z:-4.55 [[-2.71646495e-01 -9.62394318e-01 -2.31500295e-03 1.22682543e+02] [ 9.62362632e-01 -2.71656338e-01 7.81018703e-03 1.47497875e+02] [-8.14536484e-03 -1.06262407e-04 9.99966820e-01 -4.55108706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89999999999998 meters 0.015097979165835822 Centerline is valid? [True, True] Translation: X:122.68, Y:147.53, Z:-4.55 [[-2.71682937e-01 -9.62383265e-01 -2.61380787e-03 1.22677075e+02] [ 9.62342995e-01 -2.71695483e-01 8.80485412e-03 1.47525085e+02] [-9.18380405e-03 -1.23251058e-04 9.99957820e-01 -4.55057243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92999999999998 meters 0.01508095672331034 Centerline is valid? [True, True] Translation: X:122.67, Y:147.55, Z:-4.55 [[-2.71917365e-01 -9.62316624e-01 -2.76802710e-03 1.22671633e+02] [ 9.62271563e-01 -2.71931422e-01 9.31351834e-03 1.47553291e+02] [-9.71526707e-03 -1.31086402e-04 9.99952797e-01 -4.55000881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95999999999998 meters 0.01527251813675238 Centerline is valid? [True, True] Translation: X:122.67, Y:147.58, Z:-4.55 [[-2.71836771e-01 -9.62339265e-01 -2.81244052e-03 1.22665777e+02] [ 9.62292842e-01 -2.71851285e-01 9.45331474e-03 1.47580319e+02] [-9.86186153e-03 -1.36632827e-04 9.99951361e-01 -4.54991011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98999999999998 meters 0.015278728289566893 Centerline is valid? [True, True] Translation: X:122.66, Y:147.61, Z:-4.55 [[-2.70925581e-01 -9.62596098e-01 -2.84281566e-03 1.22661535e+02] [ 9.62548793e-01 -2.70940454e-01 9.54418465e-03 1.47608873e+02] [-9.95742867e-03 -1.50585012e-04 9.99950412e-01 -4.54905345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01999999999998 meters 0.015634463185807478 Centerline is valid? [True, True] Translation: X:122.65, Y:147.64, Z:-4.55 [[-2.70068205e-01 -9.62836928e-01 -2.86598975e-03 1.22654780e+02] [ 9.62788967e-01 -2.70083363e-01 9.61162233e-03 1.47635810e+02] [-1.00284811e-02 -1.63549713e-04 9.99949700e-01 -4.54949822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04999999999998 meters 0.016094850079561424 Centerline is valid? [True, True] Translation: X:122.65, Y:147.66, Z:-4.55 [[-2.69216127e-01 -9.63075853e-01 -2.75287384e-03 1.22647548e+02] [ 9.63031730e-01 -2.69230148e-01 9.22029962e-03 1.47661741e+02] [-9.62100455e-03 -1.68851502e-04 9.99953703e-01 -4.55046773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07999999999998 meters 0.01604032476502402 Centerline is valid? [True, True] Translation: X:122.64, Y:147.69, Z:-4.55 [[-2.68270197e-01 -9.63340572e-01 -2.45839805e-03 1.22641083e+02] [ 9.63305412e-01 -2.68281414e-01 8.23203174e-03 1.47689754e+02] [-8.58979266e-03 -1.59779367e-04 9.99963094e-01 -4.55094902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10999999999999 meters 0.016320175318438695 Centerline is valid? [True, True] Translation: X:122.63, Y:147.72, Z:-4.55 [[-2.68201826e-01 -9.63360062e-01 -2.27420655e-03 1.22634244e+02] [ 9.63330011e-01 -2.68211426e-01 7.61063824e-03 1.47716513e+02] [-7.94175311e-03 -1.49624349e-04 9.99968453e-01 -4.55252068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14 meters 0.015933460120509352 Centerline is valid? [True, True] Translation: X:122.63, Y:147.74, Z:-4.55 [[-2.70341917e-01 -9.62763142e-01 -1.54265380e-03 1.22631295e+02] [ 9.62749303e-01 -2.70346303e-01 5.16288779e-03 1.47744529e+02] [-5.38768882e-03 -8.94438860e-05 9.99985482e-01 -4.55418228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17 meters 0.015989898464762 Centerline is valid? [True, True] Translation: X:122.63, Y:147.77, Z:-4.56 [[-2.72098940e-01 -9.62268449e-01 -1.26452799e-03 1.22625641e+02] [ 9.62259167e-01 -2.72101870e-01 4.22696424e-03 1.47771421e+02] [-4.41155476e-03 -6.66511631e-05 9.99990267e-01 -4.55581544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.2 meters 0.015448926849510948 Centerline is valid? [True, True] Translation: X:122.62, Y:147.80, Z:-4.56 [[-2.74305565e-01 -9.61641952e-01 -1.10100911e-03 1.22620644e+02] [ 9.61634898e-01 -2.74307771e-01 3.68384851e-03 1.47799372e+02] [-3.84455863e-03 -4.82686367e-05 9.99992609e-01 -4.55644276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23 meters 0.015194824783025272 Centerline is valid? [True, True] Translation: X:122.62, Y:147.83, Z:-4.56 [[-2.76687125e-01 -9.60959531e-01 -1.00702928e-03 1.22615009e+02] [ 9.60953631e-01 -2.76688955e-01 3.36756957e-03 1.47827207e+02] [-3.51473195e-03 -3.59453029e-05 9.99993823e-01 -4.55730625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26 meters 0.014888367510557594 Centerline is valid? [True, True] Translation: X:122.61, Y:147.85, Z:-4.56 [[-2.79168887e-01 -9.60240999e-01 -1.39881510e-03 1.22608470e+02] [ 9.60229667e-01 -2.79172389e-01 4.66512705e-03 1.47854229e+02] [-4.87015681e-03 -4.08254348e-05 9.99988140e-01 -4.55600436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29 meters 0.014611806528053753 Centerline is valid? [True, True] Translation: X:122.60, Y:147.88, Z:-4.56 [[-2.80770367e-01 -9.59773579e-01 -1.63637974e-03 1.22600545e+02] [ 9.59758115e-01 -2.80775133e-01 5.44851500e-03 1.47881177e+02] [-5.68879548e-03 -4.07471736e-05 9.99983818e-01 -4.55522186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32 meters 0.014484155071655189 Centerline is valid? [True, True] Translation: X:122.59, Y:147.91, Z:-4.56 [[-2.82751427e-01 -9.59191245e-01 -1.94596149e-03 1.22592725e+02] [ 9.59169433e-01 -2.82758120e-01 6.46867019e-03 1.47907745e+02] [-6.75492823e-03 -3.74810564e-05 9.99977185e-01 -4.55532212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35 meters 0.014336173453577962 Centerline is valid? [True, True] Translation: X:122.58, Y:147.94, Z:-4.56 [[-2.85069780e-01 -9.58504282e-01 -2.18226150e-03 1.22584926e+02] [ 9.58476906e-01 -2.85078131e-01 7.24426255e-03 1.47935010e+02] [-7.56577171e-03 -2.65269170e-05 9.99971379e-01 -4.55525216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38 meters 0.014212896415121492 Centerline is valid? [True, True] Translation: X:122.58, Y:147.96, Z:-4.56 [[-2.87937832e-01 -9.57646204e-01 -2.35643152e-03 1.22578108e+02] [ 9.57614331e-01 -2.87947474e-01 7.81312495e-03 1.47961005e+02] [-8.16073796e-03 -6.85833569e-06 9.99966701e-01 -4.55556427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41 meters 0.014170589679299888 Centerline is valid? [True, True] Translation: X:122.57, Y:147.99, Z:-4.55 [[-2.91121970e-01 -9.56682152e-01 -2.69426442e-03 1.22571788e+02] [ 9.56640564e-01 -2.91134436e-01 8.92024640e-03 1.47988221e+02] [-9.31823367e-03 1.94370690e-05 9.99956584e-01 -4.55476776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44 meters 0.014170589679299888 Centerline is valid? [True, True] Translation: X:122.56, Y:148.01, Z:-4.56 [[-2.91394922e-01 -9.56599042e-01 -2.69680645e-03 1.22563725e+02] [ 9.56557458e-01 -2.91407400e-01 8.91947733e-03 1.48014622e+02] [-9.31823283e-03 1.94400829e-05 9.99956584e-01 -4.55533380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47 meters 0.014568359299953107 Centerline is valid? [True, True] Translation: X:122.56, Y:148.04, Z:-4.55 [[-2.98629304e-01 -9.54364493e-01 -2.99218552e-03 1.22561111e+02] [ 9.54313314e-01 -2.98644278e-01 9.88402502e-03 1.48043331e+02] [-1.03265616e-02 9.61770289e-05 9.99946675e-01 -4.55443770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.5 meters 0.01511859108168071 Centerline is valid? [True, True] Translation: X:122.56, Y:148.07, Z:-4.56 [[-3.02683597e-01 -9.53086619e-01 -2.92159857e-03 1.22556350e+02] [ 9.53037856e-01 -3.02697667e-01 9.64199081e-03 1.48070575e+02] [-1.00740135e-02 1.34078430e-04 9.99949247e-01 -4.55507289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53 meters 0.015477657360369788 Centerline is valid? [True, True] Translation: X:122.55, Y:148.10, Z:-4.56 [[-3.06545345e-01 -9.51851332e-01 -2.99893448e-03 1.22548816e+02] [ 9.51800014e-01 -3.06559964e-01 9.88542169e-03 1.48097795e+02] [-1.03288050e-02 1.75944129e-04 9.99946641e-01 -4.55517598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56 meters 0.017042914062609413 Centerline is valid? [True, True] Translation: X:122.54, Y:148.12, Z:-4.56 [[-3.13401141e-01 -9.49616960e-01 -2.71193244e-03 1.22541871e+02] [ 9.49574970e-01 -3.13412793e-01 8.93293661e-03 1.48124027e+02] [-9.33282242e-03 2.24409356e-04 9.99956423e-01 -4.55694123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59 meters 0.018059905704547526 Centerline is valid? [True, True] Translation: X:122.53, Y:148.15, Z:-4.56 [[-3.17057709e-01 -9.48402378e-01 -2.70885153e-03 1.22534576e+02] [ 9.48360539e-01 -3.17069177e-01 8.91213606e-03 1.48151182e+02] [-9.31118436e-03 2.56693546e-04 9.99956617e-01 -4.55812081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62 meters 0.01902493835854476 Centerline is valid? [True, True] Translation: X:122.53, Y:148.18, Z:-4.56 [[-3.21033879e-01 -9.47064438e-01 -2.48993175e-03 1.22527197e+02] [ 9.47029102e-01 -3.21043421e-01 8.18547829e-03 1.48178011e+02] [-8.55155160e-03 2.69778020e-04 9.99963398e-01 -4.55886254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64999999999998 meters 0.01924507203901446 Centerline is valid? [True, True] Translation: X:122.52, Y:148.20, Z:-4.56 [[-3.24846349e-01 -9.45763756e-01 -2.40134033e-03 1.22519011e+02] [ 9.45730906e-01 -3.24855094e-01 7.88801575e-03 1.48204328e+02] [-8.24028705e-03 2.91371356e-04 9.99966006e-01 -4.55889227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67999999999998 meters 0.020144114133335646 Centerline is valid? [True, True] Translation: X:122.51, Y:148.23, Z:-4.56 [[-3.28352987e-01 -9.44551908e-01 -2.45154160e-03 1.22511840e+02] [ 9.44517720e-01 -3.28361977e-01 8.04289651e-03 1.48231267e+02] [-8.40192629e-03 3.25384607e-04 9.99964650e-01 -4.55935369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70999999999998 meters 0.020827959626909417 Centerline is valid? [True, True] Translation: X:122.50, Y:148.26, Z:-4.56 [[-3.31595765e-01 -9.43418692e-01 -2.32829096e-03 1.22504516e+02] [ 9.43387882e-01 -3.31603770e-01 7.63172627e-03 1.48258302e+02] [-7.97198327e-03 3.34166632e-04 9.99968167e-01 -4.55951945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73999999999998 meters 0.02631368055761364 Centerline is valid? [True, True] Translation: X:122.50, Y:148.29, Z:-4.56 [[-3.34924778e-01 -9.42241750e-01 -2.42455660e-03 1.22502972e+02] [ 9.42208379e-01 -3.34933344e-01 7.93892876e-03 1.48285825e+02] [-8.29245498e-03 3.74506402e-04 9.99965547e-01 -4.56197075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76999999999998 meters 0.025789974732344016 Centerline is valid? [True, True] Translation: X:122.49, Y:148.31, Z:-4.56 [[-3.34980050e-01 -9.42222276e-01 -2.35554645e-03 1.22492533e+02] [ 9.42190842e-01 -3.34988136e-01 7.70494774e-03 1.48311438e+02] [-8.04885351e-03 3.61629479e-04 9.99967542e-01 -4.56284639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79999999999998 meters 0.021942207304019943 Centerline is valid? [True, True] Translation: X:122.48, Y:148.34, Z:-4.56 [[-3.33769974e-01 -9.42651816e-01 -2.27111496e-03 1.22476945e+02] [ 9.42622666e-01 -3.33777531e-01 7.42091655e-03 1.48336080e+02] [-7.75338761e-03 3.36074686e-04 9.99969886e-01 -4.56245549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82999999999998 meters 0.020050847244362114 Centerline is valid? [True, True] Translation: X:122.46, Y:148.36, Z:-4.56 [[-3.31416751e-01 -9.43481928e-01 -2.18829514e-03 1.22463695e+02] [ 9.43454962e-01 -3.31423839e-01 7.13963817e-03 1.48361824e+02] [-7.46137276e-03 3.01637785e-04 9.99972118e-01 -4.56266874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85999999999999 meters 0.019303806203205667 Centerline is valid? [True, True] Translation: X:122.45, Y:148.39, Z:-4.56 [[-3.28122539e-01 -9.44632691e-01 -2.16290837e-03 1.22452410e+02] [ 9.44606368e-01 -3.28129554e-01 7.05724215e-03 1.48387538e+02] [-7.37621580e-03 2.72543185e-04 9.99972758e-01 -4.56352095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89 meters 0.017131728803664207 Centerline is valid? [True, True] Translation: X:122.44, Y:148.41, Z:-4.56 [[-3.19196918e-01 -9.47685359e-01 -2.40582326e-03 1.22436827e+02] [ 9.47652960e-01 -3.19205907e-01 7.83939707e-03 1.48411476e+02] [-8.19723482e-03 2.22425855e-04 9.99966377e-01 -4.56339256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92 meters 0.015996950881563218 Centerline is valid? [True, True] Translation: X:122.42, Y:148.44, Z:-4.56 [[-3.13984243e-01 -9.49424726e-01 -2.56605928e-03 1.22424677e+02] [ 9.49388039e-01 -3.13994674e-01 8.34838638e-03 1.48435931e+02] [-8.73189340e-03 1.85075790e-04 9.99961859e-01 -4.56364438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95 meters 0.01505646410828765 Centerline is valid? [True, True] Translation: X:122.41, Y:148.46, Z:-4.56 [[-3.08713373e-01 -9.51151752e-01 -2.52933624e-03 1.22412179e+02] [ 9.51116199e-01 -3.08723706e-01 8.22495964e-03 1.48460711e+02] [-8.60405083e-03 1.33462369e-04 9.99962976e-01 -4.56462092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98 meters 0.014067846402733177 Centerline is valid? [True, True] Translation: X:122.40, Y:148.49, Z:-4.57 [[-3.03306163e-01 -9.52889487e-01 -2.64520102e-03 1.22398560e+02] [ 9.52850754e-01 -3.03317686e-01 8.59200188e-03 1.48485670e+02] [-8.98956452e-03 8.55253444e-05 9.99959589e-01 -4.56501701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01 meters 0.013598788845601907 Centerline is valid? [True, True] Translation: X:122.39, Y:148.51, Z:-4.57 [[-2.97768493e-01 -9.54634625e-01 -2.58009678e-03 1.22385634e+02] [ 9.54597909e-01 -2.97779669e-01 8.37261339e-03 1.48511069e+02] [-8.76108701e-03 3.01454842e-05 9.99961620e-01 -4.56582139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04 meters 0.013856201149594951 Centerline is valid? [True, True] Translation: X:122.37, Y:148.54, Z:-4.57 [[-2.88159008e-01 -9.57578802e-01 -2.68786433e-03 1.22369276e+02] [ 9.57539203e-01 -2.88171536e-01 8.70859053e-03 1.48535228e+02] [-9.11372768e-03 -6.42766600e-05 9.99958467e-01 -4.56692904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07 meters 0.014458484825481578 Centerline is valid? [True, True] Translation: X:122.36, Y:148.56, Z:-4.57 [[-2.84171528e-01 -9.58769223e-01 -2.84968773e-03 1.22357527e+02] [ 9.58724804e-01 -2.84185795e-01 9.22952921e-03 1.48561647e+02] [-9.65882932e-03 -1.09296893e-04 9.99953346e-01 -4.56714067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.1 meters 0.01493958969958945 Centerline is valid? [True, True] Translation: X:122.35, Y:148.59, Z:-4.57 [[-2.80938265e-01 -9.59721074e-01 -3.02502803e-03 1.22346616e+02] [ 9.59671183e-01 -2.80954509e-01 9.78694745e-03 1.48588306e+02] [-1.02426350e-02 -1.53504198e-04 9.99947531e-01 -4.56772215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13 meters 0.0161321146475096 Centerline is valid? [True, True] Translation: X:122.34, Y:148.61, Z:-4.57 [[-2.76652013e-01 -9.60964749e-01 -3.22724191e-03 1.22335019e+02] [ 9.60908158e-01 -2.76670752e-01 1.04310381e-02 1.48612943e+02] [-1.09167434e-02 -2.15315382e-04 9.99940387e-01 -4.56823293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16 meters 0.01636723280207984 Centerline is valid? [True, True] Translation: X:122.33, Y:148.64, Z:-4.57 [[-2.75405652e-01 -9.61322905e-01 -3.16200761e-03 1.22325905e+02] [ 9.61268728e-01 -2.75423709e-01 1.02084818e-02 1.48640240e+02] [-1.06845393e-02 -2.28065428e-04 9.99942893e-01 -4.56878926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19 meters 0.01696080567026771 Centerline is valid? [True, True] Translation: X:122.32, Y:148.67, Z:-4.57 [[-2.74459841e-01 -9.61593338e-01 -3.16988190e-03 1.22316637e+02] [ 9.61539001e-01 -2.74478040e-01 1.02251966e-02 1.48666069e+02] [-1.07025439e-02 -2.41559245e-04 9.99942697e-01 -4.56983738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22 meters 0.016958957923660232 Centerline is valid? [True, True] Translation: X:122.31, Y:148.69, Z:-4.57 [[-2.73623058e-01 -9.61831655e-01 -3.20769591e-03 1.22308447e+02] [ 9.61776163e-01 -2.73641738e-01 1.03349197e-02 1.48693503e+02] [-1.08182124e-02 -2.57213143e-04 9.99941448e-01 -4.57048217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25 meters 0.016939898488181726 Centerline is valid? [True, True] Translation: X:122.30, Y:148.72, Z:-4.57 [[-2.73227953e-01 -9.61944100e-01 -3.16756701e-03 1.22300539e+02] [ 9.61890092e-01 -2.73246189e-01 1.01966508e-02 1.48720452e+02] [-1.06741337e-02 -2.60841302e-04 9.99942996e-01 -4.57130876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28 meters 0.01760199701274222 Centerline is valid? [True, True] Translation: X:122.29, Y:148.75, Z:-4.57 [[-2.73181475e-01 -9.61957907e-01 -2.97770052e-03 1.22292879e+02] [ 9.61910261e-01 -2.73197591e-01 9.57741528e-03 1.48746454e+02] [-1.00265710e-02 -2.47908245e-04 9.99949702e-01 -4.57276128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31 meters 0.016950603210216162 Centerline is valid? [True, True] Translation: X:122.29, Y:148.77, Z:-4.57 [[-2.73663789e-01 -9.61820975e-01 -2.92278335e-03 1.22286614e+02] [ 9.61775163e-01 -2.73679290e-01 9.39055986e-03 1.48774135e+02] [-9.83194271e-03 -2.41204235e-04 9.99951636e-01 -4.57333864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34 meters 0.01722021535828555 Centerline is valid? [True, True] Translation: X:122.28, Y:148.80, Z:-4.57 [[-2.74622401e-01 -9.61548184e-01 -2.76156466e-03 1.22279491e+02] [ 9.61507342e-01 -2.74636197e-01 8.86512681e-03 1.48800763e+02] [-9.28267220e-03 -2.20702288e-04 9.99956891e-01 -4.57437830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37 meters 0.01712243973267224 Centerline is valid? [True, True] Translation: X:122.27, Y:148.83, Z:-4.57 [[-2.75849009e-01 -9.61197385e-01 -2.62879265e-03 1.22273054e+02] [ 9.61160438e-01 -2.75861461e-01 8.43005676e-03 1.48828103e+02] [-8.82813110e-03 -2.01268691e-04 9.99961011e-01 -4.57489623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39999999999998 meters 0.016872600466602928 Centerline is valid? [True, True] Translation: X:122.27, Y:148.86, Z:-4.58 [[-2.77237392e-01 -9.60798379e-01 -2.42957302e-03 1.22267188e+02] [ 9.60766857e-01 -2.77247982e-01 7.78481819e-03 1.48855413e+02] [-8.15323492e-03 -1.76010539e-04 9.99966746e-01 -4.57587729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42999999999998 meters 0.016345517271086074 Centerline is valid? [True, True] Translation: X:122.26, Y:148.88, Z:-4.58 [[-2.80056539e-01 -9.59981547e-01 -1.94022032e-03 1.22263925e+02] [ 9.59961444e-01 -2.80063233e-01 6.21378301e-03 1.48884376e+02] [-6.50850140e-03 -1.22326141e-04 9.99978812e-01 -4.57722250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45999999999998 meters 0.016067751126564323 Centerline is valid? [True, True] Translation: X:122.26, Y:148.91, Z:-4.58 [[-2.81756592e-01 -9.59484429e-01 -1.68938078e-03 1.22258145e+02] [ 9.59469189e-01 -2.81761640e-01 5.40859214e-03 1.48911751e+02] [-5.66546264e-03 -9.70023175e-05 9.99983946e-01 -4.57832782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48999999999998 meters 0.01578493035246141 Centerline is valid? [True, True] Translation: X:122.25, Y:148.94, Z:-4.58 [[-2.83435147e-01 -9.58990215e-01 -1.51151420e-03 1.22252691e+02] [ 9.58978014e-01 -2.83439166e-01 4.83815342e-03 1.48938503e+02] [-5.06816412e-03 -7.82061577e-05 9.99987154e-01 -4.57952769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51999999999998 meters 0.014940426929949796 Centerline is valid? [True, True] Translation: X:122.25, Y:148.97, Z:-4.58 [[-2.87152422e-01 -9.57883735e-01 -1.49533339e-03 1.22250681e+02] [ 9.57871820e-01 -2.87156309e-01 4.77823326e-03 1.48968234e+02] [-5.00638634e-03 -6.02564625e-05 9.99987466e-01 -4.57896320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54999999999998 meters 0.01505233718993565 Centerline is valid? [True, True] Translation: X:122.24, Y:148.99, Z:-4.58 [[-2.89303055e-01 -9.57236256e-01 -1.57889772e-03 1.22244862e+02] [ 9.57222981e-01 -2.89307358e-01 5.04149823e-03 1.48994422e+02] [-5.28269162e-03 -5.28363431e-05 9.99986045e-01 -4.58050909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57999999999998 meters 0.01450651981928881 Centerline is valid? [True, True] Translation: X:122.24, Y:149.02, Z:-4.58 [[-2.91667741e-01 -9.56518280e-01 -1.64584677e-03 1.22240282e+02] [ 9.56503880e-01 -2.91672381e-01 5.24871138e-03 1.49022586e+02] [-5.50053643e-03 -4.33790340e-05 9.99984871e-01 -4.57961304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60999999999999 meters 0.014280134470593652 Centerline is valid? [True, True] Translation: X:122.24, Y:149.05, Z:-4.58 [[-2.93997336e-01 -9.55804653e-01 -1.74136615e-03 1.22235148e+02] [ 9.55788549e-01 -2.94002491e-01 5.54841965e-03 1.49049618e+02] [-5.81517130e-03 -3.31572314e-05 9.99983091e-01 -4.57938457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64 meters 0.014316337523658932 Centerline is valid? [True, True] Translation: X:122.23, Y:149.08, Z:-4.58 [[-2.96344849e-01 -9.55078891e-01 -2.01040828e-03 1.22230160e+02] [ 9.55057475e-01 -2.96351667e-01 6.39597924e-03 1.49075349e+02] [-6.70445261e-03 -2.46399511e-05 9.99977525e-01 -4.58035884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67 meters 0.014012384403175773 Centerline is valid? [True, True] Translation: X:122.23, Y:149.10, Z:-4.58 [[-2.98700815e-01 -9.54344266e-01 -2.20132360e-03 1.22225155e+02] [ 9.54318655e-01 -2.98708926e-01 6.99154410e-03 1.49102959e+02] [-7.32989503e-03 -1.23842611e-05 9.99973136e-01 -4.57886929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.7 meters 0.01395890986738787 Centerline is valid? [True, True] Translation: X:122.22, Y:149.13, Z:-4.58 [[-3.01968069e-01 -9.53314063e-01 -2.75360046e-03 1.22221761e+02] [ 9.53274063e-01 -3.01980623e-01 8.73288790e-03 1.49129385e+02] [-9.15671883e-03 1.21173939e-05 9.99958076e-01 -4.57803669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73 meters 0.013923222523085041 Centerline is valid? [True, True] Translation: X:122.22, Y:149.16, Z:-4.58 [[-3.03214999e-01 -9.52917183e-01 -3.08334516e-03 1.22215167e+02] [ 9.52867179e-01 -3.03230675e-01 9.76198310e-03 1.49155297e+02] [-1.02373263e-02 2.19612889e-05 9.99947597e-01 -4.57815653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76 meters 0.013925478749137762 Centerline is valid? [True, True] Translation: X:122.21, Y:149.18, Z:-4.58 [[-3.04013936e-01 -9.52661340e-01 -3.44946660e-03 1.22207879e+02] [ 9.52598842e-01 -3.04033503e-01 1.09121439e-02 1.49181347e+02] [-1.14443310e-02 3.14859184e-05 9.99934511e-01 -4.57766559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79 meters 0.013858335048035061 Centerline is valid? [True, True] Translation: X:122.20, Y:149.21, Z:-4.58 [[-3.03765062e-01 -9.52738497e-01 -4.01779999e-03 1.22198308e+02] [ 9.52653946e-01 -3.03791631e-01 1.26926584e-02 1.49207624e+02] [-1.33133583e-02 2.80131426e-05 9.99911373e-01 -4.57627338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82 meters 0.013835229514773324 Centerline is valid? [True, True] Translation: X:122.19, Y:149.23, Z:-4.58 [[-3.03303942e-01 -9.52884945e-01 -4.12315799e-03 1.22189016e+02] [ 9.52796095e-01 -3.03331965e-01 1.30123031e-02 1.49233658e+02] [-1.36499133e-02 1.81539833e-05 9.99906835e-01 -4.57696063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85 meters 0.013836953364747473 Centerline is valid? [True, True] Translation: X:122.18, Y:149.26, Z:-4.58 [[-3.02424711e-01 -9.53164730e-01 -4.03636638e-03 1.22179555e+02] [ 9.53079768e-01 -3.02451646e-01 1.27262256e-02 1.49260227e+02] [-1.33509951e-02 1.74598032e-06 9.99910872e-01 -4.57819688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88 meters 0.013942751612220403 Centerline is valid? [True, True] Translation: X:122.17, Y:149.29, Z:-4.58 [[-3.01503908e-01 -9.53457482e-01 -3.77150519e-03 1.22169912e+02] [ 9.53383457e-01 -3.01527495e-01 1.18807939e-02 1.49286416e+02] [-1.24650444e-02 -1.35848696e-05 9.99922308e-01 -4.57904944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91 meters 0.013934081154564668 Centerline is valid? [True, True] Translation: X:122.16, Y:149.31, Z:-4.58 [[-3.00192033e-01 -9.53871863e-01 -3.63497996e-03 1.22160127e+02] [ 9.53803256e-01 -3.00214038e-01 1.14402585e-02 1.49312538e+02] [-1.20038127e-02 -3.27812859e-05 9.99927951e-01 -4.58043713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94 meters 0.01412209087907725 Centerline is valid? [True, True] Translation: X:122.15, Y:149.34, Z:-4.58 [[-2.98702069e-01 -9.54340743e-01 -3.28958930e-03 1.22150345e+02] [ 9.54284662e-01 -2.98720178e-01 1.03459650e-02 1.49337802e+02] [-1.08562426e-02 -4.88434627e-05 9.99941068e-01 -4.58212138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97 meters 0.014468900382202004 Centerline is valid? [True, True] Translation: X:122.14, Y:149.36, Z:-4.58 [[-2.95385324e-01 -9.55373564e-01 -2.97713825e-03 1.22138925e+02] [ 9.55327769e-01 -2.95400315e-01 9.35456882e-03 1.49363069e+02] [-9.81655533e-03 -8.09405046e-05 9.99951813e-01 -4.58332937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.0 meters 0.014580217880562291 Centerline is valid? [True, True] Translation: X:122.13, Y:149.39, Z:-4.58 [[-2.93949657e-01 -9.55816715e-01 -2.82951789e-03 1.22129082e+02] [ 9.55775451e-01 -2.93963260e-01 8.88191368e-03 1.49389300e+02] [-9.32125586e-03 -9.35482564e-05 9.99956552e-01 -4.58403836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03 meters 0.014744326752397565 Centerline is valid? [True, True] Translation: X:122.12, Y:149.42, Z:-4.58 [[-2.92813374e-01 -9.56165386e-01 -2.84301931e-03 1.22118887e+02] [ 9.56123825e-01 -2.92827156e-01 8.91554814e-03 1.49415584e+02] [-9.35725179e-03 -1.07686759e-04 9.99956214e-01 -4.58446795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06 meters 0.015001626209952715 Centerline is valid? [True, True] Translation: X:122.11, Y:149.44, Z:-4.58 [[-2.91725191e-01 -9.56497673e-01 -2.93523472e-03 1.22109048e+02] [ 9.56453477e-01 -2.91739930e-01 9.19558557e-03 1.49441418e+02] [-9.65188137e-03 -1.24831501e-04 9.99953412e-01 -4.58490563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09 meters 0.015264708901260764 Centerline is valid? [True, True] Translation: X:122.10, Y:149.47, Z:-4.58 [[-2.90099579e-01 -9.56991187e-01 -3.17832611e-03 1.22098687e+02] [ 9.56939536e-01 -2.90116947e-01 9.94393730e-03 1.49468179e+02] [-1.04383466e-02 -1.56733887e-04 9.99945507e-01 -4.58414540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12 meters 0.015460087185787915 Centerline is valid? [True, True] Translation: X:122.09, Y:149.49, Z:-4.58 [[-2.90340263e-01 -9.56917758e-01 -3.30709746e-03 1.22089339e+02] [ 9.56861935e-01 -2.90359051e-01 1.03372253e-02 1.49493926e+02] [-1.08521201e-02 -1.63122968e-04 9.99941101e-01 -4.58465849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14999999999998 meters 0.01521210216689698 Centerline is valid? [True, True] Translation: X:122.08, Y:149.52, Z:-4.58 [[-2.90603432e-01 -9.56837196e-01 -3.49647920e-03 1.22081419e+02] [ 9.56774941e-01 -2.90624414e-01 1.09161377e-02 1.49520881e+02] [-1.14611288e-02 -1.73076612e-04 9.99934304e-01 -4.58433428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17999999999998 meters 0.015330386406600971 Centerline is valid? [True, True] Translation: X:122.07, Y:149.55, Z:-4.58 [[-2.91387065e-01 -9.56597961e-01 -3.73099406e-03 1.22072548e+02] [ 9.56527237e-01 -2.91410895e-01 1.16333449e-02 1.49546454e+02] [-1.22156863e-02 -1.78991216e-04 9.99925370e-01 -4.58499807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20999999999998 meters 0.014996870773742057 Centerline is valid? [True, True] Translation: X:122.07, Y:149.57, Z:-4.59 [[-2.92325651e-01 -9.56311494e-01 -3.74701737e-03 1.22065251e+02] [ 9.56240218e-01 -2.92349616e-01 1.16768193e-02 1.49573130e+02] [-1.22621156e-02 -1.69614893e-04 9.99924803e-01 -4.58509612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23999999999998 meters 0.014654421800742291 Centerline is valid? [True, True] Translation: X:122.06, Y:149.60, Z:-4.59 [[-2.93838826e-01 -9.55847253e-01 -3.84351206e-03 1.22058792e+02] [ 9.55772371e-01 -2.93863920e-01 1.19654605e-02 1.49600412e+02] [-1.25666221e-02 -1.57605758e-04 9.99921024e-01 -4.58503909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26999999999998 meters 0.014857273925072712 Centerline is valid? [True, True] Translation: X:122.05, Y:149.63, Z:-4.59 [[-2.94234214e-01 -9.55725424e-01 -3.89122987e-03 1.22050789e+02] [ 9.55648808e-01 -2.94259902e-01 1.21023330e-02 1.49626257e+02] [-1.27115403e-02 -1.57728729e-04 9.99919193e-01 -4.58563600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29999999999998 meters 0.014377739891522676 Centerline is valid? [True, True] Translation: X:122.04, Y:149.65, Z:-4.59 [[-2.94929756e-01 -9.55511369e-01 -3.80304562e-03 1.22043601e+02] [ 9.55438319e-01 -2.94954237e-01 1.18159647e-02 1.49653776e+02] [-1.24120130e-02 -1.48695924e-04 9.99922957e-01 -4.58542573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32999999999998 meters 0.014702407205579115 Centerline is valid? [True, True] Translation: X:122.03, Y:149.68, Z:-4.59 [[-2.95361215e-01 -9.55378184e-01 -3.77862923e-03 1.22034755e+02] [ 9.55306226e-01 -2.95385349e-01 1.17264848e-02 1.49678979e+02] [-1.23193795e-02 -1.46199222e-04 9.99924103e-01 -4.58675965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35999999999999 meters 0.014702407205579115 Centerline is valid? [True, True] Translation: X:122.03, Y:149.70, Z:-4.59 [[-2.95657138e-01 -9.55286641e-01 -3.78031784e-03 1.22026424e+02] [ 9.55214682e-01 -2.95681269e-01 1.17259405e-02 1.49704432e+02] [-1.23194034e-02 -1.44157113e-04 9.99924103e-01 -4.58730942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39 meters 0.014397740263264132 Centerline is valid? [True, True] Translation: X:122.02, Y:149.73, Z:-4.59 [[-2.96239264e-01 -9.55106898e-01 -3.62109298e-03 1.22018457e+02] [ 9.55040999e-01 -2.96261364e-01 1.12202432e-02 1.49731359e+02] [-1.17893216e-02 -1.34415685e-04 9.99930495e-01 -4.58802327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42 meters 0.014366841325934389 Centerline is valid? [True, True] Translation: X:122.01, Y:149.76, Z:-4.59 [[-2.96664097e-01 -9.54974753e-01 -3.69253945e-03 1.22009817e+02] [ 9.54906355e-01 -2.96687046e-01 1.14302495e-02 1.49757640e+02] [-1.20111283e-02 -1.35084747e-04 9.99927855e-01 -4.58916101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45 meters 0.014296503336619007 Centerline is valid? [True, True] Translation: X:122.00, Y:149.78, Z:-4.59 [[-2.97013830e-01 -9.54866754e-01 -3.50244621e-03 1.22001608e+02] [ 9.54805316e-01 -2.97034453e-01 1.08324709e-02 1.49784641e+02] [-1.13839136e-02 -1.26760574e-04 9.99935193e-01 -4.59008917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48 meters 0.014240795939986983 Centerline is valid? [True, True] Translation: X:121.99, Y:149.81, Z:-4.59 [[-2.97753077e-01 -9.54636803e-01 -3.41764761e-03 1.21993517e+02] [ 9.54578398e-01 -2.97772667e-01 1.05603681e-02 1.49811040e+02] [-1.10989981e-02 -1.18030475e-04 9.99938397e-01 -4.59175961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51 meters 0.01394954188287127 Centerline is valid? [True, True] Translation: X:121.99, Y:149.84, Z:-4.59 [[-3.00330988e-01 -9.53830113e-01 -3.06809067e-03 1.21986485e+02] [ 9.53783075e-01 -3.00346648e-01 9.47301556e-03 1.49838309e+02] [-9.95713825e-03 -8.12528278e-05 9.99950423e-01 -4.59309554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54 meters 0.013681320924260665 Centerline is valid? [True, True] Translation: X:121.98, Y:149.87, Z:-4.59 [[-3.03319932e-01 -9.52884996e-01 -2.68382016e-03 1.21979388e+02] [ 9.52849016e-01 -3.03331802e-01 8.28071371e-03 1.49865550e+02] [-8.70465586e-03 -4.55698814e-05 9.99962113e-01 -4.59494690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57 meters 0.013632629191934828 Centerline is valid? [True, True] Translation: X:121.97, Y:149.89, Z:-4.60 [[-3.07600768e-01 -9.51512202e-01 -2.50951035e-03 1.21974641e+02] [ 9.51480749e-01 -3.07611004e-01 7.73656174e-03 1.49893104e+02] [-8.13338590e-03 -7.97846061e-06 9.99966923e-01 -4.59636700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.6 meters 0.013651076549117283 Centerline is valid? [True, True] Translation: X:121.97, Y:149.92, Z:-4.60 [[-3.08847827e-01 -9.51108575e-01 -2.34488282e-03 1.21967383e+02] [ 9.51081146e-01 -3.08856729e-01 7.22323964e-03 1.49919858e+02] [-7.59431799e-03 7.08032024e-07 9.99971163e-01 -4.59696887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63 meters 0.013721472493582725 Centerline is valid? [True, True] Translation: X:121.96, Y:149.95, Z:-4.60 [[-3.10049419e-01 -9.50718035e-01 -2.13910696e-03 1.21960305e+02] [ 9.50695227e-01 -3.10056798e-01 6.58535156e-03 1.49945555e+02] [-6.92405715e-03 8.14564833e-06 9.99976028e-01 -4.59774334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66 meters 0.01376595743546396 Centerline is valid? [True, True] Translation: X:121.95, Y:149.97, Z:-4.60 [[-3.11160803e-01 -9.50354869e-01 -2.13949060e-03 1.21952521e+02] [ 9.50332086e-01 -3.11168158e-01 6.58061146e-03 1.49971318e+02] [-6.91965749e-03 1.44017864e-05 9.99976059e-01 -4.59838566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69 meters 0.01373529218117994 Centerline is valid? [True, True] Translation: X:121.94, Y:150.00, Z:-4.60 [[-3.13571484e-01 -9.49562141e-01 -2.16007231e-03 1.21944982e+02] [ 9.49538944e-01 -3.13578922e-01 6.63727256e-03 1.49996479e+02] [-6.97985588e-03 3.01866219e-05 9.99975640e-01 -4.59921138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72 meters 0.013824953518383473 Centerline is valid? [True, True] Translation: X:121.94, Y:150.02, Z:-4.60 [[-3.14869876e-01 -9.49131625e-01 -2.47371156e-03 1.21936841e+02] [ 9.49101286e-01 -3.14879590e-01 7.58904635e-03 1.50021637e+02] [-7.98192518e-03 4.17592568e-05 9.99968143e-01 -4.59954499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75 meters 0.013709757231437704 Centerline is valid? [True, True] Translation: X:121.93, Y:150.05, Z:-4.60 [[-3.15640433e-01 -9.48874827e-01 -2.77119013e-03 1.21928133e+02] [ 9.48836863e-01 -3.15652594e-01 8.48803334e-03 1.50048061e+02] [-8.92881452e-03 4.97591744e-05 9.99960136e-01 -4.59832892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78 meters 0.0136523611847124 Centerline is valid? [True, True] Translation: X:121.92, Y:150.08, Z:-4.60 [[-3.16346021e-01 -9.48638715e-01 -3.12774417e-03 1.21919381e+02] [ 9.48590458e-01 -3.16361477e-01 9.56858859e-03 1.50075137e+02] [-1.00666314e-02 6.00366490e-05 9.99949328e-01 -4.59787651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81 meters 0.013545195146025537 Centerline is valid? [True, True] Translation: X:121.91, Y:150.10, Z:-4.60 [[-3.16517713e-01 -9.48579884e-01 -3.56952370e-03 1.21911468e+02] [ 9.48517166e-01 -3.16537833e-01 1.09081151e-02 1.50100912e+02] [-1.14771078e-02 6.68571260e-05 9.99934134e-01 -4.59678105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84 meters 0.01360401287191298 Centerline is valid? [True, True] Translation: X:121.90, Y:150.13, Z:-4.60 [[-3.16786474e-01 -9.48489920e-01 -3.63348304e-03 1.21903246e+02] [ 9.48425094e-01 -3.16807304e-01 1.10893360e-02 1.50125872e+02] [-1.16692374e-02 6.68651428e-05 9.99931910e-01 -4.59728805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87 meters 0.013695063452963752 Centerline is valid? [True, True] Translation: X:121.89, Y:150.15, Z:-4.60 [[-3.16723993e-01 -9.48510472e-01 -3.71444778e-03 1.21894505e+02] [ 9.48442843e-01 -3.16745767e-01 1.13266555e-02 1.50150680e+02] [-1.19199869e-02 6.44821341e-05 9.99928952e-01 -4.59799122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89999999999998 meters 0.013616568220530582 Centerline is valid? [True, True] Translation: X:121.88, Y:150.18, Z:-4.60 [[-3.16754414e-01 -9.48500295e-01 -3.71904036e-03 1.21884750e+02] [ 9.48432583e-01 -3.16776240e-01 1.13335585e-02 1.50175759e+02] [-1.19279872e-02 6.26956347e-05 9.99928857e-01 -4.59860310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92999999999998 meters 0.013558246883159313 Centerline is valid? [True, True] Translation: X:121.87, Y:150.20, Z:-4.60 [[-3.15649327e-01 -9.48869001e-01 -3.62233737e-03 1.21873739e+02] [ 9.48804941e-01 -3.15670108e-01 1.10257448e-02 1.50200040e+02] [-1.16054510e-02 4.33773174e-05 9.99932654e-01 -4.59998212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95999999999998 meters 0.013489737714502088 Centerline is valid? [True, True] Translation: X:121.86, Y:150.23, Z:-4.60 [[-3.14942799e-01 -9.49103723e-01 -3.62733276e-03 1.21863520e+02] [ 9.49039586e-01 -3.14963685e-01 1.10336664e-02 1.50225678e+02] [-1.16145720e-02 3.24914103e-05 9.99932548e-01 -4.60071637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98999999999998 meters 0.013380075152728106 Centerline is valid? [True, True] Translation: X:121.85, Y:150.25, Z:-4.60 [[-3.14596092e-01 -9.49219245e-01 -3.48194173e-03 1.21853743e+02] [ 9.49160261e-01 -3.14615359e-01 1.05817936e-02 1.50251278e+02] [-1.11399145e-02 2.40701834e-05 9.99937949e-01 -4.60082476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01999999999998 meters 0.013600150898435597 Centerline is valid? [True, True] Translation: X:121.84, Y:150.28, Z:-4.60 [[-3.14172343e-01 -9.49359922e-01 -3.38787085e-03 1.21844656e+02] [ 9.49304197e-01 -3.14190608e-01 1.02860994e-02 1.50276323e+02] [-1.08296477e-02 1.54879283e-05 9.99941358e-01 -4.60240994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04999999999998 meters 0.013563471715026665 Centerline is valid? [True, True] Translation: X:121.84, Y:150.30, Z:-4.60 [[-3.13793369e-01 -9.49485267e-01 -3.38372527e-03 1.21835018e+02] [ 9.49429818e-01 -3.13811612e-01 1.02612720e-02 1.50302281e+02] [-1.08047788e-02 7.30943321e-06 9.99941627e-01 -4.60272726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07999999999998 meters 0.01353085042275732 Centerline is valid? [True, True] Translation: X:121.82, Y:150.33, Z:-4.60 [[-3.13040678e-01 -9.49734646e-01 -3.10433598e-03 1.21824673e+02] [ 9.49688070e-01 -3.13056070e-01 9.40565284e-03 1.50328515e+02] [-9.90470558e-03 -3.79890154e-06 9.99950947e-01 -4.60222463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10999999999999 meters 0.013675630417899516 Centerline is valid? [True, True] Translation: X:121.82, Y:150.35, Z:-4.60 [[-3.12741624e-01 -9.49832675e-01 -3.25047418e-03 1.21815145e+02] [ 9.49781750e-01 -3.12758515e-01 9.83559897e-03 1.50353644e+02] [-1.03587868e-02 -1.12398553e-05 9.99946346e-01 -4.60421520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14 meters 0.013571018758270619 Centerline is valid? [True, True] Translation: X:121.81, Y:150.38, Z:-4.60 [[-3.12491950e-01 -9.49914583e-01 -3.32670652e-03 1.21805755e+02] [ 9.49861298e-01 -3.12509657e-01 1.00612602e-02 1.50379700e+02] [-1.05969657e-02 -1.58469502e-05 9.99943850e-01 -4.60332240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17 meters 0.013788858284750263 Centerline is valid? [True, True] Translation: X:121.80, Y:150.40, Z:-4.60 [[-3.12449308e-01 -9.49927957e-01 -3.50816344e-03 1.21796331e+02] [ 9.49868808e-01 -3.12469001e-01 1.06005563e-02 1.50404761e+02] [-1.11659572e-02 -2.01585392e-05 9.99937659e-01 -4.60492633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.2 meters 0.01364770476760074 Centerline is valid? [True, True] Translation: X:121.79, Y:150.43, Z:-4.60 [[-3.12203731e-01 -9.50007738e-01 -3.75864040e-03 1.21787090e+02] [ 9.49940031e-01 -3.12226354e-01 1.13420306e-02 1.50431273e+02] [-1.19485634e-02 -2.94587104e-05 9.99928613e-01 -4.60192681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23 meters 0.013704456182991995 Centerline is valid? [True, True] Translation: X:121.78, Y:150.46, Z:-4.60 [[-3.12412580e-01 -9.49938097e-01 -3.99905288e-03 1.21777968e+02] [ 9.49861603e-01 -3.12438172e-01 1.20550590e-02 1.50456576e+02] [-1.27010166e-02 -3.23946940e-05 9.99919338e-01 -4.60217572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26 meters 0.013748856954524585 Centerline is valid? [True, True] Translation: X:121.77, Y:150.48, Z:-4.60 [[-3.12523691e-01 -9.49900909e-01 -4.14798881e-03 1.21768651e+02] [ 9.49818790e-01 -3.12551214e-01 1.24901875e-02 1.50482896e+02] [-1.31608994e-02 -3.63582168e-05 9.99913391e-01 -4.60190438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29 meters 0.013760855279638518 Centerline is valid? [True, True] Translation: X:121.76, Y:150.51, Z:-4.60 [[-3.12536133e-01 -9.49896072e-01 -4.31492067e-03 1.21759008e+02] [ 9.49807389e-01 -3.12565915e-01 1.29796885e-02 1.50508830e+02] [-1.36780523e-02 -4.17218745e-05 9.99906450e-01 -4.60224174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32 meters 0.013829967075517374 Centerline is valid? [True, True] Translation: X:121.75, Y:150.53, Z:-4.60 [[-3.12524064e-01 -9.49899225e-01 -4.49125157e-03 1.21749191e+02] [ 9.49803339e-01 -3.12556330e-01 1.34966062e-02 1.50534871e+02] [-1.42241849e-02 -4.77915252e-05 9.99898830e-01 -4.60269101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35 meters 0.013883463463947783 Centerline is valid? [True, True] Translation: X:121.74, Y:150.56, Z:-4.60 [[-3.11748171e-01 -9.50154154e-01 -4.49013232e-03 1.21737518e+02] [ 9.50058524e-01 -3.11780499e-01 1.34804316e-02 1.50561090e+02] [-1.42084238e-02 -6.33885693e-05 9.99899053e-01 -4.60309816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38 meters 0.013947156537847604 Centerline is valid? [True, True] Translation: X:121.73, Y:150.59, Z:-4.60 [[-3.11273007e-01 -9.50309986e-01 -4.47727480e-03 1.21727330e+02] [ 9.50215101e-01 -3.11305196e-01 1.34289477e-02 1.50587582e+02] [-1.41554620e-02 -7.43051970e-05 9.99899804e-01 -4.60404823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41 meters 0.014066062812677672 Centerline is valid? [True, True] Translation: X:121.72, Y:150.61, Z:-4.61 [[-3.10715163e-01 -9.50493509e-01 -4.26335568e-03 1.21717497e+02] [ 9.50407671e-01 -3.10744399e-01 1.27741152e-02 1.50612978e+02] [-1.34665275e-02 -8.28146530e-05 9.99909319e-01 -4.60527382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44 meters 0.014274231390829348 Centerline is valid? [True, True] Translation: X:121.71, Y:150.64, Z:-4.61 [[-3.09412204e-01 -9.50920496e-01 -3.78122849e-03 1.21706760e+02] [ 9.50853059e-01 -3.09435294e-01 1.13251357e-02 1.50638815e+02] [-1.19393492e-02 -9.12574912e-05 9.99928719e-01 -4.60680080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47 meters 0.014428963232678997 Centerline is valid? [True, True] Translation: X:121.70, Y:150.67, Z:-4.61 [[-3.08859264e-01 -9.51100949e-01 -3.59715991e-03 1.21696707e+02] [ 9.51040036e-01 -3.08880196e-01 1.07645340e-02 1.50665373e+02] [-1.13492500e-02 -9.63170373e-05 9.99935591e-01 -4.60797593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.5 meters 0.014584497988842595 Centerline is valid? [True, True] Translation: X:121.69, Y:150.69, Z:-4.61 [[-3.08475683e-01 -9.51226138e-01 -3.40413677e-03 1.21686768e+02] [ 9.51171682e-01 -3.08494449e-01 1.01787310e-02 1.50691152e+02] [-1.07324323e-02 -9.80274945e-05 9.99942401e-01 -4.60949731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53 meters 0.014667028928655153 Centerline is valid? [True, True] Translation: X:121.68, Y:150.72, Z:-4.61 [[-3.08159343e-01 -9.51328711e-01 -3.39176035e-03 1.21677378e+02] [ 9.51274765e-01 -3.08177990e-01 1.01315596e-02 1.50716151e+02] [-1.06837094e-02 -1.04361284e-04 9.99942922e-01 -4.61065688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56 meters 0.014967944548828119 Centerline is valid? [True, True] Translation: X:121.67, Y:150.74, Z:-4.61 [[-3.07211713e-01 -9.51635503e-01 -3.29144479e-03 1.21667529e+02] [ 9.51584809e-01 -3.07229323e-01 9.82311188e-03 1.50741522e+02] [-1.03592504e-02 -1.14313829e-04 9.99946335e-01 -4.61188459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59 meters 0.01491419723525277 Centerline is valid? [True, True] Translation: X:121.66, Y:150.77, Z:-4.61 [[-3.07153313e-01 -9.51654334e-01 -3.29717294e-03 1.21658612e+02] [ 9.51603583e-01 -3.07170986e-01 9.82886081e-03 1.50768359e+02] [-1.03664739e-02 -1.18634428e-04 9.99946260e-01 -4.61246448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62 meters 0.015070267479480834 Centerline is valid? [True, True] Translation: X:121.65, Y:150.79, Z:-4.61 [[-3.07099517e-01 -9.51671643e-01 -3.31231714e-03 1.21650273e+02] [ 9.51620506e-01 -3.07117355e-01 9.86626915e-03 1.50793052e+02] [-1.04067186e-02 -1.22142422e-04 9.99945841e-01 -4.61309985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64999999999998 meters 0.01527311388606598 Centerline is valid? [True, True] Translation: X:121.64, Y:150.82, Z:-4.61 [[-3.07324764e-01 -9.51598467e-01 -3.44191152e-03 1.21641994e+02] [ 9.51543377e-01 -3.07344011e-01 1.02401223e-02 1.50817893e+02] [-1.08023356e-02 -1.28084938e-04 9.99941645e-01 -4.61365211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67999999999998 meters 0.015355709967105653 Centerline is valid? [True, True] Translation: X:121.63, Y:150.84, Z:-4.61 [[-3.07315176e-01 -9.51601112e-01 -3.56469278e-03 1.21633684e+02] [ 9.51542166e-01 -3.07335819e-01 1.05925139e-02 1.50844334e+02] [-1.11754058e-02 -1.36715219e-04 9.99937544e-01 -4.61378813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70999999999998 meters 0.015230598617181804 Centerline is valid? [True, True] Translation: X:121.63, Y:150.87, Z:-4.61 [[-3.07394285e-01 -9.51574883e-01 -3.74106736e-03 1.21625656e+02] [ 9.51510101e-01 -3.07417014e-01 1.11043472e-02 1.50870795e+02] [-1.17166857e-02 -1.46250508e-04 9.99931347e-01 -4.61366085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73999999999998 meters 0.015597082023326995 Centerline is valid? [True, True] Translation: X:121.62, Y:150.90, Z:-4.61 [[-3.06552004e-01 -9.51845705e-01 -3.95268748e-03 1.21617531e+02] [ 9.51773574e-01 -3.06577439e-01 1.17191045e-02 1.50897311e+02] [-1.23665841e-02 -1.69548516e-04 9.99923517e-01 -4.61363875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76999999999998 meters 0.01587387154642278 Centerline is valid? [True, True] Translation: X:121.61, Y:150.92, Z:-4.61 [[-3.06326138e-01 -9.51917914e-01 -4.07201750e-03 1.21609006e+02] [ 9.51841532e-01 -3.06353148e-01 1.20600951e-02 1.50922042e+02] [-1.27276960e-02 -1.81593010e-04 9.99918983e-01 -4.61401094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79999999999998 meters 0.015682256957025555 Centerline is valid? [True, True] Translation: X:121.60, Y:150.95, Z:-4.61 [[-3.06038234e-01 -9.52009883e-01 -4.21686663e-03 1.21600972e+02] [ 9.51928181e-01 -3.06067221e-01 1.24737353e-02 1.50949074e+02] [-1.31657639e-02 -1.96714270e-04 9.99913308e-01 -4.61410758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82999999999998 meters 0.015924149473855977 Centerline is valid? [True, True] Translation: X:121.59, Y:150.98, Z:-4.61 [[-3.05281287e-01 -9.52252550e-01 -4.29144026e-03 1.21591731e+02] [ 9.52168122e-01 -3.05311373e-01 1.26820244e-02 1.50976059e+02] [-1.33867156e-02 -2.14587866e-04 9.99910371e-01 -4.61457747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85999999999999 meters 0.016536813692054595 Centerline is valid? [True, True] Translation: X:121.58, Y:151.00, Z:-4.61 [[-3.03133874e-01 -9.52937238e-01 -4.52497832e-03 1.21581980e+02] [ 9.52843637e-01 -3.03167532e-01 1.33585472e-02 1.51002214e+02] [-1.41016836e-02 -2.62168616e-04 9.99900532e-01 -4.61483424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89 meters 0.017247440759982514 Centerline is valid? [True, True] Translation: X:121.57, Y:151.03, Z:-4.62 [[-3.02632940e-01 -9.53097516e-01 -4.29283408e-03 1.21572050e+02] [ 9.53013432e-01 -3.02663275e-01 1.26625969e-02 1.51027079e+02] [-1.33679728e-02 -2.59009614e-04 9.99910611e-01 -4.61588614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92 meters 0.017148760764098683 Centerline is valid? [True, True] Translation: X:121.56, Y:151.05, Z:-4.62 [[-3.02664559e-01 -9.53087951e-01 -4.18592519e-03 1.21563340e+02] [ 9.53008150e-01 -3.02693396e-01 1.23358647e-02 1.51053307e+02] [-1.30242159e-02 -2.55591785e-04 9.99915149e-01 -4.61695703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95 meters 0.017471812369464507 Centerline is valid? [True, True] Translation: X:121.55, Y:151.08, Z:-4.62 [[-3.02606532e-01 -9.53107706e-01 -3.87146971e-03 1.21553924e+02] [ 9.53039565e-01 -3.02631201e-01 1.13992646e-02 1.51078225e+02] [-1.20363544e-02 -2.40171891e-04 9.99927532e-01 -4.61820933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98 meters 0.017561862728066348 Centerline is valid? [True, True] Translation: X:121.55, Y:151.10, Z:-4.62 [[-3.02396766e-01 -9.53175215e-01 -3.63381324e-03 1.21545236e+02] [ 9.53115311e-01 -3.02418510e-01 1.06887238e-02 1.51104167e+02] [-1.12871590e-02 -2.31207533e-04 9.99936271e-01 -4.61888006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01 meters 0.017687406639329235 Centerline is valid? [True, True] Translation: X:121.54, Y:151.13, Z:-4.62 [[-3.02133435e-01 -9.53259873e-01 -3.31695010e-03 1.21536156e+02] [ 9.53210063e-01 -3.02151564e-01 9.74721196e-03 1.51130663e+02] [-1.02938477e-02 -2.16791583e-04 9.99946993e-01 -4.61969863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04 meters 0.017365157989774546 Centerline is valid? [True, True] Translation: X:121.53, Y:151.16, Z:-4.62 [[-3.01555171e-01 -9.53444033e-01 -2.99258756e-03 1.21528770e+02] [ 9.53403559e-01 -3.01569951e-01 8.78742740e-03 1.51157918e+02] [-9.28079470e-03 -2.03249458e-04 9.99956912e-01 -4.61985854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07 meters 0.017632864266693395 Centerline is valid? [True, True] Translation: X:121.52, Y:151.18, Z:-4.62 [[-3.01359403e-01 -9.53506361e-01 -2.85147294e-03 1.21519812e+02] [ 9.53469670e-01 -3.01372828e-01 8.36695127e-03 1.51184329e+02] [-8.83729772e-03 -1.97333524e-04 9.99960931e-01 -4.62064067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.1 meters 0.01791371907077706 Centerline is valid? [True, True] Translation: X:121.51, Y:151.21, Z:-4.62 [[-3.01765195e-01 -9.53378756e-01 -2.59111298e-03 1.21510797e+02] [ 9.53348495e-01 -3.01776267e-01 7.59815407e-03 1.51209390e+02] [-8.02585508e-03 -1.77375211e-04 9.99967777e-01 -4.62188442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13 meters 0.017855821811704253 Centerline is valid? [True, True] Translation: X:121.50, Y:151.24, Z:-4.62 [[-3.01463063e-01 -9.53475759e-01 -1.99968699e-03 1.21502434e+02] [ 9.53457751e-01 -3.01469663e-01 5.86167947e-03 1.51236209e+02] [-6.19181425e-03 -1.39537218e-04 9.99980821e-01 -4.62304407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16 meters 0.0179269240474486 Centerline is valid? [True, True] Translation: X:121.49, Y:151.26, Z:-4.62 [[-3.01599375e-01 -9.53433186e-01 -1.72522826e-03 1.21493416e+02] [ 9.53419793e-01 -3.01604286e-01 5.05493374e-03 1.51263042e+02] [-5.33987782e-03 -1.20301910e-04 9.99985736e-01 -4.62389139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19 meters 0.01792811542358905 Centerline is valid? [True, True] Translation: X:121.48, Y:151.29, Z:-4.62 [[-3.01864885e-01 -9.53349288e-01 -1.65123205e-03 1.21484843e+02] [ 9.53337037e-01 -3.01869379e-01 4.83448366e-03 1.51289985e+02] [-5.10740795e-03 -1.14819818e-04 9.99986951e-01 -4.62420002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22 meters 0.01829443616639706 Centerline is valid? [True, True] Translation: X:121.48, Y:151.32, Z:-4.62 [[-3.01933848e-01 -9.53327581e-01 -1.57324583e-03 1.21475698e+02] [ 9.53316472e-01 -3.01937926e-01 4.60347857e-03 1.51315545e+02] [-4.86364567e-03 -1.09855164e-04 9.99988166e-01 -4.62446423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25 meters 0.01829443616639706 Centerline is valid? [True, True] Translation: X:121.47, Y:151.34, Z:-4.63 [[-3.02236162e-01 -9.53231779e-01 -1.57443041e-03 1.21466901e+02] [ 9.53220671e-01 -3.02240243e-01 4.60307287e-03 1.51340850e+02] [-4.86365157e-03 -1.09564529e-04 9.99988166e-01 -4.62501338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28 meters 0.01763163291024995 Centerline is valid? [True, True] Translation: X:121.46, Y:151.37, Z:-4.62 [[-3.02631261e-01 -9.53106229e-01 -1.68417901e-03 1.21459573e+02] [ 9.53093557e-01 -3.02635925e-01 4.91614132e-03 1.51368181e+02] [-5.19529799e-03 -1.17402117e-04 9.99986497e-01 -4.62333008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31 meters 0.017863223921768232 Centerline is valid? [True, True] Translation: X:121.45, Y:151.39, Z:-4.62 [[-3.03229841e-01 -9.52915669e-01 -1.84150362e-03 1.21450716e+02] [ 9.52900552e-01 -3.03235406e-01 5.36910901e-03 1.51393710e+02] [-5.67471721e-03 -1.26695747e-04 9.99983891e-01 -4.62357178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34 meters 0.01768644966390214 Centerline is valid? [True, True] Translation: X:121.44, Y:151.42, Z:-4.62 [[-3.03775260e-01 -9.52741955e-01 -1.83282674e-03 1.21442162e+02] [ 9.52727009e-01 -3.03780763e-01 5.33799079e-03 1.51420573e+02] [-5.64250528e-03 -1.24634002e-04 9.99984073e-01 -4.62371499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37 meters 0.017286004642757515 Centerline is valid? [True, True] Translation: X:121.43, Y:151.45, Z:-4.62 [[-3.04386856e-01 -9.52546575e-01 -1.91401038e-03 1.21434221e+02] [ 9.52530306e-01 -3.04392847e-01 5.56875224e-03 1.51447297e+02] [-5.88710694e-03 -1.28097908e-04 9.99982663e-01 -4.62311857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39999999999998 meters 0.01739119655069435 Centerline is valid? [True, True] Translation: X:121.43, Y:151.47, Z:-4.62 [[-3.05183394e-01 -9.52291449e-01 -2.02322505e-03 1.21425556e+02] [ 9.52273326e-01 -3.05190071e-01 5.87648551e-03 1.51472521e+02] [-6.21359510e-03 -1.33257457e-04 9.99980687e-01 -4.62374573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42999999999998 meters 0.016912778192695856 Centerline is valid? [True, True] Translation: X:121.42, Y:151.50, Z:-4.62 [[-3.07261175e-01 -9.51623193e-01 -1.96686755e-03 1.21418011e+02] [ 9.51606055e-01 -3.07267448e-01 5.71248821e-03 1.51499786e+02] [-6.04049064e-03 -1.16457236e-04 9.99981749e-01 -4.62393355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45999999999998 meters 0.016732227037996473 Centerline is valid? [True, True] Translation: X:121.41, Y:151.53, Z:-4.62 [[-3.08097264e-01 -9.51352941e-01 -1.91271659e-03 1.21409715e+02] [ 9.51336759e-01 -3.08103182e-01 5.54979388e-03 1.51527162e+02] [-5.86912680e-03 -1.09761292e-04 9.99982771e-01 -4.62415693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48999999999998 meters 0.01675875104742192 Centerline is valid? [True, True] Translation: X:121.40, Y:151.55, Z:-4.62 [[-3.08574985e-01 -9.51198308e-01 -1.80476101e-03 1.21400952e+02] [ 9.51183915e-01 -3.08580246e-01 5.23373713e-03 1.51553758e+02] [-5.53523550e-03 -1.01659287e-04 9.99984675e-01 -4.62480101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51999999999998 meters 0.016330577376585033 Centerline is valid? [True, True] Translation: X:121.39, Y:151.58, Z:-4.62 [[-3.08742667e-01 -9.51144172e-01 -1.65206009e-03 1.21392110e+02] [ 9.51132124e-01 -3.08747073e-01 4.78832091e-03 1.51580779e+02] [-5.06445224e-03 -9.29684585e-05 9.99987171e-01 -4.62499104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54999999999998 meters 0.01674827547687086 Centerline is valid? [True, True] Translation: X:121.38, Y:151.61, Z:-4.63 [[-3.08522303e-01 -9.51215937e-01 -1.49313805e-03 1.21381731e+02] [ 9.51206114e-01 -3.08525904e-01 4.32378390e-03 1.51606462e+02] [-4.57352392e-03 -8.62982794e-05 9.99989538e-01 -4.62632812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57999999999998 meters 0.016782942954293088 Centerline is valid? [True, True] Translation: X:121.37, Y:151.63, Z:-4.63 [[-3.08215941e-01 -9.51315592e-01 -1.25651050e-03 1.21371587e+02] [ 9.51308629e-01 -3.08218493e-01 3.64045008e-03 1.51632144e+02] [-3.85049669e-03 -7.32845377e-05 9.99992584e-01 -4.62736642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60999999999999 meters 0.017043060287495863 Centerline is valid? [True, True] Translation: X:121.36, Y:151.66, Z:-4.63 [[-3.07691525e-01 -9.51485563e-01 -1.07134592e-03 1.21360824e+02] [ 9.51480506e-01 -3.07693384e-01 3.10280918e-03 1.51658246e+02] [-3.28192419e-03 -6.46566715e-05 9.99994612e-01 -4.62853749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64 meters 0.01680226870801755 Centerline is valid? [True, True] Translation: X:121.35, Y:151.69, Z:-4.63 [[-3.07193862e-01 -9.51646520e-01 -9.12561150e-04 1.21350960e+02] [ 9.51642852e-01 -3.07195212e-01 2.64267945e-03 1.51685223e+02] [-2.79523112e-03 -5.66173897e-05 9.99996092e-01 -4.62874339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67 meters 0.017804930537881 Centerline is valid? [True, True] Translation: X:121.34, Y:151.71, Z:-4.63 [[-3.06234657e-01 -9.51955689e-01 -8.36946296e-04 1.21338489e+02] [ 9.51952617e-01 -3.06235795e-01 2.41924724e-03 1.51709397e+02] [-2.55931908e-03 -5.58758697e-05 9.99996723e-01 -4.63085419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.7 meters 0.017105638301049438 Centerline is valid? [True, True] Translation: X:121.33, Y:151.74, Z:-4.63 [[-3.06251667e-01 -9.51950276e-01 -7.67191177e-04 1.21330172e+02] [ 9.51947685e-01 -3.06252624e-01 2.22174827e-03 1.51735896e+02] [-2.34994819e-03 -4.99117541e-05 9.99997238e-01 -4.63036058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73 meters 0.017253796938210025 Centerline is valid? [True, True] Translation: X:121.32, Y:151.76, Z:-4.63 [[-3.06265274e-01 -9.51945923e-01 -7.36276279e-04 1.21320603e+02] [ 9.51943537e-01 -3.06266155e-01 2.13190211e-03 1.51761627e+02] [-2.25495203e-03 -4.79658608e-05 9.99997456e-01 -4.63062906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76 meters 0.017169262441235556 Centerline is valid? [True, True] Translation: X:121.31, Y:151.79, Z:-4.63 [[-3.06768140e-01 -9.51784027e-01 -6.88276525e-04 1.21310912e+02] [ 9.51781946e-01 -3.06768909e-01 1.99106922e-03 1.51788380e+02] [-2.10620972e-03 -4.42925681e-05 9.99997781e-01 -4.63106067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79 meters 0.017680507813372943 Centerline is valid? [True, True] Translation: X:121.30, Y:151.81, Z:-4.63 [[-3.06935379e-01 -9.51729954e-01 -8.76583633e-04 1.21300790e+02] [ 9.51726608e-01 -3.06936625e-01 2.52434792e-03 1.51813246e+02] [-2.67155315e-03 -5.94562818e-05 9.99996430e-01 -4.63209272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82 meters 0.017940927982909423 Centerline is valid? [True, True] Translation: X:121.29, Y:151.84, Z:-4.63 [[-3.07684592e-01 -9.51487808e-01 -1.06867601e-03 1.21290837e+02] [ 9.51482832e-01 -3.07686440e-01 3.07814116e-03 1.51838124e+02] [-3.25763091e-03 -6.97302678e-05 9.99994691e-01 -4.63282066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85 meters 0.0166815837581408 Centerline is valid? [True, True] Translation: X:121.28, Y:151.87, Z:-4.63 [[-3.08865785e-01 -9.51105025e-01 -1.07657104e-03 1.21283532e+02] [ 9.51099988e-01 -3.08867653e-01 3.09612957e-03 1.51865530e+02] [-3.27726236e-03 -6.76382091e-05 9.99994627e-01 -4.63179396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88 meters 0.016454553195207437 Centerline is valid? [True, True] Translation: X:121.27, Y:151.89, Z:-4.63 [[-3.09006071e-01 -9.51059440e-01 -1.09089687e-03 1.21274635e+02] [ 9.51054277e-01 -3.09007989e-01 3.13443700e-03 1.51892106e+02] [-3.31813175e-03 -6.89420750e-05 9.99994493e-01 -4.63162208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91 meters 0.016863617494112297 Centerline is valid? [True, True] Translation: X:121.26, Y:151.92, Z:-4.63 [[-3.08869818e-01 -9.51103860e-01 -9.40059252e-04 1.21264718e+02] [ 9.51100035e-01 -3.08871242e-01 2.69799969e-03 1.51916789e+02] [-2.85643519e-03 -6.07597156e-05 9.99995919e-01 -4.63233100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94 meters 0.016960456252389115 Centerline is valid? [True, True] Translation: X:121.26, Y:151.94, Z:-4.63 [[-3.08910311e-01 -9.51090771e-01 -8.74201122e-04 1.21255214e+02] [ 9.51087459e-01 -3.08911543e-01 2.51091365e-03 1.51942957e+02] [-2.65815762e-03 -5.57946073e-05 9.99996466e-01 -4.63243300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97 meters 0.01682669748906505 Centerline is valid? [True, True] Translation: X:121.25, Y:151.97, Z:-4.63 [[-3.08771558e-01 -9.51135722e-01 -9.81830613e-04 1.21245779e+02] [ 9.51131557e-01 -3.08773112e-01 2.81532761e-03 1.51969881e+02] [-2.98092155e-03 -6.45569882e-05 9.99995555e-01 -4.63251512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.0 meters 0.016749349431196058 Centerline is valid? [True, True] Translation: X:121.24, Y:152.00, Z:-4.63 [[-3.09018676e-01 -9.51055355e-01 -1.08108554e-03 1.21235939e+02] [ 9.51050321e-01 -3.09020559e-01 3.09524026e-03 1.51996647e+02] [-3.27782248e-03 -7.16797012e-05 9.99994625e-01 -4.63314687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03 meters 0.016730043287953224 Centerline is valid? [True, True] Translation: X:121.23, Y:152.02, Z:-4.63 [[-3.09637098e-01 -9.50853986e-01 -1.25140908e-03 1.21226350e+02] [ 9.50847262e-01 -3.09639615e-01 3.57674597e-03 1.52022654e+02] [-3.78844899e-03 -8.24056592e-05 9.99992820e-01 -4.63380668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06 meters 0.016908405542733485 Centerline is valid? [True, True] Translation: X:121.22, Y:152.05, Z:-4.63 [[-3.10330530e-01 -9.50627597e-01 -1.46076545e-03 1.21216813e+02] [ 9.50618461e-01 -3.10333953e-01 4.16877043e-03 1.52048292e+02] [-4.41627334e-03 -9.49338662e-05 9.99990244e-01 -4.63459730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09 meters 0.016643104379816403 Centerline is valid? [True, True] Translation: X:121.21, Y:152.08, Z:-4.63 [[-3.10751916e-01 -9.50489923e-01 -1.46747735e-03 1.21207979e+02] [ 9.50480721e-01 -3.10755367e-01 4.18349753e-03 1.52075223e+02] [-4.43239870e-03 -9.47790590e-05 9.99990172e-01 -4.63473426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12 meters 0.016411627120897658 Centerline is valid? [True, True] Translation: X:121.20, Y:152.10, Z:-4.64 [[-3.11299324e-01 -9.50310462e-01 -1.66031341e-03 1.21198814e+02] [ 9.50298713e-01 -3.11303734e-01 4.72667607e-03 1.52102041e+02] [-5.00867148e-03 -1.06382632e-04 9.99987451e-01 -4.63547825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14999999999998 meters 0.016728051428817666 Centerline is valid? [True, True] Translation: X:121.19, Y:152.13, Z:-4.64 [[-3.11985285e-01 -9.50085349e-01 -1.73550680e-03 1.21189182e+02] [ 9.50072554e-01 -3.11990093e-01 4.93193914e-03 1.52127287e+02] [-5.22722405e-03 -1.10164945e-04 9.99986332e-01 -4.63697229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17999999999998 meters 0.01615976181382633 Centerline is valid? [True, True] Translation: X:121.18, Y:152.15, Z:-4.64 [[-3.13286796e-01 -9.49657270e-01 -1.56644378e-03 1.21181436e+02] [ 9.49646833e-01 -3.13290698e-01 4.45326868e-03 1.52154137e+02] [-4.71983124e-03 -9.24181009e-05 9.99988857e-01 -4.63828986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20999999999998 meters 0.015994514813348612 Centerline is valid? [True, True] Translation: X:121.17, Y:152.18, Z:-4.64 [[-3.14283490e-01 -9.49327995e-01 -1.49824532e-03 1.21172680e+02] [ 9.49318458e-01 -3.14287050e-01 4.25629790e-03 1.52180770e+02] [-4.51150185e-03 -8.46277765e-05 9.99989820e-01 -4.63917688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23999999999998 meters 0.015685090643792015 Centerline is valid? [True, True] Translation: X:121.16, Y:152.21, Z:-4.64 [[-3.15466182e-01 -9.48935565e-01 -1.54287250e-03 1.21164424e+02] [ 9.48925466e-01 -3.15469944e-01 4.37875543e-03 1.52207534e+02] [-4.64188666e-03 -8.27217497e-05 9.99989223e-01 -4.63939408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26999999999998 meters 0.015645007956928587 Centerline is valid? [True, True] Translation: X:121.16, Y:152.23, Z:-4.64 [[-3.16663901e-01 -9.48536386e-01 -1.64281588e-03 1.21155886e+02] [ 9.48524956e-01 -3.16668151e-01 4.65733370e-03 1.52233727e+02] [-4.93787795e-03 -8.34424046e-05 9.99987805e-01 -4.64029557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29999999999998 meters 0.015544671916717854 Centerline is valid? [True, True] Translation: X:121.15, Y:152.26, Z:-4.64 [[-3.18181610e-01 -9.48028105e-01 -1.78204529e-03 1.21147889e+02] [ 9.48014670e-01 -3.18186590e-01 5.04773280e-03 1.52258751e+02] [-5.35241547e-03 -8.33093255e-05 9.99985672e-01 -4.64074115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32999999999998 meters 0.014559556723622979 Centerline is valid? [True, True] Translation: X:121.14, Y:152.29, Z:-4.64 [[-3.21396329e-01 -9.46942032e-01 -2.27755642e-03 1.21141039e+02] [ 9.46920158e-01 -3.21404387e-01 6.43702217e-03 1.52286458e+02] [-6.82750348e-03 -8.78287884e-05 9.99976688e-01 -4.63948286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35999999999999 meters 0.01442685194101287 Centerline is valid? [True, True] Translation: X:121.13, Y:152.31, Z:-4.64 [[-3.22812341e-01 -9.46459245e-01 -2.66268730e-03 1.21132491e+02] [ 9.46429432e-01 -3.22823308e-01 7.51273525e-03 1.52311872e+02] [-7.97007526e-03 -9.48419753e-05 9.99968234e-01 -4.63970620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39 meters 0.01427710012729807 Centerline is valid? [True, True] Translation: X:121.12, Y:152.34, Z:-4.64 [[-3.24451278e-01 -9.45897762e-01 -2.96511814e-03 1.21124053e+02] [ 9.45860798e-01 -3.24464814e-01 8.36271303e-03 1.52338218e+02] [-8.87234804e-03 -9.12960858e-05 9.99960636e-01 -4.63961833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42 meters 0.013730984800808017 Centerline is valid? [True, True] Translation: X:121.12, Y:152.37, Z:-4.64 [[-3.27711534e-01 -9.44771719e-01 -3.39844525e-03 1.21117140e+02] [ 9.44723237e-01 -3.27729146e-01 9.57146651e-03 1.52365561e+02] [-1.01566204e-02 -7.39102261e-05 9.99948417e-01 -4.63890883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45 meters 0.013575256250109316 Centerline is valid? [True, True] Translation: X:121.11, Y:152.39, Z:-4.64 [[-3.29579316e-01 -9.44121103e-01 -3.58021899e-03 1.21108660e+02] [ 9.44067364e-01 -3.29598756e-01 1.00733770e-02 1.52392369e+02] [-1.06905235e-02 -5.99912078e-05 9.99942853e-01 -4.63934017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48 meters 0.01342767700692285 Centerline is valid? [True, True] Translation: X:121.10, Y:152.42, Z:-4.64 [[-3.31324806e-01 -9.43509260e-01 -3.76144930e-03 1.21099872e+02] [ 9.43450020e-01 -3.31346153e-01 1.05728678e-02 1.52419420e+02] [-1.12219405e-02 -4.56860330e-05 9.99937031e-01 -4.63993251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51 meters 0.013296005138801744 Centerline is valid? [True, True] Translation: X:121.09, Y:152.44, Z:-4.64 [[-3.33022766e-01 -9.42910739e-01 -3.89555549e-03 1.21091721e+02] [ 9.42847264e-01 -3.33045548e-01 1.09407736e-02 1.52444503e+02] [-1.16135704e-02 -2.93871319e-05 9.99932560e-01 -4.64060482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54 meters 0.01330199971737901 Centerline is valid? [True, True] Translation: X:121.08, Y:152.47, Z:-4.64 [[-3.34503893e-01 -9.42386255e-01 -3.91041545e-03 1.21083187e+02] [ 9.42322410e-01 -3.34526749e-01 1.09694791e-02 1.52471211e+02] [-1.16456249e-02 -1.55386473e-05 9.99932187e-01 -4.64125690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57 meters 0.013241119201275442 Centerline is valid? [True, True] Translation: X:121.07, Y:152.50, Z:-4.64 [[-3.36014581e-01 -9.41848618e-01 -3.92203423e-03 1.21074305e+02] [ 9.41784470e-01 -3.36037470e-01 1.09923442e-02 1.52497765e+02] [-1.16710746e-02 -1.23008279e-07 9.99931891e-01 -4.64199155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.6 meters 0.013216996563526946 Centerline is valid? [True, True] Translation: X:121.07, Y:152.52, Z:-4.64 [[-3.38041998e-01 -9.41123780e-01 -3.69290083e-03 1.21065490e+02] [ 9.41066957e-01 -3.38062169e-01 1.03418383e-02 1.52524941e+02] [-1.09813800e-02 2.07087451e-05 9.99939703e-01 -4.64332554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63 meters 0.013274720064263066 Centerline is valid? [True, True] Translation: X:121.06, Y:152.55, Z:-4.65 [[-3.38874219e-01 -9.40824268e-01 -3.73650119e-03 1.21056814e+02] [ 9.40766178e-01 -3.38894817e-01 1.04547779e-02 1.52550491e+02] [-1.11023896e-02 2.76807350e-05 9.99938366e-01 -4.64518688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66 meters 0.013233637997830046 Centerline is valid? [True, True] Translation: X:121.05, Y:152.58, Z:-4.64 [[-3.39348291e-01 -9.40653299e-01 -3.75613803e-03 1.21047711e+02] [ 9.40594703e-01 -3.39369077e-01 1.04992092e-02 1.52576890e+02] [-1.11508329e-02 2.98851706e-05 9.99937827e-01 -4.64462717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69 meters 0.013260249686788688 Centerline is valid? [True, True] Translation: X:121.04, Y:152.60, Z:-4.65 [[-3.39269844e-01 -9.40683041e-01 -3.37477652e-03 1.21039966e+02] [ 9.40635820e-01 -3.39286627e-01 9.42539674e-03 1.52601572e+02] [-1.00113274e-02 2.33172004e-05 9.99949885e-01 -4.64601187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72 meters 0.013199609500791357 Centerline is valid? [True, True] Translation: X:121.03, Y:152.63, Z:-4.65 [[-3.38810996e-01 -9.40848457e-01 -3.35990356e-03 1.21030806e+02] [ 9.40801720e-01 -3.38827655e-01 9.37788365e-03 1.52627901e+02] [-9.96159561e-03 1.63270542e-05 9.99950382e-01 -4.64633044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75 meters 0.013105167539633974 Centerline is valid? [True, True] Translation: X:121.02, Y:152.65, Z:-4.65 [[-3.37943917e-01 -9.41160785e-01 -3.20730881e-03 1.21021131e+02] [ 9.41118278e-01 -3.37959136e-01 8.94476659e-03 1.52654115e+02] [-9.50240285e-03 4.37251120e-06 9.99954851e-01 -4.64686917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78 meters 0.01324490660101343 Centerline is valid? [True, True] Translation: X:121.01, Y:152.68, Z:-4.65 [[-3.36516494e-01 -9.41672139e-01 -3.19872028e-03 1.21011003e+02] [ 9.41629958e-01 -3.36531696e-01 8.91291852e-03 1.52680675e+02] [-9.46951781e-03 -1.26667504e-05 9.99955163e-01 -4.64735696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81 meters 0.013183321083032246 Centerline is valid? [True, True] Translation: X:121.00, Y:152.71, Z:-4.65 [[-3.35151397e-01 -9.42158146e-01 -3.40122723e-03 1.21000666e+02] [ 9.42110575e-01 -3.35168653e-01 9.46779718e-03 1.52707063e+02] [-1.00601470e-02 -3.11866888e-05 9.99949395e-01 -4.64729653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84 meters 0.013306312053739517 Centerline is valid? [True, True] Translation: X:120.99, Y:152.73, Z:-4.65 [[-3.33711283e-01 -9.42668493e-01 -3.59056425e-03 1.20990069e+02] [ 9.42615608e-01 -3.33730595e-01 9.98528713e-03 1.52732389e+02] [-1.06110967e-02 -5.23189212e-05 9.99943699e-01 -4.64783384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87 meters 0.013623053736619857 Centerline is valid? [True, True] Translation: X:120.98, Y:152.76, Z:-4.65 [[-3.30295299e-01 -9.43868736e-01 -4.10174828e-03 1.20978107e+02] [ 9.43799971e-01 -3.30320749e-01 1.13937246e-02 1.52757530e+02] [-1.21090730e-02 -1.07936239e-04 9.99926677e-01 -4.64777824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89999999999998 meters 0.013763484126400917 Centerline is valid? [True, True] Translation: X:120.97, Y:152.78, Z:-4.65 [[-3.28921104e-01 -9.44347563e-01 -4.31133323e-03 1.20968120e+02] [ 9.44271804e-01 -3.28949330e-01 1.19623797e-02 1.52783585e+02] [-1.27148543e-02 -1.36391266e-04 9.99919154e-01 -4.64796737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92999999999998 meters 0.014256159160925892 Centerline is valid? [True, True] Translation: X:120.96, Y:152.81, Z:-4.65 [[-3.27376835e-01 -9.44884162e-01 -4.28119324e-03 1.20957304e+02] [ 9.44809632e-01 -3.27404788e-01 1.18685875e-02 1.52808983e+02] [-1.26161235e-02 -1.59411994e-04 9.99920401e-01 -4.64837529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95999999999998 meters 0.01493171318359221 Centerline is valid? [True, True] Translation: X:120.95, Y:152.83, Z:-4.65 [[-3.24309996e-01 -9.45939644e-01 -4.60611754e-03 1.20946216e+02] [ 9.45853660e-01 -3.24342630e-01 1.27559021e-02 1.52834322e+02] [-1.35602738e-02 -2.19846557e-04 9.99908031e-01 -4.64837695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98999999999998 meters 0.015615248866973222 Centerline is valid? [True, True] Translation: X:120.94, Y:152.86, Z:-4.65 [[-3.23080412e-01 -9.46360144e-01 -4.63964787e-03 1.20935212e+02] [ 9.46273114e-01 -3.23113633e-01 1.28364157e-02 1.52859094e+02] [-1.36470056e-02 -2.43179588e-04 9.99906846e-01 -4.64883436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01999999999998 meters 0.015245189983400105 Centerline is valid? [True, True] Translation: X:120.93, Y:152.89, Z:-4.65 [[-3.21970249e-01 -9.46738474e-01 -4.62827678e-03 1.20925860e+02] [ 9.46652078e-01 -3.22003406e-01 1.27925920e-02 1.52885525e+02] [-1.36015599e-02 -2.62533798e-04 9.99907460e-01 -4.64899716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04999999999998 meters 0.015740950157206647 Centerline is valid? [True, True] Translation: X:120.91, Y:152.91, Z:-4.65 [[-3.20697773e-01 -9.47170937e-01 -4.48930625e-03 1.20914349e+02] [ 9.47089829e-01 -3.20729075e-01 1.23982483e-02 1.52911972e+02] [-1.31831115e-02 -2.75685665e-04 9.99913061e-01 -4.65009969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07999999999998 meters 0.01616712022341481 Centerline is valid? [True, True] Translation: X:120.90, Y:152.94, Z:-4.65 [[-3.19212307e-01 -9.47673485e-01 -4.29764357e-03 1.20903433e+02] [ 9.47599317e-01 -3.19241107e-01 1.18595750e-02 1.52938130e+02] [-1.26109893e-02 -2.86721818e-04 9.99920437e-01 -4.65110856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10999999999999 meters 0.016923105789257792 Centerline is valid? [True, True] Translation: X:120.89, Y:152.96, Z:-4.65 [[-3.17277819e-01 -9.48324728e-01 -3.87246002e-03 1.20891301e+02] [ 9.48264643e-01 -3.17301324e-01 1.06787847e-02 1.52963936e+02] [-1.13556922e-02 -2.83975412e-04 9.99935482e-01 -4.65326331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14 meters 0.017449806965809264 Centerline is valid? [True, True] Translation: X:120.88, Y:152.99, Z:-4.65 [[-3.17088381e-01 -9.48388669e-01 -3.72710830e-03 1.20880798e+02] [ 9.48333092e-01 -3.17110164e-01 1.02709005e-02 1.52988536e+02] [-1.09227096e-02 -2.77756909e-04 9.99940307e-01 -4.65478498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17 meters 0.017449806965809264 Centerline is valid? [True, True] Translation: X:120.87, Y:153.01, Z:-4.66 [[-3.17358097e-01 -9.48298435e-01 -3.73045210e-03 1.20871296e+02] [ 9.48242866e-01 -3.17379900e-01 1.02696854e-02 1.53014461e+02] [-1.09226971e-02 -2.78206776e-04 9.99940307e-01 -4.65535100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.2 meters 0.017383913749901187 Centerline is valid? [True, True] Translation: X:120.86, Y:153.04, Z:-4.66 [[-3.17861596e-01 -9.48130692e-01 -3.49233343e-03 1.20861597e+02] [ 9.48082057e-01 -3.17880676e-01 9.60675547e-03 1.53041049e+02] [-1.02186050e-02 -2.57400040e-04 9.99947756e-01 -4.65657861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23 meters 0.017083912208011198 Centerline is valid? [True, True] Translation: X:120.85, Y:153.07, Z:-4.66 [[-3.18823606e-01 -9.47808402e-01 -3.27736245e-03 1.20852658e+02] [ 9.47765619e-01 -3.18840365e-01 9.00853810e-03 1.53067956e+02] [-9.58332354e-03 -2.34036840e-04 9.99954052e-01 -4.65742015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26 meters 0.01858878200211544 Centerline is valid? [True, True] Translation: X:120.84, Y:153.09, Z:-4.66 [[-3.19822274e-01 -9.47471716e-01 -3.32577534e-03 1.20841538e+02] [ 9.47427746e-01 -3.19839482e-01 9.13079516e-03 1.53092487e+02] [-9.71488442e-03 -2.30700163e-04 9.99952783e-01 -4.65938559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29 meters 0.01667191519530103 Centerline is valid? [True, True] Translation: X:120.84, Y:153.12, Z:-4.66 [[-3.21158600e-01 -9.47018974e-01 -3.49532533e-03 1.20836208e+02] [ 9.46970431e-01 -3.21177538e-01 9.59120288e-03 1.53121015e+02] [-1.02056711e-02 -2.29672439e-04 9.99947894e-01 -4.65777852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32 meters 0.015832620090422165 Centerline is valid? [True, True] Translation: X:120.83, Y:153.15, Z:-4.66 [[-3.24782634e-01 -9.45780277e-01 -3.98863569e-03 1.20830308e+02] [ 9.45717096e-01 -3.24807050e-01 1.09340795e-02 1.53149020e+02] [-1.16367738e-02 -2.20921809e-04 9.99932266e-01 -4.65674323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35 meters 0.015622755498415344 Centerline is valid? [True, True] Translation: X:120.82, Y:153.18, Z:-4.66 [[-3.27169938e-01 -9.44956358e-01 -4.16097723e-03 1.20822795e+02] [ 9.44887668e-01 -3.27196333e-01 1.13953566e-02 1.53175605e+02] [-1.21295712e-02 -2.03437960e-04 9.99926413e-01 -4.65673769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38 meters 0.014757324808015282 Centerline is valid? [True, True] Translation: X:120.82, Y:153.20, Z:-4.66 [[-3.29832239e-01 -9.44029735e-01 -4.30734210e-03 1.20816672e+02] [ 9.43956184e-01 -3.29860314e-01 1.17853644e-02 1.53203219e+02] [-1.25465557e-02 -1.78749085e-04 9.99921273e-01 -4.65635076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41 meters 0.013985820652090072 Centerline is valid? [True, True] Translation: X:120.81, Y:153.23, Z:-4.66 [[-3.36113378e-01 -9.41810425e-01 -4.57380204e-03 1.20812388e+02] [ 9.41727450e-01 -3.36144480e-01 1.25019340e-02 1.53230275e+02] [-1.33119101e-02 -1.05207642e-04 9.99911387e-01 -4.65614210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44 meters 0.01377963942970882 Centerline is valid? [True, True] Translation: X:120.81, Y:153.26, Z:-4.66 [[-3.39438323e-01 -9.40617040e-01 -4.60542440e-03 1.20805707e+02] [ 9.40532933e-01 -3.39469559e-01 1.25786032e-02 1.53256895e+02] [-1.33950499e-02 -6.18933529e-05 9.99910280e-01 -4.65649315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47 meters 0.013613632933062697 Centerline is valid? [True, True] Translation: X:120.80, Y:153.28, Z:-4.66 [[-3.42813738e-01 -9.39392693e-01 -4.48429809e-03 1.20798816e+02] [ 9.39313001e-01 -3.42843066e-01 1.22359523e-02 1.53284275e+02] [-1.30317747e-02 -1.75069537e-05 9.99915083e-01 -4.65640351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.5 meters 0.013775712906854481 Centerline is valid? [True, True] Translation: X:120.79, Y:153.31, Z:-4.66 [[-3.48081106e-01 -9.37454108e-01 -4.39767494e-03 1.20791889e+02] [ 9.37377435e-01 -3.48108881e-01 1.19895886e-02 1.53311131e+02] [-1.27705588e-02 5.10680174e-05 9.99918452e-01 -4.65710710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53 meters 0.013940561201014326 Centerline is valid? [True, True] Translation: X:120.78, Y:153.34, Z:-4.66 [[-3.49992084e-01 -9.36742760e-01 -4.30604180e-03 1.20782935e+02] [ 9.36669319e-01 -3.50018565e-01 1.17298755e-02 1.53336289e+02] [-1.24950705e-02 7.20263248e-05 9.99921931e-01 -4.65805781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56 meters 0.014084532616249226 Centerline is valid? [True, True] Translation: X:120.77, Y:153.36, Z:-4.66 [[-3.52142848e-01 -9.35937214e-01 -4.11657500e-03 1.20773409e+02] [ 9.35870182e-01 -3.52166897e-01 1.12017818e-02 1.53362670e+02] [-1.19338859e-02 9.20475403e-05 9.99928784e-01 -4.65866566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59 meters 0.014476258557467205 Centerline is valid? [True, True] Translation: X:120.76, Y:153.39, Z:-4.66 [[-3.54664534e-01 -9.34985693e-01 -3.84992651e-03 1.20764969e+02] [ 9.34927093e-01 -3.54685411e-01 1.04685338e-02 1.53388846e+02] [-1.11534421e-02 1.13417052e-04 9.99937792e-01 -4.66000933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62 meters 0.014633435601360332 Centerline is valid? [True, True] Translation: X:120.76, Y:153.42, Z:-4.66 [[-3.57460082e-01 -9.33921385e-01 -3.62449541e-03 1.20755466e+02] [ 9.33869479e-01 -3.57478432e-01 9.84715988e-03 1.53415534e+02] [-1.04921521e-02 1.35160936e-04 9.99944947e-01 -4.66040891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64999999999998 meters 0.015445444651011792 Centerline is valid? [True, True] Translation: X:120.75, Y:153.44, Z:-4.66 [[-3.60531296e-01 -9.32740756e-01 -3.44483746e-03 1.20747916e+02] [ 9.32693884e-01 -3.60547718e-01 9.35211456e-03 1.53441845e+02] [-9.96512669e-03 1.58751151e-04 9.99950334e-01 -4.66154252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67999999999998 meters 0.01625376296270856 Centerline is valid? [True, True] Translation: X:120.74, Y:153.47, Z:-4.66 [[-3.66415289e-01 -9.30444644e-01 -3.54985588e-03 1.20740270e+02] [ 9.30394863e-01 -3.66432415e-01 9.62726394e-03 1.53468997e+02] [-1.02584184e-02 2.24809025e-04 9.99947356e-01 -4.66008167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70999999999998 meters 0.0169528807360759 Centerline is valid? [True, True] Translation: X:120.73, Y:153.50, Z:-4.66 [[-3.69563100e-01 -9.29197997e-01 -3.76797989e-03 1.20731770e+02] [ 9.29141951e-01 -3.69582208e-01 1.02091762e-02 1.53495378e+02] [-1.08789244e-02 2.71946621e-04 9.99940786e-01 -4.66013866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73999999999998 meters 0.01915746407139138 Centerline is valid? [True, True] Translation: X:120.73, Y:153.52, Z:-4.66 [[-3.72437089e-01 -9.28048755e-01 -4.01534970e-03 1.20725462e+02] [ 9.27985173e-01 -3.72458595e-01 1.08680490e-02 1.53522114e+02] [-1.15816309e-02 3.21479563e-04 9.99932879e-01 -4.66106263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76999999999998 meters 0.018256314133013648 Centerline is valid? [True, True] Translation: X:120.71, Y:153.55, Z:-4.66 [[-3.74782406e-01 -9.27103284e-01 -4.20114725e-03 1.20713093e+02] [ 9.27033763e-01 -3.74805777e-01 1.13592157e-02 1.53547401e+02] [-1.21057804e-02 3.62628835e-04 9.99926657e-01 -4.66027360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79999999999998 meters 0.018296784661575586 Centerline is valid? [True, True] Translation: X:120.70, Y:153.57, Z:-4.66 [[-3.77202236e-01 -9.26121384e-01 -4.20188388e-03 1.20701039e+02] [ 9.26051902e-01 -3.77225437e-01 1.13510113e-02 1.53573507e+02] [-1.20974717e-02 3.90464268e-04 9.99926747e-01 -4.66072516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82999999999998 meters 0.018992702746844625 Centerline is valid? [True, True] Translation: X:120.69, Y:153.60, Z:-4.66 [[-3.77639221e-01 -9.25943725e-01 -4.10338247e-03 1.20692005e+02] [ 9.25877544e-01 -3.77661319e-01 1.10770543e-02 1.53598682e+02] [-1.18064177e-02 3.83900461e-04 9.99930228e-01 -4.66183135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85999999999999 meters 0.01811786797512712 Centerline is valid? [True, True] Translation: X:120.68, Y:153.62, Z:-4.66 [[-3.77726162e-01 -9.25909112e-01 -3.90679073e-03 1.20679542e+02] [ 9.25849224e-01 -3.77746191e-01 1.05371161e-02 1.53623677e+02] [-1.12321872e-02 3.63045272e-04 9.99936851e-01 -4.66212749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89 meters 0.018203408422010577 Centerline is valid? [True, True] Translation: X:120.67, Y:153.65, Z:-4.66 [[-3.76603843e-01 -9.26367089e-01 -3.68261330e-03 1.20667407e+02] [ 9.26314008e-01 -3.76621707e-01 9.92213138e-03 1.53648124e+02] [-1.05784881e-02 3.25456525e-04 9.99943993e-01 -4.66292805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92 meters 0.018081548990524055 Centerline is valid? [True, True] Translation: X:120.66, Y:153.67, Z:-4.66 [[-3.76099253e-01 -9.26572139e-01 -3.66381658e-03 1.20655225e+02] [ 9.26519652e-01 -3.76116965e-01 9.86729961e-03 1.53674136e+02] [-1.05207885e-02 3.16485953e-04 9.99944605e-01 -4.66355699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95 meters 0.017645886093732622 Centerline is valid? [True, True] Translation: X:120.64, Y:153.70, Z:-4.66 [[-3.75418648e-01 -9.26847871e-01 -3.72316275e-03 1.20642553e+02] [ 9.26793800e-01 -3.75436982e-01 1.00161898e-02 1.53699944e+02] [-1.06812971e-02 3.09660264e-04 9.99942905e-01 -4.66410813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98 meters 0.01781573727816496 Centerline is valid? [True, True] Translation: X:120.63, Y:153.72, Z:-4.66 [[-3.74411612e-01 -9.27254904e-01 -3.77980327e-03 1.20631418e+02] [ 9.27199249e-01 -3.74430570e-01 1.01637161e-02 1.53724320e+02] [-1.08396295e-02 3.00782562e-04 9.99941204e-01 -4.66483423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01 meters 0.016334284203526023 Centerline is valid? [True, True] Translation: X:120.61, Y:153.75, Z:-4.66 [[-3.70965871e-01 -9.28638297e-01 -3.90327968e-03 1.20614667e+02] [ 9.28579111e-01 -3.70986310e-01 1.04876971e-02 1.53748543e+02] [-1.11873405e-02 2.66073722e-04 9.99937384e-01 -4.66478625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04 meters 0.016756044527889594 Centerline is valid? [True, True] Translation: X:120.60, Y:153.77, Z:-4.67 [[-3.68862784e-01 -9.29475564e-01 -3.92714473e-03 1.20603979e+02] [ 9.29415761e-01 -3.68883610e-01 1.05463135e-02 1.53773835e+02] [-1.12512000e-02 2.40192332e-04 9.99936674e-01 -4.66577037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07 meters 0.015732238299705027 Centerline is valid? [True, True] Translation: X:120.59, Y:153.80, Z:-4.67 [[-3.66647485e-01 -9.30351005e-01 -4.07793971e-03 1.20589807e+02] [ 9.30286622e-01 -3.66670096e-01 1.09471917e-02 1.53798617e+02] [-1.16799894e-02 2.20107554e-04 9.99931762e-01 -4.66569052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.1 meters 0.015008890078225201 Centerline is valid? [True, True] Translation: X:120.58, Y:153.82, Z:-4.67 [[-3.64278180e-01 -9.31280196e-01 -4.31333640e-03 1.20575741e+02] [ 9.31208367e-01 -3.64303662e-01 1.15680522e-02 1.53823395e+02] [-1.23444621e-02 1.97374049e-04 9.99923785e-01 -4.66537288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13 meters 0.014725663946192008 Centerline is valid? [True, True] Translation: X:120.56, Y:153.85, Z:-4.67 [[-3.61360502e-01 -9.32414787e-01 -4.61011247e-03 1.20562962e+02] [ 9.32333002e-01 -3.61389870e-01 1.23504934e-02 1.53847460e+02] [-1.31818307e-02 1.64820505e-04 9.99913102e-01 -4.66625615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16 meters 0.014455678519070867 Centerline is valid? [True, True] Translation: X:120.55, Y:153.87, Z:-4.67 [[-3.59005716e-01 -9.33323323e-01 -4.74027751e-03 1.20549566e+02] [ 9.33237008e-01 -3.59036985e-01 1.26937109e-02 1.53871801e+02] [-1.35492714e-02 1.33312368e-04 9.99908196e-01 -4.66708773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19 meters 0.013738613568818748 Centerline is valid? [True, True] Translation: X:120.53, Y:153.90, Z:-4.67 [[-3.53570905e-01 -9.35393368e-01 -5.18299126e-03 1.20530833e+02] [ 9.35290599e-01 -3.53608887e-01 1.38654363e-02 1.53895317e+02] [-1.48023890e-02 5.48118697e-05 9.99890437e-01 -4.66715848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22 meters 0.01366609414754978 Centerline is valid? [True, True] Translation: X:120.52, Y:153.92, Z:-4.67 [[-3.51503551e-01 -9.36172763e-01 -5.08048945e-03 1.20517711e+02] [ 9.36074240e-01 -3.51540264e-01 1.35816165e-02 1.53919121e+02] [-1.45007360e-02 1.82711124e-05 9.99894859e-01 -4.66798944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25 meters 0.013659930713416433 Centerline is valid? [True, True] Translation: X:120.50, Y:153.94, Z:-4.67 [[-3.49443036e-01 -9.36944912e-01 -4.87814511e-03 1.20504540e+02] [ 9.36854328e-01 -3.49477082e-01 1.30283486e-02 1.53944114e+02] [-1.39116449e-02 -1.74456584e-05 9.99903228e-01 -4.66902040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28 meters 0.013877300444331848 Centerline is valid? [True, True] Translation: X:120.49, Y:153.97, Z:-4.67 [[-3.46030331e-01 -9.38212806e-01 -4.44301418e-03 1.20488559e+02] [ 9.38137875e-01 -3.46058848e-01 1.18575685e-02 1.53967956e+02] [-1.26624670e-02 -6.50815095e-05 9.99919826e-01 -4.67104684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31 meters 0.014011895098582916 Centerline is valid? [True, True] Translation: X:120.48, Y:153.99, Z:-4.67 [[-3.44937003e-01 -9.38615967e-01 -4.30469605e-03 1.20476265e+02] [ 9.38545770e-01 -3.44963853e-01 1.14794362e-02 1.53992786e+02] [-1.22597466e-02 -8.04719525e-05 9.99924843e-01 -4.67248361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34 meters 0.014106877186222075 Centerline is valid? [True, True] Translation: X:120.46, Y:154.02, Z:-4.67 [[-3.44049211e-01 -9.38942190e-01 -4.20773206e-03 1.20464010e+02] [ 9.38875268e-01 -3.44074928e-01 1.12105064e-02 1.54018228e+02] [-1.19737925e-02 -9.35696926e-05 9.99928307e-01 -4.67345845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37 meters 0.014256780624586256 Centerline is valid? [True, True] Translation: X:120.45, Y:154.04, Z:-4.67 [[-3.43577947e-01 -9.39115404e-01 -4.05610583e-03 1.20452156e+02] [ 9.39053331e-01 -3.43601874e-01 1.07978322e-02 1.54044044e+02] [-1.15340961e-02 -9.90026836e-05 9.99933475e-01 -4.67460788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39999999999998 meters 0.014453705761635335 Centerline is valid? [True, True] Translation: X:120.44, Y:154.07, Z:-4.68 [[-3.42887135e-01 -9.39369489e-01 -3.65721734e-03 1.20440013e+02] [ 9.39319142e-01 -3.42906623e-01 9.72613579e-03 1.54069302e+02] [-1.03905193e-02 -1.00327421e-04 9.99946012e-01 -4.67638666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42999999999998 meters 0.014540927035975464 Centerline is valid? [True, True] Translation: X:120.43, Y:154.09, Z:-4.68 [[-3.42981164e-01 -9.39335628e-01 -3.53550974e-03 1.20429496e+02] [ 9.39288586e-01 -3.42999372e-01 9.40127411e-03 1.54093810e+02] [-1.00436293e-02 -9.64040111e-05 9.99949557e-01 -4.67733184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45999999999998 meters 0.014613623926493173 Centerline is valid? [True, True] Translation: X:120.42, Y:154.12, Z:-4.68 [[-3.43108937e-01 -9.39289170e-01 -3.48034798e-03 1.20419185e+02] [ 9.39243669e-01 -3.43126575e-01 9.24573848e-03 1.54119726e+02] [-9.87862190e-03 -9.65992967e-05 9.99951201e-01 -4.67795399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48999999999998 meters 0.014642491486457071 Centerline is valid? [True, True] Translation: X:120.41, Y:154.14, Z:-4.68 [[-3.43383387e-01 -9.39189293e-01 -3.36466404e-03 1.20409207e+02] [ 9.39146815e-01 -3.43399859e-01 8.93294222e-03 1.54144375e+02] [-9.54514885e-03 -9.24895510e-05 9.99954440e-01 -4.67900438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51999999999998 meters 0.0145845739984033 Centerline is valid? [True, True] Translation: X:120.40, Y:154.17, Z:-4.68 [[-3.43543750e-01 -9.39130766e-01 -3.33111470e-03 1.20399325e+02] [ 9.39089223e-01 -3.43559887e-01 8.83374994e-03 1.54171168e+02] [-9.44048373e-03 -9.34343381e-05 9.99955433e-01 -4.67902043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54999999999998 meters 0.014678618269639157 Centerline is valid? [True, True] Translation: X:120.39, Y:154.20, Z:-4.68 [[-3.43812565e-01 -9.39031874e-01 -3.47260519e-03 1.20389362e+02] [ 9.38986807e-01 -3.43830088e-01 9.20037606e-03 1.54197153e+02] [-9.83343252e-03 -9.75255677e-05 9.99951646e-01 -4.67911306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57999999999998 meters 0.014550954077398282 Centerline is valid? [True, True] Translation: X:120.38, Y:154.22, Z:-4.68 [[-3.44072401e-01 -9.38935861e-01 -3.69212206e-03 1.20379404e+02] [ 9.38885008e-01 -3.44092194e-01 9.77256492e-03 1.54223533e+02] [-1.04462420e-02 -1.04008180e-04 9.99945431e-01 -4.67912183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60999999999999 meters 0.014570654692103838 Centerline is valid? [True, True] Translation: X:120.37, Y:154.25, Z:-4.68 [[-3.44526014e-01 -9.38768680e-01 -3.89767858e-03 1.20369622e+02] [ 9.38712101e-01 -3.44548044e-01 1.03071359e-02 1.54248538e+02] [-1.10189539e-02 -1.07721603e-04 9.99939284e-01 -4.67940806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64 meters 0.01463553027581418 Centerline is valid? [True, True] Translation: X:120.36, Y:154.27, Z:-4.68 [[-3.44901729e-01 -9.38629568e-01 -4.16317182e-03 1.20359560e+02] [ 9.38565146e-01 -3.44926836e-01 1.09974798e-02 1.54274738e+02] [-1.17585494e-02 -1.14358176e-04 9.99930859e-01 -4.67963568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67 meters 0.014481137430223294 Centerline is valid? [True, True] Translation: X:120.35, Y:154.30, Z:-4.68 [[-3.46346120e-01 -9.38097021e-01 -4.28316425e-03 1.20350350e+02] [ 9.38028936e-01 -3.46372587e-01 1.13024884e-02 1.54300319e+02] [-1.20864014e-02 -1.03159012e-04 9.99926951e-01 -4.67984943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.7 meters 0.0143651937244807 Centerline is valid? [True, True] Translation: X:120.34, Y:154.33, Z:-4.68 [[-3.47438171e-01 -9.37693795e-01 -4.13089146e-03 1.20341113e+02] [ 9.37630489e-01 -3.47462716e-01 1.08961749e-02 1.54327096e+02] [-1.16526064e-02 -8.75026890e-05 9.99932102e-01 -4.68045764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73 meters 0.014260281394556353 Centerline is valid? [True, True] Translation: X:120.33, Y:154.35, Z:-4.68 [[-3.49055245e-01 -9.37093084e-01 -4.12172765e-03 1.20332390e+02] [ 9.37030108e-01 -3.49079572e-01 1.08640741e-02 1.54352288e+02] [-1.16194596e-02 -7.00208582e-05 9.99932489e-01 -4.68113303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76 meters 0.01421619785063811 Centerline is valid? [True, True] Translation: X:120.32, Y:154.38, Z:-4.68 [[-3.50581899e-01 -9.36523842e-01 -3.92749080e-03 1.20324207e+02] [ 9.36466732e-01 -3.50603894e-01 1.03425628e-02 1.54377073e+02] [-1.10630502e-02 -5.20491732e-05 9.99938801e-01 -4.68196386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79 meters 0.014016388524458264 Centerline is valid? [True, True] Translation: X:120.32, Y:154.40, Z:-4.68 [[-3.54204477e-01 -9.35160408e-01 -3.76830416e-03 1.20317099e+02] [ 9.35107857e-01 -3.54224522e-01 9.91378946e-03 1.54403301e+02] [-1.06058091e-02 -1.22622145e-05 9.99943757e-01 -4.68277036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82 meters 0.014067516832424286 Centerline is valid? [True, True] Translation: X:120.31, Y:154.43, Z:-4.68 [[-3.56192791e-01 -9.34405091e-01 -3.71780779e-03 1.20308562e+02] [ 9.34353986e-01 -3.56212193e-01 9.77250354e-03 1.54428666e+02] [-1.04558055e-02 7.14677797e-06 9.99945337e-01 -4.68374268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85 meters 0.014117163127167228 Centerline is valid? [True, True] Translation: X:120.30, Y:154.46, Z:-4.68 [[-3.58693108e-01 -9.33448064e-01 -3.73716354e-03 1.20300013e+02] [ 9.33396481e-01 -3.58712575e-01 9.81317467e-03 1.54455099e+02] [-1.05006565e-02 3.16628288e-05 9.99944866e-01 -4.68425868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88 meters 0.014111556610376849 Centerline is valid? [True, True] Translation: X:120.29, Y:154.48, Z:-4.68 [[-3.61123457e-01 -9.32509685e-01 -3.94163804e-03 1.20290837e+02] [ 9.32452366e-01 -3.61144963e-01 1.03392298e-02 1.54482063e+02] [-1.10649346e-02 5.83486833e-05 9.99938780e-01 -4.68353264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91 meters 0.01421610927796412 Centerline is valid? [True, True] Translation: X:120.28, Y:154.51, Z:-4.68 [[-3.63545921e-01 -9.31566583e-01 -4.25018477e-03 1.20282117e+02] [ 9.31500004e-01 -3.63570753e-01 1.11377475e-02 1.54509313e+02] [-1.19207962e-02 9.00355307e-05 9.99928941e-01 -4.68326289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94 meters 0.01469896075645971 Centerline is valid? [True, True] Translation: X:120.28, Y:154.54, Z:-4.68 [[-3.67787431e-01 -9.29897923e-01 -4.71784428e-03 1.20275388e+02] [ 9.29815920e-01 -3.67817656e-01 1.23501826e-02 1.54536538e+02] [-1.32197155e-02 1.55515198e-04 9.99912604e-01 -4.68258745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97 meters 0.014945936886190196 Centerline is valid? [True, True] Translation: X:120.27, Y:154.56, Z:-4.68 [[-3.69707176e-01 -9.29135463e-01 -4.88825674e-03 1.20266607e+02] [ 9.29047497e-01 -3.69739444e-01 1.27863791e-02 1.54563261e+02] [-1.36876596e-02 1.85793405e-04 9.99906302e-01 -4.68265818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.0 meters 0.015027116226550133 Centerline is valid? [True, True] Translation: X:120.26, Y:154.59, Z:-4.68 [[-3.71194835e-01 -9.28541953e-01 -4.92306348e-03 1.20257377e+02] [ 9.28452827e-01 -3.71227423e-01 1.28665286e-02 1.54589521e+02] [-1.37746877e-02 2.05156744e-04 9.99905103e-01 -4.68247895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03 meters 0.015116512415769917 Centerline is valid? [True, True] Translation: X:120.25, Y:154.62, Z:-4.68 [[-3.72317882e-01 -9.28091359e-01 -5.08179542e-03 1.20247826e+02] [ 9.27996520e-01 -3.72352493e-01 1.32695184e-02 1.54616241e+02] [-1.42075446e-02 2.24590525e-04 9.99899043e-01 -4.68323549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06 meters 0.015116512415769917 Centerline is valid? [True, True] Translation: X:120.24, Y:154.64, Z:-4.68 [[-3.72581742e-01 -9.27985443e-01 -5.08557217e-03 1.20237884e+02] [ 9.27890614e-01 -3.72616380e-01 1.32680705e-02 1.54641986e+02] [-1.42075438e-02 2.24586145e-04 9.99899043e-01 -4.68380155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09 meters 0.015002283617713007 Centerline is valid? [True, True] Translation: X:120.23, Y:154.67, Z:-4.68 [[-3.72449056e-01 -9.28039329e-01 -4.97041996e-03 1.20226787e+02] [ 9.27948897e-01 -3.72482159e-01 1.29570380e-02 1.54667972e+02] [-1.38760337e-02 2.13540875e-04 9.99903700e-01 -4.68491812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12 meters 0.014860329440656921 Centerline is valid? [True, True] Translation: X:120.22, Y:154.69, Z:-4.69 [[-3.71800547e-01 -9.28300309e-01 -4.78427545e-03 1.20215786e+02] [ 9.28216680e-01 -3.71831278e-01 1.24617542e-02 1.54694048e+02] [-1.33471935e-02 1.92442761e-04 9.99910904e-01 -4.68575371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14999999999998 meters 0.014878616838192076 Centerline is valid? [True, True] Translation: X:120.21, Y:154.72, Z:-4.69 [[-3.70606902e-01 -9.28777602e-01 -4.76346851e-03 1.20205728e+02] [ 9.28694876e-01 -3.70637474e-01 1.23971683e-02 1.54719379e+02] [-1.32797322e-02 1.70667349e-04 9.99911806e-01 -4.68716815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17999999999998 meters 0.014378763033227403 Centerline is valid? [True, True] Translation: X:120.19, Y:154.74, Z:-4.69 [[-3.67485410e-01 -9.30018548e-01 -4.46920249e-03 1.20192998e+02] [ 9.29945937e-01 -3.67512567e-01 1.16218195e-02 1.54744594e+02] [-1.24509957e-02 1.14732386e-04 9.99922477e-01 -4.68809551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20999999999998 meters 0.014236262711141668 Centerline is valid? [True, True] Translation: X:120.18, Y:154.77, Z:-4.69 [[-3.66001829e-01 -9.30603058e-01 -4.53985905e-03 1.20181748e+02] [ 9.30528305e-01 -3.66029972e-01 1.17954387e-02 1.54769932e+02] [-1.26385958e-02 9.26847992e-05 9.99920125e-01 -4.68881628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23999999999998 meters 0.0141290059102122 Centerline is valid? [True, True] Translation: X:120.17, Y:154.79, Z:-4.69 [[-3.64070365e-01 -9.31360413e-01 -4.53325720e-03 1.20170815e+02] [ 9.31286051e-01 -3.64098581e-01 1.17692089e-02 1.54794429e+02] [-1.26119278e-02 6.30609748e-05 9.99920465e-01 -4.68938413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26999999999998 meters 0.014007596355426961 Centerline is valid? [True, True] Translation: X:120.16, Y:154.82, Z:-4.69 [[-3.62504668e-01 -9.31970611e-01 -4.59841907e-03 1.20159421e+02] [ 9.31894291e-01 -3.62533831e-01 1.19269839e-02 1.54819618e+02] [-1.27826810e-02 3.83468795e-05 9.99918297e-01 -4.68977135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29999999999998 meters 0.013926405089641297 Centerline is valid? [True, True] Translation: X:120.15, Y:154.84, Z:-4.69 [[-3.60499672e-01 -9.32746819e-01 -4.83304871e-03 1.20148114e+02] [ 9.32662745e-01 -3.60532067e-01 1.25233156e-02 1.54843793e+02] [-1.34235518e-02 7.04669186e-06 9.99909900e-01 -4.69044090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32999999999998 meters 0.014077427028151193 Centerline is valid? [True, True] Translation: X:120.13, Y:154.87, Z:-4.69 [[-3.55566751e-01 -9.34637130e-01 -5.07160850e-03 1.20134647e+02] [ 9.34544943e-01 -3.55602911e-01 1.31270360e-02 1.54869039e+02] [-1.40724940e-02 -7.21085420e-05 9.99900975e-01 -4.69026121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35999999999999 meters 0.014366537663425626 Centerline is valid? [True, True] Translation: X:120.12, Y:154.90, Z:-4.69 [[-3.53199485e-01 -9.35533300e-01 -5.25064111e-03 1.20122975e+02] [ 9.35434764e-01 -3.53238492e-01 1.35783094e-02 1.54895080e+02] [-1.45576891e-02 -1.15780345e-04 9.99894025e-01 -4.69050953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39 meters 0.014677383553734605 Centerline is valid? [True, True] Translation: X:120.11, Y:154.92, Z:-4.69 [[-3.50774939e-01 -9.36445571e-01 -5.16088629e-03 1.20111642e+02] [ 9.36350636e-01 -3.50812868e-01 1.33348338e-02 1.54921495e+02] [-1.42978514e-02 -1.54873661e-04 9.99897769e-01 -4.69048340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42 meters 0.015142722564100165 Centerline is valid? [True, True] Translation: X:120.10, Y:154.95, Z:-4.69 [[-3.48592995e-01 -9.37259306e-01 -5.28375123e-03 1.20100590e+02] [ 9.37160055e-01 -3.48632981e-01 1.36409507e-02 1.54947875e+02] [-1.46271979e-02 -1.96580751e-04 9.99892998e-01 -4.69093712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45 meters 0.015671285074830586 Centerline is valid? [True, True] Translation: X:120.09, Y:154.97, Z:-4.69 [[-3.46245550e-01 -9.38128631e-01 -5.35647231e-03 1.20089377e+02] [ 9.38026901e-01 -3.46286897e-01 1.38172867e-02 1.54974121e+02] [-1.48172684e-02 -2.40341103e-04 9.99890189e-01 -4.69139367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48 meters 0.016313275672115896 Centerline is valid? [True, True] Translation: X:120.08, Y:155.00, Z:-4.69 [[-3.42371531e-01 -9.39551053e-01 -5.05501320e-03 1.20078955e+02] [ 9.39460738e-01 -3.42408726e-01 1.30301846e-02 1.55000449e+02] [-1.39734043e-02 -2.87822174e-04 9.99902326e-01 -4.69204738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51 meters 0.01724908768263101 Centerline is valid? [True, True] Translation: X:120.07, Y:155.03, Z:-4.69 [[-3.41352410e-01 -9.39923332e-01 -4.76051394e-03 1.20067713e+02] [ 9.39843391e-01 -3.41385482e-01 1.22618537e-02 1.55025520e+02] [-1.31503727e-02 -2.88524261e-04 9.99913488e-01 -4.69380062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54 meters 0.01756061397918245 Centerline is valid? [True, True] Translation: X:120.06, Y:155.05, Z:-4.70 [[-3.40594519e-01 -9.40199696e-01 -4.46156034e-03 1.20057872e+02] [ 9.40129599e-01 -3.40623622e-01 1.14841856e-02 1.55051363e+02] [-1.23171407e-02 -2.82994258e-04 9.99924101e-01 -4.69522536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57 meters 0.017598870084701176 Centerline is valid? [True, True] Translation: X:120.05, Y:155.08, Z:-4.70 [[-3.39225715e-01 -9.40697262e-01 -3.81783382e-03 1.20050137e+02] [ 9.40646030e-01 -3.39247099e-01 9.82096890e-03 1.55078858e+02] [-1.05337476e-02 -2.59705024e-04 9.99944485e-01 -4.69672459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.6 meters 0.018044618693122832 Centerline is valid? [True, True] Translation: X:120.04, Y:155.10, Z:-4.70 [[-3.38898063e-01 -9.40815853e-01 -3.69234068e-03 1.20041131e+02] [ 9.40768018e-01 -3.38918079e-01 9.49063863e-03 1.55104898e+02] [-1.01803443e-02 -2.57276974e-04 9.99948146e-01 -4.69782823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63 meters 0.017844368990048293 Centerline is valid? [True, True] Translation: X:120.03, Y:155.13, Z:-4.70 [[-3.39378753e-01 -9.40643266e-01 -3.50840736e-03 1.20032565e+02] [ 9.40600119e-01 -3.39396801e-01 9.01267328e-03 1.55132160e+02] [-9.66845266e-03 -2.41298567e-04 9.99953230e-01 -4.69843971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66 meters 0.017793366842187193 Centerline is valid? [True, True] Translation: X:120.02, Y:155.16, Z:-4.70 [[-3.40118856e-01 -9.40376698e-01 -3.29074295e-03 1.20024800e+02] [ 9.40338782e-01 -3.40134703e-01 8.44736043e-03 1.55158754e+02] [-9.06299679e-03 -2.21306651e-04 9.99958906e-01 -4.69919320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69 meters 0.017526384659400124 Centerline is valid? [True, True] Translation: X:120.02, Y:155.19, Z:-4.70 [[-3.42021152e-01 -9.39686458e-01 -3.30040905e-03 1.20019627e+02] [ 9.39648375e-01 -3.42037013e-01 8.46251429e-03 1.55185460e+02] [-9.08097213e-03 -2.06865111e-04 9.99958746e-01 -4.70015368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72 meters 0.01709520565102331 Centerline is valid? [True, True] Translation: X:120.01, Y:155.21, Z:-4.70 [[-3.43778629e-01 -9.39045167e-01 -3.22948995e-03 1.20012117e+02] [ 9.39008696e-01 -3.43793747e-01 8.27819423e-03 1.55212833e+02] [-8.88387673e-03 -1.86652891e-04 9.99960520e-01 -4.70064539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75 meters 0.017018272072199813 Centerline is valid? [True, True] Translation: X:120.01, Y:155.24, Z:-4.70 [[-3.45621373e-01 -9.38368220e-01 -3.30899317e-03 1.20005258e+02] [ 9.38329969e-01 -3.45637168e-01 8.47445711e-03 1.55239092e+02] [-9.09587226e-03 -1.75973961e-04 9.99958616e-01 -4.70143916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78 meters 0.0166173989925377 Centerline is valid? [True, True] Translation: X:120.00, Y:155.27, Z:-4.70 [[-3.47915864e-01 -9.37519028e-01 -3.55292326e-03 1.19998852e+02] [ 9.37474972e-01 -3.47933965e-01 9.09029027e-03 1.55266744e+02] [-9.75850278e-03 -1.68120438e-04 9.99952371e-01 -4.70159017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81 meters 0.015505813494799498 Centerline is valid? [True, True] Translation: X:120.00, Y:155.30, Z:-4.70 [[-3.52633511e-01 -9.35753340e-01 -3.91076826e-03 1.19997715e+02] [ 9.35699954e-01 -3.52655170e-01 9.99632710e-03 1.55296380e+02] [-1.07332491e-02 -1.34265762e-04 9.99942388e-01 -4.70095627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84 meters 0.015470630433169071 Centerline is valid? [True, True] Translation: X:119.99, Y:155.32, Z:-4.70 [[-3.55125036e-01 -9.34810761e-01 -3.87951882e-03 1.19991369e+02] [ 9.34758268e-01 -3.55146210e-01 9.90707874e-03 1.55322008e+02] [-1.06390402e-02 -1.08160594e-04 9.99943398e-01 -4.70193402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87 meters 0.014978950939147053 Centerline is valid? [True, True] Translation: X:119.99, Y:155.35, Z:-4.70 [[-3.57485011e-01 -9.33910297e-01 -4.00309442e-03 1.19985786e+02] [ 9.33854426e-01 -3.57507413e-01 1.02157067e-02 1.55349925e+02] [-1.09716896e-02 -8.63454219e-05 9.99939805e-01 -4.70161602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89999999999998 meters 0.014694332473236702 Centerline is valid? [True, True] Translation: X:119.98, Y:155.38, Z:-4.70 [[-3.61887203e-01 -9.32213172e-01 -4.03167629e-03 1.19983559e+02] [ 9.32156480e-01 -3.61909658e-01 1.02808701e-02 1.55377871e+02] [-1.10430651e-02 -3.76378665e-05 9.99939023e-01 -4.70225687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92999999999998 meters 0.014572806907996267 Centerline is valid? [True, True] Translation: X:119.98, Y:155.41, Z:-4.70 [[-3.64227243e-01 -9.31301187e-01 -4.07621996e-03 1.19977530e+02] [ 9.31243297e-01 -3.64250051e-01 1.03837534e-02 1.55405363e+02] [-1.11551652e-02 -1.39066323e-05 9.99937779e-01 -4.70283488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95999999999998 meters 0.014569798010165403 Centerline is valid? [True, True] Translation: X:119.97, Y:155.43, Z:-4.70 [[-3.66525897e-01 -9.30399192e-01 -4.01381057e-03 1.19971385e+02] [ 9.30343097e-01 -3.66547874e-01 1.02165625e-02 1.55432730e+02] [-1.09767352e-02 1.04137808e-05 9.99939754e-01 -4.70299679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98999999999998 meters 0.014670588973034636 Centerline is valid? [True, True] Translation: X:119.96, Y:155.46, Z:-4.70 [[-3.68560035e-01 -9.29595588e-01 -3.94245859e-03 1.19964936e+02] [ 9.29541511e-01 -3.68581119e-01 1.00269049e-02 1.55459900e+02] [-1.07740824e-02 3.08375157e-05 9.99941957e-01 -4.70368470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01999999999998 meters 0.014710516863589691 Centerline is valid? [True, True] Translation: X:119.96, Y:155.49, Z:-4.70 [[-3.70040820e-01 -9.29007099e-01 -3.94981727e-03 1.19957111e+02] [ 9.28952876e-01 -3.70061897e-01 1.00372516e-02 1.55486595e+02] [-1.07863549e-02 4.49986909e-05 9.99941825e-01 -4.70383030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04999999999998 meters 0.014559606558033006 Centerline is valid? [True, True] Translation: X:119.95, Y:155.51, Z:-4.70 [[-3.68135754e-01 -9.29762149e-01 -4.29102150e-03 1.19945747e+02] [ 9.29698326e-01 -3.68160761e-01 1.08938862e-02 1.55512670e+02] [-1.17085088e-02 2.10735219e-05 9.99931453e-01 -4.70384936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07999999999998 meters 0.014529669758791997 Centerline is valid? [True, True] Translation: X:119.93, Y:155.54, Z:-4.70 [[-3.66479194e-01 -9.30416453e-01 -4.26892061e-03 1.19934281e+02] [ 9.30353430e-01 -3.66504057e-01 1.08292003e-02 1.55536841e+02] [-1.16402429e-02 -2.92832428e-06 9.99932250e-01 -4.70483434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10999999999999 meters 0.014542654115742598 Centerline is valid? [True, True] Translation: X:119.92, Y:155.56, Z:-4.71 [[-3.65331422e-01 -9.30867541e-01 -4.30973640e-03 1.19922963e+02] [ 9.30803458e-01 -3.65356841e-01 1.09225596e-02 1.55562403e+02] [-1.17420479e-02 -2.11633137e-05 9.99931060e-01 -4.70557383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14 meters 0.014674566501060572 Centerline is valid? [True, True] Translation: X:119.91, Y:155.59, Z:-4.71 [[-3.64303846e-01 -9.31271159e-01 -4.09103047e-03 1.19911661e+02] [ 9.31213523e-01 -3.64326814e-01 1.03608081e-02 1.55587304e+02] [-1.11391938e-02 -3.51406826e-05 9.99937957e-01 -4.70749763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17 meters 0.014747752941228352 Centerline is valid? [True, True] Translation: X:119.90, Y:155.61, Z:-4.71 [[-3.63385602e-01 -9.31629949e-01 -4.06713766e-03 1.19901124e+02] [ 9.31573104e-01 -3.63408359e-01 1.02915703e-02 1.55612527e+02] [-1.10659669e-02 -4.90275805e-05 9.99938769e-01 -4.70745660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.2 meters 0.01467908424565352 Centerline is valid? [True, True] Translation: X:119.89, Y:155.64, Z:-4.71 [[-3.63111835e-01 -9.31735420e-01 -4.34777372e-03 1.19891002e+02] [ 9.31670605e-01 -3.63137858e-01 1.09899599e-02 1.55638320e+02] [-1.18185761e-02 -6.01084773e-05 9.99930156e-01 -4.70655014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23 meters 0.014732236132960281 Centerline is valid? [True, True] Translation: X:119.88, Y:155.66, Z:-4.71 [[-3.62820968e-01 -9.31846686e-01 -4.76441631e-03 1.19880292e+02] [ 9.31769010e-01 -3.62852242e-01 1.20317273e-02 1.55662923e+02] [-1.29405043e-02 -7.39725238e-05 9.99916265e-01 -4.70679065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26 meters 0.014730757406642222 Centerline is valid? [True, True] Translation: X:119.87, Y:155.69, Z:-4.71 [[-3.62588821e-01 -9.31935370e-01 -5.08062670e-03 1.19868715e+02] [ 9.31847228e-01 -3.62624404e-01 1.28173784e-02 1.55689047e+02] [-1.37873275e-02 -8.69297839e-05 9.99904947e-01 -4.70654925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29 meters 0.014956278212237993 Centerline is valid? [True, True] Translation: X:119.86, Y:155.71, Z:-4.71 [[-3.61251253e-01 -9.32451425e-01 -5.64562551e-03 1.19855036e+02] [ 9.32342860e-01 -3.61295344e-01 1.42290488e-02 1.55714111e+02] [-1.53076350e-02 -1.23396921e-04 9.99882824e-01 -4.70616424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32 meters 0.01499805846310638 Centerline is valid? [True, True] Translation: X:119.84, Y:155.74, Z:-4.71 [[-3.60886428e-01 -9.32592885e-01 -5.61216524e-03 1.19843145e+02] [ 9.32485798e-01 -3.60930039e-01 1.41330524e-02 1.55739544e+02] [-1.52059831e-02 -1.32837598e-04 9.99884374e-01 -4.70679474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35 meters 0.015146855782877257 Centerline is valid? [True, True] Translation: X:119.83, Y:155.77, Z:-4.71 [[-3.59927968e-01 -9.32964116e-01 -5.46033275e-03 1.19830949e+02] [ 9.32862951e-01 -3.59969353e-01 1.37397011e-02 1.55765306e+02] [-1.47842005e-02 -1.48439426e-04 9.99890697e-01 -4.70825302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38 meters 0.015236811642308057 Centerline is valid? [True, True] Translation: X:119.82, Y:155.79, Z:-4.71 [[-3.59325018e-01 -9.33199366e-01 -4.94723269e-03 1.19819321e+02] [ 9.33116459e-01 -3.59359044e-01 1.24398834e-02 1.55790906e+02] [-1.33867241e-02 -1.46382909e-04 9.99910383e-01 -4.71006970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41 meters 0.015362364095421249 Centerline is valid? [True, True] Translation: X:119.81, Y:155.82, Z:-4.71 [[-3.58682677e-01 -9.33448933e-01 -4.45284702e-03 1.19808143e+02] [ 9.33381880e-01 -3.58710287e-01 1.11890837e-02 1.55816194e+02] [-1.20417202e-02 -1.42876240e-04 9.99927486e-01 -4.71185834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44 meters 0.015550604817303188 Centerline is valid? [True, True] Translation: X:119.80, Y:155.84, Z:-4.71 [[-3.58199802e-01 -9.33636140e-01 -4.05705846e-03 1.19797061e+02] [ 9.33580594e-01 -3.58222750e-01 1.01850750e-02 1.55840373e+02] [-1.09624848e-02 -1.39299180e-04 9.99939900e-01 -4.71406823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47 meters 0.015623551457805642 Centerline is valid? [True, True] Translation: X:119.79, Y:155.87, Z:-4.72 [[-3.57611890e-01 -9.33863745e-01 -3.49871185e-03 1.19785766e+02] [ 9.33822450e-01 -3.57628983e-01 8.78304918e-03 1.55865591e+02] [-9.45341196e-03 -1.26252858e-04 9.99955308e-01 -4.71651866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.5 meters 0.01567631670578797 Centerline is valid? [True, True] Translation: X:119.78, Y:155.89, Z:-4.72 [[-3.57914075e-01 -9.33747464e-01 -3.63170680e-03 1.19775476e+02] [ 9.33703053e-01 -3.57932475e-01 9.10776041e-03 1.55891266e+02] [-9.80425399e-03 -1.31140086e-04 9.99951929e-01 -4.71754032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53 meters 0.015452429976176253 Centerline is valid? [True, True] Translation: X:119.77, Y:155.92, Z:-4.72 [[-3.59042797e-01 -9.33312359e-01 -4.03857830e-03 1.19765924e+02] [ 9.33257524e-01 -3.59065484e-01 1.01179718e-02 1.55917811e+02] [-1.08933422e-02 -1.36248712e-04 9.99940657e-01 -4.71658746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56 meters 0.015311483137890217 Centerline is valid? [True, True] Translation: X:119.76, Y:155.94, Z:-4.72 [[-3.59712454e-01 -9.33052346e-01 -4.50224094e-03 1.19756250e+02] [ 9.32984310e-01 -3.59740599e-01 1.12685203e-02 1.55944346e+02] [-1.21337582e-02 -1.47093050e-04 9.99926372e-01 -4.71628780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59 meters 0.015222770694238597 Centerline is valid? [True, True] Translation: X:119.75, Y:155.97, Z:-4.72 [[-3.60728173e-01 -9.32658551e-01 -4.81796232e-03 1.19746924e+02] [ 9.32580744e-01 -3.60760316e-01 1.20478074e-02 1.55969696e+02] [-1.29746202e-02 -1.47155337e-04 9.99915815e-01 -4.71640809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62 meters 0.015152925803669276 Centerline is valid? [True, True] Translation: X:119.74, Y:156.00, Z:-4.72 [[-3.61761610e-01 -9.32257481e-01 -4.95244160e-03 1.19737333e+02] [ 9.32175376e-01 -3.61795480e-01 1.23733480e-02 1.55995737e+02] [-1.33269172e-02 -1.40341811e-04 9.99911183e-01 -4.71686108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64999999999998 meters 0.015006341550378431 Centerline is valid? [True, True] Translation: X:119.73, Y:156.02, Z:-4.72 [[-3.62841850e-01 -9.31837157e-01 -5.03042525e-03 1.19728215e+02] [ 9.31752563e-01 -3.62876695e-01 1.25564545e-02 1.56021654e+02] [-1.35259950e-02 -1.31104436e-04 9.99908511e-01 -4.71699295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67999999999998 meters 0.014970293970190639 Centerline is valid? [True, True] Translation: X:119.72, Y:156.05, Z:-4.72 [[-3.63610488e-01 -9.31536075e-01 -5.28707001e-03 1.19719014e+02] [ 9.31442782e-01 -3.63648901e-01 1.31840892e-02 1.56047145e+02] [-1.42040919e-02 -1.30730084e-04 9.99899108e-01 -4.71742136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70999999999998 meters 0.014937520335446996 Centerline is valid? [True, True] Translation: X:119.71, Y:156.07, Z:-4.72 [[-3.64424121e-01 -9.31217839e-01 -5.32893360e-03 1.19710075e+02] [ 9.31123211e-01 -3.64463060e-01 1.32756592e-02 1.56074045e+02] [-1.43047301e-02 -1.23923347e-04 9.99897674e-01 -4.71786075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73999999999998 meters 0.01493687066311654 Centerline is valid? [True, True] Translation: X:119.70, Y:156.10, Z:-4.72 [[-3.64551802e-01 -9.31169535e-01 -5.02794141e-03 1.19699965e+02] [ 9.31085418e-01 -3.64586454e-01 1.25164612e-02 1.56100488e+02] [-1.34880667e-02 -1.18544450e-04 9.99909025e-01 -4.71845130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76999999999998 meters 0.015022388548170075 Centerline is valid? [True, True] Translation: X:119.69, Y:156.13, Z:-4.72 [[-3.64553312e-01 -9.31169558e-01 -4.91298628e-03 1.19689521e+02] [ 9.31089368e-01 -3.64586397e-01 1.22208434e-02 1.56125962e+02] [-1.31708853e-02 -1.19280349e-04 9.99913253e-01 -4.71946980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79999999999998 meters 0.015169027342224266 Centerline is valid? [True, True] Translation: X:119.68, Y:156.15, Z:-4.72 [[-3.64065655e-01 -9.31361251e-01 -4.73484442e-03 1.19678655e+02] [ 9.31286906e-01 -3.64096422e-01 1.17683454e-02 1.56150767e+02] [-1.26845208e-02 -1.25048240e-04 9.99919540e-01 -4.72051665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82999999999998 meters 0.0152917226118545 Centerline is valid? [True, True] Translation: X:119.67, Y:156.18, Z:-4.72 [[-3.63092354e-01 -9.31741092e-01 -4.74132885e-03 1.19667372e+02] [ 9.31666720e-01 -3.63123281e-01 1.17730647e-02 1.56176193e+02] [-1.26911350e-02 -1.42628535e-04 9.99919454e-01 -4.72138955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85999999999999 meters 0.015614347914008642 Centerline is valid? [True, True] Translation: X:119.65, Y:156.20, Z:-4.72 [[-3.60963546e-01 -9.32570266e-01 -4.24476614e-03 1.19654365e+02] [ 9.32510795e-01 -3.60988470e-01 1.05329463e-02 1.56201342e+02] [-1.13550242e-02 -1.56280596e-04 9.99935517e-01 -4.72359607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89 meters 0.015937204439497064 Centerline is valid? [True, True] Translation: X:119.64, Y:156.23, Z:-4.72 [[-3.60367958e-01 -9.32800973e-01 -4.15679985e-03 1.19643083e+02] [ 9.32744039e-01 -3.60391895e-01 1.03073017e-02 1.56226248e+02] [-1.11127381e-02 -1.62808996e-04 9.99938238e-01 -4.72484649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92 meters 0.015879234752357144 Centerline is valid? [True, True] Translation: X:119.63, Y:156.25, Z:-4.73 [[-3.60068848e-01 -9.32917594e-01 -3.89707650e-03 1.19632479e+02] [ 9.32867649e-01 -3.60089901e-01 9.65468345e-03 1.56252138e+02] [-1.04103219e-02 -1.59105845e-04 9.99945798e-01 -4.72565345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95 meters 0.016016737020391004 Centerline is valid? [True, True] Translation: X:119.62, Y:156.28, Z:-4.73 [[-3.60154431e-01 -9.32885200e-01 -3.74021604e-03 1.19621951e+02] [ 9.32839284e-01 -3.60173819e-01 9.25690549e-03 1.56276779e+02] [-9.98275802e-03 -1.55104916e-04 9.99950159e-01 -4.72662287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98 meters 0.016016737020391004 Centerline is valid? [True, True] Translation: X:119.61, Y:156.30, Z:-4.73 [[-3.60449671e-01 -9.32771161e-01 -3.74109168e-03 1.19611806e+02] [ 9.32725243e-01 -3.60469052e-01 9.25655182e-03 1.56301572e+02] [-9.98279237e-03 -1.52889586e-04 9.99950159e-01 -4.72717276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01 meters 0.015882420310318182 Centerline is valid? [True, True] Translation: X:119.60, Y:156.33, Z:-4.73 [[-3.60678772e-01 -9.32683183e-01 -3.59201259e-03 1.19602194e+02] [ 9.32640927e-01 -3.60696628e-01 8.87941476e-03 1.56328366e+02] [-9.57730766e-03 -1.47441536e-04 9.99954126e-01 -4.72742963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04 meters 0.015994762059625488 Centerline is valid? [True, True] Translation: X:119.59, Y:156.35, Z:-4.73 [[-3.61176424e-01 -9.32490866e-01 -3.51799888e-03 1.19592228e+02] [ 9.32450383e-01 -3.61193529e-01 8.69009202e-03 1.56353583e+02] [-9.37410986e-03 -1.41703035e-04 9.99956052e-01 -4.72811428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07 meters 0.01562569516676413 Centerline is valid? [True, True] Translation: X:119.58, Y:156.38, Z:-4.73 [[-3.63175937e-01 -9.31713844e-01 -3.54274432e-03 1.19584223e+02] [ 9.31672836e-01 -3.63193195e-01 8.74243646e-03 1.56381213e+02] [-9.43214971e-03 -1.25636095e-04 9.99955508e-01 -4.72797294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.1 meters 0.015529537253084875 Centerline is valid? [True, True] Translation: X:119.58, Y:156.41, Z:-4.73 [[-3.64944122e-01 -9.31021849e-01 -3.75557585e-03 1.19575260e+02] [ 9.30975789e-01 -3.64963427e-01 9.26166780e-03 1.56406112e+02] [-9.99346291e-03 -1.16358968e-04 9.99950057e-01 -4.72847549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13 meters 0.015183831278872937 Centerline is valid? [True, True] Translation: X:119.57, Y:156.43, Z:-4.73 [[-3.66985748e-01 -9.30218024e-01 -3.98608356e-03 1.19567444e+02] [ 9.30166205e-01 -3.67007381e-01 9.81903687e-03 1.56432521e+02] [-1.05967672e-02 -1.04273628e-04 9.99943847e-01 -4.72814428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16 meters 0.014785481495187295 Centerline is valid? [True, True] Translation: X:119.56, Y:156.46, Z:-4.73 [[-3.69539668e-01 -9.29204921e-01 -4.31853614e-03 1.19559461e+02] [ 9.29144157e-01 -3.69564891e-01 1.06266832e-02 1.56459328e+02] [-1.14703457e-02 -8.55616235e-05 9.99934210e-01 -4.72788103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19 meters 0.014404094506036233 Centerline is valid? [True, True] Translation: X:119.55, Y:156.49, Z:-4.73 [[-3.74443774e-01 -9.27235482e-01 -5.12065749e-03 1.19553057e+02] [ 9.27150054e-01 -3.74478784e-01 1.25863834e-02 1.56487330e+02] [-1.35881188e-02 -3.47249808e-05 9.99907677e-01 -4.72626499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22 meters 0.01430841390376459 Centerline is valid? [True, True] Translation: X:119.54, Y:156.51, Z:-4.73 [[-3.76501260e-01 -9.26399202e-01 -5.59643020e-03 1.19543171e+02] [ 9.26297257e-01 -3.76542852e-01 1.37430616e-02 1.56514062e+02] [-1.48388571e-02 -9.67793778e-06 9.99889898e-01 -4.72583093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25 meters 0.014321539055613213 Centerline is valid? [True, True] Translation: X:119.53, Y:156.54, Z:-4.73 [[-3.78579138e-01 -9.25549154e-01 -6.04969817e-03 1.19533260e+02] [ 9.25430132e-01 -3.78627472e-01 1.48427940e-02 1.56540005e+02] [-1.60283174e-02 2.05992031e-05 9.99871538e-01 -4.72549037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28 meters 0.014335456984145137 Centerline is valid? [True, True] Translation: X:119.52, Y:156.56, Z:-4.73 [[-3.80434929e-01 -9.24787246e-01 -6.14942040e-03 1.19524092e+02] [ 9.24664360e-01 -3.80484623e-01 1.50755668e-02 1.56564682e+02] [-1.62814518e-02 4.91223037e-05 9.99867447e-01 -4.72548666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31 meters 0.014322662714194514 Centerline is valid? [True, True] Translation: X:119.51, Y:156.59, Z:-4.73 [[-3.82381546e-01 -9.23984241e-01 -6.12176315e-03 1.19513803e+02] [ 9.23862594e-01 -3.82430538e-01 1.49930024e-02 1.56590565e+02] [-1.61944471e-02 7.73794332e-05 9.99868858e-01 -4.72597989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34 meters 0.014620414637365667 Centerline is valid? [True, True] Translation: X:119.50, Y:156.62, Z:-4.73 [[-3.85901782e-01 -9.22520866e-01 -5.92173303e-03 1.19504233e+02] [ 9.22407039e-01 -3.85947192e-01 1.44920558e-02 1.56615444e+02] [-1.56547001e-02 1.30261922e-04 9.99877449e-01 -4.72741622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37 meters 0.014747238301943612 Centerline is valid? [True, True] Translation: X:119.49, Y:156.64, Z:-4.73 [[-3.87763035e-01 -9.21741079e-01 -5.76304472e-03 1.19493931e+02] [ 9.21633357e-01 -3.87805828e-01 1.40923422e-02 1.56640308e+02] [-1.52244331e-02 1.53075131e-04 9.99884090e-01 -4.72838613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39999999999998 meters 0.014759551362655561 Centerline is valid? [True, True] Translation: X:119.48, Y:156.67, Z:-4.73 [[-3.89556607e-01 -9.20985632e-01 -5.57822014e-03 1.19482601e+02] [ 9.20884810e-01 -3.89596505e-01 1.36282956e-02 1.56666426e+02] [-1.47247195e-02 1.72094380e-04 9.99891571e-01 -4.72933865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42999999999998 meters 0.015290515815736136 Centerline is valid? [True, True] Translation: X:119.47, Y:156.69, Z:-4.73 [[-3.91101944e-01 -9.20331770e-01 -5.35753549e-03 1.19473249e+02] [ 9.20238868e-01 -3.91138594e-01 1.30777147e-02 1.56692172e+02] [-1.41313752e-02 1.84507241e-04 9.99900130e-01 -4.73103075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45999999999998 meters 0.015270598041208507 Centerline is valid? [True, True] Translation: X:119.46, Y:156.72, Z:-4.73 [[-3.92593910e-01 -9.19697014e-01 -5.23687743e-03 1.19461375e+02] [ 9.19608277e-01 -3.92628785e-01 1.27771262e-02 1.56717225e+02] [-1.38072336e-02 2.00346103e-04 9.99904656e-01 -4.73202579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48999999999998 meters 0.01578322797022983 Centerline is valid? [True, True] Translation: X:119.45, Y:156.74, Z:-4.73 [[-3.93902479e-01 -9.19138144e-01 -5.09021156e-03 1.19451226e+02] [ 9.19054385e-01 -3.93935311e-01 1.24100382e-02 1.56742723e+02] [-1.34117536e-02 2.10163565e-04 9.99910036e-01 -4.73382646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51999999999998 meters 0.015626788182456552 Centerline is valid? [True, True] Translation: X:119.44, Y:156.77, Z:-4.73 [[-3.95331304e-01 -9.18524984e-01 -5.00140688e-03 1.19438620e+02] [ 9.18444209e-01 -3.95362877e-01 1.21832357e-02 1.56768154e+02] [-1.31679769e-02 2.22901255e-04 9.99913274e-01 -4.73418129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54999999999998 meters 0.015581597495839443 Centerline is valid? [True, True] Translation: X:119.43, Y:156.79, Z:-4.73 [[-3.95524974e-01 -9.18442670e-01 -4.80179322e-03 1.19427281e+02] [ 9.18368319e-01 -3.95554063e-01 1.16882441e-02 1.56793644e+02] [-1.26343509e-02 2.13177669e-04 9.99920161e-01 -4.73469234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57999999999998 meters 0.015503603105681118 Centerline is valid? [True, True] Translation: X:119.42, Y:156.82, Z:-4.73 [[-3.95655252e-01 -9.18387196e-01 -4.67747524e-03 1.19415870e+02] [ 9.18316748e-01 -3.95682846e-01 1.13769433e-02 1.56818961e+02] [-1.22992358e-02 2.05943507e-04 9.99924340e-01 -4.73496681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60999999999999 meters 0.015412829060464168 Centerline is valid? [True, True] Translation: X:119.40, Y:156.84, Z:-4.74 [[-3.95511117e-01 -9.18448005e-01 -4.92133283e-03 1.19404224e+02] [ 9.18370160e-01 -3.95541677e-01 1.19595654e-02 1.56844452e+02] [-1.29308313e-02 2.10535860e-04 9.99916371e-01 -4.73561666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64 meters 0.015069788096576027 Centerline is valid? [True, True] Translation: X:119.39, Y:156.87, Z:-4.74 [[-3.93659061e-01 -9.19243583e-01 -4.87636356e-03 1.19391465e+02] [ 9.19167336e-01 -3.93689222e-01 1.18408299e-02 1.56869535e+02] [-1.28043787e-02 1.79055888e-04 9.99918005e-01 -4.73584194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67 meters 0.014881708693685004 Centerline is valid? [True, True] Translation: X:119.38, Y:156.90, Z:-4.74 [[-3.92539368e-01 -9.19721345e-01 -5.04889408e-03 1.19378833e+02] [ 9.19639785e-01 -3.92571802e-01 1.22493649e-02 1.56895192e+02] [-1.32480558e-02 1.65194106e-04 9.99912227e-01 -4.73662932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.7 meters 0.01463453978402393 Centerline is valid? [True, True] Translation: X:119.37, Y:156.92, Z:-4.74 [[-3.91060097e-01 -9.20351212e-01 -5.06421172e-03 1.19365820e+02] [ 9.20269340e-01 -3.91092861e-01 1.22766143e-02 1.56920695e+02] [-1.32793739e-02 1.40455195e-04 9.99911815e-01 -4.73756926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73 meters 0.014500843146396637 Centerline is valid? [True, True] Translation: X:119.35, Y:156.95, Z:-4.74 [[-3.89297182e-01 -9.21097702e-01 -5.16991029e-03 1.19353424e+02] [ 9.21012581e-01 -3.89331493e-01 1.25225658e-02 1.56945025e+02] [-1.35473155e-02 1.13447157e-04 9.99908224e-01 -4.73870474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76 meters 0.014311333845544763 Centerline is valid? [True, True] Translation: X:119.34, Y:156.97, Z:-4.74 [[-3.87115789e-01 -9.22017005e-01 -5.09981350e-03 1.19340296e+02] [ 9.21934392e-01 -3.87149372e-01 1.23426359e-02 1.56969634e+02] [-1.33545098e-02 7.63357635e-05 9.99910822e-01 -4.73931980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79 meters 0.014154226605196612 Centerline is valid? [True, True] Translation: X:119.33, Y:156.99, Z:-4.74 [[-3.84730307e-01 -9.23014599e-01 -5.16149361e-03 1.19327405e+02] [ 9.22930194e-01 -3.84764926e-01 1.24823579e-02 1.56994049e+02] [-1.35073603e-02 3.86430973e-05 9.99908771e-01 -4.74009994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82 meters 0.014192277354850133 Centerline is valid? [True, True] Translation: X:119.31, Y:157.02, Z:-4.74 [[-3.79204382e-01 -9.25297367e-01 -5.36835877e-03 1.19311954e+02] [ 9.25206466e-01 -3.79242377e-01 1.29697739e-02 1.57018139e+02] [-1.40368068e-02 -4.86451347e-05 9.99901478e-01 -4.74008103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85 meters 0.01447176722277021 Centerline is valid? [True, True] Translation: X:119.30, Y:157.04, Z:-4.74 [[-3.76354173e-01 -9.26460492e-01 -5.33795714e-03 1.19298640e+02] [ 9.26370877e-01 -3.76392014e-01 1.28860433e-02 1.57043130e+02] [-1.39475745e-02 -9.52118540e-05 9.99902723e-01 -4.74058023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88 meters 0.01513155386308136 Centerline is valid? [True, True] Translation: X:119.28, Y:157.07, Z:-4.74 [[-3.72168530e-01 -9.28148987e-01 -5.48112739e-03 1.19283562e+02] [ 9.28054841e-01 -3.72208853e-01 1.32205373e-02 1.57067746e+02] [-1.43107524e-02 -1.66518887e-04 9.99897582e-01 -4.74176482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91 meters 0.015316568375595245 Centerline is valid? [True, True] Translation: X:119.27, Y:157.09, Z:-4.74 [[-3.70660577e-01 -9.28751138e-01 -5.66220657e-03 1.19271625e+02] [ 9.28650905e-01 -3.70703769e-01 1.36459993e-02 1.57092962e+02] [-1.47727387e-02 -2.00179272e-04 9.99890857e-01 -4.74192061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94 meters 0.015646600542779845 Centerline is valid? [True, True] Translation: X:119.26, Y:157.12, Z:-4.74 [[-3.69514502e-01 -9.29206733e-01 -5.82065754e-03 1.19259926e+02] [ 9.29101044e-01 -3.69560272e-01 1.40162365e-02 1.57117419e+02] [-1.51750651e-02 -2.28776372e-04 9.99884826e-01 -4.74239814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97 meters 0.015878934742211876 Centerline is valid? [True, True] Translation: X:119.25, Y:157.14, Z:-4.74 [[-3.68817471e-01 -9.29483175e-01 -5.89072521e-03 1.19248346e+02] [ 9.29375155e-01 -3.68864428e-01 1.41723185e-02 1.57143074e+02] [-1.53458106e-02 -2.47694988e-04 9.99882215e-01 -4.74292566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.0 meters 0.01599169360827707 Centerline is valid? [True, True] Translation: X:119.24, Y:157.17, Z:-4.74 [[-3.68453095e-01 -9.29626347e-01 -6.09690976e-03 1.19237643e+02] [ 9.29510847e-01 -3.68503439e-01 1.46561095e-02 1.57168641e+02] [-1.58714378e-02 -2.67054841e-04 9.99874005e-01 -4.74354806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03 meters 0.01608019410819331 Centerline is valid? [True, True] Translation: X:119.23, Y:157.19, Z:-4.74 [[-3.68701136e-01 -9.29527680e-01 -6.14529918e-03 1.19227181e+02] [ 9.29410510e-01 -3.68752248e-01 1.47608913e-02 1.57194054e+02] [-1.59867499e-02 -2.69148259e-04 9.99872168e-01 -4.74390975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06 meters 0.015796849499685246 Centerline is valid? [True, True] Translation: X:119.22, Y:157.22, Z:-4.74 [[-3.69261921e-01 -9.29304581e-01 -6.21523421e-03 1.19217688e+02] [ 9.29184922e-01 -3.69314126e-01 1.49149599e-02 1.57220438e+02] [-1.61559143e-02 -2.67575188e-04 9.99869449e-01 -4.74425855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09 meters 0.015957799386134567 Centerline is valid? [True, True] Translation: X:119.21, Y:157.25, Z:-4.75 [[-3.69546980e-01 -9.29192220e-01 -6.07029624e-03 1.19207191e+02] [ 9.29078238e-01 -3.69596741e-01 1.45559564e-02 1.57245198e+02] [-1.57688432e-02 -2.60670400e-04 9.99875630e-01 -4.74512951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12 meters 0.015702103463261917 Centerline is valid? [True, True] Translation: X:119.20, Y:157.27, Z:-4.75 [[-3.69900926e-01 -9.29052369e-01 -5.91610730e-03 1.19197204e+02] [ 9.28944269e-01 -3.69948147e-01 1.41744082e-02 1.57271641e+02] [-1.53574205e-02 -2.52607244e-04 9.99882036e-01 -4.74564726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14999999999998 meters 0.015666727924098466 Centerline is valid? [True, True] Translation: X:119.19, Y:157.30, Z:-4.75 [[-3.69972913e-01 -9.29024880e-01 -5.72846508e-03 1.19186449e+02] [ 9.28923685e-01 -3.70017176e-01 1.37141376e-02 1.57297736e+02] [-1.48604055e-02 -2.47447452e-04 9.99889547e-01 -4.74688183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17999999999998 meters 0.016180428102666136 Centerline is valid? [True, True] Translation: X:119.18, Y:157.32, Z:-4.75 [[-3.68968361e-01 -9.29429628e-01 -4.78705517e-03 1.19175137e+02] [ 9.29359086e-01 -3.68999346e-01 1.14529819e-02 1.57322343e+02] [-1.24111610e-02 -2.23105240e-04 9.99922954e-01 -4.74968380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20999999999998 meters 0.016471725148767366 Centerline is valid? [True, True] Translation: X:119.16, Y:157.35, Z:-4.75 [[-3.68270926e-01 -9.29708802e-01 -4.25059574e-03 1.19164002e+02] [ 9.29653266e-01 -3.68295397e-01 1.01639808e-02 1.57347739e+02] [-1.10150173e-02 -2.08481581e-04 9.99939311e-01 -4.75139840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23999999999998 meters 0.01638750028745617 Centerline is valid? [True, True] Translation: X:119.15, Y:157.37, Z:-4.75 [[-3.67774708e-01 -9.29906450e-01 -3.96969022e-03 1.19153757e+02] [ 9.29858084e-01 -3.67796076e-01 9.48633254e-03 1.57373399e+02] [-1.02814383e-02 -2.02415360e-04 9.99947124e-01 -4.75226132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26999999999998 meters 0.016878716608036855 Centerline is valid? [True, True] Translation: X:119.14, Y:157.40, Z:-4.75 [[-3.67266567e-01 -9.30107689e-01 -3.86728471e-03 1.19142647e+02] [ 9.30061899e-01 -3.67286870e-01 9.23142323e-03 1.57398350e+02] [-1.00066206e-02 -2.06421043e-04 9.99949911e-01 -4.75324184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29999999999998 meters 0.016617180498699074 Centerline is valid? [True, True] Translation: X:119.13, Y:157.42, Z:-4.75 [[-3.67178511e-01 -9.30142293e-01 -3.90586319e-03 1.19132960e+02] [ 9.30095622e-01 -3.67199225e-01 9.32002724e-03 1.57424468e+02] [-1.01031814e-02 -2.10712526e-04 9.99948939e-01 -4.75328164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32999999999998 meters 0.017258576988156644 Centerline is valid? [True, True] Translation: X:119.12, Y:157.45, Z:-4.75 [[-3.67171122e-01 -9.30144761e-01 -4.01136648e-03 1.19121974e+02] [ 9.30095641e-01 -3.67192967e-01 9.56156247e-03 1.57449738e+02] [-1.03665828e-02 -2.20224853e-04 9.99946241e-01 -4.75389855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35999999999999 meters 0.016668051144662716 Centerline is valid? [True, True] Translation: X:119.11, Y:157.48, Z:-4.75 [[-3.68411420e-01 -9.29652093e-01 -4.47353061e-03 1.19114297e+02] [ 9.29591037e-01 -3.68438506e-01 1.06569664e-02 1.57477591e+02] [-1.15554921e-02 -2.32405827e-04 9.99933206e-01 -4.75190719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39 meters 0.01694717232556197 Centerline is valid? [True, True] Translation: X:119.10, Y:157.50, Z:-4.75 [[-3.69734714e-01 -9.29124370e-01 -4.91393886e-03 1.19104171e+02] [ 9.29050778e-01 -3.69767288e-01 1.16963549e-02 1.57502990e+02] [-1.26843822e-02 -2.40750287e-04 9.99919521e-01 -4.75210505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42 meters 0.016294590001316802 Centerline is valid? [True, True] Translation: X:119.10, Y:157.53, Z:-4.75 [[-3.71066711e-01 -9.28591168e-01 -5.28565324e-03 1.19095834e+02] [ 9.28506122e-01 -3.71104275e-01 1.25697444e-02 1.57529874e+02] [-1.36336821e-02 -2.43547683e-04 9.99907027e-01 -4.75123718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45 meters 0.016097929624278997 Centerline is valid? [True, True] Translation: X:119.09, Y:157.56, Z:-4.75 [[-3.72567251e-01 -9.27987443e-01 -5.74008764e-03 1.19086859e+02] [ 9.27887244e-01 -3.72611387e-01 1.36388125e-02 1.57555267e+02] [-1.47954687e-02 -2.44779225e-04 9.99890511e-01 -4.75105121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48 meters 0.015515885776137387 Centerline is valid? [True, True] Translation: X:119.08, Y:157.58, Z:-4.75 [[-3.74198185e-01 -9.27329779e-01 -5.93285237e-03 1.19078299e+02] [ 9.27222860e-01 -3.74245143e-01 1.40833559e-02 1.57582511e+02] [-1.52802565e-02 -2.31110147e-04 9.99883223e-01 -4.75038046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51 meters 0.015164793884029146 Centerline is valid? [True, True] Translation: X:119.07, Y:157.61, Z:-4.75 [[-3.77304422e-01 -9.26067856e-01 -6.30069080e-03 1.19070129e+02] [ 9.25947303e-01 -3.77356976e-01 1.49433896e-02 1.57609308e+02] [-1.62162024e-02 -1.95900669e-04 9.99868490e-01 -4.75029859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54 meters 0.015089104965981332 Centerline is valid? [True, True] Translation: X:119.06, Y:157.63, Z:-4.75 [[-3.78628001e-01 -9.25527578e-01 -6.28804656e-03 1.19059928e+02] [ 9.25407625e-01 -3.78680170e-01 1.49015777e-02 1.57634696e+02] [-1.61729796e-02 -1.76851663e-04 9.99869193e-01 -4.75154200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57 meters 0.014892178326812054 Centerline is valid? [True, True] Translation: X:119.05, Y:157.66, Z:-4.75 [[-3.79698134e-01 -9.25090119e-01 -6.13171858e-03 1.19049835e+02] [ 9.24976186e-01 -3.79747608e-01 1.45192619e-02 1.57660504e+02] [-1.57601312e-02 -1.58757004e-04 9.99875789e-01 -4.75220742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.6 meters 0.014883113943694034 Centerline is valid? [True, True] Translation: X:119.04, Y:157.69, Z:-4.75 [[-3.80353015e-01 -9.24821728e-01 -6.02953859e-03 1.19039287e+02] [ 9.24711699e-01 -3.80400774e-01 1.42661939e-02 1.57686458e+02] [-1.54873273e-02 -1.49395021e-04 9.99880053e-01 -4.75340415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63 meters 0.014847814103115793 Centerline is valid? [True, True] Translation: X:119.03, Y:157.71, Z:-4.75 [[-3.80978814e-01 -9.24565959e-01 -5.73860426e-03 1.19029129e+02] [ 9.24466400e-01 -3.81022007e-01 1.35685732e-02 1.57710508e+02] [-1.47315754e-02 -1.35807885e-04 9.99891475e-01 -4.75470889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66 meters 0.014696371153328806 Centerline is valid? [True, True] Translation: X:119.02, Y:157.74, Z:-4.75 [[-3.81232762e-01 -9.24462890e-01 -5.47239517e-03 1.19018663e+02] [ 9.24372511e-01 -3.81272014e-01 1.29271888e-02 1.57736471e+02] [-1.40371774e-02 -1.30263785e-04 9.99901465e-01 -4.75492846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69 meters 0.014923448933740984 Centerline is valid? [True, True] Translation: X:119.01, Y:157.76, Z:-4.76 [[-3.81481180e-01 -9.24360674e-01 -5.42716139e-03 1.19007500e+02] [ 9.24271911e-01 -3.81519761e-01 1.28103940e-02 1.57760772e+02] [-1.39119938e-02 -1.29248606e-04 9.99903215e-01 -4.75624432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72 meters 0.014896579178213857 Centerline is valid? [True, True] Translation: X:119.00, Y:157.78, Z:-4.76 [[-3.81960135e-01 -9.24162408e-01 -5.50450193e-03 1.18997044e+02] [ 9.24071230e-01 -3.81999775e-01 1.29820736e-02 1.57784931e+02] [-1.41002629e-02 -1.27917277e-04 9.99900578e-01 -4.75669271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75 meters 0.014731062161074676 Centerline is valid? [True, True] Translation: X:118.99, Y:157.81, Z:-4.76 [[-3.82430928e-01 -9.23967521e-01 -5.53220107e-03 1.18986549e+02] [ 9.23875583e-01 -3.82470919e-01 1.30347290e-02 1.57811344e+02] [-1.41595722e-02 -1.26181991e-04 9.99899740e-01 -4.75676634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78 meters 0.014897885189375406 Centerline is valid? [True, True] Translation: X:118.98, Y:157.84, Z:-4.76 [[-3.82830667e-01 -9.23802732e-01 -5.40306916e-03 1.18975443e+02] [ 9.23715173e-01 -3.82868774e-01 1.27193646e-02 1.57835770e+02] [-1.38188503e-02 -1.21534118e-04 9.99904508e-01 -4.75791165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81 meters 0.01468169821060815 Centerline is valid? [True, True] Translation: X:118.97, Y:157.86, Z:-4.76 [[-3.83498284e-01 -9.23526726e-01 -5.23953595e-03 1.18965551e+02] [ 9.23444433e-01 -3.83534059e-01 1.23290082e-02 1.57861866e+02] [-1.33957090e-02 -1.10266838e-04 9.99910267e-01 -4.75790387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84 meters 0.014644530494731918 Centerline is valid? [True, True] Translation: X:118.95, Y:157.89, Z:-4.76 [[-3.84279151e-01 -9.23200477e-01 -5.51487437e-03 1.18954787e+02] [ 9.23109429e-01 -3.84318707e-01 1.29658575e-02 1.57886336e+02] [-1.40895552e-02 -1.08323822e-04 9.99900731e-01 -4.75887831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87 meters 0.014644530494731918 Centerline is valid? [True, True] Translation: X:118.94, Y:157.91, Z:-4.76 [[-3.84572674e-01 -9.23078221e-01 -5.51870130e-03 1.18944197e+02] [ 9.22987185e-01 -3.84612254e-01 1.29642281e-02 1.57910941e+02] [-1.40895568e-02 -1.08002701e-04 9.99900731e-01 -4.75942728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89999999999998 meters 0.014607481897994573 Centerline is valid? [True, True] Translation: X:118.93, Y:157.94, Z:-4.76 [[-3.85125075e-01 -9.22847539e-01 -5.57632758e-03 1.18933445e+02] [ 9.22754742e-01 -3.85165429e-01 1.30873576e-02 1.57936435e+02] [-1.42254443e-02 -1.05313147e-04 9.99898808e-01 -4.75979810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92999999999998 meters 0.014508663646968772 Centerline is valid? [True, True] Translation: X:118.92, Y:157.96, Z:-4.76 [[-3.86563308e-01 -9.22245039e-01 -5.73560525e-03 1.18922500e+02] [ 9.22146956e-01 -3.86605846e-01 1.34503039e-02 1.57961431e+02] [-1.46218946e-02 -8.96769389e-05 9.99893090e-01 -4.76058043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95999999999998 meters 0.014432461757339135 Centerline is valid? [True, True] Translation: X:118.91, Y:157.99, Z:-4.76 [[-3.87098066e-01 -9.22020468e-01 -5.77451766e-03 1.18911871e+02] [ 9.21921186e-01 -3.87141124e-01 1.35306132e-02 1.57986419e+02] [-1.47110556e-02 -8.59759565e-05 9.99891783e-01 -4.76123835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98999999999998 meters 0.014403182649625654 Centerline is valid? [True, True] Translation: X:118.90, Y:158.01, Z:-4.76 [[-3.87826537e-01 -9.21715023e-01 -5.65636100e-03 1.18901548e+02] [ 9.21619894e-01 -3.87867776e-01 1.32423561e-02 1.58011261e+02] [-1.43995987e-02 -7.72777217e-05 9.99896317e-01 -4.76192412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01999999999998 meters 0.014353302018266319 Centerline is valid? [True, True] Translation: X:118.89, Y:158.04, Z:-4.76 [[-3.88636084e-01 -9.21374663e-01 -5.54291591e-03 1.18890620e+02] [ 9.21283440e-01 -3.88675604e-01 1.29653007e-02 1.58037546e+02] [-1.41002957e-02 -6.78129580e-05 9.99900584e-01 -4.76203906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04999999999998 meters 0.01435675668590378 Centerline is valid? [True, True] Translation: X:118.88, Y:158.06, Z:-4.76 [[-3.89400453e-01 -9.21051418e-01 -5.61901921e-03 1.18880331e+02] [ 9.20957777e-01 -3.89440987e-01 1.31335852e-02 1.58061369e+02] [-1.42849836e-02 -6.06554311e-05 9.99897963e-01 -4.76282385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07999999999998 meters 0.014307873244325985 Centerline is valid? [True, True] Translation: X:118.87, Y:158.09, Z:-4.76 [[-3.90044223e-01 -9.20779178e-01 -5.58651509e-03 1.18869541e+02] [ 9.20686764e-01 -3.90084224e-01 1.30453354e-02 1.58086879e+02] [-1.41910846e-02 -5.51727742e-05 9.99899300e-01 -4.76364179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10999999999999 meters 0.014270251319556424 Centerline is valid? [True, True] Translation: X:118.86, Y:158.11, Z:-4.76 [[-3.91497793e-01 -9.20162272e-01 -5.55617728e-03 1.18858976e+02] [ 9.20070960e-01 -3.91537216e-01 1.29629018e-02 1.58112630e+02] [-1.41034234e-02 -3.71299132e-05 9.99900541e-01 -4.76473158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14 meters 0.014309688041250958 Centerline is valid? [True, True] Translation: X:118.85, Y:158.14, Z:-4.77 [[-3.92466951e-01 -9.19749315e-01 -5.55796893e-03 1.18848289e+02] [ 9.19658046e-01 -3.92506303e-01 1.29569033e-02 1.58138388e+02] [-1.40986407e-02 -2.62745264e-05 9.99900609e-01 -4.76521302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17 meters 0.014273746742082337 Centerline is valid? [True, True] Translation: X:118.84, Y:158.16, Z:-4.77 [[-3.93346267e-01 -9.19372183e-01 -5.78822357e-03 1.18837396e+02] [ 9.19273318e-01 -3.93388853e-01 1.34824954e-02 1.58164699e+02] [-1.46724538e-02 -1.76702487e-05 9.99892354e-01 -4.76556884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.2 meters 0.014215000442691613 Centerline is valid? [True, True] Translation: X:118.83, Y:158.19, Z:-4.77 [[-3.95008827e-01 -9.18657596e-01 -6.02057640e-03 1.18827109e+02] [ 9.18550725e-01 -3.95054706e-01 1.40123079e-02 1.58189825e+02] [-1.52509701e-02 4.78047113e-06 9.99883697e-01 -4.76581289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23 meters 0.014237795894091495 Centerline is valid? [True, True] Translation: X:118.82, Y:158.22, Z:-4.77 [[-3.95712010e-01 -9.18353359e-01 -6.25405883e-03 1.18815679e+02] [ 9.18238203e-01 -3.95761428e-01 1.45428482e-02 1.58216000e+02] [-1.58305887e-02 1.20639350e-05 9.99874688e-01 -4.76615566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26 meters 0.014237101599209764 Centerline is valid? [True, True] Translation: X:118.81, Y:158.24, Z:-4.77 [[-3.96506709e-01 -9.18010404e-01 -6.27114069e-03 1.18805425e+02] [ 9.17894748e-01 -3.96556298e-01 1.45717210e-02 1.58239701e+02] [-1.58638518e-02 2.15380216e-05 9.99874161e-01 -4.76689239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29 meters 0.01422091951607223 Centerline is valid? [True, True] Translation: X:118.80, Y:158.26, Z:-4.77 [[-3.97041612e-01 -9.17778574e-01 -6.35987808e-03 1.18795064e+02] [ 9.17659814e-01 -3.97092545e-01 1.47640499e-02 1.58263647e+02] [-1.60755888e-02 2.57376307e-05 9.99870779e-01 -4.76795475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32 meters 0.014231019953576899 Centerline is valid? [True, True] Translation: X:118.78, Y:158.29, Z:-4.77 [[-3.97672595e-01 -9.17506994e-01 -6.11740985e-03 1.18784272e+02] [ 9.17397278e-01 -3.97719643e-01 1.41887160e-02 1.58288198e+02] [-1.54512602e-02 3.03683515e-05 9.99880622e-01 -4.76885172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35 meters 0.014198343833579487 Centerline is valid? [True, True] Translation: X:118.77, Y:158.31, Z:-4.77 [[-3.98116929e-01 -9.17315382e-01 -5.94996100e-03 1.18773024e+02] [ 9.17211748e-01 -3.98161387e-01 1.37884111e-02 1.58313890e+02] [-1.50173663e-02 3.20257389e-05 9.99887232e-01 -4.76980516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38 meters 0.014276666715865687 Centerline is valid? [True, True] Translation: X:118.76, Y:158.34, Z:-4.77 [[-3.98367578e-01 -9.17210239e-01 -5.35267726e-03 1.18761981e+02] [ 9.17126461e-01 -3.98403536e-01 1.23966598e-02 1.58338971e+02] [-1.35028688e-02 2.93453824e-05 9.99908832e-01 -4.77179058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41 meters 0.014258937905158194 Centerline is valid? [True, True] Translation: X:118.75, Y:158.36, Z:-4.77 [[-3.98297006e-01 -9.17242210e-01 -5.12077305e-03 1.18751235e+02] [ 9.17165658e-01 -3.98329922e-01 1.18502901e-02 1.58362685e+02] [-1.29093434e-02 2.33378781e-05 9.99916671e-01 -4.77315635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44 meters 0.014300469080755615 Centerline is valid? [True, True] Translation: X:118.74, Y:158.39, Z:-4.77 [[-3.97936890e-01 -9.17400502e-01 -4.74881752e-03 1.18739902e+02] [ 9.17334786e-01 -3.97965224e-01 1.09805059e-02 1.58387246e+02] [-1.19633858e-02 1.32928565e-05 9.99928436e-01 -4.77353188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47 meters 0.014294823610044699 Centerline is valid? [True, True] Translation: X:118.73, Y:158.41, Z:-4.77 [[-3.97640648e-01 -9.17529213e-01 -4.69669224e-03 1.18728709e+02] [ 9.17465046e-01 -3.97668384e-01 1.08510721e-02 1.58410881e+02] [-1.18239017e-02 5.77640053e-06 9.99930095e-01 -4.77431441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.5 meters 0.014240041664106898 Centerline is valid? [True, True] Translation: X:118.72, Y:158.44, Z:-4.77 [[-3.97061555e-01 -9.17779745e-01 -4.73929939e-03 1.18716838e+02] [ 9.17714552e-01 -3.97089838e-01 1.09390233e-02 1.58435285e+02] [-1.19215417e-02 -5.85840374e-06 9.99928936e-01 -4.77447669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53 meters 0.014276218735288414 Centerline is valid? [True, True] Translation: X:118.70, Y:158.46, Z:-4.77 [[-3.96276448e-01 -9.18118081e-01 -4.91588641e-03 1.18704636e+02] [ 9.18048099e-01 -3.96306937e-01 1.13357234e-02 1.58460770e+02] [-1.23557325e-02 -2.09399865e-05 9.99923665e-01 -4.77447045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56 meters 0.014284246368834108 Centerline is valid? [True, True] Translation: X:118.69, Y:158.48, Z:-4.77 [[-3.94768357e-01 -9.18765183e-01 -5.33697923e-03 1.18691298e+02] [ 9.18682889e-01 -3.94804429e-01 1.22968818e-02 1.58483860e+02] [-1.34050099e-02 -4.85716660e-05 9.99910148e-01 -4.77448121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59 meters 0.014411236857555128 Centerline is valid? [True, True] Translation: X:118.68, Y:158.51, Z:-4.77 [[-3.94337010e-01 -9.18949581e-01 -5.47638478e-03 1.18678995e+02] [ 9.18863117e-01 -3.94375030e-01 1.26058410e-02 1.58508595e+02] [-1.37438817e-02 -6.10983474e-05 9.99905547e-01 -4.77485241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62 meters 0.01449565795517334 Centerline is valid? [True, True] Translation: X:118.67, Y:158.53, Z:-4.78 [[-3.93923924e-01 -9.19125624e-01 -5.65935971e-03 1.18667089e+02] [ 9.19033469e-01 -3.93964568e-01 1.30154286e-02 1.58531738e+02] [-1.41924011e-02 -7.40522886e-05 9.99899280e-01 -4.77584180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64999999999998 meters 0.014455071839339431 Centerline is valid? [True, True] Translation: X:118.66, Y:158.56, Z:-4.78 [[-3.93630996e-01 -9.19250815e-01 -5.70772005e-03 1.18655580e+02] [ 9.19157272e-01 -3.93672366e-01 1.31140195e-02 1.58556924e+02] [-1.43020448e-02 -8.42078234e-05 9.99897717e-01 -4.77557298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67999999999998 meters 0.01445778082057233 Centerline is valid? [True, True] Translation: X:118.64, Y:158.58, Z:-4.77 [[-3.92682856e-01 -9.19655791e-01 -5.77927173e-03 1.18643418e+02] [ 9.19560091e-01 -3.92725368e-01 1.32674393e-02 1.58582055e+02] [-1.44711440e-02 -1.04491681e-04 9.99895282e-01 -4.77490639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70999999999998 meters 0.014546063087217564 Centerline is valid? [True, True] Translation: X:118.63, Y:158.61, Z:-4.78 [[-3.92611191e-01 -9.19686376e-01 -5.78119975e-03 1.18631608e+02] [ 9.19590764e-01 -3.92653738e-01 1.32615836e-02 1.58606064e+02] [-1.44665074e-02 -1.09691768e-04 9.99895349e-01 -4.77547534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73999999999998 meters 0.014591183913133186 Centerline is valid? [True, True] Translation: X:118.62, Y:158.63, Z:-4.78 [[-3.92666746e-01 -9.19662961e-01 -5.73283646e-03 1.18620138e+02] [ 9.19569105e-01 -3.92708576e-01 1.31390472e-02 1.58629904e+02] [-1.43348291e-02 -1.12472378e-04 9.99897245e-01 -4.77660770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76999999999998 meters 0.014662189771126337 Centerline is valid? [True, True] Translation: X:118.61, Y:158.65, Z:-4.78 [[-3.92966681e-01 -9.19535698e-01 -5.59349851e-03 1.18608866e+02] [ 9.19446434e-01 -3.93006473e-01 1.28127845e-02 1.58653386e+02] [-1.39800938e-02 -1.07924866e-04 9.99902268e-01 -4.77739654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79999999999998 meters 0.014541439385832938 Centerline is valid? [True, True] Translation: X:118.60, Y:158.68, Z:-4.78 [[-3.93385144e-01 -9.19356607e-01 -5.61760106e-03 1.18597606e+02] [ 9.19266728e-01 -3.93425238e-01 1.28555817e-02 1.58679384e+02] [-1.40289700e-02 -1.06878895e-04 9.99901583e-01 -4.77789544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82999999999998 meters 0.014463174156875253 Centerline is valid? [True, True] Translation: X:118.59, Y:158.71, Z:-4.78 [[-3.93873493e-01 -9.19148709e-01 -5.41503580e-03 1.18585972e+02] [ 9.19065297e-01 -3.93910702e-01 1.23829948e-02 1.58705423e+02] [-1.35148542e-02 -9.94380703e-05 9.99908665e-01 -4.77861370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85999999999999 meters 0.014502472388840991 Centerline is valid? [True, True] Translation: X:118.57, Y:158.73, Z:-4.78 [[-3.94650536e-01 -9.18817018e-01 -5.12273946e-03 1.18574818e+02] [ 9.18742443e-01 -3.94683773e-01 1.17065184e-02 1.58729770e+02] [-1.27780105e-02 -8.64943987e-05 9.99918354e-01 -4.78022255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89 meters 0.014409314494838753 Centerline is valid? [True, True] Translation: X:118.56, Y:158.76, Z:-4.78 [[-3.95477707e-01 -9.18462764e-01 -4.85119974e-03 1.18564279e+02] [ 9.18395963e-01 -3.95507453e-01 1.10774367e-02 1.58755748e+02] [-1.20928988e-02 -7.44429811e-05 9.99926875e-01 -4.78067308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92 meters 0.014291829204670812 Centerline is valid? [True, True] Translation: X:118.55, Y:158.78, Z:-4.78 [[-3.96213300e-01 -9.18146966e-01 -4.60096507e-03 1.18553451e+02] [ 9.18086963e-01 -3.96240008e-01 1.04968829e-02 1.58780687e+02] [-1.14607676e-02 -6.50814351e-05 9.99934321e-01 -4.78186222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95 meters 0.014276855439254183 Centerline is valid? [True, True] Translation: X:118.54, Y:158.80, Z:-4.78 [[-3.97123782e-01 -9.17753672e-01 -4.57157075e-03 1.18542886e+02] [ 9.17694441e-01 -3.97150091e-01 1.04268159e-02 1.58804907e+02] [-1.13848483e-02 -5.45685092e-05 9.99935189e-01 -4.78290504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98 meters 0.014209557869873522 Centerline is valid? [True, True] Translation: X:118.53, Y:158.83, Z:-4.78 [[-3.98671717e-01 -9.17084014e-01 -4.21586196e-03 1.18532964e+02] [ 9.17033693e-01 -3.98694005e-01 9.60704697e-03 1.58830780e+02] [-1.04913081e-02 -3.60295574e-05 9.99944964e-01 -4.78306506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01 meters 0.014124991550843445 Centerline is valid? [True, True] Translation: X:118.52, Y:158.86, Z:-4.78 [[-3.98921165e-01 -9.16976843e-01 -3.92104989e-03 1.18522075e+02] [ 9.16933367e-01 -3.98940433e-01 8.92928853e-03 1.58856301e+02] [-9.75221615e-03 -3.32592943e-05 9.99952445e-01 -4.78372372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04 meters 0.014180097608122087 Centerline is valid? [True, True] Translation: X:118.51, Y:158.88, Z:-4.78 [[-3.99425917e-01 -9.16756049e-01 -4.15734455e-03 1.18510708e+02] [ 9.16707244e-01 -3.99447550e-01 9.45955167e-03 1.58881358e+02] [-1.03327423e-02 -3.26777697e-05 9.99946615e-01 -4.78437259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07 meters 0.01414769586893113 Centerline is valid? [True, True] Translation: X:118.50, Y:158.91, Z:-4.78 [[-3.99569671e-01 -9.16692413e-01 -4.37003711e-03 1.18499115e+02] [ 9.16638584e-01 -3.99593566e-01 9.93425414e-03 1.58907226e+02] [-1.08528941e-02 -3.63179637e-05 9.99941105e-01 -4.78384789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.1 meters 0.014081980929121034 Centerline is valid? [True, True] Translation: X:118.49, Y:158.93, Z:-4.78 [[-3.99695366e-01 -9.16635973e-01 -4.70175721e-03 1.18487460e+02] [ 9.16573767e-01 -3.99723018e-01 1.06789351e-02 1.58932828e+02] [-1.16680967e-02 -4.11864382e-05 9.99931925e-01 -4.78375513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13 meters 0.014196495708929294 Centerline is valid? [True, True] Translation: X:118.48, Y:158.96, Z:-4.78 [[-3.99544717e-01 -9.16699847e-01 -5.04075253e-03 1.18475464e+02] [ 9.16628476e-01 -3.99576510e-01 1.14389532e-02 1.58958648e+02] [-1.25002530e-02 -5.01239918e-05 9.99921868e-01 -4.78369235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16 meters 0.014262226107916652 Centerline is valid? [True, True] Translation: X:118.46, Y:158.98, Z:-4.78 [[-3.98530833e-01 -9.17138447e-01 -5.49951887e-03 1.18463127e+02] [ 9.17053683e-01 -3.98568769e-01 1.24691323e-02 1.58984108e+02] [-1.36278571e-02 -7.40203377e-05 9.99907134e-01 -4.78282397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19 meters 0.014370036842031718 Centerline is valid? [True, True] Translation: X:118.45, Y:159.01, Z:-4.78 [[-3.97844390e-01 -9.17436062e-01 -5.56002451e-03 1.18451494e+02] [ 9.17349584e-01 -3.97883230e-01 1.25966563e-02 1.59008210e+02] [-1.37688672e-02 -8.89771456e-05 9.99905201e-01 -4.78320004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22 meters 0.014918443882305562 Centerline is valid? [True, True] Translation: X:118.44, Y:159.03, Z:-4.78 [[-3.95846090e-01 -9.18300641e-01 -5.45954869e-03 1.18438071e+02] [ 9.18217476e-01 -3.95883719e-01 1.23590927e-02 1.59031484e+02] [-1.35107092e-02 -1.20754499e-04 9.99908719e-01 -4.78446533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25 meters 0.01489426828169248 Centerline is valid? [True, True] Translation: X:118.43, Y:159.06, Z:-4.78 [[-3.94640523e-01 -9.18819873e-01 -5.37578564e-03 1.18425922e+02] [ 9.18739418e-01 -3.94677111e-01 1.21597431e-02 1.59056684e+02] [-1.32943131e-02 -1.40218811e-04 9.99911617e-01 -4.78498696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28 meters 0.015198736683324717 Centerline is valid? [True, True] Translation: X:118.41, Y:159.08, Z:-4.79 [[-3.93501395e-01 -9.19309116e-01 -5.23462965e-03 1.18412989e+02] [ 9.19232989e-01 -3.93536180e-01 1.18316192e-02 1.59081706e+02] [-1.29369316e-02 -1.56085599e-04 9.99916302e-01 -4.78618258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31 meters 0.01568000174168778 Centerline is valid? [True, True] Translation: X:118.40, Y:159.11, Z:-4.79 [[-3.92599306e-01 -9.19695595e-01 -5.07902353e-03 1.18400263e+02] [ 9.19624085e-01 -3.92632122e-01 1.14698692e-02 1.59105606e+02] [-1.25429760e-02 -1.67729676e-04 9.99921320e-01 -4.78756965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34 meters 0.015664975941430452 Centerline is valid? [True, True] Translation: X:118.39, Y:159.13, Z:-4.79 [[-3.92040823e-01 -9.19935521e-01 -4.75712788e-03 1.18388514e+02] [ 9.19872851e-01 -3.92069649e-01 1.07391622e-02 1.59131447e+02] [-1.17444622e-02 -1.65762804e-04 9.99931018e-01 -4.78839913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37 meters 0.015532042049700585 Centerline is valid? [True, True] Translation: X:118.38, Y:159.16, Z:-4.79 [[-3.91598359e-01 -9.20125612e-01 -4.42533203e-03 1.18377895e+02] [ 9.20071461e-01 -3.91623329e-01 9.98376343e-03 1.59157837e+02] [-1.09193797e-02 -1.61996332e-04 9.99940369e-01 -4.78840061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39999999999998 meters 0.015572822679328135 Centerline is valid? [True, True] Translation: X:118.37, Y:159.18, Z:-4.79 [[-3.92456679e-01 -9.19759214e-01 -4.55457493e-03 1.18367544e+02] [ 9.19701921e-01 -3.92483074e-01 1.02670849e-02 1.59183352e+02] [-1.12308395e-02 -1.59465265e-04 9.99936919e-01 -4.78877398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42999999999998 meters 0.01589847908785065 Centerline is valid? [True, True] Translation: X:118.36, Y:159.21, Z:-4.79 [[-3.93523049e-01 -9.19303017e-01 -4.64456184e-03 1.18356406e+02] [ 9.19243510e-01 -3.93550427e-01 1.04609233e-02 1.59208435e+02] [-1.14446276e-02 -1.52868894e-04 9.99934496e-01 -4.78974626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45999999999998 meters 0.015272205305542722 Centerline is valid? [True, True] Translation: X:118.35, Y:159.24, Z:-4.79 [[-3.95016548e-01 -9.18661011e-01 -4.88602538e-03 1.18347427e+02] [ 9.18595225e-01 -3.95046738e-01 1.09948692e-02 1.59235690e+02] [-1.20307660e-02 -1.45124300e-04 9.99927617e-01 -4.78879428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48999999999998 meters 0.015123429704621646 Centerline is valid? [True, True] Translation: X:118.34, Y:159.26, Z:-4.79 [[-3.96719784e-01 -9.17924439e-01 -5.30452495e-03 1.18337363e+02] [ 9.17846971e-01 -3.96755222e-01 1.19261119e-02 1.59262160e+02] [-1.30518676e-02 -1.37417610e-04 9.99914811e-01 -4.78884439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51999999999998 meters 0.015031633331746562 Centerline is valid? [True, True] Translation: X:118.33, Y:159.29, Z:-4.79 [[-3.99558138e-01 -9.16691717e-01 -5.43968460e-03 1.18328086e+02] [ 9.16610266e-01 -3.99595152e-01 1.22202405e-02 1.59287540e+02] [-1.33758648e-02 -1.03374213e-04 9.99910534e-01 -4.78998213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54999999999998 meters 0.014643145972413793 Centerline is valid? [True, True] Translation: X:118.32, Y:159.31, Z:-4.79 [[-4.01146202e-01 -9.15997375e-01 -5.52571612e-03 1.18318786e+02] [ 9.15913396e-01 -4.01184249e-01 1.24035641e-02 1.59313731e+02] [-1.35784624e-02 -8.54347871e-05 9.99907805e-01 -4.78972133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57999999999998 meters 0.014497847507227112 Centerline is valid? [True, True] Translation: X:118.31, Y:159.34, Z:-4.79 [[-4.02651293e-01 -9.15336615e-01 -5.55127439e-03 1.18308523e+02] [ 9.15251927e-01 -4.02689553e-01 1.24512500e-02 1.59340116e+02] [-1.36325253e-02 -6.73026549e-05 9.99907071e-01 -4.79015757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60999999999999 meters 0.014380103428495645 Centerline is valid? [True, True] Translation: X:118.30, Y:159.36, Z:-4.79 [[-4.04308844e-01 -9.14604751e-01 -5.70159908e-03 1.18298863e+02] [ 9.14515491e-01 -4.04349042e-01 1.27776848e-02 1.59364846e+02] [-1.39919674e-02 -4.80696952e-05 9.99902106e-01 -4.79051257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64 meters 0.014435237699747586 Centerline is valid? [True, True] Translation: X:118.29, Y:159.39, Z:-4.79 [[-4.05933846e-01 -9.13884632e-01 -5.70894292e-03 1.18289036e+02] [ 9.13795174e-01 -4.05973987e-01 1.27867703e-02 1.59390264e+02] [-1.40033152e-02 -2.62216433e-05 9.99901948e-01 -4.79098492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67 meters 0.014309634389681013 Centerline is valid? [True, True] Translation: X:118.28, Y:159.42, Z:-4.79 [[-4.08008692e-01 -9.12960654e-01 -5.63489069e-03 1.18278928e+02] [ 9.12873565e-01 -4.08047602e-01 1.26099197e-02 1.59416318e+02] [-1.38116642e-02 1.01411587e-06 9.99904614e-01 -4.79158124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.7 meters 0.014303190288649376 Centerline is valid? [True, True] Translation: X:118.27, Y:159.44, Z:-4.79 [[-4.11872391e-01 -9.11228874e-01 -4.80334330e-03 1.18269791e+02] [ 9.11165545e-01 -4.11900396e-01 1.07430475e-02 1.59443157e+02] [-1.17678741e-02 4.81237635e-05 9.99930755e-01 -4.79401905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73 meters 0.014467814776961848 Centerline is valid? [True, True] Translation: X:118.26, Y:159.47, Z:-4.80 [[-4.14057843e-01 -9.10238652e-01 -4.65818984e-03 1.18260125e+02] [ 9.10179103e-01 -4.14084038e-01 1.04119558e-02 1.59468132e+02] [-1.14062467e-02 7.13649142e-05 9.99934944e-01 -4.79560799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76 meters 0.014510785189147567 Centerline is valid? [True, True] Translation: X:118.25, Y:159.49, Z:-4.80 [[-4.16067302e-01 -9.09323318e-01 -4.37077856e-03 1.18249448e+02] [ 9.09270937e-01 -4.16090250e-01 9.76052445e-03 1.59494538e+02] [-1.06941108e-02 8.68131577e-05 9.99942813e-01 -4.79660850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79 meters 0.014510785189147567 Centerline is valid? [True, True] Translation: X:118.24, Y:159.52, Z:-4.80 [[-4.16354708e-01 -9.09191746e-01 -4.37321049e-03 1.18238394e+02] [ 9.09139369e-01 -4.16377666e-01 9.75943439e-03 1.59518939e+02] [-1.06941044e-02 8.75286283e-05 9.99942813e-01 -4.79715768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82 meters 0.014410088420827579 Centerline is valid? [True, True] Translation: X:118.23, Y:159.54, Z:-4.80 [[-4.17951330e-01 -9.08459884e-01 -4.16232572e-03 1.18227149e+02] [ 9.08412479e-01 -4.17972044e-01 9.28111446e-03 1.59544779e+02] [-1.01712560e-02 9.79455046e-05 9.99948267e-01 -4.79740576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85 meters 0.014578364826253168 Centerline is valid? [True, True] Translation: X:118.22, Y:159.57, Z:-4.80 [[-4.18934830e-01 -9.08006445e-01 -4.23130570e-03 1.18215714e+02] [ 9.07957507e-01 -4.18956184e-01 9.42772037e-03 1.59569245e+02] [-1.03331625e-02 1.07754656e-04 9.99946606e-01 -4.79785088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88 meters 0.014570918430234414 Centerline is valid? [True, True] Translation: X:118.20, Y:159.59, Z:-4.80 [[-4.19044693e-01 -9.07956455e-01 -4.07684027e-03 1.18203395e+02] [ 9.07911097e-01 -4.19064512e-01 9.07610862e-03 1.59594096e+02] [-9.94917049e-03 1.01886629e-04 9.99950501e-01 -4.79845649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91 meters 0.014515837405462882 Centerline is valid? [True, True] Translation: X:118.19, Y:159.62, Z:-4.80 [[-4.18915535e-01 -9.08015671e-01 -4.16120551e-03 1.18191486e+02] [ 9.07968490e-01 -4.18936190e-01 9.25692213e-03 1.59618699e+02] [-1.01487099e-02 9.96250061e-05 9.99948496e-01 -4.79921409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94 meters 0.014492578311179121 Centerline is valid? [True, True] Translation: X:118.18, Y:159.64, Z:-4.80 [[-4.18820071e-01 -9.08061059e-01 -3.85504875e-03 1.18179079e+02] [ 9.08020626e-01 -4.18837803e-01 8.56958747e-03 1.59643874e+02] [-9.39634882e-03 8.86514585e-05 9.99955849e-01 -4.79973362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97 meters 0.014425969543238286 Centerline is valid? [True, True] Translation: X:118.17, Y:159.67, Z:-4.80 [[-4.18596778e-01 -9.08164714e-01 -3.68654436e-03 1.18166702e+02] [ 9.08127793e-01 -4.18613003e-01 8.18936386e-03 1.59669648e+02] [-8.98052669e-03 8.01879393e-05 9.99959671e-01 -4.80044528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.0 meters 0.014354512998471137 Centerline is valid? [True, True] Translation: X:118.16, Y:159.69, Z:-4.80 [[-4.17770610e-01 -9.08546629e-01 -3.27741086e-03 1.18155098e+02] [ 9.08517510e-01 -4.17783461e-01 7.27417636e-03 1.59693647e+02] [-7.97817646e-03 6.13519428e-05 9.99968172e-01 -4.80150819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03 meters 0.014249212408202322 Centerline is valid? [True, True] Translation: X:118.14, Y:159.72, Z:-4.80 [[-4.17354902e-01 -9.08737386e-01 -3.35395814e-03 1.18142719e+02] [ 9.08706914e-01 -4.17368375e-01 7.44204879e-03 1.59719264e+02] [-8.16270402e-03 5.82105980e-05 9.99966683e-01 -4.80153825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06 meters 0.014160325086434718 Centerline is valid? [True, True] Translation: X:118.13, Y:159.74, Z:-4.80 [[-4.16964630e-01 -9.08916120e-01 -3.46192102e-03 1.18130487e+02] [ 9.08883713e-01 -4.16978998e-01 7.67535545e-03 1.59744182e+02] [-8.41980265e-03 5.38681104e-05 9.99964551e-01 -4.80201936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09 meters 0.014186128716813353 Centerline is valid? [True, True] Translation: X:118.12, Y:159.77, Z:-4.80 [[-4.16528456e-01 -9.09115994e-01 -3.48637442e-03 1.18118634e+02] [ 9.09083182e-01 -4.16543044e-01 7.72403477e-03 1.59768528e+02] [-8.47426856e-03 4.78759198e-05 9.99964092e-01 -4.80328295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12 meters 0.013961637948929287 Centerline is valid? [True, True] Translation: X:118.11, Y:159.79, Z:-4.80 [[-4.14893065e-01 -9.09862982e-01 -3.61919149e-03 1.18105425e+02] [ 9.09827709e-01 -4.14908849e-01 8.01164368e-03 1.59792822e+02] [-8.79113258e-03 3.11346954e-05 9.99961357e-01 -4.80320501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14999999999998 meters 0.013793845930884533 Centerline is valid? [True, True] Translation: X:118.09, Y:159.82, Z:-4.80 [[-4.14105352e-01 -9.10221901e-01 -3.58445749e-03 1.18093143e+02] [ 9.10187381e-01 -4.14120864e-01 7.92728964e-03 1.59817632e+02] [-8.69999128e-03 2.02050904e-05 9.99962154e-01 -4.80298183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17999999999998 meters 0.013799483057663037 Centerline is valid? [True, True] Translation: X:118.08, Y:159.84, Z:-4.80 [[-4.13201694e-01 -9.10632873e-01 -3.48289224e-03 1.18080558e+02] [ 9.10600341e-01 -4.13216372e-01 7.69729529e-03 1.59842760e+02] [-8.44859822e-03 9.01259647e-06 9.99964310e-01 -4.80324791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20999999999998 meters 0.013773003026304227 Centerline is valid? [True, True] Translation: X:118.07, Y:159.87, Z:-4.80 [[-4.11931971e-01 -9.11208524e-01 -3.32839927e-03 1.18068075e+02] [ 9.11178873e-01 -4.11945417e-01 7.35084400e-03 1.59867420e+02] [-8.06927054e-03 -4.71944181e-06 9.99967443e-01 -4.80401599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23999999999998 meters 0.0137979691594233 Centerline is valid? [True, True] Translation: X:118.06, Y:159.89, Z:-4.80 [[-4.10898408e-01 -9.11675725e-01 -3.14189013e-03 1.18055512e+02] [ 9.11649351e-01 -4.10910419e-01 6.93450150e-03 1.59892066e+02] [-7.61305208e-03 -1.49264768e-05 9.99971020e-01 -4.80448412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26999999999998 meters 0.013920279070946421 Centerline is valid? [True, True] Translation: X:118.04, Y:159.92, Z:-4.81 [[-4.09656808e-01 -9.12234851e-01 -2.97912908e-03 1.18042428e+02] [ 9.12211182e-01 -4.09667640e-01 6.57152432e-03 1.59916040e+02] [-7.21522629e-03 -2.55251752e-05 9.99973970e-01 -4.80691782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29999999999998 meters 0.014020462135976236 Centerline is valid? [True, True] Translation: X:118.03, Y:159.94, Z:-4.81 [[-4.07475799e-01 -9.13212077e-01 -2.67872080e-03 1.18028423e+02] [ 9.13192986e-01 -4.07484602e-01 5.90510420e-03 1.59940529e+02] [-6.48414995e-03 -4.00019962e-05 9.99978977e-01 -4.80700702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32999999999998 meters 0.01414500571558554 Centerline is valid? [True, True] Translation: X:118.02, Y:159.96, Z:-4.81 [[-4.06715651e-01 -9.13551720e-01 -2.37388810e-03 1.18016550e+02] [ 9.13536753e-01 -4.06722576e-01 5.22946380e-03 1.59963471e+02] [-5.74289953e-03 -4.17292582e-05 9.99983509e-01 -4.80766224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35999999999999 meters 0.01417526693855899 Centerline is valid? [True, True] Translation: X:118.00, Y:159.99, Z:-4.81 [[-4.06412909e-01 -9.13686386e-01 -2.39499974e-03 1.18004359e+02] [ 9.13671161e-01 -4.06419963e-01 5.27483695e-03 1.59987794e+02] [-5.79292241e-03 -4.44803649e-05 9.99983220e-01 -4.80848725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39 meters 0.014219268936305268 Centerline is valid? [True, True] Translation: X:117.99, Y:160.01, Z:-4.81 [[-4.06421634e-01 -9.13682454e-01 -2.41420472e-03 1.17992341e+02] [ 9.13667017e-01 -4.06428802e-01 5.31142398e-03 1.60013327e+02] [-5.83415723e-03 -4.71016095e-05 9.99982980e-01 -4.80884687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42 meters 0.014191233500144621 Centerline is valid? [True, True] Translation: X:117.98, Y:160.04, Z:-4.81 [[-4.06577530e-01 -9.13612724e-01 -2.55000276e-03 1.17980617e+02] [ 9.13595531e-01 -4.06585524e-01 5.60520853e-03 1.60038922e+02] [-6.15778404e-03 -5.07192844e-05 9.99981039e-01 -4.80912684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45 meters 0.014065339906355969 Centerline is valid? [True, True] Translation: X:117.97, Y:160.07, Z:-4.81 [[-4.06973680e-01 -9.13436409e-01 -2.52001699e-03 1.17969876e+02] [ 9.13419639e-01 -4.06981479e-01 5.53533448e-03 1.60065446e+02] [-6.08177629e-03 -4.90975652e-05 9.99981505e-01 -4.80838282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48 meters 0.014225125786695625 Centerline is valid? [True, True] Translation: X:117.96, Y:160.09, Z:-4.81 [[-4.07644856e-01 -9.13136976e-01 -2.55641302e-03 1.17958874e+02] [ 9.13119735e-01 -4.07652869e-01 5.61136954e-03 1.60090048e+02] [-6.16607811e-03 -4.68652500e-05 9.99980988e-01 -4.80967513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51 meters 0.013932841792276007 Centerline is valid? [True, True] Translation: X:117.95, Y:160.12, Z:-4.81 [[-4.08167838e-01 -9.12903263e-01 -2.57866745e-03 1.17948397e+02] [ 9.12885748e-01 -4.08175981e-01 5.65502512e-03 1.60115967e+02] [-6.21504099e-03 -4.58293877e-05 9.99980685e-01 -4.80909775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54 meters 0.014028292411699256 Centerline is valid? [True, True] Translation: X:117.94, Y:160.14, Z:-4.81 [[-4.08727842e-01 -9.12653097e-01 -2.42376281e-03 1.17937294e+02] [ 9.12637635e-01 -4.08735027e-01 5.31267500e-03 1.60140393e+02] [-5.83930605e-03 -4.05789711e-05 9.99982950e-01 -4.81064187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57 meters 0.01396418661795317 Centerline is valid? [True, True] Translation: X:117.93, Y:160.17, Z:-4.81 [[-4.09528920e-01 -9.12294582e-01 -2.15842831e-03 1.17926720e+02] [ 9.12282330e-01 -4.09534607e-01 4.72827077e-03 1.60166932e+02] [-5.19752690e-03 -3.27323842e-05 9.99986492e-01 -4.81185962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.6 meters 0.013934224189063921 Centerline is valid? [True, True] Translation: X:117.92, Y:160.19, Z:-4.81 [[-4.10543887e-01 -9.11838694e-01 -1.97800489e-03 1.17916324e+02] [ 9.11828407e-01 -4.10548651e-01 4.33155437e-03 1.60192457e+02] [-4.76174612e-03 -2.53078807e-05 9.99988663e-01 -4.81286391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63 meters 0.013793639199015568 Centerline is valid? [True, True] Translation: X:117.91, Y:160.22, Z:-4.81 [[-4.11929918e-01 -9.11213366e-01 -1.98617426e-03 1.17906158e+02] [ 9.11203005e-01 -4.11934706e-01 4.34544911e-03 1.60218683e+02] [-4.77780541e-03 -1.97874586e-05 9.99988586e-01 -4.81272783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66 meters 0.013841710310414554 Centerline is valid? [True, True] Translation: X:117.90, Y:160.24, Z:-4.81 [[-4.13961928e-01 -9.10292368e-01 -1.82399123e-03 1.17897424e+02] [ 9.10283626e-01 -4.13965947e-01 3.98933710e-03 1.60244313e+02] [-4.38653337e-03 -8.91567618e-06 9.99990379e-01 -4.81300489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69 meters 0.013809937507108811 Centerline is valid? [True, True] Translation: X:117.89, Y:160.27, Z:-4.81 [[-4.15269048e-01 -9.09696612e-01 -1.92150800e-03 1.17887328e+02] [ 9.09686934e-01 -4.15273493e-01 4.19625003e-03 1.60268721e+02] [-4.61526577e-03 -5.39796566e-06 9.99989350e-01 -4.81434120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72 meters 0.01373085645348929 Centerline is valid? [True, True] Translation: X:117.88, Y:160.29, Z:-4.81 [[-4.16414749e-01 -9.09173006e-01 -1.78928491e-03 1.17877315e+02] [ 9.09164605e-01 -4.16418594e-01 3.90851384e-03 1.60293633e+02] [-4.29860678e-03 8.08302010e-07 9.99990761e-01 -4.81427232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75 meters 0.013820830068747776 Centerline is valid? [True, True] Translation: X:117.87, Y:160.32, Z:-4.82 [[-4.17897255e-01 -9.08492456e-01 -1.82807255e-03 1.17867263e+02] [ 9.08483693e-01 -4.17901253e-01 3.99017884e-03 1.60318193e+02] [-4.38900119e-03 6.71068012e-06 9.99990368e-01 -4.81534859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78 meters 0.01375823341119558 Centerline is valid? [True, True] Translation: X:117.86, Y:160.34, Z:-4.82 [[-4.19070101e-01 -9.07952343e-01 -1.67141264e-03 1.17856296e+02] [ 9.07945028e-01 -4.19073434e-01 3.64449358e-03 1.60344298e+02] [-4.00947112e-03 9.74749700e-06 9.99991962e-01 -4.81524589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81 meters 0.013743687560720913 Centerline is valid? [True, True] Translation: X:117.85, Y:160.37, Z:-4.82 [[-4.20492599e-01 -9.07294610e-01 -1.57013991e-03 1.17845760e+02] [ 9.07288151e-01 -4.20495531e-01 3.42332697e-03 1.60369111e+02] [-3.76620292e-03 1.49143245e-05 9.99992908e-01 -4.81592052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84 meters 0.013975050546446603 Centerline is valid? [True, True] Translation: X:117.84, Y:160.39, Z:-4.82 [[-4.23450799e-01 -9.05917867e-01 -1.49645246e-03 1.17835810e+02] [ 9.05911999e-01 -4.23453442e-01 3.26064646e-03 1.60394604e+02] [-3.58755583e-03 2.50691110e-05 9.99993564e-01 -4.81548454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87 meters 0.013976051611774985 Centerline is valid? [True, True] Translation: X:117.83, Y:160.42, Z:-4.81 [[-4.25202204e-01 -9.05096629e-01 -1.78298572e-03 1.17825146e+02] [ 9.05088318e-01 -4.25205940e-01 3.87882997e-03 1.60419512e+02] [-4.26885205e-03 3.55275016e-05 9.99990888e-01 -4.81495343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89999999999998 meters 0.014475023933911497 Centerline is valid? [True, True] Translation: X:117.82, Y:160.44, Z:-4.81 [[-4.27853651e-01 -9.03845304e-01 -2.21809106e-03 1.17815728e+02] [ 9.03832463e-01 -4.27859397e-01 4.81812903e-03 1.60443902e+02] [-5.30387440e-03 5.66713917e-05 9.99985933e-01 -4.81497236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92999999999998 meters 0.014784540549844934 Centerline is valid? [True, True] Translation: X:117.81, Y:160.47, Z:-4.81 [[-4.30785602e-01 -9.02450801e-01 -2.51339496e-03 1.17805544e+02] [ 9.02434358e-01 -4.30792927e-01 5.44826223e-03 1.60469629e+02] [-5.99954138e-03 7.88589562e-05 9.99981999e-01 -4.81413922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95999999999998 meters 0.015366599421161947 Centerline is valid? [True, True] Translation: X:117.80, Y:160.50, Z:-4.81 [[-4.34185085e-01 -9.00818932e-01 -2.92617546e-03 1.17795552e+02] [ 9.00796627e-01 -4.34194930e-01 6.34033202e-03 1.60495864e+02] [-6.98202167e-03 1.16988619e-04 9.99975619e-01 -4.81392102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98999999999998 meters 0.0173002210426764 Centerline is valid? [True, True] Translation: X:117.79, Y:160.52, Z:-4.81 [[-4.41390045e-01 -8.97308508e-01 -3.50289360e-03 1.17787264e+02] [ 8.97276495e-01 -4.41403897e-01 7.58227302e-03 1.60521809e+02] [-8.34982897e-03 2.03675740e-04 9.99965119e-01 -4.81442802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01999999999998 meters 0.018220313029599707 Centerline is valid? [True, True] Translation: X:117.78, Y:160.55, Z:-4.81 [[-4.44491755e-01 -8.95775652e-01 -3.61403090e-03 1.17775860e+02] [ 8.95741587e-01 -4.44506384e-01 7.81556782e-03 1.60547680e+02] [-8.60745516e-03 2.36717685e-04 9.99962927e-01 -4.81497287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04999999999998 meters 0.019328224269186917 Centerline is valid? [True, True] Translation: X:117.76, Y:160.57, Z:-4.82 [[-4.47404073e-01 -8.94323269e-01 -3.93524375e-03 1.17764495e+02] [ 8.94282892e-01 -4.47421288e-01 8.50288887e-03 1.60573595e+02] [-9.36504320e-03 2.85005942e-04 9.99956106e-01 -4.81552480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07999999999998 meters 0.019069601134664625 Centerline is valid? [True, True] Translation: X:117.75, Y:160.60, Z:-4.82 [[-4.52644663e-01 -8.91682771e-01 -3.82677788e-03 1.17749813e+02] [ 8.91644540e-01 -4.52660720e-01 8.26360673e-03 1.60597659e+02] [-9.10074778e-03 3.28351885e-04 9.99958533e-01 -4.81537489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10999999999999 meters 0.022002151408366113 Centerline is valid? [True, True] Translation: X:117.74, Y:160.62, Z:-4.82 [[-4.55390871e-01 -8.90283400e-01 -3.82403999e-03 1.17741735e+02] [ 8.90245239e-01 -4.55406789e-01 8.25048595e-03 1.60623254e+02] [-9.08676445e-03 3.52862582e-04 9.99958652e-01 -4.81732093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14 meters 0.0200171528187837 Centerline is valid? [True, True] Translation: X:117.73, Y:160.65, Z:-4.82 [[-4.58012450e-01 -8.88937843e-01 -3.75589214e-03 1.17725971e+02] [ 8.88901024e-01 -4.58027700e-01 8.09912122e-03 1.60646848e+02] [-8.91991799e-03 3.70881985e-04 9.99960148e-01 -4.81677607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17 meters 0.021117496751368016 Centerline is valid? [True, True] Translation: X:117.71, Y:160.67, Z:-4.82 [[-4.60678189e-01 -8.87558893e-01 -3.84946140e-03 1.17714374e+02] [ 8.87520229e-01 -4.60694094e-01 8.29423513e-03 1.60672650e+02] [-9.13504628e-03 4.04498352e-04 9.99958193e-01 -4.81760247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.2 meters 0.022198168426407438 Centerline is valid? [True, True] Translation: X:117.70, Y:160.70, Z:-4.82 [[-4.63161207e-01 -8.86264351e-01 -4.14671865e-03 1.17703075e+02] [ 8.86219507e-01 -4.63179542e-01 8.92731140e-03 1.60697494e+02] [-9.83263310e-03 4.59881367e-04 9.99951553e-01 -4.81811910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23 meters 0.022706358489256468 Centerline is valid? [True, True] Translation: X:117.69, Y:160.72, Z:-4.82 [[-4.67741793e-01 -8.83851701e-01 -4.87708126e-03 1.17688342e+02] [ 8.83789665e-01 -4.67766840e-01 1.04886490e-02 1.60721636e+02] [-1.15517472e-02 5.95665499e-04 9.99933099e-01 -4.81821188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26 meters 0.024462227941893185 Centerline is valid? [True, True] Translation: X:117.68, Y:160.75, Z:-4.82 [[-4.69638544e-01 -8.82844099e-01 -5.09268130e-03 1.17676872e+02] [ 8.82776528e-01 -4.69665716e-01 1.09415702e-02 1.60746369e+02] [-1.20515585e-02 6.42883594e-04 9.99927171e-01 -4.81915219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29 meters 0.023468159923032736 Centerline is valid? [True, True] Translation: X:117.66, Y:160.77, Z:-4.82 [[-4.71247723e-01 -8.81983421e-01 -5.55234075e-03 1.17661119e+02] [ 8.81903126e-01 -4.71279878e-01 1.19228261e-02 1.60770253e+02] [-1.31324415e-02 7.21977995e-04 9.99913505e-01 -4.81930361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32 meters 0.024454149363398486 Centerline is valid? [True, True] Translation: X:117.65, Y:160.79, Z:-4.82 [[-4.72260710e-01 -8.81440240e-01 -5.73808904e-03 1.17648349e+02] [ 8.81354557e-01 -4.72294960e-01 1.23132337e-02 1.60793826e+02] [-1.35634502e-02 7.57765551e-04 9.99907725e-01 -4.82000785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35 meters 0.024840942662576526 Centerline is valid? [True, True] Translation: X:117.63, Y:160.82, Z:-4.82 [[-4.72035053e-01 -8.81557396e-01 -6.28222038e-03 1.17631359e+02] [ 8.81454883e-01 -4.72076143e-01 1.34686116e-02 1.60815744e+02] [-1.48390405e-02 8.20162957e-04 9.99889559e-01 -4.82056460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38 meters 0.023110246401290814 Centerline is valid? [True, True] Translation: X:117.61, Y:160.84, Z:-4.82 [[-4.70713213e-01 -8.82262127e-01 -6.52764865e-03 1.17613785e+02] [ 8.82151680e-01 -4.70757751e-01 1.39840636e-02 1.60838097e+02] [-1.54105509e-02 8.24107302e-04 9.99880911e-01 -4.82102608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41 meters 0.024684493575367162 Centerline is valid? [True, True] Translation: X:117.60, Y:160.86, Z:-4.82 [[-4.69002194e-01 -8.83172481e-01 -6.58109360e-03 1.17600674e+02] [ 8.83060474e-01 -4.69047690e-01 1.40876987e-02 1.60862157e+02] [-1.55287145e-02 7.95657940e-04 9.99879106e-01 -4.82178554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44 meters 0.022159251744859974 Centerline is valid? [True, True] Translation: X:117.58, Y:160.88, Z:-4.82 [[-4.66306955e-01 -8.84597142e-01 -6.76162529e-03 1.17581627e+02] [ 8.84479236e-01 -4.66355350e-01 1.44626208e-02 1.60884089e+02] [-1.59469131e-02 7.63503471e-04 9.99872548e-01 -4.82191204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47 meters 0.02168458234316174 Centerline is valid? [True, True] Translation: X:117.56, Y:160.91, Z:-4.82 [[-4.63114022e-01 -8.86271976e-01 -6.88381638e-03 1.17564706e+02] [ 8.86150131e-01 -4.63164630e-01 1.47129451e-02 1.60907229e+02] [-1.62280112e-02 7.13676384e-04 9.99868062e-01 -4.82233907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.5 meters 0.020558984362073603 Centerline is valid? [True, True] Translation: X:117.55, Y:160.93, Z:-4.82 [[-4.59257340e-01 -8.88274615e-01 -7.13467766e-03 1.17547236e+02] [ 8.88144155e-01 -4.59312280e-01 1.52377327e-02 1.60928380e+02] [-1.68123363e-02 6.61418348e-04 9.99858444e-01 -4.82297412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53 meters 0.01815536544061894 Centerline is valid? [True, True] Translation: X:117.52, Y:160.95, Z:-4.82 [[-4.49499279e-01 -8.93252874e-01 -7.04987564e-03 1.17522734e+02] [ 8.93126297e-01 -4.49554319e-01 1.50443419e-02 1.60946983e+02] [-1.66077037e-02 4.65991496e-04 9.99861974e-01 -4.82455120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56 meters 0.01643595334687518 Centerline is valid? [True, True] Translation: X:117.50, Y:160.97, Z:-4.83 [[-4.43884711e-01 -8.96056886e-01 -6.95847892e-03 1.17503340e+02] [ 8.95934109e-01 -4.43939110e-01 1.48371008e-02 1.60968198e+02] [-1.63840272e-02 3.51623576e-04 9.99865711e-01 -4.82606492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59 meters 0.014936510868101471 Centerline is valid? [True, True] Translation: X:117.48, Y:160.99, Z:-4.83 [[-4.38629057e-01 -8.98643724e-01 -6.63375168e-03 1.17483734e+02] [ 8.98532527e-01 -4.38679152e-01 1.41386063e-02 1.60989911e+02] [-1.56156584e-02 2.40961904e-04 9.99878039e-01 -4.82762736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62 meters 0.013591848020869894 Centerline is valid? [True, True] Translation: X:117.46, Y:161.01, Z:-4.83 [[-4.28360147e-01 -9.03585847e-01 -6.34041931e-03 1.17458386e+02] [ 9.03484936e-01 -4.28407065e-01 1.35039777e-02 1.61009129e+02] [-1.49182836e-02 5.60925446e-05 9.99888715e-01 -4.82963941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64999999999998 meters 0.013628134873158301 Centerline is valid? [True, True] Translation: X:117.44, Y:161.03, Z:-4.83 [[-4.24170098e-01 -9.05560287e-01 -6.34774672e-03 1.17441171e+02] [ 9.05459509e-01 -4.24217592e-01 1.35096979e-02 1.61030689e+02] [-1.49266718e-02 -1.72177223e-05 9.99888591e-01 -4.83107348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67999999999998 meters 0.013628134873158301 Centerline is valid? [True, True] Translation: X:117.43, Y:161.05, Z:-4.83 [[-4.24453118e-01 -9.05427637e-01 -6.35181529e-03 1.17429685e+02] [ 9.05326872e-01 -4.24500641e-01 1.35077845e-02 1.61054855e+02] [-1.49266710e-02 -1.70478244e-05 9.99888591e-01 -4.83162235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70999999999998 meters 0.013803029537144943 Centerline is valid? [True, True] Translation: X:117.41, Y:161.08, Z:-4.83 [[-4.20964001e-01 -9.07056004e-01 -6.22215560e-03 1.17413206e+02] [ 9.06959651e-01 -4.21009976e-01 1.32208903e-02 1.61077824e+02] [-1.46116775e-02 -7.77251896e-05 9.99893241e-01 -4.83213342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73999999999998 meters 0.013995146201660669 Centerline is valid? [True, True] Translation: X:117.40, Y:161.10, Z:-4.83 [[-4.18300254e-01 -9.08285141e-01 -6.55746705e-03 1.17397799e+02] [ 9.08178421e-01 -4.18351629e-01 1.39237254e-02 1.61101726e+02] [-1.53900399e-02 -1.31052211e-04 9.99881558e-01 -4.83261148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76999999999998 meters 0.014393732372821716 Centerline is valid? [True, True] Translation: X:117.38, Y:161.12, Z:-4.83 [[-4.16376603e-01 -9.09167912e-01 -6.65073543e-03 1.17383238e+02] [ 9.09058423e-01 -4.16429680e-01 1.41104464e-02 1.61124880e+02] [-1.55983287e-02 -1.70647323e-04 9.99878324e-01 -4.83275726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79999999999998 meters 0.014577029674622325 Centerline is valid? [True, True] Translation: X:117.37, Y:161.15, Z:-4.83 [[-4.15476601e-01 -9.09577713e-01 -6.89764689e-03 1.17369283e+02] [ 9.09460163e-01 -4.15533807e-01 1.46242104e-02 1.61149323e+02] [-1.61680613e-02 -1.97117850e-04 9.99869269e-01 -4.83312955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82999999999998 meters 0.014709067430903057 Centerline is valid? [True, True] Translation: X:117.36, Y:161.17, Z:-4.83 [[-4.15571655e-01 -9.09532663e-01 -7.10884698e-03 1.17355810e+02] [ 9.09407987e-01 -4.15632402e-01 1.50605255e-02 1.61173133e+02] [-1.66527070e-02 -2.06114729e-04 9.99861313e-01 -4.83327847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85999999999999 meters 0.014424940431262873 Centerline is valid? [True, True] Translation: X:117.34, Y:161.20, Z:-4.83 [[-4.16572687e-01 -9.09071861e-01 -7.45299830e-03 1.17344327e+02] [ 9.08934978e-01 -4.16639304e-01 1.57764657e-02 1.61198901e+02] [-1.74471530e-02 -2.02246146e-04 9.99847766e-01 -4.83352903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89 meters 0.014191395699515405 Centerline is valid? [True, True] Translation: X:117.33, Y:161.22, Z:-4.83 [[-4.17859083e-01 -9.08480111e-01 -7.59435364e-03 1.17332906e+02] [ 9.08338104e-01 -4.17928047e-01 1.60635222e-02 1.61224908e+02] [-1.77672838e-02 -1.85952122e-04 9.99842132e-01 -4.83395468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92 meters 0.01400004535090529 Centerline is valid? [True, True] Translation: X:117.32, Y:161.25, Z:-4.83 [[-4.19447584e-01 -9.07747413e-01 -7.63932353e-03 1.17321682e+02] [ 9.07603816e-01 -4.19517114e-01 1.61463518e-02 1.61249565e+02] [-1.78616360e-02 -1.60930940e-04 9.99840455e-01 -4.83445670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95 meters 0.013733524954360383 Centerline is valid? [True, True] Translation: X:117.31, Y:161.28, Z:-4.83 [[-4.22805130e-01 -9.06186151e-01 -7.90456413e-03 1.17310826e+02] [ 9.06032388e-01 -4.22879000e-01 1.66932062e-02 1.61275250e+02] [-1.84698264e-02 -1.03817911e-04 9.99829413e-01 -4.83479781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98 meters 0.013579892855577692 Centerline is valid? [True, True] Translation: X:117.30, Y:161.30, Z:-4.84 [[-4.24844962e-01 -9.05233168e-01 -7.72458391e-03 1.17299744e+02] [ 9.05086383e-01 -4.24915176e-01 1.63013079e-02 1.61300424e+02] [-1.80387776e-02 -6.58871657e-05 9.99837286e-01 -4.83574293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01 meters 0.013579659078888855 Centerline is valid? [True, True] Translation: X:117.29, Y:161.32, Z:-4.84 [[-4.26763510e-01 -9.04332440e-01 -7.46620992e-03 1.17289091e+02] [ 9.04195380e-01 -4.26828814e-01 1.57441567e-02 1.61324842e+02] [-1.74247451e-02 -3.18809622e-05 9.99848177e-01 -4.83687548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04 meters 0.013528411911371588 Centerline is valid? [True, True] Translation: X:117.28, Y:161.35, Z:-4.84 [[-4.28646582e-01 -9.03443433e-01 -7.21607110e-03 1.17278467e+02] [ 9.03315469e-01 -4.28707317e-01 1.52052243e-02 1.61350033e+02] [-1.68306425e-02 -7.21220115e-07 9.99858355e-01 -4.83800299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07 meters 0.013542472743212677 Centerline is valid? [True, True] Translation: X:117.27, Y:161.38, Z:-4.84 [[-4.32124458e-01 -9.01789863e-01 -6.59513497e-03 1.17268835e+02] [ 9.01682929e-01 -4.32174780e-01 1.38872112e-02 1.61376222e+02] [-1.53735973e-02 5.42830096e-05 9.99881818e-01 -4.83957481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.1 meters 0.013634997209629449 Centerline is valid? [True, True] Translation: X:117.26, Y:161.40, Z:-4.84 [[-4.33899823e-01 -9.00938143e-01 -6.43480611e-03 1.17257546e+02] [ 9.00836393e-01 -4.33947528e-01 1.35401782e-02 1.61402009e+02] [-1.49912312e-02 7.83733888e-05 9.99887622e-01 -4.84037524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13 meters 0.013720748688422742 Centerline is valid? [True, True] Translation: X:117.25, Y:161.43, Z:-4.84 [[-4.35737304e-01 -9.00052133e-01 -6.25777071e-03 1.17246186e+02] [ 8.99955946e-01 -4.35782225e-01 1.31585607e-02 1.61427583e+02] [-1.45704159e-02 1.01957826e-04 9.99893841e-01 -4.84096698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16 meters 0.013780518386580261 Centerline is valid? [True, True] Translation: X:117.23, Y:161.45, Z:-4.84 [[-4.37412520e-01 -8.99240271e-01 -6.10100983e-03 1.17234748e+02] [ 8.99148894e-01 -4.37455050e-01 1.28197489e-02 1.61453176e+02] [-1.41969520e-02 1.21802438e-04 9.99899211e-01 -4.84171463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19 meters 0.014061793509309164 Centerline is valid? [True, True] Translation: X:117.22, Y:161.48, Z:-4.84 [[-4.38629057e-01 -8.98648040e-01 -6.02074866e-03 1.17224131e+02] [ 8.98559122e-01 -4.38670356e-01 1.26421030e-02 1.61478607e+02] [-1.40019250e-02 1.35195083e-04 9.99901959e-01 -4.84243380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22 meters 0.014327836144536426 Centerline is valid? [True, True] Translation: X:117.21, Y:161.50, Z:-4.84 [[-4.41344923e-01 -8.97317627e-01 -5.97781989e-03 1.17213507e+02] [ 8.97229990e-01 -4.41385372e-01 1.25419022e-02 1.61504897e+02] [-1.38925922e-02 1.71825606e-04 9.99903479e-01 -4.84245388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25 meters 0.0144799911809302 Centerline is valid? [True, True] Translation: X:117.20, Y:161.53, Z:-4.84 [[-4.42702366e-01 -8.96649116e-01 -5.91428275e-03 1.17202249e+02] [ 8.96563394e-01 -4.42741831e-01 1.23996638e-02 1.61530794e+02] [-1.37366480e-02 1.86831101e-04 9.99905630e-01 -4.84256875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28 meters 0.014553556259692627 Centerline is valid? [True, True] Translation: X:117.19, Y:161.56, Z:-4.84 [[-4.43909571e-01 -8.96050791e-01 -6.10520060e-03 1.17190570e+02] [ 8.95959527e-01 -4.43951503e-01 1.27901930e-02 1.61556871e+02] [-1.41710756e-02 2.07676460e-04 9.99899564e-01 -4.84248369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31 meters 0.014706196365884059 Centerline is valid? [True, True] Translation: X:117.18, Y:161.58, Z:-4.84 [[-4.44750691e-01 -8.95631157e-01 -6.45392006e-03 1.17179817e+02] [ 8.95529299e-01 -4.44797457e-01 1.35091381e-02 1.61582262e+02] [-1.49698922e-02 2.28523980e-04 9.99887919e-01 -4.84214473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34 meters 0.014825231265960543 Centerline is valid? [True, True] Translation: X:117.17, Y:161.61, Z:-4.84 [[-4.45861350e-01 -8.95077167e-01 -6.67245340e-03 1.17167964e+02] [ 8.94968337e-01 -4.45911204e-01 1.39597207e-02 1.61608027e+02] [-1.54703490e-02 2.52465416e-04 9.99880295e-01 -4.84167227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37 meters 0.014764313914988506 Centerline is valid? [True, True] Translation: X:117.16, Y:161.63, Z:-4.84 [[-4.46219389e-01 -8.94899011e-01 -6.63449746e-03 1.17155392e+02] [ 8.94791549e-01 -4.46268636e-01 1.38703775e-02 1.61633456e+02] [-1.53733552e-02 2.52739102e-04 9.99881791e-01 -4.84181088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39999999999998 meters 0.014671834103013289 Centerline is valid? [True, True] Translation: X:117.14, Y:161.66, Z:-4.84 [[-4.46398536e-01 -8.94808651e-01 -6.76939203e-03 1.17142686e+02] [ 8.94696930e-01 -4.46449787e-01 1.41417992e-02 1.61658815e+02] [-1.56763979e-02 2.56324204e-04 9.99877085e-01 -4.84223732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42999999999998 meters 0.01456721236367747 Centerline is valid? [True, True] Translation: X:117.13, Y:161.68, Z:-4.84 [[-4.46117808e-01 -8.94946765e-01 -7.01352972e-03 1.17130280e+02] [ 8.94827039e-01 -4.46172862e-01 1.46406034e-02 1.61683776e+02] [-1.62318073e-02 2.55537856e-04 9.99868223e-01 -4.84241050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45999999999998 meters 0.014228945680612405 Centerline is valid? [True, True] Translation: X:117.12, Y:161.71, Z:-4.84 [[-4.45648572e-01 -8.95178907e-01 -7.21630718e-03 1.17117019e+02] [ 8.95052377e-01 -4.45706925e-01 1.50525817e-02 1.61708433e+02] [-1.66911118e-02 2.49188666e-04 9.99860663e-01 -4.84240045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48999999999998 meters 0.014152720238681632 Centerline is valid? [True, True] Translation: X:117.10, Y:161.73, Z:-4.84 [[-4.44241617e-01 -8.95874997e-01 -7.57473015e-03 1.17104327e+02] [ 8.95735913e-01 -4.44306131e-01 1.57871902e-02 1.61732500e+02] [-1.75088480e-02 2.28369086e-04 9.99846682e-01 -4.84241322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51999999999998 meters 0.014041849201384375 Centerline is valid? [True, True] Translation: X:117.09, Y:161.76, Z:-4.84 [[-4.43262806e-01 -8.96359183e-01 -7.63540244e-03 1.17091906e+02] [ 8.96218079e-01 -4.43328514e-01 1.59054281e-02 1.61757092e+02] [-1.76419681e-02 2.07298970e-04 9.99844347e-01 -4.84286101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54999999999998 meters 0.013858874124312056 Centerline is valid? [True, True] Translation: X:117.08, Y:161.78, Z:-4.84 [[-4.42670284e-01 -8.96653749e-01 -7.42122616e-03 1.17078551e+02] [ 8.96520685e-01 -4.42732449e-01 1.54479968e-02 1.61782189e+02] [-1.71371219e-02 1.85086380e-04 9.99853132e-01 -4.84355691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57999999999998 meters 0.013574792270099034 Centerline is valid? [True, True] Translation: X:117.06, Y:161.81, Z:-4.84 [[-4.41922197e-01 -8.97024144e-01 -7.24273732e-03 1.17064566e+02] [ 8.96897627e-01 -4.41981515e-01 1.50660958e-02 1.61806742e+02] [-1.67158077e-02 1.62048256e-04 9.99860268e-01 -4.84422309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60999999999999 meters 0.013490761679703582 Centerline is valid? [True, True] Translation: X:117.05, Y:161.83, Z:-4.85 [[-4.40724763e-01 -8.97614222e-01 -7.09875469e-03 1.17051407e+02] [ 8.97492935e-01 -4.40781909e-01 1.47560117e-02 1.61830185e+02] [-1.63742086e-02 1.32257549e-04 9.99865925e-01 -4.84557707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64 meters 0.01342991730550911 Centerline is valid? [True, True] Translation: X:117.04, Y:161.85, Z:-4.85 [[-4.40449821e-01 -8.97750032e-01 -6.98827920e-03 1.17039005e+02] [ 8.97632686e-01 -4.40505240e-01 1.45153371e-02 1.61854749e+02] [-1.61095180e-02 1.20369808e-04 9.99870226e-01 -4.84636490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67 meters 0.013275823654926126 Centerline is valid? [True, True] Translation: X:117.03, Y:161.88, Z:-4.85 [[-4.40096768e-01 -8.97922058e-01 -7.12832589e-03 1.17026028e+02] [ 8.97800177e-01 -4.40154480e-01 1.47944371e-02 1.61879409e+02] [-1.64218160e-02 1.11171731e-04 9.99865147e-01 -4.84630950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.7 meters 0.01331923019715928 Centerline is valid? [True, True] Translation: X:117.01, Y:161.90, Z:-4.85 [[-4.39962792e-01 -8.97989653e-01 -6.87932951e-03 1.17013487e+02] [ 8.97876308e-01 -4.40016560e-01 1.42675259e-02 1.61904384e+02] [-1.58391096e-02 1.00393559e-04 9.99874548e-01 -4.84675176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73 meters 0.01326134078693136 Centerline is valid? [True, True] Translation: X:117.00, Y:161.93, Z:-4.85 [[-4.39863344e-01 -8.98038573e-01 -6.85278319e-03 1.17001596e+02] [ 8.97926269e-01 -4.39916712e-01 1.42022138e-02 1.61928236e+02] [-1.57687896e-02 9.37391986e-05 9.99875661e-01 -4.84768786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76 meters 0.013187123330269987 Centerline is valid? [True, True] Translation: X:116.99, Y:161.95, Z:-4.85 [[-4.39969627e-01 -8.97988362e-01 -6.60519979e-03 1.16988930e+02] [ 8.97884179e-01 -4.40019197e-01 1.36787588e-02 1.61953189e+02] [-1.51897810e-02 8.75340372e-05 9.99884625e-01 -4.84806823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79 meters 0.013236351079390814 Centerline is valid? [True, True] Translation: X:116.98, Y:161.98, Z:-4.85 [[-4.40651020e-01 -8.97655632e-01 -6.40660276e-03 1.16976074e+02] [ 8.97557720e-01 -4.40697581e-01 1.32582628e-02 1.61978174e+02] [-1.47247286e-02 9.19712551e-05 9.99891581e-01 -4.84849369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82 meters 0.013155144994363831 Centerline is valid? [True, True] Translation: X:116.96, Y:162.00, Z:-4.85 [[-4.41080645e-01 -8.97443433e-01 -6.56873804e-03 1.16963548e+02] [ 8.97340634e-01 -4.41129544e-01 1.35835075e-02 1.62003067e+02] [-1.50880940e-02 9.70267046e-05 9.99886164e-01 -4.84866628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85 meters 0.013326086662304391 Centerline is valid? [True, True] Translation: X:116.95, Y:162.03, Z:-4.85 [[-4.41544611e-01 -8.97214247e-01 -6.70460180e-03 1.16951900e+02] [ 8.97107283e-01 -4.41595499e-01 1.38541683e-02 1.62027303e+02] [-1.53908791e-02 1.02486237e-04 9.99881548e-01 -4.84887020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88 meters 0.013202082969701172 Centerline is valid? [True, True] Translation: X:116.94, Y:162.05, Z:-4.85 [[-4.41347962e-01 -8.97307979e-01 -7.09705095e-03 1.16938510e+02] [ 8.97188339e-01 -4.41405009e-01 1.46527255e-02 1.62051928e+02] [-1.62806813e-02 9.95591754e-05 9.99867456e-01 -4.84875762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91 meters 0.013075400904078355 Centerline is valid? [True, True] Translation: X:116.93, Y:162.08, Z:-4.85 [[-4.40826031e-01 -8.97566049e-01 -6.89912024e-03 1.16926046e+02] [ 8.97453178e-01 -4.40880007e-01 1.42342018e-02 1.62075758e+02] [-1.58178205e-02 8.31693048e-05 9.99874887e-01 -4.84947854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94 meters 0.013013406846096736 Centerline is valid? [True, True] Translation: X:116.91, Y:162.10, Z:-4.85 [[-4.40158515e-01 -8.97894473e-01 -6.78211886e-03 1.16912410e+02] [ 8.97785603e-01 -4.40210758e-01 1.39821420e-02 1.62100751e+02] [-1.55400497e-02 6.54701931e-05 9.99879244e-01 -4.85017528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97 meters 0.012951933153237213 Centerline is valid? [True, True] Translation: X:116.90, Y:162.13, Z:-4.85 [[-4.39235266e-01 -8.98348335e-01 -6.53073540e-03 1.16899041e+02] [ 8.98247579e-01 -4.39283812e-01 1.34543756e-02 1.62125156e+02] [-1.49555623e-02 4.34189940e-05 9.99888158e-01 -4.85142779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.0 meters 0.012936778775564985 Centerline is valid? [True, True] Translation: X:116.89, Y:162.15, Z:-4.85 [[-4.38068401e-01 -8.98919900e-01 -6.25218506e-03 1.16886082e+02] [ 8.98827740e-01 -4.38113014e-01 1.28716711e-02 1.62148530e+02] [-1.43097649e-02 1.90350043e-05 9.99897610e-01 -4.85254439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03 meters 0.012986666141789829 Centerline is valid? [True, True] Translation: X:116.87, Y:162.17, Z:-4.85 [[-4.36887123e-01 -8.99497019e-01 -5.89536622e-03 1.16872247e+02] [ 8.99415254e-01 -4.36926897e-01 1.21279528e-02 1.62173009e+02] [-1.34849014e-02 -3.83591687e-06 9.99909075e-01 -4.85385356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06 meters 0.013059044578438546 Centerline is valid? [True, True] Translation: X:116.86, Y:162.20, Z:-4.85 [[-4.34467047e-01 -9.00670955e-01 -5.49682966e-03 1.16858226e+02] [ 9.00600055e-01 -4.34501817e-01 1.13009549e-02 1.62196013e+02] [-1.25668244e-02 -4.05525770e-05 9.99921034e-01 -4.85439024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09 meters 0.013156284432885676 Centerline is valid? [True, True] Translation: X:116.85, Y:162.22, Z:-4.85 [[-4.33639750e-01 -9.01068947e-01 -5.59639530e-03 1.16845176e+02] [ 9.00995611e-01 -4.33675857e-01 1.14961001e-02 1.62221137e+02] [-1.27858003e-02 -5.71616358e-05 9.99918257e-01 -4.85463070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12 meters 0.013146394138985662 Centerline is valid? [True, True] Translation: X:116.83, Y:162.25, Z:-4.85 [[-4.32971392e-01 -9.01390893e-01 -5.49838139e-03 1.16832330e+02] [ 9.01320227e-01 -4.33006298e-01 1.12868971e-02 1.62246260e+02] [-1.25547400e-02 -6.88988231e-05 9.99921184e-01 -4.85483664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14999999999998 meters 0.013141007990121438 Centerline is valid? [True, True] Translation: X:116.82, Y:162.27, Z:-4.86 [[-4.32627806e-01 -9.01554645e-01 -5.69244065e-03 1.16820031e+02] [ 9.01479031e-01 -4.32665248e-01 1.16764867e-02 1.62270121e+02] [-1.29899120e-02 -8.00430583e-05 9.99915624e-01 -4.85548143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17999999999998 meters 0.01335828399306887 Centerline is valid? [True, True] Translation: X:116.81, Y:162.30, Z:-4.86 [[-4.32001323e-01 -9.01854785e-01 -5.72740821e-03 1.16807472e+02] [ 9.01778390e-01 -4.32039278e-01 1.17387024e-02 1.62295337e+02] [-1.30610703e-02 -9.37179842e-05 9.99914696e-01 -4.85566684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20999999999998 meters 0.013291074337282601 Centerline is valid? [True, True] Translation: X:116.80, Y:162.32, Z:-4.86 [[-4.31992876e-01 -9.01857301e-01 -5.96358146e-03 1.16795871e+02] [ 9.01774591e-01 -4.32034026e-01 1.22142859e-02 1.62318546e+02] [-1.35920130e-02 -1.01321743e-04 9.99907619e-01 -4.85663524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23999999999998 meters 0.013419708454343844 Centerline is valid? [True, True] Translation: X:116.78, Y:162.34, Z:-4.86 [[-4.31753246e-01 -9.01972547e-01 -5.88724230e-03 1.16783275e+02] [ 9.01892096e-01 -4.31793369e-01 1.20471480e-02 1.62344014e+02] [-1.34082689e-02 -1.08262041e-04 9.99910099e-01 -4.85739777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26999999999998 meters 0.013630695477058152 Centerline is valid? [True, True] Translation: X:116.77, Y:162.37, Z:-4.86 [[-4.30970015e-01 -9.02346763e-01 -5.93003674e-03 1.16770754e+02] [ 9.02265281e-01 -4.31010793e-01 1.21267642e-02 1.62367518e+02] [-1.34984562e-02 -1.24194537e-04 9.99908884e-01 -4.85820953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29999999999998 meters 0.013764948564603837 Centerline is valid? [True, True] Translation: X:116.76, Y:162.39, Z:-4.86 [[-4.29848693e-01 -9.02882720e-01 -5.73537654e-03 1.16758120e+02] [ 9.02806681e-01 -4.29886931e-01 1.17184885e-02 1.62392935e+02] [-1.30459842e-02 -1.40759285e-04 9.99914888e-01 -4.85871615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32999999999998 meters 0.014157955218151774 Centerline is valid? [True, True] Translation: X:116.75, Y:162.42, Z:-4.86 [[-4.26471231e-01 -9.04483630e-01 -5.62610584e-03 1.16745312e+02] [ 9.04410703e-01 -4.26508298e-01 1.14870457e-02 1.62418115e+02] [-1.27894256e-02 -1.89415825e-04 9.99918194e-01 -4.85903897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35999999999999 meters 0.014536777813057625 Centerline is valid? [True, True] Translation: X:116.73, Y:162.44, Z:-4.86 [[-4.24946389e-01 -9.05202275e-01 -5.42287996e-03 1.16732400e+02] [ 9.05134689e-01 -4.24980938e-01 1.10632926e-02 1.62442980e+02] [-1.23191382e-02 -2.07130538e-04 9.99924095e-01 -4.85960476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39 meters 0.014938146785333157 Centerline is valid? [True, True] Translation: X:116.72, Y:162.47, Z:-4.86 [[-4.23288599e-01 -9.05980034e-01 -5.19044133e-03 1.16719377e+02] [ 9.05918206e-01 -4.23320363e-01 1.05865185e-02 1.62468528e+02] [-1.17883939e-02 -2.20962707e-04 9.99930490e-01 -4.86055938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42 meters 0.015999764883523677 Centerline is valid? [True, True] Translation: X:116.71, Y:162.49, Z:-4.86 [[-4.19785078e-01 -9.07612103e-01 -4.55610362e-03 1.16705983e+02] [ 9.07564611e-01 -4.19809735e-01 9.28776288e-03 1.62493657e+02] [-1.03423827e-02 -2.36094148e-04 9.99946488e-01 -4.86195461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45 meters 0.01799765270456738 Centerline is valid? [True, True] Translation: X:116.69, Y:162.52, Z:-4.86 [[-4.18203411e-01 -9.08344150e-01 -4.10021916e-03 1.16691227e+02] [ 9.08305762e-01 -4.18223447e-01 8.35407861e-03 1.62517426e+02] [-9.30318623e-03 -2.30548518e-04 9.99956698e-01 -4.86441756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48 meters 0.01702077104339361 Centerline is valid? [True, True] Translation: X:116.68, Y:162.54, Z:-4.86 [[-4.17027387e-01 -9.08886113e-01 -3.76730772e-03 1.16681339e+02] [ 9.08853765e-01 -4.17044342e-01 7.67134454e-03 1.62544475e+02] [-8.54351289e-03 -2.24771035e-04 9.99963478e-01 -4.86439448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51 meters 0.0179366842113382 Centerline is valid? [True, True] Translation: X:116.67, Y:162.57, Z:-4.87 [[-4.16317981e-01 -9.09212555e-01 -3.44505008e-03 1.16668963e+02] [ 9.09185547e-01 -4.16332180e-01 7.01116553e-03 1.62568565e+02] [-7.80892494e-03 -2.13315470e-04 9.99969487e-01 -4.86594648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54 meters 0.017538577508773988 Centerline is valid? [True, True] Translation: X:116.66, Y:162.60, Z:-4.87 [[-4.15844077e-01 -9.09430505e-01 -3.14019268e-03 1.16659790e+02] [ 9.09408092e-01 -4.15855885e-01 6.38790657e-03 1.62595692e+02] [-7.11522471e-03 -1.99343526e-04 9.99974667e-01 -4.86624287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57 meters 0.017876432300457448 Centerline is valid? [True, True] Translation: X:116.65, Y:162.62, Z:-4.87 [[-4.16367825e-01 -9.09190573e-01 -3.21494912e-03 1.16648896e+02] [ 9.09167102e-01 -4.16380188e-01 6.53607504e-03 1.62620500e+02] [-7.28117893e-03 -2.01514621e-04 9.99973472e-01 -4.86683537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.6 meters 0.017876432300457448 Centerline is valid? [True, True] Translation: X:116.64, Y:162.65, Z:-4.87 [[-4.16626175e-01 -9.09072208e-01 -3.21713822e-03 1.16636632e+02] [ 9.09048742e-01 -4.16638548e-01 6.53499655e-03 1.62645213e+02] [-7.28116754e-03 -2.01884835e-04 9.99973472e-01 -4.86740152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63 meters 0.017924098136308658 Centerline is valid? [True, True] Translation: X:116.63, Y:162.67, Z:-4.87 [[-4.17503890e-01 -9.08668499e-01 -3.47296377e-03 1.16626284e+02] [ 9.08641203e-01 -4.17518280e-01 7.04635187e-03 1.62670614e+02] [-7.85282384e-03 -2.13798658e-04 9.99969143e-01 -4.86754808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66 meters 0.01665504663592182 Centerline is valid? [True, True] Translation: X:116.62, Y:162.70, Z:-4.87 [[-4.18916386e-01 -9.08017263e-01 -3.70308249e-03 1.16617934e+02] [ 9.07986225e-01 -4.18932697e-01 7.51066443e-03 1.62698023e+02] [-8.37115529e-03 -2.16007496e-04 9.99964938e-01 -4.86663890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69 meters 0.016732601469239685 Centerline is valid? [True, True] Translation: X:116.61, Y:162.72, Z:-4.87 [[-4.20108010e-01 -9.07465321e-01 -3.99401002e-03 1.16607852e+02] [ 9.07429268e-01 -4.20126935e-01 8.09207487e-03 1.62723761e+02] [-9.02126851e-03 -2.24736116e-04 9.99959282e-01 -4.86671933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72 meters 0.016804008024333194 Centerline is valid? [True, True] Translation: X:116.60, Y:162.75, Z:-4.87 [[-4.21868674e-01 -9.06647186e-01 -4.20730515e-03 1.16597904e+02] [ 9.06607168e-01 -4.21889596e-01 8.52125753e-03 1.62749565e+02] [-9.50079244e-03 -2.19521394e-04 9.99954842e-01 -4.86717499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75 meters 0.015385053625107807 Centerline is valid? [True, True] Translation: X:116.59, Y:162.78, Z:-4.87 [[-4.25140493e-01 -9.05116872e-01 -4.35988486e-03 1.16592802e+02] [ 9.05073887e-01 -4.25162804e-01 8.82320588e-03 1.62778722e+02] [-9.83969338e-03 -1.94915840e-04 9.99951570e-01 -4.86657463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78 meters 0.01509137230072225 Centerline is valid? [True, True] Translation: X:116.58, Y:162.81, Z:-4.87 [[-4.27064280e-01 -9.04210247e-01 -4.46427879e-03 1.16583256e+02] [ 9.04165191e-01 -4.27087574e-01 9.02836074e-03 1.62805720e+02] [-1.00701743e-02 -1.80755109e-04 9.99949278e-01 -4.86691943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81 meters 0.014695801608066647 Centerline is valid? [True, True] Translation: X:116.57, Y:162.83, Z:-4.87 [[-4.28714819e-01 -9.03427967e-01 -4.63817428e-03 1.16573790e+02] [ 9.03379361e-01 -4.28739874e-01 9.37283360e-03 1.62832748e+02] [-1.04562503e-02 -1.71758260e-04 9.99945317e-01 -4.86754612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84 meters 0.01429833255365442 Centerline is valid? [True, True] Translation: X:116.56, Y:162.86, Z:-4.87 [[-4.30275066e-01 -9.02685311e-01 -4.75368096e-03 1.16564676e+02] [ 9.02634285e-01 -4.30301295e-01 9.59912980e-03 1.62859098e+02] [-1.07105085e-02 -1.60569208e-04 9.99942628e-01 -4.86759876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87 meters 0.013798873088171104 Centerline is valid? [True, True] Translation: X:116.56, Y:162.89, Z:-4.87 [[-4.33056806e-01 -9.01354100e-01 -4.75275722e-03 1.16557898e+02] [ 9.01303088e-01 -4.33082866e-01 9.59033347e-03 1.62887002e+02] [-1.07026241e-02 -1.30515579e-04 9.99942717e-01 -4.86882278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89999999999998 meters 0.013682380151191624 Centerline is valid? [True, True] Translation: X:116.55, Y:162.91, Z:-4.87 [[-4.34458613e-01 -9.00680375e-01 -4.53598784e-03 1.16548770e+02] [ 9.00633931e-01 -4.34482277e-01 9.14729344e-03 1.62912838e+02] [-1.02095940e-02 -1.11144134e-04 9.99947875e-01 -4.86963856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92999999999998 meters 0.013575982504373642 Centerline is valid? [True, True] Translation: X:116.54, Y:162.94, Z:-4.87 [[-4.35617205e-01 -9.00122531e-01 -4.13287510e-03 1.16539928e+02] [ 9.00083988e-01 -4.35636800e-01 8.33025594e-03 1.62937382e+02] [-9.29868354e-03 -9.11318979e-05 9.99956762e-01 -4.87073090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95999999999998 meters 0.0131872011385428 Centerline is valid? [True, True] Translation: X:116.53, Y:162.97, Z:-4.87 [[-4.38447902e-01 -8.98748627e-01 -3.78715710e-03 1.16533494e+02] [ 8.98716266e-01 -4.38464254e-01 7.62704648e-03 1.62965486e+02] [-8.51533056e-03 -5.95171530e-05 9.99963742e-01 -4.87272359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98999999999998 meters 0.013160934500859084 Centerline is valid? [True, True] Translation: X:116.52, Y:162.99, Z:-4.88 [[-4.40257317e-01 -8.97864571e-01 -3.56464477e-03 1.16524091e+02] [ 8.97835903e-01 -4.40271746e-01 7.17499214e-03 1.62990968e+02] [-8.01158361e-03 -4.16232630e-05 9.99967906e-01 -4.87507220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02 meters 0.013004094073646957 Centerline is valid? [True, True] Translation: X:116.52, Y:163.02, Z:-4.88 [[-4.42141604e-01 -8.96938937e-01 -3.36833176e-03 1.16515467e+02] [ 8.96913342e-01 -4.42154433e-01 6.77597696e-03 1.63016924e+02] [-7.56696039e-03 -2.51603791e-05 9.99971370e-01 -4.87538968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05 meters 0.01287779704303331 Centerline is valid? [True, True] Translation: X:116.51, Y:163.04, Z:-4.88 [[-4.44492179e-01 -8.95776885e-01 -3.23664218e-03 1.16506310e+02] [ 8.95753261e-01 -4.44503963e-01 6.50553263e-03 1.63044083e+02] [-7.26620603e-03 -7.57441645e-06 9.99973601e-01 -4.87596318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08 meters 0.012922604584685618 Centerline is valid? [True, True] Translation: X:116.50, Y:163.07, Z:-4.88 [[-4.46728330e-01 -8.94663735e-01 -3.25576232e-03 1.16498164e+02] [ 8.94639845e-01 -4.46740194e-01 6.53812986e-03 1.63069352e+02] [-7.30390758e-03 8.03314197e-06 9.99973326e-01 -4.87646538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11 meters 0.012936162861107709 Centerline is valid? [True, True] Translation: X:116.49, Y:163.10, Z:-4.88 [[-4.49137059e-01 -8.93456165e-01 -3.46176466e-03 1.16489324e+02] [ 8.93429150e-01 -4.49150399e-01 6.94784673e-03 1.63096553e+02] [-7.76244947e-03 2.76939909e-05 9.99969871e-01 -4.87588492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14 meters 0.013207242372153066 Centerline is valid? [True, True] Translation: X:116.48, Y:163.12, Z:-4.87 [[-4.53511755e-01 -8.91240972e-01 -4.07665199e-03 1.16484019e+02] [ 8.91203483e-01 -4.53530071e-01 8.17476168e-03 1.63124905e+02] [-9.13456681e-03 7.42240659e-05 9.99958276e-01 -4.87468321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17 meters 0.013416719527748583 Centerline is valid? [True, True] Translation: X:116.47, Y:163.15, Z:-4.87 [[-4.55354209e-01 -8.90299692e-01 -4.35913669e-03 1.16474364e+02] [ 8.90256870e-01 -4.55375064e-01 8.73247691e-03 1.63151501e+02] [-9.75956365e-03 9.56187354e-05 9.99952370e-01 -4.87474738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2 meters 0.013774455468498079 Centerline is valid? [True, True] Translation: X:116.47, Y:163.18, Z:-4.88 [[-4.56819583e-01 -8.89547548e-01 -4.58578296e-03 1.16465630e+02] [ 8.89500190e-01 -4.56842585e-01 9.17958521e-03 1.63175950e+02] [-1.02606585e-02 1.14359473e-04 9.99947352e-01 -4.87529512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23 meters 0.014278503490176252 Centerline is valid? [True, True] Translation: X:116.46, Y:163.20, Z:-4.88 [[-4.57798339e-01 -8.89043729e-01 -4.68286965e-03 1.16456668e+02] [ 8.88994404e-01 -4.57822273e-01 9.36568345e-03 1.63200914e+02] [-1.04704242e-02 1.24549411e-04 9.99945176e-01 -4.87639623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26 meters 0.014436336646225163 Centerline is valid? [True, True] Translation: X:116.45, Y:163.23, Z:-4.88 [[-4.58589500e-01 -8.88634961e-01 -4.85561387e-03 1.16447905e+02] [ 8.88581959e-01 -4.58615185e-01 9.70635353e-03 1.63227080e+02] [-1.08522633e-02 1.36620923e-04 9.99941103e-01 -4.87705181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28999999999996 meters 0.014122700985108141 Centerline is valid? [True, True] Translation: X:116.44, Y:163.25, Z:-4.88 [[-4.58648747e-01 -8.88604510e-01 -4.83229412e-03 1.16436330e+02] [ 8.88552099e-01 -4.58674183e-01 9.65201707e-03 1.63252563e+02] [-1.07932745e-02 1.33140455e-04 9.99941742e-01 -4.87698366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32 meters 0.014134742769304823 Centerline is valid? [True, True] Translation: X:116.43, Y:163.28, Z:-4.88 [[-4.58224754e-01 -8.88823324e-01 -4.81400111e-03 1.16425414e+02] [ 8.88771393e-01 -4.58250023e-01 9.60872203e-03 1.63278791e+02] [-1.07464724e-02 1.24407813e-04 9.99942247e-01 -4.87757151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34999999999997 meters 0.01432609028722411 Centerline is valid? [True, True] Translation: X:116.42, Y:163.30, Z:-4.88 [[-4.57530587e-01 -8.89181613e-01 -4.67137959e-03 1.16415684e+02] [ 8.89132785e-01 -4.57554420e-01 9.31900089e-03 1.63303004e+02] [-1.04236946e-02 1.10251206e-04 9.99945666e-01 -4.87916547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38 meters 0.014193492742732704 Centerline is valid? [True, True] Translation: X:116.41, Y:163.33, Z:-4.88 [[-4.55328436e-01 -8.90313474e-01 -4.23482393e-03 1.16405727e+02] [ 8.90273452e-01 -4.55348123e-01 8.44208264e-03 1.63328468e+02] [-9.44441905e-03 7.37689690e-05 9.99955398e-01 -4.88046686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40999999999997 meters 0.014337276824344774 Centerline is valid? [True, True] Translation: X:116.40, Y:163.35, Z:-4.88 [[-4.54089992e-01 -8.90946957e-01 -3.97479199e-03 1.16395176e+02] [ 8.90911787e-01 -4.54107385e-01 7.91644948e-03 1.63352910e+02] [-8.85811897e-03 5.35914486e-05 9.99960765e-01 -4.88204522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44 meters 0.014047849933251304 Centerline is valid? [True, True] Translation: X:116.38, Y:163.38, Z:-4.88 [[-4.52637110e-01 -8.91685286e-01 -4.12271036e-03 1.16383234e+02] [ 8.91647513e-01 -4.52655884e-01 8.20748530e-03 1.63377069e+02] [-9.18466298e-03 3.90079876e-05 9.99957819e-01 -4.88159093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46999999999997 meters 0.014046135024544259 Centerline is valid? [True, True] Translation: X:116.37, Y:163.40, Z:-4.88 [[-4.50831008e-01 -8.92600134e-01 -4.05002120e-03 1.16370746e+02] [ 8.92563782e-01 -4.50849199e-01 8.05578737e-03 1.63402270e+02] [-9.01654570e-03 1.68964991e-05 9.99959350e-01 -4.88212828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5 meters 0.014047181198059715 Centerline is valid? [True, True] Translation: X:116.36, Y:163.43, Z:-4.88 [[-4.49126059e-01 -8.93459480e-01 -3.99268243e-03 1.16358246e+02] [ 8.93424231e-01 -4.49143806e-01 7.93626305e-03 1.63427402e+02] [-8.88401804e-03 -2.77668598e-06 9.99960536e-01 -4.88282307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53 meters 0.01429579775810955 Centerline is valid? [True, True] Translation: X:116.35, Y:163.45, Z:-4.88 [[-4.46050185e-01 -8.94998318e-01 -4.15258729e-03 1.16347137e+02] [ 8.94960323e-01 -4.46069513e-01 8.24685210e-03 1.63451103e+02] [-9.23326134e-03 -3.78909584e-05 9.99957372e-01 -4.88283895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56 meters 0.014351930257602057 Centerline is valid? [True, True] Translation: X:116.34, Y:163.48, Z:-4.88 [[-4.45391487e-01 -8.95325197e-01 -4.38340912e-03 1.16335601e+02] [ 8.95282926e-01 -4.45413054e-01 8.70021812e-03 1.63476432e+02] [-9.74195215e-03 -4.93882629e-05 9.99952545e-01 -4.88257278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59 meters 0.014325009829200935 Centerline is valid? [True, True] Translation: X:116.32, Y:163.50, Z:-4.88 [[-4.44973621e-01 -8.95532177e-01 -4.53830174e-03 1.16323865e+02] [ 8.95486945e-01 -4.44996759e-01 9.00084028e-03 1.63502221e+02] [-1.00800717e-02 -5.88534758e-05 9.99949193e-01 -4.88238930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62 meters 0.014256140298832083 Centerline is valid? [True, True] Translation: X:116.31, Y:163.53, Z:-4.88 [[-4.45416866e-01 -8.95311074e-01 -4.67944472e-03 1.16312780e+02] [ 8.95263044e-01 -4.45441442e-01 9.27379686e-03 1.63527742e+02] [-1.03873516e-02 -5.86283971e-05 9.99946048e-01 -4.88251448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65 meters 0.014209670953522087 Centerline is valid? [True, True] Translation: X:116.30, Y:163.55, Z:-4.88 [[-4.46866059e-01 -8.94587899e-01 -4.81831419e-03 1.16303664e+02] [ 8.94537011e-01 -4.46892032e-01 9.54185511e-03 1.63554562e+02] [-1.06892943e-02 -4.62291944e-05 9.99942867e-01 -4.88249885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68 meters 0.014107673072672225 Centerline is valid? [True, True] Translation: X:116.29, Y:163.58, Z:-4.88 [[-4.47986933e-01 -8.94027331e-01 -4.77896956e-03 1.16292644e+02] [ 8.93977308e-01 -4.48012421e-01 9.45744177e-03 1.63580536e+02] [-1.05962491e-02 -3.54800084e-05 9.99943858e-01 -4.88287654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71 meters 0.014133877886838803 Centerline is valid? [True, True] Translation: X:116.28, Y:163.61, Z:-4.88 [[-4.49128177e-01 -8.93453479e-01 -4.97614970e-03 1.16281241e+02] [ 8.93399291e-01 -4.49155742e-01 9.84006972e-03 1.63606773e+02] [-1.10267107e-02 -2.62360459e-05 9.99939204e-01 -4.88367312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74 meters 0.014068659617704551 Centerline is valid? [True, True] Translation: X:116.27, Y:163.63, Z:-4.89 [[-4.51650392e-01 -8.92180362e-01 -5.11128197e-03 1.16272288e+02] [ 8.92123182e-01 -4.51679313e-01 1.01008597e-02 1.63631954e+02] [-1.13204490e-02 2.16410310e-06 9.99935922e-01 -4.88518465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77 meters 0.014066825335456055 Centerline is valid? [True, True] Translation: X:116.26, Y:163.66, Z:-4.89 [[-4.52869035e-01 -8.91562838e-01 -5.03412304e-03 1.16261327e+02] [ 8.91507427e-01 -4.52897014e-01 9.93992021e-03 1.63657181e+02] [-1.11420028e-02 1.35239987e-05 9.99937926e-01 -4.88560242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.8 meters 0.014102381479954974 Centerline is valid? [True, True] Translation: X:116.25, Y:163.68, Z:-4.89 [[-4.53461665e-01 -8.91263316e-01 -4.71376185e-03 1.16249346e+02] [ 8.91214782e-01 -4.53486164e-01 9.30116181e-03 1.63681534e+02] [-1.04274101e-02 1.67460754e-05 9.99945633e-01 -4.88586442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83 meters 0.014096821481336813 Centerline is valid? [True, True] Translation: X:116.24, Y:163.71, Z:-4.89 [[-4.53083642e-01 -8.91456229e-01 -4.58319125e-03 1.16235403e+02] [ 8.91410433e-01 -4.53106822e-01 9.03592844e-03 1.63705769e+02] [-1.01318099e-02 8.52687465e-06 9.99948672e-01 -4.88639479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86 meters 0.014200448117710452 Centerline is valid? [True, True] Translation: X:116.22, Y:163.73, Z:-4.89 [[-4.52658067e-01 -8.91672732e-01 -4.51802725e-03 1.16221990e+02] [ 8.91628301e-01 -4.52680614e-01 8.90134970e-03 1.63730165e+02] [-9.98231416e-03 8.66791427e-07 9.99950175e-01 -4.88732730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89 meters 0.01442642948173605 Centerline is valid? [True, True] Translation: X:116.21, Y:163.76, Z:-4.89 [[-4.51754721e-01 -8.92133696e-01 -3.89117296e-03 1.16208187e+02] [ 8.92100786e-01 -4.51771478e-01 7.66277141e-03 1.63755100e+02] [-8.59413754e-03 -9.62529718e-06 9.99963070e-01 -4.88773841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92 meters 0.01462833754660608 Centerline is valid? [True, True] Translation: X:116.20, Y:163.78, Z:-4.89 [[-4.51915465e-01 -8.92052755e-01 -3.78091802e-03 1.16195572e+02] [ 8.92021719e-01 -4.51931281e-01 7.44114520e-03 1.63778595e+02] [-8.34660920e-03 -9.89239660e-06 9.99965166e-01 -4.88891707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95 meters 0.014839743541863307 Centerline is valid? [True, True] Translation: X:116.18, Y:163.80, Z:-4.89 [[-4.51820451e-01 -8.92100892e-01 -3.77870160e-03 1.16182267e+02] [ 8.92069943e-01 -4.51836252e-01 7.43093864e-03 1.63803869e+02] [-8.33650135e-03 -1.34160745e-05 9.99965251e-01 -4.88876444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98 meters 0.0150788173451565 Centerline is valid? [True, True] Translation: X:116.17, Y:163.83, Z:-4.89 [[-4.52303066e-01 -8.91856697e-01 -3.68364832e-03 1.16168920e+02] [ 8.91827318e-01 -4.52318066e-01 7.23900467e-03 1.63829102e+02] [-8.12233547e-03 -1.09541943e-05 9.99967013e-01 -4.88953191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01 meters 0.015377968173352212 Centerline is valid? [True, True] Translation: X:116.16, Y:163.85, Z:-4.89 [[-4.53752894e-01 -8.91121532e-01 -3.27525464e-03 1.16156405e+02] [ 8.91098306e-01 -4.53764714e-01 6.43374697e-03 1.63853327e+02] [-7.21944544e-03 7.57447820e-07 9.99973939e-01 -4.89073299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03999999999996 meters 0.015523639884641059 Centerline is valid? [True, True] Translation: X:116.14, Y:163.88, Z:-4.89 [[-4.54689974e-01 -8.90643587e-01 -3.32085874e-03 1.16144056e+02] [ 8.90619739e-01 -4.54702101e-01 6.51767095e-03 1.63878118e+02] [-7.31492328e-03 5.89729074e-06 9.99973246e-01 -4.89091275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07 meters 0.015577765329204782 Centerline is valid? [True, True] Translation: X:116.13, Y:163.90, Z:-4.89 [[-4.56027181e-01 -8.89959476e-01 -3.36788425e-03 1.16131497e+02] [ 8.89934964e-01 -4.56039616e-01 6.60513816e-03 1.63903826e+02] [-7.41419393e-03 1.49245849e-05 9.99972514e-01 -4.89103047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09999999999997 meters 0.015682236627200575 Centerline is valid? [True, True] Translation: X:116.12, Y:163.93, Z:-4.89 [[-4.57231250e-01 -8.89341262e-01 -3.42119224e-03 1.16119306e+02] [ 8.89315988e-01 -4.57244048e-01 6.70476146e-03 1.63929472e+02] [-7.52714081e-03 2.31055017e-05 9.99971670e-01 -4.89093099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13 meters 0.015837399311940677 Centerline is valid? [True, True] Translation: X:116.11, Y:163.95, Z:-4.89 [[-4.58230203e-01 -8.88827114e-01 -3.38253876e-03 1.16107891e+02] [ 8.88802417e-01 -4.58242687e-01 6.62598303e-03 1.63952939e+02] [-7.43937703e-03 2.98169302e-05 9.99972327e-01 -4.89101065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15999999999997 meters 0.015879345241496028 Centerline is valid? [True, True] Translation: X:116.10, Y:163.98, Z:-4.89 [[-4.58800530e-01 -8.88532014e-01 -3.59632454e-03 1.16095245e+02] [ 8.88504151e-01 -4.58814624e-01 7.03666870e-03 1.63977644e+02] [-7.90235171e-03 3.30780485e-05 9.99968775e-01 -4.89058725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19 meters 0.016137054746892036 Centerline is valid? [True, True] Translation: X:116.08, Y:164.00, Z:-4.89 [[-4.58750406e-01 -8.88557988e-01 -3.57312339e-03 1.16081141e+02] [ 8.88530539e-01 -4.58764320e-01 6.98423486e-03 1.64001232e+02] [-7.84511920e-03 2.91913237e-05 9.99969226e-01 -4.89154444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21999999999997 meters 0.016003045328125753 Centerline is valid? [True, True] Translation: X:116.07, Y:164.03, Z:-4.89 [[-4.59003398e-01 -8.88427546e-01 -3.51787445e-03 1.16067472e+02] [ 8.88400939e-01 -4.59016877e-01 6.87593098e-03 1.64025044e+02] [-7.72353024e-03 3.07927210e-05 9.99970173e-01 -4.89180635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25 meters 0.015914323052568277 Centerline is valid? [True, True] Translation: X:116.05, Y:164.05, Z:-4.89 [[-4.59042875e-01 -8.88406305e-01 -3.72517649e-03 1.16053401e+02] [ 8.88376530e-01 -4.59057989e-01 7.27355646e-03 1.64049659e+02] [-8.17194545e-03 2.95149040e-05 9.99966609e-01 -4.89246431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28 meters 0.01576135389588215 Centerline is valid? [True, True] Translation: X:116.04, Y:164.07, Z:-4.89 [[-4.59075211e-01 -8.88389563e-01 -3.73300470e-03 1.16039578e+02] [ 8.88359696e-01 -4.59090387e-01 7.28470388e-03 1.64073406e+02] [-8.18544147e-03 2.79760513e-05 9.99966498e-01 -4.89242822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31 meters 0.01566654628298931 Centerline is valid? [True, True] Translation: X:116.03, Y:164.10, Z:-4.89 [[-4.58846010e-01 -8.88507423e-01 -3.85977689e-03 1.16025584e+02] [ 8.88475559e-01 -4.58862244e-01 7.52481147e-03 1.64097734e+02] [-8.45695673e-03 2.34122943e-05 9.99964239e-01 -4.89252688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34 meters 0.015628894659354287 Centerline is valid? [True, True] Translation: X:116.01, Y:164.12, Z:-4.89 [[-4.58695670e-01 -8.88584130e-01 -4.06527897e-03 1.16011986e+02] [ 8.88548838e-01 -4.58713683e-01 7.91959642e-03 1.64121699e+02] [-8.90202679e-03 2.04856814e-05 9.99960376e-01 -4.89292142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37 meters 0.01544776240795649 Centerline is valid? [True, True] Translation: X:116.00, Y:164.14, Z:-4.89 [[-4.57511882e-01 -8.89193573e-01 -4.20336627e-03 1.15997376e+02] [ 8.89155923e-01 -4.57531191e-01 8.18250760e-03 1.64144387e+02] [-9.19900434e-03 6.14643350e-06 9.99957688e-01 -4.89262277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4 meters 0.01538594958203586 Centerline is valid? [True, True] Translation: X:115.98, Y:164.17, Z:-4.89 [[-4.57005074e-01 -8.89454272e-01 -4.17851838e-03 1.15982757e+02] [ 8.89417141e-01 -4.57024177e-01 8.12714205e-03 1.64168738e+02] [-9.13840514e-03 -2.30072163e-06 9.99958244e-01 -4.89307673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43 meters 0.015260340053029045 Centerline is valid? [True, True] Translation: X:115.97, Y:164.19, Z:-4.89 [[-4.56309008e-01 -8.89811417e-01 -4.21099924e-03 1.15968331e+02] [ 8.89773772e-01 -4.56328437e-01 8.18485429e-03 1.64191506e+02] [-9.20457550e-03 -1.20139399e-05 9.99957637e-01 -4.89452911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46 meters 0.015293934591939682 Centerline is valid? [True, True] Translation: X:115.95, Y:164.21, Z:-4.90 [[-4.55192954e-01 -8.90383262e-01 -4.12580283e-03 1.15954155e+02] [ 8.90347212e-01 -4.55211650e-01 8.01217864e-03 1.64213754e+02] [-9.01202327e-03 -2.63097868e-05 9.99959391e-01 -4.89590800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49 meters 0.015293934591939682 Centerline is valid? [True, True] Translation: X:115.94, Y:164.24, Z:-4.90 [[-4.55473092e-01 -8.90239984e-01 -4.12705295e-03 1.15941785e+02] [ 8.90203935e-01 -4.55491789e-01 8.01153466e-03 1.64237511e+02] [-9.01202722e-03 -2.48803173e-05 9.99959391e-01 -4.89645747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52 meters 0.015297265656327547 Centerline is valid? [True, True] Translation: X:115.93, Y:164.26, Z:-4.90 [[-4.54365184e-01 -8.90805853e-01 -4.14873557e-03 1.15925624e+02] [ 8.90769504e-01 -4.54384123e-01 8.04737456e-03 1.64260400e+02] [-9.05376793e-03 -3.91203037e-05 9.99959013e-01 -4.89782212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55 meters 0.015284316516071003 Centerline is valid? [True, True] Translation: X:115.91, Y:164.28, Z:-4.90 [[-4.54382510e-01 -8.90798014e-01 -3.92836072e-03 1.15911673e+02] [ 8.90765468e-01 -4.54399490e-01 7.61480279e-03 1.64283814e+02] [-8.56829631e-03 -3.92148622e-05 9.99963291e-01 -4.89913939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58 meters 0.015245758014412865 Centerline is valid? [True, True] Translation: X:115.90, Y:164.31, Z:-4.90 [[-4.54542733e-01 -8.90716467e-01 -3.88315193e-03 1.15898232e+02] [ 8.90684707e-01 -4.54559318e-01 7.52188014e-03 1.64306443e+02] [-8.46498540e-03 -3.96480848e-05 9.99964171e-01 -4.90043030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61 meters 0.015212656015572985 Centerline is valid? [True, True] Translation: X:115.89, Y:164.33, Z:-4.90 [[-4.54659283e-01 -8.90657470e-01 -3.76938869e-03 1.15885076e+02] [ 8.90627598e-01 -4.54674906e-01 7.29466604e-03 1.64330839e+02] [-8.21089525e-03 -4.05339635e-05 9.99966289e-01 -4.90022816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64 meters 0.015169811681013359 Centerline is valid? [True, True] Translation: X:115.87, Y:164.35, Z:-4.90 [[-4.55161723e-01 -8.90399277e-01 -4.11500521e-03 1.15872394e+02] [ 8.90363714e-01 -4.55180322e-01 7.95810454e-03 1.64353566e+02] [-8.95895993e-03 -4.16267468e-05 9.99959867e-01 -4.90042642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67 meters 0.015115083013946078 Centerline is valid? [True, True] Translation: X:115.86, Y:164.38, Z:-4.90 [[-4.55438651e-01 -8.90256309e-01 -4.39760919e-03 1.15858929e+02] [ 8.90215775e-01 -4.55459879e-01 8.49545611e-03 1.64378352e+02] [-9.56606795e-03 -4.56620062e-05 9.99954243e-01 -4.90005213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7 meters 0.014973043803556197 Centerline is valid? [True, True] Translation: X:115.84, Y:164.40, Z:-4.90 [[-4.55426628e-01 -8.90259427e-01 -4.97382960e-03 1.15844281e+02] [ 8.90207664e-01 -4.55453784e-01 9.60032820e-03 1.64402803e+02] [-1.08121322e-02 -5.54961241e-05 9.99941546e-01 -4.89965741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73 meters 0.01497632575815024 Centerline is valid? [True, True] Translation: X:115.83, Y:164.43, Z:-4.90 [[-4.55477900e-01 -8.90233028e-01 -5.00378528e-03 1.15830839e+02] [ 8.90180730e-01 -4.55505381e-01 9.64969663e-03 1.64426667e+02] [-1.08697298e-02 -5.90496747e-05 9.99940921e-01 -4.90044541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76 meters 0.014946994508722238 Centerline is valid? [True, True] Translation: X:115.82, Y:164.45, Z:-4.90 [[-4.55598626e-01 -8.90172109e-01 -4.84848845e-03 1.15817866e+02] [ 8.90123022e-01 -4.55624420e-01 9.34847824e-03 1.64449470e+02] [-1.05308443e-02 -5.65973478e-05 9.99944548e-01 -4.90134555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78999999999996 meters 0.014876969503376936 Centerline is valid? [True, True] Translation: X:115.80, Y:164.47, Z:-4.90 [[-4.55534512e-01 -8.90204771e-01 -4.87578342e-03 1.15804601e+02] [ 8.90155225e-01 -4.55560601e-01 9.39227041e-03 1.64474750e+02] [-1.05822588e-02 -6.17007699e-05 9.99944004e-01 -4.90139886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82 meters 0.014821693420939258 Centerline is valid? [True, True] Translation: X:115.79, Y:164.50, Z:-4.90 [[-4.55439137e-01 -8.90253029e-01 -4.97366098e-03 1.15791678e+02] [ 8.90201550e-01 -4.55466289e-01 9.57398238e-03 1.64499283e+02] [-1.07886017e-02 -6.71944458e-05 9.99941799e-01 -4.90142295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84999999999997 meters 0.01485984210646841 Centerline is valid? [True, True] Translation: X:115.78, Y:164.52, Z:-4.90 [[-4.55174297e-01 -8.90388598e-01 -4.95011528e-03 1.15778200e+02] [ 8.90337684e-01 -4.55201208e-01 9.52202631e-03 1.64524268e+02] [-1.07316021e-02 -7.30925339e-05 9.99942412e-01 -4.90164415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88 meters 0.014834376954134719 Centerline is valid? [True, True] Translation: X:115.77, Y:164.55, Z:-4.90 [[-4.54779805e-01 -8.90590885e-01 -4.81709728e-03 1.15765128e+02] [ 8.90542764e-01 -4.54805309e-01 9.25833613e-03 1.64547876e+02] [-1.04362312e-02 -7.93268316e-05 9.99945538e-01 -4.90211196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90999999999997 meters 0.014904025376742378 Centerline is valid? [True, True] Translation: X:115.75, Y:164.57, Z:-4.90 [[-4.54691465e-01 -8.90635047e-01 -4.98854803e-03 1.15752146e+02] [ 8.90583473e-01 -4.54718821e-01 9.58491002e-03 1.64571542e+02] [-1.08050435e-02 -8.45416550e-05 9.99941620e-01 -4.90261538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94 meters 0.015059274932406502 Centerline is valid? [True, True] Translation: X:115.74, Y:164.59, Z:-4.90 [[-4.53776669e-01 -8.91102002e-01 -4.89464582e-03 1.15739512e+02] [ 8.91052458e-01 -4.53803056e-01 9.39699543e-03 1.64594049e+02] [-1.05948867e-02 -9.72489009e-05 9.99943868e-01 -4.90228077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96999999999997 meters 0.01498499169953836 Centerline is valid? [True, True] Translation: X:115.73, Y:164.62, Z:-4.90 [[-4.53410696e-01 -8.91287132e-01 -5.09804235e-03 1.15726647e+02] [ 8.91233478e-01 -4.53439343e-01 9.78005743e-03 1.64618487e+02] [-1.10284923e-02 -1.09163372e-04 9.99939178e-01 -4.90236348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0 meters 0.015051568590872031 Centerline is valid? [True, True] Translation: X:115.71, Y:164.64, Z:-4.90 [[-4.53031469e-01 -8.91479034e-01 -5.25545880e-03 1.15713506e+02] [ 8.91422121e-01 -4.53061935e-01 1.00739452e-02 1.64643383e+02] [-1.13617593e-02 -1.21018042e-04 9.99935446e-01 -4.90208955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03 meters 0.015158906014699538 Centerline is valid? [True, True] Translation: X:115.70, Y:164.67, Z:-4.90 [[-4.52723560e-01 -8.91634824e-01 -5.35905639e-03 1.15700407e+02] [ 8.91575739e-01 -4.52755258e-01 1.02653789e-02 1.64667524e+02] [-1.15793103e-02 -1.30625765e-04 9.99932949e-01 -4.90231691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06 meters 0.015215975423521691 Centerline is valid? [True, True] Translation: X:115.69, Y:164.69, Z:-4.90 [[-4.52545730e-01 -8.91724713e-01 -5.42198390e-03 1.15687117e+02] [ 8.91664335e-01 -4.52578189e-01 1.03777370e-02 1.64692779e+02] [-1.17079562e-02 -1.38189111e-04 9.99931450e-01 -4.90196461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09 meters 0.01524500115626147 Centerline is valid? [True, True] Translation: X:115.67, Y:164.72, Z:-4.90 [[-4.52736852e-01 -8.91626901e-01 -5.55084478e-03 1.15674167e+02] [ 8.91563703e-01 -4.52770857e-01 1.06167143e-02 1.64718223e+02] [-1.19794088e-02 -1.42353926e-04 9.99928234e-01 -4.90178162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12 meters 0.015175131267938001 Centerline is valid? [True, True] Translation: X:115.66, Y:164.74, Z:-4.90 [[-4.53309042e-01 -8.91335245e-01 -5.69152789e-03 1.15661788e+02] [ 8.91268876e-01 -4.53344749e-01 1.08779306e-02 1.64743863e+02] [-1.22761072e-02 -1.41617369e-04 9.99924636e-01 -4.90141111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15 meters 0.015117751387460429 Centerline is valid? [True, True] Translation: X:115.65, Y:164.77, Z:-4.90 [[-4.54176607e-01 -8.90893373e-01 -5.71023609e-03 1.15649907e+02] [ 8.90826624e-01 -4.54212483e-01 1.09062873e-02 1.64768005e+02] [-1.23099996e-02 -1.33449777e-04 9.99924220e-01 -4.90156860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18 meters 0.015090639604190466 Centerline is valid? [True, True] Translation: X:115.64, Y:164.79, Z:-4.90 [[-4.55308037e-01 -8.90317164e-01 -5.47167170e-03 1.15637739e+02] [ 8.90255914e-01 -4.55340899e-01 1.04438510e-02 1.64792705e+02] [-1.17898157e-02 -1.16018816e-04 9.99930491e-01 -4.90231203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21 meters 0.014836558338686261 Centerline is valid? [True, True] Translation: X:115.63, Y:164.82, Z:-4.90 [[-4.58088821e-01 -8.88892129e-01 -5.04142399e-03 1.15627051e+02] [ 8.88840118e-01 -4.58116555e-01 9.61596537e-03 1.64818440e+02] [-1.08571157e-02 -7.60536589e-05 9.99941057e-01 -4.90291606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24 meters 0.014802834785391395 Centerline is valid? [True, True] Translation: X:115.62, Y:164.84, Z:-4.90 [[-4.59759169e-01 -8.88030944e-01 -4.74862114e-03 1.15615497e+02] [ 8.87984809e-01 -4.59783688e-01 9.05197404e-03 1.64843184e+02] [-1.02217716e-02 -5.49753763e-05 9.99947755e-01 -4.90368483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27 meters 0.014682757651892541 Centerline is valid? [True, True] Translation: X:115.60, Y:164.87, Z:-4.90 [[-4.61518481e-01 -8.87119071e-01 -4.52164865e-03 1.15604257e+02] [ 8.87077256e-01 -4.61540629e-01 8.61337941e-03 1.64867674e+02] [-9.72801771e-03 -3.58178896e-05 9.99952681e-01 -4.90452402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.3 meters 0.014696443170774438 Centerline is valid? [True, True] Translation: X:115.59, Y:164.89, Z:-4.91 [[-4.63484695e-01 -8.86093579e-01 -4.48420073e-03 1.15592525e+02] [ 8.86052467e-01 -4.63506386e-01 8.53559328e-03 1.64892508e+02] [-9.64179007e-03 -1.71202697e-05 9.99953517e-01 -4.90529173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33 meters 0.014624149316130148 Centerline is valid? [True, True] Translation: X:115.58, Y:164.92, Z:-4.91 [[-4.65349534e-01 -8.85117065e-01 -4.19431540e-03 1.15580284e+02] [ 8.85081112e-01 -4.65368436e-01 7.97772505e-03 1.64918077e+02] [-9.01312258e-03 1.21301157e-07 9.99959381e-01 -4.90586655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36 meters 0.014676849087521279 Centerline is valid? [True, True] Translation: X:115.57, Y:164.94, Z:-4.91 [[-4.68792763e-01 -8.83298523e-01 -4.13096941e-03 1.15569244e+02] [ 8.83263622e-01 -4.68810962e-01 7.85214124e-03 1.64943492e+02] [-8.87242850e-03 3.22919761e-05 9.99960639e-01 -4.90595905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39 meters 0.014863487243564876 Centerline is valid? [True, True] Translation: X:115.56, Y:164.97, Z:-4.91 [[-4.70320440e-01 -8.82485605e-01 -4.22392902e-03 1.15557663e+02] [ 8.82449132e-01 -4.70339404e-01 8.02329225e-03 1.64967567e+02] [-9.06712017e-03 4.61158374e-05 9.99958892e-01 -4.90691906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42 meters 0.014908223521765213 Centerline is valid? [True, True] Translation: X:115.55, Y:164.99, Z:-4.91 [[-4.71866883e-01 -8.81659524e-01 -4.25779961e-03 1.15545559e+02] [ 8.81622484e-01 -4.71886088e-01 8.08184719e-03 1.64991767e+02] [-9.13463395e-03 5.97841693e-05 9.99958277e-01 -4.90748033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45 meters 0.015143448381212768 Centerline is valid? [True, True] Translation: X:115.53, Y:165.02, Z:-4.91 [[-4.73544714e-01 -8.80759138e-01 -4.32947842e-03 1.15533611e+02] [ 8.80720879e-01 -4.73564499e-01 8.20963345e-03 1.65015365e+02] [-9.28099696e-03 7.45664766e-05 9.99956928e-01 -4.90830348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48 meters 0.01552363204203997 Centerline is valid? [True, True] Translation: X:115.52, Y:165.04, Z:-4.91 [[-4.75821432e-01 -8.79530358e-01 -4.50708960e-03 1.15522512e+02] [ 8.79488874e-01 -4.75842767e-01 8.54287899e-03 1.65039516e+02] [-9.65838741e-03 1.00949761e-04 9.99953352e-01 -4.90840223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51 meters 0.015518675833992615 Centerline is valid? [True, True] Translation: X:115.51, Y:165.06, Z:-4.91 [[-4.77054280e-01 -8.78862365e-01 -4.48975905e-03 1.15509872e+02] [ 8.78821237e-01 -4.77075394e-01 8.50300304e-03 1.65063783e+02] [-9.61492292e-03 1.10698392e-04 9.99953769e-01 -4.90811162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53999999999996 meters 0.015627904308454562 Centerline is valid? [True, True] Translation: X:115.50, Y:165.09, Z:-4.91 [[-4.78186466e-01 -8.78245060e-01 -4.82890625e-03 1.15497280e+02] [ 8.78197536e-01 -4.78210830e-01 9.13728798e-03 1.65087595e+02] [-1.03340133e-02 1.28593877e-04 9.99946594e-01 -4.90815115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57 meters 0.015570675756661117 Centerline is valid? [True, True] Translation: X:115.48, Y:165.11, Z:-4.91 [[-4.79000081e-01 -8.77801170e-01 -4.90193035e-03 1.15483633e+02] [ 8.77752257e-01 -4.79025143e-01 9.26757104e-03 1.65112552e+02] [-1.04832326e-02 1.36486849e-04 9.99945040e-01 -4.90801358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59999999999997 meters 0.015597345300551362 Centerline is valid? [True, True] Translation: X:115.47, Y:165.14, Z:-4.91 [[-4.79646402e-01 -8.77449315e-01 -4.69349102e-03 1.15470174e+02] [ 8.77404512e-01 -4.79669346e-01 8.86801062e-03 1.65137319e+02] [-1.00325536e-02 1.35419185e-04 9.99949664e-01 -4.90808937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63 meters 0.01565204274827351 Centerline is valid? [True, True] Translation: X:115.46, Y:165.16, Z:-4.91 [[-4.80034597e-01 -8.77236750e-01 -4.74023292e-03 1.15457850e+02] [ 8.77191112e-01 -4.80057981e-01 8.94922305e-03 1.65160246e+02] [-1.01261740e-02 1.37846502e-04 9.99948719e-01 -4.90879957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65999999999997 meters 0.0156503358395063 Centerline is valid? [True, True] Translation: X:115.44, Y:165.18, Z:-4.91 [[-4.79907233e-01 -8.77307837e-01 -4.47296177e-03 1.15443850e+02] [ 8.77267230e-01 -4.79928061e-01 8.44178833e-03 1.65184145e+02] [-9.55274693e-03 1.27292497e-04 9.99954363e-01 -4.90930440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69 meters 0.015399558731494942 Centerline is valid? [True, True] Translation: X:115.43, Y:165.21, Z:-4.91 [[-4.79544139e-01 -8.77507931e-01 -4.15332634e-03 1.15429202e+02] [ 8.77472978e-01 -4.79562112e-01 7.83284218e-03 1.65208440e+02] [-8.86515909e-03 1.11761930e-04 9.99960697e-01 -4.90942612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71999999999997 meters 0.015278007185524271 Centerline is valid? [True, True] Translation: X:115.41, Y:165.23, Z:-4.91 [[-4.78206317e-01 -8.78239006e-01 -3.86874870e-03 1.15414152e+02] [ 8.78208754e-01 -4.78221958e-01 7.28997801e-03 1.65231279e+02] [-8.25246362e-03 8.85445590e-05 9.99965944e-01 -4.91038917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75 meters 0.015206417973804441 Centerline is valid? [True, True] Translation: X:115.40, Y:165.25, Z:-4.91 [[-4.77549293e-01 -8.78597248e-01 -3.68090538e-03 1.15399992e+02] [ 8.78569874e-01 -4.77563472e-01 6.93584250e-03 1.65254286e+02] [-7.85167808e-03 7.82741046e-05 9.99969172e-01 -4.91145487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78 meters 0.015014700504755693 Centerline is valid? [True, True] Translation: X:115.38, Y:165.28, Z:-4.91 [[-4.77331083e-01 -8.78715675e-01 -3.71491251e-03 1.15384304e+02] [ 8.78687845e-01 -4.77345533e-01 6.99375818e-03 1.65278267e+02] [-7.91882183e-03 7.40897021e-05 9.99968643e-01 -4.91166838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81 meters 0.014990725774818947 Centerline is valid? [True, True] Translation: X:115.37, Y:165.30, Z:-4.91 [[-4.76957626e-01 -8.78918391e-01 -3.72625959e-03 1.15369982e+02] [ 8.78890437e-01 -4.76972177e-01 7.01021091e-03 1.65302063e+02] [-7.93872544e-03 6.85996326e-05 9.99968485e-01 -4.91232003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84 meters 0.015275896821663314 Centerline is valid? [True, True] Translation: X:115.36, Y:165.33, Z:-4.91 [[-4.77033768e-01 -8.78876516e-01 -3.85398955e-03 1.15356952e+02] [ 8.78846652e-01 -4.77049331e-01 7.24552894e-03 1.65325279e+02] [-8.20646837e-03 6.92961548e-05 9.99966324e-01 -4.91436974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87 meters 0.015044214892705193 Centerline is valid? [True, True] Translation: X:115.34, Y:165.35, Z:-4.91 [[-4.77239071e-01 -8.78764744e-01 -3.92340486e-03 1.15342659e+02] [ 8.78733836e-01 -4.77255193e-01 7.37064501e-03 1.65349045e+02] [-8.34952833e-03 6.99311736e-05 9.99965140e-01 -4.91414868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9 meters 0.014940749989177151 Centerline is valid? [True, True] Translation: X:115.33, Y:165.37, Z:-4.91 [[-4.77858535e-01 -8.78428113e-01 -3.90772327e-03 1.15327892e+02] [ 8.78397483e-01 -4.77874507e-01 7.33608582e-03 1.65372293e+02] [-8.31162535e-03 7.30769407e-05 9.99965455e-01 -4.91398875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93 meters 0.01493005387614677 Centerline is valid? [True, True] Translation: X:115.31, Y:165.40, Z:-4.91 [[-4.78463446e-01 -8.78098143e-01 -4.04751022e-03 1.15313946e+02] [ 8.78065331e-01 -4.78480559e-01 7.59142390e-03 1.65396633e+02] [-8.60267018e-03 7.82404377e-05 9.99962993e-01 -4.91408936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96 meters 0.014844806407976712 Centerline is valid? [True, True] Translation: X:115.30, Y:165.42, Z:-4.91 [[-4.78464763e-01 -8.78096771e-01 -4.18698138e-03 1.15299704e+02] [ 8.78061710e-01 -4.78483076e-01 7.84721297e-03 1.65420482e+02] [-8.89401210e-03 7.81868634e-05 9.99960444e-01 -4.91461400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99 meters 0.014671808293712663 Centerline is valid? [True, True] Translation: X:115.28, Y:165.44, Z:-4.92 [[-4.78122348e-01 -8.78283452e-01 -4.14717372e-03 1.15284687e+02] [ 8.78249106e-01 -4.78140328e-01 7.76752636e-03 1.65444380e+02] [-8.80502087e-03 7.15763240e-05 9.99961233e-01 -4.91524589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02 meters 0.01458932534552517 Centerline is valid? [True, True] Translation: X:115.27, Y:165.47, Z:-4.92 [[-4.75911669e-01 -8.79483966e-01 -4.00466745e-03 1.15268085e+02] [ 8.79452020e-01 -4.75928516e-01 7.49621395e-03 1.65466694e+02] [-8.49873541e-03 4.56228137e-05 9.99963884e-01 -4.91678231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05 meters 0.014520224297444975 Centerline is valid? [True, True] Translation: X:115.25, Y:165.49, Z:-4.92 [[-4.74436779e-01 -8.80281090e-01 -3.86588330e-03 1.15253013e+02] [ 8.80251382e-01 -4.74452528e-01 7.23215011e-03 1.65489767e+02] [-8.20050308e-03 2.82488844e-05 9.99966375e-01 -4.91753402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08 meters 0.014496366614384961 Centerline is valid? [True, True] Translation: X:115.24, Y:165.51, Z:-4.92 [[-4.72944135e-01 -8.81084842e-01 -3.65328405e-03 1.15238316e+02] [ 8.81058365e-01 -4.72958245e-01 6.83047903e-03 1.65511453e+02] [-7.74608235e-03 1.16785251e-05 9.99969999e-01 -4.91839355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11 meters 0.014500368066046045 Centerline is valid? [True, True] Translation: X:115.22, Y:165.53, Z:-4.92 [[-4.71279114e-01 -8.81977287e-01 -3.47293469e-03 1.15223256e+02] [ 8.81953420e-01 -4.71291910e-01 6.48851043e-03 1.65533900e+02] [-7.35948485e-03 -5.06717693e-06 9.99972919e-01 -4.91899568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14 meters 0.014572376918235526 Centerline is valid? [True, True] Translation: X:115.21, Y:165.56, Z:-4.92 [[-4.69955043e-01 -8.82684441e-01 -3.23043127e-03 1.15208566e+02] [ 8.82663828e-01 -4.69966146e-01 6.03232701e-03 1.65555969e+02] [-6.84283453e-03 -1.64623256e-05 9.99976587e-01 -4.92013578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17 meters 0.014698058392728287 Centerline is valid? [True, True] Translation: X:115.19, Y:165.58, Z:-4.92 [[-4.68687358e-01 -8.83358752e-01 -3.07818715e-03 1.15193939e+02] [ 8.83340080e-01 -4.68697465e-01 5.74363081e-03 1.65578961e+02] [-6.51642506e-03 -2.71189401e-05 9.99978768e-01 -4.92106060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2 meters 0.0148044566453348 Centerline is valid? [True, True] Translation: X:115.18, Y:165.60, Z:-4.92 [[-4.67394755e-01 -8.84043570e-01 -3.01799110e-03 1.15178738e+02] [ 8.84025657e-01 -4.67404497e-01 5.62786766e-03 1.65600084e+02] [-6.38590283e-03 -3.75457354e-05 9.99979609e-01 -4.92178861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23 meters 0.014898556750950302 Centerline is valid? [True, True] Translation: X:115.16, Y:165.62, Z:-4.92 [[-4.67292951e-01 -8.84096729e-01 -3.20502100e-03 1.15164773e+02] [ 8.84076566e-01 -4.67303940e-01 5.97108301e-03 1.65622594e+02] [-6.77673390e-03 -4.32389614e-05 9.99977037e-01 -4.92292251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26 meters 0.01472271378898931 Centerline is valid? [True, True] Translation: X:115.15, Y:165.65, Z:-4.92 [[-4.67517991e-01 -8.83977869e-01 -3.17109111e-03 1.15150973e+02] [ 8.83958160e-01 -4.67528744e-01 5.90305333e-03 1.65646631e+02] [-6.70074474e-03 -4.33282262e-05 9.99977549e-01 -4.92299972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28999999999996 meters 0.014810465363198256 Centerline is valid? [True, True] Translation: X:115.14, Y:165.67, Z:-4.92 [[-4.67783617e-01 -8.83837077e-01 -3.24182891e-03 1.15137207e+02] [ 8.83816508e-01 -4.67794848e-01 6.03001892e-03 1.65670625e+02] [-6.84606516e-03 -4.44378477e-05 9.99976564e-01 -4.92349196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32 meters 0.01481524653842844 Centerline is valid? [True, True] Translation: X:115.12, Y:165.69, Z:-4.92 [[-4.68298554e-01 -8.83564882e-01 -3.09244914e-03 1.15124260e+02] [ 8.83546179e-01 -4.68308763e-01 5.74905539e-03 1.65693118e+02] [-6.52788448e-03 -4.00472924e-05 9.99978692e-01 -4.92404584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34999999999997 meters 0.014806799317522658 Centerline is valid? [True, True] Translation: X:115.11, Y:165.72, Z:-4.92 [[-4.68705139e-01 -8.83349116e-01 -3.13577703e-03 1.15110954e+02] [ 8.83329914e-01 -4.68715626e-01 5.82448315e-03 1.65717324e+02] [-6.61483973e-03 -3.99604742e-05 9.99978121e-01 -4.92461664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38 meters 0.014755817279915786 Centerline is valid? [True, True] Translation: X:115.10, Y:165.74, Z:-4.93 [[-4.69164484e-01 -8.83105536e-01 -3.04965127e-03 1.15097651e+02] [ 8.83087393e-01 -4.69174394e-01 5.66081374e-03 1.65741262e+02] [-6.42991424e-03 -3.72558384e-05 9.99979327e-01 -4.92537099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40999999999997 meters 0.014755817279915786 Centerline is valid? [True, True] Translation: X:115.08, Y:165.76, Z:-4.93 [[-4.69423020e-01 -8.82968130e-01 -3.05131343e-03 1.15084817e+02] [ 8.82949990e-01 -4.69432935e-01 5.65991696e-03 1.65764749e+02] [-6.42991331e-03 -3.72618527e-05 9.99979327e-01 -4.92591985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44 meters 0.01480709859745128 Centerline is valid? [True, True] Translation: X:115.07, Y:165.79, Z:-4.93 [[-4.69776512e-01 -8.82779958e-01 -3.09420853e-03 1.15071435e+02] [ 8.82761329e-01 -4.69786700e-01 5.73522951e-03 1.65788717e+02] [-6.51656369e-03 -3.71715181e-05 9.99978766e-01 -4.92655030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46999999999997 meters 0.014744987006793685 Centerline is valid? [True, True] Translation: X:115.06, Y:165.81, Z:-4.93 [[-4.70301462e-01 -8.82499611e-01 -3.31242417e-03 1.15058178e+02] [ 8.82478290e-01 -4.70313125e-01 6.13455381e-03 1.65812854e+02] [-6.97161792e-03 -3.80527915e-05 9.99975697e-01 -4.92674127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5 meters 0.014467120194798823 Centerline is valid? [True, True] Translation: X:115.05, Y:165.84, Z:-4.93 [[-4.70785952e-01 -8.82240287e-01 -3.55860793e-03 1.15045531e+02] [ 8.82215711e-01 -4.70799400e-01 6.58512054e-03 1.65836509e+02] [-7.48504911e-03 -3.92775817e-05 9.99971986e-01 -4.92633351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53 meters 0.01423481970564019 Centerline is valid? [True, True] Translation: X:115.03, Y:165.86, Z:-4.93 [[-4.72509646e-01 -8.81317378e-01 -3.78337922e-03 1.15033630e+02] [ 8.81289613e-01 -4.72524791e-01 6.99567462e-03 1.65860040e+02] [-7.95315009e-03 -2.87290699e-05 9.99968373e-01 -4.92681312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56 meters 0.014215282419093173 Centerline is valid? [True, True] Translation: X:115.02, Y:165.88, Z:-4.93 [[-4.73606518e-01 -8.80728026e-01 -3.87427983e-03 1.15021421e+02] [ 8.80698938e-01 -4.73622364e-01 7.15806263e-03 1.65882791e+02] [-8.13925194e-03 -2.19690124e-05 9.99966876e-01 -4.92802456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59 meters 0.01406252165072598 Centerline is valid? [True, True] Translation: X:115.01, Y:165.91, Z:-4.93 [[-4.76042129e-01 -8.79413674e-01 -3.93454540e-03 1.15010004e+02] [ 8.79383672e-01 -4.76058389e-01 7.26417182e-03 1.65907189e+02] [-8.26128538e-03 -1.92316109e-06 9.99965875e-01 -4.92923091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62 meters 0.014014540648763832 Centerline is valid? [True, True] Translation: X:115.00, Y:165.93, Z:-4.93 [[-4.77388424e-01 -8.78684018e-01 -3.83260189e-03 1.14998251e+02] [ 8.78655568e-01 -4.77403808e-01 7.07090547e-03 1.65931432e+02] [-8.04279037e-03 8.03142855e-06 9.99967656e-01 -4.93005682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65 meters 0.014068991478773465 Centerline is valid? [True, True] Translation: X:114.99, Y:165.95, Z:-4.93 [[-4.78761405e-01 -8.77936606e-01 -3.85137334e-03 1.14986969e+02] [ 8.77907896e-01 -4.78776896e-01 7.10002519e-03 1.65954966e+02] [-8.07732058e-03 1.80669737e-05 9.99967378e-01 -4.93068548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68 meters 0.013882778628092202 Centerline is valid? [True, True] Translation: X:114.97, Y:165.98, Z:-4.93 [[-4.80305130e-01 -8.77094153e-01 -3.58174605e-03 1.14974659e+02] [ 8.77069330e-01 -4.80318484e-01 6.59890594e-03 1.65979772e+02] [-7.50824065e-03 2.80487685e-05 9.99971812e-01 -4.92918216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71 meters 0.01444055047223046 Centerline is valid? [True, True] Translation: X:114.96, Y:166.00, Z:-4.93 [[-4.81358388e-01 -8.76517427e-01 -3.36207260e-03 1.14963750e+02] [ 8.76495564e-01 -4.81370128e-01 6.19079572e-03 1.66003887e+02] [-7.04474165e-03 3.31497243e-05 9.99975185e-01 -4.93334482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74 meters 0.014158344123087635 Centerline is valid? [True, True] Translation: X:114.95, Y:166.03, Z:-4.93 [[-4.82690367e-01 -8.75785873e-01 -3.01901904e-03 1.14951151e+02] [ 8.75768252e-01 -4.82699807e-01 5.55561507e-03 1.66028206e+02] [-6.32280910e-03 3.76808508e-05 9.99980010e-01 -4.93164972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77 meters 0.015087238241302483 Centerline is valid? [True, True] Translation: X:114.94, Y:166.05, Z:-4.94 [[-4.84542434e-01 -8.74761943e-01 -3.18936119e-03 1.14941594e+02] [ 8.74742287e-01 -4.84552928e-01 5.86446118e-03 1.66053332e+02] [-6.67542176e-03 5.17111929e-05 9.99977718e-01 -4.93531606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.8 meters 0.015282186289028832 Centerline is valid? [True, True] Translation: X:114.93, Y:166.08, Z:-4.94 [[-4.85648551e-01 -8.74148009e-01 -3.27773569e-03 1.14929837e+02] [ 8.74127272e-01 -4.85659608e-01 6.02140492e-03 1.66077571e+02] [-6.85546295e-03 5.91284226e-05 9.99976499e-01 -4.93535720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83 meters 0.015349598982679848 Centerline is valid? [True, True] Translation: X:114.92, Y:166.10, Z:-4.94 [[-4.86324873e-01 -8.73771037e-01 -3.50600780e-03 1.14918059e+02] [ 8.73747343e-01 -4.86337506e-01 6.43515617e-03 1.66100875e+02] [-7.32795617e-03 6.62115114e-05 9.99973148e-01 -4.93525024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86 meters 0.014660419035639825 Centerline is valid? [True, True] Translation: X:114.90, Y:166.12, Z:-4.93 [[-4.87001313e-01 -8.73393852e-01 -3.59168709e-03 1.14904526e+02] [ 8.73369014e-01 -4.87014552e-01 6.58725376e-03 1.66124143e+02] [-7.50247081e-03 7.11330204e-05 9.99971854e-01 -4.93268333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89 meters 0.01480215051506642 Centerline is valid? [True, True] Translation: X:114.89, Y:166.15, Z:-4.93 [[-4.87577705e-01 -8.73071219e-01 -3.82464981e-03 1.14893684e+02] [ 8.73043087e-01 -4.87592699e-01 7.00906969e-03 1.66147885e+02] [-7.98428834e-03 7.83820382e-05 9.99968122e-01 -4.93275832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92 meters 0.014783867526240387 Centerline is valid? [True, True] Translation: X:114.88, Y:166.17, Z:-4.93 [[-4.87503414e-01 -8.73112352e-01 -3.90414156e-03 1.14880912e+02] [ 8.73083090e-01 -4.87519040e-01 7.14865410e-03 1.66172349e+02] [-8.14492154e-03 7.63532946e-05 9.99966827e-01 -4.93330202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95 meters 0.014812872495817125 Centerline is valid? [True, True] Translation: X:114.87, Y:166.20, Z:-4.93 [[-4.87568563e-01 -8.73075561e-01 -3.99528768e-03 1.14868587e+02] [ 8.73044957e-01 -4.87584926e-01 7.31050626e-03 1.66195818e+02] [-8.33066640e-03 7.63072703e-05 9.99965296e-01 -4.93356074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98 meters 0.014720808222883717 Centerline is valid? [True, True] Translation: X:114.86, Y:166.22, Z:-4.93 [[-4.87278624e-01 -8.73236371e-01 -4.21695211e-03 1.14855665e+02] [ 8.73202344e-01 -4.87296865e-01 7.70926043e-03 1.66219709e+02] [-8.78691414e-03 7.43053441e-05 9.99961392e-01 -4.93392438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01 meters 0.014395326906416081 Centerline is valid? [True, True] Translation: X:114.84, Y:166.24, Z:-4.93 [[-4.86229511e-01 -8.73821110e-01 -4.18699150e-03 1.14842485e+02] [ 8.73787630e-01 -4.86247534e-01 7.64934958e-03 1.66243504e+02] [-8.72007743e-03 6.07981275e-05 9.99961978e-01 -4.93366740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03999999999996 meters 0.014275182725482071 Centerline is valid? [True, True] Translation: X:114.83, Y:166.27, Z:-4.93 [[-4.85607812e-01 -8.74165781e-01 -4.38627795e-03 1.14828851e+02] [ 8.74129109e-01 -4.85627618e-01 8.00735806e-03 1.66267286e+02] [-9.12985612e-03 5.42623953e-05 9.99958321e-01 -4.93387324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07 meters 0.014150998249680148 Centerline is valid? [True, True] Translation: X:114.82, Y:166.29, Z:-4.93 [[-4.84761267e-01 -8.74634512e-01 -4.58097820e-03 1.14815711e+02] [ 8.74594590e-01 -4.84782909e-01 8.35667760e-03 1.66290031e+02] [-9.52981857e-03 4.44948664e-05 9.99954589e-01 -4.93468987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09999999999997 meters 0.014013200339387527 Centerline is valid? [True, True] Translation: X:114.80, Y:166.31, Z:-4.94 [[-4.83589248e-01 -8.75284220e-01 -4.35593108e-03 1.14801546e+02] [ 8.75248202e-01 -4.83608865e-01 7.94046551e-03 1.66313881e+02] [-9.05673104e-03 2.74028970e-05 9.99958987e-01 -4.93502900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13 meters 0.013889018951295289 Centerline is valid? [True, True] Translation: X:114.79, Y:166.34, Z:-4.94 [[-4.81838294e-01 -8.76249802e-01 -4.25932193e-03 1.14787193e+02] [ 8.76215447e-01 -4.81857120e-01 7.75925547e-03 1.66337576e+02] [-8.85143067e-03 6.62275572e-06 9.99960825e-01 -4.93534368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15999999999997 meters 0.014149824752128453 Centerline is valid? [True, True] Translation: X:114.77, Y:166.36, Z:-4.94 [[-4.77661479e-01 -8.78535922e-01 -3.76102713e-03 1.14771379e+02] [ 8.78509245e-01 -4.77676285e-01 6.84647198e-03 1.66359279e+02] [-7.81142504e-03 -3.38011655e-05 9.99969490e-01 -4.93675734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19 meters 0.014474612715680842 Centerline is valid? [True, True] Translation: X:114.76, Y:166.38, Z:-4.94 [[-4.75821352e-01 -8.79533860e-01 -3.77241176e-03 1.14756947e+02] [ 8.79507062e-01 -4.75836303e-01 6.86593856e-03 1.66381224e+02] [-7.83387591e-03 -5.09026117e-05 9.99969313e-01 -4.93742653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21999999999997 meters 0.014910711609694736 Centerline is valid? [True, True] Translation: X:114.74, Y:166.40, Z:-4.94 [[-4.74128104e-01 -8.80448044e-01 -3.71247337e-03 1.14742656e+02] [ 8.80422161e-01 -4.74142633e-01 6.75149946e-03 1.66403044e+02] [-7.70458640e-03 -6.74681923e-05 9.99970317e-01 -4.93826847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25 meters 0.015527627542774895 Centerline is valid? [True, True] Translation: X:114.73, Y:166.43, Z:-4.94 [[-4.72688183e-01 -8.81222517e-01 -3.57164813e-03 1.14728253e+02] [ 8.81198613e-01 -4.72701670e-01 6.49115101e-03 1.66425534e+02] [-7.40847247e-03 -7.90409981e-05 9.99972554e-01 -4.93913339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28 meters 0.01652512516378005 Centerline is valid? [True, True] Translation: X:114.71, Y:166.45, Z:-4.94 [[-4.70297745e-01 -8.82500271e-01 -3.64730269e-03 1.14713905e+02] [ 8.82475424e-01 -4.70311876e-01 6.62312747e-03 1.66447097e+02] [-7.56028156e-03 -1.03813070e-04 9.99971415e-01 -4.93940866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31 meters 0.01702092652489371 Centerline is valid? [True, True] Translation: X:114.70, Y:166.47, Z:-4.94 [[-4.69778176e-01 -8.82776127e-01 -3.84383293e-03 1.14701043e+02] [ 8.82748570e-01 -4.69793887e-01 6.97605819e-03 1.66469193e+02] [-7.96410684e-03 -1.15938134e-04 9.99968279e-01 -4.93999000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34 meters 0.01746518262068766 Centerline is valid? [True, True] Translation: X:114.69, Y:166.49, Z:-4.94 [[-4.69204346e-01 -8.83081967e-01 -3.67712272e-03 1.14687797e+02] [ 8.83056802e-01 -4.69218739e-01 6.66771584e-03 1.66492926e+02] [-7.61351451e-03 -1.18586978e-04 9.99971010e-01 -4.94036821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37 meters 0.018218556505244593 Centerline is valid? [True, True] Translation: X:114.67, Y:166.52, Z:-4.94 [[-4.68151992e-01 -8.83639290e-01 -3.91367563e-03 1.14674615e+02] [ 8.83610844e-01 -4.68168331e-01 7.09162328e-03 1.66515754e+02] [-8.09869595e-03 -1.38208660e-04 9.99967195e-01 -4.94096434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4 meters 0.015567384482675056 Centerline is valid? [True, True] Translation: X:114.67, Y:166.54, Z:-4.94 [[-4.67528905e-01 -8.83969877e-01 -3.73885721e-03 1.14666021e+02] [ 8.83943961e-01 -4.67543834e-01 6.77037204e-03 1.66544043e+02] [-7.73288457e-03 -1.39595623e-04 9.99970091e-01 -4.93681493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43 meters 0.015958124455782256 Centerline is valid? [True, True] Translation: X:114.65, Y:166.57, Z:-4.94 [[-4.66979151e-01 -8.84260379e-01 -3.74897183e-03 1.14652534e+02] [ 8.84234360e-01 -4.66994176e-01 6.78504951e-03 1.66567595e+02] [-7.75049846e-03 -1.46493043e-04 9.99969954e-01 -4.93754866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46 meters 0.015905276446242705 Centerline is valid? [True, True] Translation: X:114.64, Y:166.59, Z:-4.94 [[-4.66434179e-01 -8.84547999e-01 -3.74073976e-03 1.14639071e+02] [ 8.84522144e-01 -4.66449154e-01 6.76492797e-03 1.66592752e+02] [-7.72876840e-03 -1.53373526e-04 9.99970121e-01 -4.93808325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49 meters 0.016340544879919948 Centerline is valid? [True, True] Translation: X:114.63, Y:166.62, Z:-4.94 [[-4.65814603e-01 -8.84874649e-01 -3.68935578e-03 1.14625406e+02] [ 8.84849539e-01 -4.65829186e-01 6.66804093e-03 1.66616052e+02] [-7.61898998e-03 -1.58453924e-04 9.99970963e-01 -4.93921014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52 meters 0.01669311155660503 Centerline is valid? [True, True] Translation: X:114.61, Y:166.64, Z:-4.94 [[-4.65251818e-01 -8.85171065e-01 -3.59615590e-03 1.14611843e+02] [ 8.85147253e-01 -4.65265688e-01 6.49466205e-03 1.66640266e+02] [-7.42205487e-03 -1.61474190e-04 9.99972443e-01 -4.94017883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55 meters 0.01703385691238706 Centerline is valid? [True, True] Translation: X:114.60, Y:166.67, Z:-4.94 [[-4.64364929e-01 -8.85638371e-01 -3.14480542e-03 1.14599230e+02] [ 8.85620186e-01 -4.64375553e-01 5.67721871e-03 1.66665154e+02] [-6.48833349e-03 -1.48801906e-04 9.99978939e-01 -4.94183581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58 meters 0.017315614410185094 Centerline is valid? [True, True] Translation: X:114.59, Y:166.69, Z:-4.94 [[-4.64181379e-01 -8.85735270e-01 -2.94610874e-03 1.14586321e+02] [ 8.85719330e-01 -4.64190706e-01 5.31571934e-03 1.66689712e+02] [-6.07587640e-03 -1.41967524e-04 9.99981532e-01 -4.94262258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61 meters 0.017567939435301605 Centerline is valid? [True, True] Translation: X:114.57, Y:166.71, Z:-4.94 [[-4.63937023e-01 -8.85863079e-01 -3.00744886e-03 1.14573826e+02] [ 8.85846502e-01 -4.63946747e-01 5.42141524e-03 1.66712374e+02] [-6.19792771e-03 -1.48942802e-04 9.99980782e-01 -4.94332102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64 meters 0.01739663223706429 Centerline is valid? [True, True] Translation: X:114.56, Y:166.74, Z:-4.94 [[-4.64074784e-01 -8.85790514e-01 -3.12423353e-03 1.14560919e+02] [ 8.85772639e-01 -4.64085275e-01 5.62934046e-03 1.66737888e+02] [-6.43632715e-03 -1.54925621e-04 9.99979275e-01 -4.94392180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67 meters 0.01801836053534648 Centerline is valid? [True, True] Translation: X:114.55, Y:166.76, Z:-4.95 [[-4.64513451e-01 -8.85559974e-01 -3.28432248e-03 1.14548760e+02] [ 8.85540236e-01 -4.64525034e-01 5.91464903e-03 1.66761439e+02] [-6.76342645e-03 -1.60965675e-04 9.99977115e-01 -4.94568632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7 meters 0.0180443323651293 Centerline is valid? [True, True] Translation: X:114.54, Y:166.79, Z:-4.95 [[-4.65022554e-01 -8.85292738e-01 -3.28535122e-03 1.14536410e+02] [ 8.85273017e-01 -4.65034132e-01 5.91113096e-03 1.66785815e+02] [-6.76088176e-03 -1.59623576e-04 9.99977132e-01 -4.94659641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73 meters 0.018080449807789264 Centerline is valid? [True, True] Translation: X:114.52, Y:166.81, Z:-4.95 [[-4.65700811e-01 -8.84936476e-01 -3.19183127e-03 1.14524265e+02] [ 8.84917880e-01 -4.65711724e-01 5.73900643e-03 1.66809844e+02] [-6.56512937e-03 -1.51848614e-04 9.99978438e-01 -4.94747467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76 meters 0.01807505605769623 Centerline is valid? [True, True] Translation: X:114.51, Y:166.83, Z:-4.95 [[-4.66663638e-01 -8.84427408e-01 -3.63430126e-03 1.14512508e+02] [ 8.84403329e-01 -4.66677760e-01 6.52846664e-03 1.66833509e+02] [-7.47000241e-03 -1.67590139e-04 9.99972085e-01 -4.94792784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78999999999996 meters 0.01661061073810071 Centerline is valid? [True, True] Translation: X:114.50, Y:166.86, Z:-4.95 [[-4.68623602e-01 -8.83387540e-01 -4.28647680e-03 1.14503726e+02] [ 8.83354084e-01 -4.68643170e-01 7.69034543e-03 1.66861274e+02] [-8.80238341e-03 -1.82599415e-04 9.99961242e-01 -4.94646818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82 meters 0.016201933977795277 Centerline is valid? [True, True] Translation: X:114.49, Y:166.89, Z:-4.95 [[-4.70032362e-01 -8.82637736e-01 -4.49501233e-03 1.14491807e+02] [ 8.82600959e-01 -4.70053821e-01 8.05930852e-03 1.66887017e+02] [-9.22634755e-03 -1.79166376e-04 9.99957420e-01 -4.94665830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84999999999997 meters 0.015891027254159428 Centerline is valid? [True, True] Translation: X:114.48, Y:166.91, Z:-4.95 [[-4.71860541e-01 -8.81660198e-01 -4.78804425e-03 1.14479965e+02] [ 8.81618484e-01 -4.71884801e-01 8.57809659e-03 1.66912563e+02] [-9.82237164e-03 -1.73563011e-04 9.99951744e-01 -4.94727704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88 meters 0.015695937067085334 Centerline is valid? [True, True] Translation: X:114.47, Y:166.94, Z:-4.95 [[-4.74365686e-01 -8.80313843e-01 -4.97336015e-03 1.14467896e+02] [ 8.80268829e-01 -4.74391731e-01 8.90360903e-03 1.66937395e+02] [-1.01972912e-02 -1.54327312e-04 9.99947994e-01 -4.94858721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90999999999997 meters 0.015010955852034684 Centerline is valid? [True, True] Translation: X:114.46, Y:166.96, Z:-4.95 [[-4.77068180e-01 -8.78851137e-01 -5.16044448e-03 1.14456774e+02] [ 8.78802657e-01 -4.77096071e-01 9.23192368e-03 1.66963721e+02] [-1.05755144e-02 -1.30755299e-04 9.99944069e-01 -4.94870364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94 meters 0.014704266096881318 Centerline is valid? [True, True] Translation: X:114.45, Y:166.99, Z:-4.95 [[-4.79954857e-01 -8.77275490e-01 -5.57222920e-03 1.14446005e+02] [ 8.77218945e-01 -4.79987190e-01 9.96090259e-03 1.66988587e+02] [-1.14130543e-02 -1.07281444e-04 9.99934863e-01 -4.94893904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96999999999997 meters 0.014150013396341369 Centerline is valid? [True, True] Translation: X:114.44, Y:167.02, Z:-4.95 [[-4.85367398e-01 -8.74287075e-01 -6.37171726e-03 1.14437855e+02] [ 8.74212998e-01 -4.85409217e-01 1.13809559e-02 1.67016262e+02] [-1.30431130e-02 -4.62930911e-05 9.99914934e-01 -4.94821787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0 meters 0.01421894096877692 Centerline is valid? [True, True] Translation: X:114.43, Y:167.04, Z:-4.95 [[-4.88187157e-01 -8.72716085e-01 -6.31936187e-03 1.14427277e+02] [ 8.72643173e-01 -4.88228056e-01 1.12808378e-02 1.67040462e+02] [-1.29302584e-02 -7.38784585e-06 9.99916401e-01 -4.95027972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03 meters 0.01438172118629455 Centerline is valid? [True, True] Translation: X:114.42, Y:167.07, Z:-4.95 [[-4.93848946e-01 -8.69526170e-01 -6.12028906e-03 1.14418394e+02] [ 8.69457642e-01 -4.93886864e-01 1.09166956e-02 1.67068112e+02] [-1.25150829e-02 6.98665101e-05 9.99921681e-01 -4.94980902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06 meters 0.014692881798590844 Centerline is valid? [True, True] Translation: X:114.41, Y:167.09, Z:-4.95 [[-4.96626940e-01 -8.67944402e-01 -5.84781516e-03 1.14407364e+02] [ 8.67881825e-01 -4.96661358e-01 1.04227665e-02 1.67093449e+02] [-1.19507657e-02 1.01014154e-04 9.99928582e-01 -4.95131873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09 meters 0.015100527693856926 Centerline is valid? [True, True] Translation: X:114.40, Y:167.12, Z:-4.95 [[-4.99329912e-01 -8.66393006e-01 -5.72696601e-03 1.14395824e+02] [ 8.66332927e-01 -4.99362735e-01 1.02038172e-02 1.67118776e+02] [-1.17003492e-02 1.33611906e-04 9.99931540e-01 -4.95229328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12 meters 0.015332596620958655 Centerline is valid? [True, True] Translation: X:114.38, Y:167.14, Z:-4.95 [[-5.01867810e-01 -8.64927121e-01 -5.45682358e-03 1.14383826e+02] [ 8.64872555e-01 -5.01897450e-01 9.71667967e-03 1.67144458e+02] [-1.11429856e-02 1.57031794e-04 9.99937903e-01 -4.95278237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15 meters 0.01580897026889624 Centerline is valid? [True, True] Translation: X:114.37, Y:167.17, Z:-4.95 [[-5.04046394e-01 -8.63658435e-01 -5.59818773e-03 1.14372113e+02] [ 8.63601006e-01 -5.04077447e-01 9.96143141e-03 1.67169723e+02] [-1.14251944e-02 1.86423023e-04 9.99934713e-01 -4.95325289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18 meters 0.01619587580426725 Centerline is valid? [True, True] Translation: X:114.36, Y:167.20, Z:-4.95 [[-5.05887314e-01 -8.62580785e-01 -5.69336606e-03 1.14359759e+02] [ 8.62521398e-01 -5.05919307e-01 1.01238851e-02 1.67195264e+02] [-1.16130526e-02 2.10894989e-04 9.99932544e-01 -4.95338170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21 meters 0.016754429177338773 Centerline is valid? [True, True] Translation: X:114.35, Y:167.22, Z:-4.95 [[-5.08600036e-01 -8.60979687e-01 -6.32316720e-03 1.14348035e+02] [ 8.60906421e-01 -5.08639269e-01 1.12351405e-02 1.67221270e+02] [-1.28894389e-02 2.70537636e-04 9.99916891e-01 -4.95286562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24 meters 0.01643618793445373 Centerline is valid? [True, True] Translation: X:114.33, Y:167.25, Z:-4.95 [[-5.09566440e-01 -8.60406293e-01 -6.56160732e-03 1.14334064e+02] [ 8.60327455e-01 -5.09608601e-01 1.16508860e-02 1.67246070e+02] [-1.33683472e-02 2.91769576e-04 9.99910597e-01 -4.95229009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27 meters 0.016760785104795527 Centerline is valid? [True, True] Translation: X:114.32, Y:167.27, Z:-4.95 [[-5.10071084e-01 -8.60103930e-01 -6.97991940e-03 1.14321872e+02] [ 8.60014835e-01 -5.10118742e-01 1.23835770e-02 1.67270173e+02] [-1.42117509e-02 3.13670297e-04 9.99898959e-01 -4.95247770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.3 meters 0.016760785104795527 Centerline is valid? [True, True] Translation: X:114.31, Y:167.29, Z:-4.95 [[-5.10343568e-01 -8.59942263e-01 -6.98190177e-03 1.14308619e+02] [ 8.59853168e-01 -5.10391227e-01 1.23824592e-02 1.67293466e+02] [-1.42117014e-02 3.15898051e-04 9.99898959e-01 -4.95302769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33 meters 0.016790116802622126 Centerline is valid? [True, True] Translation: X:114.30, Y:167.32, Z:-4.95 [[-5.10943878e-01 -8.59583764e-01 -7.21843555e-03 1.14295409e+02] [ 8.59488639e-01 -5.10994758e-01 1.27920498e-02 1.67316843e+02] [-1.46844210e-02 3.31856176e-04 9.99892123e-01 -4.95322563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36 meters 0.016412057850895553 Centerline is valid? [True, True] Translation: X:114.28, Y:167.34, Z:-4.95 [[-5.09969473e-01 -8.60159256e-01 -7.56249268e-03 1.14281479e+02] [ 8.60055078e-01 -5.10025440e-01 1.33908030e-02 1.67340848e+02] [-1.53752868e-02 3.24740501e-04 9.99881741e-01 -4.95315207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39 meters 0.016284016117975808 Centerline is valid? [True, True] Translation: X:114.27, Y:167.36, Z:-4.95 [[-5.09352190e-01 -8.60524074e-01 -7.65923601e-03 1.14267250e+02] [ 8.60417391e-01 -5.09409678e-01 1.35533829e-02 1.67364436e+02] [-1.55647012e-02 3.13305391e-04 9.99878814e-01 -4.95399238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42 meters 0.016282039741883574 Centerline is valid? [True, True] Translation: X:114.25, Y:167.39, Z:-4.96 [[-5.08320160e-01 -8.61135243e-01 -7.53044437e-03 1.14253887e+02] [ 8.61032329e-01 -5.08375856e-01 1.33160396e-02 1.67387157e+02] [-1.52952071e-02 2.84855325e-04 9.99882981e-01 -4.95562853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45 meters 0.015593924007480803 Centerline is valid? [True, True] Translation: X:114.24, Y:167.41, Z:-4.96 [[-5.07136257e-01 -8.61834364e-01 -7.37199224e-03 1.14238230e+02] [ 8.61735957e-01 -5.07189773e-01 1.30258988e-02 1.67409710e+02] [-1.49651663e-02 2.53194790e-04 9.99887984e-01 -4.95644008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48 meters 0.015516172585066261 Centerline is valid? [True, True] Translation: X:114.22, Y:167.43, Z:-4.96 [[-5.05935775e-01 -8.62540400e-01 -7.28355844e-03 1.14224384e+02] [ 8.62444549e-01 -5.05988151e-01 1.28604446e-02 1.67432082e+02] [-1.47780472e-02 2.24893715e-04 9.99890773e-01 -4.95819570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51 meters 0.015216791647483451 Centerline is valid? [True, True] Translation: X:114.21, Y:167.45, Z:-4.96 [[-5.04471240e-01 -8.63399788e-01 -7.04090068e-03 1.14208256e+02] [ 8.63310440e-01 -5.04520337e-01 1.24222961e-02 1.67454868e+02] [-1.42776854e-02 1.88208054e-04 9.99898051e-01 -4.95931430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53999999999996 meters 0.014557921518832832 Centerline is valid? [True, True] Translation: X:114.19, Y:167.48, Z:-4.96 [[-5.01554502e-01 -8.65100047e-01 -6.70742583e-03 1.14190536e+02] [ 8.65019218e-01 -5.01599334e-01 1.18262707e-02 1.67477228e+02] [-1.35953477e-02 1.29467057e-04 9.99907571e-01 -4.96040811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57 meters 0.014326611247229148 Centerline is valid? [True, True] Translation: X:114.18, Y:167.50, Z:-4.96 [[-5.00233334e-01 -8.65866574e-01 -6.45667769e-03 1.14175477e+02] [ 8.65791824e-01 -5.00274991e-01 1.13776846e-02 1.67500357e+02] [-1.30816711e-02 1.01358339e-04 9.99914426e-01 -4.96081010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59999999999997 meters 0.014237276561905914 Centerline is valid? [True, True] Translation: X:114.16, Y:167.52, Z:-4.96 [[-4.99509440e-01 -8.66285226e-01 -6.34239509e-03 1.14160352e+02] [ 8.66213241e-01 -4.99549697e-01 1.11678580e-02 1.67524002e+02] [-1.28428919e-02 8.45838832e-05 9.99917523e-01 -4.96105594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63 meters 0.014074239673182127 Centerline is valid? [True, True] Translation: X:114.15, Y:167.55, Z:-4.96 [[-4.98663902e-01 -8.66772409e-01 -6.31693825e-03 1.14146170e+02] [ 8.66701150e-01 -4.98703907e-01 1.11144376e-02 1.67546848e+02] [-1.27839697e-02 6.74711992e-05 9.99918279e-01 -4.96187309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65999999999997 meters 0.01395855102242481 Centerline is valid? [True, True] Translation: X:114.13, Y:167.57, Z:-4.96 [[-4.97693087e-01 -8.67330429e-01 -6.28634923e-03 1.14129157e+02] [ 8.67259954e-01 -4.97732785e-01 1.10565672e-02 1.67570029e+02] [-1.27186192e-02 5.08781099e-05 9.99919114e-01 -4.96287486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69 meters 0.013929526287766572 Centerline is valid? [True, True] Translation: X:114.11, Y:167.59, Z:-4.96 [[-4.97152882e-01 -8.67640603e-01 -6.22867888e-03 1.14114094e+02] [ 8.67571528e-01 -4.97191897e-01 1.09481106e-02 1.67592743e+02] [-1.25958739e-02 3.90602674e-05 9.99920668e-01 -4.96414789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71999999999997 meters 0.01382042111176609 Centerline is valid? [True, True] Translation: X:114.10, Y:167.62, Z:-4.97 [[-4.96757185e-01 -8.67867019e-01 -6.25592921e-03 1.14098544e+02] [ 8.67797459e-01 -4.96796575e-01 1.09878454e-02 1.67615742e+02] [-1.26439129e-02 2.94116833e-05 9.99920062e-01 -4.96527054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75 meters 0.013806581152554141 Centerline is valid? [True, True] Translation: X:114.08, Y:167.64, Z:-4.96 [[-4.95166590e-01 -8.68775103e-01 -6.31413593e-03 1.14082578e+02] [ 8.68704410e-01 -4.95206845e-01 1.10828278e-02 1.67638093e+02] [-1.27552882e-02 2.72829967e-06 9.99918648e-01 -4.96498909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78 meters 0.013726592220880279 Centerline is valid? [True, True] Translation: X:114.07, Y:167.66, Z:-4.97 [[-4.94581113e-01 -8.69106897e-01 -6.53636349e-03 1.14068546e+02] [ 8.69031292e-01 -4.94624303e-01 1.14635382e-02 1.67660188e+02] [-1.31960843e-02 -1.06549312e-05 9.99912928e-01 -4.96544646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81 meters 0.013774592299801125 Centerline is valid? [True, True] Translation: X:114.05, Y:167.68, Z:-4.97 [[-4.93934438e-01 -8.69476526e-01 -6.27229821e-03 1.14053972e+02] [ 8.69406996e-01 -4.93974260e-01 1.09956753e-02 1.67683469e+02] [-1.26588354e-02 -2.20372677e-05 9.99919874e-01 -4.96567919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84 meters 0.013789197270885921 Centerline is valid? [True, True] Translation: X:114.04, Y:167.71, Z:-4.97 [[-4.93198732e-01 -8.69895758e-01 -6.03167903e-03 1.14038964e+02] [ 8.69831587e-01 -4.93235613e-01 1.05660398e-02 1.67707444e+02] [-1.21663921e-02 -3.53874978e-05 9.99925986e-01 -4.96602415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87 meters 0.013788426947416338 Centerline is valid? [True, True] Translation: X:114.02, Y:167.73, Z:-4.97 [[-4.91624769e-01 -8.70790546e-01 -5.37696294e-03 1.14022082e+02] [ 8.70739656e-01 -4.91654169e-01 9.41429371e-03 1.67730642e+02] [-1.08414842e-02 -5.36348903e-05 9.99941228e-01 -4.96798687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9 meters 0.013824963293715704 Centerline is valid? [True, True] Translation: X:114.01, Y:167.75, Z:-4.97 [[-4.91156354e-01 -8.71055409e-01 -5.28307244e-03 1.14006798e+02] [ 8.71006360e-01 -4.91184763e-01 9.24395049e-03 1.67754123e+02] [-1.06469578e-02 -6.13646725e-05 9.99943318e-01 -4.96948861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93 meters 0.013839243768064067 Centerline is valid? [True, True] Translation: X:113.99, Y:167.78, Z:-4.97 [[-4.90788636e-01 -8.71261860e-01 -5.41170888e-03 1.13991597e+02] [ 8.71210477e-01 -4.90818467e-01 9.46245246e-03 1.67778011e+02] [-1.09004406e-02 -7.06733374e-05 9.99940586e-01 -4.97056566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96 meters 0.013933601229657757 Centerline is valid? [True, True] Translation: X:113.98, Y:167.80, Z:-4.97 [[-4.90367138e-01 -8.71498454e-01 -5.52398261e-03 1.13976952e+02] [ 8.71445005e-01 -4.90398244e-01 9.65218478e-03 1.67801971e+02] [-1.11208155e-02 -8.07328241e-05 9.99938159e-01 -4.97116699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99 meters 0.01394785785094199 Centerline is valid? [True, True] Translation: X:113.96, Y:167.83, Z:-4.97 [[-4.90100888e-01 -8.71647920e-01 -5.56983642e-03 1.13962621e+02] [ 8.71593664e-01 -4.90132528e-01 9.72575384e-03 1.67826089e+02] [-1.12073911e-02 -8.80335439e-05 9.99937191e-01 -4.97174075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02 meters 0.014056705302476205 Centerline is valid? [True, True] Translation: X:113.95, Y:167.85, Z:-4.97 [[-4.90146428e-01 -8.71623080e-01 -5.44846596e-03 1.13949960e+02] [ 8.71571225e-01 -4.90176701e-01 9.50794383e-03 1.67848537e+02] [-1.09580544e-02 -8.84414501e-05 9.99939955e-01 -4.97245501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05 meters 0.013902257854778744 Centerline is valid? [True, True] Translation: X:113.94, Y:167.87, Z:-4.97 [[-4.90268119e-01 -8.71554991e-01 -5.39154776e-03 1.13936905e+02] [ 8.71504279e-01 -4.90297756e-01 9.40226321e-03 1.67873289e+02] [-1.08380532e-02 -8.91270518e-05 9.99941263e-01 -4.97214849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08 meters 0.013989796082012087 Centerline is valid? [True, True] Translation: X:113.92, Y:167.90, Z:-4.97 [[-4.90699458e-01 -8.71312774e-01 -5.30017833e-03 1.13922967e+02] [ 8.71263816e-01 -4.90728074e-01 9.23692379e-03 1.67898010e+02] [-1.06491960e-02 -8.53001083e-05 9.99943292e-01 -4.97279646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11 meters 0.014085311659005806 Centerline is valid? [True, True] Translation: X:113.91, Y:167.92, Z:-4.97 [[-4.90836405e-01 -8.71233120e-01 -5.69862810e-03 1.13909824e+02] [ 8.71176593e-01 -4.90869476e-01 9.92481723e-03 1.67920208e+02] [-1.14441121e-02 -9.30498000e-05 9.99934510e-01 -4.97381857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14 meters 0.014001654326213782 Centerline is valid? [True, True] Translation: X:113.90, Y:167.94, Z:-4.97 [[-4.90666720e-01 -8.71329702e-01 -5.54256580e-03 1.13896006e+02] [ 8.71276325e-01 -4.90698013e-01 9.64496022e-03 1.67944880e+02] [-1.11236663e-02 -9.66453694e-05 9.99938125e-01 -4.97422704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17 meters 0.014025036634260675 Centerline is valid? [True, True] Translation: X:113.88, Y:167.97, Z:-4.97 [[-4.90541548e-01 -8.71400530e-01 -5.48695699e-03 1.13882439e+02] [ 8.71348290e-01 -4.90572224e-01 9.54203371e-03 1.67969026e+02] [-1.10066819e-02 -1.00286603e-04 9.99939420e-01 -4.97483839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2 meters 0.014087458957054697 Centerline is valid? [True, True] Translation: X:113.87, Y:167.99, Z:-4.98 [[-4.90652912e-01 -8.71337623e-01 -5.51968857e-03 1.13868833e+02] [ 8.71284822e-01 -4.90683948e-01 9.59279314e-03 1.67991962e+02] [-1.10669841e-02 -1.02488989e-04 9.99938754e-01 -4.97587290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23 meters 0.014168813148019212 Centerline is valid? [True, True] Translation: X:113.86, Y:168.02, Z:-4.98 [[-4.90590186e-01 -8.71372420e-01 -5.60138383e-03 1.13855209e+02] [ 8.71318123e-01 -4.90622150e-01 9.72799099e-03 1.68015585e+02] [-1.12248660e-02 -1.08130335e-04 9.99936993e-01 -4.97652012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26 meters 0.014552043585875968 Centerline is valid? [True, True] Translation: X:113.84, Y:168.04, Z:-4.98 [[-4.90544667e-01 -8.71395671e-01 -5.95948393e-03 1.13841466e+02] [ 8.71334309e-01 -4.90580851e-01 1.03417222e-02 1.68037896e+02] [-1.19353406e-02 -1.19626146e-04 9.99928764e-01 -4.97727977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28999999999996 meters 0.01401703389745696 Centerline is valid? [True, True] Translation: X:113.83, Y:168.06, Z:-4.98 [[-4.90731953e-01 -8.71288313e-01 -6.23109850e-03 1.13829534e+02] [ 8.71221342e-01 -4.90771495e-01 1.08033751e-02 1.68062959e+02] [-1.24709000e-02 -1.27104647e-04 9.99922227e-01 -4.97611888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32 meters 0.014005001470336353 Centerline is valid? [True, True] Translation: X:113.82, Y:168.09, Z:-4.98 [[-4.90912883e-01 -8.71183299e-01 -6.64840617e-03 1.13816214e+02] [ 8.71107159e-01 -4.90957881e-01 1.15185525e-02 1.68087761e+02] [-1.32988580e-02 -1.36868386e-04 9.99911557e-01 -4.97587585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34999999999997 meters 0.014019343356737215 Centerline is valid? [True, True] Translation: X:113.80, Y:168.11, Z:-4.98 [[-4.91175654e-01 -8.71034915e-01 -6.68235406e-03 1.13802263e+02] [ 8.70958086e-01 -4.91221089e-01 1.15695737e-02 1.68112292e+02] [-1.33600159e-02 -1.37357390e-04 9.99910742e-01 -4.97644694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38 meters 0.014009367158931314 Centerline is valid? [True, True] Translation: X:113.79, Y:168.14, Z:-4.98 [[-4.91320522e-01 -8.70948007e-01 -7.32892154e-03 1.13788969e+02] [ 8.70855718e-01 -4.91375157e-01 1.26796454e-02 1.68135872e+02] [-1.46445619e-02 -1.52663241e-04 9.99892751e-01 -4.97697357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40999999999997 meters 0.01409198395572475 Centerline is valid? [True, True] Translation: X:113.78, Y:168.16, Z:-4.98 [[-4.91110363e-01 -8.71065663e-01 -7.43118523e-03 1.13775065e+02] [ 8.70970931e-01 -4.91166555e-01 1.28472722e-02 1.68159956e+02] [-1.48407673e-02 -1.62917812e-04 9.99889856e-01 -4.97744663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44 meters 0.014276929089704953 Centerline is valid? [True, True] Translation: X:113.76, Y:168.18, Z:-4.98 [[-4.90847687e-01 -8.71211885e-01 -7.64199721e-03 1.13760849e+02] [ 8.71111870e-01 -4.90907141e-01 1.32018609e-02 1.68183104e+02] [-1.52531291e-02 -1.76931573e-04 9.99883649e-01 -4.97824887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46999999999997 meters 0.014293339229948687 Centerline is valid? [True, True] Translation: X:113.75, Y:168.21, Z:-4.98 [[-4.90595306e-01 -8.71351360e-01 -7.94058700e-03 1.13746703e+02] [ 8.71243489e-01 -4.90659526e-01 1.37117779e-02 1.68206391e+02] [-1.58439010e-02 -1.91250847e-04 9.99874459e-01 -4.97913326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5 meters 0.014329944578775467 Centerline is valid? [True, True] Translation: X:113.73, Y:168.23, Z:-4.98 [[-4.90225551e-01 -8.71560063e-01 -7.87185794e-03 1.13732313e+02] [ 8.71454231e-01 -4.90288708e-01 1.35833242e-02 1.68229894e+02] [-1.56981660e-02 -2.01071295e-04 9.99876756e-01 -4.98008923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53 meters 0.014910396271124253 Centerline is valid? [True, True] Translation: X:113.72, Y:168.25, Z:-4.98 [[-4.89278300e-01 -8.72097090e-01 -7.30824698e-03 1.13716662e+02] [ 8.72006056e-01 -4.89332835e-01 1.26022301e-02 1.68252620e+02] [-1.45665334e-02 -2.06837898e-04 9.99893881e-01 -4.98256015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56 meters 0.014605900683415525 Centerline is valid? [True, True] Translation: X:113.70, Y:168.28, Z:-4.98 [[-4.88922726e-01 -8.72298024e-01 -7.12214271e-03 1.13703155e+02] [ 8.72211707e-01 -4.88974551e-01 1.22729714e-02 1.68277412e+02] [-1.41882352e-02 -2.11481633e-04 9.99899320e-01 -4.98312125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59 meters 0.014758092950392251 Centerline is valid? [True, True] Translation: X:113.69, Y:168.30, Z:-4.98 [[-4.88326693e-01 -8.72632537e-01 -7.03529385e-03 1.13688745e+02] [ 8.72548457e-01 -4.88377319e-01 1.21154749e-02 1.68301575e+02] [-1.40082356e-02 -2.22324982e-04 9.99901855e-01 -4.98408535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62 meters 0.015108299398753813 Centerline is valid? [True, True] Translation: X:113.67, Y:168.32, Z:-4.99 [[-4.87599029e-01 -8.73040560e-01 -6.88246058e-03 1.13674553e+02] [ 8.72960234e-01 -4.87647544e-01 1.18449430e-02 1.68324859e+02] [-1.36973307e-02 -2.32531681e-04 9.99906160e-01 -4.98507692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65 meters 0.01502514967387919 Centerline is valid? [True, True] Translation: X:113.66, Y:168.35, Z:-4.99 [[-4.87792155e-01 -8.72932787e-01 -6.86747724e-03 1.13660793e+02] [ 8.72852916e-01 -4.87840440e-01 1.18106815e-02 1.68348812e+02] [-1.36601642e-02 -2.33139744e-04 9.99906668e-01 -4.98572458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68 meters 0.015110082540690547 Centerline is valid? [True, True] Translation: X:113.65, Y:168.37, Z:-4.99 [[-4.88576558e-01 -8.72490939e-01 -7.24633666e-03 1.13647473e+02] [ 8.72402081e-01 -4.88630235e-01 1.24540662e-02 1.68370999e+02] [-1.44068391e-02 -2.36954384e-04 9.99896188e-01 -4.98606589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71 meters 0.014831858189768302 Centerline is valid? [True, True] Translation: X:113.63, Y:168.40, Z:-4.99 [[-4.89224262e-01 -8.72126500e-01 -7.41554977e-03 1.13633935e+02] [ 8.72033560e-01 -4.89280403e-01 1.27341388e-02 1.68395979e+02] [-1.47340631e-02 -2.36758601e-04 9.99891420e-01 -4.98671520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74 meters 0.015173962456333553 Centerline is valid? [True, True] Translation: X:113.62, Y:168.42, Z:-4.99 [[-4.90087672e-01 -8.71640510e-01 -7.54293926e-03 1.13619705e+02] [ 8.71544420e-01 -4.90145661e-01 1.29443085e-02 1.68418834e+02] [-1.49799226e-02 -2.30160584e-04 9.99887768e-01 -4.98777623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77 meters 0.01444006803102827 Centerline is valid? [True, True] Translation: X:113.61, Y:168.44, Z:-4.99 [[-4.91041613e-01 -8.71100921e-01 -7.83073454e-03 1.13607287e+02] [ 8.70997442e-01 -4.91103996e-01 1.34283683e-02 1.68444571e+02] [-1.55431690e-02 -2.26662130e-04 9.99879172e-01 -4.98757179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.8 meters 0.013961157301722343 Centerline is valid? [True, True] Translation: X:113.60, Y:168.47, Z:-4.99 [[-4.92757768e-01 -8.70126612e-01 -8.33432125e-03 1.13595583e+02] [ 8.70009425e-01 -4.92828198e-01 1.42817529e-02 1.68469799e+02] [-1.65343218e-02 -2.13493355e-04 9.99863276e-01 -4.98709126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83 meters 0.01412347129367642 Centerline is valid? [True, True] Translation: X:113.58, Y:168.49, Z:-4.99 [[-4.93764057e-01 -8.69551119e-01 -8.82653351e-03 1.13581896e+02] [ 8.69419776e-01 -4.93842897e-01 1.51144554e-02 1.68492653e+02] [-1.75017125e-02 -2.10987947e-04 9.99846811e-01 -4.98775630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86 meters 0.01418616735956714 Centerline is valid? [True, True] Translation: X:113.57, Y:168.52, Z:-4.99 [[-4.94545774e-01 -8.69103011e-01 -9.18878937e-03 1.13568666e+02] [ 8.68960794e-01 -4.94631088e-01 1.57234305e-02 1.68515234e+02] [-1.82103417e-02 -2.08741603e-04 9.99834156e-01 -4.98809660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89 meters 0.013900872550204753 Centerline is valid? [True, True] Translation: X:113.56, Y:168.54, Z:-4.99 [[-4.95589892e-01 -8.68503246e-01 -9.63169332e-03 1.13555589e+02] [ 8.68347125e-01 -4.95683437e-01 1.64681509e-02 1.68539451e+02] [-1.90769134e-02 -2.02204069e-04 9.99817999e-01 -4.98823604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92 meters 0.013607473528156106 Centerline is valid? [True, True] Translation: X:113.54, Y:168.56, Z:-4.99 [[-4.96594654e-01 -8.67926736e-01 -9.84538393e-03 1.13541979e+02] [ 8.67763739e-01 -4.96692204e-01 1.68210381e-02 1.68564506e+02] [-1.94895541e-02 -1.90229604e-04 9.99810043e-01 -4.98886280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95 meters 0.013429126245336383 Centerline is valid? [True, True] Translation: X:113.53, Y:168.59, Z:-4.99 [[-4.97865290e-01 -8.67198653e-01 -9.83104495e-03 1.13528369e+02] [ 8.67036205e-01 -4.97962317e-01 1.67854525e-02 1.68589671e+02] [-1.94518117e-02 -1.66977725e-04 9.99810782e-01 -4.99018139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98 meters 0.01344821471408955 Centerline is valid? [True, True] Translation: X:113.52, Y:168.61, Z:-4.99 [[-4.98696619e-01 -8.66723167e-01 -9.62463919e-03 1.13515030e+02] [ 8.66567567e-01 -4.98789464e-01 1.64232358e-02 1.68613251e+02] [-1.90350676e-02 -1.50187977e-04 9.99818805e-01 -4.99111270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01 meters 0.013238765085435733 Centerline is valid? [True, True] Translation: X:113.50, Y:168.64, Z:-4.99 [[-5.00062110e-01 -8.65942705e-01 -9.00659749e-03 1.13502226e+02] [ 8.65806499e-01 -5.00143198e-01 1.53586486e-02 1.68637768e+02] [-1.78042982e-02 -1.17692407e-04 9.99841484e-01 -4.99261398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03999999999996 meters 0.01323631280882457 Centerline is valid? [True, True] Translation: X:113.49, Y:168.66, Z:-4.99 [[-5.00410029e-01 -8.65745637e-01 -8.61947902e-03 1.13488393e+02] [ 8.65621016e-01 -5.00484246e-01 1.46893474e-02 1.68661844e+02] [-1.70311519e-02 -1.10505409e-04 9.99854953e-01 -4.99383171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07 meters 0.013244520396779298 Centerline is valid? [True, True] Translation: X:113.47, Y:168.68, Z:-5.00 [[-5.01294407e-01 -8.65236838e-01 -8.31457312e-03 1.13474638e+02] [ 8.65120946e-01 -5.01363348e-01 1.41612863e-02 1.68684755e+02] [-1.64214888e-02 -9.41377500e-05 9.99865154e-01 -4.99519277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09999999999997 meters 0.013256872900735623 Centerline is valid? [True, True] Translation: X:113.46, Y:168.71, Z:-5.00 [[-5.01882220e-01 -8.64898167e-01 -8.08687115e-03 1.13461006e+02] [ 8.64788660e-01 -5.01947361e-01 1.37629980e-02 1.68708902e+02] [-1.59627754e-02 -8.60304693e-05 9.99872583e-01 -4.99618899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13 meters 0.013151279337267225 Centerline is valid? [True, True] Translation: X:113.45, Y:168.73, Z:-5.00 [[-5.02556470e-01 -8.64508674e-01 -7.85790733e-03 1.13447434e+02] [ 8.64405381e-01 -5.02617893e-01 1.33637940e-02 1.68733706e+02] [-1.55026407e-02 -7.63562348e-05 9.99879824e-01 -4.99693425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15999999999997 meters 0.013092094823151743 Centerline is valid? [True, True] Translation: X:113.43, Y:168.76, Z:-5.00 [[-5.03487208e-01 -8.63971096e-01 -7.38760520e-03 1.13434074e+02] [ 8.63879848e-01 -5.03541400e-01 1.25565338e-02 1.68757095e+02] [-1.45684473e-02 -5.99491387e-05 9.99893873e-01 -4.99824065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19 meters 0.013003575480608117 Centerline is valid? [True, True] Translation: X:113.42, Y:168.78, Z:-5.00 [[-5.04696461e-01 -8.63267421e-01 -7.13032628e-03 1.13421171e+02] [ 8.63182464e-01 -5.04746825e-01 1.21109682e-02 1.68781970e+02] [-1.40540138e-02 -4.24098239e-05 9.99901237e-01 -4.99887503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21999999999997 meters 0.013003575480608117 Centerline is valid? [True, True] Translation: X:113.41, Y:168.81, Z:-5.00 [[-5.04941492e-01 -8.63124092e-01 -7.13376879e-03 1.13407095e+02] [ 8.63039150e-01 -5.04991881e-01 1.21089398e-02 1.68805719e+02] [-1.40540130e-02 -4.24156285e-05 9.99901237e-01 -4.99944102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25 meters 0.01302795157374585 Centerline is valid? [True, True] Translation: X:113.39, Y:168.83, Z:-5.00 [[-5.05453405e-01 -8.62824733e-01 -7.09477000e-03 1.13393586e+02] [ 8.62740795e-01 -5.05503194e-01 1.20350391e-02 1.68829931e+02] [-1.39705583e-02 -3.77960194e-05 9.99902406e-01 -4.99962905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28 meters 0.01302394333385846 Centerline is valid? [True, True] Translation: X:113.38, Y:168.85, Z:-5.00 [[-5.05961476e-01 -8.62525690e-01 -7.24008165e-03 1.13380094e+02] [ 8.62438363e-01 -5.06013273e-01 1.22734430e-02 1.68853485e+02] [-1.42497373e-02 -3.42348505e-05 9.99898467e-01 -5.00000604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31 meters 0.01308133119375335 Centerline is valid? [True, True] Translation: X:113.37, Y:168.88, Z:-5.00 [[-5.06247374e-01 -8.62355968e-01 -7.46860220e-03 1.13366288e+02] [ 8.62263155e-01 -5.06302462e-01 1.26518328e-02 1.68877572e+02] [-1.46917552e-02 -3.49433410e-05 9.99892070e-01 -5.00006803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34 meters 0.01305964914646954 Centerline is valid? [True, True] Translation: X:113.35, Y:168.90, Z:-5.00 [[-5.05663522e-01 -8.62697713e-01 -7.55371959e-03 1.13352186e+02] [ 8.62602953e-01 -5.05719936e-01 1.27864044e-02 1.68902264e+02] [-1.48508684e-02 -5.02425490e-05 9.99889719e-01 -4.99909334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37 meters 0.01308958192917005 Centerline is valid? [True, True] Translation: X:113.34, Y:168.93, Z:-5.00 [[-5.05363651e-01 -8.62872003e-01 -7.71274392e-03 1.13337853e+02] [ 8.62773365e-01 -5.05422499e-01 1.30467653e-02 1.68926433e+02] [-1.51558828e-02 -6.09890975e-05 9.99885141e-01 -4.99952043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4 meters 0.013072042662730309 Centerline is valid? [True, True] Translation: X:113.32, Y:168.95, Z:-5.00 [[-5.05923050e-01 -8.62546989e-01 -7.38638275e-03 1.13324230e+02] [ 8.62456614e-01 -5.05976965e-01 1.24860112e-02 1.68949651e+02] [-1.45071109e-02 -5.34737966e-05 9.99894765e-01 -5.00091207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43 meters 0.013024610002154838 Centerline is valid? [True, True] Translation: X:113.31, Y:168.97, Z:-5.00 [[-5.06529199e-01 -8.62191673e-01 -7.32736200e-03 1.13310170e+02] [ 8.62102770e-01 -5.06582192e-01 1.23812951e-02 1.68973826e+02] [-1.43869606e-02 -4.54515927e-05 9.99896501e-01 -5.00147418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46 meters 0.013094970785749716 Centerline is valid? [True, True] Translation: X:113.30, Y:169.00, Z:-5.00 [[-5.06914835e-01 -8.61965883e-01 -7.22272022e-03 1.13296503e+02] [ 8.61879583e-01 -5.06966286e-01 1.21970844e-02 1.68997485e+02] [-1.41751463e-02 -4.22320547e-05 9.99899527e-01 -5.00211347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49 meters 0.013154778620648525 Centerline is valid? [True, True] Translation: X:113.28, Y:169.02, Z:-5.00 [[-5.06743690e-01 -8.62069303e-01 -6.88117439e-03 1.13282337e+02] [ 8.61991089e-01 -5.06790406e-01 1.16123731e-02 1.69020583e+02] [-1.34979835e-02 -4.70142158e-05 9.99908897e-01 -5.00314727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52 meters 0.013154176993803134 Centerline is valid? [True, True] Translation: X:113.27, Y:169.04, Z:-5.00 [[-5.06706403e-01 -8.62094259e-01 -6.48918948e-03 1.13267743e+02] [ 8.62024796e-01 -5.06747951e-01 1.09436988e-02 1.69043628e+02] [-1.27228834e-02 -4.85999923e-05 9.99919060e-01 -5.00463036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55 meters 0.01319380781590552 Centerline is valid? [True, True] Translation: X:113.25, Y:169.07, Z:-5.01 [[-5.06483292e-01 -8.62228093e-01 -6.11480490e-03 1.13252886e+02] [ 8.62166512e-01 -5.06520200e-01 1.03049987e-02 1.69067192e+02] [-1.19825316e-02 -5.26703326e-05 9.99928206e-01 -5.00606800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58 meters 0.013263212718384059 Centerline is valid? [True, True] Translation: X:113.24, Y:169.09, Z:-5.01 [[-5.06236407e-01 -8.62375499e-01 -5.76182337e-03 1.13237450e+02] [ 8.62320896e-01 -5.06269193e-01 9.70449909e-03 1.69091111e+02] [-1.12859559e-02 -5.57699306e-05 9.99936310e-01 -5.00764257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61 meters 0.01343730404740596 Centerline is valid? [True, True] Translation: X:113.22, Y:169.11, Z:-5.01 [[-5.05476389e-01 -8.62824194e-01 -5.29443183e-03 1.13221955e+02] [ 8.62778158e-01 -5.05504111e-01 8.91310139e-03 1.69113318e+02] [-1.03667966e-02 -6.25578466e-05 9.99946261e-01 -5.00951511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64 meters 0.013404396042511198 Centerline is valid? [True, True] Translation: X:113.21, Y:169.14, Z:-5.01 [[-5.05487743e-01 -8.62816317e-01 -5.49044335e-03 1.13207364e+02] [ 8.62766893e-01 -5.05517555e-01 9.23529029e-03 1.69136906e+02] [-1.07438747e-02 -6.86467104e-05 9.99942281e-01 -5.00985066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67 meters 0.01343497030667548 Centerline is valid? [True, True] Translation: X:113.19, Y:169.16, Z:-5.01 [[-5.05612804e-01 -8.62741744e-01 -5.68993048e-03 1.13193047e+02] [ 8.62688725e-01 -5.05644813e-01 9.56487220e-03 1.69160478e+02] [-1.11290984e-02 -7.25170253e-05 9.99938067e-01 -5.01010535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7 meters 0.013420771211308958 Centerline is valid? [True, True] Translation: X:113.18, Y:169.18, Z:-5.01 [[-5.05793500e-01 -8.62633637e-01 -6.01187785e-03 1.13178675e+02] [ 8.62574542e-01 -5.05829222e-01 1.00974354e-02 1.69184396e+02] [-1.17513709e-02 -7.84755736e-05 9.99930947e-01 -5.01002156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73 meters 0.013353159976030364 Centerline is valid? [True, True] Translation: X:113.16, Y:169.21, Z:-5.01 [[-5.06086821e-01 -8.62458450e-01 -6.44613447e-03 1.13164787e+02] [ 8.62390583e-01 -5.06127865e-01 1.08197643e-02 1.69206686e+02] [-1.25941655e-02 -8.33455254e-05 9.99920687e-01 -5.00915163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76 meters 0.01340447959731479 Centerline is valid? [True, True] Translation: X:113.15, Y:169.23, Z:-5.01 [[-5.06218619e-01 -8.62379434e-01 -6.66497949e-03 1.13150475e+02] [ 8.62306995e-01 -5.06262486e-01 1.11777722e-02 1.69230400e+02] [-1.30137100e-02 -8.88620176e-05 9.99915314e-01 -5.00905639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78999999999996 meters 0.01331693176402612 Centerline is valid? [True, True] Translation: X:113.14, Y:169.25, Z:-5.01 [[-5.06533237e-01 -8.62193570e-01 -6.80638333e-03 1.13136228e+02] [ 8.62118126e-01 -5.06578956e-01 1.14060262e-02 1.69254377e+02] [-1.32821730e-02 -9.03750606e-05 9.99911784e-01 -5.00847019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82 meters 0.013229230698140304 Centerline is valid? [True, True] Translation: X:113.12, Y:169.28, Z:-5.01 [[-5.06099281e-01 -8.62447363e-01 -6.93282759e-03 1.13120921e+02] [ 8.62369219e-01 -5.06146754e-01 1.16100495e-02 1.69277451e+02] [-1.35220847e-02 -1.02819415e-04 9.99908567e-01 -5.00888574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84999999999997 meters 0.013466483593731022 Centerline is valid? [True, True] Translation: X:113.11, Y:169.30, Z:-5.01 [[-5.05717565e-01 -8.62673158e-01 -6.69086775e-03 1.13105987e+02] [ 8.62600481e-01 -5.05761813e-01 1.11981262e-02 1.69300337e+02] [-1.30443083e-02 -1.08456619e-04 9.99914914e-01 -5.01001143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88 meters 0.013568860690594462 Centerline is valid? [True, True] Translation: X:113.09, Y:169.32, Z:-5.01 [[-5.05049451e-01 -8.63067120e-01 -6.34029446e-03 1.13091209e+02] [ 8.63001968e-01 -5.05089233e-01 1.06051592e-02 1.69322697e+02] [-1.23553787e-02 -1.15556778e-04 9.99923663e-01 -5.01123587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90999999999997 meters 0.013672705515392158 Centerline is valid? [True, True] Translation: X:113.08, Y:169.35, Z:-5.01 [[-5.04331643e-01 -8.63487641e-01 -6.21998492e-03 1.13075677e+02] [ 8.63425072e-01 -5.04369982e-01 1.03954956e-02 1.69346498e+02] [-1.21135556e-02 -1.27713555e-04 9.99926620e-01 -5.01243248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94 meters 0.014052078839243481 Centerline is valid? [True, True] Translation: X:113.06, Y:169.37, Z:-5.01 [[-5.03172223e-01 -8.64166353e-01 -5.85048831e-03 1.13059858e+02] [ 8.64111105e-01 -5.03206216e-01 9.77254959e-03 1.69368398e+02] [-1.13891106e-02 -1.38196413e-04 9.99935132e-01 -5.01424530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96999999999997 meters 0.013970751871250735 Centerline is valid? [True, True] Translation: X:113.05, Y:169.39, Z:-5.01 [[-5.01747220e-01 -8.64996871e-01 -5.48999663e-03 1.13045026e+02] [ 8.64948339e-01 -5.01777231e-01 9.16415285e-03 1.69392136e+02] [-1.06817189e-02 -1.50475252e-04 9.99942938e-01 -5.01455215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0 meters 0.014963180426662353 Centerline is valid? [True, True] Translation: X:113.03, Y:169.41, Z:-5.02 [[-4.98841859e-01 -8.66678250e-01 -5.06065338e-03 1.13028548e+02] [ 8.66637150e-01 -4.98867497e-01 8.44213809e-03 1.69413480e+02] [-9.84121295e-03 -1.74458365e-04 9.99951559e-01 -5.01548102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03 meters 0.01533095691119086 Centerline is valid? [True, True] Translation: X:113.01, Y:169.44, Z:-5.02 [[-4.97813210e-01 -8.67270645e-01 -4.86178066e-03 1.13013116e+02] [ 8.67232758e-01 -4.97836917e-01 8.10841976e-03 1.69436964e+02] [-9.45256833e-03 -1.79816990e-04 9.99955307e-01 -5.01584011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06 meters 0.015892610777275655 Centerline is valid? [True, True] Translation: X:113.00, Y:169.46, Z:-5.02 [[-4.96681602e-01 -8.67919128e-01 -4.87576438e-03 1.12997971e+02] [ 8.67881121e-01 -4.96705495e-01 8.12476543e-03 1.69459259e+02] [-9.47345829e-03 -1.96162345e-04 9.99955107e-01 -5.01607278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09 meters 0.015880018140180724 Centerline is valid? [True, True] Translation: X:112.98, Y:169.48, Z:-5.02 [[-4.95058876e-01 -8.68845451e-01 -4.92864011e-03 1.12982780e+02] [ 8.68806686e-01 -4.95083362e-01 8.21024948e-03 1.69483368e+02] [-9.57352563e-03 -2.17478598e-04 9.99954149e-01 -5.01517362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12 meters 0.016439874319958577 Centerline is valid? [True, True] Translation: X:112.97, Y:169.51, Z:-5.02 [[-4.94654075e-01 -8.69074592e-01 -5.16715122e-03 1.12967614e+02] [ 8.69032048e-01 -4.94681006e-01 8.60241895e-03 1.69505653e+02] [-1.00322353e-02 -2.35198420e-04 9.99949648e-01 -5.01595103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15 meters 0.01676465188655515 Centerline is valid? [True, True] Translation: X:112.95, Y:169.53, Z:-5.02 [[-4.94512666e-01 -8.69154338e-01 -5.28762741e-03 1.12953148e+02] [ 8.69109851e-01 -4.94540874e-01 8.79722124e-03 1.69528014e+02] [-1.02610909e-02 -2.45191736e-04 9.99947324e-01 -5.01626198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18 meters 0.016803243448469896 Centerline is valid? [True, True] Translation: X:112.94, Y:169.55, Z:-5.02 [[-4.94848279e-01 -8.68962258e-01 -5.45667182e-03 1.12938886e+02] [ 8.68914951e-01 -4.94878299e-01 9.07067579e-03 1.69551245e+02] [-1.05824634e-02 -2.52775428e-04 9.99943972e-01 -5.01705796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21 meters 0.0167266037075818 Centerline is valid? [True, True] Translation: X:112.92, Y:169.58, Z:-5.02 [[-4.95662800e-01 -8.68496712e-01 -5.64362870e-03 1.12924835e+02] [ 8.68446156e-01 -4.95694863e-01 9.37423711e-03 1.69575020e+02] [-1.09390119e-02 -2.54727038e-04 9.99940135e-01 -5.01717700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24 meters 0.016023107866484795 Centerline is valid? [True, True] Translation: X:112.91, Y:169.60, Z:-5.02 [[-4.97798483e-01 -8.67267178e-01 -6.65677790e-03 1.12911759e+02] [ 8.67196872e-01 -4.97842914e-01 1.10461548e-02 1.69600534e+02] [-1.28939972e-02 -2.73977857e-04 9.99916831e-01 -5.01651567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27 meters 0.015420140383127735 Centerline is valid? [True, True] Translation: X:112.90, Y:169.63, Z:-5.02 [[-4.99490484e-01 -8.66290557e-01 -7.06598114e-03 1.12898852e+02] [ 8.66211345e-01 -4.99540389e-01 1.17177656e-02 1.69625309e+02] [-1.36807326e-02 -2.67720636e-04 9.99906379e-01 -5.01594188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.3 meters 0.01526705116887855 Centerline is valid? [True, True] Translation: X:112.89, Y:169.65, Z:-5.02 [[-5.01275684e-01 -8.65254921e-01 -7.52402849e-03 1.12885551e+02] [ 8.65165119e-01 -5.01332080e-01 1.24684384e-02 1.69649133e+02] [-1.45604145e-02 -2.59402041e-04 9.99893958e-01 -5.01577501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33 meters 0.014744976467278369 Centerline is valid? [True, True] Translation: X:112.87, Y:169.67, Z:-5.02 [[-5.03353277e-01 -8.64044692e-01 -7.88975946e-03 1.12872629e+02] [ 8.63945936e-01 -5.03415050e-01 1.30654801e-02 1.69673753e+02] [-1.52609824e-02 -2.39773381e-04 9.99883516e-01 -5.01587929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36 meters 0.014054274703052372 Centerline is valid? [True, True] Translation: X:112.86, Y:169.70, Z:-5.02 [[-5.07466189e-01 -8.61633475e-01 -8.11310858e-03 1.12860870e+02] [ 8.61528879e-01 -5.07531008e-01 1.34263289e-02 1.69699577e+02] [-1.56862286e-02 -1.76269378e-04 9.99876948e-01 -5.01613505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39 meters 0.013938668129490924 Centerline is valid? [True, True] Translation: X:112.85, Y:169.72, Z:-5.02 [[-5.10023146e-01 -8.60125786e-01 -7.74748600e-03 1.12848179e+02] [ 8.60030346e-01 -5.10081971e-01 1.28135530e-02 1.69723277e+02] [-1.49731203e-02 -1.27864448e-04 9.99887888e-01 -5.01734272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42 meters 0.013512670000711628 Centerline is valid? [True, True] Translation: X:112.84, Y:169.75, Z:-5.02 [[-5.13254402e-01 -8.58205129e-01 -7.34006800e-03 1.12836061e+02] [ 8.58119371e-01 -5.13306879e-01 1.21322826e-02 1.69748302e+02] [-1.41796945e-02 -7.17071056e-05 9.99899461e-01 -5.01818799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45 meters 0.013427106232285841 Centerline is valid? [True, True] Translation: X:112.82, Y:169.77, Z:-5.02 [[-5.16859892e-01 -8.56040399e-01 -7.11947574e-03 1.12824181e+02] [ 8.55959611e-01 -5.16908923e-01 1.17605307e-02 1.69772595e+02] [-1.37476099e-02 -1.54370393e-05 9.99905497e-01 -5.02001472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48 meters 0.014031034789813646 Centerline is valid? [True, True] Translation: X:112.82, Y:169.80, Z:-5.02 [[-5.25419292e-01 -8.50822372e-01 -5.98829276e-03 1.12815986e+02] [ 8.50764929e-01 -5.25453406e-01 9.88710178e-03 1.69799213e+02] [-1.15587362e-02 1.00244549e-04 9.99933191e-01 -5.02276013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51 meters 0.014547818802794764 Centerline is valid? [True, True] Translation: X:112.80, Y:169.82, Z:-5.02 [[-5.28959971e-01 -8.48627097e-01 -5.77931591e-03 1.12802939e+02] [ 8.48573533e-01 -5.28991523e-01 9.53564179e-03 1.69824385e+02] [-1.11494131e-02 1.39798281e-04 9.99937834e-01 -5.02346051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53999999999996 meters 0.015163859200222712 Centerline is valid? [True, True] Translation: X:112.79, Y:169.85, Z:-5.02 [[-5.32139508e-01 -8.46637821e-01 -5.65191458e-03 1.12789593e+02] [ 8.46586541e-01 -5.32169494e-01 9.31975770e-03 1.69849561e+02] [-1.08982359e-02 1.74576461e-04 9.99940597e-01 -5.02415136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57 meters 0.015942122480789286 Centerline is valid? [True, True] Translation: X:112.78, Y:169.87, Z:-5.02 [[-5.35979067e-01 -8.44213838e-01 -5.42551635e-03 1.12776931e+02] [ 8.44166513e-01 -5.36006485e-01 8.94129373e-03 1.69874572e+02] [-1.04564758e-02 2.12307048e-04 9.99945307e-01 -5.02447315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59999999999997 meters 0.0178724512783866 Centerline is valid? [True, True] Translation: X:112.77, Y:169.90, Z:-5.02 [[-5.43871283e-01 -8.39150872e-01 -5.46283151e-03 1.12766467e+02] [ 8.39102692e-01 -5.43898629e-01 8.99741567e-03 1.69901053e+02] [-1.05214158e-02 3.09559375e-04 9.99944600e-01 -5.02426959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63 meters 0.019354306395108094 Centerline is valid? [True, True] Translation: X:112.75, Y:169.93, Z:-5.02 [[-5.47856608e-01 -8.36553966e-01 -5.53159239e-03 1.12754915e+02] [ 8.36504515e-01 -5.47884415e-01 9.10302160e-03 1.69925301e+02] [-1.06458421e-02 3.59948533e-04 9.99943267e-01 -5.02463929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65999999999997 meters 0.01917975669982161 Centerline is valid? [True, True] Translation: X:112.74, Y:169.95, Z:-5.02 [[-5.51059574e-01 -8.34444476e-01 -5.98016672e-03 1.12740427e+02] [ 8.34386626e-01 -5.51091854e-01 9.83496197e-03 1.69948685e+02] [-1.15023509e-02 4.29878815e-04 9.99933753e-01 -5.02424978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69 meters 0.020245956957238555 Centerline is valid? [True, True] Translation: X:112.73, Y:169.97, Z:-5.02 [[-5.53528636e-01 -8.32803991e-01 -6.60017405e-03 1.12727406e+02] [ 8.32733466e-01 -5.53567750e-01 1.08499279e-02 1.69972286e+02] [-1.26895068e-02 5.09560001e-04 9.99919355e-01 -5.02455961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71999999999997 meters 0.021024156485636446 Centerline is valid? [True, True] Translation: X:112.71, Y:170.00, Z:-5.02 [[-5.55109135e-01 -8.31747849e-01 -7.02596487e-03 1.12713273e+02] [ 8.31667964e-01 -5.55153311e-01 1.15411793e-02 1.69995775e+02] [-1.34998387e-02 5.63344171e-04 9.99908714e-01 -5.02461735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75 meters 0.020070382362669687 Centerline is valid? [True, True] Translation: X:112.70, Y:170.02, Z:-5.02 [[-5.55423451e-01 -8.31533659e-01 -7.52092441e-03 1.12696303e+02] [ 8.31442237e-01 -5.55474040e-01 1.23449033e-02 1.70017908e+02] [-1.44428808e-02 6.03434548e-04 9.99895514e-01 -5.02425114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78 meters 0.021146281522536944 Centerline is valid? [True, True] Translation: X:112.68, Y:170.04, Z:-5.02 [[-5.52817364e-01 -8.33267020e-01 -7.68343451e-03 1.12680431e+02] [ 8.33171903e-01 -5.52870467e-01 1.26026206e-02 1.70039691e+02] [-1.47492922e-02 5.65325767e-04 9.99891063e-01 -5.02459206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81 meters 0.018600277017689664 Centerline is valid? [True, True] Translation: X:112.66, Y:170.06, Z:-5.02 [[-5.50597132e-01 -8.34735082e-01 -7.75501973e-03 1.12659944e+02] [ 8.34638420e-01 -5.50651490e-01 1.27139153e-02 1.70059990e+02] [-1.48830643e-02 5.27607864e-04 9.99889102e-01 -5.02499602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84 meters 0.0181487083595889 Centerline is valid? [True, True] Translation: X:112.64, Y:170.08, Z:-5.03 [[-5.48005175e-01 -8.36441942e-01 -7.43006012e-03 1.12642859e+02] [ 8.36353483e-01 -5.48055352e-01 1.21730471e-02 1.70080762e+02] [-1.42541314e-02 4.56736169e-04 9.99898300e-01 -5.02630503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87 meters 0.01623677804507763 Centerline is valid? [True, True] Translation: X:112.62, Y:170.10, Z:-5.03 [[-5.40942359e-01 -8.41031770e-01 -6.85031300e-03 1.12620172e+02] [ 8.40957022e-01 -5.40985645e-01 1.12169091e-02 1.70099584e+02] [-1.31396979e-02 3.06882464e-04 9.99913623e-01 -5.02816811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9 meters 0.015325519686970181 Centerline is valid? [True, True] Translation: X:112.60, Y:170.12, Z:-5.03 [[-5.37028732e-01 -8.43537844e-01 -6.63674629e-03 1.12602113e+02] [ 8.43467923e-01 -5.37069688e-01 1.08633717e-02 1.70119959e+02] [-1.27280604e-02 2.36060100e-04 9.99918967e-01 -5.02954918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93 meters 0.014426130651168417 Centerline is valid? [True, True] Translation: X:112.58, Y:170.14, Z:-5.03 [[-5.32894215e-01 -8.46158274e-01 -6.31909706e-03 1.12582365e+02] [ 8.46095134e-01 -5.32931655e-01 1.03380428e-02 1.70141344e+02] [-1.21152673e-02 1.62525950e-04 9.99926594e-01 -5.03028422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96 meters 0.01369853157910578 Centerline is valid? [True, True] Translation: X:112.56, Y:170.16, Z:-5.03 [[-5.28583960e-01 -8.48858843e-01 -6.13686297e-03 1.12563679e+02] [ 8.48799552e-01 -5.28619575e-01 1.00332276e-02 1.70161564e+02] [-1.17608598e-02 9.44366229e-05 9.99930834e-01 -5.03163676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99 meters 0.013101498745238471 Centerline is valid? [True, True] Translation: X:112.54, Y:170.18, Z:-5.03 [[-5.20038493e-01 -8.54118514e-01 -6.44445112e-03 1.12539440e+02] [ 8.54053577e-01 -5.20078421e-01 1.05320325e-02 1.70179846e+02] [-1.23472239e-02 -2.68442260e-05 9.99923770e-01 -5.03191939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02 meters 0.013330500154979632 Centerline is valid? [True, True] Translation: X:112.52, Y:170.20, Z:-5.03 [[-5.16329708e-01 -8.56363647e-01 -6.70344965e-03 1.12520590e+02] [ 8.56293666e-01 -5.16373214e-01 1.09481582e-02 1.70200604e+02] [-1.28370866e-02 -8.72621291e-05 9.99917597e-01 -5.03232376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05 meters 0.013830025270686625 Centerline is valid? [True, True] Translation: X:112.50, Y:170.22, Z:-5.03 [[-5.12936847e-01 -8.58395487e-01 -7.27865589e-03 1.12501897e+02] [ 8.58313311e-01 -5.12988464e-01 1.18783656e-02 1.70222287e+02] [-1.39302019e-02 -1.54515823e-04 9.99902958e-01 -5.03210376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08 meters 0.014103207317350255 Centerline is valid? [True, True] Translation: X:112.48, Y:170.24, Z:-5.03 [[-5.10068537e-01 -8.60100987e-01 -7.50861258e-03 1.12484166e+02] [ 8.60013834e-01 -5.10123757e-01 1.22457306e-02 1.70244497e+02] [-1.43628866e-02 -2.11348789e-04 9.99896826e-01 -5.03181057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11 meters 0.014103207317350255 Centerline is valid? [True, True] Translation: X:112.47, Y:170.27, Z:-5.03 [[-5.10316767e-01 -8.59953699e-01 -7.51214666e-03 1.12469674e+02] [ 8.59866562e-01 -5.10372012e-01 1.22435619e-02 1.70267985e+02] [-1.43628858e-02 -2.11348776e-04 9.99896826e-01 -5.03237662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14 meters 0.015285698520462602 Centerline is valid? [True, True] Translation: X:112.45, Y:170.29, Z:-5.03 [[-5.06015209e-01 -8.62482260e-01 -8.54165174e-03 1.12449626e+02] [ 8.62370130e-01 -5.06087191e-01 1.39109082e-02 1.70288440e+02] [-1.63207321e-02 -3.26934196e-04 9.99866755e-01 -5.03188584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17 meters 0.015836543121941205 Centerline is valid? [True, True] Translation: X:112.43, Y:170.31, Z:-5.03 [[-5.04872211e-01 -8.63147986e-01 -8.92210416e-03 1.12433435e+02] [ 8.63025915e-01 -5.04950906e-01 1.45207869e-02 1.70310426e+02] [-1.70388126e-02 -3.68865314e-04 9.99854761e-01 -5.03225549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2 meters 0.016008849718484226 Centerline is valid? [True, True] Translation: X:112.42, Y:170.33, Z:-5.03 [[-5.04395734e-01 -8.63422687e-01 -9.28477857e-03 1.12417808e+02] [ 8.63290726e-01 -5.04481025e-01 1.51002388e-02 1.70333857e+02] [-1.77218834e-02 -3.98967205e-04 9.99842876e-01 -5.03249311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23 meters 0.016305048101322998 Centerline is valid? [True, True] Translation: X:112.40, Y:170.36, Z:-5.03 [[-5.04337619e-01 -8.63455656e-01 -9.37525588e-03 1.12402345e+02] [ 8.63321292e-01 -5.04424585e-01 1.52375852e-02 1.70356690e+02] [-1.78860887e-02 -4.08970601e-04 9.99839947e-01 -5.03290679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26 meters 0.01617396725474128 Centerline is valid? [True, True] Translation: X:112.39, Y:170.38, Z:-5.03 [[-5.04861506e-01 -8.63148355e-01 -9.47508769e-03 1.12387488e+02] [ 8.63011248e-01 -5.04950247e-01 1.53893948e-02 1.70379947e+02] [-1.80677787e-02 -4.07594214e-04 9.99836681e-01 -5.03378958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28999999999996 meters 0.01582196503693539 Centerline is valid? [True, True] Translation: X:112.37, Y:170.40, Z:-5.04 [[-5.05890852e-01 -8.62550980e-01 -8.95836576e-03 1.12373643e+02] [ 8.62428493e-01 -5.05970029e-01 1.45404641e-02 1.70403546e+02] [-1.70745561e-02 -3.70062103e-04 9.99854151e-01 -5.03540189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32 meters 0.015426989919109629 Centerline is valid? [True, True] Translation: X:112.36, Y:170.43, Z:-5.04 [[-5.06798010e-01 -8.62022484e-01 -8.54483181e-03 1.12359417e+02] [ 8.61911126e-01 -5.06869925e-01 1.38596853e-02 1.70428241e+02] [-1.62784786e-02 -3.40824681e-04 9.99867439e-01 -5.03653059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34999999999997 meters 0.015073556333110591 Centerline is valid? [True, True] Translation: X:112.35, Y:170.45, Z:-5.04 [[-5.07593213e-01 -8.61561080e-01 -7.85079342e-03 1.12345612e+02] [ 8.61467130e-01 -5.07653832e-01 1.27267845e-02 1.70452869e+02] [-1.49503876e-02 -3.03171036e-04 9.99888191e-01 -5.03760508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38 meters 0.015050469571419256 Centerline is valid? [True, True] Translation: X:112.33, Y:170.48, Z:-5.04 [[-5.08904171e-01 -8.60796014e-01 -6.83864263e-03 1.12331922e+02] [ 8.60724731e-01 -5.08950058e-01 1.10804766e-02 1.70476537e+02] [-1.30185577e-02 -2.47288069e-04 9.99915224e-01 -5.03964015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40999999999997 meters 0.014682697784840427 Centerline is valid? [True, True] Translation: X:112.32, Y:170.50, Z:-5.04 [[-5.09624545e-01 -8.60373230e-01 -6.38186879e-03 1.12318241e+02] [ 8.60311196e-01 -5.09664454e-01 1.03339342e-02 1.70501179e+02] [-1.21436520e-02 -2.23966652e-04 9.99926238e-01 -5.04065699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44 meters 0.014447319185326012 Centerline is valid? [True, True] Translation: X:112.30, Y:170.53, Z:-5.04 [[-5.10215057e-01 -8.60025155e-01 -6.10974972e-03 1.12304942e+02] [ 8.59968342e-01 -5.10251594e-01 9.88745412e-03 1.70525551e+02] [-1.16209688e-02 -2.09463364e-04 9.99932452e-01 -5.04118580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46999999999997 meters 0.014489073085585535 Centerline is valid? [True, True] Translation: X:112.29, Y:170.55, Z:-5.04 [[-5.11105046e-01 -8.59497754e-01 -5.93665921e-03 1.12291143e+02] [ 8.59444143e-01 -5.11139486e-01 9.60163727e-03 1.70548754e+02] [-1.12870466e-02 -1.94781732e-04 9.99936280e-01 -5.04253741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5 meters 0.014012364304472896 Centerline is valid? [True, True] Translation: X:112.28, Y:170.57, Z:-5.04 [[-5.13146765e-01 -8.58282759e-01 -5.57695422e-03 1.12279552e+02] [ 8.58235437e-01 -5.13177045e-01 9.01419676e-03 1.70574174e+02] [-1.05986946e-02 -1.60733837e-04 9.99943819e-01 -5.04329574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53 meters 0.013749338986570934 Centerline is valid? [True, True] Translation: X:112.27, Y:170.60, Z:-5.04 [[-5.14609829e-01 -8.57405786e-01 -5.66053537e-03 1.12266783e+02] [ 8.57357046e-01 -5.14640939e-01 9.14327990e-03 1.70598053e+02] [-1.07526443e-02 -1.47878178e-04 9.99942178e-01 -5.04399031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56 meters 0.013556754804179833 Centerline is valid? [True, True] Translation: X:112.25, Y:170.62, Z:-5.04 [[-5.16275097e-01 -8.56403137e-01 -5.80433960e-03 1.12253924e+02] [ 8.56351900e-01 -5.16307707e-01 9.36883632e-03 1.70622983e+02] [-1.10203261e-02 -1.33660364e-04 9.99939265e-01 -5.04406158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59 meters 0.013373982463848527 Centerline is valid? [True, True] Translation: X:112.24, Y:170.65, Z:-5.04 [[-5.18031531e-01 -8.55338078e-01 -6.33290555e-03 1.12241068e+02] [ 8.55277095e-01 -5.18070224e-01 1.02143953e-02 1.70648207e+02] [-1.20176510e-02 -1.25010245e-04 9.99927778e-01 -5.04375861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62 meters 0.01298872500468113 Centerline is valid? [True, True] Translation: X:112.23, Y:170.67, Z:-5.04 [[-5.21524131e-01 -8.53202205e-01 -7.65363282e-03 1.12230539e+02] [ 8.53113049e-01 -5.21580280e-01 1.23344438e-02 1.70674367e+02] [-1.45157586e-02 -9.67039223e-05 9.99894636e-01 -5.04195307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65 meters 0.012894433940687355 Centerline is valid? [True, True] Translation: X:112.22, Y:170.70, Z:-5.04 [[-5.23316433e-01 -8.52098370e-01 -8.26316737e-03 1.12218158e+02] [ 8.51994466e-01 -5.23381661e-01 1.33066384e-02 1.70698112e+02] [-1.56633551e-02 -7.65903522e-05 9.99877319e-01 -5.04186267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68 meters 0.012690086691595924 Centerline is valid? [True, True] Translation: X:112.21, Y:170.72, Z:-5.04 [[-5.25013195e-01 -8.51050185e-01 -8.64451707e-03 1.12205202e+02] [ 8.50936430e-01 -5.25084355e-01 1.39144542e-02 1.70722953e+02] [-1.63809995e-02 -5.06624328e-05 9.99865821e-01 -5.04187580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71 meters 0.012742949619763348 Centerline is valid? [True, True] Translation: X:112.19, Y:170.75, Z:-5.04 [[-5.26608601e-01 -8.50064000e-01 -8.63584880e-03 1.12192262e+02] [ 8.49950483e-01 -5.26679405e-01 1.38917528e-02 1.70747451e+02] [-1.63572027e-02 -2.45273476e-05 9.99866212e-01 -5.04218767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74 meters 0.012728169033572332 Centerline is valid? [True, True] Translation: X:112.18, Y:170.77, Z:-5.04 [[-5.27805500e-01 -8.49322138e-01 -8.55920865e-03 1.12178894e+02] [ 8.49210664e-01 -5.27874896e-01 1.37601686e-02 1.70771594e+02] [-1.62050072e-02 -5.87861490e-06 9.99868690e-01 -5.04298718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77 meters 0.012819797544303268 Centerline is valid? [True, True] Translation: X:112.17, Y:170.80, Z:-5.04 [[-5.29493075e-01 -8.48271644e-01 -8.50303892e-03 1.12166225e+02] [ 8.48161646e-01 -5.29561345e-01 1.36603214e-02 1.70796262e+02] [-1.60905440e-02 2.10941073e-05 9.99870539e-01 -5.04427631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.8 meters 0.012819058583142648 Centerline is valid? [True, True] Translation: X:112.15, Y:170.82, Z:-5.05 [[-5.30212495e-01 -8.47823315e-01 -8.38667830e-03 1.12152130e+02] [ 8.47716403e-01 -5.30278819e-01 1.34638403e-02 1.70820248e+02] [-1.58622356e-02 2.91715868e-05 9.99874186e-01 -5.04519965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83 meters 0.012856020733379004 Centerline is valid? [True, True] Translation: X:112.14, Y:170.84, Z:-5.05 [[-5.31084632e-01 -8.47281271e-01 -7.97256368e-03 1.12138162e+02] [ 8.47184710e-01 -5.31144468e-01 1.27914198e-02 1.70843912e+02] [-1.50725135e-02 3.90923961e-05 9.99886402e-01 -5.04659218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86 meters 0.012899927970389458 Centerline is valid? [True, True] Translation: X:112.12, Y:170.87, Z:-5.05 [[-5.31545194e-01 -8.46996394e-01 -7.53765327e-03 1.12123732e+02] [ 8.46910164e-01 -5.31598634e-01 1.20858107e-02 1.70867943e+02] [-1.42436443e-02 4.04394237e-05 9.99898553e-01 -5.04763381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89 meters 0.01296223139613224 Centerline is valid? [True, True] Translation: X:112.11, Y:170.89, Z:-5.05 [[-5.32354878e-01 -8.46490365e-01 -7.23506815e-03 1.12110307e+02] [ 8.46410966e-01 -5.32404038e-01 1.15938601e-02 1.70892025e+02] [-1.36660703e-02 4.82069458e-05 9.99906614e-01 -5.04917934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92 meters 0.012981377217893726 Centerline is valid? [True, True] Translation: X:112.10, Y:170.92, Z:-5.05 [[-5.32675421e-01 -8.46289380e-01 -7.15415850e-03 1.12096550e+02] [ 8.46211832e-01 -5.32723459e-01 1.14565524e-02 1.70915670e+02] [-1.35067467e-02 4.86902841e-05 9.99908779e-01 -5.04967632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95 meters 0.013073056027571842 Centerline is valid? [True, True] Translation: X:112.08, Y:170.94, Z:-5.05 [[-5.33154860e-01 -8.45985399e-01 -7.38916524e-03 1.12082310e+02] [ 8.45902762e-01 -5.33206059e-01 1.18243865e-02 1.70939742e+02] [-1.39432061e-02 5.37138715e-05 9.99902787e-01 -5.04969431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98 meters 0.013068203826225684 Centerline is valid? [True, True] Translation: X:112.07, Y:170.96, Z:-5.05 [[-5.33386212e-01 -8.45836783e-01 -7.69969767e-03 1.12068975e+02] [ 8.45747150e-01 -5.33441781e-01 1.23136273e-02 1.70961994e+02] [-1.45226593e-02 5.59216496e-05 9.99894539e-01 -5.04961772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01 meters 0.013043273275826666 Centerline is valid? [True, True] Translation: X:112.05, Y:170.99, Z:-5.05 [[-5.33634838e-01 -8.45670461e-01 -8.67939834e-03 1.12054379e+02] [ 8.45556741e-01 -5.33705413e-01 1.38682703e-02 1.70985550e+02] [-1.63602284e-02 6.16684125e-05 9.99866161e-01 -5.04932693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03999999999996 meters 0.013001090249664365 Centerline is valid? [True, True] Translation: X:112.04, Y:171.01, Z:-5.05 [[-5.33894220e-01 -8.45504358e-01 -8.90744747e-03 1.12040174e+02] [ 8.45384735e-01 -5.33968517e-01 1.42222538e-02 1.71008552e+02] [-1.67812741e-02 6.29590074e-05 9.99859183e-01 -5.04979235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07 meters 0.012962363460720366 Centerline is valid? [True, True] Translation: X:112.03, Y:171.03, Z:-5.05 [[-5.34222959e-01 -8.45294395e-01 -9.12222188e-03 1.12026509e+02] [ 8.45169085e-01 -5.34300834e-01 1.45546043e-02 1.71031617e+02] [-1.71769362e-02 6.55838695e-05 9.99852463e-01 -5.05010403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09999999999997 meters 0.013096325622404268 Centerline is valid? [True, True] Translation: X:112.01, Y:171.05, Z:-5.05 [[-5.34747014e-01 -8.44960015e-01 -9.39172517e-03 1.12012737e+02] [ 8.44827331e-01 -5.34829476e-01 1.49737552e-02 1.71054771e+02] [-1.76751959e-02 7.27847895e-05 9.99843779e-01 -5.05079390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13 meters 0.013063021078337489 Centerline is valid? [True, True] Translation: X:112.00, Y:171.08, Z:-5.05 [[-5.35392271e-01 -8.44546815e-01 -9.78737825e-03 1.11998592e+02] [ 8.44402858e-01 -5.35481718e-01 1.55930611e-02 1.71078581e+02] [-1.84100322e-02 8.39142320e-05 9.99830517e-01 -5.05103282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15999999999997 meters 0.013137772302690138 Centerline is valid? [True, True] Translation: X:111.99, Y:171.10, Z:-5.05 [[-5.35446850e-01 -8.44507976e-01 -1.01463783e-02 1.11985074e+02] [ 8.44353457e-01 -5.35542969e-01 1.61545410e-02 1.71100813e+02] [-1.90764603e-02 8.27685059e-05 9.99818024e-01 -5.05146311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19 meters 0.013068626866928461 Centerline is valid? [True, True] Translation: X:111.97, Y:171.12, Z:-5.05 [[-5.35742962e-01 -8.44318966e-01 -1.02451081e-02 1.11970494e+02] [ 8.44161627e-01 -5.35840906e-01 1.62994209e-02 1.71123823e+02] [-1.92516582e-02 8.37728983e-05 9.99814666e-01 -5.05237988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21999999999997 meters 0.013074083041163123 Centerline is valid? [True, True] Translation: X:111.96, Y:171.15, Z:-5.05 [[-5.35624915e-01 -8.44394496e-01 -1.01924019e-02 1.11955390e+02] [ 8.44239002e-01 -5.35721877e-01 1.62042589e-02 1.71147077e+02] [-1.91430797e-02 7.45816091e-05 9.99816752e-01 -5.05349013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25 meters 0.013062969296916888 Centerline is valid? [True, True] Translation: X:111.94, Y:171.17, Z:-5.06 [[-5.35941096e-01 -8.44196810e-01 -9.94423057e-03 1.11940693e+02] [ 8.44048945e-01 -5.36033339e-01 1.57999577e-02 1.71170265e+02] [-1.86687130e-02 7.44293221e-05 9.99825722e-01 -5.05533459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28 meters 0.013200020290304836 Centerline is valid? [True, True] Translation: X:111.93, Y:171.19, Z:-5.06 [[-5.36029358e-01 -8.44148183e-01 -9.29367400e-03 1.11927174e+02] [ 8.44019182e-01 -5.36109914e-01 1.47573653e-02 1.71193068e+02] [-1.74398339e-02 6.63419392e-05 9.99847912e-01 -5.05848561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31 meters 0.013183567244228069 Centerline is valid? [True, True] Translation: X:111.91, Y:171.22, Z:-5.06 [[-5.36136794e-01 -8.44081932e-01 -9.11206228e-03 1.11912916e+02] [ 8.43958096e-01 -5.36214218e-01 1.44583735e-02 1.71216415e+02] [-1.70900692e-02 6.14672900e-05 9.99853952e-01 -5.05965923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34 meters 0.01320617354658421 Centerline is valid? [True, True] Translation: X:111.90, Y:171.24, Z:-5.06 [[-5.35675820e-01 -8.44374556e-01 -9.11179080e-03 1.11898219e+02] [ 8.44250949e-01 -5.35753307e-01 1.44474478e-02 1.71238390e+02] [-1.70807294e-02 4.65104099e-05 9.99854113e-01 -5.06110991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37 meters 0.013117884523388305 Centerline is valid? [True, True] Translation: X:111.88, Y:171.26, Z:-5.06 [[-5.34553500e-01 -8.45085621e-01 -9.10217017e-03 1.11882912e+02] [ 8.44962501e-01 -5.34630988e-01 1.44249169e-02 1.71260416e+02] [-1.70565921e-02 1.98973401e-05 9.99854526e-01 -5.06198331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4 meters 0.013240564392207024 Centerline is valid? [True, True] Translation: X:111.87, Y:171.28, Z:-5.06 [[-5.32322805e-01 -8.46493904e-01 -8.97231510e-03 1.11866331e+02] [ 8.46374635e-01 -5.32398413e-01 1.42093686e-02 1.71283229e+02] [-1.68049902e-02 -2.99689499e-05 9.99858786e-01 -5.06348731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43 meters 0.01332758694263761 Centerline is valid? [True, True] Translation: X:111.85, Y:171.31, Z:-5.06 [[-5.30857558e-01 -8.47413865e-01 -8.94394344e-03 1.11850422e+02] [ 8.47295625e-01 -5.30932893e-01 1.41558218e-02 1.71305483e+02] [-1.67444735e-02 -6.34391366e-05 9.99859799e-01 -5.06417890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46 meters 0.013542242955417056 Centerline is valid? [True, True] Translation: X:111.83, Y:171.33, Z:-5.07 [[-5.29320193e-01 -8.48376265e-01 -8.82305429e-03 1.11834834e+02] [ 8.48261496e-01 -5.29393713e-01 1.39546221e-02 1.71326109e+02] [-1.65096397e-02 -9.77939501e-05 9.99863702e-01 -5.06519720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49 meters 0.01387680760674961 Centerline is valid? [True, True] Translation: X:111.82, Y:171.35, Z:-5.07 [[-5.27133607e-01 -8.49737150e-01 -8.77128608e-03 1.11818206e+02] [ 8.49624061e-01 -5.27206558e-01 1.38636183e-02 1.71348414e+02] [-1.64047111e-02 -1.44316564e-04 9.99865423e-01 -5.06627419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52 meters 0.014068201627423857 Centerline is valid? [True, True] Translation: X:111.80, Y:171.37, Z:-5.07 [[-5.26934387e-01 -8.49860155e-01 -8.82437029e-03 1.11803309e+02] [ 8.49745846e-01 -5.27008248e-01 1.39392904e-02 1.71370521e+02] [-1.64969634e-02 -1.53380579e-04 9.99863904e-01 -5.06710988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55 meters 0.013921479938742208 Centerline is valid? [True, True] Translation: X:111.79, Y:171.39, Z:-5.07 [[-5.27032933e-01 -8.49798779e-01 -8.85002520e-03 1.11788760e+02] [ 8.49683969e-01 -5.27107210e-01 1.39693561e-02 1.71394074e+02] [-1.65360538e-02 -1.57413838e-04 9.99863258e-01 -5.06749459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58 meters 0.01410738580698888 Centerline is valid? [True, True] Translation: X:111.77, Y:171.42, Z:-5.07 [[-5.27189742e-01 -8.49697665e-01 -9.21166824e-03 1.11773554e+02] [ 8.49573422e-01 -5.27270188e-01 1.45309558e-02 1.71415926e+02] [-1.72039572e-02 -1.65417698e-04 9.99851987e-01 -5.06817949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61 meters 0.014071554459588409 Centerline is valid? [True, True] Translation: X:111.76, Y:171.44, Z:-5.07 [[-5.27417082e-01 -8.49553874e-01 -9.45707197e-03 1.11759646e+02] [ 8.49423103e-01 -5.27501835e-01 1.49066241e-02 1.71439107e+02] [-1.76526030e-02 -1.71047244e-04 9.99844166e-01 -5.06836338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64 meters 0.013903820747880177 Centerline is valid? [True, True] Translation: X:111.75, Y:171.46, Z:-5.07 [[-5.27897717e-01 -8.49254849e-01 -9.49747917e-03 1.11745085e+02] [ 8.49123099e-01 -5.27983118e-01 1.49596118e-02 1.71463008e+02] [-1.77190316e-02 -1.67384009e-04 9.99842992e-01 -5.06872983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67 meters 0.01401958491085909 Centerline is valid? [True, True] Translation: X:111.73, Y:171.49, Z:-5.07 [[-5.28421902e-01 -8.48929209e-01 -9.46005680e-03 1.11730426e+02] [ 8.48798607e-01 -5.28506550e-01 1.48913340e-02 1.71485457e+02] [-1.76413903e-02 -1.60776022e-04 9.99844366e-01 -5.06967517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7 meters 0.013823901028118155 Centerline is valid? [True, True] Translation: X:111.72, Y:171.51, Z:-5.07 [[-5.28928925e-01 -8.48615434e-01 -9.27566485e-03 1.11716171e+02] [ 8.48489992e-01 -5.29010229e-01 1.45914539e-02 1.71509701e+02] [-1.72894546e-02 -1.52466768e-04 9.99850515e-01 -5.07023893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73 meters 0.013890408318484974 Centerline is valid? [True, True] Translation: X:111.70, Y:171.53, Z:-5.07 [[-5.29665526e-01 -8.48161041e-01 -8.79087258e-03 1.11701646e+02] [ 8.48048455e-01 -5.29738455e-01 1.38198564e-02 1.71532873e+02] [-1.63783270e-02 -1.35184411e-04 9.99865857e-01 -5.07186270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76 meters 0.013871011329461539 Centerline is valid? [True, True] Translation: X:111.69, Y:171.56, Z:-5.07 [[-5.30087372e-01 -8.47899104e-01 -8.63056343e-03 1.11686845e+02] [ 8.47790642e-01 -5.30157611e-01 1.35622570e-02 1.71556429e+02] [-1.60749844e-02 -1.27729739e-04 9.99870781e-01 -5.07281658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78999999999996 meters 0.013796325727047486 Centerline is valid? [True, True] Translation: X:111.67, Y:171.58, Z:-5.07 [[-5.30799608e-01 -8.47454759e-01 -8.49748180e-03 1.11672422e+02] [ 8.47349688e-01 -5.30867608e-01 1.33449960e-02 1.71579151e+02] [-1.58203182e-02 -1.16819887e-04 9.99874844e-01 -5.07414247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82 meters 0.013804831798988924 Centerline is valid? [True, True] Translation: X:111.66, Y:171.60, Z:-5.08 [[-5.31422283e-01 -8.47065131e-01 -8.42737091e-03 1.11657642e+02] [ 8.46961877e-01 -5.31489089e-01 1.32260128e-02 1.71603411e+02] [-1.56823500e-02 -1.09063945e-04 9.99877018e-01 -5.07513060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84999999999997 meters 0.013800331111018667 Centerline is valid? [True, True] Translation: X:111.64, Y:171.63, Z:-5.08 [[-5.32462524e-01 -8.46418279e-01 -7.73034682e-03 1.11644656e+02] [ 8.46331421e-01 -5.32518629e-01 1.21258054e-02 1.71627896e+02] [-1.43800570e-02 -8.58984505e-05 9.99896598e-01 -5.07589525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88 meters 0.013751224089814763 Centerline is valid? [True, True] Translation: X:111.63, Y:171.65, Z:-5.08 [[-5.33261087e-01 -8.45915598e-01 -7.70804157e-03 1.11630663e+02] [ 8.45829309e-01 -5.33316787e-01 1.20823974e-02 1.71651708e+02] [-1.43315164e-02 -7.66150914e-05 9.99897296e-01 -5.07650218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90999999999997 meters 0.01372538068298854 Centerline is valid? [True, True] Translation: X:111.62, Y:171.67, Z:-5.08 [[-5.33346870e-01 -8.45862842e-01 -7.56105874e-03 1.11616705e+02] [ 8.45779920e-01 -5.33400457e-01 1.18439451e-02 1.71674936e+02] [-1.40514253e-02 -7.80606126e-05 9.99901271e-01 -5.07710535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94 meters 0.01370576693859912 Centerline is valid? [True, True] Translation: X:111.60, Y:171.70, Z:-5.08 [[-5.33898006e-01 -8.45513000e-01 -7.79015393e-03 1.11602793e+02] [ 8.45425067e-01 -5.33954831e-01 1.21940358e-02 1.71698247e+02] [-1.44698061e-02 -7.56200267e-05 9.99895304e-01 -5.07745155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96999999999997 meters 0.013817304694975501 Centerline is valid? [True, True] Translation: X:111.59, Y:171.72, Z:-5.08 [[-5.33472226e-01 -8.45779311e-01 -8.04617223e-03 1.11589909e+02] [ 8.45685670e-01 -5.33532894e-01 1.25856659e-02 1.71720654e+02] [-1.49375934e-02 -9.04293627e-05 9.99888424e-01 -5.07738885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0 meters 0.013887048496133259 Centerline is valid? [True, True] Translation: X:111.58, Y:171.74, Z:-5.08 [[-5.33087293e-01 -8.46019298e-01 -8.32381186e-03 1.11575496e+02] [ 8.45919269e-01 -5.33152264e-01 1.30097559e-02 1.71744108e+02] [-1.54443637e-02 -1.05937302e-04 9.99880723e-01 -5.07756113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03 meters 0.013887048496133259 Centerline is valid? [True, True] Translation: X:111.56, Y:171.77, Z:-5.08 [[-5.33353107e-01 -8.45851707e-01 -8.32790224e-03 1.11560963e+02] [ 8.45751698e-01 -5.33418109e-01 1.30071367e-02 1.71766604e+02] [-1.54443626e-02 -1.05940697e-04 9.99880723e-01 -5.07810994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06 meters 0.01393462326060014 Centerline is valid? [True, True] Translation: X:111.55, Y:171.79, Z:-5.08 [[-5.33011554e-01 -8.46067015e-01 -8.32408272e-03 1.11546402e+02] [ 8.45967263e-01 -5.33076536e-01 1.29921935e-02 1.71789655e+02] [-1.54296395e-02 -1.16912241e-04 9.99880949e-01 -5.07828589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09 meters 0.013948114038985984 Centerline is valid? [True, True] Translation: X:111.53, Y:171.81, Z:-5.08 [[-5.32554353e-01 -8.46351893e-01 -8.62172508e-03 1.11531950e+02] [ 8.46245072e-01 -5.32624121e-01 1.34470555e-02 1.71813221e+02] [-1.59730796e-02 -1.34804415e-04 9.99872413e-01 -5.07849402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12 meters 0.014180862725596356 Centerline is valid? [True, True] Translation: X:111.52, Y:171.84, Z:-5.08 [[-5.31196036e-01 -8.47202005e-01 -8.91819662e-03 1.11517695e+02] [ 8.47087998e-01 -5.31270867e-01 1.38992439e-02 1.71836978e+02] [-1.65134454e-02 -1.71274036e-04 9.99863629e-01 -5.07861577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15 meters 0.014552992380588756 Centerline is valid? [True, True] Translation: X:111.50, Y:171.86, Z:-5.08 [[-5.30314533e-01 -8.47752002e-01 -9.11253266e-03 1.11503487e+02] [ 8.47633229e-01 -5.30392782e-01 1.41917704e-02 1.71858521e+02] [-1.68643234e-02 -1.97983367e-04 9.99857768e-01 -5.07875363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18 meters 0.014430750033378893 Centerline is valid? [True, True] Translation: X:111.49, Y:171.88, Z:-5.08 [[-5.29841306e-01 -8.48047971e-01 -9.10105009e-03 1.11489004e+02] [ 8.47929697e-01 -5.29919422e-01 1.41646212e-02 1.71882856e+02] [-1.68351015e-02 -2.12049252e-04 9.99858257e-01 -5.07877138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21 meters 0.01453098561985253 Centerline is valid? [True, True] Translation: X:111.47, Y:171.91, Z:-5.08 [[-5.29334809e-01 -8.48364311e-01 -9.09155719e-03 1.11474480e+02] [ 8.48246478e-01 -5.29412830e-01 1.41409707e-02 1.71906444e+02] [-1.68098819e-02 -2.26573349e-04 9.99858678e-01 -5.07973982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24 meters 0.014764789859027095 Centerline is valid? [True, True] Translation: X:111.46, Y:171.93, Z:-5.08 [[-5.28913545e-01 -8.48629820e-01 -8.82557779e-03 1.11460441e+02] [ 8.48518963e-01 -5.28987121e-01 1.37184134e-02 1.71929027e+02] [-1.63104717e-02 -2.32815440e-04 9.99866948e-01 -5.08122840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27 meters 0.01530189199013245 Centerline is valid? [True, True] Translation: X:111.45, Y:171.95, Z:-5.08 [[-5.28984744e-01 -8.48588622e-01 -8.51414882e-03 1.11445262e+02] [ 8.48485533e-01 -5.29053210e-01 1.32287826e-02 1.71951059e+02] [-1.57302322e-02 -2.26307929e-04 9.99876247e-01 -5.08219876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.3 meters 0.015393680704529464 Centerline is valid? [True, True] Translation: X:111.43, Y:171.97, Z:-5.08 [[-5.29010135e-01 -8.48573853e-01 -8.40790651e-03 1.11430740e+02] [ 8.48473471e-01 -5.29076898e-01 1.30539291e-02 1.71974432e+02] [-1.55256520e-02 -2.28224798e-04 9.99879444e-01 -5.08325576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33 meters 0.015026969502963798 Centerline is valid? [True, True] Translation: X:111.42, Y:172.00, Z:-5.08 [[-5.29308955e-01 -8.48389826e-01 -8.16906942e-03 1.11417421e+02] [ 8.48295166e-01 -5.29371944e-01 1.26750430e-02 1.71998507e+02] [-1.50778537e-02 -2.20768315e-04 9.99886298e-01 -5.08313633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36 meters 0.014835727313701684 Centerline is valid? [True, True] Translation: X:111.40, Y:172.02, Z:-5.08 [[-5.29906213e-01 -8.48018831e-01 -7.96673704e-03 1.11404175e+02] [ 8.47928888e-01 -5.29966055e-01 1.23523878e-02 1.72023173e+02] [-1.46971576e-02 -2.09619464e-04 9.99891969e-01 -5.08348996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39 meters 0.014830098588522158 Centerline is valid? [True, True] Translation: X:111.39, Y:172.05, Z:-5.08 [[-5.30847829e-01 -8.47431623e-01 -7.76061200e-03 1.11390525e+02] [ 8.47346308e-01 -5.30904519e-01 1.20260913e-02 1.72045479e+02] [-1.43114341e-02 -1.91901452e-04 9.99897568e-01 -5.08442159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42 meters 0.014605499902617586 Centerline is valid? [True, True] Translation: X:111.38, Y:172.07, Z:-5.08 [[-5.31860706e-01 -8.46799349e-01 -7.41972235e-03 1.11377051e+02] [ 8.46721414e-01 -5.31912430e-01 1.14896882e-02 1.72069207e+02] [-1.36761031e-02 -1.71524099e-04 9.99906463e-01 -5.08485914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45 meters 0.014762404036198436 Centerline is valid? [True, True] Translation: X:111.36, Y:172.09, Z:-5.09 [[-5.33065536e-01 -8.46044308e-01 -7.08258771e-03 1.11363298e+02] [ 8.45973335e-01 -5.33112564e-01 1.09594802e-02 1.72091086e+02] [-1.30480224e-02 -1.49559154e-04 9.99914860e-01 -5.08613622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48 meters 0.014211525850863983 Centerline is valid? [True, True] Translation: X:111.35, Y:172.12, Z:-5.09 [[-5.34958973e-01 -8.44847389e-01 -7.19626969e-03 1.11350976e+02] [ 8.44774080e-01 -5.35007358e-01 1.11301828e-02 1.72115547e+02] [-1.32533631e-02 -1.25030936e-04 9.99912163e-01 -5.08604561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51 meters 0.013659469500252073 Centerline is valid? [True, True] Translation: X:111.34, Y:172.14, Z:-5.09 [[-5.39204115e-01 -8.42144117e-01 -7.22552763e-03 1.11339636e+02] [ 8.42070076e-01 -5.39252521e-01 1.11671404e-02 1.72141738e+02] [-1.33007256e-02 -6.30325202e-05 9.99911539e-01 -5.08618849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53999999999996 meters 0.013520338239200866 Centerline is valid? [True, True] Translation: X:111.33, Y:172.17, Z:-5.09 [[-5.41773995e-01 -8.40494284e-01 -7.09203836e-03 1.11327032e+02] [ 8.40422892e-01 -5.41820411e-01 1.09546955e-02 1.72165920e+02] [-1.30499701e-02 -2.53422605e-05 9.99914845e-01 -5.08629618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57 meters 0.013454736343115632 Centerline is valid? [True, True] Translation: X:111.31, Y:172.19, Z:-5.09 [[-5.44440651e-01 -8.38768568e-01 -7.18793476e-03 1.11314000e+02] [ 8.38695184e-01 -5.44488098e-01 1.10950058e-02 1.72190513e+02] [-1.32198870e-02 1.20859098e-05 9.99912613e-01 -5.08654157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59999999999997 meters 0.013440115655598942 Centerline is valid? [True, True] Translation: X:111.30, Y:172.21, Z:-5.09 [[-5.46644990e-01 -8.37329677e-01 -7.63329256e-03 1.11300698e+02] [ 8.37246901e-01 -5.46698281e-01 1.17735380e-02 1.72214475e+02] [-1.40314407e-02 4.49950167e-05 9.99901553e-01 -5.08628318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63 meters 0.013614561010723034 Centerline is valid? [True, True] Translation: X:111.29, Y:172.24, Z:-5.09 [[-5.49768733e-01 -8.35279176e-01 -7.93962037e-03 1.11286657e+02] [ 8.35189543e-01 -5.49826053e-01 1.22368174e-02 1.72238995e+02] [-1.45865689e-02 9.63316835e-05 9.99893606e-01 -5.08534152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65999999999997 meters 0.013562501931408342 Centerline is valid? [True, True] Translation: X:111.27, Y:172.26, Z:-5.09 [[-5.51050012e-01 -8.34433604e-01 -8.02775390e-03 1.11271010e+02] [ 8.34341994e-01 -5.51108471e-01 1.23648462e-02 1.72262879e+02] [-1.47418064e-02 1.15756451e-04 9.99891327e-01 -5.08566462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69 meters 0.01375363255614279 Centerline is valid? [True, True] Translation: X:111.26, Y:172.29, Z:-5.09 [[-5.52519704e-01 -8.33460406e-01 -8.10725062e-03 1.11256273e+02] [ 8.33366984e-01 -5.52579164e-01 1.24794752e-02 1.72285976e+02] [-1.48810463e-02 1.38840969e-04 9.99889261e-01 -5.08663266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71999999999997 meters 0.013875895563552702 Centerline is valid? [True, True] Translation: X:111.24, Y:172.31, Z:-5.09 [[-5.54326659e-01 -8.32263192e-01 -7.74169136e-03 1.11241380e+02] [ 8.32177997e-01 -5.54380693e-01 1.19091816e-02 1.72309408e+02] [-1.42034177e-02 1.59111620e-04 9.99899114e-01 -5.08733204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75 meters 0.014479813625555803 Centerline is valid? [True, True] Translation: X:111.23, Y:172.33, Z:-5.09 [[-5.58090008e-01 -8.29751164e-01 -6.96762191e-03 1.11227455e+02] [ 8.29682031e-01 -5.58133466e-01 1.07127062e-02 1.72333988e+02] [-1.27777434e-02 1.97743594e-04 9.99918342e-01 -5.08883820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78 meters 0.01467937654568011 Centerline is valid? [True, True] Translation: X:111.21, Y:172.36, Z:-5.09 [[-5.60016814e-01 -8.28453284e-01 -6.80616096e-03 1.11212641e+02] [ 8.28387300e-01 -5.60058129e-01 1.04581808e-02 1.72357843e+02] [-1.24759600e-02 2.18619818e-04 9.99922148e-01 -5.08920934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81 meters 0.015379076232141254 Centerline is valid? [True, True] Translation: X:111.20, Y:172.38, Z:-5.09 [[-5.62036669e-01 -8.27086337e-01 -6.55539894e-03 1.11198566e+02] [ 8.27025101e-01 -5.62074848e-01 1.00671857e-02 1.72381002e+02] [-1.20110566e-02 2.36648039e-04 9.99927837e-01 -5.09068287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84 meters 0.016518038512782995 Centerline is valid? [True, True] Translation: X:111.18, Y:172.40, Z:-5.09 [[-5.65330562e-01 -8.24842635e-01 -5.99868641e-03 1.11184280e+02] [ 8.24791288e-01 -5.65362328e-01 9.20702035e-03 1.72404156e+02] [-1.09857742e-02 2.57345692e-04 9.99939621e-01 -5.09187772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87 meters 0.01578118016920888 Centerline is valid? [True, True] Translation: X:111.17, Y:172.43, Z:-5.09 [[-5.66765314e-01 -8.23858776e-01 -5.81344854e-03 1.11166477e+02] [ 8.23810563e-01 -5.66795067e-01 8.91679336e-03 1.72426756e+02] [-1.06412124e-02 2.64548878e-04 9.99943346e-01 -5.09153132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9 meters 0.01749970691634733 Centerline is valid? [True, True] Translation: X:111.15, Y:172.45, Z:-5.09 [[-5.67618383e-01 -8.23271452e-01 -5.78689722e-03 1.11153595e+02] [ 8.23223697e-01 -5.67647816e-01 8.87142331e-03 1.72450737e+02] [-1.05885091e-02 2.71672030e-04 9.99943903e-01 -5.09258693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93 meters 0.016217110638572035 Centerline is valid? [True, True] Translation: X:111.13, Y:172.47, Z:-5.09 [[-5.67421971e-01 -8.23405646e-01 -5.95386298e-03 1.11134406e+02] [ 8.23355177e-01 -5.67453141e-01 9.12056604e-03 1.72471696e+02] [-1.08884638e-02 2.73065654e-04 9.99940682e-01 -5.09073249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96 meters 0.0163674908400407 Centerline is valid? [True, True] Translation: X:111.12, Y:172.49, Z:-5.09 [[-5.66722005e-01 -8.23886744e-01 -6.06640097e-03 1.11118817e+02] [ 8.23834450e-01 -5.66754411e-01 9.28634045e-03 1.72492844e+02] [-1.10890523e-02 2.65063376e-04 9.99938479e-01 -5.09088199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99 meters 0.015646037031164368 Centerline is valid? [True, True] Translation: X:111.10, Y:172.51, Z:-5.09 [[-5.65110424e-01 -8.24992421e-01 -6.14119182e-03 1.11100960e+02] [ 8.24938946e-01 -5.65143739e-01 9.39622587e-03 1.72514327e+02] [-1.12224712e-02 2.43796879e-04 9.99936996e-01 -5.09073424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02 meters 0.015163674580392294 Centerline is valid? [True, True] Translation: X:111.08, Y:172.54, Z:-5.09 [[-5.63177711e-01 -8.26311114e-01 -6.38819600e-03 1.11083677e+02] [ 8.26253412e-01 -5.63213897e-01 9.76755982e-03 1.72535021e+02] [-1.16689640e-02 2.22603243e-04 9.99931891e-01 -5.09122752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05 meters 0.013837649147795778 Centerline is valid? [True, True] Translation: X:111.06, Y:172.55, Z:-5.09 [[-5.58786354e-01 -8.29286917e-01 -6.40475849e-03 1.11061548e+02] [ 8.29229174e-01 -5.58823035e-01 9.78735281e-03 1.72554225e+02] [-1.16956502e-02 1.58026600e-04 9.99931591e-01 -5.09160496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08 meters 0.01368841156475049 Centerline is valid? [True, True] Translation: X:111.04, Y:172.58, Z:-5.09 [[-5.56605310e-01 -8.30753678e-01 -6.23340556e-03 1.11044093e+02] [ 8.30699142e-01 -5.56640200e-01 9.51961477e-03 1.72575806e+02] [-1.13782191e-02 1.20583485e-04 9.99935259e-01 -5.09335949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11 meters 0.013246840304044018 Centerline is valid? [True, True] Translation: X:111.03, Y:172.60, Z:-5.09 [[-5.54508269e-01 -8.32157423e-01 -5.88250593e-03 1.11025948e+02] [ 8.32108980e-01 -5.54539464e-01 8.97930183e-03 1.72596645e+02] [-1.07342744e-02 8.42111045e-05 9.99942382e-01 -5.09374727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14 meters 0.012936480193043588 Centerline is valid? [True, True] Translation: X:111.01, Y:172.62, Z:-5.09 [[-5.52587675e-01 -8.33434266e-01 -5.84679742e-03 1.11007676e+02] [ 8.33386552e-01 -5.52618603e-01 8.91818370e-03 1.72618637e+02] [-1.06637689e-02 5.54360556e-05 9.99943139e-01 -5.09440716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17 meters 0.012923319978558789 Centerline is valid? [True, True] Translation: X:110.99, Y:172.64, Z:-5.10 [[-5.48744908e-01 -8.35974961e-01 -4.98906660e-03 1.10988263e+02] [ 8.35940367e-01 -5.48767588e-01 7.60506177e-03 1.72638743e+02] [-9.09547926e-03 2.67675515e-06 9.99958635e-01 -5.09736180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2 meters 0.012871955679965873 Centerline is valid? [True, True] Translation: X:110.97, Y:172.66, Z:-5.10 [[-5.47453594e-01 -8.36822037e-01 -4.84151710e-03 1.10970709e+02] [ 8.36789507e-01 -5.47475002e-01 7.37856363e-03 1.72660649e+02] [-8.82515423e-03 -1.19095346e-05 9.99961058e-01 -5.09740793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23 meters 0.012958274636038847 Centerline is valid? [True, True] Translation: X:110.95, Y:172.68, Z:-5.10 [[-5.46349678e-01 -8.37542703e-01 -4.92452943e-03 1.10953532e+02] [ 8.37509113e-01 -5.46371870e-01 7.50095682e-03 1.72682251e+02] [-8.97299600e-03 -2.61929337e-05 9.99959742e-01 -5.09874444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26 meters 0.013032333842658521 Centerline is valid? [True, True] Translation: X:110.94, Y:172.70, Z:-5.10 [[-5.44504233e-01 -8.38742105e-01 -5.17903118e-03 1.10935106e+02] [ 8.38705071e-01 -5.44528860e-01 7.88198717e-03 1.72703419e+02] [-9.43108645e-03 -5.19043400e-05 9.99955525e-01 -5.09968452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28999999999996 meters 0.013304491666491183 Centerline is valid? [True, True] Translation: X:110.92, Y:172.72, Z:-5.10 [[-5.43994558e-01 -8.39071785e-01 -5.33487042e-03 1.10918728e+02] [ 8.39032554e-01 -5.44020713e-01 8.11406999e-03 1.72724892e+02] [-9.71056720e-03 -6.21200340e-05 9.99952849e-01 -5.10107828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32 meters 0.0131923187183792 Centerline is valid? [True, True] Translation: X:110.90, Y:172.75, Z:-5.10 [[-5.43527563e-01 -8.39370877e-01 -5.85820969e-03 1.10902706e+02] [ 8.39323667e-01 -5.43559127e-01 8.90270548e-03 1.72747701e+02] [-1.06569551e-02 -7.80682173e-05 9.99943210e-01 -5.10106967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34999999999997 meters 0.013440229772487008 Centerline is valid? [True, True] Translation: X:110.89, Y:172.77, Z:-5.10 [[-5.43617723e-01 -8.39308889e-01 -6.35294668e-03 1.10887316e+02] [ 8.39253433e-01 -5.43654837e-01 9.64851796e-03 1.72768691e+02] [-1.15518971e-02 -8.66269444e-05 9.99933271e-01 -5.10198610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38 meters 0.01335024748445167 Centerline is valid? [True, True] Translation: X:110.87, Y:172.79, Z:-5.10 [[-5.43373869e-01 -8.39461469e-01 -7.02005205e-03 1.10871373e+02] [ 8.39393892e-01 -5.43419204e-01 1.06518740e-02 1.72792264e+02] [-1.27566689e-02 -1.04638836e-04 9.99918625e-01 -5.10132952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40999999999997 meters 0.013552944863979805 Centerline is valid? [True, True] Translation: X:110.86, Y:172.81, Z:-5.10 [[-5.43191187e-01 -8.39575508e-01 -7.50339181e-03 1.10855909e+02] [ 8.39498416e-01 -5.43242996e-01 1.13779151e-02 1.72814426e+02] [-1.36287839e-02 -1.18702342e-04 9.99907117e-01 -5.10158675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44 meters 0.013552944863979805 Centerline is valid? [True, True] Translation: X:110.84, Y:172.84, Z:-5.10 [[-5.43458187e-01 -8.39402671e-01 -7.50701587e-03 1.10841071e+02] [ 8.39325596e-01 -5.43510020e-01 1.13755230e-02 1.72836718e+02] [-1.36287828e-02 -1.18709439e-04 9.99907117e-01 -5.10213557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46999999999997 meters 0.013513616380407524 Centerline is valid? [True, True] Translation: X:110.83, Y:172.86, Z:-5.10 [[-5.43419909e-01 -8.39427026e-01 -7.55450438e-03 1.10825542e+02] [ 8.39349090e-01 -5.43472402e-01 1.14391102e-02 1.72859815e+02] [-1.37079629e-02 -1.24626176e-04 9.99906034e-01 -5.10296468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5 meters 0.013671845179121213 Centerline is valid? [True, True] Translation: X:110.81, Y:172.88, Z:-5.10 [[-5.43246413e-01 -8.39538461e-01 -7.64902473e-03 1.10809579e+02] [ 8.39458675e-01 -5.43300244e-01 1.15748654e-02 1.72882816e+02] [-1.38732617e-02 -1.33036073e-04 9.99903753e-01 -5.10393953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53 meters 0.01388549367751332 Centerline is valid? [True, True] Translation: X:110.79, Y:172.91, Z:-5.11 [[-5.42525618e-01 -8.40004034e-01 -7.69259904e-03 1.10793633e+02] [ 8.39923486e-01 -5.42580133e-01 1.16334858e-02 1.72905653e+02] [-1.39460264e-02 -1.49730524e-04 9.99902738e-01 -5.10540533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56 meters 0.014149960720977493 Centerline is valid? [True, True] Translation: X:110.78, Y:172.93, Z:-5.11 [[-5.42144823e-01 -8.40252084e-01 -7.44494163e-03 1.10778880e+02] [ 8.40176757e-01 -5.42195916e-01 1.12518763e-02 1.72927148e+02] [-1.34910295e-02 -1.54920421e-04 9.99908980e-01 -5.10624098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59 meters 0.014051143944392667 Centerline is valid? [True, True] Translation: X:110.76, Y:172.95, Z:-5.11 [[-5.42050614e-01 -8.40312373e-01 -7.49984598e-03 1.10763804e+02] [ 8.40236014e-01 -5.42102472e-01 1.13292169e-02 1.72951263e+02] [-1.35857662e-02 -1.60631685e-04 9.99907696e-01 -5.10679942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62 meters 0.014162576161079443 Centerline is valid? [True, True] Translation: X:110.75, Y:172.97, Z:-5.11 [[-5.42012342e-01 -8.40339308e-01 -7.24357167e-03 1.10748583e+02] [ 8.40268165e-01 -5.42060719e-01 1.09356055e-02 1.72974625e+02] [-1.31160748e-02 -1.59309516e-04 9.99913968e-01 -5.10767609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65 meters 0.014274342474410557 Centerline is valid? [True, True] Translation: X:110.73, Y:173.00, Z:-5.11 [[-5.42171334e-01 -8.40239149e-01 -6.95831193e-03 1.10733545e+02] [ 8.40173568e-01 -5.42215962e-01 1.04988329e-02 1.72997787e+02] [-1.25944382e-02 -1.54023543e-04 9.99920675e-01 -5.10860089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68 meters 0.014355468338681334 Centerline is valid? [True, True] Translation: X:110.72, Y:173.02, Z:-5.11 [[-5.42626698e-01 -8.39948190e-01 -6.58061204e-03 1.10719743e+02] [ 8.39889572e-01 -5.42666580e-01 9.92418517e-03 1.73020228e+02] [-1.19068796e-02 -1.41859606e-04 9.99929101e-01 -5.10981085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71 meters 0.014257475106500933 Centerline is valid? [True, True] Translation: X:110.71, Y:173.04, Z:-5.11 [[-5.43421909e-01 -8.39433654e-01 -6.61582511e-03 1.10705183e+02] [ 8.39374466e-01 -5.43462163e-01 9.96912551e-03 1.73044017e+02] [-1.19638701e-02 -1.35713449e-04 9.99928421e-01 -5.11063538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74 meters 0.014123176424128825 Centerline is valid? [True, True] Translation: X:110.69, Y:173.07, Z:-5.11 [[-5.45356668e-01 -8.38175977e-01 -6.86560487e-03 1.10692710e+02] [ 8.38112210e-01 -5.45399871e-01 1.03394933e-02 1.73067132e+02] [-1.24108149e-02 -1.15435633e-04 9.99922976e-01 -5.11116589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77 meters 0.013956622733925166 Centerline is valid? [True, True] Translation: X:110.68, Y:173.09, Z:-5.11 [[-5.46747893e-01 -8.37267967e-01 -7.00666314e-03 1.10678873e+02] [ 8.37201581e-01 -5.46792778e-01 1.05437174e-02 1.73090408e+02] [-1.26591097e-02 -1.01234165e-04 9.99919865e-01 -5.11151840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.8 meters 0.013642839250112067 Centerline is valid? [True, True] Translation: X:110.66, Y:173.12, Z:-5.11 [[-5.48516971e-01 -8.36107370e-01 -7.32111091e-03 1.10664690e+02] [ 8.36034899e-01 -5.48565821e-01 1.10085656e-02 1.73115242e+02] [-1.32204541e-02 -8.23191585e-05 9.99912603e-01 -5.11115507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83 meters 0.013496388191320376 Centerline is valid? [True, True] Translation: X:110.65, Y:173.14, Z:-5.11 [[-5.50403421e-01 -8.34863225e-01 -7.71171975e-03 1.10651181e+02] [ 8.34782798e-01 -5.50457440e-01 1.15882467e-02 1.73138575e+02] [-1.39195746e-02 -5.94003393e-05 9.99903116e-01 -5.11129161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86 meters 0.013302815250322729 Centerline is valid? [True, True] Translation: X:110.64, Y:173.16, Z:-5.11 [[-5.54857924e-01 -8.31900668e-01 -8.60013923e-03 1.10639609e+02] [ 8.31800430e-01 -5.54924570e-01 1.29138337e-02 1.73163713e+02] [-1.55154554e-02 1.17434425e-05 9.99879628e-01 -5.11026209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89 meters 0.013442430364464898 Centerline is valid? [True, True] Translation: X:110.63, Y:173.19, Z:-5.11 [[-5.57323769e-01 -8.30246578e-01 -8.99092062e-03 1.10625669e+02] [ 8.30136969e-01 -5.57396284e-01 1.34905693e-02 1.73188624e+02] [-1.62120047e-02 5.49193090e-05 9.99868575e-01 -5.11008851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92 meters 0.013442430364464898 Centerline is valid? [True, True] Translation: X:110.61, Y:173.21, Z:-5.11 [[-5.57561024e-01 -8.30087223e-01 -8.99478248e-03 1.10610298e+02] [ 8.29977635e-01 -5.57633570e-01 1.34879937e-02 1.73211551e+02] [-1.62120039e-02 5.49112651e-05 9.99868575e-01 -5.11065449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95 meters 0.013434230225530823 Centerline is valid? [True, True] Translation: X:110.60, Y:173.24, Z:-5.11 [[-5.59834259e-01 -8.28552475e-01 -9.29510107e-03 1.10596547e+02] [ 8.28435384e-01 -5.59911410e-01 1.39293746e-02 1.73236029e+02] [-1.67456510e-02 9.77505186e-05 9.99859777e-01 -5.11025394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98 meters 0.013691520126607725 Centerline is valid? [True, True] Translation: X:110.58, Y:173.26, Z:-5.11 [[-5.62246321e-01 -8.26912600e-01 -9.72756250e-03 1.10583273e+02] [ 8.26784280e-01 -5.62330445e-01 1.45679355e-02 1.73259365e+02] [-1.75165140e-02 1.48172390e-04 9.99846563e-01 -5.11058054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01 meters 0.014071298539430066 Centerline is valid? [True, True] Translation: X:110.57, Y:173.28, Z:-5.11 [[-5.65991356e-01 -8.24345320e-01 -1.04200733e-02 1.10569461e+02] [ 8.24197848e-01 -5.66087216e-01 1.55939077e-02 1.73284322e+02] [-1.87534352e-02 2.37814969e-04 9.99824111e-01 -5.11061125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03999999999996 meters 0.014460311797454186 Centerline is valid? [True, True] Translation: X:110.56, Y:173.31, Z:-5.11 [[-5.67634880e-01 -8.23218595e-01 -1.00889874e-02 1.10555375e+02] [ 8.23080332e-01 -5.67724472e-01 1.50894346e-02 1.73307714e+02] [-1.81496682e-02 2.61242282e-04 9.99835247e-01 -5.11249470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07 meters 0.014819387756558132 Centerline is valid? [True, True] Translation: X:110.54, Y:173.33, Z:-5.11 [[-5.69114167e-01 -8.22202968e-01 -9.55744435e-03 1.10540647e+02] [ 8.22078899e-01 -5.69194348e-01 1.42856233e-02 1.73330860e+02] [-1.71857252e-02 2.73177303e-04 9.99852277e-01 -5.11483929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09999999999997 meters 0.015128056495205319 Centerline is valid? [True, True] Translation: X:110.53, Y:173.35, Z:-5.12 [[-5.70370229e-01 -8.21338717e-01 -8.97290838e-03 1.10525322e+02] [ 8.21229385e-01 -5.70440738e-01 1.34038442e-02 1.73354681e+02] [-1.61276086e-02 2.76337639e-04 9.99869903e-01 -5.11687380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13 meters 0.014875495661348926 Centerline is valid? [True, True] Translation: X:110.51, Y:173.38, Z:-5.12 [[-5.71428960e-01 -8.20607934e-01 -8.45942915e-03 1.10509636e+02] [ 8.20510783e-01 -5.71491506e-01 1.26298473e-02 1.73377553e+02] [-1.51986448e-02 2.76007672e-04 9.99884456e-01 -5.11821691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15999999999997 meters 0.015298500756945986 Centerline is valid? [True, True] Translation: X:110.50, Y:173.40, Z:-5.12 [[-5.73342750e-01 -8.19273249e-01 -8.33273738e-03 1.10495423e+02] [ 8.19178955e-01 -5.73403219e-01 1.24333513e-02 1.73401182e+02] [-1.49643305e-02 3.02568729e-04 9.99887982e-01 -5.11964328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19 meters 0.015778509626818475 Centerline is valid? [True, True] Translation: X:110.48, Y:173.42, Z:-5.12 [[-5.74455549e-01 -8.18492323e-01 -8.43441251e-03 1.10481316e+02] [ 8.18395757e-01 -5.74517375e-01 1.25766358e-02 1.73424128e+02] [-1.51395963e-02 3.22030803e-04 9.99885338e-01 -5.12056716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21999999999997 meters 0.016140905629994318 Centerline is valid? [True, True] Translation: X:110.47, Y:173.45, Z:-5.12 [[-5.75495175e-01 -8.17762430e-01 -8.36129919e-03 1.10466980e+02] [ 8.17667575e-01 -5.75555816e-01 1.24595524e-02 1.73446915e+02] [-1.50013483e-02 3.33649092e-04 9.99887418e-01 -5.12103040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25 meters 0.016202299846443315 Centerline is valid? [True, True] Translation: X:110.45, Y:173.47, Z:-5.12 [[-5.77111013e-01 -8.16621633e-01 -8.48451813e-03 1.10450979e+02] [ 8.16523966e-01 -5.77173264e-01 1.26347544e-02 1.73470275e+02] [-1.52148508e-02 3.63843546e-04 9.99884181e-01 -5.12182662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28 meters 0.016456732640382842 Centerline is valid? [True, True] Translation: X:110.44, Y:173.49, Z:-5.12 [[-5.77606204e-01 -8.16267878e-01 -8.82180831e-03 1.10436598e+02] [ 8.16162376e-01 -5.77673441e-01 1.31290336e-02 1.73492217e+02] [-1.58129327e-02 3.83383216e-04 9.99874894e-01 -5.12236152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31 meters 0.01645378292927153 Centerline is valid? [True, True] Translation: X:110.42, Y:173.51, Z:-5.12 [[-5.78123229e-01 -8.15896969e-01 -9.25565445e-03 1.10421358e+02] [ 8.15780963e-01 -5.78197172e-01 1.37641037e-02 1.73514426e+02] [-1.65816837e-02 4.06761392e-04 9.99862432e-01 -5.12254370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34 meters 0.016439800343739774 Centerline is valid? [True, True] Translation: X:110.41, Y:173.54, Z:-5.12 [[-5.78223516e-01 -8.15822978e-01 -9.50971162e-03 1.10406018e+02] [ 8.15700675e-01 -5.78301562e-01 1.41319397e-02 1.73536953e+02] [-1.70286422e-02 4.14341682e-04 9.99854916e-01 -5.12212604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37 meters 0.016181969048449506 Centerline is valid? [True, True] Translation: X:110.39, Y:173.56, Z:-5.12 [[-5.77844829e-01 -8.16083162e-01 -1.01796980e-02 1.10390231e+02] [ 8.15943260e-01 -5.77934329e-01 1.51164723e-02 1.73559209e+02] [-1.82194955e-02 4.28919389e-04 9.99833919e-01 -5.12167663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4 meters 0.015608568752511414 Centerline is valid? [True, True] Translation: X:110.37, Y:173.58, Z:-5.12 [[-5.76048851e-01 -8.17337374e-01 -1.12844473e-02 1.10372199e+02] [ 8.17165950e-01 -5.76159212e-01 1.67443244e-02 1.73580765e+02] [-2.01874004e-02 4.24282750e-04 9.99796124e-01 -5.12090308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43 meters 0.015245397085319249 Centerline is valid? [True, True] Translation: X:110.35, Y:173.60, Z:-5.12 [[-5.74920119e-01 -8.18130218e-01 -1.13931098e-02 1.10354859e+02] [ 8.17955842e-01 -5.75032860e-01 1.68952549e-02 1.73602667e+02] [-2.03739311e-02 3.94361199e-04 9.99792352e-01 -5.12150285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46 meters 0.014325889477765056 Centerline is valid? [True, True] Translation: X:110.34, Y:173.62, Z:-5.12 [[-5.73149113e-01 -8.19372035e-01 -1.13826024e-02 1.10335482e+02] [ 8.19198431e-01 -5.73262026e-01 1.68694971e-02 1.73624409e+02] [-2.03476078e-02 3.44127256e-04 9.99792907e-01 -5.12247212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49 meters 0.014385861839760056 Centerline is valid? [True, True] Translation: X:110.32, Y:173.65, Z:-5.12 [[-5.71457949e-01 -8.20553595e-01 -1.12964714e-02 1.10319088e+02] [ 8.20382961e-01 -5.71569514e-01 1.67358111e-02 1.73646611e+02] [-2.01893487e-02 2.96379659e-04 9.99796130e-01 -5.12330506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52 meters 0.013597652361798742 Centerline is valid? [True, True] Translation: X:110.30, Y:173.67, Z:-5.13 [[-5.68043597e-01 -8.22925927e-01 -1.09266418e-02 1.10298597e+02] [ 8.22766855e-01 -5.68148641e-01 1.61809825e-02 1.73667220e+02] [-1.95237067e-02 2.01424777e-04 9.99809374e-01 -5.12502814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55 meters 0.013583159427163122 Centerline is valid? [True, True] Translation: X:110.28, Y:173.69, Z:-5.13 [[-5.66661065e-01 -8.23881213e-01 -1.07230677e-02 1.10282597e+02] [ 8.23728360e-01 -5.66762491e-01 1.58703222e-02 1.73688722e+02] [-1.91526929e-02 1.60198720e-04 9.99816558e-01 -5.12643534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58 meters 0.01332907603605704 Centerline is valid? [True, True] Translation: X:110.26, Y:173.71, Z:-5.13 [[-5.65593552e-01 -8.24618783e-01 -1.03824789e-02 1.10264529e+02] [ 8.24475731e-01 -5.65688824e-01 1.53597843e-02 1.73710673e+02] [-1.85392189e-02 1.27293039e-04 9.99828126e-01 -5.12775229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61 meters 0.013243214750399633 Centerline is valid? [True, True] Translation: X:110.25, Y:173.73, Z:-5.13 [[-5.64717824e-01 -8.25227292e-01 -9.67965048e-03 1.10248247e+02] [ 8.25103181e-01 -5.64800768e-01 1.43120269e-02 1.73732672e+02] [-1.72777492e-02 9.55462646e-05 9.99850724e-01 -5.12932470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64 meters 0.013216856845299895 Centerline is valid? [True, True] Translation: X:110.23, Y:173.75, Z:-5.13 [[-5.64026859e-01 -8.25707819e-01 -8.96098505e-03 1.10231971e+02] [ 8.25601637e-01 -5.64098034e-01 1.32417958e-02 1.73754438e+02] [-1.59887284e-02 7.05245783e-05 9.99872170e-01 -5.13060517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67 meters 0.013273228607632782 Centerline is valid? [True, True] Translation: X:110.21, Y:173.78, Z:-5.13 [[-5.63305040e-01 -8.26205380e-01 -8.49126630e-03 1.10214603e+02] [ 8.26110219e-01 -5.63369033e-01 1.25394390e-02 1.73776816e+02] [-1.51438685e-02 4.88073306e-05 9.99885324e-01 -5.13207009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7 meters 0.013288244986061116 Centerline is valid? [True, True] Translation: X:110.20, Y:173.80, Z:-5.13 [[-5.63064535e-01 -8.26370192e-01 -8.40453337e-03 1.10198928e+02] [ 8.26277094e-01 -5.63127255e-01 1.24039864e-02 1.73799137e+02] [-1.49831065e-02 3.97714416e-05 9.99887746e-01 -5.13247321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73 meters 0.01319232765626665 Centerline is valid? [True, True] Translation: X:110.18, Y:173.82, Z:-5.13 [[-5.62976444e-01 -8.26428516e-01 -8.56919061e-03 1.10182535e+02] [ 8.26331872e-01 -5.63041656e-01 1.26384564e-02 1.73822072e+02] [-1.52695920e-02 3.41579266e-05 9.99883412e-01 -5.13225265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76 meters 0.013292819646346 Centerline is valid? [True, True] Translation: X:110.17, Y:173.85, Z:-5.13 [[-5.62861281e-01 -8.26500129e-01 -9.20407373e-03 1.10165644e+02] [ 8.26388792e-01 -5.62936529e-01 1.35657243e-02 1.73845110e+02] [-1.63933822e-02 2.94775995e-05 9.99865619e-01 -5.13135858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78999999999996 meters 0.01326825777831571 Centerline is valid? [True, True] Translation: X:110.15, Y:173.87, Z:-5.13 [[-5.62822606e-01 -8.26525153e-01 -9.32125122e-03 1.10150265e+02] [ 8.26411111e-01 -5.62899788e-01 1.37296782e-02 1.73866192e+02] [-1.65948547e-02 2.41876779e-05 9.99862296e-01 -5.13155401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82 meters 0.013257881684136408 Centerline is valid? [True, True] Translation: X:110.13, Y:173.89, Z:-5.13 [[-5.63056817e-01 -8.26365971e-01 -9.28989836e-03 1.10134115e+02] [ 8.26252784e-01 -5.63133449e-01 1.36768044e-02 1.73888229e+02] [-1.65334983e-02 2.50135741e-05 9.99863312e-01 -5.13210450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84999999999997 meters 0.013211191306059989 Centerline is valid? [True, True] Translation: X:110.12, Y:173.91, Z:-5.13 [[-5.63143432e-01 -8.26306788e-01 -9.30414933e-03 1.10117446e+02] [ 8.26193404e-01 -5.63220287e-01 1.36881977e-02 1.73911027e+02] [-1.65509363e-02 2.13918100e-05 9.99863024e-01 -5.13312477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88 meters 0.013281878202427108 Centerline is valid? [True, True] Translation: X:110.10, Y:173.93, Z:-5.13 [[-5.62465066e-01 -8.26778491e-01 -8.38903862e-03 1.10100693e+02] [ 8.26686460e-01 -5.62527623e-01 1.23357539e-02 1.73933053e+02] [-1.49180020e-02 3.32602224e-06 9.99888720e-01 -5.13403388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90999999999997 meters 0.01331841291193104 Centerline is valid? [True, True] Translation: X:110.08, Y:173.95, Z:-5.13 [[-5.61608825e-01 -8.27364594e-01 -7.95968238e-03 1.10084999e+02] [ 8.27281906e-01 -5.61665228e-01 1.16970165e-02 1.73954987e+02] [-1.41483741e-02 -1.57535286e-05 9.99899907e-01 -5.13479219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94 meters 0.013366453269710725 Centerline is valid? [True, True] Translation: X:110.07, Y:173.98, Z:-5.14 [[-5.60827916e-01 -8.27901440e-01 -7.15915332e-03 1.10068894e+02] [ 8.27834669e-01 -5.60873608e-01 1.05146120e-02 1.73976885e+02] [-1.27204426e-02 -2.97073737e-05 9.99919091e-01 -5.13543998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96999999999997 meters 0.01350706281441007 Centerline is valid? [True, True] Translation: X:110.05, Y:174.00, Z:-5.14 [[-5.59620804e-01 -8.28720502e-01 -6.84722838e-03 1.10053058e+02] [ 8.28659558e-01 -5.59662690e-01 1.00503751e-02 1.73997338e+02] [-1.21610902e-02 -4.96222254e-05 9.99926050e-01 -5.13647520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0 meters 0.013815670498588745 Centerline is valid? [True, True] Translation: X:110.03, Y:174.02, Z:-5.14 [[-5.56016063e-01 -8.31151031e-01 -5.83962974e-03 1.10034434e+02] [ 8.31106905e-01 -5.56046720e-01 8.56491070e-03 1.74018097e+02] [-1.03658413e-02 -9.11286749e-05 9.99946269e-01 -5.13695179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03 meters 0.014097795788078953 Centerline is valid? [True, True] Translation: X:110.02, Y:174.04, Z:-5.14 [[-5.54144690e-01 -8.32400356e-01 -5.77151150e-03 1.10016494e+02] [ 8.32357345e-01 -5.54174733e-01 8.46262779e-03 1.74040404e+02] [-1.02427202e-02 -1.14439734e-04 9.99947535e-01 -5.13769808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06 meters 0.01465404611979622 Centerline is valid? [True, True] Translation: X:110.00, Y:174.06, Z:-5.14 [[-5.52284155e-01 -8.33636121e-01 -5.74716536e-03 1.09999171e+02] [ 8.33593588e-01 -5.52314040e-01 8.42206839e-03 1.74061501e+02] [-1.01951805e-02 -1.39425268e-04 9.99948018e-01 -5.13903389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09 meters 0.015535278119590138 Centerline is valid? [True, True] Translation: X:109.98, Y:174.08, Z:-5.14 [[-5.48582897e-01 -8.36076844e-01 -5.68466520e-03 1.09981155e+02] [ 8.36035419e-01 -5.48612319e-01 8.32484291e-03 1.74083040e+02] [-1.00788857e-02 -1.85715004e-04 9.99949190e-01 -5.13854361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12 meters 0.015760401669327486 Centerline is valid? [True, True] Translation: X:109.96, Y:174.11, Z:-5.14 [[-5.47252977e-01 -8.36948925e-01 -5.53860449e-03 1.09964816e+02] [ 8.36909690e-01 -5.47280968e-01 8.10636111e-03 1.74106074e+02] [-9.81578304e-03 -1.99081519e-04 9.99951804e-01 -5.13831585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15 meters 0.015967645487662697 Centerline is valid? [True, True] Translation: X:109.95, Y:174.13, Z:-5.14 [[-5.45815745e-01 -8.37888418e-01 -5.30777147e-03 1.09948577e+02] [ 8.37852473e-01 -5.45841512e-01 7.76383182e-03 1.74129391e+02] [-9.40242676e-03 -2.09507811e-04 9.99955774e-01 -5.13835131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18 meters 0.017421521536667425 Centerline is valid? [True, True] Translation: X:109.93, Y:174.15, Z:-5.14 [[-5.43504035e-01 -8.39391193e-01 -5.07826249e-03 1.09931357e+02] [ 8.39358384e-01 -5.43527712e-01 7.42489589e-03 1.74150392e+02] [-8.99256861e-03 -2.27021320e-04 9.99959540e-01 -5.13932821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21 meters 0.017841284153563407 Centerline is valid? [True, True] Translation: X:109.92, Y:174.17, Z:-5.14 [[-5.43242517e-01 -8.39559886e-01 -5.17352331e-03 1.09915660e+02] [ 8.39525885e-01 -5.43267100e-01 7.55955858e-03 1.74171643e+02] [-9.15730714e-03 -2.36633106e-04 9.99958043e-01 -5.14017391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24 meters 0.017254045256743684 Centerline is valid? [True, True] Translation: X:109.90, Y:174.20, Z:-5.14 [[-5.42754520e-01 -8.39875031e-01 -5.24050440e-03 1.09901173e+02] [ 8.39840234e-01 -5.42779762e-01 7.64933455e-03 1.74195112e+02] [-9.26892482e-03 -2.49475534e-04 9.99957011e-01 -5.14032344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27 meters 0.017456360079916033 Centerline is valid? [True, True] Translation: X:109.89, Y:174.22, Z:-5.14 [[-5.42741575e-01 -8.39883120e-01 -5.28463484e-03 1.09885319e+02] [ 8.39847754e-01 -5.42767243e-01 7.71167726e-03 1.74218468e+02] [-9.34523424e-03 -2.52840845e-04 9.99956300e-01 -5.14078689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.3 meters 0.01716044341736569 Centerline is valid? [True, True] Translation: X:109.87, Y:174.24, Z:-5.14 [[-5.42952671e-01 -8.39744327e-01 -5.64464679e-03 1.09870567e+02] [ 8.39704028e-01 -5.42981945e-01 8.23127371e-03 1.74242652e+02] [-9.97710669e-03 -2.70640595e-04 9.99950191e-01 -5.14055842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33 meters 0.016987851859273262 Centerline is valid? [True, True] Translation: X:109.86, Y:174.27, Z:-5.14 [[-5.44034969e-01 -8.39038905e-01 -6.29830071e-03 1.09856596e+02] [ 8.38988764e-01 -5.44071348e-01 9.17732231e-03 1.74267790e+02] [-1.11268554e-02 -2.91419262e-04 9.99938052e-01 -5.13925091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36 meters 0.016908591415979002 Centerline is valid? [True, True] Translation: X:109.84, Y:174.29, Z:-5.14 [[-5.45072283e-01 -8.38360805e-01 -6.88232829e-03 1.09842217e+02] [ 8.38300961e-01 -5.45115645e-01 1.00215617e-02 1.74290688e+02] [-1.21533494e-02 -3.06986899e-04 9.99926098e-01 -5.13920689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39 meters 0.016151356626532495 Centerline is valid? [True, True] Translation: X:109.83, Y:174.32, Z:-5.14 [[-5.46124387e-01 -8.37674864e-01 -6.99830759e-03 1.09828375e+02] [ 8.37613010e-01 -5.46169143e-01 1.01839347e-02 1.74315388e+02] [-1.23530857e-02 -3.00178399e-04 9.99923653e-01 -5.13920409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42 meters 0.01684342935942983 Centerline is valid? [True, True] Translation: X:109.81, Y:174.34, Z:-5.14 [[-5.47463283e-01 -8.36797852e-01 -7.30124899e-03 1.09812414e+02] [ 8.36730557e-01 -5.47511887e-01 1.06164358e-02 1.74337650e+02] [-1.28813313e-02 -2.97069356e-04 9.99916988e-01 -5.14029681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45 meters 0.015727122151285165 Centerline is valid? [True, True] Translation: X:109.80, Y:174.36, Z:-5.14 [[-5.48861058e-01 -8.35881192e-01 -7.36018700e-03 1.09799095e+02] [ 8.35812771e-01 -5.48910334e-01 1.06984763e-02 1.74362356e+02] [-1.29827378e-02 -2.79761263e-04 9.99915682e-01 -5.14084085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48 meters 0.015463888032362542 Centerline is valid? [True, True] Translation: X:109.79, Y:174.39, Z:-5.14 [[-5.50932228e-01 -8.34521900e-01 -6.84678525e-03 1.09785568e+02] [ 8.34462667e-01 -5.50974721e-01 9.94558565e-03 1.74385743e+02] [-1.20722146e-02 -2.34043016e-04 9.99927101e-01 -5.14313429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51 meters 0.01510533515201293 Centerline is valid? [True, True] Translation: X:109.77, Y:174.41, Z:-5.14 [[-5.52039856e-01 -8.33793539e-01 -6.35081356e-03 1.09770680e+02] [ 8.33742554e-01 -5.52076348e-01 9.22276524e-03 1.74409970e+02] [-1.11960160e-02 -2.03609532e-04 9.99937302e-01 -5.14438082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53999999999996 meters 0.01523687467991712 Centerline is valid? [True, True] Translation: X:109.76, Y:174.43, Z:-5.15 [[-5.52965276e-01 -8.33181834e-01 -6.11851185e-03 1.09755712e+02] [ 8.33134526e-01 -5.52999093e-01 8.88053707e-03 1.74432923e+02] [-1.07826337e-02 -1.86914841e-04 9.99941848e-01 -5.14623655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57 meters 0.014996191054714537 Centerline is valid? [True, True] Translation: X:109.74, Y:174.46, Z:-5.15 [[-5.53944908e-01 -8.32533265e-01 -5.77945304e-03 1.09740972e+02] [ 8.32491072e-01 -5.53975031e-01 8.38331968e-03 1.74456973e+02] [-1.01810652e-02 -1.67445817e-04 9.99948158e-01 -5.14722230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59999999999997 meters 0.014792823921032611 Centerline is valid? [True, True] Translation: X:109.73, Y:174.48, Z:-5.15 [[-5.55507315e-01 -8.31494342e-01 -5.36499681e-03 1.09727573e+02] [ 8.31457963e-01 -5.55533204e-01 7.77913577e-03 1.74479964e+02] [-9.44874124e-03 -1.39402499e-04 9.99955350e-01 -5.14885046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63 meters 0.014722731356597853 Centerline is valid? [True, True] Translation: X:109.71, Y:174.50, Z:-5.15 [[-5.56637015e-01 -8.30738672e-01 -5.33787258e-03 1.09713411e+02] [ 8.30702678e-01 -5.56662593e-01 7.73423584e-03 1.74502105e+02] [-9.39652281e-03 -1.29023095e-04 9.99955843e-01 -5.14966020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65999999999997 meters 0.01447455240680906 Centerline is valid? [True, True] Translation: X:109.70, Y:174.53, Z:-5.15 [[-5.57776750e-01 -8.29974237e-01 -5.27857927e-03 1.09699118e+02] [ 8.29939057e-01 -5.57801714e-01 7.64266781e-03 1.74525321e+02] [-9.28761795e-03 -1.17996692e-04 9.99956862e-01 -5.15015140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69 meters 0.014197988072046572 Centerline is valid? [True, True] Translation: X:109.69, Y:174.55, Z:-5.15 [[-5.60438951e-01 -8.28180660e-01 -4.99759542e-03 1.09686334e+02] [ 8.28149089e-01 -5.60461227e-01 7.23187753e-03 1.74548519e+02] [-8.79025957e-03 -8.57282342e-05 9.99961361e-01 -5.15186884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71999999999997 meters 0.013875287915426625 Centerline is valid? [True, True] Translation: X:109.67, Y:174.57, Z:-5.15 [[-5.62255127e-01 -8.26948354e-01 -5.05878778e-03 1.09672412e+02] [ 8.26916007e-01 -5.62277880e-01 7.31461115e-03 1.74572575e+02] [-8.89325012e-03 -7.05149701e-05 9.99960452e-01 -5.15244677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75 meters 0.013546758214034504 Centerline is valid? [True, True] Translation: X:109.66, Y:174.60, Z:-5.15 [[-5.64650386e-01 -8.25315308e-01 -4.95831866e-03 1.09659022e+02] [ 8.25284208e-01 -5.64672154e-01 7.16486898e-03 1.74596854e+02] [-8.71310052e-03 -4.63760497e-05 9.99962039e-01 -5.15300136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78 meters 0.013383450377252106 Centerline is valid? [True, True] Translation: X:109.65, Y:174.62, Z:-5.15 [[-5.66970565e-01 -8.23723361e-01 -4.91961154e-03 1.09646329e+02] [ 8.23692738e-01 -5.66991908e-01 7.10283752e-03 1.74620189e+02] [-8.64015313e-03 -2.51484934e-05 9.99962673e-01 -5.15411090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81 meters 0.013226506256893044 Centerline is valid? [True, True] Translation: X:109.63, Y:174.64, Z:-5.15 [[-5.69615820e-01 -8.21897063e-01 -4.79947169e-03 1.09633419e+02] [ 8.21867866e-01 -5.69636040e-01 6.92774928e-03 1.74644099e+02] [-8.42784884e-03 1.62403268e-06 9.99964485e-01 -5.15338619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84 meters 0.013226506256893044 Centerline is valid? [True, True] Translation: X:109.62, Y:174.67, Z:-5.15 [[-5.69877211e-01 -8.21715832e-01 -4.80168170e-03 1.09618066e+02] [ 8.21686641e-01 -5.69897440e-01 6.92621641e-03 1.74666048e+02] [-8.42784779e-03 1.61518130e-06 9.99964485e-01 -5.15393501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87 meters 0.013428147917476319 Centerline is valid? [True, True] Translation: X:109.61, Y:174.69, Z:-5.16 [[-5.72697903e-01 -8.19752557e-01 -4.78086840e-03 1.09605987e+02] [ 8.19723586e-01 -5.72717857e-01 6.89188880e-03 1.74689192e+02] [-8.38773218e-03 2.79796741e-05 9.99964822e-01 -5.15534336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9 meters 0.014254902226201432 Centerline is valid? [True, True] Translation: X:109.60, Y:174.72, Z:-5.16 [[-5.78231889e-01 -8.15855089e-01 -5.32509342e-03 1.09595998e+02] [ 8.15819052e-01 -5.78256402e-01 7.66862105e-03 1.74715502e+02] [-9.33575287e-03 8.99285706e-05 9.99956417e-01 -5.15550835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93 meters 0.014969477596375678 Centerline is valid? [True, True] Translation: X:109.58, Y:174.74, Z:-5.16 [[-5.81149981e-01 -8.13776972e-01 -5.63377682e-03 1.09583164e+02] [ 8.13736593e-01 -5.81177274e-01 8.10760065e-03 1.74740120e+02] [-9.87200176e-03 1.27321610e-04 9.99951263e-01 -5.15566870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96 meters 0.01582921205195738 Centerline is valid? [True, True] Translation: X:109.57, Y:174.76, Z:-5.16 [[-5.83864468e-01 -8.11828981e-01 -5.99907730e-03 1.09570241e+02] [ 8.11783154e-01 -5.83895263e-01 8.62743952e-03 1.74764624e+02] [-1.05068383e-02 1.67305492e-04 9.99944788e-01 -5.15592422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99 meters 0.01553286624028731 Centerline is valid? [True, True] Translation: X:109.56, Y:174.79, Z:-5.15 [[-5.86774280e-01 -8.09727467e-01 -6.11340818e-03 1.09555086e+02] [ 8.09679817e-01 -5.86806090e-01 8.78680177e-03 1.74787829e+02] [-1.07022999e-02 2.05966063e-04 9.99942708e-01 -5.15480339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02 meters 0.01605577273814432 Centerline is valid? [True, True] Translation: X:109.54, Y:174.81, Z:-5.15 [[-5.91670636e-01 -8.06151973e-01 -6.69735976e-03 1.09541730e+02] [ 8.06094638e-01 -5.91708467e-01 9.61895455e-03 1.74812803e+02] [-1.17172237e-02 2.92547162e-04 9.99931308e-01 -5.15388461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05 meters 0.016834054152752843 Centerline is valid? [True, True] Translation: X:109.53, Y:174.84, Z:-5.15 [[-5.94029509e-01 -8.04413001e-01 -6.97609133e-03 1.09528439e+02] [ 8.04350753e-01 -5.94070375e-01 1.00127795e-02 1.74836246e+02] [-1.21986992e-02 3.36662195e-04 9.99925536e-01 -5.15407249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08 meters 0.01725386002884844 Centerline is valid? [True, True] Translation: X:109.51, Y:174.86, Z:-5.15 [[-5.95758370e-01 -8.03132020e-01 -7.13603467e-03 1.09513397e+02] [ 8.03066882e-01 -5.95800994e-01 1.02351874e-02 1.74860183e+02] [-1.24718633e-02 3.66985479e-04 9.99922156e-01 -5.15403226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11 meters 0.01836272338351163 Centerline is valid? [True, True] Translation: X:109.50, Y:174.88, Z:-5.15 [[-5.96929626e-01 -8.02258750e-01 -7.47799192e-03 1.09499789e+02] [ 8.02187252e-01 -5.96976331e-01 1.07178677e-02 1.74883133e+02] [-1.30626873e-02 3.99062953e-04 9.99914600e-01 -5.15485685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14 meters 0.019891481830895858 Centerline is valid? [True, True] Translation: X:109.49, Y:174.91, Z:-5.16 [[-5.98163487e-01 -8.01337937e-01 -7.61276953e-03 1.09485776e+02] [ 8.01263827e-01 -5.98211778e-01 1.09063117e-02 1.74905917e+02] [-1.32936897e-02 4.23920591e-04 9.99911545e-01 -5.15578064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17 meters 0.018433513234329683 Centerline is valid? [True, True] Translation: X:109.47, Y:174.93, Z:-5.16 [[-5.98604911e-01 -8.01008542e-01 -7.58133394e-03 1.09467629e+02] [ 8.00935106e-01 -5.98652766e-01 1.08545923e-02 1.74926920e+02] [-1.32332077e-02 4.25455758e-04 9.99912347e-01 -5.15603986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2 meters 0.01838935503298153 Centerline is valid? [True, True] Translation: X:109.45, Y:174.95, Z:-5.16 [[-5.99035097e-01 -8.00687491e-01 -7.51629600e-03 1.09450791e+02] [ 8.00615376e-01 -5.99082099e-01 1.07544538e-02 1.74949443e+02] [-1.31138351e-02 4.24633151e-04 9.99913920e-01 -5.15680601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23 meters 0.01854707179920962 Centerline is valid? [True, True] Translation: X:109.43, Y:174.97, Z:-5.16 [[-5.99316592e-01 -8.00478259e-01 -7.36069809e-03 1.09434086e+02] [ 8.00409163e-01 -5.99361646e-01 1.05256123e-02 1.74972509e+02] [-1.28372439e-02 4.16603879e-04 9.99917512e-01 -5.15773354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26 meters 0.01917283885576347 Centerline is valid? [True, True] Translation: X:109.42, Y:174.99, Z:-5.16 [[-5.99420639e-01 -8.00401023e-01 -7.28693935e-03 1.09418930e+02] [ 8.00333369e-01 -5.99464789e-01 1.04146493e-02 1.74994295e+02] [-1.27041595e-02 4.10775018e-04 9.99919215e-01 -5.15884098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28999999999996 meters 0.01865938900368027 Centerline is valid? [True, True] Translation: X:109.40, Y:175.02, Z:-5.16 [[-5.98247599e-01 -8.01280261e-01 -7.05361110e-03 1.09399828e+02] [ 8.01217024e-01 -5.98289063e-01 1.00736149e-02 1.75015631e+02] [-1.22918872e-02 3.75042664e-04 9.99924382e-01 -5.15951699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32 meters 0.01784997741815171 Centerline is valid? [True, True] Translation: X:109.38, Y:175.04, Z:-5.16 [[-5.97292644e-01 -8.01992736e-01 -7.01064072e-03 1.09381189e+02] [ 8.01930387e-01 -5.97333680e-01 1.00064405e-02 1.75036677e+02] [-1.22127844e-02 3.54727466e-04 9.99925358e-01 -5.15976785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34999999999997 meters 0.01836300856608576 Centerline is valid? [True, True] Translation: X:109.36, Y:175.06, Z:-5.16 [[-5.96183626e-01 -8.02819229e-01 -6.80950718e-03 1.09364968e+02] [ 8.02760527e-01 -5.96222425e-01 9.71376620e-03 1.75058219e+02] [-1.18583792e-02 3.24784787e-04 9.99929634e-01 -5.16100416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38 meters 0.01681434913306867 Centerline is valid? [True, True] Translation: X:109.34, Y:175.08, Z:-5.16 [[-5.93449557e-01 -8.04838246e-01 -7.28151257e-03 1.09343429e+02] [ 8.04771362e-01 -5.93494151e-01 1.03801281e-02 1.75077697e+02] [-1.26758592e-02 3.00129659e-04 9.99919613e-01 -5.16109701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40999999999997 meters 0.015820610438900016 Centerline is valid? [True, True] Translation: X:109.32, Y:175.10, Z:-5.16 [[-5.92102348e-01 -8.05830167e-01 -7.24921598e-03 1.09324287e+02] [ 8.05764019e-01 -5.92146660e-01 1.03285098e-02 1.75098112e+02] [-1.26156238e-02 2.74377507e-04 9.99920382e-01 -5.16099106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44 meters 0.016452898327988037 Centerline is valid? [True, True] Translation: X:109.31, Y:175.12, Z:-5.16 [[-5.90738894e-01 -8.06831130e-01 -7.14749439e-03 1.09308414e+02] [ 8.06766975e-01 -5.90782081e-01 1.01774587e-02 1.75119898e+02] [-1.24341021e-02 2.45858277e-04 9.99922663e-01 -5.16246097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46999999999997 meters 0.015327779819873915 Centerline is valid? [True, True] Translation: X:109.29, Y:175.14, Z:-5.16 [[-5.89225065e-01 -8.07937956e-01 -7.07681324e-03 1.09288238e+02] [ 8.07875218e-01 -5.89267521e-01 1.00707426e-02 1.75140476e+02] [-1.23066714e-02 2.16751930e-04 9.99924247e-01 -5.16244329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5 meters 0.0143996646132562 Centerline is valid? [True, True] Translation: X:109.27, Y:175.16, Z:-5.16 [[-5.85688237e-01 -8.10506573e-01 -6.95591673e-03 1.09266691e+02] [ 8.10446209e-01 -5.85729521e-01 9.89300782e-03 1.75159469e+02] [-1.20926336e-02 1.56821967e-04 9.99926869e-01 -5.16364353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53 meters 0.014352447611045463 Centerline is valid? [True, True] Translation: X:109.25, Y:175.18, Z:-5.17 [[-5.83971713e-01 -8.11746888e-01 -6.63533145e-03 1.09249036e+02] [ 8.11692100e-01 -5.84009396e-01 9.43186503e-03 1.75180021e+02] [-1.15313830e-02 1.22096260e-04 9.99933504e-01 -5.16559176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56 meters 0.013969262834501736 Centerline is valid? [True, True] Translation: X:109.23, Y:175.20, Z:-5.17 [[-5.82218279e-01 -8.13008481e-01 -6.25181663e-03 1.09230436e+02] [ 8.12959966e-01 -5.82251838e-01 8.88209655e-03 1.75200123e+02] [-1.08613515e-02 8.88423405e-05 9.99941010e-01 -5.16653646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59 meters 0.013676478069184813 Centerline is valid? [True, True] Translation: X:109.21, Y:175.22, Z:-5.17 [[-5.80405656e-01 -8.14304707e-01 -6.09253379e-03 1.09211545e+02] [ 8.14258767e-01 -5.80437629e-01 8.64980206e-03 1.75220880e+02] [-1.05799104e-02 5.94949757e-05 9.99944029e-01 -5.16712755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62 meters 0.013478255032541369 Centerline is valid? [True, True] Translation: X:109.19, Y:175.24, Z:-5.17 [[-5.76825413e-01 -8.16846134e-01 -5.90219166e-03 1.09190846e+02] [ 8.16803198e-01 -5.76855609e-01 8.37513440e-03 1.75240246e+02] [-1.02459085e-02 1.00613465e-05 9.99947509e-01 -5.16815443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65 meters 0.01350150682511208 Centerline is valid? [True, True] Translation: X:109.17, Y:175.26, Z:-5.17 [[-5.75084083e-01 -8.18071412e-01 -6.12065586e-03 1.09173371e+02] [ 8.18025366e-01 -5.75116654e-01 8.67955500e-03 1.75260695e+02] [-1.06205869e-02 -1.53778252e-05 9.99943600e-01 -5.16862778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68 meters 0.013516367848657495 Centerline is valid? [True, True] Translation: X:109.16, Y:175.28, Z:-5.17 [[-5.73291731e-01 -8.19330470e-01 -5.84570041e-03 1.09155369e+02] [ 8.19288592e-01 -5.73321532e-01 8.28401357e-03 1.75282245e+02] [-1.01388106e-02 -4.01591793e-05 9.99948600e-01 -5.16843301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71 meters 0.013776689672852454 Centerline is valid? [True, True] Translation: X:109.14, Y:175.30, Z:-5.17 [[-5.71514134e-01 -8.20570524e-01 -5.96741276e-03 1.09137804e+02] [ 8.20527003e-01 -5.71545283e-01 8.45142884e-03 1.75302788e+02] [-1.03456400e-02 -6.63122805e-05 9.99946480e-01 -5.16892576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74 meters 0.014009599415627667 Centerline is valid? [True, True] Translation: X:109.12, Y:175.32, Z:-5.17 [[-5.69251080e-01 -8.22141188e-01 -6.08895069e-03 1.09119777e+02] [ 8.22096025e-01 -5.69283635e-01 8.61788679e-03 1.75323917e+02] [-1.05514597e-02 -9.99607980e-05 9.99944327e-01 -5.16887338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77 meters 0.014915898007511138 Centerline is valid? [True, True] Translation: X:109.10, Y:175.34, Z:-5.17 [[-5.64483959e-01 -8.25421924e-01 -6.04209938e-03 1.09098901e+02] [ 8.25377701e-01 -5.64516271e-01 8.54579186e-03 1.75343625e+02] [-1.04647474e-02 -1.63051672e-04 9.99945230e-01 -5.16943066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.8 meters 0.015384591410033292 Centerline is valid? [True, True] Translation: X:109.08, Y:175.37, Z:-5.17 [[-5.62455962e-01 -8.26803566e-01 -6.25734696e-03 1.09080724e+02] [ 8.26756282e-01 -5.62490733e-01 8.84458081e-03 1.75365231e+02] [-1.08324306e-02 -1.98613700e-04 9.99941308e-01 -5.17044422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83 meters 0.01634111069282194 Centerline is valid? [True, True] Translation: X:109.06, Y:175.39, Z:-5.17 [[-5.60357252e-01 -8.28230631e-01 -5.81130569e-03 1.09062831e+02] [ 8.28189965e-01 -5.60387345e-01 8.21011423e-03 1.75385415e+02] [-1.00564503e-02 -2.12268003e-04 9.99949410e-01 -5.17182213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86 meters 0.01708135336144583 Centerline is valid? [True, True] Translation: X:109.04, Y:175.41, Z:-5.17 [[-5.58720838e-01 -8.29336947e-01 -5.59048356e-03 1.09044930e+02] [ 8.29299417e-01 -5.58748760e-01 7.89306193e-03 1.75407346e+02] [-9.66968364e-03 -2.26166580e-04 9.99953222e-01 -5.17292946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89 meters 0.01807722245204849 Centerline is valid? [True, True] Translation: X:109.03, Y:175.43, Z:-5.17 [[-5.56077488e-01 -8.31116806e-01 -4.76251612e-03 1.09026831e+02] [ 8.31089655e-01 -5.56097839e-01 6.72157004e-03 1.75429015e+02] [-8.23483474e-03 -2.20364091e-04 9.99966069e-01 -5.17440576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92 meters 0.01781401355565087 Centerline is valid? [True, True] Translation: X:109.01, Y:175.45, Z:-5.17 [[-5.55404876e-01 -8.31567938e-01 -4.49314368e-03 1.09011269e+02] [ 8.31543810e-01 -5.55423008e-01 6.33827011e-03 1.75452028e+02] [-7.76629758e-03 -2.15939691e-04 9.99969819e-01 -5.17476597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95 meters 0.018643144263142824 Centerline is valid? [True, True] Translation: X:108.99, Y:175.47, Z:-5.18 [[-5.55195619e-01 -8.31708383e-01 -4.35786203e-03 1.08994685e+02] [ 8.31685714e-01 -5.55212681e-01 6.14433547e-03 1.75473166e+02] [-7.52983558e-03 -2.13063456e-04 9.99971628e-01 -5.17558957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98 meters 0.018369553603031184 Centerline is valid? [True, True] Translation: X:108.98, Y:175.50, Z:-5.17 [[-5.55449847e-01 -8.31538435e-01 -4.39301194e-03 1.08979430e+02] [ 8.31515428e-01 -5.55467177e-01 6.18937407e-03 1.75497333e+02] [-7.58687637e-03 -2.14970331e-04 9.99971196e-01 -5.17475981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01 meters 0.01792498520040377 Centerline is valid? [True, True] Translation: X:108.96, Y:175.52, Z:-5.17 [[-5.56130312e-01 -8.31083061e-01 -4.47448324e-03 1.08964515e+02] [ 8.31059208e-01 -5.56148271e-01 6.30022907e-03 1.75520897e+02] [-7.72448978e-03 -2.14812136e-04 9.99970143e-01 -5.17442031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03999999999996 meters 0.01787171557127454 Centerline is valid? [True, True] Translation: X:108.95, Y:175.54, Z:-5.17 [[-5.56884151e-01 -8.30579042e-01 -4.30085749e-03 1.08949265e+02] [ 8.30557014e-01 -5.56900722e-01 6.05243263e-03 1.75543975e+02] [-7.42217434e-03 -2.01603547e-04 9.99972435e-01 -5.17462503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07 meters 0.0177949057568448 Centerline is valid? [True, True] Translation: X:108.93, Y:175.57, Z:-5.18 [[-5.57926717e-01 -8.29879718e-01 -4.17529970e-03 1.08933694e+02] [ 8.29858961e-01 -5.57942308e-01 5.87243508e-03 1.75567480e+02] [-7.20299112e-03 -1.88521448e-04 9.99974040e-01 -5.17543312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09999999999997 meters 0.016910912616876158 Centerline is valid? [True, True] Translation: X:108.92, Y:175.59, Z:-5.18 [[-5.60516925e-01 -8.28133494e-01 -3.96143681e-03 1.08920680e+02] [ 8.28114788e-01 -5.60530901e-01 5.56842441e-03 1.75593184e+02] [-6.83190651e-03 -1.59328267e-04 9.99976650e-01 -5.17582006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13 meters 0.016317083988509354 Centerline is valid? [True, True] Translation: X:108.91, Y:175.62, Z:-5.18 [[-5.62628417e-01 -8.26699981e-01 -4.05046108e-03 1.08906580e+02] [ 8.26680409e-01 -5.62642977e-01 5.69048769e-03 1.75617330e+02] [-6.98328955e-03 -1.46806740e-04 9.99975606e-01 -5.17619732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15999999999997 meters 0.015761884909261104 Centerline is valid? [True, True] Translation: X:108.89, Y:175.64, Z:-5.18 [[-5.65049950e-01 -8.25047984e-01 -3.79190435e-03 1.08892514e+02] [ 8.25030811e-01 -5.65062660e-01 5.32464679e-03 1.75641810e+02] [-6.53575266e-03 -1.19746517e-04 9.99978635e-01 -5.17672399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19 meters 0.015163953826664337 Centerline is valid? [True, True] Translation: X:108.88, Y:175.67, Z:-5.18 [[-5.67996659e-01 -8.23021152e-01 -3.99738640e-03 1.08878613e+02] [ 8.23002044e-01 -5.68010716e-01 5.60921195e-03 1.75666468e+02] [-6.88705839e-03 -1.03843527e-04 9.99976279e-01 -5.17711685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21999999999997 meters 0.014684483413966267 Centerline is valid? [True, True] Translation: X:108.87, Y:175.69, Z:-5.18 [[-5.71020177e-01 -8.20924333e-01 -4.38148580e-03 1.08865103e+02] [ 8.20901350e-01 -5.71036980e-01 6.14345944e-03 1.75691234e+02] [-7.54530576e-03 -8.87283100e-05 9.99971530e-01 -5.17747431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25 meters 0.013904053989408608 Centerline is valid? [True, True] Translation: X:108.86, Y:175.72, Z:-5.18 [[-5.77872191e-01 -8.16114704e-01 -4.52997460e-03 1.08855683e+02] [ 8.16090022e-01 -5.77889946e-01 6.34718604e-03 1.75717650e+02] [-7.79785863e-03 -2.90047613e-05 9.99969596e-01 -5.17719412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28 meters 0.013696917802037117 Centerline is valid? [True, True] Translation: X:108.84, Y:175.74, Z:-5.18 [[-5.81619918e-01 -8.13447488e-01 -4.63202345e-03 1.08842743e+02] [ 8.13421625e-01 -5.81638362e-01 6.48663462e-03 1.75742437e+02] [-7.97069917e-03 4.96784968e-06 9.99968233e-01 -5.17702267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31 meters 0.013819532700651182 Centerline is valid? [True, True] Translation: X:108.83, Y:175.77, Z:-5.18 [[-5.85466448e-01 -8.10684185e-01 -4.49324629e-03 1.08829431e+02] [ 8.10659794e-01 -5.85483689e-01 6.28875294e-03 1.75767110e+02] [-7.72891497e-03 3.93597386e-05 9.99970131e-01 -5.17740764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34 meters 0.014128515889558232 Centerline is valid? [True, True] Translation: X:108.82, Y:175.79, Z:-5.18 [[-5.89021746e-01 -8.08104592e-01 -4.51116149e-03 1.08815869e+02] [ 8.08079959e-01 -5.89039016e-01 6.31007623e-03 1.75791756e+02] [-7.75645171e-03 7.13929323e-05 9.99969916e-01 -5.17772820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37 meters 0.014753226683704438 Centerline is valid? [True, True] Translation: X:108.80, Y:175.82, Z:-5.18 [[-5.92436404e-01 -8.05604267e-01 -4.56864783e-03 1.08802852e+02] [ 8.05578955e-01 -5.92454011e-01 6.38683911e-03 1.75816289e+02] [-7.85197857e-03 1.03389451e-04 9.99969167e-01 -5.17855823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4 meters 0.015740987820953817 Centerline is valid? [True, True] Translation: X:108.79, Y:175.84, Z:-5.18 [[-5.98138982e-01 -8.01379251e-01 -4.58836100e-03 1.08790711e+02] [ 8.01353631e-01 -5.98156560e-01 6.40993152e-03 1.75842489e+02] [-7.88134436e-03 1.57130166e-04 9.99968929e-01 -5.17878792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43 meters 0.0165864205921561 Centerline is valid? [True, True] Translation: X:108.78, Y:175.87, Z:-5.18 [[-6.01062478e-01 -7.99188182e-01 -4.70608608e-03 1.08776624e+02] [ 7.99161198e-01 -6.01080872e-01 6.57009511e-03 1.75866719e+02] [-8.07948069e-03 1.88116256e-04 9.99967343e-01 -5.17931840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46 meters 0.017406016943383965 Centerline is valid? [True, True] Translation: X:108.76, Y:175.89, Z:-5.18 [[-6.03627654e-01 -7.97252464e-01 -4.70793300e-03 1.08763046e+02] [ 7.97225428e-01 -6.03645976e-01 6.56909430e-03 1.75890288e+02] [-8.07915143e-03 2.12003080e-04 9.99967341e-01 -5.17993330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49 meters 0.017759840380637857 Centerline is valid? [True, True] Translation: X:108.75, Y:175.91, Z:-5.18 [[-6.08138430e-01 -7.93816023e-01 -4.87565675e-03 1.08748751e+02] [ 7.93786974e-01 -6.08157918e-01 6.79613091e-03 1.75914614e+02] [-8.36004687e-03 2.62755563e-04 9.99965020e-01 -5.17955243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52 meters 0.018707407671977296 Centerline is valid? [True, True] Translation: X:108.74, Y:175.94, Z:-5.18 [[-6.10171899e-01 -7.92252764e-01 -5.08042808e-03 1.08735002e+02] [ 7.92221176e-01 -6.10192978e-01 7.08087778e-03 1.75937841e+02] [-8.70988653e-03 2.95729937e-04 9.99962025e-01 -5.18022841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55 meters 0.018609505363605873 Centerline is valid? [True, True] Translation: X:108.72, Y:175.96, Z:-5.18 [[-6.11922687e-01 -7.90900541e-01 -5.19219039e-03 1.08718565e+02] [ 7.90867548e-01 -6.11944632e-01 7.23109953e-03 1.75960997e+02] [-8.89641357e-03 3.18538974e-04 9.99960375e-01 -5.18005110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58 meters 0.01941074404447579 Centerline is valid? [True, True] Translation: X:108.70, Y:175.98, Z:-5.18 [[-6.12963886e-01 -7.90093428e-01 -5.25831530e-03 1.08704226e+02] [ 7.90059592e-01 -6.12986349e-01 7.31958274e-03 1.75983744e+02] [-9.00642972e-03 3.32257441e-04 9.99959386e-01 -5.18101132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61 meters 0.01936868481879618 Centerline is valid? [True, True] Translation: X:108.69, Y:176.01, Z:-5.18 [[-6.13829804e-01 -7.89420816e-01 -5.26752557e-03 1.08687435e+02] [ 7.89386883e-01 -6.13852311e-01 7.32730051e-03 1.76006608e+02] [-9.01780629e-03 3.39599839e-04 9.99959281e-01 -5.18153337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64 meters 0.01937687697130449 Centerline is valid? [True, True] Translation: X:108.67, Y:176.03, Z:-5.18 [[-6.13634773e-01 -7.89574727e-01 -4.91079209e-03 1.08670467e+02] [ 7.89545269e-01 -6.13654343e-01 6.82761875e-03 1.76029138e+02] [-8.40444410e-03 3.12371614e-04 9.99964633e-01 -5.18257673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67 meters 0.01927245417024467 Centerline is valid? [True, True] Translation: X:108.65, Y:176.05, Z:-5.18 [[-6.13198484e-01 -7.89914927e-01 -4.69344306e-03 1.08653216e+02] [ 7.89888056e-01 -6.13216376e-01 6.52196216e-03 1.76051387e+02] [-8.02989140e-03 2.91962695e-04 9.99967717e-01 -5.18340263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7 meters 0.019836241915045766 Centerline is valid? [True, True] Translation: X:108.64, Y:176.07, Z:-5.18 [[-6.12225761e-01 -7.90670198e-01 -4.50063032e-03 1.08637228e+02] [ 7.90645536e-01 -6.12242244e-01 6.25064472e-03 1.76073793e+02] [-7.69767450e-03 2.68402446e-04 9.99970336e-01 -5.18482957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73 meters 0.019836241915045766 Centerline is valid? [True, True] Translation: X:108.62, Y:176.10, Z:-5.19 [[-6.12473070e-01 -7.90478634e-01 -4.50208299e-03 1.08621466e+02] [ 7.90453974e-01 -6.12489557e-01 6.24959787e-03 1.76095474e+02] [-7.69765240e-03 2.69021001e-04 9.99970336e-01 -5.18537901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76 meters 0.019174239236136002 Centerline is valid? [True, True] Translation: X:108.60, Y:176.12, Z:-5.19 [[-6.11354009e-01 -7.91344837e-01 -4.43000726e-03 1.08603241e+02] [ 7.91321018e-01 -6.11370008e-01 6.14494283e-03 1.76116904e+02] [-7.57114236e-03 2.51177582e-04 9.99971307e-01 -5.18588241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78999999999996 meters 0.017643603944737057 Centerline is valid? [True, True] Translation: X:108.58, Y:176.14, Z:-5.19 [[-6.08511899e-01 -7.93529102e-01 -4.98318712e-03 1.08583097e+02] [ 7.93499082e-01 -6.08532252e-01 6.90688957e-03 1.76137167e+02] [-8.51324796e-03 2.48770080e-04 9.99963731e-01 -5.18525223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82 meters 0.017458037272341295 Centerline is valid? [True, True] Translation: X:108.57, Y:176.16, Z:-5.19 [[-6.06921263e-01 -7.94741902e-01 -5.64704126e-03 1.08565834e+02] [ 7.94703460e-01 -6.06947479e-01 7.82104452e-03 1.76158239e+02] [-9.64316925e-03 2.59034993e-04 9.99953470e-01 -5.18553839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84999999999997 meters 0.016387269715988875 Centerline is valid? [True, True] Translation: X:108.55, Y:176.18, Z:-5.19 [[-6.05073622e-01 -7.96147256e-01 -5.95465471e-03 1.08546522e+02] [ 7.96104630e-01 -6.05102872e-01 8.24216889e-03 1.76179060e+02] [-1.01651588e-02 2.46590806e-04 9.99948303e-01 -5.18544111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88 meters 0.015975704662145217 Centerline is valid? [True, True] Translation: X:108.53, Y:176.20, Z:-5.19 [[-6.03166444e-01 -7.97591469e-01 -6.17170152e-03 1.08527838e+02] [ 7.97545811e-01 -6.03197975e-01 8.53705457e-03 1.76200446e+02] [-1.05318398e-02 2.27050155e-04 9.99944513e-01 -5.18593821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90999999999997 meters 0.015418165709904483 Centerline is valid? [True, True] Translation: X:108.51, Y:176.22, Z:-5.19 [[-6.01017285e-01 -7.99209195e-01 -6.54876071e-03 1.08508803e+02] [ 7.99157951e-01 -6.01052926e-01 9.05259858e-03 1.76221659e+02] [-1.11710718e-02 2.07274032e-04 9.99937580e-01 -5.18631924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94 meters 0.014618976450382166 Centerline is valid? [True, True] Translation: X:108.49, Y:176.24, Z:-5.19 [[-5.96581337e-01 -8.02524143e-01 -6.76077805e-03 1.08488048e+02] [ 8.02469810e-01 -5.96619626e-01 9.33947162e-03 1.76240098e+02] [-1.15287643e-02 1.46434188e-04 9.99933531e-01 -5.18732664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96999999999997 meters 0.014156630738982462 Centerline is valid? [True, True] Translation: X:108.47, Y:176.26, Z:-5.19 [[-5.94700483e-01 -8.03919020e-01 -6.74864995e-03 1.08469231e+02] [ 8.03865021e-01 -5.94738762e-01 9.31843370e-03 1.76259894e+02] [-1.15049498e-02 1.16673386e-04 9.99933809e-01 -5.18786965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0 meters 0.013840995526589147 Centerline is valid? [True, True] Translation: X:108.45, Y:176.28, Z:-5.19 [[-5.92848683e-01 -8.05287195e-01 -6.55534071e-03 1.08450395e+02] [ 8.05236398e-01 -5.92884918e-01 9.04529032e-03 1.76280476e+02] [-1.11706191e-02 8.38895159e-05 9.99937603e-01 -5.18847935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03 meters 0.013764680245693313 Centerline is valid? [True, True] Translation: X:108.43, Y:176.30, Z:-5.19 [[-5.91206163e-01 -8.06496925e-01 -6.16296477e-03 1.08432406e+02] [ 8.06452130e-01 -5.91238282e-01 8.50028648e-03 1.76300191e+02] [-1.04992356e-02 5.52856905e-05 9.99944880e-01 -5.18943090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06 meters 0.013728102656262467 Centerline is valid? [True, True] Translation: X:108.41, Y:176.32, Z:-5.19 [[-5.87548330e-01 -8.09169249e-01 -5.66444400e-03 1.08411074e+02] [ 8.09131584e-01 -5.87575635e-01 7.80725155e-03 1.76319517e+02] [-9.64567715e-03 3.85706791e-06 9.99953479e-01 -5.19059043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09 meters 0.013896550345157986 Centerline is valid? [True, True] Translation: X:108.39, Y:176.34, Z:-5.19 [[-5.85898080e-01 -8.10367431e-01 -5.29780964e-03 1.08392312e+02] [ 8.10334566e-01 -5.85922031e-01 7.29820356e-03 1.76340627e+02] [-9.01832985e-03 -1.69948239e-05 9.99959334e-01 -5.19153682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12 meters 0.013942976189004804 Centerline is valid? [True, True] Translation: X:108.37, Y:176.36, Z:-5.19 [[-5.84315840e-01 -8.11512063e-01 -4.81366491e-03 1.08373468e+02] [ 8.11484994e-01 -5.84335666e-01 6.62822399e-03 1.76361896e+02] [-8.19167982e-03 -3.32405777e-05 9.99966447e-01 -5.19251366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15 meters 0.01419487290256072 Centerline is valid? [True, True] Translation: X:108.36, Y:176.38, Z:-5.19 [[-5.82758806e-01 -8.12630878e-01 -4.81975368e-03 1.08355133e+02] [ 8.12603812e-01 -5.82778734e-01 6.63267611e-03 1.76383109e+02] [-8.19876736e-03 -5.12998019e-05 9.99966388e-01 -5.19338785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18 meters 0.014523830699352598 Centerline is valid? [True, True] Translation: X:108.34, Y:176.40, Z:-5.19 [[-5.80415242e-01 -8.14306886e-01 -4.73738250e-03 1.08335593e+02] [ 8.14280822e-01 -5.80434570e-01 6.51559929e-03 1.76403542e+02] [-8.05543794e-03 -7.58065734e-05 9.99967552e-01 -5.19460962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21 meters 0.014772297963805268 Centerline is valid? [True, True] Translation: X:108.32, Y:176.42, Z:-5.20 [[-5.79940427e-01 -8.14644074e-01 -4.91256901e-03 1.08318572e+02] [ 8.14616093e-01 -5.79961227e-01 6.75244406e-03 1.76424462e+02] [-8.34993809e-03 -8.58424842e-05 9.99965135e-01 -5.19562187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24 meters 0.014725008448961163 Centerline is valid? [True, True] Translation: X:108.30, Y:176.45, Z:-5.20 [[-5.79650244e-01 -8.14850946e-01 -4.85083514e-03 1.08301961e+02] [ 8.14823707e-01 -5.79670534e-01 6.66323571e-03 1.76447111e+02] [-8.24143012e-03 -9.02292662e-05 9.99966035e-01 -5.19585048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27 meters 0.014960717594420598 Centerline is valid? [True, True] Translation: X:108.29, Y:176.47, Z:-5.20 [[-5.79866544e-01 -8.14696896e-01 -4.87433226e-03 1.08285183e+02] [ 8.14669418e-01 -5.79887023e-01 6.69175460e-03 1.76468617e+02] [-8.27831373e-03 -9.06448139e-05 9.99965730e-01 -5.19715943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.3 meters 0.014808794290187357 Centerline is valid? [True, True] Translation: X:108.27, Y:176.49, Z:-5.20 [[-5.80445027e-01 -8.14282687e-01 -5.22270877e-03 1.08270235e+02] [ 8.14251169e-01 -5.80468516e-01 7.16494647e-03 1.76491372e+02] [-8.86590987e-03 -9.37391710e-05 9.99960693e-01 -5.19683203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33 meters 0.01499387168308144 Centerline is valid? [True, True] Translation: X:108.25, Y:176.51, Z:-5.20 [[-5.81089244e-01 -8.13823933e-01 -5.08895995e-03 1.08254833e+02] [ 8.13794026e-01 -5.81111520e-01 6.97740749e-03 1.76512735e+02] [-8.63563445e-03 -8.68687704e-05 9.99962708e-01 -5.19774019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36 meters 0.014884140393848116 Centerline is valid? [True, True] Translation: X:108.24, Y:176.54, Z:-5.20 [[-5.81275425e-01 -8.13690829e-01 -5.11033361e-03 1.08239766e+02] [ 8.13660711e-01 -5.81297882e-01 7.00144693e-03 1.76535007e+02] [-8.66763925e-03 -8.83086333e-05 9.99962431e-01 -5.19739687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39 meters 0.01498625923024716 Centerline is valid? [True, True] Translation: X:108.22, Y:176.56, Z:-5.20 [[-5.81413875e-01 -8.13592350e-01 -5.03921317e-03 1.08223671e+02] [ 8.13563099e-01 -5.81435706e-01 6.89959567e-03 1.76557444e+02] [-8.54343672e-03 -8.81972258e-05 9.99963500e-01 -5.19797994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42 meters 0.015173867510155523 Centerline is valid? [True, True] Translation: X:108.21, Y:176.58, Z:-5.20 [[-5.81322843e-01 -8.13656828e-01 -5.13011281e-03 1.08208370e+02] [ 8.13626554e-01 -5.81345471e-01 7.01954248e-03 1.76578480e+02] [-8.69386652e-03 -9.33756174e-05 9.99962203e-01 -5.19895898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45 meters 0.014987302370172435 Centerline is valid? [True, True] Translation: X:108.19, Y:176.60, Z:-5.20 [[-5.81674036e-01 -8.13405270e-01 -5.21365382e-03 1.08192315e+02] [ 8.13374044e-01 -5.81697393e-01 7.12788117e-03 1.76601628e+02] [-8.83062494e-03 -9.45472826e-05 9.99961005e-01 -5.19906065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48 meters 0.015335101177218239 Centerline is valid? [True, True] Translation: X:108.18, Y:176.62, Z:-5.20 [[-5.82192111e-01 -8.13033219e-01 -5.41585233e-03 1.08176030e+02] [ 8.12999546e-01 -5.82217293e-01 7.40017086e-03 1.76622868e+02] [-9.16978762e-03 -9.47643964e-05 9.99957952e-01 -5.20067851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51 meters 0.015060416616632788 Centerline is valid? [True, True] Translation: X:108.16, Y:176.65, Z:-5.20 [[-5.82681171e-01 -8.12682465e-01 -5.46476317e-03 1.08161746e+02] [ 8.12648212e-01 -5.82706789e-01 7.46199173e-03 1.76645774e+02] [-9.24858444e-03 -9.29679448e-05 9.99957227e-01 -5.20002728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53999999999996 meters 0.014797248088789799 Centerline is valid? [True, True] Translation: X:108.15, Y:176.67, Z:-5.20 [[-5.83730651e-01 -8.11929055e-01 -5.45309536e-03 1.08147338e+02] [ 8.11894967e-01 -5.83756115e-01 7.44050888e-03 1.76670534e+02] [-9.22444311e-03 -8.40875816e-05 9.99957450e-01 -5.20011654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57 meters 0.01517191772266792 Centerline is valid? [True, True] Translation: X:108.13, Y:176.69, Z:-5.20 [[-5.84518069e-01 -8.11362896e-01 -5.37392262e-03 1.08131158e+02] [ 8.11329801e-01 -5.84542767e-01 7.32854137e-03 1.76692781e+02] [-9.08739414e-03 -7.63587244e-05 9.99958706e-01 -5.20199181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59999999999997 meters 0.015142248020556108 Centerline is valid? [True, True] Translation: X:108.12, Y:176.71, Z:-5.20 [[-5.85186395e-01 -8.10880224e-01 -5.49038955e-03 1.08116906e+02] [ 8.10845718e-01 -5.85212146e-01 7.48102209e-03 1.76714312e+02] [-9.27925552e-03 -7.40665032e-05 9.99956944e-01 -5.20233729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63 meters 0.01497076743489022 Centerline is valid? [True, True] Translation: X:108.10, Y:176.74, Z:-5.20 [[-5.85901124e-01 -8.10364369e-01 -5.42791247e-03 1.08101846e+02] [ 8.10330641e-01 -5.85926262e-01 7.39373175e-03 1.76737227e+02] [-9.17197323e-03 -6.64080522e-05 9.99957934e-01 -5.20225391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65999999999997 meters 0.014568471792688852 Centerline is valid? [True, True] Translation: X:108.09, Y:176.76, Z:-5.20 [[-5.86626810e-01 -8.09837075e-01 -5.73566457e-03 1.08087107e+02] [ 8.09799444e-01 -5.86654845e-01 7.80724722e-03 1.76761132e+02] [-9.68745367e-03 -6.47974493e-05 9.99953073e-01 -5.20104797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69 meters 0.014570746443045502 Centerline is valid? [True, True] Translation: X:108.07, Y:176.78, Z:-5.20 [[-5.88167686e-01 -8.08716779e-01 -5.99533863e-03 1.08073134e+02] [ 8.08675650e-01 -5.88198239e-01 8.15629609e-03 1.76783673e+02] [-1.01225811e-02 -5.10145615e-05 9.99948764e-01 -5.20180255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71999999999997 meters 0.01458027205304572 Centerline is valid? [True, True] Translation: X:108.06, Y:176.81, Z:-5.20 [[-5.88947014e-01 -8.08148057e-01 -6.17517785e-03 1.08058628e+02] [ 8.08104474e-01 -5.88979385e-01 8.39308558e-03 1.76805660e+02] [-1.04199083e-02 -4.71061623e-05 9.99945710e-01 -5.20244396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75 meters 0.014618604390379038 Centerline is valid? [True, True] Translation: X:108.04, Y:176.83, Z:-5.20 [[-5.90516043e-01 -8.07000018e-01 -6.46327344e-03 1.08044392e+02] [ 8.06952243e-01 -5.90551412e-01 8.78107774e-03 1.76827571e+02] [-1.09032251e-02 -3.01857252e-05 9.99940558e-01 -5.20443586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78 meters 0.014265396219527101 Centerline is valid? [True, True] Translation: X:108.03, Y:176.85, Z:-5.20 [[-5.93122978e-01 -8.05083643e-01 -6.74246788e-03 1.08031617e+02] [ 8.05031607e-01 -5.93161300e-01 9.15337543e-03 1.76853075e+02] [-1.13686038e-02 1.17754580e-06 9.99935375e-01 -5.20179486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81 meters 0.014411991020136647 Centerline is valid? [True, True] Translation: X:108.02, Y:176.88, Z:-5.20 [[-5.94956902e-01 -8.03727175e-01 -6.99373462e-03 1.08017613e+02] [ 8.03671163e-01 -5.94998006e-01 9.48860735e-03 1.76875904e+02] [-1.17875097e-02 2.46495962e-05 9.99930525e-01 -5.20489643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84 meters 0.014307447874843159 Centerline is valid? [True, True] Translation: X:108.00, Y:176.90, Z:-5.20 [[-5.96703188e-01 -8.02428736e-01 -7.30954267e-03 1.08002957e+02] [ 8.02367536e-01 -5.96747955e-01 9.91038578e-03 1.76898973e+02] [-1.23143330e-02 4.86190533e-05 9.99924175e-01 -5.20311063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87 meters 0.014341183538295943 Centerline is valid? [True, True] Translation: X:107.99, Y:176.92, Z:-5.20 [[-5.98421761e-01 -8.01145975e-01 -7.51818435e-03 1.07987819e+02] [ 8.01081223e-01 -5.98468982e-01 1.01859123e-02 1.76922328e+02] [-1.26598027e-02 7.27952422e-05 9.99919859e-01 -5.20273231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9 meters 0.014652448055452584 Centerline is valid? [True, True] Translation: X:107.97, Y:176.95, Z:-5.20 [[-6.02011585e-01 -7.98451748e-01 -7.54041054e-03 1.07974913e+02] [ 7.98386475e-01 -6.02058793e-01 1.02100908e-02 1.76946490e+02] [-1.26920353e-02 1.26431172e-04 9.99919445e-01 -5.20317598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93 meters 0.01496252364073531 Centerline is valid? [True, True] Translation: X:107.96, Y:176.97, Z:-5.20 [[-6.04061982e-01 -7.96901966e-01 -7.50858887e-03 1.07959944e+02] [ 7.96837206e-01 -6.04108627e-01 1.01603753e-02 1.76969985e+02] [-1.26328263e-02 1.54373449e-04 9.99920191e-01 -5.20412725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96 meters 0.015229876804164173 Centerline is valid? [True, True] Translation: X:107.95, Y:176.99, Z:-5.20 [[-6.05674645e-01 -7.95679396e-01 -7.24728084e-03 1.07945137e+02] [ 7.95619044e-01 -6.05717979e-01 9.80135206e-03 1.76994087e+02] [-1.21885422e-02 1.70355778e-04 9.99925702e-01 -5.20466183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99 meters 0.015497810041717465 Centerline is valid? [True, True] Translation: X:107.93, Y:177.02, Z:-5.21 [[-6.07450583e-01 -7.94325480e-01 -7.12897632e-03 1.07930255e+02] [ 7.94267055e-01 -6.07492384e-01 9.63581854e-03 1.77018072e+02] [-1.19847750e-02 1.90972558e-04 9.99928162e-01 -5.20501986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02 meters 0.015890998212208875 Centerline is valid? [True, True] Translation: X:107.91, Y:177.04, Z:-5.21 [[-6.08927125e-01 -7.93194440e-01 -7.09482729e-03 1.07914861e+02] [ 7.93136564e-01 -6.08968420e-01 9.58405965e-03 1.77042129e+02] [-1.19225486e-02 2.08826955e-04 9.99928902e-01 -5.20556440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05 meters 0.016775499934036806 Centerline is valid? [True, True] Translation: X:107.90, Y:177.07, Z:-5.21 [[-6.11170130e-01 -7.91466608e-01 -7.18891906e-03 1.07901907e+02] [ 7.91407150e-01 -6.11212361e-01 9.70427239e-03 1.77066036e+02] [-1.20745637e-02 2.41599470e-04 9.99927071e-01 -5.20673352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08 meters 0.016275516941954928 Centerline is valid? [True, True] Translation: X:107.88, Y:177.09, Z:-5.21 [[-6.12297454e-01 -7.90592325e-01 -7.45677261e-03 1.07884487e+02] [ 7.90528332e-01 -6.12342800e-01 1.00623807e-02 1.77088577e+02] [-1.25213420e-02 2.66380087e-04 9.99921569e-01 -5.20696102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11 meters 0.016065192129579162 Centerline is valid? [True, True] Translation: X:107.87, Y:177.11, Z:-5.21 [[-6.12938072e-01 -7.90092503e-01 -7.79467169e-03 1.07867575e+02] [ 7.90022624e-01 -6.12987566e-01 1.05117510e-02 1.77111619e+02] [-1.30832925e-02 2.85085435e-04 9.99914369e-01 -5.20704477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14 meters 0.01633111264847074 Centerline is valid? [True, True] Translation: X:107.85, Y:177.13, Z:-5.21 [[-6.13477640e-01 -7.89673390e-01 -7.81806950e-03 1.07852020e+02] [ 7.89603139e-01 -6.13527385e-01 1.05371244e-02 1.77134029e+02] [-1.31174865e-02 2.91117977e-04 9.99913920e-01 -5.20759200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17 meters 0.016061911621851582 Centerline is valid? [True, True] Translation: X:107.84, Y:177.16, Z:-5.21 [[-6.12814520e-01 -7.90184679e-01 -8.15705521e-03 1.07835843e+02] [ 7.90108353e-01 -6.12868738e-01 1.09863396e-02 1.77156567e+02] [-1.36804413e-02 2.87630946e-04 9.99906377e-01 -5.20760954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2 meters 0.01575543128805462 Centerline is valid? [True, True] Translation: X:107.82, Y:177.18, Z:-5.21 [[-6.11774288e-01 -7.90987423e-01 -8.43310726e-03 1.07818781e+02] [ 7.90906019e-01 -6.11832348e-01 1.13510841e-02 1.77179189e+02] [-1.41382126e-02 2.74506087e-04 9.99900013e-01 -5.20793643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23 meters 0.015519746348717701 Centerline is valid? [True, True] Translation: X:107.80, Y:177.20, Z:-5.21 [[-6.10495262e-01 -7.91973677e-01 -8.55747712e-03 1.07801599e+02] [ 7.91890048e-01 -6.10555184e-01 1.15117311e-02 1.77201029e+02] [-1.43418000e-02 2.51276347e-04 9.99897120e-01 -5.20860894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26 meters 0.015114829177870383 Centerline is valid? [True, True] Translation: X:107.78, Y:177.22, Z:-5.21 [[-6.09012431e-01 -7.93113288e-01 -8.67013023e-03 1.07783741e+02] [ 7.93027668e-01 -6.09074103e-01 1.16556870e-02 1.77223121e+02] [-1.45250320e-02 2.22805104e-04 9.99894481e-01 -5.20879493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28999999999996 meters 0.0142876827819803 Centerline is valid? [True, True] Translation: X:107.76, Y:177.24, Z:-5.21 [[-6.05087335e-01 -7.96109810e-01 -8.85933743e-03 1.07764389e+02] [ 7.96020840e-01 -6.05152169e-01 1.19027203e-02 1.77244255e+02] [-1.48371197e-02 1.49968103e-04 9.99889913e-01 -5.20924170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32 meters 0.014081833146273866 Centerline is valid? [True, True] Translation: X:107.75, Y:177.27, Z:-5.21 [[-6.03090376e-01 -7.97625725e-01 -8.67185173e-03 1.07747023e+02] [ 7.97540727e-01 -6.03152710e-01 1.16446466e-02 1.77265733e+02] [-1.45185206e-02 1.06619370e-04 9.99894595e-01 -5.21008312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34999999999997 meters 0.013855964722366398 Centerline is valid? [True, True] Translation: X:107.73, Y:177.29, Z:-5.21 [[-6.00874717e-01 -7.99295939e-01 -8.69350555e-03 1.07729042e+02] [ 7.99210790e-01 -6.00937599e-01 1.16668319e-02 1.77287044e+02] [-1.45495057e-02 6.23608684e-05 9.99894148e-01 -5.21041896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38 meters 0.01381607801335907 Centerline is valid? [True, True] Translation: X:107.71, Y:177.31, Z:-5.21 [[-5.96037655e-01 -8.02911230e-01 -8.52469259e-03 1.07710343e+02] [ 8.02829817e-01 -5.96098612e-01 1.14337199e-02 1.77307168e+02] [-1.42618196e-02 -2.89497699e-05 9.99898295e-01 -5.21107228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40999999999997 meters 0.013980082300843029 Centerline is valid? [True, True] Translation: X:107.69, Y:177.33, Z:-5.21 [[-5.93634650e-01 -8.04688812e-01 -8.59176497e-03 1.07692613e+02] [ 8.04606404e-01 -5.93696817e-01 1.15162168e-02 1.77327965e+02] [-1.43678743e-02 -7.65637823e-05 9.99896774e-01 -5.21181323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44 meters 0.014312202204745423 Centerline is valid? [True, True] Translation: X:107.67, Y:177.35, Z:-5.21 [[-5.91315367e-01 -8.06394243e-01 -8.62912554e-03 1.07674176e+02] [ 8.06311408e-01 -5.91378313e-01 1.15587188e-02 1.77349526e+02] [-1.44239620e-02 -1.22914330e-04 9.99895962e-01 -5.21247628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46999999999997 meters 0.014939602698764728 Centerline is valid? [True, True] Translation: X:107.66, Y:177.37, Z:-5.21 [[-5.89176727e-01 -8.07959686e-01 -8.48118854e-03 1.07655493e+02] [ 8.07879920e-01 -5.89237744e-01 1.13541281e-02 1.77369853e+02] [-1.41711142e-02 -1.62193911e-04 9.99899572e-01 -5.21381366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5 meters 0.015670708466877625 Centerline is valid? [True, True] Translation: X:107.64, Y:177.39, Z:-5.21 [[-5.84777391e-01 -8.11150126e-01 -8.41875950e-03 1.07636797e+02] [ 8.11071958e-01 -5.84837938e-01 1.12634073e-02 1.77390842e+02] [-1.40599242e-02 -2.41633806e-04 9.99901125e-01 -5.21429412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53 meters 0.016343461080292214 Centerline is valid? [True, True] Translation: X:107.62, Y:177.41, Z:-5.22 [[-5.83277566e-01 -8.12228194e-01 -8.52308850e-03 1.07619253e+02] [ 8.12148287e-01 -5.83339769e-01 1.13961923e-02 1.77411385e+02] [-1.42281651e-02 -2.74868457e-04 9.99898737e-01 -5.21520275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56 meters 0.01627877181116029 Centerline is valid? [True, True] Translation: X:107.60, Y:177.43, Z:-5.22 [[-5.82073462e-01 -8.13092444e-01 -8.43575989e-03 1.07602337e+02] [ 8.13014360e-01 -5.82134511e-01 1.12721343e-02 1.77433924e+02] [-1.40760342e-02 -2.97183687e-04 9.99900884e-01 -5.21532840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59 meters 0.017414765090772173 Centerline is valid? [True, True] Translation: X:107.58, Y:177.45, Z:-5.22 [[-5.81036701e-01 -8.13831831e-01 -8.60827940e-03 1.07584253e+02] [ 8.13750694e-01 -5.81100374e-01 1.14962300e-02 1.77454213e+02] [-1.43582723e-02 -3.25261804e-04 9.99896862e-01 -5.21630001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62 meters 0.016944800664781465 Centerline is valid? [True, True] Translation: X:107.57, Y:177.48, Z:-5.22 [[-5.80746721e-01 -8.14044243e-01 -8.07571834e-03 1.07568107e+02] [ 8.13972942e-01 -5.80802783e-01 1.07785380e-02 1.77477565e+02] [-1.34646065e-02 -3.13815623e-04 9.99909299e-01 -5.21719274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65 meters 0.016944800664781465 Centerline is valid? [True, True] Translation: X:107.55, Y:177.50, Z:-5.22 [[-5.80982692e-01 -8.13875816e-01 -8.07882813e-03 1.07551486e+02] [ 8.13804532e-01 -5.81038774e-01 1.07762062e-02 1.77499615e+02] [-1.34646060e-02 -3.13797626e-04 9.99909299e-01 -5.21775889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68 meters 0.016961912686188754 Centerline is valid? [True, True] Translation: X:107.53, Y:177.52, Z:-5.22 [[-5.81496934e-01 -8.13513119e-01 -7.59742760e-03 1.07534652e+02] [ 8.13450116e-01 -5.81546491e-01 1.01285291e-02 1.77522308e+02] [-1.26579486e-02 -2.90419770e-04 9.99919843e-01 -5.21902441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71 meters 0.016859330853848983 Centerline is valid? [True, True] Translation: X:107.52, Y:177.54, Z:-5.22 [[-5.82084480e-01 -8.13095542e-01 -7.30050988e-03 1.07518166e+02] [ 8.13037402e-01 -5.82130195e-01 9.72721871e-03 1.77544475e+02] [-1.21590054e-02 -2.73524540e-04 9.99926039e-01 -5.22009353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74 meters 0.016682918015197026 Centerline is valid? [True, True] Translation: X:107.50, Y:177.57, Z:-5.22 [[-5.82439626e-01 -8.12848072e-01 -6.48794721e-03 1.07502094e+02] [ 8.12802183e-01 -5.82475710e-01 8.64053001e-03 1.77567932e+02] [-1.08025098e-02 -2.40830586e-04 9.99941622e-01 -5.22092730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77 meters 0.01682483983894119 Centerline is valid? [True, True] Translation: X:107.49, Y:177.59, Z:-5.22 [[-5.82768513e-01 -8.12615551e-01 -6.06841881e-03 1.07485304e+02] [ 8.12575435e-01 -5.82800065e-01 8.07756347e-03 1.77590854e+02] [-1.01006286e-02 -2.23698401e-04 9.99948962e-01 -5.22163280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.8 meters 0.017329211842014178 Centerline is valid? [True, True] Translation: X:107.47, Y:177.61, Z:-5.22 [[-5.82865580e-01 -8.12548792e-01 -5.67241788e-03 1.07468965e+02] [ 8.12513765e-01 -5.82893143e-01 7.54752661e-03 1.77611551e+02] [-9.43914712e-03 -2.09724132e-04 9.99955428e-01 -5.22277626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83 meters 0.01688913826913165 Centerline is valid? [True, True] Translation: X:107.45, Y:177.64, Z:-5.22 [[-5.83216203e-01 -8.12300333e-01 -5.19900009e-03 1.07452942e+02] [ 8.12270942e-01 -5.83239344e-01 6.91269128e-03 1.77635071e+02] [-8.64744283e-03 -1.91403134e-04 9.99962592e-01 -5.22350473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86 meters 0.016524256529509687 Centerline is valid? [True, True] Translation: X:107.44, Y:177.66, Z:-5.22 [[-5.84144314e-01 -8.11636121e-01 -4.71461303e-03 1.07437148e+02] [ 8.11611952e-01 -5.84163315e-01 6.26583508e-03 1.77658771e+02] [-7.83968206e-03 -1.66284349e-04 9.99969255e-01 -5.22411146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89 meters 0.01696229746576849 Centerline is valid? [True, True] Translation: X:107.42, Y:177.68, Z:-5.23 [[-5.84900540e-01 -8.11091266e-01 -4.72400339e-03 1.07420313e+02] [ 8.11067010e-01 -5.84919594e-01 6.27479425e-03 1.77680558e+02] [-7.85259296e-03 -1.61352762e-04 9.99969155e-01 -5.22531939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92 meters 0.016335494868248892 Centerline is valid? [True, True] Translation: X:107.41, Y:177.70, Z:-5.22 [[-5.85728649e-01 -8.10494429e-01 -4.55304476e-03 1.07405085e+02] [ 8.10471907e-01 -5.85746326e-01 6.04403953e-03 1.77704159e+02] [-7.56558960e-03 -1.49947764e-04 9.99971369e-01 -5.22493345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95 meters 0.017124355825173677 Centerline is valid? [True, True] Translation: X:107.39, Y:177.72, Z:-5.23 [[-5.86689300e-01 -8.09800324e-01 -4.37043047e-03 1.07388527e+02] [ 8.09779567e-01 -5.86705562e-01 5.79968086e-03 1.77724041e+02] [-7.26073930e-03 -1.36474592e-04 9.99973631e-01 -5.22667230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98 meters 0.01574774699443967 Centerline is valid? [True, True] Translation: X:107.37, Y:177.75, Z:-5.23 [[-5.88493551e-01 -8.08490772e-01 -4.24395130e-03 1.07374578e+02] [ 8.08471202e-01 -5.88508842e-01 5.62667872e-03 1.77749369e+02] [-7.04672068e-03 -1.19848267e-04 9.99975164e-01 -5.22560642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01 meters 0.015605266308052387 Centerline is valid? [True, True] Translation: X:107.36, Y:177.77, Z:-5.23 [[-5.89547711e-01 -8.07721931e-01 -4.33352617e-03 1.07358650e+02] [ 8.07701521e-01 -5.89563626e-01 5.74319891e-03 1.77771443e+02] [-7.19379712e-03 -1.14305912e-04 9.99974118e-01 -5.22571668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03999999999996 meters 0.015468422841822881 Centerline is valid? [True, True] Translation: X:107.34, Y:177.79, Z:-5.23 [[-5.90307772e-01 -8.07166448e-01 -4.36576839e-03 1.07342295e+02] [ 8.07145746e-01 -5.90323905e-01 5.78198943e-03 1.77793522e+02] [-7.24424531e-03 -1.10658086e-04 9.99973754e-01 -5.22594369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07 meters 0.015154402473118696 Centerline is valid? [True, True] Translation: X:107.33, Y:177.82, Z:-5.23 [[-5.91916216e-01 -8.05988661e-01 -4.17987784e-03 1.07326641e+02] [ 8.05969678e-01 -5.91930967e-01 5.53250052e-03 1.77816249e+02] [-6.93333182e-03 -9.40780236e-05 9.99975960e-01 -5.22603698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09999999999997 meters 0.01518767934131224 Centerline is valid? [True, True] Translation: X:107.31, Y:177.84, Z:-5.23 [[-5.92465566e-01 -8.05584967e-01 -4.17304129e-03 1.07311153e+02] [ 8.05566059e-01 -5.92480255e-01 5.52017249e-03 1.77837370e+02] [-6.91941254e-03 -9.11483090e-05 9.99976056e-01 -5.22604487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13 meters 0.0151386078964807 Centerline is valid? [True, True] Translation: X:107.29, Y:177.86, Z:-5.23 [[-5.92982087e-01 -8.05203492e-01 -4.42516839e-03 1.07294746e+02] [ 8.05182256e-01 -5.92998590e-01 5.84858547e-03 1.77859446e+02] [-7.33342006e-03 -9.49606551e-05 9.99973106e-01 -5.22567159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15999999999997 meters 0.015125023341291925 Centerline is valid? [True, True] Translation: X:107.28, Y:177.88, Z:-5.23 [[-5.92990606e-01 -8.05195768e-01 -4.68150685e-03 1.07278004e+02] [ 8.05172037e-01 -5.93009076e-01 6.18271749e-03 1.77880801e+02] [-7.75447401e-03 -1.03125017e-04 9.99969928e-01 -5.22566675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19 meters 0.015509710352625728 Centerline is valid? [True, True] Translation: X:107.26, Y:177.90, Z:-5.23 [[-5.92740870e-01 -8.05381337e-01 -4.37759491e-03 1.07260425e+02] [ 8.05360612e-01 -5.92757027e-01 5.77862765e-03 1.77900678e+02] [-7.24884900e-03 -1.00313727e-04 9.99973722e-01 -5.22695087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21999999999997 meters 0.015574708940420354 Centerline is valid? [True, True] Translation: X:107.24, Y:177.92, Z:-5.23 [[-5.92435014e-01 -8.05607259e-01 -4.20704017e-03 1.07243173e+02] [ 8.05588149e-01 -5.92449943e-01 5.54968976e-03 1.77921355e+02] [-6.96333106e-03 -1.01311172e-04 9.99975751e-01 -5.22799834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25 meters 0.015952237910961984 Centerline is valid? [True, True] Translation: X:107.22, Y:177.94, Z:-5.23 [[-5.91742518e-01 -8.06118607e-01 -3.68564822e-03 1.07224714e+02] [ 8.06103967e-01 -5.91753988e-01 4.85920989e-03 1.77942994e+02] [-6.09809654e-03 -9.56145554e-05 9.99981402e-01 -5.22930399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28 meters 0.01626906382905354 Centerline is valid? [True, True] Translation: X:107.21, Y:177.96, Z:-5.23 [[-5.91149237e-01 -8.06554840e-01 -3.44517074e-03 1.07206126e+02] [ 8.06542067e-01 -5.91159269e-01 4.54017000e-03 1.77964382e+02] [-5.69854070e-03 -9.47571042e-05 9.99983759e-01 -5.23038216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31 meters 0.016190553475868442 Centerline is valid? [True, True] Translation: X:107.19, Y:177.99, Z:-5.23 [[-5.88509404e-01 -8.08484533e-01 -3.07274680e-03 1.07187209e+02] [ 8.08474403e-01 -5.88517416e-01 4.04849612e-03 1.77985529e+02] [-5.08151150e-03 -1.01659099e-04 9.99987084e-01 -5.22983531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34 meters 0.016804661026882706 Centerline is valid? [True, True] Translation: X:107.17, Y:178.01, Z:-5.23 [[-5.87246196e-01 -8.09402789e-01 -3.00492960e-03 1.07168819e+02] [ 8.09393134e-01 -5.87253874e-01 3.95501129e-03 1.78005182e+02] [-4.96585372e-03 -1.09604051e-04 9.99987664e-01 -5.23039423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37 meters 0.016514379348899287 Centerline is valid? [True, True] Translation: X:107.15, Y:178.03, Z:-5.23 [[-5.86024654e-01 -8.10287549e-01 -3.03204799e-03 1.07150990e+02] [ 8.10277732e-01 -5.86032485e-01 3.99044906e-03 1.78026761e+02] [-5.01028980e-03 -1.18299440e-04 9.99987441e-01 -5.22982842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4 meters 0.017748009494375456 Centerline is valid? [True, True] Translation: X:107.13, Y:178.05, Z:-5.23 [[-5.84752621e-01 -8.11205540e-01 -3.15338924e-03 1.07131112e+02] [ 8.11194949e-01 -5.84761108e-01 4.14744544e-03 1.78046242e+02] [-5.20841010e-03 -1.32783831e-04 9.99986427e-01 -5.23097611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43 meters 0.01775942396915049 Centerline is valid? [True, True] Translation: X:107.11, Y:178.07, Z:-5.23 [[-5.83584535e-01 -8.12045446e-01 -3.35919102e-03 1.07112889e+02] [ 8.12033455e-01 -5.83594183e-01 4.41556395e-03 1.78067462e+02] [-5.54604294e-03 -1.50920651e-04 9.99984609e-01 -5.23072982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46 meters 0.018645504683182934 Centerline is valid? [True, True] Translation: X:107.09, Y:178.09, Z:-5.23 [[-5.81021608e-01 -8.13877657e-01 -4.12922096e-03 1.07092232e+02] [ 8.13859618e-01 -5.81036243e-01 5.42272207e-03 1.78086354e+02] [-6.81265936e-03 -2.09887491e-04 9.99976772e-01 -5.22989000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49 meters 0.01941468084703768 Centerline is valid? [True, True] Translation: X:107.07, Y:178.11, Z:-5.23 [[-5.80030545e-01 -8.14581762e-01 -4.59562452e-03 1.07073387e+02] [ 8.14559479e-01 -5.80048698e-01 6.03014844e-03 1.78105770e+02] [-7.57773496e-03 -2.45739230e-04 9.99971258e-01 -5.23001312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52 meters 0.02002427005809024 Centerline is valid? [True, True] Translation: X:107.05, Y:178.13, Z:-5.23 [[-5.79352298e-01 -8.15062187e-01 -4.95440815e-03 1.07054130e+02] [ 8.15036350e-01 -5.79373417e-01 6.49554835e-03 1.78125991e+02] [-8.16472822e-03 -2.74811873e-04 9.99966630e-01 -5.23007827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55 meters 0.021011399794743944 Centerline is valid? [True, True] Translation: X:107.03, Y:178.15, Z:-5.23 [[-5.78246669e-01 -8.15841599e-01 -5.76848811e-03 1.07032197e+02] [ 8.15806670e-01 -5.78275344e-01 7.55676455e-03 1.78145071e+02] [-9.50089732e-03 -3.36297141e-04 9.99954809e-01 -5.23005228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58 meters 0.020894479850403738 Centerline is valid? [True, True] Translation: X:107.01, Y:178.17, Z:-5.23 [[-5.77786177e-01 -8.16165139e-01 -6.13186966e-03 1.07013709e+02] [ 8.16125742e-01 -5.77818597e-01 8.02753477e-03 1.78165987e+02] [-1.00949024e-02 -3.66178058e-04 9.99948978e-01 -5.23003098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61 meters 0.02036400777644275 Centerline is valid? [True, True] Translation: X:107.00, Y:178.19, Z:-5.23 [[-5.77185833e-01 -8.16586837e-01 -6.51552226e-03 1.06995475e+02] [ 8.16542442e-01 -5.77222468e-01 8.52424185e-03 1.78187927e+02] [-1.07216895e-02 -4.00128827e-04 9.99942441e-01 -5.23001903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64 meters 0.02153951990722527 Centerline is valid? [True, True] Translation: X:106.97, Y:178.21, Z:-5.23 [[-5.75921399e-01 -8.17481634e-01 -6.19039587e-03 1.06974158e+02] [ 8.17441652e-01 -5.75954529e-01 8.09476735e-03 1.78205869e+02] [-1.01827102e-02 -3.98337691e-04 9.99948076e-01 -5.23132782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67 meters 0.021874782460683816 Centerline is valid? [True, True] Translation: X:106.95, Y:178.23, Z:-5.23 [[-5.75638731e-01 -8.17683915e-01 -5.75030558e-03 1.06954897e+02] [ 8.17649469e-01 -5.75667329e-01 7.51487721e-03 1.78226793e+02] [-9.45505727e-03 -3.75879924e-04 9.99955229e-01 -5.23266751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7 meters 0.02110410038839394 Centerline is valid? [True, True] Translation: X:106.94, Y:178.25, Z:-5.23 [[-5.76001705e-01 -8.17433042e-01 -5.02567906e-03 1.06937188e+02] [ 8.17406742e-01 -5.76023537e-01 6.56528608e-03 1.78248431e+02] [-8.26159120e-03 -3.26407971e-04 9.99965819e-01 -5.23420769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73 meters 0.021975275473113436 Centerline is valid? [True, True] Translation: X:106.92, Y:178.27, Z:-5.24 [[-5.76553019e-01 -8.17047239e-01 -4.51946078e-03 1.06918622e+02] [ 8.17025975e-01 -5.76570659e-01 5.90177005e-03 1.78267886e+02] [-7.42781341e-03 -2.89833511e-04 9.99972371e-01 -5.23611592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76 meters 0.02106475700297611 Centerline is valid? [True, True] Translation: X:106.90, Y:178.29, Z:-5.24 [[-5.78613833e-01 -8.15591037e-01 -4.15844619e-03 1.06901192e+02] [ 8.15573018e-01 -5.78628721e-01 5.42729763e-03 1.78290074e+02] [-6.83265170e-03 -2.51207030e-04 9.99976626e-01 -5.23699250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78999999999996 meters 0.02046718228792347 Centerline is valid? [True, True] Translation: X:106.88, Y:178.31, Z:-5.24 [[-5.80249701e-01 -8.14426853e-01 -4.38004878e-03 1.06884630e+02] [ 8.14406858e-01 -5.80266178e-01 5.71255272e-03 1.78313021e+02] [-7.19405050e-03 -2.52434751e-04 9.99974091e-01 -5.23696367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82 meters 0.020717728093146467 Centerline is valid? [True, True] Translation: X:106.87, Y:178.33, Z:-5.24 [[-5.82332979e-01 -8.12936739e-01 -4.70751259e-03 1.06867568e+02] [ 8.12913629e-01 -5.82351950e-01 6.13494497e-03 1.78334168e+02] [-7.72875130e-03 -2.54220367e-04 9.99970100e-01 -5.23742302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84999999999997 meters 0.019149753947636537 Centerline is valid? [True, True] Translation: X:106.85, Y:178.36, Z:-5.24 [[-5.84724168e-01 -8.11217906e-01 -4.81216847e-03 1.06852415e+02] [ 8.11193725e-01 -5.84743921e-01 6.26801304e-03 1.78357498e+02] [-7.89861067e-03 -2.38542156e-04 9.99968777e-01 -5.23771054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88 meters 0.017243443261589577 Centerline is valid? [True, True] Translation: X:106.84, Y:178.38, Z:-5.24 [[-5.89818457e-01 -8.07518535e-01 -5.29177495e-03 1.06838041e+02] [ 8.07489186e-01 -5.89842158e-01 6.88794810e-03 1.78381173e+02] [-8.68345772e-03 -2.10412128e-04 9.99962276e-01 -5.23818335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90999999999997 meters 0.01584979422679572 Centerline is valid? [True, True] Translation: X:106.82, Y:178.40, Z:-5.24 [[-5.92807307e-01 -8.05324328e-01 -5.67661606e-03 1.06823279e+02] [ 8.05290504e-01 -5.92834453e-01 7.38340021e-03 1.78404700e+02] [-9.31132539e-03 -1.94391422e-04 9.99956630e-01 -5.23843144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94 meters 0.015412604748518256 Centerline is valid? [True, True] Translation: X:106.81, Y:178.43, Z:-5.24 [[-5.95345805e-01 -8.03448315e-01 -5.84616114e-03 1.06808049e+02] [ 8.03412400e-01 -5.95374484e-01 7.59871514e-03 1.78427156e+02] [-9.58583005e-03 -1.73015164e-04 9.99954040e-01 -5.23908697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96999999999997 meters 0.014312372748031635 Centerline is valid? [True, True] Translation: X:106.79, Y:178.45, Z:-5.24 [[-6.00603417e-01 -7.99525364e-01 -5.89310083e-03 1.06794893e+02] [ 7.99488719e-01 -6.00632317e-01 7.65553764e-03 1.78452105e+02] [-9.66038332e-03 -1.13525573e-04 9.99953331e-01 -5.23920766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0 meters 0.013899228701548387 Centerline is valid? [True, True] Translation: X:106.78, Y:178.48, Z:-5.24 [[-6.03284044e-01 -7.97503364e-01 -6.06188978e-03 1.06779632e+02] [ 7.97464539e-01 -6.03314493e-01 7.86967085e-03 1.78475452e+02] [-9.93331494e-03 -8.64952829e-05 9.99950660e-01 -5.23936052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03 meters 0.01363784439382645 Centerline is valid? [True, True] Translation: X:106.76, Y:178.50, Z:-5.24 [[-6.05883361e-01 -7.95530128e-01 -6.09654397e-03 1.06764293e+02] [ 7.95490804e-01 -6.05914030e-01 7.91003130e-03 1.78498292e+02] [-9.98664974e-03 -5.71883174e-05 9.99950131e-01 -5.23983362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06 meters 0.013447688941093081 Centerline is valid? [True, True] Translation: X:106.75, Y:178.52, Z:-5.24 [[-6.08442638e-01 -7.93575288e-01 -5.98492422e-03 1.06749403e+02] [ 7.93537335e-01 -6.08472072e-01 7.76115278e-03 1.78520803e+02] [-9.80071830e-03 -2.70445495e-05 9.99951971e-01 -5.24068715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09 meters 0.013534285156646612 Centerline is valid? [True, True] Translation: X:106.74, Y:178.54, Z:-5.24 [[-6.12421760e-01 -7.90510806e-01 -5.67929699e-03 1.06735997e+02] [ 7.90476538e-01 -6.12448092e-01 7.36051171e-03 1.78544563e+02] [-9.29683864e-03 1.83865113e-05 9.99956783e-01 -5.24147950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12 meters 0.013567288104715733 Centerline is valid? [True, True] Translation: X:106.72, Y:178.57, Z:-5.24 [[-6.14040727e-01 -7.89254595e-01 -5.58306132e-03 1.06720015e+02] [ 7.89221472e-01 -6.14066107e-01 7.23076402e-03 1.78567716e+02] [-9.13528246e-03 3.37117267e-05 9.99958272e-01 -5.24157210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15 meters 0.013814955428173091 Centerline is valid? [True, True] Translation: X:106.70, Y:178.59, Z:-5.24 [[-6.15318342e-01 -7.88259239e-01 -5.54170137e-03 1.06704781e+02] [ 7.88226600e-01 -6.15343295e-01 7.17331988e-03 1.78590473e+02] [-9.06448444e-03 4.57588675e-05 9.99958916e-01 -5.24305145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18 meters 0.013873687949048844 Centerline is valid? [True, True] Translation: X:106.69, Y:178.61, Z:-5.24 [[-6.16492163e-01 -7.87342472e-01 -5.40787362e-03 1.06689255e+02] [ 7.87311389e-01 -6.16515879e-01 6.99630586e-03 1.78612575e+02] [-8.84252871e-03 5.54872418e-05 9.99960903e-01 -5.24288289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21 meters 0.014000931751260224 Centerline is valid? [True, True] Translation: X:106.67, Y:178.64, Z:-5.24 [[-6.17404184e-01 -7.86622981e-01 -6.02993598e-03 1.06673572e+02] [ 7.86584364e-01 -6.17433625e-01 7.79468749e-03 1.78635112e+02] [-9.85456553e-03 6.94193111e-05 9.99951440e-01 -5.24353383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24 meters 0.013922738339863888 Centerline is valid? [True, True] Translation: X:106.66, Y:178.66, Z:-5.24 [[-6.17399898e-01 -7.86625525e-01 -6.13597675e-03 1.06656279e+02] [ 7.86585597e-01 -6.17430384e-01 7.92587919e-03 1.78656992e+02] [-1.00232374e-02 6.69660658e-05 9.99949764e-01 -5.24342807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27 meters 0.01382079176333404 Centerline is valid? [True, True] Translation: X:106.64, Y:178.68, Z:-5.24 [[-6.17163355e-01 -7.86808299e-01 -6.48791409e-03 1.06639805e+02] [ 7.86763725e-01 -6.17197453e-01 8.37521326e-03 1.78678062e+02] [-1.05940114e-02 6.44192559e-05 9.99943880e-01 -5.24401115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.3 meters 0.013838420227225805 Centerline is valid? [True, True] Translation: X:106.62, Y:178.70, Z:-5.24 [[-6.16655925e-01 -7.87207307e-01 -6.33450667e-03 1.06623648e+02] [ 7.87164882e-01 -6.16688457e-01 8.17292607e-03 1.78698248e+02] [-1.03402043e-02 5.35820950e-05 9.99946537e-01 -5.24477983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33 meters 0.013625022011251127 Centerline is valid? [True, True] Translation: X:106.61, Y:178.72, Z:-5.25 [[-6.14421853e-01 -7.88953740e-01 -6.14672595e-03 1.06605716e+02] [ 7.88913934e-01 -6.14452598e-01 7.92523983e-03 1.78718743e+02] [-1.00295193e-02 2.02027901e-05 9.99949703e-01 -5.24502082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36 meters 0.013713029790413759 Centerline is valid? [True, True] Translation: X:106.59, Y:178.74, Z:-5.25 [[-6.13179892e-01 -7.89920951e-01 -5.94237987e-03 1.06588066e+02] [ 7.89883837e-01 -6.13208685e-01 7.65715686e-03 1.78738982e+02] [-9.69246757e-03 1.42479367e-06 9.99953027e-01 -5.24611802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39 meters 0.01372572969078793 Centerline is valid? [True, True] Translation: X:106.57, Y:178.76, Z:-5.25 [[-6.11688480e-01 -7.91077911e-01 -5.73959231e-03 1.06569465e+02] [ 7.91043384e-01 -6.11715407e-01 7.39091717e-03 1.78760678e+02] [-9.35778836e-03 -1.93276367e-05 9.99956215e-01 -5.24667790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42 meters 0.013928467554817409 Centerline is valid? [True, True] Translation: X:106.55, Y:178.78, Z:-5.25 [[-6.08716417e-01 -7.93370823e-01 -5.20200384e-03 1.06550689e+02] [ 7.93342568e-01 -6.08738642e-01 6.69593142e-03 1.78779975e+02] [-8.47901737e-03 -5.10476986e-05 9.99964051e-01 -5.24805591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45 meters 0.014047596628121453 Centerline is valid? [True, True] Translation: X:106.53, Y:178.80, Z:-5.25 [[-6.07359426e-01 -7.94409863e-01 -5.24379810e-03 1.06532825e+02] [ 7.94381224e-01 -6.07382059e-01 6.74583532e-03 1.78800857e+02] [-8.54394699e-03 -6.84280814e-05 9.99963497e-01 -5.24835744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48 meters 0.014263988674842966 Centerline is valid? [True, True] Translation: X:106.52, Y:178.82, Z:-5.25 [[-6.06084186e-01 -7.95382887e-01 -5.29360386e-03 1.06515257e+02] [ 7.95353778e-01 -6.06107297e-01 6.80532590e-03 1.78821378e+02] [-8.62133169e-03 -8.56874213e-05 9.99962832e-01 -5.24874704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51 meters 0.01462748842710199 Centerline is valid? [True, True] Translation: X:106.50, Y:178.84, Z:-5.25 [[-6.04780875e-01 -7.96373794e-01 -5.37337754e-03 1.06497565e+02] [ 7.96343884e-01 -6.04804737e-01 6.90281074e-03 1.78841644e+02] [-8.74706177e-03 -1.04368422e-04 9.99961738e-01 -5.24958207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53999999999996 meters 0.01462748842710199 Centerline is valid? [True, True] Translation: X:106.48, Y:178.86, Z:-5.25 [[-6.05031037e-01 -7.96183742e-01 -5.37526696e-03 1.06481015e+02] [ 7.96153838e-01 -6.05054905e-01 6.90133857e-03 1.78862696e+02] [-8.74706521e-03 -1.04015387e-04 9.99961738e-01 -5.25013108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57 meters 0.015375125393147455 Centerline is valid? [True, True] Translation: X:106.46, Y:178.88, Z:-5.25 [[-6.02629931e-01 -7.98001138e-01 -5.59913781e-03 1.06462564e+02] [ 7.97968819e-01 -6.02655925e-01 7.18331042e-03 1.78882788e+02] [-9.10664347e-03 -1.39059530e-04 9.99958524e-01 -5.25027298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59999999999997 meters 0.015616194222223328 Centerline is valid? [True, True] Translation: X:106.45, Y:178.90, Z:-5.25 [[-6.01628210e-01 -7.98753583e-01 -6.01750583e-03 1.06445545e+02] [ 7.98716340e-01 -6.01658281e-01 7.71499246e-03 1.78903708e+02] [-9.78286008e-03 -1.64723122e-04 9.99952133e-01 -5.25054609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63 meters 0.016228028294766637 Centerline is valid? [True, True] Translation: X:106.43, Y:178.92, Z:-5.25 [[-6.00864540e-01 -7.99327727e-01 -6.08194488e-03 1.06427353e+02] [ 7.99289766e-01 -6.00895293e-01 7.79208761e-03 1.78924158e+02] [-9.88304372e-03 -1.79247162e-04 9.99951145e-01 -5.25153299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65999999999997 meters 0.01677383875884804 Centerline is valid? [True, True] Translation: X:106.41, Y:178.94, Z:-5.25 [[-6.00137766e-01 -7.99870863e-01 -6.42366206e-03 1.06410458e+02] [ 7.99828616e-01 -6.00172109e-01 8.22336678e-03 1.78943979e+02] [-1.04329343e-02 -2.02675767e-04 9.99945555e-01 -5.25241394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69 meters 0.016158261232167466 Centerline is valid? [True, True] Translation: X:106.40, Y:178.97, Z:-5.25 [[-5.99658186e-01 -8.00227334e-01 -6.80243335e-03 1.06395359e+02] [ 8.00180019e-01 -5.99696726e-01 8.70479859e-03 1.78966451e+02] [-1.10452148e-02 -2.23267518e-04 9.99938975e-01 -5.25187331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71999999999997 meters 0.01617751100495134 Centerline is valid? [True, True] Translation: X:106.38, Y:178.99, Z:-5.25 [[-5.99966762e-01 -7.99995327e-01 -6.88187288e-03 1.06379454e+02] [ 7.99946948e-01 -6.00006188e-01 8.80081120e-03 1.78987503e+02] [-1.11697741e-02 -2.24939010e-04 9.99937591e-01 -5.25229784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75 meters 0.01616016815791439 Centerline is valid? [True, True] Translation: X:106.36, Y:179.01, Z:-5.25 [[-6.00544759e-01 -7.99560533e-01 -6.99624911e-03 1.06362996e+02] [ 7.99510578e-01 -6.00585468e-01 8.94043653e-03 1.79009767e+02] [-1.13502657e-02 -2.24442873e-04 9.99935558e-01 -5.25270946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78 meters 0.01603915330545381 Centerline is valid? [True, True] Translation: X:106.35, Y:179.03, Z:-5.25 [[-6.01000494e-01 -7.99215570e-01 -7.27180240e-03 1.06347261e+02] [ 7.99161653e-01 -6.01044441e-01 9.28615472e-03 1.79031568e+02] [-1.17923158e-02 -2.30362045e-04 9.99930442e-01 -5.25301550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81 meters 0.017567844263749095 Centerline is valid? [True, True] Translation: X:106.33, Y:179.05, Z:-5.25 [[-6.01814639e-01 -7.98601229e-01 -7.43086090e-03 1.06329183e+02] [ 7.98544970e-01 -6.01860470e-01 9.48185434e-03 1.79051053e+02] [-1.20445620e-02 -2.27557856e-04 9.99927436e-01 -5.25479169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84 meters 0.01555756735276231 Centerline is valid? [True, True] Translation: X:106.32, Y:179.08, Z:-5.25 [[-6.02318331e-01 -7.98218214e-01 -7.76604360e-03 1.06315460e+02] [ 7.98156794e-01 -6.02368350e-01 9.90470196e-03 1.79075574e+02] [-1.25841324e-02 -2.32736910e-04 9.99920790e-01 -5.25344748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87 meters 0.015573258532016984 Centerline is valid? [True, True] Translation: X:106.30, Y:179.10, Z:-5.25 [[-6.02942260e-01 -7.97746232e-01 -7.84732785e-03 1.06298492e+02] [ 7.97683556e-01 -6.02993281e-01 1.00023800e-02 1.79097732e+02] [-1.27112469e-02 -2.28826795e-04 9.99919183e-01 -5.25409353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9 meters 0.015162799345006745 Centerline is valid? [True, True] Translation: X:106.28, Y:179.12, Z:-5.26 [[-6.04492766e-01 -7.96576045e-01 -7.42294106e-03 1.06282607e+02] [ 7.96519937e-01 -6.04538308e-01 9.45643864e-03 1.79120761e+02] [-1.20202247e-02 -1.96171800e-04 9.99927735e-01 -5.25529894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93 meters 0.015143262080025083 Centerline is valid? [True, True] Translation: X:106.27, Y:179.14, Z:-5.26 [[-6.05462801e-01 -7.95841087e-01 -7.19447832e-03 1.06266635e+02] [ 7.95788393e-01 -6.05505518e-01 9.15975061e-03 1.79142171e+02] [-1.16460022e-02 -1.79394080e-04 9.99932167e-01 -5.25638370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96 meters 0.014575382238553277 Centerline is valid? [True, True] Translation: X:106.25, Y:179.17, Z:-5.26 [[-6.06556610e-01 -7.95011048e-01 -6.82000057e-03 1.06251021e+02] [ 7.94963681e-01 -6.06594930e-01 8.67963523e-03 1.79165924e+02] [-1.10373837e-02 -1.56962630e-04 9.99939074e-01 -5.25676813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99 meters 0.01445559732281498 Centerline is valid? [True, True] Translation: X:106.24, Y:179.19, Z:-5.26 [[-6.07858325e-01 -7.94021038e-01 -6.23285734e-03 1.06235133e+02] [ 7.93981461e-01 -6.07890266e-01 7.92873768e-03 1.79188327e+02] [-1.00844778e-02 -1.29223966e-04 9.99949142e-01 -5.25767525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02 meters 0.014176870713366267 Centerline is valid? [True, True] Translation: X:106.22, Y:179.21, Z:-5.26 [[-6.10557265e-01 -7.91949349e-01 -6.00456767e-03 1.06221052e+02] [ 7.91912555e-01 -6.10586784e-01 7.63448498e-03 1.79210435e+02] [-9.71243507e-03 -9.38022592e-05 9.99952829e-01 -5.25857427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05 meters 0.013853298412393278 Centerline is valid? [True, True] Translation: X:106.21, Y:179.23, Z:-5.26 [[-6.11891831e-01 -7.90919606e-01 -5.87908679e-03 1.06205570e+02] [ 7.90884337e-01 -6.11920068e-01 7.46965969e-03 1.79232708e+02] [-9.50543149e-03 -7.90539164e-05 9.99954819e-01 -5.25891829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08 meters 0.013631467605370408 Centerline is valid? [True, True] Translation: X:106.19, Y:179.26, Z:-5.26 [[-6.13235311e-01 -7.89877798e-01 -5.95965054e-03 1.06189528e+02] [ 7.89841560e-01 -6.13264266e-01 7.56636996e-03 1.79255334e+02] [-9.63134835e-03 -6.72144455e-05 9.99953615e-01 -5.25887498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11 meters 0.013588671173684331 Centerline is valid? [True, True] Translation: X:106.17, Y:179.28, Z:-5.26 [[-6.14577108e-01 -7.88833162e-01 -6.10096298e-03 1.06173062e+02] [ 7.88795181e-01 -6.14607387e-01 7.74098961e-03 1.79278038e+02] [-9.85604622e-03 -5.49751895e-05 9.99951427e-01 -5.25895528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14 meters 0.013328180494427789 Centerline is valid? [True, True] Translation: X:106.16, Y:179.30, Z:-5.26 [[-6.16655921e-01 -7.87203516e-01 -6.78967725e-03 1.06158339e+02] [ 7.87156450e-01 -6.16693297e-01 8.60814839e-03 1.79300337e+02] [-1.09635131e-02 -3.62725736e-05 9.99939898e-01 -5.25796931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17 meters 0.013211658885484194 Centerline is valid? [True, True] Translation: X:106.14, Y:179.32, Z:-5.26 [[-6.17695199e-01 -7.86384822e-01 -7.18008028e-03 1.06141462e+02] [ 7.86332186e-01 -6.17736927e-01 9.09850163e-03 1.79323276e+02] [-1.15903243e-02 -2.58274455e-05 9.99932830e-01 -5.25760092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2 meters 0.013059015644162538 Centerline is valid? [True, True] Translation: X:106.12, Y:179.35, Z:-5.26 [[-6.18498995e-01 -7.85750069e-01 -7.47144791e-03 1.06124360e+02] [ 7.85693098e-01 -6.18544120e-01 9.46185638e-03 1.79345829e+02] [-1.20560745e-02 -1.81164007e-05 9.99927323e-01 -5.25734618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22999999999996 meters 0.013023968420993815 Centerline is valid? [True, True] Translation: X:106.11, Y:179.37, Z:-5.26 [[-6.19468830e-01 -7.84981646e-01 -7.88563440e-03 1.06106723e+02] [ 7.84918203e-01 -6.19519019e-01 9.97996953e-03 1.79368123e+02] [-1.27193934e-02 -7.29793119e-06 9.99919105e-01 -5.25762741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26 meters 0.012995376122712975 Centerline is valid? [True, True] Translation: X:106.09, Y:179.39, Z:-5.26 [[-6.19562346e-01 -7.84905812e-01 -8.08488925e-03 1.06089457e+02] [ 7.84839195e-01 -6.19615095e-01 1.02260495e-02 1.79388967e+02] [-1.30360051e-02 -9.66277578e-06 9.99915028e-01 -5.25836426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28999999999996 meters 0.01301761227733639 Centerline is valid? [True, True] Translation: X:106.07, Y:179.41, Z:-5.26 [[-6.19513804e-01 -7.84944835e-01 -8.01579485e-03 1.06072659e+02] [ 7.84879444e-01 -6.19565659e-01 1.01317633e-02 1.79408660e+02] [-1.29191865e-02 -1.46653967e-05 9.99916544e-01 -5.25946681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32 meters 0.013086194739869099 Centerline is valid? [True, True] Translation: X:106.06, Y:179.43, Z:-5.26 [[-6.19419795e-01 -7.85020143e-01 -7.90521614e-03 1.06055021e+02] [ 7.84956602e-01 -6.19470237e-01 9.98796989e-03 1.79429461e+02] [-1.27378037e-02 -1.85053366e-05 9.99918871e-01 -5.26035213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34999999999997 meters 0.013012912341297403 Centerline is valid? [True, True] Translation: X:106.04, Y:179.45, Z:-5.26 [[-6.18757161e-01 -7.85546890e-01 -7.46055877e-03 1.06036687e+02] [ 7.85490401e-01 -6.18802136e-01 9.42057767e-03 1.79449445e+02] [-1.20169152e-02 -3.11474096e-05 9.99927794e-01 -5.26136272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38 meters 0.013068917423647925 Centerline is valid? [True, True] Translation: X:106.02, Y:179.47, Z:-5.26 [[-6.18695706e-01 -7.85595594e-01 -7.42875337e-03 1.06018754e+02] [ 7.85539662e-01 -6.18740302e-01 9.37437335e-03 1.79470301e+02] [-1.19609355e-02 -3.56958804e-05 9.99928465e-01 -5.26219853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40999999999997 meters 0.013099945911804724 Centerline is valid? [True, True] Translation: X:106.00, Y:179.49, Z:-5.26 [[-6.18498640e-01 -7.85753048e-01 -7.18189331e-03 1.06000865e+02] [ 7.85700845e-01 -6.18540335e-01 9.05738043e-03 1.79491115e+02] [-1.15591550e-02 -4.08421638e-05 9.99933190e-01 -5.26298565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44 meters 0.013146690353950241 Centerline is valid? [True, True] Translation: X:105.98, Y:179.51, Z:-5.26 [[-6.18528963e-01 -7.85730284e-01 -7.05990964e-03 1.05983117e+02] [ 7.85679902e-01 -6.18569251e-01 8.89788720e-03 1.79511549e+02] [-1.13583825e-02 -4.32281796e-05 9.99935491e-01 -5.26388413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46999999999997 meters 0.0131434066464143 Centerline is valid? [True, True] Translation: X:105.96, Y:179.53, Z:-5.27 [[-6.18393252e-01 -7.85837043e-01 -7.06592417e-03 1.05964403e+02] [ 7.85786648e-01 -6.18433617e-01 8.89968397e-03 1.79531797e+02] [-1.13635064e-02 -4.88043624e-05 9.99935432e-01 -5.26523060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5 meters 0.01312613179837252 Centerline is valid? [True, True] Translation: X:105.95, Y:179.55, Z:-5.27 [[-6.18730093e-01 -7.85572120e-01 -7.03674748e-03 1.05946401e+02] [ 7.85522188e-01 -6.18770104e-01 8.85721405e-03 1.79552937e+02] [-1.13121094e-02 -4.72964038e-05 9.99936015e-01 -5.26610170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53 meters 0.013143095590322396 Centerline is valid? [True, True] Translation: X:105.93, Y:179.57, Z:-5.27 [[-6.19109105e-01 -7.85272651e-01 -7.12601782e-03 1.05929389e+02] [ 7.85221491e-01 -6.19150113e-01 8.96371032e-03 1.79573762e+02] [-1.14510313e-02 -4.59876610e-05 9.99934434e-01 -5.26648503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56 meters 0.012997592857947944 Centerline is valid? [True, True] Translation: X:105.91, Y:179.60, Z:-5.27 [[-6.20302400e-01 -7.84320616e-01 -8.13041292e-03 1.05911841e+02] [ 7.84254044e-01 -6.20355680e-01 1.02188010e-02 1.79595484e+02] [-1.30585641e-02 -3.75624482e-05 9.99914733e-01 -5.26577092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59 meters 0.012963392941730836 Centerline is valid? [True, True] Translation: X:105.89, Y:179.62, Z:-5.27 [[-6.21050283e-01 -7.83728774e-01 -8.10891401e-03 1.05894964e+02] [ 7.83662580e-01 -6.21103218e-01 1.01859515e-02 1.79616284e+02] [-1.30194959e-02 -2.86643964e-05 9.99915242e-01 -5.26596787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62 meters 0.012896544739249503 Centerline is valid? [True, True] Translation: X:105.88, Y:179.64, Z:-5.27 [[-6.21708446e-01 -7.83201269e-01 -8.62444357e-03 1.05878179e+02] [ 7.83126450e-01 -6.21768262e-01 1.08255293e-02 1.79636644e+02] [-1.38409736e-02 -2.37068478e-05 9.99904209e-01 -5.26611805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65 meters 0.012869784534890053 Centerline is valid? [True, True] Translation: X:105.86, Y:179.66, Z:-5.27 [[-6.22492726e-01 -7.82576871e-01 -8.73196519e-03 1.05859957e+02] [ 7.82500187e-01 -6.22553966e-01 1.09551973e-02 1.79658198e+02] [-1.40094036e-02 -1.32337774e-05 9.99901863e-01 -5.26633851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68 meters 0.012876646773374599 Centerline is valid? [True, True] Translation: X:105.84, Y:179.68, Z:-5.27 [[-6.22927670e-01 -7.82231795e-01 -8.63347648e-03 1.05841848e+02] [ 7.82156884e-01 -6.22987495e-01 1.08254183e-02 1.79679727e+02] [-1.38465343e-02 -9.28044497e-06 9.99904132e-01 -5.26737829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71 meters 0.012871805699248411 Centerline is valid? [True, True] Translation: X:105.83, Y:179.70, Z:-5.27 [[-6.23500450e-01 -7.81779464e-01 -8.24970312e-03 1.05825029e+02] [ 7.81711092e-01 -6.23555025e-01 1.03391876e-02 1.79699441e+02] [-1.32271084e-02 -2.39632819e-06 9.99912518e-01 -5.26851939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74 meters 0.012877906258107362 Centerline is valid? [True, True] Translation: X:105.81, Y:179.72, Z:-5.27 [[-6.23893429e-01 -7.81469077e-01 -7.94169119e-03 1.05806730e+02] [ 7.81405780e-01 -6.23943973e-01 9.94610900e-03 1.79721136e+02] [-1.27277470e-02 -3.71355554e-07 9.99918999e-01 -5.26950639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77 meters 0.012790671584267745 Centerline is valid? [True, True] Translation: X:105.79, Y:179.74, Z:-5.27 [[-6.24490174e-01 -7.80997481e-01 -7.41330496e-03 1.05789022e+02] [ 7.80942364e-01 -6.24534174e-01 9.27841790e-03 1.79741622e+02] [-1.18762833e-02 4.91690430e-06 9.99929474e-01 -5.27086907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.8 meters 0.012826154307008978 Centerline is valid? [True, True] Translation: X:105.77, Y:179.76, Z:-5.27 [[-6.25095561e-01 -7.80513121e-01 -7.40317137e-03 1.05771129e+02] [ 7.80458156e-01 -6.25139398e-01 9.26281962e-03 1.79763483e+02] [-1.18577663e-02 1.22819543e-05 9.99929694e-01 -5.27099772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83 meters 0.012786225799733271 Centerline is valid? [True, True] Translation: X:105.75, Y:179.79, Z:-5.27 [[-6.25512342e-01 -7.80181597e-01 -7.14049025e-03 1.05753093e+02] [ 7.80130497e-01 -6.25553096e-01 8.92927529e-03 1.79785419e+02] [-1.14332120e-02 1.48576960e-05 9.99934639e-01 -5.27145939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86 meters 0.012832335441496997 Centerline is valid? [True, True] Translation: X:105.74, Y:179.81, Z:-5.27 [[-6.25924846e-01 -7.79850973e-01 -7.10970366e-03 1.05735988e+02] [ 7.79800347e-01 -6.25965223e-01 8.88584648e-03 1.79805992e+02] [-1.13800633e-02 1.77226966e-05 9.99935245e-01 -5.27196836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89 meters 0.012807982484456125 Centerline is valid? [True, True] Translation: X:105.72, Y:179.83, Z:-5.27 [[-6.26666991e-01 -7.79254477e-01 -7.13741754e-03 1.05717413e+02] [ 7.79203484e-01 -6.26707635e-01 8.91468578e-03 1.79827115e+02] [-1.14198829e-02 2.50387034e-05 9.99934791e-01 -5.27211795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92 meters 0.012826550738774554 Centerline is valid? [True, True] Translation: X:105.70, Y:179.85, Z:-5.27 [[-6.27148582e-01 -7.78865396e-01 -7.30415212e-03 1.05699805e+02] [ 7.78812029e-01 -6.27191114e-01 9.11758475e-03 1.79848274e+02] [-1.16824706e-02 2.95188183e-05 9.99931757e-01 -5.27255895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95 meters 0.012893221154909788 Centerline is valid? [True, True] Translation: X:105.68, Y:179.87, Z:-5.27 [[-6.27674181e-01 -7.78442312e-01 -7.25877668e-03 1.05683391e+02] [ 7.78389636e-01 -6.27716151e-01 9.05584228e-03 1.79868283e+02] [-1.16059022e-02 3.39618543e-05 9.99932649e-01 -5.27311380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97999999999996 meters 0.012863117112100081 Centerline is valid? [True, True] Translation: X:105.67, Y:179.89, Z:-5.27 [[-6.28512297e-01 -7.77767832e-01 -7.03511325e-03 1.05665795e+02] [ 7.77718377e-01 -6.28551667e-01 8.77088163e-03 1.79889542e+02] [-1.12436417e-02 4.12701033e-05 9.99936787e-01 -5.27378236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01 meters 0.012972236045246964 Centerline is valid? [True, True] Translation: X:105.65, Y:179.91, Z:-5.27 [[-6.29542493e-01 -7.76938002e-01 -6.60235769e-03 1.05647429e+02] [ 7.76894453e-01 -6.29577111e-01 8.22615808e-03 1.79911431e+02] [-1.05479081e-02 4.93809998e-05 9.99944368e-01 -5.27460394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03999999999996 meters 0.012998779221996146 Centerline is valid? [True, True] Translation: X:105.63, Y:179.93, Z:-5.28 [[-6.29930663e-01 -7.76625311e-01 -6.36281008e-03 1.05629317e+02] [ 7.76584893e-01 -6.29962795e-01 7.92341449e-03 1.79933359e+02] [-1.01618579e-02 4.99395559e-05 9.99948366e-01 -5.27536007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07 meters 0.013079804969558016 Centerline is valid? [True, True] Translation: X:105.61, Y:179.95, Z:-5.28 [[-6.30042926e-01 -7.76536196e-01 -6.11946897e-03 1.05612520e+02] [ 7.76498837e-01 -6.30072642e-01 7.61718723e-03 1.79953618e+02] [-9.77073157e-03 4.73943919e-05 9.99952264e-01 -5.27685731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09999999999997 meters 0.013092688193037234 Centerline is valid? [True, True] Translation: X:105.59, Y:179.97, Z:-5.28 [[-6.30160398e-01 -7.76440166e-01 -6.20818607e-03 1.05594457e+02] [ 7.76401769e-01 -6.30190976e-01 7.72185084e-03 1.79974480e+02] [-9.90789799e-03 4.59579561e-05 9.99950915e-01 -5.27688280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13 meters 0.012959961555553009 Centerline is valid? [True, True] Translation: X:105.58, Y:179.99, Z:-5.28 [[-6.28580700e-01 -7.77719984e-01 -6.15878448e-03 1.05575910e+02] [ 7.77682302e-01 -6.28610870e-01 7.65577394e-03 1.79993568e+02] [-9.82552726e-03 2.26940516e-05 9.99951728e-01 -5.27749591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15999999999997 meters 0.012931291797415029 Centerline is valid? [True, True] Translation: X:105.56, Y:180.01, Z:-5.28 [[-6.27388356e-01 -7.78682324e-01 -6.13914966e-03 1.05557812e+02] [ 7.78644993e-01 -6.27418392e-01 7.62464999e-03 1.80012987e+02] [-9.78899558e-03 3.39847865e-06 9.99952087e-01 -5.27817740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19 meters 0.013000559675246662 Centerline is valid? [True, True] Translation: X:105.54, Y:180.03, Z:-5.28 [[-6.25992041e-01 -7.79806916e-01 -5.92783715e-03 1.05538917e+02] [ 7.79772182e-01 -6.26020107e-01 7.36003082e-03 1.80032909e+02] [-9.45034818e-03 -1.50417992e-05 9.99955344e-01 -5.27919174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21999999999997 meters 0.013252842802708302 Centerline is valid? [True, True] Translation: X:105.52, Y:180.05, Z:-5.28 [[-6.22452345e-01 -7.82641197e-01 -5.08280616e-03 1.05517536e+02] [ 7.82615781e-01 -6.22473095e-01 6.30763376e-03 1.80052158e+02] [-8.10052411e-03 -5.16828888e-05 9.99967189e-01 -5.28100967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25 meters 0.013643186945846108 Centerline is valid? [True, True] Translation: X:105.50, Y:180.07, Z:-5.28 [[-6.20960998e-01 -7.83826181e-01 -4.89471871e-03 1.05498657e+02] [ 7.83802669e-01 -6.20980285e-01 6.07140484e-03 1.80071571e+02] [-7.79844989e-03 -6.63879834e-05 9.99969589e-01 -5.28251262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28 meters 0.013722045416694317 Centerline is valid? [True, True] Translation: X:105.48, Y:180.09, Z:-5.28 [[-6.19436773e-01 -7.85032037e-01 -4.77340641e-03 1.05480031e+02] [ 7.85009739e-01 -6.19455159e-01 5.91741734e-03 1.80092284e+02] [-7.60227342e-03 -8.17046173e-05 9.99971099e-01 -5.28260102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31 meters 0.014429614229358694 Centerline is valid? [True, True] Translation: X:105.46, Y:180.11, Z:-5.28 [[-6.17945263e-01 -7.86204644e-01 -5.09013365e-03 1.05461082e+02] [ 7.86179376e-01 -6.17966218e-01 6.30419747e-03 1.80111541e+02] [-8.10191996e-03 -1.06109133e-04 9.99967173e-01 -5.28426014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34 meters 0.014426564377333362 Centerline is valid? [True, True] Translation: X:105.44, Y:180.13, Z:-5.28 [[-6.16640932e-01 -7.87228426e-01 -5.03656608e-03 1.05442747e+02] [ 7.87203729e-01 -6.16661489e-01 6.23673627e-03 1.80132862e+02] [-8.01559241e-03 -1.18976738e-04 9.99967868e-01 -5.28399498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37 meters 0.015139378068533898 Centerline is valid? [True, True] Translation: X:105.42, Y:180.15, Z:-5.28 [[-6.14864294e-01 -7.88612648e-01 -5.65615336e-03 1.05423606e+02] [ 7.88581607e-01 -6.14890289e-01 6.99873727e-03 1.80153303e+02] [-8.99720650e-03 -1.57064849e-04 9.99959512e-01 -5.28418156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4 meters 0.014955074045201957 Centerline is valid? [True, True] Translation: X:105.41, Y:180.18, Z:-5.28 [[-6.14507096e-01 -7.88889725e-01 -5.83356867e-03 1.05406147e+02] [ 7.88856759e-01 -6.14534761e-01 7.21396869e-03 1.80175512e+02] [-9.27595651e-03 -1.68815124e-04 9.99956963e-01 -5.28377790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43 meters 0.015034588368022227 Centerline is valid? [True, True] Translation: X:105.39, Y:180.20, Z:-5.28 [[-6.14340299e-01 -7.89015222e-01 -6.40130122e-03 1.05388328e+02] [ 7.88975590e-01 -6.14373618e-01 7.91047965e-03 1.80197148e+02] [-1.01742794e-02 -1.90743978e-04 9.99948223e-01 -5.28399604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46 meters 0.015034588368022227 Centerline is valid? [True, True] Translation: X:105.37, Y:180.22, Z:-5.28 [[-6.14566713e-01 -7.88838862e-01 -6.40357538e-03 1.05370902e+02] [ 7.88799239e-01 -6.14600044e-01 7.90863772e-03 1.80218549e+02] [-1.01742785e-02 -1.90749895e-04 9.99948223e-01 -5.28456214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49 meters 0.015288493510081439 Centerline is valid? [True, True] Translation: X:105.35, Y:180.24, Z:-5.29 [[-6.14051196e-01 -7.89237718e-01 -6.70469609e-03 1.05353224e+02] [ 7.89194362e-01 -6.14087763e-01 8.27522063e-03 1.80239785e+02] [-1.06483881e-02 -2.09899218e-04 9.99943282e-01 -5.28521439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52 meters 0.015349021602037473 Centerline is valid? [True, True] Translation: X:105.34, Y:180.26, Z:-5.29 [[-6.14106957e-01 -7.89194314e-01 -6.70679443e-03 1.05335360e+02] [ 7.89150979e-01 -6.14143542e-01 8.27297679e-03 1.80261848e+02] [-1.06479207e-02 -2.12180789e-04 9.99943287e-01 -5.28552004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55 meters 0.015275006213175752 Centerline is valid? [True, True] Translation: X:105.32, Y:180.28, Z:-5.29 [[-6.14270356e-01 -7.89065736e-01 -6.86984175e-03 1.05318104e+02] [ 7.89020316e-01 -6.14308731e-01 8.46893701e-03 1.80283596e+02] [-1.09027518e-02 -2.18227753e-04 9.99940539e-01 -5.28629782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58 meters 0.014983346544385477 Centerline is valid? [True, True] Translation: X:105.30, Y:180.31, Z:-5.29 [[-6.14431710e-01 -7.88941685e-01 -6.68516177e-03 1.05301292e+02] [ 7.88898715e-01 -6.14468040e-01 8.23678839e-03 1.80306713e+02] [-1.06061640e-02 -2.12971553e-04 9.99943730e-01 -5.28628571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61 meters 0.015183580201044279 Centerline is valid? [True, True] Translation: X:105.28, Y:180.33, Z:-5.29 [[-6.15133311e-01 -7.88398372e-01 -6.24632353e-03 1.05284786e+02] [ 7.88360868e-01 -6.15164994e-01 7.69237114e-03 1.80328739e+02] [-9.90717246e-03 -1.92523312e-04 9.99950904e-01 -5.28746428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64 meters 0.01518022162658416 Centerline is valid? [True, True] Translation: X:105.27, Y:180.35, Z:-5.29 [[-6.15536822e-01 -7.88085169e-01 -6.01557483e-03 1.05267718e+02] [ 7.88050414e-01 -6.15566189e-01 7.40351042e-03 1.80351007e+02] [-9.53758124e-03 -1.83442959e-04 9.99954499e-01 -5.28815855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67 meters 0.017007480065803063 Centerline is valid? [True, True] Translation: X:105.25, Y:180.37, Z:-5.29 [[-6.16017912e-01 -7.87710284e-01 -5.86855720e-03 1.05248426e+02] [ 7.87677225e-01 -6.16045840e-01 7.21884330e-03 1.80370334e+02] [-9.30165736e-03 -1.75592077e-04 9.99956723e-01 -5.29066795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7 meters 0.015231362074500751 Centerline is valid? [True, True] Translation: X:105.23, Y:180.40, Z:-5.29 [[-6.16371730e-01 -7.87435088e-01 -5.64556312e-03 1.05233901e+02] [ 7.87404520e-01 -6.16397561e-01 6.94032114e-03 1.80395108e+02] [-8.94496373e-03 -1.67524177e-04 9.99959979e-01 -5.28923641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72999999999996 meters 0.015497884804895135 Centerline is valid? [True, True] Translation: X:105.22, Y:180.42, Z:-5.29 [[-6.16714927e-01 -7.87171724e-01 -4.83482473e-03 1.05217916e+02] [ 7.87149311e-01 -6.16733862e-01 5.94181746e-03 1.80417112e+02] [-7.65903082e-03 -1.41321439e-04 9.99970659e-01 -5.29102706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76 meters 0.015675079844529722 Centerline is valid? [True, True] Translation: X:105.20, Y:180.44, Z:-5.29 [[-6.17362072e-01 -7.86668656e-01 -4.06186981e-03 1.05201936e+02] [ 7.86652831e-01 -6.17375423e-01 4.99107026e-03 1.80438148e+02] [-6.43401712e-03 -1.13983905e-04 9.99979295e-01 -5.29226174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78999999999996 meters 0.01566439566144209 Centerline is valid? [True, True] Translation: X:105.19, Y:180.46, Z:-5.29 [[-6.17956013e-01 -7.86203032e-01 -3.89332487e-03 1.05185572e+02] [ 7.86188504e-01 -6.17968269e-01 4.78072216e-03 1.80460461e+02] [-6.16456949e-03 -1.06611249e-04 9.99980993e-01 -5.29301262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82 meters 0.01566539108239405 Centerline is valid? [True, True] Translation: X:105.17, Y:180.48, Z:-5.29 [[-6.18526540e-01 -7.85755464e-01 -3.64283488e-03 1.05169527e+02] [ 7.85742750e-01 -6.18537260e-01 4.47092092e-03 1.80482599e+02] [-5.76627964e-03 -9.69478497e-05 9.99983370e-01 -5.29355251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84999999999997 meters 0.015473855436599935 Centerline is valid? [True, True] Translation: X:105.16, Y:180.51, Z:-5.29 [[-6.20034401e-01 -7.84564884e-01 -3.90949072e-03 1.05155121e+02] [ 7.84550246e-01 -6.20046719e-01 4.79361307e-03 1.80506057e+02] [-6.18496738e-03 -9.49868943e-05 9.99980868e-01 -5.29332907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88 meters 0.015331321055672387 Centerline is valid? [True, True] Translation: X:105.14, Y:180.53, Z:-5.29 [[-6.21059107e-01 -7.83752310e-01 -4.23114582e-03 1.05139780e+02] [ 7.83735162e-01 -6.21073512e-01 5.18535130e-03 1.80527641e+02] [-6.69188365e-03 -9.56881087e-05 9.99977605e-01 -5.29362458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90999999999997 meters 0.015152850710300616 Centerline is valid? [True, True] Translation: X:105.12, Y:180.55, Z:-5.29 [[-6.21935940e-01 -7.83056436e-01 -4.27836961e-03 1.05123924e+02] [ 7.83038914e-01 -6.21950648e-01 5.23921004e-03 1.80550256e+02] [-6.76353190e-03 -9.16768700e-05 9.99977123e-01 -5.29344176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94 meters 0.014116870115159164 Centerline is valid? [True, True] Translation: X:105.11, Y:180.57, Z:-5.29 [[-6.22910382e-01 -7.82280184e-01 -4.51327310e-03 1.05109373e+02] [ 7.82260695e-01 -6.22926725e-01 5.52270457e-03 1.80574747e+02] [-7.13174078e-03 -9.04061355e-05 9.99974565e-01 -5.29158707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96999999999997 meters 0.014733994943909074 Centerline is valid? [True, True] Translation: X:105.09, Y:180.60, Z:-5.29 [[-6.23937473e-01 -7.81459809e-01 -4.75355718e-03 1.05091711e+02] [ 7.81438194e-01 -6.23955575e-01 5.81296558e-03 1.80595825e+02] [-7.50860748e-03 -8.76840778e-05 9.99971806e-01 -5.29405790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0 meters 0.013775277512116758 Centerline is valid? [True, True] Translation: X:105.08, Y:180.62, Z:-5.29 [[-6.25552437e-01 -7.80167181e-01 -4.82887833e-03 1.05078020e+02] [ 7.80144868e-01 -6.25571070e-01 5.90093698e-03 1.80621166e+02] [-7.62452395e-03 -7.58791370e-05 9.99970930e-01 -5.29270539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03 meters 0.014169473723781315 Centerline is valid? [True, True] Translation: X:105.06, Y:180.64, Z:-5.30 [[-6.26574668e-01 -7.79347922e-01 -4.58286560e-03 1.05060920e+02] [ 7.79327820e-01 -6.26591424e-01 5.59783420e-03 1.80642178e+02] [-7.23424473e-03 -6.40935564e-05 9.99973830e-01 -5.29565142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06 meters 0.01417759597438668 Centerline is valid? [True, True] Translation: X:105.05, Y:180.66, Z:-5.30 [[-6.27897110e-01 -7.78284703e-01 -4.25913862e-03 1.05045356e+02] [ 7.78267332e-01 -6.27911553e-01 5.20015727e-03 1.80663531e+02] [-6.72156520e-03 -4.95847343e-05 9.99977409e-01 -5.29759567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09 meters 0.013488285248021238 Centerline is valid? [True, True] Translation: X:105.03, Y:180.69, Z:-5.30 [[-6.29307457e-01 -7.77145571e-01 -4.10924428e-03 1.05030568e+02] [ 7.77129395e-01 -6.29320872e-01 5.01438876e-03 1.80687285e+02] [-6.48294321e-03 -3.78222838e-05 9.99978985e-01 -5.29612646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12 meters 0.013719218718453791 Centerline is valid? [True, True] Translation: X:105.02, Y:180.71, Z:-5.30 [[-6.32389242e-01 -7.74639797e-01 -4.12695460e-03 1.05017906e+02] [ 7.74623449e-01 -6.32402708e-01 5.03257805e-03 1.80711452e+02] [-6.50833250e-03 -1.42875910e-05 9.99978820e-01 -5.29910222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15 meters 0.01365440096131055 Centerline is valid? [True, True] Translation: X:105.00, Y:180.73, Z:-5.30 [[-6.34463875e-01 -7.72941236e-01 -4.17585036e-03 1.05004144e+02] [ 7.72924484e-01 -6.34477617e-01 5.08883852e-03 1.80733829e+02] [-6.58285671e-03 1.06722228e-06 9.99978333e-01 -5.29943534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18 meters 0.013296887993449807 Centerline is valid? [True, True] Translation: X:104.99, Y:180.76, Z:-5.30 [[-6.36197860e-01 -7.71510730e-01 -4.84528884e-03 1.04988781e+02] [ 7.71488176e-01 -6.36216310e-01 5.89921516e-03 1.80757165e+02] [-7.63395958e-03 1.49850083e-05 9.99970861e-01 -5.29673738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21 meters 0.013428610958962793 Centerline is valid? [True, True] Translation: X:104.97, Y:180.78, Z:-5.30 [[-6.38029622e-01 -7.69994360e-01 -5.18529615e-03 1.04973710e+02] [ 7.69968516e-01 -6.38050691e-01 6.30869703e-03 1.80779316e+02] [-8.16614292e-03 3.26207959e-05 9.99966656e-01 -5.29707312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24 meters 0.013645667783008525 Centerline is valid? [True, True] Translation: X:104.96, Y:180.80, Z:-5.30 [[-6.40890716e-01 -7.67603850e-01 -6.58931955e-03 1.04959431e+02] [ 7.67562077e-01 -6.40924585e-01 8.00835958e-03 1.80803475e+02] [-1.03705045e-02 7.47715069e-05 9.99946222e-01 -5.29628866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27 meters 0.013897676571094425 Centerline is valid? [True, True] Translation: X:104.94, Y:180.82, Z:-5.30 [[-6.42170618e-01 -7.66527864e-01 -7.20636708e-03 1.04944573e+02] [ 7.66477905e-01 -6.42211044e-01 8.75195064e-03 1.80824968e+02] [-1.13366226e-02 9.67244096e-05 9.99935734e-01 -5.29686338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.3 meters 0.014005097427811985 Centerline is valid? [True, True] Translation: X:104.93, Y:180.85, Z:-5.30 [[-6.43172397e-01 -7.65685512e-01 -7.41384632e-03 1.04929597e+02] [ 7.65632653e-01 -6.43215116e-01 8.99749884e-03 1.80846306e+02] [-1.16579525e-02 1.10660064e-04 9.99932038e-01 -5.29767207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33 meters 0.014135266111532084 Centerline is valid? [True, True] Translation: X:104.91, Y:180.87, Z:-5.30 [[-6.44758613e-01 -7.64355786e-01 -6.82375014e-03 1.04913935e+02] [ 7.64310989e-01 -6.44794710e-01 8.27616200e-03 1.80869758e+02] [-1.07258503e-02 1.20659515e-04 9.99942469e-01 -5.29846008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36 meters 0.014256127637378317 Centerline is valid? [True, True] Translation: X:104.90, Y:180.89, Z:-5.30 [[-6.45311225e-01 -7.63895226e-01 -6.12426954e-03 1.04897704e+02] [ 7.63859148e-01 -6.45340275e-01 7.42504198e-03 1.80891492e+02] [-9.62419191e-03 1.13383619e-04 9.99953680e-01 -5.30001805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39 meters 0.014248807317543818 Centerline is valid? [True, True] Translation: X:104.88, Y:180.91, Z:-5.30 [[-6.45510929e-01 -7.63728609e-01 -5.85258367e-03 1.04880811e+02] [ 7.63695691e-01 -6.45537451e-01 7.09158071e-03 1.80913043e+02] [-9.19410501e-03 1.08099923e-04 9.99957727e-01 -5.30118850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42 meters 0.014276164716264547 Centerline is valid? [True, True] Translation: X:104.86, Y:180.93, Z:-5.30 [[-6.45611111e-01 -7.63646017e-01 -5.57268225e-03 1.04863472e+02] [ 7.63616204e-01 -6.45635153e-01 6.74851250e-03 1.80934684e+02] [-8.75139424e-03 1.01524191e-04 9.99961701e-01 -5.30224637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45 meters 0.014314621612834479 Centerline is valid? [True, True] Translation: X:104.85, Y:180.96, Z:-5.30 [[-6.45061092e-01 -7.64107245e-01 -6.02540593e-03 1.04847635e+02] [ 7.64072461e-01 -6.45089225e-01 7.29145377e-03 1.80955236e+02] [-9.45837709e-03 9.95863970e-05 9.99955264e-01 -5.30328152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47999999999996 meters 0.014032348130489772 Centerline is valid? [True, True] Translation: X:104.83, Y:180.98, Z:-5.30 [[-6.44823288e-01 -7.64304054e-01 -6.49919960e-03 1.04829799e+02] [ 7.64263661e-01 -6.44856033e-01 7.85836405e-03 1.80976129e+02] [-1.01972276e-02 1.00154067e-04 9.99948002e-01 -5.30260498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51 meters 0.013902502300704311 Centerline is valid? [True, True] Translation: X:104.81, Y:181.00, Z:-5.30 [[-6.44587621e-01 -7.64500922e-01 -6.71858042e-03 1.04812023e+02] [ 7.64457824e-01 -6.44622627e-01 8.11812384e-03 1.80997237e+02] [-1.05372621e-02 9.67707661e-05 9.99944477e-01 -5.30227559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53999999999996 meters 0.0139317879905197 Centerline is valid? [True, True] Translation: X:104.80, Y:181.02, Z:-5.30 [[-6.44108220e-01 -7.64900582e-01 -7.19035815e-03 1.04795262e+02] [ 7.64851313e-01 -6.44148346e-01 8.68205825e-03 1.81017921e+02] [-1.12725687e-02 9.26302163e-05 9.99936458e-01 -5.30317480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57 meters 0.013698059250038011 Centerline is valid? [True, True] Translation: X:104.78, Y:181.04, Z:-5.30 [[-6.43532112e-01 -7.65384660e-01 -7.26252097e-03 1.04777148e+02] [ 7.65334499e-01 -6.43573085e-01 8.76287321e-03 1.81038862e+02] [-1.13809318e-02 8.09324488e-05 9.99935232e-01 -5.30315039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59999999999997 meters 0.01350430707923929 Centerline is valid? [True, True] Translation: X:104.76, Y:181.06, Z:-5.30 [[-6.41754559e-01 -7.66874843e-01 -7.35261518e-03 1.04758657e+02] [ 7.66823594e-01 -6.41796676e-01 8.86580695e-03 1.81059082e+02] [-1.15178483e-02 5.15132354e-05 9.99933666e-01 -5.30327505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63 meters 0.013363870980467554 Centerline is valid? [True, True] Translation: X:104.74, Y:181.08, Z:-5.30 [[-6.40712253e-01 -7.67744061e-01 -7.54094882e-03 1.04740446e+02] [ 7.67690285e-01 -6.40756628e-01 9.08683011e-03 1.81079672e+02] [-1.18082728e-02 3.29302457e-05 9.99930279e-01 -5.30372313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65999999999997 meters 0.01344188238212011 Centerline is valid? [True, True] Translation: X:104.72, Y:181.10, Z:-5.30 [[-6.39486943e-01 -7.68766481e-01 -7.38568891e-03 1.04721483e+02] [ 7.68715035e-01 -6.39529591e-01 8.89367885e-03 1.81100790e+02] [-1.15605288e-02 9.90139281e-06 9.99933175e-01 -5.30425478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69 meters 0.013468763388672752 Centerline is valid? [True, True] Translation: X:104.70, Y:181.12, Z:-5.31 [[-6.38272836e-01 -7.69773760e-01 -7.49297390e-03 1.04703125e+02] [ 7.69720933e-01 -6.38316816e-01 9.01821864e-03 1.81120302e+02] [-1.17248793e-02 -1.14148729e-05 9.99931261e-01 -5.30544248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71999999999997 meters 0.013553134684866344 Centerline is valid? [True, True] Translation: X:104.68, Y:181.14, Z:-5.31 [[-6.35455454e-01 -7.72104020e-01 -7.19368709e-03 1.04683530e+02] [ 7.72055542e-01 -6.35496168e-01 8.65222330e-03 1.81139705e+02] [-1.12519770e-02 -5.58234965e-05 9.99936693e-01 -5.30603186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75 meters 0.013662372806322012 Centerline is valid? [True, True] Translation: X:104.67, Y:181.16, Z:-5.31 [[-6.34429198e-01 -7.72948521e-01 -7.08358756e-03 1.04665370e+02] [ 7.72901626e-01 -6.34468738e-01 8.51457332e-03 1.81160258e+02] [-1.10756417e-02 -7.30224180e-05 9.99938661e-01 -5.30650993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78 meters 0.013775342556925712 Centerline is valid? [True, True] Translation: X:104.65, Y:181.18, Z:-5.31 [[-6.34053554e-01 -7.73257953e-01 -6.94467965e-03 1.04647920e+02] [ 7.73212964e-01 -6.34091580e-01 8.34157107e-03 1.81179217e+02] [-1.08537491e-02 -8.07135526e-05 9.99941093e-01 -5.30799856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81 meters 0.013798575041578338 Centerline is valid? [True, True] Translation: X:104.63, Y:181.20, Z:-5.31 [[-6.34373291e-01 -7.72998759e-01 -6.59142369e-03 1.04630417e+02] [ 7.72958247e-01 -6.34407530e-01 7.91423209e-03 1.81199612e+02] [-1.02993404e-02 -7.43178408e-05 9.99946958e-01 -5.30914509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84 meters 0.013590491613867396 Centerline is valid? [True, True] Translation: X:104.61, Y:181.22, Z:-5.31 [[-6.35498677e-01 -7.72074412e-01 -6.52187554e-03 1.04613790e+02] [ 7.72034750e-01 -6.35532139e-01 7.82599579e-03 1.81221443e+02] [-1.01871126e-02 -6.17045798e-05 9.99948108e-01 -5.30978892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87 meters 0.013597530994336455 Centerline is valid? [True, True] Translation: X:104.60, Y:181.24, Z:-5.31 [[-6.36322104e-01 -7.71395284e-01 -6.59510062e-03 1.04597138e+02] [ 7.71354744e-01 -6.36356278e-01 7.90867101e-03 1.81242916e+02] [-1.02975452e-02 -5.46999689e-05 9.99946977e-01 -5.30998234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9 meters 0.013586279895813548 Centerline is valid? [True, True] Translation: X:104.58, Y:181.26, Z:-5.31 [[-6.36943917e-01 -7.70882585e-01 -6.51813701e-03 1.04580406e+02] [ 7.70843008e-01 -6.36977266e-01 7.81148681e-03 1.81264610e+02] [-1.01736442e-02 -4.89813309e-05 9.99948246e-01 -5.31019856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93 meters 0.013423553273674596 Centerline is valid? [True, True] Translation: X:104.56, Y:181.29, Z:-5.31 [[-6.38362518e-01 -7.69704898e-01 -6.90407709e-03 1.04564234e+02] [ 7.69660494e-01 -6.38399851e-01 8.26769478e-03 1.81287278e+02] [-1.07712469e-02 -3.60089272e-05 9.99941988e-01 -5.31018698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96 meters 0.013442564091795374 Centerline is valid? [True, True] Translation: X:104.55, Y:181.31, Z:-5.31 [[-6.39116770e-01 -7.69083651e-01 -6.33189085e-03 1.04547665e+02] [ 7.69046321e-01 -6.39148134e-01 7.57751469e-03 1.81308097e+02] [-9.87475888e-03 -2.66006496e-05 9.99951243e-01 -5.31117041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99 meters 0.013468216100847263 Centerline is valid? [True, True] Translation: X:104.53, Y:181.33, Z:-5.31 [[-6.39936120e-01 -7.68400537e-01 -6.50975827e-03 1.04529752e+02] [ 7.68361069e-01 -6.39969229e-01 7.78807642e-03 1.81330266e+02] [-1.01504071e-02 -1.79734173e-05 9.99948483e-01 -5.31226648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02 meters 0.01351496420873335 Centerline is valid? [True, True] Translation: X:104.51, Y:181.35, Z:-5.31 [[-6.41361470e-01 -7.67203570e-01 -7.35852973e-03 1.04513427e+02] [ 7.67153126e-01 -6.41403682e-01 8.79767157e-03 1.81351525e+02] [-1.14693931e-02 -2.63151733e-06 9.99934224e-01 -5.31326763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05 meters 0.013501071734467506 Centerline is valid? [True, True] Translation: X:104.50, Y:181.37, Z:-5.31 [[-6.41946361e-01 -7.66710972e-01 -7.69122440e-03 1.04495725e+02] [ 7.66655910e-01 -6.41992434e-01 9.18858271e-03 1.81373797e+02] [-1.19826951e-02 2.05459455e-06 9.99928205e-01 -5.31305313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08 meters 0.01345589830910367 Centerline is valid? [True, True] Translation: X:104.48, Y:181.40, Z:-5.31 [[-6.42364335e-01 -7.66358659e-01 -7.90364764e-03 1.04478650e+02] [ 7.66300570e-01 -6.42412956e-01 9.43557744e-03 1.81395291e+02] [-1.23084421e-02 4.50873572e-06 9.99924248e-01 -5.31315385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11 meters 0.013475006572262216 Centerline is valid? [True, True] Translation: X:104.46, Y:181.42, Z:-5.31 [[-6.42816916e-01 -7.65974319e-01 -8.35188235e-03 1.04461241e+02] [ 7.65909471e-01 -6.42871171e-01 9.96699687e-03 1.81416997e+02] [-1.30036480e-02 1.01684096e-05 9.99915449e-01 -5.31353723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14 meters 0.013521238392490616 Centerline is valid? [True, True] Translation: X:104.44, Y:181.44, Z:-5.31 [[-6.43304628e-01 -7.65562017e-01 -8.59967044e-03 1.04444100e+02] [ 7.65493322e-01 -6.43362105e-01 1.02555479e-02 1.81438232e+02] [-1.33839600e-02 1.44511260e-05 9.99910431e-01 -5.31420952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17 meters 0.013453478343754263 Centerline is valid? [True, True] Translation: X:104.43, Y:181.46, Z:-5.32 [[-6.43623301e-01 -7.65292609e-01 -8.73322869e-03 1.04425824e+02] [ 7.65221806e-01 -6.43682548e-01 1.04098760e-02 1.81460167e+02] [-1.35880280e-02 1.71816901e-05 9.99907678e-01 -5.31565950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2 meters 0.013545120603738643 Centerline is valid? [True, True] Translation: X:104.41, Y:181.48, Z:-5.32 [[-6.44027819e-01 -7.64950553e-01 -8.87800569e-03 1.04407897e+02] [ 7.64877384e-01 -6.44089008e-01 1.05800491e-02 1.81481109e+02] [-1.38114403e-02 2.32601941e-05 9.99904617e-01 -5.31648214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22999999999996 meters 0.013484060236238975 Centerline is valid? [True, True] Translation: X:104.39, Y:181.50, Z:-5.32 [[-6.44327532e-01 -7.64696763e-01 -8.99399052e-03 1.04390325e+02] [ 7.64621742e-01 -6.44390301e-01 1.07113296e-02 1.81501288e+02] [-1.39865593e-02 2.46038684e-05 9.99902183e-01 -5.31717056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26 meters 0.01337300367811332 Centerline is valid? [True, True] Translation: X:104.37, Y:181.52, Z:-5.32 [[-6.44700251e-01 -7.64375298e-01 -9.59119187e-03 1.04371753e+02] [ 7.64290078e-01 -6.44771590e-01 1.14137047e-02 1.81522454e+02] [-1.49084820e-02 2.79655324e-05 9.99888862e-01 -5.31699594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28999999999996 meters 0.013386203503255345 Centerline is valid? [True, True] Translation: X:104.35, Y:181.54, Z:-5.32 [[-6.44840954e-01 -7.64250495e-01 -1.00660146e-02 1.04354520e+02] [ 7.64156739e-01 -6.44919514e-01 1.19707119e-02 1.81542747e+02] [-1.56403917e-02 2.71923978e-05 9.99877681e-01 -5.31770088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32 meters 0.01334170713032958 Centerline is valid? [True, True] Translation: X:104.34, Y:181.56, Z:-5.32 [[-6.45022082e-01 -7.64094280e-01 -1.03172309e-02 1.04336679e+02] [ 7.63995839e-01 -6.45104589e-01 1.22648544e-02 1.81563462e+02] [-1.60271981e-02 2.87803970e-05 9.99871556e-01 -5.31760029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34999999999997 meters 0.01334170713032958 Centerline is valid? [True, True] Translation: X:104.32, Y:181.58, Z:-5.32 [[-6.45266646e-01 -7.63887707e-01 -1.03211509e-02 1.04319349e+02] [ 7.63789293e-01 -6.45349185e-01 1.22615544e-02 1.81583894e+02] [-1.60271970e-02 2.87875788e-05 9.99871556e-01 -5.31814907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38 meters 0.01331383539634248 Centerline is valid? [True, True] Translation: X:104.30, Y:181.60, Z:-5.32 [[-6.45545561e-01 -7.63649178e-01 -1.05290962e-02 1.04302292e+02] [ 7.63546861e-01 -6.45631422e-01 1.25003664e-02 1.81603327e+02] [-1.63438099e-02 3.00976738e-05 9.99866431e-01 -5.31884936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40999999999997 meters 0.013307921923779852 Centerline is valid? [True, True] Translation: X:104.28, Y:181.62, Z:-5.32 [[-6.45657859e-01 -7.63551466e-01 -1.07279311e-02 1.04284570e+02] [ 7.63445383e-01 -6.45746977e-01 1.27274540e-02 1.81623458e+02] [-1.66455952e-02 2.73911948e-05 9.99861452e-01 -5.31959517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44 meters 0.013305407622299864 Centerline is valid? [True, True] Translation: X:104.27, Y:181.64, Z:-5.32 [[-6.45948287e-01 -7.63306834e-01 -1.06530236e-02 1.04266227e+02] [ 7.63202328e-01 -6.46036126e-01 1.26305533e-02 1.81643855e+02] [-1.65232257e-02 2.82718400e-05 9.99863482e-01 -5.32094888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46999999999997 meters 0.013308701584719269 Centerline is valid? [True, True] Translation: X:104.25, Y:181.66, Z:-5.32 [[-6.46233373e-01 -7.63063286e-01 -1.08096480e-02 1.04249031e+02] [ 7.62955791e-01 -6.46323773e-01 1.28078565e-02 1.81663383e+02] [-1.67597375e-02 2.95807438e-05 9.99859545e-01 -5.32211643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5 meters 0.01325775687294626 Centerline is valid? [True, True] Translation: X:104.23, Y:181.68, Z:-5.32 [[-6.46357754e-01 -7.62957836e-01 -1.08163667e-02 1.04231352e+02] [ 7.62850340e-01 -6.46448250e-01 1.28069718e-02 1.81683575e+02] [-1.67634008e-02 2.66164653e-05 9.99859484e-01 -5.32291277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53 meters 0.013321950582565195 Centerline is valid? [True, True] Translation: X:104.21, Y:181.70, Z:-5.32 [[-6.46455318e-01 -7.62877971e-01 -1.06171112e-02 1.04213112e+02] [ 7.62774519e-01 -6.46542497e-01 1.25631485e-02 1.81704550e+02] [-1.64485628e-02 2.30522541e-05 9.99864713e-01 -5.32322161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56 meters 0.01333229298239216 Centerline is valid? [True, True] Translation: X:104.19, Y:181.72, Z:-5.32 [[-6.46323268e-01 -7.62985547e-01 -1.09219815e-02 1.04194881e+02] [ 7.62876213e-01 -6.46415544e-01 1.29161748e-02 1.81724732e+02] [-1.69149932e-02 1.59044041e-05 9.99856931e-01 -5.32393078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59 meters 0.013365037097624977 Centerline is valid? [True, True] Translation: X:104.18, Y:181.75, Z:-5.32 [[-6.46386165e-01 -7.62925792e-01 -1.13649544e-02 1.04176197e+02] [ 7.62807554e-01 -6.46486068e-01 1.34312955e-02 1.81745995e+02] [-1.75943664e-02 1.25305137e-05 9.99845207e-01 -5.32445526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62 meters 0.013280334858884192 Centerline is valid? [True, True] Translation: X:104.16, Y:181.77, Z:-5.33 [[-6.46483895e-01 -7.62837587e-01 -1.17213091e-02 1.04158609e+02] [ 7.62711956e-01 -6.46590145e-01 1.38440230e-02 1.81766069e+02] [-1.81396240e-02 9.95532158e-06 9.99835463e-01 -5.32502735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65 meters 0.013337660515167143 Centerline is valid? [True, True] Translation: X:104.14, Y:181.79, Z:-5.33 [[-6.46538826e-01 -7.62786346e-01 -1.20223594e-02 1.04141035e+02] [ 7.62654305e-01 -6.46650594e-01 1.41922604e-02 1.81786193e+02] [-1.85999283e-02 6.94325396e-06 9.99827006e-01 -5.32531946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68 meters 0.013281754219093873 Centerline is valid? [True, True] Translation: X:104.12, Y:181.81, Z:-5.33 [[-6.46036946e-01 -7.63199259e-01 -1.27732048e-02 1.04122105e+02] [ 7.63050446e-01 -6.46163208e-01 1.50707278e-02 1.81806476e+02] [-1.97555433e-02 -1.03525978e-05 9.99804840e-01 -5.32567352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71 meters 0.013355779430536136 Centerline is valid? [True, True] Translation: X:104.10, Y:181.83, Z:-5.33 [[-6.45754231e-01 -7.63434612e-01 -1.30025398e-02 1.04103610e+02] [ 7.63280657e-01 -6.45885123e-01 1.53312210e-02 1.81826698e+02] [-2.01025318e-02 -2.43863390e-05 9.99797923e-01 -5.32619834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74 meters 0.013362587383980181 Centerline is valid? [True, True] Translation: X:104.08, Y:181.85, Z:-5.33 [[-6.44875493e-01 -7.64171080e-01 -1.33476287e-02 1.04083464e+02] [ 7.64009216e-01 -6.45013611e-01 1.57277033e-02 1.81846956e+02] [-2.06280582e-02 -5.53009012e-05 9.99787217e-01 -5.32675094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77 meters 0.01344310508525487 Centerline is valid? [True, True] Translation: X:104.06, Y:181.87, Z:-5.33 [[-6.44513958e-01 -7.64473585e-01 -1.34868534e-02 1.04064218e+02] [ 7.64308586e-01 -6.44655049e-01 1.58824739e-02 1.81867761e+02] [-2.08360999e-02 -7.16417080e-05 9.99782902e-01 -5.32748444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.8 meters 0.013482163616188685 Centerline is valid? [True, True] Translation: X:104.05, Y:181.89, Z:-5.33 [[-6.44047014e-01 -7.64865550e-01 -1.35696271e-02 1.04046520e+02] [ 7.64698801e-01 -6.44189943e-01 1.59706308e-02 1.81886645e+02] [-2.09568026e-02 -9.08404604e-05 9.99780378e-01 -5.32818708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83 meters 0.013527953950767342 Centerline is valid? [True, True] Translation: X:104.03, Y:181.91, Z:-5.33 [[-6.43860761e-01 -7.65019637e-01 -1.37213675e-02 1.04028135e+02] [ 7.64849408e-01 -6.44006944e-01 1.61381216e-02 1.81907112e+02] [-2.11826359e-02 -1.04076525e-04 9.99775617e-01 -5.32879652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86 meters 0.013589001013589534 Centerline is valid? [True, True] Translation: X:104.01, Y:181.93, Z:-5.33 [[-6.43422447e-01 -7.65392297e-01 -1.34976632e-02 1.04009707e+02] [ 7.65227866e-01 -6.43563996e-01 1.58649470e-02 1.81927770e+02] [-2.08295183e-02 -1.20924992e-04 9.99783035e-01 -5.32955609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89 meters 0.013629568318557822 Centerline is valid? [True, True] Translation: X:103.99, Y:181.95, Z:-5.33 [[-6.42806793e-01 -7.65911871e-01 -1.33579016e-02 1.03991105e+02] [ 7.65751124e-01 -6.42945554e-01 1.56917118e-02 1.81948267e+02] [-2.06068718e-02 -1.42089176e-04 9.99787646e-01 -5.33051738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92 meters 0.013949712650062686 Centerline is valid? [True, True] Translation: X:103.97, Y:181.97, Z:-5.33 [[-6.41297772e-01 -7.67183041e-01 -1.29363600e-02 1.03971532e+02] [ 7.67032731e-01 -6.41428209e-01 1.51869214e-02 1.81968556e+02] [-1.99488948e-02 -1.83272653e-04 9.99800984e-01 -5.33256317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95 meters 0.014224291158668426 Centerline is valid? [True, True] Translation: X:103.95, Y:181.99, Z:-5.33 [[-6.40693868e-01 -7.67694056e-01 -1.25380999e-02 1.03953262e+02] [ 7.67553114e-01 -6.40816508e-01 1.47112211e-02 1.81987181e+02] [-1.93283384e-02 -1.98268472e-04 9.99813171e-01 -5.33405795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97999999999996 meters 0.014233816787028524 Centerline is valid? [True, True] Translation: X:103.93, Y:182.01, Z:-5.34 [[-6.40164355e-01 -7.68138726e-01 -1.23489057e-02 1.03934793e+02] [ 7.68002276e-01 -6.40283415e-01 1.44793849e-02 1.82008306e+02] [-1.90289757e-02 -2.14801575e-04 9.99818910e-01 -5.33588400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01 meters 0.014475023945773012 Centerline is valid? [True, True] Translation: X:103.92, Y:182.03, Z:-5.34 [[-6.39281580e-01 -7.68876523e-01 -1.21636308e-02 1.03916522e+02] [ 7.68744420e-01 -6.39397244e-01 1.42541187e-02 1.82028378e+02] [-1.87370493e-02 -2.38327766e-04 9.99824418e-01 -5.33681093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03999999999996 meters 0.014950464819574181 Centerline is valid? [True, True] Translation: X:103.90, Y:182.05, Z:-5.34 [[-6.37778256e-01 -7.70126433e-01 -1.20072529e-02 1.03897794e+02] [ 7.69998095e-01 -6.37891214e-01 1.40617766e-02 1.82049302e+02] [-1.84886670e-02 -2.77266467e-04 9.99829032e-01 -5.33718970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07 meters 0.015370391027022387 Centerline is valid? [True, True] Translation: X:103.88, Y:182.07, Z:-5.34 [[-6.37142696e-01 -7.70652235e-01 -1.20132139e-02 1.03879889e+02] [ 7.70524011e-01 -6.37255870e-01 1.40607732e-02 1.82069506e+02] [-1.84914573e-02 -2.97750775e-04 9.99828974e-01 -5.33738957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09999999999997 meters 0.01519048382037453 Centerline is valid? [True, True] Translation: X:103.86, Y:182.09, Z:-5.34 [[-6.38110799e-01 -7.69852534e-01 -1.19031170e-02 1.03862442e+02] [ 7.69726673e-01 -6.38221747e-01 1.39230309e-02 1.82090585e+02] [-1.83155088e-02 -2.77710253e-04 9.99832218e-01 -5.33805934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13 meters 0.014949538528582126 Centerline is valid? [True, True] Translation: X:103.85, Y:182.11, Z:-5.34 [[-6.38589383e-01 -7.69457596e-01 -1.17731491e-02 1.03845101e+02] [ 7.69334560e-01 -6.38697843e-01 1.37622520e-02 1.82111541e+02] [-1.81089543e-02 -2.69062458e-04 9.99835983e-01 -5.33838217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15999999999997 meters 0.015096018827607548 Centerline is valid? [True, True] Translation: X:103.83, Y:182.13, Z:-5.34 [[-6.39010008e-01 -7.69099632e-01 -1.23274433e-02 1.03827066e+02] [ 7.68964856e-01 -6.39128844e-01 1.44003954e-02 1.82132596e+02] [-1.89541634e-02 -2.77373822e-04 9.99820315e-01 -5.33803065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19 meters 0.015365986624058978 Centerline is valid? [True, True] Translation: X:103.81, Y:182.15, Z:-5.34 [[-6.38814492e-01 -7.69260066e-01 -1.24497140e-02 1.03809640e+02] [ 7.69122818e-01 -6.38935729e-01 1.45336084e-02 1.82151674e+02] [-1.91346917e-02 -2.91079467e-04 9.99816873e-01 -5.33845363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21999999999997 meters 0.015155840456269927 Centerline is valid? [True, True] Translation: X:103.79, Y:182.17, Z:-5.34 [[-6.38871241e-01 -7.69215149e-01 -1.23122455e-02 1.03791813e+02] [ 7.69081037e-01 -6.38989804e-01 1.43662675e-02 1.82172487e+02] [-1.89181499e-02 -2.90919373e-04 9.99820993e-01 -5.33935950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25 meters 0.015258937438805307 Centerline is valid? [True, True] Translation: X:103.77, Y:182.19, Z:-5.34 [[-6.38473149e-01 -7.69559280e-01 -1.14259124e-02 1.03772966e+02] [ 7.69443980e-01 -6.38575315e-01 1.33240005e-02 1.82193603e+02] [-1.75499139e-02 -2.84582939e-04 9.99845948e-01 -5.34108157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28 meters 0.015352616533879721 Centerline is valid? [True, True] Translation: X:103.75, Y:182.21, Z:-5.34 [[-6.38299940e-01 -7.69712790e-01 -1.07428349e-02 1.03754668e+02] [ 7.69610996e-01 -6.38390277e-01 1.25207570e-02 1.82214601e+02] [-1.64955081e-02 -2.75805405e-04 9.99863902e-01 -5.34242842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31 meters 0.015177760491647423 Centerline is valid? [True, True] Translation: X:103.74, Y:182.24, Z:-5.34 [[-6.38320267e-01 -7.69699069e-01 -1.05156856e-02 1.03736974e+02] [ 7.69601644e-01 -6.38406820e-01 1.22491456e-02 1.82235911e+02] [-1.61414414e-02 -2.74011041e-04 9.99869681e-01 -5.34318839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34 meters 0.0156530092560636 Centerline is valid? [True, True] Translation: X:103.72, Y:182.26, Z:-5.34 [[-6.37917577e-01 -7.70041477e-01 -9.86351299e-03 1.03718651e+02] [ 7.69955907e-01 -6.37993771e-01 1.14826015e-02 1.82255791e+02] [-1.51349393e-02 -2.69516765e-04 9.99885424e-01 -5.34409378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37 meters 0.015444642555196206 Centerline is valid? [True, True] Translation: X:103.70, Y:182.28, Z:-5.34 [[-6.37792666e-01 -7.70150680e-01 -9.40458660e-03 1.03701216e+02] [ 7.70072952e-01 -6.37861946e-01 1.09446971e-02 1.82277537e+02] [-1.44278938e-02 -2.61770211e-04 9.99895878e-01 -5.34477787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4 meters 0.015633266782791682 Centerline is valid? [True, True] Translation: X:103.68, Y:182.30, Z:-5.35 [[-6.37814345e-01 -7.70136282e-01 -9.10869909e-03 1.03683189e+02] [ 7.70063462e-01 -6.37879331e-01 1.05935821e-02 1.82298230e+02] [-1.39687528e-02 -2.57537749e-04 9.99902399e-01 -5.34572819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43 meters 0.01572372377007811 Centerline is valid? [True, True] Translation: X:103.66, Y:182.32, Z:-5.35 [[-6.38064536e-01 -7.69928699e-01 -9.13490041e-03 1.03664891e+02] [ 7.69855492e-01 -6.38129871e-01 1.06202199e-02 1.82319265e+02] [-1.40060649e-02 -2.56167593e-04 9.99901877e-01 -5.34606936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46 meters 0.015546515866787628 Centerline is valid? [True, True] Translation: X:103.65, Y:182.34, Z:-5.35 [[-6.38800553e-01 -7.69312570e-01 -9.59283910e-03 1.03647136e+02] [ 7.69231870e-01 -6.38872524e-01 1.11457446e-02 1.82341422e+02] [-1.47031627e-02 -2.59209776e-04 9.99891869e-01 -5.34570071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49 meters 0.01542117254737612 Centerline is valid? [True, True] Translation: X:103.63, Y:182.36, Z:-5.35 [[-6.39801324e-01 -7.68475070e-01 -1.00166668e-02 1.03630170e+02] [ 7.68387083e-01 -6.39879678e-01 1.16313373e-02 1.82362604e+02] [-1.53478543e-02 -2.54932398e-04 9.99882182e-01 -5.34574593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52 meters 0.015190442230531254 Centerline is valid? [True, True] Translation: X:103.61, Y:182.38, Z:-5.35 [[-6.40784660e-01 -7.67653740e-01 -1.01368395e-02 1.03613308e+02] [ 7.67563647e-01 -6.40864788e-01 1.17631406e-02 1.82384480e+02] [-1.55263624e-02 -2.43029406e-04 9.99879429e-01 -5.34544109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55 meters 0.015091013400009463 Centerline is valid? [True, True] Translation: X:103.60, Y:182.41, Z:-5.35 [[-6.42381215e-01 -7.66315012e-01 -1.03767433e-02 1.03597223e+02] [ 7.66220554e-01 -6.42464983e-01 1.20336405e-02 1.82405117e+02] [-1.58882536e-02 -2.20689421e-04 9.99873749e-01 -5.34587051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58 meters 0.014454929165256777 Centerline is valid? [True, True] Translation: X:103.58, Y:182.43, Z:-5.35 [[-6.45489175e-01 -7.63699156e-01 -1.03596821e-02 1.03581492e+02] [ 7.63604807e-01 -6.45572283e-01 1.20052310e-02 1.82429176e+02] [-1.58563084e-02 -1.61456368e-04 9.99874268e-01 -5.34699541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61 meters 0.014267311593670746 Centerline is valid? [True, True] Translation: X:103.57, Y:182.45, Z:-5.35 [[-6.46866913e-01 -7.62534613e-01 -1.02059128e-02 1.03565403e+02] [ 7.62442987e-01 -6.46947405e-01 1.18214380e-02 1.82450557e+02] [-1.56169445e-02 -1.34529510e-04 9.99878039e-01 -5.34780829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64 meters 0.014071036960643506 Centerline is valid? [True, True] Translation: X:103.55, Y:182.47, Z:-5.35 [[-6.48103333e-01 -7.61488564e-01 -9.86087852e-03 1.03548761e+02] [ 7.61403019e-01 -6.48178336e-01 1.14143871e-02 1.82472400e+02] [-1.50835330e-02 -1.10400378e-04 9.99886231e-01 -5.34873888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67 meters 0.013911603834227295 Centerline is valid? [True, True] Translation: X:103.53, Y:182.49, Z:-5.35 [[-6.49426982e-01 -7.60374675e-01 -8.65728645e-03 1.03532195e+02] [ 7.60308708e-01 -6.49484678e-01 1.00160550e-02 1.82493678e+02] [-1.32387295e-02 -7.75138850e-05 9.99912361e-01 -5.35074344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7 meters 0.013998332266664403 Centerline is valid? [True, True] Translation: X:103.51, Y:182.51, Z:-5.35 [[-6.49847958e-01 -7.60021106e-01 -8.09633753e-03 1.03514745e+02] [ 7.59963459e-01 -6.49898387e-01 9.36094245e-03 1.82512862e+02] [-1.23763105e-02 -6.97313451e-05 9.99923408e-01 -5.35265629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72999999999996 meters 0.013957007076209579 Centerline is valid? [True, True] Translation: X:103.50, Y:182.53, Z:-5.35 [[-6.49863384e-01 -7.60016765e-01 -7.21797417e-03 1.03496644e+02] [ 7.59970970e-01 -6.49903464e-01 8.34338596e-03 1.82533300e+02] [-1.10320996e-02 -6.33898030e-05 9.99939143e-01 -5.35299998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76 meters 0.01413212855996841 Centerline is valid? [True, True] Translation: X:103.48, Y:182.55, Z:-5.36 [[-6.49808050e-01 -7.60066261e-01 -6.98405733e-03 1.03477834e+02] [ 7.60023439e-01 -6.49845577e-01 8.06831780e-03 1.82551214e+02] [-1.06710149e-02 -6.51894162e-05 9.99943061e-01 -5.35522585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78999999999996 meters 0.014274210755448841 Centerline is valid? [True, True] Translation: X:103.46, Y:182.57, Z:-5.36 [[-6.49396867e-01 -7.60415143e-01 -7.24703315e-03 1.03457588e+02] [ 7.60369128e-01 -6.49437298e-01 8.36577743e-03 1.82568406e+02] [-1.10679575e-02 -7.77106291e-05 9.99938745e-01 -5.35601401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82 meters 0.01408383506825814 Centerline is valid? [True, True] Translation: X:103.44, Y:182.59, Z:-5.35 [[-6.49605555e-01 -7.60230915e-01 -7.84728078e-03 1.03439580e+02] [ 7.60177026e-01 -6.49652945e-01 9.05208821e-03 1.82588443e+02] [-1.19796864e-02 -8.50357761e-05 9.99928237e-01 -5.35497031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84999999999997 meters 0.01400392175958013 Centerline is valid? [True, True] Translation: X:103.42, Y:182.61, Z:-5.36 [[-6.50029027e-01 -7.59864117e-01 -8.29376272e-03 1.03421479e+02] [ 7.59803974e-01 -6.50081930e-01 9.56061591e-03 1.82607853e+02] [-1.26563942e-02 -8.69560192e-05 9.99919901e-01 -5.35505602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88 meters 0.014023787328553562 Centerline is valid? [True, True] Translation: X:103.40, Y:182.63, Z:-5.35 [[-6.50656053e-01 -7.59322898e-01 -8.68550874e-03 1.03403396e+02] [ 7.59256989e-01 -6.50714015e-01 1.00047648e-02 1.82628212e+02] [-1.32486293e-02 -8.48724416e-05 9.99912229e-01 -5.35482523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90999999999997 meters 0.01390045310952408 Centerline is valid? [True, True] Translation: X:103.39, Y:182.65, Z:-5.36 [[-6.51321899e-01 -7.58749330e-01 -8.90156914e-03 1.03385313e+02] [ 7.58680138e-01 -6.51382720e-01 1.02469824e-02 1.82648645e+02] [-1.35732194e-02 -7.93596351e-05 9.99907876e-01 -5.35508867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94 meters 0.01387707503500042 Centerline is valid? [True, True] Translation: X:103.37, Y:182.67, Z:-5.36 [[-6.52114870e-01 -7.58063999e-01 -9.22879227e-03 1.03366563e+02] [ 7.57989654e-01 -6.52180166e-01 1.06167600e-02 1.82667801e+02] [-1.40670188e-02 -7.19819655e-05 9.99901052e-01 -5.35587917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96999999999997 meters 0.013702714822100894 Centerline is valid? [True, True] Translation: X:103.35, Y:182.69, Z:-5.36 [[-6.52432670e-01 -7.57790834e-01 -9.20126377e-03 1.03347677e+02] [ 7.57717005e-01 -6.52497545e-01 1.05779643e-02 1.82688130e+02] [-1.40196864e-02 -7.05445371e-05 9.99901717e-01 -5.35646571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0 meters 0.013606469645408537 Centerline is valid? [True, True] Translation: X:103.33, Y:182.71, Z:-5.36 [[-6.52713906e-01 -7.57549033e-01 -9.16627722e-03 1.03329088e+02] [ 7.57475830e-01 -6.52778261e-01 1.05313138e-02 1.82708056e+02] [-1.39615331e-02 -6.92984624e-05 9.99902531e-01 -5.35683520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03 meters 0.013662365413419716 Centerline is valid? [True, True] Translation: X:103.31, Y:182.73, Z:-5.36 [[-6.52631812e-01 -7.57617221e-01 -9.37360227e-03 1.03309752e+02] [ 7.57540783e-01 -6.52699119e-01 1.07620524e-02 1.82728703e+02] [-1.42716582e-02 -7.72282514e-05 9.99898152e-01 -5.35749217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06 meters 0.013781089134025861 Centerline is valid? [True, True] Translation: X:103.29, Y:182.75, Z:-5.36 [[-6.52559055e-01 -7.57682018e-01 -9.19994044e-03 1.03291052e+02] [ 7.57608468e-01 -6.52623898e-01 1.05572727e-02 1.82747671e+02] [-1.40031567e-02 -8.07088928e-05 9.99901948e-01 -5.35859322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09 meters 0.013685935922378895 Centerline is valid? [True, True] Translation: X:103.27, Y:182.77, Z:-5.36 [[-6.52309966e-01 -7.57899000e-01 -8.98972447e-03 1.03272411e+02] [ 7.57828888e-01 -6.52371902e-01 1.03091271e-02 1.82767812e+02] [-1.36779208e-02 -8.79265205e-05 9.99906449e-01 -5.35813265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12 meters 0.01374366365345259 Centerline is valid? [True, True] Translation: X:103.25, Y:182.79, Z:-5.36 [[-6.52434276e-01 -7.57793525e-01 -8.85934442e-03 1.03253662e+02] [ 7.57725510e-01 -6.52494418e-01 1.01531851e-02 1.82788236e+02] [-1.34746907e-02 -8.86653127e-05 9.99909208e-01 -5.35856724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15 meters 0.013725514160155633 Centerline is valid? [True, True] Translation: X:103.24, Y:182.81, Z:-5.36 [[-6.52766056e-01 -7.57507515e-01 -8.87919881e-03 1.03235119e+02] [ 7.57439256e-01 -6.52826437e-01 1.01693821e-02 1.82808679e+02] [-1.34999591e-02 -8.72262700e-05 9.99908868e-01 -5.35916314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18 meters 0.01364972495338201 Centerline is valid? [True, True] Translation: X:103.22, Y:182.83, Z:-5.36 [[-6.53613000e-01 -7.56777329e-01 -8.83860089e-03 1.03216854e+02] [ 7.56709713e-01 -6.53672753e-01 1.01164361e-02 1.82828387e+02] [-1.34334421e-02 -7.60210016e-05 9.99909764e-01 -5.36068127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21 meters 0.013740215328726641 Centerline is valid? [True, True] Translation: X:103.20, Y:182.85, Z:-5.36 [[-6.54085997e-01 -7.56367474e-01 -8.93040904e-03 1.03199470e+02] [ 7.56298496e-01 -6.54146955e-01 1.02149634e-02 1.82847529e+02] [-1.35680660e-02 -7.25903749e-05 9.99907947e-01 -5.36135993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24 meters 0.013657865859800038 Centerline is valid? [True, True] Translation: X:103.18, Y:182.87, Z:-5.36 [[-6.54632841e-01 -7.55889543e-01 -9.31888353e-03 1.03181326e+02] [ 7.55814496e-01 -6.54699162e-01 1.06514866e-02 1.82868361e+02] [-1.41524126e-02 -7.05343189e-05 9.99899847e-01 -5.36181775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27 meters 0.013657865859800038 Centerline is valid? [True, True] Translation: X:103.16, Y:182.89, Z:-5.36 [[-6.54872116e-01 -7.55682213e-01 -9.32225489e-03 1.03163602e+02] [ 7.55607187e-01 -6.54938461e-01 1.06485347e-02 1.82888443e+02] [-1.41524116e-02 -7.05343136e-05 9.99899847e-01 -5.36236656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.3 meters 0.013669771645496352 Centerline is valid? [True, True] Translation: X:103.15, Y:182.91, Z:-5.36 [[-6.55266369e-01 -7.55336382e-01 -9.64028347e-03 1.03145721e+02] [ 7.55256219e-01 -6.55337276e-01 1.10044596e-02 1.82909199e+02] [-1.46297058e-02 -7.00317831e-05 9.99892978e-01 -5.36233281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33 meters 0.013682346652483775 Centerline is valid? [True, True] Translation: X:103.13, Y:182.93, Z:-5.36 [[-6.56195732e-01 -7.54520487e-01 -1.02954413e-02 1.03128359e+02] [ 7.54429089e-01 -6.56276490e-01 1.17438705e-02 1.82931416e+02] [-1.56176470e-02 -6.09027499e-05 9.99878035e-01 -5.36148170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36 meters 0.013661022827285919 Centerline is valid? [True, True] Translation: X:103.11, Y:182.95, Z:-5.36 [[-6.56689079e-01 -7.54092998e-01 -1.01589057e-02 1.03110459e+02] [ 7.54004055e-01 -6.56767651e-01 1.15818081e-02 1.82952663e+02] [-1.54058010e-02 -5.42092485e-05 9.99881322e-01 -5.36153960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39 meters 0.013815021704757202 Centerline is valid? [True, True] Translation: X:103.09, Y:182.97, Z:-5.36 [[-6.57096858e-01 -7.53734240e-01 -1.04122462e-02 1.03093147e+02] [ 7.53640893e-01 -6.57179346e-01 1.18621760e-02 1.82972180e+02] [-1.57836413e-02 -5.24959304e-05 9.99875429e-01 -5.36217825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42 meters 0.013748639431645945 Centerline is valid? [True, True] Translation: X:103.08, Y:182.99, Z:-5.36 [[-6.57504295e-01 -7.53379148e-01 -1.03903994e-02 1.03075306e+02] [ 7.53286234e-01 -6.57586387e-01 1.18318382e-02 1.82992615e+02] [-1.57464454e-02 -4.74603551e-05 9.99876016e-01 -5.36274279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45 meters 0.013757418182761268 Centerline is valid? [True, True] Translation: X:103.06, Y:183.01, Z:-5.36 [[-6.57757789e-01 -7.53161195e-01 -1.01442307e-02 1.03057996e+02] [ 7.53072710e-01 -6.57836007e-01 1.15447681e-02 1.83012312e+02] [-1.53683116e-02 -4.56822294e-05 9.99881899e-01 -5.36363940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47999999999996 meters 0.013765053761811778 Centerline is valid? [True, True] Translation: X:103.04, Y:183.03, Z:-5.36 [[-6.58119339e-01 -7.52845032e-01 -1.01633499e-02 1.03039736e+02] [ 7.52756294e-01 -6.58197810e-01 1.15587542e-02 1.83033790e+02] [-1.53914453e-02 -4.34859002e-05 9.99881544e-01 -5.36370147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51 meters 0.013752889266906895 Centerline is valid? [True, True] Translation: X:103.02, Y:183.05, Z:-5.37 [[-6.58584867e-01 -7.52447041e-01 -9.45636160e-03 1.03022826e+02] [ 7.52370252e-01 -6.58652753e-01 1.07496226e-02 1.83053650e+02] [-1.43169803e-02 -3.51464142e-05 9.99897506e-01 -5.36500483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53999999999996 meters 0.013898603087654365 Centerline is valid? [True, True] Translation: X:103.01, Y:183.07, Z:-5.37 [[-6.59028656e-01 -7.52064328e-01 -8.97090897e-03 1.03005279e+02] [ 7.51995275e-01 -6.59089710e-01 1.01912183e-02 1.83074166e+02] [-1.35770856e-02 -2.97762396e-05 9.99907827e-01 -5.36606575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57 meters 0.01388473069390537 Centerline is valid? [True, True] Translation: X:102.99, Y:183.10, Z:-5.37 [[-6.59729012e-01 -7.51453001e-01 -8.71881632e-03 1.02987246e+02] [ 7.51387805e-01 -6.59786622e-01 9.89849542e-03 1.83095890e+02] [-1.31908125e-02 -2.08876500e-05 9.99912997e-01 -5.36687777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59999999999997 meters 0.013912032665688039 Centerline is valid? [True, True] Translation: X:102.97, Y:183.12, Z:-5.37 [[-6.61254835e-01 -7.50119343e-01 -7.93816542e-03 1.02970567e+02] [ 7.50065268e-01 -6.61302481e-01 9.00677245e-03 1.83117859e+02] [-1.20056827e-02 1.62966147e-06 9.99927929e-01 -5.36869767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63 meters 0.0140118575817431 Centerline is valid? [True, True] Translation: X:102.95, Y:183.14, Z:-5.37 [[-6.62492819e-01 -7.49028605e-01 -7.70797313e-03 1.02953296e+02] [ 7.48977572e-01 -6.62537658e-01 8.74352358e-03 1.83138960e+02] [-1.16559717e-02 1.94225893e-05 9.99932067e-01 -5.36977718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65999999999997 meters 0.013973853820746212 Centerline is valid? [True, True] Translation: X:102.94, Y:183.16, Z:-5.37 [[-6.63794851e-01 -7.47873617e-01 -7.83892377e-03 1.02936411e+02] [ 7.47820824e-01 -6.63841134e-01 8.88618256e-03 1.83159992e+02] [-1.18495415e-02 3.64917903e-05 9.99929791e-01 -5.37046499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69 meters 0.014263916989128112 Centerline is valid? [True, True] Translation: X:102.92, Y:183.18, Z:-5.37 [[-6.66551983e-01 -7.45417081e-01 -7.86313647e-03 1.02920974e+02] [ 7.45363858e-01 -6.66598357e-01 8.90784389e-03 1.83182646e+02] [-1.18816128e-02 7.66432731e-05 9.99929408e-01 -5.37069657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71999999999997 meters 0.014456117924078582 Centerline is valid? [True, True] Translation: X:102.90, Y:183.20, Z:-5.37 [[-6.68378042e-01 -7.43779334e-01 -7.94325266e-03 1.02904918e+02] [ 7.43724973e-01 -6.68425232e-01 8.99292699e-03 1.83203664e+02] [-1.19982238e-02 1.03079558e-04 9.99928013e-01 -5.37104357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75 meters 0.014661326186166786 Centerline is valid? [True, True] Translation: X:102.89, Y:183.23, Z:-5.37 [[-6.70206465e-01 -7.42127936e-01 -8.33198446e-03 1.02888247e+02] [ 7.42068084e-01 -6.70258241e-01 9.42602727e-03 1.83225041e+02] [-1.25798994e-02 1.34484662e-04 9.99920861e-01 -5.37062595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78 meters 0.01496092596737091 Centerline is valid? [True, True] Translation: X:102.87, Y:183.25, Z:-5.37 [[-6.71968787e-01 -7.40525731e-01 -8.92137796e-03 1.02872585e+02] [ 7.40457065e-01 -6.72027985e-01 1.00858032e-02 1.83245757e+02] [-1.34642124e-02 1.71447572e-04 9.99909339e-01 -5.37075932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81 meters 0.01514049982074222 Centerline is valid? [True, True] Translation: X:102.86, Y:183.27, Z:-5.37 [[-6.73769808e-01 -7.38882293e-01 -9.33820457e-03 1.02855342e+02] [ 7.38807015e-01 -6.73834485e-01 1.05489825e-02 1.83267481e+02] [-1.40868607e-02 2.08454872e-04 9.99900754e-01 -5.37044789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84 meters 0.01561582728987052 Centerline is valid? [True, True] Translation: X:102.84, Y:183.29, Z:-5.37 [[-6.76643394e-01 -7.36246261e-01 -9.75502790e-03 1.02838987e+02] [ 7.36163937e-01 -6.76713655e-01 1.10131033e-02 1.83290438e+02] [-1.47097167e-02 2.70643853e-04 9.99891770e-01 -5.37034325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87 meters 0.015704220122249996 Centerline is valid? [True, True] Translation: X:102.82, Y:183.31, Z:-5.37 [[-6.77731366e-01 -7.35238852e-01 -1.01993512e-02 1.02820584e+02] [ 7.35148851e-01 -6.77808041e-01 1.15077198e-02 1.83312034e+02] [-1.53741250e-02 3.01101374e-04 9.99881766e-01 -5.37053276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9 meters 0.016162291473475206 Centerline is valid? [True, True] Translation: X:102.80, Y:183.33, Z:-5.37 [[-6.78460628e-01 -7.34565123e-01 -1.02594777e-02 1.02803254e+02] [ 7.34474083e-01 -6.78538121e-01 1.15689341e-02 1.83333494e+02] [-1.54595822e-02 3.13745856e-04 9.99880444e-01 -5.37084362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93 meters 0.015925412054007788 Centerline is valid? [True, True] Translation: X:102.78, Y:183.35, Z:-5.37 [[-6.78697750e-01 -7.34343218e-01 -1.04595374e-02 1.02784205e+02] [ 7.34248684e-01 -6.78778267e-01 1.17870474e-02 1.83353860e+02] [-1.57554450e-02 3.19940961e-04 9.99875824e-01 -5.37126965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96 meters 0.015860469300937496 Centerline is valid? [True, True] Translation: X:102.77, Y:183.37, Z:-5.37 [[-6.77810241e-01 -7.35161319e-01 -1.05410171e-02 1.02765597e+02] [ 7.35065518e-01 -6.77892135e-01 1.18717135e-02 1.83372732e+02] [-1.58732971e-02 2.98430727e-04 9.99873967e-01 -5.37181308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99 meters 0.015612284077089525 Centerline is valid? [True, True] Translation: X:102.75, Y:183.39, Z:-5.37 [[-6.77042003e-01 -7.35869304e-01 -1.05115568e-02 1.02746289e+02] [ 7.35774209e-01 -6.77123541e-01 1.18331379e-02 1.83391936e+02] [-1.58252655e-02 2.77398999e-04 9.99874734e-01 -5.37247556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02 meters 0.015226224939756826 Centerline is valid? [True, True] Translation: X:102.73, Y:183.41, Z:-5.37 [[-6.76014813e-01 -7.36818969e-01 -1.00885914e-02 1.02726813e+02] [ 7.36731582e-01 -6.76090045e-01 1.13501993e-02 1.83410771e+02] [-1.51838384e-02 2.40318905e-04 9.99884690e-01 -5.37332144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05 meters 0.014684675967325601 Centerline is valid? [True, True] Translation: X:102.71, Y:183.43, Z:-5.38 [[-6.72992943e-01 -7.39587202e-01 -9.55352051e-03 1.02705571e+02] [ 7.39509213e-01 -6.73060728e-01 1.07415015e-02 1.83428145e+02] [-1.43743765e-02 1.64038299e-04 9.99896670e-01 -5.37501834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08 meters 0.014315004723223326 Centerline is valid? [True, True] Translation: X:102.69, Y:183.45, Z:-5.38 [[-6.71268862e-01 -7.41158508e-01 -9.06537267e-03 1.02685485e+02] [ 7.41088492e-01 -6.71330062e-01 1.01879862e-02 1.83446522e+02] [-1.36367698e-02 1.20634522e-04 9.99907008e-01 -5.37572568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11 meters 0.0140029207625665 Centerline is valid? [True, True] Translation: X:102.67, Y:183.47, Z:-5.38 [[-6.69747071e-01 -7.42536669e-01 -8.84051979e-03 1.02665101e+02] [ 7.42470289e-01 -6.69805410e-01 9.92885852e-03 1.83465544e+02] [-1.32939695e-02 8.60006354e-05 9.99911628e-01 -5.37605352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14 meters 0.01393118712694524 Centerline is valid? [True, True] Translation: X:102.65, Y:183.48, Z:-5.38 [[-6.68088092e-01 -7.44031119e-01 -8.71753032e-03 1.02645475e+02] [ 7.43966771e-01 -6.68144963e-01 9.78532454e-03 1.83484368e+02] [-1.31051599e-02 5.19059294e-05 9.99914122e-01 -5.37695541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17 meters 0.013839340587635533 Centerline is valid? [True, True] Translation: X:102.63, Y:183.50, Z:-5.38 [[-6.66462516e-01 -7.45487430e-01 -8.72966456e-03 1.02626185e+02] [ 7.45423113e-01 -6.66519686e-01 9.79237530e-03 1.83502344e+02] [-1.31185860e-02 1.89573503e-05 9.99913947e-01 -5.37804863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2 meters 0.013867294908582921 Centerline is valid? [True, True] Translation: X:102.60, Y:183.52, Z:-5.38 [[-6.63243359e-01 -7.48354485e-01 -8.59142011e-03 1.02603768e+02] [ 7.48292482e-01 -6.63299000e-01 9.63317342e-03 1.83520325e+02] [-1.29077089e-02 -3.97567859e-05 9.99916691e-01 -5.37857816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22999999999996 meters 0.013999913515530812 Centerline is valid? [True, True] Translation: X:102.58, Y:183.54, Z:-5.38 [[-6.61854768e-01 -7.49587400e-01 -8.18514090e-03 1.02584689e+02] [ 7.49531269e-01 -6.61905376e-01 9.17340051e-03 1.83538061e+02] [-1.22940542e-02 -6.35601725e-05 9.99924423e-01 -5.37972076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26 meters 0.014095081868408785 Centerline is valid? [True, True] Translation: X:102.57, Y:183.56, Z:-5.38 [[-6.60572166e-01 -7.50720078e-01 -7.98618332e-03 1.02565409e+02] [ 7.50666799e-01 -6.60620434e-01 8.94424869e-03 1.83557879e+02] [-1.19904630e-02 -8.66409455e-05 9.99928108e-01 -5.37997511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28999999999996 meters 0.01440261440832293 Centerline is valid? [True, True] Translation: X:102.55, Y:183.58, Z:-5.38 [[-6.59410777e-01 -7.51740742e-01 -7.95515220e-03 1.02545677e+02] [ 7.51688016e-01 -6.59458752e-01 8.90398599e-03 1.83577154e+02] [-1.19395838e-02 -1.08408257e-04 9.99928715e-01 -5.38064363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32 meters 0.014717929753045885 Centerline is valid? [True, True] Translation: X:102.53, Y:183.60, Z:-5.38 [[-6.57485814e-01 -7.53426105e-01 -7.84275359e-03 1.02525097e+02] [ 7.53375043e-01 -6.57532573e-01 8.77271279e-03 1.83596978e+02] [-1.17664568e-02 -1.40600607e-04 9.99930763e-01 -5.38145954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34999999999997 meters 0.01477354941401955 Centerline is valid? [True, True] Translation: X:102.51, Y:183.62, Z:-5.38 [[-6.57132599e-01 -7.53732701e-01 -7.98517828e-03 1.02506032e+02] [ 7.53679853e-01 -6.57181096e-01 8.92678927e-03 1.83617254e+02] [-1.19761212e-02 -1.52183761e-04 9.99928272e-01 -5.38177185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38 meters 0.015027613058488206 Centerline is valid? [True, True] Translation: X:102.49, Y:183.64, Z:-5.38 [[-6.56420508e-01 -7.54343654e-01 -8.81863902e-03 1.02487299e+02] [ 7.54279335e-01 -6.56479716e-01 9.85229703e-03 1.83636803e+02] [-1.32212754e-02 -1.84467352e-04 9.99912578e-01 -5.38126576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40999999999997 meters 0.015277843328546177 Centerline is valid? [True, True] Translation: X:102.47, Y:183.66, Z:-5.38 [[-6.56374618e-01 -7.54377697e-01 -9.30862211e-03 1.02469242e+02] [ 7.54306134e-01 -6.56440591e-01 1.03926133e-02 1.83655921e+02] [-1.39505131e-02 -2.00103189e-04 9.99902667e-01 -5.38134351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44 meters 0.014995343631281839 Centerline is valid? [True, True] Translation: X:102.45, Y:183.68, Z:-5.38 [[-6.56469395e-01 -7.54290041e-01 -9.71944908e-03 1.02451008e+02] [ 7.54212131e-01 -6.56541308e-01 1.08430949e-02 1.83677221e+02] [-1.45600583e-02 -2.12366449e-04 9.99893974e-01 -5.38119315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46999999999997 meters 0.015093077336194895 Centerline is valid? [True, True] Translation: X:102.43, Y:183.70, Z:-5.38 [[-6.56481700e-01 -7.54278249e-01 -9.80314488e-03 1.02431960e+02] [ 7.54199084e-01 -6.56554854e-01 1.09300382e-02 1.83698408e+02] [-1.46805924e-02 -2.18152845e-04 9.99892211e-01 -5.38173490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5 meters 0.015878098721263223 Centerline is valid? [True, True] Translation: X:102.41, Y:183.72, Z:-5.38 [[-6.56525670e-01 -7.54239569e-01 -9.83446997e-03 1.02412753e+02] [ 7.54159985e-01 -6.56599287e-01 1.09587291e-02 1.83716991e+02] [-1.47228131e-02 -2.22076763e-04 9.99891589e-01 -5.38309626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53 meters 0.015373606090620525 Centerline is valid? [True, True] Translation: X:102.40, Y:183.74, Z:-5.38 [[-6.56192863e-01 -7.54530966e-01 -9.69268438e-03 1.02395158e+02] [ 7.54453789e-01 -6.56264404e-01 1.07941102e-02 1.83739406e+02] [-1.45054541e-02 -2.29664406e-04 9.99894764e-01 -5.38359119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56 meters 0.015671248491522557 Centerline is valid? [True, True] Translation: X:102.38, Y:183.76, Z:-5.38 [[-6.56389099e-01 -7.54367136e-01 -9.14193546e-03 1.02376467e+02] [ 7.54298535e-01 -6.56452723e-01 1.01755432e-02 1.83759171e+02] [-1.36773438e-02 -2.16632920e-04 9.99906437e-01 -5.38489876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59 meters 0.015595982480612733 Centerline is valid? [True, True] Translation: X:102.36, Y:183.78, Z:-5.39 [[-6.56727207e-01 -7.54072674e-01 -9.15306046e-03 1.02358276e+02] [ 7.54003960e-01 -6.56790954e-01 1.01818793e-02 1.83780013e+02] [-1.36895243e-02 -2.14726668e-04 9.99906271e-01 -5.38531299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62 meters 0.015597038103922514 Centerline is valid? [True, True] Translation: X:102.34, Y:183.80, Z:-5.39 [[-6.57545667e-01 -7.53363391e-01 -8.79189177e-03 1.02341006e+02] [ 7.53300018e-01 -6.57604412e-01 9.77343608e-03 1.83799348e+02] [-1.31445358e-02 -1.96451683e-04 9.99913588e-01 -5.38707169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65 meters 0.015072804144519954 Centerline is valid? [True, True] Translation: X:102.32, Y:183.82, Z:-5.39 [[-6.58385107e-01 -7.52631861e-01 -8.62165061e-03 1.02323059e+02] [ 7.52570909e-01 -6.58441530e-01 9.58011067e-03 1.83821545e+02] [-1.28871494e-02 -1.81001247e-04 9.99916941e-01 -5.38825947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68 meters 0.015187976608405483 Centerline is valid? [True, True] Translation: X:102.31, Y:183.84, Z:-5.39 [[-6.59164014e-01 -7.51957037e-01 -7.96351305e-03 1.02305117e+02] [ 7.51905036e-01 -6.59212098e-01 8.84454926e-03 1.83842000e+02] [-1.19003652e-02 -1.57796976e-04 9.99929176e-01 -5.39002208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71 meters 0.014994748440579448 Centerline is valid? [True, True] Translation: X:102.29, Y:183.86, Z:-5.39 [[-6.60371587e-01 -7.50902185e-01 -7.43475075e-03 1.02287835e+02] [ 7.50856843e-01 -6.60413424e-01 8.25292632e-03 1.83862776e+02] [-1.11071496e-02 -1.32435426e-04 9.99938305e-01 -5.39134728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74 meters 0.014875307912562166 Centerline is valid? [True, True] Translation: X:102.27, Y:183.88, Z:-5.39 [[-6.61814091e-01 -7.49633508e-01 -7.19121733e-03 1.02270804e+02] [ 7.49591061e-01 -6.61853150e-01 7.97807189e-03 1.83883262e+02] [-1.07401599e-02 -1.10471834e-04 9.99942317e-01 -5.39271182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77 meters 0.014748538368278651 Centerline is valid? [True, True] Translation: X:102.25, Y:183.90, Z:-5.39 [[-6.63257371e-01 -7.48357573e-01 -7.11359848e-03 1.02254370e+02] [ 7.48316033e-01 -6.63295511e-01 7.88545536e-03 1.83903899e+02] [-1.06195582e-02 -9.31334044e-05 9.99943607e-01 -5.39359492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.8 meters 0.014023693734105199 Centerline is valid? [True, True] Translation: X:102.24, Y:183.93, Z:-5.39 [[-6.66500009e-01 -7.45465128e-01 -7.71240639e-03 1.02239577e+02] [ 7.45416152e-01 -6.66544628e-01 8.54515796e-03 1.83928164e+02] [-1.15107803e-02 -5.36044349e-05 9.99933747e-01 -5.39199399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83 meters 0.013892105347831274 Centerline is valid? [True, True] Translation: X:102.22, Y:183.95, Z:-5.39 [[-6.68325396e-01 -7.43821776e-01 -8.38640187e-03 1.02222903e+02] [ 7.43763807e-01 -6.68378011e-01 9.28626316e-03 1.83949553e+02] [-1.25126114e-02 -3.12566819e-05 9.99921714e-01 -5.39183160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86 meters 0.013857828521094696 Centerline is valid? [True, True] Translation: X:102.21, Y:183.97, Z:-5.39 [[-6.69890889e-01 -7.42405038e-01 -8.99756999e-03 1.02205938e+02] [ 7.42338279e-01 -6.69951311e-01 9.95591397e-03 1.83971012e+02] [-1.34192545e-02 -9.86456520e-06 9.99909958e-01 -5.39161669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89 meters 0.013812229332627423 Centerline is valid? [True, True] Translation: X:102.19, Y:183.99, Z:-5.39 [[-6.73036022e-01 -7.39549261e-01 -9.45540284e-03 1.02189462e+02] [ 7.39475357e-01 -6.73102436e-01 1.04549908e-02 1.83994199e+02] [-1.40964354e-02 4.45479919e-05 9.99900639e-01 -5.39140246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92 meters 0.013931832673575579 Centerline is valid? [True, True] Translation: X:102.17, Y:184.01, Z:-5.39 [[-6.74677122e-01 -7.38050237e-01 -9.62438432e-03 1.02172706e+02] [ 7.37973599e-01 -6.74745761e-01 1.06360416e-02 1.84014878e+02] [-1.43439456e-02 7.33524275e-05 9.99897118e-01 -5.39192199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95 meters 0.014005169172024292 Centerline is valid? [True, True] Translation: X:102.15, Y:184.04, Z:-5.39 [[-6.76297164e-01 -7.36562182e-01 -9.91450741e-03 1.02154137e+02] [ 7.36480814e-01 -6.76369826e-01 1.09485279e-02 1.84036642e+02] [-1.47701453e-02 1.02613892e-04 9.99890910e-01 -5.39210756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97999999999996 meters 0.01421881955594799 Centerline is valid? [True, True] Translation: X:102.14, Y:184.06, Z:-5.39 [[-6.78553042e-01 -7.34482168e-01 -1.00853494e-02 1.02137547e+02] [ 7.34397838e-01 -6.78627971e-01 1.11307096e-02 1.84057968e+02] [-1.50195080e-02 1.46118064e-04 9.99887190e-01 -5.39241238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01 meters 0.014393452792414161 Centerline is valid? [True, True] Translation: X:102.12, Y:184.08, Z:-5.39 [[-6.79825746e-01 -7.33303118e-01 -1.01730907e-02 1.02119433e+02] [ 7.33217289e-01 -6.79901837e-01 1.12204924e-02 1.84079042e+02] [-1.51447251e-02 1.68893698e-04 9.99885298e-01 -5.39268260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03999999999996 meters 0.014597643671095204 Centerline is valid? [True, True] Translation: X:102.10, Y:184.10, Z:-5.39 [[-6.81252145e-01 -7.31977774e-01 -1.02006379e-02 1.02102165e+02] [ 7.31891427e-01 -6.81328482e-01 1.12445309e-02 1.84099455e+02] [-1.51807318e-02 1.94601374e-04 9.99884747e-01 -5.39326772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07 meters 0.014680225389726614 Centerline is valid? [True, True] Translation: X:102.08, Y:184.12, Z:-5.39 [[-6.82599938e-01 -7.30723233e-01 -1.00439601e-02 1.02083065e+02] [ 7.30639481e-01 -6.82673796e-01 1.10651345e-02 1.84120332e+02] [-1.49422993e-02 2.14546327e-04 9.99888335e-01 -5.39396686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09999999999997 meters 0.014985864992963357 Centerline is valid? [True, True] Translation: X:102.07, Y:184.14, Z:-5.39 [[-6.83480755e-01 -7.29897554e-01 -1.01793499e-02 1.02065878e+02] [ 7.29811539e-01 -6.83556514e-01 1.12075654e-02 1.84139552e+02] [-1.51385355e-02 2.31148213e-04 9.99885379e-01 -5.39490931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13 meters 0.015081128058709896 Centerline is valid? [True, True] Translation: X:102.05, Y:184.16, Z:-5.40 [[-6.84193001e-01 -7.29236681e-01 -9.68508527e-03 1.02045889e+02] [ 7.29158820e-01 -6.84261507e-01 1.06585445e-02 1.84158344e+02] [-1.43997326e-02 2.30536183e-04 9.99896292e-01 -5.39587278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15999999999997 meters 0.015081128058709896 Centerline is valid? [True, True] Translation: X:102.03, Y:184.18, Z:-5.40 [[-6.84423591e-01 -7.29020221e-01 -9.68845007e-03 1.02027788e+02] [ 7.28942382e-01 -6.84492122e-01 1.06554846e-02 1.84178097e+02] [-1.43997315e-02 2.30543177e-04 9.99896292e-01 -5.39642163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19 meters 0.015177580145364944 Centerline is valid? [True, True] Translation: X:102.01, Y:184.20, Z:-5.40 [[-6.84499598e-01 -7.28950813e-01 -9.54004391e-03 1.02008392e+02] [ 7.28875426e-01 -6.84566039e-01 1.04857321e-02 1.84197737e+02] [-1.41743730e-02 2.23975818e-04 9.99899513e-01 -5.39723938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21999999999997 meters 0.015040900615545808 Centerline is valid? [True, True] Translation: X:101.99, Y:184.22, Z:-5.40 [[-6.84306579e-01 -7.29135616e-01 -9.26062129e-03 1.01989165e+02] [ 7.29064683e-01 -6.84369205e-01 1.01724663e-02 1.84216740e+02] [-1.37547915e-02 2.09493689e-04 9.99905376e-01 -5.39768901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25 meters 0.014959496559361175 Centerline is valid? [True, True] Translation: X:101.97, Y:184.24, Z:-5.40 [[-6.84277418e-01 -7.29162267e-01 -9.31685650e-03 1.01969808e+02] [ 7.29090562e-01 -6.84340811e-01 1.02277233e-02 1.84235823e+02] [-1.38335750e-02 2.05767909e-04 9.99904290e-01 -5.39827170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28 meters 0.014825795096566183 Centerline is valid? [True, True] Translation: X:101.95, Y:184.26, Z:-5.40 [[-6.84141310e-01 -7.29287750e-01 -9.48925506e-03 1.01949946e+02] [ 7.29213473e-01 -6.84207086e-01 1.04103054e-02 1.84255057e+02] [-1.40847238e-02 2.02427335e-04 9.99900785e-01 -5.39853842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31 meters 0.014664949654848929 Centerline is valid? [True, True] Translation: X:101.93, Y:184.27, Z:-5.40 [[-6.83469873e-01 -7.29916590e-01 -9.52386318e-03 1.01930202e+02] [ 7.29841923e-01 -6.83536200e-01 1.04417953e-02 1.84272355e+02] [-1.41315448e-02 1.85737865e-04 9.99900128e-01 -5.39920596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34 meters 0.014409628778144059 Centerline is valid? [True, True] Translation: X:101.91, Y:184.29, Z:-5.40 [[-6.83198646e-01 -7.30164553e-01 -9.96675966e-03 1.01910192e+02] [ 7.30082920e-01 -6.83271317e-01 1.09195863e-02 1.84290866e+02] [-1.47830959e-02 1.83685596e-04 9.99890707e-01 -5.39949694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37 meters 0.014390650537044586 Centerline is valid? [True, True] Translation: X:101.89, Y:184.31, Z:-5.40 [[-6.82894296e-01 -7.30448430e-01 -1.00235820e-02 1.01890606e+02] [ 7.30365999e-01 -6.82967834e-01 1.09747820e-02 1.84309656e+02] [-1.48622963e-02 1.73732536e-04 9.99889535e-01 -5.39970865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4 meters 0.01423025932257983 Centerline is valid? [True, True] Translation: X:101.87, Y:184.33, Z:-5.40 [[-6.82606853e-01 -7.30711793e-01 -1.04000061e-02 1.01870991e+02] [ 7.30623203e-01 -6.82686053e-01 1.13793342e-02 1.84328390e+02] [-1.54149528e-02 1.69125780e-04 9.99881168e-01 -5.40017429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43 meters 0.014284453929484135 Centerline is valid? [True, True] Translation: X:101.85, Y:184.35, Z:-5.40 [[-6.81327893e-01 -7.31907180e-01 -1.02070233e-02 1.01851187e+02] [ 7.31822083e-01 -6.81404331e-01 1.11614072e-02 1.84345897e+02] [-1.51242240e-02 1.34853013e-04 9.99885613e-01 -5.40149385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46 meters 0.014017732202983916 Centerline is valid? [True, True] Translation: X:101.83, Y:184.36, Z:-5.40 [[-6.80832252e-01 -7.32371598e-01 -9.96425562e-03 1.01829873e+02] [ 7.32290660e-01 -6.80905154e-01 1.08885510e-02 1.84364976e+02] [-1.47591785e-02 1.16545388e-04 9.99891071e-01 -5.40129872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49 meters 0.01394106255716834 Centerline is valid? [True, True] Translation: X:101.81, Y:184.38, Z:-5.40 [[-6.80016528e-01 -7.33133356e-01 -9.64391721e-03 1.01809866e+02] [ 7.33057697e-01 -6.80084902e-01 1.05327379e-02 1.84384428e+02] [-1.42805840e-02 9.28881213e-05 9.99898023e-01 -5.40202660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52 meters 0.013872261055047921 Centerline is valid? [True, True] Translation: X:101.79, Y:184.40, Z:-5.40 [[-6.77865152e-01 -7.35135829e-01 -8.61097991e-03 1.01788480e+02] [ 7.35075740e-01 -6.77919841e-01 9.39920409e-03 1.84402097e+02] [-1.27472458e-02 4.16704724e-05 9.99918750e-01 -5.40436114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55 meters 0.01389154783175761 Centerline is valid? [True, True] Translation: X:101.77, Y:184.42, Z:-5.41 [[-6.76659408e-01 -7.36252792e-01 -7.99195651e-03 1.01767947e+02] [ 7.36201136e-01 -6.76706603e-01 8.72127504e-03 1.84420835e+02] [-1.18292728e-02 1.76453453e-05 9.99930032e-01 -5.40529276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58 meters 0.013931042514303882 Centerline is valid? [True, True] Translation: X:101.75, Y:184.44, Z:-5.41 [[-6.75356654e-01 -7.37453669e-01 -7.44818431e-03 1.01747010e+02] [ 7.37408922e-01 -6.75397724e-01 8.12380102e-03 1.84440025e+02] [-1.10214136e-02 -5.89448927e-06 9.99939262e-01 -5.40664616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61 meters 0.013973368091905775 Centerline is valid? [True, True] Translation: X:101.73, Y:184.46, Z:-5.41 [[-6.74023972e-01 -7.38672754e-01 -7.36538342e-03 1.01726362e+02] [ 7.38629118e-01 -6.74064212e-01 8.02896626e-03 1.84458778e+02] [-1.08955200e-02 -2.85709319e-05 9.99940642e-01 -5.40746105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64 meters 0.014259642346622874 Centerline is valid? [True, True] Translation: X:101.70, Y:184.48, Z:-5.41 [[-6.71298738e-01 -7.41148042e-01 -7.58846874e-03 1.01704023e+02] [ 7.41101936e-01 -6.71341623e-01 8.26713112e-03 1.84476462e+02] [-1.12216230e-02 -7.41141881e-05 9.99937033e-01 -5.40815478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67 meters 0.014406961938717289 Centerline is valid? [True, True] Translation: X:101.68, Y:184.50, Z:-5.41 [[-6.70149245e-01 -7.42185122e-01 -7.82525613e-03 1.01683922e+02] [ 7.42136223e-01 -6.70194924e-01 8.52002543e-03 1.84496083e+02] [-1.15678830e-02 -9.77174190e-05 9.99933085e-01 -5.40807306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7 meters 0.014510517832559262 Centerline is valid? [True, True] Translation: X:101.66, Y:184.52, Z:-5.41 [[-6.69246705e-01 -7.42994477e-01 -8.24949974e-03 1.01663900e+02] [ 7.42940263e-01 -6.69297536e-01 8.97627858e-03 1.84515844e+02] [-1.21906953e-02 -1.21540642e-04 9.99925683e-01 -5.40807172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72999999999996 meters 0.014837479807001307 Centerline is valid? [True, True] Translation: X:101.64, Y:184.53, Z:-5.41 [[-6.68117707e-01 -7.44008205e-01 -8.39769236e-03 1.01644808e+02] [ 7.43952187e-01 -6.68170465e-01 9.13095861e-03 1.84534369e+02] [-1.24045981e-02 -1.46926470e-04 9.99923049e-01 -5.40823666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76 meters 0.015158758815118443 Centerline is valid? [True, True] Translation: X:101.62, Y:184.55, Z:-5.41 [[-6.66479235e-01 -7.45473628e-01 -8.63133091e-03 1.01623555e+02] [ 7.45414607e-01 -6.66535099e-01 9.38219507e-03 1.84553071e+02] [-1.27472640e-02 -1.80881946e-04 9.99918734e-01 -5.40909378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78999999999996 meters 0.0152458461664497 Centerline is valid? [True, True] Translation: X:101.60, Y:184.57, Z:-5.41 [[-6.65970559e-01 -7.45927982e-01 -8.64062837e-03 1.01603978e+02] [ 7.45868941e-01 -6.66026583e-01 9.38694007e-03 1.84572654e+02] [-1.27568694e-02 -1.93350604e-04 9.99918609e-01 -5.41007205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82 meters 0.015473151888576491 Centerline is valid? [True, True] Translation: X:101.58, Y:184.59, Z:-5.41 [[-6.65532044e-01 -7.46324703e-01 -8.15693543e-03 1.01584384e+02] [ 7.46272171e-01 -6.65582001e-01 8.85699900e-03 1.84591382e+02] [-1.20393066e-02 -1.92677268e-04 9.99927506e-01 -5.41149713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84999999999997 meters 0.015885037063185215 Centerline is valid? [True, True] Translation: X:101.56, Y:184.61, Z:-5.41 [[-6.64750810e-01 -7.47027666e-01 -7.48510269e-03 1.01564091e+02] [ 7.46983526e-01 -6.64792922e-01 8.12298166e-03 1.84610372e+02] [-1.10441353e-02 -1.91489765e-04 9.99938993e-01 -5.41347472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88 meters 0.01573357727768315 Centerline is valid? [True, True] Translation: X:101.54, Y:184.63, Z:-5.41 [[-6.64606918e-01 -7.47158624e-01 -7.18573724e-03 1.01544892e+02] [ 7.47117995e-01 -6.64645736e-01 7.79400899e-03 1.84630714e+02] [-1.05993307e-02 -1.88641303e-04 9.99943808e-01 -5.41407647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90999999999997 meters 0.015824493726025218 Centerline is valid? [True, True] Translation: X:101.53, Y:184.65, Z:-5.41 [[-6.64420782e-01 -7.47325831e-01 -7.00911967e-03 1.01525747e+02] [ 7.47287227e-01 -6.64457724e-01 7.59827052e-03 1.84651106e+02] [-1.03356475e-02 -1.89376768e-04 9.99946568e-01 -5.41477876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94 meters 0.015940660226966257 Centerline is valid? [True, True] Translation: X:101.51, Y:184.67, Z:-5.42 [[-6.64679557e-01 -7.47100350e-01 -6.49255408e-03 1.01506859e+02] [ 7.47067246e-01 -6.64711243e-01 7.03511362e-03 1.84670862e+02] [-9.57160954e-03 -1.74278295e-04 9.99954176e-01 -5.41570797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96999999999997 meters 0.016022587687275117 Centerline is valid? [True, True] Translation: X:101.49, Y:184.69, Z:-5.42 [[-6.64888356e-01 -7.46917463e-01 -6.14633453e-03 1.01487411e+02] [ 7.46887824e-01 -6.64916743e-01 6.65606132e-03 1.84691476e+02] [-9.05832917e-03 -1.65084754e-04 9.99958959e-01 -5.41678840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0 meters 0.01593634902985303 Centerline is valid? [True, True] Translation: X:101.47, Y:184.71, Z:-5.42 [[-6.65255558e-01 -7.46595806e-01 -5.45390534e-03 1.01468906e+02] [ 7.46572477e-01 -6.65277898e-01 5.90387026e-03 1.84711995e+02] [-8.03616745e-03 -1.44153111e-04 9.99967699e-01 -5.41836960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03 meters 0.016278547714161522 Centerline is valid? [True, True] Translation: X:101.45, Y:184.73, Z:-5.42 [[-6.65403255e-01 -7.46465881e-01 -5.21493074e-03 1.01449953e+02] [ 7.46444581e-01 -6.65423676e-01 5.64080850e-03 1.84731219e+02] [-7.68080947e-03 -1.39244457e-04 9.99970492e-01 -5.41972040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06 meters 0.016236261175875715 Centerline is valid? [True, True] Translation: X:101.43, Y:184.75, Z:-5.42 [[-6.65757265e-01 -7.46150377e-01 -5.18450554e-03 1.01431389e+02] [ 7.46129317e-01 -6.65777438e-01 5.60757277e-03 1.84751788e+02] [-7.63581935e-03 -1.35029266e-04 9.99970838e-01 -5.42036046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09 meters 0.015964242170491392 Centerline is valid? [True, True] Translation: X:101.41, Y:184.77, Z:-5.42 [[-6.66217053e-01 -7.45740949e-01 -5.02741894e-03 1.01413376e+02] [ 7.45721157e-01 -6.66236010e-01 5.43462244e-03 1.84772270e+02] [-7.40226803e-03 -1.28414521e-04 9.99972595e-01 -5.42032942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12 meters 0.015944292187529463 Centerline is valid? [True, True] Translation: X:101.40, Y:184.79, Z:-5.42 [[-6.67051041e-01 -7.44992970e-01 -5.32762310e-03 1.01395769e+02] [ 7.44970751e-01 -6.67072304e-01 5.75515772e-03 1.84792334e+02] [-7.84146185e-03 -1.29939439e-04 9.99969247e-01 -5.42081173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15 meters 0.015557093903839478 Centerline is valid? [True, True] Translation: X:101.38, Y:184.81, Z:-5.42 [[-6.67614179e-01 -7.44484897e-01 -5.79191874e-03 1.01377828e+02] [ 7.44458668e-01 -6.67639288e-01 6.25076980e-03 1.84813580e+02] [-8.52051621e-03 -1.38741560e-04 9.99963690e-01 -5.42057106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18 meters 0.015592945578184034 Centerline is valid? [True, True] Translation: X:101.36, Y:184.83, Z:-5.42 [[-6.68311854e-01 -7.43854484e-01 -6.30657069e-03 1.01360097e+02] [ 7.43823408e-01 -6.68341594e-01 6.80088785e-03 1.84832690e+02] [-9.27381443e-03 -1.45860936e-04 9.99956987e-01 -5.42074903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21 meters 0.015367343872192357 Centerline is valid? [True, True] Translation: X:101.34, Y:184.85, Z:-5.42 [[-6.68747433e-01 -7.43457225e-01 -6.94452604e-03 1.01342096e+02] [ 7.43419557e-01 -6.68783471e-01 7.48543284e-03 1.84852912e+02] [-1.02094834e-02 -1.56832481e-04 9.99947870e-01 -5.42073326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24 meters 0.015133270510200574 Centerline is valid? [True, True] Translation: X:101.32, Y:184.87, Z:-5.42 [[-6.69102638e-01 -7.43128027e-01 -7.89908519e-03 1.01323738e+02] [ 7.43079352e-01 -6.69149239e-01 8.50716687e-03 1.84874298e+02] [-1.16075810e-02 -1.77479311e-04 9.99932614e-01 -5.42025193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27 meters 0.016163843871824953 Centerline is valid? [True, True] Translation: X:101.30, Y:184.89, Z:-5.42 [[-6.69244364e-01 -7.42997751e-01 -8.14389458e-03 1.01303437e+02] [ 7.42946065e-01 -6.69293888e-01 8.76567825e-03 1.84892808e+02] [-1.19635381e-02 -1.84093660e-04 9.99928417e-01 -5.42187867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.3 meters 0.015051628683566857 Centerline is valid? [True, True] Translation: X:101.29, Y:184.92, Z:-5.42 [[-6.69368629e-01 -7.42886528e-01 -8.07744954e-03 1.01286364e+02] [ 7.42835737e-01 -6.69417338e-01 8.68876538e-03 1.84915169e+02] [-1.18619515e-02 -1.84231212e-04 9.99929628e-01 -5.42115197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33 meters 0.015279918800437255 Centerline is valid? [True, True] Translation: X:101.27, Y:184.94, Z:-5.42 [[-6.69525862e-01 -7.42745066e-01 -8.05520731e-03 1.01268319e+02] [ 7.42694602e-01 -6.69574292e-01 8.65999869e-03 1.84935161e+02] [-1.18257310e-02 -1.84465898e-04 9.99930057e-01 -5.42273334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36 meters 0.015255357667802217 Centerline is valid? [True, True] Translation: X:101.25, Y:184.96, Z:-5.42 [[-6.69931158e-01 -7.42384022e-01 -7.62939975e-03 1.01249441e+02] [ 7.42338783e-01 -6.69974577e-01 8.19739952e-03 1.84956419e+02] [-1.11971223e-02 -1.71905970e-04 9.99937296e-01 -5.42359199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39 meters 0.015121156893899574 Centerline is valid? [True, True] Translation: X:101.23, Y:184.98, Z:-5.42 [[-6.70374211e-01 -7.41983629e-01 -7.66236141e-03 1.01230993e+02] [ 7.41938025e-01 -6.70417978e-01 8.22808462e-03 1.84977376e+02] [-1.12420889e-02 -1.69101561e-04 9.99936791e-01 -5.42453094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42 meters 0.0150246289551144 Centerline is valid? [True, True] Translation: X:101.21, Y:185.00, Z:-5.43 [[-6.70890956e-01 -7.41516895e-01 -7.61710611e-03 1.01212203e+02] [ 7.41471850e-01 -6.70934176e-01 8.17484261e-03 1.84998682e+02] [-1.11723607e-02 -1.63441780e-04 9.99937574e-01 -5.42544330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45 meters 0.015161741743910643 Centerline is valid? [True, True] Translation: X:101.19, Y:185.02, Z:-5.43 [[-6.71678467e-01 -7.40805604e-01 -7.42251117e-03 1.01194410e+02] [ 7.40762833e-01 -6.71719461e-01 7.96183961e-03 1.85019157e+02] [-1.08840206e-02 -1.50524174e-04 9.99940756e-01 -5.42725051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47999999999996 meters 0.015118740885269584 Centerline is valid? [True, True] Translation: X:101.18, Y:185.04, Z:-5.43 [[-6.72055865e-01 -7.40464415e-01 -7.30505717e-03 1.01176917e+02] [ 7.40423014e-01 -6.72095550e-01 7.83149963e-03 1.85040181e+02] [-1.07086432e-02 -1.45627188e-04 9.99942650e-01 -5.42791530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51 meters 0.015205036840041378 Centerline is valid? [True, True] Translation: X:101.16, Y:185.06, Z:-5.43 [[-6.72581290e-01 -7.39986911e-01 -7.33351698e-03 1.01159792e+02] [ 7.39945209e-01 -6.72621254e-01 7.85721148e-03 1.85060091e+02] [-1.07469130e-02 -1.41787320e-04 9.99942240e-01 -5.42880956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53999999999996 meters 0.014899434700208056 Centerline is valid? [True, True] Translation: X:101.14, Y:185.08, Z:-5.43 [[-6.72928101e-01 -7.39670322e-01 -7.45558533e-03 1.01142318e+02] [ 7.39627269e-01 -6.72969386e-01 7.98180853e-03 1.85081615e+02] [-1.09212876e-02 -1.43170958e-04 9.99940351e-01 -5.42919548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57 meters 0.014980103025291035 Centerline is valid? [True, True] Translation: X:101.12, Y:185.10, Z:-5.43 [[-6.72785622e-01 -7.39798338e-01 -7.61089546e-03 1.01124336e+02] [ 7.39753534e-01 -6.72828653e-01 8.14326795e-03 1.85103203e+02] [-1.11452046e-02 -1.51513218e-04 9.99937879e-01 -5.43031185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59999999999997 meters 0.015358509698864063 Centerline is valid? [True, True] Translation: X:101.11, Y:185.12, Z:-5.43 [[-6.72626492e-01 -7.39943303e-01 -7.58357771e-03 1.01106136e+02] [ 7.39898873e-01 -6.72669223e-01 8.11014348e-03 1.85122103e+02] [-1.11022857e-02 -1.55983246e-04 9.99938356e-01 -5.43132807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63 meters 0.01527320224919845 Centerline is valid? [True, True] Translation: X:101.09, Y:185.14, Z:-5.43 [[-6.72093368e-01 -7.40426963e-01 -7.64314172e-03 1.01087440e+02] [ 7.40381933e-01 -6.72136805e-01 8.16757843e-03 1.85143374e+02] [-1.11847321e-02 -1.69468746e-04 9.99937435e-01 -5.43151179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65999999999997 meters 0.015564039203051475 Centerline is valid? [True, True] Translation: X:101.07, Y:185.16, Z:-5.43 [[-6.71561398e-01 -7.40909582e-01 -7.63420203e-03 1.01067872e+02] [ 7.40864740e-01 -6.71604764e-01 8.15335776e-03 1.85164170e+02] [-1.11680673e-02 -1.80430768e-04 9.99937619e-01 -5.43223776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69 meters 0.01676220187061627 Centerline is valid? [True, True] Translation: X:101.05, Y:185.18, Z:-5.43 [[-6.69874758e-01 -7.42434573e-01 -7.66240544e-03 1.01048102e+02] [ 7.42389564e-01 -6.69918547e-01 8.17768530e-03 1.85183286e+02] [-1.12045838e-02 -2.10464872e-04 9.99937205e-01 -5.43313132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71999999999997 meters 0.01667324391978579 Centerline is valid? [True, True] Translation: X:101.03, Y:185.20, Z:-5.43 [[-6.69064423e-01 -7.43161060e-01 -8.02719487e-03 1.01029151e+02] [ 7.43111750e-01 -6.69112534e-01 8.56409537e-03 1.85204402e+02] [-1.17355989e-02 -2.35171298e-04 9.99931108e-01 -5.43291805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75 meters 0.016557782233366042 Centerline is valid? [True, True] Translation: X:101.01, Y:185.23, Z:-5.43 [[-6.68242908e-01 -7.43897749e-01 -8.21915386e-03 1.01010301e+02] [ 7.43846168e-01 -6.68293403e-01 8.76383731e-03 1.85225120e+02] [-1.20122051e-02 -2.57413975e-04 9.99927818e-01 -5.43290015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78 meters 0.017002464192268155 Centerline is valid? [True, True] Translation: X:100.99, Y:185.24, Z:-5.43 [[-6.67455955e-01 -7.44599469e-01 -8.61272497e-03 1.00990984e+02] [ 7.44542972e-01 -6.67511459e-01 9.17683826e-03 1.85244227e+02] [-1.25821615e-02 -2.87408503e-04 9.99920800e-01 -5.43297826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81 meters 0.017400321745492206 Centerline is valid? [True, True] Translation: X:100.97, Y:185.26, Z:-5.43 [[-6.66263916e-01 -7.45661900e-01 -8.98472595e-03 1.00971072e+02] [ 7.45600559e-01 -6.66324415e-01 9.56974344e-03 1.85264634e+02] [-1.31225353e-02 -3.23041954e-04 9.99913844e-01 -5.43278181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84 meters 0.01782182101436854 Centerline is valid? [True, True] Translation: X:100.95, Y:185.28, Z:-5.43 [[-6.66062682e-01 -7.45837494e-01 -9.32399210e-03 1.00952170e+02] [ 7.45771543e-01 -6.66127852e-01 9.92425128e-03 1.85283559e+02] [-1.36128495e-02 -3.43394555e-04 9.99907282e-01 -5.43325879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87 meters 0.017972519329193432 Centerline is valid? [True, True] Translation: X:100.93, Y:185.30, Z:-5.43 [[-6.66048267e-01 -7.45851177e-01 -9.25894197e-03 1.00933626e+02] [ 7.45786184e-01 -6.66112531e-01 9.85205927e-03 1.85302943e+02] [-1.35156673e-02 -3.43244000e-04 9.99908600e-01 -5.43395846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9 meters 0.018077074254831828 Centerline is valid? [True, True] Translation: X:100.92, Y:185.32, Z:-5.43 [[-6.66502600e-01 -7.45444611e-01 -9.30678710e-03 1.00915411e+02] [ 7.45378990e-01 -6.66567488e-01 9.89672548e-03 1.85321733e+02] [-1.35810624e-02 -3.40890305e-04 9.99907715e-01 -5.43460384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93 meters 0.01763149524749063 Centerline is valid? [True, True] Translation: X:100.90, Y:185.34, Z:-5.43 [[-6.66671105e-01 -7.45296617e-01 -9.08795024e-03 1.00896870e+02] [ 7.45234122e-01 -6.66732961e-01 9.65723566e-03 1.85343186e+02] [-1.32567410e-02 -3.34450645e-04 9.99912070e-01 -5.43467555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96 meters 0.018665304554920277 Centerline is valid? [True, True] Translation: X:100.88, Y:185.36, Z:-5.44 [[-6.67040074e-01 -7.44969212e-01 -8.85515563e-03 1.00877152e+02] [ 7.44909921e-01 -6.67098770e-01 9.40424183e-03 1.85360938e+02] [-1.29131341e-02 -3.23287115e-04 9.99916570e-01 -5.43595384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99 meters 0.01781021118099308 Centerline is valid? [True, True] Translation: X:100.86, Y:185.38, Z:-5.44 [[-6.67452266e-01 -7.44602690e-01 -8.62010038e-03 1.00859381e+02] [ 7.44546520e-01 -6.67507856e-01 9.15104599e-03 1.85381104e+02] [-1.25678782e-02 -3.10179357e-04 9.99920973e-01 -5.43603225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02 meters 0.017546017296653338 Centerline is valid? [True, True] Translation: X:100.84, Y:185.40, Z:-5.44 [[-6.68133336e-01 -7.43993288e-01 -8.47539808e-03 1.00839892e+02] [ 7.43939009e-01 -6.68187024e-01 8.99184093e-03 1.85400752e+02] [-1.23530203e-02 -2.97430567e-04 9.99923654e-01 -5.43714450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05 meters 0.01765410278841572 Centerline is valid? [True, True] Translation: X:100.82, Y:185.42, Z:-5.44 [[-6.69229560e-01 -7.43013301e-01 -7.93921865e-03 1.00821097e+02] [ 7.42965669e-01 -6.69276598e-01 8.41727234e-03 1.85419180e+02] [-1.15676786e-02 -2.65479431e-04 9.99933057e-01 -5.43816668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08 meters 0.01765410278841572 Centerline is valid? [True, True] Translation: X:100.80, Y:185.44, Z:-5.44 [[-6.69464064e-01 -7.42801999e-01 -7.94083027e-03 1.00802626e+02] [ 7.42754371e-01 -6.69511105e-01 8.41575154e-03 1.85438578e+02] [-1.15677111e-02 -2.64043157e-04 9.99933057e-01 -5.43871624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11 meters 0.01675128955850203 Centerline is valid? [True, True] Translation: X:100.78, Y:185.46, Z:-5.44 [[-6.70603036e-01 -7.41774023e-01 -7.92888218e-03 1.00784703e+02] [ 7.41726526e-01 -6.70649861e-01 8.39787411e-03 1.85459646e+02] [-1.15468286e-02 -2.49422360e-04 9.99933302e-01 -5.43898670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14 meters 0.016296714400533277 Centerline is valid? [True, True] Translation: X:100.77, Y:185.48, Z:-5.44 [[-6.71832871e-01 -7.40662605e-01 -7.71358256e-03 1.00765900e+02] [ 7.40617640e-01 -6.71877113e-01 8.16436186e-03 1.85481152e+02] [-1.12296171e-02 -2.27728646e-04 9.99936920e-01 -5.43934988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17 meters 0.015548181248668245 Centerline is valid? [True, True] Translation: X:100.75, Y:185.50, Z:-5.44 [[-6.73463168e-01 -7.39181423e-01 -7.62801670e-03 1.00747765e+02] [ 7.39137406e-01 -6.73506335e-01 8.06921145e-03 1.85503305e+02] [-1.11021288e-02 -2.03835774e-04 9.99938349e-01 -5.43956651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2 meters 0.015022433131118994 Centerline is valid? [True, True] Translation: X:100.73, Y:185.52, Z:-5.44 [[-6.76839313e-01 -7.36098434e-01 -6.90214916e-03 1.00730343e+02] [ 7.36062285e-01 -6.76874490e-01 7.29643207e-03 1.85524789e+02] [-1.00427809e-02 -1.41899616e-04 9.99949560e-01 -5.44081896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22999999999996 meters 0.014640055841461825 Centerline is valid? [True, True] Translation: X:100.71, Y:185.55, Z:-5.44 [[-6.78721370e-01 -7.34362763e-01 -6.97377679e-03 1.00711787e+02] [ 7.34325779e-01 -6.78757186e-01 7.37107174e-03 1.85546389e+02] [-1.01465417e-02 -1.18120165e-04 9.99948516e-01 -5.44104035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26 meters 0.014337826686028196 Centerline is valid? [True, True] Translation: X:100.69, Y:185.57, Z:-5.44 [[-6.80522886e-01 -7.32692823e-01 -7.05903635e-03 1.00693049e+02] [ 7.32654886e-01 -6.80559489e-01 7.45653910e-03 1.85567980e+02] [-1.02674469e-02 -9.74919674e-05 9.99947284e-01 -5.44138707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28999999999996 meters 0.013926693414817967 Centerline is valid? [True, True] Translation: X:100.68, Y:185.59, Z:-5.44 [[-6.83244829e-01 -7.30152047e-01 -7.38181075e-03 1.00675436e+02] [ 7.30110459e-01 -6.83284702e-01 7.79320848e-03 1.85588745e+02] [-1.07341055e-02 -6.48678322e-05 9.99942386e-01 -5.44137573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32 meters 0.013678192401242392 Centerline is valid? [True, True] Translation: X:100.66, Y:185.61, Z:-5.44 [[-6.84482907e-01 -7.28989409e-01 -7.58897529e-03 1.00656465e+02] [ 7.28945436e-01 -6.84524974e-01 8.00700064e-03 1.85609996e+02] [-1.10318618e-02 -5.12938292e-05 9.99939146e-01 -5.44113697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34999999999997 meters 0.013565338813138383 Centerline is valid? [True, True] Translation: X:100.64, Y:185.63, Z:-5.44 [[-6.85738249e-01 -7.27808401e-01 -7.61484487e-03 1.00637707e+02] [ 7.27764105e-01 -6.85780527e-01 8.02972187e-03 1.85630790e+02] [-1.10662114e-02 -3.55233470e-05 9.99938767e-01 -5.44131522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38 meters 0.013551687015338813 Centerline is valid? [True, True] Translation: X:100.62, Y:185.65, Z:-5.44 [[-6.87118601e-01 -7.26505880e-01 -7.56538704e-03 1.00619133e+02] [ 7.26462127e-01 -6.87160248e-01 7.97324891e-03 1.85651160e+02] [-1.09912454e-02 -1.73995227e-05 9.99939594e-01 -5.44178510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40999999999997 meters 0.013453091390852028 Centerline is valid? [True, True] Translation: X:100.60, Y:185.67, Z:-5.44 [[-6.89552038e-01 -7.24191472e-01 -8.04352192e-03 1.00600292e+02] [ 7.24141928e-01 -6.89598950e-01 8.47093238e-03 1.85672733e+02] [-1.16813813e-02 1.64972175e-05 9.99931770e-01 -5.44163545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44 meters 0.013436698009963926 Centerline is valid? [True, True] Translation: X:100.58, Y:185.69, Z:-5.44 [[-6.90755948e-01 -7.23045085e-01 -7.87563676e-03 1.00581992e+02] [ 7.22997554e-01 -6.90800842e-01 8.29057125e-03 1.85692583e+02] [-1.14349533e-02 3.26952916e-05 9.99934618e-01 -5.44194303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46999999999997 meters 0.013468828904630492 Centerline is valid? [True, True] Translation: X:100.56, Y:185.71, Z:-5.44 [[-6.92062386e-01 -7.21797603e-01 -7.60751773e-03 1.00563654e+02] [ 7.21753230e-01 -6.92104196e-01 8.00353402e-03 1.85712287e+02] [-1.10421266e-02 4.81943616e-05 9.99939033e-01 -5.44278752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5 meters 0.013535533957180594 Centerline is valid? [True, True] Translation: X:100.55, Y:185.73, Z:-5.44 [[-6.93308207e-01 -7.20602963e-01 -7.42291739e-03 1.00545087e+02] [ 7.20560700e-01 -6.93347940e-01 7.80461741e-03 1.85732480e+02] [-1.07706949e-02 6.23427460e-05 9.99941992e-01 -5.44341746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53 meters 0.014003302339136792 Centerline is valid? [True, True] Translation: X:100.53, Y:185.75, Z:-5.44 [[-6.95820524e-01 -7.18187222e-01 -6.39632176e-03 1.00527499e+02] [ 7.18155768e-01 -6.95849918e-01 6.72193290e-03 1.85752890e+02] [-9.27848628e-03 8.37035101e-05 9.99956950e-01 -5.44435614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56 meters 0.01412991484245355 Centerline is valid? [True, True] Translation: X:100.51, Y:185.77, Z:-5.44 [[-6.97233703e-01 -7.16816880e-01 -6.22284573e-03 1.00508784e+02] [ 7.16787086e-01 -6.97261466e-01 6.53624990e-03 1.85773084e+02] [-9.02424479e-03 9.68382751e-05 9.99959276e-01 -5.44468122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59 meters 0.014286559549405 Centerline is valid? [True, True] Translation: X:100.49, Y:185.79, Z:-5.44 [[-6.98439151e-01 -7.15642110e-01 -6.25480576e-03 1.00489892e+02] [ 7.15612000e-01 -6.98467149e-01 6.56566146e-03 1.85792899e+02] [-9.06744017e-03 1.09700959e-04 9.99958884e-01 -5.44472415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62 meters 0.014540682465814431 Centerline is valid? [True, True] Translation: X:100.47, Y:185.81, Z:-5.44 [[-6.99813375e-01 -7.14296780e-01 -6.43040843e-03 1.00470896e+02] [ 7.14264940e-01 -6.99842907e-01 6.74550184e-03 1.85813027e+02] [-9.31856597e-03 1.27577114e-04 9.99956573e-01 -5.44493151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65 meters 0.014959325543584234 Centerline is valid? [True, True] Translation: X:100.45, Y:185.83, Z:-5.44 [[-7.02311771e-01 -7.11838452e-01 -6.64789003e-03 1.00451210e+02] [ 7.11804362e-01 -7.02343215e-01 6.96837471e-03 1.85833509e+02] [-9.62945753e-03 1.61974468e-04 9.99953623e-01 -5.44441437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68 meters 0.01521847853568721 Centerline is valid? [True, True] Translation: X:100.43, Y:185.85, Z:-5.44 [[-7.03623414e-01 -7.10539983e-01 -6.85731586e-03 1.00431894e+02] [ 7.10503693e-01 -7.03656805e-01 7.18354930e-03 1.85853633e+02] [-9.92939597e-03 1.82365243e-04 9.99950686e-01 -5.44485865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71 meters 0.015356977636211263 Centerline is valid? [True, True] Translation: X:100.41, Y:185.87, Z:-5.45 [[-7.04650430e-01 -7.09519123e-01 -7.09830829e-03 1.00412338e+02] [ 7.09480231e-01 -7.04686153e-01 7.43154384e-03 1.85873620e+02] [-1.02749020e-02 2.00531161e-04 9.99947192e-01 -5.44518243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74 meters 0.01538346791329273 Centerline is valid? [True, True] Translation: X:100.39, Y:185.89, Z:-5.45 [[-7.05299741e-01 -7.08874771e-01 -6.98819692e-03 1.00392710e+02] [ 7.08837085e-01 -7.05334330e-01 7.31227969e-03 1.85893482e+02] [-1.01125058e-02 2.03855838e-04 9.99948847e-01 -5.44535345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77 meters 0.01571307659277946 Centerline is valid? [True, True] Translation: X:100.37, Y:185.91, Z:-5.45 [[-7.05465675e-01 -7.08709867e-01 -6.96456705e-03 1.00373415e+02] [ 7.08672467e-01 -7.05500023e-01 7.28366572e-03 1.85912276e+02] [-1.00755080e-02 2.02779236e-04 9.99949220e-01 -5.44581348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.8 meters 0.015002460138955755 Centerline is valid? [True, True] Translation: X:100.35, Y:185.93, Z:-5.45 [[-7.05506233e-01 -7.08670268e-01 -6.88530934e-03 1.00352120e+02] [ 7.08633756e-01 -7.05539802e-01 7.19637936e-03 1.85930536e+02] [-9.95771988e-03 1.97927877e-04 9.99950401e-01 -5.44529897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83 meters 0.015246906544595725 Centerline is valid? [True, True] Translation: X:100.33, Y:185.95, Z:-5.45 [[-7.05404968e-01 -7.08772657e-01 -6.71942570e-03 1.00333067e+02] [ 7.08737923e-01 -7.05436946e-01 7.01938044e-03 1.85949220e+02] [-9.71527607e-03 1.89194024e-04 9.99952788e-01 -5.44600512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86 meters 0.015165830828902443 Centerline is valid? [True, True] Translation: X:100.31, Y:185.97, Z:-5.45 [[-7.05141365e-01 -7.09033705e-01 -6.84547568e-03 1.00312681e+02] [ 7.08997711e-01 -7.05174568e-01 7.14670992e-03 1.85968094e+02] [-9.89451356e-03 1.86014205e-04 9.99951031e-01 -5.44637358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89 meters 0.015002242327700532 Centerline is valid? [True, True] Translation: X:100.29, Y:185.98, Z:-5.45 [[-7.04236863e-01 -7.09933913e-01 -6.65427024e-03 1.00292418e+02] [ 7.09899979e-01 -7.04268281e-01 6.94318835e-03 1.85984700e+02] [-9.61559634e-03 1.65782878e-04 9.99953755e-01 -5.44701885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92 meters 0.015252860011249966 Centerline is valid? [True, True] Translation: X:100.27, Y:186.00, Z:-5.45 [[-7.03857525e-01 -7.10311710e-01 -6.46994826e-03 1.00273762e+02] [ 7.10279686e-01 -7.03887244e-01 6.74659151e-03 1.86003195e+02] [-9.34629699e-03 1.53166386e-04 9.99956311e-01 -5.44814894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95 meters 0.014598728422533677 Centerline is valid? [True, True] Translation: X:100.25, Y:186.02, Z:-5.45 [[-7.03179400e-01 -7.10985862e-01 -6.15107420e-03 1.00253176e+02] [ 7.10956978e-01 -7.03206290e-01 6.41014692e-03 1.86020990e+02] [-8.88299790e-03 1.34334148e-04 9.99960536e-01 -5.44778335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97999999999996 meters 0.014133785107838815 Centerline is valid? [True, True] Translation: X:100.23, Y:186.04, Z:-5.45 [[-7.02477868e-01 -7.11681305e-01 -5.87922436e-03 1.00231738e+02] [ 7.11654978e-01 -7.02502460e-01 6.12257565e-03 1.86040031e+02] [-8.48749220e-03 1.16994604e-04 9.99963974e-01 -5.44783680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01 meters 0.014118025224859344 Centerline is valid? [True, True] Translation: X:100.21, Y:186.06, Z:-5.45 [[-7.00695863e-01 -7.13438656e-01 -5.53107281e-03 1.00210468e+02] [ 7.13415427e-01 -7.00717687e-01 5.75776589e-03 1.86057596e+02] [-7.98353331e-03 8.84900669e-05 9.99968127e-01 -5.44939554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03999999999996 meters 0.013752807628413365 Centerline is valid? [True, True] Translation: X:100.19, Y:186.08, Z:-5.45 [[-6.99684293e-01 -7.14429270e-01 -5.71914953e-03 1.00189027e+02] [ 7.14404500e-01 -6.99707662e-01 5.94958697e-03 1.86076092e+02] [-8.25229182e-03 7.70463961e-05 9.99965946e-01 -5.44939431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07 meters 0.013658146864401253 Centerline is valid? [True, True] Translation: X:100.17, Y:186.09, Z:-5.45 [[-6.98342618e-01 -7.15738290e-01 -6.02401783e-03 1.00168127e+02] [ 7.15710893e-01 -6.98368597e-01 6.26268586e-03 1.86094484e+02] [-8.68942895e-03 6.20452602e-05 9.99962244e-01 -5.45013333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09999999999997 meters 0.013335907770012274 Centerline is valid? [True, True] Translation: X:100.15, Y:186.11, Z:-5.45 [[-6.95117958e-01 -7.18864312e-01 -6.71753553e-03 1.00145495e+02] [ 7.18830436e-01 -6.95150416e-01 6.97879404e-03 1.86111208e+02] [-9.68650359e-03 2.23160647e-05 9.99953084e-01 -5.44939212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13 meters 0.013374271359206978 Centerline is valid? [True, True] Translation: X:100.12, Y:186.13, Z:-5.45 [[-6.93455071e-01 -7.20467778e-01 -6.80035820e-03 1.00124694e+02] [ 7.20433177e-01 -6.93488414e-01 7.06094985e-03 1.86129271e+02] [-9.80315648e-03 -2.75218076e-06 9.99951948e-01 -5.44981545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15999999999997 meters 0.013439463314510562 Centerline is valid? [True, True] Translation: X:100.10, Y:186.15, Z:-5.45 [[-6.91704365e-01 -7.22150944e-01 -6.56396844e-03 1.00103448e+02] [ 7.22118820e-01 -6.91735508e-01 6.81148600e-03 1.86147641e+02] [-9.45945109e-03 -2.84305536e-05 9.99955258e-01 -5.45010986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19 meters 0.01350192483598838 Centerline is valid? [True, True] Translation: X:100.08, Y:186.17, Z:-5.45 [[-6.89964554e-01 -7.23812815e-01 -6.62751097e-03 1.00082431e+02] [ 7.23780180e-01 -6.89996381e-01 6.87349846e-03 1.86166120e+02] [-9.54808486e-03 -5.43907854e-05 9.99954415e-01 -5.45053680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21999999999997 meters 0.014165378344557333 Centerline is valid? [True, True] Translation: X:100.06, Y:186.18, Z:-5.45 [[-6.86280558e-01 -7.27307691e-01 -6.52052601e-03 1.00059654e+02] [ 7.27276297e-01 -6.86311526e-01 6.75840578e-03 1.86181938e+02] [-9.39055266e-03 -1.04061516e-04 9.99955902e-01 -5.45143793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25 meters 0.014386263329211656 Centerline is valid? [True, True] Translation: X:100.04, Y:186.20, Z:-5.45 [[-6.84755379e-01 -7.28742666e-01 -6.64818932e-03 1.00038463e+02] [ 7.28710133e-01 -6.84787639e-01 6.88709804e-03 1.86200878e+02] [-9.57152005e-03 -1.28625500e-04 9.99954184e-01 -5.45165768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28 meters 0.014837229526219351 Centerline is valid? [True, True] Translation: X:100.02, Y:186.22, Z:-5.45 [[-6.83502416e-01 -7.29915678e-01 -6.89570110e-03 1.00017696e+02] [ 7.29880778e-01 -6.83537183e-01 7.13933841e-03 1.86219175e+02] [-9.92458314e-03 -1.53284624e-04 9.99950738e-01 -5.45220646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31 meters 0.014989067529829382 Centerline is valid? [True, True] Translation: X:100.00, Y:186.24, Z:-5.45 [[-6.82574572e-01 -7.30783163e-01 -6.92259578e-03 9.99969288e+01] [ 7.30748084e-01 -6.82609654e-01 7.16231187e-03 1.86238723e+02] [-9.95952763e-03 -1.69861649e-04 9.99950388e-01 -5.45263241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34 meters 0.015513236996173924 Centerline is valid? [True, True] Translation: X:99.98, Y:186.26, Z:-5.45 [[-6.81225127e-01 -7.32041635e-01 -6.88267131e-03 9.99759080e+01] [ 7.32007059e-01 -6.81259869e-01 7.11732926e-03 1.86257078e+02] [-9.89906910e-03 -1.89660452e-04 9.99950985e-01 -5.45322046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37 meters 0.01610805499729802 Centerline is valid? [True, True] Translation: X:99.96, Y:186.28, Z:-5.45 [[-6.80687618e-01 -7.32538169e-01 -7.22480280e-03 9.99555481e+01] [ 7.32500145e-01 -6.80725927e-01 7.46662298e-03 1.86275707e+02] [-1.03876969e-02 -2.09731282e-04 9.99946024e-01 -5.45424027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4 meters 0.016094715119990208 Centerline is valid? [True, True] Translation: X:99.94, Y:186.30, Z:-5.45 [[-6.80512146e-01 -7.32703598e-01 -6.97548894e-03 9.99356474e+01] [ 7.32668205e-01 -6.80547864e-01 7.20460652e-03 1.86295200e+02] [-1.00259952e-02 -2.07896718e-04 9.99949717e-01 -5.45482825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43 meters 0.016224519397039436 Centerline is valid? [True, True] Translation: X:99.92, Y:186.31, Z:-5.46 [[-6.80205352e-01 -7.32992876e-01 -6.49018494e-03 9.99154084e+01] [ 7.32962280e-01 -6.80236285e-01 6.70014544e-03 1.86314566e+02] [-9.32601817e-03 -1.99585964e-04 9.99956492e-01 -5.45598120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46 meters 0.016052438191736688 Centerline is valid? [True, True] Translation: X:99.90, Y:186.34, Z:-5.46 [[-6.80598022e-01 -7.32631767e-01 -6.08502945e-03 9.98957116e+01] [ 7.32604884e-01 -6.80625198e-01 6.27884630e-03 1.86335096e+02] [-8.74170663e-03 -1.84551919e-04 9.99961774e-01 -5.45667240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49 meters 0.0161540889703357 Centerline is valid? [True, True] Translation: X:99.88, Y:186.35, Z:-5.46 [[-6.81512705e-01 -7.31784030e-01 -5.70660510e-03 9.98766272e+01] [ 7.31760379e-01 -6.81536577e-01 5.88571462e-03 1.86354401e+02] [-8.19633207e-03 -1.64678222e-04 9.99966396e-01 -5.45815167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52 meters 0.015633041805510117 Centerline is valid? [True, True] Translation: X:99.86, Y:186.37, Z:-5.46 [[-6.83997460e-01 -7.29467294e-01 -4.99416978e-03 9.98590275e+01] [ 7.29449144e-01 -6.84015681e-01 5.14719666e-03 1.86374794e+02] [-7.17080206e-03 -1.22323432e-04 9.99974282e-01 -5.45947861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55 meters 0.014931605051386026 Centerline is valid? [True, True] Translation: X:99.84, Y:186.40, Z:-5.46 [[-6.85703719e-01 -7.27865356e-01 -4.73643989e-03 9.98413061e+01] [ 7.27848994e-01 -6.85720070e-01 4.88139530e-03 1.86396340e+02] [-6.80087041e-03 -1.00222096e-04 9.99976869e-01 -5.45953579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58 meters 0.014290585376898639 Centerline is valid? [True, True] Translation: X:99.82, Y:186.42, Z:-5.46 [[-6.87594967e-01 -7.26080001e-01 -4.58179633e-03 9.98238759e+01] [ 7.26064665e-01 -6.87610228e-01 4.71978526e-03 1.86418103e+02] [-6.57743170e-03 -8.13798244e-05 9.99978365e-01 -5.45884087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61 meters 0.014090182832961389 Centerline is valid? [True, True] Translation: X:99.81, Y:186.44, Z:-5.46 [[-6.89612546e-01 -7.24163645e-01 -4.64245901e-03 9.98058248e+01] [ 7.24147876e-01 -6.89628169e-01 4.77932558e-03 1.86439015e+02] [-6.66258433e-03 -6.59439530e-05 9.99977803e-01 -5.45962493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64 meters 0.013562509021637909 Centerline is valid? [True, True] Translation: X:99.79, Y:186.46, Z:-5.46 [[-6.93671475e-01 -7.20274341e-01 -4.97576500e-03 9.97890589e+01] [ 7.20256152e-01 -6.93689320e-01 5.11882373e-03 1.86462101e+02] [-7.13859243e-03 -3.30433495e-05 9.99974519e-01 -5.45985539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67 meters 0.013524722215769388 Centerline is valid? [True, True] Translation: X:99.77, Y:186.48, Z:-5.46 [[-6.95344874e-01 -7.18658173e-01 -5.09273060e-03 9.97712833e+01] [ 7.18639110e-01 -6.95363523e-01 5.23447362e-03 1.86482670e+02] [-7.30309634e-03 -2.00709853e-05 9.99973332e-01 -5.46072649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7 meters 0.013433464493515472 Centerline is valid? [True, True] Translation: X:99.75, Y:186.50, Z:-5.46 [[-6.96886965e-01 -7.17161597e-01 -5.27267188e-03 9.97528694e+01] [ 7.17141128e-01 -6.96906912e-01 5.41837208e-03 1.86503602e+02] [-7.56040985e-03 -5.25698475e-06 9.99971420e-01 -5.46066874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72999999999996 meters 0.013534240802870958 Centerline is valid? [True, True] Translation: X:99.73, Y:186.52, Z:-5.46 [[-6.98224934e-01 -7.15857668e-01 -5.45347981e-03 9.97346704e+01] [ 7.15835757e-01 -6.98246231e-01 5.60096630e-03 1.86523709e+02] [-7.81736640e-03 6.93847892e-06 9.99969444e-01 -5.46176873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76 meters 0.013513607096567347 Centerline is valid? [True, True] Translation: X:99.72, Y:186.54, Z:-5.46 [[-6.99937774e-01 -7.14180309e-01 -5.79638768e-03 9.97162670e+01] [ 7.14155530e-01 -6.99961774e-01 5.94926320e-03 1.86544250e+02] [-8.30609644e-03 2.45917244e-05 9.99965504e-01 -5.46169871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78999999999996 meters 0.013532433721917814 Centerline is valid? [True, True] Translation: X:99.70, Y:186.56, Z:-5.46 [[-7.00305294e-01 -7.13819702e-01 -5.82487584e-03 9.96974347e+01] [ 7.13794698e-01 -7.00329517e-01 5.97470481e-03 1.86563540e+02] [-8.34419449e-03 2.63519166e-05 9.99965186e-01 -5.46210434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82 meters 0.013587739319603274 Centerline is valid? [True, True] Translation: X:99.68, Y:186.58, Z:-5.46 [[-7.00309836e-01 -7.13815142e-01 -5.83756212e-03 9.96780036e+01] [ 7.13790060e-01 -7.00334165e-01 5.98388711e-03 1.86582797e+02] [-8.35963342e-03 2.37811814e-05 9.99965057e-01 -5.46290320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84999999999997 meters 0.013569228747159118 Centerline is valid? [True, True] Translation: X:99.66, Y:186.60, Z:-5.46 [[-6.99815366e-01 -7.14301279e-01 -5.66883495e-03 9.96590561e+01] [ 7.14277680e-01 -6.99838326e-01 5.80629435e-03 1.86601082e+02] [-8.11471145e-03 1.42117299e-05 9.99967075e-01 -5.46357731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88 meters 0.013555286392407755 Centerline is valid? [True, True] Translation: X:99.64, Y:186.62, Z:-5.46 [[-6.98282993e-01 -7.15798907e-01 -5.72596284e-03 9.96384586e+01] [ 7.15774893e-01 -6.98306469e-01 5.86319186e-03 1.86618791e+02] [-8.19534322e-03 -4.33328021e-06 9.99966418e-01 -5.46404793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90999999999997 meters 0.013570609489695502 Centerline is valid? [True, True] Translation: X:99.62, Y:186.64, Z:-5.46 [[-6.97711619e-01 -7.16356918e-01 -5.59140361e-03 9.96186255e+01] [ 7.16334065e-01 -6.97734023e-01 5.72204004e-03 1.86637411e+02] [-8.00033550e-03 -1.29790609e-05 9.99967997e-01 -5.46497400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94 meters 0.013696839262586576 Centerline is valid? [True, True] Translation: X:99.60, Y:186.66, Z:-5.47 [[-6.97049105e-01 -7.17001930e-01 -5.54782950e-03 9.95990228e+01] [ 7.16979480e-01 -6.97071182e-01 5.67391650e-03 1.86655840e+02] [-7.93544115e-03 -2.26814914e-05 9.99968514e-01 -5.46559186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96999999999997 meters 0.013696839262586576 Centerline is valid? [True, True] Translation: X:99.58, Y:186.67, Z:-5.47 [[-6.97274207e-01 -7.16783009e-01 -5.54960282e-03 9.95802131e+01] [ 7.16760566e-01 -6.97296291e-01 5.67218064e-03 1.86674892e+02] [-7.93544017e-03 -2.26711932e-05 9.99968514e-01 -5.46614069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0 meters 0.013688353463856441 Centerline is valid? [True, True] Translation: X:99.56, Y:186.69, Z:-5.47 [[-6.95926166e-01 -7.18091773e-01 -5.56564535e-03 9.95591244e+01] [ 7.18069274e-01 -6.95948420e-01 5.68451955e-03 1.86693531e+02] [-7.95540881e-03 -4.05130199e-05 9.99968354e-01 -5.46635643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03 meters 0.013833381336361108 Centerline is valid? [True, True] Translation: X:99.54, Y:186.71, Z:-5.47 [[-6.95172423e-01 -7.18824477e-01 -5.16465446e-03 9.95388447e+01] [ 7.18805142e-01 -6.95191606e-01 5.27249897e-03 1.86712540e+02] [-7.38042574e-03 -4.70843026e-05 9.99972763e-01 -5.46699823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06 meters 0.014041108714783179 Centerline is valid? [True, True] Translation: X:99.52, Y:186.73, Z:-5.47 [[-6.94665118e-01 -7.19313043e-01 -5.39629447e-03 9.95189545e+01] [ 7.19291974e-01 -6.94686075e-01 5.50572676e-03 1.86730862e+02] [-7.70907170e-03 -5.68749728e-05 9.99970283e-01 -5.46817263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09 meters 0.014023647315294844 Centerline is valid? [True, True] Translation: X:99.50, Y:186.75, Z:-5.47 [[-6.94031522e-01 -7.19927495e-01 -4.96472822e-03 9.94991801e+01] [ 7.19909699e-01 -6.94049277e-01 5.06224771e-03 1.86750503e+02] [-7.09021734e-03 -6.07965175e-05 9.99974862e-01 -5.46818530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12 meters 0.014154263823799976 Centerline is valid? [True, True] Translation: X:99.48, Y:186.77, Z:-5.47 [[-6.93633722e-01 -7.20312362e-01 -4.72873048e-03 9.94790350e+01] [ 7.20296235e-01 -6.93649837e-01 4.82039147e-03 1.86769307e+02] [-6.75227070e-03 -6.25006832e-05 9.99977201e-01 -5.46916525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15 meters 0.014236853438914218 Centerline is valid? [True, True] Translation: X:99.46, Y:186.79, Z:-5.47 [[-6.93797979e-01 -7.20152869e-01 -4.92039968e-03 9.94594837e+01] [ 7.20135429e-01 -6.93815423e-01 5.01227530e-03 1.86788644e+02] [-7.02345362e-03 -6.58476611e-05 9.99975333e-01 -5.46982009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18 meters 0.014028646707928062 Centerline is valid? [True, True] Translation: X:99.44, Y:186.81, Z:-5.47 [[-6.94080606e-01 -7.19877224e-01 -5.37544720e-03 9.94400224e+01] [ 7.19856434e-01 -6.94101417e-01 5.47146590e-03 1.86809066e+02] [-7.66988920e-03 -7.19118816e-05 9.99970583e-01 -5.46932615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21 meters 0.014029147446351068 Centerline is valid? [True, True] Translation: X:99.42, Y:186.83, Z:-5.47 [[-6.95328677e-01 -7.18661781e-01 -6.57843177e-03 9.94210489e+01] [ 7.18630644e-01 -6.95359791e-01 6.69011940e-03 1.86829128e+02] [-9.38231007e-03 -7.56307881e-05 9.99955982e-01 -5.46942582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24 meters 0.01399582890065234 Centerline is valid? [True, True] Translation: X:99.40, Y:186.85, Z:-5.47 [[-6.96121512e-01 -7.17885880e-01 -7.39624115e-03 9.94013244e+01] [ 7.17846537e-01 -6.96160799e-01 7.51614578e-03 1.86849850e+02] [-1.05447081e-02 -7.72153266e-05 9.99944400e-01 -5.46942152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27 meters 0.013924250427561076 Centerline is valid? [True, True] Translation: X:99.38, Y:186.87, Z:-5.47 [[-6.96803783e-01 -7.17218797e-01 -7.85403891e-03 9.93822425e+01] [ 7.17174440e-01 -6.96848041e-01 7.97688120e-03 1.86870291e+02] [-1.11942408e-02 -7.43949599e-05 9.99937340e-01 -5.46914637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.3 meters 0.013848414523687586 Centerline is valid? [True, True] Translation: X:99.36, Y:186.89, Z:-5.47 [[-6.97444968e-01 -7.16594181e-01 -7.95597257e-03 9.93629237e+01] [ 7.16548678e-01 -6.97490341e-01 8.07564680e-03 1.86890665e+02] [-1.13361755e-02 -6.85224107e-05 9.99935741e-01 -5.46962505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33 meters 0.013833740961926506 Centerline is valid? [True, True] Translation: X:99.34, Y:186.91, Z:-5.47 [[-6.98062440e-01 -7.15993012e-01 -7.92696296e-03 9.93432901e+01] [ 7.15947854e-01 -6.98107444e-01 8.04158805e-03 1.86911280e+02] [-1.12915927e-02 -6.17615465e-05 9.99936246e-01 -5.47033071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36 meters 0.013895663960749458 Centerline is valid? [True, True] Translation: X:99.32, Y:186.93, Z:-5.47 [[-6.98787504e-01 -7.15284828e-01 -7.97749351e-03 9.93236572e+01] [ 7.15239099e-01 -6.98833036e-01 8.08818049e-03 1.86931573e+02] [-1.13602888e-02 -5.38958192e-05 9.99935468e-01 -5.47150824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39 meters 0.013964590209579299 Centerline is valid? [True, True] Translation: X:99.30, Y:186.95, Z:-5.47 [[-6.99304793e-01 -7.14781420e-01 -7.76717519e-03 9.93041733e+01] [ 7.14738086e-01 -6.99347925e-01 7.87076495e-03 1.86951650e+02] [-1.10578344e-02 -4.74322711e-05 9.99938859e-01 -5.47229033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42 meters 0.013906182413499607 Centerline is valid? [True, True] Translation: X:99.29, Y:186.97, Z:-5.47 [[-6.99931497e-01 -7.14170121e-01 -7.54570243e-03 9.92855130e+01] [ 7.14129244e-01 -6.99972168e-01 7.64108118e-03 1.86970914e+02] [-1.07388136e-02 -4.03733875e-05 9.99942336e-01 -5.47343747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45 meters 0.013899999618156748 Centerline is valid? [True, True] Translation: X:99.27, Y:186.99, Z:-5.47 [[-7.00942417e-01 -7.13183743e-01 -6.97688511e-03 9.92663221e+01] [ 7.13148761e-01 -7.00977138e-01 7.06370459e-03 1.86990949e+02] [-9.92835623e-03 -2.43068025e-05 9.99950712e-01 -5.47461990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47999999999996 meters 0.013844044784769896 Centerline is valid? [True, True] Translation: X:99.25, Y:187.01, Z:-5.48 [[-7.03385945e-01 -7.10778880e-01 -6.44955212e-03 9.92489923e+01] [ 7.10748919e-01 -7.03415513e-01 6.52612235e-03 1.87011083e+02] [-9.17534494e-03 6.37053957e-06 9.99957906e-01 -5.47657758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51 meters 0.013954430695042083 Centerline is valid? [True, True] Translation: X:99.23, Y:187.03, Z:-5.48 [[-7.05061618e-01 -7.09119798e-01 -6.10134281e-03 9.92299342e+01] [ 7.09092940e-01 -7.05088017e-01 6.17175388e-03 1.87032367e+02] [-8.67849657e-03 2.50476612e-05 9.99962341e-01 -5.47715184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53999999999996 meters 0.013897356427337028 Centerline is valid? [True, True] Translation: X:99.21, Y:187.05, Z:-5.48 [[-7.06811624e-01 -7.07374298e-01 -6.23951065e-03 9.92115018e+01] [ 7.07346175e-01 -7.06839162e-01 6.30775862e-03 1.87053258e+02] [-8.87227681e-03 4.49031162e-05 9.99960640e-01 -5.47720205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57 meters 0.014099671099748485 Centerline is valid? [True, True] Translation: X:99.19, Y:187.07, Z:-5.48 [[-7.08534877e-01 -7.05645131e-01 -6.57855764e-03 9.91929620e+01] [ 7.05613834e-01 -7.08565413e-01 6.64625169e-03 1.87074230e+02] [-9.35123356e-03 6.71798520e-05 9.99956274e-01 -5.47734026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59999999999997 meters 0.01456361906922999 Centerline is valid? [True, True] Translation: X:99.18, Y:187.09, Z:-5.48 [[-7.11272504e-01 -7.02876386e-01 -7.49732830e-03 9.91764311e+01] [ 7.02835633e-01 -7.11312008e-01 7.56973891e-03 1.87094693e+02] [-1.06535304e-02 1.14757667e-04 9.99943243e-01 -5.47708579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63 meters 0.01466784775023822 Centerline is valid? [True, True] Translation: X:99.16, Y:187.11, Z:-5.48 [[-7.12425467e-01 -7.01701811e-01 -8.03258926e-03 9.91574484e+01] [ 7.01655029e-01 -7.12470736e-01 8.10374048e-03 1.87114446e+02] [-1.14093942e-02 1.37204448e-04 9.99934901e-01 -5.47728173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65999999999997 meters 0.01457499510498262 Centerline is valid? [True, True] Translation: X:99.14, Y:187.13, Z:-5.48 [[-7.12978908e-01 -7.01136593e-01 -8.27978916e-03 9.91378360e+01] [ 7.01086912e-01 -7.13026968e-01 8.34772478e-03 1.87134083e+02] [-1.17566083e-02 1.46899885e-04 9.99930878e-01 -5.47731474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69 meters 0.014356090650001119 Centerline is valid? [True, True] Translation: X:99.12, Y:187.15, Z:-5.48 [[-7.12553824e-01 -7.01558835e-01 -9.06910739e-03 9.91171517e+01] [ 7.01499355e-01 -7.12611520e-01 9.13654618e-03 1.87153762e+02] [-1.28725751e-02 1.48307943e-04 9.99917134e-01 -5.47744266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71999999999997 meters 0.014290779663209848 Centerline is valid? [True, True] Translation: X:99.10, Y:187.17, Z:-5.48 [[-7.11786311e-01 -7.02340401e-01 -8.84357915e-03 9.90985393e+01] [ 7.02283968e-01 -7.11841236e-01 8.90407520e-03 1.87171804e+02] [-1.25489161e-02 1.27094987e-04 9.99921251e-01 -5.47821289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75 meters 0.014188527447269117 Centerline is valid? [True, True] Translation: X:99.08, Y:187.19, Z:-5.48 [[-7.10684115e-01 -7.03458612e-01 -8.60637902e-03 9.90787567e+01] [ 7.03405288e-01 -7.10736218e-01 8.66194831e-03 1.87190204e+02] [-1.22101874e-02 1.02136552e-04 9.99925448e-01 -5.47878029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78 meters 0.013737870266322833 Centerline is valid? [True, True] Translation: X:99.06, Y:187.21, Z:-5.48 [[-7.07674220e-01 -7.06488554e-01 -8.43340923e-03 9.90568397e+01] [ 7.06437627e-01 -7.07724467e-01 8.48279705e-03 1.87207352e+02] [-1.19615291e-02 4.53791842e-05 9.99928457e-01 -5.47968458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81 meters 0.013838616032058935 Centerline is valid? [True, True] Translation: X:99.04, Y:187.22, Z:-5.48 [[-7.06051965e-01 -7.08115392e-01 -7.95077363e-03 9.90374695e+01] [ 7.08070279e-01 -7.06096729e-01 7.99300323e-03 1.87224530e+02] [-1.12739839e-02 1.37691285e-05 9.99936447e-01 -5.48144186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84 meters 0.013728589091536018 Centerline is valid? [True, True] Translation: X:99.02, Y:187.24, Z:-5.48 [[-7.04221850e-01 -7.09937642e-01 -7.75446061e-03 9.90162371e+01] [ 7.09894900e-01 -7.04264542e-01 7.79015721e-03 1.87243636e+02] [-1.09917175e-02 -1.88531175e-05 9.99939589e-01 -5.48147213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87 meters 0.014012394006534232 Centerline is valid? [True, True] Translation: X:99.00, Y:187.26, Z:-5.48 [[-7.02459965e-01 -7.11685323e-01 -7.34839742e-03 9.89958203e+01] [ 7.11647074e-01 -7.02498398e-01 7.37860188e-03 1.87261507e+02] [-1.04134801e-02 -4.62931016e-05 9.99945777e-01 -5.48340976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9 meters 0.014375025281133927 Centerline is valid? [True, True] Translation: X:98.97, Y:187.28, Z:-5.48 [[-6.98743966e-01 -7.15339219e-01 -6.83165135e-03 9.89747474e+01] [ 7.15306372e-01 -6.98777355e-01 6.85587554e-03 1.87280357e+02] [-9.67807992e-03 -9.62220715e-05 9.99953162e-01 -5.48322287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93 meters 0.01468445401897208 Centerline is valid? [True, True] Translation: X:98.95, Y:187.30, Z:-5.48 [[-6.97056634e-01 -7.16980703e-01 -7.12183014e-03 9.89541486e+01] [ 7.16945137e-01 -6.97093003e-01 7.14248098e-03 1.87300321e+02] [-1.00855990e-02 -1.27247737e-04 9.99949131e-01 -5.48328206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96 meters 0.015138669778995495 Centerline is valid? [True, True] Translation: X:98.93, Y:187.32, Z:-5.48 [[-6.95535944e-01 -7.18452103e-01 -7.50509816e-03 9.89339724e+01] [ 7.18412749e-01 -6.95576416e-01 7.52137843e-03 1.87318738e+02] [-1.06241194e-02 -1.60369147e-04 9.99943550e-01 -5.48392460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99 meters 0.0152976274653426 Centerline is valid? [True, True] Translation: X:98.91, Y:187.34, Z:-5.48 [[-6.94375728e-01 -7.19571626e-01 -7.68271488e-03 9.89138208e+01] [ 7.19530484e-01 -6.94418204e-01 7.69684133e-03 1.87339092e+02] [-1.08734457e-02 -1.83447752e-04 9.99940866e-01 -5.48393271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02 meters 0.01617029754371981 Centerline is valid? [True, True] Translation: X:98.89, Y:187.36, Z:-5.48 [[-6.92211356e-01 -7.21647153e-01 -8.29612685e-03 9.88948016e+01] [ 7.21599395e-01 -6.92261028e-01 8.30555359e-03 1.87357772e+02] [-1.17367644e-02 -2.37281609e-04 9.99931094e-01 -5.48364434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05 meters 0.016666759596539866 Centerline is valid? [True, True] Translation: X:98.88, Y:187.38, Z:-5.48 [[-6.91465800e-01 -7.22356679e-01 -8.71066199e-03 9.88755225e+01] [ 7.22304127e-01 -6.91520614e-01 8.71718027e-03 1.87376680e+02] [-1.23205157e-02 -2.64115068e-04 9.99924065e-01 -5.48383152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08 meters 0.016962110848306778 Centerline is valid? [True, True] Translation: X:98.32, Y:186.84, Z:-4.69 [[-7.70174420e-01 6.37497217e-01 2.07041157e-02 9.83191652e+01] [ 6.37190570e-01 7.70449736e-01 -1.98841914e-02 1.86841301e+02] [-2.86275972e-02 -2.12182829e-03 -9.99587894e-01 -4.69457650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11 meters 0.017011391885093343 Centerline is valid? [True, True] Translation: X:98.34, Y:186.86, Z:-4.70 [[-8.14830604e-01 5.79288237e-01 2.18225851e-02 9.83394807e+01] [ 5.79006848e-01 8.15119854e-01 -1.81849877e-02 1.86857305e+02] [-2.83223718e-02 -2.18225826e-03 -9.99596459e-01 -4.69551684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14 meters 0.01826205880430508 Centerline is valid? [True, True] Translation: X:98.36, Y:186.88, Z:-4.70 [[-8.54461127e-01 5.19010510e-01 2.28970099e-02 9.83580839e+01] [ 5.18753212e-01 8.54764996e-01 -1.64896033e-02 1.86878968e+02] [-2.81298400e-02 -2.21182761e-03 -9.99601831e-01 -4.69547530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17 meters 0.01785710791948446 Centerline is valid? [True, True] Translation: X:98.37, Y:186.90, Z:-4.70 [[-8.89516699e-01 4.56251744e-01 2.43800858e-02 9.83743741e+01] [ 4.56009732e-01 8.89847899e-01 -1.50280199e-02 1.86898352e+02] [-2.85511284e-02 -2.25011824e-03 -9.99589801e-01 -4.69615792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2 meters 0.018434858515743426 Centerline is valid? [True, True] Translation: X:98.77, Y:187.56, Z:-5.49 [[-8.26289867e-01 -5.63151324e-01 -1.02781862e-02 9.87659882e+01] [ 5.63127071e-01 -8.26352717e-01 5.39338010e-03 1.87562390e+02] [-1.15306962e-02 -1.33142954e-03 9.99932633e-01 -5.48581666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22999999999996 meters 0.018785596440175707 Centerline is valid? [True, True] Translation: X:98.33, Y:186.92, Z:-4.70 [[-8.92345326e-01 4.50605032e-01 2.59793114e-02 9.83342492e+01] [ 4.50335052e-01 8.92720252e-01 -1.57763621e-02 1.86918788e+02] [-3.03011656e-02 -2.37856849e-03 -9.99537984e-01 -4.69511497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26 meters 0.020936472062537667 Centerline is valid? [True, True] Translation: X:98.35, Y:186.94, Z:-4.69 [[-9.22257958e-01 3.85570089e-01 2.78561598e-02 9.83520209e+01] [ 3.85313669e-01 9.22675365e-01 -1.42670299e-02 1.86942692e+02] [-3.12031324e-02 -2.42452270e-03 -9.99510123e-01 -4.69383896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28999999999996 meters 0.01966232024574872 Centerline is valid? [True, True] Translation: X:98.36, Y:186.96, Z:-4.69 [[-9.47312294e-01 3.18969744e-01 2.92868573e-02 9.83642600e+01] [ 3.18736576e-01 9.47761740e-01 -1.24370443e-02 1.86962874e+02] [-3.17240037e-02 -2.44697235e-03 -9.99493672e-01 -4.69459381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32 meters 0.019961762125886812 Centerline is valid? [True, True] Translation: X:98.66, Y:187.68, Z:-5.49 [[-8.97849569e-01 -4.40235389e-01 -7.67818166e-03 9.86581940e+01] [ 4.40230994e-01 -8.97881493e-01 2.34438556e-03 1.87678896e+02] [-7.92617870e-03 -1.27526798e-03 9.99967774e-01 -5.49142644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34999999999997 meters 0.020092617570256162 Centerline is valid? [True, True] Translation: X:98.32, Y:186.98, Z:-4.69 [[-9.48531167e-01 3.15227712e-01 3.03334071e-02 9.83194320e+01] [ 3.14981858e-01 9.49012810e-01 -1.26931587e-02 1.86976573e+02] [-3.27880273e-02 -2.48538367e-03 -9.99459238e-01 -4.69457884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38 meters 0.020095842821683325 Centerline is valid? [True, True] Translation: X:98.34, Y:187.00, Z:-4.69 [[-9.68295421e-01 2.47829447e-01 3.13774219e-02 9.83365686e+01] [ 2.47616304e-01 9.68800548e-01 -1.05671714e-02 1.86997545e+02] [-3.30173197e-02 -2.46258241e-03 -9.99451746e-01 -4.69443214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40999999999997 meters 0.01912506985961672 Centerline is valid? [True, True] Translation: X:98.34, Y:187.02, Z:-4.70 [[-9.83105193e-01 1.80229924e-01 3.19586420e-02 9.83407370e+01] [ 1.80054968e-01 9.83621582e-01 -8.29413752e-03 1.87018642e+02] [-3.29300618e-02 -2.39969741e-03 -9.99454778e-01 -4.69583894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44 meters 0.01883650189751955 Centerline is valid? [True, True] Translation: X:98.35, Y:187.04, Z:-4.70 [[-9.93295361e-01 1.11126452e-01 3.18627782e-02 9.83523364e+01] [ 1.10993433e-01 9.93803513e-01 -5.91902324e-03 1.87041221e+02] [-3.23231010e-02 -2.34277920e-03 -9.99474726e-01 -4.69696756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46999999999997 meters 0.018523993439468936 Centerline is valid? [True, True] Translation: X:98.36, Y:187.06, Z:-4.70 [[-9.98630464e-01 4.12107523e-02 3.22315122e-02 9.83611939e+01] [ 4.11145954e-02 9.99147805e-01 -3.64069756e-03 1.87064788e+02] [-3.23540805e-02 -2.31052591e-03 -9.99473799e-01 -4.69778325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5 meters 0.017969275870202375 Centerline is valid? [True, True] Translation: X:98.36, Y:187.09, Z:-4.70 [[-9.99079290e-01 -2.86778413e-02 3.19085177e-02 9.83636554e+01] [-2.87351525e-02 9.99586164e-01 -1.33890431e-03 1.87088633e+02] [-3.18569159e-02 -2.25456769e-03 -9.99489897e-01 -4.69871848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53 meters 0.017908152445255843 Centerline is valid? [True, True] Translation: X:98.36, Y:187.11, Z:-4.70 [[-9.94645712e-01 -9.84534585e-02 3.14137564e-02 9.83631175e+01] [-9.84739300e-02 9.95139225e-01 8.98532569e-04 1.87112384e+02] [-3.13495249e-02 -2.19971448e-03 -9.99506062e-01 -4.69989796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56 meters 0.017914560716221977 Centerline is valid? [True, True] Translation: X:98.36, Y:187.14, Z:-4.70 [[-9.85143803e-01 -1.68993239e-01 3.05446180e-02 9.83557726e+01] [-1.68980073e-01 9.85614809e-01 3.03054577e-03 1.87136792e+02] [-3.06173696e-02 -2.17590840e-03 -9.99528810e-01 -4.70159963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59 meters 0.01726352952063738 Centerline is valid? [True, True] Translation: X:98.34, Y:187.16, Z:-4.70 [[-9.70465104e-01 -2.39388713e-01 2.98416975e-02 9.83364681e+01] [-2.39343770e-01 9.70921380e-01 5.12179354e-03 1.87157784e+02] [-3.02000417e-02 -2.17190250e-03 -9.99541515e-01 -4.70368281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62 meters 0.017879007279150254 Centerline is valid? [True, True] Translation: X:98.30, Y:187.18, Z:-4.70 [[-9.50332824e-01 -3.09885776e-01 2.89539215e-02 9.82989951e+01] [-3.09811273e-01 9.50771279e-01 7.13799333e-03 1.87176149e+02] [-2.97405195e-02 -2.18678192e-03 -9.99555261e-01 -4.70477593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65 meters 0.018590572348814692 Centerline is valid? [True, True] Translation: X:98.24, Y:187.19, Z:-4.71 [[-9.24747048e-01 -3.79511517e-01 2.85290156e-02 9.82420143e+01] [-3.79403832e-01 9.25184357e-01 9.30791573e-03 1.87185619e+02] [-2.99270602e-02 -2.21655024e-03 -9.99549628e-01 -4.70561102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68 meters 0.018421009679883627 Centerline is valid? [True, True] Translation: X:98.17, Y:187.18, Z:-4.71 [[-8.94064723e-01 -4.47068932e-01 2.78862109e-02 9.81727259e+01] [-4.46927829e-01 8.94496738e-01 1.14499366e-02 1.87184464e+02] [-3.00630356e-02 -2.22613928e-03 -9.99545526e-01 -4.70721811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71 meters 0.01805669115777375 Centerline is valid? [True, True] Translation: X:98.10, Y:187.18, Z:-4.71 [[-8.58277222e-01 -5.12473959e-01 2.70305658e-02 9.81026362e+01] [-5.12299923e-01 8.58699878e-01 1.35391410e-02 1.87177201e+02] [-3.01496008e-02 -2.22742049e-03 -9.99542916e-01 -4.70885289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74 meters 0.017991173385948273 Centerline is valid? [True, True] Translation: X:98.02, Y:187.16, Z:-4.71 [[-8.17949269e-01 -5.74655787e-01 2.70133184e-02 9.80216035e+01] [-5.74430244e-01 8.18392191e-01 1.62516437e-02 1.87157911e+02] [-3.14465899e-02 -2.22424702e-03 -9.99502959e-01 -4.70991240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77 meters 0.017123225288148 Centerline is valid? [True, True] Translation: X:97.93, Y:187.12, Z:-4.71 [[-7.73111745e-01 -6.33721715e-01 2.63632084e-02 9.79310349e+01] [-6.33447819e-01 7.73557989e-01 1.87589673e-02 1.87122791e+02] [-3.22814354e-02 -2.19693897e-03 -9.99476404e-01 -4.71260770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.8 meters 0.01708316938975628 Centerline is valid? [True, True] Translation: X:97.85, Y:187.09, Z:-4.71 [[-7.24230216e-01 -6.89096503e-01 2.52310106e-02 9.78501786e+01] [-6.88778388e-01 7.24666435e-01 2.10449509e-02 1.87089003e+02] [-3.27860686e-02 -2.13718545e-03 -9.99460107e-01 -4.71345111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83 meters 0.016545239736979196 Centerline is valid? [True, True] Translation: X:97.76, Y:187.04, Z:-4.72 [[-6.71668906e-01 -7.40473735e-01 2.36543499e-02 9.77622395e+01] [-7.40118621e-01 6.72082188e-01 2.30208553e-02 1.87036729e+02] [-3.29440059e-02 -2.04463206e-03 -9.99455108e-01 -4.71590647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86 meters 0.015046995942953683 Centerline is valid? [True, True] Translation: X:97.68, Y:186.98, Z:-4.72 [[-6.20120904e-01 -7.84218176e-01 2.12583366e-02 9.76827088e+01] [-7.83850783e-01 6.20482735e-01 2.40650247e-02 1.86977001e+02] [-3.20626606e-02 -1.74013886e-03 -9.99484346e-01 -4.71904410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89 meters 0.015046995942953683 Centerline is valid? [True, True] Translation: X:97.60, Y:186.91, Z:-4.72 [[-5.58083146e-01 -8.29560236e-01 1.93136358e-02 9.75978105e+01] [-8.29167550e-01 5.58414536e-01 2.55808616e-02 1.86907734e+02] [-3.20058806e-02 -1.73799238e-03 -9.99486170e-01 -4.72174868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92 meters 0.014607466319591433 Centerline is valid? [True, True] Translation: X:97.52, Y:186.83, Z:-4.73 [[-4.97733134e-01 -8.67166840e-01 1.68344408e-02 9.75215599e+01] [-8.66771953e-01 4.98015346e-01 2.62125386e-02 1.86829356e+02] [-3.11144541e-02 -1.54477213e-03 -9.99514634e-01 -4.72571497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95 meters 0.014579935757813054 Centerline is valid? [True, True] Translation: X:97.45, Y:186.74, Z:-4.73 [[-4.35271209e-01 -9.00185837e-01 1.42980070e-02 9.74503647e+01] [-8.99797519e-01 4.35503910e-01 2.64720381e-02 1.86742692e+02] [-3.00565917e-02 -1.34279516e-03 -9.99547297e-01 -4.72920973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97999999999996 meters 0.015105863837467494 Centerline is valid? [True, True] Translation: X:97.39, Y:186.65, Z:-4.73 [[-3.70588476e-01 -9.28723574e-01 1.16921115e-02 9.73854126e+01] [-9.28355526e-01 3.70771070e-01 2.61692865e-02 1.86648604e+02] [-2.86391300e-02 -1.15640034e-03 -9.99589147e-01 -4.73319703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01 meters 0.01787966695561456 Centerline is valid? [True, True] Translation: X:97.33, Y:186.55, Z:-4.74 [[-3.11185356e-01 -9.50305404e-01 9.12761413e-03 9.73341981e+01] [-9.49967929e-01 3.11318197e-01 2.53360397e-02 1.86549984e+02] [-2.69185678e-02 -7.86736170e-04 -9.99637320e-01 -4.73773809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03999999999996 meters 0.018804770070439306 Centerline is valid? [True, True] Translation: X:97.28, Y:186.45, Z:-4.74 [[-2.43332403e-01 -9.69917479e-01 7.03034460e-03 9.72828263e+01] [-9.69582181e-01 2.43433179e-01 2.55084812e-02 1.86446294e+02] [-2.64525409e-02 -6.09456829e-04 -9.99649885e-01 -4.74160454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07 meters 0.020487614912231573 Centerline is valid? [True, True] Translation: X:97.24, Y:186.33, Z:-4.75 [[-1.73702136e-01 -9.84786036e-01 4.90221285e-03 9.72393178e+01] [-9.84467167e-01 1.73770655e-01 2.50630518e-02 1.86332384e+02] [-2.55336042e-02 -4.72561964e-04 -9.99673853e-01 -4.74505520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09999999999997 meters 0.022781276280445583 Centerline is valid? [True, True] Translation: X:97.21, Y:186.22, Z:-4.75 [[-1.07264625e-01 -9.94226310e-01 2.88864614e-03 9.72056782e+01] [-9.93922522e-01 1.07303257e-01 2.45770525e-02 1.86217157e+02] [-2.47451133e-02 -2.34842135e-04 -9.99693765e-01 -4.74896261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13 meters 0.024669396413652386 Centerline is valid? [True, True] Translation: X:97.18, Y:186.10, Z:-4.75 [[-3.38412323e-02 -9.99426745e-01 9.75523046e-04 9.71792865e+01] [-9.99135625e-01 3.38549194e-02 2.41214918e-02 1.86097740e+02] [-2.41406903e-02 -1.58378822e-04 -9.99708559e-01 -4.75218927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15999999999997 meters 0.02428340303050882 Centerline is valid? [True, True] Translation: X:97.16, Y:185.97, Z:-4.76 [[ 4.06772514e-02 -9.99171979e-01 -8.47608803e-04 9.71584799e+01] [-9.98895506e-01 -4.06859344e-02 2.35036755e-02 1.85974865e+02] [-2.35186997e-02 -1.09392296e-04 -9.99723391e-01 -4.75592197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19 meters 0.026110758563998398 Centerline is valid? [True, True] Translation: X:97.15, Y:185.85, Z:-4.76 [[ 1.15813252e-01 -9.93267524e-01 -2.62978758e-03 9.71496524e+01] [-9.92998812e-01 -1.15843087e-01 2.31027734e-02 1.85854125e+02] [-2.32518772e-02 -6.42313587e-05 -9.99729637e-01 -4.75886324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21999999999997 meters 0.026950829405739358 Centerline is valid? [True, True] Translation: X:97.15, Y:185.73, Z:-4.76 [[ 1.89694931e-01 -9.81832568e-01 -4.54328382e-03 9.71473199e+01] [-9.81556128e-01 -1.89749326e-01 2.32972206e-02 1.85732889e+02] [-2.37360550e-02 4.01234196e-05 -9.99718259e-01 -4.76074158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25 meters 0.02690070656540157 Centerline is valid? [True, True] Translation: X:97.16, Y:185.61, Z:-4.76 [[ 2.65043981e-01 -9.64214126e-01 -6.54272676e-03 9.71550608e+01] [-9.63928652e-01 -2.65124709e-01 2.34615120e-02 1.85607290e+02] [-2.43565598e-02 8.83892479e-05 -9.99703331e-01 -4.76307208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28 meters 0.027569758898717583 Centerline is valid? [True, True] Translation: X:97.17, Y:185.49, Z:-4.77 [[ 3.39395288e-01 -9.40605868e-01 -8.45213640e-03 9.71723163e+01] [-9.40321618e-01 -3.39500501e-01 2.31227978e-02 1.85485012e+02] [-2.46189439e-02 9.99579468e-05 -9.99696903e-01 -4.76558349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31 meters 0.02545415173148003 Centerline is valid? [True, True] Translation: X:97.19, Y:185.36, Z:-4.77 [[ 4.15348875e-01 -9.09604267e-01 -1.02659998e-02 9.71948231e+01] [-9.09326515e-01 -4.15475725e-01 2.24768815e-02 1.85358939e+02] [-2.47103410e-02 -6.01615048e-07 -9.99694653e-01 -4.76860174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34 meters 0.024622317540253465 Centerline is valid? [True, True] Translation: X:97.23, Y:185.24, Z:-4.77 [[ 4.87465198e-01 -8.73058227e-01 -1.21249309e-02 9.72264276e+01] [-8.72784940e-01 -4.87615964e-01 2.18430858e-02 1.85241130e+02] [-2.49825956e-02 -6.52870449e-05 -9.99687884e-01 -4.77092511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37 meters 0.02430040129234941 Centerline is valid? [True, True] Translation: X:97.27, Y:185.12, Z:-4.77 [[ 5.60636734e-01 -8.27947835e-01 -1.37417620e-02 9.72670817e+01] [-8.27686899e-01 -5.60805051e-01 2.07868399e-02 1.85122066e+02] [-2.49168687e-02 -2.79989636e-04 -9.99689487e-01 -4.77283190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4 meters 0.02106665998699819 Centerline is valid? [True, True] Translation: X:97.31, Y:185.01, Z:-4.78 [[ 6.26087240e-01 -7.79607859e-01 -1.50450883e-02 9.73098481e+01] [-7.79367436e-01 -6.26267856e-01 1.93641742e-02 1.85012076e+02] [-2.45187175e-02 -3.98010472e-04 -9.99699292e-01 -4.77621889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43 meters 0.019904108103132135 Centerline is valid? [True, True] Translation: X:97.36, Y:184.91, Z:-4.78 [[ 6.87196975e-01 -7.26288937e-01 -1.62695563e-02 9.73638561e+01] [-7.26067821e-01 -6.87389354e-01 1.79275292e-02 1.84907759e+02] [-2.42040859e-02 -5.06942532e-04 -9.99706910e-01 -4.77915532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46 meters 0.01904833817144564 Centerline is valid? [True, True] Translation: X:97.36, Y:184.90, Z:-4.78 [[ 7.44361218e-01 -6.67562234e-01 -1.69422663e-02 9.73572948e+01] [-6.67369310e-01 -7.44553720e-01 1.60611915e-02 1.84895871e+02] [-2.33362723e-02 -6.48579494e-04 -9.99727462e-01 -4.78008724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49 meters 0.018361345073297734 Centerline is valid? [True, True] Translation: X:97.35, Y:184.89, Z:-4.78 [[ 7.96289625e-01 -6.04650285e-01 -1.79127604e-02 9.73501590e+01] [-6.04476355e-01 -7.96490737e-01 1.45204076e-02 1.84885445e+02] [-2.30471164e-02 -7.34609768e-04 -9.99734110e-01 -4.78117933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52 meters 0.016748153442177716 Centerline is valid? [True, True] Translation: X:97.34, Y:184.87, Z:-4.78 [[ 8.44134997e-01 -5.35805078e-01 -1.86822312e-02 9.73396271e+01] [-5.35650821e-01 -8.44341259e-01 1.28854991e-02 1.84870665e+02] [-2.26782945e-02 -8.69948219e-04 -9.99742436e-01 -4.78267832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55 meters 0.01625699834967946 Centerline is valid? [True, True] Translation: X:97.33, Y:184.86, Z:-4.78 [[ 8.84355599e-01 -4.66405534e-01 -1.95205371e-02 9.73308195e+01] [-4.66268902e-01 -8.84570541e-01 1.13256094e-02 1.84859044e+02] [-2.25496190e-02 -9.14046715e-04 -9.99745307e-01 -4.78332840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58 meters 0.016030249426240848 Centerline is valid? [True, True] Translation: X:97.32, Y:184.85, Z:-4.78 [[ 9.18815775e-01 -3.94182897e-01 -1.99352856e-02 9.73237522e+01] [-3.94067299e-01 -9.19031514e-01 9.59374106e-03 1.84848251e+02] [-2.21028443e-02 -9.59036505e-04 -9.99755242e-01 -4.78359824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61 meters 0.01608028832714343 Centerline is valid? [True, True] Translation: X:97.32, Y:184.84, Z:-4.78 [[ 9.47257077e-01 -3.19812593e-01 -2.05897022e-02 9.73174350e+01] [-3.19714274e-01 -9.47480307e-01 7.99066385e-03 1.84836322e+02] [-2.20638523e-02 -9.86391192e-04 -9.99756077e-01 -4.78360472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64 meters 0.015988975480350765 Centerline is valid? [True, True] Translation: X:97.31, Y:184.83, Z:-4.78 [[ 9.69323034e-01 -2.44866423e-01 -2.12906080e-02 9.73142179e+01] [-2.44785115e-01 -9.69556331e-01 6.38498152e-03 1.84827208e+02] [-2.22059114e-02 -9.77485735e-04 -9.99752941e-01 -4.78427926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67 meters 0.01629026433725797 Centerline is valid? [True, True] Translation: X:97.31, Y:184.82, Z:-4.78 [[ 9.85421664e-01 -1.68718869e-01 -2.18651981e-02 9.73080757e+01] [-1.68655642e-01 -9.85663746e-01 4.71748716e-03 1.84820635e+02] [-2.23476621e-02 -9.61025026e-04 -9.99749798e-01 -4.78396481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7 meters 0.01599829613099302 Centerline is valid? [True, True] Translation: X:97.30, Y:184.81, Z:-4.78 [[ 9.95509723e-01 -9.19056535e-02 -2.26658747e-02 9.73029472e+01] [-9.18606030e-02 -9.95767288e-01 3.02304071e-03 1.84809870e+02] [-2.28477711e-02 -9.27365503e-04 -9.99738526e-01 -4.78416136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72999999999996 meters 0.01632853222527538 Centerline is valid? [True, True] Translation: X:97.30, Y:184.80, Z:-4.78 [[ 9.99564923e-01 -1.59154807e-02 -2.48326772e-02 9.72986417e+01] [-1.58900113e-02 -9.99872998e-01 1.22264279e-03 1.84797569e+02] [-2.48489823e-02 -8.27519329e-04 -9.99690874e-01 -4.78342852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76 meters 0.01630962107107565 Centerline is valid? [True, True] Translation: X:97.30, Y:184.79, Z:-4.78 [[ 9.97807436e-01 6.12685991e-02 -2.50295706e-02 9.72959884e+01] [ 6.12691890e-02 -9.98121001e-01 -7.44040654e-04 1.84785477e+02] [-2.50281264e-02 -7.91132195e-04 -9.99686434e-01 -4.78354050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78999999999996 meters 0.016707075387801 Centerline is valid? [True, True] Translation: X:97.29, Y:184.77, Z:-4.78 [[ 9.90073427e-01 1.38233886e-01 -2.54165584e-02 9.72936937e+01] [ 1.38207721e-01 -9.90399330e-01 -2.79172597e-03 1.84774539e+02] [-2.55584535e-02 -7.48750916e-04 -9.99673049e-01 -4.78369872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82 meters 0.017345389178190944 Centerline is valid? [True, True] Translation: X:97.29, Y:184.77, Z:-4.78 [[ 9.76346173e-01 2.14702360e-01 -2.55156408e-02 9.72914044e+01] [ 2.14648222e-01 -9.76679262e-01 -4.87437739e-03 1.84765154e+02] [-2.59671376e-02 -7.17807213e-04 -9.99662539e-01 -4.78351421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84999999999997 meters 0.017572325963187155 Centerline is valid? [True, True] Translation: X:97.29, Y:184.75, Z:-4.78 [[ 9.56811605e-01 2.89590361e-01 -2.54750033e-02 9.72903812e+01] [ 2.89506540e-01 -9.57150439e-01 -6.99999949e-03 1.84754907e+02] [-2.64105430e-02 -6.77499312e-04 -9.99650951e-01 -4.78376790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88 meters 0.017754603709349837 Centerline is valid? [True, True] Translation: X:97.29, Y:184.75, Z:-4.78 [[ 9.31244456e-01 3.63523141e-01 -2.51930192e-02 9.72905594e+01] [ 3.63409251e-01 -9.31584935e-01 -9.12280475e-03 1.84746279e+02] [-2.67857878e-02 -6.59814908e-04 -9.99640979e-01 -4.78427899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90999999999997 meters 0.01710499349690799 Centerline is valid? [True, True] Translation: X:97.29, Y:184.73, Z:-4.79 [[ 9.00007014e-01 4.35206396e-01 -2.41405733e-02 9.72926385e+01] [ 4.35069424e-01 -9.00330472e-01 -1.09378617e-02 1.84734043e+02] [-2.64947212e-02 -6.58673099e-04 -9.99648736e-01 -4.78531945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94 meters 0.01739548841044648 Centerline is valid? [True, True] Translation: X:97.29, Y:184.72, Z:-4.79 [[ 8.62895656e-01 5.04885960e-01 -2.23887164e-02 9.72935121e+01] [ 5.04736840e-01 -8.63185776e-01 -1.22897855e-02 1.84723222e+02] [-2.55305617e-02 -6.95607387e-04 -9.99673800e-01 -4.78565935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96999999999997 meters 0.01688103665125474 Centerline is valid? [True, True] Translation: X:97.30, Y:184.71, Z:-4.79 [[ 8.20273218e-01 5.71575082e-01 -2.13019522e-02 9.72969890e+01] [ 5.71404799e-01 -8.20549460e-01 -1.39691931e-02 1.84712188e+02] [-2.54637480e-02 -7.13482730e-04 -9.99675492e-01 -4.78641616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0 meters 0.01646187528580321 Centerline is valid? [True, True] Translation: X:97.30, Y:184.70, Z:-4.79 [[ 7.72441736e-01 6.34763496e-01 -2.02254403e-02 9.73017487e+01] [ 6.34570435e-01 -7.72706136e-01 -1.56713314e-02 1.84701379e+02] [-2.55759109e-02 -7.29275987e-04 -9.99672617e-01 -4.78693326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03 meters 0.016159116521779805 Centerline is valid? [True, True] Translation: X:97.31, Y:184.69, Z:-4.79 [[ 7.19106336e-01 6.94645765e-01 -1.87973214e-02 9.73074834e+01] [ 6.94436366e-01 -7.19351554e-01 -1.70726322e-02 1.84691085e+02] [-2.53813141e-02 -7.76505572e-04 -9.99677541e-01 -4.78741246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06 meters 0.01627782789442843 Centerline is valid? [True, True] Translation: X:97.31, Y:184.68, Z:-4.79 [[ 6.61776049e-01 7.49507271e-01 -1.70678443e-02 9.73112682e+01] [ 7.49289073e-01 -6.61995617e-01 -1.81021954e-02 1.84682243e+02] [-2.48665652e-02 -8.09149833e-04 -9.99690452e-01 -4.78807582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09 meters 0.01583793539018853 Centerline is valid? [True, True] Translation: X:97.32, Y:184.67, Z:-4.79 [[ 6.00154597e-01 7.99741334e-01 -1.51082553e-02 9.73172997e+01] [ 7.99522910e-01 -6.00344131e-01 -1.87093638e-02 1.84673872e+02] [-2.40328040e-02 -8.50885499e-04 -9.99710808e-01 -4.78915924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12 meters 0.015079180978811032 Centerline is valid? [True, True] Translation: X:97.33, Y:184.66, Z:-4.79 [[ 5.34024926e-01 8.45365576e-01 -1.32068856e-02 9.73270539e+01] [ 8.45147988e-01 -5.34187437e-01 -1.92005273e-02 1.84664264e+02] [-2.32864172e-02 -9.08212660e-04 -9.99728422e-01 -4.79064550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15 meters 0.015205801450567878 Centerline is valid? [True, True] Translation: X:97.33, Y:184.66, Z:-4.79 [[ 4.65574728e-01 8.84931411e-01 -1.16863351e-02 9.73337816e+01] [ 8.84700597e-01 -4.65720465e-01 -2.02312141e-02 1.84655645e+02] [-2.33458023e-02 -9.19765641e-04 -9.99727027e-01 -4.79084319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18 meters 0.015019778737175818 Centerline is valid? [True, True] Translation: X:97.34, Y:184.65, Z:-4.79 [[ 3.94557258e-01 9.18815943e-01 -1.00912807e-02 9.73418983e+01] [ 9.18572804e-01 -3.94685208e-01 -2.11563114e-02 1.84648452e+02] [-2.34216354e-02 -9.22199760e-04 -9.99725251e-01 -4.79132567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21 meters 0.015133033153716655 Centerline is valid? [True, True] Translation: X:97.35, Y:184.64, Z:-4.79 [[ 3.21803781e-01 9.46766505e-01 -8.68969647e-03 9.73487110e+01] [ 9.46492672e-01 -3.21919849e-01 -2.27866724e-02 1.84640978e+02] [-2.43710440e-02 -8.91896683e-04 -9.99702584e-01 -4.79067931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24 meters 0.015485239666250577 Centerline is valid? [True, True] Translation: X:97.35, Y:184.63, Z:-4.79 [[ 2.47150119e-01 9.68952600e-01 -6.90484757e-03 9.73545317e+01] [ 9.68667272e-01 -2.47245012e-01 -2.35291491e-02 1.84634771e+02] [-2.45058193e-02 -8.73267855e-04 -9.99699306e-01 -4.79027479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27 meters 0.015537291798769143 Centerline is valid? [True, True] Translation: X:97.36, Y:184.63, Z:-4.79 [[ 1.71231981e-01 9.85217623e-01 -5.08372153e-03 9.73620830e+01] [ 9.84918070e-01 -1.71305347e-01 -2.43078738e-02 1.84629854e+02] [-2.48194143e-02 -8.44763829e-04 -9.99691594e-01 -4.79061267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3 meters 0.015498335694311484 Centerline is valid? [True, True] Translation: X:97.37, Y:184.63, Z:-4.79 [[ 9.44276616e-02 9.95526748e-01 -3.14802073e-03 9.73706095e+01] [ 9.95226164e-01 -9.44765471e-02 -2.44757837e-02 1.84625280e+02] [-2.46637115e-02 -8.21801581e-04 -9.99695467e-01 -4.79093344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33 meters 0.015553334911237691 Centerline is valid? [True, True] Translation: X:97.38, Y:184.62, Z:-4.79 [[ 1.87144100e-02 9.99824129e-01 -1.21705567e-03 9.73813318e+01] [ 9.99523556e-01 -1.87386387e-02 -2.45259762e-02 1.84620980e+02] [-2.45444687e-02 -7.57486641e-04 -9.99698452e-01 -4.79145050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36 meters 0.016269776209803938 Centerline is valid? [True, True] Translation: X:97.39, Y:184.62, Z:-4.79 [[-5.82368039e-02 9.98302549e-01 7.03723054e-04 9.73899935e+01] [ 9.98003454e-01 5.82365884e-02 -2.44459856e-02 1.84616690e+02] [-2.44454722e-02 -7.21338032e-04 -9.99700905e-01 -4.79194236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39 meters 0.01683912621793342 Centerline is valid? [True, True] Translation: X:97.40, Y:184.61, Z:-4.79 [[-1.34685240e-01 9.90885046e-01 2.59082407e-03 9.73974687e+01] [ 9.90591419e-01 1.34708422e-01 -2.41305008e-02 1.84612130e+02] [-2.42595583e-02 -6.83574202e-04 -9.99705460e-01 -4.79263097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42 meters 0.016952645713526455 Centerline is valid? [True, True] Translation: X:97.41, Y:184.61, Z:-4.79 [[-2.10438437e-01 9.77597602e-01 4.31198868e-03 9.74070139e+01] [ 9.77323157e-01 2.10481568e-01 -2.31723221e-02 1.84609732e+02] [-2.35608006e-02 -6.62140843e-04 -9.99722187e-01 -4.79383691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45 meters 0.017361369040483396 Centerline is valid? [True, True] Translation: X:97.42, Y:184.61, Z:-4.80 [[-2.83606504e-01 9.58922458e-01 5.92209323e-03 9.74175598e+01] [ 9.58666422e-01 2.83667673e-01 -2.21662518e-02 1.84608950e+02] [-2.29356231e-02 -6.09181242e-04 -9.99736758e-01 -4.79531528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47999999999996 meters 0.017615977602500246 Centerline is valid? [True, True] Translation: X:97.43, Y:184.61, Z:-4.80 [[-3.56831599e-01 9.34139523e-01 7.38659428e-03 9.74287144e+01] [ 9.33903279e-01 3.56907538e-01 -2.10160336e-02 1.84608741e+02] [-2.22682388e-02 -6.00820263e-04 -9.99751852e-01 -4.79599367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51 meters 0.018301248757009204 Centerline is valid? [True, True] Translation: X:97.44, Y:184.61, Z:-4.80 [[-4.27954327e-01 9.03757092e-01 8.84374536e-03 9.74389041e+01] [ 9.03535106e-01 4.28045297e-01 -2.00383589e-02 1.84608073e+02] [-2.18953326e-02 -5.84867998e-04 -9.99760097e-01 -4.79672133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53999999999996 meters 0.01809420965333313 Centerline is valid? [True, True] Translation: X:97.45, Y:184.61, Z:-4.80 [[-4.95702578e-01 8.68433630e-01 1.00987478e-02 9.74526447e+01] [ 8.68230088e-01 4.95805124e-01 -1.88093810e-02 1.84611222e+02] [-2.13417099e-02 -5.55821949e-04 -9.99772085e-01 -4.79713127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57 meters 0.01953948336343806 Centerline is valid? [True, True] Translation: X:97.46, Y:184.61, Z:-4.80 [[-5.61620353e-01 8.27317050e-01 1.13612106e-02 9.74627163e+01] [ 8.27127703e-01 5.61734989e-01 -1.77077658e-02 1.84612333e+02] [-2.10319261e-02 -5.47869646e-04 -9.99778654e-01 -4.79718950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59999999999997 meters 0.018738948266057535 Centerline is valid? [True, True] Translation: X:97.47, Y:184.62, Z:-4.80 [[-6.24373997e-01 7.81022197e-01 1.27059072e-02 9.74745270e+01] [ 7.80842761e-01 6.24503035e-01 -1.67493897e-02 1.84617079e+02] [-2.10165228e-02 -5.36567806e-04 -9.99778985e-01 -4.79791403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63 meters 0.019128574292517325 Centerline is valid? [True, True] Translation: X:97.49, Y:184.62, Z:-4.80 [[-6.83029962e-01 7.30263660e-01 1.36036227e-02 9.74852856e+01] [ 7.30103075e-01 6.83165209e-01 -1.53230979e-02 1.84622830e+02] [-2.04834233e-02 -5.34088192e-04 -9.99790050e-01 -4.79885611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65999999999997 meters 0.018676947461798467 Centerline is valid? [True, True] Translation: X:97.51, Y:184.64, Z:-4.80 [[-7.32495389e-01 6.80614645e-01 1.46359185e-02 9.75102116e+01] [ 6.80467868e-01 7.32641486e-01 -1.41398076e-02 1.84640435e+02] [-2.03466412e-02 -3.98071651e-04 -9.99792906e-01 -4.79963730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69 meters 0.02038209552743739 Centerline is valid? [True, True] Translation: X:97.52, Y:184.66, Z:-4.80 [[-7.78042315e-01 6.28016180e-01 1.56790514e-02 9.75240681e+01] [ 6.27879147e-01 7.78200195e-01 -1.31238116e-02 1.84663436e+02] [-2.04434069e-02 -3.66331332e-04 -9.99790945e-01 -4.79975753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71999999999997 meters 0.020652702466855646 Centerline is valid? [True, True] Translation: X:97.55, Y:184.68, Z:-4.80 [[-8.19713353e-01 5.72527964e-01 1.67853796e-02 9.75493975e+01] [ 5.72399821e-01 8.19885129e-01 -1.21169428e-02 1.84680988e+02] [-2.06993717e-02 -3.24471502e-04 -9.99785692e-01 -4.80004112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75 meters 0.020088358380823002 Centerline is valid? [True, True] Translation: X:97.57, Y:184.71, Z:-4.80 [[-8.56072612e-01 5.16547444e-01 1.78443625e-02 9.75692185e+01] [ 5.16429772e-01 8.56258540e-01 -1.10273366e-02 1.84706543e+02] [-2.09755303e-02 -2.24840779e-04 -9.99779964e-01 -4.80039147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78 meters 0.020088358380823002 Centerline is valid? [True, True] Translation: X:97.93, Y:185.33, Z:-5.58 [[-8.65841212e-01 -5.00226681e-01 -9.60536567e-03 9.79307529e+01] [ 5.00200635e-01 -8.65894410e-01 5.11827266e-03 1.85330398e+02] [-1.08775290e-02 -3.72998607e-04 9.99940768e-01 -5.58479813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81 meters 0.02195858089098142 Centerline is valid? [True, True] Translation: X:97.53, Y:184.72, Z:-4.80 [[-8.56706329e-01 5.15497195e-01 1.78019337e-02 9.75312841e+01] [ 5.15381669e-01 8.56891248e-01 -1.09144044e-02 1.84724924e+02] [-2.08806660e-02 -1.75649022e-04 -9.99781960e-01 -4.80082501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84 meters 0.02198100159595613 Centerline is valid? [True, True] Translation: X:97.89, Y:185.35, Z:-5.59 [[-8.70165390e-01 -4.92666163e-01 -9.60447129e-03 9.78918862e+01] [ 4.92639243e-01 -8.70218359e-01 5.15598895e-03 1.85349686e+02] [-1.08981685e-02 -2.44976335e-04 9.99940583e-01 -5.58542585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87 meters 0.026107160336049266 Centerline is valid? [True, True] Translation: X:97.50, Y:184.74, Z:-4.80 [[-8.54671389e-01 5.18872419e-01 1.75564952e-02 9.74962166e+01] [ 5.18762270e-01 8.54851690e-01 -1.06908779e-02 1.84742781e+02] [-2.05554013e-02 -2.95401428e-05 -9.99788715e-01 -4.80167827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9 meters 0.025226785672347665 Centerline is valid? [True, True] Translation: X:97.51, Y:184.77, Z:-4.80 [[-8.88307724e-01 4.58900586e-01 1.78784596e-02 9.75128929e+01] [ 4.58807587e-01 8.88487621e-01 -9.23832780e-03 1.84769945e+02] [-2.01242641e-02 -3.70504846e-06 -9.99797487e-01 -4.80261536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93 meters 0.02449627258930621 Centerline is valid? [True, True] Translation: X:97.53, Y:184.80, Z:-4.80 [[-9.17704091e-01 3.96864668e-01 1.78223578e-02 9.75257615e+01] [ 3.96789911e-01 9.17877135e-01 -7.70266501e-03 1.84799139e+02] [-1.94156503e-02 2.96456650e-06 -9.99811499e-01 -4.80316780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96 meters 0.026075872265564213 Centerline is valid? [True, True] Translation: X:97.54, Y:184.83, Z:-4.80 [[-9.42942813e-01 3.32476028e-01 1.78477295e-02 9.75364742e+01] [ 3.32416679e-01 9.43111706e-01 -6.28180814e-03 1.84826011e+02] [-1.89209533e-02 9.49714316e-06 -9.99820983e-01 -4.80347080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99 meters 0.027681333402610107 Centerline is valid? [True, True] Translation: X:97.54, Y:184.86, Z:-4.80 [[-9.63734277e-01 2.66232066e-01 1.83501880e-02 9.75444188e+01] [ 2.66184765e-01 9.63908961e-01 -5.01856710e-03 1.84857155e+02] [-1.90240141e-02 4.79753396e-05 -9.99819026e-01 -4.80329085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02 meters 0.025016232415575195 Centerline is valid? [True, True] Translation: X:97.55, Y:184.89, Z:-4.80 [[-9.80222038e-01 1.96988250e-01 1.89838252e-02 9.75455826e+01] [ 1.96952644e-01 9.80405847e-01 -3.74582523e-03 1.84892467e+02] [-1.93497368e-02 6.71741147e-05 -9.99812774e-01 -4.80367975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05 meters 0.023604603313484105 Centerline is valid? [True, True] Translation: X:97.66, Y:185.56, Z:-5.59 [[-9.89528290e-01 -1.43863271e-01 -1.17099247e-02 9.76553846e+01] [ 1.43855776e-01 -9.89597551e-01 1.48418431e-03 1.85560044e+02] [-1.18016324e-02 -2.15897943e-04 9.99930335e-01 -5.58857382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08 meters 0.024370535152542408 Centerline is valid? [True, True] Translation: X:97.48, Y:184.91, Z:-4.80 [[-9.81354649e-01 1.91231916e-01 1.93237466e-02 9.74828809e+01] [ 1.91195876e-01 9.81544880e-01 -3.71287826e-03 1.84909677e+02] [-1.96771454e-02 5.09703227e-05 -9.99806385e-01 -4.80422576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11 meters 0.02423910839962182 Centerline is valid? [True, True] Translation: X:97.58, Y:185.56, Z:-5.59 [[-9.89724820e-01 -1.42550662e-01 -1.11395442e-02 9.75827016e+01] [ 1.42544962e-01 -9.89787463e-01 1.30813056e-03 1.85558170e+02] [-1.12122561e-02 -2.93196622e-04 9.99937098e-01 -5.59080519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14 meters 0.024793561119882932 Centerline is valid? [True, True] Translation: X:97.42, Y:184.93, Z:-4.80 [[-9.82768070e-01 1.83838211e-01 1.92466564e-02 9.74191467e+01] [ 1.83802792e-01 9.82956516e-01 -3.60855482e-03 1.84930715e+02] [-1.95820166e-02 -8.78327552e-06 -9.99808254e-01 -4.80431412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17 meters 0.025553049275519813 Centerline is valid? [True, True] Translation: X:97.42, Y:184.97, Z:-4.80 [[-9.93534572e-01 1.11752167e-01 2.00126910e-02 9.74168553e+01] [ 1.11729542e-01 9.93736108e-01 -2.24863648e-03 1.84967205e+02] [-2.01386236e-02 1.91070746e-06 -9.99797197e-01 -4.80366203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2 meters 0.023945782078935718 Centerline is valid? [True, True] Translation: X:97.46, Y:185.58, Z:-5.59 [[-9.97431243e-01 -7.08002275e-02 -1.08740194e-02 9.74636603e+01] [ 7.08001258e-02 -9.97490444e-01 3.94793206e-04 1.85582030e+02] [-1.08746819e-02 -3.76102864e-04 9.99940798e-01 -5.59352210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22999999999996 meters 0.023422321677777892 Centerline is valid? [True, True] Translation: X:97.35, Y:184.98, Z:-4.81 [[-9.94231253e-01 1.05452822e-01 1.95938015e-02 9.73490170e+01] [ 1.05431082e-01 9.94424305e-01 -2.14213631e-03 1.84982652e+02] [-1.97104468e-02 -6.39831726e-05 -9.99805728e-01 -4.80502853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26 meters 0.023780522865596797 Centerline is valid? [True, True] Translation: X:97.39, Y:185.58, Z:-5.59 [[-9.97640403e-01 -6.77718443e-02 -1.09819665e-02 9.73899884e+01] [ 6.77716601e-02 -9.97700782e-01 3.89350749e-04 1.85577072e+02] [-1.09831036e-02 -3.55834062e-04 9.99939621e-01 -5.59494321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28999999999996 meters 0.024397197204977343 Centerline is valid? [True, True] Translation: X:97.28, Y:185.00, Z:-4.81 [[-9.94922363e-01 9.86397771e-02 1.99921600e-02 9.72791496e+01] [ 9.86182105e-02 9.95123202e-01 -2.06420533e-03 1.84997171e+02] [-2.00982750e-02 -8.21330098e-05 -9.99798006e-01 -4.80540156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32 meters 0.02407319896562917 Centerline is valid? [True, True] Translation: X:97.27, Y:185.03, Z:-4.81 [[-9.99410561e-01 2.75530013e-02 2.04783251e-02 9.72695100e+01] [ 2.75462534e-02 9.99620343e-01 -6.11575808e-04 1.85029753e+02] [-2.04874011e-02 -4.71141881e-05 -9.99790110e-01 -4.80546705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34999999999997 meters 0.02474557627638012 Centerline is valid? [True, True] Translation: X:97.26, Y:185.06, Z:-4.81 [[-9.98832196e-01 -4.35677221e-02 2.08829533e-02 9.72553911e+01] [-4.35586268e-02 9.99050476e-01 8.90419773e-04 1.85060005e+02] [-2.09019180e-02 -2.02528328e-05 -9.99781531e-01 -4.80551795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38 meters 0.025450465461193714 Centerline is valid? [True, True] Translation: X:97.24, Y:185.09, Z:-4.81 [[-9.93227043e-01 -1.14288580e-01 2.09323230e-02 9.72352072e+01] [-1.14263164e-01 9.93447593e-01 2.41017498e-03 1.85088470e+02] [-2.10706213e-02 2.05751467e-06 -9.99777990e-01 -4.80591979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40999999999997 meters 0.026976030805122238 Centerline is valid? [True, True] Translation: X:97.20, Y:185.12, Z:-4.81 [[-9.82902320e-01 -1.83024471e-01 2.01263843e-02 9.72045423e+01] [-1.82985676e-01 9.83108357e-01 3.76828944e-03 1.85116652e+02] [-2.04761057e-02 2.10204109e-05 -9.99790342e-01 -4.80738438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44 meters 0.023418224366133545 Centerline is valid? [True, True] Translation: X:97.16, Y:185.14, Z:-4.81 [[-9.67503020e-01 -2.52091864e-01 1.96875031e-02 9.71552110e+01] [-2.52038732e-01 9.67703307e-01 5.17561923e-03 1.85141494e+02] [-2.03563933e-02 4.54139156e-05 -9.99792786e-01 -4.80954794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46999999999997 meters 0.02556051511648666 Centerline is valid? [True, True] Translation: X:97.09, Y:185.15, Z:-4.81 [[-9.47815652e-01 -3.18281270e-01 1.85073715e-02 9.70914493e+01] [-3.18219064e-01 9.47996323e-01 6.29281633e-03 1.85153825e+02] [-1.95478057e-02 7.50313608e-05 -9.99808921e-01 -4.81109231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5 meters 0.02651799676150211 Centerline is valid? [True, True] Translation: X:97.02, Y:185.16, Z:-4.81 [[-9.22701254e-01 -3.85084086e-01 1.82385152e-02 9.70196967e+01] [-3.85005946e-01 9.22881481e-01 7.75845437e-03 1.85155378e+02] [-1.98196452e-02 1.36798783e-04 -9.99803562e-01 -4.81236322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53 meters 0.02698909928317193 Centerline is valid? [True, True] Translation: X:96.95, Y:185.15, Z:-4.81 [[-8.92569163e-01 -4.50569737e-01 1.75271678e-02 9.69455406e+01] [-4.50479245e-01 8.92741219e-01 9.03134080e-03 1.85151359e+02] [-1.97164740e-02 1.65470955e-04 -9.99805598e-01 -4.81373375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56 meters 0.02859630288323736 Centerline is valid? [True, True] Translation: X:96.86, Y:185.14, Z:-4.81 [[-8.58617853e-01 -5.12340015e-01 1.68253368e-02 9.68633478e+01] [-5.12236162e-01 8.58782656e-01 1.03181098e-02 1.85140371e+02] [-1.97356880e-02 2.40767273e-04 -9.99805203e-01 -4.81497323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59 meters 0.027135246625462704 Centerline is valid? [True, True] Translation: X:96.78, Y:185.12, Z:-4.82 [[-8.19105709e-01 -5.73416504e-01 1.61043529e-02 9.67772698e+01] [-5.73298850e-01 8.19263958e-01 1.16187816e-02 1.85119611e+02] [-1.98561170e-02 2.84403360e-04 -9.99802807e-01 -4.81674223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62 meters 0.027047152937564926 Centerline is valid? [True, True] Translation: X:96.69, Y:185.09, Z:-4.82 [[-7.74869513e-01 -6.31935488e-01 1.53224126e-02 9.66929025e+01] [-6.31803643e-01 7.75020924e-01 1.29121646e-02 1.85089839e+02] [-2.00348454e-02 3.24486587e-04 -9.99799230e-01 -4.81838307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65 meters 0.027851990911345294 Centerline is valid? [True, True] Translation: X:96.61, Y:185.05, Z:-4.82 [[-7.26210368e-01 -6.87315344e-01 1.47010074e-02 9.66059888e+01] [-6.87163572e-01 7.26359047e-01 1.44485102e-02 1.85047201e+02] [-2.06088925e-02 3.90661167e-04 -9.99787538e-01 -4.82018667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68 meters 0.03276033900160042 Centerline is valid? [True, True] Translation: X:96.52, Y:184.99, Z:-4.82 [[-6.73215183e-01 -7.39317456e-01 1.38209050e-02 9.65249094e+01] [-7.39148267e-01 6.73356896e-01 1.58218073e-02 1.84992789e+02] [-2.10037400e-02 4.35782915e-04 -9.99779302e-01 -4.82104369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71 meters 0.028939221616057442 Centerline is valid? [True, True] Translation: X:96.44, Y:184.94, Z:-4.82 [[-6.16614782e-01 -7.87162308e-01 1.27165850e-02 9.64353253e+01] [-7.86978843e-01 6.16745714e-01 1.70007321e-02 1.84943827e+02] [-2.12252348e-02 4.75219400e-04 -9.99774606e-01 -4.82294326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74 meters 0.028081745375628967 Centerline is valid? [True, True] Translation: X:96.35, Y:184.88, Z:-4.82 [[-5.56446523e-01 -8.30801735e-01 1.16509619e-02 9.63541298e+01] [-8.30599265e-01 5.56568229e-01 1.83485000e-02 1.84878672e+02] [-2.17285208e-02 5.32678631e-04 -9.99763766e-01 -4.82470485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77 meters 0.029424690900608914 Centerline is valid? [True, True] Translation: X:96.28, Y:184.81, Z:-4.83 [[-4.93675068e-01 -8.69584882e-01 1.03469673e-02 9.62768745e+01] [-8.69368508e-01 4.93783141e-01 1.94063737e-02 1.84809806e+02] [-2.19846472e-02 5.85115298e-04 -9.99758137e-01 -4.82628433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8 meters 0.03659231111083969 Centerline is valid? [True, True] Translation: X:96.21, Y:184.72, Z:-4.83 [[-4.27807733e-01 -9.03827381e-01 8.75264781e-03 9.62127903e+01] [-9.03609424e-01 4.27896859e-01 1.98566748e-02 1.84720526e+02] [-2.16922368e-02 5.85863961e-04 -9.99764524e-01 -4.82745778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83 meters 0.03425126244831028 Centerline is valid? [True, True] Translation: X:96.15, Y:184.64, Z:-4.83 [[-3.59214259e-01 -9.33227426e-01 7.18945269e-03 9.61459251e+01] [-9.33006536e-01 3.59285716e-01 2.03119970e-02 1.84638752e+02] [-2.15387803e-02 5.88552609e-04 -9.99767840e-01 -4.82980537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86 meters 0.03280262941725118 Centerline is valid? [True, True] Translation: X:96.09, Y:184.55, Z:-4.83 [[-2.88801807e-01 -9.57372354e-01 5.62962180e-03 9.60856662e+01] [-9.57147473e-01 2.88856034e-01 2.07583138e-02 1.84548607e+02] [-2.14995860e-02 6.06660259e-04 -9.99768673e-01 -4.83196319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89 meters 0.03213401649272895 Centerline is valid? [True, True] Translation: X:96.03, Y:184.46, Z:-4.83 [[-2.17148367e-01 -9.76130848e-01 3.89281345e-03 9.60296807e+01] [-9.75926258e-01 2.17182581e-01 1.99916478e-02 1.84463970e+02] [-2.03599154e-02 5.42054817e-04 -9.99792569e-01 -4.83499250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92 meters 0.03383990007515224 Centerline is valid? [True, True] Translation: X:95.99, Y:184.37, Z:-4.84 [[-1.43576018e-01 -9.89636530e-01 2.33774422e-03 9.59878846e+01] [-9.89442539e-01 1.43594174e-01 1.96004027e-02 1.84368197e+02] [-1.97329610e-02 5.01084192e-04 -9.99805161e-01 -4.83678234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95 meters 0.033922935359043824 Centerline is valid? [True, True] Translation: X:95.95, Y:184.27, Z:-4.84 [[-6.91941514e-02 -9.97602841e-01 8.60465027e-04 9.59511423e+01] [-9.97414319e-01 6.91978080e-02 1.93994767e-02 1.84272596e+02] [-1.94125153e-02 4.84090185e-04 -9.99811442e-01 -4.83858726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97999999999996 meters 0.03273121438339807 Centerline is valid? [True, True] Translation: X:95.92, Y:184.14, Z:-4.84 [[ 4.22946375e-03 -9.99990840e-01 -6.56293777e-04 9.59160962e+01] [-9.99789173e-01 -4.24179599e-03 2.00902007e-02 1.84136879e+02] [-2.00928005e-02 5.71184638e-04 -9.99797956e-01 -4.84036057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01 meters 0.034484372194146344 Centerline is valid? [True, True] Translation: X:95.90, Y:184.02, Z:-4.84 [[ 7.78834751e-02 -9.96960185e-01 -2.13390905e-03 9.58990768e+01] [-9.96762501e-01 -7.79105428e-02 1.98611050e-02 1.84020091e+02] [-1.99669850e-02 5.80148642e-04 -9.99800472e-01 -4.84181561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03999999999996 meters 0.03425484495028623 Centerline is valid? [True, True] Translation: X:95.88, Y:183.96, Z:-4.84 [[ 1.51448620e-01 -9.88458447e-01 -3.63503749e-03 9.58767418e+01] [-9.88261589e-01 -1.51491036e-01 1.97357047e-02 1.83959584e+02] [-2.00585996e-02 6.03422674e-04 -9.99798624e-01 -4.84303981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07 meters 0.03956438510103257 Centerline is valid? [True, True] Translation: X:95.88, Y:183.86, Z:-4.84 [[ 2.23989524e-01 -9.74578782e-01 -4.98904281e-03 9.58758953e+01] [-9.74392653e-01 -2.24044294e-01 1.90554819e-02 1.83861558e+02] [-1.96888350e-02 5.93058324e-04 -9.99805980e-01 -4.84447650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09999999999997 meters 0.033196031191309296 Centerline is valid? [True, True] Translation: X:95.85, Y:183.79, Z:-4.85 [[ 2.95167465e-01 -9.55424932e-01 -6.27426739e-03 9.58470902e+01] [-9.55249359e-01 -2.95233564e-01 1.83249900e-02 1.83794469e+02] [-1.93605267e-02 5.84549056e-04 -9.99812397e-01 -4.84731766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13 meters 0.03332191138655927 Centerline is valid? [True, True] Translation: X:95.85, Y:183.69, Z:-4.85 [[ 3.65169823e-01 -9.30910723e-01 -7.49843721e-03 9.58537991e+01] [-9.30745237e-01 -3.65246363e-01 1.75612816e-02 1.83694151e+02] [-1.90867623e-02 5.66284619e-04 -9.99817671e-01 -4.84920076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15999999999997 meters 0.03375622024252395 Centerline is valid? [True, True] Translation: X:95.86, Y:183.61, Z:-4.85 [[ 4.33441868e-01 -9.01139294e-01 -8.72466538e-03 9.58572567e+01] [-9.00981550e-01 -4.33529320e-01 1.68693621e-02 1.83614510e+02] [-1.89840433e-02 5.48874711e-04 -9.99819636e-01 -4.85059445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19 meters 0.03064383122077385 Centerline is valid? [True, True] Translation: X:95.87, Y:183.51, Z:-4.85 [[ 5.01175349e-01 -8.65290274e-01 -9.79850919e-03 9.58660960e+01] [-8.65143079e-01 -5.01270900e-01 1.59667491e-02 1.83514076e+02] [-1.87275802e-02 4.74971356e-04 -9.99824511e-01 -4.85247847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21999999999997 meters 0.03438485665729709 Centerline is valid? [True, True] Translation: X:95.88, Y:183.45, Z:-4.85 [[ 5.65346296e-01 -8.24781016e-01 -1.09471721e-02 9.58759119e+01] [-8.24640991e-01 -5.65452110e-01 1.52035150e-02 1.83450597e+02] [-1.87296721e-02 4.32235960e-04 -9.99824491e-01 -4.85324602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25 meters 0.03425871141618591 Centerline is valid? [True, True] Translation: X:95.97, Y:183.29, Z:-4.86 [[ 6.25592943e-01 -7.80055619e-01 -1.21120608e-02 9.59738116e+01] [-7.79921970e-01 -6.25710048e-01 1.44449670e-02 1.83285927e+02] [-1.88465159e-02 4.09792899e-04 -9.99822305e-01 -4.85575954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28 meters 0.03569352381508491 Centerline is valid? [True, True] Translation: X:95.99, Y:183.23, Z:-4.86 [[ 6.83166142e-01 -7.30140656e-01 -1.33657941e-02 9.59914337e+01] [-7.30011246e-01 -6.83296781e-01 1.37510219e-02 1.83225083e+02] [-1.91729843e-02 3.62947419e-04 -9.99816116e-01 -4.85607186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31 meters 0.028588902957397973 Centerline is valid? [True, True] Translation: X:95.99, Y:183.19, Z:-4.86 [[ 7.42791351e-01 -6.69352517e-01 -1.51068552e-02 9.59879514e+01] [-6.69220211e-01 -7.42944922e-01 1.33098389e-02 1.83187119e+02] [-2.01325355e-02 2.23379544e-04 -9.99797295e-01 -4.85650091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34 meters 0.02998281391612833 Centerline is valid? [True, True] Translation: X:96.00, Y:183.16, Z:-4.86 [[ 7.95059416e-01 -6.06304020e-01 -1.66120548e-02 9.59991053e+01] [-6.06176768e-01 -7.95232921e-01 1.24228592e-02 1.83164543e+02] [-2.07424824e-02 1.92930512e-04 -9.99784833e-01 -4.85617834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37 meters 0.028899112706534277 Centerline is valid? [True, True] Translation: X:96.01, Y:183.14, Z:-4.86 [[ 8.41834517e-01 -5.39451320e-01 -1.75191167e-02 9.60122007e+01] [-5.39337687e-01 -8.42016780e-01 1.10725760e-02 1.83141421e+02] [-2.07245060e-02 1.27443191e-04 -9.99785216e-01 -4.85644579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4 meters 0.026149487434735594 Centerline is valid? [True, True] Translation: X:96.02, Y:183.11, Z:-4.86 [[ 8.84137247e-01 -4.66884982e-01 -1.78813469e-02 9.60237861e+01] [-4.66789227e-01 -8.84318050e-01 9.45537650e-03 1.83111416e+02] [-2.02273712e-02 -1.30304192e-05 -9.99795406e-01 -4.85676536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43 meters 0.025083421698992008 Centerline is valid? [True, True] Translation: X:96.01, Y:183.03, Z:-5.64 [[ 9.27874291e-01 3.72829008e-01 6.91600479e-03 9.60061484e+01] [-3.72815510e-01 9.27899984e-01 -3.19612281e-03 1.83029880e+02] [-7.60896804e-03 3.87206335e-04 9.99970976e-01 -5.64090533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46 meters 0.026403172321909276 Centerline is valid? [True, True] Translation: X:96.03, Y:183.02, Z:-5.64 [[ 9.27288997e-01 3.74276319e-01 7.23548788e-03 9.60323378e+01] [-3.74261593e-01 9.27317143e-01 -3.34318721e-03 1.83020778e+02] [-7.96086775e-03 3.92135492e-04 9.99968235e-01 -5.64151756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49 meters 0.024439774945062078 Centerline is valid? [True, True] Translation: X:96.06, Y:183.02, Z:-5.64 [[ 9.26456392e-01 3.76319773e-01 7.87284924e-03 9.60640894e+01] [-3.76302413e-01 9.26489753e-01 -3.63750177e-03 1.83019226e+02] [-8.66297799e-03 4.07414594e-04 9.99962393e-01 -5.64161317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52 meters 0.023991630627344683 Centerline is valid? [True, True] Translation: X:96.09, Y:183.01, Z:-5.64 [[ 9.26133805e-01 3.77104435e-01 8.27167938e-03 9.60917712e+01] [-3.77085334e-01 9.26170649e-01 -3.81840187e-03 1.83011425e+02] [-9.10092294e-03 4.17222070e-04 9.99958499e-01 -5.64193190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55 meters 0.023652978628784127 Centerline is valid? [True, True] Translation: X:96.12, Y:183.00, Z:-5.64 [[ 9.25899671e-01 3.77679597e-01 8.24144939e-03 9.61199164e+01] [-3.77660664e-01 9.25936259e-01 -3.80372814e-03 1.83002987e+02] [-9.06764732e-03 4.09399388e-04 9.99958804e-01 -5.64244481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58 meters 0.023308691436225975 Centerline is valid? [True, True] Translation: X:96.15, Y:183.00, Z:-5.64 [[ 9.25480212e-01 3.78723213e-01 7.42332447e-03 9.61488554e+01] [-3.78707882e-01 9.25509912e-01 -3.42671146e-03 1.82997368e+02] [-8.16813556e-03 3.60082166e-04 9.99966575e-01 -5.64432752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61 meters 0.022936026296683346 Centerline is valid? [True, True] Translation: X:96.18, Y:182.99, Z:-5.65 [[ 9.25315206e-01 3.79130664e-01 7.19093532e-03 9.61761807e+01] [-3.79116306e-01 9.25343083e-01 -3.31734448e-03 1.82988784e+02] [-7.91178927e-03 3.43388464e-04 9.99968642e-01 -5.64555765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64 meters 0.022834536854449344 Centerline is valid? [True, True] Translation: X:96.20, Y:182.98, Z:-5.65 [[ 9.25115840e-01 3.79625783e-01 6.70427854e-03 9.62042266e+01] [-3.79613330e-01 9.25140079e-01 -3.09089832e-03 1.82979545e+02] [-7.37578147e-03 3.14405494e-04 9.99972749e-01 -5.64675694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67 meters 0.022704373984135596 Centerline is valid? [True, True] Translation: X:96.23, Y:182.97, Z:-5.65 [[ 9.24947572e-01 3.80035863e-01 6.68816268e-03 9.62312667e+01] [-3.80023493e-01 9.24971701e-01 -3.08169819e-03 1.82970367e+02] [-7.35751705e-03 3.08750314e-04 9.99972885e-01 -5.64777114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7 meters 0.022704373984135596 Centerline is valid? [True, True] Translation: X:96.26, Y:182.96, Z:-5.65 [[ 9.25057025e-01 3.79769352e-01 6.68884076e-03 9.62562847e+01] [-3.79756986e-01 9.25081155e-01 -3.08022537e-03 1.82958938e+02] [-7.35749574e-03 3.09250108e-04 9.99972885e-01 -5.64815047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72999999999996 meters 0.02237550841020281 Centerline is valid? [True, True] Translation: X:96.28, Y:182.95, Z:-5.65 [[ 9.24385486e-01 3.81410216e-01 6.14169853e-03 9.62845333e+01] [-3.81399841e-01 9.24405850e-01 -2.82612124e-03 1.82951411e+02] [-6.75533356e-03 2.69982615e-04 9.99977146e-01 -5.64899813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76 meters 0.022596957423681212 Centerline is valid? [True, True] Translation: X:96.31, Y:182.94, Z:-5.65 [[ 9.24151759e-01 3.81981920e-01 5.77408859e-03 9.63102959e+01] [-3.81972778e-01 9.24169763e-01 -2.65423796e-03 1.82941207e+02] [-6.35010900e-03 2.47374023e-04 9.99979807e-01 -5.64988865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78999999999996 meters 0.022603616786855914 Centerline is valid? [True, True] Translation: X:96.34, Y:182.93, Z:-5.65 [[ 9.23891519e-01 3.82613991e-01 5.56737822e-03 9.63372615e+01] [-3.82605499e-01 9.23908263e-01 -2.55999343e-03 1.82930746e+02] [-6.12323605e-03 2.35046699e-04 9.99981225e-01 -5.65061398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82 meters 0.02123988284784281 Centerline is valid? [True, True] Translation: X:96.37, Y:182.92, Z:-5.65 [[ 9.23564455e-01 3.83403147e-01 5.54303652e-03 9.63652962e+01] [-3.83394753e-01 9.23581061e-01 -2.54706353e-03 1.82921724e+02] [-6.09599572e-03 2.27206221e-04 9.99981393e-01 -5.65065818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84999999999997 meters 0.020769478135641974 Centerline is valid? [True, True] Translation: X:96.39, Y:182.91, Z:-5.65 [[ 9.22634279e-01 3.85627968e-01 6.08755854e-03 9.63930079e+01] [-3.85617915e-01 9.22654333e-01 -2.79394080e-03 1.82912614e+02] [-6.69413398e-03 2.30313924e-04 9.99977568e-01 -5.65104439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88 meters 0.02100140619625682 Centerline is valid? [True, True] Translation: X:96.42, Y:182.90, Z:-5.65 [[ 9.22210885e-01 3.86637973e-01 6.17740995e-03 9.64183019e+01] [-3.86627647e-01 9.22231547e-01 -2.83476262e-03 1.82901372e+02] [-6.79302921e-03 2.25891468e-04 9.99976902e-01 -5.65099624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90999999999997 meters 0.020263679284697477 Centerline is valid? [True, True] Translation: X:96.45, Y:182.89, Z:-5.65 [[ 9.21960148e-01 3.87228087e-01 6.62521943e-03 9.64451418e+01] [-3.87216222e-01 9.21983922e-01 -3.04059940e-03 1.82891307e+02] [-7.28575128e-03 2.37919037e-04 9.99973430e-01 -5.65088579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94 meters 0.018342335447832026 Centerline is valid? [True, True] Translation: X:96.47, Y:182.88, Z:-5.65 [[ 9.21770028e-01 3.87665396e-01 7.45365317e-03 9.64730865e+01] [-3.87650414e-01 9.21800126e-01 -3.41816412e-03 1.82883701e+02] [-8.19588238e-03 2.61349496e-04 9.99966379e-01 -5.64967626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96999999999997 meters 0.020867679042015523 Centerline is valid? [True, True] Translation: X:96.50, Y:182.87, Z:-5.65 [[ 9.21876153e-01 3.87409937e-01 7.60915518e-03 9.64967649e+01] [-3.87394344e-01 9.21907517e-01 -3.48596702e-03 1.82868314e+02] [-8.36543562e-03 2.65886182e-04 9.99964974e-01 -5.65046294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0 meters 0.019560441208529244 Centerline is valid? [True, True] Translation: X:96.52, Y:182.86, Z:-5.65 [[ 9.22193577e-01 3.86654833e-01 7.55291411e-03 9.65241540e+01] [-3.86639443e-01 9.22224467e-01 -3.46033184e-03 1.82857994e+02] [-8.30343622e-03 2.70841291e-04 9.99965489e-01 -5.65019230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03 meters 0.019460155151555587 Centerline is valid? [True, True] Translation: X:96.55, Y:182.85, Z:-5.65 [[ 9.22833413e-01 3.85113928e-01 8.10889791e-03 9.65503670e+01] [-3.85096154e-01 9.22868989e-01 -3.71230745e-03 1.82846127e+02] [-8.91311172e-03 3.03135958e-04 9.99960231e-01 -5.64969381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06 meters 0.01992524687870758 Centerline is valid? [True, True] Translation: X:96.58, Y:182.83, Z:-5.65 [[ 9.24192574e-01 3.81799177e-01 9.87293164e-03 9.65760258e+01] [-3.81772689e-01 9.24245219e-01 -4.51533452e-03 1.82832207e+02] [-1.08489609e-02 4.03822967e-04 9.99941067e-01 -5.64877325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09 meters 0.02210824923604213 Centerline is valid? [True, True] Translation: X:96.60, Y:182.82, Z:-5.65 [[ 9.25086538e-01 3.79620008e-01 1.01757561e-02 9.65991677e+01] [-3.79591745e-01 9.25142397e-01 -4.65327375e-03 1.82816818e+02] [-1.11804992e-02 4.42047877e-04 9.99937399e-01 -5.64872276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12 meters 0.02160605597762842 Centerline is valid? [True, True] Translation: X:96.63, Y:182.80, Z:-5.65 [[ 9.25998673e-01 3.77370724e-01 1.08532797e-02 9.66257544e+01] [-3.77338433e-01 9.26062140e-01 -4.96183095e-03 1.82804790e+02] [-1.19232612e-02 4.99289310e-04 9.99928791e-01 -5.64823780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15 meters 0.02380253855106187 Centerline is valid? [True, True] Translation: X:96.65, Y:182.79, Z:-5.65 [[ 9.27524697e-01 3.73594503e-01 1.11840844e-02 9.66502283e+01] [-3.73559989e-01 9.27591954e-01 -5.10904274e-03 1.82789209e+02] [-1.22829770e-02 5.60836886e-04 9.99924404e-01 -5.64893786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18 meters 0.023775664987089936 Centerline is valid? [True, True] Translation: X:96.68, Y:182.78, Z:-5.65 [[ 9.28202928e-01 3.71896711e-01 1.14961084e-02 9.66759368e+01] [-3.71860114e-01 9.28273923e-01 -5.25158361e-03 1.82777334e+02] [-1.26245843e-02 5.99591102e-04 9.99920127e-01 -5.64940987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21 meters 0.025367748614718633 Centerline is valid? [True, True] Translation: X:96.70, Y:182.76, Z:-5.65 [[ 9.28861033e-01 3.70259386e-01 1.11878871e-02 9.67000331e+01] [-3.70224621e-01 9.28928212e-01 -5.10957676e-03 1.82763771e+02] [-1.22846127e-02 6.04055501e-04 9.99924359e-01 -5.65055145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24 meters 0.026913149620365156 Centerline is valid? [True, True] Translation: X:96.72, Y:182.75, Z:-5.65 [[ 9.29525215e-01 3.68617390e-01 1.02027204e-02 9.67243689e+01] [-3.68588391e-01 9.29581032e-01 -4.65858896e-03 1.82749640e+02] [-1.12014923e-02 5.69671593e-04 9.99937099e-01 -5.65279467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27 meters 0.025684392363772214 Centerline is valid? [True, True] Translation: X:96.75, Y:182.74, Z:-5.65 [[ 9.29839965e-01 3.67842838e-01 9.44918486e-03 9.67512091e+01] [-3.67817925e-01 9.29887821e-01 -4.31447139e-03 1.82739537e+02] [-1.03737293e-02 5.36188356e-04 9.99946048e-01 -5.65396709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3 meters 0.027478439156264692 Centerline is valid? [True, True] Translation: X:96.78, Y:182.73, Z:-5.66 [[ 9.29954064e-01 3.67568356e-01 8.88492219e-03 9.67756680e+01] [-3.67546349e-01 9.29996371e-01 -4.05359006e-03 1.82726058e+02] [-9.75291682e-03 5.04031841e-04 9.99952312e-01 -5.65522912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33 meters 0.02492672146305041 Centerline is valid? [True, True] Translation: X:96.80, Y:182.72, Z:-5.66 [[ 9.30216885e-01 3.66916748e-01 8.28533909e-03 9.68042416e+01] [-3.66897585e-01 9.30253661e-01 -3.78010152e-03 1.82718703e+02] [-9.09444958e-03 4.76443362e-04 9.99958531e-01 -5.65643091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36 meters 0.02937894424856509 Centerline is valid? [True, True] Translation: X:96.83, Y:182.70, Z:-5.66 [[ 9.30443237e-01 3.66348243e-01 8.02171096e-03 9.68271158e+01] [-3.66330286e-01 9.30477700e-01 -3.65676208e-03 1.82701911e+02] [-8.80367153e-03 4.63813878e-04 9.99961139e-01 -5.65743555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39 meters 0.02744943245841947 Centerline is valid? [True, True] Translation: X:96.85, Y:182.69, Z:-5.66 [[ 9.30887479e-01 3.65218445e-01 7.99936961e-03 9.68547030e+01] [-3.65200552e-01 9.30921728e-01 -3.64588881e-03 1.82693137e+02] [-8.77833282e-03 4.72538047e-04 9.99961358e-01 -5.65791267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42 meters 0.026416117874086775 Centerline is valid? [True, True] Translation: X:96.88, Y:182.68, Z:-5.66 [[ 9.31355287e-01 3.64022816e-01 8.04475646e-03 9.68820812e+01] [-3.64004696e-01 9.31389905e-01 -3.66413327e-03 1.82682927e+02] [-8.82663307e-03 4.84280763e-04 9.99960927e-01 -5.65820672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45 meters 0.028818783117298536 Centerline is valid? [True, True] Translation: X:96.91, Y:182.67, Z:-5.66 [[ 9.32892375e-01 3.60062489e-01 8.17443789e-03 9.69073239e+01] [-3.60043663e-01 9.32928039e-01 -3.71942557e-03 1.82669111e+02] [-8.96538794e-03 5.26669188e-04 9.99959671e-01 -5.65870519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47999999999996 meters 0.035638722908088276 Centerline is valid? [True, True] Translation: X:96.93, Y:182.65, Z:-5.66 [[ 9.34044039e-01 3.57057344e-01 8.47269304e-03 9.69306617e+01] [-3.57037000e-01 9.34082289e-01 -3.85466402e-03 1.82648939e+02] [-9.29052861e-03 5.75361041e-04 9.99956677e-01 -5.65984224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51 meters 0.03773923377688716 Centerline is valid? [True, True] Translation: X:96.96, Y:182.63, Z:-5.66 [[ 9.35424908e-01 3.53428398e-01 8.28306814e-03 9.69569478e+01] [-3.53408816e-01 9.35461389e-01 -3.76813283e-03 1.82634242e+02] [-9.08025558e-03 5.97495999e-04 9.99958595e-01 -5.66007830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53999999999996 meters 0.038813826995407336 Centerline is valid? [True, True] Translation: X:96.98, Y:182.62, Z:-5.66 [[ 9.36832932e-01 3.49686182e-01 7.97702022e-03 9.69838629e+01] [-3.49667885e-01 9.36866694e-01 -3.62880220e-03 1.82620825e+02] [-8.74234654e-03 6.10273611e-04 9.99961599e-01 -5.66083468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57 meters 0.032908229810390294 Centerline is valid? [True, True] Translation: X:97.02, Y:182.62, Z:-5.66 [[ 9.38263336e-01 3.45827977e-01 8.05744951e-03 9.70153298e+01] [-3.45809168e-01 9.38297706e-01 -3.66533585e-03 1.82615992e+02] [-8.82786207e-03 6.52710329e-04 9.99960821e-01 -5.66105280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59999999999997 meters 0.037786798807238654 Centerline is valid? [True, True] Translation: X:97.04, Y:182.60, Z:-5.66 [[ 9.40879791e-01 3.38644514e-01 8.06920971e-03 9.70405496e+01] [-3.38625387e-01 9.40914116e-01 -3.67074519e-03 1.82600052e+02] [-8.83551104e-03 7.21290707e-04 9.99960706e-01 -5.66137415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63 meters 0.04090680856499146 Centerline is valid? [True, True] Translation: X:97.07, Y:182.59, Z:-5.66 [[ 9.41913699e-01 3.35753776e-01 8.24535322e-03 9.70663104e+01] [-3.35733697e-01 9.41949477e-01 -3.75059525e-03 1.82585939e+02] [-9.02598267e-03 7.64494126e-04 9.99958973e-01 -5.66184474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65999999999997 meters 0.042919703825456706 Centerline is valid? [True, True] Translation: X:97.09, Y:182.57, Z:-5.66 [[ 9.42606949e-01 3.33792618e-01 8.63874111e-03 9.70925322e+01] [-3.33770495e-01 9.42646177e-01 -3.92958647e-03 1.82573093e+02] [-9.45494324e-03 8.20698617e-04 9.99954964e-01 -5.66126580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69 meters 0.04390448468298142 Centerline is valid? [True, True] Translation: X:97.12, Y:182.56, Z:-5.66 [[ 9.43019188e-01 3.32592754e-01 9.84233902e-03 9.71206600e+01] [-3.32563977e-01 9.43070072e-01 -4.47663360e-03 1.82564458e+02] [-1.07709113e-02 9.48343971e-04 9.99941542e-01 -5.66023319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71999999999997 meters 0.04538214034506657 Centerline is valid? [True, True] Translation: X:97.15, Y:182.55, Z:-5.66 [[ 9.42676555e-01 3.33558335e-01 9.98748688e-03 9.71469842e+01] [-3.33528764e-01 9.42728982e-01 -4.54204466e-03 1.82553910e+02] [-1.09305302e-02 9.50564863e-04 9.99939808e-01 -5.66020991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75 meters 0.051598413727728054 Centerline is valid? [True, True] Translation: X:97.17, Y:182.54, Z:-5.66 [[ 9.42021536e-01 3.35388353e-01 1.04918052e-02 9.71718384e+01] [-3.35355844e-01 9.42079456e-01 -4.77035076e-03 1.82537767e+02] [-1.14840342e-02 9.75284954e-04 9.99933581e-01 -5.66035378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78 meters 0.037132691211772914 Centerline is valid? [True, True] Translation: X:97.21, Y:182.55, Z:-5.66 [[ 9.41018634e-01 3.38189831e-01 1.05625654e-02 9.72092295e+01] [-3.38157063e-01 9.41077436e-01 -4.80201752e-03 1.82545823e+02] [-1.15641854e-02 9.46981888e-04 9.99932684e-01 -5.66020235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81 meters 0.03471803870326837 Centerline is valid? [True, True] Translation: X:97.24, Y:182.54, Z:-5.66 [[ 9.38296065e-01 3.45665386e-01 1.07673704e-02 9.72421041e+01] [-3.45631824e-01 9.38357438e-01 -4.89493789e-03 1.82543674e+02] [-1.17956527e-02 8.71355084e-04 9.99930049e-01 -5.66077193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84 meters 0.033286443171323114 Centerline is valid? [True, True] Translation: X:97.27, Y:182.54, Z:-5.66 [[ 9.36650572e-01 3.50091669e-01 1.10240191e-02 9.72724464e+01] [-3.50056790e-01 9.36715072e-01 -5.01177967e-03 1.82537094e+02] [-1.20809471e-02 8.35253563e-04 9.99926674e-01 -5.66117953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87 meters 0.03182440525679639 Centerline is valid? [True, True] Translation: X:97.30, Y:182.53, Z:-5.66 [[ 9.34932265e-01 3.54651664e-01 1.11291442e-02 9.73029279e+01] [-3.54616441e-01 9.34998173e-01 -5.05925403e-03 1.82530531e+02] [-1.22000023e-02 7.83482317e-04 9.99925270e-01 -5.66136072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9 meters 0.030923923628265928 Centerline is valid? [True, True] Translation: X:97.33, Y:182.52, Z:-5.66 [[ 9.33050870e-01 3.59566272e-01 1.13212061e-02 9.73315719e+01] [-3.59530185e-01 9.33119264e-01 -5.14637935e-03 1.82523507e+02] [-1.24144999e-02 7.31518416e-04 9.99922670e-01 -5.66159295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93 meters 0.02617441777907677 Centerline is valid? [True, True] Translation: X:97.37, Y:182.53, Z:-5.66 [[ 9.29401613e-01 3.68883335e-01 1.17357193e-02 9.73659796e+01] [-3.68845301e-01 9.29475492e-01 -5.33425785e-03 1.82525286e+02] [-1.28757823e-02 6.29002927e-04 9.99916906e-01 -5.66195153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96 meters 0.023650603549424724 Centerline is valid? [True, True] Translation: X:97.40, Y:182.52, Z:-5.66 [[ 9.27849913e-01 3.72750692e-01 1.23069551e-02 9.73968049e+01] [-3.72709208e-01 9.27931333e-01 -5.59361455e-03 1.82520074e+02] [-1.35050329e-02 6.03119291e-04 9.99908621e-01 -5.66199266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99 meters 0.02352328760370389 Centerline is valid? [True, True] Translation: X:97.43, Y:182.51, Z:-5.66 [[ 9.26400215e-01 3.76339407e-01 1.23000779e-02 9.74253244e+01] [-3.76298293e-01 9.26481704e-01 -5.58989918e-03 1.82511859e+02] [-1.34994965e-02 5.49985496e-04 9.99908726e-01 -5.66273043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02 meters 0.022277996601284558 Centerline is valid? [True, True] Translation: X:97.46, Y:182.51, Z:-5.66 [[ 9.23876117e-01 3.82459448e-01 1.33300393e-02 9.74555446e+01] [-3.82411803e-01 9.23972143e-01 -6.05735255e-03 1.82508277e+02] [-1.46332767e-02 4.98679011e-04 9.99892804e-01 -5.66395245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05 meters 0.02159840036374031 Centerline is valid? [True, True] Translation: X:97.48, Y:182.50, Z:-5.66 [[ 9.22932362e-01 3.84747134e-01 1.28645771e-02 9.74840196e+01] [-3.84702987e-01 9.23021909e-01 -5.84530058e-03 1.82499970e+02] [-1.41232492e-02 4.45775824e-04 9.99900163e-01 -5.66448963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08 meters 0.021451207593738388 Centerline is valid? [True, True] Translation: X:97.51, Y:182.49, Z:-5.66 [[ 9.22173058e-01 3.86551595e-01 1.32180093e-02 9.75110384e+01] [-3.86505229e-01 9.22267685e-01 -6.00214654e-03 1.82490922e+02] [-1.45106822e-02 4.26188110e-04 9.99894624e-01 -5.66474399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11 meters 0.02007075497335033 Centerline is valid? [True, True] Translation: X:97.54, Y:182.48, Z:-5.67 [[ 9.21406572e-01 3.88380843e-01 1.30479691e-02 9.75390824e+01] [-3.88335899e-01 9.21498871e-01 -5.92114763e-03 1.82483794e+02] [-1.43233491e-02 3.88789544e-04 9.99897340e-01 -5.66553306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14 meters 0.019265127286101715 Centerline is valid? [True, True] Translation: X:97.57, Y:182.47, Z:-5.67 [[ 9.20578368e-01 3.90343986e-01 1.29244376e-02 9.75671166e+01] [-3.90300136e-01 9.20669023e-01 -5.86128671e-03 1.82474844e+02] [-1.41870473e-02 3.51364009e-04 9.99899297e-01 -5.66614071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17 meters 0.017966161250658252 Centerline is valid? [True, True] Translation: X:97.60, Y:182.47, Z:-5.67 [[ 9.18568195e-01 3.95032527e-01 1.34823458e-02 9.75961424e+01] [-3.94985368e-01 9.18667089e-01 -6.11057871e-03 1.82468902e+02] [-1.47996647e-02 2.87653957e-04 9.99890438e-01 -5.66710794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2 meters 0.01781290226318138 Centerline is valid? [True, True] Translation: X:97.62, Y:182.46, Z:-5.67 [[ 9.17587197e-01 3.97307384e-01 1.34379394e-02 9.76238258e+01] [-3.97260799e-01 9.17685556e-01 -6.08911449e-03 1.82459230e+02] [-1.47510530e-02 2.48926978e-04 9.99891166e-01 -5.66782753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22999999999996 meters 0.016998391385499065 Centerline is valid? [True, True] Translation: X:97.65, Y:182.45, Z:-5.67 [[ 9.16438678e-01 3.99960853e-01 1.30945120e-02 9.76506911e+01] [-3.99916941e-01 9.16532202e-01 -5.92988770e-03 1.82449538e+02] [-1.43732649e-02 1.97661252e-04 9.99896680e-01 -5.66843972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26 meters 0.016775611335707263 Centerline is valid? [True, True] Translation: X:97.68, Y:182.44, Z:-5.67 [[ 9.15092682e-01 4.03025734e-01 1.32529912e-02 9.76778162e+01] [-4.02981132e-01 9.15188634e-01 -5.99758921e-03 1.82439011e+02] [-1.45461697e-02 1.47644582e-04 9.99894188e-01 -5.66930999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28999999999996 meters 0.016111157865876025 Centerline is valid? [True, True] Translation: X:97.71, Y:182.43, Z:-5.67 [[ 9.12194976e-01 4.09570506e-01 1.23420480e-02 9.77055052e+01] [-4.09532470e-01 9.12278466e-01 -5.58188246e-03 1.82429849e+02] [-1.35455590e-02 3.72957590e-05 9.99908254e-01 -5.66998358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32 meters 0.016196534813879913 Centerline is valid? [True, True] Translation: X:97.73, Y:182.42, Z:-5.67 [[ 9.10739819e-01 4.12804278e-01 1.20668669e-02 9.77312497e+01] [-4.12768250e-01 9.10819756e-01 -5.45380868e-03 1.82419246e+02] [-1.32420964e-02 -1.38188236e-05 9.99912320e-01 -5.67077891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34999999999997 meters 0.016110290102428468 Centerline is valid? [True, True] Translation: X:97.76, Y:182.41, Z:-5.67 [[ 9.09367380e-01 4.15812797e-01 1.22753977e-02 9.77578776e+01] [-4.15775845e-01 9.09450226e-01 -5.54366793e-03 1.82407471e+02] [-1.34689913e-02 -6.25830817e-05 9.99909287e-01 -5.67062393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38 meters 0.016501584796476603 Centerline is valid? [True, True] Translation: X:97.78, Y:182.39, Z:-5.67 [[ 9.08002721e-01 4.18776792e-01 1.25322181e-02 9.77839517e+01] [-4.18738614e-01 9.08089195e-01 -5.65572928e-03 1.82394964e+02] [-1.37488600e-02 -1.12306042e-04 9.99905474e-01 -5.67092549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40999999999997 meters 0.016681314713597264 Centerline is valid? [True, True] Translation: X:97.81, Y:182.38, Z:-5.67 [[ 9.05399695e-01 4.24362565e-01 1.29539716e-02 9.78076812e+01] [-4.24322402e-01 9.05492336e-01 -5.84199481e-03 1.82381374e+02] [-1.42088459e-02 -2.07320022e-04 9.99899028e-01 -5.67051221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44 meters 0.017059150795998696 Centerline is valid? [True, True] Translation: X:97.83, Y:182.37, Z:-5.67 [[ 9.04257355e-01 4.26784165e-01 1.31876100e-02 9.78334306e+01] [-4.26742835e-01 9.04353478e-01 -5.94472717e-03 1.82367464e+02] [-1.44633764e-02 -2.52154803e-04 9.99895368e-01 -5.67091416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46999999999997 meters 0.017505784512296074 Centerline is valid? [True, True] Translation: X:97.86, Y:182.35, Z:-5.67 [[ 9.03262529e-01 4.28892863e-01 1.29505041e-02 9.78583788e+01] [-4.28853277e-01 9.03355319e-01 -5.83400727e-03 1.82353262e+02] [-1.42010709e-02 -2.84225964e-04 9.99899119e-01 -5.67167754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5 meters 0.01814039488046056 Centerline is valid? [True, True] Translation: X:97.88, Y:182.34, Z:-5.67 [[ 9.02365996e-01 4.30798609e-01 1.21723907e-02 9.78825383e+01] [-4.30763857e-01 9.02448043e-01 -5.47996555e-03 1.82339266e+02] [-1.33457117e-02 -2.98491384e-04 9.99910897e-01 -5.67255795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53 meters 0.01818655414214643 Centerline is valid? [True, True] Translation: X:97.91, Y:182.32, Z:-5.67 [[ 9.00520902e-01 4.34687981e-01 1.04145759e-02 9.79059874e+01] [-4.34662814e-01 9.00581071e-01 -4.68755284e-03 1.82319068e+02] [-1.14167928e-02 -3.05589574e-04 9.99934780e-01 -5.67368754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56 meters 0.020209322326501297 Centerline is valid? [True, True] Translation: X:97.93, Y:182.31, Z:-5.67 [[ 8.99638790e-01 4.36527163e-01 9.69965703e-03 9.79307380e+01] [-4.36505441e-01 8.99691026e-01 -4.36557123e-03 1.82306355e+02] [-1.06323848e-02 -3.06515857e-04 9.99943428e-01 -5.67482403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59 meters 0.020209322326501297 Centerline is valid? [True, True] Translation: X:97.96, Y:182.30, Z:-5.68 [[ 8.99757061e-01 4.36283331e-01 9.69980804e-03 9.79558181e+01] [-4.36261598e-01 8.99809293e-01 -4.36523590e-03 1.82295159e+02] [-1.06324571e-02 -3.04001926e-04 9.99943428e-01 -5.67520294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62 meters 0.021068373440245862 Centerline is valid? [True, True] Translation: X:97.98, Y:182.28, Z:-5.68 [[ 8.98900949e-01 4.38061786e-01 8.88571793e-03 9.79801836e+01] [-4.38043661e-01 8.98944816e-01 -3.99615809e-03 1.82279759e+02] [-9.73833422e-03 -3.00182110e-04 9.99952536e-01 -5.67593366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65 meters 0.022087357252510646 Centerline is valid? [True, True] Translation: X:98.00, Y:182.26, Z:-5.68 [[ 8.97502873e-01 4.40931806e-01 8.23018193e-03 9.80024956e+01] [-4.40916405e-01 8.97540554e-01 -3.69831388e-03 1.82257784e+02] [-9.01762628e-03 -3.09574895e-04 9.99959292e-01 -5.67561471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68 meters 0.019048531550200306 Centerline is valid? [True, True] Translation: X:98.02, Y:182.24, Z:-5.67 [[ 8.96971835e-01 4.42007294e-01 8.43083820e-03 9.80239252e+01] [-4.41991175e-01 8.97011396e-01 -3.78897516e-03 1.82235466e+02] [-9.23731261e-03 -3.27752079e-04 9.99957281e-01 -5.67447108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71 meters 0.02199581375923769 Centerline is valid? [True, True] Translation: X:98.05, Y:182.22, Z:-5.67 [[ 8.96643761e-01 4.42667251e-01 8.69891754e-03 9.80486240e+01] [-4.42650149e-01 8.96685889e-01 -3.90666911e-03 1.82222939e+02] [-9.52955109e-03 -3.47686663e-04 9.99954532e-01 -5.67487892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74 meters 0.020731141856849433 Centerline is valid? [True, True] Translation: X:98.07, Y:182.20, Z:-5.67 [[ 8.96363671e-01 4.43234732e-01 8.66839653e-03 9.80711168e+01] [-4.43217801e-01 8.96405514e-01 -3.89030664e-03 1.82203410e+02] [-9.49471747e-03 -3.54858105e-04 9.99954861e-01 -5.67442925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77 meters 0.020901794326769498 Centerline is valid? [True, True] Translation: X:98.09, Y:182.18, Z:-5.67 [[ 8.96145270e-01 4.43662222e-01 9.35350739e-03 9.80916000e+01] [-4.43642565e-01 8.96193997e-01 -4.19456477e-03 1.82178947e+02] [-1.02435271e-02 -3.90674629e-04 9.99947457e-01 -5.67406643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8 meters 0.021318570374447215 Centerline is valid? [True, True] Translation: X:98.11, Y:182.16, Z:-5.67 [[ 8.96276990e-01 4.43403224e-01 9.00769551e-03 9.81142499e+01] [-4.43385014e-01 8.96322174e-01 -4.03611593e-03 1.82161603e+02] [-9.86342404e-03 -3.76399365e-04 9.99951284e-01 -5.67455983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83 meters 0.02133967921762826 Centerline is valid? [True, True] Translation: X:98.14, Y:182.14, Z:-5.68 [[ 8.96596839e-01 4.42757649e-01 8.93160400e-03 9.81378418e+01] [-4.42739716e-01 8.96641249e-01 -4.00176683e-03 1.82142732e+02] [-9.78025744e-03 -3.66404326e-04 9.99952105e-01 -5.67536098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86 meters 0.02146465202482049 Centerline is valid? [True, True] Translation: X:98.16, Y:182.12, Z:-5.68 [[ 8.96961384e-01 4.42035474e-01 8.05699858e-03 9.81610777e+01] [-4.42020870e-01 8.96997511e-01 -3.60781506e-03 1.82123779e+02] [-8.82188991e-03 -3.25290737e-04 9.99961033e-01 -5.67599511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89 meters 0.02023813183626158 Centerline is valid? [True, True] Translation: X:98.18, Y:182.10, Z:-5.68 [[ 8.98301269e-01 4.39322000e-01 7.14211334e-03 9.81804439e+01] [-4.39310462e-01 8.98329621e-01 -3.19523964e-03 1.82095802e+02] [-7.81971104e-03 -2.67317289e-04 9.99969390e-01 -5.67710475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92 meters 0.019963464931342084 Centerline is valid? [True, True] Translation: X:98.20, Y:182.08, Z:-5.68 [[ 8.99073161e-01 4.37747254e-01 6.69271163e-03 9.82021856e+01] [-4.37737081e-01 8.99098040e-01 -2.99379525e-03 1.82077074e+02] [-7.32792955e-03 -2.38007094e-04 9.99973122e-01 -5.67726697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95 meters 0.01863397111994172 Centerline is valid? [True, True] Translation: X:98.22, Y:182.05, Z:-5.68 [[ 9.00451311e-01 4.34894797e-01 7.34527262e-03 9.82212180e+01] [-4.34882457e-01 9.00481238e-01 -3.28466797e-03 1.82049102e+02] [-8.04276519e-03 -2.36646626e-04 9.99967628e-01 -5.67647039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97999999999996 meters 0.019337573763466998 Centerline is valid? [True, True] Translation: X:98.24, Y:182.03, Z:-5.68 [[ 9.01098905e-01 4.33553575e-01 7.21533164e-03 9.82436798e+01] [-4.33541629e-01 9.01127765e-01 -3.22606192e-03 1.82032039e+02] [-7.90060636e-03 -2.21145769e-04 9.99968765e-01 -5.67711417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01 meters 0.017730749718943273 Centerline is valid? [True, True] Translation: X:98.27, Y:182.01, Z:-5.68 [[ 9.01671457e-01 4.32363576e-01 7.09374820e-03 9.82655756e+01] [-4.32351999e-01 9.01699337e-01 -3.17084177e-03 1.82010919e+02] [-7.76738454e-03 -2.07938694e-04 9.99969812e-01 -5.67669065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03999999999996 meters 0.018059703530693763 Centerline is valid? [True, True] Translation: X:98.29, Y:181.99, Z:-5.68 [[ 9.02232864e-01 4.31196743e-01 6.72519762e-03 9.82881746e+01] [-4.31186308e-01 9.02257909e-01 -3.00569248e-03 1.81993321e+02] [-7.36390754e-03 -1.87978594e-04 9.99972868e-01 -5.67711354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07 meters 0.016703907199126372 Centerline is valid? [True, True] Translation: X:98.31, Y:181.97, Z:-5.68 [[ 9.03351543e-01 4.28844955e-01 6.92777993e-03 9.83076105e+01] [-4.28833819e-01 9.03378090e-01 -3.09532415e-03 1.81966582e+02] [-7.58581875e-03 -1.74700484e-04 9.99971212e-01 -5.67683832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09999999999997 meters 0.016680642019544556 Centerline is valid? [True, True] Translation: X:98.33, Y:181.95, Z:-5.68 [[ 9.03761944e-01 4.27979644e-01 6.91176506e-03 9.83300798e+01] [-4.27968538e-01 9.03788358e-01 -3.08768197e-03 1.81949668e+02] [-7.56823783e-03 -1.67488533e-04 9.99971346e-01 -5.67736454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13 meters 0.016737964767653095 Centerline is valid? [True, True] Translation: X:98.35, Y:181.93, Z:-5.68 [[ 9.04015205e-01 4.27442585e-01 7.02461132e-03 9.83535741e+01] [-4.27431105e-01 9.04042482e-01 -3.13718119e-03 1.81932381e+02] [-7.69151189e-03 -1.66477883e-04 9.99970406e-01 -5.67796331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15999999999997 meters 0.016565237280207288 Centerline is valid? [True, True] Translation: X:98.38, Y:181.91, Z:-5.68 [[ 9.04291598e-01 4.26857020e-01 7.05617019e-03 9.83778530e+01] [-4.26845423e-01 9.04319113e-01 -3.15066026e-03 1.81914924e+02] [-7.72591102e-03 -1.62778349e-04 9.99970141e-01 -5.67840291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19 meters 0.01625603126953729 Centerline is valid? [True, True] Translation: X:98.40, Y:181.90, Z:-5.68 [[ 9.04480655e-01 4.26456581e-01 7.03767517e-03 9.84014960e+01] [-4.26445038e-01 9.04508020e-01 -3.14180647e-03 1.81897122e+02] [-7.70547768e-03 -1.59478483e-04 9.99970300e-01 -5.67886273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21999999999997 meters 0.016323930839722146 Centerline is valid? [True, True] Translation: X:98.42, Y:181.87, Z:-5.68 [[ 9.04768620e-01 4.25852410e-01 6.59307477e-03 9.84234731e+01] [-4.25842269e-01 9.04792630e-01 -2.94242649e-03 1.81874623e+02] [-7.21840488e-03 -1.45394771e-04 9.99973936e-01 -5.68008648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25 meters 0.016279202071074812 Centerline is valid? [True, True] Translation: X:98.45, Y:181.86, Z:-5.68 [[ 9.04951751e-01 4.25468508e-01 6.23521292e-03 9.84487556e+01] [-4.25459431e-01 9.04973221e-01 -2.78245869e-03 1.81857017e+02] [-6.82654926e-03 -1.34839278e-04 9.99976690e-01 -5.68103466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28 meters 0.016225901709430255 Centerline is valid? [True, True] Translation: X:98.47, Y:181.83, Z:-5.68 [[ 9.05111239e-01 4.25135975e-01 5.74866696e-03 9.84730617e+01] [-4.25128254e-01 9.05129487e-01 -2.56504722e-03 1.81833811e+02] [-6.29378183e-03 -1.22267683e-04 9.99980187e-01 -5.68187686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31 meters 0.015742618150731462 Centerline is valid? [True, True] Translation: X:98.50, Y:181.81, Z:-5.68 [[ 9.05191739e-01 4.24963345e-01 5.83707399e-03 9.84994024e+01] [-4.24955391e-01 9.05210550e-01 -2.60297274e-03 1.81814850e+02] [-6.38994896e-03 -1.24306641e-04 9.99979576e-01 -5.68260726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34 meters 0.0161757727659976 Centerline is valid? [True, True] Translation: X:98.53, Y:181.80, Z:-5.68 [[ 9.05303633e-01 4.24731655e-01 5.32484511e-03 9.85265275e+01] [-4.24725026e-01 9.05319286e-01 -2.37569864e-03 1.81797800e+02] [-5.82971939e-03 -1.10866372e-04 9.99983001e-01 -5.68353125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37 meters 0.016072869063212356 Centerline is valid? [True, True] Translation: X:98.55, Y:181.78, Z:-5.68 [[ 9.05555230e-01 4.24193934e-01 5.40665220e-03 9.85521617e+01] [-4.24187076e-01 9.05571364e-01 -2.41440088e-03 1.81779972e+02] [-5.92028362e-03 -1.07058643e-04 9.99982469e-01 -5.68418704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4 meters 0.0157952642504052 Centerline is valid? [True, True] Translation: X:98.58, Y:181.76, Z:-5.68 [[ 9.06327439e-01 4.22530027e-01 6.24097599e-03 9.85756351e+01] [-4.22520835e-01 9.06348920e-01 -2.78921861e-03 1.81756056e+02] [-6.83503046e-03 -1.08997033e-04 9.99976635e-01 -5.68467972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43 meters 0.015491339636925252 Centerline is valid? [True, True] Translation: X:98.60, Y:181.74, Z:-5.69 [[ 9.06857467e-01 4.21386364e-01 6.56255715e-03 9.86024696e+01] [-4.21376157e-01 9.06881206e-01 -2.93478771e-03 1.81737267e+02] [-7.18813926e-03 -1.03870966e-04 9.99974160e-01 -5.68503443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46 meters 0.015199386204402327 Centerline is valid? [True, True] Translation: X:98.63, Y:181.72, Z:-5.69 [[ 9.07320695e-01 4.20384493e-01 6.78480926e-03 9.86291197e+01] [-4.20373540e-01 9.07346058e-01 -3.03624174e-03 1.81718430e+02] [-7.43255888e-03 -9.73093220e-05 9.99972373e-01 -5.68561163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49 meters 0.014998455283966304 Centerline is valid? [True, True] Translation: X:98.66, Y:181.70, Z:-5.69 [[ 9.07774363e-01 4.19407457e-01 6.56440374e-03 9.86561377e+01] [-4.19397166e-01 9.07798093e-01 -2.93937580e-03 1.81699575e+02] [-7.19194933e-03 -8.48023339e-05 9.99974134e-01 -5.68651766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52 meters 0.014180408290055204 Centerline is valid? [True, True] Translation: X:98.68, Y:181.67, Z:-5.69 [[ 9.08508035e-01 4.17827847e-01 5.74809252e-03 9.86803063e+01] [-4.17819918e-01 9.08526217e-01 -2.57487111e-03 1.81674200e+02] [-6.29814560e-03 -6.23764462e-05 9.99980165e-01 -5.68681438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55 meters 0.01414784972688827 Centerline is valid? [True, True] Translation: X:98.71, Y:181.66, Z:-5.69 [[ 9.08515732e-01 4.17817713e-01 5.24634339e-03 9.87082623e+01] [-4.17811102e-01 9.08530878e-01 -2.35106535e-03 1.81655963e+02] [-5.74878171e-03 -5.60006606e-05 9.99983474e-01 -5.68789124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58 meters 0.014242096877146735 Centerline is valid? [True, True] Translation: X:98.74, Y:181.64, Z:-5.69 [[ 9.08505307e-01 4.17835328e-01 5.63428318e-03 9.87358461e+01] [-4.17827689e-01 9.08522776e-01 -2.52740198e-03 1.81638530e+02] [-6.17491243e-03 -5.80014092e-05 9.99980933e-01 -5.68864500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61 meters 0.014252431891554746 Centerline is valid? [True, True] Translation: X:98.76, Y:181.62, Z:-5.69 [[ 9.07969835e-01 4.18988129e-01 6.30287575e-03 9.87624807e+01] [-4.18978579e-01 9.07991708e-01 -2.82977901e-03 1.81616269e+02] [-6.90860274e-03 -7.14159452e-05 9.99976133e-01 -5.68819675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64 meters 0.014253884610987885 Centerline is valid? [True, True] Translation: X:98.79, Y:181.60, Z:-5.69 [[ 9.07359051e-01 4.20304931e-01 6.58154520e-03 9.87905199e+01] [-4.20294535e-01 9.07382917e-01 -2.95728324e-03 1.81598443e+02] [-7.21494241e-03 -8.28697695e-05 9.99973969e-01 -5.68748490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67 meters 0.014594510806079992 Centerline is valid? [True, True] Translation: X:98.82, Y:181.58, Z:-5.69 [[ 9.06770882e-01 4.21565461e-01 7.00922054e-03 9.88173657e+01] [-4.21553678e-01 9.06797967e-01 -3.15325611e-03 1.81582547e+02] [-7.68525080e-03 -9.54818805e-05 9.99970463e-01 -5.68766387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7 meters 0.01454348770653907 Centerline is valid? [True, True] Translation: X:98.84, Y:181.57, Z:-5.69 [[ 9.06033052e-01 4.23145086e-01 7.23498017e-03 9.88446590e+01] [-4.23132579e-01 9.06061931e-01 -3.25536650e-03 1.81565710e+02] [-7.93283244e-03 -1.11886172e-04 9.99968528e-01 -5.68735740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72999999999996 meters 0.014920047054603458 Centerline is valid? [True, True] Translation: X:98.87, Y:181.55, Z:-5.69 [[ 9.04894836e-01 4.25573706e-01 7.23577800e-03 9.88705431e+01] [-4.25561254e-01 9.04923756e-01 -3.25810927e-03 1.81546697e+02] [-7.93439304e-03 -1.31020511e-04 9.99968514e-01 -5.68796706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76 meters 0.015152023522284692 Centerline is valid? [True, True] Translation: X:98.90, Y:181.53, Z:-5.69 [[ 9.04482597e-01 4.26451077e-01 7.12116043e-03 9.88977019e+01] [-4.26439028e-01 9.04510620e-01 -3.20850155e-03 1.81530992e+02] [-7.80943417e-03 -1.34706915e-04 9.99969497e-01 -5.68850996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78999999999996 meters 0.015199525632778923 Centerline is valid? [True, True] Translation: X:98.93, Y:181.51, Z:-5.69 [[ 9.04117401e-01 4.27219425e-01 7.43560503e-03 9.89263543e+01] [-4.27206299e-01 9.04147965e-01 -3.35210808e-03 1.81513527e+02] [-8.15497284e-03 -1.45838059e-04 9.99966737e-01 -5.68913569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82 meters 0.015355127458897864 Centerline is valid? [True, True] Translation: X:98.95, Y:181.49, Z:-5.69 [[ 9.04128714e-01 4.27186515e-01 7.93415921e-03 9.89520370e+01] [-4.27171540e-01 9.04163513e-01 -3.58004855e-03 1.81492698e+02] [-8.70312572e-03 -1.52422315e-04 9.99962115e-01 -5.68988600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84999999999997 meters 0.015531477221377937 Centerline is valid? [True, True] Translation: X:98.98, Y:181.48, Z:-5.69 [[ 9.04181847e-01 4.27075910e-01 7.83296704e-03 9.89794080e+01] [-4.27061289e-01 9.04215763e-01 -3.53692042e-03 1.81475529e+02] [-8.59322577e-03 -1.47137757e-04 9.99963067e-01 -5.69052224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88 meters 0.01484648658279527 Centerline is valid? [True, True] Translation: X:99.01, Y:181.46, Z:-5.69 [[ 9.04508580e-01 4.26379797e-01 8.03105385e-03 9.90061764e+01] [-4.26364376e-01 9.04544222e-01 -3.62908794e-03 1.81456523e+02] [-8.81181313e-03 -1.41614075e-04 9.99961165e-01 -5.69054433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90999999999997 meters 0.014699354048362322 Centerline is valid? [True, True] Translation: X:99.03, Y:181.44, Z:-5.69 [[ 9.04948677e-01 4.25447268e-01 7.90654797e-03 9.90336746e+01] [-4.25432265e-01 9.04983207e-01 -3.57518900e-03 1.81438688e+02] [-8.67634754e-03 -1.28338053e-04 9.99962352e-01 -5.69112479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94 meters 0.014485663615019809 Centerline is valid? [True, True] Translation: X:99.06, Y:181.42, Z:-5.69 [[ 9.05421823e-01 4.24433449e-01 8.22006600e-03 9.90605213e+01] [-4.24417168e-01 9.05459128e-01 -3.71960384e-03 1.81420612e+02] [-9.02165807e-03 -1.20926641e-04 9.99959297e-01 -5.69180284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96999999999997 meters 0.014173322118271492 Centerline is valid? [True, True] Translation: X:99.09, Y:181.40, Z:-5.69 [[ 9.06092573e-01 4.23000482e-01 8.17564872e-03 9.90877437e+01] [-4.22984296e-01 9.06129451e-01 -3.70195245e-03 1.81402311e+02] [-8.97412376e-03 -1.03859395e-04 9.99959726e-01 -5.69218301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0 meters 0.013644840700496076 Centerline is valid? [True, True] Translation: X:99.11, Y:181.38, Z:-5.69 [[ 9.07844300e-01 4.19210050e-01 9.03662048e-03 9.91121446e+01] [-4.19190055e-01 9.07889272e-01 -4.09491907e-03 1.81378154e+02] [-9.92088201e-03 -7.05124945e-05 9.99950784e-01 -5.69168002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03 meters 0.013546160622606957 Centerline is valid? [True, True] Translation: X:99.14, Y:181.36, Z:-5.69 [[ 9.08583682e-01 4.17596391e-01 9.43114714e-03 9.91378688e+01] [-4.17574494e-01 9.08632627e-01 -4.27675645e-03 1.81359986e+02] [-1.03554061e-02 -5.24153738e-05 9.99946380e-01 -5.69171083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06 meters 0.013416372459408849 Centerline is valid? [True, True] Translation: X:99.16, Y:181.34, Z:-5.69 [[ 9.09451624e-01 4.15692778e-01 9.86190337e-03 9.91649428e+01] [-4.15668693e-01 9.09505092e-01 -4.47490679e-03 1.81341325e+02] [-1.08296378e-02 -2.95732382e-05 9.99941357e-01 -5.69191855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09 meters 0.013385812688959697 Centerline is valid? [True, True] Translation: X:99.19, Y:181.32, Z:-5.69 [[ 9.10309096e-01 4.13810283e-01 9.91970248e-03 9.91923536e+01] [-4.13785771e-01 9.10363142e-01 -4.50393666e-03 1.81322716e+02] [-1.08943068e-02 -4.65723603e-06 9.99940655e-01 -5.69199619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12 meters 0.013455551106729802 Centerline is valid? [True, True] Translation: X:99.22, Y:181.30, Z:-5.69 [[ 9.11867383e-01 4.10357761e-01 1.02168731e-02 9.92172450e+01] [-4.10331499e-01 9.11924617e-01 -4.64270530e-03 1.81300607e+02] [-1.12221883e-02 4.12266717e-05 9.99937028e-01 -5.69345351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15 meters 0.013607507425098406 Centerline is valid? [True, True] Translation: X:99.24, Y:181.28, Z:-5.69 [[ 9.12537289e-01 4.08874244e-01 9.87664415e-03 9.92445131e+01] [-4.08849580e-01 9.12590735e-01 -4.49129827e-03 1.81282815e+02] [-1.08497101e-02 6.04153368e-05 9.99941138e-01 -5.69425473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18 meters 0.013903085027153032 Centerline is valid? [True, True] Translation: X:99.27, Y:181.27, Z:-5.69 [[ 9.13219304e-01 4.07355350e-01 9.59803320e-03 9.92717153e+01] [-4.07331943e-01 9.13269737e-01 -4.36755292e-03 1.81265297e+02] [-1.05447393e-02 7.89481324e-05 9.99944400e-01 -5.69495281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21 meters 0.014005325393632048 Centerline is valid? [True, True] Translation: X:99.30, Y:181.25, Z:-5.69 [[ 9.14853240e-01 4.03676734e-01 9.41510724e-03 9.92976763e+01] [-4.03653990e-01 9.14901678e-01 -4.28685331e-03 1.81245387e+02] [-1.03444004e-02 1.21396038e-04 9.99946488e-01 -5.69490992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24 meters 0.014557839048490812 Centerline is valid? [True, True] Translation: X:99.32, Y:181.23, Z:-5.70 [[ 9.15544096e-01 4.02117683e-01 8.96538692e-03 9.93235968e+01] [-4.02096958e-01 9.15587981e-01 -4.08477088e-03 1.81228265e+02] [-9.85115911e-03 1.34833056e-04 9.99951467e-01 -5.69579691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27 meters 0.014889625791751241 Centerline is valid? [True, True] Translation: X:99.35, Y:181.21, Z:-5.70 [[ 9.16260251e-01 4.00488375e-01 8.73005561e-03 9.93508169e+01] [-4.00468626e-01 9.16301827e-01 -3.97998593e-03 1.81211693e+02] [-9.59330400e-03 1.50589530e-04 9.99953972e-01 -5.69649314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3 meters 0.014891715241445693 Centerline is valid? [True, True] Translation: X:99.38, Y:181.20, Z:-5.70 [[ 9.16813689e-01 3.99233140e-01 8.09690724e-03 9.93785546e+01] [-3.99216086e-01 9.16849430e-01 -3.69328857e-03 1.81196341e+02] [-8.89812798e-03 1.53641900e-04 9.99960399e-01 -5.69722539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33 meters 0.01573305153574619 Centerline is valid? [True, True] Translation: X:99.40, Y:181.18, Z:-5.70 [[ 9.18024063e-01 3.96448721e-01 7.76092720e-03 9.94041785e+01] [-3.96432935e-01 9.18056851e-01 -3.54208842e-03 1.81177293e+02] [-8.52922881e-03 1.75035252e-04 9.99963610e-01 -5.69798751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36 meters 0.015930755389771817 Centerline is valid? [True, True] Translation: X:99.43, Y:181.16, Z:-5.70 [[ 9.18720837e-01 3.94829144e-01 7.87220036e-03 9.94324846e+01] [-3.94812825e-01 9.18754542e-01 -3.59501783e-03 1.81161583e+02] [-8.65203765e-03 1.94772126e-04 9.99962551e-01 -5.69817195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39 meters 0.016458679852692563 Centerline is valid? [True, True] Translation: X:99.46, Y:181.15, Z:-5.70 [[ 9.19351508e-01 3.93352104e-01 8.18091301e-03 9.94604636e+01] [-3.93334398e-01 9.19387880e-01 -3.73862799e-03 1.81145143e+02] [-8.99202946e-03 2.19278783e-04 9.99959547e-01 -5.69797678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42 meters 0.016890146101941204 Centerline is valid? [True, True] Translation: X:99.49, Y:181.13, Z:-5.70 [[ 9.20758037e-01 3.90036455e-01 8.72929128e-03 9.94874670e+01] [-3.90016119e-01 9.20799376e-01 -3.99216335e-03 1.81128350e+02] [-9.59501520e-03 2.71252181e-04 9.99953930e-01 -5.69735311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45 meters 0.017250626747996968 Centerline is valid? [True, True] Translation: X:99.52, Y:181.11, Z:-5.70 [[ 9.21193506e-01 3.89004936e-01 8.81384431e-03 9.95160224e+01] [-3.88984132e-01 9.21235625e-01 -4.03328440e-03 1.81113315e+02] [-9.68859491e-03 2.86989817e-04 9.99953023e-01 -5.69763382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47999999999996 meters 0.01711553082816332 Centerline is valid? [True, True] Translation: X:99.55, Y:181.10, Z:-5.70 [[ 9.21511849e-01 3.88246556e-01 8.97350058e-03 9.95451179e+01] [-3.88224928e-01 9.21555489e-01 -4.10911510e-03 1.81099628e+02] [-9.86492850e-03 3.02861636e-04 9.99951295e-01 -5.69798891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51 meters 0.01711553082816332 Centerline is valid? [True, True] Translation: X:99.57, Y:181.09, Z:-5.70 [[ 9.21398792e-01 3.88514814e-01 8.97251500e-03 9.95745795e+01] [-3.88493179e-01 9.21442428e-01 -4.11126579e-03 1.81086066e+02] [-9.86494367e-03 3.02354453e-04 9.99951295e-01 -5.69843738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53999999999996 meters 0.017842311822616128 Centerline is valid? [True, True] Translation: X:99.60, Y:181.07, Z:-5.70 [[ 9.21497066e-01 3.88277822e-01 9.13734103e-03 9.96017042e+01] [-3.88255337e-01 9.21542313e-01 -4.19032443e-03 1.81071603e+02] [-1.00474564e-02 3.13750247e-04 9.99949474e-01 -5.69886245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57 meters 0.017068876813969017 Centerline is valid? [True, True] Translation: X:99.63, Y:181.06, Z:-5.70 [[ 9.21031380e-01 3.89363832e-01 9.84906208e-03 9.96309537e+01] [-3.89337737e-01 9.21083980e-01 -4.51972452e-03 1.81059262e+02] [-1.08316306e-02 3.28196572e-04 9.99941282e-01 -5.69858391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59999999999997 meters 0.01643535762463724 Centerline is valid? [True, True] Translation: X:99.66, Y:181.05, Z:-5.70 [[ 9.20491551e-01 3.90630095e-01 1.01702655e-02 9.96611572e+01] [-3.90602311e-01 9.20547675e-01 -4.67035758e-03 1.81047305e+02] [-1.11865965e-02 3.26495481e-04 9.99937375e-01 -5.69882141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63 meters 0.017127541291768078 Centerline is valid? [True, True] Translation: X:99.69, Y:181.03, Z:-5.70 [[ 9.19792328e-01 3.92271753e-01 1.02443166e-02 9.96889475e+01] [-3.92243628e-01 9.19849322e-01 -4.70763516e-03 1.81033784e+02] [-1.12699000e-02 3.11778786e-04 9.99936444e-01 -5.69889333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65999999999997 meters 0.015625048977352375 Centerline is valid? [True, True] Translation: X:99.72, Y:181.02, Z:-5.70 [[ 9.18294427e-01 3.95745271e-01 1.10011570e-02 9.97196985e+01] [-3.95713040e-01 9.18360275e-01 -5.05921770e-03 1.81024994e+02] [-1.21051870e-02 2.92550157e-04 9.99926687e-01 -5.69855963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69 meters 0.015868600873374633 Centerline is valid? [True, True] Translation: X:99.75, Y:181.01, Z:-5.70 [[ 9.17363359e-01 3.97904540e-01 1.07909252e-02 9.97483023e+01] [-3.97873677e-01 9.17426787e-01 -4.96258734e-03 1.81012386e+02] [-1.18745199e-02 2.59070715e-04 9.99929462e-01 -5.69924062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71999999999997 meters 0.015585692961009147 Centerline is valid? [True, True] Translation: X:99.78, Y:181.00, Z:-5.70 [[ 9.16465199e-01 3.99981255e-01 1.03215534e-02 9.97775575e+01] [-3.99953116e-01 9.16523292e-01 -4.74977136e-03 1.81000938e+02] [-1.13597636e-02 2.24862701e-04 9.99935451e-01 -5.70018479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75 meters 0.0142405763134287 Centerline is valid? [True, True] Translation: X:99.81, Y:180.99, Z:-5.70 [[ 9.14565641e-01 4.04331599e-01 9.25455704e-03 9.98092576e+01] [-4.04309189e-01 9.14612451e-01 -4.25965537e-03 1.80992827e+02] [-1.01866464e-02 1.54031991e-04 9.99948103e-01 -5.70128990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78 meters 0.01390623415118171 Centerline is valid? [True, True] Translation: X:99.84, Y:180.98, Z:-5.70 [[ 9.13563020e-01 4.06598424e-01 8.96269969e-03 9.98389153e+01] [-4.06577489e-01 9.13606975e-01 -4.12797880e-03 1.80981550e+02] [-9.86681463e-03 1.27136846e-04 9.99951314e-01 -5.70215394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81 meters 0.013919853729877588 Centerline is valid? [True, True] Translation: X:99.87, Y:180.97, Z:-5.70 [[ 9.12726634e-01 4.08477627e-01 8.72462112e-03 9.98673495e+01] [-4.08457849e-01 9.12768326e-01 -4.02104008e-03 1.80969597e+02] [-9.60606272e-03 1.06470404e-04 9.99953855e-01 -5.70338786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84 meters 0.013611465544756611 Centerline is valid? [True, True] Translation: X:99.90, Y:180.96, Z:-5.70 [[ 9.12019039e-01 4.10067625e-01 8.11266436e-03 9.98970853e+01] [-4.10050569e-01 9.12055117e-01 -3.74099360e-03 1.80957779e+02] [-8.93325740e-03 8.52547482e-05 9.99960094e-01 -5.70412812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87 meters 0.01374241301315111 Centerline is valid? [True, True] Translation: X:99.93, Y:180.94, Z:-5.70 [[ 9.11354395e-01 4.11563176e-01 6.99416461e-03 9.99267407e+01] [-4.11550531e-01 9.11381231e-01 -3.22673230e-03 1.80944708e+02] [-7.70235454e-03 6.22445054e-05 9.99970335e-01 -5.70484693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9 meters 0.013836915876636012 Centerline is valid? [True, True] Translation: X:99.96, Y:180.93, Z:-5.71 [[ 9.11125239e-01 4.12061991e-01 7.46422104e-03 9.99567109e+01] [-4.12047584e-01 9.11155811e-01 -3.44623763e-03 1.80931063e+02] [-8.22113191e-03 6.43398374e-05 9.99966204e-01 -5.70515723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93 meters 0.013903099214024118 Centerline is valid? [True, True] Translation: X:99.99, Y:180.92, Z:-5.71 [[ 9.10769950e-01 4.12847575e-01 7.41478071e-03 9.99858609e+01] [-4.12833363e-01 9.10800130e-01 -3.42605283e-03 1.80917861e+02] [-8.16782083e-03 5.92771037e-05 9.99966641e-01 -5.70521542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96 meters 0.013673658752472716 Centerline is valid? [True, True] Translation: X:100.02, Y:180.91, Z:-5.71 [[ 9.09952488e-01 4.14638726e-01 7.82287808e-03 1.00015537e+02] [-4.14622949e-01 9.09986112e-01 -3.61745006e-03 1.80905901e+02] [-8.61864530e-03 4.81629026e-05 9.99962858e-01 -5.70545205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99 meters 0.013624392613457995 Centerline is valid? [True, True] Translation: X:100.05, Y:180.89, Z:-5.71 [[ 9.09288622e-01 4.16100003e-01 7.41548724e-03 1.00046299e+02] [-4.16085860e-01 9.09318859e-01 -3.43080948e-03 1.80893246e+02] [-8.17060223e-03 3.41166388e-05 9.99966620e-01 -5.70618674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02 meters 0.01361078317855283 Centerline is valid? [True, True] Translation: X:100.08, Y:180.88, Z:-5.71 [[ 9.08585787e-01 4.17651624e-01 6.24406536e-03 1.00075579e+02] [-4.17641622e-01 9.08607242e-01 -2.89048138e-03 1.80880881e+02] [-6.88061725e-03 1.84687062e-05 9.99976328e-01 -5.70770845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05 meters 0.01361067409475819 Centerline is valid? [True, True] Translation: X:100.11, Y:180.87, Z:-5.71 [[ 9.07945378e-01 4.19052167e-01 5.52004108e-03 1.00106262e+02] [-4.19044369e-01 9.07962158e-01 -2.55648221e-03 1.80867781e+02] [-6.08328783e-03 8.00407497e-06 9.99981497e-01 -5.70890633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08 meters 0.01360803359018142 Centerline is valid? [True, True] Translation: X:100.14, Y:180.85, Z:-5.71 [[ 9.06983372e-01 4.21144870e-01 4.26175201e-03 1.00136289e+02] [-4.21140242e-01 9.06993384e-01 -1.97421883e-03 1.80854189e+02] [-4.69681301e-03 -4.21162175e-06 9.99988970e-01 -5.71009783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11 meters 0.013612224108734746 Centerline is valid? [True, True] Translation: X:100.17, Y:180.84, Z:-5.71 [[ 9.06731903e-01 4.21686283e-01 4.23509533e-03 1.00165791e+02] [-4.21681713e-01 9.06741793e-01 -1.96322839e-03 1.80840398e+02] [-4.66800442e-03 -5.74044058e-06 9.99989105e-01 -5.70996102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14 meters 0.013501652687832186 Centerline is valid? [True, True] Translation: X:100.20, Y:180.83, Z:-5.71 [[ 9.06646947e-01 4.21864117e-01 4.68836091e-03 1.00195708e+02] [-4.21858508e-01 9.06659069e-01 -2.17541010e-03 1.80826393e+02] [-5.16847240e-03 -5.49601370e-06 9.99986643e-01 -5.70989418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17 meters 0.013530133619972311 Centerline is valid? [True, True] Translation: X:100.22, Y:180.81, Z:-5.71 [[ 9.06730442e-01 4.21680386e-01 5.05543964e-03 1.00224757e+02] [-4.21673848e-01 9.06744535e-01 -2.34809964e-03 1.80812161e+02] [-5.57413983e-03 -2.65326560e-06 9.99984464e-01 -5.71035574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2 meters 0.013558557139733168 Centerline is valid? [True, True] Translation: X:100.25, Y:180.80, Z:-5.71 [[ 9.07743047e-01 4.19493323e-01 5.28321558e-03 1.00253310e+02] [-4.19486136e-01 9.07758421e-01 -2.45569243e-03 1.80796261e+02] [-5.82603001e-03 1.29020461e-05 9.99983028e-01 -5.71041193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22999999999996 meters 0.013730235539983307 Centerline is valid? [True, True] Translation: X:100.28, Y:180.78, Z:-5.71 [[ 9.08555486e-01 4.17726533e-01 5.60998970e-03 1.00281280e+02] [-4.17718380e-01 9.08572806e-01 -2.61003938e-03 1.80781093e+02] [-6.18736678e-03 2.79697862e-05 9.99980858e-01 -5.71120636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26 meters 0.013904642077937937 Centerline is valid? [True, True] Translation: X:100.31, Y:180.77, Z:-5.71 [[ 9.09451109e-01 4.15767714e-01 5.99074585e-03 1.00310148e+02] [-4.15758359e-01 9.09470839e-01 -2.78935881e-03 1.80765186e+02] [-6.60813399e-03 4.60827991e-05 9.99978165e-01 -5.71155023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28999999999996 meters 0.014148875294156144 Centerline is valid? [True, True] Translation: X:100.34, Y:180.75, Z:-5.71 [[ 9.10569608e-01 4.13307714e-01 6.30256748e-03 1.00338317e+02] [-4.13297282e-01 9.10591417e-01 -2.93725613e-03 1.80749273e+02] [-6.95305447e-03 6.97421516e-05 9.99975825e-01 -5.71158806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32 meters 0.015240601114034396 Centerline is valid? [True, True] Translation: X:100.36, Y:180.73, Z:-5.71 [[ 9.13193687e-01 4.07455162e-01 7.58816554e-03 1.00364152e+02] [-4.07439812e-01 9.13225203e-01 -3.53960384e-03 1.80731099e+02] [-8.37193387e-03 1.40623149e-04 9.99964945e-01 -5.71103799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34999999999997 meters 0.015325547579444527 Centerline is valid? [True, True] Translation: X:100.39, Y:180.72, Z:-5.71 [[ 9.14463215e-01 4.04586320e-01 8.18158200e-03 1.00392970e+02] [-4.04568337e-01 9.14499796e-01 -3.81884445e-03 1.80716545e+02] [-9.02710729e-03 1.82183743e-04 9.99959238e-01 -5.71062443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38 meters 0.016544276486655345 Centerline is valid? [True, True] Translation: X:100.42, Y:180.70, Z:-5.71 [[ 9.15709753e-01 4.01741337e-01 8.91890918e-03 1.00419543e+02] [-4.01719801e-01 9.15753157e-01 -4.16621823e-03 1.80700494e+02] [-9.84126132e-03 2.32144243e-04 9.99951547e-01 -5.71120705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40999999999997 meters 0.016925805312125692 Centerline is valid? [True, True] Translation: X:100.45, Y:180.69, Z:-5.71 [[ 9.18058792e-01 3.96321495e-01 9.86549306e-03 1.00446903e+02] [-3.96294793e-01 9.18111740e-01 -4.61190604e-03 1.80686036e+02] [-1.08854225e-02 3.24357359e-04 9.99940699e-01 -5.71081443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44 meters 0.01754136627047313 Centerline is valid? [True, True] Translation: X:100.47, Y:180.67, Z:-5.71 [[ 9.18785998e-01 3.94623125e-01 1.02410684e-02 1.00474000e+02] [-3.94594225e-01 9.18843001e-01 -4.78935103e-03 1.80671797e+02] [-1.12999227e-02 3.59322203e-04 9.99936089e-01 -5.71098974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46999999999997 meters 0.018678903080356163 Centerline is valid? [True, True] Translation: X:100.50, Y:180.66, Z:-5.71 [[ 9.19310337e-01 3.93405248e-01 1.00406593e-02 1.00501086e+02] [-3.93377378e-01 9.19365094e-01 -4.69714851e-03 1.80657256e+02] [-1.10789146e-02 3.68368942e-04 9.99938559e-01 -5.71134533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5 meters 0.01889072589462937 Centerline is valid? [True, True] Translation: X:100.53, Y:180.64, Z:-5.71 [[ 9.19524384e-01 3.92895988e-01 1.03754799e-02 1.00529801e+02] [-3.92866180e-01 9.19582836e-01 -4.85517064e-03 1.80644023e+02] [-1.14486903e-02 3.88272622e-04 9.99934386e-01 -5.71174999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53 meters 0.018564699459382886 Centerline is valid? [True, True] Translation: X:100.56, Y:180.63, Z:-5.71 [[ 9.19082574e-01 3.93936286e-01 1.00710347e-02 1.00560594e+02] [-3.93908234e-01 9.19137676e-01 -4.71536819e-03 1.80633479e+02] [-1.11142221e-02 3.66749239e-04 9.99938168e-01 -5.71296225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56 meters 0.01793082257675554 Centerline is valid? [True, True] Translation: X:100.59, Y:180.62, Z:-5.71 [[ 9.18476060e-01 3.95365929e-01 9.35460924e-03 1.00591390e+02] [-3.95341768e-01 9.18523639e-01 -4.38308930e-03 1.80622438e+02] [-1.03253539e-02 3.27494837e-04 9.99946638e-01 -5.71401097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59 meters 0.01749272607791514 Centerline is valid? [True, True] Translation: X:100.62, Y:180.61, Z:-5.72 [[ 9.17712889e-01 3.97144957e-01 8.88464161e-03 1.00621429e+02] [-3.97123244e-01 9.17755849e-01 -4.16307985e-03 1.80611884e+02] [-9.80727797e-03 2.92214338e-04 9.99951865e-01 -5.71548787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62 meters 0.016948543094675254 Centerline is valid? [True, True] Translation: X:100.65, Y:180.60, Z:-5.72 [[ 9.16156344e-01 4.00742095e-01 7.95775746e-03 1.00651483e+02] [-4.00724783e-01 9.16190876e-01 -3.73198146e-03 1.80603590e+02] [-8.78638685e-03 2.30207859e-04 9.99961372e-01 -5.71682792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65 meters 0.016565612022679747 Centerline is valid? [True, True] Translation: X:100.68, Y:180.59, Z:-5.72 [[ 9.15152652e-01 4.03033041e-01 7.74543100e-03 1.00681599e+02] [-4.03016730e-01 9.15185406e-01 -3.63151472e-03 1.80592296e+02] [-8.55212584e-03 2.01852051e-04 9.99963410e-01 -5.71727107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68 meters 0.016122777171178732 Centerline is valid? [True, True] Translation: X:100.71, Y:180.58, Z:-5.72 [[ 9.14244168e-01 4.05092560e-01 7.59076312e-03 1.00711800e+02] [-4.05076946e-01 9.14275662e-01 -3.56119173e-03 1.80581206e+02] [-8.38266224e-03 1.80955624e-04 9.99964849e-01 -5.71761139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71 meters 0.015242808255297712 Centerline is valid? [True, True] Translation: X:100.74, Y:180.57, Z:-5.72 [[ 9.12520667e-01 4.08960657e-01 7.56391599e-03 1.00743511e+02] [-4.08945268e-01 9.12552004e-01 -3.55084613e-03 1.80572452e+02] [-8.35462305e-03 1.46992826e-04 9.99965089e-01 -5.71830138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74 meters 0.015188985846089128 Centerline is valid? [True, True] Translation: X:100.77, Y:180.56, Z:-5.72 [[ 9.11782803e-01 4.10603379e-01 7.54883537e-03 1.00772294e+02] [-4.10588088e-01 9.11814042e-01 -3.54615615e-03 1.80560936e+02] [-8.33919779e-03 1.33862311e-04 9.99965219e-01 -5.71873051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77 meters 0.015016253278891 Centerline is valid? [True, True] Translation: X:100.80, Y:180.55, Z:-5.72 [[ 9.11073283e-01 4.12169197e-01 7.87560352e-03 1.00802424e+02] [-4.12152592e-01 9.11107314e-01 -3.70192355e-03 1.80548972e+02] [-8.70133882e-03 1.26773242e-04 9.99962135e-01 -5.71930544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8 meters 0.014645017964690796 Centerline is valid? [True, True] Translation: X:100.83, Y:180.54, Z:-5.72 [[ 9.10314187e-01 4.13839678e-01 8.04997838e-03 1.00832817e+02] [-4.13822365e-01 9.10349772e-01 -3.78719824e-03 1.80536890e+02] [-8.89558888e-03 1.16279192e-04 9.99960427e-01 -5.71956336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83 meters 0.014110447123456034 Centerline is valid? [True, True] Translation: X:100.86, Y:180.53, Z:-5.72 [[ 9.09381044e-01 4.15877968e-01 8.46361099e-03 1.00863147e+02] [-4.15858917e-01 9.09420423e-01 -3.98195973e-03 1.80525925e+02] [-9.35299001e-03 1.01450599e-04 9.99956255e-01 -5.71954885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86 meters 0.013589621959250271 Centerline is valid? [True, True] Translation: X:100.89, Y:180.52, Z:-5.72 [[ 9.06744684e-01 4.21603489e-01 8.03597801e-03 1.00894351e+02] [-4.21586518e-01 9.06780291e-01 -3.78302908e-03 1.80516509e+02] [-8.88180473e-03 4.23815147e-05 9.99960555e-01 -5.72046761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89 meters 0.013579119301279198 Centerline is valid? [True, True] Translation: X:100.92, Y:180.51, Z:-5.72 [[ 9.04997787e-01 4.25347967e-01 7.62311945e-03 1.00924615e+02] [-4.25332810e-01 9.05029893e-01 -3.59081269e-03 1.80505556e+02] [-8.42649585e-03 7.31472300e-06 9.99964496e-01 -5.72121817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92 meters 0.013540881989808767 Centerline is valid? [True, True] Translation: X:100.96, Y:180.49, Z:-5.72 [[ 9.03006251e-01 4.29561438e-01 7.52867199e-03 1.00956145e+02] [-4.29546783e-01 9.03037635e-01 -3.54836087e-03 1.80494313e+02] [-8.32291315e-03 -2.97247844e-05 9.99965364e-01 -5.72241569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95 meters 0.014181429751712245 Centerline is valid? [True, True] Translation: X:100.99, Y:180.49, Z:-5.72 [[ 8.98722235e-01 4.38451862e-01 7.63603224e-03 1.00987181e+02] [-4.38437076e-01 8.98754667e-01 -3.60256685e-03 1.80485849e+02] [-8.44247176e-03 -1.10212719e-04 9.99964356e-01 -5.72227621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97999999999996 meters 0.015664866072097074 Centerline is valid? [True, True] Translation: X:101.02, Y:180.48, Z:-5.72 [[ 8.96649000e-01 4.42668208e-01 8.08882120e-03 1.01016931e+02] [-4.42651774e-01 8.96685471e-01 -3.81760361e-03 1.80476573e+02] [-8.94306019e-03 -1.57480588e-04 9.99959998e-01 -5.72281508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01 meters 0.015587286156635525 Centerline is valid? [True, True] Translation: X:101.05, Y:180.46, Z:-5.72 [[ 8.94720691e-01 4.46537034e-01 8.91982952e-03 1.01045963e+02] [-4.46517231e-01 8.94765126e-01 -4.21090844e-03 1.80462422e+02] [-9.86147895e-03 -2.15270670e-04 9.99951351e-01 -5.72193943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03999999999996 meters 0.01714290606478476 Centerline is valid? [True, True] Translation: X:101.07, Y:180.45, Z:-5.72 [[ 8.92058659e-01 4.51812727e-01 9.82897519e-03 1.01074192e+02] [-4.51788954e-01 8.92112757e-01 -4.64439800e-03 1.80451346e+02] [-1.08669523e-02 -2.97546962e-04 9.99940909e-01 -5.72093749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07 meters 0.017983405251960755 Centerline is valid? [True, True] Translation: X:101.10, Y:180.44, Z:-5.72 [[ 8.91228983e-01 4.53442935e-01 1.00202645e-02 1.01101995e+02] [-4.53418333e-01 8.91285252e-01 -4.73447214e-03 1.80438376e+02] [-1.10777269e-02 -3.23872822e-04 9.99938588e-01 -5.72130466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09999999999997 meters 0.018549249179016708 Centerline is valid? [True, True] Translation: X:101.13, Y:180.42, Z:-5.72 [[ 8.90775381e-01 4.54320025e-01 1.06082829e-02 1.01129900e+02] [-4.54292481e-01 8.90838476e-01 -5.01501054e-03 1.80424484e+02] [-1.17286863e-02 -3.52015233e-04 9.99931155e-01 -5.72180120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13 meters 0.018123860004681983 Centerline is valid? [True, True] Translation: X:101.16, Y:180.41, Z:-5.72 [[ 8.90654252e-01 4.54553009e-01 1.07965393e-02 1.01158496e+02] [-4.54524460e-01 8.90719615e-01 -5.10702416e-03 1.80407764e+02] [-1.19381026e-02 -3.58698427e-04 9.99928674e-01 -5.72225444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15999999999997 meters 0.017042558669603906 Centerline is valid? [True, True] Translation: X:101.19, Y:180.39, Z:-5.72 [[ 8.90791171e-01 4.54283309e-01 1.08519853e-02 1.01185745e+02] [-4.54254399e-01 8.90857200e-01 -5.13717982e-03 1.80390174e+02] [-1.20013042e-02 -3.53407611e-04 9.99927919e-01 -5.72252601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19 meters 0.01663775778078056 Centerline is valid? [True, True] Translation: X:101.21, Y:180.37, Z:-5.72 [[ 8.91429379e-01 4.53026579e-01 1.09809635e-02 1.01211879e+02] [-4.52996839e-01 8.91496946e-01 -5.20179688e-03 1.80371098e+02] [-1.21460477e-02 -3.37307194e-04 9.99926177e-01 -5.72319164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21999999999997 meters 0.01773457428396193 Centerline is valid? [True, True] Translation: X:101.24, Y:180.36, Z:-5.72 [[ 8.91750042e-01 4.52404153e-01 1.05992655e-02 1.01240088e+02] [-4.52376363e-01 8.91812976e-01 -5.02422527e-03 1.80356869e+02] [-1.17255429e-02 -3.14504070e-04 9.99931204e-01 -5.72383119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25 meters 0.01637651647231479 Centerline is valid? [True, True] Translation: X:101.27, Y:180.34, Z:-5.72 [[ 8.92012570e-01 4.51888664e-01 1.04980958e-02 1.01266357e+02] [-4.51861328e-01 8.92074293e-01 -4.97954744e-03 1.80337966e+02] [-1.16152824e-02 -3.01864584e-04 9.99932495e-01 -5.72412237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28 meters 0.015869606345258663 Centerline is valid? [True, True] Translation: X:101.29, Y:180.32, Z:-5.72 [[ 8.92442680e-01 4.51054253e-01 9.80429151e-03 1.01291909e+02] [-4.51030330e-01 8.92496492e-01 -4.65328386e-03 1.80317707e+02] [-1.08491793e-02 -2.69243725e-04 9.99941110e-01 -5.72488010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31 meters 0.016467284116641417 Centerline is valid? [True, True] Translation: X:101.32, Y:180.30, Z:-5.73 [[ 8.92473606e-01 4.51007577e-01 9.11202584e-03 1.01319505e+02] [-4.50986885e-01 8.92520086e-01 -4.32726978e-03 1.80302142e+02] [-1.00842975e-02 -2.47430092e-04 9.99949122e-01 -5.72597692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34 meters 0.01643081709223099 Centerline is valid? [True, True] Translation: X:101.35, Y:180.29, Z:-5.73 [[ 8.92711222e-01 4.50551995e-01 8.34114432e-03 1.01347513e+02] [-4.50534605e-01 8.92750162e-01 -3.96458887e-03 1.80285049e+02] [-9.23281137e-03 -2.18741178e-04 9.99957353e-01 -5.72710904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37 meters 0.016333541701031417 Centerline is valid? [True, True] Translation: X:101.38, Y:180.27, Z:-5.73 [[ 8.92842296e-01 4.50306685e-01 7.51823487e-03 1.01375620e+02] [-4.50292553e-01 8.92873928e-01 -3.57296031e-03 1.80267153e+02] [-8.32176382e-03 -1.95315084e-04 9.99965354e-01 -5.72811159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4 meters 0.016333541701031417 Centerline is valid? [True, True] Translation: X:101.40, Y:180.25, Z:-5.73 [[ 8.92714198e-01 4.50560599e-01 7.51721792e-03 1.01404878e+02] [-4.50546457e-01 8.92745826e-01 -3.57509810e-03 1.80253151e+02] [-8.32176326e-03 -1.95315070e-04 9.99965354e-01 -5.72856014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43 meters 0.015302246636264448 Centerline is valid? [True, True] Translation: X:101.43, Y:180.23, Z:-5.73 [[ 8.92893264e-01 4.50220172e-01 6.58904793e-03 1.01431632e+02] [-4.50209286e-01 8.92917560e-01 -3.13535025e-03 1.80233852e+02] [-7.29507452e-03 -1.66917446e-04 9.99973377e-01 -5.72915013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46 meters 0.015058470343695621 Centerline is valid? [True, True] Translation: X:101.46, Y:180.21, Z:-5.73 [[ 8.93816384e-01 4.48389685e-01 6.24191857e-03 1.01456303e+02] [-4.48379855e-01 8.93838168e-01 -2.97250246e-03 1.80212184e+02] [-6.91210450e-03 -1.41879146e-04 9.99976101e-01 -5.72991517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49 meters 0.014739017656921611 Centerline is valid? [True, True] Translation: X:101.48, Y:180.19, Z:-5.73 [[ 8.94385917e-01 4.47248534e-01 6.52543216e-03 1.01482832e+02] [-4.47237744e-01 8.94409710e-01 -3.10976281e-03 1.80194212e+02] [-7.22724674e-03 -1.37091494e-04 9.99973874e-01 -5.73040777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52 meters 0.014622529187724465 Centerline is valid? [True, True] Translation: X:101.51, Y:180.18, Z:-5.73 [[ 8.95071298e-01 4.45872519e-01 6.71326278e-03 1.01508886e+02] [-4.45861042e-01 8.95096465e-01 -3.20162372e-03 1.80176893e+02] [-7.43653382e-03 -1.27500836e-04 9.99972340e-01 -5.73109221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55 meters 0.014243596189458136 Centerline is valid? [True, True] Translation: X:101.54, Y:180.16, Z:-5.73 [[ 8.95691323e-01 4.44619706e-01 7.09729414e-03 1.01535693e+02] [-4.44606822e-01 8.95719433e-01 -3.38689621e-03 1.80158042e+02] [-7.86306508e-03 -1.21891846e-04 9.99969078e-01 -5.73116221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58 meters 0.013843717222831982 Centerline is valid? [True, True] Translation: X:101.56, Y:180.14, Z:-5.73 [[ 8.96787183e-01 4.42377872e-01 8.63516708e-03 1.01560929e+02] [-4.42358663e-01 8.96828748e-01 -4.12430275e-03 1.80135499e+02] [-9.56876636e-03 -1.21219113e-04 9.99954211e-01 -5.73035150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61 meters 0.013566159142734393 Centerline is valid? [True, True] Translation: X:101.59, Y:180.12, Z:-5.73 [[ 8.97083585e-01 4.41764822e-01 9.21324201e-03 1.01587716e+02] [-4.41742891e-01 8.97130887e-01 -4.40345739e-03 1.80117224e+02] [-1.02107765e-02 -1.19614819e-04 9.99947862e-01 -5.72998983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64 meters 0.01363012785825943 Centerline is valid? [True, True] Translation: X:101.62, Y:180.10, Z:-5.73 [[ 8.97055773e-01 4.41808897e-01 9.78977639e-03 1.01615382e+02] [-4.41784102e-01 8.97109181e-01 -4.68229267e-03 1.80100522e+02] [-1.08511768e-02 -1.24689907e-04 9.99941116e-01 -5.73018209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67 meters 0.013551319490956747 Centerline is valid? [True, True] Translation: X:101.64, Y:180.08, Z:-5.73 [[ 8.96876017e-01 4.42163477e-01 1.02405735e-02 1.01642574e+02] [-4.42136329e-01 8.96934469e-01 -4.90149540e-03 1.80080173e+02] [-1.13523856e-02 -1.31695906e-04 9.99935551e-01 -5.73027444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7 meters 0.01383509299632776 Centerline is valid? [True, True] Translation: X:101.67, Y:180.06, Z:-5.73 [[ 8.96544973e-01 4.42835811e-01 1.01762038e-02 1.01670103e+02] [-4.42809006e-01 8.96602713e-01 -4.87431102e-03 1.80064419e+02] [-1.12825314e-02 -1.36075633e-04 9.99936341e-01 -5.73054986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72999999999996 meters 0.013879382934680919 Centerline is valid? [True, True] Translation: X:101.70, Y:180.05, Z:-5.73 [[ 8.96269098e-01 4.43382942e-01 1.06428767e-02 1.01698831e+02] [-4.43353617e-01 8.96332274e-01 -5.10150178e-03 1.80047698e+02] [-1.18014727e-02 -1.46239478e-04 9.99930350e-01 -5.73114879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76 meters 0.013879600437535953 Centerline is valid? [True, True] Translation: X:101.73, Y:180.03, Z:-5.73 [[ 8.95977623e-01 4.43977660e-01 1.03892185e-02 1.01727197e+02] [-4.43949716e-01 8.96037843e-01 -4.98340260e-03 1.80030970e+02] [-1.15216524e-02 -1.47273403e-04 9.99933613e-01 -5.73193130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78999999999996 meters 0.01413029461131065 Centerline is valid? [True, True] Translation: X:101.75, Y:180.01, Z:-5.73 [[ 8.95464159e-01 4.45023712e-01 9.89114039e-03 1.01753337e+02] [-4.44998410e-01 8.95518773e-01 -4.74789470e-03 1.80012381e+02] [-1.09706276e-02 -1.49972205e-04 9.99939810e-01 -5.73287929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82 meters 0.014173022242406522 Centerline is valid? [True, True] Translation: X:101.78, Y:180.00, Z:-5.73 [[ 8.95208436e-01 4.45547793e-01 9.43502543e-03 1.01782126e+02] [-4.45524775e-01 8.95258143e-01 -4.53126714e-03 1.79995762e+02] [-1.04656794e-02 -1.47109009e-04 9.99945222e-01 -5.73385773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84999999999997 meters 0.014254885597424521 Centerline is valid? [True, True] Translation: X:101.81, Y:179.98, Z:-5.73 [[ 8.94819556e-01 4.46338460e-01 8.94098018e-03 1.01810385e+02] [-4.46317801e-01 8.94864212e-01 -4.29688921e-03 1.79979228e+02] [-9.91883009e-03 -1.45578119e-04 9.99950797e-01 -5.73486487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88 meters 0.014346691420065347 Centerline is valid? [True, True] Translation: X:101.84, Y:179.96, Z:-5.74 [[ 8.94424569e-01 4.47146659e-01 8.03461499e-03 1.01838238e+02] [-4.47129985e-01 8.94460646e-01 -3.86388418e-03 1.79963033e+02] [-8.91436981e-03 -1.36564341e-04 9.99960257e-01 -5.73601852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90999999999997 meters 0.014738628567014604 Centerline is valid? [True, True] Translation: X:101.87, Y:179.95, Z:-5.74 [[ 8.94065086e-01 4.47876816e-01 7.34713156e-03 1.01865507e+02] [-4.47862876e-01 8.94095264e-01 -3.53594251e-03 1.79948056e+02] [-8.15270220e-03 -1.29144727e-04 9.99966758e-01 -5.73770150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94 meters 0.015029887258983184 Centerline is valid? [True, True] Translation: X:101.89, Y:179.93, Z:-5.74 [[ 8.93291660e-01 4.49425219e-01 6.85435857e-03 1.01892404e+02] [-4.49413130e-01 8.93317947e-01 -3.29906308e-03 1.79929447e+02] [-7.60580367e-03 -1.33413198e-04 9.99971067e-01 -5.73887411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96999999999997 meters 0.014954677709729702 Centerline is valid? [True, True] Translation: X:101.92, Y:179.91, Z:-5.74 [[ 8.92888351e-01 4.50229543e-01 6.61452725e-03 1.01920023e+02] [-4.50218293e-01 8.92912841e-01 -3.18548958e-03 1.79912807e+02] [-7.34039783e-03 -1.33694637e-04 9.99973050e-01 -5.73923399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0 meters 0.015206814502904948 Centerline is valid? [True, True] Translation: X:101.95, Y:179.90, Z:-5.74 [[ 8.92398830e-01 4.51201878e-01 6.41826056e-03 1.01947626e+02] [-4.51191298e-01 8.92421900e-01 -3.09283917e-03 1.79896433e+02] [-7.12329112e-03 -1.35817254e-04 9.99974620e-01 -5.73928692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03 meters 0.01577457152635055 Centerline is valid? [True, True] Translation: X:101.97, Y:179.88, Z:-5.74 [[ 8.91575849e-01 4.52824150e-01 6.54179465e-03 1.01973789e+02] [-4.52813181e-01 8.91599836e-01 -3.15530313e-03 1.79878430e+02] [-7.26146049e-03 -1.49018782e-04 9.99973624e-01 -5.73864987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06 meters 0.016080200960715683 Centerline is valid? [True, True] Translation: X:102.00, Y:179.86, Z:-5.74 [[ 8.91096992e-01 4.53755260e-01 7.23284127e-03 1.02002333e+02] [-4.53741879e-01 8.91126329e-01 -3.48908100e-03 1.79861734e+02] [-8.02856415e-03 -1.72733402e-04 9.99967756e-01 -5.73832112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09 meters 0.015723171513643403 Centerline is valid? [True, True] Translation: X:102.03, Y:179.84, Z:-5.74 [[ 8.90647127e-01 4.54628596e-01 7.78043872e-03 1.02029070e+02] [-4.54613116e-01 8.90681090e-01 -3.75654935e-03 1.79844386e+02] [-8.63772439e-03 -1.91329608e-04 9.99962676e-01 -5.73758374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12 meters 0.017312634631117808 Centerline is valid? [True, True] Translation: X:102.06, Y:179.83, Z:-5.74 [[ 8.89880224e-01 4.56115767e-01 8.46128110e-03 1.02056158e+02] [-4.56097500e-01 8.89920422e-01 -4.08807699e-03 1.79828201e+02] [-9.39450322e-03 -2.21270286e-04 9.99955846e-01 -5.73747297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15 meters 0.0167130331218431 Centerline is valid? [True, True] Translation: X:102.08, Y:179.81, Z:-5.74 [[ 8.89365210e-01 4.57127429e-01 8.00235574e-03 1.02083367e+02] [-4.57111113e-01 8.89401184e-01 -3.86838321e-03 1.79810704e+02] [-8.88564874e-03 -2.17560295e-04 9.99960498e-01 -5.73774330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18 meters 0.016834380051118987 Centerline is valid? [True, True] Translation: X:102.11, Y:179.79, Z:-5.74 [[ 8.88722714e-01 4.58379054e-01 7.78329009e-03 1.02111687e+02] [-4.58363647e-01 8.88756768e-01 -3.76479723e-03 1.79794779e+02] [-8.64315595e-03 -2.21716416e-04 9.99962623e-01 -5.73893265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21 meters 0.017784654561555136 Centerline is valid? [True, True] Translation: X:102.14, Y:179.78, Z:-5.74 [[ 8.88024089e-01 4.59748133e-01 6.69861184e-03 1.02139156e+02] [-4.59736747e-01 8.88049331e-01 -3.24181847e-03 1.79781018e+02] [-7.43911775e-03 -2.00785122e-04 9.99972309e-01 -5.74059528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24 meters 0.01817899499746021 Centerline is valid? [True, True] Translation: X:102.17, Y:179.77, Z:-5.74 [[ 8.87298339e-01 4.61164234e-01 5.40429653e-03 1.02167711e+02] [-4.61156845e-01 8.87314781e-01 -2.61617303e-03 1.79765491e+02] [-6.00179763e-03 -1.70902351e-04 9.99981974e-01 -5.74241081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27 meters 0.018907723058042728 Centerline is valid? [True, True] Translation: X:102.20, Y:179.75, Z:-5.74 [[ 8.86446778e-01 4.62813159e-01 4.01111280e-03 1.02195733e+02] [-4.62809104e-01 8.86455843e-01 -1.94218605e-03 1.79751031e+02] [-4.45454364e-03 -1.34734957e-04 9.99990069e-01 -5.74436019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3 meters 0.01974574883674797 Centerline is valid? [True, True] Translation: X:102.22, Y:179.74, Z:-5.75 [[ 8.84975283e-01 4.65631882e-01 2.38739186e-03 1.02223589e+02] [-4.65630452e-01 8.84978499e-01 -1.15718238e-03 1.79735252e+02] [-2.65161147e-03 -8.75645477e-05 9.99996481e-01 -5.74648276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33 meters 0.02158761935818894 Centerline is valid? [True, True] Translation: X:102.25, Y:179.72, Z:-5.75 [[ 8.84900967e-01 4.65776425e-01 1.61273272e-03 1.02252821e+02] [-4.65775775e-01 8.84902434e-01 -7.80615695e-04 1.79723829e+02] [-1.79070349e-03 -6.04042473e-05 9.99998395e-01 -5.74885805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36 meters 0.01936400966470008 Centerline is valid? [True, True] Translation: X:102.28, Y:179.71, Z:-5.75 [[ 8.84720872e-01 4.66119775e-01 1.15465837e-03 1.02280826e+02] [-4.66119446e-01 8.84721625e-01 -5.56392046e-04 1.79705625e+02] [-1.28089657e-03 -4.59570633e-05 9.99999179e-01 -5.74848941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39 meters 0.020040883430649546 Centerline is valid? [True, True] Translation: X:102.31, Y:179.69, Z:-5.75 [[ 8.84547342e-01 4.66449218e-01 1.06099068e-03 1.02309178e+02] [-4.66448938e-01 8.84547978e-01 -5.12793986e-04 1.79691612e+02] [-1.17768951e-03 -4.13074188e-05 9.99999306e-01 -5.74898767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42 meters 0.022474235639518565 Centerline is valid? [True, True] Translation: X:102.34, Y:179.68, Z:-5.75 [[ 8.84563704e-01 4.66417259e-01 1.41237760e-03 1.02338499e+02] [-4.66416762e-01 8.84564829e-01 -6.83203717e-04 1.79681413e+02] [-1.56799755e-03 -5.44193752e-05 9.99998769e-01 -5.75065603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45 meters 0.022541376980944876 Centerline is valid? [True, True] Translation: X:102.37, Y:179.67, Z:-5.75 [[ 8.84575103e-01 4.66392255e-01 2.26982585e-03 1.02367062e+02] [-4.66390964e-01 8.84578011e-01 -1.10067620e-03 1.79667477e+02] [-2.52118489e-03 -8.49955075e-05 9.99996818e-01 -5.75062328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47999999999996 meters 0.020376851903772395 Centerline is valid? [True, True] Translation: X:102.39, Y:179.65, Z:-5.75 [[ 8.84677699e-01 4.66191116e-01 3.34855818e-03 1.02394209e+02] [-4.66188296e-01 8.84684027e-01 -1.62625854e-03 1.79650104e+02] [-3.72056322e-03 -1.22343967e-04 9.99993071e-01 -5.74971997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51 meters 0.019481412761346274 Centerline is valid? [True, True] Translation: X:102.42, Y:179.63, Z:-5.75 [[ 8.85140132e-01 4.65312481e-01 3.35296147e-03 1.02422392e+02] [-4.65309643e-01 8.85146474e-01 -1.62935907e-03 1.79634312e+02] [-3.72602314e-03 -1.17954206e-04 9.99993051e-01 -5.75024404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53999999999996 meters 0.01966909346949905 Centerline is valid? [True, True] Translation: X:102.45, Y:179.62, Z:-5.75 [[ 8.85650162e-01 4.64341437e-01 3.28933678e-03 1.02450051e+02] [-4.64338695e-01 8.85656264e-01 -1.59957602e-03 1.79620462e+02] [-3.65597115e-03 -1.10701588e-04 9.99993311e-01 -5.75148444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57 meters 0.019199274878098277 Centerline is valid? [True, True] Translation: X:102.48, Y:179.61, Z:-5.75 [[ 8.86070583e-01 4.63539534e-01 3.16597680e-03 1.02478061e+02] [-4.63536986e-01 8.86076233e-01 -1.54018548e-03 1.79605120e+02] [-3.51923365e-03 -1.02834298e-04 9.99993802e-01 -5.75222229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59999999999997 meters 0.019322021639831613 Centerline is valid? [True, True] Translation: X:102.51, Y:179.59, Z:-5.75 [[ 8.86345735e-01 4.63015025e-01 2.88537027e-03 1.02505574e+02] [-4.63012904e-01 8.86350427e-01 -1.40442442e-03 1.79590943e+02] [-3.20771878e-03 -9.11580695e-05 9.99994851e-01 -5.75306096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63 meters 0.01704198365528495 Centerline is valid? [True, True] Translation: X:102.53, Y:179.57, Z:-5.75 [[ 8.86676210e-01 4.62382841e-01 2.72165459e-03 1.02531856e+02] [-4.62380950e-01 8.86680383e-01 -1.32490988e-03 1.79572353e+02] [-3.02585333e-03 -8.36751673e-05 9.99995419e-01 -5.75232342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65999999999997 meters 0.01736200523444046 Centerline is valid? [True, True] Translation: X:102.56, Y:179.56, Z:-5.75 [[ 8.86669175e-01 4.62397230e-01 2.56439692e-03 1.02560874e+02] [-4.62395550e-01 8.86672880e-01 -1.24873922e-03 1.79558747e+02] [-2.85119476e-03 -7.85471516e-05 9.99995932e-01 -5.75335597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69 meters 0.017042255182471433 Centerline is valid? [True, True] Translation: X:102.59, Y:179.54, Z:-5.75 [[ 8.86512840e-01 4.62697738e-01 2.40602057e-03 1.02590367e+02] [-4.62696260e-01 8.86516101e-01 -1.17189989e-03 1.79543572e+02] [-2.67521140e-03 -7.43524218e-05 9.99996419e-01 -5.75382444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71999999999997 meters 0.01728328429419581 Centerline is valid? [True, True] Translation: X:102.62, Y:179.53, Z:-5.75 [[ 8.86582476e-01 4.62564254e-01 2.41345112e-03 1.02618617e+02] [-4.62562762e-01 8.86585758e-01 -1.17709948e-03 1.79530275e+02] [-2.68421553e-03 -7.27768452e-05 9.99996395e-01 -5.75484020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75 meters 0.017108447835332597 Centerline is valid? [True, True] Translation: X:102.65, Y:179.52, Z:-5.76 [[ 8.86899763e-01 4.61951530e-01 3.09763855e-03 1.02647001e+02] [-4.61949062e-01 8.86905168e-01 -1.51251755e-03 1.79515253e+02] [-3.44602144e-03 -8.94997675e-05 9.99994058e-01 -5.75545168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78 meters 0.01700801789431506 Centerline is valid? [True, True] Translation: X:102.68, Y:179.50, Z:-5.76 [[ 8.87081555e-01 4.61603174e-01 2.97067736e-03 1.02675571e+02] [-4.61600900e-01 8.87086525e-01 -1.45128213e-03 1.79500587e+02] [-3.30516429e-03 -8.38617379e-05 9.99994534e-01 -5.75631367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81 meters 0.01665767556935887 Centerline is valid? [True, True] Translation: X:102.70, Y:179.49, Z:-5.76 [[ 8.87411353e-01 4.60968368e-01 3.04201543e-03 1.02703315e+02] [-4.60965976e-01 8.87416564e-01 -1.48713828e-03 1.79485341e+02] [-3.38505858e-03 -8.25622130e-05 9.99994267e-01 -5.75701322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84 meters 0.016220769709033737 Centerline is valid? [True, True] Translation: X:102.73, Y:179.47, Z:-5.76 [[ 8.87925111e-01 4.59975341e-01 3.41807035e-03 1.02731275e+02] [-4.59972309e-01 8.87931686e-01 -1.67250960e-03 1.79469746e+02] [-3.80432614e-03 -8.71544380e-05 9.99992760e-01 -5.75774151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87 meters 0.016291154031736844 Centerline is valid? [True, True] Translation: X:102.76, Y:179.46, Z:-5.76 [[ 8.88627559e-01 4.58611367e-01 4.08352292e-03 1.02758478e+02] [-4.58607014e-01 8.88636937e-01 -2.00032817e-03 1.79455147e+02] [-4.54614253e-03 -9.51855143e-05 9.99989662e-01 -5.75855429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9 meters 0.015302038828242305 Centerline is valid? [True, True] Translation: X:102.79, Y:179.44, Z:-5.76 [[ 8.90289495e-01 4.55369280e-01 4.84088846e-03 1.02785411e+02] [-4.55363105e-01 8.90302651e-01 -2.37321575e-03 1.79436617e+02] [-5.39054538e-03 -9.15129450e-05 9.99985467e-01 -5.75850027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93 meters 0.015021097554576781 Centerline is valid? [True, True] Translation: X:102.81, Y:179.42, Z:-5.76 [[ 8.91011421e-01 4.53952143e-01 5.10871356e-03 1.02813501e+02] [-4.53945232e-01 8.91026063e-01 -2.50629475e-03 1.79420732e+02] [-5.68973480e-03 -8.59389207e-05 9.99983810e-01 -5.75920208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96 meters 0.014402875068233076 Centerline is valid? [True, True] Translation: X:102.84, Y:179.40, Z:-5.76 [[ 8.91544552e-01 4.52902800e-01 5.23124096e-03 1.02840845e+02] [-4.52895527e-01 8.91559895e-01 -2.56797658e-03 1.79404648e+02] [-5.82700843e-03 -7.97400993e-05 9.99983020e-01 -5.75911267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99 meters 0.014301933232182727 Centerline is valid? [True, True] Translation: X:102.87, Y:179.39, Z:-5.76 [[ 8.92128964e-01 4.51756457e-01 4.69203598e-03 1.02869391e+02] [-4.51750584e-01 8.92141300e-01 -2.30434769e-03 1.79389151e+02] [-5.22696303e-03 -6.38546774e-05 9.99986337e-01 -5.75982415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02 meters 0.014449311408091439 Centerline is valid? [True, True] Translation: X:102.90, Y:179.38, Z:-5.76 [[ 8.92078677e-01 4.51861185e-01 4.13565606e-03 1.02897894e+02] [-4.51856620e-01 8.92088262e-01 -2.03176039e-03 1.79375697e+02] [-4.60744388e-03 -5.62334472e-05 9.99989384e-01 -5.76088599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05 meters 0.014478310209757076 Centerline is valid? [True, True] Translation: X:102.93, Y:179.36, Z:-5.76 [[ 8.91855604e-01 4.52305741e-01 3.61928773e-03 1.02927655e+02] [-4.52302246e-01 8.91862946e-01 -1.77860322e-03 1.79360897e+02] [-4.03238106e-03 -5.07547216e-05 9.99991869e-01 -5.76148978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08 meters 0.014934211879406623 Centerline is valid? [True, True] Translation: X:102.96, Y:179.35, Z:-5.76 [[ 8.91522490e-01 4.52966520e-01 2.99706086e-03 1.02955931e+02] [-4.52964125e-01 8.91527526e-01 -1.47377608e-03 1.79348783e+02] [-3.33953347e-03 -4.36565330e-05 9.99994423e-01 -5.76273618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11 meters 0.014928687092133802 Centerline is valid? [True, True] Translation: X:102.99, Y:179.34, Z:-5.76 [[ 8.90895628e-01 4.54200902e-01 2.55344937e-03 1.02985618e+02] [-4.54199169e-01 8.90899287e-01 -1.25565051e-03 1.79335676e+02] [-2.84518382e-03 -4.11210347e-05 9.99995952e-01 -5.76303361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14 meters 0.015010385118457556 Centerline is valid? [True, True] Translation: X:103.02, Y:179.32, Z:-5.76 [[ 8.90624248e-01 4.54732984e-01 2.52248863e-03 1.03015251e+02] [-4.54731293e-01 8.90627819e-01 -1.24072025e-03 1.79321862e+02] [-2.81079497e-03 -4.20389746e-05 9.99996049e-01 -5.76335600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17 meters 0.015002442140772534 Centerline is valid? [True, True] Translation: X:103.04, Y:179.31, Z:-5.76 [[ 8.90610321e-01 4.54759432e-01 2.66742366e-03 1.03044809e+02] [-4.54757538e-01 8.90614315e-01 -1.31317677e-03 1.79307705e+02] [-2.97282522e-03 -4.35022284e-05 9.99995580e-01 -5.76382751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2 meters 0.014979036212387423 Centerline is valid? [True, True] Translation: X:103.07, Y:179.29, Z:-5.76 [[ 8.90654807e-01 4.54671616e-01 2.78158273e-03 1.03074181e+02] [-4.54669552e-01 8.90659149e-01 -1.37053812e-03 1.79293085e+02] [-3.10058689e-03 -4.40246057e-05 9.99995192e-01 -5.76437867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22999999999996 meters 0.014776296698661246 Centerline is valid? [True, True] Translation: X:103.10, Y:179.28, Z:-5.76 [[ 8.91354500e-01 4.53293447e-01 3.49375885e-03 1.03102018e+02] [-4.53290170e-01 8.91361346e-01 -1.72435283e-03 1.79278545e+02] [-3.89583943e-03 -4.66768940e-05 9.99992410e-01 -5.76396642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26 meters 0.014708535648494342 Centerline is valid? [True, True] Translation: X:103.13, Y:179.26, Z:-5.76 [[ 8.91747715e-01 4.52516112e-01 3.89622097e-03 1.03129514e+02] [-4.52512018e-01 8.91756226e-01 -1.92540710e-03 1.79264065e+02] [-4.34575705e-03 -4.61094354e-05 9.99990556e-01 -5.76396726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28999999999996 meters 0.01449490567862538 Centerline is valid? [True, True] Translation: X:103.16, Y:179.25, Z:-5.76 [[ 8.92087292e-01 4.51843049e-01 4.25715891e-03 1.03158274e+02] [-4.51838154e-01 8.92097448e-01 -2.10361244e-03 1.79248866e+02] [-4.74830325e-03 -4.69409032e-05 9.99988726e-01 -5.76373728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32 meters 0.01449490567862538 Centerline is valid? [True, True] Translation: X:103.19, Y:179.23, Z:-5.76 [[ 8.91962903e-01 4.52088552e-01 4.25679203e-03 1.03187269e+02] [-4.52083657e-01 8.91973060e-01 -2.10435437e-03 1.79234418e+02] [-4.74829833e-03 -4.74200659e-05 9.99988726e-01 -5.76418553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34999999999997 meters 0.014594487783559859 Centerline is valid? [True, True] Translation: X:103.22, Y:179.22, Z:-5.76 [[ 8.92098209e-01 4.51820177e-01 4.39474590e-03 1.03215778e+02] [-4.51814947e-01 8.92109032e-01 -2.17438435e-03 1.79220081e+02] [-4.90302323e-03 -4.58475073e-05 9.99987979e-01 -5.76451806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38 meters 0.014535011354719008 Centerline is valid? [True, True] Translation: X:103.25, Y:179.20, Z:-5.77 [[ 8.92259102e-01 4.51503316e-01 4.29529941e-03 1.03245337e+02] [-4.51498311e-01 8.92269440e-01 -2.12635027e-03 1.79204785e+02] [-4.79261859e-03 -4.20650486e-05 9.99988514e-01 -5.76529308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40999999999997 meters 0.014402133641572064 Centerline is valid? [True, True] Translation: X:103.27, Y:179.19, Z:-5.76 [[ 8.92437696e-01 4.51157704e-01 3.41823843e-03 1.03274338e+02] [-4.51154532e-01 8.92444242e-01 -1.69226048e-03 1.79188317e+02] [-3.81406356e-03 -3.19167150e-05 9.99992726e-01 -5.76489838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44 meters 0.014428331372254254 Centerline is valid? [True, True] Translation: X:103.30, Y:179.17, Z:-5.77 [[ 8.92394338e-01 4.51244468e-01 3.28267494e-03 1.03303387e+02] [-4.51241539e-01 8.92400375e-01 -1.62610714e-03 1.79173452e+02] [-3.66323220e-03 -3.01504861e-05 9.99993290e-01 -5.76534305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46999999999997 meters 0.014489120952788388 Centerline is valid? [True, True] Translation: X:103.33, Y:179.16, Z:-5.77 [[ 8.92336901e-01 4.51357329e-01 3.37873057e-03 1.03332111e+02] [-4.51354221e-01 8.92343297e-01 -1.67526043e-03 1.79159223e+02] [-3.77112865e-03 -3.01076099e-05 9.99992889e-01 -5.76626428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5 meters 0.014534662947013182 Centerline is valid? [True, True] Translation: X:103.36, Y:179.14, Z:-5.77 [[ 8.92353968e-01 4.51324453e-01 3.26082491e-03 1.03361160e+02] [-4.51321555e-01 8.92359926e-01 -1.61761117e-03 1.79144512e+02] [-3.63989695e-03 -2.81988288e-05 9.99993375e-01 -5.76664827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53 meters 0.014659174038023364 Centerline is valid? [True, True] Translation: X:103.39, Y:179.13, Z:-5.77 [[ 8.92046983e-01 4.51927925e-01 3.65113016e-03 1.03390939e+02] [-4.51924289e-01 8.92054455e-01 -1.81302089e-03 1.79130374e+02] [-4.07636169e-03 -3.27345842e-05 9.99991691e-01 -5.76716414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56 meters 0.014747297338675506 Centerline is valid? [True, True] Translation: X:103.42, Y:179.12, Z:-5.77 [[ 8.91532049e-01 4.52941062e-01 3.87303631e-03 1.03420509e+02] [-4.52936973e-01 8.91540461e-01 -1.92481063e-03 1.79116532e+02] [-4.32479434e-03 -3.82109773e-05 9.99990647e-01 -5.76737969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59 meters 0.014910417429881593 Centerline is valid? [True, True] Translation: X:103.45, Y:179.10, Z:-5.77 [[ 8.90967775e-01 4.54049489e-01 3.93517498e-03 1.03449986e+02] [-4.54045273e-01 8.90976464e-01 -1.95717674e-03 1.79102851e+02] [-4.39480339e-03 -4.29661865e-05 9.99990342e-01 -5.76772650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62 meters 0.015189746840581808 Centerline is valid? [True, True] Translation: X:103.48, Y:179.09, Z:-5.77 [[ 8.89995575e-01 4.55951334e-01 4.03200766e-03 1.03479393e+02] [-4.55946918e-01 8.90004707e-01 -2.00723650e-03 1.79089926e+02] [-4.50370795e-03 -5.19498630e-05 9.99989857e-01 -5.76817103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65 meters 0.015614275306856615 Centerline is valid? [True, True] Translation: X:103.51, Y:179.08, Z:-5.77 [[ 8.89497031e-01 4.56927183e-01 3.54703213e-03 1.03508012e+02] [-4.56923770e-01 8.89504102e-01 -1.76665431e-03 1.79076926e+02] [-3.96233201e-03 -4.92895249e-05 9.99992149e-01 -5.76960607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68 meters 0.015645316429978587 Centerline is valid? [True, True] Translation: X:103.54, Y:179.06, Z:-5.77 [[ 8.89013558e-01 4.57871826e-01 2.87813871e-03 1.03536965e+02] [-4.57869585e-01 8.89018216e-01 -1.43348197e-03 1.79062959e+02] [-3.21506875e-03 -4.34272662e-05 9.99994831e-01 -5.77037479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71 meters 0.015511808860183263 Centerline is valid? [True, True] Translation: X:103.57, Y:179.05, Z:-5.77 [[ 8.88617879e-01 4.58643284e-01 2.14567590e-03 1.03566033e+02] [-4.58642041e-01 8.88620469e-01 -1.06829886e-03 1.79048578e+02] [-2.39665962e-03 -3.47877093e-05 9.99997127e-01 -5.77077197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74 meters 0.015960947528507317 Centerline is valid? [True, True] Translation: X:103.59, Y:179.04, Z:-5.77 [[ 8.88064158e-01 4.59714619e-01 2.12599952e-03 1.03594203e+02] [-4.59713400e-01 8.88066702e-01 -1.05937725e-03 1.79036297e+02] [-2.37504059e-03 -3.65555034e-05 9.99997179e-01 -5.77264680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77 meters 0.016525007191811773 Centerline is valid? [True, True] Translation: X:103.62, Y:179.02, Z:-5.77 [[ 8.87053113e-01 4.61666706e-01 7.91263857e-04 1.03623903e+02] [-4.61666540e-01 8.87053466e-01 -3.92147251e-04 1.79023235e+02] [-8.82934677e-04 -1.74446071e-05 9.99999610e-01 -5.77419714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8 meters 0.016098100880679922 Centerline is valid? [True, True] Translation: X:103.65, Y:179.01, Z:-5.77 [[ 8.86550690e-01 4.62631402e-01 2.43946995e-04 1.03651950e+02] [-4.62631387e-01 8.86550724e-01 -1.18260521e-04 1.79007974e+02] [-2.70982416e-04 -8.01359002e-06 9.99999963e-01 -5.77379452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83 meters 0.016281785711746485 Centerline is valid? [True, True] Translation: X:103.68, Y:178.99, Z:-5.77 [[ 8.86274633e-01 4.63159798e-01 5.26308802e-04 1.03680509e+02] [-4.63159725e-01 8.86274789e-01 -2.59531215e-04 1.78994116e+02] [-5.86658647e-04 -1.37491082e-05 9.99999828e-01 -5.77412689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86 meters 0.016145378127938304 Centerline is valid? [True, True] Translation: X:103.71, Y:178.98, Z:-5.77 [[ 8.86182338e-01 4.63336070e-01 7.41234085e-04 1.03709260e+02] [-4.63335925e-01 8.86182648e-01 -3.67143508e-04 1.78979043e+02] [-8.26979615e-04 -1.80842878e-05 9.99999658e-01 -5.77382904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89 meters 0.015970945205917145 Centerline is valid? [True, True] Translation: X:103.74, Y:178.96, Z:-5.77 [[ 8.86603987e-01 4.62525331e-01 1.92043044e-03 1.03737124e+02] [-4.62524337e-01 8.86606066e-01 -9.59386204e-04 1.78963811e+02] [-2.14640570e-03 -3.76501840e-05 9.99997696e-01 -5.77286294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92 meters 0.01565690387294483 Centerline is valid? [True, True] Translation: X:103.77, Y:178.95, Z:-5.77 [[ 8.87150718e-01 4.61472205e-01 2.64735017e-03 1.03765856e+02] [-4.61470306e-01 8.87154666e-01 -1.32482482e-03 1.78948650e+02] [-2.95997889e-03 -4.63542036e-05 9.99995618e-01 -5.77283167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95 meters 0.01517369892812744 Centerline is valid? [True, True] Translation: X:103.79, Y:178.93, Z:-5.77 [[ 8.87657395e-01 4.60494732e-01 2.99188500e-03 1.03793602e+02] [-4.60492296e-01 8.87662436e-01 -1.49858783e-03 1.78932792e+02] [-3.34587572e-03 -4.75074214e-05 9.99994401e-01 -5.77227409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97999999999996 meters 0.015190589695759683 Centerline is valid? [True, True] Translation: X:103.82, Y:178.92, Z:-5.77 [[ 8.88427553e-01 4.59001842e-01 3.71395738e-03 1.03821360e+02] [-4.58998061e-01 8.88435314e-01 -1.86353306e-03 1.78918294e+02] [-4.15497600e-03 -4.90851150e-05 9.99991367e-01 -5.77312909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01 meters 0.014527359555883157 Centerline is valid? [True, True] Translation: X:103.85, Y:178.90, Z:-5.77 [[ 8.90624247e-01 4.54724862e-01 3.70809628e-03 1.03848378e+02] [-4.54721054e-01 8.90631966e-01 -1.86131945e-03 1.78899518e+02] [-4.14893731e-03 -2.84132166e-05 9.99991393e-01 -5.77318086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03999999999996 meters 0.014391716954069704 Centerline is valid? [True, True] Translation: X:103.88, Y:178.88, Z:-5.77 [[ 8.91823934e-01 4.52366740e-01 3.79520284e-03 1.03875526e+02] [-4.52362730e-01 8.91832009e-01 -1.90472849e-03 1.78883567e+02] [-4.24631920e-03 -1.81258615e-05 9.99990984e-01 -5.77438248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07 meters 0.014303072746360447 Centerline is valid? [True, True] Translation: X:103.90, Y:178.87, Z:-5.77 [[ 8.93167798e-01 4.49710874e-01 3.37857809e-03 1.03903175e+02] [-4.49707677e-01 8.93174188e-01 -1.69586087e-03 1.78866603e+02] [-3.78030582e-03 -4.68418462e-06 9.99992855e-01 -5.77495764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09999999999997 meters 0.014543256723638185 Centerline is valid? [True, True] Translation: X:103.93, Y:178.85, Z:-5.77 [[ 8.96222081e-01 4.43596278e-01 2.88497769e-03 1.03929391e+02] [-4.43593913e-01 8.96226724e-01 -1.44861290e-03 1.78847979e+02] [-3.22819339e-03 1.85203297e-05 9.99994789e-01 -5.77495596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13 meters 0.01491771728035615 Centerline is valid? [True, True] Translation: X:103.96, Y:178.83, Z:-5.78 [[ 8.97644256e-01 4.40712301e-01 2.73092576e-03 1.03956049e+02] [-4.40710166e-01 8.97648409e-01 -1.37214850e-03 1.78831946e+02] [-3.05613389e-03 2.81544758e-05 9.99995330e-01 -5.77587319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15999999999997 meters 0.01542874316497383 Centerline is valid? [True, True] Translation: X:103.98, Y:178.82, Z:-5.78 [[ 8.99030547e-01 4.37878358e-01 2.57287261e-03 1.03983837e+02] [-4.37876451e-01 8.99034227e-01 -1.29309398e-03 1.78816215e+02] [-2.87931841e-03 3.59306611e-05 9.99995854e-01 -5.77640863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19 meters 0.015932540476338 Centerline is valid? [True, True] Translation: X:104.01, Y:178.80, Z:-5.78 [[ 9.00152500e-01 4.35568376e-01 2.38033585e-03 1.04012154e+02] [-4.35566734e-01 9.00155647e-01 -1.19678480e-03 1.78800536e+02] [-2.66395437e-03 4.04937130e-05 9.99996451e-01 -5.77731661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21999999999997 meters 0.016747283284628173 Centerline is valid? [True, True] Translation: X:104.04, Y:178.79, Z:-5.78 [[ 9.02061272e-01 4.31605071e-01 1.58905341e-03 1.04040831e+02] [-4.31604330e-01 9.02062671e-01 -8.00518792e-04 1.78785285e+02] [-1.77893373e-03 3.62746696e-05 9.99998417e-01 -5.77770056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25 meters 0.017059320504152892 Centerline is valid? [True, True] Translation: X:104.07, Y:178.77, Z:-5.78 [[ 9.02517453e-01 4.30650977e-01 1.40834447e-03 1.04068866e+02] [-4.30650398e-01 9.02518551e-01 -7.07090888e-04 1.78770513e+02] [-1.57556640e-03 3.16577597e-05 9.99998758e-01 -5.77803534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28 meters 0.017039277853155014 Centerline is valid? [True, True] Translation: X:104.10, Y:178.76, Z:-5.78 [[ 9.02867395e-01 4.29917027e-01 1.34812323e-03 1.04097893e+02] [-4.29916495e-01 9.02868401e-01 -6.77055468e-04 1.78756681e+02] [-1.50825554e-03 3.17108922e-05 9.99998862e-01 -5.77816359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31 meters 0.017571885015079843 Centerline is valid? [True, True] Translation: X:104.13, Y:178.74, Z:-5.78 [[ 9.02992257e-01 4.29655927e-01 8.76840511e-04 1.04125674e+02] [-4.29655701e-01 9.02992682e-01 -4.40921195e-04 1.78741977e+02] [-9.81224970e-04 2.14089009e-05 9.99999518e-01 -5.77914441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34 meters 0.01757797342974786 Centerline is valid? [True, True] Translation: X:104.15, Y:178.73, Z:-5.78 [[ 9.02272455e-01 4.31165792e-01 6.89937945e-04 1.04154611e+02] [-4.31165654e-01 9.02272719e-01 -3.45323565e-04 1.78729524e+02] [-7.71403894e-04 1.40983959e-05 9.99999702e-01 -5.77967725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37 meters 0.016690790498763593 Centerline is valid? [True, True] Translation: X:104.18, Y:178.72, Z:-5.78 [[ 9.01404690e-01 4.32976918e-01 7.57229625e-04 1.04184541e+02] [-4.32976752e-01 9.01405008e-01 -3.79249177e-04 1.78717987e+02] [-8.46776716e-04 1.39941631e-05 9.99999641e-01 -5.77930055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4 meters 0.01606706203319936 Centerline is valid? [True, True] Translation: X:104.22, Y:178.71, Z:-5.78 [[ 9.00426314e-01 4.35007089e-01 1.13385161e-03 1.04215232e+02] [-4.35006714e-01 9.00427028e-01 -5.71647893e-04 1.78706424e+02] [-1.26962152e-03 2.14937412e-05 9.99999194e-01 -5.77912550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43 meters 0.015690201526177124 Centerline is valid? [True, True] Translation: X:104.24, Y:178.69, Z:-5.78 [[ 8.99059990e-01 4.37822840e-01 1.51483198e-03 1.04244315e+02] [-4.37822175e-01 8.99061266e-01 -7.63400543e-04 1.78694805e+02] [-1.69616095e-03 2.31158545e-05 9.99998561e-01 -5.77927638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46 meters 0.015290219925265204 Centerline is valid? [True, True] Translation: X:104.27, Y:178.68, Z:-5.78 [[ 8.97584878e-01 4.40836810e-01 2.07226564e-03 1.04273995e+02] [-4.40835570e-01 8.97587269e-01 -1.04604142e-03 1.78683293e+02] [-2.32117282e-03 2.53825532e-05 9.99997306e-01 -5.77938718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49 meters 0.01441169040999897 Centerline is valid? [True, True] Translation: X:104.31, Y:178.67, Z:-5.78 [[ 8.94524467e-01 4.47012494e-01 2.40997871e-03 1.04305289e+02] [-4.47010836e-01 8.94527713e-01 -1.21780201e-03 1.78674787e+02] [-2.70016546e-03 1.20670959e-05 9.99996354e-01 -5.77878793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52 meters 0.014255329471005542 Centerline is valid? [True, True] Translation: X:104.33, Y:178.66, Z:-5.78 [[ 8.92951964e-01 4.50148058e-01 1.87530408e-03 1.04334754e+02] [-4.50147061e-01 8.92953933e-01 -9.47137794e-04 1.78662875e+02] [-2.10091240e-03 1.58593047e-06 9.99997793e-01 -5.78019506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55 meters 0.014216494259091172 Centerline is valid? [True, True] Translation: X:104.37, Y:178.65, Z:-5.78 [[ 8.91333408e-01 4.53346272e-01 1.38325109e-03 1.04365594e+02] [-4.53345735e-01 8.91334481e-01 -6.97775586e-04 1.78650573e+02] [-1.54927335e-03 -5.14029173e-06 9.99998800e-01 -5.78083240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58 meters 0.014308674785960792 Centerline is valid? [True, True] Translation: X:104.40, Y:178.64, Z:-5.78 [[ 8.89695055e-01 4.56554348e-01 9.14608253e-04 1.04395259e+02] [-4.56554115e-01 8.89695525e-01 -4.60989707e-04 1.78639234e+02] [-1.02418972e-03 -7.42789898e-06 9.99999476e-01 -5.78228192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61 meters 0.01499986529879399 Centerline is valid? [True, True] Translation: X:104.43, Y:178.63, Z:-5.78 [[ 8.86723043e-01 4.62300533e-01 6.79638551e-04 1.04425492e+02] [-4.62300406e-01 8.86723304e-01 -3.41869924e-04 1.78630760e+02] [-7.60697989e-04 -1.10532391e-05 9.99999711e-01 -5.78363525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64 meters 0.015230537898164623 Centerline is valid? [True, True] Translation: X:104.45, Y:178.62, Z:-5.78 [[ 8.85405882e-01 4.64817601e-01 1.01142360e-03 1.04454746e+02] [-4.64817321e-01 8.85406459e-01 -5.10483372e-04 1.78618223e+02] [-1.13280265e-03 -1.81422297e-05 9.99999358e-01 -5.78343427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67 meters 0.015299854617920406 Centerline is valid? [True, True] Translation: X:104.48, Y:178.61, Z:-5.78 [[ 8.84207903e-01 4.67091149e-01 1.49735550e-03 1.04483608e+02] [-4.67090535e-01 8.84209171e-01 -7.58199849e-04 1.78605213e+02] [-1.67812390e-03 -2.89942808e-05 9.99998592e-01 -5.78287748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7 meters 0.016163279672200097 Centerline is valid? [True, True] Translation: X:104.51, Y:178.59, Z:-5.78 [[ 8.82572255e-01 4.70170174e-01 2.49455274e-03 1.04512705e+02] [-4.70168472e-01 8.82575779e-01 -1.26633500e-03 1.78594717e+02] [-2.79702477e-03 -5.52279143e-05 9.99996087e-01 -5.78322737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72999999999996 meters 0.01626719859360294 Centerline is valid? [True, True] Translation: X:104.54, Y:178.58, Z:-5.78 [[ 8.81974472e-01 4.71287356e-01 3.04289787e-03 1.04542510e+02] [-4.71284826e-01 8.81979718e-01 -1.54580316e-03 1.78580562e+02] [-3.41229169e-03 -7.07126649e-05 9.99994176e-01 -5.78330764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76 meters 0.016080933410463395 Centerline is valid? [True, True] Translation: X:104.57, Y:178.57, Z:-5.78 [[ 8.81749916e-01 4.71700826e-01 3.92642127e-03 1.04571947e+02] [-4.71696606e-01 8.81758653e-01 -1.99726487e-03 1.78565370e+02] [-4.40426742e-03 -9.09914576e-05 9.99990297e-01 -5.78277491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78999999999996 meters 0.016072300276231424 Centerline is valid? [True, True] Translation: X:104.60, Y:178.55, Z:-5.78 [[ 8.81609394e-01 4.71955031e-01 4.82965097e-03 1.04601467e+02] [-4.71948635e-01 8.81622616e-01 -2.45949596e-03 1.78550441e+02] [-5.41870101e-03 -1.11032437e-04 9.99985313e-01 -5.78297434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82 meters 0.016333636959714057 Centerline is valid? [True, True] Translation: X:104.63, Y:178.54, Z:-5.78 [[ 8.81930782e-01 4.71337287e-01 6.26561481e-03 1.04629581e+02] [-4.71326471e-01 8.81953028e-01 -3.19583860e-03 1.78535977e+02] [-7.03229585e-03 -1.34641689e-04 9.99975264e-01 -5.78321891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84999999999997 meters 0.016158439991298016 Centerline is valid? [True, True] Translation: X:104.66, Y:178.52, Z:-5.78 [[ 8.82157461e-01 4.70915392e-01 6.07514159e-03 1.04657339e+02] [-4.70905218e-01 8.82178371e-01 -3.09809998e-03 1.78520949e+02] [-6.81830148e-03 -1.27803858e-04 9.99976747e-01 -5.78356463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88 meters 0.015662855644968724 Centerline is valid? [True, True] Translation: X:104.69, Y:178.51, Z:-5.78 [[ 8.82434178e-01 4.70398639e-01 5.91963332e-03 1.04685394e+02] [-4.70388956e-01 8.82454025e-01 -3.02050631e-03 1.78505089e+02] [-6.64464631e-03 -1.19132137e-04 9.99977917e-01 -5.78430515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90999999999997 meters 0.015690571658568686 Centerline is valid? [True, True] Translation: X:104.71, Y:178.49, Z:-5.79 [[ 8.82643568e-01 4.70012173e-01 5.37491312e-03 1.04713966e+02] [-4.70004171e-01 8.82659927e-01 -2.74451900e-03 1.78490256e+02] [-6.03417776e-03 -1.03799545e-04 9.99981789e-01 -5.78583643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94 meters 0.015441497032073278 Centerline is valid? [True, True] Translation: X:104.74, Y:178.47, Z:-5.79 [[ 8.82712147e-01 4.69897010e-01 4.00808275e-03 1.04742642e+02] [-4.69892564e-01 8.82721243e-01 -2.04565734e-03 1.78474219e+02] [-4.49926805e-03 -7.76416961e-05 9.99989875e-01 -5.78748544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96999999999997 meters 0.015311366615606996 Centerline is valid? [True, True] Translation: X:104.77, Y:178.46, Z:-5.79 [[ 8.82875589e-01 4.69602578e-01 2.02799830e-03 1.04770537e+02] [-4.69601441e-01 8.82877918e-01 -1.03403186e-03 1.78458265e+02] [-2.27605894e-03 -3.94294342e-05 9.99997409e-01 -5.78979910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0 meters 0.015545394890235664 Centerline is valid? [True, True] Translation: X:104.80, Y:178.44, Z:-5.79 [[ 8.82753869e-01 4.69833707e-01 1.37655383e-03 1.04797755e+02] [-4.69833182e-01 8.82754942e-01 -7.02615359e-04 1.78444164e+02] [-1.54527207e-03 -2.65142377e-05 9.99998806e-01 -5.79143803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03 meters 0.015532047137970543 Centerline is valid? [True, True] Translation: X:104.83, Y:178.43, Z:-5.79 [[ 8.82869288e-01 4.69618186e-01 7.62041215e-04 1.04826565e+02] [-4.69618027e-01 8.82869616e-01 -3.86076089e-04 1.78428271e+02] [-8.54091387e-04 -1.70135704e-05 9.99999635e-01 -5.79262426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06 meters 0.015312866899983884 Centerline is valid? [True, True] Translation: X:104.86, Y:178.41, Z:-5.79 [[ 8.82968384e-01 4.69432400e-01 2.34243216e-04 1.04855236e+02] [-4.69432386e-01 8.82968415e-01 -1.15710767e-04 1.78411795e+02] [-2.61147744e-04 -7.79240308e-06 9.99999966e-01 -5.79310523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09 meters 0.014975319510850271 Centerline is valid? [True, True] Translation: X:104.88, Y:178.39, Z:-5.79 [[ 8.83397866e-01 4.68623237e-01 6.86692690e-04 1.04882599e+02] [-4.68623108e-01 8.83398133e-01 -3.48399569e-04 1.78394098e+02] [-7.69891174e-04 -1.40246269e-05 9.99999704e-01 -5.79270275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12 meters 0.01484038548833935 Centerline is valid? [True, True] Translation: X:104.91, Y:178.38, Z:-5.79 [[ 8.83919544e-01 4.67635895e-01 1.70587070e-03 1.04909664e+02] [-4.67635080e-01 8.83921190e-01 -8.73222396e-04 1.78378628e+02] [-1.91620540e-03 -2.58666401e-05 9.99998164e-01 -5.79251242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15 meters 0.014583524181407901 Centerline is valid? [True, True] Translation: X:104.94, Y:178.36, Z:-5.79 [[ 8.84414955e-01 4.66693522e-01 2.71006433e-03 1.04937393e+02] [-4.66691460e-01 8.84419106e-01 -1.38774416e-03 1.78361835e+02] [-3.04448388e-03 -3.74221862e-05 9.99995365e-01 -5.79174779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18 meters 0.014223591472881145 Centerline is valid? [True, True] Translation: X:104.96, Y:178.34, Z:-5.79 [[ 8.85663922e-01 4.64302186e-01 4.78515929e-03 1.04963448e+02] [-4.64295698e-01 8.85676847e-01 -2.45500574e-03 1.78343664e+02] [-5.37796932e-03 -4.74188578e-05 9.99985538e-01 -5.79023816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21 meters 0.014223591472881145 Centerline is valid? [True, True] Translation: X:104.99, Y:178.33, Z:-5.79 [[ 8.85532800e-01 4.64552221e-01 4.78479813e-03 1.04992227e+02] [-4.64545732e-01 8.85545726e-01 -2.45570941e-03 1.78328796e+02] [-5.37796279e-03 -4.81463216e-05 9.99985538e-01 -5.79068629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24 meters 0.0139886792898265 Centerline is valid? [True, True] Translation: X:105.02, Y:178.31, Z:-5.79 [[ 8.86186121e-01 4.63292971e-01 5.81226607e-03 1.05019568e+02] [-4.63283349e-01 8.86205180e-01 -2.98632339e-03 1.78312252e+02] [-6.53440294e-03 -4.62877508e-05 9.99978650e-01 -5.79011269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27 meters 0.013886840284662142 Centerline is valid? [True, True] Translation: X:105.05, Y:178.30, Z:-5.79 [[ 8.86755175e-01 4.62188433e-01 6.86383709e-03 1.05047478e+02] [-4.62174959e-01 8.86781738e-01 -3.52947293e-03 1.78295593e+02] [-7.71800695e-03 -4.25152405e-05 9.99970215e-01 -5.78996386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3 meters 0.013733127801538132 Centerline is valid? [True, True] Translation: X:105.08, Y:178.28, Z:-5.79 [[ 8.87271212e-01 4.61195502e-01 6.96459566e-03 1.05075749e+02] [-4.61181582e-01 8.87298545e-01 -3.58331854e-03 1.78278592e+02] [-7.83228599e-03 -3.25678645e-05 9.99969327e-01 -5.79002585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33 meters 0.013643028134230656 Centerline is valid? [True, True] Translation: X:105.10, Y:178.26, Z:-5.79 [[ 8.88024742e-01 4.59733927e-01 7.53486200e-03 1.05103704e+02] [-4.59717556e-01 8.88056708e-01 -3.87980344e-03 1.78262050e+02] [-8.47506201e-03 -1.85468862e-05 9.99964086e-01 -5.78997426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36 meters 0.013560878818533663 Centerline is valid? [True, True] Translation: X:105.13, Y:178.24, Z:-5.79 [[ 8.88975462e-01 4.57889138e-01 7.75658787e-03 1.05131005e+02] [-4.57871694e-01 8.89009301e-01 -3.99686955e-03 1.78244079e+02] [-8.72580192e-03 1.59693118e-06 9.99961929e-01 -5.79008837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39 meters 0.013616505793277911 Centerline is valid? [True, True] Translation: X:105.16, Y:178.23, Z:-5.79 [[ 8.89270539e-01 4.57318825e-01 7.57633035e-03 1.05159404e+02] [-4.57302139e-01 8.89302812e-01 -3.90654810e-03 1.78228099e+02] [-8.52418987e-03 9.30606184e-06 9.99963668e-01 -5.79068264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42 meters 0.013633470173640054 Centerline is valid? [True, True] Translation: X:105.19, Y:178.21, Z:-5.79 [[ 8.89485117e-01 4.56909240e-01 7.08326488e-03 1.05186841e+02] [-4.56894624e-01 8.89513320e-01 -3.65471121e-03 1.78212806e+02] [-7.97052978e-03 1.45055932e-05 9.99968235e-01 -5.79201210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45 meters 0.013694207205845134 Centerline is valid? [True, True] Translation: X:105.22, Y:178.20, Z:-5.79 [[ 8.89317647e-01 4.57250721e-01 5.99179899e-03 1.05215745e+02] [-4.57240261e-01 8.89337832e-01 -3.09276697e-03 1.78197382e+02] [-6.74290344e-03 1.07605107e-05 9.99977266e-01 -5.79281763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47999999999996 meters 0.013603678589582219 Centerline is valid? [True, True] Translation: X:105.25, Y:178.18, Z:-5.79 [[ 8.89098756e-01 4.57682224e-01 5.51215122e-03 1.05245101e+02] [-4.57673371e-01 8.89115843e-01 -2.84681043e-03 1.78181996e+02] [-6.20387551e-03 8.33078797e-06 9.99980756e-01 -5.79374910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51 meters 0.013622532921995485 Centerline is valid? [True, True] Translation: X:105.27, Y:178.17, Z:-5.80 [[ 8.88640862e-01 4.58585014e-01 4.14773071e-03 1.05272515e+02] [-4.58580002e-01 8.88650541e-01 -2.14409075e-03 1.78168044e+02] [-4.66913103e-03 3.26029206e-06 9.99989100e-01 -5.79521576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53999999999996 meters 0.013682174663191382 Centerline is valid? [True, True] Translation: X:105.30, Y:178.15, Z:-5.80 [[ 8.88202876e-01 4.59437777e-01 3.54686751e-03 1.05301756e+02] [-4.59434124e-01 8.88209958e-01 -1.83216483e-03 1.78153234e+02] [-3.99212878e-03 -2.21789807e-06 9.99992031e-01 -5.79630190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57 meters 0.013636789911728784 Centerline is valid? [True, True] Translation: X:105.33, Y:178.14, Z:-5.80 [[ 8.87888825e-01 4.60048358e-01 2.99056185e-03 1.05331164e+02] [-4.60045763e-01 8.87893861e-01 -1.54519992e-03 1.78138212e+02] [-3.36616819e-03 -3.82957033e-06 9.99994334e-01 -5.79687699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59999999999997 meters 0.013691698396040385 Centerline is valid? [True, True] Translation: X:105.36, Y:178.12, Z:-5.80 [[ 8.87546931e-01 4.60708405e-01 2.86536493e-03 1.05360020e+02] [-4.60706023e-01 8.87551557e-01 -1.48160188e-03 1.78123539e+02] [-3.22574554e-03 -5.09968322e-06 9.99994797e-01 -5.79879089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63 meters 0.01358460453225215 Centerline is valid? [True, True] Translation: X:105.39, Y:178.11, Z:-5.80 [[ 8.87243338e-01 4.61289508e-01 3.35400360e-03 1.05389473e+02] [-4.61286242e-01 8.87249677e-01 -1.73588352e-03 1.78108398e+02] [-3.77658347e-03 -7.00462512e-06 9.99992869e-01 -5.79777757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65999999999997 meters 0.01360905852906425 Centerline is valid? [True, True] Translation: X:105.42, Y:178.09, Z:-5.80 [[ 8.87414349e-01 4.60955540e-01 3.97021519e-03 1.05418532e+02] [-4.60950950e-01 8.87423230e-01 -2.05706780e-03 1.78092786e+02] [-4.47147799e-03 -4.60298554e-06 9.99990003e-01 -5.79751516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69 meters 0.013525315946592198 Centerline is valid? [True, True] Translation: X:105.45, Y:178.08, Z:-5.80 [[ 8.87594802e-01 4.60602302e-01 4.58125114e-03 1.05447679e+02] [-4.60596174e-01 8.87606624e-01 -2.37599309e-03 1.78076505e+02] [-5.16073674e-03 -1.18762547e-06 9.99986683e-01 -5.79685064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71999999999997 meters 0.01357275075762162 Centerline is valid? [True, True] Translation: X:105.47, Y:178.06, Z:-5.80 [[ 8.88510410e-01 4.58815775e-01 6.11031178e-03 1.05474021e+02] [-4.58804798e-01 8.88531420e-01 -3.17378190e-03 1.78060411e+02] [-6.88538520e-03 1.64978911e-05 9.99976295e-01 -5.79557952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75 meters 0.013564556017834534 Centerline is valid? [True, True] Translation: X:105.50, Y:178.04, Z:-5.80 [[ 8.88733401e-01 4.58378013e-01 6.52217805e-03 1.05503168e+02] [-4.58365493e-01 8.88757333e-01 -3.38792323e-03 1.78044875e+02] [-7.34958309e-03 2.14191739e-05 9.99972991e-01 -5.79521763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78 meters 0.013646186428384333 Centerline is valid? [True, True] Translation: X:105.53, Y:178.03, Z:-5.80 [[ 8.88858571e-01 4.58138286e-01 6.30489674e-03 1.05530958e+02] [-4.58126564e-01 8.88880932e-01 -3.27734759e-03 1.78030078e+02] [-7.10578090e-03 2.46578162e-05 9.99974753e-01 -5.79594941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81 meters 0.013612298012340183 Centerline is valid? [True, True] Translation: X:105.56, Y:178.02, Z:-5.80 [[ 8.88933098e-01 4.57989412e-01 6.60645504e-03 1.05560154e+02] [-4.57976521e-01 8.88957647e-01 -3.43643144e-03 1.78015030e+02] [-7.44670794e-03 2.91563515e-05 9.99972272e-01 -5.79695392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84 meters 0.013602030271999103 Centerline is valid? [True, True] Translation: X:105.59, Y:178.00, Z:-5.80 [[ 8.88911360e-01 4.58026760e-01 6.93404815e-03 1.05589680e+02] [-4.58012539e-01 8.88938404e-01 -3.60947351e-03 1.78001175e+02] [-7.81717715e-03 3.26210068e-05 9.99969445e-01 -5.79820084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87 meters 0.013695971902939807 Centerline is valid? [True, True] Translation: X:105.62, Y:177.99, Z:-5.80 [[ 8.88968235e-01 4.57919148e-01 6.74774539e-03 1.05618043e+02] [-4.57905654e-01 8.88993843e-01 -3.51561441e-03 1.77986343e+02] [-7.60857126e-03 3.54387711e-05 9.99971054e-01 -5.79946105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9 meters 0.013614383499652348 Centerline is valid? [True, True] Translation: X:105.65, Y:177.97, Z:-5.80 [[ 8.88995898e-01 4.57870740e-01 6.37800346e-03 1.05646945e+02] [-4.57858679e-01 8.89018776e-01 -3.32351291e-03 1.77971688e+02] [-7.19190414e-03 3.43651034e-05 9.99974137e-01 -5.79987336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93 meters 0.013680054217266452 Centerline is valid? [True, True] Translation: X:105.68, Y:177.96, Z:-5.80 [[ 8.89026741e-01 4.57812857e-01 6.23232536e-03 1.05675964e+02] [-4.57801324e-01 8.89048585e-01 -3.24972206e-03 1.77956929e+02] [-7.02860458e-03 3.59230083e-05 9.99975298e-01 -5.80031081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96 meters 0.013765939032392316 Centerline is valid? [True, True] Translation: X:105.70, Y:177.94, Z:-5.80 [[ 8.89860172e-01 4.56189164e-01 6.34992952e-03 1.05704955e+02] [-4.56177132e-01 8.89882826e-01 -3.31368191e-03 1.77942151e+02] [-7.16235901e-03 5.20209184e-05 9.99974349e-01 -5.80082564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99 meters 0.013896537860743269 Centerline is valid? [True, True] Translation: X:105.73, Y:177.93, Z:-5.80 [[ 8.90404569e-01 4.55126977e-01 6.25602942e-03 1.05732495e+02] [-4.55115257e-01 8.90426545e-01 -3.26677199e-03 1.77926994e+02] [-7.05733072e-03 6.15342693e-05 9.99975095e-01 -5.80146790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02 meters 0.014259532384685256 Centerline is valid? [True, True] Translation: X:105.76, Y:177.91, Z:-5.80 [[ 8.91260529e-01 4.53444560e-01 6.53458477e-03 1.05760135e+02] [-4.53431712e-01 8.91284480e-01 -3.41431953e-03 1.77911757e+02] [-7.37237860e-03 8.00602727e-05 9.99972820e-01 -5.80253530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05 meters 0.01446271741940023 Centerline is valid? [True, True] Translation: X:105.79, Y:177.90, Z:-5.80 [[ 8.91997314e-01 4.51999041e-01 6.13666209e-03 1.05788111e+02] [-4.51987666e-01 8.92018419e-01 -3.20783414e-03 1.77896645e+02] [-6.92395357e-03 8.76838686e-05 9.99976025e-01 -5.80329341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08 meters 0.015138062362288943 Centerline is valid? [True, True] Translation: X:105.82, Y:177.88, Z:-5.80 [[ 8.93889839e-01 4.48244793e-01 6.12869145e-03 1.05816015e+02] [-4.48233346e-01 8.93910841e-01 -3.20557313e-03 1.77880756e+02] [-6.91538519e-03 1.18345372e-04 9.99976081e-01 -5.80424925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11 meters 0.015563238673038092 Centerline is valid? [True, True] Translation: X:105.84, Y:177.87, Z:-5.80 [[ 8.94559302e-01 4.46911007e-01 5.84864015e-03 1.05842749e+02] [-4.46900542e-01 8.94578413e-01 -3.06092734e-03 1.77865658e+02] [-6.60002934e-03 1.24420577e-04 9.99978212e-01 -5.80455695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14 meters 0.01614204381548067 Centerline is valid? [True, True] Translation: X:105.87, Y:177.85, Z:-5.80 [[ 8.95177519e-01 4.45662309e-01 6.50515515e-03 1.05869751e+02] [-4.45649312e-01 8.95201142e-01 -3.40683845e-03 1.77850582e+02] [-7.34172181e-03 1.50707273e-04 9.99973038e-01 -5.80498693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17 meters 0.015883672376534198 Centerline is valid? [True, True] Translation: X:105.90, Y:177.84, Z:-5.80 [[ 8.95519553e-01 4.44975831e-01 6.42183905e-03 1.05898711e+02] [-4.44963135e-01 8.95542565e-01 -3.36484433e-03 1.77837052e+02] [-7.24830462e-03 1.55802252e-04 9.99973719e-01 -5.80469083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2 meters 0.015761830421859052 Centerline is valid? [True, True] Translation: X:105.93, Y:177.82, Z:-5.80 [[ 8.95557512e-01 4.44900407e-01 6.35382907e-03 1.05928265e+02] [-4.44887965e-01 8.95580037e-01 -3.33090766e-03 1.77822770e+02] [-7.17228465e-03 1.56277289e-04 9.99974267e-01 -5.80483045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22999999999996 meters 0.015873237371753994 Centerline is valid? [True, True] Translation: X:105.96, Y:177.81, Z:-5.81 [[ 8.94966867e-01 4.46090350e-01 6.14060534e-03 1.05956860e+02] [-4.46078735e-01 8.94987921e-01 -3.22235504e-03 1.77809918e+02] [-6.93322910e-03 1.44707536e-04 9.99975954e-01 -5.80553607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26 meters 0.01585081061863019 Centerline is valid? [True, True] Translation: X:105.99, Y:177.80, Z:-5.81 [[ 8.94297831e-01 4.47433023e-01 5.92271559e-03 1.05985050e+02] [-4.47422245e-01 8.94317434e-01 -3.10833585e-03 1.77796310e+02] [-6.68755992e-03 1.29823300e-04 9.99977630e-01 -5.80602830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28999999999996 meters 0.015099821725280942 Centerline is valid? [True, True] Translation: X:106.01, Y:177.78, Z:-5.81 [[ 8.93369536e-01 4.49282592e-01 6.00207927e-03 1.06014709e+02] [-4.49271554e-01 8.93389690e-01 -3.15160491e-03 1.77784385e+02] [-6.77815696e-03 1.18984332e-04 9.99977021e-01 -5.80629499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32 meters 0.014456883570732802 Centerline is valid? [True, True] Translation: X:106.04, Y:177.77, Z:-5.81 [[ 8.91342634e-01 4.53290134e-01 6.03023288e-03 1.06044199e+02] [-4.53279069e-01 8.91363027e-01 -3.16847788e-03 1.77774132e+02] [-6.81136640e-03 9.08210731e-05 9.99976798e-01 -5.80665263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34999999999997 meters 0.014094660577536692 Centerline is valid? [True, True] Translation: X:106.07, Y:177.76, Z:-5.81 [[ 8.90068916e-01 4.55786303e-01 6.01426661e-03 1.06073501e+02] [-4.55775342e-01 8.90089232e-01 -3.16171620e-03 1.77761721e+02] [-6.79430088e-03 7.29908905e-05 9.99976916e-01 -5.80684118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38 meters 0.013732976508325253 Centerline is valid? [True, True] Translation: X:106.10, Y:177.75, Z:-5.81 [[ 8.88660860e-01 4.58527552e-01 5.86176303e-03 1.06103431e+02] [-4.58517188e-01 8.88680191e-01 -3.08328070e-03 1.77749189e+02] [-6.62300184e-03 5.22717787e-05 9.99978066e-01 -5.80688196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40999999999997 meters 0.013447939538813966 Centerline is valid? [True, True] Translation: X:106.13, Y:177.74, Z:-5.81 [[ 8.87308964e-01 4.61140698e-01 5.66210205e-03 1.06133506e+02] [-4.61131071e-01 8.87327029e-01 -2.97988133e-03 1.77736831e+02] [-6.39828074e-03 3.31042362e-05 9.99979530e-01 -5.80743812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44 meters 0.013284955635473423 Centerline is valid? [True, True] Translation: X:106.17, Y:177.73, Z:-5.81 [[ 8.84664451e-01 4.66204451e-01 4.71380246e-03 1.06165393e+02] [-4.66197848e-01 8.84677009e-01 -2.48128423e-03 1.77726273e+02] [-5.32697842e-03 -2.46061150e-06 9.99985812e-01 -5.80806556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46999999999997 meters 0.013311225750427222 Centerline is valid? [True, True] Translation: X:106.20, Y:177.71, Z:-5.81 [[ 8.83333849e-01 4.68721387e-01 4.64474000e-03 1.06195837e+02] [-4.68715002e-01 8.83346060e-01 -2.44657808e-03 1.77713273e+02] [-5.24967625e-03 -1.59140850e-05 9.99986220e-01 -5.80864416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5 meters 0.01343250057489298 Centerline is valid? [True, True] Translation: X:106.23, Y:177.70, Z:-5.81 [[ 8.81889050e-01 4.71435179e-01 4.53605111e-03 1.06226118e+02] [-4.71429117e-01 8.81900715e-01 -2.39088598e-03 1.77700285e+02] [-5.12749447e-03 -2.99304041e-05 9.99986854e-01 -5.80939375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53 meters 0.013977144259430122 Centerline is valid? [True, True] Translation: X:106.26, Y:177.69, Z:-5.81 [[ 8.79465921e-01 4.75937770e-01 4.78890459e-03 1.06256557e+02] [-4.75931068e-01 8.79478957e-01 -2.52649306e-03 1.77689890e+02] [-5.41419429e-03 -5.72239287e-05 9.99985342e-01 -5.80962026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56 meters 0.014226612726223536 Centerline is valid? [True, True] Translation: X:106.29, Y:177.68, Z:-5.81 [[ 8.78267388e-01 4.78143932e-01 4.97751765e-03 1.06285613e+02] [-4.78136716e-01 8.78281490e-01 -2.62772800e-03 1.77677106e+02] [-5.62809382e-03 -7.20861335e-05 9.99984160e-01 -5.80997582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59 meters 0.01439228021427412 Centerline is valid? [True, True] Translation: X:106.31, Y:177.66, Z:-5.81 [[ 8.77166062e-01 4.80160976e-01 5.01363137e-03 1.06314699e+02] [-4.80153679e-01 8.77180387e-01 -2.64837844e-03 1.77663706e+02] [-5.66950708e-03 -8.42458569e-05 9.99983925e-01 -5.81012003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62 meters 0.015176224852224671 Centerline is valid? [True, True] Translation: X:106.34, Y:177.65, Z:-5.81 [[ 8.76253784e-01 4.81822639e-01 5.12356145e-03 1.06343154e+02] [-4.81815035e-01 8.76268757e-01 -2.70868724e-03 1.77652161e+02] [-5.79472366e-03 -9.51114945e-05 9.99983206e-01 -5.81162933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65 meters 0.015379977432477024 Centerline is valid? [True, True] Translation: X:106.37, Y:177.64, Z:-5.81 [[ 8.74812265e-01 4.84432940e-01 5.31301925e-03 1.06372157e+02] [-4.84424804e-01 8.74828391e-01 -2.80985332e-03 1.77638987e+02] [-6.00916559e-03 -1.15664166e-04 9.99981938e-01 -5.81183744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68 meters 0.01610927519517943 Centerline is valid? [True, True] Translation: X:106.40, Y:177.63, Z:-5.81 [[ 8.74160870e-01 4.85604883e-01 5.53813564e-03 1.06400626e+02] [-4.85596054e-01 8.74178404e-01 -2.93103259e-03 1.77625637e+02] [-6.26464231e-03 -1.27102812e-04 9.99980369e-01 -5.81208928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71 meters 0.015507873414144915 Centerline is valid? [True, True] Translation: X:106.43, Y:177.61, Z:-5.81 [[ 8.73699816e-01 4.86432485e-01 5.66300522e-03 1.06428551e+02] [-4.86423261e-01 8.73718158e-01 -2.99865645e-03 1.77609576e+02] [-6.40651440e-03 -1.34691877e-04 9.99979469e-01 -5.81178319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74 meters 0.01611215920705662 Centerline is valid? [True, True] Translation: X:106.46, Y:177.60, Z:-5.81 [[ 8.73257288e-01 4.87222610e-01 5.98636851e-03 1.06457572e+02] [-4.87212307e-01 8.73277795e-01 -3.17192844e-03 1.77595898e+02] [-6.77319794e-03 -1.46722783e-04 9.99977051e-01 -5.81247307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77 meters 0.016489749115155862 Centerline is valid? [True, True] Translation: X:106.49, Y:177.58, Z:-5.81 [[ 8.72834356e-01 4.87980268e-01 5.95368924e-03 1.06485344e+02] [-4.87970078e-01 8.72854648e-01 -3.15699815e-03 1.77581973e+02] [-6.73725813e-03 -1.49685758e-04 9.99977293e-01 -5.81286438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8 meters 0.016219889598870618 Centerline is valid? [True, True] Translation: X:106.51, Y:177.57, Z:-5.81 [[ 8.72344356e-01 4.88858801e-01 5.69195892e-03 1.06513383e+02] [-4.88849498e-01 8.72362912e-01 -3.01951320e-03 1.77566509e+02] [-6.44156946e-03 -1.48455964e-04 9.99979242e-01 -5.81344561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83 meters 0.01726045714636291 Centerline is valid? [True, True] Translation: X:106.54, Y:177.55, Z:-5.82 [[ 8.71384448e-01 4.90574915e-01 5.03947604e-03 1.06541818e+02] [-4.90567644e-01 8.71399009e-01 -2.67473018e-03 1.77553842e+02] [-5.70354996e-03 -1.41485602e-04 9.99983725e-01 -5.81527472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86 meters 0.01714879638182183 Centerline is valid? [True, True] Translation: X:106.57, Y:177.54, Z:-5.82 [[ 8.70974802e-01 4.91311392e-01 4.00142426e-03 1.06569834e+02] [-4.91306814e-01 8.70983985e-01 -2.12406587e-03 1.77538494e+02] [-4.52875421e-03 -1.15919161e-04 9.99989738e-01 -5.81650200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89 meters 0.017329852378046122 Centerline is valid? [True, True] Translation: X:106.60, Y:177.52, Z:-5.82 [[ 8.70716357e-01 4.91776948e-01 2.90840641e-03 1.06597717e+02] [-4.91774528e-01 8.70721210e-01 -1.54507003e-03 1.77523610e+02] [-3.29224097e-03 -8.49624448e-05 9.99994577e-01 -5.81782940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92 meters 0.016931683752423616 Centerline is valid? [True, True] Translation: X:106.63, Y:177.51, Z:-5.82 [[ 8.70775990e-01 4.91677130e-01 1.66597696e-03 1.06625471e+02] [-4.91676339e-01 8.70777582e-01 -8.83822950e-04 1.77506737e+02] [-1.88525092e-03 -4.95096477e-05 9.99998222e-01 -5.82002546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95 meters 0.017285789718282773 Centerline is valid? [True, True] Translation: X:106.65, Y:177.49, Z:-5.82 [[ 8.71047961e-01 4.91196168e-01 1.33238192e-03 1.06652852e+02] [-4.91195662e-01 8.71048979e-01 -7.05875804e-04 1.77491997e+02] [-1.50729340e-03 -3.96085385e-05 9.99998863e-01 -5.82142544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97999999999996 meters 0.016543920553931682 Centerline is valid? [True, True] Translation: X:106.68, Y:177.47, Z:-5.82 [[ 8.71568848e-01 4.90270634e-01 1.56473406e-03 1.06679817e+02] [-4.90269934e-01 8.71570251e-01 -8.29808385e-04 1.77474615e+02] [-1.77060634e-03 -4.39069245e-05 9.99998432e-01 -5.82167042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01 meters 0.01600183861409174 Centerline is valid? [True, True] Translation: X:106.71, Y:177.46, Z:-5.82 [[ 8.72266908e-01 4.89027380e-01 1.63145098e-03 1.06706631e+02] [-4.89026616e-01 8.72268433e-01 -8.65852808e-04 1.77457184e+02] [-1.84648892e-03 -4.25681989e-05 9.99998294e-01 -5.82173389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03999999999996 meters 0.015719914506684363 Centerline is valid? [True, True] Translation: X:106.73, Y:177.44, Z:-5.82 [[ 8.73159790e-01 4.87431044e-01 1.71998381e-03 1.06732952e+02] [-4.87430189e-01 8.73161483e-01 -9.13875539e-04 1.77440132e+02] [-1.94727493e-03 -4.04126618e-05 9.99998103e-01 -5.82213561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07 meters 0.01494395592619613 Centerline is valid? [True, True] Translation: X:106.76, Y:177.42, Z:-5.82 [[ 8.75624210e-01 4.82987220e-01 2.36399164e-03 1.06757020e+02] [-4.82985581e-01 8.75627400e-01 -1.25877797e-03 1.77420114e+02] [-2.67794953e-03 -3.95574119e-05 9.99996414e-01 -5.82220586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09999999999997 meters 0.014548590911336255 Centerline is valid? [True, True] Translation: X:106.78, Y:177.40, Z:-5.82 [[ 8.76885372e-01 4.80689531e-01 3.10144985e-03 1.06783697e+02] [-4.80686693e-01 8.76890856e-01 -1.65233069e-03 1.77401852e+02] [-3.51389108e-03 -4.19210536e-05 9.99993825e-01 -5.82238063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13 meters 0.014548590911336255 Centerline is valid? [True, True] Translation: X:106.81, Y:177.39, Z:-5.82 [[ 8.76750498e-01 4.80935490e-01 3.10121462e-03 1.06812242e+02] [-4.80932652e-01 8.76755982e-01 -1.65277205e-03 1.77386524e+02] [-3.51388521e-03 -4.24066525e-05 9.99993825e-01 -5.82282890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15999999999997 meters 0.01396341568614864 Centerline is valid? [True, True] Translation: X:106.84, Y:177.36, Z:-5.82 [[ 8.79687205e-01 4.75527114e-01 4.93816486e-03 1.06837169e+02] [-4.75519806e-01 8.79701064e-01 -2.63646948e-03 1.77364377e+02] [-5.59782161e-03 -2.89267286e-05 9.99984332e-01 -5.82188232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19 meters 0.013833562872245285 Centerline is valid? [True, True] Translation: X:106.86, Y:177.35, Z:-5.82 [[ 8.81239146e-01 4.72639165e-01 5.45783892e-03 1.06863252e+02] [-4.72630169e-01 8.81256047e-01 -2.91604327e-03 1.77345792e+02] [-6.18798981e-03 -9.80785389e-06 9.99980854e-01 -5.82155169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21999999999997 meters 0.01393931992266922 Centerline is valid? [True, True] Translation: X:106.89, Y:177.33, Z:-5.82 [[ 8.82909813e-01 4.69502814e-01 6.11309006e-03 1.06889878e+02] [-4.69491439e-01 8.82930975e-01 -3.26826592e-03 1.77326495e+02] [-6.93189661e-03 1.55406028e-05 9.99975974e-01 -5.82148439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25 meters 0.014087884540925282 Centerline is valid? [True, True] Translation: X:106.92, Y:177.31, Z:-5.82 [[ 8.84393324e-01 4.66698927e-01 6.36870558e-03 1.06916030e+02] [-4.66686489e-01 8.84416254e-01 -3.40758225e-03 1.77308018e+02] [-7.22290171e-03 4.14541506e-05 9.99973914e-01 -5.82095094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28 meters 0.015297798106069611 Centerline is valid? [True, True] Translation: X:106.94, Y:177.29, Z:-5.82 [[ 8.87603632e-01 4.60563627e-01 6.39834864e-03 1.06939663e+02] [-4.60550890e-01 8.87626688e-01 -3.42646870e-03 1.77285610e+02] [-7.25745186e-03 9.45809036e-05 9.99973660e-01 -5.82215441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31 meters 0.015543005062592976 Centerline is valid? [True, True] Translation: X:106.97, Y:177.27, Z:-5.82 [[ 8.88738794e-01 4.58377283e-01 5.79844727e-03 1.06966902e+02] [-4.58366778e-01 8.88757704e-01 -3.10500698e-03 1.77268554e+02] [-6.57667935e-03 1.01724572e-04 9.99978368e-01 -5.82248114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34 meters 0.01601206867965816 Centerline is valid? [True, True] Translation: X:106.99, Y:177.25, Z:-5.82 [[ 8.89850405e-01 4.56222880e-01 5.19034308e-03 1.06994371e+02] [-4.56214419e-01 8.89865536e-01 -2.78060742e-03 1.77251227e+02] [-5.88728415e-03 1.06415290e-04 9.99982664e-01 -5.82395236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37 meters 0.016565203332283288 Centerline is valid? [True, True] Translation: X:107.02, Y:177.23, Z:-5.83 [[ 8.90685624e-01 4.54597539e-01 4.49404986e-03 1.07021567e+02] [-4.54591170e-01 8.90696956e-01 -2.40850767e-03 1.77234322e+02] [-5.09773819e-03 1.02267773e-04 9.99987001e-01 -5.82520988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4 meters 0.01702275583485621 Centerline is valid? [True, True] Translation: X:107.05, Y:177.22, Z:-5.83 [[ 8.91226449e-01 4.53537671e-01 4.35865323e-03 1.07048990e+02] [-4.53531661e-01 8.91237101e-01 -2.33721202e-03 1.77218493e+02] [-4.94460717e-03 1.06197922e-04 9.99987770e-01 -5.82622078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43 meters 0.017303823168647856 Centerline is valid? [True, True] Translation: X:107.08, Y:177.20, Z:-5.83 [[ 8.92045313e-01 4.51928476e-01 3.97646202e-03 1.07077077e+02] [-4.51923454e-01 8.92054169e-01 -2.13316284e-03 1.77202783e+02] [-4.51125655e-03 1.05821463e-04 9.99989819e-01 -5.82682416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46 meters 0.017325721363103348 Centerline is valid? [True, True] Translation: X:107.11, Y:177.19, Z:-5.83 [[ 8.92165982e-01 4.51690069e-01 3.99285762e-03 1.07105239e+02] [-4.51684997e-01 8.92174910e-01 -2.14324932e-03 1.77187920e+02] [-4.53041182e-03 1.08620245e-04 9.99989732e-01 -5.82691496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49 meters 0.017610619998703534 Centerline is valid? [True, True] Translation: X:107.13, Y:177.17, Z:-5.83 [[ 8.92494821e-01 4.51039327e-01 4.06440125e-03 1.07133542e+02] [-4.51034059e-01 8.92504068e-01 -2.18301227e-03 1.77172449e+02] [-4.61211903e-03 1.15143754e-04 9.99989358e-01 -5.82747838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52 meters 0.01795783143001747 Centerline is valid? [True, True] Translation: X:107.16, Y:177.16, Z:-5.83 [[ 8.93030177e-01 4.49975350e-01 4.39172925e-03 1.07161191e+02] [-4.49969178e-01 8.93040966e-01 -2.36053288e-03 1.77156778e+02] [-4.98417574e-03 1.31884296e-04 9.99987570e-01 -5.82791099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55 meters 0.01884929385560927 Centerline is valid? [True, True] Translation: X:107.19, Y:177.14, Z:-5.83 [[ 8.94708431e-01 4.46630243e-01 4.27189307e-03 1.07188004e+02] [-4.46624358e-01 8.94718618e-01 -2.29755576e-03 1.77140092e+02] [-4.84830015e-03 1.47711014e-04 9.99988236e-01 -5.82785909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58 meters 0.019200046227768403 Centerline is valid? [True, True] Translation: X:107.22, Y:177.12, Z:-5.83 [[ 8.95568429e-01 4.44902164e-01 4.38789117e-03 1.07216042e+02] [-4.44895928e-01 8.95579164e-01 -2.36114136e-03 1.77124637e+02] [-4.98018080e-03 1.62408748e-04 9.99987586e-01 -5.82820913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61 meters 0.020324593904044275 Centerline is valid? [True, True] Translation: X:107.24, Y:177.11, Z:-5.83 [[ 8.96435824e-01 4.43147560e-01 4.80152109e-03 1.07242499e+02] [-4.43140056e-01 8.96448662e-01 -2.58579517e-03 1.77108673e+02] [-5.45020598e-03 1.90253096e-04 9.99985129e-01 -5.82867317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64 meters 0.020370634831938142 Centerline is valid? [True, True] Translation: X:107.27, Y:177.09, Z:-5.83 [[ 8.97085136e-01 4.41829764e-01 4.97174830e-03 1.07271182e+02] [-4.41821691e-01 8.97098889e-01 -2.67889742e-03 1.77093997e+02] [-5.64376650e-03 2.06572815e-04 9.99984053e-01 -5.82919231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67 meters 0.02226191434994652 Centerline is valid? [True, True] Translation: X:107.30, Y:177.08, Z:-5.83 [[ 8.97934121e-01 4.40108188e-01 4.37009935e-03 1.07297568e+02] [-4.40101919e-01 8.97944734e-01 -2.35686255e-03 1.77078424e+02] [-4.96138220e-03 1.93018188e-04 9.99987674e-01 -5.83061622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7 meters 0.020574746630578483 Centerline is valid? [True, True] Translation: X:107.33, Y:177.07, Z:-5.83 [[ 8.97867293e-01 4.40244761e-01 4.34436555e-03 1.07328178e+02] [-4.40238573e-01 8.97877783e-01 -2.34203543e-03 1.77065992e+02] [-4.93177814e-03 1.90279724e-04 9.99987821e-01 -5.83033852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72999999999996 meters 0.02240470024109859 Centerline is valid? [True, True] Translation: X:107.35, Y:177.05, Z:-5.83 [[ 8.97319161e-01 4.41359200e-01 4.51435585e-03 1.07354958e+02] [-4.41352520e-01 8.97330496e-01 -2.43603195e-03 1.77049454e+02] [-5.12603429e-03 1.93475819e-04 9.99986843e-01 -5.83171679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76 meters 0.020125641589652576 Centerline is valid? [True, True] Translation: X:107.39, Y:177.04, Z:-5.83 [[ 8.96454504e-01 4.43119360e-01 3.81521112e-03 1.07385563e+02] [-4.43114603e-01 8.96462609e-01 -2.05914790e-03 1.77038543e+02] [-4.33264242e-03 1.55356646e-04 9.99990602e-01 -5.83188000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78999999999996 meters 0.017775899542349077 Centerline is valid? [True, True] Translation: X:107.42, Y:177.03, Z:-5.83 [[ 8.94416906e-01 4.47217389e-01 3.87365551e-03 1.07416739e+02] [-4.47212515e-01 8.94425283e-01 -2.09253937e-03 1.77030481e+02] [-4.40051542e-03 1.39255363e-04 9.99990308e-01 -5.83204092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82 meters 0.01806268440914105 Centerline is valid? [True, True] Translation: X:107.44, Y:177.02, Z:-5.83 [[ 8.93056682e-01 4.49924117e-01 4.24876457e-03 1.07444262e+02] [-4.49918276e-01 8.93066778e-01 -2.29675661e-03 1.77017462e+02] [-4.82779668e-03 1.39537007e-04 9.99988336e-01 -5.83308156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84999999999997 meters 0.016696362619750247 Centerline is valid? [True, True] Translation: X:107.47, Y:177.01, Z:-5.83 [[ 8.91527954e-01 4.52938265e-01 4.98356482e-03 1.07474159e+02] [-4.52930270e-01 8.91541870e-01 -2.69506853e-03 1.77006903e+02] [-5.66375636e-03 1.45521572e-04 9.99983950e-01 -5.83278777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88 meters 0.016278951936978862 Centerline is valid? [True, True] Translation: X:107.50, Y:177.00, Z:-5.83 [[ 8.89810886e-01 4.56296621e-01 5.47559877e-03 1.07502068e+02] [-4.56287018e-01 8.89827722e-01 -2.96345559e-03 1.76995428e+02] [-6.22455435e-03 1.38470412e-04 9.99980618e-01 -5.83348686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90999999999997 meters 0.014941819394181946 Centerline is valid? [True, True] Translation: X:107.53, Y:176.99, Z:-5.83 [[ 8.86126900e-01 4.63394829e-01 6.65954952e-03 1.07532134e+02] [-4.63380807e-01 8.86151917e-01 -3.60659009e-03 1.76987835e+02] [-7.57264777e-03 1.09989063e-04 9.99971321e-01 -5.83318388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94 meters 0.014092120597714976 Centerline is valid? [True, True] Translation: X:107.56, Y:176.98, Z:-5.83 [[ 8.84277974e-01 4.66903752e-01 7.30424485e-03 1.07562292e+02] [-4.66887001e-01 8.84308136e-01 -3.95596844e-03 1.76976648e+02] [-8.30625966e-03 8.79187863e-05 9.99965499e-01 -5.83262913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96999999999997 meters 0.013547718320949163 Centerline is valid? [True, True] Translation: X:107.59, Y:176.97, Z:-5.83 [[ 8.80689576e-01 4.73626988e-01 7.95905045e-03 1.07593188e+02] [-4.73607345e-01 8.80725539e-01 -4.31365830e-03 1.76968126e+02] [-9.05280398e-03 2.95291493e-05 9.99959022e-01 -5.83252942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0 meters 0.013412431162628335 Centerline is valid? [True, True] Translation: X:107.62, Y:176.96, Z:-5.83 [[ 8.78895319e-01 4.76947629e-01 7.99855867e-03 1.07623402e+02] [-4.76927907e-01 8.78931715e-01 -4.33732041e-03 1.76956125e+02] [-9.09886157e-03 -2.68523644e-06 9.99958605e-01 -5.83305760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03 meters 0.013603174684970874 Centerline is valid? [True, True] Translation: X:107.65, Y:176.94, Z:-5.83 [[ 8.77168514e-01 4.80120060e-01 7.75414143e-03 1.07653796e+02] [-4.80101627e-01 8.77202786e-01 -4.20721633e-03 1.76944007e+02] [-8.82192342e-03 -3.23382245e-05 9.99961086e-01 -5.83372886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06 meters 0.013681322180814125 Centerline is valid? [True, True] Translation: X:107.68, Y:176.93, Z:-5.83 [[ 8.75508882e-01 4.83142216e-01 7.60247840e-03 1.07683768e+02] [-4.83124586e-01 8.75541887e-01 -4.12779101e-03 1.76931760e+02] [-8.65059838e-03 -5.90265312e-05 9.99962581e-01 -5.83444210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09 meters 0.014011680714824212 Centerline is valid? [True, True] Translation: X:107.71, Y:176.92, Z:-5.84 [[ 8.74051034e-01 4.85782521e-01 7.08041339e-03 1.07713285e+02] [-4.85767299e-01 8.74079708e-01 -3.84639385e-03 1.76919630e+02] [-8.05735657e-03 -7.74887694e-05 9.99967536e-01 -5.83561677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12 meters 0.014470685937319313 Centerline is valid? [True, True] Translation: X:107.74, Y:176.91, Z:-5.84 [[ 8.72762761e-01 4.88101983e-01 6.45117737e-03 1.07741854e+02] [-4.88089395e-01 8.72786599e-01 -3.50645822e-03 1.76907715e+02] [-7.34201037e-03 -8.84451075e-05 9.99973043e-01 -5.83708617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15 meters 0.015217534546539577 Centerline is valid? [True, True] Translation: X:107.77, Y:176.90, Z:-5.84 [[ 8.70809544e-01 4.91604971e-01 3.91039647e-03 1.07772343e+02] [-4.91600375e-01 8.70818321e-01 -2.12689475e-03 1.76896250e+02] [-4.45083692e-03 -7.02321227e-05 9.99990093e-01 -5.83901467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18 meters 0.015441896481450744 Centerline is valid? [True, True] Translation: X:107.80, Y:176.88, Z:-5.84 [[ 8.70202460e-01 4.92685061e-01 3.01815164e-03 1.07801156e+02] [-4.92682336e-01 8.70207692e-01 -1.63953402e-03 1.76882217e+02] [-3.43419269e-03 -6.02634627e-05 9.99994101e-01 -5.84014918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21 meters 0.0158379842576415 Centerline is valid? [True, True] Translation: X:107.83, Y:176.87, Z:-5.84 [[ 8.69756010e-01 4.93477717e-01 2.05573365e-03 1.07829506e+02] [-4.93476456e-01 8.69758438e-01 -1.11640244e-03 1.76868493e+02] [-2.33891141e-03 -4.34584239e-05 9.99997264e-01 -5.84146032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24 meters 0.015445209099951989 Centerline is valid? [True, True] Translation: X:107.86, Y:176.85, Z:-5.84 [[ 8.69568264e-01 4.93810770e-01 1.39929741e-03 1.07858138e+02] [-4.93810188e-01 8.69569389e-01 -7.58343423e-04 1.76852544e+02] [-1.59126434e-03 -3.15559435e-05 9.99998733e-01 -5.84169452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27 meters 0.015097443210289536 Centerline is valid? [True, True] Translation: X:107.89, Y:176.84, Z:-5.84 [[ 8.70175532e-01 4.92741057e-01 8.90888419e-04 1.07886270e+02] [-4.92740822e-01 8.70175988e-01 -4.82024417e-04 1.76836577e+02] [-1.01274293e-03 -1.95312381e-05 9.99999487e-01 -5.84227374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3 meters 0.015195556329095066 Centerline is valid? [True, True] Translation: X:107.91, Y:176.82, Z:-5.84 [[ 8.70586497e-01 4.92013626e-01 1.32027242e-03 1.07913664e+02] [-4.92013104e-01 8.70587498e-01 -7.16971520e-04 1.76820995e+02] [-1.50217242e-03 -2.54056079e-05 9.99998871e-01 -5.84269794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33 meters 0.014962990324808441 Centerline is valid? [True, True] Translation: X:107.94, Y:176.80, Z:-5.84 [[ 8.71251029e-01 4.90835001e-01 1.62645999e-03 1.07940981e+02] [-4.90834205e-01 8.71252547e-01 -8.84405853e-04 1.76804149e+02] [-1.85115476e-03 -2.77826864e-05 9.99998286e-01 -5.84222080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36 meters 0.014547369258584828 Centerline is valid? [True, True] Translation: X:107.97, Y:176.79, Z:-5.84 [[ 8.71826389e-01 4.89808846e-01 2.45806373e-03 1.07967838e+02] [-4.89807017e-01 8.71829853e-01 -1.33928662e-03 1.76786913e+02] [-2.79900778e-03 -3.63514437e-05 9.99996082e-01 -5.84112193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39 meters 0.01422248919181698 Centerline is valid? [True, True] Translation: X:107.99, Y:176.77, Z:-5.84 [[ 8.73154050e-01 4.87435630e-01 2.91762546e-03 1.07993685e+02] [-4.87433032e-01 8.73158924e-01 -1.59159947e-03 1.76769193e+02] [-3.32335300e-03 -3.24355065e-05 9.99994477e-01 -5.84024659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42 meters 0.014059143343923951 Centerline is valid? [True, True] Translation: X:108.02, Y:176.75, Z:-5.84 [[ 8.73327900e-01 4.87122984e-01 3.09474944e-03 1.08021829e+02] [-4.87120058e-01 8.73333383e-01 -1.68870231e-03 1.76752292e+02] [-3.52535370e-03 -3.27236855e-05 9.99993785e-01 -5.83999362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45 meters 0.014218526488345004 Centerline is valid? [True, True] Translation: X:108.05, Y:176.74, Z:-5.84 [[ 8.73270158e-01 4.87223471e-01 3.53841592e-03 1.08049869e+02] [-4.87219638e-01 8.73277326e-01 -1.93299559e-03 1.76736946e+02] [-4.03181921e-03 -3.59583581e-05 9.99991872e-01 -5.84137904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47999999999996 meters 0.014142458164203394 Centerline is valid? [True, True] Translation: X:108.08, Y:176.72, Z:-5.84 [[ 8.72694860e-01 4.88251598e-01 3.74930753e-03 1.08078228e+02] [-4.88247299e-01 8.72702913e-01 -2.04952794e-03 1.76720257e+02] [-4.27271690e-03 -4.19767709e-05 9.99990871e-01 -5.84069194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51 meters 0.014270814915261302 Centerline is valid? [True, True] Translation: X:108.11, Y:176.70, Z:-5.84 [[ 8.72107992e-01 4.89301264e-01 3.45313688e-03 1.08106889e+02] [-4.89297621e-01 8.72114827e-01 -1.88856780e-03 1.76704818e+02] [-3.93561049e-03 -4.25765937e-05 9.99992255e-01 -5.84114146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53999999999996 meters 0.014587488628133092 Centerline is valid? [True, True] Translation: X:108.13, Y:176.69, Z:-5.84 [[ 8.71451101e-01 4.90471577e-01 3.25735247e-03 1.08134938e+02] [-4.90468338e-01 8.71457188e-01 -1.78311111e-03 1.76690937e+02] [-3.71320854e-03 -4.37341079e-05 9.99993105e-01 -5.84259154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57 meters 0.014870952406270437 Centerline is valid? [True, True] Translation: X:108.16, Y:176.68, Z:-5.84 [[ 8.70679334e-01 4.91843529e-01 2.72758784e-03 1.08162969e+02] [-4.91841260e-01 8.70683606e-01 -1.49456790e-03 1.76676355e+02] [-3.10995956e-03 -4.02508605e-05 9.99995163e-01 -5.84350315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59999999999997 meters 0.014794133429229875 Centerline is valid? [True, True] Translation: X:108.19, Y:176.66, Z:-5.84 [[ 8.69914105e-01 4.93196987e-01 2.48652936e-03 1.08191157e+02] [-4.93195110e-01 8.69917657e-01 -1.36123135e-03 1.76660253e+02] [-2.83443100e-03 -4.21897692e-05 9.99995982e-01 -5.84380824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63 meters 0.01492250442048838 Centerline is valid? [True, True] Translation: X:108.22, Y:176.65, Z:-5.84 [[ 8.69134628e-01 4.94572656e-01 1.69913940e-03 1.08219684e+02] [-4.94571784e-01 8.69136288e-01 -9.29452524e-04 1.76645020e+02] [-1.93646551e-03 -3.25270303e-05 9.99998125e-01 -5.84444630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65999999999997 meters 0.015524245686778139 Centerline is valid? [True, True] Translation: X:108.25, Y:176.63, Z:-5.85 [[ 8.68280351e-01 4.96071767e-01 1.42584796e-03 1.08247637e+02] [-4.96071155e-01 8.68281522e-01 -7.80061643e-04 1.76631857e+02] [-1.62500399e-03 -3.00098461e-05 9.99998679e-01 -5.84637749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69 meters 0.015496329836683146 Centerline is valid? [True, True] Translation: X:108.28, Y:176.62, Z:-5.85 [[ 8.68098793e-01 4.96388663e-01 1.66768681e-03 1.08276398e+02] [-4.96387825e-01 8.68100394e-01 -9.12817274e-04 1.76616001e+02] [-1.90083172e-03 -3.54038538e-05 9.99998193e-01 -5.84681860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71999999999997 meters 0.015376603455000174 Centerline is valid? [True, True] Translation: X:108.30, Y:176.60, Z:-5.85 [[ 8.68317752e-01 4.96003069e-01 2.28852134e-03 1.08304135e+02] [-4.96001482e-01 8.68320766e-01 -1.25561716e-03 1.76599866e+02] [-2.60996057e-03 -4.48353045e-05 9.99996593e-01 -5.84689583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75 meters 0.01490264071831579 Centerline is valid? [True, True] Translation: X:108.33, Y:176.58, Z:-5.85 [[ 8.69584971e-01 4.93769587e-01 3.68424684e-03 1.08331038e+02] [-4.93765438e-01 8.69592773e-01 -2.02499512e-03 1.76581492e+02] [-4.20367543e-03 -5.82484313e-05 9.99991163e-01 -5.84583226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78 meters 0.014563273476597064 Centerline is valid? [True, True] Translation: X:108.36, Y:176.56, Z:-5.85 [[ 8.70636677e-01 4.91909059e-01 4.15369457e-03 1.08357752e+02] [-4.91903756e-01 8.70646584e-01 -2.28487083e-03 1.76564395e+02] [-4.74034865e-03 -5.39256101e-05 9.99988763e-01 -5.84613784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81 meters 0.014391228710433475 Centerline is valid? [True, True] Translation: X:108.38, Y:176.55, Z:-5.85 [[ 8.71632500e-01 4.90138983e-01 4.53469216e-03 1.08383659e+02] [-4.90132627e-01 8.71644294e-01 -2.49644607e-03 1.76547437e+02] [-5.17624409e-03 -4.66170534e-05 9.99986602e-01 -5.84644755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84 meters 0.01403015827409297 Centerline is valid? [True, True] Translation: X:108.41, Y:176.53, Z:-5.85 [[ 8.72912932e-01 4.87856701e-01 4.34195880e-03 1.08410156e+02] [-4.87850841e-01 8.72923730e-01 -2.39124984e-03 1.76529450e+02] [-4.95678613e-03 -3.08753474e-05 9.99987715e-01 -5.84645728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87 meters 0.013826474212808299 Centerline is valid? [True, True] Translation: X:108.44, Y:176.51, Z:-5.85 [[ 8.75581299e-01 4.83051130e-01 4.35837796e-03 1.08435428e+02] [-4.83045159e-01 8.75592146e-01 -2.40170940e-03 1.76509533e+02] [-4.97630995e-03 -2.40154365e-06 9.99987618e-01 -5.84686566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9 meters 0.01388923754868124 Centerline is valid? [True, True] Translation: X:108.46, Y:176.49, Z:-5.85 [[ 8.76806939e-01 4.80818495e-01 4.81314833e-03 1.08462661e+02] [-4.80811170e-01 8.76820150e-01 -2.65396176e-03 1.76491510e+02] [-5.49633933e-03 1.27966047e-05 9.99984895e-01 -5.84730254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93 meters 0.014016667742471008 Centerline is valid? [True, True] Translation: X:108.49, Y:176.47, Z:-5.85 [[ 8.78030399e-01 4.78582181e-01 4.65984730e-03 1.08488637e+02] [-4.78575273e-01 8.78042764e-01 -2.57153833e-03 1.76474172e+02] [-5.32223762e-03 2.78011304e-05 9.99985836e-01 -5.84751284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96 meters 0.014224936846961824 Centerline is valid? [True, True] Translation: X:108.52, Y:176.46, Z:-5.85 [[ 8.79054669e-01 4.76694502e-01 5.02414056e-03 1.08515695e+02] [-4.76686431e-01 8.79069025e-01 -2.77415799e-03 1.76456710e+02] [-5.73899220e-03 4.36968974e-05 9.99983531e-01 -5.84752316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99 meters 0.01474790828763929 Centerline is valid? [True, True] Translation: X:108.54, Y:176.44, Z:-5.85 [[ 8.80864848e-01 4.73341762e-01 4.96956629e-03 1.08542279e+02] [-4.73333803e-01 8.80878864e-01 -2.74559558e-03 1.76438221e+02] [-5.67719095e-03 6.62349246e-05 9.99983882e-01 -5.84788739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02 meters 0.01474790828763929 Centerline is valid? [True, True] Translation: X:108.57, Y:176.42, Z:-5.85 [[ 8.80732246e-01 4.73588449e-01 4.96903256e-03 1.08570593e+02] [-4.73580490e-01 8.80746261e-01 -2.74656093e-03 1.76422474e+02] [-5.67719638e-03 6.57479050e-05 9.99983882e-01 -5.84833566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05 meters 0.014724632053562886 Centerline is valid? [True, True] Translation: X:108.60, Y:176.41, Z:-5.85 [[ 8.81208261e-01 4.72702233e-01 4.95977565e-03 1.08598320e+02] [-4.72694277e-01 8.81222216e-01 -2.74354149e-03 1.76406363e+02] [-5.66754267e-03 7.31738629e-05 9.99983937e-01 -5.84833099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08 meters 0.014838032099192508 Centerline is valid? [True, True] Translation: X:108.63, Y:176.39, Z:-5.85 [[ 8.81415920e-01 4.72314680e-01 4.98182019e-03 1.08626914e+02] [-4.72306639e-01 8.81429996e-01 -2.75703264e-03 1.76389586e+02] [-5.69331274e-03 7.71457102e-05 9.99983790e-01 -5.84861427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11 meters 0.014836319258005208 Centerline is valid? [True, True] Translation: X:108.65, Y:176.37, Z:-5.85 [[ 8.81497078e-01 4.72164877e-01 4.81980710e-03 1.08654945e+02] [-4.72157339e-01 8.81510251e-01 -2.66919951e-03 1.76373344e+02] [-5.50901163e-03 7.71842741e-05 9.99984822e-01 -5.84921987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14 meters 0.014911400197918633 Centerline is valid? [True, True] Translation: X:108.68, Y:176.36, Z:-5.85 [[ 8.81520528e-01 4.72120900e-01 4.83896044e-03 1.08683061e+02] [-4.72113287e-01 8.81533805e-01 -2.68236162e-03 1.76357776e+02] [-5.53210619e-03 8.00193168e-05 9.99984695e-01 -5.85029961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17 meters 0.014648361405802338 Centerline is valid? [True, True] Translation: X:108.71, Y:176.34, Z:-5.85 [[ 8.81224870e-01 4.72669442e-01 5.13088893e-03 1.08712420e+02] [-4.72660890e-01 8.81239804e-01 -2.84456125e-03 1.76342472e+02] [-5.86608073e-03 8.15275900e-05 9.99982791e-01 -5.85027127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2 meters 0.014686399719775355 Centerline is valid? [True, True] Translation: X:108.74, Y:176.33, Z:-5.85 [[ 8.80789241e-01 4.73473734e-01 5.73895632e-03 1.08739201e+02] [-4.73463031e-01 8.80807933e-01 -3.18480121e-03 1.76327548e+02] [-6.56283798e-03 8.79549814e-05 9.99978460e-01 -5.85078450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22999999999996 meters 0.014385452306082047 Centerline is valid? [True, True] Translation: X:108.77, Y:176.31, Z:-5.85 [[ 8.80229319e-01 4.74511779e-01 5.90904468e-03 1.08767863e+02] [-4.74500444e-01 8.80249149e-01 -3.28092209e-03 1.76312618e+02] [-6.75826773e-03 8.41194909e-05 9.99977159e-01 -5.85049266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26 meters 0.013982467656057975 Centerline is valid? [True, True] Translation: X:108.80, Y:176.30, Z:-5.85 [[ 8.78717232e-01 4.77303599e-01 6.10742881e-03 1.08796241e+02] [-4.77291543e-01 8.78738454e-01 -3.39319652e-03 1.76298077e+02] [-6.98641747e-03 6.66361377e-05 9.99975592e-01 -5.85060149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28999999999996 meters 0.013784902367826916 Centerline is valid? [True, True] Translation: X:108.83, Y:176.28, Z:-5.85 [[ 8.77626963e-01 4.79308591e-01 5.84701657e-03 1.08825152e+02] [-4.79297574e-01 8.77646439e-01 -3.25022556e-03 1.76283179e+02] [-6.68947431e-03 5.00247306e-05 9.99977624e-01 -5.85114576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32 meters 0.013606059815081393 Centerline is valid? [True, True] Translation: X:108.85, Y:176.27, Z:-5.85 [[ 8.76391358e-01 4.81572474e-01 5.11273661e-03 1.08854275e+02] [-4.81564082e-01 8.76406271e-01 -2.84321683e-03 1.76268590e+02] [-5.85004939e-03 2.96603410e-05 9.99982888e-01 -5.85192390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34999999999997 meters 0.013511137283433452 Centerline is valid? [True, True] Translation: X:108.88, Y:176.25, Z:-5.85 [[ 8.75076976e-01 4.83961811e-01 4.61000915e-03 1.08884157e+02] [-4.83955017e-01 8.75089119e-01 -2.56440103e-03 1.76253924e+02] [-5.27524101e-03 1.30112445e-05 9.99986086e-01 -5.85315115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38 meters 0.013342725040973141 Centerline is valid? [True, True] Translation: X:108.91, Y:176.24, Z:-5.85 [[ 8.73537029e-01 4.86738247e-01 4.35176596e-03 1.08913812e+02] [-4.86732220e-01 8.73547869e-01 -2.42207302e-03 1.76239398e+02] [-4.98039146e-03 -2.37423851e-06 9.99987598e-01 -5.85430953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40999999999997 meters 0.013642222348323765 Centerline is valid? [True, True] Translation: X:108.94, Y:176.23, Z:-5.86 [[ 8.70728968e-01 4.91753122e-01 3.15129574e-03 1.08942308e+02] [-4.91749993e-01 8.70734670e-01 -1.75450687e-03 1.76227498e+02] [-3.60672669e-03 -2.19496980e-05 9.99993496e-01 -5.85615738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44 meters 0.013817370536922067 Centerline is valid? [True, True] Translation: X:108.97, Y:176.21, Z:-5.86 [[ 8.69413293e-01 4.94078464e-01 2.64539087e-03 1.08971099e+02] [-4.94076269e-01 8.69417317e-01 -1.47281870e-03 1.76212807e+02] [-3.02763663e-03 -2.65366931e-05 9.99995416e-01 -5.85714618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46999999999997 meters 0.01427792315428008 Centerline is valid? [True, True] Translation: X:109.00, Y:176.20, Z:-5.86 [[ 8.68110677e-01 4.96367168e-01 1.86731224e-03 1.08998762e+02] [-4.96366080e-01 8.68112685e-01 -1.03933210e-03 1.76199139e+02] [-2.13692777e-03 -2.46151654e-05 9.99997716e-01 -5.85858726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5 meters 0.014733149649191467 Centerline is valid? [True, True] Translation: X:109.03, Y:176.18, Z:-5.86 [[ 8.66135036e-01 4.99807262e-01 1.67326563e-03 1.09026805e+02] [-4.99806395e-01 8.66136652e-01 -9.31203309e-04 1.76184302e+02] [-1.91469887e-03 -2.97610513e-05 9.99998167e-01 -5.85878074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53 meters 0.014713433140313151 Centerline is valid? [True, True] Translation: X:109.05, Y:176.17, Z:-5.86 [[ 8.65321222e-01 5.01214787e-01 1.70876447e-03 1.09054564e+02] [-5.01213885e-01 8.65322908e-01 -9.51525837e-04 1.76168272e+02] [-1.95555186e-03 -3.30809792e-05 9.99998087e-01 -5.85849721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56 meters 0.015057734689051699 Centerline is valid? [True, True] Translation: X:109.08, Y:176.15, Z:-5.86 [[ 8.64611830e-01 5.02437484e-01 1.72019576e-03 1.09082833e+02] [-5.02436571e-01 8.64613540e-01 -9.58504615e-04 1.76152473e+02] [-1.96889319e-03 -3.55548301e-05 9.99998061e-01 -5.85853587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59 meters 0.01548932568569407 Centerline is valid? [True, True] Translation: X:109.11, Y:176.14, Z:-5.86 [[ 8.63640787e-01 5.04104244e-01 1.87149055e-03 1.09110087e+02] [-5.04103161e-01 8.63642814e-01 -1.04532647e-03 1.76136986e+02] [-2.14325288e-03 -4.06377280e-05 9.99997702e-01 -5.85860022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62 meters 0.015457912605238485 Centerline is valid? [True, True] Translation: X:109.14, Y:176.12, Z:-5.86 [[ 8.63246826e-01 5.04778542e-01 1.88151815e-03 1.09138322e+02] [-5.04777454e-01 8.63248876e-01 -1.04924136e-03 1.76120474e+02] [-2.15385295e-03 -4.39936673e-05 9.99997680e-01 -5.85856723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65 meters 0.01594134993748404 Centerline is valid? [True, True] Translation: X:109.17, Y:176.11, Z:-5.86 [[ 8.62801068e-01 5.05540626e-01 1.72998934e-03 1.09166195e+02] [-5.05539705e-01 8.62802801e-01 -9.65790111e-04 1.76105819e+02] [-1.98088579e-03 -4.12935607e-05 9.99998037e-01 -5.85937165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68 meters 0.015887549707043144 Centerline is valid? [True, True] Translation: X:109.20, Y:176.09, Z:-5.86 [[ 8.62265803e-01 5.06449920e-01 2.48274375e-03 1.09195030e+02] [-5.06448022e-01 8.62269375e-01 -1.38770061e-03 1.76089084e+02] [-2.84359476e-03 -6.08138816e-05 9.99995955e-01 -5.85935476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71 meters 0.01635064981151575 Centerline is valid? [True, True] Translation: X:109.22, Y:176.07, Z:-5.86 [[ 8.61882979e-01 5.07101422e-01 2.42460550e-03 1.09222348e+02] [-5.07099608e-01 8.61886387e-01 -1.35790044e-03 1.76074538e+02] [-2.77832772e-03 -5.91652228e-05 9.99996139e-01 -5.85998297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74 meters 0.01659272309210798 Centerline is valid? [True, True] Translation: X:109.25, Y:176.06, Z:-5.86 [[ 8.61007662e-01 5.08587718e-01 2.08304152e-03 1.09249835e+02] [-5.08586386e-01 8.61010180e-01 -1.16522796e-03 1.76058290e+02] [-2.38614058e-03 -5.61363552e-05 9.99997152e-01 -5.86018252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77 meters 0.016335667929659084 Centerline is valid? [True, True] Translation: X:109.28, Y:176.04, Z:-5.86 [[ 8.60660520e-01 5.09176306e-01 1.72025313e-03 1.09276891e+02] [-5.09175400e-01 8.60662237e-01 -9.62113165e-04 1.76041768e+02] [-1.97044213e-03 -4.78577582e-05 9.99998058e-01 -5.86047499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8 meters 0.016372402203052184 Centerline is valid? [True, True] Translation: X:109.30, Y:176.03, Z:-5.86 [[ 8.60382652e-01 5.09647728e-01 9.41210588e-04 1.09304763e+02] [-5.09647459e-01 8.60383166e-01 -5.24907170e-04 1.76025198e+02] [-1.07731949e-03 -2.80645620e-05 9.99999419e-01 -5.86117714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83 meters 0.016628767029055844 Centerline is valid? [True, True] Translation: X:109.33, Y:176.01, Z:-5.86 [[ 8.60269382e-01 5.09838666e-01 1.06075536e-03 1.09333422e+02] [-5.09838322e-01 8.60270036e-01 -5.93207185e-04 1.76008417e+02] [-1.21497601e-03 -3.04957554e-05 9.99999261e-01 -5.86226404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86 meters 0.016599965460359637 Centerline is valid? [True, True] Translation: X:109.36, Y:175.99, Z:-5.86 [[ 8.60350775e-01 5.09701878e-01 7.35263441e-04 1.09360845e+02] [-5.09701713e-01 8.60351089e-01 -4.10684958e-04 1.75991904e+02] [-8.41911596e-04 -2.14319130e-05 9.99999645e-01 -5.86305790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89 meters 0.016484091136999574 Centerline is valid? [True, True] Translation: X:109.39, Y:175.97, Z:-5.86 [[ 8.60765956e-01 5.09000340e-01 7.89514775e-04 1.09387240e+02] [-5.09000149e-01 8.60766318e-01 -4.40662607e-04 1.75974822e+02] [-9.03885142e-04 -2.25557678e-05 9.99999591e-01 -5.86417719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92 meters 0.01592662862603386 Centerline is valid? [True, True] Translation: X:109.41, Y:175.96, Z:-5.86 [[ 8.61035372e-01 5.08544808e-01 5.15034030e-04 1.09414223e+02] [-5.08544728e-01 8.61035526e-01 -2.86038201e-04 1.75956690e+02] [-5.88925839e-04 -1.56288322e-05 9.99999826e-01 -5.86443576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95 meters 0.015771463869853206 Centerline is valid? [True, True] Translation: X:109.44, Y:175.94, Z:-5.87 [[ 8.61575204e-01 5.07629894e-01 2.41361560e-04 1.09441358e+02] [-5.07629877e-01 8.61575238e-01 -1.32045578e-04 1.75938937e+02] [-2.74981426e-04 -8.75514307e-06 9.99999962e-01 -5.86525977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97999999999996 meters 0.014975064258082536 Centerline is valid? [True, True] Translation: X:109.47, Y:175.92, Z:-5.87 [[ 8.63212518e-01 5.04840714e-01 -5.79120103e-05 1.09466960e+02] [-5.04840713e-01 8.63212519e-01 3.40491439e-05 1.75918084e+02] [ 6.71797665e-05 -1.55306606e-07 9.99999998e-01 -5.86500787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01 meters 0.014740178322877273 Centerline is valid? [True, True] Translation: X:109.49, Y:175.90, Z:-5.87 [[ 8.64062399e-01 5.03384446e-01 5.20677542e-04 1.09493071e+02] [-5.03384362e-01 8.64062555e-01 -2.89919312e-04 1.75900318e+02] [-5.95838840e-04 -1.15925569e-05 9.99999822e-01 -5.86542286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03999999999996 meters 0.014459925127211526 Centerline is valid? [True, True] Translation: X:109.52, Y:175.88, Z:-5.87 [[ 8.64918712e-01 5.01910354e-01 1.27182859e-03 1.09519990e+02] [-5.01909844e-01 8.64919647e-01 -7.15817764e-04 1.75881696e+02] [-1.45930588e-03 -1.92191092e-05 9.99998935e-01 -5.86523503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07 meters 0.014120958923214511 Centerline is valid? [True, True] Translation: X:109.55, Y:175.86, Z:-5.86 [[ 8.65784300e-01 5.00412712e-01 2.15937416e-03 1.09546889e+02] [-5.00411239e-01 8.65786993e-01 -1.21454300e-03 1.75863332e+02] [-2.47733082e-03 -2.90428374e-05 9.99996931e-01 -5.86486991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09999999999997 meters 0.01361750854872017 Centerline is valid? [True, True] Translation: X:109.57, Y:175.84, Z:-5.86 [[ 8.67535540e-01 4.97363797e-01 3.36754097e-03 1.09571910e+02] [-4.97360179e-01 8.67542076e-01 -1.89732586e-03 1.75842301e+02] [-3.86514467e-03 -2.88831625e-05 9.99992530e-01 -5.86400852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13 meters 0.013581564698785102 Centerline is valid? [True, True] Translation: X:109.60, Y:175.82, Z:-5.86 [[ 8.68355912e-01 4.95924987e-01 4.05171418e-03 1.09597632e+02] [-4.95919723e-01 8.68365365e-01 -2.28511452e-03 1.75824891e+02] [-4.65161365e-03 -2.50322699e-05 9.99989181e-01 -5.86453871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15999999999997 meters 0.013393747232695678 Centerline is valid? [True, True] Translation: X:109.62, Y:175.81, Z:-5.86 [[ 8.69099476e-01 4.94618991e-01 4.26073466e-03 1.09624813e+02] [-4.94613150e-01 8.69109920e-01 -2.40383501e-03 1.75806467e+02] [-4.89202921e-03 -1.82436506e-05 9.99988034e-01 -5.86423316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19 meters 0.013448525883635765 Centerline is valid? [True, True] Translation: X:109.65, Y:175.79, Z:-5.86 [[ 8.69621165e-01 4.93699861e-01 4.41317944e-03 1.09651626e+02] [-4.93693573e-01 8.69632363e-01 -2.49188289e-03 1.75788738e+02] [-5.06808590e-03 -1.17642228e-05 9.99987157e-01 -5.86493746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21999999999997 meters 0.013496615522365817 Centerline is valid? [True, True] Translation: X:109.68, Y:175.77, Z:-5.87 [[ 8.70118306e-01 4.92824974e-01 4.20460521e-03 1.09677507e+02] [-4.92819249e-01 8.70128465e-01 -2.37543798e-03 1.75770615e+02] [-4.82922184e-03 -5.19831075e-06 9.99988339e-01 -5.86688619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25 meters 0.013539611283735134 Centerline is valid? [True, True] Translation: X:109.70, Y:175.75, Z:-5.87 [[ 8.69918315e-01 4.93182886e-01 3.57310933e-03 1.09704435e+02] [-4.93178752e-01 8.69925653e-01 -2.01936248e-03 1.75753915e+02] [-4.10425448e-03 -5.50119366e-06 9.99991578e-01 -5.86788020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28 meters 0.013599634627700615 Centerline is valid? [True, True] Translation: X:109.73, Y:175.74, Z:-5.87 [[ 8.69451394e-01 4.94005549e-01 3.57640340e-03 1.09732522e+02] [-4.94001409e-01 8.69458750e-01 -2.02247723e-03 1.75737959e+02] [-4.10865020e-03 -8.30267388e-06 9.99991559e-01 -5.86855117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31 meters 0.013744361312188317 Centerline is valid? [True, True] Translation: X:109.76, Y:175.72, Z:-5.87 [[ 8.67918188e-01 4.96695572e-01 3.39511456e-03 1.09762206e+02] [-4.96691859e-01 8.67924829e-01 -1.92062869e-03 1.75722716e+02] [-3.90067199e-03 -1.93771938e-05 9.99992392e-01 -5.86808844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34 meters 0.013971241933256417 Centerline is valid? [True, True] Translation: X:109.79, Y:175.71, Z:-5.87 [[ 8.66988616e-01 4.98317032e-01 3.29784603e-03 1.09790850e+02] [-4.98313536e-01 8.66994887e-01 -1.86690979e-03 1.75708459e+02] [-3.78952859e-03 -2.47717813e-05 9.99992819e-01 -5.86931857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37 meters 0.013903573979955572 Centerline is valid? [True, True] Translation: X:109.82, Y:175.69, Z:-5.87 [[ 8.66000743e-01 5.00031749e-01 3.31121248e-03 1.09820038e+02] [-5.00028233e-01 8.66007072e-01 -1.87528489e-03 1.75692471e+02] [-3.80523541e-03 -3.17016209e-05 9.99992760e-01 -5.86845433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4 meters 0.014193244642296265 Centerline is valid? [True, True] Translation: X:109.85, Y:175.68, Z:-5.87 [[ 8.65073150e-01 5.01636551e-01 3.03578803e-03 1.09848043e+02] [-5.01633601e-01 8.65078476e-01 -1.72074743e-03 1.75679057e+02] [-3.48938469e-03 -3.42808816e-05 9.99993912e-01 -5.86971710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43 meters 0.014319604123337564 Centerline is valid? [True, True] Translation: X:109.88, Y:175.66, Z:-5.87 [[ 8.64110913e-01 5.03293982e-01 2.73823305e-03 1.09876375e+02] [-5.03291589e-01 8.64115251e-01 -1.55234954e-03 1.75664592e+02] [-3.14743712e-03 -3.67274852e-05 9.99995046e-01 -5.87032174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46 meters 0.014630693071862051 Centerline is valid? [True, True] Translation: X:109.91, Y:175.65, Z:-5.87 [[ 8.62703484e-01 5.05705171e-01 2.23140994e-03 1.09905828e+02] [-5.05703590e-01 8.62706369e-01 -1.26503121e-03 1.75650783e+02] [-2.56478439e-03 -3.70851862e-05 9.99996710e-01 -5.87152743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49 meters 0.014847259423022273 Centerline is valid? [True, True] Translation: X:109.93, Y:175.64, Z:-5.87 [[ 8.62285318e-01 5.06418269e-01 2.13711515e-03 1.09934862e+02] [-5.06416821e-01 8.62287965e-01 -1.21166821e-03 1.75635502e+02] [-2.45641959e-03 -3.74673511e-05 9.99996982e-01 -5.87246211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52 meters 0.01491944878523639 Centerline is valid? [True, True] Translation: X:109.96, Y:175.62, Z:-5.87 [[ 8.61925856e-01 5.07029273e-01 2.26613966e-03 1.09964075e+02] [-5.07027644e-01 8.61928834e-01 -1.28595376e-03 1.75619958e+02] [-2.60526732e-03 -4.05986630e-05 9.99996605e-01 -5.87319401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55 meters 0.014865323566214235 Centerline is valid? [True, True] Translation: X:109.99, Y:175.60, Z:-5.87 [[ 8.61619483e-01 5.07548979e-01 2.42886027e-03 1.09992712e+02] [-5.07547107e-01 8.61622906e-01 -1.37946834e-03 1.75604166e+02] [-2.79290939e-03 -4.41842081e-05 9.99996099e-01 -5.87302596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58 meters 0.015075645972774674 Centerline is valid? [True, True] Translation: X:110.02, Y:175.59, Z:-5.87 [[ 8.61593828e-01 5.07591631e-01 2.61004279e-03 1.10020984e+02] [-5.07589464e-01 8.61597780e-01 -1.48394873e-03 1.75588974e+02] [-3.00204702e-03 -4.62691561e-05 9.99995493e-01 -5.87377620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61 meters 0.015178746377212773 Centerline is valid? [True, True] Translation: X:110.05, Y:175.57, Z:-5.87 [[ 8.61629765e-01 5.07530384e-01 2.65671991e-03 1.10048766e+02] [-5.07528135e-01 8.61633859e-01 -1.51156812e-03 1.75574010e+02] [-3.05628658e-03 -4.59480171e-05 9.99995329e-01 -5.87419756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64 meters 0.015038742043686338 Centerline is valid? [True, True] Translation: X:110.08, Y:175.56, Z:-5.87 [[ 8.61771007e-01 5.07289476e-01 2.84928231e-03 1.10076628e+02] [-5.07286883e-01 8.61775716e-01 -1.62265292e-03 1.75558180e+02] [-3.27859705e-03 -4.70483014e-05 9.99994624e-01 -5.87443727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67 meters 0.015003476135601832 Centerline is valid? [True, True] Translation: X:110.10, Y:175.54, Z:-5.88 [[ 8.62061274e-01 5.06794191e-01 3.16344271e-03 1.10104112e+02] [-5.06790986e-01 8.62067077e-01 -1.80299444e-03 1.75542657e+02] [-3.64084692e-03 -4.89125620e-05 9.99993371e-01 -5.87515838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7 meters 0.014495555643790771 Centerline is valid? [True, True] Translation: X:110.13, Y:175.53, Z:-5.88 [[ 8.63219556e-01 5.04818639e-01 3.18432715e-03 1.10131497e+02] [-5.04815375e-01 8.63225428e-01 -1.81593694e-03 1.75525857e+02] [-3.66551098e-03 -3.99450197e-05 9.99993281e-01 -5.87529251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72999999999996 meters 0.014023220545088845 Centerline is valid? [True, True] Translation: X:110.16, Y:175.51, Z:-5.87 [[ 8.64222008e-01 5.03099819e-01 3.30046627e-03 1.10158296e+02] [-5.03096295e-01 8.64228310e-01 -1.88322285e-03 1.75508323e+02] [-3.79980546e-03 -3.29297186e-05 9.99992780e-01 -5.87482498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76 meters 0.013861403832224572 Centerline is valid? [True, True] Translation: X:110.19, Y:175.49, Z:-5.88 [[ 8.65517254e-01 5.00869164e-01 3.15656706e-03 1.10185005e+02] [-5.00865923e-01 8.65523010e-01 -1.80196805e-03 1.75491142e+02] [-3.63463166e-03 -2.13824367e-05 9.99993394e-01 -5.87519804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78999999999996 meters 0.013784671016292495 Centerline is valid? [True, True] Translation: X:110.21, Y:175.47, Z:-5.88 [[ 8.68874875e-01 4.95023611e-01 2.84184665e-03 1.10210515e+02] [-4.95020952e-01 8.68879522e-01 -1.62264725e-03 1.75471498e+02] [-3.27247106e-03 3.10379562e-06 9.99994645e-01 -5.87587875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82 meters 0.01408339771931082 Centerline is valid? [True, True] Translation: X:110.24, Y:175.45, Z:-5.88 [[ 8.70666587e-01 4.91865501e-01 2.83252625e-03 1.10236947e+02] [-4.91862838e-01 8.70671194e-01 -1.61853038e-03 1.75453624e+02] [-3.26229827e-03 1.59859208e-05 9.99994679e-01 -5.87620881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84999999999997 meters 0.014348788063808411 Centerline is valid? [True, True] Translation: X:110.26, Y:175.44, Z:-5.88 [[ 8.72404812e-01 4.88775761e-01 2.84587834e-03 1.10263983e+02] [-4.88773054e-01 8.72409454e-01 -1.62705153e-03 1.75435991e+02] [-3.27803452e-03 2.84589340e-05 9.99994627e-01 -5.87635434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88 meters 0.015240470767668027 Centerline is valid? [True, True] Translation: X:110.29, Y:175.42, Z:-5.88 [[ 8.74078410e-01 4.85776985e-01 2.76671822e-03 1.10289852e+02] [-4.85774404e-01 8.74082788e-01 -1.58399981e-03 1.75418043e+02] [-3.18781143e-03 4.05391438e-05 9.99994918e-01 -5.87751516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90999999999997 meters 0.015664712797034384 Centerline is valid? [True, True] Translation: X:110.32, Y:175.40, Z:-5.88 [[ 8.77472595e-01 4.79619879e-01 2.57221471e-03 1.10317289e+02] [-4.79617619e-01 8.77476363e-01 -1.47365294e-03 1.75401321e+02] [-2.96385085e-03 5.94105737e-05 9.99995606e-01 -5.87698523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94 meters 0.015664712797034384 Centerline is valid? [True, True] Translation: X:110.35, Y:175.39, Z:-5.88 [[ 8.77333721e-01 4.79873859e-01 2.57328102e-03 1.10345359e+02] [-4.79871606e-01 8.77337493e-01 -1.47179408e-03 1.75385159e+02] [-2.96391142e-03 5.64100787e-05 9.99995606e-01 -5.87743240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96999999999997 meters 0.017854081378942416 Centerline is valid? [True, True] Translation: X:110.37, Y:175.37, Z:-5.88 [[ 8.78745589e-01 4.77283582e-01 2.56357833e-03 1.10369975e+02] [-4.77281329e-01 8.78749326e-01 -1.46791865e-03 1.75365949e+02] [-2.95335620e-03 6.63789662e-05 9.99995637e-01 -5.87931251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0 meters 0.017913557784373375 Centerline is valid? [True, True] Translation: X:110.40, Y:175.35, Z:-5.88 [[ 8.79924334e-01 4.75108173e-01 2.32165871e-03 1.10397914e+02] [-4.75106317e-01 8.79927394e-01 -1.32967214e-03 1.75349767e+02] [-2.67462920e-03 6.69761498e-05 9.99996421e-01 -5.87889666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03 meters 0.017944545884636925 Centerline is valid? [True, True] Translation: X:110.43, Y:175.33, Z:-5.88 [[ 8.81979755e-01 4.71284844e-01 1.51902190e-03 1.10425617e+02] [-4.71284045e-01 8.81981062e-01 -8.69339481e-04 1.75334941e+02] [-1.74945507e-03 5.08490376e-05 9.99998468e-01 -5.87872573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06 meters 0.01853639478409317 Centerline is valid? [True, True] Translation: X:110.45, Y:175.32, Z:-5.88 [[ 8.82815574e-01 4.69717315e-01 1.51887135e-03 1.10452879e+02] [-4.69716513e-01 8.82816879e-01 -8.69639568e-04 1.75319010e+02] [-1.74937003e-03 5.42924000e-05 9.99998468e-01 -5.87899373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09 meters 0.019147970002180888 Centerline is valid? [True, True] Translation: X:110.48, Y:175.30, Z:-5.88 [[ 8.83489384e-01 4.68448361e-01 1.62536783e-03 1.10480838e+02] [-4.68447440e-01 8.83490877e-01 -9.31149915e-04 1.75302836e+02] [-1.87219330e-03 6.12616656e-05 9.99998246e-01 -5.87914872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12 meters 0.018966036272467877 Centerline is valid? [True, True] Translation: X:110.51, Y:175.29, Z:-5.88 [[ 8.84011030e-01 4.67459855e-01 2.40487796e-03 1.10509385e+02] [-4.67457827e-01 8.84014296e-01 -1.38035922e-03 1.75287993e+02] [-2.77120901e-03 9.60737470e-05 9.99996156e-01 -5.87864311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15 meters 0.019394525958028822 Centerline is valid? [True, True] Translation: X:110.54, Y:175.27, Z:-5.88 [[ 8.84696288e-01 4.66149942e-01 4.08771101e-03 1.10538499e+02] [-4.66144049e-01 8.84705714e-01 -2.35043890e-03 1.75273572e+02] [-4.71207824e-03 1.73962413e-04 9.99988883e-01 -5.87820789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18 meters 0.02018763334353612 Centerline is valid? [True, True] Translation: X:110.57, Y:175.26, Z:-5.88 [[ 8.84884317e-01 4.65786169e-01 4.79487834e-03 1.10565906e+02] [-4.65778042e-01 8.84897283e-01 -2.75953711e-03 1.75258288e+02] [-5.52832903e-03 2.08522066e-04 9.99984697e-01 -5.87870076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21 meters 0.020196918787033884 Centerline is valid? [True, True] Translation: X:110.59, Y:175.24, Z:-5.88 [[ 8.84646648e-01 4.66237129e-01 4.82155623e-03 1.10594354e+02] [-4.66228909e-01 8.84659763e-01 -2.77624472e-03 1.75243692e+02] [-5.55982516e-03 2.08046679e-04 9.99984522e-01 -5.87901289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24 meters 0.019772792843511394 Centerline is valid? [True, True] Translation: X:110.62, Y:175.23, Z:-5.88 [[ 8.84324120e-01 4.66845299e-01 5.13009143e-03 1.10623809e+02] [-4.66835993e-01 8.84338973e-01 -2.95581026e-03 1.75229736e+02] [-5.91664591e-03 2.18982983e-04 9.99982473e-01 -5.87914801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27 meters 0.019790727958030305 Centerline is valid? [True, True] Translation: X:110.65, Y:175.22, Z:-5.88 [[ 8.82957221e-01 4.69423450e-01 5.30757511e-03 1.10652091e+02] [-4.69413518e-01 8.82973148e-01 -3.06098754e-03 1.75218835e+02] [-6.12334564e-03 2.11273549e-04 9.99981230e-01 -5.87998243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3 meters 0.019756738139238526 Centerline is valid? [True, True] Translation: X:110.68, Y:175.21, Z:-5.88 [[ 8.81874032e-01 4.71457126e-01 5.13523075e-03 1.10680509e+02] [-4.71447862e-01 8.81888963e-01 -2.96156592e-03 1.75205505e+02] [-5.92495467e-03 1.90734516e-04 9.99982429e-01 -5.88069303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33 meters 0.01872608067412612 Centerline is valid? [True, True] Translation: X:110.71, Y:175.19, Z:-5.88 [[ 8.80503002e-01 4.74010225e-01 5.36382454e-03 1.10710360e+02] [-4.74000156e-01 8.80519320e-01 -3.09500386e-03 1.75193126e+02] [-6.19001461e-03 1.82706526e-04 9.99980825e-01 -5.88089265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36 meters 0.017982517127416286 Centerline is valid? [True, True] Translation: X:110.74, Y:175.18, Z:-5.88 [[ 8.79341495e-01 4.76160462e-01 5.45429211e-03 1.10739931e+02] [-4.76150080e-01 8.79358394e-01 -3.14900487e-03 1.75180532e+02] [-6.29570916e-03 1.71989030e-04 9.99980167e-01 -5.88114217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39 meters 0.016959234592532985 Centerline is valid? [True, True] Translation: X:110.77, Y:175.17, Z:-5.88 [[ 8.76969343e-01 4.80509788e-01 5.92574406e-03 1.10769812e+02] [-4.80497608e-01 8.76989350e-01 -3.42482461e-03 1.75171125e+02] [-6.84247618e-03 1.56160342e-04 9.99976578e-01 -5.88171399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42 meters 0.016644930665860178 Centerline is valid? [True, True] Translation: X:110.80, Y:175.16, Z:-5.88 [[ 8.75943025e-01 4.82376981e-01 6.02207394e-03 1.10799389e+02] [-4.82364451e-01 8.75963714e-01 -3.47973555e-03 1.75157645e+02] [-6.95366259e-03 1.43215690e-04 9.99975813e-01 -5.88240496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45 meters 0.016204685856663528 Centerline is valid? [True, True] Translation: X:110.83, Y:175.14, Z:-5.88 [[ 8.74821947e-01 4.84407308e-01 6.01004884e-03 1.10829058e+02] [-4.84394862e-01 8.74842582e-01 -3.47468787e-03 1.75144108e+02] [-6.94101084e-03 1.28496429e-04 9.99975903e-01 -5.88317658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47999999999996 meters 0.015960814076773962 Centerline is valid? [True, True] Translation: X:110.86, Y:175.13, Z:-5.88 [[ 8.73941189e-01 4.85990278e-01 6.34416851e-03 1.10857711e+02] [-4.85976435e-01 8.73964207e-01 -3.67019936e-03 1.75130953e+02] [-7.32825741e-03 1.24421993e-04 9.99973140e-01 -5.88368968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51 meters 0.015237805273359642 Centerline is valid? [True, True] Translation: X:110.89, Y:175.12, Z:-5.88 [[ 8.72378734e-01 4.88776660e-01 7.26092893e-03 1.10889088e+02] [-4.88758594e-01 8.72408942e-01 -4.20400208e-03 1.75119920e+02] [-8.38931742e-03 1.18640591e-04 9.99964802e-01 -5.88405393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53999999999996 meters 0.014437759079900865 Centerline is valid? [True, True] Translation: X:110.92, Y:175.11, Z:-5.88 [[ 8.71559960e-01 4.90229713e-01 7.62006519e-03 1.10918969e+02] [-4.90209872e-01 8.71593263e-01 -4.41191043e-03 1.75107401e+02] [-8.80444707e-03 1.09813298e-04 9.99961234e-01 -5.88362801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57 meters 0.014344108093981919 Centerline is valid? [True, True] Translation: X:110.95, Y:175.09, Z:-5.88 [[ 8.70703044e-01 4.91741445e-01 8.15842312e-03 1.10947363e+02] [-4.91718740e-01 8.70741259e-01 -4.72658324e-03 1.75093476e+02] [-9.42813250e-03 1.03800883e-04 9.99955549e-01 -5.88387383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59999999999997 meters 0.014207737569676415 Centerline is valid? [True, True] Translation: X:110.98, Y:175.08, Z:-5.88 [[ 8.69908033e-01 4.93145929e-01 8.19180426e-03 1.10976145e+02] [-4.93123074e-01 8.69946598e-01 -4.74863108e-03 1.75080030e+02] [-9.46820033e-03 9.13046220e-05 9.99955171e-01 -5.88436130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63 meters 0.013769085483448401 Centerline is valid? [True, True] Translation: X:111.01, Y:175.07, Z:-5.89 [[ 8.68326699e-01 4.95927323e-01 8.05197718e-03 1.11007239e+02] [-4.95905338e-01 8.68364029e-01 -4.67004799e-03 1.75069043e+02] [-9.30805174e-03 6.21088967e-05 9.99956677e-01 -5.88545158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65999999999997 meters 0.013711093742999548 Centerline is valid? [True, True] Translation: X:111.04, Y:175.05, Z:-5.89 [[ 8.67421700e-01 4.97521450e-01 7.21121717e-03 1.11036190e+02] [-4.97503856e-01 8.67451673e-01 -4.18431270e-03 1.75054891e+02] [-8.33716772e-03 4.19552923e-05 9.99965244e-01 -5.88674712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69 meters 0.013654764773341068 Centerline is valid? [True, True] Translation: X:111.07, Y:175.04, Z:-5.89 [[ 8.66490785e-01 4.99148964e-01 6.63562874e-03 1.11065823e+02] [-4.99134099e-01 8.66516192e-01 -3.85224660e-03 1.75040923e+02] [-7.67272464e-03 2.58676029e-05 9.99970564e-01 -5.88767085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71999999999997 meters 0.013602318321084281 Centerline is valid? [True, True] Translation: X:111.10, Y:175.03, Z:-5.89 [[ 8.64917766e-01 5.01873070e-01 6.37802877e-03 1.11097238e+02] [-5.01859394e-01 8.64941282e-01 -3.70490998e-03 1.75029382e+02] [-7.37601493e-03 3.56880280e-06 9.99972797e-01 -5.88880775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75 meters 0.013559965554975937 Centerline is valid? [True, True] Translation: X:111.13, Y:175.02, Z:-5.89 [[ 8.64188245e-01 5.03131506e-01 6.11267546e-03 1.11125911e+02] [-5.03118960e-01 8.64209863e-01 -3.55307810e-03 1.75015319e+02] [-7.07029996e-03 -4.87459451e-06 9.99975005e-01 -5.88970932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78 meters 0.013624102529302266 Centerline is valid? [True, True] Translation: X:111.16, Y:175.00, Z:-5.89 [[ 8.63580157e-01 5.04180842e-01 5.56692141e-03 1.11155150e+02] [-5.04170449e-01 8.63598100e-01 -3.23733032e-03 1.75000621e+02] [-6.43978268e-03 -1.09830401e-05 9.99979264e-01 -5.89040967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81 meters 0.013641240422794684 Centerline is valid? [True, True] Translation: X:111.18, Y:174.99, Z:-5.89 [[ 8.63165343e-01 5.04892567e-01 5.39321878e-03 1.11184633e+02] [-5.04882815e-01 8.63182191e-01 -3.13818809e-03 1.74985288e+02] [-6.23977824e-03 -1.41682816e-05 9.99980532e-01 -5.89101316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84 meters 0.013655245343086632 Centerline is valid? [True, True] Translation: X:111.21, Y:174.97, Z:-5.89 [[ 8.62961122e-01 5.05247079e-01 4.84675591e-03 1.11213840e+02] [-5.05239200e-01 8.62974733e-01 -2.82154456e-03 1.74969599e+02] [-5.60820503e-03 -1.38878250e-05 9.99984274e-01 -5.89127372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87 meters 0.013694013798310126 Centerline is valid? [True, True] Translation: X:111.24, Y:174.95, Z:-5.89 [[ 8.62966120e-01 5.05235424e-01 5.16162153e-03 1.11243066e+02] [-5.05226475e-01 8.62981556e-01 -3.00715309e-03 1.74954279e+02] [-5.97370445e-03 -1.27166144e-05 9.99982157e-01 -5.89126972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9 meters 0.013713363618155075 Centerline is valid? [True, True] Translation: X:111.27, Y:174.94, Z:-5.89 [[ 8.62991205e-01 5.05193339e-01 5.08621090e-03 1.11271226e+02] [-5.05184636e-01 8.63006194e-01 -2.96531743e-03 1.74938433e+02] [-5.88749012e-03 -1.04327363e-05 9.99982669e-01 -5.89144163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93 meters 0.013622992658213406 Centerline is valid? [True, True] Translation: X:111.30, Y:174.92, Z:-5.89 [[ 8.63046463e-01 5.05092173e-01 5.71835199e-03 1.11299888e+02] [-5.05081154e-01 8.63065407e-01 -3.33633069e-03 1.74922464e+02] [-6.62046631e-03 -8.82342664e-06 9.99978084e-01 -5.89131202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96 meters 0.013621380170856411 Centerline is valid? [True, True] Translation: X:111.33, Y:174.91, Z:-5.89 [[ 8.63378912e-01 5.04523096e-01 5.77062033e-03 1.11328248e+02] [-5.04511847e-01 8.63398196e-01 -3.36909914e-03 1.74906482e+02] [-6.68213151e-03 -2.53717456e-06 9.99977674e-01 -5.89164864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99 meters 0.013693373001602172 Centerline is valid? [True, True] Translation: X:111.36, Y:174.89, Z:-5.89 [[ 8.63472397e-01 5.04363100e-01 5.76912134e-03 1.11356436e+02] [-5.04351838e-01 8.63491670e-01 -3.37042978e-03 1.74889562e+02] [-6.68150863e-03 6.06133547e-07 9.99977678e-01 -5.89178194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02 meters 0.01367518591356873 Centerline is valid? [True, True] Translation: X:111.38, Y:174.87, Z:-5.89 [[ 8.63492661e-01 5.04328896e-01 5.72621451e-03 1.11384780e+02] [-5.04317787e-01 8.63511647e-01 -3.34750936e-03 1.74872325e+02] [-6.63289863e-03 2.71793857e-06 9.99978002e-01 -5.89233403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05 meters 0.01369853262293195 Centerline is valid? [True, True] Translation: X:111.41, Y:174.86, Z:-5.89 [[ 8.63512455e-01 5.04294673e-01 5.75530281e-03 1.11411678e+02] [-5.04283433e-01 8.63531634e-01 -3.36690563e-03 1.74855433e+02] [-6.66779861e-03 5.06108501e-06 9.99977770e-01 -5.89216894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08 meters 0.013689338469363467 Centerline is valid? [True, True] Translation: X:111.44, Y:174.84, Z:-5.89 [[ 8.63178468e-01 5.04868154e-01 5.57490929e-03 1.11439821e+02] [-5.04857608e-01 8.63196471e-01 -3.26309530e-03 1.74839183e+02] [-6.45967492e-03 2.09823604e-06 9.99979136e-01 -5.89257767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11 meters 0.013733464373117411 Centerline is valid? [True, True] Translation: X:111.47, Y:174.82, Z:-5.89 [[ 8.62744738e-01 5.05611097e-01 5.37916941e-03 1.11468466e+02] [-5.05601283e-01 8.62761507e-01 -3.15031534e-03 1.74822791e+02] [-6.23377470e-03 -1.79696607e-06 9.99980570e-01 -5.89296096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14 meters 0.013728035807929405 Centerline is valid? [True, True] Translation: X:111.50, Y:174.81, Z:-5.89 [[ 8.62091072e-01 5.06728208e-01 5.05038377e-03 1.11495924e+02] [-5.06719565e-01 8.62105866e-01 -2.95963792e-03 1.74807225e+02] [-5.85369749e-03 -7.65083542e-06 9.99982867e-01 -5.89422737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17 meters 0.013774220472323446 Centerline is valid? [True, True] Translation: X:111.52, Y:174.79, Z:-5.90 [[ 8.61344917e-01 5.08002099e-01 4.33596863e-03 1.11523555e+02] [-5.07995739e-01 8.61355831e-01 -2.54198022e-03 1.74791415e+02] [-5.02614315e-03 -1.31318459e-05 9.99987369e-01 -5.89543776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2 meters 0.013838005425640097 Centerline is valid? [True, True] Translation: X:111.55, Y:174.78, Z:-5.90 [[ 8.59695427e-01 5.10793748e-01 3.67692956e-03 1.11551486e+02] [-5.10789197e-01 8.59703290e-01 -2.15643778e-03 1.74775391e+02] [-4.26256337e-03 -2.42561988e-05 9.99990915e-01 -5.89546312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22999999999996 meters 0.013975601650937072 Centerline is valid? [True, True] Translation: X:111.58, Y:174.76, Z:-5.90 [[ 8.58713163e-01 5.12444183e-01 3.55843186e-03 1.11580248e+02] [-5.12439932e-01 8.58720536e-01 -2.08761566e-03 1.74758581e+02] [-4.12548501e-03 -3.08195322e-05 9.99991490e-01 -5.89587179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26 meters 0.01406244331132625 Centerline is valid? [True, True] Translation: X:111.61, Y:174.74, Z:-5.90 [[ 8.57660937e-01 5.14203013e-01 3.60254268e-03 1.11608850e+02] [-5.14198665e-01 8.57668502e-01 -2.11492710e-03 1.74741541e+02] [-4.17728927e-03 -3.85322809e-05 9.99991274e-01 -5.89588637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28999999999996 meters 0.014498563247164881 Centerline is valid? [True, True] Translation: X:111.64, Y:174.73, Z:-5.90 [[ 8.55979877e-01 5.16992642e-01 4.13023117e-03 1.11635973e+02] [-5.16986940e-01 8.55989839e-01 -2.42861119e-03 1.74726584e+02] [-4.79101002e-03 -5.64332691e-05 9.99988521e-01 -5.89602470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32 meters 0.014583119543430263 Centerline is valid? [True, True] Translation: X:111.66, Y:174.71, Z:-5.90 [[ 8.55081942e-01 5.18470885e-01 4.77642196e-03 1.11663981e+02] [-5.18463285e-01 8.55095279e-01 -2.80836871e-03 1.74709898e+02] [-5.54035328e-03 -7.50140508e-05 9.99984649e-01 -5.89575769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34999999999997 meters 0.014716207601777045 Centerline is valid? [True, True] Translation: X:111.69, Y:174.69, Z:-5.90 [[ 8.54548056e-01 5.19340583e-01 5.74272991e-03 1.11692218e+02] [-5.19329594e-01 8.54567347e-01 -3.37969493e-03 1.74693077e+02] [-6.66276220e-03 -9.42578603e-05 9.99977799e-01 -5.89578705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38 meters 0.015077061668916213 Centerline is valid? [True, True] Translation: X:111.72, Y:174.68, Z:-5.90 [[ 8.53461707e-01 5.21104502e-01 7.29465167e-03 1.11719273e+02] [-5.21086800e-01 8.53492870e-01 -4.29730986e-03 1.74676174e+02] [-8.46528071e-03 -1.33557290e-04 9.99964160e-01 -5.89501368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40999999999997 meters 0.015050155224363133 Centerline is valid? [True, True] Translation: X:111.75, Y:174.66, Z:-5.90 [[ 8.52884341e-01 5.22050852e-01 7.15598959e-03 1.11746347e+02] [-5.22033831e-01 8.52914350e-01 -4.21792842e-03 1.74659231e+02] [-8.30541934e-03 -1.38263559e-04 9.99965500e-01 -5.89543042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44 meters 0.015212990093183602 Centerline is valid? [True, True] Translation: X:111.77, Y:174.64, Z:-5.90 [[ 8.52167474e-01 5.23224544e-01 6.83171649e-03 1.11773798e+02] [-5.23209051e-01 8.52194847e-01 -4.02894393e-03 1.74642479e+02] [-7.92999594e-03 -1.41080932e-04 9.99968547e-01 -5.89616373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46999999999997 meters 0.0155031696629502 Centerline is valid? [True, True] Translation: X:111.80, Y:174.63, Z:-5.90 [[ 8.51501482e-01 5.24318227e-01 5.96844772e-03 1.11801147e+02] [-5.24306418e-01 8.51522389e-01 -3.52137497e-03 1.74626100e+02] [-6.92858795e-03 -1.30839443e-04 9.99975989e-01 -5.89769142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5 meters 0.015604369747860294 Centerline is valid? [True, True] Translation: X:111.83, Y:174.61, Z:-5.90 [[ 8.50463402e-01 5.26023881e-01 3.29833882e-03 1.11828058e+02] [-5.26020290e-01 8.50469794e-01 -1.94527284e-03 1.74607963e+02] [-3.82839750e-03 -8.06097842e-05 9.99992668e-01 -5.90059999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53 meters 0.016515517725382876 Centerline is valid? [True, True] Translation: X:111.86, Y:174.59, Z:-5.90 [[ 8.50033581e-01 5.26723697e-01 2.24887546e-03 1.11855312e+02] [-5.26722031e-01 8.50036554e-01 -1.32606523e-03 1.74592911e+02] [-2.61009633e-03 -5.73322718e-05 9.99996592e-01 -5.90315853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56 meters 0.01603114044368646 Centerline is valid? [True, True] Translation: X:111.88, Y:174.57, Z:-5.90 [[ 8.49952084e-01 5.26858632e-01 1.19897042e-03 1.11882118e+02] [-5.26858161e-01 8.49952929e-01 -7.04856025e-04 1.74574045e+02] [-1.39042790e-03 -3.25935041e-05 9.99999033e-01 -5.90368812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59 meters 0.016010876561985087 Centerline is valid? [True, True] Translation: X:111.91, Y:174.56, Z:-5.90 [[ 8.49899542e-01 5.26943894e-01 9.49122478e-04 1.11909121e+02] [-5.26943599e-01 8.49900072e-01 -5.57390443e-04 1.74555816e+02] [-1.10037275e-03 -2.64081325e-05 9.99999394e-01 -5.90441158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62 meters 0.015503311320703941 Centerline is valid? [True, True] Translation: X:111.93, Y:174.54, Z:-5.90 [[ 8.50727694e-01 5.25605998e-01 8.51566164e-04 1.11933892e+02] [-5.25605760e-01 8.50728120e-01 -5.00468782e-04 1.74535392e+02] [-9.87500676e-04 -2.18254284e-05 9.99999512e-01 -5.90386728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65 meters 0.015333432563529871 Centerline is valid? [True, True] Translation: X:111.96, Y:174.52, Z:-5.90 [[ 8.51378023e-01 5.24551087e-01 1.27241663e-03 1.11960444e+02] [-5.24550548e-01 8.51378973e-01 -7.52555734e-04 1.74516166e+02] [-1.47806270e-03 -2.67374307e-05 9.99998907e-01 -5.90351448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68 meters 0.014819663515986311 Centerline is valid? [True, True] Translation: X:111.99, Y:174.50, Z:-5.90 [[ 8.52054115e-01 5.23451181e-01 1.62659116e-03 1.11986016e+02] [-5.23450301e-01 8.52055667e-01 -9.60319677e-04 1.74496480e+02] [-1.88862668e-03 -3.31952980e-05 9.99998216e-01 -5.90245037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71 meters 0.014515425458519296 Centerline is valid? [True, True] Translation: X:112.01, Y:174.48, Z:-5.90 [[ 8.53569594e-01 5.20969228e-01 3.16402055e-03 1.12010064e+02] [-5.20965863e-01 8.53575457e-01 -1.87322573e-03 1.74476554e+02] [-3.67662325e-03 -4.94181729e-05 9.99993240e-01 -5.90126184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74 meters 0.014211245045104766 Centerline is valid? [True, True] Translation: X:112.04, Y:174.46, Z:-5.90 [[ 8.53978028e-01 5.20294442e-01 3.90144591e-03 1.12036046e+02] [-5.20289309e-01 8.53986938e-01 -2.31173927e-03 1.74457534e+02] [-4.53456894e-03 -5.57060547e-05 9.99989717e-01 -5.90033982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77 meters 0.014097574613046924 Centerline is valid? [True, True] Translation: X:112.06, Y:174.44, Z:-5.90 [[ 8.54247434e-01 5.19842708e-01 4.98799600e-03 1.12062433e+02] [-5.19834294e-01 8.54261994e-01 -2.95843104e-03 1.74439586e+02] [-5.79897421e-03 -6.56992530e-05 9.99983184e-01 -5.89996195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8 meters 0.014129789530422205 Centerline is valid? [True, True] Translation: X:112.09, Y:174.42, Z:-5.90 [[ 8.54622722e-01 5.19218571e-01 5.66384235e-03 1.12087392e+02] [-5.19207686e-01 8.54641487e-01 -3.36270599e-03 1.74421409e+02] [-6.58653404e-03 -6.68655347e-05 9.99978306e-01 -5.89988534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83 meters 0.014129789530422205 Centerline is valid? [True, True] Translation: X:112.12, Y:174.40, Z:-5.90 [[ 8.54474906e-01 5.19461794e-01 5.66388234e-03 1.12115212e+02] [-5.19450915e-01 8.54493674e-01 -3.36263924e-03 1.74404798e+02] [-6.58651425e-03 -6.88180152e-05 9.99978306e-01 -5.90033300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86 meters 0.014138450464609424 Centerline is valid? [True, True] Translation: X:112.14, Y:174.39, Z:-5.90 [[ 8.54464180e-01 5.19479686e-01 5.64105493e-03 1.12142856e+02] [-5.19468880e-01 8.54482798e-01 -3.35125718e-03 1.74386990e+02] [-6.56109443e-03 -6.68232699e-05 9.99978474e-01 -5.90088332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89 meters 0.01398634675200182 Centerline is valid? [True, True] Translation: X:112.17, Y:174.37, Z:-5.90 [[ 8.54540817e-01 5.19356759e-01 5.34310523e-03 1.12170782e+02] [-5.19347051e-01 8.54557519e-01 -3.17604125e-03 1.74368646e+02] [-6.21548924e-03 -6.08690538e-05 9.99980682e-01 -5.90156954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92 meters 0.014089954224111117 Centerline is valid? [True, True] Translation: X:112.20, Y:174.35, Z:-5.90 [[ 8.54593603e-01 5.19273311e-01 5.00033664e-03 1.12198236e+02] [-5.19264797e-01 8.54608230e-01 -2.97393565e-03 1.74350859e+02] [-5.81761425e-03 -5.49924117e-05 9.99983076e-01 -5.90249172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95 meters 0.013804250838109444 Centerline is valid? [True, True] Translation: X:112.22, Y:174.33, Z:-5.90 [[ 8.54999205e-01 5.18613063e-01 4.10502963e-03 1.12224764e+02] [-5.18607314e-01 8.55009058e-01 -2.44215294e-03 1.74331365e+02] [-4.77636993e-03 -4.08595711e-05 9.99988592e-01 -5.90362267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97999999999996 meters 0.013878486663928918 Centerline is valid? [True, True] Translation: X:112.25, Y:174.31, Z:-5.90 [[ 8.55252924e-01 5.18199230e-01 3.46325885e-03 1.12251747e+02] [-5.18195132e-01 8.55259935e-01 -2.06121294e-03 1.74313397e+02] [-4.03010550e-03 -3.17854788e-05 9.99991879e-01 -5.90467041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01 meters 0.013759717968308495 Centerline is valid? [True, True] Translation: X:112.28, Y:174.29, Z:-5.91 [[ 8.55643336e-01 5.17558588e-01 2.75508738e-03 1.12279115e+02] [-5.17555991e-01 8.55647771e-01 -1.63965910e-03 1.74294835e+02] [-3.20600402e-03 -2.29486003e-05 9.99994861e-01 -5.90527309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03999999999996 meters 0.013731353115068934 Centerline is valid? [True, True] Translation: X:112.31, Y:174.28, Z:-5.91 [[ 8.56112886e-01 5.16783001e-01 2.46109248e-03 1.12306532e+02] [-5.16780924e-01 8.56116423e-01 -1.46516413e-03 1.74276058e+02] [-2.86415360e-03 -1.74997570e-05 9.99995898e-01 -5.90587479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07 meters 0.013706877585862077 Centerline is valid? [True, True] Translation: X:112.33, Y:174.26, Z:-5.91 [[ 8.56574948e-01 5.16017941e-01 2.20088349e-03 1.12333183e+02] [-5.16016276e-01 8.56577775e-01 -1.31087689e-03 1.74258027e+02] [-2.56166388e-03 -1.28273957e-05 9.99996719e-01 -5.90694815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09999999999997 meters 0.013706458565674108 Centerline is valid? [True, True] Translation: X:112.36, Y:174.24, Z:-5.91 [[ 8.57614052e-01 5.14289261e-01 2.16656974e-03 1.12359564e+02] [-5.14287641e-01 8.57616789e-01 -1.29090827e-03 1.74237541e+02] [-2.52198684e-03 -7.13896790e-06 9.99996820e-01 -5.90765575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13 meters 0.013677153931949817 Centerline is valid? [True, True] Translation: X:112.39, Y:174.22, Z:-5.91 [[ 8.57937407e-01 5.13748674e-01 2.38860034e-03 1.12386390e+02] [-5.13746699e-01 8.57940732e-01 -1.42456738e-03 1.74219261e+02] [-2.78114713e-03 -4.94589199e-06 9.99996133e-01 -5.90778374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15999999999997 meters 0.013697914198510725 Centerline is valid? [True, True] Translation: X:112.41, Y:174.20, Z:-5.91 [[ 8.58352190e-01 5.13052388e-01 2.96062720e-03 1.12413596e+02] [-5.13049341e-01 8.58357296e-01 -1.76796111e-03 1.74200890e+02] [-3.44833263e-03 -1.41454916e-06 9.99994054e-01 -5.90793616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19 meters 0.013732518542416661 Centerline is valid? [True, True] Translation: X:112.44, Y:174.18, Z:-5.91 [[ 8.58572162e-01 5.12681793e-01 3.34990954e-03 1.12439996e+02] [-5.12677882e-01 8.58578697e-01 -2.00253927e-03 1.74182753e+02] [-3.90282639e-03 1.89994649e-06 9.99992384e-01 -5.90833901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21999999999997 meters 0.013747262043531645 Centerline is valid? [True, True] Translation: X:112.47, Y:174.16, Z:-5.91 [[ 8.59270505e-01 5.11506034e-01 3.97204466e-03 1.12466443e+02] [-5.11500513e-01 8.59279685e-01 -2.37648428e-03 1.74162531e+02] [-4.62868333e-03 1.03399637e-05 9.99989288e-01 -5.90745112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25 meters 0.01378037226334728 Centerline is valid? [True, True] Translation: X:112.49, Y:174.14, Z:-5.91 [[ 8.59466466e-01 5.11173372e-01 4.37912591e-03 1.12494319e+02] [-5.11166647e-01 8.59477622e-01 -2.62216428e-03 1.74144292e+02] [-5.10414129e-03 1.51991636e-05 9.99986974e-01 -5.90779070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28 meters 0.013815992034887132 Centerline is valid? [True, True] Translation: X:112.52, Y:174.13, Z:-5.91 [[ 8.59328621e-01 5.11402725e-01 4.64478080e-03 1.12522181e+02] [-5.11395152e-01 8.59341173e-01 -2.78329188e-03 1.74126551e+02] [-5.41483444e-03 1.64439909e-05 9.99985340e-01 -5.90831837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31 meters 0.013803851857361714 Centerline is valid? [True, True] Translation: X:112.55, Y:174.11, Z:-5.91 [[ 8.58829395e-01 5.12249549e-01 3.53120956e-03 1.12549691e+02] [-5.12245178e-01 8.58836655e-01 -2.11626068e-03 1.74108163e+02] [-4.11678578e-03 8.66180619e-06 9.99991526e-01 -5.90922217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34 meters 0.013795576271861992 Centerline is valid? [True, True] Translation: X:112.58, Y:174.09, Z:-5.91 [[ 8.58239880e-01 5.13238790e-01 3.20205089e-03 1.12577702e+02] [-5.13235200e-01 8.58245853e-01 -1.91973246e-03 1.74090910e+02] [-3.73342807e-03 4.18572463e-06 9.99993031e-01 -5.90948120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37 meters 0.01376809950236132 Centerline is valid? [True, True] Translation: X:112.60, Y:174.07, Z:-5.91 [[ 8.57420175e-01 5.14609202e-01 2.83067873e-03 1.12604852e+02] [-5.14606400e-01 8.57424848e-01 -1.69789286e-03 1.74074798e+02] [-3.30084557e-03 -8.77801677e-07 9.99994552e-01 -5.91025987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4 meters 0.013800937181058362 Centerline is valid? [True, True] Translation: X:112.63, Y:174.06, Z:-5.91 [[ 8.56354783e-01 5.16380870e-01 2.69863305e-03 1.12633427e+02] [-5.16378332e-01 8.56359035e-01 -1.61925446e-03 1.74058381e+02] [-3.14715082e-03 -6.85932863e-06 9.99995048e-01 -5.91082890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43 meters 0.013817903073482409 Centerline is valid? [True, True] Translation: X:112.66, Y:174.04, Z:-5.91 [[ 8.55363266e-01 5.18023250e-01 2.36558251e-03 1.12661413e+02] [-5.18021304e-01 8.55366537e-01 -1.42001455e-03 1.74042420e+02] [-2.75904068e-03 -1.07938521e-05 9.99996194e-01 -5.91158614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46 meters 0.014110298508687493 Centerline is valid? [True, True] Translation: X:112.69, Y:174.03, Z:-5.91 [[ 8.53300434e-01 5.21414511e-01 2.29724984e-03 1.12689637e+02] [-5.21412685e-01 8.53303526e-01 -1.38022312e-03 1.74028235e+02] [-2.67991975e-03 -2.00702242e-05 9.99996409e-01 -5.91253763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49 meters 0.013979944013738765 Centerline is valid? [True, True] Translation: X:112.72, Y:174.01, Z:-5.91 [[ 8.52291590e-01 5.23059242e-01 2.84170724e-03 1.12718109e+02] [-5.23056454e-01 8.52296326e-01 -1.70824733e-03 1.74010922e+02] [-3.31549120e-03 -3.04484802e-05 9.99994503e-01 -5.91138094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52 meters 0.014209962206846408 Centerline is valid? [True, True] Translation: X:112.75, Y:174.00, Z:-5.91 [[ 8.51350535e-01 5.24587675e-01 3.16843758e-03 1.12745581e+02] [-5.24584211e-01 8.51356430e-01 -1.90668383e-03 1.73995583e+02] [-3.69769254e-03 -3.88560268e-05 9.99993163e-01 -5.91176910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55 meters 0.014588997732073873 Centerline is valid? [True, True] Translation: X:112.77, Y:173.98, Z:-5.91 [[ 8.50530901e-01 5.25913726e-01 3.45521931e-03 1.12773731e+02] [-5.25909611e-01 8.50537918e-01 -2.08099587e-03 1.73980108e+02] [-4.03321933e-03 -4.71817557e-05 9.99991865e-01 -5.91283046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58 meters 0.014454933608767616 Centerline is valid? [True, True] Translation: X:112.80, Y:173.96, Z:-5.91 [[ 8.49574360e-01 5.27457549e-01 3.45565847e-03 1.12800911e+02] [-5.27453440e-01 8.49581386e-01 -2.08261726e-03 1.73962372e+02] [-4.03435531e-03 -5.33607248e-05 9.99991861e-01 -5.91236375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61 meters 0.014515798942820683 Centerline is valid? [True, True] Translation: X:112.83, Y:173.95, Z:-5.91 [[ 8.49360046e-01 5.27805080e-01 3.05139529e-03 1.12828106e+02] [-5.27801873e-01 8.49365525e-01 -1.84042891e-03 1.73945849e+02] [-3.56313769e-03 -4.73453692e-05 9.99993651e-01 -5.91323757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64 meters 0.014932195811421503 Centerline is valid? [True, True] Translation: X:112.86, Y:173.93, Z:-5.92 [[ 8.49513904e-01 5.27560795e-01 2.39482286e-03 1.12855867e+02] [-5.27558822e-01 8.49517278e-01 -1.44326874e-03 1.73929266e+02] [-2.79585540e-03 -3.73330669e-05 9.99996091e-01 -5.91508185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67 meters 0.014771030234755803 Centerline is valid? [True, True] Translation: X:112.88, Y:173.91, Z:-5.92 [[ 8.49670245e-01 5.27309305e-01 2.31767483e-03 1.12883479e+02] [-5.27307455e-01 8.49673405e-01 -1.39738897e-03 1.73911348e+02] [-2.70612287e-03 -3.48073886e-05 9.99996338e-01 -5.91521812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7 meters 0.014327257944018939 Centerline is valid? [True, True] Translation: X:112.91, Y:173.89, Z:-5.91 [[ 8.49846155e-01 5.27025856e-01 2.29342116e-03 1.12910922e+02] [-5.27024041e-01 8.49849249e-01 -1.38341710e-03 1.73892464e+02] [-2.67815883e-03 -3.29963838e-05 9.99996413e-01 -5.91470444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72999999999996 meters 0.014532625650195235 Centerline is valid? [True, True] Translation: X:112.94, Y:173.88, Z:-5.92 [[ 8.50236979e-01 5.26394912e-01 2.34011641e-03 1.12937356e+02] [-5.26393015e-01 8.50240199e-01 -1.41331120e-03 1.73876135e+02] [-2.73362087e-03 -3.01714860e-05 9.99996263e-01 -5.91598219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76 meters 0.014051181985413774 Centerline is valid? [True, True] Translation: X:112.96, Y:173.86, Z:-5.92 [[ 8.51550408e-01 5.24268422e-01 2.12715377e-03 1.12963068e+02] [-5.24266848e-01 8.51553065e-01 -1.28481502e-03 1.73857248e+02] [-2.48497225e-03 -2.11114423e-05 9.99996912e-01 -5.91596177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78999999999996 meters 0.01388501812066534 Centerline is valid? [True, True] Translation: X:112.99, Y:173.84, Z:-5.92 [[ 8.52343524e-01 5.22978549e-01 1.98865562e-03 1.12989890e+02] [-5.22977169e-01 8.52345843e-01 -1.20152813e-03 1.73839367e+02] [-2.32339579e-03 -1.59067700e-05 9.99997301e-01 -5.91659300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82 meters 0.013783252795900059 Centerline is valid? [True, True] Translation: X:113.02, Y:173.82, Z:-5.92 [[ 8.53175017e-01 5.21622056e-01 1.67980932e-03 1.13017545e+02] [-5.21621070e-01 8.53176670e-01 -1.01434311e-03 1.73821017e+02] [-1.96227786e-03 -1.08117332e-05 9.99998075e-01 -5.91718005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84999999999997 meters 0.013822322866669156 Centerline is valid? [True, True] Translation: X:113.04, Y:173.80, Z:-5.92 [[ 8.54122630e-01 5.20068624e-01 1.77744924e-03 1.13044883e+02] [-5.20067514e-01 8.54124480e-01 -1.07429295e-03 1.73802704e+02] [-2.07686896e-03 -6.81569105e-06 9.99997843e-01 -5.91806154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88 meters 0.013894156993072608 Centerline is valid? [True, True] Translation: X:113.07, Y:173.78, Z:-5.92 [[ 8.56240045e-01 5.16575471e-01 1.66355022e-03 1.13070637e+02] [-5.16574492e-01 8.56241661e-01 -1.00608451e-03 1.73783017e+02] [-1.94411959e-03 2.10223779e-06 9.99998110e-01 -5.91803539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90999999999997 meters 0.013987377265325548 Centerline is valid? [True, True] Translation: X:113.10, Y:173.76, Z:-5.92 [[ 8.57282095e-01 5.14842852e-01 2.06069746e-03 1.13098311e+02] [-5.14841340e-01 8.57284572e-01 -1.24782319e-03 1.73764349e+02] [-2.40903699e-03 8.80423732e-06 9.99997098e-01 -5.91811801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94 meters 0.01406163222706443 Centerline is valid? [True, True] Translation: X:113.13, Y:173.75, Z:-5.92 [[ 8.58330136e-01 5.13095060e-01 1.68424047e-03 1.13125358e+02] [-5.13094046e-01 8.58331789e-01 -1.02006505e-03 1.73746824e+02] [-1.96902748e-03 1.13788160e-05 9.99998061e-01 -5.91756860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96999999999997 meters 0.014355841846220137 Centerline is valid? [True, True] Translation: X:113.15, Y:173.73, Z:-5.92 [[ 8.59399856e-01 5.11301454e-01 1.64619384e-03 1.13151002e+02] [-5.11300481e-01 8.59401433e-01 -9.97770150e-04 1.73729371e+02] [-1.92490268e-03 1.57838195e-05 9.99998147e-01 -5.91800695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0 meters 0.014748661943315557 Centerline is valid? [True, True] Translation: X:113.18, Y:173.71, Z:-5.92 [[ 8.60570632e-01 5.09328717e-01 1.56365489e-03 1.13177836e+02] [-5.09327835e-01 8.60572053e-01 -9.47834327e-04 1.73711521e+02] [-1.82839694e-03 1.92654238e-05 9.99998328e-01 -5.91795384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03 meters 0.01550448891050054 Centerline is valid? [True, True] Translation: X:113.20, Y:173.69, Z:-5.92 [[ 8.62917532e-01 5.05340225e-01 2.14247314e-03 1.13204108e+02] [-5.05338552e-01 8.62920191e-01 -1.30089674e-03 1.73693082e+02] [-2.50617878e-03 3.98923293e-05 9.99996859e-01 -5.91742766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06 meters 0.016102759528482887 Centerline is valid? [True, True] Translation: X:113.23, Y:173.68, Z:-5.92 [[ 8.63916389e-01 5.03630364e-01 2.22031393e-03 1.13230319e+02] [-5.03628559e-01 8.63919241e-01 -1.34930580e-03 1.73675621e+02] [-2.59772329e-03 4.74738892e-05 9.99996625e-01 -5.91778107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09 meters 0.015994650724653045 Centerline is valid? [True, True] Translation: X:113.26, Y:173.66, Z:-5.92 [[ 8.64692661e-01 5.02294321e-01 2.64890107e-03 1.13257899e+02] [-5.02291741e-01 8.64696716e-01 -1.61098885e-03 1.73659257e+02] [-3.09968661e-03 6.24891018e-05 9.99995194e-01 -5.91710233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12 meters 0.016420296573043155 Centerline is valid? [True, True] Translation: X:113.28, Y:173.64, Z:-5.92 [[ 8.65341733e-01 5.01174586e-01 2.77847594e-03 1.13284222e+02] [-5.01171737e-01 8.65346191e-01 -1.69118147e-03 1.73642290e+02] [-3.25192074e-03 7.09562935e-05 9.99994710e-01 -5.91756800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15 meters 0.01633673490649347 Centerline is valid? [True, True] Translation: X:113.31, Y:173.63, Z:-5.92 [[ 8.65855935e-01 5.00287061e-01 2.52119292e-03 1.13312289e+02] [-5.00284711e-01 8.65859603e-01 -1.53476862e-03 1.73625931e+02] [-2.95082399e-03 6.75742486e-05 9.99995644e-01 -5.91750874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18 meters 0.016546958329889297 Centerline is valid? [True, True] Translation: X:113.34, Y:173.61, Z:-5.92 [[ 8.65660983e-01 5.00625989e-01 2.16388140e-03 1.13339886e+02] [-5.00624259e-01 8.65663685e-01 -1.31720981e-03 1.73609362e+02] [-2.53262301e-03 5.69656177e-05 9.99996791e-01 -5.91857249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21 meters 0.01655235398488633 Centerline is valid? [True, True] Translation: X:113.37, Y:173.59, Z:-5.92 [[ 8.65143432e-01 5.01521174e-01 1.83127311e-03 1.13366629e+02] [-5.01519933e-01 8.65145369e-01 -1.11647730e-03 1.73593813e+02] [-2.14425446e-03 4.74930298e-05 9.99997700e-01 -5.91932789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24 meters 0.015929861569070367 Centerline is valid? [True, True] Translation: X:113.40, Y:173.58, Z:-5.92 [[ 8.63445014e-01 5.04441854e-01 1.06022514e-03 1.13395858e+02] [-5.04441443e-01 8.63445665e-01 -6.44087420e-04 1.73579710e+02] [-1.24035145e-03 2.13125724e-05 9.99999231e-01 -5.91989529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27 meters 0.01574826091907628 Centerline is valid? [True, True] Translation: X:113.42, Y:173.56, Z:-5.92 [[ 8.62257942e-01 5.06468949e-01 6.66570215e-04 1.13423739e+02] [-5.06468789e-01 8.62258200e-01 -4.03717057e-04 1.73564751e+02] [-7.79225787e-04 1.05112300e-05 9.99999696e-01 -5.92074196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3 meters 0.01537700068489141 Centerline is valid? [True, True] Translation: X:113.45, Y:173.55, Z:-5.92 [[ 8.60878271e-01 5.08810800e-01 4.14059683e-04 1.13452427e+02] [-5.08810739e-01 8.60878371e-01 -2.49462355e-04 1.73550084e+02] [-4.83384166e-04 4.07870761e-06 9.99999883e-01 -5.92146832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33 meters 0.014734706450344472 Centerline is valid? [True, True] Translation: X:113.48, Y:173.54, Z:-5.92 [[ 8.59432032e-01 5.11249952e-01 2.62329759e-04 1.13481512e+02] [-5.11249928e-01 8.59432072e-01 -1.56603930e-04 1.73536042e+02] [-3.05518360e-04 4.74363624e-07 9.99999953e-01 -5.92141955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36 meters 0.014168150569340092 Centerline is valid? [True, True] Translation: X:113.51, Y:173.52, Z:-5.92 [[ 8.56509793e-01 5.16130758e-01 1.22098011e-04 1.13511138e+02] [-5.16130753e-01 8.56509802e-01 -7.24940729e-05 1.73524343e+02] [-1.41994564e-04 -9.26654957e-07 9.99999990e-01 -5.92200466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39 meters 0.013957122415435157 Centerline is valid? [True, True] Translation: X:113.54, Y:173.51, Z:-5.92 [[ 8.54959155e-01 5.18695095e-01 4.91265389e-04 1.13540178e+02] [-5.18695010e-01 8.54959296e-01 -2.97097769e-04 1.73509863e+02] [-5.74115067e-04 -8.10447987e-07 9.99999835e-01 -5.92259462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42 meters 0.013903140247057813 Centerline is valid? [True, True] Translation: X:113.57, Y:173.50, Z:-5.92 [[ 8.53515213e-01 5.21067736e-01 4.42846512e-04 1.13568671e+02] [-5.21067668e-01 8.53515327e-01 -2.67322154e-04 1.73495408e+02] [-5.17269235e-04 -2.58947447e-06 9.99999866e-01 -5.92326223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45 meters 0.013898318320974979 Centerline is valid? [True, True] Translation: X:113.60, Y:173.48, Z:-5.92 [[ 8.52271460e-01 5.23099032e-01 8.72873580e-04 1.13598075e+02] [-5.23098762e-01 8.52271907e-01 -5.31090614e-04 1.73480190e+02] [-1.02173862e-03 -3.96571664e-06 9.99999478e-01 -5.92348792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47999999999996 meters 0.013872842020328091 Centerline is valid? [True, True] Translation: X:113.63, Y:173.47, Z:-5.92 [[ 8.49908819e-01 5.26926763e-01 1.78485402e-03 1.13628860e+02] [-5.26925633e-01 8.49910693e-01 -1.09117700e-03 1.73466629e+02] [-2.09193688e-03 -1.30843786e-05 9.99997812e-01 -5.92263680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51 meters 0.014032744754398696 Centerline is valid? [True, True] Translation: X:113.66, Y:173.45, Z:-5.92 [[ 8.48699306e-01 5.28871224e-01 2.17184405e-03 1.13658065e+02] [-5.28869553e-01 8.48702084e-01 -1.32959997e-03 1.73451530e+02] [-2.54643574e-03 -2.01916200e-05 9.99996758e-01 -5.92251884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53999999999996 meters 0.014252858454410558 Centerline is valid? [True, True] Translation: X:113.69, Y:173.44, Z:-5.92 [[ 8.47438942e-01 5.30886675e-01 2.56465779e-03 1.13687411e+02] [-5.30884349e-01 8.47442823e-01 -1.57189415e-03 1.73436517e+02] [-3.00789850e-03 -2.94523641e-05 9.99995476e-01 -5.92288406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57 meters 0.01494464573089464 Centerline is valid? [True, True] Translation: X:113.72, Y:173.42, Z:-5.92 [[ 8.46001798e-01 5.33171819e-01 2.96124146e-03 1.13716198e+02] [-5.33168723e-01 8.46006980e-01 -1.81750246e-03 1.73423498e+02] [-3.47427204e-03 -4.12309790e-05 9.99993964e-01 -5.92430019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59999999999997 meters 0.015332325678173445 Centerline is valid? [True, True] Translation: X:113.75, Y:173.41, Z:-5.92 [[ 8.43434831e-01 5.37222487e-01 3.11193169e-03 1.13745547e+02] [-5.37219091e-01 8.43440570e-01 -1.91111982e-03 1.73410837e+02] [-3.65142598e-03 -5.98840884e-05 9.99993332e-01 -5.92359437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63 meters 0.015781537105994878 Centerline is valid? [True, True] Translation: X:113.77, Y:173.40, Z:-5.92 [[ 8.42219981e-01 5.39126438e-01 2.86144932e-03 1.13774669e+02] [-5.39123576e-01 8.42224839e-01 -1.75771241e-03 1.73396416e+02] [-3.35761293e-03 -6.22942784e-05 9.99994361e-01 -5.92433029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65999999999997 meters 0.01592228383262388 Centerline is valid? [True, True] Translation: X:113.80, Y:173.38, Z:-5.92 [[ 8.41112289e-01 5.40854128e-01 2.63235259e-03 1.13802509e+02] [-5.40851712e-01 8.41116406e-01 -1.61772617e-03 1.73381327e+02] [-3.08906883e-03 -6.30230422e-05 9.99995227e-01 -5.92455227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69 meters 0.016566457048761106 Centerline is valid? [True, True] Translation: X:113.83, Y:173.37, Z:-5.93 [[ 8.40222637e-01 5.42233660e-01 2.92886911e-03 1.13830086e+02] [-5.42230673e-01 8.40227739e-01 -1.80133774e-03 1.73367386e+02] [-3.43766302e-03 -7.45979203e-05 9.99994088e-01 -5.92557647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71999999999997 meters 0.01707911139279168 Centerline is valid? [True, True] Translation: X:113.86, Y:173.35, Z:-5.93 [[ 8.39146829e-01 5.43901162e-01 2.03124623e-03 1.13859259e+02] [-5.43899732e-01 8.39149285e-01 -1.24858912e-03 1.73353437e+02] [-2.38362789e-03 -5.70446771e-05 9.99997158e-01 -5.92696001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75 meters 0.01707911139279168 Centerline is valid? [True, True] Translation: X:113.89, Y:173.34, Z:-5.93 [[ 8.38992988e-01 5.44138439e-01 2.03115371e-03 1.13886806e+02] [-5.44137009e-01 8.38995445e-01 -1.24874002e-03 1.73336359e+02] [-2.38361616e-03 -5.75417792e-05 9.99997158e-01 -5.92740837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78 meters 0.017002168490340478 Centerline is valid? [True, True] Translation: X:113.91, Y:173.32, Z:-5.93 [[ 8.38661443e-01 5.44650438e-01 1.69810302e-03 1.13914705e+02] [-5.44649440e-01 8.38663161e-01 -1.04386844e-03 1.73319667e+02] [-1.99267985e-03 -4.94186458e-05 9.99998013e-01 -5.92796302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81 meters 0.016899048172948263 Centerline is valid? [True, True] Translation: X:113.94, Y:173.30, Z:-5.93 [[ 8.38519913e-01 5.44869630e-01 1.20076638e-03 1.13942577e+02] [-5.44869132e-01 8.38520772e-01 -7.37254970e-04 1.73302816e+02] [-1.40857540e-03 -3.60575631e-05 9.99999007e-01 -5.92889824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84 meters 0.016452206321889564 Centerline is valid? [True, True] Translation: X:113.97, Y:173.29, Z:-5.93 [[ 8.38674789e-01 5.44632393e-01 3.94336926e-04 1.13970444e+02] [-5.44632341e-01 8.38674881e-01 -2.39093997e-04 1.73285194e+02] [-4.60938810e-04 -1.42465358e-05 9.99999894e-01 -5.92901755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87 meters 0.015939020039432227 Centerline is valid? [True, True] Translation: X:114.00, Y:173.27, Z:-5.93 [[ 8.39501878e-01 5.43356010e-01 9.18837620e-04 1.13998085e+02] [-5.43355717e-01 8.39502380e-01 -5.64244014e-04 1.73268182e+02] [-1.07795175e-03 -2.55717648e-05 9.99999419e-01 -5.92926295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9 meters 0.015900407165137288 Centerline is valid? [True, True] Translation: X:114.03, Y:173.25, Z:-5.93 [[ 8.39833694e-01 5.42842555e-01 1.15199460e-03 1.14025046e+02] [-5.42842093e-01 8.39834484e-01 -7.08907912e-04 1.73251745e+02] [-1.35231018e-03 -2.99864116e-05 9.99999085e-01 -5.92944164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93 meters 0.01585539918182189 Centerline is valid? [True, True] Translation: X:114.05, Y:173.24, Z:-5.93 [[ 8.40289872e-01 5.42135284e-01 1.50520684e-03 1.14051510e+02] [-5.42134490e-01 8.40291219e-01 -9.28344662e-04 1.73235465e+02] [-1.76810049e-03 -3.59459272e-05 9.99998436e-01 -5.92955271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96 meters 0.01565380718574021 Centerline is valid? [True, True] Translation: X:114.08, Y:173.22, Z:-5.93 [[ 8.40761645e-01 5.41401747e-01 2.00124284e-03 1.14078500e+02] [-5.41400338e-01 8.40764026e-01 -1.23596647e-03 1.73218628e+02] [-2.35172739e-03 -4.43203526e-05 9.99997234e-01 -5.93008352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99 meters 0.015273380221833934 Centerline is valid? [True, True] Translation: X:114.11, Y:173.20, Z:-5.93 [[ 8.41241014e-01 5.40655622e-01 2.24835904e-03 1.14105612e+02] [-5.40653838e-01 8.41244017e-01 -1.38980394e-03 1.73201081e+02] [-2.64282391e-03 -4.64238677e-05 9.99996507e-01 -5.93002180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02 meters 0.014901761312603866 Centerline is valid? [True, True] Translation: X:114.13, Y:173.18, Z:-5.93 [[ 8.42316746e-01 5.38977118e-01 2.48314215e-03 1.14132173e+02] [-5.38974930e-01 8.42320405e-01 -1.53622930e-03 1.73183265e+02] [-2.91959375e-03 -4.43597008e-05 9.99995737e-01 -5.92955562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05 meters 0.01486048963928156 Centerline is valid? [True, True] Translation: X:114.16, Y:173.17, Z:-5.93 [[ 8.42825284e-01 5.38178687e-01 3.04005026e-03 1.14159291e+02] [-5.38175396e-01 8.42830765e-01 -1.88275019e-03 1.73165584e+02] [-3.57550391e-03 -4.92507851e-05 9.99993607e-01 -5.92947771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08 meters 0.01448271646071981 Centerline is valid? [True, True] Translation: X:114.19, Y:173.15, Z:-5.93 [[ 8.44095861e-01 5.36173729e-01 4.46202378e-03 1.14186273e+02] [-5.36166585e-01 8.44107652e-01 -2.76842972e-03 1.73147269e+02] [-5.25078770e-03 -5.55679848e-05 9.99986213e-01 -5.92865369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11 meters 0.01439531190498963 Centerline is valid? [True, True] Translation: X:114.21, Y:173.13, Z:-5.93 [[ 8.44788295e-01 5.35079684e-01 4.74006810e-03 1.14212342e+02] [-5.35071608e-01 8.44801592e-01 -2.94026144e-03 1.73130285e+02] [-5.57769124e-03 -5.23774066e-05 9.99984443e-01 -5.92866909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14 meters 0.014304549960819446 Centerline is valid? [True, True] Translation: X:114.24, Y:173.11, Z:-5.93 [[ 8.45440783e-01 5.34046772e-01 4.89163229e-03 1.14238138e+02] [-5.34038145e-01 8.45454933e-01 -3.03596984e-03 1.73113445e+02] [-5.75700454e-03 -4.55855105e-05 9.99983427e-01 -5.92891682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17 meters 0.014002562190480157 Centerline is valid? [True, True] Translation: X:114.27, Y:173.10, Z:-5.93 [[ 8.46115121e-01 5.32978920e-01 4.76152411e-03 1.14265444e+02] [-5.32970724e-01 8.46128518e-01 -2.95604727e-03 1.73095175e+02] [-5.60437222e-03 -3.65966593e-05 9.99984295e-01 -5.92923530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2 meters 0.013903989775847614 Centerline is valid? [True, True] Translation: X:114.29, Y:173.08, Z:-5.93 [[ 8.47337290e-01 5.31036878e-01 4.39905571e-03 1.14292780e+02] [-5.31029849e-01 8.47348709e-01 -2.73239004e-03 1.73077143e+02] [-5.17853405e-03 -2.07739139e-05 9.99986591e-01 -5.93028745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22999999999996 meters 0.013927342000798046 Centerline is valid? [True, True] Translation: X:114.32, Y:173.06, Z:-5.93 [[ 8.47918272e-01 5.30110781e-01 4.14303872e-03 1.14320357e+02] [-5.30104528e-01 8.47928393e-01 -2.57473687e-03 1.73059072e+02] [-4.87789594e-03 -1.30771492e-05 9.99988103e-01 -5.93112646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26 meters 0.013889016386305039 Centerline is valid? [True, True] Translation: X:114.35, Y:173.04, Z:-5.93 [[ 8.48383307e-01 5.29369086e-01 3.75977864e-03 1.14348102e+02] [-5.29363924e-01 8.48391638e-01 -2.33761054e-03 1.73040757e+02] [-4.42722351e-03 -7.10141358e-06 9.99990200e-01 -5.93206888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28999999999996 meters 0.013926399906995136 Centerline is valid? [True, True] Translation: X:114.38, Y:173.02, Z:-5.93 [[ 8.49000729e-01 5.28380792e-01 3.39110997e-03 1.14375281e+02] [-5.28376582e-01 8.49007502e-01 -2.10927539e-03 1.73022676e+02] [-3.99357841e-03 -1.00675208e-06 9.99992026e-01 -5.93283745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32 meters 0.014025151028512033 Centerline is valid? [True, True] Translation: X:114.40, Y:173.00, Z:-5.93 [[ 8.50253839e-01 5.26365874e-01 2.71569127e-03 1.14401393e+02] [-5.26363161e-01 8.50258176e-01 -1.68999333e-03 1.73004859e+02] [-3.19859352e-03 7.48347138e-06 9.99994884e-01 -5.93432196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34999999999997 meters 0.014134845315664824 Centerline is valid? [True, True] Translation: X:114.43, Y:172.99, Z:-5.94 [[ 8.50695602e-01 5.25653750e-01 2.26439063e-03 1.14429343e+02] [-5.25651862e-01 8.50698616e-01 -1.40856300e-03 1.72986718e+02] [-2.66673040e-03 7.97719317e-06 9.99996444e-01 -5.93501177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38 meters 0.014175953572493962 Centerline is valid? [True, True] Translation: X:114.46, Y:172.97, Z:-5.94 [[ 8.51044312e-01 5.25086555e-01 2.77286590e-03 1.14457244e+02] [-5.25083715e-01 8.51048829e-01 -1.72696326e-03 1.72968721e+02] [-3.26664947e-03 1.37355325e-05 9.99994664e-01 -5.93543578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40999999999997 meters 0.014235482234074889 Centerline is valid? [True, True] Translation: X:114.49, Y:172.95, Z:-5.93 [[ 8.51289216e-01 5.24684527e-01 3.58025378e-03 1.14485200e+02] [-5.24679777e-01 8.51296744e-01 -2.23253383e-03 1.72950501e+02] [-4.21923434e-03 2.20452189e-05 9.99991099e-01 -5.93412947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44 meters 0.014145925404537915 Centerline is valid? [True, True] Translation: X:114.51, Y:172.93, Z:-5.93 [[ 8.51128187e-01 5.24942492e-01 4.02349304e-03 1.14513038e+02] [-5.24936487e-01 8.51137697e-01 -2.51102055e-03 1.72933267e+02] [-4.74268798e-03 2.51220654e-05 9.99988753e-01 -5.93359663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46999999999997 meters 0.014048952314430369 Centerline is valid? [True, True] Translation: X:114.54, Y:172.92, Z:-5.93 [[ 8.50553033e-01 5.25870921e-01 4.39453759e-03 1.14539596e+02] [-5.25863756e-01 8.50564386e-01 -2.74528075e-03 1.72917227e+02] [-5.18150048e-03 2.40788252e-05 9.99986576e-01 -5.93382596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5 meters 0.01408125753083572 Centerline is valid? [True, True] Translation: X:114.57, Y:172.90, Z:-5.93 [[ 8.49632022e-01 5.27359917e-01 4.11641834e-03 1.14568398e+02] [-5.27353645e-01 8.49641994e-01 -2.57199511e-03 1.72900564e+02] [-4.85384902e-03 1.44411886e-05 9.99988220e-01 -5.93358012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53 meters 0.013993837335355324 Centerline is valid? [True, True] Translation: X:114.60, Y:172.89, Z:-5.93 [[ 8.47356316e-01 5.31009639e-01 4.00469872e-03 1.14598189e+02] [-5.31003736e-01 8.47365779e-01 -2.50361877e-03 1.72886873e+02] [-4.72289035e-03 -5.05280703e-06 9.99988847e-01 -5.93438656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56 meters 0.014052778088889469 Centerline is valid? [True, True] Translation: X:114.63, Y:172.87, Z:-5.94 [[ 8.45756486e-01 5.33556341e-01 3.68751756e-03 1.14627014e+02] [-5.33551356e-01 8.45764524e-01 -2.30664627e-03 1.72872083e+02] [-4.34949728e-03 -1.66189489e-05 9.99990541e-01 -5.93586408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59 meters 0.014240119287041768 Centerline is valid? [True, True] Translation: X:114.66, Y:172.86, Z:-5.94 [[ 8.43996572e-01 5.36334073e-01 3.94310159e-03 1.14656287e+02] [-5.36328395e-01 8.44005783e-01 -2.46811637e-03 1.72857152e+02] [-4.65173545e-03 -3.17155939e-05 9.99989180e-01 -5.93633887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62 meters 0.014571549086606834 Centerline is valid? [True, True] Translation: X:114.68, Y:172.84, Z:-5.94 [[ 8.42100166e-01 5.39309018e-01 3.61846111e-03 1.14684646e+02] [-5.39304258e-01 8.42107939e-01 -2.26629646e-03 1.72842126e+02] [-4.26936895e-03 -4.30028600e-05 9.99990885e-01 -5.93634703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65 meters 0.0151357857014465 Centerline is valid? [True, True] Translation: X:114.71, Y:172.83, Z:-5.94 [[ 8.38895841e-01 5.44279464e-01 3.69233824e-03 1.14713763e+02] [-5.44274550e-01 8.38903964e-01 -2.31388024e-03 1.72828804e+02] [-4.35691468e-03 -6.85412262e-05 9.99990506e-01 -5.93542457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68 meters 0.015934995760754564 Centerline is valid? [True, True] Translation: X:114.74, Y:172.82, Z:-5.94 [[ 8.37318409e-01 5.46697405e-01 4.45315523e-03 1.14741776e+02] [-5.46690277e-01 8.37330245e-01 -2.79327453e-03 1.72815001e+02] [-5.25583749e-03 -9.56364874e-05 9.99986183e-01 -5.93600408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71 meters 0.015652311129578735 Centerline is valid? [True, True] Translation: X:114.77, Y:172.80, Z:-5.94 [[ 8.35798774e-01 5.49017485e-01 4.49570179e-03 1.14769361e+02] [-5.49010248e-01 8.35810857e-01 -2.82118833e-03 1.72798445e+02] [-5.30643809e-03 -1.10240602e-04 9.99985915e-01 -5.93539919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74 meters 0.017084961407264395 Centerline is valid? [True, True] Translation: X:114.80, Y:172.79, Z:-5.94 [[ 8.33649238e-01 5.52274078e-01 4.72125708e-03 1.14798852e+02] [-5.52266137e-01 8.33662596e-01 -2.96485037e-03 1.72786579e+02] [-5.57334544e-03 -1.35745157e-04 9.99984460e-01 -5.93669244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77 meters 0.016909898239172265 Centerline is valid? [True, True] Translation: X:114.83, Y:172.77, Z:-5.94 [[ 8.33030623e-01 5.53206534e-01 4.74467970e-03 1.14826295e+02] [-5.53198521e-01 8.33044123e-01 -2.98100736e-03 1.72769867e+02] [-5.60164029e-03 -1.41479375e-04 9.99984301e-01 -5.93734903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8 meters 0.017523050863549515 Centerline is valid? [True, True] Translation: X:114.85, Y:172.75, Z:-5.94 [[ 8.32768128e-01 5.53603035e-01 4.57444684e-03 1.14853811e+02] [-5.53595585e-01 8.32780680e-01 -2.87536445e-03 1.72754529e+02] [-5.40132144e-03 -1.37881701e-04 9.99985403e-01 -5.93852597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83 meters 0.017527382383113486 Centerline is valid? [True, True] Translation: X:114.88, Y:172.74, Z:-5.94 [[ 8.32791464e-01 5.53571683e-01 4.09489174e-03 1.14881717e+02] [-5.53565708e-01 8.32801523e-01 -2.57489904e-03 1.72737247e+02] [-4.83562327e-03 -1.22437709e-04 9.99988301e-01 -5.93960566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86 meters 0.0163068117227124 Centerline is valid? [True, True] Translation: X:114.91, Y:172.72, Z:-5.94 [[ 8.33897895e-01 5.51908746e-01 3.32212505e-03 1.14907721e+02] [-5.51904798e-01 8.33904507e-01 -2.08974390e-03 1.72718163e+02] [-3.92368299e-03 -9.08637164e-05 9.99992298e-01 -5.93968755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89 meters 0.016445315907888138 Centerline is valid? [True, True] Translation: X:114.93, Y:172.70, Z:-5.94 [[ 8.34618862e-01 5.50818420e-01 3.22864113e-03 1.14933984e+02] [-5.50814677e-01 8.34625102e-01 -2.03222255e-03 1.72702377e+02] [-3.81409054e-03 -8.22516491e-05 9.99992723e-01 -5.94050899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92 meters 0.016198151232892026 Centerline is valid? [True, True] Translation: X:114.96, Y:172.69, Z:-5.94 [[ 8.35274153e-01 5.49823545e-01 3.34047069e-03 1.14959748e+02] [-5.49819525e-01 8.35280829e-01 -2.10392165e-03 1.72685562e+02] [-3.94701678e-03 -7.93046339e-05 9.99992207e-01 -5.94077829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95 meters 0.01582267928466464 Centerline is valid? [True, True] Translation: X:114.99, Y:172.67, Z:-5.94 [[ 8.35964676e-01 5.48773414e-01 3.28645584e-03 1.14986691e+02] [-5.48769512e-01 8.35971133e-01 -2.07067878e-03 1.72667439e+02] [-3.88371567e-03 -7.24924509e-05 9.99992456e-01 -5.94072820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97999999999996 meters 0.01550673373624786 Centerline is valid? [True, True] Translation: X:115.01, Y:172.65, Z:-5.94 [[ 8.36633308e-01 5.47752243e-01 3.49128624e-03 1.15013253e+02] [-5.47747824e-01 8.36640589e-01 -2.20118039e-03 1.72649651e+02] [-4.12665327e-03 -7.07636124e-05 9.99991483e-01 -5.94110157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01 meters 0.014843723732670407 Centerline is valid? [True, True] Translation: X:115.04, Y:172.63, Z:-5.94 [[ 8.37713311e-01 5.46097723e-01 3.69950689e-03 1.15039330e+02] [-5.46092739e-01 8.37721477e-01 -2.33390311e-03 1.72630825e+02] [-4.37369555e-03 -6.51321475e-05 9.99990433e-01 -5.94081424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03999999999996 meters 0.014448875561174409 Centerline is valid? [True, True] Translation: X:115.07, Y:172.61, Z:-5.94 [[ 8.37935425e-01 5.45759392e-01 3.30297835e-03 1.15066606e+02] [-5.45755417e-01 8.37941933e-01 -2.08391917e-03 1.72612041e+02] [-3.90502252e-03 -5.64286303e-05 9.99992374e-01 -5.94066860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07 meters 0.014542555555492769 Centerline is valid? [True, True] Translation: X:115.09, Y:172.60, Z:-5.94 [[ 8.38006481e-01 5.45650895e-01 3.19964510e-03 1.15093355e+02] [-5.45647158e-01 8.38012588e-01 -2.02015031e-03 1.72595350e+02] [-3.78363970e-03 -5.29782028e-05 9.99992841e-01 -5.94161145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09999999999997 meters 0.01469525323372514 Centerline is valid? [True, True] Translation: X:115.12, Y:172.58, Z:-5.94 [[ 8.37700886e-01 5.46123584e-01 2.50126392e-03 1.15121117e+02] [-5.46121301e-01 8.37704619e-01 -1.57950624e-03 1.72578859e+02] [-2.95792595e-03 -4.28397249e-05 9.99995624e-01 -5.94289001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13 meters 0.014782525191696344 Centerline is valid? [True, True] Translation: X:115.15, Y:172.56, Z:-5.94 [[ 8.37198164e-01 5.46895902e-01 2.02656688e-03 1.15148544e+02] [-5.46894406e-01 8.37200616e-01 -1.27968271e-03 1.72562026e+02] [-2.39649626e-03 -3.69700749e-05 9.99997128e-01 -5.94409084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15999999999997 meters 0.014921394598830785 Centerline is valid? [True, True] Translation: X:115.18, Y:172.55, Z:-5.94 [[ 8.36561471e-01 5.47870841e-01 1.56406290e-03 1.15175768e+02] [-5.47869953e-01 8.36562933e-01 -9.87240828e-04 1.72545313e+02] [-1.84931751e-03 -3.10154272e-05 9.99998290e-01 -5.94481528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19 meters 0.015075573619367733 Centerline is valid? [True, True] Translation: X:115.20, Y:172.53, Z:-5.95 [[ 8.35956435e-01 5.48794265e-01 1.30125450e-03 1.15203290e+02] [-5.48793651e-01 8.35957448e-01 -8.21127829e-04 1.72528508e+02] [-1.53842363e-03 -2.76931126e-05 9.99998816e-01 -5.94549211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21999999999997 meters 0.015513187384038764 Centerline is valid? [True, True] Translation: X:115.23, Y:172.51, Z:-5.95 [[ 8.35117902e-01 5.50070153e-01 9.57751941e-04 1.15229790e+02] [-5.50069821e-01 8.35118451e-01 -6.04439347e-04 1.72513156e+02] [-1.13232036e-03 -2.20523198e-05 9.99999359e-01 -5.94633158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25 meters 0.015614672845872413 Centerline is valid? [True, True] Translation: X:115.26, Y:172.50, Z:-5.95 [[ 8.33385728e-01 5.52691027e-01 9.25708569e-04 1.15257540e+02] [-5.52690720e-01 8.33386242e-01 -5.83479512e-04 1.72496626e+02] [-1.09395668e-03 -2.53670376e-05 9.99999401e-01 -5.94634494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28 meters 0.016080119587192056 Centerline is valid? [True, True] Translation: X:115.28, Y:172.48, Z:-5.95 [[ 8.32244663e-01 5.54408344e-01 4.57265192e-04 1.15284417e+02] [-5.54408270e-01 8.32244789e-01 -2.86578654e-04 1.72481453e+02] [-5.39438170e-04 -1.50080486e-05 9.99999854e-01 -5.94692283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31 meters 0.01687011957843476 Centerline is valid? [True, True] Translation: X:115.31, Y:172.47, Z:-5.95 [[ 8.31260560e-01 5.55882697e-01 5.54936151e-04 1.15311417e+02] [-5.55882588e-01 8.31260746e-01 -3.48834055e-04 1.72466612e+02] [-6.55207454e-04 -1.85073519e-05 9.99999785e-01 -5.94787353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34 meters 0.01751962205751589 Centerline is valid? [True, True] Translation: X:115.34, Y:172.45, Z:-5.95 [[ 8.29461505e-01 5.58563727e-01 4.17044987e-04 1.15339049e+02] [-5.58563665e-01 8.29461610e-01 -2.63896122e-04 1.72450637e+02] [-4.93325608e-04 -1.40545020e-05 9.99999878e-01 -5.94788409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37 meters 0.017990191871877486 Centerline is valid? [True, True] Translation: X:115.37, Y:172.43, Z:-5.95 [[ 8.28689026e-01 5.59708958e-01 6.17728840e-04 1.15366308e+02] [-5.59708823e-01 8.28689256e-01 -3.88774563e-04 1.72434183e+02] [-7.29505858e-04 -2.35750684e-05 9.99999734e-01 -5.94799702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4 meters 0.01833423198874589 Centerline is valid? [True, True] Translation: X:115.39, Y:172.42, Z:-5.95 [[ 8.28110098e-01 5.60563411e-01 1.52610060e-03 1.15394272e+02] [-5.60562580e-01 8.28111502e-01 -9.66475412e-04 1.72416653e+02] [-1.80555221e-03 -5.51268403e-05 9.99998368e-01 -5.94782696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43 meters 0.01848951204601171 Centerline is valid? [True, True] Translation: X:115.42, Y:172.40, Z:-5.95 [[ 8.27724817e-01 5.61130692e-01 1.99350100e-03 1.15422093e+02] [-5.61129272e-01 8.27727214e-01 -1.26470627e-03 1.72398917e+02] [-2.35974053e-03 -7.17829971e-05 9.99997213e-01 -5.94774448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46 meters 0.01882881271127556 Centerline is valid? [True, True] Translation: X:115.45, Y:172.38, Z:-5.95 [[ 8.27630128e-01 5.61265372e-01 3.09081462e-03 1.15448148e+02] [-5.61261942e-01 8.27635892e-01 -1.96529438e-03 1.72382637e+02] [-3.66112080e-03 -1.08219777e-04 9.99993292e-01 -5.94734362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49 meters 0.018688014154596876 Centerline is valid? [True, True] Translation: X:115.48, Y:172.37, Z:-5.95 [[ 8.27698525e-01 5.61161129e-01 3.65235625e-03 1.15475356e+02] [-5.61156331e-01 8.27706573e-01 -2.32400757e-03 1.72365028e+02] [-4.32722199e-03 -1.25965194e-04 9.99990630e-01 -5.94771002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52 meters 0.017693232469161387 Centerline is valid? [True, True] Translation: X:115.50, Y:172.35, Z:-5.95 [[ 8.27799255e-01 5.61012725e-01 3.62143953e-03 1.15500953e+02] [-5.61008002e-01 8.27807168e-01 -2.30546159e-03 1.72346177e+02] [-4.29124689e-03 -1.23197165e-04 9.99990785e-01 -5.94721837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55 meters 0.01798725040107511 Centerline is valid? [True, True] Translation: X:115.53, Y:172.33, Z:-5.95 [[ 8.27937301e-01 5.60809395e-01 3.55651177e-03 1.15526871e+02] [-5.60804831e-01 8.27944931e-01 -2.26554135e-03 1.72329607e+02] [-4.21513276e-03 -1.18782790e-04 9.99991109e-01 -5.94811726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58 meters 0.01749465290568277 Centerline is valid? [True, True] Translation: X:115.55, Y:172.31, Z:-5.95 [[ 8.28567235e-01 5.59880775e-01 3.13920657e-03 1.15552500e+02] [-5.59877212e-01 8.28573176e-01 -2.00008872e-03 1.72310915e+02] [-3.72087358e-03 -1.00362243e-04 9.99993073e-01 -5.94905514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61 meters 0.01746316222926885 Centerline is valid? [True, True] Translation: X:115.58, Y:172.29, Z:-5.95 [[ 8.28774429e-01 5.59576647e-01 2.63089509e-03 1.15578544e+02] [-5.59574141e-01 8.28778601e-01 -1.67673591e-03 1.72293835e+02] [-3.11869181e-03 -8.25450142e-05 9.99995133e-01 -5.95039132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64 meters 0.01746316222926885 Centerline is valid? [True, True] Translation: X:115.61, Y:172.28, Z:-5.95 [[ 8.28616623e-01 5.59810299e-01 2.63081373e-03 1.15605825e+02] [-5.59807794e-01 8.28620795e-01 -1.67686407e-03 1.72276319e+02] [-3.11867274e-03 -8.32725912e-05 9.99995133e-01 -5.95083964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67 meters 0.016983888400434154 Centerline is valid? [True, True] Translation: X:115.63, Y:172.26, Z:-5.95 [[ 8.28871428e-01 5.59435165e-01 2.10972342e-03 1.15632240e+02] [-5.59433552e-01 8.28874111e-01 -1.34508217e-03 1.72257925e+02] [-2.50118139e-03 -6.53498847e-05 9.99996870e-01 -5.95175058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7 meters 0.016498243177649377 Centerline is valid? [True, True] Translation: X:115.66, Y:172.24, Z:-5.95 [[ 8.29436411e-01 5.58600373e-01 9.29252711e-04 1.15658766e+02] [-5.58600061e-01 8.29436931e-01 -5.90489806e-04 1.72239563e+02] [-1.10060434e-03 -2.93068758e-05 9.99999394e-01 -5.95362723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72999999999996 meters 0.016761395287267795 Centerline is valid? [True, True] Translation: X:115.68, Y:172.22, Z:-5.95 [[ 8.29543231e-01 5.58441851e-01 8.52052971e-04 1.15684869e+02] [-5.58441589e-01 8.29543668e-01 -5.41690319e-04 1.72223178e+02] [-1.00931769e-03 -2.64662781e-05 9.99999490e-01 -5.95461397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76 meters 0.016286656309389504 Centerline is valid? [True, True] Translation: X:115.71, Y:172.20, Z:-5.95 [[ 8.29609428e-01 5.58343535e-01 8.32957902e-04 1.15711254e+02] [-5.58343286e-01 8.29609846e-01 -5.28884514e-04 1.72204147e+02] [-9.86329326e-04 -2.63088730e-05 9.99999513e-01 -5.95423254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78999999999996 meters 0.016100623773826428 Centerline is valid? [True, True] Translation: X:115.74, Y:172.19, Z:-5.95 [[ 8.29916697e-01 5.57886116e-01 1.16533898e-03 1.15737938e+02] [-5.57885622e-01 8.29917515e-01 -7.42808559e-04 1.72185703e+02] [-1.38153781e-03 -3.36566333e-05 9.99999045e-01 -5.95420967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82 meters 0.01560138841341526 Centerline is valid? [True, True] Translation: X:115.76, Y:172.17, Z:-5.95 [[ 8.30592254e-01 5.56876077e-01 2.35428649e-03 1.15763247e+02] [-5.56874045e-01 8.30595588e-01 -1.50565678e-03 1.72166126e+02] [-2.79392421e-03 -6.04541794e-05 9.99996095e-01 -5.95267384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84999999999997 meters 0.015290828631900509 Centerline is valid? [True, True] Translation: X:115.79, Y:172.15, Z:-5.95 [[ 8.31009748e-01 5.56248486e-01 3.22798369e-03 1.15790048e+02] [-5.56244651e-01 8.31016014e-01 -2.06708665e-03 1.72147712e+02] [-3.83231996e-03 -7.77795031e-05 9.99992654e-01 -5.95261304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88 meters 0.01518615489833499 Centerline is valid? [True, True] Translation: X:115.82, Y:172.13, Z:-5.95 [[ 8.31334099e-01 5.55760603e-01 3.71059586e-03 1.15817040e+02] [-5.55755521e-01 8.31342376e-01 -2.37809398e-03 1.72129605e+02] [-4.40642652e-03 -8.51935193e-05 9.99990288e-01 -5.95261108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90999999999997 meters 0.015136582072646334 Centerline is valid? [True, True] Translation: X:115.84, Y:172.11, Z:-5.95 [[ 8.31700714e-01 5.55207604e-01 4.29406846e-03 1.15842916e+02] [-5.55200779e-01 8.31711794e-01 -2.75439951e-03 1.72112227e+02] [-5.10069094e-03 -9.32341166e-05 9.99986987e-01 -5.95276579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94 meters 0.014900076117713702 Centerline is valid? [True, True] Translation: X:115.87, Y:172.09, Z:-5.95 [[ 8.32393500e-01 5.54162946e-01 4.94873900e-03 1.15869418e+02] [-5.54153845e-01 8.32408205e-01 -3.17743288e-03 1.72093222e+02] [-5.88018651e-03 -9.74882675e-05 9.99982707e-01 -5.95299570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96999999999997 meters 0.014640338144573562 Centerline is valid? [True, True] Translation: X:115.90, Y:172.07, Z:-5.95 [[ 8.32585603e-01 5.53871705e-01 5.22951772e-03 1.15895676e+02] [-5.53861536e-01 8.32602021e-01 -3.35776632e-03 1.72074692e+02] [-6.21387878e-03 -1.00800823e-04 9.99980689e-01 -5.95295399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0 meters 0.014580859231381312 Centerline is valid? [True, True] Translation: X:115.92, Y:172.06, Z:-5.95 [[ 8.32665017e-01 5.53754913e-01 4.94639215e-03 1.15922727e+02] [-5.53745806e-01 8.32679703e-01 -3.17716242e-03 1.72055879e+02] [-5.87812965e-03 -9.35319101e-05 9.99982719e-01 -5.95327831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03 meters 0.01450907191768459 Centerline is valid? [True, True] Translation: X:115.95, Y:172.04, Z:-5.95 [[ 8.32762211e-01 5.53612300e-01 4.52999513e-03 1.15948745e+02] [-5.53604651e-01 8.32774528e-01 -2.91134643e-03 1.72037976e+02] [-5.38422175e-03 -8.33670842e-05 9.99985502e-01 -5.95416734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06 meters 0.014309346603104268 Centerline is valid? [True, True] Translation: X:115.97, Y:172.02, Z:-5.96 [[ 8.33392840e-01 5.52674023e-01 2.79247630e-03 1.15974793e+02] [-5.52671114e-01 8.33397517e-01 -1.79381018e-03 1.72018491e+02] [-3.31863510e-03 -4.83724237e-05 9.99994492e-01 -5.95618453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09 meters 0.014466286470175548 Centerline is valid? [True, True] Translation: X:116.00, Y:172.00, Z:-5.96 [[ 8.33621856e-01 5.52331048e-01 2.23923617e-03 1.16001617e+02] [-5.52329173e-01 8.33624863e-01 -1.43983626e-03 1.72001118e+02] [-2.66194922e-03 -3.65164887e-05 9.99996456e-01 -5.95824654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12 meters 0.014416536533089655 Centerline is valid? [True, True] Translation: X:116.03, Y:171.98, Z:-5.96 [[ 8.33745024e-01 5.52147417e-01 1.56995891e-03 1.16028425e+02] [-5.52146499e-01 8.33746502e-01 -1.00757520e-03 1.71982555e+02] [-1.86527780e-03 -2.67865065e-05 9.99998260e-01 -5.95909179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15 meters 0.013914225159963028 Centerline is valid? [True, True] Translation: X:116.05, Y:171.96, Z:-5.96 [[ 8.34728792e-01 5.50658501e-01 1.74892318e-03 1.16053980e+02] [-5.50657350e-01 8.34730624e-01 -1.12626394e-03 1.71961957e+02] [-2.08006655e-03 -2.29324684e-05 9.99997836e-01 -5.95794984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18 meters 0.013874337111622457 Centerline is valid? [True, True] Translation: X:116.08, Y:171.94, Z:-5.96 [[ 8.35314634e-01 5.49768795e-01 1.93246867e-03 1.16079592e+02] [-5.49767388e-01 8.35316869e-01 -1.24415400e-03 1.71943793e+02] [-2.29822073e-03 -2.31482039e-05 9.99997359e-01 -5.95806738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21 meters 0.013548241187980793 Centerline is valid? [True, True] Translation: X:116.11, Y:171.92, Z:-5.96 [[ 8.36137039e-01 5.48516883e-01 2.02041660e-03 1.16105379e+02] [-5.48515343e-01 8.36139480e-01 -1.29982784e-03 1.71924599e+02] [-2.40232760e-03 -2.13953058e-05 9.99997114e-01 -5.95752370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24 meters 0.013620382958671793 Centerline is valid? [True, True] Translation: X:116.13, Y:171.91, Z:-5.96 [[ 8.36958321e-01 5.47263486e-01 1.85609958e-03 1.16131050e+02] [-5.47262183e-01 8.36960379e-01 -1.19446654e-03 1.71905461e+02] [-2.20716973e-03 -1.60543986e-05 9.99997564e-01 -5.95755567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27 meters 0.013450276555258335 Centerline is valid? [True, True] Translation: X:116.16, Y:171.88, Z:-5.96 [[ 8.39127455e-01 5.43932919e-01 1.44698492e-03 1.16155353e+02] [-5.43932123e-01 8.39128703e-01 -9.30800916e-04 1.71884715e+02] [-1.72049984e-03 -6.00097670e-06 9.99998520e-01 -5.95783590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3 meters 0.013470236351187511 Centerline is valid? [True, True] Translation: X:116.18, Y:171.87, Z:-5.96 [[ 8.39993722e-01 5.42594219e-01 1.43575767e-03 1.16181588e+02] [-5.42593433e-01 8.39994949e-01 -9.23570204e-04 1.71865544e+02] [-1.70715305e-03 -3.23951029e-06 9.99998543e-01 -5.95865680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33 meters 0.013608712645834208 Centerline is valid? [True, True] Translation: X:116.21, Y:171.85, Z:-5.96 [[ 8.40773261e-01 5.41385983e-01 1.24143536e-03 1.16207355e+02] [-5.41385394e-01 8.40774177e-01 -7.98726666e-04 1.71846596e+02] [-1.47618621e-03 -5.46945476e-07 9.99998910e-01 -5.95986170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36 meters 0.013809512861962704 Centerline is valid? [True, True] Translation: X:116.23, Y:171.83, Z:-5.96 [[ 8.42408882e-01 5.38838382e-01 6.88524093e-04 1.16232707e+02] [-5.38838201e-01 8.42409163e-01 -4.41643438e-04 1.71826644e+02] [-8.17993441e-04 1.04127125e-06 9.99999665e-01 -5.96012353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39 meters 0.014024019698997501 Centerline is valid? [True, True] Translation: X:116.26, Y:171.81, Z:-5.96 [[ 8.43263096e-01 5.37500984e-01 2.08348744e-04 1.16259206e+02] [-5.37500968e-01 8.43263122e-01 -1.30963976e-04 1.71807698e+02] [-2.46086078e-04 -1.55056422e-06 9.99999970e-01 -5.96085426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42 meters 0.014265164289162233 Centerline is valid? [True, True] Translation: X:116.29, Y:171.79, Z:-5.96 [[ 8.44190809e-01 5.36042779e-01 1.31204326e-04 1.16285252e+02] [-5.36042773e-01 8.44190819e-01 -8.10469053e-05 1.71788770e+02] [-1.54206096e-04 -1.91207827e-06 9.99999988e-01 -5.96131433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45 meters 0.014707873901234457 Centerline is valid? [True, True] Translation: X:116.31, Y:171.77, Z:-5.96 [[ 8.45340345e-01 5.34228009e-01 -3.67421954e-04 1.16311145e+02] [-5.34227954e-01 8.45340425e-01 2.42103145e-04 1.71769485e+02] [ 4.39934912e-04 -8.37247726e-06 9.99999903e-01 -5.96171341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47999999999996 meters 0.014884362424399387 Centerline is valid? [True, True] Translation: X:116.34, Y:171.75, Z:-5.96 [[ 8.47908205e-01 5.30143034e-01 1.98634913e-04 1.16336736e+02] [-5.30143019e-01 8.47908228e-01 -1.24683507e-04 1.71749341e+02] [-2.34524270e-04 4.15256418e-07 9.99999973e-01 -5.95999995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51 meters 0.01664119491600812 Centerline is valid? [True, True] Translation: X:116.36, Y:171.73, Z:-5.96 [[ 8.48992306e-01 5.28404857e-01 6.10128608e-04 1.16360035e+02] [-5.28404711e-01 8.48992525e-01 -3.92098661e-04 1.71728422e+02] [-7.25181464e-04 1.04939156e-05 9.99999737e-01 -5.96164257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53999999999996 meters 0.0160277398608814 Centerline is valid? [True, True] Translation: X:116.39, Y:171.71, Z:-5.96 [[ 8.49902755e-01 5.26938437e-01 1.09101529e-03 1.16386994e+02] [-5.26937967e-01 8.49903455e-01 -7.04321231e-04 1.71711459e+02] [-1.29839159e-03 2.37071756e-05 9.99999157e-01 -5.95983846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57 meters 0.016571229231327273 Centerline is valid? [True, True] Translation: X:116.41, Y:171.69, Z:-5.96 [[ 8.50644628e-01 5.25738992e-01 1.49291689e-03 1.16412342e+02] [-5.25738106e-01 8.50645938e-01 -9.66058582e-04 1.71693370e+02] [-1.77783835e-03 3.68892461e-05 9.99998419e-01 -5.96005082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59999999999997 meters 0.017040501144705365 Centerline is valid? [True, True] Translation: X:116.44, Y:171.68, Z:-5.96 [[ 8.51109691e-01 5.24983943e-01 2.03778793e-03 1.16438252e+02] [-5.24982285e-01 8.51112129e-01 -1.32068175e-03 1.71675376e+02] [-2.42772274e-03 5.42424708e-05 9.99997052e-01 -5.96076786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63 meters 0.01695499210570703 Centerline is valid? [True, True] Translation: X:116.47, Y:171.66, Z:-5.96 [[ 8.50859406e-01 5.25388327e-01 2.31885836e-03 1.16466296e+02] [-5.25386180e-01 8.50862564e-01 -1.50340381e-03 1.71657494e+02] [-2.76290059e-03 6.08891395e-05 9.99996181e-01 -5.96113496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65999999999997 meters 0.01644159846263234 Centerline is valid? [True, True] Translation: X:116.49, Y:171.64, Z:-5.96 [[ 8.50229982e-01 5.26408032e-01 1.88705352e-03 1.16493765e+02] [-5.26406612e-01 8.50232075e-01 -1.22376810e-03 1.71641062e+02] [-2.24863478e-03 4.71268791e-05 9.99997471e-01 -5.96144522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69 meters 0.016342009991230172 Centerline is valid? [True, True] Translation: X:116.52, Y:171.62, Z:-5.96 [[ 8.49275227e-01 5.27948982e-01 1.20881051e-03 1.16520304e+02] [-5.27948402e-01 8.49276087e-01 -7.83170986e-04 1.71624464e+02] [-1.44008818e-03 2.69381407e-05 9.99998963e-01 -5.96202072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71999999999997 meters 0.015468151744806697 Centerline is valid? [True, True] Translation: X:116.55, Y:171.61, Z:-5.96 [[ 8.47277585e-01 5.31150193e-01 4.08013577e-04 1.16548820e+02] [-5.31150129e-01 8.47277683e-01 -2.61716882e-04 1.71609717e+02] [-4.84711771e-04 5.03038396e-06 9.99999883e-01 -5.96279153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75 meters 0.01526930158188165 Centerline is valid? [True, True] Translation: X:116.58, Y:171.59, Z:-5.96 [[ 8.46106836e-01 5.33013340e-01 -2.80962515e-05 1.16576256e+02] [-5.33013340e-01 8.46106837e-01 2.23311453e-05 1.71593862e+02] [ 3.56752289e-05 -3.91885781e-06 9.99999999e-01 -5.96331486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78 meters 0.014961101031584734 Centerline is valid? [True, True] Translation: X:116.60, Y:171.58, Z:-5.96 [[ 8.44964781e-01 5.34821911e-01 -2.07039060e-04 1.16602954e+02] [-5.34821893e-01 8.44964806e-01 1.38693876e-04 1.71578512e+02] [ 2.49117243e-04 -6.46241896e-06 9.99999969e-01 -5.96387999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81 meters 0.014610332268081894 Centerline is valid? [True, True] Translation: X:116.63, Y:171.56, Z:-5.96 [[ 8.43275719e-01 5.37481216e-01 -6.52484810e-05 1.16630332e+02] [-5.37481214e-01 8.43275721e-01 4.62412913e-05 1.71564264e+02] [ 7.98762855e-05 -3.92432527e-06 9.99999997e-01 -5.96445386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84 meters 0.014646982970532496 Centerline is valid? [True, True] Translation: X:116.66, Y:171.55, Z:-5.97 [[ 8.42403767e-01 5.38846806e-01 1.13696683e-04 1.16657182e+02] [-5.38846802e-01 8.42403775e-01 -7.05604569e-05 1.71547965e+02] [-1.33799792e-04 -1.82469933e-06 9.99999991e-01 -5.96550668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87 meters 0.014275816289957489 Centerline is valid? [True, True] Translation: X:116.69, Y:171.53, Z:-5.97 [[ 8.41596503e-01 5.40106767e-01 -8.13149788e-05 1.16685805e+02] [-5.40106764e-01 8.41596507e-01 5.75770842e-05 1.71531502e+02] [ 9.95321751e-05 -4.53790257e-06 9.99999995e-01 -5.96570036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9 meters 0.01420142700065507 Centerline is valid? [True, True] Translation: X:116.71, Y:171.52, Z:-5.97 [[ 8.40795222e-01 5.41353295e-01 6.44384981e-05 1.16712510e+02] [-5.41353294e-01 8.40795225e-01 -3.84935688e-05 1.71515432e+02] [-7.50182017e-05 -2.51878442e-06 9.99999997e-01 -5.96613557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93 meters 0.013888299046509883 Centerline is valid? [True, True] Translation: X:116.74, Y:171.50, Z:-5.97 [[ 8.39342766e-01 5.43602339e-01 4.67263773e-04 1.16739595e+02] [-5.43602254e-01 8.39342896e-01 -3.03157182e-04 1.71500455e+02] [-5.56991481e-04 4.47147015e-07 9.99999845e-01 -5.96565304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96 meters 0.013860602557913097 Centerline is valid? [True, True] Translation: X:116.77, Y:171.48, Z:-5.97 [[ 8.38436180e-01 5.44999396e-01 6.55742888e-04 1.16766324e+02] [-5.44999229e-01 8.38436437e-01 -4.26499827e-04 1.71484766e+02] [-7.82240878e-04 2.13517909e-07 9.99999694e-01 -5.96607687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99 meters 0.01378575617558551 Centerline is valid? [True, True] Translation: X:116.80, Y:171.47, Z:-5.97 [[ 8.37436305e-01 5.46534423e-01 7.47948512e-04 1.16795291e+02] [-5.46534208e-01 8.37436639e-01 -4.84859759e-04 1.71468145e+02] [-8.91352036e-04 -2.74028292e-06 9.99999603e-01 -5.96664078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02 meters 0.013866928929133568 Centerline is valid? [True, True] Translation: X:116.82, Y:171.45, Z:-5.97 [[ 8.36428895e-01 5.48075309e-01 3.99749885e-04 1.16823455e+02] [-5.48075249e-01 8.36428990e-01 -2.57292548e-04 1.71451854e+02] [-4.75378085e-04 -3.88609660e-06 9.99999887e-01 -5.96752023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05 meters 0.014115467801531376 Centerline is valid? [True, True] Translation: X:116.85, Y:171.44, Z:-5.97 [[ 8.34099523e-01 5.51613848e-01 -3.84871803e-04 1.16851402e+02] [-5.51613788e-01 8.34099612e-01 2.55482838e-04 1.71437964e+02] [ 4.61949293e-04 -7.97519999e-07 9.99999893e-01 -5.96858957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08 meters 0.01445508844179005 Centerline is valid? [True, True] Translation: X:116.88, Y:171.42, Z:-5.97 [[ 8.32876377e-01 5.53457845e-01 -1.16347166e-03 1.16879560e+02] [-5.53457315e-01 8.32877190e-01 7.65870900e-04 1.71422079e+02] [ 1.39290626e-03 6.05611782e-06 9.99999030e-01 -5.96994190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11 meters 0.014036962820272083 Centerline is valid? [True, True] Translation: X:116.91, Y:171.40, Z:-5.97 [[ 8.31758419e-01 5.55134961e-01 -1.76275594e-03 1.16906189e+02] [-5.55133750e-01 8.31760287e-01 1.15957285e-03 1.71404778e+02] [ 2.10990982e-03 1.40808396e-05 9.99997774e-01 -5.96735887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14 meters 0.014299911056235251 Centerline is valid? [True, True] Translation: X:116.93, Y:171.39, Z:-5.97 [[ 8.30611248e-01 5.56848350e-01 -2.20676014e-03 1.16933247e+02] [-5.56846465e-01 8.30614179e-01 1.44909270e-03 1.71388891e+02] [ 2.63989114e-03 2.51938948e-05 9.99996515e-01 -5.96861242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17 meters 0.014402483960376137 Centerline is valid? [True, True] Translation: X:116.96, Y:171.37, Z:-5.97 [[ 8.29708345e-01 5.58189890e-01 -2.84774374e-03 1.16960517e+02] [-5.58186751e-01 8.29713231e-01 1.87225302e-03 1.71372022e+02] [ 3.40788337e-03 3.61488685e-05 9.99994193e-01 -5.96913194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2 meters 0.014609943014010404 Centerline is valid? [True, True] Translation: X:116.99, Y:171.36, Z:-5.97 [[ 8.28396663e-01 5.60132415e-01 -3.26287673e-03 1.16987772e+02] [-5.60128307e-01 8.28403087e-01 2.14573503e-03 1.71355118e+02] [ 3.90487290e-03 5.01098869e-05 9.99992375e-01 -5.96948443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22999999999996 meters 0.014758264358784358 Centerline is valid? [True, True] Translation: X:117.02, Y:171.34, Z:-5.97 [[ 8.27889276e-01 5.60882612e-01 -3.16878101e-03 1.17015345e+02] [-5.60878736e-01 8.27895339e-01 2.08587496e-03 1.71337121e+02] [ 3.79335003e-03 5.04283816e-05 9.99992804e-01 -5.96938379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26 meters 0.01684362697889495 Centerline is valid? [True, True] Translation: X:117.04, Y:171.32, Z:-5.97 [[ 8.27467623e-01 5.61503285e-01 -3.37552624e-03 1.17044198e+02] [-5.61498889e-01 8.27474506e-01 2.22261695e-03 1.71322671e+02] [ 4.04116863e-03 5.62106715e-05 9.99991833e-01 -5.97456185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28999999999996 meters 0.015004676553316172 Centerline is valid? [True, True] Translation: X:117.07, Y:171.30, Z:-5.97 [[ 8.27181976e-01 5.61926039e-01 -3.01758463e-03 1.17069535e+02] [-5.61922521e-01 8.27187478e-01 1.98887344e-03 1.71300587e+02] [ 3.61370800e-03 5.04885066e-05 9.99993469e-01 -5.96948300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32 meters 0.014693760539949263 Centerline is valid? [True, True] Translation: X:117.10, Y:171.28, Z:-5.97 [[ 8.26653103e-01 5.62706571e-01 -2.44174595e-03 1.17095723e+02] [-5.62704265e-01 8.26656708e-01 1.61141654e-03 1.71280729e+02] [ 2.92524035e-03 4.18983786e-05 9.99995721e-01 -5.96717298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34999999999997 meters 0.015070473185925689 Centerline is valid? [True, True] Translation: X:117.12, Y:171.26, Z:-5.97 [[ 8.26442839e-01 5.63015210e-01 -2.47121847e-03 1.17122273e+02] [-5.63012848e-01 8.26446533e-01 1.63143364e-03 1.71263658e+02] [ 2.96085189e-03 4.30411002e-05 9.99995616e-01 -5.96815157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38 meters 0.014940938184794758 Centerline is valid? [True, True] Translation: X:117.15, Y:171.24, Z:-5.97 [[ 8.26098936e-01 5.63520120e-01 -2.37135133e-03 1.17149347e+02] [-5.63517943e-01 8.26102338e-01 1.56689881e-03 1.71244522e+02] [ 2.84195788e-03 4.18855836e-05 9.99995961e-01 -5.96812114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40999999999997 meters 0.01538168984712427 Centerline is valid? [True, True] Translation: X:117.17, Y:171.23, Z:-5.97 [[ 8.25474332e-01 5.64431860e-01 -2.96697456e-03 1.17174590e+02] [-5.64428462e-01 8.25479662e-01 1.95933116e-03 1.71227092e+02] [ 3.55508608e-03 5.72673082e-05 9.99993679e-01 -5.96848463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44 meters 0.015234279964254282 Centerline is valid? [True, True] Translation: X:117.20, Y:171.21, Z:-5.97 [[ 8.24855671e-01 5.65333302e-01 -3.37340275e-03 1.17200493e+02] [-5.65328913e-01 8.24862566e-01 2.22874470e-03 1.71208855e+02] [ 4.04257725e-03 6.86894036e-05 9.99991826e-01 -5.96823502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46999999999997 meters 0.015268137954190941 Centerline is valid? [True, True] Translation: X:117.23, Y:171.19, Z:-5.97 [[ 8.24315888e-01 5.66116061e-01 -3.99025565e-03 1.17226701e+02] [-5.66109925e-01 8.24325542e-01 2.63700338e-03 1.71190885e+02] [ 4.78211962e-03 8.51995443e-05 9.99988562e-01 -5.96839914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5 meters 0.015555003984154088 Centerline is valid? [True, True] Translation: X:117.25, Y:171.17, Z:-5.97 [[ 8.23359659e-01 5.67504492e-01 -4.18608817e-03 1.17252767e+02] [-5.67497751e-01 8.23370295e-01 2.76774103e-03 1.71172799e+02] [ 5.01740612e-03 9.67493141e-05 9.99987408e-01 -5.96815110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53 meters 0.015996441931695783 Centerline is valid? [True, True] Translation: X:117.28, Y:171.16, Z:-5.97 [[ 8.22849014e-01 5.68243061e-01 -4.39602726e-03 1.17279176e+02] [-5.68235632e-01 8.22860750e-01 2.90749460e-03 1.71155833e+02] [ 5.26948192e-03 1.05550267e-04 9.99986111e-01 -5.96921755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56 meters 0.015996441931695783 Centerline is valid? [True, True] Translation: X:117.31, Y:171.14, Z:-5.97 [[ 8.22687682e-01 5.68476616e-01 -4.39481576e-03 1.17306181e+02] [-5.68469181e-01 8.22699414e-01 2.90932737e-03 1.71137908e+02] [ 5.26949693e-03 1.04849524e-04 9.99986111e-01 -5.96966586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59 meters 0.01608282577808497 Centerline is valid? [True, True] Translation: X:117.33, Y:171.12, Z:-5.97 [[ 8.22153207e-01 5.69243479e-01 -5.09567107e-03 1.17332388e+02] [-5.69233496e-01 8.22168988e-01 3.37379387e-03 1.71120059e+02] [ 6.11001289e-03 1.26851202e-04 9.99981326e-01 -5.97014607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62 meters 0.016264311875216042 Centerline is valid? [True, True] Translation: X:117.36, Y:171.10, Z:-5.97 [[ 8.21695463e-01 5.69897980e-01 -5.73222345e-03 1.17359095e+02] [-5.69885351e-01 8.21715444e-01 3.79677377e-03 1.71102081e+02] [ 6.87403024e-03 1.46918387e-04 9.99976363e-01 -5.97118088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65 meters 0.016618117344660545 Centerline is valid? [True, True] Translation: X:117.39, Y:171.08, Z:-5.97 [[ 8.21404777e-01 5.70308928e-01 -6.47447269e-03 1.17385088e+02] [-5.70292816e-01 8.21430276e-01 4.29013169e-03 1.71083492e+02] [ 7.76502829e-03 1.68410602e-04 9.99969838e-01 -5.97321288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68 meters 0.016179229891068743 Centerline is valid? [True, True] Translation: X:117.41, Y:171.06, Z:-5.97 [[ 8.21377166e-01 5.70344060e-01 -6.87057745e-03 1.17411082e+02] [-5.70325891e-01 8.21405882e-01 4.55585673e-03 1.71063786e+02] [ 8.24193855e-03 1.76391514e-04 9.99966019e-01 -5.97287685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71 meters 0.016485178109657203 Centerline is valid? [True, True] Translation: X:117.44, Y:171.05, Z:-5.97 [[ 8.21559407e-01 5.70082965e-01 -6.74939520e-03 1.17436858e+02] [-5.70065412e-01 8.21587113e-01 4.47685905e-03 1.71045997e+02] [ 8.09739719e-03 1.69591090e-04 9.99967201e-01 -5.97365870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74 meters 0.015372330008361797 Centerline is valid? [True, True] Translation: X:117.46, Y:171.02, Z:-5.97 [[ 8.21925628e-01 5.69555417e-01 -6.69991948e-03 1.17460929e+02] [-5.69538079e-01 8.21952919e-01 4.44692972e-03 1.71024325e+02] [ 8.03979129e-03 1.60813771e-04 9.99967667e-01 -5.97096140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77 meters 0.015543910728268816 Centerline is valid? [True, True] Translation: X:117.49, Y:171.01, Z:-5.97 [[ 8.22100122e-01 5.69308770e-01 -6.23806031e-03 1.17486588e+02] [-5.69293718e-01 8.22123776e-01 4.14243758e-03 1.71006079e+02] [ 7.48678374e-03 1.45790099e-04 9.99971963e-01 -5.97152422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8 meters 0.015613028223075814 Centerline is valid? [True, True] Translation: X:117.51, Y:170.99, Z:-5.97 [[ 8.22181533e-01 5.69192988e-01 -6.07203592e-03 1.17511711e+02] [-5.69178708e-01 8.22203942e-01 4.03427464e-03 1.70987819e+02] [ 7.28873271e-03 1.39167456e-04 9.99973427e-01 -5.97181878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83 meters 0.01560077462158036 Centerline is valid? [True, True] Translation: X:117.54, Y:170.97, Z:-5.97 [[ 8.22233706e-01 5.69121560e-01 -5.69064316e-03 1.17536936e+02] [-5.69108998e-01 8.22253388e-01 3.78338328e-03 1.70968320e+02] [ 6.83235562e-03 1.27770976e-04 9.99976651e-01 -5.97199579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86 meters 0.015837854381592516 Centerline is valid? [True, True] Translation: X:117.56, Y:170.95, Z:-5.97 [[ 8.22168018e-01 5.69216426e-01 -5.69301978e-03 1.17562801e+02] [-5.69203840e-01 8.22187719e-01 3.78737630e-03 1.70950335e+02] [ 6.83656774e-03 1.26629048e-04 9.99976622e-01 -5.97244799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89 meters 0.015718039089756344 Centerline is valid? [True, True] Translation: X:117.59, Y:170.93, Z:-5.97 [[ 8.21964096e-01 5.69507028e-01 -6.06379450e-03 1.17589186e+02] [-5.69492739e-01 8.21986452e-01 4.03651673e-03 1.70931260e+02] [ 7.28318157e-03 1.35415118e-04 9.99973468e-01 -5.97247941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92 meters 0.015431678685570218 Centerline is valid? [True, True] Translation: X:117.61, Y:170.91, Z:-5.97 [[ 8.22605810e-01 5.68573607e-01 -6.61321124e-03 1.17613996e+02] [-5.68556570e-01 8.22632381e-01 4.40359642e-03 1.70911457e+02] [ 7.94401041e-03 1.37560705e-04 9.99968436e-01 -5.97312917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95 meters 0.01475518730621654 Centerline is valid? [True, True] Translation: X:117.64, Y:170.89, Z:-5.97 [[ 8.23194301e-01 5.67722199e-01 -6.53049601e-03 1.17639489e+02] [-5.67705539e-01 8.23220195e-01 4.35110506e-03 1.70891049e+02] [ 7.84625513e-03 1.25593869e-04 9.99969210e-01 -5.97232048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97999999999996 meters 0.014716132350883992 Centerline is valid? [True, True] Translation: X:117.66, Y:170.87, Z:-5.97 [[ 8.24021617e-01 5.66528717e-01 -5.79553646e-03 1.17664554e+02] [-5.66515551e-01 8.24041991e-01 3.86351475e-03 1.70872917e+02] [ 6.96455746e-03 9.96418656e-05 9.99975742e-01 -5.97359638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01 meters 0.014377805199826742 Centerline is valid? [True, True] Translation: X:117.69, Y:170.85, Z:-5.97 [[ 8.24860600e-01 5.65307950e-01 -5.64908540e-03 1.17689927e+02] [-5.65295397e-01 8.24879939e-01 3.76831441e-03 1.70853130e+02] [ 6.79007531e-03 8.50678881e-05 9.99976944e-01 -5.97332719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03999999999996 meters 0.013800974401177155 Centerline is valid? [True, True] Translation: X:117.71, Y:170.83, Z:-5.97 [[ 8.27333130e-01 5.61694593e-01 -4.36769833e-03 1.17713729e+02] [-5.61687038e-01 8.27344657e-01 2.91359820e-03 1.70832237e+02] [ 5.25014423e-03 4.27632176e-05 9.99986217e-01 -5.97363654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07 meters 0.013657030050229288 Centerline is valid? [True, True] Translation: X:117.74, Y:170.81, Z:-5.97 [[ 8.28622974e-01 5.59795689e-01 -3.57126420e-03 1.17739248e+02] [-5.59790606e-01 8.28630669e-01 2.38574084e-03 1.70812390e+02] [ 4.29478648e-03 2.22804777e-05 9.99990777e-01 -5.97407904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09999999999997 meters 0.01352017965436348 Centerline is valid? [True, True] Translation: X:117.76, Y:170.79, Z:-5.97 [[ 8.29995651e-01 5.57762696e-01 -2.82759879e-03 1.17764257e+02] [-5.57759491e-01 8.30000467e-01 1.89078755e-03 1.70792651e+02] [ 3.40151908e-03 7.77461722e-06 9.99994215e-01 -5.97410485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13 meters 0.013643130462251308 Centerline is valid? [True, True] Translation: X:117.79, Y:170.77, Z:-5.97 [[ 8.31532565e-01 5.55471233e-01 -2.30264622e-03 1.17789361e+02] [-5.55469095e-01 8.31535754e-01 1.54129617e-03 1.70772688e+02] [ 2.77087835e-03 -2.58914436e-06 9.99996161e-01 -5.97454657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15999999999997 meters 0.01384364502329686 Centerline is valid? [True, True] Translation: X:117.81, Y:170.75, Z:-5.97 [[ 8.34463548e-01 5.51060929e-01 -1.56175086e-03 1.17813815e+02] [-5.51059933e-01 8.34465009e-01 1.04794276e-03 1.70750066e+02] [ 1.88070676e-03 -1.38517124e-05 9.99998231e-01 -5.97429555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19 meters 0.014075510490546226 Centerline is valid? [True, True] Translation: X:117.84, Y:170.73, Z:-5.97 [[ 8.35755533e-01 5.49100705e-01 -1.05099431e-03 1.17839719e+02] [-5.49100250e-01 8.35756194e-01 7.07174435e-04 1.70729857e+02] [ 1.26668499e-03 -1.39237075e-05 9.99999198e-01 -5.97429419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21999999999997 meters 0.014411766060360216 Centerline is valid? [True, True] Translation: X:117.86, Y:170.71, Z:-5.97 [[ 8.37004756e-01 5.47195368e-01 -5.18477650e-04 1.17864849e+02] [-5.47195255e-01 8.37004916e-01 3.50809223e-04 1.70710530e+02] [ 6.25929523e-04 -9.92047782e-06 9.99999804e-01 -5.97488105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25 meters 0.014732308379882687 Centerline is valid? [True, True] Translation: X:117.89, Y:170.69, Z:-5.98 [[ 8.37984061e-01 5.45694271e-01 -6.90502517e-04 1.17891010e+02] [-5.45694072e-01 8.37984345e-01 4.66147835e-04 1.70691412e+02] [ 8.33004503e-04 -1.38213258e-05 9.99999653e-01 -5.97507280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28 meters 0.01551333975548317 Centerline is valid? [True, True] Translation: X:117.92, Y:170.67, Z:-5.98 [[ 8.39454476e-01 5.43429617e-01 -6.59071849e-04 1.17915222e+02] [-5.43429435e-01 8.39454734e-01 4.45006351e-04 1.70672245e+02] [ 7.95090615e-04 -1.54035302e-05 9.99999684e-01 -5.97676719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31 meters 0.01577040152708452 Centerline is valid? [True, True] Translation: X:117.94, Y:170.65, Z:-5.98 [[ 8.39921140e-01 5.42707893e-01 -7.87974030e-04 1.17941762e+02] [-5.42707633e-01 8.39921510e-01 5.31820203e-04 1.70653611e+02] [ 9.50459359e-04 -1.90475111e-05 9.99999548e-01 -5.97799806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34 meters 0.015368461223428134 Centerline is valid? [True, True] Translation: X:117.97, Y:170.64, Z:-5.98 [[ 8.40360207e-01 5.42027898e-01 -6.93051485e-04 1.17968569e+02] [-5.42027696e-01 8.40360492e-01 4.68677263e-04 1.70636600e+02] [ 8.36449239e-04 -1.82046215e-05 9.99999650e-01 -5.97756127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37 meters 0.015557606947290515 Centerline is valid? [True, True] Translation: X:117.99, Y:170.62, Z:-5.98 [[ 8.40790029e-01 5.41361197e-01 -4.27116103e-04 1.17994598e+02] [-5.41361119e-01 8.40790137e-01 2.90611614e-04 1.70618419e+02] [ 5.16440858e-04 -1.31192953e-05 9.99999867e-01 -5.97816909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4 meters 0.016326546570037664 Centerline is valid? [True, True] Translation: X:118.02, Y:170.60, Z:-5.98 [[ 8.41538887e-01 5.40196344e-01 -4.60273384e-04 1.18019450e+02] [-5.40196254e-01 8.41539013e-01 3.12673666e-04 1.70599453e+02] [ 5.56243181e-04 -1.44890907e-05 9.99999845e-01 -5.97924611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43 meters 0.01637432318213829 Centerline is valid? [True, True] Translation: X:118.05, Y:170.58, Z:-5.98 [[ 8.41584378e-01 5.40125335e-01 -5.98047230e-04 1.18046438e+02] [-5.40125183e-01 8.41584590e-01 4.06208876e-04 1.70581286e+02] [ 7.22711038e-04 -1.88386740e-05 9.99999739e-01 -5.97931952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46 meters 0.016512493332148447 Centerline is valid? [True, True] Translation: X:118.07, Y:170.56, Z:-5.98 [[ 8.41387306e-01 5.40432316e-01 -5.60081954e-04 1.18072672e+02] [-5.40432183e-01 8.41387492e-01 3.79070080e-04 1.70563393e+02] [ 6.76107672e-04 -1.62584399e-05 9.99999771e-01 -5.97995154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49 meters 0.0163309552934881 Centerline is valid? [True, True] Translation: X:118.10, Y:170.55, Z:-5.98 [[ 8.40967304e-01 5.41085607e-01 -5.99496526e-04 1.18100063e+02] [-5.41085454e-01 8.40967518e-01 4.06963130e-04 1.70546306e+02] [ 7.24358997e-04 -1.78638364e-05 9.99999738e-01 -5.97973975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52 meters 0.015976618369718143 Centerline is valid? [True, True] Translation: X:118.13, Y:170.53, Z:-5.98 [[ 8.39336602e-01 5.43611857e-01 -4.66625558e-04 1.18127744e+02] [-5.43611764e-01 8.39336732e-01 3.17819432e-04 1.70530694e+02] [ 5.64426383e-04 -1.30943396e-05 9.99999841e-01 -5.97997962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55 meters 0.015720646082045934 Centerline is valid? [True, True] Translation: X:118.16, Y:170.51, Z:-5.98 [[ 8.38057199e-01 5.45582087e-01 -5.63371757e-04 1.18155145e+02] [-5.45581952e-01 8.38057389e-01 3.83048739e-04 1.70514540e+02] [ 6.81122394e-04 -1.36512900e-05 9.99999768e-01 -5.98038985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58 meters 0.0153761718710658 Centerline is valid? [True, True] Translation: X:118.18, Y:170.50, Z:-5.98 [[ 8.36446031e-01 5.48048737e-01 -7.86302428e-04 1.18183136e+02] [-5.48048478e-01 8.36446401e-01 5.33290950e-04 1.70498593e+02] [ 9.49969267e-04 -1.51372496e-05 9.99999549e-01 -5.98105204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61 meters 0.01487527964121228 Centerline is valid? [True, True] Translation: X:118.21, Y:170.48, Z:-5.98 [[ 8.33031153e-01 5.53223627e-01 -1.64788828e-03 1.18213140e+02] [-5.53222513e-01 8.33032783e-01 1.11070592e-03 1.70484685e+02] [ 1.98721372e-03 -1.36037432e-05 9.99998025e-01 -5.98225798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64 meters 0.01468393185095209 Centerline is valid? [True, True] Translation: X:118.24, Y:170.47, Z:-5.98 [[ 8.31102711e-01 5.56114111e-01 -2.31949014e-03 1.18241388e+02] [-5.56111904e-01 8.31105947e-01 1.56657448e-03 1.70468837e+02] [ 2.79893622e-03 -1.20882218e-05 9.99996083e-01 -5.98325521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67 meters 0.014740503950164408 Centerline is valid? [True, True] Translation: X:118.27, Y:170.45, Z:-5.98 [[ 8.29161066e-01 5.59004982e-01 -2.31432697e-03 1.18269688e+02] [-5.59002795e-01 8.29164296e-01 1.56393506e-03 1.70453154e+02] [ 2.79320478e-03 -3.03881445e-06 9.99996099e-01 -5.98472485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7 meters 0.01482559006208922 Centerline is valid? [True, True] Translation: X:118.30, Y:170.44, Z:-5.99 [[ 8.27248404e-01 5.61830493e-01 -2.56435355e-03 1.18298562e+02] [-5.61827818e-01 8.27252378e-01 1.73366448e-03 1.70437156e+02] [ 3.09539314e-03 6.55398795e-06 9.99995209e-01 -5.98566752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72999999999996 meters 0.015149933721025244 Centerline is valid? [True, True] Translation: X:118.33, Y:170.42, Z:-5.98 [[ 8.23695945e-01 5.67027478e-01 -2.19737720e-03 1.18328092e+02] [-5.67025530e-01 8.23698876e-01 1.48655369e-03 1.70423032e+02] [ 2.65289392e-03 2.15007258e-05 9.99996481e-01 -5.98483853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76 meters 0.015401087805581337 Centerline is valid? [True, True] Translation: X:118.36, Y:170.41, Z:-5.98 [[ 8.21998179e-01 5.69486177e-01 -2.11845953e-03 1.18355906e+02] [-5.69484372e-01 8.22000909e-01 1.43414792e-03 1.70406312e+02] [ 2.55810308e-03 2.75626134e-05 9.99996728e-01 -5.98462179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78999999999996 meters 0.01589970615246669 Centerline is valid? [True, True] Translation: X:118.38, Y:170.39, Z:-5.99 [[ 8.20362443e-01 5.71841213e-01 -1.75770238e-03 1.18382577e+02] [-5.71839974e-01 8.20364325e-01 1.19092065e-03 1.70390513e+02] [ 2.12297383e-03 2.81379112e-05 9.99997746e-01 -5.98503368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82 meters 0.016104891869131912 Centerline is valid? [True, True] Translation: X:118.41, Y:170.37, Z:-5.98 [[ 8.19075197e-01 5.73683816e-01 -1.64339714e-03 1.18409959e+02] [-5.73682734e-01 8.19076846e-01 1.11464313e-03 1.70373223e+02] [ 1.98552127e-03 2.98120208e-05 9.99998028e-01 -5.98484485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84999999999997 meters 0.016724248471206925 Centerline is valid? [True, True] Translation: X:118.44, Y:170.36, Z:-5.99 [[ 8.16971988e-01 5.76675555e-01 -1.44087826e-03 1.18437605e+02] [-5.76674726e-01 8.16973258e-01 9.78328326e-04 1.70356350e+02] [ 1.74133704e-03 3.16512397e-05 9.99998483e-01 -5.98511032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88 meters 0.017140527889563738 Centerline is valid? [True, True] Translation: X:118.46, Y:170.34, Z:-5.99 [[ 8.16345843e-01 5.77561893e-01 -1.31289929e-03 1.18463635e+02] [-5.77561205e-01 8.16346899e-01 8.91916805e-04 1.70339202e+02] [ 1.58691843e-03 3.01671224e-05 9.99998740e-01 -5.98562106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90999999999997 meters 0.016894883879913402 Centerline is valid? [True, True] Translation: X:118.49, Y:170.32, Z:-5.99 [[ 8.15792940e-01 5.78342744e-01 -1.24491303e-03 1.18489713e+02] [-5.78342125e-01 8.15793889e-01 8.46759971e-04 1.70319996e+02] [ 1.50530993e-03 2.92048419e-05 9.99998867e-01 -5.98502881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94 meters 0.017804942966561065 Centerline is valid? [True, True] Translation: X:118.52, Y:170.30, Z:-5.99 [[ 8.15358947e-01 5.78955708e-01 -2.75961847e-04 1.18516052e+02] [-5.78955676e-01 8.15358994e-01 1.89843229e-04 1.70302350e+02] [ 3.34918795e-04 4.97930214e-06 9.99999944e-01 -5.98542867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96999999999997 meters 0.01711713577176682 Centerline is valid? [True, True] Translation: X:118.54, Y:170.28, Z:-5.98 [[ 8.15247898e-01 5.79112121e-01 -1.28384495e-04 1.18542199e+02] [-5.79112114e-01 8.15247908e-01 9.18094711e-05 1.70281623e+02] [ 1.57833169e-04 -4.98461901e-07 9.99999988e-01 -5.98464880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0 meters 0.017267087792363918 Centerline is valid? [True, True] Translation: X:118.57, Y:170.26, Z:-5.99 [[ 8.15097768e-01 5.79323370e-01 -2.47093809e-04 1.18568350e+02] [-5.79323345e-01 8.15097806e-01 1.72002044e-04 1.70262929e+02] [ 3.01050425e-04 2.94872929e-06 9.99999955e-01 -5.98514846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03 meters 0.0173181903204882 Centerline is valid? [True, True] Translation: X:118.59, Y:170.24, Z:-5.99 [[ 8.14782126e-01 5.79766628e-01 -8.62570589e-04 1.18594301e+02] [-5.79766329e-01 8.14782583e-01 5.89206934e-04 1.70244224e+02] [ 1.04441001e-03 2.00141052e-05 9.99999454e-01 -5.98568676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06 meters 0.01770775401815824 Centerline is valid? [True, True] Translation: X:118.62, Y:170.23, Z:-5.99 [[ 8.14166857e-01 5.80627208e-01 -2.09160822e-03 1.18619565e+02] [-5.80625467e-01 8.14169541e-01 1.42316181e-03 1.70226450e+02] [ 2.52925018e-03 5.57498228e-05 9.99996800e-01 -5.98810485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09 meters 0.01785868792595571 Centerline is valid? [True, True] Translation: X:118.65, Y:170.21, Z:-5.99 [[ 8.13690967e-01 5.81291171e-01 -2.75397697e-03 1.18645411e+02] [-5.81288156e-01 8.13695624e-01 1.87393535e-03 1.70208139e+02] [ 3.33020109e-03 7.60499257e-05 9.99994452e-01 -5.98924556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12 meters 0.01881906256665461 Centerline is valid? [True, True] Translation: X:118.67, Y:170.19, Z:-5.99 [[ 8.13464030e-01 5.81606797e-01 -3.13138116e-03 1.18672415e+02] [-5.81602897e-01 8.13470053e-01 2.13168005e-03 1.70190522e+02] [ 3.78708440e-03 8.71753090e-05 9.99992825e-01 -5.99118919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15 meters 0.018043750873455968 Centerline is valid? [True, True] Translation: X:118.70, Y:170.17, Z:-5.99 [[ 8.13410932e-01 5.81680659e-01 -3.20423969e-03 1.18697416e+02] [-5.81676570e-01 8.13417238e-01 2.18284560e-03 1.70169037e+02] [ 3.87610287e-03 8.82806801e-05 9.99992484e-01 -5.99070057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18 meters 0.01799213660474907 Centerline is valid? [True, True] Translation: X:118.72, Y:170.15, Z:-5.99 [[ 8.13471111e-01 5.81595739e-01 -3.33875874e-03 1.18723954e+02] [-5.81591294e-01 8.13477958e-01 2.27566638e-03 1.70149264e+02] [ 4.03952451e-03 9.06041558e-05 9.99991837e-01 -5.99089435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21 meters 0.018084193692804035 Centerline is valid? [True, True] Translation: X:118.75, Y:170.13, Z:-5.99 [[ 8.13619433e-01 5.81389423e-01 -3.12360566e-03 1.18749619e+02] [-5.81385528e-01 8.13625425e-01 2.12982495e-03 1.70130402e+02] [ 3.77970268e-03 8.31521557e-05 9.99992853e-01 -5.99128882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24 meters 0.01799376819498423 Centerline is valid? [True, True] Translation: X:118.77, Y:170.11, Z:-5.99 [[ 8.14063424e-01 5.80770392e-01 -2.54815415e-03 1.18774583e+02] [-5.80767799e-01 8.14067409e-01 1.73696495e-03 1.70111648e+02] [ 3.08314707e-03 6.58862383e-05 9.99995245e-01 -5.99117402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27 meters 0.017422348871481468 Centerline is valid? [True, True] Translation: X:118.80, Y:170.09, Z:-5.99 [[ 8.14677399e-01 5.79911726e-01 -1.76782075e-03 1.18799373e+02] [-5.79910469e-01 8.14679316e-01 1.20821199e-03 1.70090915e+02] [ 2.14086330e-03 4.08747549e-05 9.99997708e-01 -5.99053016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3 meters 0.017239902722069628 Centerline is valid? [True, True] Translation: X:118.83, Y:170.07, Z:-5.99 [[ 8.14792207e-01 5.79750741e-01 -1.65487796e-03 1.18825457e+02] [-5.79749637e-01 8.14793886e-01 1.13190639e-03 1.70072370e+02] [ 2.00460801e-03 3.71463950e-05 9.99997990e-01 -5.99071990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33 meters 0.017481353917642953 Centerline is valid? [True, True] Translation: X:118.85, Y:170.05, Z:-5.99 [[ 8.14494229e-01 5.80169663e-01 -1.52090592e-03 1.18852486e+02] [-5.80168729e-01 8.14495648e-01 1.04181738e-03 1.70053631e+02] [ 1.84320209e-03 3.38278145e-05 9.99998301e-01 -5.99087286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36 meters 0.01754274863721077 Centerline is valid? [True, True] Translation: X:118.88, Y:170.04, Z:-5.99 [[ 8.14621845e-01 5.79990633e-01 -1.45433390e-03 1.18879076e+02] [-5.79989778e-01 8.14623143e-01 9.96306885e-04 1.70035149e+02] [ 1.76258271e-03 3.18854443e-05 9.99998446e-01 -5.99169992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39 meters 0.017646402302864087 Centerline is valid? [True, True] Translation: X:118.90, Y:170.02, Z:-5.99 [[ 8.14804286e-01 5.79734232e-01 -1.48190361e-03 1.18904244e+02] [-5.79733344e-01 8.14805633e-01 1.01529091e-03 1.70017529e+02] [ 1.79606230e-03 3.18455498e-05 9.99998387e-01 -5.99251836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42 meters 0.0174473164955848 Centerline is valid? [True, True] Translation: X:118.93, Y:170.00, Z:-5.99 [[ 8.15188230e-01 5.79193723e-01 -1.66781381e-03 1.18929946e+02] [-5.79192596e-01 8.15189935e-01 1.14308918e-03 1.69998675e+02] [ 2.02165511e-03 3.41525658e-05 9.99997956e-01 -5.99256327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45 meters 0.0174473164955848 Centerline is valid? [True, True] Translation: X:118.96, Y:169.98, Z:-5.99 [[ 8.15025945e-01 5.79422065e-01 -1.66721949e-03 1.18956658e+02] [-5.79420937e-01 8.15027650e-01 1.14395833e-03 1.69980338e+02] [ 2.02166468e-03 3.36661647e-05 9.99997956e-01 -5.99301160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47999999999996 meters 0.017313856851449743 Centerline is valid? [True, True] Translation: X:118.98, Y:169.96, Z:-5.99 [[ 8.15454870e-01 5.78818206e-01 -1.68524476e-03 1.18982486e+02] [-5.78817052e-01 8.15456611e-01 1.15627703e-03 1.69961342e+02] [ 2.04351818e-03 3.25566716e-05 9.99997912e-01 -5.99314357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51 meters 0.016520551356961365 Centerline is valid? [True, True] Translation: X:119.01, Y:169.94, Z:-5.99 [[ 8.16985930e-01 5.76656166e-01 -1.28731762e-03 1.19007378e+02] [-5.76655487e-01 8.16986944e-01 8.84799414e-04 1.69940356e+02] [ 1.56194673e-03 1.94700982e-05 9.99998780e-01 -5.99210633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53999999999996 meters 0.016436109990756766 Centerline is valid? [True, True] Translation: X:119.03, Y:169.92, Z:-5.99 [[ 8.17613291e-01 5.75766770e-01 -1.06489532e-03 1.19032641e+02] [-5.75766304e-01 8.17613984e-01 7.32680700e-04 1.69922387e+02] [ 1.29252650e-03 1.40813634e-05 9.99999165e-01 -5.99237173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57 meters 0.016349047872902638 Centerline is valid? [True, True] Translation: X:119.06, Y:169.90, Z:-5.99 [[ 8.17775232e-01 5.75537699e-01 -1.62209751e-04 1.19059378e+02] [-5.75537688e-01 8.17775248e-01 1.15212499e-04 1.69904007e+02] [ 1.98960256e-04 -8.60102615e-07 9.99999980e-01 -5.99225479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59999999999997 meters 0.01626095610061633 Centerline is valid? [True, True] Translation: X:119.09, Y:169.89, Z:-5.99 [[ 8.18074378e-01 5.75112400e-01 1.96503473e-04 1.19085564e+02] [-5.75112386e-01 8.18074402e-01 -1.30495180e-04 1.69886045e+02] [-2.35803857e-04 -6.25681761e-06 9.99999972e-01 -5.99227088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63 meters 0.015999232742206094 Centerline is valid? [True, True] Translation: X:119.11, Y:169.87, Z:-5.99 [[ 8.19182581e-01 5.73532682e-01 4.03086219e-04 1.19110615e+02] [-5.73532617e-01 8.19182680e-01 -2.72490832e-04 1.69867155e+02] [-4.86483647e-04 -7.96335132e-06 9.99999882e-01 -5.99352343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65999999999997 meters 0.015815263346893923 Centerline is valid? [True, True] Translation: X:119.14, Y:169.85, Z:-5.99 [[ 8.19868552e-01 5.72551794e-01 3.71726837e-05 1.19136600e+02] [-5.72551793e-01 8.19868553e-01 -2.07282148e-05 1.69847498e+02] [-4.23446909e-05 -4.28887522e-06 9.99999999e-01 -5.99392549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69 meters 0.015480034757149631 Centerline is valid? [True, True] Translation: X:119.16, Y:169.83, Z:-5.99 [[ 8.21774620e-01 5.69812351e-01 5.98927328e-04 1.19161383e+02] [-5.69812205e-01 8.21774838e-01 -4.06855557e-04 1.69826428e+02] [-7.24014730e-04 -6.93253053e-06 9.99999738e-01 -5.99408820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71999999999997 meters 0.015364113534785782 Centerline is valid? [True, True] Translation: X:119.19, Y:169.81, Z:-5.99 [[ 8.22767470e-01 5.68377346e-01 9.39659646e-04 1.19186824e+02] [-5.68376985e-01 8.22768006e-01 -6.41048230e-04 1.69806690e+02] [-1.13747919e-03 -6.64728577e-06 9.99999353e-01 -5.99423874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75 meters 0.01528558822026436 Centerline is valid? [True, True] Translation: X:119.21, Y:169.79, Z:-5.99 [[ 8.23514929e-01 5.67292749e-01 1.44882036e-03 1.19212442e+02] [-5.67291883e-01 8.23516203e-01 -9.91134496e-04 1.69787099e+02] [-1.75539045e-03 -5.68997575e-06 9.99998459e-01 -5.99422167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78 meters 0.015166701947417446 Centerline is valid? [True, True] Translation: X:119.24, Y:169.77, Z:-5.99 [[ 8.24206711e-01 5.66286530e-01 1.69229847e-03 1.19238464e+02] [-5.66285345e-01 8.24208448e-01 -1.15849539e-03 1.69767635e+02] [-2.05084703e-03 -3.48414989e-06 9.99997897e-01 -5.99422188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81 meters 0.01522003635025248 Centerline is valid? [True, True] Translation: X:119.26, Y:169.75, Z:-6.00 [[ 8.24760006e-01 5.65480285e-01 1.72621366e-03 1.19264546e+02] [-5.65479048e-01 8.24761813e-01 -1.18281420e-03 1.69748574e+02] [-2.09257321e-03 -5.99809484e-07 9.99997811e-01 -5.99533144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84 meters 0.015168378749462039 Centerline is valid? [True, True] Translation: X:119.29, Y:169.73, Z:-6.00 [[ 8.24943583e-01 5.65212308e-01 1.76986029e-03 1.19291577e+02] [-5.65211006e-01 8.24945481e-01 -1.21326570e-03 1.69729863e+02] [-2.14579095e-03 5.31237765e-07 9.99997698e-01 -5.99517165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87 meters 0.015209053651395998 Centerline is valid? [True, True] Translation: X:119.32, Y:169.71, Z:-6.00 [[ 8.24964187e-01 5.65182005e-01 1.84152801e-03 1.19318172e+02] [-5.65180589e-01 8.24966243e-01 -1.26489064e-03 1.69711855e+02] [-2.23409187e-03 2.69359061e-06 9.99997504e-01 -5.99627008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9 meters 0.015122989266708697 Centerline is valid? [True, True] Translation: X:119.35, Y:169.69, Z:-6.00 [[ 8.24975324e-01 5.65165775e-01 1.83357672e-03 1.19345343e+02] [-5.65164374e-01 8.24977362e-01 -1.25835791e-03 1.69693983e+02] [-2.22384010e-03 1.84198818e-06 9.99997527e-01 -5.99652097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93 meters 0.01511207073399788 Centerline is valid? [True, True] Translation: X:119.37, Y:169.68, Z:-6.00 [[ 8.25114734e-01 5.64963146e-01 1.52302669e-03 1.19372852e+02] [-5.64962179e-01 8.25116140e-01 -1.04506810e-03 1.69675643e+02] [-1.84709886e-03 1.84860746e-06 9.99998294e-01 -5.99704920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96 meters 0.015231365923454244 Centerline is valid? [True, True] Translation: X:119.40, Y:169.66, Z:-6.00 [[ 8.26338817e-01 5.63171901e-01 1.25311586e-03 1.19398279e+02] [-5.63171244e-01 8.26339767e-01 -8.60387019e-04 1.69657969e+02] [-1.52004526e-03 5.25237258e-06 9.99998845e-01 -5.99776559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99 meters 0.01532081134491552 Centerline is valid? [True, True] Translation: X:119.42, Y:169.64, Z:-6.00 [[ 8.27323154e-01 5.61724880e-01 1.24831521e-03 1.19424384e+02] [-5.61724226e-01 8.27324096e-01 -8.57230762e-04 1.69639364e+02] [-1.51428910e-03 7.99796249e-06 9.99998853e-01 -5.99788814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02 meters 0.015446631928287888 Centerline is valid? [True, True] Translation: X:119.45, Y:169.62, Z:-6.00 [[ 8.28530818e-01 5.59941745e-01 1.38770021e-03 1.19450263e+02] [-5.59940933e-01 8.28531980e-01 -9.53907431e-04 1.69620887e+02] [-1.68388660e-03 1.33115520e-05 9.99998582e-01 -5.99781453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05 meters 0.01576464636250493 Centerline is valid? [True, True] Translation: X:119.48, Y:169.60, Z:-6.00 [[ 8.30067118e-01 5.57660106e-01 1.94570535e-03 1.19476077e+02] [-5.57658497e-01 8.30069398e-01 -1.33985879e-03 1.69602085e+02] [-2.36225626e-03 2.71336059e-05 9.99997210e-01 -5.99795764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08 meters 0.01638961309948856 Centerline is valid? [True, True] Translation: X:119.50, Y:169.58, Z:-6.00 [[ 8.31838792e-01 5.55013327e-01 2.10508062e-03 1.19501015e+02] [-5.55011432e-01 8.31841454e-01 -1.45100534e-03 1.69583382e+02] [-2.55642063e-03 3.86587154e-05 9.99996732e-01 -5.99876222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11 meters 0.01760258526154097 Centerline is valid? [True, True] Translation: X:119.53, Y:169.56, Z:-6.00 [[ 8.35951167e-01 5.48795126e-01 3.09133376e-03 1.19526359e+02] [-5.48790980e-01 8.35956878e-01 -2.13517528e-03 1.69564227e+02] [-3.75599551e-03 8.84061800e-05 9.99992942e-01 -5.99893004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14 meters 0.018244898249692953 Centerline is valid? [True, True] Translation: X:119.55, Y:169.55, Z:-6.00 [[ 8.38110140e-01 5.45489207e-01 3.59413002e-03 1.19552501e+02] [-5.45483566e-01 8.38117838e-01 -2.48372014e-03 1.69545600e+02] [-4.36714701e-03 1.21092178e-04 9.99990457e-01 -5.99896758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17 meters 0.018732741976548332 Centerline is valid? [True, True] Translation: X:119.58, Y:169.53, Z:-6.00 [[ 8.40172424e-01 5.42304684e-01 3.99101434e-03 1.19578272e+02] [-5.42297698e-01 8.40181889e-01 -2.75678074e-03 1.69527636e+02] [-4.84819307e-03 1.51853263e-04 9.99988236e-01 -5.99864801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2 meters 0.021805541459855252 Centerline is valid? [True, True] Translation: X:119.60, Y:169.51, Z:-6.00 [[ 8.44184859e-01 5.36030629e-01 4.80506321e-03 1.19601840e+02] [-5.36020385e-01 8.44198503e-01 -3.32174941e-03 1.69507590e+02] [-5.83698660e-03 2.28558723e-04 9.99982939e-01 -5.99889819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22999999999996 meters 0.0209679169183617 Centerline is valid? [True, True] Translation: X:119.63, Y:169.49, Z:-6.00 [[ 8.45616789e-01 5.33765870e-01 5.12267622e-03 1.19629952e+02] [-5.33754174e-01 8.45632265e-01 -3.54331728e-03 1.69491737e+02] [-6.22320213e-03 2.62038774e-04 9.99980601e-01 -5.99836747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26 meters 0.02137007843976161 Centerline is valid? [True, True] Translation: X:119.66, Y:169.47, Z:-6.00 [[ 8.46770838e-01 5.31932105e-01 5.23302970e-03 1.19656996e+02] [-5.31919855e-01 8.46786960e-01 -3.62106117e-03 1.69474676e+02] [-6.35742000e-03 2.82656604e-04 9.99979751e-01 -5.99860321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28999999999996 meters 0.02148457134065049 Centerline is valid? [True, True] Translation: X:119.68, Y:169.46, Z:-6.00 [[ 8.47444646e-01 5.30853593e-01 5.65991296e-03 1.19684770e+02] [-5.30839229e-01 8.47463488e-01 -3.91801406e-03 1.69458126e+02] [-6.87646142e-03 3.15796206e-04 9.99976307e-01 -5.99907832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32 meters 0.022439417386109235 Centerline is valid? [True, True] Translation: X:119.71, Y:169.44, Z:-6.00 [[ 8.48193747e-01 5.29644856e-01 6.61018544e-03 1.19712282e+02] [-5.29625193e-01 8.48219417e-01 -4.57988978e-03 1.69443999e+02] [-8.03260270e-03 3.83713133e-04 9.99967665e-01 -5.99960126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34999999999997 meters 0.021946718778429377 Centerline is valid? [True, True] Translation: X:119.74, Y:169.43, Z:-6.00 [[ 8.48141226e-01 5.29719987e-01 7.29360332e-03 1.19741762e+02] [-5.29696046e-01 8.48172480e-01 -5.05399303e-03 1.69428096e+02] [-8.86343474e-03 4.23106999e-04 9.99960629e-01 -5.99954600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38 meters 0.021923854824378496 Centerline is valid? [True, True] Translation: X:119.77, Y:169.41, Z:-6.00 [[ 8.47704917e-01 5.30408541e-01 7.94686021e-03 1.19770346e+02] [-5.30380105e-01 8.47742042e-01 -5.51123414e-03 1.69411989e+02] [-9.66009317e-03 4.57043728e-04 9.99953236e-01 -5.99978037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40999999999997 meters 0.021815621057492914 Centerline is valid? [True, True] Translation: X:119.80, Y:169.40, Z:-6.00 [[ 8.47026111e-01 5.31478788e-01 8.77864498e-03 1.19798420e+02] [-5.31444128e-01 8.47071458e-01 -6.08965701e-03 1.69396357e+02] [-1.06726631e-02 4.92739174e-04 9.99942924e-01 -5.99985467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44 meters 0.021229789301633502 Centerline is valid? [True, True] Translation: X:119.83, Y:169.39, Z:-6.00 [[ 8.44788231e-01 5.35027236e-01 8.87141551e-03 1.19828109e+02] [-5.34991995e-01 8.44834688e-01 -6.15755971e-03 1.69385259e+02] [-1.07893417e-02 4.55697689e-04 9.99941690e-01 -6.00061961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46999999999997 meters 0.020698544201586875 Centerline is valid? [True, True] Translation: X:119.86, Y:169.37, Z:-6.00 [[ 8.43207180e-01 5.37517952e-01 8.72367817e-03 1.19856447e+02] [-5.37483983e-01 8.43252202e-01 -6.05738775e-03 1.69371484e+02] [-1.06122155e-02 4.18795561e-04 9.99943601e-01 -6.00121783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5 meters 0.018491945938413235 Centerline is valid? [True, True] Translation: X:119.89, Y:169.36, Z:-6.00 [[ 8.39481218e-01 5.43311407e-01 9.16514568e-03 1.19889256e+02] [-5.43274228e-01 8.39531168e-01 -6.36643377e-03 1.69363135e+02] [-1.11533815e-02 3.65314131e-04 9.99937732e-01 -6.00243627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53 meters 0.01740896915608517 Centerline is valid? [True, True] Translation: X:119.92, Y:169.35, Z:-6.00 [[ 8.37467846e-01 5.46403938e-01 9.50497196e-03 1.19918448e+02] [-5.46364110e-01 8.37521714e-01 -6.60586923e-03 1.69350069e+02] [-1.15700934e-02 3.39027528e-04 9.99933007e-01 -6.00317393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56 meters 0.01771485983860139 Centerline is valid? [True, True] Translation: X:119.95, Y:169.34, Z:-6.00 [[ 8.35552995e-01 5.49326792e-01 9.55349292e-03 1.19945426e+02] [-5.49286715e-01 8.35607554e-01 -6.64231050e-03 1.69335237e+02] [-1.16317700e-02 3.02395685e-04 9.99932303e-01 -6.00384442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59 meters 0.01678668567618903 Centerline is valid? [True, True] Translation: X:119.97, Y:169.32, Z:-6.00 [[ 8.33758661e-01 5.52040318e-01 9.89867418e-03 1.19974701e+02] [-5.51997444e-01 8.33817373e-01 -6.88552696e-03 1.69321541e+02] [-1.20547750e-02 2.76824889e-04 9.99927300e-01 -6.00473412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62 meters 0.016283844905914512 Centerline is valid? [True, True] Translation: X:120.00, Y:169.31, Z:-6.01 [[ 8.32092452e-01 5.54549852e-01 9.82918727e-03 1.20003296e+02] [-5.54507710e-01 8.32150469e-01 -6.84071515e-03 1.69307280e+02] [-1.19728804e-02 2.41747312e-04 9.99928293e-01 -6.00561038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65 meters 0.014972380343496646 Centerline is valid? [True, True] Translation: X:120.04, Y:169.30, Z:-6.01 [[ 8.29773172e-01 5.58022260e-01 9.36162903e-03 1.20035753e+02] [-5.57984212e-01 8.29825959e-01 -6.51891787e-03 1.69296805e+02] [-1.14062241e-02 1.85581962e-04 9.99934930e-01 -6.00711913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68 meters 0.015289575735864641 Centerline is valid? [True, True] Translation: X:120.06, Y:169.28, Z:-6.01 [[ 8.28955089e-01 5.59242913e-01 8.99021801e-03 1.20062788e+02] [-5.59207889e-01 8.29003823e-01 -6.26093510e-03 1.69280489e+02] [-1.09543087e-02 1.62633178e-04 9.99939987e-01 -6.00840356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71 meters 0.014614549945726737 Centerline is valid? [True, True] Translation: X:120.09, Y:169.27, Z:-6.01 [[ 8.28279602e-01 5.60237490e-01 9.31967633e-03 1.20091953e+02] [-5.60199877e-01 8.28332017e-01 -6.49365478e-03 1.69265595e+02] [-1.13577751e-02 1.57680264e-04 9.99935486e-01 -6.00910921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74 meters 0.014433639937494603 Centerline is valid? [True, True] Translation: X:120.12, Y:169.25, Z:-6.01 [[ 8.28134917e-01 5.60429506e-01 1.05512226e-02 1.20121858e+02] [-5.60381255e-01 8.28202111e-01 -7.35615558e-03 1.69250980e+02] [-1.28611515e-02 1.79181929e-04 9.99917276e-01 -6.00898553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77 meters 0.01460930977384251 Centerline is valid? [True, True] Translation: X:120.15, Y:169.23, Z:-6.01 [[ 8.28363721e-01 5.60080543e-01 1.11054153e-02 1.20149391e+02] [-5.60026991e-01 8.28438136e-01 -7.74751835e-03 1.69233831e+02] [-1.35393839e-02 1.98430805e-04 9.99908319e-01 -6.00885863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8 meters 0.014780667312945474 Centerline is valid? [True, True] Translation: X:120.18, Y:169.22, Z:-6.01 [[ 8.28624694e-01 5.59679358e-01 1.18377579e-02 1.20175414e+02] [-5.59618398e-01 8.28709217e-01 -8.26330685e-03 1.69217219e+02] [-1.44348614e-02 2.22552992e-04 9.99895787e-01 -6.00887461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83 meters 0.014698002267973386 Centerline is valid? [True, True] Translation: X:120.20, Y:169.20, Z:-6.01 [[ 8.29596862e-01 5.58224160e-01 1.24432111e-02 1.20203842e+02] [-5.58156597e-01 8.29690134e-01 -8.68877666e-03 1.69202036e+02] [-1.51742946e-02 2.62921479e-04 9.99884829e-01 -6.00924713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86 meters 0.015246765386439034 Centerline is valid? [True, True] Translation: X:120.23, Y:169.18, Z:-6.01 [[ 8.30403094e-01 5.57009974e-01 1.30610522e-02 1.20229700e+02] [-5.56935304e-01 8.30505748e-01 -9.12526712e-03 1.69184584e+02] [-1.59301437e-02 3.03488997e-04 9.99873061e-01 -6.00995226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89 meters 0.014817316004166865 Centerline is valid? [True, True] Translation: X:120.26, Y:169.17, Z:-6.01 [[ 8.31110051e-01 5.55960627e-01 1.28009329e-02 1.20257150e+02] [-5.55888709e-01 8.31208565e-01 -8.94790304e-03 1.69168784e+02] [-1.56149269e-02 3.20798071e-04 9.99878028e-01 -6.01095577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92 meters 0.016082440524625118 Centerline is valid? [True, True] Translation: X:120.28, Y:169.15, Z:-6.01 [[ 8.31990698e-01 5.54654800e-01 1.22283098e-02 1.20282175e+02] [-5.54588969e-01 8.32080490e-01 -8.55182005e-03 1.69149796e+02] [-1.49182460e-02 3.33349002e-04 9.99888661e-01 -6.01200408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95 meters 0.015527564631494965 Centerline is valid? [True, True] Translation: X:120.31, Y:169.14, Z:-6.01 [[ 8.33882667e-01 5.51839116e-01 1.06436362e-02 1.20310759e+02] [-5.51788969e-01 8.33950524e-01 -7.44694516e-03 1.69135423e+02] [-1.29857816e-02 3.36837457e-04 9.99915624e-01 -6.01480655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97999999999996 meters 0.016481768666089896 Centerline is valid? [True, True] Translation: X:120.34, Y:169.12, Z:-6.02 [[ 8.34829496e-01 5.50412348e-01 1.02936746e-02 1.20336085e+02] [-5.50365315e-01 8.34892883e-01 -7.20378098e-03 1.69117375e+02] [-1.25591656e-02 3.48647417e-04 9.99921070e-01 -6.01616332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01 meters 0.016197294104729115 Centerline is valid? [True, True] Translation: X:120.36, Y:169.10, Z:-6.02 [[ 8.35707493e-01 5.49084470e-01 9.96148527e-03 1.20363732e+02] [-5.49040288e-01 8.35766783e-01 -6.97467941e-03 1.69100640e+02] [-1.21551666e-02 3.59535099e-04 9.99926059e-01 -6.01685113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03999999999996 meters 0.01765418931891619 Centerline is valid? [True, True] Translation: X:120.39, Y:169.08, Z:-6.02 [[ 8.37509569e-01 5.46323238e-01 1.04231713e-02 1.20389373e+02] [-5.46274598e-01 8.37574320e-01 -7.30217123e-03 1.69083093e+02] [-1.27195265e-02 4.21724557e-04 9.99919015e-01 -6.01676548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07 meters 0.017911050306727197 Centerline is valid? [True, True] Translation: X:120.42, Y:169.07, Z:-6.02 [[ 8.38219661e-01 5.45227763e-01 1.06998641e-02 1.20416820e+02] [-5.45176366e-01 8.38287827e-01 -7.49989254e-03 1.69065815e+02] [-1.30587154e-02 4.53244365e-04 9.99914629e-01 -6.01692205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09999999999997 meters 0.01810370979788978 Centerline is valid? [True, True] Translation: X:120.44, Y:169.05, Z:-6.02 [[ 8.38661842e-01 5.44540574e-01 1.10398505e-02 1.20444296e+02] [-5.44485742e-01 8.38734363e-01 -7.74248052e-03 1.69048601e+02] [-1.34755968e-02 4.82281757e-04 9.99909084e-01 -6.01706633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13 meters 0.018787023896268594 Centerline is valid? [True, True] Translation: X:120.47, Y:169.03, Z:-6.02 [[ 8.39393306e-01 5.43400600e-01 1.16045536e-02 1.20471177e+02] [-5.43339842e-01 8.39473351e-01 -8.14301824e-03 1.69033479e+02] [-1.41666345e-02 5.29978668e-04 9.99899508e-01 -6.01728220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15999999999997 meters 0.017951558998306572 Centerline is valid? [True, True] Translation: X:120.50, Y:169.02, Z:-6.02 [[ 8.39134630e-01 5.43797078e-01 1.17393229e-02 1.20500437e+02] [-5.43734917e-01 8.39216573e-01 -8.23917016e-03 1.69017412e+02] [-1.43322710e-02 5.30693218e-04 9.99897147e-01 -6.01778522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19 meters 0.01877895982840906 Centerline is valid? [True, True] Translation: X:120.53, Y:169.00, Z:-6.02 [[ 8.38746135e-01 5.44394308e-01 1.18219372e-02 1.20526382e+02] [-5.44331254e-01 8.38829278e-01 -8.30227758e-03 1.69000663e+02] [-1.44362997e-02 5.28453306e-04 9.99895652e-01 -6.01851831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21999999999997 meters 0.017613187328582514 Centerline is valid? [True, True] Translation: X:120.56, Y:168.99, Z:-6.02 [[ 8.37820349e-01 5.45823093e-01 1.15850575e-02 1.20557155e+02] [-5.45762622e-01 8.37900295e-01 -8.13982777e-03 1.68987683e+02] [-1.41500290e-02 4.97022006e-04 9.99899760e-01 -6.01939017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25 meters 0.017981855226228947 Centerline is valid? [True, True] Translation: X:120.58, Y:168.97, Z:-6.02 [[ 8.36823086e-01 5.47344843e-01 1.18636373e-02 1.20583929e+02] [-5.47281555e-01 8.36907037e-01 -8.33734416e-03 1.68970875e+02] [-1.44921639e-02 4.84132202e-04 9.99894866e-01 -6.02015760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28 meters 0.01684732020433156 Centerline is valid? [True, True] Translation: X:120.61, Y:168.96, Z:-6.02 [[ 8.35770837e-01 5.48953338e-01 1.17191968e-02 1.20612594e+02] [-5.48891677e-01 8.35852873e-01 -8.24018616e-03 1.68956213e+02] [-1.43190021e-02 4.54337675e-04 9.99897375e-01 -6.02077597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31 meters 0.015777819428332746 Centerline is valid? [True, True] Translation: X:120.64, Y:168.94, Z:-6.02 [[ 8.32986895e-01 5.53163998e-01 1.19341311e-02 1.20642816e+02] [-5.53100420e-01 8.33072288e-01 -8.39571386e-03 1.68943497e+02] [-1.45862006e-02 3.92746686e-04 9.99893539e-01 -6.02143020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34 meters 0.015007314535825073 Centerline is valid? [True, True] Translation: X:120.67, Y:168.93, Z:-6.02 [[ 8.31308360e-01 5.55684671e-01 1.18725172e-02 1.20671839e+02] [-5.55621989e-01 8.31393063e-01 -8.35340426e-03 1.68927898e+02] [-1.45125871e-02 3.47623167e-04 9.99894626e-01 -6.02234806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37 meters 0.015007314535825073 Centerline is valid? [True, True] Translation: X:120.70, Y:168.91, Z:-6.02 [[ 8.31146306e-01 5.55927055e-01 1.18712933e-02 1.20698328e+02] [-5.55864374e-01 8.31231009e-01 -8.35514325e-03 1.68909190e+02] [-1.45126373e-02 3.45517438e-04 9.99894626e-01 -6.02279591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4 meters 0.01491690125882493 Centerline is valid? [True, True] Translation: X:120.73, Y:168.89, Z:-6.02 [[ 8.29224614e-01 5.58792249e-01 1.17371951e-02 1.20725537e+02] [-5.58731190e-01 8.29307623e-01 -8.26580088e-03 1.68892987e+02] [-1.43526108e-02 2.96268570e-04 9.99896952e-01 -6.02340146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43 meters 0.01368418999514411 Centerline is valid? [True, True] Translation: X:120.76, Y:168.88, Z:-6.02 [[ 8.25551947e-01 5.64205643e-01 1.16608266e-02 1.20755423e+02] [-5.64145852e-01 8.25634272e-01 -8.21627350e-03 1.68881413e+02] [-1.42632459e-02 2.04553630e-04 9.99898254e-01 -6.02457902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46 meters 0.013353577884449479 Centerline is valid? [True, True] Translation: X:120.78, Y:168.87, Z:-6.02 [[ 8.23654216e-01 5.66970462e-01 1.17570357e-02 1.20782705e+02] [-5.66909951e-01 8.23738108e-01 -8.28476789e-03 1.68865786e+02] [-1.43819370e-02 1.58603470e-04 9.99896562e-01 -6.02489401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49 meters 0.012807304523292993 Centerline is valid? [True, True] Translation: X:120.81, Y:168.85, Z:-6.03 [[ 8.22000454e-01 5.69359096e-01 1.20612138e-02 1.20810903e+02] [-5.69295630e-01 8.22088927e-01 -8.50183521e-03 1.68850074e+02] [-1.47559876e-02 1.22116072e-04 9.99891117e-01 -6.02534235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52 meters 0.012540486254410073 Centerline is valid? [True, True] Translation: X:120.84, Y:168.83, Z:-6.03 [[ 8.20538527e-01 5.71455396e-01 1.24601717e-02 1.20838823e+02] [-5.71387831e-01 8.20633123e-01 -8.78778377e-03 1.68833646e+02] [-1.52470561e-02 9.11246558e-05 9.99883753e-01 -6.02552845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55 meters 0.012238504485116418 Centerline is valid? [True, True] Translation: X:120.87, Y:168.82, Z:-6.03 [[ 8.18019750e-01 5.75043156e-01 1.30022332e-02 1.20866054e+02] [-5.74969955e-01 8.18123077e-01 -9.17511984e-03 1.68818775e+02] [-1.59135169e-02 2.95357964e-05 9.99873372e-01 -6.02511409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58 meters 0.012254079915669212 Centerline is valid? [True, True] Translation: X:120.89, Y:168.80, Z:-6.03 [[ 8.16918539e-01 5.76605317e-01 1.30540807e-02 1.20893664e+02] [-5.76531655e-01 8.17022832e-01 -9.21643012e-03 1.68801549e+02] [-1.59797246e-02 2.98186127e-06 9.99872316e-01 -6.02587718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61 meters 0.012290662936236308 Centerline is valid? [True, True] Translation: X:120.92, Y:168.78, Z:-6.03 [[ 8.15845448e-01 5.78123806e-01 1.30026986e-02 1.20920715e+02] [-5.78050825e-01 8.15949058e-01 -9.18580789e-03 1.68784065e+02] [-1.59200739e-02 -2.20210847e-05 9.99873267e-01 -6.02665022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64 meters 0.0121858838790395 Centerline is valid? [True, True] Translation: X:120.95, Y:168.77, Z:-6.03 [[ 8.15082788e-01 5.79196591e-01 1.30903882e-02 1.20948369e+02] [-5.79122673e-01 8.15187897e-01 -9.25321737e-03 1.68765639e+02] [-1.60305580e-02 -3.88024061e-05 9.99871502e-01 -6.02778643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67 meters 0.012336213762286222 Centerline is valid? [True, True] Translation: X:120.97, Y:168.75, Z:-6.03 [[ 8.13812959e-01 5.80988563e-01 1.26790341e-02 1.20974820e+02] [-5.80919351e-01 8.13911718e-01 -8.96786759e-03 1.68747990e+02] [-1.55298430e-02 -6.73294128e-05 9.99879402e-01 -6.02823036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7 meters 0.012257514741818503 Centerline is valid? [True, True] Translation: X:121.00, Y:168.73, Z:-6.03 [[ 8.13506879e-01 5.81422960e-01 1.24056658e-02 1.21000901e+02] [-5.81356674e-01 8.13601461e-01 -8.77957298e-03 1.68728370e+02] [-1.51979131e-02 -6.98735831e-05 9.99884503e-01 -6.02876936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72999999999996 meters 0.012270339633103358 Centerline is valid? [True, True] Translation: X:121.03, Y:168.71, Z:-6.03 [[ 8.13393963e-01 5.81594091e-01 1.17718074e-02 1.21026427e+02] [-5.81534352e-01 8.13479139e-01 -8.33591642e-03 1.68709600e+02] [-1.44242394e-02 -6.53262798e-05 9.99895963e-01 -6.02896948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76 meters 0.012161874478046777 Centerline is valid? [True, True] Translation: X:121.05, Y:168.69, Z:-6.03 [[ 8.13834952e-01 5.80989925e-01 1.11075520e-02 1.21052360e+02] [-5.80936624e-01 8.13910747e-01 -7.86984240e-03 1.68688989e+02] [-1.36128551e-02 -4.80309535e-05 9.99907340e-01 -6.02954664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78999999999996 meters 0.012170194718506392 Centerline is valid? [True, True] Translation: X:121.08, Y:168.67, Z:-6.03 [[ 8.13910411e-01 5.80887408e-01 1.09389722e-02 1.21078200e+02] [-5.80835642e-01 8.13983917e-01 -7.75501984e-03 1.68669137e+02] [-1.34089408e-02 -4.18535734e-05 9.99910095e-01 -6.02975717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82 meters 0.01209319424408729 Centerline is valid? [True, True] Translation: X:121.10, Y:168.65, Z:-6.03 [[ 8.14001056e-01 5.80760576e-01 1.09286398e-02 1.21104290e+02] [-5.80708831e-01 8.14074415e-01 -7.75245585e-03 1.68649185e+02] [-1.33990468e-02 -3.58503954e-05 9.99910228e-01 -6.03026009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84999999999997 meters 0.012177964236072774 Centerline is valid? [True, True] Translation: X:121.13, Y:168.63, Z:-6.03 [[ 8.14192841e-01 5.80494520e-01 1.07763644e-02 1.21129424e+02] [-5.80444124e-01 8.14264153e-01 -7.64908142e-03 1.68629918e+02] [-1.32150571e-02 -2.72500829e-05 9.99912677e-01 -6.03069785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88 meters 0.012023909814951562 Centerline is valid? [True, True] Translation: X:121.15, Y:168.61, Z:-6.03 [[ 8.14277079e-01 5.80377247e-01 1.07279781e-02 1.21154928e+02] [-5.80327235e-01 8.14347746e-01 -7.61905949e-03 1.68608759e+02] [-1.31582336e-02 -2.17123580e-05 9.99913426e-01 -6.03079768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90999999999997 meters 0.01200707841151753 Centerline is valid? [True, True] Translation: X:121.18, Y:168.59, Z:-6.03 [[ 8.14188497e-01 5.80507855e-01 1.03789215e-02 1.21181102e+02] [-5.80461001e-01 8.14254647e-01 -7.37545389e-03 1.68588703e+02] [-1.27325940e-02 -1.95494296e-05 9.99918937e-01 -6.03132385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94 meters 0.011935086494380617 Centerline is valid? [True, True] Translation: X:121.21, Y:168.57, Z:-6.03 [[ 8.13906108e-01 5.80909745e-01 1.00357068e-02 1.21206990e+02] [-5.80865914e-01 8.13967977e-01 -7.13597847e-03 1.68569658e+02] [-1.23141034e-02 -2.13835104e-05 9.99924178e-01 -6.03191386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96999999999997 meters 0.011944805719315329 Centerline is valid? [True, True] Translation: X:121.23, Y:168.55, Z:-6.03 [[ 8.13366983e-01 5.81671339e-01 9.62311756e-03 1.21233949e+02] [-5.81631047e-01 8.13423907e-01 -6.84643423e-03 1.68550065e+02] [-1.18100485e-02 -2.84403822e-05 9.99930259e-01 -6.03269117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0 meters 0.011969497842902903 Centerline is valid? [True, True] Translation: X:121.26, Y:168.53, Z:-6.03 [[ 8.12134257e-01 5.83407819e-01 8.55951554e-03 1.21260122e+02] [-5.83376003e-01 8.12179361e-01 -6.09294355e-03 1.68530525e+02] [-1.05065328e-02 -4.51277790e-05 9.99944804e-01 -6.03364781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03 meters 0.011994183651407314 Centerline is valid? [True, True] Translation: X:121.29, Y:168.51, Z:-6.03 [[ 8.11155164e-01 5.84770074e-01 8.44161141e-03 1.21286248e+02] [-5.84739164e-01 8.11199086e-01 -6.01279875e-03 1.68511838e+02] [-1.03639322e-02 -5.88280432e-05 9.99946291e-01 -6.03394632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06 meters 0.012149250717178045 Centerline is valid? [True, True] Translation: X:121.31, Y:168.49, Z:-6.03 [[ 8.09459281e-01 5.87119158e-01 8.17107770e-03 1.21312203e+02] [-5.87090283e-01 8.09500517e-01 -5.82345552e-03 1.68493641e+02] [-1.00335539e-02 -8.33102027e-05 9.99949659e-01 -6.03436337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09 meters 0.012355103209771137 Centerline is valid? [True, True] Translation: X:121.34, Y:168.47, Z:-6.03 [[ 8.08582324e-01 5.88327985e-01 8.05026010e-03 1.21339116e+02] [-5.88299989e-01 8.08622392e-01 -5.74015306e-03 1.68474320e+02] [-9.88671326e-03 -9.45816283e-05 9.99951121e-01 -6.03494161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12 meters 0.012429171191908225 Centerline is valid? [True, True] Translation: X:121.37, Y:168.46, Z:-6.04 [[ 8.07963999e-01 5.89177744e-01 7.98510860e-03 1.21365495e+02] [-5.89150207e-01 8.08003450e-01 -5.69716045e-03 1.68455373e+02] [-9.80863544e-03 -1.01327840e-04 9.99951889e-01 -6.03550916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15 meters 0.012429847174044967 Centerline is valid? [True, True] Translation: X:121.39, Y:168.44, Z:-6.04 [[ 8.07516380e-01 5.89793186e-01 7.82906077e-03 1.21391817e+02] [-5.89766712e-01 8.07554325e-01 -5.58912448e-03 1.68435496e+02] [-9.61881942e-03 -1.04009860e-04 9.99953733e-01 -6.03585648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18 meters 0.012456678573763131 Centerline is valid? [True, True] Translation: X:121.42, Y:168.42, Z:-6.04 [[ 8.07990982e-01 5.89144141e-01 7.73005453e-03 1.21416041e+02] [-5.89118268e-01 8.08027953e-01 -5.52211120e-03 1.68416130e+02] [-9.49941960e-03 -9.21002769e-05 9.99954875e-01 -6.03684597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21 meters 0.012149199386217658 Centerline is valid? [True, True] Translation: X:121.44, Y:168.40, Z:-6.04 [[ 8.08376465e-01 5.88618971e-01 7.42953791e-03 1.21441345e+02] [-5.88595029e-01 8.08410601e-01 -5.30963192e-03 1.68395171e+02] [-9.13146729e-03 -8.08076051e-05 9.99958304e-01 -6.03760405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24 meters 0.012014014336008003 Centerline is valid? [True, True] Translation: X:121.47, Y:168.37, Z:-6.04 [[ 8.09268113e-01 5.87393660e-01 7.33545944e-03 1.21466379e+02] [-5.87370239e-01 8.09301356e-01 -5.24571330e-03 1.68374455e+02] [-9.01789600e-03 -6.34420591e-05 9.99959336e-01 -6.03857922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27 meters 0.01171730008986675 Centerline is valid? [True, True] Translation: X:121.49, Y:168.35, Z:-6.04 [[ 8.11450128e-01 5.84376237e-01 7.28728167e-03 1.21489268e+02] [-5.84352975e-01 8.11482848e-01 -5.21417738e-03 1.68352619e+02] [-8.96054544e-03 -2.72998230e-05 9.99959853e-01 -6.03904235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3 meters 0.011645050587743358 Centerline is valid? [True, True] Translation: X:121.51, Y:168.33, Z:-6.04 [[ 8.12692607e-01 5.82642195e-01 7.66800684e-03 1.21514210e+02] [-5.82616337e-01 8.12728781e-01 -5.48927737e-03 1.68331634e+02] [-9.43029447e-03 -6.41092036e-06 9.99955534e-01 -6.03937375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33 meters 0.011705230521645014 Centerline is valid? [True, True] Translation: X:121.54, Y:168.31, Z:-6.04 [[ 8.14015379e-01 5.80790440e-01 7.83762286e-03 1.21538982e+02] [-5.80763303e-01 8.14053110e-01 -5.61430730e-03 1.68310570e+02] [-9.64097726e-03 1.83287438e-05 9.99953525e-01 -6.04006379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36 meters 0.0118274889143523 Centerline is valid? [True, True] Translation: X:121.56, Y:168.29, Z:-6.04 [[ 8.15363180e-01 5.78901883e-01 7.44952159e-03 1.21563623e+02] [-5.78877263e-01 8.15397209e-01 -5.33909816e-03 1.68289525e+02] [-9.16513309e-03 4.09453852e-05 9.99957998e-01 -6.04072085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39 meters 0.012585184072739355 Centerline is valid? [True, True] Translation: X:121.59, Y:168.27, Z:-6.04 [[ 8.18498180e-01 5.74480353e-01 5.74919979e-03 1.21586595e+02] [-5.74465570e-01 8.18518368e-01 -4.12191214e-03 1.68266361e+02] [-7.07378317e-03 7.10602574e-05 9.99974978e-01 -6.04241443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42 meters 0.012912707039657367 Centerline is valid? [True, True] Translation: X:121.61, Y:168.25, Z:-6.04 [[ 8.20091033e-01 5.72211536e-01 4.96542621e-03 1.21611394e+02] [-5.72200459e-01 8.20106061e-01 -3.56134499e-03 1.68246666e+02] [-6.11001882e-03 7.94079387e-05 9.99981331e-01 -6.04327920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45 meters 0.014484713315446932 Centerline is valid? [True, True] Translation: X:121.63, Y:168.22, Z:-6.04 [[ 8.23803314e-01 5.66865552e-01 3.39794210e-03 1.21633629e+02] [-5.66860319e-01 8.23810317e-01 -2.43725721e-03 1.68224912e+02] [-4.18085691e-03 8.16620229e-05 9.99991257e-01 -6.04484826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47999999999996 meters 0.01543458324563383 Centerline is valid? [True, True] Translation: X:121.66, Y:168.20, Z:-6.05 [[ 8.25854625e-01 5.63874975e-01 3.02514652e-03 1.21657934e+02] [-5.63870798e-01 8.25860161e-01 -2.17225813e-03 1.68204178e+02] [-3.72322999e-03 8.81776402e-05 9.99993065e-01 -6.04502204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51 meters 0.01620012604578944 Centerline is valid? [True, True] Translation: X:121.68, Y:168.18, Z:-6.05 [[ 8.28019166e-01 5.60691792e-01 2.99587239e-03 1.21682929e+02] [-5.60687673e-01 8.28024580e-01 -2.15153861e-03 1.68183758e+02] [-3.68700601e-03 1.01766485e-04 9.99993198e-01 -6.04505515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53999999999996 meters 0.01899267100638309 Centerline is valid? [True, True] Translation: X:121.70, Y:168.16, Z:-6.04 [[ 8.32613295e-01 5.53844635e-01 3.34969227e-03 1.21704120e+02] [-5.53839429e-01 8.32620020e-01 -2.40605555e-03 1.68161907e+02] [-4.12160180e-03 1.48122183e-04 9.99991495e-01 -6.04470908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57 meters 0.02023178919009522 Centerline is valid? [True, True] Translation: X:121.73, Y:168.14, Z:-6.04 [[ 8.34953965e-01 5.50309464e-01 3.37192210e-03 1.21728540e+02] [-5.50304157e-01 8.34960757e-01 -2.42279407e-03 1.68141594e+02] [-4.14870913e-03 1.67338770e-04 9.99991380e-01 -6.04478180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59999999999997 meters 0.021829267036307415 Centerline is valid? [True, True] Translation: X:121.75, Y:168.12, Z:-6.05 [[ 8.37142568e-01 5.46974589e-01 3.33472267e-03 1.21752840e+02] [-5.46969370e-01 8.37149190e-01 -2.39630444e-03 1.68121147e+02] [-4.10237801e-03 1.82057290e-04 9.99991569e-01 -6.04501847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63 meters 0.02396441991828495 Centerline is valid? [True, True] Translation: X:121.78, Y:168.10, Z:-6.05 [[ 8.39041638e-01 5.44055071e-01 3.63445807e-03 1.21775978e+02] [-5.44048851e-01 8.39049483e-01 -2.61027703e-03 1.68100673e+02] [-4.46962462e-03 2.12808379e-04 9.99989989e-01 -6.04507292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65999999999997 meters 0.027040530697475685 Centerline is valid? [True, True] Translation: X:121.80, Y:168.08, Z:-6.04 [[ 8.42513100e-01 5.38660348e-01 4.08735211e-03 1.21798503e+02] [-5.38652398e-01 8.42522969e-01 -2.93937512e-03 1.68080659e+02] [-5.02701286e-03 2.74800027e-04 9.99987327e-01 -6.04485021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69 meters 0.027925963371269315 Centerline is valid? [True, True] Translation: X:121.82, Y:168.06, Z:-6.04 [[ 8.43570868e-01 5.37004775e-01 3.75007707e-03 1.21824075e+02] [-5.36998069e-01 8.43579163e-01 -2.69627338e-03 1.68062258e+02] [-4.61139855e-03 2.60713526e-04 9.99989333e-01 -6.04487755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71999999999997 meters 0.029284266285471965 Centerline is valid? [True, True] Translation: X:121.85, Y:168.04, Z:-6.05 [[ 8.44160393e-01 5.36078618e-01 3.59791321e-03 1.21848700e+02] [-5.36072440e-01 8.44168022e-01 -2.58633091e-03 1.68043946e+02] [-4.42371998e-03 2.54536002e-04 9.99990183e-01 -6.04575704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75 meters 0.029719933749546262 Centerline is valid? [True, True] Translation: X:121.88, Y:168.03, Z:-6.05 [[ 8.44228600e-01 5.35974940e-01 2.98920796e-03 1.21875555e+02] [-5.35970679e-01 8.44233866e-01 -2.14752698e-03 1.68026030e+02] [-3.67461123e-03 2.10875879e-04 9.99993226e-01 -6.04673262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78 meters 0.023074445156032526 Centerline is valid? [True, True] Translation: X:121.91, Y:168.02, Z:-6.05 [[ 8.43442134e-01 5.37217135e-01 1.76530190e-03 1.21909153e+02] [-5.37215654e-01 8.43443973e-01 -1.26697260e-03 1.68018201e+02] [-2.16957264e-03 1.20270261e-04 9.99997639e-01 -6.04667401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81 meters 0.0302328866442949 Centerline is valid? [True, True] Translation: X:121.93, Y:167.99, Z:-6.05 [[ 8.42691484e-01 5.38396128e-01 8.20272568e-04 1.21930496e+02] [-5.38395809e-01 8.42691881e-01 -5.88448371e-04 1.67994090e+02] [-1.00805536e-03 5.42491181e-05 9.99999490e-01 -6.05025658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84 meters 0.03023107359751526 Centerline is valid? [True, True] Translation: X:121.96, Y:167.98, Z:-6.05 [[ 8.41745126e-01 5.39875084e-01 -1.92379480e-04 1.21957992e+02] [-5.39875065e-01 8.41745148e-01 1.42510985e-04 1.67977369e+02] [ 2.38872624e-04 -1.60970426e-05 9.99999971e-01 -6.05209944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87 meters 0.022824614094889874 Centerline is valid? [True, True] Translation: X:121.99, Y:167.97, Z:-6.05 [[ 8.39451312e-01 5.43432485e-01 -1.62133484e-03 1.21992575e+02] [-5.43431237e-01 8.39452872e-01 1.16912287e-03 1.67971254e+02] [ 1.99637354e-03 -1.00337730e-04 9.99998002e-01 -6.05176550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9 meters 0.02054717445907853 Centerline is valid? [True, True] Translation: X:122.02, Y:167.96, Z:-6.05 [[ 8.38041229e-01 5.45604304e-01 -1.68584761e-03 1.22021452e+02] [-5.45602958e-01 8.38042919e-01 1.21577003e-03 1.67957755e+02] [ 2.07614201e-03 -9.90619666e-05 9.99997840e-01 -6.05150367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93 meters 0.02005125038566434 Centerline is valid? [True, True] Translation: X:122.05, Y:167.94, Z:-6.05 [[ 8.36769121e-01 5.47552806e-01 -1.83383746e-03 1.22048819e+02] [-5.47551218e-01 8.36771124e-01 1.32254167e-03 1.67942484e+02] [ 2.25866363e-03 -1.02542092e-04 9.99997444e-01 -6.05207739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96 meters 0.026481113649899187 Centerline is valid? [True, True] Translation: X:122.07, Y:167.92, Z:-6.06 [[ 8.34012883e-01 5.51742304e-01 -1.71524294e-03 1.22071850e+02] [-5.51740924e-01 8.34014642e-01 1.23672844e-03 1.67922135e+02] [ 2.11289313e-03 -8.50777245e-05 9.99997764e-01 -6.05600716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99 meters 0.019233302156127074 Centerline is valid? [True, True] Translation: X:122.10, Y:167.91, Z:-6.05 [[ 8.32680320e-01 5.53752383e-01 -1.33509543e-03 1.22104866e+02] [-5.53751549e-01 8.32681388e-01 9.63112730e-04 1.67914281e+02] [ 1.64503509e-03 -6.26538538e-05 9.99998645e-01 -6.05271727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02 meters 0.017512307824858065 Centerline is valid? [True, True] Translation: X:122.13, Y:167.90, Z:-6.05 [[ 8.31291077e-01 5.55836551e-01 -9.35065792e-04 1.22133441e+02] [-5.55836143e-01 8.31291602e-01 6.74785715e-04 1.67900138e+02] [ 1.15238290e-03 -4.11999800e-05 9.99999335e-01 -6.05209772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05 meters 0.016969083152886578 Centerline is valid? [True, True] Translation: X:122.16, Y:167.88, Z:-6.05 [[ 8.29807596e-01 5.58049547e-01 -2.37068007e-04 1.22160840e+02] [-5.58049521e-01 8.29807630e-01 1.71552282e-04 1.67884566e+02] [ 2.92455515e-04 -1.00596987e-05 9.99999957e-01 -6.05186372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08 meters 0.016930772853537387 Centerline is valid? [True, True] Translation: X:122.19, Y:167.87, Z:-6.05 [[ 8.26553768e-01 5.62857682e-01 3.12530238e-04 1.22188221e+02] [-5.62857638e-01 8.26553827e-01 -2.23910304e-04 1.67871513e+02] [-3.84352699e-04 9.16387420e-06 9.99999926e-01 -6.05218844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11 meters 0.016258663510016872 Centerline is valid? [True, True] Translation: X:122.21, Y:167.86, Z:-6.05 [[ 8.24531071e-01 5.65816469e-01 4.85276477e-04 1.22214829e+02] [-5.65816361e-01 8.24531214e-01 -3.49688058e-04 1.67857042e+02] [-5.97984865e-04 1.37512985e-05 9.99999821e-01 -6.05242941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14 meters 0.014566020481938394 Centerline is valid? [True, True] Translation: X:122.24, Y:167.84, Z:-6.05 [[ 8.22231001e-01 5.69153359e-01 7.97413072e-04 1.22244135e+02] [-5.69153072e-01 8.22231387e-01 -5.71204028e-04 1.67842914e+02] [-9.80760747e-04 1.58115597e-05 9.99999519e-01 -6.05191912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17 meters 0.013698591074176862 Centerline is valid? [True, True] Translation: X:122.27, Y:167.83, Z:-6.05 [[ 8.19632542e-01 5.72889323e-01 5.65832236e-04 1.22273271e+02] [-5.72889179e-01 8.19632737e-01 -4.06862431e-04 1.67827610e+02] [-6.96861766e-04 9.31852333e-06 9.99999757e-01 -6.05251489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2 meters 0.012410663606745472 Centerline is valid? [True, True] Translation: X:122.30, Y:167.82, Z:-6.05 [[ 8.13995911e-01 5.80870548e-01 2.50967645e-04 1.22303694e+02] [-5.80870520e-01 8.13995950e-01 -1.80539295e-04 1.67816986e+02] [-3.09156606e-04 1.17854171e-06 9.99999952e-01 -6.05371677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22999999999996 meters 0.012142788973967792 Centerline is valid? [True, True] Translation: X:122.33, Y:167.80, Z:-6.06 [[ 8.11128716e-01 5.84867642e-01 -2.18287544e-04 1.22333318e+02] [-5.84867620e-01 8.11128745e-01 1.62353325e-04 1.67801076e+02] [ 2.72014508e-04 -4.02012749e-06 9.99999963e-01 -6.05510762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26 meters 0.012142788973967792 Centerline is valid? [True, True] Translation: X:122.36, Y:167.78, Z:-6.06 [[ 8.10966651e-01 5.85092338e-01 -2.18242195e-04 1.22359573e+02] [-5.85092315e-01 8.10966680e-01 1.62415197e-04 1.67782019e+02] [ 2.72015036e-04 -4.02147727e-06 9.99999963e-01 -6.05555608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28999999999996 meters 0.012028410531009065 Centerline is valid? [True, True] Translation: X:122.39, Y:167.77, Z:-6.05 [[ 8.08408858e-01 5.88621089e-01 -5.76411582e-04 1.22388085e+02] [-5.88620938e-01 8.08409063e-01 4.21767604e-04 1.67765788e+02] [ 7.14237653e-04 -1.67274144e-06 9.99999745e-01 -6.05452688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32 meters 0.01240786754357432 Centerline is valid? [True, True] Translation: X:122.42, Y:167.75, Z:-6.05 [[ 8.04291762e-01 5.94234580e-01 1.62759176e-04 1.22415910e+02] [-5.94234569e-01 8.04291778e-01 -1.14307903e-04 1.67752050e+02] [-1.98831575e-04 -4.78022430e-06 9.99999980e-01 -6.05463966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34999999999997 meters 0.01278692773423209 Centerline is valid? [True, True] Translation: X:122.44, Y:167.73, Z:-6.05 [[ 8.02495811e-01 5.96657259e-01 7.67055240e-04 1.22443089e+02] [-5.96657005e-01 8.02496177e-01 -5.50861952e-04 1.67734644e+02] [-9.44234680e-04 -1.56044734e-05 9.99999554e-01 -6.05427401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38 meters 0.013301257897899883 Centerline is valid? [True, True] Translation: X:122.47, Y:167.72, Z:-6.05 [[ 8.00793876e-01 5.98938209e-01 1.47962433e-03 1.22470071e+02] [-5.98937259e-01 8.00795243e-01 -1.06716442e-03 1.67717174e+02] [-1.82404167e-03 -3.16234086e-05 9.99998336e-01 -6.05469675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40999999999997 meters 0.014258561512946005 Centerline is valid? [True, True] Translation: X:122.50, Y:167.70, Z:-6.06 [[ 7.98523451e-01 6.01960860e-01 1.84972903e-03 1.22496454e+02] [-6.01959375e-01 7.98525592e-01 -1.33759174e-03 1.67700439e+02] [-2.28223384e-03 -4.53633609e-05 9.99997395e-01 -6.05518540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44 meters 0.014036014915583525 Centerline is valid? [True, True] Translation: X:122.52, Y:167.68, Z:-6.06 [[ 7.97715993e-01 6.03030107e-01 1.97120913e-03 1.22521650e+02] [-6.03028427e-01 7.97718426e-01 -1.42422729e-03 1.67681142e+02] [-2.43132178e-03 -5.25662501e-05 9.99997043e-01 -6.05539861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46999999999997 meters 0.014190935650178139 Centerline is valid? [True, True] Translation: X:122.55, Y:167.66, Z:-6.06 [[ 7.97116460e-01 6.03822150e-01 2.03961912e-03 1.22547280e+02] [-6.03820352e-01 7.97119068e-01 -1.47457674e-03 1.67661397e+02] [-2.51620139e-03 -5.61541471e-05 9.99996833e-01 -6.05614346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5 meters 0.013906552628036266 Centerline is valid? [True, True] Translation: X:122.57, Y:167.64, Z:-6.06 [[ 7.96871511e-01 6.04144785e-01 2.20749193e-03 1.22571644e+02] [-6.04142679e-01 7.96874566e-01 -1.59658949e-03 1.67638966e+02] [-2.72366539e-03 -6.13634130e-05 9.99996289e-01 -6.05674296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53 meters 0.014716072258991417 Centerline is valid? [True, True] Translation: X:122.60, Y:167.62, Z:-6.06 [[ 7.97034761e-01 6.03928738e-01 2.38106639e-03 1.22596372e+02] [-6.03926275e-01 7.97038315e-01 -1.72562355e-03 1.67620440e+02] [-2.93995480e-03 -6.26066012e-05 9.99995676e-01 -6.05817071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56 meters 0.013884700049492408 Centerline is valid? [True, True] Translation: X:122.62, Y:167.60, Z:-6.06 [[ 7.97296302e-01 6.03581028e-01 2.92408016e-03 1.22619754e+02] [-6.03577313e-01 7.97301660e-01 -2.11898424e-03 1.67598369e+02] [-3.61035265e-03 -7.54501435e-05 9.99993480e-01 -6.05770335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59 meters 0.013748303441664627 Centerline is valid? [True, True] Translation: X:122.64, Y:167.58, Z:-6.06 [[ 7.98268152e-01 6.02295229e-01 2.90075774e-03 1.22641775e+02] [-6.02291560e-01 7.98273419e-01 -2.10343498e-03 1.67576173e+02] [-3.58248665e-03 -6.79967498e-05 9.99993581e-01 -6.05854527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62 meters 0.01361733498634896 Centerline is valid? [True, True] Translation: X:122.66, Y:167.56, Z:-6.06 [[ 7.98654724e-01 6.01779935e-01 3.39734640e-03 1.22664986e+02] [-6.01774890e-01 7.98661946e-01 -2.46546373e-03 1.67555869e+02] [-4.19699789e-03 -7.53835015e-05 9.99991190e-01 -6.05933527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65 meters 0.01362838503767746 Centerline is valid? [True, True] Translation: X:122.69, Y:167.53, Z:-6.06 [[ 7.98713621e-01 6.01701149e-01 3.50403570e-03 1.22690195e+02] [-6.01695777e-01 7.98721304e-01 -2.54366023e-03 1.67533983e+02] [-4.32927125e-03 -7.67074081e-05 9.99990626e-01 -6.05985122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68 meters 0.01372072929920493 Centerline is valid? [True, True] Translation: X:122.72, Y:167.51, Z:-6.06 [[ 7.98701023e-01 6.01716356e-01 3.75545248e-03 1.22715472e+02] [-6.01710176e-01 7.98709848e-01 -2.72817446e-03 1.67512223e+02] [-4.64110408e-03 -8.06982452e-05 9.99989227e-01 -6.06011659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71 meters 0.013861238121859853 Centerline is valid? [True, True] Translation: X:122.74, Y:167.49, Z:-6.06 [[ 7.98296588e-01 6.02247515e-01 4.52630160e-03 1.22738765e+02] [-6.02238530e-01 7.98309414e-01 -3.29131083e-03 1.67489163e+02] [-5.59557295e-03 -9.84710151e-05 9.99984340e-01 -6.06096498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74 meters 0.014054865945715518 Centerline is valid? [True, True] Translation: X:122.76, Y:167.47, Z:-6.06 [[ 7.97932502e-01 6.02727717e-01 4.79809821e-03 1.22762948e+02] [-6.02717615e-01 7.97946921e-01 -3.49117254e-03 1.67468606e+02] [-5.93285414e-03 -1.06178267e-04 9.99982395e-01 -6.06140253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77 meters 0.014269079007987068 Centerline is valid? [True, True] Translation: X:122.79, Y:167.44, Z:-6.06 [[ 7.97729267e-01 6.02991703e-01 5.38730470e-03 1.22785396e+02] [-6.02978956e-01 7.97747449e-01 -3.92259705e-03 1.67444677e+02] [-6.66300206e-03 -1.19260893e-04 9.99977795e-01 -6.06178779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8 meters 0.014248218937671255 Centerline is valid? [True, True] Translation: X:122.81, Y:167.42, Z:-6.06 [[ 7.97812336e-01 6.02876429e-01 5.95721640e-03 1.22808749e+02] [-6.02860817e-01 7.97834566e-01 -4.34053452e-03 1.67422728e+02] [-7.36967912e-03 -1.28440359e-04 9.99972835e-01 -6.06168844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83 meters 0.014279986048573261 Centerline is valid? [True, True] Translation: X:122.83, Y:167.40, Z:-6.06 [[ 7.97911565e-01 6.02743965e-01 6.07020038e-03 1.22833510e+02] [-6.02727736e-01 7.97934644e-01 -4.42490239e-03 1.67400157e+02] [-7.51070639e-03 -1.27997343e-04 9.99971786e-01 -6.06193887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86 meters 0.013383464312480975 Centerline is valid? [True, True] Translation: X:122.86, Y:167.38, Z:-6.06 [[ 7.97968191e-01 6.02666944e-01 6.27066839e-03 1.22856248e+02] [-6.02649603e-01 7.97992818e-01 -4.57365589e-03 1.67376199e+02] [-7.76033956e-03 -1.29383896e-04 9.99969880e-01 -6.06103414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89 meters 0.013443969223936102 Centerline is valid? [True, True] Translation: X:122.88, Y:167.35, Z:-6.06 [[ 7.98338089e-01 6.02165763e-01 7.25876821e-03 1.22877142e+02] [-6.02142467e-01 7.98371075e-01 -5.29870695e-03 1.67352827e+02] [-8.98589049e-03 -1.40653020e-04 9.99959616e-01 -6.06085218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92 meters 0.013504845528880607 Centerline is valid? [True, True] Translation: X:122.90, Y:167.33, Z:-6.06 [[ 7.98296555e-01 6.02215160e-01 7.71433326e-03 1.22901489e+02] [-6.02188823e-01 7.98333814e-01 -5.63400529e-03 1.67330961e+02] [-9.55149649e-03 -1.47878259e-04 9.99954372e-01 -6.06081452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95 meters 0.013514092034566317 Centerline is valid? [True, True] Translation: X:122.93, Y:167.31, Z:-6.06 [[ 7.98248581e-01 6.02275438e-01 7.96874178e-03 1.22926065e+02] [-6.02247302e-01 7.98288340e-01 -5.82348004e-03 1.67308938e+02] [-9.86869264e-03 -1.50568555e-04 9.99951292e-01 -6.06100145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97999999999996 meters 0.013565977950771016 Centerline is valid? [True, True] Translation: X:122.95, Y:167.29, Z:-6.06 [[ 7.98083336e-01 6.02490762e-01 8.23842455e-03 1.22950761e+02] [-6.02460662e-01 7.98125841e-01 -6.02433301e-03 1.67286758e+02] [-1.02049045e-02 -1.55406927e-04 9.99947917e-01 -6.06131065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01 meters 0.013417396027321631 Centerline is valid? [True, True] Translation: X:122.97, Y:167.26, Z:-6.06 [[ 7.97722413e-01 6.02977553e-01 7.55140278e-03 1.22973197e+02] [-6.02952259e-01 7.97758140e-01 -5.52479258e-03 1.67261727e+02] [-9.35551894e-03 -1.45884501e-04 9.99956226e-01 -6.06225120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03999999999996 meters 0.013536033766528392 Centerline is valid? [True, True] Translation: X:123.00, Y:167.24, Z:-6.06 [[ 7.97513527e-01 6.03263384e-01 6.74267830e-03 1.22998236e+02] [-6.03243208e-01 7.97542019e-01 -4.93561570e-03 1.67239906e+02] [-8.35504549e-03 -1.31254604e-04 9.99965087e-01 -6.06332693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07 meters 0.013808726476297136 Centerline is valid? [True, True] Translation: X:123.02, Y:167.22, Z:-6.06 [[ 7.97324820e-01 6.03522358e-01 5.82191287e-03 1.23020533e+02] [-6.03507308e-01 7.97346067e-01 -4.26372411e-03 1.67217138e+02] [-7.21533216e-03 -1.13993903e-04 9.99973963e-01 -6.06498566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09999999999997 meters 0.013954587095371004 Centerline is valid? [True, True] Translation: X:123.05, Y:167.20, Z:-6.07 [[ 7.97123320e-01 6.03793283e-01 5.29944338e-03 1.23045478e+02] [-6.03780808e-01 7.97140929e-01 -3.88276807e-03 1.67195390e+02] [-6.56879250e-03 -1.04657226e-04 9.99978420e-01 -6.06593086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13 meters 0.013963381486684282 Centerline is valid? [True, True] Translation: X:123.07, Y:167.17, Z:-6.07 [[ 7.97075143e-01 6.03858073e-01 5.16179826e-03 1.23069972e+02] [-6.03846225e-01 7.97091850e-01 -3.78407837e-03 1.67173514e+02] [-6.39947359e-03 -1.00737586e-04 9.99979518e-01 -6.06622165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15999999999997 meters 0.014167100461571583 Centerline is valid? [True, True] Translation: X:123.09, Y:167.15, Z:-6.07 [[ 7.97062758e-01 6.03872133e-01 5.42277857e-03 1.23092925e+02] [-6.03859039e-01 7.97081198e-01 -3.97804784e-03 1.67149128e+02] [-6.72462707e-03 -1.03840075e-04 9.99977384e-01 -6.06665410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19 meters 0.014079216131660143 Centerline is valid? [True, True] Translation: X:123.12, Y:167.13, Z:-6.07 [[ 7.96853159e-01 6.04148895e-01 5.39956719e-03 1.23117600e+02] [-6.04135904e-01 7.96871446e-01 -3.96332611e-03 1.67126729e+02] [-6.69720000e-03 -1.03883477e-04 9.99977568e-01 -6.06712936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21999999999997 meters 0.014126386151696995 Centerline is valid? [True, True] Translation: X:123.14, Y:167.10, Z:-6.07 [[ 7.96661333e-01 6.04398428e-01 5.76720089e-03 1.23142603e+02] [-6.04383594e-01 7.96682200e-01 -4.23603424e-03 1.67104518e+02] [-7.15487873e-03 -1.10916915e-04 9.99974397e-01 -6.06741740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25 meters 0.014346530595516962 Centerline is valid? [True, True] Translation: X:123.17, Y:167.08, Z:-6.07 [[ 7.96021081e-01 6.05234382e-01 6.46383883e-03 1.23165407e+02] [-6.05215746e-01 7.96047314e-01 -4.75130093e-03 1.67081259e+02] [-8.02117222e-03 -1.29881332e-04 9.99967821e-01 -6.06781731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28 meters 0.014258717436461128 Centerline is valid? [True, True] Translation: X:123.19, Y:167.06, Z:-6.07 [[ 7.95519378e-01 6.05886703e-01 7.08675536e-03 1.23189880e+02] [-6.05864300e-01 7.95550930e-01 -5.21238307e-03 1.67059151e+02] [-8.79598841e-03 -1.47060335e-04 9.99961304e-01 -6.06771329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31 meters 0.014560165808932973 Centerline is valid? [True, True] Translation: X:123.21, Y:167.04, Z:-6.07 [[ 7.94530125e-01 6.07180101e-01 7.36247979e-03 1.23214084e+02] [-6.07155942e-01 7.94564219e-01 -5.41888142e-03 1.67038559e+02] [-9.14019997e-03 -1.64708817e-04 9.99958214e-01 -6.06812987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34 meters 0.015009451416768873 Centerline is valid? [True, True] Translation: X:123.24, Y:167.02, Z:-6.07 [[ 7.93374036e-01 6.08685865e-01 7.69129561e-03 1.23237996e+02] [-6.08659539e-01 7.93411295e-01 -5.66420392e-03 1.67018970e+02] [-9.55008167e-03 -1.87548116e-04 9.99954379e-01 -6.06867612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37 meters 0.01605226543458628 Centerline is valid? [True, True] Translation: X:123.26, Y:167.00, Z:-6.07 [[ 7.90589449e-01 6.12301297e-01 7.44616711e-03 1.23262181e+02] [-6.12276750e-01 7.90624483e-01 -5.48713768e-03 1.66997084e+02] [-9.24690353e-03 -2.21041838e-04 9.99957222e-01 -6.07004386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4 meters 0.016947325497550205 Centerline is valid? [True, True] Translation: X:123.29, Y:166.98, Z:-6.07 [[ 7.88818169e-01 6.14585842e-01 7.08083361e-03 1.23287667e+02] [-6.14563740e-01 7.88849914e-01 -5.21754139e-03 1.66977150e+02] [-8.79234205e-03 -2.35932137e-04 9.99961319e-01 -6.07139487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43 meters 0.01738374384483805 Centerline is valid? [True, True] Translation: X:123.31, Y:166.96, Z:-6.07 [[ 7.87037616e-01 6.16872418e-01 6.34123439e-03 1.23312045e+02] [-6.16854749e-01 7.87063127e-01 -4.67467694e-03 1.66956939e+02] [-7.87463104e-03 -2.32473955e-04 9.99968968e-01 -6.07242629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46 meters 0.018573942879807452 Centerline is valid? [True, True] Translation: X:123.34, Y:166.94, Z:-6.07 [[ 7.84238981e-01 6.20432376e-01 5.73471960e-03 1.23335298e+02] [-6.20418008e-01 7.84259911e-01 -4.22933894e-03 1.66935686e+02] [-7.12152949e-03 -2.41110843e-04 9.99974613e-01 -6.07371021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49 meters 0.01965500606463941 Centerline is valid? [True, True] Translation: X:123.36, Y:166.92, Z:-6.07 [[ 7.83274580e-01 6.21649482e-01 5.73187153e-03 1.23359275e+02] [-6.21635146e-01 7.83295512e-01 -4.22913367e-03 1.66916410e+02] [-7.11878800e-03 -2.50559896e-04 9.99974630e-01 -6.07437009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52 meters 0.020029759918263643 Centerline is valid? [True, True] Translation: X:123.38, Y:166.90, Z:-6.07 [[ 7.82676695e-01 6.22400750e-01 5.87343388e-03 1.23383118e+02] [-6.22385704e-01 7.82698689e-01 -4.33567684e-03 1.66895345e+02] [-7.29565752e-03 -2.62108063e-04 9.99973352e-01 -6.07496694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55 meters 0.019575935479879864 Centerline is valid? [True, True] Translation: X:123.41, Y:166.87, Z:-6.07 [[ 7.82511274e-01 6.22604649e-01 6.28942716e-03 1.23407010e+02] [-6.22587384e-01 7.82536499e-01 -4.64518699e-03 1.66872241e+02] [-7.81382133e-03 -2.80806814e-04 9.99969432e-01 -6.07499175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58 meters 0.01888816615891076 Centerline is valid? [True, True] Translation: X:123.43, Y:166.85, Z:-6.07 [[ 7.83671583e-01 6.21131944e-01 7.34561341e-03 1.23427482e+02] [-6.21108289e-01 7.83705948e-01 -5.42958394e-03 1.66846373e+02] [-9.12928895e-03 -3.07410732e-04 9.99958280e-01 -6.07452682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61 meters 0.018705696143578882 Centerline is valid? [True, True] Translation: X:123.45, Y:166.82, Z:-6.07 [[ 7.84744104e-01 6.19771459e-01 7.74794966e-03 1.23450457e+02] [-6.19745043e-01 7.84782292e-01 -5.73024617e-03 1.66824328e+02] [-9.63189672e-03 -3.04976501e-04 9.99953566e-01 -6.07463833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64 meters 0.01748253422381081 Centerline is valid? [True, True] Translation: X:123.47, Y:166.80, Z:-6.07 [[ 7.85797786e-01 6.18426476e-01 8.39836755e-03 1.23472463e+02] [-6.18395325e-01 7.85842604e-01 -6.21485801e-03 1.66800573e+02] [-1.04432278e-02 -3.09889568e-04 9.99945420e-01 -6.07431706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67 meters 0.01618994720383584 Centerline is valid? [True, True] Translation: X:123.49, Y:166.77, Z:-6.07 [[ 7.88019725e-01 6.15580753e-01 9.23305360e-03 1.23491652e+02] [-6.15542859e-01 7.88073759e-01 -6.83669321e-03 1.66774370e+02] [-1.14848640e-02 -2.95891104e-04 9.99934003e-01 -6.07408844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7 meters 0.015781290101268088 Centerline is valid? [True, True] Translation: X:123.51, Y:166.75, Z:-6.07 [[ 7.88794066e-01 6.14588771e-01 9.19590294e-03 1.23514599e+02] [-6.14551082e-01 7.88847619e-01 -6.81193632e-03 1.66752022e+02] [-1.14407057e-02 -2.78137153e-04 9.99934514e-01 -6.07462036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72999999999996 meters 0.015617668334710375 Centerline is valid? [True, True] Translation: X:123.54, Y:166.73, Z:-6.08 [[ 7.89306429e-01 6.13936211e-01 8.81414670e-03 1.23538192e+02] [-6.13901510e-01 7.89355600e-01 -6.53243821e-03 1.66729620e+02] [-1.09679964e-02 -2.54922488e-04 9.99939817e-01 -6.07549472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76 meters 0.01565627490655195 Centerline is valid? [True, True] Translation: X:123.56, Y:166.71, Z:-6.08 [[ 7.89693015e-01 6.13445324e-01 8.35325249e-03 1.23561305e+02] [-6.13414097e-01 7.89737159e-01 -6.19397019e-03 1.66708171e+02] [-1.03965359e-02 -2.32667848e-04 9.99945928e-01 -6.07659032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78999999999996 meters 0.014943028877329756 Centerline is valid? [True, True] Translation: X:123.58, Y:166.68, Z:-6.08 [[ 7.90389655e-01 6.12565460e-01 6.91020811e-03 1.23582296e+02] [-6.12544042e-01 7.90419841e-01 -5.12559996e-03 1.66682430e+02] [-8.60173109e-03 -1.81585626e-04 9.99962988e-01 -6.07801658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82 meters 0.014782108271294753 Centerline is valid? [True, True] Translation: X:123.61, Y:166.66, Z:-6.08 [[ 7.90544495e-01 6.12372179e-01 6.30202759e-03 1.23606677e+02] [-6.12354345e-01 7.90569597e-01 -4.67630584e-03 1.66659805e+02] [-7.84583101e-03 -1.62246139e-04 9.99969208e-01 -6.07838409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84999999999997 meters 0.014832894395671167 Centerline is valid? [True, True] Translation: X:123.63, Y:166.64, Z:-6.08 [[ 7.90630551e-01 6.12261048e-01 6.30398976e-03 1.23630560e+02] [-6.12243176e-01 7.90655667e-01 -4.68077166e-03 1.66638119e+02] [-7.85013939e-03 -1.58813632e-04 9.99969175e-01 -6.07905203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88 meters 0.014686764074284167 Centerline is valid? [True, True] Translation: X:123.65, Y:166.61, Z:-6.08 [[ 7.91531737e-01 6.11095025e-01 6.35452265e-03 1.23652066e+02] [-6.11076804e-01 7.91557231e-01 -4.72127270e-03 1.66614578e+02] [-7.91511461e-03 -1.46064213e-04 9.99968664e-01 -6.07956405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90999999999997 meters 0.014343213797829065 Centerline is valid? [True, True] Translation: X:123.68, Y:166.59, Z:-6.08 [[ 7.92179045e-01 6.10249886e-01 6.88747103e-03 1.23675543e+02] [-6.10228425e-01 7.92208972e-01 -5.11994164e-03 1.66592550e+02] [-8.58076015e-03 -1.47020127e-04 9.99963174e-01 -6.07968379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94 meters 0.013766883856713694 Centerline is valid? [True, True] Translation: X:123.70, Y:166.57, Z:-6.08 [[ 7.94187796e-01 6.07624945e-01 7.59411645e-03 1.23696386e+02] [-6.07598703e-01 7.94224093e-01 -5.64862604e-03 1.66567389e+02] [-9.46367634e-03 -1.28105432e-04 9.99955210e-01 -6.07914261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96999999999997 meters 0.013213949293771158 Centerline is valid? [True, True] Translation: X:123.72, Y:166.54, Z:-6.08 [[ 7.95986034e-01 6.05264669e-01 7.80477902e-03 1.23719357e+02] [-6.05236806e-01 7.96024290e-01 -5.80843150e-03 1.66544963e+02] [-9.72843204e-03 -1.00309179e-04 9.99952673e-01 -6.07939652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0 meters 0.012947925157930716 Centerline is valid? [True, True] Translation: X:123.74, Y:166.52, Z:-6.08 [[ 7.97360390e-01 6.03445874e-01 8.33580704e-03 1.23743721e+02] [-6.03413955e-01 7.97403957e-01 -6.20715411e-03 1.66523362e+02] [-1.03926871e-02 -8.06034701e-05 9.99945991e-01 -6.07922507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03 meters 0.012787599796846788 Centerline is valid? [True, True] Translation: X:123.77, Y:166.50, Z:-6.08 [[ 7.98408773e-01 6.02052993e-01 8.69626017e-03 1.23769000e+02] [-6.02018132e-01 7.98456129e-01 -6.47910066e-03 1.66502984e+02] [-1.08443442e-02 -6.23354962e-05 9.99941196e-01 -6.07885027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06 meters 0.012646414251744854 Centerline is valid? [True, True] Translation: X:123.79, Y:166.48, Z:-6.08 [[ 7.99786714e-01 6.00211757e-01 9.33050396e-03 1.23794156e+02] [-6.00171454e-01 7.99841138e-01 -6.95557820e-03 1.66484253e+02] [-1.16377407e-02 -3.69230971e-05 9.99932279e-01 -6.07891440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09 meters 0.01263923520396131 Centerline is valid? [True, True] Translation: X:123.82, Y:166.47, Z:-6.08 [[ 7.99693772e-01 6.00333914e-01 9.43735481e-03 1.23820906e+02] [-6.00292653e-01 7.99749455e-01 -7.03846229e-03 1.66465674e+02] [-1.17729470e-02 -3.65603057e-05 9.99930696e-01 -6.07887255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12 meters 0.012638899997620474 Centerline is valid? [True, True] Translation: X:123.85, Y:166.45, Z:-6.08 [[ 7.99200740e-01 6.00986533e-01 9.66253011e-03 1.23847408e+02] [-6.00943272e-01 7.99259148e-01 -7.21101967e-03 1.66448414e+02] [-1.20565913e-02 -4.35802021e-05 9.99927316e-01 -6.07950585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15 meters 0.01282108946344152 Centerline is valid? [True, True] Translation: X:123.88, Y:166.43, Z:-6.08 [[ 7.97796440e-01 6.02846367e-01 9.85384686e-03 1.23875821e+02] [-6.02801485e-01 7.97857289e-01 -7.35635564e-03 1.66431121e+02] [-1.22967158e-02 -7.10391783e-05 9.99924390e-01 -6.07954425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18 meters 0.01282108946344152 Centerline is valid? [True, True] Translation: X:123.90, Y:166.41, Z:-6.08 [[ 7.97626026e-01 6.03071858e-01 9.85176873e-03 1.23901723e+02] [-6.03026960e-01 7.97686861e-01 -7.35913756e-03 1.66411682e+02] [-1.22967152e-02 -7.10425051e-05 9.99924390e-01 -6.07999267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21 meters 0.012899956424234598 Centerline is valid? [True, True] Translation: X:123.93, Y:166.39, Z:-6.08 [[ 7.96857544e-01 6.04093465e-01 9.44141765e-03 1.23928547e+02] [-6.04052254e-01 7.96913470e-01 -7.05661676e-03 1.66393618e+02] [-1.17868490e-02 -7.99913103e-05 9.99930529e-01 -6.08100911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24 meters 0.013260890382392471 Centerline is valid? [True, True] Translation: X:123.96, Y:166.38, Z:-6.08 [[ 7.95310559e-01 6.06149384e-01 8.00245517e-03 1.23955361e+02] [-6.06119855e-01 7.95350813e-01 -5.98380995e-03 1.66376158e+02] [-9.99184194e-03 -9.14597263e-05 9.99950076e-01 -6.08284135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27 meters 0.01339998805069171 Centerline is valid? [True, True] Translation: X:123.98, Y:166.36, Z:-6.08 [[ 7.94666531e-01 6.07000430e-01 7.45543612e-03 1.23982188e+02] [-6.06974815e-01 7.94701497e-01 -5.57712127e-03 1.66357386e+02] [-9.31016125e-03 -9.33103422e-05 9.99956655e-01 -6.08399999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3 meters 0.013478215293699329 Centerline is valid? [True, True] Translation: X:124.01, Y:166.34, Z:-6.08 [[ 7.93950750e-01 6.07942636e-01 6.92516863e-03 1.24007906e+02] [-6.07920547e-01 7.93980946e-01 -5.18327826e-03 1.66338740e+02] [-8.64958779e-03 -9.46846425e-05 9.99962587e-01 -6.08460231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33 meters 0.013891859779254756 Centerline is valid? [True, True] Translation: X:124.03, Y:166.32, Z:-6.09 [[ 7.93260909e-01 6.08841827e-01 6.98275486e-03 1.24034245e+02] [-6.08819381e-01 7.93291635e-01 -5.22902461e-03 1.66321326e+02] [-8.72300993e-03 -1.03255674e-04 9.99961949e-01 -6.08594121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36 meters 0.013940473399724379 Centerline is valid? [True, True] Translation: X:124.06, Y:166.30, Z:-6.09 [[ 7.92834071e-01 6.09395531e-01 7.15693797e-03 1.24060989e+02] [-6.09371947e-01 7.92866366e-01 -5.36249191e-03 1.66302806e+02] [-8.94237401e-03 -1.09670927e-04 9.99960010e-01 -6.08639311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39 meters 0.013869947564836744 Centerline is valid? [True, True] Translation: X:124.09, Y:166.28, Z:-6.08 [[ 7.92484895e-01 6.09831260e-01 8.57470820e-03 1.24087469e+02] [-6.09797382e-01 7.92531272e-01 -6.42933461e-03 1.66282772e+02] [-1.07165336e-02 -1.33684047e-04 9.99942567e-01 -6.08471201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42 meters 0.013830590665403741 Centerline is valid? [True, True] Translation: X:124.11, Y:166.26, Z:-6.08 [[ 7.92477077e-01 6.09833901e-01 9.09373651e-03 1.24113208e+02] [-6.09795748e-01 7.92529239e-01 -6.82282446e-03 1.66262990e+02] [-1.13678417e-02 -1.38389877e-04 9.99935374e-01 -6.08420942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45 meters 0.013921063116973768 Centerline is valid? [True, True] Translation: X:124.14, Y:166.24, Z:-6.08 [[ 7.92730337e-01 6.09495863e-01 9.66466282e-03 1.24137629e+02] [-6.09452687e-01 7.92789237e-01 -7.25590314e-03 1.66244389e+02] [-1.20844836e-02 -1.38180178e-04 9.99926970e-01 -6.08393535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47999999999996 meters 0.013978405281809181 Centerline is valid? [True, True] Translation: X:124.16, Y:166.23, Z:-6.08 [[ 7.93600602e-01 6.08350380e-01 1.03875363e-02 1.24162157e+02] [-6.08300352e-01 7.93668570e-01 -7.80269352e-03 1.66225674e+02] [-1.29910327e-02 -1.26519734e-04 9.99915605e-01 -6.08413393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51 meters 0.013565680193682376 Centerline is valid? [True, True] Translation: X:124.19, Y:166.20, Z:-6.08 [[ 7.94238849e-01 6.07510257e-01 1.07674450e-02 1.24186132e+02] [-6.07456394e-01 7.94311824e-01 -8.09042853e-03 1.66204905e+02] [-1.34677272e-02 -1.15020677e-04 9.99909299e-01 -6.08457486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53999999999996 meters 0.01356642979394189 Centerline is valid? [True, True] Translation: X:124.21, Y:166.19, Z:-6.09 [[ 7.94724260e-01 6.06873604e-01 1.08526672e-02 1.24211580e+02] [-6.06818767e-01 7.94798351e-01 -8.15875468e-03 1.66186084e+02] [-1.35770148e-02 -1.01641835e-04 9.99907823e-01 -6.08544604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57 meters 0.013384678940232812 Centerline is valid? [True, True] Translation: X:124.24, Y:166.17, Z:-6.09 [[ 7.95637019e-01 6.05678677e-01 1.07272629e-02 1.24237200e+02] [-6.05624933e-01 7.95709328e-01 -8.06890173e-03 1.66166119e+02] [-1.34229449e-02 -7.67809723e-05 9.99909905e-01 -6.08702573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59999999999997 meters 0.013513294380439016 Centerline is valid? [True, True] Translation: X:124.26, Y:166.15, Z:-6.09 [[ 7.95700215e-01 6.05598236e-01 1.05803587e-02 1.24263097e+02] [-6.05545893e-01 7.95770552e-01 -7.96245846e-03 1.66147234e+02] [-1.32415887e-02 -7.11628570e-05 9.99912324e-01 -6.08805575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63 meters 0.013482451333053327 Centerline is valid? [True, True] Translation: X:124.29, Y:166.13, Z:-6.09 [[ 7.95778087e-01 6.05506275e-01 9.96927271e-03 1.24289301e+02] [-6.05459766e-01 7.95840529e-01 -7.50496622e-03 1.66127408e+02] [-1.24782554e-02 -6.37058634e-05 9.99922142e-01 -6.08888379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65999999999997 meters 0.013395048253706804 Centerline is valid? [True, True] Translation: X:124.32, Y:166.11, Z:-6.09 [[ 7.95791918e-01 6.05503405e-01 8.99158413e-03 1.24315330e+02] [-6.05465535e-01 7.95842713e-01 -6.77222190e-03 1.66107191e+02] [-1.12564901e-02 -5.48148383e-05 9.99936642e-01 -6.09061349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69 meters 0.013402234665197113 Centerline is valid? [True, True] Translation: X:124.34, Y:166.09, Z:-6.09 [[ 7.95717900e-01 6.05608411e-01 8.45439434e-03 1.24341824e+02] [-6.05574900e-01 7.95762810e-01 -6.37109627e-03 1.66087126e+02] [-1.05860821e-02 -5.01736591e-05 9.99943965e-01 -6.09152521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71999999999997 meters 0.013369616087820805 Centerline is valid? [True, True] Translation: X:124.37, Y:166.07, Z:-6.09 [[ 7.95659636e-01 6.05688746e-01 8.17846455e-03 1.24367345e+02] [-6.05657354e-01 7.95701666e-01 -6.16674214e-03 1.66068305e+02] [-1.02427442e-02 -4.67193973e-05 9.99947541e-01 -6.09284827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75 meters 0.013327569442642287 Centerline is valid? [True, True] Translation: X:124.39, Y:166.05, Z:-6.09 [[ 7.95441809e-01 6.05973927e-01 8.24188519e-03 1.24393358e+02] [-6.05942027e-01 7.95484505e-01 -6.21793181e-03 1.66049004e+02] [-1.03241965e-02 -4.81016937e-05 9.99946703e-01 -6.09422236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78 meters 0.01332903917678118 Centerline is valid? [True, True] Translation: X:124.42, Y:166.03, Z:-6.09 [[ 7.95150140e-01 6.06354880e-01 8.36743494e-03 1.24419503e+02] [-6.06321982e-01 7.95194163e-01 -6.31648679e-03 1.66029039e+02] [-1.04837680e-02 -5.08043764e-05 9.99945043e-01 -6.09453990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81 meters 0.013326422899361198 Centerline is valid? [True, True] Translation: X:124.45, Y:166.01, Z:-6.09 [[ 7.94773452e-01 6.06846699e-01 8.49964052e-03 1.24446143e+02] [-6.06812739e-01 7.94818898e-01 -6.42020948e-03 1.66009010e+02] [-1.06517578e-02 -5.50780887e-05 9.99943267e-01 -6.09454823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84 meters 0.01330865101637002 Centerline is valid? [True, True] Translation: X:124.47, Y:165.99, Z:-6.09 [[ 7.94018424e-01 6.07833164e-01 8.57832689e-03 1.24471617e+02] [-6.07798587e-01 7.94064758e-01 -6.48362761e-03 1.65989525e+02] [-1.07527110e-02 -6.57751871e-05 9.99942186e-01 -6.09424375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87 meters 0.01332369546118393 Centerline is valid? [True, True] Translation: X:124.50, Y:165.97, Z:-6.09 [[ 7.93564301e-01 6.08428658e-01 8.38256264e-03 1.24497925e+02] [-6.08395640e-01 7.93608570e-01 -6.33899007e-03 1.65969598e+02] [-1.05092968e-02 -6.95183307e-05 9.99944773e-01 -6.09495132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9 meters 0.013528607753696286 Centerline is valid? [True, True] Translation: X:124.52, Y:165.95, Z:-6.10 [[ 7.92708121e-01 6.09551616e-01 7.78866772e-03 1.24523282e+02] [-6.09523126e-01 7.92746380e-01 -5.89373848e-03 1.65950777e+02] [-9.76697594e-03 -7.53587437e-05 9.99952299e-01 -6.09560691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93 meters 0.013506635585756235 Centerline is valid? [True, True] Translation: X:124.55, Y:165.93, Z:-6.10 [[ 7.92154377e-01 6.10265065e-01 8.24582630e-03 1.24549026e+02] [-6.10233159e-01 7.92197288e-01 -6.24092851e-03 1.65931102e+02] [-1.03409419e-02 -8.80977962e-05 9.99946527e-01 -6.09569965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96 meters 0.01367934105095654 Centerline is valid? [True, True] Translation: X:124.58, Y:165.91, Z:-6.10 [[ 7.91553365e-01 6.11044133e-01 8.26663830e-03 1.24575436e+02] [-6.11012070e-01 7.91596525e-01 -6.26034839e-03 1.65911030e+02] [-1.03691913e-02 -9.56159442e-05 9.99946234e-01 -6.09611086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99 meters 0.01386713138570593 Centerline is valid? [True, True] Translation: X:124.60, Y:165.89, Z:-6.10 [[ 7.90729307e-01 6.12111063e-01 8.19815407e-03 1.24600935e+02] [-6.12079548e-01 7.90771798e-01 -6.21219661e-03 1.65892041e+02] [-1.02854233e-02 -1.05756516e-04 9.99947098e-01 -6.09634199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02 meters 0.014035276739959253 Centerline is valid? [True, True] Translation: X:124.63, Y:165.87, Z:-6.10 [[ 7.90265044e-01 6.12710255e-01 8.20385947e-03 1.24626874e+02] [-6.12678690e-01 7.90307618e-01 -6.22033917e-03 1.65873075e+02] [-1.02948382e-02 -1.10613265e-04 9.99947001e-01 -6.09698204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05 meters 0.014089102040301794 Centerline is valid? [True, True] Translation: X:124.65, Y:165.85, Z:-6.10 [[ 7.89513985e-01 6.13680500e-01 7.99452757e-03 1.24653124e+02] [-6.13650558e-01 7.89554450e-01 -6.06322244e-03 1.65852763e+02] [-1.00329962e-02 -1.18847397e-04 9.99949661e-01 -6.09751013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08 meters 0.014257554162733171 Centerline is valid? [True, True] Translation: X:124.68, Y:165.83, Z:-6.10 [[ 7.88633619e-01 6.14814741e-01 7.73625420e-03 1.24678214e+02] [-6.14786724e-01 7.88671553e-01 -5.87078538e-03 1.65832961e+02] [-9.71080900e-03 -1.26247657e-04 9.99952841e-01 -6.09790268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11 meters 0.014209896959470348 Centerline is valid? [True, True] Translation: X:124.70, Y:165.81, Z:-6.10 [[ 7.88476146e-01 6.15014709e-01 7.89148355e-03 1.24704403e+02] [-6.14985536e-01 7.88515625e-01 -5.99161806e-03 1.65812697e+02] [-9.90749132e-03 -1.28900326e-04 9.99950911e-01 -6.09816021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14 meters 0.014619046211252483 Centerline is valid? [True, True] Translation: X:124.73, Y:165.79, Z:-6.10 [[ 7.88461842e-01 6.15027994e-01 8.27592050e-03 1.24730053e+02] [-6.14995863e-01 7.88505263e-01 -6.28794692e-03 1.65794348e+02] [-1.03928702e-02 -1.31850661e-04 9.99945984e-01 -6.09853127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17 meters 0.014145828368682486 Centerline is valid? [True, True] Translation: X:124.75, Y:165.77, Z:-6.10 [[ 7.89042933e-01 6.14273486e-01 8.90701800e-03 1.24753981e+02] [-6.14236193e-01 7.89093193e-01 -6.76993755e-03 1.65772753e+02] [-1.11870604e-02 -1.29241448e-04 9.99937415e-01 -6.09792122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2 meters 0.013908144698849708 Centerline is valid? [True, True] Translation: X:124.78, Y:165.75, Z:-6.10 [[ 7.89497430e-01 6.13686674e-01 9.08156687e-03 1.24778977e+02] [-6.13647824e-01 7.89549651e-01 -6.90622614e-03 1.65752073e+02] [-1.14086069e-02 -1.20435970e-04 9.99934912e-01 -6.09799886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22999999999996 meters 0.013824420504018012 Centerline is valid? [True, True] Translation: X:124.80, Y:165.73, Z:-6.10 [[ 7.90241715e-01 6.12734191e-01 8.65115289e-03 1.24803095e+02] [-6.12698840e-01 7.90289062e-01 -6.58254309e-03 1.65732552e+02] [-1.08702607e-02 -9.87512012e-05 9.99940912e-01 -6.09858351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26 meters 0.01357672987144242 Centerline is valid? [True, True] Translation: X:124.83, Y:165.71, Z:-6.10 [[ 7.91897080e-01 6.10608373e-01 7.51199268e-03 1.24827728e+02] [-6.10581608e-01 7.91932706e-01 -5.71742175e-03 1.65711040e+02] [-9.44009828e-03 -5.90749823e-05 9.99955440e-01 -6.10012911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28999999999996 meters 0.013514044082078258 Centerline is valid? [True, True] Translation: X:124.85, Y:165.69, Z:-6.10 [[ 7.92363194e-01 6.10009169e-01 7.02722544e-03 1.24852618e+02] [-6.09985725e-01 7.92394353e-01 -5.34825413e-03 1.65691087e+02] [-8.83081781e-03 -4.87474838e-05 9.99961006e-01 -6.10108423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32 meters 0.013427318959431694 Centerline is valid? [True, True] Translation: X:124.88, Y:165.67, Z:-6.10 [[ 7.93386525e-01 6.08683395e-01 6.50741464e-03 1.24877511e+02] [-6.08663228e-01 7.93413212e-01 -4.95490559e-03 1.65669552e+02] [-8.17903750e-03 -2.96686670e-05 9.99966551e-01 -6.10189515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34999999999997 meters 0.013407806218579057 Centerline is valid? [True, True] Translation: X:124.90, Y:165.65, Z:-6.10 [[ 7.93895753e-01 6.08021869e-01 6.24019670e-03 1.24902115e+02] [-6.08003278e-01 7.93920277e-01 -4.75479762e-03 1.65649659e+02] [-7.84523963e-03 -1.92464142e-05 9.99969225e-01 -6.10232866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38 meters 0.013403418936168997 Centerline is valid? [True, True] Translation: X:124.93, Y:165.63, Z:-6.10 [[ 7.94310848e-01 6.07485905e-01 5.58147632e-03 1.24928117e+02] [-6.07471016e-01 7.94330457e-01 -4.25321598e-03 1.65628943e+02] [-7.01730540e-03 -1.22094934e-05 9.99975378e-01 -6.10319111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40999999999997 meters 0.013411664972765858 Centerline is valid? [True, True] Translation: X:124.95, Y:165.61, Z:-6.10 [[ 7.94472515e-01 6.07278758e-01 5.09246613e-03 1.24953862e+02] [-6.07266348e-01 7.94488836e-01 -3.88235186e-03 1.65608736e+02] [-6.40357731e-03 -8.06146061e-06 9.99979497e-01 -6.10380914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44 meters 0.013449367542800445 Centerline is valid? [True, True] Translation: X:124.98, Y:165.59, Z:-6.10 [[ 7.95036035e-01 6.06544025e-01 4.69564004e-03 1.24979825e+02] [-6.06533450e-01 7.95049902e-01 -3.58152472e-03 1.65587817e+02] [-5.90562057e-03 -6.21541963e-07 9.99982562e-01 -6.10417517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46999999999997 meters 0.01353551425591478 Centerline is valid? [True, True] Translation: X:125.01, Y:165.57, Z:-6.10 [[ 7.94910075e-01 6.06708953e-01 4.71371110e-03 1.25005228e+02] [-6.06698286e-01 7.94924051e-01 -3.59765340e-03 1.65568062e+02] [-5.92977085e-03 1.04862785e-08 9.99982419e-01 -6.10478520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5 meters 0.013452116550304823 Centerline is valid? [True, True] Translation: X:125.03, Y:165.55, Z:-6.10 [[ 7.94795367e-01 6.06859936e-01 4.61979471e-03 1.25031750e+02] [-6.06849683e-01 7.94808793e-01 -3.52767236e-03 1.65547803e+02] [-5.81265648e-03 2.56694868e-07 9.99983106e-01 -6.10495078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53 meters 0.013465173487622543 Centerline is valid? [True, True] Translation: X:125.06, Y:165.53, Z:-6.11 [[ 7.94438866e-01 6.07325219e-01 4.79234057e-03 1.25057210e+02] [-6.07314178e-01 7.94453321e-01 -3.66195106e-03 1.65528530e+02] [-6.03128611e-03 -1.26012167e-06 9.99981812e-01 -6.10531432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56 meters 0.01339017448068774 Centerline is valid? [True, True] Translation: X:125.08, Y:165.51, Z:-6.11 [[ 7.94125946e-01 6.07734162e-01 4.81359130e-03 1.25083392e+02] [-6.07723020e-01 7.94140534e-01 -3.67999564e-03 1.65508744e+02] [-6.05912703e-03 -2.95022832e-06 9.99981643e-01 -6.10501505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59 meters 0.013411089958803264 Centerline is valid? [True, True] Translation: X:125.11, Y:165.49, Z:-6.11 [[ 7.93755021e-01 6.08219616e-01 4.67611794e-03 1.25109967e+02] [-6.08209098e-01 7.93768794e-01 -3.57686131e-03 1.65488605e+02] [-5.88727371e-03 -4.90585008e-06 9.99982670e-01 -6.10524031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62 meters 0.013349893275287949 Centerline is valid? [True, True] Translation: X:125.14, Y:165.47, Z:-6.11 [[ 7.92937108e-01 6.09284765e-01 4.77679874e-03 1.25135722e+02] [-6.09273794e-01 7.92951496e-01 -3.65635992e-03 1.65469506e+02] [-6.01553411e-03 -1.11148311e-05 9.99981906e-01 -6.10544598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65 meters 0.013333943542163752 Centerline is valid? [True, True] Translation: X:125.16, Y:165.45, Z:-6.11 [[ 7.92391361e-01 6.09993633e-01 4.86807106e-03 1.25161694e+02] [-6.09982240e-01 7.92406315e-01 -3.72817439e-03 1.65449866e+02] [-6.13165289e-03 -1.52637088e-05 9.99981201e-01 -6.10538829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68 meters 0.013357871566555178 Centerline is valid? [True, True] Translation: X:125.19, Y:165.43, Z:-6.11 [[ 7.91839041e-01 6.10710256e-01 4.89031723e-03 1.25187126e+02] [-6.10698758e-01 7.91854142e-01 -3.74765051e-03 1.65431074e+02] [-6.16114656e-03 -1.89746645e-05 9.99981020e-01 -6.10610098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71 meters 0.01347984962808281 Centerline is valid? [True, True] Translation: X:125.21, Y:165.41, Z:-6.11 [[ 7.91204739e-01 6.11531811e-01 4.88937801e-03 1.25213046e+02] [-6.11520319e-01 7.91219845e-01 -3.74904930e-03 1.65411889e+02] [-6.16123582e-03 -2.36884352e-05 9.99981019e-01 -6.10694840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74 meters 0.01346451346803326 Centerline is valid? [True, True] Translation: X:125.24, Y:165.39, Z:-6.11 [[ 7.90679378e-01 6.12212861e-01 4.64050972e-03 1.25238962e+02] [-6.12202507e-01 7.90692995e-01 -3.56076062e-03 1.65392392e+02] [-5.84916197e-03 -2.55116881e-05 9.99982893e-01 -6.10732861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77 meters 0.013668728224253777 Centerline is valid? [True, True] Translation: X:125.26, Y:165.37, Z:-6.11 [[ 7.89505330e-01 6.13724699e-01 4.82981200e-03 1.25264998e+02] [-6.13713507e-01 7.89520102e-01 -3.70667385e-03 1.65373702e+02] [-6.08811096e-03 -3.76821009e-05 9.99981467e-01 -6.10775687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8 meters 0.01374269173749989 Centerline is valid? [True, True] Translation: X:125.29, Y:165.35, Z:-6.11 [[ 7.88727081e-01 6.14721864e-01 5.15966257e-03 1.25291750e+02] [-6.14709096e-01 7.88743956e-01 -3.96216075e-03 1.65353721e+02] [-6.50527951e-03 -4.66280344e-05 9.99978839e-01 -6.10765260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83 meters 0.014059538658913875 Centerline is valid? [True, True] Translation: X:125.32, Y:165.34, Z:-6.11 [[ 7.87474167e-01 6.16316920e-01 6.15547925e-03 1.25318236e+02] [-6.16298767e-01 7.87498222e-01 -4.73070818e-03 1.65335133e+02] [-7.76304446e-03 -6.83037920e-05 9.99969865e-01 -6.10741310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86 meters 0.014113625833817815 Centerline is valid? [True, True] Translation: X:125.34, Y:165.31, Z:-6.11 [[ 7.86749691e-01 6.17240349e-01 6.26701979e-03 1.25344395e+02] [-6.17221542e-01 7.86774648e-01 -4.81895496e-03 1.65314674e+02] [-7.90518573e-03 -7.68282898e-05 9.99968751e-01 -6.10657896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89 meters 0.014308759227091487 Centerline is valid? [True, True] Translation: X:125.37, Y:165.30, Z:-6.11 [[ 7.85878134e-01 6.18349437e-01 6.28743821e-03 1.25370256e+02] [-6.18330519e-01 7.85903280e-01 -4.83768224e-03 1.65296296e+02] [-7.93269641e-03 -8.58862398e-05 9.99968532e-01 -6.10741010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92 meters 0.014445770111782979 Centerline is valid? [True, True] Translation: X:125.40, Y:165.28, Z:-6.11 [[ 7.85146570e-01 6.19281684e-01 5.92108568e-03 1.25396001e+02] [-6.19264915e-01 7.85168892e-01 -4.55817671e-03 1.65277503e+02] [-7.47184763e-03 -8.78838052e-05 9.99972082e-01 -6.10855771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95 meters 0.014694601476721846 Centerline is valid? [True, True] Translation: X:125.42, Y:165.26, Z:-6.11 [[ 7.84172229e-01 6.20523653e-01 4.93064926e-03 1.25422255e+02] [-6.20512042e-01 7.84187726e-01 -3.79696045e-03 1.65259352e+02] [-6.22265840e-03 -8.20563076e-05 9.99980636e-01 -6.11075511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97999999999996 meters 0.014704172391667979 Centerline is valid? [True, True] Translation: X:125.45, Y:165.24, Z:-6.11 [[ 7.83804453e-01 6.20992165e-01 4.39439864e-03 1.25448437e+02] [-6.20982945e-01 7.83816767e-01 -3.38485438e-03 1.65239070e+02] [-5.54637139e-03 -7.57826736e-05 9.99984616e-01 -6.11154772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01 meters 0.014860175511953037 Centerline is valid? [True, True] Translation: X:125.47, Y:165.22, Z:-6.11 [[ 7.83517021e-01 6.21355953e-01 4.22586120e-03 1.25474140e+02] [-6.21347421e-01 7.83528413e-01 -3.25701972e-03 1.65219662e+02] [-5.33485092e-03 -7.37975691e-05 9.99985767e-01 -6.11275575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03999999999996 meters 0.015094114174363647 Centerline is valid? [True, True] Translation: X:125.50, Y:165.20, Z:-6.11 [[ 7.83334472e-01 6.21586303e-01 4.19200276e-03 1.25499483e+02] [-6.21577901e-01 7.83345685e-01 -3.23268290e-03 1.65201020e+02] [-5.29317869e-03 -7.33843276e-05 9.99985988e-01 -6.11386767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07 meters 0.015094114174363647 Centerline is valid? [True, True] Translation: X:125.53, Y:165.18, Z:-6.11 [[ 7.83162569e-01 6.21802883e-01 4.19120648e-03 1.25525068e+02] [-6.21794478e-01 7.83173780e-01 -3.23371453e-03 1.65181153e+02] [-5.29317604e-03 -7.35448693e-05 9.99985988e-01 -6.11431607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09999999999997 meters 0.014914722217309792 Centerline is valid? [True, True] Translation: X:125.55, Y:165.16, Z:-6.11 [[ 7.82938143e-01 6.22088449e-01 3.71830525e-03 1.25550449e+02] [-6.22081833e-01 7.82946969e-01 -2.86985508e-03 1.65159943e+02] [-4.69653953e-03 -6.61711384e-05 9.99988969e-01 -6.11374524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13 meters 0.0149468868681847 Centerline is valid? [True, True] Translation: X:125.58, Y:165.14, Z:-6.11 [[ 7.82836067e-01 6.22217082e-01 3.68710555e-03 1.25575802e+02] [-6.22210570e-01 7.82844747e-01 -2.84764740e-03 1.65140412e+02] [-4.65828607e-03 -6.49149548e-05 9.99989148e-01 -6.11446172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15999999999997 meters 0.014823983615587961 Centerline is valid? [True, True] Translation: X:125.60, Y:165.12, Z:-6.11 [[ 7.82596365e-01 6.22518331e-01 3.72247542e-03 1.25601474e+02] [-6.22511689e-01 7.82605216e-01 -2.87633988e-03 1.65119784e+02] [-4.70380298e-03 -6.62713233e-05 9.99988935e-01 -6.11448106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19 meters 0.014797170409204535 Centerline is valid? [True, True] Translation: X:125.63, Y:165.10, Z:-6.11 [[ 7.82383997e-01 6.22786074e-01 3.57585693e-03 1.25627449e+02] [-6.22779942e-01 7.82392166e-01 -2.76448113e-03 1.65099330e+02] [-4.51940280e-03 -6.40861781e-05 9.99989785e-01 -6.11497638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21999999999997 meters 0.015010551621326407 Centerline is valid? [True, True] Translation: X:125.65, Y:165.08, Z:-6.12 [[ 7.82144390e-01 6.23085418e-01 3.83600653e-03 1.25652684e+02] [-6.23078354e-01 7.82153793e-01 -2.96793148e-03 1.65080437e+02] [-4.84962189e-03 -6.87816755e-05 9.99988238e-01 -6.11596373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25 meters 0.014776117075153911 Centerline is valid? [True, True] Translation: X:125.68, Y:165.06, Z:-6.12 [[ 7.81916444e-01 6.23368107e-01 4.34476839e-03 1.25678286e+02] [-6.23359036e-01 7.81928511e-01 -3.36375969e-03 1.65059456e+02] [-5.49415879e-03 -7.81716224e-05 9.99984904e-01 -6.11579662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28 meters 0.014886922314640085 Centerline is valid? [True, True] Translation: X:125.70, Y:165.04, Z:-6.12 [[ 7.81508503e-01 6.23879442e-01 4.34749778e-03 1.25703732e+02] [-6.23870356e-01 7.81520592e-01 -3.36809098e-03 1.65040092e+02] [-5.49894176e-03 -8.00832472e-05 9.99984878e-01 -6.11649014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.31 meters 0.015117728456629917 Centerline is valid? [True, True] Translation: X:125.73, Y:165.02, Z:-6.12 [[ 7.81212160e-01 6.24248665e-01 4.60062690e-03 1.25729280e+02] [-6.24238483e-01 7.81225702e-01 -3.56647449e-03 1.65020949e+02] [-5.82049492e-03 -8.57151101e-05 9.99983057e-01 -6.11776459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34 meters 0.014947832229189816 Centerline is valid? [True, True] Translation: X:125.75, Y:165.00, Z:-6.12 [[ 7.80954829e-01 6.24570529e-01 4.60537041e-03 1.25754553e+02] [-6.24560321e-01 7.80968403e-01 -3.57188167e-03 1.65000033e+02] [-5.82754080e-03 -8.68533884e-05 9.99983016e-01 -6.11815875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37 meters 0.01493852294025478 Centerline is valid? [True, True] Translation: X:125.78, Y:164.98, Z:-6.12 [[ 7.81181833e-01 6.24290034e-01 4.11063939e-03 1.25780174e+02] [-6.24281890e-01 7.81192645e-01 -3.18954183e-03 1.64979026e+02] [-5.20240043e-03 -7.45855941e-05 9.99986465e-01 -6.11908681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4 meters 0.014747621576581826 Centerline is valid? [True, True] Translation: X:125.80, Y:164.96, Z:-6.12 [[ 7.81799376e-01 6.23517706e-01 3.92492371e-03 1.25804465e+02] [-6.23510262e-01 7.81809226e-01 -3.04744370e-03 1.64957829e+02] [-4.96867667e-03 -6.47406290e-05 9.99987654e-01 -6.11989755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43 meters 0.014697723367863262 Centerline is valid? [True, True] Translation: X:125.83, Y:164.94, Z:-6.12 [[ 7.81840707e-01 6.23464759e-01 4.09921294e-03 1.25830199e+02] [-6.23456631e-01 7.81851450e-01 -3.18419037e-03 1.64936733e+02] [-5.19020607e-03 -6.61518357e-05 9.99986529e-01 -6.12049644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46 meters 0.014693948096551626 Centerline is valid? [True, True] Translation: X:125.86, Y:164.92, Z:-6.12 [[ 7.81750584e-01 6.23578833e-01 3.93242297e-03 1.25856174e+02] [-6.23571347e-01 7.81760472e-01 -3.05620848e-03 1.64915832e+02] [-4.97999976e-03 -6.29535228e-05 9.99987598e-01 -6.12059033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49 meters 0.014789922266773366 Centerline is valid? [True, True] Translation: X:125.88, Y:164.90, Z:-6.12 [[ 7.81493032e-01 6.23903257e-01 3.65609408e-03 1.25881482e+02] [-6.23896783e-01 7.81501582e-01 -2.84301129e-03 1.64896120e+02] [-4.63100731e-03 -5.92318242e-05 9.99989275e-01 -6.12132166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52 meters 0.014871496828633281 Centerline is valid? [True, True] Translation: X:125.91, Y:164.88, Z:-6.12 [[ 7.81149714e-01 6.24333413e-01 3.59359812e-03 1.25906384e+02] [-6.24327155e-01 7.81157978e-01 -2.79588550e-03 1.64876920e+02] [-4.55273258e-03 -5.95757363e-05 9.99989635e-01 -6.12213882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55 meters 0.014726074653512847 Centerline is valid? [True, True] Translation: X:125.93, Y:164.86, Z:-6.12 [[ 7.80885291e-01 6.24663763e-01 3.65332400e-03 1.25931612e+02] [-6.24657293e-01 7.80893834e-01 -2.84373600e-03 1.64856394e+02] [-4.62923702e-03 -6.14438687e-05 9.99989283e-01 -6.12219993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58 meters 0.014828114621001216 Centerline is valid? [True, True] Translation: X:125.96, Y:164.84, Z:-6.12 [[ 7.80883355e-01 6.24665889e-01 3.70310398e-03 1.25956383e+02] [-6.24659228e-01 7.80892133e-01 -2.88552429e-03 1.64836868e+02] [-4.69421336e-03 -5.99201845e-05 9.99988980e-01 -6.12257266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61 meters 0.014773395666508647 Centerline is valid? [True, True] Translation: X:125.98, Y:164.82, Z:-6.12 [[ 7.81003968e-01 6.24514016e-01 3.87883925e-03 1.25981952e+02] [-6.24506705e-01 7.81013598e-01 -3.02255098e-03 1.64816117e+02] [-4.91705165e-03 -6.17368056e-05 9.99987909e-01 -6.12244497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64 meters 0.014602382886265568 Centerline is valid? [True, True] Translation: X:126.01, Y:164.79, Z:-6.12 [[ 7.81537031e-01 6.23841625e-01 4.63635329e-03 1.26005970e+02] [-6.23831147e-01 7.81550780e-01 -3.61626065e-03 1.64794848e+02] [-5.87951945e-03 -6.60599848e-05 9.99982713e-01 -6.12185310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67 meters 0.014516266349480509 Centerline is valid? [True, True] Translation: X:126.03, Y:164.77, Z:-6.12 [[ 7.82008311e-01 6.23249883e-01 4.75232394e-03 1.26030612e+02] [-6.23238852e-01 7.82022748e-01 -3.70873344e-03 1.64774690e+02] [-6.02789311e-03 -6.15725472e-05 9.99981830e-01 -6.12207363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7 meters 0.014220514195197771 Centerline is valid? [True, True] Translation: X:126.05, Y:164.75, Z:-6.12 [[ 7.83151920e-01 6.21810915e-01 4.92512270e-03 1.26054501e+02] [-6.21799025e-01 7.83167405e-01 -3.84563046e-03 1.64753127e+02] [-6.24845056e-03 -5.07236114e-05 9.99980477e-01 -6.12164696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72999999999996 meters 0.014337532720036749 Centerline is valid? [True, True] Translation: X:126.08, Y:164.73, Z:-6.12 [[ 7.83664812e-01 6.21162499e-01 5.15876596e-03 1.26078433e+02] [-6.21149424e-01 7.83681790e-01 -4.03054443e-03 1.64733839e+02] [-6.54645399e-03 -4.57686655e-05 9.99978571e-01 -6.12254133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76 meters 0.014247401999909119 Centerline is valid? [True, True] Translation: X:126.10, Y:164.71, Z:-6.12 [[ 7.84097520e-01 6.20617236e-01 5.03247937e-03 1.26104079e+02] [-6.20604774e-01 7.84113668e-01 -3.93323031e-03 1.64713047e+02] [-6.38706638e-03 -3.91445903e-05 9.99979602e-01 -6.12297944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78999999999996 meters 0.014162041579818836 Centerline is valid? [True, True] Translation: X:126.13, Y:164.69, Z:-6.12 [[ 7.84365974e-01 6.20279405e-01 4.84558124e-03 1.26129930e+02] [-6.20267832e-01 7.84380940e-01 -3.78912774e-03 1.64692011e+02] [-6.15109947e-03 -3.34953038e-05 9.99981081e-01 -6.12346083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82 meters 0.014212585293124991 Centerline is valid? [True, True] Translation: X:126.16, Y:164.67, Z:-6.12 [[ 7.85184242e-01 6.19246138e-01 4.46405811e-03 1.26155055e+02] [-6.19236289e-01 7.85196931e-01 -3.49261404e-03 1.64671609e+02] [-5.66795248e-03 -2.19612752e-05 9.99983937e-01 -6.12449028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84999999999997 meters 0.013996237215029484 Centerline is valid? [True, True] Translation: X:126.18, Y:164.65, Z:-6.12 [[ 7.85560022e-01 6.18769332e-01 4.46820816e-03 1.26180703e+02] [-6.18759449e-01 7.85572729e-01 -3.49737802e-03 1.64650360e+02] [-5.67417274e-03 -1.73456631e-05 9.99983902e-01 -6.12386636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88 meters 0.013982410802603776 Centerline is valid? [True, True] Translation: X:126.21, Y:164.63, Z:-6.13 [[ 7.85999052e-01 6.18214220e-01 4.08280496e-03 1.26205528e+02] [-6.18205951e-01 7.86009656e-01 -3.19742951e-03 1.64630407e+02] [-5.18582051e-03 -1.08377604e-05 9.99986554e-01 -6.12508533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90999999999997 meters 0.013936996068691046 Centerline is valid? [True, True] Translation: X:126.23, Y:164.61, Z:-6.13 [[ 7.86506135e-01 6.17570416e-01 3.85766000e-03 1.26231114e+02] [-6.17563020e-01 7.86515595e-01 -3.02238398e-03 1.64609724e+02] [-4.90064468e-03 -5.22461643e-06 9.99987992e-01 -6.12570270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94 meters 0.014006994500293551 Centerline is valid? [True, True] Translation: X:126.26, Y:164.59, Z:-6.13 [[ 7.87703476e-01 6.16046824e-01 3.08943878e-03 1.26256652e+02] [-6.16042068e-01 7.87709534e-01 -2.42092663e-03 1.64588686e+02] [-3.92498454e-03 3.74807217e-06 9.99992297e-01 -6.12700838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96999999999997 meters 0.014079499300429394 Centerline is valid? [True, True] Translation: X:126.28, Y:164.57, Z:-6.13 [[ 7.88342406e-01 6.15230673e-01 2.73324132e-03 1.26281215e+02] [-6.15226942e-01 7.88347144e-01 -2.14275370e-03 1.64568826e+02] [-3.47303079e-03 7.65990894e-06 9.99993969e-01 -6.12866040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0 meters 0.014095219995025039 Centerline is valid? [True, True] Translation: X:126.31, Y:164.55, Z:-6.13 [[ 7.88869783e-01 6.14554813e-01 2.61665889e-03 1.26307057e+02] [-6.14551388e-01 7.88874123e-01 -2.05202429e-03 1.64547813e+02] [-3.32529589e-03 1.07086028e-05 9.99994471e-01 -6.12874689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03 meters 0.01418602819709146 Centerline is valid? [True, True] Translation: X:126.33, Y:164.53, Z:-6.13 [[ 7.90076398e-01 6.13003070e-01 2.55373752e-03 1.26331747e+02] [-6.12999794e-01 7.90080525e-01 -2.00413365e-03 1.64527336e+02] [-3.24619836e-03 1.79781210e-05 9.99994731e-01 -6.12798187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06 meters 0.014282874601975512 Centerline is valid? [True, True] Translation: X:126.36, Y:164.51, Z:-6.13 [[ 7.90554357e-01 6.12385475e-01 2.79981379e-03 1.26356766e+02] [-6.12381529e-01 7.90559314e-01 -2.19858533e-03 1.64507112e+02] [-3.55980059e-03 2.35469643e-05 9.99993664e-01 -6.12849232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09 meters 0.01427527611614554 Centerline is valid? [True, True] Translation: X:126.38, Y:164.49, Z:-6.13 [[ 7.90614389e-01 6.12306718e-01 3.06130809e-03 1.26382954e+02] [-6.12301994e-01 7.90620315e-01 -2.40543489e-03 1.64486777e+02] [-3.89319631e-03 2.73263857e-05 9.99992421e-01 -6.12842144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12 meters 0.01436719511564237 Centerline is valid? [True, True] Translation: X:126.41, Y:164.47, Z:-6.13 [[ 7.90864467e-01 6.11981187e-01 3.52440441e-03 1.26408046e+02] [-6.11974911e-01 7.90872319e-01 -2.77189501e-03 1.64467151e+02] [-4.48370149e-03 3.53461996e-05 9.99989948e-01 -6.12895365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15 meters 0.01433977061190103 Centerline is valid? [True, True] Translation: X:126.43, Y:164.45, Z:-6.13 [[ 7.90509158e-01 6.12438984e-01 3.70971699e-03 1.26434840e+02] [-6.12432027e-01 7.90517862e-01 -2.91927980e-03 1.64448080e+02] [-4.72047829e-03 3.57679235e-05 9.99988858e-01 -6.12923712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18 meters 0.014231405290410063 Centerline is valid? [True, True] Translation: X:126.46, Y:164.43, Z:-6.13 [[ 7.89872120e-01 6.13262249e-01 3.38342191e-03 1.26461623e+02] [-6.13256465e-01 7.89879366e-01 -2.66360117e-03 1.64428161e+02] [-4.30598120e-03 2.89989440e-05 9.99990729e-01 -6.12990745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21 meters 0.014184281798956642 Centerline is valid? [True, True] Translation: X:126.49, Y:164.41, Z:-6.13 [[ 7.89131854e-01 6.14214106e-01 3.45678421e-03 1.26486947e+02] [-6.14208070e-01 7.89139424e-01 -2.72325221e-03 1.64409357e+02] [-4.40054463e-03 2.58203052e-05 9.99990317e-01 -6.13038270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24 meters 0.01393490424662339 Centerline is valid? [True, True] Translation: X:126.51, Y:164.39, Z:-6.13 [[ 7.88201986e-01 6.15404970e-01 3.78845729e-03 1.26512863e+02] [-6.15397723e-01 7.88211090e-01 -2.98672864e-03 1.64391030e+02] [-4.82415170e-03 2.27374531e-05 9.99988363e-01 -6.13061841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27 meters 0.013838312539469206 Centerline is valid? [True, True] Translation: X:126.54, Y:164.37, Z:-6.13 [[ 7.86246977e-01 6.17898986e-01 4.06619025e-03 1.26540047e+02] [-6.17890660e-01 7.86257492e-01 -3.20762663e-03 1.64374485e+02] [-5.17906179e-03 9.52576176e-06 9.99986589e-01 -6.13112359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3 meters 0.013716937857690518 Centerline is valid? [True, True] Translation: X:126.57, Y:164.36, Z:-6.13 [[ 7.85113368e-01 6.19340620e-01 3.76780210e-03 1.26566864e+02] [-6.19333485e-01 7.85122409e-01 -2.97291468e-03 1.64355642e+02] [-4.79943268e-03 5.49054613e-07 9.99988483e-01 -6.13132767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33 meters 0.013755437546144599 Centerline is valid? [True, True] Translation: X:126.59, Y:164.34, Z:-6.13 [[ 7.83977992e-01 6.20776284e-01 3.91330030e-03 1.26593449e+02] [-6.20768593e-01 7.83987759e-01 -3.08997364e-03 1.64337075e+02] [-4.98616189e-03 -6.78258895e-06 9.99987569e-01 -6.13261694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36 meters 0.013824576651537935 Centerline is valid? [True, True] Translation: X:126.62, Y:164.32, Z:-6.13 [[ 7.81907816e-01 6.23382439e-01 3.80816810e-03 1.26621610e+02] [-6.23375181e-01 7.81917089e-01 -3.00832812e-03 1.64319394e+02] [-4.85301063e-03 -2.16822070e-05 9.99988224e-01 -6.13300067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39 meters 0.013999639639075325 Centerline is valid? [True, True] Translation: X:126.65, Y:164.30, Z:-6.13 [[ 7.80911285e-01 6.24628949e-01 4.02986850e-03 1.26647813e+02] [-6.24620826e-01 7.80921683e-01 -3.18582010e-03 1.64301614e+02] [-5.13696715e-03 -2.92969176e-05 9.99986805e-01 -6.13450885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42 meters 0.01417998333759871 Centerline is valid? [True, True] Translation: X:126.67, Y:164.28, Z:-6.14 [[ 7.79864545e-01 6.25932994e-01 4.37944362e-03 1.26673551e+02] [-6.25923400e-01 7.79876840e-01 -3.46568941e-03 1.64283478e+02] [-5.58471600e-03 -3.84279482e-05 9.99984405e-01 -6.13507248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45 meters 0.01438680510830428 Centerline is valid? [True, True] Translation: X:126.70, Y:164.26, Z:-6.14 [[ 7.78962063e-01 6.27052875e-01 4.77458670e-03 1.26700005e+02] [-6.27041492e-01 7.78976694e-01 -3.77864804e-03 1.64264149e+02] [-6.08870388e-03 -5.04405004e-05 9.99981462e-01 -6.13505567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47999999999996 meters 0.01484938834782902 Centerline is valid? [True, True] Translation: X:126.73, Y:164.25, Z:-6.14 [[ 7.77578364e-01 6.28765546e-01 5.07693138e-03 1.26726043e+02] [-6.28752693e-01 7.77594935e-01 -4.02084075e-03 1.64247529e+02] [-6.47596226e-03 -6.56155033e-05 9.99979029e-01 -6.13601966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51 meters 0.014489727017305573 Centerline is valid? [True, True] Translation: X:126.75, Y:164.23, Z:-6.14 [[ 7.76867389e-01 6.29642848e-01 5.19074075e-03 1.26751939e+02] [-6.29629423e-01 7.76884727e-01 -4.11220435e-03 1.64226454e+02] [-6.62182727e-03 -7.36056483e-05 9.99978073e-01 -6.13587464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53999999999996 meters 0.014483936883100247 Centerline is valid? [True, True] Translation: X:126.78, Y:164.21, Z:-6.14 [[ 7.76404146e-01 6.30212861e-01 5.32473164e-03 1.26778201e+02] [-6.30198731e-01 7.76422400e-01 -4.22088442e-03 1.64206338e+02] [-6.79429657e-03 -7.85269631e-05 9.99976915e-01 -6.13677026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57 meters 0.014535050285210745 Centerline is valid? [True, True] Translation: X:126.80, Y:164.19, Z:-6.14 [[ 7.75743883e-01 6.31024844e-01 5.39199783e-03 1.26804659e+02] [-6.31010357e-01 7.75762618e-01 -4.27672150e-03 1.64186266e+02] [-6.88162787e-03 -8.47659269e-05 9.99976318e-01 -6.13747173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59999999999997 meters 0.014625783726933586 Centerline is valid? [True, True] Translation: X:126.83, Y:164.17, Z:-6.14 [[ 7.75236252e-01 6.31647610e-01 5.48185700e-03 1.26829922e+02] [-6.31632627e-01 7.75255628e-01 -4.35153173e-03 1.64166644e+02] [-6.99847511e-03 -8.90545905e-05 9.99975506e-01 -6.13828200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63 meters 0.015001262677471042 Centerline is valid? [True, True] Translation: X:126.86, Y:164.15, Z:-6.14 [[ 7.74810420e-01 6.32171756e-01 5.26154680e-03 1.26855390e+02] [-6.32157960e-01 7.74828280e-01 -4.17726689e-03 1.64147486e+02] [-6.71754539e-03 -8.95387791e-05 9.99977433e-01 -6.13924584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65999999999997 meters 0.014946629161837371 Centerline is valid? [True, True] Translation: X:126.88, Y:164.13, Z:-6.14 [[ 7.73990922e-01 6.33178015e-01 4.86360935e-03 1.26880940e+02] [-6.33166236e-01 7.74006197e-01 -3.86319187e-03 1.64127342e+02] [-6.21055194e-03 -8.93977882e-05 9.99980710e-01 -6.13997375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69 meters 0.01543259834085864 Centerline is valid? [True, True] Translation: X:126.91, Y:164.11, Z:-6.14 [[ 7.73413178e-01 6.33886956e-01 4.40267074e-03 1.26906642e+02] [-6.33877306e-01 7.73425704e-01 -3.49863147e-03 1.64109091e+02] [-5.62287557e-03 -8.48653889e-05 9.99984188e-01 -6.14137892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71999999999997 meters 0.015188496174418517 Centerline is valid? [True, True] Translation: X:126.93, Y:164.09, Z:-6.14 [[ 7.72477328e-01 6.35031449e-01 3.71979857e-03 1.26931386e+02] [-6.35024570e-01 7.72486280e-01 -2.95671764e-03 1.64089382e+02] [-4.75110205e-03 -7.81661455e-05 9.99988710e-01 -6.14177257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75 meters 0.015475451105053077 Centerline is valid? [True, True] Translation: X:126.96, Y:164.07, Z:-6.14 [[ 7.72032770e-01 6.35571669e-01 3.74895804e-03 1.26957045e+02] [-6.35564684e-01 7.72041869e-01 -2.98093570e-03 1.64070176e+02] [-4.78895085e-03 -8.13252810e-05 9.99988530e-01 -6.14220893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78 meters 0.01628163763719434 Centerline is valid? [True, True] Translation: X:126.98, Y:164.05, Z:-6.14 [[ 7.71771175e-01 6.35889662e-01 3.68646820e-03 1.26983268e+02] [-6.35882904e-01 7.71779976e-01 -2.93281423e-03 1.64051756e+02] [-4.71008859e-03 -8.07006173e-05 9.99988904e-01 -6.14373754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81 meters 0.015275719948762327 Centerline is valid? [True, True] Translation: X:127.01, Y:164.03, Z:-6.14 [[ 7.71536535e-01 6.36173765e-01 3.78362901e-03 1.27007536e+02] [-6.36166643e-01 7.71545808e-01 -3.01153490e-03 1.64028972e+02] [-4.83510259e-03 -8.35093595e-05 9.99988307e-01 -6.14255815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84 meters 0.015152014821789093 Centerline is valid? [True, True] Translation: X:127.03, Y:164.01, Z:-6.14 [[ 7.71593907e-01 6.36101246e-01 4.24826598e-03 1.27032006e+02] [-6.36092249e-01 7.71605597e-01 -3.38435303e-03 1.64008884e+02] [-5.43077699e-03 -9.09428901e-05 9.99985249e-01 -6.14192571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87 meters 0.015238520813849363 Centerline is valid? [True, True] Translation: X:127.06, Y:163.99, Z:-6.14 [[ 7.71356149e-01 6.36389971e-01 4.18278572e-03 1.27057774e+02] [-6.36381247e-01 7.71367485e-01 -3.33346816e-03 1.63988697e+02] [-5.34785061e-03 -9.05552297e-05 9.99985696e-01 -6.14236525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9 meters 0.015163001602179765 Centerline is valid? [True, True] Translation: X:127.08, Y:163.97, Z:-6.14 [[ 7.71432421e-01 6.36296192e-01 4.37902065e-03 1.27083471e+02] [-6.36286616e-01 7.71444844e-01 -3.49210657e-03 1.63967942e+02] [-5.60018701e-03 -9.23880020e-05 9.99984315e-01 -6.14316496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93 meters 0.015263669509276085 Centerline is valid? [True, True] Translation: X:127.11, Y:163.95, Z:-6.14 [[ 7.72038961e-01 6.35564398e-01 3.70664301e-03 1.27107428e+02] [-6.35557521e-01 7.72047856e-01 -2.95748604e-03 1.63948076e+02] [-4.74137862e-03 -7.24903895e-05 9.99988757e-01 -6.14439867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96 meters 0.014839026393346114 Centerline is valid? [True, True] Translation: X:127.13, Y:163.93, Z:-6.14 [[ 7.72396135e-01 6.35130490e-01 3.67022649e-03 1.27131717e+02] [-6.35123738e-01 7.72404852e-01 -2.92952472e-03 1.63926373e+02] [-4.69553122e-03 -6.82943959e-05 9.99988974e-01 -6.14458334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99 meters 0.014839026393346114 Centerline is valid? [True, True] Translation: X:127.16, Y:163.91, Z:-6.15 [[ 7.72217465e-01 6.35347716e-01 3.66970704e-03 1.27156972e+02] [-6.35340963e-01 7.72226181e-01 -2.93017512e-03 1.63906086e+02] [-4.69552392e-03 -6.87828069e-05 9.99988974e-01 -6.14503159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02 meters 0.014371555915860418 Centerline is valid? [True, True] Translation: X:127.18, Y:163.88, Z:-6.14 [[ 7.72565411e-01 6.34925777e-01 3.45597022e-03 1.27181113e+02] [-6.34919778e-01 7.72573138e-01 -2.76068336e-03 1.63884196e+02] [-4.42281878e-03 -6.14553684e-05 9.99990217e-01 -6.14472366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05 meters 0.014482062792772971 Centerline is valid? [True, True] Translation: X:127.21, Y:163.86, Z:-6.15 [[ 7.72818451e-01 6.34618542e-01 3.30885703e-03 1.27205243e+02] [-6.34613033e-01 7.72825532e-01 -2.64478672e-03 1.63863814e+02] [-4.23559988e-03 -5.59038200e-05 9.99991028e-01 -6.14508594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08 meters 0.014300922206842433 Centerline is valid? [True, True] Translation: X:127.23, Y:163.84, Z:-6.14 [[ 7.73845970e-01 6.33366341e-01 3.08107903e-03 1.27228787e+02] [-6.33361550e-01 7.73852102e-01 -2.46403855e-03 1.63841774e+02] [-3.94493856e-03 -4.46506853e-05 9.99992218e-01 -6.14498743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11 meters 0.014065601605267434 Centerline is valid? [True, True] Translation: X:127.25, Y:163.82, Z:-6.15 [[ 7.74347430e-01 6.32753824e-01 2.94200731e-03 1.27253401e+02] [-6.32749449e-01 7.74353018e-01 -2.35331633e-03 1.63820160e+02] [-3.76722214e-03 -3.92690521e-05 9.99992903e-01 -6.14540175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14 meters 0.014083148395658983 Centerline is valid? [True, True] Translation: X:127.28, Y:163.80, Z:-6.15 [[ 7.74734746e-01 6.32280580e-01 2.70969786e-03 1.27278620e+02] [-6.32276862e-01 7.74739484e-01 -2.16840758e-03 1.63798604e+02] [-3.47035192e-03 -3.33385680e-05 9.99993978e-01 -6.14629243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17 meters 0.014041848690908462 Centerline is valid? [True, True] Translation: X:127.30, Y:163.78, Z:-6.15 [[ 7.75310033e-01 6.31577196e-01 2.14427286e-03 1.27302583e+02] [-6.31574865e-01 7.75312998e-01 -1.71616556e-03 1.63777294e+02] [-2.74637365e-03 -2.37084617e-05 9.99996228e-01 -6.14710976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2 meters 0.014029231812952457 Centerline is valid? [True, True] Translation: X:127.33, Y:163.76, Z:-6.15 [[ 7.75221750e-01 6.31685374e-01 2.19689016e-03 1.27327409e+02] [-6.31682925e-01 7.75224863e-01 -1.75910951e-03 1.63756452e+02] [-2.81428762e-03 -2.40380448e-05 9.99996040e-01 -6.14752333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22999999999996 meters 0.014134218795528881 Centerline is valid? [True, True] Translation: X:127.35, Y:163.74, Z:-6.15 [[ 7.75068009e-01 6.31874221e-01 2.13315165e-03 1.27352327e+02] [-6.31871907e-01 7.75070944e-01 -1.71045226e-03 1.63736321e+02] [-2.73413455e-03 -2.21617756e-05 9.99996262e-01 -6.14819125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26 meters 0.014219374513738552 Centerline is valid? [True, True] Translation: X:127.38, Y:163.72, Z:-6.15 [[ 7.74847166e-01 6.32145279e-01 2.05310820e-03 1.27377098e+02] [-6.32143138e-01 7.74849886e-01 -1.64553140e-03 1.63715870e+02] [-2.63106556e-03 -2.28229191e-05 9.99996538e-01 -6.14862918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28999999999996 meters 0.014288443616968597 Centerline is valid? [True, True] Translation: X:127.40, Y:163.70, Z:-6.15 [[ 7.74791562e-01 6.32214246e-01 1.78396808e-03 1.27402072e+02] [-6.32212626e-01 7.74793616e-01 -1.43132307e-03 1.63696098e+02] [-2.28710991e-03 -1.88701088e-05 9.99997384e-01 -6.14994929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32 meters 0.014097738102088513 Centerline is valid? [True, True] Translation: X:127.43, Y:163.67, Z:-6.15 [[ 7.74720443e-01 6.32302083e-01 1.52042224e-03 1.27426817e+02] [-6.32300910e-01 7.74721934e-01 -1.21814460e-03 1.63674524e+02] [-1.94813983e-03 -1.76428456e-05 9.99998102e-01 -6.14935640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34999999999997 meters 0.014081140920851842 Centerline is valid? [True, True] Translation: X:127.45, Y:163.65, Z:-6.15 [[ 7.74720649e-01 6.32301976e-01 1.45853314e-03 1.27452088e+02] [-6.32300896e-01 7.74722021e-01 -1.16900263e-03 1.63653223e+02] [-1.86912042e-03 -1.65813373e-05 9.99998253e-01 -6.14950644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38 meters 0.013992617659342772 Centerline is valid? [True, True] Translation: X:127.48, Y:163.63, Z:-6.15 [[ 7.74709122e-01 6.32313637e-01 2.28937723e-03 1.27476105e+02] [-6.32310962e-01 7.74712504e-01 -1.83939204e-03 1.63631956e+02] [-2.93668184e-03 -2.26045281e-05 9.99995688e-01 -6.14893469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40999999999997 meters 0.01417397467999483 Centerline is valid? [True, True] Translation: X:127.50, Y:163.61, Z:-6.15 [[ 7.74413891e-01 6.32671739e-01 3.09793057e-03 1.27500998e+02] [-6.32666831e-01 7.74420086e-01 -2.49209324e-03 1.63612632e+02] [-3.97577663e-03 -3.00462944e-05 9.99992096e-01 -6.14999000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44 meters 0.014132475221093444 Centerline is valid? [True, True] Translation: X:127.53, Y:163.59, Z:-6.15 [[ 7.73970546e-01 6.33212951e-01 3.30949220e-03 1.27526868e+02] [-6.33207351e-01 7.73977621e-01 -2.66324177e-03 1.63591616e+02] [-4.24787208e-03 -3.43241055e-05 9.99990977e-01 -6.14921160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46999999999997 meters 0.014039845747067414 Centerline is valid? [True, True] Translation: X:127.55, Y:163.57, Z:-6.15 [[ 7.73475257e-01 6.33816453e-01 3.56810598e-03 1.27552783e+02] [-6.33809941e-01 7.73483486e-01 -2.87331344e-03 1.63571162e+02] [-4.58102438e-03 -3.90641857e-05 9.99989506e-01 -6.14947833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5 meters 0.014173173052360611 Centerline is valid? [True, True] Translation: X:127.58, Y:163.55, Z:-6.15 [[ 7.72256609e-01 6.35302649e-01 3.20543127e-03 1.27578771e+02] [-6.35297401e-01 7.72263260e-01 -2.58265338e-03 1.63551850e+02] [-4.11620333e-03 -4.19310083e-05 9.99991528e-01 -6.15063536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53 meters 0.014317891457081065 Centerline is valid? [True, True] Translation: X:127.60, Y:163.53, Z:-6.15 [[ 7.71419871e-01 6.36317679e-01 3.34591087e-03 1.27604382e+02] [-6.36311965e-01 7.71427125e-01 -2.69694442e-03 1.63531909e+02] [-4.29723981e-03 -4.85666067e-05 9.99990766e-01 -6.15077539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56 meters 0.014435423811056485 Centerline is valid? [True, True] Translation: X:127.63, Y:163.51, Z:-6.15 [[ 7.70354862e-01 6.37606261e-01 3.41224485e-03 1.27629601e+02] [-6.37600322e-01 7.70362417e-01 -2.75255172e-03 1.63512461e+02] [-4.38370940e-03 -5.52068153e-05 9.99990390e-01 -6.15136059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59 meters 0.01488410974654653 Centerline is valid? [True, True] Translation: X:127.66, Y:163.49, Z:-6.15 [[ 7.68602271e-01 6.39715660e-01 3.79778157e-03 1.27655115e+02] [-6.39708318e-01 7.68611650e-01 -3.06580864e-03 1.63493819e+02] [-4.88026495e-03 -7.30849787e-05 9.99988089e-01 -6.15144948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62 meters 0.01493545651379821 Centerline is valid? [True, True] Translation: X:127.68, Y:163.47, Z:-6.15 [[ 7.67747212e-01 6.40740089e-01 4.04438066e-03 1.27680408e+02] [-6.40731768e-01 7.67757860e-01 -3.26645298e-03 1.63474101e+02] [-5.19805241e-03 -8.35530014e-05 9.99986487e-01 -6.15191692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65 meters 0.015120275399586571 Centerline is valid? [True, True] Translation: X:127.71, Y:163.45, Z:-6.15 [[ 7.67130705e-01 6.41479380e-01 3.83223978e-03 1.27706239e+02] [-6.41471912e-01 7.67140273e-01 -3.09647737e-03 1.63454362e+02] [-4.92619185e-03 -8.28713114e-05 9.99987863e-01 -6.15314125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68 meters 0.015169861670007105 Centerline is valid? [True, True] Translation: X:127.73, Y:163.43, Z:-6.15 [[ 7.66559044e-01 6.42164325e-01 3.49468290e-03 1.27731169e+02] [-6.42158117e-01 7.66567006e-01 -2.82474454e-03 1.63434610e+02] [-4.49285878e-03 -7.88055161e-05 9.99989904e-01 -6.15452724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71 meters 0.015271801406425293 Centerline is valid? [True, True] Translation: X:127.76, Y:163.41, Z:-6.16 [[ 7.65854980e-01 6.43004981e-01 3.27788396e-03 1.27755987e+02] [-6.42999523e-01 7.65861990e-01 -2.65055965e-03 1.63414866e+02] [-4.21472979e-03 -7.77335108e-05 9.99991115e-01 -6.15598496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74 meters 0.015537225974528387 Centerline is valid? [True, True] Translation: X:127.78, Y:163.40, Z:-6.16 [[ 7.65680764e-01 6.43211925e-01 3.37453264e-03 1.27780707e+02] [-6.43206136e-01 7.65688196e-01 -2.73003096e-03 1.63395103e+02] [-4.33982828e-03 -8.01879118e-05 9.99990580e-01 -6.15673495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77 meters 0.015108469926049613 Centerline is valid? [True, True] Translation: X:127.80, Y:163.37, Z:-6.16 [[ 7.65651280e-01 6.43246155e-01 3.53562627e-03 1.27804834e+02] [-6.43239794e-01 7.65659439e-01 -2.86190032e-03 1.63373352e+02] [-4.54799200e-03 -8.30378696e-05 9.99989654e-01 -6.15657035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8 meters 0.01505510444831422 Centerline is valid? [True, True] Translation: X:127.83, Y:163.35, Z:-6.16 [[ 7.65874993e-01 6.42978794e-01 3.71016917e-03 1.27829425e+02] [-6.42971775e-01 7.65883975e-01 -3.00562603e-03 1.63352090e+02] [-4.77411291e-03 -8.36002404e-05 9.99988600e-01 -6.15649700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83 meters 0.014681759090685845 Centerline is valid? [True, True] Translation: X:127.85, Y:163.33, Z:-6.16 [[ 7.66718545e-01 6.41968188e-01 4.41802761e-03 1.27853517e+02] [-6.41958202e-01 7.66731268e-01 -3.58177025e-03 1.63330486e+02] [-5.68682247e-03 -8.99793894e-05 9.99983826e-01 -6.15619338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86 meters 0.014397526699944546 Centerline is valid? [True, True] Translation: X:127.88, Y:163.31, Z:-6.16 [[ 7.67354065e-01 6.41205633e-01 4.80377009e-03 1.27877690e+02] [-6.41193797e-01 7.67369095e-01 -3.89689713e-03 1.63309944e+02] [-6.18497710e-03 -8.98477335e-05 9.99980869e-01 -6.15678029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89 meters 0.014221321897375976 Centerline is valid? [True, True] Translation: X:127.90, Y:163.29, Z:-6.16 [[ 7.68953930e-01 6.39287763e-01 4.58366177e-03 1.27901420e+02] [-6.39276936e-01 7.68967588e-01 -3.72115629e-03 1.63289921e+02] [-5.90357701e-03 -6.88315010e-05 9.99982571e-01 -6.15829489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92 meters 0.013432376492746643 Centerline is valid? [True, True] Translation: X:127.92, Y:163.27, Z:-6.16 [[ 7.71836674e-01 6.35804634e-01 4.54055046e-03 1.27923747e+02] [-6.35793950e-01 7.71850028e-01 -3.68611455e-03 1.63266471e+02] [-5.84827271e-03 -4.17761200e-05 9.99982898e-01 -6.15806852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95 meters 0.013387565167731272 Centerline is valid? [True, True] Translation: X:127.95, Y:163.25, Z:-6.16 [[ 7.73040337e-01 6.34340153e-01 4.60510823e-03 1.27946518e+02] [-6.34329124e-01 7.73054053e-01 -3.74070838e-03 1.63245345e+02] [-5.93287911e-03 -2.94357990e-05 9.99982400e-01 -6.15810480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97999999999996 meters 0.013277009749594169 Centerline is valid? [True, True] Translation: X:127.97, Y:163.22, Z:-6.16 [[ 7.74060182e-01 6.33097437e-01 4.29771293e-03 1.27971166e+02] [-6.33087807e-01 7.74072113e-01 -3.49181463e-03 1.63222792e+02] [-5.53739862e-03 -1.79549835e-05 9.99984668e-01 -6.15851119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01 meters 0.013312600325924137 Centerline is valid? [True, True] Translation: X:127.99, Y:163.20, Z:-6.16 [[ 7.76203677e-01 6.30473863e-01 3.24960237e-03 1.27993330e+02] [-6.30468333e-01 7.76210479e-01 -2.64079135e-03 1.63200222e+02] [-4.18732534e-03 1.02056394e-06 9.99991233e-01 -6.16003272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03999999999996 meters 0.013268354562912086 Centerline is valid? [True, True] Translation: X:128.02, Y:163.18, Z:-6.16 [[ 7.77077518e-01 6.29399160e-01 2.68870018e-03 1.28018556e+02] [-6.29395367e-01 7.77082169e-01 -2.18507263e-03 1.63178433e+02] [-3.46462384e-03 5.71537866e-06 9.99993998e-01 -6.16040500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07 meters 0.013438995906046788 Centerline is valid? [True, True] Translation: X:128.04, Y:163.16, Z:-6.16 [[ 7.77772224e-01 6.28541756e-01 2.37238783e-03 1.28041772e+02] [-6.28538792e-01 7.77775842e-01 -1.93056709e-03 1.63158235e+02] [-3.05862797e-03 1.04036740e-05 9.99995322e-01 -6.16183419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09999999999997 meters 0.013487904451477952 Centerline is valid? [True, True] Translation: X:128.07, Y:163.14, Z:-6.16 [[ 7.78202068e-01 6.28010574e-01 2.06422257e-03 1.28066750e+02] [-6.28008332e-01 7.78204806e-01 -1.67794563e-03 1.63137069e+02] [-2.66015552e-03 9.43178349e-06 9.99996462e-01 -6.16229536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13 meters 0.013533573799691013 Centerline is valid? [True, True] Translation: X:128.09, Y:163.12, Z:-6.16 [[ 7.78370561e-01 6.27800582e-01 2.38707005e-03 1.28090961e+02] [-6.27797577e-01 7.78374222e-01 -1.94249126e-03 1.63116467e+02] [-3.07753094e-03 1.33812179e-05 9.99995264e-01 -6.16249475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15999999999997 meters 0.013547171839201672 Centerline is valid? [True, True] Translation: X:128.12, Y:163.10, Z:-6.16 [[ 7.78664012e-01 6.27433939e-01 3.00128931e-03 1.28115346e+02] [-6.27429172e-01 7.78669796e-01 -2.44592936e-03 1.63095293e+02] [-3.87167243e-03 2.14607047e-05 9.99992505e-01 -6.16141306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19 meters 0.013314683232038963 Centerline is valid? [True, True] Translation: X:128.14, Y:163.08, Z:-6.16 [[ 7.78471799e-01 6.27670493e-01 3.37798995e-03 1.28140683e+02] [-6.27664456e-01 7.78479127e-01 -2.75291557e-03 1.63075040e+02] [-4.35761854e-03 2.28229049e-05 9.99990505e-01 -6.16024863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21999999999997 meters 0.013198279440409941 Centerline is valid? [True, True] Translation: X:128.17, Y:163.05, Z:-6.16 [[ 7.78112407e-01 6.28113715e-01 3.77411782e-03 1.28166336e+02] [-6.28106173e-01 7.78121559e-01 -3.07800463e-03 1.63054580e+02] [-4.87005936e-03 2.44868875e-05 9.99988141e-01 -6.15943563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25 meters 0.013196303697879516 Centerline is valid? [True, True] Translation: X:128.19, Y:163.04, Z:-6.16 [[ 7.77225644e-01 6.29202338e-01 4.97157913e-03 1.28190640e+02] [-6.29189245e-01 7.77241544e-01 -4.05906533e-03 1.63035063e+02] [-6.41809124e-03 2.67455486e-05 9.99979403e-01 -6.15956153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28 meters 0.0129504766253007 Centerline is valid? [True, True] Translation: X:128.22, Y:163.02, Z:-6.16 [[ 7.76549420e-01 6.30036545e-01 4.99500795e-03 1.28217049e+02] [-6.30023337e-01 7.76565484e-01 -4.07956889e-03 1.63015541e+02] [-6.44922826e-03 2.10152780e-05 9.99979203e-01 -6.15832311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31 meters 0.01286407394610103 Centerline is valid? [True, True] Translation: X:128.24, Y:163.00, Z:-6.16 [[ 7.75638490e-01 6.31154702e-01 5.35496786e-03 1.28242454e+02] [-6.31139527e-01 7.75656975e-01 -4.37663757e-03 1.62995708e+02] [-6.91595355e-03 1.49566752e-05 9.99976084e-01 -6.15888483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34 meters 0.012697824268260757 Centerline is valid? [True, True] Translation: X:128.27, Y:162.98, Z:-6.16 [[ 7.73875943e-01 6.33315238e-01 5.27582015e-03 1.28270091e+02] [-6.33300544e-01 7.73893926e-01 -4.31409466e-03 1.62977013e+02] [-6.81510705e-03 -2.60569582e-06 9.99976777e-01 -6.15956545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37 meters 0.012697824268260757 Centerline is valid? [True, True] Translation: X:128.30, Y:162.96, Z:-6.16 [[ 7.73698884e-01 6.33531542e-01 5.27461538e-03 1.28295103e+02] [-6.33516843e-01 7.73716864e-01 -4.31556673e-03 1.62956440e+02] [-6.81510652e-03 -2.60852110e-06 9.99976777e-01 -6.16001386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4 meters 0.012604288844657746 Centerline is valid? [True, True] Translation: X:128.32, Y:162.94, Z:-6.16 [[ 7.71880161e-01 6.35746219e-01 5.26888957e-03 1.28322472e+02] [-6.35731588e-01 7.71898144e-01 -4.31325848e-03 1.62937707e+02] [-6.80918385e-03 -2.02808806e-05 9.99976817e-01 -6.16101545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43 meters 0.012696373427763584 Centerline is valid? [True, True] Translation: X:128.35, Y:162.92, Z:-6.16 [[ 7.70910003e-01 6.36922949e-01 5.18879743e-03 1.28347796e+02] [-6.36908763e-01 7.70927465e-01 -4.25111572e-03 1.62918639e+02] [-6.70781961e-03 -2.75629202e-05 9.99977502e-01 -6.16154298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46 meters 0.012767981137542794 Centerline is valid? [True, True] Translation: X:128.37, Y:162.90, Z:-6.16 [[ 7.69085319e-01 6.39123664e-01 5.35856104e-03 1.28374705e+02] [-6.39108581e-01 7.69103986e-01 -4.39097140e-03 1.62900202e+02] [-6.92766438e-03 -4.76707040e-05 9.99976002e-01 -6.16203867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49 meters 0.012741202013482555 Centerline is valid? [True, True] Translation: X:128.40, Y:162.88, Z:-6.16 [[ 7.67976064e-01 6.40456448e-01 5.32018232e-03 1.28400932e+02] [-6.40441596e-01 7.67994489e-01 -4.36198805e-03 1.62880459e+02] [-6.87953408e-03 -5.73636393e-05 9.99976334e-01 -6.16278454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52 meters 0.012974994341401301 Centerline is valid? [True, True] Translation: X:128.43, Y:162.86, Z:-6.16 [[ 7.66906592e-01 6.41738150e-01 5.14057463e-03 1.28426526e+02] [-6.41724294e-01 7.66923818e-01 -4.21754964e-03 1.62861974e+02] [-6.64899162e-03 -6.43650019e-05 9.99977893e-01 -6.16374480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55 meters 0.013098029909945916 Centerline is valid? [True, True] Translation: X:128.45, Y:162.84, Z:-6.16 [[ 7.65733402e-01 6.43139552e-01 4.88605738e-03 1.28451888e+02] [-6.43127054e-01 7.65748987e-01 -4.01022468e-03 1.62842720e+02] [-6.32062760e-03 -7.15927000e-05 9.99980022e-01 -6.16454372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58 meters 0.013395270457668468 Centerline is valid? [True, True] Translation: X:128.48, Y:162.82, Z:-6.17 [[ 7.64733409e-01 6.44328801e-01 4.81764699e-03 1.28477508e+02] [-6.44316654e-01 7.64748580e-01 -3.95717157e-03 1.62824324e+02] [-6.23400831e-03 -7.79088854e-05 9.99980565e-01 -6.16590658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61 meters 0.013822465717750983 Centerline is valid? [True, True] Translation: X:128.50, Y:162.81, Z:-6.17 [[ 7.62960289e-01 6.46430060e-01 4.44686990e-03 1.28503723e+02] [-6.46419748e-01 7.62973243e-01 -3.65229177e-03 1.62806178e+02] [-5.75379394e-03 -8.79909361e-05 9.99983443e-01 -6.16792085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64 meters 0.014119368856445642 Centerline is valid? [True, True] Translation: X:128.53, Y:162.79, Z:-6.17 [[ 7.61918276e-01 6.47658353e-01 4.38169457e-03 1.28529567e+02] [-6.47648352e-01 7.61930869e-01 -3.60053793e-03 1.62786452e+02] [-5.67046682e-03 -9.44816132e-05 9.99983918e-01 -6.16908940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67 meters 0.014689322368174464 Centerline is valid? [True, True] Translation: X:128.55, Y:162.77, Z:-6.17 [[ 7.60700880e-01 6.49090482e-01 3.96465088e-03 1.28554363e+02] [-6.49082299e-01 7.60711205e-01 -3.26046673e-03 1.62768439e+02] [-5.13229227e-03 -9.31447976e-05 9.99986825e-01 -6.17044245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7 meters 0.014689322368174464 Centerline is valid? [True, True] Translation: X:128.58, Y:162.75, Z:-6.17 [[ 7.60519511e-01 6.49302973e-01 3.96511313e-03 1.28579328e+02] [-6.49294797e-01 7.60529841e-01 -3.25990555e-03 1.62747791e+02] [-5.13225323e-03 -9.53055503e-05 9.99986825e-01 -6.17088999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72999999999996 meters 0.015027835211805477 Centerline is valid? [True, True] Translation: X:128.60, Y:162.73, Z:-6.17 [[ 7.59824366e-01 6.50116037e-01 4.00898913e-03 1.28603646e+02] [-6.50107677e-01 7.59834935e-01 -3.29851826e-03 1.62729163e+02] [-5.19058961e-03 -9.99800649e-05 9.99986524e-01 -6.17168567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76 meters 0.015166173876295467 Centerline is valid? [True, True] Translation: X:128.63, Y:162.71, Z:-6.17 [[ 7.58655126e-01 6.51476784e-01 4.51658102e-03 1.28628311e+02] [-6.51466185e-01 7.58668561e-01 -3.71815278e-03 1.62708666e+02] [-5.84887824e-03 -1.21604137e-04 9.99982888e-01 -6.17145332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78999999999996 meters 0.01540424926072423 Centerline is valid? [True, True] Translation: X:128.65, Y:162.69, Z:-6.17 [[ 7.57933828e-01 6.52315377e-01 4.57833018e-03 1.28653073e+02] [-6.52304491e-01 7.57947645e-01 -3.77091336e-03 1.62688364e+02] [-5.92995935e-03 -1.28362539e-04 9.99982409e-01 -6.17164284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82 meters 0.015447633499243852 Centerline is valid? [True, True] Translation: X:128.68, Y:162.67, Z:-6.17 [[ 7.57062299e-01 6.53323883e-01 4.95773829e-03 1.28678063e+02] [-6.53311123e-01 7.57078518e-01 -4.08582303e-03 1.62668077e+02] [-6.42276293e-03 -1.45722992e-04 9.99979363e-01 -6.17227834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84999999999997 meters 0.015889136235241234 Centerline is valid? [True, True] Translation: X:128.70, Y:162.65, Z:-6.17 [[ 7.56539682e-01 6.53928652e-01 5.00270203e-03 1.28702223e+02] [-6.53915657e-01 7.56556208e-01 -4.12522359e-03 1.62648907e+02] [-6.48242717e-03 -1.50449843e-04 9.99978978e-01 -6.17321003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88 meters 0.015889136235241234 Centerline is valid? [True, True] Translation: X:128.73, Y:162.63, Z:-6.17 [[ 7.56353270e-01 6.54144259e-01 5.00200787e-03 1.28727160e+02] [-6.54131263e-01 7.56369795e-01 -4.12606502e-03 1.62628223e+02] [-6.48240941e-03 -1.51206958e-04 9.99978978e-01 -6.17365824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90999999999997 meters 0.015604663943203369 Centerline is valid? [True, True] Translation: X:128.75, Y:162.61, Z:-6.17 [[ 7.56048910e-01 6.54496064e-01 4.99481425e-03 1.28752059e+02] [-6.54483098e-01 7.56065394e-01 -4.12247856e-03 1.62606338e+02] [-6.47455219e-03 -1.52226085e-04 9.99979028e-01 -6.17379310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94 meters 0.016262472307966357 Centerline is valid? [True, True] Translation: X:128.78, Y:162.59, Z:-6.17 [[ 7.55869072e-01 6.54700690e-01 5.38084563e-03 1.28776840e+02] [-6.54685625e-01 7.55888206e-01 -4.44429417e-03 1.62586947e+02] [-6.97700021e-03 -1.63457775e-04 9.99975647e-01 -6.17429388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96999999999997 meters 0.016287301301657234 Centerline is valid? [True, True] Translation: X:128.80, Y:162.57, Z:-6.18 [[ 7.56311171e-01 6.54189957e-01 5.37713486e-03 1.28800660e+02] [-6.54174882e-01 7.56330269e-01 -4.44388896e-03 1.62566119e+02] [-6.97403738e-03 -1.56623703e-04 9.99975669e-01 -6.17505067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0 meters 0.015931058340093618 Centerline is valid? [True, True] Translation: X:128.82, Y:162.54, Z:-6.18 [[ 7.56973254e-01 6.53424100e-01 5.33276566e-03 1.28824149e+02] [-6.53409239e-01 7.56992024e-01 -4.40935139e-03 1.62544722e+02] [-6.91803753e-03 -1.46717286e-04 9.99976059e-01 -6.17551732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03 meters 0.014927937634020243 Centerline is valid? [True, True] Translation: X:128.85, Y:162.52, Z:-6.18 [[ 7.57878631e-01 6.52373161e-01 5.40739431e-03 1.28846689e+02] [-6.52357839e-01 7.57897909e-01 -4.47327244e-03 1.62522201e+02] [-7.01649572e-03 -1.37358475e-04 9.99975375e-01 -6.17554412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06 meters 0.014580173317839725 Centerline is valid? [True, True] Translation: X:128.87, Y:162.50, Z:-6.18 [[ 7.59134962e-01 6.50908799e-01 5.64313307e-03 1.28870140e+02] [-6.50892053e-01 7.59155926e-01 -4.67083621e-03 1.62500170e+02] [-7.32430629e-03 -1.27275393e-04 9.99973169e-01 -6.17572326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09 meters 0.014142793277358559 Centerline is valid? [True, True] Translation: X:128.89, Y:162.48, Z:-6.18 [[ 7.60561158e-01 6.49238348e-01 6.02431874e-03 1.28892808e+02] [-6.49219188e-01 7.60585008e-01 -4.98914472e-03 1.62478121e+02] [-7.82115059e-03 -1.16553633e-04 9.99969408e-01 -6.17612278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12 meters 0.013344620648966634 Centerline is valid? [True, True] Translation: X:128.92, Y:162.45, Z:-6.18 [[ 7.62179281e-01 6.47335885e-01 6.24458285e-03 1.28915309e+02] [-6.47315213e-01 7.62204856e-01 -5.17426800e-03 1.62454600e+02] [-8.10914073e-03 -9.84936103e-05 9.99967116e-01 -6.17581803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15 meters 0.01274834303966975 Centerline is valid? [True, True] Translation: X:128.94, Y:162.43, Z:-6.18 [[ 7.66100433e-01 6.42693470e-01 5.93556408e-03 1.28935294e+02] [-6.42674634e-01 7.66123425e-01 -4.92065247e-03 1.62429873e+02] [-7.70984589e-03 -4.49224915e-05 9.99970278e-01 -6.17625524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18 meters 0.01252747986929244 Centerline is valid? [True, True] Translation: X:128.96, Y:162.41, Z:-6.18 [[ 7.68202004e-01 6.40184557e-01 5.42341069e-03 1.28957558e+02] [-6.40168751e-01 7.68221148e-01 -4.49862639e-03 1.62407258e+02] [-7.04632993e-03 -1.60442384e-05 9.99975174e-01 -6.17724893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21 meters 0.012672372996236457 Centerline is valid? [True, True] Translation: X:128.98, Y:162.38, Z:-6.18 [[ 7.70164465e-01 6.37821593e-01 5.50567922e-03 1.28980848e+02] [-6.37805243e-01 7.70184144e-01 -4.56693034e-03 1.62383620e+02] [-7.15327362e-03 5.73638134e-06 9.99974415e-01 -6.17730140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24 meters 0.012774213212053553 Centerline is valid? [True, True] Translation: X:129.00, Y:162.36, Z:-6.18 [[ 7.72005438e-01 6.35593551e-01 5.33304631e-03 1.29004353e+02] [-6.35578140e-01 7.72023858e-01 -4.42615038e-03 1.62359963e+02] [-6.93047163e-03 2.74445073e-05 9.99975984e-01 -6.17775469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27 meters 0.013167069564538553 Centerline is valid? [True, True] Translation: X:129.03, Y:162.34, Z:-6.18 [[ 7.74499080e-01 6.32545685e-01 6.09347512e-03 1.29026655e+02] [-6.32525439e-01 7.74523048e-01 -5.06131383e-03 1.62337516e+02] [-7.92104915e-03 6.57048753e-05 9.99968626e-01 -6.17621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3 meters 0.013193285444259259 Centerline is valid? [True, True] Translation: X:129.05, Y:162.32, Z:-6.18 [[ 7.74821740e-01 6.32147781e-01 6.36039171e-03 1.29052170e+02] [-6.32125691e-01 7.74847841e-01 -5.28523880e-03 1.62317208e+02] [-8.26938777e-03 7.45509237e-05 9.99965805e-01 -6.17613712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33 meters 0.013269007430112608 Centerline is valid? [True, True] Translation: X:129.08, Y:162.30, Z:-6.18 [[ 7.74948813e-01 6.31992395e-01 6.32067470e-03 1.29078155e+02] [-6.31970549e-01 7.74974585e-01 -5.25524939e-03 1.62296294e+02] [-8.21963989e-03 7.80690137e-05 9.99966215e-01 -6.17642630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36 meters 0.013440851519320757 Centerline is valid? [True, True] Translation: X:129.10, Y:162.28, Z:-6.18 [[ 7.75397565e-01 6.31449695e-01 5.46792302e-03 1.29103279e+02] [-6.31433317e-01 7.75416841e-01 -4.54863328e-03 1.62277117e+02] [-7.11215269e-03 7.43704038e-05 9.99974706e-01 -6.17759856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39 meters 0.01344317259804439 Centerline is valid? [True, True] Translation: X:129.13, Y:162.26, Z:-6.18 [[ 7.75261288e-01 6.31617710e-01 5.38559782e-03 1.29128969e+02] [-6.31601813e-01 7.75279990e-01 -4.48171711e-03 1.62256582e+02] [-7.00607812e-03 7.29484256e-05 9.99975454e-01 -6.17841065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42 meters 0.01353695090742949 Centerline is valid? [True, True] Translation: X:129.15, Y:162.24, Z:-6.18 [[ 7.75341736e-01 6.31520550e-01 5.19486636e-03 1.29154535e+02] [-6.31505742e-01 7.75359136e-01 -4.32529688e-03 1.62235979e+02] [-6.75940095e-03 7.29952530e-05 9.99977152e-01 -6.17887163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45 meters 0.0135214655771681 Centerline is valid? [True, True] Translation: X:129.18, Y:162.22, Z:-6.18 [[ 7.75427130e-01 6.31416348e-01 5.11495656e-03 1.29180345e+02] [-6.31401974e-01 7.75443996e-01 -4.26112500e-03 1.62215147e+02] [-6.65690633e-03 7.45982596e-05 9.99977840e-01 -6.17905501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47999999999996 meters 0.013740955004413902 Centerline is valid? [True, True] Translation: X:129.21, Y:162.19, Z:-6.18 [[ 7.75542434e-01 6.31276547e-01 4.88412786e-03 1.29205200e+02] [-6.31263423e-01 7.75557810e-01 -4.07115186e-03 1.62194495e+02] [-6.35794619e-03 7.41797530e-05 9.99979785e-01 -6.17930316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51 meters 0.013818397716370135 Centerline is valid? [True, True] Translation: X:129.23, Y:162.18, Z:-6.18 [[ 7.75808522e-01 6.30951978e-01 4.55407676e-03 1.29231894e+02] [-6.30940553e-01 7.75821885e-01 -3.79758281e-03 1.62175202e+02] [-5.92924480e-03 7.28453967e-05 9.99982419e-01 -6.18017232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53999999999996 meters 0.013873107383929332 Centerline is valid? [True, True] Translation: X:129.26, Y:162.15, Z:-6.18 [[ 7.75657582e-01 6.31137367e-01 4.57589231e-03 1.29257889e+02] [-6.31125823e-01 7.75671076e-01 -3.81801498e-03 1.62154790e+02] [-5.95907923e-03 7.35084739e-05 9.99982242e-01 -6.18062016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57 meters 0.013856153972280407 Centerline is valid? [True, True] Translation: X:129.28, Y:162.14, Z:-6.18 [[ 7.74992894e-01 6.31954817e-01 4.37297116e-03 1.29283172e+02] [-6.31944275e-01 7.75005229e-01 -3.65076862e-03 1.62135168e+02] [-5.69619633e-03 6.58456523e-05 9.99983774e-01 -6.18108394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59999999999997 meters 0.013756778033783874 Centerline is valid? [True, True] Translation: X:129.31, Y:162.12, Z:-6.18 [[ 7.74204900e-01 6.32919566e-01 4.42665716e-03 1.29308974e+02] [-6.32908767e-01 7.74217553e-01 -3.69781806e-03 1.62115954e+02] [-5.76761707e-03 6.11987350e-05 9.99983365e-01 -6.18173288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63 meters 0.013564864602602745 Centerline is valid? [True, True] Translation: X:129.34, Y:162.10, Z:-6.18 [[ 7.73063143e-01 6.34313373e-01 4.46331101e-03 1.29335475e+02] [-6.34302397e-01 7.73076026e-01 -3.73192894e-03 1.62096782e+02] [-5.81769117e-03 5.39278446e-05 9.99983076e-01 -6.18224252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65999999999997 meters 0.01301241523306547 Centerline is valid? [True, True] Translation: X:129.36, Y:162.08, Z:-6.18 [[ 7.70097968e-01 6.37911763e-01 4.20742747e-03 1.29364465e+02] [-6.37902070e-01 7.70109461e-01 -3.51680189e-03 1.62081343e+02] [-5.48358899e-03 2.43552958e-05 9.99984965e-01 -6.18317774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69 meters 0.012881053781550597 Centerline is valid? [True, True] Translation: X:129.39, Y:162.06, Z:-6.18 [[ 7.68317755e-01 6.40054485e-01 4.25260675e-03 1.29390484e+02] [-6.40044603e-01 7.68329524e-01 -3.55657668e-03 1.62063880e+02] [-5.54380618e-03 1.07230088e-05 9.99984633e-01 -6.18468100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71999999999997 meters 0.012858599344337288 Centerline is valid? [True, True] Translation: X:129.42, Y:162.05, Z:-6.19 [[ 7.66400727e-01 6.42350985e-01 3.89086712e-03 1.29418005e+02] [-6.42342740e-01 7.66410603e-01 -3.25459480e-03 1.62045882e+02] [-5.07259399e-03 -4.94642987e-06 9.99987134e-01 -6.18514807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75 meters 0.012918097031529947 Centerline is valid? [True, True] Translation: X:129.45, Y:162.03, Z:-6.19 [[ 7.64490810e-01 6.44622263e-01 3.99242551e-03 1.29445802e+02] [-6.44613603e-01 7.64501234e-01 -3.34156216e-03 1.62027179e+02] [-5.20625960e-03 -1.89782272e-05 9.99986447e-01 -6.18625674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78 meters 0.013417805412896914 Centerline is valid? [True, True] Translation: X:129.47, Y:162.01, Z:-6.19 [[ 7.60579520e-01 6.49232662e-01 3.96796405e-03 1.29474714e+02] [-6.49224158e-01 7.60589869e-01 -3.32330929e-03 1.62011815e+02] [-5.17559419e-03 -4.84571340e-05 9.99986605e-01 -6.18642019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81 meters 0.013571280814736544 Centerline is valid? [True, True] Translation: X:129.50, Y:161.99, Z:-6.19 [[ 7.58556558e-01 6.51597640e-01 3.53038346e-03 1.29500477e+02] [-6.51590930e-01 7.58564771e-01 -2.95766911e-03 1.61992934e+02] [-4.60523474e-03 -5.68065375e-05 9.99989394e-01 -6.18609040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84 meters 0.015156591820974574 Centerline is valid? [True, True] Translation: X:129.53, Y:161.98, Z:-6.19 [[ 7.55154221e-01 6.55537209e-01 3.61515129e-03 1.29528665e+02] [-6.55530204e-01 7.55162870e-01 -3.03156820e-03 1.61979002e+02] [-4.71733378e-03 -8.05393417e-05 9.99988870e-01 -6.18694024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87 meters 0.014965975434975924 Centerline is valid? [True, True] Translation: X:129.55, Y:161.96, Z:-6.19 [[ 7.53243889e-01 6.57731069e-01 3.67208260e-03 1.29553576e+02] [-6.57723869e-01 7.53252834e-01 -3.07902925e-03 1.61959235e+02] [-4.79117982e-03 -9.59564021e-05 9.99988518e-01 -6.18586411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9 meters 0.015608994298488287 Centerline is valid? [True, True] Translation: X:129.58, Y:161.94, Z:-6.19 [[ 7.51791600e-01 6.59390050e-01 3.76195711e-03 1.29579234e+02] [-6.59382504e-01 7.51801005e-01 -3.15633687e-03 1.61941591e+02] [-4.90950026e-03 -1.07661153e-04 9.99987943e-01 -6.18661168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93 meters 0.015927326542203267 Centerline is valid? [True, True] Translation: X:129.60, Y:161.92, Z:-6.19 [[ 7.50336059e-01 6.61047339e-01 3.49494605e-03 1.29604499e+02] [-6.61040839e-01 7.50344190e-01 -2.93338293e-03 1.61922636e+02] [-4.56151744e-03 -1.09279088e-04 9.99989590e-01 -6.18687319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96 meters 0.017079603073462412 Centerline is valid? [True, True] Translation: X:129.63, Y:161.91, Z:-6.19 [[ 7.48228323e-01 6.63434904e-01 2.91636124e-03 1.29631102e+02] [-6.63430394e-01 7.48234000e-01 -2.44825119e-03 1.61906233e+02] [-3.80637592e-03 -1.02951806e-04 9.99992750e-01 -6.18811324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99 meters 0.01703053817661467 Centerline is valid? [True, True] Translation: X:129.66, Y:161.89, Z:-6.19 [[ 7.47162518e-01 6.64635766e-01 2.73325313e-03 1.29656023e+02] [-6.64631811e-01 7.47167510e-01 -2.29506757e-03 1.61885739e+02] [-3.56758193e-03 -1.01818515e-04 9.99993631e-01 -6.18857424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02 meters 0.017415338365773535 Centerline is valid? [True, True] Translation: X:129.68, Y:161.87, Z:-6.19 [[ 7.46524296e-01 6.65354153e-01 2.30789299e-03 1.29681317e+02] [-6.65351336e-01 7.46527858e-01 -1.93822085e-03 1.61866231e+02] [-3.01250970e-03 -8.86307232e-05 9.99995458e-01 -6.18966624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05 meters 0.017698021881543888 Centerline is valid? [True, True] Translation: X:129.71, Y:161.85, Z:-6.19 [[ 7.46037171e-01 6.65900245e-01 2.32460266e-03 1.29706453e+02] [-6.65897386e-01 7.46040787e-01 -1.95329227e-03 1.61846573e+02] [-3.03494620e-03 -9.07181952e-05 9.99995390e-01 -6.19048880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08 meters 0.016837100085708965 Centerline is valid? [True, True] Translation: X:129.73, Y:161.83, Z:-6.19 [[ 7.45947392e-01 6.65999677e-01 2.63036486e-03 1.29731288e+02] [-6.65996014e-01 7.45952022e-01 -2.21132394e-03 1.61825024e+02] [-3.43486701e-03 -1.02281188e-04 9.99994096e-01 -6.19112467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11 meters 0.017563863076385855 Centerline is valid? [True, True] Translation: X:129.76, Y:161.81, Z:-6.19 [[ 7.46073744e-01 6.65857530e-01 2.77837867e-03 1.29755490e+02] [-6.65853433e-01 7.46078909e-01 -2.33820095e-03 1.61806174e+02] [-3.62979844e-03 -1.05522634e-04 9.99993407e-01 -6.19195936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14 meters 0.017601742731195066 Centerline is valid? [True, True] Translation: X:129.78, Y:161.79, Z:-6.19 [[ 7.46460454e-01 6.65422359e-01 3.14250587e-03 1.29779166e+02] [-6.65417106e-01 7.46467060e-01 -2.64653514e-03 1.61785806e+02] [-4.10684077e-03 -1.15543335e-04 9.99991560e-01 -6.19211166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17 meters 0.01660781247214587 Centerline is valid? [True, True] Translation: X:129.80, Y:161.76, Z:-6.19 [[ 7.47321379e-01 6.64453620e-01 3.48487485e-03 1.29802603e+02] [-6.64447136e-01 7.47329494e-01 -2.93781450e-03 1.61763083e+02] [-4.55639123e-03 -1.20023531e-04 9.99989612e-01 -6.19193782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2 meters 0.015528302269872953 Centerline is valid? [True, True] Translation: X:129.83, Y:161.74, Z:-6.19 [[ 7.49327670e-01 6.62185464e-01 4.29580870e-03 1.29825032e+02] [-6.62175572e-01 7.49339973e-01 -3.62176773e-03 1.61740209e+02] [-5.61730312e-03 -1.30688806e-04 9.99984214e-01 -6.19179287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22999999999996 meters 0.015182520202864208 Centerline is valid? [True, True] Translation: X:129.85, Y:161.72, Z:-6.19 [[ 7.50572694e-01 6.60771349e-01 4.67489424e-03 1.29848780e+02] [-6.60759592e-01 7.50587242e-01 -3.94380008e-03 1.61718508e+02] [-6.11486608e-03 -1.28872561e-04 9.99981296e-01 -6.19195593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26 meters 0.014850452775980832 Centerline is valid? [True, True] Translation: X:129.87, Y:161.70, Z:-6.19 [[ 7.51836036e-01 6.59331693e-01 4.92885376e-03 1.29872069e+02] [-6.59318578e-01 7.51852182e-01 -4.16042964e-03 1.61696985e+02] [-6.44887258e-03 -1.21723922e-04 9.99979198e-01 -6.19239926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28999999999996 meters 0.014853713737169224 Centerline is valid? [True, True] Translation: X:129.90, Y:161.68, Z:-6.19 [[ 7.53365159e-01 6.57583691e-01 4.96246070e-03 1.29895278e+02] [-6.57570344e-01 7.53381495e-01 -4.19114197e-03 1.61676645e+02] [-6.49465268e-03 -1.05706650e-04 9.99978904e-01 -6.19372316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32 meters 0.013909233156215929 Centerline is valid? [True, True] Translation: X:129.92, Y:161.65, Z:-6.19 [[ 7.54860274e-01 6.55867948e-01 4.81687628e-03 1.29917732e+02] [-6.55855327e-01 7.54875637e-01 -4.06976018e-03 1.61653844e+02] [-6.30536781e-03 -8.70736789e-05 9.99980117e-01 -6.19411311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34999999999997 meters 0.013281840912589705 Centerline is valid? [True, True] Translation: X:129.94, Y:161.63, Z:-6.19 [[ 7.58658283e-01 6.51473714e-01 4.42820266e-03 1.29939746e+02] [-6.51462954e-01 7.58671206e-01 -3.74458980e-03 1.61629312e+02] [-5.79905168e-03 -4.39459203e-05 9.99983184e-01 -6.19466603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38 meters 0.013099954208039867 Centerline is valid? [True, True] Translation: X:129.96, Y:161.61, Z:-6.20 [[ 7.60786256e-01 6.48990101e-01 4.01519479e-03 1.29962191e+02] [-6.48981220e-01 7.60796851e-01 -3.39523455e-03 1.61606955e+02] [-5.25822117e-03 -2.27382299e-05 9.99986175e-01 -6.19507249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40999999999997 meters 0.01302939390053751 Centerline is valid? [True, True] Translation: X:129.99, Y:161.58, Z:-6.20 [[ 7.63201018e-01 6.46148569e-01 4.02893119e-03 1.29985720e+02] [-6.46139591e-01 7.63211652e-01 -3.40626080e-03 1.61583277e+02] [-5.27587777e-03 -3.59024451e-06 9.99986082e-01 -6.19568167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44 meters 0.013483352630547986 Centerline is valid? [True, True] Translation: X:130.01, Y:161.56, Z:-6.20 [[ 7.68721290e-01 6.39568625e-01 4.42168653e-03 1.30006450e+02] [-6.39557684e-01 7.68734006e-01 -3.74129521e-03 1.61558245e+02] [-5.79191583e-03 4.80896814e-05 9.99983226e-01 -6.19575109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46999999999997 meters 0.01422899391434856 Centerline is valid? [True, True] Translation: X:130.03, Y:161.54, Z:-6.20 [[ 7.71598936e-01 6.36092098e-01 4.68237446e-03 1.30028090e+02] [-6.36079749e-01 7.71613139e-01 -3.96434503e-03 1.61535330e+02] [-6.13467020e-03 8.05208319e-05 9.99981180e-01 -6.19610761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5 meters 0.014859104238470974 Centerline is valid? [True, True] Translation: X:130.05, Y:161.51, Z:-6.20 [[ 7.74444731e-01 6.32621733e-01 5.01021116e-03 1.30050785e+02] [-6.32607508e-01 7.74460929e-01 -4.24395866e-03 1.61512607e+02] [-6.56503327e-03 1.17214228e-04 9.99978443e-01 -6.19562287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53 meters 0.01566438854323487 Centerline is valid? [True, True] Translation: X:130.07, Y:161.49, Z:-6.20 [[ 7.77260339e-01 6.29157339e-01 5.23538406e-03 1.30073152e+02] [-6.29141709e-01 7.77277955e-01 -4.43752376e-03 1.61489552e+02] [-6.86124926e-03 1.55312748e-04 9.99976449e-01 -6.19546034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56 meters 0.018134023989145237 Centerline is valid? [True, True] Translation: X:130.09, Y:161.47, Z:-6.19 [[ 7.82589678e-01 6.22510922e-01 5.79211461e-03 1.30092379e+02] [-6.22491588e-01 7.82611076e-01 -4.91198680e-03 1.61465294e+02] [-7.59073847e-03 2.38527548e-04 9.99971161e-01 -6.19478210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59 meters 0.01904730418344463 Centerline is valid? [True, True] Translation: X:130.12, Y:161.44, Z:-6.19 [[ 7.84665037e-01 6.19890834e-01 6.01105555e-03 1.30115371e+02] [-6.19869917e-01 7.84688013e-01 -5.09978404e-03 1.61443407e+02] [-7.87811262e-03 2.75549730e-04 9.99968929e-01 -6.19464590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62 meters 0.01834629348766491 Centerline is valid? [True, True] Translation: X:130.14, Y:161.42, Z:-6.19 [[ 7.86428140e-01 6.17652204e-01 6.04447650e-03 1.30140258e+02] [-6.17630969e-01 7.86451311e-01 -5.13048082e-03 1.61423961e+02] [-7.92253925e-03 3.01498616e-04 9.99968571e-01 -6.19437885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65 meters 0.021379277187833348 Centerline is valid? [True, True] Translation: X:130.16, Y:161.40, Z:-6.19 [[ 7.87871954e-01 6.15804792e-01 6.49940025e-03 1.30160816e+02] [-6.15780146e-01 7.87898685e-01 -5.52039694e-03 1.61400454e+02] [-8.52035580e-03 3.47164291e-04 9.99963641e-01 -6.19495536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68 meters 0.020273668903713737 Centerline is valid? [True, True] Translation: X:130.19, Y:161.38, Z:-6.19 [[ 7.89603610e-01 6.13577946e-01 6.94572868e-03 1.30187378e+02] [-6.13549700e-01 7.89634059e-01 -5.90078877e-03 1.61381715e+02] [-9.10517777e-03 3.97734373e-04 9.99958468e-01 -6.19472142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71 meters 0.02056159809443855 Centerline is valid? [True, True] Translation: X:130.21, Y:161.36, Z:-6.20 [[ 7.89651402e-01 6.13517259e-01 6.87283043e-03 1.30211877e+02] [-6.13489587e-01 7.89681212e-01 -5.84042909e-03 1.61361334e+02] [-9.01054911e-03 3.95493119e-04 9.99959326e-01 -6.19509741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74 meters 0.021450304911097444 Centerline is valid? [True, True] Translation: X:130.24, Y:161.34, Z:-6.20 [[ 7.89355109e-01 6.13898991e-01 6.82213186e-03 1.30235258e+02] [-6.13871712e-01 7.89384492e-01 -5.80037658e-03 1.61340582e+02] [-8.94613042e-03 3.90643114e-04 9.99959906e-01 -6.19558332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77 meters 0.020298956698056158 Centerline is valid? [True, True] Translation: X:130.26, Y:161.32, Z:-6.20 [[ 7.87735253e-01 6.15980353e-01 6.43249957e-03 1.30262112e+02] [-6.15956150e-01 7.87761439e-01 -5.47148897e-03 1.61323476e+02] [-8.43760482e-03 3.47947076e-04 9.99964342e-01 -6.19615505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8 meters 0.020298956698056158 Centerline is valid? [True, True] Translation: X:130.29, Y:161.30, Z:-6.20 [[ 7.87560651e-01 6.16203583e-01 6.43151458e-03 1.30286755e+02] [-6.16179379e-01 7.87586836e-01 -5.47264644e-03 1.61302417e+02] [-8.43764057e-03 3.47074339e-04 9.99964342e-01 -6.19660346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83 meters 0.019311699992754606 Centerline is valid? [True, True] Translation: X:130.31, Y:161.28, Z:-6.20 [[ 7.86178240e-01 6.17969186e-01 6.15298488e-03 1.30313275e+02] [-6.17947062e-01 7.86202254e-01 -5.23867755e-03 1.61283916e+02] [-8.07483188e-03 3.16315372e-04 9.99967348e-01 -6.19721493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86 meters 0.01890265418107771 Centerline is valid? [True, True] Translation: X:130.34, Y:161.27, Z:-6.20 [[ 7.84626471e-01 6.19940731e-01 5.89836827e-03 1.30339111e+02] [-6.19920437e-01 7.84648589e-01 -5.02426124e-03 1.61265266e+02] [-7.74289053e-03 2.85649334e-04 9.99969983e-01 -6.19771459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89 meters 0.018060148737201503 Centerline is valid? [True, True] Translation: X:130.37, Y:161.25, Z:-6.20 [[ 7.82787864e-01 6.22261378e-01 5.82559733e-03 1.30365345e+02] [-6.22241626e-01 7.82809497e-01 -4.96490150e-03 1.61247663e+02] [-7.64979937e-03 2.61535486e-04 9.99970706e-01 -6.19856381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92 meters 0.01638743925649778 Centerline is valid? [True, True] Translation: X:130.39, Y:161.23, Z:-6.20 [[ 7.78693249e-01 6.27380139e-01 5.56646209e-03 1.30394564e+02] [-6.27362219e-01 7.78713118e-01 -4.74622426e-03 1.61233104e+02] [-7.31236389e-03 2.03664782e-04 9.99973244e-01 -6.19955242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95 meters 0.015866918537049524 Centerline is valid? [True, True] Translation: X:130.42, Y:161.22, Z:-6.20 [[ 7.76225034e-01 6.30432325e-01 5.45710755e-03 1.30420389e+02] [-6.30415165e-01 7.76244198e-01 -4.65467331e-03 1.61215545e+02] [-7.17050458e-03 1.72830601e-04 9.99974277e-01 -6.19953437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97999999999996 meters 0.015180483226094594 Centerline is valid? [True, True] Translation: X:130.45, Y:161.20, Z:-6.20 [[ 7.73450945e-01 6.33830409e-01 5.71392789e-03 1.30447389e+02] [-6.33811658e-01 7.73472036e-01 -4.87761656e-03 1.61197717e+02] [-7.51114514e-03 1.51043031e-04 9.99971780e-01 -6.19974772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01 meters 0.014689085076636807 Centerline is valid? [True, True] Translation: X:130.47, Y:161.18, Z:-6.20 [[ 7.70534150e-01 6.37372127e-01 5.82195128e-03 1.30473628e+02] [-6.37352768e-01 7.70556135e-01 -4.96911816e-03 1.61180608e+02] [-7.65331769e-03 1.18238472e-04 9.99970706e-01 -6.20006319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03999999999996 meters 0.013325040906478786 Centerline is valid? [True, True] Translation: X:130.50, Y:161.17, Z:-6.20 [[ 7.64642510e-01 6.44427331e-01 5.93696912e-03 1.30504556e+02] [-6.44407379e-01 7.64665556e-01 -5.07115949e-03 1.61167892e+02] [-7.80778957e-03 5.17974092e-05 9.99969517e-01 -6.20042642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07 meters 0.013018334731856892 Centerline is valid? [True, True] Translation: X:130.53, Y:161.15, Z:-6.20 [[ 7.61606664e-01 6.48013711e-01 5.78955791e-03 1.30532317e+02] [-6.47994850e-01 7.61628669e-01 -4.94416289e-03 1.61151084e+02] [-7.61337863e-03 1.39037014e-05 9.99971018e-01 -6.20108500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09999999999997 meters 0.012937576404441502 Centerline is valid? [True, True] Translation: X:130.56, Y:161.13, Z:-6.20 [[ 7.58498292e-01 6.51652107e-01 5.46568785e-03 1.30560265e+02] [-6.51635378e-01 7.58517984e-01 -4.66937124e-03 1.61133477e+02] [-7.18862814e-03 -1.99254603e-05 9.99974161e-01 -6.20169048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13 meters 0.013099303831784367 Centerline is valid? [True, True] Translation: X:130.59, Y:161.12, Z:-6.20 [[ 7.55691268e-01 6.54908049e-01 5.11424971e-03 1.30587513e+02] [-6.54893459e-01 7.55708572e-01 -4.37166300e-03 1.61116022e+02] [-6.72791962e-03 -4.56611288e-05 9.99977366e-01 -6.20218669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15999999999997 meters 0.013729646325541443 Centerline is valid? [True, True] Translation: X:130.62, Y:161.10, Z:-6.20 [[ 7.51300278e-01 6.59939876e-01 5.22044653e-03 1.30616725e+02] [-6.59924779e-01 7.51318409e-01 -4.46477390e-03 1.61101060e+02] [-6.86869991e-03 -9.07161523e-05 9.99976406e-01 -6.20263088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19 meters 0.01418275141979083 Centerline is valid? [True, True] Translation: X:130.64, Y:161.08, Z:-6.20 [[ 7.49667252e-01 6.61795394e-01 5.08608893e-03 1.30643204e+02] [-6.61781092e-01 7.49684498e-01 -4.35196478e-03 1.61082873e+02] [-6.69307227e-03 -1.03352009e-04 9.99977596e-01 -6.20345934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21999999999997 meters 0.014235661998695573 Centerline is valid? [True, True] Translation: X:130.67, Y:161.06, Z:-6.20 [[ 7.48434119e-01 6.63192153e-01 4.74736798e-03 1.30668863e+02] [-6.63179711e-01 7.48449168e-01 -4.06383424e-03 1.61063844e+02] [-6.24826659e-03 -1.06845925e-04 9.99980474e-01 -6.20452368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25 meters 0.014529608527529655 Centerline is valid? [True, True] Translation: X:130.69, Y:161.05, Z:-6.21 [[ 7.47459981e-01 6.64291896e-01 4.45578790e-03 1.30694026e+02] [-6.64280943e-01 7.47473254e-01 -3.81610779e-03 1.61045251e+02] [-5.86559176e-03 -1.07507136e-04 9.99982792e-01 -6.20547708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28 meters 0.014688474307760787 Centerline is valid? [True, True] Translation: X:130.72, Y:161.03, Z:-6.21 [[ 7.46756954e-01 6.65086951e-01 3.66057999e-03 1.30719706e+02] [-6.65079566e-01 7.46765920e-01 -3.13557712e-03 1.61026598e+02] [-4.81902781e-03 -9.30629311e-05 9.99988384e-01 -6.20748606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31 meters 0.014953240635493286 Centerline is valid? [True, True] Translation: X:130.74, Y:161.01, Z:-6.21 [[ 7.46948315e-01 6.64874087e-01 3.26553276e-03 1.30744828e+02] [-6.64868205e-01 7.46955448e-01 -2.79790669e-03 1.61006311e+02] [-4.29946314e-03 -8.12572122e-05 9.99990754e-01 -6.20849693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34 meters 0.014524345700026023 Centerline is valid? [True, True] Translation: X:130.77, Y:160.98, Z:-6.21 [[ 7.47389599e-01 6.64378104e-01 3.24374201e-03 1.30768577e+02] [-6.64372288e-01 7.47396634e-01 -2.78093899e-03 1.60984961e+02] [-4.27195683e-03 -7.66074233e-05 9.99990872e-01 -6.20872097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37 meters 0.014306791618418703 Centerline is valid? [True, True] Translation: X:130.79, Y:160.96, Z:-6.21 [[ 7.47905575e-01 6.63793897e-01 3.86180983e-03 1.30792889e+02] [-6.63785633e-01 7.47915540e-01 -3.31337905e-03 1.60964042e+02] [-5.08770838e-03 -8.53192172e-05 9.99987054e-01 -6.20870179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4 meters 0.013928803828242738 Centerline is valid? [True, True] Translation: X:130.82, Y:160.94, Z:-6.21 [[ 7.48995982e-01 6.62558277e-01 4.64206313e-03 1.30816859e+02] [-6.62546295e-01 7.49010361e-01 -3.98572516e-03 1.60942096e+02] [-6.11772858e-03 -9.02896046e-05 9.99981282e-01 -6.20842174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43 meters 0.013796359458436516 Centerline is valid? [True, True] Translation: X:130.84, Y:160.92, Z:-6.21 [[ 7.49420591e-01 6.62076753e-01 4.81157731e-03 1.30840263e+02] [-6.62063849e-01 7.49436032e-01 -4.13457308e-03 1.60921158e+02] [-6.34337413e-03 -8.70371913e-05 9.99979877e-01 -6.20831811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46 meters 0.013651041571949166 Centerline is valid? [True, True] Translation: X:130.86, Y:160.90, Z:-6.21 [[ 7.49780560e-01 6.61666246e-01 5.18566750e-03 1.30864029e+02] [-6.61651244e-01 7.49798487e-01 -4.45651123e-03 1.60899574e+02] [-6.83692870e-03 -8.96978605e-05 9.99976624e-01 -6.20833881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49 meters 0.013531223414266573 Centerline is valid? [True, True] Translation: X:130.89, Y:160.88, Z:-6.21 [[ 7.49927852e-01 6.61497566e-01 5.40254841e-03 1.30888724e+02] [-6.61481263e-01 7.49947306e-01 -4.64506939e-03 1.60877361e+02] [-7.12432872e-03 -9.02176373e-05 9.99974618e-01 -6.20863055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52 meters 0.013296988192635025 Centerline is valid? [True, True] Translation: X:130.91, Y:160.86, Z:-6.21 [[ 7.50299670e-01 6.61075777e-01 5.40587735e-03 1.30912017e+02] [-6.61059422e-01 7.50319139e-01 -4.65086354e-03 1.60855754e+02] [-7.13070647e-03 -8.40647724e-05 9.99974573e-01 -6.20863045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55 meters 0.013291816513098735 Centerline is valid? [True, True] Translation: X:130.94, Y:160.83, Z:-6.21 [[ 7.50201510e-01 6.61186265e-01 5.51527972e-03 1.30936344e+02] [-6.61169228e-01 7.50221778e-01 -4.74714818e-03 1.60834163e+02] [-7.27643213e-03 -8.52155030e-05 9.99973523e-01 -6.20902517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58 meters 0.01325701301644272 Centerline is valid? [True, True] Translation: X:130.96, Y:160.81, Z:-6.21 [[ 7.50195596e-01 6.61195773e-01 5.16897559e-03 1.30961192e+02] [-6.61180793e-01 7.50213399e-01 -4.45131773e-03 1.60812366e+02] [-6.82102721e-03 -7.82684256e-05 9.99976733e-01 -6.20998339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61 meters 0.013120304538848514 Centerline is valid? [True, True] Translation: X:130.99, Y:160.79, Z:-6.21 [[ 7.49891370e-01 6.61547612e-01 4.20605135e-03 1.30985599e+02] [-6.61537693e-01 7.49903163e-01 -3.62315506e-03 1.60790476e+02] [-5.55102079e-03 -6.54887899e-05 9.99984591e-01 -6.21171363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64 meters 0.01333874240603952 Centerline is valid? [True, True] Translation: X:131.01, Y:160.77, Z:-6.21 [[ 7.49673879e-01 6.61796381e-01 3.82424818e-03 1.31009883e+02] [-6.61788176e-01 7.49683631e-01 -3.29596229e-03 1.60769622e+02] [-5.04823218e-03 -5.99453951e-05 9.99987256e-01 -6.21327914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67 meters 0.013453468817825023 Centerline is valid? [True, True] Translation: X:131.03, Y:160.75, Z:-6.21 [[ 7.49479902e-01 6.62019696e-01 3.13040294e-03 1.31033880e+02] [-6.62014197e-01 7.49486437e-01 -2.69864662e-03 1.60748307e+02] [-4.13275176e-03 -4.97897906e-05 9.99991459e-01 -6.21404914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7 meters 0.013236140422003275 Centerline is valid? [True, True] Translation: X:131.06, Y:160.73, Z:-6.21 [[ 7.49338353e-01 6.62182602e-01 2.49675995e-03 1.31058144e+02] [-6.62179106e-01 7.49342512e-01 -2.15220581e-03 1.60725723e+02] [-3.29608161e-03 -4.05719120e-05 9.99994567e-01 -6.21418257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72999999999996 meters 0.013174047323170025 Centerline is valid? [True, True] Translation: X:131.08, Y:160.70, Z:-6.22 [[ 7.49708199e-01 6.61764320e-01 2.36654855e-03 1.31082604e+02] [-6.61761174e-01 7.49711934e-01 -2.04091178e-03 1.60703511e+02] [-3.12483229e-03 -3.60016511e-05 9.99995117e-01 -6.21543755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76 meters 0.013192397715930844 Centerline is valid? [True, True] Translation: X:131.11, Y:160.68, Z:-6.22 [[ 7.49910470e-01 6.61535138e-01 2.35545332e-03 1.31107238e+02] [-6.61532016e-01 7.49914169e-01 -2.03255009e-03 1.60681165e+02] [-3.11099112e-03 -3.39771898e-05 9.99995160e-01 -6.21562096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78999999999996 meters 0.013370666760429775 Centerline is valid? [True, True] Translation: X:131.13, Y:160.66, Z:-6.22 [[ 7.50063727e-01 6.61360379e-01 2.61808727e-03 1.31131427e+02] [-6.61356515e-01 7.50068296e-01 -2.26110749e-03 1.60659591e+02] [-3.45915116e-03 -3.55143543e-05 9.99994017e-01 -6.21663956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82 meters 0.013318614731793089 Centerline is valid? [True, True] Translation: X:131.15, Y:160.64, Z:-6.22 [[ 7.50598017e-01 6.60751749e-01 3.12127481e-03 1.31153751e+02] [-6.60746238e-01 7.50604506e-01 -2.69900784e-03 1.60638534e+02] [-4.12621709e-03 -3.65006572e-05 9.99991486e-01 -6.21666446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84999999999997 meters 0.013073161498271276 Centerline is valid? [True, True] Translation: X:131.18, Y:160.62, Z:-6.22 [[ 7.51005087e-01 6.60287944e-01 3.34522569e-03 1.31176579e+02] [-6.60281604e-01 7.51012536e-01 -2.89388247e-03 1.60615652e+02] [-4.42310214e-03 -3.54705267e-05 9.99990217e-01 -6.21516665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88 meters 0.012993746212830842 Centerline is valid? [True, True] Translation: X:131.20, Y:160.59, Z:-6.21 [[ 7.51381623e-01 6.59856265e-01 3.91998380e-03 1.31199926e+02] [-6.59847539e-01 7.51391847e-01 -3.39361288e-03 1.60593353e+02] [-5.18474059e-03 -3.66933157e-05 9.99986558e-01 -6.21452426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90999999999997 meters 0.013040107660150868 Centerline is valid? [True, True] Translation: X:131.22, Y:160.57, Z:-6.21 [[ 7.51898784e-01 6.59261501e-01 4.74262111e-03 1.31222481e+02] [-6.59248697e-01 7.51913740e-01 -4.10889961e-03 1.60571190e+02] [-6.27488130e-03 -3.70901670e-05 9.99980312e-01 -6.21434335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94 meters 0.01322638839968517 Centerline is valid? [True, True] Translation: X:131.25, Y:160.55, Z:-6.21 [[ 7.51670381e-01 6.59520846e-01 4.88794975e-03 1.31247004e+02] [-6.59507239e-01 7.51686272e-01 -4.23680998e-03 1.60549097e+02] [-6.46846923e-03 -3.89536673e-05 9.99979078e-01 -6.21424055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96999999999997 meters 0.013238837411894529 Centerline is valid? [True, True] Translation: X:131.27, Y:160.53, Z:-6.21 [[ 7.51249310e-01 6.59999606e-01 4.99933294e-03 1.31271728e+02] [-6.59985365e-01 7.51265944e-01 -4.33597870e-03 1.60527112e+02] [-6.61757281e-03 -4.20855600e-05 9.99978103e-01 -6.21479933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0 meters 0.013538287281457735 Centerline is valid? [True, True] Translation: X:131.30, Y:160.51, Z:-6.22 [[ 7.49931359e-01 6.61499220e-01 4.66246940e-03 1.31295226e+02] [-6.61486847e-01 7.49945851e-01 -4.04630382e-03 1.60506005e+02] [-6.17322640e-03 -4.97120604e-05 9.99980944e-01 -6.21568846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03 meters 0.01373475031525888 Centerline is valid? [True, True] Translation: X:131.32, Y:160.49, Z:-6.22 [[ 7.49002781e-01 6.62554043e-01 4.11997725e-03 1.31319063e+02] [-6.62544391e-01 7.49014110e-01 -3.57668182e-03 1.60485243e+02] [-5.45566609e-03 -5.07231850e-05 9.99985116e-01 -6.21658800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06 meters 0.01394281160373734 Centerline is valid? [True, True] Translation: X:131.34, Y:160.46, Z:-6.22 [[ 7.47875657e-01 6.63830104e-01 3.40507151e-03 1.31343261e+02] [-6.63823522e-01 7.47883407e-01 -2.95647947e-03 1.60464425e+02] [-4.50919656e-03 -4.92875416e-05 9.99989832e-01 -6.21762306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09 meters 0.014149628432745122 Centerline is valid? [True, True] Translation: X:131.37, Y:160.44, Z:-6.22 [[ 7.46503977e-01 6.65374203e-01 2.99714413e-03 1.31366860e+02] [-6.65369112e-01 7.46509992e-01 -2.60324332e-03 1.60443400e+02] [-3.96952899e-03 -5.08756353e-05 9.99992120e-01 -6.21827150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12 meters 0.014380658611052642 Centerline is valid? [True, True] Translation: X:131.39, Y:160.42, Z:-6.22 [[ 7.45354456e-01 6.66664221e-01 2.35592927e-03 1.31390529e+02] [-6.66661083e-01 7.45358178e-01 -2.04607864e-03 1.60422302e+02] [-3.12005857e-03 -4.55525277e-05 9.99995132e-01 -6.21889145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15 meters 0.014742980465040207 Centerline is valid? [True, True] Translation: X:131.41, Y:160.40, Z:-6.22 [[ 7.43837203e-01 6.68356823e-01 2.31801214e-03 1.31414413e+02] [-6.68353790e-01 7.43840813e-01 -2.01410863e-03 1.60400605e+02] [-3.07037528e-03 -5.10832725e-05 9.99995285e-01 -6.21980130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18 meters 0.015188543470068863 Centerline is valid? [True, True] Translation: X:131.44, Y:160.38, Z:-6.22 [[ 7.43239726e-01 6.69019469e-01 2.76757331e-03 1.31438265e+02] [-6.69015143e-01 7.43244877e-01 -2.40664012e-03 1.60379731e+02] [-3.66707377e-03 -6.28379107e-05 9.99993274e-01 -6.22046991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21 meters 0.014836013020839797 Centerline is valid? [True, True] Translation: X:131.46, Y:160.36, Z:-6.22 [[ 7.42993892e-01 6.69291023e-01 3.09883719e-03 1.31461784e+02] [-6.69285594e-01 7.43000351e-01 -2.69651425e-03 1.60355947e+02] [-4.10718990e-03 -7.05134682e-05 9.99991563e-01 -6.21972895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24 meters 0.015010024993273658 Centerline is valid? [True, True] Translation: X:131.48, Y:160.33, Z:-6.22 [[ 7.42977943e-01 6.69306065e-01 3.62867444e-03 1.31484763e+02] [-6.69298606e-01 7.42986800e-01 -3.16101223e-03 1.60334342e+02] [-4.81174187e-03 -8.01043739e-05 9.99988420e-01 -6.22019858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27 meters 0.014866459589042763 Centerline is valid? [True, True] Translation: X:131.51, Y:160.31, Z:-6.22 [[ 7.42882898e-01 6.69410202e-01 3.87061761e-03 1.31508436e+02] [-6.69401709e-01 7.42892977e-01 -3.37301530e-03 1.60310768e+02] [-5.13338550e-03 -8.52426603e-05 9.99986820e-01 -6.22022629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3 meters 0.014863004928117552 Centerline is valid? [True, True] Translation: X:131.53, Y:160.29, Z:-6.22 [[ 7.43299495e-01 6.68941144e-01 4.85863683e-03 1.31529620e+02] [-6.68927719e-01 7.43315368e-01 -4.23924640e-03 1.60287326e+02] [-6.44730576e-03 -9.90471387e-05 9.99979211e-01 -6.22017578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33 meters 0.014807923885410466 Centerline is valid? [True, True] Translation: X:131.55, Y:160.26, Z:-6.22 [[ 7.43200810e-01 6.69045663e-01 5.51867373e-03 1.31553367e+02] [-6.69028342e-01 7.43221291e-01 -4.81566246e-03 1.60264384e+02] [-7.32349390e-03 -1.13144892e-04 9.99973176e-01 -6.22022181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36 meters 0.014969062361741246 Centerline is valid? [True, True] Translation: X:131.58, Y:160.24, Z:-6.22 [[ 7.42789868e-01 6.69495988e-01 6.19141773e-03 1.31576599e+02] [-6.69474169e-01 7.42815660e-01 -5.40660847e-03 1.60243004e+02] [-8.21878472e-03 -1.29020250e-04 9.99966217e-01 -6.22067652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39 meters 0.015104672122310946 Centerline is valid? [True, True] Translation: X:131.60, Y:160.22, Z:-6.22 [[ 7.42182769e-01 6.70165946e-01 6.50700539e-03 1.31601029e+02] [-6.70141845e-01 7.42211280e-01 -5.68537401e-03 1.60220680e+02] [-8.63971685e-03 -1.41029969e-04 9.99962667e-01 -6.22164359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42 meters 0.015130023061847464 Centerline is valid? [True, True] Translation: X:131.62, Y:160.20, Z:-6.22 [[ 7.41588781e-01 6.70824129e-01 6.40836700e-03 1.31624663e+02] [-6.70800750e-01 7.41616455e-01 -5.60242058e-03 1.60198490e+02] [-8.51078933e-03 -1.44045143e-04 9.99963772e-01 -6.22239151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45 meters 0.01510770730856551 Centerline is valid? [True, True] Translation: X:131.65, Y:160.18, Z:-6.22 [[ 7.40503439e-01 6.72025240e-01 6.06076494e-03 1.31647855e+02] [-6.72004347e-01 7.40528227e-01 -5.30121123e-03 1.60175944e+02] [-8.05071526e-03 -1.47295235e-04 9.99967582e-01 -6.22295956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47999999999996 meters 0.01586262366655122 Centerline is valid? [True, True] Translation: X:131.67, Y:160.16, Z:-6.22 [[ 7.38332750e-01 6.74415524e-01 5.33396805e-03 1.31670993e+02] [-6.74399389e-01 7.38352002e-01 -4.66751310e-03 1.60155262e+02] [-7.08618928e-03 -1.51047012e-04 9.99974881e-01 -6.22499545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51 meters 0.01619213290989372 Centerline is valid? [True, True] Translation: X:131.70, Y:160.13, Z:-6.23 [[ 7.37157855e-01 6.75703420e-01 4.81508008e-03 1.31695054e+02] [-6.75690290e-01 7.37173566e-01 -4.21486998e-03 1.60133482e+02] [-6.39755181e-03 -1.46478346e-04 9.99979525e-01 -6.22598267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53999999999996 meters 0.01676034765372367 Centerline is valid? [True, True] Translation: X:131.72, Y:160.11, Z:-6.23 [[ 7.36147243e-01 6.76808535e-01 4.17650766e-03 1.31718248e+02] [-6.76798666e-01 7.36159078e-01 -3.65735735e-03 1.60112754e+02] [-5.54990470e-03 -1.34301289e-04 9.99984590e-01 -6.22724418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57 meters 0.01749573204216895 Centerline is valid? [True, True] Translation: X:131.74, Y:160.09, Z:-6.23 [[ 7.34815911e-01 6.78257294e-01 3.55240144e-03 1.31740550e+02] [-6.78250162e-01 7.34824488e-01 -3.11288402e-03 1.60091250e+02] [-4.72172786e-03 -1.22020141e-04 9.99988845e-01 -6.22886965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59999999999997 meters 0.01704909562332097 Centerline is valid? [True, True] Translation: X:131.76, Y:160.07, Z:-6.23 [[ 7.34348360e-01 6.78762425e-01 3.74928567e-03 1.31763950e+02] [-6.78754491e-01 7.34357919e-01 -3.28452281e-03 1.60067439e+02] [-4.98272829e-03 -1.32860548e-04 9.99987577e-01 -6.22901303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63 meters 0.018015574435309267 Centerline is valid? [True, True] Translation: X:131.79, Y:160.05, Z:-6.23 [[ 7.33961962e-01 6.79178816e-01 3.99677901e-03 1.31788192e+02] [-6.79169786e-01 7.33972831e-01 -3.50496397e-03 1.60045980e+02] [-5.31402448e-03 -1.41981307e-04 9.99985870e-01 -6.22997851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65999999999997 meters 0.017242269239077304 Centerline is valid? [True, True] Translation: X:131.81, Y:160.02, Z:-6.23 [[ 7.33709347e-01 6.79448080e-01 4.57174775e-03 1.31810198e+02] [-6.79436267e-01 7.33723572e-01 -4.00999063e-03 1.60021755e+02] [-6.07897952e-03 -1.64043621e-04 9.99981509e-01 -6.22901522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69 meters 0.017242269239077304 Centerline is valid? [True, True] Translation: X:131.83, Y:160.00, Z:-6.23 [[ 7.33513525e-01 6.79659487e-01 4.57059159e-03 1.31834501e+02] [-6.79647669e-01 7.33527747e-01 -4.01130751e-03 1.60000319e+02] [-6.07897895e-03 -1.64043605e-04 9.99981509e-01 -6.22946380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71999999999997 meters 0.017159420968299033 Centerline is valid? [True, True] Translation: X:131.86, Y:159.98, Z:-6.23 [[ 7.33282555e-01 6.79905546e-01 5.01428746e-03 1.31857668e+02] [-6.79891308e-01 7.33299677e-01 -4.40377423e-03 1.59977400e+02] [-6.67112590e-03 -1.79959633e-04 9.99977732e-01 -6.22919712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75 meters 0.017109922721301265 Centerline is valid? [True, True] Translation: X:131.88, Y:159.95, Z:-6.23 [[ 7.33158245e-01 6.80032886e-01 5.85337190e-03 1.31880358e+02] [-6.80013455e-01 7.33181581e-01 -5.14487005e-03 1.59954968e+02] [-7.79026529e-03 -2.08367753e-04 9.99969634e-01 -6.22877320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78 meters 0.017345946989449725 Centerline is valid? [True, True] Translation: X:131.90, Y:159.93, Z:-6.23 [[ 7.32812985e-01 6.80395665e-01 6.84594051e-03 1.31903329e+02] [-6.80369069e-01 7.32844921e-01 -6.02094966e-03 1.59931423e+02] [-9.11364078e-03 -2.45536075e-04 9.99958440e-01 -6.22819110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81 meters 0.01718732987199321 Centerline is valid? [True, True] Translation: X:131.93, Y:159.91, Z:-6.23 [[ 7.32492169e-01 6.80734490e-01 7.46836860e-03 1.31926793e+02] [-6.80702812e-01 7.32530192e-01 -6.57265235e-03 1.59908392e+02] [-9.94503663e-03 -2.69323133e-04 9.99950511e-01 -6.22802391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84 meters 0.01820482305683263 Centerline is valid? [True, True] Translation: X:131.95, Y:159.89, Z:-6.23 [[ 7.32347339e-01 6.80887078e-01 7.75637381e-03 1.31950959e+02] [-6.80852874e-01 7.32388360e-01 -6.83043429e-03 1.59888031e+02] [-1.03314323e-02 -2.78699023e-04 9.99946591e-01 -6.22862199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87 meters 0.01777428310676232 Centerline is valid? [True, True] Translation: X:131.97, Y:159.86, Z:-6.23 [[ 7.32331984e-01 6.80901787e-01 7.91334402e-03 1.31973233e+02] [-6.80866144e-01 7.32374684e-01 -6.97253573e-03 1.59864185e+02] [-1.05431449e-02 -2.81717107e-04 9.99944380e-01 -6.22931032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9 meters 0.017272770738321383 Centerline is valid? [True, True] Translation: X:132.00, Y:159.84, Z:-6.23 [[ 7.32620226e-01 6.80594792e-01 7.63769424e-03 1.31996238e+02] [-6.80561534e-01 7.32659989e-01 -6.73346692e-03 1.59841293e+02] [-1.01785955e-02 -2.64846856e-04 9.99948162e-01 -6.23020590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93 meters 0.01735232473458289 Centerline is valid? [True, True] Translation: X:132.02, Y:159.82, Z:-6.23 [[ 7.32936061e-01 6.80262069e-01 6.94602620e-03 1.32018677e+02] [-6.80234521e-01 7.32968937e-01 -6.12648257e-03 1.59820288e+02] [-9.25883515e-03 -2.34606805e-04 9.99957109e-01 -6.23133023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96 meters 0.017168307815875476 Centerline is valid? [True, True] Translation: X:132.04, Y:159.80, Z:-6.23 [[ 7.33355635e-01 6.79813409e-01 6.57578333e-03 1.32041743e+02] [-6.79788681e-01 7.33385085e-01 -5.80230200e-03 1.59798141e+02] [-8.76706412e-03 -2.14992211e-04 9.99961545e-01 -6.23240542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99 meters 0.016300697447117696 Centerline is valid? [True, True] Translation: X:132.06, Y:159.77, Z:-6.23 [[ 7.35844144e-01 6.77131703e-01 5.10424945e-03 1.32063620e+02] [-6.77116721e-01 7.35861833e-01 -4.50656122e-03 1.59773830e+02] [-6.80755783e-03 -1.40045969e-04 9.99976819e-01 -6.23471092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02 meters 0.015399333699040958 Centerline is valid? [True, True] Translation: X:132.09, Y:159.75, Z:-6.24 [[ 7.37141717e-01 6.75720930e-01 4.82844292e-03 1.32085618e+02] [-6.75707499e-01 7.37157520e-01 -4.26210451e-03 1.59749977e+02] [-6.43931623e-03 -1.20840052e-04 9.99979260e-01 -6.23543095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05 meters 0.015052703229838973 Centerline is valid? [True, True] Translation: X:132.11, Y:159.73, Z:-6.24 [[ 7.38363189e-01 6.74384474e-01 5.03812438e-03 1.32108178e+02] [-6.74369803e-01 7.38380369e-01 -4.44966082e-03 1.59726893e+02] [-6.72083431e-03 -1.12093188e-04 9.99977409e-01 -6.23552785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08 meters 0.01482174516921132 Centerline is valid? [True, True] Translation: X:132.13, Y:159.70, Z:-6.24 [[ 7.39386383e-01 6.73259701e-01 5.39923635e-03 1.32130429e+02] [-6.73242801e-01 7.39406089e-01 -4.77153222e-03 1.59704955e+02] [-7.20470858e-03 -1.06991053e-04 9.99974040e-01 -6.23556703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11 meters 0.01451496725378967 Centerline is valid? [True, True] Translation: X:132.15, Y:159.68, Z:-6.24 [[ 7.40253939e-01 6.72299436e-01 6.12978496e-03 1.32152761e+02] [-6.72277596e-01 7.40279310e-01 -5.42011359e-03 1.59682367e+02] [-8.18169229e-03 -1.08656656e-04 9.99966524e-01 -6.23552059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14 meters 0.014059338174807992 Centerline is valid? [True, True] Translation: X:132.17, Y:159.66, Z:-6.24 [[ 7.41999839e-01 6.70359310e-01 7.39150438e-03 1.32174471e+02] [-6.70327415e-01 7.42036647e-01 -6.53993458e-03 1.59658216e+02] [-9.86887316e-03 -1.02097618e-04 9.99951296e-01 -6.23522426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17 meters 0.01383199506861356 Centerline is valid? [True, True] Translation: X:132.20, Y:159.64, Z:-6.24 [[ 7.42705199e-01 6.69574080e-01 7.71608125e-03 1.32197656e+02] [-6.69539244e-01 7.42745274e-01 -6.83071720e-03 1.59635481e+02] [-1.03047541e-02 -9.30100269e-05 9.99946900e-01 -6.23559101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2 meters 0.013683737475085358 Centerline is valid? [True, True] Translation: X:132.22, Y:159.61, Z:-6.24 [[ 7.43531540e-01 6.68650596e-01 8.19937947e-03 1.32220420e+02] [-6.68611160e-01 7.43576744e-01 -7.26246852e-03 1.59612908e+02] [-1.09529218e-02 -8.23222142e-05 9.99940012e-01 -6.23596605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22999999999996 meters 0.01371905823860614 Centerline is valid? [True, True] Translation: X:132.24, Y:159.59, Z:-6.24 [[ 7.44489875e-01 6.67577939e-01 8.63259773e-03 1.32243360e+02] [-6.67534105e-01 7.44539919e-01 -7.65036534e-03 1.59591813e+02] [-1.15345287e-02 -6.69338629e-05 9.99933473e-01 -6.23663890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26 meters 0.013661925945909524 Centerline is valid? [True, True] Translation: X:132.27, Y:159.57, Z:-6.24 [[ 7.44395566e-01 6.67676668e-01 9.11638948e-03 1.32267718e+02] [-6.67627743e-01 7.44451383e-01 -8.08299297e-03 1.59569983e+02] [-1.21835346e-02 -6.94104107e-05 9.99925776e-01 -6.23675639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28999999999996 meters 0.013754881853862165 Centerline is valid? [True, True] Translation: X:132.29, Y:159.55, Z:-6.24 [[ 7.43836505e-01 6.68299839e-01 9.08731904e-03 1.32292663e+02] [-6.68251216e-01 7.43892008e-01 -8.06180841e-03 1.59548578e+02] [-1.21476893e-02 -7.59446023e-05 9.99926211e-01 -6.23738987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32 meters 0.01399922505977812 Centerline is valid? [True, True] Translation: X:132.32, Y:159.53, Z:-6.24 [[ 7.42978745e-01 6.69262860e-01 8.35521328e-03 1.32317718e+02] [-6.69221773e-01 7.43025718e-01 -7.41625797e-03 1.59529292e+02] [-1.11715644e-02 -8.13686135e-05 9.99937593e-01 -6.23931590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34999999999997 meters 0.014017524512258513 Centerline is valid? [True, True] Translation: X:132.34, Y:159.51, Z:-6.24 [[ 7.42282668e-01 6.70042041e-01 7.75267622e-03 1.32342293e+02] [-6.70006675e-01 7.42323148e-01 -6.88474323e-03 1.59508044e+02] [-1.03680584e-02 -8.39192391e-05 9.99946247e-01 -6.24053787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38 meters 0.014236468710053473 Centerline is valid? [True, True] Translation: X:132.37, Y:159.49, Z:-6.24 [[ 7.41269701e-01 6.71173729e-01 6.71231136e-03 1.32366852e+02] [-6.71147237e-01 7.41300086e-01 -5.96390142e-03 1.59488201e+02] [-8.97865095e-03 -8.40897949e-05 9.99959688e-01 -6.24297581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40999999999997 meters 0.014444531679490025 Centerline is valid? [True, True] Translation: X:132.39, Y:159.47, Z:-6.24 [[ 7.40510323e-01 6.72015210e-01 6.32599486e-03 1.32390900e+02] [-6.71991685e-01 7.40537338e-01 -5.62367277e-03 1.59467709e+02] [-8.46382904e-03 -8.66282042e-05 9.99964177e-01 -6.24393483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44 meters 0.014546579318588581 Centerline is valid? [True, True] Translation: X:132.42, Y:159.45, Z:-6.24 [[ 7.39611542e-01 6.73005829e-01 6.15796494e-03 1.32415099e+02] [-6.72983565e-01 7.39637171e-01 -5.47504532e-03 1.59447400e+02] [-8.23939719e-03 -9.48024911e-05 9.99966051e-01 -6.24471550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46999999999997 meters 0.014747292315622431 Centerline is valid? [True, True] Translation: X:132.44, Y:159.43, Z:-6.25 [[ 7.38693416e-01 6.74016524e-01 5.81055231e-03 1.32439859e+02] [-6.73996717e-01 7.38716262e-01 -5.16816772e-03 1.59426496e+02] [-7.77577993e-03 -9.86017191e-05 9.99969763e-01 -6.24533790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5 meters 0.015121846418846011 Centerline is valid? [True, True] Translation: X:132.46, Y:159.41, Z:-6.25 [[ 7.37742604e-01 6.75059099e-01 5.57339337e-03 1.32464076e+02] [-6.75040882e-01 7.37763649e-01 -4.96046521e-03 1.59406628e+02] [-7.46045421e-03 -1.02721857e-04 9.99972165e-01 -6.24590381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53 meters 0.015154043671247957 Centerline is valid? [True, True] Translation: X:132.49, Y:159.39, Z:-6.25 [[ 7.36808272e-01 6.76079178e-01 5.52406730e-03 1.32488002e+02] [-6.76061301e-01 7.36828971e-01 -4.91786372e-03 1.59385895e+02] [-7.39515809e-03 -1.11085459e-04 9.99972649e-01 -6.24586252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56 meters 0.015296322931725202 Centerline is valid? [True, True] Translation: X:132.51, Y:159.37, Z:-6.25 [[ 7.35925803e-01 6.77039739e-01 5.51410697e-03 1.32512479e+02] [-6.77021950e-01 7.35946450e-01 -4.90937207e-03 1.59365208e+02] [-7.38192743e-03 -1.20237868e-04 9.99972746e-01 -6.24582017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59 meters 0.01572254966682204 Centerline is valid? [True, True] Translation: X:132.54, Y:159.35, Z:-6.25 [[ 7.34239569e-01 6.78862327e-01 6.18028262e-03 1.32537275e+02] [-6.78840016e-01 7.34265563e-01 -5.50594579e-03 1.59345562e+02] [-8.27574788e-03 -1.52739888e-04 9.99965744e-01 -6.24513194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62 meters 0.015685677566894804 Centerline is valid? [True, True] Translation: X:132.56, Y:159.32, Z:-6.25 [[ 7.33638276e-01 6.79510448e-01 6.35857700e-03 1.32561794e+02] [-6.79486835e-01 7.33665812e-01 -5.66714720e-03 1.59324303e+02] [-8.51595629e-03 -1.62933261e-04 9.99963725e-01 -6.24513951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65 meters 0.015876263476129443 Centerline is valid? [True, True] Translation: X:132.59, Y:159.30, Z:-6.25 [[ 7.32972000e-01 6.80227413e-01 6.53559976e-03 1.32586443e+02] [-6.80202465e-01 7.33001116e-01 -5.82844576e-03 1.59303070e+02] [-8.75527050e-03 -1.73443524e-04 9.99961657e-01 -6.24538172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68 meters 0.01576176036477339 Centerline is valid? [True, True] Translation: X:132.61, Y:159.28, Z:-6.25 [[ 7.33810351e-01 6.79323968e-01 6.42770842e-03 1.32610032e+02] [-6.79299772e-01 7.33838485e-01 -5.73570108e-03 1.59282077e+02] [-8.61329903e-03 -1.57424039e-04 9.99962892e-01 -6.24663358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71 meters 0.015286510519840238 Centerline is valid? [True, True] Translation: X:132.63, Y:159.26, Z:-6.25 [[ 7.34621881e-01 6.78448511e-01 6.18941547e-03 1.32633174e+02] [-6.78426024e-01 7.34647941e-01 -5.52562875e-03 1.59259747e+02] [-8.29589594e-03 -1.39812739e-04 9.99965579e-01 -6.24756674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74 meters 0.014924049868136275 Centerline is valid? [True, True] Translation: X:132.66, Y:159.24, Z:-6.25 [[ 7.35449292e-01 6.77550861e-01 6.25857651e-03 1.32656376e+02] [-6.77527812e-01 7.35475910e-01 -5.59021959e-03 1.59238015e+02] [-8.39069035e-03 -1.29036610e-04 9.99964789e-01 -6.24830872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77 meters 0.014329184930893196 Centerline is valid? [True, True] Translation: X:132.68, Y:159.22, Z:-6.25 [[ 7.38483734e-01 6.74250708e-01 5.26855195e-03 1.32678982e+02] [-6.74234278e-01 7.38502524e-01 -4.70758169e-03 1.59216127e+02] [-7.06492919e-03 -7.57658115e-05 9.99975040e-01 -6.25040887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8 meters 0.014063408374202302 Centerline is valid? [True, True] Translation: X:132.70, Y:159.20, Z:-6.25 [[ 7.39403350e-01 6.73245072e-01 4.87433474e-03 1.32702884e+02] [-6.73230975e-01 7.39419414e-01 -4.35719803e-03 1.59195524e+02] [-6.53763984e-03 -5.98263119e-05 9.99978628e-01 -6.25199811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83 meters 0.013849626114499762 Centerline is valid? [True, True] Translation: X:132.73, Y:159.17, Z:-6.25 [[ 7.39995291e-01 6.72596565e-01 4.56405852e-03 1.32727813e+02] [-6.72584185e-01 7.40009364e-01 -4.08117734e-03 1.59173657e+02] [-6.12243190e-03 -4.96615665e-05 9.99981257e-01 -6.25302519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86 meters 0.013678751257916713 Centerline is valid? [True, True] Translation: X:132.75, Y:159.15, Z:-6.25 [[ 7.41053438e-01 6.71430219e-01 4.61131358e-03 1.32751818e+02] [-6.71417534e-01 7.41067784e-01 -4.12730155e-03 1.59151611e+02] [-6.18849092e-03 -3.75657894e-05 9.99980850e-01 -6.25342712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89 meters 0.013514056939014732 Centerline is valid? [True, True] Translation: X:132.77, Y:159.13, Z:-6.25 [[ 7.43000795e-01 6.69273214e-01 4.81492927e-03 1.32773988e+02] [-6.69259338e-01 7.43016396e-01 -4.30970594e-03 1.59128887e+02] [-6.46194214e-03 -2.03214340e-05 9.99979121e-01 -6.25232769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92 meters 0.013471421135255906 Centerline is valid? [True, True] Translation: X:132.80, Y:159.11, Z:-6.25 [[ 7.44068112e-01 6.68085507e-01 4.93965111e-03 1.32797572e+02] [-6.68070864e-01 7.44084508e-01 -4.42330643e-03 1.59106452e+02] [-6.63066479e-03 -8.79572223e-06 9.99978017e-01 -6.25234298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95 meters 0.013507094281849845 Centerline is valid? [True, True] Translation: X:132.82, Y:159.08, Z:-6.25 [[ 7.45166611e-01 6.66861290e-01 4.76888661e-03 1.32821286e+02] [-6.66847595e-01 7.45181870e-01 -4.27372822e-03 1.59084417e+02] [-6.40367176e-03 4.51900359e-06 9.99979496e-01 -6.25313627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97999999999996 meters 0.013571241973193643 Centerline is valid? [True, True] Translation: X:132.85, Y:159.06, Z:-6.25 [[ 7.45986284e-01 6.65945812e-01 4.54304432e-03 1.32845853e+02] [-6.65933366e-01 7.46000117e-01 -4.07153353e-03 1.59062609e+02] [-6.10053230e-03 1.19433785e-05 9.99981392e-01 -6.25379333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01 meters 0.01352431665898215 Centerline is valid? [True, True] Translation: X:132.87, Y:159.04, Z:-6.25 [[ 7.46604324e-01 6.65250511e-01 4.87253734e-03 1.32870733e+02] [-6.65236160e-01 7.46620223e-01 -4.36971615e-03 1.59040640e+02] [-6.54489081e-03 2.10609420e-05 9.99978582e-01 -6.25420184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03999999999996 meters 0.013674310861822624 Centerline is valid? [True, True] Translation: X:132.89, Y:159.02, Z:-6.25 [[ 7.47580719e-01 6.64147600e-01 5.57075916e-03 1.32893910e+02] [-6.64128782e-01 7.47601474e-01 -4.99966402e-03 1.59018995e+02] [-7.48522261e-03 3.79509264e-05 9.99971985e-01 -6.25374572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07 meters 0.01368379270098116 Centerline is valid? [True, True] Translation: X:132.92, Y:159.00, Z:-6.25 [[ 7.47262836e-01 6.64510648e-01 4.88401460e-03 1.32917370e+02] [-6.64496179e-01 7.47278796e-01 -4.38512409e-03 1.58997898e+02] [-6.56368220e-03 3.14312216e-05 9.99978458e-01 -6.25420498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09999999999997 meters 0.013695178675648846 Centerline is valid? [True, True] Translation: X:132.94, Y:158.98, Z:-6.25 [[ 7.47132398e-01 6.64658659e-01 4.69531169e-03 1.32942114e+02] [-6.64645280e-01 7.47147151e-01 -4.21741416e-03 1.58976482e+02] [-6.31122959e-03 3.02500064e-05 9.99980084e-01 -6.25412639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13 meters 0.013748433469840293 Centerline is valid? [True, True] Translation: X:132.97, Y:158.95, Z:-6.26 [[ 7.47585450e-01 6.64152149e-01 4.23292232e-03 1.32966174e+02] [-6.64141258e-01 7.47597433e-01 -3.80377107e-03 1.58954568e+02] [-5.69080459e-03 3.23855578e-05 9.99983807e-01 -6.25506350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15999999999997 meters 0.014049370597476232 Centerline is valid? [True, True] Translation: X:132.99, Y:158.93, Z:-6.26 [[ 7.48499155e-01 6.63119326e-01 4.66632690e-03 1.32989629e+02] [-6.63106050e-01 7.48513699e-01 -4.19634133e-03 1.58933255e+02] [-6.27548464e-03 4.66883388e-05 9.99980308e-01 -6.25564060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19 meters 0.014170888984691323 Centerline is valid? [True, True] Translation: X:133.01, Y:158.91, Z:-6.26 [[ 7.48703450e-01 6.62887376e-01 4.84456313e-03 1.33013481e+02] [-6.62873045e-01 7.48719122e-01 -4.35915533e-03 1.58912350e+02] [-6.51684609e-03 5.23843181e-05 9.99978764e-01 -6.25590567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21999999999997 meters 0.014083565245494298 Centerline is valid? [True, True] Translation: X:133.04, Y:158.89, Z:-6.26 [[ 7.48814721e-01 6.62759786e-01 5.09705128e-03 1.33038926e+02] [-6.62743903e-01 7.48832066e-01 -4.58872079e-03 1.58891566e+02] [-6.85805505e-03 5.80620162e-05 9.99976482e-01 -6.25551173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25 meters 0.014137023692847066 Centerline is valid? [True, True] Translation: X:133.06, Y:158.87, Z:-6.26 [[ 7.49106733e-01 6.62424098e-01 5.78073248e-03 1.33063643e+02] [-6.62403630e-01 7.49129034e-01 -5.20789464e-03 1.58869950e+02] [-7.78034945e-03 7.20907701e-05 9.99969730e-01 -6.25560559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28 meters 0.014208587048225222 Centerline is valid? [True, True] Translation: X:133.09, Y:158.85, Z:-6.26 [[ 7.49468148e-01 6.62014916e-01 5.80913434e-03 1.33087781e+02] [-6.61994210e-01 7.49490657e-01 -5.23647755e-03 1.58848235e+02] [-7.82051816e-03 7.89598316e-05 9.99969416e-01 -6.25553675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31 meters 0.014868199967879768 Centerline is valid? [True, True] Translation: X:133.11, Y:158.83, Z:-6.26 [[ 7.51367030e-01 6.59856400e-01 6.09239034e-03 1.33109262e+02] [-6.59833523e-01 7.51391722e-01 -5.49568357e-03 1.58826068e+02] [-8.20413365e-03 1.09312062e-04 9.99966340e-01 -6.25563403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34 meters 0.014991819909943152 Centerline is valid? [True, True] Translation: X:133.13, Y:158.80, Z:-6.26 [[ 7.52181876e-01 6.58929684e-01 5.83920478e-03 1.33132741e+02] [-6.58908624e-01 7.52204532e-01 -5.26946081e-03 1.58804150e+02] [-7.86448044e-03 1.16090529e-04 9.99969068e-01 -6.25565985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37 meters 0.015299340022526904 Centerline is valid? [True, True] Translation: X:133.16, Y:158.78, Z:-6.26 [[ 7.53018350e-01 6.57969772e-01 6.25647437e-03 1.33156532e+02] [-6.57945535e-01 7.53044328e-01 -5.64913019e-03 1.58782061e+02] [-8.42835944e-03 1.37479313e-04 9.99964471e-01 -6.25580145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4 meters 0.015465723692111926 Centerline is valid? [True, True] Translation: X:133.18, Y:158.76, Z:-6.26 [[ 7.53689626e-01 6.57201723e-01 6.15168126e-03 1.33180335e+02] [-6.57178243e-01 7.53714717e-01 -5.55719015e-03 1.58759917e+02] [-8.28880764e-03 1.45645484e-04 9.99965637e-01 -6.25596964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43 meters 0.015483490232879576 Centerline is valid? [True, True] Translation: X:133.20, Y:158.74, Z:-6.26 [[ 7.54332623e-01 6.56462232e-01 6.29531438e-03 1.33204967e+02] [-6.56437593e-01 7.54358875e-01 -5.68980907e-03 1.58739729e+02] [-8.48407104e-03 1.59527582e-04 9.99963997e-01 -6.25606706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46 meters 0.015784738157576562 Centerline is valid? [True, True] Translation: X:133.23, Y:158.72, Z:-6.26 [[ 7.53876143e-01 6.56989322e-01 5.98264024e-03 1.33228694e+02] [-6.56967067e-01 7.53899867e-01 -5.40958507e-03 1.58718479e+02] [-8.06435130e-03 1.47759508e-04 9.99967472e-01 -6.25694100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49 meters 0.015829308239250803 Centerline is valid? [True, True] Translation: X:133.25, Y:158.70, Z:-6.26 [[ 7.53135402e-01 6.57839791e-01 5.82030794e-03 1.33252052e+02] [-6.57818724e-01 7.53157879e-01 -5.26653612e-03 1.58697994e+02] [-7.84814780e-03 1.37707256e-04 9.99969193e-01 -6.25787342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52 meters 0.015111939925663988 Centerline is valid? [True, True] Translation: X:133.28, Y:158.68, Z:-6.26 [[ 7.51982366e-01 6.59162633e-01 5.21003947e-03 1.33277685e+02] [-6.59145784e-01 7.52000406e-01 -4.71434137e-03 1.58678419e+02] [-7.02546947e-03 1.10926033e-04 9.99975315e-01 -6.25793735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55 meters 0.01483476431773653 Centerline is valid? [True, True] Translation: X:133.30, Y:158.66, Z:-6.26 [[ 7.48627496e-01 6.62975835e-01 4.46264935e-03 1.33302375e+02] [-6.62963531e-01 7.48640794e-01 -4.03964352e-03 1.58659257e+02] [-6.01910739e-03 6.56144402e-05 9.99981883e-01 -6.25973759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58 meters 0.014539980311296889 Centerline is valid? [True, True] Translation: X:133.33, Y:158.64, Z:-6.26 [[ 7.46646765e-01 6.65206663e-01 4.32483976e-03 1.33326747e+02] [-6.65195128e-01 7.46659289e-01 -3.91761215e-03 1.58640248e+02] [-5.83520348e-03 4.82100953e-05 9.99982974e-01 -6.26075010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61 meters 0.014539980311296889 Centerline is valid? [True, True] Translation: X:133.35, Y:158.62, Z:-6.26 [[ 7.46464301e-01 6.65411408e-01 4.32502702e-03 1.33350696e+02] [-6.65399878e-01 7.46476829e-01 -3.91740601e-03 1.58618431e+02] [-5.83521910e-03 4.63312847e-05 9.99982974e-01 -6.26119771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64 meters 0.014201532248919282 Centerline is valid? [True, True] Translation: X:133.38, Y:158.60, Z:-6.26 [[ 7.44289084e-01 6.67844914e-01 4.11466262e-03 1.33376625e+02] [-6.67834504e-01 7.44300457e-01 -3.72897881e-03 1.58599223e+02] [-5.55292480e-03 2.75245482e-05 9.99984582e-01 -6.26153900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67 meters 0.014043955946396115 Centerline is valid? [True, True] Translation: X:133.40, Y:158.58, Z:-6.26 [[ 7.41914784e-01 6.70482621e-01 3.93795744e-03 1.33401933e+02] [-6.70473115e-01 7.41925235e-01 -3.57042248e-03 1.58579318e+02] [-5.31557622e-03 8.65462966e-06 9.99985872e-01 -6.26229717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7 meters 0.014020046288984721 Centerline is valid? [True, True] Translation: X:133.43, Y:158.56, Z:-6.26 [[ 7.37399484e-01 6.75443059e-01 4.32133117e-03 1.33429382e+02] [-6.75431685e-01 7.37412146e-01 -3.92001379e-03 1.58560730e+02] [-5.83434820e-03 -2.81478418e-05 9.99982980e-01 -6.26244298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72999999999996 meters 0.014189022769433492 Centerline is valid? [True, True] Translation: X:133.45, Y:158.54, Z:-6.26 [[ 7.35145576e-01 6.77896021e-01 4.23875498e-03 1.33454114e+02] [-6.77885103e-01 7.35157794e-01 -3.84773436e-03 1.58540945e+02] [-5.72451758e-03 -4.47439676e-05 9.99983614e-01 -6.26230177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76 meters 0.014716225438369767 Centerline is valid? [True, True] Translation: X:133.48, Y:158.52, Z:-6.26 [[ 7.32992897e-01 6.80223000e-01 4.25245817e-03 1.33478947e+02] [-6.80212040e-01 7.33005229e-01 -3.86200898e-03 1.58522265e+02] [-5.74410141e-03 -6.17480968e-05 9.99983501e-01 -6.26284290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78999999999996 meters 0.01484124752666268 Centerline is valid? [True, True] Translation: X:133.50, Y:158.50, Z:-6.26 [[ 7.30814307e-01 6.82562980e-01 4.26936062e-03 1.33503464e+02] [-6.82551962e-01 7.30826773e-01 -3.87897301e-03 1.58501151e+02] [-5.76780642e-03 -7.92514963e-05 9.99983363e-01 -6.26198123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82 meters 0.015170953730039887 Centerline is valid? [True, True] Translation: X:133.53, Y:158.48, Z:-6.26 [[ 7.28833332e-01 6.84678221e-01 4.20803072e-03 1.33528195e+02] [-6.84667542e-01 7.28845474e-01 -3.82509046e-03 1.58480950e+02] [-5.68596028e-03 -9.32486230e-05 9.99983830e-01 -6.26175616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84999999999997 meters 0.016134905145000208 Centerline is valid? [True, True] Translation: X:133.55, Y:158.46, Z:-6.26 [[ 7.25797795e-01 6.87895223e-01 4.20984254e-03 1.33553695e+02] [-6.87884577e-01 7.25809994e-01 -3.82886649e-03 1.58462383e+02] [-5.68940476e-03 -1.16902899e-04 9.99983808e-01 -6.26210195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88 meters 0.016378596205687344 Centerline is valid? [True, True] Translation: X:133.58, Y:158.44, Z:-6.26 [[ 7.24744911e-01 6.89004059e-01 4.26860742e-03 1.33577697e+02] [-6.88993123e-01 7.24757471e-01 -3.88394834e-03 1.58441587e+02] [-5.76976129e-03 -1.26169365e-04 9.99983347e-01 -6.26286654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90999999999997 meters 0.01634593948859513 Centerline is valid? [True, True] Translation: X:133.60, Y:158.42, Z:-6.26 [[ 7.24032705e-01 6.89754739e-01 3.87847254e-03 1.33600982e+02] [-6.89745715e-01 7.24043083e-01 -3.53029300e-03 1.58420140e+02] [-5.24321754e-03 -1.19112225e-04 9.99986247e-01 -6.26357430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94 meters 0.016017293693577895 Centerline is valid? [True, True] Translation: X:133.62, Y:158.40, Z:-6.26 [[ 7.23911291e-01 6.89886419e-01 3.02857188e-03 1.33624074e+02] [-6.89880918e-01 7.23917620e-01 -2.75653606e-03 1.58396232e+02] [-4.09413334e-03 -9.38663712e-05 9.99991615e-01 -6.26426777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96999999999997 meters 0.016167403423944834 Centerline is valid? [True, True] Translation: X:133.65, Y:158.37, Z:-6.26 [[ 7.23879127e-01 6.89921335e-01 2.74961344e-03 1.33648161e+02] [-6.89916798e-01 7.23884344e-01 -2.50361794e-03 1.58373154e+02] [-3.71770155e-03 -8.46877343e-05 9.99993086e-01 -6.26496304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0 meters 0.016558278715121933 Centerline is valid? [True, True] Translation: X:133.67, Y:158.35, Z:-6.27 [[ 7.24032719e-01 6.89762068e-01 2.21647972e-03 1.33671549e+02] [-6.89759117e-01 7.24036108e-01 -2.01859147e-03 1.58351651e+02] [-2.99715917e-03 -6.73108260e-05 9.99995506e-01 -6.26643552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03 meters 0.01644075573511875 Centerline is valid? [True, True] Translation: X:133.69, Y:158.33, Z:-6.27 [[ 7.24324402e-01 6.89457469e-01 1.59951279e-03 1.33694933e+02] [-6.89455934e-01 7.24326167e-01 -1.45593226e-03 1.58328045e+02] [-2.16237234e-03 -4.82263213e-05 9.99997661e-01 -6.26713201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06 meters 0.015626200087618444 Centerline is valid? [True, True] Translation: X:133.72, Y:158.30, Z:-6.27 [[ 7.24732538e-01 6.89029069e-01 1.30023400e-03 1.33716455e+02] [-6.89028053e-01 7.24733703e-01 -1.18365287e-03 1.58304138e+02] [-1.75789464e-03 -3.80659517e-05 9.99998454e-01 -6.26707508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09 meters 0.016102866274084457 Centerline is valid? [True, True] Translation: X:133.74, Y:158.28, Z:-6.27 [[ 7.25366618e-01 6.88361749e-01 1.17110318e-03 1.33738813e+02] [-6.88360924e-01 7.25367563e-01 -1.06651255e-03 1.58282973e+02] [-1.58362671e-03 -3.25290635e-05 9.99998746e-01 -6.26817573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12 meters 0.01504495465427221 Centerline is valid? [True, True] Translation: X:133.76, Y:158.26, Z:-6.27 [[ 7.26472664e-01 6.87193818e-01 1.45788257e-03 1.33758744e+02] [-6.87192533e-01 7.26474126e-01 -1.32905627e-03 1.58257322e+02] [-1.97243321e-03 -3.63229704e-05 9.99998054e-01 -6.26776342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15 meters 0.015068152707359459 Centerline is valid? [True, True] Translation: X:133.78, Y:158.23, Z:-6.27 [[ 7.26748937e-01 6.86901998e-01 1.27545315e-03 1.33781077e+02] [-6.86901015e-01 7.26750056e-01 -1.16248188e-03 1.58234624e+02] [-1.72544677e-03 -3.12775971e-05 9.99998511e-01 -6.26844935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18 meters 0.014901649173523754 Centerline is valid? [True, True] Translation: X:133.80, Y:158.21, Z:-6.27 [[ 7.26911804e-01 6.86729726e-01 1.22959770e-03 1.33803614e+02] [-6.86728812e-01 7.26912844e-01 -1.12081902e-03 1.58210925e+02] [-1.66351010e-03 -2.96635914e-05 9.99998616e-01 -6.26836627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21 meters 0.014782756919988984 Centerline is valid? [True, True] Translation: X:133.83, Y:158.19, Z:-6.27 [[ 7.27276786e-01 6.86342639e-01 1.50254630e-03 1.33825791e+02] [-6.86341269e-01 7.27278338e-01 -1.37216584e-03 1.58187787e+02] [-2.03454530e-03 -3.33151676e-05 9.99997930e-01 -6.26876206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24 meters 0.014330719519996237 Centerline is valid? [True, True] Translation: X:133.85, Y:158.16, Z:-6.27 [[ 7.28200630e-01 6.85361537e-01 1.84570425e-03 1.33846534e+02] [-6.85359461e-01 7.28202968e-01 -1.68741004e-03 1.58162541e+02] [-2.50053325e-03 -3.61978145e-05 9.99996873e-01 -6.26880633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27 meters 0.014286443647015245 Centerline is valid? [True, True] Translation: X:133.87, Y:158.14, Z:-6.27 [[ 7.28826617e-01 6.84695441e-01 1.97889749e-03 1.33868017e+02] [-6.84693047e-01 7.28829303e-01 -1.81073155e-03 1.58139999e+02] [-2.68207811e-03 -3.52279981e-05 9.99996403e-01 -6.26942680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3 meters 0.01436025036950231 Centerline is valid? [True, True] Translation: X:133.89, Y:158.12, Z:-6.27 [[ 7.29207596e-01 6.84290612e-01 1.62492071e-03 1.33889943e+02] [-6.84288999e-01 7.29209406e-01 -1.48625193e-03 1.58116529e+02] [-2.20193571e-03 -2.81291691e-05 9.99997575e-01 -6.26996783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33 meters 0.014038074609528321 Centerline is valid? [True, True] Translation: X:133.91, Y:158.09, Z:-6.27 [[ 7.29907868e-01 6.83544013e-01 1.44460188e-03 1.33911353e+02] [-6.83542735e-01 7.29909297e-01 -1.32171733e-03 1.58092607e+02] [-1.95788031e-03 -2.27152398e-05 9.99998083e-01 -6.26987087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36 meters 0.014063546063858068 Centerline is valid? [True, True] Translation: X:133.93, Y:158.07, Z:-6.27 [[ 7.30570377e-01 6.82836704e-01 9.80040474e-04 1.33933239e+02] [-6.82836117e-01 7.30571034e-01 -8.95347511e-04 1.58068867e+02] [-1.32736533e-03 -1.50926639e-05 9.99999119e-01 -6.27076951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39 meters 0.013924084162205629 Centerline is valid? [True, True] Translation: X:133.95, Y:158.04, Z:-6.27 [[ 7.32381454e-01 6.80894509e-01 2.70700926e-04 1.33952437e+02] [-6.80894465e-01 7.32381504e-01 -2.44568700e-04 1.58043645e+02] [-3.64781837e-04 -5.20118183e-06 9.99999933e-01 -6.27197479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42 meters 0.01372754228191033 Centerline is valid? [True, True] Translation: X:133.97, Y:158.02, Z:-6.27 [[ 7.33291865e-01 6.79913948e-01 -2.55591492e-04 1.33974499e+02] [-6.79913905e-01 7.33291909e-01 2.40262674e-04 1.58019698e+02] [ 3.50781117e-04 -2.40245473e-06 9.99999938e-01 -6.27185594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45 meters 0.013639035969705424 Centerline is valid? [True, True] Translation: X:134.00, Y:158.00, Z:-6.27 [[ 7.33748964e-01 6.79420675e-01 -6.25592422e-05 1.33998131e+02] [-6.79420672e-01 7.33748967e-01 6.28344599e-05 1.57996524e+02] [ 8.85938106e-05 -3.60067740e-06 9.99999996e-01 -6.27173194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47999999999996 meters 0.013551651349411822 Centerline is valid? [True, True] Translation: X:134.02, Y:157.98, Z:-6.27 [[ 7.33715559e-01 6.79456530e-01 5.49431024e-04 1.34021994e+02] [-6.79456345e-01 7.33715765e-01 -5.01208006e-04 1.57975479e+02] [-7.43675256e-04 -5.57028312e-06 9.99999723e-01 -6.27189105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51 meters 0.013463437996594553 Centerline is valid? [True, True] Translation: X:134.05, Y:157.95, Z:-6.27 [[ 7.33846916e-01 6.79313783e-01 1.21963015e-03 1.34045813e+02] [-6.79312862e-01 7.33847930e-01 -1.11869064e-03 1.57953781e+02] [-1.65496503e-03 -7.56277503e-06 9.99998631e-01 -6.27180457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53999999999996 meters 0.01319090484483148 Centerline is valid? [True, True] Translation: X:134.07, Y:157.93, Z:-6.27 [[ 7.34578675e-01 6.78522143e-01 1.36837103e-03 1.34070049e+02] [-6.78520981e-01 7.34579949e-01 -1.25569437e-03 1.57931013e+02] [-1.85719436e-03 -6.06214956e-06 9.99998275e-01 -6.27112987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57 meters 0.013166691259960938 Centerline is valid? [True, True] Translation: X:134.09, Y:157.91, Z:-6.27 [[ 7.34998690e-01 6.78066420e-01 1.68971067e-03 1.34093979e+02] [-6.78064643e-01 7.35000633e-01 -1.55256529e-03 1.57908080e+02] [-2.29468080e-03 -4.59961130e-06 9.99997367e-01 -6.27026881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59999999999997 meters 0.013118373578848038 Centerline is valid? [True, True] Translation: X:134.12, Y:157.89, Z:-6.27 [[ 7.35709697e-01 6.77293824e-01 2.07816866e-03 1.34117125e+02] [-6.77291124e-01 7.35712632e-01 -1.91215455e-03 1.57885494e+02] [-2.82402540e-03 -7.34538453e-07 9.99996012e-01 -6.27026020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63 meters 0.013079490948192234 Centerline is valid? [True, True] Translation: X:134.14, Y:157.86, Z:-6.27 [[ 7.36633376e-01 6.76288125e-01 2.37509952e-03 1.34140538e+02] [-6.76284589e-01 7.36637205e-01 -2.18701195e-03 1.57862435e+02] [-3.22863688e-03 4.78279733e-06 9.99994788e-01 -6.26989478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65999999999997 meters 0.013196266141405021 Centerline is valid? [True, True] Translation: X:134.16, Y:157.84, Z:-6.27 [[ 7.39315594e-01 6.73354835e-01 2.39131164e-03 1.34163120e+02] [-6.73351229e-01 7.39319461e-01 -2.20375074e-03 1.57839051e+02] [-3.25184945e-03 1.90746539e-05 9.99994713e-01 -6.27067411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69 meters 0.013589259892093744 Centerline is valid? [True, True] Translation: X:134.19, Y:157.82, Z:-6.27 [[ 7.40906586e-01 6.71604045e-01 2.33200070e-03 1.34185272e+02] [-6.71600603e-01 7.40910255e-01 -2.15035009e-03 1.57816766e+02] [-3.17198705e-03 2.70354709e-05 9.99994969e-01 -6.27193455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71999999999997 meters 0.01381456916835962 Centerline is valid? [True, True] Translation: X:134.21, Y:157.79, Z:-6.27 [[ 7.42447186e-01 6.69901634e-01 1.99438540e-03 1.34208025e+02] [-6.69899110e-01 7.42449864e-01 -1.83897832e-03 1.57794489e+02] [-2.71266575e-03 2.93072762e-05 9.99996320e-01 -6.27272321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75 meters 0.01412137576803701 Centerline is valid? [True, True] Translation: X:134.23, Y:157.77, Z:-6.27 [[ 7.43982387e-01 6.68197354e-01 1.58272106e-03 1.34230784e+02] [-6.68195761e-01 7.43984070e-01 -1.45916141e-03 1.57771959e+02] [-2.15252705e-03 2.80228890e-05 9.99997683e-01 -6.27306145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78 meters 0.015479312620311417 Centerline is valid? [True, True] Translation: X:134.25, Y:157.75, Z:-6.27 [[ 7.47215284e-01 6.64580070e-01 1.62822376e-03 1.34251009e+02] [-6.64578371e-01 7.47217057e-01 -1.50289038e-03 1.57748668e+02] [-2.21542756e-03 4.09003617e-05 9.99997545e-01 -6.27347286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81 meters 0.015476178472954898 Centerline is valid? [True, True] Translation: X:134.27, Y:157.73, Z:-6.27 [[ 7.48416001e-01 6.63227158e-01 1.79602371e-03 1.34274441e+02] [-6.63225088e-01 7.48418154e-01 -1.65795690e-03 1.57727001e+02] [-2.44377880e-03 4.96734844e-05 9.99997013e-01 -6.27268483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84 meters 0.017352680636415565 Centerline is valid? [True, True] Translation: X:134.30, Y:157.70, Z:-6.27 [[ 7.49603495e-01 6.61884037e-01 2.03010677e-03 1.34295195e+02] [-6.61881380e-01 7.49606242e-01 -1.87637134e-03 1.57704337e+02] [-2.76372095e-03 6.28446470e-05 9.99996179e-01 -6.27381676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87 meters 0.017672982590112372 Centerline is valid? [True, True] Translation: X:134.32, Y:157.68, Z:-6.27 [[ 7.50560078e-01 6.60797865e-01 2.39818683e-03 1.34319078e+02] [-6.60794149e-01 7.50563905e-01 -2.21748274e-03 1.57682837e+02] [-3.26530033e-03 7.96461920e-05 9.99994666e-01 -6.27419399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9 meters 0.016939594054672172 Centerline is valid? [True, True] Translation: X:134.34, Y:157.66, Z:-6.27 [[ 7.52254229e-01 6.58867134e-01 2.77030731e-03 1.34344726e+02] [-6.58862156e-01 7.52259323e-01 -2.56329261e-03 1.57663474e+02] [-3.77285875e-03 1.02997058e-04 9.99992877e-01 -6.27372794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93 meters 0.017077025916992426 Centerline is valid? [True, True] Translation: X:134.37, Y:157.64, Z:-6.27 [[ 7.52976939e-01 6.58040045e-01 3.00490468e-03 1.34368786e+02] [-6.58034174e-01 7.52982925e-01 -2.78211230e-03 1.57641907e+02] [-4.09338322e-03 1.17536434e-04 9.99991615e-01 -6.27372800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96 meters 0.01721593158415465 Centerline is valid? [True, True] Translation: X:134.39, Y:157.62, Z:-6.27 [[ 7.53461803e-01 6.57483619e-01 3.25628070e-03 1.34392725e+02] [-6.57476711e-01 7.53468827e-01 -3.01671881e-03 1.57620174e+02] [-4.43694920e-03 1.32053667e-04 9.99990148e-01 -6.27344264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99 meters 0.018145927666340895 Centerline is valid? [True, True] Translation: X:134.42, Y:157.60, Z:-6.27 [[ 7.53846496e-01 6.57040005e-01 3.72712894e-03 1.34415094e+02] [-6.57030937e-01 7.53855694e-01 -3.45553215e-03 1.57598462e+02] [-5.08014024e-03 1.56101778e-04 9.99987084e-01 -6.27356780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02 meters 0.017504584614900516 Centerline is valid? [True, True] Translation: X:134.44, Y:157.58, Z:-6.27 [[ 7.54244011e-01 6.56583020e-01 3.83532650e-03 1.34440122e+02] [-6.56573404e-01 7.54253744e-01 -3.55735448e-03 1.57578332e+02] [-5.22850792e-03 1.64939937e-04 9.99986318e-01 -6.27366107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05 meters 0.019055909480181925 Centerline is valid? [True, True] Translation: X:134.46, Y:157.56, Z:-6.27 [[ 7.54322837e-01 6.56491896e-01 3.93043905e-03 1.34464143e+02] [-6.56481786e-01 7.54333057e-01 -3.64731111e-03 1.57557466e+02] [-5.35929029e-03 1.70988418e-04 9.99985624e-01 -6.27486143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08 meters 0.018308233856112112 Centerline is valid? [True, True] Translation: X:134.49, Y:157.54, Z:-6.28 [[ 7.53922616e-01 6.56952695e-01 3.72089384e-03 1.34490702e+02] [-6.56943633e-01 7.53931781e-01 -3.45424857e-03 1.57537148e+02] [-5.07457803e-03 1.59818602e-04 9.99987111e-01 -6.27552266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11 meters 0.01743128877468374 Centerline is valid? [True, True] Translation: X:134.52, Y:157.52, Z:-6.28 [[ 7.53187082e-01 6.57797521e-01 3.41201273e-03 1.34516821e+02] [-6.57789902e-01 7.53194796e-01 -3.16921841e-03 1.57517517e+02] [-4.65461424e-03 1.42626847e-04 9.99989157e-01 -6.27623775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14 meters 0.017404183026445766 Centerline is valid? [True, True] Translation: X:134.54, Y:157.50, Z:-6.28 [[ 7.52392384e-01 6.58707350e-01 3.21363749e-03 1.34541261e+02] [-6.58700588e-01 7.52399236e-01 -2.98752343e-03 1.57497548e+02] [-4.38584204e-03 1.30964973e-04 9.99990374e-01 -6.27750017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17 meters 0.016404574690574276 Centerline is valid? [True, True] Translation: X:134.57, Y:157.48, Z:-6.28 [[ 7.51417418e-01 6.59819522e-01 3.17193128e-03 1.34567280e+02] [-6.59812947e-01 7.51424103e-01 -2.94814782e-03 1.57478396e+02] [-4.32871110e-03 1.22408302e-04 9.99990624e-01 -6.27813878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2 meters 0.016241066009549825 Centerline is valid? [True, True] Translation: X:134.59, Y:157.46, Z:-6.28 [[ 7.49390257e-01 6.62125658e-01 1.96359817e-03 1.34592992e+02] [-6.62123147e-01 7.49392827e-01 -1.82448420e-03 1.57460150e+02] [-2.67954418e-03 6.71068776e-05 9.99996408e-01 -6.27979664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22999999999996 meters 0.015369626222837055 Centerline is valid? [True, True] Translation: X:134.62, Y:157.44, Z:-6.28 [[ 7.48465035e-01 6.63172778e-01 1.39964652e-03 1.34619134e+02] [-6.63171501e-01 7.48466342e-01 -1.30211454e-03 1.57440372e+02] [-1.91111523e-03 4.63815176e-05 9.99998173e-01 -6.28038239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26 meters 0.015483653131773882 Centerline is valid? [True, True] Translation: X:134.64, Y:157.42, Z:-6.28 [[ 7.47511579e-01 6.64247387e-01 1.35934332e-03 1.34643231e+02] [-6.64246188e-01 7.47512814e-01 -1.26250062e-03 1.57420265e+02] [-1.85473928e-03 4.07952124e-05 9.99998279e-01 -6.28102304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28999999999996 meters 0.014713100819578372 Centerline is valid? [True, True] Translation: X:134.67, Y:157.40, Z:-6.28 [[ 7.45996157e-01 6.65948323e-01 1.60169480e-03 1.34670165e+02] [-6.65946660e-01 7.45997875e-01 -1.48875766e-03 1.57401946e+02] [-2.18629659e-03 4.39641862e-05 9.99997609e-01 -6.28056383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32 meters 0.014633149608074929 Centerline is valid? [True, True] Translation: X:134.69, Y:157.38, Z:-6.28 [[ 7.45252470e-01 6.66779325e-01 2.02173496e-03 1.34694697e+02] [-6.66776673e-01 7.45255210e-01 -1.88136082e-03 1.57381256e+02] [-2.76116102e-03 5.40430874e-05 9.99996187e-01 -6.28009961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34999999999997 meters 0.01456494180514716 Centerline is valid? [True, True] Translation: X:134.72, Y:157.36, Z:-6.28 [[ 7.44625867e-01 6.67476781e-01 2.65807558e-03 1.34719236e+02] [-6.67472191e-01 7.44630608e-01 -2.47624009e-03 1.57360167e+02] [-3.63211720e-03 6.96808911e-05 9.99993401e-01 -6.27970693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38 meters 0.014435943973762614 Centerline is valid? [True, True] Translation: X:134.74, Y:157.34, Z:-6.28 [[ 7.44023620e-01 6.68146043e-01 3.11751214e-03 1.34743941e+02] [-6.68139725e-01 7.44030147e-01 -2.90648901e-03 1.57339385e+02] [-4.26148214e-03 7.95627668e-05 9.99990917e-01 -6.27938202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40999999999997 meters 0.014072749903417477 Centerline is valid? [True, True] Translation: X:134.77, Y:157.32, Z:-6.28 [[ 7.42743939e-01 6.69566828e-01 3.42126432e-03 1.34770520e+02] [-6.69559225e-01 7.42751814e-01 -3.19169921e-03 1.57320248e+02] [-4.67820619e-03 7.98761568e-05 9.99989054e-01 -6.27940785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44 meters 0.013726164189982187 Centerline is valid? [True, True] Translation: X:134.80, Y:157.30, Z:-6.28 [[ 7.41830485e-01 6.70578083e-01 3.54490587e-03 1.34795463e+02] [-6.70569924e-01 7.41838951e-01 -3.30881841e-03 1.57300520e+02] [-4.84857035e-03 7.74751100e-05 9.99988243e-01 -6.28002183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46999999999997 meters 0.013420514641618487 Centerline is valid? [True, True] Translation: X:134.82, Y:157.28, Z:-6.28 [[ 7.40683895e-01 6.71842522e-01 3.87222217e-03 1.34820700e+02] [-6.71832792e-01 7.40694012e-01 -3.61656645e-03 1.57280349e+02] [-5.29789490e-03 7.72466940e-05 9.99985963e-01 -6.28062660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5 meters 0.013420514641618487 Centerline is valid? [True, True] Translation: X:134.84, Y:157.26, Z:-6.28 [[ 7.40492752e-01 6.72053194e-01 3.87153048e-03 1.34844319e+02] [-6.72043463e-01 7.40502869e-01 -3.61730658e-03 1.57258172e+02] [-5.29790187e-03 7.67525531e-05 9.99985963e-01 -6.28107486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53 meters 0.013073734038463685 Centerline is valid? [True, True] Translation: X:134.87, Y:157.24, Z:-6.28 [[ 7.39239259e-01 6.73432203e-01 3.79283672e-03 1.34869497e+02] [-6.73422870e-01 7.39248986e-01 -3.54611191e-03 1.57238474e+02] [-5.19191666e-03 6.72421482e-05 9.99986520e-01 -6.28189640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56 meters 0.012808197622193929 Centerline is valid? [True, True] Translation: X:134.89, Y:157.22, Z:-6.28 [[ 7.37785094e-01 6.75025921e-01 3.62769918e-03 1.34894491e+02] [-6.75017395e-01 7.37794011e-01 -3.39322757e-03 1.57218792e+02] [-4.96701130e-03 5.47126742e-05 9.99987663e-01 -6.28278874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59 meters 0.012371150896259231 Centerline is valid? [True, True] Translation: X:134.92, Y:157.20, Z:-6.28 [[ 7.34940697e-01 6.78126387e-01 2.60290459e-03 1.34921661e+02] [-6.78122017e-01 7.34945306e-01 -2.43457648e-03 1.57201048e+02] [-3.56394306e-03 2.41824268e-05 9.99993649e-01 -6.28441219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62 meters 0.012067270564476656 Centerline is valid? [True, True] Translation: X:134.95, Y:157.18, Z:-6.29 [[ 7.33457660e-01 6.79732027e-01 2.05717704e-03 1.34947799e+02] [-6.79729306e-01 7.33460545e-01 -1.92355252e-03 1.57180769e+02] [-2.81635844e-03 1.25208070e-05 9.99996034e-01 -6.28523407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65 meters 0.011973019692375977 Centerline is valid? [True, True] Translation: X:134.97, Y:157.16, Z:-6.29 [[ 7.32043655e-01 6.81255904e-01 1.57483019e-03 1.34973951e+02] [-6.81254314e-01 7.32045349e-01 -1.47210840e-03 1.57160411e+02] [-2.15572965e-03 4.78775382e-06 9.99997676e-01 -6.28607368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68 meters 0.01205291893008162 Centerline is valid? [True, True] Translation: X:135.00, Y:157.14, Z:-6.29 [[ 7.30515796e-01 6.82894128e-01 1.51037704e-03 1.34999335e+02] [-6.82892667e-01 7.30517358e-01 -1.41276155e-03 1.57140571e+02] [-2.06812321e-03 6.19222145e-07 9.99997861e-01 -6.28720365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71 meters 0.011843220583535456 Centerline is valid? [True, True] Translation: X:135.03, Y:157.12, Z:-6.29 [[ 7.28224864e-01 6.85335848e-01 1.82296185e-03 1.35026828e+02] [-6.85333723e-01 7.28227145e-01 -1.70671076e-03 1.57122089e+02] [-2.49720037e-03 -6.46802280e-06 9.99996882e-01 -6.28706669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74 meters 0.011812387761245137 Centerline is valid? [True, True] Translation: X:135.05, Y:157.10, Z:-6.29 [[ 7.27232216e-01 6.86387120e-01 2.45476026e-03 1.35052346e+02] [-6.86383262e-01 7.27236359e-01 -2.30135868e-03 1.57101229e+02] [-3.36481387e-03 -1.12841767e-05 9.99994339e-01 -6.28718112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77 meters 0.011866676141987026 Centerline is valid? [True, True] Translation: X:135.08, Y:157.08, Z:-6.29 [[ 7.26621917e-01 6.87031916e-01 2.78135709e-03 1.35077032e+02] [-6.87026954e-01 7.26627240e-01 -2.61134407e-03 1.57080720e+02] [-3.81508655e-03 -1.34074573e-05 9.99992722e-01 -6.28791128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8 meters 0.0119474751264356 Centerline is valid? [True, True] Translation: X:135.10, Y:157.06, Z:-6.29 [[ 7.26015402e-01 6.87670825e-01 3.23620343e-03 1.35101507e+02] [-6.87664110e-01 7.26022614e-01 -3.03895464e-03 1.57059935e+02] [-4.43935732e-03 -1.90930753e-05 9.99990146e-01 -6.28824664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83 meters 0.012054995670373094 Centerline is valid? [True, True] Translation: X:135.13, Y:157.04, Z:-6.29 [[ 7.25459869e-01 6.88250035e-01 4.45730319e-03 1.35127442e+02] [-6.88237282e-01 7.25473561e-01 -4.19002265e-03 1.57039980e+02] [-6.11743886e-03 -2.79889517e-05 9.99981288e-01 -6.28804307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86 meters 0.012144105400402203 Centerline is valid? [True, True] Translation: X:135.15, Y:157.02, Z:-6.29 [[ 7.24894805e-01 6.88841470e-01 4.99497751e-03 1.35152420e+02] [-6.88825451e-01 7.24912014e-01 -4.69801675e-03 1.57018822e+02] [-6.85710797e-03 -3.50996904e-05 9.99976489e-01 -6.28817537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89 meters 0.012215980356198725 Centerline is valid? [True, True] Translation: X:135.18, Y:157.00, Z:-6.29 [[ 7.24544017e-01 6.89204951e-01 5.70120166e-03 1.35177923e+02] [-6.89184062e-01 7.24566446e-01 -5.36610861e-03 1.56997412e+02] [-7.82924805e-03 -4.11954291e-05 9.99969350e-01 -6.28842561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91999999999996 meters 0.012328824919746772 Centerline is valid? [True, True] Translation: X:135.20, Y:156.98, Z:-6.29 [[ 7.24028288e-01 6.89741347e-01 6.31767409e-03 1.35202598e+02] [-6.89715680e-01 7.24055849e-01 -5.95047762e-03 1.56976963e+02] [-8.67863932e-03 -4.90847649e-05 9.99962339e-01 -6.28884657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95 meters 0.01248378270658773 Centerline is valid? [True, True] Translation: X:135.23, Y:156.96, Z:-6.29 [[ 7.23673377e-01 6.90108798e-01 6.83300186e-03 1.35228065e+02] [-6.90078755e-01 7.23705633e-01 -6.43959377e-03 1.56955385e+02] [-9.38910226e-03 -5.51468421e-05 9.99955920e-01 -6.28882837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97999999999996 meters 0.012680872657824712 Centerline is valid? [True, True] Translation: X:135.26, Y:156.94, Z:-6.29 [[ 7.22905719e-01 6.90906872e-01 7.41723985e-03 1.35255130e+02] [-6.90871469e-01 7.22943766e-01 -6.99460487e-03 1.56935418e+02] [-1.01948679e-02 -6.79195224e-05 9.99948029e-01 -6.28967345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01 meters 0.012693249038804052 Centerline is valid? [True, True] Translation: X:135.28, Y:156.91, Z:-6.29 [[ 7.22395795e-01 6.91439998e-01 7.41922354e-03 1.35280310e+02] [-6.91404564e-01 7.22433889e-01 -7.00036168e-03 1.56913831e+02] [-1.02002286e-02 -7.26531732e-05 9.99947974e-01 -6.29070877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03999999999996 meters 0.01292110533875772 Centerline is valid? [True, True] Translation: X:135.31, Y:156.89, Z:-6.29 [[ 7.21887957e-01 6.91973172e-01 7.13488601e-03 1.35305174e+02] [-6.91940390e-01 7.21923212e-01 -6.73588396e-03 1.56893329e+02] [-9.81189082e-03 -7.43622976e-05 9.99951859e-01 -6.29197606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07 meters 0.013117402802832114 Centerline is valid? [True, True] Translation: X:135.33, Y:156.87, Z:-6.29 [[ 7.21404158e-01 6.92476060e-01 7.27641285e-03 1.35331822e+02] [-6.92441954e-01 7.21440850e-01 -6.87322520e-03 1.56873887e+02] [-1.00090454e-02 -8.01202910e-05 9.99949905e-01 -6.29386997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09999999999997 meters 0.01312483969185301 Centerline is valid? [True, True] Translation: X:135.36, Y:156.85, Z:-6.29 [[ 7.21111846e-01 6.92776372e-01 7.65533931e-03 1.35357149e+02] [-6.92738591e-01 7.21152474e-01 -7.23557221e-03 1.56852239e+02] [-1.05333004e-02 -8.54921305e-05 9.99944520e-01 -6.29486925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13 meters 0.013407531069843754 Centerline is valid? [True, True] Translation: X:135.38, Y:156.83, Z:-6.30 [[ 7.21293923e-01 6.92583027e-01 7.98920040e-03 1.35381894e+02] [-6.92541810e-01 7.21338162e-01 -7.55623589e-03 1.56832240e+02] [-1.09962359e-02 -8.25882821e-05 9.99939536e-01 -6.29578834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15999999999997 meters 0.01332437673107739 Centerline is valid? [True, True] Translation: X:135.41, Y:156.81, Z:-6.30 [[ 7.21600667e-01 6.92256072e-01 8.60286501e-03 1.35406148e+02] [-6.92208222e-01 7.21651942e-01 -8.13957882e-03 1.56809994e+02] [-1.18429471e-02 -8.14483937e-05 9.99929867e-01 -6.29637220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19 meters 0.013452290395459221 Centerline is valid? [True, True] Translation: X:135.43, Y:156.79, Z:-6.30 [[ 7.23580933e-01 6.90169860e-01 9.80803914e-03 1.35430580e+02] [-6.90107388e-01 7.23647402e-01 -9.28607866e-03 1.56788943e+02] [-1.35065336e-02 -4.93708109e-05 9.99908781e-01 -6.29695304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21999999999997 meters 0.013532905174348613 Centerline is valid? [True, True] Translation: X:135.45, Y:156.77, Z:-6.30 [[ 7.24769663e-01 6.88915900e-01 1.01891851e-02 1.35454181e+02] [-6.88848281e-01 7.24841281e-01 -9.65209842e-03 1.56767285e+02] [-1.40350260e-02 -2.32545035e-05 9.99901504e-01 -6.29766224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25 meters 0.013745781159079715 Centerline is valid? [True, True] Translation: X:135.48, Y:156.74, Z:-6.30 [[ 7.25886115e-01 6.87729221e-01 1.08566241e-02 1.35478462e+02] [-6.87652231e-01 7.25967299e-01 -1.02903400e-02 1.56744693e+02] [-1.49585216e-02 4.03311248e-06 9.99888115e-01 -6.29808422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28 meters 0.013908389454966738 Centerline is valid? [True, True] Translation: X:135.50, Y:156.72, Z:-6.30 [[ 7.26930547e-01 6.86612755e-01 1.16148697e-02 1.35502481e+02] [-6.86524384e-01 7.27023331e-01 -1.10157057e-02 1.56722679e+02] [-1.60078053e-02 3.37616427e-05 9.99871866e-01 -6.29885603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31 meters 0.014087981971409763 Centerline is valid? [True, True] Translation: X:135.53, Y:156.70, Z:-6.30 [[ 7.28276071e-01 6.85170829e-01 1.24458732e-02 1.35525655e+02] [-6.85069024e-01 7.28382406e-01 -1.18111266e-02 1.56701262e+02] [-1.71579945e-02 7.54786504e-05 9.99852788e-01 -6.29938688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34 meters 0.014592590673185026 Centerline is valid? [True, True] Translation: X:135.55, Y:156.68, Z:-6.30 [[ 7.29980728e-01 6.83326051e-01 1.39156304e-02 1.35549510e+02] [-6.83198312e-01 7.30113339e-01 -1.32127835e-02 1.56681416e+02] [-1.91886266e-02 1.37942119e-04 9.99815872e-01 -6.29928693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37 meters 0.01481770681960901 Centerline is valid? [True, True] Translation: X:135.57, Y:156.66, Z:-6.30 [[ 7.30599783e-01 6.82659792e-01 1.41267877e-02 1.35573564e+02] [-6.82527929e-01 7.30736329e-01 -1.34180525e-02 1.56660652e+02] [-1.94829219e-02 1.61299050e-04 9.99810177e-01 -6.29979256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4 meters 0.015014213988284236 Centerline is valid? [True, True] Translation: X:135.60, Y:156.64, Z:-6.30 [[ 7.30734990e-01 6.82500916e-01 1.47944170e-02 1.35598373e+02] [-6.82356097e-01 7.30884716e-01 -1.40601789e-02 1.56639616e+02] [-2.04090982e-02 1.79204008e-04 9.99791697e-01 -6.30031481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43 meters 0.015168078131865529 Centerline is valid? [True, True] Translation: X:135.62, Y:156.62, Z:-6.30 [[ 7.30583462e-01 6.82645307e-01 1.55945285e-02 1.35623909e+02] [-6.82484241e-01 7.30749853e-01 -1.48294647e-02 1.56618552e+02] [-2.15189639e-02 1.91141735e-04 9.99768422e-01 -6.30090902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46 meters 0.01517678042716127 Centerline is valid? [True, True] Translation: X:135.65, Y:156.60, Z:-6.30 [[ 7.30295922e-01 6.82945657e-01 1.59090039e-02 1.35649526e+02] [-6.82777902e-01 7.30469159e-01 -1.51374944e-02 1.56598152e+02] [-2.19591227e-02 1.92534091e-04 9.99758851e-01 -6.30152535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49 meters 0.015447630837532722 Centerline is valid? [True, True] Translation: X:135.68, Y:156.58, Z:-6.30 [[ 7.29095036e-01 6.84211061e-01 1.66027668e-02 1.35676725e+02] [-6.84028494e-01 7.29284029e-01 -1.58058276e-02 1.56580029e+02] [-2.29226548e-02 1.67184833e-04 9.99737227e-01 -6.30151777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52 meters 0.01557277722226301 Centerline is valid? [True, True] Translation: X:135.70, Y:156.56, Z:-6.30 [[ 7.27863717e-01 6.85504510e-01 1.72619920e-02 1.35701734e+02] [-6.85307342e-01 7.28068368e-01 -1.64407989e-02 1.56560682e+02] [-2.38381522e-02 1.36891147e-04 9.99715822e-01 -6.30110388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55 meters 0.015641000064771357 Centerline is valid? [True, True] Translation: X:135.73, Y:156.54, Z:-6.30 [[ 7.26626712e-01 6.86812802e-01 1.73722799e-02 1.35728639e+02] [-6.86613257e-01 7.26834345e-01 -1.65550796e-02 1.56540771e+02] [-2.39970103e-02 1.01325380e-04 9.99712025e-01 -6.30218702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58 meters 0.0157681618519336 Centerline is valid? [True, True] Translation: X:135.76, Y:156.52, Z:-6.30 [[ 7.24948658e-01 6.88567970e-01 1.79887026e-02 1.35755664e+02] [-6.88354299e-01 7.25171806e-01 -1.71525965e-02 1.56520858e+02] [-2.48556285e-02 5.21510134e-05 9.99691050e-01 -6.30253987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61 meters 0.015898965956938464 Centerline is valid? [True, True] Translation: X:135.78, Y:156.50, Z:-6.30 [[ 7.23088682e-01 6.90516802e-01 1.81467179e-02 1.35782257e+02] [-6.90299720e-01 7.23316353e-01 -1.73133038e-02 1.56501485e+02] [-2.50809450e-02 -7.62025524e-06 9.99685424e-01 -6.30296824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64 meters 0.016255262395596486 Centerline is valid? [True, True] Translation: X:135.81, Y:156.49, Z:-6.30 [[ 7.19707274e-01 6.94007620e-01 1.93613669e-02 1.35811712e+02] [-6.93761533e-01 7.19967642e-01 -1.84805047e-02 1.56486573e+02] [-2.67651687e-02 -1.31617902e-04 9.99641740e-01 -6.30329591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66999999999996 meters 0.016517468582054814 Centerline is valid? [True, True] Translation: X:135.84, Y:156.47, Z:-6.30 [[ 7.17537971e-01 6.96233396e-01 1.99579280e-02 1.35838279e+02] [-6.95972554e-01 7.17815444e-01 -1.90575907e-02 1.56467763e+02] [-2.75946401e-02 -2.15625156e-04 9.99619172e-01 -6.30386852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7 meters 0.016782455482771807 Centerline is valid? [True, True] Translation: X:135.87, Y:156.45, Z:-6.30 [[ 7.15466280e-01 6.98343928e-01 2.05854578e-02 1.35865353e+02] [-6.98066997e-01 7.15762299e-01 -1.96671888e-02 1.56449283e+02] [-2.84687565e-02 -2.98818365e-04 9.99594638e-01 -6.30415801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72999999999996 meters 0.017259170917742706 Centerline is valid? [True, True] Translation: X:135.89, Y:156.43, Z:-6.30 [[ 7.13507148e-01 7.00345543e-01 2.05832690e-02 1.35891427e+02] [-7.00069223e-01 7.13803883e-01 -1.96748799e-02 1.56431573e+02] [-2.84716318e-02 -3.71545743e-04 9.99594532e-01 -6.30421566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76 meters 0.018165740612783754 Centerline is valid? [True, True] Translation: X:135.92, Y:156.42, Z:-6.30 [[ 7.09516971e-01 7.04343143e-01 2.20546078e-02 1.35922420e+02] [-7.04027616e-01 7.09859436e-01 -2.10878429e-02 1.56417089e+02] [-3.05087490e-02 -5.64870602e-04 9.99534340e-01 -6.30432027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78999999999996 meters 0.018795856256016437 Centerline is valid? [True, True] Translation: X:135.95, Y:156.40, Z:-6.31 [[ 7.07660356e-01 7.06183440e-01 2.28422712e-02 1.35948542e+02] [-7.05845695e-01 7.08028608e-01 -2.18482341e-02 1.56399751e+02] [-3.16018426e-02 -6.61989600e-04 9.99500318e-01 -6.30511106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82 meters 0.01928479673965732 Centerline is valid? [True, True] Translation: X:135.98, Y:156.38, Z:-6.31 [[ 7.06117886e-01 7.07717500e-01 2.30970014e-02 1.35975396e+02] [-7.07372646e-01 7.06495156e-01 -2.21027878e-02 1.56381385e+02] [-3.19604493e-02 -7.31013170e-04 9.99488867e-01 -6.30562073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84999999999997 meters 0.019915697995109876 Centerline is valid? [True, True] Translation: X:136.00, Y:156.36, Z:-6.31 [[ 7.04730506e-01 7.09085074e-01 2.35217411e-02 1.36001928e+02] [-7.08727804e-01 7.05122485e-01 -2.25206761e-02 1.56362902e+02] [-3.25547838e-02 -7.99504477e-04 9.99469633e-01 -6.30646090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88 meters 0.01995217029289467 Centerline is valid? [True, True] Translation: X:136.03, Y:156.34, Z:-6.31 [[ 7.03494328e-01 7.10286557e-01 2.42639099e-02 1.36027731e+02] [-7.09906805e-01 7.03912097e-01 -2.32398192e-02 1.56344079e+02] [-3.35865909e-02 -8.76033760e-04 9.99435427e-01 -6.30766423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90999999999997 meters 0.020616656841221992 Centerline is valid? [True, True] Translation: X:136.05, Y:156.33, Z:-6.31 [[ 7.02589026e-01 7.11152549e-01 2.51139933e-02 1.36053224e+02] [-7.10746047e-01 7.03037096e-01 -2.40603053e-02 1.56326375e+02] [-3.47666163e-02 -9.45164994e-04 9.99395012e-01 -6.30803978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94 meters 0.02160900739007328 Centerline is valid? [True, True] Translation: X:136.08, Y:156.31, Z:-6.31 [[ 7.01716463e-01 7.11996746e-01 2.55859121e-02 1.36082004e+02] [-7.11575045e-01 7.02182053e-01 -2.45218221e-02 1.56311086e+02] [-3.54254258e-02 -9.98930337e-04 9.99371823e-01 -6.30886430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96999999999997 meters 0.020591169377413412 Centerline is valid? [True, True] Translation: X:136.11, Y:156.29, Z:-6.31 [[ 7.01499917e-01 7.12197390e-01 2.59373229e-02 1.36106968e+02] [-7.11763676e-01 7.01978526e-01 -2.48720448e-02 1.56289466e+02] [-3.59212491e-02 -1.01350694e-03 9.99354110e-01 -6.31103724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0 meters 0.021369816196205635 Centerline is valid? [True, True] Translation: X:136.13, Y:156.27, Z:-6.31 [[ 7.01351057e-01 7.12329591e-01 2.63296204e-02 1.36132611e+02] [-7.11882229e-01 7.01844358e-01 -2.52624221e-02 1.56270284e+02] [-3.64744663e-02 -1.02576246e-03 9.99334059e-01 -6.31130234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03 meters 0.020469160389574425 Centerline is valid? [True, True] Translation: X:136.16, Y:156.25, Z:-6.31 [[ 7.02266994e-01 7.11429210e-01 2.62592470e-02 1.36158259e+02] [-7.10983317e-01 7.02757096e-01 -2.52029139e-02 1.56249933e+02] [-3.63839613e-02 -9.70711905e-04 9.99337413e-01 -6.31387096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06 meters 0.02050482229723529 Centerline is valid? [True, True] Translation: X:136.18, Y:156.23, Z:-6.31 [[ 7.03016465e-01 7.10684118e-01 2.63805536e-02 1.36182058e+02] [-7.10233237e-01 7.03510639e-01 -2.53284467e-02 1.56229795e+02] [-3.65595250e-02 -9.30030897e-04 9.99331044e-01 -6.31488411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09 meters 0.02033581749031513 Centerline is valid? [True, True] Translation: X:136.21, Y:156.21, Z:-6.32 [[ 7.03932121e-01 7.09791631e-01 2.59886430e-02 1.36206604e+02] [-7.09353186e-01 7.04411166e-01 -2.49592906e-02 1.56208222e+02] [-3.60225859e-02 -8.65480376e-04 9.99350601e-01 -6.31595121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12 meters 0.019482086239420184 Centerline is valid? [True, True] Translation: X:136.23, Y:156.19, Z:-6.32 [[ 7.05077993e-01 7.08675051e-01 2.53908715e-02 1.36229558e+02] [-7.08255502e-01 7.05534591e-01 -2.43943582e-02 1.56185544e+02] [-3.52018111e-02 -7.83299349e-04 9.99379917e-01 -6.31831326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15 meters 0.019925361443718235 Centerline is valid? [True, True] Translation: X:136.25, Y:156.17, Z:-6.32 [[ 7.06181597e-01 7.07588008e-01 2.50352214e-02 1.36253153e+02] [-7.07179140e-01 7.06624867e-01 -2.40616089e-02 1.56165030e+02] [-3.47162159e-02 -7.12520945e-04 9.99396957e-01 -6.31808517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18 meters 0.01861046400342879 Centerline is valid? [True, True] Translation: X:136.28, Y:156.14, Z:-6.32 [[ 7.07600785e-01 7.06180795e-01 2.46944044e-02 1.36275145e+02] [-7.05781948e-01 7.08031275e-01 -2.37393446e-02 1.56140945e+02] [-3.42486798e-02 -6.30885964e-04 9.99413143e-01 -6.32123556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21 meters 0.017897452154907248 Centerline is valid? [True, True] Translation: X:136.30, Y:156.12, Z:-6.32 [[ 7.10428398e-01 7.03389538e-01 2.31224881e-02 1.36296870e+02] [-7.03038283e-01 7.10804435e-01 -2.22312509e-02 1.56117936e+02] [-3.20727963e-02 -4.62282369e-04 9.99485429e-01 -6.32417421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24 meters 0.017815959210092023 Centerline is valid? [True, True] Translation: X:136.32, Y:156.10, Z:-6.33 [[ 7.11492148e-01 7.02335484e-01 2.24453007e-02 1.36318793e+02] [-7.02003773e-01 7.11845988e-01 -2.15868651e-02 1.56095749e+02] [-3.11388186e-02 -3.97800760e-04 9.99514990e-01 -6.32509348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27 meters 0.017706800662868855 Centerline is valid? [True, True] Translation: X:136.34, Y:156.07, Z:-6.33 [[ 7.12526793e-01 7.01314438e-01 2.15320274e-02 1.36341214e+02] [-7.01008491e-01 7.12851982e-01 -2.07158745e-02 1.56072082e+02] [-2.98774903e-02 -3.33518494e-04 9.99553513e-01 -6.32612693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3 meters 0.01757957889087486 Centerline is valid? [True, True] Translation: X:136.36, Y:156.05, Z:-6.33 [[ 7.13514750e-01 7.00334396e-01 2.06986779e-02 1.36363188e+02] [-7.00051045e-01 7.13814863e-01 -1.99217556e-02 1.56049297e+02] [-2.87269146e-02 -2.75664606e-04 9.99587259e-01 -6.32688658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33 meters 0.01747527625301607 Centerline is valid? [True, True] Translation: X:136.38, Y:156.03, Z:-6.33 [[ 7.13967483e-01 6.99908493e-01 1.94559555e-02 1.36384841e+02] [-6.99657748e-01 7.14232487e-01 -1.87347352e-02 1.56025709e+02] [-2.70086758e-02 -2.36518306e-04 9.99635171e-01 -6.32809792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36 meters 0.01748704614725039 Centerline is valid? [True, True] Translation: X:136.41, Y:156.00, Z:-6.33 [[ 7.14114245e-01 6.99778522e-01 1.87313982e-02 1.36406821e+02] [-6.99545842e-01 7.14359834e-01 -1.80455531e-02 1.56003979e+02] [-2.60088490e-02 -2.16885185e-04 9.99661689e-01 -6.32842235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39 meters 0.0176874162586792 Centerline is valid? [True, True] Translation: X:136.43, Y:155.98, Z:-6.33 [[ 7.13832751e-01 7.00083656e-01 1.80465487e-02 1.36428807e+02] [-6.99867584e-01 7.14060802e-01 -1.73935567e-02 1.55982368e+02] [-2.50632778e-02 -2.14104041e-04 9.99685844e-01 -6.32918438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41999999999996 meters 0.0176874162586792 Centerline is valid? [True, True] Translation: X:136.45, Y:155.96, Z:-6.33 [[ 7.13639196e-01 7.00281070e-01 1.80422286e-02 1.36452112e+02] [-7.00064948e-01 7.13867199e-01 -1.73980373e-02 1.55959791e+02] [-2.50632713e-02 -2.14810445e-04 9.99685844e-01 -6.32963265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45 meters 0.017685154706864426 Centerline is valid? [True, True] Translation: X:136.47, Y:155.94, Z:-6.33 [[ 7.13751675e-01 7.00191095e-01 1.70580471e-02 1.36474026e+02] [-6.99997694e-01 7.13955456e-01 -1.64570712e-02 1.55937684e+02] [-2.37017805e-02 -1.94331486e-04 9.99719054e-01 -6.33058656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47999999999996 meters 0.017557651291377666 Centerline is valid? [True, True] Translation: X:136.50, Y:155.91, Z:-6.33 [[ 7.12616759e-01 7.01393712e-01 1.49738080e-02 1.36495168e+02] [-7.01244826e-01 7.12774031e-01 -1.44524652e-02 1.55914035e+02] [-2.08098097e-02 -2.01236515e-04 9.99783432e-01 -6.33291484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51 meters 0.01755492437150089 Centerline is valid? [True, True] Translation: X:136.52, Y:155.89, Z:-6.33 [[ 7.12158180e-01 7.01878753e-01 1.40336591e-02 1.36518057e+02] [-7.01747938e-01 7.12296411e-01 -1.35519135e-02 1.55890152e+02] [-1.95079252e-02 -1.96985241e-04 9.99809683e-01 -6.33401511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53999999999996 meters 0.01781987748492731 Centerline is valid? [True, True] Translation: X:136.54, Y:155.87, Z:-6.33 [[ 7.11512241e-01 7.02559753e-01 1.26540093e-02 1.36541265e+02] [-7.02453389e-01 7.11624731e-01 -1.22261627e-02 1.55867589e+02] [-1.75945158e-02 -1.89787325e-04 9.99845187e-01 -6.33440186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57 meters 0.017815161805336446 Centerline is valid? [True, True] Translation: X:136.56, Y:155.84, Z:-6.34 [[ 7.10629739e-01 7.03475452e-01 1.12988113e-02 1.36564141e+02] [-7.03390681e-01 7.10719533e-01 -1.09222479e-02 1.55844478e+02] [-1.57138192e-02 -1.85804430e-04 9.99876513e-01 -6.33538095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59999999999997 meters 0.018122258200413258 Centerline is valid? [True, True] Translation: X:136.59, Y:155.82, Z:-6.34 [[ 7.07876257e-01 7.06281369e-01 8.82228411e-03 1.36587148e+02] [-7.06229858e-01 7.07931206e-01 -8.53204297e-03 1.55821782e+02] [-1.22715932e-02 -1.90929812e-04 9.99924683e-01 -6.33575023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63 meters 0.018396764182988624 Centerline is valid? [True, True] Translation: X:136.61, Y:155.80, Z:-6.34 [[ 7.06014944e-01 7.08150731e-01 8.08950820e-03 1.36610253e+02] [-7.08107504e-01 7.06061259e-01 -7.82699486e-03 1.55800024e+02] [-1.12543805e-02 -2.02266126e-04 9.99936647e-01 -6.33591538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65999999999997 meters 0.018952190477460166 Centerline is valid? [True, True] Translation: X:136.63, Y:155.78, Z:-6.34 [[ 7.03792971e-01 7.10362401e-01 7.79189790e-03 1.36633206e+02] [-7.10322390e-01 7.03836066e-01 -7.54283429e-03 1.55779412e+02] [-1.08423646e-02 -2.26165782e-04 9.99941194e-01 -6.33572569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69 meters 0.01937920461200721 Centerline is valid? [True, True] Translation: X:136.66, Y:155.76, Z:-6.34 [[ 7.01575143e-01 7.12557436e-01 7.36343118e-03 1.36656868e+02] [-7.12521793e-01 7.01613741e-01 -7.13110984e-03 1.55757373e+02] [-1.02476098e-02 -2.43595792e-04 9.99947462e-01 -6.33552177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71999999999997 meters 0.020539744828279496 Centerline is valid? [True, True] Translation: X:136.68, Y:155.74, Z:-6.34 [[ 6.98821213e-01 7.15266261e-01 6.56425058e-03 1.36680091e+02] [-7.15238016e-01 6.98851997e-01 -6.36129490e-03 1.55737198e+02] [-9.13745924e-03 -2.49593750e-04 9.99958221e-01 -6.33560192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75 meters 0.022384843034065054 Centerline is valid? [True, True] Translation: X:136.70, Y:155.72, Z:-6.34 [[ 6.94349359e-01 7.19617136e-01 5.49046506e-03 1.36703098e+02] [-7.19597507e-01 6.94371019e-01 -5.32129714e-03 1.55718372e+02] [-7.64171643e-03 -2.56085710e-04 9.99970769e-01 -6.33598122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78 meters 0.023780917575909905 Centerline is valid? [True, True] Translation: X:136.73, Y:155.70, Z:-6.34 [[ 6.91605936e-01 7.22262361e-01 4.27914891e-03 1.36726124e+02] [-7.22250490e-01 6.91619138e-01 -4.14711002e-03 1.55698603e+02] [-5.95484276e-03 -2.22451485e-04 9.99982245e-01 -6.33672344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81 meters 0.0237118538836682 Centerline is valid? [True, True] Translation: X:136.75, Y:155.68, Z:-6.34 [[ 6.89309020e-01 7.24459692e-01 3.35091702e-03 1.36748237e+02] [-7.24452451e-01 6.89317139e-01 -3.24479612e-03 1.55676044e+02] [-4.66056853e-03 -1.90912813e-04 9.99989121e-01 -6.33707331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84 meters 0.025895005038933654 Centerline is valid? [True, True] Translation: X:136.77, Y:155.66, Z:-6.34 [[ 6.87465715e-01 7.26210434e-01 3.04897052e-03 1.36772172e+02] [-7.26204440e-01 6.87472453e-01 -2.95604190e-03 1.55656842e+02] [-4.24279171e-03 -1.81998465e-04 9.99990983e-01 -6.33823917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87 meters 0.027288979731503085 Centerline is valid? [True, True] Translation: X:136.80, Y:155.64, Z:-6.34 [[ 6.85494298e-01 7.28074739e-01 2.17764928e-03 1.36795207e+02] [-7.28071700e-01 6.85497742e-01 -2.10837500e-03 1.55636028e+02] [-3.02782824e-03 -1.40205777e-04 9.99995406e-01 -6.33930686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9 meters 0.026442831517668516 Centerline is valid? [True, True] Translation: X:136.81, Y:155.61, Z:-6.34 [[ 6.82605431e-01 7.30786802e-01 6.88936909e-04 1.36814448e+02] [-7.30786499e-01 6.82605777e-01 -6.67725453e-04 1.55611653e+02] [-9.58237263e-04 -4.76727705e-05 9.99999540e-01 -6.33875214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93 meters 0.029775492359764906 Centerline is valid? [True, True] Translation: X:136.84, Y:155.59, Z:-6.34 [[ 6.81351048e-01 7.31956760e-01 2.26029354e-04 1.36839206e+02] [-7.31956728e-01 6.81351085e-01 -2.14911036e-04 1.55592523e+02] [-3.11310932e-04 -1.90138468e-05 9.99999951e-01 -6.34030216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96 meters 0.03081776402275943 Centerline is valid? [True, True] Translation: X:136.86, Y:155.57, Z:-6.34 [[ 6.80806452e-01 7.32463285e-01 -3.32997360e-04 1.36859273e+02] [-7.32463215e-01 6.80806533e-01 3.21539372e-04 1.55573588e+02] [ 4.62222563e-04 2.50022376e-05 9.99999893e-01 -6.34144320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99 meters 0.027459641251154188 Centerline is valid? [True, True] Translation: X:136.88, Y:155.55, Z:-6.34 [[ 6.79864578e-01 7.33336536e-01 -1.29647011e-03 1.36877809e+02] [-7.33335458e-01 6.79865807e-01 1.26095908e-03 1.55547197e+02] [ 1.80613306e-03 9.34660917e-05 9.99998365e-01 -6.34074635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02 meters 0.02923110933343235 Centerline is valid? [True, True] Translation: X:136.90, Y:155.53, Z:-6.34 [[ 6.79875446e-01 7.33323847e-01 -2.34791453e-03 1.36900761e+02] [-7.33320314e-01 6.79879479e-01 2.28263076e-03 1.55525678e+02] [ 3.27020648e-03 1.69868814e-04 9.99994638e-01 -6.34254324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05 meters 0.03188367850588811 Centerline is valid? [True, True] Translation: X:136.92, Y:155.51, Z:-6.34 [[ 6.80481121e-01 7.32762179e-01 -2.24342530e-03 1.36924607e+02] [-7.32758956e-01 6.80484800e-01 2.17932169e-03 1.55506092e+02] [ 3.12354133e-03 1.60902715e-04 9.99995109e-01 -6.34468288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08 meters 0.024699478608623662 Centerline is valid? [True, True] Translation: X:136.94, Y:155.47, Z:-6.34 [[ 6.81161899e-01 7.32125947e-01 -3.17246592e-03 1.36938733e+02] [-7.32119470e-01 6.81169252e-01 3.08750619e-03 1.55474747e+02] [ 4.42142963e-03 2.19532489e-04 9.99990201e-01 -6.34127424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11 meters 0.024335941921871884 Centerline is valid? [True, True] Translation: X:136.96, Y:155.45, Z:-6.34 [[ 6.82516308e-01 7.30862609e-01 -3.36710424e-03 1.36959625e+02] [-7.30855315e-01 6.82524575e-01 3.27303766e-03 1.55450411e+02] [ 4.69027224e-03 2.26964453e-04 9.99988975e-01 -6.34137677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14 meters 0.02334632856520438 Centerline is valid? [True, True] Translation: X:136.98, Y:155.43, Z:-6.34 [[ 6.84487313e-01 7.29014961e-01 -3.78204651e-03 1.36979626e+02] [-7.29005730e-01 6.84497720e-01 3.67666273e-03 1.55425442e+02] [ 5.26914435e-03 2.40504585e-04 9.99986089e-01 -6.34148532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16999999999996 meters 0.023132199298996327 Centerline is valid? [True, True] Translation: X:137.00, Y:155.40, Z:-6.34 [[ 6.87314029e-01 7.26350710e-01 -3.75126821e-03 1.36998989e+02] [-7.26341596e-01 6.87324231e-01 3.64533079e-03 1.55402962e+02] [ 5.22612614e-03 2.19215149e-04 9.99986320e-01 -6.34214420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2 meters 0.020054087090136896 Centerline is valid? [True, True] Translation: X:137.01, Y:155.37, Z:-6.34 [[ 6.93396507e-01 7.20542991e-01 -4.36823196e-03 1.37014395e+02] [-7.20530512e-01 6.93410237e-01 4.24555926e-03 1.55374200e+02] [ 6.08808473e-03 2.03588449e-04 9.99981447e-01 -6.34149495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22999999999996 meters 0.018923230537622772 Centerline is valid? [True, True] Translation: X:137.03, Y:155.35, Z:-6.34 [[ 6.96599559e-01 7.17445217e-01 -4.62764852e-03 1.37033672e+02] [-7.17431139e-01 6.96614905e-01 4.49842572e-03 1.55349302e+02] [ 6.45106295e-03 1.86417775e-04 9.99979174e-01 -6.34129021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26 meters 0.017725973881917965 Centerline is valid? [True, True] Translation: X:137.05, Y:155.32, Z:-6.34 [[ 6.99667095e-01 7.14453883e-01 -4.64816936e-03 1.37053502e+02] [-7.14439607e-01 6.99682517e-01 4.51920275e-03 1.55323819e+02] [ 6.48100479e-03 1.58898835e-04 9.99978985e-01 -6.34131146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28999999999996 meters 0.016739758225480354 Centerline is valid? [True, True] Translation: X:137.07, Y:155.30, Z:-6.34 [[ 7.02114251e-01 7.12047194e-01 -4.93678378e-03 1.37073227e+02] [-7.12030989e-01 7.02131592e-01 4.80599156e-03 1.55298472e+02] [ 6.88836466e-03 1.40787875e-04 9.99976265e-01 -6.34107381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32 meters 0.015516174324183143 Centerline is valid? [True, True] Translation: X:137.09, Y:155.27, Z:-6.34 [[ 7.04972225e-01 7.09214781e-01 -5.34374595e-03 1.37091672e+02] [-7.09195695e-01 7.04992468e-01 5.20454310e-03 1.55270850e+02] [ 7.45843954e-03 1.20703289e-04 9.99972178e-01 -6.33960103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34999999999997 meters 0.01600054600735728 Centerline is valid? [True, True] Translation: X:137.11, Y:155.25, Z:-6.34 [[ 7.05242355e-01 7.08946244e-01 -5.33334873e-03 1.37113552e+02] [-7.08927208e-01 7.05262512e-01 5.19648865e-03 1.55248902e+02] [ 7.44544203e-03 1.16172127e-04 9.99972276e-01 -6.34117635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38 meters 0.015881703999092674 Centerline is valid? [True, True] Translation: X:137.14, Y:155.22, Z:-6.34 [[ 7.04664572e-01 7.09521234e-01 -5.24027938e-03 1.37136624e+02] [-7.09502844e-01 7.04684046e-01 5.10973012e-03 1.55224678e+02] [ 7.31820330e-03 1.17347340e-04 9.99973215e-01 -6.34087999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40999999999997 meters 0.015546822382325328 Centerline is valid? [True, True] Translation: X:137.16, Y:155.20, Z:-6.34 [[ 7.03370350e-01 7.10799215e-01 -5.88443328e-03 1.37159322e+02] [-7.10776056e-01 7.03394949e-01 5.73959618e-03 1.55201612e+02] [ 8.21878111e-03 1.45452510e-04 9.99966215e-01 -6.33989067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44 meters 0.01590298549286156 Centerline is valid? [True, True] Translation: X:137.18, Y:155.18, Z:-6.34 [[ 7.01694011e-01 7.12453309e-01 -5.98306876e-03 1.37182706e+02] [-7.12429434e-01 7.01719498e-01 5.83499461e-03 1.55180272e+02] [ 8.35559723e-03 1.68133520e-04 9.99965077e-01 -6.34050643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46999999999997 meters 0.01627228418826629 Centerline is valid? [True, True] Translation: X:137.21, Y:155.16, Z:-6.34 [[ 6.99737671e-01 7.14373874e-01 -6.09584911e-03 1.37206346e+02] [-7.14349123e-01 6.99764197e-01 5.94975798e-03 1.55159224e+02] [ 8.51600861e-03 1.91294673e-04 9.99963720e-01 -6.34097980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5 meters 0.017603229133655095 Centerline is valid? [True, True] Translation: X:137.23, Y:155.14, Z:-6.34 [[ 6.95349722e-01 7.18650638e-01 -5.47944285e-03 1.37230617e+02] [-7.18630791e-01 6.95371276e-01 5.34554208e-03 1.55139958e+02] [ 7.65182440e-03 2.20675154e-04 9.99970700e-01 -6.34066273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53 meters 0.01821828368464017 Centerline is valid? [True, True] Translation: X:137.25, Y:155.12, Z:-6.34 [[ 6.93113920e-01 7.20810229e-01 -5.07033191e-03 1.37254097e+02] [-7.20793249e-01 6.93132430e-01 4.95247403e-03 1.55118885e+02] [ 7.08420541e-03 2.22032327e-04 9.99974882e-01 -6.34062011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56 meters 0.02059989506991107 Centerline is valid? [True, True] Translation: X:137.28, Y:155.10, Z:-6.34 [[ 6.89157734e-01 7.24595681e-01 -4.76617717e-03 1.37278944e+02] [-7.24580788e-01 6.89174171e-01 4.65234015e-03 1.55101054e+02] [ 6.65579178e-03 2.47284213e-04 9.99977819e-01 -6.34158898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59 meters 0.02089697825292044 Centerline is valid? [True, True] Translation: X:137.30, Y:155.08, Z:-6.34 [[ 6.87352940e-01 7.26305654e-01 -5.10222655e-03 1.37302780e+02] [-7.26288625e-01 6.87371819e-01 4.98157072e-03 1.55078989e+02] [ 7.12526973e-03 2.81591822e-04 9.99974575e-01 -6.34180217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62 meters 0.02089087409327149 Centerline is valid? [True, True] Translation: X:137.33, Y:155.06, Z:-6.34 [[ 6.85780574e-01 7.27789079e-01 -5.29724647e-03 1.37326335e+02] [-7.27770762e-01 6.85800963e-01 5.17271509e-03 1.55056620e+02] [ 7.39750229e-03 3.07833578e-04 9.99972591e-01 -6.34180300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65 meters 0.022940359962191532 Centerline is valid? [True, True] Translation: X:137.35, Y:155.04, Z:-6.34 [[ 6.84364667e-01 7.29122638e-01 -5.01817760e-03 1.37351779e+02] [-7.29106218e-01 6.84382998e-01 4.90266606e-03 1.55037595e+02] [ 7.00900024e-03 3.03573061e-04 9.99975391e-01 -6.34346164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68 meters 0.02252189061482858 Centerline is valid? [True, True] Translation: X:137.37, Y:155.01, Z:-6.34 [[ 6.82870072e-01 7.30523825e-01 -4.83805783e-03 1.37374954e+02] [-7.30508564e-01 6.82887143e-01 4.73162292e-03 1.55014956e+02] [ 6.76041076e-03 3.03158995e-04 9.99977102e-01 -6.34325805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71 meters 0.02464862480406708 Centerline is valid? [True, True] Translation: X:137.40, Y:155.00, Z:-6.34 [[ 6.81428131e-01 7.31869400e-01 -4.78361869e-03 1.37400034e+02] [-7.31854502e-01 6.81444850e-01 4.68025579e-03 1.54995981e+02] [ 6.68510832e-03 3.11654917e-04 9.99977606e-01 -6.34467943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74 meters 0.02598934972296286 Centerline is valid? [True, True] Translation: X:137.43, Y:154.98, Z:-6.35 [[ 6.79252211e-01 7.33886710e-01 -5.17018951e-03 1.37425092e+02] [-7.33869392e-01 6.79271792e-01 5.05459714e-03 1.54976468e+02] [ 7.22146555e-03 3.60897547e-04 9.99973860e-01 -6.34626997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77 meters 0.02764302189477364 Centerline is valid? [True, True] Translation: X:137.45, Y:154.96, Z:-6.35 [[ 6.78431422e-01 7.34639678e-01 -5.94545142e-03 1.37448854e+02] [-7.34616781e-01 6.78457342e-01 5.81556114e-03 1.54956916e+02] [ 8.30607713e-03 4.22168970e-04 9.99965415e-01 -6.34830722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8 meters 0.02514176542294041 Centerline is valid? [True, True] Translation: X:137.47, Y:154.93, Z:-6.35 [[ 6.78075640e-01 7.34960502e-01 -6.81822400e-03 1.37469163e+02] [-7.34930351e-01 6.78109745e-01 6.67481901e-03 1.54932115e+02] [ 9.52923246e-03 4.84887593e-04 9.99954478e-01 -6.34817432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83 meters 0.02568766900493162 Centerline is valid? [True, True] Translation: X:137.49, Y:154.91, Z:-6.35 [[ 6.78200502e-01 7.34836367e-01 -7.71970722e-03 1.37492039e+02] [-7.34797667e-01 6.78244217e-01 7.56109942e-03 1.54910364e+02] [ 1.07920176e-02 5.44481433e-04 9.99941616e-01 -6.34998537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86 meters 0.02836010042899664 Centerline is valid? [True, True] Translation: X:137.52, Y:154.89, Z:-6.35 [[ 6.78467148e-01 7.34583789e-01 -8.30577120e-03 1.37515991e+02] [-7.34538941e-01 6.78517738e-01 8.13772305e-03 1.54890975e+02] [ 1.16134525e-02 5.79734627e-04 9.99932394e-01 -6.35283257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89 meters 0.027603016630723898 Centerline is valid? [True, True] Translation: X:137.54, Y:154.87, Z:-6.35 [[ 6.80905800e-01 7.32324772e-01 -8.22925825e-03 1.37535297e+02] [-7.32280640e-01 6.80955312e-01 8.05773851e-03 1.54868675e+02] [ 1.15046386e-02 5.39565615e-04 9.99933674e-01 -6.35311679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91999999999996 meters 0.02469289984333934 Centerline is valid? [True, True] Translation: X:137.55, Y:154.84, Z:-6.35 [[ 6.81784770e-01 7.31510103e-01 -7.90555166e-03 1.37554324e+02] [-7.31469222e-01 6.81830419e-01 7.74966651e-03 1.54842655e+02] [ 1.10592049e-02 4.99063129e-04 9.99938721e-01 -6.35083272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95 meters 0.023946849577439557 Centerline is valid? [True, True] Translation: X:137.58, Y:154.82, Z:-6.35 [[ 6.82738802e-01 7.30625056e-01 -7.39972129e-03 1.37575979e+02] [-7.30589203e-01 6.82778749e-01 7.25234944e-03 1.54818235e+02] [ 1.03511207e-02 4.54696108e-04 9.99946322e-01 -6.35000226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97999999999996 meters 0.023997885123552387 Centerline is valid? [True, True] Translation: X:137.60, Y:154.80, Z:-6.35 [[ 6.83290664e-01 7.30116003e-01 -6.67017277e-03 1.37597518e+02] [-7.30086792e-01 6.83323103e-01 6.54317312e-03 1.54795441e+02] [ 9.33515856e-03 3.98915933e-04 9.99956347e-01 -6.34948496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01 meters 0.023943332759002765 Centerline is valid? [True, True] Translation: X:137.62, Y:154.77, Z:-6.35 [[ 6.83759793e-01 7.29680163e-01 -6.27734320e-03 1.37619517e+02] [-7.29654242e-01 6.83788509e-01 6.16136999e-03 1.54771792e+02] [ 8.78820460e-03 3.67393023e-04 9.99961316e-01 -6.34951273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03999999999996 meters 0.0217696172034727 Centerline is valid? [True, True] Translation: X:137.64, Y:154.75, Z:-6.35 [[ 6.85280285e-01 7.28255695e-01 -5.87999631e-03 1.37638247e+02] [-7.28232917e-01 6.85305432e-01 5.76917677e-03 1.54745591e+02] [ 8.23102925e-03 3.28503762e-04 9.99966071e-01 -6.34830195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07 meters 0.022152980370695106 Centerline is valid? [True, True] Translation: X:137.66, Y:154.72, Z:-6.35 [[ 6.85726907e-01 7.27832578e-01 -6.19258576e-03 1.37660201e+02] [-7.27807246e-01 6.85754785e-01 6.08166040e-03 1.54723253e+02] [ 8.67302588e-03 3.36650613e-04 9.99962332e-01 -6.34958765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09999999999997 meters 0.021355428245512363 Centerline is valid? [True, True] Translation: X:137.68, Y:154.70, Z:-6.35 [[ 6.86117078e-01 7.27463880e-01 -6.29752496e-03 1.37681661e+02] [-7.27437638e-01 6.86145896e-01 6.18806803e-03 1.54699075e+02] [ 8.82261689e-03 3.35317529e-04 9.99961024e-01 -6.34985371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13 meters 0.021133311534460377 Centerline is valid? [True, True] Translation: X:137.70, Y:154.67, Z:-6.35 [[ 6.86004351e-01 7.27567852e-01 -6.56130069e-03 1.37703882e+02] [-7.27539332e-01 6.86035640e-01 6.45146525e-03 1.54674815e+02] [ 9.19516483e-03 3.47871090e-04 9.99957663e-01 -6.34998507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15999999999997 meters 0.023779955057576442 Centerline is valid? [True, True] Translation: X:137.73, Y:154.66, Z:-6.35 [[ 6.86147570e-01 7.27435095e-01 -6.30046285e-03 1.37727936e+02] [-7.27408773e-01 6.86176416e-01 6.19699043e-03 1.54655528e+02] [ 8.83113734e-03 3.30962030e-04 9.99960950e-01 -6.35264119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19 meters 0.02067817001207917 Centerline is valid? [True, True] Translation: X:137.75, Y:154.63, Z:-6.35 [[ 6.86224439e-01 7.27367695e-01 -5.67937484e-03 1.37746702e+02] [-7.27346277e-01 6.86247877e-01 5.58971243e-03 1.54629403e+02] [ 7.96323517e-03 2.95074866e-04 9.99968249e-01 -6.35014248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21999999999997 meters 0.02061742877948096 Centerline is valid? [True, True] Translation: X:137.77, Y:154.61, Z:-6.35 [[ 6.86214642e-01 7.27377138e-01 -5.65369611e-03 1.37768102e+02] [-7.27355891e-01 6.86237870e-01 5.56722542e-03 1.54605491e+02] [ 7.92925287e-03 2.91937566e-04 9.99968520e-01 -6.35004271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25 meters 0.021224183140653132 Centerline is valid? [True, True] Translation: X:137.79, Y:154.58, Z:-6.35 [[ 6.85947753e-01 7.27630260e-01 -5.46665769e-03 1.37790452e+02] [-7.27610378e-01 6.85969478e-01 5.38637436e-03 1.54583228e+02] [ 7.66924929e-03 2.82825480e-04 9.99970551e-01 -6.35035549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28 meters 0.021005526647373794 Centerline is valid? [True, True] Translation: X:137.81, Y:154.56, Z:-6.35 [[ 6.86102243e-01 7.27488232e-01 -4.95825200e-03 1.37812448e+02] [-7.27471855e-01 6.86120112e-01 4.88794036e-03 1.54560367e+02] [ 6.95787551e-03 2.53361936e-04 9.99975762e-01 -6.35053466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31 meters 0.021005526647373794 Centerline is valid? [True, True] Translation: X:137.84, Y:154.54, Z:-6.35 [[ 6.85897431e-01 7.27681350e-01 -4.95653213e-03 1.37835517e+02] [-7.27664965e-01 6.85915293e-01 4.88968550e-03 1.54537534e+02] [ 6.95789413e-03 2.52872060e-04 9.99975762e-01 -6.35098332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34 meters 0.021594065471680888 Centerline is valid? [True, True] Translation: X:137.86, Y:154.52, Z:-6.35 [[ 6.85654290e-01 7.27912401e-01 -4.66163027e-03 1.37858351e+02] [-7.27897898e-01 6.85670095e-01 4.60111609e-03 1.54515190e+02] [ 6.54554993e-03 2.38415894e-04 9.99978549e-01 -6.35132292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37 meters 0.019015681617089882 Centerline is valid? [True, True] Translation: X:137.88, Y:154.49, Z:-6.35 [[ 6.85563367e-01 7.28003132e-01 -3.78267440e-03 1.37878215e+02] [-7.27993570e-01 6.85573776e-01 3.73636514e-03 1.54489344e+02] [ 5.31338790e-03 1.92247570e-04 9.99985865e-01 -6.34941850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4 meters 0.019772576390434976 Centerline is valid? [True, True] Translation: X:137.90, Y:154.47, Z:-6.35 [[ 6.85553963e-01 7.28014603e-01 -3.24064342e-03 1.37901092e+02] [-7.28007576e-01 6.85561603e-01 3.20281544e-03 1.54468339e+02] [ 4.55335711e-03 1.63510140e-04 9.99989620e-01 -6.35038428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43 meters 0.02045162116845681 Centerline is valid? [True, True] Translation: X:137.92, Y:154.45, Z:-6.35 [[ 6.85671572e-01 7.27908095e-01 -2.07371805e-03 1.37923025e+02] [-7.27905216e-01 6.85674700e-01 2.04993982e-03 1.54446712e+02] [ 2.91406379e-03 1.03884730e-04 9.99995749e-01 -6.35061576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46 meters 0.020409540192247836 Centerline is valid? [True, True] Translation: X:137.95, Y:154.42, Z:-6.35 [[ 6.85851947e-01 7.27738735e-01 -1.85489729e-03 1.37945333e+02] [-7.27736422e-01 6.85854450e-01 1.83682459e-03 1.54423427e+02] [ 2.60891797e-03 9.00866005e-05 9.99996593e-01 -6.35122467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49 meters 0.019442330353923506 Centerline is valid? [True, True] Translation: X:137.97, Y:154.40, Z:-6.35 [[ 6.86234043e-01 7.27379156e-01 -1.54985526e-03 1.37966770e+02] [-7.27377537e-01 6.86235789e-01 1.53639810e-03 1.54398925e+02] [ 2.18111010e-03 7.30012194e-05 9.99997619e-01 -6.35140997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52 meters 0.018676466108050356 Centerline is valid? [True, True] Translation: X:137.99, Y:154.38, Z:-6.35 [[ 6.86628176e-01 7.27006005e-01 -2.00422876e-03 1.37988021e+02] [-7.27003297e-01 6.86631095e-01 1.98645625e-03 1.54375118e+02] [ 2.82033141e-03 9.31240830e-05 9.99996019e-01 -6.35204799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55 meters 0.019289745615567903 Centerline is valid? [True, True] Translation: X:138.01, Y:154.35, Z:-6.35 [[ 6.87327939e-01 7.26344351e-01 -2.04667628e-03 1.38010613e+02] [-7.26341523e-01 6.87330980e-01 2.02897790e-03 1.54353170e+02] [ 2.88048065e-03 9.20127712e-05 9.99995847e-01 -6.35392191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58 meters 0.01931447295543282 Centerline is valid? [True, True] Translation: X:138.03, Y:154.33, Z:-6.36 [[ 6.89577377e-01 7.24208307e-01 -2.31721998e-03 1.38031118e+02] [-7.24204685e-01 6.89581263e-01 2.29247311e-03 1.54330641e+02] [ 3.25813955e-03 9.73039693e-05 9.99994688e-01 -6.35592662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61 meters 0.01794477503630628 Centerline is valid? [True, True] Translation: X:138.05, Y:154.31, Z:-6.36 [[ 6.90587284e-01 7.23245995e-01 -2.10570499e-03 1.38051855e+02] [-7.23242984e-01 6.90590489e-01 2.08868570e-03 1.54305892e+02] [ 2.96481341e-03 8.05165804e-05 9.99995602e-01 -6.35587188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64 meters 0.016476429135123833 Centerline is valid? [True, True] Translation: X:138.07, Y:154.28, Z:-6.36 [[ 6.91543833e-01 7.22331862e-01 -1.95120012e-03 1.38072204e+02] [-7.22329269e-01 6.91546583e-01 1.93693672e-03 1.54281004e+02] [ 2.74845689e-03 6.99323116e-05 9.99996221e-01 -6.35514851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66999999999996 meters 0.016437026882223055 Centerline is valid? [True, True] Translation: X:138.09, Y:154.26, Z:-6.36 [[ 6.92625307e-01 7.21296307e-01 -1.34962705e-03 1.38093528e+02] [-7.21295061e-01 6.92626620e-01 1.34152257e-03 1.54258709e+02] [ 1.90242290e-03 4.43068469e-05 9.99998189e-01 -6.35539773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7 meters 0.015784197865469383 Centerline is valid? [True, True] Translation: X:138.11, Y:154.24, Z:-6.35 [[ 6.94883641e-01 7.19122160e-01 2.09338394e-04 1.38113267e+02] [-7.19122130e-01 6.94883673e-01 -2.07035465e-04 1.54235259e+02] [-2.94349623e-04 -6.67431451e-06 9.99999957e-01 -6.35482049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72999999999996 meters 0.01612152595341019 Centerline is valid? [True, True] Translation: X:138.14, Y:154.21, Z:-6.36 [[ 6.95814887e-01 7.18220646e-01 8.63774433e-04 1.38135641e+02] [-7.18220142e-01 6.95815423e-01 -8.51678756e-04 1.54213872e+02] [-1.21272084e-03 -2.77694372e-05 9.99999264e-01 -6.35585696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76 meters 0.014782339696282207 Centerline is valid? [True, True] Translation: X:138.16, Y:154.19, Z:-6.35 [[ 6.96476374e-01 7.17578187e-01 1.48561979e-03 1.38156108e+02] [-7.17576686e-01 6.96477957e-01 -1.46827844e-03 1.54189039e+02] [-2.08830602e-03 -4.34248845e-05 9.99997819e-01 -6.35475622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78999999999996 meters 0.014500208202847503 Centerline is valid? [True, True] Translation: X:138.18, Y:154.17, Z:-6.35 [[ 6.96847527e-01 7.17216942e-01 1.83925607e-03 1.38178050e+02] [-7.17214635e-01 6.96849952e-01 -1.81980002e-03 1.54165574e+02] [-2.58687690e-03 -5.10182274e-05 9.99996653e-01 -6.35483102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82 meters 0.013999224081511576 Centerline is valid? [True, True] Translation: X:138.20, Y:154.14, Z:-6.35 [[ 6.97033157e-01 7.17035349e-01 2.25535349e-03 1.38200142e+02] [-7.17031872e-01 6.97036803e-01 -2.23367745e-03 1.54141986e+02] [-3.17369007e-03 -6.02130915e-05 9.99994962e-01 -6.35470385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84999999999997 meters 0.01440197221649358 Centerline is valid? [True, True] Translation: X:138.22, Y:154.12, Z:-6.36 [[ 6.96950423e-01 7.17114472e-01 2.63467409e-03 1.38223308e+02] [-7.17109721e-01 6.96955400e-01 -2.61132713e-03 1.54120084e+02] [-3.70887081e-03 -6.93848585e-05 9.99993120e-01 -6.35590346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88 meters 0.014440739870653878 Centerline is valid? [True, True] Translation: X:138.25, Y:154.10, Z:-6.36 [[ 6.95781789e-01 7.18248900e-01 2.49409369e-03 1.38246094e+02] [-7.18244644e-01 6.95786255e-01 -2.47338169e-03 1.54097837e+02] [-3.51185978e-03 -7.04354989e-05 9.99993831e-01 -6.35632410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90999999999997 meters 0.014914051179417165 Centerline is valid? [True, True] Translation: X:138.27, Y:154.08, Z:-6.36 [[ 6.94713525e-01 7.19283476e-01 2.09767417e-03 1.38269475e+02] [-7.19280464e-01 6.94716689e-01 -2.08234432e-03 1.54076882e+02] [-2.95508511e-03 -6.21832869e-05 9.99995632e-01 -6.35756026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94 meters 0.015303186442263257 Centerline is valid? [True, True] Translation: X:138.29, Y:154.06, Z:-6.36 [[ 6.93329361e-01 7.20619224e-01 1.52678607e-03 1.38293402e+02] [-7.20617636e-01 6.93331041e-01 -1.51342697e-03 1.54055176e+02] [-2.14917274e-03 -5.09256122e-05 9.99997689e-01 -6.35880698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96999999999997 meters 0.015768393607339243 Centerline is valid? [True, True] Translation: X:138.32, Y:154.03, Z:-6.36 [[ 6.91515343e-01 7.22361058e-01 1.01589277e-03 1.38317071e+02] [-7.22360359e-01 6.91516088e-01 -1.00585412e-03 1.54033793e+02] [-1.42909604e-03 -3.82771068e-05 9.99998978e-01 -6.35962269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0 meters 0.017669439310176272 Centerline is valid? [True, True] Translation: X:138.34, Y:154.02, Z:-6.36 [[ 6.88284118e-01 7.25441204e-01 1.79869378e-04 1.38341410e+02] [-7.25441182e-01 6.88284142e-01 -1.78966201e-04 1.54016265e+02] [-2.53630697e-04 -7.30506075e-06 9.99999968e-01 -6.36145151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03 meters 0.017852964734553403 Centerline is valid? [True, True] Translation: X:138.37, Y:153.99, Z:-6.36 [[ 6.86587537e-01 7.27047051e-01 3.73595116e-04 1.38365255e+02] [-7.27046958e-01 6.86587639e-01 -3.66989961e-04 1.53994160e+02] [-5.23324758e-04 -1.96504593e-05 9.99999863e-01 -6.36154973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06 meters 0.01957657465093261 Centerline is valid? [True, True] Translation: X:138.39, Y:153.98, Z:-6.36 [[ 6.84979476e-01 7.28561927e-01 7.96937249e-04 1.38389558e+02] [-7.28561499e-01 6.84979939e-01 -7.91087235e-04 1.53975069e+02] [-1.12224207e-03 -3.87392767e-05 9.99999370e-01 -6.36244330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09 meters 0.019408085503052168 Centerline is valid? [True, True] Translation: X:138.41, Y:153.95, Z:-6.36 [[ 6.83566138e-01 7.29887146e-01 1.44527744e-03 1.38412831e+02] [-7.29885740e-01 6.83567662e-01 -1.43497512e-03 1.53952599e+02] [-2.03531481e-03 -7.39869908e-05 9.99997926e-01 -6.36187039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12 meters 0.021407996911515653 Centerline is valid? [True, True] Translation: X:138.44, Y:153.93, Z:-6.36 [[ 6.82452830e-01 7.30927129e-01 1.91503223e-03 1.38437136e+02] [-7.30924654e-01 6.82455510e-01 -1.90475088e-03 1.53933553e+02] [-2.69915839e-03 -9.98416366e-05 9.99996352e-01 -6.36273798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15 meters 0.019514266372933967 Centerline is valid? [True, True] Translation: X:138.46, Y:153.91, Z:-6.36 [[ 6.81699735e-01 7.31627367e-01 2.62048151e-03 1.38457719e+02] [-7.31622726e-01 6.81704758e-01 -2.60964189e-03 1.53909319e+02] [-3.69568014e-03 -1.38211640e-04 9.99993161e-01 -6.36168538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18 meters 0.020633987350065948 Centerline is valid? [True, True] Translation: X:138.48, Y:153.89, Z:-6.36 [[ 6.81235279e-01 7.32058384e-01 3.00281867e-03 1.38482203e+02] [-7.32052296e-01 6.81241878e-01 -2.98985558e-03 1.53887999e+02] [-4.23439468e-03 -1.61425199e-04 9.99991022e-01 -6.36305703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21 meters 0.019578182133595752 Centerline is valid? [True, True] Translation: X:138.50, Y:153.86, Z:-6.36 [[ 6.81317615e-01 7.31981785e-01 2.99565914e-03 1.38503970e+02] [-7.31975718e-01 6.81324182e-01 -2.98455311e-03 1.53864106e+02] [-4.22565353e-03 -1.59321136e-04 9.99991059e-01 -6.36320443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24 meters 0.01996703793042727 Centerline is valid? [True, True] Translation: X:138.53, Y:153.84, Z:-6.36 [[ 6.81483477e-01 7.31826514e-01 3.19744028e-03 1.38526329e+02] [-7.31819585e-01 6.81490958e-01 -3.18897713e-03 1.53842856e+02] [-4.51280466e-03 -1.66714196e-04 9.99989803e-01 -6.36398983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27 meters 0.019769788367732005 Centerline is valid? [True, True] Translation: X:138.55, Y:153.82, Z:-6.36 [[ 6.81986609e-01 7.31355799e-01 3.60024341e-03 1.38549437e+02] [-7.31347007e-01 6.81996087e-01 -3.59077608e-03 1.53820355e+02] [-5.08148682e-03 -1.84166042e-04 9.99987072e-01 -6.36403359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3 meters 0.019988323566382065 Centerline is valid? [True, True] Translation: X:138.57, Y:153.80, Z:-6.36 [[ 6.82030862e-01 7.31312722e-01 3.95037538e-03 1.38571876e+02] [-7.31302121e-01 6.82042273e-01 -3.94266541e-03 1.53799224e+02] [-5.57764437e-03 -1.99898408e-04 9.99984425e-01 -6.36457510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33 meters 0.020163713230659432 Centerline is valid? [True, True] Translation: X:138.60, Y:153.78, Z:-6.37 [[ 6.82231978e-01 7.31125100e-01 3.95189742e-03 1.38595664e+02] [-7.31114468e-01 6.82243395e-01 -3.94765229e-03 1.53776832e+02] [-5.58238358e-03 -1.96074752e-04 9.99984399e-01 -6.36519524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36 meters 0.019658886393557826 Centerline is valid? [True, True] Translation: X:138.62, Y:153.75, Z:-6.37 [[ 6.82151444e-01 7.31199326e-01 4.11748008e-03 1.38618878e+02] [-7.31187794e-01 6.82163839e-01 -4.11163228e-03 1.53753399e+02] [-5.81521877e-03 -2.05895282e-04 9.99983070e-01 -6.36545573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39 meters 0.018840226109892656 Centerline is valid? [True, True] Translation: X:138.64, Y:153.73, Z:-6.37 [[ 6.81984095e-01 7.31355385e-01 4.12253226e-03 1.38641489e+02] [-7.31343815e-01 6.81996524e-01 -4.11896994e-03 1.53729871e+02] [-5.82398352e-03 -2.05916485e-04 9.99983019e-01 -6.36568796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41999999999996 meters 0.019522502281587126 Centerline is valid? [True, True] Translation: X:139.14, Y:154.07, Z:-5.57 [[ 7.80361928e-01 -6.25110710e-01 -1.64882247e-02 1.39141403e+02] [-6.24920118e-01 -7.80533964e-01 1.55427726e-02 1.54071551e+02] [-2.25855730e-02 -1.82516470e-03 -9.99743247e-01 -5.56962225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45 meters 0.019713721421204106 Centerline is valid? [True, True] Translation: X:139.14, Y:154.06, Z:-5.57 [[ 8.26690313e-01 -5.62366326e-01 -1.80898332e-02 1.39142538e+02] [-5.62180890e-01 -8.26886103e-01 1.45609024e-02 1.54061276e+02] [-2.31467929e-02 -1.86759841e-03 -9.99730333e-01 -5.56898173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47999999999996 meters 0.0197104923627473 Centerline is valid? [True, True] Translation: X:139.15, Y:154.05, Z:-5.57 [[ 8.67876783e-01 -4.96394415e-01 -1.95569507e-02 1.39145607e+02] [-4.96218775e-01 -8.68095094e-01 1.33354840e-02 1.54051577e+02] [-2.35969528e-02 -1.86903084e-03 -9.99719806e-01 -5.56859956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51 meters 0.01972784340458081 Centerline is valid? [True, True] Translation: X:139.15, Y:154.04, Z:-5.57 [[ 9.03725664e-01 -4.27594070e-01 -2.10531431e-02 1.39149744e+02] [-4.27428992e-01 -9.03968923e-01 1.20267853e-02 1.54042784e+02] [-2.41739692e-02 -1.87019078e-03 -9.99706018e-01 -5.56852551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53999999999996 meters 0.018172598318166918 Centerline is valid? [True, True] Translation: X:139.15, Y:154.03, Z:-5.57 [[ 9.33955986e-01 -3.56705462e-01 -2.20778094e-02 1.39154000e+02] [-3.56558495e-01 -9.34215079e-01 1.04032252e-02 1.54034387e+02] [-2.43363097e-02 -1.84412394e-03 -9.99702127e-01 -5.56965712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57 meters 0.01920132281576201 Centerline is valid? [True, True] Translation: X:139.16, Y:154.02, Z:-5.57 [[ 9.58440119e-01 -2.84381479e-01 -2.27972290e-02 1.39157111e+02] [-2.84256072e-01 -9.58709527e-01 8.63302675e-03 1.54023191e+02] [-2.43109935e-02 -1.79398840e-03 -9.99702834e-01 -5.56913580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59999999999997 meters 0.016305758698961868 Centerline is valid? [True, True] Translation: X:139.16, Y:154.02, Z:-5.57 [[ 9.76666847e-01 -2.13573587e-01 -2.25431604e-02 1.39163861e+02] [-2.13477582e-01 -9.76925596e-01 6.61071437e-03 1.54018022e+02] [-2.34348644e-02 -1.64400619e-03 -9.99724014e-01 -5.57198098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63 meters 0.015932811727512097 Centerline is valid? [True, True] Translation: X:139.17, Y:154.01, Z:-5.57 [[ 9.89936331e-01 -1.39675316e-01 -2.27347180e-02 1.39168401e+02] [-1.39602123e-01 -9.90196126e-01 4.78316492e-03 1.54009560e+02] [-2.31799198e-02 -1.56121384e-03 -9.99730091e-01 -5.57280558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65999999999997 meters 0.016173119708031904 Centerline is valid? [True, True] Translation: X:139.17, Y:154.00, Z:-5.57 [[ 9.97654949e-01 -6.46536663e-02 -2.24612350e-02 1.39173272e+02] [-6.46038147e-02 -9.97906664e-01 2.93880062e-03 1.54002207e+02] [-2.26042204e-02 -1.48082752e-03 -9.99743395e-01 -5.57320726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69 meters 0.014383045390597395 Centerline is valid? [True, True] Translation: X:139.18, Y:154.00, Z:-5.58 [[ 9.99692205e-01 1.09809899e-02 -2.22466451e-02 1.39176052e+02] [ 1.10096571e-02 -9.99938711e-01 1.16653477e-03 1.53996316e+02] [-2.22324719e-02 -1.41110365e-03 -9.99751832e-01 -5.57553572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71999999999997 meters 0.013758484216462663 Centerline is valid? [True, True] Translation: X:139.18, Y:153.99, Z:-5.58 [[ 9.96193841e-01 8.43664880e-02 -2.19117940e-02 1.39179547e+02] [ 8.43745864e-02 -9.96433952e-01 -5.56307238e-04 1.53987730e+02] [-2.18805891e-02 -1.29460871e-03 -9.99759753e-01 -5.57661623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75 meters 0.013509887671855547 Centerline is valid? [True, True] Translation: X:139.18, Y:153.98, Z:-5.58 [[ 9.86894267e-01 1.59906930e-01 -2.16674603e-02 1.39184145e+02] [ 1.59895863e-01 -9.87131316e-01 -2.25351108e-03 1.53978167e+02] [-2.17489807e-02 -1.24056010e-03 -9.99762693e-01 -5.57695523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78 meters 0.013331625085946585 Centerline is valid? [True, True] Translation: X:139.19, Y:153.97, Z:-5.58 [[ 9.71781425e-01 2.34913704e-01 -2.13638443e-02 1.39189648e+02] [ 2.34883824e-01 -9.72015494e-01 -3.93291634e-03 1.53967657e+02] [-2.16898836e-02 -1.19608641e-03 -9.99764031e-01 -5.57766174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81 meters 0.013228153094788494 Centerline is valid? [True, True] Translation: X:139.20, Y:153.96, Z:-5.58 [[ 9.51035984e-01 3.08402073e-01 -2.04626149e-02 1.39196024e+02] [ 3.08356409e-01 -9.51255406e-01 -5.42932234e-03 1.53957120e+02] [-2.11395873e-02 -1.14629752e-03 -9.99775877e-01 -5.57810710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84 meters 0.013259367149572036 Centerline is valid? [True, True] Translation: X:139.20, Y:153.95, Z:-5.58 [[ 9.24646983e-01 3.80278469e-01 -2.04020461e-02 1.39202860e+02] [ 3.80212066e-01 -9.24871375e-01 -7.19198107e-03 1.53947265e+02] [-2.16042240e-02 -1.10706052e-03 -9.99765989e-01 -5.57804584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87 meters 0.013118553640234412 Centerline is valid? [True, True] Translation: X:139.21, Y:153.94, Z:-5.58 [[ 8.92997278e-01 4.49624753e-01 -1.98353901e-02 1.39211182e+02] [ 4.49539872e-01 -8.93216917e-01 -8.80013884e-03 1.53938676e+02] [-2.16740663e-02 -1.05829871e-03 -9.99764530e-01 -5.57845878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9 meters 0.01337547063831617 Centerline is valid? [True, True] Translation: X:139.22, Y:153.93, Z:-5.58 [[ 8.57488251e-01 5.14121924e-01 -1.98128177e-02 1.39219709e+02] [ 5.14010005e-01 -8.57716588e-01 -1.07688918e-02 1.53929853e+02] [-2.25303058e-02 -9.49788342e-04 -9.99745709e-01 -5.57851573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93 meters 0.013380265707823668 Centerline is valid? [True, True] Translation: X:139.23, Y:153.92, Z:-5.58 [[ 8.16018580e-01 5.77713146e-01 -1.90051992e-02 1.39231430e+02] [ 5.77581607e-01 -8.16239380e-01 -1.23596833e-02 1.53919419e+02] [-2.26531435e-02 -8.91322267e-04 -9.99742987e-01 -5.57940600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96 meters 0.013825947039610608 Centerline is valid? [True, True] Translation: X:139.24, Y:153.91, Z:-5.58 [[ 7.69924009e-01 6.37878181e-01 -1.81230961e-02 1.39242378e+02] [ 6.37726488e-01 -7.70136832e-01 -1.39350868e-02 1.53910786e+02] [-2.28461516e-02 -8.28620554e-04 -9.99738649e-01 -5.57862185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99 meters 0.014223164217167635 Centerline is valid? [True, True] Translation: X:139.25, Y:153.91, Z:-5.58 [[ 7.19378045e-01 6.94413132e-01 -1.69005802e-02 1.39252159e+02] [ 6.94246290e-01 -7.19576132e-01 -1.52407171e-02 1.53906423e+02] [-2.27446083e-02 -7.69327796e-04 -9.99741012e-01 -5.57919796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02 meters 0.014266831974294953 Centerline is valid? [True, True] Translation: X:139.27, Y:153.90, Z:-5.58 [[ 6.64791502e-01 7.46865068e-01 -1.56470071e-02 1.39265339e+02] [ 7.46682846e-01 -6.64975241e-01 -1.65123207e-02 1.53899699e+02] [-2.27373479e-02 -7.06101280e-04 -9.99741224e-01 -5.58038823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05 meters 0.01519837896965876 Centerline is valid? [True, True] Translation: X:139.28, Y:153.89, Z:-5.58 [[ 6.05869092e-01 7.95440576e-01 -1.40332780e-02 1.39275983e+02] [ 7.95252210e-01 -6.06031227e-01 -1.73226653e-02 1.53894484e+02] [-2.22837556e-02 -6.64727892e-04 -9.99751465e-01 -5.58029310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08 meters 0.01578579341657008 Centerline is valid? [True, True] Translation: X:139.29, Y:153.89, Z:-5.58 [[ 5.45064670e-01 8.38299373e-01 -1.25962932e-02 1.39290457e+02] [ 8.38099485e-01 -5.45209897e-01 -1.83145423e-02 1.53889444e+02] [-2.22206930e-02 -5.74336869e-04 -9.99752925e-01 -5.58161789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11 meters 0.015683795019896633 Centerline is valid? [True, True] Translation: X:139.31, Y:153.89, Z:-5.58 [[ 4.79300024e-01 8.77581576e-01 -1.10482853e-02 1.39306939e+02] [ 8.77373720e-01 -4.79427044e-01 -1.91066622e-02 1.53885569e+02] [-2.20645015e-02 -5.35651507e-04 -9.99756406e-01 -5.58257302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14 meters 0.016195019452658933 Centerline is valid? [True, True] Translation: X:139.32, Y:153.88, Z:-5.58 [[ 4.10553332e-01 9.11788423e-01 -9.37188824e-03 1.39321554e+02] [ 9.11578392e-01 -4.10659975e-01 -1.95760385e-02 1.53883181e+02] [-2.16978647e-02 -5.06202952e-04 -9.99764445e-01 -5.58255903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16999999999996 meters 0.016663063925637572 Centerline is valid? [True, True] Translation: X:139.34, Y:153.88, Z:-5.58 [[ 3.39781870e-01 9.40472340e-01 -7.74978680e-03 1.39336712e+02] [ 9.40258106e-01 -3.39869920e-01 -2.00781304e-02 1.53882288e+02] [-2.15168457e-02 -4.64615149e-04 -9.99768378e-01 -5.58295700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2 meters 0.017365145145296048 Centerline is valid? [True, True] Translation: X:139.35, Y:153.88, Z:-5.58 [[ 2.66916464e-01 9.63700942e-01 -6.00795723e-03 1.39350311e+02] [ 9.63492480e-01 -2.66983713e-01 -2.00484039e-02 1.53882389e+02] [-2.09246925e-02 -4.37372543e-04 -9.99780959e-01 -5.58359140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22999999999996 meters 0.017365145145296048 Centerline is valid? [True, True] Translation: X:139.36, Y:153.88, Z:-5.58 [[ 1.90632773e-01 9.81651517e-01 -4.40961047e-03 1.39360662e+02] [ 9.81439217e-01 -1.90683270e-01 -2.04194613e-02 1.53884826e+02] [-2.08856342e-02 -4.35146110e-04 -9.99781777e-01 -5.58393617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26 meters 0.017648894767996002 Centerline is valid? [True, True] Translation: X:139.38, Y:153.89, Z:-5.58 [[ 1.15207780e-01 9.93337576e-01 -2.76194861e-03 1.39375155e+02] [ 9.93129441e-01 -1.15240188e-01 -2.03374681e-02 1.53887972e+02] [-2.05202588e-02 -3.99937923e-04 -9.99789357e-01 -5.58498637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28999999999996 meters 0.017796662081893195 Centerline is valid? [True, True] Translation: X:139.40, Y:153.89, Z:-5.59 [[ 4.12427662e-02 9.99148498e-01 -1.14614189e-03 1.39398071e+02] [ 9.98966126e-01 -4.12571398e-02 -1.90925932e-02 1.53892559e+02] [-1.91236224e-02 -3.57525571e-04 -9.99817063e-01 -5.58720456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32 meters 0.019701166524168028 Centerline is valid? [True, True] Translation: X:139.41, Y:153.90, Z:-5.59 [[-3.53827394e-02 9.99373793e-01 2.90084099e-04 1.39412822e+02] [ 9.99208190e-01 3.53821579e-02 -1.81960311e-02 1.53898245e+02] [-1.81949004e-02 -3.53971017e-04 -9.99834396e-01 -5.58731013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34999999999997 meters 0.02011734162707712 Centerline is valid? [True, True] Translation: X:139.43, Y:153.91, Z:-5.59 [[-1.12425859e-01 9.93658748e-01 1.64915780e-03 1.39426996e+02] [ 9.93501817e-01 1.12437418e-01 -1.76625833e-02 1.53906508e+02] [-1.77360075e-02 -3.47289837e-04 -9.99842644e-01 -5.58772825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38 meters 0.02055061399542785 Centerline is valid? [True, True] Translation: X:139.45, Y:153.92, Z:-5.59 [[-1.89479199e-01 9.81880198e-01 2.98509130e-03 1.39447556e+02] [ 9.81728152e-01 1.89502399e-01 -1.72822316e-02 1.53917384e+02] [-1.75347629e-02 -3.44075234e-04 -9.99846195e-01 -5.58778793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40999999999997 meters 0.018565775843504165 Centerline is valid? [True, True] Translation: X:139.47, Y:153.93, Z:-5.59 [[-2.66408752e-01 9.63850364e-01 4.34201279e-03 1.39468898e+02] [ 9.63700047e-01 2.66443901e-01 -1.70254773e-02 1.53931830e+02] [-1.75669153e-02 -3.51338225e-04 -9.99845628e-01 -5.58828195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44 meters 0.01872019359691003 Centerline is valid? [True, True] Translation: X:139.48, Y:153.95, Z:-5.59 [[-3.42295397e-01 9.39576712e-01 5.42801413e-03 1.39484828e+02] [ 9.39439780e-01 3.42338206e-01 -1.60453464e-02 1.53946878e+02] [-1.69340504e-02 -3.92955801e-04 -9.99856531e-01 -5.58857860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46999999999997 meters 0.017697369550755678 Centerline is valid? [True, True] Translation: X:139.50, Y:153.97, Z:-5.59 [[-4.15965317e-01 9.09357715e-01 6.43445122e-03 1.39503537e+02] [ 9.09232517e-01 4.16014859e-01 -1.50952475e-02 1.53966082e+02] [-1.64038071e-02 -4.28687131e-04 -9.99865357e-01 -5.58912221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5 meters 0.020535967887085102 Centerline is valid? [True, True] Translation: X:139.51, Y:153.98, Z:-5.59 [[-4.87485207e-01 8.73101694e-01 7.18361686e-03 1.39513422e+02] [ 8.72991971e-01 4.87537896e-01 -1.38498418e-02 1.53982968e+02] [-1.55946058e-02 -4.80353133e-04 -9.99878281e-01 -5.58896856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53 meters 0.01723713093477635 Centerline is valid? [True, True] Translation: X:139.54, Y:154.01, Z:-5.59 [[-5.56651528e-01 8.30711870e-01 7.54093891e-03 1.39537157e+02] [ 8.30621747e-01 5.56702328e-01 -1.22487543e-02 1.54012819e+02] [-1.43732438e-02 -5.54619954e-04 -9.99896546e-01 -5.59011435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56 meters 0.017082943634323895 Centerline is valid? [True, True] Translation: X:139.55, Y:154.04, Z:-5.59 [[-6.20969330e-01 7.83788202e-01 8.55249503e-03 1.39545863e+02] [ 7.83700987e-01 6.21027965e-01 -1.17059468e-02 1.54036154e+02] [-1.44863216e-02 -5.66435158e-04 -9.99894907e-01 -5.59052004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59 meters 0.0171823146910164 Centerline is valid? [True, True] Translation: X:139.55, Y:154.06, Z:-5.59 [[-6.81127041e-01 7.32102802e-01 9.56247372e-03 1.39551818e+02] [ 7.32018597e-01 6.81193922e-01 -1.11182233e-02 1.54059480e+02] [-1.46535814e-02 -5.73013918e-04 -9.99892466e-01 -5.59073996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62 meters 0.017075233521746894 Centerline is valid? [True, True] Translation: X:139.55, Y:154.08, Z:-5.59 [[-7.37018218e-01 6.75786516e-01 1.08042818e-02 1.39554275e+02] [ 6.75702355e-01 7.37097185e-01 -1.06802451e-02 1.54083997e+02] [-1.51813713e-02 -5.71056576e-04 -9.99884593e-01 -5.59087945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65 meters 0.016864141866038563 Centerline is valid? [True, True] Translation: X:139.57, Y:154.12, Z:-5.59 [[-7.83496526e-01 6.21287210e-01 1.16360261e-02 1.39566758e+02] [ 6.21209353e-01 7.83582775e-01 -9.84751981e-03 1.54122157e+02] [-1.52359277e-02 -4.87089323e-04 -9.99883808e-01 -5.59119814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68 meters 0.016810201310302655 Centerline is valid? [True, True] Translation: X:139.58, Y:154.17, Z:-5.59 [[-8.26684450e-01 5.62530174e-01 1.23541309e-02 1.39579419e+02] [ 5.62457980e-01 8.26776596e-01 -9.02663964e-03 1.54170374e+02] [-1.52918634e-02 -5.13503129e-04 -9.99882941e-01 -5.59246284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71 meters 0.016676244679099336 Centerline is valid? [True, True] Translation: X:139.58, Y:154.21, Z:-5.59 [[-8.65186999e-01 5.01287714e-01 1.27312512e-02 1.39580791e+02] [ 5.01224196e-01 8.65280497e-01 -7.99798001e-03 1.54213053e+02] [-1.50253924e-02 -5.38537205e-04 -9.99886967e-01 -5.59320612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74 meters 0.016488478463744762 Centerline is valid? [True, True] Translation: X:139.58, Y:154.26, Z:-5.59 [[-8.99231378e-01 4.37279533e-01 1.30206948e-02 1.39579330e+02] [ 4.37224537e-01 8.99325465e-01 -6.95788472e-03 1.54255641e+02] [-1.47523830e-02 -5.63781008e-04 -9.99891019e-01 -5.59400419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77 meters 0.01565432388313636 Centerline is valid? [True, True] Translation: X:139.58, Y:154.31, Z:-5.60 [[-9.29668550e-01 3.68158871e-01 1.32451260e-02 1.39575320e+02] [ 3.68111760e-01 9.29762684e-01 -5.92320057e-03 1.54310081e+02] [-1.44955027e-02 -6.30926633e-04 -9.99894736e-01 -5.59571826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8 meters 0.015534922562102047 Centerline is valid? [True, True] Translation: X:139.56, Y:154.35, Z:-5.60 [[-9.54325258e-01 2.98464071e-01 1.35092728e-02 1.39562359e+02] [ 2.98424150e-01 9.54420635e-01 -4.92731652e-03 1.54353959e+02] [-1.43641557e-02 -6.70769347e-04 -9.99896605e-01 -5.59635077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83 meters 0.015016009570832116 Centerline is valid? [True, True] Translation: X:139.55, Y:154.40, Z:-5.60 [[-9.73899228e-01 2.26565926e-01 1.37177158e-02 1.39545610e+02] [ 2.26533009e-01 9.73995568e-01 -3.92814741e-03 1.54398169e+02] [-1.42509788e-02 -7.18104282e-04 -9.99898192e-01 -5.59691551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86 meters 0.01483225617515569 Centerline is valid? [True, True] Translation: X:139.56, Y:154.49, Z:-6.38 [[-9.60749976e-01 -2.77266556e-01 -9.09620744e-03 1.39556249e+02] [ 2.77260850e-01 -9.60792788e-01 1.90772611e-03 1.54493027e+02] [-9.26851915e-03 -6.89174392e-04 9.99956809e-01 -6.37802733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89 meters 0.014943645901384165 Centerline is valid? [True, True] Translation: X:139.49, Y:154.44, Z:-5.60 [[-9.77348080e-01 2.11100260e-01 1.50801434e-02 1.39491878e+02] [ 2.11060985e-01 9.77464008e-01 -4.16819004e-03 1.54443854e+02] [-1.56202034e-02 -8.90942622e-04 -9.99877600e-01 -5.59647965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91999999999996 meters 0.015352308092193005 Centerline is valid? [True, True] Translation: X:139.47, Y:154.49, Z:-5.60 [[-9.90504951e-01 1.36589076e-01 1.56002132e-02 1.39472500e+02] [ 1.36556790e-01 9.90627327e-01 -3.12139971e-03 1.54485428e+02] [-1.58803466e-02 -9.61446841e-04 -9.99873437e-01 -5.59693738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95 meters 0.015896778777985402 Centerline is valid? [True, True] Translation: X:139.44, Y:154.53, Z:-5.60 [[-9.98012033e-01 6.09198056e-02 1.61480382e-02 1.39443965e+02] [ 6.08949224e-02 9.98142121e-01 -2.02864851e-03 1.54525635e+02] [-1.62416220e-02 -1.04128209e-03 -9.99867554e-01 -5.59751389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97999999999996 meters 0.01663723489591797 Centerline is valid? [True, True] Translation: X:139.43, Y:154.52, Z:-6.38 [[-9.87659465e-01 -1.56431602e-01 -7.61149564e-03 1.39427025e+02] [ 1.56434077e-01 -9.87688364e-01 2.72780406e-04 1.54515413e+02] [-7.56045716e-03 -9.21283147e-04 9.99970995e-01 -6.37964616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01 meters 0.019903437919354727 Centerline is valid? [True, True] Translation: X:139.39, Y:154.48, Z:-6.38 [[-9.73846255e-01 -2.27073903e-01 -7.80478896e-03 1.39393519e+02] [ 2.27074254e-01 -9.73877074e-01 8.52887227e-04 1.54475964e+02] [-7.79457347e-03 -9.41685599e-04 9.99969178e-01 -6.38088748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03999999999996 meters 0.019823187661778034 Centerline is valid? [True, True] Translation: X:139.36, Y:154.55, Z:-5.60 [[-9.94171076e-01 1.06907482e-01 1.39521140e-02 1.39357473e+02] [ 1.06879120e-01 9.94268177e-01 -2.76501791e-03 1.54546788e+02] [-1.41677441e-02 -1.25771117e-03 -9.99898841e-01 -5.59952423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07 meters 0.02138057497482625 Centerline is valid? [True, True] Translation: X:139.33, Y:154.59, Z:-5.60 [[-9.99393338e-01 3.21026001e-02 1.35047692e-02 1.39332373e+02] [ 3.20822118e-02 9.99483747e-01 -1.72370724e-03 1.54585782e+02] [-1.35531328e-02 -1.28939867e-03 -9.99907321e-01 -5.59991035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09999999999997 meters 0.02273055329011397 Centerline is valid? [True, True] Translation: X:139.30, Y:154.62, Z:-5.60 [[-9.99019382e-01 -4.23165221e-02 1.30225589e-02 1.39298211e+02] [-4.23300280e-02 9.99103391e-01 -7.63105123e-04 1.54621976e+02] [-1.29785908e-02 -1.31360209e-03 -9.99914912e-01 -5.59964426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13 meters 0.02323516711072546 Centerline is valid? [True, True] Translation: X:139.26, Y:154.65, Z:-5.60 [[-9.93117531e-01 -1.16426016e-01 1.27495933e-02 1.39261916e+02] [-1.16433641e-01 9.93198463e-01 1.45088380e-04 1.54653539e+02] [-1.26797685e-02 -1.34039175e-03 -9.99918710e-01 -5.59982384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15999999999997 meters 0.024729865235633346 Centerline is valid? [True, True] Translation: X:139.25, Y:154.51, Z:-6.38 [[-9.99322891e-01 -3.51467897e-02 -1.08840612e-02 1.39248963e+02] [ 3.51583560e-02 -9.99381373e-01 -8.73120565e-04 1.54508087e+02] [-1.08466406e-02 -1.25519506e-03 9.99940386e-01 -6.38263385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19 meters 0.025346992774377266 Centerline is valid? [True, True] Translation: X:139.22, Y:154.47, Z:-6.38 [[-9.94445390e-01 -1.04684146e-01 -1.09360281e-02 1.39215118e+02] [ 1.04691634e-01 -9.94504726e-01 -1.12882676e-04 1.54473320e+02] [-1.08641146e-02 -1.25716631e-03 9.99940194e-01 -6.38365763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21999999999997 meters 0.027578987412415976 Centerline is valid? [True, True] Translation: X:139.19, Y:154.44, Z:-6.38 [[-9.84830812e-01 -1.73203344e-01 -1.04342337e-02 1.39193918e+02] [ 1.73206421e-01 -9.84885353e-01 6.14922942e-04 1.54436818e+02] [-1.03830307e-02 -1.20168122e-03 9.99945373e-01 -6.38433122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25 meters 0.026845242608361887 Centerline is valid? [True, True] Translation: X:139.16, Y:154.64, Z:-5.60 [[-9.99910104e-01 2.67501821e-03 1.31388033e-02 1.39163225e+02] [ 2.65499398e-03 9.99995288e-01 -1.54125865e-03 1.54638371e+02] [-1.31428642e-02 -1.50623666e-03 -9.99912494e-01 -5.59833565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28 meters 0.02747856364549595 Centerline is valid? [True, True] Translation: X:139.14, Y:154.42, Z:-6.39 [[-9.84754656e-01 -1.73681796e-01 -9.63853545e-03 1.39140419e+02] [ 1.73685412e-01 -9.84801076e-01 4.67092803e-04 1.54423830e+02] [-9.57316560e-03 -1.21410119e-03 9.99953439e-01 -6.38668325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31 meters 0.028420194659954864 Centerline is valid? [True, True] Translation: X:139.11, Y:154.39, Z:-6.39 [[-9.70437808e-01 -2.41172341e-01 -9.29312411e-03 1.39105654e+02] [ 2.41172738e-01 -9.70481588e-01 1.09472953e-03 1.54393912e+02] [-9.28282432e-03 -1.17888126e-03 9.99956219e-01 -6.38763658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34 meters 0.029084818430954486 Centerline is valid? [True, True] Translation: X:139.10, Y:154.63, Z:-5.60 [[-9.97971639e-01 6.22404456e-02 1.33692080e-02 1.39100713e+02] [ 6.22136674e-02 9.98059944e-01 -2.41001795e-03 1.54634537e+02] [-1.34932716e-02 -1.57338210e-03 -9.99907724e-01 -5.59775759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37 meters 0.033504697626476766 Centerline is valid? [True, True] Translation: X:139.06, Y:154.68, Z:-5.60 [[-9.99862178e-01 -9.55269157e-03 1.35783445e-02 1.39060171e+02] [-9.57327171e-03 9.99953122e-01 -1.45146896e-03 1.54679649e+02] [-1.35638425e-02 -1.58125809e-03 -9.99906757e-01 -5.59765981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4 meters 0.030869180962350806 Centerline is valid? [True, True] Translation: X:139.03, Y:154.71, Z:-5.60 [[-9.96652831e-01 -8.07658803e-02 1.26493670e-02 1.39027241e+02] [-8.07786800e-02 9.96731936e-01 -5.03416875e-04 1.54706150e+02] [-1.25673691e-02 -1.52353102e-03 -9.99919867e-01 -5.59779206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43 meters 0.0303635406602773 Centerline is valid? [True, True] Translation: X:139.01, Y:154.43, Z:-6.39 [[-9.95092069e-01 -9.83895245e-02 -1.05487724e-02 1.39014641e+02] [ 9.83977310e-02 -9.95147134e-01 -2.60543443e-04 1.54425668e+02] [-1.04719459e-02 -1.29723998e-03 9.99944326e-01 -6.38984500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46 meters 0.030721477429903967 Centerline is valid? [True, True] Translation: X:138.97, Y:154.72, Z:-5.60 [[-9.96561245e-01 -8.19314872e-02 1.23659028e-02 1.38972980e+02] [-8.19434063e-02 9.96636878e-01 -4.59436948e-04 1.54716455e+02] [-1.22866724e-02 -1.47116125e-03 -9.99923434e-01 -5.59701871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49 meters 0.028713552330624906 Centerline is valid? [True, True] Translation: X:138.93, Y:154.74, Z:-5.60 [[-9.88431147e-01 -1.51148520e-01 1.25695188e-02 1.38928760e+02] [-1.51154920e-01 9.88509986e-01 4.44769277e-04 1.54740152e+02] [-1.24923211e-02 -1.46032081e-03 -9.99920902e-01 -5.59663843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52 meters 0.027855151902457756 Centerline is valid? [True, True] Translation: X:138.90, Y:154.76, Z:-5.60 [[-9.75523721e-01 -2.19511415e-01 1.29694889e-02 1.38895715e+02] [-2.19511683e-01 9.75608837e-01 1.42046332e-03 1.54764369e+02] [-1.29649559e-02 -1.46125866e-03 -9.99914884e-01 -5.59631714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55 meters 0.02717412381584625 Centerline is valid? [True, True] Translation: X:138.86, Y:154.79, Z:-5.60 [[-9.57732039e-01 -2.87364544e-01 1.30751640e-02 1.38859404e+02] [-2.87358215e-01 9.57820178e-01 2.40069218e-03 1.54785506e+02] [-1.32135297e-02 -1.45803596e-03 -9.99911634e-01 -5.59588613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58 meters 0.027127607476406558 Centerline is valid? [True, True] Translation: X:138.81, Y:154.81, Z:-5.60 [[-9.35620531e-01 -3.52790132e-01 1.23832537e-02 1.38812129e+02] [-3.52778693e-01 9.35701423e-01 3.16881719e-03 1.54806515e+02] [-1.27049556e-02 -1.40373765e-03 -9.99918303e-01 -5.59559049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61 meters 0.0269379415703674 Centerline is valid? [True, True] Translation: X:138.77, Y:154.82, Z:-5.60 [[-9.09057731e-01 -4.16495124e-01 1.20769703e-02 1.38766368e+02] [-4.16477955e-01 9.09136914e-01 4.02307842e-03 1.54821434e+02] [-1.26552121e-02 -1.37258135e-03 -9.99918978e-01 -5.59584884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64 meters 0.027026227795770342 Centerline is valid? [True, True] Translation: X:138.71, Y:154.83, Z:-5.60 [[-8.77434440e-01 -4.79553956e-01 1.16964098e-02 1.38707173e+02] [-4.79531445e-01 8.77511340e-01 4.84161431e-03 1.54827824e+02] [-1.25855475e-02 -1.36059713e-03 -9.99919873e-01 -5.59653537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66999999999996 meters 0.02680572259025016 Centerline is valid? [True, True] Translation: X:138.67, Y:154.84, Z:-5.60 [[-8.41592550e-01 -5.39999801e-01 1.10541711e-02 1.38674644e+02] [-5.39973385e-01 8.41664085e-01 5.50564348e-03 1.54843536e+02] [-1.22769452e-02 -1.33544963e-03 -9.99923744e-01 -5.59632884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7 meters 0.026847254590482317 Centerline is valid? [True, True] Translation: X:138.70, Y:154.90, Z:-5.60 [[-8.01370221e-01 -5.98079214e-01 1.03451329e-02 1.38700280e+02] [-5.98049734e-01 8.01435917e-01 6.08169272e-03 1.54899432e+02] [-1.19282951e-02 -1.31321654e-03 -9.99927993e-01 -5.59527181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72999999999996 meters 0.025830146584029566 Centerline is valid? [True, True] Translation: X:138.89, Y:154.59, Z:-6.40 [[-8.83608405e-01 4.68144496e-01 -8.77025138e-03 1.38889283e+02] [-4.68108862e-01 -8.83651259e-01 -5.87764424e-03 1.54585857e+02] [-1.05014305e-02 -1.08810346e-03 9.99944266e-01 -6.39669816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76 meters 0.025237106786328192 Centerline is valid? [True, True] Translation: X:138.66, Y:154.88, Z:-5.60 [[-7.99648170e-01 -6.00377125e-01 1.04933888e-02 1.38656714e+02] [-6.00346080e-01 7.99715949e-01 6.24380011e-03 1.54876580e+02] [-1.21403652e-02 -1.30682150e-03 -9.99925449e-01 -5.59530233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78999999999996 meters 0.027408954867602517 Centerline is valid? [True, True] Translation: X:138.60, Y:154.88, Z:-5.60 [[-7.55433199e-01 -6.55145988e-01 1.02184722e-02 1.38604284e+02] [-6.55108494e-01 7.55501174e-01 7.13003726e-03 1.54881286e+02] [-1.23912831e-02 -1.30794108e-03 -9.99922370e-01 -5.59535338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82 meters 0.02710915511669696 Centerline is valid? [True, True] Translation: X:138.55, Y:154.88, Z:-5.60 [[-7.06715692e-01 -7.07434568e-01 9.44783269e-03 1.38551627e+02] [-7.07394728e-01 7.06777649e-01 7.61927620e-03 1.54876277e+02] [-1.20676563e-02 -1.29868499e-03 -9.99926340e-01 -5.59576657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84999999999997 meters 0.02678265919954259 Centerline is valid? [True, True] Translation: X:138.50, Y:154.87, Z:-5.60 [[-6.54199514e-01 -7.56270789e-01 8.80284929e-03 1.38503181e+02] [-7.56227585e-01 6.54257443e-01 8.18761402e-03 1.54871407e+02] [-1.19513830e-02 -1.30062435e-03 -9.99927734e-01 -5.59604319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88 meters 0.027094014238337065 Centerline is valid? [True, True] Translation: X:138.45, Y:154.86, Z:-5.60 [[-5.98689470e-01 -8.00942447e-01 7.88133333e-03 1.38447585e+02] [-8.00899378e-01 5.98739975e-01 8.40416815e-03 1.54859783e+02] [-1.14501243e-02 -1.28066798e-03 -9.99933625e-01 -5.59651407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90999999999997 meters 0.027910508517230672 Centerline is valid? [True, True] Translation: X:138.40, Y:154.85, Z:-5.60 [[-5.39859481e-01 -8.41725484e-01 7.06751332e-03 1.38402905e+02] [-8.41681858e-01 5.39904244e-01 8.66354304e-03 1.54854850e+02] [-1.11081054e-02 -1.27150189e-03 -9.99937495e-01 -5.59680284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94 meters 0.02821331585097772 Centerline is valid? [True, True] Translation: X:138.35, Y:154.84, Z:-5.60 [[-4.78513064e-01 -8.78058098e-01 6.26297026e-03 1.38353899e+02] [-8.78014291e-01 4.78552392e-01 8.86068991e-03 1.54839187e+02] [-1.07773599e-02 -1.25902151e-03 -9.99941130e-01 -5.59716325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96999999999997 meters 0.028499284709968792 Centerline is valid? [True, True] Translation: X:138.29, Y:154.80, Z:-5.60 [[-4.12824630e-01 -9.10793891e-01 5.50578120e-03 1.38291269e+02] [-9.10749671e-01 4.12859383e-01 9.06462255e-03 1.54801288e+02] [-1.05291163e-02 -1.27228897e-03 -9.99943758e-01 -5.59793464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0 meters 0.02722611453660133 Centerline is valid? [True, True] Translation: X:138.69, Y:154.58, Z:-6.40 [[-5.55783083e-01 8.31312038e-01 -5.04577284e-03 1.38685164e+02] [-8.31258683e-01 -5.55804949e-01 -9.47950914e-03 1.54578657e+02] [-1.06848956e-02 -1.07420833e-03 9.99942338e-01 -6.39919802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03 meters 0.029297508378128573 Centerline is valid? [True, True] Translation: X:138.26, Y:154.76, Z:-5.60 [[-4.07423828e-01 -9.13220703e-01 5.81132273e-03 1.38257942e+02] [-9.13169552e-01 4.07463095e-01 9.75684420e-03 1.54757394e+02] [-1.12780517e-02 -1.33155216e-03 -9.99935514e-01 -5.59816808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06 meters 0.03141691999449713 Centerline is valid? [True, True] Translation: X:138.22, Y:154.77, Z:-5.60 [[-3.38322840e-01 -9.41015338e-01 5.27161904e-03 1.38219967e+02] [-9.40957301e-01 3.38361039e-01 1.05434307e-02 1.54771434e+02] [-1.17052405e-02 -1.39328502e-03 -9.99930521e-01 -5.59751644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09 meters 0.03076906643652535 Centerline is valid? [True, True] Translation: X:138.18, Y:154.75, Z:-5.60 [[-2.67984100e-01 -9.63413048e-01 4.45214750e-03 1.38178285e+02] [-9.63354434e-01 2.68017340e-01 1.07210085e-02 1.54750141e+02] [-1.15220122e-02 -1.41593621e-03 -9.99932617e-01 -5.59796545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12 meters 0.03076906643652535 Centerline is valid? [True, True] Translation: X:138.65, Y:154.56, Z:-6.40 [[-4.35737111e-01 9.00067659e-01 -3.37324756e-03 1.38646157e+02] [-9.00018405e-01 -4.35748793e-01 -9.47943973e-03 1.54563356e+02] [-1.00020257e-02 -1.09455879e-03 9.99949379e-01 -6.40089794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15 meters 0.030598252337713842 Centerline is valid? [True, True] Translation: X:138.66, Y:154.52, Z:-6.40 [[-4.97909696e-01 8.67219636e-01 -4.00477059e-03 1.38664218e+02] [-8.67171970e-01 -4.97924616e-01 -9.15707710e-03 1.54517469e+02] [-9.93527093e-03 -1.08657267e-03 9.99950054e-01 -6.40103970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18 meters 0.031800185827041236 Centerline is valid? [True, True] Translation: X:138.18, Y:154.71, Z:-5.60 [[-3.20734367e-01 -9.47154978e-01 5.18787790e-03 1.38177874e+02] [-9.47097226e-01 3.20772704e-01 1.05696176e-02 1.54708538e+02] [-1.16751956e-02 -1.52338515e-03 -9.99930682e-01 -5.59965208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21 meters 0.035642854803731014 Centerline is valid? [True, True] Translation: X:138.67, Y:154.47, Z:-6.40 [[-5.00729196e-01 8.65595375e-01 -3.86244201e-03 1.38670033e+02] [-8.65549125e-01 -5.00742712e-01 -9.02485269e-03 1.54470051e+02] [-9.74596044e-03 -1.17587393e-03 9.99951816e-01 -6.40078701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24 meters 0.03296144043532466 Centerline is valid? [True, True] Translation: X:138.15, Y:154.67, Z:-5.60 [[-3.11968713e-01 -9.50078104e-01 5.20760637e-03 1.38152138e+02] [-9.50018782e-01 3.12008082e-01 1.07363701e-02 1.54673101e+02] [-1.18252055e-02 -1.59791229e-03 -9.99928803e-01 -5.60044367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27 meters 0.0342782037871245 Centerline is valid? [True, True] Translation: X:138.67, Y:154.43, Z:-6.40 [[-5.05575361e-01 8.62774947e-01 -3.59811477e-03 1.38668233e+02] [-8.62732788e-01 -5.05586608e-01 -8.62077851e-03 1.54431543e+02] [-9.25695036e-03 -1.25424162e-03 9.99956367e-01 -6.40000978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3 meters 0.035562687361300895 Centerline is valid? [True, True] Translation: X:138.12, Y:154.64, Z:-5.60 [[-3.02139055e-01 -9.53249374e-01 5.25573121e-03 1.38121996e+02] [-9.53187678e-01 3.02180019e-01 1.09766235e-02 1.54640442e+02] [-1.20516364e-02 -1.69323159e-03 -9.99925943e-01 -5.60140006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33 meters 0.036726203439174085 Centerline is valid? [True, True] Translation: X:138.66, Y:154.39, Z:-6.40 [[-5.06893596e-01 8.62001241e-01 -3.56964227e-03 1.38663542e+02] [-8.61959127e-01 -5.06904519e-01 -8.61814025e-03 1.54389115e+02] [-9.23831540e-03 -1.29159437e-03 9.99956492e-01 -6.40037804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36 meters 0.03564463623794715 Centerline is valid? [True, True] Translation: X:138.68, Y:154.34, Z:-6.40 [[-5.66005124e-01 8.24391463e-01 -4.11272235e-03 1.38677309e+02] [-8.24351241e-01 -5.66018630e-01 -8.24272136e-03 1.54343819e+02] [-9.12310660e-03 -1.27509476e-03 9.99957571e-01 -6.40074614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39 meters 0.03759084760441837 Centerline is valid? [True, True] Translation: X:138.69, Y:154.29, Z:-6.40 [[-6.22646062e-01 7.82491385e-01 -4.37193506e-03 1.38693993e+02] [-7.82457131e-01 -6.22660258e-01 -7.41901345e-03 1.54292107e+02] [-8.52754432e-03 -1.19856775e-03 9.99962922e-01 -6.40093066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41999999999996 meters 0.03902665497973287 Centerline is valid? [True, True] Translation: X:138.14, Y:154.59, Z:-5.60 [[-4.13724587e-01 -9.10374937e-01 7.03133319e-03 1.38141895e+02] [-9.10311869e-01 4.13779978e-01 1.08825564e-02 1.54593080e+02] [-1.28166315e-02 -1.89832492e-03 -9.99916062e-01 -5.60236020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45 meters 0.04317118137935194 Centerline is valid? [True, True] Translation: X:138.09, Y:154.57, Z:-5.60 [[-3.46617291e-01 -9.37985937e-01 6.23181452e-03 1.38087465e+02] [-9.37919428e-01 3.46668008e-01 1.13330449e-02 1.54569923e+02] [-1.27906075e-02 -1.91671058e-03 -9.99916360e-01 -5.60244935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47999999999996 meters 0.040251050264196335 Centerline is valid? [True, True] Translation: X:138.04, Y:154.54, Z:-5.60 [[-2.76139100e-01 -9.61101339e-01 5.60488106e-03 1.38044171e+02] [-9.61025518e-01 2.76188683e-01 1.22378291e-02 1.54538471e+02] [-1.33097987e-02 -2.00709062e-03 -9.99909406e-01 -5.60270176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51 meters 0.0372328993914174 Centerline is valid? [True, True] Translation: X:138.00, Y:154.51, Z:-5.60 [[-2.02474234e-01 -9.79275845e-01 4.79625299e-03 1.38002569e+02] [-9.79193947e-01 2.02520174e-01 1.28372211e-02 1.54508038e+02] [-1.35425185e-02 -2.09725540e-03 -9.99906096e-01 -5.60241015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53999999999996 meters 0.043354178021597634 Centerline is valid? [True, True] Translation: X:138.63, Y:154.28, Z:-6.40 [[-4.53906292e-01 8.91046591e-01 -2.24734031e-03 1.38625461e+02] [-8.91018230e-01 -4.53910062e-01 -7.22285566e-03 1.54283178e+02] [-7.45599129e-03 -1.27607845e-03 9.99971390e-01 -6.40316263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57 meters 0.04134178623392321 Centerline is valid? [True, True] Translation: X:138.63, Y:154.23, Z:-6.40 [[-5.14498085e-01 8.57487376e-01 -2.66841321e-03 1.38634321e+02] [-8.57460794e-01 -5.14503501e-01 -6.86546744e-03 1.54225248e+02] [-7.25995960e-03 -1.24421014e-03 9.99972872e-01 -6.40345793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59999999999997 meters 0.041290919796574656 Centerline is valid? [True, True] Translation: X:138.01, Y:154.47, Z:-5.60 [[-2.59289440e-01 -9.65782473e-01 5.76205550e-03 1.38006249e+02] [-9.65698591e-01 2.59344002e-01 1.29197753e-02 1.54466247e+02] [-1.39720471e-02 -2.21444757e-03 -9.99899934e-01 -5.60215855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63 meters 0.04334947950480922 Centerline is valid? [True, True] Translation: X:138.63, Y:154.20, Z:-6.40 [[-5.12850855e-01 8.58473900e-01 -2.56186103e-03 1.38632921e+02] [-8.58448150e-01 -5.12855674e-01 -6.76983254e-03 1.54195322e+02] [-7.12558952e-03 -1.27268954e-03 9.99973803e-01 -6.40471619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65999999999997 meters 0.0439440561560152 Centerline is valid? [True, True] Translation: X:137.99, Y:154.43, Z:-5.60 [[-2.55247665e-01 -9.66859182e-01 5.65266859e-03 1.37986756e+02] [-9.66777267e-01 2.55300739e-01 1.27768723e-02 1.54431269e+02] [-1.37965668e-02 -2.20360467e-03 -9.99902395e-01 -5.60207972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69 meters 0.04624260007005262 Centerline is valid? [True, True] Translation: X:138.62, Y:154.15, Z:-6.40 [[-5.10957664e-01 8.59602063e-01 -2.56099822e-03 1.38624580e+02] [-8.59576391e-01 -5.10962546e-01 -6.76060937e-03 1.54148215e+02] [-7.12000793e-03 -1.25301156e-03 9.99973867e-01 -6.40484779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71999999999997 meters 0.04333294951561763 Centerline is valid? [True, True] Translation: X:138.63, Y:154.10, Z:-6.40 [[-5.68187523e-01 8.22893668e-01 -2.99160799e-03 1.38634365e+02] [-8.22868760e-01 -5.68194036e-01 -6.52230985e-03 1.54102824e+02] [-7.06698130e-03 -1.24419432e-03 9.99974255e-01 -6.40486190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75 meters 0.04484043243499761 Centerline is valid? [True, True] Translation: X:137.99, Y:154.38, Z:-5.60 [[-3.14860432e-01 -9.49116307e-01 6.41442781e-03 1.37993908e+02] [-9.49039109e-01 3.14917988e-01 1.23056772e-02 1.54383340e+02] [-1.36995376e-02 -2.21297201e-03 -9.99903708e-01 -5.60308197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78 meters 0.04387032743267475 Centerline is valid? [True, True] Translation: X:137.95, Y:154.35, Z:-5.60 [[-2.46086346e-01 -9.69231749e-01 5.59697821e-03 1.37951297e+02] [-9.69148257e-01 2.46139746e-01 1.29182366e-02 1.54353819e+02] [-1.38984038e-02 -2.24530005e-03 -9.99900892e-01 -5.60327952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81 meters 0.04038665230704792 Centerline is valid? [True, True] Translation: X:138.59, Y:154.08, Z:-6.41 [[-5.07523005e-01 8.61636269e-01 -1.82728856e-03 1.38594126e+02] [-8.61622093e-01 -5.07525342e-01 -5.03946200e-03 1.54080992e+02] [-5.26957849e-03 -9.83210705e-04 9.99985632e-01 -6.40577643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84 meters 0.04329716524849236 Centerline is valid? [True, True] Translation: X:138.61, Y:154.03, Z:-6.41 [[-5.64337353e-01 8.25542033e-01 -1.92451524e-03 1.38607392e+02] [-8.25530836e-01 -5.64339934e-01 -4.39062064e-03 1.54026514e+02] [-4.71072270e-03 -8.89044553e-04 9.99988509e-01 -6.40637590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87 meters 0.0413163411526534 Centerline is valid? [True, True] Translation: X:137.97, Y:154.31, Z:-5.60 [[-3.06687549e-01 -9.51783002e-01 7.20174055e-03 1.37967958e+02] [-9.51678572e-01 3.06762196e-01 1.43125720e-02 1.54305693e+02] [-1.58316845e-02 -2.46425453e-03 -9.99871634e-01 -5.60350339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9 meters 0.042273857070639215 Centerline is valid? [True, True] Translation: X:137.92, Y:154.27, Z:-5.60 [[-2.40865018e-01 -9.70539060e-01 6.16248549e-03 1.37919755e+02] [-9.70429727e-01 2.40931652e-01 1.47676430e-02 1.54265939e+02] [-1.58173122e-02 -2.42325052e-03 -9.99871962e-01 -5.60380007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93 meters 0.04552678774740977 Centerline is valid? [True, True] Translation: X:138.57, Y:153.99, Z:-6.41 [[-4.98145039e-01 8.67092224e-01 -1.61123450e-03 1.38565697e+02] [-8.67079608e-01 -4.98146673e-01 -4.77978080e-03 1.53990273e+02] [-4.94714186e-03 -9.83955517e-04 9.99987279e-01 -6.40701296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96 meters 0.04116370225299842 Centerline is valid? [True, True] Translation: X:138.57, Y:153.95, Z:-6.41 [[-5.54030245e-01 8.32494060e-01 -2.03172867e-03 1.38572199e+02] [-8.32480236e-01 -5.54033019e-01 -4.90620694e-03 1.53945780e+02] [-5.21003290e-03 -1.02681307e-03 9.99985901e-01 -6.40639450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99 meters 0.04349790066804236 Centerline is valid? [True, True] Translation: X:137.93, Y:154.21, Z:-5.61 [[-3.08033057e-01 -9.51352981e-01 6.56816768e-03 1.37932357e+02] [-9.51264521e-01 3.08095256e-01 1.31576524e-02 1.54212825e+02] [-1.45411932e-02 -2.19507299e-03 -9.99891862e-01 -5.60511834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02 meters 0.042811937700590184 Centerline is valid? [True, True] Translation: X:137.89, Y:154.18, Z:-5.61 [[-2.41321354e-01 -9.70428345e-01 5.72982467e-03 1.37890768e+02] [-9.70331305e-01 2.41379291e-01 1.38995421e-02 1.54181386e+02] [-1.48715706e-02 -2.20557194e-03 -9.99886980e-01 -5.60543634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05 meters 0.04294641266053544 Centerline is valid? [True, True] Translation: X:138.53, Y:153.92, Z:-6.41 [[-4.85866915e-01 8.74030760e-01 -1.88960673e-03 1.38530873e+02] [-8.74013951e-01 -4.85869499e-01 -5.51753301e-03 1.53916598e+02] [-5.74059585e-03 -1.02924410e-03 9.99982993e-01 -6.40734238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08 meters 0.033626956767076145 Centerline is valid? [True, True] Translation: X:137.89, Y:154.13, Z:-5.61 [[-2.41796771e-01 -9.70311559e-01 5.45888773e-03 1.37887503e+02] [-9.70222706e-01 2.41849425e-01 1.32949884e-02 1.54128312e+02] [-1.42205098e-02 -2.08165156e-03 -9.99896717e-01 -5.60758845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11 meters 0.04290362051481528 Centerline is valid? [True, True] Translation: X:138.51, Y:153.87, Z:-6.41 [[-4.79247668e-01 8.77676914e-01 -2.21513996e-03 1.38514319e+02] [-8.77654542e-01 -4.79251513e-01 -6.36338482e-03 1.53870873e+02] [-6.64660513e-03 -1.10550969e-03 9.99977300e-01 -6.40636079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14 meters 0.039527750802320585 Centerline is valid? [True, True] Translation: X:137.86, Y:154.08, Z:-5.61 [[-2.41111250e-01 -9.70484594e-01 5.00185548e-03 1.37864311e+02] [-9.70410502e-01 2.41155440e-01 1.21454476e-02 1.54082588e+02] [-1.29931945e-02 -1.92544902e-03 -9.99913731e-01 -5.60841364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16999999999996 meters 0.03670325413992045 Centerline is valid? [True, True] Translation: X:137.83, Y:154.04, Z:-5.61 [[-1.73183503e-01 -9.84881748e-01 3.92652274e-03 1.37827389e+02] [-9.84813676e-01 1.73218275e-01 1.17240602e-02 1.54044088e+02] [-1.22269584e-02 -1.83647948e-03 -9.99923562e-01 -5.60925736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2 meters 0.03710006156607597 Centerline is valid? [True, True] Translation: X:138.47, Y:153.84, Z:-6.41 [[-4.07792576e-01 9.13071782e-01 -2.26624661e-03 1.38465853e+02] [-9.13038043e-01 -4.07797204e-01 -7.93548843e-03 1.53841645e+02] [-8.16983959e-03 -1.16686390e-03 9.99965946e-01 -6.40631350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22999999999996 meters 0.036908463639911473 Centerline is valid? [True, True] Translation: X:137.82, Y:154.00, Z:-5.61 [[-1.73275292e-01 -9.84866590e-01 3.67061486e-03 1.37818762e+02] [-9.84807295e-01 1.73305644e-01 1.09428658e-02 1.54001357e+02] [-1.14134012e-02 -1.71872002e-03 -9.99933388e-01 -5.60933810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26 meters 0.032492865520815845 Centerline is valid? [True, True] Translation: X:138.45, Y:153.81, Z:-6.41 [[-4.03146532e-01 9.15132378e-01 -2.36749687e-03 1.38449715e+02] [-9.15095105e-01 -4.03151703e-01 -8.34580566e-03 1.53805816e+02] [-8.59197737e-03 -1.19809781e-03 9.99962371e-01 -6.40692217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28999999999996 meters 0.034488122047153076 Centerline is valid? [True, True] Translation: X:138.47, Y:153.75, Z:-6.41 [[-4.63538738e-01 8.86073215e-01 -2.46906155e-03 1.38465980e+02] [-8.86046691e-01 -4.63544179e-01 -6.93218871e-03 1.53751982e+02] [-7.28694584e-03 -1.02563419e-03 9.99972924e-01 -6.40755921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32 meters 0.034502779691558544 Centerline is valid? [True, True] Translation: X:137.84, Y:153.96, Z:-5.61 [[-2.36110759e-01 -9.71713258e-01 5.00534665e-03 1.37840066e+02] [-9.71633313e-01 2.36156270e-01 1.26063835e-02 1.53955239e+02] [-1.34318339e-02 -1.88685878e-03 -9.99908009e-01 -5.60942973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34999999999997 meters 0.03498572889190956 Centerline is valid? [True, True] Translation: X:137.80, Y:153.92, Z:-5.61 [[-1.66231000e-01 -9.86077397e-01 4.31542484e-03 1.37799626e+02] [-9.85983302e-01 1.66275371e-01 1.37633046e-02 1.53922831e+02] [-1.42892324e-02 -1.96704896e-03 -9.99895969e-01 -5.60876899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38 meters 0.03662987588902666 Centerline is valid? [True, True] Translation: X:138.43, Y:153.72, Z:-6.41 [[-3.98364517e-01 9.17226656e-01 -9.86235654e-04 1.38433570e+02] [-9.17217405e-01 -3.98365004e-01 -4.18995748e-03 1.53724792e+02] [-4.23602246e-03 -7.64537883e-04 9.99990736e-01 -6.41017372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40999999999997 meters 0.03693882417152782 Centerline is valid? [True, True] Translation: X:138.45, Y:153.68, Z:-6.41 [[-4.60784569e-01 8.87511471e-01 -9.84413705e-04 1.38450169e+02] [-8.87505402e-01 -4.60785134e-01 -3.35001450e-03 1.53677268e+02] [-3.42677950e-03 -6.69962506e-04 9.99993904e-01 -6.41041531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44 meters 0.03289656602232247 Centerline is valid? [True, True] Translation: X:138.46, Y:153.63, Z:-6.41 [[-5.19987659e-01 8.54172583e-01 -1.42596996e-03 1.38456078e+02] [-8.54164503e-01 -5.19989069e-01 -3.79063458e-03 1.53626774e+02] [-3.97934492e-03 -7.53070278e-04 9.99991799e-01 -6.41006667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46999999999997 meters 0.03286020806056559 Centerline is valid? [True, True] Translation: X:137.85, Y:153.87, Z:-5.61 [[-2.89825415e-01 -9.57059127e-01 6.24945380e-03 1.37848106e+02] [-9.56965973e-01 2.89885433e-01 1.35115399e-02 1.53871547e+02] [-1.47429682e-02 -2.06452697e-03 -9.99889185e-01 -5.61030856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5 meters 0.03791544654480599 Centerline is valid? [True, True] Translation: X:138.45, Y:153.59, Z:-6.41 [[-5.17041394e-01 8.55957452e-01 -2.24439849e-03 1.38451169e+02] [-8.55938581e-01 -5.17045159e-01 -5.78351457e-03 1.53587709e+02] [-6.11089777e-03 -1.06924918e-03 9.99980757e-01 -6.40864078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53 meters 0.03538351612490664 Centerline is valid? [True, True] Translation: X:138.46, Y:153.54, Z:-6.41 [[-5.73292641e-01 8.19346480e-01 -2.62543737e-03 1.38457716e+02] [-8.19327929e-01 -5.73297657e-01 -5.61620368e-03 1.53539262e+02] [-6.10677381e-03 -1.06863408e-03 9.99980782e-01 -6.40866250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56 meters 0.03852374695899862 Centerline is valid? [True, True] Translation: X:137.85, Y:153.82, Z:-5.61 [[-3.51629324e-01 -9.36116408e-01 6.54896154e-03 1.37849671e+02] [-9.36042057e-01 3.51685028e-01 1.19544771e-02 1.53823481e+02] [-1.34939539e-02 -1.92655873e-03 -9.99907096e-01 -5.61129047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59 meters 0.03573826941453312 Centerline is valid? [True, True] Translation: X:138.44, Y:153.50, Z:-6.41 [[-5.68633891e-01 8.22586029e-01 -2.77901845e-03 1.38441632e+02] [-8.22565885e-01 -5.68639730e-01 -5.84998004e-03 1.53500685e+02] [-6.39237215e-03 -1.04057113e-03 9.99979027e-01 -6.40993883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62 meters 0.032859224448207026 Centerline is valid? [True, True] Translation: X:137.83, Y:153.77, Z:-5.61 [[-3.52241300e-01 -9.35885751e-01 6.62780048e-03 1.37834647e+02] [-9.35807687e-01 3.52298565e-01 1.22349731e-02 1.53774365e+02] [-1.37855016e-02 -1.89268380e-03 -9.99903184e-01 -5.61069217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65 meters 0.033278091014218004 Centerline is valid? [True, True] Translation: X:138.42, Y:153.46, Z:-6.41 [[-5.61952798e-01 8.27165237e-01 -2.59316623e-03 1.38420947e+02] [-8.27147470e-01 -5.61957982e-01 -5.50355270e-03 1.53459978e+02] [-6.00959793e-03 -9.47805953e-04 9.99981493e-01 -6.41089362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68 meters 0.03319985490024294 Centerline is valid? [True, True] Translation: X:138.43, Y:153.40, Z:-6.41 [[-6.12538559e-01 7.90434451e-01 -3.14531967e-03 1.38425265e+02] [-7.90414525e-01 -6.12545807e-01 -5.70198734e-03 1.53403459e+02] [-6.43369961e-03 -1.00658076e-03 9.99978797e-01 -6.41127677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71 meters 0.03286976266308282 Centerline is valid? [True, True] Translation: X:137.84, Y:153.72, Z:-5.61 [[-4.19551847e-01 -9.07703239e-01 7.14689252e-03 1.37835936e+02] [-9.07633927e-01 4.19609168e-01 1.13490649e-02 1.53718876e+02] [-1.33004846e-02 -1.72524099e-03 -9.99910056e-01 -5.61155883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74 meters 0.034430663590153364 Centerline is valid? [True, True] Translation: X:137.79, Y:153.69, Z:-5.61 [[-3.57199256e-01 -9.34007071e-01 6.28350495e-03 1.37786044e+02] [-9.33934792e-01 3.57250591e-01 1.17396172e-02 1.53690176e+02] [-1.32096713e-02 -1.67500136e-03 -9.99911346e-01 -5.61175251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77 meters 0.031072979506877117 Centerline is valid? [True, True] Translation: X:138.38, Y:153.37, Z:-6.41 [[-5.41650178e-01 8.40599402e-01 -2.78031871e-03 1.38379717e+02] [-8.40580105e-01 -5.41656757e-01 -5.74842918e-03 1.53372515e+02] [-6.33810455e-03 -7.76557094e-04 9.99979613e-01 -6.41254147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8 meters 0.027184067428218044 Centerline is valid? [True, True] Translation: X:137.77, Y:153.64, Z:-5.61 [[-3.64143396e-01 -9.31321460e-01 6.31871361e-03 1.37772984e+02] [-9.31246356e-01 3.64194953e-01 1.19273343e-02 1.53642914e+02] [-1.34094260e-02 -1.54101901e-03 -9.99908902e-01 -5.61147989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83 meters 0.028068225300655402 Centerline is valid? [True, True] Translation: X:138.36, Y:153.33, Z:-6.41 [[-5.32023067e-01 8.46726503e-01 -2.38456369e-03 1.38358063e+02] [-8.46711510e-01 -5.32027968e-01 -5.08537073e-03 1.53329656e+02] [-5.57457274e-03 -6.86497005e-04 9.99984226e-01 -6.41393063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86 meters 0.0277123351774083 Centerline is valid? [True, True] Translation: X:138.36, Y:153.27, Z:-6.42 [[-5.80356588e-01 8.14358175e-01 -2.64462640e-03 1.38364556e+02] [-8.14343825e-01 -5.80362216e-01 -4.88183378e-03 1.53274418e+02] [-5.51040248e-03 -6.79569218e-04 9.99984587e-01 -6.41513810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89 meters 0.02198975382015649 Centerline is valid? [True, True] Translation: X:137.78, Y:153.58, Z:-5.61 [[-4.39146632e-01 -8.98384733e-01 7.42343534e-03 1.37776532e+02] [-8.98303438e-01 4.39207360e-01 1.21584360e-02 1.53580912e+02] [-1.41833807e-02 -1.32916128e-03 -9.99898527e-01 -5.61132124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91999999999996 meters 0.021822029212047435 Centerline is valid? [True, True] Translation: X:137.73, Y:153.55, Z:-5.61 [[-3.78864317e-01 -9.25429358e-01 6.50638591e-03 1.37726922e+02] [-9.25344778e-01 3.78918097e-01 1.25744429e-02 1.53547895e+02] [-1.41021460e-02 -1.25664250e-03 -9.99899770e-01 -5.61165041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95 meters 0.021950663518257165 Centerline is valid? [True, True] Translation: X:137.68, Y:153.52, Z:-5.61 [[-3.21738129e-01 -9.46811425e-01 5.71851199e-03 1.37676969e+02] [-9.46718426e-01 3.21786965e-01 1.33180927e-02 1.53515873e+02] [-1.44498650e-02 -1.12888243e-03 -9.99894958e-01 -5.61206318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97999999999996 meters 0.017958718687730454 Centerline is valid? [True, True] Translation: X:138.29, Y:153.25, Z:-6.41 [[-4.36025635e-01 8.99932628e-01 -1.70601948e-03 1.38290108e+02] [-8.99920649e-01 -4.36028684e-01 -4.67041252e-03 1.53249009e+02] [-4.94693004e-03 -5.01137428e-04 9.99987638e-01 -6.41411464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01 meters 0.017225345269676222 Centerline is valid? [True, True] Translation: X:137.66, Y:153.47, Z:-5.61 [[-3.26479196e-01 -9.45186576e-01 5.80263533e-03 1.37663000e+02] [-9.45088118e-01 3.26529173e-01 1.36802152e-02 1.53468125e+02] [-1.48250855e-02 -1.01769605e-03 -9.99889584e-01 -5.61415620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03999999999996 meters 0.017225345269676222 Centerline is valid? [True, True] Translation: X:137.62, Y:153.43, Z:-5.61 [[-2.58846092e-01 -9.65906590e-01 4.81248977e-03 1.37622434e+02] [-9.65805177e-01 2.58888834e-01 1.40332217e-02 1.53433060e+02] [-1.48006812e-02 -1.01548295e-03 -9.99889948e-01 -5.61439444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07 meters 0.01663215094522444 Centerline is valid? [True, True] Translation: X:138.26, Y:153.21, Z:-6.41 [[-3.60677520e-01 9.32689516e-01 -1.41152230e-03 1.38255106e+02] [-9.32676071e-01 -3.60679937e-01 -5.03290757e-03 1.53214951e+02] [-5.20324790e-03 -4.98763549e-04 9.99986339e-01 -6.41405833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09999999999997 meters 0.015959863214399857 Centerline is valid? [True, True] Translation: X:137.60, Y:153.39, Z:-5.62 [[-2.66051333e-01 -9.63949616e-01 4.22201783e-03 1.37602240e+02] [-9.63873089e-01 2.66083535e-01 1.21745810e-02 1.53389836e+02] [-1.28590921e-02 -8.30425870e-04 -9.99916974e-01 -5.61643526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13 meters 0.015444025465689876 Centerline is valid? [True, True] Translation: X:137.56, Y:153.35, Z:-5.62 [[-2.00222519e-01 -9.79745115e-01 3.23297906e-03 1.37561080e+02] [-9.79673211e-01 2.00247079e-01 1.18956555e-02 1.53349662e+02] [-1.23021049e-02 -7.85484864e-04 -9.99924018e-01 -5.61744167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15999999999997 meters 0.014949437148808038 Centerline is valid? [True, True] Translation: X:137.52, Y:153.30, Z:-5.62 [[-1.34940864e-01 -9.90850789e-01 2.38263465e-03 1.37518248e+02] [-9.90777221e-01 1.34959931e-01 1.20960459e-02 1.53304890e+02] [-1.23069369e-02 -7.28409250e-04 -9.99924001e-01 -5.61759485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19 meters 0.015029124805682983 Centerline is valid? [True, True] Translation: X:137.48, Y:153.26, Z:-5.62 [[-6.58493947e-02 -9.97828349e-01 1.56311961e-03 1.37482101e+02] [-9.97745687e-01 6.58640903e-02 1.28633526e-02 1.53264362e+02] [-1.29383713e-02 -7.12551872e-04 -9.99916042e-01 -5.61723117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21999999999997 meters 0.015103208900673171 Centerline is valid? [True, True] Translation: X:138.19, Y:153.18, Z:-6.41 [[-1.36789644e-01 9.90600047e-01 -3.75531280e-04 1.38194840e+02] [-9.90585807e-01 -1.36789696e-01 -5.32326561e-03 1.53178694e+02] [-5.32459598e-03 -3.56171654e-04 9.99985761e-01 -6.41499572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25 meters 0.015284101452196958 Centerline is valid? [True, True] Translation: X:137.46, Y:153.22, Z:-5.62 [[-6.19305465e-02 -9.98079059e-01 1.67329528e-03 1.37461547e+02] [-9.97962381e-01 6.19489205e-02 1.52780017e-02 1.53220425e+02] [-1.53523124e-02 -7.23710742e-04 -9.99881884e-01 -5.61591037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28 meters 0.015448758925327953 Centerline is valid? [True, True] Translation: X:137.43, Y:153.18, Z:-5.62 [[ 1.06588662e-02 -9.99943023e-01 5.82156397e-04 1.37425119e+02] [-9.99812085e-01 -1.06480395e-02 1.61992045e-02 1.53179921e+02] [-1.61920827e-02 -7.54712155e-04 -9.99868615e-01 -5.61573363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31 meters 0.015736744820882158 Centerline is valid? [True, True] Translation: X:138.20, Y:153.15, Z:-6.42 [[-6.87186750e-02 9.97636043e-01 2.64204890e-04 1.38198538e+02] [-9.97633345e-01 -6.87178645e-02 -2.35879234e-03 1.53150333e+02] [-2.33506066e-03 -4.25672692e-04 9.99997183e-01 -6.41674625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34 meters 0.016946666078161133 Centerline is valid? [True, True] Translation: X:138.25, Y:153.11, Z:-6.42 [[-1.44104097e-01 9.89562519e-01 1.72935454e-04 1.38245104e+02] [-9.89561895e-01 -1.44103803e-01 -1.16178027e-03 1.53108546e+02] [-1.12473355e-03 -3.38547632e-04 9.99999310e-01 -6.41693560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37 meters 0.017781019068163588 Centerline is valid? [True, True] Translation: X:137.42, Y:153.16, Z:-5.62 [[-3.62397737e-02 -9.99341658e-01 1.71151058e-03 1.37415337e+02] [-9.99182827e-01 3.62645814e-02 1.78482193e-02 1.53158572e+02] [-1.78985363e-02 -1.06329655e-03 -9.99839243e-01 -5.61652372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4 meters 0.018988868038980644 Centerline is valid? [True, True] Translation: X:138.26, Y:153.07, Z:-6.42 [[-1.52068348e-01 9.88369915e-01 3.57838272e-04 1.38264396e+02] [-9.88369592e-01 -1.52067957e-01 -9.41332892e-04 1.53074053e+02] [-8.75969376e-04 -4.96823404e-04 9.99999493e-01 -6.41675346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43 meters 0.020598208302843427 Centerline is valid? [True, True] Translation: X:138.30, Y:153.03, Z:-6.42 [[-2.24270220e-01 9.74526953e-01 2.92272470e-04 1.38298757e+02] [-9.74526633e-01 -2.24269867e-01 -9.32131930e-04 1.53028653e+02] [-8.42839782e-04 -4.93876739e-04 9.99999523e-01 -6.41676189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46 meters 0.025149359449087486 Centerline is valid? [True, True] Translation: X:138.34, Y:152.98, Z:-6.42 [[-3.01537712e-01 9.53454250e-01 -4.64709283e-05 1.38341761e+02] [-9.53451869e-01 -3.01537067e-01 -2.22052462e-03 1.52979639e+02] [-2.13118134e-03 -6.25264118e-04 9.99997534e-01 -6.41618010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49 meters 0.02659153260329066 Centerline is valid? [True, True] Translation: X:138.37, Y:152.92, Z:-6.42 [[-3.70399068e-01 9.28872625e-01 -4.20956674e-04 1.38367154e+02] [-9.28868141e-01 -3.70398627e-01 -2.97222888e-03 1.52924056e+02] [-2.91674382e-03 -7.09897564e-04 9.99995494e-01 -6.41511074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52 meters 0.028113199498285776 Centerline is valid? [True, True] Translation: X:137.44, Y:153.18, Z:-5.62 [[-1.97483013e-01 -9.80296797e-01 4.31858527e-03 1.37444606e+02] [-9.80200456e-01 1.97524510e-01 1.38251136e-02 1.53177729e+02] [-1.44057410e-02 -1.50285417e-03 -9.99895103e-01 -5.62010590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55 meters 0.031168856427144297 Centerline is valid? [True, True] Translation: X:138.39, Y:152.89, Z:-6.41 [[-3.78611760e-01 9.25554277e-01 -1.55434517e-03 1.38387071e+02] [-9.25532271e-01 -3.78613610e-01 -6.46145992e-03 1.52890255e+02] [-6.56892810e-03 -1.00778810e-03 9.99977917e-01 -6.41292883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58 meters 0.02830951423446732 Centerline is valid? [True, True] Translation: X:137.42, Y:153.15, Z:-5.62 [[-1.85586086e-01 -9.82621867e-01 3.47425836e-03 1.37418724e+02] [-9.82563886e-01 1.85613207e-01 1.07678536e-02 1.53146598e+02] [-1.12255967e-02 -1.41531699e-03 -9.99935989e-01 -5.62259908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61 meters 0.028236189003132343 Centerline is valid? [True, True] Translation: X:137.37, Y:153.10, Z:-5.62 [[-1.15795952e-01 -9.93269464e-01 2.65895795e-03 1.37373982e+02] [-9.93212317e-01 1.15818056e-01 1.07457342e-02 1.53096262e+02] [-1.09813650e-02 -1.39659727e-03 -9.99938728e-01 -5.62308449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64 meters 0.02785832908295216 Centerline is valid? [True, True] Translation: X:137.33, Y:153.04, Z:-5.62 [[-4.65086018e-02 -9.98916184e-01 1.84586987e-03 1.37333664e+02] [-9.98861966e-01 4.65254716e-02 1.04953608e-02 1.53039486e+02] [-1.05698657e-02 -1.35564465e-03 -9.99943218e-01 -5.62328242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66999999999996 meters 0.026456260973074724 Centerline is valid? [True, True] Translation: X:138.34, Y:152.87, Z:-6.41 [[-2.31725775e-01 9.72780103e-01 -1.42727881e-03 1.38342035e+02] [-9.72732030e-01 -2.31728569e-01 -9.70916711e-03 1.52873733e+02] [-9.77562585e-03 -8.61504464e-04 9.99951846e-01 -6.41297487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7 meters 0.02731604817596635 Centerline is valid? [True, True] Translation: X:137.33, Y:152.99, Z:-5.62 [[-5.89608545e-02 -9.98258953e-01 1.63719024e-03 1.37325827e+02] [-9.98219650e-01 5.89731742e-02 8.92720547e-03 1.52993512e+02] [-9.00821309e-03 -1.10791981e-03 -9.99958811e-01 -5.62469451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72999999999996 meters 0.023859275476470834 Centerline is valid? [True, True] Translation: X:138.34, Y:152.84, Z:-6.41 [[-2.17649322e-01 9.76026161e-01 -1.30616261e-03 1.38338603e+02] [-9.75986474e-01 -2.17652283e-01 -8.82533582e-03 1.52838695e+02] [-8.89804791e-03 -6.46031320e-04 9.99960203e-01 -6.41275201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76 meters 0.021529350352236996 Centerline is valid? [True, True] Translation: X:138.35, Y:152.78, Z:-6.41 [[-2.77673165e-01 9.60673987e-01 -1.76201413e-03 1.38353193e+02] [-9.60638607e-01 -2.77678101e-01 -8.26675320e-03 1.52777642e+02] [-8.43092749e-03 -6.02796726e-04 9.99964277e-01 -6.41366751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78999999999996 meters 0.020505329741779096 Centerline is valid? [True, True] Translation: X:138.36, Y:152.71, Z:-6.42 [[-3.34749786e-01 9.42305003e-01 -1.96524656e-03 1.38364600e+02] [-9.42278815e-01 -3.34755173e-01 -7.04341534e-03 1.52712082e+02] [-7.29492196e-03 -5.05971583e-04 9.99973264e-01 -6.41519644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82 meters 0.01994558391898971 Centerline is valid? [True, True] Translation: X:137.39, Y:152.96, Z:-5.62 [[-2.08651640e-01 -9.77984077e-01 3.41138371e-03 1.37389239e+02] [-9.77920694e-01 2.08677113e-01 1.11793995e-02 1.52960287e+02] [-1.16451524e-02 -1.00346268e-03 -9.99931689e-01 -5.62254028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84999999999997 meters 0.020243215711285636 Centerline is valid? [True, True] Translation: X:137.35, Y:152.91, Z:-5.62 [[-1.40107456e-01 -9.90132539e-01 2.73076384e-03 1.37350326e+02] [-9.90059291e-01 1.40130423e-01 1.20857157e-02 1.52908325e+02] [-1.23491235e-02 -1.01031923e-03 -9.99923236e-01 -5.62160572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88 meters 0.021214689037886005 Centerline is valid? [True, True] Translation: X:138.34, Y:152.70, Z:-6.42 [[-2.62783358e-01 9.64854412e-01 -9.32881597e-04 1.38335744e+02] [-9.64840532e-01 -2.62784601e-01 -5.19620150e-03 1.52696752e+02] [-5.25872487e-03 -4.65393300e-04 9.99986065e-01 -6.41800563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90999999999997 meters 0.02178525077202508 Centerline is valid? [True, True] Translation: X:137.34, Y:152.88, Z:-5.62 [[-1.33007627e-01 -9.91110770e-01 2.90052744e-03 1.37343304e+02] [-9.91021253e-01 1.33034728e-01 1.33655017e-02 1.52877194e+02] [-1.36325636e-02 -1.09677067e-03 -9.99906471e-01 -5.62173857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94 meters 0.021303686398522193 Centerline is valid? [True, True] Translation: X:137.31, Y:152.83, Z:-5.62 [[-6.04757112e-02 -9.98167748e-01 1.95840892e-03 1.37309645e+02] [-9.98075140e-01 6.04968690e-02 1.36434683e-02 1.52829115e+02] [-1.37369477e-02 -1.12954080e-03 -9.99905006e-01 -5.62259208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96999999999997 meters 0.02255010701978586 Centerline is valid? [True, True] Translation: X:138.31, Y:152.69, Z:-6.42 [[-1.99292460e-01 9.79939942e-01 -4.74812868e-04 1.38313567e+02] [-9.79923789e-01 -1.99291920e-01 -5.66544800e-03 1.52688478e+02] [-5.64642515e-03 -6.63800646e-04 9.99983839e-01 -6.41666753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0 meters 0.022252962491193087 Centerline is valid? [True, True] Translation: X:138.33, Y:152.63, Z:-6.42 [[-2.67342082e-01 9.63601398e-01 -7.45873589e-04 1.38333044e+02] [-9.63589026e-01 -2.67342458e-01 -4.91926787e-03 1.52633513e+02] [-4.93961707e-03 -5.96411710e-04 9.99987622e-01 -6.41670061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03 meters 0.023381942188504028 Centerline is valid? [True, True] Translation: X:137.33, Y:152.81, Z:-5.62 [[-1.14631659e-01 -9.93404069e-01 2.81751645e-03 1.37333825e+02] [-9.93313747e-01 1.14659396e-01 1.34545050e-02 1.52805525e+02] [-1.36888148e-02 -1.25636559e-03 -9.99905515e-01 -5.62323127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06 meters 0.02300869745317949 Centerline is valid? [True, True] Translation: X:137.30, Y:152.76, Z:-5.62 [[-4.20143151e-02 -9.99115219e-01 1.89099857e-03 1.37300853e+02] [-9.99018185e-01 4.20367038e-02 1.39850706e-02 1.52756511e+02] [-1.40521882e-02 -1.30156880e-03 -9.99900416e-01 -5.62314944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09 meters 0.024599438021381287 Centerline is valid? [True, True] Translation: X:137.27, Y:152.70, Z:-5.62 [[ 3.22103401e-02 -9.99480702e-01 9.05789858e-04 1.37268386e+02] [-9.99375264e-01 -3.21937267e-02 1.45824037e-02 1.52702845e+02] [-1.45456703e-02 -1.37492816e-03 -9.99893261e-01 -5.62261774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12 meters 0.024711879401832046 Centerline is valid? [True, True] Translation: X:138.29, Y:152.64, Z:-6.42 [[-1.34664317e-01 9.90891276e-01 2.32448380e-05 1.38285754e+02] [-9.90883836e-01 -1.34663215e-01 -3.87845290e-03 1.52640357e+02] [-3.83999492e-03 -5.45322144e-04 9.99992479e-01 -6.41914447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15 meters 0.02587039628488987 Centerline is valid? [True, True] Translation: X:138.31, Y:152.59, Z:-6.42 [[-2.01338438e-01 9.79521698e-01 -2.77406729e-04 1.38311788e+02] [-9.79512605e-01 -2.01337775e-01 -4.26107527e-03 1.52586467e+02] [-4.22966813e-03 -5.86194849e-04 9.99990883e-01 -6.41902519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18 meters 0.025526680816505564 Centerline is valid? [True, True] Translation: X:138.33, Y:152.54, Z:-6.42 [[-2.66056283e-01 9.63957277e-01 -6.50146561e-04 1.38333214e+02] [-9.63945681e-01 -2.66056300e-01 -4.77167078e-03 1.52535453e+02] [-4.77266236e-03 -6.42827020e-04 9.99988404e-01 -6.41854223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21 meters 0.02610092508912688 Centerline is valid? [True, True] Translation: X:137.32, Y:152.69, Z:-5.62 [[-9.92625606e-02 -9.95057849e-01 2.61181487e-03 1.37323310e+02] [-9.94972985e-01 9.92883761e-02 1.30605188e-02 1.52689003e+02] [-1.32552946e-02 -1.30226470e-03 -9.99911297e-01 -5.62482006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24 meters 0.024154958389972926 Centerline is valid? [True, True] Translation: X:138.33, Y:152.50, Z:-6.42 [[-2.60235682e-01 9.65544825e-01 -7.61856074e-04 1.38326252e+02] [-9.65532352e-01 -2.60236217e-01 -4.93857734e-03 1.52499232e+02] [-4.96668033e-03 -5.49597354e-04 9.99987515e-01 -6.41852196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27 meters 0.024277585957057493 Centerline is valid? [True, True] Translation: X:138.34, Y:152.44, Z:-6.42 [[-3.22817006e-01 9.46460899e-01 -9.73733085e-04 1.38343524e+02] [-9.46450761e-01 -3.22818085e-01 -4.40914598e-03 1.52442602e+02] [-4.48742292e-03 -5.01756887e-04 9.99989806e-01 -6.41920341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3 meters 0.02295166571276977 Centerline is valid? [True, True] Translation: X:137.35, Y:152.65, Z:-5.62 [[-1.72146687e-01 -9.85064983e-01 3.53515806e-03 1.37353603e+02] [-9.84975702e-01 1.72178870e-01 1.33154919e-02 1.52654935e+02] [-1.37253043e-02 -1.18982699e-03 -9.99905096e-01 -5.62389288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33 meters 0.02206964233840179 Centerline is valid? [True, True] Translation: X:137.32, Y:152.60, Z:-5.62 [[-1.05565670e-01 -9.94408689e-01 2.69247075e-03 1.37316623e+02] [-9.94306686e-01 1.05593534e-01 1.42905221e-02 1.52597845e+02] [-1.44949268e-02 -1.16855314e-03 -9.99894260e-01 -5.62414793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36 meters 0.02095098813529354 Centerline is valid? [True, True] Translation: X:137.28, Y:152.55, Z:-5.62 [[-3.82659356e-02 -9.99266128e-01 1.70998787e-03 1.37284719e+02] [-9.99155093e-01 3.82872486e-02 1.49394413e-02 1.52546880e+02] [-1.49939484e-02 -1.13687139e-03 -9.99886938e-01 -5.62436189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39 meters 0.020648907981957888 Centerline is valid? [True, True] Translation: X:137.25, Y:152.49, Z:-5.62 [[ 2.57511651e-02 -9.99668173e-01 6.49649501e-04 1.37254542e+02] [-9.99545434e-01 -2.57378005e-02 1.57000423e-02 1.52486274e+02] [-1.56781120e-02 -1.05364857e-03 -9.99876536e-01 -5.62368939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41999999999996 meters 0.019239546265605194 Centerline is valid? [True, True] Translation: X:138.26, Y:152.44, Z:-6.42 [[-9.05891478e-02 9.95888343e-01 1.22462671e-04 1.38256271e+02] [-9.95886157e-01 -9.05886896e-02 -2.10977718e-03 1.52443345e+02] [-2.09000876e-03 -3.13081796e-04 9.99997767e-01 -6.42195327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45 meters 0.018504821153783275 Centerline is valid? [True, True] Translation: X:137.26, Y:152.45, Z:-5.62 [[ 2.34734680e-02 -9.99724283e-01 5.95874587e-04 1.37261417e+02] [-9.99605637e-01 -2.34614845e-02 1.54314584e-02 1.52446146e+02] [-1.54132236e-02 -9.57869442e-04 -9.99880750e-01 -5.62468102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47999999999996 meters 0.01866932959694557 Centerline is valid? [True, True] Translation: X:137.24, Y:152.39, Z:-5.62 [[ 9.27629789e-02 -9.95688084e-01 -5.19570373e-04 1.37235103e+02] [-9.95563984e-01 -9.27596349e-02 1.57481411e-02 1.52386713e+02] [-1.57284316e-02 -9.43578929e-04 -9.99875855e-01 -5.62472651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51 meters 0.01837078610325495 Centerline is valid? [True, True] Translation: X:137.21, Y:152.33, Z:-5.63 [[ 1.60213696e-01 -9.87081138e-01 -1.54894296e-03 1.37214645e+02] [-9.86965972e-01 -1.60218705e-01 1.51042069e-02 1.52327544e+02] [-1.51572474e-02 -8.91146818e-04 -9.99884725e-01 -5.62628204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53999999999996 meters 0.01835099398050887 Centerline is valid? [True, True] Translation: X:138.20, Y:152.43, Z:-6.42 [[ 6.13645024e-02 9.98115253e-01 5.82491167e-04 1.38204504e+02] [-9.98108772e-01 6.13662135e-02 -3.61475777e-03 1.52428947e+02] [-3.64369014e-03 -3.59571732e-04 9.99993297e-01 -6.42068565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57 meters 0.01831409678419338 Centerline is valid? [True, True] Translation: X:138.24, Y:152.38, Z:-6.42 [[-4.92412252e-03 9.99987812e-01 3.59491924e-04 1.38236799e+02] [-9.99980176e-01 -4.92267347e-03 -3.92616477e-03 1.52381205e+02] [-3.92434725e-03 -3.78817713e-04 9.99992228e-01 -6.41924289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59999999999997 meters 0.018185547227538637 Centerline is valid? [True, True] Translation: X:138.27, Y:152.33, Z:-6.42 [[-7.17111399e-02 9.97425437e-01 9.57903711e-05 1.38265175e+02] [-9.97417039e-01 -7.17101412e-02 -4.11164048e-03 1.52332309e+02] [-4.09418567e-03 -3.90393374e-04 9.99991543e-01 -6.41894373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63 meters 0.018276736339772216 Centerline is valid? [True, True] Translation: X:137.27, Y:152.32, Z:-5.63 [[ 2.67923695e-02 -9.99640916e-01 4.55980937e-04 1.37274642e+02] [-9.99544316e-01 -2.67834302e-02 1.39215046e-02 1.52321233e+02] [-1.39042929e-02 -8.28763250e-04 -9.99902987e-01 -5.62901872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65999999999997 meters 0.018476514238870975 Centerline is valid? [True, True] Translation: X:138.27, Y:152.29, Z:-6.42 [[-6.81721013e-02 9.97673520e-01 3.34292826e-04 1.38265125e+02] [-9.97667387e-01 -6.81704942e-02 -3.54529196e-03 1.52291891e+02] [-3.51425501e-03 -5.75203053e-04 9.99993660e-01 -6.42049901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69 meters 0.0187117201323219 Centerline is valid? [True, True] Translation: X:137.28, Y:152.28, Z:-5.63 [[ 3.10876800e-02 -9.99516587e-01 3.85605601e-04 1.37276654e+02] [-9.99401649e-01 -3.10782482e-02 1.51817696e-02 1.52280580e+02] [-1.51624466e-02 -8.57340870e-04 -9.99884676e-01 -5.62782809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71999999999997 meters 0.018835574995667896 Centerline is valid? [True, True] Translation: X:137.25, Y:152.23, Z:-5.63 [[ 1.01539080e-01 -9.94831272e-01 -7.45196622e-04 1.37254231e+02] [-9.94705967e-01 -1.01538135e-01 1.58128828e-02 1.52226370e+02] [-1.58068162e-02 -8.64374048e-04 -9.99874691e-01 -5.62727597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75 meters 0.01859454907596792 Centerline is valid? [True, True] Translation: X:137.24, Y:152.17, Z:-5.63 [[ 1.72008773e-01 -9.85093492e-01 -1.94801635e-03 1.37235013e+02] [-9.84959594e-01 -1.72017558e-01 1.62652535e-02 1.52169751e+02] [-1.63578884e-02 -8.79048911e-04 -9.99865814e-01 -5.62799004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78 meters 0.018761774481991077 Centerline is valid? [True, True] Translation: X:137.22, Y:152.11, Z:-5.63 [[ 2.41211413e-01 -9.70467058e-01 -3.27763185e-03 1.37219496e+02] [-9.70320659e-01 -2.41232034e-01 1.68797319e-02 1.52108987e+02] [-1.71718936e-02 -8.91230088e-04 -9.99852155e-01 -5.62779873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81 meters 0.0188528652197102 Centerline is valid? [True, True] Translation: X:137.21, Y:152.04, Z:-5.63 [[ 3.09700383e-01 -9.50821068e-01 -4.99688951e-03 1.37212043e+02] [-9.50644704e-01 -3.09739301e-01 1.83361028e-02 1.52044970e+02] [-1.89820860e-02 -9.28431533e-04 -9.99819393e-01 -5.62694433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84 meters 0.01910919836609221 Centerline is valid? [True, True] Translation: X:138.15, Y:152.30, Z:-6.42 [[ 2.13425328e-01 9.76959241e-01 -5.20344075e-04 1.38154027e+02] [-9.76955957e-01 2.13425960e-01 2.53340316e-03 1.52295883e+02] [ 2.58608656e-03 -3.23391566e-05 9.99996656e-01 -6.42471012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87 meters 0.01938048605590845 Centerline is valid? [True, True] Translation: X:137.22, Y:152.01, Z:-5.63 [[ 3.13335888e-01 -9.49625197e-01 -5.71029402e-03 1.37224808e+02] [-9.49406472e-01 -3.13386410e-01 2.04036723e-02 1.52013163e+02] [-2.11653699e-02 -9.71812683e-04 -9.99775516e-01 -5.62579702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9 meters 0.020604063674870332 Centerline is valid? [True, True] Translation: X:137.22, Y:151.96, Z:-5.62 [[ 3.79485139e-01 -9.25168662e-01 -7.34686485e-03 1.37215038e+02] [-9.24941800e-01 -3.79554964e-01 2.05108875e-02 1.51957258e+02] [-2.17645693e-02 -9.88154574e-04 -9.99762635e-01 -5.62475366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93 meters 0.020604063674870332 Centerline is valid? [True, True] Translation: X:137.21, Y:151.90, Z:-5.62 [[ 4.43903209e-01 -8.96031892e-01 -8.76293110e-03 1.37212005e+02] [-8.95810923e-01 -4.43988581e-01 1.99230959e-02 1.51895020e+02] [-2.17423707e-02 -9.93996815e-04 -9.99763113e-01 -5.62496494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96 meters 0.019653861681272148 Centerline is valid? [True, True] Translation: X:137.22, Y:151.83, Z:-5.63 [[ 5.06396345e-01 -8.62236796e-01 -1.05094705e-02 1.37216446e+02] [-8.62007974e-01 -5.06504375e-01 1.98889564e-02 1.51833786e+02] [-2.24720828e-02 -1.01244741e-03 -9.99746958e-01 -5.62735661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99 meters 0.02014732309585602 Centerline is valid? [True, True] Translation: X:138.08, Y:152.27, Z:-6.43 [[ 4.14035165e-01 9.10256879e-01 -2.70136244e-03 1.38077779e+02] [-9.10241989e-01 4.14043869e-01 5.21499558e-03 1.52273422e+02] [ 5.86546815e-03 2.99701966e-04 9.99982753e-01 -6.42519426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02 meters 0.021645681150422477 Centerline is valid? [True, True] Translation: X:137.23, Y:151.80, Z:-5.63 [[ 5.14874434e-01 -8.57192426e-01 -1.12009773e-02 1.37233100e+02] [-8.56937157e-01 -5.14994885e-01 2.09518051e-02 1.51798480e+02] [-2.37281747e-02 -1.18901516e-03 -9.99717740e-01 -5.62588014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05 meters 0.02133535167826581 Centerline is valid? [True, True] Translation: X:137.24, Y:151.74, Z:-5.63 [[ 5.76004841e-01 -8.17347837e-01 -1.26860616e-02 1.37238625e+02] [-8.17100271e-01 -5.76143184e-01 2.01538660e-02 1.51739034e+02] [-2.37817067e-02 -1.24293996e-03 -9.99716403e-01 -5.62684109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08 meters 0.021913633448270922 Centerline is valid? [True, True] Translation: X:137.25, Y:151.68, Z:-5.63 [[ 6.33194767e-01 -7.73867594e-01 -1.39044989e-02 1.37248134e+02] [-7.73635881e-01 -6.33346162e-01 1.89779610e-02 1.51678270e+02] [-2.34927900e-02 -1.25972633e-03 -9.99723213e-01 -5.62708221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11 meters 0.02292215612868621 Centerline is valid? [True, True] Translation: X:138.05, Y:152.24, Z:-6.43 [[ 5.31562924e-01 8.47010793e-01 -3.68421186e-03 1.38045315e+02] [-8.46986352e-01 5.31575605e-01 6.44167345e-03 1.52243331e+02] [ 7.41460409e-03 -3.03677607e-04 9.99972465e-01 -6.42655963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14 meters 0.02333392056094688 Centerline is valid? [True, True] Translation: X:137.27, Y:151.64, Z:-5.63 [[ 6.40691946e-01 -7.67643264e-01 -1.54158867e-02 1.37265720e+02] [-7.67363319e-01 -6.40875660e-01 2.07827906e-02 1.51642676e+02] [-2.58334358e-02 -1.48578060e-03 -9.99665157e-01 -5.62807201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16999999999996 meters 0.024280092943321032 Centerline is valid? [True, True] Translation: X:137.28, Y:151.58, Z:-5.63 [[ 6.95068183e-01 -7.18741200e-01 -1.70677660e-02 1.37276782e+02] [-7.18467787e-01 -6.95275960e-01 1.98841247e-02 1.51580122e+02] [-2.61583470e-02 -1.55818235e-03 -9.99656598e-01 -5.62790644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2 meters 0.02436557312357565 Centerline is valid? [True, True] Translation: X:137.30, Y:151.52, Z:-5.63 [[ 7.45115029e-01 -6.66693530e-01 -1.79814264e-02 1.37296811e+02] [-6.66447161e-01 -7.45330310e-01 1.81909410e-02 1.51517718e+02] [-2.55298848e-02 -1.57067297e-03 -9.99672825e-01 -5.62750126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22999999999996 meters 0.025321696192466776 Centerline is valid? [True, True] Translation: X:137.99, Y:152.20, Z:-6.43 [[ 6.94448203e-01 7.19527663e-01 -4.65151766e-03 1.37986762e+02] [-7.19513737e-01 6.94463741e-01 4.48271069e-03 1.52202879e+02] [ 6.45574470e-03 2.33820475e-04 9.99979134e-01 -6.42902957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26 meters 0.02504795636256148 Centerline is valid? [True, True] Translation: X:138.01, Y:152.18, Z:-6.43 [[ 6.95625316e-01 7.18392199e-01 -4.25066185e-03 1.38007712e+02] [-7.18380572e-01 6.95638272e-01 4.09252951e-03 1.52182963e+02] [ 5.89696434e-03 2.06725758e-04 9.99982591e-01 -6.42882887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28999999999996 meters 0.02461794284077894 Centerline is valid? [True, True] Translation: X:138.03, Y:152.16, Z:-6.43 [[ 6.97736636e-01 7.16346225e-01 -3.41672149e-03 1.38029182e+02] [-7.16338696e-01 6.97744984e-01 3.28783078e-03 1.52162927e+02] [ 4.73922545e-03 1.53489823e-04 9.99988758e-01 -6.42857301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32 meters 0.023425727384256592 Centerline is valid? [True, True] Translation: X:138.05, Y:152.14, Z:-6.43 [[ 7.00041708e-01 7.14096363e-01 -2.82686359e-03 1.38049040e+02] [-7.14091199e-01 7.00047406e-01 2.71816173e-03 1.52141833e+02] [ 3.91996793e-03 1.15811832e-04 9.99992310e-01 -6.42701465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34999999999997 meters 0.022236463277807636 Centerline is valid? [True, True] Translation: X:138.07, Y:152.12, Z:-6.43 [[ 7.05983205e-01 7.08224530e-01 -2.39385293e-03 1.38068143e+02] [-7.08220793e-01 7.05987260e-01 2.30170981e-03 1.52122233e+02] [ 3.32015702e-03 7.04079564e-05 9.99994486e-01 -6.42644896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38 meters 0.021572930837086057 Centerline is valid? [True, True] Translation: X:138.09, Y:152.10, Z:-6.43 [[ 7.09059510e-01 7.05145108e-01 -2.23344484e-03 1.38088628e+02] [-7.05141841e-01 7.09063026e-01 2.14724928e-03 1.52101161e+02] [ 3.09777548e-03 5.23678885e-05 9.99995201e-01 -6.42691575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40999999999997 meters 0.021188761320988746 Centerline is valid? [True, True] Translation: X:138.11, Y:152.08, Z:-6.43 [[ 7.11611929e-01 7.02568135e-01 -2.54528195e-03 1.38107928e+02] [-7.02563874e-01 7.11616480e-01 2.44727947e-03 1.52080772e+02] [ 3.53064516e-03 4.67098798e-05 9.99993766e-01 -6.42873821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44 meters 0.020257632444845974 Centerline is valid? [True, True] Translation: X:138.13, Y:152.06, Z:-6.43 [[ 7.16392791e-01 6.97694516e-01 -1.93151857e-03 1.38126879e+02] [-6.97692052e-01 7.16395395e-01 1.85431357e-03 1.52058174e+02] [ 2.67747541e-03 1.91882791e-05 9.99996415e-01 -6.42815326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46999999999997 meters 0.02017171602931053 Centerline is valid? [True, True] Translation: X:138.15, Y:152.04, Z:-6.43 [[ 7.19254475e-01 6.94745782e-01 -1.13961040e-03 1.38146307e+02] [-6.94744920e-01 7.19255377e-01 1.09444225e-03 1.52038171e+02] [ 1.58003004e-03 4.55605026e-06 9.99998752e-01 -6.42851912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5 meters 0.020158752637389234 Centerline is valid? [True, True] Translation: X:138.17, Y:152.02, Z:-6.43 [[ 7.21418266e-01 6.92498242e-01 -1.36756587e-03 1.38166214e+02] [-6.92497002e-01 7.21419562e-01 1.31052963e-03 1.52018810e+02] [ 1.89412823e-03 1.59525417e-06 9.99998206e-01 -6.42780552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53 meters 0.020357160426946158 Centerline is valid? [True, True] Translation: X:138.18, Y:152.00, Z:-6.43 [[ 7.26237489e-01 6.87442972e-01 -1.12678210e-03 1.38183835e+02] [-6.87442121e-01 7.26238363e-01 1.08132903e-03 1.51996823e+02] [ 1.56166443e-03 -1.07041994e-05 9.99998781e-01 -6.42928752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56 meters 0.02081222321276251 Centerline is valid? [True, True] Translation: X:138.20, Y:151.98, Z:-6.43 [[ 7.28495051e-01 6.85049673e-01 -1.38070711e-03 1.38202992e+02] [-6.85048392e-01 7.28496359e-01 1.32506217e-03 1.51976028e+02] [ 1.91357351e-03 -1.94500473e-05 9.99998169e-01 -6.43044843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59 meters 0.020472867995195185 Centerline is valid? [True, True] Translation: X:138.22, Y:151.96, Z:-6.43 [[ 7.29538438e-01 6.83937617e-01 -1.73283418e-03 1.38223816e+02] [-6.83935602e-01 7.29540496e-01 1.66048212e-03 1.51956088e+02] [ 2.39983889e-03 -2.62385458e-05 9.99997120e-01 -6.43024003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62 meters 0.02126044693313539 Centerline is valid? [True, True] Translation: X:138.24, Y:151.94, Z:-6.43 [[ 7.31841658e-01 6.81472642e-01 -1.68134435e-03 1.38242233e+02] [-6.81470734e-01 7.31843588e-01 1.61268506e-03 1.51935566e+02] [ 2.32948183e-03 -3.44431350e-05 9.99997286e-01 -6.43174778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65 meters 0.021294677701377007 Centerline is valid? [True, True] Translation: X:138.26, Y:151.92, Z:-6.43 [[ 7.33269434e-01 6.79936556e-01 -1.48894052e-03 1.38262858e+02] [-6.79935062e-01 7.33270945e-01 1.42547641e-03 1.51915431e+02] [ 2.06103034e-03 -3.28754166e-05 9.99997876e-01 -6.43121166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68 meters 0.022115093904991973 Centerline is valid? [True, True] Translation: X:138.28, Y:151.89, Z:-6.43 [[ 7.34647826e-01 6.78447486e-01 -1.25757969e-03 1.38280990e+02] [-6.78446417e-01 7.34648901e-01 1.20457936e-03 1.51894810e+02] [ 1.74112337e-03 -3.17411723e-05 9.99998484e-01 -6.43169687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71 meters 0.022267703680662117 Centerline is valid? [True, True] Translation: X:138.30, Y:151.87, Z:-6.43 [[ 7.36248176e-01 6.76711568e-01 -2.75969242e-04 1.38300828e+02] [-6.76711518e-01 7.36248228e-01 2.61720728e-04 1.51874311e+02] [ 3.80291310e-04 -5.93984425e-06 9.99999928e-01 -6.43056139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74 meters 0.022047895098171632 Centerline is valid? [True, True] Translation: X:138.32, Y:151.85, Z:-6.43 [[ 7.37224800e-01 6.75647519e-01 1.58229258e-04 1.38321639e+02] [-6.75647501e-01 7.37224817e-01 -1.54524657e-04 1.51854838e+02] [-2.21054737e-04 7.01220714e-06 9.99999976e-01 -6.43035000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77 meters 0.02198845274151708 Centerline is valid? [True, True] Translation: X:138.34, Y:151.84, Z:-6.43 [[ 7.37404718e-01 6.75451166e-01 -7.18700546e-05 1.38340841e+02] [-6.75451163e-01 7.37404721e-01 6.55084623e-05 1.51835257e+02] [ 9.72450849e-05 2.38462881e-07 9.99999995e-01 -6.43082166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8 meters 0.02280066506924264 Centerline is valid? [True, True] Translation: X:138.36, Y:151.81, Z:-6.43 [[ 7.38409746e-01 6.74352316e-01 -4.43359248e-05 1.38359884e+02] [-6.74352314e-01 7.38409747e-01 4.14216325e-05 1.51814771e+02] [ 6.06708529e-05 -6.88103602e-07 9.99999998e-01 -6.43206123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83 meters 0.022535785615264276 Centerline is valid? [True, True] Translation: X:138.38, Y:151.79, Z:-6.43 [[ 7.39217813e-01 6.73465720e-01 -9.74397781e-04 1.38379551e+02] [-6.73465079e-01 7.39218455e-01 9.29629460e-04 1.51794356e+02] [ 1.34636639e-03 -3.09757783e-05 9.99999093e-01 -6.43375454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86 meters 0.02189054272945171 Centerline is valid? [True, True] Translation: X:138.40, Y:151.78, Z:-6.43 [[ 7.39019194e-01 6.73682230e-01 -1.69830377e-03 1.38400417e+02] [-6.73680282e-01 7.39021143e-01 1.62100721e-03 1.51775702e+02] [ 2.34712615e-03 -5.38416777e-05 9.99997244e-01 -6.43458393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89 meters 0.021559221381339904 Centerline is valid? [True, True] Translation: X:138.42, Y:151.76, Z:-6.44 [[ 7.38710810e-01 6.74018529e-01 -2.31562161e-03 1.38420445e+02] [-6.74014909e-01 7.38714436e-01 2.21022570e-03 1.51756662e+02] [ 3.20031618e-03 -7.19541279e-05 9.99994876e-01 -6.43546511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91999999999996 meters 0.020957464548192577 Centerline is valid? [True, True] Translation: X:138.44, Y:151.74, Z:-6.44 [[ 7.36876891e-01 6.76020927e-01 -2.85555673e-03 1.38442092e+02] [-6.76015429e-01 7.36882420e-01 2.72750153e-03 1.51739145e+02] [ 3.94805766e-03 -7.94324436e-05 9.99992203e-01 -6.43621763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95 meters 0.020294673465038122 Centerline is valid? [True, True] Translation: X:138.46, Y:151.72, Z:-6.44 [[ 7.35289331e-01 6.77747437e-01 -2.83029224e-03 1.38464123e+02] [-6.77742060e-01 7.35294775e-01 2.70070514e-03 1.51720785e+02] [ 3.91149509e-03 -6.75915849e-05 9.99992348e-01 -6.43639414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97999999999996 meters 0.01970464875465602 Centerline is valid? [True, True] Translation: X:138.49, Y:151.70, Z:-6.44 [[ 7.33346634e-01 6.79848450e-01 -2.96643758e-03 1.38486819e+02] [-6.79842565e-01 7.33352631e-01 2.82943799e-03 1.51702454e+02] [ 4.09903383e-03 -5.82482902e-05 9.99991597e-01 -6.43711818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01 meters 0.018775064987229716 Centerline is valid? [True, True] Translation: X:138.51, Y:151.68, Z:-6.44 [[ 7.30890163e-01 6.82492629e-01 -1.83880981e-03 1.38509199e+02] [-6.82490381e-01 7.30892476e-01 1.75192289e-03 1.51684578e+02] [ 2.53964671e-03 -2.54932015e-05 9.99996775e-01 -6.43649527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03999999999996 meters 0.019176240210115658 Centerline is valid? [True, True] Translation: X:138.53, Y:151.67, Z:-6.44 [[ 7.30686947e-01 6.82712141e-01 -8.47508729e-04 1.38528813e+02] [-6.82711664e-01 7.30687438e-01 8.07635069e-04 1.51665368e+02] [ 1.17064625e-03 -1.15243080e-05 9.99999315e-01 -6.43664269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07 meters 0.01870744724998401 Centerline is valid? [True, True] Translation: X:138.55, Y:151.65, Z:-6.44 [[ 7.28546920e-01 6.84995866e-01 -2.20634123e-04 1.38549169e+02] [-6.84995834e-01 7.28546954e-01 2.09491918e-04 1.51646042e+02] [ 3.04243416e-04 -1.49123656e-06 9.99999954e-01 -6.43788425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09999999999997 meters 0.017964208008742398 Centerline is valid? [True, True] Translation: X:138.57, Y:151.63, Z:-6.43 [[ 7.27957553e-01 6.85622192e-01 1.00552295e-04 1.38572051e+02] [-6.85622185e-01 7.27957560e-01 -9.87400963e-05 1.51629090e+02] [-1.40896204e-04 2.93771490e-06 9.99999990e-01 -6.43478383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13 meters 0.01751673780438956 Centerline is valid? [True, True] Translation: X:138.59, Y:151.61, Z:-6.43 [[ 7.27090117e-01 6.86541908e-01 -4.13188050e-04 1.38592868e+02] [-6.86541797e-01 7.27090234e-01 3.90492630e-04 1.51611006e+02] [ 5.68514551e-04 -2.52465967e-07 9.99999838e-01 -6.43417945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15999999999997 meters 0.01783915345004993 Centerline is valid? [True, True] Translation: X:138.61, Y:151.59, Z:-6.44 [[ 7.27442916e-01 6.86167908e-01 -6.36528899e-04 1.38612331e+02] [-6.86167642e-01 7.27443195e-01 6.04167742e-04 1.51592415e+02] [ 8.77599132e-04 -2.73201008e-06 9.99999615e-01 -6.43547114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19 meters 0.017487919762660696 Centerline is valid? [True, True] Translation: X:138.63, Y:151.57, Z:-6.44 [[ 7.27230517e-01 6.86392686e-01 -9.25542350e-04 1.38632580e+02] [-6.86392124e-01 7.27231106e-01 8.77946938e-04 1.51573586e+02] [ 1.27569954e-03 -3.18482503e-06 9.99999186e-01 -6.43557345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21999999999997 meters 0.017316396168987138 Centerline is valid? [True, True] Translation: X:138.65, Y:151.55, Z:-6.44 [[ 7.27347593e-01 6.86268663e-01 -8.94518109e-04 1.38651231e+02] [-6.86268138e-01 7.27348143e-01 8.49632063e-04 1.51554705e+02] [ 1.23370195e-03 -4.09855902e-06 9.99999239e-01 -6.43619478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25 meters 0.01739805392776126 Centerline is valid? [True, True] Translation: X:138.67, Y:151.54, Z:-6.44 [[ 7.28114106e-01 6.85454971e-01 -1.15395806e-03 1.38671505e+02] [-6.85454097e-01 7.28115021e-01 1.09453644e-03 1.51535201e+02] [ 1.59046965e-03 -5.96214160e-06 9.99998735e-01 -6.43633314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28 meters 0.01740510547444118 Centerline is valid? [True, True] Translation: X:138.69, Y:151.52, Z:-6.44 [[ 7.28539405e-01 6.85003083e-01 -1.05420210e-03 1.38689769e+02] [-6.85002352e-01 7.28540168e-01 1.00077217e-03 1.51515823e+02] [ 1.45356060e-03 -6.97104592e-06 9.99998944e-01 -6.43862391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31 meters 0.017282485847755453 Centerline is valid? [True, True] Translation: X:138.71, Y:151.50, Z:-6.44 [[ 7.29342347e-01 6.84148035e-01 -1.09890364e-03 1.38710164e+02] [-6.84147242e-01 7.29343175e-01 1.04122848e-03 1.51496755e+02] [ 1.51383228e-03 -7.60012799e-06 9.99998854e-01 -6.43704537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34 meters 0.01726097317376613 Centerline is valid? [True, True] Translation: X:138.73, Y:151.48, Z:-6.44 [[ 7.31072373e-01 6.82299149e-01 -1.02862847e-03 1.38729289e+02] [-6.82298450e-01 7.31073096e-01 9.76541935e-04 1.51477051e+02] [ 1.41829633e-03 -1.20912205e-05 9.99998994e-01 -6.43665129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37 meters 0.01727810542834736 Centerline is valid? [True, True] Translation: X:138.75, Y:151.46, Z:-6.44 [[ 7.32533882e-01 6.80730352e-01 -5.48240440e-04 1.38749561e+02] [-6.80730155e-01 7.32534087e-01 5.17854945e-04 1.51457058e+02] [ 7.54124388e-04 -6.14249333e-06 9.99999716e-01 -6.43563300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4 meters 0.017512544777960288 Centerline is valid? [True, True] Translation: X:138.77, Y:151.44, Z:-6.44 [[ 7.33653673e-01 6.79523550e-01 -1.82100632e-04 1.38768555e+02] [-6.79523528e-01 7.33653696e-01 1.71102517e-04 1.51437449e+02] [ 2.49866992e-04 -1.78832604e-06 9.99999969e-01 -6.43555233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43 meters 0.018034941698053062 Centerline is valid? [True, True] Translation: X:138.79, Y:151.42, Z:-6.43 [[ 7.36252907e-01 6.76706359e-01 4.01415063e-04 1.38788460e+02] [-6.76706250e-01 7.36253016e-01 -3.83836589e-04 1.51416230e+02] [-5.55287711e-04 1.09607218e-05 9.99999846e-01 -6.43452120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46 meters 0.018739112537618684 Centerline is valid? [True, True] Translation: X:138.81, Y:151.40, Z:-6.43 [[ 7.37768203e-01 6.75053904e-01 5.52935349e-04 1.38807531e+02] [-6.75053700e-01 7.37768410e-01 -5.25735143e-04 1.51395628e+02] [-7.62837794e-04 1.46096185e-05 9.99999709e-01 -6.43498836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49 meters 0.01814726070719356 Centerline is valid? [True, True] Translation: X:138.83, Y:151.38, Z:-6.43 [[ 7.38364851e-01 6.74400872e-01 9.00586031e-04 1.38827560e+02] [-6.74400327e-01 7.38365399e-01 -8.57494385e-04 1.51376956e+02] [-1.24325653e-03 2.57881994e-05 9.99999227e-01 -6.43451505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52 meters 0.01865078925964858 Centerline is valid? [True, True] Translation: X:138.85, Y:151.36, Z:-6.44 [[ 7.39788623e-01 6.72838686e-01 9.46745145e-04 1.38846937e+02] [-6.72838086e-01 7.39789228e-01 -8.98833176e-04 1.51356225e+02] [-1.30516159e-03 2.79403658e-05 9.99999148e-01 -6.43559934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55 meters 0.018624509252147727 Centerline is valid? [True, True] Translation: X:138.87, Y:151.34, Z:-6.44 [[ 7.40087970e-01 6.72509531e-01 8.52537425e-04 1.38866764e+02] [-6.72509042e-01 7.40088461e-01 -8.11315627e-04 1.51337315e+02] [-1.17657060e-03 2.71058087e-05 9.99999307e-01 -6.43612796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58 meters 0.01920589430399004 Centerline is valid? [True, True] Translation: X:138.89, Y:151.32, Z:-6.44 [[ 7.40455120e-01 6.72105057e-01 1.00374151e-03 1.38886061e+02] [-6.72104383e-01 7.40455800e-01 -9.52181897e-04 1.51317578e+02] [-1.38319249e-03 3.04288939e-05 9.99999043e-01 -6.43716302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61 meters 0.01874818374897927 Centerline is valid? [True, True] Translation: X:138.91, Y:151.30, Z:-6.44 [[ 7.39814784e-01 6.72809386e-01 1.27137330e-03 1.38907627e+02] [-6.72808304e-01 7.39815875e-01 -1.20703053e-03 1.51298608e+02] [-1.75268362e-03 3.75885205e-05 9.99998463e-01 -6.43721967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64 meters 0.018413957721462784 Centerline is valid? [True, True] Translation: X:138.93, Y:151.28, Z:-6.44 [[ 7.39411515e-01 6.73252391e-01 1.35302933e-03 1.38928350e+02] [-6.73251168e-01 7.39412751e-01 -1.28375265e-03 1.51278998e+02] [-1.86473668e-03 3.82929184e-05 9.99998261e-01 -6.43725701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66999999999996 meters 0.01742156716063357 Centerline is valid? [True, True] Translation: X:138.95, Y:151.26, Z:-6.44 [[ 7.38597133e-01 6.74145674e-01 1.37322646e-03 1.38950251e+02] [-6.74144417e-01 7.38598409e-01 -1.30233652e-03 1.51260983e+02] [-1.89222741e-03 3.61490718e-05 9.99998209e-01 -6.43664589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7 meters 0.017055733703068756 Centerline is valid? [True, True] Translation: X:138.97, Y:151.24, Z:-6.44 [[ 7.36765708e-01 6.76145600e-01 1.84914460e-03 1.38970891e+02] [-6.76143335e-01 7.36768028e-01 -1.75050416e-03 1.51242953e+02] [-2.54598631e-03 3.94246391e-05 9.99996758e-01 -6.43668914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72999999999996 meters 0.016811060232839504 Centerline is valid? [True, True] Translation: X:138.99, Y:151.22, Z:-6.44 [[ 7.35873982e-01 6.77116000e-01 1.84526187e-03 1.38992489e+02] [-6.77113745e-01 7.35876295e-01 -1.74783800e-03 1.51224039e+02] [-2.54137354e-03 3.67363325e-05 9.99996770e-01 -6.43669006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76 meters 0.01639182236217327 Centerline is valid? [True, True] Translation: X:139.01, Y:151.20, Z:-6.44 [[ 7.35105020e-01 6.77948813e-01 2.45280301e-03 1.39014195e+02] [-6.77944841e-01 7.35109111e-01 -2.32127976e-03 1.51204778e+02] [-3.37678670e-03 4.35192632e-05 9.99994298e-01 -6.43649663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78999999999996 meters 0.0162164454616885 Centerline is valid? [True, True] Translation: X:139.03, Y:151.19, Z:-6.44 [[ 7.33737914e-01 6.79429137e-01 2.17302187e-03 1.39034613e+02] [-6.79426030e-01 7.33741131e-01 -2.05491517e-03 1.51186235e+02] [-2.99060476e-03 3.13615446e-05 9.99995528e-01 -6.43684201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82 meters 0.01599513832358815 Centerline is valid? [True, True] Translation: X:139.05, Y:151.17, Z:-6.44 [[ 7.33008598e-01 6.80216996e-01 1.79830363e-03 1.39054573e+02] [-6.80214868e-01 7.33010804e-01 -1.70163022e-03 1.51167572e+02] [-2.47565378e-03 2.40767127e-05 9.99996935e-01 -6.43780276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84999999999997 meters 0.01599513832358815 Centerline is valid? [True, True] Translation: X:139.07, Y:151.15, Z:-6.44 [[ 7.33194430e-01 6.80016685e-01 1.79878152e-03 1.39074520e+02] [-6.80014558e-01 7.33196636e-01 -1.70112454e-03 1.51148852e+02] [-2.47565363e-03 2.40574221e-05 9.99996935e-01 -6.43804135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88 meters 0.015779516685172627 Centerline is valid? [True, True] Translation: X:139.10, Y:151.13, Z:-6.44 [[ 7.31592774e-01 6.81741385e-01 8.34764348e-04 1.39095364e+02] [-6.81740927e-01 7.31593250e-01 -7.90747270e-04 1.51130693e+02] [-1.14979310e-03 9.41196853e-06 9.99999339e-01 -6.43989342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90999999999997 meters 0.015687531272236627 Centerline is valid? [True, True] Translation: X:139.11, Y:151.11, Z:-6.44 [[ 7.31106128e-01 6.82263653e-01 3.71040493e-04 1.39114810e+02] [-6.82263563e-01 7.31106222e-01 -3.51358937e-04 1.51112310e+02] [-5.10989445e-04 3.73326341e-06 9.99999869e-01 -6.44065836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94 meters 0.015557423202641352 Centerline is valid? [True, True] Translation: X:139.14, Y:151.09, Z:-6.44 [[ 7.30586853e-01 6.82819778e-01 2.95135841e-05 1.39135665e+02] [-6.82819778e-01 7.30586853e-01 -3.10579754e-05 1.51093393e+02] [-4.27692364e-05 2.53808956e-06 9.99999999e-01 -6.44091832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96999999999997 meters 0.01529823085544435 Centerline is valid? [True, True] Translation: X:139.16, Y:151.08, Z:-6.44 [[ 7.28996644e-01 6.84517236e-01 -2.15778823e-04 1.39156227e+02] [-6.84517207e-01 7.28996676e-01 2.01126723e-04 1.51076131e+02] [ 2.94976753e-04 1.08361083e-06 9.99999957e-01 -6.44092119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0 meters 0.015318995753413021 Centerline is valid? [True, True] Translation: X:139.18, Y:151.06, Z:-6.44 [[ 7.28491900e-01 6.85054403e-01 -1.30748881e-04 1.39175851e+02] [-6.85054392e-01 7.28491912e-01 1.21434177e-04 1.51058226e+02] [ 1.78438520e-04 1.10628101e-06 9.99999984e-01 -6.44062430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03 meters 0.015255527063504816 Centerline is valid? [True, True] Translation: X:139.20, Y:151.04, Z:-6.44 [[ 7.28061370e-01 6.85511954e-01 5.67057504e-05 1.39196525e+02] [-6.85511952e-01 7.28061372e-01 -5.65665260e-05 1.51040014e+02] [-8.00622961e-05 2.31143275e-06 9.99999997e-01 -6.44039559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06 meters 0.015216238699479407 Centerline is valid? [True, True] Translation: X:139.22, Y:151.02, Z:-6.44 [[ 7.26996671e-01 6.86640923e-01 2.86246418e-04 1.39217665e+02] [-6.86640869e-01 7.26996728e-01 -2.72581420e-04 1.51021459e+02] [-3.95265767e-04 1.61729527e-06 9.99999922e-01 -6.44026090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09 meters 0.015264794488893027 Centerline is valid? [True, True] Translation: X:139.24, Y:151.00, Z:-6.44 [[ 7.26885588e-01 6.86758184e-01 7.34273268e-04 1.39238329e+02] [-6.86757833e-01 7.26885959e-01 -6.93849516e-04 1.51002349e+02] [-1.01023976e-03 8.12947483e-08 9.99999490e-01 -6.43981035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12 meters 0.015220355343785403 Centerline is valid? [True, True] Translation: X:139.26, Y:150.98, Z:-6.44 [[ 7.26959706e-01 6.86678914e-01 1.28660132e-03 1.39259023e+02] [-6.86677843e-01 7.26960845e-01 -1.21264442e-03 1.50983278e+02] [-1.76800614e-03 -1.93699039e-06 9.99998437e-01 -6.43921084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15 meters 0.015192368775191714 Centerline is valid? [True, True] Translation: X:139.28, Y:150.96, Z:-6.44 [[ 7.27069701e-01 6.86561456e-01 1.73694526e-03 1.39279567e+02] [-6.86559509e-01 7.27071776e-01 -1.63506604e-03 1.50964935e+02] [-2.38545720e-03 -3.70930635e-06 9.99997155e-01 -6.43831118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18 meters 0.015038607150939303 Centerline is valid? [True, True] Translation: X:139.30, Y:150.95, Z:-6.44 [[ 7.27446585e-01 6.86161231e-01 2.05695746e-03 1.39300067e+02] [-6.86158504e-01 7.27449493e-01 -1.93462826e-03 1.50946172e+02] [-2.82379957e-03 -4.06012995e-06 9.99996013e-01 -6.43817657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21 meters 0.015062653223324772 Centerline is valid? [True, True] Translation: X:139.32, Y:150.93, Z:-6.44 [[ 7.28713733e-01 6.84815315e-01 2.06864656e-03 1.39319710e+02] [-6.84812557e-01 7.28716669e-01 -1.94353442e-03 1.50927227e+02] [-2.83841937e-03 -3.54920594e-07 9.99995972e-01 -6.43910990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24 meters 0.015179322157052855 Centerline is valid? [True, True] Translation: X:139.34, Y:150.91, Z:-6.44 [[ 7.29616263e-01 6.83854084e-01 1.92375765e-03 1.39339549e+02] [-6.83851694e-01 7.29618799e-01 -1.80795502e-03 1.50908336e+02] [-2.63998717e-03 3.54845828e-06 9.99996515e-01 -6.43952140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27 meters 0.015185299018540984 Centerline is valid? [True, True] Translation: X:139.36, Y:150.89, Z:-6.44 [[ 7.30579308e-01 6.82825958e-01 1.60840544e-03 1.39359436e+02] [-6.82824285e-01 7.30581078e-01 -1.51136288e-03 1.50889529e+02] [-2.20706839e-03 5.91215100e-06 9.99997564e-01 -6.43993166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3 meters 0.015199201507449365 Centerline is valid? [True, True] Translation: X:139.38, Y:150.87, Z:-6.44 [[ 7.31586881e-01 6.81746377e-01 1.58532397e-03 1.39379277e+02] [-6.81744752e-01 7.31588598e-01 -1.48889925e-03 1.50870563e+02] [-2.17485662e-03 8.47286096e-06 9.99997635e-01 -6.44082115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33 meters 0.015227828207349747 Centerline is valid? [True, True] Translation: X:139.40, Y:150.85, Z:-6.44 [[ 7.32744806e-01 6.80502867e-01 9.47144809e-04 1.39399122e+02] [-6.80502287e-01 7.32745418e-01 -8.88815086e-04 1.50851066e+02] [-1.29885723e-03 6.74042942e-06 9.99999156e-01 -6.44196460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36 meters 0.01565803411231957 Centerline is valid? [True, True] Translation: X:139.42, Y:150.83, Z:-6.44 [[ 7.35243694e-01 6.77802854e-01 4.51506029e-05 1.39418948e+02] [-6.77802853e-01 7.35243695e-01 -4.50905444e-05 1.50829692e+02] [-6.37591958e-05 2.54933096e-06 9.99999998e-01 -6.44339504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39 meters 0.015901606434263978 Centerline is valid? [True, True] Translation: X:139.44, Y:150.81, Z:-6.44 [[ 7.36516057e-01 6.76419913e-01 -4.46972443e-04 1.39439216e+02] [-6.76419785e-01 7.36516192e-01 4.15575013e-04 1.50809419e+02] [ 6.10305656e-04 -3.73666619e-06 9.99999814e-01 -6.44409643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41999999999996 meters 0.01628352262816663 Centerline is valid? [True, True] Translation: X:139.46, Y:150.79, Z:-6.44 [[ 7.37535845e-01 6.75307841e-01 -4.43491133e-04 1.39458385e+02] [-6.75307714e-01 7.37535979e-01 4.14062342e-04 1.50789560e+02] [ 6.06710213e-04 -5.89283573e-06 9.99999816e-01 -6.44484764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45 meters 0.01621109536443523 Centerline is valid? [True, True] Translation: X:139.48, Y:150.77, Z:-6.44 [[ 7.37743181e-01 6.75081411e-01 -2.96969295e-04 1.39479757e+02] [-6.75081355e-01 7.37743240e-01 2.74633804e-04 1.50772085e+02] [ 4.04487266e-04 -2.13078142e-06 9.99999918e-01 -6.44447975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47999999999996 meters 0.016271075526108163 Centerline is valid? [True, True] Translation: X:139.50, Y:150.75, Z:-6.44 [[ 7.37970561e-01 6.74832791e-01 3.93180761e-04 1.39500582e+02] [-6.74832689e-01 7.37970666e-01 -3.70713689e-04 1.50753136e+02] [-5.40325621e-04 8.24455861e-06 9.99999854e-01 -6.44330434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51 meters 0.0161706058000645 Centerline is valid? [True, True] Translation: X:139.52, Y:150.73, Z:-6.44 [[ 7.37650045e-01 6.75181483e-01 1.54116934e-03 1.39521748e+02] [-6.75179942e-01 7.37651655e-01 -1.44286266e-03 1.50734494e+02] [-2.11104027e-03 2.37610839e-05 9.99997771e-01 -6.44182183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53999999999996 meters 0.015693248638561162 Centerline is valid? [True, True] Translation: X:139.54, Y:150.72, Z:-6.44 [[ 7.37383857e-01 6.75467522e-01 2.94515368e-03 1.39544315e+02] [-6.75461911e-01 7.37389737e-01 -2.75365921e-03 1.50716805e+02] [-4.03173346e-03 4.11647157e-05 9.99991872e-01 -6.43974665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57 meters 0.015721752055914678 Centerline is valid? [True, True] Translation: X:139.57, Y:150.70, Z:-6.44 [[ 7.36484811e-01 6.76436867e-01 4.82578227e-03 1.39565560e+02] [-6.76421848e-01 7.36500619e-01 -4.50793843e-03 1.50697868e+02] [-6.60352738e-03 5.57636219e-05 9.99978195e-01 -6.43804148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59999999999997 meters 0.015694384340939296 Centerline is valid? [True, True] Translation: X:139.59, Y:150.68, Z:-6.44 [[ 7.36118327e-01 6.76832993e-01 5.18727552e-03 1.39586599e+02] [-6.76815665e-01 7.36136602e-01 -4.84337179e-03 1.50679382e+02] [-7.09669720e-03 5.44654113e-05 9.99974817e-01 -6.43786014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63 meters 0.015734575353559217 Centerline is valid? [True, True] Translation: X:139.61, Y:150.66, Z:-6.44 [[ 7.35782564e-01 6.77197840e-01 5.20607746e-03 1.39606199e+02] [-6.77180418e-01 7.35800980e-01 -4.85786006e-03 1.50661191e+02] [-7.12036924e-03 4.88750166e-05 9.99974649e-01 -6.43833143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65999999999997 meters 0.015479465933160585 Centerline is valid? [True, True] Translation: X:139.63, Y:150.64, Z:-6.44 [[ 7.35688665e-01 6.77302119e-01 4.90187829e-03 1.39625898e+02] [-6.77286681e-01 7.35704994e-01 -4.57307624e-03 1.50642272e+02] [-6.70369057e-03 4.43834738e-05 9.99977529e-01 -6.43889031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69 meters 0.015632862120497946 Centerline is valid? [True, True] Translation: X:139.65, Y:150.62, Z:-6.44 [[ 7.35624720e-01 6.77375719e-01 4.29030634e-03 1.39646356e+02] [-6.77363898e-01 7.35637230e-01 -4.00206031e-03 1.50623941e+02] [-5.86700755e-03 3.79158733e-05 9.99982788e-01 -6.44001955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71999999999997 meters 0.015644607357832702 Centerline is valid? [True, True] Translation: X:139.67, Y:150.60, Z:-6.44 [[ 7.35871906e-01 6.77114980e-01 2.80019454e-03 1.39665811e+02] [-6.77109949e-01 7.35877234e-01 -2.61047436e-03 1.50604045e+02] [-3.82819071e-03 2.49351616e-05 9.99992672e-01 -6.44219292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75 meters 0.015650211908257702 Centerline is valid? [True, True] Translation: X:139.69, Y:150.59, Z:-6.44 [[ 7.35680878e-01 6.77325605e-01 1.91571786e-03 1.39686323e+02] [-6.77323247e-01 7.35683372e-01 -1.78749703e-03 1.50585325e+02] [-2.62007928e-03 1.74671376e-05 9.99996567e-01 -6.44348632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78 meters 0.01568522785014375 Centerline is valid? [True, True] Translation: X:139.71, Y:150.57, Z:-6.45 [[ 7.35485944e-01 6.77538969e-01 1.17162902e-03 1.39706558e+02] [-6.77538086e-01 7.35486877e-01 -1.09385882e-03 1.50566236e+02] [-1.60284975e-03 1.06944991e-05 9.99998715e-01 -6.44521306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81 meters 0.015563703167730949 Centerline is valid? [True, True] Translation: X:139.73, Y:150.55, Z:-6.45 [[ 7.35263719e-01 6.77780948e-01 4.99977050e-04 1.39726598e+02] [-6.77780786e-01 7.35263889e-01 -4.68467254e-04 1.50546476e+02] [-6.85133250e-04 5.57213779e-06 9.99999765e-01 -6.44608270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84 meters 0.015646717152364986 Centerline is valid? [True, True] Translation: X:139.75, Y:150.53, Z:-6.45 [[ 7.34955176e-01 6.78115683e-01 9.78113007e-05 1.39747204e+02] [-6.78115676e-01 7.34955183e-01 -9.42502949e-05 1.50527692e+02] [-1.35799525e-04 2.94236585e-06 9.99999991e-01 -6.44667680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87 meters 0.015552468969048383 Centerline is valid? [True, True] Translation: X:139.77, Y:150.51, Z:-6.45 [[ 7.34342820e-01 6.78778637e-01 4.30309874e-04 1.39767207e+02] [-6.78778518e-01 7.34342946e-01 -4.01394735e-04 1.50509654e+02] [-5.88453191e-04 2.67624306e-06 9.99999827e-01 -6.44677790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9 meters 0.015509240627567679 Centerline is valid? [True, True] Translation: X:139.79, Y:150.49, Z:-6.45 [[ 7.33696015e-01 6.79477226e-01 9.25952053e-04 1.39788202e+02] [-6.79476677e-01 7.33696599e-01 -8.63464442e-04 1.50491757e+02] [-1.26607230e-03 4.35759562e-06 9.99999199e-01 -6.44594987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93 meters 0.015523114289577887 Centerline is valid? [True, True] Translation: X:139.81, Y:150.47, Z:-6.44 [[ 7.32104481e-01 6.81189949e-01 1.81160028e-03 1.39809878e+02] [-6.81187864e-01 7.32106722e-01 -1.68548780e-03 1.50474255e+02] [-2.47442209e-03 -8.69516962e-08 9.99996939e-01 -6.44371929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96 meters 0.015522885164077018 Centerline is valid? [True, True] Translation: X:139.83, Y:150.46, Z:-6.44 [[ 7.31557540e-01 6.81776173e-01 2.19441201e-03 1.39830447e+02] [-6.81773122e-01 7.31560831e-01 -2.03989581e-03 1.50455903e+02] [-2.99609824e-03 -3.78996238e-06 9.99995512e-01 -6.44323906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99 meters 0.015678161073522382 Centerline is valid? [True, True] Translation: X:139.85, Y:150.44, Z:-6.44 [[ 7.30907453e-01 6.82471704e-01 2.58247331e-03 1.39850426e+02] [-6.82467492e-01 7.30912015e-01 -2.39755298e-03 1.50438043e+02] [-3.52382284e-03 -1.00647427e-05 9.99993791e-01 -6.44311546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02 meters 0.015427214052970649 Centerline is valid? [True, True] Translation: X:139.87, Y:150.42, Z:-6.44 [[ 7.30464512e-01 6.82944601e-01 2.87547632e-03 1.39870496e+02] [-6.82939383e-01 7.30470172e-01 -2.66976800e-03 1.50419332e+02] [-3.92375332e-03 -1.36052394e-05 9.99992302e-01 -6.44293938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05 meters 0.015434958236106393 Centerline is valid? [True, True] Translation: X:139.89, Y:150.40, Z:-6.44 [[ 7.29986150e-01 6.83456561e-01 2.71108432e-03 1.39890806e+02] [-6.83451934e-01 7.29991184e-01 -2.51482271e-03 1.50401249e+02] [-3.69783973e-03 -1.71100763e-05 9.99993163e-01 -6.44342362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08 meters 0.015721667258105476 Centerline is valid? [True, True] Translation: X:139.91, Y:150.38, Z:-6.44 [[ 7.28734296e-01 6.84792260e-01 2.42601538e-03 1.39911481e+02] [-6.84788564e-01 7.28738334e-01 -2.25000263e-03 1.50383131e+02] [-3.30871479e-03 -2.16535002e-05 9.99994526e-01 -6.44460618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11 meters 0.015705297062661116 Centerline is valid? [True, True] Translation: X:139.93, Y:150.36, Z:-6.44 [[ 7.28029674e-01 6.85542133e-01 2.18572078e-03 1.39932510e+02] [-6.85539135e-01 7.28032955e-01 -2.02772194e-03 1.50364267e+02] [-2.98136559e-03 -2.21553897e-05 9.99995555e-01 -6.44492645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14 meters 0.015627624230883944 Centerline is valid? [True, True] Translation: X:139.95, Y:150.34, Z:-6.44 [[ 7.26805760e-01 6.86839823e-01 2.10820650e-03 1.39953735e+02] [-6.86837041e-01 7.26808817e-01 -1.95509159e-03 1.50344812e+02] [-2.87509783e-03 -2.70224823e-05 9.99995867e-01 -6.44450534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16999999999996 meters 0.015980002418512648 Centerline is valid? [True, True] Translation: X:139.98, Y:150.33, Z:-6.44 [[ 7.25197783e-01 6.88537506e-01 2.06851375e-03 1.39975748e+02] [-6.88534837e-01 7.25200732e-01 -1.91737748e-03 1.50326463e+02] [-2.82027399e-03 -3.37658833e-05 9.99996022e-01 -6.44474356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2 meters 0.017207934556415085 Centerline is valid? [True, True] Translation: X:140.00, Y:150.31, Z:-6.44 [[ 7.20867875e-01 6.93066498e-01 2.88734376e-03 1.39999428e+02] [-6.93061346e-01 7.20873654e-01 -2.67315912e-03 1.50311164e+02] [-3.93408707e-03 -7.41118193e-05 9.99992259e-01 -6.44387880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22999999999996 meters 0.018022570311012582 Centerline is valid? [True, True] Translation: X:140.02, Y:150.29, Z:-6.44 [[ 7.18606994e-01 6.95410489e-01 2.87052071e-03 1.40022090e+02] [-6.95405416e-01 7.18612722e-01 -2.65753650e-03 1.50293490e+02] [-3.91087146e-03 -8.64513340e-05 9.99992349e-01 -6.44342018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26 meters 0.018975178945906883 Centerline is valid? [True, True] Translation: X:140.04, Y:150.28, Z:-6.44 [[ 7.16484218e-01 6.97596263e-01 3.13362307e-03 1.40044738e+02] [-6.97590249e-01 7.16491062e-01 -2.89853188e-03 1.50276255e+02] [-4.26721793e-03 -1.09232553e-04 9.99990889e-01 -6.44334079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28999999999996 meters 0.021060865783043003 Centerline is valid? [True, True] Translation: X:140.07, Y:150.26, Z:-6.44 [[ 7.11279235e-01 7.02902022e-01 3.25525622e-03 1.40069382e+02] [-7.02895587e-01 7.11286669e-01 -3.01135761e-03 1.50260729e+02] [-4.43210971e-03 -1.46189095e-04 9.99990167e-01 -6.44316483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32 meters 0.022691993519583186 Centerline is valid? [True, True] Translation: X:140.09, Y:150.24, Z:-6.44 [[ 7.09143310e-01 7.05055966e-01 3.44254942e-03 1.40091486e+02] [-7.05048805e-01 7.09151645e-01 -3.18231840e-03 1.50244427e+02] [-4.68500216e-03 -1.70445552e-04 9.99989011e-01 -6.44306062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34999999999997 meters 0.023510898321012726 Centerline is valid? [True, True] Translation: X:140.11, Y:150.23, Z:-6.44 [[ 7.07421514e-01 7.06779856e-01 4.12760312e-03 1.40113605e+02] [-7.06769596e-01 7.07433522e-01 -3.81448250e-03 1.50226146e+02] [-5.61600421e-03 -2.18817407e-04 9.99984206e-01 -6.44270861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38 meters 0.025949747598778584 Centerline is valid? [True, True] Translation: X:140.14, Y:150.21, Z:-6.44 [[ 7.05065416e-01 7.09124867e-01 4.96804472e-03 1.40136387e+02] [-7.09110082e-01 7.05082860e-01 -4.58823756e-03 1.50210241e+02] [-6.75651653e-03 -2.87882975e-04 9.99977133e-01 -6.44179116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40999999999997 meters 0.023621325049413795 Centerline is valid? [True, True] Translation: X:140.15, Y:150.19, Z:-6.44 [[ 7.03836950e-01 7.10346506e-01 4.62480051e-03 1.40154791e+02] [-7.10333727e-01 7.03852089e-01 -4.27009136e-03 1.50188555e+02] [-6.28841998e-03 -2.79703699e-04 9.99980189e-01 -6.44195443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44 meters 0.023461500029986346 Centerline is valid? [True, True] Translation: X:140.18, Y:150.17, Z:-6.44 [[ 7.03260689e-01 7.10921239e-01 3.92372066e-03 1.40175576e+02] [-7.10912051e-01 7.03271593e-01 -3.62259114e-03 1.50168629e+02] [-5.33481826e-03 -2.41794362e-04 9.99985741e-01 -6.44320028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46999999999997 meters 0.02527411386178941 Centerline is valid? [True, True] Translation: X:140.20, Y:150.15, Z:-6.44 [[ 7.03639744e-01 7.10548371e-01 3.48172572e-03 1.40197428e+02] [-7.10541142e-01 7.03648326e-01 -3.21241169e-03 1.50151416e+02] [-4.73248437e-03 -2.13528826e-04 9.99988779e-01 -6.44383443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5 meters 0.02224146360239749 Centerline is valid? [True, True] Translation: X:140.21, Y:150.13, Z:-6.44 [[ 7.04084578e-01 7.10109242e-01 3.12609510e-03 1.40214612e+02] [-7.10103407e-01 7.04091492e-01 -2.88487679e-03 1.50128091e+02] [-4.24963463e-03 -1.88653521e-04 9.99990952e-01 -6.44389026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53 meters 0.023847199929266264 Centerline is valid? [True, True] Translation: X:140.24, Y:150.11, Z:-6.44 [[ 7.05362060e-01 7.08843411e-01 2.32001566e-03 1.40236566e+02] [-7.08840192e-01 7.05365863e-01 -2.14067099e-03 1.50110326e+02] [-3.15386037e-03 -1.34572245e-04 9.99995018e-01 -6.44428032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56 meters 0.0239896697954977 Centerline is valid? [True, True] Translation: X:140.26, Y:150.09, Z:-6.44 [[ 7.06089920e-01 7.08119385e-01 1.99041123e-03 1.40256802e+02] [-7.08117018e-01 7.06092716e-01 -1.83471719e-03 1.50091433e+02] [-2.70461368e-03 -1.13968747e-04 9.99996336e-01 -6.44474121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59 meters 0.02150898502010433 Centerline is valid? [True, True] Translation: X:140.27, Y:150.07, Z:-6.44 [[ 7.07165488e-01 7.07045443e-01 1.92729255e-03 1.40274817e+02] [-7.07043216e-01 7.07168106e-01 -1.77762427e-03 1.50068843e+02] [-2.61978096e-03 -1.05604590e-04 9.99996563e-01 -6.44429460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62 meters 0.022667362048243753 Centerline is valid? [True, True] Translation: X:140.30, Y:150.05, Z:-6.44 [[ 7.08337973e-01 7.05871604e-01 1.61124890e-03 1.40296853e+02] [-7.05870045e-01 7.08339800e-01 -1.48584752e-03 1.50051066e+02] [-2.19012930e-03 -8.48501162e-05 9.99997598e-01 -6.44446615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65 meters 0.02096673268690819 Centerline is valid? [True, True] Translation: X:140.32, Y:150.03, Z:-6.44 [[ 7.10074663e-01 7.04122989e-01 2.18858935e-03 1.40315294e+02] [-7.04120111e-01 7.10078027e-01 -2.01606228e-03 1.50028264e+02] [-2.97362501e-03 -1.09475033e-04 9.99995573e-01 -6.44449399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68 meters 0.022522953277716386 Centerline is valid? [True, True] Translation: X:140.34, Y:150.01, Z:-6.45 [[ 7.11074721e-01 7.03110798e-01 2.81904321e-03 1.40337586e+02] [-7.03106023e-01 7.11080296e-01 -2.59493356e-03 1.50010984e+02] [-3.82909189e-03 -1.36894602e-04 9.99992660e-01 -6.44543094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71 meters 0.020021467435641763 Centerline is valid? [True, True] Translation: X:140.36, Y:149.99, Z:-6.44 [[ 7.12092544e-01 7.02078984e-01 3.05106070e-03 1.40355527e+02] [-7.02073388e-01 7.12099066e-01 -2.80690509e-03 1.49988159e+02] [-4.14332655e-03 -1.43292335e-04 9.99991406e-01 -6.44452997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74 meters 0.020021467435641763 Centerline is valid? [True, True] Translation: X:140.38, Y:149.97, Z:-6.44 [[ 7.12293127e-01 7.01875480e-01 3.05165144e-03 1.40375713e+02] [-7.01869884e-01 7.12299649e-01 -2.80626256e-03 1.49969691e+02] [-4.14333713e-03 -1.42980708e-04 9.99991406e-01 -6.44476854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77 meters 0.020326397629384627 Centerline is valid? [True, True] Translation: X:140.40, Y:149.95, Z:-6.44 [[ 7.13434800e-01 7.00710511e-01 3.94553410e-03 1.40397035e+02] [-7.00701156e-01 7.13445687e-01 -3.62503002e-03 1.49951223e+02] [-5.35502092e-03 -1.78417742e-04 9.99985646e-01 -6.44438441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8 meters 0.01978439231144824 Centerline is valid? [True, True] Translation: X:140.42, Y:149.93, Z:-6.44 [[ 7.15553907e-01 6.98545538e-01 4.09108192e-03 1.40417697e+02] [-6.98535457e-01 7.15565582e-01 -3.75677039e-03 1.49931638e+02] [-5.55171261e-03 -1.69594041e-04 9.99984575e-01 -6.44342928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83 meters 0.019681409057200068 Centerline is valid? [True, True] Translation: X:140.44, Y:149.91, Z:-6.44 [[ 7.16727772e-01 6.97341605e-01 3.99829122e-03 1.40438242e+02] [-6.97331970e-01 7.16738907e-01 -3.66911742e-03 1.49913010e+02] [-5.42435911e-03 -1.58377936e-04 9.99985276e-01 -6.44370607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86 meters 0.0195610643391594 Centerline is valid? [True, True] Translation: X:140.46, Y:149.89, Z:-6.44 [[ 7.17856940e-01 6.96181533e-01 3.56177491e-03 1.40459006e+02] [-6.96173871e-01 7.17865764e-01 -3.26888543e-03 1.49893757e+02] [-4.83261394e-03 -1.33022535e-04 9.99988314e-01 -6.44455843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89 meters 0.018879007516350223 Centerline is valid? [True, True] Translation: X:140.48, Y:149.87, Z:-6.45 [[ 7.20114870e-01 6.93851260e-01 2.23685206e-03 1.40480286e+02] [-6.93848226e-01 7.20118341e-01 -2.05297196e-03 1.49874026e+02] [-3.03525537e-03 -7.36601946e-05 9.99995391e-01 -6.44672681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91999999999996 meters 0.01843995394109123 Centerline is valid? [True, True] Translation: X:140.50, Y:149.85, Z:-6.45 [[ 7.21112277e-01 6.92816166e-01 1.68660098e-03 1.40501490e+02] [-6.92814439e-01 7.21114248e-01 -1.54778257e-03 1.49853963e+02] [-2.28856078e-03 -5.23765010e-05 9.99997380e-01 -6.44778459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95 meters 0.01891137943110448 Centerline is valid? [True, True] Translation: X:140.52, Y:149.84, Z:-6.45 [[ 7.21843367e-01 6.92055595e-01 1.09873585e-03 1.40523334e+02] [-6.92054861e-01 7.21844203e-01 -1.00797533e-03 1.49836978e+02] [-1.49069107e-03 -3.27851839e-05 9.99998888e-01 -6.44899333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97999999999996 meters 0.01799084234600552 Centerline is valid? [True, True] Translation: X:140.54, Y:149.82, Z:-6.45 [[ 7.22913986e-01 6.90937114e-01 1.12854241e-03 1.40543604e+02] [-6.90936338e-01 7.22914866e-01 -1.03593788e-03 1.49816956e+02] [-1.53160801e-03 -3.08569832e-05 9.99998827e-01 -6.44908634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01 meters 0.01736594614311707 Centerline is valid? [True, True] Translation: X:140.57, Y:149.80, Z:-6.45 [[ 7.25064374e-01 6.88679079e-01 1.66706988e-03 1.40565002e+02] [-6.88677385e-01 7.25066290e-01 -1.52799924e-03 1.49797072e+02] [-2.26103728e-03 -4.01755072e-05 9.99997443e-01 -6.44839282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03999999999996 meters 0.016946107227128294 Centerline is valid? [True, True] Translation: X:140.59, Y:149.78, Z:-6.45 [[ 7.26542965e-01 6.87117291e-01 2.26905599e-03 1.40585627e+02] [-6.87114151e-01 7.26546506e-01 -2.07799278e-03 1.49777415e+02] [-3.07639947e-03 -4.93494416e-05 9.99995267e-01 -6.44840148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07 meters 0.016592862576348653 Centerline is valid? [True, True] Translation: X:140.61, Y:149.76, Z:-6.45 [[ 7.28071781e-01 6.85496523e-01 2.44923391e-03 1.40606626e+02] [-6.85492859e-01 7.28075899e-01 -2.24166878e-03 1.49757411e+02] [-3.31988434e-03 -4.68365690e-05 9.99994488e-01 -6.44780043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09999999999997 meters 0.016382767033762572 Centerline is valid? [True, True] Translation: X:140.63, Y:149.74, Z:-6.45 [[ 7.30578654e-01 6.82820943e-01 3.22345511e-03 1.40627212e+02] [-6.82814585e-01 7.30585764e-01 -2.94693269e-03 1.49738467e+02] [-4.36723777e-03 -4.80560456e-05 9.99990462e-01 -6.44746038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13 meters 0.01594116892532597 Centerline is valid? [True, True] Translation: X:140.65, Y:149.72, Z:-6.45 [[ 7.32526162e-01 6.80729447e-01 3.58352807e-03 1.40647183e+02] [-6.80721564e-01 7.32534926e-01 -3.27624950e-03 1.49718195e+02] [-4.85529898e-03 -3.94463621e-05 9.99988212e-01 -6.44735575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15999999999997 meters 0.015784380275915166 Centerline is valid? [True, True] Translation: X:140.67, Y:149.70, Z:-6.45 [[ 7.33969162e-01 6.79172478e-01 3.74367932e-03 1.40667656e+02] [-6.79163863e-01 7.33978709e-01 -3.42084339e-03 1.49698290e+02] [-5.07112359e-03 -3.17781549e-05 9.99987141e-01 -6.44751670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19 meters 0.015741719803466135 Centerline is valid? [True, True] Translation: X:140.69, Y:149.68, Z:-6.45 [[ 7.35265571e-01 6.77768523e-01 3.79065939e-03 1.40687931e+02] [-6.77759681e-01 7.35275342e-01 -3.46216493e-03 1.49678792e+02] [-5.13372479e-03 -2.35454194e-05 9.99986822e-01 -6.44800202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21999999999997 meters 0.015677609072295498 Centerline is valid? [True, True] Translation: X:140.71, Y:149.66, Z:-6.45 [[ 7.36800084e-01 6.76096977e-01 4.30270583e-03 1.40707644e+02] [-6.76085576e-01 7.36812647e-01 -3.92652614e-03 1.49659355e+02] [-5.82500053e-03 -1.59325598e-05 9.99983034e-01 -6.44810585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25 meters 0.015701974973469684 Centerline is valid? [True, True] Translation: X:140.73, Y:149.64, Z:-6.45 [[ 7.37804513e-01 6.74997976e-01 4.71527492e-03 1.40727472e+02] [-6.74984265e-01 7.37819580e-01 -4.30220295e-03 1.49640209e+02] [-6.38300044e-03 -8.55161928e-06 9.99979628e-01 -6.44815631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28 meters 0.015757865553428407 Centerline is valid? [True, True] Translation: X:140.75, Y:149.62, Z:-6.45 [[ 7.38337314e-01 6.74413739e-01 4.91119609e-03 1.40747308e+02] [-6.74398872e-01 7.38353648e-01 -4.47797073e-03 1.49622000e+02] [-6.64620453e-03 -5.85222603e-06 9.99977914e-01 -6.44819365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31 meters 0.015888588086385127 Centerline is valid? [True, True] Translation: X:140.77, Y:149.60, Z:-6.45 [[ 7.39340451e-01 6.73313886e-01 4.90999829e-03 1.40767407e+02] [-6.73299013e-01 7.39356755e-01 -4.47534710e-03 1.49602527e+02] [-6.64355375e-03 2.90814337e-06 9.99977931e-01 -6.44854923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34 meters 0.01582681278501398 Centerline is valid? [True, True] Translation: X:140.79, Y:149.58, Z:-6.45 [[ 7.39756698e-01 6.72855439e-01 5.05830513e-03 1.40787145e+02] [-6.72839664e-01 7.39773992e-01 -4.60744972e-03 1.49584237e+02] [-6.84215018e-03 4.96346470e-06 9.99976592e-01 -6.44886530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37 meters 0.015978578826690418 Centerline is valid? [True, True] Translation: X:140.81, Y:149.56, Z:-6.45 [[ 7.40464468e-01 6.72077183e-01 4.96302203e-03 1.40806814e+02] [-6.72061984e-01 7.40481100e-01 -4.52001176e-03 1.49564797e+02] [-6.71282078e-03 1.14496711e-05 9.99977469e-01 -6.44839735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4 meters 0.015888766874158872 Centerline is valid? [True, True] Translation: X:140.83, Y:149.55, Z:-6.45 [[ 7.40496656e-01 6.72042294e-01 4.88440121e-03 1.40827404e+02] [-6.72027588e-01 7.40512765e-01 -4.44594430e-03 1.49545845e+02] [-6.60482405e-03 9.75452827e-06 9.99978188e-01 -6.44828451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43 meters 0.016063074507854384 Centerline is valid? [True, True] Translation: X:140.85, Y:149.53, Z:-6.45 [[ 7.40178422e-01 6.72392361e-01 4.94121365e-03 1.40847156e+02] [-6.72377339e-01 7.40194915e-01 -4.49458615e-03 1.49527827e+02] [-6.67958661e-03 4.43559555e-06 9.99977691e-01 -6.44851190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46 meters 0.01615715164708483 Centerline is valid? [True, True] Translation: X:140.87, Y:149.51, Z:-6.45 [[ 7.39847066e-01 6.72755855e-01 5.08706010e-03 1.40868251e+02] [-6.72739948e-01 7.39864555e-01 -4.62643588e-03 1.49509310e+02] [-6.87619728e-03 5.86461007e-07 9.99976359e-01 -6.44848259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49 meters 0.01615698109418406 Centerline is valid? [True, True] Translation: X:140.89, Y:149.49, Z:-6.45 [[ 7.39006103e-01 6.73681231e-01 4.85585855e-03 1.40888679e+02] [-6.73666774e-01 7.39022056e-01 -4.41334446e-03 1.49491730e+02] [-6.56177390e-03 -9.74208119e-06 9.99978471e-01 -6.44870479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52 meters 0.0163915185624614 Centerline is valid? [True, True] Translation: X:140.91, Y:149.47, Z:-6.45 [[ 7.37071077e-01 6.75798166e-01 4.80267205e-03 1.40911328e+02] [-6.75784075e-01 7.37086723e-01 -4.36431164e-03 1.49473495e+02] [-6.48937961e-03 -2.87614046e-05 9.99978943e-01 -6.44908440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55 meters 0.016576534928458026 Centerline is valid? [True, True] Translation: X:140.93, Y:149.46, Z:-6.45 [[ 7.36515127e-01 6.76406630e-01 4.42027805e-03 1.40931658e+02] [-6.76394717e-01 7.36528390e-01 -4.01457028e-03 1.49455452e+02] [-5.97114223e-03 -3.30609821e-05 9.99982172e-01 -6.44985717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58 meters 0.016750920604427587 Centerline is valid? [True, True] Translation: X:140.95, Y:149.44, Z:-6.45 [[ 7.36424754e-01 6.76505718e-01 4.31228491e-03 1.40951395e+02] [-6.76494383e-01 7.36437378e-01 -3.91626444e-03 1.49436420e+02] [-5.82510308e-03 -3.32024438e-05 9.99983033e-01 -6.45002750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61 meters 0.01679911435344262 Centerline is valid? [True, True] Translation: X:140.97, Y:149.42, Z:-6.45 [[ 7.36951472e-01 6.75933236e-01 4.09733205e-03 1.40970858e+02] [-6.75923009e-01 7.36962862e-01 -3.71840232e-03 1.49418019e+02] [-5.53297327e-03 -2.91989409e-05 9.99984693e-01 -6.45021148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64 meters 0.01682243958024164 Centerline is valid? [True, True] Translation: X:140.99, Y:149.40, Z:-6.45 [[ 7.37765600e-01 6.75045944e-01 3.85915753e-03 1.40990663e+02] [-6.75036859e-01 7.37775693e-01 -3.50222554e-03 1.49398835e+02] [-5.21135577e-03 -2.12520527e-05 9.99986421e-01 -6.45058405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66999999999996 meters 0.016886408144864546 Centerline is valid? [True, True] Translation: X:141.01, Y:149.38, Z:-6.45 [[ 7.39000184e-01 6.73699342e-01 2.81515763e-03 1.41009859e+02] [-6.73694504e-01 7.39005546e-01 -2.55316632e-03 1.49380359e+02] [-3.80048357e-03 -9.76584459e-06 9.99992778e-01 -6.45203014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7 meters 0.016972156624211292 Centerline is valid? [True, True] Translation: X:141.03, Y:149.36, Z:-6.45 [[ 7.40997485e-01 6.71506733e-01 1.19825014e-03 1.41030364e+02] [-6.71505851e-01 7.40998453e-01 -1.08842786e-03 1.49360195e+02] [-1.61878813e-03 1.89032809e-06 9.99998690e-01 -6.45317912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72999999999996 meters 0.016936654162818032 Centerline is valid? [True, True] Translation: X:141.05, Y:149.34, Z:-6.45 [[ 7.42876861e-01 6.69427815e-01 6.07250916e-04 1.41050247e+02] [-6.69427589e-01 7.42877110e-01 -5.51083379e-04 1.49340001e+02] [-8.20023347e-04 2.87657454e-06 9.99999664e-01 -6.45337925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76 meters 0.017179655401531536 Centerline is valid? [True, True] Translation: X:141.07, Y:149.32, Z:-6.45 [[ 7.44472765e-01 6.67652757e-01 3.15226854e-04 1.41069964e+02] [-6.67652695e-01 7.44472831e-01 -2.86985701e-04 1.49320699e+02] [-4.26284623e-04 3.19097948e-06 9.99999909e-01 -6.45447792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78999999999996 meters 0.017300268837229696 Centerline is valid? [True, True] Translation: X:141.09, Y:149.30, Z:-6.45 [[ 7.46288552e-01 6.65622388e-01 4.83429566e-04 1.41090533e+02] [-6.65622242e-01 7.46288708e-01 -4.40458067e-04 1.49300443e+02] [-6.53956777e-04 6.92734152e-06 9.99999786e-01 -6.45377789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82 meters 0.017716899434853113 Centerline is valid? [True, True] Translation: X:141.11, Y:149.28, Z:-6.45 [[ 7.48332514e-01 6.63323558e-01 5.53948482e-04 1.41108913e+02] [-6.63323367e-01 7.48332719e-01 -5.03033348e-04 1.49280104e+02] [-7.48211644e-04 8.98923761e-06 9.99999720e-01 -6.45493785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84999999999997 meters 0.01824180596121125 Centerline is valid? [True, True] Translation: X:141.13, Y:149.26, Z:-6.45 [[ 7.51021026e-01 6.60277926e-01 6.91527569e-04 1.41128622e+02] [-6.60277628e-01 7.51021345e-01 -6.28291251e-04 1.49258600e+02] [-9.34198809e-04 1.52597574e-05 9.99999564e-01 -6.45453356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88 meters 0.0195167461918333 Centerline is valid? [True, True] Translation: X:141.15, Y:149.24, Z:-6.45 [[ 7.55786469e-01 6.54817297e-01 1.05866148e-03 1.41146845e+02] [-6.54816595e-01 7.55787210e-01 -9.59706311e-04 1.49235621e+02] [-1.42855510e-03 3.21039397e-05 9.99998979e-01 -6.45427373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90999999999997 meters 0.020647216191108823 Centerline is valid? [True, True] Translation: X:141.17, Y:149.21, Z:-6.45 [[ 7.58092377e-01 6.52146249e-01 1.10373328e-03 1.41165537e+02] [-6.52145485e-01 7.58093180e-01 -9.98622088e-04 1.49214382e+02] [-1.48798032e-03 3.72531170e-05 9.99998892e-01 -6.45421623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94 meters 0.02138980966937919 Centerline is valid? [True, True] Translation: X:141.19, Y:149.19, Z:-6.45 [[ 7.60405350e-01 6.49448088e-01 9.40793872e-04 1.41185673e+02] [-6.49447529e-01 7.60405931e-01 -8.52748216e-04 1.49194054e+02] [-1.26920094e-03 3.74380489e-05 9.99999194e-01 -6.45451575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96999999999997 meters 0.022077777797536186 Centerline is valid? [True, True] Translation: X:141.21, Y:149.17, Z:-6.45 [[ 7.62312117e-01 6.47208961e-01 8.92412745e-04 1.41205936e+02] [-6.47208457e-01 7.62312639e-01 -8.08693437e-04 1.49173524e+02] [-1.20369115e-03 3.88997312e-05 9.99999275e-01 -6.45484338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0 meters 0.024489831586636965 Centerline is valid? [True, True] Translation: X:141.22, Y:149.15, Z:-6.46 [[ 7.65519317e-01 6.43412825e-01 3.33545568e-04 1.41223715e+02] [-6.43412754e-01 7.65519390e-01 -3.02513890e-04 1.49151345e+02] [-4.49976916e-04 1.69727541e-05 9.99999899e-01 -6.45635079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03 meters 0.026175648087851715 Centerline is valid? [True, True] Translation: X:141.24, Y:149.13, Z:-6.46 [[ 7.66578980e-01 6.42150033e-01 4.68754897e-05 1.41242115e+02] [-6.42150032e-01 7.66578981e-01 -4.35112743e-05 1.49131073e+02] [-6.38745313e-05 3.25373109e-06 9.99999998e-01 -6.45746300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06 meters 0.026052003311792492 Centerline is valid? [True, True] Translation: X:141.26, Y:149.11, Z:-6.46 [[ 7.67408536e-01 6.41158406e-01 1.93347257e-04 1.41263419e+02] [-6.41158382e-01 7.67408560e-01 -1.77225274e-04 1.49112042e+02] [-2.62005815e-04 1.20379731e-05 9.99999966e-01 -6.45754329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09 meters 0.02607211521668084 Centerline is valid? [True, True] Translation: X:141.28, Y:149.09, Z:-6.46 [[ 7.67874530e-01 6.40600198e-01 -3.03860398e-04 1.41284873e+02] [-6.40600141e-01 7.67874590e-01 2.71164171e-04 1.49092845e+02] [ 4.07034500e-04 -1.35670470e-05 9.99999917e-01 -6.45786557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12 meters 0.02664154923145287 Centerline is valid? [True, True] Translation: X:141.31, Y:149.07, Z:-6.46 [[ 7.68937319e-01 6.39324174e-01 6.02951227e-06 1.41305368e+02] [-6.39324174e-01 7.68937319e-01 -8.25633320e-06 1.49073190e+02] [-9.91479036e-06 2.49378981e-06 1.00000000e+00 -6.45794686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15 meters 0.028131081327398548 Centerline is valid? [True, True] Translation: X:141.32, Y:149.05, Z:-6.46 [[ 7.69315068e-01 6.38869198e-01 6.88775117e-04 1.41323966e+02] [-6.38868896e-01 7.69315375e-01 -6.22085793e-04 1.49052896e+02] [-9.27316739e-04 3.85429756e-05 9.99999569e-01 -6.45844732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18 meters 0.026966168671666235 Centerline is valid? [True, True] Translation: X:141.35, Y:149.04, Z:-6.46 [[ 7.70140121e-01 6.37874623e-01 3.99449032e-04 1.41346831e+02] [-6.37874520e-01 7.70140224e-01 -3.62574058e-04 1.49035601e+02] [-5.38908557e-04 2.44344696e-05 9.99999855e-01 -6.45846526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21 meters 0.0262512991962393 Centerline is valid? [True, True] Translation: X:141.37, Y:149.02, Z:-6.46 [[ 7.70571796e-01 6.37353082e-01 3.95085292e-04 1.41368730e+02] [-6.37352982e-01 7.70571897e-01 -3.58524283e-04 1.49017618e+02] [-5.32948180e-04 2.44599115e-05 9.99999858e-01 -6.45832972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24 meters 0.027213759539814485 Centerline is valid? [True, True] Translation: X:141.39, Y:149.00, Z:-6.46 [[ 7.69214911e-01 6.38989533e-01 -8.93251310e-04 1.41390694e+02] [-6.38989033e-01 7.69215428e-01 8.00930286e-04 1.48999871e+02] [ 1.19888876e-03 -4.53097285e-05 9.99999280e-01 -6.46049825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27 meters 0.028452046146563527 Centerline is valid? [True, True] Translation: X:141.41, Y:148.98, Z:-6.46 [[ 7.68542776e-01 6.39797674e-01 -9.68589342e-04 1.41410982e+02] [-6.39797087e-01 7.68543385e-01 8.68252493e-04 1.48980372e+02] [ 1.29990886e-03 -4.75885416e-05 9.99999154e-01 -6.46307789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3 meters 0.025675868583603306 Centerline is valid? [True, True] Translation: X:141.44, Y:148.97, Z:-6.46 [[ 7.68222319e-01 6.40182139e-01 -1.13928965e-03 1.41435661e+02] [-6.40181327e-01 7.68223162e-01 1.02116072e-03 1.48965055e+02] [ 1.52895754e-03 -5.51264959e-05 9.99998830e-01 -6.46232085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33 meters 0.024877869852256297 Centerline is valid? [True, True] Translation: X:141.46, Y:148.95, Z:-6.46 [[ 7.67080579e-01 6.41549285e-01 -1.37841432e-03 1.41460525e+02] [-6.41548098e-01 7.67081815e-01 1.23544445e-03 1.48949812e+02] [ 1.84995507e-03 -6.33663621e-05 9.99998287e-01 -6.46303193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36 meters 0.029069137509444083 Centerline is valid? [True, True] Translation: X:141.48, Y:148.93, Z:-6.46 [[ 7.67386875e-01 6.41183476e-01 -1.06466226e-03 1.41476555e+02] [-6.41182767e-01 7.67387612e-01 9.55273034e-04 1.48925979e+02] [ 1.42951391e-03 -5.04208946e-05 9.99998977e-01 -6.46448256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39 meters 0.02528963295980316 Centerline is valid? [True, True] Translation: X:141.50, Y:148.91, Z:-6.46 [[ 7.67789182e-01 6.40701636e-01 -1.08878068e-03 1.41504113e+02] [-6.40700897e-01 7.67789952e-01 9.74565713e-04 1.48913327e+02] [ 1.46036071e-03 -5.06782562e-05 9.99998932e-01 -6.46222981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41999999999996 meters 0.026245185006015862 Centerline is valid? [True, True] Translation: X:141.52, Y:148.89, Z:-6.46 [[ 7.68550620e-01 6.39788517e-01 -7.74161284e-04 1.41524299e+02] [-6.39788141e-01 7.68551009e-01 6.93866066e-04 1.48893566e+02] [ 1.03890998e-03 -3.79719858e-05 9.99999460e-01 -6.46296369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45 meters 0.026245185006015862 Centerline is valid? [True, True] Translation: X:141.54, Y:148.88, Z:-6.46 [[ 7.68730316e-01 6.39572591e-01 -7.75475385e-04 1.41544725e+02] [-6.39572218e-01 7.68730707e-01 6.92401483e-04 1.48875343e+02] [ 1.03897275e-03 -3.62974996e-05 9.99999460e-01 -6.46320166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47999999999996 meters 0.026530715968835973 Centerline is valid? [True, True] Translation: X:141.57, Y:148.86, Z:-6.46 [[ 7.69212678e-01 6.38992477e-01 -6.86012805e-04 1.41566001e+02] [-6.38992185e-01 7.69212983e-01 6.12271250e-04 1.48855932e+02] [ 9.18926679e-04 -3.26099864e-05 9.99999577e-01 -6.46340788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51 meters 0.027533758330365626 Centerline is valid? [True, True] Translation: X:141.59, Y:148.84, Z:-6.46 [[ 7.70751687e-01 6.37135606e-01 -2.38496614e-04 1.41586732e+02] [-6.37135571e-01 7.70751724e-01 2.12833322e-04 1.48836648e+02] [ 3.19425364e-04 -1.20869650e-05 9.99999949e-01 -6.46339707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53999999999996 meters 0.027145330587798267 Centerline is valid? [True, True] Translation: X:141.61, Y:148.82, Z:-6.46 [[ 7.71131355e-01 6.36676056e-01 1.81553461e-04 1.41607944e+02] [-6.36676035e-01 7.71131376e-01 -1.65960015e-04 1.48819050e+02] [-2.45664338e-04 1.23862335e-05 9.99999970e-01 -6.46334631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57 meters 0.027641623725110816 Centerline is valid? [True, True] Translation: X:141.63, Y:148.80, Z:-6.46 [[ 7.71709673e-01 6.35974984e-01 3.83301497e-05 1.41628765e+02] [-6.35974982e-01 7.71709674e-01 -3.71895231e-05 1.48799631e+02] [-5.32313536e-05 4.32249848e-06 9.99999999e-01 -6.46383004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59999999999997 meters 0.028600038276710846 Centerline is valid? [True, True] Translation: X:141.65, Y:148.78, Z:-6.46 [[ 7.72378420e-01 6.35162636e-01 -3.69080875e-05 1.41648678e+02] [-6.35162636e-01 7.72378421e-01 3.20338968e-05 1.48780709e+02] [ 4.88537447e-05 -1.29965248e-06 9.99999999e-01 -6.46474326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63 meters 0.02854810562786836 Centerline is valid? [True, True] Translation: X:141.67, Y:148.76, Z:-6.47 [[ 7.72519707e-01 6.34990785e-01 -7.66510279e-05 1.41669580e+02] [-6.34990781e-01 7.72519711e-01 6.53598615e-05 1.48762786e+02] [ 1.00717340e-04 -1.81908491e-06 9.99999995e-01 -6.46501841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65999999999997 meters 0.02854810562786836 Centerline is valid? [True, True] Translation: X:141.69, Y:148.74, Z:-6.47 [[ 7.72695834e-01 6.34776451e-01 -7.66676672e-05 1.41690040e+02] [-6.34776447e-01 7.72695838e-01 6.53407613e-05 1.48744592e+02] [ 1.00717564e-04 -1.82170459e-06 9.99999995e-01 -6.46525720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69 meters 0.0287416897450489 Centerline is valid? [True, True] Translation: X:141.71, Y:148.73, Z:-6.47 [[ 7.72779535e-01 6.34674476e-01 3.17076418e-04 1.41710361e+02] [-6.34674411e-01 7.72779600e-01 -2.86644033e-04 1.48726190e+02] [-4.26955839e-04 2.02723538e-05 9.99999909e-01 -6.46552502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71999999999997 meters 0.029841785483961988 Centerline is valid? [True, True] Translation: X:141.73, Y:148.71, Z:-6.47 [[ 7.73634521e-01 6.33631845e-01 5.59090507e-04 1.41730044e+02] [-6.33631648e-01 7.73634723e-01 -5.00679425e-04 1.48706945e+02] [-7.49778257e-04 3.30854482e-05 9.99999718e-01 -6.46620678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75 meters 0.030158731863472607 Centerline is valid? [True, True] Translation: X:141.75, Y:148.69, Z:-6.47 [[ 7.73775275e-01 6.33459823e-01 6.90102383e-04 1.41750374e+02] [-6.33459522e-01 7.73775581e-01 -6.19591368e-04 1.48687998e+02] [-9.26470611e-04 4.22725556e-05 9.99999570e-01 -6.46691610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78 meters 0.028981453192513693 Centerline is valid? [True, True] Translation: X:141.77, Y:148.67, Z:-6.47 [[ 7.73986183e-01 6.33202443e-01 2.32761534e-04 1.41773008e+02] [-6.33202408e-01 7.73986218e-01 -2.11034814e-04 1.48670973e+02] [-3.13781979e-04 1.59528660e-05 9.99999951e-01 -6.46704434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81 meters 0.02938647131310347 Centerline is valid? [True, True] Translation: X:141.79, Y:148.65, Z:-6.47 [[ 7.74586382e-01 6.32468048e-01 -3.23553772e-04 1.41793754e+02] [-6.32467983e-01 7.74586450e-01 2.85897738e-04 1.48650863e+02] [ 4.31441552e-04 -1.68150925e-05 9.99999907e-01 -6.46776348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84 meters 0.030630579453232512 Centerline is valid? [True, True] Translation: X:141.81, Y:148.63, Z:-6.47 [[ 7.75275808e-01 6.31622236e-01 -8.78624610e-04 1.41812234e+02] [-6.31621753e-01 7.75276304e-01 7.82661513e-04 1.48630668e+02] [ 1.17552326e-03 -5.18201201e-05 9.99999308e-01 -6.46902429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87 meters 0.03119965328310049 Centerline is valid? [True, True] Translation: X:141.83, Y:148.61, Z:-6.47 [[ 7.75777716e-01 6.31005862e-01 -7.33099985e-04 1.41832684e+02] [-6.31005527e-01 7.75778062e-01 6.50982583e-04 1.48610800e+02] [ 9.79496711e-04 -4.24276392e-05 9.99999519e-01 -6.46899023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9 meters 0.029162241772608875 Centerline is valid? [True, True] Translation: X:141.86, Y:148.59, Z:-6.47 [[ 7.75587930e-01 6.31239184e-01 -6.75474574e-04 1.41856617e+02] [-6.31238900e-01 7.75588223e-01 5.99203656e-04 1.48594062e+02] [ 9.02130952e-04 -3.83492960e-05 9.99999592e-01 -6.46877086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93 meters 0.028068447703703685 Centerline is valid? [True, True] Translation: X:141.88, Y:148.58, Z:-6.47 [[ 7.75092968e-01 6.31846814e-01 -7.03193148e-04 1.41879843e+02] [-6.31846507e-01 7.75093286e-01 6.23780429e-04 1.48576221e+02] [ 9.39173965e-04 -3.91776894e-05 9.99999558e-01 -6.46880139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96 meters 0.032547007500299326 Centerline is valid? [True, True] Translation: X:141.90, Y:148.55, Z:-6.47 [[ 7.74994284e-01 6.31968197e-01 -2.41051267e-04 1.41895218e+02] [-6.31968161e-01 7.74994321e-01 2.13686035e-04 1.48551809e+02] [ 3.21856141e-04 -1.32687302e-05 9.99999948e-01 -6.47050624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99 meters 0.028713147011958238 Centerline is valid? [True, True] Translation: X:141.92, Y:148.54, Z:-6.47 [[ 7.74999545e-01 6.31961783e-01 -1.04576458e-04 1.41920365e+02] [-6.31961776e-01 7.74999552e-01 9.02794432e-05 1.48536858e+02] [ 1.38099866e-04 -3.87820304e-06 9.99999990e-01 -6.46914698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02 meters 0.02742892785893861 Centerline is valid? [True, True] Translation: X:141.94, Y:148.52, Z:-6.47 [[ 7.74243029e-01 6.32888138e-01 5.81116456e-04 1.41943538e+02] [-6.32887925e-01 7.74243246e-01 -5.19943768e-04 1.48519924e+02] [-7.78991735e-04 3.47812494e-05 9.99999696e-01 -6.46822055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05 meters 0.02783414717917328 Centerline is valid? [True, True] Translation: X:141.96, Y:148.50, Z:-6.47 [[ 7.74170019e-01 6.32977213e-01 7.94168840e-04 1.41963886e+02] [-6.32976819e-01 7.74170425e-01 -7.07564235e-04 1.48501264e+02] [-1.06269407e-03 4.50845511e-05 9.99999434e-01 -6.46809656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08 meters 0.027471468810347906 Centerline is valid? [True, True] Translation: X:141.99, Y:148.48, Z:-6.47 [[ 7.74453181e-01 6.32631205e-01 1.67125133e-04 1.41985398e+02] [-6.32631187e-01 7.74453199e-01 -1.51472317e-04 1.48482980e+02] [-2.25256708e-04 1.15796468e-05 9.99999975e-01 -6.46813826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11 meters 0.027803065142024595 Centerline is valid? [True, True] Translation: X:142.01, Y:148.46, Z:-6.47 [[ 7.74326781e-01 6.32785927e-01 8.47294662e-05 1.42005805e+02] [-6.32785922e-01 7.74326786e-01 -7.63510567e-05 1.48463949e+02] [-1.13922169e-04 5.50505463e-06 9.99999994e-01 -6.46863417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14 meters 0.028292955601000605 Centerline is valid? [True, True] Translation: X:142.03, Y:148.44, Z:-6.47 [[ 7.73905773e-01 6.33300416e-01 6.62134430e-04 1.42025164e+02] [-6.33300142e-01 7.73906055e-01 -5.89580952e-04 1.48444420e+02] [-8.85811707e-04 3.69502737e-05 9.99999607e-01 -6.46945964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16999999999996 meters 0.028167772392493483 Centerline is valid? [True, True] Translation: X:142.05, Y:148.42, Z:-6.47 [[ 7.74256534e-01 6.32871564e-01 6.35443384e-04 1.42046673e+02] [-6.32871310e-01 7.74256794e-01 -5.67336264e-04 1.48424858e+02] [-8.51047345e-04 3.71099228e-05 9.99999637e-01 -6.46985352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2 meters 0.02973466846118537 Centerline is valid? [True, True] Translation: X:142.07, Y:148.40, Z:-6.47 [[ 7.75028131e-01 6.31926401e-01 6.48540018e-04 1.42065736e+02] [-6.31926139e-01 7.75028401e-01 -5.77106643e-04 1.48404002e+02] [-8.67325857e-04 3.74444927e-05 9.99999623e-01 -6.47072458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22999999999996 meters 0.02760593225709718 Centerline is valid? [True, True] Translation: X:142.09, Y:148.39, Z:-6.47 [[ 7.74413878e-01 6.32678461e-01 1.05383705e-03 1.42088234e+02] [-6.32677768e-01 7.74414593e-01 -9.38495865e-04 1.48386392e+02] [-1.40987291e-03 6.00449481e-05 9.99999004e-01 -6.47098889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26 meters 0.029265458798628036 Centerline is valid? [True, True] Translation: X:142.11, Y:148.37, Z:-6.47 [[ 7.73647919e-01 6.33614889e-01 1.03392341e-03 1.42106630e+02] [-6.33614225e-01 7.73648608e-01 -9.19261903e-04 1.48365693e+02] [-1.38235143e-03 5.60764811e-05 9.99999043e-01 -6.47205735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28999999999996 meters 0.025845074115571066 Centerline is valid? [True, True] Translation: X:142.13, Y:148.35, Z:-6.47 [[ 7.72745725e-01 6.34715128e-01 8.66675335e-04 1.42131310e+02] [-6.34714661e-01 7.72746209e-01 -7.71764877e-04 1.48350800e+02] [-1.15957092e-03 4.62864681e-05 9.99999327e-01 -6.47183872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32 meters 0.025202125776904595 Centerline is valid? [True, True] Translation: X:142.15, Y:148.33, Z:-6.47 [[ 7.70603270e-01 6.37314564e-01 8.64461600e-04 1.42152898e+02] [-6.37314103e-01 7.70603754e-01 -7.67856704e-04 1.48333239e+02] [-1.15552361e-03 4.07793176e-05 9.99999332e-01 -6.47249208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34999999999997 meters 0.022782301310895824 Centerline is valid? [True, True] Translation: X:142.18, Y:148.32, Z:-6.47 [[ 7.68782523e-01 6.39509519e-01 1.00419790e-03 1.42177770e+02] [-6.39508897e-01 7.68783177e-01 -8.93063047e-04 1.48317309e+02] [-1.34313277e-03 4.43777699e-05 9.99999097e-01 -6.47166831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38 meters 0.023176371960301763 Centerline is valid? [True, True] Translation: X:142.20, Y:148.30, Z:-6.47 [[ 7.67423419e-01 6.41139192e-01 1.35403618e-03 1.42198601e+02] [-6.41138068e-01 7.67424611e-01 -1.20146359e-03 1.48299203e+02] [-1.80942609e-03 5.39071569e-05 9.99998362e-01 -6.47162050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40999999999997 meters 0.020717744356193786 Centerline is valid? [True, True] Translation: X:142.22, Y:148.28, Z:-6.47 [[ 7.65033394e-01 6.43986623e-01 2.26597332e-03 1.42223624e+02] [-6.43983492e-01 7.65036746e-01 -2.00981135e-03 1.48283240e+02] [-3.02784448e-03 7.83233891e-05 9.99995413e-01 -6.47076829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44 meters 0.02051313409636347 Centerline is valid? [True, True] Translation: X:142.24, Y:148.26, Z:-6.47 [[ 7.63647203e-01 6.45626114e-01 3.14187162e-03 1.42244486e+02] [-6.45620109e-01 7.63653659e-01 -2.78634442e-03 1.48264462e+02] [-4.19823848e-03 9.93286240e-05 9.99991182e-01 -6.47077608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46999999999997 meters 0.0193100814212692 Centerline is valid? [True, True] Translation: X:142.27, Y:148.25, Z:-6.47 [[ 7.61629702e-01 6.47999930e-01 4.03578578e-03 1.42267836e+02] [-6.47990069e-01 7.61640387e-01 -3.57654280e-03 1.48247169e+02] [-5.39141693e-03 1.08852123e-04 9.99985460e-01 -6.47049612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5 meters 0.01767455746796197 Centerline is valid? [True, True] Translation: X:142.29, Y:148.23, Z:-6.47 [[ 7.59844160e-01 6.50093376e-01 3.93131768e-03 1.42291577e+02] [-6.50084054e-01 7.59854324e-01 -3.48261684e-03 1.48230117e+02] [-5.25125488e-03 9.05591339e-05 9.99986208e-01 -6.47056856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53 meters 0.01789089134317947 Centerline is valid? [True, True] Translation: X:142.31, Y:148.21, Z:-6.47 [[ 7.58756244e-01 6.51361703e-01 4.11026269e-03 1.42311128e+02] [-6.51351546e-01 7.58767372e-01 -3.63852407e-03 1.48210907e+02] [-5.48872845e-03 8.35268952e-05 9.99984933e-01 -6.47167463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56 meters 0.01755345954470773 Centerline is valid? [True, True] Translation: X:142.33, Y:148.19, Z:-6.47 [[ 7.57936139e-01 6.52318616e-01 3.63770582e-03 1.42333440e+02] [-6.52310669e-01 7.57944865e-01 -3.22049458e-03 1.48192399e+02] [-4.85796901e-03 6.80149102e-05 9.99988198e-01 -6.47245063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59 meters 0.016587110520099847 Centerline is valid? [True, True] Translation: X:142.36, Y:148.18, Z:-6.47 [[ 7.55660251e-01 6.54954643e-01 3.46428570e-03 1.42356928e+02] [-6.54947470e-01 7.55668190e-01 -3.06567669e-03 1.48175231e+02] [-4.62572968e-03 4.76848615e-05 9.99989300e-01 -6.47275035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62 meters 0.015833222936295275 Centerline is valid? [True, True] Translation: X:142.38, Y:148.16, Z:-6.47 [[ 7.52852133e-01 6.58180132e-01 3.54673803e-03 1.42380629e+02] [-6.58172656e-01 7.52860487e-01 -3.13713853e-03 1.48158388e+02] [-4.73500117e-03 2.74354435e-05 9.99988789e-01 -6.47343022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65 meters 0.016122473470209422 Centerline is valid? [True, True] Translation: X:142.40, Y:148.14, Z:-6.47 [[ 7.51976819e-01 6.59180630e-01 3.42929239e-03 1.42401551e+02] [-6.59173661e-01 7.51984639e-01 -3.03115118e-03 1.48141209e+02] [-4.57685135e-03 1.88562040e-05 9.99989526e-01 -6.47399763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68 meters 0.015939154090063842 Centerline is valid? [True, True] Translation: X:142.42, Y:148.12, Z:-6.47 [[ 7.50587229e-01 6.60762515e-01 3.42215113e-03 1.42423423e+02] [-6.60755591e-01 7.50595030e-01 -3.02491770e-03 1.48123474e+02] [-4.56740186e-03 9.25910134e-06 9.99989569e-01 -6.47429985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71 meters 0.01577085926766772 Centerline is valid? [True, True] Translation: X:142.45, Y:148.11, Z:-6.47 [[ 7.48692277e-01 6.62907321e-01 3.70920435e-03 1.42445480e+02] [-6.62899223e-01 7.48701465e-01 -3.27661434e-03 1.48105739e+02] [-4.94917837e-03 -5.65282840e-06 9.99987753e-01 -6.47452947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74 meters 0.01587882922749953 Centerline is valid? [True, True] Translation: X:142.47, Y:148.09, Z:-6.47 [[ 7.47490792e-01 6.64258988e-01 4.18481019e-03 1.42466767e+02] [-6.64248714e-01 7.47502506e-01 -3.69439236e-03 1.48087767e+02] [-5.58218944e-03 -1.82305145e-05 9.99984419e-01 -6.47483465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77 meters 0.015852568631863625 Centerline is valid? [True, True] Translation: X:142.49, Y:148.07, Z:-6.47 [[ 7.46397657e-01 6.65483839e-01 4.66883453e-03 1.42487595e+02] [-6.65471095e-01 7.46412258e-01 -4.11855954e-03 1.48070347e+02] [-6.22571014e-03 -3.28912305e-05 9.99980620e-01 -6.47458014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8 meters 0.015904998960571348 Centerline is valid? [True, True] Translation: X:142.51, Y:148.05, Z:-6.47 [[ 7.45004281e-01 6.67040208e-01 5.09734077e-03 1.42510337e+02] [-6.67025059e-01 7.45021717e-01 -4.49578300e-03 1.48052085e+02] [-6.79649760e-03 -5.06764506e-05 9.99976902e-01 -6.47409124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83 meters 0.015996544891777223 Centerline is valid? [True, True] Translation: X:142.53, Y:148.03, Z:-6.47 [[ 7.43113132e-01 6.69136083e-01 6.30684016e-03 1.42533093e+02] [-6.69112996e-01 7.43139889e-01 -5.55912885e-03 1.48034618e+02] [-8.40667820e-03 -8.89270647e-05 9.99964659e-01 -6.47304622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86 meters 0.01621842535030493 Centerline is valid? [True, True] Translation: X:142.55, Y:148.02, Z:-6.47 [[ 7.42922329e-01 6.69343061e-01 6.80296277e-03 1.42553236e+02] [-6.69316236e-01 7.42953469e-01 -5.99331280e-03 1.48016960e+02] [-9.06586712e-03 -1.00767531e-04 9.99958899e-01 -6.47263774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89 meters 0.01655471241983704 Centerline is valid? [True, True] Translation: X:142.58, Y:148.00, Z:-6.47 [[ 7.42314518e-01 6.70018550e-01 6.65583519e-03 1.42575395e+02] [-6.69992912e-01 7.42344348e-01 -5.86231092e-03 1.47999782e+02] [-8.86877870e-03 -1.07683894e-04 9.99960666e-01 -6.47279979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91999999999996 meters 0.01639100320303039 Centerline is valid? [True, True] Translation: X:142.60, Y:147.98, Z:-6.47 [[ 7.41609573e-01 6.70802652e-01 6.24856017e-03 1.42596897e+02] [-6.70780094e-01 7.41635888e-01 -5.50233594e-03 1.47980734e+02] [-8.32513801e-03 -1.10824774e-04 9.99965339e-01 -6.47399277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95 meters 0.01685768443032018 Centerline is valid? [True, True] Translation: X:142.62, Y:147.96, Z:-6.48 [[ 7.41595342e-01 6.70820814e-01 5.98197731e-03 1.42617370e+02] [-6.70800160e-01 7.41619460e-01 -5.26514736e-03 1.47962776e+02] [-7.96832122e-03 -1.08102580e-04 9.99968247e-01 -6.47504659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97999999999996 meters 0.016394399824538948 Centerline is valid? [True, True] Translation: X:142.64, Y:147.94, Z:-6.48 [[ 7.40777534e-01 6.71728310e-01 5.45185144e-03 1.42637860e+02] [-6.71711190e-01 7.40797587e-01 -4.79707200e-03 1.47942956e+02] [-7.26104746e-03 -1.08506453e-04 9.99973632e-01 -6.47704361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01 meters 0.01662517249936323 Centerline is valid? [True, True] Translation: X:142.66, Y:147.92, Z:-6.48 [[ 7.41184833e-01 6.71278912e-01 5.44659469e-03 1.42658171e+02] [-6.71261831e-01 7.41204838e-01 -4.78986537e-03 1.47924660e+02] [-7.25237795e-03 -1.05915562e-04 9.99973696e-01 -6.47729105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03999999999996 meters 0.016621260309528246 Centerline is valid? [True, True] Translation: X:142.68, Y:147.91, Z:-6.48 [[ 7.41252817e-01 6.71203861e-01 5.44416453e-03 1.42678253e+02] [-6.71186801e-01 7.41272802e-01 -4.78661980e-03 1.47906471e+02] [-7.24840879e-03 -1.05955965e-04 9.99973724e-01 -6.47808819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07 meters 0.01638207777955297 Centerline is valid? [True, True] Translation: X:142.70, Y:147.89, Z:-6.48 [[ 7.42128462e-01 6.70234620e-01 5.55870745e-03 1.42697806e+02] [-6.70216816e-01 7.42149273e-01 -4.88635088e-03 1.47885943e+02] [-7.40039222e-03 -9.92391392e-05 9.99972612e-01 -6.47806805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09999999999997 meters 0.016058870323833463 Centerline is valid? [True, True] Translation: X:142.72, Y:147.87, Z:-6.48 [[ 7.42823950e-01 6.69465416e-01 5.35130429e-03 1.42718311e+02] [-6.69448910e-01 7.42843219e-01 -4.70195105e-03 1.47867129e+02] [-7.12297372e-03 -8.97029708e-05 9.99974627e-01 -6.47884648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13 meters 0.01589670361995803 Centerline is valid? [True, True] Translation: X:142.74, Y:147.85, Z:-6.48 [[ 7.44047251e-01 6.68104028e-01 5.54035694e-03 1.42739042e+02] [-6.68086319e-01 7.44067874e-01 -4.86516855e-03 1.47847256e+02] [-7.37284031e-03 -8.15213791e-05 9.99972817e-01 -6.47904618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15999999999997 meters 0.015980280412808804 Centerline is valid? [True, True] Translation: X:142.76, Y:147.83, Z:-6.48 [[ 7.44022237e-01 6.68135193e-01 5.12588597e-03 1.42760877e+02] [-6.68120048e-01 7.44039890e-01 -4.49931111e-03 1.47830326e+02] [-6.82001173e-03 -7.71196591e-05 9.99976740e-01 -6.47888913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19 meters 0.015972438844869687 Centerline is valid? [True, True] Translation: X:142.78, Y:147.81, Z:-6.48 [[ 7.43618020e-01 6.68583273e-01 5.35242714e-03 1.42783557e+02] [-6.68566791e-01 7.43637277e-01 -4.69533885e-03 1.47812418e+02] [-7.11948936e-03 -8.69164591e-05 9.99974652e-01 -6.47954514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21999999999997 meters 0.01584665342826569 Centerline is valid? [True, True] Translation: X:142.80, Y:147.79, Z:-6.48 [[ 7.44258840e-01 6.67864702e-01 5.95983485e-03 1.42804890e+02] [-6.67844266e-01 7.44282696e-01 -5.22532331e-03 1.47792445e+02] [-7.92561095e-03 -9.12484745e-05 9.99968588e-01 -6.47943719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25 meters 0.016033689919335292 Centerline is valid? [True, True] Translation: X:142.83, Y:147.78, Z:-6.48 [[ 7.43973642e-01 6.68178026e-01 6.43013565e-03 1.42826100e+02] [-6.68154273e-01 7.44001422e-01 -5.63493568e-03 1.47775923e+02] [-8.54917026e-03 -1.04078987e-04 9.99963450e-01 -6.47869767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28 meters 0.01595350470059449 Centerline is valid? [True, True] Translation: X:142.85, Y:147.76, Z:-6.48 [[ 7.44543495e-01 6.67542080e-01 6.52345126e-03 1.42847083e+02] [-6.67517620e-01 7.44572066e-01 -5.71541751e-03 1.47757839e+02] [-8.67246127e-03 -9.91417302e-05 9.99962389e-01 -6.47857131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31 meters 0.015519968299338592 Centerline is valid? [True, True] Translation: X:142.87, Y:147.74, Z:-6.48 [[ 7.45531611e-01 6.66435979e-01 6.76036777e-03 1.42867733e+02] [-6.66409694e-01 7.45562256e-01 -5.91968888e-03 1.47737732e+02] [-8.98536870e-03 -9.18594190e-05 9.99959627e-01 -6.47800808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34 meters 0.015838404308028502 Centerline is valid? [True, True] Translation: X:142.89, Y:147.72, Z:-6.48 [[ 7.46073097e-01 6.65830444e-01 6.68977710e-03 1.42888338e+02] [-6.65804706e-01 7.46103084e-01 -5.85510481e-03 1.47720698e+02] [-8.88977036e-03 -8.57488937e-05 9.99960482e-01 -6.47837905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37 meters 0.015568950933400974 Centerline is valid? [True, True] Translation: X:142.91, Y:147.70, Z:-6.48 [[ 7.46613470e-01 6.65222874e-01 6.84510120e-03 1.42909761e+02] [-6.65195914e-01 7.46644843e-01 -5.98954677e-03 1.47702255e+02] [-9.09524303e-03 -8.14570538e-05 9.99958634e-01 -6.47833212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4 meters 0.015362615884717941 Centerline is valid? [True, True] Translation: X:142.93, Y:147.68, Z:-6.48 [[ 7.47490826e-01 6.64239150e-01 6.61934151e-03 1.42930471e+02] [-6.64213928e-01 7.47520131e-01 -5.78895336e-03 1.47683050e+02] [-8.79334050e-03 -6.94692907e-05 9.99961335e-01 -6.47888708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43 meters 0.015054478573202289 Centerline is valid? [True, True] Translation: X:142.95, Y:147.66, Z:-6.48 [[ 7.49994600e-01 6.61407180e-01 6.97433846e-03 1.42949707e+02] [-6.61379073e-01 7.50027027e-01 -6.09768908e-03 1.47661880e+02] [-9.26399767e-03 -3.94476185e-05 9.99957087e-01 -6.47918693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46 meters 0.014958953453011153 Centerline is valid? [True, True] Translation: X:142.97, Y:147.64, Z:-6.48 [[ 7.51446510e-01 6.59760623e-01 6.63807021e-03 1.42970070e+02] [-6.59735120e-01 7.51475828e-01 -5.80100042e-03 1.47642136e+02] [-8.81562096e-03 -2.02265213e-05 9.99961141e-01 -6.47929484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49 meters 0.014940455156256607 Centerline is valid? [True, True] Translation: X:142.99, Y:147.62, Z:-6.48 [[ 7.52990294e-01 6.58000064e-01 6.44460869e-03 1.42989876e+02] [-6.57975987e-01 7.53017873e-01 -5.62882208e-03 1.47623105e+02] [-8.55667082e-03 -1.94937073e-06 9.99963391e-01 -6.47992209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52 meters 0.014856854191725832 Centerline is valid? [True, True] Translation: X:143.01, Y:147.60, Z:-6.48 [[ 7.54463795e-01 6.56309397e-01 6.50818997e-03 1.43009107e+02] [-6.56284809e-01 7.54491865e-01 -5.68105649e-03 1.47604283e+02] [-8.63890715e-03 1.49252333e-05 9.99962684e-01 -6.48013219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55 meters 0.014856854191725832 Centerline is valid? [True, True] Translation: X:143.03, Y:147.59, Z:-6.48 [[ 7.54646423e-01 6.56099391e-01 6.50888026e-03 1.43029764e+02] [-6.56074802e-01 7.54674492e-01 -5.68026550e-03 1.47586359e+02] [-8.63890464e-03 1.62797107e-05 9.99962684e-01 -6.48037011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58 meters 0.01527214923225258 Centerline is valid? [True, True] Translation: X:143.05, Y:147.57, Z:-6.48 [[ 7.57619229e-01 6.52664396e-01 6.50305955e-03 1.43047944e+02] [-6.52639751e-01 7.57647137e-01 -5.67198877e-03 1.47565002e+02] [-8.62892958e-03 5.30525915e-05 9.99962769e-01 -6.48080458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61 meters 0.01547459517163954 Centerline is valid? [True, True] Translation: X:143.07, Y:147.54, Z:-6.48 [[ 7.59277654e-01 6.50733541e-01 6.58050686e-03 1.43068850e+02] [-6.50708242e-01 7.59306166e-01 -5.73851835e-03 1.47544907e+02] [-8.73086580e-03 7.51386995e-05 9.99961882e-01 -6.48133770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64 meters 0.01584407513628914 Centerline is valid? [True, True] Translation: X:143.09, Y:147.52, Z:-6.48 [[ 7.60637060e-01 6.49144677e-01 6.51551087e-03 1.43088541e+02] [-6.49119841e-01 7.60664960e-01 -5.67904122e-03 1.47524773e+02] [-8.64264019e-03 9.03418353e-05 9.99962648e-01 -6.48184911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66999999999996 meters 0.016831872983473047 Centerline is valid? [True, True] Translation: X:143.11, Y:147.50, Z:-6.48 [[ 7.63295581e-01 6.46019025e-01 6.26706121e-03 1.43106791e+02] [-6.45995949e-01 7.63321299e-01 -5.46157056e-03 1.47504013e+02] [-8.31205979e-03 1.20296516e-04 9.99965447e-01 -6.48223794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7 meters 0.016930464839534216 Centerline is valid? [True, True] Translation: X:143.13, Y:147.48, Z:-6.48 [[ 7.64314400e-01 6.44815347e-01 6.05530176e-03 1.43126677e+02] [-6.44793773e-01 7.64338376e-01 -5.27614579e-03 1.47484632e+02] [-8.03043929e-03 1.28213331e-04 9.99967747e-01 -6.48249269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72999999999996 meters 0.017109579169163235 Centerline is valid? [True, True] Translation: X:143.15, Y:147.47, Z:-6.48 [[ 7.65359233e-01 6.43576893e-01 5.83326037e-03 1.43147760e+02] [-6.43556842e-01 7.65381450e-01 -5.08202803e-03 1.47465513e+02] [-7.73534510e-03 1.35542456e-04 9.99970073e-01 -6.48262418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76 meters 0.01751409142579532 Centerline is valid? [True, True] Translation: X:143.17, Y:147.45, Z:-6.48 [[ 7.66544075e-01 6.42168155e-01 5.49929897e-03 1.43168408e+02] [-6.42150314e-01 7.66563788e-01 -4.78890776e-03 1.47446115e+02] [-7.29084751e-03 1.39532312e-04 9.99973412e-01 -6.48304343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78999999999996 meters 0.0178730666278072 Centerline is valid? [True, True] Translation: X:143.19, Y:147.43, Z:-6.48 [[ 7.67452012e-01 6.41083433e-01 5.42607403e-03 1.43189242e+02] [-6.41066052e-01 7.67471179e-01 -4.72290064e-03 1.47426683e+02] [-7.19212879e-03 1.46127742e-04 9.99974126e-01 -6.48343383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82 meters 0.01763390526267175 Centerline is valid? [True, True] Translation: X:143.21, Y:147.41, Z:-6.48 [[ 7.68249591e-01 6.40132421e-01 4.80113199e-03 1.43211285e+02] [-6.40118805e-01 7.68264581e-01 -4.17728519e-03 1.47408784e+02] [-6.36255533e-03 1.35902762e-04 9.99979750e-01 -6.48408307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84999999999997 meters 0.01881114020277024 Centerline is valid? [True, True] Translation: X:143.23, Y:147.39, Z:-6.48 [[ 7.68915456e-01 6.39337419e-01 4.08480903e-03 1.43230863e+02] [-6.39327563e-01 7.68926297e-01 -3.55199864e-03 1.47389265e+02] [-5.41184273e-03 1.19655651e-04 9.99985349e-01 -6.48477959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88 meters 0.017991145381520777 Centerline is valid? [True, True] Translation: X:143.25, Y:147.37, Z:-6.48 [[ 7.69438664e-01 6.38707770e-01 4.06539726e-03 1.43254281e+02] [-6.38697998e-01 7.69449394e-01 -3.53519384e-03 1.47371931e+02] [-5.38607324e-03 1.23553730e-04 9.99985487e-01 -6.48413331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90999999999997 meters 0.01826765432000784 Centerline is valid? [True, True] Translation: X:143.27, Y:147.35, Z:-6.48 [[ 7.70233118e-01 6.37750319e-01 3.93389320e-03 1.43274609e+02] [-6.37741168e-01 7.70243154e-01 -3.41869840e-03 1.47353452e+02] [-5.21033030e-03 1.24389080e-04 9.99986418e-01 -6.48396833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94 meters 0.018803077685548914 Centerline is valid? [True, True] Translation: X:143.30, Y:147.33, Z:-6.48 [[ 7.71156211e-01 6.36635794e-01 3.60059602e-03 1.43295220e+02] [-6.36628119e-01 7.71164607e-01 -3.12834901e-03 1.47334156e+02] [-4.76827117e-03 1.20205097e-04 9.99988625e-01 -6.48413733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96999999999997 meters 0.019553479961735842 Centerline is valid? [True, True] Translation: X:143.32, Y:147.31, Z:-6.48 [[ 7.72221279e-01 6.35343941e-01 3.51755185e-03 1.43315108e+02] [-6.35336607e-01 7.72229280e-01 -3.05519851e-03 1.47314861e+02] [-4.65745839e-03 1.24459841e-04 9.99989146e-01 -6.48438447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0 meters 0.019823890136834627 Centerline is valid? [True, True] Translation: X:143.34, Y:147.30, Z:-6.48 [[ 7.72775539e-01 6.34669094e-01 3.62049821e-03 1.43336028e+02] [-6.34661316e-01 7.72784009e-01 -3.14482063e-03 1.47295770e+02] [-4.79378358e-03 1.32450303e-04 9.99988501e-01 -6.48436938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03 meters 0.02014204054351749 Centerline is valid? [True, True] Translation: X:143.36, Y:147.28, Z:-6.48 [[ 7.72960613e-01 6.34443420e-01 3.66562390e-03 1.43356487e+02] [-6.34435452e-01 7.72969293e-01 -3.18262048e-03 1.47277475e+02] [-4.85260734e-03 1.34438524e-04 9.99988217e-01 -6.48445081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06 meters 0.020527986251418426 Centerline is valid? [True, True] Translation: X:143.38, Y:147.26, Z:-6.48 [[ 7.73626766e-01 6.33628033e-01 4.14036786e-03 1.43376315e+02] [-6.33617872e-01 7.73637830e-01 -3.59163478e-03 1.47257980e+02] [-5.47890568e-03 1.55173726e-04 9.99984979e-01 -6.48369029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09 meters 0.01993809335206463 Centerline is valid? [True, True] Translation: X:143.40, Y:147.24, Z:-6.48 [[ 7.74245809e-01 6.32872516e-01 3.97572407e-03 1.43398560e+02] [-6.32863137e-01 7.74256001e-01 -3.44898056e-03 1.47240268e+02] [-5.26099322e-03 1.54269534e-04 9.99986149e-01 -6.48331935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12 meters 0.019554640452735306 Centerline is valid? [True, True] Translation: X:143.42, Y:147.22, Z:-6.48 [[ 7.74724495e-01 6.32287960e-01 3.72724359e-03 1.43420595e+02] [-6.32279716e-01 7.74733447e-01 -3.23203806e-03 1.47221921e+02] [-4.93119903e-03 1.47278535e-04 9.99987831e-01 -6.48295787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15 meters 0.021843900450480618 Centerline is valid? [True, True] Translation: X:143.44, Y:147.20, Z:-6.48 [[ 7.75062087e-01 6.31877688e-01 3.05767660e-03 1.43438916e+02] [-6.31872144e-01 7.75068109e-01 -2.64963216e-03 1.47200871e+02] [-4.04415106e-03 1.21568761e-04 9.99991815e-01 -6.48387029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18 meters 0.02002797190312741 Centerline is valid? [True, True] Translation: X:143.46, Y:147.19, Z:-6.48 [[ 7.75227659e-01 6.31676829e-01 2.54166181e-03 1.43462380e+02] [-6.31672994e-01 7.75231819e-01 -2.20360470e-03 1.47185244e+02] [-3.36234314e-03 1.02796193e-04 9.99994342e-01 -6.48416435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21 meters 0.02250330346075464 Centerline is valid? [True, True] Translation: X:143.48, Y:147.16, Z:-6.49 [[ 7.75373484e-01 6.31499241e-01 2.16090240e-03 1.43480130e+02] [-6.31496473e-01 7.75376490e-01 -1.87180192e-03 1.47163763e+02] [-2.85755441e-03 8.67433258e-05 9.99995913e-01 -6.48578711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24 meters 0.019622855887188054 Centerline is valid? [True, True] Translation: X:143.51, Y:147.15, Z:-6.49 [[ 7.75559223e-01 6.31272792e-01 1.59791898e-03 1.43505134e+02] [-6.31271275e-01 7.75560867e-01 -1.38546027e-03 1.47149816e+02] [-2.11388680e-03 6.57861349e-05 9.99997764e-01 -6.48550954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27 meters 0.019994560237781445 Centerline is valid? [True, True] Translation: X:143.53, Y:147.13, Z:-6.48 [[ 7.75231833e-01 6.31675214e-01 1.42487697e-03 1.43526333e+02] [-6.31674012e-01 7.75233140e-01 -1.23330485e-03 1.47132069e+02] [-1.88365995e-03 5.60394250e-05 9.99998224e-01 -6.48481885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3 meters 0.023385152280659287 Centerline is valid? [True, True] Translation: X:143.54, Y:147.11, Z:-6.49 [[ 7.75400621e-01 6.31468355e-01 1.26259828e-03 1.43543284e+02] [-6.31467411e-01 7.75401647e-01 -1.09301086e-03 1.47110352e+02] [-1.66922255e-03 5.02316345e-05 9.99998606e-01 -6.48568161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33 meters 0.02112889099604942 Centerline is valid? [True, True] Translation: X:143.57, Y:147.10, Z:-6.48 [[ 7.75622001e-01 6.31196516e-01 1.21236869e-03 1.43567121e+02] [-6.31195643e-01 7.75622947e-01 -1.05078207e-03 1.47095030e+02] [-1.60359096e-03 4.97678547e-05 9.99998713e-01 -6.48377230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36 meters 0.019420885716291577 Centerline is valid? [True, True] Translation: X:143.59, Y:147.08, Z:-6.48 [[ 7.75917207e-01 6.30833283e-01 1.36264732e-03 1.43590830e+02] [-6.30832181e-01 7.75918402e-01 -1.18016604e-03 1.47079239e+02] [-1.80179115e-03 5.61093617e-05 9.99998375e-01 -6.48269429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39 meters 0.02055852618378236 Centerline is valid? [True, True] Translation: X:143.61, Y:147.06, Z:-6.48 [[ 7.76052962e-01 6.30664891e-01 1.89628906e-03 1.43610261e+02] [-6.30662766e-01 7.76055275e-01 -1.63878512e-03 1.47060158e+02] [-2.50514937e-03 7.58651476e-05 9.99996859e-01 -6.48247251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41999999999996 meters 0.01958518274867866 Centerline is valid? [True, True] Translation: X:143.63, Y:147.04, Z:-6.48 [[ 7.76096887e-01 6.30609165e-01 2.38832765e-03 1.43632753e+02] [-6.30605793e-01 7.76100556e-01 -2.06429374e-03 1.47043038e+02] [-3.15534497e-03 9.59986927e-05 9.99995017e-01 -6.48190447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45 meters 0.01973642155066316 Centerline is valid? [True, True] Translation: X:143.65, Y:147.02, Z:-6.48 [[ 7.76284879e-01 6.30374541e-01 3.11842324e-03 1.43653420e+02] [-6.30368802e-01 7.76291133e-01 -2.69277325e-03 1.47024124e+02] [-4.11826001e-03 1.24602439e-04 9.99991512e-01 -6.48210756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47999999999996 meters 0.019170378373075312 Centerline is valid? [True, True] Translation: X:143.67, Y:147.01, Z:-6.48 [[ 7.76228006e-01 6.30444797e-01 3.07259491e-03 1.43674701e+02] [-6.30439232e-01 7.76234078e-01 -2.65174872e-03 1.47006232e+02] [-4.05683406e-03 1.21277248e-04 9.99991764e-01 -6.48267034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51 meters 0.018964841022381173 Centerline is valid? [True, True] Translation: X:143.70, Y:146.99, Z:-6.48 [[ 7.76365124e-01 6.30276489e-01 2.95665936e-03 1.43695779e+02] [-6.30271340e-01 7.76370745e-01 -2.55035096e-03 1.46988036e+02] [-3.90289008e-03 1.16505879e-04 9.99992377e-01 -6.48327929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53999999999996 meters 0.02015859001449811 Centerline is valid? [True, True] Translation: X:143.71, Y:146.97, Z:-6.48 [[ 7.77050555e-01 6.29431100e-01 2.98747295e-03 1.43714760e+02] [-6.29425848e-01 7.77056289e-01 -2.57413971e-03 1.46967311e+02] [-3.94167824e-03 1.19843996e-04 9.99992224e-01 -6.48405391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57 meters 0.02020612568285421 Centerline is valid? [True, True] Translation: X:143.74, Y:146.95, Z:-6.48 [[ 7.78015202e-01 6.28240003e-01 2.61620131e-03 1.43736416e+02] [-6.28235966e-01 7.78019592e-01 -2.25505355e-03 1.46947958e+02] [-3.45217072e-03 1.10874186e-04 9.99994035e-01 -6.48450715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59999999999997 meters 0.020327551977150072 Centerline is valid? [True, True] Translation: X:143.76, Y:146.93, Z:-6.49 [[ 7.78755528e-01 6.27322712e-01 2.45826305e-03 1.43757069e+02] [-6.27319148e-01 7.78759400e-01 -2.11719724e-03 1.46928571e+02] [-3.24256138e-03 1.06663568e-04 9.99994737e-01 -6.48528106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63 meters 0.021605315399214363 Centerline is valid? [True, True] Translation: X:143.78, Y:146.91, Z:-6.49 [[ 7.80332602e-01 6.25360617e-01 2.26456940e-03 1.43775502e+02] [-6.25357587e-01 7.80335881e-01 -1.94962610e-03 1.46906821e+02] [-2.98634414e-03 1.05191149e-04 9.99995535e-01 -6.48619506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65999999999997 meters 0.02191467328972103 Centerline is valid? [True, True] Translation: X:143.80, Y:146.89, Z:-6.49 [[ 7.81204246e-01 6.24270935e-01 2.39271782e-03 1.43796294e+02] [-6.24267545e-01 7.81207902e-01 -2.06068750e-03 1.46887277e+02] [-3.15563738e-03 1.16121751e-04 9.99995014e-01 -6.48661232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69 meters 0.021648502649546472 Centerline is valid? [True, True] Translation: X:143.82, Y:146.87, Z:-6.49 [[ 7.81996317e-01 6.23277249e-01 2.68897344e-03 1.43817817e+02] [-6.23272966e-01 7.82000929e-01 -2.31435722e-03 1.46868408e+02] [-3.54526593e-03 1.33854365e-04 9.99993707e-01 -6.48668425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71999999999997 meters 0.022372424673732457 Centerline is valid? [True, True] Translation: X:143.84, Y:146.85, Z:-6.49 [[ 7.82559423e-01 6.22569810e-01 2.75350467e-03 1.43837566e+02] [-6.22565324e-01 7.82564255e-01 -2.36755997e-03 1.46848675e+02] [-3.62876569e-03 1.38519841e-04 9.99993406e-01 -6.48716669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75 meters 0.02232578639462298 Centerline is valid? [True, True] Translation: X:143.86, Y:146.83, Z:-6.49 [[ 7.83388992e-01 6.21526496e-01 2.55003920e-03 1.43859511e+02] [-6.21522639e-01 7.83393131e-01 -2.19342409e-03 1.46829729e+02] [-3.36095438e-03 1.33397191e-04 9.99994343e-01 -6.48732376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78 meters 0.022766377708205398 Centerline is valid? [True, True] Translation: X:143.88, Y:146.81, Z:-6.49 [[ 7.84097704e-01 6.20632502e-01 2.46764043e-03 1.43880324e+02] [-6.20628889e-01 7.84101575e-01 -2.12156193e-03 1.46809869e+02] [-3.25159104e-03 1.32022904e-04 9.99994705e-01 -6.48750048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81 meters 0.024134530661684302 Centerline is valid? [True, True] Translation: X:143.90, Y:146.79, Z:-6.49 [[ 7.84458093e-01 6.20177067e-01 2.43003613e-03 1.43900140e+02] [-6.20173569e-01 7.84461846e-01 -2.08707323e-03 1.46789959e+02] [-3.20062559e-03 1.30177308e-04 9.99994870e-01 -6.48820351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84 meters 0.023052733878063038 Centerline is valid? [True, True] Translation: X:143.92, Y:146.77, Z:-6.49 [[ 7.84482860e-01 6.20146085e-01 2.33992330e-03 1.43921806e+02] [-6.20142838e-01 7.84486340e-01 -2.01079002e-03 1.46773105e+02] [-3.08262142e-03 1.26343628e-04 9.99995241e-01 -6.48903236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87 meters 0.025785810703238984 Centerline is valid? [True, True] Translation: X:143.94, Y:146.75, Z:-6.49 [[ 7.84512301e-01 6.20109577e-01 2.13603551e-03 1.43939790e+02] [-6.20106876e-01 7.84515201e-01 -1.83358083e-03 1.46752284e+02] [-2.81277336e-03 1.13896407e-04 9.99996038e-01 -6.49062459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9 meters 0.023475690107380248 Centerline is valid? [True, True] Translation: X:143.96, Y:146.74, Z:-6.49 [[ 7.84254253e-01 6.20434254e-01 2.56959910e-03 1.43964770e+02] [-6.20430348e-01 7.84258451e-01 -2.20577339e-03 1.46737011e+02] [-3.38376718e-03 1.35629898e-04 9.99994266e-01 -6.49026420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93 meters 0.021839446526778543 Centerline is valid? [True, True] Translation: X:143.99, Y:146.72, Z:-6.49 [[ 7.83753607e-01 6.21066365e-01 2.61795343e-03 1.43989366e+02] [-6.21062318e-01 7.83757968e-01 -2.24617206e-03 1.46721295e+02] [-3.44686378e-03 1.34533224e-04 9.99994051e-01 -6.48974509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96 meters 0.024249981555149562 Centerline is valid? [True, True] Translation: X:144.01, Y:146.70, Z:-6.49 [[ 7.82981347e-01 6.22039753e-01 2.59926826e-03 1.44008694e+02] [-6.22035776e-01 7.82985651e-01 -2.22790498e-03 1.46700605e+02] [-3.42103521e-03 1.27570196e-04 9.99994140e-01 -6.49036532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99 meters 0.02114360962992751 Centerline is valid? [True, True] Translation: X:144.04, Y:146.69, Z:-6.49 [[ 7.82094331e-01 6.23153490e-01 2.86110732e-03 1.44035096e+02] [-6.23148677e-01 7.82099553e-01 -2.45271578e-03 1.46686437e+02] [-3.76608915e-03 1.35359860e-04 9.99992899e-01 -6.48969567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02 meters 0.01994073111962534 Centerline is valid? [True, True] Translation: X:144.06, Y:146.67, Z:-6.49 [[ 7.79915724e-01 6.25874711e-01 3.50844810e-03 1.44060405e+02] [-6.25867515e-01 7.79923601e-01 -3.00501303e-03 1.46671041e+02] [-4.61708314e-03 1.47833217e-04 9.99989330e-01 -6.48933192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05 meters 0.019214061730960012 Centerline is valid? [True, True] Translation: X:144.08, Y:146.65, Z:-6.49 [[ 7.78690356e-01 6.27400508e-01 3.15152663e-03 1.44083744e+02] [-6.27394713e-01 7.78696724e-01 -2.69953490e-03 1.46653327e+02] [-4.14777303e-03 1.24850652e-04 9.99991390e-01 -6.49186211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08 meters 0.02017321742927171 Centerline is valid? [True, True] Translation: X:144.10, Y:146.63, Z:-6.50 [[ 7.80435013e-01 6.25234882e-01 -1.59135063e-03 1.44099111e+02] [-6.25233409e-01 7.80436633e-01 1.35853391e-03 1.46626899e+02] [ 2.09135112e-03 -6.52818534e-05 9.99997811e-01 -6.50420795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11 meters 0.021195981473924038 Centerline is valid? [True, True] Translation: X:144.12, Y:146.61, Z:-6.51 [[ 7.82114312e-01 6.23133393e-01 -1.40619185e-03 1.44118365e+02] [-6.23132242e-01 7.82115574e-01 1.19934204e-03 1.46605323e+02] [ 1.84715461e-03 -6.17790947e-05 9.99998292e-01 -6.50517728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14 meters 0.019617040805905324 Centerline is valid? [True, True] Translation: X:144.15, Y:146.59, Z:-6.50 [[ 7.79240267e-01 6.26725186e-01 3.84089344e-04 1.44145963e+02] [-6.26725099e-01 7.79240361e-01 -3.30877889e-04 1.46592310e+02] [-5.06667425e-04 1.71149424e-05 9.99999872e-01 -6.49778735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16999999999996 meters 0.01862541976544262 Centerline is valid? [True, True] Translation: X:144.17, Y:146.58, Z:-6.49 [[ 7.77947109e-01 6.28328075e-01 1.45817141e-03 1.44172289e+02] [-6.28326840e-01 7.77948473e-01 -1.24713913e-03 1.46577874e+02] [-1.91799475e-03 5.40000456e-05 9.99998159e-01 -6.49257313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2 meters 0.01815376092589937 Centerline is valid? [True, True] Translation: X:144.20, Y:146.56, Z:-6.49 [[ 7.77417134e-01 6.28974838e-01 3.64050709e-03 1.44197721e+02] [-6.28967156e-01 7.77425647e-01 -3.11136180e-03 1.46563295e+02] [-4.78719187e-03 1.29066581e-04 9.99988533e-01 -6.48677675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22999999999996 meters 0.017939206252205398 Centerline is valid? [True, True] Translation: X:144.22, Y:146.55, Z:-6.48 [[ 7.76241965e-01 6.30418239e-01 4.61043788e-03 1.44220694e+02] [-6.30405960e-01 7.76255642e-01 -3.93748224e-03 1.46546768e+02] [-6.06113903e-03 1.49991429e-04 9.99981620e-01 -6.48476646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26 meters 0.017807876759605382 Centerline is valid? [True, True] Translation: X:144.24, Y:146.53, Z:-6.49 [[ 7.76070906e-01 6.30627695e-01 4.76009796e-03 1.44240341e+02] [-6.30614624e-01 7.76085489e-01 -4.06313348e-03 1.46525785e+02] [-6.25656746e-03 1.51492298e-04 9.99980416e-01 -6.48916321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28999999999996 meters 0.018074641850430312 Centerline is valid? [True, True] Translation: X:144.26, Y:146.50, Z:-6.49 [[ 7.77376341e-01 6.29019625e-01 4.50955270e-03 1.44259404e+02] [-6.29007877e-01 7.77389406e-01 -3.84747375e-03 1.46504196e+02] [-5.92581499e-03 1.54390895e-04 9.99982430e-01 -6.49247023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32 meters 0.019678947383345146 Centerline is valid? [True, True] Translation: X:144.28, Y:146.48, Z:-6.49 [[ 7.79228112e-01 6.26721785e-01 4.83268040e-03 1.44276715e+02] [-6.26708266e-01 7.79243076e-01 -4.12040949e-03 1.46482581e+02] [-6.34818313e-03 1.82058155e-04 9.99979834e-01 -6.49421018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34999999999997 meters 0.020361058996329416 Centerline is valid? [True, True] Translation: X:144.30, Y:146.46, Z:-6.49 [[ 7.81829607e-01 6.23486625e-01 2.62581156e-03 1.44297559e+02] [-6.23482612e-01 7.81834008e-01 -2.23970856e-03 1.46461921e+02] [-3.44937710e-03 1.13922615e-04 9.99994044e-01 -6.49488995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38 meters 0.020955006560519972 Centerline is valid? [True, True] Translation: X:144.32, Y:146.44, Z:-6.49 [[ 7.83048670e-01 6.21957151e-01 2.02055004e-03 1.44319536e+02] [-6.21954770e-01 7.83051272e-01 -1.72340945e-03 1.46442936e+02] [-2.65408111e-03 9.28227418e-05 9.99996474e-01 -6.49458551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40999999999997 meters 0.021245618449367884 Centerline is valid? [True, True] Translation: X:144.34, Y:146.42, Z:-6.49 [[ 7.83825346e-01 6.20978132e-01 1.99677429e-03 1.44340745e+02] [-6.20975806e-01 7.83827884e-01 -1.70230259e-03 1.46423862e+02] [-2.62222005e-03 9.43593904e-05 9.99996558e-01 -6.49426089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44 meters 0.021785541174788436 Centerline is valid? [True, True] Translation: X:144.36, Y:146.40, Z:-6.49 [[ 7.84626799e-01 6.19964784e-01 2.11037670e-03 1.44361060e+02] [-6.19962185e-01 7.84629630e-01 -1.79807141e-03 1.46404035e+02] [-2.77060505e-03 1.02461264e-04 9.99996157e-01 -6.49413196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46999999999997 meters 0.021785541174788436 Centerline is valid? [True, True] Translation: X:144.38, Y:146.39, Z:-6.49 [[ 7.84801254e-01 6.19743928e-01 2.11068354e-03 1.44381963e+02] [-6.19741329e-01 7.84804086e-01 -1.79771108e-03 1.46386359e+02] [-2.77059359e-03 1.02768093e-04 9.99996157e-01 -6.49437055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5 meters 0.022726035221324794 Centerline is valid? [True, True] Translation: X:144.40, Y:146.37, Z:-6.49 [[ 7.86064009e-01 6.18139017e-01 2.74410063e-03 1.44402268e+02] [-6.18134624e-01 7.86068786e-01 -2.33466758e-03 1.46365418e+02] [-3.60020098e-03 1.38974541e-04 9.99993510e-01 -6.49450272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53 meters 0.023701099211348508 Centerline is valid? [True, True] Translation: X:144.42, Y:146.34, Z:-6.49 [[ 7.87317864e-01 6.16535899e-01 3.75066680e-03 1.44421956e+02] [-6.16527686e-01 7.87326772e-01 -3.18844128e-03 1.46344401e+02] [-4.91878890e-03 1.97926854e-04 9.99987883e-01 -6.49426295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56 meters 0.023561081883970332 Centerline is valid? [True, True] Translation: X:144.44, Y:146.32, Z:-6.49 [[ 7.89516146e-01 6.13704930e-01 5.52394099e-03 1.44442326e+02] [-6.13687074e-01 7.89535408e-01 -4.69199096e-03 1.46324077e+02] [-7.24084498e-03 3.14431436e-04 9.99973735e-01 -6.49256913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59 meters 0.026658367865707466 Centerline is valid? [True, True] Translation: X:144.46, Y:146.30, Z:-6.49 [[ 7.90304720e-01 6.12686299e-01 5.82653312e-03 1.44460111e+02] [-6.12666414e-01 7.90326125e-01 -4.94795584e-03 1.46302267e+02] [-7.63640609e-03 3.40671704e-04 9.99970784e-01 -6.49183637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62 meters 0.02565180929918179 Centerline is valid? [True, True] Translation: X:144.48, Y:146.28, Z:-6.49 [[ 7.91042567e-01 6.11728076e-01 6.35750476e-03 1.44483028e+02] [-6.11704379e-01 7.91068022e-01 -5.39786053e-03 1.46284703e+02] [-8.33124155e-03 3.81023948e-04 9.99965222e-01 -6.49180888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65 meters 0.025164090316395826 Centerline is valid? [True, True] Translation: X:144.51, Y:146.27, Z:-6.49 [[ 7.91827902e-01 6.10712284e-01 6.25145969e-03 1.44505130e+02] [-6.10689360e-01 7.91852486e-01 -5.30521862e-03 1.46266848e+02] [-8.19019608e-03 3.83120207e-04 9.99966386e-01 -6.49131799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68 meters 0.025095001664675234 Centerline is valid? [True, True] Translation: X:144.53, Y:146.25, Z:-6.49 [[ 7.93076172e-01 6.09097370e-01 5.52984044e-03 1.44527021e+02] [-6.09079409e-01 7.93095372e-01 -4.69078686e-03 1.46248252e+02] [-7.24283680e-03 3.52039335e-04 9.99973708e-01 -6.49220098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71 meters 0.02655408498145236 Centerline is valid? [True, True] Translation: X:144.55, Y:146.23, Z:-6.49 [[ 7.94254283e-01 6.07563180e-01 5.20730839e-03 1.44547168e+02] [-6.07547237e-01 7.94271279e-01 -4.41473502e-03 1.46228137e+02] [-6.81824594e-03 3.42736376e-04 9.99976697e-01 -6.49298900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74 meters 0.02866903551000043 Centerline is valid? [True, True] Translation: X:144.57, Y:146.21, Z:-6.49 [[ 7.95357274e-01 6.06123016e-01 4.65790933e-03 1.44566124e+02] [-6.06110240e-01 7.95370850e-01 -3.94812692e-03 1.46207073e+02] [-6.09781590e-03 3.16964919e-04 9.99981358e-01 -6.49399061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77 meters 0.029090447935460586 Centerline is valid? [True, True] Translation: X:144.59, Y:146.19, Z:-6.49 [[ 7.96916318e-01 6.04074284e-01 4.31749744e-03 1.44587867e+02] [-6.04063277e-01 7.96927954e-01 -3.65967715e-03 1.46187148e+02] [-5.65145126e-03 3.08414785e-04 9.99983983e-01 -6.49465804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8 meters 0.029807305620261817 Centerline is valid? [True, True] Translation: X:144.61, Y:146.17, Z:-6.50 [[ 7.97233122e-01 6.03658277e-01 4.00439577e-03 1.44608584e+02] [-6.03648811e-01 7.97243126e-01 -3.39263630e-03 1.46168718e+02] [-5.24046999e-03 2.87473280e-04 9.99986227e-01 -6.49511837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83 meters 0.030434074288738254 Centerline is valid? [True, True] Translation: X:144.63, Y:146.15, Z:-6.50 [[ 7.97442864e-01 6.03381037e-01 4.02533789e-03 1.44630150e+02] [-6.03371470e-01 7.97452971e-01 -3.41012691e-03 1.46150490e+02] [-5.26762357e-03 2.90607329e-04 9.99986084e-01 -6.49600295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86 meters 0.03063136077862985 Centerline is valid? [True, True] Translation: X:144.65, Y:146.13, Z:-6.50 [[ 7.97602104e-01 6.03171677e-01 3.84865112e-03 1.44651085e+02] [-6.03162938e-01 7.97611341e-01 -3.25873667e-03 1.46132818e+02] [-5.03530544e-03 2.77811504e-04 9.99987284e-01 -6.49666896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89 meters 0.03203244475990096 Centerline is valid? [True, True] Translation: X:144.67, Y:146.11, Z:-6.50 [[ 7.97706077e-01 6.03035933e-01 3.56063123e-03 1.44672096e+02] [-6.03028464e-01 7.97713982e-01 -3.01239046e-03 1.46114402e+02] [-4.65694501e-03 2.55840191e-04 9.99989124e-01 -6.49650318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91999999999996 meters 0.03228620735121844 Centerline is valid? [True, True] Translation: X:144.69, Y:146.10, Z:-6.50 [[ 7.97948290e-01 6.02716968e-01 3.28367101e-03 1.44694757e+02] [-6.02710611e-01 7.97955011e-01 -2.77854794e-03 1.46096064e+02] [-4.29489973e-03 2.38034219e-04 9.99990749e-01 -6.49663167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95 meters 0.032988677082500396 Centerline is valid? [True, True] Translation: X:144.72, Y:146.08, Z:-6.50 [[ 7.98068136e-01 6.02560439e-01 2.85791549e-03 1.44715930e+02] [-6.02555629e-01 7.98073227e-01 -2.41646048e-03 1.46078143e+02] [-3.73688932e-03 2.06447049e-04 9.99992997e-01 -6.49689549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97999999999996 meters 0.033245463066184776 Centerline is valid? [True, True] Translation: X:144.74, Y:146.06, Z:-6.50 [[ 7.98199718e-01 6.02388291e-01 2.35720113e-03 1.44737652e+02] [-6.02385015e-01 7.98203180e-01 -1.99427067e-03 1.46060182e+02] [-3.08285074e-03 1.71883651e-04 9.99995233e-01 -6.49758778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01 meters 0.03437808714211664 Centerline is valid? [True, True] Translation: X:144.76, Y:146.04, Z:-6.50 [[ 7.97897718e-01 6.02791105e-01 1.45480945e-03 1.44758130e+02] [-6.02789860e-01 7.97899037e-01 -1.22966659e-03 1.46041172e+02] [-1.90202314e-03 1.04203783e-04 9.99998186e-01 -6.49995034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03999999999996 meters 0.029631358648521747 Centerline is valid? [True, True] Translation: X:144.78, Y:146.03, Z:-6.50 [[ 7.98012571e-01 6.02639490e-01 1.25731091e-03 1.44784178e+02] [-6.02638557e-01 7.98013557e-01 -1.06453208e-03 1.46028379e+02] [-1.64488022e-03 9.18059555e-05 9.99998643e-01 -6.50017261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07 meters 0.0317286208577815 Centerline is valid? [True, True] Translation: X:144.80, Y:146.01, Z:-6.50 [[ 7.97903954e-01 6.02783459e-01 1.17532868e-03 1.44803549e+02] [-6.02782647e-01 7.97904815e-01 -9.92921608e-04 1.46008194e+02] [-1.53631714e-03 8.37883416e-05 9.99998816e-01 -6.50153904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09999999999997 meters 0.02907392496380938 Centerline is valid? [True, True] Translation: X:144.83, Y:145.99, Z:-6.50 [[ 7.97138281e-01 6.03796126e-01 8.94634834e-04 1.44828042e+02] [-6.03795654e-01 7.97138780e-01 -7.57390991e-04 1.45992958e+02] [-1.17045787e-03 6.35687283e-05 9.99999313e-01 -6.50213619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13 meters 0.02803465411384904 Centerline is valid? [True, True] Translation: X:144.85, Y:145.98, Z:-6.50 [[ 7.96569778e-01 6.04546019e-01 8.36767787e-04 1.44851576e+02] [-6.04545607e-01 7.96570215e-01 -7.08331905e-04 1.45976315e+02] [-1.09476353e-03 5.83714980e-05 9.99999399e-01 -6.50248010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15999999999997 meters 0.029161159709206397 Centerline is valid? [True, True] Translation: X:144.87, Y:145.96, Z:-6.50 [[ 7.95815869e-01 6.05538483e-01 4.99490434e-04 1.44872360e+02] [-6.05538335e-01 7.95816025e-01 -4.23729653e-04 1.45957150e+02] [-6.54087103e-04 3.47501761e-05 9.99999785e-01 -6.50325017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19 meters 0.028937196534659666 Centerline is valid? [True, True] Translation: X:144.89, Y:145.94, Z:-6.50 [[ 7.94349338e-01 6.07461201e-01 -1.33461026e-04 1.44894232e+02] [-6.07461191e-01 7.94349350e-01 1.11473386e-04 1.45939874e+02] [ 1.73730436e-04 -7.47641593e-06 9.99999985e-01 -6.50473658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21999999999997 meters 0.02631975502238969 Centerline is valid? [True, True] Translation: X:144.92, Y:145.92, Z:-6.50 [[ 7.93593979e-01 6.08447533e-01 -4.44016967e-04 1.44919030e+02] [-6.08447420e-01 7.93594102e-01 3.71075323e-04 1.45924413e+02] [ 5.78149111e-04 -2.43221640e-05 9.99999833e-01 -6.50488634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25 meters 0.025778461321715716 Centerline is valid? [True, True] Translation: X:144.94, Y:145.91, Z:-6.51 [[ 7.92910966e-01 6.09337095e-01 -7.10353112e-04 1.44942087e+02] [-6.09336806e-01 7.92911283e-01 5.95039497e-04 1.45906911e+02] [ 9.25826636e-04 -3.89690457e-05 9.99999571e-01 -6.50568921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28 meters 0.02867021942938851 Centerline is valid? [True, True] Translation: X:144.96, Y:145.89, Z:-6.51 [[ 7.92539257e-01 6.09820537e-01 -6.62423454e-04 1.44960468e+02] [-6.09820284e-01 7.92539533e-01 5.56440965e-04 1.45885121e+02] [ 8.64325903e-04 -3.70420508e-05 9.99999626e-01 -6.50771282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31 meters 0.02555894550873822 Centerline is valid? [True, True] Translation: X:144.99, Y:145.87, Z:-6.51 [[ 7.91917352e-01 6.10628031e-01 -5.61681067e-04 1.44985323e+02] [-6.10627851e-01 7.91917551e-01 4.69609219e-04 1.45869899e+02] [ 7.31561648e-04 -2.89135865e-05 9.99999732e-01 -6.50775161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34 meters 0.024217041089832646 Centerline is valid? [True, True] Translation: X:145.01, Y:145.85, Z:-6.51 [[ 7.89319199e-01 6.13983054e-01 1.02245657e-04 1.45009098e+02] [-6.13983048e-01 7.89319206e-01 -8.67928810e-05 1.45853422e+02] [-1.33993819e-04 5.73018691e-06 9.99999991e-01 -6.50937369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37 meters 0.023411355096107412 Centerline is valid? [True, True] Translation: X:145.03, Y:145.84, Z:-6.51 [[ 7.86887415e-01 6.17096556e-01 1.92043721e-04 1.45032165e+02] [-6.17096534e-01 7.86887439e-01 -1.62974657e-04 1.45837856e+02] [-2.51687891e-04 9.73319221e-06 9.99999968e-01 -6.50959748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4 meters 0.022666154372870465 Centerline is valid? [True, True] Translation: X:145.06, Y:145.82, Z:-6.51 [[ 7.83805747e-01 6.21005944e-01 4.10013509e-04 1.45055990e+02] [-6.21005848e-01 7.83805854e-01 -3.45663724e-04 1.45823007e+02] [-5.36030216e-04 1.63124267e-05 9.99999856e-01 -6.51019272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43 meters 0.019834564894825796 Centerline is valid? [True, True] Translation: X:145.08, Y:145.81, Z:-6.51 [[ 7.77606127e-01 6.28744483e-01 3.01434069e-03 1.45083574e+02] [-6.28739376e-01 7.77611966e-01 -2.53535018e-03 1.45810119e+02] [-3.93807483e-03 7.62691534e-05 9.99992243e-01 -6.50884703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46 meters 0.019187932242042467 Centerline is valid? [True, True] Translation: X:145.11, Y:145.79, Z:-6.51 [[ 7.74453169e-01 6.32618814e-01 3.96553118e-03 1.45107514e+02] [-6.32610039e-01 7.74463318e-01 -3.33280350e-03 1.45794967e+02] [-5.17955263e-03 7.24653971e-05 9.99986583e-01 -6.50791847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49 meters 0.018720079882295515 Centerline is valid? [True, True] Translation: X:145.13, Y:145.78, Z:-6.51 [[ 7.71483793e-01 6.36231962e-01 4.65265228e-03 1.45132125e+02] [-6.36219961e-01 7.71497821e-01 -3.90822400e-03 1.45778816e+02] [-6.07604812e-03 5.50212280e-05 9.99981539e-01 -6.50811468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52 meters 0.01850614324116051 Centerline is valid? [True, True] Translation: X:145.15, Y:145.76, Z:-6.51 [[ 7.68725947e-01 6.39559192e-01 4.94564016e-03 1.45154916e+02] [-6.39545716e-01 7.68741855e-01 -4.15188415e-03 1.45763259e+02] [-6.45729627e-03 2.86981008e-05 9.99979151e-01 -6.50857812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55 meters 0.01833472244234308 Centerline is valid? [True, True] Translation: X:145.18, Y:145.75, Z:-6.51 [[ 7.65772308e-01 6.43091171e-01 5.14953217e-03 1.45178430e+02] [-6.43076643e-01 7.65789622e-01 -4.32275675e-03 1.45747214e+02] [-6.72338500e-03 -1.29644894e-06 9.99977398e-01 -6.50900344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58 meters 0.018659171902903376 Centerline is valid? [True, True] Translation: X:145.20, Y:145.73, Z:-6.51 [[ 7.61372397e-01 6.48298891e-01 4.54107655e-03 1.45202386e+02] [-6.48287697e-01 7.61385937e-01 -3.81008324e-03 1.45731469e+02] [-5.92758457e-03 -4.30318506e-05 9.99982431e-01 -6.51118372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61 meters 0.019259694666265734 Centerline is valid? [True, True] Translation: X:145.22, Y:145.72, Z:-6.51 [[ 7.59294799e-01 6.50731076e-01 4.52495863e-03 1.45224332e+02] [-6.50720017e-01 7.59308279e-01 -3.79428509e-03 1.45715079e+02] [-5.90489777e-03 -6.35002215e-05 9.99982564e-01 -6.51261903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64 meters 0.019727369881854265 Centerline is valid? [True, True] Translation: X:145.25, Y:145.70, Z:-6.51 [[ 7.56076195e-01 6.54469661e-01 4.27201160e-03 1.45247069e+02] [-6.54459866e-01 7.56088259e-01 -3.58178677e-03 1.45697737e+02] [-5.57418859e-03 -8.77564248e-05 9.99984460e-01 -6.51360025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66999999999996 meters 0.020616057551199263 Centerline is valid? [True, True] Translation: X:145.27, Y:145.68, Z:-6.51 [[ 7.52974934e-01 6.58035452e-01 4.25341990e-03 1.45271501e+02] [-6.58025809e-01 7.52986939e-01 -3.56442375e-03 1.45681691e+02] [-5.54828683e-03 -1.14938327e-04 9.99984602e-01 -6.51435078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7 meters 0.022995946098135538 Centerline is valid? [True, True] Translation: X:145.30, Y:145.67, Z:-6.51 [[ 7.46523970e-01 6.65338136e-01 5.20829534e-03 1.45297946e+02] [-6.65323870e-01 7.46542109e-01 -4.36199481e-03 1.45668077e+02] [-6.79041329e-03 -2.08869535e-04 9.99976923e-01 -6.51418285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72999999999996 meters 0.023991792383679936 Centerline is valid? [True, True] Translation: X:145.32, Y:145.65, Z:-6.51 [[ 7.43623959e-01 6.68572237e-01 5.87976314e-03 1.45321936e+02] [-6.68554177e-01 7.43647155e-01 -4.92161648e-03 1.45651374e+02] [-7.66292527e-03 -2.71108276e-04 9.99970603e-01 -6.51328105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76 meters 0.024328518962931475 Centerline is valid? [True, True] Translation: X:145.34, Y:145.63, Z:-6.51 [[ 7.41056431e-01 6.71409566e-01 6.67538573e-03 1.45344608e+02] [-6.71386426e-01 7.41086417e-01 -5.58480380e-03 1.45633131e+02] [-8.69672839e-03 -3.43108602e-04 9.99962124e-01 -6.51307258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78999999999996 meters 0.027453843534001977 Centerline is valid? [True, True] Translation: X:145.37, Y:145.62, Z:-6.51 [[ 7.38804749e-01 6.73881701e-01 7.14109583e-03 1.45369883e+02] [-6.73855356e-01 7.38839152e-01 -5.97209589e-03 1.45619538e+02] [-9.30060732e-03 -3.99852872e-04 9.99956668e-01 -6.51292439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82 meters 0.026374471433919973 Centerline is valid? [True, True] Translation: X:145.39, Y:145.60, Z:-6.51 [[ 7.36617407e-01 6.76267963e-01 7.51248681e-03 1.45390768e+02] [-6.76238943e-01 7.36655575e-01 -6.28140135e-03 1.45599034e+02] [-9.78202579e-03 -4.53246566e-04 9.99952052e-01 -6.51365837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84999999999997 meters 0.026782471631365153 Centerline is valid? [True, True] Translation: X:145.41, Y:145.58, Z:-6.51 [[ 7.36454568e-01 6.76450774e-01 7.00135371e-03 1.45413288e+02] [-6.76425600e-01 7.36487724e-01 -5.85145441e-03 1.45580993e+02] [-9.11463193e-03 -4.26564549e-04 9.99958370e-01 -6.51458725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88 meters 0.0281563644695874 Centerline is valid? [True, True] Translation: X:145.44, Y:145.56, Z:-6.52 [[ 7.36390681e-01 6.76527236e-01 6.29785551e-03 1.45435640e+02] [-6.76506889e-01 7.36417510e-01 -5.26111327e-03 1.45564784e+02] [-8.19713750e-03 -3.86307855e-04 9.99966328e-01 -6.51544758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90999999999997 meters 0.025823972780208843 Centerline is valid? [True, True] Translation: X:145.45, Y:145.54, Z:-6.52 [[ 7.36538592e-01 6.76378903e-01 4.74154354e-03 1.45454599e+02] [-6.76367365e-01 7.36553797e-01 -3.96118442e-03 1.45543847e+02] [-6.17166347e-03 -2.89460117e-04 9.99980913e-01 -6.51738101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94 meters 0.02606046283703477 Centerline is valid? [True, True] Translation: X:145.48, Y:145.53, Z:-6.52 [[ 7.36415203e-01 6.76516443e-01 4.26045489e-03 1.45477645e+02] [-6.76507141e-01 7.36427480e-01 -3.55743070e-03 1.45525966e+02] [-5.54417642e-03 -2.62482109e-04 9.99984597e-01 -6.51831338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96999999999997 meters 0.02635711794854295 Centerline is valid? [True, True] Translation: X:145.50, Y:145.51, Z:-6.52 [[ 7.36624670e-01 6.76290098e-01 3.97483962e-03 1.45498884e+02] [-6.76282008e-01 7.36635353e-01 -3.31691219e-03 1.45509440e+02] [-5.17120226e-03 -2.44793171e-04 9.99986599e-01 -6.51902995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0 meters 0.026440073817157017 Centerline is valid? [True, True] Translation: X:145.52, Y:145.49, Z:-6.52 [[ 7.36883776e-01 6.76007425e-01 4.03255771e-03 1.45520603e+02] [-6.75999095e-01 7.36894769e-01 -3.36498491e-03 1.45491604e+02] [-5.24632547e-03 -2.46402580e-04 9.99986208e-01 -6.51991367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03 meters 0.02636430000903412 Centerline is valid? [True, True] Translation: X:145.54, Y:145.47, Z:-6.52 [[ 7.37289406e-01 6.75566274e-01 3.81338076e-03 1.45542749e+02] [-6.75558828e-01 7.37299231e-01 -3.18031920e-03 1.45472889e+02] [-4.96011909e-03 -2.31347389e-04 9.99987672e-01 -6.51966191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06 meters 0.02689921424529619 Centerline is valid? [True, True] Translation: X:145.56, Y:145.46, Z:-6.52 [[ 7.37421155e-01 6.75421730e-01 3.94026164e-03 1.45564480e+02] [-6.75413790e-01 7.37431643e-01 -3.28389065e-03 1.45457079e+02] [-5.12368472e-03 -2.39696613e-04 9.99986845e-01 -6.51994484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09 meters 0.024434353717309617 Centerline is valid? [True, True] Translation: X:145.59, Y:145.44, Z:-6.52 [[ 7.38920945e-01 6.73779575e-01 4.11344743e-03 1.45585405e+02] [-6.73770900e-01 7.38932356e-01 -3.42736850e-03 1.45436297e+02] [-5.34885029e-03 -2.38966806e-04 9.99985666e-01 -6.51832925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12 meters 0.02555054009589471 Centerline is valid? [True, True] Translation: X:145.61, Y:145.42, Z:-6.52 [[ 7.40714947e-01 6.71803140e-01 4.68061938e-03 1.45608265e+02] [-6.71791877e-01 7.40729691e-01 -3.89863251e-03 1.45420307e+02] [-6.08618731e-03 -2.56626704e-04 9.99981446e-01 -6.51827820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15 meters 0.026014516242165043 Centerline is valid? [True, True] Translation: X:145.63, Y:145.40, Z:-6.52 [[ 7.41369740e-01 6.71077662e-01 5.06769001e-03 1.45630162e+02] [-6.71064447e-01 7.41387010e-01 -4.22020805e-03 1.45403435e+02] [-6.58920689e-03 -2.72012052e-04 9.99978254e-01 -6.51753879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18 meters 0.023787215928366016 Centerline is valid? [True, True] Translation: X:145.65, Y:145.38, Z:-6.52 [[ 7.41929409e-01 6.70460102e-01 4.89936784e-03 1.45650920e+02] [-6.70447739e-01 7.41945541e-01 -4.07979594e-03 1.45382790e+02] [-6.37040452e-03 -2.57849499e-04 9.99979676e-01 -6.51733367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21 meters 0.025605636240195774 Centerline is valid? [True, True] Translation: X:145.67, Y:145.37, Z:-6.52 [[ 7.43110554e-01 6.69150907e-01 4.87526497e-03 1.45674701e+02] [-6.69138650e-01 7.43126505e-01 -4.05759152e-03 1.45367891e+02] [-6.33807966e-03 -2.46989136e-04 9.99979884e-01 -6.51808995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24 meters 0.023754809366370148 Centerline is valid? [True, True] Translation: X:145.69, Y:145.35, Z:-6.52 [[ 7.44209480e-01 6.67928761e-01 4.83942044e-03 1.45694172e+02] [-6.67916662e-01 7.44225177e-01 -4.02708619e-03 1.45347054e+02] [-6.29142523e-03 -2.35333827e-04 9.99980181e-01 -6.51874348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27 meters 0.023261913491869023 Centerline is valid? [True, True] Translation: X:145.72, Y:145.33, Z:-6.52 [[ 7.45597468e-01 6.66376311e-01 5.19879960e-03 1.45715183e+02] [-6.66362326e-01 7.45615554e-01 -4.32387415e-03 1.45327440e+02] [-6.75763314e-03 -2.40414577e-04 9.99977138e-01 -6.51917194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3 meters 0.022241657427529822 Centerline is valid? [True, True] Translation: X:145.74, Y:145.31, Z:-6.52 [[ 7.45608556e-01 6.66363464e-01 5.25495469e-03 1.45736285e+02] [-6.66349190e-01 7.45627034e-01 -4.36850630e-03 1.45307801e+02] [-6.82924927e-03 -2.44439123e-04 9.99976651e-01 -6.51944363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33 meters 0.022541865632087727 Centerline is valid? [True, True] Translation: X:145.76, Y:145.29, Z:-6.52 [[ 7.46065286e-01 6.65856618e-01 4.64258450e-03 1.45758037e+02] [-6.65845479e-01 7.46079700e-01 -3.85734011e-03 1.45290982e+02] [-6.03217348e-03 -2.13416351e-04 9.99981784e-01 -6.52013501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36 meters 0.022541865632087727 Centerline is valid? [True, True] Translation: X:145.78, Y:145.27, Z:-6.52 [[ 7.46244888e-01 6.65655327e-01 4.64259913e-03 1.45779142e+02] [-6.65644184e-01 7.46259299e-01 -3.85732264e-03 1.45273560e+02] [-6.03223013e-03 -2.11811805e-04 9.99981784e-01 -6.52037294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39 meters 0.020441574451784277 Centerline is valid? [True, True] Translation: X:145.80, Y:145.25, Z:-6.52 [[ 7.46864640e-01 6.64959358e-01 4.71825188e-03 1.45799039e+02] [-6.64947849e-01 7.46879514e-01 -3.91790497e-03 1.45252305e+02] [-6.12921325e-03 -2.11246754e-04 9.99981194e-01 -6.51989268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41999999999996 meters 0.020410515324195775 Centerline is valid? [True, True] Translation: X:145.82, Y:145.23, Z:-6.52 [[ 7.47302398e-01 6.64465778e-01 4.93521135e-03 1.45821080e+02] [-6.64453190e-01 7.47318662e-01 -4.09586897e-03 1.45233996e+02] [-6.40974030e-03 -2.18364218e-04 9.99979434e-01 -6.51957992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45 meters 0.02091301036895949 Centerline is valid? [True, True] Translation: X:145.84, Y:145.22, Z:-6.52 [[ 7.47164408e-01 6.64624559e-01 4.42090353e-03 1.45843686e+02] [-6.64614469e-01 7.47177460e-01 -3.66747386e-03 1.45215996e+02] [-5.74069267e-03 -1.97990522e-04 9.99983503e-01 -6.51989076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47999999999996 meters 0.023672403802064142 Centerline is valid? [True, True] Translation: X:145.87, Y:145.20, Z:-6.52 [[ 7.46446668e-01 6.65432019e-01 4.19525702e-03 1.45867743e+02] [-6.65422958e-01 7.46458432e-01 -3.47803148e-03 1.45201842e+02] [-5.44597848e-03 -1.95455327e-04 9.99985151e-01 -6.52087510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51 meters 0.022409332685792167 Centerline is valid? [True, True] Translation: X:145.89, Y:145.18, Z:-6.52 [[ 7.45762063e-01 6.66200553e-01 3.97095577e-03 1.45888255e+02] [-6.66192448e-01 7.45772611e-01 -3.29173729e-03 1.45182250e+02] [-5.15438726e-03 -1.90567953e-04 9.99986698e-01 -6.52115733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53999999999996 meters 0.022754213337154928 Centerline is valid? [True, True] Translation: X:145.91, Y:145.16, Z:-6.52 [[ 7.45272259e-01 6.66748102e-01 4.02842526e-03 1.45910700e+02] [-6.66739771e-01 7.45283120e-01 -3.33898414e-03 1.45164539e+02] [-5.22857869e-03 -1.97459082e-04 9.99986311e-01 -6.52119804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57 meters 0.022652734822449127 Centerline is valid? [True, True] Translation: X:145.93, Y:145.15, Z:-6.52 [[ 7.43845003e-01 6.68341570e-01 3.76249686e-03 1.45932954e+02] [-6.68334330e-01 7.43854493e-01 -3.11720373e-03 1.45146129e+02] [-4.88210703e-03 -1.95889396e-04 9.99988063e-01 -6.52170643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59999999999997 meters 0.022581113760618512 Centerline is valid? [True, True] Translation: X:145.95, Y:145.13, Z:-6.52 [[ 7.43052949e-01 6.69221866e-01 3.79593993e-03 1.45954697e+02] [-6.69214514e-01 7.43062617e-01 -3.14344339e-03 1.45127334e+02] [-4.92428211e-03 -2.04553210e-04 9.99987855e-01 -6.52209473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63 meters 0.02567491572816456 Centerline is valid? [True, True] Translation: X:145.98, Y:145.11, Z:-6.52 [[ 7.39394621e-01 6.73260352e-01 4.01156058e-03 1.45979142e+02] [-6.73252212e-01 7.39405463e-01 -3.31968458e-03 1.45114020e+02] [-5.20118181e-03 -2.46235111e-04 9.99986443e-01 -6.52208214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65999999999997 meters 0.026637587432945618 Centerline is valid? [True, True] Translation: X:146.00, Y:145.10, Z:-6.52 [[ 7.38052240e-01 6.74731296e-01 4.07054515e-03 1.46001816e+02] [-6.74722941e-01 7.38063419e-01 -3.36788381e-03 1.45096720e+02] [-5.27673708e-03 -2.60816005e-04 9.99986044e-01 -6.52188424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69 meters 0.026418278261650368 Centerline is valid? [True, True] Translation: X:146.02, Y:145.08, Z:-6.52 [[ 7.35775987e-01 6.77210320e-01 4.45865808e-03 1.46023401e+02] [-6.77200350e-01 7.35789433e-01 -3.68739943e-03 1.45078468e+02] [-5.77777845e-03 -3.06304861e-04 9.99983262e-01 -6.52172525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71999999999997 meters 0.02671686456684285 Centerline is valid? [True, True] Translation: X:146.05, Y:145.06, Z:-6.52 [[ 7.34706889e-01 6.78367662e-01 4.80645742e-03 1.46045634e+02] [-6.78356117e-01 7.34722531e-01 -3.97244617e-03 1.45060752e+02] [-6.22619158e-03 -3.41906221e-04 9.99980559e-01 -6.52126892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75 meters 0.030445777088343014 Centerline is valid? [True, True] Translation: X:146.07, Y:145.05, Z:-6.52 [[ 7.32134887e-01 6.81141355e-01 4.99618618e-03 1.46070295e+02] [-6.81128952e-01 7.32151835e-01 -4.12815343e-03 1.45047635e+02] [-6.46982290e-03 -3.80681910e-04 9.99978998e-01 -6.52069636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78 meters 0.029133219600177552 Centerline is valid? [True, True] Translation: X:146.09, Y:145.03, Z:-6.52 [[ 7.31406851e-01 6.81925007e-01 4.72262488e-03 1.46090906e+02] [-6.81913948e-01 7.31422006e-01 -3.90089491e-03 1.45028272e+02] [-6.11434955e-03 -3.67282518e-04 9.99981240e-01 -6.52076546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81 meters 0.02921643445191445 Centerline is valid? [True, True] Translation: X:146.11, Y:145.01, Z:-6.52 [[ 7.30079317e-01 6.83349676e-01 4.17273104e-03 1.46113143e+02] [-6.83341068e-01 7.30091164e-01 -3.44636068e-03 1.45010776e+02] [-5.40154352e-03 -3.35281831e-04 9.99985355e-01 -6.52102610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84 meters 0.029543749579678542 Centerline is valid? [True, True] Translation: X:146.13, Y:144.99, Z:-6.52 [[ 7.30094325e-01 6.83332430e-01 4.36641886e-03 1.46134863e+02] [-6.83323007e-01 7.30107298e-01 -3.60580448e-03 1.44992742e+02] [-5.65191741e-03 -3.51097076e-04 9.99983966e-01 -6.52137574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87 meters 0.03271410208523924 Centerline is valid? [True, True] Translation: X:146.16, Y:144.98, Z:-6.52 [[ 7.30297497e-01 6.83115241e-01 4.37417933e-03 1.46158635e+02] [-6.83105793e-01 7.30310512e-01 -3.60997136e-03 1.44978727e+02] [-5.66053560e-03 -3.51674195e-04 9.99983917e-01 -6.52199601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9 meters 0.03227645925232216 Centerline is valid? [True, True] Translation: X:146.18, Y:144.96, Z:-6.52 [[ 7.31117619e-01 6.82237267e-01 4.39768454e-03 1.46180798e+02] [-6.82227704e-01 7.31130762e-01 -3.62890776e-03 1.44960193e+02] [-5.69105856e-03 -3.47063824e-04 9.99983746e-01 -6.52216137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93 meters 0.03036356974241364 Centerline is valid? [True, True] Translation: X:146.20, Y:144.94, Z:-6.52 [[ 7.32253322e-01 6.81016473e-01 4.65138042e-03 1.46201390e+02] [-6.81005762e-01 7.32268007e-01 -3.83630767e-03 1.44939719e+02] [-6.01864579e-03 -3.58467838e-04 9.99981824e-01 -6.52235176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96 meters 0.02614455683428221 Centerline is valid? [True, True] Translation: X:146.22, Y:144.92, Z:-6.52 [[ 7.33715291e-01 6.79441952e-01 4.52829099e-03 1.46220048e+02] [-6.79431781e-01 7.33729187e-01 -3.73304473e-03 1.44916565e+02] [-5.85892646e-03 -3.37672807e-04 9.99982779e-01 -6.52229917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99 meters 0.0265508545524708 Centerline is valid? [True, True] Translation: X:146.24, Y:144.90, Z:-6.52 [[ 7.35322758e-01 6.77703693e-01 4.25978443e-03 1.46242515e+02] [-6.77694671e-01 7.35335033e-01 -3.51027177e-03 1.44899625e+02] [-5.51129287e-03 -3.05650495e-04 9.99984766e-01 -6.52197464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02 meters 0.0257806855893333 Centerline is valid? [True, True] Translation: X:146.26, Y:144.88, Z:-6.52 [[ 7.37314770e-01 6.75535562e-01 4.31666757e-03 1.46264083e+02] [-6.75526271e-01 7.37327347e-01 -3.55521362e-03 1.44880900e+02] [-5.58447028e-03 -2.94710835e-04 9.99984363e-01 -6.52188316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05 meters 0.029398483737122273 Centerline is valid? [True, True] Translation: X:146.29, Y:144.87, Z:-6.52 [[ 7.39561153e-01 6.73073398e-01 4.63698881e-03 1.46288931e+02] [-6.73062642e-01 7.39575630e-01 -3.81675516e-03 1.44867717e+02] [-5.99836028e-03 -2.98260095e-04 9.99981965e-01 -6.52173069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08 meters 0.024702142020624616 Centerline is valid? [True, True] Translation: X:146.31, Y:144.85, Z:-6.52 [[ 7.43506487e-01 6.68713033e-01 4.58083432e-03 1.46307970e+02] [-6.68702454e-01 7.43520553e-01 -3.77039655e-03 1.44845302e+02] [-5.92725777e-03 -2.59900859e-04 9.99982400e-01 -6.52119709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11 meters 0.023902724810000067 Centerline is valid? [True, True] Translation: X:146.33, Y:144.83, Z:-6.52 [[ 7.45733014e-01 6.66228450e-01 4.68235146e-03 1.46330362e+02] [-6.66217360e-01 7.45747673e-01 -3.85197257e-03 1.44826340e+02] [-6.05814642e-03 -2.46920709e-04 9.99981619e-01 -6.52151327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14 meters 0.022042616414180455 Centerline is valid? [True, True] Translation: X:146.35, Y:144.81, Z:-6.52 [[ 7.47703855e-01 6.64014983e-01 4.80077197e-03 1.46351160e+02] [-6.64003291e-01 7.47719230e-01 -3.94758660e-03 1.44806021e+02] [-6.21088617e-03 -2.36102669e-04 9.99980684e-01 -6.52198721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16999999999996 meters 0.020464531806711497 Centerline is valid? [True, True] Translation: X:146.37, Y:144.79, Z:-6.52 [[ 7.51534234e-01 6.59673759e-01 5.17954043e-03 1.46371788e+02] [-6.59660059e-01 7.51552051e-01 -4.25691162e-03 1.44785579e+02] [-6.70086712e-03 -2.17521132e-04 9.99977525e-01 -6.52178069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2 meters 0.02071329205127543 Centerline is valid? [True, True] Translation: X:146.39, Y:144.77, Z:-6.52 [[ 7.52966007e-01 6.58039459e-01 5.12480392e-03 1.46394043e+02] [-6.58026022e-01 7.52983420e-01 -4.21000235e-03 1.44768342e+02] [-6.62924004e-03 -2.02265681e-04 9.99978006e-01 -6.52214352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22999999999996 meters 0.020048752977451685 Centerline is valid? [True, True] Translation: X:146.42, Y:144.75, Z:-6.52 [[ 7.54365946e-01 6.56435207e-01 4.98390546e-03 1.46416257e+02] [-6.56422477e-01 7.54382387e-01 -4.09226786e-03 1.44749316e+02] [-6.44607920e-03 -1.84480054e-04 9.99979207e-01 -6.52248889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26 meters 0.019690204358069698 Centerline is valid? [True, True] Translation: X:146.44, Y:144.73, Z:-6.52 [[ 7.55893287e-01 6.54676854e-01 4.85344628e-03 1.46438302e+02] [-6.54664756e-01 7.55908850e-01 -3.98346831e-03 1.44730961e+02] [-6.27664750e-03 -1.66303274e-04 9.99980288e-01 -6.52256285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28999999999996 meters 0.018148768950769497 Centerline is valid? [True, True] Translation: X:146.46, Y:144.71, Z:-6.52 [[ 7.57653653e-01 6.52638769e-01 4.85592251e-03 1.46458632e+02] [-6.52626629e-01 7.57669199e-01 -3.98361380e-03 1.44710153e+02] [-6.27904372e-03 -1.50904789e-04 9.99980275e-01 -6.52306339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32 meters 0.01792800827565026 Centerline is valid? [True, True] Translation: X:146.48, Y:144.69, Z:-6.52 [[ 7.59109558e-01 6.50947806e-01 4.43094245e-03 1.46480909e+02] [-6.50937680e-01 7.59122479e-01 -3.63294471e-03 1.44691141e+02] [-5.72848541e-03 -1.26464349e-04 9.99983584e-01 -6.52357979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34999999999997 meters 0.01750960063579568 Centerline is valid? [True, True] Translation: X:146.50, Y:144.67, Z:-6.52 [[ 7.61119964e-01 6.48601323e-01 3.56713572e-03 1.46501415e+02] [-6.48594738e-01 7.61128318e-01 -2.92400335e-03 1.44672368e+02] [-4.61156045e-03 -8.81081281e-05 9.99989363e-01 -6.52498742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38 meters 0.017341960977919284 Centerline is valid? [True, True] Translation: X:146.52, Y:144.65, Z:-6.53 [[ 7.61685182e-01 6.47939985e-01 3.07577182e-03 1.46522559e+02] [-6.47935080e-01 7.61691388e-01 -2.52207867e-03 1.44654522e+02] [-3.97694452e-03 -7.18705136e-05 9.99992089e-01 -6.52574911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40999999999997 meters 0.016994868493398374 Centerline is valid? [True, True] Translation: X:146.54, Y:144.64, Z:-6.53 [[ 7.61874251e-01 6.47718942e-01 2.79256944e-03 1.46543477e+02] [-6.47714901e-01 7.61879366e-01 -2.28889881e-03 1.44636390e+02] [-3.61016415e-03 -6.49357768e-05 9.99993481e-01 -6.52648881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44 meters 0.01716546504198589 Centerline is valid? [True, True] Translation: X:146.56, Y:144.62, Z:-6.53 [[ 7.62097289e-01 6.47456878e-01 2.70440936e-03 1.46564611e+02] [-6.47453094e-01 7.62102084e-01 -2.21437001e-03 1.44619798e+02] [-3.49474510e-03 -6.34128296e-05 9.99993891e-01 -6.52717479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46999999999997 meters 0.01742252020049621 Centerline is valid? [True, True] Translation: X:146.59, Y:144.60, Z:-6.53 [[ 7.62323926e-01 6.47188247e-01 3.09907257e-03 1.46585690e+02] [-6.47183278e-01 7.62330222e-01 -2.53709050e-03 1.44603780e+02] [-4.00449184e-03 -7.15831553e-05 9.99991979e-01 -6.52671700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5 meters 0.017011166471835554 Centerline is valid? [True, True] Translation: X:146.61, Y:144.59, Z:-6.53 [[ 7.62380626e-01 6.47122050e-01 2.97208798e-03 1.46607107e+02] [-6.47117480e-01 7.62386417e-01 -2.43285263e-03 1.44586000e+02] [-3.84023208e-03 -6.85303750e-05 9.99992624e-01 -6.52636813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53 meters 0.01696356442397824 Centerline is valid? [True, True] Translation: X:146.63, Y:144.57, Z:-6.53 [[ 7.63092503e-01 6.46282916e-01 2.86782837e-03 1.46629197e+02] [-6.46278661e-01 7.63097889e-01 -2.34602358e-03 1.44567709e+02] [-3.70462874e-03 -6.31832737e-05 9.99993136e-01 -6.52679835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56 meters 0.016404393580128865 Centerline is valid? [True, True] Translation: X:146.65, Y:144.55, Z:-6.53 [[ 7.64779191e-01 6.44288081e-01 2.37885503e-03 1.46650474e+02] [-6.44285145e-01 7.64782889e-01 -1.94553932e-03 1.44547989e+02] [-3.07279541e-03 -4.47529676e-05 9.99995278e-01 -6.52692725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59 meters 0.016223464083109027 Centerline is valid? [True, True] Translation: X:146.67, Y:144.53, Z:-6.53 [[ 7.67149323e-01 6.41467436e-01 1.20181011e-03 1.46672032e+02] [-6.41466682e-01 7.67150265e-01 -9.83772531e-04 1.44528670e+02] [-1.55302699e-03 -1.62207125e-05 9.99998794e-01 -6.52854072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62 meters 0.016312620920859795 Centerline is valid? [True, True] Translation: X:146.69, Y:144.51, Z:-6.53 [[ 7.67719888e-01 6.40785178e-01 7.27177398e-04 1.46693708e+02] [-6.40784902e-01 7.67720233e-01 -5.94792024e-04 1.44511940e+02] [-9.39402715e-04 -9.33063165e-06 9.99999559e-01 -6.52951028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65 meters 0.016153049155196157 Centerline is valid? [True, True] Translation: X:146.71, Y:144.49, Z:-6.53 [[ 7.68108064e-01 6.40319520e-01 9.56457112e-04 1.46714913e+02] [-6.40319041e-01 7.68108659e-01 -7.83212074e-04 1.44494394e+02] [-1.23616897e-03 -1.08461906e-05 9.99999236e-01 -6.53002195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68 meters 0.016112540845115948 Centerline is valid? [True, True] Translation: X:146.74, Y:144.48, Z:-6.53 [[ 7.69478881e-01 6.38668313e-01 2.24434224e-03 1.46736056e+02] [-6.38665689e-01 7.69482154e-01 -1.83106219e-03 1.44476845e+02] [-2.89642270e-03 -2.44207003e-05 9.99995805e-01 -6.52850221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71 meters 0.016051333575949456 Centerline is valid? [True, True] Translation: X:146.76, Y:144.46, Z:-6.53 [[ 7.69644891e-01 6.38467724e-01 2.38916352e-03 1.46758039e+02] [-6.38464746e-01 7.69648599e-01 -1.95016322e-03 1.44460444e+02] [-3.08393263e-03 -2.44635239e-05 9.99995244e-01 -6.52739033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74 meters 0.015910334564439913 Centerline is valid? [True, True] Translation: X:146.78, Y:144.44, Z:-6.53 [[ 7.70268633e-01 6.37711942e-01 3.11644833e-03 1.46779878e+02] [-6.37706879e-01 7.70274937e-01 -2.54127753e-03 1.44442505e+02] [-4.02112507e-03 -2.99141703e-05 9.99991915e-01 -6.52636112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77 meters 0.015791900111854766 Centerline is valid? [True, True] Translation: X:146.80, Y:144.42, Z:-6.53 [[ 7.70606184e-01 6.37305022e-01 2.90148436e-03 1.46802016e+02] [-6.37300633e-01 7.70611646e-01 -2.36523821e-03 1.44424847e+02] [-3.74329582e-03 -2.64506297e-05 9.99992994e-01 -6.52594919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8 meters 0.01564359078947237 Centerline is valid? [True, True] Translation: X:146.82, Y:144.41, Z:-6.53 [[ 7.71716271e-01 6.35961055e-01 2.74488759e-03 1.46823194e+02] [-6.35957123e-01 7.71721152e-01 -2.23646741e-03 1.44407448e+02] [-3.54059399e-03 -1.97125194e-05 9.99993732e-01 -6.52579562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83 meters 0.015741990667191227 Centerline is valid? [True, True] Translation: X:146.84, Y:144.39, Z:-6.53 [[ 7.72659548e-01 6.34814003e-01 2.89898769e-03 1.46843847e+02] [-6.34809619e-01 7.72664987e-01 -2.35937396e-03 1.44389918e+02] [-3.73770991e-03 -1.73124524e-05 9.99993015e-01 -6.52586770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86 meters 0.015785399384413507 Centerline is valid? [True, True] Translation: X:146.87, Y:144.37, Z:-6.53 [[ 7.73127714e-01 6.34244603e-01 2.70576556e-03 1.46865737e+02] [-6.34240778e-01 7.73132449e-01 -2.20280047e-03 1.44372811e+02] [-3.48902946e-03 -1.30607632e-05 9.99993913e-01 -6.52629311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89 meters 0.01577742746734381 Centerline is valid? [True, True] Translation: X:146.89, Y:144.35, Z:-6.53 [[ 7.73747302e-01 6.33489234e-01 2.55016805e-03 1.46887572e+02] [-6.33485836e-01 7.73751504e-01 -2.07511325e-03 1.44354836e+02] [-3.28775827e-03 -9.88206446e-06 9.99994595e-01 -6.52644656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91999999999996 meters 0.015747262221193156 Centerline is valid? [True, True] Translation: X:146.91, Y:144.34, Z:-6.53 [[ 7.74392113e-01 6.32700444e-01 2.64640443e-03 1.46909102e+02] [-6.32696785e-01 7.74396635e-01 -2.15203171e-03 1.44336542e+02] [-3.41095810e-03 -7.85519374e-06 9.99994183e-01 -6.52649509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95 meters 0.01572387665200336 Centerline is valid? [True, True] Translation: X:146.93, Y:144.32, Z:-6.53 [[ 7.74532263e-01 6.32529435e-01 2.50763734e-03 1.46930081e+02] [-6.32526155e-01 7.74536322e-01 -2.03698906e-03 1.44320093e+02] [-3.23071174e-03 -8.43246129e-06 9.99994781e-01 -6.52656422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97999999999996 meters 0.015694284248496875 Centerline is valid? [True, True] Translation: X:146.95, Y:144.30, Z:-6.53 [[ 7.75327360e-01 6.31554474e-01 2.53575863e-03 1.46950893e+02] [-6.31551117e-01 7.75331507e-01 -2.05927668e-03 1.44302380e+02] [-3.26659896e-03 -4.84763748e-06 9.99994665e-01 -6.52698392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01 meters 0.015735617651958328 Centerline is valid? [True, True] Translation: X:146.97, Y:144.29, Z:-6.53 [[ 7.74992629e-01 6.31968699e-01 1.41011841e-03 1.46973951e+02] [-6.31967659e-01 7.74993912e-01 -1.14657792e-03 1.44285274e+02] [-1.81743454e-03 -2.55979700e-06 9.99998348e-01 -6.52703964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03999999999996 meters 0.015744318079250502 Centerline is valid? [True, True] Translation: X:147.00, Y:144.27, Z:-6.53 [[ 7.75258763e-01 6.31641945e-01 1.51818782e-03 1.46995638e+02] [-6.31640739e-01 7.75260249e-01 -1.23392188e-03 1.44267380e+02] [-1.95638749e-03 -2.34052823e-06 9.99998086e-01 -6.52713082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07 meters 0.015708525947903184 Centerline is valid? [True, True] Translation: X:147.02, Y:144.25, Z:-6.53 [[ 7.74884003e-01 6.32101922e-01 1.39366872e-03 1.47017378e+02] [-6.32100911e-01 7.74885256e-01 -1.13088563e-03 1.44250661e+02] [-1.79476833e-03 -4.63408231e-06 9.99998389e-01 -6.52730811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09999999999997 meters 0.01576369216143801 Centerline is valid? [True, True] Translation: X:147.04, Y:144.23, Z:-6.53 [[ 7.73834018e-01 6.33386878e-01 1.40563615e-03 1.47039763e+02] [-6.33385851e-01 7.73835294e-01 -1.14037973e-03 1.44233406e+02] [-1.81003242e-03 -7.84542060e-06 9.99998362e-01 -6.52745245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13 meters 0.0159904658150775 Centerline is valid? [True, True] Translation: X:147.06, Y:144.22, Z:-6.53 [[ 7.73089452e-01 6.34295361e-01 1.44747337e-03 1.47061909e+02] [-6.34294275e-01 7.73090807e-01 -1.17379117e-03 1.44217210e+02] [-1.86355865e-03 -1.06784989e-05 9.99998264e-01 -6.52786354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15999999999997 meters 0.01594921999708022 Centerline is valid? [True, True] Translation: X:147.08, Y:144.20, Z:-6.53 [[ 7.72377213e-01 6.35162177e-01 1.56540768e-03 1.47083680e+02] [-6.35160907e-01 7.72378799e-01 -1.27022242e-03 1.44199109e+02] [-2.01588494e-03 -1.31949145e-05 9.99997968e-01 -6.52729586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19 meters 0.01612999543693044 Centerline is valid? [True, True] Translation: X:147.11, Y:144.18, Z:-6.53 [[ 7.71343791e-01 6.36415928e-01 1.87682031e-03 1.47106197e+02] [-6.36414112e-01 7.71346074e-01 -1.52059889e-03 1.44182378e+02] [-2.41541133e-03 -2.15304197e-05 9.99997083e-01 -6.52701940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21999999999997 meters 0.016759078739437314 Centerline is valid? [True, True] Translation: X:147.13, Y:144.17, Z:-6.53 [[ 7.69795931e-01 6.38287309e-01 1.88027266e-03 1.47129466e+02] [-6.38285494e-01 7.69798227e-01 -1.52259461e-03 1.44166451e+02] [-2.41928338e-03 -2.80636317e-05 9.99997073e-01 -6.52761784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25 meters 0.016739270714262906 Centerline is valid? [True, True] Translation: X:147.15, Y:144.15, Z:-6.53 [[ 7.68915071e-01 6.39347932e-01 1.95842461e-03 1.47151306e+02] [-6.39345963e-01 7.68917565e-01 -1.58686419e-03 1.44148232e+02] [-2.52042542e-03 -3.19470743e-05 9.99996823e-01 -6.52688051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28 meters 0.016739270714262906 Centerline is valid? [True, True] Translation: X:147.17, Y:144.13, Z:-6.53 [[ 7.69099395e-01 6.39126188e-01 1.95868407e-03 1.47172606e+02] [-6.39124219e-01 7.69101889e-01 -1.58654382e-03 1.44131085e+02] [-2.52042932e-03 -3.16325358e-05 9.99996823e-01 -6.52711895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31 meters 0.017596454893122157 Centerline is valid? [True, True] Translation: X:147.20, Y:144.12, Z:-6.53 [[ 7.66942609e-01 6.41712643e-01 1.97953718e-03 1.47195458e+02] [-6.41710647e-01 7.66945163e-01 -1.60088584e-03 1.44115374e+02] [-2.54550515e-03 -4.25025212e-05 9.99996759e-01 -6.52776290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34 meters 0.017498128411131308 Centerline is valid? [True, True] Translation: X:147.22, Y:144.10, Z:-6.53 [[ 7.65978598e-01 6.42863876e-01 1.68070095e-03 1.47217495e+02] [-6.42862437e-01 7.65980441e-01 -1.36045875e-03 1.44096716e+02] [-2.16197384e-03 -3.83772243e-05 9.99997662e-01 -6.52770575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37 meters 0.017825563055594518 Centerline is valid? [True, True] Translation: X:147.24, Y:144.08, Z:-6.53 [[ 7.64865608e-01 6.44188188e-01 1.47652749e-03 1.47240449e+02] [-6.44187081e-01 7.64867032e-01 -1.19492741e-03 1.44079142e+02] [-1.89910532e-03 -3.72010558e-05 9.99998196e-01 -6.52820030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4 meters 0.019029301790495376 Centerline is valid? [True, True] Translation: X:147.26, Y:144.06, Z:-6.53 [[ 7.62139064e-01 6.47411420e-01 1.58132045e-03 1.47264855e+02] [-6.47410161e-01 7.62140703e-01 -1.27740804e-03 1.44064526e+02] [-2.03219723e-03 -5.02003638e-05 9.99997934e-01 -6.52834620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43 meters 0.020640643575012007 Centerline is valid? [True, True] Translation: X:147.29, Y:144.05, Z:-6.53 [[ 7.60982851e-01 6.48769554e-01 1.77928322e-03 1.47288336e+02] [-6.48767965e-01 7.60984929e-01 -1.43740339e-03 1.44050028e+02] [-2.28655127e-03 -6.05026272e-05 9.99997384e-01 -6.52870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46 meters 0.019179359559419212 Centerline is valid? [True, True] Translation: X:147.31, Y:144.03, Z:-6.53 [[ 7.59977879e-01 6.49946408e-01 1.81366189e-03 1.47309462e+02] [-6.49944759e-01 7.59980041e-01 -1.46574211e-03 1.44030064e+02] [-2.33100066e-03 -6.48484569e-05 9.99997281e-01 -6.52793402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49 meters 0.019579125972856062 Centerline is valid? [True, True] Translation: X:147.33, Y:144.01, Z:-6.53 [[ 7.59273237e-01 6.50768980e-01 1.97142637e-03 1.47332418e+02] [-6.50767039e-01 7.59275792e-01 -1.59126196e-03 1.44013544e+02] [-2.53240024e-03 -7.47366882e-05 9.99996791e-01 -6.52799580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52 meters 0.019771634472983666 Centerline is valid? [True, True] Translation: X:147.35, Y:144.00, Z:-6.53 [[ 7.60460350e-01 6.49382372e-01 1.60961768e-03 1.47353605e+02] [-6.49381075e-01 7.60462052e-01 -1.29876215e-03 1.43996158e+02] [-2.06744641e-03 -5.75981394e-05 9.99997861e-01 -6.52878888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55 meters 0.019057560041890024 Centerline is valid? [True, True] Translation: X:147.37, Y:143.98, Z:-6.53 [[ 7.61629388e-01 6.48011798e-01 1.17660869e-03 1.47374740e+02] [-6.48011101e-01 7.61630296e-01 -9.50934821e-04 1.43977164e+02] [-1.51235781e-03 -3.81955860e-05 9.99998856e-01 -6.52917919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58 meters 0.019162676680177928 Centerline is valid? [True, True] Translation: X:147.40, Y:143.96, Z:-6.53 [[ 7.62542753e-01 6.46937447e-01 7.00198599e-04 1.47396946e+02] [-6.46937200e-01 7.62543074e-01 -5.65135828e-04 1.43959875e+02] [-8.99539121e-04 -2.20442915e-05 9.99999595e-01 -6.53023663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61 meters 0.018423787707743743 Centerline is valid? [True, True] Translation: X:147.42, Y:143.94, Z:-6.53 [[ 7.63862951e-01 6.45378408e-01 3.18679427e-04 1.47418249e+02] [-6.45378356e-01 7.63863018e-01 -2.59382622e-04 1.43940850e+02] [-4.10827372e-04 -7.53602988e-06 9.99999916e-01 -6.53079433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64 meters 0.018175445327051242 Centerline is valid? [True, True] Translation: X:147.44, Y:143.92, Z:-6.53 [[ 7.66844161e-01 6.41831927e-01 1.34542898e-03 1.47438914e+02] [-6.41831012e-01 7.66845340e-01 -1.08458491e-03 1.43922280e+02] [-1.72785717e-03 -3.18304370e-05 9.99998507e-01 -6.53188227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66999999999996 meters 0.017274833319604853 Centerline is valid? [True, True] Translation: X:147.46, Y:143.90, Z:-6.53 [[ 7.68191224e-01 6.40217818e-01 1.84080925e-03 1.47460450e+02] [-6.40216099e-01 7.68193429e-01 -1.48403994e-03 1.43902645e+02] [-2.36420638e-03 -3.84892552e-05 9.99997205e-01 -6.53056240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7 meters 0.017411531972727958 Centerline is valid? [True, True] Translation: X:147.48, Y:143.89, Z:-6.53 [[ 7.69688138e-01 6.38415653e-01 2.37150034e-03 1.47482398e+02] [-6.38412801e-01 7.69691790e-01 -1.90898384e-03 1.43885996e+02] [-3.04404951e-03 -4.46739513e-05 9.99995366e-01 -6.53098177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72999999999996 meters 0.016400469501922126 Centerline is valid? [True, True] Translation: X:147.50, Y:143.87, Z:-6.53 [[ 7.72631315e-01 6.34849327e-01 2.68011057e-03 1.47503265e+02] [-6.34845661e-01 7.72635963e-01 -2.15791333e-03 1.43866336e+02] [-3.44069963e-03 -3.41851522e-05 9.99994080e-01 -6.53068777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76 meters 0.016056478655835316 Centerline is valid? [True, True] Translation: X:147.53, Y:143.85, Z:-6.53 [[ 7.74097708e-01 6.33061346e-01 2.46380866e-03 1.47525268e+02] [-6.33058241e-01 7.74101629e-01 -1.98306427e-03 1.43847500e+02] [-3.16263963e-03 -2.46488683e-05 9.99994999e-01 -6.53043317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78999999999996 meters 0.015902398933194766 Centerline is valid? [True, True] Translation: X:147.55, Y:143.83, Z:-6.53 [[ 7.75596400e-01 6.31224993e-01 2.28747201e-03 1.47547549e+02] [-6.31222310e-01 7.75599773e-01 -1.84041101e-03 1.43829428e+02] [-2.93587619e-03 -1.64872106e-05 9.99995690e-01 -6.53066352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82 meters 0.015696870983150556 Centerline is valid? [True, True] Translation: X:147.57, Y:143.81, Z:-6.53 [[ 7.77970012e-01 6.28294880e-01 2.86434432e-03 1.47568191e+02] [-6.28290660e-01 7.77975285e-01 -2.30266109e-03 1.43810082e+02] [-3.67513926e-03 -8.23950806e-06 9.99993247e-01 -6.53147676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84999999999997 meters 0.015575491368610734 Centerline is valid? [True, True] Translation: X:147.59, Y:143.79, Z:-6.53 [[ 7.80524951e-01 6.25118223e-01 2.82990863e-03 1.47588063e+02] [-6.25114087e-01 7.80530081e-01 -2.27406799e-03 1.43790706e+02] [-3.63039015e-03 5.95105559e-06 9.99993410e-01 -6.53175742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88 meters 0.015887767383476057 Centerline is valid? [True, True] Translation: X:147.61, Y:143.77, Z:-6.53 [[ 7.85101249e-01 6.19361195e-01 2.78210078e-03 1.47607233e+02] [-6.19357166e-01 7.85106177e-01 -2.23423332e-03 1.43769143e+02] [-3.56804193e-03 3.09853167e-05 9.99993634e-01 -6.53283650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90999999999997 meters 0.01651867265095753 Centerline is valid? [True, True] Translation: X:147.63, Y:143.75, Z:-6.53 [[ 7.87373208e-01 6.16470802e-01 2.67978727e-03 1.47626452e+02] [-6.16467054e-01 7.87377767e-01 -2.15011127e-03 1.43749552e+02] [-3.43548574e-03 4.09394458e-05 9.99994098e-01 -6.53335092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94 meters 0.01659449986860807 Centerline is valid? [True, True] Translation: X:147.65, Y:143.73, Z:-6.53 [[ 7.89272262e-01 6.14036915e-01 2.82199976e-03 1.47649278e+02] [-6.14032741e-01 7.89277305e-01 -2.26459823e-03 1.43731589e+02] [-3.61788728e-03 5.45843178e-05 9.99993454e-01 -6.53278417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96999999999997 meters 0.017097258556523536 Centerline is valid? [True, True] Translation: X:147.67, Y:143.71, Z:-6.53 [[ 7.91204088e-01 6.11545206e-01 2.92437899e-03 1.47671248e+02] [-6.11540712e-01 7.91209489e-01 -2.34545575e-03 1.43712614e+02] [-3.74814863e-03 6.73573675e-05 9.99992973e-01 -6.53236642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0 meters 0.017910559385014513 Centerline is valid? [True, True] Translation: X:147.69, Y:143.70, Z:-6.53 [[ 7.93023072e-01 6.09185151e-01 2.80343023e-03 1.47692747e+02] [-6.09181013e-01 7.93028024e-01 -2.24635799e-03 1.43695200e+02] [-3.59164667e-03 7.36172499e-05 9.99993547e-01 -6.53257111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03 meters 0.01836392199643561 Centerline is valid? [True, True] Translation: X:147.71, Y:143.67, Z:-6.53 [[ 7.94460095e-01 6.07307832e-01 3.21781484e-03 1.47713673e+02] [-6.07302365e-01 7.94466606e-01 -2.57870182e-03 1.43674791e+02] [-4.12251224e-03 9.44891301e-05 9.99991498e-01 -6.53384888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06 meters 0.01897412302465518 Centerline is valid? [True, True] Translation: X:147.73, Y:143.65, Z:-6.53 [[ 7.95807450e-01 6.05540514e-01 3.34500451e-03 1.47734182e+02] [-6.05534597e-01 7.95814472e-01 -2.67917411e-03 1.43654243e+02] [-4.28435147e-03 1.06590755e-04 9.99990816e-01 -6.53455660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09 meters 0.019525715169007713 Centerline is valid? [True, True] Translation: X:147.75, Y:143.64, Z:-6.54 [[ 7.96400613e-01 6.04762429e-01 2.91001907e-03 1.47754894e+02] [-6.04757951e-01 7.96405924e-01 -2.32923130e-03 1.43636206e+02] [-3.72618800e-03 9.51440662e-05 9.99993053e-01 -6.53514685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12 meters 0.01957922757168189 Centerline is valid? [True, True] Translation: X:147.78, Y:143.62, Z:-6.54 [[ 7.96631471e-01 6.04459217e-01 2.71183982e-03 1.47776408e+02] [-6.04455325e-01 7.96636082e-01 -2.17110294e-03 1.43619014e+02] [-3.47269263e-03 9.03829107e-05 9.99993966e-01 -6.53578835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15 meters 0.019598247651411056 Centerline is valid? [True, True] Translation: X:147.80, Y:143.60, Z:-6.54 [[ 7.96486737e-01 6.04651545e-01 2.32110429e-03 1.47798713e+02] [-6.04648696e-01 7.96490115e-01 -1.85765796e-03 1.43602017e+02] [-2.97197238e-03 7.61472475e-05 9.99995581e-01 -6.53615578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18 meters 0.019860520612770483 Centerline is valid? [True, True] Translation: X:147.82, Y:143.58, Z:-6.54 [[ 7.96271229e-01 6.04935191e-01 2.35461712e-03 1.47820322e+02] [-6.04932268e-01 7.96274707e-01 -1.88199594e-03 1.43584287e+02] [-3.01340763e-03 7.41953406e-05 9.99995457e-01 -6.53658176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21 meters 0.01951930991992906 Centerline is valid? [True, True] Translation: X:147.84, Y:143.57, Z:-6.54 [[ 7.95583272e-01 6.05837530e-01 2.85395888e-03 1.47843255e+02] [-6.05833240e-01 7.95588386e-01 -2.28149377e-03 1.43567118e+02] [-3.65279109e-03 8.60951212e-05 9.99993325e-01 -6.53659438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24 meters 0.018565011263345182 Centerline is valid? [True, True] Translation: X:147.87, Y:143.55, Z:-6.54 [[ 7.95211213e-01 6.06321901e-01 3.58886351e-03 1.47866650e+02] [-6.06315132e-01 7.95219304e-01 -2.86695051e-03 1.43550704e+02] [-4.59222843e-03 1.03848935e-04 9.99989450e-01 -6.53609820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27 meters 0.019389497139739493 Centerline is valid? [True, True] Translation: X:147.89, Y:143.53, Z:-6.54 [[ 7.94853721e-01 6.06782673e-01 4.72753420e-03 1.47887195e+02] [-6.06770955e-01 7.94867769e-01 -3.77327520e-03 1.43532140e+02] [-6.04732257e-03 1.30671394e-04 9.99981706e-01 -6.53580943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3 meters 0.018517346700209204 Centerline is valid? [True, True] Translation: X:147.91, Y:143.52, Z:-6.54 [[ 7.95191415e-01 6.06339976e-01 4.73778039e-03 1.47910463e+02] [-6.06328199e-01 7.95205518e-01 -3.78143127e-03 1.43516467e+02] [-6.06034206e-03 1.34311835e-04 9.99981627e-01 -6.53529540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33 meters 0.018599108917739006 Centerline is valid? [True, True] Translation: X:147.93, Y:143.50, Z:-6.54 [[ 7.95893284e-01 6.05418604e-01 4.71117544e-03 1.47932399e+02] [-6.05406959e-01 7.95907215e-01 -3.75753000e-03 1.43498580e+02] [-6.02453709e-03 1.38414497e-04 9.99981843e-01 -6.53556764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36 meters 0.019550397351685834 Centerline is valid? [True, True] Translation: X:147.95, Y:143.48, Z:-6.54 [[ 7.97792761e-01 6.02922537e-01 3.33542536e-03 1.47952682e+02] [-6.02916680e-01 7.97799725e-01 -2.65997214e-03 1.43479097e+02] [-4.26475859e-03 1.11122935e-04 9.99990900e-01 -6.53707773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39 meters 0.019305037132628596 Centerline is valid? [True, True] Translation: X:147.98, Y:143.46, Z:-6.54 [[ 7.98853552e-01 6.01520291e-01 2.51832643e-03 1.47975133e+02] [-6.01516942e-01 7.98857517e-01 -2.00899845e-03 1.43461439e+02] [-3.22023733e-03 9.00795350e-05 9.99994811e-01 -6.53746863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41999999999996 meters 0.02010884495530199 Centerline is valid? [True, True] Translation: X:148.00, Y:143.44, Z:-6.54 [[ 7.99762411e-01 6.00311624e-01 2.45782029e-03 1.47995545e+02] [-6.00308435e-01 7.99766182e-01 -1.95860961e-03 1.43443028e+02] [-3.14145766e-03 9.09720894e-05 9.99995061e-01 -6.53807843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45 meters 0.020593655872936736 Centerline is valid? [True, True] Translation: X:148.02, Y:143.42, Z:-6.54 [[ 8.00949512e-01 5.98727494e-01 2.29504052e-03 1.48016778e+02] [-5.98724705e-01 8.00952795e-01 -1.82978844e-03 1.43424198e+02] [-2.93376377e-03 9.14706940e-05 9.99995692e-01 -6.53866586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47999999999996 meters 0.02153320721542382 Centerline is valid? [True, True] Translation: X:148.04, Y:143.40, Z:-6.54 [[ 8.02475357e-01 5.96680492e-01 2.38551507e-03 1.48038005e+02] [-5.96677473e-01 8.02478897e-01 -1.90083556e-03 1.43404211e+02] [-3.04851700e-03 1.01990588e-04 9.99995348e-01 -6.53883058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51 meters 0.022522830221480848 Centerline is valid? [True, True] Translation: X:148.06, Y:143.38, Z:-6.54 [[ 8.03951819e-01 5.94688328e-01 2.69526626e-03 1.48058734e+02] [-5.94684468e-01 8.03956328e-01 -2.14619290e-03 1.43384087e+02] [-3.44319224e-03 1.22602705e-04 9.99994065e-01 -6.53943591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53999999999996 meters 0.023350389233242997 Centerline is valid? [True, True] Translation: X:148.08, Y:143.36, Z:-6.54 [[ 8.05178871e-01 5.93026386e-01 2.58689792e-03 1.48079872e+02] [-5.93022825e-01 8.05183017e-01 -2.05897027e-03 1.43363999e+02] [-3.30394997e-03 1.23749848e-04 9.99994534e-01 -6.53964569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57 meters 0.02392552778765746 Centerline is valid? [True, True] Translation: X:148.10, Y:143.34, Z:-6.54 [[ 8.06586689e-01 5.91108204e-01 3.00077966e-03 1.48101235e+02] [-5.91103405e-01 8.06592256e-01 -2.38674228e-03 1.43344805e+02] [-3.83122858e-03 1.51343482e-04 9.99992649e-01 -6.53936053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59999999999997 meters 0.023713228018405322 Centerline is valid? [True, True] Translation: X:148.12, Y:143.33, Z:-6.54 [[ 8.06995291e-01 5.90548637e-01 3.30255449e-03 1.48123708e+02] [-5.90542826e-01 8.07002032e-01 -2.62515429e-03 1.43327257e+02] [-4.21544947e-03 1.68187288e-04 9.99991101e-01 -6.53908107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63 meters 0.02263997043830155 Centerline is valid? [True, True] Translation: X:148.15, Y:143.31, Z:-6.54 [[ 8.07226597e-01 5.90229758e-01 3.74873236e-03 1.48147560e+02] [-5.90222276e-01 8.07235279e-01 -2.97814899e-03 1.43311881e+02] [-4.78390117e-03 1.91455728e-04 9.99988539e-01 -6.53790581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65999999999997 meters 0.024806416697069785 Centerline is valid? [True, True] Translation: X:148.17, Y:143.29, Z:-6.54 [[ 8.07174375e-01 5.90299659e-01 3.98008367e-03 1.48167469e+02] [-5.90291239e-01 8.07184163e-01 -3.15912522e-03 1.43291856e+02] [-5.07749105e-03 2.00556400e-04 9.99987089e-01 -6.53755278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69 meters 0.02402724263412788 Centerline is valid? [True, True] Translation: X:148.19, Y:143.28, Z:-6.54 [[ 8.06906506e-01 5.90663775e-01 4.26563530e-03 1.48191308e+02] [-5.90654112e-01 8.06917753e-01 -3.38517408e-03 1.43275366e+02] [-5.44151655e-03 2.12003957e-04 9.99985172e-01 -6.53726127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71999999999997 meters 0.02301684966378041 Centerline is valid? [True, True] Translation: X:148.22, Y:143.26, Z:-6.54 [[ 8.05354761e-01 5.92782809e-01 3.50011199e-03 1.48215066e+02] [-5.92776328e-01 8.05362351e-01 -2.77649262e-03 1.43259529e+02] [-4.46471551e-03 1.61278018e-04 9.99990020e-01 -6.53757068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75 meters 0.02227017860582799 Centerline is valid? [True, True] Translation: X:148.24, Y:143.24, Z:-6.54 [[ 8.04174294e-01 5.94385009e-01 3.18841097e-03 1.48238886e+02] [-5.94379646e-01 8.04180603e-01 -2.52856820e-03 1.43242821e+02] [-4.06700129e-03 1.38282965e-04 9.99991720e-01 -6.53849158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78 meters 0.02092861590606932 Centerline is valid? [True, True] Translation: X:148.26, Y:143.23, Z:-6.54 [[ 8.02441100e-01 5.96722313e-01 3.28069460e-03 1.48263179e+02] [-5.96716661e-01 8.02447796e-01 -2.60034369e-03 1.43226997e+02] [-4.18426925e-03 1.28977518e-04 9.99991238e-01 -6.53906617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81 meters 0.019583253024149913 Centerline is valid? [True, True] Translation: X:148.29, Y:143.21, Z:-6.54 [[ 8.00293062e-01 5.99598293e-01 3.59191134e-03 1.48287611e+02] [-5.99591552e-01 8.00301113e-01 -2.84575086e-03 1.43210745e+02] [-4.58091800e-03 1.23754978e-04 9.99989500e-01 -6.53954668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84 meters 0.019030361143325094 Centerline is valid? [True, True] Translation: X:148.31, Y:143.19, Z:-6.54 [[ 7.98083677e-01 6.02534600e-01 3.80791459e-03 1.48311428e+02] [-6.02527066e-01 7.98092753e-01 -3.01527816e-03 1.43193953e+02] [-4.85587846e-03 1.12072678e-04 9.99988204e-01 -6.53985843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87 meters 0.018185187000090756 Centerline is valid? [True, True] Translation: X:148.34, Y:143.18, Z:-6.54 [[ 7.95819080e-01 6.05517634e-01 4.51513174e-03 1.48335047e+02] [-6.05507101e-01 7.95831881e-01 -3.57310092e-03 1.43177908e+02] [-5.75686140e-03 1.09597553e-04 9.99983423e-01 -6.53946727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9 meters 0.01754410081680057 Centerline is valid? [True, True] Translation: X:148.36, Y:143.16, Z:-6.54 [[ 7.93833499e-01 6.08112479e-01 5.25246138e-03 1.48358943e+02] [-6.08098298e-01 7.93850869e-01 -4.15432520e-03 1.43161270e+02] [-6.69596803e-03 1.03829683e-04 9.99977576e-01 -6.53850818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93 meters 0.01693291593441685 Centerline is valid? [True, True] Translation: X:148.38, Y:143.15, Z:-6.54 [[ 7.89329445e-01 6.13937684e-01 6.28876443e-03 1.48383141e+02] [-6.13917564e-01 7.89354494e-01 -4.97074544e-03 1.43147113e+02] [-8.01579240e-03 6.27728041e-05 9.99967871e-01 -6.53578076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96 meters 0.016909402612725163 Centerline is valid? [True, True] Translation: X:148.41, Y:143.13, Z:-6.54 [[ 7.84454385e-01 6.20155378e-01 6.21492935e-03 1.48406983e+02] [-6.20135929e-01 7.84479004e-01 -4.91150420e-03 1.43132622e+02] [-7.92137733e-03 -1.24997590e-06 9.99968625e-01 -6.53543952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99 meters 0.017223781654566943 Centerline is valid? [True, True] Translation: X:148.43, Y:143.12, Z:-6.54 [[ 7.81832060e-01 6.23460225e-01 5.99810781e-03 1.48429635e+02] [-6.23442211e-01 7.81855068e-01 -4.73955642e-03 1.43115600e+02] [-7.64457590e-03 -3.39364371e-05 9.99970779e-01 -6.53703084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02 meters 0.017669743755639112 Centerline is valid? [True, True] Translation: X:148.45, Y:143.10, Z:-6.54 [[ 7.79994600e-01 6.25761121e-01 5.60735342e-03 1.48451292e+02] [-6.25745453e-01 7.80014754e-01 -4.42849428e-03 1.43097597e+02] [-7.14499794e-03 -5.45742806e-05 9.99974473e-01 -6.53906166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05 meters 0.01831579231374037 Centerline is valid? [True, True] Translation: X:148.47, Y:143.08, Z:-6.54 [[ 7.77598906e-01 6.28738261e-01 5.30484802e-03 1.48474089e+02] [-6.28724309e-01 7.77616997e-01 -4.18927308e-03 1.43080343e+02] [-6.75909626e-03 -7.77127444e-05 9.99977154e-01 -6.53976969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08 meters 0.018755786367591246 Centerline is valid? [True, True] Translation: X:148.50, Y:143.06, Z:-6.54 [[ 7.74588724e-01 6.32446915e-01 4.81748592e-03 1.48497361e+02] [-6.32435489e-01 7.74603699e-01 -3.80287282e-03 1.43063227e+02] [-6.13675760e-03 -1.01086660e-04 9.99981165e-01 -6.54014737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11 meters 0.020036768833316822 Centerline is valid? [True, True] Translation: X:148.52, Y:143.05, Z:-6.54 [[ 7.71413395e-01 6.36319796e-01 4.30028808e-03 1.48521098e+02] [-6.36310763e-01 7.71425371e-01 -3.39246468e-03 1.43048100e+02] [-5.47604376e-03 -1.19326899e-04 9.99984999e-01 -6.54086914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14 meters 0.021204176523928798 Centerline is valid? [True, True] Translation: X:148.55, Y:143.03, Z:-6.54 [[ 7.68206767e-01 6.40189313e-01 4.00085059e-03 1.48545487e+02] [-6.40181546e-01 7.68217173e-01 -3.15647519e-03 1.43032128e+02] [-5.09426381e-03 -1.36445111e-04 9.99987015e-01 -6.54119318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16999999999996 meters 0.021204176523928798 Centerline is valid? [True, True] Translation: X:148.57, Y:143.02, Z:-6.54 [[ 7.68384718e-01 6.39975713e-01 4.00143181e-03 1.48567018e+02] [-6.39967947e-01 7.68395125e-01 -3.15573814e-03 1.43015248e+02] [-5.09427646e-03 -1.35967140e-04 9.99987015e-01 -6.54143161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2 meters 0.023211972913541757 Centerline is valid? [True, True] Translation: X:148.59, Y:143.00, Z:-6.54 [[ 7.60523544e-01 6.49300868e-01 3.51034095e-03 1.48591878e+02] [-6.49294998e-01 7.60531625e-01 -2.76637055e-03 1.43000195e+02] [-4.46593210e-03 -1.75356891e-04 9.99990012e-01 -6.54275988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22999999999996 meters 0.024551815389770085 Centerline is valid? [True, True] Translation: X:148.62, Y:142.98, Z:-6.54 [[ 7.56572483e-01 6.53901811e-01 3.24028524e-03 1.48615917e+02] [-6.53896850e-01 7.56579399e-01 -2.55377447e-03 1.42984256e+02] [-4.12145081e-03 -1.86696823e-04 9.99991489e-01 -6.54324136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26 meters 0.026525575486196988 Centerline is valid? [True, True] Translation: X:148.64, Y:142.97, Z:-6.54 [[ 7.52570606e-01 6.58501678e-01 3.60878559e-03 1.48640556e+02] [-6.58495586e-01 7.52579221e-01 -2.84244696e-03 1.42968874e+02] [-4.58765314e-03 -2.37227353e-04 9.99989449e-01 -6.54367038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28999999999996 meters 0.029477828698127144 Centerline is valid? [True, True] Translation: X:148.67, Y:142.96, Z:-6.54 [[ 7.45168490e-01 6.66860542e-01 4.57584457e-03 1.48667254e+02] [-6.66850920e-01 7.45182449e-01 -3.60114328e-03 1.42956002e+02] [-5.81129942e-03 -3.67947662e-04 9.99983047e-01 -6.54206204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32 meters 0.030023139193491238 Centerline is valid? [True, True] Translation: X:148.69, Y:142.94, Z:-6.54 [[ 7.42485859e-01 6.69843092e-01 4.99818886e-03 1.48691111e+02] [-6.69831682e-01 7.42502559e-01 -3.93298770e-03 1.42939913e+02] [-6.34565266e-03 -4.27757504e-04 9.99979775e-01 -6.54103301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34999999999997 meters 0.03162138237097779 Centerline is valid? [True, True] Translation: X:148.72, Y:142.93, Z:-6.54 [[ 7.40160799e-01 6.72410077e-01 5.16526977e-03 1.48715111e+02] [-6.72397970e-01 7.40178675e-01 -4.06189744e-03 1.42925551e+02] [-6.55448330e-03 -4.66659657e-04 9.99978410e-01 -6.54006790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38 meters 0.032745680911955045 Centerline is valid? [True, True] Translation: X:148.74, Y:142.91, Z:-6.54 [[ 7.37949507e-01 6.74836086e-01 5.17515971e-03 1.48739161e+02] [-6.74823996e-01 7.37967491e-01 -4.06903235e-03 1.42908818e+02] [-6.56502949e-03 -4.89581540e-04 9.99978330e-01 -6.53964946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40999999999997 meters 0.03370335147081183 Centerline is valid? [True, True] Translation: X:148.76, Y:142.89, Z:-6.54 [[ 7.36468380e-01 6.76451852e-01 5.21700279e-03 1.48762168e+02] [-6.76439610e-01 7.36486682e-01 -4.10128662e-03 1.42891749e+02] [-6.61657601e-03 -5.08519421e-04 9.99977981e-01 -6.54023438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44 meters 0.036713139899602044 Centerline is valid? [True, True] Translation: X:148.78, Y:142.88, Z:-6.54 [[ 7.33866253e-01 6.79283413e-01 3.79042560e-03 1.48784629e+02] [-6.79276994e-01 7.33875939e-01 -2.97864458e-03 1.42875964e+02] [-4.80504600e-03 -3.88822171e-04 9.99988380e-01 -6.54236883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46999999999997 meters 0.03333269044818656 Centerline is valid? [True, True] Translation: X:148.80, Y:142.85, Z:-6.54 [[ 7.32706150e-01 6.80538460e-01 3.01691003e-03 1.48803197e+02] [-6.80534407e-01 7.32712293e-01 -2.37005750e-03 1.42853133e+02] [-3.82344235e-03 -3.16555371e-04 9.99992641e-01 -6.54264790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5 meters 0.0397752904796237 Centerline is valid? [True, True] Translation: X:148.83, Y:142.84, Z:-6.54 [[ 7.32213019e-01 6.81069703e-01 2.85573372e-03 1.48829667e+02] [-6.81066077e-01 7.32218525e-01 -2.24302478e-03 1.42842728e+02] [-3.61867735e-03 -3.02571420e-04 9.99993407e-01 -6.54295316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53 meters 0.040263915818995376 Centerline is valid? [True, True] Translation: X:148.85, Y:142.83, Z:-6.54 [[ 7.32348083e-01 6.80923895e-01 2.98923706e-03 1.48851510e+02] [-6.80919919e-01 7.32354115e-01 -2.34832307e-03 1.42825308e+02] [-3.78820936e-03 -3.15641155e-04 9.99992775e-01 -6.54213363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56 meters 0.03717773559853216 Centerline is valid? [True, True] Translation: X:148.87, Y:142.80, Z:-6.54 [[ 7.32173032e-01 6.81113691e-01 2.60587089e-03 1.48869325e+02] [-6.81110677e-01 7.32177617e-01 -2.04546097e-03 1.42802185e+02] [-3.30115181e-03 -2.77255124e-04 9.99994513e-01 -6.54058213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59 meters 0.03819366292438619 Centerline is valid? [True, True] Translation: X:148.89, Y:142.78, Z:-6.54 [[ 7.33085474e-01 6.80132743e-01 2.26714284e-03 1.48891394e+02] [-6.80130455e-01 7.33088941e-01 -1.78010717e-03 1.42784569e+02] [-2.87272652e-03 -2.36982187e-04 9.99995846e-01 -6.54047734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62 meters 0.03366079552279049 Centerline is valid? [True, True] Translation: X:148.91, Y:142.76, Z:-6.54 [[ 7.33513117e-01 6.79670831e-01 2.46358014e-03 1.48908416e+02] [-6.79668130e-01 7.33517209e-01 -1.93322223e-03 1.42760210e+02] [-3.12103318e-03 -2.56373042e-04 9.99995097e-01 -6.54030603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65 meters 0.03531351845897448 Centerline is valid? [True, True] Translation: X:148.93, Y:142.74, Z:-6.54 [[ 7.34607307e-01 6.78490185e-01 1.78122993e-03 1.48930426e+02] [-6.78488772e-01 7.34609444e-01 -1.39650955e-03 1.42743562e+02] [-2.25602636e-03 -1.82658388e-04 9.99997439e-01 -6.54121536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68 meters 0.03313624070875304 Centerline is valid? [True, True] Translation: X:148.95, Y:142.72, Z:-6.54 [[ 7.35508553e-01 6.77514014e-01 1.38878548e-03 1.48949999e+02] [-6.77513152e-01 7.35509851e-01 -1.09001444e-03 1.42721924e+02] [-1.75996546e-03 -1.39205484e-04 9.99998442e-01 -6.54115279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71 meters 0.0345708354344118 Centerline is valid? [True, True] Translation: X:148.97, Y:142.71, Z:-6.54 [[ 7.36720941e-01 6.76196229e-01 9.56248052e-04 1.48972290e+02] [-6.76195820e-01 7.36721556e-01 -7.49681338e-04 1.42705387e+02] [-1.21142025e-03 -9.43049949e-05 9.99999262e-01 -6.54187737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74 meters 0.03134006941186243 Centerline is valid? [True, True] Translation: X:148.99, Y:142.68, Z:-6.54 [[ 7.38536374e-01 6.74213124e-01 8.29608988e-04 1.48990278e+02] [-6.74212815e-01 7.38536836e-01 -6.50305771e-04 1.42682088e+02] [-1.05114148e-03 -7.90585449e-05 9.99999444e-01 -6.54073466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77 meters 0.03204327707202877 Centerline is valid? [True, True] Translation: X:149.01, Y:142.66, Z:-6.54 [[ 7.39568325e-01 6.73080903e-01 8.89407588e-04 1.49012122e+02] [-6.73080547e-01 7.39568855e-01 -6.97119162e-04 1.42664632e+02] [-1.12699575e-03 -8.30756954e-05 9.99999362e-01 -6.54102135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8 meters 0.031267140088429346 Centerline is valid? [True, True] Translation: X:149.03, Y:142.64, Z:-6.54 [[ 7.40890081e-01 6.71625999e-01 6.36719620e-04 1.49033197e+02] [-6.71625816e-01 7.40890352e-01 -4.99487064e-04 1.42644989e+02] [-8.07207922e-04 -5.75723235e-05 9.99999673e-01 -6.54097484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83 meters 0.03274629990660721 Centerline is valid? [True, True] Translation: X:149.06, Y:142.63, Z:-6.54 [[ 7.41762814e-01 6.70662090e-01 5.37792442e-04 1.49055702e+02] [-6.70661959e-01 7.41763007e-01 -4.22070196e-04 1.42628219e+02] [-6.81981019e-04 -4.76009569e-05 9.99999766e-01 -6.54185085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86 meters 0.03167381823552132 Centerline is valid? [True, True] Translation: X:149.08, Y:142.61, Z:-6.54 [[ 7.42844786e-01 6.69463672e-01 1.22438859e-04 1.49076558e+02] [-6.69463665e-01 7.42844796e-01 -9.79966698e-05 1.42608387e+02] [-1.56558280e-04 -9.17205194e-06 9.99999988e-01 -6.54209212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89 meters 0.03156280822700495 Centerline is valid? [True, True] Translation: X:149.10, Y:142.59, Z:-6.54 [[ 7.44119703e-01 6.68045601e-01 -9.70891511e-04 1.49098292e+02] [-6.68045178e-01 7.44120332e-01 7.56406906e-04 1.42589001e+02] [ 1.22777442e-03 8.57421101e-05 9.99999243e-01 -6.54213302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91999999999996 meters 0.031491245344806365 Centerline is valid? [True, True] Translation: X:149.12, Y:142.57, Z:-6.54 [[ 7.45026013e-01 6.67034458e-01 -1.12747749e-03 1.49120358e+02] [-6.67033887e-01 7.45026860e-01 8.78187322e-04 1.42571181e+02] [ 1.42578222e-03 9.77932923e-05 9.99998979e-01 -6.54222051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95 meters 0.029621445366967196 Centerline is valid? [True, True] Translation: X:149.14, Y:142.55, Z:-6.54 [[ 7.46102556e-01 6.65830475e-01 -8.68627071e-04 1.49141328e+02] [-6.65830135e-01 7.46103058e-01 6.77177101e-04 1.42550376e+02] [ 1.09897046e-03 7.31145143e-05 9.99999393e-01 -6.54205004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97999999999996 meters 0.02974608710171206 Centerline is valid? [True, True] Translation: X:149.16, Y:142.53, Z:-6.54 [[ 7.47712075e-01 6.64022494e-01 -8.83481780e-04 1.49163056e+02] [-6.64022142e-01 7.47712594e-01 6.87301797e-04 1.42532797e+02] [ 1.11697431e-03 7.27476110e-05 9.99999374e-01 -6.54216961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01 meters 0.029283094989253963 Centerline is valid? [True, True] Translation: X:149.18, Y:142.51, Z:-6.54 [[ 7.50239844e-01 6.61165312e-01 -7.78920634e-04 1.49184349e+02] [-6.61165035e-01 7.50240246e-01 6.07150439e-04 1.42514060e+02] [ 9.85804417e-04 5.94866379e-05 9.99999512e-01 -6.54185946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03999999999996 meters 0.027604225024418252 Centerline is valid? [True, True] Translation: X:149.21, Y:142.49, Z:-6.54 [[ 7.51630288e-01 6.59584526e-01 -4.03452325e-04 1.49205157e+02] [-6.59584453e-01 7.51630396e-01 3.12779237e-04 1.42494464e+02] [ 5.09551376e-04 3.10165326e-05 9.99999870e-01 -6.54202755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07 meters 0.027903011500182533 Centerline is valid? [True, True] Translation: X:149.23, Y:142.48, Z:-6.54 [[ 7.52950048e-01 6.58077660e-01 -1.31690978e-04 1.49227341e+02] [-6.58077653e-01 7.52950060e-01 1.01782152e-04 1.42478178e+02] [ 1.66137291e-04 1.00260133e-05 9.99999986e-01 -6.54254476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09999999999997 meters 0.026990348477604835 Centerline is valid? [True, True] Translation: X:149.25, Y:142.46, Z:-6.54 [[ 7.54914796e-01 6.55822710e-01 4.73038158e-04 1.49250045e+02] [-6.55822606e-01 7.54914944e-01 -3.70821205e-04 1.42460834e+02] [-6.00296542e-04 -3.02907033e-05 9.99999819e-01 -6.54279410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13 meters 0.02545765904414047 Centerline is valid? [True, True] Translation: X:149.27, Y:142.44, Z:-6.54 [[ 7.55774053e-01 6.54832220e-01 5.87166481e-04 1.49272499e+02] [-6.54832059e-01 7.55774280e-01 -4.60220381e-04 1.42442216e+02] [-7.45132458e-04 -3.66728132e-05 9.99999722e-01 -6.54259878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15999999999997 meters 0.02744713346549149 Centerline is valid? [True, True] Translation: X:149.30, Y:142.43, Z:-6.54 [[ 7.56795166e-01 6.53651456e-01 9.22958067e-04 1.49297607e+02] [-6.53651060e-01 7.56795726e-01 -7.21779903e-04 1.42428534e+02] [-1.17028321e-03 -5.70529771e-05 9.99999314e-01 -6.54348665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19 meters 0.02463005491903474 Centerline is valid? [True, True] Translation: X:149.32, Y:142.41, Z:-6.54 [[ 7.57821924e-01 6.52461332e-01 3.77545267e-04 1.49318609e+02] [-6.52461264e-01 7.57822018e-01 -2.96718712e-04 1.42408260e+02] [-4.79709602e-04 -2.14737177e-05 9.99999885e-01 -6.54330549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21999999999997 meters 0.026951821649497783 Centerline is valid? [True, True] Translation: X:149.34, Y:142.39, Z:-6.54 [[ 7.58930945e-01 6.51171080e-01 2.12382757e-04 1.49343841e+02] [-6.51171059e-01 7.58930975e-01 -1.67999025e-04 1.42394961e+02] [-2.70579960e-04 -1.07978458e-05 9.99999963e-01 -6.54483028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25 meters 0.024450414042390782 Centerline is valid? [True, True] Translation: X:149.37, Y:142.38, Z:-6.54 [[ 7.60119913e-01 6.49782782e-01 2.32799076e-04 1.49365343e+02] [-6.49782757e-01 7.60119948e-01 -1.83727425e-04 1.42375334e+02] [-2.96338139e-04 -1.16139511e-05 9.99999956e-01 -6.54483454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28 meters 0.023333223058317257 Centerline is valid? [True, True] Translation: X:149.39, Y:142.36, Z:-6.55 [[ 7.62609657e-01 6.46858912e-01 2.42959375e-04 1.49389528e+02] [-6.46858884e-01 7.62609695e-01 -1.90793441e-04 1.42359506e+02] [-3.08699612e-04 -1.16595096e-05 9.99999952e-01 -6.54534943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31 meters 0.022779439602827543 Centerline is valid? [True, True] Translation: X:149.41, Y:142.34, Z:-6.55 [[ 7.63835831e-01 6.45410519e-01 2.91612146e-04 1.49413031e+02] [-6.45410479e-01 7.63835887e-01 -2.29361166e-04 1.42343159e+02] [-3.70775931e-04 -1.30152582e-05 9.99999931e-01 -6.54571546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34 meters 0.022133532846911254 Centerline is valid? [True, True] Translation: X:149.44, Y:142.33, Z:-6.55 [[ 7.65074860e-01 6.43941096e-01 5.68448664e-04 1.49436652e+02] [-6.43940943e-01 7.65075071e-01 -4.44321678e-04 1.42327255e+02] [-7.21022890e-04 -2.61080236e-05 9.99999740e-01 -6.54577482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37 meters 0.021945346242942795 Centerline is valid? [True, True] Translation: X:149.46, Y:142.31, Z:-6.55 [[ 7.66183153e-01 6.42621856e-01 7.25282555e-04 1.49460622e+02] [-6.42621607e-01 7.66183496e-01 -5.65867937e-04 1.42311674e+02] [-9.19338627e-04 -3.25237613e-05 9.99999577e-01 -6.54604478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4 meters 0.021499819668127668 Centerline is valid? [True, True] Translation: X:149.49, Y:142.30, Z:-6.55 [[ 7.68261135e-01 6.40135766e-01 1.01417426e-03 1.49485658e+02] [-6.40135283e-01 7.68261803e-01 -7.88291902e-04 1.42298858e+02] [-1.28376518e-03 -4.35946924e-05 9.99999175e-01 -6.54668675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43 meters 0.020453912826312082 Centerline is valid? [True, True] Translation: X:149.51, Y:142.28, Z:-6.55 [[ 7.69275981e-01 6.38915243e-01 1.33287818e-03 1.49509160e+02] [-6.38914404e-01 7.69277134e-01 -1.03697725e-03 1.42281859e+02] [-1.68789328e-03 -5.38733762e-05 9.99998574e-01 -6.54665225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46 meters 0.021248851021236397 Centerline is valid? [True, True] Translation: X:149.53, Y:142.27, Z:-6.55 [[ 7.70446011e-01 6.37503917e-01 1.30424896e-03 1.49534231e+02] [-6.37503114e-01 7.70447113e-01 -1.01280472e-03 1.42268770e+02] [-1.65052182e-03 -5.11514232e-05 9.99998637e-01 -6.54775652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49 meters 0.0200615320670357 Centerline is valid? [True, True] Translation: X:149.56, Y:142.25, Z:-6.55 [[ 7.71685382e-01 6.36002709e-01 1.49197739e-03 1.49557908e+02] [-6.36001654e-01 7.71686822e-01 -1.15957787e-03 1.42252459e+02] [-1.88883396e-03 -5.40707957e-05 9.99998215e-01 -6.54775250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52 meters 0.019145909633370452 Centerline is valid? [True, True] Translation: X:149.58, Y:142.24, Z:-6.55 [[ 7.73363292e-01 6.33961157e-01 1.57152523e-03 1.49581067e+02] [-6.33959984e-01 7.73364887e-01 -1.22066698e-03 1.42236021e+02] [-1.98921789e-03 -5.22650750e-05 9.99998020e-01 -6.54880829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55 meters 0.01789495654862162 Centerline is valid? [True, True] Translation: X:149.60, Y:142.22, Z:-6.55 [[ 7.77421739e-01 6.28974131e-01 2.64261628e-03 1.49602723e+02] [-6.28970795e-01 7.77426227e-01 -2.04961486e-03 1.42216275e+02] [-3.34359393e-03 -6.87133171e-05 9.99994408e-01 -6.54854216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58 meters 0.016046575743335484 Centerline is valid? [True, True] Translation: X:149.62, Y:142.20, Z:-6.55 [[ 7.84621647e-01 6.19966741e-01 3.17987362e-03 1.49622699e+02] [-6.19961845e-01 7.84628090e-01 -2.46396178e-03 1.42195488e+02] [-4.02259252e-03 -3.81225698e-05 9.99991909e-01 -6.54891227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61 meters 0.015592722034444529 Centerline is valid? [True, True] Translation: X:149.64, Y:142.18, Z:-6.55 [[ 7.88325350e-01 6.15252295e-01 2.78501081e-03 1.49643665e+02] [-6.15248509e-01 7.88330269e-01 -2.15845948e-03 1.42176322e+02] [-3.52350547e-03 -1.19054256e-05 9.99993792e-01 -6.54970776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64 meters 0.015375596895235077 Centerline is valid? [True, True] Translation: X:149.66, Y:142.16, Z:-6.55 [[ 7.91703200e-01 6.10900775e-01 2.50725522e-03 1.49664655e+02] [-6.10897686e-01 7.91707170e-01 -1.94272176e-03 1.42157171e+02] [-3.17182216e-03 6.38262795e-06 9.99994970e-01 -6.55032049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66999999999996 meters 0.015538640148692589 Centerline is valid? [True, True] Translation: X:149.69, Y:142.14, Z:-6.55 [[ 7.94808786e-01 6.06855329e-01 2.36709140e-03 1.49685201e+02] [-6.06852564e-01 7.94812311e-01 -1.83180665e-03 1.42137950e+02] [-2.99303501e-03 1.94605353e-05 9.99995521e-01 -6.55129914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7 meters 0.01630493766197812 Centerline is valid? [True, True] Translation: X:149.71, Y:142.12, Z:-6.55 [[ 8.00098815e-01 5.99860807e-01 2.98318211e-03 1.49705235e+02] [-5.99856366e-01 8.00104374e-01 -2.30891603e-03 1.42116466e+02] [-3.77188529e-03 5.78801987e-05 9.99992885e-01 -6.55198111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72999999999996 meters 0.017148309908512186 Centerline is valid? [True, True] Translation: X:149.72, Y:142.10, Z:-6.55 [[ 8.02172310e-01 5.97086557e-01 2.68842335e-03 1.49724527e+02] [-5.97082941e-01 8.02176813e-01 -2.07901494e-03 1.42096649e+02] [-3.39794275e-03 6.25164940e-05 9.99994225e-01 -6.55307730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76 meters 0.017350259272939168 Centerline is valid? [True, True] Translation: X:149.75, Y:142.08, Z:-6.55 [[ 8.04013504e-01 5.94608965e-01 1.56974589e-03 1.49746805e+02] [-5.94607724e-01 8.04015036e-01 -1.21533157e-03 1.42078746e+02] [-1.98474634e-03 4.37599676e-05 9.99998029e-01 -6.55348759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78999999999996 meters 0.017206642753960336 Centerline is valid? [True, True] Translation: X:149.77, Y:142.06, Z:-6.55 [[ 8.04263949e-01 5.94271248e-01 1.08835086e-03 1.49768908e+02] [-5.94270650e-01 8.04264685e-01 -8.43391577e-04 1.42061372e+02] [-1.37652553e-03 3.15344670e-05 9.99999052e-01 -6.55414822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82 meters 0.01730237550284069 Centerline is valid? [True, True] Translation: X:149.79, Y:142.04, Z:-6.55 [[ 8.03890516e-01 5.94776366e-01 1.05477299e-03 1.49790566e+02] [-5.94775808e-01 8.03891208e-01 -8.15145690e-04 1.42044708e+02] [-1.33275212e-03 2.79344336e-05 9.99999112e-01 -6.55498975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84999999999997 meters 0.017730327675061556 Centerline is valid? [True, True] Translation: X:149.81, Y:142.03, Z:-6.56 [[ 8.03406839e-01 5.95429528e-01 1.06192935e-03 1.49812262e+02] [-5.95428963e-01 8.03407541e-01 -8.20493855e-04 1.42027091e+02] [-1.34170831e-03 2.68868844e-05 9.99999100e-01 -6.55532914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88 meters 0.016690189832942397 Centerline is valid? [True, True] Translation: X:149.84, Y:142.01, Z:-6.55 [[ 8.02445984e-01 5.96719797e-01 2.43427451e-03 1.49836486e+02] [-5.96716837e-01 8.02449675e-01 -1.88038700e-03 1.42012122e+02] [-3.07544694e-03 5.63364140e-05 9.99995269e-01 -6.55410916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90999999999997 meters 0.016264860646355368 Centerline is valid? [True, True] Translation: X:149.86, Y:142.00, Z:-6.55 [[ 8.01710377e-01 5.97706300e-01 2.76588668e-03 1.49859295e+02] [-5.97702493e-01 8.01715147e-01 -2.13405526e-03 1.41995611e+02] [-3.49299152e-03 5.77168890e-05 9.99993898e-01 -6.55390782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94 meters 0.015936405397401484 Centerline is valid? [True, True] Translation: X:149.88, Y:141.98, Z:-6.55 [[ 8.01134564e-01 5.98476685e-01 3.01119718e-03 1.49882609e+02] [-5.98472177e-01 8.01140221e-01 -2.32379529e-03 1.41978696e+02] [-3.80312847e-03 5.95549916e-05 9.99992766e-01 -6.55387678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96999999999997 meters 0.015725829807618004 Centerline is valid? [True, True] Translation: X:149.91, Y:141.96, Z:-6.55 [[ 8.00810147e-01 5.98910227e-01 3.10615036e-03 1.49905868e+02] [-5.98905439e-01 8.00816169e-01 -2.39567433e-03 1.41961042e+02] [-3.92224928e-03 5.81899684e-05 9.99992306e-01 -6.55496810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0 meters 0.015330320642038693 Centerline is valid? [True, True] Translation: X:149.93, Y:141.94, Z:-6.56 [[ 8.00220647e-01 5.99699290e-01 2.77073096e-03 1.49929177e+02] [-5.99695487e-01 8.00225443e-01 -2.13639090e-03 1.41943970e+02] [-3.49840151e-03 4.79892621e-05 9.99993879e-01 -6.55593695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03 meters 0.01522409740973974 Centerline is valid? [True, True] Translation: X:149.95, Y:141.93, Z:-6.56 [[ 7.99733907e-01 6.00349093e-01 2.57773758e-03 1.49950007e+02] [-6.00345811e-01 7.99738060e-01 -1.98562731e-03 1.41926265e+02] [-3.25358441e-03 4.04395299e-05 9.99994706e-01 -6.55752023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06 meters 0.015004646388790724 Centerline is valid? [True, True] Translation: X:149.97, Y:141.91, Z:-6.56 [[ 7.99081356e-01 6.01220277e-01 1.77901511e-03 1.49973097e+02] [-6.01218712e-01 7.99083336e-01 -1.37201991e-03 1.41910118e+02] [-2.24646752e-03 2.67783572e-05 9.99997476e-01 -6.55715804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09 meters 0.015004646388790724 Centerline is valid? [True, True] Translation: X:149.99, Y:141.89, Z:-6.56 [[ 7.99252693e-01 6.00992485e-01 1.77940844e-03 1.49994816e+02] [-6.00990920e-01 7.99254673e-01 -1.37150916e-03 1.41893494e+02] [-2.24646721e-03 2.67740801e-05 9.99997476e-01 -6.55739662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12 meters 0.01459398235203728 Centerline is valid? [True, True] Translation: X:150.02, Y:141.88, Z:-6.56 [[ 7.98101734e-01 6.02519145e-01 2.07405916e-03 1.50019108e+02] [-6.02517030e-01 7.98104429e-01 -1.59688754e-03 1.41877734e+02] [-2.61747112e-03 2.48227506e-05 9.99996574e-01 -6.55680329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15 meters 0.014451037307763964 Centerline is valid? [True, True] Translation: X:150.04, Y:141.86, Z:-6.56 [[ 7.97633279e-01 6.03136204e-01 2.80587051e-03 1.50042065e+02] [-6.03132343e-01 7.97638213e-01 -2.15824655e-03 1.41860669e+02] [-3.53978617e-03 2.91780138e-05 9.99993735e-01 -6.55677384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18 meters 0.015449448351644737 Centerline is valid? [True, True] Translation: X:150.06, Y:141.84, Z:-6.56 [[ 7.95854983e-01 6.05485574e-01 1.43759132e-03 1.50063151e+02] [-6.05484562e-01 7.95856281e-01 -1.10682667e-03 1.41843280e+02] [-1.81428366e-03 1.04341710e-05 9.99998354e-01 -6.56110775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21 meters 0.014216085706825603 Centerline is valid? [True, True] Translation: X:150.09, Y:141.83, Z:-6.56 [[ 7.96437196e-01 6.04710009e-01 3.68764294e-03 1.50087748e+02] [-6.04703375e-01 7.96445732e-01 -2.83252366e-03 1.41827896e+02] [-4.64986289e-03 2.59970689e-05 9.99989189e-01 -6.55715068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24 meters 0.014055677115343872 Centerline is valid? [True, True] Translation: X:150.11, Y:141.81, Z:-6.56 [[ 7.95762750e-01 6.05595731e-01 3.93142792e-03 1.50110215e+02] [-6.05588210e-01 7.95772461e-01 -3.01823547e-03 1.41811853e+02] [-4.95635259e-03 2.09729599e-05 9.99987717e-01 -6.55731114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27 meters 0.014169337675086513 Centerline is valid? [True, True] Translation: X:150.13, Y:141.79, Z:-6.56 [[ 7.95314427e-01 6.06175378e-01 5.13550876e-03 1.50132694e+02] [-6.06162577e-01 7.95331007e-01 -3.93936193e-03 1.41794915e+02] [-6.47237356e-03 2.00781500e-05 9.99979054e-01 -6.55658419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3 meters 0.014202139468521986 Centerline is valid? [True, True] Translation: X:150.15, Y:141.78, Z:-6.56 [[ 7.95445252e-01 6.06002960e-01 5.22155572e-03 1.50154794e+02] [-6.05989739e-01 7.95462389e-01 -4.00297433e-03 1.41778410e+02] [-6.57936548e-03 1.99377342e-05 9.99978356e-01 -6.55655604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33 meters 0.01409506592186167 Centerline is valid? [True, True] Translation: X:150.18, Y:141.76, Z:-6.56 [[ 7.95913423e-01 6.05385680e-01 5.47739189e-03 1.50176742e+02] [-6.05371135e-01 7.95932270e-01 -4.19649276e-03 1.41761830e+02] [-6.90012958e-03 2.41899707e-05 9.99976194e-01 -6.55654755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36 meters 0.014279117103075918 Centerline is valid? [True, True] Translation: X:150.20, Y:141.75, Z:-6.56 [[ 7.96317543e-01 6.04858943e-01 4.90210238e-03 1.50197723e+02] [-6.04847298e-01 7.96332631e-01 -3.75335870e-03 1.41745451e+02] [-6.17395667e-03 2.38420012e-05 9.99980941e-01 -6.55694240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39 meters 0.014512023756389733 Centerline is valid? [True, True] Translation: X:150.22, Y:141.73, Z:-6.56 [[ 7.97806015e-01 6.02899356e-01 4.23416187e-03 1.50218754e+02] [-6.02890642e-01 7.97817250e-01 -3.24181179e-03 1.41726247e+02] [-5.33257362e-03 3.36003734e-05 9.99985781e-01 -6.55833993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41999999999996 meters 0.014440532558266325 Centerline is valid? [True, True] Translation: X:150.24, Y:141.71, Z:-6.56 [[ 7.98199132e-01 6.02379398e-01 4.14816342e-03 1.50239576e+02] [-6.02371037e-01 7.98209910e-01 -3.17389994e-03 1.41709105e+02] [-5.22299709e-03 3.46706767e-05 9.99986359e-01 -6.55951958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45 meters 0.014481029356299054 Centerline is valid? [True, True] Translation: X:150.26, Y:141.69, Z:-6.56 [[ 7.98522234e-01 6.01953706e-01 3.73867387e-03 1.50261494e+02] [-6.01946909e-01 7.98530986e-01 -2.86077543e-03 1.41692521e+02] [-4.70750130e-03 3.39096114e-05 9.99988919e-01 -6.56027877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47999999999996 meters 0.014539591249131654 Centerline is valid? [True, True] Translation: X:150.28, Y:141.68, Z:-6.56 [[ 7.99035414e-01 6.01271291e-01 3.90403724e-03 1.50283687e+02] [-6.01263881e-01 7.99044951e-01 -2.98546835e-03 1.41675253e+02] [-4.91457766e-03 3.81383578e-05 9.99987923e-01 -6.56055682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51 meters 0.014666016371834449 Centerline is valid? [True, True] Translation: X:150.31, Y:141.66, Z:-6.56 [[ 7.99697955e-01 6.00391738e-01 3.59757004e-03 1.50305350e+02] [-6.00385446e-01 7.99706046e-01 -2.74888321e-03 1.41658670e+02] [-4.52740528e-03 3.83475878e-05 9.99989751e-01 -6.56061885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53999999999996 meters 0.014696210322701466 Centerline is valid? [True, True] Translation: X:150.33, Y:141.64, Z:-6.56 [[ 7.99915192e-01 6.00103774e-01 3.33856252e-03 1.50327328e+02] [-6.00098351e-01 7.99922158e-01 -2.55146661e-03 1.41642303e+02] [-4.20173488e-03 3.74910468e-05 9.99991172e-01 -6.56122409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57 meters 0.014483111732228677 Centerline is valid? [True, True] Translation: X:150.35, Y:141.63, Z:-6.56 [[ 8.00064437e-01 5.99904645e-01 3.36376484e-03 1.50350367e+02] [-5.99899143e-01 8.00071507e-01 -2.56936377e-03 1.41626385e+02] [-4.23262567e-03 3.77369297e-05 9.99991042e-01 -6.56136548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59999999999997 meters 0.014452078514454762 Centerline is valid? [True, True] Translation: X:150.37, Y:141.61, Z:-6.56 [[ 8.00146202e-01 5.99795895e-01 3.30758520e-03 1.50372396e+02] [-5.99790582e-01 8.00153037e-01 -2.52498278e-03 1.41609480e+02] [-4.16104865e-03 3.64969320e-05 9.99991342e-01 -6.56192276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63 meters 0.01447448336232942 Centerline is valid? [True, True] Translation: X:150.39, Y:141.59, Z:-6.56 [[ 8.00226598e-01 5.99684044e-01 4.05445302e-03 1.50393362e+02] [-5.99676075e-01 8.00236868e-01 -3.09188080e-03 1.41592416e+02] [-5.09867437e-03 4.28467780e-05 9.99987001e-01 -6.56245589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65999999999997 meters 0.014566947267938026 Centerline is valid? [True, True] Translation: X:150.42, Y:141.58, Z:-6.56 [[ 8.00186302e-01 5.99736399e-01 4.25835169e-03 1.50415398e+02] [-5.99727610e-01 8.00197632e-01 -3.24712746e-03 1.41575754e+02] [-5.35494347e-03 4.44558265e-05 9.99985661e-01 -6.56275350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69 meters 0.014683828983618469 Centerline is valid? [True, True] Translation: X:150.44, Y:141.56, Z:-6.56 [[ 8.00092276e-01 5.99859791e-01 4.53665621e-03 1.50436453e+02] [-5.99849834e-01 8.00105136e-01 -3.45653839e-03 1.41558373e+02] [-5.70324033e-03 4.42371946e-05 9.99983735e-01 -6.56300408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71999999999997 meters 0.014424587419685378 Centerline is valid? [True, True] Translation: X:150.46, Y:141.54, Z:-6.56 [[ 7.99866136e-01 6.00160729e-01 4.61133120e-03 1.50459771e+02] [-6.00150448e-01 7.99879427e-01 -3.51312672e-03 1.41543268e+02] [-5.79694965e-03 4.25386068e-05 9.99983197e-01 -6.56263997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75 meters 0.014403965901136106 Centerline is valid? [True, True] Translation: X:150.48, Y:141.53, Z:-6.56 [[ 7.98483239e-01 6.02002069e-01 4.24568995e-03 1.50483721e+02] [-6.01993389e-01 7.98494526e-01 -3.23276838e-03 1.41527023e+02] [-5.33629344e-03 2.54340808e-05 9.99985762e-01 -6.56356651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78 meters 0.014436209161530385 Centerline is valid? [True, True] Translation: X:150.50, Y:141.51, Z:-6.56 [[ 7.97727414e-01 6.03003326e-01 4.23808940e-03 1.50504807e+02] [-6.02994702e-01 7.97738672e-01 -3.22502594e-03 1.41510891e+02] [-5.32558918e-03 1.71461494e-05 9.99985819e-01 -6.56456224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81 meters 0.014225963946762617 Centerline is valid? [True, True] Translation: X:150.53, Y:141.49, Z:-6.56 [[ 7.97099829e-01 6.03831592e-01 4.38986536e-03 1.50527297e+02] [-6.03822358e-01 7.97111917e-01 -3.33942486e-03 1.41493911e+02] [-5.51566422e-03 1.11561368e-05 9.99984789e-01 -6.56477984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84 meters 0.014235843451114505 Centerline is valid? [True, True] Translation: X:150.55, Y:141.48, Z:-6.57 [[ 7.96368916e-01 6.04797580e-01 4.05432756e-03 1.50549216e+02] [-6.04789728e-01 7.96379236e-01 -3.08182211e-03 1.41477605e+02] [-5.09266084e-03 2.25166374e-06 9.99987032e-01 -6.56551200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87 meters 0.014335058716691421 Centerline is valid? [True, True] Translation: X:150.57, Y:141.46, Z:-6.57 [[ 7.95028081e-01 6.06562225e-01 3.55209581e-03 1.50572669e+02] [-6.06556214e-01 7.95036016e-01 -2.70036855e-03 1.41461672e+02] [-4.46198566e-03 -7.67696136e-06 9.99990045e-01 -6.56601617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9 meters 0.014403432564452536 Centerline is valid? [True, True] Translation: X:150.60, Y:141.44, Z:-6.57 [[ 7.93350272e-01 6.08758237e-01 2.95898398e-03 1.50595666e+02] [-6.08754085e-01 7.93355790e-01 -2.24845219e-03 1.41444584e+02] [-3.71629086e-03 -1.74834321e-05 9.99993094e-01 -6.56634898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93 meters 0.014779406157619926 Centerline is valid? [True, True] Translation: X:150.62, Y:141.43, Z:-6.57 [[ 7.91629810e-01 6.10995251e-01 2.65461966e-03 1.50618922e+02] [-6.10991927e-01 7.91634261e-01 -2.01544138e-03 1.41430053e+02] [-3.33291298e-03 -2.64677049e-05 9.99994445e-01 -6.56652463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96 meters 0.01514977389366871 Centerline is valid? [True, True] Translation: X:150.64, Y:141.41, Z:-6.57 [[ 7.90209493e-01 6.12831738e-01 2.49338544e-03 1.50642729e+02] [-6.12828813e-01 7.90213427e-01 -1.89366229e-03 1.41413893e+02] [-3.13080301e-03 -3.16285196e-05 9.99995099e-01 -6.56639703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99 meters 0.015458857231659011 Centerline is valid? [True, True] Translation: X:150.67, Y:141.40, Z:-6.57 [[ 7.88662353e-01 6.14820291e-01 2.77545230e-03 1.50666046e+02] [-6.14816687e-01 7.88667235e-01 -2.10573695e-03 1.41398119e+02] [-3.48355810e-03 -4.56789296e-05 9.99993931e-01 -6.56605348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02 meters 0.016732598162932783 Centerline is valid? [True, True] Translation: X:150.69, Y:141.38, Z:-6.57 [[ 7.84819375e-01 6.19707963e-01 4.53741331e-03 1.50690208e+02] [-6.19698422e-01 7.84832484e-01 -3.44069700e-03 1.41384571e+02] [-5.69333669e-03 -1.11502191e-04 9.99983787e-01 -6.56508267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05 meters 0.017343754996151747 Centerline is valid? [True, True] Translation: X:150.71, Y:141.37, Z:-6.56 [[ 7.83151980e-01 6.21809342e-01 5.11060300e-03 1.50714398e+02] [-6.21797288e-01 7.83168642e-01 -3.87443373e-03 1.41368485e+02] [-6.41162310e-03 -1.43488635e-04 9.99979435e-01 -6.56491483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08 meters 0.01832982241665809 Centerline is valid? [True, True] Translation: X:150.74, Y:141.35, Z:-6.56 [[ 7.81668898e-01 6.23664045e-01 6.07402845e-03 1.50737237e+02] [-6.23647096e-01 7.81692473e-01 -4.60180074e-03 1.41353232e+02] [-7.61799999e-03 -1.90965696e-04 9.99970964e-01 -6.56491340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11 meters 0.01922817766203538 Centerline is valid? [True, True] Translation: X:150.76, Y:141.34, Z:-6.57 [[ 7.80411024e-01 6.25233161e-01 6.49058744e-03 1.50761051e+02] [-6.25213869e-01 7.80437983e-01 -4.91655775e-03 1.41337053e+02] [-8.13949591e-03 -2.21069421e-04 9.99966849e-01 -6.56506999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14 meters 0.01892478618405761 Centerline is valid? [True, True] Translation: X:150.78, Y:141.32, Z:-6.57 [[ 7.79033867e-01 6.26945535e-01 6.74760845e-03 1.50783009e+02] [-6.26924771e-01 7.79063049e-01 -5.10858464e-03 1.41319232e+02] [-8.45961674e-03 -2.50482431e-04 9.99964185e-01 -6.56513459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16999999999996 meters 0.020676553564557453 Centerline is valid? [True, True] Translation: X:150.81, Y:141.30, Z:-6.57 [[ 7.78904240e-01 6.27110708e-01 6.35181548e-03 1.50806787e+02] [-6.27092321e-01 7.78930102e-01 -4.80811557e-03 1.41304787e+02] [-7.96284104e-03 -2.38113109e-04 9.99968268e-01 -6.56533398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2 meters 0.018089860282004204 Centerline is valid? [True, True] Translation: X:150.83, Y:141.28, Z:-6.57 [[ 7.79023117e-01 6.26968993e-01 5.73287003e-03 1.50826049e+02] [-6.26954013e-01 7.79044181e-01 -4.33928327e-03 1.41283943e+02] [-7.18675510e-03 -2.13843897e-04 9.99974152e-01 -6.56617752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22999999999996 meters 0.017532427799275906 Centerline is valid? [True, True] Translation: X:150.85, Y:141.26, Z:-6.57 [[ 7.80433465e-01 6.25218972e-01 4.98431884e-03 1.50846805e+02] [-6.25207625e-01 7.80449362e-01 -3.77073806e-03 1.41263409e+02] [-6.24754543e-03 -1.73423972e-04 9.99980469e-01 -6.56836749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26 meters 0.017959568245440132 Centerline is valid? [True, True] Translation: X:150.87, Y:141.25, Z:-6.57 [[ 7.80813787e-01 6.24748677e-01 4.34984267e-03 1.50869382e+02] [-6.24740039e-01 7.80825889e-01 -3.28869417e-03 1.41246605e+02] [-5.45107710e-03 -1.49663133e-04 9.99985132e-01 -6.56948305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28999999999996 meters 0.018009245808043854 Centerline is valid? [True, True] Translation: X:150.89, Y:141.23, Z:-6.57 [[ 7.81205650e-01 6.24259023e-01 4.29010871e-03 1.50891376e+02] [-6.24250612e-01 7.81217416e-01 -3.24374299e-03 1.41229383e+02] [-5.37644347e-03 -1.44072640e-04 9.99985536e-01 -6.57032931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32 meters 0.017872619565930524 Centerline is valid? [True, True] Translation: X:150.91, Y:141.21, Z:-6.57 [[ 7.81709245e-01 6.23629079e-01 4.17479711e-03 1.50914101e+02] [-6.23621115e-01 7.81720380e-01 -3.15462879e-03 1.41211566e+02] [-5.23084223e-03 -1.37489137e-04 9.99986310e-01 -6.57067942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34999999999997 meters 0.018010139549006234 Centerline is valid? [True, True] Translation: X:150.94, Y:141.20, Z:-6.57 [[ 7.81754411e-01 6.23568960e-01 4.66834088e-03 1.50935356e+02] [-6.23559016e-01 7.81768334e-01 -3.52497063e-03 1.41195462e+02] [-5.84762335e-03 -1.55324710e-04 9.99982890e-01 -6.57058480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38 meters 0.017914692301975593 Centerline is valid? [True, True] Translation: X:150.96, Y:141.18, Z:-6.57 [[ 7.81565242e-01 6.23797117e-01 5.73840979e-03 1.50958276e+02] [-6.23782107e-01 7.81586284e-01 -4.33176868e-03 1.41177730e+02] [-7.18720720e-03 -1.93957515e-04 9.99974153e-01 -6.57017150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40999999999997 meters 0.01863837100991342 Centerline is valid? [True, True] Translation: X:150.98, Y:141.16, Z:-6.57 [[ 7.81561822e-01 6.23796146e-01 6.28383879e-03 1.50980482e+02] [-6.23778169e-01 7.81587053e-01 -4.74072438e-03 1.41162793e+02] [-7.86861264e-03 -2.14552269e-04 9.99969019e-01 -6.56970641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44 meters 0.022060609644193516 Centerline is valid? [True, True] Translation: X:151.01, Y:141.15, Z:-6.57 [[ 7.81625626e-01 6.23710597e-01 6.81704820e-03 1.51005911e+02] [-6.23689455e-01 7.81655319e-01 -5.14074469e-03 1.41151876e+02] [-8.53491892e-03 -2.33583287e-04 9.99963550e-01 -6.56926436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46999999999997 meters 0.018936526649835576 Centerline is valid? [True, True] Translation: X:151.03, Y:141.13, Z:-6.57 [[ 7.81554704e-01 6.23793922e-01 7.30671310e-03 1.51025623e+02] [-6.23769658e-01 7.81588817e-01 -5.50765740e-03 1.41130164e+02] [-9.14648846e-03 -2.53170378e-04 9.99958138e-01 -6.56879865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5 meters 0.018450082101696137 Centerline is valid? [True, True] Translation: X:151.05, Y:141.11, Z:-6.57 [[ 7.81461410e-01 6.23903401e-01 7.91268615e-03 1.51048359e+02] [-6.23874983e-01 7.81501420e-01 -5.96119623e-03 1.41112466e+02] [-9.90298606e-03 -2.78082125e-04 9.99950926e-01 -6.56844508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53 meters 0.01822880978607368 Centerline is valid? [True, True] Translation: X:151.07, Y:141.10, Z:-6.57 [[ 7.81777156e-01 6.23506936e-01 7.97363784e-03 1.51070545e+02] [-6.23478090e-01 7.81817769e-01 -6.00394844e-03 1.41096027e+02] [-9.97743524e-03 -2.77638756e-04 9.99950186e-01 -6.56902998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56 meters 0.019227502884741104 Centerline is valid? [True, True] Translation: X:151.09, Y:141.08, Z:-6.57 [[ 7.81476141e-01 6.23887423e-01 7.71516979e-03 1.51094030e+02] [-6.23860465e-01 7.81514176e-01 -5.80622116e-03 1.41080325e+02] [-9.65194292e-03 -2.75766104e-04 9.99953381e-01 -6.57014190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59 meters 0.019854527068639792 Centerline is valid? [True, True] Translation: X:151.12, Y:141.06, Z:-6.57 [[ 7.81302745e-01 6.24109205e-01 7.32953055e-03 1.51116428e+02] [-6.24084894e-01 7.81337079e-01 -5.51500936e-03 1.41064456e+02] [-9.16880209e-03 -2.65357347e-04 9.99957930e-01 -6.57123059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62 meters 0.019327425671595694 Centerline is valid? [True, True] Translation: X:151.14, Y:141.05, Z:-6.57 [[ 7.81048937e-01 6.24431767e-01 6.89398667e-03 1.51138651e+02] [-6.24410283e-01 7.81079320e-01 -5.18598898e-03 1.41046489e+02] [-8.62304668e-03 -2.54164987e-04 9.99962789e-01 -6.57219604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65 meters 0.020119237491531196 Centerline is valid? [True, True] Translation: X:151.16, Y:141.03, Z:-6.57 [[ 7.80051508e-01 6.25688165e-01 5.82788374e-03 1.51162618e+02] [-6.25672861e-01 7.80073245e-01 -4.38219136e-03 1.41031050e+02] [-7.28806145e-03 -2.28013715e-04 9.99973416e-01 -6.57358859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68 meters 0.020082918947191452 Centerline is valid? [True, True] Translation: X:151.19, Y:141.01, Z:-6.57 [[ 7.79561288e-01 6.26296355e-01 6.08878795e-03 1.51185443e+02] [-6.26279686e-01 7.79585027e-01 -4.57595258e-03 1.41014355e+02] [-7.61263034e-03 -2.46048717e-04 9.99970993e-01 -6.57385882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71 meters 0.020607435559828864 Centerline is valid? [True, True] Translation: X:151.21, Y:141.00, Z:-6.57 [[ 7.78440611e-01 6.27685244e-01 6.43805960e-03 1.51209886e+02] [-6.27666677e-01 7.78467185e-01 -4.83581766e-03 1.40999020e+02] [-8.04718952e-03 -2.76558618e-04 9.99967583e-01 -6.57323047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74 meters 0.021261763192792056 Centerline is valid? [True, True] Translation: X:151.23, Y:140.98, Z:-6.57 [[ 7.77890823e-01 6.28365158e-01 6.56476169e-03 1.51233849e+02] [-6.28345898e-01 7.77918468e-01 -4.92842533e-03 1.40983104e+02] [-8.20370012e-03 -2.91164245e-04 9.99966307e-01 -6.57309106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77 meters 0.020212062482561247 Centerline is valid? [True, True] Translation: X:151.26, Y:140.96, Z:-6.57 [[ 7.77510364e-01 6.28825366e-01 7.50280296e-03 1.51256035e+02] [-6.28800260e-01 7.77546489e-01 -5.62942821e-03 1.40964333e+02] [-9.37370536e-03 -3.40825671e-04 9.99956008e-01 -6.57298750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8 meters 0.022363350130224422 Centerline is valid? [True, True] Translation: X:151.28, Y:140.95, Z:-6.57 [[ 7.76958532e-01 6.29503120e-01 7.82703483e-03 1.51280220e+02] [-6.29475860e-01 7.76997869e-01 -5.86971687e-03 1.40951055e+02] [-9.77659446e-03 -3.66402882e-04 9.99952141e-01 -6.57299137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83 meters 0.02306286511134856 Centerline is valid? [True, True] Translation: X:151.30, Y:140.94, Z:-6.57 [[ 7.76683494e-01 6.29827076e-01 8.97802817e-03 1.51303652e+02] [-6.29791249e-01 7.76735265e-01 -6.73128380e-03 1.40935916e+02] [-1.12130959e-02 -4.26206561e-04 9.99937040e-01 -6.57254147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86 meters 0.02123080701377023 Centerline is valid? [True, True] Translation: X:151.33, Y:140.92, Z:-6.57 [[ 7.77087357e-01 6.29328836e-01 8.96968454e-03 1.51325074e+02] [-6.29293061e-01 7.77139009e-01 -6.72333297e-03 1.40916573e+02] [-1.12018791e-02 -4.19943190e-04 9.99937169e-01 -6.57263951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89 meters 0.020848429044835016 Centerline is valid? [True, True] Translation: X:151.35, Y:140.90, Z:-6.57 [[ 7.77570903e-01 6.28727097e-01 9.25896572e-03 1.51347644e+02] [-6.28688977e-01 7.77625909e-01 -6.93651298e-03 1.40899471e+02] [-1.15611853e-02 -4.27379023e-04 9.99933076e-01 -6.57304341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91999999999996 meters 0.02072187960222794 Centerline is valid? [True, True] Translation: X:151.37, Y:140.88, Z:-6.57 [[ 7.78188687e-01 6.27970004e-01 8.72017298e-03 1.51370532e+02] [-6.27936179e-01 7.78237444e-01 -6.52964565e-03 1.40882525e+02] [-1.08867867e-02 -3.94415725e-04 9.99940659e-01 -6.57334864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95 meters 0.02035247667944595 Centerline is valid? [True, True] Translation: X:151.39, Y:140.86, Z:-6.57 [[ 7.79008495e-01 6.26954263e-01 8.60906572e-03 1.51393526e+02] [-6.26921268e-01 7.79055973e-01 -6.44319155e-03 1.40864613e+02] [-1.07465305e-02 -3.77905444e-04 9.99942183e-01 -6.57414034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97999999999996 meters 0.02035247667944595 Centerline is valid? [True, True] Translation: X:151.42, Y:140.85, Z:-6.57 [[ 7.79187071e-01 6.26732292e-01 8.61062309e-03 1.51415470e+02] [-6.26699306e-01 7.79234555e-01 -6.44110972e-03 1.40848274e+02] [-1.07465465e-02 -3.77442106e-04 9.99942183e-01 -6.57437883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01 meters 0.01950470420548965 Centerline is valid? [True, True] Translation: X:151.44, Y:140.83, Z:-6.58 [[ 7.80249464e-01 6.25410746e-01 8.49547421e-03 1.51437499e+02] [-6.25378597e-01 7.80295631e-01 -6.35131919e-03 1.40830047e+02] [-1.06011647e-02 -3.57274349e-04 9.99943742e-01 -6.57539259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03999999999996 meters 0.019911385856028817 Centerline is valid? [True, True] Translation: X:151.46, Y:140.81, Z:-6.58 [[ 7.82817837e-01 6.22194618e-01 8.37204619e-03 1.51460236e+02] [-6.22163245e-01 7.82862542e-01 -6.25597737e-03 1.40813529e+02] [-1.04465968e-02 -3.11488751e-04 9.99945384e-01 -6.57677032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07 meters 0.01875594703623615 Centerline is valid? [True, True] Translation: X:151.48, Y:140.79, Z:-6.58 [[ 7.84200790e-01 6.20451628e-01 8.30048236e-03 1.51482024e+02] [-6.20420715e-01 7.84244665e-01 -6.20019152e-03 1.40794428e+02] [-1.03565279e-02 -2.87596113e-04 9.99946328e-01 -6.57767753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09999999999997 meters 0.01864774187808614 Centerline is valid? [True, True] Translation: X:151.50, Y:140.78, Z:-6.58 [[ 7.85590097e-01 6.18689169e-01 8.48009189e-03 1.51504484e+02] [-6.18656833e-01 7.85635818e-01 -6.33128437e-03 1.40777613e+02] [-1.05793610e-02 -2.72472490e-04 9.99944000e-01 -6.57818560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13 meters 0.017818356288868447 Centerline is valid? [True, True] Translation: X:151.53, Y:140.76, Z:-6.58 [[ 7.88159871e-01 6.15399399e-01 9.35936072e-03 1.51527009e+02] [-6.15359805e-01 7.88215399e-01 -6.98539731e-03 1.40759315e+02] [-1.16760015e-02 -2.53764544e-04 9.99931801e-01 -6.57825742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15999999999997 meters 0.01743940131935191 Centerline is valid? [True, True] Translation: X:151.55, Y:140.74, Z:-6.58 [[ 7.89422965e-01 6.13765367e-01 1.01713890e-02 1.51549580e+02] [-6.13718515e-01 7.89488449e-01 -7.58767753e-03 1.40741565e+02] [-1.26872478e-02 -2.52482866e-04 9.99919482e-01 -6.57841501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19 meters 0.0170998990076595 Centerline is valid? [True, True] Translation: X:151.57, Y:140.72, Z:-6.58 [[ 7.90927983e-01 6.11817594e-01 1.05904825e-02 1.51572006e+02] [-6.11766683e-01 7.90998848e-01 -7.89607543e-03 1.40724202e+02] [-1.32080173e-02 -2.33677332e-04 9.99912743e-01 -6.57877538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21999999999997 meters 0.01685382810527524 Centerline is valid? [True, True] Translation: X:151.59, Y:140.71, Z:-6.58 [[ 7.92498551e-01 6.09769342e-01 1.12869525e-02 1.51594916e+02] [-6.09711370e-01 7.92578893e-01 -8.41088080e-03 1.40706086e+02] [-1.40744976e-02 -2.16172438e-04 9.99900926e-01 -6.57922982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25 meters 0.01621479129281044 Centerline is valid? [True, True] Translation: X:151.62, Y:140.69, Z:-6.58 [[ 7.95951154e-01 6.05254263e-01 1.13594977e-02 1.51617246e+02] [-6.05195142e-01 7.96032197e-01 -8.46065214e-03 1.40687571e+02] [-1.41633717e-02 -1.40446988e-04 9.99899685e-01 -6.58062746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28 meters 0.016146637757343235 Centerline is valid? [True, True] Translation: X:151.64, Y:140.67, Z:-6.58 [[ 7.97699908e-01 6.02949378e-01 1.12651888e-02 1.51639109e+02] [-6.02891051e-01 7.97779442e-01 -8.38709494e-03 1.40670841e+02] [-1.40441297e-02 -1.01296633e-04 9.99901371e-01 -6.58119419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31 meters 0.01601336764083353 Centerline is valid? [True, True] Translation: X:151.66, Y:140.65, Z:-6.58 [[ 7.99478586e-01 6.00593200e-01 1.10362302e-02 1.51661563e+02] [-6.00537030e-01 7.99554754e-01 -8.21411648e-03 1.40653835e+02] [-1.37574128e-02 -6.06546745e-05 9.99905360e-01 -6.58204624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34 meters 0.015881248082763637 Centerline is valid? [True, True] Translation: X:151.68, Y:140.64, Z:-6.58 [[ 8.01148829e-01 5.98369580e-01 1.06957893e-02 1.51683601e+02] [-5.98316680e-01 8.01220223e-01 -7.95649452e-03 1.40637314e+02] [-1.33306069e-02 -2.51328472e-05 9.99911143e-01 -6.58249077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37 meters 0.016026030297182362 Centerline is valid? [True, True] Translation: X:151.70, Y:140.62, Z:-6.58 [[ 8.04704074e-01 5.93578340e-01 1.07753375e-02 1.51704990e+02] [-5.93524267e-01 8.04776212e-01 -8.01206369e-03 1.40619564e+02] [-1.34275227e-02 5.19160163e-05 9.99909845e-01 -6.58252990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4 meters 0.01614902452273664 Centerline is valid? [True, True] Translation: X:151.73, Y:140.60, Z:-6.58 [[ 8.06493355e-01 5.91142292e-01 1.09205859e-02 1.51727249e+02] [-5.91086562e-01 8.06567283e-01 -8.11755852e-03 1.40601949e+02] [-1.36068194e-02 9.17454640e-05 9.99907419e-01 -6.58293280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43 meters 0.01639968400676993 Centerline is valid? [True, True] Translation: X:151.75, Y:140.58, Z:-6.58 [[ 8.08237627e-01 5.88757040e-01 1.08206019e-02 1.51748339e+02] [-5.88702155e-01 8.08310046e-01 -8.04001453e-03 1.40584437e+02] [-1.34800164e-02 1.28130612e-04 9.99909132e-01 -6.58270769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46 meters 0.01689933482846276 Centerline is valid? [True, True] Translation: X:151.77, Y:140.56, Z:-6.59 [[ 8.10560729e-01 5.85580027e-01 9.34545628e-03 1.51768351e+02] [-5.85538888e-01 8.10614587e-01 -6.94278196e-03 1.40563898e+02] [-1.16411176e-02 1.55418318e-04 9.99932228e-01 -6.58647287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49 meters 0.01717878635446287 Centerline is valid? [True, True] Translation: X:151.79, Y:140.55, Z:-6.59 [[ 8.11156365e-01 5.84763710e-01 8.76096494e-03 1.51789382e+02] [-5.84727521e-01 8.11203661e-01 -6.50741395e-03 1.40546344e+02] [-1.09122264e-02 1.55752940e-04 9.99940448e-01 -6.58753896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52 meters 0.017297483970116507 Centerline is valid? [True, True] Translation: X:151.81, Y:140.53, Z:-6.59 [[ 8.11930894e-01 5.83689399e-01 8.65498550e-03 1.51811707e+02] [-5.83654037e-01 8.11977005e-01 -6.42711487e-03 1.40528380e+02] [-1.07790880e-02 1.66855899e-04 9.99941890e-01 -6.58767793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55 meters 0.017138550463653982 Centerline is valid? [True, True] Translation: X:151.83, Y:140.51, Z:-6.59 [[ 8.12330222e-01 5.83128067e-01 9.01484085e-03 1.51834393e+02] [-5.83089710e-01 8.12380222e-01 -6.69069191e-03 1.40511659e+02] [-1.12250087e-02 1.78590314e-04 9.99936982e-01 -6.58746711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58 meters 0.017203986327226438 Centerline is valid? [True, True] Translation: X:151.86, Y:140.49, Z:-6.59 [[ 8.13068022e-01 5.82083926e-01 9.93452607e-03 1.51857091e+02] [-5.82037320e-01 8.13128686e-01 -7.36874446e-03 1.40493907e+02] [-1.23672758e-02 2.09025553e-04 9.99923500e-01 -6.58643926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61 meters 0.01716800010568079 Centerline is valid? [True, True] Translation: X:151.88, Y:140.48, Z:-6.59 [[ 8.13350806e-01 5.81681739e-01 1.03354490e-02 1.51879648e+02] [-5.81631318e-01 8.13416441e-01 -7.66184935e-03 1.40477079e+02] [-1.28637820e-02 2.20350504e-04 9.99917234e-01 -6.58603030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64 meters 0.01749856355614936 Centerline is valid? [True, True] Translation: X:151.90, Y:140.46, Z:-6.59 [[ 8.13441203e-01 5.81552448e-01 1.04956610e-02 1.51900400e+02] [-5.81500490e-01 8.13508882e-01 -7.77683328e-03 1.40459558e+02] [-1.30609498e-02 2.22764626e-04 9.99914677e-01 -6.58649400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66999999999996 meters 0.0170590239283221 Centerline is valid? [True, True] Translation: X:151.92, Y:140.44, Z:-6.59 [[ 8.13515059e-01 5.81453761e-01 1.02359011e-02 1.51923532e+02] [-5.81404370e-01 8.13579423e-01 -7.58162052e-03 1.40443649e+02] [-1.27360802e-02 2.16564843e-04 9.99918869e-01 -6.58784850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7 meters 0.017438429866567913 Centerline is valid? [True, True] Translation: X:151.94, Y:140.43, Z:-6.59 [[ 8.14097056e-01 5.80640728e-01 1.01157272e-02 1.51944458e+02] [-5.80592472e-01 8.14159870e-01 -7.48911885e-03 1.40425682e+02] [-1.25843066e-02 2.23754523e-04 9.99920789e-01 -6.58971938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72999999999996 meters 0.01776098304599718 Centerline is valid? [True, True] Translation: X:151.97, Y:140.41, Z:-6.59 [[ 8.14976625e-01 5.79405285e-01 1.01299451e-02 1.51966517e+02] [-5.79356825e-01 8.15039543e-01 -7.49748163e-03 1.40407725e+02] [-1.26003863e-02 2.41419417e-04 9.99920583e-01 -6.59028424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76 meters 0.018199678417937827 Centerline is valid? [True, True] Translation: X:151.99, Y:140.39, Z:-6.59 [[ 8.16289753e-01 5.77560322e-01 9.75262599e-03 1.51988775e+02] [-5.77515317e-01 8.16347970e-01 -7.21460111e-03 1.40389504e+02] [-1.21284038e-02 2.56914065e-04 9.99926415e-01 -6.59039756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78999999999996 meters 0.01890102314840314 Centerline is valid? [True, True] Translation: X:152.01, Y:140.37, Z:-6.59 [[ 8.17777325e-01 5.75457462e-01 9.43166629e-03 1.52011158e+02] [-5.75415271e-01 8.17831666e-01 -6.97368959e-03 1.40371324e+02] [-1.17265771e-02 2.75800404e-04 9.99931203e-01 -6.59057354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82 meters 0.01954431755806007 Centerline is valid? [True, True] Translation: X:152.03, Y:140.35, Z:-6.59 [[ 8.19116567e-01 5.73554680e-01 9.11473229e-03 1.52033530e+02] [-5.73515197e-01 8.19167227e-01 -6.73601392e-03 1.40352916e+02] [-1.13299623e-02 2.90143115e-04 9.99935772e-01 -6.59057307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84999999999997 meters 0.02127570676275646 Centerline is valid? [True, True] Translation: X:152.05, Y:140.33, Z:-6.59 [[ 8.21208309e-01 5.70551789e-01 9.35782981e-03 1.52054957e+02] [-5.70510012e-01 8.21261555e-01 -6.91267681e-03 1.40333321e+02] [-1.16292660e-02 3.38012039e-04 9.99932321e-01 -6.59069293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88 meters 0.021766002176120895 Centerline is valid? [True, True] Translation: X:152.08, Y:140.31, Z:-6.59 [[ 8.21884573e-01 5.69571238e-01 9.71358422e-03 1.52076882e+02] [-5.69526178e-01 8.21941891e-01 -7.17352926e-03 1.40314959e+02] [-1.20698377e-02 3.63672532e-04 9.99927091e-01 -6.59141725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90999999999997 meters 0.02210185857448609 Centerline is valid? [True, True] Translation: X:152.10, Y:140.30, Z:-6.59 [[ 8.22200880e-01 5.69111300e-01 9.90162148e-03 1.52099529e+02] [-5.69064490e-01 8.22260414e-01 -7.30871884e-03 1.40296682e+02] [-1.23011859e-02 3.74573876e-04 9.99924267e-01 -6.59196305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94 meters 0.022594354371028403 Centerline is valid? [True, True] Translation: X:152.12, Y:140.28, Z:-6.59 [[ 8.22449527e-01 5.68725007e-01 1.13420812e-02 1.52120913e+02] [-5.68663603e-01 8.22527617e-01 -8.36821180e-03 1.40279558e+02] [-1.40883863e-02 4.32603090e-04 9.99900660e-01 -6.59137404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96999999999997 meters 0.022938839716806665 Centerline is valid? [True, True] Translation: X:152.14, Y:140.26, Z:-6.59 [[ 8.22674081e-01 5.68386652e-01 1.19987229e-02 1.52143958e+02] [-5.68317945e-01 8.22761448e-01 -8.84945504e-03 1.40262283e+02] [-1.49019988e-02 4.61127737e-04 9.99888853e-01 -6.59048698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0 meters 0.023345581210992603 Centerline is valid? [True, True] Translation: X:152.17, Y:140.25, Z:-6.59 [[ 8.22735282e-01 5.68287697e-01 1.24799674e-02 1.52166099e+02] [-5.68213407e-01 8.22829790e-01 -9.20107938e-03 1.40245207e+02] [-1.54977491e-02 4.78767860e-04 9.99879788e-01 -6.59057014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03 meters 0.020364989791889308 Centerline is valid? [True, True] Translation: X:152.19, Y:140.23, Z:-6.59 [[ 8.22751353e-01 5.68260199e-01 1.26711077e-02 1.52192033e+02] [-5.68183666e-01 8.22848779e-01 -9.33857097e-03 1.40232909e+02] [-1.57331437e-02 4.83805473e-04 9.99876109e-01 -6.59239954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06 meters 0.020619880208531116 Centerline is valid? [True, True] Translation: X:152.21, Y:140.22, Z:-6.59 [[ 8.22620202e-01 5.68454677e-01 1.24612993e-02 1.52214941e+02] [-5.68380760e-01 8.22714447e-01 -9.17877540e-03 1.40216328e+02] [-1.54698088e-02 4.67883306e-04 9.99880226e-01 -6.59377849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09 meters 0.023564173350162997 Centerline is valid? [True, True] Translation: X:152.23, Y:140.20, Z:-6.59 [[ 8.22335461e-01 5.68876287e-01 1.20066042e-02 1.52234193e+02] [-5.68807761e-01 8.22422991e-01 -8.84056913e-03 1.40195283e+02] [-1.49036975e-02 4.40463856e-04 9.99888837e-01 -6.59389432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12 meters 0.023748964425263676 Centerline is valid? [True, True] Translation: X:152.26, Y:140.18, Z:-6.59 [[ 8.22199422e-01 5.69084531e-01 1.14414758e-02 1.52256978e+02] [-5.69022345e-01 8.22278921e-01 -8.42299988e-03 1.40178820e+02] [-1.42014833e-02 4.14930232e-04 9.99899068e-01 -6.59494632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15 meters 0.023476772625113766 Centerline is valid? [True, True] Translation: X:152.28, Y:140.16, Z:-6.60 [[ 8.21893329e-01 5.69532109e-01 1.11594612e-02 1.52280745e+02] [-5.69473023e-01 8.21968990e-01 -8.21311092e-03 1.40162152e+02] [-1.38503614e-02 3.95288980e-04 9.99904001e-01 -6.59560301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18 meters 0.020427102831518384 Centerline is valid? [True, True] Translation: X:152.31, Y:140.15, Z:-6.60 [[ 8.22280085e-01 5.68977560e-01 1.09543595e-02 1.52307122e+02] [-5.68920629e-01 8.22352954e-01 -8.05829321e-03 1.40150216e+02] [-1.35933379e-02 3.94012934e-04 9.99907529e-01 -6.59724146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21 meters 0.02151779438237251 Centerline is valid? [True, True] Translation: X:152.33, Y:140.13, Z:-6.60 [[ 8.22708954e-01 5.68358226e-01 1.09043184e-02 1.52328604e+02] [-5.68301803e-01 8.22781118e-01 -8.01830504e-03 1.40132490e+02] [-1.35291369e-02 3.99787553e-04 9.99908397e-01 -6.59752221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24 meters 0.020935273894049537 Centerline is valid? [True, True] Translation: X:152.35, Y:140.12, Z:-6.60 [[ 8.23359197e-01 5.67405157e-01 1.14464017e-02 1.52352727e+02] [-5.67342931e-01 8.23438643e-01 -8.41422233e-03 1.40116202e+02] [-1.41996826e-02 4.33892274e-04 9.99899085e-01 -6.59797715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27 meters 0.02159795261877069 Centerline is valid? [True, True] Translation: X:152.37, Y:140.10, Z:-6.60 [[ 8.24186576e-01 5.66193416e-01 1.18955575e-02 1.52374425e+02] [-5.66126140e-01 8.24272282e-01 -8.74061850e-03 1.40098472e+02] [-1.47540590e-02 4.69514400e-04 9.99891043e-01 -6.59773542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3 meters 0.021858052491312566 Centerline is valid? [True, True] Translation: X:152.40, Y:140.08, Z:-6.60 [[ 8.25862175e-01 5.63726833e-01 1.27955319e-02 1.52397919e+02] [-5.63648752e-01 8.25961110e-01 -9.39837007e-03 1.40080922e+02] [-1.58667252e-02 5.49572739e-04 9.99873965e-01 -6.59748047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33 meters 0.02501459399894499 Centerline is valid? [True, True] Translation: X:152.42, Y:140.06, Z:-6.60 [[ 8.26670146e-01 5.62526813e-01 1.34184412e-02 1.52417057e+02] [-5.62440853e-01 8.26778827e-01 -9.85181863e-03 1.40060808e+02] [-1.66359952e-02 5.97124809e-04 9.99861434e-01 -6.59621886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36 meters 0.022473596724792263 Centerline is valid? [True, True] Translation: X:152.44, Y:140.05, Z:-6.60 [[ 8.27209518e-01 5.61733811e-01 1.33992282e-02 1.52442208e+02] [-5.61648036e-01 8.27317807e-01 -9.83515844e-03 1.40047270e+02] [-1.66101611e-02 6.10086493e-04 9.99861856e-01 -6.59728692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39 meters 0.02218132277339209 Centerline is valid? [True, True] Translation: X:152.47, Y:140.03, Z:-6.60 [[ 8.26954936e-01 5.62109553e-01 1.33560743e-02 1.52466148e+02] [-5.62024435e-01 8.27062569e-01 -9.80008241e-03 1.40030950e+02] [-1.65550291e-02 5.97786386e-04 9.99862777e-01 -6.59841119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41999999999996 meters 0.02237109475135356 Centerline is valid? [True, True] Translation: X:152.49, Y:140.01, Z:-6.60 [[ 8.26774345e-01 5.62370042e-01 1.35690182e-02 1.52488732e+02] [-5.62282291e-01 8.26885468e-01 -9.95225390e-03 1.40014139e+02] [-1.68168734e-02 5.98649535e-04 9.99858407e-01 -6.59857682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45 meters 0.022236147276155 Centerline is valid? [True, True] Translation: X:152.51, Y:140.00, Z:-6.60 [[ 8.26486696e-01 5.62788507e-01 1.37418527e-02 1.52512120e+02] [-5.62698632e-01 8.26600716e-01 -1.00750153e-02 1.39997670e+02] [-1.70291281e-02 5.94344389e-04 9.99854817e-01 -6.59868955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47999999999996 meters 0.020997173908306688 Centerline is valid? [True, True] Translation: X:152.54, Y:139.98, Z:-6.60 [[ 8.26452657e-01 5.62831397e-01 1.40293895e-02 1.52535652e+02] [-5.62737830e-01 8.26571507e-01 -1.02799702e-02 1.39983414e+02] [-1.73821836e-02 6.01040510e-04 9.99848738e-01 -6.59934031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51 meters 0.021053612260462033 Centerline is valid? [True, True] Translation: X:152.56, Y:139.97, Z:-6.60 [[ 8.26096278e-01 5.63356518e-01 1.39418205e-02 1.52558125e+02] [-5.63264260e-01 8.26213710e-01 -1.02117293e-02 1.39967398e+02] [-1.72717675e-02 5.82942320e-04 9.99850662e-01 -6.59969091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53999999999996 meters 0.02183945686529405 Centerline is valid? [True, True] Translation: X:152.58, Y:139.95, Z:-6.60 [[ 8.26055979e-01 5.63414918e-01 1.39696173e-02 1.52579723e+02] [-5.63322336e-01 8.26173887e-01 -1.02300239e-02 1.39949720e+02] [-1.73050811e-02 5.81174985e-04 9.99850087e-01 -6.59926354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57 meters 0.021217133637908937 Centerline is valid? [True, True] Translation: X:152.60, Y:139.93, Z:-6.60 [[ 8.25945669e-01 5.63575318e-01 1.40218536e-02 1.52604008e+02] [-5.63482131e-01 8.26064482e-01 -1.02644752e-02 1.39933981e+02] [-1.73677601e-02 5.76834945e-04 9.99849003e-01 -6.59946284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59999999999997 meters 0.02160999558586051 Centerline is valid? [True, True] Translation: X:152.63, Y:139.92, Z:-6.60 [[ 8.25385323e-01 5.64400755e-01 1.38150853e-02 1.52626309e+02] [-5.64310473e-01 8.25500749e-01 -1.01095344e-02 1.39917606e+02] [-1.71101922e-02 5.48263968e-04 9.99853460e-01 -6.59952278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63 meters 0.021081322929759616 Centerline is valid? [True, True] Translation: X:152.65, Y:139.90, Z:-6.60 [[ 8.24956752e-01 5.65032474e-01 1.35889950e-02 1.52650074e+02] [-5.64945266e-01 8.25068500e-01 -9.94066320e-03 1.39902055e+02] [-1.68286492e-02 5.23578859e-04 9.99858251e-01 -6.59982951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65999999999997 meters 0.019868845948819918 Centerline is valid? [True, True] Translation: X:152.67, Y:139.89, Z:-6.60 [[ 8.23691380e-01 5.66870198e-01 1.38090295e-02 1.52674784e+02] [-5.66780491e-01 8.23806979e-01 -1.00963289e-02 1.39887469e+02] [-1.70992829e-02 4.89570592e-04 9.99853677e-01 -6.60040699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69 meters 0.019576969198163537 Centerline is valid? [True, True] Translation: X:152.70, Y:139.87, Z:-6.60 [[ 8.23402476e-01 5.67292185e-01 1.37091087e-02 1.52698361e+02] [-5.67203920e-01 8.23516456e-01 -1.00180098e-02 1.39871401e+02] [-1.69728153e-02 4.72993907e-04 9.99855840e-01 -6.60136854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71999999999997 meters 0.0208470227399172 Centerline is valid? [True, True] Translation: X:152.72, Y:139.85, Z:-6.60 [[ 8.23180728e-01 5.67617375e-01 1.35648127e-02 1.52719051e+02] [-5.67531063e-01 8.23292357e-01 -9.90897574e-03 1.39852922e+02] [-1.67923134e-02 4.58425324e-04 9.99858894e-01 -6.60113448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75 meters 0.019309843132754204 Centerline is valid? [True, True] Translation: X:152.74, Y:139.84, Z:-6.60 [[ 8.23282722e-01 5.67482876e-01 1.29902134e-02 1.52743332e+02] [-5.67403763e-01 8.23385082e-01 -9.48563373e-03 1.39838551e+02] [-1.60788827e-02 4.38662381e-04 9.99870630e-01 -6.60241397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78 meters 0.020474612497296988 Centerline is valid? [True, True] Translation: X:152.76, Y:139.82, Z:-6.60 [[ 8.24181352e-01 5.66190931e-01 1.23664279e-02 1.52764210e+02] [-5.66119145e-01 8.24274006e-01 -9.02640584e-03 1.39820304e+02] [-1.53039942e-02 4.38523763e-04 9.99882791e-01 -6.60139439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81 meters 0.022684312057344978 Centerline is valid? [True, True] Translation: X:152.78, Y:139.80, Z:-6.60 [[ 8.24937712e-01 5.65100444e-01 1.18008585e-02 1.52783680e+02] [-5.65034986e-01 8.25021998e-01 -8.61201929e-03 1.39800552e+02] [-1.46026238e-02 4.36481558e-04 9.99893281e-01 -6.60024335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84 meters 0.021303663395846544 Centerline is valid? [True, True] Translation: X:152.81, Y:139.79, Z:-6.60 [[ 8.26213308e-01 5.63255372e-01 1.07217275e-02 1.52807809e+02] [-5.63201201e-01 8.26282764e-01 -7.82312589e-03 1.39785648e+02] [-1.32655963e-02 4.25080944e-04 9.99911918e-01 -6.60033637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87 meters 0.02123245375892485 Centerline is valid? [True, True] Translation: X:152.83, Y:139.77, Z:-6.60 [[ 8.26923194e-01 5.62223033e-01 1.01633067e-02 1.52830800e+02] [-5.62174307e-01 8.26985543e-01 -7.41354735e-03 1.39769007e+02] [-1.25729748e-02 4.16884339e-04 9.99920870e-01 -6.60038792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9 meters 0.02123245375892485 Centerline is valid? [True, True] Translation: X:152.85, Y:139.75, Z:-6.60 [[ 8.27085224e-01 5.61984608e-01 1.01652574e-02 1.52852951e+02] [-5.61935898e-01 8.27147584e-01 -7.41087189e-03 1.39752941e+02] [-1.25729640e-02 4.17199598e-04 9.99920870e-01 -6.60062647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93 meters 0.021661569746705918 Centerline is valid? [True, True] Translation: X:152.88, Y:139.74, Z:-6.60 [[ 8.27690981e-01 5.61093354e-01 1.00939681e-02 1.52875605e+02] [-5.61045311e-01 8.27752420e-01 -7.35464156e-03 1.39735366e+02] [-1.24819470e-02 4.24197025e-04 9.99922008e-01 -6.60045454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96 meters 0.022152825216400236 Centerline is valid? [True, True] Translation: X:152.90, Y:139.72, Z:-6.60 [[ 8.27995919e-01 5.60644917e-01 1.00017719e-02 1.52897256e+02] [-5.60597753e-01 8.28056216e-01 -7.28438858e-03 1.39718537e+02] [-1.23659848e-02 4.24473172e-04 9.99923448e-01 -6.59991834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99 meters 0.02224840949089399 Centerline is valid? [True, True] Translation: X:152.92, Y:139.70, Z:-6.60 [[ 8.28242998e-01 5.60274293e-01 1.03079577e-02 1.52919771e+02] [-5.60224199e-01 8.28307022e-01 -7.50497335e-03 1.39701991e+02] [-1.27429974e-02 4.41174259e-04 9.99918707e-01 -6.59927086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02 meters 0.02266580477007423 Centerline is valid? [True, True] Translation: X:152.94, Y:139.69, Z:-6.60 [[ 8.28753352e-01 5.59508462e-01 1.08702776e-02 1.52942542e+02] [-5.59452751e-01 8.28824503e-01 -7.90971600e-03 1.39685214e+02] [-1.34351055e-02 4.73796948e-04 9.99909633e-01 -6.59789181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05 meters 0.023412893316773885 Centerline is valid? [True, True] Translation: X:152.97, Y:139.67, Z:-6.60 [[ 8.29192814e-01 5.58854077e-01 1.10180652e-02 1.52965144e+02] [-5.58796826e-01 8.29265869e-01 -8.01403232e-03 1.39668335e+02] [-1.36155801e-02 4.88318126e-04 9.99907184e-01 -6.59586786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08 meters 0.02394820382778365 Centerline is valid? [True, True] Translation: X:152.99, Y:139.65, Z:-6.60 [[ 8.29675001e-01 5.58141007e-01 1.08632584e-02 1.52988016e+02] [-5.58085324e-01 8.29745971e-01 -7.89908630e-03 1.39650753e+02] [-1.34225489e-02 4.91049360e-04 9.99909793e-01 -6.59630668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11 meters 0.024504393601636806 Centerline is valid? [True, True] Translation: X:153.01, Y:139.63, Z:-6.60 [[ 8.30303309e-01 5.57221582e-01 1.00261887e-02 1.53010747e+02] [-5.57174126e-01 8.30363712e-01 -7.28691800e-03 1.39633229e+02] [-1.23858112e-02 4.64019225e-04 9.99923185e-01 -6.59681458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14 meters 0.024712909590949534 Centerline is valid? [True, True] Translation: X:153.03, Y:139.62, Z:-6.60 [[ 8.30787837e-01 5.56510031e-01 9.38904437e-03 1.53033929e+02] [-5.56468409e-01 8.30840773e-01 -6.82056087e-03 1.39615615e+02] [-1.15965114e-02 4.41732434e-04 9.99932661e-01 -6.59763266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16999999999996 meters 0.02563284083720399 Centerline is valid? [True, True] Translation: X:153.06, Y:139.60, Z:-6.60 [[ 8.31210283e-01 5.55893527e-01 8.47654004e-03 1.53055374e+02] [-5.55859596e-01 8.31253405e-01 -6.15516400e-03 1.39598479e+02] [-1.04677686e-02 4.04469487e-04 9.99945130e-01 -6.59883109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2 meters 0.02654751206577156 Centerline is valid? [True, True] Translation: X:153.08, Y:139.58, Z:-6.60 [[ 8.31844967e-01 5.54961787e-01 7.16700719e-03 1.53076985e+02] [-5.54937503e-01 8.31875767e-01 -5.20346816e-03 1.39581456e+02] [-8.84978559e-03 3.51237721e-04 9.99960778e-01 -6.59976353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22999999999996 meters 0.02682130537539197 Centerline is valid? [True, True] Translation: X:153.10, Y:139.57, Z:-6.60 [[ 8.32062379e-01 5.54649230e-01 6.03562298e-03 1.53099777e+02] [-5.54632003e-01 8.32084216e-01 -4.38168957e-03 1.39565653e+02] [-7.45244736e-03 2.98289387e-04 9.99972186e-01 -6.60045324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26 meters 0.02703949430793033 Centerline is valid? [True, True] Translation: X:153.12, Y:139.55, Z:-6.60 [[ 8.32199254e-01 5.54451938e-01 5.23928923e-03 1.53122048e+02] [-5.54438964e-01 8.32215706e-01 -3.80181030e-03 1.39549544e+02] [-6.46813987e-03 2.58997597e-04 9.99979048e-01 -6.60119939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28999999999996 meters 0.025021732688559156 Centerline is valid? [True, True] Translation: X:153.15, Y:139.54, Z:-6.60 [[ 8.32494118e-01 5.54018236e-01 4.16391250e-03 1.53147775e+02] [-5.54010042e-01 8.32504505e-01 -3.02027505e-03 1.39536033e+02] [-5.13976337e-03 2.07511874e-04 9.99986770e-01 -6.60135735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32 meters 0.027504858412003435 Centerline is valid? [True, True] Translation: X:153.17, Y:139.52, Z:-6.60 [[ 8.32184897e-01 5.54489905e-01 3.04005748e-03 1.53168823e+02] [-5.54485546e-01 8.32190437e-01 -2.20370534e-03 1.39517822e+02] [-3.75183913e-03 1.48222371e-04 9.99992951e-01 -6.60181291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34999999999997 meters 0.024623045463147447 Centerline is valid? [True, True] Translation: X:153.20, Y:139.51, Z:-6.60 [[ 8.32448460e-01 5.54095094e-01 2.86140395e-03 1.53195562e+02] [-5.54091227e-01 8.32453366e-01 -2.07488017e-03 1.39505265e+02] [-3.53166627e-03 1.41751978e-04 9.99993754e-01 -6.60230013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38 meters 0.02488425700751397 Centerline is valid? [True, True] Translation: X:153.22, Y:139.49, Z:-6.60 [[ 8.33337099e-01 5.52759126e-01 2.57458355e-03 1.53219189e+02] [-5.52755991e-01 8.33341066e-01 -1.86621836e-03 1.39488957e+02] [-3.17707543e-03 1.32072512e-04 9.99994944e-01 -6.60282895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40999999999997 meters 0.025784635049010806 Centerline is valid? [True, True] Translation: X:153.24, Y:139.47, Z:-6.60 [[ 8.33644919e-01 5.52294235e-01 2.68838546e-03 1.53241002e+02] [-5.52290821e-01 8.33649242e-01 -1.94681921e-03 1.39472298e+02] [-3.31638753e-03 1.38185334e-04 9.99994491e-01 -6.60376601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44 meters 0.02659415261190761 Centerline is valid? [True, True] Translation: X:153.26, Y:139.46, Z:-6.60 [[ 8.34344974e-01 5.51237933e-01 2.28149494e-03 1.53263890e+02] [-5.51235469e-01 8.34348085e-01 -1.65271974e-03 1.39455300e+02] [-2.81460274e-03 1.21297479e-04 9.99996032e-01 -6.60476747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46999999999997 meters 0.025561064810067636 Centerline is valid? [True, True] Translation: X:153.29, Y:139.44, Z:-6.61 [[ 8.35259382e-01 5.49851944e-01 2.14591950e-03 1.53288440e+02] [-5.49849761e-01 8.35262130e-01 -1.55394148e-03 1.39439906e+02] [-2.64684304e-03 1.18010879e-04 9.99996490e-01 -6.60506529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5 meters 0.03332816313156518 Centerline is valid? [True, True] Translation: X:153.30, Y:139.42, Z:-6.61 [[ 8.35631535e-01 5.49286669e-01 2.02314311e-03 1.53304748e+02] [-5.49284731e-01 8.35633977e-01 -1.46351802e-03 1.39415182e+02] [-2.49449806e-03 1.11680194e-04 9.99996883e-01 -6.60687012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53 meters 0.02705530904809525 Centerline is valid? [True, True] Translation: X:153.34, Y:139.41, Z:-6.60 [[ 8.36891730e-01 5.47360197e-01 3.00795379e-03 1.53335232e+02] [-5.47355902e-01 8.36897117e-01 -2.17533516e-03 1.39408241e+02] [-3.70803974e-03 1.74098750e-04 9.99993110e-01 -6.60363093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56 meters 0.026624091783156056 Centerline is valid? [True, True] Translation: X:153.36, Y:139.39, Z:-6.60 [[ 8.36994927e-01 5.47200112e-01 3.39542081e-03 1.53359096e+02] [-5.47194644e-01 8.37001791e-01 -2.45413014e-03 1.39394361e+02] [-4.18487359e-03 1.96138396e-04 9.99991224e-01 -6.60332441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59 meters 0.02699378442794526 Centerline is valid? [True, True] Translation: X:153.38, Y:139.38, Z:-6.60 [[ 8.37067862e-01 5.47082636e-01 4.24071261e-03 1.53381585e+02] [-5.47074120e-01 8.37078569e-01 -3.06206019e-03 1.39379793e+02] [-5.22500960e-03 2.43168060e-04 9.99986320e-01 -6.60333802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62 meters 0.026284133406412908 Centerline is valid? [True, True] Translation: X:153.41, Y:139.37, Z:-6.61 [[ 8.35653176e-01 5.49242628e-01 4.03796204e-03 1.53409662e+02] [-5.49234941e-01 8.35662903e-01 -2.91397782e-03 1.39369363e+02] [-4.97485592e-03 2.17284979e-04 9.99987602e-01 -6.60520602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65 meters 0.02810373247889771 Centerline is valid? [True, True] Translation: X:153.43, Y:139.35, Z:-6.61 [[ 8.35903779e-01 5.48853224e-01 5.00113726e-03 1.53430764e+02] [-5.48841429e-01 8.35918695e-01 -3.60839950e-03 1.39351657e+02] [-6.16102583e-03 2.71443453e-04 9.99980984e-01 -6.60624743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68 meters 0.027480657773489882 Centerline is valid? [True, True] Translation: X:153.46, Y:139.34, Z:-6.61 [[ 8.36162870e-01 5.48451130e-01 5.74566322e-03 1.53455898e+02] [-5.48435557e-01 8.36182552e-01 -4.14497439e-03 1.39336898e+02] [-7.07773922e-03 3.14747675e-04 9.99974903e-01 -6.60735213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71 meters 0.031655168947815 Centerline is valid? [True, True] Translation: X:153.48, Y:139.32, Z:-6.61 [[ 8.37426105e-01 5.46510438e-01 6.62266992e-03 1.53477543e+02] [-5.46489709e-01 8.37452206e-01 -4.77495050e-03 1.39318817e+02] [-8.15572982e-03 3.79447242e-04 9.99966670e-01 -6.60907700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74 meters 0.03314980574489656 Centerline is valid? [True, True] Translation: X:153.50, Y:139.30, Z:-6.61 [[ 8.38070624e-01 5.45517444e-01 6.95322219e-03 1.53501209e+02] [-5.45494583e-01 8.38099369e-01 -5.01069881e-03 1.39303052e+02] [-8.56091474e-03 4.06374435e-04 9.99963272e-01 -6.61023222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77 meters 0.03522923035021863 Centerline is valid? [True, True] Translation: X:153.52, Y:139.29, Z:-6.61 [[ 8.38337537e-01 5.45104779e-01 7.13823019e-03 1.53523827e+02] [-5.45080694e-01 8.38367821e-01 -5.14127924e-03 1.39287372e+02] [-8.78699838e-03 4.19215905e-04 9.99961306e-01 -6.61176693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8 meters 0.03840001207513422 Centerline is valid? [True, True] Translation: X:153.55, Y:139.27, Z:-6.61 [[ 8.39576903e-01 5.43173718e-01 8.54024364e-03 1.53546716e+02] [-5.43139156e-01 8.39620174e-01 -6.14983730e-03 1.39269427e+02] [-1.05109908e-02 5.24720631e-04 9.99944620e-01 -6.61262530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83 meters 0.04273222588735235 Centerline is valid? [True, True] Translation: X:153.57, Y:139.25, Z:-6.61 [[ 8.41375335e-01 5.40341596e-01 1.08860334e-02 1.53571750e+02] [-5.40285223e-01 8.41445454e-01 -7.83742670e-03 1.39253230e+02] [-1.33948910e-02 7.12654520e-04 9.99910030e-01 -6.61303187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86 meters 0.04693148104680018 Centerline is valid? [True, True] Translation: X:153.59, Y:139.24, Z:-6.61 [[ 8.42142332e-01 5.39110579e-01 1.24930570e-02 1.53593640e+02] [-5.39036238e-01 8.42234576e-01 -8.99179697e-03 1.39235328e+02] [-1.53696574e-02 8.38162420e-04 9.99881529e-01 -6.61284029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89 meters 0.049552642909708455 Centerline is valid? [True, True] Translation: X:153.62, Y:139.22, Z:-6.61 [[ 8.42784254e-01 5.38067420e-01 1.40766684e-02 1.53617689e+02] [-5.37972956e-01 8.42901255e-01 -1.01278808e-02 1.39219661e+02] [-1.73147241e-02 9.62751545e-04 9.99849625e-01 -6.61250705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91999999999996 meters 0.05488830829138427 Centerline is valid? [True, True] Translation: X:153.64, Y:139.20, Z:-6.61 [[ 8.43165012e-01 5.37386804e-01 1.69760146e-02 1.53642106e+02] [-5.37249418e-01 8.43335075e-01 -1.22071581e-02 1.39204364e+02] [-2.08764343e-02 1.17229464e-03 9.99781376e-01 -6.61220282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95 meters 0.054831800649464066 Centerline is valid? [True, True] Translation: X:153.67, Y:139.19, Z:-6.61 [[ 8.43201382e-01 5.37225998e-01 1.99913876e-02 1.53670118e+02] [-5.37035535e-01 8.43437205e-01 -1.43706562e-02 1.39194765e+02] [-2.45817702e-02 1.38127160e-03 9.99696868e-01 -6.61156927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97999999999996 meters 0.058878843681005585 Centerline is valid? [True, True] Translation: X:153.69, Y:139.18, Z:-6.61 [[ 8.42720786e-01 5.37858137e-01 2.30282886e-02 1.53693485e+02] [-5.37605729e-01 8.43033907e-01 -1.65502519e-02 1.39179457e+02] [-2.83153157e-02 1.56710138e-03 9.99597813e-01 -6.60882151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01 meters 0.061331695255474605 Centerline is valid? [True, True] Translation: X:153.72, Y:139.17, Z:-6.61 [[ 8.41599393e-01 5.39477601e-01 2.59688267e-02 1.53717928e+02] [-5.39157483e-01 8.41998229e-01 -1.86598536e-02 1.39166073e+02] [-3.19322792e-02 1.70283419e-03 9.99488584e-01 -6.60598260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03999999999996 meters 0.06425270277305323 Centerline is valid? [True, True] Translation: X:153.75, Y:139.16, Z:-6.60 [[ 8.37261990e-01 5.45755156e-01 3.38181952e-02 1.53750129e+02] [-5.45217500e-01 8.37942536e-01 -2.42937208e-02 1.39160929e+02] [-4.15961276e-02 1.90193718e-03 9.99132696e-01 -6.60273865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07 meters 0.06677112617501366 Centerline is valid? [True, True] Translation: X:153.77, Y:139.15, Z:-6.60 [[ 8.36072848e-01 5.47345452e-01 3.73516924e-02 1.53774073e+02] [-5.46691344e-01 8.36904368e-01 -2.68263610e-02 1.39146786e+02] [-4.59430812e-02 2.00894507e-03 9.98942039e-01 -6.60073485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09999999999997 meters 0.0665197097915223 Centerline is valid? [True, True] Translation: X:153.80, Y:139.14, Z:-6.61 [[ 8.33868654e-01 5.50696927e-01 3.73625863e-02 1.53802511e+02] [-5.50046355e-01 8.34703302e-01 -2.68217405e-02 1.39136854e+02] [-4.59573242e-02 1.81465427e-03 9.98941756e-01 -6.60546799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13 meters 0.06886645292366315 Centerline is valid? [True, True] Translation: X:153.82, Y:139.12, Z:-6.61 [[ 8.33336648e-01 5.51411276e-01 3.86734591e-02 1.53824808e+02] [-5.50715339e-01 8.34231533e-01 -2.77554513e-02 1.39120750e+02] [-4.75672879e-02 1.83156756e-03 9.98866357e-01 -6.60668447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15999999999997 meters 0.07527788354983388 Centerline is valid? [True, True] Translation: X:153.85, Y:139.11, Z:-6.61 [[ 8.31626710e-01 5.53989258e-01 3.86382838e-02 1.53850527e+02] [-5.53297867e-01 8.32522132e-01 -2.77194688e-02 1.39107099e+02] [-4.75235143e-02 1.67377063e-03 9.98868717e-01 -6.61369979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19 meters 0.0776828812503654 Centerline is valid? [True, True] Translation: X:153.87, Y:139.09, Z:-6.62 [[ 8.31031508e-01 5.54860534e-01 3.89412433e-02 1.53873383e+02] [-5.54159530e-01 8.31941781e-01 -2.79300550e-02 1.39091854e+02] [-4.78941325e-02 1.63109466e-03 9.98851086e-01 -6.61583994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21999999999997 meters 0.08078011761945353 Centerline is valid? [True, True] Translation: X:153.90, Y:139.08, Z:-6.62 [[ 8.30728473e-01 5.55270429e-01 3.95595220e-02 1.53897490e+02] [-5.54548227e-01 8.31668280e-01 -2.83572813e-02 1.39077541e+02] [-4.86463594e-02 1.61953817e-03 9.98814752e-01 -6.61892105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25 meters 0.08534862753354754 Centerline is valid? [True, True] Translation: X:153.92, Y:139.06, Z:-6.62 [[ 8.29784510e-01 5.56628622e-01 4.02770890e-02 1.53920259e+02] [-5.55881966e-01 8.30759977e-01 -2.88634712e-02 1.39061833e+02] [-4.95268278e-02 1.56115395e-03 9.98771574e-01 -6.61823418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28 meters 0.0882573772626047 Centerline is valid? [True, True] Translation: X:153.94, Y:139.05, Z:-6.62 [[ 8.29793785e-01 5.56508149e-01 4.17247471e-02 1.53942809e+02] [-5.55707022e-01 8.30840574e-01 -2.98939249e-02 1.39046641e+02] [-5.13028256e-02 1.61905817e-03 9.98681831e-01 -6.61700186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31 meters 0.0958944827204849 Centerline is valid? [True, True] Translation: X:153.97, Y:139.03, Z:-6.62 [[ 8.28451336e-01 5.58367557e-01 4.35207441e-02 1.53968646e+02] [-5.57499266e-01 8.29592218e-01 -3.11660217e-02 1.39033850e+02] [-5.35065660e-02 1.55674946e-03 9.98566284e-01 -6.61693409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34 meters 0.09773475019088823 Centerline is valid? [True, True] Translation: X:153.99, Y:139.02, Z:-6.62 [[ 8.28154006e-01 5.58742503e-01 4.43594146e-02 1.53992405e+02] [-5.57841366e-01 8.29339735e-01 -3.17587007e-02 1.39018541e+02] [-5.45339611e-02 1.55557885e-03 9.98510705e-01 -6.61633889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5587.30 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%| | 0/12379 [00:00