+ python -m lidar_slam --no-model /working/47266fdf-506d-4a56-b189-f30ffd4d38ad Lidar SLAM 0.0.12 ===================================================== The recording path: /working/47266fdf-506d-4a56-b189-f30ffd4d38ad The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.003617865 Adjusted end_distance from 9.223372036854776e+18 to 254.633617865 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003617865 meters 0.07515855309711295 Centerline is valid? [0, True] SLAMing on 0.033617865 meters 0.08047512444384547 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:0.00 [[ 9.99999463e-01 6.18846201e-04 -8.31663533e-04 2.89024598e-02] [-6.18777016e-04 9.99999805e-01 8.34436928e-05 -5.46947489e-03] [ 8.31715010e-04 -8.29290337e-05 9.99999651e-01 1.65530810e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.063617865 meters 0.07690681369739898 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99998715e-01 5.13587315e-04 -1.51883908e-03 6.09217721e-02] [-5.13357524e-04 9.99999857e-01 1.51680219e-04 7.22445863e-03] [ 1.51891676e-03 -1.50900316e-04 9.99998835e-01 -2.81461496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09361786499999998 meters 0.08121222608454014 Centerline is valid? [True, True] Translation: X:0.09, Y:0.00, Z:-0.00 [[ 9.99998820e-01 -7.77077221e-04 -1.32521111e-03 9.14165648e-02] [ 7.77253280e-04 9.99999689e-01 1.32343389e-04 4.27891785e-03] [ 1.32510785e-03 -1.33373257e-04 9.99999113e-01 -1.63379859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12361786499999998 meters 0.10767530083639261 Centerline is valid? [True, False] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 9.99998015e-01 7.99262288e-04 1.82517024e-03 1.10024105e-01] [-7.92948646e-04 9.99993709e-01 -3.45731457e-03 5.28472874e-03] [-1.82792206e-03 3.45586045e-03 9.99992358e-01 -2.61827087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15361786499999996 meters 0.12125925940112245 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 9.99998586e-01 5.27620455e-04 1.59646240e-03 1.10517119e-01] [-5.21569250e-04 9.99992688e-01 -3.78842911e-03 6.19811370e-03] [-1.59844957e-03 3.78759109e-03 9.99991550e-01 -2.65486568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18361786499999996 meters 0.1343808674893774 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 9.99999324e-01 -1.25321278e-04 1.15586706e-03 1.11936055e-01] [ 1.30518715e-04 9.99989877e-01 -4.49759091e-03 7.52899466e-03] [-1.15529172e-03 4.49773874e-03 9.99989218e-01 -3.34807287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21361786499999996 meters 0.15152162903823413 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 9.99995341e-01 3.04514254e-03 2.13185333e-04 1.14597923e-01] [-3.04502837e-03 9.99995221e-01 -5.33838381e-04 6.27793333e-03] [-2.14809928e-04 5.33186738e-04 9.99999835e-01 -4.40034215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24361786499999996 meters 0.15989116679285137 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.01 [[ 9.99998815e-01 1.34337346e-03 -7.52542945e-04 1.17747861e-01] [-1.34506682e-03 9.99996555e-01 -2.25421676e-03 1.04142682e-02] [ 7.49512097e-04 2.25522630e-03 9.99997176e-01 -5.58559143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27361786499999996 meters 0.16661701976434745 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.01 [[ 9.99999181e-01 4.29207949e-04 -1.20574672e-03 1.19431550e-01] [-4.33214455e-04 9.99994380e-01 -3.32454879e-03 1.28406285e-02] [ 1.20431303e-03 3.32506841e-03 9.99993747e-01 -6.46349786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30361786499999993 meters 0.17197099520065823 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.01 [[ 9.99997558e-01 -9.91686955e-04 -1.97516775e-03 1.21538613e-01] [ 9.81910504e-04 9.99987294e-01 -4.94451581e-03 1.75650159e-02] [ 1.98004606e-03 4.94256430e-03 9.99985825e-01 -6.67983741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33361786499999996 meters 0.1875542955246234 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.01 [[ 9.99992931e-01 2.64869824e-03 -2.66891158e-03 1.23229102e-01] [-2.65093126e-03 9.99996139e-01 -8.33488079e-04 1.71400660e-02] [ 2.66669362e-03 8.40557288e-04 9.99996091e-01 -6.89765040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36361786499999993 meters 0.18605622628514173 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.01 [[ 0.99999412 0.00194315 -0.00282686 0.12387973] [-0.0019486 0.99999625 -0.00192676 0.02045017] [ 0.00282311 0.00193225 0.99999415 -0.00710536] [ 0. 0. 0. 1. ]] SLAMing on 0.39361786499999996 meters 0.19794571171405853 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.01 [[ 9.99981599e-01 4.88327078e-03 -3.59946708e-03 1.25737371e-01] [-4.88020603e-03 9.99987722e-01 8.59735889e-04 2.51328509e-02] [ 3.60362121e-03 -8.42153927e-04 9.99993152e-01 -6.83475880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4236178649999999 meters 0.20599715686560635 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.01 [[ 0.99998581 0.0033095 -0.00417393 0.12796909] [-0.00331483 0.9999937 -0.00127058 0.03091833] [ 0.0041697 0.0012844 0.99999048 -0.00777446] [ 0. 0. 0. 1. ]] SLAMing on 0.45361786499999995 meters 0.21282389724284068 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.01 [[ 0.99998698 0.00174369 -0.00479566 0.13028557] [-0.00176007 0.99999263 -0.00341337 0.03709604] [ 0.00478967 0.00342177 0.99998268 -0.00861575] [ 0. 0. 0. 1. ]] SLAMing on 0.4836178649999999 meters 0.21100872512149102 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.01 [[ 0.99997641 0.0042352 -0.00540692 0.13225274] [-0.00424453 0.99998952 -0.00171483 0.04523941] [ 0.0053996 0.00173774 0.99998391 -0.00878342] [ 0. 0. 0. 1. ]] SLAMing on 0.513617865 meters 0.2162649377653589 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.01 [[ 0.99997869 0.00322046 -0.00567788 0.13351349] [-0.00324102 0.99998821 -0.00361567 0.05122711] [ 0.00566617 0.00363399 0.99997734 -0.00934113] [ 0. 0. 0. 1. ]] SLAMing on 0.543617865 meters 0.21445949219043856 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.01 [[ 0.99998016 0.00286563 -0.00560919 0.13350434] [-0.00289411 0.99998293 -0.00507506 0.05685328] [ 0.00559455 0.0050912 0.99997139 -0.00928823] [ 0. 0. 0. 1. ]] SLAMing on 0.573617865 meters 0.22209016293331973 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.01 [[ 0.99996246 0.00624864 -0.00600275 0.13491769] [-0.00626026 0.99997856 -0.00191835 0.0598647 ] [ 0.00599064 0.00195585 0.99998014 -0.00960414] [ 0. 0. 0. 1. ]] SLAMing on 0.6036178649999999 meters 0.21122269529310278 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.01 [[ 0.99988893 0.01354835 -0.00621025 0.1347493 ] [-0.01352041 0.99989839 0.00451825 0.06660736] [ 0.00627084 -0.00443378 0.99997051 -0.00816304] [ 0. 0. 0. 1. ]] SLAMing on 0.633617865 meters 0.22218638443597802 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.01 [[ 0.99990114 0.01241833 -0.00659584 0.13641408] [-0.01240475 0.99992086 0.00209627 0.07401503] [ 0.00662135 -0.00201425 0.99997605 -0.00901807] [ 0. 0. 0. 1. ]] SLAMing on 0.663617865 meters 0.19748857869694816 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:-0.01 [[ 0.99978535 0.01967812 -0.00648302 0.13570952] [-0.01962641 0.99977581 0.00794539 0.08211857] [ 0.00663792 -0.00781645 0.99994742 -0.00780169] [ 0. 0. 0. 1. ]] SLAMing on 0.693617865 meters 0.18148143174073045 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:-0.01 [[ 0.99980259 0.01876923 -0.00651897 0.13646163] [-0.01873384 0.99980966 0.00544788 0.08943823] [ 0.00661998 -0.00532468 0.99996391 -0.00856098] [ 0. 0. 0. 1. ]] SLAMing on 0.7236178649999999 meters 0.1903935224084728 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.01 [[ 0.9998144 0.01811408 -0.00656051 0.13708422] [-0.01809269 0.99983085 0.00330517 0.09597767] [ 0.00661927 -0.00318586 0.99997302 -0.00917487] [ 0. 0. 0. 1. ]] SLAMing on 0.7536178649999999 meters 0.18362607127710665 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:-0.01 [[ 9.99830422e-01 1.71958303e-02 -6.59012799e-03 1.38017535e-01] [-1.71906792e-02 9.99851879e-01 8.37489789e-04 1.02737888e-01] [ 6.60355319e-03 -7.24058993e-04 9.99977934e-01 -1.02532008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.783617865 meters 0.17135870353559043 Centerline is valid? [False, False] Translation: X:0.14, Y:0.11, Z:-0.01 [[ 0.99976628 0.02075169 -0.00606192 0.13696258] [-0.02073714 0.99978195 0.00245388 0.11135035] [ 0.00611152 -0.0023276 0.99997862 -0.01010028] [ 0. 0. 0. 1. ]] SLAMing on 0.8136178649999999 meters 0.1611777672914292 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-0.01 [[ 9.99782474e-01 1.99752969e-02 -5.99927931e-03 1.37478717e-01] [-1.99729228e-02 9.99800418e-01 4.55393533e-04 1.16705969e-01] [ 6.00717858e-03 -3.35471330e-04 9.99981900e-01 -1.09158016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8436178649999999 meters 0.15425347223724498 Centerline is valid? [False, False] Translation: X:0.14, Y:0.12, Z:-0.01 [[ 0.9997108 0.02322268 -0.00624678 0.13926409] [-0.02320139 0.99972483 0.00345855 0.11865111] [ 0.00632538 -0.00331261 0.99997451 -0.01212229] [ 0. 0. 0. 1. ]] SLAMing on 0.8736178649999999 meters 0.13007282798387132 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-0.01 [[ 9.99727791e-01 2.25855507e-02 -5.85123204e-03 1.38914148e-01] [-2.25804530e-02 9.99744591e-01 9.35828218e-04 1.25920625e-01] [ 5.87087378e-03 -8.03450007e-04 9.99982444e-01 -1.30735605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.903617865 meters 0.12807930863439654 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-0.01 [[ 0.9999194 0.01261385 0.00144108 0.13894631] [-0.01262354 0.99989634 0.0069257 0.12772327] [-0.00135357 -0.00694333 0.99997498 -0.01477139] [ 0. 0. 0. 1. ]] SLAMing on 0.9336178649999999 meters 0.12543971042278815 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-0.02 [[ 0.99996452 0.00826986 0.00160399 0.13861521] [-0.00827192 0.99996497 0.00127764 0.13223117] [-0.00159337 -0.00129087 0.9999979 -0.01514783] [ 0. 0. 0. 1. ]] SLAMing on 0.9636178649999999 meters 0.12273855822088166 Centerline is valid? [False, False] Translation: X:0.14, Y:0.14, Z:-0.02 [[ 0.99999 0.0041526 0.00166303 0.13871217] [-0.00414603 0.99998365 -0.00393765 0.13588643] [-0.00167936 0.00393071 0.99999086 -0.01598497] [ 0. 0. 0. 1. ]] SLAMing on 0.9936178649999999 meters 0.12009103133624108 Centerline is valid? [False, False] Translation: X:0.14, Y:0.14, Z:-0.02 [[ 0.99999084 0.00403009 0.0014443 0.13949722] [-0.00402437 0.99998415 -0.00393795 0.13561744] [-0.00146015 0.0039321 0.9999912 -0.01651465] [ 0. 0. 0. 1. ]] SLAMing on 1.0236178649999998 meters 0.11879181716193772 Centerline is valid? [False, False] Translation: X:0.14, Y:0.14, Z:-0.02 [[ 0.9999912 0.00400749 0.00124421 0.14020874] [-0.00400278 0.99998492 -0.00376031 0.13503773] [-0.00125926 0.00375529 0.99999216 -0.016979 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0536178649999999 meters 0.11826415947608382 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-0.02 [[ 0.99999226 0.00378782 0.00106275 0.14126703] [-0.00378365 0.99998524 -0.00389957 0.1347528 ] [-0.00107751 0.00389552 0.99999183 -0.01808564] [ 0. 0. 0. 1. ]] SLAMing on 1.083617865 meters 0.11826415947608382 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-0.02 [[ 0.99999226 0.00378782 0.00106275 0.14126703] [-0.00378365 0.99998524 -0.00389957 0.1347528 ] [-0.00107751 0.00389552 0.99999183 -0.01808564] [ 0. 0. 0. 1. ]] SLAMing on 1.113617865 meters 0.11772791576523757 Centerline is valid? [False, False] Translation: X:0.14, Y:0.13, Z:-0.02 [[ 9.99992748e-01 3.72258877e-03 8.03571615e-04 1.42099463e-01] [-3.71938176e-03 9.99985257e-01 -3.95621798e-03 1.34697813e-01] [-8.18287140e-04 3.95320050e-03 9.99991851e-01 -1.86378540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.143617865 meters 0.11477980658751231 Centerline is valid? [False, False] Translation: X:0.14, Y:0.14, Z:-0.02 [[ 9.99993358e-01 3.59874821e-03 5.77472685e-04 1.42953137e-01] [-3.59626091e-03 9.99984494e-01 -4.25194159e-03 1.35304013e-01] [-5.92765398e-04 4.24983660e-03 9.99990794e-01 -1.93926986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.173617865 meters 0.11097539980204427 Centerline is valid? [False, False] Translation: X:0.15, Y:0.14, Z:-0.02 [[ 9.99976485e-01 6.85324161e-03 2.48366761e-04 1.45521457e-01] [-6.85285357e-03 9.99975347e-01 -1.53091018e-03 1.36711055e-01] [-2.58852335e-04 1.52917216e-03 9.99998797e-01 -2.22865789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2036178649999998 meters 0.1069203142254569 Centerline is valid? [False, False] Translation: X:0.15, Y:0.14, Z:-0.02 [[ 9.99978672e-01 6.53005453e-03 1.21509464e-04 1.46110207e-01] [-6.52972873e-03 9.99975525e-01 -2.51219926e-03 1.39075499e-01] [-1.37911288e-04 2.51135226e-03 9.99996837e-01 -2.30532721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2336178649999998 meters 0.10758235619650448 Centerline is valid? [False, False] Translation: X:0.15, Y:0.14, Z:-0.02 [[ 9.99982441e-01 5.91818571e-03 -3.03780647e-04 1.47680818e-01] [-5.91933011e-03 9.99974814e-01 -3.91572821e-03 1.41928757e-01] [ 2.80598990e-04 3.91745763e-03 9.99992287e-01 -2.45146108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2636178649999998 meters 0.10471021810413712 Centerline is valid? [False, False] Translation: X:0.15, Y:0.14, Z:-0.03 [[ 9.99984008e-01 5.64317614e-03 -3.71211238e-04 1.48238851e-01] [-5.64488841e-03 9.99972615e-01 -4.78577841e-03 1.44021207e-01] [ 3.44194082e-04 4.78779732e-03 9.99988479e-01 -2.53828574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2936178649999999 meters 0.10350196984610358 Centerline is valid? [False, False] Translation: X:0.15, Y:0.15, Z:-0.03 [[ 9.99985691e-01 5.30452404e-03 -6.92207575e-04 1.49280637e-01] [-5.30838363e-03 9.99969674e-01 -5.69842485e-03 1.46092692e-01] [ 6.61959152e-04 5.70201782e-03 9.99983524e-01 -2.63116858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.323617865 meters 0.10037707468948603 Centerline is valid? [False, False] Translation: X:0.15, Y:0.15, Z:-0.03 [[ 0.9999625 0.00857594 -0.00120778 0.15191027] [-0.00857943 0.99995895 -0.00291413 0.14752694] [ 0.00118274 0.00292439 0.99999502 -0.02886959] [ 0. 0. 0. 1. ]] SLAMing on 1.353617865 meters 0.09966975692644316 Centerline is valid? [False, True] Translation: X:0.15, Y:0.15, Z:-0.03 [[ 0.99996452 0.00832823 -0.0012645 0.15235235] [-0.00833261 0.99995914 -0.00350633 0.14887801] [ 0.00123525 0.00351675 0.99999305 -0.02948965] [ 0. 0. 0. 1. ]] SLAMing on 1.383617865 meters 0.09759036787781185 Centerline is valid? [True, True] Translation: X:0.18, Y:0.14, Z:-0.03 [[ 9.99958293e-01 8.75837570e-03 -2.58890002e-03 1.83517028e-01] [-8.75797612e-03 9.99961634e-01 1.65643030e-04 1.44746856e-01] [ 2.59025146e-03 -1.42962597e-04 9.99996635e-01 -2.89012693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4136178649999998 meters 0.09384112790705945 Centerline is valid? [True, True] Translation: X:0.21, Y:0.15, Z:-0.03 [[ 9.99964579e-01 6.82349306e-03 -4.92749254e-03 2.14119743e-01] [-6.82199052e-03 9.99976678e-01 3.21673921e-04 1.47229946e-01] [ 4.92957256e-03 -2.88047220e-04 9.99987808e-01 -3.10173859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4436178649999998 meters 0.09338915684081735 Centerline is valid? [True, True] Translation: X:0.24, Y:0.14, Z:-0.03 [[ 9.99964966e-01 5.25997785e-03 -6.51155759e-03 2.43880411e-01] [-5.25731883e-03 9.99986090e-01 4.25403168e-04 1.44468393e-01] [ 6.51370463e-03 -3.91154930e-04 9.99978709e-01 -3.12715546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4736178649999998 meters 0.09281709155737541 Centerline is valid? [True, True] Translation: X:0.27, Y:0.14, Z:-0.03 [[ 9.99960459e-01 3.42620379e-03 -8.20623563e-03 2.73586778e-01] [-3.42192236e-03 9.99994002e-01 5.35712601e-04 1.41242826e-01] [ 8.20802187e-03 -5.07610317e-04 9.99966185e-01 -3.15839546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5036178649999998 meters 0.09332950111604346 Centerline is valid? [True, True] Translation: X:0.30, Y:0.13, Z:-0.03 [[ 9.99945387e-01 -1.08722105e-03 -1.03943047e-02 3.02730762e-01] [ 1.09432709e-03 9.99999171e-01 6.77984017e-04 1.30581267e-01] [ 1.03935589e-02 -6.89321759e-04 9.99945748e-01 -3.15586974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5336178649999999 meters 0.08907622794787184 Centerline is valid? [True, True] Translation: X:0.33, Y:0.13, Z:-0.03 [[ 9.99924154e-01 -3.87707182e-03 -1.16899556e-02 3.33074778e-01] [ 3.88624721e-03 9.99992158e-01 7.62281910e-04 1.28358255e-01] [ 1.16869085e-02 -8.07654151e-04 9.99931380e-01 -3.20217840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5636178649999999 meters 0.0889862751070547 Centerline is valid? [True, True] Translation: X:0.36, Y:0.12, Z:-0.03 [[ 9.99899604e-01 -7.23630510e-03 -1.21826566e-02 3.62919249e-01] [ 7.24651431e-03 9.99973428e-01 7.94076969e-04 1.21786299e-01] [ 1.21765868e-02 -8.82279043e-04 9.99925473e-01 -3.26597802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.593617865 meters 0.0874462334544321 Centerline is valid? [True, True] Translation: X:0.39, Y:0.12, Z:-0.03 [[ 9.99808924e-01 -1.26721508e-02 -1.48839280e-02 3.93386035e-01] [ 1.26879875e-02 9.99919034e-01 9.70062459e-04 1.15726002e-01] [ 1.48704301e-02 -1.15872420e-03 9.99888758e-01 -3.47239933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6236178649999997 meters 0.08563645526671418 Centerline is valid? [True, True] Translation: X:0.42, Y:0.11, Z:-0.03 [[ 0.99975553 -0.01519781 -0.01605919 0.4237356 ] [ 0.01521657 0.99988367 0.00104669 0.11169373] [ 0.01604141 -0.0012908 0.9998705 -0.03468928] [ 0. 0. 0. 1. ]] SLAMing on 1.6536178649999997 meters 0.08279299758391966 Centerline is valid? [True, True] Translation: X:0.45, Y:0.11, Z:-0.03 [[ 0.99972404 -0.01673383 -0.01648675 0.45333622] [ 0.01675381 0.99985907 0.00107455 0.11234401] [ 0.01646644 -0.00135047 0.99986351 -0.03442283] [ 0. 0. 0. 1. ]] SLAMing on 1.6836178649999998 meters 0.0855825962117444 Centerline is valid? [True, True] Translation: X:0.48, Y:0.09, Z:-0.03 [[ 0.9996763 -0.01788526 -0.01809428 0.4808167 ] [ 0.0179095 0.99983892 0.00117863 0.09461042] [ 0.01807028 -0.00150231 0.99983559 -0.03437204] [ 0. 0. 0. 1. ]] SLAMing on 1.7136178649999998 meters 0.08291622012530171 Centerline is valid? [True, True] Translation: X:0.51, Y:0.10, Z:-0.03 [[ 0.99967243 -0.01796129 -0.01823249 0.51029943] [ 0.0179859 0.99983754 0.00118638 0.09747121] [ 0.01820821 -0.00151392 0.99983307 -0.034208 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7436178649999998 meters 0.07792651227132527 Centerline is valid? [True, True] Translation: X:0.54, Y:0.09, Z:-0.03 [[ 0.99966575 -0.01763317 -0.01890657 0.53858169] [ 0.01765949 0.99984331 0.00122573 0.09322315] [ 0.01888199 -0.0015592 0.9998205 -0.03409886] [ 0. 0. 0. 1. ]] SLAMing on 1.7736178649999998 meters 0.07756959575952044 Centerline is valid? [True, True] Translation: X:0.57, Y:0.09, Z:-0.03 [[ 0.99968867 -0.01404839 -0.02062062 0.5683053 ] [ 0.01407885 0.9999 0.00133274 0.08961106] [ 0.02059984 -0.00162264 0.99978648 -0.03401729] [ 0. 0. 0. 1. ]] SLAMing on 1.8036178649999999 meters 0.07859617910269664 Centerline is valid? [True, True] Translation: X:0.60, Y:0.09, Z:-0.03 [[ 0.99970664 -0.01189338 -0.02109943 0.59842719] [ 0.01192479 0.99992797 0.00136356 0.08989992] [ 0.0210817 -0.00161477 0.99977645 -0.03327602] [ 0. 0. 0. 1. ]] SLAMing on 1.8336178649999997 meters 0.07474704761447716 Centerline is valid? [True, True] Translation: X:0.63, Y:0.09, Z:-0.03 [[ 0.99971351 -0.00935699 -0.0220304 0.6282928 ] [ 0.00939061 0.99995489 0.00142335 0.09096901] [ 0.02201609 -0.00162982 0.99975629 -0.03261263] [ 0. 0. 0. 1. ]] SLAMing on 1.8636178649999997 meters 0.07281102500637941 Centerline is valid? [True, True] Translation: X:0.66, Y:0.09, Z:-0.03 [[ 0.9997356 -0.00302765 -0.02279376 0.65752014] [ 0.003062 0.99999423 0.00147227 0.09204248] [ 0.02278917 -0.00154167 0.9997391 -0.03159106] [ 0. 0. 0. 1. ]] SLAMing on 1.8936178649999997 meters 0.07469346952529418 Centerline is valid? [True, True] Translation: X:0.69, Y:0.09, Z:-0.03 [[ 9.99729485e-01 4.88659960e-04 -2.32533588e-02 6.87638560e-01] [-4.53864682e-04 9.99998770e-01 1.50160907e-03 9.22496922e-02] [ 2.32540639e-02 -1.49064899e-03 9.99728476e-01 -3.12603602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9236178649999998 meters 0.07251709182573197 Centerline is valid? [True, True] Translation: X:0.72, Y:0.09, Z:-0.03 [[ 0.99969626 0.00355972 -0.02438678 0.71766346] [-0.00352236 0.99999256 0.00157461 0.09485989] [ 0.02439221 -0.00148823 0.99970136 -0.03101856] [ 0. 0. 0. 1. ]] SLAMing on 1.9536178649999998 meters 0.07370248966899638 Centerline is valid? [True, True] Translation: X:0.75, Y:0.09, Z:-0.03 [[ 0.99964864 0.00644483 -0.02571121 0.74589524] [-0.00640427 0.99997812 0.00165957 0.08647005] [ 0.02572134 -0.00149432 0.99966803 -0.03342261] [ 0. 0. 0. 1. ]] SLAMing on 1.9836178649999998 meters 0.06797229053076283 Centerline is valid? [True, True] Translation: X:0.78, Y:0.10, Z:-0.03 [[ 0.99954471 0.01012567 -0.02842264 0.77718795] [-0.0100776 0.99994754 0.00183386 0.10089237] [ 0.02843972 -0.00154659 0.99959431 -0.03321488] [ 0. 0. 0. 1. ]] SLAMing on 2.0136178649999996 meters 0.06545554302553887 Centerline is valid? [True, True] Translation: X:0.81, Y:0.10, Z:-0.03 [[ 0.99948676 0.01082348 -0.03015075 0.80535737] [-0.01076975 0.99994011 0.00194399 0.10105103] [ 0.03016999 -0.00161827 0.99954347 -0.03392219] [ 0. 0. 0. 1. ]] SLAMing on 2.0436178649999994 meters 0.06178455182109483 Centerline is valid? [True, True] Translation: X:0.83, Y:0.10, Z:-0.03 [[ 0.99945833 0.01025125 -0.03127241 0.83313239] [-0.01019325 0.99994602 0.00201378 0.09953507] [ 0.03129137 -0.00169392 0.99950887 -0.03406948] [ 0. 0. 0. 1. ]] SLAMing on 2.0736178649999997 meters 0.052488606687777405 Centerline is valid? [True, True] Translation: X:0.86, Y:0.11, Z:-0.03 [[ 0.99947442 0.00791631 -0.03143578 0.86325858] [-0.00785661 0.99996709 0.00202223 0.11064508] [ 0.03145075 -0.00177419 0.99950373 -0.03039733] [ 0. 0. 0. 1. ]] SLAMing on 2.1036178649999995 meters 0.05176744270993639 Centerline is valid? [True, True] Translation: X:0.89, Y:0.11, Z:-0.03 [[ 0.9994688 0.00661789 -0.0319111 0.89197756] [-0.00655585 0.99997641 0.00204824 0.11110407] [ 0.0319239 -0.00183795 0.99948861 -0.02940469] [ 0. 0. 0. 1. ]] SLAMing on 2.1336178649999997 meters 0.054395481689604466 Centerline is valid? [True, True] Translation: X:0.92, Y:0.11, Z:-0.03 [[ 0.99937952 0.00600018 -0.03470686 0.91942442] [-0.00592663 0.99997997 0.00222158 0.11025606] [ 0.03471949 -0.0020145 0.99939507 -0.02951737] [ 0. 0. 0. 1. ]] SLAMing on 2.1636178649999995 meters 0.04989216551862717 Centerline is valid? [True, True] Translation: X:0.95, Y:0.11, Z:-0.03 [[ 0.99934921 0.00456578 -0.03578146 0.94788607] [-0.00448678 0.99998732 0.00228769 0.10885946] [ 0.03579145 -0.00212566 0.99935702 -0.02978027] [ 0. 0. 0. 1. ]] SLAMing on 2.1936178649999993 meters 0.04653018046162167 Centerline is valid? [True, True] Translation: X:0.98, Y:0.11, Z:-0.03 [[ 0.99927974 0.00347076 -0.03778819 0.97778864] [-0.00338193 0.99999137 0.0024144 0.11245529] [ 0.03779625 -0.00228486 0.99928285 -0.02770096] [ 0. 0. 0. 1. ]] SLAMing on 2.2236178649999996 meters 0.048391068154777214 Centerline is valid? [True, True] Translation: X:1.00, Y:0.11, Z:-0.03 [[ 0.99925629 0.00355867 -0.03839522 1.00457479] [-0.00346721 0.99999099 0.00244854 0.10865681] [ 0.03840359 -0.00231359 0.99925963 -0.02791596] [ 0. 0. 0. 1. ]] SLAMing on 2.2536178649999994 meters 0.04835317356047991 Centerline is valid? [True, True] Translation: X:1.03, Y:0.11, Z:-0.03 [[ 0.99922648 0.00358776 -0.03916072 1.03281522] [-0.00349299 0.9999908 0.00248821 0.1090498 ] [ 0.03916929 -0.0023495 0.99922983 -0.02623619] [ 0. 0. 0. 1. ]] SLAMing on 2.2836178649999996 meters 0.043163273958653166 Centerline is valid? [True, True] Translation: X:1.06, Y:0.11, Z:-0.02 [[ 0.99925318 0.00297799 -0.03852556 1.06169755] [-0.00288618 0.99999286 0.00243832 0.11238031] [ 0.03853255 -0.0023253 0.99925464 -0.02247212] [ 0. 0. 0. 1. ]] SLAMing on 2.3136178649999994 meters 0.04471518832903692 Centerline is valid? [True, True] Translation: X:1.09, Y:0.11, Z:-0.02 [[ 0.99923262 0.00313848 -0.03904262 1.08875187] [-0.00304458 0.99999233 0.00246443 0.10908568] [ 0.03905006 -0.00234367 0.99923451 -0.02116055] [ 0. 0. 0. 1. ]] SLAMing on 2.3436178649999997 meters 0.04363790563870773 Centerline is valid? [True, True] Translation: X:1.12, Y:0.11, Z:-0.02 [[ 0.99927378 0.00248117 -0.03802301 1.11613872] [-0.00239181 0.99999427 0.00239551 0.10510185] [ 0.03802874 -0.00230283 0.99927399 -0.01967832] [ 0. 0. 0. 1. ]] SLAMing on 2.3736178649999995 meters 0.04620932054445544 Centerline is valid? [True, True] Translation: X:1.14, Y:0.10, Z:-0.02 [[ 0.9992634 0.00284139 -0.03826982 1.14416044] [-0.00275139 0.99999333 0.002404 0.10022171] [ 0.0382764 -0.00229694 0.99926455 -0.01575251] [ 0. 0. 0. 1. ]] SLAMing on 2.4036178649999993 meters 0.03880671940880057 Centerline is valid? [True, True] Translation: X:1.17, Y:0.10, Z:-0.01 [[ 0.99936484 0.00134132 -0.03561059 1.17308898] [-0.00126274 0.99999672 0.00222897 0.10199379] [ 0.03561346 -0.00218258 0.99936326 -0.01103914] [ 0. 0. 0. 1. ]] SLAMing on 2.4336178649999995 meters 0.03915203941254682 Centerline is valid? [True, True] Translation: X:1.20, Y:0.10, Z:-0.01 [[ 9.99390827e-01 7.78358974e-04 -3.48908101e-02 1.20059843e+00] [-7.02890620e-04 9.99997387e-01 2.17520035e-03 9.98300479e-02] [ 3.48924120e-02 -2.14935086e-03 9.99388763e-01 -8.15109458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4636178649999994 meters 0.038302459684524046 Centerline is valid? [True, True] Translation: X:1.23, Y:0.10, Z:-0.00 [[ 9.99405268e-01 -3.20848523e-04 -3.44819734e-02 1.22776921e+00] [ 3.94968781e-04 9.99997626e-01 2.14274624e-03 9.71458794e-02] [ 3.44812040e-02 -2.15509119e-03 9.99403023e-01 -3.65168809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4936178649999996 meters 0.03817526947170177 Centerline is valid? [True, True] Translation: X:1.26, Y:0.10, Z:-0.00 [[ 9.99406449e-01 -1.09311080e-03 -3.44318890e-02 1.25693166e+00] [ 1.16724595e-03 9.99997044e-01 2.13306821e-03 9.50181361e-02] [ 3.44294555e-02 -2.17199260e-03 9.99404770e-01 -1.59818957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5236178649999994 meters 0.038807237842111486 Centerline is valid? [True, True] Translation: X:1.29, Y:0.09, Z:0.00 [[ 9.99357988e-01 -3.14325415e-03 -3.56893866e-02 1.28611499e+00] [ 3.22405647e-03 9.99992368e-01 2.20671854e-03 9.02552227e-02] [ 3.56821780e-02 -2.32036639e-03 9.99360495e-01 4.66604926e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5536178649999997 meters 0.03914498852632936 Centerline is valid? [True, True] Translation: X:1.31, Y:0.09, Z:0.00 [[ 0.99930217 -0.00463309 -0.03706369 1.31495862] [ 0.00472121 0.99998623 0.0022904 0.08605886] [ 0.03705257 -0.00246379 0.99931028 0.00153278] [ 0. 0. 0. 1. ]] SLAMing on 2.5836178649999995 meters 0.04001069302070636 Centerline is valid? [True, True] Translation: X:1.34, Y:0.08, Z:0.00 [[ 0.99925976 -0.00692352 -0.03784173 1.34437365] [ 0.00701697 0.99997265 0.00233727 0.08040202] [ 0.03782451 -0.00260107 0.99928101 0.00264548] [ 0. 0. 0. 1. ]] SLAMing on 2.6136178649999993 meters 0.04091920863445992 Centerline is valid? [True, True] Translation: X:1.37, Y:0.08, Z:0.00 [[ 0.99923564 -0.00895045 -0.03805289 1.37484715] [ 0.00904639 0.99995632 0.00235 0.07528116] [ 0.0380302 -0.00269245 0.99927296 0.00422304] [ 0. 0. 0. 1. ]] SLAMing on 2.6436178649999995 meters 0.04189744634397002 Centerline is valid? [True, True] Translation: X:1.40, Y:0.07, Z:0.01 [[ 0.99919113 -0.01116205 -0.03863272 1.40446028] [ 0.01126257 0.99993373 0.00238545 0.07042721] [ 0.03860353 -0.00281863 0.99925063 0.00525814] [ 0. 0. 0. 1. ]] SLAMing on 2.6736178649999993 meters 0.043508524006716245 Centerline is valid? [True, True] Translation: X:1.43, Y:0.06, Z:0.01 [[ 0.99912895 -0.01360798 -0.03944816 1.43310567] [ 0.01371467 0.99990298 0.00243516 0.06478893] [ 0.0394112 -0.00297405 0.99921865 0.00703802] [ 0. 0. 0. 1. ]] SLAMing on 2.7036178649999996 meters 0.043984525585233435 Centerline is valid? [True, True] Translation: X:1.46, Y:0.06, Z:0.01 [[ 0.99912059 -0.01498667 -0.03915923 1.46205238] [ 0.0150928 0.99988318 0.00241598 0.05953059] [ 0.03911844 -0.00300487 0.99923006 0.00889688] [ 0. 0. 0. 1. ]] SLAMing on 2.7336178649999994 meters 0.044663140994999496 Centerline is valid? [True, True] Translation: X:1.49, Y:0.05, Z:0.01 [[ 0.99913218 -0.01560545 -0.03861809 1.49009005] [ 0.01570899 0.99987378 0.00237922 0.05414544] [ 0.03857609 -0.00298381 0.99925121 0.01061328] [ 0. 0. 0. 1. ]] SLAMing on 2.7636178649999996 meters 0.044739036739386465 Centerline is valid? [True, True] Translation: X:1.52, Y:0.05, Z:0.01 [[ 0.99914836 -0.01598514 -0.03803977 1.51825119] [ 0.0160856 0.99986789 0.00233629 0.04771262] [ 0.0379974 -0.0029462 0.99927349 0.01225604] [ 0. 0. 0. 1. ]] SLAMing on 2.7936178649999994 meters 0.04502044473050987 Centerline is valid? [True, True] Translation: X:1.55, Y:0.04, Z:0.01 [[ 0.99916453 -0.01492245 -0.03804672 1.54664083] [ 0.01502198 0.99988445 0.00233129 0.04252075] [ 0.03800753 -0.00290088 0.99927324 0.013249 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8236178649999992 meters 0.04450494026490194 Centerline is valid? [True, True] Translation: X:1.58, Y:0.03, Z:0.02 [[ 0.99920282 -0.01174921 -0.03815349 1.57591321] [ 0.01184694 0.99992709 0.00233639 0.0345533 ] [ 0.03812326 -0.00278653 0.99926916 0.01569103] [ 0. 0. 0. 1. ]] SLAMing on 2.8536178649999995 meters 0.044354181130723126 Centerline is valid? [True, True] Translation: X:1.61, Y:0.03, Z:0.02 [[ 0.99924825 -0.00953896 -0.03757582 1.60600437] [ 0.00963216 0.99995096 0.00230002 0.03075951] [ 0.03755204 -0.00266023 0.99929113 0.01635088] [ 0. 0. 0. 1. ]] SLAMing on 2.8836178649999993 meters 0.043693844858721166 Centerline is valid? [True, True] Translation: X:1.64, Y:0.03, Z:0.02 [[ 0.99928654 -0.00775925 -0.03696219 1.6356608 ] [ 0.00784818 0.99996664 0.00226164 0.0270888 ] [ 0.0369434 -0.00255011 0.99931411 0.01725786] [ 0. 0. 0. 1. ]] SLAMing on 2.9136178649999995 meters 0.042660619224500464 Centerline is valid? [True, True] Translation: X:1.66, Y:0.02, Z:0.02 [[ 0.99930748 -0.00331298 -0.03706198 1.66442367] [ 0.00339932 0.99999165 0.00226672 0.01920704] [ 0.03705417 -0.00239114 0.9993104 0.01866959] [ 0. 0. 0. 1. ]] SLAMing on 2.9436178649999993 meters 0.04209653464765857 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:0.02 [[ 0.99932378 -0.00187249 -0.03672174 1.69367929] [ 0.00195623 0.99999557 0.0022447 0.01326184] [ 0.03671737 -0.00231502 0.99932301 0.01960936] [ 0. 0. 0. 1. ]] SLAMing on 2.9736178649999996 meters 0.0419093661077697 Centerline is valid? [True, True] Translation: X:1.72, Y:0.01, Z:0.02 [[ 9.99289660e-01 1.59475849e-04 -3.76848770e-02 1.72370088e+00] [-7.27483067e-05 9.99997346e-01 2.30274854e-03 7.93859281e-03] [ 3.76851442e-02 -2.29837129e-03 9.99287020e-01 1.98547179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0036178649999994 meters 0.0419093661077697 Centerline is valid? [True, True] Translation: X:1.75, Y:0.01, Z:0.02 [[ 9.99289657e-01 -7.96318205e-05 -3.76852028e-02 1.75125425e+00] [ 1.66328000e-04 9.99997347e-01 2.29740679e-03 6.35957489e-03] [ 3.76849198e-02 -2.30204295e-03 9.99287020e-01 2.03074631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.033617864999999 meters 0.04148334066370113 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.00, Z:0.02 [[ 9.99306251e-01 1.12893520e-03 -3.72255544e-02 1.77842613e+00] [-1.04540384e-03 9.99996892e-01 2.26331351e-03 -1.74855156e-03] [ 3.72279938e-02 -2.22282760e-03 9.99304326e-01 2.03853720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0636178649999994 meters 0.04155547566556144 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.01, Z:0.02 [[ 9.99285308e-01 1.72831600e-03 -3.77609036e-02 1.80697576e+00] [-1.64302291e-03 9.99996029e-01 2.28968256e-03 -7.01554434e-03] [ 3.77647109e-02 -2.22600411e-03 9.99284180e-01 2.01120373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0936178649999992 meters 0.041499530890286136 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.01, Z:0.02 [[ 0.999272 0.00232706 -0.03807954 1.83526557] [-0.00224105 0.99999484 0.00230109 -0.01241818] [ 0.0380847 -0.00221408 0.99927206 0.01977006] [ 0. 0. 0. 1. ]] SLAMing on 3.1236178649999995 meters 0.04178026432461452 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.02, Z:0.02 [[ 0.99923137 0.00275353 -0.03910359 1.86352259] [-0.00266347 0.99999368 0.00235483 -0.01850962] [ 0.03910982 -0.00224887 0.99923239 0.01925751] [ 0. 0. 0. 1. ]] SLAMing on 3.1536178649999993 meters 0.04280166707349998 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.03, Z:0.02 [[ 9.99212331e-01 1.73528267e-03 -3.96447426e-02 1.89122595e+00] [-1.64212257e-03 9.99995814e-01 2.38231567e-03 -2.97487092e-02] [ 3.96487106e-02 -2.31533767e-03 9.99210998e-01 1.92309951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1836178649999995 meters 0.04360429480555071 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.04, Z:0.02 [[ 9.99212663e-01 8.22339437e-04 -3.96658254e-02 1.91986408e+00] [-7.28599106e-04 9.99996908e-01 2.37764980e-03 -3.73226785e-02] [ 3.96676580e-02 -2.34687731e-03 9.99210173e-01 1.99928227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2136178649999994 meters 0.04463180072437726 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.04, Z:0.02 [[ 9.99230129e-01 -1.19350462e-04 -3.92318107e-02 1.94791991e+00] [ 2.11461095e-04 9.99997231e-01 2.34371455e-03 -4.48876278e-02] [ 3.92314224e-02 -2.35020620e-03 9.99227388e-01 2.10139003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.243617864999999 meters 0.046088715012439004 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.06, Z:0.02 [[ 9.99279654e-01 -1.96284442e-03 -3.78988093e-02 1.97599788e+00] [ 2.04983300e-03 9.99995353e-01 2.25656486e-03 -5.73802826e-02] [ 3.78942039e-02 -2.33262558e-03 9.99279034e-01 2.29656406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2736178649999994 meters 0.04661186493748153 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.06, Z:0.02 [[ 0.99929338 -0.00286244 -0.03747719 2.00481162] [ 0.00294785 0.99999318 0.00222398 -0.06401523] [ 0.03747057 -0.00233288 0.99929501 0.02389943] [ 0. 0. 0. 1. ]] SLAMing on 3.303617864999999 meters 0.04778363756430521 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.07, Z:0.02 [[ 0.9992854 -0.00408142 -0.03757706 2.03312729] [ 0.00416786 0.99998884 0.00222238 -0.0711785 ] [ 0.03756757 -0.00237741 0.99929126 0.02418662] [ 0. 0. 0. 1. ]] SLAMing on 3.3336178649999995 meters 0.04974222888794595 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.08, Z:0.02 [[ 0.99921468 -0.00556521 -0.03923084 2.06151725] [ 0.00566044 0.9999813 0.00231669 -0.08277836] [ 0.03921721 -0.00253693 0.99922749 0.02205918] [ 0. 0. 0. 1. ]] SLAMing on 3.3636178649999993 meters 0.05056327298366609 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.09, Z:0.02 [[ 0.99917412 -0.00639743 -0.04012666 2.09069837] [ 0.0064977 0.99997608 0.00236885 -0.08924863] [ 0.04011055 -0.00262762 0.99919179 0.02113594] [ 0. 0. 0. 1. ]] SLAMing on 3.3936178649999995 meters 0.051672923486657106 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.10, Z:0.02 [[ 0.99913853 -0.00724291 -0.04086232 2.11896894] [ 0.00734738 0.99997011 0.00240699 -0.09616173] [ 0.04084366 -0.00270515 0.99916189 0.02042747] [ 0. 0. 0. 1. ]] SLAMing on 3.4236178649999993 meters 0.052524563241405954 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.11, Z:0.02 [[ 0.99913403 -0.00740852 -0.04094281 2.1457166 ] [ 0.00751333 0.99996888 0.00240645 -0.10742213] [ 0.04092371 -0.00271198 0.99915859 0.0206374 ] [ 0. 0. 0. 1. ]] SLAMing on 3.453617864999999 meters 0.05254673823237622 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.11, Z:0.02 [[ 0.99916481 -0.00741868 -0.04018261 2.1742911 ] [ 0.00751939 0.99996895 0.00235579 -0.11318258] [ 0.04016388 -0.00265597 0.99918958 0.02197594] [ 0. 0. 0. 1. ]] SLAMing on 3.4836178649999994 meters 0.05309319162618434 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.12, Z:0.02 [[ 0.99919861 -0.0075143 -0.03931504 2.20261766] [ 0.00761049 0.9999684 0.00229736 -0.1196965 ] [ 0.03929653 -0.00259473 0.99922422 0.02310443] [ 0. 0. 0. 1. ]] SLAMing on 3.513617864999999 meters 0.03953995086021982 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.11, Z:0.03 [[ 9.99241334e-01 -8.71034019e-03 -3.79590152e-02 2.23218225e+00] [ 8.80056178e-03 9.99958831e-01 2.21037084e-03 -1.13170809e-01] [ 3.79381994e-02 -2.54275456e-03 9.99276852e-01 3.12178107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5436178649999994 meters 0.045981663968718 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.13, Z:0.03 [[ 9.99241644e-01 -9.96397797e-03 -3.76411534e-02 2.26034418e+00] [ 1.00534090e-02 9.99947071e-01 2.18735011e-03 -1.27054669e-01] [ 3.76173664e-02 -2.56411323e-03 9.99288927e-01 2.95106896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5736178649999992 meters 0.041822806468795305 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.13, Z:0.03 [[ 9.99244841e-01 -1.10422380e-02 -3.72534076e-02 2.28911345e+00] [ 1.11303854e-02 9.99935723e-01 2.15958679e-03 -1.28017649e-01] [ 3.72271664e-02 -2.57260074e-03 9.99303517e-01 3.24367132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6036178649999995 meters 0.04409993413553267 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.14, Z:0.03 [[ 9.99280981e-01 -1.38275401e-02 -3.53032501e-02 2.31740950e+00] [ 1.39083003e-02 9.99901188e-01 2.04304529e-03 -1.41398740e-01] [ 3.52715114e-02 -2.53258451e-03 9.99374558e-01 3.45633364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6336178649999993 meters 0.04596352832860867 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.15, Z:0.04 [[ 9.99305193e-01 -1.56467009e-02 -3.38276679e-02 2.34542714e+00] [ 1.57218524e-02 9.99874489e-01 1.95673079e-03 -1.49342980e-01] [ 3.37928058e-02 -2.48720485e-03 9.99425765e-01 3.62489117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.663617864999999 meters 0.04664253853347433 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.16, Z:0.04 [[ 9.99325715e-01 -1.72262208e-02 -3.24248710e-02 2.37463480e+00] [ 1.72960532e-02 9.99848655e-01 1.87439580e-03 -1.55623552e-01] [ 3.23876750e-02 -2.43395422e-03 9.99472418e-01 3.80036975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6936178649999993 meters 0.04916160542921548 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.17, Z:0.04 [[ 9.99328860e-01 -1.96914254e-02 -3.08881584e-02 2.40341261e+00] [ 1.97559415e-02 9.99803239e-01 1.78487766e-03 -1.67659642e-01] [ 3.08469340e-02 -2.39390440e-03 9.99521253e-01 3.99870387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.723617864999999 meters 0.050415032442545735 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.17, Z:0.04 [[ 9.99318485e-01 -2.09304963e-02 -3.04052453e-02 2.43224122e+00] [ 2.09935536e-02 9.99778069e-01 1.75611157e-03 -1.74151165e-01] [ 3.03617412e-02 -2.39322890e-03 9.99536111e-01 4.04976216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7536178649999994 meters 0.05447062436417861 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.19, Z:0.04 [[ 9.99234159e-01 -2.50592949e-02 -3.00520814e-02 2.46104323e+00] [ 2.51227247e-02 9.99682869e-01 1.73488084e-03 -1.86023053e-01] [ 2.99990761e-02 -2.48854237e-03 9.99546829e-01 4.02084089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.783617864999999 meters 0.055980285048067846 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.19, Z:0.04 [[ 9.99189811e-01 -2.67184540e-02 -3.00972844e-02 2.49120448e+00] [ 2.67828178e-02 9.99639766e-01 1.73735029e-03 -1.92174937e-01] [ 3.00400230e-02 -2.54203279e-03 9.99545464e-01 4.06787141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8136178649999994 meters 0.057484569490669046 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.20, Z:0.04 [[ 9.99177038e-01 -2.79575174e-02 -2.93874765e-02 2.51995896e+00] [ 2.80193951e-02 9.99605941e-01 1.69581447e-03 -1.97828329e-01] [ 2.93284853e-02 -2.51783819e-03 9.99566656e-01 4.14973174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8436178649999992 meters 0.05984065957649404 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.21, Z:0.04 [[ 9.99158936e-01 -3.01685770e-02 -2.77718980e-02 2.54907765e+00] [ 3.02246598e-02 9.99541847e-01 1.60175468e-03 -2.06230361e-01] [ 2.77108515e-02 -2.43980367e-03 9.99613003e-01 4.28621008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.873617864999999 meters 0.06194220437470972 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.21, Z:0.04 [[ 9.99133266e-01 -3.08286247e-02 -2.79698692e-02 2.57693469e+00] [ 3.08857373e-02 9.99521622e-01 1.61211522e-03 -2.12406917e-01] [ 2.79067897e-02 -2.47458798e-03 9.99607467e-01 4.30949742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9036178649999993 meters 0.062073458153478395 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.22, Z:0.04 [[ 9.99144767e-01 -3.12235495e-02 -2.71076462e-02 2.60446444e+00] [ 3.12772417e-02 9.99509532e-01 1.55886256e-03 -2.15683165e-01] [ 2.70456775e-02 -2.40538177e-03 9.99631305e-01 4.36808141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.933617864999999 meters 0.06306662827529855 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.22, Z:0.04 [[ 9.99135448e-01 -3.09119993e-02 -2.77993608e-02 2.63207285e+00] [ 3.09682204e-02 9.99519099e-01 1.59403378e-03 -2.19524788e-01] [ 2.77367173e-02 -2.45355239e-03 9.99612252e-01 4.29908673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9636178649999994 meters 0.06321676281642381 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.22, Z:0.04 [[ 9.99194478e-01 -2.95082086e-02 -2.71967191e-02 2.66046544e+00] [ 2.95614633e-02 9.99561750e-01 1.55806455e-03 -2.22193047e-01] [ 2.71388244e-02 -2.36078431e-03 9.99628887e-01 4.28188225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.993617864999999 meters 0.062170062466567234 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.22, Z:0.04 [[ 9.99292867e-01 -2.49685216e-02 -2.81129654e-02 2.69001990e+00] [ 2.50236242e-02 9.99685564e-01 1.60988248e-03 -2.23150871e-01] [ 2.80639293e-02 -2.31223236e-03 9.99603456e-01 4.07888713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.023617864999999 meters 0.0610262897443318 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.22, Z:0.04 [[ 9.99339575e-01 -2.22033288e-02 -2.87650169e-02 2.72077621e+00] [ 2.22598700e-02 9.99750862e-01 1.64685854e-03 -2.23897930e-01] [ 2.87212847e-02 -2.28607644e-03 9.99584845e-01 3.97379646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.053617865 meters 0.05940720442242437 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.23, Z:0.04 [[ 9.99427967e-01 -1.72289795e-02 -2.91015642e-02 2.75029094e+00] [ 1.72847474e-02 9.99849220e-01 1.66582940e-03 -2.25707346e-01] [ 2.90684758e-02 -2.16788968e-03 9.99575072e-01 3.90400917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.083617864999999 meters 0.05837866003959113 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.23, Z:0.04 [[ 9.99472466e-01 -1.45829130e-02 -2.90194407e-02 2.77953157e+00] [ 1.46372422e-02 9.99891491e-01 1.66061091e-03 -2.27808597e-01] [ 2.89920753e-02 -2.08449946e-03 9.99577468e-01 3.96791752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.113617864999999 meters 0.05456916904667974 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.23, Z:0.04 [[ 9.99551758e-01 -1.18944961e-02 -2.74736816e-02 2.80950148e+00] [ 1.19421704e-02 9.99927454e-01 1.57184121e-03 -2.26646118e-01] [ 2.74529922e-02 -1.89923203e-03 9.99621291e-01 4.23305995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1436178649999995 meters 0.04500281970769208 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.22, Z:0.05 [[ 9.99688371e-01 -7.59585401e-03 -2.37795009e-02 2.83940688e+00] [ 7.63034968e-03 9.99969963e-01 1.36024692e-03 -2.20008649e-01] [ 2.37684544e-02 -1.54126893e-03 9.99716302e-01 4.74251582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.173617864999999 meters 0.02652947273198827 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.20, Z:0.05 [[ 9.99758254e-01 -5.91916789e-03 -2.11753913e-02 2.87010814e+00] [ 5.94613441e-03 9.99981589e-01 1.21074752e-03 -1.99487174e-01] [ 2.11678348e-02 -1.33636655e-03 9.99775043e-01 5.15434263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203617864999999 meters 0.052562054726657474 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.24, Z:0.05 [[ 9.99794893e-01 -4.80932697e-03 -1.96733780e-02 2.89609617e+00] [ 4.83237301e-03 9.99987692e-01 1.12406151e-03 -2.37173003e-01] [ 1.96677299e-02 -1.21890006e-03 9.99805828e-01 5.10594773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.233617864999999 meters 0.05144041886594605 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.24, Z:0.05 [[ 9.99844690e-01 -1.73979615e-03 -1.75376320e-02 2.92498699e+00] [ 1.75761665e-03 9.99997955e-01 1.00076712e-03 -2.42517712e-01] [ 1.75358550e-02 -1.03143613e-03 9.99845703e-01 5.39520384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.263617865 meters 0.050341271321846764 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.25, Z:0.06 [[ 9.99872992e-01 -1.55226781e-04 -1.59365933e-02 2.95443905e+00] [ 1.69737438e-04 9.99999572e-01 9.09175834e-04 -2.45322594e-01] [ 1.59364453e-02 -9.11765398e-04 9.99872591e-01 5.58932114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.293617864999999 meters 0.049392162326825154 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.25, Z:0.06 [[ 9.99891199e-01 1.69158780e-03 -1.46536066e-02 2.98466327e+00] [-1.67952287e-03 9.99998240e-01 8.35609212e-04 -2.48229625e-01] [ 1.46549944e-02 -8.10907230e-04 9.99892281e-01 5.73004491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.323617864999999 meters 0.037663403174657974 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.24, Z:0.06 [[ 9.99869605e-01 9.22300714e-03 -1.32555457e-02 3.01612006e+00] [-9.21379707e-03 9.99957267e-01 7.55712172e-04 -2.35851566e-01] [ 1.32619491e-02 -6.33479723e-04 9.99911856e-01 5.86879821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3536178649999995 meters 0.02147468931352379 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.21, Z:0.06 [[ 9.99819828e-01 1.44694772e-02 -1.22859713e-02 3.04732270e+00] [-1.44619606e-02 9.99895175e-01 7.00429295e-04 -2.14258398e-01] [ 1.22948183e-02 -5.22623864e-04 9.99924279e-01 5.77209450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.383617864999999 meters 0.01960940654646806 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.21, Z:0.06 [[ 9.99756691e-01 1.89382649e-02 -1.13092880e-02 3.07695190e+00] [-1.89321831e-02 9.99820562e-01 6.44600620e-04 -2.12511512e-01] [ 1.13194663e-02 -4.30334272e-04 9.99935840e-01 5.81555498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.413617864999999 meters 0.0196236790514696 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.21, Z:0.06 [[ 9.99667802e-01 2.28370190e-02 -1.19480336e-02 3.10712224e+00] [-2.28305168e-02 9.99739118e-01 6.80336443e-04 -2.14539011e-01] [ 1.19604534e-02 -4.07330656e-04 9.99928388e-01 5.78498357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.443617864999999 meters 0.01747723467413545 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.21, Z:0.06 [[ 9.99497654e-01 2.85741385e-02 -1.37098065e-02 3.13796537e+00] [-2.85661125e-02 9.99591600e-01 7.80933345e-04 -2.12567730e-01] [ 1.37265219e-02 -3.88905171e-04 9.99905711e-01 5.52878964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.473617865 meters 0.016949735201176683 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.21, Z:0.06 [[ 9.99409488e-01 3.10835514e-02 -1.46454015e-02 3.17057905e+00] [-3.10746595e-02 9.99516718e-01 8.34376530e-04 -2.12887007e-01] [ 1.46642590e-02 -3.78782956e-04 9.99892402e-01 5.59751065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503617864999999 meters 0.01688622326354408 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.21, Z:0.06 [[ 9.99362602e-01 3.22226394e-02 -1.53652803e-02 3.20252053e+00] [-3.22129675e-02 9.99480643e-01 8.76609906e-04 -2.14265938e-01] [ 1.53855469e-02 -3.81089882e-04 9.99881563e-01 5.53716628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.533617864999999 meters 0.01627277383731777 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.22, Z:0.05 [[ 9.99348437e-01 3.11366765e-02 -1.82540216e-02 3.23422192e+00] [-3.11227519e-02 9.99515022e-01 1.04647738e-03 -2.15495031e-01] [ 1.82777526e-02 -4.77680152e-04 9.99832834e-01 5.37367966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563617864999999 meters 0.016801418278195465 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.22, Z:0.05 [[ 9.99371000e-01 3.01825301e-02 -1.86177245e-02 3.26557393e+00] [-3.01677934e-02 9.99544274e-01 1.07195036e-03 -2.16571239e-01] [ 1.86415941e-02 -5.09620438e-04 9.99826101e-01 5.33499095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.593617864999999 meters 0.017688495427466304 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.22, Z:0.05 [[ 9.99446367e-01 2.68945936e-02 -1.95867551e-02 3.29734384e+00] [-2.68775707e-02 9.99638092e-01 1.13187734e-03 -2.20408106e-01] [ 1.96101078e-02 -6.04806303e-04 9.99807520e-01 5.33886799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623617864999999 meters 0.01823750403559125 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.22, Z:0.05 [[ 9.99569598e-01 2.26728981e-02 -1.86161010e-02 3.32786714e+00] [-2.26567694e-02 9.99742722e-01 1.07686335e-03 -2.20800672e-01] [ 1.86357271e-02 -6.54619159e-04 9.99826125e-01 5.47444609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.653617864999999 meters 0.02001605873955493 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.22, Z:0.05 [[ 9.99623324e-01 2.00030548e-02 -1.87906403e-02 3.35660045e+00] [-1.99861527e-02 9.99799666e-01 1.08687616e-03 -2.24736710e-01] [ 1.88086167e-02 -7.10914155e-04 9.99822850e-01 5.48887313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6836178649999995 meters 0.021215250686363693 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.23, Z:0.06 [[ 9.99675561e-01 1.63618877e-02 -1.95207984e-02 3.38624720e+00] [-1.63429658e-02 9.99865808e-01 1.12846709e-03 -2.28256033e-01] [ 1.95366427e-02 -8.09073227e-04 9.99808814e-01 5.57347861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.713617864999999 meters 0.02297357635493338 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.23, Z:0.06 [[ 9.99753829e-01 1.04984332e-02 -1.95464512e-02 3.41628278e+00] [-1.04783487e-02 9.99944462e-01 1.12966277e-03 -2.30388851e-01] [ 1.95572253e-02 -9.24570145e-04 9.99808312e-01 5.62604683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743617864999999 meters 0.022752147754230834 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.23, Z:0.06 [[ 9.99763856e-01 5.54610459e-03 -2.10112545e-02 3.44652432e+00] [-5.52180716e-03 9.99984018e-01 1.21424116e-03 -2.32873727e-01] [ 2.10176530e-02 -1.09793432e-03 9.99778502e-01 5.68791620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.773617864999999 meters 0.025181039505887556 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.24, Z:0.06 [[ 9.99761034e-01 3.97384925e-04 -2.18567439e-02 3.47567205e+00] [-3.69870133e-04 9.99999134e-01 1.26289783e-03 -2.38289983e-01] [ 2.18572269e-02 -1.25451188e-03 9.99760315e-01 5.71915971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803617864999999 meters 0.0298826129333361 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.24, Z:0.06 [[ 9.99725274e-01 -9.48435201e-03 -2.14341693e-02 3.50519969e+00] [ 9.51306781e-03 9.99953983e-01 1.23815142e-03 -2.43446259e-01] [ 2.14214399e-02 -1.44171597e-03 9.99769495e-01 5.72420034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.833617864999999 meters 0.03011232178152654 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.24, Z:0.06 [[ 9.99687750e-01 -1.38577426e-02 -2.07934193e-02 3.53540394e+00] [ 1.38857059e-02 9.99902868e-01 1.20103015e-03 -2.44992904e-01] [ 2.07747561e-02 -1.48938644e-03 9.99783072e-01 5.88018848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.863617864999999 meters 0.03174493884440994 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.25, Z:0.06 [[ 9.99631947e-01 -1.81157921e-02 -2.01937526e-02 3.56532990e+00] [ 1.81430281e-02 9.99834721e-01 1.16632930e-03 -2.48813919e-01] [ 2.01692860e-02 -1.53227585e-03 9.99795405e-01 5.99310732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8936178649999995 meters 0.03174493884440994 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.25, Z:0.06 [[ 9.99627034e-01 -1.83848565e-02 -2.01938275e-02 3.59295614e+00] [ 1.84121210e-02 9.99829804e-01 1.16503079e-03 -2.50349047e-01] [ 2.01689716e-02 -1.53640746e-03 9.99795405e-01 6.03849254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923617864999999 meters 0.03179830235858689 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.25, Z:0.06 [[ 9.99490976e-01 -2.48885369e-02 -1.99586800e-02 3.62377667e+00] [ 2.49163720e-02 9.99688881e-01 1.14713970e-03 -2.52194190e-01] [ 1.99239199e-02 -1.64385368e-03 9.99800148e-01 6.20719159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.953617864999999 meters 0.03307160003712551 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.26, Z:0.06 [[ 9.99431118e-01 -2.71511670e-02 -2.00063543e-02 3.65397447e+00] [ 2.71795884e-02 9.99629905e-01 1.15003219e-03 -2.56233730e-01] [ 1.99677253e-02 -1.69314244e-03 9.99799191e-01 6.27640759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983617864999999 meters 0.036918922530106195 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.26, Z:0.06 [[ 9.99394119e-01 -2.84127266e-02 -2.01025542e-02 3.68187622e+00] [ 2.84416646e-02 9.99594787e-01 1.15502800e-03 -2.64215847e-01] [ 2.00615909e-02 -1.72607830e-03 9.99797256e-01 6.35434580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.013617864999999 meters 0.03561380426044242 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.26, Z:0.06 [[ 9.99363464e-01 -2.93904344e-02 -2.02205143e-02 3.71060418e+00] [ 2.94198709e-02 9.99566469e-01 1.15977877e-03 -2.64965086e-01] [ 2.01776617e-02 -1.75392545e-03 9.99794872e-01 6.44261194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043617864999999 meters 0.035855358426604984 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.27, Z:0.06 [[ 9.99416010e-01 -2.77183496e-02 -1.99832822e-02 3.74047375e+00] [ 2.77466905e-02 9.99614334e-01 1.14231116e-03 -2.66088662e-01] [ 1.99439123e-02 -1.69611401e-03 9.99799662e-01 6.46944889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.073617864999999 meters 0.0383682044732667 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.27, Z:0.06 [[ 9.99477540e-01 -2.57687683e-02 -1.95094342e-02 3.76891274e+00] [ 2.57954038e-02 9.99666622e-01 1.11480241e-03 -2.70106877e-01] [ 1.94742030e-02 -1.61747370e-03 9.99809051e-01 6.45493008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1036178649999995 meters 0.03204209403985985 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.26, Z:0.07 [[ 9.99544540e-01 -2.36451753e-02 -1.87515075e-02 3.79886728e+00] [ 2.36693937e-02 9.99719267e-01 1.07063067e-03 -2.63129186e-01] [ 1.87209281e-02 -1.51397985e-03 9.99823602e-01 6.55063078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.133617864999999 meters 0.03311757739584992 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.27, Z:0.07 [[ 9.99658225e-01 -1.95284776e-02 -1.73802383e-02 3.82826224e+00] [ 1.95486554e-02 9.99808415e-01 9.91809365e-04 -2.68727402e-01] [ 1.73575400e-02 -1.33123068e-03 9.99848460e-01 6.75155804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163617864999999 meters 0.03573475195313263 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.28, Z:0.07 [[ 9.99696217e-01 -1.78718355e-02 -1.69726494e-02 3.85672399e+00] [ 1.78908369e-02 9.99839477e-01 9.68344090e-04 -2.75730267e-01] [ 1.69526189e-02 -1.27170483e-03 9.99855485e-01 6.92051867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.193617864999999 meters 0.033412272513670994 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.28, Z:0.07 [[ 9.99721543e-01 -1.69027319e-02 -1.64661483e-02 3.88610436e+00] [ 1.69204721e-02 9.99856398e-01 9.38639244e-04 -2.75914009e-01] [ 1.64479181e-02 -1.21699287e-03 9.99863983e-01 7.08649435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223617864999999 meters 0.029700070356910645 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.27, Z:0.07 [[ 9.99755279e-01 -1.55843361e-02 -1.57006578e-02 3.91525896e+00] [ 1.56002513e-02 9.99877911e-01 8.91695240e-04 -2.74152629e-01] [ 1.56848444e-02 -1.13641123e-03 9.99876339e-01 7.23043333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.253617864999999 meters 0.0286606143196097 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.27, Z:0.07 [[ 9.99862553e-01 -1.00612833e-02 -1.31774746e-02 3.94556454e+00] [ 1.00720056e-02 9.99948997e-01 7.47575114e-04 -2.72729233e-01] [ 1.31692810e-02 -8.80195961e-04 9.99912894e-01 7.41476717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283617864999999 meters 0.028319451982235445 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.27, Z:0.07 [[ 9.99888358e-01 -7.30469270e-03 -1.30350557e-02 3.97594565e+00] [ 7.31494432e-03 9.99972972e-01 7.38960571e-04 -2.73588468e-01] [ 1.30293055e-02 -8.34228779e-04 9.99914767e-01 7.44427965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.313617864999999 meters 0.026585018745618822 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.27, Z:0.07 [[ 9.99899427e-01 -5.04374703e-03 -1.32550347e-02 4.00606694e+00] [ 5.05414673e-03 9.99986946e-01 7.51204233e-04 -2.73966460e-01] [ 1.32510727e-02 -8.18121572e-04 9.99911866e-01 7.41815800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343617864999999 meters 0.02614654396547269 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.28, Z:0.07 [[ 9.99913619e-01 -1.43355533e-03 -1.30651789e-02 4.03474376e+00] [ 1.44335001e-03 9.99998684e-01 7.40279572e-04 -2.76738428e-01] [ 1.30641004e-02 -7.59073252e-04 9.99914373e-01 7.44656864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.373617864999999 meters 0.027862801937944184 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.28, Z:0.08 [[ 9.99916887e-01 9.44978474e-04 -1.28579374e-02 4.06365208e+00] [-9.35693459e-04 9.99999297e-01 7.28119787e-04 -2.80105951e-01] [ 1.28586164e-02 -7.16028183e-04 9.99917068e-01 7.51073139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.403617864999999 meters 0.027364525732422998 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.28, Z:0.07 [[ 9.99902001e-01 2.57019281e-03 -1.37616063e-02 4.09252403e+00] [-2.55971587e-03 9.99996421e-01 7.78876430e-04 -2.81655021e-01] [ 1.37635589e-02 -7.43574299e-04 9.99905001e-01 7.48521761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.433617864999999 meters 0.02505003232092403 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.28, Z:0.07 [[ 9.99872649e-01 6.33807252e-03 -1.46463510e-02 4.12265166e+00] [-6.32662439e-03 9.99979644e-01 8.27838621e-04 -2.77939975e-01] [ 1.46512998e-02 -7.35071232e-04 9.99892394e-01 7.43201070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.463617864999999 meters 0.023050831899447052 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.28, Z:0.07 [[ 9.99855149e-01 7.80317117e-03 -1.51258628e-02 4.15205272e+00] [-7.79113040e-03 9.99969283e-01 8.54803085e-04 -2.75465268e-01] [ 1.51320684e-02 -7.36831696e-04 9.99885232e-01 7.39428212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.493617864999999 meters 0.024105334816376077 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.28, Z:0.07 [[ 9.99831063e-01 8.49471389e-03 -1.62998797e-02 4.17945594e+00] [-8.48085545e-03 9.99963614e-01 9.19153644e-04 -2.79615869e-01] [ 1.63070946e-02 -7.80761441e-04 9.99866726e-01 7.35516383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.523617864999999 meters 0.021694070528352698 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.28, Z:0.07 [[ 9.99787669e-01 1.07840686e-02 -1.75590549e-02 4.20890327e+00] [-1.07683666e-02 9.99941531e-01 9.88543405e-04 -2.77577511e-01] [ 1.75686887e-02 -7.99251166e-04 9.99845339e-01 7.39704624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.553617864999999 meters 0.021604191753146262 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.28, Z:0.07 [[ 9.99766842e-01 1.18130231e-02 -1.80752107e-02 4.23816017e+00] [-1.17965878e-02 9.99929902e-01 1.01562814e-03 -2.77776271e-01] [ 1.80859413e-02 -8.02165528e-04 9.99836114e-01 7.34345351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.583617864999999 meters 0.02217964296471265 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.28, Z:0.07 [[ 9.99738674e-01 1.19332796e-02 -1.94982056e-02 4.26563757e+00] [-1.19142056e-02 9.99928425e-01 1.09411697e-03 -2.80521940e-01] [ 1.95098664e-02 -8.61525416e-04 9.99809293e-01 7.28202638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.613617864999999 meters 0.024594615942896827 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.28, Z:0.07 [[ 9.99705822e-01 1.14893522e-02 -2.13603443e-02 4.29366702e+00] [-1.14664016e-02 9.99933543e-01 1.19661974e-03 -2.84182934e-01] [ 2.13726731e-02 -9.51341433e-04 9.99771126e-01 7.13636202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.643617864999999 meters 0.02237622574726865 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.28, Z:0.07 [[ 9.99708614e-01 1.13308710e-02 -2.13142886e-02 4.32227154e+00] [-1.13080270e-02 9.99935352e-01 1.19199176e-03 -2.81147865e-01] [ 2.13264170e-02 -9.50621876e-04 9.99772114e-01 7.15183041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.673617864999999 meters 0.02293531205480584 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.28, Z:0.07 [[ 9.99700780e-01 1.01809704e-02 -2.22418029e-02 4.35125982e+00] [-1.01558578e-02 9.99947657e-01 1.24173722e-03 -2.84138758e-01] [ 2.22532808e-02 -1.01548108e-03 9.99751849e-01 7.13292429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.703617864999999 meters 0.022195912257442732 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.28, Z:0.07 [[ 9.99703115e-01 1.04462057e-02 -2.20127027e-02 4.38026453e+00] [-1.04217046e-02 9.99944939e-01 1.22747196e-03 -2.84615846e-01] [ 2.20243131e-02 -9.97697663e-04 9.99756938e-01 7.30282925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.733617864999999 meters 0.023269719956180414 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.29, Z:0.07 [[ 9.99693108e-01 9.66391958e-03 -2.28100641e-02 4.40822844e+00] [-9.63744644e-03 9.99952752e-01 1.27023770e-03 -2.89137813e-01] [ 2.28212619e-02 -1.05001710e-03 9.99739010e-01 7.33677142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763617864999999 meters 0.022119956748176593 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.29, Z:0.07 [[ 9.99676534e-01 9.79883392e-03 -2.34693669e-02 4.43713830e+00] [-9.77088970e-03 9.99951412e-01 1.30504847e-03 -2.88758049e-01] [ 2.34810145e-02 -1.07530974e-03 9.99723705e-01 7.42695158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.793617864999999 meters 0.02181956107148764 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.29, Z:0.08 [[ 9.99675847e-01 1.01900319e-02 -2.33316121e-02 4.46600689e+00] [-1.01625582e-02 9.99947520e-01 1.29580129e-03 -2.89136055e-01] [ 2.33435919e-02 -1.05827239e-03 9.99726941e-01 7.50744751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.823617864999999 meters 0.022196606013754366 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.29, Z:0.08 [[ 9.99689994e-01 9.79274351e-03 -2.28914569e-02 4.49464700e+00] [-9.76622834e-03 9.99951503e-01 1.26981224e-03 -2.92282787e-01] [ 2.29027817e-02 -1.04585539e-03 9.99737150e-01 7.62158315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.853617864999999 meters 0.02379016375183961 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.30, Z:0.08 [[ 9.99700540e-01 9.53782755e-03 -2.25357360e-02 4.52230371e+00] [-9.51210208e-03 9.99953980e-01 1.24846287e-03 -2.96107384e-01] [ 2.25466066e-02 -1.03372679e-03 9.99745259e-01 7.69481935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.883617864999999 meters 0.02147671828547718 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.30, Z:0.08 [[ 9.99705727e-01 8.95352879e-03 -2.25453596e-02 4.55148716e+00] [-8.92767390e-03 9.99959370e-01 1.24718692e-03 -2.95038597e-01] [ 2.25556103e-02 -1.04554229e-03 9.99745043e-01 7.83210613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.913617864999999 meters 0.021395963448706267 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.30, Z:0.08 [[ 9.99749663e-01 9.13126396e-03 -2.04262235e-02 4.58006376e+00] [-9.11010565e-03 9.99957865e-01 1.12865469e-03 -2.97921320e-01] [ 2.04356689e-02 -9.42287093e-04 9.99790726e-01 8.08110855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.943617864999999 meters 0.024346638559680785 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.30, Z:0.08 [[ 9.99760731e-01 9.16491344e-03 -1.98616313e-02 4.60763894e+00] [-9.14494323e-03 9.99957583e-01 1.09606116e-03 -3.04870588e-01] [ 1.98708341e-02 -9.14165416e-04 9.99802138e-01 8.17757621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.973617864999999 meters 0.02224885726501929 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.30, Z:0.08 [[ 9.99764859e-01 8.60387613e-03 -1.99047624e-02 4.63701366e+00] [-8.58374092e-03 9.99962558e-01 1.09679558e-03 -3.03428204e-01] [ 1.99134539e-02 -9.25680360e-04 9.99801279e-01 8.24095047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.003617864999999 meters 0.022310683164504852 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.30, Z:0.08 [[ 9.99760363e-01 9.16767442e-03 -1.98789087e-02 4.66607415e+00] [-9.14772957e-03 9.99957560e-01 1.09401959e-03 -3.03863471e-01] [ 1.98880946e-02 -9.11910540e-04 9.99801796e-01 8.25754202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.033617864999999 meters 0.023247940241262276 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.31, Z:0.08 [[ 9.99776290e-01 8.80072115e-03 -1.92332156e-02 4.69369815e+00] [-8.78201001e-03 9.99960879e-01 1.05710144e-03 -3.07366306e-01] [ 1.92417665e-02 -8.87958661e-04 9.99814466e-01 8.32078911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0636178649999986 meters 0.025684632480594084 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.31, Z:0.08 [[ 9.99779256e-01 9.61957651e-03 -1.86789706e-02 4.72153660e+00] [-9.60210675e-03 9.99953374e-01 1.02472749e-03 -3.12393570e-01] [ 1.86879571e-02 -8.45143819e-04 9.99825008e-01 8.42553281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.093617864999999 meters 0.025983122547827878 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.31, Z:0.08 [[ 9.99778609e-01 9.55951572e-03 -1.87442937e-02 4.74907336e+00] [-9.54194282e-03 9.99953948e-01 1.02672098e-03 -3.14504272e-01] [ 1.87532454e-02 -8.47636696e-04 9.99823783e-01 8.48304313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.123617864999999 meters 0.024280192932154804 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.31, Z:0.08 [[ 9.99769217e-01 9.12895471e-03 -1.94467252e-02 4.77761376e+00] [-9.10999406e-03 9.99957938e-01 1.06337132e-03 -3.13823596e-01] [ 1.94556147e-02 -8.85966364e-04 9.99810329e-01 8.49246506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.153617864999999 meters 0.02472423852015464 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.32, Z:0.08 [[ 9.99751224e-01 8.53823609e-03 -2.06055713e-02 4.80616055e+00] [-8.51685183e-03 9.99963098e-01 1.12532567e-03 -3.15262220e-01] [ 2.06144192e-02 -9.49551115e-04 9.99787049e-01 8.44463141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.183617864999999 meters 0.02485064257605231 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.32, Z:0.08 [[ 9.99754513e-01 8.58133267e-03 -2.04273095e-02 4.83525740e+00] [-8.56035290e-03 9.99962739e-01 1.11426659e-03 -3.15243929e-01] [ 2.04361102e-02 -9.39128069e-04 9.99790720e-01 8.40761270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.213617864999999 meters 0.025922897684773273 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.32, Z:0.08 [[ 9.99743246e-01 7.58483699e-03 -2.13521028e-02 4.86331370e+00] [-7.56171985e-03 9.99970733e-01 1.16319528e-03 -3.18149419e-01] [ 2.13603006e-02 -1.00143801e-03 9.99771341e-01 8.33859120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.243617864999999 meters 0.027684037727644252 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.32, Z:0.08 [[ 9.99740911e-01 5.10569414e-03 -2.21820340e-02 4.89169466e+00] [-5.08017249e-03 9.99986368e-01 1.20675421e-03 -3.22591902e-01] [ 2.21878930e-02 -1.09375300e-03 9.99753220e-01 8.37954722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2736178649999985 meters 0.028360640890009826 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.32, Z:0.08 [[ 9.99766637e-01 4.04182686e-03 -2.12211046e-02 4.92089439e+00] [-4.01825243e-03 9.99991262e-01 1.15341910e-03 -3.24325873e-01] [ 2.12255811e-02 -1.06787818e-03 9.99774142e-01 8.49674972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.303617864999999 meters 0.029836673912571842 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.33, Z:0.09 [[ 9.99783273e-01 1.68327275e-03 -2.07502516e-02 4.95028626e+00] [-1.66025046e-03 9.99997987e-01 1.12667179e-03 -3.28465771e-01] [ 2.07521063e-02 -1.09197700e-03 9.99784056e-01 8.63614634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.333617864999999 meters 0.03306639369722266 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.34, Z:0.09 [[ 9.99793757e-01 -3.74564221e-03 -1.99603011e-02 4.97935180e+00] [ 3.76801212e-03 9.99992314e-01 1.08322890e-03 -3.36034548e-01] [ 1.99560903e-02 -1.15821614e-03 9.99800187e-01 8.82560359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.363617864999999 meters 0.0340597520337655 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.34, Z:0.09 [[ 9.99795978e-01 -5.21276248e-03 -1.95148679e-02 5.00895108e+00] [ 5.23441679e-03 9.99985740e-01 1.05871621e-03 -3.36922328e-01] [ 1.95090707e-02 -1.16064916e-03 9.99809006e-01 8.87912460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.393617864999999 meters 0.035296102922780515 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.34, Z:0.09 [[ 9.99787403e-01 -6.89528386e-03 -1.94320136e-02 5.03814281e+00] [ 6.91705867e-03 9.99975522e-01 1.05357332e-03 -3.38922007e-01] [ 1.94242732e-02 -1.18776171e-03 9.99810625e-01 8.89574222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423617864999999 meters 0.025101646658425944 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.33, Z:0.09 [[ 9.99779799e-01 -9.01736959e-03 -1.89483878e-02 5.06863918e+00] [ 9.03843771e-03 9.99958626e-01 1.02652176e-03 -3.27860772e-01] [ 1.89383473e-02 -1.19755954e-03 9.99819936e-01 9.16216895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.453617864999999 meters 0.038262679780800314 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.35, Z:0.09 [[ 9.99778926e-01 -9.80578782e-03 -1.85995928e-02 5.09512089e+00] [ 9.82620921e-03 9.99951215e-01 1.00687406e-03 -3.47133971e-01] [ 1.85888122e-02 -1.18941496e-03 9.99826506e-01 9.22700707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4836178649999985 meters 0.028637514089831558 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.33, Z:0.09 [[ 9.99786962e-01 -1.07686740e-02 -1.76087227e-02 5.12423843e+00] [ 1.07870996e-02 9.99941365e-01 9.51738627e-04 -3.34286466e-01] [ 1.75974413e-02 -1.14148292e-03 9.99844501e-01 9.33766519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.513617864999999 meters 0.02849253774849149 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.34, Z:0.09 [[ 9.99785107e-01 -1.11126645e-02 -1.74999549e-02 5.15221045e+00] [ 1.11308742e-02 9.99937605e-01 9.43496694e-04 -3.35020387e-01] [ 1.74883782e-02 -1.13808374e-03 9.99846419e-01 9.35362021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.543617864999999 meters 0.027855641198726407 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.34, Z:0.09 [[ 9.99797675e-01 -1.09401556e-02 -1.68796424e-02 5.18138200e+00] [ 1.09569985e-02 9.99939560e-01 9.05661744e-04 -3.35340890e-01] [ 1.68687141e-02 -1.09042872e-03 9.99857119e-01 9.42873803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.573617864999999 meters 0.027949538512191487 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.34, Z:0.09 [[ 9.99800237e-01 -1.04634502e-02 -1.70294415e-02 5.21052053e+00] [ 1.04804551e-02 9.99944665e-01 9.09620652e-04 -3.36305059e-01] [ 1.70189814e-02 -1.08791524e-03 9.99854575e-01 9.44649397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.603617864999999 meters 0.02987366069010545 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.34, Z:0.09 [[ 9.99811485e-01 -8.70651911e-03 -1.73548471e-02 5.23879106e+00] [ 8.72384738e-03 9.99961521e-01 9.23011599e-04 -3.40066655e-01] [ 1.73461431e-02 -1.07423863e-03 9.99848967e-01 9.42304226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.633617864999999 meters 0.03163455797644624 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.34, Z:0.09 [[ 9.99816338e-01 -7.92318018e-03 -1.74502871e-02 5.26615131e+00] [ 7.94056715e-03 9.99968043e-01 9.27308349e-04 -3.44742962e-01] [ 1.74423822e-02 -1.06570321e-03 9.99847302e-01 9.47072292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.663617864999999 meters 0.025439635355854615 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.34, Z:0.10 [[ 9.99818625e-01 -7.59333518e-03 -1.74659485e-02 5.29548838e+00] [ 7.61067528e-03 9.99970609e-01 9.26539424e-04 -3.38693281e-01] [ 1.74583996e-02 -1.05929903e-03 9.99847029e-01 9.58060424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6936178649999984 meters 0.023955410740964148 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.34, Z:0.10 [[ 9.99821487e-01 -6.77348141e-03 -1.76384078e-02 5.32443835e+00] [ 6.79096279e-03 9.99976507e-01 9.31389677e-04 -3.37366476e-01] [ 1.76316847e-02 -1.05100518e-03 9.99843997e-01 9.53639596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.723617864999999 meters 0.026814921922126755 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.34, Z:0.09 [[ 9.99820260e-01 -6.23598799e-03 -1.79042085e-02 5.35239302e+00] [ 6.25383917e-03 9.99980002e-01 9.41221474e-04 -3.42427869e-01] [ 1.78979810e-02 -1.05302234e-03 9.99839264e-01 9.46995189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.753617864999999 meters 0.024685679355600676 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.34, Z:0.09 [[ 9.99826668e-01 -6.23190656e-03 -1.75441482e-02 5.38152785e+00] [ 6.24901690e-03 9.99980051e-01 9.20620533e-04 -3.41111543e-01] [ 1.75380609e-02 -1.03009464e-03 9.99845666e-01 9.47521120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.783617864999999 meters 0.025514752308923052 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.35, Z:0.10 [[ 9.99846894e-01 -5.10520691e-03 -1.67369194e-02 5.40890661e+00] [ 5.12055753e-03 9.99986508e-01 8.74444840e-04 -3.45800863e-01] [ 1.67322294e-02 -9.60013316e-04 9.99859546e-01 9.57397679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8136178649999986 meters 0.025514752308923052 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.35, Z:0.10 [[ 9.99845467e-01 -5.37735011e-03 -1.67369975e-02 5.43650709e+00] [ 5.39271374e-03 9.99985078e-01 8.72947354e-04 -3.47181002e-01] [ 1.67320536e-02 -9.63070291e-04 9.99859546e-01 9.61926062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843617864999999 meters 0.025229553469248028 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.35, Z:0.10 [[ 9.99850797e-01 -4.42622035e-03 -1.66970878e-02 5.46524048e+00] [ 4.44130288e-03 9.99989762e-01 8.66330226e-04 -3.49088979e-01] [ 1.66930823e-02 -9.40357791e-04 9.99860219e-01 9.65151759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.873617864999999 meters 0.023883436174561328 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.35, Z:0.10 [[ 9.99845466e-01 -3.39984916e-03 -1.72477627e-02 5.49437248e+00] [ 3.41571774e-03 9.99993770e-01 8.90661605e-04 -3.49132573e-01] [ 1.72446271e-02 -9.49437457e-04 9.99850850e-01 9.70174191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.903617864999998 meters 0.02568176360964964 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.35, Z:0.10 [[ 9.99852659e-01 -7.31056673e-04 -1.71501033e-02 5.52306720e+00] [ 7.46286656e-04 9.99999333e-01 8.81657201e-04 -3.53690033e-01] [ 1.71494473e-02 -8.94326190e-04 9.99852537e-01 9.69018968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.933617864999999 meters 0.02380129645293943 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.35, Z:0.10 [[ 9.99851901e-01 9.15441502e-04 -1.71853917e-02 5.55251866e+00] [-9.00404016e-04 9.99999205e-01 8.82732688e-04 -3.52604532e-01] [ 1.71861861e-02 -8.67128161e-04 9.99851931e-01 9.69448038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.963617864999999 meters 0.022966328291583456 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.35, Z:0.10 [[ 9.99845872e-01 4.08662551e-03 -1.70742951e-02 5.58260645e+00] [-4.07230466e-03 9.99991327e-01 8.73421995e-04 -3.53670685e-01] [ 1.70777163e-02 -8.03755645e-04 9.99853842e-01 9.74394488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.993617864999999 meters 0.02244500474939268 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.36, Z:0.10 [[ 9.99844623e-01 4.79414621e-03 -1.69630798e-02 5.61150402e+00] [-4.78011828e-03 9.99988199e-01 8.67417489e-04 -3.55292602e-01] [ 1.69670382e-02 -7.86197185e-04 9.99855740e-01 9.81156234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0236178649999985 meters 0.02182388959010341 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.36, Z:0.10 [[ 9.99836932e-01 6.41584252e-03 -1.68803318e-02 5.64078023e+00] [-6.40220147e-03 9.99979134e-01 8.62019163e-04 -3.56148978e-01] [ 1.68855102e-02 -7.53807310e-04 9.99857145e-01 9.91663821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.053617864999999 meters 0.020997361520664618 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.36, Z:0.10 [[ 9.99818824e-01 8.34592724e-03 -1.71074685e-02 5.67009002e+00] [-8.33223384e-03 9.99964907e-01 8.71555973e-04 -3.56578183e-01] [ 1.71141420e-02 -7.28854640e-04 9.99853277e-01 9.93001497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.083617864999999 meters 0.019278626596560173 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.36, Z:0.10 [[ 9.99771870e-01 1.12653469e-02 -1.81466033e-02 5.69963504e+00] [-1.12504909e-02 9.99936287e-01 9.20553324e-04 -3.55940737e-01] [ 1.81558175e-02 -7.16185124e-04 9.99834913e-01 9.93082188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.113617864999998 meters 0.018805030819524362 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.36, Z:0.10 [[ 9.99748595e-01 1.37948853e-02 -1.76762176e-02 5.72908167e+00] [-1.37811954e-02 9.99904633e-01 8.96064247e-04 -3.55846646e-01] [ 1.76868930e-02 -6.52239563e-04 9.99843362e-01 1.00035670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.143617864999999 meters 0.019184679549452445 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.36, Z:0.10 [[ 9.99729083e-01 1.49715697e-02 -1.78217033e-02 5.75683262e+00] [-1.49578579e-02 9.99887718e-01 9.02447850e-04 -3.57908769e-01] [ 1.78332133e-02 -6.35628856e-04 9.99840774e-01 9.98258742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.173617864999999 meters 0.018728583302961427 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.36, Z:0.10 [[ 9.99716363e-01 1.52422219e-02 -1.82994002e-02 5.78597595e+00] [-1.52278395e-02 9.99883622e-01 9.25042332e-04 -3.59554368e-01] [ 1.83113702e-02 -6.46119626e-04 9.99832124e-01 9.99010065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.203617864999999 meters 0.018534001425955727 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.36, Z:0.10 [[ 9.99695278e-01 1.64463019e-02 -1.84084514e-02 5.81526604e+00] [-1.64319744e-02 9.99864554e-01 9.29306481e-04 -3.60761563e-01] [ 1.84212417e-02 -6.26536098e-04 9.99830118e-01 1.00764569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2336178649999985 meters 0.018430274441298793 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.36, Z:0.10 [[ 9.99669148e-01 1.79991702e-02 -1.83745822e-02 5.84347608e+00] [-1.79851761e-02 9.99837824e-01 9.26576700e-04 -3.60821556e-01] [ 1.83882799e-02 -5.95800044e-04 9.99830744e-01 1.00790801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263617864999999 meters 0.018874636089149455 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.36, Z:0.10 [[ 9.99653941e-01 1.75475072e-02 -1.95980634e-02 5.87148329e+00] [-1.75315353e-02 9.99845824e-01 9.86497387e-04 -3.63975587e-01] [ 1.96123524e-02 -6.42571860e-04 9.99807453e-01 1.00052921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.293617864999999 meters 0.019653979960930015 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.37, Z:0.10 [[ 9.99663937e-01 1.60977211e-02 -2.03193760e-02 5.89876817e+00] [-1.60802900e-02 9.99870183e-01 1.02096134e-03 -3.66848457e-01] [ 2.03331733e-02 -6.93876770e-04 9.99793019e-01 9.95951418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.323617864999998 meters 0.020026220206049015 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.37, Z:0.10 [[ 9.99671847e-01 1.55490519e-02 -2.03574413e-02 5.92792204e+00] [-1.55314810e-02 9.99878858e-01 1.02095066e-03 -3.68745542e-01] [ 2.03708500e-02 -7.04434419e-04 9.99792245e-01 1.00051807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.353617864999999 meters 0.018965261031671638 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.37, Z:0.10 [[ 9.99676773e-01 1.68943960e-02 -1.89981057e-02 5.95660387e+00] [-1.68793592e-02 9.99857081e-01 9.51579605e-04 -3.67008494e-01] [ 1.90114669e-02 -6.30596180e-04 9.99819067e-01 1.01164708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383617864999999 meters 0.018930002934669645 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.37, Z:0.10 [[ 9.99678556e-01 1.72175459e-02 -1.86102366e-02 5.98540083e+00] [-1.72031958e-02 9.99851581e-01 9.30913441e-04 -3.67833740e-01] [ 1.86235026e-02 -6.10458660e-04 9.99826381e-01 1.01938137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.413617864999999 meters 0.01992881926511888 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.37, Z:0.10 [[ 9.99671408e-01 1.63510079e-02 -1.97413658e-02 6.01355590e+00] [-1.63347190e-02 9.99866093e-01 9.86093994e-04 -3.70708125e-01] [ 1.97548460e-02 -6.63300306e-04 9.99804634e-01 1.01297780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4436178649999984 meters 0.02026042309474966 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.37, Z:0.10 [[ 9.99672084e-01 1.56089644e-02 -2.02998476e-02 6.04215803e+00] [-1.55916161e-02 9.99877931e-01 1.01260140e-03 -3.72840453e-01] [ 2.03131752e-02 -6.95761926e-04 9.99793424e-01 1.01038031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.473617864999999 meters 0.02074558836639865 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.38, Z:0.10 [[ 9.99685968e-01 1.46433086e-02 -2.03356772e-02 6.07058488e+00] [-1.46257269e-02 9.99892525e-01 1.01304225e-03 -3.75369375e-01] [ 2.03483259e-02 -7.15300061e-04 9.99792696e-01 1.01586501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.503617864999999 meters 0.02092398762989087 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.38, Z:0.10 [[ 9.99707508e-01 1.40598468e-02 -1.96778685e-02 6.09959219e+00] [-1.40432963e-02 9.99900909e-01 9.79012111e-04 -3.77549952e-01] [ 1.96896834e-02 -7.02383621e-04 9.99805893e-01 1.02954553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.533617864999998 meters 0.021682582787127088 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.38, Z:0.10 [[ 9.99747403e-01 1.29462659e-02 -1.83718306e-02 6.12689511e+00] [-1.29316736e-02 9.99915966e-01 9.12863029e-04 -3.81012803e-01] [ 1.83821049e-02 -6.75053927e-04 9.99830807e-01 1.04906192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5636178649999986 meters 0.022748418256463107 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.38, Z:0.11 [[ 9.99757698e-01 1.22064985e-02 -1.83179398e-02 6.15439438e+00] [-1.21918951e-02 9.99925263e-01 9.08690065e-04 -3.83282434e-01] [ 1.83276627e-02 -6.85139488e-04 9.99831800e-01 1.05034386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.593617864999999 meters 0.022662791026288626 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.38, Z:0.10 [[ 9.99760111e-01 1.16639137e-02 -1.85384581e-02 6.18328826e+00] [-1.16488908e-02 9.99931728e-01 9.18148426e-04 -3.83656085e-01] [ 1.85479017e-02 -7.01975697e-04 9.99827726e-01 1.04886289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623617864999999 meters 0.022911175337670626 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.38, Z:0.11 [[ 9.99753459e-01 1.28402624e-02 -1.81148613e-02 6.21097998e+00] [-1.28261323e-02 9.99917340e-01 8.95999538e-04 -3.83668456e-01] [ 1.81248688e-02 -6.63435030e-04 9.99835511e-01 1.06013404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.653617864999998 meters 0.022851701014975842 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.39, Z:0.11 [[ 9.99744225e-01 1.32856825e-02 -1.83023238e-02 6.24030002e+00] [-1.32713588e-02 9.99911523e-01 9.03855980e-04 -3.85470599e-01] [ 1.83127128e-02 -6.60728090e-04 9.99832090e-01 1.06286291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.683617864999999 meters 0.020424992991103123 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.39, Z:0.11 [[ 9.99741909e-01 1.24910499e-02 -1.89760163e-02 6.26922309e+00] [-1.24755278e-02 9.99921739e-01 9.36144064e-04 -3.85769136e-01] [ 1.89862247e-02 -6.99166634e-04 9.99819501e-01 1.08083570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.713617864999999 meters 0.02015540280424837 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.39, Z:0.11 [[ 9.99771056e-01 1.12921523e-02 -1.81747601e-02 6.29810114e+00] [-1.12777372e-02 9.99936003e-01 8.95440812e-04 -3.87059936e-01] [ 1.81837085e-02 -6.90265639e-04 9.99834424e-01 1.09377522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.743617864999998 meters 0.021050618984200617 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.39, Z:0.11 [[ 9.99802091e-01 9.33729915e-03 -1.75668333e-02 6.32678612e+00] [-9.32355143e-03 9.99956161e-01 8.64332910e-04 -3.89533636e-01] [ 1.75741337e-02 -7.00376577e-04 9.99845318e-01 1.10061925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7736178649999985 meters 0.02229954603208106 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.39, Z:0.11 [[ 9.99827813e-01 6.71982495e-03 -1.72970700e-02 6.35545566e+00] [-6.70612490e-03 9.99977152e-01 8.49925670e-04 -3.90727470e-01] [ 1.73023861e-02 -7.33783012e-04 9.99850033e-01 1.09933351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803617864999999 meters 0.02233216167130158 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.39, Z:0.11 [[ 9.99825829e-01 5.02141937e-03 -1.79749073e-02 6.38407232e+00] [-5.00636772e-03 9.99987079e-01 8.82270384e-04 -3.91908211e-01] [ 1.79791053e-02 -7.92127722e-04 9.99838049e-01 1.09568010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.833617864999999 meters 0.02391423220540415 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.40, Z:0.11 [[ 9.99814917e-01 2.79075298e-03 -1.90353159e-02 6.41246115e+00] [-2.77349410e-03 9.99995719e-01 9.33015879e-04 -3.96677630e-01] [ 1.90378382e-02 -8.80048858e-04 9.99818377e-01 1.09471918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.863617864999998 meters 0.025634446316278113 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.40, Z:0.11 [[ 9.99821873e-01 6.17253839e-04 -1.88637720e-02 6.44077278e+00] [-5.99937376e-04 9.99999394e-01 9.23619798e-04 -4.00892168e-01] [ 1.88643306e-02 -9.12138194e-04 9.99821637e-01 1.10720756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.893617864999999 meters 0.02604279464769311 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.40, Z:0.11 [[ 9.99825781e-01 -2.23975717e-04 -1.86643627e-02 6.46919698e+00] [ 2.41050271e-04 9.99999555e-01 9.12576492e-04 -4.03116914e-01] [ 1.86641499e-02 -9.16916553e-04 9.99825389e-01 1.11401691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923617864999999 meters 0.027255271236024517 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.41, Z:0.11 [[ 9.99812088e-01 -1.30885086e-03 -1.93410377e-02 6.49642591e+00] [ 1.32735913e-03 9.99998673e-01 9.44136715e-04 -4.07442942e-01] [ 1.93397763e-02 -9.69631803e-04 9.99812499e-01 1.11810239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.953617864999998 meters 0.027292577575317795 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.41, Z:0.11 [[ 9.99804065e-01 -1.82641635e-03 -1.97102746e-02 6.52542343e+00] [ 1.84567701e-03 9.99997837e-01 9.59042085e-04 -4.08079839e-01] [ 1.97084803e-02 -9.95232976e-04 9.99805274e-01 1.13052409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9836178649999985 meters 0.02791082988086464 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.41, Z:0.11 [[ 9.99795942e-01 -1.90004471e-03 -2.01112970e-02 6.55334182e+00] [ 1.92001690e-03 9.99997683e-01 9.73820621e-04 -4.06374792e-01] [ 2.01094001e-02 -1.01223594e-03 9.99797273e-01 1.12592534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.013617864999999 meters 0.024144729327985854 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.40, Z:0.11 [[ 9.99786279e-01 -2.78307022e-03 -2.04853609e-02 6.58199135e+00] [ 2.80388246e-03 9.99995582e-01 9.87304703e-04 -4.02401195e-01] [ 2.04825226e-02 -1.04453224e-03 9.99789665e-01 1.13302918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.043617865 meters 0.02373807432814709 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.40, Z:0.11 [[ 9.99773183e-01 -4.05586455e-03 -2.09077271e-02 6.61112143e+00] [ 4.07776928e-03 9.99991181e-01 1.00515892e-03 -4.03608968e-01] [ 2.09034659e-02 -1.09018782e-03 9.99780904e-01 1.13829291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.073617865 meters 0.025547251490357515 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.41, Z:0.11 [[ 9.99720405e-01 -6.40074437e-03 -2.27627397e-02 6.63966716e+00] [ 6.42720763e-03 9.99978752e-01 1.08959876e-03 -4.06482567e-01] [ 2.27552818e-02 -1.23559497e-03 9.99740302e-01 1.13505947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.103617865 meters 0.027090652530644247 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.41, Z:0.11 [[ 9.99687515e-01 -7.73127161e-03 -2.37718082e-02 6.66753041e+00] [ 7.76046443e-03 9.99969242e-01 1.13603415e-03 -4.09111470e-01] [ 2.37622941e-02 -1.32015943e-03 9.99716765e-01 1.12960165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.133617865 meters 0.024429198359596022 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.41, Z:0.11 [[ 9.99664666e-01 -9.24835737e-03 -2.41872724e-02 6.69618746e+00] [ 9.27896422e-03 9.99956284e-01 1.15348255e-03 -4.06156116e-01] [ 2.41755472e-02 -1.37752858e-03 9.99706780e-01 1.13747226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.163617864999999 meters 0.027459575791044688 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.41, Z:0.11 [[ 9.99643047e-01 -1.00229608e-02 -2.47652556e-02 6.72357804e+00] [ 1.00552135e-02 9.99948751e-01 1.17814761e-03 -4.10556508e-01] [ 2.47521778e-02 -1.42674700e-03 9.99692600e-01 1.13410723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.193617865 meters 0.026005337410037417 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.41, Z:0.11 [[ 9.99630646e-01 -1.01462369e-02 -2.52115983e-02 6.75193119e+00] [ 1.01796055e-02 9.99947472e-01 1.19555141e-03 -4.08621726e-01] [ 2.51981436e-02 -1.45175395e-03 9.99681422e-01 1.13772018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.223617865 meters 0.02860542038908549 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.41, Z:0.11 [[ 9.99627567e-01 -9.28004491e-03 -2.56633711e-02 6.77946310e+00] [ 9.31419965e-03 9.99955888e-01 1.21165633e-03 -4.12900310e-01] [ 2.56509949e-02 -1.45023883e-03 9.99669907e-01 1.14410705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.253617864999999 meters 0.029549180244713806 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.42, Z:0.12 [[ 9.99640387e-01 -8.51055963e-03 -2.54296640e-02 6.80778285e+00] [ 8.54375964e-03 9.99962785e-01 1.19719564e-03 -4.15591983e-01] [ 2.54185288e-02 -1.41403005e-03 9.99675897e-01 1.15517328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.283617865 meters 0.029033132373602232 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.42, Z:0.12 [[ 9.99651610e-01 -7.10018300e-03 -2.54213572e-02 6.83668484e+00] [ 7.13279713e-03 9.99973850e-01 1.19249349e-03 -4.15753406e-01] [ 2.54122255e-02 -1.37340342e-03 9.99676114e-01 1.16299934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.313617865 meters 0.029016910427089343 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.42, Z:0.12 [[ 9.99658272e-01 -6.18691407e-03 -2.53980719e-02 6.86585634e+00] [ 6.21909634e-03 9.99979955e-01 1.18832042e-03 -4.15666012e-01] [ 2.53902108e-02 -1.34586739e-03 9.99676711e-01 1.16927358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343617864999999 meters 0.023872096266220364 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.41, Z:0.12 [[ 9.99690908e-01 -2.69330014e-03 -2.47150675e-02 6.89639959e+00] [ 2.72261744e-03 9.99995629e-01 1.15263842e-03 -4.07534860e-01] [ 2.47118551e-02 -1.21957182e-03 9.99693872e-01 1.18842045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.373617865 meters 0.026234137578789587 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.41, Z:0.12 [[ 9.99717346e-01 -1.44894968e-03 -2.37303474e-02 6.92430706e+00] [ 1.47560602e-03 9.99998300e-01 1.10582929e-03 -4.11549499e-01] [ 2.37287048e-02 -1.14053336e-03 9.99717784e-01 1.19454726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403617865 meters 0.023143941729388714 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.41, Z:0.12 [[ 9.99717231e-01 2.96805009e-04 -2.37774952e-02 6.95315950e+00] [-2.70579967e-04 9.99999352e-01 1.10614514e-03 -4.08066188e-01] [ 2.37778081e-02 -1.09939864e-03 9.99716663e-01 1.21063939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.433617864999999 meters 0.021995474665661097 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.41, Z:0.12 [[ 9.99710635e-01 2.98720517e-03 -2.38688647e-02 6.98289297e+00] [-2.96157593e-03 9.99995000e-01 1.10902969e-03 -4.07552181e-01] [ 2.38720583e-02 -1.03801932e-03 9.99714483e-01 1.21819108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463617865 meters 0.021564442664369653 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.41, Z:0.12 [[ 9.99701913e-01 3.62725757e-03 -2.41439195e-02 7.01221117e+00] [-3.60127562e-03 9.99992889e-01 1.11952201e-03 -4.09024455e-01] [ 2.41478086e-02 -1.03223939e-03 9.99707866e-01 1.23029990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.493617865 meters 0.020779512098376786 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.41, Z:0.12 [[ 9.99692289e-01 4.22422725e-03 -2.44434864e-02 7.04072974e+00] [-4.19787822e-03 9.99990551e-01 1.12916984e-03 -4.09950291e-01] [ 2.44480253e-02 -1.02621161e-03 9.99700576e-01 1.23944834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523617865 meters 0.02094328790026306 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.41, Z:0.12 [[ 9.99666346e-01 4.94550546e-03 -2.53522937e-02 7.06938557e+00] [-4.91747610e-03 9.99987227e-01 1.16782043e-03 -4.11442673e-01] [ 2.53577454e-02 -1.04276148e-03 9.99677897e-01 1.23423772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.553617865 meters 0.021496205086216184 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.41, Z:0.12 [[ 9.99663279e-01 5.15476879e-03 -2.54314043e-02 7.09750094e+00] [-5.12676183e-03 9.99986178e-01 1.16635306e-03 -4.13433528e-01] [ 2.54370651e-02 -1.03557958e-03 9.99675889e-01 1.22989047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583617864999999 meters 0.020925193597771407 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.41, Z:0.12 [[ 9.99661997e-01 5.58341169e-03 -2.53912688e-02 7.12592110e+00] [-5.55569993e-03 9.99983892e-01 1.16180345e-03 -4.14349128e-01] [ 2.53973467e-02 -1.02034448e-03 9.99676915e-01 1.23645906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.613617865 meters 0.020198592433080618 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.42, Z:0.12 [[ 9.99626107e-01 6.65420882e-03 -2.65210969e-02 7.15487048e+00] [-6.62444772e-03 9.99977326e-01 1.20986955e-03 -4.16090218e-01] [ 2.65285462e-02 -1.03372957e-03 9.99647522e-01 1.23712794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.643617865 meters 0.020405929330343478 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.42, Z:0.12 [[ 9.99591599e-01 7.10572397e-03 -2.76793143e-02 7.18375921e+00] [-7.07361499e-03 9.99974191e-01 1.25777898e-03 -4.18501624e-01] [ 2.76875373e-02 -1.06147249e-03 9.99616063e-01 1.23518908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.673617864999999 meters 0.023920828162993128 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.43, Z:0.12 [[ 9.99569228e-01 7.26437045e-03 -2.84356588e-02 7.21067811e+00] [-7.23062020e-03 9.99973027e-01 1.28954503e-03 -4.25937255e-01] [ 2.84442596e-02 -1.08338208e-03 9.99594793e-01 1.21743781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703617865 meters 0.023920828162993128 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.43, Z:0.12 [[ 9.99569917e-01 7.16846615e-03 -2.84357997e-02 7.23820513e+00] [-7.13476559e-03 9.99973720e-01 1.28643168e-03 -4.27088053e-01] [ 2.84442742e-02 -1.08299564e-03 9.99594793e-01 1.22195025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.733617865 meters 0.020503308960312952 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.42, Z:0.12 [[ 9.99543386e-01 7.26083554e-03 -2.93308797e-02 7.26728923e+00] [-7.22509256e-03 9.99973022e-01 1.32441213e-03 -4.24841117e-01] [ 2.93397048e-02 -1.11188906e-03 9.99568880e-01 1.23362342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763617864999999 meters 0.0206366232996646 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.43, Z:0.12 [[ 9.99541775e-01 6.61180876e-03 -2.95385027e-02 7.29561183e+00] [-6.57534171e-03 9.99977496e-01 1.33152439e-03 -4.26805769e-01] [ 2.95466418e-02 -1.13668850e-03 9.99562756e-01 1.23513945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.793617865 meters 0.020653196244266196 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.43, Z:0.12 [[ 9.99563005e-01 7.21468445e-03 -2.86661444e-02 7.32446667e+00] [-7.18071146e-03 9.99973389e-01 1.28789317e-03 -4.27128591e-01] [ 2.86746733e-02 -1.08148705e-03 9.99588212e-01 1.24162254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823617865 meters 0.021506652105367376 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.43, Z:0.12 [[ 9.99582434e-01 8.23967157e-03 -2.76959323e-02 7.35238543e+00] [-8.20849716e-03 9.99965542e-01 1.23910182e-03 -4.29582780e-01] [ 2.77051878e-02 -1.01124244e-03 9.99615626e-01 1.24801596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.853617864999999 meters 0.02112841187924512 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.43, Z:0.13 [[ 9.99580440e-01 8.13483387e-03 -2.77987181e-02 7.38021363e+00] [-8.10347606e-03 9.99966397e-01 1.24050152e-03 -4.33026103e-01] [ 2.78078753e-02 -1.01471481e-03 9.99612771e-01 1.25753554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.883617865 meters 0.021227518091431568 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.43, Z:0.13 [[ 9.99567612e-01 7.66465441e-03 -2.83873540e-02 7.40928426e+00] [-7.63183542e-03 9.99970078e-01 1.26427974e-03 -4.34867271e-01] [ 2.83961948e-02 -1.04708547e-03 9.99596198e-01 1.26903443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.913617864999999 meters 0.021356887622292684 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.44, Z:0.13 [[ 9.99577745e-01 7.53176787e-03 -2.80642721e-02 7.43748758e+00] [-7.49970317e-03 9.99971099e-01 1.24762941e-03 -4.36150066e-01] [ 2.80728579e-02 -1.03662888e-03 9.99605342e-01 1.27312689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943617865 meters 0.022779948934133935 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.44, Z:0.13 [[ 9.99566026e-01 6.19365730e-03 -2.87992909e-02 7.46545479e+00] [-6.15942915e-03 9.99980215e-01 1.27706772e-03 -4.40959300e-01] [ 2.88066308e-02 -1.09912631e-03 9.99584399e-01 1.27924019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.973617865 meters 0.023417526336153884 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.44, Z:0.13 [[ 9.99569463e-01 5.49332758e-03 -2.88220742e-02 7.49370089e+00] [-5.45884281e-03 9.99984288e-01 1.27501882e-03 -4.43706238e-01] [ 2.88286255e-02 -1.11713471e-03 9.99583745e-01 1.28693893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.003617864999999 meters 0.02412255197972786 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.45, Z:0.13 [[ 9.99573979e-01 4.78678303e-03 -2.87914554e-02 7.52117050e+00] [-4.75214632e-03 9.99987900e-01 1.27132550e-03 -4.45689530e-01] [ 2.87971926e-02 -1.13396268e-03 9.99584632e-01 1.28701453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.033617865 meters 0.025346440298353652 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.45, Z:0.13 [[ 9.99580319e-01 2.30198818e-03 -2.88770880e-02 7.54920015e+00] [-2.26617531e-03 9.99996622e-01 1.27284874e-03 -4.48032021e-01] [ 2.88799205e-02 -1.20687400e-03 9.99582160e-01 1.28777490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063617865 meters 0.02631625383345735 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.45, Z:0.13 [[ 9.99583259e-01 3.88667881e-04 -2.88644617e-02 7.57787513e+00] [-3.52205921e-04 9.99999134e-01 1.26828633e-03 -4.51003715e-01] [ 2.88649296e-02 -1.25759155e-03 9.99582530e-01 1.29269510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.093617864999999 meters 0.027364261860566348 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.45, Z:0.13 [[ 9.99588283e-01 -1.56470318e-03 -2.86498852e-02 7.60665235e+00] [ 1.60124307e-03 9.99997934e-01 1.25249603e-03 -4.53858530e-01] [ 2.86478662e-02 -1.29785578e-03 9.99588723e-01 1.30218464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.123617865 meters 0.02874281927788845 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.46, Z:0.13 [[ 9.99585129e-01 -3.58795813e-03 -2.85779178e-02 7.63478647e+00] [ 3.62501380e-03 9.99992655e-01 1.24495118e-03 -4.57069095e-01] [ 2.85732410e-02 -1.34803004e-03 9.99590793e-01 1.30640575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.153617865 meters 0.02415298621352518 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.45, Z:0.13 [[ 9.99582491e-01 -7.66902397e-03 -2.78573077e-02 7.66547126e+00] [ 7.70578636e-03 9.99969575e-01 1.21255369e-03 -4.53900706e-01] [ 2.78471611e-02 -1.42670990e-03 9.99611174e-01 1.34961660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.183617864999999 meters 0.024043246987039076 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.46, Z:0.14 [[ 9.99580650e-01 -9.53810265e-03 -2.73413208e-02 7.69470139e+00] [ 9.57419691e-03 9.99953459e-01 1.18952690e-03 -4.55944155e-01] [ 2.73287024e-02 -1.45079926e-03 9.99625448e-01 1.36978781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.213617865 meters 0.027124405941236454 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.46, Z:0.14 [[ 9.99615182e-01 -1.01462461e-02 -2.58174663e-02 7.72192555e+00] [ 1.01785884e-02 9.99947568e-01 1.12162055e-03 -4.60851818e-01] [ 2.58047324e-02 -1.38397429e-03 9.99666044e-01 1.37926018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.243617865 meters 0.026092411573957686 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.46, Z:0.14 [[ 9.99627777e-01 -1.06519887e-02 -2.51165807e-02 7.74976098e+00] [ 1.06826641e-02 9.99942347e-01 1.08745655e-03 -4.59396494e-01] [ 2.51035491e-02 -1.35536377e-03 9.99683937e-01 1.38730962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.273617864999999 meters 0.026305401229726213 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.46, Z:0.14 [[ 9.99608931e-01 -1.09508096e-02 -2.57306133e-02 7.77771013e+00] [ 1.09829217e-02 9.99939073e-01 1.10701632e-03 -4.59641062e-01] [ 2.57169229e-02 -1.38918071e-03 9.99668300e-01 1.38517485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303617865 meters 0.024086185227283497 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.46, Z:0.14 [[ 9.99607904e-01 -1.12227450e-02 -2.56532199e-02 7.80613026e+00] [ 1.12545752e-02 9.99936064e-01 1.09673840e-03 -4.57293926e-01] [ 2.56392713e-02 -1.38502447e-03 9.99670300e-01 1.39619125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.333617864999999 meters 0.02774809698658528 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.46, Z:0.14 [[ 9.99615743e-01 -1.10755945e-02 -2.54105930e-02 7.83416716e+00] [ 1.11066440e-02 9.99937735e-01 1.08109677e-03 -4.63708170e-01] [ 2.53970370e-02 -1.36290776e-03 9.99676514e-01 1.39643536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.363617865 meters 0.023582203086145725 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.46, Z:0.14 [[ 9.99663471e-01 -1.02613377e-02 -2.38254080e-02 7.86337490e+00] [ 1.02883281e-02 9.99946563e-01 1.01053274e-03 -4.57574196e-01] [ 2.38137654e-02 -1.25531627e-03 9.99715624e-01 1.42145493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.393617865 meters 0.02442416352305254 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.46, Z:0.14 [[ 9.99689673e-01 -9.46352649e-03 -2.30434335e-02 7.89139741e+00] [ 9.48845440e-03 9.99954511e-01 9.72679519e-04 -4.58784945e-01] [ 2.30331803e-02 -1.19102424e-03 9.99733992e-01 1.42763737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.423617864999999 meters 0.023844863501326738 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.46, Z:0.14 [[ 9.99716076e-01 -8.35190732e-03 -2.23162161e-02 7.92022541e+00] [ 8.37493459e-03 9.99964489e-01 9.38600321e-04 -4.58008172e-01] [ 2.23075846e-02 -1.12523068e-03 9.99750522e-01 1.43647807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.453617865 meters 0.023736501711837922 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.46, Z:0.14 [[ 9.99744317e-01 -5.72976722e-03 -2.18739603e-02 7.94935952e+00] [ 5.75117854e-03 9.99983042e-01 9.16067017e-04 -4.58444651e-01] [ 2.18683406e-02 -1.04163385e-03 9.99760317e-01 1.44552101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.483617865 meters 0.022695029770426905 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.46, Z:0.15 [[ 9.99743032e-01 -4.68338908e-03 -2.21796126e-02 7.97817426e+00] [ 4.70510298e-03 9.99988501e-01 9.26918440e-04 -4.58188112e-01] [ 2.21750165e-02 -1.03103761e-03 9.99753572e-01 1.45203536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.513617864999999 meters 0.022378470495585345 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.46, Z:0.15 [[ 9.99740482e-01 -3.57800766e-03 -2.24981540e-02 8.00753619e+00] [ 3.59995052e-03 9.99993083e-01 9.34892384e-04 -4.59282117e-01] [ 2.24946534e-02 -1.01564200e-03 9.99746447e-01 1.45572066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543617865 meters 0.021860276963038834 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.46, Z:0.15 [[ 9.99742239e-01 -2.88959871e-03 -2.25189978e-02 8.03647639e+00] [ 2.91129259e-03 9.99995329e-01 9.30634747e-04 -4.59498727e-01] [ 2.25162034e-02 -9.95954257e-04 9.99745982e-01 1.45837662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.573617865 meters 0.021563406116383882 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.46, Z:0.14 [[ 9.99726966e-01 -1.01835509e-03 -2.33443135e-02 8.06589399e+00] [ 1.04102795e-03 9.99998998e-01 9.59104820e-04 -4.58618181e-01] [ 2.33433134e-02 -9.83145034e-04 9.99727024e-01 1.44633566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603617864999999 meters 0.021589051802176216 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.46, Z:0.14 [[ 9.99719808e-01 -2.33185036e-04 -2.36696446e-02 8.09511600e+00] [ 2.56146309e-04 9.99999500e-01 9.67045332e-04 -4.59171890e-01] [ 2.36694072e-02 -9.72837265e-04 9.99719367e-01 1.44294087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.633617865 meters 0.021748993519177466 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.46, Z:0.14 [[ 9.99712510e-01 4.91836784e-04 -2.39719776e-02 8.12359560e+00] [-4.68630625e-04 9.99999416e-01 9.73661806e-04 -4.60318707e-01] [ 2.39724425e-02 -9.62147885e-04 9.99712157e-01 1.44240259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663617864999999 meters 0.020950898256060748 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.46, Z:0.14 [[ 9.99683401e-01 1.82624365e-03 -2.50950723e-02 8.15225981e+00] [-1.80138478e-03 9.99997864e-01 1.01315818e-03 -4.60855260e-01] [ 2.50968690e-02 -9.67631535e-04 9.99684556e-01 1.44477166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.693617864999998 meters 0.022081125386810868 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.46, Z:0.14 [[ 9.99672455e-01 1.87340246e-03 -2.55239888e-02 8.17974261e+00] [-1.84786611e-03 9.99997768e-01 1.02403415e-03 -4.63961837e-01] [ 2.55258502e-02 -9.76533814e-04 9.99673685e-01 1.44278295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.723617865 meters 0.02123936498813869 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.46, Z:0.14 [[ 9.99673849e-01 1.49617433e-03 -2.54942525e-02 8.20747030e+00] [-1.47075042e-03 9.99998402e-01 1.01596254e-03 -4.63945814e-01] [ 2.54957319e-02 -9.78135501e-04 9.99674452e-01 1.44795417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.753617864999999 meters 0.02178795746406385 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.47, Z:0.14 [[ 9.99683515e-01 6.58289441e-04 -2.51482720e-02 8.23490350e+00] [-6.33414485e-04 9.99999302e-01 9.97084916e-04 -4.66313650e-01] [ 2.51489108e-02 -9.80840075e-04 9.99683235e-01 1.44729002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.783617865 meters 0.023343336026018423 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.47, Z:0.15 [[ 9.99706791e-01 -2.43921453e-03 -2.40911298e-02 8.26301322e+00] [ 2.46289545e-03 9.99996513e-01 9.53350129e-04 -4.70607461e-01] [ 2.40887203e-02 -1.01240453e-03 9.99709312e-01 1.45402779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.813617865 meters 0.02401290385468652 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.47, Z:0.15 [[ 9.99714726e-01 -3.93414691e-03 -2.35582175e-02 8.29138983e+00] [ 3.95716680e-03 9.99991737e-01 9.30610435e-04 -4.73707174e-01] [ 2.35543617e-02 -1.02356875e-03 9.99722034e-01 1.46387672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843617864999999 meters 0.024866490443509318 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.48, Z:0.15 [[ 9.99713806e-01 -5.96481914e-03 -2.31673869e-02 8.32125163e+00] [ 5.98758966e-03 9.99981657e-01 9.13625903e-04 -4.77016995e-01] [ 2.31615124e-02 -1.05208123e-03 9.99731183e-01 1.47296892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.873617865 meters 0.025618516009274186 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.48, Z:0.15 [[ 9.99712715e-01 -7.36214682e-03 -2.28097664e-02 8.35002997e+00] [ 7.38453706e-03 9.99972331e-01 8.97531349e-04 -4.80745933e-01] [ 2.28025275e-02 -1.06571307e-03 9.99739421e-01 1.48455448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.903617865 meters 0.02657233369176043 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.48, Z:0.15 [[ 9.99722684e-01 -8.13697543e-03 -2.20985198e-02 8.37743202e+00] [ 8.15808940e-03 9.99966348e-01 8.65462123e-04 -4.84408191e-01] [ 2.20907339e-02 -1.04550382e-03 9.99755423e-01 1.49474590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.933617864999999 meters 0.02643059228114871 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.48, Z:0.15 [[ 9.99720613e-01 -7.54054846e-03 -2.24016865e-02 8.40683488e+00] [ 7.56203830e-03 9.99971025e-01 8.74737420e-04 -4.83873715e-01] [ 2.23944415e-02 -1.04389544e-03 9.99748668e-01 1.49221409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963617865 meters 0.02659517746216144 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.48, Z:0.15 [[ 9.99682327e-01 -5.93373366e-03 -2.44956101e-02 8.43488106e+00] [ 5.95884112e-03 9.99981793e-01 9.52111057e-04 -4.84681751e-01] [ 2.44895145e-02 -1.09777405e-03 9.99699484e-01 1.46690133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.993617865 meters 0.026549786660386522 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.48, Z:0.15 [[ 9.99673293e-01 -4.96551565e-03 -2.50729204e-02 8.46363396e+00] [ 4.99143540e-03 9.99987071e-01 9.71295433e-04 -4.84544289e-01] [ 2.50677732e-02 -1.09612797e-03 9.99685153e-01 1.46239594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023617864999999 meters 0.025992524532819108 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.48, Z:0.15 [[ 9.99679080e-01 -3.31899549e-03 -2.51141453e-02 8.49302953e+00] [ 3.34434600e-03 9.99993940e-01 9.67477133e-04 -4.83628060e-01] [ 2.51107820e-02 -1.05115704e-03 9.99684122e-01 1.45776135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.053617865 meters 0.02595814809409442 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.48, Z:0.15 [[ 9.99668306e-01 -2.01070580e-03 -2.56755920e-02 8.52069366e+00] [ 2.03666527e-03 9.99997441e-01 9.84945749e-04 -4.84404054e-01] [ 2.56735458e-02 -1.03691163e-03 9.99669842e-01 1.45574689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083617864999999 meters 0.025810582730967906 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.49, Z:0.15 [[ 9.99661663e-01 -1.34376935e-03 -2.59760338e-02 8.54944265e+00] [ 1.37002730e-03 9.99998568e-01 9.93082537e-04 -4.85574959e-01] [ 2.59746622e-02 -1.02833442e-03 9.99662073e-01 1.46138704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.113617864999998 meters 0.026312354528683916 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.49, Z:0.15 [[ 9.99657922e-01 -9.94627801e-04 -2.61352134e-02 8.57766232e+00] [ 1.02097583e-03 9.99998984e-01 9.94818132e-04 -4.86875952e-01] [ 2.61341973e-02 -1.02116125e-03 9.99657922e-01 1.46128930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143617865 meters 0.027087983008343225 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.49, Z:0.15 [[ 9.99648556e-01 -2.14621035e-03 -2.64226960e-02 8.60634837e+00] [ 2.17345230e-03 9.99997136e-01 1.00232970e-03 -4.88827907e-01] [ 2.64204691e-02 -1.05940591e-03 9.99650357e-01 1.46045302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.173617864999999 meters 0.0280331905288787 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.49, Z:0.15 [[ 9.99651830e-01 -3.59222018e-03 -2.61402999e-02 8.63525998e+00] [ 3.61923112e-03 9.99992964e-01 9.86067705e-04 -4.91679190e-01] [ 2.61365738e-02 -1.08033217e-03 9.99657798e-01 1.46816034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203617865 meters 0.030190777364210455 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.50, Z:0.15 [[ 9.99675607e-01 -7.31188091e-03 -2.43970796e-02 8.66506136e+00] [ 7.33643113e-03 9.99972668e-01 9.16920549e-04 -4.97738788e-01] [ 2.43897084e-02 -1.09561060e-03 9.99701926e-01 1.49982471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.233617865 meters 0.03147570965696658 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.50, Z:0.15 [[ 9.99673932e-01 -8.75280274e-03 -2.39878940e-02 8.69279931e+00] [ 8.77692994e-03 9.99961076e-01 9.00704900e-04 -5.00322954e-01] [ 2.39790766e-02 -1.11095127e-03 9.99711843e-01 1.51330713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263617864999999 meters 0.029243178139012813 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.50, Z:0.15 [[ 9.99669043e-01 -1.08947917e-02 -2.33046887e-02 8.72190987e+00] [ 1.09181090e-02 9.99940014e-01 8.73534711e-04 -4.98269675e-01] [ 2.32937738e-02 -1.12768874e-03 9.99728027e-01 1.52648696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.293617865 meters 0.02517805821584528 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.50, Z:0.16 [[ 9.99629468e-01 -1.52775749e-02 -2.25282614e-02 8.75211518e+00] [ 1.53004550e-02 9.99882585e-01 8.43585432e-04 -4.95274251e-01] [ 2.25127283e-02 -1.18796551e-03 9.99745851e-01 1.55072360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323617865 meters 0.02843552914938441 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.50, Z:0.16 [[ 9.99607592e-01 -1.70897846e-02 -2.21946015e-02 8.78041808e+00] [ 1.71124246e-02 9.99853227e-01 8.30527891e-04 -5.01227909e-01] [ 2.21771504e-02 -1.21000543e-03 9.99753325e-01 1.55450015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.353617864999999 meters 0.025960231656320932 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.50, Z:0.16 [[ 9.99596443e-01 -1.80504427e-02 -2.19347307e-02 8.80910560e+00] [ 1.80727394e-02 9.99836340e-01 8.18677789e-04 -4.97770728e-01] [ 2.19163634e-02 -1.21476808e-03 9.99759070e-01 1.56023917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383617865 meters 0.027190036928971154 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.50, Z:0.16 [[ 9.99573654e-01 -1.86316412e-02 -2.24804755e-02 8.83708098e+00] [ 1.86551072e-02 9.99825630e-01 8.34556944e-04 -5.00081663e-01] [ 2.24610064e-02 -1.25357681e-03 9.99746934e-01 1.55707504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.413617864999999 meters 0.02847902425440159 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.50, Z:0.16 [[ 9.99551837e-01 -1.89149233e-02 -2.32023841e-02 8.86442276e+00] [ 1.89399448e-02 9.99820254e-01 8.59101946e-04 -5.02883662e-01] [ 2.31819637e-02 -1.29816880e-03 9.99730419e-01 1.55372214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443617864999998 meters 0.02877298253466303 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.50, Z:0.16 [[ 9.99553004e-01 -1.87548678e-02 -2.32819100e-02 8.89291853e+00] [ 1.87799341e-02 9.99823273e-01 8.58445739e-04 -5.03490660e-01] [ 2.32616954e-02 -1.29529475e-03 9.99728571e-01 1.56261557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.473617865 meters 0.025300149277494636 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.50, Z:0.16 [[ 9.99563633e-01 -1.79847643e-02 -2.34326922e-02 8.92249180e+00] [ 1.80098369e-02 9.99837440e-01 8.59369560e-04 -4.98490792e-01] [ 2.34134274e-02 -1.28101353e-03 9.99725047e-01 1.57280802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503617864999999 meters 0.024838551626909733 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.50, Z:0.16 [[ 9.99580422e-01 -1.71107607e-02 -2.33709773e-02 8.95204431e+00] [ 1.71353797e-02 9.99852814e-01 8.53530839e-04 -4.97428092e-01] [ 2.33529329e-02 -1.25364329e-03 9.99726497e-01 1.57907819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.533617864999998 meters 0.02480653744734848 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.50, Z:0.16 [[ 9.99642371e-01 -1.43512928e-02 -2.25648286e-02 8.98060624e+00] [ 1.43734550e-02 9.99896360e-01 8.20269608e-04 -4.95675018e-01] [ 2.25507180e-02 -1.14431080e-03 9.99745045e-01 1.58533085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563617865 meters 0.02450744466282916 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.49, Z:0.16 [[ 9.99658792e-01 -1.31628390e-02 -2.25618886e-02 9.01009695e+00] [ 1.31846583e-02 9.99912744e-01 8.18597820e-04 -4.94473297e-01] [ 2.25491449e-02 -1.11578930e-03 9.99745113e-01 1.58732738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.593617864999999 meters 0.024684141668828555 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.49, Z:0.16 [[ 9.99665910e-01 -1.15539490e-02 -2.31208676e-02 9.03773599e+00] [ 1.15763747e-02 9.99932642e-01 8.36319815e-04 -4.94145240e-01] [ 2.31096474e-02 -1.10369624e-03 9.99732327e-01 1.58881385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623617865 meters 0.024684141668828555 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.50, Z:0.16 [[ 9.99662793e-01 -1.18203814e-02 -2.31209814e-02 9.06533812e+00] [ 1.18428054e-02 9.99929524e-01 8.33161825e-04 -4.95071961e-01] [ 2.31095037e-02 -1.10669816e-03 9.99732327e-01 1.59333964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.653617865 meters 0.024776344032421127 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.50, Z:0.16 [[ 9.99674020e-01 -1.09604554e-02 -2.30591053e-02 9.09424190e+00] [ 1.09823950e-02 9.99939351e-01 8.25025002e-04 -4.95008770e-01] [ 2.30486642e-02 -1.07800026e-03 9.99733763e-01 1.59790989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683617864999999 meters 0.02488401678486721 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.50, Z:0.16 [[ 9.99715351e-01 -9.16041755e-03 -2.20295887e-02 9.12213115e+00] [ 9.17991519e-03 9.99957556e-01 7.84099516e-04 -4.95842331e-01] [ 2.20214710e-02 -9.86106079e-04 9.99757012e-01 1.61925351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.713617865 meters 0.025404781961831126 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.50, Z:0.16 [[ 9.99732425e-01 -8.88555677e-03 -2.13570980e-02 9.15041918e+00] [ 8.90378289e-03 9.99960073e-01 7.58458167e-04 -4.96504446e-01] [ 2.13495060e-02 -9.48414186e-04 9.99771623e-01 1.62648871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.743617865 meters 0.025725701995826494 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.50, Z:0.16 [[ 9.99744703e-01 -8.53116564e-03 -2.09224445e-02 9.17863225e+00] [ 8.54854500e-03 9.99963186e-01 7.41357272e-04 -4.96249279e-01] [ 2.09153496e-02 -9.20024464e-04 9.99780827e-01 1.63142664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.773617864999999 meters 0.02588709193382654 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.49, Z:0.16 [[ 9.99760819e-01 -8.66592518e-03 -2.00800119e-02 9.20728799e+00] [ 8.68191692e-03 9.99962060e-01 7.09361049e-04 -4.94743804e-01] [ 2.00731028e-02 -8.83524378e-04 9.99798125e-01 1.62980191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803617865 meters 0.026629888291230367 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.50, Z:0.16 [[ 9.99765606e-01 -8.59248023e-03 -1.98721288e-02 9.23521875e+00] [ 8.60804516e-03 9.99962707e-01 6.97846452e-04 -4.96753774e-01] [ 1.98653915e-02 -8.68743063e-04 9.99802286e-01 1.63420147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.833617864999999 meters 0.0267328527185819 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.50, Z:0.16 [[ 9.99752586e-01 -8.87279069e-03 -2.03970643e-02 9.26354525e+00] [ 8.88919939e-03 9.99960235e-01 7.13936296e-04 -4.98314212e-01] [ 2.03899187e-02 -8.95073230e-04 9.99791703e-01 1.64060719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863617864999998 meters 0.021876725493944024 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.49, Z:0.17 [[ 9.99739919e-01 -9.17861076e-03 -2.08769808e-02 9.29178525e+00] [ 9.19575342e-03 9.99957455e-01 7.25273404e-04 -4.92629152e-01] [ 2.08694356e-02 -9.17064341e-04 9.99781789e-01 1.65330740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.893617865 meters 0.02233919168820641 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.49, Z:0.17 [[ 9.99722449e-01 -8.92018859e-03 -2.18049555e-02 9.31941012e+00] [ 8.93871565e-03 9.99959766e-01 7.52352432e-04 -4.94893049e-01] [ 2.17973671e-02 -9.47051913e-04 9.99761961e-01 1.65274400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923617864999999 meters 0.022061191426622676 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.49, Z:0.17 [[ 9.99703251e-01 -8.61448679e-03 -2.27859839e-02 9.34825718e+00] [ 8.63457192e-03 9.99962415e-01 7.83227535e-04 -4.94899220e-01] [ 2.27783804e-02 -9.79742330e-04 9.99740059e-01 1.65249210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.953617864999998 meters 0.021728848806572065 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.49, Z:0.16 [[ 9.99696123e-01 -8.20041766e-03 -2.32468409e-02 9.37719807e+00] [ 8.22108162e-03 9.99965892e-01 7.93461146e-04 -4.94295611e-01] [ 2.32395412e-02 -9.84334207e-04 9.99729441e-01 1.64699272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983617865 meters 0.021044012095893693 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.49, Z:0.16 [[ 9.99700710e-01 -7.54236046e-03 -2.32723620e-02 9.40577100e+00] [ 7.56276222e-03 9.99971091e-01 7.88761467e-04 -4.93795973e-01] [ 2.32657401e-02 -9.64528739e-04 9.99728851e-01 1.64323098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.013617864999999 meters 0.021101190806905073 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.50, Z:0.16 [[ 9.99686270e-01 -6.98044005e-03 -2.40548473e-02 9.43487217e+00] [ 7.00193269e-03 9.99975159e-01 8.09372108e-04 -4.96411997e-01] [ 2.40486000e-02 -9.77548605e-04 9.99710313e-01 1.64552553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.043617865 meters 0.02139049876547238 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.50, Z:0.17 [[ 9.99680669e-01 -7.15620369e-03 -2.42352909e-02 9.46240900e+00] [ 7.17792423e-03 9.99973911e-01 8.09361401e-04 -4.99185927e-01] [ 2.42288667e-02 -9.83062029e-04 9.99705955e-01 1.65321490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.073617865 meters 0.021831884095990284 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.50, Z:0.17 [[ 9.99671067e-01 -7.74148025e-03 -2.44505051e-02 9.49168162e+00] [ 7.76360667e-03 9.99969535e-01 8.10149418e-04 -5.02324302e-01] [ 2.44434884e-02 -9.99707037e-04 9.99700713e-01 1.65899288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103617864999999 meters 0.02136306240570198 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.51, Z:0.17 [[ 9.99637624e-01 -9.19010426e-03 -2.53014220e-02 9.51994561e+00] [ 9.21414046e-03 9.99957201e-01 8.33571420e-04 -5.05141548e-01] [ 2.52926785e-02 -1.06640021e-03 9.99679520e-01 1.66829185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.133617865 meters 0.021858490102217305 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.51, Z:0.17 [[ 9.99620725e-01 -1.04885944e-02 -2.54636044e-02 9.54823474e+00] [ 1.05133045e-02 9.99944384e-01 8.36723061e-04 -5.07625785e-01] [ 2.54534122e-02 -1.10411234e-03 9.99675400e-01 1.67163237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163617864999999 meters 0.022901160871561254 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.51, Z:0.17 [[ 9.99610819e-01 -1.15071319e-02 -2.54125280e-02 9.57615565e+00] [ 1.15320162e-02 9.99933157e-01 8.32872192e-04 -5.10947767e-01] [ 2.54012454e-02 -1.12560574e-03 9.99676703e-01 1.66838924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.193617864999998 meters 0.024783589174254595 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.52, Z:0.17 [[ 9.99599457e-01 -1.29617497e-02 -2.51578872e-02 9.60366811e+00] [ 1.29865440e-02 9.99915333e-01 8.22407269e-04 -5.15397252e-01] [ 2.51450973e-02 -1.14879187e-03 9.99683152e-01 1.66705307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223617865 meters 0.02654625389674689 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.52, Z:0.17 [[ 9.99573427e-01 -1.49593153e-02 -2.50835001e-02 9.63196793e+00] [ 1.49845456e-02 9.99887391e-01 8.18180007e-04 -5.22318181e-01] [ 2.50684361e-02 -1.19369585e-03 9.99685025e-01 1.68195432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.253617864999999 meters 0.023035105721645428 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.52, Z:0.17 [[ 9.99587744e-01 -1.51359274e-02 -2.43976465e-02 9.66056996e+00] [ 1.51597764e-02 9.99884770e-01 7.92839176e-04 -5.18827348e-01] [ 2.43828348e-02 -1.16237519e-03 9.99702019e-01 1.70327061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283617864999998 meters 0.022980768710657563 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.52, Z:0.17 [[ 9.99603996e-01 -1.44753046e-02 -2.41312498e-02 9.68924176e+00] [ 1.44982920e-02 9.99894592e-01 7.77905090e-04 -5.19247771e-01] [ 2.41174458e-02 -1.12745894e-03 9.99708496e-01 1.71095889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.313617865 meters 0.0266056939912755 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.53, Z:0.17 [[ 9.99614706e-01 -1.33590236e-02 -2.43305426e-02 9.71665150e+00] [ 1.33819505e-02 9.99910154e-01 7.79725407e-04 -5.25099349e-01] [ 2.43179402e-02 -1.10501510e-03 9.99703664e-01 1.70454225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343617864999999 meters 0.02367269429547593 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.52, Z:0.17 [[ 9.99590105e-01 -1.19983419e-02 -2.59934862e-02 9.74538306e+00] [ 1.20239556e-02 9.99927366e-01 8.29309536e-04 -5.22321889e-01] [ 2.59816478e-02 -1.14151413e-03 9.99661768e-01 1.70018018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.373617864999998 meters 0.02408895042877979 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.52, Z:0.17 [[ 9.99570841e-01 -1.19628825e-02 -2.67399302e-02 9.77275037e+00] [ 1.19898214e-02 9.99927760e-01 8.47333015e-04 -5.23684395e-01] [ 2.67278620e-02 -1.16757636e-03 9.99642065e-01 1.69595307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403617865 meters 0.02290329185584145 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.52, Z:0.17 [[ 9.99556471e-01 -1.19904885e-02 -2.72596816e-02 9.80046143e+00] [ 1.20183336e-02 9.99927409e-01 8.57863170e-04 -5.22344180e-01] [ 2.72474166e-02 -1.18509863e-03 9.99628018e-01 1.69965615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.433617864999999 meters 0.0253514916512145 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.53, Z:0.17 [[ 9.99552620e-01 -1.21424624e-02 -2.73335063e-02 9.82785382e+00] [ 1.21703599e-02 9.99925573e-01 8.54496981e-04 -5.26042520e-01] [ 2.73210962e-02 -1.18677330e-03 9.99626005e-01 1.69035951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463617865 meters 0.022490868033769703 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.52, Z:0.17 [[ 9.99540076e-01 -1.31750222e-02 -2.73140263e-02 9.85673857e+00] [ 1.32031416e-02 9.99912474e-01 8.49383077e-04 -5.21594832e-01] [ 2.73004450e-02 -1.20962338e-03 9.99626542e-01 1.70759355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.493617865 meters 0.022430443757599974 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.52, Z:0.17 [[ 9.99508775e-01 -1.45889494e-02 -2.77375563e-02 9.88530051e+00] [ 1.46183059e-02 9.99892781e-01 8.55874318e-04 -5.22163071e-01] [ 2.77220960e-02 -1.26092997e-03 9.99614874e-01 1.71489323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.523617864999999 meters 0.02218630444677767 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.52, Z:0.17 [[ 9.99469372e-01 -1.67534240e-02 -2.79338031e-02 9.91492667e+00] [ 1.67839192e-02 9.99858772e-01 8.57573304e-04 -5.22959085e-01] [ 2.79154908e-02 -1.32595695e-03 9.99609407e-01 1.72851936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.553617865 meters 0.023874170426275307 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.53, Z:0.17 [[ 9.99367789e-01 -2.24865107e-02 -2.75386752e-02 9.94517689e+00] [ 2.25183036e-02 9.99746074e-01 8.44866194e-04 -5.27565269e-01] [ 2.75126843e-02 -1.46445631e-03 9.99620382e-01 1.74391380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.583617864999999 meters 0.026187922773769388 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.53, Z:0.18 [[ 9.99319182e-01 -2.55200071e-02 -2.66439665e-02 9.97343174e+00] [ 2.55508224e-02 9.99673191e-01 8.16695139e-04 -5.31905626e-01] [ 2.66144169e-02 -1.49691437e-03 9.99644653e-01 1.75140886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.613617864999998 meters 0.025995827967749914 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.53, Z:0.18 [[ 9.99269248e-01 -2.81618988e-02 -2.58433393e-02 1.00033294e+01] [ 2.81917333e-02 9.99602221e-01 7.90747255e-04 -5.32611842e-01] [ 2.58107904e-02 -1.51873794e-03 9.99665692e-01 1.76907092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643617865 meters 0.02724373532626194 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.53, Z:0.18 [[ 9.99224076e-01 -3.06974921e-02 -2.46761043e-02 1.00330512e+01] [ 3.07254416e-02 9.99527578e-01 7.54216114e-04 -5.34624294e-01] [ 2.46412942e-02 -1.51181510e-03 9.99695214e-01 1.78078587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.673617864999999 meters 0.027375841040425255 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.53, Z:0.18 [[ 9.99188006e-01 -3.38681656e-02 -2.18237608e-02 1.00629175e+01] [ 3.38907659e-02 9.99425321e-01 6.66450370e-04 -5.33579570e-01] [ 2.17886477e-02 -1.40553318e-03 9.99761611e-01 1.80379398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.703617864999998 meters 0.02747797050750205 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.53, Z:0.18 [[ 9.99181253e-01 -3.47867262e-02 -2.06568749e-02 1.00916005e+01] [ 3.48071426e-02 9.99393850e-01 6.29528855e-04 -5.32857771e-01] [ 2.06224544e-02 -1.34802022e-03 9.99786426e-01 1.81190876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.733617865 meters 0.02938453344975101 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.53, Z:0.18 [[ 9.99194131e-01 -3.47649063e-02 -2.00621740e-02 1.01198758e+01] [ 3.47840735e-02 9.99394667e-01 6.07118367e-04 -5.34653144e-01] [ 2.00289232e-02 -1.30447324e-03 9.99798550e-01 1.81646205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.763617864999999 meters 0.026232909660012887 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.53, Z:0.18 [[ 9.99210565e-01 -3.44563389e-02 -1.97739051e-02 1.01489467e+01] [ 3.44748420e-02 9.99405389e-01 5.95513382e-04 -5.29399771e-01] [ 1.97416281e-02 -1.27674552e-03 9.99804300e-01 1.82119899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.793617864999998 meters 0.025474141140653453 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.53, Z:0.18 [[ 9.99289325e-01 -3.17901690e-02 -2.02541577e-02 1.01786559e+01] [ 3.18089513e-02 9.99493784e-01 6.05761344e-04 -5.25606878e-01] [ 2.02246475e-02 -1.24959436e-03 9.99794680e-01 1.82369385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823617865 meters 0.028874622837404544 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.53, Z:0.18 [[ 9.99353581e-01 -2.95773432e-02 -2.04352669e-02 1.02074358e+01] [ 2.95959875e-02 9.99561756e-01 6.10464013e-04 -5.30030107e-01] [ 2.04082554e-02 -1.21487130e-03 9.99790992e-01 1.82169674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.853617864999999 meters 0.028068583181309215 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.53, Z:0.18 [[ 9.99401066e-01 -2.72766040e-02 -2.12954394e-02 1.02371647e+01] [ 2.72963149e-02 9.99627184e-01 6.35409860e-04 -5.27870929e-01] [ 2.12701683e-02 -1.21631631e-03 9.99773024e-01 1.81951471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883617865 meters 0.023242418433959775 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.52, Z:0.18 [[ 9.99513115e-01 -2.20080182e-02 -2.21174033e-02 1.02678871e+01] [ 2.20279815e-02 9.99757137e-01 6.59350106e-04 -5.17291694e-01] [ 2.20975208e-02 -1.14623083e-03 9.99755163e-01 1.81863050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.913617864999999 meters 0.023095079631547392 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.52, Z:0.18 [[ 9.99550320e-01 -1.99981196e-02 -2.23435276e-02 1.02968658e+01] [ 2.00179818e-02 9.99799399e-01 6.65614107e-04 -5.15475492e-01] [ 2.23257344e-02 -1.11258712e-03 9.99750131e-01 1.81872769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.943617864999998 meters 0.022747622579043877 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.51, Z:0.18 [[ 9.99583173e-01 -1.82670237e-02 -2.23561261e-02 1.03255329e+01] [ 1.82864421e-02 9.99832568e-01 6.64453192e-04 -5.13595682e-01] [ 2.23402454e-02 -1.07299023e-03 9.99749850e-01 1.82131234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.973617865 meters 0.021495565702708018 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.51, Z:0.18 [[ 9.99593514e-01 -1.70630309e-02 -2.28398612e-02 1.03541794e+01] [ 1.70829232e-02 9.99853848e-01 6.76103855e-04 -5.10542728e-01] [ 2.28249867e-02 -1.06600062e-03 9.99738908e-01 1.82289810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003617864999999 meters 0.02181029734973856 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.51, Z:0.18 [[ 9.99612459e-01 -1.56246644e-02 -2.30391280e-02 1.03820254e+01] [ 1.56444115e-02 9.99877389e-01 6.77111747e-04 -5.09928947e-01] [ 2.30257235e-02 -1.03728294e-03 9.99734335e-01 1.82689700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.033617864999998 meters 0.022520179319406867 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.51, Z:0.18 [[ 9.99629015e-01 -1.51724589e-02 -2.26192184e-02 1.04100048e+01] [ 1.51913190e-02 9.99884386e-01 6.62199034e-04 -5.11402177e-01] [ 2.26065562e-02 -1.00556913e-03 9.99743933e-01 1.83703158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.063617865 meters 0.022213785634317754 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.51, Z:0.18 [[ 9.99640705e-01 -1.45504991e-02 -2.25109842e-02 1.04389811e+01] [ 1.45689576e-02 9.99893652e-01 6.56183993e-04 -5.11476349e-01] [ 2.24990424e-02 -9.83909802e-04 9.99746380e-01 1.84732590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.093617864999999 meters 0.02196773386283419 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.51, Z:0.19 [[ 9.99663781e-01 -1.40691743e-02 -2.17803273e-02 1.04684265e+01] [ 1.40862315e-02 9.99900586e-01 6.29917615e-04 -5.11112370e-01] [ 2.17692996e-02 -9.36508558e-04 9.99762582e-01 1.85888517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123617864999998 meters 0.022170645475756857 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.51, Z:0.19 [[ 9.99720523e-01 -1.30398151e-02 -1.97190057e-02 1.04962928e+01] [ 1.30535255e-02 9.99914639e-01 5.66727243e-04 -5.10082864e-01] [ 1.97099325e-02 -8.23971399e-04 9.99805401e-01 1.87756608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.153617865 meters 0.023406123621177898 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.51, Z:0.19 [[ 9.99741186e-01 -1.25075430e-02 -1.90032216e-02 1.05244962e+01] [ 1.25201503e-02 9.99921472e-01 5.44597776e-04 -5.12017397e-01] [ 1.89949177e-02 -7.82380017e-04 9.99819274e-01 1.88714100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.183617864999999 meters 0.021668951512375408 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.51, Z:0.19 [[ 9.99747535e-01 -1.26653310e-02 -1.85595026e-02 1.05530585e+01] [ 1.26773477e-02 9.99919499e-01 5.29953008e-04 -5.09268526e-01] [ 1.85512965e-02 -7.65104481e-04 9.99827617e-01 1.89506805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.213617864999998 meters 0.020128040191998705 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.51, Z:0.19 [[ 9.99740513e-01 -1.25853169e-02 -1.89872600e-02 1.05819039e+01] [ 1.25977814e-02 9.99920501e-01 5.36993404e-04 -5.06890778e-01] [ 1.89789923e-02 -7.76051412e-04 9.99819582e-01 1.89905935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243617865 meters 0.021104093922482272 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.51, Z:0.19 [[ 9.99736425e-01 -1.29902167e-02 -1.89297221e-02 1.06098408e+01] [ 1.30025966e-02 9.99915322e-01 5.31052470e-04 -5.09181619e-01] [ 1.89212207e-02 -7.77048038e-04 9.99820676e-01 1.90124259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.273617864999999 meters 0.020680066095501475 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.51, Z:0.19 [[ 9.99723570e-01 -1.36695476e-02 -1.91292214e-02 1.06389846e+01] [ 1.36822602e-02 9.99906251e-01 5.33841586e-04 -5.09232822e-01] [ 1.91201307e-02 -7.95425002e-04 9.99816877e-01 1.90665467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303617865 meters 0.02161303983645575 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.51, Z:0.19 [[ 9.99666313e-01 -1.44671981e-02 -2.14000705e-02 1.06670619e+01] [ 1.44831875e-02 9.99894938e-01 5.92357008e-04 -5.11302095e-01] [ 2.13892524e-02 -9.02100579e-04 9.99770817e-01 1.89293859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.333617864999999 meters 0.021776525588299907 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.51, Z:0.19 [[ 9.99636427e-01 -1.53639798e-02 -2.21576696e-02 1.06958347e+01] [ 1.53812790e-02 9.99881515e-01 6.10505346e-04 -5.12247420e-01] [ 2.21456644e-02 -9.51096680e-04 9.99754302e-01 1.89283890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363617864999998 meters 0.02064743330828768 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.51, Z:0.19 [[ 9.99609511e-01 -1.62379125e-02 -2.27410734e-02 1.07250061e+01] [ 1.62562343e-02 9.99867666e-01 6.21025481e-04 -5.11297615e-01] [ 2.27279798e-02 -9.90467196e-04 9.99741195e-01 1.89738701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.393617865 meters 0.020582143591217166 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.51, Z:0.19 [[ 9.99591982e-01 -1.72892341e-02 -2.27365979e-02 1.07542128e+01] [ 1.73076938e-02 9.99850021e-01 6.15344160e-04 -5.12116033e-01] [ 2.27225490e-02 -1.00861116e-03 9.99741301e-01 1.90026185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423617864999999 meters 0.021063851089063713 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.51, Z:0.19 [[ 9.99577368e-01 -1.83583421e-02 -2.25401287e-02 1.07824537e+01] [ 1.83766533e-02 9.99830952e-01 6.05497895e-04 -5.14353820e-01] [ 2.25252024e-02 -1.01945412e-03 9.99745756e-01 1.90791902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.453617864999998 meters 0.021383197506851307 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.52, Z:0.19 [[ 9.99548674e-01 -2.06584050e-02 -2.18100528e-02 1.08114603e+01] [ 2.06760588e-02 9.99786057e-01 5.84219456e-04 -5.16332796e-01] [ 2.17933177e-02 -1.03490172e-03 9.99761962e-01 1.91958077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483617865 meters 0.022245511750018623 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.52, Z:0.19 [[ 9.99539323e-01 -2.16657064e-02 -2.12541568e-02 1.08395274e+01] [ 2.16826675e-02 9.99764742e-01 5.67861179e-04 -5.18546999e-01] [ 2.12368535e-02 -1.02844639e-03 9.99773944e-01 1.92394471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.513617864999999 meters 0.022245511750018623 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.52, Z:0.19 [[ 9.99533295e-01 -2.19419462e-02 -2.12542489e-02 1.08671332e+01] [ 2.19588960e-02 9.99758715e-01 5.64393365e-04 -5.19226675e-01] [ 2.12367367e-02 -1.03084980e-03 9.99773944e-01 1.92846751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543617864999998 meters 0.023056891190384433 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.52, Z:0.19 [[ 9.99516728e-01 -2.29024136e-02 -2.10188182e-02 1.08950482e+01] [ 2.29190992e-02 9.99737170e-01 5.53261466e-04 -5.21563003e-01] [ 2.10006228e-02 -1.03472647e-03 9.99778927e-01 1.93449264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.573617865 meters 0.023114590205811292 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.52, Z:0.19 [[ 9.99492329e-01 -2.40887368e-02 -2.08522446e-02 1.09238577e+01] [ 2.41053652e-02 9.99709274e-01 5.46415822e-04 -5.23591871e-01] [ 2.08330199e-02 -1.04878939e-03 9.99782419e-01 1.94372257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.603617864999999 meters 0.024202561903523438 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.53, Z:0.20 [[ 9.99503933e-01 -2.39833971e-02 -2.04128306e-02 1.09517650e+01] [ 2.39992245e-02 9.99711836e-01 5.30709975e-04 -5.26677637e-01] [ 2.03942201e-02 -1.02033881e-03 9.99791496e-01 1.95151004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.633617864999998 meters 0.024023176849833097 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.53, Z:0.20 [[ 9.99507134e-01 -2.37613092e-02 -2.05155664e-02 1.09806000e+01] [ 2.37772011e-02 9.99717141e-01 5.31011233e-04 -5.27542759e-01] [ 2.04971459e-02 -1.01855226e-03 9.99789393e-01 1.95930847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663617864999999 meters 0.023748982147178743 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.53, Z:0.20 [[ 9.99557071e-01 -2.19262313e-02 -2.01221942e-02 1.10096886e+01] [ 2.19410671e-02 9.99759132e-01 5.16783979e-04 -5.28201161e-01] [ 2.01060163e-02 -9.58057494e-04 9.99797395e-01 1.96668999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.693617864999998 meters 0.021345008729513906 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.53, Z:0.20 [[ 9.99576267e-01 -2.12303860e-02 -1.99137351e-02 1.10384048e+01] [ 2.12447396e-02 9.99774175e-01 5.09489112e-04 -5.25271780e-01] [ 1.98984214e-02 -9.32335340e-04 9.99801572e-01 1.97437722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723617865 meters 0.02212170791939876 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.53, Z:0.20 [[ 9.99592035e-01 -2.05110873e-02 -1.98761105e-02 1.10665871e+01] [ 2.05251598e-02 9.99789210e-01 5.04246329e-04 -5.26990273e-01] [ 1.98615782e-02 -9.12000957e-04 9.99802323e-01 1.97610341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.753617864999999 meters 0.021368372929553632 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.53, Z:0.20 [[ 9.99585500e-01 -1.96414534e-02 -2.10485612e-02 1.10953443e+01] [ 1.96569880e-02 9.99806642e-01 5.31373707e-04 -5.25991394e-01] [ 2.10340544e-02 -9.44904768e-04 9.99778313e-01 1.96485002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783617864999998 meters 0.021129583532716226 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.53, Z:0.20 [[ 9.99568206e-01 -1.95868529e-02 -2.19033304e-02 1.11236956e+01] [ 1.96035385e-02 9.99807682e-01 5.47304708e-04 -5.26392514e-01] [ 2.18883980e-02 -9.76451166e-04 9.99759943e-01 1.95908057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.813617865 meters 0.02184490443040029 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.53, Z:0.20 [[ 9.99541364e-01 -1.97518624e-02 -2.29548566e-02 1.11510942e+01] [ 1.97701101e-02 9.99804391e-01 5.68248016e-04 -5.28345387e-01] [ 2.29391424e-02 -1.02180744e-03 9.99736341e-01 1.95592991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843617864999999 meters 0.020684955305767153 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.53, Z:0.20 [[ 9.99525506e-01 -1.99047321e-02 -2.35067084e-02 1.11796632e+01] [ 1.99238297e-02 9.99801333e-01 5.78482060e-04 -5.27504201e-01] [ 2.34905239e-02 -1.04655123e-03 9.99723512e-01 1.95896936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.873617864999998 meters 0.022088323991878826 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.53, Z:0.20 [[ 9.99515350e-01 -2.00011217e-02 -2.38541411e-02 1.12076461e+01] [ 2.00206891e-02 9.99799397e-01 5.81733113e-04 -5.30594093e-01] [ 2.38377206e-02 -1.05902752e-03 9.99715280e-01 1.95897329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903617865 meters 0.022331897459082595 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.53, Z:0.20 [[ 9.99516436e-01 -1.99418857e-02 -2.38582498e-02 1.12365557e+01] [ 1.99613671e-02 9.99800585e-01 5.78643722e-04 -5.31535746e-01] [ 2.38419528e-02 -1.05460719e-03 9.99715184e-01 1.96464063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.933617864999999 meters 0.024430100511432934 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.53, Z:0.20 [[ 9.99496962e-01 -2.06912384e-02 -2.40353015e-02 1.12648180e+01] [ 2.07111166e-02 9.99785335e-01 5.78375980e-04 -5.33074146e-01] [ 2.40181746e-02 -1.07588297e-03 9.99710943e-01 1.96662828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.963617864999998 meters 0.02212382248975243 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.53, Z:0.20 [[ 9.99516895e-01 -2.06686715e-02 -2.32117114e-02 1.12937484e+01] [ 2.06871357e-02 9.99785844e-01 5.55601091e-04 -5.31452528e-01] [ 2.31952570e-02 -1.03551650e-03 9.99730418e-01 1.98082783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.993617865 meters 0.022651231006776507 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.53, Z:0.20 [[ 9.99508039e-01 -2.18427738e-02 -2.25071633e-02 1.13223704e+01] [ 2.18603130e-02 9.99760892e-01 5.33502243e-04 -5.32716022e-01] [ 2.24901285e-02 -1.02525342e-03 9.99746539e-01 1.98927936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023617864999999 meters 0.02548946808552258 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.54, Z:0.20 [[ 9.99493758e-01 -2.25920610e-02 -2.24014877e-02 1.13502218e+01] [ 2.26095260e-02 9.99744233e-01 5.26632164e-04 -5.37741326e-01] [ 2.23838605e-02 -1.03285258e-03 9.99748916e-01 1.99157746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.053617864999998 meters 0.02605293419605899 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.54, Z:0.20 [[ 9.99474986e-01 -2.35440193e-02 -2.22582711e-02 1.13790295e+01] [ 2.35614374e-02 9.99722255e-01 5.20578965e-04 -5.39215538e-01] [ 2.22398325e-02 -1.04474251e-03 9.99752118e-01 1.99307586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083617864999999 meters 0.027166731926728083 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.54, Z:0.20 [[ 9.99423245e-01 -2.51995313e-02 -2.27631604e-02 1.14086727e+01] [ 2.52180864e-02 9.99681834e-01 5.28397975e-04 -5.40762530e-01] [ 2.27426026e-02 -1.10213656e-03 9.99740746e-01 1.99175512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.113617864999998 meters 0.024357171531598762 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.54, Z:0.20 [[ 9.99387787e-01 -2.64496688e-02 -2.29012306e-02 1.14378215e+01] [ 2.64687302e-02 9.99649502e-01 5.29552665e-04 -5.37253989e-01] [ 2.28791973e-02 -1.13539496e-03 9.99737592e-01 1.99890726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143617865 meters 0.02553488635351322 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.54, Z:0.20 [[ 9.99353555e-01 -2.75206770e-02 -2.31318898e-02 1.14660137e+01] [ 2.75403080e-02 9.99620553e-01 5.30449313e-04 -5.39486735e-01] [ 2.31085141e-02 -1.16716578e-03 9.99732281e-01 2.00207467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.173617864999999 meters 0.026646779897645398 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.54, Z:0.20 [[ 9.99341137e-01 -2.88712787e-02 -2.19941261e-02 1.14937207e+01] [ 2.88893081e-02 9.99582491e-01 5.02376300e-04 -5.41953140e-01] [ 2.19704391e-02 -1.13744039e-03 9.99757974e-01 2.01120237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203617864999998 meters 0.02735617337732475 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.54, Z:0.20 [[ 9.99339744e-01 -2.91589745e-02 -2.16755789e-02 1.15214436e+01] [ 2.91765003e-02 9.99574154e-01 4.92677501e-04 -5.43505295e-01] [ 2.16519824e-02 -1.12476974e-03 9.99764936e-01 2.01738523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.233617865 meters 0.02384173490177683 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.54, Z:0.20 [[ 9.99359763e-01 -2.87397972e-02 -2.13093293e-02 1.15508668e+01] [ 2.87565897e-02 9.99586328e-01 4.81960016e-04 -5.39562416e-01] [ 2.12866627e-02 -1.09443508e-03 9.99772814e-01 2.02983659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.263617864999999 meters 0.027602455776720016 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.55, Z:0.20 [[ 9.99385026e-01 -2.79810314e-02 -2.11336511e-02 1.15782209e+01] [ 2.79972945e-02 9.99607887e-01 4.73995848e-04 -5.45478591e-01] [ 2.11121014e-02 -1.06538941e-03 9.99776547e-01 2.02940816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.293617864999998 meters 0.02701988015664329 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.55, Z:0.20 [[ 9.99436054e-01 -2.59365779e-02 -2.13276218e-02 1.16074539e+01] [ 2.59526253e-02 9.99663061e-01 4.75937205e-04 -5.45055563e-01] [ 2.13080915e-02 -1.02917658e-03 9.99772427e-01 2.02995455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323617865 meters 0.021913476506840276 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.54, Z:0.20 [[ 9.99448778e-01 -2.49940949e-02 -2.18502905e-02 1.16369326e+01] [ 2.50106118e-02 9.99687069e-01 4.82916191e-04 -5.38341936e-01] [ 2.18313828e-02 -1.02913913e-03 9.99761137e-01 2.04032518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.353617864999999 meters 0.027242869324920992 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.55, Z:0.20 [[ 9.99469520e-01 -2.42887273e-02 -2.16964372e-02 1.16647239e+01] [ 2.43047581e-02 9.99704483e-01 4.75439492e-04 -5.46809428e-01] [ 2.16784777e-02 -1.00251394e-03 9.99764492e-01 2.03513181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383617864999998 meters 0.0279467968842163 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.55, Z:0.20 [[ 9.99488796e-01 -2.36773746e-02 -2.14832139e-02 1.16923547e+01] [ 2.36929126e-02 9.99719174e-01 4.68988389e-04 -5.49567759e-01] [ 2.14660764e-02 -9.77748549e-04 9.99769099e-01 2.04752722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.413617864999999 meters 0.022463375912389054 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.54, Z:0.21 [[ 9.99471328e-01 -2.38959653e-02 -2.20465020e-02 1.17201271e+01] [ 2.39123196e-02 9.99713945e-01 4.78444317e-04 -5.43123565e-01] [ 2.20287626e-02 -1.00537438e-03 9.99756832e-01 2.06380906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443617864999998 meters 0.02261584711085407 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.54, Z:0.21 [[ 9.99462097e-01 -2.43621013e-02 -2.19546013e-02 1.17487906e+01] [ 2.43783064e-02 9.99702694e-01 4.70738972e-04 -5.44388413e-01] [ 2.19366058e-02 -1.00570176e-03 9.99758858e-01 2.06724584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.473617864999998 meters 0.021085486998681523 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.54, Z:0.21 [[ 9.99419379e-01 -2.52469850e-02 -2.28800244e-02 1.17777331e+01] [ 2.52646889e-02 9.99680679e-01 4.84987790e-04 -5.42347908e-01] [ 2.28604738e-02 -1.06276289e-03 9.99738100e-01 2.06177630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503617864999999 meters 0.030833773984087067 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.56, Z:0.20 [[ 9.99401712e-01 -2.55991730e-02 -2.32572521e-02 1.18056701e+01] [ 2.56174466e-02 9.99671700e-01 4.88069596e-04 -5.55856594e-01] [ 2.32371226e-02 -1.08356900e-03 9.99729394e-01 2.03974530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.533617864999998 meters 0.02251327979274715 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.55, Z:0.21 [[ 9.99373335e-01 -2.62382647e-02 -2.37590313e-02 1.18350219e+01] [ 2.62574234e-02 9.99655092e-01 4.94709008e-04 -5.45111155e-01] [ 2.37378563e-02 -1.11824993e-03 9.99717592e-01 2.05694557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563617865 meters 0.024911349026275294 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.55, Z:0.21 [[ 9.99365712e-01 -2.66992191e-02 -2.35653237e-02 1.18623883e+01] [ 2.67180825e-02 9.99642890e-01 4.85924127e-04 -5.49759896e-01] [ 2.35439345e-02 -1.11523617e-03 9.99722181e-01 2.05557692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.593617864999999 meters 0.03305065033519575 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.56, Z:0.21 [[ 9.99342530e-01 -2.75774354e-02 -2.35370601e-02 1.18895394e+01] [ 2.75964318e-02 9.99619029e-01 4.82589996e-04 -5.62612630e-01] [ 2.35147846e-02 -1.13181158e-03 9.99722849e-01 2.05476937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623617864999998 meters 0.02350340496459604 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.55, Z:0.21 [[ 9.99327556e-01 -2.84110591e-02 -2.31786026e-02 1.19188306e+01] [ 2.84296315e-02 9.99595685e-01 4.72077295e-04 -5.50138913e-01] [ 2.31558189e-02 -1.13071898e-03 9.99731229e-01 2.08242953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.653617865 meters 0.02408521321230393 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.55, Z:0.21 [[ 9.99330513e-01 -2.84498403e-02 -2.30028717e-02 1.19453773e+01] [ 2.84680367e-02 9.99594596e-01 4.63903423e-04 -5.50992708e-01] [ 2.29803482e-02 -1.11843944e-03 9.99735291e-01 2.08439754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683617864999999 meters 0.023826376085566103 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.55, Z:0.21 [[ 9.99322472e-01 -2.86972226e-02 -2.30448969e-02 1.19731813e+01] [ 2.87154661e-02 9.99587520e-01 4.61059881e-04 -5.50318126e-01] [ 2.30221602e-02 -1.12249246e-03 9.99734325e-01 2.08678758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.713617864999998 meters 0.023551608742546002 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.55, Z:0.21 [[ 9.99327530e-01 -2.85490349e-02 -2.30095666e-02 1.20025164e+01] [ 2.85670470e-02 9.99591775e-01 4.54420495e-04 -5.49993331e-01] [ 2.29872003e-02 -1.11143028e-03 9.99735142e-01 2.08710948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743617865 meters 0.02240852741235905 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.55, Z:0.21 [[ 9.99369144e-01 -2.74981563e-02 -2.24758969e-02 1.20313285e+01] [ 2.75149603e-02 9.99621296e-01 4.38674777e-04 -5.48243772e-01] [ 2.24553224e-02 -1.05682145e-03 9.99747289e-01 2.09208095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.773617864999999 meters 0.02143771714458992 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.55, Z:0.21 [[ 9.99395490e-01 -2.66298522e-02 -2.23496395e-02 1.20605685e+01] [ 2.66461327e-02 9.99644836e-01 4.30905885e-04 -5.47309613e-01] [ 2.23302268e-02 -1.02617686e-03 9.99750123e-01 2.09572153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803617864999998 meters 0.021550351092517357 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.55, Z:0.21 [[ 9.99415091e-01 -2.60413223e-02 -2.21658399e-02 1.20896375e+01] [ 2.60570746e-02 9.99660368e-01 4.22081212e-04 -5.47793525e-01] [ 2.21473201e-02 -9.99411279e-04 9.99754218e-01 2.09934484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.833617864999999 meters 0.02116824124971336 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.55, Z:0.21 [[ 9.99422801e-01 -2.57547080e-02 -2.21530814e-02 1.21181055e+01] [ 2.57702547e-02 9.99667805e-01 4.16547774e-04 -5.47542646e-01] [ 2.21349942e-02 -9.87197894e-04 9.99754504e-01 2.10409958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863617864999998 meters 0.021868087379814334 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.55, Z:0.21 [[ 9.99431396e-01 -2.59065972e-02 -2.15808396e-02 1.21448836e+01] [ 2.59212903e-02 9.99663906e-01 4.01337286e-04 -5.49335989e-01] [ 2.15631892e-02 -9.60512293e-04 9.99767026e-01 2.10715734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.893617864999998 meters 0.021758568436316964 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.55, Z:0.21 [[ 9.99422046e-01 -2.64462173e-02 -2.13581953e-02 1.21736166e+01] [ 2.64606652e-02 9.99649778e-01 3.94085167e-04 -5.50007649e-01] [ 2.13402931e-02 -9.59009459e-04 9.99771810e-01 2.11074018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923617864999999 meters 0.022087487907845753 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.55, Z:0.21 [[ 9.99412312e-01 -2.70374120e-02 -2.10715039e-02 1.22028104e+01] [ 2.70515013e-02 9.99633967e-01 3.83838567e-04 -5.51491959e-01] [ 2.10534131e-02 -9.53628806e-04 9.99777898e-01 2.11836284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.953617864999998 meters 0.02318507321416522 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.55, Z:0.21 [[ 9.99427356e-01 -2.73679311e-02 -1.98986416e-02 1.22304624e+01] [ 2.73804818e-02 9.99625020e-01 3.58509402e-04 -5.54167088e-01] [ 1.98813684e-02 -9.03138500e-04 9.99801938e-01 2.12921674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983617865 meters 0.023658263280565157 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.56, Z:0.21 [[ 9.99421784e-01 -2.77472485e-02 -1.96516763e-02 1.22589098e+01] [ 2.77595191e-02 9.99614568e-01 3.51839292e-04 -5.55918461e-01] [ 1.96343394e-02 -8.97156938e-04 9.99806825e-01 2.13169420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.013617864999999 meters 0.02349842000412719 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.56, Z:0.21 [[ 9.99408967e-01 -2.81743785e-02 -1.96956967e-02 1.22870921e+01] [ 2.81866839e-02 9.99602616e-01 3.47392924e-04 -5.57148873e-01] [ 1.96780824e-02 -9.02343981e-04 9.99805961e-01 2.13691148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043617864999998 meters 0.02316410113819264 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.56, Z:0.21 [[ 9.99386526e-01 -2.89896476e-02 -1.96512776e-02 1.23163322e+01] [ 2.90019542e-02 9.99579297e-01 3.41491594e-04 -5.60064200e-01] [ 1.96331105e-02 -9.11207550e-04 9.99806837e-01 2.14634435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.073617865 meters 0.02164343239553625 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.56, Z:0.22 [[ 9.99372312e-01 -2.93526628e-02 -1.98343817e-02 1.23444103e+01] [ 2.93651754e-02 9.99568692e-01 3.39838601e-04 -5.59193761e-01] [ 1.98158518e-02 -9.22065387e-04 9.99803222e-01 2.15451789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103617864999999 meters 0.022417304501486417 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.56, Z:0.22 [[ 9.99381890e-01 -2.90228016e-02 -1.98372043e-02 1.23720812e+01] [ 2.90351575e-02 9.99578335e-01 3.35073610e-04 -5.60992066e-01] [ 1.98191149e-02 -9.10842850e-04 9.99803167e-01 2.15175848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.133617864999998 meters 0.02219211059997026 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.56, Z:0.21 [[ 9.99371036e-01 -2.89410294e-02 -2.04926713e-02 1.24012622e+01] [ 2.89541488e-02 9.99580682e-01 3.43726067e-04 -5.61105406e-01] [ 2.04741306e-02 -9.36857732e-04 9.99789944e-01 2.14864692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163617864999999 meters 0.0229896932155622 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.56, Z:0.21 [[ 9.99383294e-01 -2.78023376e-02 -2.14490271e-02 1.24296486e+01] [ 2.78163355e-02 9.99612988e-01 3.54484058e-04 -5.63462366e-01] [ 2.14308706e-02 -9.50898780e-04 9.99769880e-01 2.13302591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.193617864999998 meters 0.02127271247311632 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.56, Z:0.21 [[ 9.99385975e-01 -2.72852219e-02 -2.19815535e-02 1.24585150e+01] [ 2.72996824e-02 9.99627230e-01 3.57975526e-04 -5.62577697e-01] [ 2.19635920e-02 -9.57845150e-04 9.99758312e-01 2.14188380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223617864999998 meters 0.025572712578374256 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.57, Z:0.21 [[ 9.99387816e-01 -2.72394286e-02 -2.19546474e-02 1.24860555e+01] [ 2.72537461e-02 9.99628485e-01 3.53137817e-04 -5.70672126e-01] [ 2.19368716e-02 -9.51268018e-04 9.99758905e-01 2.13881696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.253617864999999 meters 0.020630532430378636 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.57, Z:0.22 [[ 9.99378023e-01 -2.75436912e-02 -2.20207265e-02 1.25137139e+01] [ 2.75581036e-02 9.99620142e-01 3.51244631e-04 -5.65595043e-01] [ 2.20026871e-02 -9.57875628e-04 9.99757453e-01 2.15614752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283617864999998 meters 0.025048163146573352 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.57, Z:0.22 [[ 9.99357847e-01 -2.83956175e-02 -2.18536533e-02 1.25415918e+01] [ 2.84099065e-02 9.99596298e-01 3.43594429e-04 -5.74916644e-01] [ 2.18350744e-02 -9.64234036e-04 9.99761121e-01 2.16190011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.313617864999998 meters 0.02194260024979494 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.57, Z:0.22 [[ 9.99339461e-01 -2.91446795e-02 -2.17078280e-02 1.25706549e+01] [ 2.91588969e-02 9.99574732e-01 3.38635980e-04 -5.70979320e-01] [ 2.16887269e-02 -9.71388615e-04 9.99764300e-01 2.17451062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343617864999999 meters 0.022908724543346148 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.57, Z:0.22 [[ 9.99333922e-01 -2.96593171e-02 -2.12611461e-02 1.25980154e+01] [ 2.96729745e-02 9.99559607e-01 3.27106291e-04 -5.72673646e-01] [ 2.12420811e-02 -9.57769857e-04 9.99773903e-01 2.17665156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.373617864999998 meters 0.024671235459526864 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.58, Z:0.22 [[ 9.99296182e-01 -3.11849634e-02 -2.08479686e-02 1.26261444e+01] [ 3.11983686e-02 9.99513162e-01 3.17980233e-04 -5.77264316e-01] [ 2.08279028e-02 -9.68179041e-04 9.99782607e-01 2.18465200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.403617865 meters 0.02306274639844065 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.58, Z:0.22 [[ 9.99271067e-01 -3.21294943e-02 -2.06162593e-02 1.26545531e+01] [ 3.21427684e-02 9.99483239e-01 3.12737860e-04 -5.77253855e-01] [ 2.05955575e-02 -9.75173543e-04 9.99787413e-01 2.19699352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.433617864999999 meters 0.02306274639844065 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.58, Z:0.22 [[ 9.99262343e-01 -3.23996503e-02 -2.06162973e-02 1.26821677e+01] [ 3.24129297e-02 9.99474515e-01 3.10208032e-04 -5.77607555e-01] [ 2.05954132e-02 -9.78213802e-04 9.99787413e-01 2.20151915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.463617864999998 meters 0.02559856953689096 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.58, Z:0.22 [[ 9.99227118e-01 -3.33428387e-02 -2.08187701e-02 1.27097405e+01] [ 3.33564798e-02 9.99443470e-01 3.08221502e-04 -5.83092228e-01] [ 2.07969069e-02 -1.00242417e-03 9.99783218e-01 2.20680017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.493617865 meters 0.025213950223347745 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.58, Z:0.22 [[ 9.99203301e-01 -3.41655783e-02 -2.06270916e-02 1.27389564e+01] [ 3.41790820e-02 9.99415679e-01 3.02369279e-04 -5.84183617e-01] [ 2.06047081e-02 -1.00714344e-03 9.99787193e-01 2.21171257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.523617864999999 meters 0.0252403761177828 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.59, Z:0.22 [[ 9.99173442e-01 -3.50641276e-02 -2.05654915e-02 1.27672495e+01] [ 3.50776560e-02 9.99384545e-01 2.97346506e-04 -5.85643712e-01] [ 2.05424081e-02 -1.01848997e-03 9.99788464e-01 2.21288008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.553617864999998 meters 0.02575721737745026 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.59, Z:0.22 [[ 9.99234792e-01 -3.38355810e-02 -1.96210108e-02 1.27950563e+01] [ 3.38476282e-02 9.99426965e-01 2.82131217e-04 -5.86319294e-01] [ 1.96002212e-02 -9.46040007e-04 9.99807450e-01 2.21978310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583617864999999 meters 0.02544648580734884 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.59, Z:0.22 [[ 9.99275419e-01 -3.29840609e-02 -1.89917988e-02 1.28242982e+01] [ 3.29951582e-02 9.99455475e-01 2.71186362e-04 -5.86879211e-01] [ 1.89725125e-02 -8.97627271e-04 9.99819603e-01 2.22800337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.613617864999998 meters 0.025506227256876 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.59, Z:0.22 [[ 9.99309387e-01 -3.19601760e-02 -1.89551033e-02 1.28521842e+01] [ 3.19709702e-02 9.99488762e-01 2.66625112e-04 -5.88495784e-01] [ 1.89368914e-02 -8.72454021e-04 9.99820300e-01 2.23713257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643617864999998 meters 0.025179027657394496 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.59, Z:0.22 [[ 9.99381943e-01 -2.93455714e-02 -1.93538157e-02 1.28810585e+01] [ 2.93562942e-02 9.99568975e-01 2.70106107e-04 -5.89205760e-01] [ 1.93375473e-02 -8.38095472e-04 9.99812661e-01 2.24060137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.673617864999999 meters 0.025000514887600484 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.59, Z:0.22 [[ 9.99416339e-01 -2.81900576e-02 -1.92951174e-02 1.29097754e+01] [ 2.82004729e-02 9.99602252e-01 2.67856053e-04 -5.88860909e-01] [ 1.92798919e-02 -8.11831150e-04 9.99813796e-01 2.23514404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703617864999998 meters 0.024761425481211307 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.59, Z:0.22 [[ 9.99438111e-01 -2.68377575e-02 -2.00797657e-02 1.29384758e+01] [ 2.68486722e-02 9.99639472e-01 2.74129759e-04 -5.89010717e-01] [ 2.00651693e-02 -8.13090774e-04 9.99798344e-01 2.23207349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.733617864999998 meters 0.02413453965252612 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.59, Z:0.22 [[ 9.99489222e-01 -2.42867890e-02 -2.07712785e-02 1.29662706e+01] [ 2.42978335e-02 9.99704725e-01 2.79471984e-04 -5.89797529e-01] [ 2.07583578e-02 -7.84026303e-04 9.99784215e-01 2.23640199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763617864999999 meters 0.02404641948930623 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.59, Z:0.23 [[ 9.99523942e-01 -2.32452693e-02 -2.02866314e-02 1.29945806e+01] [ 2.32555475e-02 9.99729516e-01 2.70848716e-04 -5.90512404e-01] [ 2.02748483e-02 -7.42496496e-04 9.99794168e-01 2.25004903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.793617864999998 meters 0.023715457043775614 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.59, Z:0.23 [[ 9.99552785e-01 -2.23128198e-02 -1.99089990e-02 1.30235182e+01] [ 2.23224489e-02 9.99750789e-01 2.61530776e-04 -5.90541198e-01] [ 1.98982020e-02 -7.05831430e-04 9.99801762e-01 2.25963604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.823617865 meters 0.019487452936774834 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.58, Z:0.23 [[ 9.99589560e-01 -2.04559852e-02 -2.00565029e-02 1.30524578e+01] [ 2.04652954e-02 9.99790530e-01 2.59037678e-04 -5.84299953e-01] [ 2.00470028e-02 -6.69393615e-04 9.99798815e-01 2.26950342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.853617864999999 meters 0.01870277906358228 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.58, Z:0.23 [[ 9.99607945e-01 -1.97747177e-02 -1.98221268e-02 1.30810540e+01] [ 1.97835877e-02 9.99804254e-01 2.51463296e-04 -5.83703792e-01] [ 1.98132741e-02 -6.43517494e-04 9.99803491e-01 2.27159775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.883617864999998 meters 0.017989242349534532 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.58, Z:0.23 [[ 9.99614966e-01 -1.95913919e-02 -1.96493308e-02 1.31096232e+01] [ 1.95999814e-02 9.99807872e-01 2.44631598e-04 -5.82801147e-01] [ 1.96407629e-02 -6.29663924e-04 9.99806903e-01 2.27520844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.913617864999999 meters 0.01858829056894017 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.58, Z:0.23 [[ 9.99615342e-01 -1.94196807e-02 -1.98001234e-02 1.31378989e+01] [ 1.94282813e-02 9.99811224e-01 2.42083100e-04 -5.84758981e-01] [ 1.97916844e-02 -6.26672347e-04 9.99803929e-01 2.27973402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.943617864999998 meters 0.023055136655443436 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.59, Z:0.23 [[ 9.99607202e-01 -1.97245325e-02 -1.99094044e-02 1.31654415e+01] [ 1.97332375e-02 9.99805252e-01 2.40847069e-04 -5.92910445e-01] [ 1.99007765e-02 -6.33629470e-04 9.99801759e-01 2.27861325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.973617864999998 meters 0.01854966215484427 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.59, Z:0.23 [[ 9.99579518e-01 -2.06330677e-02 -2.03730976e-02 1.31939785e+01] [ 2.06423086e-02 9.99786895e-01 2.43370572e-04 -5.87540303e-01] [ 2.03637345e-02 -6.63816007e-04 9.99792417e-01 2.29487939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.003617864999999 meters 0.018613880717415796 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.59, Z:0.23 [[ 9.99562880e-01 -2.08168130e-02 -2.09930529e-02 1.32217584e+01] [ 2.08265545e-02 9.99783074e-01 2.45487801e-04 -5.87445242e-01] [ 2.09833887e-02 -6.82593454e-04 9.99779591e-01 2.29345802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.033617864999998 meters 0.019283446313779706 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.59, Z:0.23 [[ 9.99515007e-01 -2.16289028e-02 -2.24040650e-02 1.32491193e+01] [ 2.16400812e-02 9.99765793e-01 2.56592786e-04 -5.88412357e-01] [ 2.23932680e-02 -7.41294125e-04 9.99748965e-01 2.29042360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.063617864999998 meters 0.019860161137097713 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.59, Z:0.23 [[ 9.99480182e-01 -2.29109241e-02 -2.26816258e-02 1.32775303e+01] [ 2.29226607e-02 9.99737208e-01 2.57559245e-04 -5.90435023e-01] [ 2.26697643e-02 -7.77348574e-04 9.99742706e-01 2.29594092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.093617864999999 meters 0.026668932868967144 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.60, Z:0.23 [[ 9.99458814e-01 -2.44720873e-02 -2.19817356e-02 1.33047245e+01] [ 2.44834462e-02 9.99700205e-01 2.47724584e-04 -6.01335607e-01] [ 2.19690832e-02 -7.85779160e-04 9.99758342e-01 2.29466751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123617864999998 meters 0.028140621579981973 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.60, Z:0.23 [[ 9.99414024e-01 -2.65000784e-02 -2.16646070e-02 1.33331519e+01] [ 2.65115476e-02 9.99648478e-01 2.42306430e-04 -6.04398797e-01] [ 2.16505703e-02 -8.16526705e-04 9.99765265e-01 2.30727677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.153617864999998 meters 0.022518113157218626 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.60, Z:0.23 [[ 9.99275075e-01 -3.12213147e-02 -2.17842696e-02 1.33629928e+01] [ 3.12340125e-02 9.99512070e-01 2.42802964e-04 -5.98590978e-01] [ 2.17660598e-02 -9.23037099e-04 9.99762665e-01 2.33288563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183617864999999 meters 0.032939839992126324 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.61, Z:0.23 [[ 9.99222874e-01 -3.30583117e-02 -2.14661738e-02 1.33901971e+01] [ 3.30710411e-02 9.99452975e-01 2.38175673e-04 -6.13329796e-01] [ 2.14465576e-02 -9.47899296e-04 9.99769547e-01 2.32429398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.213617864999998 meters 0.0234063610905745 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.60, Z:0.23 [[ 9.99161646e-01 -3.50343918e-02 -2.11801185e-02 1.34198332e+01] [ 3.50471738e-02 9.99385632e-01 2.32485583e-04 -6.00097293e-01] [ 2.11589612e-02 -9.74593974e-04 9.99775649e-01 2.34440589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243617865 meters 0.03530367670628133 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.62, Z:0.23 [[ 9.99122871e-01 -3.63858946e-02 -2.07257014e-02 1.34479547e+01] [ 3.63984016e-02 9.99337333e-01 2.26419609e-04 -6.16658172e-01] [ 2.07037287e-02 -9.80603415e-04 9.99785174e-01 2.33385648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.273617864999999 meters 0.025944394001436367 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.61, Z:0.24 [[ 9.99043508e-01 -3.88815181e-02 -2.00074291e-02 1.34778057e+01] [ 3.88936303e-02 9.99243333e-01 2.16476195e-04 -6.05008418e-01] [ 1.99838733e-02 -9.94430690e-04 9.99799808e-01 2.35380842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.303617864999998 meters 0.023546889865366294 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.60, Z:0.24 [[ 9.99050629e-01 -3.92383765e-02 -1.89258964e-02 1.35056286e+01] [ 3.92492556e-02 9.99229430e-01 2.03577684e-04 -6.01463305e-01] [ 1.89033246e-02 -9.46211759e-04 9.99820868e-01 2.36547607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.333617864999999 meters 0.02372230269416188 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.60, Z:0.24 [[ 9.99045358e-01 -3.95235265e-02 -1.86081449e-02 1.35334082e+01] [ 3.95339998e-02 9.99218207e-01 1.95166186e-04 -6.01848952e-01] [ 1.85858835e-02 -9.30634269e-04 9.99826834e-01 2.37149805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.363617864999998 meters 0.022713495395847674 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.60, Z:0.24 [[ 9.99076814e-01 -3.88285837e-02 -1.83809816e-02 1.35621162e+01] [ 3.88385959e-02 9.99245479e-01 1.87907028e-04 -6.00096439e-01] [ 1.83598166e-02 -9.01625070e-04 9.99831038e-01 2.37197093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.393617864999998 meters 0.023102880893988296 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.60, Z:0.24 [[ 9.99105212e-01 -3.79855850e-02 -1.85975936e-02 1.35901862e+01] [ 3.79956113e-02 9.99277889e-01 1.85948104e-04 -6.00000206e-01] [ 1.85771007e-02 -8.92408656e-04 9.99827033e-01 2.37024613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.423617864999999 meters 0.02093373714000205 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.60, Z:0.24 [[ 9.99150288e-01 -3.69343663e-02 -1.82908342e-02 1.36196342e+01] [ 3.69438559e-02 9.99317326e-01 1.81079469e-04 -5.95953372e-01] [ 1.82716594e-02 -8.56659545e-04 9.99832692e-01 2.37262335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.453617864999998 meters 0.022901798167415045 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.60, Z:0.24 [[ 9.99219941e-01 -3.51937773e-02 -1.79138972e-02 1.36472697e+01] [ 3.52025327e-02 9.99380184e-01 1.73555841e-04 -5.98762183e-01] [ 1.78966858e-02 -8.04035009e-04 9.99839518e-01 2.37568979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.483617864999998 meters 0.021803462547586052 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.60, Z:0.24 [[ 9.99385813e-01 -3.08102870e-02 -1.66949960e-02 1.36776384e+01] [ 3.08172584e-02 9.99525023e-01 1.60412992e-04 -5.95906985e-01] [ 1.66821239e-02 -6.74808475e-04 9.99860616e-01 2.38662963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.513617864999999 meters 0.022610409098581412 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.60, Z:0.24 [[ 9.99469565e-01 -2.84421220e-02 -1.58629644e-02 1.37057457e+01] [ 2.84481145e-02 9.99595259e-01 1.52203542e-04 -5.96156374e-01] [ 1.58522150e-02 -6.03394237e-04 9.99874164e-01 2.39425300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543617864999998 meters 0.019296297483490838 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.59, Z:0.24 [[ 9.99539362e-01 -2.62987386e-02 -1.51472785e-02 1.37347968e+01] [ 2.63039385e-02 9.99653981e-01 1.44125594e-04 -5.89534732e-01] [ 1.51382469e-02 -5.42492286e-04 9.99885263e-01 2.39849097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.573617865 meters 0.018936202447967235 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.59, Z:0.24 [[ 9.99587649e-01 -2.46044785e-02 -1.48037384e-02 1.37641626e+01] [ 2.46092485e-02 9.99697137e-01 1.40110704e-04 -5.87950615e-01] [ 1.47958076e-02 -5.04361806e-04 9.99890409e-01 2.40164391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603617864999999 meters 0.017946902192132158 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.58, Z:0.24 [[ 9.99647811e-01 -2.22218587e-02 -1.45066283e-02 1.37927988e+01] [ 2.22261387e-02 9.99752960e-01 1.33867590e-04 -5.84922461e-01] [ 1.45000698e-02 -4.56246776e-04 9.99894764e-01 2.40502950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.633617864999998 meters 0.018284759996212794 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.59, Z:0.24 [[ 9.99657273e-01 -2.17399529e-02 -1.45846308e-02 1.38209106e+01] [ 2.17442147e-02 9.99763558e-01 1.33683414e-04 -5.85138835e-01] [ 1.45782761e-02 -4.50768942e-04 9.99893630e-01 2.40843802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663617864999999 meters 0.017655592581878397 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.58, Z:0.24 [[ 9.99653607e-01 -2.21247932e-02 -1.42533993e-02 1.38493365e+01] [ 2.21288820e-02 9.99755118e-01 1.29198710e-04 -5.83601789e-01] [ 1.42470504e-02 -4.44565748e-04 9.99898407e-01 2.40872207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.693617864999998 meters 0.01902482705736011 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.59, Z:0.24 [[ 9.99617560e-01 -2.36682293e-02 -1.43020312e-02 1.38776038e+01] [ 2.36724411e-02 9.99719761e-01 1.25247189e-04 -5.85496316e-01] [ 1.42950589e-02 -4.63763281e-04 9.99897713e-01 2.41190152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723617864999998 meters 0.019388966020192477 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.59, Z:0.24 [[ 9.99586118e-01 -2.52048758e-02 -1.38674751e-02 1.39063338e+01] [ 2.52089726e-02 9.99682196e-01 1.20674526e-04 -5.86290682e-01] [ 1.38600264e-02 -4.70209382e-04 9.99903835e-01 2.41464700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.753617864999999 meters 0.019364125212951923 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.59, Z:0.24 [[ 9.99542883e-01 -2.69655811e-02 -1.36704805e-02 1.39351836e+01] [ 2.69696833e-02 9.99636245e-01 1.15782968e-04 -5.86329053e-01] [ 1.36623856e-02 -4.84418571e-04 9.99906548e-01 2.41842221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783617864999998 meters 0.021163380610285235 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.59, Z:0.24 [[ 9.99444096e-01 -3.05691336e-02 -1.33051535e-02 1.39638467e+01] [ 3.05732905e-02 9.99532522e-01 1.09097933e-04 -5.89085428e-01] [ 1.32955986e-02 -5.15819609e-04 9.99911477e-01 2.41932607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.813617864999998 meters 0.021292613938198767 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.59, Z:0.24 [[ 9.99379134e-01 -3.27475750e-02 -1.29977676e-02 1.39938172e+01] [ 3.27517124e-02 9.99463513e-01 1.05525209e-04 -5.89292047e-01] [ 1.29873388e-02 -5.31158839e-04 9.99915520e-01 2.42274436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843617864999999 meters 0.022864078270829133 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.59, Z:0.24 [[ 9.99308300e-01 -3.48090144e-02 -1.30863878e-02 1.40227908e+01] [ 3.48133796e-02 9.99393825e-01 1.05852342e-04 -5.92241546e-01] [ 1.30747705e-02 -5.61360509e-04 9.99914364e-01 2.42693144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.873617864999998 meters 0.022205668714665457 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.59, Z:0.24 [[ 9.99196318e-01 -3.78424052e-02 -1.32162909e-02 1.40519335e+01] [ 3.78471144e-02 9.99283536e-01 1.06304069e-04 -5.92042406e-01] [ 1.32027991e-02 -6.06417108e-04 9.99912655e-01 2.42843074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.903617864999998 meters 0.02471031451309381 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.60, Z:0.24 [[ 9.99168837e-01 -3.86466312e-02 -1.29642681e-02 1.40799455e+01] [ 3.86512185e-02 9.99252757e-01 1.03383768e-04 -5.96022038e-01] [ 1.29505852e-02 -6.04382599e-04 9.99915955e-01 2.43483985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.933617864999999 meters 0.025100576736471283 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.60, Z:0.24 [[ 9.99135970e-01 -3.95861638e-02 -1.26589696e-02 1.41088867e+01] [ 3.95906066e-02 9.99215980e-01 1.00452756e-04 -5.96543778e-01] [ 1.26450682e-02 -6.01542249e-04 9.99919867e-01 2.43800347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.963617864999998 meters 0.025323275216380066 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.60, Z:0.24 [[ 9.99123737e-01 -3.99278218e-02 -1.25509569e-02 1.41372564e+01] [ 3.99321730e-02 9.99202388e-01 9.61685637e-05 -5.96531130e-01] [ 1.25371063e-02 -5.97271278e-04 9.99921229e-01 2.44051297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.993617865 meters 0.02327288105881558 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.59, Z:0.24 [[ 9.99113364e-01 -4.03054893e-02 -1.21636192e-02 1.41664191e+01] [ 4.03096004e-02 9.99187233e-01 9.29067958e-05 -5.91940059e-01] [ 1.21499883e-02 -5.83135048e-04 9.99926016e-01 2.43774512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023617864999995 meters 0.023308693409622952 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.59, Z:0.24 [[ 9.99122395e-01 -4.01509620e-02 -1.19306364e-02 1.41949816e+01] [ 4.01548732e-02 9.99193464e-01 8.83666272e-05 -5.91177958e-01] [ 1.19174659e-02 -5.67362269e-04 9.99928824e-01 2.43726902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.053617864999996 meters 0.026685598330415793 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.60, Z:0.24 [[ 9.99125168e-01 -4.00719270e-02 -1.19640687e-02 1.42225434e+01] [ 4.00758146e-02 9.99196638e-01 8.52783953e-05 -5.95587623e-01] [ 1.19510400e-02 -5.64673593e-04 9.99928424e-01 2.44567328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.083617864999997 meters 0.024148488374444367 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.59, Z:0.24 [[ 9.99168898e-01 -3.89623756e-02 -1.19768972e-02 1.42517095e+01] [ 3.89661795e-02 9.99240526e-01 8.43186533e-05 -5.90721455e-01] [ 1.19645158e-02 -5.50942501e-04 9.99928271e-01 2.44957163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.113617864999995 meters 0.02359902476359691 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.59, Z:0.25 [[ 9.99187576e-01 -3.84477953e-02 -1.20811917e-02 1.42805868e+01] [ 3.84515940e-02 9.99260461e-01 8.22255089e-05 -5.89190510e-01] [ 1.20690958e-02 -5.46699786e-04 9.99927016e-01 2.45665956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143617864999996 meters 0.023190068243855923 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.59, Z:0.25 [[ 9.99213799e-01 -3.78325535e-02 -1.18525130e-02 1.43098914e+01] [ 3.78361347e-02 9.99283954e-01 7.79782917e-05 -5.87474758e-01] [ 1.18410759e-02 -5.26370263e-04 9.99929753e-01 2.46259857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.173617864999997 meters 0.0216420694827504 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.58, Z:0.25 [[ 9.99262455e-01 -3.64417591e-02 -1.21055633e-02 1.43392891e+01] [ 3.64453570e-02 9.99335644e-01 7.66645330e-05 -5.82459657e-01] [ 1.20947272e-02 -5.17799567e-04 9.99926722e-01 2.46205809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.203617865 meters 0.02444651104303714 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.59, Z:0.25 [[ 9.99269566e-01 -3.60428036e-02 -1.26984754e-02 1.43668951e+01] [ 3.60466860e-02 9.99350104e-01 7.69177175e-05 -5.85513084e-01] [ 1.26874504e-02 -5.34599491e-04 9.99919368e-01 2.46366474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.233617864999996 meters 0.025834576313007757 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.59, Z:0.25 [[ 9.99260234e-01 -3.60875396e-02 -1.32918804e-02 1.43938048e+01] [ 3.60917827e-02 9.99348476e-01 7.94089760e-05 -5.86136047e-01] [ 1.32803547e-02 -5.59077891e-04 9.99911656e-01 2.46161189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263617864999997 meters 0.020802456957314436 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.58, Z:0.25 [[ 9.99202999e-01 -3.73292595e-02 -1.41383385e-02 1.44227556e+01] [ 3.73341645e-02 9.99302834e-01 8.30643819e-05 -5.76029717e-01] [ 1.41253810e-02 -6.10841235e-04 9.99900045e-01 2.45150770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.293617864999998 meters 0.02093043914931723 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.58, Z:0.25 [[ 9.99160861e-01 -3.85370734e-02 -1.38733063e-02 1.44519620e+01] [ 3.85418667e-02 9.99256983e-01 7.82103274e-05 -5.75931411e-01] [ 1.38599842e-02 -6.12847822e-04 9.99903758e-01 2.45552845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323617864999996 meters 0.02093043914931723 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.58, Z:0.25 [[ 9.99150089e-01 -3.88153378e-02 -1.38733240e-02 1.44795727e+01] [ 3.88201123e-02 9.99246213e-01 7.49201060e-05 -5.76025462e-01] [ 1.38599585e-02 -6.13420428e-04 9.99903758e-01 2.46004357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.353617864999997 meters 0.022540127318897235 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.58, Z:0.25 [[ 9.99089129e-01 -4.02262494e-02 -1.42394358e-02 1.45075610e+01] [ 4.02313582e-02 9.99190389e-01 7.23948055e-05 -5.78808454e-01] [ 1.42249952e-02 -6.45200705e-04 9.99898611e-01 2.47433474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383617864999998 meters 0.021871623141059917 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.58, Z:0.25 [[ 9.98971246e-01 -4.32605401e-02 -1.36005757e-02 1.45368104e+01] [ 4.32654649e-02 9.99063609e-01 6.79426401e-05 -5.76921366e-01] [ 1.35849010e-02 -6.56307974e-04 9.99907506e-01 2.48892607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.413617864999996 meters 0.02275274050724637 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.58, Z:0.25 [[ 9.98895364e-01 -4.50342126e-02 -1.34153259e-02 1.45665170e+01] [ 4.50391538e-02 9.98985220e-01 6.62755003e-05 -5.76841028e-01] [ 1.33987276e-02 -6.70417216e-04 9.99910008e-01 2.49869750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.443617864999997 meters 0.023264495061523366 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.58, Z:0.25 [[ 9.98828607e-01 -4.65752262e-02 -1.31210503e-02 1.45955891e+01] [ 4.65800886e-02 9.98914556e-01 6.50593870e-05 -5.76494211e-01] [ 1.31037780e-02 -6.76162863e-04 9.99913913e-01 2.50518321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.473617864999998 meters 0.0271776353610701 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.58, Z:0.25 [[ 9.98771090e-01 -4.78857334e-02 -1.27775930e-02 1.46236182e+01] [ 4.78904063e-02 9.98852594e-01 5.98112756e-05 -5.81276332e-01] [ 1.27600678e-02 -6.71661892e-04 9.99918361e-01 2.51291675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503617864999995 meters 0.025219630204706724 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.58, Z:0.25 [[ 9.98688357e-01 -4.95707771e-02 -1.28181091e-02 1.46530472e+01] [ 4.95756016e-02 9.98770372e-01 5.87171686e-05 -5.77567507e-01] [ 1.27994370e-02 -6.94105625e-04 9.99917843e-01 2.51273945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.533617864999997 meters 0.02636243303285624 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.58, Z:0.25 [[ 9.98657151e-01 -5.00957335e-02 -1.32027314e-02 1.46804841e+01] [ 5.01008937e-02 9.98744160e-01 6.01764979e-05 -5.78789509e-01] [ 1.31831363e-02 -7.21564332e-04 9.99912838e-01 2.51598950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563617864999998 meters 0.025808593071003215 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.58, Z:0.25 [[ 9.98630139e-01 -5.06470834e-02 -1.31422673e-02 1.47089955e+01] [ 5.06522361e-02 9.98716350e-01 5.93005876e-05 -5.77475676e-01] [ 1.31223938e-02 -7.24904581e-04 9.99913635e-01 2.51832166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.593617864999995 meters 0.02562029562485778 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.58, Z:0.25 [[ 9.98620282e-01 -5.08775780e-02 -1.30001475e-02 1.47372691e+01] [ 5.08826017e-02 9.98704640e-01 5.57553728e-05 -5.76171956e-01] [ 1.29804709e-02 -7.17159773e-04 9.99915493e-01 2.52567048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623617864999996 meters 0.026673060384503015 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.58, Z:0.25 [[ 9.98633353e-01 -5.05815083e-02 -1.31505867e-02 1.47648908e+01] [ 5.05865680e-02 9.98719679e-01 5.21877037e-05 -5.77245283e-01] [ 1.31311100e-02 -7.17359431e-04 9.99913526e-01 2.53396998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.653617864999998 meters 0.026352008315876873 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.58, Z:0.25 [[ 9.98659167e-01 -5.01740962e-02 -1.27447048e-02 1.47937756e+01] [ 5.01788092e-02 9.98740249e-01 5.00988606e-05 -5.75961626e-01] [ 1.27261360e-02 -6.89545795e-04 9.99918782e-01 2.54106629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683617864999995 meters 0.026510962235915914 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.58, Z:0.25 [[ 9.98721624e-01 -4.89604245e-02 -1.25696046e-02 1.48217533e+01] [ 4.89648715e-02 9.98800500e-01 4.61068538e-05 -5.75492965e-01] [ 1.25522699e-02 -6.61516984e-04 9.99920998e-01 2.54937736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.713617864999996 meters 0.026223327266999323 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.57, Z:0.26 [[ 9.98912970e-01 -4.49156338e-02 -1.24685419e-02 1.48505204e+01] [ 4.49196722e-02 9.98990601e-01 4.38886376e-05 -5.73769377e-01] [ 1.24539849e-02 -6.03923745e-04 9.99922264e-01 2.56169774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743617864999997 meters 0.02597575967149224 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.57, Z:0.26 [[ 9.99015091e-01 -4.24776266e-02 -1.28256883e-02 1.48791186e+01] [ 4.24816945e-02 9.99097244e-01 4.47718071e-05 -5.72653836e-01] [ 1.28122081e-02 -5.89584684e-04 9.99917746e-01 2.56716438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.773617864999995 meters 0.021865673718293583 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.57, Z:0.26 [[ 9.99118088e-01 -3.99357100e-02 -1.29686235e-02 1.49085752e+01] [ 3.99396465e-02 9.99202093e-01 4.45857260e-05 -5.65579799e-01] [ 1.29564952e-02 -5.62508644e-04 9.99915903e-01 2.56866494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803617864999996 meters 0.02272938571650273 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.57, Z:0.26 [[ 9.99226056e-01 -3.70673506e-02 -1.31643367e-02 1.49372419e+01] [ 3.70711526e-02 9.99312628e-01 4.48290616e-05 -5.65844866e-01] [ 1.31536262e-02 -5.32811501e-04 9.99913345e-01 2.57501033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.833617864999997 meters 0.019929843696280466 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.56, Z:0.26 [[ 9.99384747e-01 -3.20190010e-02 -1.43146927e-02 1.49671692e+01] [ 3.20229693e-02 9.99487132e-01 4.80374116e-05 -5.59073450e-01] [ 1.43058130e-02 -5.06406821e-04 9.99897538e-01 2.56297785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.863617864999995 meters 0.019554817652270504 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.56, Z:0.26 [[ 9.99448806e-01 -2.95957387e-02 -1.50391778e-02 1.49962025e+01] [ 2.95998419e-02 9.99561827e-01 5.02705115e-05 -5.57652759e-01] [ 1.50311002e-02 -4.95400087e-04 9.99886904e-01 2.56058475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.893617864999996 meters 0.018964239433828245 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.56, Z:0.26 [[ 9.99510456e-01 -2.73439667e-02 -1.52038211e-02 1.50247938e+01] [ 2.73478844e-02 9.99625975e-01 4.97924756e-05 -5.56294493e-01] [ 1.51967730e-02 -4.65560442e-04 9.99884414e-01 2.56133891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.923617864999997 meters 0.017368411151482476 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.55, Z:0.26 [[ 9.99593185e-01 -2.42188499e-02 -1.50635757e-02 1.50533765e+01] [ 2.42223261e-02 9.99706595e-01 4.83394519e-05 -5.53853437e-01] [ 1.50579852e-02 -4.13194629e-04 9.99886537e-01 2.57394143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.953617864999995 meters 0.01751544450425837 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.55, Z:0.26 [[ 9.99622010e-01 -2.31824561e-02 -1.47787275e-02 1.50810572e+01] [ 2.31856747e-02 9.99731175e-01 4.64630842e-05 -5.54661986e-01] [ 1.47736775e-02 -3.89100290e-04 9.99890788e-01 2.58266131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.983617864999996 meters 0.01727349809412945 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.55, Z:0.26 [[ 9.99628380e-01 -2.27671089e-02 -1.49920396e-02 1.51104558e+01] [ 2.27703579e-02 9.99740721e-01 4.60330990e-05 -5.54846716e-01] [ 1.49871044e-02 -3.87390100e-04 9.99887612e-01 2.58999173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.013617864999997 meters 0.01697502792010686 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.55, Z:0.26 [[ 9.99632240e-01 -2.27414232e-02 -1.47720324e-02 1.51386485e+01] [ 2.27445289e-02 9.99741309e-01 4.22534280e-05 -5.54727037e-01] [ 1.47672501e-02 -3.78220807e-04 9.99890887e-01 2.59308922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.043617864999998 meters 0.017432860319263183 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.56, Z:0.26 [[ 9.99626863e-01 -2.28971127e-02 -1.48948589e-02 1.51660872e+01] [ 2.29002243e-02 9.99737755e-01 3.83575738e-05 -5.57630735e-01] [ 1.48900745e-02 -3.79438871e-04 9.99889065e-01 2.59865067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.073617864999996 meters 0.017832841248650255 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.56, Z:0.26 [[ 9.99616821e-01 -2.31298884e-02 -1.52059065e-02 1.51930592e+01] [ 2.31331129e-02 9.99732393e-01 3.61815280e-05 -5.59879084e-01] [ 1.52010004e-02 -3.87927616e-04 9.99884383e-01 2.59947510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103617864999997 meters 0.01764463364749314 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.56, Z:0.26 [[ 9.99597927e-01 -2.36994459e-02 -1.55666218e-02 1.52207582e+01] [ 2.37028674e-02 9.99719047e-01 3.53087922e-05 -5.60796306e-01] [ 1.55614115e-02 -4.04268168e-04 9.99878832e-01 2.60130746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.133617864999998 meters 0.018422544378111156 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.56, Z:0.26 [[ 9.99530757e-01 -2.55624241e-02 -1.68768603e-02 1.52482285e+01] [ 2.55666302e-02 9.99673120e-01 3.34740435e-05 -5.64859276e-01] [ 1.68704879e-02 -4.64942783e-04 9.99857575e-01 2.58907328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163617864999996 meters 0.019074354542152082 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.57, Z:0.26 [[ 9.99476201e-01 -2.73469247e-02 -1.73051696e-02 1.52768643e+01] [ 2.73515817e-02 9.99625875e-01 3.24421832e-05 -5.67608066e-01] [ 1.72978081e-02 -5.05748950e-04 9.99850254e-01 2.59084661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.193617864999997 meters 0.01991661829012587 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.57, Z:0.26 [[ 9.99421399e-01 -2.94608366e-02 -1.69978073e-02 1.53055966e+01] [ 2.94655696e-02 9.99565795e-01 2.80157385e-05 -5.70850613e-01] [ 1.69896014e-02 -5.28849602e-04 9.99855526e-01 2.59353085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.223617864999998 meters 0.020736494000751348 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.57, Z:0.26 [[ 9.99349103e-01 -3.18693277e-02 -1.69031455e-02 1.53345610e+01] [ 3.18742872e-02 9.99491886e-01 2.40111182e-05 -5.74169429e-01] [ 1.68937916e-02 -5.62771204e-04 9.99857131e-01 2.60026591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.253617864999995 meters 0.02293504905241466 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.58, Z:0.26 [[ 9.99205222e-01 -3.61131885e-02 -1.68748976e-02 1.53632040e+01] [ 3.61186722e-02 9.99347508e-01 2.02061496e-05 -5.82701968e-01] [ 1.68631571e-02 -6.29688985e-04 9.99857609e-01 2.60658962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283617864999997 meters 0.02367020998926924 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.59, Z:0.26 [[ 9.99126544e-01 -3.82387600e-02 -1.68506926e-02 1.53931089e+01] [ 3.82445164e-02 9.99268411e-01 1.93789687e-05 -5.86730950e-01] [ 1.68376238e-02 -6.63808630e-04 9.99858017e-01 2.61275437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.313617864999998 meters 0.02048858271216388 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.58, Z:0.26 [[ 9.99047667e-01 -4.01048264e-02 -1.71860702e-02 1.54214760e+01] [ 4.01110795e-02 9.99195227e-01 1.91584924e-05 -5.84419741e-01] [ 1.71714710e-02 -7.08492077e-04 9.99852308e-01 2.61962368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343617864999995 meters 0.02276564758745887 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.59, Z:0.26 [[ 9.98944086e-01 -4.25728701e-02 -1.72702938e-02 1.54498293e+01] [ 4.25795271e-02 9.99093081e-01 1.77645556e-05 -5.92003105e-01] [ 1.72538748e-02 -7.53106741e-04 9.99850857e-01 2.62072789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.373617864999996 meters 0.021537112291895012 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.59, Z:0.26 [[ 9.98919379e-01 -4.29992229e-02 -1.76391936e-02 1.54781428e+01] [ 4.30062072e-02 9.99074805e-01 1.66427490e-05 -5.92017669e-01] [ 1.76221583e-02 -7.75219578e-04 9.99844417e-01 2.62080737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403617864999998 meters 0.02350761263343533 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.60, Z:0.26 [[ 9.98914064e-01 -4.25075539e-02 -1.90735625e-02 1.55062987e+01] [ 4.25155335e-02 9.99095806e-01 1.28763310e-05 -5.99272922e-01] [ 1.90557689e-02 -8.23785032e-04 9.99818083e-01 2.61860463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.433617864999995 meters 0.023792310778855942 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.60, Z:0.26 [[ 9.98947079e-01 -4.16946052e-02 -1.91387986e-02 1.55339451e+01] [ 4.17024595e-02 9.99130074e-01 1.12911009e-05 -6.01502620e-01] [ 1.91216785e-02 -8.09414185e-04 9.99816836e-01 2.62226099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463617864999996 meters 0.02138156342947218 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.60, Z:0.26 [[ 9.98996111e-01 -4.05260715e-02 -1.90894657e-02 1.55634282e+01] [ 4.05336353e-02 9.99178174e-01 9.32326581e-06 -5.99770898e-01] [ 1.90733996e-02 -7.83079346e-04 9.99817780e-01 2.63200020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.493617864999997 meters 0.020800398919840604 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.60, Z:0.26 [[ 9.99097120e-01 -3.79622750e-02 -1.90737964e-02 1.55929488e+01] [ 3.79692795e-02 9.99278907e-01 5.09384179e-06 -6.03162069e-01] [ 1.90598490e-02 -7.29307548e-04 9.99818079e-01 2.64384662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523617864999995 meters 0.020540219833405017 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.60, Z:0.27 [[ 9.99132832e-01 -3.68250187e-02 -1.94294182e-02 1.56222924e+01] [ 3.68319876e-02 9.99321472e-01 8.31539063e-07 -6.04571929e-01] [ 1.94162042e-02 -7.16454909e-04 9.99811231e-01 2.65084560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.553617864999996 meters 0.020537074587032213 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.61, Z:0.27 [[ 9.99166346e-01 -3.56222005e-02 -1.99416934e-02 1.56505530e+01] [ 3.56292226e-02 9.99365078e-01 -3.15730141e-06 -6.05538300e-01] [ 1.99291445e-02 -7.07352365e-04 9.99801145e-01 2.65041622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583617864999997 meters 0.0218246312316352 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.61, Z:0.26 [[ 9.99240467e-01 -3.28001531e-02 -2.10389746e-02 1.56788351e+01] [ 3.28073076e-02 9.99461695e-01 -5.09575776e-06 -6.10325684e-01] [ 2.10278163e-02 -6.85140223e-04 9.99778656e-01 2.63481072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.613617864999995 meters 0.020782017166254798 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.61, Z:0.26 [[ 9.99253317e-01 -3.20508007e-02 -2.15767318e-02 1.57074798e+01] [ 3.20581016e-02 9.99486007e-01 -7.52725516e-06 -6.10720422e-01] [ 2.15658828e-02 -6.84187426e-04 9.99767195e-01 2.63806182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643617864999996 meters 0.018991763138247363 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.61, Z:0.27 [[ 9.99291694e-01 -3.08052853e-02 -2.16135181e-02 1.57365780e+01] [ 3.08122125e-02 9.99525191e-01 -1.25199050e-05 -6.08597762e-01] [ 2.16036415e-02 -6.53449276e-04 9.99766401e-01 2.65534889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.673617864999997 meters 0.018312523225915898 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.61, Z:0.27 [[ 9.99397834e-01 -2.80675739e-02 -2.04005310e-02 1.57656206e+01] [ 2.80730948e-02 9.99605873e-01 -1.57622082e-05 -6.06730777e-01] [ 2.03929330e-02 -5.56953324e-04 9.99791887e-01 2.66352414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703617864999995 meters 0.018303345232896298 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.61, Z:0.27 [[ 9.99444657e-01 -2.62435570e-02 -2.05341837e-02 1.57936013e+01] [ 2.62487360e-02 9.99655442e-01 -1.73233786e-05 -6.07790278e-01] [ 2.05275632e-02 -5.21682609e-04 9.99789151e-01 2.66867745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.733617864999996 meters 0.017411772427255733 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.61, Z:0.27 [[ 9.99539359e-01 -2.24745227e-02 -2.03952548e-02 1.58223729e+01] [ 2.24788144e-02 9.99747319e-01 -1.88312555e-05 -6.07024387e-01] [ 2.03905246e-02 -4.39638568e-04 9.99791995e-01 2.68173354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763617864999997 meters 0.017303740841065753 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.61, Z:0.27 [[ 9.99560684e-01 -2.12538642e-02 -2.06570288e-02 1.58505445e+01] [ 2.12579765e-02 9.99774023e-01 -2.05164606e-05 -6.06939333e-01] [ 2.06527968e-02 -4.18619185e-04 9.99786621e-01 2.68140908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.793617864999995 meters 0.016668987346777225 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.61, Z:0.27 [[ 9.99567020e-01 -2.03610360e-02 -2.12415051e-02 1.58797076e+01] [ 2.03651295e-02 9.99792609e-01 -2.36099881e-05 -6.06088960e-01] [ 2.12375806e-02 -4.08986238e-04 9.99774373e-01 2.68764376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.823617864999996 meters 0.01637224968141783 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.61, Z:0.27 [[ 9.99607649e-01 -1.85109537e-02 -2.10212311e-02 1.59073886e+01] [ 1.85144621e-02 9.99828592e-01 -2.77271842e-05 -6.05110227e-01] [ 2.10181412e-02 -3.61480481e-04 9.99779029e-01 2.68856318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.853617864999997 meters 0.015802066898306086 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.60, Z:0.27 [[ 9.99617899e-01 -1.78137956e-02 -2.11358757e-02 1.59362902e+01] [ 1.78171201e-02 9.99841262e-01 -3.10228844e-05 -6.02444359e-01] [ 2.11330732e-02 -3.45569405e-04 9.99776612e-01 2.69445852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.883617864999998 meters 0.015806510386842804 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.60, Z:0.27 [[ 9.99624102e-01 -1.72711970e-02 -2.12922588e-02 1.59641853e+01] [ 1.72743555e-02 9.99850787e-01 -3.55893692e-05 -6.01103051e-01] [ 2.12896963e-02 -3.32234056e-04 9.99773294e-01 2.68923670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.913617864999996 meters 0.01678295150438474 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.60, Z:0.27 [[ 9.99562599e-01 -1.86602255e-02 -2.29435552e-02 1.59917023e+01] [ 1.86642123e-02 9.99825808e-01 -4.03822045e-05 -6.03724386e-01] [ 2.29403122e-02 -3.87858843e-04 9.99736761e-01 2.67522264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943617864999997 meters 0.01711330206210732 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.60, Z:0.27 [[ 9.99536373e-01 -2.01394902e-02 -2.28350632e-02 1.60202687e+01] [ 2.01437610e-02 9.99797093e-01 -4.30003329e-05 -6.04448017e-01] [ 2.28312958e-02 -4.17003659e-04 9.99739245e-01 2.68275333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.973617864999998 meters 0.0173458892616252 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.60, Z:0.27 [[ 9.99525504e-01 -2.12600985e-02 -2.22884725e-02 1.60490549e+01] [ 2.12643358e-02 9.99773887e-01 -4.69032150e-05 -6.03957688e-01] [ 2.22844300e-02 -4.27068604e-04 9.99751580e-01 2.69152836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003617864999995 meters 0.017294223120748783 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.60, Z:0.27 [[ 9.99455998e-01 -2.41465964e-02 -2.24644182e-02 1.60780473e+01] [ 2.41515139e-02 9.99708308e-01 -5.24215563e-05 -6.03131569e-01] [ 2.24591313e-02 -4.90156669e-04 9.99747642e-01 2.69552962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.033617864999997 meters 0.016885955705902064 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.60, Z:0.27 [[ 9.99392627e-01 -2.62599640e-02 -2.29083211e-02 1.61065846e+01] [ 2.62655063e-02 9.99655000e-01 -5.89737470e-05 -6.02346529e-01] [ 2.29019664e-02 -5.42760723e-04 9.99737568e-01 2.70866684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063617864999998 meters 0.017695500707497036 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.60, Z:0.27 [[ 9.99358031e-01 -2.79678690e-02 -2.23902638e-02 1.61345561e+01] [ 2.79734924e-02 9.99608663e-01 -6.20747630e-05 -6.03819126e-01] [ 2.23832378e-02 -5.64298961e-04 9.99749305e-01 2.71234812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.093617864999995 meters 0.017735981346835874 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.60, Z:0.27 [[ 9.99284279e-01 -3.09656111e-02 -2.17269611e-02 1.61634702e+01] [ 3.09715560e-02 9.99520264e-01 -6.29103912e-05 -6.03195831e-01] [ 2.17184860e-02 -6.10052426e-04 9.99763940e-01 2.72187957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123617864999996 meters 0.018310544923929587 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.60, Z:0.27 [[ 9.99246211e-01 -3.21041736e-02 -2.18250364e-02 1.61916597e+01] [ 3.21103455e-02 9.99484328e-01 -6.76875727e-05 -6.03524474e-01] [ 2.18159549e-02 -6.33172908e-04 9.99761803e-01 2.72174876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.153617864999998 meters 0.018570076596349513 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.60, Z:0.27 [[ 9.99189421e-01 -3.36450659e-02 -2.21022840e-02 1.62208395e+01] [ 3.36517101e-02 9.99433618e-01 -7.13601286e-05 -6.03507911e-01] [ 2.20921666e-02 -6.72477370e-04 9.99755712e-01 2.72080126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183617864999995 meters 0.019632655484089698 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.60, Z:0.27 [[ 9.99138146e-01 -3.54181287e-02 -2.16453512e-02 1.62488737e+01] [ 3.54248228e-02 9.99372341e-01 -7.42149050e-05 -6.03021854e-01] [ 2.16343938e-02 -6.92631788e-04 9.99765709e-01 2.71937101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.213617864999996 meters 0.021582378142580197 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.61, Z:0.27 [[ 9.99118511e-01 -3.59069585e-02 -2.17460667e-02 1.62771118e+01] [ 3.59137904e-02 9.99354889e-01 -7.64160614e-05 -6.06109041e-01] [ 2.17347820e-02 -7.04634981e-04 9.99763523e-01 2.72174332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.243617864999997 meters 0.021582378142580197 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.61, Z:0.27 [[ 9.99109217e-01 -3.61646521e-02 -2.17460567e-02 1.63047105e+01] [ 3.61714850e-02 9.99345595e-01 -7.91703033e-05 -6.05926458e-01] [ 2.17346891e-02 -7.07487384e-04 9.99763523e-01 2.72626592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.273617864999995 meters 0.019674472252187426 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.60, Z:0.27 [[ 9.99070846e-01 -3.68194747e-02 -2.24002333e-02 1.63334848e+01] [ 3.68267600e-02 9.99321661e-01 -8.73347008e-05 -6.02993304e-01] [ 2.23882540e-02 -7.37674463e-04 9.99749079e-01 2.73684527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.303617864999996 meters 0.019901877674750594 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.60, Z:0.27 [[ 9.99057147e-01 -3.64465268e-02 -2.35895573e-02 1.63613563e+01] [ 3.64543917e-02 9.99335313e-01 -9.66806570e-05 -6.02520605e-01] [ 2.35774013e-02 -7.63353461e-04 9.99721723e-01 2.73565098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.333617864999997 meters 0.01913923422988748 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.60, Z:0.27 [[ 9.99069695e-01 -3.58883689e-02 -2.39117192e-02 1.63905079e+01] [ 3.58962142e-02 9.99355518e-01 -1.01196061e-04 -6.00133404e-01] [ 2.38999403e-02 -7.57238277e-04 9.99714069e-01 2.73883441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.363617864999995 meters 0.0190113121804098 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.60, Z:0.27 [[ 9.99083071e-01 -3.50385200e-02 -2.46032480e-02 1.64194118e+01] [ 3.50464211e-02 9.99385679e-01 -1.10112765e-04 -5.99172346e-01] [ 2.45919919e-02 -7.52243991e-04 9.99697288e-01 2.74177584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.393617864999996 meters 0.019207287653686907 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.60, Z:0.27 [[ 9.99120814e-01 -3.38502098e-02 -2.47338435e-02 1.64469518e+01] [ 3.38577168e-02 9.99426656e-01 -1.15325111e-04 -5.98601307e-01] [ 2.47235663e-02 -7.22207750e-04 9.99694065e-01 2.74637399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423617864999997 meters 0.018622042776068486 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.60, Z:0.27 [[ 9.99203668e-01 -3.12340264e-02 -2.48287211e-02 1.64754101e+01] [ 3.12407358e-02 9.99511882e-01 -1.17715534e-04 -5.95370223e-01] [ 2.48202784e-02 -6.58045720e-04 9.99691713e-01 2.74723682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.453617864999995 meters 0.018549420280755177 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.59, Z:0.28 [[ 9.99233225e-01 -3.04752315e-02 -2.45809246e-02 1.65041588e+01] [ 3.04815052e-02 9.99535324e-01 -1.19508929e-04 -5.93959793e-01] [ 2.45731445e-02 -6.29846290e-04 9.99697836e-01 2.75216562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.483617864999996 meters 0.018218163636352928 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.59, Z:0.28 [[ 9.99244546e-01 -2.99793095e-02 -2.47301266e-02 1.65326502e+01] [ 2.99853659e-02 9.99550330e-01 -1.25975507e-04 -5.92647308e-01] [ 2.47227828e-02 -6.15661555e-04 9.99694156e-01 2.75788399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.513617864999997 meters 0.0189410743710972 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.59, Z:0.28 [[ 9.99254305e-01 -2.95329796e-02 -2.48724276e-02 1.65603232e+01] [ 2.95388467e-02 9.99563624e-01 -1.31569042e-04 -5.94398479e-01] [ 2.48654595e-02 -6.03231894e-04 9.99690625e-01 2.76801574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.543617864999995 meters 0.018274522731623846 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.59, Z:0.28 [[ 9.99241652e-01 -2.97584128e-02 -2.51108966e-02 1.65885107e+01] [ 2.97643555e-02 9.99556934e-01 -1.37154878e-04 -5.93632000e-01] [ 2.51038523e-02 -6.10358788e-04 9.99684662e-01 2.78001076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.573617864999996 meters 0.017319060929207698 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.59, Z:0.28 [[ 9.99220360e-01 -3.03461955e-02 -2.52543148e-02 1.66176715e+01] [ 3.03522311e-02 9.99539254e-01 -1.44383757e-04 -5.91993045e-01] [ 2.52470605e-02 -6.22253611e-04 9.99681049e-01 2.79084434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603617864999997 meters 0.019424741787285905 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.60, Z:0.28 [[ 9.99175462e-01 -3.15860390e-02 -2.55091630e-02 1.66457944e+01] [ 3.15924800e-02 9.99500822e-01 -1.50579525e-04 -5.96869395e-01] [ 2.55011856e-02 -6.55442355e-04 9.99674577e-01 2.78384383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.633617864999994 meters 0.018421247027890417 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.60, Z:0.28 [[ 9.99109283e-01 -3.34963870e-02 -2.56638553e-02 1.66745626e+01] [ 3.35034443e-02 9.99438590e-01 -1.55066366e-04 -5.95777265e-01] [ 2.56546415e-02 -7.04899301e-04 9.99670617e-01 2.79595071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663617864999996 meters 0.018421247027890417 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.60, Z:0.28 [[ 9.99100244e-01 -3.37649311e-02 -2.56638156e-02 1.67021597e+01] [ 3.37719141e-02 9.99429553e-01 -1.61409515e-04 -5.95535682e-01] [ 2.56546258e-02 -7.05451891e-04 9.99670617e-01 2.80046335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.693617864999997 meters 0.018184326172670698 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.60, Z:0.28 [[ 9.99070988e-01 -3.49002641e-02 -2.52810802e-02 1.67314893e+01] [ 3.49072401e-02 9.99390543e-01 -1.65459297e-04 -5.95481511e-01] [ 2.52714471e-02 -7.17187155e-04 9.99680369e-01 2.80450605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.723617864999998 meters 0.01793292949455527 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.60, Z:0.28 [[ 9.99024829e-01 -3.59358900e-02 -2.56515851e-02 1.67599183e+01] [ 3.59432808e-02 9.99353817e-01 -1.73043921e-04 -5.95796461e-01] [ 2.56412280e-02 -7.49126954e-04 9.99670929e-01 2.81161843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.753617864999995 meters 0.018333862059079588 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.60, Z:0.28 [[ 9.99042763e-01 -3.56939947e-02 -2.52882732e-02 1.67873509e+01] [ 3.57010281e-02 9.99362500e-01 -1.73443145e-04 -5.97759537e-01] [ 2.52783428e-02 -7.29540234e-04 9.99680185e-01 2.82732094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.783617864999997 meters 0.018064391358091875 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.60, Z:0.28 [[ 9.99053153e-01 -3.54970586e-02 -2.51546675e-02 1.68160802e+01] [ 3.55038678e-02 9.99369523e-01 -1.76011456e-04 -5.97486601e-01] [ 2.51450560e-02 -7.17243190e-04 9.99683556e-01 2.83331986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.813617864999998 meters 0.01794746078901448 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.60, Z:0.28 [[ 9.99047976e-01 -3.47071435e-02 -2.64302039e-02 1.68454877e+01] [ 3.47142180e-02 9.99397262e-01 -1.91257906e-04 -5.97603408e-01] [ 2.64209114e-02 -7.26428035e-04 9.99650643e-01 2.84065245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.843617864999995 meters 0.018125184132590996 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.60, Z:0.28 [[ 9.99060071e-01 -3.42973544e-02 -2.65078569e-02 1.68730977e+01] [ 3.43042078e-02 9.99411418e-01 -1.96295541e-04 -5.96798527e-01] [ 2.64989873e-02 -7.13219994e-04 9.99648586e-01 2.83679999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.873617864999996 meters 0.018032927667414263 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.60, Z:0.28 [[ 9.99043820e-01 -3.40400684e-02 -2.74357498e-02 1.69010241e+01] [ 3.40471929e-02 9.99420205e-01 -2.07557559e-04 -5.96259718e-01] [ 2.74269079e-02 -7.26751168e-04 9.99623547e-01 2.83395249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.903617864999998 meters 0.018270825796790093 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.60, Z:0.28 [[ 9.99048563e-01 -3.36429141e-02 -2.77511004e-02 1.69290474e+01] [ 3.36499004e-02 9.99433659e-01 -2.15343690e-04 -5.95890095e-01] [ 2.77426286e-02 -7.18682962e-04 9.99614841e-01 2.83990174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.933617864999995 meters 0.018368904673814183 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.59, Z:0.28 [[ 9.99073080e-01 -3.34100971e-02 -2.71430551e-02 1.69584397e+01] [ 3.34165962e-02 9.99441487e-01 -2.14250670e-04 -5.94577848e-01] [ 2.71350535e-02 -6.92976437e-04 9.99631536e-01 2.84833740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.963617864999996 meters 0.018660426968188475 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.59, Z:0.29 [[ 9.99061220e-01 -3.35759492e-02 -2.73739870e-02 1.69863353e+01] [ 3.35825006e-02 9.99435924e-01 -2.20496758e-04 -5.94786033e-01] [ 2.73659494e-02 -6.98997176e-04 9.99625238e-01 2.85560572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.993617864999997 meters 0.020002808713931973 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.60, Z:0.29 [[ 9.98964186e-01 -3.66352378e-02 -2.69891385e-02 1.70136472e+01] [ 3.66426454e-02 9.99328409e-01 -2.20213875e-04 -5.96325884e-01] [ 2.69790805e-02 -7.68967659e-04 9.99635703e-01 2.86369646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023617864999995 meters 0.02040306127857675 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.60, Z:0.29 [[ 9.98898663e-01 -3.83529699e-02 -2.70279601e-02 1.70419183e+01] [ 3.83609410e-02 9.99263923e-01 -2.23714560e-04 -5.95741438e-01] [ 2.70166456e-02 -8.13349809e-04 9.99634653e-01 2.86870130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.053617864999996 meters 0.021456929341660817 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.60, Z:0.29 [[ 9.98831272e-01 -4.01767638e-02 -2.68685446e-02 1.70696213e+01] [ 4.01852423e-02 9.99192222e-01 -2.24544302e-04 -5.96331136e-01] [ 2.68558623e-02 -8.55437106e-04 9.99638950e-01 2.86910804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083617864999997 meters 0.023536953213325825 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.60, Z:0.29 [[ 9.98674925e-01 -4.37747924e-02 -2.70584691e-02 1.70979335e+01] [ 4.37846562e-02 9.99040966e-01 -2.28121881e-04 -5.99465334e-01] [ 2.70425050e-02 -9.56926163e-04 9.99633827e-01 2.87374166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.113617864999995 meters 0.0207580483153436 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.60, Z:0.29 [[ 9.98585917e-01 -4.56725911e-02 -2.72062723e-02 1.71271247e+01] [ 4.56831689e-02 9.98955952e-01 -2.32946088e-04 -5.95108518e-01] [ 2.71885069e-02 -1.01025205e-03 9.99629814e-01 2.89547650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.143617864999996 meters 0.025267531372428088 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.60, Z:0.29 [[ 9.98506408e-01 -4.72801890e-02 -2.73776711e-02 1.71546881e+01] [ 4.72913678e-02 9.98881109e-01 -2.39384140e-04 -6.01217323e-01] [ 2.73583566e-02 -1.05570092e-03 9.99625133e-01 2.88435738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.173617864999997 meters 0.019926146484511447 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.59, Z:0.29 [[ 9.98419385e-01 -4.90931920e-02 -2.73603734e-02 1.71832947e+01] [ 4.91049187e-02 9.98793596e-01 -2.43529346e-04 -5.92789306e-01] [ 2.73393214e-02 -1.10038449e-03 9.99625605e-01 2.91170881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.203617864999995 meters 0.02083428204137633 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.59, Z:0.29 [[ 9.98284725e-01 -5.13080520e-02 -2.81973685e-02 1.72115258e+01] [ 5.13212505e-02 9.98682164e-01 -2.55907942e-04 -5.93115503e-01] [ 2.81733391e-02 -1.19165522e-03 9.99602342e-01 2.90854584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.233617864999996 meters 0.021649869400814457 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.59, Z:0.29 [[ 9.98236943e-01 -5.19971993e-02 -2.86233739e-02 1.72388562e+01] [ 5.20110137e-02 9.98646477e-01 -2.62186032e-04 -5.93404402e-01] [ 2.85982645e-02 -1.22700691e-03 9.99590233e-01 2.90722835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.263617864999997 meters 0.021496655508319727 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.59, Z:0.29 [[ 9.98198401e-01 -5.24365868e-02 -2.91608800e-02 1.72678471e+01] [ 5.24509737e-02 9.98623463e-01 -2.71863493e-04 -5.92465582e-01] [ 2.91349945e-02 -1.25814285e-03 9.99574694e-01 2.91001649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.293617864999995 meters 0.02099053086228321 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.59, Z:0.29 [[ 9.98138934e-01 -5.30248350e-02 -3.01170104e-02 1.72964553e+01] [ 5.30402277e-02 9.98592335e-01 -2.88125728e-04 -5.92229074e-01] [ 3.00898936e-02 -1.30982358e-03 9.99546338e-01 2.92705083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.323617864999996 meters 0.021972212592827892 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.59, Z:0.29 [[ 9.98146742e-01 -5.33008739e-02 -2.93615152e-02 1.73232359e+01] [ 5.33154639e-02 9.98577678e-01 -2.86302786e-04 -5.93467909e-01] [ 2.93350138e-02 -1.27965061e-03 9.99568817e-01 2.93136961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.353617864999997 meters 0.021828186946230715 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.59, Z:0.29 [[ 9.98133160e-01 -5.36419654e-02 -2.92016182e-02 1.73510088e+01] [ 5.36563842e-02 9.98559416e-01 -2.90168061e-04 -5.92678369e-01] [ 2.91751160e-02 -1.27722688e-03 9.99573500e-01 2.93973427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.383617864999994 meters 0.021839225037301988 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.59, Z:0.29 [[ 9.98196037e-01 -5.27576210e-02 -2.86584383e-02 1.73797707e+01] [ 5.27709361e-02 9.98606601e-01 -2.92036689e-04 -5.90782770e-01] [ 2.86339129e-02 -1.22082275e-03 9.99589220e-01 2.94418748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.413617864999996 meters 0.02083300614186142 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.59, Z:0.30 [[ 9.98237811e-01 -5.19695323e-02 -2.86433206e-02 1.74085672e+01] [ 5.19823148e-02 9.98647961e-01 -2.98681837e-04 -5.88497318e-01] [ 2.86201161e-02 -1.19079061e-03 9.99589651e-01 2.95077779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.443617864999997 meters 0.021053492348955385 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.59, Z:0.30 [[ 9.98335254e-01 -5.02183603e-02 -2.83696589e-02 1.74362977e+01] [ 5.02300550e-02 9.98737629e-01 -3.00724022e-04 -5.88236746e-01] [ 2.83489477e-02 -1.12478613e-03 9.99597455e-01 2.95795267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.473617864999994 meters 0.02092305159297372 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.59, Z:0.30 [[ 9.98363923e-01 -4.98297842e-02 -2.80440543e-02 1.74656302e+01] [ 4.98409490e-02 9.98757122e-01 -3.01184634e-04 -5.87231269e-01] [ 2.80242069e-02 -1.09705041e-03 9.99606643e-01 2.96793162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.503617864999995 meters 0.02085343670160069 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.59, Z:0.30 [[ 9.98379766e-01 -4.96434672e-02 -2.78095216e-02 1.74942162e+01] [ 4.96542008e-02 9.98766423e-01 -3.04888354e-04 -5.86409601e-01] [ 2.77903522e-02 -1.07646521e-03 9.99613194e-01 2.97780355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.533617864999997 meters 0.020656540185784295 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.58, Z:0.30 [[ 9.98401981e-01 -4.93490277e-02 -2.75346514e-02 1.75233870e+01] [ 4.93592616e-02 9.98781041e-01 -3.08289316e-04 -5.84981716e-01] [ 2.75163016e-02 -1.05129340e-03 9.99620802e-01 2.98346940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.563617864999998 meters 0.02159464298513734 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.59, Z:0.30 [[ 9.98438628e-01 -4.87453257e-02 -2.72800141e-02 1.75512227e+01] [ 4.87550175e-02 9.98810719e-01 -3.10150858e-04 -5.85045901e-01] [ 2.72626889e-02 -1.02037097e-03 9.99627783e-01 2.98320845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.593617864999995 meters 0.0199943240994622 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.58, Z:0.30 [[ 9.98449865e-01 -4.85698795e-02 -2.71815148e-02 1.75804672e+01] [ 4.85793307e-02 9.98819278e-01 -3.12929060e-04 -5.81732755e-01] [ 2.71646200e-02 -1.00801582e-03 9.99630465e-01 2.99299950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.623617864999996 meters 0.021523653478595858 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.58, Z:0.30 [[ 9.98460958e-01 -4.81612542e-02 -2.74992553e-02 1.76079492e+01] [ 4.81706400e-02 9.98839069e-01 -3.21425587e-04 -5.82952308e-01] [ 2.74828109e-02 -1.00372583e-03 9.99621772e-01 2.98556250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.653617864999998 meters 0.02209948896835146 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.58, Z:0.30 [[ 9.98440003e-01 -4.79561264e-02 -2.85966830e-02 1.76349021e+01] [ 4.79661128e-02 9.98848907e-01 -3.37052807e-04 -5.81701264e-01] [ 2.85799293e-02 -1.03514472e-03 9.99590974e-01 2.97360953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683617864999995 meters 0.02220992494782476 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.58, Z:0.30 [[ 9.98410163e-01 -4.81312860e-02 -2.93347032e-02 1.76636690e+01] [ 4.81417296e-02 9.98840453e-01 -3.50553809e-04 -5.81025219e-01] [ 2.93175609e-02 -1.06222687e-03 9.99569584e-01 2.97050240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.713617864999996 meters 0.019593900668176005 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.58, Z:0.30 [[ 9.98267140e-01 -5.03952471e-02 -3.03815176e-02 1.76929669e+01] [ 5.04073592e-02 9.98728673e-01 -3.67593665e-04 -5.77927940e-01] [ 3.03614178e-02 -1.16449539e-03 9.99538308e-01 2.98872992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743617864999997 meters 0.020384086287930692 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.58, Z:0.30 [[ 9.98174186e-01 -5.20474818e-02 -3.06488909e-02 1.77220236e+01] [ 5.20604557e-02 9.98643865e-01 -3.75067267e-04 -5.79885923e-01] [ 3.06268482e-02 -1.22121276e-03 9.99530142e-01 2.99363471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.773617864999995 meters 0.021063034535944485 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.58, Z:0.30 [[ 9.98091924e-01 -5.37372978e-02 -3.04107441e-02 1.77511258e+01] [ 5.37506349e-02 9.98554318e-01 -3.79341804e-04 -5.81370485e-01] [ 3.03871646e-02 -1.25597881e-03 9.99537414e-01 3.00137751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803617864999996 meters 0.02180857142329332 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.58, Z:0.30 [[ 9.98037955e-01 -5.48959918e-02 -3.01109543e-02 1.77795301e+01] [ 5.49094429e-02 9.98491266e-01 -3.80599128e-04 -5.82435852e-01] [ 3.00864182e-02 -1.27352335e-03 9.99546490e-01 3.00909771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.833617864999997 meters 0.022535589955873524 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.58, Z:0.30 [[ 9.97994248e-01 -5.63550157e-02 -2.88373495e-02 1.78074707e+01] [ 5.63678919e-02 9.98409999e-01 -3.66858048e-04 -5.82799128e-01] [ 2.88121724e-02 -1.25937838e-03 9.99584050e-01 3.01340610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.863617864999995 meters 0.02185548687922401 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.58, Z:0.30 [[ 9.97969652e-01 -5.67717956e-02 -2.88710403e-02 1.78366505e+01] [ 5.67847514e-02 9.98386375e-01 -3.71604167e-04 -5.81365617e-01] [ 2.88455499e-02 -1.26858517e-03 9.99583076e-01 3.02029072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.893617864999996 meters 0.023311923733527612 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.58, Z:0.30 [[ 9.97966806e-01 -5.67425015e-02 -2.90266011e-02 1.78635129e+01] [ 5.67554291e-02 9.98388040e-01 -3.78980956e-04 -5.83359021e-01] [ 2.90013157e-02 -1.26920679e-03 9.99578568e-01 3.01454119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923617864999997 meters 0.024123909495073644 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.59, Z:0.30 [[ 9.98000147e-01 -5.59034818e-02 -2.95043626e-02 1.78916193e+01] [ 5.59163839e-02 9.98435380e-01 -3.88239847e-04 -5.85222472e-01] [ 2.94799034e-02 -1.26231384e-03 9.99564576e-01 3.01085179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.953617864999995 meters 0.024228384951631116 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.59, Z:0.30 [[ 9.98057971e-01 -5.49293670e-02 -2.93777280e-02 1.79190644e+01] [ 5.49416675e-02 9.98489490e-01 -3.88948013e-04 -5.85394719e-01] [ 2.93547174e-02 -1.22586870e-03 9.99568306e-01 3.01476287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983617864999996 meters 0.020354169410015797 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.58, Z:0.30 [[ 9.98116464e-01 -5.41395352e-02 -2.88519665e-02 1.79480682e+01] [ 5.41509466e-02 9.98532686e-01 -3.86257177e-04 -5.79553172e-01] [ 2.88305434e-02 -1.17683165e-03 9.99583621e-01 3.03468518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.013617864999997 meters 0.023337933620606672 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.58, Z:0.30 [[ 9.98302986e-01 -5.15038924e-02 -2.71753132e-02 1.79767702e+01] [ 5.15129249e-02 9.98672260e-01 -3.68052840e-04 -5.83419309e-01] [ 2.71581876e-02 -1.03245162e-03 9.99630615e-01 3.03356789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.043617864999995 meters 0.01972878698320572 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.58, Z:0.31 [[ 9.98379840e-01 -5.02780522e-02 -2.66423081e-02 1.80056394e+01] [ 5.02862116e-02 9.98734782e-01 -3.64067080e-04 -5.77005756e-01] [ 2.66269043e-02 -9.76263509e-04 9.99644964e-01 3.05630264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.073617864999996 meters 0.018483796725740374 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.57, Z:0.31 [[ 9.98481049e-01 -4.86585683e-02 -2.58445012e-02 1.80346545e+01] [ 4.86655507e-02 9.98815066e-01 -3.59109825e-04 -5.73865557e-01] [ 2.58313509e-02 -8.99172528e-04 9.99665911e-01 3.06757527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103617864999997 meters 0.018335149791768035 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.57, Z:0.31 [[ 9.98554214e-01 -4.73731703e-02 -2.54020741e-02 1.80630889e+01] [ 4.73793506e-02 9.98876904e-01 -3.58846093e-04 -5.72240947e-01] [ 2.53905448e-02 -8.45206495e-04 9.99677251e-01 3.07033161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.133617864999994 meters 0.018335149791768035 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.57, Z:0.31 [[ 9.98541280e-01 -4.76450508e-02 -2.54019830e-02 1.80906874e+01] [ 4.76511575e-02 9.98863972e-01 -3.65199588e-04 -5.71780889e-01] [ 2.53905256e-02 -8.45767028e-04 9.99677251e-01 3.07484502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.163617864999996 meters 0.018795503515812072 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.57, Z:0.31 [[ 9.98661123e-01 -4.52939356e-02 -2.49883985e-02 1.81186594e+01] [ 4.52989820e-02 9.98973408e-01 -3.64369898e-04 -5.70808088e-01] [ 2.49792493e-02 -7.68066960e-04 9.99687675e-01 3.07118338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.193617864999997 meters 0.017359810641415098 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.57, Z:0.31 [[ 9.98673288e-01 -4.49019356e-02 -2.52087340e-02 1.81473953e+01] [ 4.49068582e-02 9.98991109e-01 -3.71089821e-04 -5.67902711e-01] [ 2.51999638e-02 -7.61447551e-04 9.99682140e-01 3.08317011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223617864999994 meters 0.018426444854687314 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.57, Z:0.31 [[ 9.98673837e-01 -4.49391933e-02 -2.51204296e-02 1.81747771e+01] [ 4.49439688e-02 9.98989439e-01 -3.74746979e-04 -5.68241428e-01] [ 2.51118847e-02 -7.54761801e-04 9.99684362e-01 3.07719479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.253617864999995 meters 0.0188442924056312 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.57, Z:0.31 [[ 9.98652257e-01 -4.52995420e-02 -2.53302598e-02 1.82023177e+01] [ 4.53044356e-02 9.98973154e-01 -3.80947846e-04 -5.67662839e-01] [ 2.53215063e-02 -7.67138696e-04 9.99679065e-01 3.07715308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283617864999997 meters 0.017881975342650142 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.57, Z:0.31 [[ 9.98623672e-01 -4.58505660e-02 -2.54653989e-02 1.82313649e+01] [ 4.58555843e-02 9.98948004e-01 -3.87170090e-04 -5.65149579e-01] [ 2.54563614e-02 -7.81093529e-04 9.99675629e-01 3.08271250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.313617864999994 meters 0.01945828700986666 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.57, Z:0.31 [[ 9.98613280e-01 -4.63085385e-02 -2.50406780e-02 1.82592145e+01] [ 4.63134207e-02 9.98926884e-01 -3.85256771e-04 -5.66647845e-01] [ 2.50316471e-02 -7.74996927e-04 9.99686359e-01 3.08074952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.343617864999995 meters 0.018358367278431334 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.56, Z:0.31 [[ 9.98586671e-01 -4.71439903e-02 -2.45378068e-02 1.82877378e+01] [ 4.71488500e-02 9.98887802e-01 -3.80784624e-04 -5.64189919e-01] [ 2.45284676e-02 -7.76682924e-04 9.99698830e-01 3.10008713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.373617864999996 meters 0.018167396490840947 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.56, Z:0.31 [[ 9.98536820e-01 -4.78694895e-02 -2.51541293e-02 1.83160914e+01] [ 4.78746989e-02 9.98853271e-01 -3.95423462e-04 -5.63196120e-01] [ 2.51442131e-02 -8.09401481e-04 9.99683507e-01 3.10150945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.403617864999998 meters 0.017200425991467476 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.56, Z:0.31 [[ 9.98497968e-01 -4.85420914e-02 -2.54061568e-02 1.83446626e+01] [ 4.85475140e-02 9.98820793e-01 -4.03686764e-04 -5.61056105e-01] [ 2.53957935e-02 -8.30325337e-04 9.99677130e-01 3.10725136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.433617864999995 meters 0.01818756086204196 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.56, Z:0.31 [[ 9.98372957e-01 -5.08167522e-02 -2.58668827e-02 1.83724958e+01] [ 5.08230090e-02 9.98707589e-01 -4.15909442e-04 -5.61852824e-01] [ 2.58545872e-02 -8.99400072e-04 9.99665310e-01 3.10242864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463617864999996 meters 0.018325865393254443 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.56, Z:0.31 [[ 9.98316054e-01 -5.20894830e-02 -2.55292282e-02 1.84011396e+01] [ 5.20959006e-02 9.98642001e-01 -4.14097195e-04 -5.61882982e-01] [ 2.55161296e-02 -9.16568256e-04 9.99673990e-01 3.10908695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.493617864999997 meters 0.022624145704343734 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.57, Z:0.31 [[ 9.98201942e-01 -5.45751159e-02 -2.47878820e-02 1.84286994e+01] [ 5.45818038e-02 9.98509219e-01 -4.07205836e-04 -5.67746724e-01] [ 2.47731521e-02 -9.46493658e-04 9.99692650e-01 3.09994179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523617864999995 meters 0.02121617391875499 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.56, Z:0.31 [[ 9.98141771e-01 -5.58070161e-02 -2.44659305e-02 1.84573365e+01] [ 5.58137949e-02 9.98441113e-01 -4.06244487e-04 -5.64805763e-01] [ 2.44504622e-02 -9.60046836e-04 9.99700582e-01 3.10797647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.553617864999996 meters 0.020622135172627502 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.56, Z:0.31 [[ 9.98109575e-01 -5.66246885e-02 -2.38939666e-02 1.84860985e+01] [ 5.66312563e-02 9.98395082e-01 -4.02250584e-04 -5.63455426e-01] [ 2.38783960e-02 -9.51655187e-04 9.99714417e-01 3.11623882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583617864999997 meters 0.019844344603722634 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.56, Z:0.31 [[ 9.98079856e-01 -5.73439960e-02 -2.34151233e-02 1.85145924e+01] [ 5.73503720e-02 9.98354033e-01 -3.99681738e-04 -5.61962588e-01] [ 2.33995022e-02 -9.43951742e-04 9.99725749e-01 3.12432859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.613617864999995 meters 0.020813846627314673 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.56, Z:0.31 [[ 9.98052770e-01 -5.75482044e-02 -2.40597689e-02 1.85424752e+01] [ 5.75548824e-02 9.98342257e-01 -4.15402149e-04 -5.64025501e-01] [ 2.40437896e-02 -9.70163905e-04 9.99710436e-01 3.12352968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.643617864999996 meters 0.020760587267913876 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.56, Z:0.31 [[ 9.98042468e-01 -5.76567851e-02 -2.42265890e-02 1.85702080e+01] [ 5.76635025e-02 9.98335987e-01 -4.21811121e-04 -5.63758751e-01] [ 2.42105959e-02 -9.76004562e-04 9.99706404e-01 3.12363505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.673617864999997 meters 0.02108907600349279 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.56, Z:0.31 [[ 9.98061770e-01 -5.71268275e-02 -2.46825444e-02 1.85977852e+01] [ 5.71335098e-02 9.98366452e-01 -4.34966711e-04 -5.63509546e-01] [ 2.46670726e-02 -9.76076750e-04 9.99695245e-01 3.12264389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703617864999995 meters 0.02164493432370094 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.56, Z:0.31 [[ 9.98081880e-01 -5.68960892e-02 -2.44007408e-02 1.86253339e+01] [ 5.69025016e-02 9.98379647e-01 -4.32022341e-04 -5.63605008e-01] [ 2.43857833e-02 -9.57269523e-04 9.99702164e-01 3.12099412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.733617864999996 meters 0.020781281742821036 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.56, Z:0.31 [[ 9.98089976e-01 -5.68415961e-02 -2.41957201e-02 1.86547279e+01] [ 5.68478114e-02 9.98382762e-01 -4.31438134e-04 -5.61908474e-01] [ 2.41811135e-02 -9.44859656e-04 9.99707148e-01 3.12565613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763617864999997 meters 0.02230605621097157 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.56, Z:0.31 [[ 9.98127796e-01 -5.58534600e-02 -2.49257502e-02 1.86830477e+01] [ 5.58596393e-02 9.98438531e-01 -4.48846886e-04 -5.64427980e-01] [ 2.49118991e-02 -9.44336865e-04 9.99689204e-01 3.11728939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.793617864999995 meters 0.0221593199973666 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.56, Z:0.31 [[ 9.98150125e-01 -5.53595327e-02 -2.51326679e-02 1.87119997e+01] [ 5.53655746e-02 9.98466046e-01 -4.55922331e-04 -5.64179552e-01] [ 2.51193552e-02 -9.36405669e-04 9.99684021e-01 3.12100825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823617864999996 meters 0.021877704501112392 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.56, Z:0.31 [[ 9.98175749e-01 -5.47143547e-02 -2.55247496e-02 1.87411991e+01] [ 5.47202274e-02 9.98501616e-01 -4.68863141e-04 -5.63703051e-01] [ 2.55121572e-02 -9.28712284e-04 9.99674081e-01 3.12499929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.853617864999997 meters 0.02178035791519227 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.56, Z:0.31 [[ 9.98239458e-01 -5.37574582e-02 -2.50623405e-02 1.87699059e+01] [ 5.37626789e-02 9.98553633e-01 -4.65947262e-04 -5.63339273e-01] [ 2.50511392e-02 -8.82291621e-04 9.99685782e-01 3.12768648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883617864999994 meters 0.017063562783235193 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.56, Z:0.31 [[ 9.98345186e-01 -5.20566962e-02 -2.44333745e-02 1.87985043e+01] [ 5.20610132e-02 9.98643800e-01 -4.59821816e-04 -5.55063233e-01] [ 2.44241748e-02 -8.12965338e-04 9.99701355e-01 3.14823106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.913617864999996 meters 0.01713928209999895 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.55, Z:0.32 [[ 9.98391780e-01 -5.13579250e-02 -2.40045445e-02 1.88262761e+01] [ 5.13617785e-02 9.98680009e-01 -4.56392263e-04 -5.54591051e-01] [ 2.39962980e-02 -7.77257813e-04 9.99711745e-01 3.15118176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943617864999997 meters 0.01816233707587555 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.56, Z:0.32 [[ 9.98403562e-01 -5.10109079e-02 -2.42531382e-02 1.88543388e+01] [ 5.10146796e-02 9.98697796e-01 -4.63586168e-04 -5.56079293e-01] [ 2.42452036e-02 -7.74419992e-04 9.99705742e-01 3.15120260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.973617864999994 meters 0.01809431854885791 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.56, Z:0.32 [[ 9.98364358e-01 -5.12203470e-02 -2.53985362e-02 1.88830652e+01] [ 5.12244405e-02 9.98687046e-01 -4.89848981e-04 -5.56679791e-01] [ 2.53902793e-02 -8.11978043e-04 9.99677285e-01 3.15275788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003617864999995 meters 0.018129283164046696 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.56, Z:0.32 [[ 9.98335109e-01 -5.15915420e-02 -2.57938488e-02 1.89118311e+01] [ 5.15957280e-02 9.98667926e-01 -5.03669662e-04 -5.56714204e-01] [ 2.57854746e-02 -8.28021299e-04 9.99667156e-01 3.15519345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.033617864999997 meters 0.017888200114893827 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.56, Z:0.32 [[ 9.98293127e-01 -5.22818905e-02 -2.60276273e-02 1.89407704e+01] [ 5.22862241e-02 9.98632007e-01 -5.14497768e-04 -5.56474461e-01] [ 2.60189206e-02 -8.47266765e-04 9.99661092e-01 3.16253595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063617864999994 meters 0.018746719241417853 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.56, Z:0.32 [[ 9.98217273e-01 -5.35421736e-02 -2.63725352e-02 1.89689356e+01] [ 5.35469342e-02 9.98565195e-01 -5.26164478e-04 -5.59085401e-01] [ 2.63628677e-02 -8.86941937e-04 9.99652046e-01 3.16716483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.093617864999995 meters 0.01907773091706159 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.56, Z:0.32 [[ 9.98181717e-01 -5.41313192e-02 -2.65152797e-02 1.89974856e+01] [ 5.41362389e-02 9.98533416e-01 -5.32792963e-04 -5.58992362e-01] [ 2.65052337e-02 -9.03613324e-04 9.99648266e-01 3.17654979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.123617864999996 meters 0.018544727644558695 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.56, Z:0.32 [[ 9.98243589e-01 -5.35194179e-02 -2.54048825e-02 1.90259799e+01] [ 5.35235878e-02 9.98566452e-01 -5.16309659e-04 -5.56026264e-01] [ 2.53960960e-02 -8.44357654e-04 9.99677111e-01 3.18180520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.153617864999994 meters 0.019418762179165768 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.56, Z:0.32 [[ 9.98203932e-01 -5.43743041e-02 -2.51464655e-02 1.90533691e+01] [ 5.43785312e-02 9.98520260e-01 -5.16197311e-04 -5.57615893e-01] [ 2.51373232e-02 -8.52157676e-04 9.99683644e-01 3.18762489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.183617864999995 meters 0.01917702889836702 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.56, Z:0.32 [[ 9.98128374e-01 -5.58147619e-02 -2.49892285e-02 1.90820611e+01] [ 5.58192763e-02 9.98440755e-01 -5.17403552e-04 -5.57773952e-01] [ 2.49791429e-02 -8.78445483e-04 9.99687587e-01 3.19828127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.213617864999996 meters 0.019676258058899568 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.56, Z:0.32 [[ 9.98041831e-01 -5.77195459e-02 -2.41030587e-02 1.91108313e+01] [ 5.77241665e-02 9.98332443e-01 -5.04600754e-04 -5.58229144e-01] [ 2.40919908e-02 -8.87716313e-04 9.99709352e-01 3.20776303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.243617864999997 meters 0.019299256666911648 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.56, Z:0.32 [[ 9.98002981e-01 -5.84708178e-02 -2.39000704e-02 1.91401542e+01] [ 5.84754417e-02 9.98288719e-01 -5.05969683e-04 -5.57084989e-01] [ 2.38887551e-02 -8.92607918e-04 9.99714224e-01 3.21543412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.273617864999995 meters 0.0211133811023941 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.56, Z:0.32 [[ 9.97957758e-01 -5.92424001e-02 -2.38883037e-02 1.91678083e+01] [ 5.92471318e-02 9.98243215e-01 -5.10255648e-04 -5.59378416e-01] [ 2.38765658e-02 -9.06099893e-04 9.99714504e-01 3.21953961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303617864999996 meters 0.019723983283560335 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.56, Z:0.32 [[ 9.97899792e-01 -6.00615648e-02 -2.42613609e-02 1.91965255e+01] [ 6.00666078e-02 9.98194235e-01 -5.21497599e-04 -5.56451660e-01] [ 2.42488725e-02 -9.36895305e-04 9.99705514e-01 3.22893609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.333617864999997 meters 0.019982252820839725 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.55, Z:0.32 [[ 9.97822233e-01 -6.10071099e-02 -2.50783644e-02 1.92250012e+01] [ 6.10126439e-02 9.98136844e-01 -5.45155555e-04 -5.54735625e-01] [ 2.50648979e-02 -9.86128986e-04 9.99685340e-01 3.23391504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363617864999995 meters 0.020718516558507483 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.56, Z:0.32 [[ 9.97788498e-01 -6.15656449e-02 -2.50556243e-02 1.92529092e+01] [ 6.15712288e-02 9.98102541e-01 -5.49287175e-04 -5.55016630e-01] [ 2.50418995e-02 -9.94633150e-04 9.99685908e-01 3.24100883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.393617864999996 meters 0.02100996846424012 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.56, Z:0.33 [[ 9.97771549e-01 -6.18499938e-02 -2.50302815e-02 1.92809290e+01] [ 6.18555633e-02 9.98084958e-01 -5.52423456e-04 -5.55117381e-01] [ 2.50165148e-02 -9.97069753e-04 9.99686541e-01 3.25194701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423617864999997 meters 0.023438912573003668 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.56, Z:0.33 [[ 9.97736316e-01 -6.22905945e-02 -2.53401963e-02 1.93091450e+01] [ 6.22963132e-02 9.98057539e-01 -5.64454571e-04 -5.56109405e-01] [ 2.53261341e-02 -1.01542398e-03 9.99678726e-01 3.25221200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.453617864999995 meters 0.020521383132904462 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.55, Z:0.33 [[ 9.97691781e-01 -6.30010734e-02 -2.53372087e-02 1.93378018e+01] [ 6.30069311e-02 9.98012928e-01 -5.67875632e-04 -5.49767846e-01] [ 2.53226386e-02 -1.02985491e-03 9.99678800e-01 3.26608926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483617864999996 meters 0.020903068344692972 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.55, Z:0.33 [[ 9.97667218e-01 -6.32845274e-02 -2.55966917e-02 1.93651816e+01] [ 6.32904782e-02 9.97994980e-01 -5.78408970e-04 -5.49181599e-01] [ 2.55819742e-02 -1.04296719e-03 9.99672184e-01 3.27248602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.513617864999997 meters 0.02084090886920133 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.55, Z:0.33 [[ 9.97619748e-01 -6.39056905e-02 -2.59017773e-02 1.93936453e+01] [ 6.39118985e-02 9.97955371e-01 -5.88956719e-04 -5.48146238e-01] [ 2.58864554e-02 -1.06787691e-03 9.99664319e-01 3.28659851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543617864999995 meters 0.0223566674121429 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.55, Z:0.33 [[ 9.97588425e-01 -6.41891612e-02 -2.64023835e-02 1.94217813e+01] [ 6.41955838e-02 9.97937153e-01 -6.05151175e-04 -5.48497814e-01] [ 2.63867636e-02 -1.09122462e-03 9.99651213e-01 3.28412719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.573617864999996 meters 0.021619122796209176 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.55, Z:0.33 [[ 9.97581360e-01 -6.42769553e-02 -2.64556940e-02 1.94498554e+01] [ 6.42833269e-02 9.97931501e-01 -6.10448287e-04 -5.45264862e-01] [ 2.64402081e-02 -1.09168819e-03 9.99649800e-01 3.28984837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603617864999997 meters 0.0211173908651132 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.54, Z:0.33 [[ 9.97622335e-01 -6.39199014e-02 -2.57666855e-02 1.94785276e+01] [ 6.39256593e-02 9.97954482e-01 -6.01029590e-04 -5.41937043e-01] [ 2.57523970e-02 -1.04755181e-03 9.99667803e-01 3.30934261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.633617864999994 meters 0.02111115016340498 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.54, Z:0.33 [[ 9.97668142e-01 -6.34779655e-02 -2.50764114e-02 1.95070955e+01] [ 6.34831345e-02 9.97982737e-01 -5.90711395e-04 -5.40554443e-01] [ 2.50633229e-02 -1.00259526e-03 9.99685363e-01 3.32165735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.663617864999996 meters 0.01945431158569289 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.54, Z:0.33 [[ 9.97691758e-01 -6.32274189e-02 -2.47679094e-02 1.95358758e+01] [ 6.32322404e-02 9.97998666e-01 -5.89253512e-04 -5.36071537e-01] [ 2.47555975e-02 -9.78237027e-04 9.99693055e-01 3.33991120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.693617864999997 meters 0.01945387431487124 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.53, Z:0.34 [[ 9.97791085e-01 -6.19917182e-02 -2.38742013e-02 1.95636246e+01] [ 6.19957384e-02 9.98076250e-01 -5.72440409e-04 -5.33128418e-01] [ 2.38637599e-02 -9.08922803e-04 9.99714807e-01 3.35217485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723617864999994 meters 0.02260442222054804 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.54, Z:0.34 [[ 9.97794993e-01 -6.19087987e-02 -2.39259646e-02 1.95913390e+01] [ 6.19127638e-02 9.98081399e-01 -5.75719605e-04 -5.36239301e-01] [ 2.39157023e-02 -9.06872454e-04 9.99713567e-01 3.35302707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.753617864999995 meters 0.019291740998535065 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.53, Z:0.34 [[ 9.97808104e-01 -6.15152415e-02 -2.43898009e-02 1.96204318e+01] [ 6.15191636e-02 9.98105728e-01 -5.90201089e-04 -5.30086344e-01] [ 2.43799064e-02 -9.11532722e-04 9.99702350e-01 3.37014360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783617864999997 meters 0.018503068154233342 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.53, Z:0.34 [[ 9.97800147e-01 -6.15280732e-02 -2.46812174e-02 1.96480361e+01] [ 6.15319392e-02 9.98104932e-01 -6.03510900e-04 -5.27597671e-01] [ 2.46715777e-02 -9.16499905e-04 9.99695190e-01 3.37529760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.813617864999994 meters 0.018947299186998754 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.53, Z:0.34 [[ 9.97838656e-01 -6.07237606e-02 -2.51125860e-02 1.96755650e+01] [ 6.07273738e-02 9.98154198e-01 -6.19431682e-04 -5.26634737e-01] [ 2.51038473e-02 -9.06928516e-04 9.99684437e-01 3.38572111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843617864999995 meters 0.019247474838655822 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.53, Z:0.34 [[ 9.97861481e-01 -6.04483405e-02 -2.48689208e-02 1.97040170e+01] [ 6.04517136e-02 9.98170932e-01 -6.16828987e-04 -5.25395725e-01] [ 2.48607202e-02 -8.87858993e-04 9.99690530e-01 3.39722317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.873617864999996 meters 0.018970351975595316 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.52, Z:0.34 [[ 9.97915584e-01 -5.94174434e-02 -2.51804442e-02 1.97325827e+01] [ 5.94204220e-02 9.98232846e-01 -6.30591911e-04 -5.21666985e-01] [ 2.51734146e-02 -8.66955124e-04 9.99682723e-01 3.40478133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903617864999994 meters 0.01929514175467951 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.52, Z:0.34 [[ 9.97901375e-01 -5.92205999e-02 -2.61871537e-02 1.97610743e+01] [ 5.92235786e-02 9.98244524e-01 -6.62499729e-04 -5.20280860e-01] [ 2.61804164e-02 -8.89787567e-04 9.99656838e-01 3.39923477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.933617864999995 meters 0.018293253500484746 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.52, Z:0.34 [[ 9.97853497e-01 -5.89661213e-02 -2.84849801e-02 1.97894782e+01] [ 5.89693231e-02 9.98259530e-01 -7.28358053e-04 -5.17275098e-01] [ 2.84783513e-02 -9.52945365e-04 9.99593955e-01 3.39367294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.963617864999996 meters 0.0190183956535097 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.52, Z:0.34 [[ 9.97830609e-01 -5.91296020e-02 -2.89441747e-02 1.98160816e+01] [ 5.91327828e-02 9.98249847e-01 -7.46798205e-04 -5.17995109e-01] [ 2.89376758e-02 -9.66371484e-04 9.99580751e-01 3.39220615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.993617864999994 meters 0.019198146531565156 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.52, Z:0.34 [[ 9.97803130e-01 -5.94460265e-02 -2.92418057e-02 1.98441474e+01] [ 5.94492039e-02 9.98231042e-01 -7.61485781e-04 -5.17934080e-01] [ 2.92353454e-02 -9.78589170e-04 9.99572077e-01 3.40048925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.023617864999995 meters 0.018500197540588067 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.52, Z:0.34 [[ 9.97802818e-01 -5.95195111e-02 -2.91026479e-02 1.98720503e+01] [ 5.95224597e-02 9.98226673e-01 -7.65754141e-04 -5.16063274e-01] [ 2.90966167e-02 -9.68189548e-04 9.99576135e-01 3.40851199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.053617864999996 meters 0.018500197540588067 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.52, Z:0.34 [[ 9.97786465e-01 -5.97931316e-02 -2.91024363e-02 1.98996387e+01] [ 5.97959641e-02 9.98210321e-01 -7.73731389e-04 -5.15270357e-01] [ 2.90966161e-02 -9.68189528e-04 9.99576135e-01 3.41302341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.083617864999997 meters 0.019326057574445506 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.52, Z:0.34 [[ 9.97773295e-01 -5.98391783e-02 -2.94571784e-02 1.99271194e+01] [ 5.98419206e-02 9.98207554e-01 -7.89268069e-04 -5.15141962e-01] [ 2.94516072e-02 -9.75263529e-04 9.99565732e-01 3.41152679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.113617864999995 meters 0.019336710380325955 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.51, Z:0.34 [[ 9.97802882e-01 -5.94392783e-02 -2.92639721e-02 1.99560727e+01] [ 5.94416680e-02 9.98231469e-01 -7.89041590e-04 -5.12928055e-01] [ 2.92591179e-02 -9.52191338e-04 9.99571407e-01 3.41696833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.143617864999996 meters 0.019159544510211606 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.51, Z:0.34 [[ 9.97829151e-01 -5.92361809e-02 -2.87760522e-02 1.99853404e+01] [ 5.92382147e-02 9.98243568e-01 -7.82566179e-04 -5.12090765e-01] [ 2.87718653e-02 -9.23774613e-04 9.99585577e-01 3.42651228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.173617864999997 meters 0.020226811053410693 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.51, Z:0.34 [[ 9.97824714e-01 -5.98903851e-02 -2.75496354e-02 2.00124127e+01] [ 5.98923606e-02 9.98204556e-01 -7.54192438e-04 -5.14368815e-01] [ 2.75453404e-02 -8.97460842e-04 9.99620152e-01 3.44214798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203617864999995 meters 0.01941657510163159 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.51, Z:0.35 [[ 9.97806023e-01 -6.06229894e-02 -2.66081566e-02 2.00400057e+01] [ 6.06249700e-02 9.98160346e-01 -7.33001717e-04 -5.12907251e-01] [ 2.66036435e-02 -8.81725166e-04 9.99645672e-01 3.45848522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.233617864999996 meters 0.019651575946784607 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.51, Z:0.35 [[ 9.97764852e-01 -6.16752149e-02 -2.57190366e-02 2.00685976e+01] [ 6.16772484e-02 9.98095890e-01 -7.14954809e-04 -5.12877804e-01] [ 2.57141597e-02 -8.72922630e-04 9.99668955e-01 3.46844410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263617864999997 meters 0.019790904961555476 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.51, Z:0.35 [[ 9.97704931e-01 -6.29377678e-02 -2.49741288e-02 2.00979401e+01] [ 6.29399359e-02 9.98017071e-01 -7.00013440e-04 -5.12239609e-01] [ 2.49686642e-02 -8.73463206e-04 9.99687853e-01 3.47583886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.293617864999995 meters 0.019053073093687783 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.51, Z:0.35 [[ 9.97623460e-01 -6.45242150e-02 -2.41672823e-02 2.01264612e+01] [ 6.45265737e-02 9.97915755e-01 -6.83031229e-04 -5.09815866e-01] [ 2.41609838e-02 -8.78023945e-04 9.99707695e-01 3.48594729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323617864999996 meters 0.01936036814770127 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.51, Z:0.35 [[ 9.97588805e-01 -6.49595710e-02 -2.44300981e-02 2.01548354e+01] [ 6.49619965e-02 9.97887497e-01 -6.95175453e-04 -5.09249964e-01] [ 2.44236478e-02 -8.93528698e-04 9.99701299e-01 3.48847474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.353617864999997 meters 0.020955791743876424 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.51, Z:0.35 [[ 9.97601694e-01 -6.45275913e-02 -2.50409500e-02 2.01823315e+01] [ 6.45299491e-02 9.97915515e-01 -7.14744751e-04 -5.11132601e-01] [ 2.50348733e-02 -9.02860655e-04 9.99686171e-01 3.48852456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383617864999994 meters 0.01963138707555866 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.51, Z:0.35 [[ 9.97622910e-01 -6.42984367e-02 -2.47838622e-02 2.02111177e+01] [ 6.43005915e-02 9.97930323e-01 -7.10802278e-04 -5.07795634e-01] [ 2.47782711e-02 -8.84504363e-04 9.99692580e-01 3.49612034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.413617864999996 meters 0.0221071549235713 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.51, Z:0.35 [[ 9.97641952e-01 -6.40464812e-02 -2.46694829e-02 2.02395190e+01] [ 6.40484255e-02 9.97946538e-01 -7.12132667e-04 -5.10051182e-01] [ 2.46644346e-02 -8.69588114e-04 9.99695408e-01 3.48830353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443617864999997 meters 0.021888725768402426 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.51, Z:0.35 [[ 9.97647709e-01 -6.37919039e-02 -2.50926599e-02 2.02679274e+01] [ 6.37937501e-02 9.97962839e-01 -7.27736501e-04 -5.07883284e-01] [ 2.50879658e-02 -8.74730225e-04 9.99684865e-01 3.47734876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.473617864999994 meters 0.020103340630270958 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.50, Z:0.35 [[ 9.97605372e-01 -6.41222995e-02 -2.59201190e-02 2.02962657e+01] [ 6.41242230e-02 9.97941636e-01 -7.57834811e-04 -5.04293206e-01] [ 2.59153601e-02 -9.06087414e-04 9.99663730e-01 3.48238955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503617864999995 meters 0.019821088451265744 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.50, Z:0.35 [[ 9.97566709e-01 -6.46476018e-02 -2.61026688e-02 2.03246329e+01] [ 6.46496085e-02 9.97907730e-01 -7.67908336e-04 -5.03460224e-01] [ 2.60976984e-02 -9.21487524e-04 9.99658972e-01 3.48450094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.533617864999997 meters 0.021208688218983928 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.51, Z:0.35 [[ 9.97518014e-01 -6.53821034e-02 -2.61341363e-02 2.03529197e+01] [ 6.53843084e-02 9.97859859e-01 -7.71059476e-04 -5.05881490e-01] [ 2.61286190e-02 -9.39616712e-04 9.99658148e-01 3.48409948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563617864999994 meters 0.02098942844286915 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.51, Z:0.35 [[ 9.97406269e-01 -6.76529707e-02 -2.45725638e-02 2.03820631e+01] [ 6.76555279e-02 9.97708474e-01 -7.28231508e-04 -5.06758417e-01] [ 2.45655221e-02 -9.36127104e-04 9.99697784e-01 3.50350573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.593617864999995 meters 0.021609542638305425 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.51, Z:0.35 [[ 9.97380184e-01 -6.84254103e-02 -2.34676913e-02 2.04103396e+01] [ 6.84278548e-02 9.97655822e-01 -6.99795145e-04 -5.07559728e-01] [ 2.34605626e-02 -9.07881961e-04 9.99724351e-01 3.51456499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623617864999996 meters 0.02221249710550733 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.51, Z:0.35 [[ 9.97388505e-01 -6.88976781e-02 -2.16628878e-02 2.04377818e+01] [ 6.88998310e-02 9.97623373e-01 -6.47859851e-04 -5.07281802e-01] [ 2.16560393e-02 -8.46401343e-04 9.99765122e-01 3.52099204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.653617864999994 meters 0.021637079760338455 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.51, Z:0.35 [[ 9.97435081e-01 -6.85156467e-02 -2.07090550e-02 2.04665583e+01] [ 6.85174731e-02 9.97649722e-01 -6.22170716e-04 -5.05697428e-01] [ 2.07030114e-02 -7.98357222e-04 9.99785351e-01 3.52642947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683617864999995 meters 0.022134217559285876 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.51, Z:0.35 [[ 9.97470227e-01 -6.79711954e-02 -2.08101745e-02 2.04942552e+01] [ 6.79728296e-02 9.97686974e-01 -6.29620462e-04 -5.06210880e-01] [ 2.08048360e-02 -7.86498777e-04 9.99783247e-01 3.53002213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.713617864999996 meters 0.021246584871074753 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.50, Z:0.35 [[ 9.97531186e-01 -6.72720428e-02 -2.01495749e-02 2.05230963e+01] [ 6.72733751e-02 9.97734392e-01 -6.12472323e-04 -5.04613020e-01] [ 2.01451261e-02 -7.44569668e-04 9.99796789e-01 3.53750034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743617864999994 meters 0.021801365847522184 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.51, Z:0.35 [[ 9.97688374e-01 -6.52278736e-02 -1.90586462e-02 2.05514208e+01] [ 6.52286202e-02 9.97870175e-01 -5.83126638e-04 -5.05129831e-01] [ 1.90560908e-02 -6.61390530e-04 9.99818197e-01 3.53497376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.773617864999995 meters 0.019463770600205297 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.50, Z:0.35 [[ 9.97757880e-01 -6.42377839e-02 -1.87808214e-02 2.05803705e+01] [ 6.42383028e-02 9.97934421e-01 -5.76269060e-04 -4.99673236e-01] [ 1.87790464e-02 -6.31471099e-04 9.99823459e-01 3.53535164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803617864999996 meters 0.019497290384010175 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.50, Z:0.35 [[ 9.97925326e-01 -6.18283005e-02 -1.79528624e-02 2.06084264e+01] [ 6.18283143e-02 9.98086645e-01 -5.54804545e-04 -4.97273554e-01] [ 1.79528148e-02 -5.56341711e-04 9.99838680e-01 3.52750499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.833617864999994 meters 0.019622863212838446 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.50, Z:0.35 [[ 9.97981744e-01 -6.10016350e-02 -1.76419440e-02 2.06360116e+01] [ 6.10014839e-02 9.98137525e-01 -5.47202550e-04 -4.96312911e-01] [ 1.76424666e-02 -5.30086608e-04 9.99844219e-01 3.52813824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863617864999995 meters 0.01907365954206082 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.50, Z:0.35 [[ 9.98010947e-01 -6.01790449e-02 -1.87785271e-02 2.06645165e+01] [ 6.01786904e-02 9.98187449e-01 -5.84469285e-04 -4.96485929e-01] [ 1.87796628e-02 -5.46760423e-04 9.99823497e-01 3.52804521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.893617864999996 meters 0.019379867937713704 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.50, Z:0.35 [[ 9.98014248e-01 -6.02257906e-02 -1.84503278e-02 2.06921340e+01] [ 6.02253765e-02 9.98184637e-01 -5.78583292e-04 -4.97133118e-01] [ 1.84516794e-02 -5.33743571e-04 9.99829611e-01 3.52794212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923617864999997 meters 0.019521776074113772 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.50, Z:0.35 [[ 9.98001239e-01 -6.03160974e-02 -1.88545613e-02 2.07205275e+01] [ 6.03155847e-02 9.98179180e-01 -5.96376170e-04 -4.97036672e-01] [ 1.88562016e-02 -5.42039730e-04 9.99822059e-01 3.52666602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.953617864999995 meters 0.018861784892427142 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.49, Z:0.35 [[ 9.97988393e-01 -6.03934265e-02 -1.92821725e-02 2.07484312e+01] [ 6.03928042e-02 9.98174499e-01 -6.15112189e-04 -4.94945285e-01] [ 1.92841216e-02 -5.50629645e-04 9.99813892e-01 3.52331896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983617864999996 meters 0.01874851522338879 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.49, Z:0.35 [[ 9.97986334e-01 -6.04537759e-02 -1.91994206e-02 2.07763157e+01] [ 6.04530710e-02 9.98170849e-01 -6.17628967e-04 -4.93601570e-01] [ 1.92016400e-02 -5.44278668e-04 9.99815483e-01 3.51911067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.013617864999997 meters 0.018678221569534612 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.49, Z:0.35 [[ 9.97997044e-01 -5.97996844e-02 -2.06372937e-02 2.08052702e+01] [ 5.97986115e-02 9.98210237e-01 -6.69640638e-04 -4.92616247e-01] [ 2.06404021e-02 -5.65782130e-04 9.99786804e-01 3.50275225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043617864999995 meters 0.018731870377265605 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.49, Z:0.35 [[ 9.98003384e-01 -5.94226992e-02 -2.14053214e-02 2.08333917e+01] [ 5.94213591e-02 9.98232745e-01 -6.99203902e-04 -4.92944449e-01] [ 2.14090413e-02 -5.74125430e-04 9.99770635e-01 3.50107870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.073617864999996 meters 0.01845193661648667 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.49, Z:0.35 [[ 9.97991191e-01 -5.96788018e-02 -2.12608167e-02 2.08611569e+01] [ 5.96774661e-02 9.98217468e-01 -6.97850713e-04 -4.92662417e-01] [ 2.12645655e-02 -5.72342802e-04 9.99773720e-01 3.50529831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103617864999997 meters 0.018207909664397795 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.49, Z:0.35 [[ 9.97958880e-01 -6.06738857e-02 -1.99186820e-02 2.08902143e+01] [ 6.06728117e-02 9.98157491e-01 -6.58793766e-04 -4.94400275e-01] [ 1.99219532e-02 -5.51073352e-04 9.99801386e-01 3.52572189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.133617864999994 meters 0.01909831166085432 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.50, Z:0.35 [[ 9.97929011e-01 -6.13929945e-02 -1.91986667e-02 2.09182159e+01] [ 6.13920500e-02 9.98113524e-01 -6.39124078e-04 -4.96835732e-01] [ 1.92016866e-02 -5.40845045e-04 9.99815484e-01 3.53896864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163617864999996 meters 0.019793310109783923 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.50, Z:0.36 [[ 9.97876030e-01 -6.26998002e-02 -1.76681381e-02 2.09462508e+01] [ 6.26991691e-02 9.98032297e-01 -5.90194108e-04 -4.98282847e-01] [ 1.76703775e-02 -5.18837025e-04 9.99843732e-01 3.55281003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.193617864999997 meters 0.020771832098577935 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.50, Z:0.36 [[ 9.97740822e-01 -6.51065727e-02 -1.65646346e-02 2.09745938e+01] [ 6.51063279e-02 9.97878178e-01 -5.54616737e-04 -5.00205870e-01] [ 1.65655966e-02 -5.25098775e-04 9.99862643e-01 3.56415522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.223617864999994 meters 0.021617615724331 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.50, Z:0.36 [[ 9.97656034e-01 -6.66472081e-02 -1.55109129e-02 2.10019978e+01] [ 6.66471619e-02 9.97776470e-01 -5.20468037e-04 -5.02033822e-01] [ 1.55111116e-02 -5.14510243e-04 9.99879563e-01 3.56933643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.253617864999995 meters 0.022190442326471417 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.50, Z:0.36 [[ 9.97557181e-01 -6.80837845e-02 -1.56291011e-02 2.10303704e+01] [ 6.80838783e-02 9.97679462e-01 -5.26694677e-04 -5.04020887e-01] [ 1.56286926e-02 -5.38681763e-04 9.99877719e-01 3.57723044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.283617864999997 meters 0.02067200867334491 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.50, Z:0.36 [[ 9.97452434e-01 -6.95947717e-02 -1.56591663e-02 2.10588937e+01] [ 6.95950233e-02 9.97575186e-01 -5.29522149e-04 -5.03577123e-01] [ 1.56580477e-02 -5.61626885e-04 9.99877248e-01 3.58504768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.313617864999994 meters 0.023276998951473345 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.51, Z:0.36 [[ 9.97506061e-01 -6.88690792e-02 -1.54501661e-02 2.10868562e+01] [ 6.88691793e-02 9.97625561e-01 -5.26205187e-04 -5.06602825e-01] [ 1.54497199e-02 -5.39147398e-04 9.99880501e-01 3.58942536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.343617864999995 meters 0.020591317587770417 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.50, Z:0.36 [[ 9.97568665e-01 -6.79305864e-02 -1.55625927e-02 2.11158433e+01] [ 6.79305555e-02 9.97689910e-01 -5.31222111e-04 -5.01535681e-01] [ 1.55627279e-02 -5.27245035e-04 9.99878754e-01 3.59841529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.373617864999996 meters 0.01894892454362481 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.50, Z:0.36 [[ 9.97722592e-01 -6.55320980e-02 -1.59741632e-02 2.11450441e+01] [ 6.55316967e-02 9.97850337e-01 -5.49125122e-04 -4.97305719e-01] [ 1.59758095e-02 -4.98939480e-04 9.99872254e-01 3.60087359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.403617864999994 meters 0.018903678359171724 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.50, Z:0.36 [[ 9.97763102e-01 -6.47562611e-02 -1.65957278e-02 2.11741660e+01] [ 6.47556567e-02 9.97900985e-01 -5.74353814e-04 -4.95621796e-01] [ 1.65980861e-02 -5.01598209e-04 9.99862116e-01 3.59642864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.433617864999995 meters 0.01885181423122657 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.49, Z:0.36 [[ 9.97792120e-01 -6.39903169e-02 -1.77798825e-02 2.12021813e+01] [ 6.39894239e-02 9.97950384e-01 -6.19714528e-04 -4.94190294e-01] [ 1.77830963e-02 -5.19378164e-04 9.99841733e-01 3.59195611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463617864999996 meters 0.018163202593741837 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.49, Z:0.36 [[ 9.97836762e-01 -6.32431668e-02 -1.79471157e-02 2.12314297e+01] [ 6.32420921e-02 9.97998018e-01 -6.27998974e-04 -4.91818543e-01] [ 1.79509025e-02 -5.08372681e-04 9.99838740e-01 3.59279779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.493617864999994 meters 0.018163923268207673 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.49, Z:0.36 [[ 9.97844270e-01 -6.31662217e-02 -1.78000583e-02 2.12591369e+01] [ 6.31650757e-02 9.98002896e-01 -6.27152927e-04 -4.90521891e-01] [ 1.78041246e-02 -4.98541076e-04 9.99841370e-01 3.59931573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523617864999995 meters 0.018115473987031304 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.49, Z:0.36 [[ 9.97843551e-01 -6.31872548e-02 -1.77656504e-02 2.12873937e+01] [ 6.31860298e-02 9.98001567e-01 -6.30820475e-04 -4.89089041e-01] [ 1.77700068e-02 -4.93080774e-04 9.99841979e-01 3.60678206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.553617864999996 meters 0.018953801512612004 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.49, Z:0.36 [[ 9.97840198e-01 -6.37389955e-02 -1.58833043e-02 2.13154499e+01] [ 6.37380229e-02 9.97966503e-01 -5.67959897e-04 -4.88912887e-01] [ 1.58872069e-02 -4.45637198e-04 9.99873691e-01 3.62874033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583617864999994 meters 0.018354752966727995 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.49, Z:0.36 [[ 9.97800319e-01 -6.44355714e-02 -1.55750214e-02 2.13447268e+01] [ 6.44347027e-02 9.97921769e-01 -5.58103787e-04 -4.87130036e-01] [ 1.55786146e-02 -4.46695736e-04 9.99878546e-01 3.64288989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.613617864999995 meters 0.019473373258046378 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.49, Z:0.37 [[ 9.97669840e-01 -6.63245167e-02 -1.59983945e-02 2.13721307e+01] [ 6.63237789e-02 9.97797987e-01 -5.77263217e-04 -4.89017020e-01] [ 1.60014525e-02 -4.85155879e-04 9.99871851e-01 3.65022034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643617864999996 meters 0.019525943077992138 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.49, Z:0.36 [[ 9.97605254e-01 -6.71736892e-02 -1.64757939e-02 2.14014621e+01] [ 6.71729939e-02 9.97741166e-01 -5.96224535e-04 -4.87846957e-01] [ 1.64786284e-02 -5.11931673e-04 9.99864087e-01 3.64913054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.673617864999997 meters 0.019752549094723782 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.49, Z:0.36 [[ 9.97533121e-01 -6.81360887e-02 -1.68862859e-02 2.14299210e+01] [ 6.81354275e-02 9.97675892e-01 -6.15141005e-04 -4.86478206e-01] [ 1.68889537e-02 -5.36930784e-04 9.99857227e-01 3.64667934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703617864999995 meters 0.020295159500365298 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.49, Z:0.36 [[ 9.97501019e-01 -6.85193977e-02 -1.72281717e-02 2.14573389e+01] [ 6.85186978e-02 9.97649632e-01 -6.31584522e-04 -4.85886057e-01] [ 1.72309550e-02 -5.50445688e-04 9.99851385e-01 3.64463783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.733617864999996 meters 0.02059624253310779 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.48, Z:0.36 [[ 9.97449080e-01 -6.91523205e-02 -1.77000001e-02 2.14852504e+01] [ 6.91516547e-02 9.97605947e-01 -6.50386921e-04 -4.84647522e-01] [ 1.77026011e-02 -5.75256460e-04 9.99843131e-01 3.64042083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763617864999997 meters 0.021006036073374874 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.48, Z:0.36 [[ 9.97424676e-01 -6.94753878e-02 -1.78097263e-02 2.15127049e+01] [ 6.94747389e-02 9.97583495e-01 -6.55896006e-04 -4.84246576e-01] [ 1.78122576e-02 -5.83119222e-04 9.99841179e-01 3.64536008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.793617864999995 meters 0.02129838830751312 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.48, Z:0.37 [[ 9.97392993e-01 -6.99551476e-02 -1.77058017e-02 2.15416662e+01] [ 6.99545528e-02 9.97549965e-01 -6.53698027e-04 -4.84067238e-01] [ 1.77081514e-02 -5.86607607e-04 9.99843026e-01 3.65782631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823617864999996 meters 0.021800852819237396 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.48, Z:0.37 [[ 9.97380938e-01 -7.02835402e-02 -1.70730322e-02 2.15700114e+01] [ 7.02829729e-02 9.97526893e-01 -6.33981052e-04 -4.84773869e-01] [ 1.70753672e-02 -5.67622844e-04 9.99854044e-01 3.67890837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.853617864999997 meters 0.02216746408333281 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.48, Z:0.37 [[ 9.97375825e-01 -7.03641562e-02 -1.70396090e-02 2.15968116e+01] [ 7.03635793e-02 9.97521210e-01 -6.34126437e-04 -4.84153088e-01] [ 1.70419912e-02 -5.66505502e-04 9.99854614e-01 3.68660239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883617864999994 meters 0.022350498904610272 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.48, Z:0.37 [[ 9.97324319e-01 -7.09915869e-02 -1.74469838e-02 2.16255609e+01] [ 7.09910413e-02 9.97476740e-01 -6.51385595e-04 -4.82267062e-01] [ 1.74492034e-02 -5.88936854e-04 9.99847578e-01 3.68298638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.913617864999996 meters 0.02284744511206029 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.48, Z:0.37 [[ 9.97311791e-01 -7.11344468e-02 -1.75807052e-02 2.16522281e+01] [ 7.11338469e-02 9.97466561e-01 -6.60251197e-04 -4.80759524e-01] [ 1.75831322e-02 -5.92106891e-04 9.99845229e-01 3.67378696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.943617864999997 meters 0.02284744511206029 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.48, Z:0.37 [[ 9.97293945e-01 -7.13842391e-02 -1.75805873e-02 2.16798001e+01] [ 7.13836230e-02 9.97448715e-01 -6.63376709e-04 -4.79624866e-01] [ 1.75830889e-02 -5.93384442e-04 9.99845229e-01 3.67830315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.973617864999994 meters 0.02070653832141544 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.48, Z:0.37 [[ 9.97268701e-01 -7.17716859e-02 -1.74345381e-02 2.17077310e+01] [ 7.17710632e-02 9.97420912e-01 -6.62218263e-04 -4.75143747e-01] [ 1.74371014e-02 -5.90885789e-04 9.99847788e-01 3.68552372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.003617864999995 meters 0.019563580619808695 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.47, Z:0.37 [[ 9.97237852e-01 -7.21872798e-02 -1.74832151e-02 2.17358309e+01] [ 7.21866363e-02 9.97390918e-01 -6.68706629e-04 -4.72334366e-01] [ 1.74858721e-02 -5.95194931e-04 9.99846933e-01 3.69067532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.033617864999997 meters 0.02056900274515074 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.47, Z:0.37 [[ 9.97147989e-01 -7.34789984e-02 -1.72256770e-02 2.17640159e+01] [ 7.34784890e-02 9.97296582e-01 -6.63331383e-04 -4.74046062e-01] [ 1.72278497e-02 -6.04277162e-04 9.99851407e-01 3.69906794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063617864999994 meters 0.02508594350256266 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.48, Z:0.37 [[ 9.97083462e-01 -7.45172423e-02 -1.64848593e-02 2.17919587e+01] [ 7.45168955e-02 9.97219548e-01 -6.36135418e-04 -4.80258800e-01] [ 1.64864270e-02 -5.94120430e-04 9.99863913e-01 3.70593080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.093617864999995 meters 0.020984270576805127 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.47, Z:0.37 [[ 9.97036713e-01 -7.51185416e-02 -1.65830617e-02 2.18200794e+01] [ 7.51182507e-02 9.97174427e-01 -6.41307996e-04 -4.73344989e-01] [ 1.65843792e-02 -6.06282971e-04 9.99862286e-01 3.71479899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123617864999996 meters 0.021253388310012444 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.47, Z:0.37 [[ 9.97017797e-01 -7.53155842e-02 -1.68248283e-02 2.18480232e+01] [ 7.53152875e-02 9.97159557e-01 -6.52162878e-04 -4.73111962e-01] [ 1.68261564e-02 -6.16948788e-04 9.99858240e-01 3.71701985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.153617864999994 meters 0.020342768308441887 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.47, Z:0.37 [[ 9.97060204e-01 -7.45524148e-02 -1.76886400e-02 2.18768163e+01] [ 7.45518803e-02 9.97216897e-01 -6.90545546e-04 -4.70255824e-01] [ 1.76908925e-02 -6.30205887e-04 9.99843305e-01 3.71352118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183617864999995 meters 0.02013301941978235 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.47, Z:0.37 [[ 9.97136510e-01 -7.32517720e-02 -1.87871795e-02 2.19054355e+01] [ 7.32508506e-02 9.97313275e-01 -7.38115411e-04 -4.68307203e-01] [ 1.87907717e-02 -6.40175050e-04 9.99823233e-01 3.70433804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.213617864999996 meters 0.018272707449000673 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.46, Z:0.37 [[ 9.97324593e-01 -7.00440142e-02 -2.09163258e-02 2.19342143e+01] [ 7.00420710e-02 9.97543696e-01 -8.26379255e-04 -4.63710842e-01] [ 2.09228318e-02 -6.40854419e-04 9.99780888e-01 3.68330098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243617864999994 meters 0.018820228462348564 Centerline is valid? [True, True] Translation: X:21.96, Y:-0.46, Z:0.37 [[ 9.97390455e-01 -6.89018948e-02 -2.15594506e-02 2.19617882e+01] [ 6.88995290e-02 9.97623239e-01 -8.53403007e-04 -4.64259080e-01] [ 2.15670100e-02 -6.34259978e-04 9.99767204e-01 3.67634753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.273617864999995 meters 0.01879122543394989 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.46, Z:0.37 [[ 9.97455350e-01 -6.78447166e-02 -2.19070356e-02 2.19897547e+01] [ 6.78419777e-02 9.97695701e-01 -8.69054744e-04 -4.64118946e-01] [ 2.19155160e-02 -6.19373320e-04 9.99759634e-01 3.67981077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303617864999996 meters 0.018148299434700012 Centerline is valid? [True, True] Translation: X:22.02, Y:-0.46, Z:0.37 [[ 9.97550102e-01 -6.65964855e-02 -2.14173171e-02 2.20187023e+01] [ 6.65935260e-02 9.97779823e-01 -8.52158409e-04 -4.64020871e-01] [ 2.14265177e-02 -5.76183957e-04 9.99770260e-01 3.69238186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.333617864999994 meters 0.019300872599046604 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.47, Z:0.37 [[ 9.97579742e-01 -6.62149323e-02 -2.12188632e-02 2.20467654e+01] [ 6.62118465e-02 9.97805227e-01 -8.48715614e-04 -4.65456096e-01] [ 2.12284903e-02 -5.58278611e-04 9.99774494e-01 3.69756524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363617864999995 meters 0.017981921036384123 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.46, Z:0.37 [[ 9.97711896e-01 -6.43981304e-02 -2.05876937e-02 2.20757530e+01] [ 6.43947775e-02 9.97924160e-01 -8.26445666e-04 -4.61024604e-01] [ 2.05981785e-02 -5.01185286e-04 9.99787709e-01 3.71003372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.393617864999996 meters 0.018409088618939924 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.46, Z:0.37 [[ 9.97820923e-01 -6.29001983e-02 -1.99241379e-02 2.21035530e+01] [ 6.28966802e-02 9.98019720e-01 -8.03787623e-04 -4.60479826e-01] [ 1.99352409e-02 -4.51126024e-04 9.99801172e-01 3.71563622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423617864999994 meters 0.017104012079322668 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.46, Z:0.37 [[ 9.97985883e-01 -6.05060157e-02 -1.90578144e-02 2.21323693e+01] [ 6.05023242e-02 9.98167759e-01 -7.70740120e-04 -4.57767201e-01] [ 1.90695303e-02 -3.83854309e-04 9.99818086e-01 3.74181130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.453617864999995 meters 0.01608062541703786 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.45, Z:0.38 [[ 9.98022786e-01 -6.00567644e-02 -1.85392341e-02 2.21612212e+01] [ 6.00531161e-02 9.98194898e-01 -7.53948005e-04 -4.54347415e-01] [ 1.85510486e-02 -3.60881490e-04 9.99827849e-01 3.75430454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483617864999996 meters 0.016237420731595117 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.45, Z:0.38 [[ 9.98047542e-01 -5.97684186e-02 -1.81339355e-02 2.21886815e+01] [ 5.97648071e-02 9.98212211e-01 -7.41509297e-04 -4.53969505e-01] [ 1.81458347e-02 -3.43709624e-04 9.99835292e-01 3.76229603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.513617864999997 meters 0.017012796011417152 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.46, Z:0.38 [[ 9.97976322e-01 -6.09801806e-02 -1.80188479e-02 2.22167880e+01] [ 6.09767844e-02 9.98138911e-01 -7.38342861e-04 -4.55631262e-01] [ 1.80303375e-02 -3.61882707e-04 9.99837375e-01 3.76316887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543617864999995 meters 0.016809262109558437 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.45, Z:0.38 [[ 9.97901473e-01 -6.20203411e-02 -1.86045060e-02 2.22460239e+01] [ 6.20168649e-02 9.98074809e-01 -7.64294443e-04 -4.54220333e-01] [ 1.86160906e-02 -3.91102585e-04 9.99826629e-01 3.76798670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.573617864999996 meters 0.01748144411072005 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.45, Z:0.38 [[ 9.97714369e-01 -6.49404114e-02 -1.86756604e-02 2.22752828e+01] [ 6.49373370e-02 9.97889045e-01 -7.71641360e-04 -4.53753954e-01] [ 1.86863476e-02 -4.42869977e-04 9.99825297e-01 3.76973820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.603617864999997 meters 0.01787132527466366 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.45, Z:0.38 [[ 9.97634769e-01 -6.61705223e-02 -1.86099186e-02 2.23028952e+01] [ 6.61676064e-02 9.97808223e-01 -7.73062122e-04 -4.52475759e-01] [ 1.86202837e-02 -4.60140115e-04 9.99826522e-01 3.77295675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.633617864999994 meters 0.019273981029529774 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.45, Z:0.38 [[ 9.97549006e-01 -6.74016281e-02 -1.87883423e-02 2.23309884e+01] [ 6.73988313e-02 9.97725806e-01 -7.82747084e-04 -4.53591114e-01] [ 1.87983724e-02 -4.85483739e-04 9.99823177e-01 3.77303970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663617864999996 meters 0.019543227029529656 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.45, Z:0.38 [[ 9.97319069e-01 -7.03145788e-02 -2.02616337e-02 2.23602868e+01] [ 7.03118932e-02 9.97524698e-01 -8.45784569e-04 -4.53913349e-01] [ 2.02709510e-02 -5.81116746e-04 9.99794354e-01 3.77782651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.693617864999997 meters 0.020239085850680783 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.45, Z:0.38 [[ 9.97236553e-01 -7.13475136e-02 -2.07072398e-02 2.23885910e+01] [ 7.13449031e-02 9.97451330e-01 -8.65740668e-04 -4.53564790e-01] [ 2.07162323e-02 -6.14007779e-04 9.99785207e-01 3.78526477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.723617864999994 meters 0.01919351795469717 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.45, Z:0.38 [[ 9.97163636e-01 -7.23050702e-02 -2.08964281e-02 2.24171181e+01] [ 7.23025572e-02 9.97382360e-01 -8.76738564e-04 -4.50187211e-01] [ 2.09051214e-02 -6.36613373e-04 9.99781261e-01 3.79453947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.753617864999995 meters 0.02051265748378356 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.45, Z:0.38 [[ 9.97085098e-01 -7.32576631e-02 -2.13218792e-02 2.24446305e+01] [ 7.32551643e-02 9.97312826e-01 -8.99279158e-04 -4.50962397e-01] [ 2.13304627e-02 -6.65279916e-04 9.99772258e-01 3.78903002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.783617864999997 meters 0.019985022761805266 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.45, Z:0.38 [[ 9.96940104e-01 -7.48570926e-02 -2.25132038e-02 2.24728335e+01] [ 7.48546453e-02 9.97194001e-01 -9.52589410e-04 -4.46160205e-01] [ 2.25213399e-02 -7.35543300e-04 9.99746092e-01 3.77833797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.813617864999994 meters 0.022361824733062204 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.45, Z:0.38 [[ 9.96888140e-01 -7.55108945e-02 -2.26305174e-02 2.25011518e+01] [ 7.55085465e-02 9.97144693e-01 -9.59467647e-04 -4.47055773e-01] [ 2.26383506e-02 -7.52315556e-04 9.99743437e-01 3.77068012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843617864999995 meters 0.02072291520520575 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.44, Z:0.38 [[ 9.96822552e-01 -7.63167272e-02 -2.28157358e-02 2.25297713e+01] [ 7.63144854e-02 9.97083326e-01 -9.70211639e-04 -4.41981443e-01] [ 2.28232331e-02 -7.74042294e-04 9.99739216e-01 3.78120197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.873617864999996 meters 0.02153173974833122 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.44, Z:0.38 [[ 9.96716387e-01 -7.79038020e-02 -2.20780935e-02 2.25574884e+01] [ 7.79019938e-02 9.96960576e-01 -9.43265567e-04 -4.42410864e-01] [ 2.20844728e-02 -7.79759258e-04 9.99755804e-01 3.80512896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903617864999994 meters 0.022023462596730565 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.44, Z:0.38 [[ 9.96674952e-01 -7.85225239e-02 -2.17543723e-02 2.25851251e+01] [ 7.85208622e-02 9.96912035e-01 -9.31881214e-04 -4.42014199e-01] [ 2.17603692e-02 -7.79389404e-04 9.99762911e-01 3.82076120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.933617864999995 meters 0.023629176249320094 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.44, Z:0.38 [[ 9.96629770e-01 -7.90600610e-02 -2.18771356e-02 2.26134279e+01] [ 7.90584704e-02 9.96869538e-01 -9.38940679e-04 -4.42041332e-01] [ 2.18828827e-02 -7.93796642e-04 9.99760226e-01 3.82580808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963617864999996 meters 0.02271634450705487 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.43, Z:0.38 [[ 9.96642226e-01 -7.92380784e-02 -2.06300823e-02 2.26408095e+01] [ 7.92366532e-02 9.96855438e-01 -8.87780011e-04 -4.34804592e-01] [ 2.06355557e-02 -7.49859628e-04 9.99786783e-01 3.83186412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.993617864999994 meters 0.022027286458093483 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.43, Z:0.38 [[ 9.96667850e-01 -7.90046732e-02 -2.02844135e-02 2.26698341e+01] [ 7.90031438e-02 9.96873980e-01 -8.77988380e-04 -4.30389339e-01] [ 2.02903693e-02 -7.27469648e-04 9.99793865e-01 3.83732158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023617864999995 meters 0.021162085436435097 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.43, Z:0.38 [[ 9.96700102e-01 -7.83080175e-02 -2.13719515e-02 2.26986134e+01] [ 7.83060503e-02 9.96928933e-01 -9.30187695e-04 -4.25794168e-01] [ 2.13791580e-02 -7.46434941e-04 9.99771161e-01 3.84206819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.053617864999996 meters 0.023203848725964066 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.43, Z:0.38 [[ 9.96711680e-01 -7.79876281e-02 -2.19944891e-02 2.27266961e+01] [ 7.79853700e-02 9.96954040e-01 -9.61684535e-04 -4.28011872e-01] [ 2.20024943e-02 -7.56726165e-04 9.99757629e-01 3.84443241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083617864999994 meters 0.020513075140169038 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.42, Z:0.39 [[ 9.96699924e-01 -7.80690812e-02 -2.22369286e-02 2.27543926e+01] [ 7.80667277e-02 9.96947659e-01 -9.75238232e-04 -4.21926716e-01] [ 2.22451899e-02 -7.63944380e-04 9.99752253e-01 3.85987779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.113617864999995 meters 0.02049647106612813 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.42, Z:0.39 [[ 9.96733399e-01 -7.76388506e-02 -2.22427414e-02 2.27829421e+01] [ 7.76362594e-02 9.96981268e-01 -9.81303833e-04 -4.17439131e-01] [ 2.22517839e-02 -7.48744939e-04 9.99752118e-01 3.85995656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143617864999996 meters 0.019468248679763586 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.41, Z:0.39 [[ 9.96736002e-01 -7.75996885e-02 -2.22627517e-02 2.28113113e+01] [ 7.75969608e-02 9.96984321e-01 -9.87669264e-04 -4.13004325e-01] [ 2.22722572e-02 -7.43076355e-04 9.99751666e-01 3.86457479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.173617864999994 meters 0.02068406457539194 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.41, Z:0.39 [[ 9.96757900e-01 -7.73895531e-02 -2.20123945e-02 2.28393894e+01] [ 7.73867262e-02 9.97000668e-01 -9.81514738e-04 -4.12976118e-01] [ 2.20223310e-02 -7.25134575e-04 9.99757216e-01 3.86489335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203617864999995 meters 0.019405389935341043 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.41, Z:0.39 [[ 9.96782044e-01 -7.73246230e-02 -2.11295688e-02 2.28677733e+01] [ 7.73219510e-02 9.97005729e-01 -9.44636803e-04 -4.09103648e-01] [ 2.11393449e-02 -6.92182480e-04 9.99776299e-01 3.88023571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.233617864999996 meters 0.020524422936049908 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.41, Z:0.39 [[ 9.96902297e-01 -7.63814887e-02 -1.87530648e-02 2.28952908e+01] [ 7.63791475e-02 9.97078491e-01 -8.42095906e-04 -4.09163787e-01] [ 1.87625981e-02 -5.92855761e-04 9.99823791e-01 3.90022252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263617864999993 meters 0.01937170171874235 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.41, Z:0.39 [[ 9.96949983e-01 -7.58411345e-02 -1.84079610e-02 2.29239692e+01] [ 7.58387525e-02 9.97119751e-01 -8.28449333e-04 -4.05008288e-01] [ 1.84177721e-02 -5.70114252e-04 9.99830216e-01 3.90841370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.293617864999995 meters 0.018733405954961924 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.40, Z:0.39 [[ 9.97058081e-01 -7.43326185e-02 -1.87041438e-02 2.29531620e+01] [ 7.43298147e-02 9.97233354e-01 -8.46015385e-04 -4.00694277e-01] [ 1.87152826e-02 -5.46749070e-04 9.99824704e-01 3.90361793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323617864999996 meters 0.019906715387215952 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.40, Z:0.39 [[ 9.97102014e-01 -7.35417351e-02 -1.94727036e-02 2.29815600e+01] [ 7.35384899e-02 9.97291988e-01 -8.83639242e-04 -4.00775389e-01] [ 1.94849557e-02 -5.50914752e-04 9.99809998e-01 3.89786907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.353617864999997 meters 0.018035387116284992 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.39, Z:0.39 [[ 9.97153727e-01 -7.28976691e-02 -1.92451371e-02 2.30098553e+01] [ 7.28942922e-02 9.97339286e-01 -8.77841666e-04 -3.94718677e-01] [ 1.92579239e-02 -5.27517555e-04 9.99814410e-01 3.90257022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.383617864999994 meters 0.019075968113802848 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.39, Z:0.39 [[ 9.97189362e-01 -7.23414045e-02 -1.94961074e-02 2.30382384e+01] [ 7.23377403e-02 9.97379793e-01 -8.94028370e-04 -3.94354544e-01] [ 1.95096989e-02 -5.18788778e-04 9.99809533e-01 3.90135700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.413617864999996 meters 0.01858230566146627 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.39, Z:0.39 [[ 9.97185244e-01 -7.23071738e-02 -1.98308118e-02 2.30664483e+01] [ 7.23032786e-02 9.97382274e-01 -9.14274295e-04 -3.91165582e-01] [ 1.98450088e-02 -5.22131878e-04 9.99802932e-01 3.90704827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.443617864999997 meters 0.017818442075501827 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.39, Z:0.39 [[ 9.97147813e-01 -7.26950684e-02 -2.02895620e-02 2.30947849e+01] [ 7.26909588e-02 9.97354069e-01 -9.40958808e-04 -3.87919138e-01] [ 2.03042802e-02 -5.36592695e-04 9.99793703e-01 3.91056795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.473617864999994 meters 0.01838068633096288 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.39, Z:0.39 [[ 9.97082548e-01 -7.33716137e-02 -2.10475443e-02 2.31222229e+01] [ 7.33672353e-02 9.97304510e-01 -9.81173171e-04 -3.87393967e-01] [ 2.10628011e-02 -5.65889487e-04 9.99777994e-01 3.90893003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.503617864999995 meters 0.019263855249545755 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.39, Z:0.39 [[ 9.96927625e-01 -7.50745377e-02 -2.23410702e-02 2.31495986e+01] [ 7.50699794e-02 9.97177722e-01 -1.04382496e-03 -3.87815700e-01] [ 2.23563822e-02 -6.36525744e-04 9.99749862e-01 3.90624831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.533617864999997 meters 0.02046805308351998 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.39, Z:0.39 [[ 9.96826753e-01 -7.63030442e-02 -2.26775415e-02 2.31772491e+01] [ 7.62985922e-02 9.97084447e-01 -1.06276005e-03 -3.89029589e-01] [ 2.26925157e-02 -6.70876844e-04 9.99742267e-01 3.91063178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.563617864999994 meters 0.019128375015426996 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.39, Z:0.39 [[ 9.96674335e-01 -7.82924458e-02 -2.25956303e-02 2.32060318e+01] [ 7.82884578e-02 9.96930182e-01 -1.06240530e-03 -3.85935988e-01] [ 2.26094441e-02 -7.10104945e-04 9.99744122e-01 3.92255055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.593617864999995 meters 0.01991261435482502 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.39, Z:0.39 [[ 9.96479762e-01 -8.07535211e-02 -2.25156283e-02 2.32347328e+01] [ 8.07500685e-02 9.96733813e-01 -1.06397414e-03 -3.85888645e-01] [ 2.25280077e-02 -7.57909832e-04 9.99745925e-01 3.92585567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623617864999996 meters 0.020402393945458622 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.39, Z:0.39 [[ 9.96111722e-01 -8.52779384e-02 -2.21158653e-02 2.32638553e+01] [ 8.52756267e-02 9.96356847e-01 -1.04931680e-03 -3.85046087e-01] [ 2.21247774e-02 -8.40707511e-04 9.99754864e-01 3.92783528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.653617864999994 meters 0.021293038690744354 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.39, Z:0.39 [[ 9.95958927e-01 -8.71342243e-02 -2.17587218e-02 2.32921017e+01] [ 8.71323877e-02 9.96196204e-01 -1.03425769e-03 -3.85626720e-01] [ 2.17660753e-02 -8.65811204e-04 9.99762716e-01 3.93214513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683617864999995 meters 0.022234157285272196 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.39, Z:0.39 [[ 9.95705092e-01 -9.00008861e-02 -2.17073886e-02 2.33216859e+01] [ 8.99996887e-02 9.95941257e-01 -1.03408692e-03 -3.87865960e-01] [ 2.17123526e-02 -9.24012602e-04 9.99763832e-01 3.94719802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.713617864999996 meters 0.021667294562179196 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.39, Z:0.40 [[ 9.95609164e-01 -9.10522919e-02 -2.17226266e-02 2.33508807e+01] [ 9.10513027e-02 9.95845664e-01 -1.03664998e-03 -3.86566242e-01] [ 2.17267729e-02 -9.45775233e-04 9.99763498e-01 3.95700229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.743617864999994 meters 0.02282130776423379 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.39, Z:0.40 [[ 9.95532333e-01 -9.19436432e-02 -2.14881255e-02 2.33789385e+01] [ 9.19427892e-02 9.95763759e-01 -1.02978704e-03 -3.87228303e-01] [ 2.14917790e-02 -9.50491895e-04 9.99768573e-01 3.95589387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.773617864999995 meters 0.022492999030371382 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.39, Z:0.40 [[ 9.95455710e-01 -9.26506161e-02 -2.19952855e-02 2.34073162e+01] [ 9.26498518e-02 9.95698192e-01 -1.05599528e-03 -3.85465483e-01] [ 2.19985046e-02 -9.86663415e-04 9.99757517e-01 3.95390682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803617864999996 meters 0.02255125930624077 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.38, Z:0.40 [[ 9.95406632e-01 -9.31811417e-02 -2.19752590e-02 2.34365158e+01] [ 9.31804477e-02 9.95648676e-01 -1.05776815e-03 -3.84652637e-01] [ 2.19782016e-02 -9.94755043e-04 9.99757955e-01 3.95596361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.833617864999994 meters 0.024456199550734404 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.39, Z:0.40 [[ 9.95389545e-01 -9.33999173e-02 -2.18199107e-02 2.34647865e+01] [ 9.33991903e-02 9.95628183e-01 -1.05464862e-03 -3.87242610e-01] [ 2.18230222e-02 -9.88175779e-04 9.99761361e-01 3.96002141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863617864999995 meters 0.024456199550734404 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.39, Z:0.40 [[ 9.95364866e-01 -9.36625878e-02 -2.18197740e-02 2.34923614e+01] [ 9.36618622e-02 9.95603504e-01 -1.05746886e-03 -3.85834660e-01] [ 2.18228888e-02 -9.91113313e-04 9.99761361e-01 3.96454608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.893617864999996 meters 0.022054572891601745 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.38, Z:0.40 [[ 9.95320229e-01 -9.41557323e-02 -2.17333712e-02 2.35207233e+01] [ 9.41550078e-02 9.95556986e-01 -1.05888636e-03 -3.83674557e-01] [ 2.17365097e-02 -9.92374723e-04 9.99763242e-01 3.98156357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923617864999994 meters 0.02228607437549856 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.38, Z:0.40 [[ 9.95303147e-01 -9.44258762e-02 -2.13400919e-02 2.35483989e+01] [ 9.44251277e-02 9.95531418e-01 -1.04496180e-03 -3.83769352e-01] [ 2.13434034e-02 -9.74987135e-04 9.99771728e-01 3.98851271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.953617864999995 meters 0.02489866155936022 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.39, Z:0.40 [[ 9.95303652e-01 -9.45026593e-02 -2.09734822e-02 2.35759603e+01] [ 9.45018490e-02 9.95524151e-01 -1.03198116e-03 -3.87326511e-01] [ 2.09771330e-02 -9.54898229e-04 9.99779500e-01 3.99240378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.983617864999996 meters 0.02403524759230177 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.39, Z:0.40 [[ 9.95384850e-01 -9.36261599e-02 -2.10509712e-02 2.36051540e+01] [ 9.36250839e-02 9.95606983e-01 -1.03883383e-03 -3.85361961e-01] [ 2.10557560e-02 -9.36859489e-04 9.99777864e-01 3.98972124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.013617864999993 meters 0.02424723120774385 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.38, Z:0.40 [[ 9.95431251e-01 -9.29071794e-02 -2.20199934e-02 2.36331411e+01] [ 9.29057242e-02 9.95674312e-01 -1.09131104e-03 -3.84537129e-01] [ 2.20261324e-02 -9.59458316e-04 9.99756935e-01 3.98186819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043617864999995 meters 0.022995337496980302 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.38, Z:0.40 [[ 9.95500653e-01 -9.20857205e-02 -2.23309351e-02 2.36618639e+01] [ 9.20839415e-02 9.95750629e-01 -1.11013028e-03 -3.82087861e-01] [ 2.23382699e-02 -9.51185106e-04 9.99750017e-01 3.98361789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.073617864999996 meters 0.02164848773871129 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.38, Z:0.40 [[ 9.95616999e-01 -9.08381317e-02 -2.22536703e-02 2.36904863e+01] [ 9.08359379e-02 9.95865250e-01 -1.11150050e-03 -3.80146659e-01] [ 2.22626236e-02 -9.14804221e-04 9.99751739e-01 3.99037719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103617864999993 meters 0.02375016572768633 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.38, Z:0.40 [[ 9.95856110e-01 -8.84971087e-02 -2.09492050e-02 2.37188575e+01] [ 8.84945635e-02 9.96076106e-01 -1.05033174e-03 -3.84062068e-01] [ 2.09599539e-02 -8.07911476e-04 9.99779990e-01 4.00038200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.133617864999994 meters 0.023434819011675885 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.38, Z:0.40 [[ 9.95958712e-01 -8.73606125e-02 -2.08414877e-02 2.37477140e+01] [ 8.73578011e-02 9.96176449e-01 -1.04703058e-03 -3.82754200e-01] [ 2.08532685e-02 -7.77867314e-04 9.99782244e-01 4.00792815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163617864999996 meters 0.01971235481434369 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.38, Z:0.40 [[ 9.96168993e-01 -8.50048288e-02 -2.05308675e-02 2.37767606e+01] [ 8.50015078e-02 9.96380284e-01 -1.03595163e-03 -3.76300212e-01] [ 2.05446125e-02 -7.13171810e-04 9.99788683e-01 4.01856718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.193617864999997 meters 0.02020310519677363 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.38, Z:0.40 [[ 9.96281700e-01 -8.37095049e-02 -2.03836258e-02 2.38045422e+01] [ 8.37058800e-02 9.96489970e-01 -1.03246963e-03 -3.76134801e-01] [ 2.03985061e-02 -6.77598736e-04 9.99791699e-01 4.01777821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223617864999994 meters 0.020012164672074725 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.37, Z:0.40 [[ 9.96349525e-01 -8.28299124e-02 -2.06598458e-02 2.38333253e+01] [ 8.28259502e-02 9.96563476e-01 -1.04886066e-03 -3.74506329e-01] [ 2.06757247e-02 -6.66139537e-04 9.99786012e-01 4.02074155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.253617864999995 meters 0.01984428615549368 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.37, Z:0.40 [[ 9.96515180e-01 -8.08201901e-02 -2.06298901e-02 2.38618130e+01] [ 8.08157107e-02 9.96728506e-01 -1.05210410e-03 -3.73553523e-01] [ 2.06474308e-02 -6.18781520e-04 9.99786628e-01 4.01715518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283617864999997 meters 0.01803151558496577 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.37, Z:0.40 [[ 9.96567732e-01 -8.02179254e-02 -2.04411261e-02 2.38903906e+01] [ 8.02133052e-02 9.96777171e-01 -1.04715529e-03 -3.70096175e-01] [ 2.04592485e-02 -5.96089113e-04 9.99790510e-01 4.03106513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.313617864999994 meters 0.01841911163942457 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.37, Z:0.40 [[ 9.96617141e-01 -7.95973206e-02 -2.04582704e-02 2.39183598e+01] [ 7.95924744e-02 9.96826931e-01 -1.05231559e-03 -3.70450952e-01] [ 2.04771164e-02 -5.79568610e-04 9.99790154e-01 4.03851520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343617864999995 meters 0.017447796810436428 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.37, Z:0.40 [[ 9.96736055e-01 -7.80637681e-02 -2.05738959e-02 2.39470256e+01] [ 7.80584910e-02 9.96948217e-01 -1.06066655e-03 -3.68224441e-01] [ 2.05939085e-02 -5.48762680e-04 9.99787772e-01 4.04720251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.373617864999996 meters 0.017379100427107618 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.37, Z:0.40 [[ 9.96792665e-01 -7.74241612e-02 -2.02455542e-02 2.39759101e+01] [ 7.74188224e-02 9.96998108e-01 -1.04852239e-03 -3.66680604e-01] [ 2.02659602e-02 -5.22227538e-04 9.99794488e-01 4.04717459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403617864999994 meters 0.016738971941366417 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.36, Z:0.41 [[ 9.96865641e-01 -7.65148944e-02 -2.01088463e-02 2.40045622e+01] [ 7.65093462e-02 9.97068315e-01 -1.04623002e-03 -3.64299432e-01] [ 2.01299457e-02 -4.95563931e-04 9.99797249e-01 4.05162060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.433617864999995 meters 0.01681200432599534 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.36, Z:0.41 [[ 9.96939158e-01 -7.56603203e-02 -1.96934067e-02 2.40321422e+01] [ 7.56547474e-02 9.97133542e-01 -1.02891774e-03 -3.63126218e-01] [ 1.97148046e-02 -4.64131319e-04 9.99805537e-01 4.05565343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463617864999996 meters 0.016375509732400928 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.36, Z:0.41 [[ 9.97118408e-01 -7.35461453e-02 -1.85968822e-02 2.40596291e+01] [ 7.35407663e-02 9.97291736e-01 -9.73875849e-04 -3.62288182e-01] [ 1.86181417e-02 -3.96559429e-04 9.99826589e-01 4.06838602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.493617864999994 meters 0.016100797520038023 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.36, Z:0.41 [[ 9.97198680e-01 -7.25273274e-02 -1.82914895e-02 2.40888361e+01] [ 7.25219074e-02 9.97366357e-01 -9.60337690e-04 -3.61652820e-01] [ 1.83129670e-02 -3.68886234e-04 9.99832236e-01 4.08048656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523617864999995 meters 0.016540261814316337 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.36, Z:0.41 [[ 9.97245432e-01 -7.19281044e-02 -1.81079124e-02 2.41167570e+01] [ 7.19226216e-02 9.97409758e-01 -9.54685592e-04 -3.62612541e-01] [ 1.81296772e-02 -3.50312684e-04 9.99835583e-01 4.09045345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.553617864999996 meters 0.01587578652572054 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.36, Z:0.41 [[ 9.97336974e-01 -7.06257991e-02 -1.81922315e-02 2.41456286e+01] [ 7.06200158e-02 9.97502827e-01 -9.60930737e-04 -3.61287058e-01] [ 1.82146688e-02 -3.26363922e-04 9.99834046e-01 4.10069406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583617864999994 meters 0.015602001716764699 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.36, Z:0.41 [[ 9.97363874e-01 -7.02225966e-02 -1.82781059e-02 2.41744798e+01] [ 7.02166127e-02 9.97531296e-01 -9.69734482e-04 -3.59597012e-01] [ 1.83010799e-02 -3.16248540e-04 9.99832471e-01 4.10013074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.613617864999995 meters 0.01542166764158211 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.36, Z:0.41 [[ 9.97455990e-01 -6.86327114e-02 -1.92639225e-02 2.42020560e+01] [ 6.86256858e-02 9.97641951e-01 -1.02630752e-03 -3.59274158e-01] [ 1.92889355e-02 -2.98303311e-04 9.99813907e-01 4.09546844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643617864999996 meters 0.01532001583791932 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.36, Z:0.41 [[ 9.97472681e-01 -6.83404677e-02 -1.94378761e-02 2.42300951e+01] [ 6.83332169e-02 9.97662014e-01 -1.03774809e-03 -3.58179755e-01] [ 1.94633509e-02 -2.93127235e-04 9.99810528e-01 4.10118580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.673617864999994 meters 0.015048780275340422 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.35, Z:0.41 [[ 9.97590087e-01 -6.68214399e-02 -1.86792385e-02 2.42574521e+01] [ 6.68143967e-02 9.97764919e-01 -1.00158166e-03 -3.54747095e-01] [ 1.87044160e-02 -2.48874114e-04 9.99825026e-01 4.11203152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.703617864999995 meters 0.014261428551900442 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.35, Z:0.41 [[ 9.97721722e-01 -6.49453687e-02 -1.82610382e-02 2.42861276e+01] [ 6.49382909e-02 9.97888800e-01 -9.80918259e-04 -3.50647685e-01] [ 1.82861916e-02 -2.07157156e-04 9.99832772e-01 4.12366670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.733617864999996 meters 0.01456509806587346 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.35, Z:0.41 [[ 9.97782786e-01 -6.41797725e-02 -1.76201307e-02 2.43137108e+01] [ 6.41729942e-02 9.97938337e-01 -9.50415203e-04 -3.49240772e-01] [ 1.76448014e-02 -1.82428618e-04 9.99844302e-01 4.13108951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763617864999993 meters 0.014534432500028406 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.35, Z:0.41 [[ 9.97787498e-01 -6.41001730e-02 -1.76430370e-02 2.43416809e+01] [ 6.40933342e-02 9.97943453e-01 -9.53376355e-04 -3.47177511e-01] [ 1.76678648e-02 -1.79534055e-04 9.99843895e-01 4.13527925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.793617864999995 meters 0.01406231662471264 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.34, Z:0.41 [[ 9.97872511e-01 -6.29615162e-02 -1.69204034e-02 2.43700400e+01] [ 6.29549921e-02 9.98015944e-01 -9.18478013e-04 -3.40861009e-01] [ 1.69446611e-02 -1.48699899e-04 9.99856418e-01 4.14864681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823617864999996 meters 0.014155540895221044 Centerline is valid? [True, True] Translation: X:24.40, Y:-0.34, Z:0.42 [[ 9.97831235e-01 -6.33657903e-02 -1.78214125e-02 2.43980251e+01] [ 6.33585363e-02 9.97990356e-01 -9.71927042e-04 -3.39709992e-01] [ 1.78471848e-02 -1.59319451e-04 9.99840714e-01 4.15024531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.853617864999993 meters 0.014214674999166349 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.34, Z:0.41 [[ 9.97785571e-01 -6.34172608e-02 -2.00550712e-02 2.44261807e+01] [ 6.34079637e-02 9.97987084e-01 -1.09976907e-03 -3.35322738e-01] [ 2.00844464e-02 -1.74317518e-04 9.99798272e-01 4.13180732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.883617864999994 meters 0.014342739222620728 Centerline is valid? [True, True] Translation: X:24.46, Y:-0.33, Z:0.41 [[ 9.97704836e-01 -6.41706522e-02 -2.16145058e-02 2.44552757e+01] [ 6.41598992e-02 9.97938920e-01 -1.19130863e-03 -3.33095769e-01] [ 2.16464036e-02 -1.98210138e-04 9.99765670e-01 4.11867058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.913617864999996 meters 0.014566894150392562 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.33, Z:0.41 [[ 9.97615074e-01 -6.50495128e-02 -2.30808324e-02 2.44826556e+01] [ 6.50373681e-02 9.97882012e-01 -1.27724681e-03 -3.32257122e-01] [ 2.31150317e-02 -2.26915921e-04 9.99732786e-01 4.11687268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943617864999993 meters 0.015356825057693922 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.33, Z:0.41 [[ 9.97365466e-01 -6.86993477e-02 -2.32921888e-02 2.45102817e+01] [ 6.86879042e-02 9.97637360e-01 -1.29194669e-03 -3.32824754e-01] [ 2.33259136e-02 -3.11348617e-04 9.99727865e-01 4.12127920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.973617864999994 meters 0.015158074682957568 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.33, Z:0.41 [[ 9.97201147e-01 -7.11288068e-02 -2.30340034e-02 2.45390029e+01] [ 7.11181952e-02 9.97467073e-01 -1.28058042e-03 -3.29933701e-01] [ 2.30667461e-02 -3.61140489e-04 9.99733862e-01 4.13502641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.003617864999995 meters 0.016741287662511147 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.33, Z:0.41 [[ 9.96639071e-01 -7.84794790e-02 -2.34847688e-02 2.45674087e+01] [ 7.84703796e-02 9.96915585e-01 -1.31018687e-03 -3.32332860e-01] [ 2.35151548e-02 -5.37075299e-04 9.99723336e-01 4.13847061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.033617864999997 meters 0.01919369713715872 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.33, Z:0.41 [[ 9.96399104e-01 -8.16747245e-02 -2.27610476e-02 2.45949090e+01] [ 8.16669704e-02 9.96658863e-01 -1.27155526e-03 -3.34758998e-01] [ 2.27888537e-02 -5.91849277e-04 9.99740125e-01 4.14338182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063617864999994 meters 0.018146415874172855 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.33, Z:0.42 [[ 9.96212819e-01 -8.41679096e-02 -2.18124343e-02 2.46230933e+01] [ 8.41613402e-02 9.96451393e-01 -1.22062540e-03 -3.30687999e-01] [ 2.18377681e-02 -6.19761039e-04 9.99761335e-01 4.15768931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.093617864999995 meters 0.018774649994566135 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.33, Z:0.42 [[ 9.95979643e-01 -8.67345663e-02 -2.23979060e-02 2.46522378e+01] [ 8.67282235e-02 9.96231217e-01 -1.25625317e-03 -3.30144603e-01] [ 2.24224537e-02 -6.91328012e-04 9.99748346e-01 4.16530568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.123617864999996 meters 0.021266995253391444 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.33, Z:0.42 [[ 9.95571415e-01 -9.12549456e-02 -2.25852275e-02 2.46813594e+01] [ 9.12495615e-02 9.95827245e-01 -1.27100833e-03 -3.33311915e-01] [ 2.26069707e-02 -7.95512537e-04 9.99744113e-01 4.18115488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.153617864999994 meters 0.020067759962134286 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.33, Z:0.42 [[ 9.95399329e-01 -9.32764427e-02 -2.19016313e-02 2.47100486e+01] [ 9.32718213e-02 9.95639916e-01 -1.23466930e-03 -3.28994889e-01] [ 2.19213039e-02 -8.13816045e-04 9.99759368e-01 4.19438570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.183617864999995 meters 0.02237932777648093 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.33, Z:0.42 [[ 9.95216458e-01 -9.51841530e-02 -2.20040511e-02 2.47376140e+01] [ 9.51798479e-02 9.95459314e-01 -1.24524757e-03 -3.29764940e-01] [ 2.20226654e-02 -8.55051362e-04 9.99757106e-01 4.19031079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.213617864999996 meters 0.021151749193918833 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.32, Z:0.42 [[ 9.94942669e-01 -9.78142156e-02 -2.28355835e-02 2.47670993e+01] [ 9.78102072e-02 9.95204243e-01 -1.29507431e-03 -3.24118641e-01] [ 2.28527463e-02 -9.45028460e-04 9.99738395e-01 4.19260027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243617864999994 meters 0.02212197300555505 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.32, Z:0.42 [[ 9.94839655e-01 -9.87992123e-02 -2.30819621e-02 2.47949355e+01] [ 9.87953487e-02 9.95106910e-01 -1.31047141e-03 -3.23575930e-01] [ 2.30984935e-02 -9.76681569e-04 9.99732717e-01 4.19355988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.273617864999995 meters 0.02325273393429225 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.32, Z:0.42 [[ 9.94745711e-01 -9.97693265e-02 -2.29576275e-02 2.48231770e+01] [ 9.97656954e-02 9.95010100e-01 -1.30632071e-03 -3.23397627e-01] [ 2.29734020e-02 -9.90926749e-04 9.99735585e-01 4.19805683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303617864999996 meters 0.022321838091732476 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.32, Z:0.42 [[ 9.94642627e-01 -1.00816379e-01 -2.28495472e-02 2.48514396e+01] [ 1.00812998e-01 9.94904539e-01 -1.30277421e-03 -3.21109654e-01] [ 2.28644592e-02 -1.00773660e-03 9.99738066e-01 4.21459919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.333617864999994 meters 0.022433990555566323 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.32, Z:0.42 [[ 9.94579646e-01 -1.01442934e-01 -2.28179500e-02 2.48804010e+01] [ 1.01439660e-01 9.94840839e-01 -1.30390251e-03 -3.19880474e-01] [ 2.28325003e-02 -1.01781021e-03 9.99738786e-01 4.22525096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.363617864999995 meters 0.02153600382960373 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.32, Z:0.42 [[ 9.94516540e-01 -1.02004520e-01 -2.30635770e-02 2.49088887e+01] [ 1.02001197e-01 9.94783396e-01 -1.32350884e-03 -3.16438876e-01] [ 2.30782673e-02 -1.03626104e-03 9.99733124e-01 4.23212443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.393617864999996 meters 0.022749056095579867 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.31, Z:0.42 [[ 9.94521335e-01 -1.01827218e-01 -2.36332800e-02 2.49367624e+01] [ 1.01823568e-01 9.94801542e-01 -1.36090322e-03 -3.13536326e-01] [ 2.36490004e-02 -1.05297762e-03 9.99719769e-01 4.21449746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423617864999994 meters 0.022783770567236284 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.31, Z:0.42 [[ 9.94534800e-01 -1.01594248e-01 -2.40653241e-02 2.49652878e+01] [ 1.01590317e-01 9.94825351e-01 -1.38903864e-03 -3.10853233e-01] [ 2.40819128e-02 -1.06335665e-03 9.99709423e-01 4.20882868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.453617864999995 meters 0.02189225356641653 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.31, Z:0.42 [[ 9.94541596e-01 -1.01380966e-01 -2.46761561e-02 2.49938864e+01] [ 1.01376620e-01 9.94847091e-01 -1.43026693e-03 -3.07881809e-01] [ 2.46940040e-02 -1.07912534e-03 9.99694474e-01 4.21191724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483617864999996 meters 0.021696323487460527 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.31, Z:0.42 [[ 9.94509362e-01 -1.01584479e-01 -2.51341028e-02 2.50220453e+01] [ 1.01579874e-01 9.94826311e-01 -1.46323467e-03 -3.08332357e-01] [ 2.51527087e-02 -1.09791841e-03 9.99683018e-01 4.22940128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.513617864999993 meters 0.02331008009407379 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.31, Z:0.42 [[ 9.94467868e-01 -1.02038916e-01 -2.49342847e-02 2.50503513e+01] [ 1.02034397e-01 9.94779805e-01 -1.45681151e-03 -3.09575911e-01] [ 2.49527744e-02 -1.09540246e-03 9.99688031e-01 4.23524474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543617864999995 meters 0.023446098458749454 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.31, Z:0.42 [[ 9.94406054e-01 -1.02720015e-01 -2.46007883e-02 2.50786691e+01] [ 1.02715763e-01 9.94709706e-01 -1.43973326e-03 -3.07838684e-01] [ 2.46185323e-02 -1.09520928e-03 9.99696318e-01 4.24007109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.573617864999996 meters 0.022539501878067074 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.30, Z:0.42 [[ 9.94250718e-01 -1.04316067e-01 -2.41592076e-02 2.51074928e+01] [ 1.04312343e-01 9.94543576e-01 -1.41776994e-03 -3.03890712e-01] [ 2.41752809e-02 -1.11048477e-03 9.99707118e-01 4.23664793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603617864999993 meters 0.023090817127861325 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.30, Z:0.42 [[ 9.94189563e-01 -1.04906771e-01 -2.41180915e-02 2.51353983e+01] [ 1.04903123e-01 9.94481432e-01 -1.41993649e-03 -3.03217892e-01] [ 2.41339552e-02 -1.11837708e-03 9.99708108e-01 4.23873914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.633617864999994 meters 0.02270729662226709 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.30, Z:0.42 [[ 9.94151196e-01 -1.05251973e-01 -2.41954771e-02 2.51632225e+01] [ 1.05248318e-01 9.94444947e-01 -1.42803072e-03 -3.01527132e-01] [ 2.42113730e-02 -1.12685481e-03 9.99706227e-01 4.24605843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663617864999996 meters 0.023436541126391007 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.30, Z:0.43 [[ 9.94174347e-01 -1.05212902e-01 -2.34011355e-02 2.51916018e+01] [ 1.05209356e-01 9.94449129e-01 -1.38608570e-03 -3.02944526e-01] [ 2.34170729e-02 -1.08400755e-03 9.99725195e-01 4.25526737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.693617864999993 meters 0.02167115487314809 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.30, Z:0.43 [[ 9.94184470e-01 -1.05101046e-01 -2.34736005e-02 2.52208129e+01] [ 1.05097374e-01 9.94460960e-01 -1.39349833e-03 -2.99491647e-01] [ 2.34900374e-02 -1.08161937e-03 9.99723486e-01 4.26578121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723617864999994 meters 0.023590188765055205 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.30, Z:0.43 [[ 9.94239366e-01 -1.04598594e-01 -2.33926744e-02 2.52491735e+01] [ 1.04594694e-01 9.94513956e-01 -1.39356128e-03 -3.01292517e-01] [ 2.34101057e-02 -1.06121614e-03 9.99725383e-01 4.26449648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.753617864999995 meters 0.023590188765055205 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.30, Z:0.43 [[ 9.94211379e-01 -1.04864329e-01 -2.33924379e-02 2.52767364e+01] [ 1.04860409e-01 9.94485968e-01 -1.39752084e-03 -2.99579049e-01] [ 2.34100014e-02 -1.06350949e-03 9.99725383e-01 4.26901902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783617864999993 meters 0.02220771465359039 Centerline is valid? [True, True] Translation: X:25.31, Y:-0.30, Z:0.43 [[ 9.94454977e-01 -1.02431464e-01 -2.38137334e-02 2.53058303e+01] [ 1.02426580e-01 9.94739542e-01 -1.42797277e-03 -2.96170550e-01] [ 2.38347316e-02 -1.01910463e-03 9.99715393e-01 4.27050662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.813617864999994 meters 0.02123060501817854 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.29, Z:0.43 [[ 9.94592008e-01 -1.00966673e-01 -2.43406898e-02 2.53344533e+01] [ 1.00961041e-01 9.94889304e-01 -1.46330821e-03 -2.92643333e-01] [ 2.43640373e-02 -1.00206673e-03 9.99702651e-01 4.27117949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843617864999995 meters 0.02066423932062899 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.29, Z:0.43 [[ 9.95033567e-01 -9.65440923e-02 -2.42371392e-02 2.53635921e+01] [ 9.65370970e-02 9.95328314e-01 -1.46126001e-03 -2.89892299e-01] [ 2.42649870e-02 -8.85780296e-04 9.99705169e-01 4.26508829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.873617864999996 meters 0.019665156692223223 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.29, Z:0.43 [[ 9.95232052e-01 -9.45510185e-02 -2.39430143e-02 2.53924337e+01] [ 9.45435902e-02 9.95519675e-01 -1.44459320e-03 -2.86647415e-01] [ 2.39723296e-02 -8.25953076e-04 9.99712281e-01 4.27390666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903617864999994 meters 0.018616564053440313 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.28, Z:0.43 [[ 9.95451159e-01 -9.22428973e-02 -2.38377577e-02 2.54216675e+01] [ 9.22348259e-02 9.95736242e-01 -1.44021648e-03 -2.84009513e-01] [ 2.38689690e-02 -7.65006274e-04 9.99714803e-01 4.28433573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.933617864999995 meters 0.019021675585298894 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.28, Z:0.43 [[ 9.95628054e-01 -9.03097970e-02 -2.38520247e-02 2.54497742e+01] [ 9.03011013e-02 9.95913464e-01 -1.44360880e-03 -2.84052912e-01] [ 2.38849246e-02 -7.16566686e-04 9.99714458e-01 4.28810543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963617864999996 meters 0.017690819979282898 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.28, Z:0.43 [[ 9.95865699e-01 -8.77467096e-02 -2.34951888e-02 2.54782284e+01] [ 8.77375153e-02 9.96142611e-01 -1.42387892e-03 -2.80863575e-01] [ 2.35294994e-02 -6.43417311e-04 9.99722936e-01 4.29476807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.993617864999994 meters 0.018110291248643388 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.28, Z:0.43 [[ 9.95967436e-01 -8.67844983e-02 -2.27446305e-02 2.55063728e+01] [ 8.67755942e-02 9.96226928e-01 -1.38002074e-03 -2.79704239e-01] [ 2.27785778e-02 -5.99223116e-04 9.99740355e-01 4.29509731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.023617864999995 meters 0.017357825698065977 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.28, Z:0.43 [[ 9.96098539e-01 -8.54355399e-02 -2.21013259e-02 2.55350543e+01] [ 8.54267407e-02 9.96343548e-01 -1.34369480e-03 -2.76464858e-01] [ 2.21353127e-02 -5.49591804e-04 9.99754833e-01 4.30023852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.053617864999996 meters 0.016034793510801577 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.27, Z:0.43 [[ 9.96365290e-01 -8.22277718e-02 -2.22441645e-02 2.55638814e+01] [ 8.22179635e-02 9.96613449e-01 -1.35667997e-03 -2.73588273e-01] [ 2.22803902e-02 -4.77121070e-04 9.99751647e-01 4.30847137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083617864999994 meters 0.016032759788074193 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.27, Z:0.43 [[ 9.96467131e-01 -8.10083196e-02 -2.21564692e-02 2.55918657e+01] [ 8.09982459e-02 9.96713325e-01 -1.35319000e-03 -2.73292287e-01] [ 2.21932678e-02 -4.46225786e-04 9.99753600e-01 4.31388870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.113617864999995 meters 0.01518229840069298 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.27, Z:0.43 [[ 9.96763449e-01 -7.73364663e-02 -2.19476172e-02 2.56203750e+01] [ 7.73256176e-02 9.97004986e-01 -1.34380141e-03 -2.69289132e-01] [ 2.19858086e-02 -3.57660922e-04 9.99758219e-01 4.32862939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143617864999996 meters 0.015284883136219032 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.27, Z:0.43 [[ 9.96816089e-01 -7.66379190e-02 -2.20071543e-02 2.56478149e+01] [ 7.66267458e-02 9.97058932e-01 -1.35177213e-03 -2.67670071e-01] [ 2.20460268e-02 -3.38868413e-04 9.99756899e-01 4.32426338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.173617864999994 meters 0.015143078117691581 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.26, Z:0.43 [[ 9.96865242e-01 -7.60762121e-02 -2.17278326e-02 2.56765157e+01] [ 7.60651304e-02 9.97101955e-01 -1.33723119e-03 -2.64878869e-01] [ 2.17665959e-02 -3.19691130e-04 9.99763028e-01 4.32549019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203617864999995 meters 0.01530342690857751 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.26, Z:0.43 [[ 9.96818550e-01 -7.65888005e-02 -2.20665801e-02 2.57040966e+01] [ 7.65773943e-02 9.97062709e-01 -1.36268342e-03 -2.64252186e-01] [ 2.21061305e-02 -3.31453096e-04 9.99755575e-01 4.31942908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.233617864999996 meters 0.015444870579113926 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.26, Z:0.43 [[ 9.96771595e-01 -7.72524069e-02 -2.18735829e-02 2.57323143e+01] [ 7.72412828e-02 9.97011510e-01 -1.35424244e-03 -2.62571295e-01] [ 2.19128324e-02 -3.39673202e-04 9.99759827e-01 4.32422319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263617864999993 meters 0.015836824328330085 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.26, Z:0.43 [[ 9.96668979e-01 -7.85889115e-02 -2.17882637e-02 2.57597022e+01] [ 7.85780825e-02 9.96907043e-01 -1.35403208e-03 -2.61772893e-01] [ 2.18272854e-02 -3.62558211e-04 9.99761691e-01 4.32863392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.293617864999995 meters 0.01560267938942647 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.26, Z:0.43 [[ 9.96542716e-01 -8.02804320e-02 -2.13931789e-02 2.57881664e+01] [ 8.02703069e-02 9.96772241e-01 -1.33297042e-03 -2.58940579e-01] [ 2.14311384e-02 -3.88875073e-04 9.99770251e-01 4.33918331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323617864999996 meters 0.017113959233180726 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.26, Z:0.43 [[ 9.96328513e-01 -8.28993555e-02 -2.13820143e-02 2.58164220e+01] [ 8.28897472e-02 9.96557827e-01 -1.33678009e-03 -2.60779976e-01] [ 2.14192320e-02 -4.40477640e-04 9.99770485e-01 4.34164034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.353617864999993 meters 0.017503324124258618 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.26, Z:0.44 [[ 9.95842944e-01 -8.89050151e-02 -1.98174060e-02 2.58453594e+01] [ 8.88979079e-02 9.96039970e-01 -1.24104487e-03 -2.59856979e-01] [ 1.98492635e-02 -5.25840152e-04 9.99802846e-01 4.36637693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383617864999994 meters 0.01844285752995858 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.26, Z:0.44 [[ 9.95571429e-01 -9.20644164e-02 -1.90176924e-02 2.58745445e+01] [ 9.20584293e-02 9.95752894e-01 -1.19189322e-03 -2.60323927e-01] [ 1.90466532e-02 -5.64124061e-04 9.99818437e-01 4.37992947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.413617864999996 meters 0.020454116002568242 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.26, Z:0.44 [[ 9.95298180e-01 -9.50144829e-02 -1.88090878e-02 2.59036482e+01] [ 9.50091347e-02 9.95475702e-01 -1.17975851e-03 -2.62355634e-01] [ 1.88360840e-02 -6.12823655e-04 9.99822397e-01 4.39579608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443617864999993 meters 0.021524520473106393 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.26, Z:0.44 [[ 9.94810814e-01 -1.00065365e-01 -1.83947592e-02 2.59339854e+01] [ 1.00061097e-01 9.94980625e-01 -1.15460656e-03 -2.62668459e-01] [ 1.84179652e-02 -6.91984691e-04 9.99830135e-01 4.41274617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.473617864999994 meters 0.022318206578230217 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.26, Z:0.44 [[ 9.94581080e-01 -1.02250094e-01 -1.87987574e-02 2.59629246e+01] [ 1.02246009e-01 9.94758443e-01 -1.18080130e-03 -2.61544203e-01] [ 1.88209597e-02 -7.47695296e-04 9.99822590e-01 4.42012087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503617864999995 meters 0.02355934384386632 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.26, Z:0.44 [[ 9.94407082e-01 -1.03968956e-01 -1.85744621e-02 2.59909902e+01] [ 1.03965195e-01 9.94580247e-01 -1.17062474e-03 -2.60711442e-01] [ 1.85955018e-02 -7.67020047e-04 9.99826794e-01 4.42053618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.533617864999993 meters 0.024293846023655932 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.26, Z:0.44 [[ 9.94265315e-01 -1.05336773e-01 -1.84566682e-02 2.60201330e+01] [ 1.05333261e-01 9.94436296e-01 -1.16500335e-03 -2.58682749e-01] [ 1.84766984e-02 -7.85778629e-04 9.99828982e-01 4.41920534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563617864999994 meters 0.02270189923826759 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.25, Z:0.44 [[ 9.94127752e-01 -1.06625356e-01 -1.84674189e-02 2.60490382e+01] [ 1.06621984e-01 9.94298941e-01 -1.16989359e-03 -2.53114694e-01] [ 1.84868754e-02 -8.06009167e-04 9.99828778e-01 4.41886943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.593617864999995 meters 0.0256373852804862 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.26, Z:0.44 [[ 9.94090445e-01 -1.06926053e-01 -1.87351525e-02 2.60766688e+01] [ 1.06922560e-01 9.94266638e-01 -1.19095011e-03 -2.55692889e-01] [ 1.87550807e-02 -8.19298332e-04 9.99823772e-01 4.42125316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623617864999993 meters 0.021821093156580592 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.25, Z:0.44 [[ 9.94023540e-01 -1.07440036e-01 -1.93349370e-02 2.61054102e+01] [ 1.07436372e-01 9.94211200e-01 -1.23118626e-03 -2.48536109e-01] [ 1.93552896e-02 -8.53447346e-04 9.99812305e-01 4.43225435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.653617864999994 meters 0.02440424534326415 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.25, Z:0.44 [[ 9.93977216e-01 -1.07804131e-01 -1.96866082e-02 2.61335908e+01] [ 1.07800320e-01 9.94171770e-01 -1.25783813e-03 -2.50548431e-01] [ 1.97074702e-02 -8.71960204e-04 9.99805409e-01 4.43293022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683617864999995 meters 0.02372060066015475 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.25, Z:0.44 [[ 9.93927410e-01 -1.08198321e-01 -2.00356324e-02 2.61617982e+01] [ 1.08194405e-01 9.94128928e-01 -1.28251947e-03 -2.48115744e-01] [ 2.00567682e-02 -8.93012065e-04 9.99798444e-01 4.43834620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.713617864999996 meters 0.023224576103219933 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.25, Z:0.44 [[ 9.93869594e-01 -1.08781463e-01 -1.97439494e-02 2.61910382e+01] [ 1.08777675e-01 9.94065293e-01 -1.26891988e-03 -2.45914218e-01] [ 1.97648098e-02 -8.86560036e-04 9.99804264e-01 4.44655915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743617864999994 meters 0.024703501740212866 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.25, Z:0.45 [[ 9.93851582e-01 -1.08991815e-01 -1.94888824e-02 2.62185676e+01] [ 1.08988085e-01 9.94042262e-01 -1.25657136e-03 -2.45914695e-01] [ 1.95097287e-02 -8.75210539e-04 9.99809284e-01 4.45376238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.773617864999995 meters 0.02461357826553625 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.24, Z:0.45 [[ 9.93825529e-01 -1.09213781e-01 -1.95746538e-02 2.62461920e+01] [ 1.09210019e-01 9.94017894e-01 -1.26430252e-03 -2.43809894e-01] [ 1.95956354e-02 -8.81252183e-04 9.99807599e-01 4.45737657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803617864999996 meters 0.02234541763677157 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.24, Z:0.45 [[ 9.93751396e-01 -1.09777828e-01 -2.01740159e-02 2.62750215e+01] [ 1.09773840e-01 9.93955730e-01 -1.30832578e-03 -2.38545388e-01] [ 2.01957038e-02 -9.14428623e-04 9.99795628e-01 4.45807862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.833617864999994 meters 0.021257139624743036 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.23, Z:0.45 [[ 9.93730791e-01 -1.09994801e-01 -2.00064463e-02 2.63028182e+01] [ 1.09990825e-01 9.93931749e-01 -1.30232108e-03 -2.34778664e-01] [ 2.00282907e-02 -9.06368984e-04 9.99799003e-01 4.45856654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863617864999995 meters 0.025725211870694223 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.24, Z:0.45 [[ 9.93697814e-01 -1.10237347e-01 -2.03071658e-02 2.63311373e+01] [ 1.10233201e-01 9.93904865e-01 -1.32682908e-03 -2.39115775e-01] [ 2.03296570e-02 -9.20056744e-04 9.99792908e-01 4.45781476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.893617864999996 meters 0.022292484812405897 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.23, Z:0.45 [[ 9.93611605e-01 -1.10927817e-01 -2.07604994e-02 2.63601289e+01] [ 1.10923583e-01 9.93828009e-01 -1.35892477e-03 -2.32393035e-01] [ 2.07831083e-02 -9.52585553e-04 9.99783554e-01 4.46458948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923617864999994 meters 0.02143778176849013 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.23, Z:0.45 [[ 9.93548076e-01 -1.11527140e-01 -2.05892489e-02 2.63889861e+01] [ 1.11523003e-01 9.93760932e-01 -1.35259377e-03 -2.28901920e-01] [ 2.06116421e-02 -9.52307931e-04 9.99787104e-01 4.46832412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.953617864999995 meters 0.021549875915586155 Centerline is valid? [True, True] Translation: X:26.42, Y:-0.23, Z:0.45 [[ 9.93508486e-01 -1.11808195e-01 -2.09717681e-02 2.64173868e+01] [ 1.11803855e-01 9.93729332e-01 -1.38301481e-03 -2.26329326e-01] [ 2.09948935e-02 -9.70687574e-04 9.99779112e-01 4.47234414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983617864999996 meters 0.022835711092465044 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.22, Z:0.45 [[ 9.93517607e-01 -1.11600754e-01 -2.16341414e-02 2.64453917e+01] [ 1.11595971e-01 9.93752630e-01 -1.43202583e-03 -2.24201189e-01] [ 2.16588001e-02 -9.91540140e-04 9.99764929e-01 4.45861792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.013617864999993 meters 0.022325039315005974 Centerline is valid? [True, True] Translation: X:26.47, Y:-0.22, Z:0.45 [[ 9.93480342e-01 -1.11896996e-01 -2.18145056e-02 2.64729399e+01] [ 1.11892126e-01 9.93719305e-01 -1.44755844e-03 -2.20368119e-01] [ 2.18394728e-02 -1.00275055e-03 9.99760987e-01 4.45943352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043617864999995 meters 0.022562445234489296 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.22, Z:0.45 [[ 9.93490152e-01 -1.11797823e-01 -2.18761018e-02 2.65016910e+01] [ 1.11792776e-01 9.93730472e-01 -1.45740274e-03 -2.18063153e-01] [ 2.19018834e-02 -9.97674863e-04 9.99759627e-01 4.46184977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.073617864999996 meters 0.02242787829585423 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.21, Z:0.45 [[ 9.93446141e-01 -1.12070377e-01 -2.24721056e-02 2.65293740e+01] [ 1.12064994e-01 9.93699743e-01 -1.50273774e-03 -2.14979570e-01] [ 2.24989380e-02 -1.02544737e-03 9.99746341e-01 4.46663838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103617864999993 meters 0.022252744595718185 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.21, Z:0.45 [[ 9.93394832e-01 -1.12303815e-01 -2.35490982e-02 2.65572585e+01] [ 1.12297813e-01 9.93673337e-01 -1.58136004e-03 -2.11980552e-01] [ 2.35777038e-02 -1.07359733e-03 9.99721431e-01 4.46689302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.133617864999994 meters 0.02594896372775897 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.21, Z:0.45 [[ 9.93366580e-01 -1.12377649e-01 -2.43742020e-02 2.65850063e+01] [ 1.12371113e-01 9.93664952e-01 -1.64204829e-03 -2.13905524e-01] [ 2.44043198e-02 -1.10780030e-03 9.99701556e-01 4.45644896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163617864999996 meters 0.024760212582639378 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.21, Z:0.44 [[ 9.93356153e-01 -1.11976844e-01 -2.65469147e-02 2.66128720e+01] [ 1.11968838e-01 9.93710102e-01 -1.79257486e-03 -2.06970281e-01] [ 2.65806641e-02 -1.19176192e-03 9.99645961e-01 4.44677050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.193617864999993 meters 0.024032374538969874 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.20, Z:0.44 [[ 9.93338059e-01 -1.12072192e-01 -2.68202360e-02 2.66403814e+01] [ 1.12063865e-01 9.93699343e-01 -1.81808984e-03 -2.02845468e-01] [ 2.68550082e-02 -1.19960148e-03 9.99638619e-01 4.44658635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223617864999994 meters 0.02174074072592971 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.20, Z:0.45 [[ 9.93179639e-01 -1.13298115e-01 -2.75271273e-02 2.66689043e+01] [ 1.13289618e-01 9.93560242e-01 -1.87310837e-03 -1.96166868e-01] [ 2.75620789e-02 -1.25820463e-03 9.99619302e-01 4.45624437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.253617864999995 meters 0.025221677853144622 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.20, Z:0.45 [[ 9.93046648e-01 -1.14478021e-01 -2.74433532e-02 2.66970999e+01] [ 1.14469878e-01 9.93424954e-01 -1.87273670e-03 -1.98736748e-01] [ 2.74772991e-02 -1.28172239e-03 9.99621606e-01 4.45356641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283617864999993 meters 0.023630233440379716 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.19, Z:0.45 [[ 9.92902459e-01 -1.15636616e-01 -2.78007227e-02 2.67251582e+01] [ 1.15628627e-01 9.93290698e-01 -1.90019621e-03 -1.93998577e-01] [ 2.78339315e-02 -1.32784990e-03 9.99611679e-01 4.46692671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.313617864999994 meters 0.022358033205772114 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.19, Z:0.45 [[ 9.92669931e-01 -1.17232125e-01 -2.93774834e-02 2.67541247e+01] [ 1.17223832e-01 9.93103485e-01 -2.01032437e-03 -1.87941032e-01] [ 2.94105557e-02 -1.44815263e-03 9.99566367e-01 4.46456106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343617864999995 meters 0.024263344509592073 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.19, Z:0.45 [[ 9.92629375e-01 -1.17405219e-01 -3.00489389e-02 2.67819405e+01] [ 1.17396552e-01 9.93082983e-01 -2.05860342e-03 -1.87311709e-01] [ 3.00827807e-02 -1.48421160e-03 9.99546309e-01 4.45136914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.373617864999993 meters 0.023181925586159103 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.18, Z:0.45 [[ 9.92615653e-01 -1.17407822e-01 -3.04888388e-02 2.68100334e+01] [ 1.17398740e-01 9.93082651e-01 -2.09401585e-03 -1.82701633e-01] [ 3.05237907e-02 -1.50079836e-03 9.99532914e-01 4.45644864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403617864999994 meters 0.02363749131154484 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.18, Z:0.45 [[ 9.92728423e-01 -1.16566648e-01 -3.00415386e-02 2.68374636e+01] [ 1.16557279e-01 9.93181816e-01 -2.06885108e-03 -1.80693827e-01] [ 3.00778689e-02 -1.44775273e-03 9.99546510e-01 4.47048560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.433617864999995 meters 0.022771834208798407 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.18, Z:0.45 [[ 9.92812061e-01 -1.15928309e-01 -2.97462522e-02 2.68661357e+01] [ 1.15918702e-01 9.93256583e-01 -2.05306754e-03 -1.77140202e-01] [ 2.97836695e-02 -1.40983672e-03 9.99555374e-01 4.48730048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463617864999993 meters 0.022684703350048074 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.17, Z:0.45 [[ 9.92882124e-01 -1.15297080e-01 -2.98608465e-02 2.68947942e+01] [ 1.15286901e-01 9.93330083e-01 -2.06808247e-03 -1.73786018e-01] [ 2.99001210e-02 -1.38920235e-03 9.99551926e-01 4.49268163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.493617864999994 meters 0.021830826094641865 Centerline is valid? [True, True] Translation: X:26.92, Y:-0.17, Z:0.45 [[ 9.93031447e-01 -1.14111060e-01 -2.94484485e-02 2.69233106e+01] [ 1.14100436e-01 9.93467112e-01 -2.04645036e-03 -1.68888207e-01] [ 2.94895877e-02 -1.32789124e-03 9.99564206e-01 4.49740693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523617864999995 meters 0.02036442479045418 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.16, Z:0.45 [[ 9.93214432e-01 -1.12580017e-01 -2.91690367e-02 2.69523769e+01] [ 1.12568776e-01 9.93641857e-01 -2.03243008e-03 -1.62944375e-01] [ 2.92123868e-02 -1.26488387e-03 9.99572427e-01 4.50383547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.553617864999996 meters 0.019465389553254824 Centerline is valid? [True, True] Translation: X:26.98, Y:-0.16, Z:0.45 [[ 9.93658218e-01 -1.08767742e-01 -2.85118097e-02 2.69820451e+01] [ 1.08755365e-01 9.94066554e-01 -1.98908835e-03 -1.56654508e-01] [ 2.85589850e-02 -1.12433828e-03 9.99591477e-01 4.50733438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583617864999994 meters 0.022276564568544138 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.16, Z:0.45 [[ 9.93953442e-01 -1.06025092e-01 -2.85523057e-02 2.70099459e+01] [ 1.06011499e-01 9.94362905e-01 -1.99365370e-03 -1.56712792e-01] [ 2.86027309e-02 -1.04527378e-03 9.99590312e-01 4.49908121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.613617864999995 meters 0.01919570329945173 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.15, Z:0.45 [[ 9.94076097e-01 -1.04919974e-01 -2.83639443e-02 2.70383464e+01] [ 1.04905990e-01 9.94480163e-01 -1.98475302e-03 -1.51240923e-01] [ 2.84156202e-02 -1.00255212e-03 9.99595692e-01 4.52509430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643617864999996 meters 0.01776218152438939 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.15, Z:0.45 [[ 9.94169800e-01 -1.03993361e-01 -2.84919277e-02 2.70668934e+01] [ 1.03978675e-01 9.94577515e-01 -2.00058486e-03 -1.46564731e-01] [ 2.85454782e-02 -9.73631839e-04 9.99592021e-01 4.53887487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.673617864999994 meters 0.01776218152438939 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.14, Z:0.45 [[ 9.94140851e-01 -1.04269885e-01 -2.84914100e-02 2.70944210e+01] [ 1.04255101e-01 9.94548562e-01 -2.00793685e-03 -1.44571448e-01] [ 2.85454582e-02 -9.74202795e-04 9.99592021e-01 4.54338846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703617864999995 meters 0.01730725568571207 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.14, Z:0.45 [[ 9.94379181e-01 -1.01842026e-01 -2.89524646e-02 2.71227552e+01] [ 1.01825572e-01 9.94800164e-01 -2.04595113e-03 -1.38886862e-01] [ 2.90102804e-02 -9.13650066e-04 9.99578696e-01 4.53898378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.733617864999996 meters 0.019987512717857116 Centerline is valid? [True, True] Translation: X:27.15, Y:-0.14, Z:0.45 [[ 9.94502080e-01 -1.00674281e-01 -2.88149737e-02 2.71509575e+01] [ 1.00657414e-01 9.94919056e-01 -2.03895584e-03 -1.39473411e-01] [ 2.88738369e-02 -8.72694928e-04 9.99582683e-01 4.51744722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763617864999993 meters 0.01688384039624828 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.13, Z:0.45 [[ 9.94708126e-01 -9.87306257e-02 -2.84254915e-02 2.71797496e+01] [ 9.87133187e-02 9.95113873e-01 -2.01492285e-03 -1.31991298e-01] [ 2.84855356e-02 -8.01714472e-04 9.99593883e-01 4.54009454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.793617864999995 meters 0.016199689303234895 Centerline is valid? [True, True] Translation: X:27.21, Y:-0.13, Z:0.45 [[ 9.95034102e-01 -9.54288185e-02 -2.82926885e-02 2.72084020e+01] [ 9.54102596e-02 9.95436010e-01 -2.00830380e-03 -1.28229963e-01] [ 2.83552110e-02 -7.01081989e-04 9.99597664e-01 4.54915463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823617864999996 meters 0.016257956661054652 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.13, Z:0.46 [[ 9.95134978e-01 -9.42556923e-02 -2.86747394e-02 2.72359357e+01] [ 9.42360651e-02 9.95547794e-01 -2.03810028e-03 -1.26215004e-01] [ 2.87391761e-02 -6.74009726e-04 9.99586717e-01 4.55222015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.853617864999993 meters 0.01613813583647088 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.12, Z:0.46 [[ 9.95174782e-01 -9.37878124e-02 -2.88270718e-02 2.72647536e+01] [ 9.37676353e-02 9.95591991e-01 -2.05393035e-03 -1.23834046e-01] [ 2.88926355e-02 -6.59026670e-04 9.99582303e-01 4.55724874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883617864999994 meters 0.015212005069726735 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.12, Z:0.46 [[ 9.95178439e-01 -9.41830193e-02 -2.73757705e-02 2.72930138e+01] [ 9.41647980e-02 9.95554700e-01 -1.95687320e-03 -1.19689927e-01] [ 2.74383812e-02 -6.30395877e-04 9.99623298e-01 4.58073213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.913617864999996 meters 0.016922453296280445 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.12, Z:0.46 [[ 9.95097879e-01 -9.52291351e-02 -2.66762673e-02 2.73211038e+01] [ 9.52120688e-02 9.95455175e-01 -1.91209765e-03 -1.20239450e-01] [ 2.67371158e-02 -6.37178287e-04 9.99642296e-01 4.57985844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.943617864999993 meters 0.0180791540284342 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.12, Z:0.46 [[ 9.94804048e-01 -9.83356210e-02 -2.63630909e-02 2.73499916e+01] [ 9.83199268e-02 9.95153056e-01 -1.89403226e-03 -1.20370123e-01] [ 2.64215614e-02 -7.07826210e-04 9.99650639e-01 4.58799197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.973617864999994 meters 0.017280563578237405 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.12, Z:0.46 [[ 9.94579339e-01 -1.00630908e-01 -2.61793475e-02 2.73790458e+01] [ 1.00616067e-01 9.94923538e-01 -1.88689189e-03 -1.18096586e-01] [ 2.62363287e-02 -7.57399295e-04 9.99655481e-01 4.60806663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.003617864999995 meters 0.019907125056237148 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.12, Z:0.46 [[ 9.94366833e-01 -1.02721636e-01 -2.61317351e-02 2.74074951e+01] [ 1.02707435e-01 9.94709815e-01 -1.88859363e-03 -1.21436285e-01] [ 2.61874928e-02 -8.05968628e-04 9.99656724e-01 4.61385734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.033617864999993 meters 0.018791140139570204 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.12, Z:0.46 [[ 9.94150104e-01 -1.04897181e-01 -2.57323221e-02 2.74363583e+01] [ 1.04884029e-01 9.94482713e-01 -1.86398619e-03 -1.18482225e-01] [ 2.57858764e-02 -8.45827564e-04 9.99667131e-01 4.63649531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.063617864999994 meters 0.018379363030701135 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.12, Z:0.47 [[ 9.93773728e-01 -1.08525788e-01 -2.52176818e-02 2.74657141e+01] [ 1.08514219e-01 9.94093211e-01 -1.83080258e-03 -1.15891112e-01] [ 2.52674155e-02 -9.17073547e-04 9.99680307e-01 4.65064302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.093617864999995 meters 0.019583039184116895 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.12, Z:0.47 [[ 9.93585297e-01 -1.10279746e-01 -2.50326745e-02 2.74937659e+01] [ 1.10268869e-01 9.93900130e-01 -1.81868653e-03 -1.15156206e-01] [ 2.50805428e-02 -9.53304523e-04 9.99684979e-01 4.65166093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123617864999993 meters 0.02150898255525359 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.12, Z:0.47 [[ 9.93416214e-01 -1.11907207e-01 -2.45153525e-02 2.75215665e+01] [ 1.11897210e-01 9.93718186e-01 -1.78352999e-03 -1.15790125e-01] [ 2.45609414e-02 -9.71411926e-04 9.99697863e-01 4.65463974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.153617864999994 meters 0.020212627718263952 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.11, Z:0.47 [[ 9.93253718e-01 -1.13449834e-01 -2.40038966e-02 2.75499529e+01] [ 1.13440606e-01 9.93543238e-01 -1.75021426e-03 -1.11470818e-01] [ 2.40474706e-02 -9.84609749e-04 9.99710333e-01 4.66897182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183617864999995 meters 0.02361776800235273 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.11, Z:0.47 [[ 9.93177761e-01 -1.14146784e-01 -2.38421247e-02 2.75783802e+01] [ 1.14137764e-01 9.93463402e-01 -1.74329184e-03 -1.14555593e-01] [ 2.38852695e-02 -9.89888103e-04 9.99714216e-01 4.67069909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.213617864999993 meters 0.020877943326442272 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.11, Z:0.47 [[ 9.93121688e-01 -1.14668444e-01 -2.36740500e-02 2.76066286e+01] [ 1.14659607e-01 9.93403324e-01 -1.73482180e-03 -1.08261325e-01] [ 2.37168093e-02 -9.91568124e-04 9.99718225e-01 4.68271648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243617864999994 meters 0.02120855733660027 Centerline is valid? [True, True] Translation: X:27.63, Y:-0.11, Z:0.47 [[ 9.93099397e-01 -1.14977989e-01 -2.31008727e-02 2.76342715e+01] [ 1.14969528e-01 9.93367567e-01 -1.69847318e-03 -1.06738120e-01] [ 2.31429447e-02 -9.69143741e-04 9.99731696e-01 4.68826613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.273617864999995 meters 0.02178811819940754 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.11, Z:0.47 [[ 9.93088352e-01 -1.15029406e-01 -2.33186687e-02 2.76609087e+01] [ 1.15020675e-01 9.93361609e-01 -1.71980356e-03 -1.05813183e-01] [ 2.33616982e-02 -9.74212124e-04 9.99726604e-01 4.70045364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303617864999993 meters 0.02092512596961828 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.10, Z:0.47 [[ 9.93040877e-01 -1.15440165e-01 -2.33106215e-02 2.76887401e+01] [ 1.15431463e-01 9.93313953e-01 -1.72304611e-03 -1.02065831e-01] [ 2.33536743e-02 -9.79723934e-04 9.99726786e-01 4.70524776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.333617864999994 meters 0.023027979558530337 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.10, Z:0.47 [[ 9.93048126e-01 -1.15405975e-01 -2.31706763e-02 2.77170155e+01] [ 1.15397251e-01 9.93317937e-01 -1.71774106e-03 -1.01606387e-01] [ 2.32140860e-02 -9.68032813e-04 9.99730048e-01 4.70283748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363617864999995 meters 0.023282368127809483 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.10, Z:0.47 [[ 9.93060988e-01 -1.15323469e-01 -2.30297860e-02 2.77458985e+01] [ 1.15314762e-01 9.93327530e-01 -1.71020649e-03 -9.94382084e-02] [ 2.30733474e-02 -9.57334938e-04 9.99733317e-01 4.70475315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.393617864999996 meters 0.023505563748994568 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.10, Z:0.47 [[ 9.93115129e-01 -1.14744954e-01 -2.35783004e-02 2.77741035e+01] [ 1.14735560e-01 9.93394519e-01 -1.75536422e-03 -9.75820269e-02] [ 2.36239736e-02 -9.61990733e-04 9.99720452e-01 4.70546001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423617864999994 meters 0.02323252466305308 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.10, Z:0.47 [[ 9.93303286e-01 -1.13091068e-01 -2.36430346e-02 2.78034158e+01] [ 1.13081086e-01 9.93584199e-01 -1.76304412e-03 -9.58175102e-02] [ 2.36907302e-02 -9.22342517e-04 9.99718910e-01 4.71296546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.453617864999995 meters 0.019861016251519464 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.09, Z:0.47 [[ 9.93359673e-01 -1.12665576e-01 -2.33029722e-02 2.78319347e+01] [ 1.12655645e-01 9.93632562e-01 -1.74273951e-03 -8.87687312e-02] [ 2.33509387e-02 -8.94044195e-04 9.99726930e-01 4.72893784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483617864999996 meters 0.023306498240869784 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.09, Z:0.47 [[ 9.93477179e-01 -1.11674587e-01 -2.30625397e-02 2.78599572e+01] [ 1.11664489e-01 9.93744460e-01 -1.72921782e-03 -9.17919016e-02] [ 2.31113808e-02 -8.57328279e-04 9.99732529e-01 4.72259593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.513617864999993 meters 0.022962306613914223 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.09, Z:0.47 [[ 9.93676112e-01 -1.10117267e-01 -2.19538443e-02 2.78873405e+01] [ 1.10107694e-01 9.93918296e-01 -1.64805956e-03 -8.82348128e-02] [ 2.20018074e-02 -7.79649762e-04 9.99757627e-01 4.72293689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543617864999995 meters 0.019964776538603166 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.08, Z:0.47 [[ 9.93734291e-01 -1.09631216e-01 -2.17521204e-02 2.79161425e+01] [ 1.09621633e-01 9.93972042e-01 -1.63605486e-03 -8.16428520e-02] [ 2.18003622e-02 -7.58699141e-04 9.99762056e-01 4.73450553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.573617864999996 meters 0.01883602006991359 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.08, Z:0.47 [[ 9.93759372e-01 -1.09437264e-01 -2.15823232e-02 2.79451317e+01] [ 1.09427676e-01 9.93993427e-01 -1.62832340e-03 -7.80936892e-02] [ 2.16308866e-02 -7.43541821e-04 9.99765749e-01 4.73906580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603617864999993 meters 0.020088792214953455 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.08, Z:0.47 [[ 9.93871095e-01 -1.08308312e-01 -2.21259065e-02 2.79733609e+01] [ 1.08297856e-01 9.94117082e-01 -1.67383576e-03 -8.03487917e-02] [ 2.21770319e-02 -7.32611247e-04 9.99753791e-01 4.74382698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.633617864999994 meters 0.018858827067113646 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.08, Z:0.48 [[ 9.93852772e-01 -1.08470586e-01 -2.21539796e-02 2.80013212e+01] [ 1.08460077e-01 9.94099388e-01 -1.67891641e-03 -7.69779032e-02] [ 2.22053706e-02 -7.34226614e-04 9.99753161e-01 4.75141237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663617864999996 meters 0.017407482354903837 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.07, Z:0.48 [[ 9.93850279e-01 -1.08463460e-01 -2.23002580e-02 2.80296172e+01] [ 1.08452673e-01 9.94100166e-01 -1.69613372e-03 -7.24961625e-02] [ 2.23526587e-02 -7.32819618e-04 9.99749880e-01 4.75666153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.693617864999993 meters 0.020834905429656065 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.08, Z:0.47 [[ 9.93912128e-01 -1.07940915e-01 -2.20780705e-02 2.80573537e+01] [ 1.07930101e-01 9.94157058e-01 -1.68428401e-03 -7.53739060e-02] [ 2.21308728e-02 -7.08858075e-04 9.99754831e-01 4.73822590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723617864999994 meters 0.018931858232959793 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.07, Z:0.47 [[ 9.93924253e-01 -1.07966029e-01 -2.13989788e-02 2.80856211e+01] [ 1.07955821e-01 9.94154348e-01 -1.63503704e-03 -7.08000704e-02] [ 2.14504162e-02 -6.85041351e-04 9.99769679e-01 4.74575780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.753617864999995 meters 0.018260754993944608 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.07, Z:0.48 [[ 9.93903086e-01 -1.08296550e-01 -2.07005486e-02 2.81133190e+01] [ 1.08286968e-01 9.94118411e-01 -1.58655993e-03 -6.85893317e-02] [ 2.07506154e-02 -6.64712819e-04 9.99784462e-01 4.75398086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783617864999993 meters 0.017900598411716602 Centerline is valid? [True, True] Translation: X:28.14, Y:-0.07, Z:0.48 [[ 9.93908271e-01 -1.08488509e-01 -1.94059957e-02 2.81411856e+01] [ 1.08480027e-01 9.94097509e-01 -1.49236059e-03 -6.87838724e-02] [ 1.94533559e-02 -6.21893404e-04 9.99810572e-01 4.76757192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.813617864999994 meters 0.019348123731973067 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.07, Z:0.48 [[ 9.93887103e-01 -1.08790664e-01 -1.87887874e-02 2.81688928e+01] [ 1.08782681e-01 9.94064499e-01 -1.44944668e-03 -6.95026964e-02] [ 1.88349528e-02 -6.03308308e-04 9.99822425e-01 4.76618378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843617864999995 meters 0.018530045416293252 Centerline is valid? [True, True] Translation: X:28.20, Y:-0.07, Z:0.48 [[ 9.93851230e-01 -1.09088441e-01 -1.89590042e-02 2.81969203e+01] [ 1.09080326e-01 9.94031859e-01 -1.46468449e-03 -6.69397143e-02] [ 1.90056343e-02 -6.12375882e-04 9.99819189e-01 4.76482678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.873617864999993 meters 0.0182524055416443 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.07, Z:0.48 [[ 9.93823468e-01 -1.09365252e-01 -1.88190372e-02 2.82246817e+01] [ 1.09357211e-01 9.94001445e-01 -1.45892859e-03 -6.59423773e-02] [ 1.88657063e-02 -6.08079950e-04 9.99821842e-01 4.76655043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903617864999994 meters 0.017456585364444988 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.07, Z:0.48 [[ 9.93806365e-01 -1.09446613e-01 -1.92444334e-02 2.82530780e+01] [ 1.09438117e-01 9.93992483e-01 -1.49726877e-03 -6.58427515e-02] [ 1.92926931e-02 -6.18079310e-04 9.99813688e-01 4.76738830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.933617864999995 meters 0.018115066420032883 Centerline is valid? [True, True] Translation: X:28.28, Y:-0.07, Z:0.48 [[ 9.93830747e-01 -1.09249054e-01 -1.91073560e-02 2.82812630e+01] [ 1.09240550e-01 9.94014224e-01 -1.49136159e-03 -6.57824749e-02] [ 1.91559135e-02 -6.05137086e-04 9.99816326e-01 4.76441708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963617864999993 meters 0.01775415262883422 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.06, Z:0.48 [[ 9.93833153e-01 -1.09249939e-01 -1.89766727e-02 2.83094607e+01] [ 1.09241511e-01 9.94014131e-01 -1.48328211e-03 -6.47775852e-02] [ 1.90251293e-02 -5.98905461e-04 9.99818826e-01 4.75749499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.993617864999994 meters 0.017531469191332014 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.06, Z:0.48 [[ 9.93865043e-01 -1.09005541e-01 -1.87100899e-02 2.83386391e+01] [ 1.08997211e-01 9.94040972e-01 -1.46744922e-03 -6.33672995e-02] [ 1.87585560e-02 -5.80901137e-04 9.99823874e-01 4.75829582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023617864999995 meters 0.017580210573861575 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.06, Z:0.48 [[ 9.93880149e-01 -1.08909836e-01 -1.84634102e-02 2.83675742e+01] [ 1.08901627e-01 9.94051470e-01 -1.45250510e-03 -6.25658077e-02] [ 1.85117721e-02 -5.67079418e-04 9.99828482e-01 4.76069659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.053617864999993 meters 0.01793041908196854 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.06, Z:0.48 [[ 9.93915504e-01 -1.08551978e-01 -1.86665289e-02 2.83955629e+01] [ 1.08543445e-01 9.94090615e-01 -1.47265701e-03 -6.40350125e-02] [ 1.87160810e-02 -5.62432724e-04 9.99824681e-01 4.75825224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083617864999994 meters 0.018207155426048106 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.06, Z:0.48 [[ 9.93900537e-01 -1.08688414e-01 -1.86695361e-02 2.84225678e+01] [ 1.08679872e-01 9.94075707e-01 -1.47455795e-03 -6.46881609e-02] [ 1.87191997e-02 -5.63438855e-04 9.99824622e-01 4.76604742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.113617864999995 meters 0.017359693988494792 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.06, Z:0.48 [[ 9.93856562e-01 -1.09332434e-01 -1.71916536e-02 2.84518811e+01] [ 1.09325252e-01 9.94005101e-01 -1.35980379e-03 -6.48954300e-02] [ 1.72372620e-02 -5.28031950e-04 9.99851288e-01 4.78250749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143617864999996 meters 0.01911613007538604 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.07, Z:0.48 [[ 9.93823515e-01 -1.09702394e-01 -1.67393196e-02 2.84795763e+01] [ 1.09695572e-01 9.93964344e-01 -1.32795965e-03 -6.67595676e-02] [ 1.67839672e-02 -5.16471718e-04 9.99859006e-01 4.78767186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.173617864999994 meters 0.017850398504101125 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.06, Z:0.48 [[ 9.93794566e-01 -1.10051194e-01 -1.61584250e-02 2.85077365e+01] [ 1.10044836e-01 9.93925794e-01 -1.28480001e-03 -6.33117145e-02] [ 1.62016691e-02 -5.01323952e-04 9.99868619e-01 4.79242756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203617864999995 meters 0.0187587799881598 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.06, Z:0.48 [[ 9.94086665e-01 -1.07571614e-01 -1.48341203e-02 2.85362263e+01] [ 1.07565919e-01 9.94197250e-01 -1.18352066e-03 -6.31103639e-02] [ 1.48753548e-02 -4.19123679e-04 9.99889268e-01 4.80387321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.233617864999996 meters 0.016398131097426497 Centerline is valid? [True, True] Translation: X:28.56, Y:-0.06, Z:0.48 [[ 9.94249067e-01 -1.06078994e-01 -1.46983230e-02 2.85648669e+01] [ 1.06073230e-01 9.94357628e-01 -1.17338789e-03 -5.76176528e-02] [ 1.47398614e-02 -3.92458783e-04 9.99891285e-01 4.81038980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263617864999993 meters 0.01521842237572338 Centerline is valid? [True, True] Translation: X:28.59, Y:-0.05, Z:0.48 [[ 9.94821774e-01 -1.00687901e-01 -1.38413949e-02 2.85940872e+01] [ 1.00682218e-01 9.94918018e-01 -1.10862815e-03 -5.26643005e-02] [ 1.38826787e-02 -2.90694916e-04 9.99903589e-01 4.82873382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.293617864999995 meters 0.016300886074795767 Centerline is valid? [True, True] Translation: X:28.62, Y:-0.05, Z:0.48 [[ 9.95031408e-01 -9.85643605e-02 -1.40557699e-02 2.86222707e+01] [ 9.85582821e-02 9.95130643e-01 -1.12617652e-03 -5.30332365e-02] [ 1.40983282e-02 -2.64731532e-04 9.99900579e-01 4.83398850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323617864999996 meters 0.01482346197090537 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.05, Z:0.48 [[ 9.95099385e-01 -9.77382860e-02 -1.49814020e-02 2.86510609e+01] [ 9.77312695e-02 9.95212116e-01 -1.20150695e-03 -4.80539953e-02] [ 1.50271060e-02 -2.68532612e-04 9.99887051e-01 4.82915529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.353617864999993 meters 0.014889820455753546 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.05, Z:0.48 [[ 9.95101385e-01 -9.76659565e-02 -1.53164792e-02 2.86791457e+01] [ 9.76585564e-02 9.95219216e-01 -1.23213513e-03 -4.64594918e-02] [ 1.53635921e-02 -2.69685872e-04 9.99881937e-01 4.83023661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.383617864999994 meters 0.014966217098495185 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.04, Z:0.48 [[ 9.95220279e-01 -9.64594655e-02 -1.52370726e-02 2.87068677e+01] [ 9.64519337e-02 9.95336883e-01 -1.23012284e-03 -4.38906327e-02] [ 1.52846774e-02 -2.45401924e-04 9.99883152e-01 4.83954612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.413617864999996 meters 0.015007697674780704 Centerline is valid? [True, True] Translation: X:28.73, Y:-0.04, Z:0.49 [[ 9.95217394e-01 -9.64855470e-02 -1.52603203e-02 2.87344456e+01] [ 9.64779784e-02 9.95334355e-01 -1.23309729e-03 -4.25405364e-02] [ 1.53080972e-02 -2.45084986e-04 9.99882794e-01 4.85050929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443617864999993 meters 0.015284718339112104 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.04, Z:0.49 [[ 9.95133486e-01 -9.73799501e-02 -1.50496271e-02 2.87630665e+01] [ 9.73726300e-02 9.95247247e-01 -1.22012821e-03 -4.09354170e-02] [ 1.50969160e-02 -2.51231336e-04 9.99886004e-01 4.85583771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.473617864999994 meters 0.015483078379107923 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.04, Z:0.49 [[ 9.94978212e-01 -9.89857879e-02 -1.48381529e-02 2.87919343e+01] [ 9.89787996e-02 9.95088811e-01 -1.20640980e-03 -3.79387839e-02] [ 1.48846974e-02 -2.68311097e-04 9.99889181e-01 4.85547130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503617864999995 meters 0.015852535346068786 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.04, Z:0.49 [[ 9.94800129e-01 -1.00839909e-01 -1.42834333e-02 2.88205328e+01] [ 1.00833578e-01 9.94902625e-01 -1.16455579e-03 -3.60931600e-02] [ 1.43280590e-02 -2.81749431e-04 9.99897308e-01 4.85647381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.533617864999993 meters 0.0164654504509814 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.04, Z:0.49 [[ 9.94630753e-01 -1.02502902e-01 -1.42414832e-02 2.88487352e+01] [ 1.02496726e-01 9.94732660e-01 -1.16484478e-03 -3.58970003e-02] [ 1.42858684e-02 -3.01114958e-04 9.99897906e-01 4.86469016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563617864999994 meters 0.0164654504509814 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.03, Z:0.49 [[ 9.94603177e-01 -1.02770139e-01 -1.42414173e-02 2.88762292e+01] [ 1.02763978e-01 9.94705085e-01 -1.16565011e-03 -3.35748614e-02] [ 1.42858043e-02 -3.04145400e-04 9.99897906e-01 4.86921165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.593617864999995 meters 0.01770670969715554 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.04, Z:0.49 [[ 9.94189083e-01 -1.06681365e-01 -1.43928369e-02 2.89050504e+01] [ 1.06675419e-01 9.94293195e-01 -1.18241527e-03 -3.57706126e-02] [ 1.44368414e-02 -3.59817551e-04 9.99895719e-01 4.88696855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623617864999993 meters 0.017823373937088337 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.03, Z:0.49 [[ 9.94001640e-01 -1.08464769e-01 -1.40047528e-02 2.89340963e+01] [ 1.08459312e-01 9.94100223e-01 -1.15077745e-03 -3.43804702e-02] [ 1.40469467e-02 -3.75071184e-04 9.99901266e-01 4.89712527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.653617864999994 meters 0.01869598823345661 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.03, Z:0.49 [[ 9.93863481e-01 -1.09743703e-01 -1.38456292e-02 2.89617242e+01] [ 1.09738444e-01 9.93959844e-01 -1.14131681e-03 -3.43027298e-02] [ 1.38872518e-02 -3.85084697e-04 9.99903493e-01 4.90960496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683617864999995 meters 0.018943744141303464 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.03, Z:0.49 [[ 9.93720964e-01 -1.11039128e-01 -1.37461900e-02 2.89909717e+01] [ 1.11034058e-01 9.93815955e-01 -1.13387049e-03 -3.28093439e-02] [ 1.37870869e-02 -3.99544372e-04 9.99904874e-01 4.92131688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.713617864999993 meters 0.01963422454627894 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.03, Z:0.49 [[ 9.93739210e-01 -1.10884708e-01 -1.36734622e-02 2.90186800e+01] [ 1.10879627e-01 9.93833199e-01 -1.13145157e-03 -3.10502924e-02] [ 1.37146013e-02 -3.91740595e-04 9.99905874e-01 4.92166163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743617864999994 meters 0.017559612905147588 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.02, Z:0.49 [[ 9.93740296e-01 -1.10838796e-01 -1.39637102e-02 2.90458131e+01] [ 1.10833482e-01 9.93838318e-01 -1.15618546e-03 -2.35759767e-02] [ 1.40058204e-02 -3.98698542e-04 9.99901834e-01 4.91656271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.773617864999995 meters 0.018041623060749815 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.02, Z:0.49 [[ 9.93826344e-01 -1.10013128e-01 -1.43634692e-02 2.90733408e+01] [ 1.10007355e-01 9.93930056e-01 -1.19380421e-03 -1.94827633e-02] [ 1.44076178e-02 -3.93653170e-04 9.99896127e-01 4.91300559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803617864999993 meters 0.01736009079374656 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.02, Z:0.49 [[ 9.93836419e-01 -1.09917550e-01 -1.43980668e-02 2.91013904e+01] [ 1.09911726e-01 9.93940631e-01 -1.19754947e-03 -1.51713165e-02] [ 1.44424553e-02 -3.92348100e-04 9.99895625e-01 4.91369444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.833617864999994 meters 0.017278399249937435 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.01, Z:0.49 [[ 9.93781879e-01 -1.10349569e-01 -1.48509327e-02 2.91295684e+01] [ 1.10343357e-01 9.93892754e-01 -1.23951633e-03 -1.26954186e-02] [ 1.48970145e-02 -4.06892896e-04 9.99888951e-01 4.91606288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.863617864999995 meters 0.01800616078733418 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.01, Z:0.49 [[ 9.93753530e-01 -1.10419498e-01 -1.61695966e-02 2.91570684e+01] [ 1.10412063e-01 9.93884974e-01 -1.35454820e-03 -1.20324598e-02] [ 1.62202876e-02 -4.39231457e-04 9.99868346e-01 4.92268327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.893617864999992 meters 0.017678252039926724 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.01, Z:0.49 [[ 9.93763650e-01 -1.10329585e-01 -1.61613731e-02 2.91851113e+01] [ 1.10322115e-01 9.93894961e-01 -1.35579280e-03 -8.54547068e-03] [ 1.62122914e-02 -4.35619255e-04 9.99868477e-01 4.92767842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.923617864999994 meters 0.017810961765640683 Centerline is valid? [True, True] Translation: X:29.21, Y:-0.01, Z:0.49 [[ 9.93766090e-01 -1.10381140e-01 -1.56512432e-02 2.92126089e+01] [ 1.10374074e-01 9.93889244e-01 -1.31717702e-03 -5.57416228e-03] [ 1.57009937e-02 -4.18525617e-04 9.99876644e-01 4.93001156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.953617864999995 meters 0.017961261870915745 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.00, Z:0.49 [[ 9.93836332e-01 -1.09815197e-01 -1.51646827e-02 2.92404755e+01] [ 1.09808434e-01 9.93951945e-01 -1.28041936e-03 -1.78388735e-03] [ 1.52135753e-02 -3.92682775e-04 9.99884190e-01 4.94237478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.983617864999996 meters 0.018032429553702323 Centerline is valid? [True, True] Translation: X:29.27, Y:0.00, Z:0.49 [[ 9.93810610e-01 -1.10109737e-01 -1.47077304e-02 2.92684920e+01] [ 1.10103385e-01 9.93919362e-01 -1.24340754e-03 1.11623443e-03] [ 1.47552093e-02 -3.83659289e-04 9.99891062e-01 4.94770433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.013617865 meters 0.01869182304125599 Centerline is valid? [True, True] Translation: X:29.30, Y:0.00, Z:0.50 [[ 9.93726463e-01 -1.10875458e-01 -1.46406905e-02 2.92967881e+01] [ 1.10869184e-01 9.93834232e-01 -1.24199396e-03 2.47626137e-03] [ 1.46881261e-02 -3.88999141e-04 9.99892048e-01 4.95381976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043617864999995 meters 0.019056619063827804 Centerline is valid? [True, True] Translation: X:29.32, Y:0.00, Z:0.50 [[ 9.93669527e-01 -1.11419627e-01 -1.43714271e-02 2.93243354e+01] [ 1.11413622e-01 9.93773372e-01 -1.22033042e-03 3.61630699e-03] [ 1.44179103e-02 -3.88567588e-04 9.99895981e-01 4.96640749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.073617864999996 meters 0.019182053546296724 Centerline is valid? [True, True] Translation: X:29.35, Y:0.01, Z:0.50 [[ 9.93588073e-01 -1.12172954e-01 -1.41410541e-02 2.93531643e+01] [ 1.12167204e-01 9.93688621e-01 -1.20158177e-03 5.31825195e-03] [ 1.41865895e-02 -3.92285179e-04 9.99899288e-01 4.97604907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.103617865 meters 0.018069632177241116 Centerline is valid? [True, True] Translation: X:29.38, Y:0.01, Z:0.50 [[ 9.93496820e-01 -1.12911642e-01 -1.46639066e-02 2.93819709e+01] [ 1.12905488e-01 9.93604946e-01 -1.24950729e-03 1.01131227e-02] [ 1.47112140e-02 -4.14254003e-04 9.99891698e-01 4.97680662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.133617865 meters 0.01821782054207651 Centerline is valid? [True, True] Translation: X:29.41, Y:0.01, Z:0.50 [[ 9.93463000e-01 -1.13231235e-01 -1.44898308e-02 2.94100389e+01] [ 1.13225210e-01 9.93568578e-01 -1.23806852e-03 1.31660740e-02] [ 1.45368286e-02 -4.10638878e-04 9.99894250e-01 4.97574204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.163617865 meters 0.018333031150401902 Centerline is valid? [True, True] Translation: X:29.44, Y:0.02, Z:0.50 [[ 9.93425356e-01 -1.13547822e-01 -1.45929147e-02 2.94377914e+01] [ 1.13541687e-01 9.93532446e-01 -1.25091474e-03 1.62579586e-02] [ 1.46405728e-02 -4.14213735e-04 9.99892735e-01 4.97699823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.193617865 meters 0.018765705564018922 Centerline is valid? [True, True] Translation: X:29.47, Y:0.02, Z:0.50 [[ 9.93407213e-01 -1.13736494e-01 -1.43568235e-02 2.94651622e+01] [ 1.13730518e-01 9.93510868e-01 -1.23470931e-03 1.83639302e-02] [ 1.44040917e-02 -4.06239840e-04 9.99896173e-01 4.98468901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223617864999994 meters 0.018691117754526223 Centerline is valid? [True, True] Translation: X:29.49, Y:0.02, Z:0.50 [[ 9.93393423e-01 -1.13841958e-01 -1.44746662e-02 2.94926485e+01] [ 1.13835857e-01 9.93498788e-01 -1.24740463e-03 2.09848687e-02] [ 1.45225703e-02 -4.08572470e-04 9.99894458e-01 4.98698914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.253617864999995 meters 0.018142303829032834 Centerline is valid? [True, True] Translation: X:29.52, Y:0.02, Z:0.50 [[ 9.93478207e-01 -1.12954728e-01 -1.55654240e-02 2.95212348e+01] [ 1.12947493e-01 9.93600046e-01 -1.34595229e-03 2.49197127e-02] [ 1.56178377e-02 -4.20901353e-04 9.99877946e-01 4.97963089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283617865 meters 0.018691468078742852 Centerline is valid? [True, True] Translation: X:29.55, Y:0.03, Z:0.50 [[ 9.93485002e-01 -1.12801562e-01 -1.62283194e-02 2.95493992e+01] [ 1.12793612e-01 9.93617442e-01 -1.40732653e-03 2.63778438e-02] [ 1.62834898e-02 -4.32292950e-04 9.99867322e-01 4.97967512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.313617865 meters 0.018307410837641404 Centerline is valid? [True, True] Translation: X:29.58, Y:0.03, Z:0.50 [[ 9.93532011e-01 -1.12341064e-01 -1.65417068e-02 2.95778279e+01] [ 1.12332704e-01 9.93669613e-01 -1.43660161e-03 2.92411858e-02] [ 1.65983808e-02 -4.30864969e-04 9.99862145e-01 4.98178653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.343617865 meters 0.017905740731935512 Centerline is valid? [True, True] Translation: X:29.61, Y:0.03, Z:0.50 [[ 9.93495086e-01 -1.12625713e-01 -1.68214859e-02 2.96060446e+01] [ 1.12617041e-01 9.93637387e-01 -1.46492114e-03 3.28461154e-02] [ 1.68794450e-02 -4.38994010e-04 9.99857436e-01 4.98334381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.373617865 meters 0.01712439925853556 Centerline is valid? [True, True] Translation: X:29.63, Y:0.04, Z:0.50 [[ 9.93441753e-01 -1.13096464e-01 -1.68128742e-02 2.96343292e+01] [ 1.13087791e-01 9.93583914e-01 -1.46875304e-03 3.70770806e-02] [ 1.68711121e-02 -4.42210211e-04 9.99857575e-01 4.98394977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403617865 meters 0.019332572915951335 Centerline is valid? [True, True] Translation: X:29.66, Y:0.04, Z:0.50 [[ 9.93352366e-01 -1.13938447e-01 -1.64044734e-02 2.96625065e+01] [ 1.13930231e-01 9.93487713e-01 -1.43756799e-03 3.55710736e-02] [ 1.64614370e-02 -4.40953883e-04 9.99864404e-01 4.99092797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.433617864999995 meters 0.019626730556126806 Centerline is valid? [True, True] Translation: X:29.69, Y:0.04, Z:0.50 [[ 9.93266028e-01 -1.14699191e-01 -1.63307585e-02 2.96910377e+01] [ 1.14691116e-01 9.93400168e-01 -1.43322356e-03 3.72146530e-02] [ 1.63873679e-02 -4.49420656e-04 9.99865617e-01 4.99402952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.463617864999996 meters 0.01811170372394212 Centerline is valid? [True, True] Translation: X:29.72, Y:0.04, Z:0.50 [[ 9.93135230e-01 -1.15762386e-01 -1.67775213e-02 2.97193179e+01] [ 1.15753949e-01 9.93276821e-01 -1.47635910e-03 4.17607900e-02] [ 1.68356299e-02 -4.75840109e-04 9.99858158e-01 4.99212874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.493617865 meters 0.01773427662577483 Centerline is valid? [True, True] Translation: X:29.75, Y:0.04, Z:0.50 [[ 9.93085719e-01 -1.16133659e-01 -1.71384839e-02 2.97474345e+01] [ 1.16124837e-01 9.93233474e-01 -1.51237047e-03 4.47570307e-02] [ 1.71981531e-02 -4.88290151e-04 9.99851982e-01 4.99213031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.523617865 meters 0.01786450998292405 Centerline is valid? [True, True] Translation: X:29.78, Y:0.05, Z:0.50 [[ 9.93030243e-01 -1.16599469e-01 -1.71901314e-02 2.97759249e+01] [ 1.16590581e-01 9.93178897e-01 -1.52175461e-03 4.67375736e-02] [ 1.72503115e-02 -4.93059064e-04 9.99851081e-01 4.99269431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.553617865 meters 0.01812569137966597 Centerline is valid? [True, True] Translation: X:29.80, Y:0.05, Z:0.50 [[ 9.93068266e-01 -1.16420934e-01 -1.61736239e-02 2.98040279e+01] [ 1.16412973e-01 9.93199858e-01 -1.43604667e-03 4.80470321e-02] [ 1.62308269e-02 -4.56727272e-04 9.99868167e-01 5.00210494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.583617865 meters 0.01811636813843604 Centerline is valid? [True, True] Translation: X:29.83, Y:0.05, Z:0.50 [[ 9.93127810e-01 -1.15965539e-01 -1.57844109e-02 2.98325959e+01] [ 1.15957868e-01 9.93253142e-01 -1.40344247e-03 5.08535072e-02] [ 1.58406667e-02 -4.36528887e-04 9.99874433e-01 5.00637680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.613617864999995 meters 0.017755585965987766 Centerline is valid? [True, True] Translation: X:29.86, Y:0.05, Z:0.50 [[ 9.93353435e-01 -1.13908132e-01 -1.65496720e-02 2.98608063e+01] [ 1.13899344e-01 9.93491199e-01 -1.47565045e-03 5.42047836e-02] [ 1.66100420e-02 -4.19154342e-04 9.99861956e-01 5.00310572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.643617864999996 meters 0.0177379635255889 Centerline is valid? [True, True] Translation: X:29.89, Y:0.06, Z:0.50 [[ 9.93465825e-01 -1.12819755e-01 -1.72440739e-02 2.98889722e+01] [ 1.12809979e-01 9.93615384e-01 -1.54170269e-03 5.63800989e-02] [ 1.73079116e-02 -4.13674676e-04 9.99850121e-01 5.00019493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.673617865 meters 0.01687960534732908 Centerline is valid? [True, True] Translation: X:29.92, Y:0.06, Z:0.50 [[ 9.93540045e-01 -1.12036762e-01 -1.80539169e-02 2.99178039e+01] [ 1.12025884e-01 9.93703975e-01 -1.61596305e-03 6.05034855e-02] [ 1.81212963e-02 -4.16981993e-04 9.99835709e-01 5.00301547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.703617865 meters 0.016758379481126864 Centerline is valid? [True, True] Translation: X:29.95, Y:0.06, Z:0.50 [[ 9.93594892e-01 -1.11515731e-01 -1.82601109e-02 2.99464262e+01] [ 1.11504433e-01 9.93762585e-01 -1.63889529e-03 6.30093483e-02] [ 1.83289776e-02 -4.07685317e-04 9.99831927e-01 5.00481553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.733617865 meters 0.017527474207977522 Centerline is valid? [True, True] Translation: X:29.97, Y:0.06, Z:0.50 [[ 9.93663406e-01 -1.10886012e-01 -1.83665130e-02 2.99744283e+01] [ 1.10874398e-01 9.93833053e-01 -1.65258539e-03 6.36646990e-02] [ 1.84364962e-02 -3.94262438e-04 9.99829956e-01 5.00237243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763617865 meters 0.01746144090831683 Centerline is valid? [True, True] Translation: X:30.00, Y:0.07, Z:0.50 [[ 9.93633493e-01 -1.11095696e-01 -1.87143843e-02 3.00027447e+01] [ 1.11083636e-01 9.93809631e-01 -1.68593421e-03 6.59965416e-02] [ 1.87858354e-02 -4.03661153e-04 9.99823449e-01 5.00284280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.793617864999995 meters 0.01696709391548172 Centerline is valid? [True, True] Translation: X:30.03, Y:0.07, Z:0.50 [[ 9.93617292e-01 -1.11240165e-01 -1.87163600e-02 3.00308947e+01] [ 1.11228036e-01 9.93793472e-01 -1.69105400e-03 6.84126060e-02] [ 1.87883095e-02 -4.01523453e-04 9.99823404e-01 5.00548873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823617864999996 meters 0.017055574699748263 Centerline is valid? [True, True] Translation: X:30.06, Y:0.07, Z:0.50 [[ 9.93574552e-01 -1.11699142e-01 -1.82458507e-02 3.00592396e+01] [ 1.11687604e-01 9.93741991e-01 -1.65332905e-03 7.06622385e-02] [ 1.83163435e-02 -3.95129686e-04 9.99832164e-01 5.01123753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.853617865 meters 0.016551238526159064 Centerline is valid? [True, True] Translation: X:30.09, Y:0.07, Z:0.50 [[ 9.93551634e-01 -1.11936318e-01 -1.80391647e-02 3.00871401e+01] [ 1.11924992e-01 9.93715306e-01 -1.63939740e-03 7.37451778e-02] [ 1.81093022e-02 -3.90207405e-04 9.99835937e-01 5.01766802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.883617865 meters 0.017548205586893895 Centerline is valid? [True, True] Translation: X:30.11, Y:0.07, Z:0.50 [[ 9.93430748e-01 -1.13002589e-01 -1.80489407e-02 3.01149703e+01] [ 1.12991343e-01 9.93594611e-01 -1.64492575e-03 7.25667737e-02] [ 1.81192111e-02 -4.05254226e-04 9.99835751e-01 5.02157360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.913617865 meters 0.017764392672358128 Centerline is valid? [True, True] Translation: X:30.14, Y:0.07, Z:0.50 [[ 9.93317808e-01 -1.14009109e-01 -1.79347271e-02 3.01438988e+01] [ 1.13998137e-01 9.93479616e-01 -1.63626784e-03 7.36155672e-02] [ 1.80043353e-02 -4.19191496e-04 9.99837821e-01 5.02449876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943617865 meters 0.018220859841200147 Centerline is valid? [True, True] Translation: X:30.17, Y:0.07, Z:0.50 [[ 9.93093406e-01 -1.15926020e-01 -1.80733333e-02 3.01724070e+01] [ 1.15915122e-01 9.93257747e-01 -1.65293442e-03 7.34846350e-02] [ 1.81430964e-02 -4.53454371e-04 9.99835298e-01 5.02723556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.973617864999994 meters 0.018399281194927508 Centerline is valid? [True, True] Translation: X:30.20, Y:0.07, Z:0.50 [[ 9.92986658e-01 -1.16786877e-01 -1.83935215e-02 3.02014287e+01] [ 1.16775690e-01 9.93156886e-01 -1.68475084e-03 7.46512891e-02] [ 1.84644094e-02 -4.74981066e-04 9.99829405e-01 5.03361092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003617864999995 meters 0.018397534832577497 Centerline is valid? [True, True] Translation: X:30.23, Y:0.08, Z:0.50 [[ 9.92892762e-01 -1.17526524e-01 -1.87477798e-02 3.02306007e+01] [ 1.17514951e-01 9.93069621e-01 -1.72160638e-03 7.62464430e-02] [ 1.88201850e-02 -4.93773916e-04 9.99822763e-01 5.03867343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.033617865 meters 0.018925432859010712 Centerline is valid? [True, True] Translation: X:30.26, Y:0.08, Z:0.50 [[ 9.92926812e-01 -1.17292467e-01 -1.84071557e-02 3.02583355e+01] [ 1.17281199e-01 9.93097301e-01 -1.69422184e-03 7.84858977e-02] [ 1.84788162e-02 -4.76574995e-04 9.99829139e-01 5.04399629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063617865 meters 0.018256192244523062 Centerline is valid? [True, True] Translation: X:30.29, Y:0.08, Z:0.50 [[ 9.93092945e-01 -1.15945745e-01 -1.79718277e-02 3.02871371e+01] [ 1.15934752e-01 9.93255451e-01 -1.65583977e-03 8.43052773e-02] [ 1.80426034e-02 -4.39156602e-04 9.99837123e-01 5.04256874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.093617865 meters 0.018389206989040147 Centerline is valid? [True, True] Translation: X:30.32, Y:0.09, Z:0.50 [[ 9.93110391e-01 -1.15657635e-01 -1.88430934e-02 3.03152661e+01] [ 1.15645418e-01 9.93289036e-01 -1.74034773e-03 8.63590126e-02] [ 1.89179225e-02 -4.50760004e-04 9.99820938e-01 5.04151018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123617865 meters 0.018576097035795526 Centerline is valid? [True, True] Translation: X:30.34, Y:0.09, Z:0.50 [[ 9.93117886e-01 -1.15518915e-01 -1.92936388e-02 3.03421483e+01] [ 1.15506036e-01 9.93305176e-01 -1.78434491e-03 8.75010550e-02] [ 1.93705969e-02 -4.56466882e-04 9.99812268e-01 5.04364515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.153617864999994 meters 0.016816079608364797 Centerline is valid? [True, True] Translation: X:30.37, Y:0.09, Z:0.51 [[ 9.93045716e-01 -1.16092384e-01 -1.95643549e-02 3.03702358e+01] [ 1.16079199e-01 9.93238308e-01 -1.81202337e-03 9.38620894e-02] [ 1.96424288e-02 -4.71592605e-04 9.99806958e-01 5.05239164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183617864999995 meters 0.017256189965952053 Centerline is valid? [True, True] Translation: X:30.40, Y:0.10, Z:0.51 [[ 9.93010476e-01 -1.16394587e-01 -1.95574480e-02 3.03972672e+01] [ 1.16381380e-01 9.93202938e-01 -1.81595498e-03 9.56304352e-02] [ 1.96358822e-02 -4.72860473e-04 9.99807086e-01 5.05230929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.213617864999996 meters 0.017028182219995573 Centerline is valid? [True, True] Translation: X:30.43, Y:0.10, Z:0.51 [[ 9.93003143e-01 -1.16582583e-01 -1.87952112e-02 3.04255151e+01] [ 1.16570352e-01 9.93180897e-01 -1.74877384e-03 1.00539745e-01] [ 1.88709213e-02 -4.54426461e-04 9.99821825e-01 5.05324385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243617865 meters 0.0174409049434883 Centerline is valid? [True, True] Translation: X:30.45, Y:0.10, Z:0.51 [[ 9.92972810e-01 -1.16885423e-01 -1.85147674e-02 3.04533392e+01] [ 1.16873526e-01 9.93145305e-01 -1.72701003e-03 1.03246296e-01] [ 1.85897167e-02 -4.49012151e-04 9.99827095e-01 5.05937147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.273617865 meters 0.018422744515994145 Centerline is valid? [True, True] Translation: X:30.48, Y:0.10, Z:0.51 [[ 9.92881016e-01 -1.17687099e-01 -1.83585116e-02 3.04814679e+01] [ 1.17675510e-01 9.93050621e-01 -1.71398065e-03 1.04596790e-01] [ 1.84326448e-02 -4.58568373e-04 9.99829999e-01 5.06420346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303617865 meters 0.018134867441301713 Centerline is valid? [True, True] Translation: X:30.51, Y:0.11, Z:0.51 [[ 9.92778257e-01 -1.18542782e-01 -1.84103519e-02 3.05101237e+01] [ 1.18531241e-01 9.92948833e-01 -1.72067325e-03 1.07839589e-01] [ 1.84845108e-02 -4.73954862e-04 9.99829034e-01 5.07194728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.333617865 meters 0.01923091101284441 Centerline is valid? [True, True] Translation: X:30.54, Y:0.11, Z:0.51 [[ 9.92660849e-01 -1.19520168e-01 -1.84219721e-02 3.05382373e+01] [ 1.19508706e-01 9.92831653e-01 -1.72575361e-03 1.08172730e-01] [ 1.84961794e-02 -4.88498013e-04 9.99828812e-01 5.08001180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.363617864999995 meters 0.01890297510010793 Centerline is valid? [True, True] Translation: X:30.57, Y:0.11, Z:0.51 [[ 9.92370873e-01 -1.21827621e-01 -1.89230113e-02 3.05669527e+01] [ 1.21815908e-01 9.92551125e-01 -1.77468695e-03 1.12260741e-01] [ 1.89982621e-02 -5.43976171e-04 9.99819369e-01 5.08511803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.393617864999996 meters 0.01818697151084018 Centerline is valid? [True, True] Translation: X:30.60, Y:0.12, Z:0.51 [[ 9.92234730e-01 -1.22931655e-01 -1.89221904e-02 3.05950325e+01] [ 1.22920067e-01 9.92414980e-01 -1.77866243e-03 1.17209430e-01] [ 1.89973192e-02 -5.61066274e-04 9.99819377e-01 5.08663746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423617865 meters 0.018297771419152366 Centerline is valid? [True, True] Translation: X:30.62, Y:0.12, Z:0.51 [[ 9.92150430e-01 -1.23631300e-01 -1.87836707e-02 3.06233325e+01] [ 1.23619969e-01 9.92328060e-01 -1.76763707e-03 1.20426169e-01] [ 1.88580987e-02 -5.68274911e-04 9.99822009e-01 5.08891566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.453617865 meters 0.0184379792062019 Centerline is valid? [True, True] Translation: X:30.65, Y:0.13, Z:0.51 [[ 9.92013551e-01 -1.24781679e-01 -1.84023684e-02 3.06519197e+01] [ 1.24770920e-01 9.92184057e-01 -1.73613110e-03 1.25608309e-01] [ 1.84751739e-02 -5.73814855e-04 9.99829155e-01 5.09012271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.483617865 meters 0.0184379792062019 Centerline is valid? [True, True] Translation: X:30.68, Y:0.13, Z:0.51 [[ 9.91979034e-01 -1.25055850e-01 -1.84019426e-02 3.06793936e+01] [ 1.25045055e-01 9.92149537e-01 -1.74063273e-03 1.28270304e-01] [ 1.84751552e-02 -5.74400749e-04 9.99829155e-01 5.09463576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.513617865 meters 0.019305536342800304 Centerline is valid? [True, True] Translation: X:30.71, Y:0.13, Z:0.51 [[ 9.91938091e-01 -1.25278496e-01 -1.90820103e-02 3.07072714e+01] [ 1.25266834e-01 9.92121436e-01 -1.80991947e-03 1.31602252e-01] [ 1.91584155e-02 -5.95014960e-04 9.99816284e-01 5.09314354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543617864999995 meters 0.01864233735225384 Centerline is valid? [True, True] Translation: X:30.74, Y:0.14, Z:0.51 [[ 9.91899907e-01 -1.25537606e-01 -1.93619009e-02 3.07354070e+01] [ 1.25525605e-01 9.92088676e-01 -1.83873348e-03 1.35882698e-01] [ 1.94395528e-02 -6.06574747e-04 9.99810850e-01 5.10002408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.573617864999996 meters 0.018810764088836175 Centerline is valid? [True, True] Translation: X:30.76, Y:0.14, Z:0.51 [[ 9.91880555e-01 -1.25597726e-01 -1.99543305e-02 3.07636045e+01] [ 1.25584879e-01 9.92081058e-01 -1.90063153e-03 1.38691641e-01] [ 2.00350283e-02 -6.20762719e-04 9.99799086e-01 5.10451000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603617865 meters 0.01808791026453844 Centerline is valid? [True, True] Translation: X:30.79, Y:0.14, Z:0.51 [[ 9.91850543e-01 -1.25691841e-01 -2.08341588e-02 3.07913245e+01] [ 1.25677732e-01 9.92069124e-01 -1.99037432e-03 1.44833526e-01] [ 2.09190995e-02 -6.44235982e-04 9.99780964e-01 5.10236122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.633617865 meters 0.019189057994801372 Centerline is valid? [True, True] Translation: X:30.82, Y:0.15, Z:0.51 [[ 9.91842220e-01 -1.25627403e-01 -2.16047646e-02 3.08187757e+01] [ 1.25612098e-01 9.92077274e-01 -2.06938202e-03 1.46814234e-01] [ 2.16935671e-02 -6.61319365e-04 9.99764448e-01 5.09513023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.663617865 meters 0.018447414964581604 Centerline is valid? [True, True] Translation: X:30.85, Y:0.15, Z:0.51 [[ 9.91859708e-01 -1.25395322e-01 -2.21434753e-02 3.08472060e+01] [ 1.25379111e-01 9.92106630e-01 -2.12441769e-03 1.51508029e-01] [ 2.22350807e-02 -6.69204927e-04 9.99752546e-01 5.09996413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.693617865 meters 0.017959324759833077 Centerline is valid? [True, True] Translation: X:30.87, Y:0.16, Z:0.51 [[ 9.91836074e-01 -1.25600294e-01 -2.20401566e-02 3.08746951e+01] [ 1.25584162e-01 9.92080704e-01 -2.12002354e-03 1.55700864e-01] [ 2.21318897e-02 -6.65178780e-04 9.99754838e-01 5.10925208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.723617864999994 meters 0.018158827095383186 Centerline is valid? [True, True] Translation: X:30.90, Y:0.16, Z:0.51 [[ 9.91848540e-01 -1.25519255e-01 -2.19406213e-02 3.09020686e+01] [ 1.25503138e-01 9.92090967e-01 -2.11548318e-03 1.59565195e-01] [ 2.20326260e-02 -6.55377909e-04 9.99757037e-01 5.11862484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.753617864999995 meters 0.01836850875220612 Centerline is valid? [True, True] Translation: X:30.93, Y:0.16, Z:0.51 [[ 9.91823079e-01 -1.25711888e-01 -2.19886384e-02 3.09305089e+01] [ 1.25695682e-01 9.92066574e-01 -2.12308875e-03 1.62375284e-01] [ 2.20810907e-02 -6.58148476e-04 9.99755966e-01 5.11984492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.783617865 meters 0.01847237891039374 Centerline is valid? [True, True] Translation: X:30.96, Y:0.16, Z:0.51 [[ 9.91754773e-01 -1.26238069e-01 -2.20549206e-02 3.09589140e+01] [ 1.26221764e-01 9.91999751e-01 -2.13538459e-03 1.64866801e-01] [ 2.21480426e-02 -6.66033134e-04 9.99754480e-01 5.12853356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.813617865 meters 0.018858691894124858 Centerline is valid? [True, True] Translation: X:30.99, Y:0.17, Z:0.51 [[ 9.91787299e-01 -1.26061123e-01 -2.15997118e-02 3.09863403e+01] [ 1.26045349e-01 9.92022267e-01 -2.09561820e-03 1.66022523e-01] [ 2.16915711e-02 -6.44135709e-04 9.99764503e-01 5.14196638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.843617865 meters 0.01848201492293006 Centerline is valid? [True, True] Translation: X:31.02, Y:0.17, Z:0.51 [[ 9.91804427e-01 -1.25930256e-01 -2.15766048e-02 3.10151020e+01] [ 1.25914428e-01 9.92038892e-01 -2.09602685e-03 1.70054179e-01] [ 2.16687843e-02 -6.37957129e-04 9.99765001e-01 5.14941744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.873617865 meters 0.018274101410010863 Centerline is valid? [True, True] Translation: X:31.04, Y:0.17, Z:0.52 [[ 9.91864193e-01 -1.25434398e-01 -2.17171544e-02 3.10441020e+01] [ 1.25418130e-01 9.92101719e-01 -2.11491286e-03 1.73637775e-01] [ 2.18109090e-02 -6.26018551e-04 9.99761918e-01 5.15574472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903617864999994 meters 0.01814260158796029 Centerline is valid? [True, True] Translation: X:31.07, Y:0.18, Z:0.52 [[ 9.92054450e-01 -1.23898396e-01 -2.18439081e-02 3.10720537e+01] [ 1.23881464e-01 9.92294733e-01 -2.13188586e-03 1.76637366e-01] [ 2.19397322e-02 -5.91108459e-04 9.99759120e-01 5.15557528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.933617864999995 meters 0.01803640987106071 Centerline is valid? [True, True] Translation: X:31.10, Y:0.18, Z:0.52 [[ 9.92120772e-01 -1.23338364e-01 -2.20004805e-02 3.11010250e+01] [ 1.23320976e-01 9.92364506e-01 -2.15056226e-03 1.79897274e-01] [ 2.20977428e-02 -5.79503234e-04 9.99755647e-01 5.16182614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963617864999996 meters 0.018043666094098354 Centerline is valid? [True, True] Translation: X:31.13, Y:0.18, Z:0.52 [[ 9.92174703e-01 -1.22962951e-01 -2.16672685e-02 3.11294516e+01] [ 1.22945886e-01 9.92411105e-01 -2.12303570e-03 1.83272373e-01] [ 2.17638926e-02 -5.57479216e-04 9.99762983e-01 5.16710631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.993617865 meters 0.017981295117635108 Centerline is valid? [True, True] Translation: X:31.16, Y:0.19, Z:0.52 [[ 9.92303940e-01 -1.21799096e-01 -2.23130310e-02 3.11568473e+01] [ 1.21780599e-01 9.92554626e-01 -2.19099290e-03 1.86004634e-01] [ 2.24137631e-02 -5.43163398e-04 9.99748633e-01 5.16351884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.023617865 meters 0.01790761771826583 Centerline is valid? [True, True] Translation: X:31.18, Y:0.19, Z:0.52 [[ 9.92292507e-01 -1.21788656e-01 -2.28714519e-02 3.11847926e+01] [ 1.21769132e-01 9.92555902e-01 -2.24962117e-03 1.88046299e-01] [ 2.29751729e-02 -5.52754608e-04 9.99735883e-01 5.16429201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.053617865 meters 0.01769637199526562 Centerline is valid? [True, True] Translation: X:31.21, Y:0.19, Z:0.52 [[ 9.92262255e-01 -1.22004825e-01 -2.30312972e-02 3.12131142e+01] [ 1.21984943e-01 9.92529352e-01 -2.27147648e-03 1.90768779e-01] [ 2.31363696e-02 -5.55571112e-04 9.99732164e-01 5.16877392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083617865 meters 0.01777228900438832 Centerline is valid? [True, True] Translation: X:31.24, Y:0.19, Z:0.52 [[ 9.92189791e-01 -1.22653731e-01 -2.27041932e-02 3.12419311e+01] [ 1.22634448e-01 9.92449370e-01 -2.24499320e-03 1.93249596e-01] [ 2.28081190e-02 -5.56856864e-04 9.99739706e-01 5.17171562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.113617864999995 meters 0.017996869240661267 Centerline is valid? [True, True] Translation: X:31.27, Y:0.20, Z:0.52 [[ 9.92081725e-01 -1.23469052e-01 -2.30052828e-02 3.12703137e+01] [ 1.23449348e-01 9.92348255e-01 -2.28017756e-03 1.95652499e-01] [ 2.31107836e-02 -5.77864684e-04 9.99732743e-01 5.17018292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143617864999996 meters 0.01808184350410275 Centerline is valid? [True, True] Translation: X:31.30, Y:0.20, Z:0.52 [[ 9.91796001e-01 -1.25354255e-01 -2.50400166e-02 3.12988439e+01] [ 1.25331355e-01 9.92111819e-01 -2.48804823e-03 1.97885503e-01] [ 2.51543839e-02 -6.70662925e-04 9.99683353e-01 5.15799961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.173617865 meters 0.02028508778896068 Centerline is valid? [True, True] Translation: X:31.33, Y:0.20, Z:0.52 [[ 9.91594677e-01 -1.26830368e-01 -2.55744869e-02 3.13268676e+01] [ 1.26806849e-01 9.91924161e-01 -2.54586285e-03 1.96255587e-01] [ 2.56908442e-02 -7.18556057e-04 9.99669678e-01 5.15108154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.203617865 meters 0.01807453793228685 Centerline is valid? [True, True] Translation: X:31.36, Y:0.20, Z:0.52 [[ 9.91379858e-01 -1.28482940e-01 -2.56536888e-02 3.13552875e+01] [ 1.28459734e-01 9.91711428e-01 -2.55737817e-03 2.01448156e-01] [ 2.57696358e-02 -7.60132846e-04 9.99667619e-01 5.17283680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.233617865 meters 0.019255574311382653 Centerline is valid? [True, True] Translation: X:31.38, Y:0.20, Z:0.52 [[ 9.91021024e-01 -1.31462500e-01 -2.43914235e-02 3.13841315e+01] [ 1.31442321e-01 9.91320828e-01 -2.43572654e-03 1.99157847e-01] [ 2.44999328e-02 -7.92209104e-04 9.99699518e-01 5.19942482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263617865 meters 0.019577779854479907 Centerline is valid? [True, True] Translation: X:31.41, Y:0.20, Z:0.52 [[ 9.90817549e-01 -1.33169992e-01 -2.33738745e-02 3.14129167e+01] [ 1.33151877e-01 9.91092891e-01 -2.33660816e-03 2.00765287e-01] [ 2.34768469e-02 -7.97122887e-04 9.99724063e-01 5.21218265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.293617864999995 meters 0.02005255824290244 Centerline is valid? [True, True] Translation: X:31.44, Y:0.20, Z:0.52 [[ 9.90703597e-01 -1.34043951e-01 -2.32078247e-02 3.14408149e+01] [ 1.34026228e-01 9.90975059e-01 -2.32447051e-03 2.02590939e-01] [ 2.33099567e-02 -8.07595919e-04 9.99727960e-01 5.21787615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323617864999996 meters 0.020248350434365573 Centerline is valid? [True, True] Translation: X:31.47, Y:0.21, Z:0.52 [[ 9.90581748e-01 -1.34977359e-01 -2.29981228e-02 3.14699768e+01] [ 1.34960138e-01 9.90848344e-01 -2.30642242e-03 2.06050208e-01] [ 2.30989667e-02 -8.19129882e-04 9.99732848e-01 5.21524480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.353617865 meters 0.019829431749400928 Centerline is valid? [True, True] Translation: X:31.50, Y:0.21, Z:0.52 [[ 9.90562351e-01 -1.35062245e-01 -2.33327766e-02 3.14976459e+01] [ 1.35044406e-01 9.90836770e-01 -2.34583177e-03 2.09885477e-01] [ 2.34358063e-02 -8.27268312e-04 9.99725001e-01 5.21769674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.383617865 meters 0.02051698051447796 Centerline is valid? [True, True] Translation: X:31.53, Y:0.21, Z:0.52 [[ 9.90646509e-01 -1.34271111e-01 -2.43056053e-02 3.15253904e+01] [ 1.34251385e-01 9.90944281e-01 -2.44896224e-03 2.11155946e-01] [ 2.44143255e-02 -8.37005293e-04 9.99701576e-01 5.21327905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.413617865 meters 0.02016518952367948 Centerline is valid? [True, True] Translation: X:31.55, Y:0.21, Z:0.52 [[ 9.90668795e-01 -1.34078367e-01 -2.44607817e-02 3.15544761e+01] [ 1.34058249e-01 9.90970381e-01 -2.46790247e-03 2.14189299e-01] [ 2.45708025e-02 -8.34295589e-04 9.99697744e-01 5.21594586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443617865 meters 0.01984634367558038 Centerline is valid? [True, True] Translation: X:31.58, Y:0.22, Z:0.52 [[ 9.90796426e-01 -1.33189983e-01 -2.41427025e-02 3.15830443e+01] [ 1.33169985e-01 9.91090205e-01 -2.44143718e-03 2.18534962e-01] [ 2.42527709e-02 -7.96116098e-04 9.99705541e-01 5.22292709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.473617864999994 meters 0.01852659176661741 Centerline is valid? [True, True] Translation: X:31.61, Y:0.23, Z:0.52 [[ 9.91041883e-01 -1.31341244e-01 -2.41963438e-02 3.16110993e+01] [ 1.31320467e-01 9.91336936e-01 -2.45258302e-03 2.25154180e-01] [ 2.43088546e-02 -7.46862675e-04 9.99704217e-01 5.22510792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.503617864999995 meters 0.018184748061550102 Centerline is valid? [True, True] Translation: X:31.64, Y:0.23, Z:0.52 [[ 9.91133211e-01 -1.30598888e-01 -2.44721911e-02 3.16402388e+01] [ 1.30577266e-01 9.91435018e-01 -2.48631509e-03 2.28747013e-01] [ 2.45872972e-02 -7.31242359e-04 9.99697419e-01 5.22972854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.533617865 meters 0.01973073742008835 Centerline is valid? [True, True] Translation: X:31.67, Y:0.23, Z:0.52 [[ 9.91253538e-01 -1.29632972e-01 -2.47328740e-02 3.16681051e+01] [ 1.29610477e-01 9.91561792e-01 -2.51719377e-03 2.29307644e-01] [ 2.48504842e-02 -7.10462378e-04 9.99690927e-01 5.22584999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563617865 meters 0.017996312931185907 Centerline is valid? [True, True] Translation: X:31.70, Y:0.24, Z:0.52 [[ 9.91321902e-01 -1.29209551e-01 -2.42028631e-02 3.16967813e+01] [ 1.29187805e-01 9.91617077e-01 -2.46648848e-03 2.35957706e-01] [ 2.43186662e-02 -6.81630712e-04 9.99704025e-01 5.23875827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.593617865 meters 0.017677400827191662 Centerline is valid? [True, True] Translation: X:31.73, Y:0.24, Z:0.53 [[ 9.91475728e-01 -1.28191448e-01 -2.32987925e-02 3.17250326e+01] [ 1.28170889e-01 9.91749242e-01 -2.37976318e-03 2.40090494e-01] [ 2.34116251e-02 -6.26749527e-04 9.99725714e-01 5.25177364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623617865 meters 0.01734411786624579 Centerline is valid? [True, True] Translation: X:31.75, Y:0.24, Z:0.53 [[ 9.91496172e-01 -1.28098396e-01 -2.29377696e-02 3.17532043e+01] [ 1.28078319e-01 9.91761276e-01 -2.34830818e-03 2.44215683e-01] [ 2.30496062e-02 -6.09492415e-04 9.99734137e-01 5.26064426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.653617864999994 meters 0.017230019548076767 Centerline is valid? [True, True] Translation: X:31.78, Y:0.25, Z:0.53 [[ 9.91494528e-01 -1.28168597e-01 -2.26144082e-02 3.17806097e+01] [ 1.28148974e-01 9.91752214e-01 -2.32080050e-03 2.47876681e-01] [ 2.27253432e-02 -5.96952216e-04 9.99741568e-01 5.26660205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683617864999995 meters 0.017482524919058173 Centerline is valid? [True, True] Translation: X:31.81, Y:0.25, Z:0.53 [[ 9.91429019e-01 -1.28658776e-01 -2.27028709e-02 3.18088704e+01] [ 1.28638985e-01 9.91688738e-01 -2.33612683e-03 2.51345406e-01] [ 2.28147446e-02 -6.04370345e-04 9.99739527e-01 5.26584545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.713617864999996 meters 0.017323395765731997 Centerline is valid? [True, True] Translation: X:31.84, Y:0.26, Z:0.53 [[ 9.91223585e-01 -1.30142340e-01 -2.32115623e-02 3.18376164e+01] [ 1.30121912e-01 9.91495110e-01 -2.39470628e-03 2.55995826e-01] [ 2.33258032e-02 -6.46643541e-04 9.99727707e-01 5.26206327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743617865 meters 0.01817064917022407 Centerline is valid? [True, True] Translation: X:31.87, Y:0.26, Z:0.53 [[ 9.91093252e-01 -1.31143857e-01 -2.31399117e-02 3.18655245e+01] [ 1.31123722e-01 9.91363126e-01 -2.39186698e-03 2.57462972e-01] [ 2.32537339e-02 -6.63628131e-04 9.99729375e-01 5.26674428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.773617865 meters 0.017783390821341352 Centerline is valid? [True, True] Translation: X:31.89, Y:0.26, Z:0.53 [[ 9.90906843e-01 -1.32668962e-01 -2.24181753e-02 3.18941423e+01] [ 1.32650390e-01 9.91160174e-01 -2.32011139e-03 2.61599995e-01] [ 2.25278093e-02 -6.74765436e-04 9.99745989e-01 5.28003822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803617865 meters 0.018097267504341905 Centerline is valid? [True, True] Translation: X:31.92, Y:0.26, Z:0.53 [[ 9.90772703e-01 -1.33783534e-01 -2.17121482e-02 3.19227625e+01] [ 1.33766268e-01 9.91010350e-01 -2.25219677e-03 2.64320621e-01] [ 2.18182704e-02 -6.72937935e-04 9.99761727e-01 5.28904079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.833617864999994 meters 0.01994215550626312 Centerline is valid? [True, True] Translation: X:31.95, Y:0.26, Z:0.53 [[ 9.90716932e-01 -1.34227388e-01 -2.15166989e-02 3.19504318e+01] [ 1.34210442e-01 9.90950330e-01 -2.23629808e-03 2.63662445e-01] [ 2.16221523e-02 -6.72227289e-04 9.99765988e-01 5.29335105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863617864999995 meters 0.018760757584333078 Centerline is valid? [True, True] Translation: X:31.98, Y:0.27, Z:0.53 [[ 9.90582003e-01 -1.35156867e-01 -2.19069809e-02 3.19792712e+01] [ 1.35139466e-01 9.90823964e-01 -2.27963373e-03 2.69797937e-01] [ 2.20140698e-02 -7.02333552e-04 9.99757414e-01 5.29494585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.893617864999996 meters 0.019095485466933713 Centerline is valid? [True, True] Translation: X:32.01, Y:0.27, Z:0.53 [[ 9.90554807e-01 -1.35297523e-01 -2.22655481e-02 3.20057480e+01] [ 1.35279469e-01 9.90804760e-01 -2.32204550e-03 2.73200143e-01] [ 2.23749781e-02 -7.11958192e-04 9.99749395e-01 5.28828212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923617865 meters 0.01938400636464624 Centerline is valid? [True, True] Translation: X:32.03, Y:0.28, Z:0.53 [[ 9.90534405e-01 -1.35353915e-01 -2.28234762e-02 3.20336330e+01] [ 1.35334848e-01 9.90797048e-01 -2.38512137e-03 2.77194317e-01] [ 2.29362683e-02 -7.26266900e-04 9.99736665e-01 5.27920945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.953617865 meters 0.018953922712685665 Centerline is valid? [True, True] Translation: X:32.06, Y:0.28, Z:0.53 [[ 9.90502012e-01 -1.35634154e-01 -2.25641504e-02 3.20616636e+01] [ 1.35615452e-01 9.90758730e-01 -2.36411273e-03 2.80621763e-01] [ 2.26762835e-02 -7.18389039e-04 9.99742602e-01 5.28709124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.983617865 meters 0.019381366846594635 Centerline is valid? [True, True] Translation: X:32.09, Y:0.28, Z:0.53 [[ 9.90446152e-01 -1.36017505e-01 -2.27081117e-02 3.20893086e+01] [ 1.35998549e-01 9.90706167e-01 -2.38424276e-03 2.82467612e-01] [ 2.28213651e-02 -7.26806177e-04 9.99739295e-01 5.29535102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.013617865 meters 0.020160209520261506 Centerline is valid? [True, True] Translation: X:32.12, Y:0.28, Z:0.53 [[ 9.90369613e-01 -1.36585139e-01 -2.26391082e-02 3.21168059e+01] [ 1.36566396e-01 9.90628063e-01 -2.37917185e-03 2.83836645e-01] [ 2.27518954e-02 -7.35481916e-04 9.99740872e-01 5.30201673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043617864999995 meters 0.02025953165022145 Centerline is valid? [True, True] Translation: X:32.15, Y:0.29, Z:0.53 [[ 9.90266035e-01 -1.37301111e-01 -2.28382410e-02 3.21452756e+01] [ 1.37282145e-01 9.90529068e-01 -2.40369624e-03 2.87044777e-01] [ 2.29519718e-02 -7.54983967e-04 9.99736284e-01 5.30391596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.073617864999996 meters 0.02116342541626795 Centerline is valid? [True, True] Translation: X:32.17, Y:0.29, Z:0.53 [[ 9.90239305e-01 -1.37479211e-01 -2.29256551e-02 3.21723105e+01] [ 1.37460031e-01 9.90504363e-01 -2.41792943e-03 2.89040055e-01] [ 2.30403765e-02 -7.57032501e-04 9.99734249e-01 5.30148628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103617865 meters 0.0208726915914525 Centerline is valid? [True, True] Translation: X:32.20, Y:0.29, Z:0.53 [[ 9.90221485e-01 -1.37614753e-01 -2.28821073e-02 3.21998591e+01] [ 1.37595575e-01 9.90485543e-01 -2.41802917e-03 2.92965723e-01] [ 2.29971529e-02 -7.54092268e-04 9.99735246e-01 5.30359262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.133617865 meters 0.02363764236947069 Centerline is valid? [True, True] Translation: X:32.23, Y:0.29, Z:0.53 [[ 9.90295675e-01 -1.37192232e-01 -2.21983794e-02 3.22280726e+01] [ 1.37173972e-01 9.90544182e-01 -2.35042465e-03 2.92543653e-01] [ 2.23109356e-02 -7.17424519e-04 9.99750823e-01 5.30162882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.163617865 meters 0.02149892096123112 Centerline is valid? [True, True] Translation: X:32.26, Y:0.30, Z:0.53 [[ 9.90283058e-01 -1.37292166e-01 -2.21433245e-02 3.22551553e+01] [ 1.37273959e-01 9.90530338e-01 -2.34742916e-03 2.98685172e-01] [ 2.22559183e-02 -7.15082494e-04 9.99752051e-01 5.31777431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.193617865 meters 0.01848554902366924 Centerline is valid? [True, True] Translation: X:32.28, Y:0.31, Z:0.53 [[ 9.90224250e-01 -1.37742999e-01 -2.19727528e-02 3.22828198e+01] [ 1.37725055e-01 9.90467746e-01 -2.33511207e-03 3.06920256e-01] [ 2.20849483e-02 -7.13913991e-04 9.99755843e-01 5.33341866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.223617864999994 meters 0.020027499321040355 Centerline is valid? [True, True] Translation: X:32.31, Y:0.31, Z:0.53 [[ 9.90194302e-01 -1.37889229e-01 -2.24009881e-02 3.23100825e+01] [ 1.37870485e-01 9.90447391e-01 -2.38642405e-03 3.07625923e-01] [ 2.25160624e-02 -7.25411598e-04 9.99746218e-01 5.33338952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.253617864999995 meters 0.018724452235852045 Centerline is valid? [True, True] Translation: X:32.34, Y:0.31, Z:0.53 [[ 9.90179079e-01 -1.37989932e-01 -2.24537233e-02 3.23382145e+01] [ 1.37971020e-01 9.90433366e-01 -2.39674362e-03 3.13257713e-01] [ 2.25696432e-02 -7.24757708e-04 9.99745010e-01 5.33780209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283617865 meters 0.019587974156315434 Centerline is valid? [True, True] Translation: X:32.37, Y:0.32, Z:0.53 [[ 9.90146971e-01 -1.38157113e-01 -2.28383076e-02 3.23662415e+01] [ 1.38137480e-01 9.90410051e-01 -2.44267438e-03 3.15018057e-01] [ 2.29567623e-02 -7.36219623e-04 9.99736188e-01 5.33577642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.313617865 meters 0.021384602668712213 Centerline is valid? [True, True] Translation: X:32.39, Y:0.32, Z:0.53 [[ 9.90154038e-01 -1.38040713e-01 -2.32323506e-02 3.23933091e+01] [ 1.38020312e-01 9.90426276e-01 -2.48705990e-03 3.15406736e-01] [ 2.33532460e-02 -7.43963870e-04 9.99726999e-01 5.33686292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.343617865 meters 0.021384602668712213 Centerline is valid? [True, True] Translation: X:32.42, Y:0.32, Z:0.53 [[ 9.90118721e-01 -1.38293870e-01 -2.32319576e-02 3.24207354e+01] [ 1.38273453e-01 9.90390957e-01 -2.49072613e-03 3.18433285e-01] [ 2.33531729e-02 -7.46248422e-04 9.99726999e-01 5.34138263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.373617865 meters 0.021384602668712213 Centerline is valid? [True, True] Translation: X:32.45, Y:0.32, Z:0.53 [[ 9.90083339e-01 -1.38547056e-01 -2.32313196e-02 3.24481609e+01] [ 1.38526569e-01 9.90355571e-01 -2.49666516e-03 3.21468040e-01] [ 2.33531724e-02 -7.46248405e-04 9.99726999e-01 5.34589354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403617864999994 meters 0.019889833076072973 Centerline is valid? [True, True] Translation: X:32.48, Y:0.33, Z:0.54 [[ 9.90155005e-01 -1.38153863e-01 -2.25072287e-02 3.24763350e+01] [ 1.38134406e-01 9.90410525e-01 -2.42437888e-03 3.28050210e-01] [ 2.26263336e-02 -7.08511805e-04 9.99743741e-01 5.36168294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.433617864999995 meters 0.0187323856785802 Centerline is valid? [True, True] Translation: X:32.50, Y:0.33, Z:0.54 [[ 9.90134083e-01 -1.38321692e-01 -2.23965714e-02 3.25037788e+01] [ 1.38302346e-01 9.90387103e-01 -2.41791714e-03 3.33842811e-01] [ 2.25157259e-02 -7.03436206e-04 9.99746241e-01 5.36930321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463617864999996 meters 0.01959502293184597 Centerline is valid? [True, True] Translation: X:32.53, Y:0.34, Z:0.54 [[ 9.90103923e-01 -1.38529439e-01 -2.24458614e-02 3.25311234e+01] [ 1.38509934e-01 9.90358066e-01 -2.42887708e-03 3.36306387e-01] [ 2.25659109e-02 -7.04134055e-04 9.99745109e-01 5.37144630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.493617865 meters 0.019637181931292193 Centerline is valid? [True, True] Translation: X:32.56, Y:0.34, Z:0.54 [[ 9.90062010e-01 -1.38855659e-01 -2.22782996e-02 3.25585664e+01] [ 1.38836423e-01 9.90312382e-01 -2.41537073e-03 3.39851641e-01] [ 2.23978638e-02 -7.01672621e-04 9.99748890e-01 5.37736635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.523617865 meters 0.02079545167360902 Centerline is valid? [True, True] Translation: X:32.59, Y:0.34, Z:0.54 [[ 9.90045216e-01 -1.38905789e-01 -2.27079861e-02 3.25851054e+01] [ 1.38885699e-01 9.90305345e-01 -2.46716447e-03 3.41957548e-01] [ 2.28305434e-02 -7.11210129e-04 9.99739096e-01 5.38027907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.553617865 meters 0.018692091279598037 Centerline is valid? [True, True] Translation: X:32.61, Y:0.35, Z:0.54 [[ 9.90003517e-01 -1.39179062e-01 -2.28522533e-02 3.26122639e+01] [ 1.39158703e-01 9.90266970e-01 -2.48655059e-03 3.49411011e-01] [ 2.29759074e-02 -7.18396090e-04 9.99735761e-01 5.39461694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583617864999994 meters 0.020181659531845145 Centerline is valid? [True, True] Translation: X:32.64, Y:0.35, Z:0.54 [[ 9.89986174e-01 -1.39337561e-01 -2.26366865e-02 3.26394254e+01] [ 1.39317496e-01 9.90244687e-01 -2.46872601e-03 3.50861988e-01] [ 2.27598448e-02 -7.09681871e-04 9.99740709e-01 5.39147679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.613617864999995 meters 0.02108974580145547 Centerline is valid? [True, True] Translation: X:32.67, Y:0.35, Z:0.54 [[ 9.89837656e-01 -1.40402559e-01 -2.25507643e-02 3.26673320e+01] [ 1.40382843e-01 9.90094234e-01 -2.46290549e-03 3.54521910e-01] [ 2.26731799e-02 -7.27863793e-04 9.99742665e-01 5.39329656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643617864999996 meters 0.018617490391176716 Centerline is valid? [True, True] Translation: X:32.69, Y:0.36, Z:0.54 [[ 9.89788302e-01 -1.40738701e-01 -2.26215504e-02 3.26942415e+01] [ 1.40718878e-01 9.90046503e-01 -2.47373463e-03 3.62419415e-01] [ 2.27445371e-02 -7.34805589e-04 9.99741040e-01 5.40705291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.673617865 meters 0.01957037591666248 Centerline is valid? [True, True] Translation: X:32.72, Y:0.36, Z:0.54 [[ 9.89716651e-01 -1.41303720e-01 -2.22308213e-02 3.27218555e+01] [ 1.41284607e-01 9.89966023e-01 -2.43597449e-03 3.64979935e-01] [ 2.23519700e-02 -7.29948324e-04 9.99749897e-01 5.40889741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.703617865 meters 0.017932074078040646 Centerline is valid? [True, True] Translation: X:32.75, Y:0.37, Z:0.54 [[ 9.89713832e-01 -1.41416427e-01 -2.16315749e-02 3.27488423e+01] [ 1.41398294e-01 9.89949943e-01 -2.37318954e-03 3.73668960e-01] [ 2.17497843e-02 -7.09889280e-04 9.99763193e-01 5.41790785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.733617865 meters 0.019221090413973536 Centerline is valid? [True, True] Translation: X:32.78, Y:0.38, Z:0.54 [[ 9.89698141e-01 -1.41565479e-01 -2.13729774e-02 3.27761442e+01] [ 1.41547693e-01 9.89928647e-01 -2.35036976e-03 3.76249677e-01] [ 2.14904538e-02 -6.99139062e-04 9.99768809e-01 5.42117298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.763617865 meters 0.018544595941673674 Centerline is valid? [True, True] Translation: X:32.80, Y:0.38, Z:0.54 [[ 9.89622598e-01 -1.42281715e-01 -2.00755259e-02 3.28043598e+01] [ 1.42266092e-01 9.89825979e-01 -2.21156269e-03 3.83136426e-01] [ 2.01859420e-02 -6.67454211e-04 9.99796020e-01 5.43236960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.793617864999995 meters 0.018544595941673674 Centerline is valid? [True, True] Translation: X:32.83, Y:0.39, Z:0.54 [[ 9.89583378e-01 -1.42554317e-01 -2.00749780e-02 3.28317814e+01] [ 1.42538649e-01 9.89786755e-01 -2.21652581e-03 3.86223352e-01] [ 2.01859227e-02 -6.68023159e-04 9.99796020e-01 5.43688266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823617864999996 meters 0.018988265936601908 Centerline is valid? [True, True] Translation: X:32.86, Y:0.39, Z:0.54 [[ 9.89354807e-01 -1.44131743e-01 -2.00775080e-02 3.28602252e+01] [ 1.44116286e-01 9.89558264e-01 -2.22226861e-03 3.91069524e-01] [ 2.01881634e-02 -6.94883751e-04 9.99795957e-01 5.43706908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.853617865 meters 0.01932216949601461 Centerline is valid? [True, True] Translation: X:32.89, Y:0.40, Z:0.54 [[ 9.88994837e-01 -1.46513764e-01 -2.05652299e-02 3.28885708e+01] [ 1.46497954e-01 9.89208342e-01 -2.28135548e-03 3.96880891e-01] [ 2.06775469e-02 -7.56515317e-04 9.99785910e-01 5.43092177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.883617865 meters 0.018358281309342576 Centerline is valid? [True, True] Translation: X:32.92, Y:0.40, Z:0.54 [[ 9.88809121e-01 -1.47743351e-01 -2.06983944e-02 3.29163607e+01] [ 1.47727514e-01 9.89025424e-01 -2.30054007e-03 4.03063260e-01] [ 2.08111278e-02 -7.82927337e-04 9.99783118e-01 5.43884562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.913617865 meters 0.02052206283229613 Centerline is valid? [True, True] Translation: X:32.94, Y:0.40, Z:0.54 [[ 9.88631512e-01 -1.48935777e-01 -2.06365819e-02 3.29444550e+01] [ 1.48920255e-01 9.88846544e-01 -2.29551712e-03 4.03759626e-01] [ 2.07482973e-02 -8.03784469e-04 9.99784408e-01 5.44371599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943617865 meters 0.02083339596301639 Centerline is valid? [True, True] Translation: X:32.97, Y:0.41, Z:0.54 [[ 9.88476745e-01 -1.49998382e-01 -2.03521525e-02 3.29729634e+01] [ 1.49983460e-01 9.88685908e-01 -2.26628275e-03 4.07870546e-01] [ 2.04618252e-02 -8.12318468e-04 9.99790305e-01 5.44972733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.973617864999994 meters 0.02208610635303754 Centerline is valid? [True, True] Translation: X:33.00, Y:0.41, Z:0.55 [[ 9.88254968e-01 -1.51468586e-01 -2.02333080e-02 3.30008753e+01] [ 1.51454059e-01 9.88461720e-01 -2.25727525e-03 4.12545902e-01] [ 2.03417567e-02 -8.33653154e-04 9.99792737e-01 5.45617019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003617864999995 meters 0.019926508858035683 Centerline is valid? [True, True] Translation: X:33.03, Y:0.42, Z:0.55 [[ 9.88167301e-01 -1.52037798e-01 -2.02458356e-02 3.30291937e+01] [ 1.52023325e-01 9.88374320e-01 -2.26103214e-03 4.20785557e-01] [ 2.03542264e-02 -8.43561227e-04 9.99792475e-01 5.46543537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.033617865 meters 0.02012736143832524 Centerline is valid? [True, True] Translation: X:33.06, Y:0.43, Z:0.55 [[ 9.88111005e-01 -1.52394714e-01 -2.03099114e-02 3.30571796e+01] [ 1.52380119e-01 9.88319347e-01 -2.27334447e-03 4.25402057e-01] [ 2.04191240e-02 -8.48510028e-04 9.99791148e-01 5.46876230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.063617865 meters 0.01952522465357793 Centerline is valid? [True, True] Translation: X:33.08, Y:0.43, Z:0.55 [[ 9.88055486e-01 -1.52763733e-01 -2.02385643e-02 3.30849441e+01] [ 1.52749202e-01 9.88262376e-01 -2.27103190e-03 4.31748282e-01] [ 2.03479430e-02 -8.47519033e-04 9.99792600e-01 5.47289680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.093617865 meters 0.020936161912905753 Centerline is valid? [True, True] Translation: X:33.11, Y:0.44, Z:0.55 [[ 9.88117620e-01 -1.52419917e-01 -1.97923885e-02 3.31128322e+01] [ 1.52405855e-01 9.88315487e-01 -2.22579992e-03 4.36392763e-01] [ 1.99003803e-02 -8.17123781e-04 9.99801634e-01 5.48058375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123617865 meters 0.0209575705219339 Centerline is valid? [True, True] Translation: X:33.14, Y:0.44, Z:0.55 [[ 9.88172532e-01 -1.52148939e-01 -1.91245044e-02 3.31418481e+01] [ 1.52135726e-01 9.88357267e-01 -2.15244539e-03 4.41291361e-01] [ 1.92293352e-02 -7.82532940e-04 9.99814793e-01 5.49053129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.153617864999994 meters 0.02098363883671972 Centerline is valid? [True, True] Translation: X:33.17, Y:0.45, Z:0.55 [[ 9.88219986e-01 -1.51894827e-01 -1.86874336e-02 3.31701117e+01] [ 1.51882115e-01 9.88396372e-01 -2.10591161e-03 4.46313843e-01] [ 1.87904686e-02 -7.57182985e-04 9.99823157e-01 5.49803331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183617864999995 meters 0.018327425340307228 Centerline is valid? [True, True] Translation: X:33.20, Y:0.46, Z:0.55 [[ 9.88388781e-01 -1.50881243e-01 -1.79574112e-02 3.31974406e+01] [ 1.50869262e-01 9.88551644e-01 -2.02780547e-03 4.58179162e-01] [ 1.80577862e-02 -7.04961213e-04 9.99836696e-01 5.50470471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.213617864999996 meters 0.020235452615247906 Centerline is valid? [True, True] Translation: X:33.23, Y:0.46, Z:0.55 [[ 9.88431991e-01 -1.50524401e-01 -1.85634837e-02 3.32251602e+01] [ 1.50511453e-01 9.88606034e-01 -2.10068052e-03 4.60600441e-01] [ 1.86681757e-02 -7.17637070e-04 9.99825477e-01 5.50545514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.243617865 meters 0.02032349117479964 Centerline is valid? [True, True] Translation: X:33.25, Y:0.47, Z:0.55 [[ 9.88486336e-01 -1.50197608e-01 -1.83150653e-02 3.32538848e+01] [ 1.50184913e-01 9.88655748e-01 -2.07448086e-03 4.65796647e-01] [ 1.84188766e-02 -7.00050499e-04 9.99830113e-01 5.50677802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.273617865 meters 0.020331689024634746 Centerline is valid? [True, True] Translation: X:33.28, Y:0.47, Z:0.55 [[ 9.88502793e-01 -1.50084489e-01 -1.83541167e-02 3.32823499e+01] [ 1.50071639e-01 9.88672930e-01 -2.08329168e-03 4.70902093e-01] [ 1.84588881e-02 -6.95092736e-04 9.99829379e-01 5.51057381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.303617865 meters 0.020673014436529153 Centerline is valid? [True, True] Translation: X:33.31, Y:0.48, Z:0.55 [[ 9.88537978e-01 -1.49829383e-01 -1.85424164e-02 3.33096406e+01] [ 1.49816147e-01 9.88711624e-01 -2.10877776e-03 4.76755753e-01] [ 1.86490595e-02 -6.93346471e-04 9.99825851e-01 5.50941626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.333617864999994 meters 0.02135297086393979 Centerline is valid? [True, True] Translation: X:33.34, Y:0.48, Z:0.55 [[ 9.88472870e-01 -1.50258904e-01 -1.85377030e-02 3.33373907e+01] [ 1.50245720e-01 9.88646434e-01 -2.10980204e-03 4.80741927e-01] [ 1.86442505e-02 -6.99728468e-04 9.99825936e-01 5.51345089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.363617864999995 meters 0.019854397957526325 Centerline is valid? [True, True] Translation: X:33.37, Y:0.49, Z:0.55 [[ 9.88393446e-01 -1.50785546e-01 -1.84963488e-02 3.33654837e+01] [ 1.50772478e-01 9.88566245e-01 -2.10697853e-03 4.87541856e-01] [ 1.86025679e-02 -7.06216570e-04 9.99826708e-01 5.51930627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.393617864999996 meters 0.019988489520834117 Centerline is valid? [True, True] Translation: X:33.39, Y:0.49, Z:0.55 [[ 9.88151256e-01 -1.52438827e-01 -1.78745284e-02 3.33939212e+01] [ 1.52426818e-01 9.88312654e-01 -2.04031551e-03 4.93032349e-01] [ 1.79766459e-02 -7.08417156e-04 9.99838156e-01 5.53359042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.423617865 meters 0.02344846912720309 Centerline is valid? [True, True] Translation: X:33.42, Y:0.49, Z:0.55 [[ 9.88016357e-01 -1.53351892e-01 -1.75178803e-02 3.34221221e+01] [ 1.53340432e-01 9.88171391e-01 -2.00357374e-03 4.92625098e-01] [ 1.76179199e-02 -7.06635694e-04 9.99844543e-01 5.54088667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.453617865 meters 0.022860522648047207 Centerline is valid? [True, True] Translation: X:33.45, Y:0.50, Z:0.55 [[ 9.87798334e-01 -1.54783207e-01 -1.72223798e-02 3.34502443e+01] [ 1.54772319e-01 9.87948199e-01 -1.97136292e-03 5.00272049e-01] [ 1.73199530e-02 -7.18238659e-04 9.99849740e-01 5.54284465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.483617865 meters 0.022956128129330313 Centerline is valid? [True, True] Translation: X:33.48, Y:0.51, Z:0.55 [[ 9.87739281e-01 -1.55177698e-01 -1.70585956e-02 3.34778841e+01] [ 1.55167008e-01 9.87886315e-01 -1.95655124e-03 5.05058912e-01] [ 1.71555663e-02 -7.14368720e-04 9.99852577e-01 5.54247543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51361786499999 meters 0.02148608275460205 Centerline is valid? [True, True] Translation: X:33.51, Y:0.51, Z:0.55 [[ 9.87673501e-01 -1.55583000e-01 -1.71751361e-02 3.35053218e+01] [ 1.55572145e-01 9.87822559e-01 -1.97449136e-03 5.12275802e-01] [ 1.72731842e-02 -7.21819971e-04 9.99850547e-01 5.54619998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543617864999995 meters 0.022340223399990176 Centerline is valid? [True, True] Translation: X:33.53, Y:0.52, Z:0.55 [[ 9.87629329e-01 -1.55872465e-01 -1.70904426e-02 3.35325591e+01] [ 1.55861682e-01 9.87776927e-01 -1.96930725e-03 5.15776264e-01] [ 1.71885056e-02 -7.18799526e-04 9.99852008e-01 5.54745387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.573617864999996 meters 0.018928790049524483 Centerline is valid? [True, True] Translation: X:33.56, Y:0.53, Z:0.55 [[ 9.87639922e-01 -1.55700621e-01 -1.80194513e-02 3.35601086e+01] [ 1.55688540e-01 9.87804005e-01 -2.07995567e-03 5.27173001e-01] [ 1.81235366e-02 -7.51174801e-04 9.99835473e-01 5.54719085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.603617865 meters 0.020615828992303763 Centerline is valid? [True, True] Translation: X:33.59, Y:0.53, Z:0.55 [[ 9.87715880e-01 -1.55168852e-01 -1.84382377e-02 3.35882966e+01] [ 1.55156030e-01 9.87887675e-01 -2.13265305e-03 5.29230366e-01] [ 1.85458291e-02 -7.54348461e-04 9.99827727e-01 5.54381755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.633617865 meters 0.019450787730648234 Centerline is valid? [True, True] Translation: X:33.62, Y:0.54, Z:0.55 [[ 9.87844527e-01 -1.54303709e-01 -1.88030882e-02 3.36166573e+01] [ 1.54290178e-01 9.88023179e-01 -2.17693889e-03 5.37107196e-01] [ 1.89137967e-02 -7.50654659e-04 9.99820836e-01 5.54327204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.663617865 meters 0.01955833121770148 Centerline is valid? [True, True] Translation: X:33.64, Y:0.54, Z:0.56 [[ 9.87955648e-01 -1.53574895e-01 -1.89311665e-02 3.36446294e+01] [ 1.53560964e-01 9.88136735e-01 -2.19601206e-03 5.41193940e-01] [ 1.90438334e-02 -7.37525664e-04 9.99818378e-01 5.55043642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.693617865 meters 0.02230203250463581 Centerline is valid? [True, True] Translation: X:33.67, Y:0.54, Z:0.56 [[ 9.88110658e-01 -1.52592089e-01 -1.87878168e-02 3.36726311e+01] [ 1.52578161e-01 9.88289000e-01 -2.18099932e-03 5.41006250e-01] [ 1.89005959e-02 -7.11541867e-04 9.99821115e-01 5.55434453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723617864999994 meters 0.019150573758278545 Centerline is valid? [True, True] Translation: X:33.70, Y:0.55, Z:0.56 [[ 9.88213547e-01 -1.51947271e-01 -1.86014195e-02 3.37006262e+01] [ 1.51933467e-01 9.88388360e-01 -2.16130635e-03 5.50148584e-01] [ 1.87138311e-02 -6.90345947e-04 9.99824643e-01 5.56222641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.753617864999995 meters 0.019251604013386808 Centerline is valid? [True, True] Translation: X:33.73, Y:0.55, Z:0.56 [[ 9.88464368e-01 -1.50417359e-01 -1.76864687e-02 3.37281663e+01] [ 1.50404566e-01 9.88622389e-01 -2.05887074e-03 5.54821039e-01] [ 1.77949288e-02 -6.25005273e-04 9.99841462e-01 5.56428133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783617865 meters 0.019338755318374964 Centerline is valid? [True, True] Translation: X:33.76, Y:0.56, Z:0.56 [[ 9.88545377e-01 -1.49889117e-01 -1.76434352e-02 3.37570554e+01] [ 1.49876273e-01 9.88702623e-01 -2.05557475e-03 5.58441470e-01] [ 1.77522190e-02 -6.12303389e-04 9.99842229e-01 5.56796907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.813617865 meters 0.019324718899315113 Centerline is valid? [True, True] Translation: X:33.79, Y:0.56, Z:0.56 [[ 9.88612843e-01 -1.49394133e-01 -1.80565490e-02 3.37861842e+01] [ 1.49380517e-01 9.88777537e-01 -2.10808048e-03 5.61822508e-01] [ 1.81688449e-02 -6.13221199e-04 9.99834745e-01 5.56925750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.843617865 meters 0.019176014400362165 Centerline is valid? [True, True] Translation: X:33.81, Y:0.57, Z:0.56 [[ 9.88696104e-01 -1.48785067e-01 -1.85207463e-02 3.38148337e+01] [ 1.48770552e-01 9.88869369e-01 -2.16675037e-03 5.65003752e-01] [ 1.86369788e-02 -6.13084003e-04 9.99826128e-01 5.57011846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.873617865 meters 0.018891786484843468 Centerline is valid? [True, True] Translation: X:33.84, Y:0.57, Z:0.56 [[ 9.89078651e-01 -1.46104375e-01 -1.94147909e-02 3.38431227e+01] [ 1.46087826e-01 9.89269007e-01 -2.27557668e-03 5.67783474e-01] [ 1.95389227e-02 -5.85540291e-04 9.99808926e-01 5.57124174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903617864999994 meters 0.016628269396537117 Centerline is valid? [True, True] Translation: X:33.87, Y:0.57, Z:0.56 [[ 9.89287753e-01 -1.44616323e-01 -1.98962482e-02 3.38715782e+01] [ 1.44598603e-01 9.89487643e-01 -2.33400627e-03 5.74601189e-01] [ 2.00246272e-02 -5.67965878e-04 9.99799326e-01 5.57836881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.933617864999995 meters 0.018149804408760926 Centerline is valid? [True, True] Translation: X:33.90, Y:0.57, Z:0.56 [[ 9.89530913e-01 -1.42910376e-01 -2.01294743e-02 3.38999745e+01] [ 1.42891796e-01 9.89735489e-01 -2.36574473e-03 5.74974312e-01] [ 2.02609446e-02 -5.35359201e-04 9.99794583e-01 5.57716180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963617864999996 meters 0.016990399828251637 Centerline is valid? [True, True] Translation: X:33.93, Y:0.58, Z:0.56 [[ 9.90075648e-01 -1.39111266e-01 -1.99566431e-02 3.39290690e+01] [ 1.39092189e-01 9.90276654e-01 -2.34761024e-03 5.79195751e-01] [ 2.00891768e-02 -4.51501447e-04 9.99798090e-01 5.58248488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.993617865 meters 0.01487651273156984 Centerline is valid? [True, True] Translation: X:33.96, Y:0.59, Z:0.56 [[ 9.90365205e-01 -1.37106496e-01 -1.94568827e-02 3.39574196e+01] [ 1.37087894e-01 9.90556233e-01 -2.29294961e-03 5.85936348e-01] [ 1.95875147e-02 -3.96445570e-04 9.99808068e-01 5.59221611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.023617865 meters 0.014206690496139743 Centerline is valid? [True, True] Translation: X:33.99, Y:0.59, Z:0.56 [[ 9.90674261e-01 -1.34869278e-01 -1.93594140e-02 3.39864577e+01] [ 1.34850350e-01 9.90863340e-01 -2.28582388e-03 5.90135134e-01] [ 1.94908210e-02 -3.46116871e-04 9.99809976e-01 5.60143395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.053617865 meters 0.014425595974030614 Centerline is valid? [True, True] Translation: X:34.01, Y:0.59, Z:0.56 [[ 9.91285313e-01 -1.30268408e-01 -1.95849513e-02 3.40142861e+01] [ 1.30248090e-01 9.91478732e-01 -2.31490350e-03 5.90111909e-01] [ 1.97196215e-02 -2.56172665e-04 9.99805517e-01 5.60309655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083617864999994 meters 0.013513123576238344 Centerline is valid? [True, True] Translation: X:34.04, Y:0.59, Z:0.56 [[ 9.91500639e-01 -1.28587444e-01 -1.97927084e-02 3.40424284e+01] [ 1.28566312e-01 9.91698149e-01 -2.34175570e-03 5.94948607e-01] [ 1.99295126e-02 -2.22823245e-04 9.99801363e-01 5.60884228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.113617864999995 meters 0.01325031677174154 Centerline is valid? [True, True] Translation: X:34.07, Y:0.60, Z:0.56 [[ 9.91648539e-01 -1.27359237e-01 -2.03174889e-02 3.40707444e+01] [ 1.27336609e-01 9.91856636e-01 -2.40884695e-03 5.98590349e-01] [ 2.04588251e-02 -1.98430582e-04 9.99790677e-01 5.60786003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143617864999996 meters 0.013131695855769135 Centerline is valid? [True, True] Translation: X:34.10, Y:0.60, Z:0.56 [[ 9.91701763e-01 -1.26788670e-01 -2.12660762e-02 3.40990708e+01] [ 1.26763630e-01 9.91929734e-01 -2.52687477e-03 6.00040211e-01] [ 2.14148324e-02 -1.89858843e-04 9.99770658e-01 5.59664935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.173617865 meters 0.013267967252015922 Centerline is valid? [True, True] Translation: X:34.13, Y:0.60, Z:0.56 [[ 9.91620126e-01 -1.27439951e-01 -2.11797975e-02 3.41272690e+01] [ 1.27415156e-01 9.91846268e-01 -2.52160387e-03 6.00426190e-01] [ 2.13284562e-02 -1.98154064e-04 9.99772503e-01 5.60248135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.203617865 meters 0.0136584216767016 Centerline is valid? [True, True] Translation: X:34.16, Y:0.60, Z:0.56 [[ 9.91170893e-01 -1.30995300e-01 -2.05059097e-02 3.41562891e+01] [ 1.30972782e-01 9.91382954e-01 -2.44311386e-03 5.95934931e-01] [ 2.06492458e-02 -2.64172703e-04 9.99786747e-01 5.61888661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.233617865 meters 0.014306554692855954 Centerline is valid? [True, True] Translation: X:34.18, Y:0.59, Z:0.56 [[ 9.90868422e-01 -1.33259536e-01 -2.05345300e-02 3.41842330e+01] [ 1.33237404e-01 9.91081127e-01 -2.44832046e-03 5.94394303e-01] [ 2.06776471e-02 -3.10004024e-04 9.99786147e-01 5.62493467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26361786499999 meters 0.014673377183900164 Centerline is valid? [True, True] Translation: X:34.21, Y:0.59, Z:0.56 [[ 9.90478147e-01 -1.36106604e-01 -2.06889339e-02 3.42131103e+01] [ 1.36084707e-01 9.90694128e-01 -2.46922415e-03 5.94227245e-01] [ 2.08324831e-02 -3.69734939e-04 9.99782912e-01 5.62880747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.293617864999995 meters 0.014673377183900164 Centerline is valid? [True, True] Translation: X:34.24, Y:0.60, Z:0.56 [[ 9.90440857e-01 -1.36377793e-01 -2.06883237e-02 3.42404786e+01] [ 1.36355848e-01 9.90656833e-01 -2.47432728e-03 5.97565815e-01] [ 2.08324726e-02 -3.70299094e-04 9.99782912e-01 5.63331854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.323617864999996 meters 0.01588494708652991 Centerline is valid? [True, True] Translation: X:34.27, Y:0.59, Z:0.56 [[ 9.89854247e-01 -1.40507168e-01 -2.11259544e-02 3.42692775e+01] [ 1.40485118e-01 9.90079554e-01 -2.53161933e-03 5.94024883e-01] [ 2.12720862e-02 -4.61948056e-04 9.99773617e-01 5.62757685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.353617865 meters 0.016388804101474155 Centerline is valid? [True, True] Translation: X:34.30, Y:0.59, Z:0.56 [[ 9.89561875e-01 -1.42557617e-01 -2.10860285e-02 3.42984083e+01] [ 1.42536068e-01 9.89786377e-01 -2.52909760e-03 5.94397988e-01] [ 2.12312059e-02 -5.02821025e-04 9.99774466e-01 5.62699659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.383617865 meters 0.01749213075788473 Centerline is valid? [True, True] Translation: X:34.33, Y:0.59, Z:0.56 [[ 9.89141526e-01 -1.45276072e-01 -2.22239413e-02 3.43270586e+01] [ 1.45252717e-01 9.89390984e-01 -2.67017568e-03 5.90317260e-01] [ 2.23760798e-02 -5.86906210e-04 9.99749452e-01 5.62330213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.413617865 meters 0.018116104597312648 Centerline is valid? [True, True] Translation: X:34.36, Y:0.59, Z:0.56 [[ 9.88969641e-01 -1.46420801e-01 -2.23606439e-02 3.43555756e+01] [ 1.46397408e-01 9.89222205e-01 -2.68848864e-03 5.89746667e-01] [ 2.25132961e-02 -6.14706656e-04 9.99746355e-01 5.62436877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443617865 meters 0.01802677206331798 Centerline is valid? [True, True] Translation: X:34.38, Y:0.59, Z:0.56 [[ 9.88808362e-01 -1.47443748e-01 -2.27676238e-02 3.43843394e+01] [ 1.47419699e-01 9.89070232e-01 -2.74033318e-03 5.90623315e-01] [ 2.29228239e-02 -6.46731884e-04 9.99737028e-01 5.62657153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.473617864999994 meters 0.01790500577039172 Centerline is valid? [True, True] Translation: X:34.41, Y:0.59, Z:0.56 [[ 9.88701754e-01 -1.48152191e-01 -2.27984741e-02 3.44133651e+01] [ 1.48128141e-01 9.88964355e-01 -2.74944208e-03 5.91764714e-01] [ 2.29542141e-02 -6.58717370e-04 9.99736300e-01 5.63105276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.503617864999995 meters 0.017048192120687953 Centerline is valid? [True, True] Translation: X:34.44, Y:0.59, Z:0.56 [[ 9.88693695e-01 -1.48149666e-01 -2.31614561e-02 3.44417019e+01] [ 1.48124707e-01 9.88964730e-01 -2.79906878e-03 5.91745655e-01] [ 2.33205443e-02 -6.63362247e-04 9.99727819e-01 5.64171722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.533617865 meters 0.01693255982934404 Centerline is valid? [True, True] Translation: X:34.47, Y:0.59, Z:0.56 [[ 9.88711012e-01 -1.47998848e-01 -2.33853556e-02 3.44698680e+01] [ 1.47973207e-01 9.88987313e-01 -2.83270621e-03 5.93222354e-01] [ 2.35470573e-02 -6.59678237e-04 9.99722512e-01 5.64736244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.563617865 meters 0.017223504903333645 Centerline is valid? [True, True] Translation: X:34.50, Y:0.59, Z:0.56 [[ 9.88752031e-01 -1.47823860e-01 -2.27492192e-02 3.44980803e+01] [ 1.47799435e-01 9.89013501e-01 -2.76063683e-03 5.92149153e-01] [ 2.29073729e-02 -6.32736464e-04 9.99737391e-01 5.64868225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.593617865 meters 0.017365746817590216 Centerline is valid? [True, True] Translation: X:34.53, Y:0.59, Z:0.57 [[ 9.88698691e-01 -1.48165351e-01 -2.28457340e-02 3.45260475e+01] [ 1.48140735e-01 9.88962395e-01 -2.77557072e-03 5.93002599e-01] [ 2.30048153e-02 -6.40180691e-04 9.99735149e-01 5.65811749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623617865 meters 0.017400629232039565 Centerline is valid? [True, True] Translation: X:34.56, Y:0.59, Z:0.57 [[ 9.88609260e-01 -1.48779869e-01 -2.27218239e-02 3.45552152e+01] [ 1.48755544e-01 9.88870130e-01 -2.76652596e-03 5.93993459e-01] [ 2.28805364e-02 -6.44984094e-04 9.99737998e-01 5.66314904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.653617864999994 meters 0.01799309774014466 Centerline is valid? [True, True] Translation: X:34.58, Y:0.59, Z:0.57 [[ 9.88491882e-01 -1.49645691e-01 -2.21352001e-02 3.45837439e+01] [ 1.49622726e-01 9.88739477e-01 -2.69942393e-03 5.91256034e-01] [ 2.22899033e-02 -6.43570343e-04 9.99751342e-01 5.67729879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.683617864999995 meters 0.01829607632748396 Centerline is valid? [True, True] Translation: X:34.61, Y:0.59, Z:0.57 [[ 9.88404684e-01 -1.50281270e-01 -2.17191203e-02 3.46126746e+01] [ 1.50259256e-01 9.88643073e-01 -2.65133816e-03 5.91925440e-01] [ 2.18709043e-02 -6.42903782e-04 9.99760596e-01 5.68767399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.713617864999996 meters 0.01797871356997092 Centerline is valid? [True, True] Translation: X:34.64, Y:0.59, Z:0.57 [[ 9.88342153e-01 -1.50783218e-01 -2.10762808e-02 3.46409603e+01] [ 1.50762494e-01 9.88566652e-01 -2.57793879e-03 5.93716809e-01] [ 2.12240183e-02 -6.29627083e-04 9.99774547e-01 5.69845328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.743617865 meters 0.017924879741645652 Centerline is valid? [True, True] Translation: X:34.67, Y:0.59, Z:0.57 [[ 9.88328538e-01 -1.50891110e-01 -2.09421593e-02 3.46688301e+01] [ 1.50870552e-01 9.88550194e-01 -2.56724631e-03 5.93745945e-01] [ 2.10897503e-02 -6.22272348e-04 9.99777393e-01 5.70039960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.773617865 meters 0.01779552227097115 Centerline is valid? [True, True] Translation: X:34.70, Y:0.60, Z:0.57 [[ 9.88272958e-01 -1.51168828e-01 -2.15533447e-02 3.46969155e+01] [ 1.51146987e-01 9.88507752e-01 -2.64820686e-03 5.95777332e-01] [ 2.17059746e-02 -6.40571893e-04 9.99764192e-01 5.69933594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.803617865 meters 0.017760232811645064 Centerline is valid? [True, True] Translation: X:34.73, Y:0.60, Z:0.57 [[ 9.88269438e-01 -1.51171632e-01 -2.16946067e-02 3.47251513e+01] [ 1.51149374e-01 9.88507324e-01 -2.67156368e-03 5.97135986e-01] [ 2.18491423e-02 -6.38901480e-04 9.99761075e-01 5.69662964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.833617864999994 meters 0.016715893247684285 Centerline is valid? [True, True] Translation: X:34.75, Y:0.60, Z:0.57 [[ 9.88344980e-01 -1.50610355e-01 -2.21522148e-02 3.47542868e+01] [ 1.50586873e-01 9.88593000e-01 -2.73393360e-03 5.97620635e-01] [ 2.23112832e-02 -6.33763209e-04 9.99750871e-01 5.70441281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.863617864999995 meters 0.01690119548127647 Centerline is valid? [True, True] Translation: X:34.78, Y:0.60, Z:0.57 [[ 9.88317085e-01 -1.50768594e-01 -2.23197543e-02 3.47823342e+01] [ 1.50744666e-01 9.88568878e-01 -2.76034761e-03 5.98543321e-01] [ 2.24807882e-02 -6.36485218e-04 9.99747073e-01 5.71129948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.893617864999996 meters 0.016742943013786427 Centerline is valid? [True, True] Translation: X:34.81, Y:0.60, Z:0.57 [[ 9.88280591e-01 -1.50970339e-01 -2.25705790e-02 3.48102071e+01] [ 1.50945778e-01 9.88538085e-01 -2.79776113e-03 5.99743406e-01] [ 2.27342559e-02 -6.41960586e-04 9.99741337e-01 5.71453582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923617865 meters 0.01758345384845747 Centerline is valid? [True, True] Translation: X:34.84, Y:0.60, Z:0.57 [[ 9.88244521e-01 -1.51219398e-01 -2.24824558e-02 3.48383793e+01] [ 1.51194977e-01 9.88500017e-01 -2.79195245e-03 5.99498319e-01] [ 2.26461054e-02 -6.40102690e-04 9.99743339e-01 5.71552154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.953617865 meters 0.017186891980437817 Centerline is valid? [True, True] Translation: X:34.87, Y:0.60, Z:0.57 [[ 9.88164419e-01 -1.51747399e-01 -2.24456531e-02 3.48666546e+01] [ 1.51723123e-01 9.88419095e-01 -2.79051655e-03 6.01800587e-01] [ 2.26091658e-02 -6.48035412e-04 9.99744170e-01 5.72147318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.983617865 meters 0.019601058075997404 Centerline is valid? [True, True] Translation: X:34.90, Y:0.60, Z:0.57 [[ 9.88114466e-01 -1.52178522e-01 -2.17140479e-02 3.48954628e+01] [ 1.52155801e-01 9.88352821e-01 -2.70441067e-03 5.98619840e-01] [ 2.18726937e-02 -6.31651045e-04 9.99760564e-01 5.72505912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01361786499999 meters 0.017595044252268127 Centerline is valid? [True, True] Translation: X:34.92, Y:0.60, Z:0.57 [[ 9.88126895e-01 -1.52076271e-01 -2.18642972e-02 3.49231999e+01] [ 1.52053144e-01 9.88368560e-01 -2.72607245e-03 6.04464160e-01] [ 2.20245549e-02 -6.30829638e-04 9.99757231e-01 5.73820088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043617864999995 meters 0.017334943909263836 Centerline is valid? [True, True] Translation: X:34.95, Y:0.61, Z:0.57 [[ 9.88215760e-01 -1.51463612e-01 -2.20994631e-02 3.49519397e+01] [ 1.51439700e-01 9.88462641e-01 -2.76132013e-03 6.07673991e-01] [ 2.22627332e-02 -6.17955995e-04 9.99751964e-01 5.74132184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.073617864999996 meters 0.017565127735839847 Centerline is valid? [True, True] Translation: X:34.98, Y:0.61, Z:0.57 [[ 9.88410353e-01 -1.50170792e-01 -2.22195293e-02 3.49802296e+01] [ 1.50146174e-01 9.88659895e-01 -2.78167543e-03 6.10863856e-01] [ 2.23852839e-02 -5.86740498e-04 9.99749246e-01 5.74328735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103617865 meters 0.017197328364512845 Centerline is valid? [True, True] Translation: X:35.01, Y:0.61, Z:0.57 [[ 9.88425658e-01 -1.50096747e-01 -2.20382739e-02 3.50085366e+01] [ 1.50072390e-01 9.88671146e-01 -2.76440222e-03 6.14429085e-01] [ 2.22035333e-02 -5.74930347e-04 9.99753306e-01 5.74829900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.133617865 meters 0.017827689232097318 Centerline is valid? [True, True] Translation: X:35.04, Y:0.62, Z:0.58 [[ 9.88360261e-01 -1.50560850e-01 -2.18042187e-02 3.50365226e+01] [ 1.50537014e-01 9.88600577e-01 -2.73989035e-03 6.16506503e-01] [ 2.19681834e-02 -5.74343223e-04 9.99758505e-01 5.75035699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.163617865 meters 0.018543768185357076 Centerline is valid? [True, True] Translation: X:35.06, Y:0.62, Z:0.58 [[ 9.88312827e-01 -1.50995393e-01 -2.09319775e-02 3.50646488e+01] [ 1.50973487e-01 9.88534308e-01 -2.63198971e-03 6.18658612e-01] [ 2.10893963e-02 -5.58944434e-04 9.99777438e-01 5.76358484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19361786499999 meters 0.018595548934124326 Centerline is valid? [True, True] Translation: X:35.09, Y:0.62, Z:0.58 [[ 9.88166012e-01 -1.51974005e-01 -2.07806357e-02 3.50928521e+01] [ 1.51952591e-01 9.88384324e-01 -2.61485327e-03 6.22040573e-01] [ 2.09366443e-02 -5.73762306e-04 9.99780640e-01 5.76883342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223617864999994 meters 0.018837467353344572 Centerline is valid? [True, True] Translation: X:35.12, Y:0.63, Z:0.58 [[ 9.87802398e-01 -1.54263211e-01 -2.11963215e-02 3.51210532e+01] [ 1.54241405e-01 9.88029586e-01 -2.66962225e-03 6.26208425e-01] [ 2.13544172e-02 -6.32291155e-04 9.99771768e-01 5.77330057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.253617864999995 meters 0.019367448273062415 Centerline is valid? [True, True] Translation: X:35.15, Y:0.63, Z:0.58 [[ 9.87605164e-01 -1.55513494e-01 -2.12507056e-02 3.51501766e+01] [ 1.55491812e-01 9.87833548e-01 -2.67899855e-03 6.29715886e-01] [ 2.14087804e-02 -6.58517924e-04 9.99770589e-01 5.77676994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283617865 meters 0.018059722560982133 Centerline is valid? [True, True] Translation: X:35.18, Y:0.64, Z:0.58 [[ 9.87516330e-01 -1.56079688e-01 -2.12280257e-02 3.51790048e+01] [ 1.56058075e-01 9.87744243e-01 -2.68114139e-03 6.35583302e-01] [ 2.13863319e-02 -6.65133930e-04 9.99771065e-01 5.78905783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.313617865 meters 0.021824904681311763 Centerline is valid? [True, True] Translation: X:35.21, Y:0.63, Z:0.58 [[ 9.87354402e-01 -1.56970862e-01 -2.21682947e-02 3.52072920e+01] [ 1.56947407e-01 9.87602979e-01 -2.80479832e-03 6.34565134e-01] [ 2.23337455e-02 -7.09926410e-04 9.99750319e-01 5.77608944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.343617865 meters 0.01794122254667106 Centerline is valid? [True, True] Translation: X:35.23, Y:0.65, Z:0.58 [[ 9.87354912e-01 -1.56916894e-01 -2.25247947e-02 3.52345924e+01] [ 1.56892576e-01 9.87611551e-01 -2.85379205e-03 6.45775233e-01] [ 2.26935556e-02 -7.16267476e-04 9.99742212e-01 5.78330865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.373617865 meters 0.018591674725239184 Centerline is valid? [True, True] Translation: X:35.26, Y:0.65, Z:0.58 [[ 9.87412345e-01 -1.56445077e-01 -2.32765941e-02 3.52625086e+01] [ 1.56418845e-01 9.87686395e-01 -2.95468849e-03 6.49579651e-01] [ 2.34522218e-02 -7.23402082e-04 9.99724697e-01 5.77816915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403617864999994 meters 0.018031958094448474 Centerline is valid? [True, True] Translation: X:35.29, Y:0.65, Z:0.58 [[ 9.87722705e-01 -1.54425318e-01 -2.35940417e-02 3.52906964e+01] [ 1.54397697e-01 9.88004230e-01 -2.99890704e-03 6.54899205e-01] [ 2.37741202e-02 -6.80777128e-04 9.99717124e-01 5.77688457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.433617864999995 meters 0.017932812609215056 Centerline is valid? [True, True] Translation: X:35.32, Y:0.66, Z:0.58 [[ 9.87820607e-01 -1.53771495e-01 -2.37650073e-02 3.53191127e+01] [ 1.53743146e-01 9.88106212e-01 -3.02639549e-03 6.58946591e-01] [ 2.39477247e-02 -6.64171147e-04 9.99712991e-01 5.78209533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463617864999996 meters 0.017751000466858628 Centerline is valid? [True, True] Translation: X:35.35, Y:0.66, Z:0.58 [[ 9.87870650e-01 -1.53421474e-01 -2.39463884e-02 3.53472821e+01] [ 1.53392447e-01 9.88160626e-01 -3.05527095e-03 6.63166142e-01] [ 2.41316223e-02 -6.54982618e-04 9.99708575e-01 5.78890289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.493617865 meters 0.017731886900077102 Centerline is valid? [True, True] Translation: X:35.38, Y:0.67, Z:0.58 [[ 9.88067069e-01 -1.52201373e-01 -2.36264675e-02 3.53762803e+01] [ 1.52172635e-01 9.88349315e-01 -3.02005692e-03 6.66793530e-01] [ 2.38108598e-02 -6.11283041e-04 9.99716294e-01 5.80395608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.523617865 meters 0.017678457004979664 Centerline is valid? [True, True] Translation: X:35.40, Y:0.67, Z:0.58 [[ 9.88067490e-01 -1.52302213e-01 -2.29493282e-02 3.54044919e+01] [ 1.52274996e-01 9.88333793e-01 -2.93909603e-03 6.70307335e-01] [ 2.31292274e-02 -5.90583629e-04 9.99732309e-01 5.81546286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.553617865 meters 0.01799607371914671 Centerline is valid? [True, True] Translation: X:35.43, Y:0.67, Z:0.58 [[ 9.88036278e-01 -1.52566940e-01 -2.25309357e-02 3.54312214e+01] [ 1.52540659e-01 9.88292968e-01 -2.89062022e-03 6.72926245e-01] [ 2.27081784e-02 -5.80846154e-04 9.99741967e-01 5.82720733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583617864999994 meters 0.01723834946092881 Centerline is valid? [True, True] Translation: X:35.46, Y:0.68, Z:0.58 [[ 9.87879058e-01 -1.53639299e-01 -2.21344380e-02 3.54596890e+01] [ 1.53614130e-01 9.88126822e-01 -2.84307873e-03 6.78090407e-01] [ 2.23084405e-02 -5.91544504e-04 9.99750961e-01 5.83629057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.613617864999995 meters 0.01900644390276621 Centerline is valid? [True, True] Translation: X:35.49, Y:0.68, Z:0.58 [[ 9.87763569e-01 -1.54403689e-01 -2.19689208e-02 3.54877931e+01] [ 1.54378986e-01 9.88007662e-01 -2.82626428e-03 6.78103792e-01] [ 2.21418477e-02 -5.99858819e-04 9.99754659e-01 5.83391714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643617864999996 meters 0.01883696250818597 Centerline is valid? [True, True] Translation: X:35.52, Y:0.68, Z:0.58 [[ 9.87596271e-01 -1.55428747e-01 -2.22600568e-02 3.55165110e+01] [ 1.55403581e-01 9.87846906e-01 -2.86655574e-03 6.81119030e-01] [ 2.24350734e-02 -6.28292766e-04 9.99748105e-01 5.84674117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.673617865 meters 0.017891373011213386 Centerline is valid? [True, True] Translation: X:35.55, Y:0.69, Z:0.59 [[ 9.87415843e-01 -1.56526878e-01 -2.25674398e-02 3.55452971e+01] [ 1.56501175e-01 9.87673481e-01 -2.91156441e-03 6.86182094e-01] [ 2.27449999e-02 -6.56906021e-04 9.99741083e-01 5.85443512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.703617865 meters 0.018815633790560497 Centerline is valid? [True, True] Translation: X:35.57, Y:0.69, Z:0.58 [[ 9.87119286e-01 -1.58336793e-01 -2.29123409e-02 3.55727291e+01] [ 1.58310675e-01 9.87384912e-01 -2.96081672e-03 6.88177353e-01] [ 2.30921060e-02 -7.04588884e-04 9.99733093e-01 5.84787771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.733617865 meters 0.01869522376683925 Centerline is valid? [True, True] Translation: X:35.60, Y:0.69, Z:0.59 [[ 9.86957607e-01 -1.59361705e-01 -2.27712196e-02 3.56010257e+01] [ 1.59336106e-01 9.87219999e-01 -2.94585865e-03 6.92043208e-01] [ 2.29496605e-02 -7.20839860e-04 9.99736362e-01 5.85164342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76361786499999 meters 0.018669772422113366 Centerline is valid? [True, True] Translation: X:35.63, Y:0.70, Z:0.59 [[ 9.86914325e-01 -1.59739276e-01 -2.19881702e-02 3.56289691e+01] [ 1.59715380e-01 9.87158992e-01 -2.85000610e-03 6.96392324e-01] [ 2.21610778e-02 -6.99137115e-04 9.99754169e-01 5.85865744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.793617864999995 meters 0.018810822142426967 Centerline is valid? [True, True] Translation: X:35.66, Y:0.70, Z:0.59 [[ 9.86868356e-01 -1.59961728e-01 -2.24297483e-02 3.56564757e+01] [ 1.59936775e-01 9.87122960e-01 -2.91362069e-03 6.99799757e-01] [ 2.26069873e-02 -7.11981553e-04 9.99744176e-01 5.86249768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823617864999996 meters 0.019641544739837393 Centerline is valid? [True, True] Translation: X:35.68, Y:0.70, Z:0.59 [[ 9.86904302e-01 -1.59633910e-01 -2.31713982e-02 3.56847678e+01] [ 1.59607067e-01 9.87176019e-01 -3.01524358e-03 7.01689483e-01] [ 2.33555838e-02 -7.22562043e-04 9.99726960e-01 5.85878613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.853617865 meters 0.019147613111576305 Centerline is valid? [True, True] Translation: X:35.71, Y:0.71, Z:0.59 [[ 9.86939130e-01 -1.59197575e-01 -2.46431738e-02 3.57128817e+01] [ 1.59166982e-01 9.87246456e-01 -3.21056547e-03 7.06025988e-01] [ 2.48400002e-02 -7.53746910e-04 9.99691155e-01 5.86112061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.883617865 meters 0.02023648510186939 Centerline is valid? [True, True] Translation: X:35.74, Y:0.71, Z:0.59 [[ 9.86981230e-01 -1.58929122e-01 -2.46897904e-02 3.57404982e+01] [ 1.58898191e-01 9.87289716e-01 -3.22221215e-03 7.07843693e-01] [ 2.48880795e-02 -7.42900100e-04 9.99689968e-01 5.85952438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.913617865 meters 0.020046205028378863 Centerline is valid? [True, True] Translation: X:35.77, Y:0.71, Z:0.59 [[ 9.87210962e-01 -1.57528101e-01 -2.44829434e-02 3.57681027e+01] [ 1.57497180e-01 9.87514258e-01 -3.19828018e-03 7.13714901e-01] [ 2.46810746e-02 -6.98617269e-04 9.99695132e-01 5.85673481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94361786499999 meters 0.018691859192346824 Centerline is valid? [True, True] Translation: X:35.80, Y:0.72, Z:0.59 [[ 9.87295421e-01 -1.57053047e-01 -2.41265908e-02 3.57964469e+01] [ 1.57022784e-01 9.87589939e-01 -3.15554768e-03 7.21059514e-01] [ 2.43227667e-02 -6.72966686e-04 9.99703931e-01 5.86305708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.973617864999994 meters 0.019526030196880165 Centerline is valid? [True, True] Translation: X:35.82, Y:0.72, Z:0.59 [[ 9.87366074e-01 -1.56640985e-01 -2.39131124e-02 3.58244190e+01] [ 1.56611027e-01 9.87655393e-01 -3.13212591e-03 7.24292692e-01] [ 2.41085337e-02 -6.52502216e-04 9.99709134e-01 5.86148517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003617864999995 meters 0.01748299736885602 Centerline is valid? [True, True] Translation: X:35.85, Y:0.73, Z:0.59 [[ 9.87327917e-01 -1.56753862e-01 -2.47348173e-02 3.58515630e+01] [ 1.56721749e-01 9.87637470e-01 -3.24358326e-03 7.32176949e-01] [ 2.49374766e-02 -6.74003535e-04 9.99688786e-01 5.87585714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.033617865 meters 0.019955410231881233 Centerline is valid? [True, True] Translation: X:35.88, Y:0.73, Z:0.59 [[ 9.87209274e-01 -1.57517811e-01 -2.46168409e-02 3.58801796e+01] [ 1.57486109e-01 9.87515909e-01 -3.23345075e-03 7.31286027e-01] [ 2.48188481e-02 -6.84717921e-04 9.99691730e-01 5.86944127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.063617865 meters 0.018773749447383713 Centerline is valid? [True, True] Translation: X:35.91, Y:0.74, Z:0.59 [[ 9.86977630e-01 -1.58892663e-01 -2.50655171e-02 3.59084350e+01] [ 1.58860147e-01 9.87295594e-01 -3.29596698e-03 7.36742960e-01] [ 2.52707796e-02 -7.28866063e-04 9.99680377e-01 5.88569678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.093617865 meters 0.018519616292030392 Centerline is valid? [True, True] Translation: X:35.94, Y:0.74, Z:0.59 [[ 9.86716230e-01 -1.60579896e-01 -2.46003538e-02 3.59372926e+01] [ 1.60548953e-01 9.87022559e-01 -3.24069783e-03 7.40656904e-01] [ 2.48014951e-02 -7.51911895e-04 9.99692113e-01 5.89942684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.123617865 meters 0.020021119901099085 Centerline is valid? [True, True] Translation: X:35.97, Y:0.74, Z:0.59 [[ 9.86270098e-01 -1.63399408e-01 -2.39150149e-02 3.59655754e+01] [ 1.63370886e-01 9.86559679e-01 -3.15482676e-03 7.41794356e-01] [ 2.41090863e-02 -7.95505880e-04 9.99709017e-01 5.90922024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.153617864999994 meters 0.01962389013680197 Centerline is valid? [True, True] Translation: X:35.99, Y:0.75, Z:0.59 [[ 9.86121747e-01 -1.64294099e-01 -2.39029257e-02 3.59938135e+01] [ 1.64265796e-01 9.86411064e-01 -3.15621675e-03 7.46435176e-01] [ 2.40966581e-02 -8.14019152e-04 9.99709302e-01 5.91727639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.183617864999995 meters 0.01962389013680197 Centerline is valid? [True, True] Translation: X:36.02, Y:0.75, Z:0.59 [[ 9.86076848e-01 -1.64563475e-01 -2.39021364e-02 3.60211702e+01] [ 1.64535107e-01 9.86366159e-01 -3.16218464e-03 7.50116703e-01] [ 2.40966386e-02 -8.14583501e-04 9.99709302e-01 5.92178984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.213617864999996 meters 0.02103564604060151 Centerline is valid? [True, True] Translation: X:36.05, Y:0.75, Z:0.59 [[ 9.86008384e-01 -1.64935808e-01 -2.41587769e-02 3.60489962e+01] [ 1.64906811e-01 9.86303957e-01 -3.20138455e-03 7.52561726e-01] [ 2.43559202e-02 -8.27354849e-04 9.99703008e-01 5.91581766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243617865 meters 0.020267154738280353 Centerline is valid? [True, True] Translation: X:36.08, Y:0.76, Z:0.59 [[ 9.85987346e-01 -1.65035402e-01 -2.43365847e-02 3.60769031e+01] [ 1.65005918e-01 9.86287293e-01 -3.22857140e-03 7.58128006e-01] [ 2.45356929e-02 -8.32349956e-04 9.99698608e-01 5.91962936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.273617865 meters 0.020455602670875667 Centerline is valid? [True, True] Translation: X:36.10, Y:0.76, Z:0.59 [[ 9.85940940e-01 -1.65231644e-01 -2.48790471e-02 3.61048823e+01] [ 1.65200721e-01 9.86254421e-01 -3.30744501e-03 7.61776321e-01] [ 2.50835648e-02 -8.49091076e-04 9.99684997e-01 5.92305339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303617865 meters 0.02052273510034566 Centerline is valid? [True, True] Translation: X:36.13, Y:0.77, Z:0.59 [[ 9.85903389e-01 -1.65408346e-01 -2.51909810e-02 3.61326356e+01] [ 1.65376524e-01 9.86224794e-01 -3.35583354e-03 7.65576201e-01] [ 2.53990529e-02 -8.57469207e-04 9.99677024e-01 5.93079783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.333617864999994 meters 0.0205551393345259 Centerline is valid? [True, True] Translation: X:36.16, Y:0.77, Z:0.59 [[ 9.85864774e-01 -1.65732420e-01 -2.45644534e-02 3.61608810e+01] [ 1.65702098e-01 9.86170403e-01 -3.27894690e-03 7.69377794e-01] [ 2.47681648e-02 -8.37783230e-04 9.99692871e-01 5.93778903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.363617864999995 meters 0.02013030394196171 Centerline is valid? [True, True] Translation: X:36.19, Y:0.77, Z:0.59 [[ 9.85906987e-01 -1.65489676e-01 -2.45067200e-02 3.61898237e+01] [ 1.65459264e-01 9.86211179e-01 -3.27762303e-03 7.74030515e-01] [ 2.47112140e-02 -8.23432402e-04 9.99694292e-01 5.94725280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.393617864999996 meters 0.019475378952972418 Centerline is valid? [True, True] Translation: X:36.22, Y:0.78, Z:0.60 [[ 9.85991414e-01 -1.65058433e-01 -2.40134238e-02 3.62181640e+01] [ 1.65028968e-01 9.86283473e-01 -3.21733999e-03 7.78795496e-01] [ 2.42150921e-02 -7.90640933e-04 9.99706459e-01 5.96011903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.423617865 meters 0.020016094567216352 Centerline is valid? [True, True] Translation: X:36.25, Y:0.78, Z:0.60 [[ 9.86364066e-01 -1.62973452e-01 -2.29255913e-02 3.62458585e+01] [ 1.62945929e-01 9.86630205e-01 -3.07613091e-03 7.82152015e-01] [ 2.31204085e-02 -7.01446778e-04 9.99732442e-01 5.97207748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.453617865 meters 0.01945844199289017 Centerline is valid? [True, True] Translation: X:36.27, Y:0.79, Z:0.60 [[ 9.86559128e-01 -1.61873856e-01 -2.23146024e-02 3.62747132e+01] [ 1.61847425e-01 9.86811241e-01 -2.99742799e-03 7.87277494e-01] [ 2.25055057e-02 -6.54421002e-04 9.99746505e-01 5.98357063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.483617865 meters 0.018367075817229236 Centerline is valid? [True, True] Translation: X:36.30, Y:0.79, Z:0.60 [[ 9.86727512e-01 -1.60949281e-01 -2.15440700e-02 3.63028577e+01] [ 1.60924316e-01 9.86962492e-01 -2.89886107e-03 7.93993639e-01] [ 2.17297586e-02 -6.06578775e-04 9.99763697e-01 5.99613266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51361786499999 meters 0.017841038751126564 Centerline is valid? [True, True] Translation: X:36.33, Y:0.80, Z:0.60 [[ 9.87116877e-01 -1.58585600e-01 -2.12339062e-02 3.63299963e+01] [ 1.58560711e-01 9.87345083e-01 -2.86139784e-03 7.98771805e-01] [ 2.14189694e-02 -5.42329165e-04 9.99770440e-01 5.99379966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543617864999995 meters 0.017734524000890643 Centerline is valid? [True, True] Translation: X:36.36, Y:0.80, Z:0.60 [[ 9.87227733e-01 -1.57827298e-01 -2.17243272e-02 3.63585455e+01] [ 1.57801003e-01 9.87466585e-01 -2.93019121e-03 8.02251748e-01] [ 2.19145114e-02 -5.35354600e-04 9.99759705e-01 5.99316689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.573617864999996 meters 0.017358957854505197 Centerline is valid? [True, True] Translation: X:36.39, Y:0.81, Z:0.60 [[ 9.87481836e-01 -1.56189968e-01 -2.20072302e-02 3.63876266e+01] [ 1.56162461e-01 9.87726907e-01 -2.97359443e-03 8.05729130e-01] [ 2.22015791e-02 -5.00332738e-04 9.99753389e-01 5.99928953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603617865 meters 0.01697031267834693 Centerline is valid? [True, True] Translation: X:36.42, Y:0.81, Z:0.60 [[ 9.87551175e-01 -1.55733168e-01 -2.21327233e-02 3.64164323e+01] [ 1.55705114e-01 9.87799040e-01 -2.99578692e-03 8.09860347e-01] [ 2.23292263e-02 -4.87685329e-04 9.99750553e-01 6.00734287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.633617865 meters 0.01706734307332122 Centerline is valid? [True, True] Translation: X:36.44, Y:0.81, Z:0.60 [[ 9.87612510e-01 -1.55342889e-01 -2.21385813e-02 3.64437206e+01] [ 1.55314625e-01 9.87860497e-01 -3.00092751e-03 8.12923996e-01] [ 2.23360027e-02 -4.74691916e-04 9.99750408e-01 6.01325253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.663617865 meters 0.017396812423563883 Centerline is valid? [True, True] Translation: X:36.47, Y:0.82, Z:0.60 [[ 9.87612302e-01 -1.55301676e-01 -2.24350055e-02 3.64710568e+01] [ 1.55272592e-01 9.87866975e-01 -3.04320883e-03 8.15441568e-01] [ 2.26354165e-02 -4.78030994e-04 9.99743672e-01 6.01795882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69361786499999 meters 0.017793659001194936 Centerline is valid? [True, True] Translation: X:36.50, Y:0.82, Z:0.60 [[ 9.87551349e-01 -1.55644820e-01 -2.27381391e-02 3.64984644e+01] [ 1.55614974e-01 9.87812963e-01 -3.08703980e-03 8.17892457e-01] [ 2.29415103e-02 -4.89784606e-04 9.99736689e-01 6.02159666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723617864999994 meters 0.017009564076241185 Centerline is valid? [True, True] Translation: X:36.53, Y:0.82, Z:0.60 [[ 9.87374097e-01 -1.56785331e-01 -2.25998533e-02 3.65269646e+01] [ 1.56756065e-01 9.87632574e-01 -3.07177760e-03 8.22932267e-01] [ 2.28019609e-02 -5.09670437e-04 9.99739872e-01 6.03203451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.753617864999995 meters 0.018628860953198868 Centerline is valid? [True, True] Translation: X:36.55, Y:0.82, Z:0.60 [[ 9.87181931e-01 -1.57925891e-01 -2.30488345e-02 3.65549641e+01] [ 1.57895656e-01 9.87450819e-01 -3.13732921e-03 8.23171491e-01] [ 2.32550560e-02 -5.42196137e-04 9.99729418e-01 6.03106894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783617865 meters 0.01837990110332561 Centerline is valid? [True, True] Translation: X:36.58, Y:0.83, Z:0.60 [[ 9.86749094e-01 -1.60605747e-01 -2.30655368e-02 3.65837561e+01] [ 1.60576130e-01 9.87018455e-01 -3.14257521e-03 8.25568235e-01] [ 2.32708261e-02 -6.02841396e-04 9.99729016e-01 6.04730434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.813617865 meters 0.018509720766800325 Centerline is valid? [True, True] Translation: X:36.61, Y:0.83, Z:0.61 [[ 9.86271130e-01 -1.63371913e-01 -2.40598516e-02 3.66128068e+01] [ 1.63340367e-01 9.86564311e-01 -3.28390350e-03 8.28254354e-01] [ 2.42730885e-02 -6.91125770e-04 9.99705126e-01 6.05804284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.843617865 meters 0.019124639513863204 Centerline is valid? [True, True] Translation: X:36.64, Y:0.83, Z:0.61 [[ 9.85993693e-01 -1.65024663e-01 -2.41515668e-02 3.66413166e+01] [ 1.64993231e-01 9.86289171e-01 -3.30221746e-03 8.31467355e-01] [ 2.43653761e-02 -7.28879440e-04 9.99702854e-01 6.05769591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.873617865 meters 0.019376672830833837 Centerline is valid? [True, True] Translation: X:36.67, Y:0.84, Z:0.61 [[ 9.85822868e-01 -1.66102180e-01 -2.37347561e-02 3.66693973e+01] [ 1.66072028e-01 9.86108270e-01 -3.24966070e-03 8.35608289e-01] [ 2.39448150e-02 -7.38089260e-04 9.99713009e-01 6.06140037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903617864999994 meters 0.019381962213317363 Centerline is valid? [True, True] Translation: X:36.70, Y:0.84, Z:0.61 [[ 9.85655144e-01 -1.67187357e-01 -2.30721598e-02 3.66973432e+01] [ 1.67159118e-01 9.85924864e-01 -3.16086998e-03 8.40451839e-01] [ 2.32758736e-02 -7.41194123e-04 9.99728805e-01 6.07019891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.933617864999995 meters 0.01952241295687061 Centerline is valid? [True, True] Translation: X:36.73, Y:0.85, Z:0.61 [[ 9.85378998e-01 -1.68881513e-01 -2.25225338e-02 3.67262084e+01] [ 1.68854980e-01 9.85636067e-01 -3.08844661e-03 8.45546330e-01] [ 2.27206032e-02 -7.59751570e-04 9.99741565e-01 6.07770950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963617864999996 meters 0.01866080095167498 Centerline is valid? [True, True] Translation: X:36.75, Y:0.85, Z:0.61 [[ 9.85265148e-01 -1.69557547e-01 -2.24237890e-02 3.67545664e+01] [ 1.69531298e-01 9.85519990e-01 -3.08033901e-03 8.51385922e-01] [ 2.26213870e-02 -7.66583378e-04 9.99743810e-01 6.08590911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.993617865 meters 0.019620254801732937 Centerline is valid? [True, True] Translation: X:36.78, Y:0.85, Z:0.61 [[ 9.85248992e-01 -1.69649690e-01 -2.24367137e-02 3.67810700e+01] [ 1.69623326e-01 9.85504134e-01 -3.08690120e-03 8.53604014e-01] [ 2.26351659e-02 -7.64423709e-04 9.99743500e-01 6.09167464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.023617865 meters 0.019198894948268784 Centerline is valid? [True, True] Translation: X:36.81, Y:0.86, Z:0.61 [[ 9.85252868e-01 -1.69650874e-01 -2.22568426e-02 3.68089765e+01] [ 1.69624849e-01 9.85503938e-01 -3.06580686e-03 8.58627346e-01] [ 2.24543229e-02 -7.54718565e-04 9.99747585e-01 6.10010092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.053617865 meters 0.019758066503781 Centerline is valid? [True, True] Translation: X:36.84, Y:0.86, Z:0.61 [[ 9.85494030e-01 -1.68264696e-01 -2.21022366e-02 3.68366279e+01] [ 1.68238571e-01 9.85741591e-01 -3.04951635e-03 8.63524445e-01] [ 2.23002198e-02 -7.13168538e-04 9.99751065e-01 6.09818948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083617864999994 meters 0.01875172579537711 Centerline is valid? [True, True] Translation: X:36.86, Y:0.87, Z:0.61 [[ 9.85660421e-01 -1.67241945e-01 -2.24424934e-02 3.68645783e+01] [ 1.67214679e-01 9.85915638e-01 -3.09938695e-03 8.70572480e-01] [ 2.26447527e-02 -6.97771285e-04 9.99743331e-01 6.09693387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.113617864999995 meters 0.017772644290471932 Centerline is valid? [True, True] Translation: X:36.89, Y:0.88, Z:0.61 [[ 9.86123460e-01 -1.64410733e-01 -2.30137268e-02 3.68929674e+01] [ 1.64381161e-01 9.86391756e-01 -3.18384499e-03 8.79046092e-01] [ 2.32240087e-02 -6.43358896e-04 9.99730079e-01 6.09262984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143617864999996 meters 0.017545597660432156 Centerline is valid? [True, True] Translation: X:36.92, Y:0.88, Z:0.61 [[ 9.86378912e-01 -1.62858190e-01 -2.31052461e-02 3.69208236e+01] [ 1.62827832e-01 9.86649302e-01 -3.20186841e-03 8.84342391e-01] [ 2.33182254e-02 -6.03921650e-04 9.99727911e-01 6.09437286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.173617865 meters 0.018229155467340937 Centerline is valid? [True, True] Translation: X:36.95, Y:0.89, Z:0.61 [[ 9.86599294e-01 -1.61513000e-01 -2.31383840e-02 3.69488396e+01] [ 1.61482072e-01 9.86870421e-01 -3.21127954e-03 8.87861888e-01] [ 2.33532502e-02 -5.68188075e-04 9.99727114e-01 6.09211757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.203617865 meters 0.016953118980190814 Centerline is valid? [True, True] Translation: X:36.98, Y:0.90, Z:0.61 [[ 9.86872184e-01 -1.59877869e-01 -2.28551978e-02 3.69768449e+01] [ 1.59847172e-01 9.87136666e-01 -3.17560091e-03 8.96331510e-01] [ 2.30689121e-02 -5.19426537e-04 9.99733742e-01 6.10174722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.233617865 meters 0.017008861699034632 Centerline is valid? [True, True] Translation: X:37.00, Y:0.90, Z:0.61 [[ 9.86878386e-01 -1.59885016e-01 -2.25351272e-02 3.70043199e+01] [ 1.59855048e-01 9.87135515e-01 -3.13669939e-03 9.01292142e-01] [ 2.27467356e-02 -5.06813000e-04 9.99741131e-01 6.10102060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26361786499999 meters 0.016553389194986584 Centerline is valid? [True, True] Translation: X:37.03, Y:0.91, Z:0.61 [[ 9.86749707e-01 -1.60741234e-01 -2.20742064e-02 3.70326393e+01] [ 1.60712565e-01 9.86996452e-01 -3.07832146e-03 9.08365441e-01] [ 2.22819766e-02 -5.10069525e-04 9.99751596e-01 6.10218402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.293617864999995 meters 0.016518571120764956 Centerline is valid? [True, True] Translation: X:37.06, Y:0.91, Z:0.61 [[ 9.86550197e-01 -1.62020039e-01 -2.16383183e-02 3.70611635e+01] [ 1.61992683e-01 9.86787329e-01 -3.02278876e-03 9.12898431e-01] [ 2.18421707e-02 -5.23116387e-04 9.99761294e-01 6.10791728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323617864999996 meters 0.017306986346400526 Centerline is valid? [True, True] Translation: X:37.09, Y:0.92, Z:0.61 [[ 9.86398562e-01 -1.63032057e-01 -2.09385995e-02 3.70892992e+01] [ 1.63006578e-01 9.86620633e-01 -2.92936342e-03 9.15145625e-01] [ 2.11360345e-02 -5.23609592e-04 9.99776472e-01 6.11340069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.353617865 meters 0.01749972230818697 Centerline is valid? [True, True] Translation: X:37.12, Y:0.92, Z:0.61 [[ 9.86153809e-01 -1.64675302e-01 -1.95629589e-02 3.71183044e+01] [ 1.64653342e-01 9.86347695e-01 -2.73905141e-03 9.18929541e-01] [ 1.97469335e-02 -5.19980580e-04 9.99804875e-01 6.12366589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.383617865 meters 0.018377479658031645 Centerline is valid? [True, True] Translation: X:37.15, Y:0.92, Z:0.61 [[ 9.85760378e-01 -1.67207020e-01 -1.78406889e-02 3.71458617e+01] [ 1.67189104e-01 9.85921673e-01 -2.50165659e-03 9.21984284e-01] [ 1.80078164e-02 -5.16734834e-04 9.99837713e-01 6.14040235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.413617865 meters 0.01839288554249705 Centerline is valid? [True, True] Translation: X:37.17, Y:0.93, Z:0.61 [[ 9.85612659e-01 -1.68111835e-01 -1.74956226e-02 3.71738136e+01] [ 1.68094721e-01 9.85767792e-01 -2.45475252e-03 9.26867887e-01] [ 1.76592942e-02 -5.21486644e-04 9.99843927e-01 6.14267692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44361786499999 meters 0.019004019371660547 Centerline is valid? [True, True] Translation: X:37.20, Y:0.93, Z:0.61 [[ 9.85524627e-01 -1.68626101e-01 -1.75056637e-02 3.72012093e+01] [ 1.68609022e-01 9.85679947e-01 -2.45767605e-03 9.30762803e-01] [ 1.76694100e-02 -5.29512574e-04 9.99843744e-01 6.14336664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.473617864999994 meters 0.01826538249929132 Centerline is valid? [True, True] Translation: X:37.23, Y:0.94, Z:0.61 [[ 9.85451251e-01 -1.69167424e-01 -1.63772563e-02 3.72281401e+01] [ 1.69152528e-01 9.85587200e-01 -2.30059775e-03 9.37508693e-01] [ 1.65304004e-02 -5.03127384e-04 9.99863237e-01 6.14575976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503617864999995 meters 0.019928150095978377 Centerline is valid? [True, True] Translation: X:37.26, Y:0.94, Z:0.61 [[ 9.85452421e-01 -1.69191255e-01 -1.60575355e-02 3.72551386e+01] [ 1.69176867e-01 9.85583117e-01 -2.26012143e-03 9.39021331e-01] [ 1.62084287e-02 -4.89321407e-04 9.99868515e-01 6.14936677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.533617865 meters 0.01808570415404416 Centerline is valid? [True, True] Translation: X:37.28, Y:0.95, Z:0.61 [[ 9.85565170e-01 -1.68543298e-01 -1.59515569e-02 3.72830186e+01] [ 1.68528983e-01 9.85694137e-01 -2.24709254e-03 9.47607430e-01] [ 1.61020885e-02 -4.73643522e-04 9.99870241e-01 6.14467366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.563617865 meters 0.017843930246105335 Centerline is valid? [True, True] Translation: X:37.31, Y:0.95, Z:0.61 [[ 9.85617598e-01 -1.68256486e-01 -1.57386696e-02 3.73112886e+01] [ 1.68242454e-01 9.85743143e-01 -2.22090346e-03 9.52854343e-01] [ 1.58879671e-02 -4.58950864e-04 9.99873673e-01 6.14500240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.593617865 meters 0.018095006640035573 Centerline is valid? [True, True] Translation: X:37.34, Y:0.96, Z:0.61 [[ 9.85819303e-01 -1.67033260e-01 -1.61304823e-02 3.73384703e+01] [ 1.67018291e-01 9.85951160e-01 -2.28026816e-03 9.56566394e-01] [ 1.62847484e-02 -4.46153217e-04 9.99867295e-01 6.14955509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62361786499999 meters 0.01762431688434323 Centerline is valid? [True, True] Translation: X:37.37, Y:0.96, Z:0.62 [[ 9.85912751e-01 -1.66453696e-01 -1.64077299e-02 3.73664633e+01] [ 1.66438092e-01 9.86049173e-01 -2.32162586e-03 9.62127029e-01] [ 1.65652717e-02 -4.41950724e-04 9.99862689e-01 6.15487472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.653617864999994 meters 0.01714936798567194 Centerline is valid? [True, True] Translation: X:37.40, Y:0.97, Z:0.62 [[ 9.86379514e-01 -1.63571016e-01 -1.73198641e-02 3.73951422e+01] [ 1.63553107e-01 9.86531476e-01 -2.45511124e-03 9.68079658e-01] [ 1.74881761e-02 -4.11046156e-04 9.99846986e-01 6.15496633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683617864999995 meters 0.01678192242400241 Centerline is valid? [True, True] Translation: X:37.42, Y:0.97, Z:0.62 [[ 9.86567955e-01 -1.62449935e-01 -1.71373546e-02 3.74236904e+01] [ 1.62432165e-01 9.86716713e-01 -2.43307316e-03 9.73651180e-01] [ 1.73049668e-02 -3.83265604e-04 9.99850184e-01 6.15885957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.713617864999996 meters 0.016771287342168966 Centerline is valid? [True, True] Translation: X:37.45, Y:0.98, Z:0.62 [[ 9.86742889e-01 -1.61386541e-01 -1.71130015e-02 3.74509055e+01] [ 1.61368593e-01 9.86891207e-01 -2.43363643e-03 9.78502914e-01] [ 1.72814269e-02 -3.60127530e-04 9.99850600e-01 6.16362813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743617865 meters 0.01616922585573614 Centerline is valid? [True, True] Translation: X:37.48, Y:0.99, Z:0.62 [[ 9.87076016e-01 -1.59375787e-01 -1.67420575e-02 3.74791791e+01] [ 1.59358294e-01 9.87217939e-01 -2.38237574e-03 9.85498620e-01] [ 1.69077525e-02 -3.16399766e-04 9.99857004e-01 6.16629981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.773617865 meters 0.016252462427115533 Centerline is valid? [True, True] Translation: X:37.51, Y:0.99, Z:0.62 [[ 9.87157352e-01 -1.58887671e-01 -1.65852303e-02 3.75065229e+01] [ 1.58870369e-01 9.87296621e-01 -2.36400874e-03 9.89749646e-01] [ 1.67501537e-02 -3.01253052e-04 9.99859661e-01 6.16563994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803617865 meters 0.01599463712211678 Centerline is valid? [True, True] Translation: X:37.53, Y:0.99, Z:0.62 [[ 9.87299966e-01 -1.57921671e-01 -1.73067392e-02 3.75347763e+01] [ 1.57902653e-01 9.87451598e-01 -2.46857114e-03 9.94824817e-01] [ 1.74794081e-02 -2.95559830e-04 9.99847180e-01 6.16175081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.833617864999994 meters 0.016059086831804053 Centerline is valid? [True, True] Translation: X:37.56, Y:1.00, Z:0.62 [[ 9.87239937e-01 -1.58283770e-01 -1.74228069e-02 3.75627966e+01] [ 1.58264477e-01 9.87393619e-01 -2.48940506e-03 9.98796813e-01] [ 1.75972008e-02 -2.99771325e-04 9.99845112e-01 6.16453943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863617864999995 meters 0.016135500569110707 Centerline is valid? [True, True] Translation: X:37.59, Y:1.00, Z:0.62 [[ 9.87206600e-01 -1.58487867e-01 -1.74563665e-02 3.75896431e+01] [ 1.58468450e-01 9.87360879e-01 -2.49882844e-03 1.00214518e+00] [ 1.76317673e-02 -2.99423399e-04 9.99844503e-01 6.17242931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.893617864999996 meters 0.016042537743486178 Centerline is valid? [True, True] Translation: X:37.62, Y:1.01, Z:0.62 [[ 9.87117702e-01 -1.59049788e-01 -1.73726140e-02 3.76177660e+01] [ 1.59030604e-01 9.87270516e-01 -2.48908526e-03 1.00658147e+00] [ 1.75473581e-02 -3.05757179e-04 9.99845987e-01 6.18844403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923617865 meters 0.016083588151312132 Centerline is valid? [True, True] Translation: X:37.65, Y:1.01, Z:0.62 [[ 9.86960791e-01 -1.60042263e-01 -1.71717938e-02 3.76459257e+01] [ 1.60023588e-01 9.87110113e-01 -2.46500896e-03 1.01152534e+00] [ 1.73449570e-02 -3.15024873e-04 9.99849515e-01 6.19609256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.953617865 meters 0.016083588151312132 Centerline is valid? [True, True] Translation: X:37.67, Y:1.02, Z:0.62 [[ 9.86917052e-01 -1.60311830e-01 -1.71711997e-02 3.76732176e+01] [ 1.60293124e-01 9.87066369e-01 -2.46914112e-03 1.01551701e+00] [ 1.73449462e-02 -3.15587768e-04 9.99849515e-01 6.20060385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.983617865 meters 0.016418533090664014 Centerline is valid? [True, True] Translation: X:37.70, Y:1.02, Z:0.62 [[ 9.86746581e-01 -1.61365735e-01 -1.70963426e-02 3.77007374e+01] [ 1.61347272e-01 9.86894620e-01 -2.46295781e-03 1.01976106e+00] [ 1.72697256e-02 -3.28133041e-04 9.99850813e-01 6.20884823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01361786499999 meters 0.01669832263992985 Centerline is valid? [True, True] Translation: X:37.73, Y:1.02, Z:0.62 [[ 9.86610390e-01 -1.62206655e-01 -1.69982248e-02 3.77295575e+01] [ 1.62188500e-01 9.86756751e-01 -2.45039803e-03 1.02361450e+00] [ 1.71705839e-02 -3.39328425e-04 9.99852517e-01 6.21648613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043617864999995 meters 0.016759935535848335 Centerline is valid? [True, True] Translation: X:37.76, Y:1.03, Z:0.62 [[ 9.86431091e-01 -1.63336511e-01 -1.65797245e-02 3.77582834e+01] [ 1.63319334e-01 9.86570354e-01 -2.39393543e-03 1.02741702e+00] [ 1.67480818e-02 -3.46337244e-04 9.99859681e-01 6.23083265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.073617864999996 meters 0.016523435537642378 Centerline is valid? [True, True] Translation: X:37.79, Y:1.03, Z:0.62 [[ 9.86098656e-01 -1.65319610e-01 -1.66993128e-02 3.77867887e+01] [ 1.65302400e-01 9.86239972e-01 -2.41522779e-03 1.03271524e+00] [ 1.68688144e-02 -3.78783611e-04 9.99857640e-01 6.24162930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103617865 meters 0.016523435537642378 Centerline is valid? [True, True] Translation: X:37.81, Y:1.04, Z:0.62 [[ 9.86052646e-01 -1.65593880e-01 -1.66987220e-02 3.78140813e+01] [ 1.65576640e-01 9.86193958e-01 -2.41930621e-03 1.03672820e+00] [ 1.68688010e-02 -3.79354991e-04 9.99857640e-01 6.24614099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.133617865 meters 0.017103426594029327 Centerline is valid? [True, True] Translation: X:37.84, Y:1.04, Z:0.62 [[ 9.85880372e-01 -1.66561686e-01 -1.72364776e-02 3.78414417e+01] [ 1.66543382e-01 9.86030954e-01 -2.50206274e-03 1.03970059e+00] [ 1.74124482e-02 -4.03886726e-04 9.99848310e-01 6.24980857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.163617865 meters 0.01886254574716127 Centerline is valid? [True, True] Translation: X:37.87, Y:1.04, Z:0.63 [[ 9.85707800e-01 -1.67589280e-01 -1.71454529e-02 3.78695332e+01] [ 1.67571298e-01 9.85856814e-01 -2.49034739e-03 1.04071407e+00] [ 1.73203171e-02 -4.18330946e-04 9.99849905e-01 6.25379739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19361786499999 meters 0.01745399946577417 Centerline is valid? [True, True] Translation: X:37.90, Y:1.05, Z:0.63 [[ 9.85473251e-01 -1.68926213e-01 -1.75044443e-02 3.78970787e+01] [ 1.68907653e-01 9.85628598e-01 -2.54408377e-03 1.04887377e+00] [ 1.76826433e-02 -4.49508090e-04 9.99843549e-01 6.25914869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223617864999994 meters 0.018382070933544537 Centerline is valid? [True, True] Translation: X:37.92, Y:1.05, Z:0.63 [[ 9.85096626e-01 -1.71103310e-01 -1.75583042e-02 3.79248999e+01] [ 1.71084941e-01 9.85252972e-01 -2.55415415e-03 1.05280114e+00] [ 1.77363957e-02 -4.87872815e-04 9.99842579e-01 6.25726521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.253617864999995 meters 0.01862074580169041 Centerline is valid? [True, True] Translation: X:37.95, Y:1.06, Z:0.63 [[ 9.84879085e-01 -1.72293623e-01 -1.81133783e-02 3.79534076e+01] [ 1.72274240e-01 9.85045498e-01 -2.63680372e-03 1.05674933e+00] [ 1.82968063e-02 -5.23535650e-04 9.99832462e-01 6.26126060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283617865 meters 0.019565804756552268 Centerline is valid? [True, True] Translation: X:37.98, Y:1.06, Z:0.63 [[ 9.84478616e-01 -1.74490095e-01 -1.88430706e-02 3.79813967e+01] [ 1.74469436e-01 9.84658757e-01 -2.74744195e-03 1.05962967e+00] [ 1.90333958e-02 -5.82742051e-04 9.99818679e-01 6.26914741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.313617865 meters 0.019369742441154643 Centerline is valid? [True, True] Translation: X:38.01, Y:1.07, Z:0.63 [[ 9.84233057e-01 -1.75850285e-01 -1.90254116e-02 3.80100685e+01] [ 1.75829425e-01 9.84416732e-01 -2.77681741e-03 1.06558218e+00] [ 1.92172377e-02 -6.12191700e-04 9.99815144e-01 6.26827868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.343617865 meters 0.020661179787961975 Centerline is valid? [True, True] Translation: X:38.04, Y:1.07, Z:0.63 [[ 9.84057709e-01 -1.76755952e-01 -1.96915828e-02 3.80379122e+01] [ 1.76733697e-01 9.84254497e-01 -2.87856027e-03 1.06878221e+00] [ 1.98903315e-02 -6.47496793e-04 9.99801958e-01 6.26324927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37361786499999 meters 0.019031114690966827 Centerline is valid? [True, True] Translation: X:38.07, Y:1.08, Z:0.63 [[ 9.83881068e-01 -1.77642305e-01 -2.05245313e-02 3.80662737e+01] [ 1.77618253e-01 9.84094881e-01 -3.00355098e-03 1.07718299e+00] [ 2.07316439e-02 -6.90394438e-04 9.99784838e-01 6.26663212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403617864999994 meters 0.01906514133130863 Centerline is valid? [True, True] Translation: X:38.09, Y:1.08, Z:0.63 [[ 9.83656348e-01 -1.78817804e-01 -2.10803793e-02 3.80948644e+01] [ 1.78792588e-01 9.83881935e-01 -3.09021877e-03 1.08277329e+00] [ 2.12931905e-02 -7.29302252e-04 9.99773008e-01 6.26847236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.433617864999995 meters 0.01958535579717352 Centerline is valid? [True, True] Translation: X:38.12, Y:1.09, Z:0.63 [[ 9.83596310e-01 -1.79102632e-01 -2.14603575e-02 3.81226166e+01] [ 1.79076467e-01 9.83830114e-01 -3.15049140e-03 1.08646361e+00] [ 2.16776073e-02 -7.44233295e-04 9.99764736e-01 6.27414799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463617864999996 meters 0.019334216903428934 Centerline is valid? [True, True] Translation: X:38.15, Y:1.09, Z:0.63 [[ 9.83559593e-01 -1.79253009e-01 -2.18834680e-02 3.81504368e+01] [ 1.79225772e-01 9.83802715e-01 -3.21565549e-03 1.09165004e+00] [ 2.21054312e-02 -7.59292642e-04 9.99755357e-01 6.28046893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.493617865 meters 0.019356801483855313 Centerline is valid? [True, True] Translation: X:38.18, Y:1.10, Z:0.63 [[ 9.83646152e-01 -1.78811939e-01 -2.15994851e-02 3.81791097e+01] [ 1.78785184e-01 9.83882997e-01 -3.17915701e-03 1.09857430e+00] [ 2.18198374e-02 -7.34502374e-04 9.99761649e-01 6.29055920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.523617865 meters 0.020020395532756984 Centerline is valid? [True, True] Translation: X:38.21, Y:1.10, Z:0.63 [[ 9.83774119e-01 -1.78126898e-01 -2.14310969e-02 3.82071745e+01] [ 1.78100322e-01 9.84007268e-01 -3.15778777e-03 1.10298119e+00] [ 2.16508420e-02 -7.10335371e-04 9.99765341e-01 6.29065890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.553617865 meters 0.019435857898795997 Centerline is valid? [True, True] Translation: X:38.23, Y:1.11, Z:0.63 [[ 9.84084721e-01 -1.76280639e-01 -2.24142559e-02 3.82349136e+01] [ 1.76250963e-01 9.84339704e-01 -3.30826071e-03 1.11070465e+00] [ 2.26464243e-02 -6.94925371e-04 9.99743295e-01 6.28756170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583617864999994 meters 0.01850281874433053 Centerline is valid? [True, True] Translation: X:38.26, Y:1.12, Z:0.63 [[ 9.84189145e-01 -1.75613869e-01 -2.30542023e-02 3.82633616e+01] [ 1.75582160e-01 9.84458881e-01 -3.40837439e-03 1.11743383e+00] [ 2.32944720e-02 -6.93421569e-04 9.99728406e-01 6.29664511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.613617864999995 meters 0.0182760327790902 Centerline is valid? [True, True] Translation: X:38.29, Y:1.12, Z:0.63 [[ 9.84314147e-01 -1.74940661e-01 -2.28347272e-02 3.82922315e+01] [ 1.74909247e-01 9.84578754e-01 -3.38136431e-03 1.12270067e+00] [ 2.30741254e-02 -6.65680205e-04 9.99733535e-01 6.30452982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643617864999996 meters 0.018419071834933996 Centerline is valid? [True, True] Translation: X:38.32, Y:1.13, Z:0.63 [[ 9.84553097e-01 -1.73640298e-01 -2.24554190e-02 3.83194138e+01] [ 1.73609486e-01 9.84808947e-01 -3.32936385e-03 1.12809531e+00] [ 2.26924093e-02 -6.20538251e-04 9.99742302e-01 6.31121740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.673617865 meters 0.017864360475944568 Centerline is valid? [True, True] Translation: X:38.35, Y:1.13, Z:0.63 [[ 9.84625161e-01 -1.73240854e-01 -2.23807719e-02 3.83474352e+01] [ 1.73210077e-01 9.84879302e-01 -3.32119769e-03 1.13420710e+00] [ 2.26177262e-02 -6.06440421e-04 9.99744003e-01 6.32071232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.703617865 meters 0.017820062818930896 Centerline is valid? [True, True] Translation: X:38.38, Y:1.14, Z:0.63 [[ 9.84560266e-01 -1.73625437e-01 -2.22551112e-02 3.83752490e+01] [ 1.73594977e-01 9.84811576e-01 -3.30815156e-03 1.13936216e+00] [ 2.24914704e-02 -6.06300937e-04 9.99746851e-01 6.32878908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.733617865 meters 0.017898406806893637 Centerline is valid? [True, True] Translation: X:38.40, Y:1.15, Z:0.63 [[ 9.84534448e-01 -1.73802631e-01 -2.20128615e-02 3.84024532e+01] [ 1.73772741e-01 9.84780325e-01 -3.27818700e-03 1.14504628e+00] [ 2.22475904e-02 -5.97747255e-04 9.99752313e-01 6.33414437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76361786499999 meters 0.01805213066603691 Centerline is valid? [True, True] Translation: X:38.43, Y:1.15, Z:0.63 [[ 9.84489542e-01 -1.73992096e-01 -2.25187017e-02 3.84302527e+01] [ 1.73960722e-01 9.84746860e-01 -3.35982006e-03 1.14943745e+00] [ 2.27598029e-02 -6.09661879e-04 9.99740776e-01 6.33979627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.793617864999995 meters 0.018343816191466016 Centerline is valid? [True, True] Translation: X:38.46, Y:1.15, Z:0.63 [[ 9.84459973e-01 -1.74124219e-01 -2.27885327e-02 3.84583051e+01] [ 1.74092007e-01 9.84723503e-01 -3.40513637e-03 1.15327331e+00] [ 2.30333205e-02 -6.15080931e-04 9.99734509e-01 6.34182360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823617864999996 meters 0.01839570527969459 Centerline is valid? [True, True] Translation: X:38.49, Y:1.16, Z:0.63 [[ 9.84337579e-01 -1.74762956e-01 -2.31827478e-02 3.84862797e+01] [ 1.74729751e-01 9.84610329e-01 -3.46603349e-03 1.15781928e+00] [ 2.34317072e-02 -6.38968720e-04 9.99725236e-01 6.34143373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.853617865 meters 0.019306186353406196 Centerline is valid? [True, True] Translation: X:38.51, Y:1.16, Z:0.63 [[ 9.84071708e-01 -1.76046168e-01 -2.47107432e-02 3.85134821e+01] [ 1.76008787e-01 9.84381654e-01 -3.69680901e-03 1.16081878e+00] [ 2.49756114e-02 -7.11382775e-04 9.99687808e-01 6.33170928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.883617865 meters 0.018325886176547266 Centerline is valid? [True, True] Translation: X:38.54, Y:1.17, Z:0.63 [[ 9.83899405e-01 -1.76936733e-01 -2.52062281e-02 3.85413709e+01] [ 1.76898066e-01 9.84221944e-01 -3.77338443e-03 1.16619130e+00] [ 2.54761732e-02 -7.46302318e-04 9.99675151e-01 6.34058497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.913617865 meters 0.019888158921843455 Centerline is valid? [True, True] Translation: X:38.57, Y:1.17, Z:0.63 [[ 9.83670607e-01 -1.78231444e-01 -2.50137653e-02 3.85694707e+01] [ 1.78193721e-01 9.83988291e-01 -3.74708928e-03 1.16727131e+00] [ 2.52811013e-02 -7.71394312e-04 9.99680084e-01 6.34424317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94361786499999 meters 0.019135811403982832 Centerline is valid? [True, True] Translation: X:38.60, Y:1.17, Z:0.64 [[ 9.83289573e-01 -1.80429192e-01 -2.42264978e-02 3.85979869e+01] [ 1.80394375e-01 9.83587652e-01 -3.63310376e-03 1.17153456e+00] [ 2.44844021e-02 -7.97930885e-04 9.99699894e-01 6.36275924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.973617864999994 meters 0.019091473467590492 Centerline is valid? [True, True] Translation: X:38.63, Y:1.18, Z:0.64 [[ 9.83161075e-01 -1.81134268e-01 -2.41801233e-02 3.86264267e+01] [ 1.81099654e-01 9.83458044e-01 -3.63199344e-03 1.17577613e+00] [ 2.44380153e-02 -8.08177408e-04 9.99701020e-01 6.36760594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003617864999995 meters 0.019266788617926675 Centerline is valid? [True, True] Translation: X:38.65, Y:1.18, Z:0.64 [[ 9.83245163e-01 -1.80608701e-01 -2.46869540e-02 3.86546826e+01] [ 1.80572305e-01 9.83554700e-01 -3.71418152e-03 1.17977737e+00] [ 2.49517832e-02 -8.05829171e-04 9.99688331e-01 6.36530435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.033617865 meters 0.017575054632556673 Centerline is valid? [True, True] Translation: X:38.68, Y:1.19, Z:0.64 [[ 9.83289814e-01 -1.80326138e-01 -2.49725098e-02 3.86828357e+01] [ 1.80288648e-01 9.83606548e-01 -3.76330770e-03 1.18655294e+00] [ 2.52417469e-02 -8.01837910e-04 9.99681055e-01 6.37218322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.063617865 meters 0.018860268701985115 Centerline is valid? [True, True] Translation: X:38.71, Y:1.19, Z:0.64 [[ 9.83371402e-01 -1.79748042e-01 -2.59099657e-02 3.87112892e+01] [ 1.79707350e-01 9.83712348e-01 -3.90969187e-03 1.18764409e+00] [ 2.61907126e-02 -8.11532091e-04 9.99656635e-01 6.36623853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.093617865 meters 0.018000308307421834 Centerline is valid? [True, True] Translation: X:38.74, Y:1.19, Z:0.64 [[ 9.83618874e-01 -1.78304505e-01 -2.64842166e-02 3.87397848e+01] [ 1.78261359e-01 9.83975043e-01 -4.00034380e-03 1.19247489e+00] [ 2.67730875e-02 -7.86298772e-04 9.99641227e-01 6.37529822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12361786499999 meters 0.017489259162717825 Centerline is valid? [True, True] Translation: X:38.77, Y:1.20, Z:0.64 [[ 9.83755849e-01 -1.77582879e-01 -2.62440608e-02 3.87685185e+01] [ 1.77540085e-01 9.84105560e-01 -3.97050238e-03 1.19802783e+00] [ 2.65320194e-02 -7.53367853e-04 9.99647680e-01 6.38108184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.153617864999994 meters 0.01741827130004874 Centerline is valid? [True, True] Translation: X:38.80, Y:1.20, Z:0.64 [[ 9.83907083e-01 -1.76765165e-01 -2.60945955e-02 3.87975365e+01] [ 1.76722405e-01 9.84252791e-01 -3.95414100e-03 1.20245433e+00] [ 2.63826328e-02 -7.20992325e-04 9.99651658e-01 6.38245024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183617864999995 meters 0.01775554706188805 Centerline is valid? [True, True] Translation: X:38.82, Y:1.21, Z:0.64 [[ 9.84015987e-01 -1.76105809e-01 -2.64439144e-02 3.88249823e+01] [ 1.76061522e-01 9.84370989e-01 -4.01215481e-03 1.20541427e+00] [ 2.67371859e-02 -7.07731317e-04 9.99642247e-01 6.38073426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.213617864999996 meters 0.018043599754835705 Centerline is valid? [True, True] Translation: X:38.85, Y:1.21, Z:0.64 [[ 9.84284124e-01 -1.74382383e-01 -2.78486730e-02 3.88524952e+01] [ 1.74332485e-01 9.84677767e-01 -4.22850633e-03 1.20793517e+00] [ 2.81593461e-02 -6.92876718e-04 9.99603207e-01 6.37618990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.243617865 meters 0.01750048716319234 Centerline is valid? [True, True] Translation: X:38.88, Y:1.21, Z:0.64 [[ 9.84395795e-01 -1.73788165e-01 -2.76150677e-02 3.88810479e+01] [ 1.73738752e-01 9.84782834e-01 -4.19713477e-03 1.21235372e+00] [ 2.79242570e-02 -6.66165587e-04 9.99609820e-01 6.38361241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.273617865 meters 0.0174231786434838 Centerline is valid? [True, True] Translation: X:38.91, Y:1.22, Z:0.64 [[ 9.84434608e-01 -1.73472985e-01 -2.82068466e-02 3.89088875e+01] [ 1.73421097e-01 9.84838404e-01 -4.29430100e-03 1.21536323e+00] [ 2.85241310e-02 -6.64203755e-04 9.99592884e-01 6.39284712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30361786499999 meters 0.016863805547658647 Centerline is valid? [True, True] Translation: X:38.94, Y:1.22, Z:0.64 [[ 9.84437181e-01 -1.73374278e-01 -2.87192610e-02 3.89371224e+01] [ 1.73320213e-01 9.84855785e-01 -4.38030199e-03 1.21774917e+00] [ 2.90437621e-02 -6.65496293e-04 9.99577919e-01 6.40395480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.333617864999994 meters 0.016459715870808266 Centerline is valid? [True, True] Translation: X:38.97, Y:1.22, Z:0.64 [[ 9.84344966e-01 -1.73824793e-01 -2.91535510e-02 3.89655181e+01] [ 1.73769047e-01 9.84776359e-01 -4.45434386e-03 1.22227306e+00] [ 2.94840032e-02 -6.81373839e-04 9.99565020e-01 6.40896975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363617864999995 meters 0.017176783409638942 Centerline is valid? [True, True] Translation: X:38.99, Y:1.22, Z:0.64 [[ 9.84324229e-01 -1.73948134e-01 -2.91180191e-02 3.89920417e+01] [ 1.73892413e-01 9.84754582e-01 -4.45452405e-03 1.22486663e+00] [ 2.94489589e-02 -6.78706641e-04 9.99566055e-01 6.40103777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.393617864999996 meters 0.01728574952770966 Centerline is valid? [True, True] Translation: X:39.02, Y:1.23, Z:0.64 [[ 9.84256969e-01 -1.74295683e-01 -2.93127067e-02 3.90200407e+01] [ 1.74239201e-01 9.84693120e-01 -4.48993052e-03 1.22837217e+00] [ 2.96465962e-02 -6.88177196e-04 9.99560206e-01 6.40430504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423617865 meters 0.017593160208594312 Centerline is valid? [True, True] Translation: X:39.05, Y:1.23, Z:0.64 [[ 9.83989857e-01 -1.75911649e-01 -2.86191166e-02 3.90494365e+01] [ 1.75858278e-01 9.84405701e-01 -4.39105871e-03 1.22891106e+00] [ 2.89452599e-02 -7.12151330e-04 9.99580744e-01 6.41165087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.453617865 meters 0.018251267181055717 Centerline is valid? [True, True] Translation: X:39.08, Y:1.23, Z:0.64 [[ 9.83783991e-01 -1.77187230e-01 -2.78162540e-02 3.90773216e+01] [ 1.77137186e-01 9.84176895e-01 -4.27267838e-03 1.22929588e+00] [ 2.81331785e-02 -7.23900374e-04 9.99603922e-01 6.42582975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.483617865 meters 0.018594142936343993 Centerline is valid? [True, True] Translation: X:39.11, Y:1.23, Z:0.64 [[ 9.83233613e-01 -1.80520739e-01 -2.57667600e-02 3.91059853e+01] [ 1.80478887e-01 9.83570887e-01 -3.95997769e-03 1.22888177e+00] [ 2.60582931e-02 -7.56772997e-04 9.99660139e-01 6.44982914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51361786499999 meters 0.019925370454242777 Centerline is valid? [True, True] Translation: X:39.13, Y:1.23, Z:0.65 [[ 9.82946728e-01 -1.82210447e-01 -2.48008633e-02 3.91341634e+01] [ 1.82172158e-01 9.83259254e-01 -3.81361439e-03 1.22947902e+00] [ 2.50805587e-02 -7.69447003e-04 9.99685137e-01 6.45497471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543617864999995 meters 0.019447240400362813 Centerline is valid? [True, True] Translation: X:39.16, Y:1.23, Z:0.65 [[ 9.82698855e-01 -1.83648938e-01 -2.40005865e-02 3.91630133e+01] [ 1.83613432e-01 9.82991589e-01 -3.69377273e-03 1.23328686e+00] [ 2.42707321e-02 -7.76963816e-04 9.99705120e-01 6.46541595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.573617864999996 meters 0.021104277139968125 Centerline is valid? [True, True] Translation: X:39.19, Y:1.23, Z:0.65 [[ 9.82565358e-01 -1.84195081e-01 -2.52485614e-02 3.91916943e+01] [ 1.84155841e-01 9.82889357e-01 -3.89071386e-03 1.23144719e+00] [ 2.55331926e-02 -8.26789413e-04 9.99673633e-01 6.45203500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603617865 meters 0.02125531432580675 Centerline is valid? [True, True] Translation: X:39.22, Y:1.23, Z:0.64 [[ 9.82686835e-01 -1.83429847e-01 -2.60782401e-02 3.92193485e+01] [ 1.83387658e-01 9.83032451e-01 -4.02079938e-03 1.23366471e+00] [ 2.63732909e-02 -8.31240741e-04 9.99651819e-01 6.44885485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.633617865 meters 0.020515182267615 Centerline is valid? [True, True] Translation: X:39.25, Y:1.24, Z:0.65 [[ 9.82869276e-01 -1.82386058e-01 -2.65200290e-02 3.92479001e+01] [ 1.82341947e-01 9.83226660e-01 -4.09265637e-03 1.23732877e+00] [ 2.68216430e-02 -8.13167528e-04 9.99639904e-01 6.45077988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.663617865 meters 0.018087002475032768 Centerline is valid? [True, True] Translation: X:39.28, Y:1.24, Z:0.65 [[ 9.83483871e-01 -1.79033778e-01 -2.65778462e-02 3.92764504e+01] [ 1.78988130e-01 9.83842665e-01 -4.10605822e-03 1.24312254e+00] [ 2.68835421e-02 -7.18876946e-04 9.99638314e-01 6.46432382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69361786499999 meters 0.017321549549090806 Centerline is valid? [True, True] Translation: X:39.31, Y:1.25, Z:0.65 [[ 9.83787674e-01 -1.77335629e-01 -2.67186506e-02 3.93054534e+01] [ 1.77288775e-01 9.84150203e-01 -4.13132464e-03 1.24807160e+00] [ 2.70277965e-02 -6.72570574e-04 9.99634456e-01 6.46397812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.723617864999994 meters 0.01678729795893762 Centerline is valid? [True, True] Translation: X:39.33, Y:1.25, Z:0.65 [[ 9.84062988e-01 -1.75768036e-01 -2.69375767e-02 3.93342927e+01] [ 1.75719650e-01 9.84431411e-01 -4.17153276e-03 1.25251591e+00] [ 2.72514187e-02 -6.28410561e-04 9.99628414e-01 6.46492765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.753617864999995 meters 0.01691754672169578 Centerline is valid? [True, True] Translation: X:39.36, Y:1.25, Z:0.65 [[ 9.84521921e-01 -1.73133060e-01 -2.72310549e-02 3.93627064e+01] [ 1.73082469e-01 9.84898286e-01 -4.22197161e-03 1.25361356e+00] [ 2.75507821e-02 -5.56594610e-04 9.99620250e-01 6.45513658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.783617865 meters 0.016507450544790542 Centerline is valid? [True, True] Translation: X:39.39, Y:1.26, Z:0.65 [[ 9.84754959e-01 -1.71819499e-01 -2.71243709e-02 3.93914794e+01] [ 1.71768696e-01 9.85128314e-01 -4.20943671e-03 1.25694414e+00] [ 2.74442491e-02 -5.13854149e-04 9.99623204e-01 6.46333201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.813617865 meters 0.015622482024532211 Centerline is valid? [True, True] Translation: X:39.42, Y:1.26, Z:0.65 [[ 9.84995987e-01 -1.70467195e-01 -2.69043063e-02 3.94198739e+01] [ 1.70416533e-01 9.85363242e-01 -4.18175719e-03 1.26114358e+00] [ 2.72233669e-02 -4.65924530e-04 9.99629267e-01 6.47590523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.843617865 meters 0.015822960026447525 Centerline is valid? [True, True] Translation: X:39.45, Y:1.26, Z:0.65 [[ 9.85406669e-01 -1.68130083e-01 -2.65701302e-02 3.94478780e+01] [ 1.68079692e-01 9.85764740e-01 -4.13467869e-03 1.26409694e+00] [ 2.68870613e-02 -3.91559333e-04 9.99638401e-01 6.47771745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87361786499999 meters 0.014902363425813721 Centerline is valid? [True, True] Translation: X:39.48, Y:1.27, Z:0.65 [[ 9.85874276e-01 -1.65487997e-01 -2.57998832e-02 3.94764710e+01] [ 1.65439483e-01 9.86211757e-01 -4.01853831e-03 1.27041069e+00] [ 2.61091680e-02 -3.06545783e-04 9.99659051e-01 6.49758673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.903617864999994 meters 0.014321611616763194 Centerline is valid? [True, True] Translation: X:39.51, Y:1.28, Z:0.65 [[ 9.86562904e-01 -1.61392178e-01 -2.54204767e-02 3.95051492e+01] [ 1.61343560e-01 9.86890333e-01 -3.96565536e-03 1.27618353e+00] [ 2.57272485e-02 -1.89061748e-04 9.99668982e-01 6.51341297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.933617864999995 meters 0.014204872305870557 Centerline is valid? [True, True] Translation: X:39.53, Y:1.28, Z:0.65 [[ 9.86828022e-01 -1.59724352e-01 -2.56629213e-02 3.95327322e+01] [ 1.59674110e-01 9.87161644e-01 -4.00842201e-03 1.28117457e+00] [ 2.59736942e-02 -1.42080943e-04 9.99662617e-01 6.51036644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.963617864999996 meters 0.014080968774617002 Centerline is valid? [True, True] Translation: X:39.56, Y:1.29, Z:0.65 [[ 9.87021303e-01 -1.58500168e-01 -2.58194710e-02 3.95602666e+01] [ 1.58448783e-01 9.87358945e-01 -4.03705156e-03 1.28715656e+00] [ 2.61329590e-02 -1.06407863e-04 9.99658470e-01 6.50971531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.993617865 meters 0.014080968774617002 Centerline is valid? [True, True] Translation: X:39.59, Y:1.29, Z:0.65 [[ 9.86977336e-01 -1.58773898e-01 -2.58183506e-02 3.95875095e+01] [ 1.58722420e-01 9.87314964e-01 -4.04420685e-03 1.29148532e+00] [ 2.61329584e-02 -1.06410568e-04 9.99658470e-01 6.51422406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.023617865 meters 0.01412447020413867 Centerline is valid? [True, True] Translation: X:39.61, Y:1.30, Z:0.65 [[ 9.87205136e-01 -1.57237050e-01 -2.65052846e-02 3.96138105e+01] [ 1.57182080e-01 9.87560887e-01 -4.15780207e-03 1.29638965e+00] [ 2.68293429e-02 -6.15522095e-05 9.99640026e-01 6.50840185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05361786499999 meters 0.014025335183913624 Centerline is valid? [True, True] Translation: X:39.64, Y:1.30, Z:0.65 [[ 9.87151254e-01 -1.57738148e-01 -2.55162420e-02 3.96416475e+01] [ 1.57687254e-01 9.87480973e-01 -4.00720970e-03 1.30107693e+00] [ 2.58288933e-02 -6.78640476e-05 9.99666376e-01 6.51863313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083617864999994 meters 0.014263141105255273 Centerline is valid? [True, True] Translation: X:39.67, Y:1.30, Z:0.65 [[ 9.86929270e-01 -1.59131122e-01 -2.54539410e-02 3.96691511e+01] [ 1.59080801e-01 9.87257452e-01 -4.00281262e-03 1.30393548e+00] [ 2.57665650e-02 -9.87403683e-05 9.99667982e-01 6.52076618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.113617864999995 meters 0.014506373493552027 Centerline is valid? [True, True] Translation: X:39.70, Y:1.31, Z:0.65 [[ 9.86293671e-01 -1.63100703e-01 -2.49590573e-02 3.96978629e+01] [ 1.63053500e-01 9.86609407e-01 -3.92853361e-03 1.30601478e+00] [ 2.52655873e-02 -1.94973815e-04 9.99680755e-01 6.53325860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.143617864999996 meters 0.014715383835763646 Centerline is valid? [True, True] Translation: X:39.73, Y:1.31, Z:0.65 [[ 9.85926191e-01 -1.65368440e-01 -2.45525006e-02 3.97262472e+01] [ 1.65323317e-01 9.86231829e-01 -3.87053035e-03 1.31055466e+00] [ 2.48545212e-02 -2.43043606e-04 9.99691049e-01 6.53839742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.173617865 meters 0.014925946646890757 Centerline is valid? [True, True] Translation: X:39.76, Y:1.31, Z:0.65 [[ 9.85507551e-01 -1.67892921e-01 -2.42246544e-02 3.97551504e+01] [ 1.67849611e-01 9.85805193e-01 -3.82478291e-03 1.31457484e+00] [ 2.45229441e-02 -2.96746373e-04 9.99699223e-01 6.54577654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.203617865 meters 0.015736242092591172 Centerline is valid? [True, True] Translation: X:39.78, Y:1.32, Z:0.66 [[ 9.84622929e-01 -1.72996953e-01 -2.42845862e-02 3.97838337e+01] [ 1.72954831e-01 9.84922270e-01 -3.84023390e-03 1.31645929e+00] [ 2.45827785e-02 -4.18954159e-04 9.99697710e-01 6.55010586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.233617865 meters 0.017632840721951995 Centerline is valid? [True, True] Translation: X:39.81, Y:1.32, Z:0.65 [[ 9.83970105e-01 -1.76657208e-01 -2.43939344e-02 3.98113973e+01] [ 1.76615714e-01 9.84272306e-01 -3.86225433e-03 1.31888253e+00] [ 2.46925691e-02 -5.08009332e-04 9.99694963e-01 6.53878967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26361786499999 meters 0.018089551111005898 Centerline is valid? [True, True] Translation: X:39.84, Y:1.32, Z:0.66 [[ 9.82923069e-01 -1.82482769e-01 -2.37124302e-02 3.98396201e+01] [ 1.82445205e-01 9.83208847e-01 -3.75634077e-03 1.31969010e+00] [ 2.39997386e-02 -6.34025187e-04 9.99711764e-01 6.56107684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.293617864999995 meters 0.01842040445141684 Centerline is valid? [True, True] Translation: X:39.87, Y:1.32, Z:0.66 [[ 9.82267842e-01 -1.86006091e-01 -2.34866121e-02 3.98683883e+01] [ 1.85970205e-01 9.82548334e-01 -3.72226474e-03 1.32423127e+00] [ 2.37690955e-02 -7.11549103e-04 9.99717222e-01 6.56806621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323617864999996 meters 0.019285230424733298 Centerline is valid? [True, True] Translation: X:39.90, Y:1.33, Z:0.66 [[ 9.81798784e-01 -1.88507976e-01 -2.31493165e-02 3.98955666e+01] [ 1.88473770e-01 9.82071365e-01 -3.67038084e-03 1.32759736e+00] [ 2.34261769e-02 -7.59463513e-04 9.99725281e-01 6.56653112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.353617865 meters 0.020273057869655966 Centerline is valid? [True, True] Translation: X:39.92, Y:1.33, Z:0.66 [[ 9.81168692e-01 -1.91653124e-01 -2.40224519e-02 3.99249406e+01] [ 1.91617181e-01 9.81462344e-01 -3.81085495e-03 1.33101972e+00] [ 2.43074943e-02 -8.64022951e-04 9.99704156e-01 6.56310229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.383617865 meters 0.02066392525145229 Centerline is valid? [True, True] Translation: X:39.95, Y:1.33, Z:0.66 [[ 9.81018556e-01 -1.92309791e-01 -2.48905094e-02 3.99533240e+01] [ 1.92271347e-01 9.81333846e-01 -3.95124798e-03 1.33427523e+00] [ 2.51857630e-02 -9.09484169e-04 9.99682375e-01 6.56809884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.413617865 meters 0.021179942092397503 Centerline is valid? [True, True] Translation: X:39.98, Y:1.34, Z:0.66 [[ 9.80967091e-01 -1.92567789e-01 -2.49241285e-02 3.99811472e+01] [ 1.92529206e-01 9.81283248e-01 -3.96126123e-03 1.33767418e+00] [ 2.52204411e-02 -9.12755745e-04 9.99681497e-01 6.57312255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44361786499999 meters 0.02089248312981189 Centerline is valid? [True, True] Translation: X:40.01, Y:1.34, Z:0.66 [[ 9.81094129e-01 -1.91915058e-01 -2.49583678e-02 4.00091756e+01] [ 1.91876069e-01 9.81411133e-01 -3.97019599e-03 1.34283499e+00] [ 2.52563604e-02 -8.93777529e-04 9.99680608e-01 6.57812431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.473617864999994 meters 0.020392659611065705 Centerline is valid? [True, True] Translation: X:40.04, Y:1.35, Z:0.66 [[ 9.81638072e-01 -1.89034400e-01 -2.55478335e-02 4.00359124e+01] [ 1.88992441e-01 9.81970112e-01 -4.06906803e-03 1.35021693e+00] [ 2.58564027e-02 -8.33995310e-04 9.99665319e-01 6.57102226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503617864999995 meters 0.01936506095406521 Centerline is valid? [True, True] Translation: X:40.06, Y:1.36, Z:0.66 [[ 9.81958580e-01 -1.87364921e-01 -2.55290833e-02 4.00640455e+01] [ 1.87322351e-01 9.82290064e-01 -4.07027101e-03 1.35737888e+00] [ 2.58395909e-02 -7.85330374e-04 9.99665794e-01 6.57377450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.533617865 meters 0.019309716197330584 Centerline is valid? [True, True] Translation: X:40.09, Y:1.36, Z:0.66 [[ 9.82579568e-01 -1.84068485e-01 -2.56161054e-02 4.00922267e+01] [ 1.84024387e-01 9.82913174e-01 -4.08869812e-03 1.36165322e+00] [ 2.59310080e-02 -6.96516859e-04 9.99663492e-01 6.57311332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.563617865 meters 0.018373857703631008 Centerline is valid? [True, True] Translation: X:40.12, Y:1.37, Z:0.66 [[ 9.82790765e-01 -1.82964818e-01 -2.54202008e-02 4.01207666e+01] [ 1.82920938e-01 9.83119240e-01 -4.06072136e-03 1.36746604e+00] [ 2.57340577e-02 -6.59047531e-04 9.99668607e-01 6.58714041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.593617865 meters 0.01820367986017706 Centerline is valid? [True, True] Translation: X:40.15, Y:1.37, Z:0.66 [[ 9.82979936e-01 -1.81979129e-01 -2.51801860e-02 4.01488284e+01] [ 1.81935599e-01 9.83302197e-01 -4.02833355e-03 1.37225683e+00] [ 2.54928048e-02 -6.21401159e-04 9.99674813e-01 6.59452392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62361786499999 meters 0.017524834875039946 Centerline is valid? [True, True] Translation: X:40.18, Y:1.38, Z:0.66 [[ 9.83381355e-01 -1.80042087e-01 -2.33657317e-02 4.01774361e+01] [ 1.80003933e-01 9.83658768e-01 -3.74332800e-03 1.37785147e+00] [ 2.36578635e-02 -5.24804644e-04 9.99719976e-01 6.61029537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.653617864999994 meters 0.01773399914293802 Centerline is valid? [True, True] Translation: X:40.20, Y:1.38, Z:0.66 [[ 9.83524296e-01 -1.79312397e-01 -2.29569836e-02 4.02049300e+01] [ 1.79275267e-01 9.83792061e-01 -3.68220648e-03 1.38160730e+00] [ 2.32451635e-02 -4.94079824e-04 9.99729673e-01 6.61793202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683617864999995 meters 0.01774742524194833 Centerline is valid? [True, True] Translation: X:40.23, Y:1.39, Z:0.66 [[ 9.83618203e-01 -1.78880704e-01 -2.22918163e-02 4.02322900e+01] [ 1.78845542e-01 9.83870660e-01 -3.57734644e-03 1.38567488e+00] [ 2.25721823e-02 -4.68048885e-04 9.99745106e-01 6.62321301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.713617864999996 meters 0.017727629362300268 Centerline is valid? [True, True] Translation: X:40.26, Y:1.39, Z:0.66 [[ 9.83666115e-01 -1.78732506e-01 -2.13463304e-02 4.02608493e+01] [ 1.78700175e-01 9.83897604e-01 -3.42808469e-03 1.38969955e+00] [ 2.16153135e-02 -4.42502232e-04 9.99766264e-01 6.63266215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.743617865 meters 0.017603074792052472 Centerline is valid? [True, True] Translation: X:40.29, Y:1.39, Z:0.66 [[ 9.83657600e-01 -1.78925314e-01 -2.00862421e-02 4.02890304e+01] [ 1.78896636e-01 9.83862571e-01 -3.23026414e-03 1.39291126e+00] [ 2.03400779e-02 -4.15887265e-04 9.99793033e-01 6.64701164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.773617865 meters 0.018029119197194708 Centerline is valid? [True, True] Translation: X:40.32, Y:1.40, Z:0.67 [[ 9.83627583e-01 -1.79052373e-01 -2.04212259e-02 4.03159414e+01] [ 1.79022657e-01 9.83839454e-01 -3.28898032e-03 1.39543740e+00] [ 2.06801074e-02 -4.20730354e-04 9.99786055e-01 6.65149533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80361786499999 meters 0.01826005924291146 Centerline is valid? [True, True] Translation: X:40.34, Y:1.40, Z:0.67 [[ 9.83501447e-01 -1.79749764e-01 -2.03697594e-02 4.03449687e+01] [ 1.79720289e-01 9.83712273e-01 -3.28349001e-03 1.39875521e+00] [ 2.06281889e-02 -4.31541881e-04 9.99787123e-01 6.65380452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.833617864999994 meters 0.018709041488259203 Centerline is valid? [True, True] Translation: X:40.37, Y:1.40, Z:0.67 [[ 9.83240567e-01 -1.81116745e-01 -2.08497528e-02 4.03735851e+01] [ 1.81086071e-01 9.83461492e-01 -3.36565840e-03 1.40090914e+00] [ 2.11145061e-02 -4.66347952e-04 9.99776955e-01 6.65473959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863617864999995 meters 0.0187172412273939 Centerline is valid? [True, True] Translation: X:40.40, Y:1.41, Z:0.67 [[ 9.83261639e-01 -1.81086672e-01 -2.01039067e-02 4.04011814e+01] [ 1.81058055e-01 9.83467040e-01 -3.24979756e-03 1.40615554e+00] [ 2.03600247e-02 -4.44572983e-04 9.99792614e-01 6.65744217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.893617864999996 meters 0.018444820410808256 Centerline is valid? [True, True] Translation: X:40.43, Y:1.41, Z:0.67 [[ 9.82967470e-01 -1.82669065e-01 -2.01733652e-02 4.04297297e+01] [ 1.82640479e-01 9.83174343e-01 -3.26613647e-03 1.41035459e+00] [ 2.04305572e-02 -4.73967163e-04 9.99791162e-01 6.66380260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923617865 meters 0.01737544870804167 Centerline is valid? [True, True] Translation: X:40.46, Y:1.42, Z:0.67 [[ 9.83002562e-01 -1.82537237e-01 -1.96499199e-02 4.04583356e+01] [ 1.82510000e-01 9.83198836e-01 -3.18582774e-03 1.41762492e+00] [ 1.99013106e-02 -4.54630068e-04 9.99801846e-01 6.67718707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.953617865 meters 0.017141919104399248 Centerline is valid? [True, True] Translation: X:40.49, Y:1.42, Z:0.67 [[ 9.82929621e-01 -1.82899058e-01 -1.99322600e-02 4.04860838e+01] [ 1.82871011e-01 9.83131588e-01 -3.23636337e-03 1.42326885e+00] [ 2.01879623e-02 -4.63915126e-04 9.99796095e-01 6.68421000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98361786499999 meters 0.01808482691588259 Centerline is valid? [True, True] Translation: X:40.51, Y:1.43, Z:0.67 [[ 9.82810561e-01 -1.83445268e-01 -2.07662050e-02 4.05144034e+01] [ 1.83414838e-01 9.83029803e-01 -3.37689922e-03 1.42556680e+00] [ 2.10332746e-02 -4.89977906e-04 9.99778656e-01 6.68000500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01361786499999 meters 0.017902385143410544 Centerline is valid? [True, True] Translation: X:40.54, Y:1.43, Z:0.67 [[ 9.82716822e-01 -1.83945105e-01 -2.07809049e-02 4.05424439e+01] [ 1.83914688e-01 9.82936392e-01 -3.38195354e-03 1.43087422e+00] [ 2.10484015e-02 -4.98410993e-04 9.99778334e-01 6.68309966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043617864999995 meters 0.019125099803399034 Centerline is valid? [True, True] Translation: X:40.57, Y:1.43, Z:0.67 [[ 9.82671816e-01 -1.84143406e-01 -2.11496769e-02 4.05699231e+01] [ 1.84111840e-01 9.82899257e-01 -3.44690458e-03 1.43372365e+00] [ 2.14227265e-02 -5.06729953e-04 9.99770379e-01 6.67909387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.073617864999996 meters 0.017769431608361533 Centerline is valid? [True, True] Translation: X:40.60, Y:1.44, Z:0.67 [[ 9.82622562e-01 -1.84422358e-01 -2.10070030e-02 4.05968063e+01] [ 1.84391223e-01 9.82846955e-01 -3.42635020e-03 1.44165804e+00] [ 2.12785645e-02 -5.06697951e-04 9.99773457e-01 6.68591153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103617865 meters 0.019060564356026617 Centerline is valid? [True, True] Translation: X:40.62, Y:1.45, Z:0.67 [[ 9.82579254e-01 -1.84724063e-01 -2.03722967e-02 4.06238029e+01] [ 1.84694745e-01 9.82790302e-01 -3.32767322e-03 1.44560989e+00] [ 2.06363970e-02 -4.92953481e-04 9.99786925e-01 6.68639920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.133617865 meters 0.018127461708227814 Centerline is valid? [True, True] Translation: X:40.65, Y:1.45, Z:0.67 [[ 9.82580621e-01 -1.84767843e-01 -1.99039530e-02 4.06508943e+01] [ 1.84739809e-01 9.82782079e-01 -3.25408533e-03 1.45254901e+00] [ 2.01624986e-02 -4.79651280e-04 9.99796601e-01 6.69508599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.163617865 meters 0.018057434654265462 Centerline is valid? [True, True] Translation: X:40.68, Y:1.46, Z:0.67 [[ 9.82574676e-01 -1.84803320e-01 -1.98680545e-02 4.06787046e+01] [ 1.84775285e-01 9.82775411e-01 -3.25362848e-03 1.45756017e+00] [ 2.01271167e-02 -4.74192480e-04 9.99797317e-01 6.70327353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19361786499999 meters 0.01974555127393159 Centerline is valid? [True, True] Translation: X:40.71, Y:1.46, Z:0.67 [[ 9.82586380e-01 -1.84705190e-01 -2.01989767e-02 4.07058261e+01] [ 1.84676091e-01 9.82793858e-01 -3.31278922e-03 1.45881330e+00] [ 2.04633196e-02 -4.75166482e-04 9.99790491e-01 6.70302178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223617864999994 meters 0.01729026977657465 Centerline is valid? [True, True] Translation: X:40.73, Y:1.47, Z:0.67 [[ 9.82689067e-01 -1.84105536e-01 -2.06724323e-02 4.07338875e+01] [ 1.84074860e-01 9.82906369e-01 -3.39350575e-03 1.46896876e+00] [ 2.09438286e-02 -4.70514082e-04 9.99780543e-01 6.72238893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.253617864999995 meters 0.01763895995984003 Centerline is valid? [True, True] Translation: X:40.76, Y:1.47, Z:0.67 [[ 9.82807032e-01 -1.83531577e-01 -2.01617796e-02 4.07612765e+01] [ 1.83502190e-01 9.83013715e-01 -3.31391601e-03 1.47322433e+00] [ 2.04275141e-02 -4.42790752e-04 9.99791239e-01 6.72324716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283617865 meters 0.01735582815467447 Centerline is valid? [True, True] Translation: X:40.79, Y:1.48, Z:0.67 [[ 9.82965541e-01 -1.82733177e-01 -1.96807316e-02 4.07893927e+01] [ 1.82704972e-01 9.83162456e-01 -3.23707002e-03 1.48004817e+00] [ 1.99408765e-02 -4.13839220e-04 9.99801075e-01 6.72707768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.313617865 meters 0.016677448648653264 Centerline is valid? [True, True] Translation: X:40.82, Y:1.49, Z:0.67 [[ 9.82984059e-01 -1.82640803e-01 -1.96131868e-02 4.08165475e+01] [ 1.82612676e-01 9.83179624e-01 -3.23083687e-03 1.48695450e+00] [ 1.98733683e-02 -4.05755397e-04 9.99802423e-01 6.73396600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.343617865 meters 0.017341072289956176 Centerline is valid? [True, True] Translation: X:40.84, Y:1.49, Z:0.67 [[ 9.82904520e-01 -1.83096036e-01 -1.93532033e-02 4.08435027e+01] [ 1.83068635e-01 9.83094949e-01 -3.19322209e-03 1.49018822e+00] [ 1.96107027e-02 -4.04332093e-04 9.99807610e-01 6.73759774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37361786499999 meters 0.017144295287647313 Centerline is valid? [True, True] Translation: X:40.87, Y:1.50, Z:0.67 [[ 9.82785535e-01 -1.83826914e-01 -1.84460641e-02 4.08723284e+01] [ 1.83802084e-01 9.82958549e-01 -3.04711435e-03 1.49541927e+00] [ 1.86918581e-02 -3.95765119e-04 9.99825214e-01 6.74583296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403617864999994 meters 0.017367534879613594 Centerline is valid? [True, True] Translation: X:40.90, Y:1.50, Z:0.68 [[ 9.82580407e-01 -1.84999051e-01 -1.76378731e-02 4.09013851e+01] [ 1.84976464e-01 9.82738620e-01 -2.91776244e-03 1.49856355e+00] [ 1.78732024e-02 -3.95655189e-04 9.99840183e-01 6.76596329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.433617864999995 meters 0.017454914299490948 Centerline is valid? [True, True] Translation: X:40.93, Y:1.50, Z:0.68 [[ 9.82392988e-01 -1.86056293e-01 -1.69432168e-02 4.09304623e+01] [ 1.86035538e-01 9.82539007e-01 -2.80684837e-03 1.50248421e+00] [ 1.71696032e-02 -3.94612295e-04 9.99852514e-01 6.77855072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463617864999996 meters 0.017795191514937293 Centerline is valid? [True, True] Translation: X:40.96, Y:1.51, Z:0.68 [[ 9.82241063e-01 -1.86881580e-01 -1.66664123e-02 4.09578683e+01] [ 1.86861549e-01 9.82382368e-01 -2.76497477e-03 1.50606824e+00] [ 1.68895125e-02 -3.98439865e-04 9.99857283e-01 6.78766536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.493617865 meters 0.017776264770432204 Centerline is valid? [True, True] Translation: X:40.99, Y:1.51, Z:0.68 [[ 9.82011553e-01 -1.88087650e-01 -1.66236370e-02 4.09859554e+01] [ 1.88067857e-01 9.82152159e-01 -2.76009465e-03 1.51145988e+00] [ 1.68460807e-02 -4.15926950e-04 9.99858008e-01 6.79069664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.523617865 meters 0.018465371242973257 Centerline is valid? [True, True] Translation: X:41.01, Y:1.52, Z:0.68 [[ 9.81671534e-01 -1.89821761e-01 -1.69911346e-02 4.10133818e+01] [ 1.89801272e-01 9.81818463e-01 -2.82526164e-03 1.51547541e+00] [ 1.72185058e-02 -4.51460024e-04 9.99851649e-01 6.78433080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55361786499999 meters 0.01889998946120773 Centerline is valid? [True, True] Translation: X:41.04, Y:1.52, Z:0.68 [[ 9.81509619e-01 -1.90588710e-01 -1.77429352e-02 4.10409687e+01] [ 1.90566463e-01 9.81669858e-01 -2.95188439e-03 1.51870170e+00] [ 1.79803005e-02 -4.83905483e-04 9.99838224e-01 6.79002385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583617864999994 meters 0.01960340359121834 Centerline is valid? [True, True] Translation: X:41.07, Y:1.52, Z:0.68 [[ 9.81025773e-01 -1.93000760e-01 -1.84157063e-02 4.10698550e+01] [ 1.92977182e-01 9.81198455e-01 -3.06580545e-03 1.52152402e+00] [ 1.86611653e-02 -5.46176938e-04 9.99825716e-01 6.79451053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.613617864999995 meters 0.020141237070025513 Centerline is valid? [True, True] Translation: X:41.10, Y:1.53, Z:0.68 [[ 9.80771760e-01 -1.94271826e-01 -1.85799085e-02 4.10975065e+01] [ 1.94247975e-01 9.80947568e-01 -3.09728069e-03 1.52549093e+00] [ 1.88276305e-02 -5.71384177e-04 9.99822581e-01 6.79662706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643617864999996 meters 0.020631630432345185 Centerline is valid? [True, True] Translation: X:41.13, Y:1.53, Z:0.68 [[ 9.80486824e-01 -1.95680566e-01 -1.88336053e-02 4.11261344e+01] [ 1.95656280e-01 9.80667502e-01 -3.14160231e-03 1.53034490e+00] [ 1.90842552e-02 -6.04613491e-04 9.99817696e-01 6.79800338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.673617865 meters 0.021856195990469066 Centerline is valid? [True, True] Translation: X:41.15, Y:1.53, Z:0.68 [[ 9.80005425e-01 -1.98099713e-01 -1.85976152e-02 4.11544305e+01] [ 1.98076392e-01 9.80181664e-01 -3.10616447e-03 1.53435292e+00] [ 1.88443717e-02 -6.39690491e-04 9.99822224e-01 6.79712121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.703617865 meters 0.01951257985056466 Centerline is valid? [True, True] Translation: X:41.18, Y:1.54, Z:0.68 [[ 9.79802799e-01 -1.99091005e-01 -1.86881200e-02 4.11817231e+01] [ 1.99067615e-01 9.79980783e-01 -3.12244012e-03 1.54334197e+00] [ 1.89356482e-02 -6.60823904e-04 9.99820486e-01 6.80920846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73361786499999 meters 0.022799115253950737 Centerline is valid? [True, True] Translation: X:41.21, Y:1.54, Z:0.68 [[ 9.79623045e-01 -1.99968014e-01 -1.87478810e-02 4.12099127e+01] [ 1.99944588e-01 9.79802191e-01 -3.13483591e-03 1.54234737e+00] [ 1.89960818e-02 -6.77579848e-04 9.99819329e-01 6.81553813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76361786499999 meters 0.02332271260245657 Centerline is valid? [True, True] Translation: X:41.24, Y:1.55, Z:0.68 [[ 9.79500337e-01 -2.00533784e-01 -1.91125725e-02 4.12369105e+01] [ 2.00509512e-01 9.79686537e-01 -3.19757403e-03 1.54673009e+00] [ 1.93655516e-02 -7.00227749e-04 9.99812225e-01 6.82415098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.793617864999995 meters 0.021520129098495506 Centerline is valid? [True, True] Translation: X:41.26, Y:1.56, Z:0.68 [[ 9.79493634e-01 -2.00505861e-01 -1.97387974e-02 4.12642364e+01] [ 2.00479914e-01 9.79692238e-01 -3.30497396e-03 1.55524359e+00] [ 2.00006132e-02 -7.20031433e-04 9.99799708e-01 6.82929669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823617864999996 meters 0.020798442945206178 Centerline is valid? [True, True] Translation: X:41.29, Y:1.56, Z:0.68 [[ 9.79787044e-01 -1.99027679e-01 -2.01328546e-02 4.12917412e+01] [ 1.99000262e-01 9.79993620e-01 -3.37642815e-03 1.56410994e+00] [ 2.04020717e-02 -6.98262799e-04 9.99791612e-01 6.82927245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.853617865 meters 0.020152792331790167 Centerline is valid? [True, True] Translation: X:41.32, Y:1.57, Z:0.68 [[ 9.79930722e-01 -1.98319367e-01 -2.01298034e-02 4.13203033e+01] [ 1.98291711e-01 9.80137219e-01 -3.38071797e-03 1.57147709e+00] [ 2.04004313e-02 -6.78703747e-04 9.99791659e-01 6.83587428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.883617865 meters 0.01992795714648808 Centerline is valid? [True, True] Translation: X:41.35, Y:1.58, Z:0.68 [[ 9.80146499e-01 -1.97257184e-01 -2.00610186e-02 4.13485453e+01] [ 1.97229401e-01 9.80351560e-01 -3.37376556e-03 1.57781444e+00] [ 2.03323504e-02 -6.49838173e-04 9.99793065e-01 6.84426479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.913617865 meters 0.01992795714648808 Centerline is valid? [True, True] Translation: X:41.38, Y:1.58, Z:0.68 [[ 9.80093030e-01 -1.97522762e-01 -2.00601963e-02 4.13757469e+01] [ 1.97494935e-01 9.80298085e-01 -3.37864873e-03 1.58246248e+00] [ 2.03323320e-02 -6.50397084e-04 9.99793065e-01 6.84877772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94361786499999 meters 0.020088899082087643 Centerline is valid? [True, True] Translation: X:41.40, Y:1.59, Z:0.69 [[ 9.80617055e-01 -1.94930192e-01 -1.98093953e-02 4.14033424e+01] [ 1.94902433e-01 9.80816944e-01 -3.34110872e-03 1.58840501e+00] [ 2.00806736e-02 -5.84551161e-04 9.99798192e-01 6.86512639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.973617864999994 meters 0.01890241384687212 Centerline is valid? [True, True] Translation: X:41.43, Y:1.60, Z:0.69 [[ 9.80839154e-01 -1.93808660e-01 -1.98180817e-02 4.14312765e+01] [ 1.93780608e-01 9.81039189e-01 -3.34457589e-03 1.59631630e+00] [ 2.00905225e-02 -5.59868929e-04 9.99798008e-01 6.87543310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003617864999995 meters 0.018451715596102085 Centerline is valid? [True, True] Translation: X:41.46, Y:1.60, Z:0.69 [[ 9.81148461e-01 -1.92231098e-01 -1.98721537e-02 4.14596878e+01] [ 1.92202472e-01 9.81349545e-01 -3.35854690e-03 1.60357281e+00] [ 2.01471462e-02 -5.24243943e-04 9.99796888e-01 6.88268388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.033617865 meters 0.017689774117214483 Centerline is valid? [True, True] Translation: X:41.49, Y:1.61, Z:0.69 [[ 9.81628735e-01 -1.89732759e-01 -2.01620192e-02 4.14874766e+01] [ 1.89702663e-01 9.81835655e-01 -3.41251841e-03 1.61307837e+00] [ 2.04432559e-02 -4.74962616e-04 9.99790902e-01 6.88672304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.063617865 meters 0.01749324011823274 Centerline is valid? [True, True] Translation: X:41.52, Y:1.62, Z:0.69 [[ 9.81801848e-01 -1.88809358e-01 -2.03999221e-02 4.15157954e+01] [ 1.88778243e-01 9.82013655e-01 -3.45786135e-03 1.61939940e+00] [ 2.06858786e-02 -4.56126784e-04 9.99785920e-01 6.89240343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.093617865 meters 0.01763512262760322 Centerline is valid? [True, True] Translation: X:41.54, Y:1.62, Z:0.69 [[ 9.81846541e-01 -1.88609454e-01 -2.00958759e-02 4.15430063e+01] [ 1.88579127e-01 9.82052076e-01 -3.41076396e-03 1.62466754e+00] [ 2.03784990e-02 -4.40815927e-04 9.99792240e-01 6.89699860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12361786499999 meters 0.017706781787950755 Centerline is valid? [True, True] Translation: X:41.57, Y:1.63, Z:0.69 [[ 9.81817503e-01 -1.88821808e-01 -1.95119617e-02 4.15702546e+01] [ 1.88793200e-01 9.82011273e-01 -3.31465124e-03 1.63004343e+00] [ 1.97868447e-02 -4.29343088e-04 9.99804129e-01 6.90844217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.153617864999994 meters 0.017438909727170354 Centerline is valid? [True, True] Translation: X:41.60, Y:1.64, Z:0.69 [[ 9.81515819e-01 -1.90468018e-01 -1.86716400e-02 4.15983210e+01] [ 1.90442027e-01 9.81693304e-01 -3.17678612e-03 1.63723255e+00] [ 1.89349001e-02 -4.37799144e-04 9.99820623e-01 6.92919096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.183617864999995 meters 0.01807211499979742 Centerline is valid? [True, True] Translation: X:41.63, Y:1.64, Z:0.69 [[ 9.81283682e-01 -1.91739735e-01 -1.78384147e-02 4.16259499e+01] [ 1.91716149e-01 9.81445710e-01 -3.03905481e-03 1.64143201e+00] [ 1.80901432e-02 -4.37737276e-04 9.99836264e-01 6.93914336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.213617864999996 meters 0.018168995806550677 Centerline is valid? [True, True] Translation: X:41.65, Y:1.65, Z:0.69 [[ 9.80605404e-01 -1.95189162e-01 -1.77265952e-02 4.16540919e+01] [ 1.95166389e-01 9.80765489e-01 -3.02249425e-03 1.64853496e+00] [ 1.79755910e-02 -4.95761382e-04 9.99838303e-01 6.94862273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.243617865 meters 0.018516667818760567 Centerline is valid? [True, True] Translation: X:41.68, Y:1.65, Z:0.70 [[ 9.80249518e-01 -1.96936698e-01 -1.80781301e-02 4.16828633e+01] [ 1.96913226e-01 9.80416061e-01 -3.08700421e-03 1.65363495e+00] [ 1.83320335e-02 -5.33788529e-04 9.99831812e-01 6.95432278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.273617865 meters 0.019245558928508117 Centerline is valid? [True, True] Translation: X:41.71, Y:1.66, Z:0.70 [[ 9.79906174e-01 -1.98643390e-01 -1.80192410e-02 4.17104902e+01] [ 1.98620281e-01 9.80071676e-01 -3.08119389e-03 1.65802032e+00] [ 1.82722065e-02 -5.59705782e-04 9.99832893e-01 6.95520482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30361786499999 meters 0.019861162539183484 Centerline is valid? [True, True] Translation: X:41.74, Y:1.66, Z:0.70 [[ 9.79338970e-01 -2.01382813e-01 -1.84429895e-02 4.17384411e+01] [ 2.01359038e-01 9.79512417e-01 -3.15639050e-03 1.66449514e+00] [ 1.87007800e-02 -6.22486400e-04 9.99824931e-01 6.95387455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.333617864999994 meters 0.020571171047828924 Centerline is valid? [True, True] Translation: X:41.77, Y:1.67, Z:0.70 [[ 9.79022500e-01 -2.02917511e-01 -1.84235571e-02 4.17661252e+01] [ 2.02893980e-01 9.79195621e-01 -3.15721252e-03 1.66953298e+00] [ 1.86809202e-02 -6.47046729e-04 9.99825287e-01 6.95567503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.363617864999995 meters 0.021140271435680983 Centerline is valid? [True, True] Translation: X:41.79, Y:1.67, Z:0.70 [[ 9.78640823e-01 -2.04747257e-01 -1.84580965e-02 4.17944974e+01] [ 2.04723925e-01 9.78814639e-01 -3.16508893e-03 1.67467817e+00] [ 1.87150983e-02 -6.81328727e-04 9.99824625e-01 6.95919143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.393617864999996 meters 0.019928194046595727 Centerline is valid? [True, True] Translation: X:41.82, Y:1.68, Z:0.70 [[ 9.78281647e-01 -2.06450875e-01 -1.85217497e-02 4.18222673e+01] [ 2.06427602e-01 9.78456708e-01 -3.18052124e-03 1.68286713e+00] [ 1.87793516e-02 -7.11954811e-04 9.99823399e-01 6.96481905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.423617865 meters 0.02155529074943067 Centerline is valid? [True, True] Translation: X:41.85, Y:1.69, Z:0.70 [[ 9.77834881e-01 -2.08397565e-01 -2.02336285e-02 4.18493352e+01] [ 2.08370107e-01 9.78043860e-01 -3.47935463e-03 1.68717914e+00] [ 2.05144652e-02 -8.13849018e-04 9.99789225e-01 6.96588372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.453617865 meters 0.023259042437802926 Centerline is valid? [True, True] Translation: X:41.88, Y:1.69, Z:0.70 [[ 9.77662511e-01 -2.09176392e-01 -2.05244205e-02 4.18765260e+01] [ 2.09148260e-01 9.77877565e-01 -3.53176863e-03 1.69052794e+00] [ 2.08091329e-02 -8.39769038e-04 9.99783114e-01 6.96575801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48361786499999 meters 0.02257890036212907 Centerline is valid? [True, True] Translation: X:41.90, Y:1.70, Z:0.70 [[ 9.77427748e-01 -2.10171544e-01 -2.15155542e-02 4.19042146e+01] [ 2.10140786e-01 9.77664111e-01 -3.70618421e-03 1.69971099e+00] [ 2.18139197e-02 -8.98768191e-04 9.99761644e-01 6.97174245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51361786499999 meters 0.022379027468592154 Centerline is valid? [True, True] Translation: X:41.93, Y:1.71, Z:0.70 [[ 9.77346051e-01 -2.10562189e-01 -2.14070206e-02 4.19314671e+01] [ 2.10531718e-01 9.77580052e-01 -3.69282607e-03 1.70636591e+00] [ 2.17046458e-02 -8.97687838e-04 9.99764023e-01 6.97854334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.543617864999995 meters 0.02237409974052459 Centerline is valid? [True, True] Translation: X:41.96, Y:1.71, Z:0.70 [[ 9.77327803e-01 -2.10640856e-01 -2.14661269e-02 4.19591177e+01] [ 2.10610106e-01 9.77563106e-01 -3.70898477e-03 1.71203521e+00] [ 2.17657574e-02 -8.96089328e-04 9.99762696e-01 6.98727277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.573617864999996 meters 0.022890916337297625 Centerline is valid? [True, True] Translation: X:41.99, Y:1.72, Z:0.70 [[ 9.77212355e-01 -2.11115534e-01 -2.20509554e-02 4.19876369e+01] [ 2.11083071e-01 9.77460677e-01 -3.81604402e-03 1.71724679e+00] [ 2.23595680e-02 -9.25498019e-04 9.99749565e-01 6.99289667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.603617865 meters 0.02353561346524635 Centerline is valid? [True, True] Translation: X:42.01, Y:1.72, Z:0.70 [[ 9.77205031e-01 -2.11037610e-01 -2.30966252e-02 4.20142092e+01] [ 2.11001859e-01 9.77477468e-01 -4.00190041e-03 1.72376465e+00] [ 2.34209823e-02 -9.62753655e-04 9.99725228e-01 7.00338433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.633617865 meters 0.02344494306895522 Centerline is valid? [True, True] Translation: X:42.04, Y:1.73, Z:0.70 [[ 9.77249357e-01 -2.10799148e-01 -2.33968448e-02 4.20420663e+01] [ 2.10762307e-01 9.77528918e-01 -4.05758053e-03 1.73016317e+00] [ 2.37264269e-02 -9.65905008e-04 9.99718022e-01 7.00960574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66361786499999 meters 0.020111541576021165 Centerline is valid? [True, True] Translation: X:42.07, Y:1.74, Z:0.70 [[ 9.77490470e-01 -2.09622685e-01 -2.38895480e-02 4.20697489e+01] [ 2.09583786e-01 9.77781890e-01 -4.14873328e-03 1.74266040e+00] [ 2.42284360e-02 -9.51514663e-04 9.99705996e-01 7.03254005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69361786499999 meters 0.02274692044499853 Centerline is valid? [True, True] Translation: X:42.10, Y:1.74, Z:0.70 [[ 9.77719277e-01 -2.08542768e-01 -2.39776910e-02 4.20979360e+01] [ 2.08503148e-01 9.78012812e-01 -4.16852215e-03 1.74439673e+00] [ 2.43198041e-02 -9.23779592e-04 9.99703803e-01 7.02495075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.723617864999994 meters 0.02343821546877106 Centerline is valid? [True, True] Translation: X:42.13, Y:1.75, Z:0.70 [[ 9.77882737e-01 -2.07748152e-01 -2.42086266e-02 4.21259275e+01] [ 2.07707440e-01 9.78181925e-01 -4.21201726e-03 1.74938167e+00] [ 2.45554798e-02 -9.09452892e-04 9.99698055e-01 7.03470466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.753617864999995 meters 0.022957106888011447 Centerline is valid? [True, True] Translation: X:42.15, Y:1.76, Z:0.70 [[ 9.78113189e-01 -2.06645235e-01 -2.43379589e-02 4.21542916e+01] [ 2.06603605e-01 9.78415541e-01 -4.24023474e-03 1.75561629e+00] [ 2.46888616e-02 -8.80880528e-04 9.99694796e-01 7.04578611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783617865 meters 0.02003079770641993 Centerline is valid? [True, True] Translation: X:42.18, Y:1.77, Z:0.71 [[ 9.78738617e-01 -2.03600875e-01 -2.48476170e-02 4.21816143e+01] [ 2.03556391e-01 9.79053633e-01 -4.33344062e-03 1.76663470e+00] [ 2.52094420e-02 -8.16585572e-04 9.99681858e-01 7.06871200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.813617865 meters 0.019094478550860675 Centerline is valid? [True, True] Translation: X:42.21, Y:1.77, Z:0.71 [[ 9.78984135e-01 -2.02382798e-01 -2.51250263e-02 4.22096598e+01] [ 2.02336830e-01 9.79306172e-01 -4.38516155e-03 1.77412596e+00] [ 2.54925746e-02 -7.90714586e-04 9.99674699e-01 7.08135844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.843617865 meters 0.018631789803348446 Centerline is valid? [True, True] Translation: X:42.24, Y:1.78, Z:0.71 [[ 9.79224089e-01 -2.01192991e-01 -2.53291154e-02 4.22382078e+01] [ 2.01145717e-01 9.79551327e-01 -4.42690171e-03 1.78115047e+00] [ 2.57018302e-02 -7.59914292e-04 9.99669365e-01 7.08953768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87361786499999 meters 0.01807863900097536 Centerline is valid? [True, True] Translation: X:42.27, Y:1.79, Z:0.71 [[ 9.79557952e-01 -1.99508845e-01 -2.57378965e-02 4.22658201e+01] [ 1.99459292e-01 9.79895760e-01 -4.50448895e-03 1.78910390e+00] [ 2.61191410e-02 -7.21254629e-04 9.99658577e-01 7.09764056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903617864999994 meters 0.01830271831530043 Centerline is valid? [True, True] Translation: X:42.29, Y:1.79, Z:0.71 [[ 9.79540688e-01 -1.99550270e-01 -2.60716434e-02 4.22928559e+01] [ 1.99499298e-01 9.79887321e-01 -4.56817193e-03 1.79415989e+00] [ 2.64588528e-02 -7.26564287e-04 9.99649639e-01 7.10274221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.933617864999995 meters 0.018363878063727433 Centerline is valid? [True, True] Translation: X:42.32, Y:1.80, Z:0.71 [[ 9.79583061e-01 -1.99359647e-01 -2.59375807e-02 4.23217883e+01] [ 1.99309021e-01 9.79926131e-01 -4.54887055e-03 1.79911896e+00] [ 2.63237743e-02 -7.13597270e-04 9.99653215e-01 7.11412813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.963617864999996 meters 0.017889115204007308 Centerline is valid? [True, True] Translation: X:42.35, Y:1.81, Z:0.71 [[ 9.79422519e-01 -2.00164356e-01 -2.58023375e-02 4.23496330e+01] [ 2.00114377e-01 9.79762065e-01 -4.53120088e-03 1.80512673e+00] [ 2.61871364e-02 -7.25458530e-04 9.99656795e-01 7.14257440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.993617865 meters 0.018821276039374595 Centerline is valid? [True, True] Translation: X:42.38, Y:1.81, Z:0.71 [[ 9.79335244e-01 -2.00632334e-01 -2.54783334e-02 4.23775864e+01] [ 2.00583636e-01 9.79666342e-01 -4.47911471e-03 1.80864016e+00] [ 2.58589209e-02 -7.23981859e-04 9.99665340e-01 7.14875665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.023617865 meters 0.01807802457973099 Centerline is valid? [True, True] Translation: X:42.41, Y:1.82, Z:0.72 [[ 9.79329534e-01 -2.00677018e-01 -2.53455787e-02 4.24053669e+01] [ 2.00628742e-01 9.79657195e-01 -4.45964447e-03 1.81545794e+00] [ 2.57249267e-02 -7.17590043e-04 9.99668802e-01 7.16411636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05361786499999 meters 0.01846435631277264 Centerline is valid? [True, True] Translation: X:42.43, Y:1.82, Z:0.72 [[ 9.79284004e-01 -2.00774056e-01 -2.63176406e-02 4.24326618e+01] [ 2.00721897e-01 9.79637294e-01 -4.63604279e-03 1.82070371e+00] [ 2.67125394e-02 -7.42524222e-04 9.99642881e-01 7.16465749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.083617864999994 meters 0.018984480382958684 Centerline is valid? [True, True] Translation: X:42.46, Y:1.82, Z:0.72 [[ 9.79305541e-01 -2.00605861e-01 -2.67945288e-02 4.24596783e+01] [ 2.00551657e-01 9.79671745e-01 -4.72279651e-03 1.82466550e+00] [ 2.71972634e-02 -7.48626346e-04 9.99629806e-01 7.16024051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.113617864999995 meters 0.018992544359466665 Centerline is valid? [True, True] Translation: X:42.49, Y:1.83, Z:0.72 [[ 9.79381279e-01 -2.00039779e-01 -2.82205015e-02 4.24872310e+01] [ 1.99979262e-01 9.79787477e-01 -4.97951768e-03 1.82949783e+00] [ 2.86461956e-02 -7.66668679e-04 9.99589320e-01 7.15422500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.143617864999996 meters 0.01794381308168951 Centerline is valid? [True, True] Translation: X:42.51, Y:1.84, Z:0.72 [[ 9.79382028e-01 -2.00019364e-01 -2.83389661e-02 4.25144510e+01] [ 1.99958103e-01 9.79791648e-01 -5.00830574e-03 1.83618849e+00] [ 2.87680404e-02 -7.61561268e-04 9.99585824e-01 7.16542870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.173617865 meters 0.018440208812584385 Centerline is valid? [True, True] Translation: X:42.54, Y:1.84, Z:0.72 [[ 9.79400940e-01 -2.00019035e-01 -2.76800470e-02 4.25423651e+01] [ 1.99960421e-01 9.79791734e-01 -4.89783646e-03 1.84046553e+00] [ 2.81003417e-02 -7.37968225e-04 9.99604835e-01 7.16888784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.203617865 meters 0.017228824747657946 Centerline is valid? [True, True] Translation: X:42.57, Y:1.85, Z:0.72 [[ 9.79390445e-01 -2.00080959e-01 -2.76037343e-02 4.25695219e+01] [ 2.00022541e-01 9.79779094e-01 -4.88976806e-03 1.84835461e+00] [ 2.80239112e-02 -7.32376941e-04 9.99606985e-01 7.18089485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23361786499999 meters 0.017653995967595065 Centerline is valid? [True, True] Translation: X:42.60, Y:1.85, Z:0.72 [[ 9.79367961e-01 -2.00119210e-01 -2.81193534e-02 4.25972181e+01] [ 2.00058437e-01 9.79771275e-01 -4.98693705e-03 1.85381695e+00] [ 2.85485166e-02 -7.41467522e-04 9.99592133e-01 7.16696130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26361786499999 meters 0.018468060626540102 Centerline is valid? [True, True] Translation: X:42.62, Y:1.86, Z:0.72 [[ 9.79352150e-01 -2.00132657e-01 -2.85707030e-02 4.26238842e+01] [ 2.00069837e-01 9.79768521e-01 -5.06998463e-03 1.85721547e+00] [ 2.90073449e-02 -7.50835534e-04 9.99578916e-01 7.15576078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.293617864999995 meters 0.019350562126267932 Centerline is valid? [True, True] Translation: X:42.65, Y:1.86, Z:0.72 [[ 9.79354538e-01 -2.00048295e-01 -2.90752301e-02 4.26509683e+01] [ 1.99983093e-01 9.79785744e-01 -5.16309662e-03 1.86021168e+00] [ 2.95203647e-02 -7.58052346e-04 9.99563892e-01 7.15090656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323617864999996 meters 0.018084575381024568 Centerline is valid? [True, True] Translation: X:42.68, Y:1.87, Z:0.72 [[ 9.79281879e-01 -2.00489298e-01 -2.84788284e-02 4.26784766e+01] [ 2.00426775e-01 9.79695605e-01 -5.06256501e-03 1.86696883e+00] [ 2.89155732e-02 -7.50241564e-04 9.99581576e-01 7.16711828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.353617865 meters 0.018189243921729797 Centerline is valid? [True, True] Translation: X:42.71, Y:1.87, Z:0.72 [[ 9.79201584e-01 -2.00897356e-01 -2.83638840e-02 4.27065960e+01] [ 2.00835278e-01 9.79612009e-01 -5.05009693e-03 1.87178223e+00] [ 2.88001525e-02 -7.51405600e-04 9.99584907e-01 7.17313729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.383617865 meters 0.018502145362776095 Centerline is valid? [True, True] Translation: X:42.73, Y:1.88, Z:0.72 [[ 9.79154051e-01 -2.01173996e-01 -2.80422578e-02 4.27336334e+01] [ 2.01113262e-01 9.79555240e-01 -4.99876954e-03 1.87671170e+00] [ 2.84745630e-02 -7.45104498e-04 9.99594240e-01 7.17283622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41361786499999 meters 0.018559096002378248 Centerline is valid? [True, True] Translation: X:42.76, Y:1.88, Z:0.72 [[ 9.79210995e-01 -2.00910627e-01 -2.79418725e-02 4.27617784e+01] [ 2.00850083e-01 9.79609303e-01 -4.98568905e-03 1.88178092e+00] [ 2.83737962e-02 -7.30085883e-04 9.99597116e-01 7.17374918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44361786499999 meters 0.018521403574283307 Centerline is valid? [True, True] Translation: X:42.79, Y:1.89, Z:0.72 [[ 9.79194316e-01 -2.00975275e-01 -2.80611991e-02 4.27895788e+01] [ 2.00914034e-01 9.79596044e-01 -5.01420890e-03 1.88657306e+00] [ 2.84963717e-02 -7.28003858e-04 9.99593631e-01 7.17705655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.473617864999994 meters 0.0189277475909641 Centerline is valid? [True, True] Translation: X:42.82, Y:1.89, Z:0.72 [[ 9.79218860e-01 -2.00879859e-01 -2.78874064e-02 4.28177439e+01] [ 2.00819180e-01 9.79615624e-01 -4.98861313e-03 1.88978170e+00] [ 2.83210510e-02 -7.15382039e-04 9.99598623e-01 7.17909378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503617864999995 meters 0.018572176026570218 Centerline is valid? [True, True] Translation: X:42.85, Y:1.89, Z:0.72 [[ 9.79285163e-01 -2.00698668e-01 -2.68442675e-02 4.28468653e+01] [ 2.00642275e-01 9.79652787e-01 -4.80573986e-03 1.89363599e+00] [ 2.72625670e-02 -6.79905161e-04 9.99628076e-01 7.19360862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.533617865 meters 0.019314596236682028 Centerline is valid? [True, True] Translation: X:42.87, Y:1.90, Z:0.72 [[ 9.79265873e-01 -2.00805936e-01 -2.67455907e-02 4.28741519e+01] [ 2.00749864e-01 9.79630808e-01 -4.79293920e-03 1.89668954e+00] [ 2.71632552e-02 -6.75611910e-04 9.99630782e-01 7.19149931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.563617865 meters 0.018230768101263672 Centerline is valid? [True, True] Translation: X:42.90, Y:1.90, Z:0.72 [[ 9.79216882e-01 -2.01071702e-01 -2.65418215e-02 4.29010232e+01] [ 2.01016449e-01 9.79576295e-01 -4.76122773e-03 1.90320781e+00] [ 2.69570873e-02 -6.73068149e-04 9.99636365e-01 7.20148305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.593617865 meters 0.0186895575469639 Centerline is valid? [True, True] Translation: X:42.93, Y:1.91, Z:0.72 [[ 9.79198577e-01 -2.01182107e-01 -2.63800253e-02 4.29280855e+01] [ 2.01127414e-01 9.79553631e-01 -4.73790099e-03 1.90582185e+00] [ 2.67938305e-02 -6.66400364e-04 9.99640759e-01 7.19972933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62361786499999 meters 0.018644317721378447 Centerline is valid? [True, True] Translation: X:42.96, Y:1.91, Z:0.72 [[ 9.79135468e-01 -2.01528632e-01 -2.60757784e-02 4.29560181e+01] [ 2.01475193e-01 9.79482399e-01 -4.68789516e-03 1.90987103e+00] [ 2.64855111e-02 -6.63538066e-04 9.99648977e-01 7.20605831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.653617864999994 meters 0.018157589611323098 Centerline is valid? [True, True] Translation: X:42.98, Y:1.91, Z:0.72 [[ 9.79032460e-01 -2.02096548e-01 -2.55426571e-02 4.29836205e+01] [ 2.02045285e-01 9.79365382e-01 -4.59898469e-03 1.91400105e+00] [ 2.59450331e-02 -6.58218150e-04 9.99663154e-01 7.21935755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683617864999995 meters 0.01795862750039027 Centerline is valid? [True, True] Translation: X:43.01, Y:1.92, Z:0.72 [[ 9.78933209e-01 -2.02623227e-01 -2.51714030e-02 4.30114588e+01] [ 2.02573440e-01 9.79256554e-01 -4.53909553e-03 1.91876571e+00] [ 2.55689875e-02 -6.55586347e-04 9.99672845e-01 7.22704999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.713617864999996 meters 0.017312071490345745 Centerline is valid? [True, True] Translation: X:43.04, Y:1.92, Z:0.72 [[ 9.78846287e-01 -2.03114344e-01 -2.45867757e-02 4.30385311e+01] [ 2.03066826e-01 9.79154812e-01 -4.44052979e-03 1.92451504e+00] [ 2.49761951e-02 -6.46162417e-04 9.99687837e-01 7.23542364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.743617865 meters 0.01791025084970911 Centerline is valid? [True, True] Translation: X:43.07, Y:1.93, Z:0.72 [[ 9.78723500e-01 -2.03753410e-01 -2.41838494e-02 4.30664632e+01] [ 2.03707502e-01 9.79022027e-01 -4.37305333e-03 1.92817498e+00] [ 2.45675458e-02 -6.46421488e-04 9.99697963e-01 7.23718985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.773617865 meters 0.018449805707103886 Centerline is valid? [True, True] Translation: X:43.09, Y:1.93, Z:0.72 [[ 9.78679573e-01 -2.03985748e-01 -2.40022342e-02 4.30933737e+01] [ 2.03940539e-01 9.78973645e-01 -4.34260466e-03 1.93174453e+00] [ 2.43833841e-02 -6.45010079e-04 9.99702473e-01 7.23527413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80361786499999 meters 0.018449805707103886 Centerline is valid? [True, True] Translation: X:43.12, Y:1.94, Z:0.72 [[ 9.78624710e-01 -2.04248880e-01 -2.40015049e-02 4.31204994e+01] [ 2.04203651e-01 9.78918779e-01 -4.34663206e-03 1.93672613e+00] [ 2.43833186e-02 -6.47473381e-04 9.99702473e-01 7.23979251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.833617864999994 meters 0.018672420608623216 Centerline is valid? [True, True] Translation: X:43.15, Y:1.94, Z:0.72 [[ 9.78449002e-01 -2.05130276e-01 -2.36457269e-02 4.31492823e+01] [ 2.05086485e-01 9.78734460e-01 -4.28843869e-03 1.94131276e+00] [ 2.40225764e-02 -6.53400469e-04 9.99711203e-01 7.24023253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863617864999995 meters 0.01904221307933622 Centerline is valid? [True, True] Translation: X:43.18, Y:1.94, Z:0.72 [[ 9.78312678e-01 -2.05695474e-01 -2.43654629e-02 4.31779217e+01] [ 2.05649003e-01 9.78615812e-01 -4.42499070e-03 1.94442646e+00] [ 2.47546278e-02 -6.81708650e-04 9.99693325e-01 7.23729234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.893617864999996 meters 0.018406082659968577 Centerline is valid? [True, True] Translation: X:43.21, Y:1.95, Z:0.72 [[ 9.78237461e-01 -2.06053168e-01 -2.43631401e-02 4.32056705e+01] [ 2.06006662e-01 9.78540558e-01 -4.43077062e-03 1.95024286e+00] [ 2.47532950e-02 -6.84623371e-04 9.99693356e-01 7.24375906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923617865 meters 0.01821114743853469 Centerline is valid? [True, True] Translation: X:43.23, Y:1.96, Z:0.72 [[ 9.78169400e-01 -2.06331547e-01 -2.47369509e-02 4.32330181e+01] [ 2.06283515e-01 9.78481890e-01 -4.50580203e-03 1.95547317e+00] [ 2.51343476e-02 -6.95387519e-04 9.99683841e-01 7.24240660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.953617865 meters 0.018600915496454932 Centerline is valid? [True, True] Translation: X:43.26, Y:1.96, Z:0.72 [[ 9.78296365e-01 -2.05572984e-01 -2.59994157e-02 4.32603310e+01] [ 2.05519495e-01 9.78641534e-01 -4.74186376e-03 1.95961177e+00] [ 2.64189071e-02 -7.04438696e-04 9.99650712e-01 7.23232857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98361786499999 meters 0.017649725092764766 Centerline is valid? [True, True] Translation: X:43.29, Y:1.97, Z:0.72 [[ 9.78366233e-01 -2.05259723e-01 -2.58449339e-02 4.32885992e+01] [ 2.05206639e-01 9.78707297e-01 -4.71822770e-03 1.96653993e+00] [ 2.62630875e-02 -6.87397369e-04 9.99654829e-01 7.23713774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01361786499999 meters 0.018827347744539886 Centerline is valid? [True, True] Translation: X:43.32, Y:1.97, Z:0.72 [[ 9.78489926e-01 -2.04703898e-01 -2.55690944e-02 4.33161748e+01] [ 2.04651627e-01 9.78823721e-01 -4.67269318e-03 1.96896911e+00] [ 2.59841547e-02 -6.60573565e-04 9.99662137e-01 7.23492845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043617864999995 meters 0.018466011661381992 Centerline is valid? [True, True] Translation: X:43.35, Y:1.97, Z:0.72 [[ 9.78694627e-01 -2.03759193e-01 -2.52788245e-02 4.33451355e+01] [ 2.03707699e-01 9.79020838e-01 -4.62307293e-03 1.97390908e+00] [ 2.56904896e-02 -6.24914528e-04 9.99669750e-01 7.24802836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.073617864999996 meters 0.01698526077594148 Centerline is valid? [True, True] Translation: X:43.37, Y:1.98, Z:0.73 [[ 9.79196322e-01 -2.01445619e-01 -2.43767353e-02 4.33732620e+01] [ 2.01396882e-01 9.79499552e-01 -4.46356002e-03 1.98138909e+00] [ 2.47761659e-02 -5.38696938e-04 9.99692879e-01 7.26585200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.103617865 meters 0.016754442866008152 Centerline is valid? [True, True] Translation: X:43.40, Y:1.99, Z:0.73 [[ 9.79490751e-01 -2.00074540e-01 -2.38337556e-02 4.34003864e+01] [ 2.00027435e-01 9.79780557e-01 -4.36870268e-03 1.98717944e+00] [ 2.42259165e-02 -4.88301117e-04 9.99706390e-01 7.26721940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.133617865 meters 0.01656978619052889 Centerline is valid? [True, True] Translation: X:43.43, Y:1.99, Z:0.73 [[ 9.79811805e-01 -1.98510880e-01 -2.37119792e-02 4.34279429e+01] [ 1.98463747e-01 9.80098583e-01 -4.34844141e-03 1.99300180e+00] [ 2.41032901e-02 -4.45313996e-04 9.99709374e-01 7.27027413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16361786499999 meters 0.01604872276614176 Centerline is valid? [True, True] Translation: X:43.46, Y:2.00, Z:0.73 [[ 9.80304387e-01 -1.96125623e-01 -2.31958921e-02 4.34567595e+01] [ 1.96079782e-01 9.80578706e-01 -4.25674816e-03 1.99861751e+00] [ 2.35802552e-02 -3.75336579e-04 9.99721877e-01 7.27483766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19361786499999 meters 0.015368793987659307 Centerline is valid? [True, True] Translation: X:43.48, Y:2.00, Z:0.73 [[ 9.80552046e-01 -1.94956824e-01 -2.25726076e-02 4.34847663e+01] [ 1.94912986e-01 9.80811769e-01 -4.14749687e-03 2.00472940e+00] [ 2.29480620e-02 -3.32857812e-04 9.99736603e-01 7.28762907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223617864999994 meters 0.01520424354900317 Centerline is valid? [True, True] Translation: X:43.51, Y:2.01, Z:0.73 [[ 9.80777782e-01 -1.93882473e-01 -2.20120195e-02 4.35129346e+01] [ 1.93840394e-01 9.81024719e-01 -4.04991423e-03 2.00956940e+00] [ 2.23795426e-02 -2.94752635e-04 9.99749503e-01 7.29736275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.253617864999995 meters 0.014919499393079988 Centerline is valid? [True, True] Translation: X:43.54, Y:2.01, Z:0.73 [[ 9.81066749e-01 -1.92551228e-01 -2.07860200e-02 4.35417041e+01] [ 1.92513302e-01 9.81286892e-01 -3.82933112e-03 2.01314217e+00] [ 2.11343914e-02 -2.44755912e-04 9.99776614e-01 7.31713854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283617865 meters 0.014951894627533673 Centerline is valid? [True, True] Translation: X:43.57, Y:2.02, Z:0.73 [[ 9.81126751e-01 -1.92320070e-01 -2.00820655e-02 4.35690375e+01] [ 1.92284535e-01 9.81332227e-01 -3.70388826e-03 2.01697308e+00] [ 2.04195101e-02 -2.27486771e-04 9.99791474e-01 7.32409971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.313617865 meters 0.01486791555398746 Centerline is valid? [True, True] Translation: X:43.60, Y:2.02, Z:0.73 [[ 9.81093606e-01 -1.92479105e-01 -2.01774688e-02 4.35972204e+01] [ 1.92443212e-01 9.81301045e-01 -3.72406277e-03 2.02119269e+00] [ 2.05169755e-02 -2.29362731e-04 9.99789478e-01 7.32877471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.343617865 meters 0.01494034056865847 Centerline is valid? [True, True] Translation: X:43.63, Y:2.03, Z:0.73 [[ 9.80877037e-01 -1.93538055e-01 -2.05732689e-02 4.36262983e+01] [ 1.93500852e-01 9.81092737e-01 -3.80286695e-03 2.02510525e+00] [ 2.09202842e-02 -2.50800196e-04 9.99781115e-01 7.31967987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37361786499999 meters 0.015250503418908759 Centerline is valid? [True, True] Translation: X:43.65, Y:2.03, Z:0.73 [[ 9.80669937e-01 -1.94564577e-01 -2.07629645e-02 4.36537726e+01] [ 1.94526817e-01 9.80889674e-01 -3.84256818e-03 2.02825066e+00] [ 2.11138052e-02 -2.70662317e-04 9.99777042e-01 7.31444878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403617864999994 meters 0.015356880195963842 Centerline is valid? [True, True] Translation: X:43.68, Y:2.03, Z:0.73 [[ 9.80351831e-01 -1.96198992e-01 -2.04020534e-02 4.36822752e+01] [ 1.96162822e-01 9.80564056e-01 -3.77890428e-03 2.03170728e+00] [ 2.07469375e-02 -2.97468647e-04 9.99784715e-01 7.31704697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.433617864999995 meters 0.016421767275699183 Centerline is valid? [True, True] Translation: X:43.71, Y:2.03, Z:0.73 [[ 9.79673477e-01 -1.99574163e-01 -2.02492355e-02 4.37107368e+01] [ 1.99539165e-01 9.79882658e-01 -3.75487694e-03 2.03049824e+00] [ 2.05912511e-02 -3.61962198e-04 9.99787912e-01 7.32273219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463617864999996 meters 0.01652929234433999 Centerline is valid? [True, True] Translation: X:43.74, Y:2.03, Z:0.73 [[ 9.79230103e-01 -2.01745195e-01 -2.01812094e-02 4.37396659e+01] [ 2.01710843e-01 9.79437958e-01 -3.74463646e-03 2.03435945e+00] [ 2.05217049e-02 -4.03908016e-04 9.99789326e-01 7.32957435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.493617865 meters 0.01714435794036255 Centerline is valid? [True, True] Translation: X:43.77, Y:2.04, Z:0.73 [[ 9.78810838e-01 -2.03794213e-01 -1.99314269e-02 4.37680758e+01] [ 2.03761043e-01 9.79013650e-01 -3.70263122e-03 2.03722096e+00] [ 2.02677138e-02 -4.37072771e-04 9.99794493e-01 7.33389687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.523617865 meters 0.01765186543337115 Centerline is valid? [True, True] Translation: X:43.80, Y:2.04, Z:0.73 [[ 9.78378995e-01 -2.05892054e-01 -1.95704806e-02 4.37970775e+01] [ 2.05860437e-01 9.78574597e-01 -3.63843697e-03 2.04047127e+00] [ 1.99003004e-02 -4.69017376e-04 9.99801859e-01 7.33929237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55361786499999 meters 0.018659322825883815 Centerline is valid? [True, True] Translation: X:43.83, Y:2.04, Z:0.73 [[ 9.77687649e-01 -2.09175447e-01 -1.93001010e-02 4.38265380e+01] [ 2.09145248e-01 9.77877987e-01 -3.59272989e-03 2.04158500e+00] [ 1.96246548e-02 -5.23956766e-04 9.99807281e-01 7.34241422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583617864999994 meters 0.019354894822911972 Centerline is valid? [True, True] Translation: X:43.85, Y:2.04, Z:0.73 [[ 9.77429202e-01 -2.10392802e-01 -1.91578761e-02 4.38542645e+01] [ 2.10363201e-01 9.77616784e-01 -3.57031612e-03 2.04389511e+00] [ 1.94802301e-02 -5.40380906e-04 9.99810096e-01 7.34613064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.613617864999995 meters 0.019996682330709815 Centerline is valid? [True, True] Translation: X:43.88, Y:2.05, Z:0.73 [[ 9.77241701e-01 -2.11222799e-01 -1.95853657e-02 4.38825598e+01] [ 2.11191994e-01 9.77437777e-01 -3.65166057e-03 2.04652227e+00] [ 1.99147903e-02 -5.67717452e-04 9.99801520e-01 7.34835903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643617864999996 meters 0.018440059196315393 Centerline is valid? [True, True] Translation: X:43.91, Y:2.05, Z:0.74 [[ 9.76982917e-01 -2.12406201e-01 -1.96973291e-02 4.39106304e+01] [ 2.12375239e-01 9.77181280e-01 -3.67476370e-03 2.05180478e+00] [ 2.00284038e-02 -5.93043614e-04 9.99799236e-01 7.35604195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.673617865 meters 0.019164442937075112 Centerline is valid? [True, True] Translation: X:43.94, Y:2.05, Z:0.74 [[ 9.76923904e-01 -2.12657619e-01 -1.99103721e-02 4.39386150e+01] [ 2.12625948e-01 9.77126592e-01 -3.71883977e-03 2.05469748e+00] [ 2.02457937e-02 -6.00438289e-04 9.99794853e-01 7.35261305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.703617865 meters 0.01933000129681018 Centerline is valid? [True, True] Translation: X:43.97, Y:2.06, Z:0.74 [[ 9.76814539e-01 -2.13103540e-01 -2.04996907e-02 4.39672276e+01] [ 2.13070012e-01 9.77029421e-01 -3.83140091e-03 2.05930845e+00] [ 2.08452860e-02 -6.25301222e-04 9.99782518e-01 7.35070849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73361786499999 meters 0.02186258649297752 Centerline is valid? [True, True] Translation: X:44.00, Y:2.06, Z:0.73 [[ 9.76583324e-01 -2.14074861e-01 -2.13767371e-02 4.39960300e+01] [ 2.14038539e-01 9.76817028e-01 -3.99979072e-03 2.05878907e+00] [ 2.17374154e-02 -6.69316645e-04 9.99763490e-01 7.34173929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76361786499999 meters 0.019326445196583834 Centerline is valid? [True, True] Translation: X:44.02, Y:2.07, Z:0.74 [[ 9.76389016e-01 -2.14971904e-01 -2.12501693e-02 4.40238742e+01] [ 2.14936166e-01 9.76619995e-01 -3.97871132e-03 2.06677512e+00] [ 2.16086514e-02 -6.82659874e-04 9.99766273e-01 7.35171825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.793617864999995 meters 0.02021861540892785 Centerline is valid? [True, True] Translation: X:44.05, Y:2.07, Z:0.74 [[ 9.76205065e-01 -2.15829342e-01 -2.10087297e-02 4.40519878e+01] [ 2.15794518e-01 9.76430858e-01 -3.93779541e-03 2.06915327e+00] [ 2.13634637e-02 -6.89472875e-04 9.99771537e-01 7.35592336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823617864999996 meters 0.019967223149221912 Centerline is valid? [True, True] Translation: X:44.08, Y:2.07, Z:0.74 [[ 9.75755813e-01 -2.17925637e-01 -2.02239823e-02 4.40805154e+01] [ 2.17893767e-01 9.75965122e-01 -3.79303763e-03 2.07217312e+00] [ 2.05645015e-02 -7.05601187e-04 9.99788279e-01 7.37042815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.853617865 meters 0.02485043107538574 Centerline is valid? [True, True] Translation: X:44.11, Y:2.07, Z:0.74 [[ 9.75542459e-01 -2.18935703e-01 -1.95976653e-02 4.41096253e+01] [ 2.18905896e-01 9.75739037e-01 -3.67981943e-03 2.06892075e+00] [ 1.99278510e-02 -7.00224397e-04 9.99801175e-01 7.36945816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.883617865 meters 0.01998598163729566 Centerline is valid? [True, True] Translation: X:44.14, Y:2.08, Z:0.74 [[ 9.75292809e-01 -2.20049665e-01 -1.95469102e-02 4.41369186e+01] [ 2.20020177e-01 9.75488405e-01 -3.67319992e-03 2.08103625e+00] [ 1.98760707e-02 -7.18269189e-04 9.99802193e-01 7.38530351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91361786499999 meters 0.021183939594963633 Centerline is valid? [True, True] Translation: X:44.16, Y:2.08, Z:0.74 [[ 9.75090590e-01 -2.21048507e-01 -1.83275627e-02 4.41649878e+01] [ 2.21022685e-01 9.75262572e-01 -3.44807386e-03 2.08253812e+00] [ 1.86363775e-02 -6.88622742e-04 9.99826090e-01 7.39920737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94361786499999 meters 0.020361868468022223 Centerline is valid? [True, True] Translation: X:44.19, Y:2.09, Z:0.74 [[ 9.74989327e-01 -2.21520129e-01 -1.80178957e-02 4.41929151e+01] [ 2.21495206e-01 9.75155560e-01 -3.39234636e-03 2.08823855e+00] [ 1.83217242e-02 -6.83376026e-04 9.99831910e-01 7.41051487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.973617864999994 meters 0.019854475321306863 Centerline is valid? [True, True] Translation: X:44.22, Y:2.09, Z:0.74 [[ 9.74894471e-01 -2.21986753e-01 -1.73969167e-02 4.42200406e+01] [ 2.21963519e-01 9.75049455e-01 -3.27960495e-03 2.09340723e+00] [ 1.76908830e-02 -6.64212118e-04 9.99843283e-01 7.41859881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003617864999995 meters 0.019810140239659366 Centerline is valid? [True, True] Translation: X:44.25, Y:2.10, Z:0.74 [[ 9.74828497e-01 -2.22354385e-01 -1.63685554e-02 4.42477978e+01] [ 2.22333796e-01 9.74965709e-01 -3.09011621e-03 2.09823157e+00] [ 1.66458811e-02 -6.26949703e-04 9.99861251e-01 7.43027988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.033617865 meters 0.019836334788333444 Centerline is valid? [True, True] Translation: X:44.28, Y:2.10, Z:0.74 [[ 9.74908422e-01 -2.22011122e-01 -1.62674594e-02 4.42759465e+01] [ 2.21990662e-01 9.75043941e-01 -3.07562764e-03 2.10325508e+00] [ 1.65443113e-02 -6.12768790e-04 9.99862946e-01 7.42969361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.063617865 meters 0.019239897552100874 Centerline is valid? [True, True] Translation: X:44.30, Y:2.11, Z:0.74 [[ 9.75075619e-01 -2.21261647e-01 -1.64566668e-02 4.43038827e+01] [ 2.21240533e-01 9.75214294e-01 -3.11552037e-03 2.10930681e+00] [ 1.67381219e-02 -6.03013781e-04 9.99859726e-01 7.42935169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09361786499999 meters 0.018295862715409287 Centerline is valid? [True, True] Translation: X:44.33, Y:2.12, Z:0.74 [[ 9.75747208e-01 -2.18248214e-01 -1.68849971e-02 4.43320040e+01] [ 2.18225464e-01 9.75893130e-01 -3.20078801e-03 2.11578359e+00] [ 1.71765190e-02 -5.61576370e-04 9.99852315e-01 7.42523712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12361786499999 meters 0.019268809266474188 Centerline is valid? [True, True] Translation: X:44.36, Y:2.12, Z:0.74 [[ 9.76080977e-01 -2.16736797e-01 -1.70612627e-02 4.43601167e+01] [ 2.16713315e-01 9.76229927e-01 -3.23559951e-03 2.11949152e+00] [ 1.73569887e-02 -5.39195664e-04 9.99849211e-01 7.42156743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.153617864999994 meters 0.017607908764655962 Centerline is valid? [True, True] Translation: X:44.39, Y:2.13, Z:0.74 [[ 9.76430690e-01 -2.15123644e-01 -1.74621017e-02 4.43884293e+01] [ 2.15098709e-01 9.76586683e-01 -3.31602469e-03 2.12759955e+00] [ 1.77666113e-02 -5.18207254e-04 9.99842027e-01 7.42267301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183617864999995 meters 0.01775353789101594 Centerline is valid? [True, True] Translation: X:44.42, Y:2.13, Z:0.74 [[ 9.76717680e-01 -2.13772617e-01 -1.79955848e-02 4.44158960e+01] [ 2.13745833e-01 9.76883316e-01 -3.42132545e-03 2.13254319e+00] [ 1.83109723e-02 -5.04812217e-04 9.99832213e-01 7.42281470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.213617864999996 meters 0.01790046957167573 Centerline is valid? [True, True] Translation: X:44.44, Y:2.14, Z:0.74 [[ 9.77234019e-01 -2.11335163e-01 -1.87382093e-02 4.44437879e+01] [ 2.11305641e-01 9.77413537e-01 -3.56432288e-03 2.13680462e+00] [ 1.90682462e-02 -4.76311754e-04 9.99818071e-01 7.41092545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.243617865 meters 0.01681904306857729 Centerline is valid? [True, True] Translation: X:44.47, Y:2.14, Z:0.74 [[ 9.77341503e-01 -2.10802689e-01 -1.91262479e-02 4.44722439e+01] [ 2.10771774e-01 9.77528518e-01 -3.64094905e-03 2.14361834e+00] [ 1.94639746e-02 -4.72822585e-04 9.99810447e-01 7.41484485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.273617865 meters 0.016789858415951306 Centerline is valid? [True, True] Translation: X:44.50, Y:2.15, Z:0.74 [[ 9.77403250e-01 -2.10524413e-01 -1.90356861e-02 4.45006654e+01] [ 2.10493648e-01 9.77588492e-01 -3.62833903e-03 2.14797674e+00] [ 1.93729216e-02 -4.60540646e-04 9.99812221e-01 7.41812498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30361786499999 meters 0.016984808985747103 Centerline is valid? [True, True] Translation: X:44.53, Y:2.15, Z:0.74 [[ 9.77361786e-01 -2.10689377e-01 -1.93371813e-02 4.45287068e+01] [ 2.10657566e-01 9.77552949e-01 -3.69066634e-03 2.15128694e+00] [ 1.96807028e-02 -4.66407293e-04 9.99806207e-01 7.42341063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.333617864999994 meters 0.016922900365399063 Centerline is valid? [True, True] Translation: X:44.56, Y:2.16, Z:0.74 [[ 9.77345369e-01 -2.10741859e-01 -1.95933269e-02 4.45560312e+01] [ 2.10709101e-01 9.77541636e-01 -3.74501390e-03 2.15611743e+00] [ 1.99425240e-02 -4.68320314e-04 9.99801018e-01 7.42289077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.363617864999995 meters 0.01718290869122711 Centerline is valid? [True, True] Translation: X:44.58, Y:2.16, Z:0.74 [[ 9.77294531e-01 -2.10946938e-01 -1.99195680e-02 4.45834685e+01] [ 2.10913025e-01 9.77497398e-01 -3.81220924e-03 2.16071773e+00] [ 2.02754998e-02 -4.75645113e-04 9.99794318e-01 7.42211092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.393617864999996 meters 0.01732763333016476 Centerline is valid? [True, True] Translation: X:44.61, Y:2.17, Z:0.74 [[ 9.77184600e-01 -2.11440787e-01 -2.00761056e-02 4.46108962e+01] [ 2.11406393e-01 9.77390687e-01 -3.84463213e-03 2.16543541e+00] [ 2.04351107e-02 -4.87301754e-04 9.99791063e-01 7.42160618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.423617865 meters 0.017954580304322048 Centerline is valid? [True, True] Translation: X:44.64, Y:2.17, Z:0.74 [[ 9.76897304e-01 -2.12767409e-01 -2.00421479e-02 4.46385813e+01] [ 2.12733310e-01 9.77102743e-01 -3.84300429e-03 2.16834594e+00] [ 2.04009038e-02 -5.09411934e-04 9.99791750e-01 7.42497097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.453617865 meters 0.018448777233335323 Centerline is valid? [True, True] Translation: X:44.67, Y:2.17, Z:0.74 [[ 9.76723178e-01 -2.13598742e-01 -1.96827649e-02 4.46662952e+01] [ 2.13565977e-01 9.76921344e-01 -3.77638752e-03 2.17177992e+00] [ 2.00351447e-02 -5.15083697e-04 9.99799144e-01 7.42861451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48361786499999 meters 0.018626168674888657 Centerline is valid? [True, True] Translation: X:44.69, Y:2.18, Z:0.74 [[ 9.76449518e-01 -2.14833997e-01 -1.98164523e-02 4.46948640e+01] [ 2.14800995e-01 9.76650429e-01 -3.80426455e-03 2.17598672e+00] [ 2.01710320e-02 -5.41921383e-04 9.99796397e-01 7.43726248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51361786499999 meters 0.017234492776768362 Centerline is valid? [True, True] Translation: X:44.72, Y:2.18, Z:0.75 [[ 9.76162067e-01 -2.16144991e-01 -1.97221047e-02 4.47228646e+01] [ 2.16112476e-01 9.76361115e-01 -3.79082282e-03 2.18261143e+00] [ 2.00752635e-02 -5.61735442e-04 9.99798314e-01 7.45118523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543617864999995 meters 0.017960057690444696 Centerline is valid? [True, True] Translation: X:44.75, Y:2.18, Z:0.75 [[ 9.75684208e-01 -2.18312834e-01 -1.94893063e-02 4.47522820e+01] [ 2.18281419e-01 9.75878657e-01 -3.75087264e-03 2.18371131e+00] [ 1.98380617e-02 -5.94486251e-04 9.99803030e-01 7.46273443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.573617864999996 meters 0.020374789675539667 Centerline is valid? [True, True] Translation: X:44.78, Y:2.18, Z:0.75 [[ 9.75362938e-01 -2.19725946e-01 -1.96887708e-02 4.47806968e+01] [ 2.19694085e-01 9.75561437e-01 -3.79358899e-03 2.18368220e+00] [ 2.00411555e-02 -6.25380387e-04 9.99798960e-01 7.46271041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.603617865 meters 0.018448881793769405 Centerline is valid? [True, True] Translation: X:44.81, Y:2.19, Z:0.75 [[ 9.75099951e-01 -2.20843394e-01 -2.02059442e-02 4.48088850e+01] [ 2.20810027e-01 9.75309057e-01 -3.89569572e-03 2.19140958e+00] [ 2.05673791e-02 -6.62982373e-04 9.99788249e-01 7.47156601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.633617865 meters 0.019126370152741223 Centerline is valid? [True, True] Translation: X:44.84, Y:2.20, Z:0.75 [[ 9.74908981e-01 -2.21655508e-01 -2.05259327e-02 4.48368157e+01] [ 2.21621163e-01 9.75124794e-01 -3.96182817e-03 2.19508544e+00] [ 2.08935069e-02 -6.86559210e-04 9.99781471e-01 7.46991874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66361786499999 meters 0.01914682574654794 Centerline is valid? [True, True] Translation: X:44.87, Y:2.20, Z:0.75 [[ 9.75066832e-01 -2.20980418e-01 -2.03058476e-02 4.48653232e+01] [ 2.20946608e-01 9.75278020e-01 -3.92176554e-03 2.20086450e+00] [ 2.06704803e-02 -6.62524657e-04 9.99786123e-01 7.47445754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69361786499999 meters 0.0180207006911583 Centerline is valid? [True, True] Translation: X:44.89, Y:2.21, Z:0.75 [[ 9.75299862e-01 -2.19955877e-01 -2.02383806e-02 4.48935072e+01] [ 2.19921970e-01 9.75509616e-01 -3.91366438e-03 2.20851789e+00] [ 2.06035684e-02 -6.33868203e-04 9.99787523e-01 7.48480515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723617864999994 meters 0.0180207006911583 Centerline is valid? [True, True] Translation: X:44.92, Y:2.21, Z:0.75 [[ 9.75239592e-01 -2.20223034e-01 -2.02374148e-02 4.49205931e+01] [ 2.20189081e-01 9.75449339e-01 -3.91865260e-03 2.21382519e+00] [ 2.06035505e-02 -6.34432621e-04 9.99787523e-01 7.48931806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.753617864999995 meters 0.018065936070031242 Centerline is valid? [True, True] Translation: X:44.95, Y:2.22, Z:0.75 [[ 9.75498911e-01 -2.19078043e-01 -2.01664560e-02 4.49483905e+01] [ 2.19043969e-01 9.75707153e-01 -3.91047438e-03 2.21922307e+00] [ 2.05332544e-02 -6.02677061e-04 9.99788989e-01 7.49357575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783617865 meters 0.018557773516884396 Centerline is valid? [True, True] Translation: X:44.98, Y:2.22, Z:0.75 [[ 9.75621304e-01 -2.18524287e-01 -2.02535869e-02 4.49763040e+01] [ 2.18489709e-01 9.75831332e-01 -3.93171807e-03 2.22361323e+00] [ 2.06232606e-02 -5.89332401e-04 9.99787144e-01 7.49447179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.813617865 meters 0.01797097223507323 Centerline is valid? [True, True] Translation: X:45.00, Y:2.23, Z:0.75 [[ 9.75544543e-01 -2.18801937e-01 -2.09417423e-02 4.50034343e+01] [ 2.18764973e-01 9.75769100e-01 -4.06811293e-03 2.23005139e+00] [ 2.13244160e-02 -6.12694319e-04 9.99772421e-01 7.49523301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84361786499999 meters 0.01773312567943272 Centerline is valid? [True, True] Translation: X:45.03, Y:2.24, Z:0.75 [[ 9.75492609e-01 -2.19077891e-01 -2.04706675e-02 4.50305826e+01] [ 2.19042515e-01 9.75707189e-01 -3.98226044e-03 2.23704451e+00] [ 2.08458027e-02 -5.99280862e-04 9.99782523e-01 7.49688372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87361786499999 meters 0.018025956892071673 Centerline is valid? [True, True] Translation: X:45.06, Y:2.24, Z:0.75 [[ 9.75380380e-01 -2.19607047e-01 -2.01459249e-02 4.50583770e+01] [ 2.19572782e-01 9.75588228e-01 -3.92470190e-03 2.24189390e+00] [ 2.05160194e-02 -5.95419542e-04 9.99789347e-01 7.49914817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.903617864999994 meters 0.018975065494568982 Centerline is valid? [True, True] Translation: X:45.09, Y:2.25, Z:0.75 [[ 9.75173523e-01 -2.20514971e-01 -2.02422457e-02 4.50862940e+01] [ 2.20480471e-01 9.75383398e-01 -3.94837668e-03 2.24561679e+00] [ 2.06146266e-02 -6.12667477e-04 9.99787308e-01 7.50884450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.933617864999995 meters 0.01916581031017959 Centerline is valid? [True, True] Translation: X:45.11, Y:2.25, Z:0.75 [[ 9.74906495e-01 -2.21701518e-01 -2.01435582e-02 4.51142961e+01] [ 2.21667558e-01 9.75114371e-01 -3.93150024e-03 2.25108350e+00] [ 2.05138927e-02 -6.32328241e-04 9.99789368e-01 7.51310355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963617864999996 meters 0.01905277830336042 Centerline is valid? [True, True] Translation: X:45.14, Y:2.26, Z:0.75 [[ 9.74309922e-01 -2.24357595e-01 -1.95919845e-02 4.51425401e+01] [ 2.24325912e-01 9.74506659e-01 -3.82850069e-03 2.25831253e+00] [ 1.99514725e-02 -6.64843581e-04 9.99800729e-01 7.51260064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.993617865 meters 0.02093907837754302 Centerline is valid? [True, True] Translation: X:45.17, Y:2.26, Z:0.75 [[ 9.74063316e-01 -2.25433599e-01 -1.95025247e-02 4.51707708e+01] [ 2.25402336e-01 9.74258298e-01 -3.81528507e-03 2.26121096e+00] [ 1.98605900e-02 -6.79585402e-04 9.99802528e-01 7.51830439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.023617865 meters 0.020899585427614026 Centerline is valid? [True, True] Translation: X:45.20, Y:2.27, Z:0.75 [[ 9.73823156e-01 -2.26500277e-01 -1.91333378e-02 4.51987013e+01] [ 2.26470350e-01 9.74010859e-01 -3.74516972e-03 2.26725426e+00] [ 1.94843608e-02 -6.86000719e-04 9.99809926e-01 7.52641265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05361786499999 meters 0.020967612555859442 Centerline is valid? [True, True] Translation: X:45.23, Y:2.27, Z:0.75 [[ 9.73705503e-01 -2.27028340e-01 -1.88607280e-02 4.52260778e+01] [ 2.26999282e-01 9.73887913e-01 -3.69583985e-03 2.27488152e+00] [ 1.92072954e-02 -6.82712126e-04 9.99815290e-01 7.53358794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083617864999994 meters 0.020773429364412312 Centerline is valid? [True, True] Translation: X:45.25, Y:2.28, Z:0.75 [[ 9.73720468e-01 -2.26978410e-01 -1.86882854e-02 4.52540043e+01] [ 2.26949834e-01 9.73899557e-01 -3.66403107e-03 2.28224892e+00] [ 1.90321688e-02 -6.73561221e-04 9.99818645e-01 7.53584632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.113617864999995 meters 0.020816751416520864 Centerline is valid? [True, True] Translation: X:45.28, Y:2.29, Z:0.75 [[ 9.73744012e-01 -2.26893606e-01 -1.84902591e-02 4.52821606e+01] [ 2.26865535e-01 9.73919327e-01 -3.62960094e-03 2.28902999e+00] [ 1.88315540e-02 -6.60500337e-04 9.99822452e-01 7.53614885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.143617864999996 meters 0.02038501756395643 Centerline is valid? [True, True] Translation: X:45.31, Y:2.30, Z:0.75 [[ 9.73986401e-01 -2.25842937e-01 -1.85865013e-02 4.53103399e+01] [ 2.25814298e-01 9.74163518e-01 -3.65291322e-03 2.29826393e+00] [ 1.89312761e-02 -6.39209928e-04 9.99820583e-01 7.53762551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.173617865 meters 0.019110629218338043 Centerline is valid? [True, True] Translation: X:45.34, Y:2.31, Z:0.75 [[ 9.73953557e-01 -2.25987968e-01 -1.85447225e-02 4.53374739e+01] [ 2.25959403e-01 9.74129885e-01 -3.64897051e-03 2.30716452e+00] [ 1.88895919e-02 -6.36426625e-04 9.99821373e-01 7.54257804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.203617865 meters 0.019568796051433017 Centerline is valid? [True, True] Translation: X:45.36, Y:2.31, Z:0.75 [[ 9.73989826e-01 -2.25828400e-01 -1.85836539e-02 4.53647805e+01] [ 2.25799594e-01 9.74166894e-01 -3.66152216e-03 2.31266730e+00] [ 1.89304560e-02 -6.29896160e-04 9.99820604e-01 7.54746320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23361786499999 meters 0.01870989015377036 Centerline is valid? [True, True] Translation: X:45.39, Y:2.32, Z:0.76 [[ 9.74057678e-01 -2.25589408e-01 -1.79181422e-02 4.53924276e+01] [ 2.25562541e-01 9.74222284e-01 -3.53289692e-03 2.32055178e+00] [ 1.82532375e-02 -6.00416312e-04 9.99833216e-01 7.55872779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26361786499999 meters 0.01799025134090595 Centerline is valid? [True, True] Translation: X:45.42, Y:2.33, Z:0.76 [[ 9.74215772e-01 -2.24921254e-01 -1.77217240e-02 4.54203895e+01] [ 2.24894784e-01 9.74376773e-01 -3.49852008e-03 2.32841339e+00] [ 1.80545277e-02 -5.77209838e-04 9.99836837e-01 7.56714525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.293617864999995 meters 0.019814539551099776 Centerline is valid? [True, True] Translation: X:45.45, Y:2.33, Z:0.76 [[ 9.74436315e-01 -2.23953638e-01 -1.78504069e-02 4.54485023e+01] [ 2.23926543e-01 9.74599638e-01 -3.52815888e-03 2.33201470e+00] [ 1.81871441e-02 -5.59213774e-04 9.99834444e-01 7.57036754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.323617864999996 meters 0.018027654607835425 Centerline is valid? [True, True] Translation: X:45.48, Y:2.34, Z:0.76 [[ 9.75162023e-01 -2.20780280e-01 -1.77509814e-02 4.54761144e+01] [ 2.20752931e-01 9.75323445e-01 -3.51012043e-03 2.34287046e+00] [ 1.80879137e-02 -4.95645038e-04 9.99836277e-01 7.57174668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.353617865 meters 0.019342477956778948 Centerline is valid? [True, True] Translation: X:45.50, Y:2.35, Z:0.76 [[ 9.75543517e-01 -2.19069620e-01 -1.79818739e-02 4.55043263e+01] [ 2.19041223e-01 9.75709118e-01 -3.55807727e-03 2.34664428e+00] [ 1.83245450e-02 -4.67712431e-04 9.99831982e-01 7.57747453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.383617865 meters 0.017086164366768162 Centerline is valid? [True, True] Translation: X:45.53, Y:2.36, Z:0.76 [[ 9.75982359e-01 -2.17076230e-01 -1.83397117e-02 4.55313507e+01] [ 2.17046256e-01 9.76154558e-01 -3.63334693e-03 2.35694515e+00] [ 1.86911065e-02 -4.34483252e-04 9.99825212e-01 7.58110844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41361786499999 meters 0.01749618973491938 Centerline is valid? [True, True] Translation: X:45.56, Y:2.36, Z:0.76 [[ 9.76662447e-01 -2.13912898e-01 -1.92804891e-02 4.55581621e+01] [ 2.13879068e-01 9.76852661e-01 -3.82404230e-03 2.36321533e+00] [ 1.96522091e-02 -3.88894544e-04 9.99806801e-01 7.57584708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44361786499999 meters 0.017141496851123927 Centerline is valid? [True, True] Translation: X:45.59, Y:2.37, Z:0.76 [[ 9.76913512e-01 -2.12787644e-01 -1.90107670e-02 4.55865391e+01] [ 2.12754503e-01 9.77098403e-01 -3.77254114e-03 2.37018559e+00] [ 1.93781402e-02 -3.59179868e-04 9.99812162e-01 7.58028519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.473617864999994 meters 0.017051301681471343 Centerline is valid? [True, True] Translation: X:45.61, Y:2.38, Z:0.76 [[ 9.77057811e-01 -2.12158944e-01 -1.86176467e-02 4.56133844e+01] [ 2.12126975e-01 9.77235115e-01 -3.69824421e-03 2.37657656e+00] [ 1.89784337e-02 -3.35906679e-04 9.99819837e-01 7.58578574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503617864999995 meters 0.015628346481801773 Centerline is valid? [True, True] Translation: X:45.64, Y:2.39, Z:0.76 [[ 9.77195113e-01 -2.11471369e-01 -1.92242503e-02 4.56409640e+01] [ 2.11437109e-01 9.77384137e-01 -3.82079367e-03 2.38582983e+00] [ 1.95974657e-02 -3.31059001e-04 9.99807896e-01 7.58994124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.533617865 meters 0.015528755361478557 Centerline is valid? [True, True] Translation: X:45.67, Y:2.39, Z:0.76 [[ 9.77146996e-01 -2.11692213e-01 -1.92394187e-02 4.56685835e+01] [ 2.11657850e-01 9.77336328e-01 -3.82845436e-03 2.39154899e+00] [ 1.96138368e-02 -3.31211327e-04 9.99807575e-01 7.59183399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.563617865 meters 0.015559453332968948 Centerline is valid? [True, True] Translation: X:45.70, Y:2.40, Z:0.76 [[ 9.77117274e-01 -2.11838633e-01 -1.91370351e-02 4.56962649e+01] [ 2.11804563e-01 9.77304603e-01 -3.81323769e-03 2.39671479e+00] [ 1.95105035e-02 -3.27330934e-04 9.99809598e-01 7.59286727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59361786499999 meters 0.014963315600443077 Centerline is valid? [True, True] Translation: X:45.72, Y:2.40, Z:0.76 [[ 9.77081991e-01 -2.12021533e-01 -1.89116753e-02 4.57234977e+01] [ 2.11988197e-01 9.77264941e-01 -3.77341943e-03 2.40346843e+00] [ 1.92817634e-02 -3.22111766e-04 9.99814038e-01 7.60191697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62361786499999 meters 0.015759658178922165 Centerline is valid? [True, True] Translation: X:45.75, Y:2.41, Z:0.76 [[ 9.77094899e-01 -2.11947926e-01 -1.90692237e-02 4.57500775e+01] [ 2.11913922e-01 9.77280909e-01 -3.80981723e-03 2.40659440e+00] [ 1.94434711e-02 -3.18480997e-04 9.99810907e-01 7.60495155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.653617864999994 meters 0.014697182649300198 Centerline is valid? [True, True] Translation: X:45.78, Y:2.41, Z:0.76 [[ 9.77081877e-01 -2.11978883e-01 -1.93896822e-02 4.57771072e+01] [ 2.11943673e-01 9.77274194e-01 -3.87679583e-03 2.41453456e+00] [ 1.97708349e-02 -3.21573528e-04 9.99804486e-01 7.60933945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683617864999995 meters 0.014911963222130946 Centerline is valid? [True, True] Translation: X:45.80, Y:2.42, Z:0.76 [[ 9.77079790e-01 -2.11982151e-01 -1.94589631e-02 4.58035863e+01] [ 2.11946589e-01 9.77273486e-01 -3.89572543e-03 2.41942524e+00] [ 1.98425530e-02 -3.17826276e-04 9.99803067e-01 7.60843948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.713617864999996 meters 0.014666956847117621 Centerline is valid? [True, True] Translation: X:45.83, Y:2.42, Z:0.76 [[ 9.77240758e-01 -2.11136567e-01 -2.05390239e-02 4.58318653e+01] [ 2.11096693e-01 9.77456521e-01 -4.11518658e-03 2.42496108e+00] [ 2.09448692e-02 -3.14191975e-04 9.99780583e-01 7.60579744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.743617865 meters 0.014678260379187257 Centerline is valid? [True, True] Translation: X:45.86, Y:2.43, Z:0.76 [[ 9.77289050e-01 -2.10893665e-01 -2.07358422e-02 4.58590070e+01] [ 2.10852855e-01 9.77508961e-01 -4.15997972e-03 2.43003511e+00] [ 2.11467849e-02 -3.06708902e-04 9.99776335e-01 7.60364937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77361786499999 meters 0.014655480685102197 Centerline is valid? [True, True] Translation: X:45.89, Y:2.43, Z:0.76 [[ 9.77385153e-01 -2.10383609e-01 -2.13775354e-02 4.58864486e+01] [ 2.10340000e-01 9.77618866e-01 -4.29386891e-03 2.43492279e+00] [ 2.18024416e-02 -2.99787078e-04 9.99762254e-01 7.60410577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80361786499999 meters 0.014633563038459587 Centerline is valid? [True, True] Translation: X:45.91, Y:2.44, Z:0.76 [[ 9.77462113e-01 -2.09996045e-01 -2.16674598e-02 4.59142570e+01] [ 2.09951084e-01 9.77702192e-01 -4.35509606e-03 2.44001321e+00] [ 2.20988759e-02 -2.92165273e-04 9.99755747e-01 7.60506097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.833617864999994 meters 0.01443786807208923 Centerline is valid? [True, True] Translation: X:45.94, Y:2.44, Z:0.76 [[ 9.77438680e-01 -2.10038967e-01 -2.22993180e-02 4.59418786e+01] [ 2.09991210e-01 9.77692971e-01 -4.48850381e-03 2.44491209e+00] [ 2.27446472e-02 -2.95423525e-04 9.99741263e-01 7.59963887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863617864999995 meters 0.014524086192402794 Centerline is valid? [True, True] Translation: X:45.97, Y:2.45, Z:0.76 [[ 9.77352562e-01 -2.10425479e-01 -2.24296225e-02 4.59693871e+01] [ 2.10377118e-01 9.77609855e-01 -4.52112949e-03 2.44904825e+00] [ 2.28787808e-02 -2.99941835e-04 9.99738201e-01 7.60056673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.893617864999996 meters 0.014904312089686789 Centerline is valid? [True, True] Translation: X:46.00, Y:2.45, Z:0.76 [[ 9.77263894e-01 -2.10797728e-01 -2.27947471e-02 4.59974741e+01] [ 2.10747758e-01 9.77529653e-01 -4.59995296e-03 2.45197773e+00] [ 2.32522009e-02 -3.08573918e-04 9.99729583e-01 7.60035168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923617865 meters 0.01491055255082938 Centerline is valid? [True, True] Translation: X:46.03, Y:2.46, Z:0.76 [[ 9.77066887e-01 -2.11739516e-01 -2.25094396e-02 4.60257613e+01] [ 2.11690972e-01 9.77326083e-01 -4.54531129e-03 2.45574893e+00] [ 2.29614845e-02 -3.23972008e-04 9.99736298e-01 7.60695245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.953617865 meters 0.01528338761213787 Centerline is valid? [True, True] Translation: X:46.05, Y:2.46, Z:0.76 [[ 9.76546991e-01 -2.14187624e-01 -2.19005882e-02 4.60548510e+01] [ 2.14142171e-01 9.76792469e-01 -4.42751138e-03 2.45695713e+00] [ 2.23406478e-02 -3.66166604e-04 9.99750350e-01 7.62635523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98361786499999 meters 0.015015799801198128 Centerline is valid? [True, True] Translation: X:46.08, Y:2.46, Z:0.76 [[ 9.76245962e-01 -2.15609164e-01 -2.13661053e-02 4.60831978e+01] [ 2.15566131e-01 9.76479668e-01 -4.32456788e-03 2.46143529e+00] [ 2.17959839e-02 -3.83966733e-04 9.99762366e-01 7.63901900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01361786499999 meters 0.015252448996817594 Centerline is valid? [True, True] Translation: X:46.11, Y:2.46, Z:0.76 [[ 9.75925727e-01 -2.17076132e-01 -2.11406802e-02 4.61119894e+01] [ 2.17034233e-01 9.76154592e-01 -4.28420102e-03 2.46490213e+00] [ 2.15665698e-02 -4.07189318e-04 9.99767332e-01 7.64602425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043617864999995 meters 0.01576118045679679 Centerline is valid? [True, True] Translation: X:46.14, Y:2.47, Z:0.76 [[ 9.75388871e-01 -2.19517341e-01 -2.07047697e-02 4.61410675e+01] [ 2.19477594e-01 9.75608496e-01 -4.20096786e-03 2.46623036e+00] [ 2.11219346e-02 -4.46655747e-04 9.99776807e-01 7.64927381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.073617864999996 meters 0.016474981275715308 Centerline is valid? [True, True] Translation: X:46.17, Y:2.47, Z:0.77 [[ 9.75108181e-01 -2.20749379e-01 -2.08266185e-02 4.61692433e+01] [ 2.20709344e-01 9.75330451e-01 -4.23037670e-03 2.46867125e+00] [ 2.12466883e-02 -4.71554377e-04 9.99774152e-01 7.65126354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103617865 meters 0.0165331281533476 Centerline is valid? [True, True] Translation: X:46.20, Y:2.47, Z:0.77 [[ 9.74915873e-01 -2.21564203e-01 -2.11741387e-02 4.61975897e+01] [ 2.21522939e-01 9.75145661e-01 -4.30438193e-03 2.47256005e+00] [ 2.16015664e-02 -4.94147166e-04 9.99766537e-01 7.65623870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.133617865 meters 0.016264306054647036 Centerline is valid? [True, True] Translation: X:46.23, Y:2.48, Z:0.77 [[ 9.74825938e-01 -2.21942340e-01 -2.13538643e-02 4.62253748e+01] [ 2.21900344e-01 9.75059663e-01 -4.34638744e-03 2.47827842e+00] [ 2.17859391e-02 -5.01458611e-04 9.99762533e-01 7.66281739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16361786499999 meters 0.01586142992381433 Centerline is valid? [True, True] Translation: X:46.25, Y:2.49, Z:0.77 [[ 9.75310357e-01 -2.19958349e-01 -1.96985579e-02 4.62519231e+01] [ 2.19922116e-01 9.75509175e-01 -4.01400733e-03 2.48566849e+00] [ 2.00990384e-02 -4.17245618e-04 9.99797907e-01 7.66929374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19361786499999 meters 0.01580468003009721 Centerline is valid? [True, True] Translation: X:46.28, Y:2.49, Z:0.77 [[ 9.75429669e-01 -2.19389753e-01 -2.01270004e-02 4.62803123e+01] [ 2.19351756e-01 9.75637210e-01 -4.10375059e-03 2.49088835e+00] [ 2.05369714e-02 -4.11972812e-04 9.99789009e-01 7.67478878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223617864999994 meters 0.015365469761764977 Centerline is valid? [True, True] Translation: X:46.31, Y:2.50, Z:0.77 [[ 9.75537924e-01 -2.18877040e-01 -2.04597178e-02 4.63089906e+01] [ 2.18837557e-01 9.75752366e-01 -4.17667830e-03 2.49698736e+00] [ 2.08777970e-02 -4.02846580e-04 9.99781954e-01 7.68052136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.253617864999995 meters 0.015328430425196115 Centerline is valid? [True, True] Translation: X:46.34, Y:2.50, Z:0.77 [[ 9.75682135e-01 -2.18204337e-01 -2.07662883e-02 4.63364107e+01] [ 2.18163415e-01 9.75903025e-01 -4.24374386e-03 2.50229619e+00] [ 2.11918869e-02 -3.89899303e-04 9.99775351e-01 7.68104383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283617865 meters 0.014736084781044372 Centerline is valid? [True, True] Translation: X:46.36, Y:2.51, Z:0.77 [[ 9.75971135e-01 -2.16941414e-01 -2.04148790e-02 4.63646287e+01] [ 2.16901536e-01 9.76184561e-01 -4.17442437e-03 2.51045969e+00] [ 2.08342952e-02 -3.53900924e-04 9.99782880e-01 7.69313963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.313617865 meters 0.014846967477413596 Centerline is valid? [True, True] Translation: X:46.39, Y:2.52, Z:0.77 [[ 9.76019903e-01 -2.16740678e-01 -2.02145350e-02 4.63922818e+01] [ 2.16701445e-01 9.76229154e-01 -4.13785651e-03 2.51589601e+00] [ 2.06308603e-02 -3.41888651e-04 9.99787103e-01 7.69924144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34361786499999 meters 0.014815128310472193 Centerline is valid? [True, True] Translation: X:46.42, Y:2.52, Z:0.77 [[ 9.75995011e-01 -2.16851698e-01 -2.02257137e-02 4.64194790e+01] [ 2.16812392e-01 9.76204499e-01 -4.14276254e-03 2.52206462e+00] [ 2.06427978e-02 -3.41869795e-04 9.99786856e-01 7.70452625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37361786499999 meters 0.01487582185768652 Centerline is valid? [True, True] Translation: X:46.45, Y:2.53, Z:0.77 [[ 9.75850477e-01 -2.17479538e-01 -2.04572239e-02 4.64462997e+01] [ 2.17439342e-01 9.76064816e-01 -4.19605367e-03 2.53003413e+00] [ 2.08801323e-02 -3.53484314e-04 9.99781924e-01 7.69820957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403617864999994 meters 0.0149485207212232 Centerline is valid? [True, True] Translation: X:46.47, Y:2.54, Z:0.77 [[ 9.75753538e-01 -2.17937397e-01 -2.02070563e-02 4.64736127e+01] [ 2.17898158e-01 9.75962687e-01 -4.15045394e-03 2.53577795e+00] [ 2.06258720e-02 -3.53260230e-04 9.99787202e-01 7.70330117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.433617864999995 meters 0.01538807349948603 Centerline is valid? [True, True] Translation: X:46.50, Y:2.54, Z:0.77 [[ 9.75652258e-01 -2.18444314e-01 -1.96151076e-02 4.65012299e+01] [ 2.18407348e-01 9.75849353e-01 -4.03362623e-03 2.53994074e+00] [ 2.00225127e-02 -3.48667083e-04 9.99799469e-01 7.71148113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.463617864999996 meters 0.015238898325959128 Centerline is valid? [True, True] Translation: X:46.53, Y:2.55, Z:0.77 [[ 9.75481467e-01 -2.19282655e-01 -1.87356598e-02 4.65293797e+01] [ 2.19249046e-01 9.75661312e-01 -3.85478971e-03 2.54586065e+00] [ 1.91249470e-02 -3.47499634e-04 9.99817041e-01 7.72860746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.493617865 meters 0.015215522889735201 Centerline is valid? [True, True] Translation: X:46.56, Y:2.55, Z:0.77 [[ 9.75307143e-01 -2.20098378e-01 -1.82395298e-02 4.65576468e+01] [ 2.20066586e-01 9.75477617e-01 -3.75711174e-03 2.55292591e+00] [ 1.86191873e-02 -3.49573139e-04 9.99826587e-01 7.73557029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52361786499999 meters 0.015323217066881641 Centerline is valid? [True, True] Translation: X:46.58, Y:2.56, Z:0.77 [[ 9.75276001e-01 -2.20275639e-01 -1.77584939e-02 4.65847258e+01] [ 2.20245453e-01 9.75437608e-01 -3.66239004e-03 2.55898631e+00] [ 1.81290381e-02 -3.39386417e-04 9.99835598e-01 7.73844850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55361786499999 meters 0.015216557608867198 Centerline is valid? [True, True] Translation: X:46.61, Y:2.57, Z:0.77 [[ 9.75241009e-01 -2.20455978e-01 -1.74395332e-02 4.66121574e+01] [ 2.20426808e-01 9.75396869e-01 -3.60145277e-03 2.56532380e+00] [ 1.78044278e-02 -3.31856192e-04 9.99841434e-01 7.74303510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583617864999994 meters 0.015267544380761703 Centerline is valid? [True, True] Translation: X:46.64, Y:2.57, Z:0.77 [[ 9.75242492e-01 -2.20458643e-01 -1.73224683e-02 4.66395546e+01] [ 2.20429777e-01 9.75396269e-01 -3.58216422e-03 2.57134761e+00] [ 1.76859900e-02 -3.24909066e-04 9.99843538e-01 7.73777083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.613617864999995 meters 0.015267544380761703 Centerline is valid? [True, True] Translation: X:46.67, Y:2.58, Z:0.77 [[ 9.75182815e-01 -2.20722546e-01 -1.73214967e-02 4.66665555e+01] [ 2.20693639e-01 9.75336584e-01 -3.58685649e-03 2.57701013e+00] [ 1.76859895e-02 -3.24903316e-04 9.99843538e-01 7.74228005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643617864999996 meters 0.015435422053207349 Centerline is valid? [True, True] Translation: X:46.69, Y:2.58, Z:0.77 [[ 9.75199805e-01 -2.20591857e-01 -1.80159205e-02 4.66929269e+01] [ 2.20560472e-01 9.75366148e-01 -3.73560815e-03 2.58252879e+00] [ 1.83961637e-02 -3.30635590e-04 9.99830722e-01 7.74298429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.673617865 meters 0.014957861763858727 Centerline is valid? [True, True] Translation: X:46.72, Y:2.59, Z:0.77 [[ 9.75227563e-01 -2.20442020e-01 -1.83443882e-02 4.67201851e+01] [ 2.20409404e-01 9.75400024e-01 -3.80637109e-03 2.58961270e+00] [ 1.87322008e-02 -3.31197681e-04 9.99824482e-01 7.74618817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.703617865 meters 0.015008698370974015 Centerline is valid? [True, True] Translation: X:46.75, Y:2.60, Z:0.77 [[ 9.75337736e-01 -2.19960060e-01 -1.82721755e-02 4.67474272e+01] [ 2.19927526e-01 9.75508827e-01 -3.79617120e-03 2.59530539e+00] [ 1.86596745e-02 -3.16005333e-04 9.99825843e-01 7.74951246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73361786499999 meters 0.015223420768494016 Centerline is valid? [True, True] Translation: X:46.77, Y:2.60, Z:0.78 [[ 9.75549051e-01 -2.19072710e-01 -1.76408019e-02 4.67743799e+01] [ 2.19042213e-01 9.75708494e-01 -3.66651491e-03 2.60126867e+00] [ 1.80155137e-02 -2.87215167e-04 9.99837666e-01 7.75289816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76361786499999 meters 0.015189575521085803 Centerline is valid? [True, True] Translation: X:46.80, Y:2.61, Z:0.78 [[ 9.75615119e-01 -2.18752400e-01 -1.79590246e-02 4.68015444e+01] [ 2.18720703e-01 9.75780358e-01 -3.73461823e-03 2.60795071e+00] [ 1.83410202e-02 -2.84460474e-04 9.99831749e-01 7.75253318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.793617864999995 meters 0.015073209872416844 Centerline is valid? [True, True] Translation: X:46.83, Y:2.61, Z:0.78 [[ 9.75626522e-01 -2.18709681e-01 -1.78596000e-02 4.68283244e+01] [ 2.18678238e-01 9.75789936e-01 -3.71884306e-03 2.61475921e+00] [ 1.82405650e-02 -2.77303954e-04 9.99833589e-01 7.75287314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.823617864999996 meters 0.014227800958633123 Centerline is valid? [True, True] Translation: X:46.86, Y:2.62, Z:0.78 [[ 9.75667439e-01 -2.18595921e-01 -1.69962406e-02 4.68551846e+01] [ 2.18567349e-01 9.75815432e-01 -3.54357831e-03 2.62290109e+00] [ 1.73598056e-02 -2.57469276e-04 9.99849274e-01 7.75973757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.853617865 meters 0.014419788098192471 Centerline is valid? [True, True] Translation: X:46.88, Y:2.63, Z:0.78 [[ 9.75687121e-01 -2.18515856e-01 -1.68956515e-02 4.68821888e+01] [ 2.18487526e-01 9.75833366e-01 -3.52743098e-03 2.62791561e+00] [ 1.72581401e-02 -2.49820118e-04 9.99851036e-01 7.76859723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.883617865 meters 0.01452708940922425 Centerline is valid? [True, True] Translation: X:46.91, Y:2.63, Z:0.78 [[ 9.75638611e-01 -2.18752929e-01 -1.66270126e-02 4.69100907e+01] [ 2.18725472e-01 9.75780249e-01 -3.47463483e-03 2.63386981e+00] [ 1.69843971e-02 -2.46763282e-04 9.99855724e-01 7.77429354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91361786499999 meters 0.01433238353254523 Centerline is valid? [True, True] Translation: X:46.94, Y:2.64, Z:0.78 [[ 9.75642942e-01 -2.18765292e-01 -1.62048531e-02 4.69375656e+01] [ 2.18739138e-01 9.75777480e-01 -3.39089754e-03 2.64024342e+00] [ 1.65541414e-02 -2.36330345e-04 9.99862943e-01 7.78156606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94361786499999 meters 0.014376312292346094 Centerline is valid? [True, True] Translation: X:46.96, Y:2.65, Z:0.78 [[ 9.75621413e-01 -2.18903935e-01 -1.56181374e-02 4.69644164e+01] [ 2.18879591e-01 9.75746389e-01 -3.27240935e-03 2.64750489e+00] [ 1.59556845e-02 -2.25858895e-04 9.99872674e-01 7.77879795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.973617864999994 meters 0.014427754407433581 Centerline is valid? [True, True] Translation: X:46.99, Y:2.65, Z:0.78 [[ 9.75560461e-01 -2.19157277e-01 -1.58705902e-02 4.69919869e+01] [ 2.19132097e-01 9.75689518e-01 -3.32996165e-03 2.65392351e+00] [ 1.62145538e-02 -2.29176786e-04 9.99868509e-01 7.77850218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.003617864999995 meters 0.014659859501137924 Centerline is valid? [True, True] Translation: X:47.02, Y:2.66, Z:0.78 [[ 9.75527253e-01 -2.19279064e-01 -1.62255939e-02 4.70180049e+01] [ 2.19252683e-01 9.75662154e-01 -3.40917735e-03 2.65948350e+00] [ 1.65782591e-02 -2.31759580e-04 9.99862544e-01 7.77970714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.033617865 meters 0.014846311941471346 Centerline is valid? [True, True] Translation: X:47.05, Y:2.67, Z:0.78 [[ 9.75469727e-01 -2.19565985e-01 -1.57984467e-02 4.70455752e+01] [ 2.19540982e-01 9.75597625e-01 -3.32134907e-03 2.66508481e+00] [ 1.61421824e-02 -2.28531029e-04 9.99869680e-01 7.78203503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.063617865 meters 0.014972863513866837 Centerline is valid? [True, True] Translation: X:47.07, Y:2.67, Z:0.78 [[ 9.75178859e-01 -2.20847433e-01 -1.58935199e-02 4.70739875e+01] [ 2.20822276e-01 9.75308335e-01 -3.34270323e-03 2.66968628e+00] [ 1.62393099e-02 -2.49909714e-04 9.99868102e-01 7.79037912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09361786499999 meters 0.014932161435334953 Centerline is valid? [True, True] Translation: X:47.10, Y:2.68, Z:0.78 [[ 9.75026170e-01 -2.21518227e-01 -1.59261850e-02 4.71018114e+01] [ 2.21492991e-01 9.75156197e-01 -3.35354030e-03 2.67525641e+00] [ 1.62733883e-02 -2.57748779e-04 9.99867546e-01 7.79519389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12361786499999 meters 0.015431733788761602 Centerline is valid? [True, True] Translation: X:47.13, Y:2.68, Z:0.78 [[ 9.74640178e-01 -2.23197576e-01 -1.61048477e-02 4.71295078e+01] [ 2.23171976e-01 9.74773183e-01 -3.39261971e-03 2.68074149e+00] [ 1.64557981e-02 -2.87567201e-04 9.99864553e-01 7.79535105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.153617864999994 meters 0.016552294225215643 Centerline is valid? [True, True] Translation: X:47.16, Y:2.68, Z:0.78 [[ 9.74402076e-01 -2.24218718e-01 -1.63267205e-02 4.71572574e+01] [ 2.24192526e-01 9.74538800e-01 -3.44082722e-03 2.68421010e+00] [ 1.66825204e-02 -3.07579511e-04 9.99860790e-01 7.79556321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.183617864999995 meters 0.016903287902319843 Centerline is valid? [True, True] Translation: X:47.19, Y:2.69, Z:0.78 [[ 9.74108023e-01 -2.25496006e-01 -1.62822251e-02 4.71858204e+01] [ 2.25470111e-01 9.74244037e-01 -3.43291047e-03 2.68938516e+00] [ 1.66369683e-02 -3.27129470e-04 9.99861543e-01 7.80070715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.213617864999996 meters 0.01636656643416469 Centerline is valid? [True, True] Translation: X:47.21, Y:2.70, Z:0.78 [[ 9.73887029e-01 -2.26442779e-01 -1.63622201e-02 4.72141696e+01] [ 2.26416698e-01 9.74024410e-01 -3.45362434e-03 2.69633482e+00] [ 1.67192500e-02 -3.41239883e-04 9.99860165e-01 7.80762550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.243617865 meters 0.017044285830701934 Centerline is valid? [True, True] Translation: X:47.24, Y:2.70, Z:0.78 [[ 9.73367117e-01 -2.28684273e-01 -1.61232171e-02 4.72430853e+01] [ 2.28659191e-01 9.73500573e-01 -3.40707197e-03 2.69989246e+00] [ 1.64751049e-02 -3.70389964e-04 9.99864208e-01 7.81825489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27361786499999 meters 0.017293803122171148 Centerline is valid? [True, True] Translation: X:47.27, Y:2.70, Z:0.78 [[ 9.73075571e-01 -2.29909840e-01 -1.62910310e-02 4.72713234e+01] [ 2.29884338e-01 9.73211854e-01 -3.44654757e-03 2.70473145e+00] [ 1.66470197e-02 -3.91301640e-04 9.99861352e-01 7.82319977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30361786499999 meters 0.016917165201531675 Centerline is valid? [True, True] Translation: X:47.30, Y:2.71, Z:0.78 [[ 9.72899573e-01 -2.30662982e-01 -1.61557949e-02 4.72997818e+01] [ 2.30637941e-01 9.73033623e-01 -3.42183685e-03 2.71103380e+00] [ 1.65094227e-02 -3.97035652e-04 9.99863631e-01 7.82692102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.333617864999994 meters 0.016885048543873283 Centerline is valid? [True, True] Translation: X:47.33, Y:2.72, Z:0.78 [[ 9.72676219e-01 -2.31608120e-01 -1.60826706e-02 4.73284297e+01] [ 2.31583369e-01 9.72809083e-01 -3.41035418e-03 2.71714836e+00] [ 1.64352338e-02 -4.07308640e-04 9.99864849e-01 7.82917449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.363617864999995 meters 0.017437292328211687 Centerline is valid? [True, True] Translation: X:47.36, Y:2.72, Z:0.78 [[ 9.72614058e-01 -2.31807539e-01 -1.69457363e-02 4.73556954e+01] [ 2.31780015e-01 9.72761575e-01 -3.59770203e-03 2.72226035e+00] [ 1.73181356e-02 -4.28507445e-04 9.99849938e-01 7.82717474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.393617864999996 meters 0.017091075147673 Centerline is valid? [True, True] Translation: X:47.38, Y:2.73, Z:0.78 [[ 9.72621062e-01 -2.31768569e-01 -1.70762937e-02 4.73829759e+01] [ 2.31740583e-01 9.72770860e-01 -3.62715533e-03 2.72888791e+00] [ 1.74519815e-02 -4.29422571e-04 9.99847610e-01 7.82672692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.423617865 meters 0.01719767773563725 Centerline is valid? [True, True] Translation: X:47.41, Y:2.73, Z:0.78 [[ 9.72661614e-01 -2.31591766e-01 -1.71650530e-02 4.74107841e+01] [ 2.31563378e-01 9.72812970e-01 -3.65070549e-03 2.73406105e+00] [ 1.75438595e-02 -4.23896557e-04 9.99846005e-01 7.83194435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45361786499999 meters 0.016806423478199717 Centerline is valid? [True, True] Translation: X:47.44, Y:2.74, Z:0.78 [[ 9.72719077e-01 -2.31327037e-01 -1.74756871e-02 4.74386952e+01] [ 2.31297538e-01 9.72875954e-01 -3.71857140e-03 2.74061167e+00] [ 1.78618818e-02 -4.24958053e-04 9.99840374e-01 7.83729391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48361786499999 meters 0.016849004119335653 Centerline is valid? [True, True] Translation: X:47.47, Y:2.75, Z:0.78 [[ 9.72797471e-01 -2.30994886e-01 -1.75055346e-02 4.74668629e+01] [ 2.30965153e-01 9.72954876e-01 -3.72930278e-03 2.74667127e+00] [ 1.78935451e-02 -4.15312157e-04 9.99839811e-01 7.83596778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51361786499999 meters 0.01710292131266594 Centerline is valid? [True, True] Translation: X:47.49, Y:2.75, Z:0.78 [[ 9.72752068e-01 -2.31180417e-01 -1.75792053e-02 4.74931607e+01] [ 2.31150389e-01 9.72910809e-01 -3.74919290e-03 2.75178135e+00] [ 1.79697389e-02 -4.16405003e-04 9.99838444e-01 7.83967357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543617864999995 meters 0.01661815787199699 Centerline is valid? [True, True] Translation: X:47.52, Y:2.76, Z:0.78 [[ 9.72604932e-01 -2.31783341e-01 -1.77800381e-02 4.75213903e+01] [ 2.31752679e-01 9.72767340e-01 -3.79446205e-03 2.75846557e+00] [ 1.81753334e-02 -4.30058957e-04 9.99834722e-01 7.84702931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.573617864999996 meters 0.017340493351659707 Centerline is valid? [True, True] Translation: X:47.55, Y:2.76, Z:0.79 [[ 9.72520916e-01 -2.32150344e-01 -1.75865424e-02 4.75495160e+01] [ 2.32120332e-01 9.72679821e-01 -3.75728856e-03 2.76246898e+00] [ 1.79783308e-02 -4.28152358e-04 9.99838285e-01 7.85304146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603617865 meters 0.017322492999375293 Centerline is valid? [True, True] Translation: X:47.58, Y:2.77, Z:0.79 [[ 9.72342677e-01 -2.32922499e-01 -1.72287054e-02 4.75782457e+01] [ 2.32893786e-01 9.72495205e-01 -3.68252678e-03 2.76848686e+00] [ 1.76125767e-02 -4.31780487e-04 9.99844793e-01 7.86512082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.633617865 meters 0.017609305179710977 Centerline is valid? [True, True] Translation: X:47.60, Y:2.77, Z:0.79 [[ 9.72356314e-01 -2.32877889e-01 -1.70612568e-02 4.76048921e+01] [ 2.32849656e-01 9.72505892e-01 -3.65076381e-03 2.77451699e+00] [ 1.74423549e-02 -4.22864526e-04 9.99847781e-01 7.86805606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66361786499999 meters 0.017046045752550143 Centerline is valid? [True, True] Translation: X:47.63, Y:2.78, Z:0.79 [[ 9.72330819e-01 -2.33007774e-01 -1.67378690e-02 4.76317758e+01] [ 2.32980584e-01 9.72474784e-01 -3.58367922e-03 2.78252590e+00] [ 1.71121806e-02 -4.15076735e-04 9.99853490e-01 7.87543599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69361786499999 meters 0.016697359712237726 Centerline is valid? [True, True] Translation: X:47.66, Y:2.79, Z:0.79 [[ 9.72309400e-01 -2.33089101e-01 -1.68493824e-02 4.76587689e+01] [ 2.33061475e-01 9.72455294e-01 -3.61240275e-03 2.78974441e+00] [ 1.72272828e-02 -4.14568761e-04 9.99851513e-01 7.88096983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.723617864999994 meters 0.017622587174068442 Centerline is valid? [True, True] Translation: X:47.69, Y:2.79, Z:0.79 [[ 9.72353391e-01 -2.32907614e-01 -1.68204292e-02 4.76860354e+01] [ 2.32879976e-01 9.72498781e-01 -3.61090131e-03 2.79412729e+00] [ 1.71988533e-02 -4.06069012e-04 9.99852006e-01 7.88672838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.753617864999995 meters 0.017232857162552923 Centerline is valid? [True, True] Translation: X:47.71, Y:2.80, Z:0.79 [[ 9.72294203e-01 -2.33128725e-01 -1.71749893e-02 4.77130182e+01] [ 2.33099912e-01 9.72445795e-01 -3.68880615e-03 2.80189567e+00] [ 1.75617127e-02 -4.16883645e-04 9.99845694e-01 7.88639714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783617865 meters 0.0174996227595757 Centerline is valid? [True, True] Translation: X:47.74, Y:2.81, Z:0.79 [[ 9.72243464e-01 -2.33297304e-01 -1.77486558e-02 4.77403573e+01] [ 2.33266474e-01 9.72405360e-01 -3.81684100e-03 2.80816093e+00] [ 1.81493467e-02 -4.29267633e-04 9.99835195e-01 7.88602521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.813617865 meters 0.017465280557127635 Centerline is valid? [True, True] Translation: X:47.77, Y:2.81, Z:0.79 [[ 9.72133327e-01 -2.33721873e-01 -1.81901053e-02 4.77671346e+01] [ 2.33689527e-01 9.72303392e-01 -3.91381518e-03 2.81494195e+00] [ 1.86010453e-02 -4.46086942e-04 9.99826886e-01 7.88416085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84361786499999 meters 0.01700456590009067 Centerline is valid? [True, True] Translation: X:47.79, Y:2.82, Z:0.79 [[ 9.72051454e-01 -2.34017872e-01 -1.87511536e-02 4.77937242e+01] [ 2.33983451e-01 9.72232186e-01 -4.03995767e-03 2.82271769e+00] [ 1.91758974e-02 -4.60412899e-04 9.99816020e-01 7.88203495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87361786499999 meters 0.01695338920147624 Centerline is valid? [True, True] Translation: X:47.82, Y:2.83, Z:0.79 [[ 9.72021137e-01 -2.34080373e-01 -1.95266181e-02 4.78206555e+01] [ 2.34042942e-01 9.72217133e-01 -4.21284132e-03 2.83028963e+00] [ 1.99702561e-02 -4.75096334e-04 9.99800462e-01 7.88279791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903617864999994 meters 0.018207714045442438 Centerline is valid? [True, True] Translation: X:47.85, Y:2.83, Z:0.79 [[ 9.72041169e-01 -2.33987303e-01 -1.96445168e-02 4.78470153e+01] [ 2.33949297e-01 9.72239539e-01 -4.24337150e-03 2.83455412e+00] [ 2.00920710e-02 -4.71089083e-04 9.99798023e-01 7.88284444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.933617864999995 meters 0.017197573778954416 Centerline is valid? [True, True] Translation: X:47.87, Y:2.84, Z:0.79 [[ 9.71915132e-01 -2.34528000e-01 -1.94317647e-02 4.78734195e+01] [ 2.34490863e-01 9.72109249e-01 -4.20035840e-03 2.84462592e+00] [ 1.98748999e-02 -4.74179390e-04 9.99802362e-01 7.89147225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.963617864999996 meters 0.017701955113792158 Centerline is valid? [True, True] Translation: X:47.90, Y:2.85, Z:0.79 [[ 9.71858140e-01 -2.34773612e-01 -1.93159857e-02 4.79009631e+01] [ 2.34736869e-01 9.72049962e-01 -4.18015765e-03 2.85017658e+00] [ 1.97574939e-02 -4.71653760e-04 9.99804690e-01 7.89772606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.993617865 meters 0.01769284543495491 Centerline is valid? [True, True] Translation: X:47.93, Y:2.86, Z:0.79 [[ 9.71715313e-01 -2.35392500e-01 -1.89663139e-02 4.79291604e+01] [ 2.35357152e-01 9.71900276e-01 -4.10658734e-03 2.85684446e+00] [ 1.94000255e-02 -4.73423823e-04 9.99811690e-01 7.90500301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02361786499999 meters 0.017706787429394515 Centerline is valid? [True, True] Translation: X:47.96, Y:2.86, Z:0.79 [[ 9.71547504e-01 -2.36102327e-01 -1.87386762e-02 4.79569151e+01] [ 2.36067867e-01 9.71728081e-01 -4.06184645e-03 2.86324853e+00] [ 1.91679093e-02 -4.77322543e-04 9.99816165e-01 7.91212089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05361786499999 meters 0.017610814130242375 Centerline is valid? [True, True] Translation: X:47.98, Y:2.87, Z:0.79 [[ 9.71407368e-01 -2.36690940e-01 -1.85775501e-02 4.79849282e+01] [ 2.36657092e-01 9.71584875e-01 -4.03145416e-03 2.87087954e+00] [ 1.90038753e-02 -4.80324693e-04 9.99819295e-01 7.92024496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.083617864999994 meters 0.017805427126562023 Centerline is valid? [True, True] Translation: X:48.01, Y:2.88, Z:0.79 [[ 9.71482487e-01 -2.36374516e-01 -1.86779534e-02 4.80118359e+01] [ 2.36340160e-01 9.71661909e-01 -4.05757150e-03 2.87727119e+00] [ 1.91077624e-02 -4.72490839e-04 9.99817318e-01 7.92339632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.113617864999995 meters 0.017396742967527506 Centerline is valid? [True, True] Translation: X:48.04, Y:2.88, Z:0.79 [[ 9.71490182e-01 -2.36356335e-01 -1.85069847e-02 4.80389629e+01] [ 2.36322549e-01 9.71666335e-01 -4.02322440e-03 2.88490691e+00] [ 1.89335285e-02 -4.65094772e-04 9.99820637e-01 7.92660137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143617864999996 meters 0.017295419110325897 Centerline is valid? [True, True] Translation: X:48.07, Y:2.89, Z:0.79 [[ 9.71801948e-01 -2.35073293e-01 -1.84802756e-02 4.80656346e+01] [ 2.35039282e-01 9.71977550e-01 -4.02218114e-03 2.89246194e+00] [ 1.89079204e-02 -4.34827241e-04 9.99821135e-01 7.92947436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.173617865 meters 0.017268928428712412 Centerline is valid? [True, True] Translation: X:48.09, Y:2.90, Z:0.79 [[ 9.71956469e-01 -2.34413433e-01 -1.87340684e-02 4.80940948e+01] [ 2.34378319e-01 9.72136905e-01 -4.07950535e-03 2.89940056e+00] [ 1.91683701e-02 -4.25757834e-04 9.99816179e-01 7.93217616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20361786499999 meters 0.01649017809039491 Centerline is valid? [True, True] Translation: X:48.12, Y:2.91, Z:0.79 [[ 9.72064299e-01 -2.33960320e-01 -1.88033706e-02 4.81223161e+01] [ 2.33924773e-01 9.72246058e-01 -4.09916404e-03 2.90798163e+00] [ 1.92405447e-02 -4.13923186e-04 9.99814798e-01 7.94160510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23361786499999 meters 0.01644692199032667 Centerline is valid? [True, True] Translation: X:48.15, Y:2.91, Z:0.80 [[ 9.72447798e-01 -2.32411145e-01 -1.81752485e-02 4.81490367e+01] [ 2.32377590e-01 9.72617564e-01 -3.96614598e-03 2.91487158e+00] [ 1.85993425e-02 -3.66650523e-04 9.99826950e-01 7.95468605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26361786499999 meters 0.016161589073438953 Centerline is valid? [True, True] Translation: X:48.18, Y:2.92, Z:0.80 [[ 9.72651518e-01 -2.31575616e-01 -1.79376123e-02 4.81767129e+01] [ 2.31542744e-01 9.72816846e-01 -3.91686242e-03 2.92229049e+00] [ 1.83570612e-02 -3.43581787e-04 9.99831436e-01 7.96578290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.293617864999995 meters 0.01578001767808953 Centerline is valid? [True, True] Translation: X:48.20, Y:2.93, Z:0.80 [[ 9.72810286e-01 -2.30925340e-01 -1.77097273e-02 4.82047237e+01] [ 2.30893111e-01 9.72971419e-01 -3.87147446e-03 2.93047090e+00] [ 1.81250800e-02 -3.22843845e-04 9.99835675e-01 7.97422182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323617864999996 meters 0.016213767566684485 Centerline is valid? [True, True] Translation: X:48.23, Y:2.94, Z:0.80 [[ 9.73003221e-01 -2.30103877e-01 -1.78027447e-02 4.82315460e+01] [ 2.30071093e-01 9.73166025e-01 -3.89607478e-03 2.93605378e+00] [ 1.82215282e-02 -3.05003607e-04 9.99833928e-01 7.97515289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.353617865 meters 0.01577930942396897 Centerline is valid? [True, True] Translation: X:48.26, Y:2.94, Z:0.80 [[ 9.73086829e-01 -2.29705561e-01 -1.83678618e-02 4.82588024e+01] [ 2.29670551e-01 9.73260121e-01 -4.02190978e-03 2.94464414e+00] [ 1.88005624e-02 -3.04889490e-04 9.99823207e-01 7.97448764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.383617865 meters 0.015892899531354497 Centerline is valid? [True, True] Translation: X:48.29, Y:2.95, Z:0.80 [[ 9.73131263e-01 -2.29518918e-01 -1.83469820e-02 4.82850610e+01] [ 2.29483860e-01 9.73304155e-01 -4.02235817e-03 2.95054111e+00] [ 1.87804011e-02 -2.96053766e-04 9.99823589e-01 7.97488614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41361786499999 meters 0.01621036773187042 Centerline is valid? [True, True] Translation: X:48.31, Y:2.96, Z:0.80 [[ 9.72924157e-01 -2.30398327e-01 -1.83083700e-02 4.83127859e+01] [ 2.30363510e-01 9.73096355e-01 -4.01719743e-03 2.95638325e+00] [ 1.87413637e-02 -3.09151951e-04 9.99824317e-01 7.97985165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44361786499999 meters 0.01638748153625548 Centerline is valid? [True, True] Translation: X:48.34, Y:2.96, Z:0.80 [[ 9.72784184e-01 -2.31023864e-01 -1.78579302e-02 4.83397300e+01] [ 2.30990815e-01 9.72948034e-01 -3.91997262e-03 2.96167763e+00] [ 1.82804453e-02 -3.11730476e-04 9.99832850e-01 7.98888164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.473617864999994 meters 0.016868879492718935 Centerline is valid? [True, True] Translation: X:48.37, Y:2.97, Z:0.80 [[ 9.72509332e-01 -2.32211939e-01 -1.74130658e-02 4.83675079e+01] [ 2.32180668e-01 9.72665159e-01 -3.82448971e-03 2.96712901e+00] [ 1.78251746e-02 -3.23625326e-04 9.99841067e-01 7.99796748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503617864999995 meters 0.01702233115526246 Centerline is valid? [True, True] Translation: X:48.40, Y:2.97, Z:0.80 [[ 9.72266138e-01 -2.33250505e-01 -1.71101619e-02 4.83953115e+01] [ 2.33220445e-01 9.72416623e-01 -3.75957749e-03 2.97316762e+00] [ 1.75151292e-02 -3.35129680e-04 9.99846542e-01 8.00911743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.533617865 meters 0.01702233115526246 Centerline is valid? [True, True] Translation: X:48.42, Y:2.98, Z:0.80 [[ 9.72204747e-01 -2.33506323e-01 -1.71092896e-02 4.84222299e+01] [ 2.33476233e-01 9.72355225e-01 -3.76354308e-03 2.97917188e+00] [ 1.75151182e-02 -3.35678029e-04 9.99846542e-01 8.01362872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.563617865 meters 0.01673945029343822 Centerline is valid? [True, True] Translation: X:48.45, Y:2.99, Z:0.80 [[ 9.71822185e-01 -2.35122363e-01 -1.67067304e-02 4.84495861e+01] [ 2.35093836e-01 9.71965715e-01 -3.67936875e-03 2.98678554e+00] [ 1.71034710e-02 -3.51957145e-04 9.99853663e-01 8.02571849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59361786499999 meters 0.016740294860563755 Centerline is valid? [True, True] Translation: X:48.48, Y:2.99, Z:0.80 [[ 9.71658811e-01 -2.35833488e-01 -1.61777730e-02 4.84781754e+01] [ 2.35806814e-01 9.71793415e-01 -3.56430821e-03 2.99313899e+00] [ 1.65620365e-02 -3.51537624e-04 9.99862778e-01 8.03824675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62361786499999 meters 0.01663078356591093 Centerline is valid? [True, True] Translation: X:48.51, Y:3.00, Z:0.80 [[ 9.71467436e-01 -2.36620539e-01 -1.61784204e-02 4.85065373e+01] [ 2.36593904e-01 9.71602074e-01 -3.56853347e-03 3.00001094e+00] [ 1.65633751e-02 -3.61001567e-04 9.99862753e-01 8.04528339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.653617864999994 meters 0.016807701359699754 Centerline is valid? [True, True] Translation: X:48.53, Y:3.01, Z:0.80 [[ 9.71321753e-01 -2.37221902e-01 -1.61189945e-02 4.85346824e+01] [ 2.37195478e-01 9.71455421e-01 -3.55952298e-03 3.00661799e+00] [ 1.65032814e-02 -3.65910495e-04 9.99863745e-01 8.04757389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683617864999995 meters 0.017316096368147432 Centerline is valid? [True, True] Translation: X:48.56, Y:3.01, Z:0.80 [[ 9.71211958e-01 -2.37646967e-01 -1.64697149e-02 4.85617030e+01] [ 2.37619370e-01 9.71351521e-01 -3.64116537e-03 3.01344943e+00] [ 1.68631946e-02 -3.77179944e-04 9.99857735e-01 8.04444805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.713617864999996 meters 0.017486690508879337 Centerline is valid? [True, True] Translation: X:48.59, Y:3.02, Z:0.80 [[ 9.71118340e-01 -2.38013578e-01 -1.66944694e-02 4.85887075e+01] [ 2.37985249e-01 9.71261750e-01 -3.69250223e-03 3.02016076e+00] [ 1.70935652e-02 -3.87180822e-04 9.99853819e-01 8.04316158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.743617865 meters 0.017188149911060786 Centerline is valid? [True, True] Translation: X:48.62, Y:3.03, Z:0.80 [[ 9.70990359e-01 -2.38518470e-01 -1.69310814e-02 4.86156634e+01] [ 2.38489325e-01 9.71137880e-01 -3.74966643e-03 3.02761328e+00] [ 1.73367792e-02 -3.96992227e-04 9.99849628e-01 8.04440962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77361786499999 meters 0.018189156975281527 Centerline is valid? [True, True] Translation: X:48.64, Y:3.03, Z:0.81 [[ 9.70733713e-01 -2.39540047e-01 -1.72228043e-02 4.86427828e+01] [ 2.39509966e-01 9.70886395e-01 -3.81902737e-03 3.03227561e+00] [ 1.76361963e-02 -4.17774652e-04 9.99844383e-01 8.05052535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80361786499999 meters 0.018131669324779505 Centerline is valid? [True, True] Translation: X:48.67, Y:3.04, Z:0.81 [[ 9.70527850e-01 -2.40366787e-01 -1.73060906e-02 4.86705905e+01] [ 2.40336514e-01 9.70682039e-01 -3.83923023e-03 3.03920434e+00] [ 1.77215347e-02 -4.33205630e-04 9.99842867e-01 8.05618710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.833617864999994 meters 0.017750465600255522 Centerline is valid? [True, True] Translation: X:48.70, Y:3.05, Z:0.81 [[ 9.70288097e-01 -2.41325865e-01 -1.74021513e-02 4.86980298e+01] [ 2.41295334e-01 9.70444035e-01 -3.86480808e-03 3.04723072e+00] [ 1.78204921e-02 -4.49080630e-04 9.99841102e-01 8.06030926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863617864999995 meters 0.017801590109962368 Centerline is valid? [True, True] Translation: X:48.73, Y:3.06, Z:0.81 [[ 9.69996974e-01 -2.42523036e-01 -1.69837208e-02 4.87257149e+01] [ 2.42494066e-01 9.70145540e-01 -3.77601959e-03 3.05568926e+00] [ 1.73924527e-02 -4.55723938e-04 9.99848636e-01 8.06243893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.893617864999996 meters 0.017852965324639713 Centerline is valid? [True, True] Translation: X:48.75, Y:3.06, Z:0.81 [[ 9.69872000e-01 -2.43012285e-01 -1.71269949e-02 4.87531764e+01] [ 2.42982824e-01 9.70023100e-01 -3.81224167e-03 3.06272831e+00] [ 1.75400022e-02 -4.64179135e-04 9.99846055e-01 8.06653373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.923617865 meters 0.017981991322506913 Centerline is valid? [True, True] Translation: X:48.78, Y:3.07, Z:0.81 [[ 9.69843149e-01 -2.43145889e-01 -1.68624766e-02 4.87802078e+01] [ 2.43117270e-01 9.69989623e-01 -3.75813537e-03 3.06940257e+00] [ 1.72702025e-02 -4.54757421e-04 9.99850756e-01 8.07437346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95361786499999 meters 0.01802098337215353 Centerline is valid? [True, True] Translation: X:48.81, Y:3.08, Z:0.81 [[ 9.69894230e-01 -2.42955670e-01 -1.66651064e-02 4.88085551e+01] [ 2.42927608e-01 9.70037292e-01 -3.71883391e-03 3.07694038e+00] [ 1.70692865e-02 -4.41538894e-04 9.99854212e-01 8.07826021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98361786499999 meters 0.017765885772104577 Centerline is valid? [True, True] Translation: X:48.84, Y:3.09, Z:0.81 [[ 9.70092295e-01 -2.42136280e-01 -1.70576000e-02 4.88358181e+01] [ 2.42106678e-01 9.70242153e-01 -3.81075356e-03 3.08702473e+00] [ 1.74727242e-02 -4.32976213e-04 9.99847247e-01 8.07793089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01361786499999 meters 0.01736984644978419 Centerline is valid? [True, True] Translation: X:48.86, Y:3.10, Z:0.81 [[ 9.70213251e-01 -2.41658316e-01 -1.69559753e-02 4.88637192e+01] [ 2.41628921e-01 9.70361316e-01 -3.79223384e-03 3.09551040e+00] [ 1.73698474e-02 -4.17778498e-04 9.99849046e-01 8.07485974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043617864999995 meters 0.01760455897756608 Centerline is valid? [True, True] Translation: X:48.89, Y:3.10, Z:0.81 [[ 9.70387560e-01 -2.40896614e-01 -1.77989867e-02 4.88904461e+01] [ 2.40864015e-01 9.70550691e-01 -3.98513403e-03 3.10206144e+00] [ 1.82348242e-02 -4.20010931e-04 9.99833644e-01 8.07435373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.073617864999996 meters 0.016680073929862593 Centerline is valid? [True, True] Translation: X:48.92, Y:3.11, Z:0.81 [[ 9.70850583e-01 -2.38994668e-01 -1.81850148e-02 4.89176945e+01] [ 2.38960268e-01 9.71020801e-01 -4.07355762e-03 3.11198506e+00] [ 1.86315862e-02 -3.90680213e-04 9.99826341e-01 8.08224149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103617865 meters 0.01635049306855388 Centerline is valid? [True, True] Translation: X:48.95, Y:3.12, Z:0.81 [[ 9.71044574e-01 -2.38232111e-01 -1.78296799e-02 4.89452016e+01] [ 2.38198834e-01 9.71208180e-01 -3.99835753e-03 3.12016034e+00] [ 1.82688682e-02 -3.64425586e-04 9.99833044e-01 8.08848366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13361786499999 meters 0.01607000442937305 Centerline is valid? [True, True] Translation: X:48.97, Y:3.13, Z:0.81 [[ 9.71232510e-01 -2.37455595e-01 -1.79513602e-02 4.89726489e+01] [ 2.37421646e-01 9.71398332e-01 -4.03019568e-03 3.12884406e+00] [ 1.83949138e-02 -3.47784407e-04 9.99830739e-01 8.09253293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16361786499999 meters 0.01605335261250918 Centerline is valid? [True, True] Translation: X:49.00, Y:3.14, Z:0.81 [[ 9.71585262e-01 -2.35985574e-01 -1.82451937e-02 4.89994683e+01] [ 2.35950164e-01 9.71756505e-01 -4.10050462e-03 3.13815872e+00] [ 1.86975457e-02 -3.20966603e-04 9.99825134e-01 8.08627065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19361786499999 meters 0.015935233673707055 Centerline is valid? [True, True] Translation: X:49.03, Y:3.15, Z:0.81 [[ 9.71535600e-01 -2.36141975e-01 -1.88558960e-02 4.90264562e+01] [ 2.36104140e-01 9.71718507e-01 -4.24007210e-03 3.14565667e+00] [ 1.93238821e-02 -3.32574114e-04 9.99813221e-01 8.08514196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223617864999994 meters 0.01588948568741201 Centerline is valid? [True, True] Translation: X:49.05, Y:3.15, Z:0.81 [[ 9.71540905e-01 -2.36095611e-01 -1.91607240e-02 4.90536737e+01] [ 2.36056422e-01 9.71729774e-01 -4.31424331e-03 3.15253575e+00] [ 1.96376199e-02 -3.31548125e-04 9.99807108e-01 8.08657232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.253617864999995 meters 0.01622457967844022 Centerline is valid? [True, True] Translation: X:49.08, Y:3.16, Z:0.81 [[ 9.71311026e-01 -2.37029613e-01 -1.92834971e-02 4.90810383e+01] [ 2.36990007e-01 9.71502363e-01 -4.34683372e-03 3.15829422e+00] [ 1.97642913e-02 -3.47868585e-04 9.99804607e-01 8.08758754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.283617865 meters 0.015951506169919482 Centerline is valid? [True, True] Translation: X:49.11, Y:3.17, Z:0.81 [[ 9.71047737e-01 -2.38126327e-01 -1.90301014e-02 4.91092824e+01] [ 2.38087923e-01 9.71234122e-01 -4.29190618e-03 3.16585700e+00] [ 1.95046997e-02 -3.63191531e-04 9.99809699e-01 8.09709304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.313617865 meters 0.016611215154192643 Centerline is valid? [True, True] Translation: X:49.14, Y:3.17, Z:0.81 [[ 9.70823827e-01 -2.39085181e-01 -1.84220900e-02 4.91368839e+01] [ 2.39049285e-01 9.70998528e-01 -4.15898977e-03 3.17136998e+00] [ 1.88821751e-02 -3.66141095e-04 9.99821649e-01 8.10181167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34361786499999 meters 0.017022373639382617 Centerline is valid? [True, True] Translation: X:49.16, Y:3.18, Z:0.81 [[ 9.70254192e-01 -2.41456382e-01 -1.74819445e-02 4.91646607e+01] [ 2.41424410e-01 9.70411595e-01 -3.94849297e-03 3.17892389e+00] [ 1.79180705e-02 -3.89526279e-04 9.99839383e-01 8.10409818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37361786499999 meters 0.016920485652632874 Centerline is valid? [True, True] Translation: X:49.19, Y:3.19, Z:0.81 [[ 9.69993071e-01 -2.42469070e-01 -1.79497143e-02 4.91924868e+01] [ 2.42435452e-01 9.70159048e-01 -4.05872669e-03 3.18618213e+00] [ 1.83981934e-02 -4.14710327e-04 9.99830653e-01 8.10686363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.403617864999994 meters 0.01689940935494038 Centerline is valid? [True, True] Translation: X:49.22, Y:3.19, Z:0.81 [[ 9.69801211e-01 -2.43246874e-01 -1.77924295e-02 4.92209592e+01] [ 2.43213892e-01 9.69964319e-01 -4.02763307e-03 3.19331194e+00] [ 1.82377309e-02 -4.21362605e-04 9.99833590e-01 8.10514086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.433617864999995 meters 0.01756055026227706 Centerline is valid? [True, True] Translation: X:49.25, Y:3.20, Z:0.81 [[ 9.69666670e-01 -2.43754007e-01 -1.81805723e-02 4.92487921e+01] [ 2.43719578e-01 9.69836994e-01 -4.11987751e-03 3.19840413e+00] [ 1.86364283e-02 -4.36053505e-04 9.99826232e-01 8.10628381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463617864999996 meters 0.017751710246102215 Centerline is valid? [True, True] Translation: X:49.28, Y:3.20, Z:0.81 [[ 9.69561362e-01 -2.44113921e-01 -1.89515154e-02 4.92756594e+01] [ 2.44076533e-01 9.69746453e-01 -4.29692360e-03 3.20473459e+00] [ 1.94271037e-02 -4.59489078e-04 9.99811170e-01 8.09911149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.493617865 meters 0.018050380923340815 Centerline is valid? [True, True] Translation: X:49.30, Y:3.21, Z:0.81 [[ 9.69572622e-01 -2.44018884e-01 -1.95886369e-02 4.93024743e+01] [ 2.43978817e-01 9.69770367e-01 -4.44648742e-03 3.21087815e+00] [ 2.00815065e-02 -4.68020000e-04 9.99798237e-01 8.09463009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52361786499999 meters 0.017177326463626023 Centerline is valid? [True, True] Translation: X:49.33, Y:3.22, Z:0.81 [[ 9.69529633e-01 -2.44189227e-01 -1.95936992e-02 4.93292984e+01] [ 2.44149115e-01 9.69727488e-01 -4.45063937e-03 3.21985618e+00] [ 2.00873469e-02 -4.68757570e-04 9.99798119e-01 8.10029962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55361786499999 meters 0.01729652232616446 Centerline is valid? [True, True] Translation: X:49.36, Y:3.23, Z:0.81 [[ 9.69485771e-01 -2.44336418e-01 -1.99262418e-02 4.93566433e+01] [ 2.44294844e-01 9.69690409e-01 -4.53203332e-03 3.22650683e+00] [ 2.04296264e-02 -4.74136327e-04 9.99791181e-01 8.09846082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583617864999994 meters 0.017501532020508886 Centerline is valid? [True, True] Translation: X:49.38, Y:3.23, Z:0.81 [[ 9.69500892e-01 -2.44276029e-01 -1.99309222e-02 4.93830232e+01] [ 2.44234318e-01 9.69705627e-01 -4.53820456e-03 3.23243090e+00] [ 2.04357020e-02 -4.68021809e-04 9.99791060e-01 8.10092567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.613617864999995 meters 0.01758665458032976 Centerline is valid? [True, True] Translation: X:49.41, Y:3.24, Z:0.81 [[ 9.69338984e-01 -2.44934825e-01 -1.97196528e-02 4.94110501e+01] [ 2.44894071e-01 9.69539430e-01 -4.49300480e-03 3.23835816e+00] [ 2.02194743e-02 -4.73981353e-04 9.99795453e-01 8.10936454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643617864999996 meters 0.018333826662453083 Centerline is valid? [True, True] Translation: X:49.44, Y:3.24, Z:0.81 [[ 9.68967924e-01 -2.46423825e-01 -1.94026064e-02 4.94388785e+01] [ 2.46384585e-01 9.69162038e-01 -4.42498906e-03 3.24160431e+00] [ 1.98946922e-02 -4.92830663e-04 9.99801960e-01 8.12555601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.673617865 meters 0.01873372056948853 Centerline is valid? [True, True] Translation: X:49.47, Y:3.25, Z:0.81 [[ 9.68722173e-01 -2.47408762e-01 -1.91378096e-02 4.94662382e+01] [ 2.47370745e-01 9.68911064e-01 -4.36626459e-03 3.24673373e+00] [ 1.96230876e-02 -5.04436903e-04 9.99807321e-01 8.13086203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70361786499999 meters 0.01919213645594392 Centerline is valid? [True, True] Translation: X:49.49, Y:3.25, Z:0.81 [[ 9.68386761e-01 -2.48720356e-01 -1.91119054e-02 4.94941850e+01] [ 2.48682656e-01 9.68575193e-01 -4.36249867e-03 3.25219225e+00] [ 1.95963597e-02 -5.28213434e-04 9.99807833e-01 8.13600800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73361786499999 meters 0.01970005319626794 Centerline is valid? [True, True] Translation: X:49.52, Y:3.26, Z:0.81 [[ 9.68056196e-01 -2.50017474e-01 -1.89331401e-02 4.95222162e+01] [ 2.49980635e-01 9.68241171e-01 -4.32623618e-03 3.25735853e+00] [ 1.94134804e-02 -5.44878646e-04 9.99811392e-01 8.13768825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76361786499999 meters 0.022131914984096387 Centerline is valid? [True, True] Translation: X:49.55, Y:3.26, Z:0.81 [[ 9.67569883e-01 -2.51875123e-01 -1.91688145e-02 4.95504301e+01] [ 2.51837644e-01 9.67759567e-01 -4.38425683e-03 3.25817003e+00] [ 1.96550888e-02 -5.85354205e-04 9.99806649e-01 8.13878177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.793617864999995 meters 0.018736648984949505 Centerline is valid? [True, True] Translation: X:49.58, Y:3.27, Z:0.82 [[ 9.67281595e-01 -2.52961683e-01 -1.94088262e-02 4.95776720e+01] [ 2.52923433e-01 9.67476104e-01 -4.44140464e-03 3.26990425e+00] [ 1.99010807e-02 -6.12857980e-04 9.99801766e-01 8.15005027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.823617864999996 meters 0.021269743218816636 Centerline is valid? [True, True] Translation: X:49.61, Y:3.27, Z:0.81 [[ 9.67161412e-01 -2.53404553e-01 -1.96197638e-02 4.96058782e+01] [ 2.53365464e-01 9.67360193e-01 -4.49429364e-03 3.27090402e+00] [ 2.01182529e-02 -6.24263176e-04 9.99797413e-01 8.14786484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.853617865 meters 0.018546756391140496 Centerline is valid? [True, True] Translation: X:49.63, Y:3.28, Z:0.82 [[ 9.67067248e-01 -2.53799977e-01 -1.91444430e-02 4.96319406e+01] [ 2.53762777e-01 9.67256530e-01 -4.38845955e-03 3.28124907e+00] [ 1.96313784e-02 -6.14211518e-04 9.99807097e-01 8.16168128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88361786499999 meters 0.01916263301146133 Centerline is valid? [True, True] Translation: X:49.66, Y:3.29, Z:0.82 [[ 9.67189751e-01 -2.53389422e-01 -1.83789687e-02 4.96597741e+01] [ 2.53354974e-01 9.67364186e-01 -4.21773214e-03 3.28544276e+00] [ 1.88478848e-02 -5.77055836e-04 9.99822196e-01 8.17407781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91361786499999 meters 0.01934769768950174 Centerline is valid? [True, True] Translation: X:49.69, Y:3.29, Z:0.82 [[ 9.67353052e-01 -2.52767928e-01 -1.83425086e-02 4.96873828e+01] [ 2.52733474e-01 9.67526774e-01 -4.21102820e-03 3.29108948e+00] [ 1.88112810e-02 -5.62214934e-04 9.99822894e-01 8.17820428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94361786499999 meters 0.019315487012659015 Centerline is valid? [True, True] Translation: X:49.72, Y:3.30, Z:0.82 [[ 9.67466520e-01 -2.52340994e-01 -1.82360881e-02 4.97157500e+01] [ 2.52306826e-01 9.67638218e-01 -4.18856879e-03 3.29754168e+00] [ 1.87028834e-02 -5.48789428e-04 9.99824935e-01 8.18411927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.973617864999994 meters 0.018999219456382173 Centerline is valid? [True, True] Translation: X:49.74, Y:3.30, Z:0.82 [[ 9.67831867e-01 -2.50932033e-01 -1.82918469e-02 4.97437895e+01] [ 2.50897318e-01 9.68004569e-01 -4.20592100e-03 3.30373808e+00] [ 1.87619917e-02 -5.18750948e-04 9.99823844e-01 8.19143453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003617864999995 meters 0.01819372272730558 Centerline is valid? [True, True] Translation: X:49.77, Y:3.31, Z:0.82 [[ 9.67871129e-01 -2.50808472e-01 -1.79049603e-02 4.97717383e+01] [ 2.50775110e-01 9.68036600e-01 -4.12131981e-03 3.31091081e+00] [ 1.83663188e-02 -5.01211927e-04 9.99831199e-01 8.20474579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.033617865 meters 0.01828448097500606 Centerline is valid? [True, True] Translation: X:49.80, Y:3.32, Z:0.82 [[ 9.68026374e-01 -2.50245764e-01 -1.73780364e-02 4.97995273e+01] [ 2.50214172e-01 9.68182232e-01 -4.00416419e-03 3.31593798e+00] [ 1.78271312e-02 -4.72094445e-04 9.99840973e-01 8.21535353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.063617865 meters 0.018272748883562635 Centerline is valid? [True, True] Translation: X:49.83, Y:3.32, Z:0.82 [[ 9.68034789e-01 -2.50218886e-01 -1.72961143e-02 4.98268527e+01] [ 2.50187543e-01 9.68189181e-01 -3.98780328e-03 3.32179022e+00] [ 1.77437345e-02 -4.66940034e-04 9.99842459e-01 8.22698293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09361786499999 meters 0.018643556816184147 Centerline is valid? [True, True] Translation: X:49.85, Y:3.33, Z:0.82 [[ 9.68119090e-01 -2.49954865e-01 -1.63705224e-02 4.98539650e+01] [ 2.49926675e-01 9.68257392e-01 -3.77878127e-03 3.32688879e+00] [ 1.67954040e-02 -4.33119931e-04 9.99858853e-01 8.23063642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12361786499999 meters 0.018825590976797486 Centerline is valid? [True, True] Translation: X:49.88, Y:3.33, Z:0.82 [[ 9.68076667e-01 -2.50117456e-01 -1.63958757e-02 4.98799780e+01] [ 2.50089177e-01 9.68215404e-01 -3.78611614e-03 3.33217232e+00] [ 1.68217131e-02 -4.35180348e-04 9.99858410e-01 8.23328171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.153617864999994 meters 0.018964641597648553 Centerline is valid? [True, True] Translation: X:49.91, Y:3.34, Z:0.82 [[ 9.67996917e-01 -2.50407667e-01 -1.66724208e-02 4.99076286e+01] [ 2.50378426e-01 9.68140384e-01 -3.85245304e-03 3.33784760e+00] [ 1.71059276e-02 -4.45251822e-04 9.99853584e-01 8.23830668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183617864999995 meters 0.018472740541693972 Centerline is valid? [True, True] Translation: X:49.94, Y:3.34, Z:0.82 [[ 9.67883760e-01 -2.50826118e-01 -1.69495242e-02 4.99353767e+01] [ 2.50795878e-01 9.68032051e-01 -3.92131980e-03 3.34371178e+00] [ 1.73912521e-02 -4.55489057e-04 9.99848657e-01 8.24069384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.213617864999996 meters 0.01856655252511697 Centerline is valid? [True, True] Translation: X:49.96, Y:3.35, Z:0.82 [[ 9.67853940e-01 -2.50966117e-01 -1.65758370e-02 4.99631267e+01] [ 2.50937137e-01 9.67995770e-01 -3.83952050e-03 3.34904604e+00] [ 1.70089296e-02 -4.43398026e-04 9.99855239e-01 8.24386024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.243617865 meters 0.018848518000160474 Centerline is valid? [True, True] Translation: X:49.99, Y:3.35, Z:0.83 [[ 9.67813440e-01 -2.51070730e-01 -1.73387681e-02 4.99906762e+01] [ 2.51038946e-01 9.67968634e-01 -4.02139933e-03 3.35428736e+00] [ 1.77930394e-02 -4.60741753e-04 9.99841585e-01 8.25078599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27361786499999 meters 0.018487661238075985 Centerline is valid? [True, True] Translation: X:50.02, Y:3.36, Z:0.82 [[ 9.67878581e-01 -2.50763842e-01 -1.81259027e-02 5.00189313e+01] [ 2.50728954e-01 9.68048178e-01 -4.20923155e-03 3.36071920e+00] [ 1.86022701e-02 -4.70663563e-04 9.99826852e-01 8.24647498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30361786499999 meters 0.01829618625428712 Centerline is valid? [True, True] Translation: X:50.05, Y:3.37, Z:0.82 [[ 9.68021883e-01 -2.50166659e-01 -1.87156929e-02 5.00468648e+01] [ 2.50129260e-01 9.68202676e-01 -4.35100247e-03 3.36767566e+00] [ 1.92090597e-02 -4.69476803e-04 9.99815379e-01 8.24837765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.333617864999994 meters 0.01855729528242301 Centerline is valid? [True, True] Translation: X:50.07, Y:3.37, Z:0.82 [[ 9.68079195e-01 -2.49931250e-01 -1.88955665e-02 5.00745495e+01] [ 2.49893000e-01 9.68263473e-01 -4.39713200e-03 3.37344338e+00] [ 1.93948676e-02 -4.65097796e-04 9.99811794e-01 8.24998421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363617864999995 meters 0.01797438366324214 Centerline is valid? [True, True] Translation: X:50.10, Y:3.38, Z:0.83 [[ 9.68120950e-01 -2.49744836e-01 -1.92183172e-02 5.01016676e+01] [ 2.49705184e-01 9.68311571e-01 -4.47461772e-03 3.38046433e+00] [ 1.97268316e-02 -4.66942273e-04 9.99805298e-01 8.25463139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.393617864999996 meters 0.018666370151086627 Centerline is valid? [True, True] Translation: X:50.13, Y:3.38, Z:0.83 [[ 9.68204342e-01 -2.49494762e-01 -1.82404880e-02 5.01299657e+01] [ 2.49458906e-01 9.68376051e-01 -4.25188705e-03 3.38412298e+00] [ 1.87244753e-02 -4.33556675e-04 9.99824588e-01 8.26572608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.423617865 meters 0.018666370151086627 Centerline is valid? [True, True] Translation: X:50.16, Y:3.39, Z:0.83 [[ 9.68138430e-01 -2.49750481e-01 -1.82394641e-02 5.01568055e+01] [ 2.49714588e-01 9.68310131e-01 -4.25627486e-03 3.39046496e+00] [ 1.87244646e-02 -4.33997007e-04 9.99824588e-01 8.27023729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45361786499999 meters 0.01860738162771518 Centerline is valid? [True, True] Translation: X:50.18, Y:3.40, Z:0.83 [[ 9.68094186e-01 -2.49957620e-01 -1.77435872e-02 5.01845619e+01] [ 2.49923599e-01 9.68256686e-01 -4.14538247e-03 3.39644476e+00] [ 1.82165169e-02 -4.21420491e-04 9.99833977e-01 8.27905617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48361786499999 meters 0.017964027766530423 Centerline is valid? [True, True] Translation: X:50.21, Y:3.40, Z:0.83 [[ 9.67997972e-01 -2.50358257e-01 -1.73398413e-02 5.02120463e+01] [ 2.50325746e-01 9.68153176e-01 -4.05582105e-03 3.40378714e+00] [ 1.78030307e-02 -4.14582158e-04 9.99841428e-01 8.28393138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51361786499999 meters 0.01829561644138596 Centerline is valid? [True, True] Translation: X:50.24, Y:3.41, Z:0.83 [[ 9.67974511e-01 -2.50421732e-01 -1.77285865e-02 5.02384575e+01] [ 2.50387667e-01 9.68136757e-01 -4.15168561e-03 3.40828598e+00] [ 1.82033685e-02 -4.20293568e-04 9.99834217e-01 8.27920822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.543617864999995 meters 0.01763498870446455 Centerline is valid? [True, True] Translation: X:50.27, Y:3.42, Z:0.83 [[ 9.67855400e-01 -2.50846753e-01 -1.82162421e-02 5.02656414e+01] [ 2.50810813e-01 9.68026712e-01 -4.26860036e-03 3.41573256e+00] [ 1.87045735e-02 -4.37442581e-04 9.99824958e-01 8.28101422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.573617864999996 meters 0.01784066308988342 Centerline is valid? [True, True] Translation: X:50.29, Y:3.42, Z:0.83 [[ 9.67794468e-01 -2.51086938e-01 -1.81443632e-02 5.02920671e+01] [ 2.51051231e-01 9.67964441e-01 -4.25673507e-03 3.42044381e+00] [ 1.86319090e-02 -4.35520059e-04 9.99826316e-01 8.28396514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603617865 meters 0.01795777548520958 Centerline is valid? [True, True] Translation: X:50.32, Y:3.43, Z:0.83 [[ 9.67692938e-01 -2.51486690e-01 -1.80228383e-02 5.03201448e+01] [ 2.51451480e-01 9.67860658e-01 -4.23084947e-03 3.42532280e+00] [ 1.85075985e-02 -4.37706212e-04 9.99828624e-01 8.29118063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63361786499999 meters 0.01780226786199148 Centerline is valid? [True, True] Translation: X:50.35, Y:3.43, Z:0.83 [[ 9.67721214e-01 -2.51367899e-01 -1.81612575e-02 5.03478986e+01] [ 2.51332026e-01 9.67891518e-01 -4.26864452e-03 3.43162213e+00] [ 1.86511273e-02 -4.33647799e-04 9.99825959e-01 8.29773496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66361786499999 meters 0.01776177557140063 Centerline is valid? [True, True] Translation: X:50.38, Y:3.44, Z:0.83 [[ 9.67937540e-01 -2.50536386e-01 -1.81228348e-02 5.03760099e+01] [ 2.50500423e-01 9.68107096e-01 -4.26478736e-03 3.43783965e+00] [ 1.86133294e-02 -4.11730011e-04 9.99826672e-01 8.30567762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69361786499999 meters 0.01746988412598249 Centerline is valid? [True, True] Translation: X:50.40, Y:3.44, Z:0.83 [[ 9.68581944e-01 -2.48033711e-01 -1.81189438e-02 5.04031231e+01] [ 2.47997246e-01 9.68751335e-01 -4.26810184e-03 3.44371550e+00] [ 1.86113841e-02 -3.59441782e-04 9.99826729e-01 8.30785166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723617864999994 meters 0.017254470233428906 Centerline is valid? [True, True] Translation: X:50.43, Y:3.45, Z:0.83 [[ 9.68905410e-01 -2.46754152e-01 -1.82946697e-02 5.04303043e+01] [ 2.46716716e-01 9.69078054e-01 -4.31124614e-03 3.45007021e+00] [ 1.87927808e-02 -3.36411118e-04 9.99823344e-01 8.31266129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.753617864999995 meters 0.016932977865717083 Centerline is valid? [True, True] Translation: X:50.46, Y:3.46, Z:0.83 [[ 9.69287090e-01 -2.45246401e-01 -1.83504718e-02 5.04584398e+01] [ 2.45208415e-01 9.69460731e-01 -4.32708672e-03 3.45719315e+00] [ 1.88512643e-02 -3.05500812e-04 9.99822252e-01 8.31431570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783617865 meters 0.016470437326628933 Centerline is valid? [True, True] Translation: X:50.49, Y:3.46, Z:0.83 [[ 9.69698160e-01 -2.43602860e-01 -1.85236233e-02 5.04859283e+01] [ 2.43563766e-01 9.69875029e-01 -4.37253147e-03 3.46463466e+00] [ 1.90307609e-02 -2.71647722e-04 9.99818862e-01 8.31509126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.813617865 meters 0.015971666730333164 Centerline is valid? [True, True] Translation: X:50.51, Y:3.47, Z:0.83 [[ 9.70399433e-01 -2.40685964e-01 -1.98798150e-02 5.05138531e+01] [ 2.40640215e-01 9.70603017e-01 -4.69795623e-03 3.47147129e+00] [ 2.04261405e-02 -2.24988895e-04 9.99791339e-01 8.30457381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84361786499999 meters 0.01589156450716215 Centerline is valid? [True, True] Translation: X:50.54, Y:3.48, Z:0.83 [[ 9.70678308e-01 -2.39502248e-01 -2.05498157e-02 5.05409733e+01] [ 2.39452996e-01 9.70895789e-01 -4.86111275e-03 3.47712781e+00] [ 2.11159770e-02 -2.02138246e-04 9.99777012e-01 8.30363293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87361786499999 meters 0.015818420797099754 Centerline is valid? [True, True] Translation: X:50.57, Y:3.48, Z:0.83 [[ 9.70858079e-01 -2.38755024e-01 -2.07516005e-02 5.05687049e+01] [ 2.38704552e-01 9.71079814e-01 -4.91243655e-03 3.48307726e+00] [ 2.13243293e-02 -1.84222796e-04 9.99772594e-01 8.30386755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903617864999994 meters 0.016007694518708957 Centerline is valid? [True, True] Translation: X:50.60, Y:3.49, Z:0.83 [[ 9.70864000e-01 -2.38657937e-01 -2.15750426e-02 5.05955603e+01] [ 2.38603233e-01 9.71103679e-01 -5.11292924e-03 3.48535050e+00] [ 2.21718444e-02 -1.83915982e-04 9.99754158e-01 8.30202523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.933617864999995 meters 0.015920473318005966 Centerline is valid? [True, True] Translation: X:50.62, Y:3.49, Z:0.83 [[ 9.70696167e-01 -2.39347393e-01 -2.14890058e-02 5.06234342e+01] [ 2.39293213e-01 9.70933977e-01 -5.09614730e-03 3.49036523e+00] [ 2.20841555e-02 -1.95362601e-04 9.99756096e-01 8.30733121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963617864999996 meters 0.015986813261621706 Centerline is valid? [True, True] Translation: X:50.65, Y:3.49, Z:0.83 [[ 9.70512580e-01 -2.40094160e-01 -2.14505749e-02 5.06514696e+01] [ 2.40040221e-01 9.70749582e-01 -5.09319024e-03 3.49429891e+00] [ 2.20459819e-02 -2.05995536e-04 9.99756937e-01 8.31377821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.993617865 meters 0.01610540296513545 Centerline is valid? [True, True] Translation: X:50.68, Y:3.50, Z:0.83 [[ 9.70305871e-01 -2.40945006e-01 -2.12607764e-02 5.06792624e+01] [ 2.40892090e-01 9.70538746e-01 -5.05415655e-03 3.49821437e+00] [ 2.18521810e-02 -2.17475076e-04 9.99761189e-01 8.31885273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02361786499999 meters 0.01638279740344704 Centerline is valid? [True, True] Translation: X:50.71, Y:3.50, Z:0.83 [[ 9.69977252e-01 -2.42299330e-01 -2.08606333e-02 5.07072815e+01] [ 2.42248595e-01 9.70201514e-01 -4.96393055e-03 3.49988182e+00] [ 2.14417751e-02 -2.38559392e-04 9.99770070e-01 8.32667078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05361786499999 meters 0.016544977003162726 Centerline is valid? [True, True] Translation: X:50.74, Y:3.50, Z:0.83 [[ 9.69798824e-01 -2.43006585e-01 -2.09294055e-02 5.07351464e+01] [ 2.42955640e-01 9.70024606e-01 -4.98214353e-03 3.50398764e+00] [ 2.15127320e-02 -2.53240170e-04 9.99768542e-01 8.33095253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083617864999994 meters 0.016787163323435272 Centerline is valid? [True, True] Translation: X:50.76, Y:3.51, Z:0.83 [[ 9.69615581e-01 -2.43732301e-01 -2.09806991e-02 5.07632549e+01] [ 2.43681236e-01 9.69842510e-01 -4.99618001e-03 3.50815120e+00] [ 2.15657043e-02 -2.68228685e-04 9.99767397e-01 8.33445892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.113617864999995 meters 0.01656950947746802 Centerline is valid? [True, True] Translation: X:50.79, Y:3.51, Z:0.83 [[ 9.69434432e-01 -2.44459913e-01 -2.08861912e-02 5.07909538e+01] [ 2.44409416e-01 9.69659359e-01 -4.97644264e-03 3.51349387e+00] [ 2.14690315e-02 -2.80446960e-04 9.99769474e-01 8.34483642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143617864999996 meters 0.01730565494229595 Centerline is valid? [True, True] Translation: X:50.82, Y:3.51, Z:0.84 [[ 9.69101574e-01 -2.45765445e-01 -2.10115445e-02 5.08195458e+01] [ 2.45714538e-01 9.69329280e-01 -5.01134321e-03 3.51343551e+00] [ 2.15987203e-02 -3.06341353e-04 9.99766673e-01 8.35004738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.173617865 meters 0.017232437114474107 Centerline is valid? [True, True] Translation: X:50.85, Y:3.52, Z:0.84 [[ 9.69219485e-01 -2.45400451e-01 -1.98042778e-02 5.08474628e+01] [ 2.45355104e-01 9.69421756e-01 -4.72564559e-03 3.52039313e+00] [ 2.03583733e-02 -2.78892848e-04 9.99792708e-01 8.36474005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20361786499999 meters 0.016887093656330756 Centerline is valid? [True, True] Translation: X:50.88, Y:3.53, Z:0.84 [[ 9.69595675e-01 -2.43971310e-01 -1.90322455e-02 5.08750148e+01] [ 2.43929070e-01 9.69782421e-01 -4.54578702e-03 3.52752682e+00] [ 1.95661787e-02 -2.34942507e-04 9.99808536e-01 8.37421696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23361786499999 meters 0.01683167511158979 Centerline is valid? [True, True] Translation: X:50.90, Y:3.53, Z:0.84 [[ 9.69673073e-01 -2.43623906e-01 -1.95326485e-02 5.09027419e+01] [ 2.43579248e-01 9.69869754e-01 -4.67015542e-03 3.53276745e+00] [ 2.00818865e-02 -2.29223867e-04 9.99798312e-01 8.37659055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26361786499999 meters 0.016464312955571592 Centerline is valid? [True, True] Translation: X:50.93, Y:3.54, Z:0.84 [[ 9.69687962e-01 -2.43543276e-01 -1.97971868e-02 5.09298868e+01] [ 2.43497272e-01 9.69890005e-01 -4.73886932e-03 3.53978959e+00] [ 2.03552134e-02 -2.25336444e-04 9.99792786e-01 8.38669472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.293617864999995 meters 0.01630281808007307 Centerline is valid? [True, True] Translation: X:50.96, Y:3.55, Z:0.84 [[ 9.69782482e-01 -2.43145366e-01 -2.00566258e-02 5.09577199e+01] [ 2.43097942e-01 9.69989838e-01 -4.80680711e-03 3.54619683e+00] [ 2.06234761e-02 -2.14167124e-04 9.99787291e-01 8.39430407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.323617864999996 meters 0.016317964818204137 Centerline is valid? [True, True] Translation: X:50.99, Y:3.55, Z:0.84 [[ 9.69768490e-01 -2.43229076e-01 -1.97152982e-02 5.09852918e+01] [ 2.43183156e-01 9.69968852e-01 -4.73062541e-03 3.55177658e+00] [ 2.02738508e-02 -2.06816983e-04 9.99794443e-01 8.40168668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.353617865 meters 0.016302265487288456 Centerline is valid? [True, True] Translation: X:51.01, Y:3.56, Z:0.84 [[ 9.69716730e-01 -2.43472394e-01 -1.92524298e-02 5.10121726e+01] [ 2.43428546e-01 9.69907806e-01 -4.62500215e-03 3.55799086e+00] [ 1.97991423e-02 -2.01649033e-04 9.99803957e-01 8.41143675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38361786499999 meters 0.01631093249045433 Centerline is valid? [True, True] Translation: X:51.04, Y:3.56, Z:0.84 [[ 9.69604096e-01 -2.43957783e-01 -1.87749337e-02 5.10393798e+01] [ 2.43916070e-01 9.69785832e-01 -4.51561839e-03 3.56472399e+00] [ 1.93092850e-02 -2.01145979e-04 9.99813538e-01 8.41723322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41361786499999 meters 0.016221164883416694 Centerline is valid? [True, True] Translation: X:51.07, Y:3.57, Z:0.84 [[ 9.69471678e-01 -2.44478596e-01 -1.88383233e-02 5.10663991e+01] [ 2.44436594e-01 9.69654667e-01 -4.53631344e-03 3.57286345e+00] [ 1.93756997e-02 -2.06948191e-04 9.99812252e-01 8.42034627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44361786499999 meters 0.01627430174188559 Centerline is valid? [True, True] Translation: X:51.09, Y:3.58, Z:0.84 [[ 9.69549883e-01 -2.44166642e-01 -1.88593302e-02 5.10931112e+01] [ 2.44124390e-01 9.69733269e-01 -4.54641303e-03 3.57937015e+00] [ 1.93986023e-02 -1.96048252e-04 9.99811810e-01 8.42122878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.473617864999994 meters 0.016029428533535596 Centerline is valid? [True, True] Translation: X:51.12, Y:3.59, Z:0.84 [[ 9.69597957e-01 -2.43980068e-01 -1.88023463e-02 5.11206834e+01] [ 2.43937980e-01 9.69780228e-01 -4.53551271e-03 3.58680340e+00] [ 1.93407184e-02 -1.88982527e-04 9.99812933e-01 8.42716492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503617864999995 meters 0.016013338960216613 Centerline is valid? [True, True] Translation: X:51.15, Y:3.59, Z:0.84 [[ 9.69840603e-01 -2.43009777e-01 -1.88534475e-02 5.11482544e+01] [ 2.42967173e-01 9.70023825e-01 -4.55318496e-03 3.59388381e+00] [ 1.93947617e-02 -1.64905204e-04 9.99811890e-01 8.43267451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.533617865 meters 0.01571502130146716 Centerline is valid? [True, True] Translation: X:51.18, Y:3.60, Z:0.84 [[ 9.70420952e-01 -2.40648267e-01 -1.92766263e-02 5.11759169e+01] [ 2.40603164e-01 9.70612383e-01 -4.66037456e-03 3.60213138e+00] [ 1.98316432e-02 -1.15492161e-04 9.99803327e-01 8.43890334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56361786499999 meters 0.015606790239649487 Centerline is valid? [True, True] Translation: X:51.20, Y:3.61, Z:0.84 [[ 9.70603103e-01 -2.39908002e-01 -1.93330612e-02 5.12029170e+01] [ 2.39862388e-01 9.70795623e-01 -4.67904141e-03 3.61009120e+00] [ 1.98909906e-02 -9.57821039e-05 9.99802150e-01 8.44326780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59361786499999 meters 0.015474847753513408 Centerline is valid? [True, True] Translation: X:51.23, Y:3.62, Z:0.84 [[ 9.70694949e-01 -2.39578963e-01 -1.87946032e-02 5.12297478e+01] [ 2.39535690e-01 9.70876879e-01 -4.55402739e-03 3.61864900e+00] [ 1.93382949e-02 -8.14068773e-05 9.99812994e-01 8.44560982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62361786499999 meters 0.015503488276506749 Centerline is valid? [True, True] Translation: X:51.26, Y:3.63, Z:0.85 [[ 9.70884348e-01 -2.38896016e-01 -1.76713461e-02 5.12567749e+01] [ 2.38857559e-01 9.71045153e-01 -4.28676588e-03 3.62728421e+00] [ 1.81837663e-02 -5.89807185e-05 9.99834660e-01 8.45414197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.653617864999994 meters 0.01541483180439871 Centerline is valid? [True, True] Translation: X:51.28, Y:3.63, Z:0.85 [[ 9.70826757e-01 -2.39137655e-01 -1.75667493e-02 5.12828313e+01] [ 2.39099604e-01 9.70985674e-01 -4.26623600e-03 3.63363941e+00] [ 1.80772796e-02 -5.84267470e-05 9.99836591e-01 8.45959525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683617864999995 meters 0.01538361773251748 Centerline is valid? [True, True] Translation: X:51.31, Y:3.64, Z:0.85 [[ 9.70733997e-01 -2.39519368e-01 -1.74922634e-02 5.13102375e+01] [ 2.39481657e-01 9.70891584e-01 -4.25061306e-03 3.64009344e+00] [ 1.80011954e-02 -6.28616034e-05 9.99837963e-01 8.46841470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.713617864999996 meters 0.015450770681154899 Centerline is valid? [True, True] Translation: X:51.34, Y:3.65, Z:0.85 [[ 9.70468873e-01 -2.40655693e-01 -1.65832414e-02 5.13372504e+01] [ 2.40621889e-01 9.70610546e-01 -4.03420021e-03 3.64512434e+00] [ 1.70667222e-02 -7.52251394e-05 9.99854350e-01 8.47633169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.743617865 meters 0.015444139473899438 Centerline is valid? [True, True] Translation: X:51.36, Y:3.65, Z:0.85 [[ 9.70232587e-01 -2.41607061e-01 -1.65757141e-02 5.13649324e+01] [ 2.41573399e-01 9.70374165e-01 -4.03399387e-03 3.65165018e+00] [ 1.70592861e-02 -9.03392752e-05 9.99854476e-01 8.48099614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77361786499999 meters 0.015447543692044114 Centerline is valid? [True, True] Translation: X:51.39, Y:3.66, Z:0.85 [[ 9.69955149e-01 -2.42718358e-01 -1.65773402e-02 5.13921140e+01] [ 2.42684770e-01 9.70096793e-01 -4.03915091e-03 3.65816202e+00] [ 1.70620006e-02 -1.05272777e-04 9.99854428e-01 8.48098107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80361786499999 meters 0.015819444329760186 Centerline is valid? [True, True] Translation: X:51.42, Y:3.66, Z:0.85 [[ 9.69334701e-01 -2.45210256e-01 -1.61916143e-02 5.14195361e+01] [ 2.45178486e-01 9.69469912e-01 -3.94964235e-03 3.66359506e+00] [ 1.66657757e-02 -1.41310090e-04 9.99861106e-01 8.47984270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.833617864999994 meters 0.015679011244747132 Centerline is valid? [True, True] Translation: X:51.45, Y:3.67, Z:0.85 [[ 9.69013603e-01 -2.46479685e-01 -1.61369598e-02 5.14475381e+01] [ 2.46448281e-01 9.69147945e-01 -3.93776819e-03 3.67118415e+00] [ 1.66096813e-02 -1.61175048e-04 9.99862037e-01 8.48159093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.863617864999995 meters 0.01570563048336182 Centerline is valid? [True, True] Translation: X:51.48, Y:3.68, Z:0.85 [[ 9.68575453e-01 -2.48150422e-01 -1.68213942e-02 5.14760390e+01] [ 2.48116471e-01 9.68721493e-01 -4.10925428e-03 3.67687545e+00] [ 1.73149592e-02 -1.93542134e-04 9.99850066e-01 8.48642219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.893617864999996 meters 0.01591678625489299 Centerline is valid? [True, True] Translation: X:51.50, Y:3.68, Z:0.85 [[ 9.68088840e-01 -2.50035985e-01 -1.69116434e-02 5.15046967e+01] [ 2.50001881e-01 9.68236519e-01 -4.13564789e-03 3.68217953e+00] [ 1.74085315e-02 -2.24268090e-04 9.99848435e-01 8.49222353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.923617865 meters 0.017132576075955024 Centerline is valid? [True, True] Translation: X:51.53, Y:3.68, Z:0.85 [[ 9.67232401e-01 -2.53312358e-01 -1.71561013e-02 5.15328786e+01] [ 2.53277701e-01 9.67384499e-01 -4.19967885e-03 3.68467225e+00] [ 1.76603770e-02 -2.83192429e-04 9.99844003e-01 8.50016548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95361786499999 meters 0.016623303501281786 Centerline is valid? [True, True] Translation: X:51.56, Y:3.69, Z:0.85 [[ 9.67116005e-01 -2.53769870e-01 -1.69553971e-02 5.15591637e+01] [ 2.53736059e-01 9.67264582e-01 -4.15226877e-03 3.69446722e+00] [ 1.74540758e-02 -2.86470042e-04 9.99847625e-01 8.50413301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98361786499999 meters 0.016691447226679073 Centerline is valid? [True, True] Translation: X:51.59, Y:3.70, Z:0.85 [[ 9.66967738e-01 -2.54337100e-01 -1.69125290e-02 5.15860939e+01] [ 2.54303465e-01 9.67115585e-01 -4.14644017e-03 3.70201264e+00] [ 1.74109639e-02 -2.91440858e-04 9.99848375e-01 8.50621193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01361786499999 meters 0.016686664376454833 Centerline is valid? [True, True] Translation: X:51.61, Y:3.71, Z:0.85 [[ 9.66826453e-01 -2.54836860e-01 -1.74580649e-02 5.16124967e+01] [ 2.54801067e-01 9.66984012e-01 -4.28209729e-03 3.71148408e+00] [ 1.79729058e-02 -3.08288622e-04 9.99838427e-01 8.50139628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.043617864999995 meters 0.017145323554652626 Centerline is valid? [True, True] Translation: X:51.64, Y:3.72, Z:0.85 [[ 9.66805102e-01 -2.54902961e-01 -1.76741404e-02 5.16387565e+01] [ 2.54866200e-01 9.66966589e-01 -4.33996700e-03 3.71762675e+00] [ 1.81965737e-02 -3.08638753e-04 9.99834381e-01 8.49802248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.073617864999996 meters 0.016966158565668108 Centerline is valid? [True, True] Translation: X:51.67, Y:3.72, Z:0.85 [[ 9.66704445e-01 -2.55240434e-01 -1.82985414e-02 5.16659202e+01] [ 2.55201038e-01 9.66877560e-01 -4.49601985e-03 3.72476193e+00] [ 1.88400151e-02 -3.23484385e-04 9.99822459e-01 8.50142198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.103617865 meters 0.017013153688125674 Centerline is valid? [True, True] Translation: X:51.69, Y:3.73, Z:0.85 [[ 9.66481872e-01 -2.55994366e-01 -1.94852444e-02 5.16947981e+01] [ 2.55949733e-01 9.66678208e-01 -4.79326051e-03 3.72983059e+00] [ 2.00630088e-02 -3.54643711e-04 9.99798655e-01 8.50651215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13361786499999 meters 0.01673469155765618 Centerline is valid? [True, True] Translation: X:51.72, Y:3.74, Z:0.85 [[ 9.66232564e-01 -2.56873714e-01 -2.02614594e-02 5.17223563e+01] [ 2.56825538e-01 9.66444902e-01 -4.98942108e-03 3.73739318e+00] [ 2.08632353e-02 -3.82719084e-04 9.99782266e-01 8.50791046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16361786499999 meters 0.016747017126380638 Centerline is valid? [True, True] Translation: X:51.75, Y:3.74, Z:0.85 [[ 9.66095640e-01 -2.57328197e-01 -2.10098650e-02 5.17498894e+01] [ 2.57276384e-01 9.66323982e-01 -5.17924909e-03 3.74466109e+00] [ 2.16351032e-02 -4.01692116e-04 9.99765853e-01 8.50278515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19361786499999 meters 0.017123994701637384 Centerline is valid? [True, True] Translation: X:51.78, Y:3.75, Z:0.85 [[ 9.66088052e-01 -2.57321940e-01 -2.14311749e-02 5.17764634e+01] [ 2.57267919e-01 9.66325647e-01 -5.28796922e-03 3.75116108e+00] [ 2.20702044e-02 -4.04909888e-04 9.99756341e-01 8.49283566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.223617864999994 meters 0.01678011625539945 Centerline is valid? [True, True] Translation: X:51.80, Y:3.76, Z:0.85 [[ 9.66673280e-01 -2.55154127e-01 -2.09556852e-02 5.18028913e+01] [ 2.55101915e-01 9.66900332e-01 -5.17306848e-03 3.75999355e+00] [ 2.15819888e-02 -3.45168339e-04 9.99767022e-01 8.49388547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.253617864999995 meters 0.016414164690998077 Centerline is valid? [True, True] Translation: X:51.83, Y:3.77, Z:0.85 [[ 9.67018486e-01 -2.53894266e-01 -2.03211377e-02 5.18303712e+01] [ 2.53844839e-01 9.67231931e-01 -5.01886752e-03 3.76804051e+00] [ 2.09295149e-02 -3.05078243e-04 9.99780907e-01 8.50096487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.283617865 meters 0.01612280749545388 Centerline is valid? [True, True] Translation: X:51.86, Y:3.78, Z:0.85 [[ 9.67445145e-01 -2.52285830e-01 -2.00437538e-02 5.18586802e+01] [ 2.52237298e-01 9.67652723e-01 -4.95522398e-03 3.77571616e+00] [ 2.06455257e-02 -2.61874910e-04 9.99786824e-01 8.51200295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31361786499999 meters 0.015957291607918523 Centerline is valid? [True, True] Translation: X:51.89, Y:3.78, Z:0.85 [[ 9.67908370e-01 -2.50489738e-01 -2.02059265e-02 5.18854876e+01] [ 2.50439932e-01 9.68119230e-01 -4.99978525e-03 3.78295662e+00] [ 2.08141409e-02 -2.21036871e-04 9.99783338e-01 8.51748951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34361786499999 meters 0.015957291607918523 Centerline is valid? [True, True] Translation: X:51.91, Y:3.79, Z:0.85 [[ 9.67843395e-01 -2.50740728e-01 -2.02051729e-02 5.19122377e+01] [ 2.50690914e-01 9.68054253e-01 -5.00282882e-03 3.78966667e+00] [ 2.08141165e-02 -2.23298441e-04 9.99783338e-01 8.52200676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37361786499999 meters 0.015357736504563216 Centerline is valid? [True, True] Translation: X:51.94, Y:3.80, Z:0.85 [[ 9.68693614e-01 -2.47431210e-01 -2.02602491e-02 5.19392160e+01] [ 2.47380285e-01 9.68905452e-01 -5.02194903e-03 3.79920315e+00] [ 2.08728527e-02 -1.47256235e-04 9.99782127e-01 8.53048978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.403617864999994 meters 0.01505695028387617 Centerline is valid? [True, True] Translation: X:51.97, Y:3.81, Z:0.85 [[ 9.68966289e-01 -2.46333862e-01 -2.05902835e-02 5.19665027e+01] [ 2.46280902e-01 9.69185026e-01 -5.10915835e-03 3.80727956e+00] [ 2.12143532e-02 -1.20391399e-04 9.99774943e-01 8.53217917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.433617864999995 meters 0.015139926797668884 Centerline is valid? [True, True] Translation: X:51.99, Y:3.81, Z:0.85 [[ 9.69251606e-01 -2.45224814e-01 -2.03988697e-02 5.19934968e+01] [ 2.45172485e-01 9.69466236e-01 -5.06658837e-03 3.81425139e+00] [ 2.10184686e-02 -9.04426687e-05 9.99779083e-01 8.52972052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463617864999996 meters 0.01497824387998233 Centerline is valid? [True, True] Translation: X:52.02, Y:3.82, Z:0.85 [[ 9.69419718e-01 -2.44595432e-01 -1.99621122e-02 5.20202494e+01] [ 2.44545134e-01 9.69625221e-01 -4.96064884e-03 3.82133711e+00] [ 2.05691195e-02 -7.26866006e-05 9.99788431e-01 8.53863636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.493617865 meters 0.014955932326749253 Centerline is valid? [True, True] Translation: X:52.05, Y:3.83, Z:0.85 [[ 9.69240368e-01 -2.45330684e-01 -1.96459816e-02 5.20469998e+01] [ 2.45282018e-01 9.69439451e-01 -4.88703541e-03 3.82681426e+00] [ 2.02445293e-02 -8.20939997e-05 9.99795055e-01 8.54404892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52361786499999 meters 0.014981419506426728 Centerline is valid? [True, True] Translation: X:52.07, Y:3.83, Z:0.86 [[ 9.68989784e-01 -2.46332645e-01 -1.94685887e-02 5.20749878e+01] [ 2.46284996e-01 9.69185337e-01 -4.84587400e-03 3.83230219e+00] [ 2.00623676e-02 -9.92188830e-05 9.99798726e-01 8.55003921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55361786499999 meters 0.015228062411285614 Centerline is valid? [True, True] Translation: X:52.10, Y:3.84, Z:0.86 [[ 9.68365829e-01 -2.48743659e-01 -1.98547857e-02 5.21032020e+01] [ 2.48694502e-01 9.68569342e-01 -4.94713681e-03 3.83521324e+00] [ 2.04613056e-02 -1.47137803e-04 9.99790635e-01 8.55465243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583617864999994 meters 0.015232139280206908 Centerline is valid? [True, True] Translation: X:52.13, Y:3.84, Z:0.86 [[ 9.67956522e-01 -2.50293090e-01 -2.03357221e-02 5.21316414e+01] [ 2.50241796e-01 9.68170097e-01 -5.07023422e-03 3.84099761e+00] [ 2.09574826e-02 -1.81081336e-04 9.99780351e-01 8.55451360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.613617864999995 meters 0.01517480130929241 Centerline is valid? [True, True] Translation: X:52.16, Y:3.85, Z:0.86 [[ 9.67865943e-01 -2.50645895e-01 -2.03015131e-02 5.21578860e+01] [ 2.50594755e-01 9.68078820e-01 -5.06627443e-03 3.84760597e+00] [ 2.09233057e-02 -1.83978224e-04 9.99781067e-01 8.55536510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643617864999996 meters 0.015120343214402279 Centerline is valid? [True, True] Translation: X:52.19, Y:3.85, Z:0.86 [[ 9.67862614e-01 -2.50646754e-01 -2.04490749e-02 5.21850237e+01] [ 2.50594799e-01 9.68078598e-01 -5.10639894e-03 3.85498271e+00] [ 2.10762141e-02 -1.82139197e-04 9.99777855e-01 8.55490311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.673617865 meters 0.015433407635058778 Centerline is valid? [True, True] Translation: X:52.21, Y:3.86, Z:0.85 [[ 9.67710869e-01 -2.51231849e-01 -2.04507036e-02 5.22127409e+01] [ 2.51179912e-01 9.67926920e-01 -5.11173761e-03 3.86093851e+00] [ 2.10790178e-02 -1.90121885e-04 9.99777795e-01 8.54773702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70361786499999 meters 0.015021903667889936 Centerline is valid? [True, True] Translation: X:52.24, Y:3.87, Z:0.86 [[ 9.67526318e-01 -2.51946798e-01 -2.03871333e-02 5.22394934e+01] [ 2.51895285e-01 9.67741066e-01 -5.09856104e-03 3.86900106e+00] [ 2.10140322e-02 -2.02430756e-04 9.99779160e-01 8.55999568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73361786499999 meters 0.015111541048219289 Centerline is valid? [True, True] Translation: X:52.27, Y:3.88, Z:0.86 [[ 9.67210040e-01 -2.53130461e-01 -2.07293892e-02 5.22679761e+01] [ 2.53077348e-01 9.67432126e-01 -5.19014625e-03 3.87518781e+00] [ 2.13680612e-02 -2.26177268e-04 9.99771651e-01 8.56340125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76361786499999 meters 0.015405841875672812 Centerline is valid? [True, True] Translation: X:52.30, Y:3.88, Z:0.86 [[ 9.66464201e-01 -2.55867741e-01 -2.18780162e-02 5.22968847e+01] [ 2.55809147e-01 9.66711752e-01 -5.48356688e-03 3.88011318e+00] [ 2.25528032e-02 -2.96925577e-04 9.99745609e-01 8.56343247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.793617864999995 meters 0.01555904438785014 Centerline is valid? [True, True] Translation: X:52.32, Y:3.89, Z:0.86 [[ 9.66056775e-01 -2.57366086e-01 -2.22935993e-02 5.23246716e+01] [ 2.57305510e-01 9.66313917e-01 -5.59350741e-03 3.88658411e+00] [ 2.29821944e-02 -3.32620206e-04 9.99735819e-01 8.56234005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823617864999996 meters 0.015696699272212532 Centerline is valid? [True, True] Translation: X:52.35, Y:3.89, Z:0.86 [[ 9.65489397e-01 -2.59474275e-01 -2.24349092e-02 5.23527063e+01] [ 2.59413364e-01 9.65749945e-01 -5.63472373e-03 3.89364910e+00] [ 2.31285781e-02 -3.79649256e-04 9.99732427e-01 8.56539553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.853617865 meters 0.01604657640225322 Centerline is valid? [True, True] Translation: X:52.38, Y:3.90, Z:0.86 [[ 9.65172306e-01 -2.60675748e-01 -2.21488904e-02 5.23794399e+01] [ 2.60616592e-01 9.65426328e-01 -5.56747693e-03 3.90080892e+00] [ 2.28344281e-02 -3.98793777e-04 9.99739181e-01 8.56367322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88361786499999 meters 0.016819798262075983 Centerline is valid? [True, True] Translation: X:52.41, Y:3.91, Z:0.86 [[ 9.64362641e-01 -2.63668300e-01 -2.19937170e-02 5.24062888e+01] [ 2.63610703e-01 9.64613296e-01 -5.53044951e-03 3.90685722e+00] [ 2.26736361e-02 -4.64420295e-04 9.99742812e-01 8.56270106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91361786499999 meters 0.017901176591387728 Centerline is valid? [True, True] Translation: X:52.43, Y:3.91, Z:0.86 [[ 9.63888001e-01 -2.65367676e-01 -2.23588332e-02 5.24334596e+01] [ 2.65308559e-01 9.64147155e-01 -5.62428279e-03 3.91185801e+00] [ 2.30497083e-02 -5.10811124e-04 9.99734190e-01 8.56122111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94361786499999 meters 0.017789409075215076 Centerline is valid? [True, True] Translation: X:52.46, Y:3.92, Z:0.86 [[ 9.63345458e-01 -2.67297163e-01 -2.27542319e-02 5.24616508e+01] [ 2.67236401e-01 9.63613983e-01 -5.72686497e-03 3.91960752e+00] [ 2.34570708e-02 -5.63809693e-04 9.99724686e-01 8.56859595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.973617864999994 meters 0.018292685552170392 Centerline is valid? [True, True] Translation: X:52.49, Y:3.93, Z:0.86 [[ 9.62868440e-01 -2.69007485e-01 -2.27890402e-02 5.24898005e+01] [ 2.68946884e-01 9.63137899e-01 -5.74124321e-03 3.92559044e+00] [ 2.34934257e-02 -6.00979465e-04 9.99723811e-01 8.57303257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003617864999995 meters 0.017991843008884928 Centerline is valid? [True, True] Translation: X:52.52, Y:3.93, Z:0.86 [[ 9.62277421e-01 -2.71098052e-01 -2.29784866e-02 5.25176263e+01] [ 2.71036899e-01 9.62551516e-01 -5.79468497e-03 3.93386452e+00] [ 2.36889050e-02 -6.51923253e-04 9.99719166e-01 8.58683537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.033617865 meters 0.018063164603608985 Centerline is valid? [True, True] Translation: X:52.55, Y:3.94, Z:0.86 [[ 9.62060057e-01 -2.71883765e-01 -2.27961412e-02 5.25455142e+01] [ 2.71823664e-01 9.62329872e-01 -5.75443171e-03 3.94193859e+00] [ 2.35019442e-02 -6.60421735e-04 9.99723573e-01 8.59176943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06361786499999 meters 0.01735455665082725 Centerline is valid? [True, True] Translation: X:52.57, Y:3.95, Z:0.86 [[ 9.61841153e-01 -2.72646369e-01 -2.29249789e-02 5.25729765e+01] [ 2.72585664e-01 9.62114078e-01 -5.79283601e-03 3.95217014e+00] [ 2.36358406e-02 -6.77232517e-04 9.99720405e-01 8.59923887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09361786499999 meters 0.01822651288397427 Centerline is valid? [True, True] Translation: X:52.60, Y:3.96, Z:0.86 [[ 9.61702683e-01 -2.73185259e-01 -2.23106136e-02 5.25995191e+01] [ 2.73127803e-01 9.61961210e-01 -5.64221597e-03 3.95956780e+00] [ 2.30033151e-02 -6.67514639e-04 9.99735166e-01 8.60642004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12361786499999 meters 0.018332133019591784 Centerline is valid? [True, True] Translation: X:52.63, Y:3.97, Z:0.86 [[ 9.61520361e-01 -2.73847099e-01 -2.20535878e-02 5.26272871e+01] [ 2.73791065e-01 9.61773005e-01 -5.58021559e-03 3.96722593e+00] [ 2.27386712e-02 -6.72584376e-04 9.99741217e-01 8.61996097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.153617864999994 meters 0.01753660281704814 Centerline is valid? [True, True] Translation: X:52.65, Y:3.98, Z:0.86 [[ 9.61317959e-01 -2.74571599e-01 -2.18682289e-02 5.26546764e+01] [ 2.74516565e-01 9.61566418e-01 -5.53884457e-03 3.97640761e+00] [ 2.25485639e-02 -6.78600325e-04 9.99745519e-01 8.63367232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.183617864999995 meters 0.017991614364911715 Centerline is valid? [True, True] Translation: X:52.68, Y:3.98, Z:0.86 [[ 9.61048374e-01 -2.75532935e-01 -2.16246378e-02 5.26828030e+01] [ 2.75479240e-01 9.61291386e-01 -5.48271315e-03 3.98386093e+00] [ 2.22982461e-02 -6.87986215e-04 9.99751126e-01 8.64016130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.213617864999996 meters 0.01847880009601056 Centerline is valid? [True, True] Translation: X:52.71, Y:3.99, Z:0.87 [[ 9.60704131e-01 -2.76763671e-01 -2.12000861e-02 5.27099615e+01] [ 2.76712265e-01 9.60937762e-01 -5.37957926e-03 3.99155724e+00] [ 2.18608354e-02 -6.98139830e-04 9.99760780e-01 8.65766698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24361786499999 meters 0.018676836021811295 Centerline is valid? [True, True] Translation: X:52.74, Y:4.00, Z:0.87 [[ 9.60579753e-01 -2.77248272e-01 -2.04923049e-02 5.27367950e+01] [ 2.77200292e-01 9.60798069e-01 -5.20272004e-03 3.99903068e+00] [ 2.11314121e-02 -6.82845370e-04 9.99776474e-01 8.66866795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27361786499999 meters 0.019042397979657927 Centerline is valid? [True, True] Translation: X:52.76, Y:4.01, Z:0.87 [[ 9.60417202e-01 -2.77884655e-01 -1.94657676e-02 5.27645292e+01] [ 2.77841387e-01 9.60614224e-01 -4.94739916e-03 4.00677598e+00] [ 2.00738995e-02 -6.56828607e-04 9.99798283e-01 8.68058812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30361786499999 meters 0.019257644787365302 Centerline is valid? [True, True] Translation: X:52.79, Y:4.02, Z:0.87 [[ 9.60510508e-01 -2.77609438e-01 -1.87767043e-02 5.27913397e+01] [ 2.77569046e-01 9.60693817e-01 -4.77640266e-03 4.01520074e+00] [ 1.93646382e-02 -6.24046959e-04 9.99812293e-01 8.69688898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.333617864999994 meters 0.01915552606105745 Centerline is valid? [True, True] Translation: X:52.82, Y:4.02, Z:0.87 [[ 9.60542090e-01 -2.77503128e-01 -1.87325272e-02 5.28186096e+01] [ 2.77462865e-01 9.60724535e-01 -4.76729050e-03 4.02339256e+00] [ 1.93197365e-02 -6.18397482e-04 9.99813165e-01 8.70361759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363617864999995 meters 0.018123033704451876 Centerline is valid? [True, True] Translation: X:52.85, Y:4.03, Z:0.87 [[ 9.60671902e-01 -2.77027889e-01 -1.91061619e-02 5.28455501e+01] [ 2.76985814e-01 9.60861680e-01 -4.86724010e-03 4.03314008e+00] [ 1.97067401e-02 -6.16315006e-04 9.99805613e-01 8.70869971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.393617864999996 meters 0.01923794443876009 Centerline is valid? [True, True] Translation: X:52.87, Y:4.04, Z:0.87 [[ 9.61067198e-01 -2.75594008e-01 -1.99445127e-02 5.28720038e+01] [ 2.75547756e-01 9.61273932e-01 -5.08541600e-03 4.04046358e+00] [ 2.05736503e-02 -6.08239197e-04 9.99788155e-01 8.70312936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.423617865 meters 0.018053116286613997 Centerline is valid? [True, True] Translation: X:52.90, Y:4.05, Z:0.87 [[ 9.61193048e-01 -2.75123247e-01 -2.03745912e-02 5.28987669e+01] [ 2.75074818e-01 9.61408773e-01 -5.19767313e-03 4.05094432e+00] [ 2.10183115e-02 -6.08569698e-04 9.99778906e-01 8.70800515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45361786499999 meters 0.016772978461510556 Centerline is valid? [True, True] Translation: X:52.93, Y:4.06, Z:0.87 [[ 9.61262519e-01 -2.74875291e-01 -2.04436925e-02 5.29260168e+01] [ 2.74826367e-01 9.61479700e-01 -5.22050259e-03 4.06208187e+00] [ 2.10911825e-02 -6.00192280e-04 9.99777376e-01 8.71512001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48361786499999 meters 0.01713465010905287 Centerline is valid? [True, True] Translation: X:52.95, Y:4.07, Z:0.87 [[ 9.61444240e-01 -2.74229153e-01 -2.05753609e-02 5.29523131e+01] [ 2.74179351e-01 9.61664198e-01 -5.25875450e-03 4.07058670e+00] [ 2.12286917e-02 -5.85339857e-04 9.99774475e-01 8.72279896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51361786499999 meters 0.01737503867098363 Centerline is valid? [True, True] Translation: X:52.98, Y:4.08, Z:0.87 [[ 9.61469240e-01 -2.74102567e-01 -2.10875251e-02 5.29779760e+01] [ 2.74050177e-01 9.61700280e-01 -5.39182546e-03 4.07800655e+00] [ 2.17577919e-02 -5.94965638e-04 9.99763094e-01 8.72364321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543617864999995 meters 0.016896427589317302 Centerline is valid? [True, True] Translation: X:53.00, Y:4.09, Z:0.87 [[ 9.61423832e-01 -2.74221417e-01 -2.16062255e-02 5.30048530e+01] [ 2.74166364e-01 9.61666389e-01 -5.52819274e-03 4.08709467e+00] [ 2.22939297e-02 -6.08764059e-04 9.99751274e-01 8.72671735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.573617864999996 meters 0.01764033084577124 Centerline is valid? [True, True] Translation: X:53.03, Y:4.09, Z:0.87 [[ 9.61316298e-01 -2.74556576e-01 -2.21282974e-02 5.30314569e+01] [ 2.74498797e-01 9.61570743e-01 -5.66712353e-03 4.09398436e+00] [ 2.28338695e-02 -6.26292816e-04 9.99739077e-01 8.72838924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.603617865 meters 0.017978590576492162 Centerline is valid? [True, True] Translation: X:53.06, Y:4.10, Z:0.87 [[ 9.61034733e-01 -2.75539992e-01 -2.21349099e-02 5.30585118e+01] [ 2.75482393e-01 9.61289391e-01 -5.67082093e-03 4.10260449e+00] [ 2.28405920e-02 -6.47922074e-04 9.99738910e-01 8.73889956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63361786499999 meters 0.017704803925658933 Centerline is valid? [True, True] Translation: X:53.09, Y:4.11, Z:0.88 [[ 9.60828552e-01 -2.76278135e-01 -2.18834533e-02 5.30858034e+01] [ 2.76221963e-01 9.61077501e-01 -5.60931710e-03 4.11118975e+00] [ 2.25814263e-02 -6.55098381e-04 9.99744792e-01 8.75225401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66361786499999 meters 0.017551896157433595 Centerline is valid? [True, True] Translation: X:53.11, Y:4.12, Z:0.88 [[ 9.60554283e-01 -2.77222592e-01 -2.19796179e-02 5.31136254e+01] [ 2.77166044e-01 9.60805485e-01 -5.63956519e-03 4.11993941e+00] [ 2.26815524e-02 -6.74895260e-04 9.99742513e-01 8.76258477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69361786499999 meters 0.01760004006209724 Centerline is valid? [True, True] Translation: X:53.14, Y:4.13, Z:0.88 [[ 9.60272112e-01 -2.78179824e-01 -2.22138847e-02 5.31414271e+01] [ 2.78122189e-01 9.60528759e-01 -5.70540668e-03 4.12869201e+00] [ 2.29242041e-02 -6.99431296e-04 9.99736961e-01 8.76763496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723617864999994 meters 0.017609216933115016 Centerline is valid? [True, True] Translation: X:53.17, Y:4.14, Z:0.88 [[ 9.59995001e-01 -2.79073395e-01 -2.29703567e-02 5.31682312e+01] [ 2.79011880e-01 9.60269490e-01 -5.90574266e-03 4.13954389e+00] [ 2.37058683e-02 -7.39518963e-04 9.99718703e-01 8.76790550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.753617864999995 meters 0.017862815614274108 Centerline is valid? [True, True] Translation: X:53.20, Y:4.15, Z:0.88 [[ 9.59849004e-01 -2.79569891e-01 -2.30340043e-02 5.31959709e+01] [ 2.79508036e-01 9.60125052e-01 -5.92804170e-03 4.14831684e+00] [ 2.37728266e-02 -7.48164383e-04 9.99717106e-01 8.77110865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.783617865 meters 0.01812978041296385 Centerline is valid? [True, True] Translation: X:53.22, Y:4.16, Z:0.88 [[ 9.59775103e-01 -2.79788033e-01 -2.34607947e-02 5.32230746e+01] [ 2.79723803e-01 9.60061496e-01 -6.04306626e-03 4.15640002e+00] [ 2.42145833e-02 -7.62558187e-04 9.99706493e-01 8.77615792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81361786499999 meters 0.018943857254220143 Centerline is valid? [True, True] Translation: X:53.25, Y:4.16, Z:0.88 [[ 9.59401516e-01 -2.81037332e-01 -2.38065143e-02 5.32494987e+01] [ 2.80971507e-01 9.59696501e-01 -6.13504241e-03 4.16494254e+00] [ 2.45712045e-02 -8.02983228e-04 9.99697760e-01 8.78353364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84361786499999 meters 0.019456288504109978 Centerline is valid? [True, True] Translation: X:53.28, Y:4.17, Z:0.88 [[ 9.59007088e-01 -2.82382555e-01 -2.37801876e-02 5.32773121e+01] [ 2.82317205e-01 9.59301516e-01 -6.13165886e-03 4.17307281e+00] [ 2.45438435e-02 -8.33251790e-04 9.99698407e-01 8.78950672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87361786499999 meters 0.020112287883951897 Centerline is valid? [True, True] Translation: X:53.30, Y:4.18, Z:0.88 [[ 9.58686355e-01 -2.83450523e-01 -2.40057213e-02 5.33035953e+01] [ 2.83384141e-01 9.58986473e-01 -6.19468282e-03 4.18073678e+00] [ 2.47770481e-02 -8.64082832e-04 9.99692628e-01 8.79570342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903617864999994 meters 0.021338614949135606 Centerline is valid? [True, True] Translation: X:53.33, Y:4.19, Z:0.88 [[ 9.57834966e-01 -2.86367382e-01 -2.33644934e-02 5.33314388e+01] [ 2.86305317e-01 9.58119455e-01 -6.03124920e-03 4.18945723e+00] [ 2.41131287e-02 -9.12437298e-04 9.99708820e-01 8.80549611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.933617864999995 meters 0.022262934962396803 Centerline is valid? [True, True] Translation: X:53.36, Y:4.20, Z:0.88 [[ 9.57368981e-01 -2.87920844e-01 -2.33713829e-02 5.33583236e+01] [ 2.87859168e-01 9.57653739e-01 -6.03451986e-03 4.19623981e+00] [ 2.41191563e-02 -9.50404691e-04 9.99708639e-01 8.81473104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.963617864999996 meters 0.02057308298511195 Centerline is valid? [True, True] Translation: X:53.39, Y:4.21, Z:0.88 [[ 9.56871138e-01 -2.89575635e-01 -2.33147198e-02 5.33852872e+01] [ 2.89514668e-01 9.57154626e-01 -6.02316264e-03 4.20729288e+00] [ 2.40599530e-02 -9.86562867e-04 9.99710031e-01 8.82679903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99361786499999 meters 0.020854999128210223 Centerline is valid? [True, True] Translation: X:53.41, Y:4.22, Z:0.88 [[ 9.56414822e-01 -2.91089646e-01 -2.31841728e-02 5.34128471e+01] [ 2.91029663e-01 9.56695245e-01 -5.99531035e-03 4.21577379e+00] [ 2.39253606e-02 -1.01327831e-03 9.99713234e-01 8.83464584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02361786499999 meters 0.02139410193335439 Centerline is valid? [True, True] Translation: X:53.44, Y:4.22, Z:0.88 [[ 9.56141630e-01 -2.91983954e-01 -2.32067525e-02 5.34398782e+01] [ 2.91924004e-01 9.56422661e-01 -6.00585925e-03 4.22442149e+00] [ 2.39490785e-02 -1.03215606e-03 9.99712647e-01 8.83501590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05361786499999 meters 0.022258480712528003 Centerline is valid? [True, True] Translation: X:53.47, Y:4.23, Z:0.88 [[ 9.55978503e-01 -2.92550877e-01 -2.27834527e-02 5.34670005e+01] [ 2.92493200e-01 9.56249410e-01 -5.89865462e-03 4.23227966e+00] [ 2.35123198e-02 -1.02501797e-03 9.99723022e-01 8.84465395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.083617864999994 meters 0.023594417107130033 Centerline is valid? [True, True] Translation: X:53.49, Y:4.24, Z:0.88 [[ 9.55956841e-01 -2.92620302e-01 -2.28008125e-02 5.34931804e+01] [ 2.92562487e-01 9.56228168e-01 -5.90614766e-03 4.23878825e+00] [ 2.35310379e-02 -1.02464014e-03 9.99722582e-01 8.84821585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.113617864999995 meters 0.02226175781729763 Centerline is valid? [True, True] Translation: X:53.52, Y:4.25, Z:0.89 [[ 9.56064536e-01 -2.92262812e-01 -2.28703457e-02 5.35198293e+01] [ 2.92204453e-01 9.56337502e-01 -5.92787113e-03 4.24942588e+00] [ 2.36042655e-02 -1.01538950e-03 9.99720865e-01 8.85499434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143617864999996 meters 0.021649123332135475 Centerline is valid? [True, True] Translation: X:53.55, Y:4.26, Z:0.89 [[ 9.56737773e-01 -2.90015738e-01 -2.33174904e-02 5.35467586e+01] [ 2.89954298e-01 9.57021380e-01 -6.04832639e-03 4.26103409e+00] [ 2.40694467e-02 -9.74344246e-04 9.99709814e-01 8.85386784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.173617865 meters 0.021531922523514536 Centerline is valid? [True, True] Translation: X:53.57, Y:4.27, Z:0.89 [[ 9.57267249e-01 -2.88241533e-01 -2.35845882e-02 5.35736829e+01] [ 2.88178099e-01 9.57557276e-01 -6.11928745e-03 4.27040208e+00] [ 2.43474268e-02 -9.38768331e-04 9.99703117e-01 8.85662147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20361786499999 meters 0.018943608469096193 Centerline is valid? [True, True] Translation: X:53.60, Y:4.28, Z:0.89 [[ 9.57887746e-01 -2.86133131e-01 -2.40602752e-02 5.36001038e+01] [ 2.86066405e-01 9.58189448e-01 -6.24444415e-03 4.28361094e+00] [ 2.48410442e-02 -9.01359896e-04 9.99691007e-01 8.86671873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23361786499999 meters 0.018943608469096193 Centerline is valid? [True, True] Translation: X:53.63, Y:4.29, Z:0.89 [[ 9.57809394e-01 -2.86395371e-01 -2.40594121e-02 5.36267885e+01] [ 2.86328644e-01 9.58111096e-01 -6.24776792e-03 4.29060007e+00] [ 2.48409215e-02 -9.04728047e-04 9.99691007e-01 8.87124090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26361786499999 meters 0.016954606500437206 Centerline is valid? [True, True] Translation: X:53.65, Y:4.31, Z:0.89 [[ 9.59323971e-01 -2.81220775e-01 -2.47465788e-02 5.36541335e+01] [ 2.81148310e-01 9.59642775e-01 -6.43208136e-03 4.30513265e+00] [ 2.55567104e-02 -7.87008970e-04 9.99673064e-01 8.87261624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.293617864999995 meters 0.019304061937102747 Centerline is valid? [True, True] Translation: X:53.68, Y:4.31, Z:0.89 [[ 9.60149109e-01 -2.78364460e-01 -2.50382944e-02 5.36821208e+01] [ 2.78289236e-01 9.60475254e-01 -6.51056147e-03 4.31026644e+00] [ 2.58609711e-02 -7.16778035e-04 9.99665292e-01 8.85969439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323617864999996 meters 0.01526828595374988 Centerline is valid? [True, True] Translation: X:53.71, Y:4.33, Z:0.89 [[ 9.60833365e-01 -2.76003223e-01 -2.49292075e-02 5.37078415e+01] [ 2.75927768e-01 9.61156492e-01 -6.48571846e-03 4.32540384e+00] [ 2.57509488e-02 -6.46965871e-04 9.99668180e-01 8.88779449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.353617865 meters 0.014834199933890728 Centerline is valid? [True, True] Translation: X:53.73, Y:4.34, Z:0.89 [[ 9.61927877e-01 -2.72178765e-01 -2.47685254e-02 5.37336797e+01] [ 2.72102885e-01 9.62246555e-01 -6.44885946e-03 4.33658921e+00] [ 2.55886708e-02 -5.36249531e-04 9.99672413e-01 8.89167850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38361786499999 meters 0.014416334147576822 Centerline is valid? [True, True] Translation: X:53.76, Y:4.35, Z:0.89 [[ 9.62238902e-01 -2.71076749e-01 -2.47727988e-02 5.37608492e+01] [ 2.71000380e-01 9.62557605e-01 -6.45375169e-03 4.34602477e+00] [ 2.55947079e-02 -5.03386965e-04 9.99672275e-01 8.89648492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41361786499999 meters 0.014340416988795316 Centerline is valid? [True, True] Translation: X:53.79, Y:4.35, Z:0.89 [[ 9.62432977e-01 -2.70377476e-01 -2.48753795e-02 5.37883850e+01] [ 2.70300075e-01 9.62754273e-01 -6.48692444e-03 4.35449963e+00] [ 2.57027962e-02 -4.80586939e-04 9.99669513e-01 8.89889423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44361786499999 meters 0.01444780307821985 Centerline is valid? [True, True] Translation: X:53.81, Y:4.36, Z:0.89 [[ 9.62731407e-01 -2.69311804e-01 -2.48875459e-02 5.38149900e+01] [ 2.69233845e-01 9.63052933e-01 -6.49500646e-03 4.36276783e+00] [ 2.57172060e-02 -4.47622963e-04 9.99669158e-01 8.90078451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.473617864999994 meters 0.014554685552186676 Centerline is valid? [True, True] Translation: X:53.84, Y:4.37, Z:0.89 [[ 9.62704028e-01 -2.69409236e-01 -2.48921292e-02 5.38420009e+01] [ 2.69331176e-01 9.63025682e-01 -6.50023332e-03 4.37053640e+00] [ 2.57229826e-02 -4.46425630e-04 9.99669010e-01 8.90766196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503617864999995 meters 0.014165060788970594 Centerline is valid? [True, True] Translation: X:53.87, Y:4.38, Z:0.89 [[ 9.62649808e-01 -2.69636800e-01 -2.45222952e-02 5.38683429e+01] [ 2.69560940e-01 9.62961995e-01 -6.41066753e-03 4.37888938e+00] [ 2.53425901e-02 -4.39025064e-04 9.99678729e-01 8.91603777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.533617865 meters 0.014279588186663937 Centerline is valid? [True, True] Translation: X:53.90, Y:4.39, Z:0.89 [[ 9.62575310e-01 -2.69933753e-01 -2.41773029e-02 5.38956185e+01] [ 2.69859931e-01 9.62878799e-01 -6.32747499e-03 4.38619900e+00] [ 2.49878115e-02 -4.33814090e-04 9.99687662e-01 8.92141038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56361786499999 meters 0.01475945471199436 Centerline is valid? [True, True] Translation: X:53.92, Y:4.39, Z:0.89 [[ 9.62220467e-01 -2.71154756e-01 -2.46347728e-02 5.39221160e+01] [ 2.71078369e-01 9.62535651e-01 -6.45284459e-03 4.39312469e+00] [ 2.54615666e-02 -4.68894905e-04 9.99675692e-01 8.91546147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59361786499999 meters 0.014867508218706816 Centerline is valid? [True, True] Translation: X:53.95, Y:4.40, Z:0.89 [[ 9.61886598e-01 -2.72297562e-01 -2.50641266e-02 5.39500512e+01] [ 2.72218771e-01 9.62212962e-01 -6.56936709e-03 4.40030770e+00] [ 2.59058502e-02 -5.03939598e-04 9.99664260e-01 8.91932996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62361786499999 meters 0.014935547938269872 Centerline is valid? [True, True] Translation: X:53.98, Y:4.41, Z:0.89 [[ 9.61488047e-01 -2.73648014e-01 -2.56417510e-02 5.39781350e+01] [ 2.73565855e-01 9.61829749e-01 -6.72733697e-03 4.40743349e+00] [ 2.65039213e-02 -5.46453459e-04 9.99648560e-01 8.92270032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.653617864999994 meters 0.014914852096130953 Centerline is valid? [True, True] Translation: X:54.01, Y:4.41, Z:0.89 [[ 9.60726320e-01 -2.76250711e-01 -2.62770462e-02 5.40061249e+01] [ 2.76165215e-01 9.61085403e-01 -6.90087132e-03 4.41392446e+00] [ 2.71608561e-02 -6.26957400e-04 9.99630879e-01 8.93305012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683617864999995 meters 0.016121827479284947 Centerline is valid? [True, True] Translation: X:54.03, Y:4.42, Z:0.89 [[ 9.60374874e-01 -2.77526561e-01 -2.56731239e-02 5.40338168e+01] [ 2.77445263e-01 9.60717750e-01 -6.74767515e-03 4.41882077e+00] [ 2.65372849e-02 -6.42588933e-04 9.99647618e-01 8.93228330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.713617864999996 meters 0.01732763873847219 Centerline is valid? [True, True] Translation: X:54.06, Y:4.42, Z:0.89 [[ 9.60039074e-01 -2.78726984e-01 -2.52238950e-02 5.40611139e+01] [ 2.78648842e-01 9.60370153e-01 -6.63259321e-03 4.42389889e+00] [ 2.60729586e-02 -6.61060491e-04 9.99659824e-01 8.93589199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74361786499999 meters 0.015901010882130345 Centerline is valid? [True, True] Translation: X:54.09, Y:4.43, Z:0.90 [[ 9.59636397e-01 -2.80139938e-01 -2.48917899e-02 5.40886780e+01] [ 2.80064219e-01 9.59958928e-01 -6.54899480e-03 4.43351415e+00] [ 2.57297309e-02 -6.86645923e-04 9.99668700e-01 8.95112334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77361786499999 meters 0.016298692534953526 Centerline is valid? [True, True] Translation: X:54.12, Y:4.44, Z:0.90 [[ 9.59069927e-01 -2.82090660e-01 -2.46928250e-02 5.41166239e+01] [ 2.82016630e-01 9.59387477e-01 -6.50299725e-03 4.44008176e+00] [ 2.55244219e-02 -7.26958211e-04 9.99673935e-01 8.96025042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80361786499999 meters 0.01714654562015764 Centerline is valid? [True, True] Translation: X:54.14, Y:4.45, Z:0.90 [[ 9.58878752e-01 -2.82763337e-01 -2.44220164e-02 5.41435206e+01] [ 2.82691009e-01 9.59189429e-01 -6.43690889e-03 4.44567584e+00] [ 2.52454618e-02 -7.31669277e-04 9.99681015e-01 8.96044389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.833617864999994 meters 0.016558001293522903 Centerline is valid? [True, True] Translation: X:54.17, Y:4.45, Z:0.90 [[ 9.58740255e-01 -2.83244090e-01 -2.42880610e-02 5.41700728e+01] [ 2.83172590e-01 9.59047571e-01 -6.40624953e-03 4.45350982e+00] [ 2.51079383e-02 -7.35783842e-04 9.99684475e-01 8.97017691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.863617864999995 meters 0.01716965736955767 Centerline is valid? [True, True] Translation: X:54.20, Y:4.46, Z:0.90 [[ 9.58816332e-01 -2.82921260e-01 -2.50360282e-02 5.41969866e+01] [ 2.82844984e-01 9.59142851e-01 -6.61103591e-03 4.45954753e+00] [ 2.58835300e-02 -7.42545780e-04 9.99664690e-01 8.96631070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.893617864999996 meters 0.01576709792756457 Centerline is valid? [True, True] Translation: X:54.22, Y:4.47, Z:0.90 [[ 9.58961892e-01 -2.82413308e-01 -2.51955035e-02 5.42241224e+01] [ 2.82335697e-01 9.59292549e-01 -6.66025445e-03 4.46910110e+00] [ 2.60508032e-02 -7.26659811e-04 9.99660356e-01 8.97408350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92361786499999 meters 0.016447008693097454 Centerline is valid? [True, True] Translation: X:54.25, Y:4.48, Z:0.90 [[ 9.59237645e-01 -2.81457033e-01 -2.53984059e-02 5.42513480e+01] [ 2.81377698e-01 9.59573575e-01 -6.71896003e-03 4.47517966e+00] [ 2.62627377e-02 -7.01465599e-04 9.99654829e-01 8.96919228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95361786499999 meters 0.016025222782994692 Centerline is valid? [True, True] Translation: X:54.28, Y:4.48, Z:0.90 [[ 9.59485395e-01 -2.80596528e-01 -2.55610031e-02 5.42787686e+01] [ 2.80515764e-01 9.59825572e-01 -6.76592526e-03 4.48318062e+00] [ 2.64325995e-02 -6.78457842e-04 9.99650368e-01 8.97636874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98361786499999 meters 0.015028249223160513 Centerline is valid? [True, True] Translation: X:54.31, Y:4.49, Z:0.90 [[ 9.60203818e-01 -2.78190742e-01 -2.48704312e-02 5.43058588e+01] [ 2.78113316e-01 9.60525670e-01 -6.58938089e-03 4.49249518e+00] [ 2.57217924e-02 -5.89649404e-04 9.99668966e-01 8.98479971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01361786499999 meters 0.014756551636105451 Centerline is valid? [True, True] Translation: X:54.33, Y:4.50, Z:0.90 [[ 9.60536668e-01 -2.77031856e-01 -2.49531537e-02 5.43338371e+01] [ 2.76953357e-01 9.60860575e-01 -6.61771853e-03 4.50061701e+00] [ 2.58098204e-02 -5.54298378e-04 9.99666717e-01 8.99048539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.043617864999995 meters 0.014493599818473007 Centerline is valid? [True, True] Translation: X:54.36, Y:4.51, Z:0.90 [[ 9.60817400e-01 -2.76067102e-01 -2.48370698e-02 5.43613758e+01] [ 2.75988847e-01 9.61138224e-01 -6.59327958e-03 4.50836281e+00] [ 2.56920447e-02 -5.19816508e-04 9.99669770e-01 8.99419598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.073617864999996 meters 0.015368764399132715 Centerline is valid? [True, True] Translation: X:54.39, Y:4.51, Z:0.90 [[ 9.61147384e-01 -2.74903601e-01 -2.49743057e-02 5.43893869e+01] [ 2.74823949e-01 9.61471671e-01 -6.63502456e-03 4.51311277e+00] [ 2.58360795e-02 -4.86300805e-04 9.99666074e-01 8.99179956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.103617865 meters 0.014192596850285706 Centerline is valid? [True, True] Translation: X:54.42, Y:4.52, Z:0.90 [[ 9.61044605e-01 -2.75247250e-01 -2.51439363e-02 5.44160028e+01] [ 2.75166503e-01 9.61373344e-01 -6.68496523e-03 4.52175094e+00] [ 2.60127285e-02 -4.94219255e-04 9.99661490e-01 9.00919068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13361786499999 meters 0.015429996574586742 Centerline is valid? [True, True] Translation: X:54.44, Y:4.53, Z:0.90 [[ 9.60662140e-01 -2.76568751e-01 -2.52582247e-02 5.44442301e+01] [ 2.76487580e-01 9.60993990e-01 -6.72086466e-03 4.52514396e+00] [ 2.61317833e-02 -5.27105208e-04 9.99658368e-01 9.00639800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16361786499999 meters 0.014617374781412272 Centerline is valid? [True, True] Translation: X:54.47, Y:4.53, Z:0.90 [[ 9.60341568e-01 -2.77712313e-01 -2.48986656e-02 5.44721749e+01] [ 2.77633725e-01 9.60664131e-01 -6.62892645e-03 4.53333478e+00] [ 2.57601894e-02 -5.46675651e-04 9.99668002e-01 9.02316710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19361786499999 meters 0.014411470227631463 Centerline is valid? [True, True] Translation: X:54.50, Y:4.54, Z:0.90 [[ 9.59931281e-01 -2.79145681e-01 -2.46905598e-02 5.45004308e+01] [ 2.79068713e-01 9.60248592e-01 -6.57986137e-03 4.54079087e+00] [ 2.55458152e-02 -5.74147976e-04 9.99673488e-01 9.03282871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223617864999994 meters 0.01449196614972024 Centerline is valid? [True, True] Translation: X:54.53, Y:4.55, Z:0.90 [[ 9.59564985e-01 -2.80441864e-01 -2.42363307e-02 5.45288144e+01] [ 2.80367958e-01 9.59870830e-01 -6.46509050e-03 4.54784980e+00] [ 2.50768289e-02 -5.91416049e-04 9.99685352e-01 9.03906666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.253617864999995 meters 0.015118125727068547 Centerline is valid? [True, True] Translation: X:54.56, Y:4.55, Z:0.90 [[ 9.59281427e-01 -2.81467359e-01 -2.35641529e-02 5.45557224e+01] [ 2.81397688e-01 9.59570617e-01 -6.29057331e-03 4.55328123e+00] [ 2.43820598e-02 -5.96467992e-04 9.99702535e-01 9.04248771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283617865 meters 0.015490324377600655 Centerline is valid? [True, True] Translation: X:54.58, Y:4.56, Z:0.90 [[ 9.58759740e-01 -2.83296377e-01 -2.28675119e-02 5.45841386e+01] [ 2.83231208e-01 9.59032209e-01 -6.10785887e-03 4.55842115e+00] [ 2.36610147e-02 -6.20823814e-04 9.99719846e-01 9.04838798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31361786499999 meters 0.015386960970484727 Centerline is valid? [True, True] Translation: X:54.61, Y:4.57, Z:0.91 [[ 9.58492099e-01 -2.84236940e-01 -2.24111095e-02 5.46121876e+01] [ 2.84174469e-01 9.58753863e-01 -5.99170355e-03 4.56505311e+00] [ 2.31898013e-02 -6.25664623e-04 9.99730885e-01 9.05882586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34361786499999 meters 0.015872229567637418 Centerline is valid? [True, True] Translation: X:54.64, Y:4.57, Z:0.91 [[ 9.58260891e-01 -2.85026480e-01 -2.22703927e-02 5.46392908e+01] [ 2.84964889e-01 9.58519432e-01 -5.95909748e-03 4.57053566e+00] [ 2.30451048e-02 -6.35909928e-04 9.99734224e-01 9.06452954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37361786499999 meters 0.0163934591341798 Centerline is valid? [True, True] Translation: X:54.67, Y:4.58, Z:0.91 [[ 9.57809651e-01 -2.86569634e-01 -2.18750588e-02 5.46680129e+01] [ 2.86510528e-01 9.58059190e-01 -5.85702097e-03 4.57601902e+00] [ 2.26360455e-02 -6.57523437e-04 9.99743556e-01 9.06714199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403617864999994 meters 0.016877643566585533 Centerline is valid? [True, True] Translation: X:54.70, Y:4.58, Z:0.91 [[ 9.57698484e-01 -2.86986292e-01 -2.12716295e-02 5.46957648e+01] [ 2.86930407e-01 9.57934472e-01 -5.69990848e-03 4.58172830e+00] [ 2.20126227e-02 -6.44683583e-04 9.99757485e-01 9.07047147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.433617864999995 meters 0.01724128072273618 Centerline is valid? [True, True] Translation: X:54.72, Y:4.59, Z:0.91 [[ 9.57628484e-01 -2.87242174e-01 -2.09671123e-02 5.47230092e+01] [ 2.87187898e-01 9.57857779e-01 -5.62019153e-03 4.58792734e+00] [ 2.16978677e-02 -6.39445430e-04 9.99764369e-01 9.07617389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463617864999996 meters 0.016167865794040007 Centerline is valid? [True, True] Translation: X:54.75, Y:4.60, Z:0.91 [[ 9.58000659e-01 -2.86001377e-01 -2.09272372e-02 5.47510631e+01] [ 2.85946954e-01 9.58229014e-01 -5.61213383e-03 4.59662556e+00] [ 2.16581638e-02 -6.07651829e-04 9.99765250e-01 9.08725073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49361786499999 meters 0.015808074892930624 Centerline is valid? [True, True] Translation: X:54.78, Y:4.60, Z:0.91 [[ 9.58432051e-01 -2.84545928e-01 -2.10147029e-02 5.47793969e+01] [ 2.84490602e-01 9.58662238e-01 -5.64007449e-03 4.60435363e+00] [ 2.17508623e-02 -5.72857304e-04 9.99763258e-01 9.09081895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52361786499999 meters 0.015969172643755324 Centerline is valid? [True, True] Translation: X:54.81, Y:4.61, Z:0.91 [[ 9.58920433e-01 -2.82820323e-01 -2.20060932e-02 5.48068101e+01] [ 2.82759136e-01 9.59172745e-01 -5.90893659e-03 4.61109367e+00] [ 2.27788122e-02 -5.56223869e-04 9.99740374e-01 9.08652150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55361786499999 meters 0.0148530704668293 Centerline is valid? [True, True] Translation: X:54.83, Y:4.62, Z:0.91 [[ 9.59448646e-01 -2.80945376e-01 -2.29780541e-02 5.48343591e+01] [ 2.80878047e-01 9.59723613e-01 -6.17324756e-03 4.62014558e+00] [ 2.37869265e-02 -5.31116947e-04 9.99716910e-01 9.08691562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583617864999994 meters 0.014006263277234638 Centerline is valid? [True, True] Translation: X:54.86, Y:4.63, Z:0.91 [[ 9.60510555e-01 -2.77190385e-01 -2.41860454e-02 5.48622758e+01] [ 2.77114440e-01 9.60814906e-01 -6.50413221e-03 4.62847886e+00] [ 2.50411958e-02 -4.55014780e-04 9.99686317e-01 9.07294238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.613617864999995 meters 0.013478418877298781 Centerline is valid? [True, True] Translation: X:54.89, Y:4.64, Z:0.91 [[ 9.61089159e-01 -2.75147387e-01 -2.45263819e-02 5.48903019e+01] [ 2.75068465e-01 9.61401973e-01 -6.60188490e-03 4.63629153e+00] [ 2.53962034e-02 -4.01434227e-04 9.99677384e-01 9.07531406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643617864999996 meters 0.013389376212353104 Centerline is valid? [True, True] Translation: X:54.92, Y:4.64, Z:0.91 [[ 9.61625739e-01 -2.73253864e-01 -2.46630298e-02 5.49172190e+01] [ 2.73173312e-01 9.61941892e-01 -6.64358172e-03 4.64288116e+00] [ 2.55397859e-02 -3.48642341e-04 9.99673746e-01 9.07560100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67361786499999 meters 0.013178555211311664 Centerline is valid? [True, True] Translation: X:54.94, Y:4.65, Z:0.91 [[ 9.62138530e-01 -2.71461711e-01 -2.44538091e-02 5.49440168e+01] [ 2.71381885e-01 9.62449194e-01 -6.58942584e-03 4.65008900e+00] [ 2.53243257e-02 -2.96380334e-04 9.99679244e-01 9.07801138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70361786499999 meters 0.012534400008393124 Centerline is valid? [True, True] Translation: X:54.97, Y:4.66, Z:0.91 [[ 9.62886102e-01 -2.68762120e-01 -2.48450681e-02 5.49725090e+01] [ 2.68678728e-01 9.63206557e-01 -6.69844028e-03 4.65736158e+00] [ 2.57312195e-02 -2.25506235e-04 9.99668872e-01 9.08974188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73361786499999 meters 0.012437636081111238 Centerline is valid? [True, True] Translation: X:55.00, Y:4.66, Z:0.91 [[ 9.63004565e-01 -2.68309785e-01 -2.51409538e-02 5.50003838e+01] [ 2.68224069e-01 9.63332661e-01 -6.78478461e-03 4.66322088e+00] [ 2.60395261e-02 -2.09630398e-04 9.99660892e-01 9.09579595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76361786499999 meters 0.01243182870442285 Centerline is valid? [True, True] Translation: X:55.03, Y:4.67, Z:0.91 [[ 9.62991346e-01 -2.68356906e-01 -2.51443442e-02 5.50277509e+01] [ 2.68270990e-01 9.63319537e-01 -6.79311798e-03 4.66852738e+00] [ 2.60450182e-02 -2.03784295e-04 9.99660750e-01 9.10339125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.793617864999995 meters 0.012421133305811568 Centerline is valid? [True, True] Translation: X:55.06, Y:4.67, Z:0.91 [[ 9.62887114e-01 -2.68713312e-01 -2.53290638e-02 5.50550511e+01] [ 2.68626055e-01 9.63220179e-01 -6.85050844e-03 4.67389280e+00] [ 2.62382882e-02 -2.07780190e-04 9.99655695e-01 9.10678909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823617864999996 meters 0.01256639121832067 Centerline is valid? [True, True] Translation: X:55.08, Y:4.68, Z:0.91 [[ 9.62390505e-01 -2.70582924e-01 -2.42774977e-02 5.50834333e+01] [ 2.70503183e-01 9.62696641e-01 -6.57303838e-03 4.67679236e+00] [ 2.51504174e-02 -2.41310668e-04 9.99683649e-01 9.11751374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.853617865 meters 0.012857044451936316 Centerline is valid? [True, True] Translation: X:55.11, Y:4.68, Z:0.91 [[ 9.62050702e-01 -2.71826010e-01 -2.38551248e-02 5.51111020e+01] [ 2.71749262e-01 9.62346378e-01 -6.46437487e-03 4.68074820e+00] [ 2.47140782e-02 -2.63556168e-04 9.99694526e-01 9.12125272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88361786499999 meters 0.013494571421322342 Centerline is valid? [True, True] Translation: X:55.14, Y:4.68, Z:0.91 [[ 9.61118596e-01 -2.75153657e-01 -2.32703612e-02 5.51399497e+01] [ 2.75081524e-01 9.61400203e-01 -6.30904768e-03 4.68271600e+00] [ 2.41080875e-02 -3.37503371e-04 9.99709301e-01 9.12851132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91361786499999 meters 0.013789011067250464 Centerline is valid? [True, True] Translation: X:55.17, Y:4.69, Z:0.91 [[ 9.60637173e-01 -2.76865617e-01 -2.28396991e-02 5.51680881e+01] [ 2.76796548e-01 9.60908577e-01 -6.19501974e-03 4.68736242e+00] [ 2.36620507e-02 -3.70783628e-04 9.99719946e-01 9.13445274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94361786499999 meters 0.014268769942894487 Centerline is valid? [True, True] Translation: X:55.20, Y:4.69, Z:0.91 [[ 9.60172004e-01 -2.78514916e-01 -2.23419690e-02 5.51955501e+01] [ 2.78449225e-01 9.60431820e-01 -6.06200357e-03 4.69122432e+00] [ 2.31462963e-02 -4.00537828e-04 9.99732008e-01 9.14100306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.973617864999994 meters 0.015191552586948114 Centerline is valid? [True, True] Translation: X:55.22, Y:4.69, Z:0.91 [[ 9.59260923e-01 -2.81751840e-01 -2.08418212e-02 5.52241756e+01] [ 2.81695400e-01 9.59487208e-01 -5.65674360e-03 4.69256264e+00] [ 2.15912588e-02 -4.44752085e-04 9.99766783e-01 9.14915966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003617864999995 meters 0.015116408590400737 Centerline is valid? [True, True] Translation: X:55.25, Y:4.70, Z:0.92 [[ 9.58867695e-01 -2.83091198e-01 -2.07874535e-02 5.52523255e+01] [ 2.83035309e-01 9.59092880e-01 -5.64465226e-03 4.69821744e+00] [ 2.15350500e-02 -4.71108622e-04 9.99767983e-01 9.15582557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.033617865 meters 0.0153811559367887 Centerline is valid? [True, True] Translation: X:55.28, Y:4.70, Z:0.92 [[ 9.58487634e-01 -2.84350122e-01 -2.11296910e-02 5.52808499e+01] [ 2.84292564e-01 9.58720374e-01 -5.74302492e-03 4.70311845e+00] [ 2.18904951e-02 -5.02395659e-04 9.99760248e-01 9.15968064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06361786499999 meters 0.016066458322012037 Centerline is valid? [True, True] Translation: X:55.31, Y:4.71, Z:0.92 [[ 9.58007597e-01 -2.85948997e-01 -2.13217036e-02 5.53086800e+01] [ 2.85890681e-01 9.58244687e-01 -5.79987751e-03 4.70515341e+00] [ 2.20898783e-02 -5.39349629e-04 9.99755843e-01 9.15776784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09361786499999 meters 0.01646862534676891 Centerline is valid? [True, True] Translation: X:55.34, Y:4.71, Z:0.92 [[ 9.57945954e-01 -2.86146660e-01 -2.14391883e-02 5.53358387e+01] [ 2.86087695e-01 9.58185677e-01 -5.83426070e-03 4.70987594e+00] [ 2.22121774e-02 -5.44581537e-04 9.99753131e-01 9.16046053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12361786499999 meters 0.01659335565899314 Centerline is valid? [True, True] Translation: X:55.36, Y:4.72, Z:0.92 [[ 9.57914266e-01 -2.86287739e-01 -2.09663980e-02 5.53630590e+01] [ 2.86231306e-01 9.58143542e-01 -5.70899483e-03 4.71574321e+00] [ 2.17232341e-02 -5.32511885e-04 9.99763881e-01 9.16577615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.153617864999994 meters 0.01659335565899314 Centerline is valid? [True, True] Translation: X:55.39, Y:4.72, Z:0.92 [[ 9.57838530e-01 -2.86541139e-01 -2.09648859e-02 5.53896500e+01] [ 2.86484646e-01 9.58067791e-01 -5.71454304e-03 4.72306945e+00] [ 2.17232336e-02 -5.32508400e-04 9.99763881e-01 9.17028601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183617864999995 meters 0.016671325736468665 Centerline is valid? [True, True] Translation: X:55.42, Y:4.73, Z:0.92 [[ 9.57901299e-01 -2.86332356e-01 -2.09495355e-02 5.54173123e+01] [ 2.86275788e-01 9.58130215e-01 -5.71530360e-03 4.72910759e+00] [ 2.17088593e-02 -5.22648029e-04 9.99764198e-01 9.17301996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.213617864999996 meters 0.016727211284254088 Centerline is valid? [True, True] Translation: X:55.45, Y:4.73, Z:0.92 [[ 9.58116388e-01 -2.85615639e-01 -2.08972413e-02 5.54452145e+01] [ 2.85559142e-01 9.58344121e-01 -5.70286931e-03 4.73372286e+00] [ 2.16555770e-02 -5.03385750e-04 9.99765364e-01 9.16700032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24361786499999 meters 0.01679843430796356 Centerline is valid? [True, True] Translation: X:55.47, Y:4.74, Z:0.92 [[ 9.58136456e-01 -2.85517137e-01 -2.13189318e-02 5.54728713e+01] [ 2.85458248e-01 9.58373469e-01 -5.82088545e-03 4.73899770e+00] [ 2.20934612e-02 -5.08462365e-04 9.99755780e-01 9.16415726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27361786499999 meters 0.016827850819794894 Centerline is valid? [True, True] Translation: X:55.50, Y:4.74, Z:0.92 [[ 9.58109310e-01 -2.85625812e-01 -2.10818631e-02 5.55003609e+01] [ 2.85568125e-01 9.58341090e-01 -5.76195950e-03 4.74421417e+00] [ 2.18493800e-02 -4.99721079e-04 9.99761149e-01 9.16694267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30361786499999 meters 0.01716616026140931 Centerline is valid? [True, True] Translation: X:55.53, Y:4.75, Z:0.92 [[ 9.58025505e-01 -2.85891192e-01 -2.12922017e-02 5.55273615e+01] [ 2.85832303e-01 9.58261953e-01 -5.82442987e-03 4.74917078e+00] [ 2.20686600e-02 -5.06046683e-04 9.99756329e-01 9.17005027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.333617864999994 meters 0.017603710693492345 Centerline is valid? [True, True] Translation: X:55.56, Y:4.75, Z:0.92 [[ 9.57734134e-01 -2.86933068e-01 -2.03652140e-02 5.55560632e+01] [ 2.86879376e-01 9.57950500e-01 -5.57349327e-03 4.75309107e+00] [ 2.11080865e-02 -5.04435134e-04 9.99777072e-01 9.17757367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363617864999995 meters 0.015992345068861203 Centerline is valid? [True, True] Translation: X:55.58, Y:4.76, Z:0.92 [[ 9.57421784e-01 -2.88000298e-01 -1.99838726e-02 5.55838164e+01] [ 2.87948731e-01 9.57630182e-01 -5.47389613e-03 4.76213901e+00] [ 2.07136432e-02 -5.13503345e-04 9.99785318e-01 9.19021585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.393617864999996 meters 0.019047632213948843 Centerline is valid? [True, True] Translation: X:55.61, Y:4.76, Z:0.92 [[ 9.56996450e-01 -2.89391232e-01 -2.02610292e-02 5.56127403e+01] [ 2.89338441e-01 9.57210748e-01 -5.55431440e-03 4.76139707e+00] [ 2.10014448e-02 -5.46835452e-04 9.99779296e-01 9.18499776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42361786499999 meters 0.017064842004323268 Centerline is valid? [True, True] Translation: X:55.64, Y:4.77, Z:0.92 [[ 9.56692515e-01 -2.90396744e-01 -2.02277588e-02 5.56405071e+01] [ 2.90344299e-01 9.56906166e-01 -5.54772964e-03 4.77060976e+00] [ 2.09671098e-02 -5.65543017e-04 9.99780006e-01 9.19499689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45361786499999 meters 0.01742562322135085 Centerline is valid? [True, True] Translation: X:55.67, Y:4.78, Z:0.92 [[ 9.56481806e-01 -2.91138740e-01 -1.95138242e-02 5.56688774e+01] [ 2.91089989e-01 9.56680680e-01 -5.35667910e-03 4.77587068e+00] [ 2.02280354e-02 -5.56712771e-04 9.99795237e-01 9.20302941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48361786499999 meters 0.017482889525490052 Centerline is valid? [True, True] Translation: X:55.70, Y:4.78, Z:0.92 [[ 9.56282281e-01 -2.91847239e-01 -1.86918944e-02 5.56967335e+01] [ 2.91802557e-01 9.56464790e-01 -5.13555058e-03 4.78201407e+00] [ 1.93769351e-02 -5.43306556e-04 9.99812102e-01 9.21090950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51361786499999 meters 0.017034852877854615 Centerline is valid? [True, True] Translation: X:55.72, Y:4.79, Z:0.92 [[ 9.56155586e-01 -2.92311536e-01 -1.79014441e-02 5.57239559e+01] [ 2.92270553e-01 9.56323005e-01 -4.92277549e-03 4.78910781e+00] [ 1.85585469e-02 -5.25125683e-04 9.99827637e-01 9.21612784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.543617864999995 meters 0.016481239482111963 Centerline is valid? [True, True] Translation: X:55.75, Y:4.80, Z:0.92 [[ 9.56058358e-01 -2.92662655e-01 -1.73489640e-02 5.57514005e+01] [ 2.92624132e-01 9.56215619e-01 -4.77577502e-03 4.79533343e+00] [ 1.79870413e-02 -5.10805892e-04 9.99838090e-01 9.21859991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.573617864999996 meters 0.016611405333710607 Centerline is valid? [True, True] Translation: X:55.78, Y:4.80, Z:0.92 [[ 9.56099758e-01 -2.92522359e-01 -1.74333638e-02 5.57799942e+01] [ 2.92483348e-01 9.56258549e-01 -4.80395513e-03 4.80217559e+00] [ 1.80760675e-02 -5.05908282e-04 9.99836487e-01 9.21868291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60361786499999 meters 0.01628986339687669 Centerline is valid? [True, True] Translation: X:55.81, Y:4.81, Z:0.92 [[ 9.56100497e-01 -2.92520481e-01 -1.74243483e-02 5.58073058e+01] [ 2.92481460e-01 9.56259125e-01 -4.80421032e-03 4.80938012e+00] [ 1.80675219e-02 -5.02990956e-04 9.99836642e-01 9.21746245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63361786499999 meters 0.01625049147741993 Centerline is valid? [True, True] Translation: X:55.83, Y:4.81, Z:0.92 [[ 9.56414852e-01 -2.91474718e-01 -1.76951841e-02 5.58346961e+01] [ 2.91434205e-01 9.56578409e-01 -4.88384929e-03 4.81366108e+00] [ 1.83503497e-02 -4.85995908e-04 9.99831500e-01 9.22212110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66361786499999 meters 0.01634591439937197 Centerline is valid? [True, True] Translation: X:55.86, Y:4.82, Z:0.92 [[ 9.56584090e-01 -2.90930647e-01 -1.74996421e-02 5.58623097e+01] [ 2.90890904e-01 9.56744030e-01 -4.83147405e-03 4.81973822e+00] [ 1.81483020e-02 -4.68775497e-04 9.99835196e-01 9.22752083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69361786499999 meters 0.015890493856148335 Centerline is valid? [True, True] Translation: X:55.89, Y:4.83, Z:0.92 [[ 9.56810316e-01 -2.90185180e-01 -1.75094590e-02 5.58898975e+01] [ 2.90145233e-01 9.56970405e-01 -4.83606941e-03 4.82759369e+00] [ 1.81593898e-02 -4.53084970e-04 9.99835002e-01 9.23562398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.723617864999994 meters 0.01592335787271413 Centerline is valid? [True, True] Translation: X:55.92, Y:4.84, Z:0.92 [[ 9.57560052e-01 -2.87787453e-01 -1.60352402e-02 5.59163688e+01] [ 2.87753551e-01 9.57694234e-01 -4.43266373e-03 4.83553632e+00] [ 1.66325221e-02 -3.69655602e-04 9.99861602e-01 9.24064925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.753617864999995 meters 0.015573332299217915 Centerline is valid? [True, True] Translation: X:55.94, Y:4.84, Z:0.92 [[ 9.57918464e-01 -2.86598213e-01 -1.59273866e-02 5.59442207e+01] [ 2.86564577e-01 9.58050805e-01 -4.40431780e-03 4.84439447e+00] [ 1.65215152e-02 -3.45247466e-04 9.99863451e-01 9.24298345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.783617865 meters 0.014902126101707217 Centerline is valid? [True, True] Translation: X:55.97, Y:4.85, Z:0.93 [[ 9.58535172e-01 -2.84550350e-01 -1.55377655e-02 5.59712195e+01] [ 2.84518008e-01 9.58661050e-01 -4.30041982e-03 4.85428681e+00] [ 1.61191366e-02 -2.98670451e-04 9.99870034e-01 9.25161712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81361786499999 meters 0.014067355980458338 Centerline is valid? [True, True] Translation: X:56.00, Y:4.87, Z:0.93 [[ 9.59531579e-01 -2.81198904e-01 -1.50441165e-02 5.59981043e+01] [ 2.81168115e-01 9.59649479e-01 -4.16749716e-03 4.86506443e+00] [ 1.56089742e-02 -2.31080749e-04 9.99878146e-01 9.25386828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84361786499999 meters 0.014008447248534893 Centerline is valid? [True, True] Translation: X:56.03, Y:4.87, Z:0.93 [[ 9.59826914e-01 -2.80134019e-01 -1.60383071e-02 5.60250379e+01] [ 2.80098804e-01 9.59960875e-01 -4.44731024e-03 4.87169630e+00] [ 1.66419902e-02 -2.23662573e-04 9.99861487e-01 9.25961751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87361786499999 meters 0.01393615271726877 Centerline is valid? [True, True] Translation: X:56.05, Y:4.88, Z:0.93 [[ 9.59996632e-01 -2.79548277e-01 -1.61005644e-02 5.60530028e+01] [ 2.79512668e-01 9.60131614e-01 -4.46682883e-03 4.87949528e+00] [ 1.67073552e-02 -2.12171087e-04 9.99860400e-01 9.26099979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.903617864999994 meters 0.01383752318197837 Centerline is valid? [True, True] Translation: X:56.08, Y:4.89, Z:0.93 [[ 9.60355354e-01 -2.78302316e-01 -1.62915423e-02 5.60800913e+01] [ 2.78265606e-01 9.60493511e-01 -4.52407610e-03 4.88836744e+00] [ 1.69069815e-02 -1.88655180e-04 9.99857049e-01 9.26050491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.933617864999995 meters 0.013815407479506046 Centerline is valid? [True, True] Translation: X:56.11, Y:4.90, Z:0.93 [[ 9.60639885e-01 -2.77287146e-01 -1.68181213e-02 5.61067508e+01] [ 2.77247794e-01 9.60787078e-01 -4.67460267e-03 4.89738150e+00] [ 1.74548409e-02 -1.72177257e-04 9.99847638e-01 9.26078096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.963617864999996 meters 0.013749570995086056 Centerline is valid? [True, True] Translation: X:56.13, Y:4.91, Z:0.93 [[ 9.60841382e-01 -2.76575097e-01 -1.70309592e-02 5.61336699e+01] [ 2.76534602e-01 9.60992294e-01 -4.73537877e-03 4.90610919e+00] [ 1.76763084e-02 -1.59701633e-04 9.99843749e-01 9.25811166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99361786499999 meters 0.013690030786082101 Centerline is valid? [True, True] Translation: X:56.16, Y:4.92, Z:0.93 [[ 9.61109726e-01 -2.75607849e-01 -1.75615313e-02 5.61604265e+01] [ 2.75564582e-01 9.61270146e-01 -4.88553236e-03 4.91548677e+00] [ 1.82278668e-02 -1.43803357e-04 9.99833848e-01 9.25820656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02361786499999 meters 0.01374725939867053 Centerline is valid? [True, True] Translation: X:56.19, Y:4.92, Z:0.93 [[ 9.61101085e-01 -2.75621109e-01 -1.78243911e-02 5.61867496e+01] [ 2.75576444e-01 9.61266344e-01 -4.96377449e-03 4.92224729e+00] [ 1.85021083e-02 -1.41293272e-04 9.99828811e-01 9.26197564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05361786499999 meters 0.013626033967738583 Centerline is valid? [True, True] Translation: X:56.21, Y:4.93, Z:0.93 [[ 9.60997265e-01 -2.75974365e-01 -1.79556768e-02 5.62141115e+01] [ 2.75929030e-01 9.61164985e-01 -5.00414699e-03 4.92976508e+00] [ 1.86393841e-02 -1.45520905e-04 9.99826261e-01 9.26911812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083617864999994 meters 0.01368975392056367 Centerline is valid? [True, True] Translation: X:56.24, Y:4.94, Z:0.93 [[ 9.60708373e-01 -2.76951000e-01 -1.83729489e-02 5.62412028e+01] [ 2.76903607e-01 9.60884029e-01 -5.12598909e-03 4.93602224e+00] [ 1.90739210e-02 -1.62955176e-04 9.99818063e-01 9.27716779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.113617864999995 meters 0.014140042587528252 Centerline is valid? [True, True] Translation: X:56.27, Y:4.94, Z:0.93 [[ 9.60158332e-01 -2.78829295e-01 -1.87136713e-02 5.62688510e+01] [ 2.78780386e-01 9.60340661e-01 -5.22607322e-03 4.94204765e+00] [ 1.94286818e-02 -1.99146768e-04 9.99811226e-01 9.27434612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143617864999996 meters 0.014372231661773673 Centerline is valid? [True, True] Translation: X:56.30, Y:4.95, Z:0.93 [[ 9.59772577e-01 -2.80130224e-01 -1.90698179e-02 5.62971425e+01] [ 2.80079647e-01 9.59961981e-01 -5.32783605e-03 4.94977095e+00] [ 1.97987881e-02 -2.27556934e-04 9.99803959e-01 9.27718321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17361786499999 meters 0.014316987516265329 Centerline is valid? [True, True] Translation: X:56.32, Y:4.96, Z:0.93 [[ 9.59526864e-01 -2.80997323e-01 -1.86735732e-02 5.63239179e+01] [ 2.80948897e-01 9.59708523e-01 -5.22191486e-03 4.95809446e+00] [ 1.93885314e-02 -2.35752193e-04 9.99811997e-01 9.28217194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20361786499999 meters 0.014680422662938258 Centerline is valid? [True, True] Translation: X:56.35, Y:4.97, Z:0.93 [[ 9.59122752e-01 -2.82401935e-01 -1.82398751e-02 5.63514552e+01] [ 2.82355894e-01 9.59296139e-01 -5.10552159e-03 4.96510599e+00] [ 1.89392510e-02 -2.53314323e-04 9.99820604e-01 9.28446637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23361786499999 meters 0.01522801635080538 Centerline is valid? [True, True] Translation: X:56.38, Y:4.97, Z:0.93 [[ 9.58614345e-01 -2.84164121e-01 -1.75866286e-02 5.63785310e+01] [ 2.84121575e-01 9.58775613e-01 -4.92491721e-03 4.97191068e+00] [ 1.82611153e-02 -2.75644309e-04 9.99833214e-01 9.29399147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26361786499999 meters 0.015243279757251664 Centerline is valid? [True, True] Translation: X:56.41, Y:4.98, Z:0.93 [[ 9.58044200e-01 -2.86057414e-01 -1.79573623e-02 5.64060950e+01] [ 2.86013355e-01 9.58212427e-01 -5.03039760e-03 4.97874292e+00] [ 1.86459503e-02 -3.16702204e-04 9.99826099e-01 9.29974294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.293617864999995 meters 0.01577204160863697 Centerline is valid? [True, True] Translation: X:56.43, Y:4.98, Z:0.93 [[ 9.57413865e-01 -2.88133098e-01 -1.83850357e-02 5.64338521e+01] [ 2.88087265e-01 9.57590301e-01 -5.15193130e-03 4.98358606e+00] [ 1.90897738e-02 -3.63964200e-04 9.99817707e-01 9.30841059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.323617864999996 meters 0.017681588514381483 Centerline is valid? [True, True] Translation: X:56.46, Y:4.99, Z:0.93 [[ 9.56098258e-01 -2.92470466e-01 -1.83615713e-02 5.64621494e+01] [ 2.92425517e-01 9.56274451e-01 -5.14698756e-03 4.98673274e+00] [ 1.90640434e-02 -4.48366134e-04 9.99818164e-01 9.31798316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35361786499999 meters 0.01696337364596701 Centerline is valid? [True, True] Translation: X:56.49, Y:5.00, Z:0.93 [[ 9.55552427e-01 -2.94283313e-01 -1.78014142e-02 5.64892105e+01] [ 2.94241348e-01 9.55718114e-01 -4.99160149e-03 4.99694408e+00] [ 1.84820790e-02 -4.68175198e-04 9.99829082e-01 9.32377857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38361786499999 meters 0.018261017480958486 Centerline is valid? [True, True] Translation: X:56.52, Y:5.00, Z:0.93 [[ 9.55028864e-01 -2.96012022e-01 -1.72264693e-02 5.65169095e+01] [ 2.95972931e-01 9.55184093e-01 -4.83454479e-03 5.00292654e+00] [ 1.78855328e-02 -4.81438784e-04 9.99839925e-01 9.32522745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41361786499999 meters 0.019758467594693775 Centerline is valid? [True, True] Translation: X:56.54, Y:5.01, Z:0.93 [[ 9.54579067e-01 -2.97460419e-01 -1.72076856e-02 5.65438989e+01] [ 2.97421607e-01 9.54734017e-01 -4.83159460e-03 5.00815350e+00] [ 1.78659709e-02 -5.05798435e-04 9.99840263e-01 9.32439149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44361786499999 meters 0.01939198393991403 Centerline is valid? [True, True] Translation: X:56.57, Y:5.02, Z:0.93 [[ 9.53706905e-01 -3.00206685e-01 -1.78629847e-02 5.65716965e+01] [ 3.00165299e-01 9.53874003e-01 -5.01786280e-03 5.01697007e+00] [ 1.85454326e-02 -5.76277741e-04 9.99827853e-01 9.32414451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.473617864999994 meters 0.01988209279747058 Centerline is valid? [True, True] Translation: X:56.60, Y:5.02, Z:0.93 [[ 9.53331825e-01 -3.01374183e-01 -1.82217580e-02 5.66001344e+01] [ 3.01331243e-01 9.53505760e-01 -5.12330599e-03 5.02391672e+00] [ 1.89185834e-02 -6.06574325e-04 9.99820844e-01 9.32490666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503617864999995 meters 0.01977527432422532 Centerline is valid? [True, True] Translation: X:56.63, Y:5.03, Z:0.93 [[ 9.53017129e-01 -3.02344111e-01 -1.86115362e-02 5.66283935e+01] [ 3.02299407e-01 9.53198634e-01 -5.23764830e-03 5.03142250e+00] [ 1.93240630e-02 -6.34687815e-04 9.99813071e-01 9.33119105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.533617865 meters 0.019559208983383994 Centerline is valid? [True, True] Translation: X:56.66, Y:5.04, Z:0.93 [[ 9.53138966e-01 -3.01994176e-01 -1.80452132e-02 5.66559380e+01] [ 3.01952006e-01 9.53309578e-01 -5.08271015e-03 5.04032501e+00] [ 1.87376235e-02 -6.04259230e-04 9.99824253e-01 9.34349960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56361786499999 meters 0.019159275402800695 Centerline is valid? [True, True] Translation: X:56.68, Y:5.05, Z:0.93 [[ 9.53248495e-01 -3.01585997e-01 -1.90576450e-02 5.66837537e+01] [ 3.01538781e-01 9.53438774e-01 -5.37287578e-03 5.05013587e+00] [ 1.97906818e-02 -6.24933294e-04 9.99803950e-01 9.34237710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59361786499999 meters 0.019354260093610402 Centerline is valid? [True, True] Translation: X:56.71, Y:5.06, Z:0.93 [[ 9.53513956e-01 -3.00702302e-01 -1.97297197e-02 5.67107932e+01] [ 3.00651421e-01 9.53717849e-01 -5.56658442e-03 5.05827225e+00] [ 2.04904706e-02 -6.23952320e-04 9.99789854e-01 9.33466994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62361786499999 meters 0.018200132299719493 Centerline is valid? [True, True] Translation: X:56.74, Y:5.07, Z:0.93 [[ 9.53928308e-01 -2.99326868e-01 -2.05963477e-02 5.67372608e+01] [ 2.99271039e-01 9.54150431e-01 -5.81382351e-03 5.06953953e+00] [ 2.13922476e-02 -6.17919565e-04 9.99770969e-01 9.32703898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.653617864999994 meters 0.018146446887589596 Centerline is valid? [True, True] Translation: X:56.77, Y:5.08, Z:0.93 [[ 9.54213325e-01 -2.98414174e-01 -2.06376408e-02 5.67653776e+01] [ 2.98357794e-01 9.54436288e-01 -5.83078570e-03 5.07782025e+00] [ 2.14373024e-02 -5.93587587e-04 9.99770018e-01 9.32854634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683617864999995 meters 0.017969997984611654 Centerline is valid? [True, True] Translation: X:56.79, Y:5.09, Z:0.93 [[ 9.54435890e-01 -2.97697491e-01 -2.06962632e-02 5.67933104e+01] [ 2.97640508e-01 9.54660083e-01 -5.85264307e-03 5.08622046e+00] [ 2.15002135e-02 -5.74073696e-04 9.99768679e-01 9.33348063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.713617864999996 meters 0.017880485620716282 Centerline is valid? [True, True] Translation: X:56.82, Y:5.09, Z:0.93 [[ 9.54661347e-01 -2.96947690e-01 -2.10661150e-02 5.68211970e+01] [ 2.96888353e-01 9.54893582e-01 -5.96257349e-03 5.09404374e+00] [ 2.18864705e-02 -5.62045759e-04 9.99760305e-01 9.33456818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74361786499999 meters 0.017461199136455507 Centerline is valid? [True, True] Translation: X:56.85, Y:5.10, Z:0.93 [[ 9.55009162e-01 -2.95831114e-01 -2.10107486e-02 5.68477959e+01] [ 2.95771727e-01 9.55240111e-01 -5.95110331e-03 5.10288325e+00] [ 2.18308313e-02 -5.31027210e-04 9.99761538e-01 9.33933895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77361786499999 meters 0.017835713995043075 Centerline is valid? [True, True] Translation: X:56.87, Y:5.11, Z:0.93 [[ 9.55182145e-01 -2.95295335e-01 -2.06817745e-02 5.68749068e+01] [ 2.95237628e-01 9.55405885e-01 -5.85977517e-03 5.11041485e+00] [ 2.14898533e-02 -5.08885429e-04 9.99768937e-01 9.34106432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80361786499999 meters 0.017054961508360885 Centerline is valid? [True, True] Translation: X:56.90, Y:5.12, Z:0.93 [[ 9.55300530e-01 -2.94918645e-01 -2.05885993e-02 5.69017544e+01] [ 2.94861313e-01 9.55522238e-01 -5.83599210e-03 5.12022471e+00] [ 2.13940073e-02 -4.95655064e-04 9.99770999e-01 9.34818134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.833617864999994 meters 0.016130421584194577 Centerline is valid? [True, True] Translation: X:56.93, Y:5.13, Z:0.94 [[ 9.55363147e-01 -2.94743251e-01 -2.01909252e-02 5.69288944e+01] [ 2.94687968e-01 9.55576364e-01 -5.72832804e-03 5.13037692e+00] [ 2.09823570e-02 -4.77389222e-04 9.99779732e-01 9.35793216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863617864999995 meters 0.01669501880912144 Centerline is valid? [True, True] Translation: X:56.96, Y:5.14, Z:0.94 [[ 9.55317123e-01 -2.94927872e-01 -1.96658440e-02 5.69550133e+01] [ 2.94875373e-01 9.55519406e-01 -5.58388873e-03 5.13610071e+00] [ 2.04379400e-02 -4.64588564e-04 9.99791016e-01 9.36150904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.893617864999996 meters 0.017465391205791783 Centerline is valid? [True, True] Translation: X:56.98, Y:5.14, Z:0.94 [[ 9.55168494e-01 -2.95424541e-01 -1.94290740e-02 5.69819610e+01] [ 2.95373354e-01 9.55365962e-01 -5.51901389e-03 5.14187023e+00] [ 2.01923281e-02 -4.67242556e-04 9.99796005e-01 9.36793291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92361786499999 meters 0.016885123364131942 Centerline is valid? [True, True] Translation: X:57.01, Y:5.15, Z:0.94 [[ 9.54899621e-01 -2.96293081e-01 -1.94196740e-02 5.70093182e+01] [ 2.96242075e-01 9.55096946e-01 -5.51870271e-03 5.15076794e+00] [ 2.01828247e-02 -4.83117381e-04 9.99796189e-01 9.37923203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95361786499999 meters 0.01793861880174329 Centerline is valid? [True, True] Translation: X:57.04, Y:5.16, Z:0.94 [[ 9.54327369e-01 -2.98144695e-01 -1.92097352e-02 5.70363507e+01] [ 2.98095074e-01 9.54520549e-01 -5.46341905e-03 5.15578396e+00] [ 1.99649764e-02 -5.12437088e-04 9.99800549e-01 9.38430445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98361786499999 meters 0.018002924612764475 Centerline is valid? [True, True] Translation: X:57.06, Y:5.16, Z:0.94 [[ 9.53951709e-01 -2.99343761e-01 -1.92210851e-02 5.70636920e+01] [ 2.99294283e-01 9.54145181e-01 -5.46867822e-03 5.16337505e+00] [ 1.99767205e-02 -5.35905960e-04 9.99800302e-01 9.39113171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01361786499999 meters 0.017351894368327573 Centerline is valid? [True, True] Translation: X:57.09, Y:5.17, Z:0.94 [[ 9.53598688e-01 -3.00461507e-01 -1.92983437e-02 5.70913060e+01] [ 3.00411812e-01 9.53793778e-01 -5.49300917e-03 5.17272364e+00] [ 2.00570780e-02 -5.59324070e-04 9.99798680e-01 9.39661081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043617864999995 meters 0.017351894368327573 Centerline is valid? [True, True] Translation: X:57.12, Y:5.18, Z:0.94 [[ 9.53515544e-01 -3.00725347e-01 -1.92969789e-02 5.71178296e+01] [ 3.00675609e-01 9.53710623e-01 -5.49779993e-03 5.18034067e+00] [ 2.00570616e-02 -5.59893203e-04 9.99798680e-01 9.40112320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.073617864999996 meters 0.01825304919353519 Centerline is valid? [True, True] Translation: X:57.14, Y:5.19, Z:0.94 [[ 9.53128327e-01 -3.01946996e-01 -1.93495121e-02 5.71447533e+01] [ 3.01897137e-01 9.53324537e-01 -5.51782966e-03 5.18684233e+00] [ 2.01124568e-02 -5.82362560e-04 9.99797554e-01 9.39614242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10361786499999 meters 0.018076448748414756 Centerline is valid? [True, True] Translation: X:57.17, Y:5.20, Z:0.94 [[ 9.52955802e-01 -3.02476650e-01 -1.95733370e-02 5.71720699e+01] [ 3.02425692e-01 9.53156608e-01 -5.58411735e-03 5.19509590e+00] [ 2.03455206e-02 -5.98062944e-04 9.99792830e-01 9.39841332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13361786499999 meters 0.019327554934060184 Centerline is valid? [True, True] Translation: X:57.20, Y:5.20, Z:0.94 [[ 9.52900133e-01 -3.02651382e-01 -1.95825924e-02 5.71999578e+01] [ 3.02600322e-01 9.53101140e-01 -5.59118984e-03 5.20072210e+00] [ 2.03563724e-02 -5.97853217e-04 9.99792609e-01 9.39524077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16361786499999 meters 0.018314141320632277 Centerline is valid? [True, True] Translation: X:57.23, Y:5.21, Z:0.94 [[ 9.52846675e-01 -3.02714988e-01 -2.11388178e-02 5.72262723e+01] [ 3.02655437e-01 9.53080910e-01 -6.03865444e-03 5.21068731e+00] [ 2.19749949e-02 -6.43866314e-04 9.99758313e-01 9.39252424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19361786499999 meters 0.018413007319937755 Centerline is valid? [True, True] Translation: X:57.25, Y:5.22, Z:0.94 [[ 9.52830952e-01 -3.02724048e-01 -2.17100911e-02 5.72532440e+01] [ 3.02661089e-01 9.53078025e-01 -6.20833546e-03 5.21808898e+00] [ 2.25708232e-02 -6.55305652e-04 9.99745032e-01 9.38970963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223617864999994 meters 0.018479188193657972 Centerline is valid? [True, True] Translation: X:57.28, Y:5.23, Z:0.94 [[ 9.52822174e-01 -3.02720251e-01 -2.21439396e-02 5.72800675e+01] [ 3.02654599e-01 9.53079226e-01 -6.33894705e-03 5.22564006e+00] [ 2.30238565e-02 -6.62075856e-04 9.99734697e-01 9.39228167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.253617864999995 meters 0.01761140783595293 Centerline is valid? [True, True] Translation: X:57.31, Y:5.24, Z:0.94 [[ 9.53080295e-01 -3.01862880e-01 -2.27321927e-02 5.73077472e+01] [ 3.01793296e-01 9.53351130e-01 -6.51385696e-03 5.23517047e+00] [ 2.36380532e-02 -6.52194628e-04 9.99720369e-01 9.39657427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283617865 meters 0.018092529793691484 Centerline is valid? [True, True] Translation: X:57.33, Y:5.24, Z:0.94 [[ 9.53296289e-01 -3.01184221e-01 -2.26770693e-02 5.73348519e+01] [ 3.01114671e-01 9.53565765e-01 -6.50277661e-03 5.24274001e+00] [ 2.35826106e-02 -6.29325440e-04 9.99721693e-01 9.39573221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31361786499999 meters 0.0177166283878718 Centerline is valid? [True, True] Translation: X:57.36, Y:5.25, Z:0.94 [[ 9.53544235e-01 -3.00390652e-01 -2.27782251e-02 5.73621237e+01] [ 3.00320177e-01 9.53816064e-01 -6.53502609e-03 5.25189070e+00] [ 2.36892977e-02 -6.09324125e-04 9.99719184e-01 9.39927683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34361786499999 meters 0.017488901995639128 Centerline is valid? [True, True] Translation: X:57.39, Y:5.26, Z:0.94 [[ 9.53829855e-01 -2.99467524e-01 -2.29740971e-02 5.73899647e+01] [ 2.99395423e-01 9.54106314e-01 -6.59710643e-03 5.26063994e+00] [ 2.38953503e-02 -5.85822459e-04 9.99714294e-01 9.40152765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37361786499999 meters 0.01712381083712079 Centerline is valid? [True, True] Translation: X:57.42, Y:5.27, Z:0.94 [[ 9.54433090e-01 -2.97492516e-01 -2.35728455e-02 5.74160404e+01] [ 2.97415879e-01 9.54723994e-01 -6.77418843e-03 5.26949036e+00] [ 2.45208316e-02 -5.45428977e-04 9.99699170e-01 9.39903997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403617864999994 meters 0.01693834093019425 Centerline is valid? [True, True] Translation: X:57.44, Y:5.28, Z:0.94 [[ 9.54637287e-01 -2.96858045e-01 -2.33013261e-02 5.74436816e+01] [ 2.96782879e-01 9.54921479e-01 -6.70012883e-03 5.27787826e+00] [ 2.42399240e-02 -5.19241837e-04 9.99706035e-01 9.40603707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.433617864999995 meters 0.016924030346671545 Centerline is valid? [True, True] Translation: X:57.47, Y:5.28, Z:0.94 [[ 9.55016641e-01 -2.95733201e-01 -2.20247350e-02 5.74702472e+01] [ 2.95665647e-01 9.55270466e-01 -6.33737770e-03 5.28475608e+00] [ 2.29137519e-02 -4.59656378e-04 9.99737340e-01 9.42307198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463617864999996 meters 0.016853188698725236 Centerline is valid? [True, True] Translation: X:57.50, Y:5.29, Z:0.94 [[ 9.54975445e-01 -2.95891390e-01 -2.16837350e-02 5.74972957e+01] [ 2.95825884e-01 9.55221482e-01 -6.24233607e-03 5.29184461e+00] [ 2.25598229e-02 -4.53332392e-04 9.99745392e-01 9.43563637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49361786499999 meters 0.016944839240421512 Centerline is valid? [True, True] Translation: X:57.52, Y:5.30, Z:0.94 [[ 9.54944571e-01 -2.96007980e-01 -2.14509290e-02 5.75249068e+01] [ 2.95943767e-01 9.55185363e-01 -6.18137204e-03 5.29910303e+00] [ 2.23193489e-02 -4.45401079e-04 9.99750793e-01 9.44270251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52361786499999 meters 0.017064759834546837 Centerline is valid? [True, True] Translation: X:57.55, Y:5.31, Z:0.95 [[ 9.54789482e-01 -2.96528385e-01 -2.11650847e-02 5.75517328e+01] [ 2.96465870e-01 9.55023936e-01 -6.10493123e-03 5.30651765e+00] [ 2.20234479e-02 -4.45801123e-04 9.99757355e-01 9.45015384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55361786499999 meters 0.016033916827353462 Centerline is valid? [True, True] Translation: X:57.58, Y:5.32, Z:0.95 [[ 9.54633235e-01 -2.97082324e-01 -2.04323031e-02 5.75775582e+01] [ 2.97024068e-01 9.54851769e-01 -5.89925509e-03 5.31687944e+00] [ 2.12623852e-02 -4.37260816e-04 9.99773834e-01 9.46421037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583617864999994 meters 0.017443266819224316 Centerline is valid? [True, True] Translation: X:57.61, Y:5.32, Z:0.95 [[ 9.54480246e-01 -2.97602955e-01 -1.99985036e-02 5.76054761e+01] [ 2.97547156e-01 9.54689631e-01 -5.77905348e-03 5.32170898e+00] [ 2.08122274e-02 -4.34505493e-04 9.99783308e-01 9.46818827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.613617864999995 meters 0.016660579455782906 Centerline is valid? [True, True] Translation: X:57.63, Y:5.33, Z:0.95 [[ 9.54263417e-01 -2.98341164e-01 -1.93359903e-02 5.76332928e+01] [ 2.98289105e-01 9.54459199e-01 -5.58994740e-03 5.33122559e+00] [ 2.01231252e-02 -4.33432947e-04 9.99797415e-01 9.48160205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643617864999996 meters 0.016739385249532585 Centerline is valid? [True, True] Translation: X:57.66, Y:5.34, Z:0.95 [[ 9.53933692e-01 -2.99401641e-01 -1.92137475e-02 5.76613294e+01] [ 2.99350355e-01 9.54127065e-01 -5.55953779e-03 5.33934255e+00] [ 1.99968912e-02 -4.48211715e-04 9.99799942e-01 9.49125406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67361786499999 meters 0.01765461366763024 Centerline is valid? [True, True] Translation: X:57.69, Y:5.35, Z:0.95 [[ 9.53140573e-01 -3.01916875e-01 -1.92158730e-02 5.76886226e+01] [ 3.01865999e-01 9.53334125e-01 -5.56456036e-03 5.34608911e+00] [ 1.99991821e-02 -4.96810454e-04 9.99799873e-01 9.48750862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70361786499999 meters 0.017631878690607634 Centerline is valid? [True, True] Translation: X:57.72, Y:5.35, Z:0.95 [[ 9.52551495e-01 -3.03738377e-01 -1.97141282e-02 5.77164306e+01] [ 3.03685167e-01 9.52755320e-01 -5.71136127e-03 5.35436336e+00] [ 2.05175001e-02 -5.46522591e-04 9.99789345e-01 9.49058178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73361786499999 meters 0.018470729680919496 Centerline is valid? [True, True] Translation: X:57.74, Y:5.36, Z:0.95 [[ 9.51957220e-01 -3.05597195e-01 -1.96927633e-02 5.77430833e+01] [ 3.05544405e-01 9.52160709e-01 -5.70970621e-03 5.36049487e+00] [ 2.04955457e-02 -5.81617598e-04 9.99789775e-01 9.49646390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76361786499999 meters 0.019786047553186286 Centerline is valid? [True, True] Translation: X:57.77, Y:5.37, Z:0.95 [[ 9.50707912e-01 -3.09421545e-01 -2.03168314e-02 5.77720628e+01] [ 3.09366185e-01 9.50924729e-01 -5.89261330e-03 5.36731875e+00] [ 2.11430789e-02 -6.83186538e-04 9.99776227e-01 9.49586400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.793617864999995 meters 0.021316651248561386 Centerline is valid? [True, True] Translation: X:57.80, Y:5.37, Z:0.95 [[ 9.50043905e-01 -3.11421704e-01 -2.08110859e-02 5.77994250e+01] [ 3.11364069e-01 9.50271524e-01 -6.03724232e-03 5.37343204e+00] [ 2.16563106e-02 -7.44179099e-04 9.99765198e-01 9.48998103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823617864999996 meters 0.021050437921126517 Centerline is valid? [True, True] Translation: X:57.83, Y:5.38, Z:0.95 [[ 9.49489658e-01 -3.13111179e-01 -2.07551892e-02 5.78267493e+01] [ 3.13054182e-01 9.49716160e-01 -6.02443953e-03 5.38244619e+00] [ 2.15978580e-02 -7.77355765e-04 9.99766437e-01 9.49266012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85361786499999 meters 0.022674322500621503 Centerline is valid? [True, True] Translation: X:57.85, Y:5.39, Z:0.95 [[ 9.48980518e-01 -3.14670912e-01 -2.04497754e-02 5.78539377e+01] [ 3.14615849e-01 9.49200496e-01 -5.94015444e-03 5.38802908e+00] [ 2.12801308e-02 -7.96732619e-04 9.99773235e-01 9.49631035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88361786499999 meters 0.021761754937696384 Centerline is valid? [True, True] Translation: X:57.88, Y:5.40, Z:0.95 [[ 9.48394629e-01 -3.16442020e-01 -2.02996465e-02 5.78806835e+01] [ 3.16388129e-01 9.48611491e-01 -5.89836707e-03 5.39735684e+00] [ 2.11229691e-02 -8.28587510e-04 9.99776542e-01 9.51247502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91361786499999 meters 0.02181656289144762 Centerline is valid? [True, True] Translation: X:57.91, Y:5.41, Z:0.95 [[ 9.48216603e-01 -3.16957253e-01 -2.05760280e-02 5.79078258e+01] [ 3.16901964e-01 9.48439444e-01 -5.98057380e-03 5.40555305e+00] [ 2.14107028e-02 -8.49704295e-04 9.99770404e-01 9.52010048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94361786499999 meters 0.025008671852101462 Centerline is valid? [True, True] Translation: X:57.93, Y:5.41, Z:0.95 [[ 9.48170033e-01 -3.17082631e-01 -2.07892789e-02 5.79345515e+01] [ 3.17026175e-01 9.48397525e-01 -6.04465421e-03 5.40876227e+00] [ 2.16331556e-02 -8.59385611e-04 9.99765607e-01 9.51573856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.973617864999994 meters 0.0237177465109755 Centerline is valid? [True, True] Translation: X:57.96, Y:5.42, Z:0.95 [[ 9.48045059e-01 -3.17454199e-01 -2.08182232e-02 5.79602603e+01] [ 3.17397600e-01 9.48273211e-01 -6.05651700e-03 5.41950421e+00] [ 2.16640302e-02 -8.65803076e-04 9.99764932e-01 9.52165630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003617864999995 meters 0.021465532346510875 Centerline is valid? [True, True] Translation: X:57.99, Y:5.43, Z:0.95 [[ 9.48531704e-01 -3.15996885e-01 -2.08224495e-02 5.79869581e+01] [ 3.15939789e-01 9.48759866e-01 -6.06343811e-03 5.43311104e+00] [ 2.16715320e-02 -8.27277033e-04 9.99764802e-01 9.52621093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03361786499999 meters 0.0209610680715491 Centerline is valid? [True, True] Translation: X:58.01, Y:5.44, Z:0.95 [[ 9.48942989e-01 -3.14753085e-01 -2.09212464e-02 5.80142954e+01] [ 3.14695032e-01 9.49173250e-01 -6.09733376e-03 5.44282692e+00] [ 2.17770421e-02 -7.97790195e-04 9.99762534e-01 9.53291495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06361786499999 meters 0.02002833513083492 Centerline is valid? [True, True] Translation: X:58.04, Y:5.45, Z:0.95 [[ 9.50022885e-01 -3.11460953e-01 -2.11800098e-02 5.80413795e+01] [ 3.11400541e-01 9.50258673e-01 -6.17711776e-03 5.45417661e+00] [ 2.20504190e-02 -7.27063273e-04 9.99756596e-01 9.54158275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09361786499999 meters 0.020048629651412853 Centerline is valid? [True, True] Translation: X:58.07, Y:5.46, Z:0.95 [[ 9.50540236e-01 -3.09904674e-01 -2.07930835e-02 5.80677386e+01] [ 3.09846052e-01 9.50767393e-01 -6.06544160e-03 5.46290373e+00] [ 2.16490945e-02 -6.77208536e-04 9.99765402e-01 9.54381583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12361786499999 meters 0.02231403389141099 Centerline is valid? [True, True] Translation: X:58.10, Y:5.47, Z:0.95 [[ 9.51020669e-01 -3.08415230e-01 -2.09698171e-02 5.80954400e+01] [ 3.08355203e-01 9.51251611e-01 -6.11892567e-03 5.46776814e+00] [ 2.18347421e-02 -6.46927420e-04 9.99761384e-01 9.54277884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.153617864999994 meters 0.0189550212107584 Centerline is valid? [True, True] Translation: X:58.12, Y:5.48, Z:0.96 [[ 9.51356678e-01 -3.07388655e-01 -2.08011287e-02 5.81210394e+01] [ 3.07329285e-01 9.51583856e-01 -6.07243116e-03 5.48297725e+00] [ 2.16606147e-02 -6.15748087e-04 9.99765192e-01 9.55452487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183617864999995 meters 0.018635611888519733 Centerline is valid? [True, True] Translation: X:58.15, Y:5.49, Z:0.96 [[ 9.52015823e-01 -3.05300992e-01 -2.13816781e-02 5.81473994e+01] [ 3.05237611e-01 9.52255727e-01 -6.24755436e-03 5.49457767e+00] [ 2.22682099e-02 -5.78721721e-04 9.99751865e-01 9.55159451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.213617864999996 meters 0.01843977340575801 Centerline is valid? [True, True] Translation: X:58.17, Y:5.50, Z:0.95 [[ 9.52169043e-01 -3.04823203e-01 -2.13759030e-02 5.81743580e+01] [ 3.04759612e-01 9.52408788e-01 -6.25138423e-03 5.50449391e+00] [ 2.22641648e-02 -5.62137376e-04 9.99751965e-01 9.54988278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24361786499999 meters 0.01805395061976509 Centerline is valid? [True, True] Translation: X:58.20, Y:5.51, Z:0.96 [[ 9.52161393e-01 -3.04846655e-01 -2.13822079e-02 5.82009462e+01] [ 3.04782904e-01 9.52401284e-01 -6.25898762e-03 5.51440086e+00] [ 2.22724737e-02 -5.57365047e-04 9.99751782e-01 9.55789624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27361786499999 meters 0.01952888994695879 Centerline is valid? [True, True] Translation: X:58.23, Y:5.52, Z:0.96 [[ 9.52195470e-01 -3.04798552e-01 -2.05336345e-02 5.82278387e+01] [ 3.04739638e-01 9.52416696e-01 -6.01580365e-03 5.52137112e+00] [ 2.13901846e-02 -5.29191372e-04 9.99771064e-01 9.56522067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30361786499999 meters 0.018244789301434566 Centerline is valid? [True, True] Translation: X:58.25, Y:5.53, Z:0.96 [[ 9.52069154e-01 -3.05251312e-01 -1.96459346e-02 5.82540945e+01] [ 3.05197429e-01 9.52271690e-01 -5.75821001e-03 5.53258061e+00] [ 2.04659685e-02 -5.13674585e-04 9.99790418e-01 9.58021064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.333617864999994 meters 0.01880172007408492 Centerline is valid? [True, True] Translation: X:58.28, Y:5.54, Z:0.96 [[ 9.51861713e-01 -3.05922493e-01 -1.92537533e-02 5.82812309e+01] [ 3.05870838e-01 9.52056281e-01 -5.64518707e-03 5.53980486e+00] [ 2.00576464e-02 -5.15724211e-04 9.99798692e-01 9.58841454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363617864999995 meters 0.01876580519969772 Centerline is valid? [True, True] Translation: X:58.31, Y:5.55, Z:0.96 [[ 9.51446928e-01 -3.07247896e-01 -1.86406451e-02 5.83088098e+01] [ 3.07199677e-01 9.51629369e-01 -5.46828992e-03 5.54955689e+00] [ 1.94191059e-02 -5.23612503e-04 9.99811294e-01 9.59226196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.393617864999996 meters 0.01971911327258774 Centerline is valid? [True, True] Translation: X:58.34, Y:5.56, Z:0.96 [[ 9.51211017e-01 -3.07966506e-01 -1.88210870e-02 5.83352117e+01] [ 3.07917398e-01 9.51397047e-01 -5.52585076e-03 5.55689367e+00] [ 1.96081036e-02 -5.39090036e-04 9.99807597e-01 9.59139063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42361786499999 meters 0.01934088072392639 Centerline is valid? [True, True] Translation: X:58.36, Y:5.57, Z:0.96 [[ 9.50960949e-01 -3.08736665e-01 -1.88400082e-02 5.83628510e+01] [ 3.08687544e-01 9.51147395e-01 -5.53474802e-03 5.56699409e+00] [ 1.96284044e-02 -5.52346642e-04 9.99807192e-01 9.59563282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45361786499999 meters 0.018963299820605697 Centerline is valid? [True, True] Translation: X:58.39, Y:5.58, Z:0.96 [[ 9.50686482e-01 -3.09607518e-01 -1.83955706e-02 5.83901456e+01] [ 3.09560762e-01 9.50864280e-01 -5.40882259e-03 5.57674418e+00] [ 1.91663031e-02 -5.52452305e-04 9.99816157e-01 9.60850610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48361786499999 meters 0.01883453925437017 Centerline is valid? [True, True] Translation: X:58.42, Y:5.59, Z:0.96 [[ 9.50622110e-01 -3.09807005e-01 -1.83636362e-02 5.84165596e+01] [ 3.09760355e-01 9.50799304e-01 -5.40430862e-03 5.58531720e+00] [ 1.91344252e-02 -5.50871191e-04 9.99816768e-01 9.61342830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51361786499999 meters 0.01904968971566443 Centerline is valid? [True, True] Translation: X:58.44, Y:5.59, Z:0.96 [[ 9.50720434e-01 -3.09480053e-01 -1.87817389e-02 5.84432521e+01] [ 3.09431087e-01 9.50905775e-01 -5.53258533e-03 5.59353561e+00] [ 1.95718888e-02 -5.51711963e-04 9.99808300e-01 9.61499896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543617864999995 meters 0.018444144441682478 Centerline is valid? [True, True] Translation: X:58.47, Y:5.61, Z:0.96 [[ 9.51269229e-01 -3.07766220e-01 -1.91522302e-02 5.84697768e+01] [ 3.07714894e-01 9.51461865e-01 -5.64483921e-03 5.60530501e+00] [ 1.99599075e-02 -5.23664650e-04 9.99800644e-01 9.61242602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.573617864999996 meters 0.018246514361506073 Centerline is valid? [True, True] Translation: X:58.50, Y:5.61, Z:0.96 [[ 9.51747906e-01 -3.06284604e-01 -1.91223539e-02 5.84959919e+01] [ 3.06233052e-01 9.51939864e-01 -5.64041737e-03 5.61484987e+00] [ 1.99309040e-02 -4.87641375e-04 9.99801241e-01 9.61660296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60361786499999 meters 0.017958395602605 Centerline is valid? [True, True] Translation: X:58.52, Y:5.62, Z:0.96 [[ 9.52194101e-01 -3.04875500e-01 -1.94247973e-02 5.85233150e+01] [ 3.04821962e-01 9.52392102e-01 -5.73203568e-03 5.62485011e+00] [ 2.02475807e-02 -4.63094254e-04 9.99794889e-01 9.61879954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63361786499999 meters 0.017435227674889715 Centerline is valid? [True, True] Translation: X:58.55, Y:5.63, Z:0.96 [[ 9.52655245e-01 -3.03422760e-01 -1.95604830e-02 5.85503594e+01] [ 3.03368063e-01 9.52855941e-01 -5.77710293e-03 5.63487270e+00] [ 2.03912269e-02 -4.30438430e-04 9.99791985e-01 9.61976554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66361786499999 meters 0.01801033228936587 Centerline is valid? [True, True] Translation: X:58.58, Y:5.64, Z:0.96 [[ 9.53435919e-01 -3.00862698e-01 -2.10139307e-02 5.85767394e+01] [ 3.00798842e-01 9.53667383e-01 -6.21119667e-03 5.64259646e+00] [ 2.19090177e-02 -3.98988005e-04 9.99759889e-01 9.60910566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69361786499999 meters 0.016607043133154906 Centerline is valid? [True, True] Translation: X:58.60, Y:5.65, Z:0.96 [[ 9.53621414e-01 -3.00249610e-01 -2.13628427e-02 5.86037650e+01] [ 3.00183396e-01 9.53860588e-01 -6.31723698e-03 5.65439604e+00] [ 2.22739216e-02 -3.88518209e-04 9.99751830e-01 9.61793013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723617864999994 meters 0.016450678064782873 Centerline is valid? [True, True] Translation: X:58.63, Y:5.66, Z:0.96 [[ 9.53810424e-01 -2.99622059e-01 -2.17323873e-02 5.86311474e+01] [ 2.99553243e-01 9.54057903e-01 -6.43220016e-03 5.66344087e+00] [ 2.26611849e-02 -3.74907521e-04 9.99743132e-01 9.62049823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.753617864999995 meters 0.01640893385992507 Centerline is valid? [True, True] Translation: X:58.66, Y:5.67, Z:0.96 [[ 9.54058718e-01 -2.98794032e-01 -2.22281076e-02 5.86577821e+01] [ 2.98721706e-01 9.54317556e-01 -6.58366791e-03 5.67255760e+00] [ 2.31798340e-02 -3.58812435e-04 9.99731247e-01 9.61674833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78361786499999 meters 0.016403097630215746 Centerline is valid? [True, True] Translation: X:58.68, Y:5.68, Z:0.96 [[ 9.54017701e-01 -2.98929244e-01 -2.21705398e-02 5.86848610e+01] [ 2.98857252e-01 9.54275211e-01 -6.56991344e-03 5.68123732e+00] [ 2.31207358e-02 -3.58012882e-04 9.99732616e-01 9.61946252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81361786499999 meters 0.016194371534871497 Centerline is valid? [True, True] Translation: X:58.71, Y:5.69, Z:0.96 [[ 9.53857113e-01 -2.99438596e-01 -2.22066436e-02 5.87114800e+01] [ 2.99366358e-01 9.54115504e-01 -6.58707282e-03 5.68960049e+00] [ 2.31601268e-02 -3.64795755e-04 9.99731702e-01 9.62571179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84361786499999 meters 0.01623979399265154 Centerline is valid? [True, True] Translation: X:58.74, Y:5.70, Z:0.96 [[ 9.53642326e-01 -3.00149734e-01 -2.18277394e-02 5.87387292e+01] [ 3.00079982e-01 9.53892028e-01 -6.48103523e-03 5.69722692e+00] [ 2.27665876e-02 -3.69478125e-04 9.99740739e-01 9.63362028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87361786499999 meters 0.01644949526943289 Centerline is valid? [True, True] Translation: X:58.77, Y:5.70, Z:0.97 [[ 9.53087934e-01 -3.01959165e-01 -2.10725333e-02 5.87665113e+01] [ 3.01894469e-01 9.53320779e-01 -6.26269206e-03 5.70358598e+00] [ 2.19799611e-02 -3.92785001e-04 9.99758334e-01 9.65087252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903617864999994 meters 0.017271448096949193 Centerline is valid? [True, True] Translation: X:58.79, Y:5.71, Z:0.97 [[ 9.52849593e-01 -3.02731271e-01 -2.07709255e-02 5.87941776e+01] [ 3.02668499e-01 9.53075872e-01 -6.17755356e-03 5.70930394e+00] [ 2.16664066e-02 -4.00425477e-04 9.99765176e-01 9.65452680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.933617864999995 meters 0.016697073740259877 Centerline is valid? [True, True] Translation: X:58.82, Y:5.72, Z:0.97 [[ 9.52634519e-01 -3.03415865e-01 -2.06466778e-02 5.88213272e+01] [ 3.03353944e-01 9.52858145e-01 -6.14333111e-03 5.71861339e+00] [ 2.15373392e-02 -4.10901863e-04 9.99767960e-01 9.66841511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963617864999996 meters 0.016697073740259877 Centerline is valid? [True, True] Translation: X:58.85, Y:5.73, Z:0.97 [[ 9.52551072e-01 -3.03677843e-01 -2.06451477e-02 5.88477419e+01] [ 3.03615873e-01 9.52774684e-01 -6.14846931e-03 5.72654426e+00] [ 2.15373280e-02 -4.11463503e-04 9.99767960e-01 9.67292639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99361786499999 meters 0.016921118729902918 Centerline is valid? [True, True] Translation: X:58.88, Y:5.73, Z:0.97 [[ 9.52237109e-01 -3.04708567e-01 -1.99293260e-02 5.88757320e+01] [ 3.04650928e-01 9.52445546e-01 -5.94092327e-03 5.73341779e+00] [ 2.07918480e-02 -4.14320059e-04 9.99783740e-01 9.68460710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02361786499999 meters 0.017050962409996893 Centerline is valid? [True, True] Translation: X:58.90, Y:5.74, Z:0.97 [[ 9.52090547e-01 -3.05212965e-01 -1.91998785e-02 5.89022372e+01] [ 3.05159472e-01 9.52284034e-01 -5.72844113e-03 5.74118426e+00] [ 2.00321323e-02 -4.05030134e-04 9.99799255e-01 9.69029729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05361786499999 meters 0.017162235354670572 Centerline is valid? [True, True] Translation: X:58.93, Y:5.75, Z:0.97 [[ 9.52033593e-01 -3.05417348e-01 -1.87691546e-02 5.89292318e+01] [ 3.05366161e-01 9.52218508e-01 -5.60536693e-03 5.74915884e+00] [ 1.95843127e-02 -3.94967051e-04 9.99808131e-01 9.69420268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08361786499998 meters 0.017376908175611102 Centerline is valid? [True, True] Translation: X:58.96, Y:5.76, Z:0.97 [[ 9.51833830e-01 -3.05976110e-01 -1.97732249e-02 5.89568925e+01] [ 3.05919312e-01 9.52039096e-01 -5.91046947e-03 5.75572385e+00] [ 2.06333456e-02 -4.23226569e-04 9.99787020e-01 9.68766480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11361786499998 meters 0.019280140899403934 Centerline is valid? [True, True] Translation: X:58.99, Y:5.76, Z:0.97 [[ 9.51705778e-01 -3.06352898e-01 -2.01001170e-02 5.89851552e+01] [ 3.06294247e-01 9.51917912e-01 -6.01024076e-03 5.75916868e+00] [ 2.09749160e-02 -4.36569329e-04 9.99779907e-01 9.67895037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14361786499998 meters 0.017727916172934614 Centerline is valid? [True, True] Translation: X:59.01, Y:5.77, Z:0.97 [[ 9.51438976e-01 -3.07139495e-01 -2.07172837e-02 5.90123068e+01] [ 3.07077298e-01 9.51664392e-01 -6.19827727e-03 5.76996167e+00] [ 2.16196369e-02 -4.64524915e-04 9.99766160e-01 9.68836940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17361786499998 meters 0.01865144526434928 Centerline is valid? [True, True] Translation: X:59.04, Y:5.78, Z:0.97 [[ 9.51172694e-01 -3.07899554e-01 -2.16418788e-02 5.90397838e+01] [ 3.07831770e-01 9.51418738e-01 -6.47962088e-03 5.77577489e+00] [ 2.25855614e-02 -4.98819418e-04 9.99744789e-01 9.68493696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20361786499998 meters 0.018447806222001206 Centerline is valid? [True, True] Translation: X:59.07, Y:5.78, Z:0.97 [[ 9.50714735e-01 -3.09274090e-01 -2.21591968e-02 5.90671731e+01] [ 3.09203328e-01 9.50972788e-01 -6.63758502e-03 5.78372063e+00] [ 2.31256262e-02 -5.41247511e-04 9.99732420e-01 9.68303397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23361786499999 meters 0.018776988666857737 Centerline is valid? [True, True] Translation: X:59.09, Y:5.79, Z:0.97 [[ 9.50333239e-01 -3.10392127e-01 -2.28792745e-02 5.90949913e+01] [ 3.10316874e-01 9.50608431e-01 -6.85917281e-03 5.79045827e+00] [ 2.38782644e-02 -5.81325025e-04 9.99714705e-01 9.68565773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26361786499999 meters 0.01895890680728475 Centerline is valid? [True, True] Translation: X:59.12, Y:5.80, Z:0.97 [[ 9.49932926e-01 -3.11606545e-01 -2.29956104e-02 5.91227700e+01] [ 3.11530740e-01 9.50211024e-01 -6.89985957e-03 5.79750869e+00] [ 2.40007239e-02 -6.09435731e-04 9.99711755e-01 9.69052329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29361786499999 meters 0.020301497782224766 Centerline is valid? [True, True] Translation: X:59.15, Y:5.80, Z:0.97 [[ 9.49060485e-01 -3.14229716e-01 -2.33212642e-02 5.91505484e+01] [ 3.14152425e-01 9.49346734e-01 -7.00227827e-03 5.80198552e+00] [ 2.43402900e-02 -6.80846107e-04 9.99703499e-01 9.69296694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32361786499999 meters 0.020229693083471476 Centerline is valid? [True, True] Translation: X:59.18, Y:5.81, Z:0.97 [[ 9.48694441e-01 -3.15310325e-01 -2.36274592e-02 5.91781816e+01] [ 3.15231241e-01 9.48988350e-01 -7.09761866e-03 5.80968710e+00] [ 2.46601360e-02 -7.14641920e-04 9.99695637e-01 9.69801998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35361786499999 meters 0.020736898840044603 Centerline is valid? [True, True] Translation: X:59.20, Y:5.82, Z:0.97 [[ 9.48426845e-01 -3.16108739e-01 -2.37020006e-02 5.92049808e+01] [ 3.16029281e-01 9.48722682e-01 -7.12501241e-03 5.81598911e+00] [ 2.47389043e-02 -7.32973162e-04 9.99693678e-01 9.69918798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38361786499999 meters 0.0205609528779111 Centerline is valid? [True, True] Translation: X:59.23, Y:5.82, Z:0.97 [[ 9.48139583e-01 -3.16948999e-01 -2.39721260e-02 5.92323325e+01] [ 3.16867883e-01 9.48442278e-01 -7.21038975e-03 5.82403798e+00] [ 2.50215036e-02 -7.59540888e-04 9.99686625e-01 9.69923642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41361786499999 meters 0.020979138688294416 Centerline is valid? [True, True] Translation: X:59.26, Y:5.83, Z:0.97 [[ 9.48012207e-01 -3.17300930e-01 -2.43510892e-02 5.92588917e+01] [ 3.17217209e-01 9.48324584e-01 -7.32973116e-03 5.83076715e+00] [ 2.54184670e-02 -7.75909928e-04 9.99676597e-01 9.69426811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44361786499998 meters 0.021027988392850562 Centerline is valid? [True, True] Translation: X:59.29, Y:5.84, Z:0.97 [[ 9.48024887e-01 -3.17267431e-01 -2.42938588e-02 5.92855018e+01] [ 3.17183968e-01 9.48335798e-01 -7.31738968e-03 5.83856959e+00] [ 2.53603054e-02 -7.68555015e-04 9.99678080e-01 9.69793635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47361786499998 meters 0.018355010619844594 Centerline is valid? [True, True] Translation: X:59.31, Y:5.85, Z:0.97 [[ 9.48142701e-01 -3.16946678e-01 -2.38793028e-02 5.93116740e+01] [ 3.16865774e-01 9.48443069e-01 -7.19905917e-03 5.85100139e+00] [ 2.49298771e-02 -7.40798377e-04 9.99688928e-01 9.71847000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50361786499998 meters 0.01846088680936781 Centerline is valid? [True, True] Translation: X:59.34, Y:5.86, Z:0.97 [[ 9.48710373e-01 -3.15246637e-01 -2.38366602e-02 5.93385379e+01] [ 3.15165354e-01 9.49009527e-01 -7.19151046e-03 5.85756037e+00] [ 2.48883171e-02 -6.89828891e-04 9.99690000e-01 9.72849025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53361786499998 meters 0.01812521417255345 Centerline is valid? [True, True] Translation: X:59.37, Y:5.87, Z:0.97 [[ 9.48995987e-01 -3.14401214e-01 -2.36324589e-02 5.93658126e+01] [ 3.14320951e-01 9.49289968e-01 -7.13413462e-03 5.86616779e+00] [ 2.46770368e-02 -6.57911832e-04 9.99695259e-01 9.73701896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56361786499998 meters 0.0178403386188937 Centerline is valid? [True, True] Translation: X:59.39, Y:5.88, Z:0.97 [[ 9.49290715e-01 -3.13475923e-01 -2.40828710e-02 5.93931370e+01] [ 3.13392113e-01 9.49595933e-01 -7.27647925e-03 5.87501447e+00] [ 2.51499974e-02 -6.39887640e-04 9.99683484e-01 9.74285590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59361786499998 meters 0.01709453316957178 Centerline is valid? [True, True] Translation: X:59.42, Y:5.88, Z:0.97 [[ 9.50006356e-01 -3.11311260e-01 -2.39420668e-02 5.94207861e+01] [ 3.11227584e-01 9.50307829e-01 -7.24019225e-03 5.88463900e+00] [ 2.50062869e-02 -5.73202948e-04 9.99687130e-01 9.74767637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62361786499999 meters 0.017150314745126786 Centerline is valid? [True, True] Translation: X:59.45, Y:5.89, Z:0.98 [[ 9.50276678e-01 -3.10479126e-01 -2.40197454e-02 5.94477414e+01] [ 3.10394516e-01 9.50580039e-01 -7.26862587e-03 5.89211119e+00] [ 2.50894471e-02 -5.48391596e-04 9.99685060e-01 9.75202191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65361786499999 meters 0.01716885324388333 Centerline is valid? [True, True] Translation: X:59.48, Y:5.90, Z:0.98 [[ 9.50525635e-01 -3.09733622e-01 -2.37928779e-02 5.94758362e+01] [ 3.09650281e-01 9.50823229e-01 -7.20352336e-03 5.89991425e+00] [ 2.48539944e-02 -5.20337716e-04 9.99690956e-01 9.75815771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68361786499999 meters 0.017564994253039805 Centerline is valid? [True, True] Translation: X:59.50, Y:5.91, Z:0.98 [[ 9.50653558e-01 -3.09306134e-01 -2.42389741e-02 5.95029293e+01] [ 3.09219374e-01 9.50962382e-01 -7.34350258e-03 5.90589363e+00] [ 2.53217430e-02 -5.14033559e-04 9.99679221e-01 9.75914098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71361786499999 meters 0.017059737174671394 Centerline is valid? [True, True] Translation: X:59.53, Y:5.91, Z:0.98 [[ 9.50600846e-01 -3.09458608e-01 -2.43598155e-02 5.95294228e+01] [ 3.09370930e-01 9.50912773e-01 -7.38411217e-03 5.91428304e+00] [ 2.54491368e-02 -5.16875500e-04 9.99675985e-01 9.76865776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74361786499999 meters 0.0174314651245638 Centerline is valid? [True, True] Translation: X:59.56, Y:5.92, Z:0.98 [[ 9.50552123e-01 -3.09593382e-01 -2.45479035e-02 5.95561890e+01] [ 3.09504248e-01 9.50868902e-01 -7.44660401e-03 5.92095897e+00] [ 2.56472573e-02 -5.19295167e-04 9.99670920e-01 9.76556872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77361786499999 meters 0.016901243647875194 Centerline is valid? [True, True] Translation: X:59.58, Y:5.93, Z:0.98 [[ 9.50353891e-01 -3.10178257e-01 -2.48380953e-02 5.95834891e+01] [ 3.10087103e-01 9.50678263e-01 -7.53846679e-03 5.92940957e+00] [ 2.59513058e-02 -5.37761779e-04 9.99663064e-01 9.77590881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80361786499999 meters 0.01693954976575202 Centerline is valid? [True, True] Translation: X:59.61, Y:5.94, Z:0.98 [[ 9.50185958e-01 -3.10713806e-01 -2.45677929e-02 5.96101839e+01] [ 3.10624633e-01 9.50503361e-01 -7.46311069e-03 5.93685701e+00] [ 2.56706613e-02 -5.40018684e-04 9.99670308e-01 9.78200626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83361786499998 meters 0.01712631020472114 Centerline is valid? [True, True] Translation: X:59.64, Y:5.94, Z:0.98 [[ 9.50123405e-01 -3.10899514e-01 -2.46375123e-02 5.96368558e+01] [ 3.10809755e-01 9.50442633e-01 -7.48979599e-03 5.94342996e+00] [ 2.57451160e-02 -5.41348681e-04 9.99668393e-01 9.78424732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86361786499998 meters 0.017233234502073584 Centerline is valid? [True, True] Translation: X:59.66, Y:5.95, Z:0.98 [[ 9.49845536e-01 -3.11726981e-01 -2.48947292e-02 5.96649825e+01] [ 3.11635522e-01 9.50171547e-01 -7.57182249e-03 5.95063082e+00] [ 2.60146047e-02 -5.66020161e-04 9.99661403e-01 9.78855886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89361786499998 meters 0.017462714997500423 Centerline is valid? [True, True] Translation: X:59.69, Y:5.96, Z:0.98 [[ 9.49378592e-01 -3.13104199e-01 -2.54175081e-02 5.96934846e+01] [ 3.13009175e-01 9.49718584e-01 -7.73746911e-03 5.95637795e+00] [ 2.65621139e-02 -6.10125707e-04 9.99646979e-01 9.79145244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92361786499998 meters 0.017493892919425477 Centerline is valid? [True, True] Translation: X:59.72, Y:5.96, Z:0.98 [[ 9.49142849e-01 -3.13747918e-01 -2.62696977e-02 5.97210541e+01] [ 3.13646470e-01 9.49506098e-01 -8.00381619e-03 5.96351656e+00] [ 2.74544188e-02 -6.42633033e-04 9.99622850e-01 9.79441636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95361786499998 meters 0.017182566199017334 Centerline is valid? [True, True] Translation: X:59.75, Y:5.97, Z:0.98 [[ 9.48924936e-01 -3.14380044e-01 -2.65829435e-02 5.97490119e+01] [ 3.14276216e-01 9.49296976e-01 -8.10623774e-03 5.97170180e+00] [ 2.77835473e-02 -6.62175768e-04 9.99613743e-01 9.80173410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98361786499999 meters 0.017116378282750897 Centerline is valid? [True, True] Translation: X:59.78, Y:5.98, Z:0.98 [[ 9.48685294e-01 -3.15071212e-01 -2.69507877e-02 5.97770765e+01] [ 3.14964566e-01 9.49067786e-01 -8.22558286e-03 5.97868270e+00] [ 2.81697688e-02 -6.85053666e-04 9.99602919e-01 9.80545517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01361786499999 meters 0.01749131535360965 Centerline is valid? [True, True] Translation: X:59.80, Y:5.99, Z:0.98 [[ 9.48748289e-01 -3.14895044e-01 -2.67916940e-02 5.98041600e+01] [ 3.14789438e-01 9.49126262e-01 -8.18219561e-03 5.98577619e+00] [ 2.80052332e-02 -6.70898192e-04 9.99607551e-01 9.80406950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04361786499999 meters 0.017496259151945106 Centerline is valid? [True, True] Translation: X:59.83, Y:5.99, Z:0.98 [[ 9.48741787e-01 -3.14914954e-01 -2.67879313e-02 5.98307128e+01] [ 3.14809253e-01 9.49119659e-01 -8.18579958e-03 5.99329975e+00] [ 2.80027829e-02 -6.66878512e-04 9.99607623e-01 9.81222736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07361786499999 meters 0.017137691471573673 Centerline is valid? [True, True] Translation: X:59.86, Y:6.00, Z:0.98 [[ 9.48977614e-01 -3.14204809e-01 -2.67736094e-02 5.98588523e+01] [ 3.14098728e-01 9.49355007e-01 -8.18893675e-03 6.00059339e+00] [ 2.79906634e-02 -6.38439000e-04 9.99607981e-01 9.82180405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10361786499999 meters 0.01702596367112611 Centerline is valid? [True, True] Translation: X:59.89, Y:6.01, Z:0.98 [[ 9.49079228e-01 -3.13889801e-01 -2.68665665e-02 5.98865920e+01] [ 3.13782659e-01 9.49459216e-01 -8.22435591e-03 6.00828412e+00] [ 2.80902506e-02 -6.24697316e-04 9.99605196e-01 9.82533356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13361786499999 meters 0.01702523806724554 Centerline is valid? [True, True] Translation: X:59.91, Y:6.02, Z:0.98 [[ 9.49292864e-01 -3.13215808e-01 -2.71829946e-02 5.99130570e+01] [ 3.13105704e-01 9.49681783e-01 -8.32640246e-03 6.01544557e+00] [ 2.84231556e-02 -6.06956220e-04 9.99595796e-01 9.82468912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16361786499999 meters 0.01664962320635973 Centerline is valid? [True, True] Translation: X:59.94, Y:6.02, Z:0.98 [[ 9.49431925e-01 -3.12755907e-01 -2.76181619e-02 5.99396557e+01] [ 3.12641909e-01 9.49833346e-01 -8.46472295e-03 6.02401439e+00] [ 2.88800432e-02 -5.97916657e-04 9.99582706e-01 9.82868698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19361786499998 meters 0.01643142211823734 Centerline is valid? [True, True] Translation: X:59.97, Y:6.03, Z:0.98 [[ 9.49798767e-01 -3.11612657e-01 -2.79258714e-02 5.99672446e+01] [ 3.11495380e-01 9.50209049e-01 -8.56693874e-03 6.03240892e+00] [ 2.92049822e-02 -5.61912048e-04 9.99573286e-01 9.83020708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22361786499998 meters 0.01621369973638253 Centerline is valid? [True, True] Translation: X:59.99, Y:6.04, Z:0.98 [[ 9.49974224e-01 -3.11060943e-01 -2.81080637e-02 5.99947004e+01] [ 3.10941673e-01 9.50389813e-01 -8.63016614e-03 6.04087944e+00] [ 2.93981250e-02 -5.41532962e-04 9.99567635e-01 9.83874753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25361786499998 meters 0.01578680547293825 Centerline is valid? [True, True] Translation: X:60.02, Y:6.05, Z:0.98 [[ 9.50053251e-01 -3.10868621e-01 -2.75594163e-02 6.00219055e+01] [ 3.10753675e-01 9.50452751e-01 -8.46886316e-03 6.04970427e+00] [ 2.88266269e-02 -5.18318942e-04 9.99584292e-01 9.84944527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28361786499998 meters 0.015849415294994437 Centerline is valid? [True, True] Translation: X:60.05, Y:6.06, Z:0.98 [[ 9.50060739e-01 -3.10844324e-01 -2.75753202e-02 6.00482426e+01] [ 3.10729070e-01 9.50460701e-01 -8.47946217e-03 6.05667094e+00] [ 2.88450509e-02 -5.12449515e-04 9.99583764e-01 9.84997751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31361786499998 meters 0.016067745625403803 Centerline is valid? [True, True] Translation: X:60.07, Y:6.06, Z:0.99 [[ 9.49939189e-01 -3.11230991e-01 -2.74008733e-02 6.00748027e+01] [ 3.11117262e-01 9.50334153e-01 -8.42895041e-03 6.06367340e+00] [ 2.86633363e-02 -5.17894358e-04 9.99588988e-01 9.85235520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34361786499998 meters 0.015962706995957192 Centerline is valid? [True, True] Translation: X:60.10, Y:6.07, Z:0.99 [[ 9.49748135e-01 -3.11851360e-01 -2.69668063e-02 6.01012716e+01] [ 3.11741350e-01 9.50130756e-01 -8.29916641e-03 6.07131928e+00] [ 2.82100983e-02 -5.24550776e-04 9.99601878e-01 9.86410292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37361786499999 meters 0.01600835816254539 Centerline is valid? [True, True] Translation: X:60.13, Y:6.08, Z:0.99 [[ 9.49088823e-01 -3.13945648e-01 -2.58560708e-02 6.01297057e+01] [ 3.13845136e-01 9.49440793e-01 -7.96310464e-03 6.07797253e+00] [ 2.70487904e-02 -5.57108453e-04 9.99633959e-01 9.88022523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40361786499999 meters 0.016362622912624386 Centerline is valid? [True, True] Translation: X:60.16, Y:6.09, Z:0.99 [[ 9.48670201e-01 -3.15258693e-01 -2.52350224e-02 6.01573469e+01] [ 3.15163243e-01 9.49005599e-01 -7.77840687e-03 6.08550245e+00] [ 2.64003880e-02 -5.74008689e-04 9.99651284e-01 9.88815378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43361786499999 meters 0.016506520468288505 Centerline is valid? [True, True] Translation: X:60.18, Y:6.09, Z:0.99 [[ 9.48447363e-01 -3.16001791e-01 -2.42995625e-02 6.01838016e+01] [ 3.15913363e-01 9.48758424e-01 -7.49662877e-03 6.09334134e+00] [ 2.54233628e-02 -5.66398736e-04 9.99676614e-01 9.89419177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46361786499999 meters 0.01727040191294864 Centerline is valid? [True, True] Translation: X:60.21, Y:6.10, Z:0.99 [[ 9.47726852e-01 -3.18187472e-01 -2.38861265e-02 6.02107156e+01] [ 3.18102587e-01 9.48027616e-01 -7.37446524e-03 6.10035078e+00] [ 2.49911700e-02 -6.09259916e-04 9.99687486e-01 9.89560663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49361786499999 meters 0.017170753622694462 Centerline is valid? [True, True] Translation: X:60.24, Y:6.11, Z:0.99 [[ 9.47367809e-01 -3.19258708e-01 -2.38351158e-02 6.02385699e+01] [ 3.19174434e-01 9.47667387e-01 -7.36230237e-03 6.10877973e+00] [ 2.49382410e-02 -6.32751328e-04 9.99688793e-01 9.90087980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52361786499999 meters 0.017390672188677302 Centerline is valid? [True, True] Translation: X:60.27, Y:6.12, Z:0.99 [[ 9.46881321e-01 -3.20709262e-01 -2.36924784e-02 6.02666308e+01] [ 3.20626295e-01 9.47177455e-01 -7.32442069e-03 6.11710694e+00] [ 2.47899909e-02 -6.61074417e-04 9.99692462e-01 9.90606043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55361786499998 meters 0.017147167549500675 Centerline is valid? [True, True] Translation: X:60.29, Y:6.13, Z:0.99 [[ 9.46515092e-01 -3.21770776e-01 -2.39321666e-02 6.02939236e+01] [ 3.21686301e-01 9.46817349e-01 -7.40486910e-03 6.12604651e+00] [ 2.50420610e-02 -6.89829798e-04 9.99686160e-01 9.91510646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58361786499998 meters 0.018068001441264376 Centerline is valid? [True, True] Translation: X:60.32, Y:6.13, Z:0.99 [[ 9.45827165e-01 -3.23797037e-01 -2.38002741e-02 6.03205293e+01] [ 3.23714004e-01 9.46126281e-01 -7.36913792e-03 6.13273656e+00] [ 2.49041698e-02 -7.34551198e-04 9.99689573e-01 9.91830537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61361786499998 meters 0.01867426291201998 Centerline is valid? [True, True] Translation: X:60.35, Y:6.14, Z:0.99 [[ 9.45529508e-01 -3.24655624e-01 -2.39306232e-02 6.03471741e+01] [ 3.24571881e-01 9.45831988e-01 -7.41242672e-03 6.14076883e+00] [ 2.50408349e-02 -7.58539181e-04 9.99686141e-01 9.91810206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64361786499998 meters 0.01869991734896138 Centerline is valid? [True, True] Translation: X:60.37, Y:6.15, Z:0.99 [[ 9.45177088e-01 -3.25723093e-01 -2.33396344e-02 6.03748488e+01] [ 3.25643659e-01 9.45464904e-01 -7.23348575e-03 6.15028142e+00] [ 2.44229185e-02 -7.63478946e-04 9.99701425e-01 9.92290418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67361786499998 meters 0.019157862247435337 Centerline is valid? [True, True] Translation: X:60.40, Y:6.16, Z:0.99 [[ 9.44835151e-01 -3.26739751e-01 -2.29711272e-02 6.04014885e+01] [ 3.26662993e-01 9.45114034e-01 -7.12397255e-03 6.15977419e+00] [ 2.40380197e-02 -7.72837502e-04 9.99710746e-01 9.92869481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70361786499998 meters 0.019511776341330143 Centerline is valid? [True, True] Translation: X:60.43, Y:6.17, Z:0.99 [[ 9.44598018e-01 -3.27413805e-01 -2.31253972e-02 6.04291499e+01] [ 3.27336133e-01 9.44880719e-01 -7.17518879e-03 6.16908617e+00] [ 2.41999978e-02 -7.92108975e-04 9.99706823e-01 9.93428135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73361786499999 meters 0.019158837964626783 Centerline is valid? [True, True] Translation: X:60.46, Y:6.18, Z:0.99 [[ 9.44458347e-01 -3.27806226e-01 -2.32703398e-02 6.04551073e+01] [ 3.27727542e-01 9.44744641e-01 -7.22646676e-03 6.17919154e+00] [ 2.43534096e-02 -8.01234414e-04 9.99703091e-01 9.93946074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76361786499999 meters 0.019527109178794595 Centerline is valid? [True, True] Translation: X:60.48, Y:6.19, Z:0.99 [[ 9.44177297e-01 -3.28636762e-01 -2.29588870e-02 6.04826280e+01] [ 3.28560261e-01 9.44456050e-01 -7.13620998e-03 6.18878675e+00] [ 2.40288807e-02 -8.05530446e-04 9.99710940e-01 9.94624374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79361786499999 meters 0.02025248606640004 Centerline is valid? [True, True] Translation: X:60.51, Y:6.20, Z:1.00 [[ 9.43927301e-01 -3.29425966e-01 -2.19039452e-02 6.05090143e+01] [ 3.29356444e-01 9.44181084e-01 -6.81272823e-03 6.19898767e+00] [ 2.29255803e-02 -7.83485320e-04 9.99736867e-01 9.96082194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82361786499999 meters 0.02105925654022823 Centerline is valid? [True, True] Translation: X:60.53, Y:6.21, Z:1.00 [[ 9.43861959e-01 -3.29627967e-01 -2.16795954e-02 6.05348909e+01] [ 3.29559867e-01 9.44110585e-01 -6.74512292e-03 6.20720365e+00] [ 2.26913167e-02 -7.78259653e-04 9.99742216e-01 9.96921977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85361786499999 meters 0.02105925654022823 Centerline is valid? [True, True] Translation: X:60.56, Y:6.22, Z:1.00 [[ 9.43776150e-01 -3.29873641e-01 -2.16785477e-02 6.05612152e+01] [ 3.29805528e-01 9.44024773e-01 -6.74848873e-03 6.21548095e+00] [ 2.26912346e-02 -7.80642169e-04 9.99742216e-01 9.97373998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88361786499999 meters 0.020148142783043072 Centerline is valid? [True, True] Translation: X:60.59, Y:6.23, Z:1.00 [[ 9.43829178e-01 -3.29760349e-01 -2.10854153e-02 6.05880752e+01] [ 3.29695758e-01 9.44064377e-01 -6.56957408e-03 6.22662559e+00] [ 2.20723745e-02 -7.51216251e-04 9.99756093e-01 9.98522049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91361786499999 meters 0.020590477644796736 Centerline is valid? [True, True] Translation: X:60.61, Y:6.24, Z:1.00 [[ 9.44227699e-01 -3.28611465e-01 -2.11791905e-02 6.06137260e+01] [ 3.28545910e-01 9.44464918e-01 -6.60328101e-03 6.23747590e+00] [ 2.21729163e-02 -7.23335574e-04 9.99753889e-01 9.99423459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94361786499998 meters 0.020412789266070763 Centerline is valid? [True, True] Translation: X:60.64, Y:6.25, Z:1.00 [[ 9.44572653e-01 -3.27595463e-01 -2.15340754e-02 6.06396036e+01] [ 3.27527385e-01 9.44817818e-01 -6.71587616e-03 6.24841104e+00] [ 2.25458687e-02 -7.09366439e-04 9.99745558e-01 9.99425498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97361786499998 meters 0.019645680533309874 Centerline is valid? [True, True] Translation: X:60.67, Y:6.26, Z:1.00 [[ 9.45066593e-01 -3.26141001e-01 -2.19358625e-02 6.06661490e+01] [ 3.26069899e-01 9.45320887e-01 -6.84414649e-03 6.26067314e+00] [ 2.29685858e-02 -6.84450262e-04 9.99735953e-01 9.99593639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00361786499998 meters 0.01942255573796395 Centerline is valid? [True, True] Translation: X:60.69, Y:6.27, Z:1.00 [[ 9.45603548e-01 -3.24555628e-01 -2.23063581e-02 6.06924388e+01] [ 3.24481531e-01 9.45866386e-01 -6.96533298e-03 6.27177066e+00] [ 2.33594723e-02 -6.51557647e-04 9.99726918e-01 9.99692568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03361786499998 meters 0.016681310168234112 Centerline is valid? [True, True] Translation: X:60.72, Y:6.29, Z:1.00 [[ 9.46600232e-01 -3.21611163e-01 -2.26773037e-02 6.07173950e+01] [ 3.21533630e-01 9.46871649e-01 -7.08560601e-03 6.28833884e+00] [ 2.37513059e-02 -5.84279495e-04 9.99717727e-01 1.00111972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06361786499998 meters 0.01583572184541972 Centerline is valid? [True, True] Translation: X:60.74, Y:6.30, Z:1.00 [[ 9.47032386e-01 -3.20346659e-01 -2.25317296e-02 6.07438007e+01] [ 3.20269691e-01 9.47300227e-01 -7.04309240e-03 6.29966177e+00] [ 2.36005436e-02 -5.46193464e-04 9.99721319e-01 1.00217584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09361786499998 meters 0.01623041752925449 Centerline is valid? [True, True] Translation: X:60.77, Y:6.31, Z:1.00 [[ 9.47403465e-01 -3.19251288e-01 -2.24786518e-02 6.07699561e+01] [ 3.19174262e-01 9.47669959e-01 -7.03127317e-03 6.30843416e+00] [ 2.35470861e-02 -5.13154538e-04 9.99722597e-01 1.00285576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12361786499999 meters 0.015742353882503727 Centerline is valid? [True, True] Translation: X:60.80, Y:6.32, Z:1.00 [[ 9.47610469e-01 -3.18641876e-01 -2.23998746e-02 6.07966209e+01] [ 3.18565143e-01 9.47875051e-01 -7.00984530e-03 6.31917259e+00] [ 2.34659126e-02 -4.93216473e-04 9.99724516e-01 1.00387720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15361786499999 meters 0.01536751298776089 Centerline is valid? [True, True] Translation: X:60.82, Y:6.33, Z:1.01 [[ 9.48107222e-01 -3.17155954e-01 -2.24676936e-02 6.08235658e+01] [ 3.17078204e-01 9.48373289e-01 -7.03679321e-03 6.33140402e+00] [ 2.35395213e-02 -4.52381468e-04 9.99722805e-01 1.00521435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18361786499999 meters 0.015257415678739774 Centerline is valid? [True, True] Translation: X:60.85, Y:6.34, Z:1.01 [[ 9.48179443e-01 -3.16977472e-01 -2.19322913e-02 6.08503926e+01] [ 3.16903213e-01 9.48432968e-01 -6.87444705e-03 6.34189414e+00] [ 2.29803530e-02 -4.32204207e-04 9.99735823e-01 1.00618070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21361786499999 meters 0.017622629245958126 Centerline is valid? [True, True] Translation: X:60.88, Y:6.35, Z:1.01 [[ 9.48220372e-01 -3.16853068e-01 -2.19603919e-02 6.08773471e+01] [ 3.16778472e-01 9.48474540e-01 -6.88819065e-03 6.34758037e+00] [ 2.30114169e-02 -4.25056681e-04 9.99735112e-01 1.00587138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24361786499999 meters 0.01592173626496223 Centerline is valid? [True, True] Translation: X:60.90, Y:6.36, Z:1.01 [[ 9.48016667e-01 -3.17478681e-01 -2.17183313e-02 6.09031717e+01] [ 3.17405826e-01 9.48265311e-01 -6.81483447e-03 6.35986613e+00] [ 2.27583048e-02 -4.32948221e-04 9.99740902e-01 1.00812398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27361786499999 meters 0.016309294231537264 Centerline is valid? [True, True] Translation: X:60.93, Y:6.37, Z:1.01 [[ 9.47610614e-01 -3.18697268e-01 -2.15910805e-02 6.09306447e+01] [ 3.18625514e-01 9.47856446e-01 -6.77784270e-03 6.36789972e+00] [ 2.26253248e-02 -4.56713454e-04 9.99743910e-01 1.00894216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30361786499998 meters 0.01651331291217172 Centerline is valid? [True, True] Translation: X:60.96, Y:6.38, Z:1.01 [[ 9.46664349e-01 -3.21514288e-01 -2.13347622e-02 6.09580123e+01] [ 3.21444842e-01 9.46904588e-01 -6.70185264e-03 6.37566766e+00] [ 2.23567256e-02 -5.13544293e-04 9.99749925e-01 1.01047334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33361786499998 meters 0.016512766458488332 Centerline is valid? [True, True] Translation: X:60.99, Y:6.38, Z:1.01 [[ 9.45899764e-01 -3.23744859e-01 -2.15151517e-02 6.09853010e+01] [ 3.23674741e-01 9.46144251e-01 -6.76154928e-03 6.38391579e+00] [ 2.25454539e-02 -5.68163286e-04 9.99745658e-01 1.01156903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36361786499998 meters 0.016862214182887216 Centerline is valid? [True, True] Translation: X:61.01, Y:6.39, Z:1.01 [[ 9.45246725e-01 -3.25630495e-01 -2.17579679e-02 6.10131054e+01] [ 3.25559151e-01 9.45496908e-01 -6.84368885e-03 6.39207286e+00] [ 2.28006052e-02 -6.14531095e-04 9.99739844e-01 1.01183817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39361786499998 meters 0.01785738592086291 Centerline is valid? [True, True] Translation: X:61.04, Y:6.40, Z:1.01 [[ 9.44172247e-01 -3.28697223e-01 -2.22913297e-02 6.10418066e+01] [ 3.28623085e-01 9.44435093e-01 -7.01597461e-03 6.40038701e+00] [ 2.33588454e-02 -7.01157014e-04 9.99726899e-01 1.01162456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42361786499998 meters 0.01899592052269045 Centerline is valid? [True, True] Translation: X:61.07, Y:6.41, Z:1.01 [[ 9.43616236e-01 -3.30274721e-01 -2.25168178e-02 6.10691813e+01] [ 3.30199495e-01 9.43884554e-01 -7.08818444e-03 6.40722532e+00] [ 2.35943247e-02 -7.46515945e-04 9.99721336e-01 1.01155367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45361786499998 meters 0.01821750403406159 Centerline is valid? [True, True] Translation: X:61.10, Y:6.42, Z:1.01 [[ 9.43037923e-01 -3.31907893e-01 -2.27294231e-02 6.10963483e+01] [ 3.31831633e-01 9.43311467e-01 -7.15848252e-03 6.41721752e+00] [ 2.38168823e-02 -7.91621097e-04 9.99716024e-01 1.01239327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48361786499999 meters 0.01871092692592897 Centerline is valid? [True, True] Translation: X:61.13, Y:6.42, Z:1.01 [[ 9.42085166e-01 -3.34581646e-01 -2.30361219e-02 6.11252619e+01] [ 3.34504001e-01 9.42366368e-01 -7.25959648e-03 6.42488860e+00] [ 2.41373942e-02 -8.66516785e-04 9.99708275e-01 1.01295206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51361786499999 meters 0.020819097697407828 Centerline is valid? [True, True] Translation: X:61.15, Y:6.43, Z:1.01 [[ 9.41652042e-01 -3.35754205e-01 -2.36758365e-02 6.11527808e+01] [ 3.35672523e-01 9.41949185e-01 -7.46257798e-03 6.42977234e+00] [ 2.48070269e-02 -9.20175990e-04 9.99691835e-01 1.01267952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54361786499999 meters 0.020979368725586832 Centerline is valid? [True, True] Translation: X:61.18, Y:6.44, Z:1.01 [[ 9.41282922e-01 -3.36758585e-01 -2.40855878e-02 6.11806014e+01] [ 3.36674285e-01 9.41590535e-01 -7.59543306e-03 6.43819072e+00] [ 2.52365888e-02 -9.59546635e-04 9.99681046e-01 1.01284484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57361786499999 meters 0.02204142817938788 Centerline is valid? [True, True] Translation: X:61.21, Y:6.45, Z:1.01 [[ 9.40989623e-01 -3.37560075e-01 -2.43254028e-02 6.12077900e+01] [ 3.37474232e-01 9.41303470e-01 -7.67594583e-03 6.44521924e+00] [ 2.54886789e-02 -9.86211247e-04 9.99674624e-01 1.01295604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60361786499999 meters 0.020828930818087125 Centerline is valid? [True, True] Translation: X:61.23, Y:6.46, Z:1.01 [[ 9.40413594e-01 -3.39201246e-01 -2.37652563e-02 6.12344890e+01] [ 3.39119745e-01 9.40713297e-01 -7.50272581e-03 6.45564819e+00] [ 2.49012265e-02 -1.00360232e-03 9.99689413e-01 1.01427552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63361786499999 meters 0.02029249830384042 Centerline is valid? [True, True] Translation: X:61.26, Y:6.46, Z:1.02 [[ 9.40156030e-01 -3.39891276e-01 -2.40948067e-02 6.12614969e+01] [ 3.39807562e-01 9.40464173e-01 -7.61319178e-03 6.46496667e+00] [ 2.52479599e-02 -1.03000936e-03 9.99680689e-01 1.01513605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66361786499999 meters 0.022199829937665845 Centerline is valid? [True, True] Translation: X:61.29, Y:6.47, Z:1.01 [[ 9.39975872e-01 -3.40383024e-01 -2.41817472e-02 6.12885875e+01] [ 3.40298742e-01 9.40286292e-01 -7.64565287e-03 6.47081888e+00] [ 2.53402158e-02 -1.04228891e-03 9.99678342e-01 1.01453972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69361786499998 meters 0.01947181484100561 Centerline is valid? [True, True] Translation: X:61.31, Y:6.48, Z:1.02 [[ 9.39955985e-01 -3.40364555e-01 -2.51935766e-02 6.13143129e+01] [ 3.40272946e-01 9.40292933e-01 -7.97007409e-03 6.48329364e+00] [ 2.64020728e-02 -1.08117368e-03 9.99650820e-01 1.01555698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72361786499998 meters 0.02147942225086734 Centerline is valid? [True, True] Translation: X:61.34, Y:6.49, Z:1.02 [[ 9.40129321e-01 -3.39885834e-01 -2.51888954e-02 6.13421779e+01] [ 3.39793934e-01 9.40466103e-01 -7.97437505e-03 6.48871882e+00] [ 2.63996794e-02 -1.06209005e-03 9.99650904e-01 1.01512483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75361786499998 meters 0.0205689142134415 Centerline is valid? [True, True] Translation: X:61.37, Y:6.50, Z:1.02 [[ 9.40342081e-01 -3.39307094e-01 -2.50492638e-02 6.13690470e+01] [ 3.39215901e-01 9.40675088e-01 -7.93414448e-03 6.49890143e+00] [ 2.62553300e-02 -1.03629867e-03 9.99654732e-01 1.01625650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78361786499998 meters 0.019820078409216076 Centerline is valid? [True, True] Translation: X:61.40, Y:6.51, Z:1.02 [[ 9.40686209e-01 -3.38393809e-01 -2.44762515e-02 6.13965116e+01] [ 3.38306269e-01 9.41004073e-01 -7.75901328e-03 6.50890972e+00] [ 2.56578544e-02 -9.81672518e-04 9.99670301e-01 1.01755833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81361786499998 meters 0.02037861427813652 Centerline is valid? [True, True] Translation: X:61.42, Y:6.52, Z:1.02 [[ 9.41547150e-01 -3.36048503e-01 -2.36720786e-02 6.14233690e+01] [ 3.35965765e-01 9.41844267e-01 -7.50870644e-03 6.51753749e+00] [ 2.48187010e-02 -8.83206843e-04 9.99691578e-01 1.01855600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84361786499998 meters 0.01970666562466665 Centerline is valid? [True, True] Translation: X:61.45, Y:6.53, Z:1.02 [[ 9.41967160e-01 -3.34888391e-01 -2.34016134e-02 6.14507321e+01] [ 3.34807098e-01 9.42257428e-01 -7.42608990e-03 6.52786708e+00] [ 2.45372554e-02 -8.39893470e-04 9.99698563e-01 1.01942963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87361786499999 meters 0.018767469898641607 Centerline is valid? [True, True] Translation: X:61.48, Y:6.54, Z:1.02 [[ 9.42337485e-01 -3.33870599e-01 -2.30322976e-02 6.14773127e+01] [ 3.33791405e-01 9.42618582e-01 -7.31482999e-03 6.53863029e+00] [ 2.41528784e-02 -7.94944488e-04 9.99707961e-01 1.02016422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90361786499999 meters 0.018308958827810154 Centerline is valid? [True, True] Translation: X:61.51, Y:6.55, Z:1.02 [[ 9.42747424e-01 -3.32711039e-01 -2.30360399e-02 6.15050186e+01] [ 3.32631330e-01 9.43028519e-01 -7.32194840e-03 6.54872461e+00] [ 2.41597357e-02 -7.59760609e-04 9.99707822e-01 1.02085012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93361786499999 meters 0.017494696528267427 Centerline is valid? [True, True] Translation: X:61.53, Y:6.56, Z:1.02 [[ 9.43746763e-01 -3.29889986e-01 -2.26857738e-02 6.15323806e+01] [ 3.29811766e-01 9.44019144e-01 -7.21491565e-03 6.55876046e+00] [ 2.37959332e-02 -6.72981842e-04 9.99716610e-01 1.02224118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96361786499999 meters 0.01730201820589112 Centerline is valid? [True, True] Translation: X:61.56, Y:6.57, Z:1.02 [[ 9.43987525e-01 -3.29193454e-01 -2.27864531e-02 6.15596877e+01] [ 3.29114262e-01 9.44262273e-01 -7.25000948e-03 6.56836668e+00] [ 2.39030437e-02 -6.55428189e-04 9.99714067e-01 1.02263141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99361786499999 meters 0.017333029776840456 Centerline is valid? [True, True] Translation: X:61.59, Y:6.58, Z:1.02 [[ 9.44359052e-01 -3.28088316e-01 -2.33246116e-02 6.15860857e+01] [ 3.28004880e-01 9.44646839e-01 -7.42618670e-03 6.57793071e+00] [ 2.44699657e-02 -6.37599816e-04 9.99700362e-01 1.02274418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02361786499999 meters 0.01676992834646561 Centerline is valid? [True, True] Translation: X:61.61, Y:6.59, Z:1.02 [[ 9.44292310e-01 -3.28259836e-01 -2.36117083e-02 6.16125591e+01] [ 3.28174290e-01 9.44587244e-01 -7.52150905e-03 6.58740957e+00] [ 2.47723278e-02 -6.46252444e-04 9.99692910e-01 1.02330379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05361786499998 meters 0.017361442723563172 Centerline is valid? [True, True] Translation: X:61.64, Y:6.59, Z:1.02 [[ 9.44143787e-01 -3.28691199e-01 -2.35500540e-02 6.16392652e+01] [ 3.28606097e-01 9.44437225e-01 -7.50736973e-03 6.59468668e+00] [ 2.47091540e-02 -6.50654816e-04 9.99694471e-01 1.02367587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08361786499998 meters 0.017713806963861305 Centerline is valid? [True, True] Translation: X:61.67, Y:6.60, Z:1.02 [[ 9.43909242e-01 -3.29339091e-01 -2.38978288e-02 6.16669881e+01] [ 3.29251573e-01 9.44211475e-01 -7.62188743e-03 6.60264064e+00] [ 2.50747897e-02 -6.74027740e-04 9.99685351e-01 1.02439517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11361786499998 meters 0.018025043091970953 Centerline is valid? [True, True] Translation: X:61.69, Y:6.61, Z:1.03 [[ 9.43545686e-01 -3.30363897e-01 -2.41087946e-02 6.16947395e+01] [ 3.30275000e-01 9.43853380e-01 -7.69549478e-03 6.61035945e+00] [ 2.52974809e-02 -7.01481236e-04 9.99679721e-01 1.02514245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14361786499998 meters 0.017549652520964836 Centerline is valid? [True, True] Translation: X:61.72, Y:6.62, Z:1.03 [[ 9.43369009e-01 -3.30834257e-01 -2.45684281e-02 6.17223383e+01] [ 3.30741929e-01 9.43688600e-01 -7.84874198e-03 6.61948674e+00] [ 2.57815783e-02 -7.21549356e-04 9.99667339e-01 1.02587114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17361786499998 meters 0.018600358633250248 Centerline is valid? [True, True] Translation: X:61.75, Y:6.63, Z:1.03 [[ 9.43331409e-01 -3.30838294e-01 -2.59205720e-02 6.17491845e+01] [ 3.30735378e-01 9.43687157e-01 -8.28605406e-03 6.62556923e+00] [ 2.72022549e-02 -7.56355117e-04 9.99629664e-01 1.02530235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20361786499998 meters 0.018122995067297358 Centerline is valid? [True, True] Translation: X:61.78, Y:6.63, Z:1.03 [[ 9.43299111e-01 -3.30885833e-01 -2.64830691e-02 6.17757961e+01] [ 3.30778288e-01 9.43670479e-01 -8.47061255e-03 6.63499919e+00] [ 2.77940962e-02 -7.69702975e-04 9.99613373e-01 1.02559233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23361786499999 meters 0.018240382822565376 Centerline is valid? [True, True] Translation: X:61.80, Y:6.64, Z:1.03 [[ 9.43466542e-01 -3.30364068e-01 -2.70271458e-02 6.18025879e+01] [ 3.30251679e-01 9.43853272e-01 -8.65045300e-03 6.64300079e+00] [ 2.83674589e-02 -7.64347313e-04 9.99597270e-01 1.02522584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26361786499999 meters 0.01828458828209469 Centerline is valid? [True, True] Translation: X:61.83, Y:6.65, Z:1.03 [[ 9.43507503e-01 -3.30224063e-01 -2.73067681e-02 6.18290744e+01] [ 3.30109136e-01 9.43902265e-01 -8.74485645e-03 6.65115709e+00] [ 2.86626823e-02 -7.63375952e-04 9.99588849e-01 1.02514519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29361786499999 meters 0.018432443725937463 Centerline is valid? [True, True] Translation: X:61.86, Y:6.66, Z:1.03 [[ 9.43481445e-01 -3.30251264e-01 -2.78723117e-02 6.18566182e+01] [ 3.30131296e-01 9.43892741e-01 -8.93427957e-03 6.65870720e+00] [ 2.92590298e-02 -7.72195386e-04 9.99571565e-01 1.02569060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32361786499999 meters 0.018240978127766067 Centerline is valid? [True, True] Translation: X:61.88, Y:6.67, Z:1.03 [[ 9.43446280e-01 -3.30365771e-01 -2.77051218e-02 6.18833165e+01] [ 3.30247050e-01 9.43852676e-01 -8.88883099e-03 6.66664158e+00] [ 2.90861188e-02 -7.63400197e-04 9.99576618e-01 1.02669747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35361786499999 meters 0.019267143125551237 Centerline is valid? [True, True] Translation: X:61.91, Y:6.67, Z:1.03 [[ 9.43266017e-01 -3.30885446e-01 -2.76413220e-02 6.19103659e+01] [ 3.30767329e-01 9.43670613e-01 -8.87406733e-03 6.67313317e+00] [ 2.90206030e-02 -7.72240081e-04 9.99578515e-01 1.02710939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38361786499999 meters 0.018907359635840792 Centerline is valid? [True, True] Translation: X:61.94, Y:6.68, Z:1.03 [[ 9.43099742e-01 -3.31457885e-01 -2.64300460e-02 6.19366880e+01] [ 3.31349994e-01 9.43469717e-01 -8.48971613e-03 6.68135451e+00] [ 2.77499314e-02 -7.50946482e-04 9.99614614e-01 1.02889661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41361786499999 meters 0.019243149202660202 Centerline is valid? [True, True] Translation: X:61.96, Y:6.69, Z:1.03 [[ 9.42985999e-01 -3.31848430e-01 -2.55739200e-02 6.19629161e+01] [ 3.31747407e-01 9.43332435e-01 -8.22038315e-03 6.68883165e+00] [ 2.68526295e-02 -7.32375438e-04 9.99639135e-01 1.02995536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44361786499998 meters 0.01930734883168625 Centerline is valid? [True, True] Translation: X:61.99, Y:6.70, Z:1.03 [[ 9.42894258e-01 -3.32162905e-01 -2.48641023e-02 6.19896001e+01] [ 3.32067402e-01 9.43221762e-01 -7.99680705e-03 6.69676530e+00] [ 2.61086050e-02 -7.16414409e-04 9.99658856e-01 1.03101800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47361786499998 meters 0.01743614542921706 Centerline is valid? [True, True] Translation: X:62.02, Y:6.71, Z:1.03 [[ 9.43090520e-01 -3.31645351e-01 -2.43235045e-02 6.20159320e+01] [ 3.31553613e-01 9.43403889e-01 -7.82967543e-03 6.70806962e+00] [ 2.55435642e-02 -6.80453144e-04 9.99673478e-01 1.03346534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50361786499998 meters 0.019509889043727118 Centerline is valid? [True, True] Translation: X:62.04, Y:6.71, Z:1.03 [[ 9.43325684e-01 -3.30999542e-01 -2.39991213e-02 6.20436413e+01] [ 3.30909902e-01 9.43630691e-01 -7.73017951e-03 6.71322180e+00] [ 2.52049933e-02 -6.49470012e-04 9.99682093e-01 1.03267930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53361786499998 meters 0.019244405047281622 Centerline is valid? [True, True] Translation: X:62.07, Y:6.72, Z:1.03 [[ 9.43601259e-01 -3.30253807e-01 -2.34326102e-02 6.20704951e+01] [ 3.30168036e-01 9.43891969e-01 -7.55107713e-03 6.72278532e+00] [ 2.46116245e-02 -6.11492982e-04 9.99696901e-01 1.03313106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56361786499998 meters 0.01663343574544114 Centerline is valid? [True, True] Translation: X:62.10, Y:6.74, Z:1.03 [[ 9.44464154e-01 -3.27807938e-01 -2.30090930e-02 6.20959176e+01] [ 3.27724375e-01 9.44744236e-01 -7.42035346e-03 6.73694917e+00] [ 2.41701588e-02 -5.32382777e-04 9.99707717e-01 1.03477047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59361786499998 meters 0.01667968743376869 Centerline is valid? [True, True] Translation: X:62.12, Y:6.75, Z:1.04 [[ 9.44809719e-01 -3.26837277e-01 -2.26271875e-02 6.21220519e+01] [ 3.26756074e-01 9.45080499e-01 -7.30195350e-03 6.74554129e+00] [ 2.37710643e-02 -4.94614328e-04 9.99717306e-01 1.03512417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62361786499999 meters 0.016324199794925318 Centerline is valid? [True, True] Translation: X:62.15, Y:6.76, Z:1.04 [[ 9.45136526e-01 -3.25935613e-01 -2.19754906e-02 6.21493855e+01] [ 3.25858705e-01 9.45391860e-01 -7.09477016e-03 6.75505682e+00] [ 2.30878882e-02 -4.55378492e-04 9.99733335e-01 1.03619259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65361786499999 meters 0.016027887125755185 Centerline is valid? [True, True] Translation: X:62.18, Y:6.76, Z:1.04 [[ 9.45287993e-01 -3.25499391e-01 -2.19261688e-02 6.21767872e+01] [ 3.25422576e-01 9.45542149e-01 -7.08466983e-03 6.76452225e+00] [ 2.30381724e-02 -4.38216987e-04 9.99734490e-01 1.03712847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68361786499999 meters 0.016167533299600103 Centerline is valid? [True, True] Translation: X:62.20, Y:6.77, Z:1.04 [[ 9.45273555e-01 -3.25520391e-01 -2.22346986e-02 6.22036787e+01] [ 3.25441258e-01 9.45534919e-01 -7.19061889e-03 6.77234048e+00] [ 2.33643770e-02 -4.38986409e-04 9.99726919e-01 1.03733093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71361786499999 meters 0.016556542210321254 Centerline is valid? [True, True] Translation: X:62.23, Y:6.78, Z:1.04 [[ 9.44954658e-01 -3.26390464e-01 -2.30208550e-02 6.22309124e+01] [ 3.26305749e-01 9.45234914e-01 -7.45083380e-03 6.78009312e+00] [ 2.41919970e-02 -4.71137218e-04 9.99707220e-01 1.03727187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74361786499999 meters 0.01668069265685966 Centerline is valid? [True, True] Translation: X:62.26, Y:6.79, Z:1.04 [[ 9.44514067e-01 -3.27690113e-01 -2.26355141e-02 6.22590440e+01] [ 3.27608488e-01 9.44785133e-01 -7.33015004e-03 6.78821454e+00] [ 2.37877149e-02 -4.92156702e-04 9.99716911e-01 1.03722064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77361786499999 meters 0.01668069265685966 Centerline is valid? [True, True] Translation: X:62.29, Y:6.80, Z:1.04 [[ 9.44423995e-01 -3.27949745e-01 -2.26336726e-02 6.22852633e+01] [ 3.27868058e-01 9.44695042e-01 -7.33583236e-03 6.79677743e+00] [ 2.37877026e-02 -4.92722186e-04 9.99716911e-01 1.03767178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80361786499998 meters 0.016811515489529433 Centerline is valid? [True, True] Translation: X:62.31, Y:6.80, Z:1.04 [[ 9.43906885e-01 -3.29411021e-01 -2.29819814e-02 6.23127820e+01] [ 3.29327069e-01 9.44186474e-01 -7.45550808e-03 6.80484132e+00] [ 2.41552025e-02 -5.31283161e-04 9.99708079e-01 1.03779165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83361786499998 meters 0.017688338245216043 Centerline is valid? [True, True] Translation: X:62.34, Y:6.81, Z:1.04 [[ 9.42788717e-01 -3.32577190e-01 -2.32776292e-02 6.23407096e+01] [ 3.32491906e-01 9.43075837e-01 -7.55636503e-03 6.81108311e+00] [ 2.44656443e-02 -6.15567590e-04 9.99700482e-01 1.03756200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86361786499998 meters 0.01828936467662986 Centerline is valid? [True, True] Translation: X:62.37, Y:6.82, Z:1.04 [[ 9.42058256e-01 -3.34637093e-01 -2.33293534e-02 6.23687126e+01] [ 3.34551975e-01 9.42346842e-01 -7.57665931e-03 6.81834461e+00] [ 2.45197738e-02 -6.67226798e-04 9.99699122e-01 1.03813061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89361786499998 meters 0.018500737404465412 Centerline is valid? [True, True] Translation: X:62.40, Y:6.83, Z:1.04 [[ 9.41390747e-01 -3.36551458e-01 -2.27283506e-02 6.23961833e+01] [ 3.36471085e-01 9.41664821e-01 -7.38736335e-03 6.82632239e+00] [ 2.38887161e-02 -6.93037287e-04 9.99714384e-01 1.03881599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92361786499998 meters 0.019852352585970463 Centerline is valid? [True, True] Translation: X:62.42, Y:6.83, Z:1.04 [[ 9.40342866e-01 -3.39482303e-01 -2.25180188e-02 6.24245026e+01] [ 3.39404143e-01 9.40612138e-01 -7.32349241e-03 6.83247106e+00] [ 2.36669179e-02 -7.56115030e-04 9.99719613e-01 1.03918356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95361786499998 meters 0.020747686221475332 Centerline is valid? [True, True] Translation: X:62.45, Y:6.84, Z:1.04 [[ 9.40018083e-01 -3.40382746e-01 -2.24853352e-02 6.24518326e+01] [ 3.40305034e-01 9.40286650e-01 -7.31437845e-03 6.83968749e+00] [ 2.36323487e-02 -7.76224764e-04 9.99720416e-01 1.03900793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98361786499999 meters 0.020334928186225083 Centerline is valid? [True, True] Translation: X:62.48, Y:6.85, Z:1.04 [[ 9.39811664e-01 -3.40946144e-01 -2.25779308e-02 6.24790122e+01] [ 3.40867875e-01 9.40082497e-01 -7.34776130e-03 6.84893422e+00] [ 2.37303085e-02 -7.90579544e-04 9.99718084e-01 1.03939931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01361786499999 meters 0.020387558743959873 Centerline is valid? [True, True] Translation: X:62.51, Y:6.86, Z:1.04 [[ 9.39985215e-01 -3.40448854e-01 -2.28554765e-02 6.25062631e+01] [ 3.40368359e-01 9.40262711e-01 -7.44405545e-03 6.85754616e+00] [ 2.40244724e-02 -7.81978960e-04 9.99711065e-01 1.03973842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04361786499999 meters 0.019978094702454003 Centerline is valid? [True, True] Translation: X:62.53, Y:6.87, Z:1.04 [[ 9.40269817e-01 -3.39649754e-01 -2.30372889e-02 6.25333699e+01] [ 3.39567588e-01 9.40551681e-01 -7.50925313e-03 6.86754850e+00] [ 2.42182768e-02 -7.61992568e-04 9.99706404e-01 1.04031118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07361786499999 meters 0.01979445174748852 Centerline is valid? [True, True] Translation: X:62.56, Y:6.88, Z:1.04 [[ 9.40689096e-01 -3.38495055e-01 -2.29155493e-02 6.25610392e+01] [ 3.38413271e-01 9.40967893e-01 -7.47547529e-03 6.87690202e+00] [ 2.40932076e-02 -7.22827924e-04 9.99709455e-01 1.04102198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10361786499999 meters 0.01951640852301551 Centerline is valid? [True, True] Translation: X:62.59, Y:6.89, Z:1.04 [[ 9.41059296e-01 -3.37453244e-01 -2.30804936e-02 6.25878948e+01] [ 3.37369820e-01 9.41342034e-01 -7.53524939e-03 6.88638390e+00] [ 2.42694332e-02 -6.95545493e-04 9.99705212e-01 1.04152785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13361786499999 meters 0.018941984517936755 Centerline is valid? [True, True] Translation: X:62.61, Y:6.90, Z:1.04 [[ 9.42005505e-01 -3.34786615e-01 -2.33141748e-02 6.26142463e+01] [ 3.34700560e-01 9.42293758e-01 -7.61629122e-03 6.89629557e+00] [ 2.45186337e-02 -6.28679100e-04 9.99699175e-01 1.04232233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16361786499999 meters 0.018958698611418263 Centerline is valid? [True, True] Translation: X:62.64, Y:6.90, Z:1.04 [[ 9.42485860e-01 -3.33441328e-01 -2.31793974e-02 6.26406846e+01] [ 3.33355808e-01 9.42770669e-01 -7.57435958e-03 6.90488994e+00] [ 2.43784606e-02 -5.88259956e-04 9.99702628e-01 1.04263278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19361786499998 meters 0.0181601118421854 Centerline is valid? [True, True] Translation: X:62.67, Y:6.92, Z:1.04 [[ 9.43296765e-01 -3.31157275e-01 -2.29362839e-02 6.26674314e+01] [ 3.31072786e-01 9.43575428e-01 -7.49815814e-03 6.91512390e+00] [ 2.41251835e-02 -5.20591083e-04 9.99708810e-01 1.04369595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22361786499998 meters 0.01850365866052722 Centerline is valid? [True, True] Translation: X:62.69, Y:6.92, Z:1.04 [[ 9.43669546e-01 -3.30114666e-01 -2.26295312e-02 6.26944957e+01] [ 3.30032007e-01 9.43940716e-01 -7.40267599e-03 6.92281673e+00] [ 2.38046678e-02 -4.82789715e-04 9.99716512e-01 1.04419656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25361786499998 meters 0.017863561864966637 Centerline is valid? [True, True] Translation: X:62.72, Y:6.93, Z:1.05 [[ 9.43808669e-01 -3.29759855e-01 -2.19916647e-02 6.27213357e+01] [ 3.29681612e-01 9.44064738e-01 -7.19761370e-03 6.93238550e+00] [ 2.31350392e-02 -4.57077261e-04 9.99732245e-01 1.04534261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28361786499998 meters 0.018181122681547344 Centerline is valid? [True, True] Translation: X:62.75, Y:6.94, Z:1.05 [[ 9.43914815e-01 -3.29481130e-01 -2.16103373e-02 6.27482557e+01] [ 3.29405399e-01 9.44162059e-01 -7.07743087e-03 6.93973179e+00] [ 2.27355405e-02 -4.38069927e-04 9.99741418e-01 1.04586362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31361786499998 meters 0.0175156379377464 Centerline is valid? [True, True] Translation: X:62.77, Y:6.95, Z:1.05 [[ 9.43766497e-01 -3.29912149e-01 -2.15121700e-02 6.27746635e+01] [ 3.29837131e-01 9.44011535e-01 -7.04906791e-03 6.94815222e+00] [ 2.26333098e-02 -4.42838314e-04 9.99743736e-01 1.04695077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34361786499998 meters 0.017343634361397256 Centerline is valid? [True, True] Translation: X:62.80, Y:6.96, Z:1.05 [[ 9.43532591e-01 -3.30578280e-01 -2.15464707e-02 6.28024583e+01] [ 3.30503057e-01 9.43778467e-01 -7.06639419e-03 6.95684388e+00] [ 2.26710915e-02 -4.53801219e-04 9.99742875e-01 1.04761668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37361786499999 meters 0.018406701636503712 Centerline is valid? [True, True] Translation: X:62.83, Y:6.96, Z:1.05 [[ 9.42942184e-01 -3.32272256e-01 -2.13350972e-02 6.28304554e+01] [ 3.32198828e-01 9.43183393e-01 -7.00186433e-03 6.96210882e+00] [ 2.24494347e-02 -4.85141058e-04 9.99747862e-01 1.04721613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40361786499999 meters 0.01783014591366928 Centerline is valid? [True, True] Translation: X:62.86, Y:6.97, Z:1.05 [[ 9.42514376e-01 -3.33499543e-01 -2.10880425e-02 6.28578225e+01] [ 3.33428034e-01 9.42750126e-01 -6.92433492e-03 6.97136398e+00] [ 2.21900173e-02 -5.05059356e-04 9.99753644e-01 1.04836053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43361786499999 meters 0.019038713499260857 Centerline is valid? [True, True] Translation: X:62.89, Y:6.98, Z:1.05 [[ 9.42153230e-01 -3.34501958e-01 -2.13478385e-02 6.28850434e+01] [ 3.34428827e-01 9.42394906e-01 -7.01439212e-03 6.97623887e+00] [ 2.24644222e-02 -5.30700401e-04 9.99747502e-01 1.04836322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46361786499999 meters 0.019613541310450736 Centerline is valid? [True, True] Translation: X:62.91, Y:6.98, Z:1.05 [[ 9.41849074e-01 -3.35366900e-01 -2.11981997e-02 6.29120222e+01] [ 3.35294960e-01 9.42087440e-01 -6.96743629e-03 6.98210953e+00] [ 2.23072052e-02 -5.45376083e-04 9.99751015e-01 1.04907603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49361786499999 meters 0.021415816731558266 Centerline is valid? [True, True] Translation: X:62.94, Y:6.99, Z:1.05 [[ 9.41542744e-01 -3.36216150e-01 -2.13532485e-02 6.29396414e+01] [ 3.36143329e-01 9.41784677e-01 -7.02029622e-03 6.98596499e+00] [ 2.24704992e-02 -5.67843049e-04 9.99747345e-01 1.04898104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52361786499999 meters 0.019556588160622567 Centerline is valid? [True, True] Translation: X:62.97, Y:7.00, Z:1.05 [[ 9.40939757e-01 -3.37908581e-01 -2.12170703e-02 6.29667883e+01] [ 3.37837053e-01 9.41178744e-01 -6.97832022e-03 6.99523906e+00] [ 2.23270899e-02 -6.01733580e-04 9.99750538e-01 1.05008664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55361786499998 meters 0.020038127748397024 Centerline is valid? [True, True] Translation: X:62.99, Y:7.00, Z:1.05 [[ 9.40750081e-01 -3.38397101e-01 -2.18331791e-02 6.29936959e+01] [ 3.38321382e-01 9.41003193e-01 -7.18560966e-03 7.00205133e+00] [ 2.29766808e-02 -6.26768469e-04 9.99735805e-01 1.05011528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58361786499998 meters 0.020432266397774037 Centerline is valid? [True, True] Translation: X:63.02, Y:7.01, Z:1.05 [[ 9.40617408e-01 -3.38731698e-01 -2.23545969e-02 6.30204286e+01] [ 3.38652366e-01 9.40882786e-01 -7.35926112e-03 7.00912054e+00] [ 2.35258704e-02 -6.48188005e-04 9.99723018e-01 1.04965678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61361786499998 meters 0.01960089872169622 Centerline is valid? [True, True] Translation: X:63.05, Y:7.02, Z:1.05 [[ 9.40322772e-01 -3.39477548e-01 -2.34110948e-02 6.30482139e+01] [ 3.39390683e-01 9.40613901e-01 -7.71056542e-03 7.01787183e+00] [ 2.46383651e-02 -6.95087211e-04 9.99696188e-01 1.04934605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64361786499998 meters 0.020062134955411943 Centerline is valid? [True, True] Translation: X:63.08, Y:7.02, Z:1.05 [[ 9.40170226e-01 -3.39858060e-01 -2.40092832e-02 6.30759152e+01] [ 3.39766688e-01 9.40476466e-01 -7.91291356e-03 7.02393972e+00] [ 2.52694333e-02 -7.18068887e-04 9.99680419e-01 1.04970427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67361786499998 meters 0.01979975482342532 Centerline is valid? [True, True] Translation: X:63.10, Y:7.03, Z:1.05 [[ 9.39862390e-01 -3.40744460e-01 -2.34925595e-02 6.31037417e+01] [ 3.40657153e-01 9.40155674e-01 -7.74679474e-03 7.03130968e+00] [ 2.47263405e-02 -7.21987415e-04 9.99693997e-01 1.05080081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70361786499998 meters 0.01947642325349231 Centerline is valid? [True, True] Translation: X:63.13, Y:7.04, Z:1.05 [[ 9.39428752e-01 -3.41958696e-01 -2.31920338e-02 6.31327643e+01] [ 3.41873829e-01 9.39714693e-01 -7.65375998e-03 7.03692106e+00] [ 2.44111647e-02 -7.38587229e-04 9.99701730e-01 1.05255060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73361786499999 meters 0.020509529407536503 Centerline is valid? [True, True] Translation: X:63.16, Y:7.04, Z:1.05 [[ 9.39223444e-01 -3.42542161e-01 -2.28952020e-02 6.31601265e+01] [ 3.42459510e-01 9.39502167e-01 -7.56061565e-03 7.04218188e+00] [ 2.40999215e-02 -7.39572206e-04 9.99709281e-01 1.05298617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76361786499999 meters 0.02095164027571207 Centerline is valid? [True, True] Translation: X:63.19, Y:7.05, Z:1.05 [[ 9.39133787e-01 -3.42818733e-01 -2.24286870e-02 6.31869439e+01] [ 3.42739440e-01 9.39401291e-01 -7.40888386e-03 7.04844510e+00] [ 2.36094417e-02 -7.29262464e-04 9.99720992e-01 1.05329064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79361786499999 meters 0.021181879053342796 Centerline is valid? [True, True] Translation: X:63.21, Y:7.05, Z:1.05 [[ 9.39353009e-01 -3.42265788e-01 -2.16807339e-02 6.32146927e+01] [ 3.42191492e-01 9.39602924e-01 -7.16430340e-03 7.05406148e+00] [ 2.28233769e-02 -6.89152735e-04 9.99739275e-01 1.05368374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82361786499999 meters 0.020689165622927944 Centerline is valid? [True, True] Translation: X:63.24, Y:7.06, Z:1.05 [[ 9.39510670e-01 -3.41845042e-01 -2.14864623e-02 6.32418223e+01] [ 3.41771895e-01 9.39756095e-01 -7.10302285e-03 7.06281262e+00] [ 2.26201671e-02 -6.70103192e-04 9.99743907e-01 1.05442360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85361786499999 meters 0.019156313946543387 Centerline is valid? [True, True] Translation: X:63.27, Y:7.07, Z:1.06 [[ 9.40097054e-01 -3.40291919e-01 -2.04680013e-02 6.32686507e+01] [ 3.40225066e-01 9.40319654e-01 -6.77142697e-03 7.07480528e+00] [ 2.15507258e-02 -5.97928539e-04 9.99767577e-01 1.05630710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88361786499999 meters 0.01853062907783259 Centerline is valid? [True, True] Translation: X:63.30, Y:7.08, Z:1.06 [[ 9.41476751e-01 -3.36467168e-01 -2.02822936e-02 6.32954279e+01] [ 3.36400540e-01 9.41695064e-01 -6.71442052e-03 7.08447306e+00] [ 2.13589178e-02 -5.01503692e-04 9.99771747e-01 1.05668122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91361786499998 meters 0.018411402691885476 Centerline is valid? [True, True] Translation: X:63.32, Y:7.09, Z:1.06 [[ 9.41787233e-01 -3.35571658e-01 -2.06995144e-02 6.33232263e+01] [ 3.35501988e-01 9.42014556e-01 -6.85506529e-03 7.09291146e+00] [ 2.17996095e-02 -4.88715270e-04 9.99762241e-01 1.05689280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94361786499998 meters 0.018682405317600858 Centerline is valid? [True, True] Translation: X:63.35, Y:7.10, Z:1.06 [[ 9.42484764e-01 -3.33630498e-01 -2.03263413e-02 6.33500056e+01] [ 3.33562772e-01 9.42703827e-01 -6.73590224e-03 7.10167982e+00] [ 2.14090221e-02 -4.31625492e-04 9.99770707e-01 1.05749308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97361786499998 meters 0.0172281635098839 Centerline is valid? [True, True] Translation: X:63.38, Y:7.11, Z:1.06 [[ 9.43200735e-01 -3.31629208e-01 -1.98605462e-02 6.33765949e+01] [ 3.31564054e-01 9.43409735e-01 -6.58407707e-03 7.11442848e+00] [ 2.09201049e-02 -3.74936877e-04 9.99781080e-01 1.05865339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00361786499998 meters 0.01695038982186757 Centerline is valid? [True, True] Translation: X:63.40, Y:7.12, Z:1.06 [[ 9.43487495e-01 -3.30842222e-01 -1.93590133e-02 6.34041218e+01] [ 3.30780050e-01 9.43686021e-01 -6.42280718e-03 7.12462778e+00] [ 2.03937660e-02 -3.43737121e-04 9.99791966e-01 1.05919907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03361786499998 meters 0.016860091485295135 Centerline is valid? [True, True] Translation: X:63.43, Y:7.13, Z:1.06 [[ 9.43431145e-01 -3.31019977e-01 -1.90643784e-02 6.34304658e+01] [ 3.30959617e-01 9.43623686e-01 -6.33016005e-03 7.13396834e+00] [ 2.00850085e-02 -3.37469231e-04 9.99798219e-01 1.05972302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06361786499998 meters 0.017410559851160242 Centerline is valid? [True, True] Translation: X:63.46, Y:7.14, Z:1.06 [[ 9.43300098e-01 -3.31404549e-01 -1.88666362e-02 6.34568899e+01] [ 3.31345413e-01 9.43488692e-01 -6.26946984e-03 7.14125951e+00] [ 1.98781887e-02 -3.37381840e-04 9.99802352e-01 1.05977622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09361786499998 meters 0.017270580569587586 Centerline is valid? [True, True] Translation: X:63.48, Y:7.15, Z:1.06 [[ 9.42594644e-01 -3.33404955e-01 -1.88805007e-02 6.34842050e+01] [ 3.33346087e-01 9.42783641e-01 -6.27640687e-03 7.15117862e+00] [ 1.98928124e-02 -3.77633535e-04 9.99802047e-01 1.06070725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12361786499999 meters 0.017595466777050144 Centerline is valid? [True, True] Translation: X:63.51, Y:7.16, Z:1.06 [[ 9.42115857e-01 -3.34751935e-01 -1.89434163e-02 6.35106343e+01] [ 3.34692854e-01 9.42306203e-01 -6.30190468e-03 7.15920515e+00] [ 1.99600734e-02 -4.03101730e-04 9.99800697e-01 1.06141347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15361786499999 meters 0.017930428762167484 Centerline is valid? [True, True] Translation: X:63.54, Y:7.17, Z:1.06 [[ 9.41548215e-01 -3.36371693e-01 -1.84673234e-02 6.35381104e+01] [ 3.36315800e-01 9.41729210e-01 -6.14639296e-03 7.16812681e+00] [ 1.94586904e-02 -4.23727310e-04 9.99810572e-01 1.06195320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18361786499999 meters 0.018847336883883528 Centerline is valid? [True, True] Translation: X:63.56, Y:7.18, Z:1.06 [[ 9.40611366e-01 -3.38976940e-01 -1.85712664e-02 6.35641665e+01] [ 3.38920835e-01 9.40794562e-01 -6.18548081e-03 7.17708298e+00] [ 1.95684818e-02 -4.76055561e-04 9.99808406e-01 1.06239867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21361786499999 meters 0.01934300662490591 Centerline is valid? [True, True] Translation: X:63.59, Y:7.19, Z:1.06 [[ 9.40106605e-01 -3.40378733e-01 -1.84902548e-02 6.35906841e+01] [ 3.40323340e-01 9.40288290e-01 -6.16091535e-03 7.18588228e+00] [ 1.94832146e-02 -5.00748040e-04 9.99810059e-01 1.06247101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24361786499999 meters 0.019837490074041193 Centerline is valid? [True, True] Translation: X:63.62, Y:7.19, Z:1.06 [[ 9.39607013e-01 -3.41730464e-01 -1.89460098e-02 6.36177021e+01] [ 3.41672546e-01 9.39797850e-01 -6.31453047e-03 7.19443774e+00] [ 1.99632867e-02 -5.40154305e-04 9.99800568e-01 1.06233693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27361786499999 meters 0.019989160104166997 Centerline is valid? [True, True] Translation: X:63.65, Y:7.20, Z:1.06 [[ 9.38483086e-01 -3.44739676e-01 -2.01010478e-02 6.36453703e+01] [ 3.44675132e-01 9.38698113e-01 -6.70124579e-03 7.20336877e+00] [ 2.11790010e-02 -6.39325482e-04 9.99775495e-01 1.06238407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30361786499998 meters 0.020011167297238872 Centerline is valid? [True, True] Translation: X:63.67, Y:7.21, Z:1.06 [[ 9.37712896e-01 -3.46786765e-01 -2.08197856e-02 6.36728976e+01] [ 3.46717975e-01 9.37943729e-01 -6.94314513e-03 7.21243066e+00] [ 2.19355781e-02 -7.07917163e-04 9.99759136e-01 1.06276198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33361786499998 meters 0.021035828600449603 Centerline is valid? [True, True] Translation: X:63.70, Y:7.22, Z:1.06 [[ 9.37074440e-01 -3.48489479e-01 -2.11323376e-02 6.36993874e+01] [ 3.48418934e-01 9.37312388e-01 -7.05217268e-03 7.21936988e+00] [ 2.22652098e-02 -7.54495757e-04 9.99751815e-01 1.06261084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36361786499998 meters 0.021993564435238033 Centerline is valid? [True, True] Translation: X:63.73, Y:7.23, Z:1.06 [[ 9.36482963e-01 -3.50059478e-01 -2.14014545e-02 6.37262028e+01] [ 3.49987481e-01 9.36727133e-01 -7.14428622e-03 7.22672088e+00] [ 2.25482482e-02 -7.99738835e-04 9.99745436e-01 1.06261239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39361786499998 meters 0.021752672626292855 Centerline is valid? [True, True] Translation: X:63.75, Y:7.24, Z:1.06 [[ 9.35526173e-01 -3.52577604e-01 -2.19046271e-02 6.37540524e+01] [ 3.52502809e-01 9.35782166e-01 -7.31486009e-03 7.23734223e+00] [ 2.30770152e-02 -8.78199514e-04 9.99733305e-01 1.06271218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42361786499998 meters 0.02199409445159633 Centerline is valid? [True, True] Translation: X:63.78, Y:7.25, Z:1.06 [[ 9.35130195e-01 -3.53618822e-01 -2.20283194e-02 6.37808195e+01] [ 3.53543382e-01 9.35389175e-01 -7.35987790e-03 7.24682221e+00] [ 2.32076428e-02 -9.05522478e-04 9.99730256e-01 1.06319706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45361786499998 meters 0.02405876308425461 Centerline is valid? [True, True] Translation: X:63.81, Y:7.25, Z:1.06 [[ 9.34979663e-01 -3.54039523e-01 -2.16574930e-02 6.38081452e+01] [ 3.53966653e-01 9.35230030e-01 -7.23869353e-03 7.25297066e+00] [ 2.28175215e-02 -8.97999084e-04 9.99739243e-01 1.06355603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48361786499999 meters 0.02289918232720814 Centerline is valid? [True, True] Translation: X:63.83, Y:7.26, Z:1.06 [[ 9.34713446e-01 -3.54770073e-01 -2.11888785e-02 6.38349520e+01] [ 3.54700446e-01 9.34953152e-01 -7.08493590e-03 7.26437567e+00] [ 2.23241320e-02 -8.93319808e-04 9.99750386e-01 1.06483436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51361786499999 meters 0.02368033245201767 Centerline is valid? [True, True] Translation: X:63.86, Y:7.27, Z:1.07 [[ 9.34463656e-01 -3.55454756e-01 -2.07265890e-02 6.38610201e+01] [ 3.55388198e-01 9.34693069e-01 -6.93512829e-03 7.27276483e+00] [ 2.18381235e-02 -8.85359788e-04 9.99761128e-01 1.06604544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54361786499999 meters 0.022421152473081043 Centerline is valid? [True, True] Translation: X:63.89, Y:7.28, Z:1.07 [[ 9.34427426e-01 -3.55573555e-01 -2.03182964e-02 6.38864825e+01] [ 3.55509539e-01 9.34647899e-01 -6.80238783e-03 7.28407224e+00] [ 2.14092023e-02 -8.67010442e-04 9.99770421e-01 1.06701531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57361786499999 meters 0.022842677019650395 Centerline is valid? [True, True] Translation: X:63.91, Y:7.29, Z:1.07 [[ 9.34486596e-01 -3.55447099e-01 -1.98030733e-02 6.39132351e+01] [ 3.55386157e-01 9.34696025e-01 -6.63480523e-03 7.29324867e+00] [ 2.08681761e-02 -8.37601556e-04 9.99781885e-01 1.06773866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60361786499999 meters 0.022939505489090607 Centerline is valid? [True, True] Translation: X:63.94, Y:7.30, Z:1.07 [[ 9.34944178e-01 -3.54298713e-01 -1.87564836e-02 6.39393495e+01] [ 3.54243777e-01 9.35131987e-01 -6.28594615e-03 7.30408017e+00] [ 1.97668904e-02 -7.67358847e-04 9.99804321e-01 1.06888205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63361786499999 meters 0.022725159151281822 Centerline is valid? [True, True] Translation: X:63.97, Y:7.31, Z:1.07 [[ 9.35295559e-01 -3.53388273e-01 -1.84104873e-02 6.39665476e+01] [ 3.53335116e-01 9.35476452e-01 -6.17276706e-03 7.31496807e+00] [ 1.94039609e-02 -7.31710057e-04 9.99811458e-01 1.06935312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66361786499998 meters 0.022725159151281822 Centerline is valid? [True, True] Translation: X:63.99, Y:7.32, Z:1.07 [[ 9.35203263e-01 -3.53632528e-01 -1.84090461e-02 6.39926888e+01] [ 3.53579333e-01 9.35384145e-01 -6.17706245e-03 7.32382285e+00] [ 1.94039401e-02 -7.32249284e-04 9.99811458e-01 1.06980449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69361786499998 meters 0.02147768285804656 Centerline is valid? [True, True] Translation: X:64.02, Y:7.34, Z:1.07 [[ 9.36185033e-01 -3.50997998e-01 -1.89205927e-02 6.40187252e+01] [ 3.50941170e-01 9.36375954e-01 -6.35359969e-03 7.33728019e+00] [ 1.99468888e-02 -6.91870019e-04 9.99800802e-01 1.07018990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72361786499998 meters 0.019344220357553548 Centerline is valid? [True, True] Translation: X:64.04, Y:7.35, Z:1.07 [[ 9.36696803e-01 -3.49630680e-01 -1.89073302e-02 6.40441914e+01] [ 3.49573613e-01 9.36887374e-01 -6.35117783e-03 7.35114334e+00] [ 1.99346056e-02 -6.60375780e-04 9.99801068e-01 1.07096376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75361786499998 meters 0.021390404045867215 Centerline is valid? [True, True] Translation: X:64.07, Y:7.36, Z:1.07 [[ 9.37209848e-01 -3.48253335e-01 -1.89027983e-02 6.40717882e+01] [ 3.48195915e-01 9.37400247e-01 -6.35469300e-03 7.35831513e+00] [ 1.99325308e-02 -6.26196283e-04 9.99801131e-01 1.07056646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78361786499998 meters 0.020812791511777947 Centerline is valid? [True, True] Translation: X:64.10, Y:7.37, Z:1.07 [[ 9.38039031e-01 -3.46033472e-01 -1.85367785e-02 6.40973601e+01] [ 3.45977737e-01 9.38221999e-01 -6.23594307e-03 7.37033511e+00] [ 1.95494584e-02 -5.63754663e-04 9.99808732e-01 1.07146736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81361786499998 meters 0.01859039795945708 Centerline is valid? [True, True] Translation: X:64.12, Y:7.38, Z:1.07 [[ 9.38017247e-01 -3.46099583e-01 -1.84044040e-02 6.41227833e+01] [ 3.46044611e-01 9.38197616e-01 -6.19363334e-03 7.38420385e+00] [ 1.94105819e-02 -5.59009928e-04 9.99811441e-01 1.07242061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84361786499998 meters 0.0191588076013499 Centerline is valid? [True, True] Translation: X:64.15, Y:7.39, Z:1.07 [[ 9.38002637e-01 -3.46163320e-01 -1.79446347e-02 6.41484038e+01] [ 3.46110979e-01 9.38174111e-01 -6.04379298e-03 7.39278308e+00] [ 1.89273312e-02 -5.41741353e-04 9.99820715e-01 1.07265330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87361786499999 meters 0.018756161132044667 Centerline is valid? [True, True] Translation: X:64.18, Y:7.40, Z:1.07 [[ 9.37734292e-01 -3.46853940e-01 -1.86210230e-02 6.41757576e+01] [ 3.46797658e-01 9.37918981e-01 -6.27452112e-03 7.40352200e+00] [ 1.96413533e-02 -5.73893539e-04 9.99806925e-01 1.07316050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90361786499999 meters 0.020129866862024323 Centerline is valid? [True, True] Translation: X:64.20, Y:7.41, Z:1.07 [[ 9.36789931e-01 -3.49358782e-01 -1.93149275e-02 6.42031975e+01] [ 3.49298665e-01 9.36988807e-01 -6.51288122e-03 7.41121770e+00] [ 2.03732031e-02 -6.45476850e-04 9.99792236e-01 1.07283101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93361786499999 meters 0.020678516417733075 Centerline is valid? [True, True] Translation: X:64.23, Y:7.42, Z:1.07 [[ 9.36046787e-01 -3.51366391e-01 -1.89227901e-02 6.42307458e+01] [ 3.51309059e-01 9.36237794e-01 -6.38270911e-03 7.42008588e+00] [ 1.99589007e-02 -6.73233219e-04 9.99800575e-01 1.07299215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96361786499999 meters 0.021593804392625957 Centerline is valid? [True, True] Translation: X:64.26, Y:7.43, Z:1.07 [[ 9.35237263e-01 -3.53518373e-01 -1.88685351e-02 6.42586462e+01] [ 3.53461710e-01 9.35427310e-01 -6.36926149e-03 7.42866947e+00] [ 1.99017940e-02 -7.12533979e-04 9.99801686e-01 1.07369167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99361786499999 meters 0.02063651079014448 Centerline is valid? [True, True] Translation: X:64.29, Y:7.44, Z:1.07 [[ 9.34470966e-01 -3.55540398e-01 -1.88424844e-02 6.42852731e+01] [ 3.55484205e-01 9.34660614e-01 -6.36534738e-03 7.44010285e+00] [ 1.98744662e-02 -7.49973281e-04 9.99802202e-01 1.07453926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02361786499999 meters 0.022901901088493465 Centerline is valid? [True, True] Translation: X:64.31, Y:7.45, Z:1.08 [[ 9.33232435e-01 -3.58820967e-01 -1.80204440e-02 6.43128935e+01] [ 3.58770100e-01 9.33406077e-01 -6.09184264e-03 7.44664649e+00] [ 1.90062728e-02 -7.80091360e-04 9.99819060e-01 1.07555631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05361786499998 meters 0.022622285819796858 Centerline is valid? [True, True] Translation: X:64.34, Y:7.46, Z:1.08 [[ 9.32684146e-01 -3.60263513e-01 -1.76205746e-02 6.43402538e+01] [ 3.60215100e-01 9.32850244e-01 -5.95856448e-03 7.45702233e+00] [ 1.85840107e-02 -7.89738434e-04 9.99826990e-01 1.07664359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08361786499998 meters 0.024444822350596494 Centerline is valid? [True, True] Translation: X:64.37, Y:7.46, Z:1.08 [[ 9.32084857e-01 -3.61852809e-01 -1.67440887e-02 6.43668794e+01] [ 3.61809278e-01 9.32234917e-01 -5.66614556e-03 7.46494458e+00] [ 1.76597348e-02 -7.76838175e-04 9.99843753e-01 1.07762328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11361786499998 meters 0.024000930154042217 Centerline is valid? [True, True] Translation: X:64.39, Y:7.48, Z:1.08 [[ 9.31801972e-01 -3.62583706e-01 -1.66775611e-02 6.43934613e+01] [ 3.62540607e-01 9.31950878e-01 -5.64535927e-03 7.47603744e+00] [ 1.75895830e-02 -7.85936229e-04 9.99844982e-01 1.07807859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14361786499998 meters 0.02520409481635768 Centerline is valid? [True, True] Translation: X:64.42, Y:7.48, Z:1.08 [[ 9.31685107e-01 -3.62886457e-01 -1.66217028e-02 6.44194305e+01] [ 3.62843622e-01 9.31833034e-01 -5.63056263e-03 7.48469330e+00] [ 1.75319067e-02 -7.85167511e-04 9.99845996e-01 1.07832613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17361786499998 meters 0.024885708329830402 Centerline is valid? [True, True] Translation: X:64.45, Y:7.50, Z:1.08 [[ 9.31783519e-01 -3.62638590e-01 -1.65144431e-02 6.44454940e+01] [ 3.62596233e-01 9.31929533e-01 -5.59616817e-03 7.49681423e+00] [ 1.74196838e-02 -7.73657592e-04 9.99847966e-01 1.07858449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20361786499998 meters 0.025137907603905517 Centerline is valid? [True, True] Translation: X:64.47, Y:7.51, Z:1.08 [[ 9.31819321e-01 -3.62533833e-01 -1.67920557e-02 6.44726756e+01] [ 3.62489947e-01 9.31970284e-01 -5.69456289e-03 7.50701774e+00] [ 1.77141686e-02 -7.80647642e-04 9.99842787e-01 1.07874033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23361786499999 meters 0.02271021571988295 Centerline is valid? [True, True] Translation: X:64.50, Y:7.52, Z:1.08 [[ 9.31986599e-01 -3.62095637e-01 -1.69625733e-02 6.44987222e+01] [ 3.62050705e-01 9.32140626e-01 -5.75671952e-03 7.52127926e+00] [ 1.78959867e-02 -7.76126187e-04 9.99839553e-01 1.07897176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26361786499999 meters 0.020852537417278737 Centerline is valid? [True, True] Translation: X:64.52, Y:7.53, Z:1.08 [[ 9.32097922e-01 -3.61790468e-01 -1.73528229e-02 6.45241443e+01] [ 3.61743306e-01 9.32259107e-01 -5.89381999e-03 7.53488300e+00] [ 1.83096551e-02 -7.83650149e-04 9.99832057e-01 1.07961758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29361786499999 meters 0.022408816374762205 Centerline is valid? [True, True] Translation: X:64.55, Y:7.55, Z:1.08 [[ 9.32659494e-01 -3.60349277e-01 -1.71658443e-02 6.45506194e+01] [ 3.60302800e-01 9.32817156e-01 -5.83490542e-03 7.54551787e+00] [ 1.81151980e-02 -7.42921804e-04 9.99835630e-01 1.07943802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32361786499999 meters 0.021410964821386814 Centerline is valid? [True, True] Translation: X:64.58, Y:7.56, Z:1.08 [[ 9.33198776e-01 -3.58961369e-01 -1.69345770e-02 6.45769343e+01] [ 3.58915829e-01 9.33352154e-01 -5.76065133e-03 7.55806714e+00] [ 1.78737752e-02 -7.02254967e-04 9.99840005e-01 1.08005639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35361786499999 meters 0.020101462039815044 Centerline is valid? [True, True] Translation: X:64.60, Y:7.57, Z:1.08 [[ 9.33968589e-01 -3.56967392e-01 -1.66419797e-02 6.46028833e+01] [ 3.56923024e-01 9.34116620e-01 -5.66521176e-03 7.57117055e+00] [ 1.75678457e-02 -6.48775870e-04 9.99845463e-01 1.08079835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38361786499999 meters 0.019174329221803014 Centerline is valid? [True, True] Translation: X:64.63, Y:7.58, Z:1.08 [[ 9.35761148e-01 -3.52244184e-01 -1.65864001e-02 6.46283276e+01] [ 3.52199348e-01 9.35907968e-01 -5.64754283e-03 7.58467797e+00] [ 1.75126581e-02 -5.56968116e-04 9.99846487e-01 1.08206889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41361786499998 meters 0.018443008048940633 Centerline is valid? [True, True] Translation: X:64.66, Y:7.60, Z:1.08 [[ 9.36653690e-01 -3.49864013e-01 -1.65842303e-02 6.46550092e+01] [ 3.49818793e-01 9.36800358e-01 -5.64811810e-03 7.59704377e+00] [ 1.75121861e-02 -5.11144755e-04 9.99846519e-01 1.08263731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44361786499998 meters 0.017604012522812622 Centerline is valid? [True, True] Translation: X:64.68, Y:7.61, Z:1.08 [[ 9.37531011e-01 -3.47502557e-01 -1.66606451e-02 6.46816673e+01] [ 3.47456473e-01 9.37678920e-01 -5.67826097e-03 7.61004631e+00] [ 1.75955459e-02 -4.65303252e-04 9.99845078e-01 1.08307628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47361786499998 meters 0.01741104059705495 Centerline is valid? [True, True] Translation: X:64.71, Y:7.62, Z:1.08 [[ 9.38272304e-01 -3.45504573e-01 -1.64825062e-02 6.47070159e+01] [ 3.45459093e-01 9.38416972e-01 -5.62144223e-03 7.62157958e+00] [ 1.74096976e-02 -4.19588105e-04 9.99848352e-01 1.08334199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50361786499998 meters 0.01695708741699333 Centerline is valid? [True, True] Translation: X:64.73, Y:7.64, Z:1.08 [[ 9.39208531e-01 -3.42951251e-01 -1.64856182e-02 6.47321442e+01] [ 3.42905331e-01 9.39353130e-01 -5.62422237e-03 7.63541079e+00] [ 1.74146512e-02 -3.70688743e-04 9.99848285e-01 1.08399758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53361786499998 meters 0.017050781328531564 Centerline is valid? [True, True] Translation: X:64.76, Y:7.65, Z:1.08 [[ 9.39375908e-01 -3.42503747e-01 -1.62507223e-02 6.47579546e+01] [ 3.42458990e-01 9.39516396e-01 -5.54815155e-03 7.64557572e+00] [ 1.71680827e-02 -3.53406026e-04 9.99852555e-01 1.08489925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56361786499998 meters 0.016339997359762295 Centerline is valid? [True, True] Translation: X:64.78, Y:7.66, Z:1.09 [[ 9.39341446e-01 -3.42628433e-01 -1.56014216e-02 6.47837130e+01] [ 3.42587176e-01 9.39470937e-01 -5.32787072e-03 7.65737620e+00] [ 1.64825622e-02 -3.40157176e-04 9.99864095e-01 1.08594498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59361786499998 meters 0.01645665318529264 Centerline is valid? [True, True] Translation: X:64.81, Y:7.67, Z:1.09 [[ 9.38667236e-01 -3.44492757e-01 -1.51182373e-02 6.48101653e+01] [ 3.44454184e-01 9.38788907e-01 -5.16741746e-03 7.66739686e+00] [ 1.59729714e-02 -3.57054631e-04 9.99872360e-01 1.08758086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62361786499999 meters 0.017400859554232675 Centerline is valid? [True, True] Translation: X:64.84, Y:7.67, Z:1.09 [[ 9.38115160e-01 -3.45993853e-01 -1.51063138e-02 6.48370063e+01] [ 3.45955512e-01 9.38236702e-01 -5.16477950e-03 7.67483081e+00] [ 1.59602800e-02 -3.80954583e-04 9.99872554e-01 1.08819615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65361786499999 meters 0.01755307097542314 Centerline is valid? [True, True] Translation: X:64.86, Y:7.68, Z:1.09 [[ 9.37468524e-01 -3.47734276e-01 -1.52852932e-02 6.48638030e+01] [ 3.47695216e-01 9.37593037e-01 -5.22819990e-03 7.68418346e+00] [ 1.61494088e-02 -4.13350475e-04 9.99869504e-01 1.08879031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68361786499999 meters 0.018605467467599144 Centerline is valid? [True, True] Translation: X:64.89, Y:7.69, Z:1.09 [[ 9.36007796e-01 -3.51609811e-01 -1.61228384e-02 6.48921674e+01] [ 3.51566900e-01 9.36146509e-01 -5.51625020e-03 7.69310531e+00] [ 1.70329066e-02 -5.05003142e-04 9.99854802e-01 1.08877699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71361786499999 meters 0.019079559280372898 Centerline is valid? [True, True] Translation: X:64.92, Y:7.70, Z:1.09 [[ 9.35214951e-01 -3.53696004e-01 -1.64964112e-02 6.49194054e+01] [ 3.53651390e-01 9.35360267e-01 -5.64492432e-03 7.70236935e+00] [ 1.74266747e-02 -5.54761125e-04 9.99847990e-01 1.08932448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74361786499999 meters 0.020489362550741057 Centerline is valid? [True, True] Translation: X:64.95, Y:7.71, Z:1.09 [[ 9.34476378e-01 -3.55637122e-01 -1.66173415e-02 6.49463731e+01] [ 3.55592084e-01 9.34623928e-01 -5.69056407e-03 7.70965670e+00] [ 1.75547408e-02 -5.91297378e-04 9.99845729e-01 1.08981277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77361786499999 meters 0.02069158403616061 Centerline is valid? [True, True] Translation: X:64.97, Y:7.72, Z:1.09 [[ 9.33765080e-01 -3.57479532e-01 -1.70634117e-02 6.49737906e+01] [ 3.57432315e-01 9.33920753e-01 -5.84522188e-03 7.71959493e+00] [ 1.80254215e-02 -6.40950678e-04 9.99837323e-01 1.09077318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80361786499998 meters 0.02107190689068939 Centerline is valid? [True, True] Translation: X:65.00, Y:7.73, Z:1.09 [[ 9.32924182e-01 -3.59650405e-01 -1.74372082e-02 6.50013744e+01] [ 3.59601397e-01 9.33086869e-01 -5.97752200e-03 7.72950831e+00] [ 1.84202482e-02 -6.93869599e-04 9.99830092e-01 1.09117534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83361786499998 meters 0.02177632976108984 Centerline is valid? [True, True] Translation: X:65.03, Y:7.74, Z:1.09 [[ 9.32629732e-01 -3.60402711e-01 -1.76541157e-02 6.50280601e+01] [ 3.60352590e-01 9.32796533e-01 -6.05295982e-03 7.73816845e+00] [ 1.86492011e-02 -7.16536026e-04 9.99825832e-01 1.09178322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86361786499998 meters 0.022083914562539136 Centerline is valid? [True, True] Translation: X:65.06, Y:7.75, Z:1.09 [[ 9.32317174e-01 -3.61193765e-01 -1.79930808e-02 6.50554461e+01] [ 3.61141808e-01 9.32490488e-01 -6.17129003e-03 7.74793617e+00] [ 1.90074081e-02 -7.44454033e-04 9.99819066e-01 1.09214984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89361786499998 meters 0.020584357810636417 Centerline is valid? [True, True] Translation: X:65.08, Y:7.76, Z:1.09 [[ 9.32200215e-01 -3.61438595e-01 -1.91023735e-02 6.50803827e+01] [ 3.61379976e-01 9.32395580e-01 -6.55712875e-03 7.76062140e+00] [ 2.01809680e-02 -7.90658441e-04 9.99796031e-01 1.09203612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92361786499998 meters 0.020897088527574537 Centerline is valid? [True, True] Translation: X:65.11, Y:7.77, Z:1.09 [[ 9.32231700e-01 -3.61314383e-01 -1.98990766e-02 6.51080684e+01] [ 3.61250615e-01 9.32443699e-01 -6.83673606e-03 7.77006394e+00] [ 2.10249797e-02 -8.15131582e-04 9.99778618e-01 1.09210028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95361786499998 meters 0.020589117086251933 Centerline is valid? [True, True] Translation: X:65.13, Y:7.78, Z:1.09 [[ 9.32313425e-01 -3.61065757e-01 -2.05717392e-02 6.51346310e+01] [ 3.60997422e-01 9.32539987e-01 -7.07347109e-03 7.78030538e+00] [ 2.17379576e-02 -8.31652768e-04 9.99763357e-01 1.09214184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98361786499999 meters 0.02102672202855656 Centerline is valid? [True, True] Translation: X:65.16, Y:7.79, Z:1.09 [[ 9.32966630e-01 -3.59320858e-01 -2.14892503e-02 6.51603861e+01] [ 3.59245717e-01 9.33213719e-01 -7.39385337e-03 7.79017353e+00] [ 2.27108290e-02 -8.21702674e-04 9.99741738e-01 1.09203516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01361786499999 meters 0.019149934263423006 Centerline is valid? [True, True] Translation: X:65.19, Y:7.80, Z:1.09 [[ 9.33315520e-01 -3.58394478e-01 -2.18068238e-02 6.51863309e+01] [ 3.58316772e-01 9.33569893e-01 -7.50633743e-03 7.80335584e+00] [ 2.30484241e-02 -8.07969505e-04 9.99734023e-01 1.09265927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04361786499999 meters 0.019019641726437674 Centerline is valid? [True, True] Translation: X:65.21, Y:7.81, Z:1.09 [[ 9.33749543e-01 -3.57249907e-01 -2.20067009e-02 6.52135666e+01] [ 3.57170312e-01 9.34008508e-01 -7.58120038e-03 7.81341199e+00] [ 2.32628290e-02 -7.81197837e-04 9.99729079e-01 1.09282615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07361786499999 meters 0.018253294338104995 Centerline is valid? [True, True] Translation: X:65.24, Y:7.82, Z:1.09 [[ 9.34629521e-01 -3.54925182e-01 -2.22659997e-02 6.52407315e+01] [ 3.54842899e-01 9.34894426e-01 -7.67653136e-03 7.82496513e+00] [ 2.35409533e-02 -7.26219066e-04 9.99722610e-01 1.09385347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10361786499999 meters 0.018927772817974465 Centerline is valid? [True, True] Translation: X:65.27, Y:7.83, Z:1.09 [[ 9.35125709e-01 -3.53629012e-01 -2.20551581e-02 6.52675467e+01] [ 3.53547813e-01 9.35385512e-01 -7.60839848e-03 7.83358304e+00] [ 2.33206258e-02 -6.82743907e-04 9.99727804e-01 1.09435118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13361786499999 meters 0.018810954053221553 Centerline is valid? [True, True] Translation: X:65.29, Y:7.84, Z:1.10 [[ 9.35480023e-01 -3.52701801e-01 -2.18761360e-02 6.52945243e+01] [ 3.52621589e-01 9.35735548e-01 -7.54982977e-03 7.84351611e+00] [ 2.31331167e-02 -6.51282902e-04 9.99732182e-01 1.09502955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16361786499998 meters 0.018915142705882373 Centerline is valid? [True, True] Translation: X:65.32, Y:7.85, Z:1.10 [[ 9.36347337e-01 -3.50412577e-01 -2.15566720e-02 6.53211910e+01] [ 3.50333978e-01 9.36595263e-01 -7.44420409e-03 7.85242819e+00] [ 2.27984197e-02 -5.81674001e-04 9.99739913e-01 1.09611174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19361786499998 meters 0.018163401149515097 Centerline is valid? [True, True] Translation: X:65.35, Y:7.86, Z:1.10 [[ 9.36599600e-01 -3.49745492e-01 -2.14308371e-02 6.53483998e+01] [ 3.49667568e-01 9.36844586e-01 -7.40366003e-03 7.86361781e+00] [ 2.26667605e-02 -5.59403679e-04 9.99742919e-01 1.09708002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22361786499998 meters 0.01774746394643791 Centerline is valid? [True, True] Translation: X:65.38, Y:7.87, Z:1.10 [[ 9.36762496e-01 -3.49303400e-01 -2.15211749e-02 6.53757501e+01] [ 3.49224577e-01 9.37009518e-01 -7.44032161e-03 7.87428421e+00] [ 2.27644754e-02 -5.45908966e-04 9.99740707e-01 1.09760001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25361786499998 meters 0.01794182325834028 Centerline is valid? [True, True] Translation: X:65.40, Y:7.88, Z:1.10 [[ 9.37361335e-01 -3.47669431e-01 -2.19019420e-02 6.54023808e+01] [ 3.47587236e-01 9.37617036e-01 -7.57679892e-03 7.88265541e+00] [ 2.31698553e-02 -5.10637125e-04 9.99731412e-01 1.09774150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28361786499998 meters 0.018041742352246856 Centerline is valid? [True, True] Translation: X:65.43, Y:7.89, Z:1.10 [[ 9.37541113e-01 -3.47198267e-01 -2.16800285e-02 6.54294504e+01] [ 3.47117533e-01 9.37791620e-01 -7.50308542e-03 7.89116275e+00] [ 2.29364073e-02 -4.91066957e-04 9.99736805e-01 1.09824436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31361786499998 meters 0.01767671868603009 Centerline is valid? [True, True] Translation: X:65.46, Y:7.90, Z:1.10 [[ 9.37611456e-01 -3.47005952e-01 -2.17169747e-02 6.54559552e+01] [ 3.46924755e-01 9.37862803e-01 -7.52175134e-03 7.90087440e+00] [ 2.29776353e-02 -4.81675910e-04 9.99735863e-01 1.09915219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34361786499998 meters 0.017856579261299105 Centerline is valid? [True, True] Translation: X:65.48, Y:7.91, Z:1.10 [[ 9.37840059e-01 -3.46404758e-01 -2.14421639e-02 6.54824802e+01] [ 3.46325331e-01 9.38085036e-01 -7.43168334e-03 7.90924772e+00] [ 2.26889435e-02 -4.56234152e-04 9.99742469e-01 1.09985043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37361786499999 meters 0.017586224169214182 Centerline is valid? [True, True] Translation: X:65.51, Y:7.92, Z:1.10 [[ 9.38192017e-01 -3.45414937e-01 -2.20059185e-02 6.55099835e+01] [ 3.45330932e-01 9.38449960e-01 -7.63021284e-03 7.91820791e+00] [ 2.32870428e-02 -4.40719557e-04 9.99728723e-01 1.10049281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40361786499999 meters 0.017650432797857416 Centerline is valid? [True, True] Translation: X:65.54, Y:7.93, Z:1.10 [[ 9.38153784e-01 -3.45509214e-01 -2.21553580e-02 6.55363487e+01] [ 3.45423952e-01 9.38415254e-01 -7.68796879e-03 7.92663205e+00] [ 2.34471900e-02 -4.40494310e-04 9.99724980e-01 1.10100150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43361786499999 meters 0.017009780757979893 Centerline is valid? [True, True] Translation: X:65.56, Y:7.94, Z:1.10 [[ 9.38058336e-01 -3.45732890e-01 -2.27008244e-02 6.55625679e+01] [ 3.45643278e-01 9.38332865e-01 -7.88405916e-03 7.93695028e+00] [ 2.40267082e-02 -4.50679952e-04 9.99711215e-01 1.10154146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46361786499999 meters 0.016969089284021275 Centerline is valid? [True, True] Translation: X:65.59, Y:7.94, Z:1.10 [[ 9.38132896e-01 -3.45455965e-01 -2.38085129e-02 6.55899757e+01] [ 3.45357116e-01 9.38434849e-01 -8.27621801e-03 7.94474892e+00] [ 2.52018070e-02 -4.58246971e-04 9.99682279e-01 1.10123569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49361786499999 meters 0.016944626795709707 Centerline is valid? [True, True] Translation: X:65.62, Y:7.95, Z:1.10 [[ 9.37941595e-01 -3.45958087e-01 -2.40534114e-02 6.56171259e+01] [ 3.45857180e-01 9.38249850e-01 -8.36840324e-03 7.95322175e+00] [ 2.54632265e-02 -4.69971561e-04 9.99675649e-01 1.10208388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52361786499999 meters 0.01706741392349466 Centerline is valid? [True, True] Translation: X:65.64, Y:7.96, Z:1.10 [[ 9.37829051e-01 -3.46265761e-01 -2.40144511e-02 6.56443688e+01] [ 3.46165109e-01 9.38136345e-01 -8.36159342e-03 7.96138360e+00] [ 2.54241629e-02 -4.71219862e-04 9.99676643e-01 1.10249550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55361786499998 meters 0.01722227949817519 Centerline is valid? [True, True] Translation: X:65.67, Y:7.97, Z:1.10 [[ 9.37641459e-01 -3.46748519e-01 -2.43712549e-02 6.56723426e+01] [ 3.46644832e-01 9.37958010e-01 -8.49300063e-03 7.96818106e+00] [ 2.58041492e-02 -4.84780066e-04 9.99666900e-01 1.10343270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58361786499998 meters 0.01722227949817519 Centerline is valid? [True, True] Translation: X:65.70, Y:7.98, Z:1.10 [[ 9.37547245e-01 -3.47003327e-01 -2.43691306e-02 6.56983567e+01] [ 3.46899567e-01 9.37863772e-01 -8.49909260e-03 7.97732289e+00] [ 2.58041382e-02 -4.85340006e-04 9.99666900e-01 1.10388383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61361786499998 meters 0.01751650246914941 Centerline is valid? [True, True] Translation: X:65.73, Y:7.98, Z:1.10 [[ 9.37493085e-01 -3.47125974e-01 -2.47037350e-02 6.57253826e+01] [ 3.47019239e-01 9.37818382e-01 -8.62144547e-03 7.98450826e+00] [ 2.61603444e-02 -4.90125814e-04 9.99657639e-01 1.10428181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64361786499998 meters 0.01733590839000339 Centerline is valid? [True, True] Translation: X:65.75, Y:7.99, Z:1.10 [[ 9.37295209e-01 -3.47621761e-01 -2.52349527e-02 6.57531159e+01] [ 3.47510457e-01 9.37634710e-01 -8.81092847e-03 7.99280212e+00] [ 2.67240380e-02 -5.10968892e-04 9.99642719e-01 1.10491996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67361786499998 meters 0.01759245773306665 Centerline is valid? [True, True] Translation: X:65.78, Y:8.00, Z:1.11 [[ 9.37129725e-01 -3.48010881e-01 -2.60058589e-02 6.57812360e+01] [ 3.47892626e-01 9.37490344e-01 -9.08715268e-03 8.00077333e+00] [ 2.75426696e-02 -5.31405649e-04 9.99620487e-01 1.10528590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70361786499998 meters 0.017829629506243803 Centerline is valid? [True, True] Translation: X:65.81, Y:8.01, Z:1.11 [[ 9.36901599e-01 -3.48590428e-01 -2.64595314e-02 6.58094865e+01] [ 3.48468042e-01 9.37274992e-01 -9.25277963e-03 8.00821627e+00] [ 2.80252874e-02 -5.51357050e-04 9.99607062e-01 1.10524695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73361786499999 meters 0.018121938640620196 Centerline is valid? [True, True] Translation: X:65.84, Y:8.01, Z:1.11 [[ 9.36741916e-01 -3.48933587e-01 -2.75668939e-02 6.58370294e+01] [ 3.48800716e-01 9.37147275e-01 -9.64597889e-03 8.01371854e+00] [ 2.92000456e-02 -5.79559585e-04 9.99573420e-01 1.10519538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76361786499999 meters 0.01813388196569566 Centerline is valid? [True, True] Translation: X:65.86, Y:8.02, Z:1.11 [[ 9.36728054e-01 -3.48950161e-01 -2.78269314e-02 6.58639820e+01] [ 3.48814604e-01 9.37141104e-01 -9.74284625e-03 8.02143940e+00] [ 2.94775290e-02 -5.80042661e-04 9.99565275e-01 1.10564553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79361786499999 meters 0.01831372091485331 Centerline is valid? [True, True] Translation: X:65.89, Y:8.03, Z:1.10 [[ 9.37159035e-01 -3.47701787e-01 -2.89207579e-02 6.58918514e+01] [ 3.47554582e-01 9.37605011e-01 -1.01318704e-02 8.02716902e+00] [ 3.06391170e-02 -5.56368041e-04 9.99530357e-01 1.10487198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82361786499999 meters 0.018170068476718336 Centerline is valid? [True, True] Translation: X:65.92, Y:8.03, Z:1.11 [[ 9.37353551e-01 -3.47144949e-01 -2.93036663e-02 6.59189280e+01] [ 3.46993376e-01 9.37811331e-01 -1.02715417e-02 8.03439177e+00] [ 3.10470241e-02 -5.40112058e-04 9.99517779e-01 1.10504112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85361786499999 meters 0.018084704073228774 Centerline is valid? [True, True] Translation: X:65.95, Y:8.04, Z:1.11 [[ 9.37547165e-01 -3.46599409e-01 -2.95662494e-02 6.59460153e+01] [ 3.46444562e-01 9.38013103e-01 -1.03723293e-02 8.04127593e+00] [ 3.13285726e-02 -5.18518356e-04 9.99509005e-01 1.10571549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88361786499999 meters 0.01787768813502171 Centerline is valid? [True, True] Translation: X:65.97, Y:8.05, Z:1.11 [[ 9.37776450e-01 -3.46027425e-01 -2.89888297e-02 6.59740227e+01] [ 3.45878049e-01 9.38224274e-01 -1.01777259e-02 8.04881362e+00] [ 3.07197960e-02 -4.82168147e-04 9.99527919e-01 1.10675548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91361786499998 meters 0.017777465632331364 Centerline is valid? [True, True] Translation: X:66.00, Y:8.05, Z:1.11 [[ 9.38049159e-01 -3.45318439e-01 -2.86173057e-02 6.60017905e+01] [ 3.45172364e-01 9.38485469e-01 -1.00530480e-02 8.05342053e+00] [ 3.03284284e-02 -4.47649855e-04 9.99539887e-01 1.10742789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94361786499998 meters 0.017842623423339102 Centerline is valid? [True, True] Translation: X:66.03, Y:8.06, Z:1.11 [[ 9.38162818e-01 -3.45033387e-01 -2.83282434e-02 6.60300494e+01] [ 3.44889958e-01 9.38590314e-01 -9.95688324e-03 8.06071593e+00] [ 3.00240720e-02 -4.28949021e-04 9.99549084e-01 1.10776666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97361786499998 meters 0.01853198228601916 Centerline is valid? [True, True] Translation: X:66.06, Y:8.07, Z:1.11 [[ 9.38172519e-01 -3.45006768e-01 -2.83311589e-02 6.60572622e+01] [ 3.44863128e-01 9.38600102e-01 -9.96348820e-03 8.06596225e+00] [ 3.00290995e-02 -4.22901267e-04 9.99548935e-01 1.10716776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00361786499998 meters 0.017206268158672846 Centerline is valid? [True, True] Translation: X:66.08, Y:8.08, Z:1.11 [[ 9.38232782e-01 -3.44889213e-01 -2.77610967e-02 6.60847617e+01] [ 3.44751092e-01 9.38643312e-01 -9.76821470e-03 8.07553419e+00] [ 2.94267196e-02 -4.05809165e-04 9.99566858e-01 1.11024029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03361786499998 meters 0.017143852043151258 Centerline is valid? [True, True] Translation: X:66.11, Y:8.08, Z:1.11 [[ 9.38545227e-01 -3.44148279e-01 -2.63594280e-02 6.61139790e+01] [ 3.44023273e-01 9.38915243e-01 -9.28186073e-03 8.08036581e+00] [ 2.79436051e-02 -3.56810614e-04 9.99609438e-01 1.11147880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06361786499998 meters 0.017319717858279737 Centerline is valid? [True, True] Translation: X:66.14, Y:8.09, Z:1.11 [[ 9.38685630e-01 -3.43845440e-01 -2.52903504e-02 6.61410283e+01] [ 3.43730128e-01 9.39026201e-01 -8.91032497e-03 8.08694362e+00] [ 2.68120763e-02 -3.29061386e-04 9.99640437e-01 1.11167903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09361786499998 meters 0.016770252241040583 Centerline is valid? [True, True] Translation: X:66.17, Y:8.10, Z:1.11 [[ 9.39287927e-01 -3.42357376e-01 -2.30134196e-02 6.61683559e+01] [ 3.42261366e-01 9.39569774e-01 -8.11152138e-03 8.09521853e+00] [ 2.43997526e-02 -2.57550310e-04 9.99702249e-01 1.11399955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12361786499999 meters 0.017066005486392942 Centerline is valid? [True, True] Translation: X:66.20, Y:8.10, Z:1.11 [[ 9.40062374e-01 -3.40336588e-01 -2.13011780e-02 6.61951999e+01] [ 3.40253691e-01 9.40303660e-01 -7.51352888e-03 8.10443051e+00] [ 2.25867045e-02 -1.84618639e-04 9.99744871e-01 1.11330689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15361786499999 meters 0.016878253181857795 Centerline is valid? [True, True] Translation: X:66.22, Y:8.11, Z:1.11 [[ 9.40607939e-01 -3.38852735e-01 -2.08693261e-02 6.62225369e+01] [ 3.38772679e-01 9.40839415e-01 -7.36665658e-03 8.11470873e+00] [ 2.21308963e-02 -1.40821863e-04 9.99755072e-01 1.11348313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18361786499999 meters 0.01689199536844621 Centerline is valid? [True, True] Translation: X:66.25, Y:8.12, Z:1.11 [[ 9.41464720e-01 -3.36448426e-01 -2.11338196e-02 6.62488994e+01] [ 3.36365619e-01 9.41701890e-01 -7.46459643e-03 8.12286679e+00] [ 2.24132096e-02 -8.10361248e-05 9.99748789e-01 1.11302788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21361786499999 meters 0.016657253627710387 Centerline is valid? [True, True] Translation: X:66.28, Y:8.13, Z:1.11 [[ 9.41512710e-01 -3.36326290e-01 -2.09390243e-02 6.62753822e+01] [ 3.36244891e-01 9.41745518e-01 -7.39947776e-03 8.13245549e+00] [ 2.22078712e-02 -7.39375822e-05 9.99753372e-01 1.11435208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24361786499999 meters 0.016858190971335132 Centerline is valid? [True, True] Translation: X:66.30, Y:8.14, Z:1.11 [[ 9.41449164e-01 -3.36534694e-01 -2.04418988e-02 6.63018301e+01] [ 3.36457049e-01 9.41671065e-01 -7.22911234e-03 8.14028094e+00] [ 2.16823917e-02 -7.19791735e-05 9.99764907e-01 1.11331649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27361786499999 meters 0.016885712158179626 Centerline is valid? [True, True] Translation: X:66.33, Y:8.15, Z:1.11 [[ 9.41148795e-01 -3.37425348e-01 -1.95724400e-02 6.63285112e+01] [ 3.37354293e-01 9.41352287e-01 -6.92483989e-03 8.14882054e+00] [ 2.07611776e-02 -8.55419225e-05 9.99784460e-01 1.11485310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30361786499998 meters 0.016895997511024687 Centerline is valid? [True, True] Translation: X:66.35, Y:8.16, Z:1.12 [[ 9.41011550e-01 -3.37857678e-01 -1.86936418e-02 6.63549215e+01] [ 3.37792839e-01 9.41197207e-01 -6.61934166e-03 8.15955993e+00] [ 1.98307988e-02 -8.57013596e-05 9.99803347e-01 1.11542045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33361786499998 meters 0.016974678362376844 Centerline is valid? [True, True] Translation: X:66.38, Y:8.17, Z:1.12 [[ 9.40967455e-01 -3.38005542e-01 -1.82346360e-02 6.63804547e+01] [ 3.37943775e-01 9.41144116e-01 -6.46208381e-03 8.16990832e+00] [ 1.93456405e-02 -8.16711705e-05 9.99812852e-01 1.11542670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36361786499998 meters 0.01696907096594163 Centerline is valid? [True, True] Translation: X:66.41, Y:8.18, Z:1.12 [[ 9.40928461e-01 -3.38125006e-01 -1.80308242e-02 6.64069086e+01] [ 3.38064557e-01 9.41101203e-01 -6.39387474e-03 8.18072422e+00] [ 1.91307592e-02 -7.94038656e-05 9.99816987e-01 1.11535493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39361786499998 meters 0.017006401513867588 Centerline is valid? [True, True] Translation: X:66.43, Y:8.19, Z:1.11 [[ 9.40695738e-01 -3.38751339e-01 -1.84135390e-02 6.64332933e+01] [ 3.38688304e-01 9.40875933e-01 -6.53532385e-03 8.19087470e+00] [ 1.95387054e-02 -8.86990127e-05 9.99809097e-01 1.11435486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42361786499998 meters 0.017110561087241502 Centerline is valid? [True, True] Translation: X:66.46, Y:8.20, Z:1.11 [[ 9.40514278e-01 -3.39270011e-01 -1.81315608e-02 6.64590864e+01] [ 3.39208887e-01 9.40689030e-01 -6.44048358e-03 8.19990823e+00] [ 1.92412233e-02 -9.30198169e-05 9.99814866e-01 1.11398032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45361786499998 meters 0.01715461368217618 Centerline is valid? [True, True] Translation: X:66.49, Y:8.21, Z:1.11 [[ 9.40162136e-01 -3.40244288e-01 -1.81378753e-02 6.64852334e+01] [ 3.40183225e-01 9.40337074e-01 -6.44678633e-03 8.20917009e+00] [ 1.92491988e-02 -1.09176504e-04 9.99814711e-01 1.11410188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48361786499999 meters 0.017425699785539445 Centerline is valid? [True, True] Translation: X:66.51, Y:8.22, Z:1.11 [[ 9.39487011e-01 -3.42190416e-01 -1.64278665e-02 6.65117355e+01] [ 3.42140545e-01 9.39630620e-01 -5.84340278e-03 8.21710244e+00] [ 1.74356829e-02 -1.30838195e-04 9.99847978e-01 1.11482527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51361786499999 meters 0.01768558912878279 Centerline is valid? [True, True] Translation: X:66.54, Y:8.23, Z:1.12 [[ 9.38987158e-01 -3.43610634e-01 -1.53248118e-02 6.65382986e+01] [ 3.43567402e-01 9.39112193e-01 -5.45241101e-03 8.22581225e+00] [ 1.62652240e-02 -1.45361859e-04 9.99867702e-01 1.11529816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54361786499999 meters 0.017759504700242675 Centerline is valid? [True, True] Translation: X:66.57, Y:8.24, Z:1.12 [[ 9.38354642e-01 -3.45382561e-01 -1.41933796e-02 6.65650981e+01] [ 3.45345665e-01 9.38461965e-01 -5.05085179e-03 8.23559686e+00] [ 1.50644231e-02 -1.62131908e-04 9.99886512e-01 1.11581692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57361786499999 meters 0.018281912788500772 Centerline is valid? [True, True] Translation: X:66.59, Y:8.24, Z:1.12 [[ 9.37389138e-01 -3.48046667e-01 -1.28499345e-02 6.65921203e+01] [ 3.48016629e-01 9.37477191e-01 -4.57619499e-03 8.24236711e+00] [ 1.36392500e-02 -1.82315423e-04 9.99906964e-01 1.11645363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60361786499999 meters 0.018309638739228355 Centerline is valid? [True, True] Translation: X:66.62, Y:8.25, Z:1.12 [[ 9.36971906e-01 -3.49215881e-01 -1.14854638e-02 6.66191828e+01] [ 3.49191960e-01 9.37042281e-01 -4.09120644e-03 8.25131526e+00] [ 1.21910795e-02 -1.77286127e-04 9.99925670e-01 1.11708666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63361786499999 meters 0.018781564150247083 Centerline is valid? [True, True] Translation: X:66.65, Y:8.26, Z:1.12 [[ 9.36623850e-01 -3.50163643e-01 -1.10085024e-02 6.66459992e+01] [ 3.50141692e-01 9.36688524e-01 -3.92483584e-03 8.25839297e+00] [ 1.16858727e-02 -1.78440794e-04 9.99931702e-01 1.11807206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66361786499998 meters 0.018689254845529538 Centerline is valid? [True, True] Translation: X:66.67, Y:8.27, Z:1.12 [[ 9.36326446e-01 -3.50980662e-01 -1.02646118e-02 6.66736203e+01] [ 3.50961626e-01 9.36382691e-01 -3.65961114e-03 8.26818950e+00] [ 1.08960575e-02 -1.75894156e-04 9.99940621e-01 1.11868592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69361786499998 meters 0.019065942904044238 Centerline is valid? [True, True] Translation: X:66.70, Y:8.28, Z:1.12 [[ 9.35947413e-01 -3.52031172e-01 -8.74604633e-03 6.67006835e+01] [ 3.52017382e-01 9.35988263e-01 -3.11991001e-03 8.27713800e+00] [ 9.28450229e-03 -1.58688633e-04 9.99956885e-01 1.11852220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72361786499998 meters 0.019312230867511618 Centerline is valid? [True, True] Translation: X:66.73, Y:8.29, Z:1.12 [[ 9.35760716e-01 -3.52534101e-01 -8.46103317e-03 6.67271042e+01] [ 3.52521187e-01 9.35798955e-01 -3.02151070e-03 8.28597923e+00] [ 8.98301155e-03 -1.55282436e-04 9.99959640e-01 1.11846323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75361786499998 meters 0.019754834594975703 Centerline is valid? [True, True] Translation: X:66.75, Y:8.29, Z:1.12 [[ 9.35451233e-01 -3.53381494e-01 -7.24645854e-03 6.67536396e+01] [ 3.53372042e-01 9.35479289e-01 -2.58825401e-03 8.29386785e+00] [ 7.69355295e-03 -1.39510449e-04 9.99970394e-01 1.11913464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78361786499998 meters 0.019866063958583785 Centerline is valid? [True, True] Translation: X:66.78, Y:8.30, Z:1.12 [[ 9.35169616e-01 -3.54139162e-01 -6.57593208e-03 6.67805731e+01] [ 3.54131405e-01 9.35192727e-01 -2.34776616e-03 8.30309923e+00] [ 6.98119979e-03 -1.33184492e-04 9.99975622e-01 1.12000992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81361786499998 meters 0.01924066316745837 Centerline is valid? [True, True] Translation: X:66.81, Y:8.31, Z:1.12 [[ 9.34874439e-01 -3.54929049e-01 -5.92901376e-03 6.68071948e+01] [ 3.54922753e-01 9.34893232e-01 -2.11779267e-03 8.31419060e+00] [ 6.29466097e-03 -1.24471646e-04 9.99980181e-01 1.11970324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84361786499998 meters 0.019545729406701018 Centerline is valid? [True, True] Translation: X:66.83, Y:8.32, Z:1.12 [[ 9.34574933e-01 -3.55725006e-01 -5.42352111e-03 6.68337291e+01] [ 3.55719734e-01 9.34590663e-01 -1.94010581e-03 8.32224493e+00] [ 5.75891634e-03 -1.16079228e-04 9.99983411e-01 1.12107270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87361786499999 meters 0.019652152751317504 Centerline is valid? [True, True] Translation: X:66.86, Y:8.33, Z:1.12 [[ 9.34239412e-01 -3.56597395e-01 -5.91770349e-03 6.68613427e+01] [ 3.56591142e-01 9.34258144e-01 -2.11593002e-03 8.33217864e+00] [ 6.28319781e-03 -1.33415432e-04 9.99980252e-01 1.12084510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90361786499999 meters 0.019999490607693644 Centerline is valid? [True, True] Translation: X:66.89, Y:8.34, Z:1.12 [[ 9.34023131e-01 -3.57158189e-01 -6.23047930e-03 6.68875318e+01] [ 3.57151247e-01 9.34043900e-01 -2.23127693e-03 8.34083146e+00] [ 6.61646002e-03 -1.41159189e-04 9.99978101e-01 1.12110886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93361786499999 meters 0.020245143774522925 Centerline is valid? [True, True] Translation: X:66.92, Y:8.35, Z:1.12 [[ 9.33636879e-01 -3.58164378e-01 -6.36063264e-03 6.69153666e+01] [ 3.58157172e-01 9.33658533e-01 -2.27698436e-03 8.35017823e+00] [ 6.75419362e-03 -1.52229628e-04 9.99977179e-01 1.12050716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96361786499999 meters 0.020467206000255946 Centerline is valid? [True, True] Translation: X:66.94, Y:8.36, Z:1.12 [[ 9.33430493e-01 -3.58703220e-01 -6.28605012e-03 6.69422238e+01] [ 3.58696174e-01 9.33451647e-01 -2.25347198e-03 8.35934213e+00] [ 6.67605149e-03 -1.51322664e-04 9.99977703e-01 1.12088050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99361786499999 meters 0.02076385950546186 Centerline is valid? [True, True] Translation: X:66.97, Y:8.37, Z:1.12 [[ 9.33180588e-01 -3.59344627e-01 -6.74016861e-03 6.69685777e+01] [ 3.59336550e-01 9.33204914e-01 -2.41520141e-03 8.36872697e+00] [ 7.15784812e-03 -1.68169868e-04 9.99974368e-01 1.12109468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02361786499998 meters 0.02059371453591592 Centerline is valid? [True, True] Translation: X:67.00, Y:8.38, Z:1.12 [[ 9.33001493e-01 -3.59802838e-01 -7.08046672e-03 6.69950810e+01] [ 3.59793920e-01 9.33028342e-01 -2.53949393e-03 8.37921738e+00] [ 7.51999324e-03 -1.78157242e-04 9.99971709e-01 1.12065262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05361786499998 meters 0.020702761285003708 Centerline is valid? [True, True] Translation: X:67.02, Y:8.39, Z:1.12 [[ 9.32772875e-01 -3.60389876e-01 -7.34175115e-03 6.70212071e+01] [ 3.60380287e-01 9.32801749e-01 -2.63562665e-03 8.38893240e+00] [ 7.79825147e-03 -1.87381331e-04 9.99969576e-01 1.12040114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08361786499998 meters 0.021169490317205733 Centerline is valid? [True, True] Translation: X:67.05, Y:8.40, Z:1.12 [[ 9.32503669e-01 -3.61072870e-01 -7.95545606e-03 6.70481877e+01] [ 3.61061599e-01 9.32537581e-01 -2.86032491e-03 8.39759139e+00] [ 8.45154747e-03 -2.05146209e-04 9.99964264e-01 1.12097029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11361786499998 meters 0.02144505423189654 Centerline is valid? [True, True] Translation: X:67.08, Y:8.41, Z:1.12 [[ 9.32175811e-01 -3.61912071e-01 -8.24072739e-03 6.70756898e+01] [ 3.61900013e-01 9.32212210e-01 -2.96254531e-03 8.40730895e+00] [ 8.75428760e-03 -2.20706273e-04 9.99961656e-01 1.12151767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14361786499998 meters 0.02245204971476108 Centerline is valid? [True, True] Translation: X:67.10, Y:8.41, Z:1.12 [[ 9.31474999e-01 -3.63725737e-01 -7.61019295e-03 6.71027327e+01] [ 3.63715493e-01 9.31506061e-01 -2.73848472e-03 8.41477546e+00] [ 8.08499823e-03 -2.17115022e-04 9.99967292e-01 1.12338912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17361786499998 meters 0.021998813241931172 Centerline is valid? [True, True] Translation: X:67.13, Y:8.43, Z:1.12 [[ 9.30900715e-01 -3.65205163e-01 -7.00334676e-03 6.71292836e+01] [ 3.65196531e-01 9.30927035e-01 -2.51986088e-03 8.42559473e+00] [ 7.43987104e-03 -2.11857646e-04 9.99972301e-01 1.12395779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20361786499998 meters 0.022389511246372625 Centerline is valid? [True, True] Translation: X:67.16, Y:8.43, Z:1.12 [[ 9.30453223e-01 -3.66356976e-01 -6.27425542e-03 6.71568295e+01] [ 3.66350066e-01 9.30474356e-01 -2.25876505e-03 8.43469287e+00] [ 6.66554810e-03 -1.96898669e-04 9.99977766e-01 1.12473342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23361786499999 meters 0.02269360399269117 Centerline is valid? [True, True] Translation: X:67.18, Y:8.44, Z:1.13 [[ 9.30053029e-01 -3.67378285e-01 -5.87872698e-03 6.71837753e+01] [ 3.67372231e-01 9.30071588e-01 -2.11765370e-03 8.44422884e+00] [ 6.24561692e-03 -1.90150810e-04 9.99980478e-01 1.12540506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26361786499999 meters 0.024870939351498377 Centerline is valid? [True, True] Translation: X:67.21, Y:8.45, Z:1.13 [[ 9.29476017e-01 -3.68830587e-01 -6.19123657e-03 6.72110228e+01] [ 3.68823882e-01 9.29496614e-01 -2.23360842e-03 8.45116134e+00] [ 6.57855653e-03 -2.07390449e-04 9.99978340e-01 1.12663366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29361786499999 meters 0.025351226353756307 Centerline is valid? [True, True] Translation: X:67.24, Y:8.46, Z:1.13 [[ 9.29172228e-01 -3.69599704e-01 -5.91853538e-03 6.72377775e+01] [ 3.69593589e-01 9.29191055e-01 -2.13575121e-03 8.46060883e+00] [ 6.28882316e-03 -2.02972024e-04 9.99980205e-01 1.12712476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32361786499999 meters 0.024280615512040204 Centerline is valid? [True, True] Translation: X:67.26, Y:8.47, Z:1.13 [[ 9.28899295e-01 -3.70284887e-01 -5.93313680e-03 6.72639098e+01] [ 3.70278762e-01 9.28918220e-01 -2.13995759e-03 8.47275409e+00] [ 6.30379283e-03 -2.09109451e-04 9.99980109e-01 1.12709008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35361786499999 meters 0.02423690530877383 Centerline is valid? [True, True] Translation: X:67.29, Y:8.48, Z:1.13 [[ 9.28428105e-01 -3.71473705e-01 -5.34229294e-03 6.72900279e+01] [ 3.71468744e-01 9.28443455e-01 -1.92946735e-03 8.48401251e+00] [ 5.67676330e-03 -1.93123138e-04 9.99983868e-01 1.12760685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38361786499999 meters 0.024986534043050755 Centerline is valid? [True, True] Translation: X:67.32, Y:8.49, Z:1.13 [[ 9.28341352e-01 -3.71685992e-01 -5.64417113e-03 6.73153842e+01] [ 3.71680457e-01 9.28358488e-01 -2.03874456e-03 8.49261894e+00] [ 5.99758697e-03 -2.05177229e-04 9.99981993e-01 1.12847624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41361786499998 meters 0.023917906358402272 Centerline is valid? [True, True] Translation: X:67.34, Y:8.51, Z:1.13 [[ 9.28220122e-01 -3.71976207e-01 -6.41149928e-03 6.73412113e+01] [ 3.71969075e-01 9.28242234e-01 -2.31546464e-03 8.50511386e+00] [ 6.81272217e-03 -2.35618591e-04 9.99976765e-01 1.12838235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44361786499998 meters 0.022631353870339634 Centerline is valid? [True, True] Translation: X:67.37, Y:8.52, Z:1.13 [[ 9.28244614e-01 -3.71894788e-01 -7.49687004e-03 6.73671746e+01] [ 3.71885008e-01 9.28274848e-01 -2.71067702e-03 8.51952672e+00] [ 7.96724255e-03 -2.71802231e-04 9.99968224e-01 1.12750521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47361786499998 meters 0.022631353870339634 Centerline is valid? [True, True] Translation: X:67.39, Y:8.53, Z:1.13 [[ 9.28142778e-01 -3.72148881e-01 -7.49631999e-03 6.73931031e+01] [ 3.72139097e-01 9.28173010e-01 -2.71219686e-03 8.52898266e+00] [ 7.96722292e-03 -2.72367826e-04 9.99968224e-01 1.12795653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50361786499998 meters 0.02253173617449399 Centerline is valid? [True, True] Translation: X:67.42, Y:8.54, Z:1.13 [[ 9.28120478e-01 -3.72193134e-01 -8.04045275e-03 6.74196085e+01] [ 3.72181853e-01 9.28155260e-01 -2.91218316e-03 8.54025127e+00] [ 8.54668310e-03 -2.89653776e-04 9.99963434e-01 1.12775256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53361786499998 meters 0.02310083257469877 Centerline is valid? [True, True] Translation: X:67.45, Y:8.55, Z:1.13 [[ 9.28192322e-01 -3.72002688e-01 -8.54476230e-03 6.74460072e+01] [ 3.71989908e-01 9.28231603e-01 -3.09830157e-03 8.55027812e+00] [ 9.08409492e-03 -3.02745611e-04 9.99958693e-01 1.12843915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56361786499998 meters 0.02319661633942765 Centerline is valid? [True, True] Translation: X:67.47, Y:8.56, Z:1.13 [[ 9.28295300e-01 -3.71719583e-01 -9.61188180e-03 6.74723105e+01] [ 3.71703387e-01 9.28345000e-01 -3.48619961e-03 8.56256513e+00] [ 1.02190311e-02 -3.36546309e-04 9.99947728e-01 1.12810938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59361786499998 meters 0.023347106828687368 Centerline is valid? [True, True] Translation: X:67.50, Y:8.57, Z:1.13 [[ 9.28426512e-01 -3.71379921e-01 -1.00580989e-02 6.74979942e+01] [ 3.71362129e-01 9.28480929e-01 -3.65156473e-03 8.57277945e+00] [ 1.06948708e-02 -3.44987504e-04 9.99942749e-01 1.12832952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62361786499999 meters 0.023552945766953996 Centerline is valid? [True, True] Translation: X:67.52, Y:8.58, Z:1.13 [[ 9.28397051e-01 -3.71452806e-01 -1.00860703e-02 6.75235508e+01] [ 3.71434913e-01 9.28451772e-01 -3.66229061e-03 8.58360178e+00] [ 1.07247979e-02 -3.46258817e-04 9.99942428e-01 1.12884633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65361786499999 meters 0.022322717272977403 Centerline is valid? [True, True] Translation: X:67.55, Y:8.60, Z:1.13 [[ 9.28581379e-01 -3.70982405e-01 -1.04249102e-02 6.75483528e+01] [ 3.70963222e-01 9.28639830e-01 -3.78873732e-03 8.59890925e+00] [ 1.10865418e-02 -3.49107366e-04 9.99938481e-01 1.12851503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68361786499999 meters 0.0222634958115234 Centerline is valid? [True, True] Translation: X:67.57, Y:8.61, Z:1.13 [[ 9.28579226e-01 -3.70989396e-01 -1.03677189e-02 6.75739325e+01] [ 3.70970395e-01 9.28637038e-01 -3.77055647e-03 8.60981344e+00] [ 1.10266842e-02 -3.44856358e-04 9.99939145e-01 1.12923480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71361786499999 meters 0.022876493865784896 Centerline is valid? [True, True] Translation: X:67.60, Y:8.62, Z:1.13 [[ 9.28763068e-01 -3.70526674e-01 -1.04473183e-02 6.76002327e+01] [ 3.70507303e-01 9.28821764e-01 -3.80386644e-03 8.61927588e+00] [ 1.11131306e-02 -3.37917038e-04 9.99938190e-01 1.13021727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74361786499999 meters 0.02160159386935688 Centerline is valid? [True, True] Translation: X:67.63, Y:8.63, Z:1.13 [[ 9.28861476e-01 -3.70280513e-01 -1.04259245e-02 6.76262992e+01] [ 3.70261202e-01 9.28919927e-01 -3.79627648e-03 8.63356747e+00] [ 1.10905363e-02 -3.34100382e-04 9.99938442e-01 1.13025966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77361786499998 meters 0.021659724650879827 Centerline is valid? [True, True] Translation: X:67.65, Y:8.65, Z:1.13 [[ 9.29527053e-01 -3.68596940e-01 -1.07589174e-02 6.76511944e+01] [ 3.68576222e-01 9.29589260e-01 -3.92116243e-03 8.64558299e+00] [ 1.14467025e-02 -3.20654557e-04 9.99934433e-01 1.13102082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80361786499998 meters 0.021597533741931494 Centerline is valid? [True, True] Translation: X:67.68, Y:8.66, Z:1.13 [[ 9.29642514e-01 -3.68290908e-01 -1.12518060e-02 6.76778588e+01] [ 3.68268220e-01 9.29710545e-01 -4.10125313e-03 8.65704783e+00] [ 1.19713769e-02 -3.30983281e-04 9.99928286e-01 1.13145571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83361786499998 meters 0.021607511398152108 Centerline is valid? [True, True] Translation: X:67.70, Y:8.67, Z:1.13 [[ 9.29853084e-01 -3.67747173e-01 -1.16301009e-02 6.77033016e+01] [ 3.67722845e-01 9.29925753e-01 -4.24291300e-03 8.66739974e+00] [ 1.23754496e-02 -3.31368058e-04 9.99923366e-01 1.13175878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86361786499998 meters 0.02152593569675817 Centerline is valid? [True, True] Translation: X:67.73, Y:8.68, Z:1.13 [[ 9.30254506e-01 -3.66701505e-01 -1.25124176e-02 6.77284149e+01] [ 3.66673223e-01 9.30338590e-01 -4.56689469e-03 8.67975513e+00] [ 1.33154721e-02 -3.39594130e-04 9.99911288e-01 1.13217398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89361786499998 meters 0.021465366328632877 Centerline is valid? [True, True] Translation: X:67.76, Y:8.69, Z:1.13 [[ 9.30413189e-01 -3.66286191e-01 -1.28733865e-02 6.77553788e+01] [ 3.66256199e-01 9.30502181e-01 -4.69978569e-03 8.69154196e+00] [ 1.37001808e-02 -3.42215022e-04 9.99906090e-01 1.13241080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92361786499998 meters 0.02029841854946079 Centerline is valid? [True, True] Translation: X:67.78, Y:8.71, Z:1.13 [[ 9.30390303e-01 -3.66330406e-01 -1.32634049e-02 6.77799051e+01] [ 3.66298551e-01 9.30484771e-01 -4.84377870e-03 8.70559120e+00] [ 1.41158197e-02 -3.51761270e-04 9.99900305e-01 1.13238476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95361786499998 meters 0.02038819965695343 Centerline is valid? [True, True] Translation: X:67.81, Y:8.72, Z:1.13 [[ 9.30457360e-01 -3.66143412e-01 -1.37150829e-02 6.78052877e+01] [ 3.66109258e-01 9.30558367e-01 -5.01366630e-03 8.71635967e+00] [ 1.45984061e-02 -3.56216126e-04 9.99893374e-01 1.13294284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98361786499999 meters 0.0205222460237771 Centerline is valid? [True, True] Translation: X:67.83, Y:8.73, Z:1.13 [[ 9.30516735e-01 -3.65974310e-01 -1.41919070e-02 6.78304561e+01] [ 3.65937698e-01 9.30624882e-01 -5.18937327e-03 8.72810567e+00] [ 1.51065191e-02 -3.64555112e-04 9.99885824e-01 1.13341614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01361786499999 meters 0.02077248869865776 Centerline is valid? [True, True] Translation: X:67.86, Y:8.74, Z:1.13 [[ 9.30436043e-01 -3.66175025e-01 -1.43045685e-02 6.78561007e+01] [ 3.66137820e-01 9.30545923e-01 -5.23275656e-03 8.73803498e+00] [ 1.52271626e-02 -3.68698208e-04 9.99883992e-01 1.13410283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04361786499999 meters 0.020817682669268943 Centerline is valid? [True, True] Translation: X:67.88, Y:8.75, Z:1.14 [[ 9.30190959e-01 -3.66801459e-01 -1.41940117e-02 6.78828365e+01] [ 3.66764882e-01 9.30299172e-01 -5.19346877e-03 8.74886724e+00] [ 1.51096492e-02 -3.74947325e-04 9.99885772e-01 1.13512687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07361786499999 meters 0.021263701484058123 Centerline is valid? [True, True] Translation: X:67.91, Y:8.76, Z:1.14 [[ 9.29726220e-01 -3.67991200e-01 -1.38431233e-02 6.79089821e+01] [ 3.67956487e-01 9.29829195e-01 -5.06870075e-03 8.76103897e+00] [ 1.47369775e-02 -3.81163050e-04 9.99891332e-01 1.13635486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10361786499999 meters 0.02150222881643168 Centerline is valid? [True, True] Translation: X:67.94, Y:8.77, Z:1.14 [[ 9.29354102e-01 -3.68910404e-01 -1.43549927e-02 6.79358226e+01] [ 3.68873126e-01 9.29464872e-01 -5.26010953e-03 8.77287970e+00] [ 1.52829706e-02 -4.06666652e-04 9.99883126e-01 1.13649778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13361786499999 meters 0.021673816533529944 Centerline is valid? [True, True] Translation: X:67.96, Y:8.78, Z:1.14 [[ 9.29067556e-01 -3.69626299e-01 -1.44870816e-02 6.79618057e+01] [ 3.69588356e-01 9.29180404e-01 -5.31255705e-03 8.78449725e+00] [ 1.54247731e-02 -4.18532275e-04 9.99880944e-01 1.13632673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16361786499998 meters 0.02234414573802569 Centerline is valid? [True, True] Translation: X:67.99, Y:8.80, Z:1.14 [[ 9.28372559e-01 -3.71348964e-01 -1.49779369e-02 6.79877202e+01] [ 3.71308606e-01 9.28493261e-01 -5.49402143e-03 8.79650863e+00] [ 1.59471126e-02 -4.60938137e-04 9.99872730e-01 1.13659242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19361786499998 meters 0.02233618934762311 Centerline is valid? [True, True] Translation: X:68.01, Y:8.81, Z:1.14 [[ 9.27858516e-01 -3.72623864e-01 -1.51667582e-02 6.80140390e+01] [ 3.72582630e-01 9.27982337e-01 -5.56468125e-03 8.80814546e+00] [ 1.61480168e-02 -4.87633779e-04 9.99869493e-01 1.13751042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22361786499998 meters 0.02190768433836383 Centerline is valid? [True, True] Translation: X:68.04, Y:8.82, Z:1.14 [[ 9.27471401e-01 -3.73565378e-01 -1.56750850e-02 6.80400842e+01] [ 3.73521397e-01 9.27603709e-01 -5.75546740e-03 8.82107816e+00] [ 1.66903103e-02 -5.16948224e-04 9.99860573e-01 1.13811379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25361786499998 meters 0.022522456671371757 Centerline is valid? [True, True] Translation: X:68.06, Y:8.83, Z:1.14 [[ 9.26792485e-01 -3.75208702e-01 -1.65565446e-02 6.80648484e+01] [ 3.75159817e-01 9.26940182e-01 -6.08362064e-03 8.83464169e+00] [ 1.76295539e-02 -5.73096349e-04 9.99844423e-01 1.13767912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28361786499998 meters 0.022871688015997992 Centerline is valid? [True, True] Translation: X:68.09, Y:8.85, Z:1.14 [[ 9.26425064e-01 -3.76088387e-01 -1.71501129e-02 6.80915133e+01] [ 3.76036047e-01 9.26583593e-01 -6.30371465e-03 8.84630668e+00] [ 1.82617671e-02 -6.09141436e-04 9.99833054e-01 1.13816866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31361786499998 meters 0.023346306402577614 Centerline is valid? [True, True] Translation: X:68.12, Y:8.86, Z:1.14 [[ 9.25915845e-01 -3.77310954e-01 -1.77845823e-02 6.81183011e+01] [ 3.77254803e-01 9.26086399e-01 -6.54178963e-03 8.85805901e+00] [ 1.89383487e-02 -6.52172423e-04 9.99820441e-01 1.13851927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34361786499998 meters 0.02408140353189511 Centerline is valid? [True, True] Translation: X:68.14, Y:8.87, Z:1.14 [[ 9.24981448e-01 -3.79561182e-01 -1.85102818e-02 6.81439263e+01] [ 3.79500705e-01 9.25166357e-01 -6.81377193e-03 8.87221661e+00] [ 1.97113333e-02 -7.22052378e-04 9.99805452e-01 1.13868833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37361786499999 meters 0.024496953443858573 Centerline is valid? [True, True] Translation: X:68.17, Y:8.88, Z:1.14 [[ 9.24414050e-01 -3.80928999e-01 -1.87553124e-02 6.81699514e+01] [ 3.80867102e-01 9.24603983e-01 -6.90837918e-03 8.88362563e+00] [ 1.99728385e-02 -7.57078699e-04 9.99800236e-01 1.13941477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40361786499999 meters 0.024402412436753656 Centerline is valid? [True, True] Translation: X:68.20, Y:8.90, Z:1.14 [[ 9.23746284e-01 -3.82543452e-01 -1.87965440e-02 6.81961073e+01] [ 3.82481570e-01 9.23937163e-01 -6.92591181e-03 8.89582365e+00] [ 2.00162877e-02 -7.91546350e-04 9.99799341e-01 1.14037490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43361786499999 meters 0.026357429595965876 Centerline is valid? [True, True] Translation: X:68.22, Y:8.90, Z:1.14 [[ 9.23005496e-01 -3.84320793e-01 -1.89309668e-02 6.82228421e+01] [ 3.84258305e-01 9.23199240e-01 -6.97988339e-03 8.90454409e+00] [ 2.01595685e-02 -8.31910497e-04 9.99796429e-01 1.14095884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46361786499999 meters 0.026713034843203656 Centerline is valid? [True, True] Translation: X:68.25, Y:8.92, Z:1.14 [[ 9.21748396e-01 -3.87317954e-01 -1.90970486e-02 6.82488988e+01] [ 3.87254973e-01 9.21945761e-01 -7.04278188e-03 8.91889825e+00] [ 2.03342389e-02 -9.03754135e-04 9.99792830e-01 1.14276838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49361786499999 meters 0.02682370271128413 Centerline is valid? [True, True] Translation: X:68.27, Y:8.93, Z:1.14 [[ 9.21174089e-01 -3.88688716e-01 -1.89572995e-02 6.82746222e+01] [ 3.88626906e-01 9.21368670e-01 -6.99303116e-03 8.93166889e+00] [ 2.01847741e-02 -9.25517535e-04 9.99795838e-01 1.14340021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52361786499998 meters 0.025934802693926205 Centerline is valid? [True, True] Translation: X:68.30, Y:8.95, Z:1.14 [[ 9.20898746e-01 -3.89354375e-01 -1.86727285e-02 6.83002271e+01] [ 3.89294447e-01 9.21087575e-01 -6.89290386e-03 8.94602379e+00] [ 1.98830005e-02 -9.21523003e-04 9.99801889e-01 1.14441161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55361786499998 meters 0.024697967415342317 Centerline is valid? [True, True] Translation: X:68.32, Y:8.96, Z:1.15 [[ 9.20857880e-01 -3.89458025e-01 -1.85259573e-02 6.83240162e+01] [ 3.89398956e-01 9.21043764e-01 -6.84377609e-03 8.96325652e+00] [ 1.97285809e-02 -9.11843280e-04 9.99804957e-01 1.14597441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58361786499998 meters 0.02627279753901742 Centerline is valid? [True, True] Translation: X:68.35, Y:8.97, Z:1.15 [[ 9.21198090e-01 -3.88645196e-01 -1.86813107e-02 6.83499206e+01] [ 3.88584863e-01 9.21387056e-01 -6.90632443e-03 8.97290040e+00] [ 1.98968277e-02 -8.97181698e-04 9.99801636e-01 1.14630975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61361786499998 meters 0.02588031115181822 Centerline is valid? [True, True] Translation: X:68.38, Y:8.99, Z:1.15 [[ 9.21586910e-01 -3.87711018e-01 -1.89138674e-02 6.83760402e+01] [ 3.87648929e-01 9.21780550e-01 -6.99473164e-03 8.98615245e+00] [ 2.01463697e-02 -8.85687328e-04 9.99796649e-01 1.14683120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64361786499998 meters 0.02330227717113153 Centerline is valid? [True, True] Translation: X:68.40, Y:9.01, Z:1.15 [[ 9.22783030e-01 -3.84824290e-01 -1.95382955e-02 6.84000016e+01] [ 3.84757296e-01 9.22989464e-01 -7.23000860e-03 9.00606461e+00] [ 2.08159239e-02 -8.45772510e-04 9.99782967e-01 1.14746349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67361786499998 meters 0.024306679306488565 Centerline is valid? [True, True] Translation: X:68.43, Y:9.02, Z:1.15 [[ 9.23456217e-01 -3.83188114e-01 -1.98867857e-02 6.84259293e+01] [ 3.83118302e-01 9.23669959e-01 -7.36021695e-03 9.01657443e+00] [ 2.11891742e-02 -8.22153488e-04 9.99775146e-01 1.14716683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70361786499998 meters 0.022432343749836468 Centerline is valid? [True, True] Translation: X:68.45, Y:9.03, Z:1.15 [[ 9.24000751e-01 -3.81831346e-01 -2.06745080e-02 6.84506907e+01] [ 3.81755473e-01 9.24231655e-01 -7.65548422e-03 9.03208847e+00] [ 2.20311386e-02 -8.18933401e-04 9.99756950e-01 1.14746067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73361786499999 meters 0.022632826892844415 Centerline is valid? [True, True] Translation: X:68.48, Y:9.04, Z:1.15 [[ 9.24459987e-01 -3.80717797e-01 -2.06807159e-02 6.84764574e+01] [ 3.80641475e-01 9.24690942e-01 -7.66343409e-03 9.04422045e+00] [ 2.20408765e-02 -7.87400043e-04 9.99756760e-01 1.14739110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76361786499999 meters 0.02202147657741178 Centerline is valid? [True, True] Translation: X:68.50, Y:9.06, Z:1.15 [[ 9.25570287e-01 -3.78005171e-01 -2.07782291e-02 6.85014018e+01] [ 3.77927342e-01 9.25803202e-01 -7.70418426e-03 9.06022155e+00] [ 2.21487725e-02 -7.21896867e-04 9.99754425e-01 1.14792005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79361786499999 meters 0.022942585822582864 Centerline is valid? [True, True] Translation: X:68.53, Y:9.07, Z:1.15 [[ 9.25854861e-01 -3.77316812e-01 -2.06106700e-02 6.85273459e+01] [ 3.77240026e-01 9.26083979e-01 -7.64373205e-03 9.07033447e+00] [ 2.19713199e-02 -6.98183199e-04 9.99758358e-01 1.14800527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82361786499999 meters 0.022062315159808655 Centerline is valid? [True, True] Translation: X:68.55, Y:9.08, Z:1.15 [[ 9.26046824e-01 -3.76868666e-01 -2.01813956e-02 6.85532447e+01] [ 3.76794881e-01 9.26266462e-01 -7.48724897e-03 9.08346814e+00] [ 2.15150594e-02 -6.70703428e-04 9.99768299e-01 1.14914065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85361786499999 meters 0.022690711316480035 Centerline is valid? [True, True] Translation: X:68.58, Y:9.09, Z:1.15 [[ 9.26088724e-01 -3.76795355e-01 -1.96197783e-02 6.85786899e+01] [ 3.76725507e-01 9.26296304e-01 -7.28347582e-03 9.09496997e+00] [ 2.09181080e-02 -6.46126090e-04 9.99780984e-01 1.15002562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88361786499999 meters 0.02246123258923237 Centerline is valid? [True, True] Translation: X:68.60, Y:9.11, Z:1.15 [[ 9.26002912e-01 -3.77016008e-01 -1.94303209e-02 6.86039910e+01] [ 3.76947481e-01 9.26206520e-01 -7.21652489e-03 9.10621203e+00] [ 2.07172353e-02 -6.41687456e-04 9.99785169e-01 1.15067487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91361786499998 meters 0.021589772248179585 Centerline is valid? [True, True] Translation: X:68.63, Y:9.12, Z:1.15 [[ 9.25640416e-01 -3.77902138e-01 -1.94883313e-02 6.86295798e+01] [ 3.77833278e-01 9.25845312e-01 -7.24381136e-03 9.12035833e+00] [ 2.07806320e-02 -6.58175540e-04 9.99783843e-01 1.15126518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94361786499998 meters 0.022259909372808657 Centerline is valid? [True, True] Translation: X:68.66, Y:9.13, Z:1.15 [[ 9.25322301e-01 -3.78650622e-01 -2.00585515e-02 6.86553943e+01] [ 3.78577743e-01 9.25539427e-01 -7.46073165e-03 9.13022291e+00] [ 2.13899909e-02 -6.90139768e-04 9.99770970e-01 1.15112209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97361786499998 meters 0.02196696909679761 Centerline is valid? [True, True] Translation: X:68.68, Y:9.14, Z:1.15 [[ 9.25106917e-01 -3.79173430e-01 -2.01172097e-02 6.86816821e+01] [ 3.79100173e-01 9.25325358e-01 -7.48604715e-03 9.14206901e+00] [ 2.14534744e-02 -7.01043668e-04 9.99769602e-01 1.15120994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00361786499998 meters 0.02266736063672288 Centerline is valid? [True, True] Translation: X:68.71, Y:9.15, Z:1.15 [[ 9.24629303e-01 -3.80332151e-01 -2.02016393e-02 6.87075763e+01] [ 3.80258453e-01 9.24849678e-01 -7.52210205e-03 9.15299011e+00] [ 2.15443769e-02 -7.26688139e-04 9.99767629e-01 1.15127621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03361786499998 meters 0.023043644664526266 Centerline is valid? [True, True] Translation: X:68.73, Y:9.16, Z:1.15 [[ 9.24425381e-01 -3.80818406e-01 -2.03729500e-02 6.87337671e+01] [ 3.80743523e-01 9.24649550e-01 -7.58808072e-03 9.16296192e+00] [ 2.17275198e-02 -7.42254344e-04 9.99763654e-01 1.15185456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06361786499998 meters 0.02295356845801497 Centerline is valid? [True, True] Translation: X:68.76, Y:9.17, Z:1.15 [[ 9.24348147e-01 -3.81031166e-01 -1.98935517e-02 6.87599868e+01] [ 3.80959741e-01 9.24561909e-01 -7.41301740e-03 9.17368516e+00] [ 2.12174108e-02 -7.26433396e-04 9.99774621e-01 1.15251682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09361786499998 meters 0.02258531489965833 Centerline is valid? [True, True] Translation: X:68.79, Y:9.19, Z:1.15 [[ 9.24117917e-01 -3.81577488e-01 -2.01170718e-02 6.87861522e+01] [ 3.81504450e-01 9.24336557e-01 -7.50229989e-03 9.18510004e+00] [ 2.14576537e-02 -7.41742674e-04 9.99769483e-01 1.15348304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12361786499999 meters 0.022523724314268356 Centerline is valid? [True, True] Translation: X:68.81, Y:9.20, Z:1.15 [[ 9.24106553e-01 -3.81609209e-01 -2.00372171e-02 6.88117118e+01] [ 3.81536638e-01 9.24323467e-01 -7.47806590e-03 9.19661642e+00] [ 2.13745688e-02 -7.34402727e-04 9.99771268e-01 1.15377747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15361786499999 meters 0.022782235360967466 Centerline is valid? [True, True] Translation: X:68.84, Y:9.21, Z:1.15 [[ 9.24130269e-01 -3.81528536e-01 -2.04748965e-02 6.88362976e+01] [ 3.81452611e-01 9.24356762e-01 -7.64729878e-03 9.20677971e+00] [ 2.18437717e-02 -7.43102460e-04 9.99761120e-01 1.15393589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18361786499999 meters 0.022409550847277148 Centerline is valid? [True, True] Translation: X:68.86, Y:9.22, Z:1.15 [[ 9.24206606e-01 -3.81350633e-01 -2.03431496e-02 6.88629208e+01] [ 3.81275542e-01 9.24430182e-01 -7.60261285e-03 9.21883248e+00] [ 2.17050827e-02 -7.29960359e-04 9.99764150e-01 1.15398618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21361786499999 meters 0.023082147562456398 Centerline is valid? [True, True] Translation: X:68.89, Y:9.23, Z:1.15 [[ 9.24295915e-01 -3.81139563e-01 -2.02409525e-02 6.88891479e+01] [ 3.81065074e-01 9.24517236e-01 -7.56898610e-03 9.22915659e+00] [ 2.15979495e-02 -7.17137125e-04 9.99766480e-01 1.15426180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24361786499999 meters 0.02321674666288657 Centerline is valid? [True, True] Translation: X:68.91, Y:9.24, Z:1.15 [[ 9.24528442e-01 -3.80568515e-01 -2.03658051e-02 6.89148792e+01] [ 3.80492925e-01 9.24752457e-01 -7.61760793e-03 9.23892427e+00] [ 2.17323501e-02 -7.06349576e-04 9.99763575e-01 1.15492357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27361786499998 meters 0.02171214568197802 Centerline is valid? [True, True] Translation: X:68.94, Y:9.25, Z:1.16 [[ 9.24559279e-01 -3.80480139e-01 -2.06156184e-02 6.89400388e+01] [ 3.80402593e-01 9.24788819e-01 -7.71411997e-03 9.25163668e+00] [ 2.20001628e-02 -7.10073487e-04 9.99757715e-01 1.15557373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30361786499998 meters 0.021598138428333264 Centerline is valid? [True, True] Translation: X:68.97, Y:9.26, Z:1.16 [[ 9.24799641e-01 -3.79897685e-01 -2.05760477e-02 6.89672316e+01] [ 3.79820157e-01 9.25028256e-01 -7.70547869e-03 9.26191266e+00] [ 2.19607191e-02 -6.89173760e-04 9.99758597e-01 1.15636568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33361786499998 meters 0.02283201218090971 Centerline is valid? [True, True] Translation: X:68.99, Y:9.27, Z:1.16 [[ 9.25861027e-01 -3.77273593e-01 -2.11185913e-02 6.89941275e+01] [ 3.77191130e-01 9.26101629e-01 -7.91348759e-03 9.26982930e+00] [ 2.25435117e-02 -6.38955569e-04 9.99745659e-01 1.15662161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36361786499998 meters 0.020982107149589962 Centerline is valid? [True, True] Translation: X:69.02, Y:9.28, Z:1.16 [[ 9.26531205e-01 -3.75627167e-01 -2.10750284e-02 6.90200104e+01] [ 3.75544552e-01 9.26770671e-01 -7.90015829e-03 9.28398052e+00] [ 2.24992323e-02 -5.94868906e-04 9.99746683e-01 1.15813093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39361786499998 meters 0.020982107149589962 Centerline is valid? [True, True] Translation: X:69.05, Y:9.29, Z:1.16 [[ 9.26430833e-01 -3.75874760e-01 -2.10731122e-02 6.90457818e+01] [ 3.75792092e-01 9.26670281e-01 -7.90526690e-03 9.29372441e+00] [ 2.24992171e-02 -5.95425901e-04 9.99746683e-01 1.15858207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42361786499998 meters 0.020891314247571173 Centerline is valid? [True, True] Translation: X:69.07, Y:9.30, Z:1.16 [[ 9.27214407e-01 -3.73923469e-01 -2.13233020e-02 6.90720082e+01] [ 3.73838166e-01 9.27459400e-01 -8.00543691e-03 9.30439104e+00] [ 2.27699176e-02 -5.48707698e-04 9.99740581e-01 1.15928922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45361786499998 meters 0.01922269565913124 Centerline is valid? [True, True] Translation: X:69.10, Y:9.32, Z:1.16 [[ 9.29425659e-01 -3.68422543e-01 -2.08032208e-02 6.90982816e+01] [ 3.68339879e-01 9.29658362e-01 -7.81435145e-03 9.31880821e+00] [ 2.22188714e-02 -3.99797059e-04 9.99753050e-01 1.16044632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48361786499999 meters 0.01871435980573361 Centerline is valid? [True, True] Translation: X:69.12, Y:9.33, Z:1.16 [[ 9.30515103e-01 -3.65670641e-01 -2.06548906e-02 6.91247240e+01] [ 3.65588429e-01 9.30744258e-01 -7.76061373e-03 9.33008497e+00] [ 2.20622495e-02 -3.29820737e-04 9.99756545e-01 1.16117916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51361786499999 meters 0.017968352975309475 Centerline is valid? [True, True] Translation: X:69.15, Y:9.34, Z:1.16 [[ 9.31625534e-01 -3.62806969e-01 -2.10942468e-02 6.91513376e+01] [ 3.62720361e-01 9.31864279e-01 -7.93131249e-03 9.34254686e+00] [ 2.25345105e-02 -2.62299567e-04 9.99746031e-01 1.16258881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54361786499999 meters 0.01754313698251199 Centerline is valid? [True, True] Translation: X:69.18, Y:9.36, Z:1.16 [[ 9.33874265e-01 -3.56979681e-01 -2.10799526e-02 6.91764128e+01] [ 3.56891595e-01 9.34112142e-01 -7.93068629e-03 9.35502428e+00] [ 2.25221336e-02 -1.16994097e-04 9.99746338e-01 1.16264397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57361786499999 meters 0.017367626754527285 Centerline is valid? [True, True] Translation: X:69.20, Y:9.37, Z:1.16 [[ 9.34901715e-01 -3.54277979e-01 -2.11162489e-02 6.92019035e+01] [ 3.54188838e-01 9.35140156e-01 -7.94709617e-03 9.36617396e+00] [ 2.25621335e-02 -4.93858095e-05 9.99745441e-01 1.16313840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60361786499999 meters 0.01731683617382621 Centerline is valid? [True, True] Translation: X:69.23, Y:9.38, Z:1.16 [[ 9.35636634e-01 -3.52368165e-01 -2.05125779e-02 6.92274986e+01] [ 3.52283522e-01 9.35861462e-01 -7.72296987e-03 9.37722875e+00] [ 2.19182599e-02 -3.49651399e-07 9.99759766e-01 1.16441788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63361786499999 meters 0.017380886186079296 Centerline is valid? [True, True] Translation: X:69.25, Y:9.39, Z:1.17 [[ 9.36665645e-01 -3.49623239e-01 -2.05197456e-02 6.92532057e+01] [ 3.49537734e-01 9.36890381e-01 -7.73222373e-03 9.38780411e+00] [ 2.19281174e-02 7.00829456e-05 9.99759547e-01 1.16535061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66361786499998 meters 0.017399295421369525 Centerline is valid? [True, True] Translation: X:69.28, Y:9.40, Z:1.17 [[ 9.36858125e-01 -3.49100235e-01 -2.06368762e-02 6.92790825e+01] [ 3.49013503e-01 9.37085385e-01 -7.78180161e-03 9.39738831e+00] [ 2.20551438e-02 8.78956231e-05 9.99756752e-01 1.16514288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69361786499998 meters 0.0174273388608647 Centerline is valid? [True, True] Translation: X:69.31, Y:9.41, Z:1.17 [[ 9.36735590e-01 -3.49412118e-01 -2.09190425e-02 6.93054924e+01] [ 3.49323002e-01 9.36969138e-01 -7.89146628e-03 9.40600859e+00] [ 2.23578711e-02 8.47146037e-05 9.99750028e-01 1.16577805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72361786499998 meters 0.01732680737561178 Centerline is valid? [True, True] Translation: X:69.33, Y:9.41, Z:1.17 [[ 9.35946112e-01 -3.51535536e-01 -2.06795112e-02 6.93331089e+01] [ 3.51448827e-01 9.36174538e-01 -7.80749086e-03 9.41186324e+00] [ 2.21042423e-02 3.96007744e-05 9.99755671e-01 1.16661179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75361786499998 meters 0.017384627155808196 Centerline is valid? [True, True] Translation: X:69.36, Y:9.42, Z:1.17 [[ 9.35251969e-01 -3.53364497e-01 -2.09114161e-02 6.93603329e+01] [ 3.53276140e-01 9.35485720e-01 -7.90167104e-03 9.41951683e+00] [ 2.23545012e-02 2.54902483e-06 9.99750107e-01 1.16710490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78361786499998 meters 0.017335590728393243 Centerline is valid? [True, True] Translation: X:69.39, Y:9.43, Z:1.17 [[ 9.34515079e-01 -3.55298797e-01 -2.10791986e-02 6.93872422e+01] [ 3.55209358e-01 9.34752782e-01 -7.97171578e-03 9.42679622e+00] [ 2.25361806e-02 -3.78400040e-05 9.99746027e-01 1.16743107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81361786499998 meters 0.017620482264856636 Centerline is valid? [True, True] Translation: X:69.42, Y:9.43, Z:1.17 [[ 9.32777364e-01 -3.59841328e-01 -2.09906721e-02 6.94155768e+01] [ 3.59753668e-01 9.33013504e-01 -7.94354675e-03 9.43155676e+00] [ 2.24429969e-02 -1.41910684e-04 9.99748114e-01 1.16705661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84361786499998 meters 0.017887297463114793 Centerline is valid? [True, True] Translation: X:69.44, Y:9.44, Z:1.17 [[ 9.31691182e-01 -3.62647165e-01 -2.09421779e-02 6.94440087e+01] [ 3.62560551e-01 9.31926494e-01 -7.92817315e-03 9.43872404e+00] [ 2.23916999e-02 -2.06198546e-04 9.99749253e-01 1.16726832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87361786499999 meters 0.018177819539630227 Centerline is valid? [True, True] Translation: X:69.47, Y:9.45, Z:1.17 [[ 9.30588440e-01 -3.65461370e-01 -2.10509512e-02 6.94719555e+01] [ 3.65374444e-01 9.30826468e-01 -7.97503223e-03 9.44554415e+00] [ 2.25093488e-02 -2.70006818e-04 9.99746596e-01 1.16777522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90361786499999 meters 0.01866856088393986 Centerline is valid? [True, True] Translation: X:69.50, Y:9.45, Z:1.17 [[ 9.29405685e-01 -3.68445187e-01 -2.12888657e-02 6.94998722e+01] [ 3.68356952e-01 9.29649411e-01 -8.07022394e-03 9.45122842e+00] [ 2.27646167e-02 -3.41389679e-04 9.99740794e-01 1.16805596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93361786499999 meters 0.01921010425913613 Centerline is valid? [True, True] Translation: X:69.53, Y:9.45, Z:1.17 [[ 9.27204134e-01 -3.73976380e-01 -2.08365513e-02 6.95298741e+01] [ 3.73893191e-01 9.27438112e-01 -7.90124743e-03 9.45477062e+00] [ 2.22794917e-02 -4.64575397e-04 9.99751673e-01 1.16958841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96361786499999 meters 0.01986985442907035 Centerline is valid? [True, True] Translation: X:69.56, Y:9.46, Z:1.17 [[ 9.26306538e-01 -3.76187755e-01 -2.09516447e-02 6.95574270e+01] [ 3.76104177e-01 9.26543309e-01 -7.94636442e-03 9.46102321e+00] [ 2.24019312e-02 -5.19231764e-04 9.99748910e-01 1.16996860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99361786499999 meters 0.020270567134945492 Centerline is valid? [True, True] Translation: X:69.59, Y:9.47, Z:1.17 [[ 9.25511344e-01 -3.78138657e-01 -2.09739673e-02 6.95856631e+01] [ 3.78055333e-01 9.25748798e-01 -7.95788307e-03 9.46881044e+00] [ 2.24258083e-02 -5.64209125e-04 9.99748351e-01 1.17041847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02361786499998 meters 0.021995284891182534 Centerline is valid? [True, True] Translation: X:69.61, Y:9.47, Z:1.17 [[ 9.24810546e-01 -3.79825733e-01 -2.13978187e-02 6.96144475e+01] [ 3.79739346e-01 9.25057856e-01 -8.12355982e-03 9.47225703e+00] [ 2.28797573e-02 -6.12839886e-04 9.99738036e-01 1.16958674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05361786499998 meters 0.021803055297232882 Centerline is valid? [True, True] Translation: X:69.64, Y:9.48, Z:1.17 [[ 9.24923581e-01 -3.79532523e-01 -2.17125023e-02 6.96419937e+01] [ 3.79443422e-01 9.25178193e-01 -8.24618537e-03 9.48083562e+00] [ 2.32176292e-02 -6.11574891e-04 9.99730247e-01 1.17020931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08361786499998 meters 0.020488956121063946 Centerline is valid? [True, True] Translation: X:69.67, Y:9.49, Z:1.17 [[ 9.25098687e-01 -3.79092345e-01 -2.19411397e-02 6.96687135e+01] [ 3.79001097e-01 9.25358651e-01 -8.33883625e-03 9.49198062e+00] [ 2.34646124e-02 -6.01469543e-04 9.99724487e-01 1.17121830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11361786499998 meters 0.020147815549504424 Centerline is valid? [True, True] Translation: X:69.70, Y:9.50, Z:1.17 [[ 9.26285357e-01 -3.76179319e-01 -2.20126676e-02 6.96956316e+01] [ 3.76086539e-01 9.26546731e-01 -8.37085344e-03 9.49993582e+00] [ 2.35447071e-02 -5.24868983e-04 9.99722647e-01 1.17168296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14361786499998 meters 0.01974490206502129 Centerline is valid? [True, True] Translation: X:69.72, Y:9.51, Z:1.17 [[ 9.27216633e-01 -3.73876079e-01 -2.20452312e-02 6.97219038e+01] [ 3.73782322e-01 9.27478550e-01 -8.38535777e-03 9.50946719e+00] [ 2.35815638e-02 -4.65074528e-04 9.99721808e-01 1.17225666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17361786499998 meters 0.019467521139631388 Centerline is valid? [True, True] Translation: X:69.75, Y:9.52, Z:1.17 [[ 9.27962946e-01 -3.72036261e-01 -2.17667285e-02 6.97492472e+01] [ 3.71944279e-01 9.28218106e-01 -8.28258467e-03 9.51957345e+00] [ 2.32856934e-02 -4.10078476e-04 9.99728767e-01 1.17268249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20361786499998 meters 0.01867581820809447 Centerline is valid? [True, True] Translation: X:69.78, Y:9.53, Z:1.17 [[ 9.29722468e-01 -3.67651773e-01 -2.11732460e-02 6.97769510e+01] [ 3.67563477e-01 9.29963489e-01 -8.06218285e-03 9.52895639e+00] [ 2.26544215e-02 -2.86919385e-04 9.99743314e-01 1.17463063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23361786499999 meters 0.018342494256998017 Centerline is valid? [True, True] Translation: X:69.80, Y:9.54, Z:1.18 [[ 9.30412706e-01 -3.65944955e-01 -2.04080078e-02 6.98041541e+01] [ 3.65862405e-01 9.30636468e-01 -7.77587760e-03 9.53896244e+00] [ 2.18379795e-02 -2.31747481e-04 9.99761496e-01 1.17626080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26361786499999 meters 0.01825623133985624 Centerline is valid? [True, True] Translation: X:69.83, Y:9.55, Z:1.18 [[ 9.31159847e-01 -3.64054273e-01 -2.01451238e-02 6.98308342e+01] [ 3.63973293e-01 9.31377718e-01 -7.68038332e-03 9.54656173e+00] [ 2.15587958e-02 -1.80622502e-04 9.99767566e-01 1.17668928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29361786499999 meters 0.018162310323686787 Centerline is valid? [True, True] Translation: X:69.86, Y:9.55, Z:1.18 [[ 9.32094278e-01 -3.61654203e-01 -2.01616906e-02 6.98584230e+01] [ 3.61572469e-01 9.32312299e-01 -7.68946322e-03 9.55394608e+00] [ 2.15779188e-02 -1.22607559e-04 9.99767162e-01 1.17794071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32361786499999 meters 0.018039784093256676 Centerline is valid? [True, True] Translation: X:69.89, Y:9.56, Z:1.18 [[ 9.32529946e-01 -3.60527410e-01 -2.01961851e-02 6.98852806e+01] [ 3.60445013e-01 9.32748615e-01 -7.70808158e-03 9.56257774e+00] [ 2.16169383e-02 -9.15972783e-05 9.99766322e-01 1.17888322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35361786499999 meters 0.01803156740631099 Centerline is valid? [True, True] Translation: X:69.91, Y:9.57, Z:1.18 [[ 9.32743128e-01 -3.59983326e-01 -2.00564620e-02 6.99112321e+01] [ 3.59901828e-01 9.32958734e-01 -7.65995957e-03 9.57067928e+00] [ 2.14693091e-02 -7.35826900e-05 9.99769505e-01 1.17957168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38361786499998 meters 0.01799495043989199 Centerline is valid? [True, True] Translation: X:69.94, Y:9.58, Z:1.18 [[ 9.32790453e-01 -3.59896844e-01 -1.93967141e-02 6.99388344e+01] [ 3.59820534e-01 9.32992099e-01 -7.41120895e-03 9.57724349e+00] [ 2.07642517e-02 -6.62310572e-05 9.99784397e-01 1.18118496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41361786499998 meters 0.018020712478123313 Centerline is valid? [True, True] Translation: X:69.96, Y:9.58, Z:1.18 [[ 9.32693671e-01 -3.60181059e-01 -1.87649062e-02 6.99647639e+01] [ 3.60109594e-01 9.32882415e-01 -7.17495002e-03 9.58408861e+00] [ 2.00897321e-02 -6.53922796e-05 9.99798179e-01 1.18160748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44361786499998 meters 0.018115757430299136 Centerline is valid? [True, True] Translation: X:69.99, Y:9.59, Z:1.18 [[ 9.32486354e-01 -3.60729387e-01 -1.85339976e-02 6.99912216e+01] [ 3.60659729e-01 9.32670523e-01 -7.08913629e-03 9.59085552e+00] [ 1.98433730e-02 -7.39437014e-05 9.99803098e-01 1.18263209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47361786499998 meters 0.01821955749968059 Centerline is valid? [True, True] Translation: X:70.02, Y:9.60, Z:1.18 [[ 9.32116889e-01 -3.61675860e-01 -1.86729211e-02 7.00187977e+01] [ 3.61605286e-01 9.32303901e-01 -7.14520704e-03 9.59790244e+00] [ 1.99930861e-02 -9.20588066e-05 9.99800114e-01 1.18346242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50361786499998 meters 0.018361823609870313 Centerline is valid? [True, True] Translation: X:70.05, Y:9.60, Z:1.18 [[ 9.31304139e-01 -3.63716308e-01 -1.95716251e-02 7.00476468e+01] [ 3.63639104e-01 9.31509758e-01 -7.49488716e-03 9.60289009e+00] [ 2.09571725e-02 -1.36988791e-04 9.99780365e-01 1.18409488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53361786499998 meters 0.018467142464198956 Centerline is valid? [True, True] Translation: X:70.07, Y:9.61, Z:1.18 [[ 9.30848598e-01 -3.64843801e-01 -2.02457224e-02 7.00748847e+01] [ 3.64761351e-01 9.31068727e-01 -7.75775266e-03 9.60986770e+00] [ 2.16805269e-02 -1.63563854e-04 9.99764936e-01 1.18402336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56361786499998 meters 0.018621298581081764 Centerline is valid? [True, True] Translation: X:70.10, Y:9.62, Z:1.18 [[ 9.30302285e-01 -3.66190783e-01 -2.10230662e-02 7.01032330e+01] [ 3.66102155e-01 9.30539774e-01 -8.05864680e-03 9.61760827e+00] [ 2.25138015e-02 -1.99612317e-04 9.99746512e-01 1.18448356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59361786499998 meters 0.01869877549107255 Centerline is valid? [True, True] Translation: X:70.13, Y:9.62, Z:1.19 [[ 9.29270244e-01 -3.68725035e-01 -2.23307517e-02 7.01320100e+01] [ 3.68625616e-01 9.29538474e-01 -8.56620942e-03 9.62327180e+00] [ 2.39158687e-02 -2.71363596e-04 9.99713938e-01 1.18501918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62361786499999 meters 0.019013256222506023 Centerline is valid? [True, True] Translation: X:70.16, Y:9.63, Z:1.18 [[ 9.28759333e-01 -3.69984668e-01 -2.27474451e-02 7.01590779e+01] [ 3.69881758e-01 9.29037810e-01 -8.73114881e-03 9.62990300e+00] [ 2.43636277e-02 -3.04729009e-04 9.99703116e-01 1.18459021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65361786499999 meters 0.01929738055450765 Centerline is valid? [True, True] Translation: X:70.19, Y:9.64, Z:1.19 [[ 9.28328075e-01 -3.71045142e-01 -2.30757132e-02 7.01861130e+01] [ 3.70939510e-01 9.28614770e-01 -8.85942402e-03 9.63646389e+00] [ 2.47156943e-02 -3.35241695e-04 9.99694464e-01 1.18508876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68361786499999 meters 0.019544276035230325 Centerline is valid? [True, True] Translation: X:70.21, Y:9.64, Z:1.19 [[ 9.27682039e-01 -3.72643731e-01 -2.32955867e-02 7.02142065e+01] [ 3.72536490e-01 9.27974410e-01 -8.94745139e-03 9.64377556e+00] [ 2.49519200e-02 -3.78066164e-04 9.99688581e-01 1.18598831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71361786499999 meters 0.019743867230427193 Centerline is valid? [True, True] Translation: X:70.24, Y:9.65, Z:1.19 [[ 9.26645794e-01 -3.75189742e-01 -2.36691743e-02 7.02427023e+01] [ 3.75079736e-01 9.26947925e-01 -9.09591886e-03 9.64886363e+00] [ 2.53527874e-02 -4.49132697e-04 9.99678466e-01 1.18765741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74361786499999 meters 0.019786461222267793 Centerline is valid? [True, True] Translation: X:70.27, Y:9.66, Z:1.19 [[ 9.26170159e-01 -3.76349753e-01 -2.38683799e-02 7.02705946e+01] [ 3.76238173e-01 9.26477540e-01 -9.17634158e-03 9.65722110e+00] [ 2.55670317e-02 -4.81341890e-04 9.99672994e-01 1.18846522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77361786499998 meters 0.021350730558068704 Centerline is valid? [True, True] Translation: X:70.30, Y:9.67, Z:1.19 [[ 9.25601964e-01 -3.77644918e-01 -2.54031525e-02 7.02987948e+01] [ 3.77518813e-01 9.25950334e-01 -9.77368446e-03 9.66545950e+00] [ 2.72130398e-02 -5.43626438e-04 9.99629509e-01 1.18718857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80361786499998 meters 0.020118797859574225 Centerline is valid? [True, True] Translation: X:70.33, Y:9.67, Z:1.19 [[ 9.25437891e-01 -3.78073976e-01 -2.49955600e-02 7.03254131e+01] [ 3.77951906e-01 9.25775229e-01 -9.62198180e-03 9.67331681e+00] [ 2.67780911e-02 -5.42572989e-04 9.99641255e-01 1.18929155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83361786499998 meters 0.020093520654089335 Centerline is valid? [True, True] Translation: X:70.35, Y:9.68, Z:1.19 [[ 9.25286270e-01 -3.78415119e-01 -2.54424033e-02 7.03522784e+01] [ 3.78288645e-01 9.25635828e-01 -9.79870645e-03 9.68042270e+00] [ 2.72583787e-02 -5.57963740e-04 9.99628266e-01 1.19031768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86361786499998 meters 0.020103522777945304 Centerline is valid? [True, True] Translation: X:70.38, Y:9.69, Z:1.19 [[ 9.25282762e-01 -3.78435089e-01 -2.52723893e-02 7.03793162e+01] [ 3.78310093e-01 9.25627670e-01 -9.74114478e-03 9.68863816e+00] [ 2.70792138e-02 -5.47486580e-04 9.99633141e-01 1.19156156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89361786499998 meters 0.019753621956262162 Centerline is valid? [True, True] Translation: X:70.41, Y:9.70, Z:1.19 [[ 9.25380230e-01 -3.78241652e-01 -2.45902961e-02 7.04074232e+01] [ 3.78123053e-01 9.25706747e-01 -9.48550729e-03 9.69567534e+00] [ 2.63512170e-02 -5.20456924e-04 9.99652611e-01 1.19420107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92361786499998 meters 0.01987681350548871 Centerline is valid? [True, True] Translation: X:70.43, Y:9.70, Z:1.20 [[ 9.25604635e-01 -3.77733567e-01 -2.39460278e-02 7.04342711e+01] [ 3.77620803e-01 9.25914205e-01 -9.24199210e-03 9.70335354e+00] [ 2.56629779e-02 -4.88087513e-04 9.99670532e-01 1.19532484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95361786499998 meters 0.01984034007569246 Centerline is valid? [True, True] Translation: X:70.46, Y:9.71, Z:1.20 [[ 9.25672640e-01 -3.77578336e-01 -2.37647767e-02 7.04611759e+01] [ 3.77467117e-01 9.25977523e-01 -9.17619180e-03 9.71193750e+00] [ 2.54703803e-02 -4.76272039e-04 9.99675464e-01 1.19684201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98361786499999 meters 0.019871313905543506 Centerline is valid? [True, True] Translation: X:70.49, Y:9.72, Z:1.20 [[ 9.25974507e-01 -3.76867859e-01 -2.32772267e-02 7.04885056e+01] [ 3.76760795e-01 9.26266928e-01 -8.99341423e-03 9.71952198e+00] [ 2.49502540e-02 -4.42274131e-04 9.99688596e-01 1.19796961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01361786499999 meters 0.019380438561814175 Centerline is valid? [True, True] Translation: X:70.52, Y:9.73, Z:1.20 [[ 9.25993582e-01 -3.76839370e-01 -2.29777073e-02 7.05150542e+01] [ 3.76734943e-01 9.26278523e-01 -8.88147192e-03 9.73004139e+00] [ 2.46306451e-02 -4.32319271e-04 9.99696526e-01 1.19918427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04361786499999 meters 0.01943216142698221 Centerline is valid? [True, True] Translation: X:70.54, Y:9.74, Z:1.20 [[ 9.26423001e-01 -3.75766722e-01 -2.32334743e-02 7.05420349e+01] [ 3.75659483e-01 9.26714200e-01 -8.98578202e-03 9.73690616e+00] [ 2.49073484e-02 -4.03239817e-04 9.99689683e-01 1.20051338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07361786499999 meters 0.019240139140593217 Centerline is valid? [True, True] Translation: X:70.57, Y:9.75, Z:1.20 [[ 9.26538834e-01 -3.75478944e-01 -2.32669684e-02 7.05689509e+01] [ 3.75371205e-01 9.26830841e-01 -9.00278547e-03 9.74627746e+00] [ 2.49449003e-02 -3.92319608e-04 9.99688751e-01 1.20183007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10361786499999 meters 0.019396133270233193 Centerline is valid? [True, True] Translation: X:70.60, Y:9.75, Z:1.20 [[ 9.26878077e-01 -3.74640266e-01 -2.32744859e-02 7.05951330e+01] [ 3.74532052e-01 9.27170177e-01 -9.01132588e-03 9.75491380e+00] [ 2.49554148e-02 -3.64640589e-04 9.99688499e-01 1.20185841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13361786499998 meters 0.0191363676120616 Centerline is valid? [True, True] Translation: X:70.62, Y:9.77, Z:1.20 [[ 9.27227149e-01 -3.73791978e-01 -2.30080649e-02 7.06223362e+01] [ 3.73685880e-01 9.27512504e-01 -8.91166116e-03 9.76591658e+00] [ 2.46713753e-02 -3.34654797e-04 9.99695559e-01 1.20342832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16361786499998 meters 0.01905050445133841 Centerline is valid? [True, True] Translation: X:70.65, Y:9.78, Z:1.20 [[ 9.28083578e-01 -3.71643929e-01 -2.32736470e-02 7.06484167e+01] [ 3.71534571e-01 9.28375309e-01 -9.01933706e-03 9.77504648e+00] [ 2.49586611e-02 -2.76265864e-04 9.99688446e-01 1.20377576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19361786499998 meters 0.01904960243418799 Centerline is valid? [True, True] Translation: X:70.68, Y:9.78, Z:1.20 [[ 9.28483290e-01 -3.70642277e-01 -2.33041318e-02 7.06750478e+01] [ 3.70532226e-01 9.28775668e-01 -9.03482804e-03 9.78497471e+00] [ 2.49929998e-02 -2.46244959e-04 9.99687596e-01 1.20418762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22361786499998 meters 0.018738853423983074 Centerline is valid? [True, True] Translation: X:70.70, Y:9.80, Z:1.21 [[ 9.28917279e-01 -3.69525574e-01 -2.37389982e-02 7.07011173e+01] [ 3.69410836e-01 9.29220536e-01 -9.21031376e-03 9.79584455e+00] [ 2.54622111e-02 -2.13823550e-04 9.99675762e-01 1.20513840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25361786499998 meters 0.018903299860326 Centerline is valid? [True, True] Translation: X:70.73, Y:9.80, Z:1.20 [[ 9.29269424e-01 -3.68635580e-01 -2.37938431e-02 7.07279836e+01] [ 3.68519873e-01 9.29573975e-01 -9.23731335e-03 9.80465770e+00] [ 2.55233397e-02 -1.84551180e-04 9.99674209e-01 1.20422225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28361786499998 meters 0.018903299860326 Centerline is valid? [True, True] Translation: X:70.75, Y:9.81, Z:1.20 [[ 9.29174733e-01 -3.68874279e-01 -2.37924856e-02 7.07536551e+01] [ 3.68758561e-01 9.29479280e-01 -9.24080872e-03 9.81472132e+00] [ 2.55233190e-02 -1.87356773e-04 9.99674209e-01 1.20467412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31361786499998 meters 0.018632112591648996 Centerline is valid? [True, True] Translation: X:70.78, Y:9.82, Z:1.21 [[ 9.29708462e-01 -3.67477104e-01 -2.45510471e-02 7.07801835e+01] [ 3.67353202e-01 9.30032557e-01 -9.54299289e-03 9.82493552e+00] [ 2.63401045e-02 -1.46704514e-04 9.99653028e-01 1.20637838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34361786499998 meters 0.018718315974841245 Centerline is valid? [True, True] Translation: X:70.81, Y:9.83, Z:1.21 [[ 9.29890887e-01 -3.67034044e-01 -2.42682498e-02 7.08057737e+01] [ 3.66912656e-01 9.30207501e-01 -9.43971630e-03 9.83389638e+00] [ 2.60392052e-02 -1.26421827e-04 9.99660914e-01 1.20558336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37361786499999 meters 0.018550183115442345 Centerline is valid? [True, True] Translation: X:70.83, Y:9.84, Z:1.21 [[ 9.30143646e-01 -3.66446298e-01 -2.34501439e-02 7.08321321e+01] [ 3.66332635e-01 9.30439198e-01 -9.12688854e-03 9.84446124e+00] [ 2.51634476e-02 -1.01235626e-04 9.99683345e-01 1.20797939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40361786499999 meters 0.018609309798849137 Centerline is valid? [True, True] Translation: X:70.86, Y:9.85, Z:1.21 [[ 9.30019847e-01 -3.66763382e-01 -2.34031284e-02 7.08572940e+01] [ 3.66650141e-01 9.30314254e-01 -9.11389709e-03 9.85303483e+00] [ 2.51149077e-02 -1.04655176e-04 9.99684565e-01 1.20693884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43361786499999 meters 0.018590155274929288 Centerline is valid? [True, True] Translation: X:70.88, Y:9.86, Z:1.21 [[ 9.29897958e-01 -3.67053287e-01 -2.36996191e-02 7.08835780e+01] [ 3.66937132e-01 9.30199910e-01 -9.23410582e-03 9.86316122e+00] [ 2.54347924e-02 -1.09494105e-04 9.99676477e-01 1.20823389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46361786499999 meters 0.018743896348403805 Centerline is valid? [True, True] Translation: X:70.91, Y:9.87, Z:1.21 [[ 9.29210714e-01 -3.68768652e-01 -2.40235568e-02 7.09114458e+01] [ 3.68649685e-01 9.29521198e-01 -9.36757532e-03 9.87091678e+00] [ 2.57848734e-02 -1.51825286e-04 9.99667503e-01 1.20836305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49361786499999 meters 0.018877373146908436 Centerline is valid? [True, True] Translation: X:70.94, Y:9.88, Z:1.21 [[ 9.28692123e-01 -3.70069627e-01 -2.40709910e-02 7.09380897e+01] [ 3.69950445e-01 9.29004003e-01 -9.39307879e-03 9.87932861e+00] [ 2.58381401e-02 -1.81795545e-04 9.99666123e-01 1.20917869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52361786499998 meters 0.018932577229444608 Centerline is valid? [True, True] Translation: X:70.96, Y:9.89, Z:1.21 [[ 9.28253943e-01 -3.71145629e-01 -2.44036783e-02 7.09643896e+01] [ 3.71023349e-01 9.28574649e-01 -9.52873901e-03 9.88757952e+00] [ 2.61971869e-02 -2.09244897e-04 9.99656773e-01 1.20966251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55361786499998 meters 0.019173116520203773 Centerline is valid? [True, True] Translation: X:70.99, Y:9.90, Z:1.21 [[ 9.27578241e-01 -3.72831139e-01 -2.44038540e-02 7.09926866e+01] [ 3.72709334e-01 9.27899174e-01 -9.53281635e-03 9.89542783e+00] [ 2.61984468e-02 -2.53111140e-04 9.99656730e-01 1.21012990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58361786499998 meters 0.019319547247723067 Centerline is valid? [True, True] Translation: X:71.02, Y:9.90, Z:1.21 [[ 9.27060619e-01 -3.74102423e-01 -2.46167939e-02 7.10194592e+01] [ 3.73978794e-01 9.27387349e-01 -9.62112872e-03 9.90438069e+00] [ 2.64285908e-02 -2.86789378e-04 9.99650663e-01 1.21055730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61361786499998 meters 0.019594060163241094 Centerline is valid? [True, True] Translation: X:71.05, Y:9.91, Z:1.21 [[ 9.26714243e-01 -3.74952118e-01 -2.47309643e-02 7.10458008e+01] [ 3.74827579e-01 9.27044127e-01 -9.66814236e-03 9.91295838e+00] [ 2.65517857e-02 -3.10242252e-04 9.99647391e-01 1.21035059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64361786499998 meters 0.01948390826252868 Centerline is valid? [True, True] Translation: X:71.07, Y:9.92, Z:1.21 [[ 9.26354082e-01 -3.75809758e-01 -2.52019798e-02 7.10729108e+01] [ 3.75680634e-01 9.26696774e-01 -9.85645423e-03 9.92317852e+00] [ 2.70587450e-02 -3.37329109e-04 9.99633788e-01 1.21187810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67361786499998 meters 0.019686017276028023 Centerline is valid? [True, True] Translation: X:71.10, Y:9.93, Z:1.21 [[ 9.25592656e-01 -3.77662452e-01 -2.54815204e-02 7.11003132e+01] [ 3.77531006e-01 9.25943259e-01 -9.97097567e-03 9.93103929e+00] [ 2.73601051e-02 -3.91002154e-04 9.99625566e-01 1.21347578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70361786499998 meters 0.0199469552409182 Centerline is valid? [True, True] Translation: X:71.13, Y:9.94, Z:1.21 [[ 9.25099559e-01 -3.78856648e-01 -2.56602073e-02 7.11272798e+01] [ 3.78723740e-01 9.25455271e-01 -1.00434220e-02 9.93932895e+00] [ 2.75523913e-02 -4.26964393e-04 9.99620270e-01 1.21434697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73361786499999 meters 0.020019647083870763 Centerline is valid? [True, True] Translation: X:71.15, Y:9.95, Z:1.22 [[ 9.24468018e-01 -3.80409363e-01 -2.54480079e-02 7.11542140e+01] [ 3.80279115e-01 9.24818090e-01 -9.96466265e-03 9.94870676e+00] [ 2.73254291e-02 -4.65334007e-04 9.99626482e-01 1.21601488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76361786499999 meters 0.020521623383322314 Centerline is valid? [True, True] Translation: X:71.18, Y:9.96, Z:1.22 [[ 9.23937109e-01 -3.81709533e-01 -2.52596839e-02 7.11807452e+01] [ 3.81581551e-01 9.24282201e-01 -9.89609858e-03 9.95659013e+00] [ 2.71245114e-02 -4.95256658e-04 9.99631940e-01 1.21665731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79361786499999 meters 0.02064091152317497 Centerline is valid? [True, True] Translation: X:71.21, Y:9.97, Z:1.22 [[ 9.22940628e-01 -3.84139063e-01 -2.48551409e-02 7.12078411e+01] [ 3.84015918e-01 9.23275080e-01 -9.74171216e-03 9.96555279e+00] [ 2.66903044e-02 -5.53747825e-04 9.99643597e-01 1.21852990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82361786499999 meters 0.020983798239398964 Centerline is valid? [True, True] Translation: X:71.23, Y:9.97, Z:1.22 [[ 9.22311368e-01 -3.85654200e-01 -2.47503157e-02 7.12348218e+01] [ 3.85532457e-01 9.22643209e-01 -9.70739112e-03 9.97477336e+00] [ 2.65794069e-02 -5.88812836e-04 9.99646532e-01 1.21920374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85361786499999 meters 0.02111535145997418 Centerline is valid? [True, True] Translation: X:71.26, Y:9.98, Z:1.22 [[ 9.21811706e-01 -3.86801807e-01 -2.54468176e-02 7.12615142e+01] [ 3.86673393e-01 9.22162654e-01 -9.98634635e-03 9.98446389e+00] [ 2.73288417e-02 -6.34076348e-04 9.99626296e-01 1.22002423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88361786499998 meters 0.022481439525603074 Centerline is valid? [True, True] Translation: X:71.29, Y:9.99, Z:1.22 [[ 9.21014410e-01 -3.88651135e-01 -2.61295292e-02 7.12889549e+01] [ 3.88516371e-01 9.21384719e-01 -1.02581535e-02 9.99014696e+00] [ 2.80621919e-02 -7.03842647e-04 9.99605931e-01 1.22010813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91361786499998 meters 0.021455243384735097 Centerline is valid? [True, True] Translation: X:71.31, Y:10.00, Z:1.22 [[ 9.20789678e-01 -3.89197647e-01 -2.59144924e-02 7.13148886e+01] [ 3.89065154e-01 9.21153998e-01 -1.01792990e-02 1.00019274e+01] [ 2.78329975e-02 -7.09432482e-04 9.99612335e-01 1.22240347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94361786499998 meters 0.0214920138398883 Centerline is valid? [True, True] Translation: X:71.34, Y:10.01, Z:1.22 [[ 9.20506176e-01 -3.89861854e-01 -2.60022052e-02 7.13417380e+01] [ 3.89728508e-01 9.20873069e-01 -1.02215568e-02 1.00118868e+01] [ 2.79297255e-02 -7.24794484e-04 9.99609626e-01 1.22342560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97361786499998 meters 0.02148431294311465 Centerline is valid? [True, True] Translation: X:71.37, Y:10.02, Z:1.23 [[ 9.20694724e-01 -3.89446866e-01 -2.55414209e-02 7.13684669e+01] [ 3.89317854e-01 9.21048673e-01 -1.00474106e-02 1.00218835e+01] [ 2.74378244e-02 -6.93133322e-04 9.99623272e-01 1.22501636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00361786499998 meters 0.022306724438784873 Centerline is valid? [True, True] Translation: X:71.40, Y:10.03, Z:1.22 [[ 9.20944577e-01 -3.88849611e-01 -2.56333149e-02 7.13956934e+01] [ 3.88719243e-01 9.21300998e-01 -1.00906278e-02 1.00302009e+01] [ 2.75397353e-02 -6.71253799e-04 9.99620484e-01 1.22465799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03361786499998 meters 0.022241800623472776 Centerline is valid? [True, True] Translation: X:71.42, Y:10.04, Z:1.23 [[ 9.21112125e-01 -3.88453560e-01 -2.56180612e-02 7.14221791e+01] [ 3.88323004e-01 9.21468071e-01 -1.00915214e-02 1.00412404e+01] [ 2.75263128e-02 -6.52659768e-04 9.99620866e-01 1.22539200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06361786499998 meters 0.021334270100468174 Centerline is valid? [True, True] Translation: X:71.45, Y:10.05, Z:1.23 [[ 9.21601175e-01 -3.87258148e-01 -2.61228064e-02 7.14485736e+01] [ 3.87121718e-01 9.21971116e-01 -1.02973873e-02 1.00535080e+01] [ 2.80722201e-02 -6.22621464e-04 9.99605704e-01 1.22650602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09361786499998 meters 0.020855946186662193 Centerline is valid? [True, True] Translation: X:71.47, Y:10.07, Z:1.23 [[ 9.22834213e-01 -3.84269185e-01 -2.67246951e-02 7.14748142e+01] [ 3.84124929e-01 9.23220941e-01 -1.05420030e-02 1.00656145e+01] [ 2.87237650e-02 -5.37100571e-04 9.99587243e-01 1.22676419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12361786499999 meters 0.020876665214855067 Centerline is valid? [True, True] Translation: X:71.50, Y:10.08, Z:1.23 [[ 9.23356490e-01 -3.83043688e-01 -2.62740557e-02 7.15011202e+01] [ 3.82903561e-01 9.23730101e-01 -1.03713004e-02 1.00762284e+01] [ 2.82427973e-02 -4.84021956e-04 9.99600975e-01 1.22682686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15361786499999 meters 0.020506199886018196 Centerline is valid? [True, True] Translation: X:71.53, Y:10.09, Z:1.23 [[ 9.23858394e-01 -3.81840026e-01 -2.61507692e-02 7.15274103e+01] [ 3.81700531e-01 9.24228328e-01 -1.03296964e-02 1.00878041e+01] [ 2.81135732e-02 -4.38585737e-04 9.99604639e-01 1.22793809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18361786499999 meters 0.020299704617534303 Centerline is valid? [True, True] Translation: X:71.55, Y:10.10, Z:1.23 [[ 9.24993015e-01 -3.79157803e-01 -2.50456080e-02 7.15527547e+01] [ 3.79028734e-01 9.25331966e-01 -9.89806402e-03 1.00990241e+01] [ 2.69284299e-02 -3.37365031e-04 9.99637307e-01 1.22857555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21361786499999 meters 0.020176586968845837 Centerline is valid? [True, True] Translation: X:71.58, Y:10.11, Z:1.23 [[ 9.25363835e-01 -3.78278437e-01 -2.46413750e-02 7.15791845e+01] [ 3.78153085e-01 9.25691813e-01 -9.74226479e-03 1.01098708e+01] [ 2.64956078e-02 -3.03072477e-04 9.99648884e-01 1.22923550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24361786499999 meters 0.020122630613558106 Centerline is valid? [True, True] Translation: X:71.61, Y:10.12, Z:1.23 [[ 9.25813901e-01 -3.77217543e-01 -2.39905538e-02 7.16053915e+01] [ 3.77098236e-01 9.26124645e-01 -9.49016190e-03 1.01205706e+01] [ 2.57980986e-02 -2.60671682e-04 9.99667140e-01 1.22966265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27361786499998 meters 0.02012054326194459 Centerline is valid? [True, True] Translation: X:71.63, Y:10.13, Z:1.23 [[ 9.26505473e-01 -3.75588858e-01 -2.28170582e-02 7.16315164e+01] [ 3.75480346e-01 9.26786367e-01 -9.02999762e-03 1.01324969e+01] [ 2.45381049e-02 -2.01014671e-04 9.99698875e-01 1.23050027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30361786499998 meters 0.02010942017613053 Centerline is valid? [True, True] Translation: X:71.66, Y:10.14, Z:1.23 [[ 9.26821024e-01 -3.74848707e-01 -2.21638337e-02 7.16577660e+01] [ 3.74745971e-01 9.27085982e-01 -8.77720295e-03 1.01434578e+01] [ 2.38379027e-02 -1.70911154e-04 9.99715822e-01 1.23092441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33361786499998 meters 0.0201879650748735 Centerline is valid? [True, True] Translation: X:71.68, Y:10.15, Z:1.23 [[ 9.26957391e-01 -3.74543561e-01 -2.16128535e-02 7.16835652e+01] [ 3.74445653e-01 9.27209306e-01 -8.56481604e-03 1.01542186e+01] [ 2.32475356e-02 -1.53619496e-04 9.99729728e-01 1.23129814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36361786499998 meters 0.02021952783075712 Centerline is valid? [True, True] Translation: X:71.71, Y:10.17, Z:1.23 [[ 9.27453663e-01 -3.73374205e-01 -2.05282039e-02 7.17093672e+01] [ 3.73285485e-01 9.27680813e-01 -8.13981471e-03 1.01651401e+01] [ 2.20828177e-02 -1.13579582e-04 9.99756138e-01 1.23225852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39361786499998 meters 0.02027537583138631 Centerline is valid? [True, True] Translation: X:71.74, Y:10.18, Z:1.23 [[ 9.27516651e-01 -3.73271628e-01 -1.95231574e-02 7.17351908e+01] [ 3.73191306e-01 9.27722093e-01 -7.74389299e-03 1.01762078e+01] [ 2.10026400e-02 -1.03282919e-04 9.99779415e-01 1.23241105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42361786499998 meters 0.020305400630722774 Centerline is valid? [True, True] Translation: X:71.76, Y:10.19, Z:1.23 [[ 9.27519877e-01 -3.73290594e-01 -1.90002828e-02 7.17611399e+01] [ 3.73214408e-01 9.27714462e-01 -7.54201747e-03 1.01879414e+01] [ 2.04422014e-02 -9.58082044e-05 9.99791032e-01 1.23320491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45361786499998 meters 0.02045159884157362 Centerline is valid? [True, True] Translation: X:71.79, Y:10.20, Z:1.23 [[ 9.27400827e-01 -3.73628260e-01 -1.81556816e-02 7.17872219e+01] [ 3.73558655e-01 9.27578522e-01 -7.21225683e-03 1.01985784e+01] [ 1.95355233e-02 -9.35590446e-05 9.99809159e-01 1.23345737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48361786499999 meters 0.02049314130054107 Centerline is valid? [True, True] Translation: X:71.81, Y:10.21, Z:1.23 [[ 9.27314161e-01 -3.73855531e-01 -1.79021834e-02 7.18126714e+01] [ 3.73787794e-01 9.27486945e-01 -7.11699473e-03 1.02081165e+01] [ 1.92647692e-02 -9.19276327e-05 9.99814413e-01 1.23330637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51361786499999 meters 0.02048489958993199 Centerline is valid? [True, True] Translation: X:71.84, Y:10.22, Z:1.23 [[ 9.27262592e-01 -3.73988281e-01 -1.78003350e-02 7.18389111e+01] [ 3.73921257e-01 9.27433425e-01 -7.08065496e-03 1.02181876e+01] [ 1.91567077e-02 -9.02971942e-05 9.99816489e-01 1.23386685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54361786499999 meters 0.020564123979145726 Centerline is valid? [True, True] Translation: X:71.87, Y:10.23, Z:1.23 [[ 9.27252198e-01 -3.74012623e-01 -1.78303055e-02 7.18650671e+01] [ 3.73945268e-01 9.27423609e-01 -7.09830455e-03 1.02284333e+01] [ 1.91911018e-02 -8.56398720e-05 9.99815830e-01 1.23367832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57361786499999 meters 0.02057465607275669 Centerline is valid? [True, True] Translation: X:71.89, Y:10.24, Z:1.23 [[ 9.27092829e-01 -3.74422806e-01 -1.75056651e-02 7.18911756e+01] [ 3.74357851e-01 9.27258084e-01 -6.97457539e-03 1.02386777e+01] [ 1.88437096e-02 -8.73043375e-05 9.99822438e-01 1.23434363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60361786499999 meters 0.020735951258938668 Centerline is valid? [True, True] Translation: X:71.92, Y:10.25, Z:1.23 [[ 9.26949115e-01 -3.74776383e-01 -1.75499424e-02 7.19165173e+01] [ 3.74711061e-01 9.27115233e-01 -6.99758012e-03 1.02481864e+01] [ 1.88933467e-02 -8.97568418e-05 9.99821501e-01 1.23411003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63361786499998 meters 0.02077706631606446 Centerline is valid? [True, True] Translation: X:71.94, Y:10.26, Z:1.23 [[ 9.26496380e-01 -3.75896296e-01 -1.75052296e-02 7.19425409e+01] [ 3.75831430e-01 9.26661731e-01 -6.98375686e-03 1.02578511e+01] [ 1.88465947e-02 -1.08590023e-04 9.99822381e-01 1.23418130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66361786499998 meters 0.020792198766222635 Centerline is valid? [True, True] Translation: X:71.97, Y:10.27, Z:1.23 [[ 9.26122151e-01 -3.76834068e-01 -1.71419647e-02 7.19688030e+01] [ 3.76771937e-01 9.26280773e-01 -6.84377189e-03 1.02677634e+01] [ 1.84572387e-02 -1.20442483e-04 9.99829643e-01 1.23473572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69361786499998 meters 0.02103292106945384 Centerline is valid? [True, True] Translation: X:72.00, Y:10.28, Z:1.24 [[ 9.25584855e-01 -3.78179879e-01 -1.65122789e-02 7.19953581e+01] [ 3.78122414e-01 9.25732121e-01 -6.59394794e-03 1.02751500e+01] [ 1.77796454e-02 -1.40404400e-04 9.99841920e-01 1.23541228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72361786499998 meters 0.021058283488375983 Centerline is valid? [True, True] Translation: X:72.02, Y:10.28, Z:1.24 [[ 9.25084294e-01 -3.79431061e-01 -1.58467646e-02 7.20225790e+01] [ 3.79378292e-01 9.25219999e-01 -6.32977515e-03 1.02846521e+01] [ 1.70634568e-02 -1.56342920e-04 9.99854396e-01 1.23628140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75361786499998 meters 0.021196773457480177 Centerline is valid? [True, True] Translation: X:72.05, Y:10.29, Z:1.24 [[ 9.24582009e-01 -3.80687061e-01 -1.50156640e-02 7.20498482e+01] [ 3.80639787e-01 9.24703917e-01 -6.00158663e-03 1.02947196e+01] [ 1.61697697e-02 -1.66600135e-04 9.99869247e-01 1.23745422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78361786499998 meters 0.021199962395926895 Centerline is valid? [True, True] Translation: X:72.08, Y:10.31, Z:1.24 [[ 9.24116575e-01 -3.81832788e-01 -1.45697674e-02 7.20763712e+01] [ 3.81788363e-01 9.24231405e-01 -5.82712008e-03 1.03052911e+01] [ 1.56908221e-02 -1.77629418e-04 9.99876876e-01 1.23815202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81361786499998 meters 0.021338421811473093 Centerline is valid? [True, True] Translation: X:72.10, Y:10.31, Z:1.24 [[ 9.23697568e-01 -3.82885910e-01 -1.34604438e-02 7.21022031e+01] [ 3.82848051e-01 9.23795621e-01 -5.38711964e-03 1.03148454e+01] [ 1.44973512e-02 -1.77235363e-04 9.99894892e-01 1.23865407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84361786499998 meters 0.021584534574889215 Centerline is valid? [True, True] Translation: X:72.13, Y:10.32, Z:1.24 [[ 9.23092396e-01 -3.84365437e-01 -1.27921495e-02 7.21298065e+01] [ 3.84331376e-01 9.23181009e-01 -5.12039941e-03 1.03233190e+01] [ 1.37775741e-02 -1.89822687e-04 9.99905067e-01 1.23934197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87361786499999 meters 0.021704270068581777 Centerline is valid? [True, True] Translation: X:72.16, Y:10.33, Z:1.24 [[ 9.22821826e-01 -3.85013538e-01 -1.28239037e-02 7.21562130e+01] [ 3.84979317e-01 9.22910904e-01 -5.13699346e-03 1.03326764e+01] [ 1.38131326e-02 -1.96407983e-04 9.99904575e-01 1.24012713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90361786499999 meters 0.021853867380959496 Centerline is valid? [True, True] Translation: X:72.18, Y:10.34, Z:1.24 [[ 9.22624846e-01 -3.85481460e-01 -1.29397808e-02 7.21827143e+01] [ 3.85446647e-01 9.22715559e-01 -5.18455960e-03 1.03419184e+01] [ 1.39382887e-02 -2.04191623e-04 9.99902836e-01 1.24086316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93361786499999 meters 0.021716919245552843 Centerline is valid? [True, True] Translation: X:72.21, Y:10.35, Z:1.24 [[ 9.22628964e-01 -3.85465427e-01 -1.31224642e-02 7.22087890e+01] [ 3.85429602e-01 9.22722256e-01 -5.25924286e-03 1.03532843e+01] [ 1.41356461e-02 -2.05456359e-04 9.99900066e-01 1.24115001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96361786499999 meters 0.021967647391302147 Centerline is valid? [True, True] Translation: X:72.23, Y:10.36, Z:1.24 [[ 9.22894838e-01 -3.84824951e-01 -1.32240062e-02 7.22349495e+01] [ 3.84788438e-01 9.22989556e-01 -5.30455157e-03 1.03625082e+01] [ 1.42469434e-02 -1.92901433e-04 9.99898489e-01 1.24152120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99361786499999 meters 0.0214992377045915 Centerline is valid? [True, True] Translation: X:72.26, Y:10.38, Z:1.24 [[ 9.23660463e-01 -3.82990951e-01 -1.30107856e-02 7.22601139e+01] [ 3.82955412e-01 9.23752080e-01 -5.21986756e-03 1.03766700e+01] [ 1.40179023e-02 -1.61165482e-04 9.99901731e-01 1.24154330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02361786499998 meters 0.021443527985398093 Centerline is valid? [True, True] Translation: X:72.29, Y:10.39, Z:1.24 [[ 9.24143801e-01 -3.81821379e-01 -1.30640496e-02 7.22857280e+01] [ 3.81785375e-01 9.24236125e-01 -5.24523289e-03 1.03877516e+01] [ 1.40770086e-02 -1.40313615e-04 9.99900904e-01 1.24203226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05361786499998 meters 0.021448598818245103 Centerline is valid? [True, True] Translation: X:72.31, Y:10.40, Z:1.24 [[ 9.24590190e-01 -3.80736512e-01 -1.31411040e-02 7.23120609e+01] [ 3.80699960e-01 9.24683564e-01 -5.27709268e-03 1.03999583e+01] [ 1.41605447e-02 -1.23669619e-04 9.99899727e-01 1.24240054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08361786499998 meters 0.021407021993612697 Centerline is valid? [True, True] Translation: X:72.34, Y:10.41, Z:1.24 [[ 9.25462441e-01 -3.78608071e-01 -1.32362981e-02 7.23370056e+01] [ 3.78570714e-01 9.25557087e-01 -5.31921731e-03 1.04118393e+01] [ 1.42648481e-02 -8.81389944e-05 9.99898248e-01 1.24322796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11361786499998 meters 0.021396133683521102 Centerline is valid? [True, True] Translation: X:72.36, Y:10.42, Z:1.24 [[ 9.25748874e-01 -3.77910185e-01 -1.31496857e-02 7.23629936e+01] [ 3.77873223e-01 9.25842258e-01 -5.28593920e-03 1.04235016e+01] [ 1.41721449e-02 -7.54618354e-05 9.99899567e-01 1.24382011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14361786499998 meters 0.021428126349673508 Centerline is valid? [True, True] Translation: X:72.39, Y:10.43, Z:1.24 [[ 9.25917569e-01 -3.77497687e-01 -1.31206231e-02 7.23880055e+01] [ 3.77460783e-01 9.26010525e-01 -5.27876982e-03 1.04340924e+01] [ 1.41425585e-02 -6.48149582e-05 9.99899987e-01 1.24444730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17361786499998 meters 0.021410170376866537 Centerline is valid? [True, True] Translation: X:72.41, Y:10.45, Z:1.24 [[ 9.26073947e-01 -3.77105799e-01 -1.33514123e-02 7.24139652e+01] [ 3.77067523e-01 9.26170186e-01 -5.37314657e-03 1.04459703e+01] [ 1.43919248e-02 -5.84529144e-05 9.99896429e-01 1.24493427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20361786499998 meters 0.021410170376866537 Centerline is valid? [True, True] Translation: X:72.44, Y:10.46, Z:1.25 [[ 9.25970122e-01 -3.77360719e-01 -1.33499300e-02 7.24395291e+01] [ 3.77322415e-01 9.26066350e-01 -5.37682669e-03 1.04563381e+01] [ 1.43919242e-02 -5.84469711e-05 9.99896429e-01 1.24538512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23361786499999 meters 0.021598470640936243 Centerline is valid? [True, True] Translation: X:72.47, Y:10.47, Z:1.25 [[ 9.25919841e-01 -3.77495661e-01 -1.30182526e-02 7.24652359e+01] [ 3.77459194e-01 9.26011351e-01 -5.24728600e-03 1.04668351e+01] [ 1.40358774e-02 -5.52929303e-05 9.99901491e-01 1.24636525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26361786499999 meters 0.02163807231057574 Centerline is valid? [True, True] Translation: X:72.49, Y:10.48, Z:1.25 [[ 9.25776740e-01 -3.77857581e-01 -1.26915978e-02 7.24903218e+01] [ 3.77822895e-01 9.25863729e-01 -5.12000984e-03 1.04774787e+01] [ 1.36853246e-02 -5.51902151e-05 9.99906350e-01 1.24678267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29361786499999 meters 0.021673939258776666 Centerline is valid? [True, True] Translation: X:72.52, Y:10.49, Z:1.25 [[ 9.25704771e-01 -3.78050734e-01 -1.21786206e-02 7.25154274e+01] [ 3.78018791e-01 9.25784878e-01 -4.91467071e-03 1.04881260e+01] [ 1.31327776e-02 -5.42133089e-05 9.99913760e-01 1.24815928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32361786499999 meters 0.021816743268631467 Centerline is valid? [True, True] Translation: X:72.54, Y:10.50, Z:1.25 [[ 9.25603712e-01 -3.78324688e-01 -1.13224584e-02 7.25413362e+01] [ 3.78297080e-01 9.25672959e-01 -4.57073376e-03 1.04992305e+01] [ 1.22101150e-02 -5.25648220e-05 9.99925452e-01 1.24970986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35361786499999 meters 0.021898372458923246 Centerline is valid? [True, True] Translation: X:72.57, Y:10.51, Z:1.25 [[ 9.25453928e-01 -3.78704519e-01 -1.08588015e-02 7.25668448e+01] [ 3.78679152e-01 9.25517630e-01 -4.38363498e-03 1.05098670e+01] [ 1.17101146e-02 -5.51495302e-05 9.99931433e-01 1.25094315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38361786499998 meters 0.022025920975517907 Centerline is valid? [True, True] Translation: X:72.59, Y:10.52, Z:1.25 [[ 9.25112343e-01 -3.79537498e-01 -1.08830066e-02 7.25919905e+01] [ 3.79512035e-01 9.25176353e-01 -4.39673968e-03 1.05213507e+01] [ 1.17374279e-02 -6.27538364e-05 9.99931112e-01 1.25081681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41361786499998 meters 0.022040790316658433 Centerline is valid? [True, True] Translation: X:72.62, Y:10.53, Z:1.25 [[ 9.24913034e-01 -3.80014916e-01 -1.11598822e-02 7.26175795e+01] [ 3.79988132e-01 9.24980356e-01 -4.51225278e-03 1.05324959e+01] [ 1.20373952e-02 -6.71813865e-05 9.99927546e-01 1.25041904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44361786499998 meters 0.02204349812195329 Centerline is valid? [True, True] Translation: X:72.64, Y:10.54, Z:1.25 [[ 9.24871908e-01 -3.80110323e-01 -1.13179459e-02 7.26427147e+01] [ 3.80082728e-01 9.24941154e-01 -4.58060771e-03 1.05433529e+01] [ 1.22095702e-02 -6.52803501e-05 9.99925458e-01 1.25057967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47361786499998 meters 0.022132601794194424 Centerline is valid? [True, True] Translation: X:72.67, Y:10.55, Z:1.25 [[ 9.24630597e-01 -3.80684374e-01 -1.17331469e-02 7.26681100e+01] [ 3.80654749e-01 9.24705035e-01 -4.74976754e-03 1.05545464e+01] [ 1.26578623e-02 -7.44976681e-05 9.99919883e-01 1.25056623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50361786499998 meters 0.02215732971865443 Centerline is valid? [True, True] Translation: X:72.69, Y:10.57, Z:1.25 [[ 9.24188036e-01 -3.81729903e-01 -1.25997986e-02 7.26939628e+01] [ 3.81695771e-01 9.24273917e-01 -5.10546513e-03 1.05663190e+01] [ 1.35945739e-02 -9.08800509e-05 9.99907585e-01 1.24963581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53361786499998 meters 0.022176376095232906 Centerline is valid? [True, True] Translation: X:72.72, Y:10.58, Z:1.25 [[ 9.23715788e-01 -3.82860779e-01 -1.29138423e-02 7.27193159e+01] [ 3.82825017e-01 9.23806047e-01 -5.23394040e-03 1.05767098e+01] [ 1.39337561e-02 -1.09068516e-04 9.99902915e-01 1.24990380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56361786499998 meters 0.022261722737210974 Centerline is valid? [True, True] Translation: X:72.75, Y:10.59, Z:1.25 [[ 9.23149912e-01 -3.84210424e-01 -1.32887077e-02 7.27462511e+01] [ 3.84172670e-01 9.23245543e-01 -5.38769429e-03 1.05884307e+01] [ 1.43387484e-02 -1.31508787e-04 9.99897186e-01 1.25005088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59361786499998 meters 0.0223214160273711 Centerline is valid? [True, True] Translation: X:72.77, Y:10.60, Z:1.25 [[ 9.22585069e-01 -3.85555784e-01 -1.35472226e-02 7.27724413e+01] [ 3.85516630e-01 9.22684515e-01 -5.49672409e-03 1.05989876e+01] [ 1.46191062e-02 -1.51484008e-04 9.99893124e-01 1.25026482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62361786499999 meters 0.022401998884384156 Centerline is valid? [True, True] Translation: X:72.80, Y:10.61, Z:1.25 [[ 9.21923251e-01 -3.87120929e-01 -1.39608577e-02 7.27995675e+01] [ 3.87079508e-01 9.22028933e-01 -5.66577788e-03 1.06098319e+01] [ 1.50656559e-02 -1.80549551e-04 9.99886490e-01 1.25066481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65361786499999 meters 0.022780414149706035 Centerline is valid? [True, True] Translation: X:72.83, Y:10.62, Z:1.25 [[ 9.20691625e-01 -3.90054463e-01 -1.35811533e-02 7.28260504e+01] [ 3.90015524e-01 9.20791762e-01 -5.51563393e-03 1.06191321e+01] [ 1.46568117e-02 -2.18662654e-04 9.99892559e-01 1.25167441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68361786499999 meters 0.022983590301038845 Centerline is valid? [True, True] Translation: X:72.85, Y:10.63, Z:1.25 [[ 9.19991791e-01 -3.91731352e-01 -1.27142137e-02 7.28528026e+01] [ 3.91697377e-01 9.20079613e-01 -5.16425975e-03 1.06299606e+01] [ 1.37210913e-02 -2.29047568e-04 9.99905835e-01 1.25266619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71361786499999 meters 0.02342298029337927 Centerline is valid? [True, True] Translation: X:72.88, Y:10.64, Z:1.25 [[ 9.18831985e-01 -3.94450394e-01 -1.25168193e-02 7.28786170e+01] [ 3.94417665e-01 9.18917199e-01 -5.08796978e-03 1.06400309e+01] [ 1.35088722e-02 -2.61865261e-04 9.99908717e-01 1.25319081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74361786499999 meters 0.02362002635202687 Centerline is valid? [True, True] Translation: X:72.91, Y:10.65, Z:1.25 [[ 9.18319866e-01 -3.95638970e-01 -1.25868198e-02 7.29050516e+01] [ 3.95605975e-01 9.18406079e-01 -5.11720936e-03 1.06511048e+01] [ 1.35843792e-02 -2.80186096e-04 9.99907689e-01 1.25370837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77361786499998 meters 0.02372743066342432 Centerline is valid? [True, True] Translation: X:72.93, Y:10.66, Z:1.25 [[ 9.17844938e-01 -3.96734363e-01 -1.27481324e-02 7.29312358e+01] [ 3.96700573e-01 9.17933416e-01 -5.18633828e-03 1.06622903e+01] [ 1.37595354e-02 -2.96937099e-04 9.99905289e-01 1.25415593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80361786499998 meters 0.02421102804561849 Centerline is valid? [True, True] Translation: X:72.96, Y:10.67, Z:1.25 [[ 9.17391512e-01 -3.97782576e-01 -1.27214746e-02 7.29573226e+01] [ 3.97748974e-01 9.17479660e-01 -5.17943374e-03 1.06722860e+01] [ 1.37319827e-02 -3.08384918e-04 9.99905664e-01 1.25447417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83361786499998 meters 0.024408140264058527 Centerline is valid? [True, True] Translation: X:72.98, Y:10.68, Z:1.26 [[ 9.16917887e-01 -3.98864527e-01 -1.29876124e-02 7.29844568e+01] [ 3.98829600e-01 9.17009803e-01 -5.28870646e-03 1.06830050e+01] [ 1.40192453e-02 -3.30534724e-04 9.99901671e-01 1.25622435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86361786499998 meters 0.024694804739600194 Centerline is valid? [True, True] Translation: X:73.01, Y:10.69, Z:1.26 [[ 9.16692400e-01 -3.99390613e-01 -1.27350693e-02 7.30105453e+01] [ 3.99357029e-01 9.16780797e-01 -5.18967332e-03 1.06934153e+01] [ 1.37479738e-02 -3.28505369e-04 9.99905438e-01 1.25706925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89361786499998 meters 0.025122716794346713 Centerline is valid? [True, True] Translation: X:73.04, Y:10.70, Z:1.26 [[ 9.16511348e-01 -3.99811080e-01 -1.25717305e-02 7.30364276e+01] [ 3.99778378e-01 9.16597508e-01 -5.12417886e-03 1.07038429e+01] [ 1.35719203e-02 -3.29537941e-04 9.99907843e-01 1.25778240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92361786499998 meters 0.02496654784555938 Centerline is valid? [True, True] Translation: X:73.06, Y:10.72, Z:1.26 [[ 9.16433537e-01 -3.99973967e-01 -1.30536535e-02 7.30613603e+01] [ 3.99938702e-01 9.16526436e-01 -5.32223678e-03 1.07165687e+01] [ 1.40927747e-02 -3.43184959e-04 9.99900633e-01 1.25768786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95361786499998 meters 0.025129974083880766 Centerline is valid? [True, True] Translation: X:73.09, Y:10.73, Z:1.26 [[ 9.16536089e-01 -3.99738344e-01 -1.30710967e-02 7.30866051e+01] [ 3.99702899e-01 9.16629229e-01 -5.33376499e-03 1.07272444e+01] [ 1.41134597e-02 -3.35967144e-04 9.99900344e-01 1.25770380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98361786499999 meters 0.025140622498804638 Centerline is valid? [True, True] Translation: X:73.11, Y:10.74, Z:1.26 [[ 9.16523847e-01 -3.99757135e-01 -1.33518466e-02 7.31128463e+01] [ 3.99720140e-01 9.16621032e-01 -5.44923549e-03 1.07383313e+01] [ 1.44169542e-02 -3.42647723e-04 9.99896012e-01 1.25833171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01361786499999 meters 0.025240314005747007 Centerline is valid? [True, True] Translation: X:73.14, Y:10.75, Z:1.26 [[ 9.16578769e-01 -3.99626395e-01 -1.34946441e-02 7.31382914e+01] [ 3.99588525e-01 9.16678040e-01 -5.51196067e-03 1.07484754e+01] [ 1.45729689e-02 -3.40158806e-04 9.99893751e-01 1.25862317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04361786499999 meters 0.024802158329645527 Centerline is valid? [True, True] Translation: X:73.16, Y:10.76, Z:1.26 [[ 9.16547848e-01 -3.99677503e-01 -1.40689844e-02 7.31637653e+01] [ 3.99636330e-01 9.16655752e-01 -5.74768329e-03 1.07609486e+01] [ 1.51936352e-02 -3.54450546e-04 9.99884507e-01 1.25912340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07361786499999 meters 0.02450125443213672 Centerline is valid? [True, True] Translation: X:73.19, Y:10.77, Z:1.26 [[ 9.16501748e-01 -3.99779723e-01 -1.41675209e-02 7.31887899e+01] [ 3.99737917e-01 9.16611176e-01 -5.79228910e-03 1.07729457e+01] [ 1.53017477e-02 -3.54652200e-04 9.99882859e-01 1.25894304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10361786499999 meters 0.024671471913343294 Centerline is valid? [True, True] Translation: X:73.21, Y:10.78, Z:1.26 [[ 9.16450443e-01 -3.99891202e-01 -1.43391587e-02 7.32132900e+01] [ 3.99848319e-01 9.16562545e-01 -5.86707408e-03 1.07833685e+01] [ 1.54889271e-02 -3.56605857e-04 9.99879976e-01 1.25933706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13361786499998 meters 0.024566202873652167 Centerline is valid? [True, True] Translation: X:73.24, Y:10.79, Z:1.26 [[ 9.16364250e-01 -4.00080362e-01 -1.45693501e-02 7.32391929e+01] [ 4.00036066e-01 9.16479990e-01 -5.96433732e-03 1.07949853e+01] [ 1.57387321e-02 -3.62760033e-04 9.99876073e-01 1.25930436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16361786499998 meters 0.0253874492300707 Centerline is valid? [True, True] Translation: X:73.27, Y:10.80, Z:1.26 [[ 9.16216898e-01 -4.00422878e-01 -1.44261787e-02 7.32652905e+01] [ 4.00379420e-01 9.16330393e-01 -5.91032486e-03 1.08036967e+01] [ 1.55857752e-02 -3.60805532e-04 9.99878469e-01 1.26043866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19361786499998 meters 0.024943752044581616 Centerline is valid? [True, True] Translation: X:73.29, Y:10.82, Z:1.26 [[ 9.16076350e-01 -4.00754415e-01 -1.41428095e-02 7.32909579e+01] [ 4.00712670e-01 9.16185445e-01 -5.79534556e-03 1.08156123e+01] [ 1.52799465e-02 -3.58223935e-04 9.99883191e-01 1.26153402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22361786499998 meters 0.025075616193231117 Centerline is valid? [True, True] Translation: X:73.32, Y:10.83, Z:1.26 [[ 9.15920010e-01 -4.01103632e-01 -1.43670232e-02 7.33169606e+01] [ 4.01060526e-01 9.16032610e-01 -5.89166951e-03 1.08260027e+01] [ 1.55238318e-02 -3.65747895e-04 9.99879431e-01 1.26190774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25361786499998 meters 0.02524461633376526 Centerline is valid? [True, True] Translation: X:73.34, Y:10.84, Z:1.26 [[ 9.16028019e-01 -4.00813103e-01 -1.55410731e-02 7.33423406e+01] [ 4.00762537e-01 9.16159761e-01 -6.37813170e-03 1.08363188e+01] [ 1.67945446e-02 -3.85732548e-04 9.99858887e-01 1.26219544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28361786499998 meters 0.023896526120515068 Centerline is valid? [True, True] Translation: X:73.37, Y:10.85, Z:1.26 [[ 9.16023878e-01 -4.00806448e-01 -1.59513444e-02 7.33669545e+01] [ 4.00753147e-01 9.16162669e-01 -6.54822353e-03 1.08512757e+01] [ 1.72385965e-02 -3.94222360e-04 9.99851327e-01 1.26281286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31361786499998 meters 0.024001740392769613 Centerline is valid? [True, True] Translation: X:73.39, Y:10.86, Z:1.26 [[ 9.16327476e-01 -4.00096556e-01 -1.63310576e-02 7.33927135e+01] [ 4.00040482e-01 9.16472912e-01 -6.70929148e-03 1.08621560e+01] [ 1.76513363e-02 -3.85176022e-04 9.99844129e-01 1.26338876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34361786499998 meters 0.02441795432401916 Centerline is valid? [True, True] Translation: X:73.42, Y:10.87, Z:1.26 [[ 9.17106515e-01 -3.98308596e-01 -1.63064847e-02 7.34187427e+01] [ 3.98252380e-01 9.17251405e-01 -6.70084040e-03 1.08723176e+01] [ 1.76261483e-02 -3.48711935e-04 9.99844587e-01 1.26406409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37361786499999 meters 0.0246598705250408 Centerline is valid? [True, True] Translation: X:73.44, Y:10.88, Z:1.26 [[ 9.17538116e-01 -3.97319666e-01 -1.61520654e-02 7.34445238e+01] [ 3.97264328e-01 9.17680215e-01 -6.63897841e-03 1.08822479e+01] [ 1.74602276e-02 -3.25123687e-04 9.99847506e-01 1.26454863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40361786499999 meters 0.02458420193309092 Centerline is valid? [True, True] Translation: X:73.47, Y:10.89, Z:1.27 [[ 9.17694259e-01 -3.96961464e-01 -1.60886089e-02 7.34707250e+01] [ 3.96906477e-01 9.17835223e-01 -6.61455767e-03 1.08939172e+01] [ 1.73924164e-02 -3.15531459e-04 9.99848691e-01 1.26585390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43361786499999 meters 0.023736754392835176 Centerline is valid? [True, True] Translation: X:73.50, Y:10.91, Z:1.27 [[ 9.18055030e-01 -3.96093567e-01 -1.68774316e-02 7.34961896e+01] [ 3.96032827e-01 9.18210101e-01 -6.94337095e-03 1.09090149e+01] [ 1.82472527e-02 -3.09620306e-04 9.99833457e-01 1.26645893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46361786499999 meters 0.0245099832771756 Centerline is valid? [True, True] Translation: X:73.52, Y:10.92, Z:1.27 [[ 9.18126759e-01 -3.95908837e-01 -1.73045608e-02 7.35217378e+01] [ 3.95844865e-01 9.18289767e-01 -7.12363403e-03 1.09168584e+01] [ 1.87109108e-02 -3.09522520e-04 9.99824888e-01 1.26604432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49361786499998 meters 0.02358783804777755 Centerline is valid? [True, True] Translation: X:73.55, Y:10.93, Z:1.27 [[ 9.17965523e-01 -3.96266128e-01 -1.76763651e-02 7.35464993e+01] [ 3.96199387e-01 9.18135640e-01 -7.27958439e-03 1.09310455e+01] [ 1.91139535e-02 -3.20957537e-04 9.99817260e-01 1.26661213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52361786499998 meters 0.023541431749183606 Centerline is valid? [True, True] Translation: X:73.57, Y:10.94, Z:1.27 [[ 9.17771307e-01 -3.96676729e-01 -1.85310975e-02 7.35723760e+01] [ 3.96603339e-01 9.17958309e-01 -7.63766121e-03 1.09419847e+01] [ 2.00404574e-02 -3.39868827e-04 9.99799112e-01 1.26734558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55361786499998 meters 0.023596387584940964 Centerline is valid? [True, True] Translation: X:73.60, Y:10.95, Z:1.27 [[ 9.17547141e-01 -3.97173140e-01 -1.89931955e-02 7.35978790e+01] [ 3.97096025e-01 9.17743631e-01 -7.83423558e-03 1.09526253e+01] [ 2.05424322e-02 -3.53841990e-04 9.99788919e-01 1.26786753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58361786499998 meters 0.024021945055172418 Centerline is valid? [True, True] Translation: X:73.62, Y:10.96, Z:1.27 [[ 9.17419367e-01 -3.97474208e-01 -1.88668522e-02 7.36241186e+01] [ 3.97398076e-01 9.17613278e-01 -7.78721780e-03 1.09623117e+01] [ 2.04076924e-02 -3.53506340e-04 9.99791679e-01 1.26846664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61361786499998 meters 0.023954901704803952 Centerline is valid? [True, True] Translation: X:73.65, Y:10.98, Z:1.27 [[ 9.16617816e-01 -3.99321920e-01 -1.88091153e-02 7.36498911e+01] [ 3.99246591e-01 9.16810695e-01 -7.76584681e-03 1.09751289e+01] [ 2.03454709e-02 -3.91161616e-04 9.99792933e-01 1.26945559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64361786499998 meters 0.024174831783116944 Centerline is valid? [True, True] Translation: X:73.68, Y:10.99, Z:1.27 [[ 9.16367024e-01 -3.99894789e-01 -1.88583070e-02 7.36759718e+01] [ 3.99819080e-01 9.16560962e-01 -7.79140994e-03 1.09857039e+01] [ 2.04005323e-02 -4.00119824e-04 9.99791807e-01 1.27025956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67361786499998 meters 0.024311151157489344 Centerline is valid? [True, True] Translation: X:73.70, Y:11.00, Z:1.27 [[ 9.15966470e-01 -4.00781434e-01 -1.94850466e-02 7.37024845e+01] [ 4.00700683e-01 9.16173596e-01 -8.05632413e-03 1.09968199e+01] [ 2.10805103e-02 -4.28348697e-04 9.99777690e-01 1.27101625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70361786499998 meters 0.023900185606668792 Centerline is valid? [True, True] Translation: X:73.73, Y:11.01, Z:1.27 [[ 9.15736593e-01 -4.01314513e-01 -1.93172119e-02 7.37280200e+01] [ 4.01235153e-01 9.15940214e-01 -7.99228866e-03 1.10088631e+01] [ 2.09008326e-02 -4.31913274e-04 9.99781460e-01 1.27195305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73361786499999 meters 0.023903613354107383 Centerline is valid? [True, True] Translation: X:73.75, Y:11.02, Z:1.27 [[ 9.15445689e-01 -4.01972272e-01 -1.94289336e-02 7.37542962e+01] [ 4.01892013e-01 9.15651732e-01 -8.04454043e-03 1.10210735e+01] [ 2.10238189e-02 -4.43993367e-04 9.99778877e-01 1.27293509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76361786499999 meters 0.024029652721250485 Centerline is valid? [True, True] Translation: X:73.78, Y:11.03, Z:1.27 [[ 9.15502999e-01 -4.01822328e-01 -1.98261458e-02 7.37793240e+01] [ 4.01738612e-01 9.15717543e-01 -8.21397669e-03 1.10317537e+01] [ 2.14557088e-02 -4.45007992e-04 9.99769701e-01 1.27331188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79361786499999 meters 0.0243887042623726 Centerline is valid? [True, True] Translation: X:73.80, Y:11.04, Z:1.27 [[ 9.15449787e-01 -4.01948459e-01 -1.97262399e-02 7.38042844e+01] [ 4.01865548e-01 9.15662187e-01 -8.17564995e-03 1.10418545e+01] [ 2.13487618e-02 -4.42899189e-04 9.99771991e-01 1.27301356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82361786499999 meters 0.023478019616456174 Centerline is valid? [True, True] Translation: X:73.83, Y:11.06, Z:1.27 [[ 9.15741491e-01 -4.01287080e-01 -1.96519702e-02 7.38290876e+01] [ 4.01204544e-01 9.15952237e-01 -8.14936933e-03 1.10563160e+01] [ 2.12705027e-02 -4.21744140e-04 9.99773668e-01 1.27457014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85361786499999 meters 0.023602387038037406 Centerline is valid? [True, True] Translation: X:73.85, Y:11.07, Z:1.28 [[ 9.16579275e-01 -3.99359844e-01 -1.98531424e-02 7.38543087e+01] [ 3.99275053e-01 9.16794183e-01 -8.23762324e-03 1.10686296e+01] [ 2.14910214e-02 -3.76429742e-04 9.99768970e-01 1.27541672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88361786499998 meters 0.02319157243113943 Centerline is valid? [True, True] Translation: X:73.88, Y:11.08, Z:1.28 [[ 9.17088512e-01 -3.98197457e-01 -1.96836540e-02 7.38803745e+01] [ 3.98113780e-01 9.17299661e-01 -8.17009425e-03 1.10821409e+01] [ 2.13091199e-02 -3.43634328e-04 9.99772876e-01 1.27628914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91361786499998 meters 0.02333370415686275 Centerline is valid? [True, True] Translation: X:73.91, Y:11.09, Z:1.28 [[ 9.18308905e-01 -3.95346057e-01 -2.02546593e-02 7.39051319e+01] [ 3.95256653e-01 9.18532208e-01 -8.41202191e-03 1.10944353e+01] [ 2.19302166e-02 -2.80954214e-04 9.99759464e-01 1.27708304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94361786499998 meters 0.022952215221332194 Centerline is valid? [True, True] Translation: X:73.93, Y:11.11, Z:1.28 [[ 9.18678478e-01 -3.94490543e-01 -2.01758771e-02 7.39307556e+01] [ 3.94401563e-01 9.18899965e-01 -8.38222263e-03 1.11086691e+01] [ 2.18463203e-02 -2.56829945e-04 9.99761308e-01 1.27813514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97361786499998 meters 0.022892582684640447 Centerline is valid? [True, True] Translation: X:73.96, Y:11.12, Z:1.28 [[ 9.19034693e-01 -3.93636955e-01 -2.06199316e-02 7.39559242e+01] [ 3.93543663e-01 9.19265953e-01 -8.57279572e-03 1.11210705e+01] [ 2.23297702e-02 -2.36146725e-04 9.99750632e-01 1.27849900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00361786499998 meters 0.02284488958936076 Centerline is valid? [True, True] Translation: X:73.98, Y:11.13, Z:1.28 [[ 9.19190491e-01 -3.93276367e-01 -2.05558061e-02 7.39814902e+01] [ 3.93183419e-01 9.19420280e-01 -8.55268050e-03 1.11329242e+01] [ 2.22629921e-02 -2.20659558e-04 9.99752125e-01 1.27912158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03361786499998 meters 0.022873892792405853 Centerline is valid? [True, True] Translation: X:74.01, Y:11.14, Z:1.28 [[ 9.19312459e-01 -3.92996483e-01 -2.04540507e-02 7.40061297e+01] [ 3.92904261e-01 9.19539951e-01 -8.51586889e-03 1.11440790e+01] [ 2.21550233e-02 -2.07739300e-04 9.99754526e-01 1.27983066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06361786499998 meters 0.02278258986225078 Centerline is valid? [True, True] Translation: X:74.03, Y:11.16, Z:1.28 [[ 9.19308615e-01 -3.92983018e-01 -2.08810581e-02 7.40311577e+01] [ 3.92886813e-01 9.19545705e-01 -8.69758435e-03 1.11559655e+01] [ 2.26190903e-02 -2.08128170e-04 9.99744134e-01 1.28066347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09361786499998 meters 0.02278258986225078 Centerline is valid? [True, True] Translation: X:74.06, Y:11.17, Z:1.28 [[ 9.19203416e-01 -3.93229144e-01 -2.08787279e-02 7.40565807e+01] [ 3.93132875e-01 9.19440481e-01 -8.70317505e-03 1.11666420e+01] [ 2.26190897e-02 -2.08126107e-04 9.99744134e-01 1.28111434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12361786499999 meters 0.022840896506505667 Centerline is valid? [True, True] Translation: X:74.08, Y:11.18, Z:1.28 [[ 9.18824418e-01 -3.94111201e-01 -2.09296365e-02 7.40825210e+01] [ 3.94014542e-01 9.19062735e-01 -8.73097668e-03 1.11780065e+01] [ 2.26766247e-02 -2.24346582e-04 9.99742827e-01 1.28148921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15361786499999 meters 0.022880498464038605 Centerline is valid? [True, True] Translation: X:74.11, Y:11.19, Z:1.28 [[ 9.18296952e-01 -3.95340479e-01 -2.08953272e-02 7.41082850e+01] [ 3.95244334e-01 9.18534618e-01 -8.72195133e-03 1.11889031e+01] [ 2.26412218e-02 -2.49418384e-04 9.99743624e-01 1.28171806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18361786499999 meters 0.023241144101879115 Centerline is valid? [True, True] Translation: X:74.13, Y:11.20, Z:1.28 [[ 9.17208823e-01 -3.97868136e-01 -2.07104159e-02 7.41339731e+01] [ 3.97774276e-01 9.17442561e-01 -8.64715782e-03 1.11984894e+01] [ 2.24410455e-02 -3.06821218e-04 9.99748121e-01 1.28322310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21361786499999 meters 0.023484154459822323 Centerline is valid? [True, True] Translation: X:74.16, Y:11.21, Z:1.28 [[ 9.16434038e-01 -3.99664860e-01 -2.04120876e-02 7.41608377e+01] [ 3.99574043e-01 9.16661269e-01 -8.52651973e-03 1.12089412e+01] [ 2.21187204e-02 -3.42147459e-04 9.99755293e-01 1.28424848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24361786499998 meters 0.02390725720770666 Centerline is valid? [True, True] Translation: X:74.19, Y:11.22, Z:1.29 [[ 9.15734531e-01 -4.01274901e-01 -2.02168800e-02 7.41870518e+01] [ 4.01186106e-01 9.15957594e-01 -8.44947591e-03 1.12185477e+01] [ 2.19083674e-02 -3.73254490e-04 9.99759913e-01 1.28534343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27361786499998 meters 0.024598947908640863 Centerline is valid? [True, True] Translation: X:74.21, Y:11.23, Z:1.29 [[ 9.14301158e-01 -4.04563254e-01 -1.95439515e-02 7.42130662e+01] [ 4.04480982e-01 9.14509915e-01 -8.17011553e-03 1.12275575e+01] [ 2.11784660e-02 -4.35210621e-04 9.99775616e-01 1.28618034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30361786499998 meters 0.025081676384947984 Centerline is valid? [True, True] Translation: X:74.24, Y:11.24, Z:1.29 [[ 9.13694070e-01 -4.05929212e-01 -1.96117668e-02 7.42397737e+01] [ 4.05846621e-01 9.13904403e-01 -8.20134594e-03 1.12381407e+01] [ 2.12524459e-02 -4.65848122e-04 9.99774033e-01 1.28689261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33361786499998 meters 0.024515129663353036 Centerline is valid? [True, True] Translation: X:74.27, Y:11.25, Z:1.29 [[ 9.13087157e-01 -4.07284521e-01 -1.97778494e-02 7.42656850e+01] [ 4.07200730e-01 9.13301195e-01 -8.27607554e-03 1.12519393e+01] [ 2.14338510e-02 -4.96776450e-04 9.99770145e-01 1.28759927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36361786499998 meters 0.02476038836256663 Centerline is valid? [True, True] Translation: X:74.29, Y:11.26, Z:1.29 [[ 9.12509730e-01 -4.08561941e-01 -2.00781458e-02 7.42920851e+01] [ 4.08475773e-01 9.12730442e-01 -8.40735936e-03 1.12626719e+01] [ 2.17608619e-02 -5.29638884e-04 9.99763064e-01 1.28830804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39361786499998 meters 0.026571954024283456 Centerline is valid? [True, True] Translation: X:74.32, Y:11.27, Z:1.29 [[ 9.11752711e-01 -4.10223342e-01 -2.05865026e-02 7.43196578e+01] [ 4.10133069e-01 9.11984909e-01 -8.62503638e-03 1.12694942e+01] [ 2.23127710e-02 -5.79305204e-04 9.99750871e-01 1.28866235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42361786499998 meters 0.026920674581325615 Centerline is valid? [True, True] Translation: X:74.35, Y:11.28, Z:1.29 [[ 9.11351535e-01 -4.11099546e-01 -2.08696897e-02 7.43467899e+01] [ 4.11006935e-01 9.11590257e-01 -8.74664116e-03 1.12804900e+01] [ 2.26203460e-02 -6.06322371e-04 9.99743943e-01 1.28942616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45361786499998 meters 0.02725861082336906 Centerline is valid? [True, True] Translation: X:74.37, Y:11.29, Z:1.29 [[ 9.11277082e-01 -4.11238054e-01 -2.13855482e-02 7.43715907e+01] [ 4.11140726e-01 9.11527771e-01 -8.96802521e-03 1.12903685e+01] [ 2.31815144e-02 -6.20113970e-04 9.99731080e-01 1.29043148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48361786499999 meters 0.025256774171912712 Centerline is valid? [True, True] Translation: X:74.40, Y:11.31, Z:1.29 [[ 9.11210649e-01 -4.11361978e-01 -2.18283180e-02 7.43954704e+01] [ 4.11260491e-01 9.11471845e-01 -9.15885762e-03 1.13068102e+01] [ 2.36635031e-02 -6.31476186e-04 9.99719781e-01 1.29248430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51361786499999 meters 0.025119907710500558 Centerline is valid? [True, True] Translation: X:74.42, Y:11.32, Z:1.29 [[ 9.11325219e-01 -4.11119449e-01 -2.16135172e-02 7.44214522e+01] [ 4.11019730e-01 9.11581276e-01 -9.07521075e-03 1.13183974e+01] [ 2.34334732e-02 -6.13113561e-04 9.99725210e-01 1.29340620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54361786499999 meters 0.025434691693298928 Centerline is valid? [True, True] Translation: X:74.45, Y:11.33, Z:1.29 [[ 9.11566780e-01 -4.10558479e-01 -2.20848523e-02 7.44474845e+01] [ 4.10454072e-01 9.11834068e-01 -9.27836147e-03 1.13288668e+01] [ 2.39470307e-02 -6.06971464e-04 9.99713044e-01 1.29434998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57361786499999 meters 0.025176601603514818 Centerline is valid? [True, True] Translation: X:74.47, Y:11.34, Z:1.30 [[ 9.12173217e-01 -4.09186364e-01 -2.25064927e-02 7.44733307e+01] [ 4.09077411e-01 9.12450648e-01 -9.45971872e-03 1.13412868e+01] [ 2.44068518e-02 -5.77995706e-04 9.99701941e-01 1.29611637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60361786499999 meters 0.025042368499864392 Centerline is valid? [True, True] Translation: X:74.50, Y:11.35, Z:1.30 [[ 9.12386120e-01 -4.08716131e-01 -2.24207807e-02 7.44994763e+01] [ 4.08607719e-01 9.12661390e-01 -9.42968099e-03 1.13532564e+01] [ 2.43166436e-02 -5.57794002e-04 9.99704151e-01 1.29666433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63361786499998 meters 0.02420272415808311 Centerline is valid? [True, True] Translation: X:74.53, Y:11.37, Z:1.30 [[ 9.12688075e-01 -4.08014594e-01 -2.29034645e-02 7.45253725e+01] [ 4.07901089e-01 9.12975243e-01 -9.63884252e-03 1.13674712e+01] [ 2.48430845e-02 -5.45091485e-04 9.99691214e-01 1.29799017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66361786499998 meters 0.02466656313536158 Centerline is valid? [True, True] Translation: X:74.55, Y:11.38, Z:1.30 [[ 9.13668329e-01 -4.05801976e-01 -2.31287694e-02 7.45509706e+01] [ 4.05685398e-01 9.13960897e-01 -9.73844429e-03 1.13781896e+01] [ 2.50906707e-02 -4.85295892e-04 9.99685062e-01 1.29716922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69361786499998 meters 0.023817623395242984 Centerline is valid? [True, True] Translation: X:74.58, Y:11.39, Z:1.30 [[ 9.14081583e-01 -4.04869968e-01 -2.31337095e-02 7.45761806e+01] [ 4.04752949e-01 9.14374158e-01 -9.74423513e-03 1.13928257e+01] [ 2.50980143e-02 -4.56411277e-04 9.99684891e-01 1.29793888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72361786499998 meters 0.023162520126283975 Centerline is valid? [True, True] Translation: X:74.60, Y:11.41, Z:1.30 [[ 9.14716887e-01 -4.03394269e-01 -2.37924461e-02 7.46018217e+01] [ 4.03269816e-01 9.15026167e-01 -1.00284659e-02 1.14067663e+01] [ 2.58161364e-02 -4.21568275e-04 9.99666619e-01 1.29900317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75361786499998 meters 0.02290955852137391 Centerline is valid? [True, True] Translation: X:74.63, Y:11.42, Z:1.30 [[ 9.15944937e-01 -4.00601764e-01 -2.37297129e-02 7.46279009e+01] [ 4.00476853e-01 9.16252211e-01 -1.00088027e-02 1.14198007e+01] [ 2.57519460e-02 -3.35688573e-04 9.99668307e-01 1.29977208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78361786499998 meters 0.02279917007776786 Centerline is valid? [True, True] Translation: X:74.65, Y:11.43, Z:1.30 [[ 9.16339280e-01 -3.99700690e-01 -2.36998293e-02 7.46533344e+01] [ 3.99575659e-01 9.16645660e-01 -1.00013681e-02 1.14318626e+01] [ 2.57218994e-02 -3.05228429e-04 9.99669091e-01 1.30015399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81361786499998 meters 0.02266011053257165 Centerline is valid? [True, True] Translation: X:74.68, Y:11.44, Z:1.30 [[ 9.16799154e-01 -3.98649567e-01 -2.36185200e-02 7.46797889e+01] [ 3.98524943e-01 9.17103293e-01 -9.97097458e-03 1.14443465e+01] [ 2.56355472e-02 -2.71188303e-04 9.99671319e-01 1.30050685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84361786499998 meters 0.022502543126461324 Centerline is valid? [True, True] Translation: X:74.71, Y:11.46, Z:1.30 [[ 9.17643810e-01 -3.96678312e-01 -2.40032142e-02 7.47056212e+01] [ 3.96548742e-01 9.17957663e-01 -1.01402024e-02 1.14583158e+01] [ 2.60563328e-02 -2.13350383e-04 9.99660453e-01 1.29953954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87361786499999 meters 0.022386796149781292 Centerline is valid? [True, True] Translation: X:74.73, Y:11.47, Z:1.30 [[ 9.17984418e-01 -3.95892986e-01 -2.39447943e-02 7.47312602e+01] [ 3.95763595e-01 9.18296635e-01 -1.01225835e-02 1.14708663e+01] [ 2.59958839e-02 -1.84103963e-04 9.99662033e-01 1.29966368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90361786499999 meters 0.02238422045472414 Centerline is valid? [True, True] Translation: X:74.76, Y:11.48, Z:1.30 [[ 9.18264818e-01 -3.95252553e-01 -2.37727325e-02 7.47566942e+01] [ 3.95124604e-01 9.18572477e-01 -1.00574667e-02 1.14833430e+01] [ 2.58122172e-02 -1.57773723e-04 9.99666797e-01 1.30007203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93361786499999 meters 0.022220221061397656 Centerline is valid? [True, True] Translation: X:74.78, Y:11.50, Z:1.30 [[ 9.18600896e-01 -3.94450590e-01 -2.41065428e-02 7.47820590e+01] [ 3.94318540e-01 9.18917143e-01 -1.02065652e-02 1.14955573e+01] [ 2.61779011e-02 -1.29896831e-04 9.99657292e-01 1.29981968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96361786499999 meters 0.02206787652221886 Centerline is valid? [True, True] Translation: X:74.81, Y:11.51, Z:1.30 [[ 9.18629737e-01 -3.94401004e-01 -2.38171045e-02 7.48081711e+01] [ 3.94271891e-01 9.18938428e-01 -1.00916885e-02 1.15069773e+01] [ 2.58666246e-02 -1.19889671e-04 9.99665396e-01 1.30044102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99361786499998 meters 0.02212521731057719 Centerline is valid? [True, True] Translation: X:74.83, Y:11.52, Z:1.30 [[ 9.18646442e-01 -3.94367156e-01 -2.37331322e-02 7.48333392e+01] [ 3.94238783e-01 9.18952955e-01 -1.00622338e-02 1.15180269e+01] [ 2.57778465e-02 -1.12885860e-04 9.99667690e-01 1.30031644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02361786499998 meters 0.022090329935374436 Centerline is valid? [True, True] Translation: X:74.86, Y:11.53, Z:1.30 [[ 9.18491829e-01 -3.94723515e-01 -2.37930028e-02 7.48584364e+01] [ 3.94594485e-01 9.18799941e-01 -1.00925621e-02 1.15295573e+01] [ 2.58447812e-02 -1.18651901e-04 9.99665961e-01 1.30047705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05361786499998 meters 0.022011315083666227 Centerline is valid? [True, True] Translation: X:74.88, Y:11.54, Z:1.30 [[ 9.18301337e-01 -3.95220982e-01 -2.28698422e-02 7.48843854e+01] [ 3.95101747e-01 9.18586066e-01 -9.70816486e-03 1.15407311e+01] [ 2.48447889e-02 -1.20893852e-04 9.99691313e-01 1.30094593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08361786499998 meters 0.02207820524860959 Centerline is valid? [True, True] Translation: X:74.91, Y:11.55, Z:1.30 [[ 9.18117716e-01 -3.95661921e-01 -2.26164651e-02 7.49092720e+01] [ 3.95545289e-01 9.18396226e-01 -9.60707094e-03 1.15511148e+01] [ 2.45720283e-02 -1.25414180e-04 9.99698054e-01 1.30243836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11361786499998 meters 0.02210999040311251 Centerline is valid? [True, True] Translation: X:74.93, Y:11.56, Z:1.30 [[ 9.17923918e-01 -3.96117379e-01 -2.25100727e-02 7.49348435e+01] [ 3.96001840e-01 9.18199872e-01 -9.56753179e-03 1.15619831e+01] [ 2.44586115e-02 -1.31763960e-04 9.99700835e-01 1.30391746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14361786499998 meters 0.022075251346570453 Centerline is valid? [True, True] Translation: X:74.96, Y:11.57, Z:1.30 [[ 9.17786362e-01 -3.96461114e-01 -2.20630602e-02 7.49609089e+01] [ 3.96350053e-01 9.18051506e-01 -9.38445751e-03 1.15732620e+01] [ 2.39755981e-02 -1.31767956e-04 9.99712535e-01 1.30474807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17361786499998 meters 0.021989202702128972 Centerline is valid? [True, True] Translation: X:74.99, Y:11.58, Z:1.31 [[ 9.17559355e-01 -3.97001186e-01 -2.17919475e-02 7.49865173e+01] [ 3.96892827e-01 9.17818086e-01 -9.27602798e-03 1.15843589e+01] [ 2.36836376e-02 -1.37761392e-04 9.99719494e-01 1.30602154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20361786499998 meters 0.02194693412580691 Centerline is valid? [True, True] Translation: X:75.01, Y:11.60, Z:1.31 [[ 9.17368823e-01 -3.97426420e-01 -2.20609113e-02 7.50122405e+01] [ 3.97315320e-01 9.17634034e-01 -9.39768284e-03 1.15951959e+01] [ 2.39787305e-02 -1.43996777e-04 9.99712459e-01 1.30683665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23361786499999 meters 0.021982068499019562 Centerline is valid? [True, True] Translation: X:75.04, Y:11.61, Z:1.31 [[ 9.17163536e-01 -3.97907454e-01 -2.19249989e-02 7.50376965e+01] [ 3.97797689e-01 9.17425548e-01 -9.34681288e-03 1.16067243e+01] [ 2.38337207e-02 -1.49157943e-04 9.99715925e-01 1.30793272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26361786499999 meters 0.021956554208585097 Centerline is valid? [True, True] Translation: X:75.06, Y:11.62, Z:1.31 [[ 9.17015273e-01 -3.98244225e-01 -2.20119462e-02 7.50625811e+01] [ 3.98133531e-01 9.17279409e-01 -9.39032289e-03 1.16174532e+01] [ 2.39307468e-02 -1.52624331e-04 9.99713607e-01 1.30830187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29361786499999 meters 0.021814245356451552 Centerline is valid? [True, True] Translation: X:75.09, Y:11.63, Z:1.31 [[ 9.16901544e-01 -3.98528737e-01 -2.15964065e-02 7.50883402e+01] [ 3.98422135e-01 9.17155833e-01 -9.21845610e-03 1.16295134e+01] [ 2.34810898e-02 -1.52069748e-04 9.99724270e-01 1.30899956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32361786499999 meters 0.021881517995946512 Centerline is valid? [True, True] Translation: X:75.11, Y:11.64, Z:1.31 [[ 9.16542258e-01 -3.99374989e-01 -2.12110081e-02 7.51130341e+01] [ 3.99272241e-01 9.16787648e-01 -9.06017271e-03 1.16401113e+01] [ 2.30643966e-02 -1.64935581e-04 9.99733968e-01 1.30953775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35361786499999 meters 0.02192143775036899 Centerline is valid? [True, True] Translation: X:75.14, Y:11.65, Z:1.31 [[ 9.16390782e-01 -3.99748992e-01 -2.07045561e-02 7.51378857e+01] [ 3.99651096e-01 9.16624632e-01 -8.84790249e-03 1.16508389e+01] [ 2.25152462e-02 -1.66462241e-04 9.99746486e-01 1.30955012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38361786499998 meters 0.021953160851920436 Centerline is valid? [True, True] Translation: X:75.16, Y:11.66, Z:1.31 [[ 9.16261774e-01 -4.00028142e-01 -2.10201853e-02 7.51636182e+01] [ 3.99927250e-01 9.16502840e-01 -8.98548772e-03 1.16615917e+01] [ 2.28595075e-02 -1.73485976e-04 9.99738672e-01 1.30955144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41361786499998 meters 0.02189467289914408 Centerline is valid? [True, True] Translation: X:75.19, Y:11.67, Z:1.31 [[ 9.15779520e-01 -4.01148028e-01 -2.06913147e-02 7.51891041e+01] [ 4.01050480e-01 9.16013221e-01 -8.84819135e-03 1.16731611e+01] [ 2.25029523e-02 -1.95269266e-04 9.99746757e-01 1.31020480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44361786499998 meters 0.02210317250838042 Centerline is valid? [True, True] Translation: X:75.22, Y:11.68, Z:1.31 [[ 9.15260465e-01 -4.02336898e-01 -2.05742869e-02 7.52152476e+01] [ 4.02240629e-01 9.15491656e-01 -8.80360566e-03 1.16826631e+01] [ 2.23776034e-02 -2.18221895e-04 9.99749566e-01 1.30879420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47361786499998 meters 0.022020726755308376 Centerline is valid? [True, True] Translation: X:75.24, Y:11.69, Z:1.31 [[ 9.14994137e-01 -4.02931846e-01 -2.07763361e-02 7.52409684e+01] [ 4.02833753e-01 9.15229957e-01 -8.89346271e-03 1.16942543e+01] [ 2.25985845e-02 -2.31943194e-04 9.99744592e-01 1.30932288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50361786499998 meters 0.022110554359227024 Centerline is valid? [True, True] Translation: X:75.27, Y:11.70, Z:1.31 [[ 9.14772403e-01 -4.03442529e-01 -2.06295241e-02 7.52663778e+01] [ 4.03345825e-01 9.15004956e-01 -8.83607036e-03 1.17044707e+01] [ 2.24409633e-02 -2.37839092e-04 9.99748142e-01 1.30908275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53361786499998 meters 0.022064986620946234 Centerline is valid? [True, True] Translation: X:75.29, Y:11.72, Z:1.31 [[ 9.14415299e-01 -4.04274810e-01 -2.01628301e-02 7.52919179e+01] [ 4.04182565e-01 9.14637533e-01 -8.63933639e-03 1.17151210e+01] [ 2.19343473e-02 -2.49523019e-04 9.99759382e-01 1.30896477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56361786499998 meters 0.02208015747143079 Centerline is valid? [True, True] Translation: X:75.32, Y:11.73, Z:1.31 [[ 9.14384220e-01 -4.04377886e-01 -1.94941810e-02 7.53168306e+01] [ 4.04291560e-01 9.14591968e-01 -8.35860940e-03 1.17258296e+01] [ 2.12092581e-02 -2.38352282e-04 9.99775030e-01 1.30877966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59361786499998 meters 0.022001465881467303 Centerline is valid? [True, True] Translation: X:75.34, Y:11.74, Z:1.31 [[ 9.14206636e-01 -4.04785393e-01 -1.93652171e-02 7.53421320e+01] [ 4.04700197e-01 9.14411683e-01 -8.30805227e-03 1.17372350e+01] [ 2.10707590e-02 -2.41830655e-04 9.99777958e-01 1.30911577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62361786499999 meters 0.021897686947208825 Centerline is valid? [True, True] Translation: X:75.37, Y:11.75, Z:1.31 [[ 9.14171047e-01 -4.04893161e-01 -1.87836591e-02 7.53667680e+01] [ 4.04812914e-01 9.14363973e-01 -8.06413408e-03 1.17476068e+01] [ 2.04402139e-02 -2.31869874e-04 9.99791050e-01 1.30956388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65361786499999 meters 0.021884187196438525 Centerline is valid? [True, True] Translation: X:75.39, Y:11.76, Z:1.31 [[ 9.14207780e-01 -4.04825833e-01 -1.84439707e-02 7.53914349e+01] [ 4.04748374e-01 9.14393786e-01 -7.92204735e-03 1.17577998e+01] [ 2.00721016e-02 -2.22769833e-04 9.99798510e-01 1.31020672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68361786499999 meters 0.021836639301425174 Centerline is valid? [True, True] Translation: X:75.42, Y:11.77, Z:1.31 [[ 9.14031264e-01 -4.05241358e-01 -1.80635175e-02 7.54177201e+01] [ 4.05167084e-01 9.14209709e-01 -7.76164028e-03 1.17687899e+01] [ 1.96591807e-02 -2.24360820e-04 9.99806714e-01 1.31093644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71361786499999 meters 0.02162713127744671 Centerline is valid? [True, True] Translation: X:75.44, Y:11.78, Z:1.31 [[ 9.13691904e-01 -4.06022925e-01 -1.76773608e-02 7.54433949e+01] [ 4.05951832e-01 9.13862862e-01 -7.60124871e-03 1.17790233e+01] [ 1.92409648e-02 -2.30957605e-04 9.99814849e-01 1.31202356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74361786499998 meters 0.021710487141221358 Centerline is valid? [True, True] Translation: X:75.47, Y:11.79, Z:1.31 [[ 9.13545967e-01 -4.06349860e-01 -1.77075693e-02 7.54685006e+01] [ 4.06278483e-01 9.13717537e-01 -7.61953958e-03 1.17885449e+01] [ 1.92759154e-02 -2.33404727e-04 9.99814175e-01 1.31278061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77361786499998 meters 0.02156542606998573 Centerline is valid? [True, True] Translation: X:75.49, Y:11.80, Z:1.31 [[ 9.13241018e-01 -4.07043285e-01 -1.75102215e-02 7.54944709e+01] [ 4.06973562e-01 9.13408838e-01 -7.53752016e-03 1.17991664e+01] [ 1.90620880e-02 -2.42624629e-04 9.99818272e-01 1.31328738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80361786499998 meters 0.021614110073365438 Centerline is valid? [True, True] Translation: X:75.52, Y:11.81, Z:1.31 [[ 9.12750251e-01 -4.08136259e-01 -1.76571124e-02 7.55214337e+01] [ 4.08065457e-01 9.12920985e-01 -7.60641333e-03 1.18090482e+01] [ 1.92240015e-02 -2.62501964e-04 9.99815167e-01 1.31425082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83361786499998 meters 0.021757341615641038 Centerline is valid? [True, True] Translation: X:75.55, Y:11.82, Z:1.31 [[ 9.12673361e-01 -4.08310555e-01 -1.76019127e-02 7.55465739e+01] [ 4.08240139e-01 9.12843044e-01 -7.58726149e-03 1.18182817e+01] [ 1.91657425e-02 -2.61115833e-04 9.99816286e-01 1.31477229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86361786499998 meters 0.02158195561150514 Centerline is valid? [True, True] Translation: X:75.57, Y:11.83, Z:1.32 [[ 9.12507185e-01 -4.08680476e-01 -1.76325539e-02 7.55718948e+01] [ 4.08609826e-01 9.12677488e-01 -7.60343766e-03 1.18293960e+01] [ 1.92002116e-02 -2.66643297e-04 9.99815623e-01 1.31593718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89361786499998 meters 0.021460029696453477 Centerline is valid? [True, True] Translation: X:75.60, Y:11.84, Z:1.32 [[ 9.12405760e-01 -4.08915448e-01 -1.74323165e-02 7.55975938e+01] [ 4.08846335e-01 9.12572236e-01 -7.52249212e-03 1.18390771e+01] [ 1.89843113e-02 -2.63573577e-04 9.99819747e-01 1.31611540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92361786499998 meters 0.021449217479484584 Centerline is valid? [True, True] Translation: X:75.62, Y:11.85, Z:1.32 [[ 9.12368259e-01 -4.08998487e-01 -1.74470096e-02 7.56240725e+01] [ 4.08929193e-01 9.12535024e-01 -7.53295921e-03 1.18496661e+01] [ 1.90019763e-02 -2.61758698e-04 9.99819412e-01 1.31639430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95361786499998 meters 0.021406026697094696 Centerline is valid? [True, True] Translation: X:75.65, Y:11.86, Z:1.32 [[ 9.12327859e-01 -4.09077577e-01 -1.77034928e-02 7.56503856e+01] [ 4.09006134e-01 9.12499571e-01 -7.64950085e-03 1.18604546e+01] [ 1.92836689e-02 -2.61984428e-04 9.99814018e-01 1.31704722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98361786499999 meters 0.02133492816587093 Centerline is valid? [True, True] Translation: X:75.68, Y:11.87, Z:1.32 [[ 9.12423876e-01 -4.08808434e-01 -1.89297123e-02 7.56765998e+01] [ 4.08726559e-01 9.12620180e-01 -8.18585421e-03 1.18700920e+01] [ 2.06220836e-02 -2.68107319e-04 9.99787306e-01 1.31688227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01361786499999 meters 0.02133492816587093 Centerline is valid? [True, True] Translation: X:75.70, Y:11.88, Z:1.32 [[ 9.12312153e-01 -4.09057804e-01 -1.89274741e-02 7.57018795e+01] [ 4.08975875e-01 9.12508433e-01 -8.19102644e-03 1.18811031e+01] [ 2.06220830e-02 -2.68107311e-04 9.99787306e-01 1.31733315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04361786499999 meters 0.02126233193038431 Centerline is valid? [True, True] Translation: X:75.73, Y:11.89, Z:1.32 [[ 9.12336687e-01 -4.08990618e-01 -1.91948911e-02 7.57279245e+01] [ 4.08906210e-01 9.12538549e-01 -8.31305840e-03 1.18919550e+01] [ 2.09160409e-02 -2.64602003e-04 9.99781201e-01 1.31759532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07361786499999 meters 0.021104229317589356 Centerline is valid? [True, True] Translation: X:75.75, Y:11.90, Z:1.32 [[ 9.12455524e-01 -4.08711704e-01 -1.94848473e-02 7.57537848e+01] [ 4.08624526e-01 9.12663507e-01 -8.44507948e-03 1.19030262e+01] [ 2.12347119e-02 -2.56227083e-04 9.99774485e-01 1.31820334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10361786499999 meters 0.021104340942107037 Centerline is valid? [True, True] Translation: X:75.78, Y:11.91, Z:1.32 [[ 9.12825880e-01 -4.07859416e-01 -1.99902502e-02 7.57791874e+01] [ 4.07767330e-01 9.13044709e-01 -8.66971744e-03 1.19134328e+01] [ 2.17880181e-02 -2.37428517e-04 9.99762585e-01 1.31823492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13361786499998 meters 0.02088391363133633 Centerline is valid? [True, True] Translation: X:75.81, Y:11.92, Z:1.32 [[ 9.13541242e-01 -4.06278670e-01 -1.94946423e-02 7.58050205e+01] [ 4.06190692e-01 9.13749203e-01 -8.45671053e-03 1.19246443e+01] [ 2.12489950e-02 -1.92988421e-04 9.99774196e-01 1.31870876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16361786499998 meters 0.02061368700103663 Centerline is valid? [True, True] Translation: X:75.83, Y:11.94, Z:1.32 [[ 9.13797252e-01 -4.05725405e-01 -1.90125631e-02 7.58304202e+01] [ 4.05641549e-01 9.13995003e-01 -8.25033570e-03 1.19362107e+01] [ 2.07247585e-02 -1.73151479e-04 9.99785204e-01 1.31967129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19361786499998 meters 0.020622797640051697 Centerline is valid? [True, True] Translation: X:75.86, Y:11.95, Z:1.32 [[ 9.14209544e-01 -4.04812466e-01 -1.86487568e-02 7.58563420e+01] [ 4.04731494e-01 9.14399719e-01 -8.09764324e-03 1.19470511e+01] [ 2.03304449e-02 -1.44796476e-04 9.99793305e-01 1.32042976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22361786499998 meters 0.020517885908034758 Centerline is valid? [True, True] Translation: X:75.88, Y:11.96, Z:1.32 [[ 9.14280671e-01 -4.04642609e-01 -1.88471296e-02 7.58818253e+01] [ 4.04559826e-01 9.14474898e-01 -8.18584624e-03 1.19571314e+01] [ 2.05475691e-02 -1.40630470e-04 9.99788867e-01 1.32108140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25361786499998 meters 0.02046430268852177 Centerline is valid? [True, True] Translation: X:75.91, Y:11.97, Z:1.32 [[ 9.14450334e-01 -4.04234672e-01 -1.93627553e-02 7.59079250e+01] [ 4.04147147e-01 9.14655297e-01 -8.41254757e-03 1.19660107e+01] [ 2.11108901e-02 -1.32545365e-04 9.99777132e-01 1.32146599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28361786499998 meters 0.020369290727169777 Centerline is valid? [True, True] Translation: X:75.93, Y:11.98, Z:1.32 [[ 9.14319135e-01 -4.04538451e-01 -1.92135759e-02 7.59339791e+01] [ 4.04452266e-01 9.14520980e-01 -8.35112590e-03 1.19769726e+01] [ 2.09495698e-02 -1.35380111e-04 9.99780525e-01 1.32253447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31361786499998 meters 0.02030922425537641 Centerline is valid? [True, True] Translation: X:75.96, Y:11.99, Z:1.32 [[ 9.13975818e-01 -4.05288492e-01 -1.97342955e-02 7.59604682e+01] [ 4.05197606e-01 9.14188829e-01 -8.58395411e-03 1.19861794e+01] [ 2.15198503e-02 -1.50762820e-04 9.99768410e-01 1.32349264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34361786499998 meters 0.020322331321804877 Centerline is valid? [True, True] Translation: X:75.99, Y:12.00, Z:1.32 [[ 9.13893421e-01 -4.05465746e-01 -1.99083602e-02 7.59856618e+01] [ 4.05373171e-01 9.14110226e-01 -8.66523431e-03 1.19961121e+01] [ 2.17118913e-02 -1.51214481e-04 9.99764258e-01 1.32450410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37361786499999 meters 0.02032878316587916 Centerline is valid? [True, True] Translation: X:76.01, Y:12.01, Z:1.33 [[ 9.13758178e-01 -4.05771045e-01 -1.98960030e-02 7.60112584e+01] [ 4.05678578e-01 9.13974745e-01 -8.66349738e-03 1.20064078e+01] [ 2.16998407e-02 -1.55040631e-04 9.99764519e-01 1.32543664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40361786499999 meters 0.020247770341256376 Centerline is valid? [True, True] Translation: X:76.04, Y:12.02, Z:1.33 [[ 9.13797261e-01 -4.05684035e-01 -1.98753717e-02 7.60372608e+01] [ 4.05591621e-01 9.14013371e-01 -8.65996056e-03 1.20154765e+01] [ 2.16795632e-02 -1.47835999e-04 9.99764960e-01 1.32692842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43361786499999 meters 0.02029595747956318 Centerline is valid? [True, True] Translation: X:76.06, Y:12.03, Z:1.33 [[ 9.13820654e-01 -4.05626931e-01 -1.99651062e-02 7.60633288e+01] [ 4.05533588e-01 9.14038715e-01 -8.70268357e-03 1.20256993e+01] [ 2.17789229e-02 -1.43829181e-04 9.99762801e-01 1.32784260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46361786499999 meters 0.02020300067564564 Centerline is valid? [True, True] Translation: X:76.09, Y:12.04, Z:1.33 [[ 9.13745416e-01 -4.05773154e-01 -2.04318849e-02 7.60893869e+01] [ 4.05675287e-01 9.13973811e-01 -8.91264117e-03 1.20358757e+01] [ 2.22907182e-02 -1.44825757e-04 9.99751521e-01 1.32840040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49361786499998 meters 0.020093501508276327 Centerline is valid? [True, True] Translation: X:76.11, Y:12.04, Z:1.33 [[ 9.13710734e-01 -4.05812789e-01 -2.11819590e-02 7.61146526e+01] [ 4.05707471e-01 9.13956213e-01 -9.24598720e-03 1.20447303e+01] [ 2.31115229e-02 -1.45521295e-04 9.99732882e-01 1.32871201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52361786499998 meters 0.02001460493447369 Centerline is valid? [True, True] Translation: X:76.14, Y:12.06, Z:1.33 [[ 9.13685523e-01 -4.05844987e-01 -2.16474445e-02 7.61409516e+01] [ 4.05734907e-01 9.13941915e-01 -9.45305739e-03 1.20550304e+01] [ 2.36209829e-02 -1.46002216e-04 9.99720975e-01 1.32867341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55361786499998 meters 0.019867225839224657 Centerline is valid? [True, True] Translation: X:76.17, Y:12.07, Z:1.33 [[ 9.13513000e-01 -4.06195591e-01 -2.23414489e-02 7.61668746e+01] [ 4.06078349e-01 9.13786144e-01 -9.75998250e-03 1.20661944e+01] [ 2.43797683e-02 -1.56507776e-04 9.99702757e-01 1.33000381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58361786499998 meters 0.01985096778308938 Centerline is valid? [True, True] Translation: X:76.19, Y:12.08, Z:1.33 [[ 9.13507951e-01 -4.06182532e-01 -2.27810135e-02 7.61930663e+01] [ 4.06060439e-01 9.13791950e-01 -9.95951520e-03 1.20766515e+01] [ 2.48624878e-02 -1.52372031e-04 9.99690869e-01 1.33021184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61361786499998 meters 0.019879153124180822 Centerline is valid? [True, True] Translation: X:76.22, Y:12.09, Z:1.33 [[ 9.13872592e-01 -4.05340245e-01 -2.31553678e-02 7.62184727e+01] [ 4.05213682e-01 9.14165887e-01 -1.01292777e-02 1.20851935e+01] [ 2.52736513e-02 -1.26002610e-04 9.99680562e-01 1.32953123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64361786499998 meters 0.019727432396537087 Centerline is valid? [True, True] Translation: X:76.24, Y:12.10, Z:1.33 [[ 9.13948879e-01 -4.05168812e-01 -2.31447434e-02 7.62442049e+01] [ 4.05042191e-01 9.14241883e-01 -1.01293547e-02 1.20965111e+01] [ 2.52639924e-02 -1.16885191e-04 9.99680808e-01 1.33145680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67361786499998 meters 0.019797709565499463 Centerline is valid? [True, True] Translation: X:76.27, Y:12.11, Z:1.33 [[ 9.14031739e-01 -4.04973336e-01 -2.32932956e-02 7.62692898e+01] [ 4.04844867e-01 9.14328489e-01 -1.02003769e-02 1.21062304e+01] [ 2.54286044e-02 -1.06702925e-04 9.99676635e-01 1.33075516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70361786499998 meters 0.01969071711500158 Centerline is valid? [True, True] Translation: X:76.30, Y:12.12, Z:1.33 [[ 9.14158414e-01 -4.04669792e-01 -2.35956236e-02 7.62953809e+01] [ 4.04537740e-01 9.14462876e-01 -1.03376077e-02 1.21160308e+01] [ 2.57606394e-02 -9.51092468e-05 9.99668135e-01 1.33265813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73361786499999 meters 0.019709567799040675 Centerline is valid? [True, True] Translation: X:76.32, Y:12.13, Z:1.33 [[ 9.14105134e-01 -4.04812647e-01 -2.32061333e-02 7.63211737e+01] [ 4.04684802e-01 9.14399646e-01 -1.01734209e-02 1.21257613e+01] [ 2.53380095e-02 -9.15932034e-05 9.99678937e-01 1.33335109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76361786499999 meters 0.019693884735201738 Centerline is valid? [True, True] Translation: X:76.35, Y:12.14, Z:1.34 [[ 9.13948817e-01 -4.05142426e-01 -2.36045387e-02 7.63474081e+01] [ 4.05010106e-01 9.14253578e-01 -1.03541783e-02 1.21360918e+01] [ 2.57754509e-02 -9.68876949e-05 9.99667753e-01 1.33506742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79361786499999 meters 0.019740637444459332 Centerline is valid? [True, True] Translation: X:76.37, Y:12.15, Z:1.34 [[ 9.13539369e-01 -4.06092978e-01 -2.31152657e-02 7.63740869e+01] [ 4.05966202e-01 9.13831757e-01 -1.01470267e-02 1.21455785e+01] [ 2.52441001e-02 -1.14308277e-04 9.99681310e-01 1.33734012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82361786499999 meters 0.019850209095460303 Centerline is valid? [True, True] Translation: X:76.40, Y:12.16, Z:1.34 [[ 9.13515539e-01 -4.06188906e-01 -2.23591554e-02 7.63997891e+01] [ 4.06070143e-01 9.13789123e-01 -9.82233141e-03 1.21559358e+01] [ 2.44212751e-02 -1.06533060e-04 9.99701751e-01 1.33872362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85361786499998 meters 0.019902138370916922 Centerline is valid? [True, True] Translation: X:76.43, Y:12.17, Z:1.34 [[ 9.13353807e-01 -4.06522307e-01 -2.29005720e-02 7.64254775e+01] [ 4.06397633e-01 9.13640849e-01 -1.00678812e-02 1.21662672e+01] [ 2.50157164e-02 -1.11200623e-04 9.99687052e-01 1.33952365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88361786499998 meters 0.02000671996635905 Centerline is valid? [True, True] Translation: X:76.45, Y:12.18, Z:1.34 [[ 9.13137156e-01 -4.06993139e-01 -2.31758048e-02 7.64516163e+01] [ 4.06865406e-01 9.13431207e-01 -1.01966278e-02 1.21757799e+01] [ 2.53194609e-02 -1.18513509e-04 9.99679404e-01 1.34036498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91361786499998 meters 0.020033926989108546 Centerline is valid? [True, True] Translation: X:76.48, Y:12.19, Z:1.34 [[ 9.12888637e-01 -4.07528628e-01 -2.35532108e-02 7.64777774e+01] [ 4.07396675e-01 9.13192423e-01 -1.03705656e-02 1.21861570e+01] [ 2.57349160e-02 -1.28328231e-04 9.99668794e-01 1.34101513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94361786499998 meters 0.02011593813061601 Centerline is valid? [True, True] Translation: X:76.50, Y:12.20, Z:1.34 [[ 9.12667031e-01 -4.08025556e-01 -2.35379895e-02 7.65038966e+01] [ 4.07893739e-01 9.12970497e-01 -1.03716177e-02 1.21964082e+01] [ 2.57213750e-02 -1.35165029e-04 9.99669142e-01 1.34160107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97361786499998 meters 0.020444085741460304 Centerline is valid? [True, True] Translation: X:76.53, Y:12.21, Z:1.34 [[ 9.12328340e-01 -4.08744830e-01 -2.41798242e-02 7.65318414e+01] [ 4.08605774e-01 9.12648695e-01 -1.06621086e-02 1.22056903e+01] [ 2.64257668e-02 -1.52671938e-04 9.99650767e-01 1.34234848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00361786499998 meters 0.020543059688517457 Centerline is valid? [True, True] Translation: X:76.56, Y:12.22, Z:1.34 [[ 9.12187867e-01 -4.09044625e-01 -2.44088008e-02 7.65574636e+01] [ 4.08902832e-01 9.12514367e-01 -1.07705141e-02 1.22160128e+01] [ 2.66790023e-02 -1.56095441e-04 9.99644040e-01 1.34357703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03361786499998 meters 0.02053595204794335 Centerline is valid? [True, True] Translation: X:76.58, Y:12.23, Z:1.34 [[ 9.11761335e-01 -4.09992810e-01 -2.44369413e-02 7.65833975e+01] [ 4.09850813e-01 9.12088737e-01 -1.07910234e-02 1.22262252e+01] [ 2.67129009e-02 -1.76662368e-04 9.99643131e-01 1.34431826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06361786499998 meters 0.020643427453487895 Centerline is valid? [True, True] Translation: X:76.61, Y:12.24, Z:1.35 [[ 9.11312826e-01 -4.10976435e-01 -2.46435166e-02 7.66112379e+01] [ 4.10832176e-01 9.11645945e-01 -1.08900409e-02 1.22357619e+01] [ 2.69417121e-02 -2.00115641e-04 9.99636986e-01 1.34558048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09361786499998 meters 0.02079590694184944 Centerline is valid? [True, True] Translation: X:76.64, Y:12.25, Z:1.35 [[ 9.10993847e-01 -4.11687161e-01 -2.45742267e-02 7.66374358e+01] [ 4.11543827e-01 9.11325208e-01 -1.08647751e-02 1.22457332e+01] [ 2.68680006e-02 -2.15628077e-04 9.99638967e-01 1.34577906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12361786499999 meters 0.020916824705489882 Centerline is valid? [True, True] Translation: X:76.66, Y:12.26, Z:1.35 [[ 9.10810260e-01 -4.12105290e-01 -2.43700703e-02 7.66639396e+01] [ 4.11964354e-01 9.11136203e-01 -1.07791459e-02 1.22563681e+01] [ 2.66465963e-02 -2.21843567e-04 9.99644892e-01 1.34672942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15361786499999 meters 0.021243783371194466 Centerline is valid? [True, True] Translation: X:76.69, Y:12.27, Z:1.35 [[ 9.10576351e-01 -4.12626025e-01 -2.42996248e-02 7.66900442e+01] [ 4.12485932e-01 9.10900494e-01 -1.07538823e-02 1.22663672e+01] [ 2.65718720e-02 -2.31022457e-04 9.99646879e-01 1.34655891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18361786499999 meters 0.02134241019216959 Centerline is valid? [True, True] Translation: X:76.72, Y:12.28, Z:1.35 [[ 9.10007281e-01 -4.13880376e-01 -2.42854587e-02 7.67177391e+01] [ 4.13740780e-01 9.10331239e-01 -1.07518179e-02 1.22758344e+01] [ 2.65577781e-02 -2.63652048e-04 9.99647245e-01 1.34736944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21361786499999 meters 0.02157455518612606 Centerline is valid? [True, True] Translation: X:76.74, Y:12.29, Z:1.35 [[ 9.09658163e-01 -4.14637704e-01 -2.44458709e-02 7.67443792e+01] [ 4.14496390e-01 9.09986535e-01 -1.08281417e-02 1.22852133e+01] [ 2.67351692e-02 -2.82817719e-04 9.99642511e-01 1.34708690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24361786499998 meters 0.02167882684128674 Centerline is valid? [True, True] Translation: X:76.77, Y:12.30, Z:1.35 [[ 9.09160776e-01 -4.15723519e-01 -2.45079568e-02 7.67710695e+01] [ 4.15581764e-01 9.09490989e-01 -1.08599320e-02 1.22952335e+01] [ 2.68044951e-02 -3.11635708e-04 9.99640646e-01 1.34802455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27361786499998 meters 0.02208184758761132 Centerline is valid? [True, True] Translation: X:76.80, Y:12.30, Z:1.35 [[ 9.08224771e-01 -4.17789079e-01 -2.40842325e-02 7.67991195e+01] [ 4.17652729e-01 9.08543976e-01 -1.06790661e-02 1.23036455e+01] [ 2.63431815e-02 -3.59853019e-04 9.99652893e-01 1.34807782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30361786499998 meters 0.02239959619166797 Centerline is valid? [True, True] Translation: X:76.82, Y:12.31, Z:1.35 [[ 9.08047849e-01 -4.18211080e-01 -2.34221108e-02 7.68245308e+01] [ 4.18082127e-01 9.08349803e-01 -1.03908916e-02 1.23124807e+01] [ 2.56210557e-02 -3.56939158e-04 9.99671663e-01 1.34832693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33361786499998 meters 0.022362964287971382 Centerline is valid? [True, True] Translation: X:76.85, Y:12.32, Z:1.35 [[ 9.07752452e-01 -4.18869884e-01 -2.30977665e-02 7.68500092e+01] [ 4.18744570e-01 9.08046192e-01 -1.02517636e-02 1.23233513e+01] [ 2.52679939e-02 -3.66000741e-04 9.99680646e-01 1.34969114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36361786499998 meters 0.022511314773473665 Centerline is valid? [True, True] Translation: X:76.88, Y:12.33, Z:1.35 [[ 9.07459719e-01 -4.19588480e-01 -2.15027164e-02 7.68759483e+01] [ 4.19479922e-01 9.07714373e-01 -9.55051001e-03 1.23329231e+01] [ 2.35256087e-02 -3.53254674e-04 9.99723172e-01 1.35134791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39361786499998 meters 0.022636180290661487 Centerline is valid? [True, True] Translation: X:76.90, Y:12.34, Z:1.35 [[ 9.07251761e-01 -4.20062250e-01 -2.10225822e-02 7.69016833e+01] [ 4.19958456e-01 9.07495225e-01 -9.34410509e-03 1.23435039e+01] [ 2.30029988e-02 -3.51155358e-04 9.99735334e-01 1.35207523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42361786499998 meters 0.022808865055618334 Centerline is valid? [True, True] Translation: X:76.93, Y:12.35, Z:1.35 [[ 9.07188047e-01 -4.20202193e-01 -2.09753412e-02 7.69269115e+01] [ 4.20098769e-01 9.07430435e-01 -9.32893257e-03 1.23530346e+01] [ 2.29537009e-02 -3.48618888e-04 9.99736468e-01 1.35243574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45361786499998 meters 0.023180126445016904 Centerline is valid? [True, True] Translation: X:76.95, Y:12.36, Z:1.35 [[ 9.07020681e-01 -4.20548667e-01 -2.12674058e-02 7.69535712e+01] [ 4.20442371e-01 9.07269910e-01 -9.46165371e-03 1.23620507e+01] [ 2.32743632e-02 -3.59802928e-04 9.99729051e-01 1.35253197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48361786499999 meters 0.023186520746439072 Centerline is valid? [True, True] Translation: X:76.98, Y:12.37, Z:1.35 [[ 9.06988684e-01 -4.20629724e-01 -2.10276291e-02 7.69792587e+01] [ 4.20525754e-01 9.07232335e-01 -9.35847118e-03 1.23732963e+01] [ 2.30133962e-02 -3.54632118e-04 9.99735094e-01 1.35315783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51361786499999 meters 0.023356642861010326 Centerline is valid? [True, True] Translation: X:77.00, Y:12.38, Z:1.35 [[ 9.07043084e-01 -4.20527477e-01 -2.07240392e-02 7.70045946e+01] [ 4.20426322e-01 9.07279739e-01 -9.22949270e-03 1.23836097e+01] [ 2.26837562e-02 -3.41384053e-04 9.99742632e-01 1.35301318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54361786499999 meters 0.02345905262681514 Centerline is valid? [True, True] Translation: X:77.03, Y:12.39, Z:1.35 [[ 9.07198684e-01 -4.20232173e-01 -1.98864139e-02 7.70312153e+01] [ 4.20138860e-01 9.07416564e-01 -8.86103033e-03 1.23946806e+01] [ 2.17689514e-02 -3.16340212e-04 9.99762978e-01 1.35293268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57361786499999 meters 0.023558308323198128 Centerline is valid? [True, True] Translation: X:77.06, Y:12.40, Z:1.35 [[ 9.07205871e-01 -4.20214989e-01 -1.99215916e-02 7.70561710e+01] [ 4.20121235e-01 9.07424523e-01 -8.88158039e-03 1.24047772e+01] [ 2.18095139e-02 -3.12061774e-04 9.99762096e-01 1.35349979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60361786499998 meters 0.023700403256673257 Centerline is valid? [True, True] Translation: X:77.08, Y:12.41, Z:1.35 [[ 9.07131627e-01 -4.20411203e-01 -1.91476174e-02 7.70808633e+01] [ 4.20324583e-01 9.07333637e-01 -8.53908098e-03 1.24146364e+01] [ 2.09632027e-02 -3.02143887e-04 9.99780202e-01 1.35401091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63361786499998 meters 0.023867615213007832 Centerline is valid? [True, True] Translation: X:77.11, Y:12.42, Z:1.35 [[ 9.06857109e-01 -4.21057702e-01 -1.79051861e-02 7.71075654e+01] [ 4.20982030e-01 9.07033806e-01 -7.98780590e-03 1.24247480e+01] [ 1.96039363e-02 -2.93963012e-04 9.99807781e-01 1.35436753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66361786499998 meters 0.02374034474099212 Centerline is valid? [True, True] Translation: X:77.13, Y:12.44, Z:1.36 [[ 9.06561992e-01 -4.21705226e-01 -1.76084698e-02 7.71329380e+01] [ 4.21632059e-01 9.06732934e-01 -7.86082201e-03 1.24363062e+01] [ 1.92811292e-02 -2.97972937e-04 9.99814057e-01 1.35523905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69361786499998 meters 0.023714071585599017 Centerline is valid? [True, True] Translation: X:77.16, Y:12.45, Z:1.36 [[ 9.06336057e-01 -4.22204025e-01 -1.72833206e-02 7.71585935e+01] [ 4.22133524e-01 9.06500785e-01 -7.72111475e-03 1.24474159e+01] [ 1.89272294e-02 -2.97944318e-04 9.99820820e-01 1.35550424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72361786499998 meters 0.023922133893255416 Centerline is valid? [True, True] Translation: X:77.18, Y:12.46, Z:1.36 [[ 9.06066498e-01 -4.22801060e-01 -1.68156281e-02 7.71843422e+01] [ 4.22734327e-01 9.06222476e-01 -7.51754814e-03 1.24578266e+01] [ 1.84171274e-02 -2.97144714e-04 9.99830346e-01 1.35611007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75361786499998 meters 0.024481200003673733 Centerline is valid? [True, True] Translation: X:77.21, Y:12.47, Z:1.36 [[ 9.05932228e-01 -4.23111236e-01 -1.62382158e-02 7.72120140e+01] [ 4.23048971e-01 9.06077700e-01 -7.26427405e-03 1.24654038e+01] [ 1.77866812e-02 -2.88620501e-04 9.99841763e-01 1.35603154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78361786499998 meters 0.024061060733779435 Centerline is valid? [True, True] Translation: X:77.24, Y:12.48, Z:1.36 [[ 9.05959484e-01 -4.23066667e-01 -1.58747586e-02 7.72366546e+01] [ 4.23007121e-01 9.06098514e-01 -7.10344970e-03 1.24789422e+01] [ 1.73893280e-02 -2.79698300e-04 9.99848755e-01 1.35690827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81361786499998 meters 0.0238922822705734 Centerline is valid? [True, True] Translation: X:77.26, Y:12.49, Z:1.36 [[ 9.06321284e-01 -4.22316633e-01 -1.51786746e-02 7.72629339e+01] [ 4.22262012e-01 9.06448343e-01 -6.79660905e-03 1.24915397e+01] [ 1.66290055e-02 -2.49466212e-04 9.99861697e-01 1.35721570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84361786499998 meters 0.023937761475081296 Centerline is valid? [True, True] Translation: X:77.29, Y:12.50, Z:1.36 [[ 9.06663290e-01 -4.21572072e-01 -1.54488480e-02 7.72882917e+01] [ 4.21515308e-01 9.06794868e-01 -6.92191340e-03 1.25028283e+01] [ 1.69270214e-02 -2.36081145e-04 9.99856700e-01 1.35779694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87361786499999 meters 0.023812667213214275 Centerline is valid? [True, True] Translation: X:77.31, Y:12.52, Z:1.36 [[ 9.07010572e-01 -4.20816367e-01 -1.56655157e-02 7.73138284e+01] [ 4.20757857e-01 9.07145818e-01 -7.02070139e-03 1.25156421e+01] [ 1.71653331e-02 -2.23538444e-04 9.99852640e-01 1.35770823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90361786499999 meters 0.023812667213214275 Centerline is valid? [True, True] Translation: X:77.34, Y:12.53, Z:1.36 [[ 9.06896103e-01 -4.21063062e-01 -1.56638333e-02 7.73389781e+01] [ 4.21004524e-01 9.07031338e-01 -7.02445309e-03 1.25269944e+01] [ 1.71653254e-02 -2.24095554e-04 9.99852640e-01 1.35815934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93361786499999 meters 0.023593670582497814 Centerline is valid? [True, True] Translation: X:77.36, Y:12.54, Z:1.36 [[ 9.07931576e-01 -4.18828175e-01 -1.55952976e-02 7.73639845e+01] [ 4.18769734e-01 9.08065487e-01 -6.99865055e-03 1.25398824e+01] [ 1.70927835e-02 -1.76542792e-04 9.99853892e-01 1.35884079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96361786499999 meters 0.023505415929392176 Centerline is valid? [True, True] Translation: X:77.39, Y:12.55, Z:1.36 [[ 9.08264125e-01 -4.18122253e-01 -1.51677263e-02 7.73903637e+01] [ 4.18066849e-01 9.08390751e-01 -6.80827564e-03 1.25528315e+01] [ 1.66249139e-02 -1.57411045e-04 9.99861784e-01 1.35957984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99361786499998 meters 0.023425743850177042 Centerline is valid? [True, True] Translation: X:77.42, Y:12.57, Z:1.36 [[ 9.08998003e-01 -4.16541806e-01 -1.46817541e-02 7.74162258e+01] [ 4.16489654e-01 9.09116554e-01 -6.59237734e-03 1.25655907e+01] [ 1.60934264e-02 -1.22340841e-04 9.99870485e-01 1.36064512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02361786499998 meters 0.023464667817260625 Centerline is valid? [True, True] Translation: X:77.44, Y:12.58, Z:1.36 [[ 9.09465217e-01 -4.15528960e-01 -1.44464999e-02 7.74414793e+01] [ 4.15478272e-01 9.09579943e-01 -6.49092336e-03 1.25775516e+01] [ 1.58374132e-02 -9.89377846e-05 9.99874575e-01 1.36119935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05361786499998 meters 0.023537114603190436 Centerline is valid? [True, True] Translation: X:77.47, Y:12.59, Z:1.36 [[ 9.09885912e-01 -4.14626534e-01 -1.38731342e-02 7.74662423e+01] [ 4.14579657e-01 9.09991665e-01 -6.23517045e-03 1.25907220e+01] [ 1.52097036e-02 -7.82254771e-05 9.99884323e-01 1.36160242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08361786499998 meters 0.02351311009261826 Centerline is valid? [True, True] Translation: X:77.49, Y:12.60, Z:1.36 [[ 9.10237800e-01 -4.13872087e-01 -1.33057406e-02 7.74914357e+01] [ 4.13828824e-01 9.10335044e-01 -5.98438464e-03 1.26040673e+01] [ 1.45894517e-02 -5.90858720e-05 9.99893567e-01 1.36212317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11361786499998 meters 0.023518358982669168 Centerline is valid? [True, True] Translation: X:77.52, Y:12.62, Z:1.36 [[ 9.11098497e-01 -4.12009405e-01 -1.21564747e-02 7.75153763e+01] [ 4.11973078e-01 9.11179593e-01 -5.47111464e-03 1.26181402e+01] [ 1.33308823e-02 -2.34159623e-05 9.99911140e-01 1.36289297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14361786499998 meters 0.02366622551044319 Centerline is valid? [True, True] Translation: X:77.54, Y:12.63, Z:1.36 [[ 9.11510771e-01 -4.11101631e-01 -1.19817512e-02 7.75395632e+01] [ 4.11066204e-01 9.11589518e-01 -5.39696547e-03 1.26303364e+01] [ 1.31411401e-02 -5.90081010e-06 9.99913651e-01 1.36392349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17361786499998 meters 0.02362921418419718 Centerline is valid? [True, True] Translation: X:77.57, Y:12.64, Z:1.36 [[ 9.11604688e-01 -4.10910335e-01 -1.13837053e-02 7.75652604e+01] [ 4.10878331e-01 9.11675763e-01 -5.12845839e-03 1.26427740e+01] [ 1.24855848e-02 -2.19113060e-06 9.99922052e-01 1.36433497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20361786499998 meters 0.023664569709671554 Centerline is valid? [True, True] Translation: X:77.59, Y:12.65, Z:1.37 [[ 9.11531044e-01 -4.11074112e-01 -1.13679550e-02 7.75895716e+01] [ 4.11042153e-01 9.11601928e-01 -5.12578776e-03 1.26540132e+01] [ 1.24701284e-02 -3.94045188e-07 9.99922245e-01 1.36540662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23361786499999 meters 0.023543612372457712 Centerline is valid? [True, True] Translation: X:77.62, Y:12.67, Z:1.37 [[ 9.11061261e-01 -4.12126355e-01 -1.09199856e-02 7.76154184e+01] [ 4.12096933e-01 9.11126702e-01 -4.92453495e-03 1.26653109e+01] [ 1.19790211e-02 -1.35395502e-05 9.99928249e-01 1.36578619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26361786499999 meters 0.023490281194503682 Centerline is valid? [True, True] Translation: X:77.64, Y:12.68, Z:1.37 [[ 9.10552539e-01 -4.13243110e-01 -1.11447955e-02 7.76410060e+01] [ 4.13212501e-01 9.10620740e-01 -5.02965194e-03 1.26769183e+01] [ 1.22271509e-02 -2.54064572e-05 9.99925245e-01 1.36636983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29361786499999 meters 0.02350107936671087 Centerline is valid? [True, True] Translation: X:77.67, Y:12.69, Z:1.37 [[ 9.09677049e-01 -4.15160333e-01 -1.13826777e-02 7.76670042e+01] [ 4.15128494e-01 9.09748260e-01 -5.14171710e-03 1.26874962e+01] [ 1.24900082e-02 -4.79718301e-05 9.99921996e-01 1.36695935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32361786499999 meters 0.023481487351978046 Centerline is valid? [True, True] Translation: X:77.69, Y:12.70, Z:1.37 [[ 9.09011635e-01 -4.16613513e-01 -1.14467107e-02 7.76926888e+01] [ 4.16581416e-01 9.09083701e-01 -5.17183914e-03 1.26980924e+01] [ 1.25606762e-02 -6.72250119e-05 9.99921109e-01 1.36749451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35361786499998 meters 0.023544267523551245 Centerline is valid? [True, True] Translation: X:77.72, Y:12.71, Z:1.37 [[ 9.08178929e-01 -4.18420407e-01 -1.16360003e-02 7.77196509e+01] [ 4.18387380e-01 9.08253464e-01 -5.25793900e-03 1.27096247e+01] [ 1.27684665e-02 -9.32062650e-05 9.99918475e-01 1.36737114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38361786499998 meters 0.02365247832137599 Centerline is valid? [True, True] Translation: X:77.75, Y:12.72, Z:1.37 [[ 9.06564351e-01 -4.21882469e-01 -1.25003961e-02 7.77474154e+01] [ 4.21844627e-01 9.06650517e-01 -5.65246863e-03 1.27193117e+01] [ 1.37181680e-02 -1.48898371e-04 9.99905890e-01 1.36736105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41361786499998 meters 0.023935226312177482 Centerline is valid? [True, True] Translation: X:77.77, Y:12.73, Z:1.37 [[ 9.05582335e-01 -4.23973755e-01 -1.29185772e-02 7.77740304e+01] [ 4.23933491e-01 9.05674457e-01 -5.84583707e-03 1.27280080e+01] [ 1.41785068e-02 -1.82730726e-04 9.99899463e-01 1.36755846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44361786499998 meters 0.02405143674914574 Centerline is valid? [True, True] Translation: X:77.80, Y:12.74, Z:1.37 [[ 9.04474436e-01 -4.26329778e-01 -1.29967701e-02 7.78006664e+01] [ 4.26289253e-01 9.04567782e-01 -5.88222004e-03 1.27384984e+01] [ 1.42642251e-02 -2.20065775e-04 9.99898237e-01 1.36791009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47361786499998 meters 0.02417439697482724 Centerline is valid? [True, True] Translation: X:77.83, Y:12.75, Z:1.37 [[ 9.02490953e-01 -4.30496437e-01 -1.35239869e-02 7.78271902e+01] [ 4.30452962e-01 9.02592229e-01 -6.12503001e-03 1.27486027e+01] [ 1.48434491e-02 -2.93656069e-04 9.99889787e-01 1.36802745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50361786499998 meters 0.025361270365714072 Centerline is valid? [True, True] Translation: X:77.85, Y:12.76, Z:1.37 [[ 9.01628294e-01 -4.32320055e-01 -1.28758795e-02 7.78543374e+01] [ 4.32280818e-01 9.01720176e-01 -5.83261626e-03 1.27550489e+01] [ 1.41319973e-02 -3.07143882e-04 9.99900091e-01 1.36926685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53361786499998 meters 0.024506660781268626 Centerline is valid? [True, True] Translation: X:77.88, Y:12.77, Z:1.37 [[ 9.00713935e-01 -4.34235129e-01 -1.24201864e-02 7.78794740e+01] [ 4.34198775e-01 9.00799505e-01 -5.62806922e-03 1.27695679e+01] [ 1.36320031e-02 -3.23549351e-04 9.99907028e-01 1.36978043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56361786499998 meters 0.02516836353895114 Centerline is valid? [True, True] Translation: X:77.91, Y:12.78, Z:1.37 [[ 8.99585293e-01 -4.36579982e-01 -1.20091882e-02 7.79065126e+01] [ 4.36546151e-01 8.99665383e-01 -5.44578168e-03 1.27781547e+01] [ 1.31817702e-02 -3.43619793e-04 9.99913058e-01 1.37091087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59361786499998 meters 0.02491826000267996 Centerline is valid? [True, True] Translation: X:77.93, Y:12.79, Z:1.37 [[ 8.99321132e-01 -4.37129228e-01 -1.18126936e-02 7.79324489e+01] [ 4.37096535e-01 8.99398643e-01 -5.35730167e-03 1.27904887e+01] [ 1.29661537e-02 -3.45352837e-04 9.99915876e-01 1.37133165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62361786499999 meters 0.025367223071351162 Centerline is valid? [True, True] Translation: X:77.96, Y:12.80, Z:1.37 [[ 8.99199368e-01 -4.37365951e-01 -1.23093720e-02 7.79585936e+01] [ 4.37330415e-01 8.99283546e-01 -5.58681277e-03 1.28002650e+01] [ 1.35130974e-02 -3.59604272e-04 9.99908629e-01 1.37188900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65361786499999 meters 0.025084653684480186 Centerline is valid? [True, True] Translation: X:77.98, Y:12.81, Z:1.37 [[ 8.98974182e-01 -4.37834495e-01 -1.20985593e-02 7.79843686e+01] [ 4.37800199e-01 8.99055519e-01 -5.49182555e-03 1.28135587e+01] [ 1.32817872e-02 -3.59742281e-04 9.99911728e-01 1.37231092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68361786499999 meters 0.02465552508210723 Centerline is valid? [True, True] Translation: X:78.01, Y:12.83, Z:1.37 [[ 9.00503748e-01 -4.34690740e-01 -1.17030239e-02 7.80093834e+01] [ 4.34658334e-01 9.00579742e-01 -5.31617800e-03 1.28286369e+01] [ 1.28503996e-02 -2.99578661e-04 9.99917385e-01 1.37344049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71361786499999 meters 0.024868396088869333 Centerline is valid? [True, True] Translation: X:78.04, Y:12.84, Z:1.37 [[ 9.01093766e-01 -4.33454513e-01 -1.21330614e-02 7.80353034e+01] [ 4.33419556e-01 9.01175399e-01 -5.51251021e-03 1.28391695e+01] [ 1.33234389e-02 -2.91417496e-04 9.99911197e-01 1.37390247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74361786499998 meters 0.024288767236927935 Centerline is valid? [True, True] Translation: X:78.06, Y:12.85, Z:1.37 [[ 9.01363933e-01 -4.32865671e-01 -1.30526167e-02 7.80610033e+01] [ 4.32825137e-01 9.01458385e-01 -5.93139311e-03 1.28532661e+01] [ 1.43338872e-02 -3.03156767e-04 9.99897219e-01 1.37435263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77361786499998 meters 0.024332730593142008 Centerline is valid? [True, True] Translation: X:78.09, Y:12.87, Z:1.37 [[ 9.02099655e-01 -4.31298222e-01 -1.40732368e-02 7.80867651e+01] [ 4.31250843e-01 9.02209375e-01 -6.39958549e-03 1.28651582e+01] [ 1.54571360e-02 -2.96031355e-04 9.99880488e-01 1.37465013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80361786499998 meters 0.024245815021787145 Centerline is valid? [True, True] Translation: X:78.11, Y:12.88, Z:1.38 [[ 9.02309468e-01 -4.30856166e-01 -1.41628861e-02 7.81122198e+01] [ 4.30808061e-01 9.02420568e-01 -6.44457840e-03 1.28770410e+01] [ 1.55575661e-02 -2.86481404e-04 9.99878933e-01 1.37517249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83361786499998 meters 0.023973339402662087 Centerline is valid? [True, True] Translation: X:78.14, Y:12.89, Z:1.38 [[ 9.02398739e-01 -4.30669371e-01 -1.41566036e-02 7.81369419e+01] [ 4.30621266e-01 9.02509731e-01 -6.44295071e-03 1.28901762e+01] [ 1.55512540e-02 -2.82023947e-04 9.99879032e-01 1.37590993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86361786499998 meters 0.024321604170302612 Centerline is valid? [True, True] Translation: X:78.16, Y:12.90, Z:1.38 [[ 9.02638267e-01 -4.30170706e-01 -1.40471178e-02 7.81623546e+01] [ 4.30123209e-01 9.02747524e-01 -6.39787209e-03 1.29016990e+01] [ 1.54331780e-02 -2.67027214e-04 9.99880866e-01 1.37679527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89361786499998 meters 0.023900266408004762 Centerline is valid? [True, True] Translation: X:78.19, Y:12.92, Z:1.38 [[ 9.02623944e-01 -4.30198782e-01 -1.41075895e-02 7.81870269e+01] [ 4.30150847e-01 9.02734145e-01 -6.42744796e-03 1.29156872e+01] [ 1.55004830e-02 -2.66823146e-04 9.99879825e-01 1.37666732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92361786499998 meters 0.0239074784200931 Centerline is valid? [True, True] Translation: X:78.21, Y:12.93, Z:1.38 [[ 9.02672628e-01 -4.30090807e-01 -1.42837155e-02 7.82123734e+01] [ 4.30041579e-01 9.02785594e-01 -6.51243688e-03 1.29275635e+01] [ 1.56960718e-02 -2.63993071e-04 9.99876774e-01 1.37744981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95361786499998 meters 0.023834340533110083 Centerline is valid? [True, True] Translation: X:78.24, Y:12.94, Z:1.38 [[ 9.02541161e-01 -4.30373581e-01 -1.40724418e-02 7.82383813e+01] [ 4.30325763e-01 9.02650826e-01 -6.42067018e-03 1.29392143e+01] [ 1.54657880e-02 -2.60815137e-04 9.99880364e-01 1.37779504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98361786499999 meters 0.023926945952850304 Centerline is valid? [True, True] Translation: X:78.26, Y:12.95, Z:1.38 [[ 9.02554187e-01 -4.30337386e-01 -1.43413470e-02 7.82626030e+01] [ 4.30287641e-01 9.02668082e-01 -6.54825671e-03 1.29501840e+01] [ 1.57634358e-02 -2.60747842e-04 9.99875715e-01 1.37776875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01361786499999 meters 0.02392599493037512 Centerline is valid? [True, True] Translation: X:78.29, Y:12.96, Z:1.38 [[ 9.02446822e-01 -4.30568623e-01 -1.41560300e-02 7.82878285e+01] [ 4.30520137e-01 9.02557806e-01 -6.46669910e-03 1.29624627e+01] [ 1.55609931e-02 -2.58603930e-04 9.99878887e-01 1.37750216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04361786499999 meters 0.023921839644392245 Centerline is valid? [True, True] Translation: X:78.31, Y:12.97, Z:1.38 [[ 9.02658961e-01 -4.30120307e-01 -1.42590717e-02 7.83126805e+01] [ 4.30070979e-01 9.02771544e-01 -6.51863391e-03 1.29743736e+01] [ 1.56764810e-02 -2.48309613e-04 9.99877086e-01 1.37730249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07361786499999 meters 0.023771394857344787 Centerline is valid? [True, True] Translation: X:78.34, Y:12.99, Z:1.38 [[ 9.02742003e-01 -4.29948123e-01 -1.41946395e-02 7.83382354e+01] [ 4.29899199e-01 9.02853561e-01 -6.49046899e-03 1.29872071e+01] [ 1.56062458e-02 -2.43045173e-04 9.99878186e-01 1.37772721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10361786499998 meters 0.023778980593333228 Centerline is valid? [True, True] Translation: X:78.36, Y:13.00, Z:1.38 [[ 9.02960793e-01 -4.29487781e-01 -1.42145339e-02 7.83645059e+01] [ 4.29438595e-01 9.03072640e-01 -6.50388187e-03 1.29998245e+01] [ 1.56300944e-02 -2.31519119e-04 9.99877816e-01 1.37757498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13361786499998 meters 0.023717871490192294 Centerline is valid? [True, True] Translation: X:78.39, Y:13.01, Z:1.38 [[ 9.03211147e-01 -4.28942015e-01 -1.47773931e-02 7.83900233e+01] [ 4.28888713e-01 9.03331997e-01 -6.76574662e-03 1.30115659e+01] [ 1.62510050e-02 -2.26959362e-04 9.99867918e-01 1.37775569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16361786499998 meters 0.023450940438022195 Centerline is valid? [True, True] Translation: X:78.42, Y:13.02, Z:1.38 [[ 9.03369927e-01 -4.28590626e-01 -1.52594204e-02 7.84153948e+01] [ 4.28533700e-01 9.03498768e-01 -6.98885539e-03 1.30244386e+01] [ 1.67822255e-02 -2.25654101e-04 9.99859143e-01 1.37790699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19361786499998 meters 0.02347385393573556 Centerline is valid? [True, True] Translation: X:78.44, Y:13.04, Z:1.38 [[ 9.03600673e-01 -4.28104230e-01 -1.52509924e-02 7.84411310e+01] [ 4.28047216e-01 9.03729342e-01 -6.98984045e-03 1.30359387e+01] [ 1.67751496e-02 -2.12120318e-04 9.99859265e-01 1.37813814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22361786499998 meters 0.02326958233129936 Centerline is valid? [True, True] Translation: X:78.47, Y:13.05, Z:1.38 [[ 9.04035563e-01 -4.27179161e-01 -1.54163788e-02 7.84669896e+01] [ 4.27120741e-01 9.04166979e-01 -7.06728623e-03 1.30495012e+01] [ 1.69579781e-02 -1.95577039e-04 9.99856184e-01 1.37936105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25361786499998 meters 0.023136809917818205 Centerline is valid? [True, True] Translation: X:78.49, Y:13.06, Z:1.38 [[ 9.04251706e-01 -4.26716380e-01 -1.55558184e-02 7.84921202e+01] [ 4.26656754e-01 9.04385480e-01 -7.13560272e-03 1.30624809e+01] [ 1.71133348e-02 -1.84614044e-04 9.99853539e-01 1.38008728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28361786499998 meters 0.023056595281634385 Centerline is valid? [True, True] Translation: X:78.52, Y:13.08, Z:1.38 [[ 9.04755809e-01 -4.25652529e-01 -1.53899783e-02 7.85171635e+01] [ 4.25593933e-01 9.04886678e-01 -7.06433124e-03 1.30754466e+01] [ 1.69331368e-02 -1.58386671e-04 9.99856612e-01 1.38100091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31361786499998 meters 0.02303800035862834 Centerline is valid? [True, True] Translation: X:78.54, Y:13.09, Z:1.38 [[ 9.04829483e-01 -4.25500792e-01 -1.52539494e-02 7.85418688e+01] [ 4.25443180e-01 9.04958039e-01 -7.00341285e-03 1.30872466e+01] [ 1.67841418e-02 -1.52794299e-04 9.99859125e-01 1.38163827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34361786499998 meters 0.022828959714072432 Centerline is valid? [True, True] Translation: X:78.57, Y:13.10, Z:1.38 [[ 9.04810922e-01 -4.25523624e-01 -1.57111737e-02 7.85664272e+01] [ 4.25462469e-01 9.04947303e-01 -7.21569093e-03 1.31003298e+01] [ 1.72882313e-02 -1.55678817e-04 9.99850535e-01 1.38200747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37361786499999 meters 0.022897654409975116 Centerline is valid? [True, True] Translation: X:78.59, Y:13.11, Z:1.38 [[ 9.04714093e-01 -4.25716357e-01 -1.60621910e-02 7.85908600e+01] [ 4.25652377e-01 9.04856651e-01 -7.38211263e-03 1.31111038e+01] [ 1.76766665e-02 -1.58208469e-04 9.99843743e-01 1.38228972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40361786499999 meters 0.02286894981531344 Centerline is valid? [True, True] Translation: X:78.62, Y:13.12, Z:1.38 [[ 9.04251347e-01 -4.26707453e-01 -1.58193337e-02 7.86156551e+01] [ 4.26645503e-01 9.04389695e-01 -7.27289570e-03 1.31233739e+01] [ 1.74102412e-02 -1.72721869e-04 9.99848415e-01 1.38207974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43361786499999 meters 0.02278531361757705 Centerline is valid? [True, True] Translation: X:78.64, Y:13.14, Z:1.38 [[ 9.03796152e-01 -4.27658961e-01 -1.61347053e-02 7.86414964e+01] [ 4.27594575e-01 9.03940140e-01 -7.42311406e-03 1.31358148e+01] [ 1.77593690e-02 -1.90130519e-04 9.99842272e-01 1.38288333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46361786499999 meters 0.022885579227247623 Centerline is valid? [True, True] Translation: X:78.67, Y:13.15, Z:1.38 [[ 9.03336908e-01 -4.28629665e-01 -1.60947335e-02 7.86679268e+01] [ 4.28565669e-01 9.03480253e-01 -7.40938359e-03 1.31479280e+01] [ 1.77171555e-02 -2.04480586e-04 9.99843018e-01 1.38331581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49361786499998 meters 0.022878964348899564 Centerline is valid? [True, True] Translation: X:78.69, Y:13.16, Z:1.38 [[ 9.02877889e-01 -4.29584080e-01 -1.64023046e-02 7.86939179e+01] [ 4.29517684e-01 9.03026837e-01 -7.55584214e-03 1.31600781e+01] [ 1.80575907e-02 -2.23077071e-04 9.99836924e-01 1.38382718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52361786499998 meters 0.022853163974495532 Centerline is valid? [True, True] Translation: X:78.72, Y:13.17, Z:1.38 [[ 9.02432328e-01 -4.30535457e-01 -1.59722609e-02 7.87205668e+01] [ 4.30472566e-01 9.02573635e-01 -7.36231448e-03 1.31723365e+01] [ 1.75858790e-02 -2.31629548e-04 9.99845330e-01 1.38438543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55361786499998 meters 0.02296424349144408 Centerline is valid? [True, True] Translation: X:78.75, Y:13.18, Z:1.39 [[ 9.01875738e-01 -4.31697084e-01 -1.60555833e-02 7.87473084e+01] [ 4.31633634e-01 9.02018606e-01 -7.40546558e-03 1.31844676e+01] [ 1.76793527e-02 -2.51320030e-04 9.99843676e-01 1.38504514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58361786499998 meters 0.02300571430261382 Centerline is valid? [True, True] Translation: X:78.77, Y:13.20, Z:1.39 [[ 9.00958370e-01 -4.33604716e-01 -1.61544550e-02 7.87737733e+01] [ 4.33540704e-01 9.01103140e-01 -7.45583877e-03 1.31963218e+01] [ 1.77897170e-02 -2.86213468e-04 9.99841709e-01 1.38671223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61361786499998 meters 0.023185435858338998 Centerline is valid? [True, True] Translation: X:78.80, Y:13.21, Z:1.39 [[ 9.00574653e-01 -4.34381737e-01 -1.66673774e-02 7.87990407e+01] [ 4.34313639e-01 9.00728823e-01 -7.69741988e-03 1.32069167e+01] [ 1.83564059e-02 -3.06768118e-04 9.99831460e-01 1.38709607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64361786499998 meters 0.02348075727597155 Centerline is valid? [True, True] Translation: X:78.82, Y:13.22, Z:1.39 [[ 8.99515073e-01 -4.36581079e-01 -1.64193622e-02 7.88241132e+01] [ 4.36515307e-01 8.99664851e-01 -7.58576742e-03 1.32177555e+01] [ 1.80837255e-02 -3.43790788e-04 9.99836417e-01 1.38741654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67361786499998 meters 0.02354807158072806 Centerline is valid? [True, True] Translation: X:78.85, Y:13.23, Z:1.39 [[ 8.99001539e-01 -4.37626610e-01 -1.67087397e-02 7.88499855e+01] [ 4.37558642e-01 8.99156723e-01 -7.72150247e-03 1.32293729e+01] [ 1.84029106e-02 -3.69410842e-04 9.99830584e-01 1.38768522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70361786499998 meters 0.023561999267219524 Centerline is valid? [True, True] Translation: X:78.88, Y:13.24, Z:1.39 [[ 8.98544447e-01 -4.38569635e-01 -1.65696179e-02 7.88757949e+01] [ 4.38502924e-01 8.98697128e-01 -7.65888531e-03 1.32412382e+01] [ 1.82500226e-02 -3.83977043e-04 9.99833381e-01 1.38773989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73361786499999 meters 0.0236939698349467 Centerline is valid? [True, True] Translation: X:78.90, Y:13.25, Z:1.39 [[ 8.97995731e-01 -4.39683376e-01 -1.67986934e-02 7.89023328e+01] [ 4.39614963e-01 8.98152749e-01 -7.76686996e-03 1.32531262e+01] [ 1.85027562e-02 -4.10340894e-04 9.99828725e-01 1.38844862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76361786499999 meters 0.02460248408527934 Centerline is valid? [True, True] Translation: X:78.93, Y:13.26, Z:1.39 [[ 8.97211218e-01 -4.41257461e-01 -1.74322376e-02 7.89291282e+01] [ 4.41183996e-01 8.97380435e-01 -8.06450754e-03 1.32622421e+01] [ 1.92018731e-02 -4.55257584e-04 9.99815523e-01 1.38803025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79361786499999 meters 0.024465686554555607 Centerline is valid? [True, True] Translation: X:78.95, Y:13.27, Z:1.39 [[ 8.96892144e-01 -4.41880101e-01 -1.80681579e-02 7.89549956e+01] [ 4.41801255e-01 8.97073989e-01 -8.36115551e-03 1.32743437e+01] [ 1.99031027e-02 -4.83480141e-04 9.99801797e-01 1.38798505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82361786499999 meters 0.024465686554555607 Centerline is valid? [True, True] Translation: X:78.98, Y:13.29, Z:1.39 [[ 8.96776368e-01 -4.42115096e-01 -1.80661942e-02 7.89800011e+01] [ 4.42036212e-01 8.96958197e-01 -8.36539665e-03 1.32860099e+01] [ 1.99030891e-02 -4.84022021e-04 9.99801797e-01 1.38843623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85361786499998 meters 0.024696016287208144 Centerline is valid? [True, True] Translation: X:79.01, Y:13.30, Z:1.39 [[ 8.96473022e-01 -4.42719703e-01 -1.83135334e-02 7.90064630e+01] [ 4.42638654e-01 8.96659922e-01 -8.48567956e-03 1.32981222e+01] [ 2.01777890e-02 -4.99094994e-04 9.99796283e-01 1.38870613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88361786499998 meters 0.024164302324693375 Centerline is valid? [True, True] Translation: X:79.03, Y:13.31, Z:1.39 [[ 8.96400215e-01 -4.42871950e-01 -1.81958667e-02 7.90317525e+01] [ 4.42791866e-01 8.96584737e-01 -8.43635464e-03 1.33112755e+01] [ 2.00503612e-02 -4.94631652e-04 9.99798849e-01 1.38902947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91361786499998 meters 0.02435118230176329 Centerline is valid? [True, True] Translation: X:79.06, Y:13.32, Z:1.39 [[ 8.96621722e-01 -4.42411312e-01 -1.84856586e-02 7.90565875e+01] [ 4.42328450e-01 8.96812128e-01 -8.57603319e-03 1.33233485e+01] [ 2.03722969e-02 -4.87275068e-04 9.99792344e-01 1.38897223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94361786499998 meters 0.024035148799383767 Centerline is valid? [True, True] Translation: X:79.08, Y:13.34, Z:1.39 [[ 8.96807493e-01 -4.42042731e-01 -1.82905744e-02 7.90825982e+01] [ 4.41961484e-01 8.96993869e-01 -8.48793005e-03 1.33371028e+01] [ 2.01585609e-02 -4.71690136e-04 9.99796684e-01 1.38981257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97361786499998 meters 0.024205995979125306 Centerline is valid? [True, True] Translation: X:79.11, Y:13.35, Z:1.39 [[ 8.97313848e-01 -4.41005266e-01 -1.84990364e-02 7.91083062e+01] [ 4.40921847e-01 8.97504403e-01 -8.58905345e-03 1.33486347e+01] [ 2.03907844e-02 -4.49552678e-04 9.99791985e-01 1.39034714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00361786499998 meters 0.023633912551000023 Centerline is valid? [True, True] Translation: X:79.13, Y:13.36, Z:1.39 [[ 8.98329801e-01 -4.38922030e-01 -1.87355408e-02 7.91332019e+01] [ 4.38835956e-01 8.98525062e-01 -8.70149228e-03 1.33630958e+01] [ 2.06536296e-02 -4.05019144e-04 9.99786609e-01 1.39154647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03361786499998 meters 0.02333056701967456 Centerline is valid? [True, True] Translation: X:79.16, Y:13.38, Z:1.39 [[ 8.98822621e-01 -4.37901665e-01 -1.89743941e-02 7.91589833e+01] [ 4.37813041e-01 8.99022795e-01 -8.81790019e-03 1.33770825e+01] [ 2.09197860e-02 -3.81509025e-04 9.99781085e-01 1.39236844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06361786499998 meters 0.023550857478535022 Centerline is valid? [True, True] Translation: X:79.18, Y:13.39, Z:1.39 [[ 8.99376784e-01 -4.36766086e-01 -1.88888113e-02 7.91845991e+01] [ 4.36677910e-01 8.99575047e-01 -8.78283938e-03 1.33886899e+01] [ 2.08279497e-02 -3.49244803e-04 9.99783014e-01 1.39221874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09361786499998 meters 0.02322476359389081 Centerline is valid? [True, True] Translation: X:79.21, Y:13.40, Z:1.39 [[ 9.00614216e-01 -4.34199953e-01 -1.90901816e-02 7.92088202e+01] [ 4.34109269e-01 9.00816472e-01 -8.87843148e-03 1.34025054e+01] [ 2.10517646e-02 -2.91183172e-04 9.99778345e-01 1.39362225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12361786499999 meters 0.023041885218691063 Centerline is valid? [True, True] Translation: X:79.23, Y:13.42, Z:1.40 [[ 9.01188053e-01 -4.33021703e-01 -1.87695927e-02 7.92343871e+01] [ 4.32933742e-01 9.01383458e-01 -8.73137613e-03 1.34170563e+01] [ 2.06994757e-02 -2.57378125e-04 9.99785710e-01 1.39516196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15361786499999 meters 0.022778454614422055 Centerline is valid? [True, True] Translation: X:79.26, Y:13.43, Z:1.40 [[ 9.01653497e-01 -4.32044571e-01 -1.89330550e-02 7.92605258e+01] [ 4.31954783e-01 9.01852224e-01 -8.81083663e-03 1.34305056e+01] [ 2.08814919e-02 -2.33902023e-04 9.99781931e-01 1.39650148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18361786499999 meters 0.022792053362314938 Centerline is valid? [True, True] Translation: X:79.28, Y:13.44, Z:1.40 [[ 9.02872436e-01 -4.29460702e-01 -1.96180970e-02 7.92847728e+01] [ 4.29363589e-01 9.03085530e-01 -9.13423441e-03 1.34437337e+01] [ 2.16396142e-02 -1.76248035e-04 9.99765821e-01 1.39762712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21361786499999 meters 0.022663891459056208 Centerline is valid? [True, True] Translation: X:79.31, Y:13.46, Z:1.40 [[ 9.03262272e-01 -4.28638406e-01 -1.96566719e-02 7.93097698e+01] [ 4.28540649e-01 9.03476116e-01 -9.15529466e-03 1.34575423e+01] [ 2.16836445e-02 -1.54050692e-04 9.99764870e-01 1.39879078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24361786499998 meters 0.022517491116288632 Centerline is valid? [True, True] Translation: X:79.33, Y:13.47, Z:1.40 [[ 9.04136591e-01 -4.26726184e-01 -2.10187912e-02 7.93334779e+01] [ 4.26613748e-01 9.04380867e-01 -9.79584816e-03 1.34712850e+01] [ 2.31891375e-02 -1.10120508e-04 9.99731090e-01 1.39863331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27361786499998 meters 0.02257637622198844 Centerline is valid? [True, True] Translation: X:79.36, Y:13.48, Z:1.40 [[ 9.04303157e-01 -4.26338430e-01 -2.17104309e-02 7.93577210e+01] [ 4.26218271e-01 9.04563725e-01 -1.01219003e-02 1.34834371e+01] [ 2.39538234e-02 -1.00115964e-04 9.99713061e-01 1.39777724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30361786499998 meters 0.022492877435871937 Centerline is valid? [True, True] Translation: X:79.38, Y:13.50, Z:1.40 [[ 9.04527105e-01 -4.25854601e-01 -2.18763462e-02 7.93820362e+01] [ 4.25732322e-01 9.04791607e-01 -1.02048095e-02 1.34965641e+01] [ 2.41392995e-02 -8.29408523e-05 9.99708601e-01 1.39888197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33361786499998 meters 0.022484425609349296 Centerline is valid? [True, True] Translation: X:79.41, Y:13.51, Z:1.40 [[ 9.04582942e-01 -4.25720146e-01 -2.21823947e-02 7.94072984e+01] [ 4.25594205e-01 9.04854879e-01 -1.03547442e-02 1.35093292e+01] [ 2.44800713e-02 -7.39736628e-05 9.99700315e-01 1.39953547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36361786499998 meters 0.02246312793331996 Centerline is valid? [True, True] Translation: X:79.43, Y:13.52, Z:1.40 [[ 9.04366606e-01 -4.26150003e-01 -2.27424134e-02 7.94323104e+01] [ 4.26017616e-01 9.04652512e-01 -1.06218283e-02 1.35217571e+01] [ 2.51004735e-02 -8.26419448e-05 9.99684930e-01 1.39952804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39361786499998 meters 0.022528910061009693 Centerline is valid? [True, True] Translation: X:79.46, Y:13.53, Z:1.40 [[ 9.04113630e-01 -4.26668060e-01 -2.30848639e-02 7.94567490e+01] [ 4.26531740e-01 9.04408291e-01 -1.07850369e-02 1.35333983e+01] [ 2.54797731e-02 -9.55282654e-05 9.99675333e-01 1.40016389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42361786499998 meters 0.022520103874925212 Centerline is valid? [True, True] Translation: X:79.48, Y:13.55, Z:1.40 [[ 9.03620831e-01 -4.27715937e-01 -2.29885064e-02 7.94821449e+01] [ 4.27580943e-01 9.03913195e-01 -1.07458685e-02 1.35455687e+01] [ 2.53757934e-02 -1.19256619e-04 9.99677976e-01 1.40200767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45361786499998 meters 0.022559674801400982 Centerline is valid? [True, True] Translation: X:79.51, Y:13.56, Z:1.40 [[ 9.02648384e-01 -4.29808795e-01 -2.21425887e-02 7.95079730e+01] [ 4.29684011e-01 9.02919915e-01 -1.03575192e-02 1.35576091e+01] [ 2.44447371e-02 -1.65118385e-04 9.99701169e-01 1.40321382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48361786499999 meters 0.022682002070753597 Centerline is valid? [True, True] Translation: X:79.53, Y:13.57, Z:1.40 [[ 9.02045625e-01 -4.31087446e-01 -2.18472885e-02 7.95331115e+01] [ 4.30966173e-01 9.02310134e-01 -1.02264699e-02 1.35698183e+01] [ 2.41215326e-02 -1.90699861e-04 9.99709015e-01 1.40395265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51361786499999 meters 0.022722471405422384 Centerline is valid? [True, True] Translation: X:79.56, Y:13.58, Z:1.40 [[ 9.01610487e-01 -4.32003489e-01 -2.17144153e-02 7.95578523e+01] [ 4.31883781e-01 9.01871910e-01 -1.01713991e-02 1.35826391e+01] [ 2.39777011e-02 -2.07463660e-04 9.99712472e-01 1.40483426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54361786499999 meters 0.02277796269362878 Centerline is valid? [True, True] Translation: X:79.58, Y:13.60, Z:1.40 [[ 9.01011158e-01 -4.33234751e-01 -2.20577414e-02 7.95831520e+01] [ 4.33111420e-01 9.01281085e-01 -1.03393955e-02 1.35963509e+01] [ 2.43596106e-02 -2.37549026e-04 9.99703232e-01 1.40459602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57361786499999 meters 0.0229674813298061 Centerline is valid? [True, True] Translation: X:79.61, Y:13.61, Z:1.40 [[ 9.00706617e-01 -4.33848947e-01 -2.24205543e-02 7.96086680e+01] [ 4.33721586e-01 9.00985586e-01 -1.05146930e-02 1.36085160e+01] [ 2.47623848e-02 -2.53624778e-04 9.99693333e-01 1.40430432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60361786499998 meters 0.02293020077986046 Centerline is valid? [True, True] Translation: X:79.63, Y:13.62, Z:1.40 [[ 9.00267378e-01 -4.34775705e-01 -2.21073510e-02 7.96335358e+01] [ 4.34652060e-01 9.00538735e-01 -1.03717803e-02 1.36217423e+01] [ 2.44179239e-02 -2.71630235e-04 9.99701801e-01 1.40499091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63361786499998 meters 0.02306899728175109 Centerline is valid? [True, True] Translation: X:79.66, Y:13.63, Z:1.40 [[ 8.99565412e-01 -4.36267418e-01 -2.12793489e-02 7.96587437e+01] [ 4.36153143e-01 8.99817011e-01 -9.98914544e-03 1.36346169e+01] [ 2.35054588e-02 -2.95165170e-04 9.99723665e-01 1.40483893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66361786499998 meters 0.022937308614184596 Centerline is valid? [True, True] Translation: X:79.68, Y:13.65, Z:1.41 [[ 8.99213448e-01 -4.37008433e-01 -2.09476647e-02 7.96840374e+01] [ 4.36897793e-01 8.99457356e-01 -9.83779642e-03 1.36478620e+01] [ 2.31407311e-02 -3.05709650e-04 9.99732171e-01 1.40638168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69361786499998 meters 0.02333383820941318 Centerline is valid? [True, True] Translation: X:79.71, Y:13.66, Z:1.41 [[ 8.98584578e-01 -4.38320167e-01 -2.05228629e-02 7.97096478e+01] [ 4.38214186e-01 8.98818849e-01 -9.64381262e-03 1.36588792e+01] [ 2.26734136e-02 -3.27628375e-04 9.99742871e-01 1.40644341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72361786499998 meters 0.023609766135356744 Centerline is valid? [True, True] Translation: X:79.74, Y:13.67, Z:1.41 [[ 8.97379555e-01 -4.40781933e-01 -2.05236745e-02 7.97356194e+01] [ 4.40676515e-01 8.97614136e-01 -9.64733771e-03 1.36711244e+01] [ 2.26747126e-02 -3.86977750e-04 9.99742821e-01 1.40723685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75361786499998 meters 0.02356902331508252 Centerline is valid? [True, True] Translation: X:79.76, Y:13.68, Z:1.41 [[ 8.96712410e-01 -4.42147227e-01 -2.03146138e-02 7.97609775e+01] [ 4.42044169e-01 8.96942395e-01 -9.55475141e-03 1.36843711e+01] [ 2.24456452e-02 -4.12092397e-04 9.99747980e-01 1.40817044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78361786499998 meters 0.023723870837995008 Centerline is valid? [True, True] Translation: X:79.79, Y:13.70, Z:1.41 [[ 8.96012359e-01 -4.43577812e-01 -2.00144230e-02 7.97873542e+01] [ 4.43478008e-01 8.96235758e-01 -9.41925283e-03 1.36969040e+01] [ 2.21158132e-02 -4.36189506e-04 9.99755320e-01 1.40872452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81361786499998 meters 0.023968379669685815 Centerline is valid? [True, True] Translation: X:79.81, Y:13.71, Z:1.41 [[ 8.95236958e-01 -4.45145847e-01 -1.98988573e-02 7.98133697e+01] [ 4.45047454e-01 8.95457959e-01 -9.37054329e-03 1.37093016e+01] [ 2.19898486e-02 -4.67079136e-04 9.99758085e-01 1.40957948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84361786499998 meters 0.023595513636297877 Centerline is valid? [True, True] Translation: X:79.84, Y:13.72, Z:1.41 [[ 8.94808019e-01 -4.46002251e-01 -2.00150352e-02 7.98385589e+01] [ 4.45902792e-01 8.95031707e-01 -9.43105274e-03 1.37229770e+01] [ 2.21203618e-02 -4.85778440e-04 9.99755197e-01 1.41084923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87361786499999 meters 0.02389590017624121 Centerline is valid? [True, True] Translation: X:79.86, Y:13.73, Z:1.41 [[ 8.94384046e-01 -4.46866136e-01 -1.96935321e-02 7.98635197e+01] [ 4.46769949e-01 8.94600700e-01 -9.28440351e-03 1.37343124e+01] [ 2.17667331e-02 -4.94655957e-04 9.99762954e-01 1.41136865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90361786499999 meters 0.024293504070660835 Centerline is valid? [True, True] Translation: X:79.89, Y:13.75, Z:1.41 [[ 8.93431302e-01 -4.48791341e-01 -1.91531081e-02 7.98884356e+01] [ 4.48700762e-01 8.93636423e-01 -9.03158640e-03 1.37460750e+01] [ 2.11692127e-02 -5.24912187e-04 9.99775769e-01 1.41159639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93361786499999 meters 0.024377556681019433 Centerline is valid? [True, True] Translation: X:79.91, Y:13.76, Z:1.41 [[ 8.92939589e-01 -4.49785625e-01 -1.87558413e-02 7.99141386e+01] [ 4.49698929e-01 8.93136387e-01 -8.84690752e-03 1.37585200e+01] [ 2.07307361e-02 -5.34727769e-04 9.99784952e-01 1.41233333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96361786499997 meters 0.024688875016375338 Centerline is valid? [True, True] Translation: X:79.94, Y:13.77, Z:1.41 [[ 8.92372496e-01 -4.50971022e-01 -1.72181955e-02 7.99397275e+01] [ 4.50898091e-01 8.92538445e-01 -8.12626844e-03 1.37714595e+01] [ 1.90326130e-02 -5.11993015e-04 9.99818732e-01 1.41325900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99361786499998 meters 0.025058364925046362 Centerline is valid? [True, True] Translation: X:79.97, Y:13.78, Z:1.41 [[ 8.92173130e-01 -4.51370598e-01 -1.70789068e-02 7.99654849e+01] [ 4.51298831e-01 8.92336439e-01 -8.06502353e-03 1.37831457e+01] [ 1.88804454e-02 -5.12293373e-04 9.99821617e-01 1.41368923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02361786499998 meters 0.02469357772611591 Centerline is valid? [True, True] Translation: X:79.99, Y:13.80, Z:1.41 [[ 8.92122488e-01 -4.51485115e-01 -1.66930175e-02 7.99900073e+01] [ 4.51416535e-01 8.92278510e-01 -7.88490235e-03 1.37963732e+01] [ 1.84547369e-02 -5.01205436e-04 9.99829571e-01 1.41409409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05361786499998 meters 0.025212205224239247 Centerline is valid? [True, True] Translation: X:80.02, Y:13.81, Z:1.41 [[ 8.92179339e-01 -4.51374370e-01 -1.66494969e-02 8.00155418e+01] [ 4.51306034e-01 8.92334542e-01 -7.86944147e-03 1.38077085e+01] [ 1.84089854e-02 -4.93065338e-04 9.99830419e-01 1.41450257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08361786499998 meters 0.0250167083715664 Centerline is valid? [True, True] Translation: X:80.04, Y:13.82, Z:1.41 [[ 8.92453046e-01 -4.50842585e-01 -1.63866908e-02 8.00413434e+01] [ 4.50776265e-01 8.92603350e-01 -7.74716539e-03 1.38211894e+01] [ 1.81195672e-02 -4.72749924e-04 9.99835715e-01 1.41459203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11361786499998 meters 0.02473471013476676 Centerline is valid? [True, True] Translation: X:80.07, Y:13.84, Z:1.41 [[ 8.93503993e-01 -4.48772339e-01 -1.59374555e-02 8.00662106e+01] [ 4.48709199e-01 8.93646024e-01 -7.53916662e-03 1.38368955e+01] [ 1.76258132e-02 -4.15007417e-04 9.99844567e-01 1.41434817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14361786499998 meters 0.024390582311648062 Centerline is valid? [True, True] Translation: X:80.09, Y:13.85, Z:1.41 [[ 8.93994797e-01 -4.47795618e-01 -1.58867217e-02 8.00908541e+01] [ 4.47732647e-01 8.94135858e-01 -7.51962438e-03 1.38517542e+01] [ 1.75721424e-02 -3.90498899e-04 9.99845522e-01 1.41435188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17361786499998 meters 0.023575093840577207 Centerline is valid? [True, True] Translation: X:80.11, Y:13.87, Z:1.41 [[ 8.95355484e-01 -4.45043542e-01 -1.65772070e-02 8.01140289e+01] [ 4.44974415e-01 8.95508864e-01 -7.85138011e-03 1.38697793e+01] [ 1.83392418e-02 -3.46656728e-04 9.99831762e-01 1.41397172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20361786499998 meters 0.023941731872005816 Centerline is valid? [True, True] Translation: X:80.14, Y:13.88, Z:1.41 [[ 8.95881510e-01 -4.43981634e-01 -1.66321904e-02 8.01390329e+01] [ 4.43911779e-01 8.96035828e-01 -7.88206569e-03 1.38811352e+01] [ 1.84025309e-02 -3.21828330e-04 9.99830607e-01 1.41381133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23361786499999 meters 0.023334191887545565 Centerline is valid? [True, True] Translation: X:80.16, Y:13.90, Z:1.41 [[ 8.96292619e-01 -4.43153699e-01 -1.65632264e-02 8.01636065e+01] [ 4.43084243e-01 8.96445597e-01 -7.85146547e-03 1.38969457e+01] [ 1.83274374e-02 -3.01694097e-04 9.99831993e-01 1.41413024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26361786499999 meters 0.02333535502744133 Centerline is valid? [True, True] Translation: X:80.19, Y:13.91, Z:1.41 [[ 8.96988988e-01 -4.41746882e-01 -1.64452688e-02 8.01878356e+01] [ 4.41678087e-01 8.97139689e-01 -7.80039983e-03 1.39121908e+01] [ 1.81995056e-02 -2.66642111e-04 9.99834340e-01 1.41414316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29361786499999 meters 0.023275030096955248 Centerline is valid? [True, True] Translation: X:80.21, Y:13.93, Z:1.41 [[ 8.97058737e-01 -4.41619928e-01 -1.60455893e-02 8.02120811e+01] [ 4.41554333e-01 8.97202193e-01 -7.61548890e-03 1.39257660e+01] [ 1.77592896e-02 -2.53458629e-04 9.99842259e-01 1.41436611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32361786499999 meters 0.023293785799495925 Centerline is valid? [True, True] Translation: X:80.24, Y:13.94, Z:1.41 [[ 8.97028527e-01 -4.41695585e-01 -1.56470961e-02 8.02369198e+01] [ 4.41633132e-01 8.97164952e-01 -7.43145750e-03 1.39394907e+01] [ 1.73204682e-02 -2.44046667e-04 9.99849960e-01 1.41473845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35361786499998 meters 0.023357659117621138 Centerline is valid? [True, True] Translation: X:80.26, Y:13.95, Z:1.42 [[ 8.96892101e-01 -4.42007022e-01 -1.46407642e-02 8.02599582e+01] [ 4.41952310e-01 8.97011561e-01 -6.95813529e-03 1.39529874e+01] [ 1.62084794e-02 -2.29822992e-04 9.99868608e-01 1.41580072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38361786499998 meters 0.023344715501976674 Centerline is valid? [True, True] Translation: X:80.28, Y:13.97, Z:1.42 [[ 8.96618870e-01 -4.42575395e-01 -1.41993677e-02 8.02846839e+01] [ 4.42523975e-01 8.96731267e-01 -6.75024338e-03 1.39667794e+01] [ 1.57205086e-02 -2.31165041e-04 9.99876398e-01 1.41668281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41361786499998 meters 0.023432291081219365 Centerline is valid? [True, True] Translation: X:80.31, Y:13.98, Z:1.42 [[ 8.96232661e-01 -4.43373628e-01 -1.36690647e-02 8.03105081e+01] [ 4.43326002e-01 8.96336863e-01 -6.50257675e-03 1.39804978e+01] [ 1.51351576e-02 -2.32030130e-04 9.99885430e-01 1.41723761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44361786499998 meters 0.023782532298571395 Centerline is valid? [True, True] Translation: X:80.34, Y:13.99, Z:1.42 [[ 8.95768361e-01 -4.44330603e-01 -1.30137657e-02 8.03351055e+01] [ 4.44287478e-01 8.95862858e-01 -6.19478774e-03 1.39931869e+01] [ 1.44110831e-02 -2.32758302e-04 9.99896128e-01 1.41758371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47361786499998 meters 0.02367052409053168 Centerline is valid? [True, True] Translation: X:80.36, Y:14.01, Z:1.42 [[ 8.95407754e-01 -4.45065192e-01 -1.27251482e-02 8.03603991e+01] [ 4.45024021e-01 8.95498140e-01 -6.05828750e-03 1.40077983e+01] [ 1.40916795e-02 -2.38359026e-04 9.99900679e-01 1.41825002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50361786499998 meters 0.02371492866896797 Centerline is valid? [True, True] Translation: X:80.39, Y:14.02, Z:1.42 [[ 8.95274337e-01 -4.45343787e-01 -1.23601513e-02 8.03850238e+01] [ 4.45304924e-01 8.95359624e-01 -5.88793579e-03 1.40206126e+01] [ 1.36889360e-02 -2.32718425e-04 9.99906275e-01 1.41850371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53361786499998 meters 0.023846430568121486 Centerline is valid? [True, True] Translation: X:80.41, Y:14.03, Z:1.42 [[ 8.95048132e-01 -4.45791424e-01 -1.26034977e-02 8.04094860e+01] [ 4.45750999e-01 8.95136832e-01 -6.00818621e-03 1.40336080e+01] [ 1.39602529e-02 -2.40405851e-04 9.99902522e-01 1.41866972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56361786499998 meters 0.02384759850169713 Centerline is valid? [True, True] Translation: X:80.43, Y:14.05, Z:1.42 [[ 8.95152187e-01 -4.45594823e-01 -1.21579537e-02 8.04322721e+01] [ 4.45557129e-01 8.95234720e-01 -5.80017311e-03 1.40481638e+01] [ 1.34687493e-02 -2.25025276e-04 9.99909267e-01 1.41851749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59361786499998 meters 0.02381511559816905 Centerline is valid? [True, True] Translation: X:80.46, Y:14.06, Z:1.42 [[ 8.95101160e-01 -4.45687084e-01 -1.25274340e-02 8.04571347e+01] [ 4.45647052e-01 8.95188790e-01 -5.97788975e-03 1.40620592e+01] [ 1.38786867e-02 -2.31997976e-04 9.99903659e-01 1.41867610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62361786499999 meters 0.02376702321861799 Centerline is valid? [True, True] Translation: X:80.48, Y:14.08, Z:1.42 [[ 8.95156136e-01 -4.45569306e-01 -1.27861808e-02 8.04821580e+01] [ 4.45527530e-01 8.95247418e-01 -6.10568929e-03 1.40757592e+01] [ 1.41673030e-02 -2.31050307e-04 9.99899612e-01 1.41926496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65361786499999 meters 0.02341573245718936 Centerline is valid? [True, True] Translation: X:80.51, Y:14.09, Z:1.42 [[ 8.95432877e-01 -4.45003164e-01 -1.31204675e-02 8.05064360e+01] [ 4.44959049e-01 8.95528969e-01 -6.26983511e-03 1.40920417e+01] [ 1.45398552e-02 -2.23854264e-04 9.99894266e-01 1.41960937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68361786499999 meters 0.023410781578969083 Centerline is valid? [True, True] Translation: X:80.53, Y:14.11, Z:1.42 [[ 8.95512261e-01 -4.44846884e-01 -1.30015172e-02 8.05312356e+01] [ 4.44803495e-01 8.95606612e-01 -6.21674052e-03 1.41053967e+01] [ 1.44097424e-02 -2.15952919e-04 9.99896151e-01 1.42001531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71361786499997 meters 0.023410781578969083 Centerline is valid? [True, True] Translation: X:80.56, Y:14.12, Z:1.42 [[ 8.95389763e-01 -4.45093447e-01 -1.29998034e-02 8.05560795e+01] [ 4.45050032e-01 8.95484102e-01 -6.22032203e-03 1.41173555e+01] [ 1.44097418e-02 -2.15950237e-04 9.99896151e-01 1.42046620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74361786499998 meters 0.02329271534240388 Centerline is valid? [True, True] Translation: X:80.58, Y:14.13, Z:1.42 [[ 8.95339734e-01 -4.45184080e-01 -1.33377977e-02 8.05805396e+01] [ 4.45138319e-01 8.95439047e-01 -6.38669416e-03 1.41321015e+01] [ 1.47864394e-02 -2.18903797e-04 9.99890651e-01 1.42061978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77361786499998 meters 0.02322442726046865 Centerline is valid? [True, True] Translation: X:80.60, Y:14.15, Z:1.42 [[ 8.95230721e-01 -4.45405933e-01 -1.32480895e-02 8.06047787e+01] [ 4.45360745e-01 8.95328715e-01 -6.34819033e-03 1.41455535e+01] [ 1.46889166e-02 -2.17084010e-04 9.99892088e-01 1.42111057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80361786499998 meters 0.02323291442266986 Centerline is valid? [True, True] Translation: X:80.63, Y:14.16, Z:1.42 [[ 8.95149300e-01 -4.45565928e-01 -1.33691788e-02 8.06286567e+01] [ 4.45519855e-01 8.95249103e-01 -6.41109021e-03 1.41580738e+01] [ 1.48253087e-02 -2.17351680e-04 9.99890075e-01 1.42154692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83361786499998 meters 0.02297580493201058 Centerline is valid? [True, True] Translation: X:80.65, Y:14.17, Z:1.42 [[ 8.95314516e-01 -4.45252567e-01 -1.27306329e-02 8.06525889e+01] [ 4.45210739e-01 8.95404998e-01 -6.10626050e-03 1.41740973e+01] [ 1.41179005e-02 -2.00790827e-04 9.99900317e-01 1.42138494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86361786499998 meters 0.023063476884732193 Centerline is valid? [True, True] Translation: X:80.68, Y:14.19, Z:1.42 [[ 8.95375243e-01 -4.45134094e-01 -1.26020754e-02 8.06764013e+01] [ 4.45093030e-01 8.95463903e-01 -6.04926668e-03 1.41860318e+01] [ 1.39774385e-02 -1.92732306e-04 9.99902292e-01 1.42193654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89361786499998 meters 0.022813956573006364 Centerline is valid? [True, True] Translation: X:80.70, Y:14.20, Z:1.42 [[ 8.95451434e-01 -4.44987622e-01 -1.23590467e-02 8.07003656e+01] [ 4.44948095e-01 8.95536700e-01 -5.93392030e-03 1.42001630e+01] [ 1.37085010e-02 -1.85596835e-04 9.99906017e-01 1.42220391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92361786499998 meters 0.02251243081170114 Centerline is valid? [True, True] Translation: X:80.72, Y:14.21, Z:1.42 [[ 8.96141622e-01 -4.43589380e-01 -1.25958560e-02 8.07246092e+01] [ 4.43548116e-01 8.96230124e-01 -6.05254329e-03 1.42143605e+01] [ 1.39736295e-02 -1.62932226e-04 9.99902351e-01 1.42256683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95361786499998 meters 0.022430114771908028 Centerline is valid? [True, True] Translation: X:80.75, Y:14.23, Z:1.42 [[ 8.96539597e-01 -4.42785078e-01 -1.25748001e-02 8.07486648e+01] [ 4.42743854e-01 8.96627767e-01 -6.04375674e-03 1.42276839e+01] [ 1.39510003e-02 -1.48948252e-04 9.99902669e-01 1.42299688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98361786499999 meters 0.022236682809263133 Centerline is valid? [True, True] Translation: X:80.77, Y:14.24, Z:1.42 [[ 8.96999879e-01 -4.41851332e-01 -1.25943672e-02 8.07738291e+01] [ 4.41809875e-01 8.97088280e-01 -6.05406540e-03 1.42419897e+01] [ 1.39732560e-02 -1.33819857e-04 9.99902360e-01 1.42318126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01361786499999 meters 0.021810823383156888 Centerline is valid? [True, True] Translation: X:80.80, Y:14.26, Z:1.42 [[ 8.97966305e-01 -4.39874105e-01 -1.29339406e-02 8.07981867e+01] [ 4.39830121e-01 8.98059442e-01 -6.22120047e-03 1.42578198e+01] [ 1.43519925e-02 -1.02308256e-04 9.99897000e-01 1.42344020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04361786499999 meters 0.021790318540421714 Centerline is valid? [True, True] Translation: X:80.82, Y:14.27, Z:1.42 [[ 8.98575682e-01 -4.38629655e-01 -1.28751877e-02 8.08230766e+01] [ 4.38585883e-01 8.98667914e-01 -6.19702755e-03 1.42710224e+01] [ 1.42887181e-02 -7.83772942e-05 9.99897908e-01 1.42431632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07361786499999 meters 0.021587439017019424 Centerline is valid? [True, True] Translation: X:80.85, Y:14.28, Z:1.42 [[ 8.99092083e-01 -4.37569549e-01 -1.28963992e-02 8.08477096e+01] [ 4.37525499e-01 8.99184567e-01 -6.20896536e-03 1.42843386e+01] [ 1.43130973e-02 -6.00719068e-05 9.99897561e-01 1.42495667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10361786499998 meters 0.021540346634231898 Centerline is valid? [True, True] Translation: X:80.87, Y:14.30, Z:1.43 [[ 8.99365895e-01 -4.37015420e-01 -1.25900763e-02 8.08725614e+01] [ 4.36973326e-01 8.99454013e-01 -6.06560747e-03 1.42974133e+01] [ 1.39749586e-02 -4.63270258e-05 9.99902344e-01 1.42592853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13361786499998 meters 0.02140988067388316 Centerline is valid? [True, True] Translation: X:80.90, Y:14.31, Z:1.43 [[ 8.99787161e-01 -4.36156444e-01 -1.22727812e-02 8.08973108e+01] [ 4.36116311e-01 8.99870855e-01 -5.91673220e-03 1.43104114e+01] [ 1.36245390e-02 -2.85604060e-05 9.99907181e-01 1.42659574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16361786499998 meters 0.021225975433110833 Centerline is valid? [True, True] Translation: X:80.92, Y:14.32, Z:1.43 [[ 9.00633262e-01 -4.34426159e-01 -1.15602420e-02 8.09219817e+01] [ 4.34390363e-01 9.00707451e-01 -5.57678913e-03 1.43243521e+01] [ 1.28350992e-02 9.84088473e-07 9.99917627e-01 1.42706402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19361786499998 meters 0.021068549033175493 Centerline is valid? [True, True] Translation: X:80.95, Y:14.34, Z:1.43 [[ 9.00996684e-01 -4.33660435e-01 -1.19834224e-02 8.09472069e+01] [ 4.33621845e-01 9.01076371e-01 -5.78522268e-03 1.43374973e+01] [ 1.33068009e-02 1.61927336e-05 9.99911460e-01 1.42752637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22361786499998 meters 0.02098733120103233 Centerline is valid? [True, True] Translation: X:80.97, Y:14.35, Z:1.43 [[ 9.02187822e-01 -4.31159372e-01 -1.25988073e-02 8.09716679e+01] [ 4.31116409e-01 9.02275785e-01 -6.08685249e-03 1.43515409e+01] [ 1.39920022e-02 5.99316273e-05 9.99902105e-01 1.42770840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25361786499998 meters 0.020907388806405663 Centerline is valid? [True, True] Translation: X:81.00, Y:14.37, Z:1.43 [[ 9.02732989e-01 -4.29999371e-01 -1.31792239e-02 8.09960118e+01] [ 4.29952159e-01 9.02829183e-01 -6.37237465e-03 1.43650910e+01] [ 1.46387051e-02 8.61170347e-05 9.99892845e-01 1.42805674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28361786499998 meters 0.02096682712519567 Centerline is valid? [True, True] Translation: X:81.02, Y:14.38, Z:1.43 [[ 9.03179232e-01 -4.29058629e-01 -1.32653139e-02 8.10210827e+01] [ 4.29010680e-01 9.03276637e-01 -6.41513444e-03 1.43785796e+01] [ 1.47347169e-02 1.03054852e-04 9.99891433e-01 1.42816017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31361786499998 meters 0.0208721736405137 Centerline is valid? [True, True] Translation: X:81.05, Y:14.39, Z:1.43 [[ 9.04072210e-01 -4.27152898e-01 -1.39226544e-02 8.10467475e+01] [ 4.27099787e-01 9.04179397e-01 -6.73729817e-03 1.43916246e+01] [ 1.54664337e-02 1.44641317e-04 9.99880377e-01 1.42828785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34361786499998 meters 0.020910992940650353 Centerline is valid? [True, True] Translation: X:81.07, Y:14.40, Z:1.43 [[ 9.04404258e-01 -4.26438107e-01 -1.42645770e-02 8.10716476e+01] [ 4.26382195e-01 9.04516729e-01 -6.90726711e-03 1.44041731e+01] [ 1.58480705e-02 1.64800136e-04 9.99874398e-01 1.42855155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37361786499999 meters 0.020975287119802632 Centerline is valid? [True, True] Translation: X:81.10, Y:14.42, Z:1.43 [[ 9.04680872e-01 -4.25856488e-01 -1.40986015e-02 8.10970568e+01] [ 4.25801776e-01 9.04790706e-01 -6.82838648e-03 1.44167528e+01] [ 1.56641963e-02 1.74301088e-04 9.99877294e-01 1.42868194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40361786499999 meters 0.02095522479045382 Centerline is valid? [True, True] Translation: X:81.12, Y:14.43, Z:1.43 [[ 9.04923724e-01 -4.25337308e-01 -1.41855047e-02 8.11219263e+01] [ 4.25281832e-01 9.05034883e-01 -6.87198032e-03 1.44288784e+01] [ 1.57612862e-02 1.85780591e-04 9.99875766e-01 1.42895780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43361786499999 meters 0.020842834619105913 Centerline is valid? [True, True] Translation: X:81.15, Y:14.44, Z:1.43 [[ 9.04899616e-01 -4.25390185e-01 -1.41377301e-02 8.11470468e+01] [ 4.25335067e-01 9.05010031e-01 -6.85016304e-03 1.44404516e+01] [ 1.57087797e-02 1.85437533e-04 9.99876592e-01 1.42907921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46361786499997 meters 0.020733145741387217 Centerline is valid? [True, True] Translation: X:81.17, Y:14.45, Z:1.43 [[ 9.04633599e-01 -4.25961511e-01 -1.39586266e-02 8.11724733e+01] [ 4.25907776e-01 9.04741267e-01 -6.76805397e-03 1.44524249e+01] [ 1.55118760e-02 1.77521390e-04 9.99879668e-01 1.42902621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49361786499998 meters 0.02054715475219105 Centerline is valid? [True, True] Translation: X:81.20, Y:14.46, Z:1.43 [[ 9.04115022e-01 -4.27058821e-01 -1.40281883e-02 8.11995083e+01] [ 4.27004606e-01 9.04223831e-01 -6.80657201e-03 1.44625133e+01] [ 1.55914288e-02 1.63822965e-04 9.99878433e-01 1.42933962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52361786499998 meters 0.020372886021528022 Centerline is valid? [True, True] Translation: X:81.22, Y:14.47, Z:1.43 [[ 9.03737746e-01 -4.27851436e-01 -1.41857159e-02 8.12249995e+01] [ 4.27796025e-01 9.03849061e-01 -6.88741021e-03 1.44730614e+01] [ 1.57685344e-02 1.55819692e-04 9.99875657e-01 1.43003349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55361786499998 meters 0.020245170249464494 Centerline is valid? [True, True] Translation: X:81.25, Y:14.48, Z:1.43 [[ 9.03281087e-01 -4.28815299e-01 -1.41675006e-02 8.12508203e+01] [ 4.28760127e-01 9.03392174e-01 -6.87992071e-03 1.44831341e+01] [ 1.57490244e-02 1.40042907e-04 9.99875967e-01 1.43047487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58361786499998 meters 0.02014245187807298 Centerline is valid? [True, True] Translation: X:81.28, Y:14.49, Z:1.43 [[ 9.02751717e-01 -4.29925826e-01 -1.42520597e-02 8.12765886e+01] [ 4.29870053e-01 9.02864203e-01 -6.92595337e-03 1.44941321e+01] [ 1.58453207e-02 1.25882644e-04 9.99874447e-01 1.43109693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61361786499998 meters 0.019963485325874067 Centerline is valid? [True, True] Translation: X:81.30, Y:14.50, Z:1.43 [[ 9.02093746e-01 -4.31303699e-01 -1.42826202e-02 8.13024280e+01] [ 4.31247779e-01 9.02206799e-01 -6.94587773e-03 1.45042669e+01] [ 1.58816598e-02 1.06484612e-04 9.99873873e-01 1.43106606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64361786499998 meters 0.019810744872084434 Centerline is valid? [True, True] Translation: X:81.33, Y:14.52, Z:1.43 [[ 9.01691497e-01 -4.32138767e-01 -1.44405965e-02 8.13278199e+01] [ 4.32081686e-01 9.01807117e-01 -7.02419866e-03 1.45153133e+01] [ 1.60580612e-02 9.41429364e-05 9.99871057e-01 1.43105527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67361786499998 meters 0.01974177942043351 Centerline is valid? [True, True] Translation: X:81.35, Y:14.53, Z:1.43 [[ 9.01391022e-01 -4.32772111e-01 -1.42311581e-02 8.13535000e+01] [ 4.32716678e-01 9.01503351e-01 -6.92709801e-03 1.45264121e+01] [ 1.58272916e-02 8.59644861e-05 9.99874737e-01 1.43152780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70361786499998 meters 0.019637644840482155 Centerline is valid? [True, True] Translation: X:81.38, Y:14.54, Z:1.43 [[ 9.00623864e-01 -4.34349693e-01 -1.47308937e-02 8.13796336e+01] [ 4.34290423e-01 9.00744326e-01 -7.17552384e-03 1.45352878e+01] [ 1.63854555e-02 6.49619584e-05 9.99865747e-01 1.43162036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73361786499999 meters 0.019498918774600537 Centerline is valid? [True, True] Translation: X:81.41, Y:14.55, Z:1.43 [[ 8.99939865e-01 -4.35763658e-01 -1.47741270e-02 8.14060546e+01] [ 4.35704204e-01 9.00061127e-01 -7.19814373e-03 1.45458103e+01] [ 1.64343069e-02 4.07472247e-05 9.99864947e-01 1.43184366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76361786499999 meters 0.019410310330307705 Centerline is valid? [True, True] Translation: X:81.43, Y:14.56, Z:1.43 [[ 8.99078563e-01 -4.37520874e-01 -1.52716031e-02 8.14320819e+01] [ 4.37457513e-01 8.99208254e-01 -7.44577502e-03 1.45560113e+01] [ 1.69900335e-02 1.36592031e-05 9.99855659e-01 1.43192614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79361786499999 meters 0.019192060855453656 Centerline is valid? [True, True] Translation: X:81.46, Y:14.56, Z:1.43 [[ 8.97359181e-01 -4.41024412e-01 -1.56195009e-02 8.14592984e+01] [ 4.40958573e-01 8.97495106e-01 -7.62047781e-03 1.45640990e+01] [ 1.73792424e-02 -4.92471244e-05 9.99848968e-01 1.43220196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82361786499999 meters 0.019199624649188732 Centerline is valid? [True, True] Translation: X:81.49, Y:14.57, Z:1.43 [[ 8.96368770e-01 -4.43031166e-01 -1.56975820e-02 8.14865125e+01] [ 4.42964943e-01 8.96506206e-01 -7.66036405e-03 1.45746842e+01] [ 1.74667597e-02 -8.69674083e-05 9.99847441e-01 1.43220928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85361786499998 meters 0.019254269783982047 Centerline is valid? [True, True] Translation: X:81.51, Y:14.58, Z:1.43 [[ 8.95356848e-01 -4.45080280e-01 -1.54809425e-02 8.15129335e+01] [ 4.45016105e-01 8.95490664e-01 -7.55889902e-03 1.45844539e+01] [ 1.72273564e-02 -1.21356745e-04 9.99851591e-01 1.43254026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88361786499998 meters 0.019642754369741205 Centerline is valid? [True, True] Translation: X:81.54, Y:14.59, Z:1.43 [[ 8.93414309e-01 -4.48962273e-01 -1.56124977e-02 8.15413260e+01] [ 4.48897550e-01 8.93550692e-01 -7.62562806e-03 1.45923822e+01] [ 1.73741775e-02 -1.95566767e-04 9.99849038e-01 1.43349522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91361786499998 meters 0.01984578612852205 Centerline is valid? [True, True] Translation: X:81.57, Y:14.60, Z:1.43 [[ 8.92671964e-01 -4.50446733e-01 -1.53135900e-02 8.15671930e+01] [ 4.50384612e-01 8.92803279e-01 -7.48376271e-03 1.46020092e+01] [ 1.70430598e-02 -2.16460127e-04 9.99854733e-01 1.43437969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94361786499998 meters 0.020486692904162537 Centerline is valid? [True, True] Translation: X:81.59, Y:14.61, Z:1.43 [[ 8.91727237e-01 -4.52334078e-01 -1.47111290e-02 8.15936469e+01] [ 4.52276972e-01 8.91848543e-01 -7.19143732e-03 1.46109316e+01] [ 1.63730312e-02 -2.40704367e-04 9.99865924e-01 1.43498825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97361786499998 meters 0.0206759694072352 Centerline is valid? [True, True] Translation: X:81.62, Y:14.62, Z:1.44 [[ 8.90493453e-01 -4.54769248e-01 -1.43645898e-02 8.16204647e+01] [ 4.54715095e-01 8.90609260e-01 -7.02340858e-03 1.46207036e+01] [ 1.59872669e-02 -2.77496467e-04 9.99872157e-01 1.43577516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00361786499998 meters 0.02085335333315747 Centerline is valid? [True, True] Translation: X:81.65, Y:14.63, Z:1.44 [[ 8.89718066e-01 -4.56275180e-01 -1.46534416e-02 8.16475201e+01] [ 4.56219007e-01 8.89838673e-01 -7.16608631e-03 1.46319882e+01] [ 1.63089064e-02 -3.09382124e-04 9.99866953e-01 1.43579493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03361786499998 meters 0.021132604245826518 Centerline is valid? [True, True] Translation: X:81.67, Y:14.64, Z:1.44 [[ 8.89189220e-01 -4.57304487e-01 -1.46675583e-02 8.16732069e+01] [ 4.57248280e-01 8.89310126e-01 -7.17702856e-03 1.46421400e+01] [ 1.63260955e-02 -3.24979361e-04 9.99866668e-01 1.43580244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06361786499998 meters 0.021816696191571918 Centerline is valid? [True, True] Translation: X:81.70, Y:14.65, Z:1.44 [[ 8.88367372e-01 -4.58888878e-01 -1.49802864e-02 8.17000527e+01] [ 4.58830437e-01 8.88493595e-01 -7.33225976e-03 1.46502809e+01] [ 1.66745810e-02 -3.59671025e-04 9.99860905e-01 1.43564323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09361786499998 meters 0.021910918866678317 Centerline is valid? [True, True] Translation: X:81.73, Y:14.66, Z:1.44 [[ 8.88137360e-01 -4.59332799e-01 -1.50136536e-02 8.17262555e+01] [ 4.59274135e-01 8.88264175e-01 -7.35010032e-03 1.46612837e+01] [ 1.67122328e-02 -3.67484082e-04 9.99860273e-01 1.43629197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12361786499999 meters 0.022168939486476538 Centerline is valid? [True, True] Translation: X:81.75, Y:14.67, Z:1.44 [[ 8.88057136e-01 -4.59486256e-01 -1.50632898e-02 8.17514452e+01] [ 4.59427150e-01 8.88184804e-01 -7.37895954e-03 1.46723408e+01] [ 1.67695156e-02 -3.67546607e-04 9.99859314e-01 1.43657820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15361786499999 meters 0.02181529370101765 Centerline is valid? [True, True] Translation: X:81.78, Y:14.68, Z:1.44 [[ 8.88362507e-01 -4.58894807e-01 -1.50868605e-02 8.17774897e+01] [ 4.58835395e-01 8.88490535e-01 -7.39255351e-03 1.46846139e+01] [ 1.67969371e-02 -3.55118218e-04 9.99858858e-01 1.43713609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18361786499999 meters 0.019890060539324544 Centerline is valid? [True, True] Translation: X:81.80, Y:14.70, Z:1.44 [[ 8.89133495e-01 -4.57374413e-01 -1.58200760e-02 8.18018658e+01] [ 4.57308767e-01 8.89274160e-01 -7.75623314e-03 1.47001704e+01] [ 1.76158874e-02 -3.38332780e-04 9.99844771e-01 1.43700687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21361786499997 meters 0.019750841890651967 Centerline is valid? [True, True] Translation: X:81.83, Y:14.71, Z:1.44 [[ 8.89642067e-01 -4.56364802e-01 -1.63755723e-02 8.18278067e+01] [ 4.56294205e-01 8.89792707e-01 -8.03345490e-03 1.47125361e+01] [ 1.82370509e-02 -3.25179347e-04 9.99833638e-01 1.43736406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24361786499998 meters 0.019480778382860272 Centerline is valid? [True, True] Translation: X:81.85, Y:14.73, Z:1.44 [[ 8.89932829e-01 -4.55798648e-01 -1.63447901e-02 8.18543020e+01] [ 4.55728136e-01 8.90082860e-01 -8.02303606e-03 1.47250807e+01] [ 1.82051065e-02 -3.08817558e-04 9.99834226e-01 1.43769953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27361786499998 meters 0.01943962137118678 Centerline is valid? [True, True] Translation: X:81.88, Y:14.74, Z:1.44 [[ 8.90530597e-01 -4.54631676e-01 -1.62878477e-02 8.18797484e+01] [ 4.54561380e-01 8.90679494e-01 -7.99945362e-03 1.47365945e+01] [ 1.81440569e-02 -2.80068298e-04 9.99835344e-01 1.43855787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30361786499998 meters 0.01878391861816682 Centerline is valid? [True, True] Translation: X:81.91, Y:14.75, Z:1.44 [[ 8.91307896e-01 -4.53134797e-01 -1.54625309e-02 8.19056318e+01] [ 4.53071191e-01 8.91441978e-01 -7.59575135e-03 1.47492337e+01] [ 1.72258483e-02 -2.35474116e-04 9.99851596e-01 1.44040672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33361786499998 meters 0.01880333104821563 Centerline is valid? [True, True] Translation: X:81.93, Y:14.76, Z:1.44 [[ 8.91834447e-01 -4.52121133e-01 -1.47580709e-02 8.19315367e+01] [ 4.52062985e-01 8.91956523e-01 -7.25380932e-03 1.47604523e+01] [ 1.64431581e-02 -2.02380560e-04 9.99864782e-01 1.44147455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36361786499998 meters 0.018399918545619516 Centerline is valid? [True, True] Translation: X:81.96, Y:14.77, Z:1.44 [[ 8.92614054e-01 -4.50602763e-01 -1.40463999e-02 8.19579839e+01] [ 4.50549880e-01 8.92724550e-01 -6.90526928e-03 1.47725489e+01] [ 1.56510994e-02 -1.64863375e-04 9.99877500e-01 1.44293376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39361786499998 meters 0.018246834464310704 Centerline is valid? [True, True] Translation: X:81.98, Y:14.78, Z:1.44 [[ 8.93134014e-01 -4.49575866e-01 -1.38986726e-02 8.19832957e+01] [ 4.49523902e-01 8.93242140e-01 -6.83674797e-03 1.47845458e+01] [ 1.54885170e-02 -1.41653405e-04 9.99880036e-01 1.44388394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42361786499998 meters 0.01822790601303857 Centerline is valid? [True, True] Translation: X:82.01, Y:14.80, Z:1.44 [[ 8.93628382e-01 -4.48598705e-01 -1.36936976e-02 8.20083940e+01] [ 4.48548127e-01 8.93733286e-01 -6.73729474e-03 1.47958381e+01] [ 1.52608550e-02 -1.21644601e-04 9.99883539e-01 1.44458393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45361786499998 meters 0.01780924053718943 Centerline is valid? [True, True] Translation: X:82.03, Y:14.81, Z:1.44 [[ 8.94603047e-01 -4.46645094e-01 -1.39121605e-02 8.20346277e+01] [ 4.46592632e-01 8.94711212e-01 -6.84606785e-03 1.48090760e+01] [ 1.55051286e-02 -8.85552401e-05 9.99879784e-01 1.44478861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48361786499999 meters 0.017772261107715803 Centerline is valid? [True, True] Translation: X:82.06, Y:14.82, Z:1.44 [[ 8.95263372e-01 -4.45324243e-01 -1.37772643e-02 8.20598460e+01] [ 4.45272581e-01 8.95369374e-01 -6.78335818e-03 1.48215084e+01] [ 1.53565344e-02 -6.17459285e-05 9.99882080e-01 1.44493360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51361786499999 meters 0.017732661242866675 Centerline is valid? [True, True] Translation: X:82.09, Y:14.83, Z:1.44 [[ 8.95704235e-01 -4.44433350e-01 -1.38895930e-02 8.20851895e+01] [ 4.44380661e-01 8.95811920e-01 -6.84346219e-03 1.48341024e+01] [ 1.54839258e-02 -4.25484533e-05 9.99880116e-01 1.44494737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54361786499999 meters 0.017795057545719944 Centerline is valid? [True, True] Translation: X:82.11, Y:14.85, Z:1.44 [[ 8.97035578e-01 -4.41718503e-01 -1.45580134e-02 8.21108822e+01] [ 4.41660177e-01 8.97153702e-01 -7.17803877e-03 1.48461816e+01] [ 1.62314482e-02 9.26136992e-06 9.99868261e-01 1.44473294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57361786499999 meters 0.017812234876106003 Centerline is valid? [True, True] Translation: X:82.14, Y:14.86, Z:1.44 [[ 8.97434214e-01 -4.40902146e-01 -1.47352749e-02 8.21367359e+01] [ 4.40842196e-01 8.97555178e-01 -7.27057312e-03 1.48582616e+01] [ 1.64313336e-02 2.89301120e-05 9.99864996e-01 1.44494655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60361786499998 meters 0.017872997383216627 Centerline is valid? [True, True] Translation: X:82.16, Y:14.87, Z:1.44 [[ 8.97768920e-01 -4.40195507e-01 -1.54558019e-02 8.21613237e+01] [ 4.40129352e-01 8.97901951e-01 -7.63155949e-03 1.48699285e+01] [ 1.72371729e-02 4.88248325e-05 9.99851428e-01 1.44493611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63361786499998 meters 0.017872997383216627 Centerline is valid? [True, True] Translation: X:82.19, Y:14.88, Z:1.45 [[ 8.97652775e-01 -4.40432337e-01 -1.54548263e-02 8.21860097e+01] [ 4.40366183e-01 8.97785806e-01 -7.63353470e-03 1.48822123e+01] [ 1.72371792e-02 4.64807336e-05 9.99851428e-01 1.44538778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66361786499998 meters 0.01788117374675083 Centerline is valid? [True, True] Translation: X:82.21, Y:14.89, Z:1.45 [[ 8.97680075e-01 -4.40374069e-01 -1.55294234e-02 8.22120637e+01] [ 4.40307177e-01 8.97814389e-01 -7.67551082e-03 1.48921844e+01] [ 1.73226357e-02 5.24365726e-05 9.99849951e-01 1.44523481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69361786499998 meters 0.0179226986007109 Centerline is valid? [True, True] Translation: X:82.24, Y:14.90, Z:1.45 [[ 8.97396033e-01 -4.40933881e-01 -1.60521676e-02 8.22381083e+01] [ 4.40862398e-01 8.97539587e-01 -7.93950622e-03 1.49028686e+01] [ 1.79082532e-02 4.80842839e-05 9.99839633e-01 1.44578041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72361786499998 meters 0.01789807622809387 Centerline is valid? [True, True] Translation: X:82.26, Y:14.91, Z:1.45 [[ 8.96740318e-01 -4.42273580e-01 -1.58392566e-02 8.22648434e+01] [ 4.42204097e-01 8.96880192e-01 -7.83946061e-03 1.49132649e+01] [ 1.76731018e-02 2.57762320e-05 9.99843818e-01 1.44612396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75361786499998 meters 0.017941934242696928 Centerline is valid? [True, True] Translation: X:82.29, Y:14.92, Z:1.45 [[ 8.95961484e-01 -4.43855671e-01 -1.56576387e-02 8.22912906e+01] [ 4.43787927e-01 8.96098289e-01 -7.75449484e-03 1.49225904e+01] [ 1.74726598e-02 -9.42317257e-07 9.99847341e-01 1.44711524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78361786499998 meters 0.01809276315348161 Centerline is valid? [True, True] Translation: X:82.32, Y:14.93, Z:1.45 [[ 8.93880479e-01 -4.48041161e-01 -1.53885410e-02 8.23207204e+01] [ 4.47976258e-01 8.94012926e-01 -7.62630987e-03 1.49282735e+01] [ 1.71744553e-02 -7.66914788e-05 9.99852505e-01 1.44844508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81361786499998 meters 0.018243216561483217 Centerline is valid? [True, True] Translation: X:82.35, Y:14.94, Z:1.45 [[ 8.92726043e-01 -4.50343792e-01 -1.51881683e-02 8.23479232e+01] [ 4.50280825e-01 8.92855227e-01 -7.53142804e-03 1.49370805e+01] [ 1.69525673e-02 -1.15438988e-04 9.99856288e-01 1.44911919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84361786499998 meters 0.018330853318462886 Centerline is valid? [True, True] Translation: X:82.38, Y:14.95, Z:1.45 [[ 8.91438457e-01 -4.52898935e-01 -1.48334815e-02 8.23753281e+01] [ 4.52839202e-01 8.91561848e-01 -7.35711871e-03 1.49471856e+01] [ 1.65569974e-02 -1.58763391e-04 9.99862911e-01 1.44986044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87361786499999 meters 0.0190265557252162 Centerline is valid? [True, True] Translation: X:82.40, Y:14.95, Z:1.45 [[ 8.89269038e-01 -4.57167414e-01 -1.40902002e-02 8.24035458e+01] [ 4.57113986e-01 8.89380631e-01 -6.99266791e-03 1.49526733e+01] [ 1.57283710e-02 -2.22464511e-04 9.99876277e-01 1.45076010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90361786499999 meters 0.019671602318713937 Centerline is valid? [True, True] Translation: X:82.43, Y:14.96, Z:1.45 [[ 8.88366533e-01 -4.58939195e-01 -1.34058665e-02 8.24307725e+01] [ 4.58891012e-01 8.88467646e-01 -6.65442479e-03 1.49612972e+01] [ 1.49646550e-02 -2.40263352e-04 9.99887994e-01 1.45185420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93361786499999 meters 0.019545545698331765 Centerline is valid? [True, True] Translation: X:82.46, Y:14.97, Z:1.45 [[ 8.87567578e-01 -4.60485924e-01 -1.32856326e-02 8.24571954e+01] [ 4.60438759e-01 8.87666967e-01 -6.59585437e-03 1.49723579e+01] [ 1.48305153e-02 -2.62953670e-04 9.99889987e-01 1.45288312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96361786499997 meters 0.01987756660371325 Centerline is valid? [True, True] Translation: X:82.49, Y:14.98, Z:1.45 [[ 8.86588192e-01 -4.62389496e-01 -1.25431704e-02 8.24854578e+01] [ 4.62347596e-01 8.86676874e-01 -6.23072962e-03 1.49806108e+01] [ 1.40027630e-02 -2.75213364e-04 9.99901919e-01 1.45378398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99361786499998 meters 0.02017611560940582 Centerline is valid? [True, True] Translation: X:82.51, Y:14.99, Z:1.45 [[ 8.86425696e-01 -4.62699033e-01 -1.26131073e-02 8.25115318e+01] [ 4.62656637e-01 8.86515385e-01 -6.26965452e-03 1.49902335e+01] [ 1.40826767e-02 -2.77954916e-04 9.99900796e-01 1.45418331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02361786499998 meters 0.021031024578623384 Centerline is valid? [True, True] Translation: X:82.54, Y:15.00, Z:1.45 [[ 8.86310479e-01 -4.62921807e-01 -1.25353992e-02 8.25375174e+01] [ 4.62879939e-01 8.86399077e-01 -6.23207980e-03 1.49987777e+01] [ 1.39963319e-02 -2.78827194e-04 9.99902008e-01 1.45494955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05361786499998 meters 0.02020552856307359 Centerline is valid? [True, True] Translation: X:82.56, Y:15.01, Z:1.45 [[ 8.86547864e-01 -4.62448750e-01 -1.31923722e-02 8.25639460e+01] [ 4.62402281e-01 8.86645969e-01 -6.56179780e-03 1.50116788e+01] [ 1.47314588e-02 -2.82835153e-04 9.99891446e-01 1.45406364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08361786499998 meters 0.020205753117517527 Centerline is valid? [True, True] Translation: X:82.59, Y:15.02, Z:1.45 [[ 8.86762634e-01 -4.62021529e-01 -1.37163155e-02 8.25901848e+01] [ 4.61971185e-01 8.86868664e-01 -6.82628310e-03 1.50233905e+01] [ 1.53184601e-02 -2.83249728e-04 9.99882625e-01 1.45381624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11361786499998 meters 0.02032470930870413 Centerline is valid? [True, True] Translation: X:82.62, Y:15.03, Z:1.45 [[ 8.87152162e-01 -4.61270956e-01 -1.37893445e-02 8.26156987e+01] [ 4.61219919e-01 8.87259282e-01 -6.86685443e-03 1.50343392e+01] [ 1.54022044e-02 -2.67975575e-04 9.99881343e-01 1.45382961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14361786499998 meters 0.01999762672960739 Centerline is valid? [True, True] Translation: X:82.64, Y:15.05, Z:1.46 [[ 8.88022604e-01 -4.59600170e-01 -1.35476416e-02 8.26421524e+01] [ 4.59550693e-01 8.88125908e-01 -6.74766042e-03 1.50453890e+01] [ 1.51332374e-02 -2.33753130e-04 9.99885459e-01 1.45507250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17361786499998 meters 0.019525395929063265 Centerline is valid? [True, True] Translation: X:82.67, Y:15.06, Z:1.46 [[ 8.88379367e-01 -4.58918935e-01 -1.32480306e-02 8.26678347e+01] [ 4.58871493e-01 8.88478117e-01 -6.60212043e-03 1.50587995e+01] [ 1.48004233e-02 -2.13955983e-04 9.99890445e-01 1.45572693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20361786499998 meters 0.019717087144572633 Centerline is valid? [True, True] Translation: X:82.69, Y:15.07, Z:1.46 [[ 8.88753986e-01 -4.58195886e-01 -1.31484738e-02 8.26938755e+01] [ 4.58149013e-01 8.88851220e-01 -6.55671377e-03 1.50696019e+01] [ 1.46912963e-02 -1.96654803e-04 9.99892058e-01 1.45679148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23361786499999 meters 0.019762221661153403 Centerline is valid? [True, True] Translation: X:82.72, Y:15.08, Z:1.46 [[ 8.89279476e-01 -4.57189655e-01 -1.26346200e-02 8.27199390e+01] [ 4.57146254e-01 8.89369209e-01 -6.30176016e-03 1.50797235e+01] [ 1.41179415e-02 -1.71843231e-04 9.99900322e-01 1.45783161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26361786499999 meters 0.019696879912197655 Centerline is valid? [True, True] Translation: X:82.75, Y:15.09, Z:1.46 [[ 8.89331279e-01 -4.57100812e-01 -1.21952505e-02 8.27453939e+01] [ 4.57060361e-01 8.89414875e-01 -6.08325056e-03 1.50915424e+01] [ 1.36272960e-02 -1.63940621e-04 9.99907131e-01 1.45888269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29361786499999 meters 0.019596391577099397 Centerline is valid? [True, True] Translation: X:82.77, Y:15.10, Z:1.46 [[ 8.89469991e-01 -4.56837739e-01 -1.19337945e-02 8.27708555e+01] [ 4.56798929e-01 8.89550031e-01 -5.95659757e-03 1.51036068e+01] [ 1.33369058e-02 -1.53129745e-04 9.99911048e-01 1.45940069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32361786499997 meters 0.019593333883673958 Centerline is valid? [True, True] Translation: X:82.80, Y:15.12, Z:1.46 [[ 8.89644465e-01 -4.56504688e-01 -1.16702715e-02 8.27960929e+01] [ 4.56467496e-01 8.89720995e-01 -5.82881286e-03 1.51153639e+01] [ 1.30441659e-02 -1.41528499e-04 9.99914911e-01 1.46007642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35361786499998 meters 0.01981502847178088 Centerline is valid? [True, True] Translation: X:82.82, Y:15.13, Z:1.46 [[ 8.90164616e-01 -4.55493487e-01 -1.15169067e-02 8.28226179e+01] [ 4.55457126e-01 8.90239108e-01 -5.75651594e-03 1.51255081e+01] [ 1.28748563e-02 -1.21210434e-04 9.99917108e-01 1.46135909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38361786499998 meters 0.019682817620476464 Centerline is valid? [True, True] Translation: X:82.85, Y:15.14, Z:1.46 [[ 8.90353904e-01 -4.55120550e-01 -1.16280000e-02 8.28474099e+01] [ 4.55083436e-01 8.90429824e-01 -5.81333611e-03 1.51379652e+01] [ 1.29996867e-02 -1.15783669e-04 9.99915494e-01 1.46168875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41361786499998 meters 0.01970742217061615 Centerline is valid? [True, True] Translation: X:82.87, Y:15.15, Z:1.46 [[ 8.90870595e-01 -4.54112499e-01 -1.14639039e-02 8.28733810e+01] [ 4.54076293e-01 8.90944347e-01 -5.73508043e-03 1.51499902e+01] [ 1.28180721e-02 -9.62724577e-05 9.99917841e-01 1.46217034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44361786499998 meters 0.019711448813969534 Centerline is valid? [True, True] Translation: X:82.90, Y:15.16, Z:1.46 [[ 8.90991023e-01 -4.53871891e-01 -1.16319891e-02 8.28980704e+01] [ 4.53834553e-01 8.91066944e-01 -5.82234726e-03 1.51623826e+01] [ 1.30074807e-02 -9.13394139e-05 9.99915395e-01 1.46185596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47361786499998 meters 0.019678702600966807 Centerline is valid? [True, True] Translation: X:82.92, Y:15.17, Z:1.46 [[ 8.91241277e-01 -4.53369290e-01 -1.20529173e-02 8.29234848e+01] [ 4.53329090e-01 8.91322770e-01 -6.03784713e-03 1.51741790e+01] [ 1.34804141e-02 -8.27594668e-05 9.99909132e-01 1.46235278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50361786499998 meters 0.01969328148375613 Centerline is valid? [True, True] Translation: X:82.95, Y:15.19, Z:1.46 [[ 8.91816454e-01 -4.52235444e-01 -1.21043478e-02 8.29487567e+01] [ 4.52194788e-01 8.91898592e-01 -6.06427941e-03 1.51862007e+01] [ 1.35383328e-02 -6.52988192e-05 9.99908350e-01 1.46228446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53361786499998 meters 0.01959355548019189 Centerline is valid? [True, True] Translation: X:82.97, Y:15.20, Z:1.46 [[ 8.92137796e-01 -4.51598742e-01 -1.21954388e-02 8.29741434e+01] [ 4.51557356e-01 8.92221146e-01 -6.11398939e-03 1.51992689e+01] [ 1.36420983e-02 -5.24190592e-05 9.99906941e-01 1.46285856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56361786499998 meters 0.019691108756861277 Centerline is valid? [True, True] Translation: X:83.00, Y:15.21, Z:1.46 [[ 8.92661815e-01 -4.50577076e-01 -1.16267914e-02 8.29979400e+01] [ 4.50539316e-01 8.92737530e-01 -5.83325563e-03 1.52116874e+01] [ 1.30080043e-02 -3.12020753e-05 9.99915392e-01 1.46400612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59361786499998 meters 0.01961600261948835 Centerline is valid? [True, True] Translation: X:83.02, Y:15.23, Z:1.46 [[ 8.93359064e-01 -4.49185538e-01 -1.19136435e-02 8.30227769e+01] [ 4.49145750e-01 8.93438500e-01 -5.97847923e-03 1.52256996e+01] [ 1.33295542e-02 -1.00337186e-05 9.99911157e-01 1.46430579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62361786499999 meters 0.019596220004477128 Centerline is valid? [True, True] Translation: X:83.05, Y:15.24, Z:1.46 [[ 8.93695784e-01 -4.48512731e-01 -1.20073259e-02 8.30476097e+01] [ 4.48472199e-01 8.93776443e-01 -6.02958075e-03 1.52389780e+01] [ 1.34362087e-02 3.65905930e-06 9.99909730e-01 1.46487203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65361786499999 meters 0.019532257431726967 Centerline is valid? [True, True] Translation: X:83.07, Y:15.25, Z:1.47 [[ 8.93805460e-01 -4.48295817e-01 -1.19440314e-02 8.30712674e+01] [ 4.48255632e-01 8.93885262e-01 -6.00233912e-03 1.52511329e+01] [ 1.33674171e-02 1.09441646e-05 9.99910652e-01 1.46562651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68361786499999 meters 0.019574845013576408 Centerline is valid? [True, True] Translation: X:83.10, Y:15.26, Z:1.47 [[ 8.93794121e-01 -4.48312203e-01 -1.21753006e-02 8.30963848e+01] [ 4.48270429e-01 8.93877043e-01 -6.11994102e-03 1.52632220e+01] [ 1.36268660e-02 1.21400603e-05 9.99907150e-01 1.46641387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71361786499997 meters 0.019585952877770804 Centerline is valid? [True, True] Translation: X:83.12, Y:15.27, Z:1.47 [[ 8.93460133e-01 -4.48976852e-01 -1.21974065e-02 8.31216153e+01] [ 4.48934933e-01 8.93543388e-01 -6.13511381e-03 1.52748923e+01] [ 1.36534360e-02 5.63772455e-06 9.99906787e-01 1.46752389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74361786499998 meters 0.019550676360055443 Centerline is valid? [True, True] Translation: X:83.15, Y:15.29, Z:1.47 [[ 8.93396306e-01 -4.49116044e-01 -1.17396584e-02 8.31465841e+01] [ 4.49077176e-01 8.93473435e-01 -5.90853693e-03 1.52879084e+01] [ 1.31426917e-02 6.65241079e-06 9.99913631e-01 1.46799013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77361786499998 meters 0.019635487914156632 Centerline is valid? [True, True] Translation: X:83.17, Y:15.30, Z:1.47 [[ 8.93264880e-01 -4.49379901e-01 -1.16429639e-02 8.31702681e+01] [ 4.49341634e-01 8.93340755e-01 -5.86438911e-03 1.53000457e+01] [ 1.30364728e-02 6.78440296e-06 9.99915022e-01 1.46875892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80361786499998 meters 0.019734984087911744 Centerline is valid? [True, True] Translation: X:83.19, Y:15.31, Z:1.47 [[ 8.92858063e-01 -4.50181739e-01 -1.18693588e-02 8.31947019e+01] [ 4.50142016e-01 8.92936953e-01 -5.98023063e-03 1.53121752e+01] [ 1.32907797e-02 -3.39996553e-06 9.99911674e-01 1.46962711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83361786499998 meters 0.019750018541807225 Centerline is valid? [True, True] Translation: X:83.22, Y:15.32, Z:1.47 [[ 8.92626432e-01 -4.50639939e-01 -1.19037069e-02 8.32192732e+01] [ 4.50600011e-01 8.92705800e-01 -5.99875137e-03 1.53247627e+01] [ 1.33297852e-02 -9.16642834e-06 9.99911154e-01 1.47021944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86361786499998 meters 0.019774194086104462 Centerline is valid? [True, True] Translation: X:83.24, Y:15.34, Z:1.47 [[ 8.92258351e-01 -4.51372019e-01 -1.17615968e-02 8.32440777e+01] [ 4.51333052e-01 8.92335868e-01 -5.93089968e-03 1.53371334e+01] [ 1.31723368e-02 -1.65026057e-05 9.99913241e-01 1.47090587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89361786499998 meters 0.01977772673692192 Centerline is valid? [True, True] Translation: X:83.27, Y:15.35, Z:1.47 [[ 8.91404078e-01 -4.53058306e-01 -1.17022022e-02 8.32693390e+01] [ 4.53019826e-01 8.91480886e-01 -5.90482998e-03 1.53494006e+01] [ 1.31075218e-02 -3.77400582e-05 9.99914092e-01 1.47153758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92361786499998 meters 0.01994041782180028 Centerline is valid? [True, True] Translation: X:83.29, Y:15.36, Z:1.47 [[ 8.90908929e-01 -4.54026601e-01 -1.18796421e-02 8.32932541e+01] [ 4.53986973e-01 8.90988127e-01 -5.99880181e-03 1.53612134e+01] [ 1.33082356e-02 -4.88166531e-05 9.99911440e-01 1.47190165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95361786499998 meters 0.019994246801680108 Centerline is valid? [True, True] Translation: X:83.32, Y:15.37, Z:1.47 [[ 8.90392822e-01 -4.55027693e-01 -1.22646422e-02 8.33179532e+01] [ 4.54985512e-01 8.90477285e-01 -6.19592209e-03 1.53737779e+01] [ 1.37407015e-02 -6.34299699e-05 9.99905590e-01 1.47225180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98361786499999 meters 0.020075748532323853 Centerline is valid? [True, True] Translation: X:83.34, Y:15.39, Z:1.47 [[ 8.89392935e-01 -4.56950655e-01 -1.32780212e-02 8.33437215e+01] [ 4.56901356e-01 8.89492040e-01 -6.71278284e-03 1.53860528e+01] [ 1.48781047e-02 -9.64442777e-05 9.99889310e-01 1.47178075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01361786499999 meters 0.020214649485090976 Centerline is valid? [True, True] Translation: X:83.37, Y:15.40, Z:1.47 [[ 8.88923411e-01 -4.57841464e-01 -1.40129380e-02 8.33693398e+01] [ 4.57786596e-01 8.89033847e-01 -7.08884073e-03 1.53982661e+01] [ 1.57035414e-02 -1.13498691e-04 9.99876685e-01 1.47203952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04361786499999 meters 0.020387073648580226 Centerline is valid? [True, True] Translation: X:83.39, Y:15.41, Z:1.47 [[ 8.88448048e-01 -4.58769014e-01 -1.38223449e-02 8.33936111e+01] [ 4.58715719e-01 8.88555556e-01 -6.99382958e-03 1.54117169e+01] [ 1.54904736e-02 -1.26872638e-04 9.99880007e-01 1.47303220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07361786499997 meters 0.020474391818445733 Centerline is valid? [True, True] Translation: X:83.42, Y:15.42, Z:1.47 [[ 8.88014987e-01 -4.59594514e-01 -1.42220054e-02 8.34187387e+01] [ 4.59538160e-01 8.88128855e-01 -7.19840619e-03 1.54242582e+01] [ 1.59393213e-02 -1.43261606e-04 9.99872951e-01 1.47301468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10361786499998 meters 0.02058841669029219 Centerline is valid? [True, True] Translation: X:83.44, Y:15.44, Z:1.47 [[ 8.87474702e-01 -4.60635792e-01 -1.42590391e-02 8.34443318e+01] [ 4.60579256e-01 8.87589230e-01 -7.21857057e-03 1.54372572e+01] [ 1.59813015e-02 -1.61118828e-04 9.99872278e-01 1.47344205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13361786499998 meters 0.020757128442633558 Centerline is valid? [True, True] Translation: X:83.47, Y:15.45, Z:1.47 [[ 8.86971468e-01 -4.61612117e-01 -1.39952672e-02 8.34690476e+01] [ 4.61557710e-01 8.87081858e-01 -7.08918981e-03 1.54496147e+01] [ 1.56874036e-02 -1.71714396e-04 9.99876930e-01 1.47388856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16361786499998 meters 0.02093212737940275 Centerline is valid? [True, True] Translation: X:83.49, Y:15.46, Z:1.47 [[ 8.85932418e-01 -4.63613169e-01 -1.36594392e-02 8.34942307e+01] [ 4.63561559e-01 8.86037691e-01 -6.92041194e-03 1.54626380e+01] [ 1.53111721e-02 -2.00973657e-04 9.99882757e-01 1.47474031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19361786499998 meters 0.02099796363969838 Centerline is valid? [True, True] Translation: X:83.52, Y:15.48, Z:1.48 [[ 8.85431604e-01 -4.64577602e-01 -1.33613732e-02 8.35192962e+01] [ 4.64528302e-01 8.85532386e-01 -6.77124633e-03 1.54765112e+01] [ 1.49776981e-02 -2.11260503e-04 9.99887806e-01 1.47558864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22361786499998 meters 0.021460276760747323 Centerline is valid? [True, True] Translation: X:83.54, Y:15.49, Z:1.48 [[ 8.84988330e-01 -4.65435100e-01 -1.28772333e-02 8.35444541e+01] [ 4.65389340e-01 8.85081986e-01 -6.52996787e-03 1.54873941e+01] [ 1.44366835e-02 -2.13981751e-04 9.99895763e-01 1.47655474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25361786499998 meters 0.02139927423765849 Centerline is valid? [True, True] Translation: X:83.57, Y:15.50, Z:1.48 [[ 8.84655756e-01 -4.66075461e-01 -1.25641843e-02 8.35695153e+01] [ 4.66031945e-01 8.84744945e-01 -6.37246689e-03 1.55012125e+01] [ 1.40861490e-02 -2.17871720e-04 9.99900762e-01 1.47762189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28361786499998 meters 0.021698374638804224 Centerline is valid? [True, True] Translation: X:83.59, Y:15.51, Z:1.48 [[ 8.84231472e-01 -4.66873393e-01 -1.28038213e-02 8.35934618e+01] [ 4.66828226e-01 8.84324138e-01 -6.49818008e-03 1.55146505e+01] [ 1.43565556e-02 -2.31289824e-04 9.99896913e-01 1.47733311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31361786499998 meters 0.021738925310150054 Centerline is valid? [True, True] Translation: X:83.62, Y:15.53, Z:1.48 [[ 8.84086904e-01 -4.67142172e-01 -1.29821709e-02 8.36180032e+01] [ 4.67095752e-01 8.84182184e-01 -6.58968861e-03 1.55277300e+01] [ 1.45569257e-02 -2.38059485e-04 9.99894014e-01 1.47769119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34361786499998 meters 0.021480324483384845 Centerline is valid? [True, True] Translation: X:83.64, Y:15.54, Z:1.48 [[ 8.83922322e-01 -4.67462080e-01 -1.26701471e-02 8.36425063e+01] [ 4.67417840e-01 8.84013093e-01 -6.43535993e-03 1.55422404e+01] [ 1.42088627e-02 -2.33894503e-04 9.99899022e-01 1.47811568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37361786499999 meters 0.021749149410660678 Centerline is valid? [True, True] Translation: X:83.67, Y:15.56, Z:1.48 [[ 8.84123004e-01 -4.67093030e-01 -1.22724977e-02 8.36667808e+01] [ 4.67051426e-01 8.84208151e-01 -6.23791939e-03 1.55561985e+01] [ 1.37651312e-02 -2.16799530e-04 9.99905233e-01 1.47877144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40361786499999 meters 0.021646266881460756 Centerline is valid? [True, True] Translation: X:83.69, Y:15.57, Z:1.48 [[ 8.84278346e-01 -4.66797010e-01 -1.23433317e-02 8.36911879e+01] [ 4.66754884e-01 8.84364465e-01 -6.27470904e-03 1.55699959e+01] [ 1.38450194e-02 -2.12721029e-04 9.99904130e-01 1.47951152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43361786499999 meters 0.022819902072283304 Centerline is valid? [True, True] Translation: X:83.72, Y:15.58, Z:1.48 [[ 8.84324993e-01 -4.66698236e-01 -1.27304302e-02 8.37158864e+01] [ 4.66653354e-01 8.84416594e-01 -6.47583511e-03 1.55842852e+01] [ 1.42812645e-02 -2.13955092e-04 9.99897995e-01 1.47831281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46361786499997 meters 0.02153080736989624 Centerline is valid? [True, True] Translation: X:83.74, Y:15.60, Z:1.48 [[ 8.84802716e-01 -4.65799180e-01 -1.24610607e-02 8.37409659e+01] [ 4.65756032e-01 8.84890438e-01 -6.34287321e-03 1.55986437e+01] [ 1.39811786e-02 -1.91622740e-04 9.99902240e-01 1.48101161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49361786499998 meters 0.021321474653492076 Centerline is valid? [True, True] Translation: X:83.77, Y:15.61, Z:1.48 [[ 8.84919881e-01 -4.65571042e-01 -1.26652576e-02 8.37650816e+01] [ 4.65526393e-01 8.85010491e-01 -6.45041408e-03 1.56136245e+01] [ 1.42120119e-02 -1.87912028e-04 9.99898987e-01 1.48117697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52361786499998 meters 0.021321474653492076 Centerline is valid? [True, True] Translation: X:83.79, Y:15.63, Z:1.48 [[ 8.84793238e-01 -4.65811724e-01 -1.26635018e-02 8.37896345e+01] [ 4.65767050e-01 8.84883836e-01 -6.45385913e-03 1.56262181e+01] [ 1.42120113e-02 -1.87910958e-04 9.99898987e-01 1.48162784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55361786499998 meters 0.021398177646643902 Centerline is valid? [True, True] Translation: X:83.81, Y:15.64, Z:1.48 [[ 8.85281773e-01 -4.64870030e-01 -1.31163315e-02 8.38138636e+01] [ 4.64821927e-01 8.85378916e-01 -6.68966887e-03 1.56401731e+01] [ 1.47227499e-02 -1.74516546e-04 9.99891599e-01 1.48188763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58361786499998 meters 0.021496775839475523 Centerline is valid? [True, True] Translation: X:83.84, Y:15.65, Z:1.48 [[ 8.85428547e-01 -4.64594054e-01 -1.29866684e-02 8.38378101e+01] [ 4.64546848e-01 8.85523765e-01 -6.62483847e-03 1.56527008e+01] [ 1.45778641e-02 -1.67094783e-04 9.99893723e-01 1.48222044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61361786499998 meters 0.021321874968048743 Centerline is valid? [True, True] Translation: X:83.86, Y:15.67, Z:1.48 [[ 8.85449530e-01 -4.64538376e-01 -1.35361206e-02 8.38622444e+01] [ 4.64487057e-01 8.85552973e-01 -6.90696620e-03 1.56662968e+01] [ 1.51955027e-02 -1.71582846e-04 9.99884527e-01 1.48272994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64361786499998 meters 0.021172342401661527 Centerline is valid? [True, True] Translation: X:83.89, Y:15.68, Z:1.48 [[ 8.85302608e-01 -4.64810505e-01 -1.38017201e-02 8.38865959e+01] [ 4.64757113e-01 8.85410167e-01 -7.04713448e-03 1.56800376e+01] [ 1.54957654e-02 -1.75601055e-04 9.99879918e-01 1.48303399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67361786499998 meters 0.02153613940997048 Centerline is valid? [True, True] Translation: X:83.91, Y:15.69, Z:1.48 [[ 8.84891415e-01 -4.65585400e-01 -1.40505564e-02 8.39119005e+01] [ 4.65530084e-01 8.85002938e-01 -7.17926129e-03 1.56906759e+01] [ 1.57773429e-02 -1.88090021e-04 9.99875512e-01 1.48378621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70361786499998 meters 0.021750753663962147 Centerline is valid? [True, True] Translation: X:83.94, Y:15.70, Z:1.48 [[ 8.84567807e-01 -4.66191168e-01 -1.43383910e-02 8.39368977e+01] [ 4.66133611e-01 8.84683986e-01 -7.32822019e-03 1.57023962e+01] [ 1.61012964e-02 -2.01298306e-04 9.99870345e-01 1.48466232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73361786499999 meters 0.021534350315242794 Centerline is valid? [True, True] Translation: X:83.96, Y:15.72, Z:1.49 [[ 8.84164222e-01 -4.66958892e-01 -1.42485577e-02 8.39622856e+01] [ 4.66902132e-01 8.84278999e-01 -7.28367068e-03 1.57160061e+01] [ 1.60008752e-02 -2.12720964e-04 9.99871955e-01 1.48515163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76361786499999 meters 0.021790622604003884 Centerline is valid? [True, True] Translation: X:83.99, Y:15.73, Z:1.49 [[ 8.83298854e-01 -4.68582954e-01 -1.45996654e-02 8.39886671e+01] [ 4.68523510e-01 8.83419467e-01 -7.46759502e-03 1.57278202e+01] [ 1.63968163e-02 -2.44168345e-04 9.99865533e-01 1.48581850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79361786499999 meters 0.021847386564441164 Centerline is valid? [True, True] Translation: X:84.01, Y:15.74, Z:1.49 [[ 8.82737993e-01 -4.69639636e-01 -1.45687357e-02 8.40144573e+01] [ 4.69580517e-01 8.82858168e-01 -7.45607105e-03 1.57412748e+01] [ 1.63637938e-02 -2.59437220e-04 9.99866071e-01 1.48627494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82361786499997 meters 0.0217207145271461 Centerline is valid? [True, True] Translation: X:84.04, Y:15.75, Z:1.49 [[ 8.82286096e-01 -4.70514602e-01 -1.36840943e-02 8.40399640e+01] [ 4.70462490e-01 8.82392171e-01 -7.00720504e-03 1.57543942e+01] [ 1.53717299e-02 -2.55493486e-04 9.99881815e-01 1.48701075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85361786499998 meters 0.022204698165888086 Centerline is valid? [True, True] Translation: X:84.07, Y:15.77, Z:1.49 [[ 8.82041169e-01 -4.70971904e-01 -1.37420119e-02 8.40660626e+01] [ 4.70919337e-01 8.82148172e-01 -7.04128629e-03 1.57651308e+01] [ 1.54387387e-02 -2.60674735e-04 9.99880782e-01 1.48791272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88361786499998 meters 0.022120125458195784 Centerline is valid? [True, True] Translation: X:84.09, Y:15.78, Z:1.49 [[ 8.81668857e-01 -4.71688778e-01 -1.30277713e-02 8.40915975e+01] [ 4.71641597e-01 8.81765065e-01 -6.67635377e-03 1.57783996e+01] [ 1.46365948e-02 -2.58105689e-04 9.99892846e-01 1.48942610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91361786499998 meters 0.02244583752520527 Centerline is valid? [True, True] Translation: X:84.12, Y:15.79, Z:1.49 [[ 8.81401260e-01 -4.72188626e-01 -1.30276943e-02 8.41166949e+01] [ 4.72141439e-01 8.81497494e-01 -6.68053034e-03 1.57903629e+01] [ 1.46383503e-02 -2.62686485e-04 9.99892819e-01 1.49038384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94361786499998 meters 0.022498566634409318 Centerline is valid? [True, True] Translation: X:84.14, Y:15.80, Z:1.49 [[ 8.81387910e-01 -4.72212537e-01 -1.30641420e-02 8.41417810e+01] [ 4.72165072e-01 8.81484686e-01 -6.70026552e-03 1.58027474e+01] [ 1.46797905e-02 -2.62898551e-04 9.99892212e-01 1.49130163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97361786499998 meters 0.022380347082098535 Centerline is valid? [True, True] Translation: X:84.17, Y:15.82, Z:1.49 [[ 8.81287747e-01 -4.72390058e-01 -1.33992414e-02 8.41666336e+01] [ 4.72340078e-01 8.81389563e-01 -6.87671641e-03 1.58164715e+01] [ 1.50584439e-02 -2.68632798e-04 9.99886579e-01 1.49183296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00361786499998 meters 0.022587388837614342 Centerline is valid? [True, True] Translation: X:84.19, Y:15.83, Z:1.49 [[ 8.81329613e-01 -4.72288883e-01 -1.41888987e-02 8.41907655e+01] [ 4.72232742e-01 8.81443778e-01 -7.28718976e-03 1.58282634e+01] [ 1.59483752e-02 -2.78046400e-04 9.99872778e-01 1.49243361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03361786499998 meters 0.022601662718144528 Centerline is valid? [True, True] Translation: X:84.22, Y:15.84, Z:1.49 [[ 8.81526194e-01 -4.71873030e-01 -1.57293763e-02 8.42162945e+01] [ 4.71803923e-01 8.81666465e-01 -8.08107561e-03 1.58413304e+01] [ 1.76813053e-02 -2.97501630e-04 9.99843629e-01 1.49194402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06361786499998 meters 0.0226176222691574 Centerline is valid? [True, True] Translation: X:84.24, Y:15.85, Z:1.49 [[ 8.81597698e-01 -4.71725781e-01 -1.61334065e-02 8.42416104e+01] [ 4.71652964e-01 8.81745257e-01 -8.29352431e-03 1.58541990e+01] [ 1.81378239e-02 -2.97817075e-04 9.99835452e-01 1.49211080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09361786499998 meters 0.022692789805784947 Centerline is valid? [True, True] Translation: X:84.27, Y:15.87, Z:1.49 [[ 8.81691184e-01 -4.71528024e-01 -1.67922279e-02 8.42669836e+01] [ 4.71448994e-01 8.81851026e-01 -8.63795556e-03 1.58672033e+01] [ 1.88812815e-02 -3.00669663e-04 9.99821688e-01 1.49200837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12361786499999 meters 0.022443394298685606 Centerline is valid? [True, True] Translation: X:84.29, Y:15.88, Z:1.49 [[ 8.81606143e-01 -4.71676066e-01 -1.70966710e-02 8.42913215e+01] [ 4.71594061e-01 8.81771850e-01 -8.80031588e-03 1.58814362e+01] [ 1.92262616e-02 -3.04275956e-04 9.99815112e-01 1.49266571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15361786499999 meters 0.023021337780756938 Centerline is valid? [True, True] Translation: X:84.32, Y:15.89, Z:1.49 [[ 8.81763937e-01 -4.71377194e-01 -1.72017413e-02 8.43171456e+01] [ 4.71294018e-01 8.81931661e-01 -8.85973571e-03 1.58923981e+01] [ 1.93470377e-02 -2.94882350e-04 9.99812785e-01 1.49302149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18361786499999 meters 0.02252808561045546 Centerline is valid? [True, True] Translation: X:84.34, Y:15.91, Z:1.49 [[ 8.81662725e-01 -4.71582333e-01 -1.67613538e-02 8.43416863e+01] [ 4.71503355e-01 8.81821989e-01 -8.63518147e-03 1.59067278e+01] [ 1.88527293e-02 -2.89716921e-04 9.99822230e-01 1.49448116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21361786499997 meters 0.02307648312523486 Centerline is valid? [True, True] Translation: X:84.37, Y:15.92, Z:1.50 [[ 8.81633552e-01 -4.71642580e-01 -1.65999051e-02 8.43665271e+01] [ 4.71565026e-01 8.81789769e-01 -8.55746542e-03 1.59165220e+01] [ 1.86736916e-02 -2.83386055e-04 9.99825591e-01 1.49539131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24361786499998 meters 0.02275208864520453 Centerline is valid? [True, True] Translation: X:84.39, Y:15.93, Z:1.50 [[ 8.81859463e-01 -4.71238799e-01 -1.60586798e-02 8.43917918e+01] [ 4.71166085e-01 8.82005626e-01 -8.28220935e-03 1.59301718e+01] [ 1.80667443e-02 -2.62560611e-04 9.99836749e-01 1.49759881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27361786499998 meters 0.022876664869126616 Centerline is valid? [True, True] Translation: X:84.42, Y:15.94, Z:1.50 [[ 8.81833743e-01 -4.71305671e-01 -1.54988325e-02 8.44173213e+01] [ 4.71237870e-01 8.81969898e-01 -7.99802083e-03 1.59426489e+01] [ 1.74390163e-02 -2.50712177e-04 9.99847897e-01 1.49856806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30361786499998 meters 0.022903811414237103 Centerline is valid? [True, True] Translation: X:84.44, Y:15.95, Z:1.50 [[ 8.81797000e-01 -4.71370953e-01 -1.56036999e-02 8.44417626e+01] [ 4.71302151e-01 8.81935010e-01 -8.05731028e-03 1.59549713e+01] [ 1.75594312e-02 -2.49145272e-04 9.99845790e-01 1.49909014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33361786499998 meters 0.0227949953625716 Centerline is valid? [True, True] Translation: X:84.47, Y:15.97, Z:1.50 [[ 8.81727694e-01 -4.71502467e-01 -1.55466473e-02 8.44665112e+01] [ 4.71434143e-01 8.81864707e-01 -8.03034034e-03 1.59683776e+01] [ 1.74963649e-02 -2.48646898e-04 9.99846896e-01 1.49996170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36361786499998 meters 0.023230701868386387 Centerline is valid? [True, True] Translation: X:84.49, Y:15.98, Z:1.50 [[ 8.81812790e-01 -4.71351084e-01 -1.53087898e-02 8.44909040e+01] [ 4.71284725e-01 8.81945633e-01 -7.91257550e-03 1.59794954e+01] [ 1.72311213e-02 -2.37388508e-04 9.99851505e-01 1.49999556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39361786499998 meters 0.023232372812599787 Centerline is valid? [True, True] Translation: X:84.52, Y:15.99, Z:1.50 [[ 8.81617395e-01 -4.71719651e-01 -1.52098436e-02 8.45162128e+01] [ 4.71654160e-01 8.81748554e-01 -7.86382549e-03 1.59920524e+01] [ 1.71207787e-02 -2.40900681e-04 9.99853400e-01 1.50036523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42361786499998 meters 0.023411951170866894 Centerline is valid? [True, True] Translation: X:84.54, Y:16.00, Z:1.50 [[ 8.81577216e-01 -4.71787842e-01 -1.54222369e-02 8.45405675e+01] [ 4.71720433e-01 8.81712070e-01 -7.97864595e-03 1.60030772e+01] [ 1.73622006e-02 -2.41191782e-04 9.99849237e-01 1.50102686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45361786499998 meters 0.023071142924040916 Centerline is valid? [True, True] Translation: X:84.56, Y:16.02, Z:1.50 [[ 8.81397399e-01 -4.72106824e-01 -1.59302186e-02 8.45646672e+01] [ 4.72034906e-01 8.81541311e-01 -8.24407851e-03 1.60169468e+01] [ 1.79352315e-02 -2.53309884e-04 9.99839119e-01 1.50148223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48361786499999 meters 0.023218014277868074 Centerline is valid? [True, True] Translation: X:84.59, Y:16.03, Z:1.50 [[ 8.81643140e-01 -4.71639938e-01 -1.61599230e-02 8.45901080e+01] [ 4.71565756e-01 8.81791194e-01 -8.36824306e-03 1.60291476e+01] [ 1.81964754e-02 -2.42662226e-04 9.99834401e-01 1.50141114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51361786499999 meters 0.023149459616156685 Centerline is valid? [True, True] Translation: X:84.61, Y:16.04, Z:1.50 [[ 8.81625173e-01 -4.71660188e-01 -1.65445153e-02 8.46145763e+01] [ 4.71582395e-01 8.81780361e-01 -8.56967151e-03 1.60427110e+01] [ 1.86306015e-02 -2.46864001e-04 9.99826405e-01 1.50158090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54361786499999 meters 0.023026792309355316 Centerline is valid? [True, True] Translation: X:84.64, Y:16.06, Z:1.50 [[ 8.81957671e-01 -4.71006817e-01 -1.74139409e-02 8.46387150e+01] [ 4.70920383e-01 8.82129537e-01 -9.02618892e-03 1.60563806e+01] [ 1.96127482e-02 -2.39863192e-04 9.99807623e-01 1.50077566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57361786499997 meters 0.023069216674784777 Centerline is valid? [True, True] Translation: X:84.66, Y:16.07, Z:1.50 [[ 8.81974873e-01 -4.70970489e-01 -1.75248828e-02 8.46632832e+01] [ 4.70882825e-01 8.82148935e-01 -9.08967084e-03 1.60696101e+01] [ 1.97405234e-02 -2.35305061e-04 9.99805109e-01 1.50076012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60361786499998 meters 0.02317035148687778 Centerline is valid? [True, True] Translation: X:84.69, Y:16.08, Z:1.50 [[ 8.81990958e-01 -4.70942310e-01 -1.74725612e-02 8.46873930e+01] [ 4.70855058e-01 8.82163980e-01 -9.06787140e-03 1.60820718e+01] [ 1.96841084e-02 -2.29263206e-04 9.99806223e-01 1.50101657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63361786499998 meters 0.02301203257624863 Centerline is valid? [True, True] Translation: X:84.71, Y:16.10, Z:1.50 [[ 8.81946614e-01 -4.71031319e-01 -1.73108655e-02 8.47117328e+01] [ 4.70945632e-01 8.82116458e-01 -8.98699918e-03 1.60954721e+01] [ 1.95033574e-02 -2.26422986e-04 9.99809766e-01 1.50194255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66361786499998 meters 0.023286936449884707 Centerline is valid? [True, True] Translation: X:84.74, Y:16.11, Z:1.50 [[ 8.82047025e-01 -4.70853582e-01 -1.70279124e-02 8.47361058e+01] [ 4.70770541e-01 8.82211346e-01 -8.84531000e-03 1.61071875e+01] [ 1.91870634e-02 -2.14260141e-04 9.99815888e-01 1.50312508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69361786499998 meters 0.02293565217487572 Centerline is valid? [True, True] Translation: X:84.76, Y:16.12, Z:1.50 [[ 8.81814193e-01 -4.71299462e-01 -1.67494945e-02 8.47603844e+01] [ 4.71219141e-01 8.81973225e-01 -8.70355074e-03 1.61219090e+01] [ 1.88745844e-02 -2.17767815e-04 9.99821835e-01 1.50472462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72361786499998 meters 0.023314903496935182 Centerline is valid? [True, True] Translation: X:84.78, Y:16.13, Z:1.51 [[ 8.81811963e-01 -4.71318271e-01 -1.63324630e-02 8.47847691e+01] [ 4.71241807e-01 8.81963176e-01 -8.49208351e-03 1.61331272e+01] [ 1.84071051e-02 -2.08118550e-04 9.99830553e-01 1.50512935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75361786499998 meters 0.0230080793177024 Centerline is valid? [True, True] Translation: X:84.81, Y:16.15, Z:1.51 [[ 8.81750947e-01 -4.71442598e-01 -1.60356945e-02 8.48086591e+01] [ 4.71368860e-01 8.81896726e-01 -8.34046190e-03 1.61483300e+01] [ 1.80738755e-02 -2.04516832e-04 9.99836633e-01 1.50617004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78361786499998 meters 0.023145277678678362 Centerline is valid? [True, True] Translation: X:84.83, Y:16.16, Z:1.51 [[ 8.81515190e-01 -4.71899286e-01 -1.55574302e-02 8.48336078e+01] [ 4.71829860e-01 8.81652438e-01 -8.09696621e-03 1.61616539e+01] [ 1.75371988e-02 -2.02861396e-04 9.99846191e-01 1.50628486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81361786499998 meters 0.023269278318344903 Centerline is valid? [True, True] Translation: X:84.86, Y:16.18, Z:1.51 [[ 8.81084249e-01 -4.72687166e-01 -1.60433780e-02 8.48594943e+01] [ 4.72613363e-01 8.81230274e-01 -8.35550936e-03 1.61754609e+01] [ 1.80874524e-02 -2.20407123e-04 9.99836384e-01 1.50618111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84361786499998 meters 0.023397099649338445 Centerline is valid? [True, True] Translation: X:84.89, Y:16.19, Z:1.51 [[ 8.80625579e-01 -4.73534362e-01 -1.62418312e-02 8.48854741e+01] [ 4.73458775e-01 8.80775313e-01 -8.46383379e-03 1.61887991e+01] [ 1.83133201e-02 -2.36368960e-04 9.99832269e-01 1.50612393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87361786499999 meters 0.02340847017942692 Centerline is valid? [True, True] Translation: X:84.91, Y:16.20, Z:1.51 [[ 8.80253209e-01 -4.74217470e-01 -1.64948073e-02 8.49115478e+01] [ 4.74139536e-01 8.80407706e-01 -8.60071138e-03 1.62017158e+01] [ 1.86007631e-02 -2.50036486e-04 9.99826960e-01 1.50667000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90361786499999 meters 0.023858070883810378 Centerline is valid? [True, True] Translation: X:84.94, Y:16.21, Z:1.51 [[ 8.79418429e-01 -4.75748899e-01 -1.69177845e-02 8.49367360e+01] [ 4.75667109e-01 8.79581095e-01 -8.82600928e-03 1.62134977e+01] [ 1.90795277e-02 -2.85478434e-04 9.99817928e-01 1.50664628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93361786499999 meters 0.02394769674899539 Centerline is valid? [True, True] Translation: X:84.96, Y:16.23, Z:1.51 [[ 8.78906200e-01 -4.76689798e-01 -1.70507367e-02 8.49619523e+01] [ 4.76606849e-01 8.79071523e-01 -8.89767689e-03 1.62272850e+01] [ 1.92302488e-02 -3.06274483e-04 9.99815035e-01 1.50685279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96361786499997 meters 0.0241341422655469 Centerline is valid? [True, True] Translation: X:84.99, Y:16.24, Z:1.51 [[ 8.78656218e-01 -4.77151502e-01 -1.70203972e-02 8.49865066e+01] [ 4.77068847e-01 8.78820998e-01 -8.88639858e-03 1.62400626e+01] [ 1.91980409e-02 -3.11811921e-04 9.99815652e-01 1.50675653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99361786499998 meters 0.023940362081315038 Centerline is valid? [True, True] Translation: X:85.01, Y:16.25, Z:1.51 [[ 8.78341546e-01 -4.77744876e-01 -1.66121017e-02 8.50107816e+01] [ 4.77666213e-01 8.78498568e-01 -8.67493704e-03 1.62548702e+01] [ 1.87381143e-02 -3.15482104e-04 9.99824376e-01 1.50734710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02361786499998 meters 0.024192766167471257 Centerline is valid? [True, True] Translation: X:85.04, Y:16.27, Z:1.51 [[ 8.78032707e-01 -4.78308736e-01 -1.67128091e-02 8.50355580e+01] [ 4.78229182e-01 8.78191691e-01 -8.72945851e-03 1.62686775e+01] [ 1.88524264e-02 -3.27802942e-04 9.99822223e-01 1.50785280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05361786499998 meters 0.024230055617812583 Centerline is valid? [True, True] Translation: X:85.06, Y:16.28, Z:1.51 [[ 8.77725018e-01 -4.78888165e-01 -1.62763014e-02 8.50607134e+01] [ 4.78812759e-01 8.77875855e-01 -8.50434113e-03 1.62821422e+01] [ 1.83612003e-02 -3.28827813e-04 9.99831365e-01 1.50837026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08361786499998 meters 0.02428970863884977 Centerline is valid? [True, True] Translation: X:85.08, Y:16.29, Z:1.51 [[ 8.77597906e-01 -4.79118880e-01 -1.63405765e-02 8.50848420e+01] [ 4.79042821e-01 8.77749959e-01 -8.54317888e-03 1.62943752e+01] [ 1.84361386e-02 -3.30359953e-04 9.99829985e-01 1.50925200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11361786499998 meters 0.02479235408462188 Centerline is valid? [True, True] Translation: X:85.11, Y:16.31, Z:1.51 [[ 8.77454069e-01 -4.79398916e-01 -1.58441137e-02 8.51098433e+01] [ 4.79327413e-01 8.77597046e-01 -8.28589742e-03 1.63057104e+01] [ 1.78769976e-02 -3.24023625e-04 9.99840141e-01 1.50982318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14361786499998 meters 0.02450386272551692 Centerline is valid? [True, True] Translation: X:85.13, Y:16.32, Z:1.51 [[ 8.76891257e-01 -4.80428022e-01 -1.58315875e-02 8.51346778e+01] [ 4.80356756e-01 8.77034092e-01 -8.28185649e-03 1.63208927e+01] [ 1.78636779e-02 -3.42522490e-04 9.99840373e-01 1.51033010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17361786499998 meters 0.024532427543922014 Centerline is valid? [True, True] Translation: X:85.16, Y:16.33, Z:1.51 [[ 8.76856860e-01 -4.80492175e-01 -1.57897720e-02 8.51580272e+01] [ 4.80421216e-01 8.76998948e-01 -8.26438557e-03 1.63341502e+01] [ 1.78185860e-02 -3.39058273e-04 9.99841179e-01 1.51022666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20361786499998 meters 0.024289465107324597 Centerline is valid? [True, True] Translation: X:85.18, Y:16.35, Z:1.51 [[ 8.76702175e-01 -4.80777044e-01 -1.57076305e-02 8.51819445e+01] [ 4.80706823e-01 8.76842813e-01 -8.22387540e-03 1.63496913e+01] [ 1.77269734e-02 -3.40875722e-04 9.99842807e-01 1.51025192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23361786499999 meters 0.02450730243158306 Centerline is valid? [True, True] Translation: X:85.21, Y:16.36, Z:1.51 [[ 8.76681642e-01 -4.80824129e-01 -1.54095974e-02 8.52066914e+01] [ 4.80756467e-01 8.76816998e-01 -8.07290703e-03 1.63618889e+01] [ 1.73930454e-02 -3.30894212e-04 9.99848675e-01 1.51114537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26361786499999 meters 0.024449620249293445 Centerline is valid? [True, True] Translation: X:85.23, Y:16.38, Z:1.51 [[ 8.76631275e-01 -4.80925965e-01 -1.50938415e-02 8.52307777e+01] [ 4.80860979e-01 8.76761149e-01 -7.91240419e-03 1.63754588e+01] [ 1.70389745e-02 -3.21778437e-04 9.99854774e-01 1.51244165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29361786499999 meters 0.024601347477428197 Centerline is valid? [True, True] Translation: X:85.26, Y:16.39, Z:1.51 [[ 8.76487885e-01 -4.81192615e-01 -1.49216527e-02 8.52553787e+01] [ 4.81129061e-01 8.76614833e-01 -7.82689744e-03 1.63882999e+01] [ 1.68467873e-02 -3.19059984e-04 9.99858032e-01 1.51347005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32361786499997 meters 0.02381652467592212 Centerline is valid? [True, True] Translation: X:85.28, Y:16.41, Z:1.52 [[ 8.76707761e-01 -4.80795811e-01 -1.47949096e-02 8.52792993e+01] [ 4.80733251e-01 8.76832535e-01 -7.76195497e-03 1.64051073e+01] [ 1.67045735e-02 -3.07438826e-04 9.99860422e-01 1.51501278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35361786499998 meters 0.023449696183988816 Centerline is valid? [True, True] Translation: X:85.30, Y:16.42, Z:1.51 [[ 8.76755720e-01 -4.80714437e-01 -1.45957909e-02 8.53027061e+01] [ 4.80653468e-01 8.76877153e-01 -7.66175286e-03 1.64203758e+01] [ 1.64818308e-02 -2.98031880e-04 9.99864121e-01 1.51497147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38361786499998 meters 0.02315704921691532 Centerline is valid? [True, True] Translation: X:85.33, Y:16.44, Z:1.52 [[ 8.76894547e-01 -4.80448242e-01 -1.50146371e-02 8.53262519e+01] [ 4.80383594e-01 8.77023032e-01 -7.88697634e-03 1.64354370e+01] [ 1.69574665e-02 -2.96738772e-04 9.99856168e-01 1.51519432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41361786499998 meters 0.02358143152804222 Centerline is valid? [True, True] Translation: X:85.35, Y:16.45, Z:1.52 [[ 8.77058929e-01 -4.80153528e-01 -1.48399561e-02 8.53506437e+01] [ 4.80090247e-01 8.77184421e-01 -7.80033390e-03 1.64479229e+01] [ 1.67627361e-02 -2.83165683e-04 9.99859455e-01 1.51574179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44361786499998 meters 0.02358143152804222 Centerline is valid? [True, True] Translation: X:85.38, Y:16.46, Z:1.52 [[ 8.76933066e-01 -4.80383392e-01 -1.48389693e-02 8.53750261e+01] [ 4.80320112e-01 8.77058559e-01 -7.80221068e-03 1.64608337e+01] [ 1.67626974e-02 -2.85438853e-04 9.99859455e-01 1.51619361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47361786499998 meters 0.02282999032957677 Centerline is valid? [True, True] Translation: X:85.40, Y:16.48, Z:1.52 [[ 8.77353867e-01 -4.79610642e-01 -1.49607601e-02 8.53989200e+01] [ 4.79546122e-01 8.77481373e-01 -7.87128156e-03 1.64775043e+01] [ 1.69029388e-02 -2.68475192e-04 9.99857099e-01 1.51709964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50361786499998 meters 0.022830783629198305 Centerline is valid? [True, True] Translation: X:85.42, Y:16.49, Z:1.52 [[ 8.77626435e-01 -4.79097785e-01 -1.53997672e-02 8.54236698e+01] [ 4.79029262e-01 8.77761496e-01 -8.10693696e-03 1.64912387e+01] [ 1.74013382e-02 -2.62076909e-04 9.99848551e-01 1.51753895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53361786499998 meters 0.022701864300189074 Centerline is valid? [True, True] Translation: X:85.45, Y:16.51, Z:1.52 [[ 8.77492951e-01 -4.79329149e-01 -1.58015163e-02 8.54474989e+01] [ 4.79257004e-01 8.77635171e-01 -8.32050428e-03 1.65054055e+01] [ 1.78562267e-02 -2.71803520e-04 9.99840528e-01 1.51775275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56361786499998 meters 0.022717629353762234 Centerline is valid? [True, True] Translation: X:85.47, Y:16.52, Z:1.52 [[ 8.77591827e-01 -4.79118740e-01 -1.66678822e-02 8.54706904e+01] [ 4.79038321e-01 8.77750053e-01 -8.78244823e-03 1.65191124e+01] [ 1.88380700e-02 -2.77149514e-04 9.99822509e-01 1.51748315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59361786499998 meters 0.022534380922699288 Centerline is valid? [True, True] Translation: X:85.49, Y:16.53, Z:1.52 [[ 8.77526743e-01 -4.79233452e-01 -1.67962573e-02 8.54945929e+01] [ 4.79151752e-01 8.77687427e-01 -8.85313378e-03 1.65337923e+01] [ 1.89845818e-02 -2.79094486e-04 9.99819738e-01 1.51775086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62361786499999 meters 0.022650970641770397 Centerline is valid? [True, True] Translation: X:85.52, Y:16.55, Z:1.52 [[ 8.77606691e-01 -4.79087715e-01 -1.67767208e-02 8.55180188e+01] [ 4.79006075e-01 8.77766990e-01 -8.84825357e-03 1.65464666e+01] [ 1.89651413e-02 -2.70864673e-04 9.99820109e-01 1.51823797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65361786499999 meters 0.022374309846989335 Centerline is valid? [True, True] Translation: X:85.54, Y:16.56, Z:1.52 [[ 8.77472018e-01 -4.79343367e-01 -1.65164825e-02 8.55420865e+01] [ 4.79264233e-01 8.77627406e-01 -8.71386412e-03 1.65617692e+01] [ 1.86722507e-02 -2.69587395e-04 9.99825622e-01 1.51912435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68361786499999 meters 0.022420482668499803 Centerline is valid? [True, True] Translation: X:85.57, Y:16.57, Z:1.52 [[ 8.77423535e-01 -4.79441224e-01 -1.62496891e-02 8.55655419e+01] [ 4.79364547e-01 8.77573953e-01 -8.57832040e-03 1.65745526e+01] [ 1.83731044e-02 -2.62704658e-04 9.99831166e-01 1.52020567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71361786499997 meters 0.022179060438008633 Centerline is valid? [True, True] Translation: X:85.59, Y:16.59, Z:1.52 [[ 8.77245511e-01 -4.79752497e-01 -1.66689899e-02 8.55899786e+01] [ 4.79671812e-01 8.77403822e-01 -8.80265696e-03 1.65885112e+01] [ 1.88485321e-02 -2.73553287e-04 9.99822313e-01 1.52100325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74361786499998 meters 0.022350523620659424 Centerline is valid? [True, True] Translation: X:85.61, Y:16.60, Z:1.52 [[ 8.76959481e-01 -4.80266845e-01 -1.69063895e-02 8.56140537e+01] [ 4.80183838e-01 8.77122384e-01 -8.93335684e-03 1.66017983e+01] [ 1.91193678e-02 -2.83983028e-04 9.99817168e-01 1.52197014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77361786499998 meters 0.02227417041628908 Centerline is valid? [True, True] Translation: X:85.64, Y:16.62, Z:1.52 [[ 8.76701241e-01 -4.80717481e-01 -1.74824671e-02 8.56383323e+01] [ 4.80628758e-01 8.76875483e-01 -9.24038003e-03 1.66155318e+01] [ 1.97719590e-02 -3.01523802e-04 9.99804470e-01 1.52202826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80361786499998 meters 0.022271441990270757 Centerline is valid? [True, True] Translation: X:85.66, Y:16.63, Z:1.52 [[ 8.76380712e-01 -4.81289416e-01 -1.78142084e-02 8.56629387e+01] [ 4.81197286e-01 8.76561692e-01 -9.42191323e-03 1.66295266e+01] [ 2.01499198e-02 -3.14965710e-04 9.99796920e-01 1.52216630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83361786499998 meters 0.022465285616055253 Centerline is valid? [True, True] Translation: X:85.69, Y:16.64, Z:1.52 [[ 8.76284266e-01 -4.81432732e-01 -1.86657359e-02 8.56872991e+01] [ 4.81331497e-01 8.76482982e-01 -9.87789825e-03 1.66436989e+01] [ 2.11157434e-02 -3.28559789e-04 9.99776984e-01 1.52204816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86361786499998 meters 0.02258041577368762 Centerline is valid? [True, True] Translation: X:85.71, Y:16.66, Z:1.52 [[ 8.75965439e-01 -4.82004828e-01 -1.88652003e-02 8.57123319e+01] [ 4.81901490e-01 8.76168493e-01 -9.98627169e-03 1.66576447e+01] [ 2.13425253e-02 -3.43539263e-04 9.99772163e-01 1.52281533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89361786499998 meters 0.022600056471429382 Centerline is valid? [True, True] Translation: X:85.74, Y:16.67, Z:1.52 [[ 8.75582809e-01 -4.82687953e-01 -1.91594507e-02 8.57373998e+01] [ 4.82581407e-01 8.75792333e-01 -1.01476842e-02 1.66712027e+01] [ 2.16778649e-02 -3.60856806e-04 9.99764942e-01 1.52347494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92361786499998 meters 0.023101589578619353 Centerline is valid? [True, True] Translation: X:85.76, Y:16.68, Z:1.52 [[ 8.75230459e-01 -4.83332103e-01 -1.90190034e-02 8.57628885e+01] [ 4.83227166e-01 8.75437000e-01 -1.00779396e-02 1.66834307e+01] [ 2.15209310e-02 -3.69979403e-04 9.99768329e-01 1.52396168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95361786499998 meters 0.02251996154928354 Centerline is valid? [True, True] Translation: X:85.79, Y:16.70, Z:1.53 [[ 8.73966991e-01 -4.85626129e-01 -1.86805254e-02 8.57873410e+01] [ 4.85525359e-01 8.74166511e-01 -9.90131915e-03 1.66992029e+01] [ 2.11382290e-02 -4.16442700e-04 9.99776476e-01 1.52584260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98361786499999 meters 0.022499371677674674 Centerline is valid? [True, True] Translation: X:85.81, Y:16.71, Z:1.53 [[ 8.73101411e-01 -4.87193773e-01 -1.83344923e-02 8.58128881e+01] [ 4.87096933e-01 8.73293784e-01 -9.72341448e-03 1.67135042e+01] [ 2.07485851e-02 -4.41148050e-04 9.99784628e-01 1.52666748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01361786499999 meters 0.02270869765426234 Centerline is valid? [True, True] Translation: X:85.84, Y:16.73, Z:1.53 [[ 8.72207096e-01 -4.88793204e-01 -1.83298735e-02 8.58383034e+01] [ 4.88696648e-01 8.72399552e-01 -9.72662616e-03 1.67265854e+01] [ 2.07452822e-02 -4.74115369e-04 9.99784681e-01 1.52716429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04361786499999 meters 0.025943433882431838 Centerline is valid? [True, True] Translation: X:85.87, Y:16.73, Z:1.53 [[ 8.70447982e-01 -4.91920150e-01 -1.82996316e-02 8.58661939e+01] [ 4.91824497e-01 8.70640150e-01 -9.71561395e-03 1.67334641e+01] [ 2.07117003e-02 -5.43270548e-04 9.99785342e-01 1.52708211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07361786499997 meters 0.02456537927201867 Centerline is valid? [True, True] Translation: X:85.89, Y:16.75, Z:1.53 [[ 8.69721657e-01 -4.93228643e-01 -1.75995736e-02 8.58901635e+01] [ 4.93140377e-01 8.69899536e-01 -9.34694862e-03 1.67495741e+01] [ 1.99200437e-02 -5.49816730e-04 9.99801425e-01 1.52841724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10361786499998 meters 0.023764811929412512 Centerline is valid? [True, True] Translation: X:85.91, Y:16.76, Z:1.53 [[ 8.68868370e-01 -4.94739759e-01 -1.73299059e-02 8.59144872e+01] [ 4.94654378e-01 8.69040991e-01 -9.20880289e-03 1.67649284e+01] [ 1.96163595e-02 -5.71076275e-04 9.99807418e-01 1.52924470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13361786499998 meters 0.02411326310065645 Centerline is valid? [True, True] Translation: X:85.94, Y:16.78, Z:1.53 [[ 8.67733915e-01 -4.96733834e-01 -1.71274899e-02 8.59401951e+01] [ 4.96650722e-01 8.67902721e-01 -9.10645059e-03 1.67783375e+01] [ 1.93884772e-02 -6.04404215e-04 9.99811843e-01 1.52987809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16361786499998 meters 0.025081778474797947 Centerline is valid? [True, True] Translation: X:85.97, Y:16.79, Z:1.53 [[ 8.67366734e-01 -4.97386407e-01 -1.67842584e-02 8.59655841e+01] [ 4.97306625e-01 8.67528904e-01 -8.92869503e-03 1.67901943e+01] [ 1.90018409e-02 -6.02469863e-04 9.99819267e-01 1.52979461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19361786499998 meters 0.02448949695001643 Centerline is valid? [True, True] Translation: X:85.99, Y:16.81, Z:1.53 [[ 8.67232468e-01 -4.97623053e-01 -1.67075626e-02 8.59891162e+01] [ 4.97543984e-01 8.67393183e-01 -8.89101098e-03 1.68050208e+01] [ 1.89163979e-02 -6.02173854e-04 9.99820888e-01 1.53026495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22361786499998 meters 0.02433715789939106 Centerline is valid? [True, True] Translation: X:86.01, Y:16.82, Z:1.53 [[ 8.67335715e-01 -4.97434529e-01 -1.69601475e-02 8.60142272e+01] [ 4.97352902e-01 8.67501312e-01 -9.03128946e-03 1.68198624e+01] [ 1.92054254e-02 -6.02018649e-04 9.99815378e-01 1.53043705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25361786499998 meters 0.02436309198724136 Centerline is valid? [True, True] Translation: X:86.04, Y:16.84, Z:1.53 [[ 8.68230936e-01 -4.95878813e-01 -1.67106037e-02 8.60381581e+01] [ 4.95799187e-01 8.68391556e-01 -8.90343986e-03 1.68350857e+01] [ 1.89263743e-02 -5.54861795e-04 9.99820726e-01 1.53019994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28361786499998 meters 0.024286958361210736 Centerline is valid? [True, True] Translation: X:86.06, Y:16.85, Z:1.53 [[ 8.68835600e-01 -4.94823302e-01 -1.65710360e-02 8.60626367e+01] [ 4.94744716e-01 8.68993456e-01 -8.83405106e-03 1.68495265e+01] [ 1.87714161e-02 -5.23094413e-04 9.99823665e-01 1.53085959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31361786499998 meters 0.02328236184500783 Centerline is valid? [True, True] Translation: X:86.09, Y:16.87, Z:1.53 [[ 8.69433616e-01 -4.93784531e-01 -1.61871799e-02 8.60869073e+01] [ 4.93709281e-01 8.69584154e-01 -8.63389058e-03 1.68663289e+01] [ 1.83393968e-02 -4.85166251e-04 9.99831701e-01 1.53126479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34361786499998 meters 0.022325198459002223 Centerline is valid? [True, True] Translation: X:86.11, Y:16.88, Z:1.53 [[ 8.71057638e-01 -4.90922626e-01 -1.59237939e-02 8.61106027e+01] [ 4.90849277e-01 8.71203078e-01 -8.49614031e-03 1.68840682e+01] [ 1.80438058e-02 -4.15554840e-04 9.99837111e-01 1.53148081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37361786499999 meters 0.02242841981717913 Centerline is valid? [True, True] Translation: X:86.13, Y:16.90, Z:1.53 [[ 8.71695537e-01 -4.89782642e-01 -1.61199911e-02 8.61345848e+01] [ 4.89707199e-01 8.71844487e-01 -8.60521656e-03 1.68979578e+01] [ 1.82688110e-02 -3.92946806e-04 9.99833034e-01 1.53147076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40361786499999 meters 0.022392460389959876 Centerline is valid? [True, True] Translation: X:86.16, Y:16.91, Z:1.53 [[ 8.72351146e-01 -4.88616506e-01 -1.60433381e-02 8.61586247e+01] [ 4.88541548e-01 8.72498583e-01 -8.56612851e-03 1.69121558e+01] [ 1.81833415e-02 -3.65165199e-04 9.99834603e-01 1.53122716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43361786499997 meters 0.022262600735954693 Centerline is valid? [True, True] Translation: X:86.18, Y:16.93, Z:1.53 [[ 8.73483032e-01 -4.86594925e-01 -1.58988392e-02 8.61823210e+01] [ 4.86520932e-01 8.73627654e-01 -8.49142325e-03 1.69277767e+01] [ 1.80215491e-02 -3.18003969e-04 9.99837548e-01 1.53072923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46361786499997 meters 0.021866764549798776 Centerline is valid? [True, True] Translation: X:86.21, Y:16.94, Z:1.53 [[ 8.73889515e-01 -4.85871874e-01 -1.56728683e-02 8.62067596e+01] [ 4.85799820e-01 8.74029996e-01 -8.37260812e-03 1.69431545e+01] [ 1.77665718e-02 -2.97142145e-04 9.99842118e-01 1.53114283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49361786499998 meters 0.02189008260954972 Centerline is valid? [True, True] Translation: X:86.23, Y:16.96, Z:1.53 [[ 8.74228805e-01 -4.85258511e-01 -1.57535567e-02 8.62308518e+01] [ 4.85185533e-01 8.74370687e-01 -8.42024226e-03 1.69568301e+01] [ 1.78604424e-02 -2.82179467e-04 9.99840450e-01 1.53158064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52361786499998 meters 0.021732500948182423 Centerline is valid? [True, True] Translation: X:86.26, Y:16.97, Z:1.53 [[ 8.74777519e-01 -4.84278861e-01 -1.54361856e-02 8.62550905e+01] [ 4.84208600e-01 8.74913664e-01 -8.25300158e-03 1.69713823e+01] [ 1.75020839e-02 -2.54793553e-04 9.99846794e-01 1.53274547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55361786499998 meters 0.02174036239967222 Centerline is valid? [True, True] Translation: X:86.28, Y:16.99, Z:1.53 [[ 8.74884562e-01 -4.84100128e-01 -1.49689584e-02 8.62792736e+01] [ 4.84033990e-01 8.75012576e-01 -8.00554553e-03 1.69854943e+01] [ 1.69735125e-02 -2.41556484e-04 9.99855910e-01 1.53334660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58361786499998 meters 0.021721538660707595 Centerline is valid? [True, True] Translation: X:86.30, Y:17.00, Z:1.53 [[ 8.75278082e-01 -4.83404159e-01 -1.44464343e-02 8.63025077e+01] [ 4.83342388e-01 8.75397266e-01 -7.73067292e-03 1.70001510e+01] [ 1.63834086e-02 -2.16085513e-04 9.99865760e-01 1.53425124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61361786499998 meters 0.021754778969667522 Centerline is valid? [True, True] Translation: X:86.33, Y:17.01, Z:1.53 [[ 8.75217773e-01 -4.83517132e-01 -1.43189543e-02 8.63260831e+01] [ 4.83456438e-01 8.75334871e-01 -7.66389305e-03 1.70139434e+01] [ 1.62395036e-02 -2.15015229e-04 9.99868107e-01 1.53464857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64361786499998 meters 0.021747350921313073 Centerline is valid? [True, True] Translation: X:86.35, Y:17.03, Z:1.54 [[ 8.75330930e-01 -4.83307124e-01 -1.44909154e-02 8.63507020e+01] [ 4.83244901e-01 8.75450843e-01 -7.75800310e-03 1.70283053e+01] [ 1.64355823e-02 -2.11840919e-04 9.99864904e-01 1.53522922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67361786499998 meters 0.021211342294482696 Centerline is valid? [True, True] Translation: X:86.37, Y:17.04, Z:1.54 [[ 8.75123517e-01 -4.83688480e-01 -1.42928439e-02 8.63740701e+01] [ 4.83627923e-01 8.75240201e-01 -7.65649727e-03 1.70437860e+01] [ 1.62130311e-02 -2.12037603e-04 9.99868538e-01 1.53546374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70361786499998 meters 0.021148283679366588 Centerline is valid? [True, True] Translation: X:86.40, Y:17.06, Z:1.54 [[ 8.75122776e-01 -4.83687295e-01 -1.43780294e-02 8.63982594e+01] [ 4.83625933e-01 8.75240857e-01 -7.70713527e-03 1.70577522e+01] [ 1.63120822e-02 -2.08898272e-04 9.99866927e-01 1.53599712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73361786499999 meters 0.021099755314546755 Centerline is valid? [True, True] Translation: X:86.42, Y:17.07, Z:1.54 [[ 8.74965099e-01 -4.83970795e-01 -1.44341209e-02 8.64224911e+01] [ 4.83908909e-01 8.75084124e-01 -7.74231283e-03 1.70726851e+01] [ 1.63781233e-02 -2.10546158e-04 9.99865847e-01 1.53573976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76361786499999 meters 0.02122203081345879 Centerline is valid? [True, True] Translation: X:86.45, Y:17.09, Z:1.54 [[ 8.74941711e-01 -4.84012452e-01 -1.44550659e-02 8.64471441e+01] [ 4.83950307e-01 8.75061086e-01 -7.75865202e-03 1.70870084e+01] [ 1.64043499e-02 -2.07165318e-04 9.99865418e-01 1.53559327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79361786499999 meters 0.022015912004177324 Centerline is valid? [True, True] Translation: X:86.47, Y:17.10, Z:1.53 [[ 8.74744829e-01 -4.84361422e-01 -1.46798343e-02 8.64720126e+01] [ 4.84297292e-01 8.74867972e-01 -7.88450134e-03 1.70981377e+01] [ 1.66618651e-02 -2.12477201e-04 9.99861159e-01 1.53480350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82361786499997 meters 0.02123226829901534 Centerline is valid? [True, True] Translation: X:86.50, Y:17.12, Z:1.53 [[ 8.74469821e-01 -4.84836537e-01 -1.53644175e-02 8.64951712e+01] [ 4.84766293e-01 8.74604757e-01 -8.25594901e-03 1.71150056e+01] [ 1.74405783e-02 -2.28573457e-04 9.99847875e-01 1.53452605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85361786499998 meters 0.021170275076051 Centerline is valid? [True, True] Translation: X:86.52, Y:17.13, Z:1.53 [[ 8.74171750e-01 -4.85371750e-01 -1.54277760e-02 8.65194584e+01] [ 4.85300960e-01 8.74307845e-01 -8.29278502e-03 1.71295492e+01] [ 1.75137091e-02 -2.37796090e-04 9.99846595e-01 1.53368318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88361786499998 meters 0.02122579639029711 Centerline is valid? [True, True] Translation: X:86.54, Y:17.14, Z:1.53 [[ 8.74240721e-01 -4.85249532e-01 -1.53640222e-02 8.65430714e+01] [ 4.85179215e-01 8.74375685e-01 -8.26379870e-03 1.71428538e+01] [ 1.74439319e-02 -2.29754884e-04 9.99847817e-01 1.53370920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91361786499998 meters 0.02105779522714866 Centerline is valid? [True, True] Translation: X:86.57, Y:17.16, Z:1.53 [[ 8.74565199e-01 -4.84684042e-01 -1.47340630e-02 8.65675471e+01] [ 4.84619256e-01 8.74689280e-01 -7.92719865e-03 1.71584127e+01] [ 1.67299137e-02 -2.07558592e-04 9.99860024e-01 1.53357605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94361786499998 meters 0.020882872242792307 Centerline is valid? [True, True] Translation: X:86.59, Y:17.17, Z:1.53 [[ 8.74872469e-01 -4.84136164e-01 -1.45030235e-02 8.65909948e+01] [ 4.84073246e-01 8.74992651e-01 -7.80728923e-03 1.71731688e+01] [ 1.64698300e-02 -1.90143260e-04 9.99864345e-01 1.53362881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97361786499998 meters 0.02085502885328775 Centerline is valid? [True, True] Translation: X:86.61, Y:17.19, Z:1.53 [[ 8.75333246e-01 -4.83313401e-01 -1.41373770e-02 8.66146925e+01] [ 4.83253428e-01 8.75447388e-01 -7.61548004e-03 1.71869114e+01] [ 1.60571933e-02 -1.65853017e-04 9.99871061e-01 1.53400766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00361786499998 meters 0.020761188209035258 Centerline is valid? [True, True] Translation: X:86.64, Y:17.20, Z:1.53 [[ 8.75643791e-01 -4.82759080e-01 -1.38427293e-02 8.66383428e+01] [ 4.82701490e-01 8.75753189e-01 -7.45812110e-03 1.72020023e+01] [ 1.57232900e-02 -1.51248632e-04 9.99876370e-01 1.53432745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03361786499998 meters 0.0206527597195898 Centerline is valid? [True, True] Translation: X:86.66, Y:17.22, Z:1.53 [[ 8.76120162e-01 -4.81925499e-01 -1.26993974e-02 8.66615532e+01] [ 4.81876884e-01 8.76212188e-01 -6.84621012e-03 1.72180244e+01] [ 1.44267300e-02 -1.21443335e-04 9.99895922e-01 1.53479740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06361786499998 meters 0.020727310918000733 Centerline is valid? [True, True] Translation: X:86.69, Y:17.23, Z:1.54 [[ 8.76192999e-01 -4.81804886e-01 -1.22426003e-02 8.66858375e+01] [ 4.81759634e-01 8.76278517e-01 -6.60419922e-03 1.72310609e+01] [ 1.39098631e-02 -1.11437543e-04 9.99903247e-01 1.53617888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09361786499998 meters 0.020756843780124504 Centerline is valid? [True, True] Translation: X:86.71, Y:17.25, Z:1.54 [[ 8.76154618e-01 -4.81884356e-01 -1.18555131e-02 8.67099225e+01] [ 4.81841872e-01 8.76234818e-01 -6.39949184e-03 1.72452203e+01] [ 1.34720284e-02 -1.05538301e-04 9.99909243e-01 1.53657906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12361786499999 meters 0.020873824491247462 Centerline is valid? [True, True] Translation: X:86.73, Y:17.26, Z:1.54 [[ 8.75739761e-01 -4.82650511e-01 -1.13293930e-02 8.67343005e+01] [ 4.82611730e-01 8.75813035e-01 -6.11929034e-03 1.72586144e+01] [ 1.28759087e-02 -1.08792103e-04 9.99917096e-01 1.53779745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15361786499999 meters 0.020714352395655937 Centerline is valid? [True, True] Translation: X:86.76, Y:17.27, Z:1.54 [[ 8.75394608e-01 -4.83284152e-01 -1.09867497e-02 8.67589548e+01] [ 4.83247685e-01 8.75463544e-01 -5.93795067e-03 1.72720545e+01] [ 1.24882163e-02 -1.11271353e-04 9.99922013e-01 1.53784875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18361786499997 meters 0.021145526004745167 Centerline is valid? [True, True] Translation: X:86.78, Y:17.28, Z:1.54 [[ 8.74968024e-01 -4.84066047e-01 -1.05365822e-02 8.67841882e+01] [ 4.84032510e-01 8.75031456e-01 -5.69915871e-03 1.72837109e+01] [ 1.19786101e-02 -1.13466706e-04 9.99928247e-01 1.53891576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21361786499997 meters 0.021026652183462145 Centerline is valid? [True, True] Translation: X:86.81, Y:17.30, Z:1.54 [[ 8.74059552e-01 -4.85703799e-01 -1.05696977e-02 8.68093505e+01] [ 4.85670166e-01 8.74123447e-01 -5.71746980e-03 1.72974974e+01] [ 1.20162174e-02 -1.35977750e-04 9.99927793e-01 1.53859846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24361786499998 meters 0.021091509886980837 Centerline is valid? [True, True] Translation: X:86.84, Y:17.31, Z:1.54 [[ 8.73531340e-01 -4.86647655e-01 -1.08193445e-02 8.68350020e+01] [ 4.86612444e-01 8.73598327e-01 -5.85597058e-03 1.73107669e+01] [ 1.23015556e-02 -1.49453836e-04 9.99924322e-01 1.53881562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27361786499998 meters 0.021318987459357026 Centerline is valid? [True, True] Translation: X:86.86, Y:17.32, Z:1.54 [[ 8.73199426e-01 -4.87245769e-01 -1.06921561e-02 8.68597672e+01] [ 4.87211376e-01 8.73264872e-01 -5.79118219e-03 1.73232179e+01] [ 1.21588133e-02 -1.52483108e-04 9.99926067e-01 1.53954268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30361786499998 meters 0.021511247990195364 Centerline is valid? [True, True] Translation: X:86.89, Y:17.34, Z:1.54 [[ 8.72625058e-01 -4.88270174e-01 -1.08510465e-02 8.68859206e+01] [ 4.88234823e-01 8.72692506e-01 -5.87776069e-03 1.73360958e+01] [ 1.23395622e-02 -1.68777508e-04 9.99923850e-01 1.53935699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33361786499998 meters 0.021511247990195364 Centerline is valid? [True, True] Translation: X:86.91, Y:17.35, Z:1.54 [[ 8.72491657e-01 -4.88508538e-01 -1.08497069e-02 8.69101335e+01] [ 4.88473176e-01 8.72559098e-01 -5.88023221e-03 1.73492965e+01] [ 1.23395541e-02 -1.69337233e-04 9.99923850e-01 1.53980807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36361786499998 meters 0.021628871451811006 Centerline is valid? [True, True] Translation: X:86.93, Y:17.36, Z:1.54 [[ 8.72506858e-01 -4.88485716e-01 -1.06530380e-02 8.69343954e+01] [ 4.88451573e-01 8.72571876e-01 -5.77774362e-03 1.73614811e+01] [ 1.21178866e-02 -1.62372238e-04 9.99926563e-01 1.54065834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39361786499998 meters 0.021832393392188364 Centerline is valid? [True, True] Translation: X:86.96, Y:17.37, Z:1.54 [[ 8.72340893e-01 -4.88787735e-01 -1.03882859e-02 8.69590244e+01] [ 4.88755266e-01 8.72402730e-01 -5.63613350e-03 1.73743939e+01] [ 1.18176420e-02 -1.60699733e-04 9.99930156e-01 1.54051818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42361786499998 meters 0.022080451035693418 Centerline is valid? [True, True] Translation: X:86.98, Y:17.39, Z:1.54 [[ 8.71972918e-01 -4.89436264e-01 -1.07411907e-02 8.69837687e+01] [ 4.89401543e-01 8.72039055e-01 -5.83230255e-03 1.73861991e+01] [ 1.22212782e-02 -1.71145424e-04 9.99925303e-01 1.54047493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45361786499998 meters 0.022192727263453175 Centerline is valid? [True, True] Translation: X:87.01, Y:17.40, Z:1.54 [[ 8.71802382e-01 -4.89742858e-01 -1.06085263e-02 8.70090092e+01] [ 4.89708994e-01 8.71866907e-01 -5.76170294e-03 1.73983005e+01] [ 1.20709759e-02 -1.72024399e-04 9.99927128e-01 1.54111562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48361786499999 meters 0.022231722191110585 Centerline is valid? [True, True] Translation: X:87.03, Y:17.41, Z:1.54 [[ 8.71547707e-01 -4.90202059e-01 -1.03215991e-02 8.70336448e+01] [ 4.90170034e-01 8.71608806e-01 -5.60594419e-03 1.74107553e+01] [ 1.17444420e-02 -1.73490767e-04 9.99931017e-01 1.54148929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51361786499999 meters 0.022413259228178377 Centerline is valid? [True, True] Translation: X:87.06, Y:17.42, Z:1.54 [[ 8.70816701e-01 -4.91491024e-01 -1.07166973e-02 8.70598633e+01] [ 4.91456548e-01 8.70882619e-01 -5.82458033e-03 1.74222443e+01] [ 1.21957144e-02 -1.94649248e-04 9.99925611e-01 1.54146029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54361786499999 meters 0.022452739160086273 Centerline is valid? [True, True] Translation: X:87.08, Y:17.43, Z:1.54 [[ 8.70726797e-01 -4.91648405e-01 -1.08023994e-02 8.70847112e+01] [ 4.91613348e-01 8.70793780e-01 -5.87431874e-03 1.74346707e+01] [ 1.22947616e-02 -1.95677002e-04 9.99924397e-01 1.54212614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57361786499997 meters 0.022560647478204153 Centerline is valid? [True, True] Translation: X:87.11, Y:17.45, Z:1.54 [[ 8.70553288e-01 -4.91954591e-01 -1.08467712e-02 8.71095947e+01] [ 4.91919223e-01 8.70620837e-01 -5.90227068e-03 1.74471695e+01] [ 1.23470741e-02 -1.97494093e-04 9.99923752e-01 1.54253811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60361786499998 meters 0.022635554565304656 Centerline is valid? [True, True] Translation: X:87.13, Y:17.46, Z:1.54 [[ 8.70374836e-01 -4.92272647e-01 -1.07371016e-02 8.71343110e+01] [ 4.92237969e-01 8.70441039e-01 -5.84632382e-03 1.74597035e+01] [ 1.22239992e-02 -1.96715959e-04 9.99925265e-01 1.54303121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63361786499998 meters 0.022623466964589747 Centerline is valid? [True, True] Translation: X:87.16, Y:17.47, Z:1.54 [[ 8.70443813e-01 -4.92166132e-01 -1.00033612e-02 8.71593078e+01] [ 4.92135989e-01 8.70501273e-01 -5.44994497e-03 1.74720577e+01] [ 1.13902170e-02 -1.79143160e-04 9.99935113e-01 1.54378024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66361786499998 meters 0.02281775279618279 Centerline is valid? [True, True] Translation: X:87.18, Y:17.48, Z:1.54 [[ 8.70434019e-01 -4.92194623e-01 -9.43774302e-03 8.71838951e+01] [ 4.92167750e-01 8.70485167e-01 -5.14585259e-03 1.74842402e+01] [ 1.07481763e-02 -1.65827598e-04 9.99942223e-01 1.54443907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69361786499998 meters 0.02285361016448205 Centerline is valid? [True, True] Translation: X:87.21, Y:17.50, Z:1.54 [[ 8.70534006e-01 -4.92010794e-01 -9.79407203e-03 8.72093336e+01] [ 4.91981834e-01 8.70589082e-01 -5.34084856e-03 1.74970803e+01] [ 1.11543673e-02 -1.69115233e-04 9.99937774e-01 1.54490012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72361786499998 meters 0.02258985012643662 Centerline is valid? [True, True] Translation: X:87.23, Y:17.51, Z:1.55 [[ 8.71265377e-01 -4.90713895e-01 -9.82429096e-03 8.72348128e+01] [ 4.90684634e-01 8.71320751e-01 -5.36090316e-03 1.75100114e+01] [ 1.11907782e-02 -1.49859297e-04 9.99937370e-01 1.54501548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75361786499998 meters 0.022682411869721426 Centerline is valid? [True, True] Translation: X:87.26, Y:17.52, Z:1.55 [[ 8.71731771e-01 -4.89888866e-01 -9.62382449e-03 8.72600979e+01] [ 4.89860694e-01 8.71784882e-01 -5.25536671e-03 1.75222042e+01] [ 1.09644503e-02 -1.33063215e-04 9.99939880e-01 1.54553891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78361786499998 meters 0.022547096515532234 Centerline is valid? [True, True] Translation: X:87.29, Y:17.54, Z:1.55 [[ 8.72188709e-01 -4.89067154e-01 -1.00087605e-02 8.72850379e+01] [ 4.89036626e-01 8.72246125e-01 -5.46585515e-03 1.75359840e+01] [ 1.14032728e-02 -1.27393317e-04 9.99934972e-01 1.54580961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81361786499998 meters 0.022556167655215474 Centerline is valid? [True, True] Translation: X:87.31, Y:17.55, Z:1.55 [[ 8.73231077e-01 -4.87198036e-01 -1.02742150e-02 8.73098519e+01] [ 4.87165692e-01 8.73291511e-01 -5.61473926e-03 1.75487742e+01] [ 1.17078747e-02 -1.02280248e-04 9.99931455e-01 1.54561509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84361786499998 meters 0.02244928504694767 Centerline is valid? [True, True] Translation: X:87.34, Y:17.56, Z:1.55 [[ 8.73644459e-01 -4.86445345e-01 -1.07835979e-02 8.73356050e+01] [ 4.86409640e-01 8.73711003e-01 -5.89446546e-03 1.75621917e+01] [ 1.22890834e-02 -9.55788869e-05 9.99924482e-01 1.54604676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87361786499999 meters 0.02251253871878737 Centerline is valid? [True, True] Translation: X:87.36, Y:17.57, Z:1.55 [[ 8.74079349e-01 -4.85653433e-01 -1.12265118e-02 8.73604560e+01] [ 4.85614617e-01 8.74151438e-01 -6.14067537e-03 1.75743617e+01] [ 1.27959115e-02 -8.43206835e-05 9.99918125e-01 1.54698897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90361786499999 meters 0.02248284335245135 Centerline is valid? [True, True] Translation: X:87.39, Y:17.59, Z:1.55 [[ 8.74980592e-01 -4.84026327e-01 -1.12906180e-02 8.73872647e+01] [ 4.83986912e-01 8.75053433e-01 -6.17722533e-03 1.75865782e+01] [ 1.28698338e-02 -5.95590827e-05 9.99917178e-01 1.54776945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93361786499997 meters 0.022547220007825223 Centerline is valid? [True, True] Translation: X:87.41, Y:17.60, Z:1.55 [[ 8.75451062e-01 -4.83172468e-01 -1.13931802e-02 8.74117137e+01] [ 4.83132211e-01 8.75525193e-01 -6.23713495e-03 1.75987196e+01] [ 1.29886282e-02 -4.41059328e-05 9.99915643e-01 1.54874959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96361786499997 meters 0.02253930102050167 Centerline is valid? [True, True] Translation: X:87.44, Y:17.61, Z:1.55 [[ 8.75835137e-01 -4.82475681e-01 -1.14030620e-02 8.74364477e+01] [ 4.82435280e-01 8.75909366e-01 -6.24373264e-03 1.76111739e+01] [ 1.30004980e-02 -3.27589904e-05 9.99915489e-01 1.54924629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99361786499998 meters 0.022733598576616273 Centerline is valid? [True, True] Translation: X:87.46, Y:17.62, Z:1.55 [[ 8.76526233e-01 -4.81222549e-01 -1.12525636e-02 8.74610094e+01] [ 4.81183046e-01 8.76598459e-01 -6.16592613e-03 1.76219613e+01] [ 1.28311626e-02 -9.94681000e-06 9.99917677e-01 1.54948790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02361786499998 meters 0.022789138363956015 Centerline is valid? [True, True] Translation: X:87.49, Y:17.63, Z:1.55 [[ 8.76510863e-01 -4.81247931e-01 -1.13638022e-02 8.74867551e+01] [ 4.81207629e-01 8.76584525e-01 -6.22807928e-03 1.76343693e+01] [ 1.29585834e-02 -9.36914822e-06 9.99916034e-01 1.54959184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05361786499998 meters 0.022844865993672907 Centerline is valid? [True, True] Translation: X:87.51, Y:17.65, Z:1.55 [[ 8.76343097e-01 -4.81543789e-01 -1.17624745e-02 8.75121779e+01] [ 4.81500579e-01 8.76422032e-01 -6.45085268e-03 1.76462851e+01] [ 1.34152598e-02 -1.04780452e-05 9.99910011e-01 1.54918511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08361786499998 meters 0.022873827837785177 Centerline is valid? [True, True] Translation: X:87.54, Y:17.66, Z:1.55 [[ 8.76008994e-01 -4.82148041e-01 -1.18957483e-02 8.75378750e+01] [ 4.82103843e-01 8.76089759e-01 -6.52822224e-03 1.76582027e+01] [ 1.35693129e-02 -1.62045898e-05 9.99907933e-01 1.54986754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11361786499998 meters 0.023039286443395795 Centerline is valid? [True, True] Translation: X:87.56, Y:17.67, Z:1.55 [[ 8.75390333e-01 -4.83257627e-01 -1.24028919e-02 8.75640850e+01] [ 4.83209621e-01 8.75478192e-01 -6.81153834e-03 1.76668845e+01] [ 1.41501892e-02 -3.04418629e-05 9.99899881e-01 1.55123120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14361786499998 meters 0.02318192723588526 Centerline is valid? [True, True] Translation: X:87.59, Y:17.68, Z:1.55 [[ 8.74922133e-01 -4.84112483e-01 -1.20981806e-02 8.75901771e+01] [ 4.84066870e-01 8.75005773e-01 -6.64554731e-03 1.76784110e+01] [ 1.38031703e-02 -4.19919944e-05 9.99904731e-01 1.55166193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17361786499998 meters 0.023270743469302416 Centerline is valid? [True, True] Translation: X:87.62, Y:17.69, Z:1.55 [[ 8.74461620e-01 -4.84936316e-01 -1.23953273e-02 8.76160604e+01] [ 4.84888455e-01 8.74549465e-01 -6.81320665e-03 1.76905725e+01] [ 1.41442982e-02 -5.24633842e-05 9.99899963e-01 1.55198836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20361786499998 meters 0.023222136971902535 Centerline is valid? [True, True] Translation: X:87.64, Y:17.70, Z:1.55 [[ 8.73998914e-01 -4.85765714e-01 -1.25526496e-02 8.76404306e+01] [ 4.85716646e-01 8.74089050e-01 -6.90453890e-03 1.77015689e+01] [ 1.43261218e-02 -6.24713597e-05 9.99897374e-01 1.55270234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23361786499999 meters 0.02342490624874019 Centerline is valid? [True, True] Translation: X:87.67, Y:17.71, Z:1.55 [[ 8.73404405e-01 -4.86813324e-01 -1.33241106e-02 8.76658241e+01] [ 4.86758106e-01 8.73506028e-01 -7.33250545e-03 1.77117363e+01] [ 1.52082522e-02 -8.13762528e-05 9.99884345e-01 1.55266047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26361786499999 meters 0.023393089103295885 Centerline is valid? [True, True] Translation: X:87.69, Y:17.72, Z:1.55 [[ 8.73075394e-01 -4.87391891e-01 -1.37295501e-02 8.76907354e+01] [ 4.87333303e-01 8.73183335e-01 -7.55753633e-03 1.77238076e+01] [ 1.56718963e-02 -9.25679926e-05 9.99877184e-01 1.55317988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29361786499999 meters 0.02372476672882272 Centerline is valid? [True, True] Translation: X:87.72, Y:17.73, Z:1.55 [[ 8.72372309e-01 -4.88623952e-01 -1.46009735e-02 8.77175159e+01] [ 4.88557771e-01 8.72494481e-01 -8.04269719e-03 1.77326924e+01] [ 1.66691233e-02 -1.17192770e-04 9.99861054e-01 1.55390908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32361786499997 meters 0.023879786868890324 Centerline is valid? [True, True] Translation: X:87.74, Y:17.74, Z:1.55 [[ 8.71836268e-01 -4.89574348e-01 -1.47810339e-02 8.77433623e+01] [ 4.89506631e-01 8.71961547e-01 -8.14362531e-03 1.77442309e+01] [ 1.68754032e-02 -1.35506211e-04 9.99857591e-01 1.55436301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35361786499998 meters 0.023934854264355473 Centerline is valid? [True, True] Translation: X:87.77, Y:17.76, Z:1.56 [[ 8.71226904e-01 -4.90664107e-01 -1.45745344e-02 8.77696391e+01] [ 4.90598341e-01 8.71348789e-01 -8.03467770e-03 1.77571850e+01] [ 1.66418309e-02 -1.50215038e-04 9.99861504e-01 1.55500270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38361786499998 meters 0.024077895893678165 Centerline is valid? [True, True] Translation: X:87.80, Y:17.77, Z:1.56 [[ 8.70625621e-01 -4.91724785e-01 -1.47568332e-02 8.77961293e+01] [ 4.91657438e-01 8.70750657e-01 -8.13980693e-03 1.77693233e+01] [ 1.68520670e-02 -1.68582352e-04 9.99857980e-01 1.55563078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41361786499998 meters 0.024391233134487482 Centerline is valid? [True, True] Translation: X:87.82, Y:17.78, Z:1.56 [[ 8.69573119e-01 -4.93576508e-01 -1.49940554e-02 8.78229617e+01] [ 4.93507174e-01 8.69702357e-01 -8.27524236e-03 1.77793335e+01] [ 1.71248305e-02 -2.03745579e-04 9.99853339e-01 1.55580824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44361786499998 meters 0.02450809733255504 Centerline is valid? [True, True] Translation: X:87.85, Y:17.79, Z:1.56 [[ 8.68822176e-01 -4.94902136e-01 -1.48291439e-02 8.78490922e+01] [ 4.94834482e-01 8.68948690e-01 -8.18595632e-03 1.77918162e+01] [ 1.69370124e-02 -2.25831372e-04 9.99856533e-01 1.55627823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47361786499998 meters 0.025084127611911762 Centerline is valid? [True, True] Translation: X:87.88, Y:17.80, Z:1.56 [[ 8.67688286e-01 -4.96899111e-01 -1.44330410e-02 8.78757749e+01] [ 4.96835226e-01 8.67808279e-01 -7.97175447e-03 1.78002169e+01] [ 1.64862702e-02 -2.53845200e-04 9.99864060e-01 1.55806599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50361786499998 meters 0.025223309853201103 Centerline is valid? [True, True] Translation: X:87.90, Y:17.81, Z:1.56 [[ 8.67236310e-01 -4.97710866e-01 -1.36042602e-02 8.79016029e+01] [ 4.97654185e-01 8.67342972e-01 -7.51543693e-03 1.78121174e+01] [ 1.55400740e-02 -2.52557209e-04 9.99879214e-01 1.55931593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53361786499998 meters 0.025221743044495724 Centerline is valid? [True, True] Translation: X:87.93, Y:17.83, Z:1.56 [[ 8.67197323e-01 -4.97792967e-01 -1.30753920e-02 8.79259286e+01] [ 4.97740601e-01 8.67295857e-01 -7.22433116e-03 1.78254526e+01] [ 1.49364546e-02 -2.43232840e-04 9.99888415e-01 1.56113372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56361786499998 meters 0.025155281522234056 Centerline is valid? [True, True] Translation: X:87.95, Y:17.84, Z:1.56 [[ 8.68427032e-01 -4.95669708e-01 -1.20842915e-02 8.79501810e+01] [ 4.95624712e-01 8.68511086e-01 -6.68125901e-03 1.78400072e+01] [ 1.38070389e-02 -1.87087576e-04 9.99904661e-01 1.56131502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59361786499998 meters 0.02497122103559485 Centerline is valid? [True, True] Translation: X:87.98, Y:17.86, Z:1.56 [[ 8.68893907e-01 -4.94844910e-01 -1.23245003e-02 8.79751365e+01] [ 4.94798011e-01 8.68981291e-01 -6.81505470e-03 1.78550582e+01] [ 1.40821553e-02 -1.76578713e-04 9.99900826e-01 1.56117327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62361786499999 meters 0.025126376486017434 Centerline is valid? [True, True] Translation: X:88.00, Y:17.87, Z:1.56 [[ 8.69553758e-01 -4.93677130e-01 -1.26155683e-02 8.80003880e+01] [ 4.93627807e-01 8.69645253e-01 -6.98012585e-03 1.78680649e+01] [ 1.44169976e-02 -1.57800644e-04 9.99896057e-01 1.56120115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65361786499999 meters 0.024872292496129687 Centerline is valid? [True, True] Translation: X:88.02, Y:17.89, Z:1.56 [[ 8.70435278e-01 -4.92118056e-01 -1.27375813e-02 8.80242408e+01] [ 4.92067548e-01 8.70528461e-01 -7.05169138e-03 1.78850915e+01] [ 1.45586917e-02 -1.29709453e-04 9.99894008e-01 1.56099620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68361786499997 meters 0.024787338491232293 Centerline is valid? [True, True] Translation: X:88.05, Y:17.90, Z:1.56 [[ 8.71905315e-01 -4.89495732e-01 -1.32306780e-02 8.80478105e+01] [ 4.89440865e-01 8.72005689e-01 -7.32926845e-03 1.79001544e+01] [ 1.51248721e-02 -8.52063672e-05 9.99885609e-01 1.56025488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71361786499997 meters 0.02479229808929237 Centerline is valid? [True, True] Translation: X:88.07, Y:17.92, Z:1.56 [[ 8.72205146e-01 -4.88960251e-01 -1.32686418e-02 8.80720549e+01] [ 4.88904988e-01 8.72306063e-01 -7.35152649e-03 1.79150560e+01] [ 1.51689209e-02 -7.50659378e-05 9.99884942e-01 1.56023403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74361786499998 meters 0.024798566245095643 Centerline is valid? [True, True] Translation: X:88.10, Y:17.93, Z:1.56 [[ 8.72351673e-01 -4.88706205e-01 -1.29924171e-02 8.80958522e+01] [ 4.88653124e-01 8.72448417e-01 -7.20301006e-03 1.79290924e+01] [ 1.48553694e-02 -6.52273231e-05 9.99889651e-01 1.56009838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77361786499998 meters 0.0248967489132292 Centerline is valid? [True, True] Translation: X:88.12, Y:17.94, Z:1.56 [[ 8.72361028e-01 -4.88688075e-01 -1.30461692e-02 8.81188125e+01] [ 4.88634479e-01 8.72458573e-01 -7.23774503e-03 1.79433523e+01] [ 1.49192418e-02 -6.08813843e-05 9.99888700e-01 1.55965752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80361786499998 meters 0.024871736593179462 Centerline is valid? [True, True] Translation: X:88.14, Y:17.96, Z:1.56 [[ 8.71982194e-01 -4.89367049e-01 -1.29207028e-02 8.81434236e+01] [ 4.89314528e-01 8.72077913e-01 -7.16983106e-03 1.79573143e+01] [ 1.47765386e-02 -7.03225592e-05 9.99890819e-01 1.55985568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83361786499998 meters 0.024945490996854693 Centerline is valid? [True, True] Translation: X:88.17, Y:17.97, Z:1.56 [[ 8.71572150e-01 -4.90100850e-01 -1.27728126e-02 8.81675751e+01] [ 4.90049533e-01 8.71665733e-01 -7.09253947e-03 1.79706427e+01] [ 1.46096826e-02 -7.76509589e-05 9.99893270e-01 1.56020144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86361786499998 meters 0.025016143748772982 Centerline is valid? [True, True] Translation: X:88.19, Y:17.98, Z:1.56 [[ 8.71048160e-01 -4.91039861e-01 -1.24481713e-02 8.81919716e+01] [ 4.90991196e-01 8.71137100e-01 -6.91364990e-03 1.79844654e+01] [ 1.42389416e-02 -8.98205044e-05 9.99898617e-01 1.56031161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89361786499998 meters 0.025148872722675433 Centerline is valid? [True, True] Translation: X:88.22, Y:18.00, Z:1.56 [[ 8.69944692e-01 -4.93008362e-01 -1.17893290e-02 8.82169000e+01] [ 4.92964833e-01 8.70024564e-01 -6.55221772e-03 1.79978785e+01] [ 1.34873039e-02 -1.11657549e-04 9.99909036e-01 1.56054860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92361786499998 meters 0.025308341331047708 Centerline is valid? [True, True] Translation: X:88.24, Y:18.01, Z:1.56 [[ 8.69315123e-01 -4.94125113e-01 -1.14712497e-02 8.82427001e+01] [ 4.94083990e-01 8.69390796e-01 -6.37608293e-03 1.80119359e+01] [ 1.31235816e-02 -1.24935498e-04 9.99913874e-01 1.56110536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95361786499998 meters 0.025371687341315903 Centerline is valid? [True, True] Translation: X:88.27, Y:18.03, Z:1.56 [[ 8.67998622e-01 -4.96433161e-01 -1.15112474e-02 8.82685336e+01] [ 4.96391907e-01 8.68074935e-01 -6.40180240e-03 1.80256645e+01] [ 1.31706924e-02 -1.57334398e-04 9.99913250e-01 1.56059156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98361786499999 meters 0.02548099041370606 Centerline is valid? [True, True] Translation: X:88.29, Y:18.04, Z:1.56 [[ 8.67249216e-01 -4.97739928e-01 -1.15655152e-02 8.82941338e+01] [ 4.97698352e-01 8.67326313e-01 -6.43557263e-03 1.80394363e+01] [ 1.32343171e-02 -1.74892544e-04 9.99912407e-01 1.56059094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01361786499999 meters 0.025676494159938383 Centerline is valid? [True, True] Translation: X:88.32, Y:18.05, Z:1.56 [[ 8.66552811e-01 -4.98955151e-01 -1.14010377e-02 8.83186261e+01] [ 4.98914801e-01 8.66627788e-01 -6.34810185e-03 1.80523535e+01] [ 1.30478742e-02 -1.87180956e-04 9.99914855e-01 1.56072352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04361786499999 meters 0.025883280251707007 Centerline is valid? [True, True] Translation: X:88.34, Y:18.07, Z:1.56 [[ 8.65688321e-01 -5.00443776e-01 -1.18219364e-02 8.83442149e+01] [ 5.00400519e-01 8.65769011e-01 -6.58332707e-03 1.80658874e+01] [ 1.35296513e-02 -2.16593756e-04 9.99908447e-01 1.56059370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07361786499997 meters 0.025664976128268048 Centerline is valid? [True, True] Translation: X:88.37, Y:18.08, Z:1.56 [[ 8.65159970e-01 -5.01366319e-01 -1.14035576e-02 8.83687486e+01] [ 5.01326107e-01 8.65235093e-01 -6.35359154e-03 1.80816711e+01] [ 1.30522350e-02 -2.20028066e-04 9.99914792e-01 1.56052158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10361786499998 meters 0.02584988982697047 Centerline is valid? [True, True] Translation: X:88.39, Y:18.10, Z:1.56 [[ 8.64802127e-01 -5.01959927e-01 -1.23900090e-02 8.83924077e+01] [ 5.01912455e-01 8.64890844e-01 -6.90768182e-03 1.80950375e+01] [ 1.41833848e-02 -2.44921928e-04 9.99899381e-01 1.56004465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13361786499998 meters 0.025720867412462732 Centerline is valid? [True, True] Translation: X:88.42, Y:18.11, Z:1.56 [[ 8.64561919e-01 -5.02367184e-01 -1.26451758e-02 8.84165696e+01] [ 5.02317736e-01 8.64654352e-01 -7.05296009e-03 1.81094319e+01] [ 1.44768820e-02 -2.54175354e-04 9.99895172e-01 1.56047939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16361786499998 meters 0.02624381539965843 Centerline is valid? [True, True] Translation: X:88.44, Y:18.12, Z:1.56 [[ 8.64377829e-01 -5.02676776e-01 -1.29239063e-02 8.84407322e+01] [ 5.02625083e-01 8.64474402e-01 -7.21352051e-03 1.81209351e+01] [ 1.47984554e-02 -2.60672274e-04 9.99890463e-01 1.56089609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19361786499998 meters 0.025775454540862584 Centerline is valid? [True, True] Translation: X:88.46, Y:18.14, Z:1.56 [[ 8.64303132e-01 -5.02807935e-01 -1.28170163e-02 8.84640490e+01] [ 5.02757084e-01 8.64398122e-01 -7.15549779e-03 1.81360262e+01] [ 1.46768459e-02 -2.59326589e-04 9.99892256e-01 1.56042003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22361786499998 meters 0.02561889752383954 Centerline is valid? [True, True] Translation: X:88.49, Y:18.15, Z:1.56 [[ 8.64042668e-01 -5.03258014e-01 -1.27137559e-02 8.84879418e+01] [ 5.03207963e-01 8.64136160e-01 -7.10233203e-03 1.81503018e+01] [ 1.45607217e-02 -2.60945284e-04 9.99893953e-01 1.56037662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25361786499998 meters 0.02561889752383954 Centerline is valid? [True, True] Translation: X:88.51, Y:18.16, Z:1.56 [[ 8.63903023e-01 -5.03497743e-01 -1.27117825e-02 8.85120020e+01] [ 5.03447666e-01 8.63996501e-01 -7.10586213e-03 1.81638209e+01] [ 1.45607211e-02 -2.60941452e-04 9.99893953e-01 1.56082752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28361786499998 meters 0.025793008331881508 Centerline is valid? [True, True] Translation: X:88.54, Y:18.18, Z:1.56 [[ 8.63526091e-01 -5.04136533e-01 -1.30017376e-02 8.85370013e+01] [ 5.04084140e-01 8.63623923e-01 -7.27313204e-03 1.81771516e+01] [ 1.48952632e-02 -2.73430432e-04 9.99889022e-01 1.56100624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31361786499998 meters 0.02583222873857231 Centerline is valid? [True, True] Translation: X:88.56, Y:18.19, Z:1.56 [[ 8.63188607e-01 -5.04717221e-01 -1.28823915e-02 8.85626003e+01] [ 5.04665833e-01 8.63284686e-01 -7.20752343e-03 1.81910832e+01] [ 1.47589325e-02 -2.79850733e-04 9.99891042e-01 1.56114311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34361786499998 meters 0.02565826363322802 Centerline is valid? [True, True] Translation: X:88.59, Y:18.21, Z:1.56 [[ 8.62801534e-01 -5.05389947e-01 -1.24303510e-02 8.85880469e+01] [ 5.05342120e-01 8.62891027e-01 -6.95831809e-03 1.82057125e+01] [ 1.42427024e-02 -2.77932424e-04 9.99898529e-01 1.56152551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37361786499999 meters 0.025764531225438793 Centerline is valid? [True, True] Translation: X:88.61, Y:18.22, Z:1.56 [[ 8.62423863e-01 -5.06056138e-01 -1.15007260e-02 8.86129443e+01] [ 5.06015205e-01 8.62500502e-01 -6.44181914e-03 1.82185416e+01] [ 1.31793041e-02 -2.63963667e-04 9.99913114e-01 1.56201099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40361786499999 meters 0.026261576105036266 Centerline is valid? [True, True] Translation: X:88.64, Y:18.23, Z:1.56 [[ 8.62408077e-01 -5.06079754e-01 -1.16444066e-02 8.86376678e+01] [ 5.06037777e-01 8.62486644e-01 -6.52351145e-03 1.82299514e+01] [ 1.33445622e-02 -2.66580652e-04 9.99910922e-01 1.56334615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43361786499997 meters 0.025684534225280362 Centerline is valid? [True, True] Translation: X:88.66, Y:18.25, Z:1.56 [[ 8.62296721e-01 -5.06281373e-01 -1.11146660e-02 8.86612091e+01] [ 5.06243134e-01 8.62368312e-01 -6.22771048e-03 1.82457569e+01] [ 1.27379096e-02 -2.56589020e-04 9.99918837e-01 1.56311582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46361786499997 meters 0.025644107940243997 Centerline is valid? [True, True] Translation: X:88.69, Y:18.26, Z:1.56 [[ 8.62600174e-01 -5.05771252e-01 -1.07880354e-02 8.86851901e+01] [ 5.05735130e-01 8.62667598e-01 -6.04931634e-03 1.82594366e+01] [ 1.23660589e-02 -2.37747154e-04 9.99923509e-01 1.56355031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49361786499998 meters 0.025391952852383895 Centerline is valid? [True, True] Translation: X:88.71, Y:18.27, Z:1.56 [[ 8.62767898e-01 -5.05481707e-01 -1.09452006e-02 8.87104039e+01] [ 5.05444489e-01 8.62837289e-01 -6.13848400e-03 1.82745350e+01] [ 1.25468186e-02 -2.36104403e-04 9.99921258e-01 1.56357289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52361786499998 meters 0.0252840333822106 Centerline is valid? [True, True] Translation: X:88.73, Y:18.29, Z:1.56 [[ 8.62712249e-01 -5.05577306e-01 -1.09161799e-02 8.87345408e+01] [ 5.05540277e-01 8.62781277e-01 -6.12346673e-03 1.82882715e+01] [ 1.25141614e-02 -2.35778837e-04 9.99921667e-01 1.56343265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55361786499998 meters 0.02540038201593623 Centerline is valid? [True, True] Translation: X:88.76, Y:18.30, Z:1.56 [[ 8.62819786e-01 -5.05390784e-01 -1.10531342e-02 8.87586328e+01] [ 5.05352742e-01 8.62890550e-01 -6.20517466e-03 1.83012918e+01] [ 1.26736831e-02 -2.31784199e-04 9.99919659e-01 1.56429232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58361786499998 meters 0.025480834516031264 Centerline is valid? [True, True] Translation: X:88.78, Y:18.31, Z:1.56 [[ 8.62835327e-01 -5.05361038e-01 -1.11991080e-02 8.87822245e+01] [ 5.05321967e-01 8.62907971e-01 -6.28826713e-03 1.83140352e+01] [ 1.28416448e-02 -2.33416272e-04 9.99917515e-01 1.56381535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61361786499998 meters 0.025395243778532924 Centerline is valid? [True, True] Translation: X:88.81, Y:18.33, Z:1.56 [[ 8.62648977e-01 -5.05678455e-01 -1.12268566e-02 8.88069713e+01] [ 5.05639203e-01 8.62721997e-01 -6.30498271e-03 1.83282183e+01] [ 1.28739500e-02 -2.37751918e-04 9.99917099e-01 1.56381373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64361786499998 meters 0.025623944122402497 Centerline is valid? [True, True] Translation: X:88.83, Y:18.34, Z:1.56 [[ 8.62255999e-01 -5.06352391e-01 -1.10384734e-02 8.88313061e+01] [ 5.06314442e-01 8.62326620e-01 -6.20381535e-03 1.83408788e+01] [ 1.26600862e-02 -2.39661498e-04 9.99919829e-01 1.56359871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67361786499998 meters 0.025311467634526907 Centerline is valid? [True, True] Translation: X:88.86, Y:18.36, Z:1.56 [[ 8.61893146e-01 -5.06965799e-01 -1.12198234e-02 8.88556749e+01] [ 5.06926636e-01 8.61966133e-01 -6.30635878e-03 1.83556606e+01] [ 1.28682160e-02 -2.52219947e-04 9.99917169e-01 1.56353116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70361786499998 meters 0.026877535189100788 Centerline is valid? [True, True] Translation: X:88.88, Y:18.37, Z:1.56 [[ 8.61643647e-01 -5.07391854e-01 -1.11234621e-02 8.88813994e+01] [ 5.07353344e-01 8.61715407e-01 -6.25633054e-03 1.83677056e+01] [ 1.27596698e-02 -2.52798238e-04 9.99918560e-01 1.55774642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73361786499999 meters 0.02540546022700235 Centerline is valid? [True, True] Translation: X:88.91, Y:18.38, Z:1.56 [[ 8.61311622e-01 -5.07938580e-01 -1.18611814e-02 8.89057060e+01] [ 5.07894833e-01 8.61393244e-01 -6.67208298e-03 1.83811896e+01] [ 1.36061499e-02 -2.77490158e-04 9.99907394e-01 1.56437356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76361786499999 meters 0.025434503191679076 Centerline is valid? [True, True] Translation: X:88.93, Y:18.39, Z:1.56 [[ 8.61171677e-01 -5.08171422e-01 -1.20477547e-02 8.89308793e+01] [ 5.08126249e-01 8.61255901e-01 -6.78148335e-03 1.83946497e+01] [ 1.38223559e-02 -2.81759033e-04 9.99904427e-01 1.56435563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79361786499997 meters 0.025436901703323613 Centerline is valid? [True, True] Translation: X:88.95, Y:18.41, Z:1.56 [[ 8.61109940e-01 -5.08268420e-01 -1.23646346e-02 8.89548595e+01] [ 5.08220785e-01 8.61198659e-01 -6.96444017e-03 1.84084269e+01] [ 1.41882118e-02 -2.86815665e-04 9.99899301e-01 1.56471581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82361786499997 meters 0.025235126996901266 Centerline is valid? [True, True] Translation: X:88.98, Y:18.42, Z:1.57 [[ 8.61484764e-01 -5.07635078e-01 -1.22730777e-02 8.89792833e+01] [ 5.07588019e-01 8.61572141e-01 -6.91733115e-03 1.84235760e+01] [ 1.40856218e-02 -2.70491797e-04 9.99900756e-01 1.56515828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85361786499998 meters 0.024958749620978646 Centerline is valid? [True, True] Translation: X:89.00, Y:18.44, Z:1.56 [[ 8.62479791e-01 -5.05942082e-01 -1.22971099e-02 8.90034554e+01] [ 5.05894611e-01 8.62567419e-01 -6.93475912e-03 1.84397995e+01] [ 1.41156728e-02 -2.39952021e-04 9.99900340e-01 1.56460749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88361786499998 meters 0.02472546988617326 Centerline is valid? [True, True] Translation: X:89.03, Y:18.46, Z:1.56 [[ 8.63040904e-01 -5.04996663e-01 -1.17800227e-02 8.90282134e+01] [ 5.04952964e-01 8.63121270e-01 -6.64668973e-03 1.84558303e+01] [ 1.35241443e-02 -2.11992259e-04 9.99908522e-01 1.56465517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91361786499998 meters 0.024618778489099005 Centerline is valid? [True, True] Translation: X:89.05, Y:18.47, Z:1.57 [[ 8.63421231e-01 -5.04337010e-01 -1.21638019e-02 8.90532701e+01] [ 5.04290301e-01 8.63506884e-01 -6.86691852e-03 1.84710273e+01] [ 1.39667679e-02 -2.05044094e-04 9.99902439e-01 1.56510602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94361786499998 meters 0.024365097349465955 Centerline is valid? [True, True] Translation: X:89.08, Y:18.49, Z:1.57 [[ 8.64264576e-01 -5.02897386e-01 -1.18727132e-02 8.90778647e+01] [ 5.02852700e-01 8.64346105e-01 -6.70623512e-03 1.84870611e+01] [ 1.36346815e-02 -1.74264416e-04 9.99907028e-01 1.56554416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97361786499998 meters 0.02432252875424464 Centerline is valid? [True, True] Translation: X:89.10, Y:18.50, Z:1.57 [[ 8.64650533e-01 -5.02224533e-01 -1.22463882e-02 8.91021326e+01] [ 5.02176866e-01 8.64737238e-01 -6.92130661e-03 1.85021587e+01] [ 1.40659579e-02 -1.65341399e-04 9.99901056e-01 1.56581070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00361786499998 meters 0.024197848501877773 Centerline is valid? [True, True] Translation: X:89.13, Y:18.52, Z:1.57 [[ 8.65054240e-01 -5.01531931e-01 -1.21195998e-02 8.91265066e+01] [ 5.01485125e-01 8.65139122e-01 -6.85340392e-03 1.85177563e+01] [ 1.39223408e-02 -1.49232913e-04 9.99903068e-01 1.56550042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03361786499998 meters 0.023997636225942105 Centerline is valid? [True, True] Translation: X:89.15, Y:18.53, Z:1.56 [[ 8.65430314e-01 -5.00868139e-01 -1.27074530e-02 8.91493356e+01] [ 5.00816545e-01 8.65523592e-01 -7.19029096e-03 1.85334138e+01] [ 1.45999880e-02 -1.41406930e-04 9.99893404e-01 1.56431834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06361786499998 meters 0.023993317465980803 Centerline is valid? [True, True] Translation: X:89.17, Y:18.55, Z:1.56 [[ 8.65320029e-01 -5.01054650e-01 -1.28641080e-02 8.91735636e+01] [ 5.01001769e-01 8.65415632e-01 -7.28085712e-03 1.85484866e+01] [ 1.47809075e-02 -1.44669359e-04 9.99890746e-01 1.56444658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09361786499998 meters 0.023980278812310053 Centerline is valid? [True, True] Translation: X:89.20, Y:18.56, Z:1.56 [[ 8.65144667e-01 -5.01349287e-01 -1.31756424e-02 8.91970367e+01] [ 5.01293770e-01 8.65244977e-01 -7.46232884e-03 1.85619837e+01] [ 1.51413917e-02 -1.48873464e-04 9.99885351e-01 1.56472383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12361786499999 meters 0.02392508268651023 Centerline is valid? [True, True] Translation: X:89.22, Y:18.58, Z:1.57 [[ 8.64686337e-01 -5.02134937e-01 -1.33433145e-02 8.92211577e+01] [ 5.02078061e-01 8.64789268e-01 -7.55923678e-03 1.85759810e+01] [ 1.53349121e-02 -1.63016725e-04 9.99882400e-01 1.56555824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15361786499999 meters 0.023888129443933502 Centerline is valid? [True, True] Translation: X:89.25, Y:18.59, Z:1.57 [[ 8.64275051e-01 -5.02847526e-01 -1.31530091e-02 8.92455695e+01] [ 5.02792272e-01 8.64375114e-01 -7.45611274e-03 1.85899007e+01] [ 1.51184216e-02 -1.69099108e-04 9.99885696e-01 1.56624320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18361786499997 meters 0.02396828000502942 Centerline is valid? [True, True] Translation: X:89.27, Y:18.60, Z:1.57 [[ 8.63853297e-01 -5.03569360e-01 -1.32431271e-02 8.92702845e+01] [ 5.03513354e-01 8.63954784e-01 -7.51226958e-03 1.86037154e+01] [ 1.52244118e-02 -1.78592488e-04 9.99884086e-01 1.56676983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21361786499997 meters 0.023922710227110414 Centerline is valid? [True, True] Translation: X:89.29, Y:18.62, Z:1.57 [[ 8.62980937e-01 -5.05058273e-01 -1.34180109e-02 8.92944656e+01] [ 5.05000938e-01 8.63085221e-01 -7.61282458e-03 1.86190580e+01] [ 1.54258069e-02 -2.06385578e-04 9.99880994e-01 1.56645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24361786499998 meters 0.023971614508488386 Centerline is valid? [True, True] Translation: X:89.32, Y:18.63, Z:1.57 [[ 8.62655020e-01 -5.05612658e-01 -1.34965395e-02 8.93183932e+01] [ 5.05554648e-01 8.62760566e-01 -7.66178569e-03 1.86331905e+01] [ 1.55181779e-02 -2.13760389e-04 9.99879563e-01 1.56660763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27361786499998 meters 0.023899455650463593 Centerline is valid? [True, True] Translation: X:89.34, Y:18.65, Z:1.57 [[ 8.62238030e-01 -5.06317642e-01 -1.37122391e-02 8.93423839e+01] [ 5.06257830e-01 8.62347026e-01 -7.78564154e-03 1.86475831e+01] [ 1.57667163e-02 -2.28852180e-04 9.99875671e-01 1.56696605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30361786499998 meters 0.024048307789450028 Centerline is valid? [True, True] Translation: X:89.37, Y:18.66, Z:1.57 [[ 8.61654566e-01 -5.07304787e-01 -1.39018553e-02 8.93665782e+01] [ 5.07243356e-01 8.61766669e-01 -7.89845617e-03 1.86606650e+01] [ 1.59870802e-02 -2.45882910e-04 9.99872168e-01 1.56805492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33361786499998 meters 0.02390860053584031 Centerline is valid? [True, True] Translation: X:89.39, Y:18.68, Z:1.57 [[ 8.61114971e-01 -5.08241818e-01 -1.30866796e-02 8.93912666e+01] [ 5.08187472e-01 8.61214371e-01 -7.43642419e-03 1.86755402e+01] [ 1.50499383e-02 -2.46870437e-04 9.99886713e-01 1.56871613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36361786499998 meters 0.024005124299686084 Centerline is valid? [True, True] Translation: X:89.42, Y:18.69, Z:1.57 [[ 8.60627633e-01 -5.09068379e-01 -1.30177745e-02 8.94155723e+01] [ 5.09014632e-01 8.60726042e-01 -7.40166795e-03 1.86890734e+01] [ 1.49726926e-02 -2.56157707e-04 9.99887870e-01 1.56980901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39361786499998 meters 0.023888841807956133 Centerline is valid? [True, True] Translation: X:89.44, Y:18.70, Z:1.57 [[ 8.60325383e-01 -5.09571578e-01 -1.33057623e-02 8.94399227e+01] [ 5.09515466e-01 8.60428227e-01 -7.56671414e-03 1.87032083e+01] [ 1.53044360e-02 -2.69655466e-04 9.99882844e-01 1.56978672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42361786499998 meters 0.024151334913436483 Centerline is valid? [True, True] Translation: X:89.46, Y:18.72, Z:1.57 [[ 8.59530522e-01 -5.10905838e-01 -1.35095131e-02 8.94643026e+01] [ 5.10848078e-01 8.59636632e-01 -7.68777212e-03 1.87168605e+01] [ 1.55410000e-02 -2.93434020e-04 9.99879188e-01 1.56988186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45361786499998 meters 0.023949273860233416 Centerline is valid? [True, True] Translation: X:89.49, Y:18.73, Z:1.57 [[ 8.59021912e-01 -5.11743771e-01 -1.41303814e-02 8.94893886e+01] [ 5.11680667e-01 8.59138062e-01 -8.04272817e-03 1.87320200e+01] [ 1.62557645e-02 -3.21363229e-04 9.99867815e-01 1.57015552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48361786499999 meters 0.02395786153409273 Centerline is valid? [True, True] Translation: X:89.51, Y:18.75, Z:1.57 [[ 8.58106823e-01 -5.13276304e-01 -1.41462299e-02 8.95140182e+01] [ 5.13213193e-01 8.58223348e-01 -8.05623666e-03 1.87468473e+01] [ 1.62757002e-02 -3.46920174e-04 9.99867482e-01 1.57066299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51361786499999 meters 0.024180809090020076 Centerline is valid? [True, True] Translation: X:89.54, Y:18.76, Z:1.57 [[ 8.57715329e-01 -5.13935744e-01 -1.39451055e-02 8.95385191e+01] [ 5.13874431e-01 8.57828612e-01 -7.94615785e-03 1.87598976e+01] [ 1.60463250e-02 -3.50491746e-04 9.99871188e-01 1.57052379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54361786499997 meters 0.024173638414992395 Centerline is valid? [True, True] Translation: X:89.56, Y:18.77, Z:1.57 [[ 8.57133191e-01 -5.14902526e-01 -1.40741542e-02 8.95636531e+01] [ 5.14840177e-01 8.57248652e-01 -8.02126545e-03 1.87736242e+01] [ 1.61952196e-02 -3.70647196e-04 9.99868780e-01 1.57103612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57361786499997 meters 0.024399038865059716 Centerline is valid? [True, True] Translation: X:89.59, Y:18.79, Z:1.57 [[ 8.56330114e-01 -5.16230238e-01 -1.43205303e-02 8.95888310e+01] [ 5.16165796e-01 8.56449755e-01 -8.16629349e-03 1.87873765e+01] [ 1.64805023e-02 -3.98724882e-04 9.99864108e-01 1.57150371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60361786499998 meters 0.02460889494717331 Centerline is valid? [True, True] Translation: X:89.61, Y:18.80, Z:1.57 [[ 8.55106829e-01 -5.18249689e-01 -1.44765826e-02 8.96142861e+01] [ 5.18184047e-01 8.55229249e-01 -8.25990149e-03 1.88011776e+01] [ 1.66614883e-02 -4.38436015e-04 9.99861092e-01 1.57148011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63361786499998 meters 0.024758215667983204 Centerline is valid? [True, True] Translation: X:89.64, Y:18.81, Z:1.57 [[ 8.54438432e-01 -5.19350356e-01 -1.44973505e-02 8.96391467e+01] [ 5.19284608e-01 8.54561290e-01 -8.27629243e-03 1.88148273e+01] [ 1.66871700e-02 -4.56668665e-04 9.99860655e-01 1.57213922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66361786499998 meters 0.025571900037636857 Centerline is valid? [True, True] Translation: X:89.66, Y:18.83, Z:1.57 [[ 8.53655997e-01 -5.20642118e-01 -1.42556717e-02 8.96640607e+01] [ 5.20578684e-01 8.53774890e-01 -8.14068224e-03 1.88266901e+01] [ 1.64095166e-02 -4.71856603e-04 9.99865243e-01 1.57284897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69361786499998 meters 0.024897373891389907 Centerline is valid? [True, True] Translation: X:89.69, Y:18.84, Z:1.57 [[ 8.52773868e-01 -5.22076685e-01 -1.45830377e-02 8.96880225e+01] [ 5.22010472e-01 8.52898397e-01 -8.33010136e-03 1.88419699e+01] [ 1.67868012e-02 -5.08805651e-04 9.99858962e-01 1.57434430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72361786499998 meters 0.02524806609318008 Centerline is valid? [True, True] Translation: X:89.71, Y:18.86, Z:1.57 [[ 8.52624673e-01 -5.22334060e-01 -1.40818058e-02 8.97126416e+01] [ 5.22272331e-01 8.52740807e-01 -8.04532373e-03 1.88553418e+01] [ 1.62104771e-02 -4.94896048e-04 9.99868479e-01 1.57447392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75361786499998 meters 0.02630518131999556 Centerline is valid? [True, True] Translation: X:89.74, Y:18.87, Z:1.57 [[ 8.52123184e-01 -5.23156370e-01 -1.39101172e-02 8.97380639e+01] [ 5.23096223e-01 8.52236563e-01 -7.94870629e-03 1.88699702e+01] [ 1.60131268e-02 -5.03052883e-04 9.99871655e-01 1.57168439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78361786499998 meters 0.02620246848552818 Centerline is valid? [True, True] Translation: X:89.76, Y:18.88, Z:1.57 [[ 8.51926776e-01 -5.23464796e-01 -1.43309362e-02 8.97623023e+01] [ 5.23400923e-01 8.52047144e-01 -8.19374456e-03 1.88826969e+01] [ 1.64997701e-02 -5.20354841e-04 9.99863734e-01 1.57499712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81361786499998 meters 0.02464132195977168 Centerline is valid? [True, True] Translation: X:89.78, Y:18.90, Z:1.58 [[ 8.51671292e-01 -5.23885069e-01 -1.41578659e-02 8.97842361e+01] [ 5.23822762e-01 8.51788802e-01 -8.09630798e-03 1.88999634e+01] [ 1.63010465e-02 -5.20819365e-04 9.99866993e-01 1.57515046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84361786499998 meters 0.024940135330372606 Centerline is valid? [True, True] Translation: X:89.81, Y:18.91, Z:1.58 [[ 8.51445754e-01 -5.24232332e-01 -1.48522893e-02 8.98083641e+01] [ 5.24163721e-01 8.51575106e-01 -8.49896198e-03 1.89132413e+01] [ 1.71032705e-02 -5.48626157e-04 9.99853578e-01 1.57592946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87361786499999 meters 0.024991400703701844 Centerline is valid? [True, True] Translation: X:89.83, Y:18.93, Z:1.58 [[ 8.51054021e-01 -5.24842679e-01 -1.57230701e-02 8.98330967e+01] [ 5.24765851e-01 8.51199044e-01 -8.99942858e-03 1.89281259e+01] [ 1.81067465e-02 -5.91930400e-04 9.99835884e-01 1.57619338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90361786499999 meters 0.0254852816333924 Centerline is valid? [True, True] Translation: X:89.86, Y:18.94, Z:1.58 [[ 8.51038490e-01 -5.24861834e-01 -1.59230476e-02 8.98568327e+01] [ 5.24782954e-01 8.51187230e-01 -9.11869187e-03 1.89412268e+01] [ 1.83395481e-02 -5.95786169e-04 9.99831639e-01 1.57652133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93361786499997 meters 0.025242974184924397 Centerline is valid? [True, True] Translation: X:89.88, Y:18.96, Z:1.58 [[ 8.51055094e-01 -5.24826802e-01 -1.61880801e-02 8.98808392e+01] [ 5.24745214e-01 8.51208825e-01 -9.27341932e-03 1.89566890e+01] [ 1.86463756e-02 -6.02426781e-04 9.99825960e-01 1.57703753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96361786499997 meters 0.024535765483727292 Centerline is valid? [True, True] Translation: X:89.90, Y:18.97, Z:1.58 [[ 8.51768082e-01 -5.23652923e-01 -1.66958070e-02 8.99035823e+01] [ 5.23565796e-01 8.51931493e-01 -9.57024015e-03 1.89743454e+01] [ 1.92351680e-02 -5.89728380e-04 9.99814813e-01 1.57770142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99361786499998 meters 0.023919338535221137 Centerline is valid? [True, True] Translation: X:89.93, Y:18.99, Z:1.58 [[ 8.51933093e-01 -5.23387990e-01 -1.65836440e-02 8.99273742e+01] [ 5.23301881e-01 8.52094291e-01 -9.51111264e-03 1.89909355e+01] [ 1.91088305e-02 -5.75420500e-04 9.99817244e-01 1.57794775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02361786499998 meters 0.02423308546276129 Centerline is valid? [True, True] Translation: X:89.95, Y:19.00, Z:1.58 [[ 8.52339199e-01 -5.22719026e-01 -1.68139822e-02 8.99513123e+01] [ 5.22630281e-01 8.52504839e-01 -9.64822755e-03 1.90049587e+01] [ 1.93773133e-02 -5.63933678e-04 9.99812083e-01 1.57823959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05361786499998 meters 0.023874526042718253 Centerline is valid? [True, True] Translation: X:89.98, Y:19.02, Z:1.58 [[ 8.52532542e-01 -5.22403830e-01 -1.68078328e-02 8.99756058e+01] [ 5.22315026e-01 8.52698031e-01 -9.64787734e-03 1.90209491e+01] [ 1.93720940e-02 -5.53854270e-04 9.99812190e-01 1.57887526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08361786499998 meters 0.023940439891105548 Centerline is valid? [True, True] Translation: X:90.00, Y:19.04, Z:1.58 [[ 8.52894808e-01 -5.21789576e-01 -1.74952653e-02 8.99990562e+01] [ 5.21693117e-01 8.53074046e-01 -1.00480966e-02 1.90376073e+01] [ 2.01677488e-02 -5.57190022e-04 9.99796455e-01 1.57733702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11361786499998 meters 0.02285763888431523 Centerline is valid? [True, True] Translation: X:90.02, Y:19.05, Z:1.58 [[ 8.53152562e-01 -5.21344986e-01 -1.81689595e-02 9.00226626e+01] [ 5.21240730e-01 8.53345820e-01 -1.04408830e-02 1.90537074e+01] [ 2.09477076e-02 -5.62735625e-04 9.99780414e-01 1.57954585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14361786499998 meters 0.02285763888431523 Centerline is valid? [True, True] Translation: X:90.05, Y:19.07, Z:1.58 [[ 8.53010178e-01 -5.21578009e-01 -1.81663872e-02 9.00465537e+01] [ 5.21473711e-01 8.53203413e-01 -1.04453570e-02 1.90675169e+01] [ 2.09476920e-02 -5.63297536e-04 9.99780414e-01 1.57999707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17361786499998 meters 0.022658951408083557 Centerline is valid? [True, True] Translation: X:90.07, Y:19.08, Z:1.58 [[ 8.53128569e-01 -5.21388817e-01 -1.80373508e-02 9.00709772e+01] [ 5.21285822e-01 8.53319049e-01 -1.03775109e-02 1.90832008e+01] [ 2.08023332e-02 -5.49264208e-04 9.99783457e-01 1.58045379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20361786499998 meters 0.022295097477633467 Centerline is valid? [True, True] Translation: X:90.09, Y:19.10, Z:1.58 [[ 8.53603094e-01 -5.20601111e-01 -1.83368722e-02 9.00944234e+01] [ 5.20494359e-01 8.53799858e-01 -1.05557494e-02 1.91000911e+01] [ 2.11513537e-02 -5.33818164e-04 9.99776143e-01 1.58070637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23361786499999 meters 0.022166664386845353 Centerline is valid? [True, True] Translation: X:90.12, Y:19.12, Z:1.58 [[ 8.53799372e-01 -5.20280613e-01 -1.82952303e-02 9.01185990e+01] [ 5.20174150e-01 8.53995207e-01 -1.05375832e-02 1.91151310e+01] [ 2.11065392e-02 -5.19723979e-04 9.99777097e-01 1.58101968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26361786499999 meters 0.022502107458507732 Centerline is valid? [True, True] Translation: X:90.14, Y:19.13, Z:1.58 [[ 8.53690793e-01 -5.20432079e-01 -1.90389422e-02 9.01423106e+01] [ 5.20316679e-01 8.53902899e-01 -1.09723853e-02 1.91303594e+01] [ 2.19677893e-02 -5.39254851e-04 9.99758534e-01 1.57909006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29361786499997 meters 0.022146657202433292 Centerline is valid? [True, True] Translation: X:90.17, Y:19.14, Z:1.58 [[ 8.53637953e-01 -5.20514465e-01 -1.91555857e-02 9.01651959e+01] [ 5.20397536e-01 8.53852681e-01 -1.10455711e-02 1.91437383e+01] [ 2.21054278e-02 -5.39600859e-04 9.99755500e-01 1.58108859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32361786499997 meters 0.021704913771902538 Centerline is valid? [True, True] Translation: X:90.19, Y:19.16, Z:1.58 [[ 8.53324935e-01 -5.21031398e-01 -1.90483011e-02 9.01896409e+01] [ 5.20915820e-01 8.53537336e-01 -1.09874806e-02 1.91598497e+01] [ 2.19832585e-02 -5.46670269e-04 9.99758190e-01 1.58142323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35361786499998 meters 0.022428952205186915 Centerline is valid? [True, True] Translation: X:90.21, Y:19.17, Z:1.58 [[ 8.52949043e-01 -5.21637019e-01 -1.93067399e-02 9.02146136e+01] [ 5.21518323e-01 8.53167334e-01 -1.11417514e-02 1.91731155e+01] [ 2.22838299e-02 -5.65472408e-04 9.99751525e-01 1.58119992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38361786499998 meters 0.022471911283093227 Centerline is valid? [True, True] Translation: X:90.24, Y:19.19, Z:1.58 [[ 8.52276241e-01 -5.22739635e-01 -1.91959163e-02 9.02393360e+01] [ 5.22622507e-01 8.52492186e-01 -1.10809413e-02 1.91889634e+01] [ 2.21568158e-02 -5.88194899e-04 9.99754335e-01 1.58121110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41361786499998 meters 0.023279579582286807 Centerline is valid? [True, True] Translation: X:90.26, Y:19.20, Z:1.58 [[ 8.51693556e-01 -5.23676018e-01 -1.95323952e-02 9.02639809e+01] [ 5.23554879e-01 8.51917276e-01 -1.12802237e-02 1.92024263e+01] [ 2.25471676e-02 -6.18986951e-04 9.99745589e-01 1.58142172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44361786499998 meters 0.021796993830872753 Centerline is valid? [True, True] Translation: X:90.29, Y:19.22, Z:1.58 [[ 8.51193852e-01 -5.24493192e-01 -1.93886338e-02 9.02867759e+01] [ 5.24373970e-01 8.51414406e-01 -1.12004033e-02 1.92206352e+01] [ 2.23822974e-02 -6.33180444e-04 9.99749284e-01 1.58239115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47361786499998 meters 0.022206847816795095 Centerline is valid? [True, True] Translation: X:90.31, Y:19.24, Z:1.58 [[ 8.50118613e-01 -5.26256914e-01 -1.87617972e-02 9.03112360e+01] [ 5.26145578e-01 8.50325370e-01 -1.08441493e-02 1.92364933e+01] [ 2.16604406e-02 -6.52623495e-04 9.99765172e-01 1.58282584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50361786499998 meters 0.023972022405954 Centerline is valid? [True, True] Translation: X:90.34, Y:19.25, Z:1.58 [[ 8.49608010e-01 -5.27066038e-01 -1.91734298e-02 9.03362339e+01] [ 5.26949854e-01 8.49824055e-01 -1.10872479e-02 1.92485201e+01] [ 2.21377536e-02 -6.83621435e-04 9.99754696e-01 1.58231202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53361786499998 meters 0.022057857479023897 Centerline is valid? [True, True] Translation: X:90.36, Y:19.27, Z:1.58 [[ 8.48932731e-01 -5.28146434e-01 -1.93536315e-02 9.03590214e+01] [ 5.28028262e-01 8.49153009e-01 -1.11947297e-02 1.92676986e+01] [ 2.23466509e-02 -7.15691970e-04 9.99750026e-01 1.58312590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56361786499998 meters 0.023721200245114028 Centerline is valid? [True, True] Translation: X:90.38, Y:19.28, Z:1.58 [[ 8.47994724e-01 -5.29632260e-01 -1.98649810e-02 9.03834754e+01] [ 5.29508037e-01 8.48227020e-01 -1.14961900e-02 1.92805408e+01] [ 2.29387667e-02 -7.69958654e-04 9.99736575e-01 1.58210360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59361786499998 meters 0.02229191892539478 Centerline is valid? [True, True] Translation: X:90.41, Y:19.30, Z:1.58 [[ 8.47667613e-01 -5.30146462e-01 -2.01083907e-02 9.04060793e+01] [ 5.30019247e-01 8.47905716e-01 -1.16402078e-02 1.92981767e+01] [ 2.32210344e-02 -7.90806935e-04 9.99730043e-01 1.58232296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62361786499999 meters 0.02260075417384823 Centerline is valid? [True, True] Translation: X:90.43, Y:19.31, Z:1.58 [[ 8.47053641e-01 -5.31123898e-01 -2.01874719e-02 9.04307218e+01] [ 5.30995873e-01 8.47293772e-01 -1.16895594e-02 1.93130829e+01] [ 2.33133236e-02 -8.17780409e-04 9.99727873e-01 1.58255390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65361786499999 meters 0.023294394591715114 Centerline is valid? [True, True] Translation: X:90.45, Y:19.33, Z:1.58 [[ 8.46812502e-01 -5.31501823e-01 -2.03567789e-02 9.04543671e+01] [ 5.31371626e-01 8.47056741e-01 -1.17929039e-02 1.93278849e+01] [ 2.35112968e-02 -8.30636231e-04 9.99723226e-01 1.58184937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68361786499997 meters 0.023248882534551176 Centerline is valid? [True, True] Translation: X:90.48, Y:19.34, Z:1.58 [[ 8.46432534e-01 -5.32117079e-01 -2.00843261e-02 9.04786248e+01] [ 5.31990437e-01 8.46670373e-01 -1.16385275e-02 1.93438103e+01] [ 2.31978631e-02 -8.33441081e-04 9.99730546e-01 1.58181029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71361786499997 meters 0.022832216004514298 Centerline is valid? [True, True] Translation: X:90.50, Y:19.36, Z:1.58 [[ 8.46538043e-01 -5.31955444e-01 -1.99185100e-02 9.05019779e+01] [ 5.31830695e-01 8.46771952e-01 -1.15487232e-02 1.93606210e+01] [ 2.30098418e-02 -8.16841457e-04 9.99734905e-01 1.58222183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74361786499998 meters 0.02261395214446074 Centerline is valid? [True, True] Translation: X:90.53, Y:19.38, Z:1.58 [[ 8.46446976e-01 -5.32121593e-01 -1.93423542e-02 9.05254332e+01] [ 5.32003860e-01 8.46667575e-01 -1.12209680e-02 1.93755794e+01] [ 2.23474636e-02 -7.92252650e-04 9.99749950e-01 1.58296873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77361786499998 meters 0.02459755192936969 Centerline is valid? [True, True] Translation: X:90.55, Y:19.39, Z:1.58 [[ 8.46418620e-01 -5.32180005e-01 -1.89726621e-02 9.05502928e+01] [ 5.32066616e-01 8.46630878e-01 -1.10123817e-02 1.93867902e+01] [ 2.19234109e-02 -7.73635238e-04 9.99759354e-01 1.58291510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80361786499998 meters 0.021930071219738355 Centerline is valid? [True, True] Translation: X:90.57, Y:19.41, Z:1.58 [[ 8.46454731e-01 -5.32132034e-01 -1.87052438e-02 9.05722342e+01] [ 5.32021728e-01 8.46661044e-01 -1.08608605e-02 1.94062650e+01] [ 2.16164130e-02 -7.58369380e-04 9.99766050e-01 1.58409847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83361786499998 meters 0.02176059552583722 Centerline is valid? [True, True] Translation: X:90.60, Y:19.42, Z:1.58 [[ 8.46884500e-01 -5.31484974e-01 -1.76171867e-02 9.05965350e+01] [ 5.31386879e-01 8.47067436e-01 -1.02344889e-02 1.94228163e+01] [ 2.03624222e-02 -6.94111794e-04 9.99792423e-01 1.58489359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86361786499998 meters 0.02219861800056566 Centerline is valid? [True, True] Translation: X:90.62, Y:19.44, Z:1.59 [[ 8.47445875e-01 -5.30587730e-01 -1.76677845e-02 9.06207126e+01] [ 5.30488779e-01 8.47629761e-01 -1.02685818e-02 1.94365829e+01] [ 2.04241234e-02 -6.70494178e-04 9.99791181e-01 1.58554442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89361786499998 meters 0.022021637770392066 Centerline is valid? [True, True] Translation: X:90.65, Y:19.45, Z:1.59 [[ 8.47935537e-01 -5.29810448e-01 -1.74989738e-02 9.06453761e+01] [ 5.29713160e-01 8.48115838e-01 -1.01731377e-02 1.94522261e+01] [ 2.02309915e-02 -6.43271669e-04 9.99795126e-01 1.58611855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92361786499998 meters 0.020911332293924317 Centerline is valid? [True, True] Translation: X:90.67, Y:19.47, Z:1.59 [[ 8.48366357e-01 -5.29137574e-01 -1.69691371e-02 9.06687119e+01] [ 5.29045851e-01 8.48535835e-01 -9.87037497e-03 1.94697950e+01] [ 1.96217072e-02 -6.03757501e-04 9.99807293e-01 1.58688758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95361786499998 meters 0.020982947281673263 Centerline is valid? [True, True] Translation: X:90.69, Y:19.48, Z:1.59 [[ 8.49606235e-01 -5.27162871e-01 -1.63875957e-02 9.06923878e+01] [ 5.27076868e-01 8.49764097e-01 -9.53696832e-03 1.94845374e+01] [ 1.89531260e-02 -5.34854861e-04 9.99820230e-01 1.58782069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98361786499999 meters 0.020625798682528944 Centerline is valid? [True, True] Translation: X:90.72, Y:19.50, Z:1.59 [[ 8.50000356e-01 -5.26531154e-01 -1.62585108e-02 9.07167308e+01] [ 5.26446328e-01 8.50155680e-01 -9.46491054e-03 1.95002568e+01] [ 1.88058356e-02 -5.14055983e-04 9.99823022e-01 1.58880203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01361786499999 meters 0.020574287612730828 Centerline is valid? [True, True] Translation: X:90.74, Y:19.52, Z:1.59 [[ 8.50653596e-01 -5.25499415e-01 -1.54539570e-02 9.07403765e+01] [ 5.25422526e-01 8.50793836e-01 -9.00099771e-03 1.95155757e+01] [ 1.78781504e-02 -4.63126068e-04 9.99840066e-01 1.58910278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04361786499997 meters 0.020346670887265023 Centerline is valid? [True, True] Translation: X:90.76, Y:19.53, Z:1.59 [[ 8.50589093e-01 -5.25593399e-01 -1.58042333e-02 9.07638772e+01] [ 5.25512961e-01 8.50735772e-01 -9.20725265e-03 1.95308556e+01] [ 1.82844979e-02 -4.73740762e-04 9.99832712e-01 1.58942016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07361786499997 meters 0.019908133838437758 Centerline is valid? [True, True] Translation: X:90.79, Y:19.55, Z:1.59 [[ 8.50399670e-01 -5.25909539e-01 -1.54776233e-02 9.07872861e+01] [ 5.25832344e-01 8.50540381e-01 -9.02254514e-03 1.95458414e+01] [ 1.79093861e-02 -4.65865511e-04 9.99839506e-01 1.58946929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10361786499998 meters 0.02009404625303003 Centerline is valid? [True, True] Translation: X:90.81, Y:19.56, Z:1.59 [[ 8.49866346e-01 -5.26757188e-01 -1.59392050e-02 9.08119768e+01] [ 5.26675358e-01 8.50015660e-01 -9.29762438e-03 1.95603308e+01] [ 1.84461643e-02 -4.93048415e-04 9.99829733e-01 1.58928538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13361786499998 meters 0.02090505661571073 Centerline is valid? [True, True] Translation: X:90.84, Y:19.57, Z:1.59 [[ 8.48961422e-01 -5.28189725e-01 -1.67367371e-02 9.08365179e+01] [ 5.28099676e-01 8.49126207e-01 -9.76811815e-03 1.95732670e+01] [ 1.93710217e-02 -5.45909942e-04 9.99812215e-01 1.58830446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16361786499998 meters 0.020290282399782752 Centerline is valid? [True, True] Translation: X:90.86, Y:19.59, Z:1.59 [[ 8.48677549e-01 -5.28656104e-01 -1.64055391e-02 9.08603072e+01] [ 5.28569620e-01 8.48835926e-01 -9.57747605e-03 1.95887687e+01] [ 1.89888022e-02 -5.43280693e-04 9.99819549e-01 1.58845457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19361786499998 meters 0.021569634553709475 Centerline is valid? [True, True] Translation: X:90.89, Y:19.60, Z:1.59 [[ 8.47854833e-01 -5.29959354e-01 -1.68898019e-02 9.08859114e+01] [ 5.29867908e-01 8.48022840e-01 -9.86218686e-03 1.96007947e+01] [ 1.95494960e-02 -5.87661209e-04 9.99808718e-01 1.58840349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22361786499998 meters 0.021713022629553692 Centerline is valid? [True, True] Translation: X:90.91, Y:19.61, Z:1.59 [[ 8.47405676e-01 -5.30674883e-01 -1.69643581e-02 9.09107314e+01] [ 5.30582721e-01 8.47575249e-01 -9.90822912e-03 1.96149272e+01] [ 1.96366184e-02 -6.04705701e-04 9.99807000e-01 1.58928667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25361786499998 meters 0.020937538256906144 Centerline is valid? [True, True] Translation: X:90.93, Y:19.63, Z:1.59 [[ 8.47150020e-01 -5.31100048e-01 -1.64189977e-02 9.09344030e+01] [ 5.31013710e-01 8.47308911e-01 -9.59424764e-03 1.96306060e+01] [ 1.90074684e-02 -5.90945783e-04 9.99819167e-01 1.58974293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28361786499998 meters 0.021505536658131163 Centerline is valid? [True, True] Translation: X:90.96, Y:19.64, Z:1.59 [[ 8.46428215e-01 -5.32271089e-01 -1.57087222e-02 9.09586746e+01] [ 5.32192230e-01 8.46573765e-01 -9.18093783e-03 1.96438584e+01] [ 1.81853399e-02 -5.89055085e-04 9.99834460e-01 1.59038267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31361786499998 meters 0.02126465015466493 Centerline is valid? [True, True] Translation: X:90.98, Y:19.66, Z:1.59 [[ 8.45837646e-01 -5.33220589e-01 -1.53127710e-02 9.09836182e+01] [ 5.33145776e-01 8.45976036e-01 -8.95146731e-03 1.96588682e+01] [ 1.77273440e-02 -5.92451150e-04 9.99842683e-01 1.59124873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34361786499998 meters 0.02183544665456182 Centerline is valid? [True, True] Translation: X:91.01, Y:19.67, Z:1.59 [[ 8.45204386e-01 -5.34227774e-01 -1.51733660e-02 9.10079110e+01] [ 5.34154397e-01 8.45340358e-01 -8.87469066e-03 1.96716380e+01] [ 1.75677649e-02 -6.03992691e-04 9.99845492e-01 1.59203107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37361786499999 meters 0.021842164571006396 Centerline is valid? [True, True] Translation: X:91.03, Y:19.69, Z:1.59 [[ 8.44842906e-01 -5.34815812e-01 -1.45777545e-02 9.10328066e+01] [ 5.34748122e-01 8.44968461e-01 -8.52917240e-03 1.96862628e+01] [ 1.68792791e-02 -5.89616047e-04 9.99857361e-01 1.59273436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40361786499999 meters 0.021929141116743208 Centerline is valid? [True, True] Translation: X:91.06, Y:19.70, Z:1.59 [[ 8.44827665e-01 -5.34853177e-01 -1.40817403e-02 9.10567915e+01] [ 5.34789949e-01 8.44944826e-01 -8.24329622e-03 1.97015670e+01] [ 1.63072468e-02 -5.66608489e-04 9.99866867e-01 1.59325659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43361786499997 meters 0.022100517248249706 Centerline is valid? [True, True] Translation: X:91.08, Y:19.72, Z:1.59 [[ 8.45400008e-01 -5.33949679e-01 -1.40202257e-02 9.10809525e+01] [ 5.33886796e-01 8.45516083e-01 -8.21238167e-03 1.97158613e+01] [ 1.62393249e-02 -5.42465858e-04 9.99867986e-01 1.59382084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46361786499997 meters 0.022024559047570072 Centerline is valid? [True, True] Translation: X:91.11, Y:19.73, Z:1.59 [[ 8.45946077e-01 -5.33075695e-01 -1.43365953e-02 9.11052150e+01] [ 5.33009788e-01 8.46067383e-01 -8.39937425e-03 1.97307573e+01] [ 1.66072279e-02 -5.36127925e-04 9.99861947e-01 1.59400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49361786499998 meters 0.021068888609252753 Centerline is valid? [True, True] Translation: X:91.13, Y:19.75, Z:1.59 [[ 8.47776160e-01 -5.30146444e-01 -1.48435467e-02 9.11290723e+01] [ 5.30075263e-01 8.47905954e-01 -8.70111995e-03 1.97478394e+01] [ 1.71987994e-02 -4.91594882e-04 9.99851969e-01 1.59425827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52361786499998 meters 0.019960832039738124 Centerline is valid? [True, True] Translation: X:91.15, Y:19.76, Z:1.59 [[ 8.48682923e-01 -5.28682801e-01 -1.52247443e-02 9.11528403e+01] [ 5.28607602e-01 8.48819342e-01 -8.92905087e-03 1.97649306e+01] [ 1.76436930e-02 -4.69982581e-04 9.99844227e-01 1.59464897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55361786499998 meters 0.019074104005023837 Centerline is valid? [True, True] Translation: X:91.18, Y:19.78, Z:1.60 [[ 8.49459287e-01 -5.27448000e-01 -1.47488188e-02 9.11765526e+01] [ 5.27377166e-01 8.49587209e-01 -8.65442583e-03 1.97820116e+01] [ 1.70951674e-02 -4.26607869e-04 9.99853776e-01 1.59515918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58361786499998 meters 0.0181545561809767 Centerline is valid? [True, True] Translation: X:91.20, Y:19.80, Z:1.60 [[ 8.51363899e-01 -5.24369280e-01 -1.47095254e-02 9.12003438e+01] [ 5.24298285e-01 8.51490886e-01 -8.63598899e-03 1.97996403e+01] [ 1.70534742e-02 -3.59809702e-04 9.99854514e-01 1.59621917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61361786499998 meters 0.01798689007934561 Centerline is valid? [True, True] Translation: X:91.22, Y:19.81, Z:1.60 [[ 8.52178978e-01 -5.23050991e-01 -1.44447193e-02 9.12235642e+01] [ 5.22982303e-01 8.52301329e-01 -8.48270346e-03 1.98145652e+01] [ 1.67481399e-02 -3.25551006e-04 9.99859687e-01 1.59673262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64361786499998 meters 0.017598493569148967 Centerline is valid? [True, True] Translation: X:91.25, Y:19.83, Z:1.60 [[ 8.53589859e-01 -5.20764850e-01 -1.37231022e-02 9.12464146e+01] [ 5.20702534e-01 8.53700123e-01 -8.06042612e-03 1.98307014e+01] [ 1.59130006e-02 -2.65356077e-04 9.99873345e-01 1.59746276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67361786499998 meters 0.017268047923430885 Centerline is valid? [True, True] Translation: X:91.27, Y:19.85, Z:1.60 [[ 8.54131327e-01 -5.19877906e-01 -1.36615789e-02 9.12707249e+01] [ 5.19816012e-01 8.54240541e-01 -8.02573443e-03 1.98460648e+01] [ 1.58426765e-02 -2.46476237e-04 9.99874467e-01 1.59812168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70361786499998 meters 0.016990509325824122 Centerline is valid? [True, True] Translation: X:91.29, Y:19.86, Z:1.60 [[ 8.54340495e-01 -5.19541002e-01 -1.33964774e-02 9.12945764e+01] [ 5.19481381e-01 8.54445489e-01 -7.87411249e-03 1.98617884e+01] [ 1.55374839e-02 -2.32047395e-04 9.99879259e-01 1.59862805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73361786499999 meters 0.016984723990916314 Centerline is valid? [True, True] Translation: X:91.32, Y:19.88, Z:1.60 [[ 8.54607572e-01 -5.19099213e-01 -1.34872620e-02 9.13182891e+01] [ 5.19038645e-01 8.54713963e-01 -7.93261052e-03 1.98760531e+01] [ 1.56455630e-02 -2.21141178e-04 9.99877576e-01 1.59865687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76361786499999 meters 0.017385405657225423 Centerline is valid? [True, True] Translation: X:91.34, Y:19.89, Z:1.60 [[ 8.54285751e-01 -5.19627215e-01 -1.35430293e-02 9.13422173e+01] [ 5.19566175e-01 8.54393062e-01 -7.96778645e-03 1.98896520e+01] [ 1.57113490e-02 -2.29733504e-04 9.99876543e-01 1.59858002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79361786499997 meters 0.017046497212381828 Centerline is valid? [True, True] Translation: X:91.37, Y:19.91, Z:1.60 [[ 8.53760230e-01 -5.20488362e-01 -1.36138126e-02 9.13665412e+01] [ 5.20426768e-01 8.53868728e-01 -8.01086279e-03 1.99052921e+01] [ 1.57939697e-02 -2.45636454e-04 9.99875237e-01 1.59861957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82361786499997 meters 0.01757672280804308 Centerline is valid? [True, True] Translation: X:91.39, Y:19.92, Z:1.60 [[ 8.52979344e-01 -5.21766130e-01 -1.36507913e-02 9.13916933e+01] [ 5.21704293e-01 8.53088527e-01 -8.03714350e-03 1.99182559e+01] [ 1.58388427e-02 -2.66159014e-04 9.99874522e-01 1.59893000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85361786499998 meters 0.01719057408855625 Centerline is valid? [True, True] Translation: X:91.42, Y:19.93, Z:1.60 [[ 8.52042924e-01 -5.23290016e-01 -1.37990961e-02 9.14162559e+01] [ 5.23227003e-01 8.52154605e-01 -8.12598301e-03 1.99338029e+01] [ 1.60112091e-02 -2.96373391e-04 9.99871768e-01 1.59919568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88361786499998 meters 0.017948907506035644 Centerline is valid? [True, True] Translation: X:91.44, Y:19.95, Z:1.60 [[ 8.50371406e-01 -5.25992605e-01 -1.41510140e-02 9.14414049e+01] [ 5.25926633e-01 8.50489068e-01 -8.33798954e-03 1.99457185e+01] [ 1.64210036e-02 -3.52007259e-04 9.99865104e-01 1.59980883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91361786499998 meters 0.018130396719224312 Centerline is valid? [True, True] Translation: X:91.47, Y:19.96, Z:1.60 [[ 8.49514186e-01 -5.27376271e-01 -1.41392099e-02 9.14665662e+01] [ 5.27310572e-01 8.49631760e-01 -8.33268015e-03 1.99598164e+01] [ 1.64075796e-02 -3.77024886e-04 9.99865316e-01 1.60033159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94361786499998 meters 0.019066370437539833 Centerline is valid? [True, True] Translation: X:91.49, Y:19.97, Z:1.60 [[ 8.48368365e-01 -5.29216190e-01 -1.41894934e-02 9.14918186e+01] [ 5.29150204e-01 8.48486922e-01 -8.36693800e-03 1.99722527e+01] [ 1.64675186e-02 -4.10127805e-04 9.99864317e-01 1.60041470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97361786499998 meters 0.0191666659818827 Centerline is valid? [True, True] Translation: X:91.52, Y:19.99, Z:1.60 [[ 8.47935480e-01 -5.29909846e-01 -1.41765997e-02 9.15166495e+01] [ 5.29844050e-01 8.48053876e-01 -8.36097668e-03 1.99871425e+01] [ 1.64530842e-02 -4.21818197e-04 9.99864550e-01 1.60050627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00361786499998 meters 0.01973449836876972 Centerline is valid? [True, True] Translation: X:91.54, Y:20.00, Z:1.60 [[ 8.47678473e-01 -5.30311800e-01 -1.45120655e-02 9.15408111e+01] [ 5.30242833e-01 8.47802574e-01 -8.56351735e-03 2.00001172e+01] [ 1.68447007e-02 -4.35809378e-04 9.99858023e-01 1.60047526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03361786499998 meters 0.01901628732598469 Centerline is valid? [True, True] Translation: X:91.57, Y:20.02, Z:1.60 [[ 8.47206452e-01 -5.31053049e-01 -1.49628794e-02 9.15653064e+01] [ 5.30979797e-01 8.47338448e-01 -8.83229490e-03 2.00159452e+01] [ 1.73690401e-02 -4.62209436e-04 9.99849040e-01 1.60075244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06361786499998 meters 0.01901628732598469 Centerline is valid? [True, True] Translation: X:91.59, Y:20.03, Z:1.60 [[ 8.47060562e-01 -5.31285781e-01 -1.49607392e-02 9.15890233e+01] [ 5.31212502e-01 8.47192543e-01 -8.83591863e-03 2.00300237e+01] [ 1.73690246e-02 -4.62773515e-04 9.99849040e-01 1.60120361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09361786499998 meters 0.0193100978518254 Centerline is valid? [True, True] Translation: X:91.61, Y:20.04, Z:1.60 [[ 8.46986617e-01 -5.31395415e-01 -1.52507041e-02 9.16126470e+01] [ 5.31319187e-01 8.47123777e-01 -9.01269071e-03 2.00433877e+01] [ 1.77085366e-02 -4.69363316e-04 9.99843081e-01 1.60166646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12361786499999 meters 0.019302494024941042 Centerline is valid? [True, True] Translation: X:91.64, Y:20.06, Z:1.60 [[ 8.46829039e-01 -5.31644460e-01 -1.53214908e-02 9.16364550e+01] [ 5.31567515e-01 8.46967498e-01 -9.05724352e-03 2.00576614e+01] [ 1.77920381e-02 -4.74469979e-04 9.99841597e-01 1.60220787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15361786499999 meters 0.019673219879378024 Centerline is valid? [True, True] Translation: X:91.66, Y:20.07, Z:1.60 [[ 8.47150782e-01 -5.31132909e-01 -1.52769552e-02 9.16606961e+01] [ 5.31056234e-01 8.47288394e-01 -9.03623015e-03 2.00710774e+01] [ 1.77434261e-02 -4.57872869e-04 9.99842468e-01 1.60234813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18361786499997 meters 0.01955187365056777 Centerline is valid? [True, True] Translation: X:91.68, Y:20.09, Z:1.60 [[ 8.47200937e-01 -5.31055200e-01 -1.51969531e-02 9.16847450e+01] [ 5.30979278e-01 8.47337105e-01 -8.99090021e-03 2.00853649e+01] [ 1.76516066e-02 -4.52168125e-04 9.99844096e-01 1.60322126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21361786499997 meters 0.018694042161149917 Centerline is valid? [True, True] Translation: X:91.71, Y:20.10, Z:1.60 [[ 8.47168771e-01 -5.31102519e-01 -1.53358481e-02 9.17082142e+01] [ 5.31025110e-01 8.47307447e-01 -9.07869846e-03 2.01016556e+01] [ 1.78158979e-02 -4.52530627e-04 9.99841182e-01 1.60396212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24361786499998 meters 0.020133635774539114 Centerline is valid? [True, True] Translation: X:91.73, Y:20.11, Z:1.60 [[ 8.47544542e-01 -5.30490809e-01 -1.57401308e-02 9.17335362e+01] [ 5.30409055e-01 8.47690570e-01 -9.32369466e-03 2.01132566e+01] [ 1.82888948e-02 -4.46461386e-04 9.99832644e-01 1.60395212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27361786499998 meters 0.01896989559102696 Centerline is valid? [True, True] Translation: X:91.76, Y:20.13, Z:1.60 [[ 8.47683001e-01 -5.30269965e-01 -1.57256258e-02 9.17571025e+01] [ 5.30188284e-01 8.47828740e-01 -9.31727421e-03 2.01303241e+01] [ 1.82733082e-02 -4.39447624e-04 9.99832933e-01 1.60434647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30361786499998 meters 0.018792999001322797 Centerline is valid? [True, True] Translation: X:91.78, Y:20.15, Z:1.60 [[ 8.47940652e-01 -5.29852641e-01 -1.59005968e-02 9.17815964e+01] [ 5.29768964e-01 8.48089614e-01 -9.42614832e-03 2.01452433e+01] [ 1.84796006e-02 -4.30828340e-04 9.99829145e-01 1.60464054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33361786499998 meters 0.01885667086253401 Centerline is valid? [True, True] Translation: X:91.81, Y:20.16, Z:1.61 [[ 8.48247565e-01 -5.29363623e-01 -1.58184547e-02 9.18053778e+01] [ 5.29280635e-01 8.48394946e-01 -9.38221923e-03 2.01591358e+01] [ 1.83869025e-02 -4.13957107e-04 9.99830861e-01 1.60530745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36361786499998 meters 0.018772828548884672 Centerline is valid? [True, True] Translation: X:91.83, Y:20.17, Z:1.61 [[ 8.48675597e-01 -5.28679862e-01 -1.57269052e-02 9.18298451e+01] [ 5.28597675e-01 8.48821211e-01 -9.33005952e-03 2.01739150e+01] [ 1.82819453e-02 -3.95011704e-04 9.99832793e-01 1.60633455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39361786499998 meters 0.018858705434817928 Centerline is valid? [True, True] Translation: X:91.85, Y:20.19, Z:1.61 [[ 8.48628529e-01 -5.28742450e-01 -1.61567512e-02 9.18543153e+01] [ 5.28655618e-01 8.48782221e-01 -9.59050719e-03 2.01880922e+01] [ 1.87844714e-02 -4.02579278e-04 9.99823475e-01 1.60685211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42361786499998 meters 0.018738707737858563 Centerline is valid? [True, True] Translation: X:91.88, Y:20.20, Z:1.61 [[ 8.48565563e-01 -5.28835427e-01 -1.64188090e-02 9.18784874e+01] [ 5.28745655e-01 8.48724294e-01 -9.75220095e-03 2.02022503e+01] [ 1.90923514e-02 -4.05992039e-04 9.99817642e-01 1.60742199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45361786499998 meters 0.019025185942151954 Centerline is valid? [True, True] Translation: X:91.90, Y:20.22, Z:1.61 [[ 8.48078364e-01 -5.29604861e-01 -1.67862881e-02 9.19039152e+01] [ 5.29511055e-01 8.48244368e-01 -9.97669611e-03 2.02165450e+01] [ 1.95225811e-02 -4.27505024e-04 9.99809325e-01 1.60782736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48361786499999 meters 0.019478886883883564 Centerline is valid? [True, True] Translation: X:91.93, Y:20.23, Z:1.61 [[ 8.46965200e-01 -5.31374562e-01 -1.70594780e-02 9.19299310e+01] [ 5.31277924e-01 8.47136856e-01 -1.01446626e-02 2.02287793e+01] [ 1.98423282e-02 -4.71147892e-04 9.99803011e-01 1.60820060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51361786499999 meters 0.01963200348219359 Centerline is valid? [True, True] Translation: X:91.96, Y:20.24, Z:1.61 [[ 8.46111373e-01 -5.32730982e-01 -1.71244155e-02 9.19556689e+01] [ 5.32633774e-01 8.46284497e-01 -1.01888489e-02 2.02421264e+01] [ 1.99200428e-02 -5.00141074e-04 9.99801451e-01 1.60914777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54361786499997 meters 0.02060947391510157 Centerline is valid? [True, True] Translation: X:91.98, Y:20.25, Z:1.61 [[ 8.44991336e-01 -5.34503916e-01 -1.71815761e-02 9.19810519e+01] [ 5.34406323e-01 8.45165826e-01 -1.02278246e-02 2.02539024e+01] [ 1.99880933e-02 -5.39519708e-04 9.99800073e-01 1.60960421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57361786499997 meters 0.020686787711247247 Centerline is valid? [True, True] Translation: X:92.01, Y:20.27, Z:1.61 [[ 8.42833157e-01 -5.37922208e-01 -1.64914348e-02 9.20076094e+01] [ 5.37832908e-01 8.42994274e-01 -9.81923320e-03 2.02676001e+01] [ 1.91841687e-02 -5.93661037e-04 9.99815791e-01 1.61092854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60361786499998 meters 0.021105419024056552 Centerline is valid? [True, True] Translation: X:92.03, Y:20.28, Z:1.61 [[ 8.41802299e-01 -5.39544947e-01 -1.61288319e-02 9.20336709e+01] [ 5.39459743e-01 8.41956575e-01 -9.60787328e-03 2.02809409e+01] [ 1.87636555e-02 -6.12925670e-04 9.99823759e-01 1.61172132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63361786499998 meters 0.021946167182641738 Centerline is valid? [True, True] Translation: X:92.06, Y:20.29, Z:1.61 [[ 8.39940665e-01 -5.42452832e-01 -1.56398504e-02 9.20610726e+01] [ 5.42373129e-01 8.40086006e-01 -9.32149966e-03 2.02933579e+01] [ 1.81952934e-02 -6.53127988e-04 9.99834239e-01 1.61248042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66361786499998 meters 0.022070511303020506 Centerline is valid? [True, True] Translation: X:92.09, Y:20.31, Z:1.61 [[ 8.38932638e-01 -5.44016961e-01 -1.54134786e-02 9.20862126e+01] [ 5.43939734e-01 8.39073950e-01 -9.19089319e-03 2.03073764e+01] [ 1.79330502e-02 -6.73463203e-04 9.99838963e-01 1.61337169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69361786499998 meters 0.022394313250500196 Centerline is valid? [True, True] Translation: X:92.11, Y:20.32, Z:1.61 [[ 8.38207632e-01 -5.45147625e-01 -1.49007639e-02 9.21113503e+01] [ 5.45075547e-01 8.38339798e-01 -8.88990544e-03 2.03211444e+01] [ 1.73382143e-02 -6.70455464e-04 9.99849457e-01 1.61353982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72361786499998 meters 0.023332966018243567 Centerline is valid? [True, True] Translation: X:92.14, Y:20.33, Z:1.61 [[ 8.37251111e-01 -5.46614430e-01 -1.49412792e-02 9.21362394e+01] [ 5.46542110e-01 8.37384127e-01 -8.91883618e-03 2.03327305e+01] [ 1.73867546e-02 -6.98732773e-04 9.99848595e-01 1.61349062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75361786499998 meters 0.023839872398981957 Centerline is valid? [True, True] Translation: X:92.16, Y:20.35, Z:1.61 [[ 8.36926414e-01 -5.47102050e-01 -1.52814930e-02 9.21610752e+01] [ 5.47026442e-01 8.37065603e-01 -9.12406728e-03 2.03461769e+01] [ 1.77834081e-02 -7.23207856e-04 9.99841601e-01 1.61372403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78361786499998 meters 0.02381769461867614 Centerline is valid? [True, True] Translation: X:92.19, Y:20.36, Z:1.61 [[ 8.36886088e-01 -5.47158121e-01 -1.54811551e-02 9.21854306e+01] [ 5.47080494e-01 8.37028945e-01 -9.24542831e-03 2.03604686e+01] [ 1.80168861e-02 -7.32067655e-04 9.99837415e-01 1.61391350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81361786499998 meters 0.022500679001562288 Centerline is valid? [True, True] Translation: X:92.21, Y:20.38, Z:1.61 [[ 8.37384023e-01 -5.46388811e-01 -1.57246671e-02 9.22092100e+01] [ 5.46308482e-01 8.37531340e-01 -9.39665257e-03 2.03771103e+01] [ 1.83041274e-02 -7.21912302e-04 9.99832205e-01 1.61480094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84361786499998 meters 0.02293479269436 Centerline is valid? [True, True] Translation: X:92.23, Y:20.39, Z:1.62 [[ 8.37919725e-01 -5.45565869e-01 -1.57612349e-02 9.22336037e+01] [ 5.45484931e-01 8.38067653e-01 -9.42335277e-03 2.03910734e+01] [ 1.83500407e-02 -7.01502940e-04 9.99831378e-01 1.61560521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87361786499999 meters 0.02199978930755978 Centerline is valid? [True, True] Translation: X:92.26, Y:20.41, Z:1.62 [[ 8.38590571e-01 -5.44538720e-01 -1.56024331e-02 9.22573653e+01] [ 5.44459189e-01 8.38735437e-01 -9.33053982e-03 2.04078603e+01] [ 1.81671538e-02 -6.70385358e-04 9.99834739e-01 1.61629001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90361786499997 meters 0.022347911200650925 Centerline is valid? [True, True] Translation: X:92.28, Y:20.42, Z:1.62 [[ 8.39465074e-01 -5.43203937e-01 -1.50954413e-02 9.22816747e+01] [ 5.43129190e-01 8.39600561e-01 -9.03219193e-03 2.04223126e+01] [ 1.75804632e-02 -6.16565145e-04 9.99845262e-01 1.61672750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93361786499997 meters 0.022725716776822138 Centerline is valid? [True, True] Translation: X:92.31, Y:20.44, Z:1.62 [[ 8.41523160e-01 -5.40033048e-01 -1.42505394e-02 9.23055201e+01] [ 5.39965907e-01 8.41643654e-01 -8.53102981e-03 2.04374034e+01] [ 1.66009141e-02 -5.15746257e-04 9.99862062e-01 1.61710733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96361786499997 meters 0.022805141732794902 Centerline is valid? [True, True] Translation: X:92.33, Y:20.45, Z:1.62 [[ 8.42447681e-01 -5.38595170e-01 -1.40409481e-02 9.23294687e+01] [ 5.38529770e-01 8.42564545e-01 -8.40673599e-03 2.04519480e+01] [ 1.63582325e-02 -4.79233321e-04 9.99866080e-01 1.61786110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99361786499998 meters 0.020881664947566114 Centerline is valid? [True, True] Translation: X:92.35, Y:20.47, Z:1.62 [[ 8.43423638e-01 -5.37069078e-01 -1.39058078e-02 9.23521610e+01] [ 5.37004688e-01 8.43538149e-01 -8.32803347e-03 2.04707147e+01] [ 1.62028086e-02 -4.43423671e-04 9.99868628e-01 1.61831731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02361786499998 meters 0.02067890272513129 Centerline is valid? [True, True] Translation: X:92.38, Y:20.49, Z:1.62 [[ 8.45730254e-01 -5.33442940e-01 -1.33778279e-02 9.23755154e+01] [ 5.33382826e-01 8.45835979e-01 -8.01613475e-03 2.04860646e+01] [ 1.55915986e-02 -3.56015975e-04 9.99878380e-01 1.61866741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05361786499998 meters 0.02098172898914218 Centerline is valid? [True, True] Translation: X:92.40, Y:20.50, Z:1.62 [[ 8.46901747e-01 -5.31578538e-01 -1.34792297e-02 9.23995002e+01] [ 5.31517237e-01 8.47008946e-01 -8.07912780e-03 2.04998089e+01] [ 1.57117191e-02 -3.22215473e-04 9.99876511e-01 1.61870640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08361786499998 meters 0.01964466664129005 Centerline is valid? [True, True] Translation: X:92.42, Y:20.52, Z:1.62 [[ 8.48026569e-01 -5.29789211e-01 -1.32033960e-02 9.24222417e+01] [ 5.29730157e-01 8.48129302e-01 -7.91506664e-03 2.05182595e+01] [ 1.53915039e-02 -2.82050213e-04 9.99881504e-01 1.61919635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11361786499998 meters 0.019466985501443962 Centerline is valid? [True, True] Translation: X:92.45, Y:20.53, Z:1.62 [[ 8.50320354e-01 -5.26106449e-01 -1.29344387e-02 9.24450147e+01] [ 5.26049284e-01 8.50418698e-01 -7.75822129e-03 2.05344702e+01] [ 1.50813388e-02 -2.07178741e-04 9.99886249e-01 1.61910568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14361786499998 meters 0.0189979568021604 Centerline is valid? [True, True] Translation: X:92.47, Y:20.55, Z:1.62 [[ 8.51164540e-01 -5.24751188e-01 -1.24546132e-02 9.24691852e+01] [ 5.24698025e-01 8.51255637e-01 -7.47146928e-03 2.05499654e+01] [ 1.45227220e-02 -1.75461209e-04 9.99894524e-01 1.62058070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17361786499998 meters 0.018892254030416007 Centerline is valid? [True, True] Translation: X:92.49, Y:20.56, Z:1.62 [[ 8.51911717e-01 -5.23544349e-01 -1.21548837e-02 9.24931373e+01] [ 5.23493533e-01 8.51998411e-01 -7.29576828e-03 2.05645878e+01] [ 1.41755999e-02 -1.47652546e-04 9.99899510e-01 1.62128652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20361786499998 meters 0.018774014359302788 Centerline is valid? [True, True] Translation: X:92.52, Y:20.58, Z:1.62 [[ 8.52684485e-01 -5.22289730e-01 -1.19418262e-02 9.25178858e+01] [ 5.22240533e-01 8.52768094e-01 -7.16957375e-03 2.05797746e+01] [ 1.39282031e-02 -1.23121381e-04 9.99902990e-01 1.62166599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23361786499999 meters 0.01877452232945245 Centerline is valid? [True, True] Translation: X:92.54, Y:20.59, Z:1.62 [[ 8.52822868e-01 -5.22062187e-01 -1.20095499e-02 9.25415475e+01] [ 5.22012349e-01 8.52907415e-01 -7.21441853e-03 2.05932890e+01] [ 1.40094093e-02 -1.16512278e-04 9.99901857e-01 1.62173297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26361786499999 meters 0.01879808379239621 Centerline is valid? [True, True] Translation: X:92.57, Y:20.61, Z:1.62 [[ 8.52623468e-01 -5.22385473e-01 -1.21094677e-02 9.25659601e+01] [ 5.22334813e-01 8.52709448e-01 -7.27598383e-03 2.06076970e+01] [ 1.41267257e-02 -1.21521961e-04 9.99900205e-01 1.62157833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29361786499997 meters 0.019044407248903734 Centerline is valid? [True, True] Translation: X:92.59, Y:20.62, Z:1.62 [[ 8.51881459e-01 -5.23594858e-01 -1.20997372e-02 9.25919491e+01] [ 5.23544339e-01 8.51967373e-01 -7.27457754e-03 2.06211808e+01] [ 1.41175128e-02 -1.37671208e-04 9.99900333e-01 1.62189607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32361786499997 meters 0.01919489292394855 Centerline is valid? [True, True] Translation: X:92.62, Y:20.63, Z:1.62 [[ 8.51244443e-01 -5.24622810e-01 -1.24018535e-02 9.26164147e+01] [ 5.24569782e-01 8.51334766e-01 -7.46058563e-03 2.06338785e+01] [ 1.44721224e-02 -1.54855536e-04 9.99895261e-01 1.62219518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35361786499998 meters 0.01945813580340832 Centerline is valid? [True, True] Translation: X:92.64, Y:20.65, Z:1.62 [[ 8.50442104e-01 -5.25925652e-01 -1.22652317e-02 9.26414052e+01] [ 5.25873904e-01 8.50530527e-01 -7.37965984e-03 2.06474150e+01] [ 1.43131064e-02 -1.73991818e-04 9.99897547e-01 1.62284266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38361786499998 meters 0.019694479855139876 Centerline is valid? [True, True] Translation: X:92.67, Y:20.66, Z:1.62 [[ 8.49726468e-01 -5.27084580e-01 -1.21150964e-02 9.26666445e+01] [ 5.27034184e-01 8.49812809e-01 -7.29101188e-03 2.06610562e+01] [ 1.41385440e-02 -1.89704174e-04 9.99900028e-01 1.62331882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41361786499998 meters 0.020223045288195355 Centerline is valid? [True, True] Translation: X:92.69, Y:20.67, Z:1.62 [[ 8.48353122e-01 -5.29300018e-01 -1.17673444e-02 9.26922150e+01] [ 5.29252633e-01 8.48434702e-01 -7.08565665e-03 2.06727255e+01] [ 1.37342616e-02 -2.16759084e-04 9.99905657e-01 1.62388533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44361786499998 meters 0.02061888724068354 Centerline is valid? [True, True] Translation: X:92.72, Y:20.69, Z:1.62 [[ 8.47675599e-01 -5.30383429e-01 -1.18109160e-02 9.27179997e+01] [ 5.30335786e-01 8.47757845e-01 -7.11274668e-03 2.06859750e+01] [ 1.37852797e-02 -2.34449619e-04 9.99904951e-01 1.62461599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47361786499998 meters 0.019900621699797557 Centerline is valid? [True, True] Translation: X:92.74, Y:20.70, Z:1.62 [[ 8.47012059e-01 -5.31437879e-01 -1.20147233e-02 9.27417068e+01] [ 5.31388632e-01 8.47097230e-01 -7.23911135e-03 2.07018477e+01] [ 1.40247768e-02 -2.52872793e-04 9.99901616e-01 1.62463675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50361786499998 meters 0.021133236776228106 Centerline is valid? [True, True] Translation: X:92.77, Y:20.71, Z:1.62 [[ 8.45637572e-01 -5.33596426e-01 -1.31129758e-02 9.27682538e+01] [ 5.33537948e-01 8.45739178e-01 -7.90576260e-03 2.07115184e+01] [ 1.53086440e-02 -3.10860284e-04 9.99882768e-01 1.62455722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53361786499998 meters 0.023008895514138095 Centerline is valid? [True, True] Translation: X:92.79, Y:20.73, Z:1.62 [[ 8.44603991e-01 -5.35222965e-01 -1.34341222e-02 9.27934272e+01] [ 5.35161769e-01 8.44710754e-01 -8.10086465e-03 2.07251300e+01] [ 1.56837163e-02 -3.47405993e-04 9.99876943e-01 1.62143061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56361786499998 meters 0.02120643318810312 Centerline is valid? [True, True] Translation: X:92.82, Y:20.74, Z:1.62 [[ 8.43298615e-01 -5.37260847e-01 -1.40793342e-02 9.28184136e+01] [ 5.37193839e-01 8.43416044e-01 -8.49451944e-03 2.07400999e+01] [ 1.64385091e-02 -3.99915121e-04 9.99864799e-01 1.62471085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59361786499998 meters 0.02099301298486648 Centerline is valid? [True, True] Translation: X:92.84, Y:20.75, Z:1.62 [[ 8.42701474e-01 -5.38199070e-01 -1.39995070e-02 9.28430770e+01] [ 5.38132875e-01 8.42817650e-01 -8.45090062e-03 2.07548264e+01] [ 1.63472985e-02 -4.12008558e-04 9.99866289e-01 1.62468325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62361786499999 meters 0.021029969486905786 Centerline is valid? [True, True] Translation: X:92.87, Y:20.77, Z:1.63 [[ 8.42232196e-01 -5.38927583e-01 -1.42122620e-02 9.28680095e+01] [ 5.38859384e-01 8.42351991e-01 -8.58414930e-03 2.07689330e+01] [ 1.65979620e-02 -4.28563847e-04 9.99862152e-01 1.62510726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65361786499997 meters 0.02140457413261276 Centerline is valid? [True, True] Translation: X:92.89, Y:20.78, Z:1.63 [[ 8.41897394e-01 -5.39445802e-01 -1.43876720e-02 9.28930142e+01] [ 5.39375904e-01 8.42020209e-01 -8.69491822e-03 2.07806803e+01] [ 1.68051478e-02 -4.40134618e-04 9.99858687e-01 1.62607736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68361786499997 meters 0.021572211594017468 Centerline is valid? [True, True] Translation: X:92.92, Y:20.79, Z:1.63 [[ 8.42082568e-01 -5.39155758e-01 -1.44227982e-02 9.29175244e+01] [ 5.39085446e-01 8.42205961e-01 -8.71789117e-03 2.07941423e+01] [ 1.68472678e-02 -4.33936400e-04 9.99857981e-01 1.62655163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71361786499997 meters 0.02121952068111119 Centerline is valid? [True, True] Translation: X:92.94, Y:20.81, Z:1.63 [[ 8.42272105e-01 -5.38861877e-01 -1.43380494e-02 9.29416831e+01] [ 5.38792303e-01 8.42394028e-01 -8.66921798e-03 2.08095136e+01] [ 1.67497983e-02 -4.23390211e-04 9.99859623e-01 1.62722684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74361786499998 meters 0.021722326036830872 Centerline is valid? [True, True] Translation: X:92.97, Y:20.82, Z:1.63 [[ 8.42590819e-01 -5.38373150e-01 -1.39664951e-02 9.29660851e+01] [ 5.38306994e-01 8.42706469e-01 -8.44910801e-03 2.08223910e+01] [ 1.63184287e-02 -3.99121172e-04 9.99866766e-01 1.62757735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77361786499998 meters 0.021061209487054425 Centerline is valid? [True, True] Translation: X:92.99, Y:20.84, Z:1.63 [[ 8.43709043e-01 -5.36629603e-01 -1.35543486e-02 9.29904264e+01] [ 5.36567047e-01 8.43817838e-01 -8.20122639e-03 2.08386955e+01] [ 1.58384220e-02 -3.53367924e-04 9.99874502e-01 1.62831614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80361786499998 meters 0.020897716783464356 Centerline is valid? [True, True] Translation: X:93.02, Y:20.85, Z:1.63 [[ 8.44272511e-01 -5.35745948e-01 -1.34240564e-02 9.30151595e+01] [ 5.35684409e-01 8.44379163e-01 -8.12672497e-03 2.08541926e+01] [ 1.56888535e-02 -3.29887246e-04 9.99876868e-01 1.62878745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83361786499998 meters 0.02044518972591845 Centerline is valid? [True, True] Translation: X:93.04, Y:20.87, Z:1.63 [[ 8.45034928e-01 -5.34542339e-01 -1.34334920e-02 9.30394608e+01] [ 5.34480493e-01 8.45141642e-01 -8.13681560e-03 2.08697531e+01] [ 1.57026759e-02 -3.04046017e-04 9.99876659e-01 1.62948069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86361786499998 meters 0.02020399938917227 Centerline is valid? [True, True] Translation: X:93.06, Y:20.88, Z:1.63 [[ 8.46610098e-01 -5.32055896e-01 -1.29562917e-02 9.30640882e+01] [ 5.31998012e-01 8.46709196e-01 -7.85190752e-03 2.08839153e+01] [ 1.51478650e-02 -2.45217246e-04 9.99885234e-01 1.63002495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89361786499998 meters 0.020144597682944493 Centerline is valid? [True, True] Translation: X:93.09, Y:20.90, Z:1.63 [[ 8.47275726e-01 -5.31001746e-01 -1.26881784e-02 9.30882780e+01] [ 5.30946050e-01 8.47370697e-01 -7.69379324e-03 2.08986034e+01] [ 1.48370082e-02 -2.17973922e-04 9.99889902e-01 1.63084247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92361786499998 meters 0.019827839556870914 Centerline is valid? [True, True] Translation: X:93.11, Y:20.91, Z:1.63 [[ 8.47956628e-01 -5.29916043e-01 -1.25914618e-02 9.31126991e+01] [ 5.29861055e-01 8.48050087e-01 -7.63627275e-03 2.09146639e+01] [ 1.47247737e-02 -1.96497168e-04 9.99891565e-01 1.63122940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95361786499998 meters 0.019827839556870914 Centerline is valid? [True, True] Translation: X:93.14, Y:20.93, Z:1.63 [[ 8.47810820e-01 -5.30149333e-01 -1.25896529e-02 9.31362454e+01] [ 5.30094327e-01 8.47904267e-01 -7.63925385e-03 2.09290269e+01] [ 1.47247657e-02 -1.97061514e-04 9.99891565e-01 1.63168047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98361786499999 meters 0.019759132480412254 Centerline is valid? [True, True] Translation: X:93.16, Y:20.94, Z:1.63 [[ 8.48287999e-01 -5.29379743e-01 -1.28280367e-02 9.31607793e+01] [ 5.29322471e-01 8.48384968e-01 -7.78888902e-03 2.09441507e+01] [ 1.50063936e-02 -1.82947022e-04 9.99887381e-01 1.63192357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01361786499999 meters 0.019647967152370594 Centerline is valid? [True, True] Translation: X:93.19, Y:20.96, Z:1.63 [[ 8.48991074e-01 -5.28238543e-01 -1.33490992e-02 9.31857498e+01] [ 5.28176311e-01 8.49095999e-01 -8.10985347e-03 2.09591753e+01] [ 1.56186039e-02 -1.65484781e-04 9.99878008e-01 1.63187825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04361786499997 meters 0.019568045964390518 Centerline is valid? [True, True] Translation: X:93.21, Y:20.97, Z:1.63 [[ 8.49181536e-01 -5.27927866e-01 -1.35235392e-02 9.32100408e+01] [ 5.27863887e-01 8.49289199e-01 -8.22031881e-03 2.09730411e+01] [ 1.58251312e-02 -1.58045029e-04 9.99874762e-01 1.63219363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07361786499997 meters 0.019562727919150362 Centerline is valid? [True, True] Translation: X:93.23, Y:20.99, Z:1.63 [[ 8.48966866e-01 -5.28262572e-01 -1.39253942e-02 9.32345099e+01] [ 5.28194691e-01 8.49081049e-01 -8.46995218e-03 2.09869283e+01] [ 1.62981470e-02 -1.64610528e-04 9.99867163e-01 1.63245140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10361786499998 meters 0.019907010770277192 Centerline is valid? [True, True] Translation: X:93.26, Y:21.00, Z:1.63 [[ 8.48393495e-01 -5.29175970e-01 -1.41869999e-02 9.32598572e+01] [ 5.29105554e-01 8.48512086e-01 -8.63439522e-03 2.09982240e+01] [ 1.66069553e-02 -1.81055689e-04 9.99862079e-01 1.63298829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13361786499998 meters 0.019838343842892042 Centerline is valid? [True, True] Translation: X:93.28, Y:21.01, Z:1.63 [[ 8.47835531e-01 -5.30068089e-01 -1.42384296e-02 9.32849009e+01] [ 5.29997259e-01 8.47955059e-01 -8.66738605e-03 2.10129392e+01] [ 1.66678532e-02 -1.97810808e-04 9.99861062e-01 1.63317883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16361786499998 meters 0.020057251832285412 Centerline is valid? [True, True] Translation: X:93.31, Y:21.03, Z:1.63 [[ 8.46773643e-01 -5.31761453e-01 -1.42882677e-02 9.33105986e+01] [ 5.31690290e-01 8.46894152e-01 -8.70232416e-03 2.10258424e+01] [ 1.67282109e-02 -2.28034470e-04 9.99860048e-01 1.63384749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19361786499998 meters 0.020059095060291632 Centerline is valid? [True, True] Translation: X:93.34, Y:21.04, Z:1.63 [[ 8.46190522e-01 -5.32693619e-01 -1.41105836e-02 9.33363073e+01] [ 5.32624269e-01 8.46308130e-01 -8.59865688e-03 2.10400291e+01] [ 1.65223512e-02 -2.39537311e-04 9.99863468e-01 1.63415129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22361786499998 meters 0.02170162151691993 Centerline is valid? [True, True] Translation: X:93.36, Y:21.05, Z:1.63 [[ 8.45220102e-01 -5.34226639e-01 -1.43135574e-02 9.33619745e+01] [ 5.34155419e-01 8.45341248e-01 -8.72714143e-03 2.10534980e+01] [ 1.67621119e-02 -2.69308865e-04 9.99859470e-01 1.63139100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25361786499998 meters 0.020394980117438732 Centerline is valid? [True, True] Translation: X:93.39, Y:21.07, Z:1.64 [[ 8.44448906e-01 -5.35451542e-01 -1.40602849e-02 9.33881570e+01] [ 5.35382914e-01 8.44565903e-01 -8.57728937e-03 2.10658317e+01] [ 1.64675600e-02 -2.84553680e-04 9.99864360e-01 1.63518242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28361786499998 meters 0.020448122739654104 Centerline is valid? [True, True] Translation: X:93.41, Y:21.08, Z:1.64 [[ 8.44084235e-01 -5.36018606e-01 -1.43477921e-02 9.34130837e+01] [ 5.35947143e-01 8.44206116e-01 -8.75752191e-03 2.10792502e+01] [ 1.68066885e-02 -2.97572001e-04 9.99858713e-01 1.63550823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31361786499998 meters 0.020650432385882336 Centerline is valid? [True, True] Translation: X:93.44, Y:21.09, Z:1.64 [[ 8.43732834e-01 -5.36549761e-01 -1.51412715e-02 9.34376696e+01] [ 5.36470160e-01 8.43868622e-01 -9.24753550e-03 2.10924706e+01] [ 1.77390069e-02 -3.20390980e-04 9.99842600e-01 1.63526190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34361786499998 meters 0.020559681373590422 Centerline is valid? [True, True] Translation: X:93.46, Y:21.11, Z:1.63 [[ 8.43354566e-01 -5.37110801e-01 -1.62807431e-02 9.34629380e+01] [ 5.37018823e-01 8.43511625e-01 -9.94597312e-03 2.11058301e+01] [ 1.90750857e-02 -3.55083679e-04 9.99817991e-01 1.63451446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37361786499999 meters 0.020485482451760878 Centerline is valid? [True, True] Translation: X:93.49, Y:21.12, Z:1.63 [[ 8.43223075e-01 -5.37306406e-01 -1.66334366e-02 9.34874571e+01] [ 5.37210326e-01 8.43387037e-01 -1.01671539e-02 2.11199401e+01] [ 1.94913017e-02 -3.62475161e-04 9.99809961e-01 1.63415925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40361786499997 meters 0.02066820465312241 Centerline is valid? [True, True] Translation: X:93.51, Y:21.13, Z:1.63 [[ 8.43113107e-01 -5.37472795e-01 -1.68310593e-02 9.35110263e+01] [ 5.37374331e-01 8.43281010e-01 -1.02940356e-02 2.11325301e+01] [ 1.97260768e-02 -3.65542878e-04 9.99805355e-01 1.63411094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43361786499997 meters 0.021866165107224403 Centerline is valid? [True, True] Translation: X:93.54, Y:21.15, Z:1.63 [[ 8.42818033e-01 -5.37923944e-01 -1.71928459e-02 9.35355742e+01] [ 5.37821197e-01 8.42993289e-01 -1.05201887e-02 2.11467036e+01] [ 2.01525151e-02 -3.80072253e-04 9.99796845e-01 1.63206905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46361786499997 meters 0.022180270932441706 Centerline is valid? [True, True] Translation: X:93.56, Y:21.16, Z:1.63 [[ 8.42815109e-01 -5.37926309e-01 -1.72620251e-02 9.35602123e+01] [ 5.37822616e-01 8.42991782e-01 -1.05683360e-02 2.11581992e+01] [ 2.02367313e-02 -3.76754222e-04 9.99795145e-01 1.63208131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49361786499998 meters 0.02047177783259704 Centerline is valid? [True, True] Translation: X:93.59, Y:21.17, Z:1.64 [[ 8.43214156e-01 -5.37315390e-01 -1.67946435e-02 9.35855829e+01] [ 5.37217053e-01 8.43381319e-01 -1.02853306e-02 2.11728930e+01] [ 1.96907550e-02 -3.49632550e-04 9.99806057e-01 1.63545152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52361786499998 meters 0.02045216080169029 Centerline is valid? [True, True] Translation: X:93.61, Y:21.19, Z:1.64 [[ 8.43141251e-01 -5.37420215e-01 -1.70980630e-02 9.36104715e+01] [ 5.37318197e-01 8.43314525e-01 -1.04769990e-02 2.11858229e+01] [ 2.00495959e-02 -3.53510350e-04 9.99798924e-01 1.63607308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55361786499998 meters 0.020421341462486045 Centerline is valid? [True, True] Translation: X:93.64, Y:21.20, Z:1.64 [[ 8.43243966e-01 -5.37256965e-01 -1.71629604e-02 9.36353303e+01] [ 5.37154007e-01 8.43418540e-01 -1.05232428e-02 2.11997285e+01] [ 2.01292445e-02 -3.45492014e-04 9.99797327e-01 1.63690786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58361786499998 meters 0.02040363706539829 Centerline is valid? [True, True] Translation: X:93.66, Y:21.21, Z:1.64 [[ 8.43508041e-01 -5.36875173e-01 -1.61007338e-02 9.36593806e+01] [ 5.36784399e-01 8.43661634e-01 -9.87711061e-03 2.12134789e+01] [ 1.88863468e-02 -3.11200491e-04 9.99821589e-01 1.63721824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61361786499998 meters 0.020145828758122455 Centerline is valid? [True, True] Translation: X:93.68, Y:21.23, Z:1.64 [[ 8.43832688e-01 -5.36375857e-01 -1.57268947e-02 9.36846583e+01] [ 5.36289123e-01 8.43979180e-01 -9.64992831e-03 2.12277051e+01] [ 1.84491603e-02 -2.91237637e-04 9.99829757e-01 1.63868503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64361786499998 meters 0.02029864939678599 Centerline is valid? [True, True] Translation: X:93.71, Y:21.24, Z:1.64 [[ 8.43883121e-01 -5.36308323e-01 -1.53186285e-02 9.37080200e+01] [ 5.36225940e-01 8.44022100e-01 -9.40406006e-03 2.12404759e+01] [ 1.79727366e-02 -2.78318389e-04 9.99838439e-01 1.63929809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67361786499998 meters 0.020341965256542784 Centerline is valid? [True, True] Translation: X:93.73, Y:21.25, Z:1.64 [[ 8.43908342e-01 -5.36274520e-01 -1.51112303e-02 9.37319621e+01] [ 5.36194301e-01 8.44043580e-01 -9.27937285e-03 2.12544144e+01] [ 1.77308282e-02 -2.71615419e-04 9.99842760e-01 1.63996693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70361786499998 meters 0.020043542813267732 Centerline is valid? [True, True] Translation: X:93.76, Y:21.27, Z:1.64 [[ 8.44653374e-01 -5.35092196e-01 -1.53954668e-02 9.37568762e+01] [ 5.35008631e-01 8.44793632e-01 -9.45954323e-03 2.12694966e+01] [ 1.80677201e-02 -2.46672545e-04 9.99836735e-01 1.64033247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73361786499999 meters 0.019945597372429395 Centerline is valid? [True, True] Translation: X:93.78, Y:21.28, Z:1.64 [[ 8.45082048e-01 -5.34417570e-01 -1.53033831e-02 9.37813816e+01] [ 5.34334805e-01 8.45220568e-01 -9.40780446e-03 2.12847811e+01] [ 1.79624302e-02 -2.26763565e-04 9.99838637e-01 1.64053875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76361786499999 meters 0.01968670563773748 Centerline is valid? [True, True] Translation: X:93.81, Y:21.30, Z:1.64 [[ 8.45677089e-01 -5.33470305e-01 -1.54820888e-02 9.38056472e+01] [ 5.33385346e-01 8.45818770e-01 -9.52264499e-03 2.13011204e+01] [ 1.81750896e-02 -2.04836589e-04 9.99834798e-01 1.64086370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79361786499997 meters 0.019730123566166106 Centerline is valid? [True, True] Translation: X:93.83, Y:21.32, Z:1.64 [[ 8.46191500e-01 -5.32653193e-01 -1.55087356e-02 9.38289998e+01] [ 5.32567719e-01 8.46333588e-01 -9.54374042e-03 2.13157859e+01] [ 1.82090676e-02 -1.83619901e-04 9.99834184e-01 1.64069995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82361786499997 meters 0.01950386052239933 Centerline is valid? [True, True] Translation: X:93.85, Y:21.33, Z:1.64 [[ 8.47184074e-01 -5.31060892e-01 -1.59208419e-02 9.38527459e+01] [ 5.30970490e-01 8.47333645e-01 -9.79962709e-03 2.13325639e+01] [ 1.86944637e-02 -1.51409226e-04 9.99825232e-01 1.64097016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85361786499998 meters 0.01945291067566907 Centerline is valid? [True, True] Translation: X:93.88, Y:21.35, Z:1.64 [[ 8.47475368e-01 -5.30599997e-01 -1.57842620e-02 9.38762392e+01] [ 5.30510963e-01 8.47622336e-01 -9.72079411e-03 2.13482379e+01] [ 1.85369464e-02 -1.35590469e-04 9.99828167e-01 1.64113336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88361786499998 meters 0.01938497880466902 Centerline is valid? [True, True] Translation: X:93.90, Y:21.36, Z:1.64 [[ 8.48292226e-01 -5.29292272e-01 -1.58111006e-02 9.38992059e+01] [ 5.29202605e-01 8.48439556e-01 -9.74282483e-03 2.13646007e+01] [ 1.85715651e-02 -1.02513057e-04 9.99827528e-01 1.64136053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91361786499998 meters 0.019385226084095302 Centerline is valid? [True, True] Translation: X:93.92, Y:21.38, Z:1.64 [[ 8.48449690e-01 -5.29045244e-01 -1.56285970e-02 9.39224313e+01] [ 5.28957552e-01 8.48593613e-01 -9.63260106e-03 2.13799246e+01] [ 1.83584094e-02 -9.40870324e-05 9.99831466e-01 1.64150127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94361786499998 meters 0.019369854252102844 Centerline is valid? [True, True] Translation: X:93.95, Y:21.40, Z:1.64 [[ 8.48401319e-01 -5.29119976e-01 -1.57243006e-02 9.39462421e+01] [ 5.29031111e-01 8.48547019e-01 -9.69747202e-03 2.13951774e+01] [ 1.84739346e-02 -9.12961973e-05 9.99829338e-01 1.64197101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97361786499998 meters 0.019447200286206674 Centerline is valid? [True, True] Translation: X:93.97, Y:21.41, Z:1.64 [[ 8.47911988e-01 -5.29884882e-01 -1.63484714e-02 9.39696720e+01] [ 5.29788852e-01 8.48069573e-01 -1.00881950e-02 2.14100008e+01] [ 1.92102232e-02 -1.07336426e-04 9.99815461e-01 1.64181307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00361786499998 meters 0.01942058450682455 Centerline is valid? [True, True] Translation: X:93.99, Y:21.43, Z:1.64 [[ 8.47355090e-01 -5.30782171e-01 -1.61132662e-02 9.39932431e+01] [ 5.30688987e-01 8.47508272e-01 -9.94626128e-03 2.14250115e+01] [ 1.89354245e-02 -1.23117779e-04 9.99820701e-01 1.64211674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03361786499998 meters 0.01954208853641794 Centerline is valid? [True, True] Translation: X:94.02, Y:21.44, Z:1.64 [[ 8.46933229e-01 -5.31447492e-01 -1.63605668e-02 9.40170740e+01] [ 5.31351441e-01 8.47091226e-01 -1.01045190e-02 2.14394250e+01] [ 1.92289139e-02 -1.35357884e-04 9.99815098e-01 1.64232563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06361786499998 meters 0.019646661166124763 Centerline is valid? [True, True] Translation: X:94.04, Y:21.45, Z:1.64 [[ 8.45792356e-01 -5.33270127e-01 -1.60705475e-02 9.40422115e+01] [ 5.33177737e-01 8.45944999e-01 -9.92765608e-03 2.14540343e+01] [ 1.88889217e-02 -1.71722508e-04 9.99821574e-01 1.64259998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09361786499998 meters 0.01974502006403007 Centerline is valid? [True, True] Translation: X:94.07, Y:21.47, Z:1.64 [[ 8.45163911e-01 -5.34267754e-01 -1.59978084e-02 9.40669872e+01] [ 5.34176284e-01 8.45315285e-01 -9.88772122e-03 2.14685809e+01] [ 1.88058826e-02 -1.88904720e-04 9.99823136e-01 1.64288936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12361786499999 meters 0.021120114978494937 Centerline is valid? [True, True] Translation: X:94.09, Y:21.48, Z:1.64 [[ 8.44435926e-01 -5.35409307e-01 -1.62739483e-02 9.40922802e+01] [ 5.35314764e-01 8.44592700e-01 -1.00635438e-02 2.14834227e+01] [ 1.91329730e-02 -2.13666866e-04 9.99816925e-01 1.64036670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15361786499997 meters 0.02160019474392378 Centerline is valid? [True, True] Translation: X:94.12, Y:21.50, Z:1.64 [[ 8.43175552e-01 -5.37398633e-01 -1.60529834e-02 9.41159356e+01] [ 5.37306907e-01 8.43328315e-01 -9.93186197e-03 2.14993520e+01] [ 1.88753045e-02 -2.51075643e-04 9.99821814e-01 1.64025969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18361786499997 meters 0.02014856215501631 Centerline is valid? [True, True] Translation: X:94.14, Y:21.51, Z:1.64 [[ 8.42485716e-01 -5.38480200e-01 -1.60278824e-02 9.41399013e+01] [ 5.38388864e-01 8.42638120e-01 -9.92120101e-03 2.15131167e+01] [ 1.88480750e-02 -2.70763288e-04 9.99822323e-01 1.64417220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21361786499997 meters 0.019976495568133974 Centerline is valid? [True, True] Translation: X:94.16, Y:21.53, Z:1.64 [[ 8.41697554e-01 -5.39716769e-01 -1.58441502e-02 9.41640661e+01] [ 5.39627692e-01 8.41846615e-01 -9.80972256e-03 2.15290035e+01] [ 1.86328159e-02 -2.93122699e-04 9.99826351e-01 1.64467360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24361786499998 meters 0.0205310141786518 Centerline is valid? [True, True] Translation: X:94.19, Y:21.54, Z:1.64 [[ 8.41234550e-01 -5.40427487e-01 -1.62038029e-02 9.41888783e+01] [ 5.40334356e-01 8.41390536e-01 -1.00374061e-02 2.15416917e+01] [ 1.90582166e-02 -3.11658610e-04 9.99818327e-01 1.64470643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27361786499998 meters 0.0204403846546428 Centerline is valid? [True, True] Translation: X:94.21, Y:21.56, Z:1.64 [[ 8.39962660e-01 -5.42401236e-01 -1.62366644e-02 9.42140394e+01] [ 5.42308049e-01 8.40119499e-01 -1.00601477e-02 2.15566265e+01] [ 1.90973749e-02 -3.55125402e-04 9.99817565e-01 1.64499463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30361786499998 meters 0.02032852079252864 Centerline is valid? [True, True] Translation: X:94.24, Y:21.57, Z:1.65 [[ 8.39407201e-01 -5.43257920e-01 -1.63212700e-02 9.42384420e+01] [ 5.43163819e-01 8.39565777e-01 -1.01178909e-02 2.15720553e+01] [ 1.91994041e-02 -3.72092876e-04 9.99815605e-01 1.64535216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33361786499998 meters 0.02037393052940783 Centerline is valid? [True, True] Translation: X:94.26, Y:21.59, Z:1.65 [[ 8.38889480e-01 -5.44058541e-01 -1.62709725e-02 9.42635125e+01] [ 5.43965067e-01 8.39047171e-01 -1.00920970e-02 2.15871455e+01] [ 1.91428050e-02 -3.84686629e-04 9.99816686e-01 1.64588306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36361786499998 meters 0.020793038445494152 Centerline is valid? [True, True] Translation: X:94.29, Y:21.60, Z:1.65 [[ 8.38332500e-01 -5.44919367e-01 -1.61710218e-02 9.42874830e+01] [ 5.44827105e-01 8.38488357e-01 -1.00349766e-02 2.16006345e+01] [ 1.90274666e-02 -3.97763968e-04 9.99818882e-01 1.64608587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39361786499998 meters 0.020825576785033786 Centerline is valid? [True, True] Translation: X:94.31, Y:21.62, Z:1.65 [[ 8.38056016e-01 -5.45350843e-01 -1.59553267e-02 9.43113385e+01] [ 5.45261060e-01 8.38207789e-01 -9.90349717e-03 2.16156522e+01] [ 1.87747597e-02 -4.00132979e-04 9.99823659e-01 1.64672362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42361786499998 meters 0.02077398308548171 Centerline is valid? [True, True] Translation: X:94.34, Y:21.63, Z:1.65 [[ 8.37986666e-01 -5.45474738e-01 -1.53511584e-02 9.43354463e+01] [ 5.45391546e-01 8.38127176e-01 -9.53401727e-03 2.16306150e+01] [ 1.80667886e-02 -3.83012657e-04 9.99836709e-01 1.64796867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45361786499998 meters 0.020697819680471078 Centerline is valid? [True, True] Translation: X:94.36, Y:21.65, Z:1.65 [[ 8.37831593e-01 -5.45707055e-01 -1.55573382e-02 9.43588805e+01] [ 5.45621546e-01 8.37975930e-01 -9.66794882e-03 2.16452795e+01] [ 1.83125429e-02 -3.88305985e-04 9.99832236e-01 1.64849521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48361786499999 meters 0.020497586004478895 Centerline is valid? [True, True] Translation: X:94.38, Y:21.66, Z:1.65 [[ 8.37692195e-01 -5.45912573e-01 -1.58508473e-02 9.43823794e+01] [ 5.45823731e-01 8.37842054e-01 -9.85639096e-03 2.16602767e+01] [ 1.86612342e-02 -3.95146817e-04 9.99825786e-01 1.64877781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51361786499999 meters 0.020666359357707983 Centerline is valid? [True, True] Translation: X:94.41, Y:21.67, Z:1.65 [[ 8.37745192e-01 -5.45818431e-01 -1.62859917e-02 9.44057864e+01] [ 5.45724514e-01 8.37903384e-01 -1.01327796e-02 2.16745381e+01] [ 1.91767454e-02 -3.98977573e-04 9.99816030e-01 1.64859409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54361786499997 meters 0.020320523418090975 Centerline is valid? [True, True] Translation: X:94.43, Y:21.69, Z:1.65 [[ 8.37840962e-01 -5.45669594e-01 -1.63467584e-02 9.44288140e+01] [ 5.45574886e-01 8.38000321e-01 -1.01737912e-02 2.16901360e+01] [ 1.92501173e-02 -3.94361819e-04 9.99814622e-01 1.64850100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57361786499997 meters 0.02044254747938898 Centerline is valid? [True, True] Translation: X:94.45, Y:21.70, Z:1.65 [[ 8.38266851e-01 -5.45018779e-01 -1.62239696e-02 9.44524368e+01] [ 5.44925261e-01 8.38423755e-01 -1.01028367e-02 2.17045425e+01] [ 1.91087972e-02 -3.71977760e-04 9.99817341e-01 1.64842455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60361786499998 meters 0.02005159171912293 Centerline is valid? [True, True] Translation: X:94.48, Y:21.72, Z:1.65 [[ 8.38427954e-01 -5.44763415e-01 -1.64738464e-02 9.44759519e+01] [ 5.44666894e-01 8.38589700e-01 -1.02610397e-02 2.17208145e+01] [ 1.94046369e-02 -3.69616237e-04 9.99811644e-01 1.64870654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63361786499998 meters 0.019609840028628863 Centerline is valid? [True, True] Translation: X:94.50, Y:21.74, Z:1.65 [[ 8.39459527e-01 -5.43181583e-01 -1.61700529e-02 9.44989797e+01] [ 5.43088185e-01 8.39615188e-01 -1.00776842e-02 2.17378680e+01] [ 1.90506345e-02 -3.21956676e-04 9.99818468e-01 1.64863654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66361786499998 meters 0.019368090677516915 Centerline is valid? [True, True] Translation: X:94.52, Y:21.75, Z:1.65 [[ 8.39945962e-01 -5.42440652e-01 -1.57772083e-02 9.45224395e+01] [ 5.42351511e-01 8.40094074e-01 -9.83795618e-03 2.17541254e+01] [ 1.85908465e-02 -2.93441168e-04 9.99827132e-01 1.64911398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69361786499998 meters 0.019447966390910103 Centerline is valid? [True, True] Translation: X:94.55, Y:21.77, Z:1.65 [[ 8.40308502e-01 -5.41882760e-01 -1.56427367e-02 9.45465539e+01] [ 5.41794941e-01 8.40454043e-01 -9.75927322e-03 2.17690906e+01] [ 1.84353832e-02 -2.74355348e-04 9.99830016e-01 1.64927141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72361786499998 meters 0.019136166718086364 Centerline is valid? [True, True] Translation: X:94.57, Y:21.79, Z:1.65 [[ 8.41521682e-01 -5.40013969e-01 -1.50390205e-02 9.45694097e+01] [ 5.39932418e-01 8.41656025e-01 -9.38716554e-03 2.17857124e+01] [ 1.77268828e-02 -2.20551397e-04 9.99842842e-01 1.64910380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75361786499998 meters 0.01873010725161571 Centerline is valid? [True, True] Translation: X:94.59, Y:21.80, Z:1.65 [[ 8.41777170e-01 -5.39630409e-01 -1.44989004e-02 9.45923283e+01] [ 5.39554525e-01 8.41902001e-01 -9.05176325e-03 2.18027876e+01] [ 1.70912600e-02 -2.03379690e-04 9.99853913e-01 1.64919458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78361786499998 meters 0.018661546744643726 Centerline is valid? [True, True] Translation: X:94.62, Y:21.82, Z:1.65 [[ 8.41782879e-01 -5.39631203e-01 -1.41332552e-02 9.46156280e+01] [ 5.39559012e-01 8.41901495e-01 -8.82864855e-03 2.18186114e+01] [ 1.66630229e-02 -1.93919996e-04 9.99861143e-01 1.64880843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81361786499998 meters 0.018560898901274256 Centerline is valid? [True, True] Translation: X:94.64, Y:21.83, Z:1.65 [[ 8.41691313e-01 -5.39780857e-01 -1.38693911e-02 9.46386883e+01] [ 5.39711274e-01 8.41805554e-01 -8.66892765e-03 2.18345290e+01] [ 1.63546516e-02 -1.88905622e-04 9.99866236e-01 1.64812104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84361786499998 meters 0.018805240801840165 Centerline is valid? [True, True] Translation: X:94.66, Y:21.85, Z:1.65 [[ 8.41169815e-01 -5.40606297e-01 -1.33481957e-02 9.46629794e+01] [ 5.40541870e-01 8.41275695e-01 -8.34817023e-03 2.18485914e+01] [ 1.57425860e-02 -1.93029832e-04 9.99876059e-01 1.64852100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87361786499999 meters 0.018805240801840165 Centerline is valid? [True, True] Translation: X:94.69, Y:21.86, Z:1.65 [[ 8.41029023e-01 -5.40825318e-01 -1.33475537e-02 9.46863184e+01] [ 5.40760903e-01 8.41134910e-01 -8.34919652e-03 2.18632888e+01] [ 1.57425502e-02 -1.95918596e-04 9.99876059e-01 1.64897296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90361786499997 meters 0.018526687685014417 Centerline is valid? [True, True] Translation: X:94.71, Y:21.88, Z:1.65 [[ 8.40442058e-01 -5.41754960e-01 -1.25980437e-02 9.47102886e+01] [ 5.41697616e-01 8.40536450e-01 -7.88467989e-03 2.18797556e+01] [ 1.48606794e-02 -1.97713649e-04 9.99889554e-01 1.64919176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93361786499997 meters 0.01874476795648147 Centerline is valid? [True, True] Translation: X:94.73, Y:21.89, Z:1.65 [[ 8.39634375e-01 -5.43020413e-01 -1.19560479e-02 9.47344239e+01] [ 5.42968835e-01 8.39719470e-01 -7.48706669e-03 2.18935801e+01] [ 1.41053562e-02 -2.05362828e-04 9.99900493e-01 1.64959004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96361786499997 meters 0.018962775472274505 Centerline is valid? [True, True] Translation: X:94.76, Y:21.91, Z:1.65 [[ 8.39161234e-01 -5.43752847e-01 -1.18854910e-02 9.47584026e+01] [ 5.43701929e-01 8.39245373e-01 -7.44428618e-03 2.19077124e+01] [ 1.40226951e-02 -2.15208000e-04 9.99901654e-01 1.65003877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99361786499998 meters 0.018706369118775497 Centerline is valid? [True, True] Translation: X:94.78, Y:21.92, Z:1.65 [[ 8.38446253e-01 -5.44866238e-01 -1.13429741e-02 9.47824024e+01] [ 5.44819955e-01 8.38522947e-01 -7.10518468e-03 2.19234635e+01] [ 1.33827193e-02 -2.22563159e-04 9.99910423e-01 1.65030294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02361786499998 meters 0.018781285162543206 Centerline is valid? [True, True] Translation: X:94.81, Y:21.94, Z:1.65 [[ 8.37648725e-01 -5.46101756e-01 -1.08390854e-02 9.48064209e+01] [ 5.46059545e-01 8.37718819e-01 -6.79360402e-03 2.19384795e+01] [ 1.27901049e-02 -2.28132315e-04 9.99918177e-01 1.65060583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05361786499998 meters 0.019306327632112496 Centerline is valid? [True, True] Translation: X:94.83, Y:21.95, Z:1.65 [[ 8.37247943e-01 -5.46723706e-01 -1.04437177e-02 9.48305990e+01] [ 5.46684552e-01 8.37313046e-01 -6.54700230e-03 2.19516092e+01] [ 1.23240625e-02 -2.27954945e-04 9.99924030e-01 1.65158974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08361786499998 meters 0.019267587438498608 Centerline is valid? [True, True] Translation: X:94.86, Y:21.97, Z:1.65 [[ 8.36723574e-01 -5.47527575e-01 -1.03544896e-02 9.48553865e+01] [ 5.47489143e-01 8.36787606e-01 -6.49156009e-03 2.19673138e+01] [ 1.22188167e-02 -2.37329277e-04 9.99925319e-01 1.65164494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11361786499998 meters 0.01893248802986808 Centerline is valid? [True, True] Translation: X:94.88, Y:21.98, Z:1.65 [[ 8.36285832e-01 -5.48188339e-01 -1.07495301e-02 9.48794503e+01] [ 5.48146926e-01 8.36354878e-01 -6.74287744e-03 2.19835269e+01] [ 1.26867887e-02 -2.53349019e-04 9.99919487e-01 1.65147016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14361786499998 meters 0.019297667931061174 Centerline is valid? [True, True] Translation: X:94.90, Y:22.00, Z:1.65 [[ 8.35553163e-01 -5.49301341e-01 -1.09063613e-02 9.49040896e+01] [ 5.49258757e-01 8.35624296e-01 -6.84500282e-03 2.19982806e+01] [ 1.28735897e-02 -2.71050696e-04 9.99917095e-01 1.65111554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17361786499998 meters 0.019032801908399396 Centerline is valid? [True, True] Translation: X:94.93, Y:22.01, Z:1.65 [[ 8.35125211e-01 -5.49953778e-01 -1.08038898e-02 9.49278006e+01] [ 5.49912000e-01 8.35195047e-01 -6.78423346e-03 2.20144205e+01] [ 1.27543701e-02 -2.75504250e-04 9.99918622e-01 1.65095436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20361786499998 meters 0.019254519443352353 Centerline is valid? [True, True] Translation: X:94.95, Y:22.03, Z:1.65 [[ 8.34891523e-01 -5.50305373e-01 -1.09608675e-02 9.49522114e+01] [ 5.50262345e-01 8.34963423e-01 -6.88727075e-03 2.20287505e+01] [ 1.29420255e-02 -2.81228657e-04 9.99916209e-01 1.65150813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23361786499999 meters 0.019531958658404094 Centerline is valid? [True, True] Translation: X:94.98, Y:22.04, Z:1.65 [[ 8.34549724e-01 -5.50829389e-01 -1.06649574e-02 9.49758115e+01] [ 5.50788680e-01 8.34617820e-01 -6.70258663e-03 2.20428581e+01] [ 1.25931452e-02 -2.80495983e-04 9.99920664e-01 1.65192624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26361786499997 meters 0.019282141259977466 Centerline is valid? [True, True] Translation: X:95.00, Y:22.06, Z:1.65 [[ 8.34350397e-01 -5.51135143e-01 -1.04628082e-02 9.49993456e+01] [ 5.51095982e-01 8.34415949e-01 -6.57584210e-03 2.20582827e+01] [ 1.23545117e-02 -2.79455095e-04 9.99923641e-01 1.65247885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29361786499997 meters 0.01933624711443455 Centerline is valid? [True, True] Translation: X:95.02, Y:22.07, Z:1.65 [[ 8.34224811e-01 -5.51325544e-01 -1.04455674e-02 9.50228296e+01] [ 5.51286479e-01 8.34290158e-01 -6.56898965e-03 2.20727928e+01] [ 1.23362858e-02 -2.78485903e-04 9.99923866e-01 1.65269657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32361786499997 meters 0.019370341748316467 Centerline is valid? [True, True] Translation: X:95.05, Y:22.09, Z:1.65 [[ 8.34427601e-01 -5.51002800e-01 -1.12469115e-02 9.50466292e+01] [ 5.50957410e-01 8.34503343e-01 -7.07830933e-03 2.20874391e+01] [ 1.32857535e-02 -2.90232536e-04 9.99911698e-01 1.65303686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35361786499998 meters 0.018892379854267276 Centerline is valid? [True, True] Translation: X:95.07, Y:22.10, Z:1.65 [[ 8.34404570e-01 -5.51039482e-01 -1.11580871e-02 9.50699216e+01] [ 5.50994802e-01 8.34479122e-01 -7.02297544e-03 2.21036955e+01] [ 1.31811274e-02 -2.88045164e-04 9.99913084e-01 1.65247285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38361786499998 meters 0.018997584781904584 Centerline is valid? [True, True] Translation: X:95.09, Y:22.12, Z:1.65 [[ 8.34400852e-01 -5.51033872e-01 -1.17000106e-02 9.50929092e+01] [ 5.50984673e-01 8.34482824e-01 -7.36932016e-03 2.21180446e+01] [ 1.38242029e-02 -2.97559475e-04 9.99904397e-01 1.65269820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41361786499998 meters 0.018991515475419836 Centerline is valid? [True, True] Translation: X:95.12, Y:22.13, Z:1.65 [[ 8.34616880e-01 -5.50705501e-01 -1.17522351e-02 9.51166195e+01] [ 5.50655800e-01 8.34699566e-01 -7.40429403e-03 2.21329107e+01] [ 1.38871710e-02 -2.91687650e-04 9.99903526e-01 1.65262978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44361786499998 meters 0.018746825253195622 Centerline is valid? [True, True] Translation: X:95.14, Y:22.15, Z:1.65 [[ 8.34734553e-01 -5.50528081e-01 -1.17071823e-02 9.51399093e+01] [ 5.50478732e-01 8.34816597e-01 -7.37671176e-03 2.21484559e+01] [ 1.38344371e-02 -2.86958683e-04 9.99904258e-01 1.65316655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47361786499998 meters 0.018675184239327274 Centerline is valid? [True, True] Translation: X:95.16, Y:22.16, Z:1.65 [[ 8.34800719e-01 -5.50430050e-01 -1.15982546e-02 9.51632450e+01] [ 5.50381545e-01 8.34881239e-01 -7.31247516e-03 2.21638696e+01] [ 1.37081713e-02 -2.79005792e-04 9.99906000e-01 1.65389511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50361786499998 meters 0.01888703388015543 Centerline is valid? [True, True] Translation: X:95.19, Y:22.18, Z:1.65 [[ 8.35377530e-01 -5.49553590e-01 -1.16290069e-02 9.51876047e+01] [ 5.49504679e-01 8.35458427e-01 -7.33651657e-03 2.21785543e+01] [ 1.37473609e-02 -2.61432634e-04 9.99905466e-01 1.65454439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53361786499998 meters 0.01841586022658884 Centerline is valid? [True, True] Translation: X:95.21, Y:22.20, Z:1.65 [[ 8.35723586e-01 -5.49024881e-01 -1.17374400e-02 9.52108622e+01] [ 5.48974946e-01 8.35805968e-01 -7.40893165e-03 2.21955174e+01] [ 1.38779103e-02 -2.51741582e-04 9.99903665e-01 1.65456008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56361786499998 meters 0.018693707206695376 Centerline is valid? [True, True] Translation: X:95.23, Y:22.21, Z:1.66 [[ 8.36164083e-01 -5.48349436e-01 -1.19382319e-02 9.52347372e+01] [ 5.48297645e-01 8.36249268e-01 -7.54019174e-03 2.22098424e+01] [ 1.41179976e-02 -2.40866935e-04 9.99900307e-01 1.65502137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59361786499998 meters 0.018268320291801976 Centerline is valid? [True, True] Translation: X:95.26, Y:22.23, Z:1.66 [[ 8.36566448e-01 -5.47734568e-01 -1.19758619e-02 9.52580196e+01] [ 5.47682372e-01 8.36652132e-01 -7.56499103e-03 2.22277537e+01] [ 1.41632375e-02 -2.30350806e-04 9.99899670e-01 1.65507247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62361786499999 meters 0.01825334112399712 Centerline is valid? [True, True] Translation: X:95.28, Y:22.24, Z:1.66 [[ 8.36787244e-01 -5.47400194e-01 -1.18379004e-02 9.52814135e+01] [ 5.47349108e-01 8.36870946e-01 -7.48161748e-03 2.22432198e+01] [ 1.40022338e-02 -2.18942159e-04 9.99901940e-01 1.65565172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65361786499997 meters 0.018178103362503955 Centerline is valid? [True, True] Translation: X:95.31, Y:22.26, Z:1.66 [[ 8.36859179e-01 -5.47283994e-01 -1.21220789e-02 9.53050845e+01] [ 5.47230346e-01 8.36946941e-01 -7.66591203e-03 2.22587653e+01] [ 1.43409678e-02 -2.18280590e-04 9.99897139e-01 1.65612919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68361786499997 meters 0.01806209528114491 Centerline is valid? [True, True] Translation: X:95.33, Y:22.28, Z:1.66 [[ 8.36753370e-01 -5.47433958e-01 -1.26435520e-02 9.53284958e+01] [ 5.47375537e-01 8.36848857e-01 -8.00067171e-03 2.22750430e+01] [ 1.49605814e-02 -2.26182051e-04 9.99888059e-01 1.65661917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71361786499997 meters 0.01826494716443949 Centerline is valid? [True, True] Translation: X:95.35, Y:22.29, Z:1.66 [[ 8.36675924e-01 -5.47548070e-01 -1.28261338e-02 9.53516423e+01] [ 5.47487884e-01 8.36774199e-01 -8.12141817e-03 2.22889244e+01] [ 1.51794447e-02 -2.27157815e-04 9.99884760e-01 1.65697759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74361786499998 meters 0.01833125663232189 Centerline is valid? [True, True] Translation: X:95.38, Y:22.30, Z:1.66 [[ 8.36492796e-01 -5.47831257e-01 -1.26773825e-02 9.53751097e+01] [ 5.47772460e-01 8.36588825e-01 -8.02936361e-03 2.23041939e+01] [ 1.50044928e-02 -2.27816151e-04 9.99887400e-01 1.65763912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77361786499998 meters 0.017944399105680773 Centerline is valid? [True, True] Translation: X:95.40, Y:22.32, Z:1.66 [[ 8.36116144e-01 -5.48397180e-01 -1.30509226e-02 9.53983294e+01] [ 5.48334911e-01 8.36217958e-01 -8.26749134e-03 2.23205311e+01] [ 1.54472848e-02 -2.43693489e-04 9.99880654e-01 1.65790126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80361786499998 meters 0.018065145909279278 Centerline is valid? [True, True] Translation: X:95.42, Y:22.34, Z:1.66 [[ 8.35356586e-01 -5.49550936e-01 -1.31583503e-02 9.54230140e+01] [ 5.49487759e-01 8.35460171e-01 -8.33698016e-03 2.23360905e+01] [ 1.55748728e-02 -2.66001101e-04 9.99878669e-01 1.65804760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83361786499998 meters 0.018526800583317852 Centerline is valid? [True, True] Translation: X:95.45, Y:22.35, Z:1.66 [[ 8.35131920e-01 -5.49882453e-01 -1.35633650e-02 9.54473508e+01] [ 5.49815294e-01 8.35242008e-01 -8.59835419e-03 2.23497640e+01] [ 1.60567763e-02 -2.76585444e-04 9.99871043e-01 1.65830379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86361786499998 meters 0.018105469137265375 Centerline is valid? [True, True] Translation: X:95.47, Y:22.37, Z:1.66 [[ 8.34792508e-01 -5.50393867e-01 -1.37134899e-02 9.54701031e+01] [ 5.50325255e-01 8.34905089e-01 -8.69513724e-03 2.23661665e+01] [ 1.62352127e-02 -2.88244425e-04 9.99868159e-01 1.65873189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89361786499998 meters 0.01797462075591323 Centerline is valid? [True, True] Translation: X:95.49, Y:22.38, Z:1.66 [[ 8.34607819e-01 -5.50669230e-01 -1.38992030e-02 9.54937298e+01] [ 5.50598697e-01 8.34723495e-01 -8.81826771e-03 2.23820129e+01] [ 1.64579400e-02 -2.93087879e-04 9.99864516e-01 1.65950895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92361786499998 meters 0.017804942413792713 Centerline is valid? [True, True] Translation: X:95.52, Y:22.40, Z:1.66 [[ 8.34691110e-01 -5.50543298e-01 -1.38862752e-02 9.55173985e+01] [ 5.50472791e-01 8.34806562e-01 -8.81535838e-03 2.23978732e+01] [ 1.64455902e-02 -2.85915425e-04 9.99864721e-01 1.66029441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95361786499998 meters 0.017816858964533167 Centerline is valid? [True, True] Translation: X:95.54, Y:22.41, Z:1.66 [[ 8.34936340e-01 -5.50169600e-01 -1.39541756e-02 9.55408441e+01] [ 5.50098262e-01 8.35052894e-01 -8.86380922e-03 2.24136485e+01] [ 1.65290730e-02 -2.75451297e-04 9.99863348e-01 1.66138610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98361786499999 meters 0.01814256343596252 Centerline is valid? [True, True] Translation: X:95.56, Y:22.43, Z:1.66 [[ 8.35082368e-01 -5.49950461e-01 -1.38538450e-02 9.55644289e+01] [ 5.49880088e-01 8.35197233e-01 -8.80171105e-03 2.24279336e+01] [ 1.64111981e-02 -2.67799824e-04 9.99865291e-01 1.66210667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01361786499997 meters 0.01731266651335807 Centerline is valid? [True, True] Translation: X:95.59, Y:22.45, Z:1.66 [[ 8.35110961e-01 -5.49904181e-01 -1.39669166e-02 9.55865299e+01] [ 5.49832561e-01 8.35227706e-01 -8.87883437e-03 2.24453561e+01] [ 1.65480639e-02 -2.64653639e-04 9.99863036e-01 1.66252489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04361786499997 meters 0.01787718788512446 Centerline is valid? [True, True] Translation: X:95.61, Y:22.46, Z:1.66 [[ 8.35612995e-01 -5.49126410e-01 -1.45295640e-02 9.56104400e+01] [ 5.49048689e-01 8.35739266e-01 -9.24209647e-03 2.24604657e+01] [ 1.72180064e-02 -2.54622179e-04 9.99851727e-01 1.66251009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07361786499997 meters 0.017277520603782372 Centerline is valid? [True, True] Translation: X:95.63, Y:22.48, Z:1.66 [[ 8.35528640e-01 -5.49259765e-01 -1.43388363e-02 9.56329603e+01] [ 5.49184060e-01 8.35651630e-01 -9.12257866e-03 2.24776743e+01] [ 1.69929373e-02 -2.52484608e-04 9.99855578e-01 1.66302879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10361786499998 meters 0.017301745477832725 Centerline is valid? [True, True] Translation: X:95.66, Y:22.49, Z:1.66 [[ 8.35422183e-01 -5.49401166e-01 -1.51041023e-02 9.56558977e+01] [ 5.49317086e-01 8.35558668e-01 -9.61511088e-03 2.24929252e+01] [ 1.79029168e-02 -2.64264548e-04 9.99839695e-01 1.66314708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13361786499998 meters 0.017365506540731428 Centerline is valid? [True, True] Translation: X:95.68, Y:22.51, Z:1.66 [[ 8.35069188e-01 -5.49934135e-01 -1.52282168e-02 9.56796770e+01] [ 5.49848706e-01 8.35207981e-01 -9.69690284e-03 2.25086269e+01] [ 1.80513861e-02 -2.75630512e-04 9.99837022e-01 1.66315955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16361786499998 meters 0.017627388491760664 Centerline is valid? [True, True] Translation: X:95.70, Y:22.52, Z:1.66 [[ 8.33954264e-01 -5.51613524e-01 -1.55822196e-02 9.57038730e+01] [ 5.51524261e-01 8.34099767e-01 -9.92814571e-03 2.25244227e+01] [ 1.84736252e-02 -3.14352672e-04 9.99829299e-01 1.66327659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19361786499998 meters 0.017739723288755883 Centerline is valid? [True, True] Translation: X:95.73, Y:22.54, Z:1.66 [[ 8.33060006e-01 -5.52951109e-01 -1.60030527e-02 9.57278688e+01] [ 5.52857113e-01 8.33213628e-01 -1.02011678e-02 2.25395184e+01] [ 1.89747086e-02 -3.49216607e-04 9.99819903e-01 1.66368691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22361786499998 meters 0.017914208983181096 Centerline is valid? [True, True] Translation: X:95.75, Y:22.55, Z:1.66 [[ 8.32029116e-01 -5.54497686e-01 -1.61203488e-02 9.57517281e+01] [ 5.54402560e-01 8.32185176e-01 -1.02778376e-02 2.25547796e+01] [ 1.91141525e-02 -3.85702525e-04 9.99817234e-01 1.66371610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25361786499998 meters 0.01799215245915691 Centerline is valid? [True, True] Translation: X:95.78, Y:22.57, Z:1.66 [[ 8.30940222e-01 -5.56134007e-01 -1.59158642e-02 9.57762238e+01] [ 5.56041535e-01 8.31092530e-01 -1.01497889e-02 2.25703727e+01] [ 1.88721987e-02 -4.16013715e-04 9.99821818e-01 1.66458434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28361786499998 meters 0.01889844756534292 Centerline is valid? [True, True] Translation: X:95.80, Y:22.59, Z:1.67 [[ 8.28754450e-01 -5.59390450e-01 -1.57602507e-02 9.58014087e+01] [ 5.59300267e-01 8.28904152e-01 -1.00557831e-02 2.25851202e+01] [ 1.86888463e-02 -4.80937462e-04 9.99825233e-01 1.66502102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31361786499998 meters 0.018820222331176403 Centerline is valid? [True, True] Translation: X:95.83, Y:22.60, Z:1.67 [[ 8.27633819e-01 -5.61051291e-01 -1.56111902e-02 9.58251376e+01] [ 5.60963009e-01 8.27780882e-01 -9.96560975e-03 2.26012462e+01] [ 1.85138630e-02 -5.09424580e-04 9.99828474e-01 1.66529154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34361786499998 meters 0.01929154622458588 Centerline is valid? [True, True] Translation: X:95.85, Y:22.62, Z:1.67 [[ 8.26762716e-01 -5.62329402e-01 -1.57814961e-02 9.58489812e+01] [ 5.62239321e-01 8.26913147e-01 -1.00793569e-02 2.26157575e+01] [ 1.87178454e-02 -5.39741133e-04 9.99824660e-01 1.66563226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37361786499999 meters 0.0208554443531617 Centerline is valid? [True, True] Translation: X:95.87, Y:22.63, Z:1.67 [[ 8.24917864e-01 -5.65042453e-01 -1.54124780e-02 9.58739773e+01] [ 5.64956974e-01 8.25061624e-01 -9.84549952e-03 2.26293383e+01] [ 1.82793694e-02 -5.85658524e-04 9.99832747e-01 1.66588936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40361786499997 meters 0.021316376529215156 Centerline is valid? [True, True] Translation: X:95.90, Y:22.64, Z:1.67 [[ 8.24326537e-01 -5.65915928e-01 -1.49974178e-02 9.58988162e+01] [ 5.65835100e-01 8.24462745e-01 -9.58235878e-03 2.26445881e+01] [ 1.77876217e-02 -5.87072776e-04 9.99841615e-01 1.66646756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43361786499997 meters 0.02137761314837663 Centerline is valid? [True, True] Translation: X:95.92, Y:22.66, Z:1.67 [[ 8.23418979e-01 -5.67234405e-01 -1.50437287e-02 9.59225835e+01] [ 5.67153209e-01 8.23556163e-01 -9.61689640e-03 2.26606931e+01] [ 1.78443900e-02 -6.13363982e-04 9.99840588e-01 1.66730359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46361786499997 meters 0.021873840124959198 Centerline is valid? [True, True] Translation: X:95.95, Y:22.68, Z:1.67 [[ 8.23293739e-01 -5.67420269e-01 -1.48881517e-02 9.59458184e+01] [ 5.67340691e-01 8.23428120e-01 -9.52214555e-03 2.26754983e+01] [ 1.76623812e-02 -6.07131443e-04 9.99843824e-01 1.66771533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49361786499998 meters 0.02202072640109698 Centerline is valid? [True, True] Translation: X:95.97, Y:22.69, Z:1.67 [[ 8.23155108e-01 -5.67620064e-01 -1.49375499e-02 9.59688828e+01] [ 5.67539943e-01 8.23290404e-01 -9.55635481e-03 2.26909959e+01] [ 1.77223202e-02 -6.11293934e-04 9.99842760e-01 1.66798893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52361786499998 meters 0.02209413559980152 Centerline is valid? [True, True] Translation: X:95.99, Y:22.71, Z:1.67 [[ 8.23544018e-01 -5.67047711e-01 -1.52362515e-02 9.59920045e+01] [ 5.66964152e-01 8.23684725e-01 -9.75318340e-03 2.27082850e+01] [ 1.80803880e-02 -6.06232564e-04 9.99836353e-01 1.66742089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55361786499998 meters 0.022217498728519646 Centerline is valid? [True, True] Translation: X:96.02, Y:22.72, Z:1.67 [[ 8.23810430e-01 -5.66650696e-01 -1.56001393e-02 9.60161807e+01] [ 5.66562930e-01 8.23957899e-01 -9.99129005e-03 2.27246380e+01] [ 1.85154294e-02 -6.07531658e-04 9.99828390e-01 1.66721689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58361786499998 meters 0.022173758980195687 Centerline is valid? [True, True] Translation: X:96.04, Y:22.74, Z:1.67 [[ 8.24121877e-01 -5.66187045e-01 -1.59800203e-02 9.60398095e+01] [ 5.66094766e-01 8.24276568e-01 -1.02398509e-02 2.27406615e+01] [ 1.89696272e-02 -6.07320729e-04 9.99819876e-01 1.66713861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61361786499998 meters 0.02206460075936761 Centerline is valid? [True, True] Translation: X:96.06, Y:22.76, Z:1.67 [[ 8.24374776e-01 -5.65814296e-01 -1.61372695e-02 9.60636745e+01] [ 5.65720020e-01 8.24532487e-01 -1.03458338e-02 2.27568289e+01] [ 1.91595236e-02 -6.00331975e-04 9.99816259e-01 1.66699287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64361786499998 meters 0.02028031535821924 Centerline is valid? [True, True] Translation: X:96.09, Y:22.78, Z:1.67 [[ 8.25212814e-01 -5.64585426e-01 -1.63434558e-02 9.60852472e+01] [ 5.64488382e-01 8.25374440e-01 -1.04833397e-02 2.27767811e+01] [ 1.94082115e-02 -5.74704661e-04 9.99811478e-01 1.66758728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67361786499998 meters 0.019778767741161725 Centerline is valid? [True, True] Translation: X:96.11, Y:22.79, Z:1.67 [[ 8.25573103e-01 -5.64067132e-01 -1.60412935e-02 9.61080697e+01] [ 5.63973445e-01 8.25728751e-01 -1.02947913e-02 2.27939677e+01] [ 1.90527107e-02 -5.47760806e-04 9.99818331e-01 1.66790155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70361786499998 meters 0.019054762525606152 Centerline is valid? [True, True] Translation: X:96.13, Y:22.81, Z:1.67 [[ 8.25780004e-01 -5.63763843e-01 -1.60534977e-02 9.61311194e+01] [ 5.63669852e-01 8.25935858e-01 -1.03080648e-02 2.28121943e+01] [ 1.90704737e-02 -5.36678898e-04 9.99817998e-01 1.66888497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73361786499999 meters 0.021958903946319847 Centerline is valid? [True, True] Translation: X:96.16, Y:22.82, Z:1.67 [[ 8.26354692e-01 -5.62928789e-01 -1.57829596e-02 9.61569342e+01] [ 5.62837693e-01 8.26505247e-01 -1.01394088e-02 2.28242248e+01] [ 1.87524641e-02 -5.04496542e-04 9.99824030e-01 1.66904439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76361786499997 meters 0.021958903946319847 Centerline is valid? [True, True] Translation: X:96.18, Y:22.84, Z:1.67 [[ 8.26214509e-01 -5.63134558e-01 -1.57815020e-02 9.61800838e+01] [ 5.63043456e-01 8.26365061e-01 -1.01416771e-02 2.28392158e+01] [ 1.87524107e-02 -5.06470596e-04 9.99824030e-01 1.66949609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79361786499997 meters 0.01891767109718315 Centerline is valid? [True, True] Translation: X:96.20, Y:22.86, Z:1.67 [[ 8.26322519e-01 -5.62981378e-01 -1.55904903e-02 9.62001660e+01] [ 5.62892340e-01 8.26469434e-01 -1.00243423e-02 2.28606548e+01] [ 1.85285817e-02 -4.92427809e-04 9.99828210e-01 1.67072791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82361786499997 meters 0.019822781859461545 Centerline is valid? [True, True] Translation: X:96.22, Y:22.87, Z:1.67 [[ 8.26709428e-01 -5.62408851e-01 -1.57418319e-02 9.62240213e+01] [ 5.62317878e-01 8.26859150e-01 -1.01266895e-02 2.28744114e+01] [ 1.87116176e-02 -4.80083869e-04 9.99824807e-01 1.67116870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85361786499998 meters 0.018923826031799054 Centerline is valid? [True, True] Translation: X:96.25, Y:22.89, Z:1.67 [[ 8.27237023e-01 -5.61642639e-01 -1.53770796e-02 9.62466011e+01] [ 5.61555666e-01 8.27379806e-01 -9.89397877e-03 2.28935754e+01] [ 1.82795655e-02 -4.50420640e-04 9.99832813e-01 1.67179856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88361786499998 meters 0.019166136659817593 Centerline is valid? [True, True] Translation: X:96.27, Y:22.91, Z:1.67 [[ 8.27434110e-01 -5.61349205e-01 -1.54874969e-02 9.62699639e+01] [ 5.61260875e-01 8.27578922e-01 -9.96787606e-03 2.29091737e+01] [ 1.84125853e-02 -4.44765386e-04 9.99830375e-01 1.67191313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91361786499998 meters 0.01925394266252293 Centerline is valid? [True, True] Translation: X:96.29, Y:22.93, Z:1.67 [[ 8.27914072e-01 -5.60641373e-01 -1.54770962e-02 9.62924290e+01] [ 5.60552988e-01 8.28058615e-01 -9.96387127e-03 2.29261929e+01] [ 1.84021013e-02 -4.26503295e-04 9.99830576e-01 1.67223544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94361786499998 meters 0.01887977314686636 Centerline is valid? [True, True] Translation: X:96.32, Y:22.94, Z:1.67 [[ 8.28010331e-01 -5.60496334e-01 -1.55804841e-02 9.63151018e+01] [ 5.60406695e-01 8.28156796e-01 -1.00327565e-02 2.29432536e+01] [ 1.85264070e-02 -4.24181586e-04 9.99828281e-01 1.67253898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97361786499998 meters 0.020083682452842005 Centerline is valid? [True, True] Translation: X:96.34, Y:22.96, Z:1.67 [[ 8.27957264e-01 -5.60565569e-01 -1.59063423e-02 9.63383064e+01] [ 5.60472036e-01 8.28109931e-01 -1.02487997e-02 2.29591493e+01] [ 1.89173243e-02 -4.29491923e-04 9.99820959e-01 1.67108795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00361786499998 meters 0.018901585112104706 Centerline is valid? [True, True] Translation: X:96.36, Y:22.98, Z:1.67 [[ 8.28184836e-01 -5.60230792e-01 -1.58536402e-02 9.63617362e+01] [ 5.60137705e-01 8.28336458e-01 -1.02207833e-02 2.29758573e+01] [ 1.88581457e-02 -4.15523868e-04 9.99822083e-01 1.67296272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03361786499998 meters 0.01892634130000017 Centerline is valid? [True, True] Translation: X:96.39, Y:22.99, Z:1.67 [[ 8.28488898e-01 -5.59785362e-01 -1.57001447e-02 9.63854531e+01] [ 5.59693892e-01 8.28637551e-01 -1.01270141e-02 2.29932223e+01] [ 1.86786837e-02 -3.97156350e-04 9.99825459e-01 1.67330668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06361786499998 meters 0.01939207246837761 Centerline is valid? [True, True] Translation: X:96.41, Y:23.01, Z:1.67 [[ 8.28519694e-01 -5.59745797e-01 -1.54841724e-02 9.64085654e+01] [ 5.59656731e-01 8.28664283e-01 -9.99251734e-03 2.30077191e+01] [ 1.84244502e-02 -3.86823899e-04 9.99830181e-01 1.67368613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09361786499998 meters 0.01890165759832689 Centerline is valid? [True, True] Translation: X:96.43, Y:23.03, Z:1.67 [[ 8.28846713e-01 -5.59266670e-01 -1.52943798e-02 9.64309182e+01] [ 5.59179643e-01 8.28987729e-01 -9.87278074e-03 2.30260266e+01] [ 1.82003704e-02 -3.69283960e-04 9.99834291e-01 1.67407510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12361786499999 meters 0.01896630083069482 Centerline is valid? [True, True] Translation: X:96.45, Y:23.04, Z:1.67 [[ 8.28986912e-01 -5.59058613e-01 -1.53025421e-02 9.64542754e+01] [ 5.58971364e-01 8.29128058e-01 -9.88316077e-03 2.30424488e+01] [ 1.82130332e-02 -3.60671912e-04 9.99834064e-01 1.67465750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15361786499997 meters 0.018589276431405746 Centerline is valid? [True, True] Translation: X:96.48, Y:23.06, Z:1.68 [[ 8.28849972e-01 -5.59269952e-01 -1.49948651e-02 9.64762955e+01] [ 5.59186112e-01 8.28985522e-01 -9.68996393e-03 2.30598333e+01] [ 1.78498317e-02 -3.53393988e-04 9.99840617e-01 1.67511444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18361786499997 meters 0.018909167707494665 Centerline is valid? [True, True] Translation: X:96.50, Y:23.07, Z:1.68 [[ 8.29142947e-01 -5.58843566e-01 -1.46915770e-02 9.64991426e+01] [ 5.58762925e-01 8.29273030e-01 -9.49927851e-03 2.30749621e+01] [ 1.74919392e-02 -3.32848736e-04 9.99846949e-01 1.67530789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21361786499997 meters 0.01824357815574913 Centerline is valid? [True, True] Translation: X:96.52, Y:23.09, Z:1.68 [[ 8.29141963e-01 -5.58858368e-01 -1.41749493e-02 9.65205235e+01] [ 5.58783272e-01 8.29263059e-01 -9.16697680e-03 2.30929891e+01] [ 1.68778035e-02 -3.19999388e-04 9.99857509e-01 1.67545269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24361786499998 meters 0.01856918127638587 Centerline is valid? [True, True] Translation: X:96.54, Y:23.11, Z:1.68 [[ 8.28957031e-01 -5.59136917e-01 -1.40053360e-02 9.65430784e+01] [ 5.59063556e-01 8.29075272e-01 -9.06270914e-03 2.31075526e+01] [ 1.66787730e-02 -3.17276511e-04 9.99860849e-01 1.67585134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27361786499998 meters 0.018680548847199635 Centerline is valid? [True, True] Translation: X:96.57, Y:23.12, Z:1.68 [[ 8.28545924e-01 -5.59759769e-01 -1.34406979e-02 9.65674688e+01] [ 5.59692232e-01 8.28654875e-01 -8.70076560e-03 2.31236555e+01] [ 1.60080384e-02 -3.13670318e-04 9.99871814e-01 1.67615754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30361786499998 meters 0.018696768606686943 Centerline is valid? [True, True] Translation: X:96.59, Y:23.14, Z:1.68 [[ 8.28194727e-01 -5.60282021e-01 -1.33248630e-02 9.65909761e+01] [ 5.60215639e-01 8.28301851e-01 -8.63024040e-03 2.31393068e+01] [ 1.58723772e-02 -3.17277048e-04 9.99873976e-01 1.67662447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33361786499998 meters 0.01915592278030006 Centerline is valid? [True, True] Translation: X:96.61, Y:23.15, Z:1.68 [[ 8.27455889e-01 -5.61372555e-01 -1.33268681e-02 9.66142940e+01] [ 5.61306211e-01 8.27563135e-01 -8.63681624e-03 2.31547033e+01] [ 1.58772964e-02 -3.33869395e-04 9.99873892e-01 1.67665668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36361786499998 meters 0.019170117604459948 Centerline is valid? [True, True] Translation: X:96.64, Y:23.17, Z:1.68 [[ 8.27097071e-01 -5.61897504e-01 -1.34770105e-02 9.66383350e+01] [ 5.61829701e-01 8.27206791e-01 -8.73569024e-03 2.31709222e+01] [ 1.60568371e-02 -3.46520941e-04 9.99871021e-01 1.67641003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39361786499998 meters 0.018660294637846974 Centerline is valid? [True, True] Translation: X:96.66, Y:23.19, Z:1.68 [[ 8.26658574e-01 -5.62543424e-01 -1.34349382e-02 9.66614043e+01] [ 5.62476057e-01 8.26767664e-01 -8.71292764e-03 2.31880295e+01] [ 1.60089726e-02 -3.54214707e-04 9.99871785e-01 1.67645979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42361786499998 meters 0.01950407867069677 Centerline is valid? [True, True] Translation: X:96.69, Y:23.20, Z:1.68 [[ 8.26209220e-01 -5.63195567e-01 -1.37506061e-02 9.66859888e+01] [ 5.63125005e-01 8.26323554e-01 -8.92260556e-03 2.32019187e+01] [ 1.63876216e-02 -3.71371141e-04 9.99865645e-01 1.67669006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45361786499998 meters 0.019402082952109406 Centerline is valid? [True, True] Translation: X:96.71, Y:23.22, Z:1.68 [[ 8.26371432e-01 -5.62957808e-01 -1.37391245e-02 9.67103317e+01] [ 5.62887303e-01 8.26485556e-01 -8.91686116e-03 2.32181890e+01] [ 1.63750046e-02 -3.64939437e-04 9.99865854e-01 1.67704522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48361786499999 meters 0.019087264607816644 Centerline is valid? [True, True] Translation: X:96.73, Y:23.24, Z:1.68 [[ 8.26733337e-01 -5.62434609e-01 -1.33902998e-02 9.67341662e+01] [ 5.62367500e-01 8.26841698e-01 -8.69486214e-03 2.32352960e+01] [ 1.59619496e-02 -3.41937036e-04 9.99872541e-01 1.67775015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51361786499997 meters 0.01906817874555117 Centerline is valid? [True, True] Translation: X:96.76, Y:23.25, Z:1.68 [[ 8.26752821e-01 -5.62403300e-01 -1.35018859e-02 9.67576550e+01] [ 5.62334988e-01 8.26862995e-01 -8.77200486e-03 2.32507323e+01] [ 1.60976143e-02 -3.40303100e-04 9.99870367e-01 1.67825109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54361786499997 meters 0.018943813916307242 Centerline is valid? [True, True] Translation: X:96.78, Y:23.27, Z:1.68 [[ 8.26860269e-01 -5.62241533e-01 -1.36584832e-02 9.67807172e+01] [ 5.62171518e-01 8.26973002e-01 -8.87915485e-03 2.32661664e+01] [ 1.62874265e-02 -3.36589887e-04 9.99867294e-01 1.67824254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57361786499997 meters 0.01900241611853893 Centerline is valid? [True, True] Translation: X:96.80, Y:23.28, Z:1.68 [[ 8.27081655e-01 -5.61918731e-01 -1.35379130e-02 9.68039020e+01] [ 5.61849817e-01 8.27192381e-01 -8.80611272e-03 2.32811526e+01] [ 1.61467782e-02 -3.22899672e-04 9.99869580e-01 1.67849285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60361786499998 meters 0.018986258468276628 Centerline is valid? [True, True] Translation: X:96.83, Y:23.30, Z:1.68 [[ 8.27729255e-01 -5.60971413e-01 -1.32421508e-02 9.68275042e+01] [ 5.60905331e-01 8.27835120e-01 -8.61530243e-03 2.32957359e+01] [ 1.57952558e-02 -2.96455099e-04 9.99875203e-01 1.67909247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63361786499998 meters 0.01891044897501047 Centerline is valid? [True, True] Translation: X:96.85, Y:23.31, Z:1.68 [[ 8.27961561e-01 -5.60633669e-01 -1.30208570e-02 9.68519412e+01] [ 5.60569714e-01 8.28063892e-01 -8.47271525e-03 2.33109369e+01] [ 1.55321910e-02 -2.84015560e-04 9.99879328e-01 1.67951588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66361786499998 meters 0.018856958177576922 Centerline is valid? [True, True] Translation: X:96.88, Y:23.33, Z:1.68 [[ 8.28293895e-01 -5.60145610e-01 -1.28887423e-02 9.68763351e+01] [ 5.60082822e-01 8.28394123e-01 -8.39100205e-03 2.33262189e+01] [ 1.53771413e-02 -2.68547376e-04 9.99881729e-01 1.67979881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69361786499998 meters 0.018327237671479847 Centerline is valid? [True, True] Translation: X:96.90, Y:23.34, Z:1.68 [[ 8.28808679e-01 -5.59386710e-01 -1.27547105e-02 9.69005349e+01] [ 5.59325068e-01 8.28906778e-01 -8.30791482e-03 2.33417502e+01] [ 1.52198031e-02 -2.48357416e-04 9.99884141e-01 1.68034058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72361786499998 meters 0.01825736718788969 Centerline is valid? [True, True] Translation: X:96.92, Y:23.36, Z:1.68 [[ 8.28993041e-01 -5.59119926e-01 -1.24677914e-02 9.69241132e+01] [ 5.59060936e-01 8.29086759e-01 -8.12508271e-03 2.33562018e+01] [ 1.48797764e-02 -2.34618083e-04 9.99889262e-01 1.68078112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75361786499998 meters 0.018117880936585166 Centerline is valid? [True, True] Translation: X:96.95, Y:23.37, Z:1.68 [[ 8.29008600e-01 -5.59104143e-01 -1.21366810e-02 9.69480205e+01] [ 5.59048176e-01 8.29097405e-01 -7.91388745e-03 2.33714749e+01] [ 1.44871780e-02 -2.24308628e-04 9.99895030e-01 1.68134023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78361786499998 meters 0.018316201471459403 Centerline is valid? [True, True] Translation: X:96.97, Y:23.39, Z:1.68 [[ 8.29034344e-01 -5.59069489e-01 -1.19734526e-02 9.69719556e+01] [ 5.59014947e-01 8.29120775e-01 -7.81213790e-03 2.33852522e+01] [ 1.42949662e-02 -2.16808346e-04 9.99897798e-01 1.68173236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81361786499998 meters 0.0183010430214181 Centerline is valid? [True, True] Translation: X:97.00, Y:23.40, Z:1.68 [[ 8.28884868e-01 -5.59285593e-01 -1.22270484e-02 9.69964244e+01] [ 5.59228667e-01 8.28975016e-01 -7.98253819e-03 2.33985200e+01] [ 1.46004362e-02 -2.21110850e-04 9.99893384e-01 1.68135396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84361786499998 meters 0.018243174406104394 Centerline is valid? [True, True] Translation: X:97.02, Y:23.41, Z:1.68 [[ 8.28800244e-01 -5.59406244e-01 -1.24422970e-02 9.70202623e+01] [ 5.59347237e-01 8.28893603e-01 -8.12793394e-03 2.34126197e+01] [ 1.48601574e-02 -2.23130833e-04 9.99889557e-01 1.68126137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87361786499999 meters 0.018353706546862605 Centerline is valid? [True, True] Translation: X:97.05, Y:23.42, Z:1.68 [[ 8.28269926e-01 -5.60176180e-01 -1.30987554e-02 9.70457491e+01] [ 5.60110792e-01 8.28373459e-01 -8.56228642e-03 2.34241320e+01] [ 1.56470502e-02 -2.44869935e-04 9.99877547e-01 1.68144401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90361786499997 meters 0.018252421736500844 Centerline is valid? [True, True] Translation: X:97.07, Y:23.44, Z:1.68 [[ 8.27726245e-01 -5.60975222e-01 -1.32689006e-02 9.70708361e+01] [ 5.60908203e-01 8.27832550e-01 -8.67501635e-03 2.34386895e+01] [ 1.58508970e-02 -2.62096486e-04 9.99874332e-01 1.68126832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93361786499997 meters 0.018483323917631668 Centerline is valid? [True, True] Translation: X:97.10, Y:23.45, Z:1.68 [[ 8.27089394e-01 -5.61903500e-01 -1.36963756e-02 9.70962596e+01] [ 5.61832141e-01 8.27202741e-01 -8.95934028e-03 2.34526142e+01] [ 1.63639641e-02 -2.84888692e-04 9.99866061e-01 1.68161826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96361786499997 meters 0.018581360220307278 Centerline is valid? [True, True] Translation: X:97.12, Y:23.47, Z:1.68 [[ 8.26657378e-01 -5.62541767e-01 -1.35771862e-02 9.71216488e+01] [ 5.62471657e-01 8.26768816e-01 -8.88596304e-03 2.34664592e+01] [ 1.62239195e-02 -2.91135500e-04 9.99868341e-01 1.68202082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99361786499998 meters 0.01894379046118201 Centerline is valid? [True, True] Translation: X:97.15, Y:23.48, Z:1.68 [[ 8.25659094e-01 -5.64011798e-01 -1.33323695e-02 9.71485424e+01] [ 5.63944314e-01 8.25766671e-01 -8.73016632e-03 2.34787254e+01] [ 1.59333432e-02 -3.10572759e-04 9.99873008e-01 1.68263387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02361786499998 meters 0.019154023788184905 Centerline is valid? [True, True] Translation: X:97.17, Y:23.49, Z:1.68 [[ 8.25097974e-01 -5.64831227e-01 -1.33797694e-02 9.71738386e+01] [ 5.64763298e-01 8.25206386e-01 -8.76572290e-03 2.34927232e+01] [ 1.59922251e-02 -3.23822467e-04 9.99872064e-01 1.68318973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05361786499998 meters 0.01955137812546097 Centerline is valid? [True, True] Translation: X:97.20, Y:23.50, Z:1.68 [[ 8.24499725e-01 -5.65703505e-01 -1.34070412e-02 9.72002687e+01] [ 5.65635340e-01 8.24608653e-01 -8.78815104e-03 2.35037043e+01] [ 1.60270500e-02 -3.37668186e-04 9.99871502e-01 1.68395214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08361786499998 meters 0.01966947014163605 Centerline is valid? [True, True] Translation: X:97.22, Y:23.52, Z:1.68 [[ 8.24195126e-01 -5.66143216e-01 -1.35739940e-02 9.72246716e+01] [ 5.66073376e-01 8.24306822e-01 -8.89917636e-03 2.35172245e+01] [ 1.62273441e-02 -3.49218806e-04 9.99868267e-01 1.68460189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11361786499998 meters 0.019064196447399026 Centerline is valid? [True, True] Translation: X:97.25, Y:23.53, Z:1.68 [[ 8.23963275e-01 -5.66489265e-01 -1.32073600e-02 9.72478313e+01] [ 5.66423116e-01 8.24069048e-01 -8.66361428e-03 2.35325593e+01] [ 1.57916211e-02 -3.42454026e-04 9.99875246e-01 1.68468339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14361786499998 meters 0.01908304124583237 Centerline is valid? [True, True] Translation: X:97.27, Y:23.54, Z:1.69 [[ 8.24068166e-01 -5.66336026e-01 -1.32349495e-02 9.72726910e+01] [ 5.66269496e-01 8.24174370e-01 -8.68707172e-03 2.35448785e+01] [ 1.58277078e-02 -3.35808905e-04 9.99874678e-01 1.68547215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17361786499998 meters 0.018849448574044993 Centerline is valid? [True, True] Translation: X:97.30, Y:23.56, Z:1.69 [[ 8.24232988e-01 -5.66096176e-01 -1.32325577e-02 9.72976170e+01] [ 5.66029615e-01 8.24339135e-01 -8.68701039e-03 2.35601641e+01] [ 1.58257986e-02 -3.29899045e-04 9.99874710e-01 1.68634733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20361786499998 meters 0.01888678966379803 Centerline is valid? [True, True] Translation: X:97.32, Y:23.57, Z:1.69 [[ 8.24418156e-01 -5.65832328e-01 -1.29800234e-02 9.73223751e+01] [ 5.65768183e-01 8.24520271e-01 -8.52561721e-03 2.35748473e+01] [ 1.55263623e-02 -3.15010648e-04 9.99879409e-01 1.68713228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23361786499999 meters 0.01864558764438397 Centerline is valid? [True, True] Translation: X:97.35, Y:23.59, Z:1.69 [[ 8.24814247e-01 -5.65253203e-01 -1.30489240e-02 9.73470217e+01] [ 5.65188232e-01 8.24917405e-01 -8.57537573e-03 2.35899599e+01] [ 1.56115432e-02 -3.02006230e-04 9.99878087e-01 1.68795142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26361786499997 meters 0.018425608871531454 Centerline is valid? [True, True] Translation: X:97.37, Y:23.60, Z:1.69 [[ 8.26004122e-01 -5.63515843e-01 -1.29261287e-02 9.73713663e+01] [ 5.63451805e-01 8.26105215e-01 -8.49926801e-03 2.36031524e+01] [ 1.54678145e-02 -2.62820130e-04 9.99880332e-01 1.68906985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29361786499997 meters 0.018215412399617922 Centerline is valid? [True, True] Translation: X:97.40, Y:23.62, Z:1.69 [[ 8.26480270e-01 -5.62819610e-01 -1.28238478e-02 9.73957733e+01] [ 5.62756477e-01 8.26579716e-01 -8.43337916e-03 2.36182992e+01] [ 1.53464036e-02 -2.46681911e-04 9.99882207e-01 1.68948262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32361786499997 meters 0.017798887691263796 Centerline is valid? [True, True] Translation: X:97.42, Y:23.63, Z:1.69 [[ 8.27867156e-01 -5.60768237e-01 -1.32271509e-02 9.74191896e+01] [ 5.60700732e-01 8.27972789e-01 -8.70336849e-03 2.36327083e+01] [ 1.58322936e-02 -2.11240267e-04 9.99874639e-01 1.68956474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35361786499998 meters 0.0176511639046888 Centerline is valid? [True, True] Translation: X:97.44, Y:23.65, Z:1.69 [[ 8.28445071e-01 -5.59916750e-01 -1.31148012e-02 9.74437921e+01] [ 5.59850258e-01 8.28548850e-01 -8.63088344e-03 2.36484511e+01] [ 1.56988296e-02 -1.92111973e-04 9.99876747e-01 1.68963168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38361786499998 meters 0.017525932017329743 Centerline is valid? [True, True] Translation: X:97.47, Y:23.66, Z:1.69 [[ 8.28996554e-01 -5.59099310e-01 -1.31405871e-02 9.74680236e+01] [ 5.59032384e-01 8.29100676e-01 -8.65228783e-03 2.36638432e+01] [ 1.57323578e-02 -1.73296931e-04 9.99876224e-01 1.68981808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41361786499998 meters 0.01720879608089696 Centerline is valid? [True, True] Translation: X:97.49, Y:23.68, Z:1.69 [[ 8.29913786e-01 -5.57739791e-01 -1.30166778e-02 9.74932962e+01] [ 5.57673887e-01 8.30015847e-01 -8.57500779e-03 2.36786395e+01] [ 1.55866719e-02 -1.42544128e-04 9.99878510e-01 1.69081443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44361786499998 meters 0.017118450348684207 Centerline is valid? [True, True] Translation: X:97.52, Y:23.69, Z:1.69 [[ 8.30061571e-01 -5.57523670e-01 -1.28508873e-02 9.75170063e+01] [ 5.57459344e-01 8.30161032e-01 -8.46996035e-03 2.36937021e+01] [ 1.53905092e-02 -1.33258597e-04 9.99881550e-01 1.69142321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47361786499998 meters 0.017171627929722395 Centerline is valid? [True, True] Translation: X:97.54, Y:23.71, Z:1.69 [[ 8.30076575e-01 -5.57496649e-01 -1.30524089e-02 9.75407863e+01] [ 5.57430202e-01 8.30179179e-01 -8.60821026e-03 2.37073961e+01] [ 1.56348865e-02 -1.30333258e-04 9.99877759e-01 1.69214101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50361786499998 meters 0.017145734411535656 Centerline is valid? [True, True] Translation: X:97.57, Y:23.72, Z:1.69 [[ 8.30105589e-01 -5.57445901e-01 -1.33708219e-02 9.75651563e+01] [ 5.57376128e-01 8.30213256e-01 -8.82050194e-03 2.37206017e+01] [ 1.60175862e-02 -1.30628990e-04 9.99871702e-01 1.69290658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53361786499998 meters 0.017254644410953073 Centerline is valid? [True, True] Translation: X:97.59, Y:23.74, Z:1.69 [[ 8.29772256e-01 -5.57944085e-01 -1.32816456e-02 9.75894902e+01] [ 5.57875221e-01 8.29878533e-01 -8.76684997e-03 2.37350510e+01] [ 1.59135646e-02 -1.35012083e-04 9.99873362e-01 1.69364604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56361786499998 meters 0.01730354612263657 Centerline is valid? [True, True] Translation: X:97.61, Y:23.75, Z:1.69 [[ 8.29328103e-01 -5.58606625e-01 -1.31732965e-02 9.76133422e+01] [ 5.58538884e-01 8.29432709e-01 -8.70041800e-03 2.37495214e+01] [ 1.57864742e-02 -1.42297177e-04 9.99875376e-01 1.69412733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59361786499998 meters 0.017506704782855056 Centerline is valid? [True, True] Translation: X:97.64, Y:23.76, Z:1.69 [[ 8.28513601e-01 -5.59805122e-01 -1.35439300e-02 9.76389069e+01] [ 5.59733586e-01 8.28624281e-01 -8.95064318e-03 2.37624800e+01] [ 1.62334452e-02 -1.65262921e-04 9.99868215e-01 1.69433672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62361786499999 meters 0.017533365703846004 Centerline is valid? [True, True] Translation: X:97.66, Y:23.78, Z:1.70 [[ 8.28169248e-01 -5.60316333e-01 -1.34648674e-02 9.76628456e+01] [ 5.60245625e-01 8.28278684e-01 -8.90293448e-03 2.37766010e+01] [ 1.61411223e-02 -1.70496512e-04 9.99869709e-01 1.69503638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65361786499997 meters 0.01763016597675962 Centerline is valid? [True, True] Translation: X:97.69, Y:23.79, Z:1.70 [[ 8.27941403e-01 -5.60656924e-01 -1.32984079e-02 9.76866741e+01] [ 5.60587916e-01 8.28048178e-01 -8.79795146e-03 2.37918636e+01] [ 1.59443549e-02 -1.70738516e-04 9.99872866e-01 1.69588923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68361786499997 meters 0.01763016597675962 Centerline is valid? [True, True] Translation: X:97.71, Y:23.81, Z:1.70 [[ 8.27791318e-01 -5.60878551e-01 -1.32960559e-02 9.77096338e+01] [ 5.60809515e-01 8.27898074e-01 -8.80150456e-03 2.38071542e+01] [ 1.59443542e-02 -1.70745605e-04 9.99872866e-01 1.69634009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71361786499997 meters 0.017685921095903646 Centerline is valid? [True, True] Translation: X:97.73, Y:23.82, Z:1.70 [[ 8.28080594e-01 -5.60462884e-01 -1.28018149e-02 9.77326423e+01] [ 5.60398759e-01 8.28179529e-01 -8.47930172e-03 2.38224247e+01] [ 1.53545349e-02 -1.52575951e-04 9.99882101e-01 1.69641579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74361786499998 meters 0.017696935145400976 Centerline is valid? [True, True] Translation: X:97.76, Y:23.84, Z:1.70 [[ 8.28087309e-01 -5.60452070e-01 -1.28407936e-02 9.77558069e+01] [ 5.60387532e-01 8.28186847e-01 -8.50643681e-03 2.38383134e+01] [ 1.54020265e-02 -1.51748274e-04 9.99881370e-01 1.69695215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77361786499998 meters 0.017716695016719793 Centerline is valid? [True, True] Translation: X:97.78, Y:23.85, Z:1.70 [[ 8.28603575e-01 -5.59669745e-01 -1.36342475e-02 9.77790167e+01] [ 5.59596788e-01 8.28715727e-01 -9.03758203e-03 2.38549204e+01] [ 1.63569766e-02 -1.41108360e-04 9.99866206e-01 1.69649010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80361786499998 meters 0.017653073395810886 Centerline is valid? [True, True] Translation: X:97.80, Y:23.87, Z:1.70 [[ 8.28444115e-01 -5.59889956e-01 -1.42683118e-02 9.78018431e+01] [ 5.59810003e-01 8.28566965e-01 -9.46283998e-03 2.38704693e+01] [ 1.71204008e-02 -1.48109557e-04 9.99853424e-01 1.69666856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83361786499998 meters 0.017905259004681488 Centerline is valid? [True, True] Translation: X:97.83, Y:23.89, Z:1.70 [[ 8.28133325e-01 -5.60353501e-01 -1.41120178e-02 9.78259981e+01] [ 5.60275268e-01 8.28253542e-01 -9.36447119e-03 2.38851068e+01] [ 1.69357429e-02 -1.51583863e-04 9.99856569e-01 1.69704405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86361786499998 meters 0.018628828636503284 Centerline is valid? [True, True] Translation: X:97.85, Y:23.90, Z:1.70 [[ 8.27069183e-01 -5.61925332e-01 -1.40174560e-02 9.78503899e+01] [ 5.61848340e-01 8.27187941e-01 -9.30341065e-03 2.38979523e+01] [ 1.68228927e-02 -1.81120173e-04 9.99858469e-01 1.69794490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89361786499998 meters 0.018486903252594545 Centerline is valid? [True, True] Translation: X:97.87, Y:23.91, Z:1.70 [[ 8.26288140e-01 -5.63080977e-01 -1.37012042e-02 9.78739701e+01] [ 5.63007541e-01 8.26401703e-01 -9.09583307e-03 2.39149277e+01] [ 1.64443890e-02 -1.98102279e-04 9.99864762e-01 1.69861039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92361786499998 meters 0.018989505147204728 Centerline is valid? [True, True] Translation: X:97.90, Y:23.93, Z:1.70 [[ 8.24477168e-01 -5.65735406e-01 -1.34480372e-02 9.78978021e+01] [ 5.65664943e-01 8.24586800e-01 -8.93201235e-03 2.39313400e+01] [ 1.61422296e-02 -2.42842942e-04 9.99869676e-01 1.69914931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95361786499998 meters 0.019317540867160348 Centerline is valid? [True, True] Translation: X:97.92, Y:23.95, Z:1.70 [[ 8.23475538e-01 -5.67195065e-01 -1.33340287e-02 9.79222211e+01] [ 5.67125913e-01 8.23583443e-01 -8.86063715e-03 2.39473238e+01] [ 1.60073950e-02 -2.65555271e-04 9.99871838e-01 1.69937003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98361786499999 meters 0.019790341202789715 Centerline is valid? [True, True] Translation: X:97.95, Y:23.96, Z:1.70 [[ 8.22390750e-01 -5.68779917e-01 -1.27616679e-02 9.79462740e+01] [ 5.68716704e-01 8.22489713e-01 -8.48427487e-03 2.39627142e+01] [ 1.53220257e-02 -2.80384549e-04 9.99882572e-01 1.69949498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01361786499997 meters 0.02073856109048968 Centerline is valid? [True, True] Translation: X:97.97, Y:23.98, Z:1.70 [[ 8.20595218e-01 -5.71372870e-01 -1.25112691e-02 9.79695662e+01] [ 5.71312352e-01 8.20690527e-01 -8.32199360e-03 2.39773344e+01] [ 1.50228414e-02 -3.18854411e-04 9.99887100e-01 1.70022021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04361786499997 meters 0.021261737950643407 Centerline is valid? [True, True] Translation: X:97.99, Y:23.99, Z:1.70 [[ 8.19680989e-01 -5.72689297e-01 -1.22492904e-02 9.79940824e+01] [ 5.72631413e-01 8.19772442e-01 -8.14913160e-03 2.39932880e+01] [ 1.47085511e-02 -3.34640199e-04 9.99891767e-01 1.70065898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07361786499997 meters 0.021768832156229954 Centerline is valid? [True, True] Translation: X:98.02, Y:24.01, Z:1.70 [[ 8.18852347e-01 -5.73880002e-01 -1.19405199e-02 9.80183768e+01] [ 5.73825072e-01 8.18939329e-01 -7.94742962e-03 2.40094154e+01] [ 1.43394323e-02 -3.43998276e-04 9.99897126e-01 1.70121320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10361786499998 meters 0.02067989159686704 Centerline is valid? [True, True] Translation: X:98.04, Y:24.03, Z:1.70 [[ 8.17722748e-01 -5.75479552e-01 -1.23609032e-02 9.80398887e+01] [ 5.75420808e-01 8.17816079e-01 -8.23127955e-03 2.40294366e+01] [ 1.48458785e-02 -3.81816393e-04 9.99889721e-01 1.70066974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13361786499998 meters 0.020448864582259443 Centerline is valid? [True, True] Translation: X:98.06, Y:24.05, Z:1.70 [[ 8.17521753e-01 -5.75754068e-01 -1.28622266e-02 9.80622578e+01] [ 5.75690426e-01 8.17622831e-01 -8.56969287e-03 2.40460978e+01] [ 1.54504857e-02 -3.98750372e-04 9.99880555e-01 1.70110752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16361786499998 meters 0.020980459358673903 Centerline is valid? [True, True] Translation: X:98.09, Y:24.06, Z:1.70 [[ 8.17350020e-01 -5.75989430e-01 -1.32333440e-02 9.80854129e+01] [ 5.75922005e-01 8.17457037e-01 -8.82250067e-03 2.40611975e+01] [ 1.58993573e-02 -4.10302890e-04 9.99873513e-01 1.70132815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19361786499998 meters 0.021017311534882246 Centerline is valid? [True, True] Translation: X:98.11, Y:24.08, Z:1.70 [[ 8.17525431e-01 -5.75736852e-01 -1.33883052e-02 9.81086880e+01] [ 5.75667778e-01 8.17634949e-01 -8.92742495e-03 2.40777836e+01] [ 1.60865938e-02 -4.08818957e-04 9.99870519e-01 1.70128672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22361786499998 meters 0.020558660898591118 Centerline is valid? [True, True] Translation: X:98.13, Y:24.10, Z:1.70 [[ 8.18223810e-01 -5.74729601e-01 -1.39886927e-02 9.81313845e+01] [ 5.74653962e-01 8.18343280e-01 -9.33270001e-03 2.40967978e+01] [ 1.68113316e-02 -4.02420336e-04 9.99858599e-01 1.70129191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25361786499998 meters 0.020419189002641207 Centerline is valid? [True, True] Translation: X:98.16, Y:24.11, Z:1.70 [[ 8.18661029e-01 -5.74103551e-01 -1.41149745e-02 9.81551867e+01] [ 5.74026371e-01 8.18782609e-01 -9.42146236e-03 2.41140470e+01] [ 1.69659907e-02 -3.89383547e-04 9.99855991e-01 1.70130725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28361786499998 meters 0.020575213377419136 Centerline is valid? [True, True] Translation: X:98.18, Y:24.13, Z:1.70 [[ 8.19142990e-01 -5.73420088e-01 -1.39342822e-02 9.81782982e+01] [ 5.73344701e-01 8.19261416e-01 -9.30515045e-03 2.41301865e+01] [ 1.67515800e-02 -3.66898121e-04 9.99859615e-01 1.70163832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31361786499998 meters 0.019716214869133598 Centerline is valid? [True, True] Translation: X:98.20, Y:24.15, Z:1.70 [[ 8.19739702e-01 -5.72568682e-01 -1.38537018e-02 9.82000402e+01] [ 5.72494002e-01 8.19856685e-01 -9.25384239e-03 2.41501200e+01] [ 1.66565104e-02 -3.45419160e-04 9.99861211e-01 1.70204086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34361786499998 meters 0.01963243555023136 Centerline is valid? [True, True] Translation: X:98.22, Y:24.17, Z:1.70 [[ 8.19769684e-01 -5.72529303e-01 -1.37062954e-02 9.82230111e+01] [ 5.72456121e-01 8.19884189e-01 -9.16005044e-03 2.41671477e+01] [ 1.64819722e-02 -3.37121024e-04 9.99864106e-01 1.70293814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37361786499997 meters 0.01936849804785429 Centerline is valid? [True, True] Translation: X:98.25, Y:24.18, Z:1.70 [[ 8.19698498e-01 -5.72635313e-01 -1.35340789e-02 9.82454372e+01] [ 5.72563892e-01 8.19810154e-01 -9.04990290e-03 2.41841507e+01] [ 1.62776693e-02 -3.30933071e-04 9.99867455e-01 1.70332888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40361786499997 meters 0.0202417759102178 Centerline is valid? [True, True] Translation: X:98.27, Y:24.20, Z:1.70 [[ 8.19433835e-01 -5.73018041e-01 -1.33608975e-02 9.82693123e+01] [ 5.72948401e-01 8.19542687e-01 -8.93947272e-03 2.41986972e+01] [ 1.60723050e-02 -3.29798463e-04 9.99870778e-01 1.70461246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43361786499997 meters 0.02005591032000372 Centerline is valid? [True, True] Translation: X:98.29, Y:24.22, Z:1.71 [[ 8.19226649e-01 -5.73320406e-01 -1.30923244e-02 9.82919081e+01] [ 5.73253554e-01 8.19331193e-01 -8.76122743e-03 2.42150334e+01] [ 1.57499402e-02 -3.27790477e-04 9.99875908e-01 1.70536179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46361786499997 meters 0.019545235551028352 Centerline is valid? [True, True] Translation: X:98.31, Y:24.23, Z:1.71 [[ 8.18712011e-01 -5.74047942e-01 -1.34015976e-02 9.83147495e+01] [ 5.73977905e-01 8.18821617e-01 -8.97348761e-03 2.42328709e+01] [ 1.61247299e-02 -3.45518839e-04 9.99869928e-01 1.70608834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49361786499998 meters 0.020730634855756623 Centerline is valid? [True, True] Translation: X:98.34, Y:24.25, Z:1.71 [[ 8.17539747e-01 -5.75722798e-01 -1.31157313e-02 9.83391284e+01] [ 5.75655860e-01 8.17644865e-01 -8.78669781e-03 2.42468845e+01] [ 1.57827126e-02 -3.66672867e-04 9.99875378e-01 1.70671360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52361786499998 meters 0.021181206640147412 Centerline is valid? [True, True] Translation: X:98.36, Y:24.26, Z:1.71 [[ 8.16970890e-01 -5.76531840e-01 -1.30231383e-02 9.83622794e+01] [ 5.76465921e-01 8.17074595e-01 -8.72627706e-03 2.42618231e+01] [ 1.56718520e-02 -3.78281083e-04 9.99877117e-01 1.70711413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55361786499998 meters 0.020577158514736703 Centerline is valid? [True, True] Translation: X:98.38, Y:24.28, Z:1.71 [[ 8.15587220e-01 -5.78476394e-01 -1.35110270e-02 9.83849436e+01] [ 5.78405682e-01 8.15699011e-01 -9.05481686e-03 2.42800603e+01] [ 1.62589292e-02 -4.29861875e-04 9.99867722e-01 1.70738375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58361786499998 meters 0.020924414612320478 Centerline is valid? [True, True] Translation: X:98.41, Y:24.30, Z:1.71 [[ 8.14956577e-01 -5.79363304e-01 -1.35624520e-02 9.84083379e+01] [ 5.79292098e-01 8.15069300e-01 -9.09403804e-03 2.42952429e+01] [ 1.63230901e-02 -4.45375139e-04 9.99866670e-01 1.70807172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61361786499998 meters 0.020990118215961803 Centerline is valid? [True, True] Translation: X:98.43, Y:24.31, Z:1.71 [[ 8.14466513e-01 -5.80044760e-01 -1.38699802e-02 9.84317313e+01] [ 5.79970357e-01 8.14584469e-01 -9.30199315e-03 2.43112667e+01] [ 1.66938428e-02 -4.68015418e-04 9.99860539e-01 1.70847275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64361786499998 meters 0.02135185495425189 Centerline is valid? [True, True] Translation: X:98.46, Y:24.33, Z:1.71 [[ 8.13865903e-01 -5.80888865e-01 -1.37992235e-02 9.84558628e+01] [ 5.80815313e-01 8.13982736e-01 -9.25626994e-03 2.43272151e+01] [ 1.66091939e-02 -4.81437843e-04 9.99861942e-01 1.70909496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67361786499998 meters 0.022404129512384484 Centerline is valid? [True, True] Translation: X:98.48, Y:24.34, Z:1.71 [[ 8.12945241e-01 -5.82163476e-01 -1.43430186e-02 9.84794335e+01] [ 5.82084124e-01 8.13071592e-01 -9.62598221e-03 2.43414867e+01] [ 1.72657962e-02 -5.23446961e-04 9.99850798e-01 1.70978617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70361786499998 meters 0.02247043784848181 Centerline is valid? [True, True] Translation: X:98.50, Y:24.36, Z:1.71 [[ 8.12624953e-01 -5.82605404e-01 -1.45474547e-02 9.85029359e+01] [ 5.82523810e-01 8.12754977e-01 -9.76517295e-03 2.43578661e+01] [ 1.75127587e-02 -5.38815500e-04 9.99846495e-01 1.71002680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73361786499999 meters 0.022722819764192683 Centerline is valid? [True, True] Translation: X:98.53, Y:24.37, Z:1.71 [[ 8.12492478e-01 -5.82778323e-01 -1.50133054e-02 9.85253751e+01] [ 5.82691359e-01 8.12630985e-01 -1.00828157e-02 2.43729552e+01] [ 1.80763236e-02 -5.55911449e-04 9.99836455e-01 1.71072639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76361786499997 meters 0.02167588066720021 Centerline is valid? [True, True] Translation: X:98.55, Y:24.39, Z:1.71 [[ 8.12314462e-01 -5.83020990e-01 -1.52230309e-02 9.85468041e+01] [ 5.82931568e-01 8.12456894e-01 -1.02265891e-02 2.43914345e+01] [ 1.83303726e-02 -5.66779045e-04 9.99831824e-01 1.71201389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79361786499997 meters 0.02323287528255227 Centerline is valid? [True, True] Translation: X:98.57, Y:24.40, Z:1.71 [[ 8.12575392e-01 -5.82649819e-01 -1.55055339e-02 9.85716491e+01] [ 5.82556873e-01 8.12723121e-01 -1.04220751e-02 2.44045434e+01] [ 1.86741261e-02 -5.64133550e-04 9.99825464e-01 1.71252845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82361786499997 meters 0.021958915008219514 Centerline is valid? [True, True] Translation: X:98.59, Y:24.42, Z:1.71 [[ 8.12656794e-01 -5.82534326e-01 -1.55786482e-02 9.85940944e+01] [ 5.82440436e-01 8.12805907e-01 -1.04735570e-02 2.44235521e+01] [ 1.87636238e-02 -5.62227387e-04 9.99823790e-01 1.71360622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85361786499998 meters 0.021645320922713075 Centerline is valid? [True, True] Translation: X:98.62, Y:24.44, Z:1.71 [[ 8.13175685e-01 -5.81800822e-01 -1.59094139e-02 9.86166135e+01] [ 5.81702657e-01 8.13331112e-01 -1.07014283e-02 2.44414154e+01] [ 1.91657211e-02 -5.52407074e-04 9.99816168e-01 1.71456660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88361786499998 meters 0.021572013313437385 Centerline is valid? [True, True] Translation: X:98.64, Y:24.46, Z:1.72 [[ 8.13512785e-01 -5.81322966e-01 -1.61418152e-02 9.86403342e+01] [ 5.81221709e-01 8.13672731e-01 -1.08633056e-02 2.44586041e+01] [ 1.94492438e-02 -5.44535431e-04 9.99810697e-01 1.71521899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91361786499998 meters 0.021590378064787065 Centerline is valid? [True, True] Translation: X:98.66, Y:24.47, Z:1.72 [[ 8.14040486e-01 -5.80578985e-01 -1.63134720e-02 9.86631344e+01] [ 5.80475316e-01 8.14203760e-01 -1.09838011e-02 2.44748441e+01] [ 1.96594544e-02 -5.28309045e-04 9.99806595e-01 1.71557332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94361786499998 meters 0.020961535657698514 Centerline is valid? [True, True] Translation: X:98.69, Y:24.49, Z:1.72 [[ 8.15580799e-01 -5.78383518e-01 -1.73339979e-02 9.86856681e+01] [ 5.78265914e-01 8.15764828e-01 -1.16738729e-02 2.44935902e+01] [ 2.08924415e-02 -5.02673572e-04 9.99781603e-01 1.71555775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97361786499998 meters 0.020625575447791287 Centerline is valid? [True, True] Translation: X:98.71, Y:24.51, Z:1.72 [[ 8.16462045e-01 -5.77148411e-01 -1.70129535e-02 9.87088712e+01] [ 5.77034742e-01 8.16639150e-01 -1.14631764e-02 2.45110855e+01] [ 2.05093979e-02 -4.57816791e-04 9.99789555e-01 1.71570542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00361786499998 meters 0.02033667075857141 Centerline is valid? [True, True] Translation: X:98.73, Y:24.53, Z:1.72 [[ 8.17276155e-01 -5.75986459e-01 -1.72998366e-02 9.87324491e+01] [ 5.75868545e-01 8.17459120e-01 -1.16621883e-02 2.45286013e+01] [ 2.08591718e-02 -4.31203295e-04 9.99782331e-01 1.71625521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03361786499998 meters 0.019431716108307618 Centerline is valid? [True, True] Translation: X:98.75, Y:24.55, Z:1.72 [[ 8.18831659e-01 -5.73789319e-01 -1.67490765e-02 9.87547109e+01] [ 5.73678231e-01 8.19002862e-01 -1.12959911e-02 2.45474554e+01] [ 2.01990606e-02 -3.59065470e-04 9.99795914e-01 1.71734187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06361786499998 meters 0.019012708504664758 Centerline is valid? [True, True] Translation: X:98.78, Y:24.56, Z:1.72 [[ 8.19466367e-01 -5.72888604e-01 -1.65384544e-02 9.87774751e+01] [ 5.72779999e-01 8.19633174e-01 -1.11594508e-02 2.45649793e+01] [ 1.99485880e-02 -3.28101292e-04 9.99800953e-01 1.71803818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09361786499998 meters 0.018648879236906443 Centerline is valid? [True, True] Translation: X:98.80, Y:24.58, Z:1.72 [[ 8.19974609e-01 -5.72162551e-01 -1.64819900e-02 9.88004884e+01] [ 5.72054428e-01 8.20140184e-01 -1.11269858e-02 2.45825837e+01] [ 1.98839868e-02 -3.04749530e-04 9.99802248e-01 1.71874554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12361786499997 meters 0.018606316713681095 Centerline is valid? [True, True] Translation: X:98.82, Y:24.60, Z:1.72 [[ 8.20512737e-01 -5.71384400e-01 -1.66947702e-02 9.88236602e+01] [ 5.71273201e-01 8.20682512e-01 -1.12758400e-02 2.45986402e+01] [ 2.01439450e-02 -2.85304445e-04 9.99797049e-01 1.71854010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15361786499997 meters 0.01825740741990812 Centerline is valid? [True, True] Translation: X:98.85, Y:24.62, Z:1.72 [[ 8.20896618e-01 -5.70825258e-01 -1.69489257e-02 9.88462949e+01] [ 5.70710468e-01 8.21071525e-01 -1.14504193e-02 2.46161232e+01] [ 2.04524688e-02 -2.73318898e-04 9.99790789e-01 1.71870068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18361786499997 meters 0.019831118386549183 Centerline is valid? [True, True] Translation: X:98.87, Y:24.63, Z:1.72 [[ 8.21014824e-01 -5.70639150e-01 -1.74819778e-02 9.88693642e+01] [ 5.70516862e-01 8.21200880e-01 -1.18162887e-02 2.46299557e+01] [ 2.10990525e-02 -2.72414948e-04 9.99777353e-01 1.71651973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21361786499997 meters 0.018249281051297087 Centerline is valid? [True, True] Translation: X:98.89, Y:24.65, Z:1.72 [[ 8.20868549e-01 -5.70856725e-01 -1.72460128e-02 9.88919354e+01] [ 5.70737683e-01 8.21049649e-01 -1.16606894e-02 2.46466853e+01] [ 2.08164157e-02 -2.71056215e-04 9.99783278e-01 1.71865846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24361786499998 meters 0.018470589036143223 Centerline is valid? [True, True] Translation: X:98.92, Y:24.66, Z:1.72 [[ 8.19867895e-01 -5.72282865e-01 -1.75771884e-02 9.89161285e+01] [ 5.72159403e-01 8.20056234e-01 -1.18907706e-02 2.46612194e+01] [ 2.12191673e-02 -3.08092547e-04 9.99774801e-01 1.71820486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27361786499998 meters 0.018759139310052745 Centerline is valid? [True, True] Translation: X:98.94, Y:24.68, Z:1.72 [[ 8.19037495e-01 -5.73478102e-01 -1.73334536e-02 9.89402892e+01] [ 5.73358257e-01 8.19220823e-01 -1.17282799e-02 2.46754803e+01] [ 2.09258378e-02 -3.32377763e-04 9.99780975e-01 1.71825018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30361786499998 meters 0.019189550201963397 Centerline is valid? [True, True] Translation: X:98.97, Y:24.69, Z:1.72 [[ 8.16815206e-01 -5.76651958e-01 -1.68949195e-02 9.89655479e+01] [ 5.76538705e-01 8.16989816e-01 -1.14351762e-02 2.46895951e+01] [ 2.03970939e-02 -4.00149130e-04 9.99791878e-01 1.71905858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33361786499998 meters 0.0202369699140413 Centerline is valid? [True, True] Translation: X:98.99, Y:24.70, Z:1.72 [[ 8.15684243e-01 -5.78259388e-01 -1.65920563e-02 9.89906140e+01] [ 5.78150390e-01 8.15852865e-01 -1.12352097e-02 2.47022001e+01] [ 2.00335422e-02 -4.28320281e-04 9.99799217e-01 1.71919310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36361786499998 meters 0.021209489667784336 Centerline is valid? [True, True] Translation: X:99.01, Y:24.72, Z:1.72 [[ 8.14281133e-01 -5.80238515e-01 -1.64165319e-02 9.90149855e+01] [ 5.80132173e-01 8.14446465e-01 -1.11183458e-02 2.47153858e+01] [ 1.98216788e-02 -4.70299115e-04 9.99803421e-01 1.71972124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39361786499998 meters 0.020566138982213628 Centerline is valid? [True, True] Translation: X:99.04, Y:24.73, Z:1.72 [[ 8.12298741e-01 -5.83015661e-01 -1.62325371e-02 9.90386450e+01] [ 5.82912205e-01 8.12460742e-01 -1.09955976e-02 2.47317788e+01] [ 1.95989047e-02 -5.30433893e-04 9.99807782e-01 1.72128773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42361786499998 meters 0.021144477735786947 Centerline is valid? [True, True] Translation: X:99.06, Y:24.75, Z:1.72 [[ 8.11466721e-01 -5.84178254e-01 -1.60476581e-02 9.90623986e+01] [ 5.84077335e-01 8.11625199e-01 -1.08721066e-02 2.47461790e+01] [ 1.93759320e-02 -5.50720665e-04 9.99812117e-01 1.72150627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45361786499998 meters 0.02139030320920749 Centerline is valid? [True, True] Translation: X:99.09, Y:24.76, Z:1.72 [[ 8.10490949e-01 -5.85533473e-01 -1.59678850e-02 9.90867675e+01] [ 5.85433769e-01 8.10648023e-01 -1.08205428e-02 2.47618189e+01] [ 1.92801244e-02 -5.78187051e-04 9.99813954e-01 1.72177908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48361786499999 meters 0.02210138751705987 Centerline is valid? [True, True] Translation: X:99.11, Y:24.78, Z:1.72 [[ 8.09777921e-01 -5.86527654e-01 -1.56534213e-02 9.91109400e+01] [ 5.86431933e-01 8.09928989e-01 -1.06122721e-02 2.47762532e+01] [ 1.89025508e-02 -5.86082484e-04 9.99821159e-01 1.72165290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51361786499997 meters 0.021689785848377 Centerline is valid? [True, True] Translation: X:99.13, Y:24.79, Z:1.72 [[ 8.08761778e-01 -5.87914675e-01 -1.61468647e-02 9.91344231e+01] [ 5.87813048e-01 8.08922698e-01 -1.09493956e-02 2.47926093e+01] [ 1.94988757e-02 -6.35885129e-04 9.99809677e-01 1.72083796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54361786499997 meters 0.021672648343363323 Centerline is valid? [True, True] Translation: X:99.16, Y:24.81, Z:1.72 [[ 8.08173680e-01 -5.88717080e-01 -1.63554999e-02 9.91582806e+01] [ 5.88612861e-01 8.08338893e-01 -1.10966042e-02 2.48086322e+01] [ 1.97535471e-02 -6.59074083e-04 9.99804662e-01 1.72129896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57361786499997 meters 0.021672648343363323 Centerline is valid? [True, True] Translation: X:99.18, Y:24.82, Z:1.72 [[ 8.08013146e-01 -5.88937469e-01 -1.63527887e-02 9.91810768e+01] [ 5.88833214e-01 8.08178336e-01 -1.11005984e-02 2.48241834e+01] [ 1.97535279e-02 -6.59635761e-04 9.99804662e-01 1.72175024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60361786499998 meters 0.022297393892630107 Centerline is valid? [True, True] Translation: X:99.21, Y:24.84, Z:1.72 [[ 8.07829211e-01 -5.89182248e-01 -1.66205970e-02 9.92051107e+01] [ 5.89074484e-01 8.07999893e-01 -1.12882638e-02 2.48388214e+01] [ 2.00802852e-02 -6.71780371e-04 9.99798145e-01 1.72150455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63361786499998 meters 0.02144134300008599 Centerline is valid? [True, True] Translation: X:99.23, Y:24.86, Z:1.72 [[ 8.07880928e-01 -5.89115457e-01 -1.64737676e-02 9.92277853e+01] [ 5.89009521e-01 8.08048600e-01 -1.11912184e-02 2.48569179e+01] [ 1.99045246e-02 -6.62034122e-04 9.99801666e-01 1.72100192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66361786499998 meters 0.022197204868441917 Centerline is valid? [True, True] Translation: X:99.25, Y:24.87, Z:1.72 [[ 8.08093112e-01 -5.88813528e-01 -1.68568138e-02 9.92515229e+01] [ 5.88702435e-01 8.08268635e-01 -1.14567099e-02 2.48713459e+01] [ 2.03706996e-02 -6.65558991e-04 9.99792274e-01 1.72087806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69361786499998 meters 0.021290224569956027 Centerline is valid? [True, True] Translation: X:99.27, Y:24.89, Z:1.72 [[ 8.08377090e-01 -5.88429668e-01 -1.66435359e-02 9.92744739e+01] [ 5.88321232e-01 8.08548149e-01 -1.13144889e-02 2.48893036e+01] [ 2.01148811e-02 -6.45371934e-04 9.99797467e-01 1.72107831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72361786499998 meters 0.021225418201122285 Centerline is valid? [True, True] Translation: X:99.30, Y:24.91, Z:1.72 [[ 8.08840119e-01 -5.87790447e-01 -1.67347885e-02 9.92980384e+01] [ 5.87680565e-01 8.09012976e-01 -1.13823583e-02 2.49053797e+01] [ 2.02291026e-02 -6.28201919e-04 9.99795173e-01 1.72161255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75361786499998 meters 0.020994439839469838 Centerline is valid? [True, True] Translation: X:99.32, Y:24.92, Z:1.72 [[ 8.10050114e-01 -5.86143883e-01 -1.59424314e-02 9.93212908e+01] [ 5.86043750e-01 8.10206788e-01 -1.08481836e-02 2.49204252e+01] [ 1.92752626e-02 -5.55389933e-04 9.99814061e-01 1.72245572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78361786499998 meters 0.020766327032868435 Centerline is valid? [True, True] Translation: X:99.35, Y:24.94, Z:1.72 [[ 8.10644206e-01 -5.85329454e-01 -1.56653020e-02 9.93452509e+01] [ 5.85232576e-01 8.10795384e-01 -1.06619517e-02 2.49367959e+01] [ 1.89421089e-02 -5.24795718e-04 9.99820444e-01 1.72316733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81361786499998 meters 0.020152618912767407 Centerline is valid? [True, True] Translation: X:99.37, Y:24.95, Z:1.72 [[ 8.12866134e-01 -5.82259759e-01 -1.49070806e-02 9.93678378e+01] [ 5.82171431e-01 8.13002700e-01 -1.01506233e-02 2.49540278e+01] [ 1.80297962e-02 -4.27378544e-04 9.99837359e-01 1.72397698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84361786499998 meters 0.01971364892477798 Centerline is valid? [True, True] Translation: X:99.39, Y:24.97, Z:1.72 [[ 8.13973509e-01 -5.80726757e-01 -1.42674853e-02 9.93912469e+01] [ 5.80645547e-01 8.14098455e-01 -9.71872842e-03 2.49716684e+01] [ 1.72590634e-02 -3.73564348e-04 9.99850981e-01 1.72467739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87361786499997 meters 0.01925052490662737 Centerline is valid? [True, True] Translation: X:99.41, Y:24.99, Z:1.73 [[ 8.15054132e-01 -5.79217482e-01 -1.39237523e-02 9.94145404e+01] [ 5.79139842e-01 8.15172988e-01 -9.48911962e-03 2.49892594e+01] [ 1.68465307e-02 -3.29653545e-04 9.99858033e-01 1.72511072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90361786499997 meters 0.018034279068787185 Centerline is valid? [True, True] Translation: X:99.44, Y:25.01, Z:1.73 [[ 8.16906678e-01 -5.76621232e-01 -1.30933271e-02 9.94360828e+01] [ 5.76552179e-01 8.17011560e-01 -8.92724965e-03 2.50094963e+01] [ 1.58450413e-02 -2.56256435e-04 9.99874427e-01 1.72529582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93361786499997 meters 0.017926407959144002 Centerline is valid? [True, True] Translation: X:99.46, Y:25.03, Z:1.73 [[ 8.17545712e-01 -5.75723741e-01 -1.26958061e-02 9.94597061e+01] [ 5.75658643e-01 8.17644252e-01 -8.66052398e-03 2.50267403e+01] [ 1.53667221e-02 -2.28076244e-04 9.99881899e-01 1.72544405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96361786499997 meters 0.018404445298062833 Centerline is valid? [True, True] Translation: X:99.48, Y:25.04, Z:1.73 [[ 8.18362583e-01 -5.74573666e-01 -1.21566993e-02 9.94833461e+01] [ 5.74513788e-01 8.18452848e-01 -8.29714289e-03 2.50414773e+01] [ 1.47170050e-02 -1.94120080e-04 9.99891680e-01 1.72587593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99361786499998 meters 0.018239153819526118 Centerline is valid? [True, True] Translation: X:99.51, Y:25.06, Z:1.73 [[ 8.18958370e-01 -5.73721372e-01 -1.22871769e-02 9.95059537e+01] [ 5.73660083e-01 8.19050520e-01 -8.38775002e-03 2.50571568e+01] [ 1.48760501e-02 -1.79444822e-04 9.99889329e-01 1.72611572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02361786499998 meters 0.01775659435047317 Centerline is valid? [True, True] Translation: X:99.53, Y:25.08, Z:1.73 [[ 8.19295724e-01 -5.73221638e-01 -1.30946516e-02 9.95288770e+01] [ 5.73151941e-01 8.19400342e-01 -8.94047668e-03 2.50750920e+01] [ 1.58546367e-02 -1.80330662e-04 9.99874291e-01 1.72548542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05361786499998 meters 0.018310080799677567 Centerline is valid? [True, True] Translation: X:99.55, Y:25.09, Z:1.73 [[ 8.19035420e-01 -5.73592298e-01 -1.31475246e-02 9.95527602e+01] [ 5.73522010e-01 8.19140917e-01 -8.98123725e-03 2.50886146e+01] [ 1.59212438e-02 -1.84443285e-04 9.99873232e-01 1.72544798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08361786499998 meters 0.018056757970898295 Centerline is valid? [True, True] Translation: X:99.58, Y:25.11, Z:1.72 [[ 8.18028839e-01 -5.75036863e-01 -1.27052886e-02 9.95764146e+01] [ 5.74971369e-01 8.18127474e-01 -8.68101571e-03 2.51054113e+01] [ 1.53864497e-02 -2.03855985e-04 9.99881601e-01 1.72499956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11361786499998 meters 0.01821615087070001 Centerline is valid? [True, True] Translation: X:99.60, Y:25.12, Z:1.73 [[ 8.17036514e-01 -5.76454039e-01 -1.23319305e-02 9.96009381e+01] [ 5.76392439e-01 8.17129545e-01 -8.42995465e-03 2.51211373e+01] [ 1.49362662e-02 -2.20450735e-04 9.99888423e-01 1.72512513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14361786499998 meters 0.01851859897277871 Centerline is valid? [True, True] Translation: X:99.63, Y:25.14, Z:1.73 [[ 8.16014712e-01 -5.77902151e-01 -1.22103766e-02 9.96251798e+01] [ 5.77841857e-01 8.16106026e-01 -8.35121661e-03 2.51356251e+01] [ 1.47911479e-02 -2.40951050e-04 9.99890576e-01 1.72565353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17361786499998 meters 0.01901113979250593 Centerline is valid? [True, True] Translation: X:99.65, Y:25.15, Z:1.73 [[ 8.14649408e-01 -5.79832157e-01 -1.18748573e-02 9.96499914e+01] [ 5.79775309e-01 8.14735907e-01 -8.12356785e-03 2.51500425e+01] [ 1.43851785e-02 -2.66889325e-04 9.99896492e-01 1.72626580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20361786499998 meters 0.02007407450533373 Centerline is valid? [True, True] Translation: X:99.68, Y:25.16, Z:1.73 [[ 8.12045631e-01 -5.83496317e-01 -1.06743168e-02 9.96754615e+01] [ 5.83450649e-01 8.12115731e-01 -7.30608779e-03 2.51622253e+01] [ 1.29318559e-02 -2.95060381e-04 9.99916337e-01 1.72730125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23361786499999 meters 0.02076382374951252 Centerline is valid? [True, True] Translation: X:99.70, Y:25.18, Z:1.73 [[ 8.10719177e-01 -5.85341599e-01 -1.04703854e-02 9.97000811e+01] [ 5.85297801e-01 8.10786724e-01 -7.16750082e-03 2.51762833e+01] [ 1.26846859e-02 -3.17463197e-04 9.99919496e-01 1.72815267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26361786499997 meters 0.020270030280979127 Centerline is valid? [True, True] Translation: X:99.72, Y:25.19, Z:1.73 [[ 8.09705583e-01 -5.86746794e-01 -1.02503239e-02 9.97231202e+01] [ 5.86704915e-01 8.09770393e-01 -7.01802107e-03 2.51928699e+01] [ 1.24182102e-02 -3.31384562e-04 9.99922836e-01 1.72795605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29361786499997 meters 0.02057895107303995 Centerline is valid? [True, True] Translation: X:99.75, Y:25.21, Z:1.73 [[ 8.08286403e-01 -5.88698368e-01 -1.03596482e-02 9.97478240e+01] [ 5.88655743e-01 8.08352707e-01 -7.09346170e-03 2.52080338e+01] [ 1.25501590e-02 -3.64717790e-04 9.99921177e-01 1.72751087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32361786499997 meters 0.020986793561987342 Centerline is valid? [True, True] Translation: X:99.77, Y:25.22, Z:1.73 [[ 8.08203840e-01 -5.88804269e-01 -1.07742782e-02 9.97704738e+01] [ 5.88758117e-01 8.08275566e-01 -7.38176250e-03 2.52225422e+01] [ 1.30549991e-02 -3.77474962e-04 9.99914709e-01 1.72708356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35361786499998 meters 0.020997687182007594 Centerline is valid? [True, True] Translation: X:99.79, Y:25.24, Z:1.73 [[ 8.08082323e-01 -5.88960248e-01 -1.13483666e-02 9.97934799e+01] [ 5.88909039e-01 8.08161906e-01 -7.77668028e-03 2.52384679e+01] [ 1.37514732e-02 -3.98957821e-04 9.99905364e-01 1.72656699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38361786499998 meters 0.020172879269412417 Centerline is valid? [True, True] Translation: X:99.82, Y:25.26, Z:1.73 [[ 8.08573534e-01 -5.88264188e-01 -1.24131141e-02 9.98164907e+01] [ 5.88202755e-01 8.08668702e-01 -8.51170425e-03 2.52560441e+01] [ 1.50452277e-02 -4.19089144e-04 9.99886726e-01 1.72533170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41361786499998 meters 0.021172449973894333 Centerline is valid? [True, True] Translation: X:99.84, Y:25.27, Z:1.72 [[ 8.08838087e-01 -5.87887043e-01 -1.30297439e-02 9.98404049e+01] [ 5.87819229e-01 8.08942916e-01 -8.93940030e-03 2.52699326e+01] [ 1.57956767e-02 -4.28606599e-04 9.99875149e-01 1.72498650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44361786499998 meters 0.01944722576040415 Centerline is valid? [True, True] Translation: X:99.86, Y:25.29, Z:1.73 [[ 8.09140428e-01 -5.87464891e-01 -1.32954754e-02 9.98621567e+01] [ 5.87394199e-01 8.09249541e-01 -9.12332795e-03 2.52893681e+01] [ 1.61189923e-02 -4.27631670e-04 9.99869989e-01 1.72517178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47361786499998 meters 0.019898925935996938 Centerline is valid? [True, True] Translation: X:99.89, Y:25.30, Z:1.73 [[ 8.09738427e-01 -5.86654100e-01 -1.26746459e-02 9.98855123e+01] [ 5.86589689e-01 8.09837524e-01 -8.70177551e-03 2.53040426e+01] [ 1.53693361e-02 -3.88654581e-04 9.99881809e-01 1.72539992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50361786499998 meters 0.019544023024632068 Centerline is valid? [True, True] Translation: X:99.91, Y:25.32, Z:1.73 [[ 8.10030704e-01 -5.86265018e-01 -1.19827847e-02 9.99088880e+01] [ 5.86207389e-01 8.10119250e-01 -8.22785102e-03 2.53207378e+01] [ 1.45311857e-02 -3.59584946e-04 9.99894352e-01 1.72642935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53361786499998 meters 0.0194706958970116 Centerline is valid? [True, True] Translation: X:99.93, Y:25.34, Z:1.73 [[ 8.10283545e-01 -5.85916586e-01 -1.19302344e-02 9.99325208e+01] [ 5.85859365e-01 8.10371293e-01 -8.19586242e-03 2.53368355e+01] [ 1.44700112e-02 -3.48467098e-04 9.99895243e-01 1.72736155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56361786499998 meters 0.01992010549699698 Centerline is valid? [True, True] Translation: X:99.96, Y:25.35, Z:1.73 [[ 8.10434658e-01 -5.85721246e-01 -1.12377924e-02 9.99553463e+01] [ 5.85670401e-01 8.10512504e-01 -7.72414948e-03 2.53516802e+01] [ 1.36325697e-02 -3.21723929e-04 9.99907020e-01 1.72810552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59361786499998 meters 0.0189607424999455 Centerline is valid? [True, True] Translation: X:99.98, Y:25.37, Z:1.73 [[ 8.10289810e-01 -5.85926372e-01 -1.09868751e-02 9.99774808e+01] [ 5.85877776e-01 8.10364231e-01 -7.55285748e-03 2.53697751e+01] [ 1.33287890e-02 -3.16962506e-04 9.99911118e-01 1.72852746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62361786499997 meters 0.01972711227075705 Centerline is valid? [True, True] Translation: X:100.00, Y:25.38, Z:1.73 [[ 8.10025012e-01 -5.86302025e-01 -1.04601734e-02 1.00001533e+02] [ 5.86257948e-01 8.10092490e-01 -7.19552577e-03 2.53843146e+01] [ 1.26924592e-02 -3.03803921e-04 9.99919401e-01 1.72931721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65361786499997 meters 0.018762312479012524 Centerline is valid? [True, True] Translation: X:100.02, Y:25.40, Z:1.73 [[ 8.09675548e-01 -5.86793333e-01 -9.95447876e-03 1.00024447e+02] [ 5.86753447e-01 8.09736684e-01 -6.84798550e-03 2.54028081e+01] [ 1.20788589e-02 -2.96178314e-04 9.99927004e-01 1.72956536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68361786499997 meters 0.01923523279173621 Centerline is valid? [True, True] Translation: X:100.05, Y:25.42, Z:1.73 [[ 8.09255243e-01 -5.87386542e-01 -9.11050824e-03 1.00047850e+02] [ 5.87353129e-01 8.09306477e-01 -6.27121410e-03 2.54173118e+01] [ 1.10568201e-02 -2.76072635e-04 9.99938833e-01 1.73046376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71361786499997 meters 0.019301166426358644 Centerline is valid? [True, True] Translation: X:100.07, Y:25.43, Z:1.73 [[ 8.08658635e-01 -5.88219105e-01 -8.33641429e-03 1.00071549e+02] [ 5.88191175e-01 8.08701561e-01 -5.73811580e-03 2.54331902e+01] [ 1.01169406e-02 -2.63228431e-04 9.99948788e-01 1.73102709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74361786499998 meters 0.019527986311868688 Centerline is valid? [True, True] Translation: X:100.10, Y:25.45, Z:1.73 [[ 8.08099934e-01 -5.88988345e-01 -8.19916570e-03 1.00095999e+02] [ 5.88961339e-01 8.08141484e-01 -5.64642455e-03 2.54492756e+01] [ 9.95176419e-03 -2.66116305e-04 9.99950445e-01 1.73166736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77361786499998 meters 0.020306740809938603 Centerline is valid? [True, True] Translation: X:100.12, Y:25.46, Z:1.73 [[ 8.06740798e-01 -5.90849999e-01 -8.09716276e-03 1.00119644e+02] [ 5.90823716e-01 8.06781382e-01 -5.58013436e-03 2.54635530e+01] [ 9.82966255e-03 -2.82273743e-04 9.99951648e-01 1.73151725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80361786499998 meters 0.021083239088696172 Centerline is valid? [True, True] Translation: X:100.14, Y:25.48, Z:1.73 [[ 8.05903274e-01 -5.91985398e-01 -8.55575323e-03 1.00143192e+02] [ 5.91956108e-01 8.05948628e-01 -5.89702500e-03 2.54783416e+01] [ 1.03864503e-02 -3.12198626e-04 9.99946011e-01 1.73120083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83361786499998 meters 0.021367536803664693 Centerline is valid? [True, True] Translation: X:100.17, Y:25.49, Z:1.73 [[ 8.05070535e-01 -5.93107678e-01 -9.20408099e-03 1.00167061e+02] [ 5.93073841e-01 8.05123071e-01 -6.34506495e-03 2.54942286e+01] [ 1.11737247e-02 -3.50474830e-04 9.99937511e-01 1.73106943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86361786499998 meters 0.02181524520173552 Centerline is valid? [True, True] Translation: X:100.19, Y:25.51, Z:1.73 [[ 8.04281764e-01 -5.94172860e-01 -9.45810039e-03 1.00191236e+02] [ 5.94137165e-01 8.04337288e-01 -6.52349737e-03 2.55100440e+01] [ 1.14835879e-02 -3.72678974e-04 9.99933992e-01 1.73070909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89361786499998 meters 0.02342733298541083 Centerline is valid? [True, True] Translation: X:100.22, Y:25.52, Z:1.73 [[ 8.02853299e-01 -5.96105759e-01 -9.19258568e-03 1.00215349e+02] [ 5.96072123e-01 8.02905832e-01 -6.34427737e-03 2.55242200e+01] [ 1.11626409e-02 -3.85920040e-04 9.99937621e-01 1.73085402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92361786499998 meters 0.023871855324546484 Centerline is valid? [True, True] Translation: X:100.24, Y:25.54, Z:1.73 [[ 8.01995433e-01 -5.97261911e-01 -9.02966974e-03 1.00239520e+02] [ 5.97229528e-01 8.02046167e-01 -6.23187970e-03 2.55404919e+01] [ 1.09642764e-02 -3.94846342e-04 9.99939813e-01 1.73087487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95361786499998 meters 0.025005805722581133 Centerline is valid? [True, True] Translation: X:100.26, Y:25.56, Z:1.73 [[ 8.00779208e-01 -5.98899981e-01 -8.45420319e-03 1.00263161e+02] [ 5.98871649e-01 8.00823740e-01 -5.83830561e-03 2.55554223e+01] [ 1.02668877e-02 -3.87788861e-04 9.99947219e-01 1.73122019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98361786499999 meters 0.025679998175156357 Centerline is valid? [True, True] Translation: X:100.29, Y:25.57, Z:1.73 [[ 8.00394490e-01 -5.99413999e-01 -8.45683419e-03 1.00286499e+02] [ 5.99385668e-01 8.00439069e-01 -5.84107148e-03 2.55703091e+01] [ 1.02704005e-02 -3.93743787e-04 9.99947181e-01 1.73226357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01361786499997 meters 0.025838220445092264 Centerline is valid? [True, True] Translation: X:100.31, Y:25.59, Z:1.73 [[ 8.00087801e-01 -5.99825232e-01 -8.31876045e-03 1.00310226e+02] [ 5.99797843e-01 8.00130950e-01 -5.74556625e-03 2.55871996e+01] [ 1.01024333e-02 -3.92617105e-04 9.99948892e-01 1.73295347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04361786499997 meters 0.025980979597949313 Centerline is valid? [True, True] Translation: X:100.33, Y:25.60, Z:1.73 [[ 8.00947780e-01 -5.98671564e-01 -8.66102313e-03 1.00332138e+02] [ 5.98641764e-01 8.00994511e-01 -5.98593272e-03 2.56038163e+01] [ 1.05210397e-02 -3.90430648e-04 9.99944576e-01 1.73376996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07361786499997 meters 0.025375170048884833 Centerline is valid? [True, True] Translation: X:100.35, Y:25.62, Z:1.73 [[ 8.01740119e-01 -5.97609020e-01 -8.73156561e-03 1.00354986e+02] [ 5.97578670e-01 8.01787575e-01 -6.03473137e-03 2.56219332e+01] [ 1.06072707e-02 -3.79511114e-04 9.99943669e-01 1.73405293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10361786499998 meters 0.02499160203338426 Centerline is valid? [True, True] Translation: X:100.38, Y:25.64, Z:1.73 [[ 8.02733530e-01 -5.96263245e-01 -9.43514381e-03 1.00377219e+02] [ 5.96227675e-01 8.02788884e-01 -6.52434621e-03 2.56394801e+01] [ 1.14646564e-02 -3.88182396e-04 9.99934203e-01 1.73411161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13361786499998 meters 0.023325906672792426 Centerline is valid? [True, True] Translation: X:100.40, Y:25.66, Z:1.73 [[ 8.05301102e-01 -5.92780078e-01 -1.00952202e-02 1.00396991e+02] [ 5.92739037e-01 8.05364297e-01 -6.98458940e-03 2.56590481e+01] [ 1.22706554e-02 -3.59133572e-04 9.99924648e-01 1.73381686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16361786499998 meters 0.0225906846072698 Centerline is valid? [True, True] Translation: X:100.42, Y:25.68, Z:1.73 [[ 8.06401634e-01 -5.91278353e-01 -1.03108400e-02 1.00419750e+02] [ 5.91235391e-01 8.06467477e-01 -7.13586414e-03 2.56777401e+01] [ 1.25346392e-02 -3.41761041e-04 9.99921380e-01 1.73384846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19361786499998 meters 0.018507203216311247 Centerline is valid? [True, True] Translation: X:100.44, Y:25.70, Z:1.73 [[ 8.07284547e-01 -5.90065584e-01 -1.06895855e-02 1.00439105e+02] [ 5.90019260e-01 8.07355248e-01 -7.40110162e-03 2.57013218e+01] [ 1.29974283e-02 -3.32266346e-04 9.99915475e-01 1.73358152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22361786499998 meters 0.021402963459685544 Centerline is valid? [True, True] Translation: X:100.46, Y:25.71, Z:1.74 [[ 8.08435796e-01 -5.88499143e-01 -1.00161197e-02 1.00464299e+02] [ 5.88458307e-01 8.08497791e-01 -6.93850260e-03 2.57133754e+01] [ 1.21813135e-02 -2.84734977e-04 9.99925765e-01 1.73591120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25361786499998 meters 0.018118529826880878 Centerline is valid? [True, True] Translation: X:100.48, Y:25.74, Z:1.74 [[ 8.08703109e-01 -5.88131261e-01 -1.00449795e-02 1.00484085e+02] [ 5.88090156e-01 8.08765443e-01 -6.95898565e-03 2.57354845e+01] [ 1.22168293e-02 -2.79600218e-04 9.99925333e-01 1.73555506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28361786499998 meters 0.01797918201144336 Centerline is valid? [True, True] Translation: X:100.51, Y:25.75, Z:1.74 [[ 8.08769191e-01 -5.88040654e-01 -1.00292163e-02 1.00506170e+02] [ 5.87999630e-01 8.08831326e-01 -6.95135122e-03 2.57523301e+01] [ 1.21996214e-02 -2.75136744e-04 9.99925544e-01 1.73575371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31361786499998 meters 0.018406589537993213 Centerline is valid? [True, True] Translation: X:100.53, Y:25.77, Z:1.74 [[ 8.08881665e-01 -5.87882017e-01 -1.02559976e-02 1.00529663e+02] [ 5.87839041e-01 8.08946635e-01 -7.11363387e-03 2.57678822e+01] [ 1.24785322e-02 -2.74787784e-04 9.99922102e-01 1.73648991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34361786499998 meters 0.017917812468175198 Centerline is valid? [True, True] Translation: X:100.55, Y:25.79, Z:1.74 [[ 8.08936032e-01 -5.87802695e-01 -1.05113497e-02 1.00551931e+02] [ 5.87757538e-01 8.09004273e-01 -7.29127697e-03 2.57855133e+01] [ 1.27895591e-02 -2.79948388e-04 9.99918171e-01 1.73638779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37361786499997 meters 0.017854305678741685 Centerline is valid? [True, True] Translation: X:100.57, Y:25.80, Z:1.74 [[ 8.08716994e-01 -5.88101042e-01 -1.06765567e-02 1.00574632e+02] [ 5.88054424e-01 8.08787415e-01 -7.41019554e-03 2.58020609e+01] [ 1.29930084e-02 -2.85645367e-04 9.99915547e-01 1.73662085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40361786499997 meters 0.017968212001929957 Centerline is valid? [True, True] Translation: X:100.60, Y:25.82, Z:1.74 [[ 8.08429984e-01 -5.88494498e-01 -1.07324741e-02 1.00597364e+02] [ 5.88447362e-01 8.08501170e-01 -7.45386153e-03 2.58173225e+01] [ 1.30637744e-02 -2.89570924e-04 9.99914623e-01 1.73734616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43361786499997 meters 0.0184022112564975 Centerline is valid? [True, True] Translation: X:100.62, Y:25.83, Z:1.74 [[ 8.08010826e-01 -5.89079927e-01 -1.01658559e-02 1.00620635e+02] [ 5.89037656e-01 8.08074725e-01 -7.06249684e-03 2.58326779e+01] [ 1.23751463e-02 -2.81498032e-04 9.99923385e-01 1.73808546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46361786499997 meters 0.01841941708584145 Centerline is valid? [True, True] Translation: X:100.64, Y:25.85, Z:1.74 [[ 8.07633500e-01 -5.89601108e-01 -9.93291844e-03 1.00644744e+02] [ 5.89560787e-01 8.07694530e-01 -6.90107519e-03 2.58493837e+01] [ 1.20916455e-02 -2.82519705e-04 9.99926853e-01 1.73869703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49361786499998 meters 0.01841941708584145 Centerline is valid? [True, True] Translation: X:100.67, Y:25.87, Z:1.74 [[ 8.07478099e-01 -5.89813943e-01 -9.93140960e-03 1.00667345e+02] [ 5.89773611e-01 8.07539121e-01 -6.90324572e-03 2.58651921e+01] [ 1.20916324e-02 -2.83063580e-04 9.99926853e-01 1.73914818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52361786499998 meters 0.018839969030644516 Centerline is valid? [True, True] Translation: X:100.69, Y:25.88, Z:1.74 [[ 8.06914741e-01 -5.90585368e-01 -9.87541886e-03 1.00691415e+02] [ 5.90545499e-01 8.06975117e-01 -6.86834220e-03 2.58817824e+01] [ 1.20255597e-02 -2.89717587e-04 9.99927648e-01 1.73947389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55361786499998 meters 0.018194139216975463 Centerline is valid? [True, True] Translation: X:100.71, Y:25.90, Z:1.74 [[ 8.06015157e-01 -5.91816484e-01 -9.63415420e-03 1.00713636e+02] [ 5.91778590e-01 8.06072677e-01 -6.70365559e-03 2.58997624e+01] [ 1.17331623e-02 -2.98038184e-04 9.99931120e-01 1.73940850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58361786499998 meters 0.01831157489022279 Centerline is valid? [True, True] Translation: X:100.74, Y:25.92, Z:1.74 [[ 8.05553830e-01 -5.92442566e-01 -9.73822396e-03 1.00737733e+02] [ 5.92403854e-01 8.05612631e-01 -6.77957060e-03 2.59162048e+01] [ 1.18617424e-02 -3.07652337e-04 9.99929600e-01 1.73954113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61361786499998 meters 0.019172745564728658 Centerline is valid? [True, True] Translation: X:100.76, Y:25.93, Z:1.74 [[ 8.04498381e-01 -5.93867903e-01 -1.01621223e-02 1.00761067e+02] [ 5.93825808e-01 8.04562489e-01 -7.07892211e-03 2.59306229e+01] [ 1.23800071e-02 -3.39549135e-04 9.99923307e-01 1.73899995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64361786499998 meters 0.019035708889737997 Centerline is valid? [True, True] Translation: X:100.78, Y:25.95, Z:1.74 [[ 8.03886879e-01 -5.94691462e-01 -1.03899033e-02 1.00784952e+02] [ 5.94647503e-01 8.03953939e-01 -7.23953538e-03 2.59474993e+01] [ 1.26582936e-02 -3.58562552e-04 9.99919816e-01 1.73896781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67361786499998 meters 0.019369437172347344 Centerline is valid? [True, True] Translation: X:100.81, Y:25.96, Z:1.74 [[ 8.03139234e-01 -5.95696309e-01 -1.06432424e-02 1.00809157e+02] [ 5.95650218e-01 8.03209663e-01 -7.41992390e-03 2.59637278e+01] [ 1.29687764e-02 -3.80417646e-04 9.99915830e-01 1.73881363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70361786499998 meters 0.018933572925241515 Centerline is valid? [True, True] Translation: X:100.83, Y:25.98, Z:1.74 [[ 8.02339021e-01 -5.96766862e-01 -1.10185159e-02 1.00832600e+02] [ 5.96717510e-01 8.02414572e-01 -7.68556016e-03 2.59809699e+01] [ 1.34279054e-02 -4.08516580e-04 9.99909758e-01 1.73882451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73361786499997 meters 0.019554121181885226 Centerline is valid? [True, True] Translation: X:100.86, Y:26.00, Z:1.74 [[ 8.01317222e-01 -5.98110884e-01 -1.24128574e-02 1.00855813e+02] [ 5.98048331e-01 8.01413213e-01 -8.66343387e-03 2.59963502e+01] [ 1.51295221e-02 -4.81329910e-04 9.99885426e-01 1.73871322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76361786499997 meters 0.019783308040442073 Centerline is valid? [True, True] Translation: X:100.88, Y:26.01, Z:1.74 [[ 8.01003685e-01 -5.98522339e-01 -1.28103913e-02 1.00879191e+02] [ 5.98455743e-01 8.01105958e-01 -8.94242679e-03 2.60126956e+01] [ 1.56147230e-02 -5.03535408e-04 9.99877956e-01 1.73864967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79361786499997 meters 0.019909003606731715 Centerline is valid? [True, True] Translation: X:100.90, Y:26.03, Z:1.74 [[ 8.00922226e-01 -5.98618152e-01 -1.34125277e-02 1.00902078e+02] [ 5.98545081e-01 8.01034352e-01 -9.36769591e-03 2.60288944e+01] [ 1.63515682e-02 -5.25206604e-04 9.99866166e-01 1.73890682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82361786499997 meters 0.01916288681238253 Centerline is valid? [True, True] Translation: X:100.92, Y:26.05, Z:1.74 [[ 8.00806466e-01 -5.98765607e-01 -1.37386862e-02 1.00924390e+02] [ 5.98688866e-01 8.00924129e-01 -9.60113341e-03 2.60459735e+01] [ 1.67524738e-02 -5.36548775e-04 9.99859524e-01 1.73900597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85361786499998 meters 0.019907397496879135 Centerline is valid? [True, True] Translation: X:100.95, Y:26.06, Z:1.74 [[ 8.01627671e-01 -5.97649669e-01 -1.44204751e-02 1.00948572e+02] [ 5.97564838e-01 8.01757187e-01 -1.00834920e-02 2.60604527e+01] [ 1.75881152e-02 -5.33962629e-04 9.99845175e-01 1.73968633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88361786499998 meters 0.01880201376665382 Centerline is valid? [True, True] Translation: X:100.97, Y:26.08, Z:1.74 [[ 8.02295060e-01 -5.96748345e-01 -1.46304431e-02 1.00971187e+02] [ 5.96660837e-01 8.02428279e-01 -1.02324620e-02 2.60788774e+01] [ 1.78460860e-02 -5.19958714e-04 9.99840611e-01 1.74031674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91361786499998 meters 0.019483800209761003 Centerline is valid? [True, True] Translation: X:100.99, Y:26.09, Z:1.74 [[ 8.03118010e-01 -5.95643180e-01 -1.45142759e-02 1.00994872e+02] [ 5.95556790e-01 8.03249005e-01 -1.01560846e-02 2.60940547e+01] [ 1.77079803e-02 -4.87541123e-04 9.99843083e-01 1.74084627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94361786499998 meters 0.017807745704834052 Centerline is valid? [True, True] Translation: X:101.02, Y:26.11, Z:1.74 [[ 8.04909123e-01 -5.93232402e-01 -1.40221663e-02 1.01016127e+02] [ 5.93151373e-01 8.05031144e-01 -9.81355749e-03 2.61141304e+01] [ 1.71100009e-02 -4.18245271e-04 9.99853526e-01 1.74185838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97361786499998 meters 0.01784493842061147 Centerline is valid? [True, True] Translation: X:101.04, Y:26.13, Z:1.74 [[ 8.05679721e-01 -5.92192765e-01 -1.37082546e-02 1.01039135e+02] [ 5.92115102e-01 8.05796241e-01 -9.59811154e-03 2.61306986e+01] [ 1.67299922e-02 -3.83860733e-04 9.99859970e-01 1.74271229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00361786499998 meters 0.01745325483631811 Centerline is valid? [True, True] Translation: X:101.06, Y:26.15, Z:1.74 [[ 8.06274927e-01 -5.91397049e-01 -1.30488512e-02 1.01061769e+02] [ 5.91326506e-01 8.06380438e-01 -9.14077321e-03 2.61480615e+01] [ 1.59281647e-02 -3.46155347e-04 9.99873079e-01 1.74389293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03361786499998 meters 0.017067180178552976 Centerline is valid? [True, True] Translation: X:101.08, Y:26.16, Z:1.75 [[ 8.06702543e-01 -5.90828335e-01 -1.23646759e-02 1.01084716e+02] [ 5.90764866e-01 8.06797236e-01 -8.66559277e-03 2.61648427e+01] [ 1.50956641e-02 -3.14060373e-04 9.99886005e-01 1.74542709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06361786499998 meters 0.016893195223481903 Centerline is valid? [True, True] Translation: X:101.11, Y:26.18, Z:1.75 [[ 8.06730282e-01 -5.90796444e-01 -1.20753198e-02 1.01107509e+02] [ 5.90735848e-01 8.06820594e-01 -8.46689106e-03 2.61806328e+01] [ 1.47448258e-02 -3.02826864e-04 9.99891243e-01 1.74643331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09361786499998 meters 0.01701784908506249 Centerline is valid? [True, True] Translation: X:101.13, Y:26.20, Z:1.75 [[ 8.06538192e-01 -5.91064560e-01 -1.17826701e-02 1.01129911e+02] [ 5.91006823e-01 8.06624199e-01 -8.26660721e-03 2.61953139e+01] [ 1.43902854e-02 -2.96303985e-04 9.99896411e-01 1.74753335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12361786499997 meters 0.0172566908765482 Centerline is valid? [True, True] Translation: X:101.15, Y:26.21, Z:1.75 [[ 8.05799828e-01 -5.92081049e-01 -1.12547024e-02 1.01153983e+02] [ 5.92028432e-01 8.05878367e-01 -7.89899031e-03 2.62109826e+01] [ 1.37467637e-02 -2.98098795e-04 9.99905464e-01 1.74902318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15361786499997 meters 0.01778781334404443 Centerline is valid? [True, True] Translation: X:101.18, Y:26.23, Z:1.75 [[ 8.05462689e-01 -5.92546516e-01 -1.08850368e-02 1.01177284e+02] [ 5.92497283e-01 8.05536182e-01 -7.64383436e-03 2.62262186e+01] [ 1.32976184e-02 -2.92531350e-04 9.99911540e-01 1.74950725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18361786499997 meters 0.01780547480003945 Centerline is valid? [True, True] Translation: X:101.20, Y:26.24, Z:1.75 [[ 8.05037466e-01 -5.93125163e-01 -1.08267434e-02 1.01200660e+02] [ 5.93076499e-01 8.05110210e-01 -7.60366320e-03 2.62432315e+01] [ 1.32266456e-02 -2.99853315e-04 9.99912479e-01 1.74977081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21361786499997 meters 0.018007842534824826 Centerline is valid? [True, True] Translation: X:101.22, Y:26.26, Z:1.75 [[ 8.04261101e-01 -5.94177703e-01 -1.08138165e-02 1.01223894e+02] [ 5.94129200e-01 8.04333736e-01 -7.59837965e-03 2.62597337e+01] [ 1.32127052e-02 -3.13722944e-04 9.99912659e-01 1.74972697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24361786499998 meters 0.018124335272115637 Centerline is valid? [True, True] Translation: X:101.25, Y:26.28, Z:1.75 [[ 8.03907751e-01 -5.94652815e-01 -1.09707636e-02 1.01247429e+02] [ 5.94602885e-01 8.03982540e-01 -7.71261286e-03 2.62757098e+01] [ 1.34066294e-02 -3.23018440e-04 9.99910075e-01 1.74999980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27361786499998 meters 0.018453484767213108 Centerline is valid? [True, True] Translation: X:101.27, Y:26.29, Z:1.75 [[ 8.03300192e-01 -5.95453675e-01 -1.19884307e-02 1.01271835e+02] [ 5.95394072e-01 8.03389562e-01 -8.43273424e-03 2.62912760e+01] [ 1.46526826e-02 -3.63823520e-04 9.99892577e-01 1.75017509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30361786499998 meters 0.018658875551059165 Centerline is valid? [True, True] Translation: X:101.30, Y:26.31, Z:1.75 [[ 8.03000749e-01 -5.95851237e-01 -1.22923170e-02 1.01295127e+02] [ 5.95788554e-01 8.03094740e-01 -8.65088545e-03 2.63074496e+01] [ 1.50265359e-02 -3.76954283e-04 9.99887024e-01 1.75032675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33361786499998 meters 0.018435994256224345 Centerline is valid? [True, True] Translation: X:101.32, Y:26.32, Z:1.75 [[ 8.02677942e-01 -5.96280912e-01 -1.25377795e-02 1.01317765e+02] [ 5.96215674e-01 8.02775762e-01 -8.82876770e-03 2.63240805e+01] [ 1.53294512e-02 -3.88563586e-04 9.99882422e-01 1.75002611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36361786499998 meters 0.018962657097942377 Centerline is valid? [True, True] Translation: X:101.34, Y:26.34, Z:1.75 [[ 8.02532776e-01 -5.96464089e-01 -1.31047483e-02 1.01340404e+02] [ 5.96392751e-01 8.02639662e-01 -9.23363196e-03 2.63393248e+01] [ 1.60259206e-02 -4.05284572e-04 9.99871495e-01 1.75014483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39361786499998 meters 0.01819488690508306 Centerline is valid? [True, True] Translation: X:101.36, Y:26.36, Z:1.75 [[ 8.02335554e-01 -5.96724851e-01 -1.33083450e-02 1.01361997e+02] [ 5.96651277e-01 8.02445811e-01 -9.37943457e-03 2.63574683e+01] [ 1.62761674e-02 -4.14987223e-04 9.99867448e-01 1.75033165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42361786499998 meters 0.01932684798109874 Centerline is valid? [True, True] Translation: X:101.38, Y:26.37, Z:1.75 [[ 8.02182460e-01 -5.96930139e-01 -1.33307847e-02 1.01384838e+02] [ 5.96856254e-01 8.02293111e-01 -9.40079004e-03 2.63712493e+01] [ 1.63068117e-02 -4.15413364e-04 9.99866949e-01 1.75102619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45361786499998 meters 0.018664055713157775 Centerline is valid? [True, True] Translation: X:101.41, Y:26.39, Z:1.75 [[ 8.02236432e-01 -5.96861556e-01 -1.31525696e-02 1.01406704e+02] [ 5.96789589e-01 8.02344139e-01 -9.27732158e-03 2.63886767e+01] [ 1.60901637e-02 -4.06711215e-04 9.99870462e-01 1.75153476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48361786499997 meters 0.018469805775071957 Centerline is valid? [True, True] Translation: X:101.43, Y:26.41, Z:1.75 [[ 8.02552207e-01 -5.96441862e-01 -1.29251742e-02 1.01429997e+02] [ 5.96372226e-01 8.02656188e-01 -9.12207957e-03 2.64063275e+01] [ 1.58152612e-02 -3.87269825e-04 9.99874856e-01 1.75244783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51361786499997 meters 0.01832572675096618 Centerline is valid? [True, True] Translation: X:101.45, Y:26.42, Z:1.75 [[ 8.02736304e-01 -5.96194143e-01 -1.29217122e-02 1.01453502e+02] [ 5.96124440e-01 8.02840209e-01 -9.12422790e-03 2.64234552e+01] [ 1.58138813e-02 -3.78599461e-04 9.99874881e-01 1.75323616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54361786499997 meters 0.018443717362980616 Centerline is valid? [True, True] Translation: X:101.48, Y:26.44, Z:1.75 [[ 8.02938223e-01 -5.95922705e-01 -1.28972773e-02 1.01477288e+02] [ 5.95853158e-01 8.03041713e-01 -9.11155093e-03 2.64406273e+01] [ 1.57868317e-02 -3.68870909e-04 9.99875312e-01 1.75380632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57361786499997 meters 0.019503979975701437 Centerline is valid? [True, True] Translation: X:101.50, Y:26.46, Z:1.75 [[ 8.03408914e-01 -5.95283820e-01 -1.30877891e-02 1.01500787e+02] [ 5.95212042e-01 8.03515430e-01 -9.25090723e-03 2.64555483e+01] [ 1.60231559e-02 -3.57748359e-04 9.99871557e-01 1.75423627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60361786499998 meters 0.0184862885174016 Centerline is valid? [True, True] Translation: X:101.52, Y:26.47, Z:1.75 [[ 8.03418975e-01 -5.95265028e-01 -1.33227957e-02 1.01522228e+02] [ 5.95190619e-01 8.03529349e-01 -9.41869601e-03 2.64737039e+01] [ 1.63118777e-02 -3.62443955e-04 9.99866887e-01 1.75442877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63361786499998 meters 0.01827783783494302 Centerline is valid? [True, True] Translation: X:101.55, Y:26.49, Z:1.75 [[ 8.03438531e-01 -5.95237529e-01 -1.33719864e-02 1.01545441e+02] [ 5.95162478e-01 8.03549721e-01 -9.45882780e-03 2.64901024e+01] [ 1.63753052e-02 -3.58917854e-04 9.99865851e-01 1.75480471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66361786499998 meters 0.018041390276207707 Centerline is valid? [True, True] Translation: X:101.57, Y:26.51, Z:1.76 [[ 8.02862770e-01 -5.96009203e-01 -1.35794779e-02 1.01568962e+02] [ 5.95931824e-01 8.02977514e-01 -9.61111782e-03 2.65066029e+01] [ 1.66323301e-02 -3.76034338e-04 9.99861603e-01 1.75548570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69361786499998 meters 0.018381721973910584 Centerline is valid? [True, True] Translation: X:101.59, Y:26.52, Z:1.76 [[ 8.02423292e-01 -5.96599073e-01 -1.36530913e-02 1.01591923e+02] [ 5.96520856e-01 8.02539343e-01 -9.66809734e-03 2.65216612e+01] [ 1.67251209e-02 -3.86447243e-04 9.99860051e-01 1.75592846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72361786499998 meters 0.01922498426220506 Centerline is valid? [True, True] Translation: X:101.62, Y:26.54, Z:1.76 [[ 8.02046028e-01 -5.97098631e-01 -1.39783440e-02 1.01616260e+02] [ 5.97016687e-01 8.02167726e-01 -9.90023850e-03 2.65360466e+01] [ 1.71243952e-02 -4.04857639e-04 9.99853285e-01 1.75629909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75361786499998 meters 0.020142209854418006 Centerline is valid? [True, True] Translation: X:101.64, Y:26.55, Z:1.76 [[ 8.01294425e-01 -5.98095110e-01 -1.44735961e-02 1.01640704e+02] [ 5.98007385e-01 8.01425010e-01 -1.02528793e-02 2.65503558e+01] [ 1.77316989e-02 -4.39742358e-04 9.99842684e-01 1.75624471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78361786499998 meters 0.018881239080051345 Centerline is valid? [True, True] Translation: X:101.66, Y:26.57, Z:1.76 [[ 8.00918981e-01 -5.98606000e-01 -1.41295287e-02 1.01662919e+02] [ 5.98522444e-01 8.01043485e-01 -1.00109993e-02 2.65688640e+01] [ 1.73110111e-02 -4.38840686e-04 9.99850057e-01 1.75679559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81361786499998 meters 0.019142300050274792 Centerline is valid? [True, True] Translation: X:101.69, Y:26.59, Z:1.76 [[ 8.00379773e-01 -5.99328870e-01 -1.40401041e-02 1.01687034e+02] [ 5.99246394e-01 8.00502783e-01 -9.95260928e-03 2.65851944e+01] [ 1.72040285e-02 -4.47614619e-04 9.99851900e-01 1.75730548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84361786499998 meters 0.02115537750877332 Centerline is valid? [True, True] Translation: X:101.71, Y:26.60, Z:1.76 [[ 8.00012222e-01 -5.99828753e-01 -1.36349913e-02 1.01712554e+02] [ 5.99750962e-01 8.00128285e-01 -9.67009416e-03 2.65979599e+01] [ 1.67101427e-02 -4.41405625e-04 9.99860278e-01 1.75812609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87361786499997 meters 0.019576999082612765 Centerline is valid? [True, True] Translation: X:101.73, Y:26.62, Z:1.76 [[ 7.99064068e-01 -6.01114286e-01 -1.25789397e-02 1.01734157e+02] [ 6.01048216e-01 7.99162956e-01 -8.92258261e-03 2.66165030e+01] [ 1.54161145e-02 -4.30834074e-04 9.99881072e-01 1.75956121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90361786499997 meters 0.01938676407176354 Centerline is valid? [True, True] Translation: X:101.76, Y:26.63, Z:1.76 [[ 7.98365579e-01 -6.02047865e-01 -1.22788838e-02 1.01757692e+02] [ 6.01985001e-01 7.98459878e-01 -8.71101371e-03 2.66335512e+01] [ 1.50486433e-02 -4.37130392e-04 9.99886667e-01 1.76016437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93361786499997 meters 0.020452502313562222 Centerline is valid? [True, True] Translation: X:101.78, Y:26.65, Z:1.76 [[ 7.97281623e-01 -6.03488948e-01 -1.19625547e-02 1.01781651e+02] [ 6.03429377e-01 7.97371236e-01 -8.49109299e-03 2.66477173e+01] [ 1.46628778e-02 -4.48764506e-04 9.99892394e-01 1.76141368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96361786499997 meters 0.02104221434245001 Centerline is valid? [True, True] Translation: X:101.81, Y:26.66, Z:1.76 [[ 7.96781718e-01 -6.04156670e-01 -1.15591050e-02 1.01805211e+02] [ 6.04101087e-01 7.96865435e-01 -8.20700269e-03 2.66633072e+01] [ 1.41693666e-02 -4.43678178e-04 9.99899511e-01 1.76195541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99361786499998 meters 0.020387435031069333 Centerline is valid? [True, True] Translation: X:101.83, Y:26.68, Z:1.76 [[ 7.96455775e-01 -6.04591520e-01 -1.12823869e-02 1.01828015e+02] [ 6.04538598e-01 7.96535561e-01 -8.01143185e-03 2.66812551e+01] [ 1.38304661e-02 -4.39887180e-04 9.99904258e-01 1.76228486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02361786499998 meters 0.021472191820410956 Centerline is valid? [True, True] Translation: X:101.85, Y:26.70, Z:1.76 [[ 7.96496845e-01 -6.04540869e-01 -1.10956378e-02 1.01850501e+02] [ 6.04489620e-01 7.96574011e-01 -7.88318378e-03 2.66958448e+01] [ 1.36042035e-02 -4.28266849e-04 9.99907367e-01 1.76298219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05361786499998 meters 0.021446459783170144 Centerline is valid? [True, True] Translation: X:101.87, Y:26.71, Z:1.76 [[ 7.96606325e-01 -6.04403378e-01 -1.07200465e-02 1.01873360e+02] [ 6.04355509e-01 7.96678347e-01 -7.61773153e-03 2.67129579e+01] [ 1.31446116e-02 -4.10386028e-04 9.99913522e-01 1.76319084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08361786499998 meters 0.02022430480881232 Centerline is valid? [True, True] Translation: X:101.90, Y:26.73, Z:1.76 [[ 7.97036550e-01 -6.03831276e-01 -1.09785342e-02 1.01895203e+02] [ 6.03780964e-01 7.97112052e-01 -7.80533503e-03 2.67319232e+01] [ 1.34642273e-02 -4.07492664e-04 9.99909270e-01 1.76377482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11361786499998 meters 0.021321840349469653 Centerline is valid? [True, True] Translation: X:101.92, Y:26.75, Z:1.76 [[ 7.97562211e-01 -6.03136764e-01 -1.09801248e-02 1.01918787e+02] [ 6.03086312e-01 7.97637694e-01 -7.81088422e-03 2.67463145e+01] [ 1.34691928e-02 -3.92296870e-04 9.99909209e-01 1.76443870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14361786499998 meters 0.019336719875631674 Centerline is valid? [True, True] Translation: X:101.94, Y:26.77, Z:1.76 [[ 7.99255204e-01 -6.00887937e-01 -1.11716474e-02 1.01939700e+02] [ 6.00835460e-01 7.99333196e-01 -7.94934145e-03 2.67674330e+01] [ 1.37065320e-02 -3.58769399e-04 9.99905997e-01 1.76421359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17361786499998 meters 0.019549699669221883 Centerline is valid? [True, True] Translation: X:101.96, Y:26.78, Z:1.76 [[ 8.00063895e-01 -5.99805770e-01 -1.14368850e-02 1.01962174e+02] [ 5.99750630e-01 8.00145561e-01 -8.14021787e-03 2.67834636e+01] [ 1.40337224e-02 -3.46584576e-04 9.99901462e-01 1.76461252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20361786499998 meters 0.019033009624163346 Centerline is valid? [True, True] Translation: X:101.98, Y:26.80, Z:1.76 [[ 8.00953528e-01 -5.98621950e-01 -1.11895933e-02 1.01984838e+02] [ 5.98569041e-01 8.01031623e-01 -7.96511031e-03 2.68012155e+01] [ 1.37313080e-02 -3.18060931e-04 9.99905671e-01 1.76499983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23361786499997 meters 0.018743558758935554 Centerline is valid? [True, True] Translation: X:102.01, Y:26.82, Z:1.77 [[ 8.02354168e-01 -5.96742752e-01 -1.12194944e-02 1.02007735e+02] [ 5.96689312e-01 8.02432557e-01 -7.99100358e-03 2.68176241e+01] [ 1.37714610e-02 -2.82937353e-04 9.99905129e-01 1.76612402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26361786499997 meters 0.018696483185091112 Centerline is valid? [True, True] Translation: X:102.03, Y:26.83, Z:1.77 [[ 8.02764376e-01 -5.96195345e-01 -1.09757342e-02 1.02031370e+02] [ 5.96144140e-01 8.02839361e-01 -7.81822100e-03 2.68344655e+01] [ 1.34729384e-02 -2.66930300e-04 9.99909200e-01 1.76668896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29361786499997 meters 0.01863540055029139 Centerline is valid? [True, True] Translation: X:102.06, Y:26.85, Z:1.77 [[ 8.02828595e-01 -5.96123311e-01 -1.01609855e-02 1.02055185e+02] [ 5.96079381e-01 8.02892857e-01 -7.24106168e-03 2.68502502e+01] [ 1.24747484e-02 -2.43422588e-04 9.99922158e-01 1.76798717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32361786499997 meters 0.018627345835644616 Centerline is valid? [True, True] Translation: X:102.08, Y:26.87, Z:1.77 [[ 8.02466024e-01 -5.96614005e-01 -1.00004888e-02 1.02078455e+02] [ 5.96571445e-01 8.02528298e-01 -7.13035656e-03 2.68661387e+01] [ 1.22797459e-02 -2.44137205e-04 9.99924571e-01 1.76893965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35361786499998 meters 0.01883053442600998 Centerline is valid? [True, True] Translation: X:102.10, Y:26.88, Z:1.77 [[ 8.01890519e-01 -5.97397831e-01 -9.35025797e-03 1.02102654e+02] [ 5.97360636e-01 8.01944996e-01 -6.67046010e-03 2.68817923e+01] [ 1.14833110e-02 -2.36497332e-04 9.99934037e-01 1.76984367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38361786499998 meters 0.01883053442600998 Centerline is valid? [True, True] Translation: X:102.13, Y:26.90, Z:1.77 [[ 8.01727852e-01 -5.97616140e-01 -9.34876766e-03 1.02125063e+02] [ 5.97578936e-01 8.01782322e-01 -6.67254795e-03 2.68978733e+01] [ 1.14832990e-02 -2.37059091e-04 9.99934037e-01 1.77029480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41361786499998 meters 0.0192938314698403 Centerline is valid? [True, True] Translation: X:102.15, Y:26.91, Z:1.77 [[ 8.00592473e-01 -5.99149254e-01 -8.47723984e-03 1.02149791e+02] [ 5.99118715e-01 8.00637319e-01 -6.05373789e-03 2.69134564e+01] [ 1.04142871e-02 -2.32296062e-04 9.99945743e-01 1.77154519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44361786499998 meters 0.01936169311323752 Centerline is valid? [True, True] Translation: X:102.17, Y:26.93, Z:1.77 [[ 7.99836415e-01 -6.00164859e-01 -7.99069502e-03 1.02173313e+02] [ 6.00137751e-01 7.99876296e-01 -5.70886764e-03 2.69297798e+01] [ 9.81782928e-03 -2.29357514e-04 9.99951778e-01 1.77218645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47361786499998 meters 0.01989113611053665 Centerline is valid? [True, True] Translation: X:102.20, Y:26.94, Z:1.77 [[ 7.99150696e-01 -6.01088176e-01 -7.15332291e-03 1.02196789e+02] [ 6.01066458e-01 7.99182682e-01 -5.11413530e-03 2.69447049e+01] [ 8.79085805e-03 -2.12657683e-04 9.99961337e-01 1.77321179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50361786499998 meters 0.020448726684625378 Centerline is valid? [True, True] Translation: X:102.22, Y:26.96, Z:1.77 [[ 7.98063188e-01 -6.02541844e-01 -6.20280842e-03 1.02221461e+02] [ 6.02525566e-01 7.98087267e-01 -4.43352730e-03 2.69601897e+01] [ 7.62176814e-03 -1.99115728e-04 9.99970934e-01 1.77417981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53361786499998 meters 0.020751507535147824 Centerline is valid? [True, True] Translation: X:102.25, Y:26.98, Z:1.78 [[ 7.97304026e-01 -6.03549910e-01 -5.81347162e-03 1.02245429e+02] [ 6.03535625e-01 7.97325196e-01 -4.15701515e-03 2.69763443e+01] [ 7.14419352e-03 -1.94232315e-04 9.99974461e-01 1.77512814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56361786499998 meters 0.020997767445965546 Centerline is valid? [True, True] Translation: X:102.27, Y:26.99, Z:1.78 [[ 7.96942843e-01 -6.04026434e-01 -5.84561429e-03 1.02269758e+02] [ 6.04011988e-01 7.96964258e-01 -4.18211317e-03 2.69924937e+01] [ 7.18485256e-03 -1.97915945e-04 9.99974169e-01 1.77575473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59361786499998 meters 0.02110542066428877 Centerline is valid? [True, True] Translation: X:102.29, Y:27.01, Z:1.78 [[ 7.96451249e-01 -6.04674370e-01 -5.85784693e-03 1.02293121e+02] [ 6.04659854e-01 7.96472765e-01 -4.19463494e-03 2.70085671e+01] [ 7.20200378e-03 -2.01182634e-04 9.99974045e-01 1.77625139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62361786499997 meters 0.02079081593667024 Centerline is valid? [True, True] Translation: X:102.32, Y:27.03, Z:1.78 [[ 7.95633374e-01 -6.05751835e-01 -5.67880749e-03 1.02316384e+02] [ 6.05738228e-01 7.95653613e-01 -4.06528951e-03 2.70254881e+01] [ 6.98092028e-03 -2.05390783e-04 9.99975612e-01 1.77522382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65361786499997 meters 0.020891525710735496 Centerline is valid? [True, True] Translation: X:102.34, Y:27.04, Z:1.78 [[ 7.95176868e-01 -6.06348187e-01 -5.96872159e-03 1.02339794e+02] [ 6.06333154e-01 7.95199238e-01 -4.27522503e-03 2.70420844e+01] [ 7.33859781e-03 -2.19473737e-04 9.99973048e-01 1.77514103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68361786499997 meters 0.02217581426322098 Centerline is valid? [True, True] Translation: X:102.36, Y:27.06, Z:1.78 [[ 7.95063132e-01 -6.06498159e-01 -5.88207928e-03 1.02363463e+02] [ 6.06483545e-01 7.95084861e-01 -4.21583278e-03 2.70556655e+01] [ 7.23364701e-03 -2.15531076e-04 9.99973814e-01 1.77607409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71361786499997 meters 0.021806730488569556 Centerline is valid? [True, True] Translation: X:102.39, Y:27.07, Z:1.78 [[ 7.94897695e-01 -6.06712306e-01 -6.15078320e-03 1.02386065e+02] [ 6.06696325e-01 7.94921459e-01 -4.40945829e-03 2.70722992e+01] [ 7.56466217e-03 -2.26589333e-04 9.99971362e-01 1.77556208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74361786499998 meters 0.022783139007741045 Centerline is valid? [True, True] Translation: X:102.41, Y:27.09, Z:1.78 [[ 7.94919891e-01 -6.06681064e-01 -6.36034009e-03 1.02409807e+02] [ 6.06663939e-01 7.94945302e-01 -4.56406244e-03 2.70862993e+01] [ 7.82505273e-03 -2.30524960e-04 9.99969357e-01 1.77621000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77361786499998 meters 0.02072763751709863 Centerline is valid? [True, True] Translation: X:102.43, Y:27.11, Z:1.78 [[ 7.94810032e-01 -6.06822496e-01 -6.59333743e-03 1.02430664e+02] [ 6.06804103e-01 7.94837342e-01 -4.73076546e-03 2.71059218e+01] [ 8.11136570e-03 -2.40804362e-04 9.99967073e-01 1.77530629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80361786499998 meters 0.02099003520719182 Centerline is valid? [True, True] Translation: X:102.45, Y:27.12, Z:1.78 [[ 7.95146552e-01 -6.06382648e-01 -6.48419073e-03 1.02453607e+02] [ 6.06364811e-01 7.95172957e-01 -4.65661980e-03 2.71213903e+01] [ 7.97974656e-03 -2.29089907e-04 9.99968135e-01 1.77526426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83361786499998 meters 0.02068355352179166 Centerline is valid? [True, True] Translation: X:102.48, Y:27.14, Z:1.78 [[ 7.95462512e-01 -6.05967781e-01 -6.51467289e-03 1.02476590e+02] [ 6.05949761e-01 7.95489156e-01 -4.67863588e-03 2.71383685e+01] [ 8.01745425e-03 -2.25885033e-04 9.99967834e-01 1.77559691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86361786499998 meters 0.02041054473607349 Centerline is valid? [True, True] Translation: X:102.50, Y:27.16, Z:1.78 [[ 7.95875811e-01 -6.05428452e-01 -6.17116784e-03 1.02499911e+02] [ 6.05412251e-01 7.95899709e-01 -4.43390684e-03 2.71556799e+01] [ 7.59604404e-03 -2.07261417e-04 9.99971128e-01 1.77569593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89361786499998 meters 0.020209153881626286 Centerline is valid? [True, True] Translation: X:102.52, Y:27.17, Z:1.78 [[ 7.96707430e-01 -6.04334200e-01 -6.11933309e-03 1.02523068e+02] [ 6.04318221e-01 7.96730907e-01 -4.39885779e-03 2.71730326e+01] [ 7.53384200e-03 -1.93421803e-04 9.99971602e-01 1.77538396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92361786499998 meters 0.01992541940901501 Centerline is valid? [True, True] Translation: X:102.55, Y:27.19, Z:1.78 [[ 7.97112229e-01 -6.03800409e-01 -6.09592364e-03 1.02545705e+02] [ 6.03784521e-01 7.97135516e-01 -4.38421861e-03 2.71903665e+01] [ 7.50647023e-03 -1.85910064e-04 9.99971809e-01 1.77520084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95361786499998 meters 0.02014997333161747 Centerline is valid? [True, True] Translation: X:102.57, Y:27.21, Z:1.78 [[ 7.97357474e-01 -6.03472678e-01 -6.46423178e-03 1.02568807e+02] [ 6.03454779e-01 7.97383653e-01 -4.65179859e-03 2.72069056e+01] [ 7.96170611e-03 -1.91725193e-04 9.99968287e-01 1.77532422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98361786499997 meters 0.0195278413374731 Centerline is valid? [True, True] Translation: X:102.59, Y:27.23, Z:1.77 [[ 7.97705367e-01 -6.03006507e-01 -7.02144953e-03 1.02591757e+02] [ 6.02985346e-01 7.97736243e-01 -5.05570185e-03 2.72251265e+01] [ 8.64988587e-03 -2.00870670e-04 9.99962569e-01 1.77476682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01361786499997 meters 0.01969928320954704 Centerline is valid? [True, True] Translation: X:102.61, Y:27.24, Z:1.78 [[ 7.97565363e-01 -6.03192739e-01 -6.92897238e-03 1.02613813e+02] [ 6.03172107e-01 7.97595437e-01 -4.99286192e-03 2.72404793e+01] [ 8.53817481e-03 -1.97229138e-04 9.99963530e-01 1.77514422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04361786499997 meters 0.019884332128243382 Centerline is valid? [True, True] Translation: X:102.64, Y:27.26, Z:1.78 [[ 7.97535784e-01 -6.03229795e-01 -7.10545479e-03 1.02635818e+02] [ 6.03208088e-01 7.97567410e-01 -5.12136237e-03 2.72559659e+01] [ 8.75643755e-03 -2.01598052e-04 9.99961641e-01 1.77555074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07361786499997 meters 0.019831681810946557 Centerline is valid? [True, True] Translation: X:102.66, Y:27.27, Z:1.78 [[ 7.97248018e-01 -6.03613375e-01 -6.81843321e-03 1.02658416e+02] [ 6.03593404e-01 7.97277150e-01 -4.91408015e-03 2.72727273e+01] [ 8.40238550e-03 -1.97820652e-04 9.99964680e-01 1.77594175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10361786499998 meters 0.020515281963768173 Centerline is valid? [True, True] Translation: X:102.68, Y:27.29, Z:1.78 [[ 7.96858753e-01 -6.04126476e-01 -6.87953532e-03 1.02681457e+02] [ 6.04106124e-01 7.96888424e-01 -4.96294653e-03 2.72879988e+01] [ 8.48046946e-03 -2.01202028e-04 9.99964020e-01 1.77660233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13361786499998 meters 0.020230796314179258 Centerline is valid? [True, True] Translation: X:102.70, Y:27.31, Z:1.78 [[ 7.96663444e-01 -6.04386646e-01 -6.64370572e-03 1.02704035e+02] [ 6.04367683e-01 7.96691121e-01 -4.79173450e-03 2.73051601e+01] [ 8.18904170e-03 -1.97841326e-04 9.99966450e-01 1.77687828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16361786499998 meters 0.019966926864526023 Centerline is valid? [True, True] Translation: X:102.73, Y:27.32, Z:1.78 [[ 7.96285810e-01 -6.04880307e-01 -6.98011854e-03 1.02726025e+02] [ 6.04859367e-01 7.96316375e-01 -5.03748988e-03 2.73219437e+01] [ 8.60546112e-03 -2.10708372e-04 9.99962950e-01 1.77643799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19361786499998 meters 0.020693530813245088 Centerline is valid? [True, True] Translation: X:102.75, Y:27.34, Z:1.78 [[ 7.95876042e-01 -6.05412196e-01 -7.57615993e-03 1.02750121e+02] [ 6.05387501e-01 7.95912068e-01 -5.47300782e-03 2.73367108e+01] [ 9.34338280e-03 -2.30676725e-04 9.99956323e-01 1.77707310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22361786499998 meters 0.020236863557679834 Centerline is valid? [True, True] Translation: X:102.77, Y:27.35, Z:1.78 [[ 7.95655148e-01 -6.05700174e-01 -7.75785838e-03 1.02772571e+02] [ 6.05674299e-01 7.95692932e-01 -5.60373414e-03 2.73542817e+01] [ 9.56705583e-03 -2.40095515e-04 9.99954206e-01 1.77681023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25361786499998 meters 0.020268729455353098 Centerline is valid? [True, True] Translation: X:102.80, Y:27.37, Z:1.78 [[ 7.95407998e-01 -6.06018654e-01 -8.21635809e-03 1.02795308e+02] [ 6.05989609e-01 7.95450392e-01 -5.93868603e-03 2.73711144e+01] [ 1.01346598e-02 -2.55349269e-04 9.99948610e-01 1.77666672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28361786499998 meters 0.02009533646649046 Centerline is valid? [True, True] Translation: X:102.82, Y:27.39, Z:1.78 [[ 7.95638678e-01 -6.05702438e-01 -9.14607365e-03 1.02818171e+02] [ 6.05666374e-01 7.95691197e-01 -6.61532836e-03 2.73889413e+01] [ 1.12843708e-02 -2.76058159e-04 9.99936291e-01 1.77579864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31361786499998 meters 0.020813661406796188 Centerline is valid? [True, True] Translation: X:102.84, Y:27.40, Z:1.78 [[ 7.95808501e-01 -6.05471343e-01 -9.65833867e-03 1.02841675e+02] [ 6.05431053e-01 7.95867057e-01 -6.99054124e-03 2.74043378e+01] [ 1.19193260e-02 -2.84326008e-04 9.99928922e-01 1.77639467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34361786499998 meters 0.020032102068419027 Centerline is valid? [True, True] Translation: X:102.86, Y:27.42, Z:1.78 [[ 7.96076565e-01 -6.05116895e-01 -9.77989109e-03 1.02863530e+02] [ 6.05075552e-01 7.96136587e-01 -7.07899135e-03 2.74228540e+01] [ 1.20697464e-02 -2.82153876e-04 9.99927118e-01 1.77641049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37361786499997 meters 0.019842435189498266 Centerline is valid? [True, True] Translation: X:102.89, Y:27.44, Z:1.78 [[ 7.96936330e-01 -6.03982217e-01 -9.89785254e-03 1.02886441e+02] [ 6.03939738e-01 7.96997749e-01 -7.16805594e-03 2.74399023e+01] [ 1.22179445e-02 -2.65222274e-04 9.99925323e-01 1.77708951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40361786499997 meters 0.019923067787635872 Centerline is valid? [True, True] Translation: X:102.91, Y:27.46, Z:1.78 [[ 7.97361887e-01 -6.03419276e-01 -9.95987746e-03 1.02909128e+02] [ 6.03376164e-01 7.97424048e-01 -7.21743009e-03 2.74561462e+01] [ 1.22973822e-02 -2.54648991e-04 9.99924352e-01 1.77831735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43361786499997 meters 0.019912621615496746 Centerline is valid? [True, True] Translation: X:102.93, Y:27.47, Z:1.78 [[ 7.97690998e-01 -6.02980408e-01 -1.01832443e-02 1.02932394e+02] [ 6.02935298e-01 7.97755955e-01 -7.37993236e-03 2.74735057e+01] [ 1.25736984e-02 -2.52931830e-04 9.99920916e-01 1.77854533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46361786499997 meters 0.020076094403164036 Centerline is valid? [True, True] Translation: X:102.96, Y:27.49, Z:1.78 [[ 7.97866042e-01 -6.02738873e-01 -1.07531687e-02 1.02955019e+02] [ 6.02688489e-01 7.97938459e-01 -7.79753943e-03 2.74892525e+01] [ 1.32802470e-02 -2.59419046e-04 9.99911780e-01 1.77857610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49361786499998 meters 0.01981027157133186 Centerline is valid? [True, True] Translation: X:102.98, Y:27.51, Z:1.78 [[ 7.97691676e-01 -6.02957446e-01 -1.14152653e-02 1.02977585e+02] [ 6.02900661e-01 7.97773302e-01 -8.27959017e-03 2.75064491e+01] [ 1.40990344e-02 -2.77710835e-04 9.99900565e-01 1.77884227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52361786499998 meters 0.020143612336972618 Centerline is valid? [True, True] Translation: X:103.00, Y:27.52, Z:1.78 [[ 7.97729243e-01 -6.02897882e-01 -1.19247132e-02 1.03000502e+02] [ 6.02835827e-01 7.97818315e-01 -8.65463166e-03 2.75211760e+01] [ 1.47316137e-02 -2.84591563e-04 9.99891443e-01 1.77917481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55361786499998 meters 0.020340593670163585 Centerline is valid? [True, True] Translation: X:103.02, Y:27.54, Z:1.78 [[ 7.97798682e-01 -6.02793191e-01 -1.25551653e-02 1.03023433e+02] [ 6.02724352e-01 7.97897413e-01 -9.11452016e-03 2.75360452e+01] [ 1.55119046e-02 -2.95751705e-04 9.99879639e-01 1.77956349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58361786499998 meters 0.020526041653461537 Centerline is valid? [True, True] Translation: X:103.05, Y:27.55, Z:1.78 [[ 7.97738693e-01 -6.02858559e-01 -1.32112377e-02 1.03045684e+02] [ 6.02782283e-01 7.97848020e-01 -9.59465141e-03 2.75514352e+01] [ 1.63247775e-02 -3.09475314e-04 9.99866694e-01 1.77970401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61361786499998 meters 0.01992106051624645 Centerline is valid? [True, True] Translation: X:103.07, Y:27.57, Z:1.78 [[ 7.97590036e-01 -6.03045324e-01 -1.36554643e-02 1.03067362e+02] [ 6.02963816e-01 7.97706860e-01 -9.91980579e-03 2.75688331e+01] [ 1.68751500e-02 -3.21812598e-04 9.99857553e-01 1.77995567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64361786499998 meters 0.01999506299615886 Centerline is valid? [True, True] Translation: X:103.09, Y:27.58, Z:1.78 [[ 7.97369107e-01 -6.03329482e-01 -1.40015259e-02 1.03090168e+02] [ 6.03243732e-01 7.97491960e-01 -1.01771191e-02 2.75849163e+01] [ 1.73062603e-02 -3.31412324e-04 9.99850181e-01 1.78012868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67361786499998 meters 0.02010398216307366 Centerline is valid? [True, True] Translation: X:103.11, Y:27.60, Z:1.78 [[ 7.97413641e-01 -6.03243445e-01 -1.51271846e-02 1.03112662e+02] [ 6.03143219e-01 7.97557034e-01 -1.10015598e-02 2.75993562e+01] [ 1.87014113e-02 -3.51064983e-04 9.99825052e-01 1.78067882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70361786499998 meters 0.01965759922041522 Centerline is valid? [True, True] Translation: X:103.13, Y:27.62, Z:1.78 [[ 7.97435314e-01 -6.03207698e-01 -1.54075426e-02 1.03134620e+02] [ 6.03103653e-01 7.97584069e-01 -1.12087819e-02 2.76164783e+01] [ 1.90500341e-02 -3.54066735e-04 9.99818469e-01 1.78137924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73361786499997 meters 0.01981798322270259 Centerline is valid? [True, True] Translation: X:103.16, Y:27.63, Z:1.78 [[ 7.97476281e-01 -6.03147511e-01 -1.56416429e-02 1.03157379e+02] [ 6.03040149e-01 7.97629585e-01 -1.13852319e-02 2.76319429e+01] [ 1.93432114e-02 -3.53086259e-04 9.99812840e-01 1.78180987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76361786499997 meters 0.01984261851655038 Centerline is valid? [True, True] Translation: X:103.18, Y:27.65, Z:1.78 [[ 7.97890828e-01 -6.02590178e-01 -1.59782644e-02 1.03180528e+02] [ 6.02477977e-01 7.98050724e-01 -1.16330902e-02 2.76482436e+01] [ 1.97614514e-02 -3.44616496e-04 9.99804664e-01 1.78140645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79361786499997 meters 0.01957633383068857 Centerline is valid? [True, True] Translation: X:103.20, Y:27.67, Z:1.78 [[ 7.97906534e-01 -6.02556167e-01 -1.64690382e-02 1.03203127e+02] [ 6.02436896e-01 7.98076401e-01 -1.19935090e-02 2.76652815e+01] [ 2.03703135e-02 -3.51857080e-04 9.99792442e-01 1.78150099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82361786499997 meters 0.019855403652237685 Centerline is valid? [True, True] Translation: X:103.23, Y:27.68, Z:1.78 [[ 7.97859022e-01 -6.02607400e-01 -1.68908850e-02 1.03225999e+02] [ 6.02481819e-01 7.98037714e-01 -1.23070812e-02 2.76806008e+01] [ 2.08959015e-02 -3.57135401e-04 9.99781593e-01 1.78187294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85361786499998 meters 0.019901487431206327 Centerline is valid? [True, True] Translation: X:103.25, Y:27.70, Z:1.78 [[ 7.97434860e-01 -6.03167954e-01 -1.69133923e-02 1.03249855e+02] [ 6.03042086e-01 7.97614119e-01 -1.23272136e-02 2.76964392e+01] [ 2.09257407e-02 -3.69337496e-04 9.99780964e-01 1.78230867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88361786499998 meters 0.020223154353222427 Centerline is valid? [True, True] Translation: X:103.27, Y:27.71, Z:1.78 [[ 7.97149396e-01 -6.03551098e-01 -1.67007102e-02 1.03272805e+02] [ 6.03428350e-01 7.97324235e-01 -1.21774660e-02 2.77113906e+01] [ 2.06656040e-02 -3.70422344e-04 9.99786375e-01 1.78302257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91361786499998 meters 0.02038592817667698 Centerline is valid? [True, True] Translation: X:103.30, Y:27.73, Z:1.78 [[ 7.96618253e-01 -6.04258055e-01 -1.64791578e-02 1.03296715e+02] [ 6.04138640e-01 7.96788590e-01 -1.20185452e-02 2.77267044e+01] [ 2.03927076e-02 -3.81503543e-04 9.99791974e-01 1.78380253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94361786499998 meters 0.020482229582279056 Centerline is valid? [True, True] Translation: X:103.32, Y:27.74, Z:1.78 [[ 7.96324139e-01 -6.04642505e-01 -1.65923620e-02 1.03319476e+02] [ 6.04521448e-01 7.96496885e-01 -1.21050187e-02 2.77423745e+01] [ 2.05349735e-02 -3.90920079e-04 9.99789059e-01 1.78403676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97361786499998 meters 0.02073503108739778 Centerline is valid? [True, True] Translation: X:103.34, Y:27.76, Z:1.78 [[ 7.96547967e-01 -6.04347417e-01 -1.65992593e-02 1.03341804e+02] [ 6.04226073e-01 7.96720814e-01 -1.21159660e-02 2.77575292e+01] [ 2.05472282e-02 -3.78757171e-04 9.99788812e-01 1.78393969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00361786499998 meters 0.020085888244367772 Centerline is valid? [True, True] Translation: X:103.36, Y:27.78, Z:1.78 [[ 7.97289560e-01 -6.03370159e-01 -1.65471865e-02 1.03364885e+02] [ 6.03249297e-01 7.97461177e-01 -1.20812288e-02 2.77754019e+01] [ 2.04851918e-02 -3.49841011e-04 9.99790095e-01 1.78455290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03361786499998 meters 0.02004752377659853 Centerline is valid? [True, True] Translation: X:103.39, Y:27.79, Z:1.78 [[ 7.97730355e-01 -6.02790013e-01 -1.64463142e-02 1.03388084e+02] [ 6.02670376e-01 7.97899801e-01 -1.20135303e-02 2.77919806e+01] [ 2.03641469e-02 -3.28148591e-04 9.99792575e-01 1.78471978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06361786499998 meters 0.020517057619143853 Centerline is valid? [True, True] Translation: X:103.41, Y:27.81, Z:1.78 [[ 7.98163377e-01 -6.02220974e-01 -1.62825622e-02 1.03411637e+02] [ 6.02103486e-01 7.98329384e-01 -1.18990569e-02 2.78065380e+01] [ 2.01647095e-02 -3.06396021e-04 9.99796625e-01 1.78456865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09361786499998 meters 0.020492621938527647 Centerline is valid? [True, True] Translation: X:103.43, Y:27.82, Z:1.78 [[ 7.98279057e-01 -6.02047587e-01 -1.70073541e-02 1.03433731e+02] [ 6.01919316e-01 7.98460146e-01 -1.24311446e-02 2.78218098e+01] [ 2.10638350e-02 -3.13532576e-04 9.99778084e-01 1.78468996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12361786499997 meters 0.020753576260120577 Centerline is valid? [True, True] Translation: X:103.46, Y:27.84, Z:1.78 [[ 7.98181277e-01 -6.02178996e-01 -1.69442129e-02 1.03456723e+02] [ 6.02051644e-01 7.98361045e-01 -1.23878779e-02 2.78354954e+01] [ 2.09873194e-02 -3.13519059e-04 9.99779693e-01 1.78407456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15361786499997 meters 0.0200248869687426 Centerline is valid? [True, True] Translation: X:103.48, Y:27.85, Z:1.79 [[ 7.97960677e-01 -6.02458184e-01 -1.74039002e-02 1.03478134e+02] [ 6.02323807e-01 7.98150381e-01 -1.27279814e-02 2.78531922e+01] [ 2.15590061e-02 -3.26354755e-04 9.99767524e-01 1.78547002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18361786499997 meters 0.020201560142493014 Centerline is valid? [True, True] Translation: X:103.50, Y:27.87, Z:1.79 [[ 7.97962929e-01 -6.02465606e-01 -1.70398610e-02 1.03500936e+02] [ 6.02336648e-01 7.98144783e-01 -1.24686931e-02 2.78698937e+01] [ 2.11122349e-02 -3.14177910e-04 9.99777063e-01 1.78627872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21361786499997 meters 0.020032939057455505 Centerline is valid? [True, True] Translation: X:103.52, Y:27.89, Z:1.79 [[ 7.97842229e-01 -6.02645621e-01 -1.63105155e-02 1.03523030e+02] [ 6.02527372e-01 7.98008876e-01 -1.19415590e-02 2.78872577e+01] [ 2.02124644e-02 -3.00051940e-04 9.99795662e-01 1.78703248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24361786499998 meters 0.020299990059360416 Centerline is valid? [True, True] Translation: X:103.54, Y:27.90, Z:1.79 [[ 7.98018875e-01 -6.02425267e-01 -1.58010329e-02 1.03544918e+02] [ 6.02314133e-01 7.98175243e-01 -1.15743715e-02 2.79031932e+01] [ 1.95846872e-02 -2.80618487e-04 9.99808162e-01 1.78750579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27361786499998 meters 0.020834613164980597 Centerline is valid? [True, True] Translation: X:103.57, Y:27.92, Z:1.79 [[ 7.97607722e-01 -6.02969440e-01 -1.58043262e-02 1.03568067e+02] [ 6.02858315e-01 7.97764232e-01 -1.15794033e-02 2.79181992e+01] [ 1.95901525e-02 -2.91947969e-04 9.99808052e-01 1.78737214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30361786499998 meters 0.020834613164980597 Centerline is valid? [True, True] Translation: X:103.59, Y:27.93, Z:1.79 [[ 7.97453230e-01 -6.03173781e-01 -1.58030423e-02 1.03590260e+02] [ 6.03062662e-01 7.97609743e-01 -1.15811553e-02 2.79345722e+01] [ 1.95901097e-02 -2.94795101e-04 9.99808052e-01 1.78782409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33361786499998 meters 0.02098384727764362 Centerline is valid? [True, True] Translation: X:103.61, Y:27.95, Z:1.79 [[ 7.96237255e-01 -6.04785337e-01 -1.55219333e-02 1.03613415e+02] [ 6.04678327e-01 7.96388468e-01 -1.13810815e-02 2.79517944e+01] [ 1.92445998e-02 -3.23735553e-04 9.99814753e-01 1.78816892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36361786499998 meters 0.020750173427185416 Centerline is valid? [True, True] Translation: X:103.64, Y:27.97, Z:1.79 [[ 7.95710867e-01 -6.05491383e-01 -1.49800082e-02 1.03635605e+02] [ 6.05391752e-01 7.95851795e-01 -1.09885039e-02 2.79694533e+01] [ 1.85753108e-02 -3.25101414e-04 9.99827411e-01 1.78937505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39361786499998 meters 0.02099887704996311 Centerline is valid? [True, True] Translation: X:103.66, Y:27.99, Z:1.79 [[ 7.94878690e-01 -6.06595581e-01 -1.44799922e-02 1.03659378e+02] [ 6.06502635e-01 7.95010495e-01 -1.06238579e-02 2.79864276e+01] [ 1.79561310e-02 -3.37475149e-04 9.99838719e-01 1.79008016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42361786499998 meters 0.021660262636674966 Centerline is valid? [True, True] Translation: X:103.68, Y:28.00, Z:1.79 [[ 7.92973940e-01 -6.09093258e-01 -1.40617869e-02 1.03681655e+02] [ 6.09005911e-01 7.93098518e-01 -1.03218722e-02 2.80023751e+01] [ 1.74393651e-02 -3.78735688e-04 9.99847851e-01 1.79040734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45361786499998 meters 0.021775617275840372 Centerline is valid? [True, True] Translation: X:103.70, Y:28.02, Z:1.79 [[ 7.91862253e-01 -6.10537893e-01 -1.40589273e-02 1.03704974e+02] [ 6.10450767e-01 7.91986940e-01 -1.03221431e-02 2.80200398e+01] [ 1.74365463e-02 -4.08567489e-04 9.99847888e-01 1.79040831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48361786499997 meters 0.022393491013540722 Centerline is valid? [True, True] Translation: X:103.73, Y:28.04, Z:1.79 [[ 7.90982385e-01 -6.11666668e-01 -1.45173580e-02 1.03728125e+02] [ 6.11573864e-01 7.91115472e-01 -1.06638924e-02 2.80357545e+01] [ 1.80076540e-02 -4.43485656e-04 9.99837751e-01 1.79066059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51361786499997 meters 0.02274794137140973 Centerline is valid? [True, True] Translation: X:103.75, Y:28.05, Z:1.79 [[ 7.90116619e-01 -6.12788468e-01 -1.43534771e-02 1.03751626e+02] [ 6.12697894e-01 7.90246848e-01 -1.05456128e-02 2.80529280e+01] [ 1.78050199e-02 -4.62081241e-04 9.99841371e-01 1.79101025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54361786499997 meters 0.022955834128329366 Centerline is valid? [True, True] Translation: X:103.77, Y:28.07, Z:1.79 [[ 7.89973924e-01 -6.12973838e-01 -1.42924052e-02 1.03773252e+02] [ 6.12883977e-01 7.90103070e-01 -1.05056607e-02 2.80692369e+01] [ 1.77321684e-02 -4.60388123e-04 9.99842667e-01 1.79128453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57361786499997 meters 0.022261035152968806 Centerline is valid? [True, True] Translation: X:103.79, Y:28.09, Z:1.79 [[ 7.89944817e-01 -6.13006986e-01 -1.44783124e-02 1.03794154e+02] [ 6.12914725e-01 7.90077350e-01 -1.06452265e-02 2.80881003e+01] [ 1.79645849e-02 -4.64829366e-04 9.99838516e-01 1.79121688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60361786499998 meters 0.022328794166123767 Centerline is valid? [True, True] Translation: X:103.82, Y:28.11, Z:1.79 [[ 7.90899300e-01 -6.11757840e-01 -1.51868984e-02 1.03815890e+02] [ 6.11655979e-01 7.91044967e-01 -1.11724271e-02 2.81050635e+01] [ 1.88483394e-02 -4.52892461e-04 9.99822252e-01 1.79019867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63361786499998 meters 0.021818525579902496 Centerline is valid? [True, True] Translation: X:103.84, Y:28.12, Z:1.79 [[ 7.91481097e-01 -6.11007733e-01 -1.50738865e-02 1.03838793e+02] [ 6.10907187e-01 7.91624510e-01 -1.10924888e-02 2.81233339e+01] [ 1.87104544e-02 -4.29250359e-04 9.99824852e-01 1.79049011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66361786499998 meters 0.022159736084384242 Centerline is valid? [True, True] Translation: X:103.86, Y:28.14, Z:1.79 [[ 7.92258054e-01 -6.09998295e-01 -1.51411870e-02 1.03861529e+02] [ 6.09896569e-01 7.92402623e-01 -1.11470958e-02 2.81391123e+01] [ 1.87976258e-02 -4.03181553e-04 9.99823228e-01 1.79067899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69361786499998 meters 0.0218095499335072 Centerline is valid? [True, True] Translation: X:103.88, Y:28.16, Z:1.79 [[ 7.93096243e-01 -6.08906482e-01 -1.52067471e-02 1.03884670e+02] [ 6.08803627e-01 7.93241927e-01 -1.11977315e-02 2.81572838e+01] [ 1.88810006e-02 -3.77044000e-04 9.99821667e-01 1.79107253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72361786499998 meters 0.021325545250924765 Centerline is valid? [True, True] Translation: X:103.91, Y:28.18, Z:1.79 [[ 7.94792673e-01 -6.06693863e-01 -1.50719654e-02 1.03906409e+02] [ 6.06592340e-01 7.94935504e-01 -1.11030254e-02 2.81750604e+01] [ 1.87173778e-02 -3.17935542e-04 9.99824764e-01 1.79123926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75361786499998 meters 0.021163423345392358 Centerline is valid? [True, True] Translation: X:103.93, Y:28.19, Z:1.79 [[ 7.95378577e-01 -6.05934810e-01 -1.46943632e-02 1.03929564e+02] [ 6.05838143e-01 7.95514249e-01 -1.08269928e-02 2.81930443e+01] [ 1.82500271e-02 -2.90847550e-04 9.99833412e-01 1.79208748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78361786499998 meters 0.020144256461060127 Centerline is valid? [True, True] Translation: X:103.95, Y:28.21, Z:1.79 [[ 7.96645954e-01 -6.04276079e-01 -1.43403207e-02 1.03951406e+02] [ 6.04183657e-01 7.96774975e-01 -1.05710327e-02 2.82123654e+01] [ 1.78138308e-02 -2.42816977e-04 9.99841292e-01 1.79283545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81361786499998 meters 0.020422478273391952 Centerline is valid? [True, True] Translation: X:103.97, Y:28.23, Z:1.79 [[ 7.97266934e-01 -6.03468830e-01 -1.38132843e-02 1.03974287e+02] [ 6.03382874e-01 7.97386560e-01 -1.01873454e-02 2.82276407e+01] [ 1.71622726e-02 -2.12665555e-04 9.99852695e-01 1.79369626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84361786499997 meters 0.02010169979922624 Centerline is valid? [True, True] Translation: X:104.00, Y:28.25, Z:1.79 [[ 7.97750811e-01 -6.02838068e-01 -1.34129249e-02 1.03997573e+02] [ 6.02756890e-01 7.97863539e-01 -9.89466741e-03 2.82454834e+01] [ 1.66665659e-02 -1.91253936e-04 9.99861085e-01 1.79457052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87361786499997 meters 0.01986223197304135 Centerline is valid? [True, True] Translation: X:104.02, Y:28.26, Z:1.80 [[ 7.98141765e-01 -6.02337834e-01 -1.26038792e-02 1.04020933e+02] [ 6.02266024e-01 7.98241258e-01 -9.30211789e-03 2.82611314e+01] [ 1.56639539e-02 -1.66479413e-04 9.99877299e-01 1.79599246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90361786499997 meters 0.019904464334997155 Centerline is valid? [True, True] Translation: X:104.04, Y:28.28, Z:1.80 [[ 7.97887039e-01 -6.02679700e-01 -1.23876020e-02 1.04043702e+02] [ 6.02610294e-01 7.97983177e-01 -9.14777505e-03 2.82765493e+01] [ 1.53982763e-02 -1.66005353e-04 9.99881426e-01 1.79615659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93361786499997 meters 0.019959852977148567 Centerline is valid? [True, True] Translation: X:104.07, Y:28.29, Z:1.80 [[ 7.97444347e-01 -6.03268593e-01 -1.22277378e-02 1.04066732e+02] [ 6.03200985e-01 7.97538071e-01 -9.03307368e-03 2.82926361e+01] [ 1.52014561e-02 -1.72409937e-04 9.99884436e-01 1.79652748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96361786499997 meters 0.02017252209667638 Centerline is valid? [True, True] Translation: X:104.09, Y:28.31, Z:1.80 [[ 7.96528343e-01 -6.04484993e-01 -1.18529365e-02 1.04090982e+02] [ 6.04421525e-01 7.96616506e-01 -8.76141273e-03 2.83074723e+01] [ 1.47383874e-02 -1.85456392e-04 9.99891367e-01 1.79630621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99361786499998 meters 0.020038628336384052 Centerline is valid? [True, True] Translation: X:104.11, Y:28.32, Z:1.80 [[ 7.96217218e-01 -6.04903090e-01 -1.14190183e-02 1.04113253e+02] [ 6.04844213e-01 7.96299076e-01 -8.44157529e-03 2.83246832e+01] [ 1.41992887e-02 -1.85399537e-04 9.99899168e-01 1.79685971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02361786499998 meters 0.020189083156854554 Centerline is valid? [True, True] Translation: X:104.13, Y:28.34, Z:1.80 [[ 7.96301316e-01 -6.04810713e-01 -1.04026316e-02 1.04134653e+02] [ 6.04761784e-01 7.96369245e-01 -7.69481332e-03 2.83408985e+01] [ 1.29382414e-02 -1.63724089e-04 9.99916284e-01 1.79767097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05361786499998 meters 0.02004605347134632 Centerline is valid? [True, True] Translation: X:104.16, Y:28.36, Z:1.80 [[ 7.96304507e-01 -6.04811928e-01 -1.00828703e-02 1.04156858e+02] [ 6.04765948e-01 7.96368323e-01 -7.45934266e-03 2.83578055e+01] [ 1.25411780e-02 -1.57868449e-04 9.99921344e-01 1.79817399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08361786499998 meters 0.020315454155463448 Centerline is valid? [True, True] Translation: X:104.18, Y:28.37, Z:1.80 [[ 7.95934534e-01 -6.05292616e-01 -1.04434958e-02 1.04179642e+02] [ 6.05243265e-01 7.96003028e-01 -7.73108978e-03 2.83730077e+01] [ 1.29926259e-02 -1.67414182e-04 9.99915578e-01 1.79825661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11361786499998 meters 0.02046308053855633 Centerline is valid? [True, True] Translation: X:104.20, Y:28.39, Z:1.80 [[ 7.95472060e-01 -6.05896908e-01 -1.06366691e-02 1.04202047e+02] [ 6.05845730e-01 7.95543151e-01 -7.87689741e-03 2.83898141e+01] [ 1.32345171e-02 -1.78328760e-04 9.99912404e-01 1.79819985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14361786499998 meters 0.02068536725639066 Centerline is valid? [True, True] Translation: X:104.22, Y:28.41, Z:1.80 [[ 7.94901409e-01 -6.06645962e-01 -1.06031038e-02 1.04224916e+02] [ 6.06595108e-01 7.94972101e-01 -7.85702279e-03 2.84065591e+01] [ 1.31956029e-02 -1.86232414e-04 9.99912917e-01 1.79754958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17361786499998 meters 0.020382658873457034 Centerline is valid? [True, True] Translation: X:104.25, Y:28.42, Z:1.80 [[ 7.94508478e-01 -6.07161801e-01 -1.05274181e-02 1.04246641e+02] [ 6.07111708e-01 7.94578197e-01 -7.80145875e-03 2.84247414e+01] [ 1.31016046e-02 -1.92993670e-04 9.99914152e-01 1.79773475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20361786499998 meters 0.020296995507626883 Centerline is valid? [True, True] Translation: X:104.27, Y:28.44, Z:1.80 [[ 7.94199924e-01 -6.07568997e-01 -1.03147320e-02 1.04268877e+02] [ 6.07520889e-01 7.94266880e-01 -7.64804949e-03 2.84424338e+01] [ 1.28393677e-02 -1.92334813e-04 9.99917553e-01 1.79793434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23361786499997 meters 0.0204247406818632 Centerline is valid? [True, True] Translation: X:104.29, Y:28.46, Z:1.80 [[ 7.92887156e-01 -6.09276075e-01 -1.06123573e-02 1.04291132e+02] [ 6.09225239e-01 7.92958142e-01 -7.87355499e-03 2.84614929e+01] [ 1.32123238e-02 -2.22475295e-04 9.99912689e-01 1.79720807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26361786499997 meters 0.020569716481278005 Centerline is valid? [True, True] Translation: X:104.31, Y:28.48, Z:1.80 [[ 7.92139684e-01 -6.10240241e-01 -1.10258758e-02 1.04314547e+02] [ 6.10185400e-01 7.92216377e-01 -8.18471211e-03 2.84789952e+01] [ 1.37295201e-02 -2.44393155e-04 9.99905716e-01 1.79704220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29361786499997 meters 0.021042262773837916 Centerline is valid? [True, True] Translation: X:104.34, Y:28.49, Z:1.80 [[ 7.91225654e-01 -6.11421682e-01 -1.12022863e-02 1.04337677e+02] [ 6.11365123e-01 7.91304908e-01 -8.32044215e-03 2.84942269e+01] [ 1.39517228e-02 -2.65339838e-04 9.99902635e-01 1.79694761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32361786499997 meters 0.02109557147010133 Centerline is valid? [True, True] Translation: X:104.36, Y:28.51, Z:1.80 [[ 7.90092452e-01 -6.12871544e-01 -1.19326599e-02 1.04361032e+02] [ 6.12807514e-01 7.90182495e-01 -8.86433244e-03 2.85114936e+01] [ 1.48616761e-02 -3.08781503e-04 9.99889512e-01 1.79739126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35361786499998 meters 0.02237780158920963 Centerline is valid? [True, True] Translation: X:104.39, Y:28.53, Z:1.80 [[ 7.88079839e-01 -6.15449649e-01 -1.23246820e-02 1.04385339e+02] [ 6.15381579e-01 7.88176120e-01 -9.16050521e-03 2.85255753e+01] [ 1.53518498e-02 -3.65172831e-04 9.99882087e-01 1.79724940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38361786499998 meters 0.022126548535493493 Centerline is valid? [True, True] Translation: X:104.41, Y:28.54, Z:1.80 [[ 7.86822918e-01 -6.17056744e-01 -1.22748103e-02 1.04407900e+02] [ 6.16989398e-01 7.86918560e-01 -9.12483711e-03 2.85431365e+01] [ 1.52898183e-02 -3.93796864e-04 9.99883026e-01 1.79781720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41361786499998 meters 0.022569026705426286 Centerline is valid? [True, True] Translation: X:104.43, Y:28.56, Z:1.80 [[ 7.85850538e-01 -6.18298888e-01 -1.20588736e-02 1.04431912e+02] [ 6.18233972e-01 7.85942949e-01 -8.96868143e-03 2.85598539e+01] [ 1.50229124e-02 -4.07162190e-04 9.99887067e-01 1.79862234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44361786499998 meters 0.024383252249018918 Centerline is valid? [True, True] Translation: X:104.46, Y:28.57, Z:1.80 [[ 7.84358630e-01 -6.20199543e-01 -1.15787284e-02 1.04455311e+02] [ 6.20139837e-01 7.84443974e-01 -8.61590239e-03 2.85745333e+01] [ 1.44264424e-02 -4.22473328e-04 9.99895844e-01 1.79895383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47361786499998 meters 0.022396335858584332 Centerline is valid? [True, True] Translation: X:104.48, Y:28.60, Z:1.80 [[ 7.83515766e-01 -6.21259863e-01 -1.17994170e-02 1.04475771e+02] [ 6.21197949e-01 7.83604480e-01 -8.78223383e-03 2.85960236e+01] [ 1.47021254e-02 -4.48754977e-04 9.99891817e-01 1.79911769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50361786499998 meters 0.02430585787725859 Centerline is valid? [True, True] Translation: X:104.50, Y:28.61, Z:1.80 [[ 7.82841771e-01 -6.22108977e-01 -1.17975562e-02 1.04500245e+02] [ 6.22047108e-01 7.82930526e-01 -8.78564106e-03 2.86102505e+01] [ 1.47022931e-02 -4.60868907e-04 9.99891809e-01 1.79997355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53361786499998 meters 0.023664730103485146 Centerline is valid? [True, True] Translation: X:104.52, Y:28.63, Z:1.80 [[ 7.81124597e-01 -6.24274205e-01 -1.12285618e-02 1.04522304e+02] [ 6.24218370e-01 7.81205152e-01 -8.36286977e-03 2.86292310e+01] [ 1.39925342e-02 -4.76631288e-04 9.99901986e-01 1.80133156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56361786499998 meters 0.023605618117706027 Centerline is valid? [True, True] Translation: X:104.54, Y:28.65, Z:1.80 [[ 7.80192942e-01 -6.25451425e-01 -1.04636954e-02 1.04544785e+02] [ 6.25402997e-01 7.80262970e-01 -7.79673504e-03 2.86468628e+01] [ 1.30409131e-02 -4.61068786e-04 9.99914857e-01 1.80227024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59361786499997 meters 0.024497794315734105 Centerline is valid? [True, True] Translation: X:104.57, Y:28.66, Z:1.80 [[ 7.79226233e-01 -6.26665402e-01 -9.84640398e-03 1.04566994e+02] [ 6.26622565e-01 7.79288311e-01 -7.34088563e-03 2.86627418e+01] [ 1.22734666e-02 -4.49768270e-04 9.99924577e-01 1.80325749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62361786499997 meters 0.025219807994584974 Centerline is valid? [True, True] Translation: X:104.59, Y:28.68, Z:1.80 [[ 7.77937969e-01 -6.28285741e-01 -8.33935510e-03 1.04588905e+02] [ 6.28255094e-01 7.77982562e-01 -6.21849885e-03 2.86798590e+01] [ 1.03948670e-02 -4.01635957e-04 9.99945891e-01 1.80468350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65361786499997 meters 0.025368513294687953 Centerline is valid? [True, True] Translation: X:104.61, Y:28.70, Z:1.81 [[ 7.77655945e-01 -6.28640923e-01 -7.86259227e-03 1.04611703e+02] [ 6.28613703e-01 7.77695597e-01 -5.86257985e-03 2.86983122e+01] [ 9.80016101e-03 -3.83463169e-04 9.99951904e-01 1.80564990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68361786499997 meters 0.02412154510917426 Centerline is valid? [True, True] Translation: X:104.63, Y:28.72, Z:1.81 [[ 7.77644731e-01 -6.28657232e-01 -7.66529709e-03 1.04631688e+02] [ 6.28631340e-01 7.77682419e-01 -5.71779607e-03 2.87183630e+01] [ 9.55570064e-03 -3.72231998e-04 9.99954274e-01 1.80544402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71361786499997 meters 0.024898771511516468 Centerline is valid? [True, True] Translation: X:104.65, Y:28.74, Z:1.81 [[ 7.78584336e-01 -6.27490131e-01 -7.90998368e-03 1.04652997e+02] [ 6.27462460e-01 7.78624429e-01 -5.90421034e-03 2.87371940e+01] [ 9.86374025e-03 -3.66292136e-04 9.99951285e-01 1.80637695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74361786499998 meters 0.024369770939307308 Centerline is valid? [True, True] Translation: X:104.67, Y:28.76, Z:1.81 [[ 7.78943462e-01 -6.27044800e-01 -7.86779924e-03 1.04674570e+02] [ 6.27017372e-01 7.78983114e-01 -5.87566089e-03 2.87566030e+01] [ 9.81318536e-03 -3.56439164e-04 9.99951786e-01 1.80681398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77361786499998 meters 0.024582958419870047 Centerline is valid? [True, True] Translation: X:104.70, Y:28.77, Z:1.81 [[ 7.79653183e-01 -6.26166505e-01 -7.51146487e-03 1.04696596e+02] [ 6.26141427e-01 7.79689298e-01 -5.61346446e-03 2.87742751e+01] [ 9.37157219e-03 -3.26683897e-04 9.99956032e-01 1.80714000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80361786499998 meters 0.024091844187127703 Centerline is valid? [True, True] Translation: X:104.72, Y:28.80, Z:1.81 [[ 7.80438272e-01 -6.25177216e-01 -8.33972932e-03 1.04717617e+02] [ 6.25146244e-01 7.80482752e-01 -6.23273067e-03 2.87951178e+01] [ 1.04055761e-02 -3.49288907e-04 9.99945800e-01 1.80700948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83361786499998 meters 0.024528342080883128 Centerline is valid? [True, True] Translation: X:104.74, Y:28.81, Z:1.81 [[ 7.80797187e-01 -6.24724060e-01 -8.69494520e-03 1.04739046e+02] [ 6.24690321e-01 7.80845518e-01 -6.50225974e-03 2.88122719e+01] [ 1.08515271e-02 -3.54701996e-04 9.99941058e-01 1.80676276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86361786499998 meters 0.02348305911718651 Centerline is valid? [True, True] Translation: X:104.76, Y:28.83, Z:1.81 [[ 7.81003974e-01 -6.24456203e-01 -9.34047020e-03 1.04760357e+02] [ 6.24417244e-01 7.81059735e-01 -6.98541716e-03 2.88327577e+01] [ 1.16575522e-02 -3.76712100e-04 9.99931977e-01 1.80647642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89361786499998 meters 0.022831793461565414 Centerline is valid? [True, True] Translation: X:104.78, Y:28.85, Z:1.81 [[ 7.81099736e-01 -6.24332505e-01 -9.59824695e-03 1.04781483e+02] [ 6.24291314e-01 7.81158612e-01 -7.18184568e-03 2.88521478e+01] [ 1.19816130e-02 -3.82364438e-04 9.99928145e-01 1.80634756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92361786499998 meters 0.023311813836253824 Centerline is valid? [True, True] Translation: X:104.80, Y:28.87, Z:1.81 [[ 7.81446862e-01 -6.23898156e-01 -9.58610359e-03 1.04802386e+02] [ 6.23856983e-01 7.81505568e-01 -7.17720167e-03 2.88700242e+01] [ 1.19694362e-02 -3.71755941e-04 9.99928295e-01 1.80693025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95361786499998 meters 0.02331428863105783 Centerline is valid? [True, True] Translation: X:104.82, Y:28.89, Z:1.81 [[ 7.81491751e-01 -6.23846370e-01 -9.29246595e-03 1.04823641e+02] [ 6.23807676e-01 7.81546913e-01 -6.95744106e-03 2.88879680e+01] [ 1.16028724e-02 -3.59528789e-04 9.99932620e-01 1.80776304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98361786499997 meters 0.022849808683190087 Centerline is valid? [True, True] Translation: X:104.84, Y:28.91, Z:1.81 [[ 7.82009892e-01 -6.23201336e-01 -8.97910189e-03 1.04844475e+02] [ 6.23165123e-01 7.82061368e-01 -6.72658815e-03 2.89079917e+01] [ 1.12142274e-02 -3.35204654e-04 9.99937062e-01 1.80845856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01361786499997 meters 0.022001843620964773 Centerline is valid? [True, True] Translation: X:104.87, Y:28.93, Z:1.81 [[ 7.82209637e-01 -6.22950576e-01 -8.98123136e-03 1.04865467e+02] [ 6.22914293e-01 7.82261127e-01 -6.73143349e-03 2.89278281e+01] [ 1.12190185e-02 -3.29145235e-04 9.99937011e-01 1.80887739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04361786499997 meters 0.021902284449490265 Centerline is valid? [True, True] Translation: X:104.89, Y:28.95, Z:1.81 [[ 7.82253324e-01 -6.22896216e-01 -8.94660763e-03 1.04886668e+02] [ 6.22860173e-01 7.82304416e-01 -6.70862068e-03 2.89462797e+01] [ 1.11777451e-02 -3.24644755e-04 9.99937474e-01 1.80956138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07361786499997 meters 0.021876076704961552 Centerline is valid? [True, True] Translation: X:104.91, Y:28.97, Z:1.81 [[ 7.82626089e-01 -6.22430280e-01 -8.77218724e-03 1.04906880e+02] [ 6.22395557e-01 7.82675189e-01 -6.58177246e-03 2.89666654e+01] [ 1.09624678e-02 -3.08703519e-04 9.99939863e-01 1.80998867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10361786499998 meters 0.021540886585817636 Centerline is valid? [True, True] Translation: X:104.93, Y:28.99, Z:1.81 [[ 7.82785584e-01 -6.22233223e-01 -8.51734913e-03 1.04928337e+02] [ 6.22200444e-01 7.82831865e-01 -6.39360434e-03 2.89861979e+01] [ 1.06459653e-02 -2.94677105e-04 9.99943287e-01 1.81068753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13361786499998 meters 0.021780096100633674 Centerline is valid? [True, True] Translation: X:104.95, Y:29.00, Z:1.81 [[ 7.82734582e-01 -6.22301286e-01 -8.22703180e-03 1.04949313e+02] [ 6.22270667e-01 7.82777765e-01 -6.17957667e-03 2.90034440e+01] [ 1.02854961e-02 -2.82472206e-04 9.99947063e-01 1.81133312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16361786499998 meters 0.021950235340141955 Centerline is valid? [True, True] Translation: X:104.97, Y:29.02, Z:1.81 [[ 7.82680692e-01 -6.22376733e-01 -7.62470186e-03 1.04970158e+02] [ 6.22350423e-01 7.82717787e-01 -5.72870970e-03 2.90228030e+01] [ 9.53340539e-03 -2.61485946e-04 9.99954522e-01 1.81218993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19361786499998 meters 0.021950235340141955 Centerline is valid? [True, True] Translation: X:104.99, Y:29.04, Z:1.81 [[ 7.82511594e-01 -6.22589323e-01 -7.62498366e-03 1.04992167e+02] [ 6.22563026e-01 7.82548698e-01 -5.72833517e-03 2.90394244e+01] [ 9.53332135e-03 -2.64544221e-04 9.99954522e-01 1.81264194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22361786499998 meters 0.022000840360250764 Centerline is valid? [True, True] Translation: X:105.01, Y:29.06, Z:1.81 [[ 7.82218758e-01 -6.22954096e-01 -7.87457359e-03 1.05013473e+02] [ 6.22926033e-01 7.82258345e-01 -5.91936380e-03 2.90578650e+01] [ 9.84744284e-03 -2.75039487e-04 9.99951475e-01 1.81266550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25361786499998 meters 0.022195732614576327 Centerline is valid? [True, True] Translation: X:105.04, Y:29.08, Z:1.81 [[ 7.81971888e-01 -6.23261312e-01 -8.08108141e-03 1.05035151e+02] [ 6.23231722e-01 7.82013592e-01 -6.07967838e-03 2.90752179e+01] [ 1.01087438e-02 -2.82248700e-04 9.99948866e-01 1.81264574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28361786499998 meters 0.022352407397284942 Centerline is valid? [True, True] Translation: X:105.06, Y:29.09, Z:1.81 [[ 7.81319930e-01 -6.24080690e-01 -7.90304833e-03 1.05056278e+02] [ 6.24052435e-01 7.81359846e-01 -5.94550544e-03 2.90946336e+01] [ 9.88559977e-03 -2.86574655e-04 9.99951095e-01 1.81289598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31361786499998 meters 0.022367724073475696 Centerline is valid? [True, True] Translation: X:105.08, Y:29.11, Z:1.81 [[ 7.81168352e-01 -6.24280299e-01 -7.07912286e-03 1.05078442e+02] [ 6.24257618e-01 7.81200385e-01 -5.32778057e-03 2.91135381e+01] [ 8.85624196e-03 -2.57302807e-04 9.99960750e-01 1.81359152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34361786499997 meters 0.022462772442447734 Centerline is valid? [True, True] Translation: X:105.10, Y:29.13, Z:1.81 [[ 7.80863695e-01 -6.24662940e-01 -6.93543732e-03 1.05100480e+02] [ 6.24641163e-01 7.80894453e-01 -5.22212394e-03 2.91319395e+01] [ 8.67791183e-03 -2.54392638e-04 9.99962314e-01 1.81388311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37361786499997 meters 0.022200895445420407 Centerline is valid? [True, True] Translation: X:105.12, Y:29.15, Z:1.81 [[ 7.80752066e-01 -6.24803227e-01 -6.86577431e-03 1.05121421e+02] [ 6.24781872e-01 7.80782213e-01 -5.17180434e-03 2.91503833e+01] [ 8.59203450e-03 -2.51714405e-04 9.99963056e-01 1.81421038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40361786499997 meters 0.022368759461242116 Centerline is valid? [True, True] Translation: X:105.14, Y:29.17, Z:1.81 [[ 7.81401996e-01 -6.23985110e-01 -7.31453865e-03 1.05142094e+02] [ 6.23960789e-01 7.81436189e-01 -5.51505253e-03 2.91693665e+01] [ 9.15715587e-03 -2.54512251e-04 9.99958040e-01 1.81443583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43361786499997 meters 0.02227525830604056 Centerline is valid? [True, True] Translation: X:105.16, Y:29.19, Z:1.81 [[ 7.81941020e-01 -6.23305765e-01 -7.62660658e-03 1.05163311e+02] [ 6.23279282e-01 7.81978170e-01 -5.75144406e-03 2.91879126e+01] [ 9.54874810e-03 -2.56215838e-04 9.99954377e-01 1.81436295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46361786499997 meters 0.02136229150151488 Centerline is valid? [True, True] Translation: X:105.18, Y:29.21, Z:1.81 [[ 7.83721258e-01 -6.21053930e-01 -8.54434274e-03 1.05183244e+02] [ 6.21020551e-01 7.83767791e-01 -6.44396843e-03 2.92099090e+01] [ 1.06988326e-02 -2.55937394e-04 9.99942733e-01 1.81292854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49361786499998 meters 0.02150850603332648 Centerline is valid? [True, True] Translation: X:105.20, Y:29.23, Z:1.81 [[ 7.84842675e-01 -6.19630220e-01 -8.96464291e-03 1.05204747e+02] [ 6.19593339e-01 7.84893834e-01 -6.76488802e-03 2.92272646e+01] [ 1.12280220e-02 -2.45060230e-04 9.99936934e-01 1.81346187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52361786499998 meters 0.020877712579267287 Centerline is valid? [True, True] Translation: X:105.23, Y:29.25, Z:1.81 [[ 7.85907005e-01 -6.18275886e-01 -9.22539712e-03 1.05225586e+02] [ 6.18236731e-01 7.85961115e-01 -6.96201454e-03 2.92469390e+01] [ 1.15552491e-02 -2.31983371e-04 9.99933209e-01 1.81330604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55361786499998 meters 0.02059165503698174 Centerline is valid? [True, True] Translation: X:105.25, Y:29.27, Z:1.81 [[ 7.87996052e-01 -6.15611208e-01 -9.22291934e-03 1.05246020e+02] [ 6.15571852e-01 7.88050001e-01 -6.96352413e-03 2.92667549e+01] [ 1.15549451e-02 -1.90140019e-04 9.99933221e-01 1.81390829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58361786499998 meters 0.019685750503639556 Centerline is valid? [True, True] Translation: X:105.27, Y:29.29, Z:1.81 [[ 7.89045669e-01 -6.14264269e-01 -9.29197346e-03 1.05266658e+02] [ 6.14224188e-01 7.89100361e-01 -7.01903209e-03 2.92868274e+01] [ 1.16438402e-02 -1.69017991e-04 9.99932194e-01 1.81380720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61361786499998 meters 0.019584826922877805 Centerline is valid? [True, True] Translation: X:105.29, Y:29.30, Z:1.81 [[ 7.89957620e-01 -6.13088420e-01 -9.46297386e-03 1.05288529e+02] [ 6.13046723e-01 7.90014282e-01 -7.15182718e-03 2.93049811e+01] [ 1.18605869e-02 -1.51604740e-04 9.99929649e-01 1.81487422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64361786499998 meters 0.019210754060117123 Centerline is valid? [True, True] Translation: X:105.31, Y:29.33, Z:1.81 [[ 7.91483352e-01 -6.11115074e-01 -9.61613978e-03 1.05309743e+02] [ 6.11071827e-01 7.91541756e-01 -7.27123206e-03 2.93254780e+01] [ 1.20551357e-02 -1.21092987e-04 9.99927327e-01 1.81478657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67361786499998 meters 0.019011690457928773 Centerline is valid? [True, True] Translation: X:105.33, Y:29.34, Z:1.81 [[ 7.91794159e-01 -6.10704555e-01 -1.00973707e-02 1.05330878e+02] [ 6.10656790e-01 7.91858531e-01 -7.63883132e-03 2.93439160e+01] [ 1.26607582e-02 -1.17645968e-04 9.99919842e-01 1.81446609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70361786499998 meters 0.019012529105354604 Centerline is valid? [True, True] Translation: X:105.35, Y:29.36, Z:1.81 [[ 7.91757614e-01 -6.10744392e-01 -1.05436626e-02 1.05352548e+02] [ 6.10692243e-01 7.91827805e-01 -7.98195716e-03 2.93597771e+01] [ 1.32237008e-02 -1.19157620e-04 9.99912556e-01 1.81473853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73361786499997 meters 0.019113742693563716 Centerline is valid? [True, True] Translation: X:105.37, Y:29.38, Z:1.81 [[ 7.91369917e-01 -6.11247940e-01 -1.04694915e-02 1.05374987e+02] [ 6.11196548e-01 7.91439157e-01 -7.92717529e-03 2.93766756e+01] [ 1.31314351e-02 -1.25589013e-04 9.99913771e-01 1.81484051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76361786499997 meters 0.019240820591428388 Centerline is valid? [True, True] Translation: X:105.40, Y:29.39, Z:1.81 [[ 7.89425656e-01 -6.13753641e-01 -1.06584089e-02 1.05398732e+02] [ 6.13700542e-01 7.89497587e-01 -8.07491822e-03 2.93931275e+01] [ 1.33707986e-02 -1.66523735e-04 9.99910593e-01 1.81487115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79361786499997 meters 0.019638841713117895 Centerline is valid? [True, True] Translation: X:105.42, Y:29.41, Z:1.82 [[ 7.87900293e-01 -6.15707305e-01 -1.08463481e-02 1.05421923e+02] [ 6.15652437e-01 7.87974920e-01 -8.22199622e-03 2.94082181e+01] [ 1.36089934e-02 -1.99467388e-04 9.99907373e-01 1.81558371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82361786499997 meters 0.02007763725050444 Centerline is valid? [True, True] Translation: X:105.45, Y:29.42, Z:1.82 [[ 7.86165863e-01 -6.17915422e-01 -1.11250362e-02 1.05446152e+02] [ 6.17857904e-01 7.86244537e-01 -8.43431493e-03 2.94234774e+01] [ 1.39586922e-02 -2.42921056e-04 9.99902543e-01 1.81617181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85361786499998 meters 0.02090588295061601 Centerline is valid? [True, True] Translation: X:105.47, Y:29.44, Z:1.82 [[ 7.82622848e-01 -6.22389718e-01 -1.15115717e-02 1.05472837e+02] [ 6.22328551e-01 7.82707435e-01 -8.73184945e-03 2.94377504e+01] [ 1.44448061e-02 -3.30234857e-04 9.99895614e-01 1.81734689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88361786499998 meters 0.021754435568492353 Centerline is valid? [True, True] Translation: X:105.50, Y:29.45, Z:1.82 [[ 7.80958569e-01 -6.24481544e-01 -1.12478800e-02 1.05496803e+02] [ 6.24423309e-01 7.81039482e-01 -8.53568406e-03 2.94520436e+01] [ 1.41154155e-02 -3.57422840e-04 9.99900309e-01 1.81783024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91361786499998 meters 0.022457246143279676 Centerline is valid? [True, True] Translation: X:105.52, Y:29.47, Z:1.82 [[ 7.78452843e-01 -6.27606947e-01 -1.09859596e-02 1.05521629e+02] [ 6.27551682e-01 7.78530255e-01 -8.33838701e-03 2.94670322e+01] [ 1.37861316e-02 -4.03216374e-04 9.99904885e-01 1.81887941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94361786499998 meters 0.023292346200516564 Centerline is valid? [True, True] Translation: X:105.55, Y:29.48, Z:1.82 [[ 7.77586785e-01 -6.28681900e-01 -1.08563314e-02 1.05545263e+02] [ 6.28628023e-01 7.77662456e-01 -8.24096061e-03 2.94815977e+01] [ 1.36235041e-02 -4.16532059e-04 9.99907109e-01 1.82000775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97361786499998 meters 0.022565664643793244 Centerline is valid? [True, True] Translation: X:105.57, Y:29.50, Z:1.82 [[ 7.76619018e-01 -6.29880200e-01 -1.06692907e-02 1.05567497e+02] [ 6.29828255e-01 7.76692184e-01 -8.10059691e-03 2.94998244e+01] [ 1.33891603e-02 -4.28743095e-04 9.99910269e-01 1.82068326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00361786499998 meters 0.02209051217139972 Centerline is valid? [True, True] Translation: X:105.59, Y:29.52, Z:1.82 [[ 7.75959425e-01 -6.30701928e-01 -1.01019388e-02 1.05590058e+02] [ 6.30655385e-01 7.76025067e-01 -7.67336037e-03 2.95172242e+01] [ 1.26789609e-02 -4.16625782e-04 9.99919532e-01 1.82157417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03361786499998 meters 0.022451996618466846 Centerline is valid? [True, True] Translation: X:105.61, Y:29.53, Z:1.82 [[ 7.75910687e-01 -6.30760413e-01 -1.01934958e-02 1.05612282e+02] [ 6.30712974e-01 7.75977530e-01 -7.74712228e-03 2.95330422e+01] [ 1.27965018e-02 -4.18095115e-04 9.99918034e-01 1.82234686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06361786499998 meters 0.02265977461097029 Centerline is valid? [True, True] Translation: X:105.64, Y:29.55, Z:1.82 [[ 7.76009226e-01 -6.30638898e-01 -1.02108272e-02 1.05635185e+02] [ 6.30591242e-01 7.76076290e-01 -7.76382656e-03 2.95496760e+01] [ 1.28205519e-02 -4.14057177e-04 9.99917728e-01 1.82285269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09361786499997 meters 0.024978654343161287 Centerline is valid? [True, True] Translation: X:105.66, Y:29.56, Z:1.82 [[ 7.76358431e-01 -6.30206807e-01 -1.03425393e-02 1.05660447e+02] [ 6.30157865e-01 7.76427209e-01 -7.86473850e-03 2.95633351e+01] [ 1.29866406e-02 -4.11576437e-04 9.99915585e-01 1.82384545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12361786499997 meters 0.02465068847389911 Centerline is valid? [True, True] Translation: X:105.68, Y:29.58, Z:1.82 [[ 7.77331492e-01 -6.29002290e-01 -1.05769508e-02 1.05682039e+02] [ 6.28950938e-01 7.77403346e-01 -8.04712272e-03 2.95816995e+01] [ 1.32842156e-02 -3.97101223e-04 9.99911682e-01 1.82395331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15361786499997 meters 0.02217020299385857 Centerline is valid? [True, True] Translation: X:105.70, Y:29.60, Z:1.82 [[ 7.77963715e-01 -6.28213614e-01 -1.09596367e-02 1.05702298e+02] [ 6.28158346e-01 7.78040809e-01 -8.34217719e-03 2.96032738e+01] [ 1.37677139e-02 -3.94476086e-04 9.99905143e-01 1.82375854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18361786499997 meters 0.02196716368703334 Centerline is valid? [True, True] Translation: X:105.73, Y:29.62, Z:1.82 [[ 7.78811196e-01 -6.27157354e-01 -1.12594534e-02 1.05725443e+02] [ 6.27098845e-01 7.78892488e-01 -8.57500648e-03 2.96213415e+01] [ 1.41477820e-02 -3.82479171e-04 9.99899842e-01 1.82422671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21361786499997 meters 0.021449291625730938 Centerline is valid? [True, True] Translation: X:105.75, Y:29.64, Z:1.82 [[ 7.80537135e-01 -6.24994185e-01 -1.20020802e-02 1.05746680e+02] [ 6.24927409e-01 7.80629321e-01 -9.14314096e-03 2.96394451e+01] [ 1.50835857e-02 -3.63867847e-04 9.99886170e-01 1.82445154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24361786499998 meters 0.020717131120026593 Centerline is valid? [True, True] Translation: X:105.77, Y:29.66, Z:1.82 [[ 7.81374759e-01 -6.23941988e-01 -1.22426213e-02 1.05768314e+02] [ 6.23872357e-01 7.81470584e-01 -9.32782200e-03 2.96584946e+01] [ 1.53872682e-02 -3.49308358e-04 9.99881548e-01 1.82461191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27361786499998 meters 0.020552783559154266 Centerline is valid? [True, True] Translation: X:105.79, Y:29.68, Z:1.82 [[ 7.81798697e-01 -6.23406320e-01 -1.24642254e-02 1.05790573e+02] [ 6.23334004e-01 7.81897975e-01 -9.50138859e-03 2.96764542e+01] [ 1.56689783e-02 -3.41202323e-04 9.99877176e-01 1.82480038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30361786499998 meters 0.020737684310049506 Centerline is valid? [True, True] Translation: X:105.81, Y:29.69, Z:1.82 [[ 7.82548858e-01 -6.22450142e-01 -1.31569667e-02 1.05812427e+02] [ 6.22369343e-01 7.82659382e-01 -1.00345633e-02 2.96933161e+01] [ 1.65434387e-02 -3.35956689e-04 9.99863092e-01 1.82461151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33361786499998 meters 0.020244275798036664 Centerline is valid? [True, True] Translation: X:105.83, Y:29.71, Z:1.82 [[ 7.82555548e-01 -6.22434769e-01 -1.34823283e-02 1.05834161e+02] [ 6.22349889e-01 7.82671605e-01 -1.02846430e-02 2.97111920e+01] [ 1.69537549e-02 -3.42421110e-04 9.99856216e-01 1.82470355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36361786499998 meters 0.020311093261003225 Centerline is valid? [True, True] Translation: X:105.86, Y:29.73, Z:1.82 [[ 7.81681906e-01 -6.23533754e-01 -1.33811934e-02 1.05857710e+02] [ 6.23450210e-01 7.81796348e-01 -1.02130577e-02 2.97276700e+01] [ 1.68295543e-02 -3.59145441e-04 9.99858309e-01 1.82484876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39361786499998 meters 0.020324102109977357 Centerline is valid? [True, True] Translation: X:105.88, Y:29.74, Z:1.83 [[ 7.80979065e-01 -6.24405704e-01 -1.37556288e-02 1.05881506e+02] [ 6.24317463e-01 7.81100102e-01 -1.05040856e-02 2.97443629e+01] [ 1.73033341e-02 -3.84408311e-04 9.99850212e-01 1.82589304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42361786499998 meters 0.020934268549480276 Centerline is valid? [True, True] Translation: X:105.90, Y:29.76, Z:1.83 [[ 7.80066960e-01 -6.25539450e-01 -1.39976810e-02 1.05904884e+02] [ 6.25448168e-01 7.80192429e-01 -1.06940942e-02 2.97590235e+01] [ 1.76104625e-02 -4.12714371e-04 9.99844839e-01 1.82617735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45361786499998 meters 0.02235019718031498 Centerline is valid? [True, True] Translation: X:105.93, Y:29.77, Z:1.83 [[ 7.78309643e-01 -6.27730696e-01 -1.37212713e-02 1.05929975e+02] [ 6.27643278e-01 7.78430453e-01 -1.04855481e-02 2.97720650e+01] [ 1.72631558e-02 -4.51060438e-04 9.99850879e-01 1.82680584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48361786499997 meters 0.022319026911287163 Centerline is valid? [True, True] Translation: X:105.95, Y:29.79, Z:1.83 [[ 7.77266579e-01 -6.29030018e-01 -1.33379814e-02 1.05952867e+02] [ 6.28947577e-01 7.77380872e-01 -1.01944074e-02 2.97893021e+01] [ 1.67812799e-02 -4.65118940e-04 9.99859076e-01 1.82790169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51361786499997 meters 0.02152347679234476 Centerline is valid? [True, True] Translation: X:105.97, Y:29.81, Z:1.83 [[ 7.76376874e-01 -6.30138289e-01 -1.28330435e-02 1.05974707e+02] [ 6.30062049e-01 7.76482787e-01 -9.81301785e-03 2.98075029e+01] [ 1.61481957e-02 -4.67013554e-04 9.99869500e-01 1.82892899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54361786499997 meters 0.024219570381178647 Centerline is valid? [True, True] Translation: X:106.00, Y:29.82, Z:1.83 [[ 7.75824518e-01 -6.30828978e-01 -1.22929788e-02 1.06000937e+02] [ 6.30759069e-01 7.75921768e-01 -9.40249068e-03 2.98197431e+01] [ 1.54697534e-02 -4.59225068e-04 9.99880231e-01 1.82991496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57361786499997 meters 0.023776205040593322 Centerline is valid? [True, True] Translation: X:106.02, Y:29.84, Z:1.83 [[ 7.75421265e-01 -6.31328218e-01 -1.21054641e-02 1.06024192e+02] [ 6.31260466e-01 7.75515615e-01 -9.26046829e-03 2.98376493e+01] [ 1.52343714e-02 -4.60936854e-04 9.99883844e-01 1.83101065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60361786499998 meters 0.02517687030233629 Centerline is valid? [True, True] Translation: X:106.05, Y:29.85, Z:1.83 [[ 7.75151191e-01 -6.31671163e-01 -1.14967065e-02 1.06048701e+02] [ 6.31610030e-01 7.75236318e-01 -8.79900638e-03 2.98509207e+01] [ 1.44707430e-02 -4.40874873e-04 9.99895196e-01 1.83182456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63361786499998 meters 0.022807846399473815 Centerline is valid? [True, True] Translation: X:106.07, Y:29.87, Z:1.83 [[ 7.75234344e-01 -6.31569326e-01 -1.14847131e-02 1.06069351e+02] [ 6.31508293e-01 7.75319286e-01 -8.79090244e-03 2.98712707e+01] [ 1.44563839e-02 -4.37682105e-04 9.99895405e-01 1.83217429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66361786499998 meters 0.024594614133182972 Centerline is valid? [True, True] Translation: X:106.09, Y:29.88, Z:1.83 [[ 7.75733337e-01 -6.30952190e-01 -1.17099808e-02 1.06094948e+02] [ 6.30888600e-01 7.75821595e-01 -8.96807410e-03 2.98836784e+01] [ 1.47432820e-02 -4.30859364e-04 9.99891219e-01 1.83227542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69361786499998 meters 0.02127959953654781 Centerline is valid? [True, True] Translation: X:106.11, Y:29.91, Z:1.83 [[ 7.75879435e-01 -6.30762008e-01 -1.22634136e-02 1.06114484e+02] [ 6.30692218e-01 7.75976217e-01 -9.39341252e-03 2.99063139e+01] [ 1.54411251e-02 -4.46283942e-04 9.99880679e-01 1.83182355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72361786499998 meters 0.021610119677329835 Centerline is valid? [True, True] Translation: X:106.14, Y:29.92, Z:1.83 [[ 7.76508226e-01 -6.29979607e-01 -1.26755353e-02 1.06137495e+02] [ 6.29904861e-01 7.76611550e-01 -9.71424672e-03 2.99218026e+01] [ 1.59637445e-02 -4.41188837e-04 9.99872474e-01 1.83118094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75361786499998 meters 0.02102133042629137 Centerline is valid? [True, True] Translation: X:106.16, Y:29.94, Z:1.83 [[ 7.77469872e-01 -6.28773522e-01 -1.35814694e-02 1.06161184e+02] [ 6.28687472e-01 7.77588363e-01 -1.04115932e-02 2.99388757e+01] [ 1.71073267e-02 -4.43799590e-04 9.99853560e-01 1.83102328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78361786499998 meters 0.0219878766417067 Centerline is valid? [True, True] Translation: X:106.19, Y:29.95, Z:1.83 [[ 7.77876842e-01 -6.28266968e-01 -1.37199199e-02 1.06186097e+02] [ 6.28178986e-01 7.77997705e-01 -1.05229225e-02 2.99528979e+01] [ 1.72852709e-02 -4.33027629e-04 9.99850505e-01 1.83098978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81361786499998 meters 0.02090459189008014 Centerline is valid? [True, True] Translation: X:106.21, Y:29.97, Z:1.83 [[ 7.78145238e-01 -6.27925204e-01 -1.41395570e-02 1.06208407e+02] [ 6.27831660e-01 7.78273569e-01 -1.08470544e-02 2.99711618e+01] [ 1.78155823e-02 -4.36677772e-04 9.99841195e-01 1.83148643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84361786499997 meters 0.021789935147355298 Centerline is valid? [True, True] Translation: X:106.23, Y:29.98, Z:1.83 [[ 7.78492987e-01 -6.27491600e-01 -1.42464201e-02 1.06234192e+02] [ 6.27396471e-01 7.78623214e-01 -1.09342884e-02 2.99837274e+01] [ 1.79537675e-02 -4.25886866e-04 9.99838727e-01 1.83151369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87361786499997 meters 0.021075106679476683 Centerline is valid? [True, True] Translation: X:106.26, Y:30.00, Z:1.83 [[ 7.78563168e-01 -6.27405889e-01 -1.41860617e-02 1.06255852e+02] [ 6.27311508e-01 7.78692285e-01 -1.08902573e-02 3.00010729e+01] [ 1.78791884e-02 -4.20326547e-04 9.99840066e-01 1.83270512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90361786499997 meters 0.02111153752533619 Centerline is valid? [True, True] Translation: X:106.28, Y:30.02, Z:1.83 [[ 7.78669556e-01 -6.27274476e-01 -1.41582044e-02 1.06279414e+02] [ 6.27180334e-01 7.78798152e-01 -1.08750591e-02 3.00168735e+01] [ 1.78480304e-02 -4.11669913e-04 9.99840626e-01 1.83302439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93361786499997 meters 0.021322560819597765 Centerline is valid? [True, True] Translation: X:106.30, Y:30.03, Z:1.83 [[ 7.78772656e-01 -6.27139076e-01 -1.44820527e-02 1.06303076e+02] [ 6.27040440e-01 7.78907189e-01 -1.11300403e-02 3.00306644e+01] [ 1.82602581e-02 -4.13061662e-04 9.99833182e-01 1.83283284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96361786499997 meters 0.021234066199772087 Centerline is valid? [True, True] Translation: X:106.33, Y:30.05, Z:1.83 [[ 7.78788032e-01 -6.27113270e-01 -1.47698039e-02 1.06325831e+02] [ 6.27010583e-01 7.78927964e-01 -1.13558771e-02 3.00465615e+01] [ 1.86260345e-02 -4.17002123e-04 9.99826433e-01 1.83277959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99361786499998 meters 0.021402463490467986 Centerline is valid? [True, True] Translation: X:106.35, Y:30.06, Z:1.83 [[ 7.78461151e-01 -6.27514938e-01 -1.49411602e-02 1.06349067e+02] [ 6.27409806e-01 7.78604406e-01 -1.14941342e-02 3.00620637e+01] [ 1.88459940e-02 -4.26493500e-04 9.99822308e-01 1.83298038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02361786499998 meters 0.0216517342076156 Centerline is valid? [True, True] Translation: X:106.37, Y:30.08, Z:1.83 [[ 7.77844897e-01 -6.28275491e-01 -1.50739236e-02 1.06373254e+02] [ 6.28168503e-01 7.77990816e-01 -1.16026885e-02 3.00781845e+01] [ 1.90170590e-02 -4.43871955e-04 9.99819061e-01 1.83309053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05361786499998 meters 0.022209085097625352 Centerline is valid? [True, True] Translation: X:106.40, Y:30.09, Z:1.83 [[ 7.76665937e-01 -6.29732398e-01 -1.50708002e-02 1.06398483e+02] [ 6.29625629e-01 7.76811998e-01 -1.16054457e-02 3.00914242e+01] [ 1.90155036e-02 -4.75407747e-04 9.99819076e-01 1.83357315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08361786499998 meters 0.02232898354900414 Centerline is valid? [True, True] Translation: X:106.42, Y:30.11, Z:1.83 [[ 7.75887214e-01 -6.30700970e-01 -1.46736795e-02 1.06423244e+02] [ 6.30599884e-01 7.76025806e-01 -1.13019503e-02 3.01073343e+01] [ 1.85153050e-02 -4.84181852e-04 9.99828460e-01 1.83477751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11361786499998 meters 0.02232898354900414 Centerline is valid? [True, True] Translation: X:106.45, Y:30.12, Z:1.84 [[ 7.75717740e-01 -6.30909462e-01 -1.46709812e-02 1.06445049e+02] [ 6.30808347e-01 7.75856311e-01 -1.13054520e-02 3.01242263e+01] [ 1.85152900e-02 -4.84737725e-04 9.99828460e-01 1.83522868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14361786499998 meters 0.022770994532768072 Centerline is valid? [True, True] Translation: X:106.47, Y:30.14, Z:1.84 [[ 7.74605017e-01 -6.32292146e-01 -1.39179423e-02 1.06471449e+02] [ 6.32201270e-01 7.74729892e-01 -1.07307870e-02 3.01375041e+01] [ 1.75676383e-02 -4.86819331e-04 9.99845559e-01 1.83747038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17361786499998 meters 0.023196367814241812 Centerline is valid? [True, True] Translation: X:106.49, Y:30.15, Z:1.84 [[ 7.74428759e-01 -6.32515553e-01 -1.35710409e-02 1.06494345e+02] [ 6.32429102e-01 7.74547512e-01 -1.04681653e-02 3.01514962e+01] [ 1.71326933e-02 -4.75872987e-04 9.99853111e-01 1.83869313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20361786499997 meters 0.023368094882960273 Centerline is valid? [True, True] Translation: X:106.52, Y:30.17, Z:1.84 [[ 7.74561570e-01 -6.32361670e-01 -1.31564645e-02 1.06518194e+02] [ 6.32280359e-01 7.74673164e-01 -1.01507221e-02 3.01670140e+01] [ 1.66108875e-02 -4.56214854e-04 9.99861926e-01 1.83987938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23361786499997 meters 0.023155291728371413 Centerline is valid? [True, True] Translation: X:106.54, Y:30.18, Z:1.84 [[ 7.75658725e-01 -6.31020976e-01 -1.28867952e-02 1.06542360e+02] [ 6.30942704e-01 7.75765658e-01 -9.94728798e-03 3.01818837e+01] [ 1.62740805e-02 -4.15128711e-04 9.99867482e-01 1.84102938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26361786499997 meters 0.02165355563949075 Centerline is valid? [True, True] Translation: X:106.56, Y:30.20, Z:1.84 [[ 7.76475001e-01 -6.30015523e-01 -1.29233886e-02 1.06564426e+02] [ 6.29936627e-01 7.76582440e-01 -9.97798074e-03 3.02011200e+01] [ 1.63223594e-02 -3.93263194e-04 9.99866704e-01 1.84188533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29361786499997 meters 0.022244053549572887 Centerline is valid? [True, True] Translation: X:106.59, Y:30.21, Z:1.84 [[ 7.78557096e-01 -6.27438742e-01 -1.30182118e-02 1.06589930e+02] [ 6.27358240e-01 7.78665853e-01 -1.00562162e-02 3.02146446e+01] [ 1.64464967e-02 -3.37743966e-04 9.99864690e-01 1.84240132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32361786499997 meters 0.021816207242847354 Centerline is valid? [True, True] Translation: X:106.61, Y:30.23, Z:1.84 [[ 7.79507051e-01 -6.26247332e-01 -1.35290529e-02 1.06612624e+02] [ 6.26160124e-01 7.79624381e-01 -1.04558006e-02 3.02319985e+01] [ 1.70954967e-02 -3.20983118e-04 9.99853810e-01 1.84304872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35361786499998 meters 0.021486250168458027 Centerline is valid? [True, True] Translation: X:106.64, Y:30.25, Z:1.84 [[ 7.80490682e-01 -6.25016854e-01 -1.37196019e-02 1.06635695e+02] [ 6.24926895e-01 7.80611200e-01 -1.06080111e-02 3.02492010e+01] [ 1.73398606e-02 -2.94294425e-04 9.99849610e-01 1.84307338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38361786499998 meters 0.02123866398756336 Centerline is valid? [True, True] Translation: X:106.66, Y:30.27, Z:1.84 [[ 7.81476460e-01 -6.23783275e-01 -1.37465847e-02 1.06657784e+02] [ 6.23692689e-01 7.81597311e-01 -1.06336284e-02 3.02659643e+01] [ 1.73773732e-02 -2.63714106e-04 9.99848967e-01 1.84364148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41361786499998 meters 0.020781292566787832 Centerline is valid? [True, True] Translation: X:106.68, Y:30.29, Z:1.84 [[ 7.82860277e-01 -6.22051862e-01 -1.34636086e-02 1.06679486e+02] [ 6.21964667e-01 7.82976011e-01 -1.04172748e-02 3.02850188e+01] [ 1.70217677e-02 -2.18618206e-04 9.99855095e-01 1.84488390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44361786499998 meters 0.019868684800581776 Centerline is valid? [True, True] Translation: X:106.70, Y:30.31, Z:1.85 [[ 7.86030412e-01 -6.18057837e-01 -1.26768183e-02 1.06698565e+02] [ 6.17979948e-01 7.86132620e-01 -9.81266419e-03 3.03080549e+01] [ 1.60304544e-02 -1.20967050e-04 9.99871497e-01 1.84636624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47361786499998 meters 0.019781281764968694 Centerline is valid? [True, True] Translation: X:106.72, Y:30.33, Z:1.85 [[ 7.87126514e-01 -6.16657192e-01 -1.28746994e-02 1.06720490e+02] [ 6.16576581e-01 7.87231795e-01 -9.97097019e-03 3.03258818e+01] [ 1.62840432e-02 -8.98231157e-05 9.99867402e-01 1.84678338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50361786499998 meters 0.019583349658180493 Centerline is valid? [True, True] Translation: X:106.74, Y:30.34, Z:1.85 [[ 7.87703040e-01 -6.15902156e-01 -1.37278765e-02 1.06742823e+02] [ 6.15810353e-01 7.87822650e-01 -1.06339766e-02 3.03435549e+01] [ 1.73646212e-02 -7.73527982e-05 9.99849221e-01 1.84678192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53361786499998 meters 0.019716420533416937 Centerline is valid? [True, True] Translation: X:106.77, Y:30.36, Z:1.85 [[ 7.87509179e-01 -6.16143004e-01 -1.40389244e-02 1.06765328e+02] [ 6.16046922e-01 7.87634301e-01 -1.08810484e-02 3.03591719e+01] [ 1.77618203e-02 -7.97107259e-05 9.99842243e-01 1.84743496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56361786499998 meters 0.01965367396161876 Centerline is valid? [True, True] Translation: X:106.79, Y:30.38, Z:1.85 [[ 7.86935646e-01 -6.16878988e-01 -1.38781755e-02 1.06787338e+02] [ 6.16785158e-01 7.87058007e-01 -1.07593372e-02 3.03758976e+01] [ 1.75601381e-02 -9.29467079e-05 9.99845805e-01 1.84804880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59361786499997 meters 0.019741774252533515 Centerline is valid? [True, True] Translation: X:106.81, Y:30.39, Z:1.85 [[ 7.85823455e-01 -6.18289578e-01 -1.41242674e-02 1.06810314e+02] [ 6.18192506e-01 7.85950369e-01 -1.09563819e-02 3.03929910e+01] [ 1.78751899e-02 -1.21734356e-04 9.99840219e-01 1.84856573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62361786499997 meters 0.019979514088694483 Centerline is valid? [True, True] Translation: X:106.83, Y:30.41, Z:1.85 [[ 7.84008220e-01 -6.20577500e-01 -1.46518800e-02 1.06832408e+02] [ 6.20473337e-01 7.84145099e-01 -1.13711313e-02 3.04098058e+01] [ 1.85458682e-02 -1.76040455e-04 9.99827995e-01 1.84846611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65361786499997 meters 0.02007809558418172 Centerline is valid? [True, True] Translation: X:106.85, Y:30.43, Z:1.85 [[ 7.82805352e-01 -6.22085796e-01 -1.50014646e-02 1.06854575e+02] [ 6.21976829e-01 7.82949051e-01 -1.16450504e-02 3.04279085e+01] [ 1.89896029e-02 -2.14755584e-04 9.99819658e-01 1.84844110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68361786499997 meters 0.020398029187965974 Centerline is valid? [True, True] Translation: X:106.88, Y:30.44, Z:1.85 [[ 7.80654701e-01 -6.24755278e-01 -1.60959636e-02 1.06877458e+02] [ 6.24630274e-01 7.80820566e-01 -1.25006235e-02 3.04441108e+01] [ 2.03778899e-02 -2.95355625e-04 9.99792306e-01 1.84752012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71361786499997 meters 0.02065490167414604 Centerline is valid? [True, True] Translation: X:106.90, Y:30.46, Z:1.85 [[ 7.79280693e-01 -6.26459051e-01 -1.64517160e-02 1.06900952e+02] [ 6.26328755e-01 7.79454257e-01 -1.27809244e-02 3.04611842e+01] [ 2.08300859e-02 -3.44255184e-04 9.99782971e-01 1.84764688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74361786499998 meters 0.022174721563881932 Centerline is valid? [True, True] Translation: X:106.92, Y:30.48, Z:1.85 [[ 7.77513274e-01 -6.28648508e-01 -1.65578223e-02 1.06923789e+02] [ 6.28516907e-01 7.77689457e-01 -1.28687745e-02 3.04777758e+01] [ 2.09667798e-02 -4.01228239e-04 9.99780092e-01 1.84572793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77361786499998 meters 0.021403811123982888 Centerline is valid? [True, True] Translation: X:106.95, Y:30.49, Z:1.85 [[ 7.76082845e-01 -6.30410231e-01 -1.66840863e-02 1.06946516e+02] [ 6.30276954e-01 7.76262030e-01 -1.29700803e-02 3.04949475e+01] [ 2.11276940e-02 -4.49738273e-04 9.99776684e-01 1.84913224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80361786499998 meters 0.021582732923728386 Centerline is valid? [True, True] Translation: X:106.97, Y:30.51, Z:1.85 [[ 7.75173348e-01 -6.31524228e-01 -1.68353863e-02 1.06968762e+02] [ 6.31388647e-01 7.75355995e-01 -1.30941667e-02 3.05127823e+01] [ 2.13227012e-02 -4.79422716e-04 9.99772530e-01 1.84977964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83361786499998 meters 0.02173268802011284 Centerline is valid? [True, True] Translation: X:106.99, Y:30.53, Z:1.85 [[ 7.74535009e-01 -6.32303817e-01 -1.69529809e-02 1.06990308e+02] [ 6.32166403e-01 7.74720358e-01 -1.31911391e-02 3.05312860e+01] [ 2.14746271e-02 -5.00105909e-04 9.99769269e-01 1.84975064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86361786499998 meters 0.02243724229353384 Centerline is valid? [True, True] Translation: X:107.01, Y:30.55, Z:1.85 [[ 7.73920759e-01 -6.33059604e-01 -1.67987199e-02 1.07011380e+02] [ 6.32924809e-01 7.74102883e-01 -1.30733788e-02 3.05499971e+01] [ 2.12801655e-02 -5.14567383e-04 9.99773419e-01 1.84836018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89361786499998 meters 0.021824447638151584 Centerline is valid? [True, True] Translation: X:107.03, Y:30.57, Z:1.85 [[ 7.74164846e-01 -6.32776270e-01 -1.62167439e-02 1.07031998e+02] [ 6.32650532e-01 7.74334524e-01 -1.26233893e-02 3.05701019e+01] [ 2.05449659e-02 -4.86947398e-04 9.99788811e-01 1.84972674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92361786499998 meters 0.021897448418127748 Centerline is valid? [True, True] Translation: X:107.05, Y:30.59, Z:1.85 [[ 7.73904553e-01 -6.33097538e-01 -1.61012592e-02 1.07054077e+02] [ 6.32973527e-01 7.74071877e-01 -1.25396939e-02 3.05880652e+01] [ 2.04023812e-02 -4.87144569e-04 9.99791731e-01 1.85027993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95361786499997 meters 0.02210813167670529 Centerline is valid? [True, True] Translation: X:107.08, Y:30.61, Z:1.85 [[ 7.73497365e-01 -6.33591578e-01 -1.62338844e-02 1.07076858e+02] [ 6.33465483e-01 7.73667541e-01 -1.26498121e-02 3.06057211e+01] [ 2.05744439e-02 -4.99009142e-04 9.99788199e-01 1.85029645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98361786499997 meters 0.021737723280825037 Centerline is valid? [True, True] Translation: X:107.10, Y:30.62, Z:1.85 [[ 7.72769898e-01 -6.34480273e-01 -1.61699850e-02 1.07098752e+02] [ 6.34355240e-01 7.72938883e-01 -1.26060553e-02 3.06246295e+01] [ 2.04967035e-02 -5.15934636e-04 9.99789787e-01 1.85085756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01361786499997 meters 0.02252695152417297 Centerline is valid? [True, True] Translation: X:107.12, Y:30.64, Z:1.85 [[ 7.71646309e-01 -6.35846802e-01 -1.61498778e-02 1.07120732e+02] [ 6.35722252e-01 7.71815098e-01 -1.25965388e-02 3.06429824e+01] [ 2.04741884e-02 -5.46764050e-04 9.99790232e-01 1.84915272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04361786499997 meters 0.02325149973525815 Centerline is valid? [True, True] Translation: X:107.14, Y:30.66, Z:1.85 [[ 7.71438612e-01 -6.36095743e-01 -1.62687720e-02 1.07144420e+02] [ 6.35969295e-01 7.71609940e-01 -1.26947246e-02 3.06573611e+01] [ 2.06282065e-02 -5.53238723e-04 9.99787063e-01 1.85068470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07361786499997 meters 0.021791420935057208 Centerline is valid? [True, True] Translation: X:107.16, Y:30.68, Z:1.85 [[ 7.70399134e-01 -6.37353122e-01 -1.63147879e-02 1.07164048e+02] [ 6.37226175e-01 7.70571641e-01 -1.27337129e-02 3.06792083e+01] [ 2.06875845e-02 -5.86168494e-04 9.99785817e-01 1.85054568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10361786499998 meters 0.022480347860617828 Centerline is valid? [True, True] Translation: X:107.19, Y:30.70, Z:1.85 [[ 7.70156472e-01 -6.37639891e-01 -1.65643421e-02 1.07186251e+02] [ 6.37508979e-01 7.70334350e-01 -1.29341182e-02 3.06955130e+01] [ 2.10073914e-02 -5.98622003e-04 9.99779141e-01 1.85025261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13361786499998 meters 0.022670508639669386 Centerline is valid? [True, True] Translation: X:107.21, Y:30.71, Z:1.85 [[ 7.70046427e-01 -6.37779903e-01 -1.62878695e-02 1.07206992e+02] [ 6.37653307e-01 7.70218441e-01 -1.27206293e-02 3.07122657e+01] [ 2.06581792e-02 -5.90538736e-04 9.99786423e-01 1.85040822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16361786499998 meters 0.022584705325277555 Centerline is valid? [True, True] Translation: X:107.23, Y:30.73, Z:1.85 [[ 7.70359076e-01 -6.37413649e-01 -1.58345568e-02 1.07229292e+02] [ 6.37293855e-01 7.70521592e-01 -1.23700699e-02 3.07299004e+01] [ 2.00857193e-02 -5.61870113e-04 9.99798104e-01 1.85111968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19361786499998 meters 0.02208592567680305 Centerline is valid? [True, True] Translation: X:107.25, Y:30.75, Z:1.85 [[ 7.70596496e-01 -6.37122278e-01 -1.60075944e-02 1.07251372e+02] [ 6.36999664e-01 7.70762540e-01 -1.25113531e-02 3.07485226e+01] [ 2.03093160e-02 -5.55627406e-04 9.99793590e-01 1.85158869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22361786499998 meters 0.02199656451504511 Centerline is valid? [True, True] Translation: X:107.27, Y:30.77, Z:1.85 [[ 7.71030346e-01 -6.36586320e-01 -1.64335863e-02 1.07274490e+02] [ 6.36456839e-01 7.71205260e-01 -1.28506129e-02 3.07667220e+01] [ 2.08541926e-02 -5.51055870e-04 9.99782376e-01 1.85175587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25361786499998 meters 0.022236849327393296 Centerline is valid? [True, True] Translation: X:107.30, Y:30.78, Z:1.85 [[ 7.72256648e-01 -6.35075234e-01 -1.72950063e-02 1.07296667e+02] [ 6.34931301e-01 7.72450105e-01 -1.35306704e-02 3.07845811e+01] [ 2.19525231e-02 -5.31990693e-04 9.99758873e-01 1.85060084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28361786499998 meters 0.020982254754625142 Centerline is valid? [True, True] Translation: X:107.32, Y:30.81, Z:1.85 [[ 7.72977032e-01 -6.34196097e-01 -1.73729185e-02 1.07317421e+02] [ 6.34050496e-01 7.73172074e-01 -1.35982369e-02 3.08053308e+01] [ 2.20562042e-02 -5.04182817e-04 9.99756605e-01 1.85079392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31361786499998 meters 0.020738995577172164 Centerline is valid? [True, True] Translation: X:107.34, Y:30.82, Z:1.85 [[ 7.73562827e-01 -6.33487635e-01 -1.71455564e-02 1.07339919e+02] [ 6.33345504e-01 7.73752669e-01 -1.34268099e-02 3.08240122e+01] [ 2.17721381e-02 -4.72579999e-04 9.99762847e-01 1.85109731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34361786499997 meters 0.021583866922864323 Centerline is valid? [True, True] Translation: X:107.36, Y:30.84, Z:1.85 [[ 7.74305691e-01 -6.32600261e-01 -1.63586849e-02 1.07363121e+02] [ 6.32470567e-01 7.74478361e-01 -1.28160430e-02 3.08391500e+01] [ 2.07768796e-02 -4.22851711e-04 9.99784048e-01 1.85064004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37361786499997 meters 0.021557527945988794 Centerline is valid? [True, True] Translation: X:107.39, Y:30.86, Z:1.85 [[ 7.74337057e-01 -6.32566450e-01 -1.61805005e-02 1.07385963e+02] [ 6.32439480e-01 7.74505981e-01 -1.26802806e-02 3.08563030e+01] [ 2.05530145e-02 -4.14376138e-04 9.99788679e-01 1.85143464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40361786499997 meters 0.020547842977984756 Centerline is valid? [True, True] Translation: X:107.41, Y:30.87, Z:1.85 [[ 7.74148630e-01 -6.32801476e-01 -1.60059799e-02 1.07406574e+02] [ 6.32677153e-01 7.74313969e-01 -1.25497692e-02 3.08747511e+01] [ 2.03351662e-02 -4.11231164e-04 9.99793135e-01 1.85220965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43361786499997 meters 0.020959143864845046 Centerline is valid? [True, True] Translation: X:107.43, Y:30.89, Z:1.85 [[ 7.73908991e-01 -6.33078831e-01 -1.66153004e-02 1.07430381e+02] [ 6.32944791e-01 7.74087210e-01 -1.30338635e-02 3.08900572e+01] [ 2.11131546e-02 -4.29543762e-04 9.99777000e-01 1.85152931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46361786499997 meters 0.020278293757819584 Centerline is valid? [True, True] Translation: X:107.45, Y:30.91, Z:1.85 [[ 7.73628905e-01 -6.33400567e-01 -1.73792777e-02 1.07452449e+02] [ 6.33253919e-01 7.73823956e-01 -1.36367288e-02 3.09086170e+01] [ 2.20860132e-02 -4.55728188e-04 9.99755970e-01 1.85182833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49361786499998 meters 0.020304719013829686 Centerline is valid? [True, True] Translation: X:107.48, Y:30.93, Z:1.85 [[ 7.73778264e-01 -6.33212609e-01 -1.75781092e-02 1.07475244e+02] [ 6.33062378e-01 7.73977770e-01 -1.37998935e-02 3.09255205e+01] [ 2.23433323e-02 -4.49981959e-04 9.99750255e-01 1.85118968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52361786499998 meters 0.020116302588904976 Centerline is valid? [True, True] Translation: X:107.50, Y:30.94, Z:1.85 [[ 7.74415867e-01 -6.32416747e-01 -1.81417388e-02 1.07498006e+02] [ 6.32256324e-01 7.74628214e-01 -1.42502864e-02 3.09429561e+01] [ 2.30652225e-02 -4.34581241e-04 9.99733868e-01 1.85090452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55361786499998 meters 0.019766274436636574 Centerline is valid? [True, True] Translation: X:107.52, Y:30.96, Z:1.85 [[ 7.75773699e-01 -6.30762523e-01 -1.77146246e-02 1.07519375e+02] [ 6.30608984e-01 7.75975838e-01 -1.39214722e-02 3.09622848e+01] [ 2.25272636e-02 -3.71089425e-04 9.99746160e-01 1.85134162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58361786499998 meters 0.01949879500727445 Centerline is valid? [True, True] Translation: X:107.54, Y:30.98, Z:1.85 [[ 7.76909196e-01 -6.29369341e-01 -1.75023920e-02 1.07540360e+02] [ 6.29218984e-01 7.77106253e-01 -1.37601786e-02 3.09803582e+01] [ 2.22614528e-02 -3.22427978e-04 9.99752131e-01 1.85175990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61361786499998 meters 0.019175687359562984 Centerline is valid? [True, True] Translation: X:107.56, Y:31.00, Z:1.85 [[ 7.78478179e-01 -6.27428077e-01 -1.74852108e-02 1.07561887e+02] [ 6.27277447e-01 7.78674475e-01 -1.37501449e-02 3.09989875e+01] [ 2.22425144e-02 -2.63890608e-04 9.99752570e-01 1.85181212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64361786499998 meters 0.019038671623536788 Centerline is valid? [True, True] Translation: X:107.58, Y:31.02, Z:1.85 [[ 7.78952839e-01 -6.26833186e-01 -1.76814152e-02 1.07583693e+02] [ 6.26678846e-01 7.79153449e-01 -1.39113961e-02 3.10172596e+01] [ 2.24966604e-02 -2.44247386e-04 9.99746888e-01 1.85232823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67361786499998 meters 0.018957294972081113 Centerline is valid? [True, True] Translation: X:107.61, Y:31.04, Z:1.85 [[ 7.78789361e-01 -6.27042500e-01 -1.74594983e-02 1.07605947e+02] [ 6.26891899e-01 7.78985009e-01 -1.37441835e-02 3.10350959e+01] [ 2.22188746e-02 -2.41394157e-04 9.99753101e-01 1.85274495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70361786499997 meters 0.01895383702618488 Centerline is valid? [True, True] Translation: X:107.63, Y:31.05, Z:1.85 [[ 7.77902850e-01 -6.28164291e-01 -1.66366952e-02 1.07628671e+02] [ 6.28027666e-01 7.78080689e-01 -1.31031393e-02 3.10524295e+01] [ 2.11756155e-02 -2.55335497e-04 9.99775739e-01 1.85396314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73361786499997 meters 0.01916850542240782 Centerline is valid? [True, True] Translation: X:107.65, Y:31.07, Z:1.85 [[ 7.76846592e-01 -6.29477319e-01 -1.63608737e-02 1.07652111e+02] [ 6.29345349e-01 7.77018807e-01 -1.28921018e-02 3.10695208e+01] [ 2.08279922e-02 -2.81454399e-04 9.99783034e-01 1.85478939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76361786499997 meters 0.019421134191056927 Centerline is valid? [True, True] Translation: X:107.68, Y:31.09, Z:1.86 [[ 7.75623703e-01 -6.30987416e-01 -1.62096172e-02 1.07676042e+02] [ 6.30858077e-01 7.75793002e-01 -1.27790755e-02 3.10865683e+01] [ 2.06387434e-02 -3.14214069e-04 9.99786949e-01 1.85546949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79361786499997 meters 0.019719192483597176 Centerline is valid? [True, True] Translation: X:107.70, Y:31.10, Z:1.86 [[ 7.74088261e-01 -6.32875282e-01 -1.60075705e-02 1.07699694e+02] [ 6.32749427e-01 7.74253674e-01 -1.26258356e-02 3.11033576e+01] [ 2.03844996e-02 -3.55269945e-04 9.99792151e-01 1.85592377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82361786499997 meters 0.020728431256863987 Centerline is valid? [True, True] Translation: X:107.72, Y:31.12, Z:1.86 [[ 7.71477332e-01 -6.36055608e-01 -1.59996763e-02 1.07724174e+02] [ 6.35930450e-01 7.71643100e-01 -1.26249287e-02 3.11174738e+01] [ 2.03761965e-02 -4.34835071e-04 9.99792289e-01 1.85672677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85361786499998 meters 0.020650864802624017 Centerline is valid? [True, True] Translation: X:107.75, Y:31.13, Z:1.86 [[ 7.70135759e-01 -6.37683395e-01 -1.58366722e-02 1.07747141e+02] [ 6.37561060e-01 7.70298427e-01 -1.24991522e-02 3.11349374e+01] [ 2.01694655e-02 -4.70801416e-04 9.99796465e-01 1.85776721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88361786499998 meters 0.02125727595956078 Centerline is valid? [True, True] Translation: X:107.77, Y:31.15, Z:1.86 [[ 7.68471929e-01 -6.39700012e-01 -1.53227848e-02 1.07771295e+02] [ 6.39585776e-01 7.68624513e-01 -1.20993013e-02 3.11516353e+01] [ 1.95173912e-02 -5.02261769e-04 9.99809391e-01 1.85840275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91361786499998 meters 0.021040667783140773 Centerline is valid? [True, True] Translation: X:107.79, Y:31.17, Z:1.86 [[ 7.68096498e-01 -6.40159655e-01 -1.49461059e-02 1.07793677e+02] [ 6.40050946e-01 7.68241739e-01 -1.18074881e-02 3.11697326e+01] [ 1.90408999e-02 -4.96978938e-04 9.99818582e-01 1.85864930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94361786499998 meters 0.021030486649999038 Centerline is valid? [True, True] Translation: X:107.82, Y:31.19, Z:1.86 [[ 7.68183523e-01 -6.40051362e-01 -1.51105429e-02 1.07815706e+02] [ 6.39940111e-01 7.68331965e-01 -1.19434431e-02 3.11872072e+01] [ 1.92543302e-02 -4.95086261e-04 9.99814496e-01 1.85915396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97361786499998 meters 0.02139144529442361 Centerline is valid? [True, True] Translation: X:107.84, Y:31.20, Z:1.86 [[ 7.68561064e-01 -6.39596574e-01 -1.51694951e-02 1.07837950e+02] [ 6.39484247e-01 7.68710603e-01 -1.19960935e-02 3.12034061e+01] [ 1.93336121e-02 -4.80922745e-04 9.99812973e-01 1.85903335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00361786499998 meters 0.02139144529442361 Centerline is valid? [True, True] Translation: X:107.86, Y:31.22, Z:1.86 [[ 7.68392657e-01 -6.39798916e-01 -1.51681527e-02 1.07859536e+02] [ 6.39686595e-01 7.68542200e-01 -1.19977906e-02 3.12205772e+01] [ 1.93335389e-02 -4.83849719e-04 9.99812973e-01 1.85948537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03361786499998 meters 0.0208265709366486 Centerline is valid? [True, True] Translation: X:107.88, Y:31.24, Z:1.86 [[ 7.68907606e-01 -6.39167761e-01 -1.56737685e-02 1.07880892e+02] [ 6.39047560e-01 7.69067191e-01 -1.24044899e-02 3.12397139e+01] [ 1.99827312e-02 -4.78376894e-04 9.99800211e-01 1.85960487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06361786499998 meters 0.020681093861242422 Centerline is valid? [True, True] Translation: X:107.90, Y:31.26, Z:1.86 [[ 7.69357286e-01 -6.38630013e-01 -1.55265140e-02 1.07903170e+02] [ 6.38511835e-01 7.69513807e-01 -1.22938276e-02 3.12580325e+01] [ 1.97990742e-02 -4.55517137e-04 9.99803875e-01 1.86006456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09361786499997 meters 0.020814931922483047 Centerline is valid? [True, True] Translation: X:107.93, Y:31.28, Z:1.86 [[ 7.70637761e-01 -6.37093131e-01 -1.51586126e-02 1.07925580e+02] [ 6.36980080e-01 7.70786729e-01 -1.20081646e-02 3.12755076e+01] [ 1.93343766e-02 -4.01789186e-04 9.99812993e-01 1.86107696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12361786499997 meters 0.020453134869275563 Centerline is valid? [True, True] Translation: X:107.95, Y:31.29, Z:1.86 [[ 7.71158830e-01 -6.36465131e-01 -1.50398221e-02 1.07947674e+02] [ 6.36353618e-01 7.71305383e-01 -1.19196768e-02 3.12942904e+01] [ 1.91867544e-02 -3.78681233e-04 9.99815846e-01 1.86197037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15361786499997 meters 0.02022840119667984 Centerline is valid? [True, True] Translation: X:107.97, Y:31.31, Z:1.86 [[ 7.71991165e-01 -6.35465031e-01 -1.46231082e-02 1.07968767e+02] [ 6.35359344e-01 7.72129573e-01 -1.15942164e-02 3.13121726e+01] [ 1.86586534e-02 -3.40295839e-04 9.99825854e-01 1.86292454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18361786499997 meters 0.01988026658390686 Centerline is valid? [True, True] Translation: X:107.99, Y:31.33, Z:1.86 [[ 7.72866311e-01 -6.34409232e-01 -1.42334689e-02 1.07990572e+02] [ 6.34308884e-01 7.72997305e-01 -1.12874038e-02 3.13306281e+01] [ 1.81632663e-02 -3.04761635e-04 9.99834988e-01 1.86458695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21361786499997 meters 0.018885776339597753 Centerline is valid? [True, True] Translation: X:108.01, Y:31.35, Z:1.87 [[ 7.73047533e-01 -6.34200293e-01 -1.36931088e-02 1.08010934e+02] [ 6.34107303e-01 7.73168745e-01 -1.08637266e-02 3.13502358e+01] [ 1.74768624e-02 -2.84723252e-04 9.99847227e-01 1.86597331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24361786499998 meters 0.018932176234846085 Centerline is valid? [True, True] Translation: X:108.03, Y:31.37, Z:1.87 [[ 7.73093571e-01 -6.34145924e-01 -1.36116853e-02 1.08032546e+02] [ 6.34053926e-01 7.73213341e-01 -1.08049945e-02 3.13671817e+01] [ 1.73766799e-02 -2.77270714e-04 9.99848976e-01 1.86654902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27361786499998 meters 0.01898458399004777 Centerline is valid? [True, True] Translation: X:108.05, Y:31.38, Z:1.87 [[ 7.72991074e-01 -6.34277761e-01 -1.32861341e-02 1.08054181e+02] [ 6.34190089e-01 7.73105198e-01 -1.05490887e-02 3.13841689e+01] [ 1.69626317e-02 -2.71583177e-04 9.99856087e-01 1.86675900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30361786499998 meters 0.01880941519765074 Centerline is valid? [True, True] Translation: X:108.08, Y:31.40, Z:1.87 [[ 7.72644397e-01 -6.34702245e-01 -1.31793428e-02 1.08075679e+02] [ 6.34615995e-01 7.72756743e-01 -1.04668984e-02 3.14025254e+01] [ 1.68277900e-02 -2.76631345e-04 9.99858364e-01 1.86732391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33361786499998 meters 0.019188967214211938 Centerline is valid? [True, True] Translation: X:108.10, Y:31.42, Z:1.87 [[ 7.72302345e-01 -6.35115991e-01 -1.32953312e-02 1.08097967e+02] [ 6.35028176e-01 7.72416725e-01 -1.05649285e-02 3.14186699e+01] [ 1.69794912e-02 -2.83590877e-04 9.99855798e-01 1.86759066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36361786499998 meters 0.01885744071170568 Centerline is valid? [True, True] Translation: X:108.12, Y:31.44, Z:1.87 [[ 7.71974347e-01 -6.35509769e-01 -1.35255819e-02 1.08119619e+02] [ 6.35418910e-01 7.72092771e-01 -1.07500261e-02 3.14368675e+01] [ 1.72747506e-02 -2.95666168e-04 9.99850737e-01 1.86757418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39361786499998 meters 0.0190668105010917 Centerline is valid? [True, True] Translation: X:108.14, Y:31.45, Z:1.87 [[ 7.71850375e-01 -6.35653815e-01 -1.38284524e-02 1.08141172e+02] [ 6.35558757e-01 7.71974181e-01 -1.09968154e-02 3.14534345e+01] [ 1.76653759e-02 -3.00897957e-04 9.99843910e-01 1.86775427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42361786499998 meters 0.018924241780039014 Centerline is valid? [True, True] Translation: X:108.16, Y:31.47, Z:1.87 [[ 7.71564022e-01 -6.35992341e-01 -1.42373144e-02 1.08163033e+02] [ 6.35891578e-01 7.71695304e-01 -1.13251450e-02 3.14712593e+01] [ 1.81895742e-02 -3.15313910e-04 9.99834506e-01 1.86778492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45361786499997 meters 0.01880349988086611 Centerline is valid? [True, True] Translation: X:108.18, Y:31.49, Z:1.87 [[ 7.71743557e-01 -6.35773469e-01 -1.42821127e-02 1.08184840e+02] [ 6.35671916e-01 7.71875639e-01 -1.13671778e-02 3.14893608e+01] [ 1.82509649e-02 -3.06191777e-04 9.99833390e-01 1.86880759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48361786499997 meters 0.018889535897610447 Centerline is valid? [True, True] Translation: X:108.21, Y:31.51, Z:1.87 [[ 7.72066104e-01 -6.35383715e-01 -1.41938592e-02 1.08206483e+02] [ 6.35283241e-01 7.72196510e-01 -1.13028130e-02 3.15068521e+01] [ 1.81420719e-02 -2.90602094e-04 9.99835377e-01 1.86914882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51361786499997 meters 0.01876922490437093 Centerline is valid? [True, True] Translation: X:108.23, Y:31.52, Z:1.87 [[ 7.72282857e-01 -6.35119620e-01 -1.42216941e-02 1.08228220e+02] [ 6.35018663e-01 7.72413741e-01 -1.13273632e-02 3.15248704e+01] [ 1.81792626e-02 -2.83112778e-04 9.99834703e-01 1.86969827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54361786499997 meters 0.01885133651788793 Centerline is valid? [True, True] Translation: X:108.25, Y:31.54, Z:1.87 [[ 7.72154403e-01 -6.35280110e-01 -1.40271207e-02 1.08250022e+02] [ 6.35181814e-01 7.72281752e-01 -1.11784676e-02 3.15428314e+01] [ 1.79343474e-02 -2.78268969e-04 9.99839128e-01 1.87049791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57361786499997 meters 0.018498238800086796 Centerline is valid? [True, True] Translation: X:108.27, Y:31.56, Z:1.87 [[ 7.71935774e-01 -6.35556570e-01 -1.35280583e-02 1.08271235e+02] [ 6.35465088e-01 7.72054256e-01 -1.07864785e-02 3.15613684e+01] [ 1.72998122e-02 -2.70140139e-04 9.99850311e-01 1.87146875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60361786499998 meters 0.01906699538721252 Centerline is valid? [True, True] Translation: X:108.29, Y:31.58, Z:1.87 [[ 7.71656604e-01 -6.35899752e-01 -1.33263236e-02 1.08293420e+02] [ 6.35810930e-01 7.71771620e-01 -1.06314710e-02 3.15764586e+01] [ 1.70454281e-02 -2.69177351e-04 9.99854680e-01 1.87222209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63361786499998 meters 0.01932736004852122 Centerline is valid? [True, True] Translation: X:108.32, Y:31.59, Z:1.87 [[ 7.71273105e-01 -6.36380881e-01 -1.25368059e-02 1.08315815e+02] [ 6.36302300e-01 7.71374945e-01 -1.00038839e-02 3.15931168e+01] [ 1.60368585e-02 -2.61471823e-04 9.99871367e-01 1.87374515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66361786499998 meters 0.019448909570532642 Centerline is valid? [True, True] Translation: X:108.34, Y:31.61, Z:1.87 [[ 7.71087456e-01 -6.36612901e-01 -1.21716752e-02 1.08337036e+02] [ 6.36538835e-01 7.71183473e-01 -9.71406085e-03 3.16098759e+01] [ 1.55706912e-02 -2.57353465e-04 9.99878736e-01 1.87410733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69361786499998 meters 0.0190763666029127 Centerline is valid? [True, True] Translation: X:108.36, Y:31.63, Z:1.88 [[ 7.70772848e-01 -6.36990768e-01 -1.23279421e-02 1.08358092e+02] [ 6.36914802e-01 7.70871384e-01 -9.84095364e-03 3.16282680e+01] [ 1.57718544e-02 -2.66708938e-04 9.99875581e-01 1.87519152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72361786499998 meters 0.01872472012681428 Centerline is valid? [True, True] Translation: X:108.38, Y:31.65, Z:1.88 [[ 7.70649762e-01 -6.37139367e-01 -1.23439281e-02 1.08379683e+02] [ 6.37063137e-01 7.70748569e-01 -9.85914140e-03 3.16465615e+01] [ 1.57957120e-02 -2.65916588e-04 9.99875205e-01 1.87555754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75361786499998 meters 0.019116378809412908 Centerline is valid? [True, True] Translation: X:108.40, Y:31.66, Z:1.88 [[ 7.70350556e-01 -6.37497257e-01 -1.25406770e-02 1.08400706e+02] [ 6.37418533e-01 7.70452576e-01 -1.00220528e-02 3.16629762e+01] [ 1.60510281e-02 -2.73165988e-04 9.99871137e-01 1.87578779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78361786499998 meters 0.018886233673626414 Centerline is valid? [True, True] Translation: X:108.42, Y:31.68, Z:1.88 [[ 7.69944353e-01 -6.37985770e-01 -1.26432284e-02 1.08422334e+02] [ 6.37905756e-01 7.70048101e-01 -1.01078544e-02 3.16816486e+01] [ 1.61845613e-02 -2.82702785e-04 9.99868981e-01 1.87611254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81361786499998 meters 0.019407111575932345 Centerline is valid? [True, True] Translation: X:108.44, Y:31.70, Z:1.88 [[ 7.68842049e-01 -6.39312128e-01 -1.27242298e-02 1.08444125e+02] [ 6.39231174e-01 7.68947272e-01 -1.01783680e-02 3.16984194e+01] [ 1.62914159e-02 -3.08167074e-04 9.99867239e-01 1.87596461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84361786499997 meters 0.019858599407647108 Centerline is valid? [True, True] Translation: X:108.47, Y:31.72, Z:1.88 [[ 7.67744969e-01 -6.40632584e-01 -1.25520967e-02 1.08466265e+02] [ 6.40553954e-01 7.67847500e-01 -1.00423910e-02 3.17157973e+01] [ 1.60715790e-02 -3.30299949e-04 9.99870789e-01 1.87605257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87361786499997 meters 0.01984118417491262 Centerline is valid? [True, True] Translation: X:108.49, Y:31.73, Z:1.88 [[ 7.66523606e-01 -6.42088645e-01 -1.27958216e-02 1.08488512e+02] [ 6.42007105e-01 7.66630313e-01 -1.02391295e-02 3.17346393e+01] [ 1.63840935e-02 -3.66473921e-04 9.99865705e-01 1.87652118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90361786499997 meters 0.021745442370796054 Centerline is valid? [True, True] Translation: X:108.51, Y:31.75, Z:1.88 [[ 7.63585316e-01 -6.45583689e-01 -1.26160670e-02 1.08511876e+02] [ 6.45504821e-01 7.63689409e-01 -1.01001132e-02 3.17504083e+01] [ 1.61552251e-02 -4.31433971e-04 9.99869403e-01 1.87699914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93361786499997 meters 0.0218584403244931 Centerline is valid? [True, True] Translation: X:108.53, Y:31.77, Z:1.88 [[ 7.61789828e-01 -6.47703058e-01 -1.25302346e-02 1.08533576e+02] [ 6.47625524e-01 7.61892726e-01 -1.00326862e-02 3.17690147e+01] [ 1.60448961e-02 -4.72101488e-04 9.99871161e-01 1.87801430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96361786499997 meters 0.0227514235589408 Centerline is valid? [True, True] Translation: X:108.56, Y:31.79, Z:1.88 [[ 7.60281437e-01 -6.49473376e-01 -1.25087863e-02 1.08555299e+02] [ 6.49396270e-01 7.60384165e-01 -1.00202694e-02 3.17855235e+01] [ 1.60193812e-02 -5.04934301e-04 9.99871554e-01 1.87869826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99361786499998 meters 0.023305355773251418 Centerline is valid? [True, True] Translation: X:108.58, Y:31.80, Z:1.88 [[ 7.58976116e-01 -6.50999824e-01 -1.24291968e-02 1.08577537e+02] [ 6.50923855e-01 7.59077695e-01 -9.95936813e-03 3.18036448e+01] [ 1.59182730e-02 -5.31538176e-04 9.99873155e-01 1.87924948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02361786499998 meters 0.02247411816099676 Centerline is valid? [True, True] Translation: X:108.60, Y:31.83, Z:1.88 [[ 7.57166652e-01 -6.53105635e-01 -1.23162749e-02 1.08596716e+02] [ 6.53031245e-01 7.57266603e-01 -9.87343471e-03 3.18260516e+01] [ 1.57750995e-02 -5.67076810e-04 9.99875405e-01 1.87981462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05361786499998 meters 0.02276652217115683 Centerline is valid? [True, True] Translation: X:108.62, Y:31.85, Z:1.88 [[ 7.56747026e-01 -6.53596623e-01 -1.20579109e-02 1.08618222e+02] [ 6.53525315e-01 7.56842876e-01 -9.67079176e-03 3.18452346e+01] [ 1.54467408e-02 -5.61807147e-04 9.99880534e-01 1.88048722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08361786499998 meters 0.025171485685670004 Centerline is valid? [True, True] Translation: X:108.64, Y:31.86, Z:1.88 [[ 7.56823151e-01 -6.53506547e-01 -1.21618644e-02 1.08640626e+02] [ 6.53433916e-01 7.56920655e-01 -9.75905575e-03 3.18606965e+01] [ 1.55831732e-02 -5.61095324e-04 9.99878418e-01 1.88086619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11361786499998 meters 0.022290013694625112 Centerline is valid? [True, True] Translation: X:108.66, Y:31.89, Z:1.88 [[ 7.58076130e-01 -6.52044087e-01 -1.26130741e-02 1.08656790e+02] [ 6.51965726e-01 7.58180854e-01 -1.01234712e-02 3.18867744e+01] [ 1.61639408e-02 -5.48930098e-04 9.99869204e-01 1.88127559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14361786499998 meters 0.021726055982324747 Centerline is valid? [True, True] Translation: X:108.68, Y:31.91, Z:1.88 [[ 7.59012520e-01 -6.50954412e-01 -1.25836493e-02 1.08676733e+02] [ 6.50876193e-01 7.59116646e-01 -1.01044366e-02 3.19080115e+01] [ 1.61299852e-02 -5.21003893e-04 9.99869768e-01 1.88165298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17361786499998 meters 0.021173825667860597 Centerline is valid? [True, True] Translation: X:108.70, Y:31.93, Z:1.88 [[ 7.60228798e-01 -6.49533102e-01 -1.26065352e-02 1.08696596e+02] [ 6.49454324e-01 7.60333158e-01 -1.01277044e-02 3.19295495e+01] [ 1.61634460e-02 -4.87996300e-04 9.99869244e-01 1.88224662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20361786499997 meters 0.021752137390794058 Centerline is valid? [True, True] Translation: X:108.72, Y:31.95, Z:1.88 [[ 7.62913779e-01 -6.46378817e-01 -1.25295502e-02 1.08715587e+02] [ 6.46300494e-01 7.63016548e-01 -1.00707247e-02 3.19512071e+01] [ 1.60697573e-02 -4.14759867e-04 9.99870787e-01 1.88273082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23361786499997 meters 0.01964417204506716 Centerline is valid? [True, True] Translation: X:108.73, Y:31.98, Z:1.88 [[ 7.64140901e-01 -6.44925748e-01 -1.26278755e-02 1.08733175e+02] [ 6.44845942e-01 7.64245138e-01 -1.01528419e-02 3.19753113e+01] [ 1.61986216e-02 -3.84832479e-04 9.99868720e-01 1.88285954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26361786499997 meters 0.019321048600700292 Centerline is valid? [True, True] Translation: X:108.75, Y:32.00, Z:1.88 [[ 7.65284555e-01 -6.43568373e-01 -1.26213734e-02 1.08753023e+02] [ 6.43488384e-01 7.65388546e-01 -1.01525160e-02 3.19961466e+01] [ 1.61940928e-02 -3.52143436e-04 9.99868805e-01 1.88304054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29361786499997 meters 0.018441718351228122 Centerline is valid? [True, True] Translation: X:108.77, Y:32.02, Z:1.88 [[ 7.67690059e-01 -6.40694539e-01 -1.27468206e-02 1.08771175e+02] [ 6.40612473e-01 7.67795822e-01 -1.02584124e-02 3.20205913e+01] [ 1.63594644e-02 -2.90490992e-04 9.99866133e-01 1.88373423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32361786499997 meters 0.018211526603382197 Centerline is valid? [True, True] Translation: X:108.79, Y:32.04, Z:1.88 [[ 7.68564268e-01 -6.39649477e-01 -1.25504382e-02 1.08790968e+02] [ 6.39569743e-01 7.68666689e-01 -1.01027245e-02 3.20413458e+01] [ 1.61093063e-02 -2.62287476e-04 9.99870202e-01 1.88433859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35361786499998 meters 0.018151358559721928 Centerline is valid? [True, True] Translation: X:108.81, Y:32.06, Z:1.89 [[ 7.69377288e-01 -6.38676140e-01 -1.23035276e-02 1.08810917e+02] [ 6.38599314e-01 7.69475623e-01 -9.90867255e-03 3.20618384e+01] [ 1.57956973e-02 -2.33516659e-04 9.99875213e-01 1.88520278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38361786499998 meters 0.017469866819010298 Centerline is valid? [True, True] Translation: X:108.83, Y:32.09, Z:1.89 [[ 7.71228007e-01 -6.36458625e-01 -1.13039641e-02 1.08828048e+02] [ 6.36393480e-01 7.71310825e-01 -9.10765298e-03 3.20864628e+01] [ 1.45155142e-02 -1.69692012e-04 9.99894630e-01 1.88608781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41361786499998 meters 0.0173666925340882 Centerline is valid? [True, True] Translation: X:108.85, Y:32.11, Z:1.89 [[ 7.71932435e-01 -6.35608158e-01 -1.10717812e-02 1.08848373e+02] [ 6.35545515e-01 7.72011818e-01 -8.92478025e-03 3.21072540e+01] [ 1.42202091e-02 -1.47293557e-04 9.99898877e-01 1.88666160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44361786499998 meters 0.0173996662083774 Centerline is valid? [True, True] Translation: X:108.87, Y:32.13, Z:1.89 [[ 7.72497790e-01 -6.34923965e-01 -1.08959888e-02 1.08868823e+02] [ 6.34863163e-01 7.72574619e-01 -8.78768739e-03 3.21266796e+01] [ 1.39974777e-02 -1.28992828e-04 9.99902022e-01 1.88742151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47361786499998 meters 0.017131714037808953 Centerline is valid? [True, True] Translation: X:108.89, Y:32.15, Z:1.89 [[ 7.72981586e-01 -6.34334795e-01 -1.09011677e-02 1.08887112e+02] [ 6.34273862e-01 7.73058441e-01 -8.79281493e-03 3.21492573e+01] [ 1.40048282e-02 -1.17641709e-04 9.99901921e-01 1.88654596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50361786499998 meters 0.01699133389038231 Centerline is valid? [True, True] Translation: X:108.91, Y:32.17, Z:1.89 [[ 7.72767702e-01 -6.34587826e-01 -1.13300928e-02 1.08906750e+02] [ 6.34521957e-01 7.72850747e-01 -9.14384703e-03 3.21697676e+01] [ 1.45590447e-02 -1.23123019e-04 9.99894004e-01 1.88645650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53361786499998 meters 0.016927201669804128 Centerline is valid? [True, True] Translation: X:108.93, Y:32.19, Z:1.89 [[ 7.72606360e-01 -6.34788194e-01 -1.11067704e-02 1.08926875e+02] [ 6.34724848e-01 7.72686181e-01 -8.96849157e-03 3.21893497e+01] [ 1.42751406e-02 -1.20629545e-04 9.99898098e-01 1.88614390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56361786499998 meters 0.016861171403887567 Centerline is valid? [True, True] Translation: X:108.95, Y:32.21, Z:1.89 [[ 7.72036886e-01 -6.35477182e-01 -1.13047700e-02 1.08947511e+02] [ 6.35411555e-01 7.72119637e-01 -9.13355584e-03 3.22091838e+01] [ 1.45328012e-02 -1.31739444e-04 9.99894385e-01 1.88642692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59361786499997 meters 0.016969572758814375 Centerline is valid? [True, True] Translation: X:108.97, Y:32.23, Z:1.89 [[ 7.71290194e-01 -6.36376749e-01 -1.16649224e-02 1.08968517e+02] [ 6.36306890e-01 7.71378384e-01 -9.43032049e-03 3.22277969e+01] [ 1.49993057e-02 -1.48956755e-04 9.99887493e-01 1.88679300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62361786499997 meters 0.01727541106592298 Centerline is valid? [True, True] Translation: X:108.99, Y:32.25, Z:1.89 [[ 7.68817167e-01 -6.39354901e-01 -1.20612590e-02 1.08988443e+02] [ 6.39280540e-01 7.68911741e-01 -9.75326736e-03 3.22486003e+01] [ 1.55098429e-02 -2.12048763e-04 9.99879693e-01 1.88621864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65361786499997 meters 0.017456267999699557 Centerline is valid? [True, True] Translation: X:109.01, Y:32.27, Z:1.89 [[ 7.67204180e-01 -6.41285860e-01 -1.22552536e-02 1.09009982e+02] [ 6.41209255e-01 7.67302015e-01 -9.91509205e-03 3.22678469e+01] [ 1.57618891e-02 -2.51281966e-04 9.99875742e-01 1.88617931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68361786499997 meters 0.018459356788974562 Centerline is valid? [True, True] Translation: X:109.03, Y:32.29, Z:1.89 [[ 7.63416428e-01 -6.45796025e-01 -1.19520294e-02 1.09032457e+02] [ 6.45723641e-01 7.63509911e-01 -9.67446304e-03 3.22872745e+01] [ 1.53732227e-02 -3.32063943e-04 9.99881770e-01 1.88658917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71361786499997 meters 0.019329296794268327 Centerline is valid? [True, True] Translation: X:109.05, Y:32.30, Z:1.89 [[ 7.61370812e-01 -6.48220904e-01 -1.11420772e-02 1.09054007e+02] [ 6.48158203e-01 7.61452254e-01 -9.02268482e-03 3.23049584e+01] [ 1.43328527e-02 -3.52219879e-04 9.99897217e-01 1.88695116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74361786499998 meters 0.019866904690258508 Centerline is valid? [True, True] Translation: X:109.07, Y:32.32, Z:1.89 [[ 7.59425510e-01 -6.50499853e-01 -1.10831012e-02 1.09074986e+02] [ 6.50438034e-01 7.59506279e-01 -8.97647302e-03 3.23240855e+01] [ 1.42568794e-02 -3.91907974e-04 9.99898289e-01 1.88739573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77361786499998 meters 0.020740697174030112 Centerline is valid? [True, True] Translation: X:109.10, Y:32.34, Z:1.89 [[ 7.57581154e-01 -6.52657410e-01 -1.04451093e-02 1.09095692e+02] [ 6.52602689e-01 7.57653047e-01 -8.46110321e-03 3.23426018e+01] [ 1.34359706e-02 -4.06534060e-04 9.99909651e-01 1.88808933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80361786499998 meters 0.022585480660200146 Centerline is valid? [True, True] Translation: X:109.12, Y:32.36, Z:1.89 [[ 7.54288958e-01 -6.56468243e-01 -9.87994151e-03 1.09115959e+02] [ 6.56419594e-01 7.54353528e-01 -8.00448552e-03 3.23630144e+01] [ 1.27076593e-02 -4.47692153e-04 9.99919154e-01 1.88865269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83361786499998 meters 0.022696026236209046 Centerline is valid? [True, True] Translation: X:109.14, Y:32.38, Z:1.89 [[ 7.52975634e-01 -6.57979647e-01 -9.51207523e-03 1.09136049e+02] [ 6.57934649e-01 7.53035576e-01 -7.70840002e-03 3.23831959e+01] [ 1.22349014e-02 -4.54086491e-04 9.99925048e-01 1.88880756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86361786499998 meters 0.023309889083841632 Centerline is valid? [True, True] Translation: X:109.16, Y:32.40, Z:1.89 [[ 7.52000400e-01 -6.59097234e-01 -9.28631388e-03 1.09156662e+02] [ 6.59054417e-01 7.52057594e-01 -7.52669348e-03 3.24026538e+01] [ 1.19446657e-02 -4.60109674e-04 9.99928554e-01 1.88870619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89361786499998 meters 0.02324245606113864 Centerline is valid? [True, True] Translation: X:109.18, Y:32.42, Z:1.89 [[ 7.51416810e-01 -6.59756054e-01 -9.73278841e-03 1.09177153e+02] [ 6.59709067e-01 7.51479678e-01 -7.88923995e-03 3.24232158e+01] [ 1.25189665e-02 -4.92701246e-04 9.99921513e-01 1.88899774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92361786499998 meters 0.02324245606113864 Centerline is valid? [True, True] Translation: X:109.20, Y:32.44, Z:1.89 [[ 7.51239971e-01 -6.59957433e-01 -9.73101752e-03 1.09198520e+02] [ 6.59910435e-01 7.51302831e-01 -7.89142351e-03 3.24406341e+01] [ 1.25189446e-02 -4.93247235e-04 9.99921513e-01 1.88944904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95361786499997 meters 0.02292625691766942 Centerline is valid? [True, True] Translation: X:109.22, Y:32.46, Z:1.89 [[ 7.51582958e-01 -6.59558891e-01 -1.02531264e-02 1.09217044e+02] [ 6.59506611e-01 7.51652719e-01 -8.31982875e-03 3.24634214e+01] [ 1.31942074e-02 -5.08963177e-04 9.99912823e-01 1.88948717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98361786499997 meters 0.02306987311711274 Centerline is valid? [True, True] Translation: X:109.24, Y:32.48, Z:1.89 [[ 7.52203080e-01 -6.58844666e-01 -1.06879414e-02 1.09236917e+02] [ 6.58787726e-01 7.52278832e-01 -8.67703666e-03 3.24840039e+01] [ 1.37571314e-02 -5.14190911e-04 9.99905234e-01 1.88941341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01361786499997 meters 0.023550058275412886 Centerline is valid? [True, True] Translation: X:109.26, Y:32.50, Z:1.89 [[ 7.53421702e-01 -6.57440788e-01 -1.12849245e-02 1.09256746e+02] [ 6.57377079e-01 7.53506037e-01 -9.16670750e-03 3.25041249e+01] [ 1.45298261e-02 -5.12054352e-04 9.99894305e-01 1.88929547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04361786499997 meters 0.02169260793521679 Centerline is valid? [True, True] Translation: X:109.27, Y:32.53, Z:1.89 [[ 7.56269665e-01 -6.54154445e-01 -1.17539892e-02 1.09271976e+02] [ 6.54084906e-01 7.56360856e-01 -9.54943364e-03 3.25308599e+01] [ 1.51370618e-02 -4.66159940e-04 9.99885319e-01 1.88855449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07361786499997 meters 0.021330593421923852 Centerline is valid? [True, True] Translation: X:109.29, Y:32.55, Z:1.89 [[ 7.57712840e-01 -6.52481741e-01 -1.17826168e-02 1.09291468e+02] [ 6.52411645e-01 7.57804322e-01 -9.57371418e-03 3.25517104e+01] [ 1.51755916e-02 -4.32990228e-04 9.99884750e-01 1.88916128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10361786499998 meters 0.02167313482439929 Centerline is valid? [True, True] Translation: X:109.31, Y:32.57, Z:1.89 [[ 7.59216836e-01 -6.50731856e-01 -1.17408355e-02 1.09311606e+02] [ 6.50661979e-01 7.59307512e-01 -9.54419916e-03 3.25712419e+01] [ 1.51256191e-02 -3.93198589e-04 9.99885524e-01 1.88996299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13361786499998 meters 0.01935160346798754 Centerline is valid? [True, True] Translation: X:109.33, Y:32.60, Z:1.89 [[ 7.60483481e-01 -6.49247982e-01 -1.19135356e-02 1.09329209e+02] [ 6.49175831e-01 7.60576704e-01 -9.68599324e-03 3.25957129e+01] [ 1.53497692e-02 -3.67941505e-04 9.99882118e-01 1.89042074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16361786499998 meters 0.01782315820717276 Centerline is valid? [True, True] Translation: X:109.35, Y:32.62, Z:1.89 [[ 7.63051046e-01 -6.46236179e-01 -1.14848690e-02 1.09345603e+02] [ 6.46168721e-01 7.63137416e-01 -9.34178616e-03 3.26221400e+01] [ 1.48015334e-02 -2.92903406e-04 9.99890408e-01 1.89144505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19361786499998 meters 0.018109386556229064 Centerline is valid? [True, True] Translation: X:109.37, Y:32.64, Z:1.89 [[ 7.64292614e-01 -6.44777771e-01 -1.08823747e-02 1.09365587e+02] [ 6.44716997e-01 7.64370044e-01 -8.85600106e-03 3.26413245e+01] [ 1.40283138e-02 -2.47475713e-04 9.99901568e-01 1.89261257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22361786499998 meters 0.01809032870715114 Centerline is valid? [True, True] Translation: X:109.39, Y:32.66, Z:1.89 [[ 7.65188606e-01 -6.43716032e-01 -1.07734725e-02 1.09385821e+02] [ 6.43656344e-01 7.65264412e-01 -8.76879155e-03 3.26612162e+01] [ 1.38891668e-02 -2.24634533e-04 9.99903516e-01 1.89357611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25361786499998 meters 0.017420422652235742 Centerline is valid? [True, True] Translation: X:109.41, Y:32.68, Z:1.89 [[ 7.66087355e-01 -6.42647799e-01 -1.06757399e-02 1.09405911e+02] [ 6.42589059e-01 7.66161710e-01 -8.69107866e-03 3.26829746e+01] [ 1.37646457e-02 -2.01988200e-04 9.99905242e-01 1.89364730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28361786499998 meters 0.01713536226466548 Centerline is valid? [True, True] Translation: X:109.42, Y:32.70, Z:1.89 [[ 7.67814240e-01 -6.40579504e-01 -1.09174543e-02 1.09424547e+02] [ 6.40517802e-01 7.67891836e-01 -8.89234500e-03 3.27040027e+01] [ 1.40796780e-02 -1.65154712e-04 9.99900863e-01 1.89422560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31361786499997 meters 0.017274273704031975 Centerline is valid? [True, True] Translation: X:109.45, Y:32.72, Z:1.90 [[ 7.68293512e-01 -6.40005976e-01 -1.08364741e-02 1.09445484e+02] [ 6.39945110e-01 7.68369916e-01 -8.82775896e-03 3.27227142e+01] [ 1.39762392e-02 -1.52438693e-04 9.99902316e-01 1.89527447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34361786499997 meters 0.016821935358513514 Centerline is valid? [True, True] Translation: X:109.46, Y:32.74, Z:1.90 [[ 7.68813398e-01 -6.39385378e-01 -1.05970923e-02 1.09463878e+02] [ 6.39327090e-01 7.68886416e-01 -8.63434667e-03 3.27449556e+01] [ 1.36686353e-02 -1.36806765e-04 9.99906570e-01 1.89531153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37361786499997 meters 0.016653326615867436 Centerline is valid? [True, True] Translation: X:109.48, Y:32.76, Z:1.90 [[ 7.68686418e-01 -6.39540822e-01 -1.04272854e-02 1.09484428e+02] [ 6.39484342e-01 7.68757126e-01 -8.50046276e-03 3.27644298e+01] [ 1.34524429e-02 -1.33895486e-04 9.99909503e-01 1.89564429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40361786499997 meters 0.016758371880045017 Centerline is valid? [True, True] Translation: X:109.51, Y:32.78, Z:1.90 [[ 7.68256960e-01 -6.40060507e-01 -1.01878177e-02 1.09505520e+02] [ 6.40006577e-01 7.68324495e-01 -8.30973454e-03 3.27831027e+01] [ 1.31462828e-02 -1.36258937e-04 9.99913575e-01 1.89615943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43361786499997 meters 0.016805906006132257 Centerline is valid? [True, True] Translation: X:109.53, Y:32.80, Z:1.90 [[ 7.67849002e-01 -6.40551787e-01 -1.00656959e-02 1.09526338e+02] [ 6.40499127e-01 7.67914962e-01 -8.21459735e-03 3.28013026e+01] [ 1.29914735e-02 -1.39499069e-04 9.99915598e-01 1.89653849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46361786499997 meters 0.017107413721290845 Centerline is valid? [True, True] Translation: X:109.55, Y:32.82, Z:1.90 [[ 7.66284437e-01 -6.42425331e-01 -9.89214862e-03 1.09549304e+02] [ 6.42374570e-01 7.66348267e-01 -8.07746613e-03 3.28194910e+01] [ 1.27699998e-02 -1.64828125e-04 9.99918447e-01 1.89722845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49361786499998 meters 0.017464072997579985 Centerline is valid? [True, True] Translation: X:109.57, Y:32.84, Z:1.90 [[ 7.65165209e-01 -6.43758971e-01 -9.82801018e-03 1.09571193e+02] [ 6.43708921e-01 7.65228302e-01 -8.02941447e-03 3.28361120e+01] [ 1.26896791e-02 -1.82549222e-04 9.99919466e-01 1.89741834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52361786499998 meters 0.017259178363040032 Centerline is valid? [True, True] Translation: X:109.59, Y:32.85, Z:1.90 [[ 7.63986607e-01 -6.45154288e-01 -1.00204410e-02 1.09592735e+02] [ 6.45102351e-01 7.64052290e-01 -8.18872003e-03 3.28546065e+01] [ 1.29391287e-02 -2.08137594e-04 9.99916264e-01 1.89732037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55361786499998 meters 0.01772990490948434 Centerline is valid? [True, True] Translation: X:109.62, Y:32.87, Z:1.90 [[ 7.62960169e-01 -6.46365157e-01 -1.01913587e-02 1.09615340e+02] [ 6.46311509e-01 7.63028198e-01 -8.33081925e-03 3.28716789e+01] [ 1.31610454e-02 -2.30709166e-04 9.99913363e-01 1.89710795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58361786499998 meters 0.018042185537223362 Centerline is valid? [True, True] Translation: X:109.64, Y:32.89, Z:1.90 [[ 7.60776854e-01 -6.48917714e-01 -1.11525117e-02 1.09638176e+02] [ 6.48853723e-01 7.60858535e-01 -9.11786853e-03 3.28890172e+01] [ 1.44022301e-02 -2.99685373e-04 9.99896238e-01 1.89637342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61361786499998 meters 0.019515157016029308 Centerline is valid? [True, True] Translation: X:109.66, Y:32.90, Z:1.90 [[ 7.59883434e-01 -6.49955400e-01 -1.16251954e-02 1.09661961e+02] [ 6.49885912e-01 7.59972283e-01 -9.50949799e-03 3.29039529e+01] [ 1.50155758e-02 -3.28940701e-04 9.99887206e-01 1.89635102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64361786499998 meters 0.019708595071138053 Centerline is valid? [True, True] Translation: X:109.68, Y:32.92, Z:1.90 [[ 7.59062037e-01 -6.50908702e-01 -1.19451154e-02 1.09684365e+02] [ 6.50835431e-01 7.59155936e-01 -9.77276926e-03 3.29214539e+01] [ 1.54293858e-02 -3.56166201e-04 9.99880897e-01 1.89623732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67361786499998 meters 0.019568865394557444 Centerline is valid? [True, True] Translation: X:109.71, Y:32.94, Z:1.90 [[ 7.57761692e-01 -6.52412893e-01 -1.24352170e-02 1.09706512e+02] [ 6.52333609e-01 7.57863614e-01 -1.01786416e-02 3.29402980e+01] [ 1.60648755e-02 -3.98925267e-04 9.99870872e-01 1.89576311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70361786499997 meters 0.019735546331708934 Centerline is valid? [True, True] Translation: X:109.73, Y:32.96, Z:1.90 [[ 7.57142959e-01 -6.53127110e-01 -1.26300007e-02 1.09729063e+02] [ 6.53045341e-01 7.57248179e-01 -1.03430536e-02 3.29581505e+01] [ 1.63193737e-02 -4.16792898e-04 9.99866743e-01 1.89602290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73361786499997 meters 0.021035810392906307 Centerline is valid? [True, True] Translation: X:109.75, Y:32.97, Z:1.90 [[ 7.56965647e-01 -6.53334732e-01 -1.25194547e-02 1.09752630e+02] [ 6.53254337e-01 7.57069057e-01 -1.02573786e-02 3.29736663e+01] [ 1.61795934e-02 -4.13904870e-04 9.99869016e-01 1.89669966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76361786499997 meters 0.0188025722833882 Centerline is valid? [True, True] Translation: X:109.77, Y:32.99, Z:1.90 [[ 7.56799075e-01 -6.53527566e-01 -1.25251641e-02 1.09771874e+02] [ 6.53447098e-01 7.56902600e-01 -1.02637236e-02 3.29947592e+01] [ 1.61879556e-02 -4.16955656e-04 9.99868880e-01 1.89739998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79361786499997 meters 0.01872232143101702 Centerline is valid? [True, True] Translation: X:109.79, Y:33.01, Z:1.90 [[ 7.57298985e-01 -6.52938567e-01 -1.30182699e-02 1.09794285e+02] [ 6.52851446e-01 7.57410757e-01 -1.06740299e-02 3.30121274e+01] [ 1.68296635e-02 -4.15564312e-04 9.99858285e-01 1.89719013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82361786499997 meters 0.01862991537837677 Centerline is valid? [True, True] Translation: X:109.82, Y:33.03, Z:1.90 [[ 7.57512146e-01 -6.52687607e-01 -1.31998721e-02 1.09816782e+02] [ 6.52597908e-01 7.57627031e-01 -1.08283023e-02 3.30304265e+01] [ 1.70680786e-02 -4.11638414e-04 9.99854245e-01 1.89743474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85361786499998 meters 0.01904723657760905 Centerline is valid? [True, True] Translation: X:109.84, Y:33.05, Z:1.90 [[ 7.58058011e-01 -6.52046728e-01 -1.35320739e-02 1.09839009e+02] [ 6.51952262e-01 7.58178674e-01 -1.11061419e-02 3.30477054e+01] [ 1.75014534e-02 -4.03166356e-04 9.99846757e-01 1.89732115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88361786499998 meters 0.01843556162960529 Centerline is valid? [True, True] Translation: X:109.86, Y:33.07, Z:1.90 [[ 7.58479612e-01 -6.51556517e-01 -1.35197350e-02 1.09860361e+02] [ 6.51462108e-01 7.58599995e-01 -1.10981437e-02 3.30672545e+01] [ 1.74871387e-02 -3.89879284e-04 9.99847012e-01 1.89747557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91361786499998 meters 0.018141608034964223 Centerline is valid? [True, True] Translation: X:109.88, Y:33.09, Z:1.90 [[ 7.59464944e-01 -6.50403045e-01 -1.37433047e-02 1.09882458e+02] [ 6.50305200e-01 7.59589196e-01 -1.12872029e-02 3.30862301e+01] [ 1.77804970e-02 -3.65107584e-04 9.99841848e-01 1.89751942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94361786499998 meters 0.017975879047530282 Centerline is valid? [True, True] Translation: X:109.90, Y:33.10, Z:1.90 [[ 7.59504426e-01 -6.50360075e-01 -1.35941158e-02 1.09903827e+02] [ 6.50264242e-01 7.59625991e-01 -1.11700385e-02 3.31036863e+01] [ 1.75909908e-02 -3.56073766e-04 9.99845203e-01 1.89773148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97361786499998 meters 0.017672167684681786 Centerline is valid? [True, True] Translation: X:109.93, Y:33.12, Z:1.90 [[ 7.59361926e-01 -6.50528152e-01 -1.35125672e-02 1.09925055e+02] [ 6.50433385e-01 7.59482060e-01 -1.11091136e-02 3.31213507e+01] [ 1.74893435e-02 -3.53186915e-04 9.99846987e-01 1.89838975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00361786499998 meters 0.018830660933484056 Centerline is valid? [True, True] Translation: X:109.95, Y:33.14, Z:1.90 [[ 7.58433015e-01 -6.51612714e-01 -1.34250821e-02 1.09949486e+02] [ 6.51519238e-01 7.58551734e-01 -1.10431109e-02 3.31355277e+01] [ 1.73794508e-02 -3.71239338e-04 9.99848897e-01 1.89882222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03361786499998 meters 0.01809492581950451 Centerline is valid? [True, True] Translation: X:109.97, Y:33.15, Z:1.90 [[ 7.57668029e-01 -6.52498402e-01 -1.36012317e-02 1.09970804e+02] [ 6.52402559e-01 7.57789997e-01 -1.11902186e-02 3.31545181e+01] [ 1.76084771e-02 -3.95007514e-04 9.99844881e-01 1.89957857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06361786499997 meters 0.019242518140708903 Centerline is valid? [True, True] Translation: X:109.99, Y:33.17, Z:1.90 [[ 7.57081173e-01 -6.53179439e-01 -1.35910973e-02 1.09993625e+02] [ 6.53083756e-01 7.57203047e-01 -1.11871774e-02 3.31712051e+01] [ 1.75984546e-02 -4.06523508e-04 9.99845053e-01 1.89833766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09361786499997 meters 0.018830293645642242 Centerline is valid? [True, True] Translation: X:110.02, Y:33.19, Z:1.90 [[ 7.56369834e-01 -6.54017217e-01 -1.28900882e-02 1.10017140e+02] [ 6.53931227e-01 7.56479556e-01 -1.06128112e-02 3.31879146e+01] [ 1.66920494e-02 -4.02020921e-04 9.99860597e-01 1.90117494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12361786499997 meters 0.018584970323456018 Centerline is valid? [True, True] Translation: X:110.04, Y:33.21, Z:1.90 [[ 7.56108801e-01 -6.54323956e-01 -1.26349897e-02 1.10039120e+02] [ 6.54241299e-01 7.56214258e-01 -1.04076631e-02 3.32060438e+01] [ 1.63647427e-02 -3.97006394e-04 9.99866010e-01 1.90213178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15361786499997 meters 0.018167300336758587 Centerline is valid? [True, True] Translation: X:110.06, Y:33.22, Z:1.90 [[ 7.56019534e-01 -6.54431277e-01 -1.24164701e-02 1.10060676e+02] [ 6.54351379e-01 7.56121388e-01 -1.02332303e-02 3.32245886e+01] [ 1.60853046e-02 -3.88212363e-04 9.99870548e-01 1.90283536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18361786499997 meters 0.018624324247927718 Centerline is valid? [True, True] Translation: X:110.08, Y:33.24, Z:1.90 [[ 7.56096452e-01 -6.54361400e-01 -1.13716335e-02 1.10083046e+02] [ 6.54294305e-01 7.56181880e-01 -9.37693162e-03 3.32407234e+01] [ 1.47349253e-02 -3.50530278e-04 9.99891374e-01 1.90351400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21361786499997 meters 0.018582389969673693 Centerline is valid? [True, True] Translation: X:110.10, Y:33.26, Z:1.90 [[ 7.56169861e-01 -6.54279768e-01 -1.11860077e-02 1.10104814e+02] [ 6.54214763e-01 7.56252517e-01 -9.22897671e-03 3.32580307e+01] [ 1.44977792e-02 -3.39377316e-04 9.99894844e-01 1.90427448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24361786499998 meters 0.01825985261991425 Centerline is valid? [True, True] Translation: X:110.13, Y:33.28, Z:1.90 [[ 7.56024657e-01 -6.54454576e-01 -1.07669063e-02 1.10126177e+02] [ 6.54394304e-01 7.56101251e-01 -8.88785112e-03 3.32757606e+01] [ 1.39575662e-02 -3.26367581e-04 9.99902535e-01 1.90468474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27361786499998 meters 0.01797895817878898 Centerline is valid? [True, True] Translation: X:110.15, Y:33.29, Z:1.91 [[ 7.55883104e-01 -6.54619253e-01 -1.06942548e-02 1.10147553e+02] [ 6.54559740e-01 7.55958682e-01 -8.83274370e-03 3.32932705e+01] [ 1.38664988e-02 -3.23506916e-04 9.99903803e-01 1.90507295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30361786499998 meters 0.01813378784203225 Centerline is valid? [True, True] Translation: X:110.17, Y:33.31, Z:1.91 [[ 7.56085373e-01 -6.54386546e-01 -1.06375069e-02 1.10169540e+02] [ 6.54327563e-01 7.56160135e-01 -8.79146259e-03 3.33098891e+01] [ 1.37966735e-02 -3.13317684e-04 9.99904772e-01 1.90561372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33361786499998 meters 0.01781809362551443 Centerline is valid? [True, True] Translation: X:110.19, Y:33.33, Z:1.91 [[ 7.56282284e-01 -6.54154794e-01 -1.08909304e-02 1.10191293e+02] [ 6.54092927e-01 7.56360632e-01 -9.00206792e-03 3.33284924e+01] [ 1.41262169e-02 -3.15576038e-04 9.99900170e-01 1.90573620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36361786499998 meters 0.01751932510936531 Centerline is valid? [True, True] Translation: X:110.21, Y:33.35, Z:1.91 [[ 7.56621530e-01 -6.53760070e-01 -1.10286394e-02 1.10212993e+02] [ 6.53696522e-01 7.56701840e-01 -9.12043414e-03 3.33469155e+01] [ 1.43079674e-02 -3.08666353e-04 9.99897588e-01 1.90588070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39361786499998 meters 0.017714809412160814 Centerline is valid? [True, True] Translation: X:110.24, Y:33.36, Z:1.91 [[ 7.57850721e-01 -6.52327641e-01 -1.14426139e-02 1.10235276e+02] [ 6.52258991e-01 7.57937046e-01 -9.46799117e-03 3.33634372e+01] [ 1.48490133e-02 -2.88223829e-04 9.99889706e-01 1.90547350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42361786499998 meters 0.017071323535366462 Centerline is valid? [True, True] Translation: X:110.26, Y:33.38, Z:1.91 [[ 7.58719124e-01 -6.51313176e-01 -1.16806795e-02 1.10256643e+02] [ 6.51241497e-01 7.58808983e-01 -9.66645913e-03 3.33825672e+01] [ 1.51592967e-02 -2.72815813e-04 9.99885054e-01 1.90563260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45361786499997 meters 0.01675446607369793 Centerline is valid? [True, True] Translation: X:110.28, Y:33.40, Z:1.91 [[ 7.59903911e-01 -6.49927888e-01 -1.18231374e-02 1.10278666e+02] [ 6.49854207e-01 7.59995843e-01 -9.78925098e-03 3.34012668e+01] [ 1.53478425e-02 -2.44425447e-04 9.99882185e-01 1.90576282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48361786499997 meters 0.016703719914469537 Centerline is valid? [True, True] Translation: X:110.30, Y:33.42, Z:1.91 [[ 7.62446142e-01 -6.46925281e-01 -1.27891015e-02 1.10300396e+02] [ 6.46838550e-01 7.62553371e-01 -1.05946747e-02 3.34182698e+01] [ 1.66063354e-02 -1.94614977e-04 9.99862086e-01 1.90504666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51361786499997 meters 0.01621609398848448 Centerline is valid? [True, True] Translation: X:110.32, Y:33.44, Z:1.90 [[ 7.63375350e-01 -6.45816089e-01 -1.34034904e-02 1.10321522e+02] [ 6.45720614e-01 7.63492991e-01 -1.11058799e-02 3.34374252e+01] [ 1.74058269e-02 -1.76955106e-04 9.99848491e-01 1.90480099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54361786499997 meters 0.015994073970689273 Centerline is valid? [True, True] Translation: X:110.34, Y:33.46, Z:1.90 [[ 7.64348371e-01 -6.44661057e-01 -1.35532179e-02 1.10343769e+02] [ 6.44563158e-01 7.64468508e-01 -1.12354918e-02 3.34553296e+01] [ 1.76040923e-02 -1.48075109e-04 9.99845025e-01 1.90488488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57361786499997 meters 0.015866749550522703 Centerline is valid? [True, True] Translation: X:110.37, Y:33.47, Z:1.90 [[ 7.65746897e-01 -6.42999549e-01 -1.35377164e-02 1.10366594e+02] [ 6.42901522e-01 7.65866547e-01 -1.12278824e-02 3.34708074e+01] [ 1.75876074e-02 -1.05702320e-04 9.99845320e-01 1.90493328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60361786499998 meters 0.015909843141498944 Centerline is valid? [True, True] Translation: X:110.39, Y:33.49, Z:1.91 [[ 7.65883305e-01 -6.42839103e-01 -1.34406751e-02 1.10389539e+02] [ 6.42742412e-01 7.66001226e-01 -1.11495742e-02 3.34876310e+01] [ 1.74629559e-02 -9.96192230e-05 9.99847506e-01 1.90551438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63361786499998 meters 0.015784449843037545 Centerline is valid? [True, True] Translation: X:110.41, Y:33.50, Z:1.91 [[ 7.66016548e-01 -6.42687303e-01 -1.31026411e-02 1.10411965e+02] [ 6.42595295e-01 7.66128594e-01 -1.08749465e-02 3.35030290e+01] [ 1.70274980e-02 -8.93065236e-05 9.99855018e-01 1.90619714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66361786499998 meters 0.015877507542912814 Centerline is valid? [True, True] Translation: X:110.43, Y:33.52, Z:1.91 [[ 7.65662970e-01 -6.43110796e-01 -1.29892872e-02 1.10434660e+02] [ 6.43020389e-01 7.65773136e-01 -1.07835361e-02 3.35187922e+01] [ 1.68818557e-02 -9.58221786e-05 9.99857487e-01 1.90716643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69361786499998 meters 0.015885779909547676 Centerline is valid? [True, True] Translation: X:110.46, Y:33.53, Z:1.91 [[ 7.65327600e-01 -6.43516143e-01 -1.26743073e-02 1.10458375e+02] [ 6.43430031e-01 7.65432534e-01 -1.05276388e-02 3.35324640e+01] [ 1.64760326e-02 -9.79374163e-05 9.99864256e-01 1.90754492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72361786499998 meters 0.015800482792053063 Centerline is valid? [True, True] Translation: X:110.48, Y:33.55, Z:1.91 [[ 7.65183302e-01 -6.43693062e-01 -1.23998272e-02 1.10481139e+02] [ 6.43610625e-01 7.65283759e-01 -1.03019713e-02 3.35493394e+01] [ 1.61206938e-02 -9.77640952e-05 9.99870048e-01 1.90828800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75361786499998 meters 0.015803952600244482 Centerline is valid? [True, True] Translation: X:110.50, Y:33.57, Z:1.91 [[ 7.65202498e-01 -6.43679062e-01 -1.19332446e-02 1.10504198e+02] [ 6.43602628e-01 7.65295536e-01 -9.91969367e-03 3.35656900e+01] [ 1.55175579e-02 -8.96931994e-05 9.99879591e-01 1.90924537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78361786499998 meters 0.01578748644783492 Centerline is valid? [True, True] Translation: X:110.53, Y:33.58, Z:1.91 [[ 7.65317089e-01 -6.43557468e-01 -1.11147792e-02 1.10526588e+02] [ 6.43491072e-01 7.65397791e-01 -9.24452700e-03 3.35812686e+01] [ 1.44566119e-02 -7.72667080e-05 9.99895495e-01 1.91042339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81361786499997 meters 0.01578748644783492 Centerline is valid? [True, True] Translation: X:110.55, Y:33.60, Z:1.91 [[ 7.65140762e-01 -6.43767114e-01 -1.11138621e-02 1.10547715e+02] [ 6.43700724e-01 7.65221469e-01 -9.24562943e-03 3.35989315e+01] [ 1.44565981e-02 -7.97931617e-05 9.99895495e-01 1.91087476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84361786499997 meters 0.015666023695142903 Centerline is valid? [True, True] Translation: X:110.57, Y:33.61, Z:1.91 [[ 7.65492076e-01 -6.43363330e-01 -1.02716088e-02 1.10572551e+02] [ 6.43306528e-01 7.65560985e-01 -8.54923716e-03 3.36131487e+01] [ 1.33638087e-02 -6.34197214e-05 9.99910698e-01 1.91204698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87361786499997 meters 0.01569997054339035 Centerline is valid? [True, True] Translation: X:110.60, Y:33.63, Z:1.91 [[ 7.65643973e-01 -6.43180969e-01 -1.03705168e-02 1.10595525e+02] [ 6.43122975e-01 7.65714201e-01 -8.63722761e-03 3.36279963e+01] [ 1.34961524e-02 -5.64763345e-05 9.99908921e-01 1.91248694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90361786499997 meters 0.015529674465730184 Centerline is valid? [True, True] Translation: X:110.62, Y:33.64, Z:1.91 [[ 7.65767167e-01 -6.43024057e-01 -1.09867396e-02 1.10620582e+02] [ 6.42958920e-01 7.65845976e-01 -9.15248500e-03 3.36415086e+01] [ 1.42994184e-02 -5.53497446e-05 9.99897757e-01 1.91241663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93361786499997 meters 0.015548996662253598 Centerline is valid? [True, True] Translation: X:110.64, Y:33.66, Z:1.91 [[ 7.65750270e-01 -6.43041652e-01 -1.11336649e-02 1.10643490e+02] [ 6.42974685e-01 7.65831203e-01 -9.28020603e-03 3.36573118e+01] [ 1.44940670e-02 -5.23443933e-05 9.99894954e-01 1.91273575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96361786499997 meters 0.015437233341021097 Centerline is valid? [True, True] Translation: X:110.67, Y:33.67, Z:1.91 [[ 7.65932998e-01 -6.42824858e-01 -1.10834972e-02 1.10666048e+02] [ 6.42758390e-01 7.66013185e-01 -9.24402286e-03 3.36725596e+01] [ 1.44323927e-02 -4.37086586e-05 9.99895847e-01 1.91318597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99361786499998 meters 0.015396902041932631 Centerline is valid? [True, True] Translation: X:110.69, Y:33.69, Z:1.91 [[ 7.65768099e-01 -6.43030010e-01 -1.05652755e-02 1.10689284e+02] [ 6.42969611e-01 7.65840979e-01 -8.81331714e-03 3.36884931e+01] [ 1.37585483e-02 -4.41939681e-05 9.99905346e-01 1.91376485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02361786499998 meters 0.015161146231425499 Centerline is valid? [True, True] Translation: X:110.71, Y:33.70, Z:1.91 [[ 7.65678691e-01 -6.43138318e-01 -1.04521094e-02 1.10714731e+02] [ 6.43079150e-01 7.65750026e-01 -8.72378308e-03 3.37018392e+01] [ 1.36143022e-02 -4.19187910e-05 9.99907320e-01 1.91465396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05361786499998 meters 0.015183832756599937 Centerline is valid? [True, True] Translation: X:110.74, Y:33.72, Z:1.92 [[ 7.65479385e-01 -6.43374788e-01 -1.04972777e-02 1.10737118e+02] [ 6.43315054e-01 7.65551357e-01 -8.76703427e-03 3.37165439e+01] [ 1.36766940e-02 -4.20728008e-05 9.99906469e-01 1.91532150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08361786499998 meters 0.015110491416538205 Centerline is valid? [True, True] Translation: X:110.76, Y:33.73, Z:1.92 [[ 7.65082089e-01 -6.43842120e-01 -1.08038141e-02 1.10760262e+02] [ 6.43778867e-01 7.65158364e-01 -9.02486964e-03 3.37320273e+01] [ 1.40772199e-02 -5.05010691e-05 9.99900910e-01 1.91530874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11361786499998 meters 0.01518080699599893 Centerline is valid? [True, True] Translation: X:110.78, Y:33.75, Z:1.92 [[ 7.64582395e-01 -6.44435032e-01 -1.08282036e-02 1.10783649e+02] [ 6.44371482e-01 7.64659065e-01 -9.05027572e-03 3.37475300e+01] [ 1.41121988e-02 -5.77041181e-05 9.99900416e-01 1.91546799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14361786499998 meters 0.015218546251043187 Centerline is valid? [True, True] Translation: X:110.81, Y:33.76, Z:1.92 [[ 7.63286417e-01 -6.45964883e-01 -1.11001971e-02 1.10809330e+02] [ 6.45898176e-01 7.63367122e-01 -9.28351908e-03 3.37599227e+01] [ 1.44703528e-02 -8.36130348e-05 9.99895295e-01 1.91616845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17361786499998 meters 0.01529824851875385 Centerline is valid? [True, True] Translation: X:110.83, Y:33.78, Z:1.92 [[ 7.62361681e-01 -6.47050453e-01 -1.14183403e-02 1.10833298e+02] [ 6.46979962e-01 7.62447179e-01 -9.55132935e-03 3.37752652e+01] [ 1.48860733e-02 -1.05869891e-04 9.99889191e-01 1.91640275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20361786499997 meters 0.015351222735773742 Centerline is valid? [True, True] Translation: X:110.86, Y:33.79, Z:1.92 [[ 7.61431010e-01 -6.48138824e-01 -1.17848133e-02 1.10857332e+02] [ 6.48063842e-01 7.61522192e-01 -9.85943964e-03 3.37908625e+01] [ 1.53646825e-02 -1.30028289e-04 9.99881948e-01 1.91659464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23361786499997 meters 0.015709975561296042 Centerline is valid? [True, True] Translation: X:110.88, Y:33.80, Z:1.92 [[ 7.60092373e-01 -6.49690445e-01 -1.27244013e-02 1.10882949e+02] [ 6.49603154e-01 7.60198854e-01 -1.06510743e-02 3.38029525e+01] [ 1.65929765e-02 -1.70010906e-04 9.99862313e-01 1.91721655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26361786499997 meters 0.015804967808551205 Centerline is valid? [True, True] Translation: X:110.91, Y:33.82, Z:1.92 [[ 7.59377889e-01 -6.50528372e-01 -1.25721126e-02 1.10907058e+02] [ 6.50443244e-01 7.59481931e-01 -1.05253880e-02 3.38186060e+01] [ 1.63953559e-02 -1.84698786e-04 9.99865570e-01 1.91784163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29361786499997 meters 0.015836649073554372 Centerline is valid? [True, True] Translation: X:110.93, Y:33.84, Z:1.92 [[ 7.58452517e-01 -6.51608847e-01 -1.24775656e-02 1.10931295e+02] [ 6.51525060e-01 7.58555120e-01 -1.04511829e-02 3.38353218e+01] [ 1.62750045e-02 -2.02720715e-04 9.99867533e-01 1.91848540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32361786499997 meters 0.0162111324707652 Centerline is valid? [True, True] Translation: X:110.96, Y:33.85, Z:1.92 [[ 7.57699060e-01 -6.52492587e-01 -1.20647807e-02 1.10955277e+02] [ 6.52414287e-01 7.57795078e-01 -1.01103278e-02 3.38501432e+01] [ 1.57395454e-02 -2.10649485e-04 9.99876103e-01 1.91931408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35361786499998 meters 0.016112132065993313 Centerline is valid? [True, True] Translation: X:110.98, Y:33.87, Z:1.92 [[ 7.56186714e-01 -6.54260318e-01 -1.11843403e-02 1.10980216e+02] [ 6.54193206e-01 7.56269386e-01 -9.37362729e-03 3.38654414e+01] [ 1.45911665e-02 -2.28507015e-04 9.99893517e-01 1.92023157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38361786499998 meters 0.0162616466370429 Centerline is valid? [True, True] Translation: X:111.00, Y:33.88, Z:1.92 [[ 7.55481744e-01 -6.55077229e-01 -1.10072510e-02 1.11004046e+02] [ 6.55012248e-01 7.55561889e-01 -9.22967339e-03 3.38818876e+01] [ 1.43628082e-02 -2.37034494e-04 9.99896821e-01 1.92105409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41361786499998 meters 0.016388245700812865 Centerline is valid? [True, True] Translation: X:111.03, Y:33.90, Z:1.92 [[ 7.55083321e-01 -6.55535358e-01 -1.10713096e-02 1.11027527e+02] [ 6.55469597e-01 7.55164443e-01 -9.28826421e-03 3.38978941e+01] [ 1.44494449e-02 -2.43493449e-04 9.99895572e-01 1.92150940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44361786499998 meters 0.01666253427175907 Centerline is valid? [True, True] Translation: X:111.05, Y:33.91, Z:1.92 [[ 7.54673889e-01 -6.56008658e-01 -1.09527026e-02 1.11050224e+02] [ 6.55944314e-01 7.54753324e-01 -9.19115008e-03 3.39135494e+01] [ 1.42960627e-02 -2.48042010e-04 9.99897775e-01 1.92224295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47361786499998 meters 0.017532004098452358 Centerline is valid? [True, True] Translation: X:111.07, Y:33.93, Z:1.92 [[ 7.54505578e-01 -6.56196257e-01 -1.13050883e-02 1.11074706e+02] [ 6.56127692e-01 7.54590224e-01 -9.48928419e-03 3.39262101e+01] [ 1.47575419e-02 -2.57863661e-04 9.99891068e-01 1.92252772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50361786499998 meters 0.01659940264621471 Centerline is valid? [True, True] Translation: X:111.10, Y:33.94, Z:1.92 [[ 7.54470738e-01 -6.56241674e-01 -1.09896073e-02 1.11096213e+02] [ 6.56176842e-01 7.54550730e-01 -9.22758082e-03 3.39447599e+01] [ 1.43477393e-02 -2.49186069e-04 9.99897035e-01 1.92277402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53361786499998 meters 0.016623994781667414 Centerline is valid? [True, True] Translation: X:111.12, Y:33.96, Z:1.92 [[ 7.54527470e-01 -6.56178783e-01 -1.08490373e-02 1.11118033e+02] [ 6.56115519e-01 7.54605424e-01 -9.11475784e-03 3.39606470e+01] [ 1.41676531e-02 -2.40886599e-04 9.99899605e-01 1.92361133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56361786499997 meters 0.016553086247035602 Centerline is valid? [True, True] Translation: X:111.14, Y:33.98, Z:1.92 [[ 7.55074566e-01 -6.55554292e-01 -1.05342557e-02 1.11141183e+02] [ 6.55494537e-01 7.55148013e-01 -8.85385242e-03 3.39766426e+01] [ 1.37591032e-02 -2.19828306e-04 9.99905315e-01 1.92460971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59361786499997 meters 0.016521989296315327 Centerline is valid? [True, True] Translation: X:111.16, Y:33.99, Z:1.93 [[ 7.55132354e-01 -6.55499140e-01 -9.79823400e-03 1.11163079e+02] [ 6.55447434e-01 7.55195892e-01 -8.23564949e-03 3.39935361e+01] [ 1.27980472e-02 -2.03221944e-04 9.99918081e-01 1.92534231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62361786499997 meters 0.016611590292781434 Centerline is valid? [True, True] Translation: X:111.19, Y:34.01, Z:1.93 [[ 7.55389392e-01 -6.55208302e-01 -9.43119297e-03 1.11185676e+02] [ 6.55160314e-01 7.55448242e-01 -7.93203687e-03 3.40088407e+01] [ 1.23219146e-02 -1.87166840e-04 9.99924065e-01 1.92572359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65361786499997 meters 0.01640720686139792 Centerline is valid? [True, True] Translation: X:111.21, Y:34.03, Z:1.93 [[ 7.55310992e-01 -6.55295462e-01 -9.65214157e-03 1.11207641e+02] [ 6.55245191e-01 7.55372637e-01 -8.11902918e-03 3.40261469e+01] [ 1.26113266e-02 -1.92127367e-04 9.99920456e-01 1.92577756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68361786499997 meters 0.016072639235786963 Centerline is valid? [True, True] Translation: X:111.23, Y:34.04, Z:1.93 [[ 7.55305122e-01 -6.55299126e-01 -9.86043069e-03 1.11229649e+02] [ 6.55246603e-01 7.55369458e-01 -8.29880951e-03 3.40435728e+01] [ 1.28864708e-02 -1.92880388e-04 9.99916947e-01 1.92570815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71361786499997 meters 0.016438514145967975 Centerline is valid? [True, True] Translation: X:111.25, Y:34.06, Z:1.93 [[ 7.55281332e-01 -6.55327501e-01 -9.79676004e-03 1.11253641e+02] [ 6.55275589e-01 7.55344843e-01 -8.25052995e-03 3.40568914e+01] [ 1.28067313e-02 -1.88106460e-04 9.99917973e-01 1.92638157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74361786499998 meters 0.01600029426792088 Centerline is valid? [True, True] Translation: X:111.28, Y:34.07, Z:1.93 [[ 7.54886764e-01 -6.55779757e-01 -9.94402646e-03 1.11275405e+02] [ 6.55726294e-01 7.54952231e-01 -8.37592083e-03 3.40747516e+01] [ 1.30000243e-02 -1.97687856e-04 9.99915477e-01 1.92592678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77361786499998 meters 0.016077894136242502 Centerline is valid? [True, True] Translation: X:111.30, Y:34.09, Z:1.93 [[ 7.54556817e-01 -6.56154369e-01 -1.02690662e-02 1.11297903e+02] [ 6.56097321e-01 7.54626663e-01 -8.65475620e-03 3.40917244e+01] [ 1.34281672e-02 -2.07001521e-04 9.99909817e-01 1.92587050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80361786499998 meters 0.01632736974492868 Centerline is valid? [True, True] Translation: X:111.32, Y:34.11, Z:1.93 [[ 7.54111549e-01 -6.56659793e-01 -1.06624634e-02 1.11320265e+02] [ 6.56598260e-01 7.54186892e-01 -8.99207789e-03 3.41077699e+01] [ 1.39462262e-02 -2.19925148e-04 9.99902722e-01 1.92571523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83361786499998 meters 0.016346857684212124 Centerline is valid? [True, True] Translation: X:111.34, Y:34.12, Z:1.93 [[ 7.53339525e-01 -6.57542098e-01 -1.08604802e-02 1.11344302e+02] [ 6.57478319e-01 7.53417768e-01 -9.16122578e-03 3.41244106e+01] [ 1.42063704e-02 -2.39016790e-04 9.99899056e-01 1.92559943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86361786499998 meters 0.016457159401721332 Centerline is valid? [True, True] Translation: X:111.37, Y:34.14, Z:1.93 [[ 7.52936021e-01 -6.58002800e-01 -1.09390603e-02 1.11366577e+02] [ 6.57938079e-01 7.53015441e-01 -9.23197859e-03 3.41412918e+01] [ 1.43119490e-02 -2.46135062e-04 9.99897549e-01 1.92525717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89361786499998 meters 0.017096739518785507 Centerline is valid? [True, True] Translation: X:111.39, Y:34.16, Z:1.93 [[ 7.52569964e-01 -6.58415450e-01 -1.12935873e-02 1.11389809e+02] [ 6.58346424e-01 7.52654655e-01 -9.53710925e-03 3.41569079e+01] [ 1.47795511e-02 -2.57750842e-04 9.99890743e-01 1.92599605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92361786499998 meters 0.016338576495727068 Centerline is valid? [True, True] Translation: X:111.41, Y:34.17, Z:1.93 [[ 7.52448419e-01 -6.58558260e-01 -1.10632259e-02 1.11412106e+02] [ 6.58492020e-01 7.52529702e-01 -9.34378068e-03 3.41744054e+01] [ 1.44788300e-02 -2.54332973e-04 9.99895144e-01 1.92633237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95361786499997 meters 0.016569239898824733 Centerline is valid? [True, True] Translation: X:111.43, Y:34.19, Z:1.93 [[ 7.52545990e-01 -6.58451736e-01 -1.07630865e-02 1.11434030e+02] [ 6.58388954e-01 7.52622916e-01 -9.09572442e-03 3.41908348e+01] [ 1.40896411e-02 -2.41346354e-04 9.99900707e-01 1.92678749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98361786499997 meters 0.01644455457327085 Centerline is valid? [True, True] Translation: X:111.46, Y:34.21, Z:1.93 [[ 7.52572662e-01 -6.58421755e-01 -1.07322532e-02 1.11455583e+02] [ 6.58359305e-01 7.52649145e-01 -9.07140161e-03 3.42088885e+01] [ 1.40504294e-02 -2.38789923e-04 9.99901259e-01 1.92705843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.013617865 meters 0.01681927766963975 Centerline is valid? [True, True] Translation: X:111.48, Y:34.23, Z:1.93 [[ 7.52865451e-01 -6.58088299e-01 -1.06491335e-02 1.11477467e+02] [ 6.58026702e-01 7.52940728e-01 -9.00665712e-03 3.42258202e+01] [ 1.39453420e-02 -2.26613199e-04 9.99902733e-01 1.92728805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043617865 meters 0.016404734526099064 Centerline is valid? [True, True] Translation: X:111.50, Y:34.24, Z:1.93 [[ 7.53351693e-01 -6.57529401e-01 -1.07848741e-02 1.11500009e+02] [ 6.57466141e-01 7.53428855e-01 -9.12321001e-03 3.42443480e+01] [ 1.41244142e-02 -2.17703878e-04 9.99900222e-01 1.92695120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.073617865 meters 0.016382899439709345 Centerline is valid? [True, True] Translation: X:111.52, Y:34.26, Z:1.93 [[ 7.53436515e-01 -6.57429707e-01 -1.09360833e-02 1.11522314e+02] [ 6.57364589e-01 7.53515848e-01 -9.25550079e-03 3.42616883e+01] [ 1.43253532e-02 -2.15561606e-04 9.99897364e-01 1.92736229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103617865 meters 0.016907204774643685 Centerline is valid? [True, True] Translation: X:111.54, Y:34.28, Z:1.93 [[ 7.53481238e-01 -6.57372034e-01 -1.13151634e-02 1.11544906e+02] [ 6.57302231e-01 7.53566162e-01 -9.58205445e-03 3.42770909e+01] [ 1.48256989e-02 -2.17583916e-04 9.99890070e-01 1.92791387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13361786499996 meters 0.016610745079605645 Centerline is valid? [True, True] Translation: X:111.57, Y:34.29, Z:1.93 [[ 7.53317535e-01 -6.57550054e-01 -1.18582794e-02 1.11567596e+02] [ 6.57473374e-01 7.53410827e-01 -1.00443076e-02 3.42941512e+01] [ 1.55387911e-02 -2.29949884e-04 9.99879239e-01 1.92799272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16361786499996 meters 0.016655745193772005 Centerline is valid? [True, True] Translation: X:111.59, Y:34.31, Z:1.93 [[ 7.52946613e-01 -6.57970501e-01 -1.20920450e-02 1.11590148e+02] [ 6.57890734e-01 7.53043666e-01 -1.02479090e-02 3.43116050e+01] [ 1.58486597e-02 -2.39115992e-04 9.99874374e-01 1.92827284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19361786499996 meters 0.01686267072683057 Centerline is valid? [True, True] Translation: X:111.61, Y:34.33, Z:1.93 [[ 7.52659508e-01 -6.58289378e-01 -1.25999687e-02 1.11612395e+02] [ 6.58202715e-01 7.52764924e-01 -1.06843047e-02 3.43288864e+01] [ 1.65181788e-02 -2.51690076e-04 9.99863534e-01 1.92829067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22361786499997 meters 0.01698614255245509 Centerline is valid? [True, True] Translation: X:111.63, Y:34.34, Z:1.93 [[ 7.52422165e-01 -6.58552478e-01 -1.30199649e-02 1.11634803e+02] [ 6.58459879e-01 7.52534761e-01 -1.10463559e-02 3.43443350e+01] [ 1.70725812e-02 -2.61601471e-04 9.99854219e-01 1.92796192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25361786499997 meters 0.01687511218336216 Centerline is valid? [True, True] Translation: X:111.66, Y:34.36, Z:1.93 [[ 7.51981862e-01 -6.59053479e-01 -1.31069319e-02 1.11656750e+02] [ 6.58959668e-01 7.52096029e-01 -1.11228650e-02 3.43615806e+01] [ 1.71882343e-02 -2.72746761e-04 9.99852234e-01 1.92832291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28361786499997 meters 0.017075678979130444 Centerline is valid? [True, True] Translation: X:111.68, Y:34.38, Z:1.93 [[ 7.51528023e-01 -6.59572051e-01 -1.30514698e-02 1.11679888e+02] [ 6.59479010e-01 7.51641292e-01 -1.10816537e-02 3.43787852e+01] [ 1.71191726e-02 -2.78997114e-04 9.99853417e-01 1.92876833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31361786499997 meters 0.017159635010407157 Centerline is valid? [True, True] Translation: X:111.70, Y:34.40, Z:1.93 [[ 7.50996942e-01 -6.60179513e-01 -1.29074940e-02 1.11703220e+02] [ 6.60088518e-01 7.51107801e-01 -1.09644606e-02 3.43961307e+01] [ 1.69334317e-02 -2.85812158e-04 9.99856578e-01 1.92922251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34361786499997 meters 0.01756810785739113 Centerline is valid? [True, True] Translation: X:111.73, Y:34.41, Z:1.93 [[ 7.50535703e-01 -6.60701821e-01 -1.30101039e-02 1.11726115e+02] [ 6.60609365e-01 7.50648397e-01 -1.10566871e-02 3.44123702e+01] [ 1.70711869e-02 -2.96158027e-04 9.99854233e-01 1.92957082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37361786499997 meters 0.018181867210828984 Centerline is valid? [True, True] Translation: X:111.75, Y:34.43, Z:1.93 [[ 7.48929754e-01 -6.62518862e-01 -1.31522172e-02 1.11751292e+02] [ 6.62424620e-01 7.49045153e-01 -1.11794890e-02 3.44277198e+01] [ 1.72582269e-02 -3.39700599e-04 9.99851008e-01 1.92999065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40361786499997 meters 0.01871137288235204 Centerline is valid? [True, True] Translation: X:111.77, Y:34.44, Z:1.93 [[ 7.48161827e-01 -6.63386860e-01 -1.31054864e-02 1.11774574e+02] [ 6.63293335e-01 7.48276518e-01 -1.11446857e-02 3.44439615e+01] [ 1.71997658e-02 -3.54753385e-04 9.99852010e-01 1.93029935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43361786499997 meters 0.019428348864004193 Centerline is valid? [True, True] Translation: X:111.80, Y:34.46, Z:1.93 [[ 7.47114158e-01 -6.64565413e-01 -1.31623549e-02 1.11798421e+02] [ 6.64471225e-01 7.47229996e-01 -1.11948622e-02 3.44583626e+01] [ 1.72750246e-02 -3.82166101e-04 9.99850703e-01 1.93060378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46361786499997 meters 0.018014273137852456 Centerline is valid? [True, True] Translation: X:111.82, Y:34.48, Z:1.93 [[ 7.46839211e-01 -6.64881001e-01 -1.28237361e-02 1.11818582e+02] [ 6.64791613e-01 7.46949203e-01 -1.09086723e-02 3.44777930e+01] [ 1.68316484e-02 -3.78088021e-04 9.99858266e-01 1.93128326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49361786499998 meters 0.01782645107784135 Centerline is valid? [True, True] Translation: X:111.84, Y:34.50, Z:1.93 [[ 7.46568894e-01 -6.65188060e-01 -1.26384753e-02 1.11840201e+02] [ 6.65101184e-01 7.46675769e-01 -1.07569121e-02 3.44951062e+01] [ 1.65922128e-02 -3.75088927e-04 9.99862269e-01 1.93198226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52361786499998 meters 0.01836151633018009 Centerline is valid? [True, True] Translation: X:111.86, Y:34.51, Z:1.93 [[ 7.46861214e-01 -6.64862356e-01 -1.25049763e-02 1.11862580e+02] [ 6.64777164e-01 7.46965808e-01 -1.06491198e-02 3.45115257e+01] [ 1.64209886e-02 -3.59608148e-04 9.99865102e-01 1.93246358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55361786499998 meters 0.01926470167929735 Centerline is valid? [True, True] Translation: X:111.89, Y:34.53, Z:1.93 [[ 7.47627089e-01 -6.63999909e-01 -1.25640989e-02 1.11885915e+02] [ 6.63913758e-01 7.47732575e-01 -1.07013156e-02 3.45265072e+01] [ 1.65002587e-02 -3.40884672e-04 9.99863803e-01 1.93256525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58361786499998 meters 0.017238274110249564 Centerline is valid? [True, True] Translation: X:111.90, Y:34.55, Z:1.93 [[ 7.48244397e-01 -6.63306254e-01 -1.24553399e-02 1.11904800e+02] [ 6.63221449e-01 7.48347988e-01 -1.06112749e-02 3.45486564e+01] [ 1.63594535e-02 -3.20821526e-04 9.99866124e-01 1.93300139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61361786499998 meters 0.017563535986452362 Centerline is valid? [True, True] Translation: X:111.93, Y:34.57, Z:1.93 [[ 7.49155050e-01 -6.62282616e-01 -1.21839436e-02 1.11925990e+02] [ 6.62201250e-01 7.49254065e-01 -1.03851143e-02 3.45660385e+01] [ 1.60067499e-02 -2.88161831e-04 9.99871842e-01 1.93344590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64361786499998 meters 0.017080403050524412 Centerline is valid? [True, True] Translation: X:111.95, Y:34.59, Z:1.93 [[ 7.50743995e-01 -6.60485228e-01 -1.19464333e-02 1.11947158e+02] [ 6.60406751e-01 7.50839000e-01 -1.01842646e-02 3.45855206e+01] [ 1.56964044e-02 -2.43729753e-04 9.99876774e-01 1.93458830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67361786499998 meters 0.016692839605897625 Centerline is valid? [True, True] Translation: X:111.97, Y:34.61, Z:1.94 [[ 7.51228949e-01 -6.59933885e-01 -1.19303727e-02 1.11968016e+02] [ 6.59855475e-01 7.51323643e-01 -1.01753115e-02 3.46054152e+01] [ 1.56786039e-02 -2.28333104e-04 9.99877057e-01 1.93532826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70361786499998 meters 0.01646938016074311 Centerline is valid? [True, True] Translation: X:111.99, Y:34.62, Z:1.94 [[ 7.51806132e-01 -6.59275806e-01 -1.19562607e-02 1.11989758e+02] [ 6.59196894e-01 7.51901168e-01 -1.02023289e-02 3.46247949e+01] [ 1.57160750e-02 -2.11356472e-04 9.99876473e-01 1.93569847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73361786499999 meters 0.01646938016074311 Centerline is valid? [True, True] Translation: X:112.01, Y:34.64, Z:1.94 [[ 7.51625797e-01 -6.59481438e-01 -1.19538344e-02 1.12010692e+02] [ 6.59402507e-01 7.51720818e-01 -1.02051710e-02 3.46427535e+01] [ 1.57160670e-02 -2.11918614e-04 9.99876473e-01 1.93614954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763617865 meters 0.016274509248001574 Centerline is valid? [True, True] Translation: X:112.03, Y:34.66, Z:1.94 [[ 7.52565343e-01 -6.58398376e-01 -1.25292501e-02 1.12032180e+02] [ 6.58311411e-01 7.52669609e-01 -1.07026204e-02 3.46627279e+01] [ 1.64769737e-02 -1.93727147e-04 9.99864227e-01 1.93614044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.793617865 meters 0.01627972098658578 Centerline is valid? [True, True] Translation: X:112.05, Y:34.68, Z:1.94 [[ 7.52915795e-01 -6.57993961e-01 -1.27181809e-02 1.12052921e+02] [ 6.57904206e-01 7.53023182e-01 -1.08693339e-02 3.46813359e+01] [ 1.67290411e-02 -1.83651510e-04 9.99860043e-01 1.93624979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823617865 meters 0.016227361451239587 Centerline is valid? [True, True] Translation: X:112.07, Y:34.70, Z:1.94 [[ 7.53092903e-01 -6.57788491e-01 -1.28600675e-02 1.12073455e+02] [ 6.57696589e-01 7.53202676e-01 -1.09966759e-02 3.47001125e+01] [ 1.69197241e-02 -1.76503943e-04 9.99856836e-01 1.93666576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.853617865 meters 0.016106168414622816 Centerline is valid? [True, True] Translation: X:112.09, Y:34.72, Z:1.94 [[ 7.53102769e-01 -6.57781197e-01 -1.26537206e-02 1.12093101e+02] [ 6.57692124e-01 7.53209047e-01 -1.08259781e-02 3.47189844e+01] [ 1.66520216e-02 -1.69178304e-04 9.99861331e-01 1.93689072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88361786499996 meters 0.016169504345044123 Centerline is valid? [True, True] Translation: X:112.11, Y:34.74, Z:1.94 [[ 7.52878058e-01 -6.58038725e-01 -1.26359514e-02 1.12113649e+02] [ 6.57949895e-01 7.52984068e-01 -1.08133679e-02 3.47374027e+01] [ 1.66302850e-02 -1.72675473e-04 9.99861692e-01 1.93728697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91361786499996 meters 0.016076901065979973 Centerline is valid? [True, True] Translation: X:112.13, Y:34.76, Z:1.94 [[ 7.52419420e-01 -6.58560654e-01 -1.27624617e-02 1.12134403e+02] [ 6.58470012e-01 7.52527628e-01 -1.09275959e-02 3.47562027e+01] [ 1.68005898e-02 -1.81562878e-04 9.99858844e-01 1.93790870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94361786499996 meters 0.016236074624425046 Centerline is valid? [True, True] Translation: X:112.16, Y:34.77, Z:1.94 [[ 7.51267875e-01 -6.59885179e-01 -1.21708817e-02 1.12156645e+02] [ 6.59802830e-01 7.51366430e-01 -1.04266062e-02 3.47749009e+01] [ 1.60251549e-02 -1.97207903e-04 9.99871570e-01 1.93854953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97361786499997 meters 0.01681800990235417 Centerline is valid? [True, True] Translation: X:112.18, Y:34.79, Z:1.94 [[ 7.50547804e-01 -6.60701596e-01 -1.23042780e-02 1.12179415e+02] [ 6.60617456e-01 7.50648623e-01 -1.05461360e-02 3.47914344e+01] [ 1.62040382e-02 -2.13041573e-04 9.99868683e-01 1.93901155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00361786499997 meters 0.017203426454611714 Centerline is valid? [True, True] Translation: X:112.20, Y:34.81, Z:1.94 [[ 7.49523243e-01 -6.61862750e-01 -1.23535032e-02 1.12201397e+02] [ 6.61778063e-01 7.49625002e-01 -1.05901670e-02 3.48084892e+01] [ 1.62697319e-02 -2.37701100e-04 9.99867611e-01 1.93923349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03361786499997 meters 0.016915597097712357 Centerline is valid? [True, True] Translation: X:112.22, Y:34.83, Z:1.94 [[ 7.48363826e-01 -6.63176224e-01 -1.22016579e-02 1.12222999e+02] [ 6.63093754e-01 7.48463244e-01 -1.04616041e-02 3.48281270e+01] [ 1.60703796e-02 -2.61757063e-04 9.99870829e-01 1.93948585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06361786499997 meters 0.0176512973621474 Centerline is valid? [True, True] Translation: X:112.25, Y:34.84, Z:1.94 [[ 7.46223997e-01 -6.65572194e-01 -1.27828083e-02 1.12245538e+02] [ 6.65481940e-01 7.46333403e-01 -1.09653443e-02 3.48445076e+01] [ 1.68384651e-02 -3.24125004e-04 9.99858170e-01 1.93911621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09361786499997 meters 0.01771594571152294 Centerline is valid? [True, True] Translation: X:112.27, Y:34.86, Z:1.94 [[ 7.44904608e-01 -6.67040029e-01 -1.32183624e-02 1.12267683e+02] [ 6.66943694e-01 7.45021788e-01 -1.13421238e-02 3.48630146e+01] [ 1.74136186e-02 -3.67103167e-04 9.99848304e-01 1.93958523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12361786499997 meters 0.018187637972738913 Centerline is valid? [True, True] Translation: X:112.29, Y:34.88, Z:1.94 [[ 7.43982305e-01 -6.68057996e-01 -1.37420768e-02 1.12289741e+02] [ 6.67953948e-01 7.44109100e-01 -1.17970712e-02 3.48803195e+01] [ 1.81067322e-02 -4.02262228e-04 9.99835979e-01 1.93926882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15361786499997 meters 0.01875838752880515 Centerline is valid? [True, True] Translation: X:112.31, Y:34.90, Z:1.94 [[ 7.42511002e-01 -6.69687636e-01 -1.39958033e-02 1.12312086e+02] [ 6.69579952e-01 7.42642761e-01 -1.20173865e-02 3.48981609e+01] [ 1.84417772e-02 -4.48267585e-04 9.99829835e-01 1.93917468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18361786499997 meters 0.018855810161656987 Centerline is valid? [True, True] Translation: X:112.33, Y:34.92, Z:1.94 [[ 7.42120597e-01 -6.70130341e-01 -1.35035604e-02 1.12332926e+02] [ 6.70030076e-01 7.42243312e-01 -1.16001468e-02 3.49167369e+01] [ 1.77965378e-02 -4.39083714e-04 9.99841533e-01 1.94000372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21361786499997 meters 0.018792468689580545 Centerline is valid? [True, True] Translation: X:112.35, Y:34.94, Z:1.94 [[ 7.41877186e-01 -6.70401676e-01 -1.34102114e-02 1.12354017e+02] [ 6.70302727e-01 7.41998249e-01 -1.15261874e-02 3.49358057e+01] [ 1.76775287e-02 -4.37885839e-04 9.99843644e-01 1.94045906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24361786499998 meters 0.019427614080697247 Centerline is valid? [True, True] Translation: X:112.38, Y:34.95, Z:1.94 [[ 7.41933843e-01 -6.70339061e-01 -1.34058209e-02 1.12375121e+02] [ 6.70240058e-01 7.42054821e-01 -1.15285798e-02 3.49522948e+01] [ 1.76759114e-02 -4.31674689e-04 9.99843676e-01 1.94129150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27361786499998 meters 0.018787897195144076 Centerline is valid? [True, True] Translation: X:112.40, Y:34.97, Z:1.94 [[ 7.41759445e-01 -6.70541108e-01 -1.29440165e-02 1.12395060e+02] [ 6.70448770e-01 7.41872258e-01 -1.11355211e-02 3.49718659e+01] [ 1.70696314e-02 -4.18422009e-04 9.99854216e-01 1.94184160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30361786499998 meters 0.018896757456877182 Centerline is valid? [True, True] Translation: X:112.42, Y:34.99, Z:1.94 [[ 7.41923829e-01 -6.70358830e-01 -1.29642153e-02 1.12415545e+02] [ 6.70266074e-01 7.42036974e-01 -1.11588743e-02 3.49898048e+01] [ 1.71003770e-02 -4.10438909e-04 9.99853694e-01 1.94291504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33361786499998 meters 0.019370743540415826 Centerline is valid? [True, True] Translation: X:112.44, Y:35.01, Z:1.94 [[ 7.42562098e-01 -6.69650072e-01 -1.30503173e-02 1.12436398e+02] [ 6.69555927e-01 7.42676662e-01 -1.12354884e-02 3.50082564e+01] [ 1.72160117e-02 -3.94869478e-04 9.99851716e-01 1.94313505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36361786499998 meters 0.018857660003342783 Centerline is valid? [True, True] Translation: X:112.46, Y:35.03, Z:1.94 [[ 7.42910279e-01 -6.69256154e-01 -1.34357051e-02 1.12457065e+02] [ 6.69156261e-01 7.43031658e-01 -1.15695321e-02 3.50287742e+01] [ 1.77261348e-02 -3.95461830e-04 9.99842802e-01 1.94340959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39361786499998 meters 0.01882747848795053 Centerline is valid? [True, True] Translation: X:112.48, Y:35.05, Z:1.94 [[ 7.43556738e-01 -6.68533055e-01 -1.36722607e-02 1.12477705e+02] [ 6.68429397e-01 7.43682331e-01 -1.17784691e-02 3.50477702e+01] [ 1.80421146e-02 -3.80980950e-04 9.99837155e-01 1.94314221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42361786499998 meters 0.01825211160326177 Centerline is valid? [True, True] Translation: X:112.50, Y:35.07, Z:1.94 [[ 7.44531295e-01 -6.67423273e-01 -1.48096334e-02 1.12498108e+02] [ 6.67301374e-01 7.44678473e-01 -1.27611573e-02 3.50688160e+01] [ 1.95455086e-02 -3.81407750e-04 9.99808896e-01 1.94239445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45361786499998 meters 0.018326602831285475 Centerline is valid? [True, True] Translation: X:112.52, Y:35.09, Z:1.94 [[ 7.45019957e-01 -6.66866300e-01 -1.53167076e-02 1.12519337e+02] [ 6.66735675e-01 7.45177292e-01 -1.32039065e-02 3.50875759e+01] [ 2.02189030e-02 -3.75021476e-04 9.99795507e-01 1.94227903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48361786499999 meters 0.01824446558923574 Centerline is valid? [True, True] Translation: X:112.54, Y:35.11, Z:1.94 [[ 7.45504789e-01 -6.66311852e-01 -1.58469440e-02 1.12541085e+02] [ 6.66171808e-01 7.45673105e-01 -1.36653939e-02 3.51069190e+01] [ 2.09220538e-02 -3.69170785e-04 9.99781042e-01 1.94203195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.513617865 meters 0.018010050653224658 Centerline is valid? [True, True] Translation: X:112.56, Y:35.13, Z:1.94 [[ 7.46520227e-01 -6.65165121e-01 -1.62145809e-02 1.12561865e+02] [ 6.65018093e-01 7.46696221e-01 -1.39889115e-02 3.51265784e+01] [ 2.14123023e-02 -3.39984304e-04 9.99770673e-01 1.94287857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543617865 meters 0.017092022134617222 Centerline is valid? [True, True] Translation: X:112.58, Y:35.15, Z:1.94 [[ 7.47079226e-01 -6.64538619e-01 -1.61571592e-02 1.12582322e+02] [ 6.64392347e-01 7.47253855e-01 -1.39458057e-02 3.51476330e+01] [ 2.13410260e-02 -3.16071218e-04 9.99772204e-01 1.94431099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.573617865 meters 0.017307564880096722 Centerline is valid? [True, True] Translation: X:112.60, Y:35.16, Z:1.94 [[ 7.47324904e-01 -6.64263550e-01 -1.61066446e-02 1.12603075e+02] [ 6.64118000e-01 7.47498391e-01 -1.39081737e-02 3.51645491e+01] [ 2.12783837e-02 -3.02787996e-04 9.99773544e-01 1.94490762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603617865 meters 0.01717670333979772 Centerline is valid? [True, True] Translation: X:112.62, Y:35.18, Z:1.95 [[ 7.46984698e-01 -6.64645893e-01 -1.61151327e-02 1.12623877e+02] [ 6.64500188e-01 7.47158444e-01 -1.39197708e-02 3.51827077e+01] [ 2.12922760e-02 -3.10652879e-04 9.99773246e-01 1.94643613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63361786499996 meters 0.01733789449691975 Centerline is valid? [True, True] Translation: X:112.65, Y:35.20, Z:1.95 [[ 7.46602445e-01 -6.65074608e-01 -1.61417051e-02 1.12645719e+02] [ 6.64928356e-01 7.46776851e-01 -1.39504634e-02 3.52009644e+01] [ 2.13323507e-02 -3.17627366e-04 9.99772389e-01 1.94705891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66361786499996 meters 0.01739221491800242 Centerline is valid? [True, True] Translation: X:112.67, Y:35.22, Z:1.95 [[ 7.46022483e-01 -6.65730043e-01 -1.59362795e-02 1.12667717e+02] [ 6.65587486e-01 7.46192605e-01 -1.37802426e-02 3.52190958e+01] [ 2.10654554e-02 -3.26617415e-04 9.99778045e-01 1.94754096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69361786499996 meters 0.017563685145020297 Centerline is valid? [True, True] Translation: X:112.69, Y:35.24, Z:1.95 [[ 7.45442750e-01 -6.66387795e-01 -1.55696195e-02 1.12689278e+02] [ 6.66251732e-01 7.45605255e-01 -1.34697224e-02 3.52365455e+01] [ 2.05848487e-02 -3.32379040e-04 9.99788054e-01 1.94846725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72361786499997 meters 0.017537435031982254 Centerline is valid? [True, True] Translation: X:112.71, Y:35.26, Z:1.95 [[ 7.44895022e-01 -6.67006417e-01 -1.52920166e-02 1.12711488e+02] [ 6.66875153e-01 7.45051894e-01 -1.32365223e-02 3.52553245e+01] [ 2.02221912e-02 -3.38046334e-04 9.99795453e-01 1.94946298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75361786499997 meters 0.018132954389246215 Centerline is valid? [True, True] Translation: X:112.73, Y:35.27, Z:1.95 [[ 7.43763448e-01 -6.68273322e-01 -1.50565656e-02 1.12733594e+02] [ 6.68146218e-01 7.43915745e-01 -1.30382197e-02 3.52720477e+01] [ 1.99139106e-02 -3.62636138e-04 9.99801633e-01 1.95018261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78361786499997 meters 0.01840318075267024 Centerline is valid? [True, True] Translation: X:112.76, Y:35.29, Z:1.95 [[ 7.42946128e-01 -6.69188000e-01 -1.47807632e-02 1.12756519e+02] [ 6.69065637e-01 7.43093048e-01 -1.28021613e-02 3.52901820e+01] [ 1.95505351e-02 -3.77984543e-04 9.99808799e-01 1.95086425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81361786499997 meters 0.01855883730306436 Centerline is valid? [True, True] Translation: X:112.78, Y:35.31, Z:1.95 [[ 7.42147195e-01 -6.70078283e-01 -1.45820358e-02 1.12779233e+02] [ 6.69959247e-01 7.42290335e-01 -1.26359205e-02 3.53086887e+01] [ 1.92911601e-02 -3.91656765e-04 9.99813832e-01 1.95159026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84361786499997 meters 0.0194843129185405 Centerline is valid? [True, True] Translation: X:112.80, Y:35.32, Z:1.95 [[ 7.40400573e-01 -6.72021587e-01 -1.39275667e-02 1.12802010e+02] [ 6.71913246e-01 7.40531438e-01 -1.20738743e-02 3.53246796e+01] [ 1.84277051e-02 -4.18613099e-04 9.99830108e-01 1.95277798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87361786499997 meters 0.019724902120714708 Centerline is valid? [True, True] Translation: X:112.82, Y:35.34, Z:1.95 [[ 7.39771517e-01 -6.72722092e-01 -1.35310657e-02 1.12823998e+02] [ 6.72619915e-01 7.39895133e-01 -1.17320570e-02 3.53426209e+01] [ 1.79039836e-02 -4.22222631e-04 9.99839622e-01 1.95350438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90361786499997 meters 0.019883860778731895 Centerline is valid? [True, True] Translation: X:112.85, Y:35.36, Z:1.95 [[ 7.39220731e-01 -6.73328274e-01 -1.34813497e-02 1.12845710e+02] [ 6.73226913e-01 7.39343525e-01 -1.16908777e-02 3.53608949e+01] [ 1.78391471e-02 -4.33868251e-04 9.99840776e-01 1.95438389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93361786499997 meters 0.019332654164673405 Centerline is valid? [True, True] Translation: X:112.87, Y:35.38, Z:1.95 [[ 7.39334726e-01 -6.73201457e-01 -1.35632267e-02 1.12865745e+02] [ 6.73098797e-01 7.39459000e-01 -1.17642190e-02 3.53803624e+01] [ 1.79491394e-02 -4.31695956e-04 9.99838808e-01 1.95478252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96361786499997 meters 0.01918909600647723 Centerline is valid? [True, True] Translation: X:112.89, Y:35.40, Z:1.95 [[ 7.39632069e-01 -6.72868434e-01 -1.38734312e-02 1.12886768e+02] [ 6.72760846e-01 7.39762047e-01 -1.20398375e-02 3.53996598e+01] [ 1.83642644e-02 -4.28451398e-04 9.99831271e-01 1.95481680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99361786499998 meters 0.019129322474295725 Centerline is valid? [True, True] Translation: X:112.91, Y:35.42, Z:1.95 [[ 7.40289876e-01 -6.72141179e-01 -1.40404426e-02 1.12907640e+02] [ 6.72030754e-01 7.40422897e-01 -1.21901780e-02 3.54186362e+01] [ 1.85893858e-02 -4.11343897e-04 9.99827118e-01 1.95478613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02361786499998 meters 0.01858315266625632 Centerline is valid? [True, True] Translation: X:112.93, Y:35.44, Z:1.95 [[ 7.40781415e-01 -6.71586659e-01 -1.46374495e-02 1.12928049e+02] [ 6.71466479e-01 7.40925900e-01 -1.27113336e-02 3.54386880e+01] [ 1.93820275e-02 -4.12236926e-04 9.99812066e-01 1.95474628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05361786499998 meters 0.01895534837306983 Centerline is valid? [True, True] Translation: X:112.95, Y:35.46, Z:1.95 [[ 7.41880417e-01 -6.70348125e-01 -1.57110944e-02 1.12949160e+02] [ 6.70209263e-01 7.42046649e-01 -1.36497325e-02 3.54572136e+01] [ 2.08084375e-02 -4.03251815e-04 9.99783400e-01 1.95331028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08361786499998 meters 0.017877189078372865 Centerline is valid? [True, True] Translation: X:112.97, Y:35.48, Z:1.95 [[ 7.42298566e-01 -6.69873862e-01 -1.61817141e-02 1.12968566e+02] [ 6.69726367e-01 7.42474815e-01 -1.40621083e-02 3.54786230e+01] [ 2.14343540e-02 -3.99037772e-04 9.99770178e-01 1.95393001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11361786499998 meters 0.018196552423730642 Centerline is valid? [True, True] Translation: X:112.99, Y:35.50, Z:1.95 [[ 7.42934984e-01 -6.69163658e-01 -1.63587194e-02 1.12989412e+02] [ 6.69012618e-01 7.43114968e-01 -1.42218641e-02 3.54976096e+01] [ 2.16731638e-02 -3.78269316e-04 9.99765038e-01 1.95336890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14361786499998 meters 0.018044469867399444 Centerline is valid? [True, True] Translation: X:113.01, Y:35.52, Z:1.95 [[ 7.42785891e-01 -6.69331353e-01 -1.62683720e-02 1.13010076e+02] [ 6.69181937e-01 7.42963927e-01 -1.41470314e-02 3.55168243e+01] [ 2.15558653e-02 -3.78285357e-04 9.99767574e-01 1.95418600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17361786499998 meters 0.0184353931481734 Centerline is valid? [True, True] Translation: X:113.03, Y:35.53, Z:1.96 [[ 7.42675575e-01 -6.69458627e-01 -1.60666658e-02 1.13031144e+02] [ 6.69312783e-01 7.42849250e-01 -1.39782246e-02 3.55338317e+01] [ 2.12929537e-02 -3.72338803e-04 9.99773210e-01 1.95500643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20361786499998 meters 0.01835418374857842 Centerline is valid? [True, True] Translation: X:113.05, Y:35.55, Z:1.96 [[ 7.41980045e-01 -6.70245952e-01 -1.53615273e-02 1.13052935e+02] [ 6.70112723e-01 7.42138951e-01 -1.33684369e-02 3.55527741e+01] [ 2.03605285e-02 -3.74841467e-04 9.99792633e-01 1.95649582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23361786499999 meters 0.01873431413849596 Centerline is valid? [True, True] Translation: X:113.07, Y:35.57, Z:1.96 [[ 7.41341925e-01 -6.70962561e-01 -1.48792323e-02 1.13074576e+02] [ 6.70837606e-01 7.41491132e-01 -1.29540780e-02 3.55703008e+01] [ 1.97245201e-02 -3.78147444e-04 9.99805381e-01 1.95741173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263617865 meters 0.01863639371861191 Centerline is valid? [True, True] Translation: X:113.10, Y:35.59, Z:1.96 [[ 7.40531550e-01 -6.71872992e-01 -1.41317159e-02 1.13095852e+02] [ 6.71760397e-01 7.40666280e-01 -1.23057494e-02 3.55893928e+01] [ 1.87347862e-02 -3.80331394e-04 9.99824416e-01 1.95829331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.293617865 meters 0.019381949529589396 Centerline is valid? [True, True] Translation: X:113.12, Y:35.61, Z:1.96 [[ 7.39136862e-01 -6.73410185e-01 -1.39793456e-02 1.13118268e+02] [ 6.73300180e-01 7.39268932e-01 -1.21784432e-02 3.56059487e+01] [ 1.85355836e-02 -4.10759590e-04 9.99828117e-01 1.95912518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323617865 meters 0.02064282890645736 Centerline is valid? [True, True] Translation: X:113.14, Y:35.62, Z:1.96 [[ 7.38572990e-01 -6.74031041e-01 -1.38597985e-02 1.13141203e+02] [ 6.73922981e-01 7.38702902e-01 -1.20763389e-02 3.56222354e+01] [ 1.83781007e-02 -4.21178978e-04 9.99831020e-01 1.95918302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35361786499996 meters 0.019545333648400304 Centerline is valid? [True, True] Translation: X:113.16, Y:35.64, Z:1.96 [[ 7.37790458e-01 -6.74889402e-01 -1.37671504e-02 1.13161622e+02] [ 6.74782888e-01 7.37918765e-01 -1.19979679e-02 3.56433934e+01] [ 1.82563399e-02 -4.37851279e-04 9.99833243e-01 1.95975397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38361786499996 meters 0.021171523010927642 Centerline is valid? [True, True] Translation: X:113.18, Y:35.66, Z:1.96 [[ 7.37378678e-01 -6.75334039e-01 -1.40221787e-02 1.13184810e+02] [ 6.75223520e-01 7.37511851e-01 -1.22256781e-02 3.56591641e+01] [ 1.85979396e-02 -4.53150478e-04 9.99826941e-01 1.95967525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41361786499996 meters 0.019783415583184184 Centerline is valid? [True, True] Translation: X:113.20, Y:35.68, Z:1.96 [[ 7.36781331e-01 -6.75990355e-01 -1.37952817e-02 1.13204771e+02] [ 6.75883456e-01 7.36910325e-01 -1.20302251e-02 3.56804663e+01] [ 1.82982017e-02 -4.60357401e-04 9.99832468e-01 1.95961646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44361786499996 meters 0.01979996813801533 Centerline is valid? [True, True] Translation: X:113.23, Y:35.70, Z:1.96 [[ 7.36559747e-01 -6.76232307e-01 -1.37697486e-02 1.13226148e+02] [ 6.76125739e-01 7.36688302e-01 -1.20137430e-02 3.56991565e+01] [ 1.82680938e-02 -4.61241946e-04 9.99833018e-01 1.96003709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47361786499997 meters 0.020104306037307392 Centerline is valid? [True, True] Translation: X:113.25, Y:35.72, Z:1.96 [[ 7.36669740e-01 -6.76105923e-01 -1.40880855e-02 1.13247087e+02] [ 6.75994229e-01 7.36804292e-01 -1.22978367e-02 3.57166835e+01] [ 1.86948021e-02 -4.64020348e-04 9.99825129e-01 1.96028617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50361786499997 meters 0.01890646409887521 Centerline is valid? [True, True] Translation: X:113.27, Y:35.74, Z:1.96 [[ 7.37226407e-01 -6.75504246e-01 -1.38288789e-02 1.13267520e+02] [ 6.75396463e-01 7.37355967e-01 -1.20745931e-02 3.57380028e+01] [ 1.83532452e-02 -4.38267025e-04 9.99831469e-01 1.96101780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53361786499997 meters 0.019442824168574013 Centerline is valid? [True, True] Translation: X:113.29, Y:35.76, Z:1.96 [[ 7.37580964e-01 -6.75113607e-01 -1.39978163e-02 1.13289508e+02] [ 6.75003007e-01 7.37713652e-01 -1.22273450e-02 3.57553640e+01] [ 1.85812271e-02 -4.29911212e-04 9.99827262e-01 1.96151151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56361786499997 meters 0.01927780708919808 Centerline is valid? [True, True] Translation: X:113.31, Y:35.77, Z:1.96 [[ 7.38126505e-01 -6.74519282e-01 -1.38925091e-02 1.13311526e+02] [ 6.74410193e-01 7.38257117e-01 -1.21375739e-02 3.57747360e+01] [ 1.84432713e-02 -4.10184717e-04 9.99829824e-01 1.96209005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59361786499997 meters 0.019254186540459274 Centerline is valid? [True, True] Translation: X:113.33, Y:35.79, Z:1.96 [[ 7.38427646e-01 -6.74188752e-01 -1.39333225e-02 1.13333060e+02] [ 6.74078899e-01 7.38558979e-01 -1.21767084e-02 3.57938386e+01] [ 1.84999803e-02 -4.00540541e-04 9.99828780e-01 1.96255222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62361786499997 meters 0.019254186540459274 Centerline is valid? [True, True] Translation: X:113.35, Y:35.81, Z:1.96 [[ 7.38245619e-01 -6.74388131e-01 -1.39304004e-02 1.13353780e+02] [ 6.74278250e-01 7.38376929e-01 -1.21800505e-02 3.58120468e+01] [ 1.84999677e-02 -4.01097017e-04 9.99828780e-01 1.96300335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65361786499997 meters 0.019043885441030008 Centerline is valid? [True, True] Translation: X:113.37, Y:35.83, Z:1.96 [[ 7.39118851e-01 -6.73436572e-01 -1.36567719e-02 1.13374867e+02] [ 6.73330688e-01 7.39244919e-01 -1.19471146e-02 3.58313037e+01] [ 1.81413231e-02 -3.65185985e-04 9.99835366e-01 1.96325226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68361786499997 meters 0.01877376394067272 Centerline is valid? [True, True] Translation: X:113.40, Y:35.85, Z:1.96 [[ 7.39101995e-01 -6.73458260e-01 -1.34986714e-02 1.13395901e+02] [ 6.73354717e-01 7.39225165e-01 -1.18144119e-02 3.58504151e+01] [ 1.79350709e-02 -3.57338622e-04 9.99839090e-01 1.96389682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71361786499997 meters 0.018868505688919596 Centerline is valid? [True, True] Translation: X:113.42, Y:35.87, Z:1.96 [[ 7.38856873e-01 -6.73728626e-01 -1.34260787e-02 1.13417373e+02] [ 6.73626124e-01 7.38978762e-01 -1.17572867e-02 3.58689852e+01] [ 1.78428076e-02 -3.57205321e-04 9.99840741e-01 1.96410027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74361786499998 meters 0.01909520971858061 Centerline is valid? [True, True] Translation: X:113.44, Y:35.89, Z:1.97 [[ 7.38549890e-01 -6.74081336e-01 -1.25862235e-02 1.13438883e+02] [ 6.73991215e-01 7.38657050e-01 -1.10273982e-02 3.58864615e+01] [ 1.67302660e-02 -3.38720355e-04 9.99859982e-01 1.96506632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77361786499998 meters 0.01931906325523523 Centerline is valid? [True, True] Translation: X:113.46, Y:35.90, Z:1.97 [[ 7.38214201e-01 -6.74456091e-01 -1.21973234e-02 1.13460410e+02] [ 6.74371474e-01 7.38314884e-01 -1.06886154e-02 3.59047110e+01] [ 1.62144672e-02 -3.35039325e-04 9.99868481e-01 1.96579600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80361786499998 meters 0.01914550295263409 Centerline is valid? [True, True] Translation: X:113.48, Y:35.92, Z:1.97 [[ 7.37893554e-01 -6.74805744e-01 -1.22601088e-02 1.13480818e+02] [ 6.74720273e-01 7.37995318e-01 -1.07454174e-02 3.59233549e+01] [ 1.62989722e-02 -3.43169690e-04 9.99867104e-01 1.96617015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83361786499998 meters 0.01922852637730162 Centerline is valid? [True, True] Translation: X:113.50, Y:35.94, Z:1.97 [[ 7.37919473e-01 -6.74778013e-01 -1.22263852e-02 1.13501864e+02] [ 6.74692914e-01 7.38020676e-01 -1.07216377e-02 3.59421813e+01] [ 1.62580505e-02 -3.37350212e-04 9.99867772e-01 1.96658066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86361786499998 meters 0.019272377077323283 Centerline is valid? [True, True] Translation: X:113.52, Y:35.96, Z:1.97 [[ 7.37829136e-01 -6.74879095e-01 -1.20985196e-02 1.13522614e+02] [ 6.74795688e-01 7.37928247e-01 -1.06151801e-02 3.59604763e+01] [ 1.60918025e-02 -3.31839733e-04 9.99870463e-01 1.96711309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89361786499998 meters 0.01898332269364083 Centerline is valid? [True, True] Translation: X:113.54, Y:35.98, Z:1.97 [[ 7.37631795e-01 -6.75090983e-01 -1.23085332e-02 1.13543497e+02] [ 6.75004588e-01 7.37734404e-01 -1.08053478e-02 3.59799905e+01] [ 1.63750213e-02 -3.37948295e-04 9.99865863e-01 1.96751061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92361786499998 meters 0.019673526763392377 Centerline is valid? [True, True] Translation: X:113.57, Y:36.00, Z:1.97 [[ 7.37209297e-01 -6.75546587e-01 -1.26198690e-02 1.13565117e+02] [ 6.75455730e-01 7.37317221e-01 -1.10847635e-02 3.59969498e+01] [ 1.67931209e-02 -3.52372161e-04 9.99858924e-01 1.96760933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95361786499998 meters 0.020185790632503278 Centerline is valid? [True, True] Translation: X:113.59, Y:36.01, Z:1.97 [[ 7.36689016e-01 -6.76111144e-01 -1.27677256e-02 1.13586587e+02] [ 6.76018197e-01 7.36799556e-01 -1.12165888e-02 3.60141324e+01] [ 1.69909152e-02 -3.68077045e-04 9.99855576e-01 1.96787503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98361786499999 meters 0.02008868020148389 Centerline is valid? [True, True] Translation: X:113.61, Y:36.03, Z:1.97 [[ 7.35697222e-01 -6.77184483e-01 -1.30680491e-02 1.13608441e+02] [ 6.77087223e-01 7.35813167e-01 -1.14837212e-02 3.60336204e+01] [ 1.73922404e-02 -3.99667331e-04 9.99848664e-01 1.96760836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.013617865 meters 0.02074380704991523 Centerline is valid? [True, True] Translation: X:113.63, Y:36.05, Z:1.97 [[ 7.34974334e-01 -6.77968932e-01 -1.30711771e-02 1.13630228e+02] [ 6.77871660e-01 7.35090440e-01 -1.14915805e-02 3.60511600e+01] [ 1.73994319e-02 -4.14563835e-04 9.99848532e-01 1.96800864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043617865 meters 0.021578920314769927 Centerline is valid? [True, True] Translation: X:113.65, Y:36.07, Z:1.97 [[ 7.34104206e-01 -6.78910983e-01 -1.30725734e-02 1.13652153e+02] [ 6.78813807e-01 7.34220462e-01 -1.14946856e-02 3.60687392e+01] [ 1.74020192e-02 -4.35546270e-04 9.99848479e-01 1.96848062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.073617865 meters 0.021903657500341518 Centerline is valid? [True, True] Translation: X:113.67, Y:36.09, Z:1.97 [[ 7.33106980e-01 -6.79991050e-01 -1.28968442e-02 1.13673730e+02] [ 6.79896603e-01 7.33220271e-01 -1.13421023e-02 3.60873415e+01] [ 1.71687557e-02 -4.53546149e-04 9.99852503e-01 1.96914731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10361786499996 meters 0.021076795581484547 Centerline is valid? [True, True] Translation: X:113.69, Y:36.11, Z:1.97 [[ 7.31095824e-01 -6.82172100e-01 -1.18372857e-02 1.13694656e+02] [ 6.82092753e-01 7.31191503e-01 -1.04145156e-02 3.61075071e+01] [ 1.57598147e-02 -4.60117974e-04 9.99875701e-01 1.97096996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13361786499996 meters 0.021853362172589878 Centerline is valid? [True, True] Translation: X:113.72, Y:36.12, Z:1.97 [[ 7.30489330e-01 -6.82829676e-01 -1.13565976e-02 1.13716915e+02] [ 6.82756650e-01 7.30577464e-01 -9.99630706e-03 3.61245590e+01] [ 1.51226494e-02 -4.51596922e-04 9.99885544e-01 1.97214968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16361786499996 meters 0.021758291772471888 Centerline is valid? [True, True] Translation: X:113.74, Y:36.14, Z:1.97 [[ 7.29843759e-01 -6.83529976e-01 -1.07172835e-02 1.13738618e+02] [ 6.83464990e-01 7.29922311e-01 -9.43547172e-03 3.61439458e+01] [ 1.42722121e-02 -4.38467942e-04 9.99898051e-01 1.97386470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19361786499996 meters 0.02192040014568109 Centerline is valid? [True, True] Translation: X:113.76, Y:36.16, Z:1.97 [[ 7.29549865e-01 -6.83850172e-01 -1.02925479e-02 1.13760099e+02] [ 6.83790211e-01 7.29622342e-01 -9.06557935e-03 3.61629723e+01] [ 1.37091709e-02 -4.24151325e-04 9.99905935e-01 1.97493361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22361786499997 meters 0.022142535383650925 Centerline is valid? [True, True] Translation: X:113.78, Y:36.18, Z:1.98 [[ 7.29900604e-01 -6.83479368e-01 -1.00529615e-02 1.13780326e+02] [ 6.83422072e-01 7.29969719e-01 -8.85895601e-03 3.61821884e+01] [ 1.33932712e-02 -4.04258457e-04 9.99910224e-01 1.97570851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25361786499997 meters 0.02191288086204876 Centerline is valid? [True, True] Translation: X:113.80, Y:36.20, Z:1.98 [[ 7.30065113e-01 -6.83302630e-01 -1.01215853e-02 1.13801093e+02] [ 6.83244503e-01 7.30135162e-01 -8.92155037e-03 3.62026239e+01] [ 1.34862442e-02 -4.02204845e-04 9.99908976e-01 1.97608114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28361786499997 meters 0.02188288758791381 Centerline is valid? [True, True] Translation: X:113.82, Y:36.22, Z:1.98 [[ 7.31145274e-01 -6.82150519e-01 -9.86199211e-03 1.13820131e+02] [ 6.82095171e-01 7.31211689e-01 -8.69728328e-03 3.62228504e+01] [ 1.31440602e-02 -3.67839636e-04 9.99913545e-01 1.97637581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31361786499997 meters 0.021724181476595286 Centerline is valid? [True, True] Translation: X:113.84, Y:36.24, Z:1.98 [[ 7.31643717e-01 -6.81610857e-01 -1.02034333e-02 1.13841076e+02] [ 6.81551545e-01 7.31714769e-01 -8.99940701e-03 3.62429918e+01] [ 1.36000964e-02 -3.69806119e-04 9.99907446e-01 1.97685041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34361786499997 meters 0.019714205997244945 Centerline is valid? [True, True] Translation: X:113.86, Y:36.27, Z:1.98 [[ 7.32181366e-01 -6.81037910e-01 -9.89002605e-03 1.13859343e+02] [ 6.80982084e-01 7.32248076e-01 -8.72671451e-03 3.62662385e+01] [ 1.31851760e-02 -3.45392803e-04 9.99913012e-01 1.97664363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37361786499997 meters 0.020150865329560386 Centerline is valid? [True, True] Translation: X:113.88, Y:36.29, Z:1.98 [[ 7.32739148e-01 -6.80428028e-01 -1.05374898e-02 1.13879517e+02] [ 6.80364515e-01 7.32814829e-01 -9.30338948e-03 3.62855649e+01] [ 1.40523158e-02 -3.52376485e-04 9.99901199e-01 1.97706656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40361786499997 meters 0.020095161796243474 Centerline is valid? [True, True] Translation: X:113.90, Y:36.31, Z:1.98 [[ 7.32716314e-01 -6.80451630e-01 -1.06010430e-02 1.13900072e+02] [ 6.80387336e-01 7.32792913e-01 -9.36057233e-03 3.63051965e+01] [ 1.41377859e-02 -3.54171365e-04 9.99899994e-01 1.97737597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43361786499997 meters 0.020068142639963694 Centerline is valid? [True, True] Translation: X:113.92, Y:36.32, Z:1.98 [[ 7.32510279e-01 -6.80667732e-01 -1.09603861e-02 1.13920138e+02] [ 6.80598949e-01 7.32592181e-01 -9.68331046e-03 3.63246276e+01] [ 1.46206102e-02 -3.66502839e-04 9.99893046e-01 1.97770848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46361786499997 meters 0.020543152873640936 Centerline is valid? [True, True] Translation: X:113.94, Y:36.34, Z:1.98 [[ 7.31909942e-01 -6.81301491e-01 -1.16668346e-02 1.13939878e+02] [ 6.81223539e-01 7.32002814e-01 -1.03136450e-02 3.63442145e+01] [ 1.55668575e-02 -3.99063007e-04 9.99878749e-01 1.97707317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49361786499998 meters 0.020962074986841644 Centerline is valid? [True, True] Translation: X:113.96, Y:36.36, Z:1.98 [[ 7.31286188e-01 -6.81963782e-01 -1.20793865e-02 1.13960857e+02] [ 6.81880280e-01 7.31385820e-01 -1.06801548e-02 3.63638899e+01] [ 1.61181708e-02 -4.26445804e-04 9.99870003e-01 1.97760903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52361786499998 meters 0.02194309785740126 Centerline is valid? [True, True] Translation: X:113.98, Y:36.38, Z:1.98 [[ 7.30655045e-01 -6.82634592e-01 -1.23781404e-02 1.13981995e+02] [ 6.82546919e-01 7.30759750e-01 -1.09494919e-02 3.63820235e+01] [ 1.65199487e-02 -4.48360036e-04 9.99863436e-01 1.97797486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55361786499998 meters 0.020731032356063127 Centerline is valid? [True, True] Translation: X:114.00, Y:36.41, Z:1.98 [[ 7.28938526e-01 -6.84466557e-01 -1.24160118e-02 1.13999613e+02] [ 6.84378580e-01 7.29044095e-01 -1.09848435e-02 3.64052008e+01] [ 1.65705782e-02 -4.89976884e-04 9.99862578e-01 1.97859429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58361786499998 meters 0.021868661336516423 Centerline is valid? [True, True] Translation: X:114.02, Y:36.42, Z:1.98 [[ 7.27941291e-01 -6.85526919e-01 -1.24225561e-02 1.14021105e+02] [ 6.85438915e-01 7.28047102e-01 -1.09959213e-02 3.64233774e+01] [ 1.65822060e-02 -5.10518178e-04 9.99862375e-01 1.97927873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61361786499998 meters 0.022637482909829684 Centerline is valid? [True, True] Translation: X:114.04, Y:36.44, Z:1.98 [[ 7.26992703e-01 -6.86538904e-01 -1.20806523e-02 1.14042098e+02] [ 6.86455789e-01 7.27092886e-01 -1.06950654e-02 3.64420548e+01] [ 1.61263348e-02 -5.17599194e-04 9.99869828e-01 1.97985004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64361786499998 meters 0.021565996008384818 Centerline is valid? [True, True] Translation: X:114.06, Y:36.46, Z:1.98 [[ 7.26032610e-01 -6.87560330e-01 -1.17235296e-02 1.14061221e+02] [ 6.87482166e-01 7.26127068e-01 -1.03804209e-02 3.64637865e+01] [ 1.56499378e-02 -5.23193484e-04 9.99877395e-01 1.98044448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67361786499998 meters 0.021918627400257965 Centerline is valid? [True, True] Translation: X:114.08, Y:36.48, Z:1.98 [[ 7.24400542e-01 -6.89288504e-01 -1.11898800e-02 1.14081484e+02] [ 6.89217431e-01 7.24486767e-01 -9.91246545e-03 3.64846981e+01] [ 1.49394684e-02 -5.31664984e-04 9.99888259e-01 1.98168202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70361786499998 meters 0.022311979437333585 Centerline is valid? [True, True] Translation: X:114.10, Y:36.50, Z:1.98 [[ 7.23827706e-01 -6.89891722e-01 -1.10844018e-02 1.14102334e+02] [ 6.89821983e-01 7.23912374e-01 -9.82378663e-03 3.65044662e+01] [ 1.48014847e-02 -5.35535091e-04 9.99890309e-01 1.98240248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73361786499999 meters 0.022531191222602852 Centerline is valid? [True, True] Translation: X:114.12, Y:36.53, Z:1.98 [[ 7.23335729e-01 -6.90404220e-01 -1.12887292e-02 1.14122007e+02] [ 6.90331874e-01 7.23423601e-01 -1.00098411e-02 3.65253494e+01] [ 1.50773697e-02 -5.52493812e-04 9.99886177e-01 1.98288683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763617865 meters 0.022749202647399082 Centerline is valid? [True, True] Translation: X:114.14, Y:36.55, Z:1.98 [[ 7.23124167e-01 -6.90625583e-01 -1.13023898e-02 1.14142272e+02] [ 6.90553016e-01 7.23212277e-01 -1.00267419e-02 3.65453119e+01] [ 1.50987515e-02 -5.54319964e-04 9.99885854e-01 1.98364644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.793617865 meters 0.023408716224206257 Centerline is valid? [True, True] Translation: X:114.16, Y:36.56, Z:1.98 [[ 7.23446078e-01 -6.90295437e-01 -1.08619567e-02 1.14162946e+02] [ 6.90228298e-01 7.23527427e-01 -9.64155291e-03 3.65644232e+01] [ 1.45144435e-02 -5.22086231e-04 9.99894524e-01 1.98464153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823617865 meters 0.0235177818330021 Centerline is valid? [True, True] Translation: X:114.18, Y:36.59, Z:1.99 [[ 7.24263499e-01 -6.89445257e-01 -1.03740523e-02 1.14180957e+02] [ 6.89383907e-01 7.24337633e-01 -9.20995447e-03 3.65864648e+01] [ 1.38640759e-02 -4.81270870e-04 9.99903773e-01 1.98569551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85361786499996 meters 0.02327656471083425 Centerline is valid? [True, True] Translation: X:114.20, Y:36.61, Z:1.99 [[ 7.24994663e-01 -6.88679148e-01 -1.01867175e-02 1.14200918e+02] [ 6.88619905e-01 7.25066081e-01 -9.04462644e-03 3.66082302e+01] [ 1.36148890e-02 -4.57470536e-04 9.99907208e-01 1.98638747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88361786499996 meters 0.02255520101094997 Centerline is valid? [True, True] Translation: X:114.22, Y:36.63, Z:1.99 [[ 7.25479515e-01 -6.88168719e-01 -1.01630824e-02 1.14220456e+02] [ 6.88109647e-01 7.25550562e-01 -9.02751719e-03 3.66305068e+01] [ 1.35862851e-02 -4.44036242e-04 9.99907604e-01 1.98658858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91361786499996 meters 0.02203325922139392 Centerline is valid? [True, True] Translation: X:114.24, Y:36.65, Z:1.99 [[ 7.26260361e-01 -6.87346475e-01 -1.00354772e-02 1.14240125e+02] [ 6.87288749e-01 7.26329572e-01 -8.91793014e-03 3.66521602e+01] [ 1.34187717e-02 -4.20531402e-04 9.99909876e-01 1.98689618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94361786499996 meters 0.02159315339374837 Centerline is valid? [True, True] Translation: X:114.26, Y:36.67, Z:1.99 [[ 7.27881538e-01 -6.85613901e-01 -1.10474090e-02 1.14258036e+02] [ 6.85543664e-01 7.27965246e-01 -9.82269158e-03 3.66736896e+01] [ 1.47767037e-02 -4.23725394e-04 9.99890729e-01 1.98641034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97361786499997 meters 0.02078156966899793 Centerline is valid? [True, True] Translation: X:114.28, Y:36.70, Z:1.99 [[ 7.28589800e-01 -6.84849003e-01 -1.17790601e-02 1.14277661e+02] [ 6.84769026e-01 7.28684881e-01 -1.04749817e-02 3.66955172e+01] [ 1.57570038e-02 -4.33970742e-04 9.99875757e-01 1.98651383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00361786499997 meters 0.021098297971943982 Centerline is valid? [True, True] Translation: X:114.30, Y:36.71, Z:1.99 [[ 7.29381006e-01 -6.84000950e-01 -1.20850720e-02 1.14297632e+02] [ 6.83916561e-01 7.29480995e-01 -1.07524746e-02 3.67145526e+01] [ 1.61705332e-02 -4.22530165e-04 9.99869159e-01 1.98668057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03361786499997 meters 0.020388303969383664 Centerline is valid? [True, True] Translation: X:114.32, Y:36.74, Z:1.99 [[ 7.30876858e-01 -6.82389996e-01 -1.27636881e-02 1.14316646e+02] [ 6.82295580e-01 7.30988186e-01 -1.13584248e-02 3.67372743e+01] [ 1.70809806e-02 -4.06998113e-04 9.99854027e-01 1.98651979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06361786499997 meters 0.020360740304122143 Centerline is valid? [True, True] Translation: X:114.34, Y:36.76, Z:1.99 [[ 7.31465249e-01 -6.81756419e-01 -1.29141249e-02 1.14336573e+02] [ 6.81659580e-01 7.31579135e-01 -1.14972472e-02 3.67572487e+01] [ 1.72860264e-02 -3.93200165e-04 9.99850508e-01 1.98765565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09361786499997 meters 0.02063528631564519 Centerline is valid? [True, True] Translation: X:114.36, Y:36.78, Z:1.99 [[ 7.32144174e-01 -6.81026266e-01 -1.29666387e-02 1.14356925e+02] [ 6.80928490e-01 7.32258891e-01 -1.15459435e-02 3.67764729e+01] [ 1.73580273e-02 -3.76058492e-04 9.99849267e-01 1.98838210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12361786499997 meters 0.01959582093923071 Centerline is valid? [True, True] Translation: X:114.38, Y:36.80, Z:1.99 [[ 7.32694154e-01 -6.80429667e-01 -1.32191049e-02 1.14375720e+02] [ 6.80327908e-01 7.32813301e-01 -1.17730132e-02 3.67982366e+01] [ 1.76978433e-02 -3.67308033e-04 9.99843313e-01 1.98928323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15361786499997 meters 0.019554302400451563 Centerline is valid? [True, True] Translation: X:114.40, Y:36.82, Z:1.99 [[ 7.33162625e-01 -6.79929929e-01 -1.29559769e-02 1.14395514e+02] [ 6.79832009e-01 7.33277010e-01 -1.15441055e-02 3.68191662e+01] [ 1.73495028e-02 -3.44181078e-04 9.99849427e-01 1.99014203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18361786499997 meters 0.019507922213465274 Centerline is valid? [True, True] Translation: X:114.42, Y:36.84, Z:1.99 [[ 7.33026498e-01 -6.80080779e-01 -1.27392220e-02 1.14415893e+02] [ 6.79986039e-01 7.33137109e-01 -1.13563420e-02 3.68386200e+01] [ 1.70628263e-02 -3.37993477e-04 9.99854362e-01 1.99092093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21361786499997 meters 0.01960949700590794 Centerline is valid? [True, True] Translation: X:114.44, Y:36.86, Z:1.99 [[ 7.32765089e-01 -6.80368635e-01 -1.24034341e-02 1.14436528e+02] [ 6.80278768e-01 7.32869982e-01 -1.10628752e-02 3.68583088e+01] [ 1.66169378e-02 -3.31304158e-04 9.99861874e-01 1.99161683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24361786499998 meters 0.019995037014368586 Centerline is valid? [True, True] Translation: X:114.46, Y:36.88, Z:1.99 [[ 7.32346634e-01 -6.80820080e-01 -1.23461224e-02 1.14456644e+02] [ 6.80731007e-01 7.32450617e-01 -1.10177002e-02 3.68773051e+01] [ 1.65439965e-02 -3.35612657e-04 9.99863082e-01 1.99216672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27361786499998 meters 0.0194709059184983 Centerline is valid? [True, True] Translation: X:114.48, Y:36.90, Z:1.99 [[ 7.31758043e-01 -6.81445507e-01 -1.27352898e-02 1.14476735e+02] [ 6.81350773e-01 7.31868767e-01 -1.13680641e-02 3.68980083e+01] [ 1.70672770e-02 -3.58527180e-04 9.99854279e-01 1.99240959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30361786499998 meters 0.01981815237258567 Centerline is valid? [True, True] Translation: X:114.50, Y:36.92, Z:1.99 [[ 7.31439565e-01 -6.81782401e-01 -1.29969452e-02 1.14497591e+02] [ 6.81683690e-01 7.31554934e-01 -1.16071447e-02 3.69159580e+01] [ 1.74215264e-02 -3.69880691e-04 9.99848165e-01 1.99240748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33361786499998 meters 0.020077937311464133 Centerline is valid? [True, True] Translation: X:114.52, Y:36.93, Z:1.99 [[ 7.30166421e-01 -6.83140909e-01 -1.32475071e-02 1.14518631e+02] [ 6.83038541e-01 7.30286472e-01 -1.18329755e-02 3.69348681e+01] [ 1.77580649e-02 -4.08516517e-04 9.99842230e-01 1.99287556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36361786499998 meters 0.02017461804079162 Centerline is valid? [True, True] Translation: X:114.54, Y:36.95, Z:1.99 [[ 7.29631740e-01 -6.83712310e-01 -1.32288326e-02 1.14540308e+02] [ 6.83610284e-01 7.29751534e-01 -1.18185658e-02 3.69543018e+01] [ 1.77342598e-02 -4.20165254e-04 9.99842647e-01 1.99331572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39361786499998 meters 0.020375435723222396 Centerline is valid? [True, True] Translation: X:114.56, Y:36.97, Z:1.99 [[ 7.29318789e-01 -6.84038331e-01 -1.36258913e-02 1.14561052e+02] [ 6.83930044e-01 7.29445934e-01 -1.21788574e-02 3.69722454e+01] [ 1.82701563e-02 -4.36886954e-04 9.99832991e-01 1.99410627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42361786499998 meters 0.02079370398759545 Centerline is valid? [True, True] Translation: X:114.58, Y:36.99, Z:1.99 [[ 7.28689845e-01 -6.84696696e-01 -1.41966057e-02 1.14582695e+02] [ 6.84579230e-01 7.28827972e-01 -1.26911723e-02 3.69904555e+01] [ 1.90364871e-02 -4.70773012e-04 9.99818679e-01 1.99442023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45361786499998 meters 0.020482960756976108 Centerline is valid? [True, True] Translation: X:114.60, Y:37.01, Z:1.99 [[ 7.28070201e-01 -6.85350151e-01 -1.44552162e-02 1.14603673e+02] [ 6.85228440e-01 7.28213516e-01 -1.29251657e-02 3.70106499e+01] [ 1.93847481e-02 -4.94697283e-04 9.99811976e-01 1.99466176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48361786499999 meters 0.020301898138646142 Centerline is valid? [True, True] Translation: X:114.62, Y:37.03, Z:2.00 [[ 7.27845549e-01 -6.85582998e-01 -1.47244467e-02 1.14623903e+02] [ 6.85456629e-01 7.27994297e-01 -1.31724289e-02 3.70305299e+01] [ 1.97501066e-02 -5.05475850e-04 9.99804820e-01 1.99519638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.513617865 meters 0.02019540136940168 Centerline is valid? [True, True] Translation: X:114.64, Y:37.05, Z:2.00 [[ 7.27909645e-01 -6.85504695e-01 -1.51941374e-02 1.14644279e+02] [ 6.85369961e-01 7.28068025e-01 -1.36002697e-02 3.70492009e+01] [ 2.03854143e-02 -5.13837928e-04 9.99792064e-01 1.99551107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543617865 meters 0.02019540136940168 Centerline is valid? [True, True] Translation: X:114.66, Y:37.07, Z:2.00 [[ 7.27722819e-01 -6.85703106e-01 -1.51904314e-02 1.14664772e+02] [ 6.85568329e-01 7.27881163e-01 -1.36044080e-02 3.70676403e+01] [ 2.03854137e-02 -5.13840528e-04 9.99792064e-01 1.99596204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.573617865 meters 0.020450651567796685 Centerline is valid? [True, True] Translation: X:114.69, Y:37.09, Z:2.00 [[ 7.27674272e-01 -6.85754162e-01 -1.52113154e-02 1.14685356e+02] [ 6.85618889e-01 7.27833064e-01 -1.36297601e-02 3.70855430e+01] [ 2.04179630e-02 -5.11139410e-04 9.99791401e-01 1.99616953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60361786499996 meters 0.020436429888294343 Centerline is valid? [True, True] Translation: X:114.71, Y:37.10, Z:2.00 [[ 7.27802028e-01 -6.85608544e-01 -1.56566951e-02 1.14706708e+02] [ 6.85465108e-01 7.27970230e-01 -1.40331768e-02 3.71040447e+01] [ 2.10188738e-02 -5.18743682e-04 9.99778944e-01 1.99703526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63361786499996 meters 0.019987104506335566 Centerline is valid? [True, True] Translation: X:114.73, Y:37.12, Z:2.00 [[ 7.27760670e-01 -6.85636540e-01 -1.63383741e-02 1.14727350e+02] [ 6.85480168e-01 7.27943849e-01 -1.46523847e-02 3.71228113e+01] [ 2.19396293e-02 -5.36202107e-04 9.99759154e-01 1.99826955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66361786499996 meters 0.019869073435656803 Centerline is valid? [True, True] Translation: X:114.75, Y:37.14, Z:2.00 [[ 7.27276279e-01 -6.86148794e-01 -1.64026424e-02 1.14748803e+02] [ 6.85991144e-01 7.27461018e-01 -1.47179207e-02 3.71417135e+01] [ 2.20309665e-02 -5.48072829e-04 9.99757139e-01 1.99898476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69361786499996 meters 0.02090421883012952 Centerline is valid? [True, True] Translation: X:114.77, Y:37.16, Z:2.00 [[ 7.26780596e-01 -6.86665662e-01 -1.67401963e-02 1.14772174e+02] [ 6.86501455e-01 7.26973138e-01 -1.50269565e-02 3.71580702e+01] [ 2.24881681e-02 -5.70868753e-04 9.99746946e-01 1.99901662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72361786499997 meters 0.02033380828442975 Centerline is valid? [True, True] Translation: X:114.79, Y:37.18, Z:2.00 [[ 7.26196309e-01 -6.87277204e-01 -1.69989755e-02 1.14793531e+02] [ 6.87107957e-01 7.26394995e-01 -1.52632430e-02 3.71772986e+01] [ 2.28380497e-02 -5.96020589e-04 9.99739000e-01 1.99970120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75361786499997 meters 0.020782092757953875 Centerline is valid? [True, True] Translation: X:114.82, Y:37.19, Z:2.00 [[ 7.24840676e-01 -6.88675253e-01 -1.82315618e-02 1.14817702e+02] [ 6.88480806e-01 7.25069606e-01 -1.63782252e-02 3.71940088e+01] [ 2.44984297e-02 -6.80476502e-04 9.99699637e-01 2.00014616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78361786499997 meters 0.020509072346222342 Centerline is valid? [True, True] Translation: X:114.84, Y:37.21, Z:2.00 [[ 7.24027282e-01 -6.89509421e-01 -1.90066815e-02 1.14839294e+02] [ 6.89298157e-01 7.24276343e-01 -1.70830219e-02 3.72128424e+01] [ 2.55449943e-02 -7.32696652e-04 9.99673405e-01 2.00091218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81361786499997 meters 0.02125125033504413 Centerline is valid? [True, True] Translation: X:114.86, Y:37.23, Z:2.00 [[ 7.23626070e-01 -6.89914494e-01 -1.95780872e-02 1.14861766e+02] [ 6.89690307e-01 7.23890466e-01 -1.76032631e-02 3.72296179e+01] [ 2.63171370e-02 -7.64636892e-04 9.99653352e-01 2.00081219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84361786499997 meters 0.020805220786129938 Centerline is valid? [True, True] Translation: X:114.88, Y:37.25, Z:2.00 [[ 7.22919585e-01 -6.90629489e-01 -2.04495071e-02 1.14882871e+02] [ 6.90385028e-01 7.23208292e-01 -1.83923795e-02 3.72487832e+01] [ 2.74915728e-02 -8.21822158e-04 9.99621697e-01 2.00116268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87361786499997 meters 0.021168285357801173 Centerline is valid? [True, True] Translation: X:114.90, Y:37.27, Z:2.00 [[ 7.22996533e-01 -6.90539536e-01 -2.07644379e-02 1.14903832e+02] [ 6.90287246e-01 7.23294177e-01 -1.86829156e-02 3.72663514e+01] [ 2.79200889e-02 -8.25743459e-04 9.99609817e-01 2.00141394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90361786499997 meters 0.021168564620336016 Centerline is valid? [True, True] Translation: X:114.92, Y:37.28, Z:2.00 [[ 7.22997638e-01 -6.90539087e-01 -2.07409069e-02 1.14924602e+02] [ 6.90287176e-01 7.23294613e-01 -1.86686089e-02 3.72846101e+01] [ 2.78931904e-02 -8.19821926e-04 9.99610573e-01 2.00197668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93361786499997 meters 0.02095779448581906 Centerline is valid? [True, True] Translation: X:114.95, Y:37.30, Z:2.00 [[ 7.23425799e-01 -6.90099459e-01 -2.04413725e-02 1.14946662e+02] [ 6.89854337e-01 7.23714116e-01 -1.84084949e-02 3.73032536e+01] [ 2.74974022e-02 -7.84389340e-04 9.99621567e-01 2.00318771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96361786499997 meters 0.02079297389806714 Centerline is valid? [True, True] Translation: X:114.97, Y:37.32, Z:2.00 [[ 7.24456119e-01 -6.89012503e-01 -2.06180013e-02 1.14969302e+02] [ 6.88762438e-01 7.24749073e-01 -1.85764714e-02 3.73204392e+01] [ 2.77422984e-02 -7.43066487e-04 9.99614832e-01 2.00447666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99361786499998 meters 0.021039043536597517 Centerline is valid? [True, True] Translation: X:114.99, Y:37.34, Z:2.00 [[ 7.24881300e-01 -6.88568590e-01 -2.05036101e-02 1.14990792e+02] [ 6.88320937e-01 7.25170865e-01 -1.84798550e-02 3.73375659e+01] [ 2.75932683e-02 -7.17362758e-04 9.99618976e-01 2.00492108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02361786499998 meters 0.020760830533105287 Centerline is valid? [True, True] Translation: X:115.01, Y:37.36, Z:2.01 [[ 7.25377106e-01 -6.88031292e-01 -2.09998958e-02 1.15012907e+02] [ 6.87771119e-01 7.25680672e-01 -1.89327702e-02 3.73563961e+01] [ 2.82655568e-02 -7.09723830e-04 9.99600197e-01 2.00560996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05361786499998 meters 0.020637174066770358 Centerline is valid? [True, True] Translation: X:115.04, Y:37.37, Z:2.01 [[ 7.25697044e-01 -6.87690009e-01 -2.11246954e-02 1.15035158e+02] [ 6.87426335e-01 7.26004112e-01 -1.90542384e-02 3.73748972e+01] [ 2.84400251e-02 -6.94067501e-04 9.99595260e-01 2.00614483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08361786499998 meters 0.020554270439272965 Centerline is valid? [True, True] Translation: X:115.06, Y:37.39, Z:2.01 [[ 7.25809979e-01 -6.87569631e-01 -2.11631022e-02 1.15056942e+02] [ 6.87304675e-01 7.26118128e-01 -1.90983717e-02 3.73928834e+01] [ 2.84983725e-02 -6.83710360e-04 9.99593605e-01 2.00651573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11361786499998 meters 0.01973801709866736 Centerline is valid? [True, True] Translation: X:115.08, Y:37.41, Z:2.01 [[ 7.25833445e-01 -6.87551349e-01 -2.09511904e-02 1.15077667e+02] [ 6.87291379e-01 7.26135452e-01 -1.89173415e-02 3.74122163e+01] [ 2.82200458e-02 -6.68733384e-04 9.99601512e-01 2.00768814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14361786499998 meters 0.020147853738218882 Centerline is valid? [True, True] Translation: X:115.10, Y:37.43, Z:2.01 [[ 7.26195085e-01 -6.87173394e-01 -2.08188564e-02 1.15101376e+02] [ 6.86916317e-01 7.26493160e-01 -1.88059027e-02 3.74269682e+01] [ 2.80476728e-02 -6.44058092e-04 9.99606379e-01 2.00890967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17361786499998 meters 0.02018800413439823 Centerline is valid? [True, True] Translation: X:115.12, Y:37.44, Z:2.01 [[ 7.26176346e-01 -6.87197931e-01 -2.06619973e-02 1.15123577e+02] [ 6.86944531e-01 7.26469958e-01 -1.86711264e-02 3.74441906e+01] [ 2.78410797e-02 -6.35115678e-04 9.99612160e-01 2.01017377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20361786499998 meters 0.02093463647757021 Centerline is valid? [True, True] Translation: X:115.15, Y:37.46, Z:2.01 [[ 7.26368683e-01 -6.87000242e-01 -2.04744856e-02 1.15146504e+02] [ 6.86751130e-01 7.26656926e-01 -1.85094106e-02 3.74605252e+01] [ 2.75938963e-02 -6.16219909e-04 9.99619026e-01 2.00995395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23361786499999 meters 0.019639720194144342 Centerline is valid? [True, True] Translation: X:115.17, Y:37.48, Z:2.01 [[ 7.27440661e-01 -6.85868476e-01 -2.03597159e-02 1.15167885e+02] [ 6.85621535e-01 7.27725301e-01 -1.84118839e-02 3.74793787e+01] [ 2.74444111e-02 -5.65506699e-04 9.99623171e-01 2.01114490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263617865 meters 0.01952725814303534 Centerline is valid? [True, True] Translation: X:115.19, Y:37.50, Z:2.01 [[ 7.27999648e-01 -6.85265774e-01 -2.06719748e-02 1.15190094e+02] [ 6.85010708e-01 7.28292882e-01 -1.87031561e-02 3.74977950e+01] [ 2.78718849e-02 -5.44633025e-04 9.99611355e-01 2.01116222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.293617865 meters 0.019296507710562814 Centerline is valid? [True, True] Translation: X:115.21, Y:37.52, Z:2.01 [[ 7.28716056e-01 -6.84504862e-01 -2.06398570e-02 1.15212212e+02] [ 6.84250038e-01 7.29008118e-01 -1.86828613e-02 3.75168340e+01] [ 2.78351327e-02 -5.08321916e-04 9.99612398e-01 2.01147884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323617865 meters 0.01874093646591004 Centerline is valid? [True, True] Translation: X:115.23, Y:37.53, Z:2.01 [[ 7.29963878e-01 -6.83178383e-01 -2.04947302e-02 1.15234862e+02] [ 6.82926366e-01 7.30251393e-01 -1.85602382e-02 3.75348453e+01] [ 2.76462588e-02 -4.48088146e-04 9.99617669e-01 2.01234587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35361786499996 meters 0.018496154350749788 Centerline is valid? [True, True] Translation: X:115.26, Y:37.55, Z:2.01 [[ 7.30623516e-01 -6.82478266e-01 -2.03148726e-02 1.15257612e+02] [ 6.82230186e-01 7.30905771e-01 -1.84045301e-02 3.75534260e+01] [ 2.74089494e-02 -4.12636787e-04 9.99624219e-01 2.01313788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38361786499996 meters 0.018460732147905147 Centerline is valid? [True, True] Translation: X:115.28, Y:37.57, Z:2.01 [[ 7.31022589e-01 -6.82062517e-01 -1.99172762e-02 1.15280892e+02] [ 6.81823732e-01 7.31293768e-01 -1.80505741e-02 3.75713492e+01] [ 2.68769999e-02 -3.84694152e-04 9.99638674e-01 2.01402240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41361786499996 meters 0.018419718014989643 Centerline is valid? [True, True] Translation: X:115.31, Y:37.59, Z:2.02 [[ 7.31449613e-01 -6.81613911e-01 -1.95943953e-02 1.15305380e+02] [ 6.81382422e-01 7.31711931e-01 -1.77664354e-02 3.75876576e+01] [ 2.64473023e-02 -3.56024224e-04 9.99650146e-01 2.01577999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44361786499996 meters 0.018238543740086318 Centerline is valid? [True, True] Translation: X:115.33, Y:37.61, Z:2.02 [[ 7.31684243e-01 -6.81375808e-01 -1.91095671e-02 1.15328331e+02] [ 6.81155346e-01 7.31933670e-01 -1.73348606e-02 3.76060604e+01] [ 2.57984902e-02 -3.32939444e-04 9.99667108e-01 2.01669880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47361786499997 meters 0.018297310131906098 Centerline is valid? [True, True] Translation: X:115.35, Y:37.62, Z:2.02 [[ 7.31744504e-01 -6.81318557e-01 -1.88415452e-02 1.15350185e+02] [ 6.81104056e-01 7.31986967e-01 -1.70980870e-02 3.76226206e+01] [ 2.54410094e-02 -3.21621689e-04 9.99676273e-01 2.01725726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50361786499997 meters 0.018450551381482567 Centerline is valid? [True, True] Translation: X:115.37, Y:37.64, Z:2.02 [[ 7.32250505e-01 -6.80765144e-01 -1.91837498e-02 1.15373145e+02] [ 6.80542458e-01 7.32501690e-01 -1.74136894e-02 3.76371943e+01] [ 2.59067619e-02 -3.04173308e-04 9.99664317e-01 2.01738174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53361786499997 meters 0.018249019313560887 Centerline is valid? [True, True] Translation: X:115.39, Y:37.65, Z:2.02 [[ 7.32641518e-01 -6.80339255e-01 -1.93624391e-02 1.15394689e+02] [ 6.80112049e-01 7.32897275e-01 -1.75836417e-02 3.76549403e+01] [ 2.61535205e-02 -2.86122195e-04 9.99657897e-01 2.01780683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56361786499997 meters 0.01832326373066999 Centerline is valid? [True, True] Translation: X:115.42, Y:37.67, Z:2.02 [[ 7.32914873e-01 -6.80037599e-01 -1.96125881e-02 1.15416222e+02] [ 6.79804146e-01 7.33177189e-01 -1.78194522e-02 3.76720270e+01] [ 2.64973997e-02 -2.72577179e-04 9.99648845e-01 2.01777706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59361786499997 meters 0.018260285888202592 Centerline is valid? [True, True] Translation: X:115.44, Y:37.69, Z:2.02 [[ 7.33702038e-01 -6.79174653e-01 -2.00775818e-02 1.15439604e+02] [ 6.78929454e-01 7.33976657e-01 -1.82500615e-02 3.76880246e+01] [ 2.71314556e-02 -2.41154377e-04 9.99631845e-01 2.01813014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62361786499997 meters 0.018285652003577513 Centerline is valid? [True, True] Translation: X:115.46, Y:37.71, Z:2.02 [[ 7.34027385e-01 -6.78817938e-01 -2.02486066e-02 1.15461278e+02] [ 6.78568130e-01 7.34306583e-01 -1.84155957e-02 3.77060899e+01] [ 2.73695218e-02 -2.22507579e-04 9.99625360e-01 2.01909626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65361786499997 meters 0.01831822157156891 Centerline is valid? [True, True] Translation: X:115.48, Y:37.73, Z:2.02 [[ 7.34790710e-01 -6.78008644e-01 -1.96695264e-02 1.15481762e+02] [ 6.77772447e-01 7.35053906e-01 -1.78959365e-02 3.77250507e+01] [ 2.65917619e-02 -1.81695120e-04 9.99646360e-01 2.01938396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68361786499997 meters 0.018081351324805053 Centerline is valid? [True, True] Translation: X:115.50, Y:37.74, Z:2.02 [[ 7.35809243e-01 -6.76916734e-01 -1.91961894e-02 1.15503239e+02] [ 6.76691273e-01 7.36059588e-01 -1.74701036e-02 3.77445242e+01] [ 2.59553447e-02 -1.35230180e-04 9.99663094e-01 2.02022837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71361786499997 meters 0.01802260936203194 Centerline is valid? [True, True] Translation: X:115.52, Y:37.76, Z:2.02 [[ 7.35989826e-01 -6.76719258e-01 -1.92359439e-02 1.15524317e+02] [ 6.76492565e-01 7.36241150e-01 -1.75150864e-02 3.77634226e+01] [ 2.60150898e-02 -1.22047627e-04 9.99661543e-01 2.02188007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74361786499998 meters 0.018199842082500015 Centerline is valid? [True, True] Translation: X:115.54, Y:37.78, Z:2.02 [[ 7.36299068e-01 -6.76370627e-01 -1.96585265e-02 1.15544230e+02] [ 6.76133526e-01 7.36561446e-01 -1.79078516e-02 3.77811803e+01] [ 2.65920575e-02 -1.06254447e-04 9.99646363e-01 2.02172797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77361786499998 meters 0.01825639172637294 Centerline is valid? [True, True] Translation: X:115.56, Y:37.80, Z:2.02 [[ 7.36384605e-01 -6.76273695e-01 -1.97889788e-02 1.15564506e+02] [ 6.76033274e-01 7.36650446e-01 -1.80314423e-02 3.77995581e+01] [ 2.67717502e-02 -9.99316073e-05 9.99641567e-01 2.02210856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80361786499998 meters 0.01843566375352754 Centerline is valid? [True, True] Translation: X:115.59, Y:37.82, Z:2.02 [[ 7.35804563e-01 -6.76885351e-01 -2.04417902e-02 1.15585560e+02] [ 6.76628897e-01 7.36088451e-01 -1.86313963e-02 3.78172096e+01] [ 2.76582849e-02 -1.22439483e-04 9.99617429e-01 2.02223573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83361786499998 meters 0.01859671486168407 Centerline is valid? [True, True] Translation: X:115.61, Y:37.84, Z:2.02 [[ 7.35361003e-01 -6.77367671e-01 -2.04262850e-02 1.15606447e+02] [ 6.77111611e-01 7.35644629e-01 -1.86237869e-02 3.78366421e+01] [ 2.76416380e-02 -1.35668076e-04 9.99617888e-01 2.02340301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86361786499998 meters 0.018638170303656144 Centerline is valid? [True, True] Translation: X:115.63, Y:37.86, Z:2.02 [[ 7.34005542e-01 -6.78828731e-01 -2.06741111e-02 1.15626385e+02] [ 6.78566729e-01 7.34296615e-01 -1.88593342e-02 3.78571897e+01] [ 2.79831877e-02 -1.85908131e-04 9.99608377e-01 2.02404737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89361786499998 meters 0.018823331251675963 Centerline is valid? [True, True] Translation: X:115.65, Y:37.88, Z:2.02 [[ 7.32750173e-01 -6.80172947e-01 -2.10225374e-02 1.15647491e+02] [ 6.79902397e-01 7.33051640e-01 -1.91839296e-02 3.78761657e+01] [ 2.84589955e-02 -2.36245884e-04 9.99594933e-01 2.02401504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92361786499998 meters 0.019039146533756542 Centerline is valid? [True, True] Translation: X:115.67, Y:37.90, Z:2.02 [[ 7.31272510e-01 -6.81753851e-01 -2.12650757e-02 1.15668870e+02] [ 6.81477518e-01 7.31581573e-01 -1.94111924e-02 3.78953445e+01] [ 2.87907927e-02 -2.96799621e-04 9.99585415e-01 2.02464465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95361786499998 meters 0.01931847923158361 Centerline is valid? [True, True] Translation: X:115.69, Y:37.91, Z:2.02 [[ 7.29603745e-01 -6.83537796e-01 -2.13179803e-02 1.15689826e+02] [ 6.83260628e-01 7.29915029e-01 -1.94670030e-02 3.79133793e+01] [ 2.88667465e-02 -3.62538292e-04 9.99583203e-01 2.02470228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98361786499999 meters 0.019896477081475596 Centerline is valid? [True, True] Translation: X:115.71, Y:37.93, Z:2.03 [[ 7.26518188e-01 -6.86822512e-01 -2.11224951e-02 1.15711842e+02] [ 6.86551646e-01 7.26825015e-01 -1.92934110e-02 3.79314047e+01] [ 2.86035068e-02 -4.84669807e-04 9.99590718e-01 2.02527807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.013617865 meters 0.020323440384289796 Centerline is valid? [True, True] Translation: X:115.73, Y:37.95, Z:2.03 [[ 7.25116985e-01 -6.88300841e-01 -2.11497280e-02 1.15734030e+02] [ 6.88029709e-01 7.25425160e-01 -1.93250528e-02 3.79501328e+01] [ 2.86439949e-02 -5.38717145e-04 9.99589531e-01 2.02619893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043617865 meters 0.02096027134967268 Centerline is valid? [True, True] Translation: X:115.76, Y:37.97, Z:2.03 [[ 7.23320894e-01 -6.90179341e-01 -2.14327413e-02 1.15756210e+02] [ 6.89901453e-01 7.23638100e-01 -1.95929934e-02 3.79691883e+01] [ 2.90322275e-02 -6.14457906e-04 9.99578287e-01 2.02633913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.073617865 meters 0.021118043274596085 Centerline is valid? [True, True] Translation: X:115.78, Y:37.99, Z:2.03 [[ 7.22791622e-01 -6.90725295e-01 -2.16988063e-02 1.15777183e+02] [ 6.90440433e-01 7.23116976e-01 -1.98456214e-02 3.79885725e+01] [ 2.93986479e-02 -6.37484279e-04 9.99567563e-01 2.02659852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10361786499996 meters 0.021117468138494022 Centerline is valid? [True, True] Translation: X:115.80, Y:38.01, Z:2.03 [[ 7.22596770e-01 -6.90920740e-01 -2.19645201e-02 1.15797501e+02] [ 6.90628645e-01 7.22930228e-01 -2.00987487e-02 3.80084498e+01] [ 2.97654578e-02 -6.46035859e-04 9.99556702e-01 2.02658726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13361786499996 meters 0.02117726181096119 Centerline is valid? [True, True] Translation: X:115.82, Y:38.03, Z:2.03 [[ 7.22730111e-01 -6.90776807e-01 -2.21040788e-02 1.15816584e+02] [ 6.90480663e-01 7.23067767e-01 -2.02350642e-02 3.80274769e+01] [ 2.99606599e-02 -6.37948821e-04 9.99550875e-01 2.02638979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16361786499996 meters 0.020357918438438375 Centerline is valid? [True, True] Translation: X:115.84, Y:38.05, Z:2.03 [[ 7.24093309e-01 -6.89342180e-01 -2.22764361e-02 1.15835577e+02] [ 6.89040488e-01 7.24435660e-01 -2.04004819e-02 3.80497990e+01] [ 3.02007574e-02 -5.77513961e-04 9.99543686e-01 2.02715742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19361786499996 meters 0.02002773426558811 Centerline is valid? [True, True] Translation: X:115.86, Y:38.07, Z:2.03 [[ 7.24831595e-01 -6.88583503e-01 -2.17236864e-02 1.15856413e+02] [ 6.88295993e-01 7.25156868e-01 -1.99033438e-02 3.80705720e+01] [ 2.94581946e-02 -5.25753926e-04 9.99565875e-01 2.02807607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22361786499997 meters 0.020116789776429663 Centerline is valid? [True, True] Translation: X:115.88, Y:38.09, Z:2.03 [[ 7.25576956e-01 -6.87806298e-01 -2.14610559e-02 1.15876329e+02] [ 6.87525175e-01 7.25894113e-01 -1.96690553e-02 3.80894199e+01] [ 2.91069542e-02 -4.83602896e-04 9.99576186e-01 2.02818443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25361786499997 meters 0.019682224354760795 Centerline is valid? [True, True] Translation: X:115.90, Y:38.11, Z:2.03 [[ 7.27142999e-01 -6.86177418e-01 -2.05817789e-02 1.15896241e+02] [ 6.85918057e-01 7.27434116e-01 -1.88686552e-02 3.81098406e+01] [ 2.79191332e-02 -3.97203268e-04 9.99610106e-01 2.02943132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28361786499997 meters 0.01940996797575675 Centerline is valid? [True, True] Translation: X:115.92, Y:38.13, Z:2.03 [[ 7.27719042e-01 -6.85581485e-01 -2.00754440e-02 1.15916964e+02] [ 6.85334269e-01 7.27995810e-01 -1.84130575e-02 3.81296390e+01] [ 2.72384904e-02 -3.58857121e-04 9.99628899e-01 2.03086516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31361786499997 meters 0.01932871865074988 Centerline is valid? [True, True] Translation: X:115.94, Y:38.15, Z:2.03 [[ 7.28179607e-01 -6.85113359e-01 -1.93428356e-02 1.15938362e+02] [ 6.84883531e-01 7.28436394e-01 -1.77473833e-02 3.81481638e+01] [ 2.62489948e-02 -3.24306916e-04 9.99655383e-01 2.03189506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34361786499997 meters 0.019572571932513758 Centerline is valid? [True, True] Translation: X:115.96, Y:38.17, Z:2.03 [[ 7.28807039e-01 -6.84477352e-01 -1.81948901e-02 1.15959234e+02] [ 6.84273732e-01 7.29034070e-01 -1.66968420e-02 3.81659212e+01] [ 2.46933050e-02 -2.81509413e-04 9.99695034e-01 2.03319995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37361786499997 meters 0.019125269739264834 Centerline is valid? [True, True] Translation: X:115.98, Y:38.19, Z:2.03 [[ 7.29050366e-01 -6.84218619e-01 -1.81781378e-02 1.15979965e+02] [ 6.84015172e-01 7.29276908e-01 -1.66863914e-02 3.81850559e+01] [ 2.46740358e-02 -2.68902271e-04 9.99695513e-01 2.03498352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40361786499997 meters 0.019142393162735454 Centerline is valid? [True, True] Translation: X:116.00, Y:38.20, Z:2.04 [[ 7.28926757e-01 -6.84343771e-01 -1.84224352e-02 1.16000552e+02] [ 6.84134669e-01 7.29159468e-01 -1.69181785e-02 3.82031777e+01] [ 2.50107431e-02 -2.71313663e-04 9.99687146e-01 2.03526255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43361786499997 meters 0.019142393162735454 Centerline is valid? [True, True] Translation: X:116.02, Y:38.22, Z:2.04 [[ 7.28743357e-01 -6.84539144e-01 -1.84195638e-02 1.16020813e+02] [ 6.84330026e-01 7.28976053e-01 -1.69213043e-02 3.82218856e+01] [ 2.50107161e-02 -2.73772474e-04 9.99687146e-01 2.03571428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46361786499997 meters 0.01926521043530997 Centerline is valid? [True, True] Translation: X:116.04, Y:38.24, Z:2.04 [[ 7.28724976e-01 -6.84562191e-01 -1.82897854e-02 1.16041316e+02] [ 6.84355836e-01 7.28954412e-01 -1.68093418e-02 3.82396088e+01] [ 2.48394596e-02 -2.67334174e-04 9.99691417e-01 2.03557506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49361786499998 meters 0.01924247658559073 Centerline is valid? [True, True] Translation: X:116.06, Y:38.26, Z:2.04 [[ 7.27776985e-01 -6.85565042e-01 -1.84724891e-02 1.16062840e+02] [ 6.85354731e-01 7.28011320e-01 -1.69826405e-02 3.82585293e+01] [ 2.50908858e-02 -3.00632842e-04 9.99685129e-01 2.03555825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52361786499998 meters 0.019336790146337622 Centerline is valid? [True, True] Translation: X:116.08, Y:38.28, Z:2.04 [[ 7.27025622e-01 -6.86361497e-01 -1.84835230e-02 1.16084406e+02] [ 6.86150990e-01 7.27260470e-01 -1.70007953e-02 3.82770888e+01] [ 2.51110270e-02 -3.22473887e-04 9.99684616e-01 2.03566573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55361786499998 meters 0.019411363709731923 Centerline is valid? [True, True] Translation: X:116.11, Y:38.30, Z:2.04 [[ 7.26254117e-01 -6.87184020e-01 -1.82504984e-02 1.16106230e+02] [ 6.86978853e-01 7.26483315e-01 -1.67943116e-02 3.82962450e+01] [ 2.47994651e-02 -3.40768507e-04 9.99692388e-01 2.03584212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58361786499998 meters 0.019569136431297145 Centerline is valid? [True, True] Translation: X:116.13, Y:38.31, Z:2.04 [[ 7.25791258e-01 -6.87676341e-01 -1.81190802e-02 1.16126840e+02] [ 6.87474119e-01 7.26017305e-01 -1.66795849e-02 3.83148505e+01] [ 2.46249217e-02 -3.50501784e-04 9.99696699e-01 2.03612895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61361786499998 meters 0.019635072875089876 Centerline is valid? [True, True] Translation: X:116.15, Y:38.33, Z:2.04 [[ 7.25173046e-01 -6.88345701e-01 -1.74427157e-02 1.16147579e+02] [ 6.88158382e-01 7.25382705e-01 -1.60615127e-02 3.83341894e+01] [ 2.37085175e-02 -3.55974944e-04 9.99718850e-01 2.03650276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64361786499998 meters 0.02012357580052964 Centerline is valid? [True, True] Translation: X:116.17, Y:38.35, Z:2.04 [[ 7.24814822e-01 -6.88716958e-01 -1.76755715e-02 1.16168310e+02] [ 6.88524545e-01 7.25030218e-01 -1.62829376e-02 3.83520842e+01] [ 2.40296587e-02 -3.67950286e-04 9.99711178e-01 2.03627535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67361786499998 meters 0.019944486755018677 Centerline is valid? [True, True] Translation: X:116.19, Y:38.37, Z:2.04 [[ 7.24008460e-01 -6.89562228e-01 -1.77674653e-02 1.16189573e+02] [ 6.89367952e-01 7.24226330e-01 -1.63722171e-02 3.83720205e+01] [ 2.41573287e-02 -3.94697457e-04 9.99708091e-01 2.03652094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70361786499998 meters 0.02050901641499835 Centerline is valid? [True, True] Translation: X:116.21, Y:38.39, Z:2.04 [[ 7.21807917e-01 -6.91837114e-01 -1.88345102e-02 1.16211951e+02] [ 6.91619356e-01 7.22053436e-01 -1.73637826e-02 3.83901886e+01] [ 2.56124321e-02 -4.92996068e-04 9.99671826e-01 2.03580549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73361786499999 meters 0.021447182932616403 Centerline is valid? [True, True] Translation: X:116.23, Y:38.41, Z:2.04 [[ 7.20704193e-01 -6.92974541e-01 -1.92808554e-02 1.16233619e+02] [ 6.92746578e-01 7.20961852e-01 -1.77816425e-02 3.84075140e+01] [ 2.62229867e-02 -5.41442278e-04 9.99655972e-01 2.03562904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.763617865 meters 0.020899583711429085 Centerline is valid? [True, True] Translation: X:116.25, Y:38.43, Z:2.04 [[ 7.18667950e-01 -6.95101223e-01 -1.87261144e-02 1.16252814e+02] [ 6.94886838e-01 7.18911629e-01 -1.72728559e-02 3.84285474e+01] [ 2.54688047e-02 -5.99082449e-04 9.99675438e-01 2.03784762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.793617865 meters 0.021057510385829984 Centerline is valid? [True, True] Translation: X:116.27, Y:38.45, Z:2.04 [[ 7.17451216e-01 -6.96365106e-01 -1.84225897e-02 1.16273089e+02] [ 6.96157947e-01 7.17687425e-01 -1.69962535e-02 3.84483965e+01] [ 2.50572588e-02 -6.31049446e-04 9.99685818e-01 2.03836843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.823617865 meters 0.021460086522446607 Centerline is valid? [True, True] Translation: X:116.29, Y:38.47, Z:2.04 [[ 7.16315342e-01 -6.97528693e-01 -1.86024788e-02 1.16293781e+02] [ 6.97317713e-01 7.16556535e-01 -1.71679678e-02 3.84681211e+01] [ 2.53048779e-02 -6.74159279e-04 9.99679553e-01 2.03821243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85361786499996 meters 0.02183453676009938 Centerline is valid? [True, True] Translation: X:116.31, Y:38.49, Z:2.04 [[ 7.14885330e-01 -6.98973631e-01 -1.93604682e-02 1.16314664e+02] [ 6.98745403e-01 7.15147049e-01 -1.78762384e-02 3.84877804e+01] [ 2.63406010e-02 -7.48577572e-04 9.99652746e-01 2.03840918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88361786499996 meters 0.022386312092166176 Centerline is valid? [True, True] Translation: X:116.34, Y:38.51, Z:2.04 [[ 7.14510784e-01 -6.99355307e-01 -1.94034349e-02 1.16336276e+02] [ 6.99126019e-01 7.14773795e-01 -1.79229593e-02 3.85060896e+01] [ 2.64035835e-02 -7.59298513e-04 9.99651076e-01 2.03900928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91361786499996 meters 0.022013558580627784 Centerline is valid? [True, True] Translation: X:116.36, Y:38.53, Z:2.04 [[ 7.14443677e-01 -6.99422558e-01 -1.94504218e-02 1.16356519e+02] [ 6.99192009e-01 7.14707989e-01 -1.79729035e-02 3.85255942e+01] [ 2.64720260e-02 -7.58952201e-04 9.99649266e-01 2.04037470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94361786499996 meters 0.0217967876419571 Centerline is valid? [True, True] Translation: X:116.38, Y:38.55, Z:2.04 [[ 7.15128711e-01 -6.98731062e-01 -1.91266750e-02 1.16376669e+02] [ 6.98507648e-01 7.15384087e-01 -1.76825770e-02 3.85469774e+01] [ 2.60382848e-02 -7.14810241e-04 9.99660691e-01 2.04159308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97361786499997 meters 0.02174186959209333 Centerline is valid? [True, True] Translation: X:116.40, Y:38.57, Z:2.04 [[ 7.15682964e-01 -6.98164246e-01 -1.90940014e-02 1.16396785e+02] [ 6.97941185e-01 7.15937297e-01 -1.76603545e-02 3.85678961e+01] [ 2.59999358e-02 -6.87275067e-04 9.99661708e-01 2.04199941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00361786499997 meters 0.02149179941494992 Centerline is valid? [True, True] Translation: X:116.42, Y:38.59, Z:2.04 [[ 7.16358726e-01 -6.97466380e-01 -1.92568080e-02 1.16416549e+02] [ 6.97239025e-01 7.16617200e-01 -1.78193954e-02 3.85896428e+01] [ 2.62281891e-02 -6.61518708e-04 9.99655763e-01 2.04230283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03361786499997 meters 0.02112003654806781 Centerline is valid? [True, True] Translation: X:116.44, Y:38.61, Z:2.04 [[ 7.17332862e-01 -6.96473913e-01 -1.89117237e-02 1.16436492e+02] [ 6.96254085e-01 7.17581855e-01 -1.75080444e-02 3.86112996e+01] [ 2.57646060e-02 -6.08269340e-04 9.99667852e-01 2.04308820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06361786499997 meters 0.020829994094052857 Centerline is valid? [True, True] Translation: X:116.46, Y:38.63, Z:2.04 [[ 7.19259167e-01 -6.94493579e-01 -1.85720364e-02 1.16455785e+02] [ 6.94280722e-01 7.19498712e-01 -1.72012206e-02 3.86320793e+01] [ 2.53086935e-02 -5.22071212e-04 9.99679547e-01 2.04480208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09361786499997 meters 0.020299838351559595 Centerline is valid? [True, True] Translation: X:116.48, Y:38.65, Z:2.05 [[ 7.20360940e-01 -6.93361872e-01 -1.81502102e-02 1.16476455e+02] [ 6.93158024e-01 7.20589409e-01 -1.68183280e-02 3.86526034e+01] [ 2.47400366e-02 -4.65697279e-04 9.99693810e-01 2.04662167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12361786499997 meters 0.02012269920136814 Centerline is valid? [True, True] Translation: X:116.50, Y:38.67, Z:2.05 [[ 7.21500228e-01 -6.92188296e-01 -1.76856614e-02 1.16497122e+02] [ 6.91994213e-01 7.21716839e-01 -1.63955505e-02 3.86722845e+01] [ 2.41128478e-02 -4.08981879e-04 9.99709159e-01 2.04818609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15361786499997 meters 0.019857637486896406 Centerline is valid? [True, True] Translation: X:116.52, Y:38.69, Z:2.05 [[ 7.22589707e-01 -6.91053470e-01 -1.75845915e-02 1.16517836e+02] [ 6.90861077e-01 7.22803549e-01 -1.63095891e-02 3.86925085e+01] [ 2.39810033e-02 -3.63368584e-04 9.99712348e-01 2.04929014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18361786499997 meters 0.019904115131518983 Centerline is valid? [True, True] Translation: X:116.54, Y:38.71, Z:2.05 [[ 7.24644350e-01 -6.88896832e-01 -1.76556012e-02 1.16537526e+02] [ 6.88702081e-01 7.24859346e-01 -1.63820763e-02 3.87127743e+01] [ 2.40833880e-02 -2.88270267e-04 9.99709912e-01 2.04919088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21361786499997 meters 0.019726721681598954 Centerline is valid? [True, True] Translation: X:116.56, Y:38.73, Z:2.05 [[ 7.25582809e-01 -6.87901199e-01 -1.79311899e-02 1.16557173e+02] [ 6.87699887e-01 7.25804295e-01 -1.66430522e-02 3.87335570e+01] [ 2.44633102e-02 -2.55364662e-04 9.99700696e-01 2.04883195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24361786499998 meters 0.019239599538503814 Centerline is valid? [True, True] Translation: X:116.58, Y:38.75, Z:2.05 [[ 7.26260455e-01 -6.87177023e-01 -1.82617332e-02 1.16576039e+02] [ 6.86967784e-01 7.26489977e-01 -1.69580962e-02 3.87549807e+01] [ 2.49201802e-02 -2.29227779e-04 9.99689418e-01 2.05002970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27361786499998 meters 0.01929625493658067 Centerline is valid? [True, True] Translation: X:116.60, Y:38.77, Z:2.05 [[ 7.26886285e-01 -6.86505745e-01 -1.86061812e-02 1.16596108e+02] [ 6.86288074e-01 7.27124350e-01 -1.72875597e-02 3.87745342e+01] [ 2.53970164e-02 -2.03110214e-04 9.99677423e-01 2.05055533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30361786499998 meters 0.019737814373279792 Centerline is valid? [True, True] Translation: X:116.62, Y:38.79, Z:2.05 [[ 7.26456327e-01 -6.86955467e-01 -1.87987035e-02 1.16617765e+02] [ 6.86733221e-01 7.26699484e-01 -1.74740656e-02 3.87912938e+01] [ 2.56649131e-02 -2.15548657e-04 9.99670579e-01 2.04910596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33361786499998 meters 0.019648042806848433 Centerline is valid? [True, True] Translation: X:116.64, Y:38.81, Z:2.05 [[ 7.24982171e-01 -6.88500792e-01 -1.91705578e-02 1.16639935e+02] [ 6.88270055e-01 7.25235538e-01 -1.78254259e-02 3.88095393e+01] [ 2.61759897e-02 -2.71404870e-04 9.99657313e-01 2.05214587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36361786499998 meters 0.020411790068673635 Centerline is valid? [True, True] Translation: X:116.66, Y:38.83, Z:2.05 [[ 7.23913260e-01 -6.89615849e-01 -1.94826265e-02 1.16661967e+02] [ 6.89377710e-01 7.24175313e-01 -1.81242661e-02 3.88282013e+01] [ 2.66076183e-02 -3.10491933e-04 9.99645906e-01 2.05110708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39361786499998 meters 0.020227119985106786 Centerline is valid? [True, True] Translation: X:116.68, Y:38.85, Z:2.05 [[ 7.22832266e-01 -6.90740545e-01 -1.97740716e-02 1.16683662e+02] [ 6.90495469e-01 7.23102603e-01 -1.84019445e-02 3.88459090e+01] [ 2.70096518e-02 -3.52387653e-04 9.99635111e-01 2.05257568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42361786499998 meters 0.020747223590135113 Centerline is valid? [True, True] Translation: X:116.71, Y:38.86, Z:2.05 [[ 7.20972764e-01 -6.92682195e-01 -1.97395511e-02 1.16706570e+02] [ 6.92438560e-01 7.21242816e-01 -1.83749952e-02 3.88639790e+01] [ 2.69650414e-02 -4.20555277e-04 9.99636289e-01 2.05323580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45361786499998 meters 0.02085180851089316 Centerline is valid? [True, True] Translation: X:116.73, Y:38.88, Z:2.05 [[ 7.20089645e-01 -6.93602337e-01 -1.96647172e-02 1.16728333e+02] [ 6.93360663e-01 7.20357965e-01 -1.83137519e-02 3.88825028e+01] [ 2.68680968e-02 -4.47198235e-04 9.99638887e-01 2.05391141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48361786499999 meters 0.020980502634387988 Centerline is valid? [True, True] Translation: X:116.75, Y:38.90, Z:2.05 [[ 7.19267872e-01 -6.94453478e-01 -1.97001251e-02 1.16749730e+02] [ 6.94211020e-01 7.19537450e-01 -1.83553160e-02 3.89024991e+01] [ 2.69218909e-02 -4.73654850e-04 9.99637428e-01 2.05463673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.513617865 meters 0.021736293471720947 Centerline is valid? [True, True] Translation: X:116.77, Y:38.92, Z:2.06 [[ 7.17788750e-01 -6.95962995e-01 -2.03671355e-02 1.16772747e+02] [ 6.95704235e-01 7.18077443e-01 -1.89842806e-02 3.89186421e+01] [ 2.78375374e-02 -5.42799405e-04 9.99612313e-01 2.05513471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543617865 meters 0.021509939966569483 Centerline is valid? [True, True] Translation: X:116.79, Y:38.94, Z:2.06 [[ 7.17024014e-01 -6.96741477e-01 -2.06851892e-02 1.16793992e+02] [ 6.96474706e-01 7.17322090e-01 -1.92874078e-02 3.89386956e+01] [ 2.82762801e-02 -5.77176529e-04 9.99599979e-01 2.05641303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.573617865 meters 0.020908409577681416 Centerline is valid? [True, True] Translation: X:116.81, Y:38.96, Z:2.06 [[ 7.16453757e-01 -6.97309004e-01 -2.13112002e-02 1.16814646e+02] [ 6.97025806e-01 7.16770382e-01 -1.98807782e-02 3.89591117e+01] [ 2.91382827e-02 -6.10798313e-04 9.99575203e-01 2.05746207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60361786499996 meters 0.02273243673329868 Centerline is valid? [True, True] Translation: X:116.84, Y:38.97, Z:2.05 [[ 7.16005468e-01 -6.97745013e-01 -2.20922014e-02 1.16838109e+02] [ 6.97440660e-01 7.16345921e-01 -2.06166652e-02 3.89748635e+01] [ 3.02108337e-02 -6.46354478e-04 9.99543340e-01 2.05478050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63361786499996 meters 0.021318315212126154 Centerline is valid? [True, True] Translation: X:116.86, Y:39.00, Z:2.06 [[ 7.15277890e-01 -6.98488809e-01 -2.21568188e-02 1.16857041e+02] [ 6.98182830e-01 7.15620660e-01 -2.06835046e-02 3.89969068e+01] [ 3.03030738e-02 -6.75056951e-04 9.99540528e-01 2.05747079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66361786499996 meters 0.022612093351460652 Centerline is valid? [True, True] Translation: X:116.88, Y:39.01, Z:2.06 [[ 7.14462665e-01 -6.99332248e-01 -2.18519463e-02 1.16878642e+02] [ 6.99034797e-01 7.14796421e-01 -2.04066114e-02 3.90148900e+01] [ 2.98906944e-02 -6.95508888e-04 9.99552931e-01 2.05567886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69361786499996 meters 0.02206640980390608 Centerline is valid? [True, True] Translation: X:116.90, Y:39.03, Z:2.06 [[ 7.13918079e-01 -6.99891475e-01 -2.17462719e-02 1.16900868e+02] [ 6.99596939e-01 7.14248850e-01 -2.03151010e-02 3.90333135e+01] [ 2.97506157e-02 -7.10307350e-04 9.99557100e-01 2.05867630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72361786499997 meters 0.022311869625878153 Centerline is valid? [True, True] Translation: X:116.92, Y:39.05, Z:2.06 [[ 7.13249718e-01 -7.00591365e-01 -2.11324453e-02 1.16922449e+02] [ 7.00313249e-01 7.13562354e-01 -1.97514385e-02 3.90513965e+01] [ 2.89170046e-02 -7.11623518e-04 9.99581563e-01 2.06041787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75361786499997 meters 0.022307634436127467 Centerline is valid? [True, True] Translation: X:116.94, Y:39.07, Z:2.06 [[ 7.13042715e-01 -7.00812964e-01 -2.07671893e-02 1.16943506e+02] [ 7.00544181e-01 7.13344726e-01 -1.94204108e-02 3.90705431e+01] [ 2.84242406e-02 -7.00751191e-04 9.99595704e-01 2.06142310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78361786499997 meters 0.021860912807582875 Centerline is valid? [True, True] Translation: X:116.96, Y:39.09, Z:2.06 [[ 7.12991195e-01 -7.00871074e-01 -2.05740880e-02 1.16963378e+02] [ 7.00606999e-01 7.13287644e-01 -1.92502103e-02 3.90903878e+01] [ 2.81671583e-02 -6.89119562e-04 9.99602989e-01 2.06276454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81361786499997 meters 0.021409957033914535 Centerline is valid? [True, True] Translation: X:116.98, Y:39.11, Z:2.06 [[ 7.13010529e-01 -7.00875344e-01 -1.97417952e-02 1.16984283e+02] [ 7.00631952e-01 7.13283481e-01 -1.84809114e-02 3.91102965e+01] [ 2.70343115e-02 -6.54648057e-04 9.99634292e-01 2.06484373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84361786499997 meters 0.02151316113256302 Centerline is valid? [True, True] Translation: X:117.00, Y:39.13, Z:2.07 [[ 7.12992149e-01 -7.00908081e-01 -1.92368665e-02 1.17004304e+02] [ 7.00676812e-01 7.13251330e-01 -1.80151293e-02 3.91282969e+01] [ 2.63476703e-02 -6.34180566e-04 9.99652639e-01 2.06581162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87361786499997 meters 0.02144839186670284 Centerline is valid? [True, True] Translation: X:117.03, Y:39.15, Z:2.07 [[ 7.12756993e-01 -7.01150390e-01 -1.91206689e-02 1.17025269e+02] [ 7.00921830e-01 7.13013133e-01 -1.79125770e-02 3.91475458e+01] [ 2.61926984e-02 -6.34779753e-04 9.99656711e-01 2.06684890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90361786499997 meters 0.021916547411327966 Centerline is valid? [True, True] Translation: X:117.05, Y:39.17, Z:2.07 [[ 7.12575567e-01 -7.01350164e-01 -1.85474817e-02 1.17045483e+02] [ 7.01134981e-01 7.12816643e-01 -1.73831020e-02 3.91654931e+01] [ 2.54125950e-02 -6.17514441e-04 9.99676857e-01 2.06619663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93361786499997 meters 0.021505178245295686 Centerline is valid? [True, True] Translation: X:117.07, Y:39.18, Z:2.07 [[ 7.12640994e-01 -7.01282599e-01 -1.85884529e-02 1.17065991e+02] [ 7.01066286e-01 7.12883120e-01 -1.74275782e-02 3.91841324e+01] [ 2.54730517e-02 -6.12130992e-04 9.99675322e-01 2.06790450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96361786499997 meters 0.02225436685377561 Centerline is valid? [True, True] Translation: X:117.09, Y:39.20, Z:2.07 [[ 7.12732920e-01 -7.01181870e-01 -1.88618529e-02 1.17086781e+02] [ 7.00958902e-01 7.12982195e-01 -1.76919964e-02 3.92012828e+01] [ 2.58534724e-02 -6.11715397e-04 9.99665556e-01 2.06772339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99361786499998 meters 0.021574412414565404 Centerline is valid? [True, True] Translation: X:117.11, Y:39.22, Z:2.07 [[ 7.12519390e-01 -7.01395419e-01 -1.89890923e-02 1.17105874e+02] [ 7.01169329e-01 7.12772112e-01 -1.78182152e-02 3.92217472e+01] [ 2.60325100e-02 -6.18745256e-04 9.99660905e-01 2.06795388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02361786499998 meters 0.02127638287633025 Centerline is valid? [True, True] Translation: X:117.13, Y:39.24, Z:2.07 [[ 7.12212427e-01 -7.01698675e-01 -1.92984134e-02 1.17126371e+02] [ 7.01465019e-01 7.12473556e-01 -1.81179256e-02 3.92425002e+01] [ 2.64629336e-02 -6.33350171e-04 9.99649595e-01 2.06840056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05361786499998 meters 0.021488325473694225 Centerline is valid? [True, True] Translation: X:117.15, Y:39.26, Z:2.07 [[ 7.11902468e-01 -7.02007026e-01 -1.95195129e-02 1.17147354e+02] [ 7.01767850e-01 7.12169726e-01 -1.83348280e-02 3.92618355e+01] [ 2.67723842e-02 -6.45557259e-04 9.99641347e-01 2.06888203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08361786499998 meters 0.021770641765609694 Centerline is valid? [True, True] Translation: X:117.17, Y:39.28, Z:2.07 [[ 7.11667214e-01 -7.02239338e-01 -1.97405204e-02 1.17167298e+02] [ 7.01994574e-01 7.11940645e-01 -1.85509174e-02 3.92800182e+01] [ 2.70812628e-02 -6.55658473e-04 9.99633020e-01 2.06899299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11361786499998 meters 0.021834224080051985 Centerline is valid? [True, True] Translation: X:117.19, Y:39.30, Z:2.07 [[ 7.11394500e-01 -7.02508770e-01 -1.99823108e-02 1.17187119e+02] [ 7.02257869e-01 7.11674772e-01 -1.87857653e-02 3.93002953e+01] [ 2.74180714e-02 -6.68644877e-04 9.99623830e-01 2.06951864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14361786499998 meters 0.0226799646976704 Centerline is valid? [True, True] Translation: X:117.21, Y:39.32, Z:2.07 [[ 7.11122869e-01 -7.02779567e-01 -2.01282342e-02 1.17207169e+02] [ 7.02524813e-01 7.11407354e-01 -1.89331532e-02 3.93205476e+01] [ 2.76252070e-02 -6.76785739e-04 9.99618122e-01 2.06800538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17361786499998 meters 0.022028331887381375 Centerline is valid? [True, True] Translation: X:117.23, Y:39.34, Z:2.07 [[ 7.11210370e-01 -7.02700962e-01 -1.97779931e-02 1.17226376e+02] [ 7.02454752e-01 7.11485016e-01 -1.86116642e-02 3.93405730e+01] [ 2.71501801e-02 -6.56336664e-04 9.99631150e-01 2.07110085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20361786499998 meters 0.022233641270593043 Centerline is valid? [True, True] Translation: X:117.25, Y:39.36, Z:2.07 [[ 7.11226142e-01 -7.02696686e-01 -1.93582600e-02 1.17246733e+02] [ 7.02460649e-01 7.11489256e-01 -1.82229484e-02 3.93612384e+01] [ 2.65783995e-02 -6.37778597e-04 9.99646528e-01 2.07189854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23361786499999 meters 0.0215870708197213 Centerline is valid? [True, True] Translation: X:117.27, Y:39.38, Z:2.07 [[ 7.10896313e-01 -7.03026486e-01 -1.94985265e-02 1.17265177e+02] [ 7.02786897e-01 7.11163370e-01 -1.83640328e-02 3.93825518e+01] [ 2.67770393e-02 -6.48385762e-04 9.99641221e-01 2.07294157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263617865 meters 0.021633422277104488 Centerline is valid? [True, True] Translation: X:117.29, Y:39.40, Z:2.07 [[ 7.10302060e-01 -7.03609328e-01 -2.01220582e-02 1.17285016e+02] [ 7.03354127e-01 7.10586690e-01 -1.89612200e-02 3.94034765e+01] [ 2.76397580e-02 -6.84739033e-04 9.99617714e-01 2.07329041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.293617865 meters 0.021880986301244684 Centerline is valid? [True, True] Translation: X:117.30, Y:39.42, Z:2.07 [[ 7.10293025e-01 -7.03615031e-01 -2.02412116e-02 1.17304478e+02] [ 7.03356586e-01 7.10581045e-01 -1.90811763e-02 3.94219075e+01] [ 2.78088238e-02 -6.83563024e-04 9.99613026e-01 2.07381418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323617865 meters 0.022098846209777534 Centerline is valid? [True, True] Translation: X:117.32, Y:39.44, Z:2.07 [[ 7.10197059e-01 -7.03703641e-01 -2.05261746e-02 1.17322866e+02] [ 7.03437739e-01 7.10493284e-01 -1.93556565e-02 3.94415961e+01] [ 2.82043552e-02 -6.92555546e-04 9.99601938e-01 2.07469943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35361786499996 meters 0.022098846209777534 Centerline is valid? [True, True] Translation: X:117.34, Y:39.46, Z:2.08 [[ 7.10010738e-01 -7.03891743e-01 -2.05223129e-02 1.17342880e+02] [ 7.03625801e-01 7.10306928e-01 -1.93597505e-02 3.94605762e+01] [ 2.82043095e-02 -6.94398138e-04 9.99601938e-01 2.07515106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38361786499996 meters 0.02214005325478429 Centerline is valid? [True, True] Translation: X:117.36, Y:39.48, Z:2.08 [[ 7.10259716e-01 -7.03645860e-01 -2.03381227e-02 1.17362669e+02] [ 7.03384303e-01 7.10550527e-01 -1.91955789e-02 3.94815982e+01] [ 2.79581534e-02 -6.71669845e-04 9.99608869e-01 2.07562997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41361786499996 meters 0.02209450679806092 Centerline is valid? [True, True] Translation: X:117.38, Y:39.50, Z:2.08 [[ 7.10576499e-01 -7.03325926e-01 -2.03391352e-02 1.17382298e+02] [ 7.03063964e-01 7.10867228e-01 -1.92053796e-02 3.95026112e+01] [ 2.79660660e-02 -6.52821610e-04 9.99608660e-01 2.07562226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44361786499996 meters 0.021357306254188118 Centerline is valid? [True, True] Translation: X:117.40, Y:39.53, Z:2.08 [[ 7.10844089e-01 -7.03051427e-01 -2.04785508e-02 1.17400975e+02] [ 7.02785493e-01 7.11138721e-01 -1.93460604e-02 3.95251343e+01] [ 2.81643658e-02 -6.39995767e-04 9.99603101e-01 2.07678769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47361786499997 meters 0.021353644916532726 Centerline is valid? [True, True] Translation: X:117.42, Y:39.55, Z:2.08 [[ 7.11428221e-01 -7.02454919e-01 -2.06633309e-02 1.17419559e+02] [ 7.02183648e-01 7.11727973e-01 -1.95299069e-02 3.95474465e+01] [ 2.84255498e-02 -6.15326135e-04 9.99595723e-01 2.07669573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50361786499997 meters 0.02120525973354214 Centerline is valid? [True, True] Translation: X:117.44, Y:39.57, Z:2.08 [[ 7.11262769e-01 -7.02634814e-01 -2.02383671e-02 1.17438963e+02] [ 7.02374397e-01 7.11550388e-01 -1.91377057e-02 3.95676344e+01] [ 2.78474363e-02 -6.02973325e-04 9.99612003e-01 2.07766463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53361786499997 meters 0.021089860663202023 Centerline is valid? [True, True] Translation: X:117.46, Y:39.59, Z:2.08 [[ 7.10978067e-01 -7.02943487e-01 -1.95100520e-02 1.17458413e+02] [ 7.02701332e-01 7.11245464e-01 -1.84587942e-02 3.95882320e+01] [ 2.68519252e-02 -5.85941753e-04 9.99639250e-01 2.08022207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56361786499997 meters 0.021192328001402107 Centerline is valid? [True, True] Translation: X:117.48, Y:39.61, Z:2.08 [[ 7.10481973e-01 -7.03458675e-01 -1.90068375e-02 1.17478703e+02] [ 7.03228784e-01 7.10735924e-01 -1.79923208e-02 3.96081829e+01] [ 2.61656963e-02 -5.82935662e-04 9.99657450e-01 2.08147294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59361786499997 meters 0.021468327008739713 Centerline is valid? [True, True] Translation: X:117.50, Y:39.63, Z:2.08 [[ 7.10069691e-01 -7.03891882e-01 -1.83644417e-02 1.17498250e+02] [ 7.03677182e-01 7.10306899e-01 -1.73934433e-02 3.96285844e+01] [ 2.52874932e-02 -5.72081696e-04 9.99680057e-01 2.08204822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62361786499997 meters 0.021958714222770827 Centerline is valid? [True, True] Translation: X:117.52, Y:39.65, Z:2.08 [[ 7.09874394e-01 -7.04103256e-01 -1.78030536e-02 1.17518024e+02] [ 7.03901354e-01 7.10097384e-01 -1.68697596e-02 3.96467893e+01] [ 2.45199545e-02 -5.56183177e-04 9.99699186e-01 2.08321581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65361786499997 meters 0.020645550396055957 Centerline is valid? [True, True] Translation: X:117.53, Y:39.67, Z:2.09 [[ 7.09673683e-01 -7.04322282e-01 -1.71285366e-02 1.17533996e+02] [ 7.04135295e-01 7.09880154e-01 -1.62373879e-02 3.96710928e+01] [ 2.35955623e-02 -5.37560319e-04 9.99721441e-01 2.08533232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68361786499997 meters 0.02291945791671802 Centerline is valid? [True, True] Translation: X:117.55, Y:39.69, Z:2.08 [[ 7.09526404e-01 -7.04478870e-01 -1.67869900e-02 1.17553591e+02] [ 7.04299142e-01 7.09724766e-01 -1.59209002e-02 3.96902568e+01] [ 2.31300804e-02 -5.26763625e-04 9.99732325e-01 2.08217462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71361786499997 meters 0.02278297959846141 Centerline is valid? [True, True] Translation: X:117.57, Y:39.71, Z:2.08 [[ 7.08954540e-01 -7.05062692e-01 -1.64335241e-02 1.17571612e+02] [ 7.04890503e-01 7.09144779e-01 -1.55904019e-02 3.97133921e+01] [ 2.26459586e-02 -5.30948808e-04 9.99743406e-01 2.08249004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74361786499998 meters 0.021053746844454595 Centerline is valid? [True, True] Translation: X:117.59, Y:39.73, Z:2.09 [[ 7.08639178e-01 -7.05393001e-01 -1.58502234e-02 1.17591715e+02] [ 7.05232743e-01 7.08816229e-01 -1.50442968e-02 3.97330975e+01] [ 2.18470372e-02 -5.17118364e-04 9.99761191e-01 2.08674525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77361786499998 meters 0.02167868272332798 Centerline is valid? [True, True] Translation: X:117.61, Y:39.75, Z:2.09 [[ 7.08182222e-01 -7.05859934e-01 -1.54820730e-02 1.17610814e+02] [ 7.05706999e-01 7.08351247e-01 -1.47017557e-02 3.97533481e+01] [ 2.13441260e-02 -5.14285227e-04 9.99772056e-01 2.08568906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80361786499998 meters 0.021180977038837305 Centerline is valid? [True, True] Translation: X:117.63, Y:39.77, Z:2.09 [[ 7.07857511e-01 -7.06197992e-01 -1.49043375e-02 1.17630003e+02] [ 7.06056246e-01 7.08014226e-01 -1.41574494e-02 3.97735991e+01] [ 2.05504453e-02 -5.01843675e-04 9.99788691e-01 2.08728161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83361786499998 meters 0.020616639695203384 Centerline is valid? [True, True] Translation: X:117.65, Y:39.80, Z:2.09 [[ 7.07547617e-01 -7.06504789e-01 -1.50781993e-02 1.17647086e+02] [ 7.06359622e-01 7.07708076e-01 -1.43304786e-02 3.97967664e+01] [ 2.07955152e-02 -5.11135243e-04 9.99783619e-01 2.08771352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86361786499998 meters 0.02066298097182592 Centerline is valid? [True, True] Translation: X:117.67, Y:39.82, Z:2.09 [[ 7.07537157e-01 -7.06503672e-01 -1.56119543e-02 1.17666194e+02] [ 7.06347861e-01 7.07709183e-01 -1.48462747e-02 3.98176344e+01] [ 2.15376710e-02 -5.23179508e-04 9.99767901e-01 2.08741535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89361786499998 meters 0.02053687041944042 Centerline is valid? [True, True] Translation: X:117.69, Y:39.84, Z:2.09 [[ 7.07471359e-01 -7.06569793e-01 -1.56014221e-02 1.17685014e+02] [ 7.06414030e-01 7.07643172e-01 -1.48445100e-02 3.98389962e+01] [ 2.15289221e-02 -5.18997796e-04 9.99768091e-01 2.08717318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92361786499998 meters 0.02187752012933599 Centerline is valid? [True, True] Translation: X:117.70, Y:39.86, Z:2.08 [[ 7.07729553e-01 -7.06305549e-01 -1.58540655e-02 1.17703850e+02] [ 7.06144453e-01 7.07906920e-01 -1.50931526e-02 3.98604864e+01] [ 2.18835801e-02 -5.13390299e-04 9.99760394e-01 2.08479360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95361786499998 meters 0.020209469745547565 Centerline is valid? [True, True] Translation: X:117.72, Y:39.88, Z:2.09 [[ 7.08789557e-01 -7.05250698e-01 -1.54536967e-02 1.17721804e+02] [ 7.05097236e-01 7.08957853e-01 -1.47190095e-02 3.98829329e+01] [ 2.13366113e-02 -4.63678606e-04 9.99772241e-01 2.08727498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98361786499999 meters 0.020047655123954244 Centerline is valid? [True, True] Translation: X:117.74, Y:39.90, Z:2.09 [[ 7.09404813e-01 -7.04637288e-01 -1.52020841e-02 1.17741039e+02] [ 7.04488497e-01 7.09567548e-01 -1.44862852e-02 3.99044595e+01] [ 2.09944823e-02 -4.33052907e-04 9.99779498e-01 2.08776286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.013617865 meters 0.019830624785238393 Centerline is valid? [True, True] Translation: X:117.76, Y:39.93, Z:2.09 [[ 7.10443054e-01 -7.03588976e-01 -1.52715062e-02 1.17758717e+02] [ 7.03438432e-01 7.10607060e-01 -1.45595038e-02 3.99277426e+01] [ 2.10959465e-02 -3.98865995e-04 9.99777376e-01 2.08827425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043617865 meters 0.019888097938559123 Centerline is valid? [True, True] Translation: X:117.78, Y:39.95, Z:2.09 [[ 7.10662950e-01 -7.03365596e-01 -1.53300724e-02 1.17776675e+02] [ 7.03213710e-01 7.10828170e-01 -1.46215611e-02 3.99477750e+01] [ 2.11813503e-02 -3.89315370e-04 9.99775574e-01 2.08847203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.073617865 meters 0.019875025651146575 Centerline is valid? [True, True] Translation: X:117.79, Y:39.97, Z:2.09 [[ 7.10376147e-01 -7.03669516e-01 -1.46609065e-02 1.17793526e+02] [ 7.03530588e-01 7.10527318e-01 -1.39872477e-02 3.99709709e+01] [ 2.02593744e-02 -3.78188994e-04 9.99794686e-01 2.08868966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10361786499996 meters 0.020108860166201333 Centerline is valid? [True, True] Translation: X:117.81, Y:39.99, Z:2.09 [[ 7.09722660e-01 -7.04336898e-01 -1.42576086e-02 1.17812716e+02] [ 7.04205516e-01 7.09865753e-01 -1.36089289e-02 3.99904867e+01] [ 1.97062589e-02 -3.81721391e-04 9.99805740e-01 2.08888113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13361786499996 meters 0.020892563948657072 Centerline is valid? [True, True] Translation: X:117.83, Y:40.01, Z:2.09 [[ 7.08691179e-01 -7.05366591e-01 -1.46555598e-02 1.17832980e+02] [ 7.05227918e-01 7.08842575e-01 -1.39923754e-02 4.00109307e+01] [ 2.02582389e-02 -4.19236869e-04 9.99794693e-01 2.08834449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16361786499996 meters 0.022064103965875805 Centerline is valid? [True, True] Translation: X:117.85, Y:40.03, Z:2.09 [[ 7.07361070e-01 -7.06695723e-01 -1.48819443e-02 1.17852891e+02] [ 7.06552886e-01 7.07517452e-01 -1.42152922e-02 4.00318831e+01] [ 2.05751215e-02 -4.59536375e-04 9.99788204e-01 2.08729241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19361786499996 meters 0.020418701317534118 Centerline is valid? [True, True] Translation: X:117.87, Y:40.05, Z:2.09 [[ 7.04600263e-01 -7.09453445e-01 -1.46382587e-02 1.17872866e+02] [ 7.09315707e-01 7.04752107e-01 -1.39891418e-02 4.00529802e+01] [ 2.02409885e-02 -5.26393825e-04 9.99794992e-01 2.09119604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22361786499997 meters 0.020716465887658905 Centerline is valid? [True, True] Translation: X:117.89, Y:40.07, Z:2.09 [[ 7.02917941e-01 -7.11131375e-01 -1.40902788e-02 1.17892963e+02] [ 7.11003981e-01 7.03058935e-01 -1.34711651e-02 4.00731517e+01] [ 1.94860645e-02 -5.49120727e-04 9.99809978e-01 2.09192208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25361786499997 meters 0.023120792051402737 Centerline is valid? [True, True] Translation: X:117.91, Y:40.09, Z:2.09 [[ 7.01491616e-01 -7.12532807e-01 -1.43704769e-02 1.17913300e+02] [ 7.12400541e-01 7.01638540e-01 -1.37414991e-02 4.00926463e+01] [ 1.98741494e-02 -5.97989143e-04 9.99802311e-01 2.08949628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28361786499997 meters 0.022255037372733388 Centerline is valid? [True, True] Translation: X:117.93, Y:40.11, Z:2.09 [[ 7.00078095e-01 -7.13936160e-01 -1.36315877e-02 1.17933888e+02] [ 7.13817371e-01 7.00210536e-01 -1.30371108e-02 4.01120598e+01] [ 1.88526462e-02 -6.03468400e-04 9.99822091e-01 2.09300039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31361786499997 meters 0.02336762942239082 Centerline is valid? [True, True] Translation: X:117.95, Y:40.13, Z:2.09 [[ 6.97939930e-01 -7.16018102e-01 -1.40687967e-02 1.17953823e+02] [ 7.15891946e-01 6.98081382e-01 -1.34575504e-02 4.01316458e+01] [ 1.94570148e-02 -6.79176426e-04 9.99810464e-01 2.09326772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34361786499997 meters 0.022801756151236394 Centerline is valid? [True, True] Translation: X:117.97, Y:40.15, Z:2.09 [[ 6.97224838e-01 -7.16717097e-01 -1.39330123e-02 1.17973600e+02] [ 7.16593454e-01 6.97363698e-01 -1.33302408e-02 4.01531754e+01] [ 1.92703885e-02 -6.90130395e-04 9.99814071e-01 2.09400307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37361786499997 meters 0.023723792803090574 Centerline is valid? [True, True] Translation: X:117.99, Y:40.17, Z:2.09 [[ 6.96999155e-01 -7.16941278e-01 -1.36887837e-02 1.17993667e+02] [ 7.16821866e-01 6.97133231e-01 -1.31023027e-02 4.01716027e+01] [ 1.89364876e-02 -6.80125583e-04 9.99820457e-01 2.09433501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40361786499997 meters 0.023708604436268016 Centerline is valid? [True, True] Translation: X:118.01, Y:40.19, Z:2.09 [[ 6.97526289e-01 -7.16430189e-01 -1.35963524e-02 1.18012491e+02] [ 7.16312226e-01 6.97658476e-01 -1.30171093e-02 4.01938424e+01] [ 1.88114606e-02 -6.59457497e-04 9.99822831e-01 2.09499652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43361786499997 meters 0.02500544465387264 Centerline is valid? [True, True] Translation: X:118.03, Y:40.21, Z:2.10 [[ 6.97995778e-01 -7.15965926e-01 -1.39530185e-02 1.18032850e+02] [ 7.15841490e-01 6.98134913e-01 -1.33643025e-02 4.02128268e+01] [ 1.93094746e-02 -6.59922825e-04 9.99813337e-01 2.09518674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46361786499997 meters 0.022789895073874907 Centerline is valid? [True, True] Translation: X:118.05, Y:40.24, Z:2.10 [[ 6.99538852e-01 -7.14458447e-01 -1.39471126e-02 1.18049057e+02] [ 7.14333771e-01 6.99677603e-01 -1.33609729e-02 4.02382497e+01] [ 1.93043423e-02 -6.16373918e-04 9.99813464e-01 2.09629833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49361786499998 meters 0.02200612478109465 Centerline is valid? [True, True] Translation: X:118.07, Y:40.26, Z:2.10 [[ 6.99991081e-01 -7.14018229e-01 -1.38005313e-02 1.18067906e+02] [ 7.13896008e-01 7.00126856e-01 -1.32240458e-02 4.02600965e+01] [ 1.91043324e-02 -5.95430076e-04 9.99817318e-01 2.09690858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52361786499998 meters 0.021797626078174145 Centerline is valid? [True, True] Translation: X:118.09, Y:40.28, Z:2.10 [[ 7.00892258e-01 -7.13120473e-01 -1.44649162e-02 1.18088121e+02] [ 7.12985884e-01 7.01041253e-01 -1.38669153e-02 4.02814428e+01] [ 2.00292842e-02 -5.94067484e-04 9.99799217e-01 2.09732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55361786499998 meters 0.021340250010468912 Centerline is valid? [True, True] Translation: X:118.11, Y:40.30, Z:2.10 [[ 7.02324429e-01 -7.11706293e-01 -1.46474717e-02 1.18106561e+02] [ 7.11567894e-01 7.02476933e-01 -1.40460411e-02 4.03039713e+01] [ 2.02861668e-02 -5.57792850e-04 9.99794059e-01 2.09744824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58361786499998 meters 0.021556449192046585 Centerline is valid? [True, True] Translation: X:118.13, Y:40.32, Z:2.10 [[ 7.03038923e-01 -7.10996229e-01 -1.48537763e-02 1.18125569e+02] [ 7.10853624e-01 7.03195613e-01 -1.42497439e-02 4.03240272e+01] [ 2.05766245e-02 -5.40736092e-04 9.99788133e-01 2.09751441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61361786499998 meters 0.02104419197364099 Centerline is valid? [True, True] Translation: X:118.14, Y:40.35, Z:2.10 [[ 7.03822433e-01 -7.10221258e-01 -1.48238595e-02 1.18142736e+02] [ 7.10078988e-01 7.03978338e-01 -1.42243138e-02 4.03482185e+01] [ 2.05380859e-02 -5.14719996e-04 9.99788939e-01 2.09601378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64361786499998 meters 0.020074472127346445 Centerline is valid? [True, True] Translation: X:118.16, Y:40.37, Z:2.10 [[ 7.04888273e-01 -7.09173725e-01 -1.43230481e-02 1.18162660e+02] [ 7.09040576e-01 7.05033625e-01 -1.37494915e-02 4.03681554e+01] [ 1.98490086e-02 -4.63766952e-04 9.99802881e-01 2.09849469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67361786499998 meters 0.01952946490483075 Centerline is valid? [True, True] Translation: X:118.18, Y:40.39, Z:2.10 [[ 7.07355010e-01 -7.06722627e-01 -1.38570720e-02 1.18180124e+02] [ 7.06597487e-01 7.07490625e-01 -1.33043903e-02 4.03898070e+01] [ 1.92062622e-02 -3.80445170e-04 9.99815470e-01 2.09926135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70361786499998 meters 0.019003002891549978 Centerline is valid? [True, True] Translation: X:118.20, Y:40.41, Z:2.10 [[ 7.08665701e-01 -7.05415325e-01 -1.34960329e-02 1.18199304e+02] [ 7.05296336e-01 7.08794122e-01 -1.29603627e-02 4.04117294e+01] [ 1.87083473e-02 -3.34137993e-04 9.99824928e-01 2.09984607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73361786499999 meters 0.0183244894030984 Centerline is valid? [True, True] Translation: X:118.22, Y:40.43, Z:2.10 [[ 7.09811132e-01 -7.04265681e-01 -1.33419260e-02 1.18217868e+02] [ 7.04149080e-01 7.09936450e-01 -1.28183803e-02 4.04340305e+01] [ 1.84994649e-02 -2.96075932e-04 9.99828826e-01 2.10056986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763617865 meters 0.019256642507356755 Centerline is valid? [True, True] Translation: X:118.24, Y:40.46, Z:2.10 [[ 7.12225353e-01 -7.01816238e-01 -1.37482279e-02 1.18236029e+02] [ 7.01691843e-01 7.12357995e-01 -1.32153392e-02 4.04560571e+01] [ 1.90683997e-02 -2.34719706e-04 9.99818154e-01 2.09795084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.793617865 meters 0.017677512443692547 Centerline is valid? [True, True] Translation: X:118.26, Y:40.48, Z:2.10 [[ 7.13261611e-01 -7.00760250e-01 -1.38905284e-02 1.18256897e+02] [ 7.00632941e-01 7.13396826e-01 -1.33585554e-02 4.04767016e+01] [ 1.92706035e-02 -2.04017020e-04 9.99814284e-01 2.10025793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82361786499996 meters 0.01740659568119275 Centerline is valid? [True, True] Translation: X:118.28, Y:40.50, Z:2.10 [[ 7.14889999e-01 -6.99094262e-01 -1.41245408e-02 1.18276330e+02] [ 6.98962193e-01 7.15029501e-01 -1.35891265e-02 4.04972613e+01] [ 1.95995437e-02 -1.57789342e-04 9.99807898e-01 2.10088754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85361786499996 meters 0.018705024859298185 Centerline is valid? [True, True] Translation: X:118.30, Y:40.52, Z:2.10 [[ 7.15198984e-01 -6.98781734e-01 -1.39463955e-02 1.18295650e+02] [ 6.98652858e-01 7.15334934e-01 -1.34207516e-02 4.05174027e+01] [ 1.93545199e-02 -1.45181180e-04 9.99812673e-01 2.09940378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88361786499996 meters 0.017253477874882392 Centerline is valid? [True, True] Translation: X:118.32, Y:40.54, Z:2.10 [[ 7.15485950e-01 -6.98496785e-01 -1.34943580e-02 1.18315033e+02] [ 6.98375959e-01 7.15613181e-01 -1.29921054e-02 4.05355304e+01] [ 1.87316843e-02 -1.28466356e-04 9.99824538e-01 2.10208428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91361786499996 meters 0.017293084344182502 Centerline is valid? [True, True] Translation: X:118.33, Y:40.55, Z:2.10 [[ 7.15247682e-01 -6.98745638e-01 -1.32396119e-02 1.18334677e+02] [ 6.98629320e-01 7.15370196e-01 -1.27497786e-02 4.05537282e+01] [ 1.83800759e-02 -1.30331419e-04 9.99831064e-01 2.10224167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94361786499996 meters 0.02073328099975194 Centerline is valid? [True, True] Translation: X:118.36, Y:40.57, Z:2.10 [[ 7.14403689e-01 -6.99601581e-01 -1.36013702e-02 1.18355391e+02] [ 6.99478907e-01 7.14533138e-01 -1.31016833e-02 4.05733273e+01] [ 1.88845880e-02 -1.53980652e-04 9.99821658e-01 2.09855542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97361786499997 meters 0.017403905126816863 Centerline is valid? [True, True] Translation: X:118.38, Y:40.59, Z:2.10 [[ 7.13711357e-01 -7.00313717e-01 -1.32965038e-02 1.18376821e+02] [ 7.00196504e-01 7.13835185e-01 -1.28134684e-02 4.05902623e+01] [ 1.84649599e-02 -1.65047572e-04 9.99829494e-01 2.10323258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00361786499997 meters 0.020213574048509677 Centerline is valid? [True, True] Translation: X:118.40, Y:40.61, Z:2.10 [[ 7.11683743e-01 -7.02360608e-01 -1.39937754e-02 1.18398640e+02] [ 7.02231122e-01 7.11821273e-01 -1.34880220e-02 4.06074314e+01] [ 1.94345223e-02 -2.27658631e-04 9.99811106e-01 2.10033969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03361786499997 meters 0.020061593354673547 Centerline is valid? [True, True] Translation: X:118.42, Y:40.63, Z:2.10 [[ 7.10619282e-01 -7.03430786e-01 -1.43305690e-02 1.18419241e+02] [ 7.03295148e-01 7.10763716e-01 -1.38157107e-02 4.06270243e+01] [ 1.99040447e-02 -2.60909270e-04 9.99801861e-01 2.10069861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06361786499997 meters 0.01818462208011488 Centerline is valid? [True, True] Translation: X:118.44, Y:40.64, Z:2.10 [[ 7.09130148e-01 -7.04931969e-01 -1.43301468e-02 1.18441563e+02] [ 7.04796528e-01 7.09274862e-01 -1.38211679e-02 4.06433446e+01] [ 1.99069960e-02 -2.98830862e-04 9.99801791e-01 2.10404428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09361786499997 meters 0.019870204398156035 Centerline is valid? [True, True] Translation: X:118.46, Y:40.66, Z:2.10 [[ 7.07735814e-01 -7.06317748e-01 -1.50085119e-02 1.18463068e+02] [ 7.06169417e-01 7.07894847e-01 -1.44789299e-02 4.06631189e+01] [ 2.08511734e-02 -3.51294851e-04 9.99782529e-01 2.10256729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12361786499997 meters 0.02031575117866114 Centerline is valid? [True, True] Translation: X:118.48, Y:40.68, Z:2.10 [[ 7.06458091e-01 -7.07605503e-01 -1.45402301e-02 1.18484685e+02] [ 7.07466425e-01 7.06607609e-01 -1.40336962e-02 4.06824820e+01] [ 2.02045579e-02 -3.72506403e-04 9.99795798e-01 2.10294073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15361786499997 meters 0.01910209642070765 Centerline is valid? [True, True] Translation: X:118.51, Y:40.70, Z:2.11 [[ 7.03955245e-01 -7.10109744e-01 -1.38262313e-02 1.18508924e+02] [ 7.09984352e-01 7.04090887e-01 -1.33507249e-02 4.06985615e+01] [ 1.92154033e-02 -4.18095086e-04 9.99815280e-01 2.10698522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18361786499997 meters 0.023648382199626117 Centerline is valid? [True, True] Translation: X:118.53, Y:40.71, Z:2.10 [[ 7.02668083e-01 -7.11366574e-01 -1.46684041e-02 1.18533227e+02] [ 7.11225581e-01 7.02821010e-01 -1.41704458e-02 4.07140738e+01] [ 2.03896440e-02 -4.75424268e-04 9.99791997e-01 2.10317240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21361786499997 meters 0.022000444345209487 Centerline is valid? [True, True] Translation: X:118.56, Y:40.73, Z:2.11 [[ 7.01992665e-01 -7.12043413e-01 -1.41589678e-02 1.18556439e+02] [ 7.11912107e-01 7.02135280e-01 -1.36820949e-02 4.07320550e+01] [ 1.96837563e-02 -4.75210372e-04 9.99806143e-01 2.10738162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24361786499998 meters 0.022000444345209487 Centerline is valid? [True, True] Translation: X:118.58, Y:40.75, Z:2.11 [[ 7.01815995e-01 -7.12217607e-01 -1.41559225e-02 1.18576182e+02] [ 7.12086273e-01 7.01958584e-01 -1.36852450e-02 4.07512774e+01] [ 1.96837438e-02 -4.75714328e-04 9.99806143e-01 2.10783271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27361786499998 meters 0.019920382881130693 Centerline is valid? [True, True] Translation: X:118.59, Y:40.77, Z:2.11 [[ 7.00934314e-01 -7.13084215e-01 -1.42123201e-02 1.18594478e+02] [ 7.12951875e-01 7.01078209e-01 -1.37465746e-02 4.07733118e+01] [ 1.97664133e-02 -4.97254424e-04 9.99804502e-01 2.10923360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30361786499998 meters 0.020398798655832672 Centerline is valid? [True, True] Translation: X:118.62, Y:40.79, Z:2.11 [[ 7.00392800e-01 -7.13612458e-01 -1.43939377e-02 1.18616804e+02] [ 7.13476706e-01 7.00540502e-01 -1.39282041e-02 4.07904964e+01] [ 2.00228763e-02 -5.14525400e-04 9.99799390e-01 2.10950206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33361786499998 meters 0.020716766282423128 Centerline is valid? [True, True] Translation: X:118.64, Y:40.81, Z:2.11 [[ 7.00201740e-01 -7.13798481e-01 -1.44655395e-02 1.18637166e+02] [ 7.13661356e-01 7.00350953e-01 -1.40003888e-02 4.08081846e+01] [ 2.01244106e-02 -5.20399935e-04 9.99797348e-01 2.10946251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36361786499998 meters 0.019722914390874542 Centerline is valid? [True, True] Translation: X:118.66, Y:40.83, Z:2.11 [[ 7.01106399e-01 -7.12907980e-01 -1.45612358e-02 1.18657490e+02] [ 7.12768731e-01 7.01257419e-01 -1.40985404e-02 4.08289881e+01] [ 2.02621366e-02 -4.94216696e-04 9.99794580e-01 2.10861269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39361786499998 meters 0.0205913748694753 Centerline is valid? [True, True] Translation: X:118.68, Y:40.85, Z:2.11 [[ 7.01404128e-01 -7.12614482e-01 -1.45893331e-02 1.18678644e+02] [ 7.12474491e-01 7.01555677e-01 -1.41326351e-02 4.08482486e+01] [ 2.03063498e-02 -4.81839074e-04 9.99793689e-01 2.10790858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42361786499998 meters 0.02206395397320837 Centerline is valid? [True, True] Translation: X:118.70, Y:40.87, Z:2.11 [[ 7.01659448e-01 -7.12359348e-01 -1.47708648e-02 1.18699434e+02] [ 7.12215650e-01 7.01814743e-01 -1.43154991e-02 4.08678269e+01] [ 2.05641903e-02 -4.75435828e-04 9.99788422e-01 2.10669306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45361786499998 meters 0.019745484639359517 Centerline is valid? [True, True] Translation: X:118.72, Y:40.89, Z:2.11 [[ 7.02761637e-01 -7.11294446e-01 -1.36488790e-02 1.18721172e+02] [ 7.11171436e-01 7.02894050e-01 -1.32341255e-02 4.08862098e+01] [ 1.90070758e-02 -4.06257187e-04 9.99819267e-01 2.10977433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48361786499999 meters 0.01901624600547769 Centerline is valid? [True, True] Translation: X:118.74, Y:40.91, Z:2.11 [[ 7.03400049e-01 -7.10668383e-01 -1.33723948e-02 1.18742727e+02] [ 7.10550079e-01 7.03527048e-01 -1.29722007e-02 4.09056192e+01] [ 1.86267743e-02 -3.77109625e-04 9.99826435e-01 2.11126345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.513617865 meters 0.018653608522570322 Centerline is valid? [True, True] Translation: X:118.76, Y:40.92, Z:2.11 [[ 7.05170396e-01 -7.08933049e-01 -1.21919746e-02 1.18763614e+02] [ 7.08834365e-01 7.05275721e-01 -1.18321928e-02 4.09241168e+01] [ 1.69869362e-02 -2.98378467e-04 9.99855667e-01 2.11107798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543617865 meters 0.019110139741195305 Centerline is valid? [True, True] Translation: X:118.78, Y:40.94, Z:2.11 [[ 7.05901929e-01 -7.08207561e-01 -1.20215154e-02 1.18784400e+02] [ 7.08111477e-01 7.06004231e-01 -1.16688000e-02 4.09437770e+01] [ 1.67511731e-02 -2.75544634e-04 9.99859651e-01 2.11035614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57361786499996 meters 0.018167180451911888 Centerline is valid? [True, True] Translation: X:118.81, Y:40.96, Z:2.11 [[ 7.07659444e-01 -7.06469937e-01 -1.08783364e-02 1.18805669e+02] [ 7.06390982e-01 7.07743021e-01 -1.05638979e-02 4.09617980e+01] [ 1.51621430e-02 -2.08716578e-04 9.99885026e-01 2.11188097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60361786499996 meters 0.017881435550730653 Centerline is valid? [True, True] Translation: X:118.83, Y:40.98, Z:2.11 [[ 7.07945010e-01 -7.06192248e-01 -1.03137215e-02 1.18826006e+02] [ 7.06121232e-01 7.08020108e-01 -1.00166433e-02 4.09809673e+01] [ 1.43759980e-02 -1.91505054e-04 9.99896642e-01 2.11207423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63361786499996 meters 0.01790704156721021 Centerline is valid? [True, True] Translation: X:118.85, Y:41.00, Z:2.11 [[ 7.08547023e-01 -7.05592371e-01 -1.00260501e-02 1.18847233e+02] [ 7.05525121e-01 7.08617934e-01 -9.74304483e-03 4.09988165e+01] [ 1.39792570e-02 -1.70224789e-04 9.99902271e-01 2.11246312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66361786499996 meters 0.01783060793221302 Centerline is valid? [True, True] Translation: X:118.87, Y:41.02, Z:2.11 [[ 7.08700985e-01 -7.05450108e-01 -9.11365637e-03 1.18869237e+02] [ 7.05394525e-01 7.08759566e-01 -8.85678711e-03 4.10160323e+01] [ 1.27074126e-02 -1.51909552e-04 9.99919246e-01 2.11241197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69361786499996 meters 0.017771238834394833 Centerline is valid? [True, True] Translation: X:118.89, Y:41.03, Z:2.11 [[ 7.08392360e-01 -7.05764664e-01 -8.74663306e-03 1.18890481e+02] [ 7.05713439e-01 7.08446340e-01 -8.50438682e-03 4.10347885e+01] [ 1.21986159e-02 -1.48173847e-04 9.99925583e-01 2.11273712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72361786499997 meters 0.017596195544636307 Centerline is valid? [True, True] Translation: X:118.91, Y:41.05, Z:2.11 [[ 7.07947147e-01 -7.06216080e-01 -8.34780835e-03 1.18910966e+02] [ 7.06169405e-01 7.07996347e-01 -8.12065846e-03 4.10533394e+01] [ 1.16451574e-02 -1.45969865e-04 9.99932182e-01 2.11290197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75361786499997 meters 0.01805983053563781 Centerline is valid? [True, True] Translation: X:118.93, Y:41.07, Z:2.11 [[ 7.07732474e-01 -7.06440039e-01 -7.56418175e-03 1.18934240e+02] [ 7.06401674e-01 7.07772883e-01 -7.36346696e-03 4.10691527e+01] [ 1.05555706e-02 -1.31985960e-04 9.99944280e-01 2.11400881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78361786499997 meters 0.018437504990970285 Centerline is valid? [True, True] Translation: X:118.96, Y:41.09, Z:2.11 [[ 7.06963473e-01 -7.07211739e-01 -7.36226801e-03 1.18955690e+02] [ 7.07175439e-01 7.07001794e-01 -7.16679446e-03 4.10888548e+01] [ 1.02735779e-02 -1.39753205e-04 9.99947216e-01 2.11284615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81361786499997 meters 0.018241338371389332 Centerline is valid? [True, True] Translation: X:118.98, Y:41.11, Z:2.11 [[ 7.06817220e-01 -7.07358295e-01 -7.32523403e-03 1.18977253e+02] [ 7.07322321e-01 7.06855164e-01 -7.13518231e-03 4.11051232e+01] [ 1.02250099e-02 -1.38031805e-04 9.99947714e-01 2.11434954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84361786499997 meters 0.017781577113116284 Centerline is valid? [True, True] Translation: X:119.00, Y:41.12, Z:2.11 [[ 7.06594659e-01 -7.07580283e-01 -7.35743429e-03 1.18998638e+02] [ 7.07544000e-01 7.06632948e-01 -7.16689623e-03 4.11228360e+01] [ 1.02701599e-02 -1.41617890e-04 9.99947250e-01 2.11300651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87361786499997 meters 0.018514256280869636 Centerline is valid? [True, True] Translation: X:119.02, Y:41.14, Z:2.11 [[ 7.06366596e-01 -7.07804761e-01 -7.65849673e-03 1.19020656e+02] [ 7.07765401e-01 7.06408096e-01 -7.46583953e-03 4.11387544e+01] [ 1.06943809e-02 -1.46799355e-04 9.99942803e-01 2.11371385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90361786499997 meters 0.0177110200663342 Centerline is valid? [True, True] Translation: X:119.04, Y:41.16, Z:2.11 [[ 7.06445242e-01 -7.07721790e-01 -8.06150617e-03 1.19041094e+02] [ 7.07678162e-01 7.06491221e-01 -7.85963011e-03 4.11584642e+01] [ 1.12578148e-02 -1.52553578e-04 9.99936617e-01 2.11141497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93361786499997 meters 0.017705237897742913 Centerline is valid? [True, True] Translation: X:119.06, Y:41.18, Z:2.11 [[ 7.06580957e-01 -7.07582430e-01 -8.39379611e-03 1.19062164e+02] [ 7.07535066e-01 7.06630795e-01 -8.18840491e-03 4.11772550e+01] [ 1.17252863e-02 -1.53134111e-04 9.99931245e-01 2.11083368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96361786499997 meters 0.018395487926560327 Centerline is valid? [True, True] Translation: X:119.08, Y:41.19, Z:2.11 [[ 7.06585920e-01 -7.07576503e-01 -8.47526017e-03 1.19084382e+02] [ 7.07528147e-01 7.06636731e-01 -8.27349896e-03 4.11935229e+01] [ 1.18430636e-02 -1.50547248e-04 9.99929857e-01 2.11137812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99361786499998 meters 0.017774196018307035 Centerline is valid? [True, True] Translation: X:119.10, Y:41.21, Z:2.11 [[ 7.06190964e-01 -7.07964095e-01 -9.00908298e-03 1.19104438e+02] [ 7.07909469e-01 7.06248408e-01 -8.79608491e-03 4.12131237e+01] [ 1.25899628e-02 -1.65899462e-04 9.99920730e-01 2.11061687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02361786499998 meters 0.017725023143956988 Centerline is valid? [True, True] Translation: X:119.13, Y:41.23, Z:2.11 [[ 7.05406033e-01 -7.08753391e-01 -8.42373593e-03 1.19128836e+02] [ 7.08705639e-01 7.05456308e-01 -8.22884438e-03 4.12296457e+01] [ 1.17747990e-02 -1.65272683e-04 9.99930661e-01 2.11093428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05361786499998 meters 0.017700982411000887 Centerline is valid? [True, True] Translation: X:119.15, Y:41.25, Z:2.11 [[ 7.04830794e-01 -7.09322443e-01 -8.67315181e-03 1.19150228e+02] [ 7.09271817e-01 7.04884132e-01 -8.47643905e-03 4.12473958e+01] [ 1.21260955e-02 -1.77166882e-04 9.99926461e-01 2.11127191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08361786499998 meters 0.01800784601343781 Centerline is valid? [True, True] Translation: X:119.17, Y:41.26, Z:2.11 [[ 7.04494393e-01 -7.09659553e-01 -8.42430508e-03 1.19172382e+02] [ 7.09611748e-01 7.04544738e-01 -8.23884212e-03 4.12642774e+01] [ 1.17820728e-02 -1.73767770e-04 9.99930574e-01 2.11189779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11361786499998 meters 0.01760827403389226 Centerline is valid? [True, True] Translation: X:119.19, Y:41.28, Z:2.11 [[ 7.04073940e-01 -7.10079417e-01 -8.19202774e-03 1.19194573e+02] [ 7.10034240e-01 7.04121574e-01 -8.01166971e-03 4.12821094e+01] [ 1.14571052e-02 -1.75812330e-04 9.99934350e-01 2.11184784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14361786499998 meters 0.018134512907022053 Centerline is valid? [True, True] Translation: X:119.22, Y:41.30, Z:2.11 [[ 7.04176953e-01 -7.09979634e-01 -7.98361959e-03 1.19216500e+02] [ 7.09936661e-01 7.04222189e-01 -7.81317216e-03 4.12984611e+01] [ 1.11694352e-02 -1.66008476e-04 9.99937606e-01 2.11317241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17361786499998 meters 0.017644886247750267 Centerline is valid? [True, True] Translation: X:119.24, Y:41.32, Z:2.11 [[ 7.04338191e-01 -7.09822242e-01 -7.75230020e-03 1.19237122e+02] [ 7.09781707e-01 7.04380835e-01 -7.58735417e-03 4.13176612e+01] [ 1.08462444e-02 -1.58377561e-04 9.99941165e-01 2.11358731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20361786499998 meters 0.01741175861998742 Centerline is valid? [True, True] Translation: X:119.26, Y:41.34, Z:2.11 [[ 7.05552802e-01 -7.08620802e-01 -7.19732717e-03 1.19259815e+02] [ 7.08585764e-01 7.05589500e-01 -7.04788653e-03 4.13352072e+01] [ 1.00726375e-02 -1.27267484e-04 9.99949262e-01 2.11412043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23361786499999 meters 0.01728528143918652 Centerline is valid? [True, True] Translation: X:119.28, Y:41.35, Z:2.11 [[ 7.06409196e-01 -7.07766172e-01 -7.28655881e-03 1.19280478e+02] [ 7.07730165e-01 7.06446766e-01 -7.14004503e-03 4.13534359e+01] [ 1.02010482e-02 -1.13124001e-04 9.99947962e-01 2.11457767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263617865 meters 0.01704234321199723 Centerline is valid? [True, True] Translation: X:119.30, Y:41.37, Z:2.12 [[ 7.08366770e-01 -7.05815929e-01 -6.35561329e-03 1.19301342e+02] [ 7.05788449e-01 7.08395277e-01 -6.22863293e-03 4.13712909e+01] [ 8.89855477e-03 -7.35618608e-05 9.99960404e-01 2.11557953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.293617865 meters 0.016753273723312354 Centerline is valid? [True, True] Translation: X:119.32, Y:41.39, Z:2.12 [[ 7.09248329e-01 -7.04928466e-01 -6.53190602e-03 1.19322419e+02] [ 7.04899407e-01 7.09278403e-01 -6.40096055e-03 4.13912630e+01] [ 9.14515918e-03 -6.44661072e-05 9.99958180e-01 2.11555760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32361786499996 meters 0.01669535311352819 Centerline is valid? [True, True] Translation: X:119.34, Y:41.41, Z:2.12 [[ 7.09830506e-01 -7.04347454e-01 -5.94270502e-03 1.19342812e+02] [ 7.04323366e-01 7.09855380e-01 -5.82542247e-03 4.14099719e+01] [ 8.32158262e-03 -5.05234217e-05 9.99965374e-01 2.11603061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35361786499996 meters 0.0165427881490183 Centerline is valid? [True, True] Translation: X:119.37, Y:41.43, Z:2.12 [[ 7.11181660e-01 -7.02975606e-01 -6.77823193e-03 1.19365478e+02] [ 7.02944159e-01 7.11213960e-01 -6.64927738e-03 4.14276426e+01] [ 9.49505296e-03 -3.58744227e-05 9.99954920e-01 2.11604108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38361786499996 meters 0.016451551830206825 Centerline is valid? [True, True] Translation: X:119.39, Y:41.45, Z:2.12 [[ 7.11694080e-01 -7.02456878e-01 -6.77280837e-03 1.19386699e+02] [ 7.02425432e-01 7.11726305e-01 -6.64673203e-03 4.14461698e+01] [ 9.48942851e-03 -2.69530079e-05 9.99954974e-01 2.11619879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41361786499996 meters 0.01654082048154839 Centerline is valid? [True, True] Translation: X:119.41, Y:41.46, Z:2.12 [[ 7.12169109e-01 -7.01974136e-01 -6.88999879e-03 1.19407543e+02] [ 7.01941519e-01 7.12202437e-01 -6.76705171e-03 4.14635902e+01] [ 9.65736921e-03 -1.70910247e-05 9.99953366e-01 2.11730098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44361786499996 meters 0.016539948351733003 Centerline is valid? [True, True] Translation: X:119.43, Y:41.48, Z:2.12 [[ 7.12760992e-01 -7.01372934e-01 -6.91203928e-03 1.19429761e+02] [ 7.01340076e-01 7.12794506e-01 -6.78897931e-03 4.14805841e+01] [ 9.68846996e-03 -8.77052254e-06 9.99953066e-01 2.11727437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47361786499997 meters 0.016582532807564408 Centerline is valid? [True, True] Translation: X:119.45, Y:41.50, Z:2.12 [[ 7.12733542e-01 -7.01403272e-01 -6.65948179e-03 1.19450232e+02] [ 7.01372732e-01 7.12764653e-01 -6.54527710e-03 4.14979114e+01] [ 9.33752200e-03 -5.74040452e-06 9.99956404e-01 2.11802326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50361786499997 meters 0.016464526788982633 Centerline is valid? [True, True] Translation: X:119.47, Y:41.51, Z:2.12 [[ 7.12240223e-01 -7.01904299e-01 -6.64985549e-03 1.19473622e+02] [ 7.01873862e-01 7.12271265e-01 -6.53653304e-03 4.15141722e+01] [ 9.32452163e-03 -1.17780082e-05 9.99956526e-01 2.11794296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53361786499997 meters 0.016477860445748633 Centerline is valid? [True, True] Translation: X:119.50, Y:41.53, Z:2.12 [[ 7.11901232e-01 -7.02245553e-01 -6.91508247e-03 1.19495310e+02] [ 7.02212619e-01 7.11934816e-01 -6.80113679e-03 4.15315811e+01] [ 9.69915604e-03 -1.41205161e-05 9.99952962e-01 2.11820098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56361786499997 meters 0.016417703483850157 Centerline is valid? [True, True] Translation: X:119.52, Y:41.55, Z:2.12 [[ 7.11262450e-01 -7.02890495e-01 -7.11894202e-03 1.19517789e+02] [ 7.02855582e-01 7.11298076e-01 -7.00557974e-03 4.15494637e+01] [ 9.98784517e-03 -2.07823266e-05 9.99950120e-01 2.11850251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59361786499997 meters 0.016511987060991964 Centerline is valid? [True, True] Translation: X:119.54, Y:41.57, Z:2.12 [[ 7.10675388e-01 -7.03479490e-01 -7.55650060e-03 1.19539112e+02] [ 7.03440130e-01 7.10715559e-01 -7.44154940e-03 4.15660759e+01] [ 1.06054999e-02 -2.70197681e-05 9.99943760e-01 2.11885097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62361786499997 meters 0.016452637171010396 Centerline is valid? [True, True] Translation: X:119.56, Y:41.58, Z:2.12 [[ 7.09735386e-01 -7.04423949e-01 -7.91082036e-03 1.19562748e+02] [ 7.04380854e-01 7.09779471e-01 -7.79195755e-03 4.15816850e+01] [ 1.11037794e-02 -4.20024002e-05 9.99938350e-01 2.11839046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65361786499997 meters 0.016439963378616074 Centerline is valid? [True, True] Translation: X:119.58, Y:41.60, Z:2.12 [[ 7.09405759e-01 -7.04753491e-01 -8.12318612e-03 1.19583573e+02] [ 7.04708010e-01 7.09452264e-01 -8.00657574e-03 4.15984837e+01] [ 1.14056750e-02 -4.45633869e-05 9.99934952e-01 2.11895956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68361786499997 meters 0.016328916174811667 Centerline is valid? [True, True] Translation: X:119.61, Y:41.62, Z:2.12 [[ 7.08750436e-01 -7.05405524e-01 -8.71009508e-03 1.19605072e+02] [ 7.05353257e-01 7.08803952e-01 -8.58717725e-03 4.16165962e+01] [ 1.22311921e-02 -5.75283151e-05 9.99925195e-01 2.11882655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71361786499997 meters 0.016472525328961558 Centerline is valid? [True, True] Translation: X:119.63, Y:41.63, Z:2.12 [[ 7.08263795e-01 -7.05888166e-01 -9.18122365e-03 1.19627676e+02] [ 7.05830055e-01 7.08323297e-01 -9.05759846e-03 4.16323712e+01] [ 1.28969262e-02 -6.52145381e-05 9.99916829e-01 2.11873372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74361786499998 meters 0.01643566365529482 Centerline is valid? [True, True] Translation: X:119.65, Y:41.65, Z:2.12 [[ 7.08229582e-01 -7.05920412e-01 -9.33973912e-03 1.19648207e+02] [ 7.05860250e-01 7.08291160e-01 -9.21628761e-03 4.16511526e+01] [ 1.31212202e-02 -6.53030631e-05 9.99913911e-01 2.11944975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77361786499998 meters 0.016406298491616362 Centerline is valid? [True, True] Translation: X:119.67, Y:41.67, Z:2.12 [[ 7.09004872e-01 -7.05149355e-01 -8.74522054e-03 1.19667170e+02] [ 7.05096497e-01 7.09058803e-01 -8.63388578e-03 4.16714964e+01] [ 1.22890546e-02 -4.47572854e-05 9.99924486e-01 2.12042662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80361786499998 meters 0.0164081599570915 Centerline is valid? [True, True] Translation: X:119.68, Y:41.69, Z:2.12 [[ 7.10978828e-01 -7.03162211e-01 -8.48593183e-03 1.19684907e+02] [ 7.03112241e-01 7.11029468e-01 -8.38278837e-03 4.16920855e+01] [ 1.19282076e-02 -6.57749721e-06 9.99928856e-01 2.12186435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83361786499998 meters 0.016335332084320947 Centerline is valid? [True, True] Translation: X:119.70, Y:41.71, Z:2.12 [[ 7.12123673e-01 -7.01998455e-01 -8.83416679e-03 1.19702754e+02] [ 7.01944166e-01 7.12178467e-01 -8.73038160e-03 4.17124135e+01] [ 1.24202178e-02 1.60195741e-05 9.99922866e-01 2.12256318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86361786499998 meters 0.016409987273729675 Centerline is valid? [True, True] Translation: X:119.72, Y:41.73, Z:2.12 [[ 7.12942773e-01 -7.01151255e-01 -9.97595184e-03 1.19722258e+02] [ 7.01081900e-01 7.13012564e-01 -9.86167379e-03 4.17321300e+01] [ 1.40275040e-02 3.68497881e-05 9.99901609e-01 2.12195737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89361786499998 meters 0.016416480655204 Centerline is valid? [True, True] Translation: X:119.74, Y:41.75, Z:2.12 [[ 7.12740855e-01 -7.01348539e-01 -1.05214103e-02 1.19742984e+02] [ 7.01271329e-01 7.12818508e-01 -1.04066244e-02 4.17517531e+01] [ 1.47985268e-02 3.88629822e-05 9.99890495e-01 2.12232975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92361786499998 meters 0.016410798547875083 Centerline is valid? [True, True] Translation: X:119.76, Y:41.77, Z:2.12 [[ 7.12269316e-01 -7.01818906e-01 -1.10744941e-02 1.19763150e+02] [ 7.01733326e-01 7.12355404e-01 -1.09597681e-02 4.17713760e+01] [ 1.55807482e-02 3.49649902e-05 9.99878612e-01 2.12255512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95361786499998 meters 0.016445009197728937 Centerline is valid? [True, True] Translation: X:119.78, Y:41.79, Z:2.12 [[ 7.11644017e-01 -7.02447378e-01 -1.14225214e-02 1.19783588e+02] [ 7.02356316e-01 7.11735681e-01 -1.13103988e-02 4.17912518e+01] [ 1.60747760e-02 2.62975955e-05 9.99870792e-01 2.12273710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98361786499999 meters 0.016434292107036216 Centerline is valid? [True, True] Translation: X:119.80, Y:41.81, Z:2.12 [[ 7.10071244e-01 -7.04030736e-01 -1.18131744e-02 1.19802712e+02] [ 7.03933448e-01 7.10169503e-01 -1.17037491e-02 4.18101729e+01] [ 1.66291553e-02 -5.19295878e-06 9.99861726e-01 2.12321896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.013617865 meters 0.016482158336419937 Centerline is valid? [True, True] Translation: X:119.82, Y:41.83, Z:2.12 [[ 7.09114844e-01 -7.04996711e-01 -1.16523073e-02 1.19822301e+02] [ 7.04902130e-01 7.09210573e-01 -1.15477406e-02 4.18299907e+01] [ 1.64050586e-02 -2.50619738e-05 9.99865428e-01 2.12395437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043617865 meters 0.01667396910761351 Centerline is valid? [True, True] Translation: X:119.84, Y:41.85, Z:2.12 [[ 7.08075348e-01 -7.06038196e-01 -1.18053817e-02 1.19841385e+02] [ 7.05941158e-01 7.08173752e-01 -1.17055081e-02 4.18492021e+01] [ 1.66247973e-02 -4.55231362e-05 9.99861797e-01 2.12483239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07361786499996 meters 0.016821960518294536 Centerline is valid? [True, True] Translation: X:119.86, Y:41.87, Z:2.13 [[ 7.06887221e-01 -7.07226637e-01 -1.18718613e-02 1.19861317e+02] [ 7.07128599e-01 7.06986902e-01 -1.17755916e-02 4.18685156e+01] [ 1.67212625e-02 -7.09174405e-05 9.99860187e-01 2.12587362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10361786499996 meters 0.01709449046098209 Centerline is valid? [True, True] Translation: X:119.88, Y:41.89, Z:2.13 [[ 7.04565710e-01 -7.09541531e-01 -1.17463132e-02 1.19883029e+02] [ 7.09445781e-01 7.04663608e-01 -1.16569243e-02 4.18880525e+01] [ 1.65482714e-02 -1.20303231e-04 9.99863061e-01 2.12712349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13361786499996 meters 0.017308164206081333 Centerline is valid? [True, True] Translation: X:119.90, Y:41.91, Z:2.13 [[ 7.03352574e-01 -7.10742836e-01 -1.18227762e-02 1.19903722e+02] [ 7.10645914e-01 7.03451917e-01 -1.17381798e-02 4.19073508e+01] [ 1.66595817e-02 -1.45728628e-04 9.99861209e-01 2.12766311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16361786499996 meters 0.017308164206081333 Centerline is valid? [True, True] Translation: X:119.92, Y:41.93, Z:2.13 [[ 7.03168049e-01 -7.10925417e-01 -1.18214037e-02 1.19923231e+02] [ 7.10828498e-01 7.03267395e-01 -1.17395617e-02 4.19268448e+01] [ 1.66595606e-02 -1.48105937e-04 9.99861209e-01 2.12811485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19361786499996 meters 0.017391359378624037 Centerline is valid? [True, True] Translation: X:119.94, Y:41.95, Z:2.13 [[ 7.00773710e-01 -7.13279778e-01 -1.21723595e-02 1.19943305e+02] [ 7.13177261e-01 7.00879388e-01 -1.20945266e-02 4.19476544e+01] [ 1.71581371e-02 -2.05523763e-04 9.99852767e-01 2.12845080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22361786499997 meters 0.01818888474462281 Centerline is valid? [True, True] Translation: X:119.96, Y:41.97, Z:2.13 [[ 6.99550834e-01 -7.14478083e-01 -1.22351939e-02 1.19964819e+02] [ 7.14374589e-01 6.99657784e-01 -1.21627219e-02 4.19661968e+01] [ 1.72504469e-02 -2.32069403e-04 9.99851173e-01 2.12858352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25361786499997 meters 0.017935879398672194 Centerline is valid? [True, True] Translation: X:119.98, Y:41.99, Z:2.13 [[ 6.98369803e-01 -7.15632148e-01 -1.22575376e-02 1.19983601e+02] [ 7.15528396e-01 6.98477317e-01 -1.21881948e-02 4.19876539e+01] [ 1.72838760e-02 -2.58749003e-04 9.99850589e-01 2.12935838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28361786499997 meters 0.018245114085806993 Centerline is valid? [True, True] Translation: X:120.00, Y:42.01, Z:2.13 [[ 6.97297269e-01 -7.16679046e-01 -1.21516662e-02 1.20003418e+02] [ 7.16577141e-01 6.97403088e-01 -1.20885639e-02 4.20068435e+01] [ 1.71382300e-02 -2.78283608e-04 9.99853091e-01 2.12950399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31361786499997 meters 0.01871236825282841 Centerline is valid? [True, True] Translation: X:120.02, Y:42.03, Z:2.13 [[ 6.95483757e-01 -7.18430381e-01 -1.26542981e-02 1.20024388e+02] [ 7.18320096e-01 6.95598791e-01 -1.25921310e-02 4.20267551e+01] [ 1.78488840e-02 -3.32214070e-04 9.99840641e-01 2.13046634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34361786499997 meters 0.0190246202049799 Centerline is valid? [True, True] Translation: X:120.04, Y:42.05, Z:2.13 [[ 6.94683101e-01 -7.19203722e-01 -1.27041098e-02 1.20044929e+02] [ 7.19092596e-01 6.94799168e-01 -1.26473408e-02 4.20462736e+01] [ 1.79228195e-02 -3.49537361e-04 9.99839312e-01 2.13099597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37361786499997 meters 0.019264040353820473 Centerline is valid? [True, True] Translation: X:120.07, Y:42.07, Z:2.13 [[ 6.93432120e-01 -7.20398795e-01 -1.33218752e-02 1.20066035e+02] [ 7.20276763e-01 6.93559961e-01 -1.32651738e-02 4.20663722e+01] [ 1.87957344e-02 -3.96939612e-04 9.99823266e-01 2.13201348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40361786499997 meters 0.019578102023239383 Centerline is valid? [True, True] Translation: X:120.09, Y:42.08, Z:2.13 [[ 6.93083420e-01 -7.20735173e-01 -1.32733714e-02 1.20085202e+02] [ 7.20613979e-01 6.93210393e-01 -1.32228256e-02 4.20849025e+01] [ 1.87313945e-02 -4.00455742e-04 9.99824472e-01 2.13230029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43361786499997 meters 0.01946126884022053 Centerline is valid? [True, True] Translation: X:120.10, Y:42.11, Z:2.13 [[ 6.93037107e-01 -7.20780394e-01 -1.32360199e-02 1.20104759e+02] [ 7.20659807e-01 6.93163376e-01 -1.31900598e-02 4.21056701e+01] [ 1.86818607e-02 -3.97466658e-04 9.99825400e-01 2.13266511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46361786499997 meters 0.018686301228139673 Centerline is valid? [True, True] Translation: X:120.12, Y:42.13, Z:2.13 [[ 6.93062130e-01 -7.20743407e-01 -1.39221511e-02 1.20123113e+02] [ 7.20609831e-01 6.93201827e-01 -1.38816060e-02 4.21276588e+01] [ 1.96559366e-02 -4.11623488e-04 9.99806719e-01 2.13314514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49361786499998 meters 0.01889627172832339 Centerline is valid? [True, True] Translation: X:120.14, Y:42.15, Z:2.13 [[ 6.92988104e-01 -7.20808370e-01 -1.42401078e-02 1.20142510e+02] [ 7.20668488e-01 6.93134272e-01 -1.42060580e-02 4.21468221e+01] [ 2.01101523e-02 -4.17767735e-04 9.99797683e-01 2.13340405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52361786499998 meters 0.019026882088146752 Centerline is valid? [True, True] Translation: X:120.16, Y:42.17, Z:2.13 [[ 6.92935890e-01 -7.20855933e-01 -1.43727437e-02 1.20162267e+02] [ 7.20713339e-01 6.93084805e-01 -1.43435101e-02 4.21662139e+01] [ 2.03011347e-02 -4.19495160e-04 9.99793823e-01 2.13341758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55361786499998 meters 0.018984543478429854 Centerline is valid? [True, True] Translation: X:120.18, Y:42.19, Z:2.13 [[ 6.92752800e-01 -7.21022934e-01 -1.48150846e-02 1.20182511e+02] [ 7.20871290e-01 6.92911063e-01 -1.47932741e-02 4.21856928e+01] [ 2.09318259e-02 -4.31687084e-04 9.99780812e-01 2.13377221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58361786499998 meters 0.020007029361069954 Centerline is valid? [True, True] Translation: X:120.20, Y:42.20, Z:2.13 [[ 6.92588779e-01 -7.21165765e-01 -1.55152337e-02 1.20204912e+02] [ 7.20999312e-01 6.92762395e-01 -1.55001959e-02 4.22027715e+01] [ 2.19265811e-02 -4.51211093e-04 9.99759482e-01 2.13383405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61361786499998 meters 0.019433032385143365 Centerline is valid? [True, True] Translation: X:120.22, Y:42.22, Z:2.13 [[ 6.92427787e-01 -7.21316335e-01 -1.57004945e-02 1.20224507e+02] [ 7.21145797e-01 6.92605614e-01 -1.56908449e-02 4.22235026e+01] [ 2.21923133e-02 -4.57568664e-04 9.99753616e-01 2.13479499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64361786499998 meters 0.01927488819434986 Centerline is valid? [True, True] Translation: X:120.25, Y:42.24, Z:2.14 [[ 6.92510261e-01 -7.21242727e-01 -1.54423917e-02 1.20245335e+02] [ 7.21077555e-01 6.92682275e-01 -1.54410718e-02 4.22428583e+01] [ 2.18334318e-02 -4.42061411e-04 9.99761524e-01 2.13640977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67361786499998 meters 0.01946217768517621 Centerline is valid? [True, True] Translation: X:120.27, Y:42.26, Z:2.14 [[ 6.92529328e-01 -7.21224777e-01 -1.54256826e-02 1.20265596e+02] [ 7.21059777e-01 6.92700968e-01 -1.54326605e-02 4.22616119e+01] [ 2.18158024e-02 -4.35269220e-04 9.99761912e-01 2.13694031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70361786499998 meters 0.019391841204778965 Centerline is valid? [True, True] Translation: X:120.29, Y:42.28, Z:2.14 [[ 6.92470403e-01 -7.21280792e-01 -1.54518677e-02 1.20285562e+02] [ 7.21115064e-01 6.92642644e-01 -1.54671246e-02 4.22807786e+01] [ 2.18587624e-02 -4.32048565e-04 9.99760975e-01 2.13787246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73361786499999 meters 0.019413054997281104 Centerline is valid? [True, True] Translation: X:120.31, Y:42.30, Z:2.14 [[ 6.92716949e-01 -7.21049468e-01 -1.51951673e-02 1.20306858e+02] [ 7.20888980e-01 6.92883464e-01 -1.52178785e-02 4.23007296e+01] [ 2.15013233e-02 -4.12346277e-04 9.99768735e-01 2.13863713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763617865 meters 0.019022308815566106 Centerline is valid? [True, True] Translation: X:120.33, Y:42.32, Z:2.14 [[ 6.92800033e-01 -7.20967221e-01 -1.53095057e-02 1.20326483e+02] [ 7.20804127e-01 6.92969047e-01 -1.53397992e-02 4.23206092e+01] [ 2.16685060e-02 -4.07741548e-04 9.99765127e-01 2.13942731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.793617865 meters 0.019329583639081587 Centerline is valid? [True, True] Translation: X:120.35, Y:42.34, Z:2.14 [[ 6.93128531e-01 -7.20652562e-01 -1.52553090e-02 1.20346809e+02] [ 7.20490393e-01 6.93296280e-01 -1.52925565e-02 4.23391523e+01] [ 2.15970690e-02 -3.91596323e-04 9.99766679e-01 2.13939630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82361786499996 meters 0.01899214603528669 Centerline is valid? [True, True] Translation: X:120.37, Y:42.36, Z:2.14 [[ 6.94614449e-01 -7.19210589e-01 -1.57129241e-02 1.20366671e+02] [ 7.19038087e-01 6.94792058e-01 -1.57551757e-02 4.23590368e+01] [ 2.22485040e-02 -3.54418171e-04 9.99752409e-01 2.13990100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85361786499996 meters 0.01883065641743249 Centerline is valid? [True, True] Translation: X:120.39, Y:42.38, Z:2.14 [[ 6.95296200e-01 -7.18543138e-01 -1.60920502e-02 1.20387160e+02] [ 7.18361913e-01 6.95482312e-01 -1.61405150e-02 4.23800773e+01] [ 2.27893925e-02 -3.37477246e-04 9.99740231e-01 2.14001899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88361786499996 meters 0.01804330011626089 Centerline is valid? [True, True] Translation: X:120.41, Y:42.40, Z:2.14 [[ 6.95781508e-01 -7.18065687e-01 -1.64244474e-02 1.20405386e+02] [ 7.17876580e-01 6.95975262e-01 -1.64818493e-02 4.24014650e+01] [ 2.32660595e-02 -3.22960133e-04 9.99729256e-01 2.14071871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91361786499996 meters 0.018036171615781683 Centerline is valid? [True, True] Translation: X:120.42, Y:42.42, Z:2.14 [[ 6.97018234e-01 -7.16834881e-01 -1.77012709e-02 1.20424093e+02] [ 7.16614616e-01 6.97242902e-01 -1.77715213e-02 4.24205449e+01] [ 2.50813319e-02 -2.97915058e-04 9.99685370e-01 2.13965148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94361786499996 meters 0.01775921746993566 Centerline is valid? [True, True] Translation: X:120.44, Y:42.44, Z:2.14 [[ 6.97465812e-01 -7.16391947e-01 -1.80005589e-02 1.20443153e+02] [ 7.16163857e-01 6.97698000e-01 -1.80784611e-02 4.24409852e+01] [ 2.55102179e-02 -2.82241160e-04 9.99674522e-01 2.14019845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97361786499997 meters 0.017377499579901676 Centerline is valid? [True, True] Translation: X:120.46, Y:42.46, Z:2.14 [[ 6.98439325e-01 -7.15427896e-01 -1.85858883e-02 1.20461723e+02] [ 7.15184118e-01 6.98686528e-01 -1.86765461e-02 4.24615875e+01] [ 2.63474319e-02 -2.47897861e-04 9.99652815e-01 2.14050830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00361786499997 meters 0.017327958962069692 Centerline is valid? [True, True] Translation: X:120.48, Y:42.48, Z:2.14 [[ 6.98573277e-01 -7.15284748e-01 -1.90553355e-02 1.20481153e+02] [ 7.15028158e-01 6.98833078e-01 -1.91588764e-02 4.24812132e+01] [ 2.70205508e-02 -2.41222371e-04 9.99634849e-01 2.14113952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03361786499997 meters 0.017331956803542204 Centerline is valid? [True, True] Translation: X:120.50, Y:42.50, Z:2.14 [[ 6.98858604e-01 -7.15012499e-01 -1.88089690e-02 1.20500237e+02] [ 7.14762184e-01 6.99111634e-01 -1.89193826e-02 4.25002623e+01] [ 2.66771641e-02 -2.21966458e-04 9.99644076e-01 2.14175118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06361786499997 meters 0.017243338580413364 Centerline is valid? [True, True] Translation: X:120.52, Y:42.52, Z:2.14 [[ 6.98681911e-01 -7.15212576e-01 -1.77357744e-02 1.20520632e+02] [ 7.14989931e-01 6.98906950e-01 -1.78458231e-02 4.25213233e+01] [ 2.51592131e-02 -2.12346381e-04 9.99683434e-01 2.14337500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09361786499997 meters 0.01746592404900398 Centerline is valid? [True, True] Translation: X:120.54, Y:42.54, Z:2.14 [[ 6.98208282e-01 -7.15684672e-01 -1.73391536e-02 1.20540273e+02] [ 7.15471834e-01 6.98423512e-01 -1.74542718e-02 4.25402492e+01] [ 2.46018273e-02 -2.18958915e-04 9.99697305e-01 2.14400030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12361786499997 meters 0.0172814610661358 Centerline is valid? [True, True] Translation: X:120.56, Y:42.56, Z:2.15 [[ 6.97668259e-01 -7.16221059e-01 -1.69231779e-02 1.20559468e+02] [ 7.16018299e-01 6.97873443e-01 -1.70426961e-02 4.25607771e+01] [ 2.40165743e-02 -2.27156911e-04 9.99711535e-01 2.14572115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15361786499997 meters 0.017593536563214378 Centerline is valid? [True, True] Translation: X:120.58, Y:42.58, Z:2.15 [[ 6.97122602e-01 -7.16762765e-01 -1.64686847e-02 1.20579370e+02] [ 7.16570711e-01 6.97317062e-01 -1.65931058e-02 4.25789095e+01] [ 2.33772152e-02 -2.33548012e-04 9.99726688e-01 2.14612471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18361786499997 meters 0.01767634592242679 Centerline is valid? [True, True] Translation: X:120.60, Y:42.60, Z:2.15 [[ 6.96219090e-01 -7.17644310e-01 -1.62979446e-02 1.20599917e+02] [ 7.17456309e-01 6.96409778e-01 -1.64275895e-02 4.25985948e+01] [ 2.31392141e-02 -2.55861770e-04 9.99732220e-01 2.14766036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21361786499997 meters 0.01781608722543264 Centerline is valid? [True, True] Translation: X:120.62, Y:42.62, Z:2.15 [[ 6.95764287e-01 -7.18087396e-01 -1.62033346e-02 1.20619730e+02] [ 7.17901513e-01 6.95952888e-01 -1.63399776e-02 4.26182659e+01] [ 2.30102895e-02 -2.63625568e-04 9.99735193e-01 2.14826032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24361786499998 meters 0.017683555785978574 Centerline is valid? [True, True] Translation: X:120.64, Y:42.64, Z:2.15 [[ 6.95146942e-01 -7.18680539e-01 -1.64015748e-02 1.20639557e+02] [ 7.18490048e-01 6.95340351e-01 -1.65483449e-02 4.26391347e+01] [ 2.32976502e-02 -2.80836864e-04 9.99728533e-01 2.14898353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27361786499998 meters 0.01787726897555277 Centerline is valid? [True, True] Translation: X:120.66, Y:42.66, Z:2.15 [[ 6.94245142e-01 -7.19538310e-01 -1.69794719e-02 1.20659494e+02] [ 7.19334244e-01 6.94452677e-01 -1.71384316e-02 4.26592549e+01] [ 2.41231978e-02 -3.15642641e-04 9.99708943e-01 2.14863400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30361786499998 meters 0.017786147110068293 Centerline is valid? [True, True] Translation: X:120.68, Y:42.68, Z:2.15 [[ 6.93732988e-01 -7.20020714e-01 -1.74560427e-02 1.20678861e+02] [ 7.19805038e-01 6.93952489e-01 -1.76252726e-02 4.26802330e+01] [ 2.48042256e-02 -3.37714494e-04 9.99692271e-01 2.14930405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33361786499998 meters 0.01845824143234043 Centerline is valid? [True, True] Translation: X:120.70, Y:42.70, Z:2.15 [[ 6.92732081e-01 -7.20973024e-01 -1.78930725e-02 1.20698784e+02] [ 7.20746536e-01 6.92963027e-01 -1.80741129e-02 4.26991168e+01] [ 2.54301855e-02 -3.75852154e-04 9.99676530e-01 2.14853297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36361786499998 meters 0.018047339176279122 Centerline is valid? [True, True] Translation: X:120.72, Y:42.72, Z:2.15 [[ 6.91914849e-01 -7.21756765e-01 -1.79168751e-02 1.20718451e+02] [ 7.21529770e-01 6.92146670e-01 -1.81046552e-02 4.27206026e+01] [ 2.54682628e-02 -4.00678951e-04 9.99675551e-01 2.14947085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39361786499998 meters 0.018067264086969886 Centerline is valid? [True, True] Translation: X:120.74, Y:42.74, Z:2.15 [[ 6.91035336e-01 -7.22596590e-01 -1.80092119e-02 1.20738411e+02] [ 7.22367313e-01 6.91269835e-01 -1.82066233e-02 4.27408877e+01] [ 2.56052688e-02 -4.27845909e-04 9.99672040e-01 2.15037321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42361786499998 meters 0.018206880613421874 Centerline is valid? [True, True] Translation: X:120.76, Y:42.76, Z:2.15 [[ 6.90204423e-01 -7.23386359e-01 -1.81667413e-02 1.20758758e+02] [ 7.23153097e-01 6.90443313e-01 -1.83747138e-02 4.27612531e+01] [ 2.58351224e-02 -4.55026477e-04 9.99666114e-01 2.15072811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45361786499998 meters 0.018440410162656767 Centerline is valid? [True, True] Translation: X:120.78, Y:42.78, Z:2.15 [[ 6.89365379e-01 -7.24183195e-01 -1.82777096e-02 1.20778835e+02] [ 7.23947178e-01 6.89607473e-01 -1.84937183e-02 4.27811305e+01] [ 2.59972852e-02 -4.83167120e-04 9.99661897e-01 2.15126386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48361786499999 meters 0.01851266797135754 Centerline is valid? [True, True] Translation: X:120.80, Y:42.80, Z:2.15 [[ 6.88904591e-01 -7.24628384e-01 -1.80046985e-02 1.20798335e+02] [ 7.24399377e-01 6.89139657e-01 -1.82229624e-02 4.28011385e+01] [ 2.56126275e-02 -4.88709896e-04 9.99671823e-01 2.15196689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.513617865 meters 0.018439899775716088 Centerline is valid? [True, True] Translation: X:120.82, Y:42.82, Z:2.15 [[ 6.88263405e-01 -7.25245210e-01 -1.76881197e-02 1.20817885e+02] [ 7.25024160e-01 6.88490478e-01 -1.79117054e-02 4.28222251e+01] [ 2.51684805e-02 -4.96342754e-04 9.99683100e-01 2.15300859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543617865 meters 0.018825406948019385 Centerline is valid? [True, True] Translation: X:120.84, Y:42.84, Z:2.15 [[ 6.87935471e-01 -7.25563970e-01 -1.73699019e-02 1.20837503e+02] [ 7.25350725e-01 6.88154548e-01 -1.75967210e-02 4.28414247e+01] [ 2.47207237e-02 -4.93862366e-04 9.99694274e-01 2.15365051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57361786499996 meters 0.019038482493949436 Centerline is valid? [True, True] Translation: X:120.86, Y:42.86, Z:2.15 [[ 6.87498809e-01 -7.25985261e-01 -1.70525100e-02 1.20856167e+02] [ 7.25779742e-01 6.87710080e-01 -1.72803970e-02 4.28604393e+01] [ 2.42724965e-02 -4.96113933e-04 9.99705256e-01 2.15439250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60361786499996 meters 0.018871094219892727 Centerline is valid? [True, True] Translation: X:120.88, Y:42.88, Z:2.16 [[ 6.87230640e-01 -7.26249479e-01 -1.66054587e-02 1.20875344e+02] [ 7.26054525e-01 6.87431056e-01 -1.68336338e-02 4.28808985e+01] [ 2.36405258e-02 -4.87879470e-04 9.99720405e-01 2.15551577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63361786499996 meters 0.019032691245978315 Centerline is valid? [True, True] Translation: X:120.89, Y:42.90, Z:2.16 [[ 6.87325004e-01 -7.26162225e-01 -1.65154922e-02 1.20893641e+02] [ 7.25969173e-01 6.87523233e-01 -1.67500617e-02 4.29008774e+01] [ 2.35180466e-02 -4.77002017e-04 9.99723299e-01 2.15651139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66361786499996 meters 0.018996382531043632 Centerline is valid? [True, True] Translation: X:120.91, Y:42.92, Z:2.16 [[ 6.87393957e-01 -7.26098651e-01 -1.64407064e-02 1.20912451e+02] [ 7.25907187e-01 6.87590379e-01 -1.66801185e-02 4.29215084e+01] [ 2.34158830e-02 -4.68614274e-04 9.99725701e-01 2.15662734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69361786499996 meters 0.01888287497914371 Centerline is valid? [True, True] Translation: X:120.93, Y:42.94, Z:2.16 [[ 6.87406924e-01 -7.26082801e-01 -1.65977943e-02 1.20931727e+02] [ 7.25887443e-01 6.87607118e-01 -1.68484962e-02 4.29423892e+01] [ 2.36461648e-02 -4.66357485e-04 9.99720282e-01 2.15707327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72361786499997 meters 0.01909001951870671 Centerline is valid? [True, True] Translation: X:120.95, Y:42.96, Z:2.16 [[ 6.87956958e-01 -7.25558957e-01 -1.67159722e-02 1.20950365e+02] [ 7.25360469e-01 6.88159866e-01 -1.69761607e-02 4.29629879e+01] [ 2.38204666e-02 -4.46237590e-04 9.99716153e-01 2.15705163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75361786499997 meters 0.019030571884306915 Centerline is valid? [True, True] Translation: X:120.97, Y:42.98, Z:2.16 [[ 6.88026136e-01 -7.25493090e-01 -1.67275964e-02 1.20969287e+02] [ 7.25294163e-01 6.88229310e-01 -1.69939372e-02 4.29837120e+01] [ 2.38414062e-02 -4.40155123e-04 9.99715656e-01 2.15727215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78361786499997 meters 0.01844937065382164 Centerline is valid? [True, True] Translation: X:120.99, Y:43.01, Z:2.16 [[ 6.88205778e-01 -7.25322393e-01 -1.67401448e-02 1.20987541e+02] [ 7.25122904e-01 6.88409211e-01 -1.70156239e-02 4.30055855e+01] [ 2.38658829e-02 -4.28411752e-04 9.99715077e-01 2.15844956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81361786499997 meters 0.017963891187100386 Centerline is valid? [True, True] Translation: X:121.01, Y:43.03, Z:2.16 [[ 6.88872950e-01 -7.24689567e-01 -1.67059757e-02 1.21006425e+02] [ 7.24490496e-01 6.89075374e-01 -1.69897047e-02 4.30275879e+01] [ 2.38239382e-02 -3.99572643e-04 9.99716090e-01 2.15950390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84361786499997 meters 0.017765881105105973 Centerline is valid? [True, True] Translation: X:121.03, Y:43.05, Z:2.16 [[ 6.89269336e-01 -7.24314165e-01 -1.66364809e-02 1.21026447e+02] [ 7.24116446e-01 6.89469975e-01 -1.69271091e-02 4.30490113e+01] [ 2.37308989e-02 -3.79412180e-04 9.99718311e-01 2.16025386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87361786499997 meters 0.01783592329872492 Centerline is valid? [True, True] Translation: X:121.05, Y:43.07, Z:2.16 [[ 6.89486789e-01 -7.24107440e-01 -1.66248152e-02 1.21045823e+02] [ 7.23909736e-01 6.89687090e-01 -1.69237338e-02 4.30696181e+01] [ 2.37205220e-02 -3.66174753e-04 9.99718562e-01 2.16073360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90361786499997 meters 0.0174796122462307 Centerline is valid? [True, True] Translation: X:121.06, Y:43.09, Z:2.16 [[ 6.90256919e-01 -7.23373377e-01 -1.66235860e-02 1.21064963e+02] [ 7.23175277e-01 6.90456983e-01 -1.69314051e-02 4.30913880e+01] [ 2.37255988e-02 -3.34746928e-04 9.99718452e-01 2.16178044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93361786499997 meters 0.01753325453981367 Centerline is valid? [True, True] Translation: X:121.08, Y:43.11, Z:2.16 [[ 6.90514207e-01 -7.23133018e-01 -1.63941444e-02 1.21083698e+02] [ 7.22940121e-01 6.90708721e-01 -1.67046151e-02 4.31107857e+01] [ 2.34032372e-02 -3.17210698e-04 9.99726056e-01 2.16212817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96361786499997 meters 0.017357603776066155 Centerline is valid? [True, True] Translation: X:121.10, Y:43.13, Z:2.16 [[ 6.90555711e-01 -7.23101825e-01 -1.60175296e-02 1.21102847e+02] [ 7.22917553e-01 6.90741383e-01 -1.63264651e-02 4.31313044e+01] [ 2.28696672e-02 -3.05019617e-04 9.99738408e-01 2.16316540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99361786499998 meters 0.017154499187628253 Centerline is valid? [True, True] Translation: X:121.12, Y:43.15, Z:2.16 [[ 6.91186874e-01 -7.22514861e-01 -1.52637391e-02 1.21121999e+02] [ 7.22347211e-01 6.91355339e-01 -1.55660400e-02 4.31526352e+01] [ 2.17993627e-02 -2.66676831e-04 9.99762330e-01 2.16430437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02361786499998 meters 0.017887211076454787 Centerline is valid? [True, True] Translation: X:121.14, Y:43.17, Z:2.16 [[ 6.91415360e-01 -7.22301346e-01 -1.50188321e-02 1.21142579e+02] [ 7.22138843e-01 6.91578414e-01 -1.53228149e-02 4.31704329e+01] [ 2.14543898e-02 -2.51252451e-04 9.99769797e-01 2.16378964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05361786499998 meters 0.017887211076454787 Centerline is valid? [True, True] Translation: X:121.16, Y:43.19, Z:2.16 [[ 6.91240168e-01 -7.22469059e-01 -1.50163015e-02 1.21161798e+02] [ 7.22306542e-01 6.91403207e-01 -1.53252945e-02 4.31902024e+01] [ 2.14543701e-02 -2.52913653e-04 9.99769797e-01 2.16424111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08361786499998 meters 0.01674779450661452 Centerline is valid? [True, True] Translation: X:121.18, Y:43.21, Z:2.17 [[ 6.91561177e-01 -7.22163854e-01 -1.49166794e-02 1.21178227e+02] [ 7.22003253e-01 6.91721991e-01 -1.52312201e-02 4.32129419e+01] [ 2.13176318e-02 -2.36570608e-04 9.99772725e-01 2.16607060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11361786499998 meters 0.016808891441860152 Centerline is valid? [True, True] Translation: X:121.20, Y:43.23, Z:2.17 [[ 6.92076385e-01 -7.21671254e-01 -1.48619821e-02 1.21196832e+02] [ 7.21511558e-01 6.92235910e-01 -1.51827857e-02 4.32325408e+01] [ 2.12449777e-02 -2.15444431e-04 9.99774277e-01 2.16624755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14361786499998 meters 0.0165266633840864 Centerline is valid? [True, True] Translation: X:121.22, Y:43.25, Z:2.17 [[ 6.92754321e-01 -7.21017184e-01 -1.50223503e-02 1.21215267e+02] [ 7.20853757e-01 6.92917154e-01 -1.53518195e-02 4.32541697e+01] [ 2.14781699e-02 -1.93878345e-04 9.99769299e-01 2.16692645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17361786499998 meters 0.01645961421511524 Centerline is valid? [True, True] Translation: X:121.23, Y:43.28, Z:2.17 [[ 6.93033532e-01 -7.20752207e-01 -1.48586755e-02 1.21234514e+02] [ 7.20592084e-01 6.93192776e-01 -1.51928824e-02 4.32752160e+01] [ 2.12502300e-02 -1.77867027e-04 9.99774173e-01 2.16744688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20361786499998 meters 0.016328671814129603 Centerline is valid? [True, True] Translation: X:121.25, Y:43.30, Z:2.17 [[ 6.93409471e-01 -7.20391623e-01 -1.48059035e-02 1.21252639e+02] [ 7.20232389e-01 6.93567505e-01 -1.51466843e-02 4.32951412e+01] [ 2.11804381e-02 -1.60836909e-04 9.99775656e-01 2.16779874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23361786499999 meters 0.01647001134907436 Centerline is valid? [True, True] Translation: X:121.27, Y:43.31, Z:2.17 [[ 6.93628639e-01 -7.20179748e-01 -1.48472585e-02 1.21271786e+02] [ 7.20019453e-01 6.93787509e-01 -1.51947038e-02 4.33141518e+01] [ 2.12437604e-02 -1.50833234e-04 9.99774314e-01 2.16773995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263617865 meters 0.016127758004880657 Centerline is valid? [True, True] Translation: X:121.29, Y:43.34, Z:2.17 [[ 6.93577548e-01 -7.20235687e-01 -1.45168807e-02 1.21290425e+02] [ 7.20082335e-01 6.93729439e-01 -1.48625844e-02 4.33355706e+01] [ 2.07753512e-02 -1.44994524e-04 9.99784159e-01 2.16903885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.293617865 meters 0.01607648185927783 Centerline is valid? [True, True] Translation: X:121.31, Y:43.36, Z:2.17 [[ 6.93479297e-01 -7.20325746e-01 -1.47405716e-02 1.21308849e+02] [ 7.20167473e-01 6.93635927e-01 -1.51000639e-02 4.33561731e+01] [ 2.11015549e-02 -1.44098488e-04 9.99777327e-01 2.16936289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32361786499996 meters 0.01614171052216332 Centerline is valid? [True, True] Translation: X:121.33, Y:43.38, Z:2.17 [[ 6.93250337e-01 -7.20538637e-01 -1.51010631e-02 1.21327892e+02] [ 7.20372413e-01 6.93414775e-01 -1.54769612e-02 4.33760520e+01] [ 2.16230488e-02 -1.48980658e-04 9.99766183e-01 2.16973179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35361786499996 meters 0.01612312470063479 Centerline is valid? [True, True] Translation: X:121.35, Y:43.40, Z:2.17 [[ 6.92919377e-01 -7.20861817e-01 -1.48653126e-02 1.21346876e+02] [ 7.20700717e-01 6.93078796e-01 -1.52400666e-02 4.33961137e+01] [ 2.12888150e-02 -1.53304011e-04 9.99773356e-01 2.17024875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38361786499996 meters 0.01615162752313872 Centerline is valid? [True, True] Translation: X:121.37, Y:43.42, Z:2.17 [[ 6.92513344e-01 -7.21252229e-01 -1.48489647e-02 1.21365280e+02] [ 7.21091414e-01 6.92672504e-01 -1.52307371e-02 4.34152342e+01] [ 2.12706727e-02 -1.59972288e-04 9.99773741e-01 2.17069627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41361786499996 meters 0.016102189263139013 Centerline is valid? [True, True] Translation: X:121.39, Y:43.44, Z:2.17 [[ 6.91491160e-01 -7.22240805e-01 -1.44289898e-02 1.21385008e+02] [ 7.22089075e-01 6.91641661e-01 -1.48047494e-02 4.34355224e+01] [ 2.06722846e-02 -1.81662561e-04 9.99786289e-01 2.17152524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44361786499996 meters 0.01644503613140432 Centerline is valid? [True, True] Translation: X:121.40, Y:43.45, Z:2.17 [[ 6.90801588e-01 -7.22905101e-01 -1.41908907e-02 1.21404587e+02] [ 7.22758332e-01 6.90947304e-01 -1.45676163e-02 4.34536452e+01] [ 2.03361619e-02 -1.93252015e-04 9.99793180e-01 2.17175511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47361786499997 meters 0.0165852464321068 Centerline is valid? [True, True] Translation: X:121.42, Y:43.47, Z:2.17 [[ 6.89464349e-01 -7.24187774e-01 -1.38195101e-02 1.21424824e+02] [ 7.24048752e-01 6.89602798e-01 -1.41910764e-02 4.34741268e+01] [ 1.98069768e-02 -2.21757762e-04 9.99803798e-01 2.17318140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50361786499997 meters 0.016483152568609136 Centerline is valid? [True, True] Translation: X:121.44, Y:43.49, Z:2.17 [[ 6.88576033e-01 -7.25030515e-01 -1.39211618e-02 1.21444727e+02] [ 7.24889477e-01 6.88716700e-01 -1.43021809e-02 4.34948125e+01] [ 1.99572542e-02 -2.43164736e-04 9.99800805e-01 2.17420605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53361786499997 meters 0.01710339095214241 Centerline is valid? [True, True] Translation: X:121.46, Y:43.51, Z:2.17 [[ 6.86817884e-01 -7.26704285e-01 -1.34936093e-02 1.21464520e+02] [ 7.26571989e-01 6.86950366e-01 -1.38686614e-02 4.35140095e+01] [ 1.93478555e-02 -2.78833840e-04 9.99812774e-01 2.17448743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56361786499997 meters 0.01716726080581408 Centerline is valid? [True, True] Translation: X:121.48, Y:43.53, Z:2.18 [[ 6.85690807e-01 -7.27766007e-01 -1.35925372e-02 1.21484071e+02] [ 7.27631913e-01 6.85825447e-01 -1.39733579e-02 4.35348943e+01] [ 1.94914429e-02 -3.08960797e-04 9.99809976e-01 2.17509513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59361786499997 meters 0.017340113164969678 Centerline is valid? [True, True] Translation: X:121.50, Y:43.56, Z:2.18 [[ 6.84423046e-01 -7.28960733e-01 -1.34664100e-02 1.21503498e+02] [ 7.28829223e-01 6.84555430e-01 -1.38501527e-02 4.35558324e+01] [ 1.93147216e-02 -3.35349405e-04 9.99813397e-01 2.17557697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62361786499997 meters 0.018838711142033768 Centerline is valid? [True, True] Translation: X:121.52, Y:43.57, Z:2.18 [[ 6.81933617e-01 -7.31292433e-01 -1.33386438e-02 1.21524336e+02] [ 7.31163735e-01 6.82063944e-01 -1.37247685e-02 4.35744263e+01] [ 1.91346273e-02 -3.93351585e-04 9.99816839e-01 2.17579573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65361786499997 meters 0.018527052595969283 Centerline is valid? [True, True] Translation: X:121.54, Y:43.60, Z:2.18 [[ 6.80435845e-01 -7.32690242e-01 -1.31175746e-02 1.21543767e+02] [ 7.32565964e-01 6.80562143e-01 -1.35010227e-02 4.35954623e+01] [ 1.88193922e-02 -4.22908892e-04 9.99822810e-01 2.17698508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68361786499997 meters 0.019732305029627095 Centerline is valid? [True, True] Translation: X:121.56, Y:43.61, Z:2.18 [[ 6.78296732e-01 -7.34673431e-01 -1.29804956e-02 1.21563963e+02] [ 7.34551993e-01 6.78420761e-01 -1.33656437e-02 4.36143903e+01] [ 1.86256210e-02 -4.68976465e-04 9.99826418e-01 2.17781556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71361786499997 meters 0.020254748376088542 Centerline is valid? [True, True] Translation: X:121.58, Y:43.64, Z:2.18 [[ 6.77307845e-01 -7.35584116e-01 -1.30419206e-02 1.21583927e+02] [ 7.35461643e-01 6.77433217e-01 -1.34316059e-02 4.36351142e+01] [ 1.87151062e-02 -4.94500318e-04 9.99824735e-01 2.17796554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74361786499998 meters 0.019138188252232128 Centerline is valid? [True, True] Translation: X:121.60, Y:43.66, Z:2.18 [[ 6.76406272e-01 -7.36413536e-01 -1.30253458e-02 1.21601474e+02] [ 7.36291412e-01 6.76531478e-01 -1.34206884e-02 4.36585144e+01] [ 1.86952330e-02 -5.12612484e-04 9.99825097e-01 2.17827449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77361786499998 meters 0.020209047818550173 Centerline is valid? [True, True] Translation: X:121.62, Y:43.68, Z:2.18 [[ 6.75784138e-01 -7.36982694e-01 -1.31265496e-02 1.21621918e+02] [ 7.36858659e-01 6.75911406e-01 -1.35309843e-02 4.36780418e+01] [ 1.88444858e-02 -5.28387159e-04 9.99822287e-01 2.17790445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80361786499998 meters 0.020990035540886347 Centerline is valid? [True, True] Translation: X:121.64, Y:43.70, Z:2.18 [[ 6.74786514e-01 -7.37890426e-01 -1.34491644e-02 1.21641215e+02] [ 7.37760351e-01 6.74920291e-01 -1.38659392e-02 4.36979343e+01] [ 1.93086578e-02 -5.65711477e-04 9.99813410e-01 2.17812858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83361786499998 meters 0.021664371594333074 Centerline is valid? [True, True] Translation: X:121.66, Y:43.72, Z:2.18 [[ 6.74387685e-01 -7.38252357e-01 -1.35907011e-02 1.21661373e+02] [ 7.38119554e-01 6.74524366e-01 -1.40144254e-02 4.37176949e+01] [ 1.95134417e-02 -5.80406310e-04 9.99809426e-01 2.17869534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86361786499998 meters 0.021878297908714827 Centerline is valid? [True, True] Translation: X:121.68, Y:43.74, Z:2.18 [[ 6.73825592e-01 -7.38766780e-01 -1.35172624e-02 1.21681129e+02] [ 7.38635431e-01 6.73960902e-01 -1.39428489e-02 4.37385672e+01] [ 1.94106199e-02 -5.89280572e-04 9.99811423e-01 2.17992036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89361786499998 meters 0.023285516072389108 Centerline is valid? [True, True] Translation: X:121.70, Y:43.76, Z:2.18 [[ 6.73457360e-01 -7.39105839e-01 -1.33320556e-02 1.21701280e+02] [ 7.38978020e-01 6.73589055e-01 -1.37575871e-02 4.37582997e+01] [ 1.91486397e-02 -5.86947802e-04 9.99816476e-01 2.18080242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92361786499998 meters 0.023862682064187644 Centerline is valid? [True, True] Translation: X:121.72, Y:43.78, Z:2.18 [[ 6.73412263e-01 -7.39141905e-01 -1.36076750e-02 1.21720131e+02] [ 7.39008671e-01 6.73549470e-01 -1.40462174e-02 4.37783763e+01] [ 1.95475902e-02 -5.97294781e-04 9.99808749e-01 2.18084890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95361786499998 meters 0.020623147446090718 Centerline is valid? [True, True] Translation: X:121.73, Y:43.80, Z:2.18 [[ 6.73534045e-01 -7.39029174e-01 -1.37029720e-02 1.21734848e+02] [ 7.38893918e-01 6.73673161e-01 -1.41509812e-02 4.38041551e+01] [ 1.96893124e-02 -5.93875109e-04 9.99805970e-01 2.18168449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98361786499999 meters 0.020658823894478248 Centerline is valid? [True, True] Translation: X:121.75, Y:43.83, Z:2.18 [[ 6.74191212e-01 -7.38423231e-01 -1.40478505e-02 1.21752211e+02] [ 7.38280819e-01 6.74337296e-01 -1.45135639e-02 4.38261357e+01] [ 2.01901423e-02 -5.86341348e-04 9.99795986e-01 2.18162528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.013617865 meters 0.019529847016222252 Centerline is valid? [True, True] Translation: X:121.77, Y:43.85, Z:2.18 [[ 6.74352628e-01 -7.38276634e-01 -1.40052129e-02 1.21769916e+02] [ 7.38134962e-01 6.74497798e-01 -1.44740491e-02 4.38491799e+01] [ 2.01323375e-02 -5.77124226e-04 9.99797157e-01 2.18267341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043617865 meters 0.020018258659855254 Centerline is valid? [True, True] Translation: X:121.79, Y:43.87, Z:2.18 [[ 6.74789204e-01 -7.37876275e-01 -1.40759436e-02 1.21789142e+02] [ 7.37732957e-01 6.74935763e-01 -1.45533292e-02 4.38696112e+01] [ 2.02389141e-02 -5.63858056e-04 9.99795013e-01 2.18313286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07361786499996 meters 0.019528392652655182 Centerline is valid? [True, True] Translation: X:121.81, Y:43.89, Z:2.18 [[ 6.75267873e-01 -7.37436249e-01 -1.41802397e-02 1.21807365e+02] [ 7.37290633e-01 6.75416519e-01 -1.46645533e-02 4.38919121e+01] [ 2.03917413e-02 -5.52456183e-04 9.99791914e-01 2.18402334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10361786499996 meters 0.01919876597247389 Centerline is valid? [True, True] Translation: X:121.82, Y:43.92, Z:2.19 [[ 6.76334765e-01 -7.36456307e-01 -1.42616345e-02 1.21824602e+02] [ 7.36308651e-01 6.76484912e-01 -1.47557861e-02 4.39157199e+01] [ 2.05147723e-02 -5.21113781e-04 9.99789414e-01 2.18505472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13361786499996 meters 0.019234617518477253 Centerline is valid? [True, True] Translation: X:121.84, Y:43.94, Z:2.19 [[ 6.76921361e-01 -7.35918806e-01 -1.41768349e-02 1.21842270e+02] [ 7.35772660e-01 6.77069615e-01 -1.46741212e-02 4.39368180e+01] [ 2.03976659e-02 -4.97701362e-04 9.99791822e-01 2.18528862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16361786499996 meters 0.018837519853251924 Centerline is valid? [True, True] Translation: X:121.86, Y:43.96, Z:2.19 [[ 6.77678733e-01 -7.35227441e-01 -1.38616323e-02 1.21858984e+02] [ 7.35087514e-01 6.77820326e-01 -1.43510218e-02 4.39604636e+01] [ 1.99469612e-02 -4.64130518e-04 9.99800932e-01 2.18592088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19361786499996 meters 0.01871116956653691 Centerline is valid? [True, True] Translation: X:121.88, Y:43.98, Z:2.19 [[ 6.77724434e-01 -7.35187434e-01 -1.37487348e-02 1.21876896e+02] [ 7.35049633e-01 6.77863725e-01 -1.42410341e-02 4.39819421e+01] [ 1.97895979e-02 -4.54505630e-04 9.99804063e-01 2.18670774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22361786499997 meters 0.019014421557294093 Centerline is valid? [True, True] Translation: X:121.90, Y:44.00, Z:2.19 [[ 6.78106038e-01 -7.34837458e-01 -1.36422353e-02 1.21895516e+02] [ 7.34701575e-01 6.78243112e-01 -1.41377748e-02 4.40023209e+01] [ 1.96417187e-02 -4.36061299e-04 9.99806988e-01 2.18713777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25361786499997 meters 0.018370293410798374 Centerline is valid? [True, True] Translation: X:121.91, Y:44.02, Z:2.19 [[ 6.77918186e-01 -7.35003850e-01 -1.40097793e-02 1.21912424e+02] [ 7.34860481e-01 6.78062783e-01 -1.45236131e-02 4.40248047e+01] [ 2.01744215e-02 -4.49411669e-04 9.99796375e-01 2.18775034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28361786499997 meters 0.01844340785585057 Centerline is valid? [True, True] Translation: X:121.93, Y:44.05, Z:2.19 [[ 6.78230847e-01 -7.34710500e-01 -1.42617832e-02 1.21929259e+02] [ 7.34561714e-01 6.78380633e-01 -1.47920630e-02 4.40469185e+01] [ 2.05428015e-02 -4.43726486e-04 9.99788876e-01 2.18786199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31361786499997 meters 0.018380053627094297 Centerline is valid? [True, True] Translation: X:121.95, Y:44.07, Z:2.19 [[ 6.78143937e-01 -7.34788100e-01 -1.43961518e-02 1.21947210e+02] [ 7.34636435e-01 6.78296578e-01 -1.49352029e-02 4.40682450e+01] [ 2.07390699e-02 -4.47720375e-04 9.99784822e-01 2.18854180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34361786499997 meters 0.01852845842733598 Centerline is valid? [True, True] Translation: X:121.97, Y:44.09, Z:2.19 [[ 6.78514070e-01 -7.34439882e-01 -1.47213356e-02 1.21965139e+02] [ 7.34281051e-01 6.78673607e-01 -1.52798048e-02 4.40898438e+01] [ 2.12130800e-02 -4.42035182e-04 9.99774880e-01 2.18953342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37361786499997 meters 0.018149729014639567 Centerline is valid? [True, True] Translation: X:121.98, Y:44.11, Z:2.19 [[ 6.78609099e-01 -7.34355855e-01 -1.45316574e-02 1.21982849e+02] [ 7.34200993e-01 6.78764534e-01 -1.50867227e-02 4.41111000e+01] [ 2.09425968e-02 -4.31170044e-04 9.99780587e-01 2.19065802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40361786499997 meters 0.018392123544522628 Centerline is valid? [True, True] Translation: X:122.00, Y:44.13, Z:2.19 [[ 6.78454866e-01 -7.34507042e-01 -1.40854906e-02 1.22000528e+02] [ 7.34361417e-01 6.78600937e-01 -1.46313683e-02 4.41323109e+01] [ 2.03052702e-02 -4.17117864e-04 9.99793740e-01 2.19210495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43361786499997 meters 0.018016261172483672 Centerline is valid? [True, True] Translation: X:122.02, Y:44.15, Z:2.19 [[ 6.78842913e-01 -7.34158007e-01 -1.35764508e-02 1.22018522e+02] [ 7.34022506e-01 6.78978549e-01 -1.41099346e-02 4.41549977e+01] [ 1.95770403e-02 -3.86991308e-04 9.99808276e-01 2.19396476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46361786499997 meters 0.018385493598093775 Centerline is valid? [True, True] Translation: X:122.04, Y:44.18, Z:2.20 [[ 6.79211973e-01 -7.33819867e-01 -1.33977052e-02 1.22036689e+02] [ 7.33687729e-01 6.79343998e-01 -1.39301365e-02 4.41758391e+01] [ 1.93238615e-02 -3.68216440e-04 9.99813209e-01 2.19525080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49361786499998 meters 0.01778094554058542 Centerline is valid? [True, True] Translation: X:122.05, Y:44.20, Z:2.20 [[ 6.79321846e-01 -7.33718124e-01 -1.33994141e-02 1.22054584e+02] [ 7.33585871e-01 6.79453886e-01 -1.39350930e-02 4.41980008e+01] [ 1.93287142e-02 -3.63207815e-04 9.99813117e-01 2.19618527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52361786499998 meters 0.017874932410692733 Centerline is valid? [True, True] Translation: X:122.07, Y:44.22, Z:2.20 [[ 6.79556596e-01 -7.33502608e-01 -1.32950161e-02 1.22072477e+02] [ 7.33372234e-01 6.79686547e-01 -1.38334592e-02 4.42178823e+01] [ 1.91833220e-02 -3.49577227e-04 9.99815922e-01 2.19683852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55361786499998 meters 0.017874932410692733 Centerline is valid? [True, True] Translation: X:122.09, Y:44.24, Z:2.20 [[ 6.79355901e-01 -7.33688526e-01 -1.32931247e-02 1.22091533e+02] [ 7.33558152e-01 6.79485852e-01 -1.38352766e-02 4.42378059e+01] [ 1.91832738e-02 -3.52203180e-04 9.99815922e-01 2.19729023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58361786499998 meters 0.017653545686067862 Centerline is valid? [True, True] Translation: X:122.11, Y:44.26, Z:2.20 [[ 6.79304473e-01 -7.33735873e-01 -1.33079634e-02 1.22109374e+02] [ 7.33605070e-01 6.79434726e-01 -1.38583299e-02 4.42589927e+01] [ 1.92102463e-02 -3.48763872e-04 9.99815405e-01 2.19817362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61361786499998 meters 0.017921338836707715 Centerline is valid? [True, True] Translation: X:122.13, Y:44.28, Z:2.20 [[ 6.79999274e-01 -7.33094125e-01 -1.31905661e-02 1.22127645e+02] [ 7.32965369e-01 6.80127120e-01 -1.37429018e-02 4.42803848e+01] [ 1.90461022e-02 -3.23064906e-04 9.99818554e-01 2.19833577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64361786499998 meters 0.017546779992213615 Centerline is valid? [True, True] Translation: X:122.15, Y:44.30, Z:2.20 [[ 6.80213644e-01 -7.32894657e-01 -1.32219721e-02 1.22145443e+02] [ 7.32765191e-01 6.80342063e-01 -1.37787149e-02 4.43022031e+01] [ 1.90938103e-02 -3.16131014e-04 9.99817647e-01 2.19931632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67361786499998 meters 0.017428662623270755 Centerline is valid? [True, True] Translation: X:122.16, Y:44.32, Z:2.20 [[ 6.80738975e-01 -7.32406334e-01 -1.32442452e-02 1.22164310e+02] [ 7.32276198e-01 6.80867735e-01 -1.38093102e-02 4.43234532e+01] [ 1.91316055e-02 -2.97909877e-04 9.99816930e-01 2.20024487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70361786499998 meters 0.016986092638910877 Centerline is valid? [True, True] Translation: X:122.18, Y:44.35, Z:2.20 [[ 6.81750589e-01 -7.31448622e-01 -1.41084332e-02 1.22182232e+02] [ 7.31300592e-01 6.81896497e-01 -1.47177162e-02 4.43465205e+01] [ 2.03857444e-02 -2.83693872e-04 9.99792149e-01 2.20072667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73361786499999 meters 0.01722570616202465 Centerline is valid? [True, True] Translation: X:122.20, Y:44.37, Z:2.20 [[ 6.82335519e-01 -7.30887183e-01 -1.49051960e-02 1.22200699e+02] [ 7.30721676e-01 6.82498241e-01 -1.55558148e-02 4.43660595e+01] [ 2.15423157e-02 -2.77264853e-04 9.99767899e-01 2.20010283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763617865 meters 0.01685663443589237 Centerline is valid? [True, True] Translation: X:122.22, Y:44.39, Z:2.20 [[ 6.82773090e-01 -7.30470862e-01 -1.52718099e-02 1.22218772e+02] [ 7.30296896e-01 6.82943811e-01 -1.59434742e-02 4.43880364e+01] [ 2.20760313e-02 -2.67180211e-04 9.99756259e-01 2.20047788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.793617865 meters 0.016715039669892958 Centerline is valid? [True, True] Translation: X:122.24, Y:44.41, Z:2.20 [[ 6.83181084e-01 -7.30085065e-01 -1.54727067e-02 1.22237205e+02] [ 7.29906194e-01 6.83356229e-01 -1.61621005e-02 4.44091779e+01] [ 2.23730787e-02 -2.51983135e-04 9.99749660e-01 2.20076272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82361786499996 meters 0.016484269444772135 Centerline is valid? [True, True] Translation: X:122.26, Y:44.43, Z:2.20 [[ 6.83977099e-01 -7.29339677e-01 -1.54584101e-02 1.22255216e+02] [ 7.29160756e-01 6.84151727e-01 -1.61556953e-02 4.44316523e+01] [ 2.23588875e-02 -2.21540390e-04 9.99749984e-01 2.20179007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85361786499996 meters 0.016339054047238066 Centerline is valid? [True, True] Translation: X:122.27, Y:44.45, Z:2.20 [[ 6.85054563e-01 -7.28334798e-01 -1.51217763e-02 1.22273481e+02] [ 7.28163176e-01 6.85221417e-01 -1.58113674e-02 4.44535412e+01] [ 2.18777340e-02 -1.79471275e-04 9.99760638e-01 2.20354905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88361786499996 meters 0.01621331020939119 Centerline is valid? [True, True] Translation: X:122.29, Y:44.47, Z:2.20 [[ 6.85390368e-01 -7.28025830e-01 -1.47795502e-02 1.22292232e+02] [ 7.27861655e-01 6.85549681e-01 -1.54610900e-02 4.44746567e+01] [ 2.13881888e-02 -1.60585689e-04 9.99771234e-01 2.20428970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91361786499996 meters 0.016283969745992086 Centerline is valid? [True, True] Translation: X:122.31, Y:44.49, Z:2.20 [[ 6.85845671e-01 -7.27590639e-01 -1.50856554e-02 1.22310178e+02] [ 7.27419322e-01 6.86011546e-01 -1.57888957e-02 4.44942259e+01] [ 2.18367865e-02 -1.44851475e-04 9.99761538e-01 2.20466749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94361786499996 meters 0.01609358304060785 Centerline is valid? [True, True] Translation: X:122.33, Y:44.52, Z:2.21 [[ 6.86270924e-01 -7.27193809e-01 -1.48789404e-02 1.22328373e+02] [ 7.27026958e-01 6.86432187e-01 -1.55773523e-02 4.45156291e+01] [ 2.15411377e-02 -1.27106838e-04 9.99767955e-01 2.20540268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97361786499997 meters 0.01609358304060785 Centerline is valid? [True, True] Translation: X:122.35, Y:44.54, Z:2.21 [[ 6.86073470e-01 -7.27380187e-01 -1.48747085e-02 1.22347354e+02] [ 7.27213293e-01 6.86234688e-01 -1.55813925e-02 4.45356108e+01] [ 2.15411371e-02 -1.27105776e-04 9.99767955e-01 2.20585351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00361786499997 meters 0.015969315349149988 Centerline is valid? [True, True] Translation: X:122.37, Y:44.56, Z:2.21 [[ 6.87196177e-01 -7.26316325e-01 -1.50336405e-02 1.22365096e+02] [ 7.26145428e-01 6.87360596e-01 -1.57552817e-02 4.45567376e+01] [ 2.17768504e-02 -8.96399572e-05 9.99762852e-01 2.20596982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03361786499997 meters 0.01593366659893099 Centerline is valid? [True, True] Translation: X:122.38, Y:44.58, Z:2.21 [[ 6.87517385e-01 -7.26015224e-01 -1.48909272e-02 1.22383660e+02] [ 7.25847385e-01 6.87678623e-01 -1.56104085e-02 4.45774491e+01] [ 2.15735666e-02 -7.61133561e-05 9.99767261e-01 2.20692135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06361786499997 meters 0.01601796002087817 Centerline is valid? [True, True] Translation: X:122.40, Y:44.60, Z:2.21 [[ 6.87754836e-01 -7.25787614e-01 -1.50208133e-02 1.22402594e+02] [ 7.25616594e-01 6.87918844e-01 -1.57551035e-02 4.45979972e+01] [ 2.17679595e-02 -6.37027514e-05 9.99763048e-01 2.20802182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09361786499997 meters 0.015902429883493156 Centerline is valid? [True, True] Translation: X:122.42, Y:44.62, Z:2.21 [[ 6.88145072e-01 -7.25419501e-01 -1.49301008e-02 1.22421055e+02] [ 7.25250297e-01 6.88307014e-01 -1.56671909e-02 4.46178568e+01] [ 2.16417789e-02 -4.67598031e-05 9.99765788e-01 2.20881933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12361786499997 meters 0.015897009049882022 Centerline is valid? [True, True] Translation: X:122.44, Y:44.64, Z:2.21 [[ 6.87928161e-01 -7.25623897e-01 -1.49934992e-02 1.22440790e+02] [ 7.25453198e-01 6.88091533e-01 -1.57385111e-02 4.46384374e+01] [ 2.17371396e-02 -5.01169100e-05 9.99763719e-01 2.20916327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15361786499997 meters 0.015927315370238164 Centerline is valid? [True, True] Translation: X:122.46, Y:44.66, Z:2.21 [[ 6.87742948e-01 -7.25795041e-01 -1.52051491e-02 1.22460081e+02] [ 7.25619344e-01 6.87911009e-01 -1.59690664e-02 4.46583743e+01] [ 2.20500587e-02 -5.05374528e-05 9.99756867e-01 2.20911261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18361786499997 meters 0.015976835007604863 Centerline is valid? [True, True] Translation: X:122.48, Y:44.68, Z:2.21 [[ 6.87105603e-01 -7.26380975e-01 -1.60177842e-02 1.22480042e+02] [ 7.26185972e-01 6.87292277e-01 -1.68303263e-02 4.46782774e+01] [ 2.32341283e-02 -6.76786641e-05 9.99730049e-01 2.20818145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21361786499997 meters 0.01595547297919367 Centerline is valid? [True, True] Translation: X:122.50, Y:44.70, Z:2.21 [[ 6.86584523e-01 -7.26867689e-01 -1.62805396e-02 1.22499853e+02] [ 7.26666231e-01 6.86777516e-01 -1.71123262e-02 4.46983467e+01] [ 2.36195056e-02 -8.14600636e-05 9.99721017e-01 2.20832484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24361786499998 meters 0.016056296279543556 Centerline is valid? [True, True] Translation: X:122.52, Y:44.72, Z:2.21 [[ 6.86009075e-01 -7.27411490e-01 -1.62503185e-02 1.22519156e+02] [ 7.27210753e-01 6.86201512e-01 -1.70881417e-02 4.47169128e+01] [ 2.35811037e-02 -9.47860771e-05 9.99721923e-01 2.20853598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27361786499998 meters 0.016138243627216515 Centerline is valid? [True, True] Translation: X:122.54, Y:44.74, Z:2.21 [[ 6.85082968e-01 -7.28286024e-01 -1.61491055e-02 1.22539186e+02] [ 7.28087880e-01 6.85273269e-01 -1.69878078e-02 4.47365214e+01] [ 2.34385333e-02 -1.19910198e-04 9.99725273e-01 2.21000324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30361786499998 meters 0.016267901579869997 Centerline is valid? [True, True] Translation: X:122.56, Y:44.75, Z:2.21 [[ 6.83563742e-01 -7.29722570e-01 -1.56710343e-02 1.22560044e+02] [ 7.29536166e-01 6.83743334e-01 -1.64935141e-02 4.47547402e+01] [ 2.27506547e-02 -1.58218110e-04 9.99741158e-01 2.21190806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33361786499998 meters 0.016284423607254066 Centerline is valid? [True, True] Translation: X:122.58, Y:44.77, Z:2.21 [[ 6.82674462e-01 -7.30562397e-01 -1.53023953e-02 1.22579661e+02] [ 7.30384682e-01 6.82845922e-01 -1.61140760e-02 4.47743951e+01] [ 2.22215162e-02 -1.75966951e-04 9.99753056e-01 2.21309362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36361786499998 meters 0.016660360285805004 Centerline is valid? [True, True] Translation: X:122.60, Y:44.79, Z:2.21 [[ 6.81919451e-01 -7.31270536e-01 -1.51415153e-02 1.22600796e+02] [ 7.31096546e-01 6.82087507e-01 -1.59522165e-02 4.47930174e+01] [ 2.19932244e-02 -1.91782797e-04 9.99758101e-01 2.21296894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39361786499998 meters 0.017391544089739756 Centerline is valid? [True, True] Translation: X:122.62, Y:44.81, Z:2.21 [[ 6.80365605e-01 -7.32717121e-01 -1.51083752e-02 1.22623048e+02] [ 7.32544167e-01 6.80533294e-01 -1.59210201e-02 4.48100582e+01] [ 2.19473563e-02 -2.35437671e-04 9.99759100e-01 2.21329018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42361786499998 meters 0.017749090475851367 Centerline is valid? [True, True] Translation: X:122.64, Y:44.83, Z:2.21 [[ 6.79656870e-01 -7.33381605e-01 -1.47635162e-02 1.22642747e+02] [ 7.33216539e-01 6.79817152e-01 -1.55610862e-02 4.48282334e+01] [ 2.14487058e-02 -2.48655110e-04 9.99769919e-01 2.21384397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45361786499998 meters 0.01676704605224685 Centerline is valid? [True, True] Translation: X:122.66, Y:44.85, Z:2.22 [[ 6.78888251e-01 -7.34101132e-01 -1.43621561e-02 1.22660512e+02] [ 7.33944935e-01 6.79040103e-01 -1.51449953e-02 4.48502237e+01] [ 2.08704382e-02 -2.59272392e-04 9.99782155e-01 2.21626044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48361786499999 meters 0.017063583392785485 Centerline is valid? [True, True] Translation: X:122.68, Y:44.87, Z:2.22 [[ 6.78051519e-01 -7.34877018e-01 -1.42093955e-02 1.22681709e+02] [ 7.34724148e-01 6.78200334e-01 -1.49910807e-02 4.48686445e+01] [ 2.06534174e-02 -2.75260951e-04 9.99786658e-01 2.21720355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.513617865 meters 0.01708612615264066 Centerline is valid? [True, True] Translation: X:122.70, Y:44.89, Z:2.22 [[ 6.77863966e-01 -7.35052550e-01 -1.40781085e-02 1.22701132e+02] [ 7.34902454e-01 6.78010083e-01 -1.48562916e-02 4.48888348e+01] [ 2.04652545e-02 -2.75491734e-04 9.99790527e-01 2.21771103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.543617865 meters 0.01722545471325392 Centerline is valid? [True, True] Translation: X:122.72, Y:44.91, Z:2.22 [[ 6.77914242e-01 -7.35003385e-01 -1.42234108e-02 1.22720351e+02] [ 7.34850009e-01 6.78063382e-01 -1.50171390e-02 4.49078212e+01] [ 2.06820220e-02 -2.71741172e-04 9.99786067e-01 2.21808451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57361786499996 meters 0.0172081919871271 Centerline is valid? [True, True] Translation: X:122.74, Y:44.93, Z:2.22 [[ 6.78102012e-01 -7.34815491e-01 -1.49618109e-02 1.22740269e+02] [ 7.34645616e-01 6.78266996e-01 -1.58019406e-02 4.49271175e+01] [ 2.17596132e-02 -2.76301105e-04 9.99763193e-01 2.21795079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60361786499996 meters 0.017211933011861323 Centerline is valid? [True, True] Translation: X:122.76, Y:44.95, Z:2.22 [[ 6.77998707e-01 -7.34903124e-01 -1.53346506e-02 1.22760063e+02] [ 7.34724495e-01 6.78172043e-01 -1.62048253e-02 4.49469368e+01] [ 2.23085081e-02 -2.79892828e-04 9.99751095e-01 2.21850906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63361786499996 meters 0.017281496326109032 Centerline is valid? [True, True] Translation: X:122.78, Y:44.97, Z:2.22 [[ 6.77628626e-01 -7.35237059e-01 -1.56815556e-02 1.22780480e+02] [ 7.35050133e-01 6.77809989e-01 -1.65807160e-02 4.49660420e+01] [ 2.28198720e-02 -2.91161715e-04 9.99739550e-01 2.21969236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66361786499996 meters 0.017501486737645882 Centerline is valid? [True, True] Translation: X:122.80, Y:44.99, Z:2.22 [[ 6.77207211e-01 -7.35619651e-01 -1.59412193e-02 1.22801122e+02] [ 7.35426402e-01 6.77394742e-01 -1.68632757e-02 4.49852078e+01] [ 2.32034551e-02 -3.03661701e-04 9.99730717e-01 2.21999983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69361786499996 meters 0.017614491043856914 Centerline is valid? [True, True] Translation: X:122.82, Y:45.01, Z:2.22 [[ 6.76412068e-01 -7.36355627e-01 -1.57195972e-02 1.22821910e+02] [ 7.36167791e-01 6.76594626e-01 -1.66341436e-02 4.50053427e+01] [ 2.28844402e-02 -3.20725648e-04 9.99738065e-01 2.22108660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72361786499997 meters 0.017936074690359034 Centerline is valid? [True, True] Translation: X:122.84, Y:45.02, Z:2.22 [[ 6.74911943e-01 -7.37731653e-01 -1.56804966e-02 1.22844200e+02] [ 7.37544940e-01 6.75093977e-01 -1.66007202e-02 4.50239686e+01] [ 2.28326856e-02 -3.61046591e-04 9.99739235e-01 2.22194308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75361786499997 meters 0.018233840936938802 Centerline is valid? [True, True] Translation: X:122.86, Y:45.04, Z:2.22 [[ 6.74076796e-01 -7.38509020e-01 -1.49966754e-02 1.22864533e+02] [ 7.38338291e-01 6.74243497e-01 -1.58831826e-02 4.50429514e+01] [ 2.18412845e-02 -3.66134875e-04 9.99761384e-01 2.22276644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78361786499997 meters 0.0184182746512903 Centerline is valid? [True, True] Translation: X:122.89, Y:45.06, Z:2.22 [[ 6.73224409e-01 -7.39289375e-01 -1.48362645e-02 1.22885122e+02] [ 7.39122368e-01 6.73387758e-01 -1.57179400e-02 4.50631072e+01] [ 2.16106649e-02 -3.84114057e-04 9.99766389e-01 2.22353279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81361786499997 meters 0.0189484984165644 Centerline is valid? [True, True] Translation: X:122.91, Y:45.08, Z:2.22 [[ 6.71980609e-01 -7.40428406e-01 -1.44165438e-02 1.22906605e+02] [ 7.40270850e-01 6.72135114e-01 -1.52793238e-02 4.50816757e+01] [ 2.10031107e-02 -4.04737776e-04 9.99779328e-01 2.22428437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84361786499997 meters 0.019214841337216213 Centerline is valid? [True, True] Translation: X:122.93, Y:45.10, Z:2.23 [[ 6.71183965e-01 -7.41151200e-01 -1.43869273e-02 1.22927674e+02] [ 7.40994382e-01 6.71338006e-01 -1.52514784e-02 4.51015289e+01] [ 2.09621426e-02 -4.24084550e-04 9.99780180e-01 2.22509149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87361786499997 meters 0.01922030730715828 Centerline is valid? [True, True] Translation: X:122.95, Y:45.12, Z:2.23 [[ 6.70445338e-01 -7.41816124e-01 -1.45563233e-02 1.22948505e+02] [ 7.41655593e-01 6.70603191e-01 -1.54383310e-02 4.51216952e+01] [ 2.12139197e-02 -4.45221566e-04 9.99774860e-01 2.22567511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90361786499997 meters 0.019174738945725953 Centerline is valid? [True, True] Translation: X:122.97, Y:45.14, Z:2.23 [[ 6.69774561e-01 -7.42422597e-01 -1.45163513e-02 1.22970204e+02] [ 7.42262935e-01 6.69931696e-01 -1.54031860e-02 4.51408299e+01] [ 2.11606372e-02 -4.58287414e-04 9.99775984e-01 2.22709572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93361786499997 meters 0.01920324012482608 Centerline is valid? [True, True] Translation: X:122.99, Y:45.16, Z:2.23 [[ 6.69592121e-01 -7.42590461e-01 -1.43456604e-02 1.22990004e+02] [ 7.42434415e-01 6.69745625e-01 -1.52295000e-02 4.51606203e+01] [ 2.09172247e-02 -4.53158767e-04 9.99781108e-01 2.22780330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96361786499997 meters 0.019190577271013365 Centerline is valid? [True, True] Translation: X:123.01, Y:45.18, Z:2.23 [[ 6.70128978e-01 -7.42101924e-01 -1.45563470e-02 1.23010642e+02] [ 7.41940968e-01 6.70286910e-01 -1.54614678e-02 4.51813488e+01] [ 2.12309139e-02 -4.38772540e-04 9.99774502e-01 2.22867160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99361786499998 meters 0.018910770270792764 Centerline is valid? [True, True] Translation: X:123.03, Y:45.20, Z:2.23 [[ 6.70530508e-01 -7.41742630e-01 -1.43773729e-02 1.23030551e+02] [ 7.41585377e-01 6.70684498e-01 -1.52784826e-02 4.52029718e+01] [ 2.09753830e-02 -4.17360763e-04 9.99779905e-01 2.22907736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02361786499998 meters 0.018806136007504314 Centerline is valid? [True, True] Translation: X:123.05, Y:45.22, Z:2.23 [[ 6.70804980e-01 -7.41494990e-01 -1.43477980e-02 1.23050905e+02] [ 7.41338181e-01 6.70958283e-01 -1.52539981e-02 4.52238733e+01] [ 2.09375371e-02 -4.04112530e-04 9.99780704e-01 2.22955359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05361786499998 meters 0.020051931728615743 Centerline is valid? [True, True] Translation: X:123.07, Y:45.24, Z:2.23 [[ 6.71270302e-01 -7.41071796e-01 -1.44490240e-02 1.23073444e+02] [ 7.40912534e-01 6.71425678e-01 -1.53680299e-02 4.52415049e+01] [ 2.10902593e-02 -3.89360920e-04 9.99777500e-01 2.22955954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08361786499998 meters 0.018772812267117404 Centerline is valid? [True, True] Translation: X:123.09, Y:45.26, Z:2.23 [[ 6.71961412e-01 -7.40452225e-01 -1.40841378e-02 1.23092461e+02] [ 7.40300701e-01 6.72108900e-01 -1.49832835e-02 4.52639918e+01] [ 2.05604800e-02 -3.58308705e-04 9.99788547e-01 2.23092738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11361786499998 meters 0.018587573363869552 Centerline is valid? [True, True] Translation: X:123.11, Y:45.28, Z:2.23 [[ 6.72106749e-01 -7.40324410e-01 -1.38667262e-02 1.23112216e+02] [ 7.40177365e-01 6.72249693e-01 -1.47586807e-02 4.52846080e+01] [ 2.02481141e-02 -3.44427971e-04 9.99794927e-01 2.23208810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14361786499998 meters 0.018697029629338977 Centerline is valid? [True, True] Translation: X:123.13, Y:45.30, Z:2.23 [[ 6.72280372e-01 -7.40165035e-01 -1.39578729e-02 1.23131508e+02] [ 7.40015866e-01 6.72425169e-01 -1.48630581e-02 4.53038680e+01] [ 2.03867410e-02 -3.36905198e-04 9.99792112e-01 2.23239358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17361786499998 meters 0.018735495989599435 Centerline is valid? [True, True] Translation: X:123.15, Y:45.32, Z:2.23 [[ 6.72658511e-01 -7.39817142e-01 -1.41818179e-02 1.23151963e+02] [ 7.39662942e-01 6.72807914e-01 -1.51076926e-02 4.53233461e+01] [ 2.07185693e-02 -3.27447092e-04 9.99785294e-01 2.23246421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20361786499998 meters 0.01881746049705266 Centerline is valid? [True, True] Translation: X:123.17, Y:45.34, Z:2.23 [[ 6.72844994e-01 -7.39644894e-01 -1.43193967e-02 1.23171920e+02] [ 7.39487484e-01 6.72997272e-01 -1.52621113e-02 4.53431814e+01] [ 2.09254576e-02 -3.19979452e-04 9.99780987e-01 2.23298504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23361786499999 meters 0.018735171915501177 Centerline is valid? [True, True] Translation: X:123.19, Y:45.36, Z:2.23 [[ 6.74032220e-01 -7.38565057e-01 -1.42205341e-02 1.23192479e+02] [ 7.38409427e-01 6.74182156e-01 -1.51637301e-02 4.53619256e+01] [ 2.07866315e-02 -2.79733738e-04 9.99783896e-01 2.23457473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263617865 meters 0.018800660473738084 Centerline is valid? [True, True] Translation: X:123.21, Y:45.38, Z:2.23 [[ 6.74741113e-01 -7.37919045e-01 -1.41390386e-02 1.23212293e+02] [ 7.37765001e-01 6.74889188e-01 -1.50793518e-02 4.53816084e+01] [ 2.06696252e-02 -2.56629257e-04 9.99786328e-01 2.23492123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29361786499996 meters 0.01856753675438126 Centerline is valid? [True, True] Translation: X:123.23, Y:45.40, Z:2.24 [[ 6.75506901e-01 -7.37217459e-01 -1.41719873e-02 1.23232135e+02] [ 7.37062470e-01 6.75655507e-01 -1.51179542e-02 4.54031264e+01] [ 2.07206011e-02 -2.33357539e-04 9.99785278e-01 2.23551933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32361786499996 meters 0.018425264523458263 Centerline is valid? [True, True] Translation: X:123.25, Y:45.42, Z:2.24 [[ 6.77202675e-01 -7.35653912e-01 -1.44864754e-02 1.23251169e+02] [ 7.35491476e-01 6.77357577e-01 -1.54596909e-02 4.54232582e+01] [ 2.11855060e-02 -1.85335088e-04 9.99775545e-01 2.23528052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35361786499996 meters 0.01823378186655213 Centerline is valid? [True, True] Translation: X:123.27, Y:45.44, Z:2.24 [[ 6.77841120e-01 -7.35066966e-01 -1.44211754e-02 1.23270092e+02] [ 7.34905778e-01 6.77994490e-01 -1.53938158e-02 4.54437381e+01] [ 2.10929629e-02 -1.63643786e-04 9.99777505e-01 2.23560839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38361786499996 meters 0.018231688964049128 Centerline is valid? [True, True] Translation: X:123.29, Y:45.46, Z:2.24 [[ 6.78539060e-01 -7.34415866e-01 -1.47675609e-02 1.23289855e+02] [ 7.34246519e-01 6.78699725e-01 -1.57712812e-02 4.54628632e+01] [ 2.16054187e-02 -1.41599862e-04 9.99766566e-01 2.23637762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41361786499996 meters 0.018159600892278378 Centerline is valid? [True, True] Translation: X:123.31, Y:45.48, Z:2.24 [[ 6.78949114e-01 -7.34043074e-01 -1.44522380e-02 1.23309493e+02] [ 7.33880687e-01 6.79102902e-01 -1.54397816e-02 4.54831704e+01] [ 2.11480215e-02 -1.23392338e-04 9.99776348e-01 2.23785686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44361786499996 meters 0.01801644222513758 Centerline is valid? [True, True] Translation: X:123.33, Y:45.50, Z:2.24 [[ 6.79828705e-01 -7.33227891e-01 -1.44841765e-02 1.23328924e+02] [ 7.33064440e-01 6.79982978e-01 -1.54814706e-02 4.55014330e+01] [ 2.12004395e-02 -9.30865676e-05 9.99775241e-01 2.23821073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47361786499997 meters 0.018101418936634417 Centerline is valid? [True, True] Translation: X:123.35, Y:45.52, Z:2.24 [[ 6.79967733e-01 -7.33091896e-01 -1.48375784e-02 1.23348061e+02] [ 7.32920236e-01 6.80129594e-01 -1.58638916e-02 4.55200718e+01] [ 2.17211665e-02 -8.78270104e-05 9.99764064e-01 2.23799642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50361786499997 meters 0.01823117305734567 Centerline is valid? [True, True] Translation: X:123.37, Y:45.54, Z:2.24 [[ 6.79728696e-01 -7.33310113e-01 -1.50059235e-02 1.23369021e+02] [ 7.33134461e-01 6.79894308e-01 -1.60496945e-02 4.55385001e+01] [ 2.19718452e-02 -9.19217054e-05 9.99758586e-01 2.23885131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53361786499997 meters 0.0183508843853165 Centerline is valid? [True, True] Translation: X:123.39, Y:45.56, Z:2.24 [[ 6.79266831e-01 -7.33740526e-01 -1.48799421e-02 1.23389021e+02] [ 7.33567731e-01 6.79429784e-01 -1.59233646e-02 4.55576082e+01] [ 2.17934938e-02 -9.92319566e-05 9.99762489e-01 2.23971032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56361786499997 meters 0.018393437651234034 Centerline is valid? [True, True] Translation: X:123.41, Y:45.58, Z:2.24 [[ 6.78799521e-01 -7.34179048e-01 -1.45717192e-02 1.23409557e+02] [ 7.34013266e-01 6.78955900e-01 -1.56016593e-02 4.55770835e+01] [ 2.13479661e-02 -1.05436356e-04 9.99772101e-01 2.24024127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59361786499997 meters 0.018637846781090813 Centerline is valid? [True, True] Translation: X:123.43, Y:45.59, Z:2.24 [[ 6.77887353e-01 -7.35034248e-01 -1.39065101e-02 1.23430536e+02] [ 7.34883296e-01 6.78029970e-01 -1.48963455e-02 4.55938739e+01] [ 2.03783547e-02 -1.21617725e-04 9.99792332e-01 2.24139227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62361786499997 meters 0.01880254001120028 Centerline is valid? [True, True] Translation: X:123.45, Y:45.61, Z:2.24 [[ 6.77279221e-01 -7.35593362e-01 -1.39736461e-02 1.23450956e+02] [ 7.35440964e-01 6.77423344e-01 -1.49733658e-02 4.56134316e+01] [ 2.04803826e-02 -1.35642224e-04 9.99790246e-01 2.24238127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65361786499997 meters 0.018942088564701986 Centerline is valid? [True, True] Translation: X:123.47, Y:45.63, Z:2.24 [[ 6.76819905e-01 -7.36014899e-01 -1.40315555e-02 1.23470512e+02] [ 7.35861176e-01 6.76965322e-01 -1.50427134e-02 4.56318984e+01] [ 2.05705377e-02 -1.44069038e-04 9.99788394e-01 2.24294058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68361786499997 meters 0.01926740084307114 Centerline is valid? [True, True] Translation: X:123.49, Y:45.65, Z:2.24 [[ 6.75520849e-01 -7.37211179e-01 -1.38296757e-02 1.23492045e+02] [ 7.37061987e-01 6.75662376e-01 -1.48317399e-02 4.56492851e+01] [ 2.02783160e-02 -1.74178769e-04 9.99794359e-01 2.24342232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71361786499997 meters 0.019448997684678154 Centerline is valid? [True, True] Translation: X:123.51, Y:45.67, Z:2.24 [[ 6.74580819e-01 -7.38074759e-01 -1.36517180e-02 1.23512954e+02] [ 7.37929423e-01 6.74718914e-01 -1.46476426e-02 4.56684778e+01] [ 2.00221276e-02 -1.92985712e-04 9.99799518e-01 2.24420165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74361786499998 meters 0.019754014183256643 Centerline is valid? [True, True] Translation: X:123.53, Y:45.69, Z:2.25 [[ 6.73512134e-01 -7.39054712e-01 -1.33992218e-02 1.23533831e+02] [ 7.38914758e-01 6.73645372e-01 -1.43837496e-02 4.56875561e+01] [ 1.96567017e-02 -2.13252812e-04 9.99806766e-01 2.24526719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77361786499998 meters 0.02000173768101211 Centerline is valid? [True, True] Translation: X:123.55, Y:45.71, Z:2.25 [[ 6.72374726e-01 -7.40087829e-01 -1.34993721e-02 1.23554580e+02] [ 7.39945843e-01 6.72510184e-01 -1.44983850e-02 4.57069412e+01] [ 1.98085435e-02 -2.40456561e-04 9.99803763e-01 2.24610629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80361786499998 meters 0.02070970521826594 Centerline is valid? [True, True] Translation: X:123.58, Y:45.72, Z:2.25 [[ 6.70631396e-01 -7.41675556e-01 -1.30729076e-02 1.23577223e+02] [ 7.41542582e-01 6.70758746e-01 -1.40464999e-02 4.57242966e+01] [ 1.91867128e-02 -2.74093802e-04 9.99815881e-01 2.24698220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83361786499998 meters 0.02093935182746599 Centerline is valid? [True, True] Translation: X:123.60, Y:45.74, Z:2.25 [[ 6.69805102e-01 -7.42426618e-01 -1.28000925e-02 1.23598139e+02] [ 7.42299204e-01 6.69927335e-01 -1.37570702e-02 4.57438456e+01] [ 1.87887470e-02 -2.86942651e-04 9.99823435e-01 2.24779723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86361786499998 meters 0.02093935182746599 Centerline is valid? [True, True] Translation: X:123.62, Y:45.76, Z:2.25 [[ 6.69622972e-01 -7.42590948e-01 -1.27968082e-02 1.23616842e+02] [ 7.42463506e-01 6.69745176e-01 -1.37601247e-02 4.57641097e+01] [ 1.87887446e-02 -2.87067432e-04 9.99823435e-01 2.24824815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89361786499998 meters 0.020365862403394008 Centerline is valid? [True, True] Translation: X:123.64, Y:45.79, Z:2.25 [[ 6.68723434e-01 -7.43405376e-01 -1.25465829e-02 1.23635636e+02] [ 7.43282893e-01 6.68841056e-01 -1.34975480e-02 4.57855284e+01] [ 1.84258195e-02 -2.99533791e-04 9.99830185e-01 2.24936982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92361786499998 meters 0.02068810788263023 Centerline is valid? [True, True] Translation: X:123.66, Y:45.80, Z:2.25 [[ 6.67582657e-01 -7.44433937e-01 -1.23089002e-02 1.23657189e+02] [ 7.44316116e-01 6.67696048e-01 -1.32479032e-02 4.58049067e+01] [ 1.80807927e-02 -3.17642332e-04 9.99836479e-01 2.25017038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95361786499998 meters 0.02066768919570231 Centerline is valid? [True, True] Translation: X:123.68, Y:45.82, Z:2.25 [[ 6.67157652e-01 -7.44815969e-01 -1.22408975e-02 1.23676466e+02] [ 7.44699400e-01 6.67269862e-01 -1.31808543e-02 4.58249162e+01] [ 1.79852927e-02 -3.22081237e-04 9.99838200e-01 2.25067252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98361786499999 meters 0.020428953113213532 Centerline is valid? [True, True] Translation: X:123.70, Y:45.85, Z:2.25 [[ 6.66810368e-01 -7.45120836e-01 -1.26044836e-02 1.23695244e+02] [ 7.44997155e-01 6.66929402e-01 -1.35798167e-02 4.58458621e+01] [ 1.85249051e-02 -3.35141801e-04 9.99828343e-01 2.25084493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.013617865 meters 0.020501097605851098 Centerline is valid? [True, True] Translation: X:123.72, Y:45.87, Z:2.25 [[ 6.66769649e-01 -7.45154913e-01 -1.27432927e-02 1.23715600e+02] [ 7.45028356e-01 6.66891328e-01 -1.37369994e-02 4.58652024e+01] [ 1.87345840e-02 -3.34700152e-04 9.99824436e-01 2.25104078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04361786499996 meters 0.020603021535436094 Centerline is valid? [True, True] Translation: X:123.73, Y:45.89, Z:2.25 [[ 6.66553831e-01 -7.45350500e-01 -1.25945529e-02 1.23734950e+02] [ 7.45226779e-01 6.66672725e-01 -1.35840210e-02 4.58854651e+01] [ 1.85213018e-02 -3.31316845e-04 9.99828411e-01 2.25149094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07361786499996 meters 0.020534708749434662 Centerline is valid? [True, True] Translation: X:123.75, Y:45.91, Z:2.25 [[ 6.66977727e-01 -7.44974146e-01 -1.24190495e-02 1.23754966e+02] [ 7.44853654e-01 6.67093265e-01 -1.34018868e-02 4.59056193e+01] [ 1.82687235e-02 -3.11614400e-04 9.99833064e-01 2.25165661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10361786499996 meters 0.020579112847069887 Centerline is valid? [True, True] Translation: X:123.77, Y:45.93, Z:2.25 [[ 6.67320589e-01 -7.44660887e-01 -1.27826332e-02 1.23774569e+02] [ 7.44533050e-01 6.67442933e-01 -1.38010373e-02 4.59259231e+01] [ 1.88087709e-02 -3.07376519e-04 9.99823052e-01 2.25210646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13361786499996 meters 0.020507379534260246 Centerline is valid? [True, True] Translation: X:123.79, Y:45.95, Z:2.25 [[ 6.67448406e-01 -7.44544822e-01 -1.28698612e-02 1.23793416e+02] [ 7.44415076e-01 6.67572406e-01 -1.39024290e-02 4.59462310e+01] [ 1.89425457e-02 -3.01364631e-04 9.99820528e-01 2.25241490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16361786499996 meters 0.020757130528664673 Centerline is valid? [True, True] Translation: X:123.81, Y:45.97, Z:2.25 [[ 6.68518974e-01 -7.43584888e-01 -1.28021393e-02 1.23813493e+02] [ 7.43456199e-01 6.68641490e-01 -1.38361379e-02 4.59652779e+01] [ 1.88483846e-02 -2.68109122e-04 9.99822317e-01 2.25295408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19361786499996 meters 0.020442914086284382 Centerline is valid? [True, True] Translation: X:123.83, Y:45.99, Z:2.25 [[ 6.68769352e-01 -7.43364690e-01 -1.25096364e-02 1.23831694e+02] [ 7.43241724e-01 6.68886293e-01 -1.35228076e-02 4.59864669e+01] [ 1.84199020e-02 -2.54044467e-04 9.99830307e-01 2.25411992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22361786499997 meters 0.020468269652831675 Centerline is valid? [True, True] Translation: X:123.85, Y:46.01, Z:2.25 [[ 6.69046683e-01 -7.43118381e-01 -1.23128781e-02 1.23850916e+02] [ 7.42999083e-01 6.69159932e-01 -1.33172266e-02 4.60070337e+01] [ 1.81355605e-02 -2.38610880e-04 9.99835509e-01 2.25456079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25361786499997 meters 0.02045899733342555 Centerline is valid? [True, True] Translation: X:123.87, Y:46.03, Z:2.26 [[ 6.69308983e-01 -7.42886936e-01 -1.20202338e-02 1.23869508e+02] [ 7.42773087e-01 6.69416874e-01 -1.30073236e-02 4.60266019e+01] [ 1.77095181e-02 -2.22387609e-04 9.99843149e-01 2.25538462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28361786499997 meters 0.020368787054429127 Centerline is valid? [True, True] Translation: X:123.89, Y:46.05, Z:2.26 [[ 6.69950208e-01 -7.42318795e-01 -1.13809449e-02 1.23889090e+02] [ 7.42216598e-01 6.70046841e-01 -1.23187920e-02 4.60470586e+01] [ 1.67702370e-02 -1.94148950e-04 9.99859351e-01 2.25651177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31361786499997 meters 0.02031799356092524 Centerline is valid? [True, True] Translation: X:123.91, Y:46.07, Z:2.26 [[ 6.70155575e-01 -7.42138067e-01 -1.10722537e-02 1.23907806e+02] [ 7.42041262e-01 6.70247011e-01 -1.19878872e-02 4.60674779e+01] [ 1.63178124e-02 -1.82319648e-04 9.99866839e-01 2.25734181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34361786499997 meters 0.020304838867915048 Centerline is valid? [True, True] Translation: X:123.93, Y:46.09, Z:2.26 [[ 6.70555949e-01 -7.41779245e-01 -1.08752347e-02 1.23925888e+02] [ 7.41685707e-01 6.70644112e-01 -1.17807936e-02 4.60869942e+01] [ 1.60321602e-02 -1.66324897e-04 9.99871463e-01 2.25824329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37361786499997 meters 0.020207852119657733 Centerline is valid? [True, True] Translation: X:123.94, Y:46.11, Z:2.26 [[ 6.71350104e-01 -7.41063222e-01 -1.06929433e-02 1.23944982e+02] [ 7.40972656e-01 6.71435239e-01 -1.15863019e-02 4.61082747e+01] [ 1.57658011e-02 -1.44713657e-04 9.99875702e-01 2.25883174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40361786499997 meters 0.020217209201083466 Centerline is valid? [True, True] Translation: X:123.96, Y:46.13, Z:2.26 [[ 6.71660062e-01 -7.40784844e-01 -1.05155464e-02 1.23963681e+02] [ 7.40697143e-01 6.71742360e-01 -1.13992891e-02 4.61288272e+01] [ 1.55081585e-02 -1.32387990e-04 9.99879733e-01 2.25941529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43361786499997 meters 0.020110942538685932 Centerline is valid? [True, True] Translation: X:123.98, Y:46.15, Z:2.26 [[ 6.72632947e-01 -7.39901328e-01 -1.05329592e-02 1.23982126e+02] [ 7.39813130e-01 6.72715402e-01 -1.14245461e-02 4.61491936e+01] [ 1.55387207e-02 -1.07895453e-04 9.99879261e-01 2.25945700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46361786499997 meters 0.020121236837458287 Centerline is valid? [True, True] Translation: X:124.00, Y:46.17, Z:2.26 [[ 6.72946167e-01 -7.39612663e-01 -1.07965434e-02 1.24000427e+02] [ 7.39519912e-01 6.73032762e-01 -1.17133073e-02 4.61689924e+01] [ 1.59297378e-02 -1.01833566e-04 9.99873108e-01 2.25914540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49361786499998 meters 0.019925485587648145 Centerline is valid? [True, True] Translation: X:124.02, Y:46.19, Z:2.26 [[ 6.73035980e-01 -7.39533093e-01 -1.06477053e-02 1.24018665e+02] [ 7.39442823e-01 6.73120194e-01 -1.15549631e-02 4.61910673e+01] [ 1.57124631e-02 -9.64633770e-05 9.99876547e-01 2.25892476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52361786499998 meters 0.019920629850508995 Centerline is valid? [True, True] Translation: X:124.04, Y:46.21, Z:2.26 [[ 6.73496771e-01 -7.39111451e-01 -1.07871192e-02 1.24036820e+02] [ 7.39018641e-01 6.73583147e-01 -1.17129581e-02 4.62107916e+01] [ 1.59232031e-02 -8.32427726e-05 9.99873214e-01 2.25876942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55361786499998 meters 0.01995066776478325 Centerline is valid? [True, True] Translation: X:124.05, Y:46.23, Z:2.26 [[ 6.73540085e-01 -7.39073463e-01 -1.06851098e-02 1.24054818e+02] [ 7.38982340e-01 6.73624829e-01 -1.16056271e-02 4.62303725e+01] [ 1.57751663e-02 -7.92524206e-05 9.99875561e-01 2.25879340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58361786499998 meters 0.019938629845327124 Centerline is valid? [True, True] Translation: X:124.07, Y:46.25, Z:2.26 [[ 6.73504432e-01 -7.39107815e-01 -1.05554614e-02 1.24073061e+02] [ 7.39018841e-01 6.73587138e-01 -1.14682546e-02 4.62496834e+01] [ 1.55862996e-02 -7.67645403e-05 9.99878523e-01 2.25901286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61361786499998 meters 0.019911938773120676 Centerline is valid? [True, True] Translation: X:124.09, Y:46.27, Z:2.26 [[ 6.73074375e-01 -7.39499520e-01 -1.05519877e-02 1.24092096e+02] [ 7.39410603e-01 6.73157079e-01 -1.14677148e-02 4.62706335e+01] [ 1.55835148e-02 -8.36265635e-05 9.99878566e-01 2.25886482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64361786499998 meters 0.019972283400336743 Centerline is valid? [True, True] Translation: X:124.11, Y:46.29, Z:2.26 [[ 6.72806483e-01 -7.39746774e-01 -1.03027554e-02 1.24110732e+02] [ 7.39661941e-01 6.72885357e-01 -1.12030864e-02 4.62899719e+01] [ 1.52200202e-02 -8.30469224e-05 9.99884165e-01 2.25950781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67361786499998 meters 0.019982504958655254 Centerline is valid? [True, True] Translation: X:124.13, Y:46.31, Z:2.26 [[ 6.72737256e-01 -7.39810047e-01 -1.02800228e-02 1.24129589e+02] [ 7.39725543e-01 6.72815791e-01 -1.11817914e-02 4.63100480e+01] [ 1.51889633e-02 -8.19878032e-05 9.99884638e-01 2.25978912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70361786499998 meters 0.01997611417704504 Centerline is valid? [True, True] Translation: X:124.15, Y:46.33, Z:2.26 [[ 6.72512510e-01 -7.40012838e-01 -1.03885724e-02 1.24148638e+02] [ 7.39926516e-01 6.72592738e-01 -1.13030770e-02 4.63313029e+01] [ 1.53517004e-02 -8.53195415e-05 9.99882152e-01 2.26015117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73361786499999 meters 0.019868135425196783 Centerline is valid? [True, True] Translation: X:124.17, Y:46.35, Z:2.26 [[ 6.72838458e-01 -7.39718208e-01 -1.02655810e-02 1.24166611e+02] [ 7.39633794e-01 6.72916761e-01 -1.11751168e-02 4.63525386e+01] [ 1.51743189e-02 -7.37223283e-05 9.99884861e-01 2.26017375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.763617865 meters 0.01995185995336846 Centerline is valid? [True, True] Translation: X:124.18, Y:46.37, Z:2.26 [[ 6.73248088e-01 -7.39349770e-01 -9.94633978e-03 1.24184529e+02] [ 7.39270398e-01 6.73321553e-01 -1.08335139e-02 4.63732860e+01] [ 1.47068409e-02 -5.93920588e-05 9.99891847e-01 2.26087338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79361786499996 meters 0.01981102561490215 Centerline is valid? [True, True] Translation: X:124.20, Y:46.39, Z:2.26 [[ 6.73635698e-01 -7.38996164e-01 -9.98079348e-03 1.24202119e+02] [ 7.38916146e-01 6.73709631e-01 -1.08748701e-02 4.63948411e+01] [ 1.47606440e-02 -4.92687413e-05 9.99891055e-01 2.26149707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82361786499996 meters 0.01978631626484316 Centerline is valid? [True, True] Translation: X:124.22, Y:46.42, Z:2.26 [[ 6.73625272e-01 -7.39003927e-01 -1.01088964e-02 1.24220306e+02] [ 7.38921750e-01 6.73701116e-01 -1.10205829e-02 4.64157314e+01] [ 1.49546288e-02 -4.59402211e-05 9.99888172e-01 2.26146951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85361786499996 meters 0.019751822456436467 Centerline is valid? [True, True] Translation: X:124.24, Y:46.44, Z:2.26 [[ 6.73493767e-01 -7.39123974e-01 -1.00943804e-02 1.24237736e+02] [ 7.39041954e-01 6.73569409e-01 -1.10109551e-02 4.64363908e+01] [ 1.49377267e-02 -4.43609749e-05 9.99888425e-01 2.26147367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88361786499996 meters 0.01969251559479358 Centerline is valid? [True, True] Translation: X:124.26, Y:46.46, Z:2.26 [[ 6.73412172e-01 -7.39195127e-01 -1.03252031e-02 1.24255713e+02] [ 7.39109256e-01 6.73491323e-01 -1.12670376e-02 4.64565667e+01] [ 1.52824740e-02 -4.40929178e-05 9.99883215e-01 2.26176894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91361786499996 meters 0.019809900619442142 Centerline is valid? [True, True] Translation: X:124.27, Y:46.48, Z:2.26 [[ 6.72980554e-01 -7.39590397e-01 -1.01596156e-02 1.24274600e+02] [ 7.39507245e-01 6.73057235e-01 -1.10901893e-02 4.64775066e+01] [ 1.50402003e-02 -4.96276170e-05 9.99886889e-01 2.26242645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94361786499996 meters 0.019817178786212 Centerline is valid? [True, True] Translation: X:124.29, Y:46.50, Z:2.26 [[ 6.72363294e-01 -7.40148697e-01 -1.03685954e-02 1.24293436e+02] [ 7.40062059e-01 6.72443234e-01 -1.13245463e-02 4.64986490e+01] [ 1.53541400e-02 -5.91948121e-05 9.99882116e-01 2.26285826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97361786499997 meters 0.019851153187321804 Centerline is valid? [True, True] Translation: X:124.31, Y:46.52, Z:2.26 [[ 6.71073162e-01 -7.41317079e-01 -1.04785224e-02 1.24311682e+02] [ 7.41228640e-01 6.71154961e-01 -1.14508168e-02 4.65194511e+01] [ 1.55213984e-02 -8.26451407e-05 9.99879532e-01 2.26272134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00361786499997 meters 0.019959790453831953 Centerline is valid? [True, True] Translation: X:124.33, Y:46.54, Z:2.26 [[ 6.70233464e-01 -7.42077091e-01 -1.04256933e-02 1.24330110e+02] [ 7.41989538e-01 6.70314539e-01 -1.13993232e-02 4.65392719e+01] [ 1.54476704e-02 -9.55474935e-05 9.99880673e-01 2.26296472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03361786499997 meters 0.020157935836097755 Centerline is valid? [True, True] Translation: X:124.35, Y:46.56, Z:2.26 [[ 6.68215306e-01 -7.43898532e-01 -1.01626096e-02 1.24349491e+02] [ 7.43815489e-01 6.68292569e-01 -1.11158314e-02 4.65588812e+01] [ 1.50606471e-02 -1.31337797e-04 9.99886573e-01 2.26404972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06361786499997 meters 0.020359736275511586 Centerline is valid? [True, True] Translation: X:124.37, Y:46.58, Z:2.26 [[ 6.67529511e-01 -7.44516004e-01 -1.00135730e-02 1.24368151e+02] [ 7.44435424e-01 6.67604598e-01 -1.09544346e-02 4.65785902e+01] [ 1.48408593e-02 -1.42050128e-04 9.99889858e-01 2.26492194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09361786499997 meters 0.02024787304725584 Centerline is valid? [True, True] Translation: X:124.39, Y:46.60, Z:2.27 [[ 6.66047438e-01 -7.45844709e-01 -9.82242665e-03 1.24386450e+02] [ 7.45767278e-01 6.66119841e-01 -1.07482445e-02 4.66005504e+01] [ 1.45594346e-02 -1.66403666e-04 9.99893992e-01 2.26540455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12361786499997 meters 0.020382062125587654 Centerline is valid? [True, True] Translation: X:124.41, Y:46.62, Z:2.27 [[ 6.65331664e-01 -7.46487711e-01 -9.48026546e-03 1.24405602e+02] [ 7.46415579e-01 6.65399180e-01 -1.03785633e-02 4.66219649e+01] [ 1.40556308e-02 -1.71031024e-04 9.99901200e-01 2.26547563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15361786499997 meters 0.020521173288925127 Centerline is valid? [True, True] Translation: X:124.42, Y:46.64, Z:2.27 [[ 6.64476925e-01 -7.47238952e-01 -1.02158751e-02 1.24424102e+02] [ 7.47155190e-01 6.64555423e-01 -1.11898714e-02 4.66427630e+01] [ 1.51505230e-02 -1.97432753e-04 9.99885205e-01 2.26548013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18361786499997 meters 0.020960871176460234 Centerline is valid? [True, True] Translation: X:124.44, Y:46.66, Z:2.27 [[ 6.64003695e-01 -7.47657041e-01 -1.03943172e-02 1.24443268e+02] [ 7.47570335e-01 6.64085014e-01 -1.13880704e-02 4.66617549e+01] [ 1.54170813e-02 -2.08762397e-04 9.99881128e-01 2.26609052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21361786499997 meters 0.02073304048613252 Centerline is valid? [True, True] Translation: X:124.46, Y:46.68, Z:2.27 [[ 6.63504943e-01 -7.48094596e-01 -1.07548336e-02 1.24461069e+02] [ 7.48001770e-01 6.63592062e-01 -1.17867524e-02 4.66835702e+01] [ 1.59544280e-02 -2.24066126e-04 9.99872695e-01 2.26615709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24361786499998 meters 0.02067570090250277 Centerline is valid? [True, True] Translation: X:124.48, Y:46.70, Z:2.27 [[ 6.62934862e-01 -7.48598033e-01 -1.08790510e-02 1.24479991e+02] [ 7.48503014e-01 6.63024080e-01 -1.19292660e-02 4.67046842e+01] [ 1.61432978e-02 -2.34676195e-04 9.99869661e-01 2.26647248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27361786499998 meters 0.02102307635928699 Centerline is valid? [True, True] Translation: X:124.50, Y:46.73, Z:2.27 [[ 6.62193509e-01 -7.49253016e-01 -1.09396282e-02 1.24499113e+02] [ 7.49156921e-01 6.62283819e-01 -1.20021016e-02 4.67250503e+01] [ 1.62377496e-02 -2.47784403e-04 9.99868128e-01 2.26690673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30361786499998 meters 0.02109035301759374 Centerline is valid? [True, True] Translation: X:124.52, Y:46.75, Z:2.27 [[ 6.61646962e-01 -7.49730694e-01 -1.12776321e-02 1.24518786e+02] [ 7.49628579e-01 6.61743014e-01 -1.23764519e-02 4.67463624e+01] [ 1.67419002e-02 -2.65193528e-04 9.99859809e-01 2.26751840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33361786499998 meters 0.021249396390566663 Centerline is valid? [True, True] Translation: X:124.54, Y:46.77, Z:2.27 [[ 6.61042431e-01 -7.50264907e-01 -1.12015157e-02 1.24537442e+02] [ 7.50164146e-01 6.61137274e-01 -1.22987201e-02 4.67663658e+01] [ 1.66330377e-02 -2.72999630e-04 9.99861624e-01 2.26805867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36361786499998 meters 0.021310338790839697 Centerline is valid? [True, True] Translation: X:124.56, Y:46.79, Z:2.27 [[ 6.60611652e-01 -7.50638979e-01 -1.15485187e-02 1.24556722e+02] [ 7.50531830e-01 6.60712525e-01 -1.26858673e-02 4.67872772e+01] [ 1.71527574e-02 -2.87099128e-04 9.99852839e-01 2.26891456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39361786499998 meters 0.021570594773970563 Centerline is valid? [True, True] Translation: X:124.58, Y:46.81, Z:2.27 [[ 6.60159421e-01 -7.51037476e-01 -1.14999368e-02 1.24575441e+02] [ 7.50931176e-01 6.60259513e-01 -1.26389845e-02 4.68077076e+01] [ 1.70852937e-02 -2.91916383e-04 9.99853993e-01 2.26883363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42361786499998 meters 0.02170831064193202 Centerline is valid? [True, True] Translation: X:124.59, Y:46.83, Z:2.27 [[ 6.59935021e-01 -7.51232288e-01 -1.16540743e-02 1.24594014e+02] [ 7.51123036e-01 6.60037848e-01 -1.28150064e-02 4.68276533e+01] [ 1.73191767e-02 -2.96572186e-04 9.99849968e-01 2.26926468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45361786499998 meters 0.02114594976135356 Centerline is valid? [True, True] Translation: X:124.61, Y:46.85, Z:2.27 [[ 6.59924738e-01 -7.51243351e-01 -1.15224933e-02 1.24611515e+02] [ 7.51136453e-01 6.60025260e-01 -1.26761439e-02 4.68500846e+01] [ 1.71280055e-02 -2.89663812e-04 9.99853263e-01 2.26988419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48361786499999 meters 0.021597191301677386 Centerline is valid? [True, True] Translation: X:124.63, Y:46.87, Z:2.27 [[ 6.60657482e-01 -7.50593158e-01 -1.18997319e-02 1.24631089e+02] [ 7.50478919e-01 6.60764583e-01 -1.30979850e-02 4.68695224e+01] [ 1.76941794e-02 -2.77216164e-04 9.99843407e-01 2.27088612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.513617865 meters 0.020963697103470815 Centerline is valid? [True, True] Translation: X:124.65, Y:46.89, Z:2.27 [[ 6.61023076e-01 -7.50271502e-01 -1.18813965e-02 1.24648843e+02] [ 7.50157520e-01 6.61129793e-01 -1.30802443e-02 4.68925011e+01] [ 1.76688797e-02 -2.66575574e-04 9.99843858e-01 2.27167538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54361786499996 meters 0.020762281848614998 Centerline is valid? [True, True] Translation: X:124.67, Y:46.91, Z:2.27 [[ 6.62412481e-01 -7.49044844e-01 -1.18964937e-02 1.24667072e+02] [ 7.48930269e-01 6.62519259e-01 -1.31027660e-02 4.69138109e+01] [ 1.76962155e-02 -2.30208452e-04 9.99843383e-01 2.27272663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57361786499996 meters 0.020934781984985107 Centerline is valid? [True, True] Translation: X:124.69, Y:46.93, Z:2.27 [[ 6.62824932e-01 -7.48675257e-01 -1.21848200e-02 1.24685421e+02] [ 7.48554954e-01 6.62936882e-01 -1.34227939e-02 4.69338439e+01] [ 1.81270802e-02 -2.24044982e-04 9.99835666e-01 2.27347643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60361786499996 meters 0.020694611510604054 Centerline is valid? [True, True] Translation: X:124.70, Y:46.96, Z:2.27 [[ 6.63385386e-01 -7.48177917e-01 -1.22325202e-02 1.24703401e+02] [ 7.48056496e-01 6.63498124e-01 -1.34802507e-02 4.69554678e+01] [ 1.82018801e-02 -2.08014883e-04 9.99834310e-01 2.27364538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63361786499996 meters 0.020405815730486884 Centerline is valid? [True, True] Translation: X:124.72, Y:46.98, Z:2.27 [[ 6.63968646e-01 -7.47657979e-01 -1.23767541e-02 1.24720479e+02] [ 7.47533461e-01 6.64083963e-01 -1.36460246e-02 4.69787502e+01] [ 1.84217630e-02 -1.91505351e-04 9.99830287e-01 2.27400514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66361786499996 meters 0.02032763445700627 Centerline is valid? [True, True] Translation: X:124.74, Y:47.00, Z:2.27 [[ 6.64329223e-01 -7.47332963e-01 -1.26540717e-02 1.24738888e+02] [ 7.47202608e-01 6.64449704e-01 -1.39589972e-02 4.69998563e+01] [ 1.88400129e-02 -1.81785613e-04 9.99822495e-01 2.27467557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69361786499996 meters 0.020414579528779644 Centerline is valid? [True, True] Translation: X:124.76, Y:47.02, Z:2.27 [[ 6.64536967e-01 -7.47144277e-01 -1.28860065e-02 1.24757170e+02] [ 7.47008922e-01 6.64661868e-01 -1.42221944e-02 4.70194547e+01] [ 1.91908683e-02 -1.74787885e-04 9.99815823e-01 2.27493765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72361786499997 meters 0.02027794854463418 Centerline is valid? [True, True] Translation: X:124.77, Y:47.04, Z:2.28 [[ 6.64630671e-01 -7.47058494e-01 -1.30260177e-02 1.24774856e+02] [ 7.46920072e-01 6.64758285e-01 -1.43815648e-02 4.70414484e+01] [ 1.94030233e-02 -1.70965033e-04 9.99811729e-01 2.27606373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75361786499997 meters 0.02032150542183073 Centerline is valid? [True, True] Translation: X:124.79, Y:47.06, Z:2.28 [[ 6.64531513e-01 -7.47150805e-01 -1.27884097e-02 1.24793826e+02] [ 7.47017258e-01 6.64654532e-01 -1.41268765e-02 4.70625633e+01] [ 1.90547817e-02 -1.65408138e-04 9.99818427e-01 2.27671385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78361786499997 meters 0.02032150542183073 Centerline is valid? [True, True] Translation: X:124.81, Y:47.08, Z:2.28 [[ 6.64328416e-01 -7.47331459e-01 -1.27845678e-02 1.24812280e+02] [ 7.47197879e-01 6.64451400e-01 -1.41303527e-02 4.70830621e+01] [ 1.90547811e-02 -1.65407072e-04 9.99818427e-01 2.27716468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81361786499997 meters 0.020323805086673544 Centerline is valid? [True, True] Translation: X:124.83, Y:47.10, Z:2.28 [[ 6.64168355e-01 -7.47473095e-01 -1.28205926e-02 1.24830920e+02] [ 7.47338648e-01 6.64292063e-01 -1.41774447e-02 4.71030531e+01] [ 1.91138764e-02 -1.65114212e-04 9.99817300e-01 2.27786380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84361786499997 meters 0.0203262048001295 Centerline is valid? [True, True] Translation: X:124.85, Y:47.12, Z:2.28 [[ 6.63771335e-01 -7.47826223e-01 -1.27888397e-02 1.24849439e+02] [ 7.47692417e-01 6.63894502e-01 -1.41470849e-02 4.71236219e+01] [ 1.90700015e-02 -1.71689009e-04 9.99818136e-01 2.27874209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87361786499997 meters 0.0204004921559816 Centerline is valid? [True, True] Translation: X:124.87, Y:47.14, Z:2.28 [[ 6.62820353e-01 -7.48660169e-01 -1.33090256e-02 1.24869519e+02] [ 7.48515261e-01 6.62953929e-01 -1.47306818e-02 4.71442099e+01] [ 1.98515456e-02 -1.98213056e-04 9.99802919e-01 2.27913550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90361786499997 meters 0.020415872244635824 Centerline is valid? [True, True] Translation: X:124.89, Y:47.16, Z:2.28 [[ 6.62062263e-01 -7.49327499e-01 -1.34855286e-02 1.24889341e+02] [ 7.49178713e-01 6.62199556e-01 -1.49332987e-02 4.71648662e+01] [ 2.01200425e-02 -2.16297439e-04 9.99797548e-01 2.27948131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93361786499997 meters 0.02067011102617484 Centerline is valid? [True, True] Translation: X:124.91, Y:47.18, Z:2.28 [[ 6.61271383e-01 -7.50023688e-01 -1.35876833e-02 1.24908816e+02] [ 7.49872653e-01 6.61410925e-01 -1.50529963e-02 4.71845272e+01] [ 2.02771460e-02 -2.34916422e-04 9.99794370e-01 2.28005933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96361786499997 meters 0.02067568544941852 Centerline is valid? [True, True] Translation: X:124.93, Y:47.21, Z:2.28 [[ 6.60378406e-01 -7.50813152e-01 -1.34153159e-02 1.24929042e+02] [ 7.50666004e-01 6.60514607e-01 -1.48662218e-02 4.72058452e+01] [ 2.00227670e-02 -2.53089695e-04 9.99799492e-01 2.28039081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99361786499998 meters 0.021154399602932333 Centerline is valid? [True, True] Translation: X:124.95, Y:47.23, Z:2.28 [[ 6.58121521e-01 -7.52791435e-01 -1.34580506e-02 1.24949919e+02] [ 7.52643618e-01 6.58259037e-01 -1.49206190e-02 4.72260648e+01] [ 2.00909976e-02 -3.09535403e-04 9.99798108e-01 2.28120271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02361786499998 meters 0.021846196319614652 Centerline is valid? [True, True] Translation: X:124.97, Y:47.24, Z:2.28 [[ 6.56820275e-01 -7.53926614e-01 -1.34828278e-02 1.24970761e+02] [ 7.53778362e-01 6.56958556e-01 -1.49545013e-02 4.72446478e+01] [ 2.01322557e-02 -3.40644153e-04 9.99797268e-01 2.28150061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05361786499998 meters 0.02278370151846598 Centerline is valid? [True, True] Translation: X:124.99, Y:47.26, Z:2.28 [[ 6.54348081e-01 -7.56064720e-01 -1.39544938e-02 1.24992527e+02] [ 7.55906305e-01 6.54496726e-01 -1.54820404e-02 4.72624327e+01] [ 2.08385951e-02 -4.17646463e-04 9.99782766e-01 2.28183712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08361786499998 meters 0.021916559399672846 Centerline is valid? [True, True] Translation: X:125.01, Y:47.28, Z:2.28 [[ 6.53168447e-01 -7.57082747e-01 -1.40247733e-02 1.25010211e+02] [ 7.56922853e-01 6.53318844e-01 -1.55654020e-02 4.72846304e+01] [ 2.09469460e-02 -4.48841978e-04 9.99780488e-01 2.28288050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11361786499998 meters 0.023588632605589282 Centerline is valid? [True, True] Translation: X:125.03, Y:47.30, Z:2.28 [[ 6.52397326e-01 -7.57745315e-01 -1.41339251e-02 1.25032925e+02] [ 7.57582999e-01 6.52550240e-01 -1.56902445e-02 4.73020559e+01] [ 2.11123055e-02 -4.71347777e-04 9.99776999e-01 2.28222384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14361786499998 meters 0.022680928181016642 Centerline is valid? [True, True] Translation: X:125.05, Y:47.32, Z:2.28 [[ 6.50764632e-01 -7.59147426e-01 -1.41626433e-02 1.25051022e+02] [ 7.58984718e-01 6.50918520e-01 -1.57250639e-02 4.73239444e+01] [ 2.11563686e-02 -5.15914384e-04 9.99776046e-01 2.28333907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17361786499998 meters 0.02298918650172091 Centerline is valid? [True, True] Translation: X:125.07, Y:47.35, Z:2.28 [[ 6.50055219e-01 -7.59756297e-01 -1.40919002e-02 1.25071188e+02] [ 7.59595256e-01 6.50207727e-01 -1.56511671e-02 4.73452824e+01] [ 2.10537351e-02 -5.30017696e-04 9.99778205e-01 2.28338003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20361786499998 meters 0.02293112609311781 Centerline is valid? [True, True] Translation: X:125.09, Y:47.37, Z:2.28 [[ 6.49947216e-01 -7.59847734e-01 -1.41434908e-02 1.25090017e+02] [ 7.59685372e-01 6.50100870e-01 -1.57160428e-02 4.73660739e+01] [ 2.11364952e-02 -5.30004790e-04 9.99776459e-01 2.28464485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23361786499999 meters 0.02267981562642381 Centerline is valid? [True, True] Translation: X:125.11, Y:47.39, Z:2.29 [[ 6.50652846e-01 -7.59249175e-01 -1.38406806e-02 1.25109123e+02] [ 7.59093394e-01 6.50799851e-01 -1.53874127e-02 4.73878107e+01] [ 2.06903933e-02 -4.94505373e-04 9.99785809e-01 2.28560716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263617865 meters 0.022428714820573684 Centerline is valid? [True, True] Translation: X:125.13, Y:47.41, Z:2.29 [[ 6.51082701e-01 -7.58883522e-01 -1.36790490e-02 1.25127722e+02] [ 7.58731135e-01 6.51226210e-01 -1.52147336e-02 4.74095782e+01] [ 2.04543659e-02 -4.72670531e-04 9.99790676e-01 2.28667405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29361786499996 meters 0.022592423890011416 Centerline is valid? [True, True] Translation: X:125.15, Y:47.43, Z:2.29 [[ 6.51865049e-01 -7.58218706e-01 -1.32797446e-02 1.25146172e+02] [ 7.58074830e-01 6.52000157e-01 -1.47765621e-02 4.74303943e+01] [ 1.98622614e-02 -4.34715734e-04 9.99802631e-01 2.28700006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32361786499996 meters 0.022041252536774084 Centerline is valid? [True, True] Translation: X:125.16, Y:47.45, Z:2.29 [[ 6.54043629e-01 -7.56341433e-01 -1.32124203e-02 1.25163302e+02] [ 7.56198567e-01 6.54176961e-01 -1.47047929e-02 4.74533084e+01] [ 1.97651051e-02 -3.73637207e-04 9.99804581e-01 2.28741953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35361786499996 meters 0.021786403063190875 Centerline is valid? [True, True] Translation: X:125.18, Y:47.47, Z:2.29 [[ 6.55113821e-01 -7.55407568e-01 -1.36120473e-02 1.25180894e+02] [ 7.55255580e-01 6.55255128e-01 -1.51567207e-02 4.74747949e+01] [ 2.03688654e-02 -3.51197473e-04 9.99792471e-01 2.28774717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38361786499996 meters 0.020975987072228225 Centerline is valid? [True, True] Translation: X:125.20, Y:47.50, Z:2.29 [[ 6.57463966e-01 -7.53354226e-01 -1.40905902e-02 1.25196975e+02] [ 7.53190723e-01 6.57614876e-01 -1.56974452e-02 4.74993075e+01] [ 2.10919184e-02 -2.92397253e-04 9.99777498e-01 2.28775309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41361786499996 meters 0.02098707302446269 Centerline is valid? [True, True] Translation: X:125.21, Y:47.52, Z:2.29 [[ 6.58646555e-01 -7.52319468e-01 -1.41468279e-02 1.25214381e+02] [ 7.52154274e-01 6.58798415e-01 -1.57669360e-02 4.75204289e+01] [ 2.11816807e-02 -2.55759005e-04 9.99775610e-01 2.28775424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44361786499996 meters 0.020416155053358333 Centerline is valid? [True, True] Translation: X:125.23, Y:47.54, Z:2.29 [[ 6.59962801e-01 -7.51165152e-01 -1.41426830e-02 1.25230533e+02] [ 7.50999665e-01 6.60114284e-01 -1.57681721e-02 4.75442750e+01] [ 2.11802885e-02 -2.14743176e-04 9.99775649e-01 2.28856483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47361786499997 meters 0.020251765447231222 Centerline is valid? [True, True] Translation: X:125.25, Y:47.57, Z:2.29 [[ 6.60687028e-01 -7.50529957e-01 -1.40511427e-02 1.25248462e+02] [ 7.50366304e-01 6.60836400e-01 -1.56736338e-02 4.75669357e+01] [ 2.10490382e-02 -1.88137497e-04 9.99778427e-01 2.28910320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50361786499997 meters 0.02025449700873958 Centerline is valid? [True, True] Translation: X:125.27, Y:47.59, Z:2.29 [[ 6.62168340e-01 -7.49230817e-01 -1.36481759e-02 1.25265190e+02] [ 7.49076011e-01 6.62308964e-01 -1.52304213e-02 4.75889566e+01] [ 2.04504103e-02 -1.38418381e-04 9.99790859e-01 2.28914295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53361786499997 meters 0.02017685874313039 Centerline is valid? [True, True] Translation: X:125.28, Y:47.61, Z:2.29 [[ 6.62259962e-01 -7.49156133e-01 -1.32977782e-02 1.25281983e+02] [ 7.49009090e-01 6.62393441e-01 -1.48429159e-02 4.76112718e+01] [ 1.99280226e-02 -1.30287880e-04 9.99801409e-01 2.28990590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56361786499997 meters 0.020108605627188993 Centerline is valid? [True, True] Translation: X:125.30, Y:47.63, Z:2.29 [[ 6.62108205e-01 -7.49287771e-01 -1.34373163e-02 1.25299517e+02] [ 7.49137496e-01 6.62244532e-01 -1.50064233e-02 4.76321886e+01] [ 2.01429187e-02 -1.30521472e-04 9.99797102e-01 2.29048444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59361786499997 meters 0.020135544783697227 Centerline is valid? [True, True] Translation: X:125.32, Y:47.65, Z:2.29 [[ 6.61665645e-01 -7.49677204e-01 -1.35153058e-02 1.25317692e+02] [ 7.49525151e-01 6.61803649e-01 -1.50989235e-02 4.76541821e+01] [ 2.02637975e-02 -1.39622723e-04 9.99794658e-01 2.29067136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62361786499997 meters 0.020278871682690262 Centerline is valid? [True, True] Translation: X:125.34, Y:47.67, Z:2.29 [[ 6.61250291e-01 -7.50045126e-01 -1.34298389e-02 1.25335584e+02] [ 7.49894915e-01 6.61386640e-01 -1.50109902e-02 4.76743836e+01] [ 2.01412361e-02 -1.44946234e-04 9.99797134e-01 2.29059900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65361786499997 meters 0.020311953097879875 Centerline is valid? [True, True] Translation: X:125.35, Y:47.70, Z:2.29 [[ 6.59839415e-01 -7.51281495e-01 -1.37135452e-02 1.25354271e+02] [ 7.51125041e-01 6.59981879e-01 -1.53326935e-02 4.76957890e+01] [ 2.05698603e-02 -1.83471694e-04 9.99788401e-01 2.29012448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68361786499997 meters 0.02026750539160427 Centerline is valid? [True, True] Translation: X:125.37, Y:47.72, Z:2.29 [[ 6.58704118e-01 -7.52276374e-01 -1.37528540e-02 1.25373722e+02] [ 7.52119145e-01 6.58847639e-01 -1.53811627e-02 4.77177782e+01] [ 2.06319207e-02 -2.12149530e-04 9.99787117e-01 2.29052928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71361786499997 meters 0.020467667201748873 Centerline is valid? [True, True] Translation: X:125.39, Y:47.74, Z:2.29 [[ 6.57312395e-01 -7.53493475e-01 -1.37112441e-02 1.25392908e+02] [ 7.53337308e-01 6.57455339e-01 -1.53420276e-02 4.77389056e+01] [ 2.05746484e-02 -2.44686794e-04 9.99788290e-01 2.29052162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74361786499998 meters 0.02089023827101132 Centerline is valid? [True, True] Translation: X:125.41, Y:47.76, Z:2.29 [[ 6.54165486e-01 -7.56222394e-01 -1.39716877e-02 1.25413194e+02] [ 7.56060696e-01 6.54314589e-01 -1.56410682e-02 4.77597269e+01] [ 2.09700051e-02 -3.31596902e-04 9.99780050e-01 2.29080970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77361786499998 meters 0.021168030832551844 Centerline is valid? [True, True] Translation: X:125.43, Y:47.78, Z:2.29 [[ 6.52692260e-01 -7.57495363e-01 -1.39136579e-02 1.25432947e+02] [ 7.57335160e-01 6.52840441e-01 -1.55824943e-02 4.77799188e+01] [ 2.08870657e-02 -3.66728879e-04 9.99781774e-01 2.29128899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80361786499998 meters 0.021185159422486142 Centerline is valid? [True, True] Translation: X:125.45, Y:47.80, Z:2.29 [[ 6.50918373e-01 -7.59025088e-01 -1.36450769e-02 1.25452063e+02] [ 7.58871274e-01 6.51061251e-01 -1.52852072e-02 4.78013444e+01] [ 2.04856366e-02 -4.05434721e-04 9.99790065e-01 2.29231851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83361786499998 meters 0.021674433627601797 Centerline is valid? [True, True] Translation: X:125.47, Y:47.82, Z:2.29 [[ 6.48211850e-01 -7.61348450e-01 -1.30359114e-02 1.25472139e+02] [ 7.61208398e-01 6.48342759e-01 -1.46096409e-02 4.78226048e+01] [ 1.95747662e-02 -4.52902853e-04 9.99808293e-01 2.29375399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86361786499998 meters 0.022238253695155617 Centerline is valid? [True, True] Translation: X:125.49, Y:47.84, Z:2.29 [[ 6.46988936e-01 -7.62389144e-01 -1.29656889e-02 1.25491218e+02] [ 7.62250681e-01 6.47118664e-01 -1.45373356e-02 4.78422546e+01] [ 1.94734461e-02 -4.77609945e-04 9.99810260e-01 2.29394132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89361786499998 meters 0.022373253111651024 Centerline is valid? [True, True] Translation: X:125.51, Y:47.86, Z:2.29 [[ 6.45698701e-01 -7.63483564e-01 -1.28854388e-02 1.25510884e+02] [ 7.63346958e-01 6.45827061e-01 -1.44509194e-02 4.78640169e+01] [ 1.93548045e-02 -5.05120609e-04 9.99812551e-01 2.29470593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92361786499998 meters 0.022230931802364004 Centerline is valid? [True, True] Translation: X:125.53, Y:47.89, Z:2.30 [[ 6.44152980e-01 -7.64790266e-01 -1.27587950e-02 1.25529590e+02] [ 7.64656458e-01 6.44279103e-01 -1.43156632e-02 4.78862675e+01] [ 1.91687049e-02 -5.34617906e-04 9.99816121e-01 2.29539735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95361786499998 meters 0.02382159596906789 Centerline is valid? [True, True] Translation: X:125.55, Y:47.91, Z:2.30 [[ 6.42427020e-01 -7.66239292e-01 -1.28402429e-02 1.25550594e+02] [ 7.66103935e-01 6.42555067e-01 -1.44134158e-02 4.79050592e+01] [ 1.92946887e-02 -5.77392850e-04 9.99813673e-01 2.29596373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98361786499999 meters 0.023618831076386973 Centerline is valid? [True, True] Translation: X:125.57, Y:47.93, Z:2.30 [[ 6.41470332e-01 -7.67051597e-01 -1.21515534e-02 1.25568816e+02] [ 7.66930469e-01 6.41585166e-01 -1.36430012e-02 4.79272666e+01] [ 1.82611422e-02 -5.67816052e-04 9.99833090e-01 2.29676380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.013617865 meters 0.02370158128373546 Centerline is valid? [True, True] Translation: X:125.59, Y:47.95, Z:2.30 [[ 6.40586109e-01 -7.67792798e-01 -1.19856823e-02 1.25587822e+02] [ 7.67674970e-01 6.40697969e-01 -1.34630354e-02 4.79493026e+01] [ 1.80160239e-02 -5.76874804e-04 9.99837532e-01 2.29786660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04361786499996 meters 0.023981053982310666 Centerline is valid? [True, True] Translation: X:125.61, Y:47.97, Z:2.30 [[ 6.40371562e-01 -7.67978223e-01 -1.15633563e-02 1.25605427e+02] [ 7.67868482e-01 6.40475712e-01 -1.29944687e-02 4.79699717e+01] [ 1.73855179e-02 -5.57848615e-04 9.99848705e-01 2.29885953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07361786499996 meters 0.023224481756609672 Centerline is valid? [True, True] Translation: X:125.62, Y:47.99, Z:2.30 [[ 6.40301093e-01 -7.68036627e-01 -1.15866734e-02 1.25622221e+02] [ 7.67926380e-01 6.40405675e-01 -1.30248352e-02 4.79925569e+01] [ 1.74237219e-02 -5.57895966e-04 9.99848040e-01 2.29932884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10361786499996 meters 0.022919442675346357 Centerline is valid? [True, True] Translation: X:125.64, Y:48.02, Z:2.30 [[ 6.41017020e-01 -7.67438922e-01 -1.16052337e-02 1.25639192e+02] [ 7.67328100e-01 6.41121838e-01 -1.30528151e-02 4.80162988e+01] [ 1.74576071e-02 -5.37945312e-04 9.99847460e-01 2.29997499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13361786499996 meters 0.022919442675346357 Centerline is valid? [True, True] Translation: X:125.66, Y:48.04, Z:2.30 [[ 6.40807039e-01 -7.67614311e-01 -1.16020855e-02 1.25657474e+02] [ 7.67503466e-01 6.40911835e-01 -1.30556128e-02 4.80369663e+01] [ 1.74575891e-02 -5.38512205e-04 9.99847460e-01 2.30042622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16361786499996 meters 0.022823655862121574 Centerline is valid? [True, True] Translation: X:125.67, Y:48.06, Z:2.30 [[ 6.42192984e-01 -7.66464812e-01 -1.09482552e-02 1.25674596e+02] [ 7.66365837e-01 6.42286126e-01 -1.23262771e-02 4.80597186e+01] [ 1.64795701e-02 -4.74520065e-04 9.99864090e-01 2.30041994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19361786499996 meters 0.023326907787712074 Centerline is valid? [True, True] Translation: X:125.69, Y:48.08, Z:2.30 [[ 6.43039150e-01 -7.65757134e-01 -1.08010881e-02 1.25693153e+02] [ 7.65660608e-01 6.43129701e-01 -1.21663561e-02 4.80802456e+01] [ 1.62629745e-02 -4.46524407e-04 9.99867649e-01 2.30093488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22361786499997 meters 0.0232346239988499 Centerline is valid? [True, True] Translation: X:125.71, Y:48.10, Z:2.30 [[ 6.43330997e-01 -7.65517672e-01 -1.03885479e-02 1.25711812e+02] [ 7.65428321e-01 6.43414731e-01 -1.17033939e-02 4.81028459e+01] [ 1.56432996e-02 -4.22532677e-04 9.99877547e-01 2.30151202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25361786499997 meters 0.022731926913321 Centerline is valid? [True, True] Translation: X:125.73, Y:48.13, Z:2.30 [[ 6.44282685e-01 -7.64716359e-01 -1.04264826e-02 1.25729140e+02] [ 7.64626165e-01 6.44366921e-01 -1.17515418e-02 4.81266501e+01] [ 1.57050767e-02 -4.01046563e-04 9.99876587e-01 2.30170069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28361786499997 meters 0.022819504841753224 Centerline is valid? [True, True] Translation: X:125.75, Y:48.15, Z:2.30 [[ 6.44679797e-01 -7.64378747e-01 -1.06343741e-02 1.25747492e+02] [ 7.64284783e-01 6.44767379e-01 -1.19915233e-02 4.81483727e+01] [ 1.60227631e-02 -3.96997510e-04 9.99871548e-01 2.30158278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31361786499997 meters 0.022575158987780647 Centerline is valid? [True, True] Translation: X:125.77, Y:48.17, Z:2.30 [[ 6.45367203e-01 -7.63805658e-01 -1.01039277e-02 1.25765192e+02] [ 7.63720689e-01 6.45446192e-01 -1.13983474e-02 4.81708383e+01] [ 1.52276639e-02 -3.60459017e-04 9.99883987e-01 2.30184234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34361786499997 meters 0.022469584074182515 Centerline is valid? [True, True] Translation: X:125.78, Y:48.19, Z:2.30 [[ 6.45908580e-01 -7.63351928e-01 -9.79496663e-03 1.25783114e+02] [ 7.63271953e-01 6.45982757e-01 -1.10546173e-02 4.81925958e+01] [ 1.47659429e-02 -3.35951170e-04 9.99890921e-01 2.30254242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37361786499997 meters 0.02234071949896911 Centerline is valid? [True, True] Translation: X:125.80, Y:48.21, Z:2.30 [[ 6.46341789e-01 -7.62983590e-01 -9.91628608e-03 1.25800552e+02] [ 7.62901493e-01 6.46417770e-01 -1.11972701e-02 4.82143282e+01] [ 1.49533969e-02 -3.27885843e-04 9.99888138e-01 2.30303388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40361786499997 meters 0.022031658874576164 Centerline is valid? [True, True] Translation: X:125.82, Y:48.24, Z:2.30 [[ 6.47961730e-01 -7.61608393e-01 -9.91219690e-03 1.25817326e+02] [ 7.61526112e-01 6.48037476e-01 -1.11987027e-02 4.82372088e+01] [ 1.49525011e-02 -2.92065965e-04 9.99888162e-01 2.30296481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43361786499997 meters 0.021188262188459154 Centerline is valid? [True, True] Translation: X:125.83, Y:48.26, Z:2.30 [[ 6.48725271e-01 -7.60956451e-01 -1.00400622e-02 1.25833721e+02] [ 7.60871931e-01 6.48802899e-01 -1.13447248e-02 4.82608853e+01] [ 1.51468630e-02 -2.79591882e-04 9.99885241e-01 2.30291778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46361786499997 meters 0.02176014505588801 Centerline is valid? [True, True] Translation: X:125.85, Y:48.28, Z:2.30 [[ 6.49397108e-01 -7.60379879e-01 -1.02876306e-02 1.25852870e+02] [ 7.60290977e-01 6.49478535e-01 -1.16302668e-02 4.82810158e+01] [ 1.55250161e-02 -2.68931140e-04 9.99879444e-01 2.30301249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49361786499998 meters 0.021357686678023485 Centerline is valid? [True, True] Translation: X:125.87, Y:48.30, Z:2.30 [[ 6.50162422e-01 -7.59726364e-01 -1.02311964e-02 1.25870513e+02] [ 7.59638327e-01 6.50242870e-01 -1.15681448e-02 4.83035482e+01] [ 1.54413871e-02 -2.50835876e-04 9.99880743e-01 2.30293578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52361786499998 meters 0.02075451357876311 Centerline is valid? [True, True] Translation: X:125.89, Y:48.33, Z:2.30 [[ 6.50969687e-01 -7.59030586e-01 -1.05373480e-02 1.25887202e+02] [ 7.58937014e-01 6.51054923e-01 -1.19203958e-02 4.83267680e+01] [ 1.59083373e-02 -2.37367070e-04 9.99873426e-01 2.30354326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55361786499998 meters 0.020733312672846883 Centerline is valid? [True, True] Translation: X:125.91, Y:48.35, Z:2.30 [[ 6.50878802e-01 -7.59113017e-01 -1.02084506e-02 1.25905292e+02] [ 7.59025127e-01 6.50958812e-01 -1.15534467e-02 4.83482739e+01] [ 1.54156527e-02 -2.28576957e-04 9.99881146e-01 2.30376816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58361786499998 meters 0.020550980711454628 Centerline is valid? [True, True] Translation: X:125.92, Y:48.37, Z:2.30 [[ 6.50645039e-01 -7.59312025e-01 -1.03093498e-02 1.25923259e+02] [ 7.59222316e-01 6.50726668e-01 -1.16738855e-02 4.83703264e+01] [ 1.55726904e-02 -2.31532736e-04 9.99878711e-01 2.30416861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61361786499998 meters 0.020846153058873423 Centerline is valid? [True, True] Translation: X:125.94, Y:48.39, Z:2.30 [[ 6.50282122e-01 -7.59621699e-01 -1.03940672e-02 1.25941251e+02] [ 7.59530446e-01 6.50365143e-01 -1.17763474e-02 4.83900325e+01] [ 1.57055080e-02 -2.36662334e-04 9.99876633e-01 2.30464480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64361786499998 meters 0.02094637546718066 Centerline is valid? [True, True] Translation: X:125.96, Y:48.41, Z:2.30 [[ 6.49914976e-01 -7.59934561e-01 -1.04874606e-02 1.25959744e+02] [ 7.59841645e-01 6.49999541e-01 -1.18857497e-02 4.84116801e+01] [ 1.58492366e-02 -2.44082644e-04 9.99874363e-01 2.30459579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67361786499998 meters 0.02094637546718066 Centerline is valid? [True, True] Translation: X:125.98, Y:48.43, Z:2.31 [[ 6.49717860e-01 -7.60103138e-01 -1.04843826e-02 1.25977916e+02] [ 7.60010200e-01 6.49802401e-01 -1.18884641e-02 4.84324175e+01] [ 1.58492359e-02 -2.44090261e-04 9.99874363e-01 2.30504666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70361786499998 meters 0.020875902042370383 Centerline is valid? [True, True] Translation: X:126.00, Y:48.45, Z:2.31 [[ 6.49126202e-01 -7.60607625e-01 -1.05458450e-02 1.25996866e+02] [ 7.60513560e-01 6.49211812e-01 -1.19644742e-02 4.84539881e+01] [ 1.59467574e-02 -2.53804448e-04 9.99872810e-01 2.30560777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73361786499999 meters 0.02053429432943596 Centerline is valid? [True, True] Translation: X:126.01, Y:48.48, Z:2.31 [[ 6.48741982e-01 -7.60939078e-01 -1.02742738e-02 1.26014622e+02] [ 7.60849757e-01 6.48823286e-01 -1.16614974e-02 4.84763778e+01] [ 1.55398772e-02 -2.51875808e-04 9.99879217e-01 2.30641369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.763617865 meters 0.021098172212772767 Centerline is valid? [True, True] Translation: X:126.03, Y:48.50, Z:2.31 [[ 6.48193485e-01 -7.61413266e-01 -9.74903975e-03 1.26034569e+02] [ 7.61332808e-01 6.48266749e-01 -1.10714830e-02 4.84964249e+01] [ 1.47499524e-02 -2.45800622e-04 9.99891183e-01 2.30731133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79361786499996 meters 0.02115635575193128 Centerline is valid? [True, True] Translation: X:126.05, Y:48.52, Z:2.31 [[ 6.47759618e-01 -7.61778806e-01 -1.00264012e-02 1.26053332e+02] [ 7.61693708e-01 6.47837159e-01 -1.13890852e-02 4.85177925e+01] [ 1.51714390e-02 -2.59657255e-04 9.99884873e-01 2.30766181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82361786499996 meters 0.02118837469501477 Centerline is valid? [True, True] Translation: X:126.07, Y:48.54, Z:2.31 [[ 6.47090810e-01 -7.62347410e-01 -9.99554429e-03 1.26072031e+02] [ 7.62262810e-01 6.47167950e-01 -1.13601471e-02 4.85391303e+01] [ 1.51291746e-02 -2.68184909e-04 9.99885512e-01 2.30707948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85361786499996 meters 0.020632081950880444 Centerline is valid? [True, True] Translation: X:126.09, Y:48.56, Z:2.31 [[ 6.46712642e-01 -7.62670086e-01 -9.85385514e-03 1.26089329e+02] [ 7.62587873e-01 6.46787652e-01 -1.12012821e-02 4.85619121e+01] [ 1.49162346e-02 -2.70419707e-04 9.99888710e-01 2.30723526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88361786499996 meters 0.020541555598412604 Centerline is valid? [True, True] Translation: X:126.11, Y:48.58, Z:2.31 [[ 6.46403254e-01 -7.62930871e-01 -9.96589366e-03 1.26107845e+02] [ 7.62846713e-01 6.46480016e-01 -1.13349838e-02 4.85828311e+01] [ 1.50905601e-02 -2.75478823e-04 9.99886093e-01 2.30762749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91361786499996 meters 0.020647218823600266 Centerline is valid? [True, True] Translation: X:126.13, Y:48.60, Z:2.31 [[ 6.46315596e-01 -7.63001450e-01 -1.02439134e-02 1.26127525e+02] [ 7.62912436e-01 6.46396711e-01 -1.16578765e-02 4.86034389e+01] [ 1.55166086e-02 -2.80541559e-04 9.99879571e-01 2.30787985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94361786499996 meters 0.020588193630287823 Centerline is valid? [True, True] Translation: X:126.15, Y:48.62, Z:2.31 [[ 6.46332365e-01 -7.62984660e-01 -1.04346893e-02 1.26146150e+02] [ 7.62892191e-01 6.46416530e-01 -1.18817083e-02 4.86244785e+01] [ 1.58107168e-02 -2.81010322e-04 9.99874963e-01 2.30810125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97361786499997 meters 0.020666853214088565 Centerline is valid? [True, True] Translation: X:126.16, Y:48.64, Z:2.31 [[ 6.46596346e-01 -7.62759236e-01 -1.05599684e-02 1.26164255e+02] [ 7.62664394e-01 6.46682513e-01 -1.20312183e-02 4.86444993e+01] [ 1.60058698e-02 -2.74370143e-04 9.99871860e-01 2.30829548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00361786499997 meters 0.020564210626398693 Centerline is valid? [True, True] Translation: X:126.18, Y:48.67, Z:2.31 [[ 6.47024657e-01 -7.62394331e-01 -1.06759911e-02 1.26182996e+02] [ 7.62297289e-01 6.47112674e-01 -1.21667764e-02 4.86660182e+01] [ 1.61844505e-02 -2.66074782e-04 9.99868988e-01 2.30872362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03361786499997 meters 0.020508246782762595 Centerline is valid? [True, True] Translation: X:126.20, Y:48.69, Z:2.31 [[ 6.47950039e-01 -7.61612671e-01 -1.03385293e-02 1.26201229e+02] [ 7.61521479e-01 6.48032471e-01 -1.17878482e-02 4.86868147e+01] [ 1.56774773e-02 -2.35075482e-04 9.99877073e-01 2.30916203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06361786499997 meters 0.020443845950587694 Centerline is valid? [True, True] Translation: X:126.22, Y:48.71, Z:2.31 [[ 6.48232303e-01 -7.61375684e-01 -1.00970141e-02 1.26219692e+02] [ 7.61288649e-01 6.48310897e-01 -1.15140829e-02 4.87076855e+01] [ 1.53125470e-02 -2.22941744e-04 9.99882731e-01 2.30984190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09361786499997 meters 0.02044180371321841 Centerline is valid? [True, True] Translation: X:126.24, Y:48.73, Z:2.31 [[ 6.48544824e-01 -7.61112234e-01 -9.88831587e-03 1.26237332e+02] [ 7.61028636e-01 6.48620169e-01 -1.12823543e-02 4.87276188e+01] [ 1.50008990e-02 -2.08179084e-04 9.99887459e-01 2.31034083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12361786499997 meters 0.020407717695039518 Centerline is valid? [True, True] Translation: X:126.26, Y:48.75, Z:2.31 [[ 6.49064532e-01 -7.60670435e-01 -9.78377570e-03 1.26255662e+02] [ 7.60588499e-01 6.49138238e-01 -1.11661797e-02 4.87470048e+01] [ 1.48448057e-02 -1.93856056e-04 9.99889791e-01 2.31128191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15361786499997 meters 0.0204513223256017 Centerline is valid? [True, True] Translation: X:126.27, Y:48.77, Z:2.31 [[ 6.48950259e-01 -7.60770489e-01 -9.58247305e-03 1.26273843e+02] [ 7.60691864e-01 6.49020976e-01 -1.09389936e-02 4.87670765e+01] [ 1.45412895e-02 -1.90446539e-04 9.99894252e-01 2.31174681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18361786499997 meters 0.020400363701239765 Centerline is valid? [True, True] Translation: X:126.29, Y:48.79, Z:2.31 [[ 6.48439884e-01 -7.61210718e-01 -9.16293567e-03 1.26292378e+02] [ 7.61138837e-01 6.48504593e-01 -1.04625214e-02 4.87884196e+01] [ 1.39063893e-02 -1.89950051e-04 9.99903283e-01 2.31267743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21361786499997 meters 0.020474098669644017 Centerline is valid? [True, True] Translation: X:126.31, Y:48.81, Z:2.31 [[ 6.47925305e-01 -7.61646834e-01 -9.32195641e-03 1.26311341e+02] [ 7.61572396e-01 6.47992330e-01 -1.06501138e-02 4.88090421e+01] [ 1.41521817e-02 -1.98866457e-04 9.99899833e-01 2.31264211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24361786499998 meters 0.02089930126957939 Centerline is valid? [True, True] Translation: X:126.33, Y:48.83, Z:2.31 [[ 6.47477481e-01 -7.62020715e-01 -9.86615597e-03 1.26331048e+02] [ 7.61937273e-01 6.47552610e-01 -1.12787037e-02 4.88276391e+01] [ 1.49834609e-02 -2.14685341e-04 9.99887719e-01 2.31229800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27361786499998 meters 0.02102038931798449 Centerline is valid? [True, True] Translation: X:126.35, Y:48.85, Z:2.31 [[ 6.47196228e-01 -7.62259179e-01 -9.89883338e-03 1.26350069e+02] [ 7.62175160e-01 6.47271887e-01 -1.13193972e-02 4.88480140e+01] [ 1.50355510e-02 -2.18773769e-04 9.99886936e-01 2.31235331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30361786499998 meters 0.02064342820427034 Centerline is valid? [True, True] Translation: X:126.37, Y:48.87, Z:2.31 [[ 6.47041762e-01 -7.62389384e-01 -9.96924426e-03 1.26367543e+02] [ 7.62304091e-01 6.47118520e-01 -1.14058623e-02 4.88701133e+01] [ 1.51469909e-02 -2.19526461e-04 9.99885254e-01 2.31225715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33361786499998 meters 0.02102962818629883 Centerline is valid? [True, True] Translation: X:126.39, Y:48.89, Z:2.31 [[ 6.46993373e-01 -7.62428990e-01 -1.00802292e-02 1.26387286e+02] [ 7.62341691e-01 6.47071857e-01 -1.15394518e-02 4.88894017e+01] [ 1.53206452e-02 -2.18630096e-04 9.99882608e-01 2.31325019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36361786499998 meters 0.020521337435930185 Centerline is valid? [True, True] Translation: X:126.40, Y:48.91, Z:2.31 [[ 6.47545860e-01 -7.61964442e-01 -9.72356882e-03 1.26404681e+02] [ 7.61883102e-01 6.47618830e-01 -1.11350606e-02 4.89124550e+01] [ 1.47816865e-02 -1.97760383e-04 9.99890725e-01 2.31365374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39361786499998 meters 0.02059890821447966 Centerline is valid? [True, True] Translation: X:126.42, Y:48.93, Z:2.31 [[ 6.47695915e-01 -7.61837682e-01 -9.66169328e-03 1.26423276e+02] [ 7.61757282e-01 6.47767945e-01 -1.10694613e-02 4.89333081e+01] [ 1.46916680e-02 -1.90220316e-04 9.99892054e-01 2.31471654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42361786499998 meters 0.02073454425381723 Centerline is valid? [True, True] Translation: X:126.44, Y:48.95, Z:2.32 [[ 6.47808116e-01 -7.61743821e-01 -9.53915616e-03 1.26442020e+02] [ 7.61665346e-01 6.47878320e-01 -1.09353736e-02 4.89534275e+01] [ 1.45101657e-02 -1.81620935e-04 9.99894706e-01 2.31517627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45361786499998 meters 0.020693601565242734 Centerline is valid? [True, True] Translation: X:126.46, Y:48.97, Z:2.32 [[ 6.47844465e-01 -7.61713042e-01 -9.52839860e-03 1.26459954e+02] [ 7.61634700e-01 6.47914508e-01 -1.09259009e-02 4.89746453e+01] [ 1.44959889e-02 -1.78874568e-04 9.99894912e-01 2.31578425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48361786499999 meters 0.020713531020815305 Centerline is valid? [True, True] Translation: X:126.48, Y:48.99, Z:2.32 [[ 6.47840992e-01 -7.61708262e-01 -1.01278307e-02 1.26479332e+02] [ 7.61619641e-01 6.47920125e-01 -1.16203944e-02 4.89941760e+01] [ 1.54133758e-02 -1.85386917e-04 9.99881190e-01 2.31595574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.513617865 meters 0.02081695512540529 Centerline is valid? [True, True] Translation: X:126.50, Y:49.02, Z:2.32 [[ 6.47278421e-01 -7.62182409e-01 -1.04221129e-02 1.26498116e+02] [ 7.62088566e-01 6.47362291e-01 -1.19616796e-02 4.90152238e+01] [ 1.58638647e-02 -2.00035995e-04 9.99874141e-01 2.31643253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54361786499996 meters 0.02099348744613605 Centerline is valid? [True, True] Translation: X:126.52, Y:49.03, Z:2.32 [[ 6.46902839e-01 -7.62501807e-01 -1.03784471e-02 1.26516490e+02] [ 7.62408685e-01 6.46986054e-01 -1.19181751e-02 4.90348920e+01] [ 1.58023406e-02 -2.02716877e-04 9.99875115e-01 2.31706627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57361786499996 meters 0.02106464042389954 Centerline is valid? [True, True] Translation: X:126.54, Y:49.06, Z:2.32 [[ 6.46241294e-01 -7.63060230e-01 -1.05486594e-02 1.26535733e+02] [ 7.62964042e-01 6.46327346e-01 -1.21174451e-02 4.90562945e+01] [ 1.60642275e-02 -2.17454368e-04 9.99870938e-01 2.31741751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60361786499996 meters 0.021285732023142975 Centerline is valid? [True, True] Translation: X:126.56, Y:49.08, Z:2.32 [[ 6.44781299e-01 -7.64295180e-01 -1.04859101e-02 1.26555951e+02] [ 7.64200205e-01 6.44866513e-01 -1.20510429e-02 4.90772168e+01] [ 1.59725663e-02 -2.43047537e-04 9.99872401e-01 2.31765951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63361786499996 meters 0.0212679634114758 Centerline is valid? [True, True] Translation: X:126.58, Y:49.10, Z:2.32 [[ 6.43843260e-01 -7.65082875e-01 -1.06794985e-02 1.26575190e+02] [ 7.64984371e-01 6.43931771e-01 -1.22795315e-02 4.90986150e+01] [ 1.62717277e-02 -2.63555822e-04 9.99867572e-01 2.31854793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66361786499996 meters 0.0217725383660829 Centerline is valid? [True, True] Translation: X:126.60, Y:49.12, Z:2.32 [[ 6.42564574e-01 -7.66157513e-01 -1.06505383e-02 1.26595817e+02] [ 7.66059593e-01 6.42652771e-01 -1.22521919e-02 4.91169991e+01] [ 1.62317068e-02 -2.86122541e-04 9.99868216e-01 2.31956955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69361786499996 meters 0.0216282578240575 Centerline is valid? [True, True] Translation: X:126.62, Y:49.14, Z:2.32 [[ 6.41990772e-01 -7.66636292e-01 -1.08001968e-02 1.26615122e+02] [ 7.66535633e-01 6.42081540e-01 -1.24265172e-02 4.91386104e+01] [ 1.64612261e-02 -3.01026345e-04 9.99864460e-01 2.32011589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72361786499997 meters 0.021784011511845933 Centerline is valid? [True, True] Translation: X:126.63, Y:49.16, Z:2.32 [[ 6.41361425e-01 -7.67163578e-01 -1.07502362e-02 1.26634483e+02] [ 7.67063825e-01 6.41451440e-01 -1.23749248e-02 4.91594876e+01] [ 1.63893461e-02 -3.09317907e-04 9.99865638e-01 2.32082380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75361786499997 meters 0.021906927597206135 Centerline is valid? [True, True] Translation: X:126.65, Y:49.18, Z:2.32 [[ 6.40845280e-01 -7.67593509e-01 -1.08412595e-02 1.26654180e+02] [ 7.67492022e-01 6.40936895e-01 -1.24857068e-02 4.91804017e+01] [ 1.65325106e-02 -3.19173904e-04 9.99863278e-01 2.32113073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78361786499997 meters 0.021854272349792408 Centerline is valid? [True, True] Translation: X:126.67, Y:49.20, Z:2.32 [[ 6.40647687e-01 -7.67751793e-01 -1.13016038e-02 1.26672932e+02] [ 7.67641416e-01 6.40747278e-01 -1.30223753e-02 4.92017158e+01] [ 1.72394238e-02 -3.32824489e-04 9.99851335e-01 2.32137463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81361786499997 meters 0.021783887460585946 Centerline is valid? [True, True] Translation: X:126.69, Y:49.22, Z:2.32 [[ 6.40777644e-01 -7.67643588e-01 -1.12841782e-02 1.26691392e+02] [ 7.67533413e-01 6.40876912e-01 -1.30093925e-02 4.92223715e+01] [ 1.72183460e-02 -3.24855982e-04 9.99851701e-01 2.32185605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84361786499997 meters 0.021728400699028233 Centerline is valid? [True, True] Translation: X:126.71, Y:49.24, Z:2.32 [[ 6.41038960e-01 -7.67423062e-01 -1.14409846e-02 1.26711090e+02] [ 7.67309640e-01 6.41140969e-01 -1.31974726e-02 4.92430650e+01] [ 1.74633288e-02 -3.18683677e-04 9.99847454e-01 2.32264410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87361786499997 meters 0.021840163150470448 Centerline is valid? [True, True] Translation: X:126.73, Y:49.26, Z:2.32 [[ 6.41246491e-01 -7.67251356e-01 -1.13267008e-02 1.26729647e+02] [ 7.67140049e-01 6.41346445e-01 -1.30721867e-02 4.92629722e+01] [ 1.72939923e-02 -3.06671983e-04 9.99850401e-01 2.32320267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90361786499997 meters 0.021726209934739126 Centerline is valid? [True, True] Translation: X:126.75, Y:49.28, Z:2.32 [[ 6.41654140e-01 -7.66910423e-01 -1.13299460e-02 1.26749001e+02] [ 7.66798934e-01 6.41754093e-01 -1.30796993e-02 4.92843298e+01] [ 1.73019970e-02 -2.95147309e-04 9.99850266e-01 2.32414228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93361786499997 meters 0.02163976628632065 Centerline is valid? [True, True] Translation: X:126.77, Y:49.31, Z:2.33 [[ 6.42746658e-01 -7.65999583e-01 -1.10169122e-02 1.26768374e+02] [ 7.65893939e-01 6.42841016e-01 -1.27241190e-02 4.93061563e+01] [ 1.68287929e-02 -2.59401318e-04 9.99858352e-01 2.32532002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96361786499997 meters 0.021550249842157063 Centerline is valid? [True, True] Translation: X:126.79, Y:49.33, Z:2.33 [[ 6.43321563e-01 -7.65522361e-01 -1.06246074e-02 1.26786977e+02] [ 7.65423952e-01 6.43409248e-01 -1.22765599e-02 4.93276964e+01] [ 1.62339518e-02 -2.34553278e-04 9.99868193e-01 2.32557746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99361786499998 meters 0.021443717513897273 Centerline is valid? [True, True] Translation: X:126.80, Y:49.35, Z:2.33 [[ 6.43966600e-01 -7.64980276e-01 -1.05922331e-02 1.26804851e+02] [ 7.64882300e-01 6.44053671e-01 -1.22448744e-02 4.93484522e+01] [ 1.61890540e-02 -2.16521528e-04 9.99868925e-01 2.32587109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02361786499998 meters 0.021021112578693955 Centerline is valid? [True, True] Translation: X:126.82, Y:49.37, Z:2.33 [[ 6.44612691e-01 -7.64438266e-01 -1.04219488e-02 1.26822829e+02] [ 7.64343314e-01 6.44696905e-01 -1.20498589e-02 4.93716572e+01] [ 1.59303714e-02 -1.98454897e-04 9.99873084e-01 2.32610613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05361786499998 meters 0.02098730712765637 Centerline is valid? [True, True] Translation: X:126.84, Y:49.39, Z:2.33 [[ 6.45575152e-01 -7.63626580e-01 -1.03522979e-02 1.26841572e+02] [ 7.63532696e-01 6.45658127e-01 -1.19752015e-02 4.93919944e+01] [ 1.58286275e-02 -1.73425394e-04 9.99874704e-01 2.32650218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08361786499998 meters 0.02119518343023599 Centerline is valid? [True, True] Translation: X:126.86, Y:49.41, Z:2.33 [[ 6.45818877e-01 -7.63418701e-01 -1.04816129e-02 1.26860583e+02] [ 7.63322373e-01 6.45903908e-01 -1.21283218e-02 4.94110523e+01] [ 1.60291024e-02 -1.68150513e-04 9.99871512e-01 2.32723212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11361786499998 meters 0.020907463612495823 Centerline is valid? [True, True] Translation: X:126.88, Y:49.43, Z:2.33 [[ 6.46169970e-01 -7.63126659e-01 -1.01030610e-02 1.26878588e+02] [ 7.63037080e-01 6.46248930e-01 -1.16933750e-02 4.94323477e+01] [ 1.54526185e-02 -1.53102449e-04 9.99880589e-01 2.32819634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14361786499998 meters 0.020874709803012266 Centerline is valid? [True, True] Translation: X:126.90, Y:49.45, Z:2.33 [[ 6.46212387e-01 -7.63093195e-01 -9.91595454e-03 1.26896861e+02] [ 7.63006803e-01 6.46288445e-01 -1.14832235e-02 4.94524186e+01] [ 1.51713365e-02 -1.45339520e-04 9.99884898e-01 2.32906629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17361786499998 meters 0.02086256228234913 Centerline is valid? [True, True] Translation: X:126.92, Y:49.47, Z:2.33 [[ 6.46029395e-01 -7.63248931e-01 -9.85342117e-03 1.26915374e+02] [ 7.63163581e-01 6.46104518e-01 -1.14149215e-02 4.94738002e+01] [ 1.50787666e-02 -1.45397371e-04 9.99886298e-01 2.32924256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20361786499998 meters 0.020803523477397137 Centerline is valid? [True, True] Translation: X:126.93, Y:49.49, Z:2.33 [[ 6.45577477e-01 -7.63631222e-01 -9.85280773e-03 1.26934457e+02] [ 7.63545833e-01 6.45652642e-01 -1.14204621e-02 4.94944939e+01] [ 1.50825128e-02 -1.50277192e-04 9.99886241e-01 2.32935147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23361786499999 meters 0.020841095221967993 Centerline is valid? [True, True] Translation: X:126.95, Y:49.52, Z:2.33 [[ 6.45172897e-01 -7.63972381e-01 -9.90631551e-03 1.26953393e+02] [ 7.63886004e-01 6.45248927e-01 -1.14888991e-02 4.95150942e+01] [ 1.51692411e-02 -1.54969447e-04 9.99884928e-01 2.32953844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.263617865 meters 0.02093895581485229 Centerline is valid? [True, True] Translation: X:126.97, Y:49.54, Z:2.33 [[ 6.44690869e-01 -7.64377246e-01 -1.00553194e-02 1.26972551e+02] [ 7.64288200e-01 6.44769260e-01 -1.16682824e-02 4.95356175e+01] [ 1.54023304e-02 -1.62726885e-04 9.99881364e-01 2.32983213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29361786499996 meters 0.02101519058684829 Centerline is valid? [True, True] Translation: X:126.99, Y:49.56, Z:2.33 [[ 6.43905787e-01 -7.65040151e-01 -9.94512963e-03 1.26992320e+02] [ 7.64953024e-01 6.43982560e-01 -1.15470066e-02 4.95558473e+01] [ 1.52384137e-02 -1.72372613e-04 9.99883874e-01 2.32987523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32361786499996 meters 0.021004890762470727 Centerline is valid? [True, True] Translation: X:127.01, Y:49.58, Z:2.33 [[ 6.43404929e-01 -7.65457603e-01 -1.02349890e-02 1.27010521e+02] [ 7.65365331e-01 6.43486304e-01 -1.18864076e-02 4.95766800e+01] [ 1.56846163e-02 -1.85732528e-04 9.99876972e-01 2.33009312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35361786499996 meters 0.021162132865038916 Centerline is valid? [True, True] Translation: X:127.03, Y:49.60, Z:2.33 [[ 6.43097396e-01 -7.65712791e-01 -1.04719353e-02 1.27029077e+02] [ 7.65616118e-01 6.43182622e-01 -1.21686214e-02 4.95964597e+01] [ 1.60530358e-02 -1.91873754e-04 9.99871123e-01 2.33017285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38361786499996 meters 0.021264897118413978 Centerline is valid? [True, True] Translation: X:127.05, Y:49.62, Z:2.33 [[ 6.42389748e-01 -7.66305812e-01 -1.05268428e-02 1.27048132e+02] [ 7.66208139e-01 6.42475961e-01 -1.22363207e-02 4.96166772e+01] [ 1.61400071e-02 -2.05265642e-04 9.99869721e-01 2.33053996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41361786499996 meters 0.02138300670921288 Centerline is valid? [True, True] Translation: X:127.07, Y:49.64, Z:2.33 [[ 6.41221960e-01 -7.67279164e-01 -1.08204970e-02 1.27068381e+02] [ 7.67176050e-01 6.41313208e-01 -1.25808421e-02 4.96377966e+01] [ 1.65923456e-02 -2.34113869e-04 9.99862310e-01 2.33055888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44361786499996 meters 0.02153381298569645 Centerline is valid? [True, True] Translation: X:127.09, Y:49.66, Z:2.33 [[ 6.40470487e-01 -7.67906015e-01 -1.08585111e-02 1.27088307e+02] [ 7.67802166e-01 6.40562480e-01 -1.26309840e-02 4.96590162e+01] [ 1.66549634e-02 -2.47415880e-04 9.99861266e-01 2.33097631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47361786499997 meters 0.021765053305868632 Centerline is valid? [True, True] Translation: X:127.11, Y:49.68, Z:2.33 [[ 6.39651418e-01 -7.68586218e-01 -1.10131279e-02 1.27108181e+02] [ 7.68479389e-01 6.39746165e-01 -1.28168885e-02 4.96781366e+01] [ 1.68964902e-02 -2.65020907e-04 9.99857209e-01 2.33111865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50361786499997 meters 0.02161887988363597 Centerline is valid? [True, True] Translation: X:127.13, Y:49.70, Z:2.33 [[ 6.39000368e-01 -7.69127069e-01 -1.10490827e-02 1.27126697e+02] [ 7.69019519e-01 6.39095827e-01 -1.28648490e-02 4.97001210e+01] [ 1.69561262e-02 -2.76317039e-04 9.99856196e-01 2.33142441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53361786499997 meters 0.022065922730753636 Centerline is valid? [True, True] Translation: X:127.15, Y:49.72, Z:2.33 [[ 6.38361348e-01 -7.69655864e-01 -1.11642220e-02 1.27146415e+02] [ 7.69546037e-01 6.38458900e-01 -1.30049990e-02 4.97198804e+01] [ 1.71372706e-02 -2.89494141e-04 9.99853104e-01 2.33177328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56361786499997 meters 0.02235154078416952 Centerline is valid? [True, True] Translation: X:127.17, Y:49.74, Z:2.33 [[ 6.37078870e-01 -7.70718891e-01 -1.10862231e-02 1.27166246e+02] [ 7.70610700e-01 6.37175245e-01 -1.29172993e-02 4.97412854e+01] [ 1.70194735e-02 -3.13823660e-04 9.99855109e-01 2.33278568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59361786499997 meters 0.02235154078416952 Centerline is valid? [True, True] Translation: X:127.18, Y:49.76, Z:2.33 [[ 6.36878780e-01 -7.70884285e-01 -1.10832756e-02 1.27184142e+02] [ 7.70776075e-01 6.36975133e-01 -1.29198279e-02 4.97622779e+01] [ 1.70194632e-02 -3.14359432e-04 9.99855109e-01 2.33323678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62361786499997 meters 0.021810856626390967 Centerline is valid? [True, True] Translation: X:127.20, Y:49.78, Z:2.33 [[ 6.36350766e-01 -7.71320142e-01 -1.10878266e-02 1.27201403e+02] [ 7.71211794e-01 6.36447275e-01 -1.29319455e-02 4.97849160e+01] [ 1.70314871e-02 -3.21809173e-04 9.99854902e-01 2.33381797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65361786499997 meters 0.022001672691605623 Centerline is valid? [True, True] Translation: X:127.22, Y:49.81, Z:2.33 [[ 6.35858328e-01 -7.71729776e-01 -1.08323502e-02 1.27220395e+02] [ 7.71626308e-01 6.35950509e-01 -1.26408169e-02 4.98055826e+01] [ 1.66441334e-02 -3.20757638e-04 9.99861425e-01 2.33492771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68361786499997 meters 0.02212609568335977 Centerline is valid? [True, True] Translation: X:127.24, Y:49.83, Z:2.34 [[ 6.35295023e-01 -7.72195023e-01 -1.07276008e-02 1.27239783e+02] [ 7.72093554e-01 6.35385505e-01 -1.25221680e-02 4.98269899e+01] [ 1.64857178e-02 -3.27440390e-04 9.99864048e-01 2.33570983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71361786499997 meters 0.022172287029452658 Centerline is valid? [True, True] Translation: X:127.26, Y:49.85, Z:2.34 [[ 6.34025842e-01 -7.73246276e-01 -1.00711437e-02 1.27258354e+02] [ 7.73156897e-01 6.34105738e-01 -1.17611466e-02 4.98488822e+01] [ 1.54804328e-02 -3.29703343e-04 9.99880117e-01 2.33710247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74361786499998 meters 0.022667164680154374 Centerline is valid? [True, True] Translation: X:127.28, Y:49.87, Z:2.34 [[ 6.33663367e-01 -7.73548445e-01 -9.67164409e-03 1.27277791e+02] [ 7.73465970e-01 6.33737091e-01 -1.13000946e-02 4.98691452e+01] [ 1.48704502e-02 -3.20231553e-04 9.99889377e-01 2.33780244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77361786499998 meters 0.02255714043697022 Centerline is valid? [True, True] Translation: X:127.30, Y:49.89, Z:2.34 [[ 6.33098665e-01 -7.74014557e-01 -9.35664303e-03 1.27296108e+02] [ 7.73937378e-01 6.33167722e-01 -1.09348176e-02 4.98912404e+01] [ 1.43880323e-02 -3.18637377e-04 9.99896436e-01 2.33895270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80361786499998 meters 0.023053187020097714 Centerline is valid? [True, True] Translation: X:127.31, Y:49.91, Z:2.34 [[ 6.32398223e-01 -7.74588061e-01 -9.26412679e-03 1.27314982e+02] [ 7.74512384e-01 6.32465992e-01 -1.08321801e-02 4.99115886e+01] [ 1.42497225e-02 -3.24929508e-04 9.99898415e-01 2.33972327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83361786499998 meters 0.022956731029961333 Centerline is valid? [True, True] Translation: X:127.33, Y:49.93, Z:2.34 [[ 6.32057883e-01 -7.74865323e-01 -9.30397908e-03 1.27332704e+02] [ 7.74788993e-01 6.32126270e-01 -1.08809847e-02 4.99330099e+01] [ 1.43125873e-02 -3.31208443e-04 9.99897515e-01 2.34033548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86361786499998 meters 0.022400866102551337 Centerline is valid? [True, True] Translation: X:127.35, Y:49.96, Z:2.34 [[ 6.31773409e-01 -7.75097109e-01 -9.31837332e-03 1.27349459e+02] [ 7.75020484e-01 6.31842038e-01 -1.09035804e-02 4.99562252e+01] [ 1.43390736e-02 -3.33338070e-04 9.99897135e-01 2.34000565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89361786499998 meters 0.022263447892014402 Centerline is valid? [True, True] Translation: X:127.37, Y:49.98, Z:2.34 [[ 6.32383020e-01 -7.74593663e-01 -9.81702827e-03 1.27366445e+02] [ 7.74508450e-01 6.32459126e-01 -1.14941549e-02 4.99783243e+01] [ 1.51121686e-02 -3.34662977e-04 9.99885749e-01 2.34016345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92361786499998 meters 0.022298647101904306 Centerline is valid? [True, True] Translation: X:127.38, Y:50.00, Z:2.34 [[ 6.32863410e-01 -7.74200391e-01 -9.88220651e-03 1.27384382e+02] [ 7.74113965e-01 6.32940477e-01 -1.15724603e-02 5.00002542e+01] [ 1.52142518e-02 -3.26167374e-04 9.99884203e-01 2.34014489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95361786499998 meters 0.022373053632728707 Centerline is valid? [True, True] Translation: X:127.40, Y:50.02, Z:2.34 [[ 6.33384236e-01 -7.73773043e-01 -9.98437719e-03 1.27402043e+02] [ 7.73684736e-01 6.33462846e-01 -1.16941081e-02 5.00220046e+01] [ 1.53733176e-02 -3.17896504e-04 9.99881773e-01 2.33979803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98361786499999 meters 0.022130995703182863 Centerline is valid? [True, True] Translation: X:127.42, Y:50.05, Z:2.34 [[ 6.33621948e-01 -7.73573218e-01 -1.03780225e-02 1.27419867e+02] [ 7.73477751e-01 6.33706850e-01 -1.21571826e-02 5.00454067e+01] [ 1.59810948e-02 -3.24111749e-04 9.99872242e-01 2.34000117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.013617865 meters 0.021922235153724295 Centerline is valid? [True, True] Translation: X:127.44, Y:50.07, Z:2.34 [[ 6.34266063e-01 -7.73046333e-01 -1.02921052e-02 1.27436591e+02] [ 7.72952282e-01 6.34349489e-01 -1.20621467e-02 5.00685480e+01] [ 1.58533899e-02 -3.04695901e-04 9.99874281e-01 2.33999417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04361786499996 meters 0.021342492082422372 Centerline is valid? [True, True] Translation: X:127.45, Y:50.09, Z:2.34 [[ 6.34336946e-01 -7.72992050e-01 -9.99648115e-03 1.27452756e+02] [ 7.72903227e-01 6.34415642e-01 -1.17215558e-02 5.00916987e+01] [ 1.54025934e-02 -2.90896638e-04 9.99881331e-01 2.34031635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07361786499996 meters 0.021816089632585082 Centerline is valid? [True, True] Translation: X:127.47, Y:50.11, Z:2.34 [[ 6.34977357e-01 -7.72469696e-01 -9.71208756e-03 1.27471279e+02] [ 7.72385697e-01 6.35051571e-01 -1.13946594e-02 5.01126672e+01] [ 1.49697056e-02 -2.66126803e-04 9.99887912e-01 2.34123877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10361786499996 meters 0.021749299220097988 Centerline is valid? [True, True] Translation: X:127.49, Y:50.14, Z:2.34 [[ 6.35117775e-01 -7.72354579e-01 -9.68583858e-03 1.27488822e+02] [ 7.72270996e-01 6.35191574e-01 -1.13654241e-02 5.01350372e+01] [ 1.49305004e-02 -2.61709347e-04 9.99888500e-01 2.34161029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13361786499996 meters 0.0214617642507155 Centerline is valid? [True, True] Translation: X:127.51, Y:50.16, Z:2.34 [[ 6.35145408e-01 -7.72335540e-01 -9.38744425e-03 1.27505925e+02] [ 7.72256946e-01 6.35214728e-01 -1.10208527e-02 5.01573686e+01] [ 1.44748390e-02 -2.49675074e-04 9.99895203e-01 2.34206791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16361786499996 meters 0.021296041192667182 Centerline is valid? [True, True] Translation: X:127.52, Y:50.18, Z:2.34 [[ 6.35169967e-01 -7.72318185e-01 -9.15065014e-03 1.27522328e+02] [ 7.72243425e-01 6.35235833e-01 -1.07484449e-02 5.01797667e+01] [ 1.41140403e-02 -2.39440044e-04 9.99900363e-01 2.34262943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19361786499996 meters 0.021365765423514003 Centerline is valid? [True, True] Translation: X:127.54, Y:50.20, Z:2.34 [[ 6.34927479e-01 -7.72523082e-01 -8.67087012e-03 1.27539826e+02] [ 7.72455907e-01 6.34986642e-01 -1.01900116e-02 5.02012805e+01] [ 1.33779058e-02 -2.27946498e-04 9.99910486e-01 2.34243799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22361786499997 meters 0.02131656731525181 Centerline is valid? [True, True] Translation: X:127.56, Y:50.22, Z:2.34 [[ 6.34418048e-01 -7.72942358e-01 -8.59369276e-03 1.27557278e+02] [ 7.72876341e-01 6.34476208e-01 -1.01046413e-02 5.02228949e+01] [ 1.32627989e-02 -2.31295000e-04 9.99912018e-01 2.34304619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25361786499997 meters 0.021448586308675313 Centerline is valid? [True, True] Translation: X:127.58, Y:50.24, Z:2.34 [[ 6.33593559e-01 -7.73622869e-01 -8.17671477e-03 1.27576247e+02] [ 7.73563096e-01 6.33646276e-01 -9.61939023e-03 5.02449356e+01] [ 1.26229251e-02 -2.30421102e-04 9.99920301e-01 2.34348196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28361786499997 meters 0.020861234263622734 Centerline is valid? [True, True] Translation: X:127.59, Y:50.27, Z:2.34 [[ 6.32840457e-01 -7.74238301e-01 -8.24678512e-03 1.27593275e+02] [ 7.74177494e-01 6.32894142e-01 -9.70633392e-03 5.02684284e+01] [ 1.27343575e-02 -2.41914647e-04 9.99918886e-01 2.34321962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31361786499997 meters 0.020941429906333353 Centerline is valid? [True, True] Translation: X:127.61, Y:50.29, Z:2.34 [[ 6.32378492e-01 -7.74613753e-01 -8.42476288e-03 1.27611159e+02] [ 7.74550263e-01 6.32434558e-01 -9.92067573e-03 5.02894971e+01] [ 1.30128031e-02 -2.51780344e-04 9.99915298e-01 2.34330935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34361786499997 meters 0.021110375693575906 Centerline is valid? [True, True] Translation: X:127.63, Y:50.31, Z:2.34 [[ 6.31910106e-01 -7.74996254e-01 -8.39192442e-03 1.27629494e+02] [ 7.74933209e-01 6.31965776e-01 -9.88836546e-03 5.03109860e+01] [ 1.29668552e-02 -2.54622850e-04 9.99915894e-01 2.34336379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37361786499997 meters 0.02103548876925089 Centerline is valid? [True, True] Translation: X:127.65, Y:50.33, Z:2.34 [[ 6.31590523e-01 -7.75257892e-01 -8.28325922e-03 1.27647444e+02] [ 7.75196471e-01 6.31644786e-01 -9.76193218e-03 5.03329170e+01] [ 1.28000925e-02 -2.55609469e-04 9.99918043e-01 2.34389526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40361786499997 meters 0.020945426293943706 Centerline is valid? [True, True] Translation: X:127.67, Y:50.35, Z:2.34 [[ 6.31201079e-01 -7.75577607e-01 -8.03578910e-03 1.27665463e+02] [ 7.75519753e-01 6.31252178e-01 -9.47624697e-03 5.03548285e+01] [ 1.24221743e-02 -2.50495873e-04 9.99922810e-01 2.34425821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43361786499997 meters 0.021315782703472647 Centerline is valid? [True, True] Translation: X:127.68, Y:50.38, Z:2.34 [[ 6.30829200e-01 -7.75882165e-01 -7.83489714e-03 1.27683811e+02] [ 7.75827164e-01 6.30877804e-01 -9.24160678e-03 5.03752848e+01] [ 1.21132606e-02 -2.48650614e-04 9.99926601e-01 2.34492128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46361786499997 meters 0.02094455772671934 Centerline is valid? [True, True] Translation: X:127.70, Y:50.40, Z:2.35 [[ 6.30479010e-01 -7.76170190e-01 -7.48692439e-03 1.27701297e+02] [ 7.76119975e-01 6.30523416e-01 -8.83213230e-03 5.03976124e+01] [ 1.15759189e-02 -2.42277542e-04 9.99932967e-01 2.34536395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49361786499998 meters 0.02146473193441883 Centerline is valid? [True, True] Translation: X:127.72, Y:50.42, Z:2.35 [[ 6.30136921e-01 -7.76447865e-01 -7.49486026e-03 1.27719687e+02] [ 7.76397497e-01 6.30181444e-01 -8.84729568e-03 5.04171968e+01] [ 1.15925857e-02 -2.43983082e-04 9.99932774e-01 2.34620538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52361786499998 meters 0.021233850474676658 Centerline is valid? [True, True] Translation: X:127.74, Y:50.44, Z:2.35 [[ 6.29575863e-01 -7.76905975e-01 -7.16515066e-03 1.27736933e+02] [ 7.76859949e-01 6.29616589e-01 -8.45998696e-03 5.04405130e+01] [ 1.10839121e-02 -2.40114981e-04 9.99938543e-01 2.34571078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55361786499998 meters 0.021130151817699568 Centerline is valid? [True, True] Translation: X:127.75, Y:50.46, Z:2.35 [[ 6.29497315e-01 -7.76971593e-01 -6.94795400e-03 1.27754762e+02] [ 7.76928282e-01 6.29535614e-01 -8.20699024e-03 5.04625735e+01] [ 1.07505828e-02 -2.31783648e-04 9.99942184e-01 2.34542216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58361786499998 meters 0.021037432909744264 Centerline is valid? [True, True] Translation: X:127.77, Y:50.48, Z:2.35 [[ 6.29467162e-01 -7.76994078e-01 -7.16211427e-03 1.27772802e+02] [ 7.76948003e-01 6.29507861e-01 -8.46482931e-03 5.04844275e+01] [ 1.10857295e-02 -2.36258301e-04 9.99938524e-01 2.34550774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61361786499998 meters 0.02122277476182737 Centerline is valid? [True, True] Translation: X:127.79, Y:50.50, Z:2.35 [[ 6.29496337e-01 -7.76965274e-01 -7.70229105e-03 1.27790285e+02] [ 7.76911908e-01 6.29543407e-01 -9.10968486e-03 5.05049386e+01] [ 1.19268353e-02 -2.49488380e-04 9.99928842e-01 2.34546581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64361786499998 meters 0.02097907156488499 Centerline is valid? [True, True] Translation: X:127.81, Y:50.53, Z:2.35 [[ 6.29376202e-01 -7.77063035e-01 -7.65748810e-03 1.27807979e+02] [ 7.77010277e-01 6.29422734e-01 -9.05818810e-03 5.05267894e+01] [ 1.18585802e-02 -2.48938932e-04 9.99929654e-01 2.34564571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67361786499998 meters 0.021250751304411973 Centerline is valid? [True, True] Translation: X:127.83, Y:50.55, Z:2.35 [[ 6.29187876e-01 -7.77213169e-01 -7.89346417e-03 1.27825878e+02] [ 7.77157047e-01 6.29237336e-01 -9.34339317e-03 5.05473289e+01] [ 1.22286706e-02 -2.55711602e-04 9.99925194e-01 2.34613304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70361786499998 meters 0.020727421320275975 Centerline is valid? [True, True] Translation: X:127.84, Y:50.57, Z:2.34 [[ 6.28970426e-01 -7.77386079e-01 -8.19066059e-03 1.27842101e+02] [ 7.77325637e-01 6.29023698e-01 -9.69752769e-03 5.05701681e+01] [ 1.26908426e-02 -2.67352334e-04 9.99919432e-01 2.34476237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73361786499999 meters 0.021066924946799213 Centerline is valid? [True, True] Translation: X:127.86, Y:50.59, Z:2.35 [[ 6.28870802e-01 -7.77465695e-01 -8.28297953e-03 1.27860096e+02] [ 7.77403809e-01 6.28925291e-01 -9.81302903e-03 5.05902492e+01] [ 1.28386687e-02 -2.68092406e-04 9.99917545e-01 2.34509277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76361786499996 meters 0.02109733040696442 Centerline is valid? [True, True] Translation: X:127.88, Y:50.61, Z:2.35 [[ 6.28691013e-01 -7.77608500e-01 -8.52238966e-03 1.27877955e+02] [ 7.77542964e-01 6.28748713e-01 -1.00992580e-02 5.06117354e+01] [ 1.32117104e-02 -2.77211358e-04 9.99912683e-01 2.34562954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79361786499996 meters 0.020873754633471176 Centerline is valid? [True, True] Translation: X:127.90, Y:50.63, Z:2.35 [[ 6.28634396e-01 -7.77653678e-01 -8.57631012e-03 1.27895559e+02] [ 7.77587242e-01 6.28692834e-01 -1.01686486e-02 5.06339467e+01] [ 1.32995517e-02 -2.76467073e-04 9.99911519e-01 2.34601854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82361786499996 meters 0.021389323290046947 Centerline is valid? [True, True] Translation: X:127.91, Y:50.65, Z:2.35 [[ 6.28447538e-01 -7.77808435e-01 -8.22985549e-03 1.27914262e+02] [ 7.77747194e-01 6.28501367e-01 -9.76386951e-03 5.06539767e+01] [ 1.27668955e-02 -2.64667259e-04 9.99918465e-01 2.34653937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85361786499996 meters 0.02096602427491526 Centerline is valid? [True, True] Translation: X:127.93, Y:50.68, Z:2.35 [[ 6.28081101e-01 -7.78107401e-01 -7.93741250e-03 1.27931564e+02] [ 7.78050450e-01 6.28131200e-01 -9.41767315e-03 5.06759909e+01] [ 1.23136976e-02 -2.60644850e-04 9.99924150e-01 2.34686916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88361786499996 meters 0.021808920873703695 Centerline is valid? [True, True] Translation: X:127.95, Y:50.70, Z:2.35 [[ 6.27652132e-01 -7.78458021e-01 -7.47734869e-03 1.27951010e+02] [ 7.78407442e-01 6.27696621e-01 -8.87735919e-03 5.06958780e+01] [ 1.16041580e-02 -2.48530438e-04 9.99932639e-01 2.34749784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91361786499996 meters 0.021280499344036065 Centerline is valid? [True, True] Translation: X:127.97, Y:50.72, Z:2.35 [[ 6.27538284e-01 -7.78552132e-01 -7.23050855e-03 1.27967702e+02] [ 7.78504834e-01 6.27579891e-01 -8.58505379e-03 5.07179899e+01] [ 1.12216337e-02 -2.41535935e-04 9.99937006e-01 2.34781920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94361786499996 meters 0.021393843684350947 Centerline is valid? [True, True] Translation: X:127.99, Y:50.74, Z:2.35 [[ 6.27531402e-01 -7.78558698e-01 -7.11986873e-03 1.27986014e+02] [ 7.78512777e-01 6.27571747e-01 -8.45915064e-03 5.07383894e+01] [ 1.10541738e-02 -2.34526122e-04 9.99938873e-01 2.34850106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97361786499997 meters 0.02106420790277778 Centerline is valid? [True, True] Translation: X:128.00, Y:50.76, Z:2.35 [[ 6.27973458e-01 -7.78199426e-01 -7.41544566e-03 1.28004723e+02] [ 7.78149564e-01 6.28017195e-01 -8.81240800e-03 5.07601203e+01] [ 1.15148382e-02 -2.36367484e-04 9.99933674e-01 2.34931085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00361786499997 meters 0.02085940197927969 Centerline is valid? [True, True] Translation: X:128.02, Y:50.78, Z:2.35 [[ 6.28415454e-01 -7.77840009e-01 -7.67710460e-03 1.28022893e+02] [ 7.77786486e-01 6.28462302e-01 -9.12784410e-03 5.07820413e+01] [ 1.19247732e-02 -2.35069915e-04 9.99928870e-01 2.34919961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03361786499997 meters 0.02069796885306417 Centerline is valid? [True, True] Translation: X:128.04, Y:50.80, Z:2.35 [[ 6.29089625e-01 -7.77293821e-01 -7.78199155e-03 1.28040854e+02] [ 7.77238730e-01 6.29137715e-01 -9.25699992e-03 5.08041791e+01] [ 1.20913532e-02 -2.24982617e-04 9.99926872e-01 2.34978551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06361786499997 meters 0.02054810855402459 Centerline is valid? [True, True] Translation: X:128.06, Y:50.83, Z:2.35 [[ 6.29842909e-01 -7.76687274e-01 -7.40193708e-03 1.28058848e+02] [ 7.76637346e-01 6.29886369e-01 -8.80875169e-03 5.08268414e+01] [ 1.15040246e-02 -2.00490987e-04 9.99933806e-01 2.35009535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09361786499997 meters 0.020746388540589016 Centerline is valid? [True, True] Translation: X:128.08, Y:50.85, Z:2.35 [[ 6.31950655e-01 -7.74973106e-01 -7.41987390e-03 1.28075983e+02] [ 7.74922757e-01 6.31994191e-01 -8.83538146e-03 5.08486153e+01] [ 1.15365002e-02 -1.66304034e-04 9.99933439e-01 2.34928743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12361786499997 meters 0.01993930422159168 Centerline is valid? [True, True] Translation: X:128.09, Y:50.87, Z:2.35 [[ 6.32970540e-01 -7.74140876e-01 -7.36205561e-03 1.28093640e+02] [ 7.74091250e-01 6.33013335e-01 -8.76666689e-03 5.08711732e+01] [ 1.14469146e-02 -1.49860958e-04 9.99934471e-01 2.35134285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15361786499997 meters 0.01964076775023416 Centerline is valid? [True, True] Translation: X:128.11, Y:50.89, Z:2.35 [[ 6.34604057e-01 -7.72800299e-01 -7.57549919e-03 1.28110874e+02] [ 7.72747602e-01 6.34649259e-01 -9.02564258e-03 5.08930286e+01] [ 1.17828042e-02 -1.26239435e-04 9.99930572e-01 2.35174560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18361786499997 meters 0.019540134798672275 Centerline is valid? [True, True] Translation: X:128.13, Y:50.91, Z:2.35 [[ 6.35195425e-01 -7.72312078e-01 -7.79908453e-03 1.28128244e+02] [ 7.72256126e-01 6.35243292e-01 -9.29708678e-03 5.09138457e+01] [ 1.21345685e-02 -1.17423815e-04 9.99926367e-01 2.35192885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21361786499997 meters 0.01920817797436252 Centerline is valid? [True, True] Translation: X:128.15, Y:50.94, Z:2.35 [[ 6.35891101e-01 -7.71738862e-01 -7.85082926e-03 1.28145212e+02] [ 7.71682074e-01 6.35939555e-01 -9.36262395e-03 5.09364903e+01] [ 1.22181536e-02 -1.04734955e-04 9.99925350e-01 2.35115864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24361786499998 meters 0.01919277444579931 Centerline is valid? [True, True] Translation: X:128.16, Y:50.96, Z:2.35 [[ 6.35889643e-01 -7.71737735e-01 -8.07660028e-03 1.28162428e+02] [ 7.71677558e-01 6.35940923e-01 -9.63786738e-03 5.09568639e+01] [ 1.25741466e-02 -1.03911138e-04 9.99920937e-01 2.35179102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27361786499998 meters 0.01921811903493206 Centerline is valid? [True, True] Translation: X:128.18, Y:50.98, Z:2.35 [[ 6.36048522e-01 -7.71603958e-01 -8.34329909e-03 1.28180326e+02] [ 7.71539689e-01 6.36103232e-01 -9.95922815e-03 5.09776347e+01] [ 1.29917794e-02 -1.02634039e-04 9.99915598e-01 2.35144352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30361786499998 meters 0.019321378920129115 Centerline is valid? [True, True] Translation: X:128.20, Y:51.00, Z:2.35 [[ 6.35939563e-01 -7.71686496e-01 -8.99026151e-03 1.28198894e+02] [ 7.71611839e-01 6.36003097e-01 -1.07345332e-02 5.09967767e+01] [ 1.40015285e-02 -1.10477857e-04 9.99901968e-01 2.35100092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33361786499998 meters 0.019048072193828775 Centerline is valid? [True, True] Translation: X:128.22, Y:51.02, Z:2.35 [[ 6.35662612e-01 -7.71914286e-01 -9.02098275e-03 1.28216673e+02] [ 7.71839071e-01 6.35726609e-01 -1.07761981e-02 5.10186617e+01] [ 1.40531801e-02 -1.12720698e-04 9.99901243e-01 2.35102743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36361786499998 meters 0.019115803956200484 Centerline is valid? [True, True] Translation: X:128.23, Y:51.04, Z:2.35 [[ 6.35403258e-01 -7.72126094e-01 -9.16485476e-03 1.28234963e+02] [ 7.72048389e-01 6.35469340e-01 -1.09546324e-02 5.10381716e+01] [ 1.42823417e-02 -1.15102222e-04 9.99897996e-01 2.35169676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39361786499998 meters 0.019056564463799507 Centerline is valid? [True, True] Translation: X:128.25, Y:51.06, Z:2.35 [[ 6.34806040e-01 -7.72620110e-01 -8.91382178e-03 1.28253061e+02] [ 7.72546615e-01 6.34868609e-01 -1.06572814e-02 5.10591107e+01] [ 1.38931356e-02 -1.21036232e-04 9.99903478e-01 2.35188382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42361786499998 meters 0.019064536391401828 Centerline is valid? [True, True] Translation: X:128.27, Y:51.08, Z:2.35 [[ 6.34555521e-01 -7.72821559e-01 -9.28059656e-03 1.28271334e+02] [ 7.72741812e-01 6.34623371e-01 -1.11026384e-02 5.10792144e+01] [ 1.44700418e-02 -1.26264501e-04 9.99895295e-01 2.35235074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45361786499998 meters 0.019088532984131757 Centerline is valid? [True, True] Translation: X:128.29, Y:51.10, Z:2.35 [[ 6.34150115e-01 -7.73152486e-01 -9.42679711e-03 1.28290024e+02] [ 7.73070197e-01 6.34220163e-01 -1.12807693e-02 5.11003314e+01] [ 1.47004196e-02 -1.33874767e-04 9.99891934e-01 2.35282861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48361786499999 meters 0.019088532984131757 Centerline is valid? [True, True] Translation: X:128.31, Y:51.12, Z:2.35 [[ 6.33943425e-01 -7.73322007e-01 -9.42378067e-03 1.28307645e+02] [ 7.73239699e-01 6.34013451e-01 -1.12832885e-02 5.11215487e+01] [ 1.47004190e-02 -1.33874762e-04 9.99891934e-01 2.35327944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51361786499996 meters 0.019141936437456788 Centerline is valid? [True, True] Translation: X:128.33, Y:51.14, Z:2.35 [[ 6.33028654e-01 -7.74067150e-01 -9.73506512e-03 1.28327092e+02] [ 7.73979302e-01 6.33103487e-01 -1.16625911e-02 5.11420122e+01] [ 1.51909323e-02 -1.51984575e-04 9.99884600e-01 2.35361207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54361786499996 meters 0.0192687019382279 Centerline is valid? [True, True] Translation: X:128.35, Y:51.16, Z:2.35 [[ 6.32450226e-01 -7.74537172e-01 -9.94385189e-03 1.28345867e+02] [ 7.74445474e-01 6.32528373e-01 -1.19191347e-02 5.11619965e+01] [ 1.55215813e-02 -1.62711666e-04 9.99879520e-01 2.35401989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57361786499996 meters 0.019399380259162248 Centerline is valid? [True, True] Translation: X:128.36, Y:51.18, Z:2.35 [[ 6.31922218e-01 -7.74967983e-01 -9.94659744e-03 1.28364033e+02] [ 7.74876252e-01 6.32000471e-01 -1.19247100e-02 5.11821527e+01] [ 1.55275227e-02 -1.71892940e-04 9.99879426e-01 2.35436395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60361786499996 meters 0.019218281542593165 Centerline is valid? [True, True] Translation: X:128.38, Y:51.20, Z:2.35 [[ 6.31389902e-01 -7.75399288e-01 -1.01358511e-02 1.28381863e+02] [ 7.75303994e-01 6.31471227e-01 -1.21575966e-02 5.12033342e+01] [ 1.58274901e-02 -1.82182119e-04 9.99874721e-01 2.35496762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63361786499996 meters 0.019155675173520934 Centerline is valid? [True, True] Translation: X:128.40, Y:51.22, Z:2.36 [[ 6.30675414e-01 -7.75981292e-01 -1.00775640e-02 1.28400505e+02] [ 7.75887060e-01 6.30755895e-01 -1.20943012e-02 5.12244736e+01] [ 1.57414343e-02 -1.91473076e-04 9.99876078e-01 2.35600528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66361786499996 meters 0.019375515928043315 Centerline is valid? [True, True] Translation: X:128.42, Y:51.25, Z:2.36 [[ 6.30309517e-01 -7.76280763e-01 -9.90408408e-03 1.28419114e+02] [ 7.76189682e-01 6.30387294e-01 -1.18926838e-02 5.12459349e+01] [ 1.54754704e-02 -1.91376094e-04 9.99880229e-01 2.35640033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69361786499996 meters 0.019455071316779503 Centerline is valid? [True, True] Translation: X:128.44, Y:51.27, Z:2.36 [[ 6.30023457e-01 -7.76513354e-01 -9.87189122e-03 1.28437276e+02] [ 7.76422788e-01 6.30100765e-01 -1.18608480e-02 5.12660146e+01] [ 1.54303931e-02 -1.92148848e-04 9.99880926e-01 2.35703470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72361786499997 meters 0.019511669024996698 Centerline is valid? [True, True] Translation: X:128.46, Y:51.29, Z:2.36 [[ 6.29328140e-01 -7.77074727e-01 -1.00479034e-02 1.28456934e+02] [ 7.76980915e-01 6.29408314e-01 -1.20761270e-02 5.12871852e+01] [ 1.57082871e-02 -2.07182629e-04 9.99876596e-01 2.35816313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75361786499997 meters 0.0195952158440444 Centerline is valid? [True, True] Translation: X:128.48, Y:51.31, Z:2.36 [[ 6.28944104e-01 -7.77387094e-01 -9.93076054e-03 1.28475457e+02] [ 7.77295405e-01 6.29022465e-01 -1.19411873e-02 5.13087053e+01] [ 1.55295964e-02 -2.08795179e-04 9.99879387e-01 2.35868958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78361786499997 meters 0.01970081074465901 Centerline is valid? [True, True] Translation: X:128.49, Y:51.33, Z:2.36 [[ 6.28572443e-01 -7.77685538e-01 -1.00939560e-02 1.28493962e+02] [ 7.77590741e-01 6.28653448e-01 -1.21442472e-02 5.13304321e+01] [ 1.57900056e-02 -2.15427602e-04 9.99875307e-01 2.35867120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81361786499997 meters 0.01955416343477787 Centerline is valid? [True, True] Translation: X:128.51, Y:51.35, Z:2.36 [[ 6.29058135e-01 -7.77290965e-01 -1.02283463e-02 1.28510712e+02] [ 7.77193464e-01 6.29141252e-01 -1.23128099e-02 5.13544287e+01] [ 1.60057105e-02 -2.03930646e-04 9.99871880e-01 2.35834553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84361786499997 meters 0.01974061292451704 Centerline is valid? [True, True] Translation: X:128.53, Y:51.37, Z:2.36 [[ 6.28983148e-01 -7.77351923e-01 -1.02072086e-02 1.28528364e+02] [ 7.77254734e-01 6.29065932e-01 -1.22935625e-02 5.13747179e+01] [ 1.59774316e-02 -2.01157598e-04 9.99872332e-01 2.35876386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87361786499997 meters 0.019536224590252345 Centerline is valid? [True, True] Translation: X:128.55, Y:51.40, Z:2.36 [[ 6.28910677e-01 -7.77404728e-01 -1.06419262e-02 1.28545670e+02] [ 7.77299021e-01 6.29000673e-01 -1.28213014e-02 5.13969400e+01] [ 1.66611191e-02 -2.08505480e-04 9.99861172e-01 2.35914978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90361786499997 meters 0.01966417491276931 Centerline is valid? [True, True] Translation: X:128.56, Y:51.42, Z:2.36 [[ 6.28585777e-01 -7.77664629e-01 -1.08464662e-02 1.28564007e+02] [ 7.77554733e-01 6.28679313e-01 -1.30751393e-02 5.14184512e+01] [ 1.69870223e-02 -2.14874510e-04 9.99855687e-01 2.35962773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93361786499997 meters 0.019848689348453536 Centerline is valid? [True, True] Translation: X:128.58, Y:51.44, Z:2.36 [[ 6.27536567e-01 -7.78510156e-01 -1.09450114e-02 1.28582923e+02] [ 7.78398256e-01 6.27631963e-01 -1.32012694e-02 5.14400189e+01] [ 1.71467613e-02 -2.35298485e-04 9.99852956e-01 2.36033499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96361786499997 meters 0.02006596648422661 Centerline is valid? [True, True] Translation: X:128.60, Y:51.46, Z:2.36 [[ 6.26907638e-01 -7.79018580e-01 -1.08104462e-02 1.28601688e+02] [ 7.78909385e-01 6.27000792e-01 -1.30451918e-02 5.14610855e+01] [ 1.69406051e-02 -2.42227678e-04 9.99856468e-01 2.36095142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99361786499998 meters 0.020230404440346437 Centerline is valid? [True, True] Translation: X:128.62, Y:51.48, Z:2.36 [[ 6.26395336e-01 -7.79427631e-01 -1.10204706e-02 1.28619281e+02] [ 7.79314155e-01 6.26492221e-01 -1.33020916e-02 5.14822556e+01] [ 1.72722568e-02 -2.56040654e-04 9.99850791e-01 2.36181090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02361786499998 meters 0.020012295165251322 Centerline is valid? [True, True] Translation: X:128.64, Y:51.51, Z:2.36 [[ 6.25769033e-01 -7.79933907e-01 -1.07804655e-02 1.28635760e+02] [ 7.79825325e-01 6.25861832e-01 -1.30165051e-02 5.15055202e+01] [ 1.68990956e-02 -2.61554182e-04 9.99857166e-01 2.36213930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05361786499998 meters 0.020571771649857983 Centerline is valid? [True, True] Translation: X:128.65, Y:51.53, Z:2.36 [[ 6.25210670e-01 -7.80378619e-01 -1.09922503e-02 1.28653308e+02] [ 7.80265668e-01 6.25307233e-01 -1.32797636e-02 5.15266167e+01] [ 1.72367772e-02 -2.74225620e-04 9.99851398e-01 2.36262954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08361786499998 meters 0.020356768313985762 Centerline is valid? [True, True] Translation: X:128.67, Y:51.55, Z:2.36 [[ 6.24949253e-01 -7.80588507e-01 -1.09550610e-02 1.28669799e+02] [ 7.80476290e-01 6.25045203e-01 -1.32384297e-02 5.15489864e+01] [ 1.71811744e-02 -2.76818659e-04 9.99852354e-01 2.36310774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11361786499998 meters 0.020501627811785106 Centerline is valid? [True, True] Translation: X:128.69, Y:51.57, Z:2.36 [[ 6.24441067e-01 -7.80999746e-01 -1.06184522e-02 1.28687452e+02] [ 7.80894263e-01 6.24531282e-01 -1.28385733e-02 5.15709733e+01] [ 1.66584780e-02 -2.74956037e-04 9.99861200e-01 2.36340493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14361786499998 meters 0.02070974229886123 Centerline is valid? [True, True] Translation: X:128.71, Y:51.59, Z:2.36 [[ 6.23519230e-01 -7.81730217e-01 -1.10289377e-02 1.28705287e+02] [ 7.81616405e-01 6.23616691e-01 -1.33423618e-02 5.15920104e+01] [ 1.73079570e-02 -3.01179434e-04 9.99850161e-01 2.36371802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17361786499998 meters 0.020946620522912584 Centerline is valid? [True, True] Translation: X:128.72, Y:51.61, Z:2.36 [[ 6.22754945e-01 -7.82338931e-01 -1.10487918e-02 1.28723561e+02] [ 7.82224760e-01 6.22852869e-01 -1.33689261e-02 5.16139153e+01] [ 1.73408030e-02 -3.17073619e-04 9.99849587e-01 2.36396045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20361786499998 meters 0.02116677972871057 Centerline is valid? [True, True] Translation: X:128.74, Y:51.63, Z:2.36 [[ 6.21968870e-01 -7.82962720e-01 -1.11401590e-02 1.28741186e+02] [ 7.82846642e-01 6.22068539e-01 -1.34858096e-02 5.16348606e+01] [ 1.74888286e-02 -3.33282253e-04 9.99847003e-01 2.36452322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23361786499999 meters 0.02159223704158053 Centerline is valid? [True, True] Translation: X:128.76, Y:51.66, Z:2.37 [[ 6.20562592e-01 -7.84074890e-01 -1.13417374e-02 1.28758251e+02] [ 7.83954706e-01 6.20666118e-01 -1.37327750e-02 5.16563846e+01] [ 1.78069562e-02 -3.69361971e-04 9.99841375e-01 2.36505276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26361786499996 meters 0.021789743464762146 Centerline is valid? [True, True] Translation: X:128.78, Y:51.68, Z:2.37 [[ 6.19617908e-01 -7.84823044e-01 -1.12443963e-02 1.28776252e+02] [ 7.84704967e-01 6.19719808e-01 -1.36188637e-02 5.16792411e+01] [ 1.76567732e-02 -3.85041805e-04 9.99844033e-01 2.36508446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29361786499996 meters 0.022158037530401586 Centerline is valid? [True, True] Translation: X:128.79, Y:51.70, Z:2.37 [[ 6.18919182e-01 -7.85375418e-01 -1.11579220e-02 1.28793932e+02] [ 7.85259129e-01 6.19019626e-01 -1.35204823e-02 5.17005775e+01] [ 1.75256272e-02 -3.93774217e-04 9.99846337e-01 2.36564323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32361786499996 meters 0.022156401366903142 Centerline is valid? [True, True] Translation: X:128.81, Y:51.72, Z:2.37 [[ 6.18206508e-01 -7.85937912e-01 -1.10594762e-02 1.28811357e+02] [ 7.85823644e-01 6.18305295e-01 -1.34076086e-02 5.17223740e+01] [ 1.73756806e-02 -4.02127026e-04 9.99848951e-01 2.36638158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35361786499996 meters 0.023420067782640275 Centerline is valid? [True, True] Translation: X:128.83, Y:51.74, Z:2.37 [[ 6.17168192e-01 -7.86760646e-01 -1.05407874e-02 1.28828992e+02] [ 7.86656862e-01 6.17258069e-01 -1.27850177e-02 5.17433308e+01] [ 1.65651349e-02 -4.01476482e-04 9.99862708e-01 2.36553973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38361786499996 meters 0.02280426158714118 Centerline is valid? [True, True] Translation: X:128.85, Y:51.76, Z:2.37 [[ 6.17158263e-01 -7.86769990e-01 -1.04241308e-02 1.28846013e+02] [ 7.86668451e-01 6.17246164e-01 -1.26460009e-02 5.17639910e+01] [ 1.63837487e-02 -3.95750860e-04 9.99865699e-01 2.36889931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41361786499996 meters 0.021527368934033442 Centerline is valid? [True, True] Translation: X:128.86, Y:51.79, Z:2.37 [[ 6.16805840e-01 -7.87048580e-01 -1.02512827e-02 1.28860478e+02] [ 7.86950349e-01 6.16890896e-01 -1.24406623e-02 5.17885657e+01] [ 1.61153285e-02 -3.93777385e-04 9.99870062e-01 2.36931899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44361786499996 meters 0.02200191565955149 Centerline is valid? [True, True] Translation: X:128.88, Y:51.81, Z:2.37 [[ 6.16901152e-01 -7.86974211e-01 -1.02254184e-02 1.28878017e+02] [ 7.86876353e-01 6.16985771e-01 -1.24162674e-02 5.18095737e+01] [ 1.60802198e-02 -3.86530259e-04 9.99870630e-01 2.37000417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47361786499997 meters 0.021132549121299634 Centerline is valid? [True, True] Translation: X:128.89, Y:51.84, Z:2.37 [[ 6.17377267e-01 -7.86597036e-01 -1.05077266e-02 1.28891968e+02] [ 7.86493581e-01 6.17466561e-01 -1.27629501e-02 5.18354171e+01] [ 1.65274685e-02 -3.84704275e-04 9.99863338e-01 2.37033478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50361786499997 meters 0.021055341665167815 Centerline is valid? [True, True] Translation: X:128.91, Y:51.86, Z:2.37 [[ 6.17908959e-01 -7.86176348e-01 -1.07363095e-02 1.28908977e+02] [ 7.86068167e-01 6.18002110e-01 -1.30471618e-02 5.18588129e+01] [ 1.68924319e-02 -3.77512997e-04 9.99857241e-01 2.37035680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53361786499997 meters 0.021344330823742333 Centerline is valid? [True, True] Translation: X:128.93, Y:51.88, Z:2.37 [[ 6.19092249e-01 -7.85236876e-01 -1.13064601e-02 1.28925188e+02] [ 7.85116621e-01 6.19195377e-01 -1.37468682e-02 5.18817744e+01] [ 1.77954557e-02 -3.66310234e-04 9.99841581e-01 2.36985513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56361786499997 meters 0.020448186175902106 Centerline is valid? [True, True] Translation: X:128.94, Y:51.91, Z:2.37 [[ 6.19279977e-01 -7.85085326e-01 -1.15473692e-02 1.28939943e+02] [ 7.84959783e-01 6.19387518e-01 -1.40442823e-02 5.19062057e+01] [ 1.81782563e-02 -3.66877643e-04 9.99834695e-01 2.37058166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59361786499997 meters 0.020459516743302313 Centerline is valid? [True, True] Translation: X:128.96, Y:51.93, Z:2.37 [[ 6.19710175e-01 -7.84742500e-01 -1.17689176e-02 1.28956793e+02] [ 7.84611888e-01 6.19821813e-01 -1.43215166e-02 5.19284645e+01] [ 1.85333346e-02 -3.58843056e-04 9.99828179e-01 2.37115234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62361786499997 meters 0.020321480284835873 Centerline is valid? [True, True] Translation: X:128.97, Y:51.95, Z:2.37 [[ 6.20370295e-01 -7.84213796e-01 -1.22237403e-02 1.28973072e+02] [ 7.84072716e-01 6.20490610e-01 -1.48787918e-02 5.19526866e+01] [ 1.92528698e-02 -3.53940823e-04 9.99814584e-01 2.37136503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65361786499997 meters 0.02045861935046972 Centerline is valid? [True, True] Translation: X:128.99, Y:51.97, Z:2.37 [[ 6.20440436e-01 -7.84159563e-01 -1.21426573e-02 1.28989680e+02] [ 7.84020206e-01 6.20559151e-01 -1.47870372e-02 5.19746316e+01] [ 1.91306337e-02 -3.45612855e-04 9.99816933e-01 2.37177602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68361786499997 meters 0.02037316581569643 Centerline is valid? [True, True] Translation: X:129.01, Y:52.00, Z:2.37 [[ 6.21011979e-01 -7.83708430e-01 -1.20507198e-02 1.29005848e+02] [ 7.83570999e-01 6.21128804e-01 -1.46798533e-02 5.19993858e+01] [ 1.89897740e-02 -3.26229774e-04 9.99819625e-01 2.37292329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71361786499997 meters 0.020196713697397735 Centerline is valid? [True, True] Translation: X:129.02, Y:52.02, Z:2.37 [[ 6.21172108e-01 -7.83579330e-01 -1.21920564e-02 1.29022571e+02] [ 7.83438496e-01 6.21291663e-01 -1.48590801e-02 5.20218394e+01] [ 1.92180910e-02 -3.21680163e-04 9.99815264e-01 2.37352208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74361786499998 meters 0.020158716235319615 Centerline is valid? [True, True] Translation: X:129.04, Y:52.04, Z:2.37 [[ 6.21339406e-01 -7.83448762e-01 -1.20573837e-02 1.29039676e+02] [ 7.83310843e-01 6.21456307e-01 -1.47030936e-02 5.20444639e+01] [ 1.90122577e-02 -3.09067976e-04 9.99819203e-01 2.37401017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77361786499998 meters 0.02015754108278379 Centerline is valid? [True, True] Translation: X:129.06, Y:52.07, Z:2.37 [[ 6.21363693e-01 -7.83426591e-01 -1.22448821e-02 1.29057035e+02] [ 7.83284181e-01 6.21484257e-01 -1.49402134e-02 5.20669302e+01] [ 1.93145619e-02 -3.07916264e-04 9.99813409e-01 2.37469364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80361786499998 meters 0.020134816774162744 Centerline is valid? [True, True] Translation: X:129.07, Y:52.09, Z:2.38 [[ 6.21362827e-01 -7.83429554e-01 -1.20983845e-02 1.29073672e+02] [ 7.83290387e-01 6.21480525e-01 -1.47690819e-02 5.20879680e+01] [ 1.90894456e-02 -2.99589772e-04 9.99817735e-01 2.37536201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83361786499998 meters 0.02004745164794692 Centerline is valid? [True, True] Translation: X:129.09, Y:52.11, Z:2.38 [[ 6.21521827e-01 -7.83305877e-01 -1.19382075e-02 1.29090164e+02] [ 7.83170258e-01 6.21636404e-01 -1.45783624e-02 5.21108177e+01] [ 1.88405413e-02 -2.88878611e-04 9.99822460e-01 2.37608724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86361786499998 meters 0.02004579743930649 Centerline is valid? [True, True] Translation: X:129.11, Y:52.13, Z:2.38 [[ 6.21783727e-01 -7.83100237e-01 -1.17904984e-02 1.29106872e+02] [ 7.82967769e-01 6.21895445e-01 -1.44058462e-02 5.21330444e+01] [ 1.86136789e-02 -2.74259506e-04 9.99826713e-01 2.37640389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89361786499998 meters 0.019955508997319397 Centerline is valid? [True, True] Translation: X:129.12, Y:52.16, Z:2.38 [[ 6.21933980e-01 -7.82976499e-01 -1.20799796e-02 1.29123477e+02] [ 7.82837265e-01 6.22051226e-01 -1.47678555e-02 5.21557562e+01] [ 1.90772499e-02 -2.72027085e-04 9.99817976e-01 2.37659911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92361786499998 meters 0.01984576808073681 Centerline is valid? [True, True] Translation: X:129.14, Y:52.18, Z:2.38 [[ 6.22430157e-01 -7.82576221e-01 -1.24562442e-02 1.29139119e+02] [ 7.82427938e-01 6.22554728e-01 -1.52358666e-02 5.21774897e+01] [ 1.96779206e-02 -2.62850582e-04 9.99806336e-01 2.37659531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95361786499998 meters 0.01975281833755989 Centerline is valid? [True, True] Translation: X:129.16, Y:52.20, Z:2.38 [[ 6.22472970e-01 -7.82541932e-01 -1.24710336e-02 1.29155750e+02] [ 7.82393193e-01 6.22597830e-01 -1.52588786e-02 5.21999186e+01] [ 1.97051508e-02 -2.59012323e-04 9.99805801e-01 2.37691685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98361786499999 meters 0.01968323309529291 Centerline is valid? [True, True] Translation: X:129.17, Y:52.22, Z:2.38 [[ 6.22459075e-01 -7.82548395e-01 -1.27557721e-02 1.29172882e+02] [ 7.82392610e-01 6.22589706e-01 -1.56160958e-02 5.22218530e+01] [ 2.01619631e-02 -2.59641322e-04 9.99796693e-01 2.37717656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01361786499996 meters 0.01962524353138853 Centerline is valid? [True, True] Translation: X:129.19, Y:52.24, Z:2.38 [[ 6.21638424e-01 -7.83195385e-01 -1.30636620e-02 1.29189932e+02] [ 7.83031947e-01 6.21775610e-01 -1.60018804e-02 5.22447199e+01] [ 2.06552653e-02 -2.81880985e-04 9.99786618e-01 2.37732256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04361786499996 meters 0.01985862472025988 Centerline is valid? [True, True] Translation: X:129.21, Y:52.27, Z:2.38 [[ 6.21103676e-01 -7.83618610e-01 -1.31186121e-02 1.29206979e+02] [ 7.83453735e-01 6.21242134e-01 -1.60765784e-02 5.22652059e+01] [ 2.07477406e-02 -2.92603700e-04 9.99784700e-01 2.37709506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07361786499996 meters 0.01982848407334168 Centerline is valid? [True, True] Translation: X:129.22, Y:52.29, Z:2.38 [[ 6.20390050e-01 -7.84180791e-01 -1.32918339e-02 1.29224937e+02] [ 7.84011537e-01 6.20532344e-01 -1.62947820e-02 5.22881602e+01] [ 2.10260679e-02 -3.11830562e-04 9.99778879e-01 2.37752591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10361786499996 meters 0.019956171617050933 Centerline is valid? [True, True] Translation: X:129.24, Y:52.31, Z:2.38 [[ 6.19546573e-01 -7.84845102e-01 -1.34242482e-02 1.29243153e+02] [ 7.84672460e-01 6.19691903e-01 -1.64643513e-02 5.23098484e+01] [ 2.12408634e-02 -3.33205468e-04 9.99774332e-01 2.37762207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13361786499996 meters 0.02104265883385294 Centerline is valid? [True, True] Translation: X:129.26, Y:52.33, Z:2.38 [[ 6.17994283e-01 -7.86064766e-01 -1.36106431e-02 1.29263178e+02] [ 7.85887507e-01 6.18144029e-01 -1.66968415e-02 5.23292244e+01] [ 2.15381366e-02 -3.77881788e-04 9.99767956e-01 2.37761662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16361786499996 meters 0.020340699662121712 Centerline is valid? [True, True] Translation: X:129.28, Y:52.35, Z:2.38 [[ 6.16939034e-01 -7.86892947e-01 -1.36278392e-02 1.29279578e+02] [ 7.86715353e-01 6.17089399e-01 -1.67220620e-02 5.23532071e+01] [ 2.15680677e-02 -4.04737504e-04 9.99767300e-01 2.37899878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19361786499996 meters 0.02047357216697329 Centerline is valid? [True, True] Translation: X:129.30, Y:52.38, Z:2.38 [[ 6.15675109e-01 -7.87886063e-01 -1.34056955e-02 1.29298240e+02] [ 7.87714280e-01 6.15820891e-01 -1.64573164e-02 5.23755795e+01] [ 2.12219975e-02 -4.27497718e-04 9.99774697e-01 2.37937276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22361786499997 meters 0.02108313562630424 Centerline is valid? [True, True] Translation: X:129.32, Y:52.40, Z:2.38 [[ 6.13649981e-01 -7.89465043e-01 -1.33658724e-02 1.29316806e+02] [ 7.89294510e-01 6.13795339e-01 -1.64151687e-02 5.23963120e+01] [ 2.11631120e-02 -4.76441743e-04 9.99775923e-01 2.38005592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25361786499997 meters 0.020884026841568027 Centerline is valid? [True, True] Translation: X:129.33, Y:52.42, Z:2.38 [[ 6.12793284e-01 -7.90131665e-01 -1.32794379e-02 1.29334509e+02] [ 7.89963405e-01 6.12936953e-01 -1.63129094e-02 5.24188551e+01] [ 2.10288045e-02 -4.93828686e-04 9.99778748e-01 2.38101504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28361786499997 meters 0.021192914458519823 Centerline is valid? [True, True] Translation: X:129.35, Y:52.44, Z:2.38 [[ 6.11734050e-01 -7.90957345e-01 -1.29588222e-02 1.29352528e+02] [ 7.90797142e-01 6.11871084e-01 -1.59266120e-02 5.24408827e+01] [ 2.05263993e-02 -5.04948745e-04 9.99789184e-01 2.38152792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31361786499997 meters 0.021379595591804672 Centerline is valid? [True, True] Translation: X:129.37, Y:52.46, Z:2.38 [[ 6.10966247e-01 -7.91554328e-01 -1.27275963e-02 1.29371068e+02] [ 7.91399770e-01 6.11098589e-01 -1.56498785e-02 5.24634756e+01] [ 2.01655452e-02 -5.11069285e-04 9.99796524e-01 2.38229648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34361786499997 meters 0.021578298102775922 Centerline is valid? [True, True] Translation: X:129.39, Y:52.49, Z:2.38 [[ 6.09770242e-01 -7.92477591e-01 -1.26301429e-02 1.29389372e+02] [ 7.92325440e-01 6.09900799e-01 -1.55374810e-02 5.24860079e+01] [ 2.00162398e-02 -5.32890004e-04 9.99799513e-01 2.38319297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37361786499997 meters 0.021981405718019216 Centerline is valid? [True, True] Translation: X:129.41, Y:52.51, Z:2.38 [[ 6.09444325e-01 -7.92727766e-01 -1.26611209e-02 1.29406803e+02] [ 7.92574780e-01 6.09575590e-01 -1.55826418e-02 5.25063513e+01] [ 2.00707031e-02 -5.38132539e-04 9.99798418e-01 2.38323604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40361786499997 meters 0.021981405718019216 Centerline is valid? [True, True] Translation: X:129.42, Y:52.53, Z:2.38 [[ 6.09234147e-01 -7.92889348e-01 -1.26583881e-02 1.29424134e+02] [ 7.92736351e-01 6.09365399e-01 -1.55848615e-02 5.25278074e+01] [ 2.00706544e-02 -5.39934550e-04 9.99798418e-01 2.38368764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43361786499997 meters 0.021850812504609834 Centerline is valid? [True, True] Translation: X:129.44, Y:52.55, Z:2.38 [[ 6.08869591e-01 -7.93166297e-01 -1.28470670e-02 1.29441299e+02] [ 7.93008607e-01 6.09004861e-01 -1.58249205e-02 5.25504294e+01] [ 2.03757198e-02 -5.52521781e-04 9.99792241e-01 2.38398689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46361786499997 meters 0.021848984250122945 Centerline is valid? [True, True] Translation: X:129.46, Y:52.57, Z:2.38 [[ 6.09561461e-01 -7.92634922e-01 -1.28337381e-02 1.29457708e+02] [ 7.92477369e-01 6.09696315e-01 -1.58121357e-02 5.25732487e+01] [ 2.03579338e-02 -5.31978404e-04 9.99792614e-01 2.38341391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49361786499998 meters 0.02171436227740798 Centerline is valid? [True, True] Translation: X:129.47, Y:52.60, Z:2.38 [[ 6.09967639e-01 -7.92322511e-01 -1.28264382e-02 1.29474555e+02] [ 7.92164991e-01 6.10102261e-01 -1.58068898e-02 5.25964982e+01] [ 2.03495936e-02 -5.18964063e-04 9.99792791e-01 2.38374033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52361786499998 meters 0.020379310514784282 Centerline is valid? [True, True] Translation: X:129.49, Y:52.62, Z:2.38 [[ 6.11402472e-01 -7.91219747e-01 -1.25828868e-02 1.29488220e+02] [ 7.91067762e-01 6.11531759e-01 -1.55146319e-02 5.26221005e+01] [ 1.99703181e-02 -4.68231775e-04 9.99800464e-01 2.38416071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55361786499998 meters 0.020270676099393554 Centerline is valid? [True, True] Translation: X:129.51, Y:52.64, Z:2.38 [[ 6.12038516e-01 -7.90730776e-01 -1.23973886e-02 1.29505202e+02] [ 7.90583003e-01 6.12163904e-01 -1.52928304e-02 5.26442185e+01] [ 1.96817454e-02 -4.41363496e-04 9.99806198e-01 2.38448813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58361786499998 meters 0.02110213954131374 Centerline is valid? [True, True] Translation: X:129.52, Y:52.67, Z:2.38 [[ 6.12631947e-01 -7.90275060e-01 -1.21420074e-02 1.29524046e+02] [ 7.90133146e-01 6.12752118e-01 -1.49818082e-02 5.26650767e+01] [ 1.92797901e-02 -4.15468229e-04 9.99814041e-01 2.38481473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61361786499998 meters 0.019929372181239427 Centerline is valid? [True, True] Translation: X:129.54, Y:52.69, Z:2.38 [[ 6.13942485e-01 -7.89262619e-01 -1.17958730e-02 1.29537876e+02] [ 7.89128439e-01 6.14055682e-01 -1.45577278e-02 5.26908325e+01] [ 1.87331932e-02 -3.70851264e-04 9.99824450e-01 2.38493521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64361786499998 meters 0.019712336612259643 Centerline is valid? [True, True] Translation: X:129.55, Y:52.71, Z:2.39 [[ 6.14175453e-01 -7.89084691e-01 -1.15699795e-02 1.29554245e+02] [ 7.88955443e-01 6.14284320e-01 -1.42857483e-02 5.27139598e+01] [ 1.83799223e-02 -3.54242414e-04 9.99831012e-01 2.38511006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67361786499998 meters 0.0197564957177313 Centerline is valid? [True, True] Translation: X:129.57, Y:52.74, Z:2.39 [[ 6.14551640e-01 -7.88791270e-01 -1.16023217e-02 1.29571433e+02] [ 7.88661120e-01 6.14661057e-01 -1.43325470e-02 5.27361776e+01] [ 1.84368833e-02 -3.42209826e-04 9.99829968e-01 2.38565221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70361786499998 meters 0.019995048510458288 Centerline is valid? [True, True] Translation: X:129.59, Y:52.76, Z:2.39 [[ 6.14821313e-01 -7.88587446e-01 -1.11621328e-02 1.29588248e+02] [ 7.88466884e-01 6.14922546e-01 -1.37925960e-02 5.27571107e+01] [ 1.77405152e-02 -3.20990094e-04 9.99842573e-01 2.38587076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73361786499999 meters 0.019320760060090193 Centerline is valid? [True, True] Translation: X:129.60, Y:52.78, Z:2.39 [[ 6.15396486e-01 -7.88142774e-01 -1.08688884e-02 1.29603876e+02] [ 7.88028333e-01 6.15492388e-01 -1.34337864e-02 5.27813891e+01] [ 1.72774597e-02 -2.97887079e-04 9.99850689e-01 2.38685268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76361786499996 meters 0.019941716584728285 Centerline is valid? [True, True] Translation: X:129.62, Y:52.80, Z:2.39 [[ 6.15425678e-01 -7.88120328e-01 -1.08435896e-02 1.29622084e+02] [ 7.88006305e-01 6.15521131e-01 -1.34089728e-02 5.28016752e+01] [ 1.72423426e-02 -2.92590774e-04 9.99851297e-01 2.38684319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79361786499996 meters 0.019374037591549376 Centerline is valid? [True, True] Translation: X:129.64, Y:52.83, Z:2.39 [[ 6.15504578e-01 -7.88061047e-01 -1.06724274e-02 1.29637788e+02] [ 7.87950517e-01 6.15597032e-01 -1.32013845e-02 5.28254594e+01] [ 1.69734115e-02 -2.83832099e-04 9.99855901e-01 2.38714706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82361786499996 meters 0.019317985248916546 Centerline is valid? [True, True] Translation: X:129.65, Y:52.85, Z:2.39 [[ 6.15345878e-01 -7.88184431e-01 -1.07123137e-02 1.29654332e+02] [ 7.88072965e-01 6.15439049e-01 -1.32581624e-02 5.28481728e+01] [ 1.70426533e-02 -2.83729258e-04 9.99854723e-01 2.38668205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85361786499996 meters 0.019244911798799464 Centerline is valid? [True, True] Translation: X:129.67, Y:52.87, Z:2.39 [[ 6.15226742e-01 -7.88278267e-01 -1.06503171e-02 1.29671475e+02] [ 7.88167979e-01 6.15318856e-01 -1.31887328e-02 5.28706857e+01] [ 1.69497324e-02 -2.80177796e-04 9.99856304e-01 2.38713172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88361786499996 meters 0.0193954444711803 Centerline is valid? [True, True] Translation: X:129.69, Y:52.89, Z:2.39 [[ 6.15213650e-01 -7.88289296e-01 -1.05900682e-02 1.29688439e+02] [ 7.88180133e-01 6.15304729e-01 -1.31213011e-02 5.28915388e+01] [ 1.68595002e-02 -2.74477826e-04 9.99857831e-01 2.38735605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91361786499996 meters 0.019455031904129432 Centerline is valid? [True, True] Translation: X:129.71, Y:52.91, Z:2.39 [[ 6.14949269e-01 -7.88496875e-01 -1.04916316e-02 1.29706598e+02] [ 7.88389695e-01 6.15038700e-01 -1.30033000e-02 5.29135564e+01] [ 1.67058209e-02 -2.75124479e-04 9.99860410e-01 2.38760201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94361786499996 meters 0.01919506129828398 Centerline is valid? [True, True] Translation: X:129.72, Y:52.94, Z:2.39 [[ 6.14695809e-01 -7.88693699e-01 -1.05504254e-02 1.29723647e+02] [ 7.88585223e-01 6.14786282e-01 -1.30833371e-02 5.29358344e+01] [ 1.68050024e-02 -2.77637102e-04 9.99858747e-01 2.38774058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97361786499997 meters 0.01909096950320042 Centerline is valid? [True, True] Translation: X:129.74, Y:52.96, Z:2.39 [[ 6.14484487e-01 -7.88861272e-01 -1.03299773e-02 1.29741155e+02] [ 7.88757191e-01 6.14571248e-01 -1.28169856e-02 5.29583229e+01] [ 1.64593306e-02 -2.72005011e-04 9.99864499e-01 2.38813133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00361786499997 meters 0.018975143245272257 Centerline is valid? [True, True] Translation: X:129.76, Y:52.98, Z:2.39 [[ 6.15047969e-01 -7.88425767e-01 -1.00401990e-02 1.29758550e+02] [ 7.88327275e-01 6.15129863e-01 -1.24643197e-02 5.29814212e+01] [ 1.60032171e-02 -2.48808229e-04 9.99871909e-01 2.38813905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03361786499997 meters 0.019040883793530472 Centerline is valid? [True, True] Translation: X:129.78, Y:53.00, Z:2.39 [[ 6.15530277e-01 -7.88052007e-01 -9.82406406e-03 1.29775259e+02] [ 7.87957569e-01 6.15608626e-01 -1.22020103e-02 5.30027985e+01] [ 1.56635973e-02 -2.30238880e-04 9.99877292e-01 2.38846308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06361786499997 meters 0.018745341118540666 Centerline is valid? [True, True] Translation: X:129.79, Y:53.03, Z:2.39 [[ 6.16674605e-01 -7.87162840e-01 -9.33246856e-03 1.29793197e+02] [ 7.87077478e-01 6.16745186e-01 -1.15939546e-02 5.30257343e+01] [ 1.48820853e-02 -1.95678470e-04 9.99889236e-01 2.38885022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09361786499997 meters 0.018670416462152974 Centerline is valid? [True, True] Translation: X:129.81, Y:53.05, Z:2.39 [[ 6.16913409e-01 -7.86978054e-01 -9.13171360e-03 1.29811064e+02] [ 7.86896228e-01 6.16980963e-01 -1.13498325e-02 5.30478106e+01] [ 1.45661626e-02 -1.83847121e-04 9.99893891e-01 2.38881124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12361786499997 meters 0.01858340429428693 Centerline is valid? [True, True] Translation: X:129.83, Y:53.07, Z:2.39 [[ 6.17435273e-01 -7.86566515e-01 -9.31669420e-03 1.29829246e+02] [ 7.86481195e-01 6.17505536e-01 -1.15863526e-02 5.30703993e+01] [ 1.48665472e-02 -1.73581997e-04 9.99889472e-01 2.38882452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15361786499997 meters 0.018411339345408312 Centerline is valid? [True, True] Translation: X:129.85, Y:53.09, Z:2.39 [[ 6.17786464e-01 -7.86289349e-01 -9.43102219e-03 1.29846256e+02] [ 7.86201801e-01 6.17858424e-01 -1.17343691e-02 5.30924123e+01] [ 1.50536459e-02 -1.65352269e-04 9.99886674e-01 2.38864871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18361786499997 meters 0.018292794138538265 Centerline is valid? [True, True] Translation: X:129.86, Y:53.11, Z:2.39 [[ 6.18527294e-01 -7.85707716e-01 -9.34727722e-03 1.29863761e+02] [ 7.85621552e-01 6.18597902e-01 -1.16367452e-02 5.31148097e+01] [ 1.49252865e-02 -1.45777935e-04 9.99888601e-01 2.38897090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21361786499997 meters 0.01803493310083412 Centerline is valid? [True, True] Translation: X:129.88, Y:53.14, Z:2.39 [[ 6.20273310e-01 -7.84326385e-01 -9.65107520e-03 1.29880119e+02] [ 7.84234261e-01 6.20348378e-01 -1.20213771e-02 5.31373265e+01] [ 1.54157121e-02 -1.12164450e-04 9.99881165e-01 2.38781434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24361786499998 meters 0.017951119644974912 Centerline is valid? [True, True] Translation: X:129.90, Y:53.16, Z:2.39 [[ 6.20848647e-01 -7.83873067e-01 -9.48532932e-03 1.29897695e+02] [ 7.83784003e-01 6.20921094e-01 -1.18165777e-02 5.31598329e+01] [ 1.51523381e-02 -9.81430808e-05 9.99885192e-01 2.38790399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27361786499998 meters 0.017923266973969405 Centerline is valid? [True, True] Translation: X:129.92, Y:53.18, Z:2.39 [[ 6.21480613e-01 -7.83373724e-01 -9.35179270e-03 1.29915276e+02] [ 7.83286999e-01 6.21550964e-01 -1.16565746e-02 5.31816788e+01] [ 1.49440700e-02 -8.08025464e-05 9.99888328e-01 2.38824511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30361786499998 meters 0.01784603670826483 Centerline is valid? [True, True] Translation: X:129.93, Y:53.20, Z:2.39 [[ 6.21916820e-01 -7.83027761e-01 -9.32713259e-03 1.29932920e+02] [ 7.82941358e-01 6.21986753e-01 -1.16322051e-02 5.32033489e+01] [ 1.49096925e-02 -6.83338278e-05 9.99888842e-01 2.38848817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33361786499998 meters 0.017753810619335744 Centerline is valid? [True, True] Translation: X:129.95, Y:53.22, Z:2.39 [[ 6.22231870e-01 -7.82783979e-01 -8.76029119e-03 1.29951917e+02] [ 7.82707658e-01 6.22293531e-01 -1.09308203e-02 5.32245225e+01] [ 1.40079436e-02 -5.52422240e-05 9.99901882e-01 2.38928537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36361786499998 meters 0.0177552192541262 Centerline is valid? [True, True] Translation: X:129.97, Y:53.25, Z:2.39 [[ 6.22036493e-01 -7.82942723e-01 -8.44356174e-03 1.29970436e+02] [ 7.82871760e-01 6.22093795e-01 -1.05412493e-02 5.32462651e+01] [ 1.35058818e-02 -5.31842933e-05 9.99908790e-01 2.39026942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39361786499998 meters 0.01761194467079934 Centerline is valid? [True, True] Translation: X:129.99, Y:53.27, Z:2.39 [[ 6.22125778e-01 -7.82874087e-01 -8.22679952e-03 1.29988499e+02] [ 7.82806634e-01 6.22180168e-01 -1.02767775e-02 5.32670884e+01] [ 1.31639743e-02 -4.65450580e-05 9.99913350e-01 2.39047979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42361786499998 meters 0.017569207955960904 Centerline is valid? [True, True] Translation: X:130.01, Y:53.29, Z:2.39 [[ 6.22059086e-01 -7.82927450e-01 -8.19151297e-03 1.30006533e+02] [ 7.82860533e-01 6.22113017e-01 -1.02361917e-02 5.32888447e+01] [ 1.31102423e-02 -4.52961443e-05 9.99914056e-01 2.39067335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45361786499998 meters 0.01762114642912355 Centerline is valid? [True, True] Translation: X:130.02, Y:53.31, Z:2.39 [[ 6.22076017e-01 -7.82914622e-01 -8.13160625e-03 1.30024153e+02] [ 7.82848597e-01 6.22129160e-01 -1.01677215e-02 5.33094494e+01] [ 1.30193672e-02 -4.07208238e-05 9.99915244e-01 2.39121754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48361786499999 meters 0.0175912255531857 Centerline is valid? [True, True] Translation: X:130.04, Y:53.33, Z:2.39 [[ 6.21944238e-01 -7.83018910e-01 -8.17015792e-03 1.30041659e+02] [ 7.82952232e-01 6.21997898e-01 -1.02185006e-02 5.33307595e+01] [ 1.30831002e-02 -4.15058383e-05 9.99914412e-01 2.39129598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51361786499996 meters 0.017558596056389174 Centerline is valid? [True, True] Translation: X:130.06, Y:53.35, Z:2.39 [[ 6.21613025e-01 -7.83286449e-01 -7.71916971e-03 1.30060335e+02] [ 7.83226888e-01 6.21660950e-01 -9.65945038e-03 5.33511853e+01] [ 1.23648230e-02 -4.14210987e-05 9.99923552e-01 2.39139032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54361786499996 meters 0.017536304776333375 Centerline is valid? [True, True] Translation: X:130.08, Y:53.37, Z:2.39 [[ 6.21239919e-01 -7.83579401e-01 -8.01787332e-03 1.30078044e+02] [ 7.83515080e-01 6.21291655e-01 -1.00398557e-02 5.33712441e+01] [ 1.28484619e-02 -4.49655301e-05 9.99917454e-01 2.39170911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57361786499996 meters 0.017493127598390494 Centerline is valid? [True, True] Translation: X:130.10, Y:53.39, Z:2.39 [[ 6.20769465e-01 -7.83949225e-01 -8.29965216e-03 1.30096438e+02] [ 7.83880300e-01 6.20824943e-01 -1.03954376e-02 5.33919411e+01] [ 1.33021263e-02 -5.27636029e-05 9.99911521e-01 2.39174629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60361786499996 meters 0.017425658784157423 Centerline is valid? [True, True] Translation: X:130.12, Y:53.41, Z:2.39 [[ 6.19229379e-01 -7.85162417e-01 -8.65765632e-03 1.30116343e+02] [ 7.85087441e-01 6.19289894e-01 -1.08506987e-02 5.34101431e+01] [ 1.38811599e-02 -7.79458132e-05 9.99903649e-01 2.39180564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63361786499996 meters 0.017541524811918206 Centerline is valid? [True, True] Translation: X:130.14, Y:53.43, Z:2.39 [[ 6.18259750e-01 -7.85921725e-01 -9.05121517e-03 1.30135693e+02] [ 7.85839805e-01 6.18325993e-01 -1.13475671e-02 5.34297341e+01] [ 1.45149011e-02 -9.70611985e-05 9.99894649e-01 2.39230886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66361786499996 meters 0.017429665308887083 Centerline is valid? [True, True] Translation: X:130.15, Y:53.45, Z:2.39 [[ 6.17101587e-01 -7.86835767e-01 -8.66643769e-03 1.30154244e+02] [ 7.86760686e-01 6.17162428e-01 -1.08701703e-02 5.34513079e+01] [ 1.39016385e-02 -1.10413114e-04 9.99903361e-01 2.39244475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69361786499996 meters 0.017646523869445926 Centerline is valid? [True, True] Translation: X:130.18, Y:53.47, Z:2.39 [[ 6.15272849e-01 -7.88266373e-01 -8.68598087e-03 1.30176227e+02] [ 7.88191021e-01 6.15334141e-01 -1.08999876e-02 5.34708856e+01] [ 1.39368742e-02 -1.39745729e-04 9.99902867e-01 2.39348897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72361786499997 meters 0.01763961813936783 Centerline is valid? [True, True] Translation: X:130.20, Y:53.49, Z:2.39 [[ 6.14003580e-01 -7.89253372e-01 -8.87231401e-03 1.30196008e+02] [ 7.89174777e-01 6.14067658e-01 -1.11392919e-02 5.34919076e+01] [ 1.42399248e-02 -1.62241338e-04 9.99898594e-01 2.39376565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75361786499997 meters 0.017877929491649444 Centerline is valid? [True, True] Translation: X:130.22, Y:53.51, Z:2.39 [[ 6.12913467e-01 -7.90102600e-01 -8.65814682e-03 1.30216110e+02] [ 7.90027758e-01 6.12974593e-01 -1.08760946e-02 5.35116473e+01] [ 1.39004546e-02 -1.74071497e-04 9.99903369e-01 2.39430088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78361786499997 meters 0.01815027231269051 Centerline is valid? [True, True] Translation: X:130.24, Y:53.53, Z:2.39 [[ 6.10604406e-01 -7.91889900e-01 -8.52326097e-03 1.30238039e+02] [ 7.91817517e-01 6.10663854e-01 -1.07087652e-02 5.35312893e+01] [ 1.36850104e-02 -2.10048138e-04 9.99906334e-01 2.39481097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81361786499997 meters 0.018329226972191536 Centerline is valid? [True, True] Translation: X:130.26, Y:53.55, Z:2.40 [[ 6.09463086e-01 -7.92770445e-01 -8.35280007e-03 1.30257351e+02] [ 7.92700932e-01 6.09520281e-01 -1.05004441e-02 5.35510618e+01] [ 1.34156428e-02 -2.21639322e-04 9.99909982e-01 2.39513633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84361786499997 meters 0.018469683230314456 Centerline is valid? [True, True] Translation: X:130.28, Y:53.57, Z:2.40 [[ 6.08514394e-01 -7.93499388e-01 -8.30383448e-03 1.30277047e+02] [ 7.93430741e-01 6.08571003e-01 -1.04399596e-02 5.35720529e+01] [ 1.33375744e-02 -2.35651886e-04 9.99911023e-01 2.39588164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87361786499997 meters 0.01858577544916114 Centerline is valid? [True, True] Translation: X:130.30, Y:53.59, Z:2.40 [[ 6.07484173e-01 -7.94291700e-01 -7.97971197e-03 1.30298112e+02] [ 7.94228316e-01 6.07536532e-01 -1.00371178e-02 5.35923247e+01] [ 1.28203659e-02 -2.40323021e-04 9.99917787e-01 2.39648722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90361786499997 meters 0.018697497405555062 Centerline is valid? [True, True] Translation: X:130.32, Y:53.61, Z:2.40 [[ 6.07427404e-01 -7.94335311e-01 -7.96000216e-03 1.30316507e+02] [ 7.94272178e-01 6.07479511e-01 -1.00175522e-02 5.36123398e+01] [ 1.27928336e-02 -2.37472539e-04 9.99918140e-01 2.39715092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93361786499997 meters 0.018776544198027253 Centerline is valid? [True, True] Translation: X:130.33, Y:53.63, Z:2.40 [[ 6.07377614e-01 -7.94373916e-01 -7.90668837e-03 1.30334960e+02] [ 7.94311587e-01 6.07429030e-01 -9.95372899e-03 5.36331545e+01] [ 1.27097347e-02 -2.34702021e-04 9.99919201e-01 2.39789045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96361786499997 meters 0.018537697868896627 Centerline is valid? [True, True] Translation: X:130.35, Y:53.65, Z:2.40 [[ 6.08921039e-01 -7.93188490e-01 -8.19682016e-03 1.30354538e+02] [ 7.93121313e-01 6.08976168e-01 -1.03251704e-02 5.36546223e+01] [ 1.31814744e-02 -2.13859291e-04 9.99913098e-01 2.39839137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99361786499998 meters 0.018370362619401354 Centerline is valid? [True, True] Translation: X:130.37, Y:53.68, Z:2.40 [[ 6.09897939e-01 -7.92434325e-01 -8.50561947e-03 1.30373153e+02] [ 7.92361837e-01 6.09957212e-01 -1.07200311e-02 5.36773656e+01] [ 1.36829846e-02 -2.01403384e-04 9.99906363e-01 2.39886282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02361786499998 meters 0.01833480085420544 Centerline is valid? [True, True] Translation: X:130.39, Y:53.70, Z:2.40 [[ 6.11045691e-01 -7.91550572e-01 -8.41757671e-03 1.30390931e+02] [ 7.91479460e-01 6.11103641e-01 -1.06114939e-02 5.36996880e+01] [ 1.35435458e-02 -1.78231462e-04 9.99908266e-01 2.39904446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05361786499998 meters 0.018310830256037306 Centerline is valid? [True, True] Translation: X:130.41, Y:53.72, Z:2.40 [[ 6.12280793e-01 -7.90591917e-01 -8.75513682e-03 1.30408718e+02] [ 7.90514801e-01 6.12343364e-01 -1.10432295e-02 5.37207419e+01] [ 1.40918379e-02 -1.59507929e-04 9.99900692e-01 2.39939602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08361786499998 meters 0.01801425922545277 Centerline is valid? [True, True] Translation: X:130.43, Y:53.74, Z:2.40 [[ 6.13478835e-01 -7.89661208e-01 -8.88227631e-03 1.30426183e+02] [ 7.89581719e-01 6.13543117e-01 -1.12050439e-02 5.37442256e+01] [ 1.42978480e-02 -1.39225686e-04 9.99897771e-01 2.39922387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11361786499998 meters 0.017720987742734062 Centerline is valid? [True, True] Translation: X:130.44, Y:53.77, Z:2.40 [[ 6.15576317e-01 -7.88020986e-01 -9.41932172e-03 1.30444302e+02] [ 7.87931308e-01 6.15648370e-01 -1.18886212e-02 5.37670070e+01] [ 1.51674731e-02 -1.03424802e-04 9.99884962e-01 2.39944168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14361786499998 meters 0.017742947520405956 Centerline is valid? [True, True] Translation: X:130.46, Y:53.79, Z:2.40 [[ 6.16311679e-01 -7.87443791e-01 -9.60154468e-03 1.30461421e+02] [ 7.87350446e-01 6.16386460e-01 -1.21246691e-02 5.37875701e+01] [ 1.54657575e-02 -8.72053095e-05 9.99880394e-01 2.40013067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17361786499998 meters 0.01771853354203537 Centerline is valid? [True, True] Translation: X:130.48, Y:53.81, Z:2.40 [[ 6.17296075e-01 -7.86668841e-01 -9.88387665e-03 1.30480237e+02] [ 7.86569749e-01 6.17375194e-01 -1.24859646e-02 5.38082970e+01] [ 1.59243795e-02 -6.68214628e-05 9.99873197e-01 2.40117992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20361786499998 meters 0.017728290034702786 Centerline is valid? [True, True] Translation: X:130.50, Y:53.83, Z:2.40 [[ 6.17307291e-01 -7.86657265e-01 -1.01022705e-02 1.30498319e+02] [ 7.86553628e-01 6.17389945e-01 -1.27689433e-02 5.38294018e+01] [ 1.62818222e-02 -6.36157081e-05 9.99867440e-01 2.40195120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23361786499999 meters 0.017624183799572205 Centerline is valid? [True, True] Translation: X:130.52, Y:53.85, Z:2.40 [[ 6.17300121e-01 -7.86661235e-01 -1.02304185e-02 1.30517055e+02] [ 7.86554834e-01 6.17384886e-01 -1.29381479e-02 5.38503346e+01] [ 1.64940452e-02 -6.00649286e-05 9.99863962e-01 2.40216596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26361786499996 meters 0.01765673139804829 Centerline is valid? [True, True] Translation: X:130.53, Y:53.87, Z:2.40 [[ 6.17100148e-01 -7.86816470e-01 -1.03561330e-02 1.30534549e+02] [ 7.86707334e-01 6.17187037e-01 -1.31046420e-02 5.38704745e+01] [ 1.67026192e-02 -6.03692921e-05 9.99860500e-01 2.40234940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29361786499996 meters 0.01765673139804829 Centerline is valid? [True, True] Translation: X:130.55, Y:53.89, Z:2.40 [[ 6.16892842e-01 -7.86979043e-01 -1.03540895e-02 1.30551582e+02] [ 7.86869903e-01 6.16979726e-01 -1.31062565e-02 5.38921650e+01] [ 1.67026125e-02 -6.21655651e-05 9.99860500e-01 2.40280089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32361786499996 meters 0.01767521568307358 Centerline is valid? [True, True] Translation: X:130.57, Y:53.91, Z:2.40 [[ 6.16826923e-01 -7.87031739e-01 -1.02756169e-02 1.30569251e+02] [ 7.86924138e-01 6.16912505e-01 -1.30139228e-02 5.39138049e+01] [ 1.65815268e-02 -5.87930271e-05 9.99862515e-01 2.40364418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35361786499996 meters 0.017636144111339923 Centerline is valid? [True, True] Translation: X:130.59, Y:53.94, Z:2.40 [[ 6.16855369e-01 -7.87014582e-01 -9.87429387e-03 1.30585598e+02] [ 7.86915117e-01 6.16934393e-01 -1.25121511e-02 5.39362463e+01] [ 1.59390368e-02 -5.20435514e-05 9.99872964e-01 2.40429998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38361786499996 meters 0.01755298720762771 Centerline is valid? [True, True] Translation: X:130.60, Y:53.96, Z:2.40 [[ 6.16965098e-01 -7.86926292e-01 -1.00538231e-02 1.30601986e+02] [ 7.86823046e-01 6.17047007e-01 -1.27469475e-02 5.39578540e+01] [ 1.62345896e-02 -4.61579753e-05 9.99868209e-01 2.40487579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41361786499996 meters 0.01755054293125664 Centerline is valid? [True, True] Translation: X:130.62, Y:53.98, Z:2.41 [[ 6.16531374e-01 -7.87265432e-01 -1.01096518e-02 1.30619390e+02] [ 7.87161002e-01 6.16614253e-01 -1.28226273e-02 5.39797511e+01] [ 1.63285666e-02 -5.23715954e-05 9.99866679e-01 2.40538430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44361786499996 meters 0.017542133779387722 Centerline is valid? [True, True] Translation: X:130.64, Y:54.00, Z:2.41 [[ 6.16150605e-01 -7.87563622e-01 -1.00982336e-02 1.30635451e+02] [ 7.87459351e-01 6.16233348e-01 -1.28152974e-02 5.40011558e+01] [ 1.63157304e-02 -5.57952161e-05 9.99866888e-01 2.40583092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47361786499997 meters 0.017505748092314293 Centerline is valid? [True, True] Translation: X:130.65, Y:54.02, Z:2.41 [[ 6.14898739e-01 -7.88538822e-01 -1.02988663e-02 1.30652433e+02] [ 7.88430434e-01 6.14984975e-01 -1.30740874e-02 5.40236622e+01] [ 1.66430735e-02 -8.06998144e-05 9.99861491e-01 2.40568298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50361786499997 meters 0.01755081245245741 Centerline is valid? [True, True] Translation: X:130.67, Y:54.05, Z:2.41 [[ 6.13957711e-01 -7.89265210e-01 -1.07869244e-02 1.30670736e+02] [ 7.89146275e-01 6.14052456e-01 -1.37017660e-02 5.40452525e+01] [ 1.74380646e-02 -1.00156361e-04 9.99847940e-01 2.40581580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53361786499997 meters 0.017652538914568562 Centerline is valid? [True, True] Translation: X:130.69, Y:54.07, Z:2.41 [[ 6.12336538e-01 -7.90521055e-01 -1.09738654e-02 1.30689506e+02] [ 7.90398021e-01 6.12434849e-01 -1.39471796e-02 5.40676528e+01] [ 1.77463167e-02 -1.33353760e-04 9.99842513e-01 2.40626235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56361786499997 meters 0.017913285916463583 Centerline is valid? [True, True] Translation: X:130.71, Y:54.09, Z:2.41 [[ 6.09303625e-01 -7.92852736e-01 -1.15599293e-02 1.30708392e+02] [ 7.92716484e-01 6.09413239e-01 -1.46996368e-02 5.40900010e+01] [ 1.86994212e-02 -2.07204578e-04 9.99825129e-01 2.40589099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59361786499997 meters 0.018132051552642497 Centerline is valid? [True, True] Translation: X:130.73, Y:54.11, Z:2.41 [[ 6.07554541e-01 -7.94191735e-01 -1.17033409e-02 1.30726993e+02] [ 7.94052188e-01 6.07667201e-01 -1.48894384e-02 5.41125084e+01] [ 1.89368054e-02 -2.46917543e-04 9.99820652e-01 2.40570664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62361786499997 meters 0.018822163589611033 Centerline is valid? [True, True] Translation: X:130.75, Y:54.13, Z:2.41 [[ 6.04536028e-01 -7.96488096e-01 -1.19542198e-02 1.30745049e+02] [ 7.96342807e-01 6.04654124e-01 -1.52159492e-02 5.41338626e+01] [ 1.93474907e-02 -3.21067461e-04 9.99812768e-01 2.40539312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65361786499997 meters 0.018800195308166838 Centerline is valid? [True, True] Translation: X:130.76, Y:54.16, Z:2.41 [[ 6.03117347e-01 -7.97559310e-01 -1.21906710e-02 1.30762450e+02] [ 7.97408315e-01 6.03240431e-01 -1.55229230e-02 5.41572914e+01] [ 1.97343574e-02 -3.58798284e-04 9.99805194e-01 2.40630335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68361786499997 meters 0.01927029672096621 Centerline is valid? [True, True] Translation: X:130.78, Y:54.18, Z:2.41 [[ 6.02053090e-01 -7.98365320e-01 -1.20371290e-02 1.30779882e+02] [ 7.98218132e-01 6.02173292e-01 -1.53342630e-02 5.41789042e+01] [ 1.94907814e-02 -3.76214180e-04 9.99809966e-01 2.40678455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71361786499997 meters 0.019181402227068406 Centerline is valid? [True, True] Translation: X:130.80, Y:54.20, Z:2.41 [[ 5.99763705e-01 -8.00087631e-01 -1.19700309e-02 1.30796807e+02] [ 7.99942334e-01 5.99882989e-01 -1.52532288e-02 5.42020209e+01] [ 1.93845376e-02 -4.27001429e-04 9.99812011e-01 2.40811830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74361786499998 meters 0.020270351856296588 Centerline is valid? [True, True] Translation: X:130.82, Y:54.22, Z:2.41 [[ 5.98965558e-01 -8.00688173e-01 -1.17774775e-02 1.30815907e+02] [ 8.00547502e-01 5.99081179e-01 -1.50145660e-02 5.42228543e+01] [ 1.90776506e-02 -4.35222302e-04 9.99817910e-01 2.40860281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77361786499998 meters 0.019788904853402862 Centerline is valid? [True, True] Translation: X:130.83, Y:54.25, Z:2.41 [[ 5.97983169e-01 -8.01423185e-01 -1.17050148e-02 1.30832488e+02] [ 8.01284319e-01 5.98097544e-01 -1.49254358e-02 5.42465859e+01] [ 1.89623309e-02 -4.53885383e-04 9.99820096e-01 2.40982784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80361786499998 meters 0.02004548153669148 Centerline is valid? [True, True] Translation: X:130.85, Y:54.27, Z:2.41 [[ 5.97186281e-01 -8.02022537e-01 -1.13311884e-02 1.30850458e+02] [ 8.01892381e-01 5.97293600e-01 -1.44556277e-02 5.42697233e+01] [ 1.83617855e-02 -4.53691087e-04 9.99831305e-01 2.41061510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83361786499998 meters 0.021059568787161316 Centerline is valid? [True, True] Translation: X:130.87, Y:54.29, Z:2.41 [[ 5.96376795e-01 -8.02629202e-01 -1.10037518e-02 1.30868700e+02] [ 8.02506449e-01 5.96478128e-01 -1.40443221e-02 5.42904144e+01] [ 1.78358803e-02 -4.54873963e-04 9.99840825e-01 2.41140719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86361786499998 meters 0.020546324333310443 Centerline is valid? [True, True] Translation: X:130.88, Y:54.31, Z:2.41 [[ 5.95426420e-01 -8.03342509e-01 -1.04015481e-02 1.30884285e+02] [ 8.03232877e-01 5.95517097e-01 -1.32789851e-02 5.43149318e+01] [ 1.68618729e-02 -4.48206850e-04 9.99857728e-01 2.41266757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89361786499998 meters 0.02053904719122211 Centerline is valid? [True, True] Translation: X:130.90, Y:54.34, Z:2.41 [[ 5.94981321e-01 -8.03671592e-01 -1.04498756e-02 1.30900888e+02] [ 8.03560879e-01 5.95072907e-01 -1.33472477e-02 5.43373416e+01] [ 1.69452417e-02 -4.55748162e-04 9.99856315e-01 2.41342318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92361786499998 meters 0.020579749560711815 Centerline is valid? [True, True] Translation: X:130.92, Y:54.36, Z:2.41 [[ 5.94992568e-01 -8.03664864e-01 -1.03262567e-02 1.30917086e+02] [ 8.03556632e-01 5.95082001e-01 -1.31966275e-02 5.43599527e+01] [ 1.67506353e-02 -4.45836786e-04 9.99859599e-01 2.41419020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95361786499998 meters 0.020752898606737215 Centerline is valid? [True, True] Translation: X:130.93, Y:54.38, Z:2.41 [[ 5.95127361e-01 -8.03564652e-01 -1.03573215e-02 1.30933305e+02] [ 8.03455630e-01 5.95217318e-01 -1.32436622e-02 5.43812698e+01] [ 1.68069959e-02 -4.39982517e-04 9.99858656e-01 2.41456564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98361786499999 meters 0.021377451469443618 Centerline is valid? [True, True] Translation: X:130.95, Y:54.40, Z:2.42 [[ 5.95100216e-01 -8.03581854e-01 -1.05800465e-02 1.30950240e+02] [ 8.03467982e-01 5.95194090e-01 -1.35350410e-02 5.44024351e+01] [ 1.71736945e-02 -4.46022788e-04 9.99852422e-01 2.41507694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01361786499996 meters 0.02028914037794148 Centerline is valid? [True, True] Translation: X:130.97, Y:54.43, Z:2.42 [[ 5.95291476e-01 -8.03437166e-01 -1.08064098e-02 1.30965371e+02] [ 8.03318224e-01 5.95389385e-01 -1.38315226e-02 5.44270585e+01] [ 1.75467810e-02 -4.47198392e-04 9.99845943e-01 2.41529044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04361786499996 meters 0.020032463544907123 Centerline is valid? [True, True] Translation: X:130.98, Y:54.45, Z:2.42 [[ 5.95547977e-01 -8.03241366e-01 -1.12212073e-02 1.30981588e+02] [ 8.03112949e-01 5.95653509e-01 -1.43697143e-02 5.44515830e+01] [ 1.82263004e-02 -4.54042582e-04 9.99833784e-01 2.41513750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07361786499996 meters 0.02025607321226082 Centerline is valid? [True, True] Translation: X:131.00, Y:54.47, Z:2.42 [[ 5.95509410e-01 -8.03268748e-01 -1.13076245e-02 1.30998370e+02] [ 8.03138222e-01 5.95616582e-01 -1.44873297e-02 5.44730903e+01] [ 1.83722278e-02 -4.54244285e-04 9.99831113e-01 2.41562769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10361786499996 meters 0.020475024861111985 Centerline is valid? [True, True] Translation: X:131.01, Y:54.49, Z:2.42 [[ 5.95173910e-01 -8.03515853e-01 -1.14145134e-02 1.31014861e+02] [ 8.03382809e-01 5.95283176e-01 -1.46288580e-02 5.44945480e+01] [ 1.85493871e-02 -4.63509268e-04 9.99827838e-01 2.41593528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13361786499996 meters 0.020553599423587834 Centerline is valid? [True, True] Translation: X:131.03, Y:54.52, Z:2.42 [[ 5.94862981e-01 -8.03751636e-01 -1.10155056e-02 1.31031894e+02] [ 8.03627688e-01 5.94964792e-01 -1.41221922e-02 5.45173446e+01] [ 1.79045731e-02 -4.51595945e-04 9.99839598e-01 2.41654924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16361786499996 meters 0.020265102965123467 Centerline is valid? [True, True] Translation: X:131.05, Y:54.54, Z:2.42 [[ 5.93863062e-01 -8.04497009e-01 -1.05463727e-02 1.31048082e+02] [ 8.04383388e-01 5.93956530e-01 -1.35279204e-02 5.45417147e+01] [ 1.71472584e-02 -4.49594782e-04 9.99852874e-01 2.41794395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19361786499996 meters 0.020775272892047923 Centerline is valid? [True, True] Translation: X:131.07, Y:54.56, Z:2.42 [[ 5.93521864e-01 -8.04750484e-01 -1.04142445e-02 1.31065405e+02] [ 8.04639620e-01 5.93613055e-01 -1.33649776e-02 5.45627518e+01] [ 1.69375037e-02 -4.47307360e-04 9.99856450e-01 2.41876086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22361786499997 meters 0.021043557128730014 Centerline is valid? [True, True] Translation: X:131.08, Y:54.59, Z:2.42 [[ 5.93176424e-01 -8.05005118e-01 -1.04158255e-02 1.31082047e+02] [ 8.04894184e-01 5.93267693e-01 -1.33715343e-02 5.45855149e+01] [ 1.69435263e-02 -4.51958441e-04 9.99856346e-01 2.41936315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25361786499997 meters 0.02213989573461961 Centerline is valid? [True, True] Translation: X:131.10, Y:54.61, Z:2.42 [[ 5.92872143e-01 -8.05229695e-01 -1.03808056e-02 1.31100330e+02] [ 8.05119415e-01 5.92962844e-01 -1.33339328e-02 5.46060334e+01] [ 1.68923106e-02 -4.52470798e-04 9.99857212e-01 2.41982431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28361786499997 meters 0.021067695865029566 Centerline is valid? [True, True] Translation: X:131.11, Y:54.63, Z:2.42 [[ 5.92869959e-01 -8.05233122e-01 -1.02386983e-02 1.31114678e+02] [ 8.05125777e-01 5.92958196e-01 -1.31552704e-02 5.46298967e+01] [ 1.66641795e-02 -4.44075301e-04 9.99861044e-01 2.42011109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31361786499997 meters 0.021111596132103762 Centerline is valid? [True, True] Translation: X:131.13, Y:54.65, Z:2.42 [[ 5.93596881e-01 -8.04695307e-01 -1.04021943e-02 1.31131369e+02] [ 8.04584295e-01 5.93687862e-01 -1.33729011e-02 5.46535568e+01] [ 1.69367672e-02 -4.31329818e-04 9.99856470e-01 2.42028183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34361786499997 meters 0.0204764840452496 Centerline is valid? [True, True] Translation: X:131.15, Y:54.68, Z:2.42 [[ 5.94336636e-01 -8.04147709e-01 -1.05083746e-02 1.31147373e+02] [ 8.04034220e-01 5.94429381e-01 -1.35160336e-02 5.46782478e+01] [ 1.71153741e-02 -4.16018818e-04 9.99853435e-01 2.42111027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37361786499997 meters 0.020519176915835054 Centerline is valid? [True, True] Translation: X:131.16, Y:54.70, Z:2.42 [[ 5.95299809e-01 -8.03434242e-01 -1.05619842e-02 1.31163864e+02] [ 8.03319367e-01 5.95393369e-01 -1.35915798e-02 5.47008181e+01] [ 1.72084760e-02 -3.93581622e-04 9.99851846e-01 2.42101935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40361786499997 meters 0.019789392814234336 Centerline is valid? [True, True] Translation: X:131.18, Y:54.73, Z:2.42 [[ 5.97719922e-01 -8.01630309e-01 -1.09427317e-02 1.31178983e+02] [ 8.01506646e-01 5.97819977e-01 -1.40844565e-02 5.47254674e+01] [ 1.78323108e-02 -3.52111888e-04 9.99840930e-01 2.42161820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43361786499997 meters 0.01953434537682268 Centerline is valid? [True, True] Translation: X:131.20, Y:54.75, Z:2.42 [[ 5.98765306e-01 -8.00846710e-01 -1.11648883e-02 1.31195424e+02] [ 8.00717707e-01 5.98869299e-01 -1.43776353e-02 5.47490750e+01] [ 1.82005908e-02 -3.31094561e-04 9.99834301e-01 2.42233815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46361786499997 meters 0.019433641936430247 Centerline is valid? [True, True] Translation: X:131.21, Y:54.77, Z:2.42 [[ 5.99623619e-01 -8.00206197e-01 -1.10253386e-02 1.31212343e+02] [ 8.00080166e-01 5.99724896e-01 -1.42048680e-02 5.47730871e+01] [ 1.79789934e-02 -3.03580421e-04 9.99838319e-01 2.42289875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49361786499998 meters 0.019300760558896554 Centerline is valid? [True, True] Translation: X:131.23, Y:54.80, Z:2.42 [[ 6.00585952e-01 -7.99489636e-01 -1.06224437e-02 1.31229284e+02] [ 7.99372424e-01 6.00679823e-01 -1.36922786e-02 5.47970340e+01] [ 1.73275225e-02 -2.67898418e-04 9.99849831e-01 2.42342073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52361786499998 meters 0.019052370569393393 Centerline is valid? [True, True] Translation: X:131.24, Y:54.82, Z:2.42 [[ 6.01971168e-01 -7.98454356e-01 -1.00674982e-02 1.31244943e+02] [ 7.98348828e-01 6.02055306e-01 -1.29829642e-02 5.48203472e+01] [ 1.64274950e-02 -2.22005240e-04 9.99865035e-01 2.42399578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55361786499998 meters 0.01901619751348244 Centerline is valid? [True, True] Translation: X:131.26, Y:54.84, Z:2.42 [[ 6.02355709e-01 -7.98166204e-01 -9.91513288e-03 1.31260861e+02] [ 7.98063773e-01 6.02437272e-01 -1.27886039e-02 5.48419493e+01] [ 1.61806770e-02 -2.09619788e-04 9.99869062e-01 2.42486147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58361786499998 meters 0.01889857478217038 Centerline is valid? [True, True] Translation: X:131.28, Y:54.86, Z:2.43 [[ 6.02602761e-01 -7.97979961e-01 -9.89410563e-03 1.31277425e+02] [ 7.97877840e-01 6.02683948e-01 -1.27675633e-02 5.48644722e+01] [ 1.61512783e-02 -2.00518750e-04 9.99869539e-01 2.42541565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61361786499998 meters 0.018837148983053706 Centerline is valid? [True, True] Translation: X:131.29, Y:54.89, Z:2.43 [[ 6.02355470e-01 -7.98170119e-01 -9.60980669e-03 1.31294100e+02] [ 7.98073703e-01 6.02432089e-01 -1.24073273e-02 5.48870780e+01] [ 1.56924138e-02 -1.95712544e-04 9.99876847e-01 2.42601879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64361786499998 meters 0.018935037328215217 Centerline is valid? [True, True] Translation: X:131.31, Y:54.91, Z:2.43 [[ 6.02102709e-01 -7.98361272e-01 -9.57116658e-03 1.31310980e+02] [ 7.98265548e-01 6.02178745e-01 -1.23642436e-02 5.49085822e+01] [ 1.56346863e-02 -1.95787979e-04 9.99877752e-01 2.42653987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67361786499998 meters 0.018940273219324066 Centerline is valid? [True, True] Translation: X:131.33, Y:54.93, Z:2.43 [[ 6.01429311e-01 -7.98874232e-01 -9.09644723e-03 1.31327819e+02] [ 7.98787746e-01 6.01498066e-01 -1.17564478e-02 5.49305565e+01] [ 1.48634186e-02 -1.95458312e-04 9.99889514e-01 2.42708216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70361786499998 meters 0.01922446509736114 Centerline is valid? [True, True] Translation: X:131.34, Y:54.95, Z:2.43 [[ 6.00743276e-01 -7.99392782e-01 -8.87113561e-03 1.31344976e+02] [ 7.99310496e-01 6.00808739e-01 -1.14712755e-02 5.49517099e+01] [ 1.44999106e-02 -1.99500204e-04 9.99894851e-01 2.42771311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73361786499999 meters 0.018761788791438076 Centerline is valid? [True, True] Translation: X:131.36, Y:54.98, Z:2.43 [[ 6.00163208e-01 -7.99826919e-01 -9.00130813e-03 1.31361018e+02] [ 7.99742166e-01 6.00230669e-01 -1.16452516e-02 5.49751473e+01] [ 1.47170469e-02 -2.09674075e-04 9.99891676e-01 2.42759987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76361786499996 meters 0.019331882023898166 Centerline is valid? [True, True] Translation: X:131.38, Y:55.00, Z:2.43 [[ 5.98580303e-01 -8.01009891e-01 -9.20733551e-03 1.31379735e+02] [ 8.00921243e-01 5.98651065e-01 -1.19191359e-02 5.49960422e+01] [ 1.50593269e-02 -2.39790617e-04 9.99886573e-01 2.42718045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79361786499996 meters 0.018982060132914563 Centerline is valid? [True, True] Translation: X:131.40, Y:55.02, Z:2.43 [[ 5.97395752e-01 -8.01889855e-01 -9.53808564e-03 1.31396659e+02] [ 8.01794803e-01 5.97471829e-01 -1.23493481e-02 5.50189975e+01] [ 1.56015544e-02 -2.70139407e-04 9.99878252e-01 2.42684248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82361786499996 meters 0.01923369009000973 Centerline is valid? [True, True] Translation: X:131.41, Y:55.04, Z:2.43 [[ 5.96021185e-01 -8.02908348e-01 -9.84537680e-03 1.31414805e+02] [ 8.02807107e-01 5.96102418e-01 -1.27536738e-02 5.50416795e+01] [ 1.61088841e-02 -3.02478676e-04 9.99870198e-01 2.42733145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85361786499996 meters 0.019678775481843897 Centerline is valid? [True, True] Translation: X:131.43, Y:55.06, Z:2.43 [[ 5.94490447e-01 -8.04046328e-01 -9.51903306e-03 1.31432964e+02] [ 8.03951739e-01 5.94566566e-01 -1.23369487e-02 5.50622600e+01] [ 1.55791771e-02 -3.18645058e-04 9.99878586e-01 2.42743261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88361786499996 meters 0.02077173652755324 Centerline is valid? [True, True] Translation: X:131.45, Y:55.08, Z:2.43 [[ 5.90691325e-01 -8.06847085e-01 -9.02994366e-03 1.31452659e+02] [ 8.06762245e-01 5.90760226e-01 -1.17062065e-02 5.50822033e+01] [ 1.47796501e-02 -3.70263007e-04 9.99890706e-01 2.42879324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91361786499996 meters 0.020346794106140945 Centerline is valid? [True, True] Translation: X:131.47, Y:55.11, Z:2.43 [[ 5.88761020e-01 -8.08258644e-01 -8.85586275e-03 1.31469407e+02] [ 8.08177114e-01 5.88827487e-01 -1.14866482e-02 5.51051012e+01] [ 1.44987581e-02 -3.94214908e-04 9.99894810e-01 2.42921781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94361786499996 meters 0.02079853541994273 Centerline is valid? [True, True] Translation: X:131.49, Y:55.13, Z:2.43 [[ 5.86917257e-01 -8.09599258e-01 -8.78489596e-03 1.31488448e+02] [ 8.09519141e-01 5.86982847e-01 -1.13972549e-02 5.51269320e+01] [ 1.43837924e-02 -4.22295837e-04 9.99896459e-01 2.42966839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97361786499997 meters 0.02294732738614856 Centerline is valid? [True, True] Translation: X:131.51, Y:55.15, Z:2.43 [[ 5.84059646e-01 -8.11665583e-01 -8.56220790e-03 1.31509625e+02] [ 8.11589616e-01 5.84122224e-01 -1.11140838e-02 5.51451940e+01] [ 1.40222952e-02 -4.57711180e-04 9.99901578e-01 2.43032407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00361786499997 meters 0.023360062760111662 Centerline is valid? [True, True] Translation: X:131.53, Y:55.17, Z:2.43 [[ 5.83039738e-01 -8.12397455e-01 -8.66254733e-03 1.31528332e+02] [ 8.12319732e-01 5.83103890e-01 -1.12474959e-02 5.51677181e+01] [ 1.41886021e-02 -4.79021063e-04 9.99899222e-01 2.43077380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03361786499997 meters 0.024212100671038142 Centerline is valid? [True, True] Translation: X:131.55, Y:55.19, Z:2.43 [[ 5.82628528e-01 -8.12691632e-01 -8.73550450e-03 1.31546156e+02] [ 8.12612551e-01 5.82693807e-01 -1.13476228e-02 5.51883665e+01] [ 1.43122425e-02 -4.87131834e-04 9.99897456e-01 2.43059533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06361786499997 meters 0.024097467122708837 Centerline is valid? [True, True] Translation: X:131.56, Y:55.21, Z:2.43 [[ 5.83260446e-01 -8.12237633e-01 -8.79090828e-03 1.31563159e+02] [ 8.12157412e-01 5.83326497e-01 -1.14252525e-02 5.52114881e+01] [ 1.44079898e-02 -4.75703430e-04 9.99896086e-01 2.43108507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09361786499997 meters 0.02178583072854032 Centerline is valid? [True, True] Translation: X:131.58, Y:55.24, Z:2.43 [[ 5.84167574e-01 -8.11585160e-01 -8.81891015e-03 1.31576916e+02] [ 8.11504277e-01 5.84233958e-01 -1.14669223e-02 5.52372773e+01] [ 1.44586908e-02 -4.57979108e-04 9.99895363e-01 2.43097916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12361786499997 meters 0.021139997772200544 Centerline is valid? [True, True] Translation: X:131.59, Y:55.26, Z:2.43 [[ 5.87518102e-01 -8.09161126e-01 -8.98622261e-03 1.31592577e+02] [ 8.09076775e-01 5.87586683e-01 -1.16902537e-02 5.52606361e+01] [ 1.47394836e-02 -4.02308341e-04 9.99891287e-01 2.43068373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15361786499997 meters 0.020806488451336855 Centerline is valid? [True, True] Translation: X:131.61, Y:55.28, Z:2.43 [[ 5.89355570e-01 -8.07820928e-01 -9.23906485e-03 1.31609338e+02] [ 8.07731494e-01 5.89427865e-01 -1.20260531e-02 5.52832136e+01] [ 1.51606597e-02 -3.75062251e-04 9.99885000e-01 2.43129428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18361786499997 meters 0.020417368209251142 Centerline is valid? [True, True] Translation: X:131.63, Y:55.31, Z:2.43 [[ 5.90738999e-01 -8.06811943e-01 -9.05117482e-03 1.31626629e+02] [ 8.06725967e-01 5.90808237e-01 -1.17831176e-02 5.53069618e+01] [ 1.48542686e-02 -3.41070675e-04 9.99889611e-01 2.43191803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21361786499997 meters 0.020417368209251142 Centerline is valid? [True, True] Translation: X:131.64, Y:55.33, Z:2.43 [[ 5.90527534e-01 -8.06966760e-01 -9.04872709e-03 1.31643362e+02] [ 8.06880773e-01 5.90596759e-01 -1.17849969e-02 5.53288868e+01] [ 1.48542497e-02 -3.41878726e-04 9.99889611e-01 2.43236925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24361786499998 meters 0.01976504613233743 Centerline is valid? [True, True] Translation: X:131.66, Y:55.35, Z:2.43 [[ 5.93585658e-01 -8.04723968e-01 -8.68341158e-03 1.31658594e+02] [ 8.04644452e-01 5.93649106e-01 -1.13156482e-02 5.53515815e+01] [ 1.42608729e-02 -2.70252464e-04 9.99898272e-01 2.43315151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27361786499998 meters 0.01951041545459045 Centerline is valid? [True, True] Translation: X:131.67, Y:55.37, Z:2.43 [[ 5.94802337e-01 -8.03827389e-01 -8.46806762e-03 1.31674512e+02] [ 8.03751653e-01 5.94862564e-01 -1.10368157e-02 5.53735834e+01] [ 1.39090312e-02 -2.41499551e-04 9.99903236e-01 2.43375728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30361786499998 meters 0.01922852061680176 Centerline is valid? [True, True] Translation: X:131.69, Y:55.40, Z:2.43 [[ 5.95919159e-01 -8.03001993e-01 -8.25566475e-03 1.31691171e+02] [ 8.02929878e-01 5.95976303e-01 -1.07637228e-02 5.53960127e+01] [ 1.35634714e-02 -2.14411245e-04 9.99907989e-01 2.43445541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33361786499998 meters 0.018644709875298888 Centerline is valid? [True, True] Translation: X:131.71, Y:55.42, Z:2.44 [[ 5.97549631e-01 -8.01792275e-01 -7.97413464e-03 1.31708764e+02] [ 8.01724818e-01 5.97602809e-01 -1.04019190e-02 5.54190040e+01] [ 1.31055436e-02 -1.77398756e-04 9.99914103e-01 2.43585747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36361786499998 meters 0.01861368197496083 Centerline is valid? [True, True] Translation: X:131.73, Y:55.44, Z:2.44 [[ 5.98210021e-01 -8.01302557e-01 -7.68001587e-03 1.31726096e+02] [ 8.01239889e-01 5.98259298e-01 -1.00225885e-02 5.54407080e+01] [ 1.26257667e-02 -1.57922160e-04 9.99920279e-01 2.43637642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39361786499998 meters 0.018502136137714755 Centerline is valid? [True, True] Translation: X:131.74, Y:55.46, Z:2.44 [[ 5.99147329e-01 -8.00603833e-01 -7.48205854e-03 1.31743409e+02] [ 8.00544234e-01 5.99194029e-01 -9.76957536e-03 5.54610604e+01] [ 1.23047643e-02 -1.36303847e-04 9.99924284e-01 2.43700310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42361786499998 meters 0.018451806587361935 Centerline is valid? [True, True] Translation: X:131.76, Y:55.48, Z:2.44 [[ 5.99680245e-01 -8.00203849e-01 -7.57656582e-03 1.31760348e+02] [ 8.00142648e-01 5.99728092e-01 -9.89734714e-03 5.54821220e+01] [ 1.24637746e-02 -1.27089877e-04 9.99922316e-01 2.43741207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45361786499998 meters 0.01804755596698013 Centerline is valid? [True, True] Translation: X:131.78, Y:55.51, Z:2.44 [[ 5.99959535e-01 -7.99995191e-01 -7.50007926e-03 1.31776404e+02] [ 7.99935154e-01 6.00006400e-01 -9.80149637e-03 5.55054346e+01] [ 1.23412455e-02 -1.19075857e-04 9.99923837e-01 2.43698419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48361786499999 meters 0.018197159990078246 Centerline is valid? [True, True] Translation: X:131.79, Y:55.53, Z:2.44 [[ 6.00302187e-01 -7.99738802e-01 -7.42520596e-03 1.31793857e+02] [ 7.99679864e-01 6.00348097e-01 -9.70968803e-03 5.55263271e+01] [ 1.22229225e-02 -1.09040729e-04 9.99925291e-01 2.43788974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51361786499996 meters 0.018105317007489394 Centerline is valid? [True, True] Translation: X:131.81, Y:55.55, Z:2.44 [[ 6.00607383e-01 -7.99507893e-01 -7.60921176e-03 1.31811364e+02] [ 7.99445936e-01 6.00655573e-01 -9.95379658e-03 5.55486844e+01] [ 1.25286544e-02 -1.04829703e-04 9.99921508e-01 2.43763722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54361786499996 meters 0.017913459200589735 Centerline is valid? [True, True] Translation: X:131.83, Y:55.57, Z:2.44 [[ 6.00880674e-01 -7.99299656e-01 -7.90416728e-03 1.31829456e+02] [ 7.99232708e-01 6.00932650e-01 -1.03454382e-02 5.55704353e+01] [ 1.30189774e-02 -1.00895136e-04 9.99915244e-01 2.43757710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57361786499996 meters 0.017970505550274 Centerline is valid? [True, True] Translation: X:131.85, Y:55.59, Z:2.44 [[ 6.00634013e-01 -7.99483244e-01 -8.08241090e-03 1.31847574e+02] [ 7.99413172e-01 6.00688382e-01 -1.05852631e-02 5.55909871e+01] [ 1.33177508e-02 -1.03316697e-04 9.99911309e-01 2.43807777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60361786499996 meters 0.017870764119245694 Centerline is valid? [True, True] Translation: X:131.87, Y:55.61, Z:2.44 [[ 5.99814817e-01 -8.00096305e-01 -8.25155941e-03 1.31866305e+02] [ 8.00023276e-01 5.99871560e-01 -1.08105722e-02 5.56120659e+01] [ 1.35993747e-02 -1.17098200e-04 9.99907517e-01 2.43750346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63361786499996 meters 0.01800102600810332 Centerline is valid? [True, True] Translation: X:131.88, Y:55.63, Z:2.44 [[ 5.99147182e-01 -8.00595014e-01 -8.38323971e-03 1.31884295e+02] [ 8.00519590e-01 5.99205815e-01 -1.09898958e-02 5.56329022e+01] [ 1.38217418e-02 -1.26382504e-04 9.99904467e-01 2.43768734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66361786499996 meters 0.018039386198708734 Centerline is valid? [True, True] Translation: X:131.90, Y:55.65, Z:2.44 [[ 5.98122866e-01 -8.01358462e-01 -8.58209949e-03 1.31902867e+02] [ 8.01279435e-01 5.98184415e-01 -1.12548959e-02 5.56546813e+01] [ 1.41528842e-02 -1.44849249e-04 9.99899832e-01 2.43812898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69361786499996 meters 0.018414540290587304 Centerline is valid? [True, True] Translation: X:131.92, Y:55.68, Z:2.44 [[ 5.95974413e-01 -8.02954907e-01 -8.82709093e-03 1.31923258e+02] [ 8.02871391e-01 5.96039750e-01 -1.15820942e-02 5.56755284e+01] [ 1.45611965e-02 -1.84386969e-04 9.99893963e-01 2.43780808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72361786499997 meters 0.0186653456452962 Centerline is valid? [True, True] Translation: X:131.94, Y:55.70, Z:2.44 [[ 5.94644650e-01 -8.03939549e-01 -8.88495256e-03 1.31941809e+02] [ 8.03854955e-01 5.94710988e-01 -1.16641088e-02 5.56967570e+01] [ 1.46612173e-02 -2.06213272e-04 9.99892497e-01 2.43791820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75361786499997 meters 0.018817786795833406 Centerline is valid? [True, True] Translation: X:131.96, Y:55.72, Z:2.44 [[ 5.93174605e-01 -8.05026276e-01 -8.75116460e-03 1.31960544e+02] [ 8.04944293e-01 5.93239111e-01 -1.14909491e-02 5.57188357e+01] [ 1.44420491e-02 -2.28060791e-04 9.99895682e-01 2.43785548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78361786499997 meters 0.019049439774314152 Centerline is valid? [True, True] Translation: X:131.98, Y:55.74, Z:2.44 [[ 5.91783459e-01 -8.06049225e-01 -8.77406190e-03 1.31979402e+02] [ 8.05966843e-01 5.91848446e-01 -1.15266971e-02 5.57409563e+01] [ 1.44840002e-02 -2.50294276e-04 9.99895070e-01 2.43821687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81361786499997 meters 0.01906134839606669 Centerline is valid? [True, True] Translation: X:132.00, Y:55.76, Z:2.44 [[ 5.92006676e-01 -8.05888498e-01 -8.47491512e-03 1.31995182e+02] [ 8.05811542e-01 5.92067288e-01 -1.11394012e-02 5.57631387e+01] [ 1.39948353e-02 -2.34584562e-04 9.99902040e-01 2.43876544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84361786499997 meters 0.019298570864834292 Centerline is valid? [True, True] Translation: X:132.01, Y:55.78, Z:2.44 [[ 5.92007152e-01 -8.05885815e-01 -8.69395283e-03 1.32012230e+02] [ 8.05804779e-01 5.92070938e-01 -1.14307421e-02 5.57845249e+01] [ 1.43593098e-02 -2.38547645e-04 9.99896871e-01 2.43887362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87361786499997 meters 0.01895460521260021 Centerline is valid? [True, True] Translation: X:132.03, Y:55.81, Z:2.44 [[ 5.92856018e-01 -8.05251739e-01 -9.55928167e-03 1.32028037e+02] [ 8.05153602e-01 5.92933030e-01 -1.25737073e-02 5.58081469e+01] [ 1.57930135e-02 -2.42292008e-04 9.99875253e-01 2.43809805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90361786499997 meters 0.019022283328690996 Centerline is valid? [True, True] Translation: X:132.04, Y:55.83, Z:2.44 [[ 5.93067950e-01 -8.05087196e-01 -1.02476563e-02 1.32044473e+02] [ 8.04974259e-01 5.93156425e-01 -1.34869735e-02 5.58295488e+01] [ 1.69366529e-02 -2.50407822e-04 9.99856533e-01 2.43763076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93361786499997 meters 0.019102791140204457 Centerline is valid? [True, True] Translation: X:132.06, Y:55.85, Z:2.44 [[ 5.93006556e-01 -8.05128103e-01 -1.05811854e-02 1.32060926e+02] [ 8.05007579e-01 5.93100895e-01 -1.39328884e-02 5.58506196e+01] [ 1.74934706e-02 -2.55640281e-04 9.99846945e-01 2.43724984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96361786499997 meters 0.018955385482153364 Centerline is valid? [True, True] Translation: X:132.08, Y:55.87, Z:2.44 [[ 5.92928562e-01 -8.05181247e-01 -1.09031581e-02 1.32077364e+02] [ 8.05053181e-01 5.93028743e-01 -1.43626683e-02 5.58731103e+01] [ 1.80304373e-02 -2.61585804e-04 9.99837404e-01 2.43725836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99361786499998 meters 0.018998526707431445 Centerline is valid? [True, True] Translation: X:132.09, Y:55.90, Z:2.44 [[ 5.93062829e-01 -8.05080410e-01 -1.10459732e-02 1.32092297e+02] [ 8.04948799e-01 5.93165632e-01 -1.45589996e-02 5.58952920e+01] [ 1.82732570e-02 -2.57041338e-04 9.99832997e-01 2.43703774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02361786499998 meters 0.01903470425366014 Centerline is valid? [True, True] Translation: X:132.11, Y:55.92, Z:2.44 [[ 5.93253179e-01 -8.04942109e-01 -1.09026403e-02 1.32107916e+02] [ 8.04813739e-01 5.93353303e-01 -1.43771806e-02 5.59178242e+01] [ 1.80419157e-02 -2.45286663e-04 9.99837201e-01 2.43722396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05361786499998 meters 0.018879188311364738 Centerline is valid? [True, True] Translation: X:132.12, Y:55.94, Z:2.44 [[ 5.93377282e-01 -8.04850105e-01 -1.09411853e-02 1.32123663e+02] [ 8.04720682e-01 5.93478096e-01 -1.44351241e-02 5.59416209e+01] [ 1.81114650e-02 -2.39123376e-04 9.99835945e-01 2.43793238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08361786499998 meters 0.018832976912820085 Centerline is valid? [True, True] Translation: X:132.14, Y:55.96, Z:2.44 [[ 5.94143833e-01 -8.04284414e-01 -1.09401857e-02 1.32139530e+02] [ 8.04154772e-01 5.94244507e-01 -1.44418638e-02 5.59643253e+01] [ 1.81165112e-02 -2.17058189e-04 9.99835859e-01 2.43925571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11361786499998 meters 0.018810278878185364 Centerline is valid? [True, True] Translation: X:132.16, Y:55.99, Z:2.44 [[ 5.94527678e-01 -8.04000576e-01 -1.09505670e-02 1.32155284e+02] [ 8.03870498e-01 5.94628483e-01 -1.44633728e-02 5.59861351e+01] [ 1.81400790e-02 -2.03962306e-04 9.99835434e-01 2.43989040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14361786499998 meters 0.018673615110805113 Centerline is valid? [True, True] Translation: X:132.17, Y:56.01, Z:2.44 [[ 5.94834273e-01 -8.03774501e-01 -1.08967145e-02 1.32171229e+02] [ 8.03645536e-01 5.94934042e-01 -1.43992178e-02 5.60090513e+01] [ 1.80565505e-02 -1.91947703e-04 9.99836949e-01 2.44046818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17361786499998 meters 0.018536474286634238 Centerline is valid? [True, True] Translation: X:132.19, Y:56.03, Z:2.44 [[ 5.95217242e-01 -8.03493552e-01 -1.07026659e-02 1.32187445e+02] [ 8.03368955e-01 5.95313432e-01 -1.41506258e-02 5.60315511e+01] [ 1.77413774e-02 -1.75493095e-04 9.99842594e-01 2.44153386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20361786499998 meters 0.01863212551817892 Centerline is valid? [True, True] Translation: X:132.20, Y:56.05, Z:2.44 [[ 5.95070521e-01 -8.03600244e-01 -1.08499855e-02 1.32204006e+02] [ 8.03472069e-01 5.95169401e-01 -1.43533137e-02 5.60534147e+01] [ 1.79919058e-02 -1.76426436e-04 9.99838117e-01 2.44255657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23361786499996 meters 0.01869826997707023 Centerline is valid? [True, True] Translation: X:132.22, Y:56.08, Z:2.44 [[ 5.94806535e-01 -8.03797752e-01 -1.06939302e-02 1.32219851e+02] [ 8.03673189e-01 5.94902633e-01 -1.41514394e-02 5.60750058e+01] [ 1.77367424e-02 -1.77056329e-04 9.99842676e-01 2.44223556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26361786499996 meters 0.018560106092316075 Centerline is valid? [True, True] Translation: X:132.24, Y:56.10, Z:2.44 [[ 5.94325999e-01 -8.04149887e-01 -1.09346539e-02 1.32236053e+02] [ 8.04019575e-01 5.94426551e-01 -1.44775039e-02 5.60977738e+01] [ 1.81419318e-02 -1.87318839e-04 9.99835404e-01 2.44245228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29361786499996 meters 0.01875434797274535 Centerline is valid? [True, True] Translation: X:132.25, Y:56.12, Z:2.44 [[ 5.93641743e-01 -8.04656645e-01 -1.08243108e-02 1.32252635e+02] [ 8.04528893e-01 5.93740386e-01 -1.43392431e-02 5.61186073e+01] [ 1.79649977e-02 -1.96097514e-04 9.99838597e-01 2.44232402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32361786499996 meters 0.019066170707560757 Centerline is valid? [True, True] Translation: X:132.27, Y:56.14, Z:2.44 [[ 5.92496108e-01 -8.05495083e-01 -1.12264684e-02 1.32271119e+02] [ 8.05357712e-01 5.92602413e-01 -1.48773492e-02 5.61389013e+01] [ 1.86364639e-02 -2.26551350e-04 9.99826300e-01 2.44182485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35361786499996 meters 0.01884223232715686 Centerline is valid? [True, True] Translation: X:132.29, Y:56.16, Z:2.44 [[ 5.91383175e-01 -8.06308465e-01 -1.15151931e-02 1.32288359e+02] [ 8.06163943e-01 5.91495219e-01 -1.52676868e-02 5.61624629e+01] [ 1.91216468e-02 -2.54080361e-04 9.99817132e-01 2.44224603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38361786499996 meters 0.01894248249438906 Centerline is valid? [True, True] Translation: X:132.31, Y:56.18, Z:2.44 [[ 5.90366941e-01 -8.07051547e-01 -1.16049520e-02 1.32306542e+02] [ 8.06904758e-01 5.90480926e-01 -1.53943872e-02 5.61847014e+01] [ 1.92765668e-02 -2.75753741e-04 9.99814152e-01 2.44252797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41361786499996 meters 0.01931437563055515 Centerline is valid? [True, True] Translation: X:132.33, Y:56.21, Z:2.44 [[ 5.88467799e-01 -8.08433958e-01 -1.18399621e-02 1.32325432e+02] [ 8.08281296e-01 5.88586808e-01 -1.57135379e-02 5.62054871e+01] [ 1.96722032e-02 -3.23108860e-04 9.99806431e-01 2.44283539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44361786499996 meters 0.019469580509647654 Centerline is valid? [True, True] Translation: X:132.34, Y:56.23, Z:2.44 [[ 5.87306466e-01 -8.09275681e-01 -1.19994708e-02 1.32343559e+02] [ 8.09118948e-01 5.87428930e-01 -1.59304568e-02 5.62285292e+01] [ 1.99409675e-02 -3.52938901e-04 9.99801097e-01 2.44298100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47361786499997 meters 0.020462038379699333 Centerline is valid? [True, True] Translation: X:132.36, Y:56.25, Z:2.44 [[ 5.86207673e-01 -8.10074396e-01 -1.18336892e-02 1.32362603e+02] [ 8.09921990e-01 5.86326986e-01 -1.57173592e-02 5.62490384e+01] [ 1.96706416e-02 -3.70728502e-04 9.99806445e-01 2.44276778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50361786499997 meters 0.01994516956814497 Centerline is valid? [True, True] Translation: X:132.38, Y:56.27, Z:2.44 [[ 5.83982178e-01 -8.11685607e-01 -1.14582266e-02 1.32379080e+02] [ 8.11542955e-01 5.84094434e-01 -1.52224993e-02 5.62722490e+01] [ 1.90485700e-02 -4.09174792e-04 9.99818476e-01 2.44374966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53361786499997 meters 0.019881648222745893 Centerline is valid? [True, True] Translation: X:132.40, Y:56.29, Z:2.44 [[ 5.82768429e-01 -8.12558416e-01 -1.13920228e-02 1.32397070e+02] [ 8.12417483e-01 5.82879605e-01 -1.51393376e-02 5.62949768e+01] [ 1.89417740e-02 -4.32350495e-04 9.99820495e-01 2.44471558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56361786499997 meters 0.020556629218923823 Centerline is valid? [True, True] Translation: X:132.42, Y:56.32, Z:2.45 [[ 5.80774039e-01 -8.13987804e-01 -1.11968641e-02 1.32416049e+02] [ 8.13851791e-01 5.80881775e-01 -1.48870843e-02 5.63158060e+01] [ 1.86219593e-02 -4.66555843e-04 9.99826487e-01 2.44500802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59361786499997 meters 0.02028312533646415 Centerline is valid? [True, True] Translation: X:132.43, Y:56.34, Z:2.45 [[ 5.79852881e-01 -8.14646721e-01 -1.10161690e-02 1.32433084e+02] [ 8.14515082e-01 5.79957319e-01 -1.46522751e-02 5.63389139e+01] [ 1.83253357e-02 -4.76671895e-04 9.99831963e-01 2.44578755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62361786499997 meters 0.020545598277807303 Centerline is valid? [True, True] Translation: X:132.45, Y:56.36, Z:2.45 [[ 5.78907605e-01 -8.15324641e-01 -1.05694860e-02 1.32450821e+02] [ 8.15203454e-01 5.79003890e-01 -1.40649897e-02 5.63616286e+01] [ 1.75873062e-02 -4.73951932e-04 9.99845219e-01 2.44605843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65361786499997 meters 0.02078605416666604 Centerline is valid? [True, True] Translation: X:132.47, Y:56.38, Z:2.45 [[ 5.78212818e-01 -8.15821151e-01 -1.02852659e-02 1.32468487e+02] [ 8.15706357e-01 5.78304096e-01 -1.36934992e-02 5.63846112e+01] [ 1.71194577e-02 -4.72000023e-04 9.99853340e-01 2.44654000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68361786499997 meters 0.020682916547603798 Centerline is valid? [True, True] Translation: X:132.49, Y:56.41, Z:2.45 [[ 5.78004911e-01 -8.15973870e-01 -9.84715324e-03 1.32485333e+02] [ 8.15868567e-01 5.78088608e-01 -1.31165128e-02 5.64075607e+01] [ 1.63952589e-02 -4.52573950e-04 9.99865486e-01 2.44678629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71361786499997 meters 0.021569240792189755 Centerline is valid? [True, True] Translation: X:132.50, Y:56.43, Z:2.45 [[ 5.78486121e-01 -8.15633060e-01 -9.82442775e-03 1.32503764e+02] [ 8.15528070e-01 5.78569373e-01 -1.30937778e-02 5.64283021e+01] [ 1.63638311e-02 -4.37527845e-04 9.99866008e-01 2.44708717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74361786499998 meters 0.020502350834824785 Centerline is valid? [True, True] Translation: X:132.52, Y:56.45, Z:2.45 [[ 5.78755770e-01 -8.15441223e-01 -9.86764430e-03 1.32518859e+02] [ 8.15335215e-01 5.78839723e-01 -1.31553063e-02 5.64528851e+01] [ 1.64391636e-02 -4.31728430e-04 9.99864775e-01 2.44714005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77361786499998 meters 0.020256355279713884 Centerline is valid? [True, True] Translation: X:132.54, Y:56.48, Z:2.45 [[ 5.79276008e-01 -8.15072233e-01 -9.82656685e-03 1.32535269e+02] [ 8.14966946e-01 5.79359200e-01 -1.31070422e-02 5.64764822e+01] [ 1.63762980e-02 -4.15732093e-04 9.99865813e-01 2.44738099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80361786499998 meters 0.019565979711527366 Centerline is valid? [True, True] Translation: X:132.55, Y:56.50, Z:2.45 [[ 5.80439757e-01 -8.14245777e-01 -9.66971744e-03 1.32549715e+02] [ 8.14143608e-01 5.80520171e-01 -1.29041594e-02 5.65020924e+01] [ 1.61206233e-02 -3.82451487e-04 9.99869981e-01 2.44713142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83361786499998 meters 0.019242432019363223 Centerline is valid? [True, True] Translation: X:132.57, Y:56.53, Z:2.45 [[ 5.80833880e-01 -8.13968220e-01 -9.36695724e-03 1.32565763e+02] [ 8.13872218e-01 5.80909294e-01 -1.25062389e-02 5.65266984e+01] [ 1.56210335e-02 -3.59458995e-04 9.99877920e-01 2.44714248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86361786499998 meters 0.02000064365157521 Centerline is valid? [True, True] Translation: X:132.58, Y:56.55, Z:2.45 [[ 5.81197760e-01 -8.13710910e-01 -9.14980199e-03 1.32583039e+02] [ 8.13619180e-01 5.81269678e-01 -1.22225744e-02 5.65481937e+01] [ 1.52641446e-02 -3.40721544e-04 9.99883438e-01 2.44753448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89361786499998 meters 0.01953615416335124 Centerline is valid? [True, True] Translation: X:132.60, Y:56.57, Z:2.45 [[ 5.80544648e-01 -8.14182624e-01 -8.63517076e-03 1.32598768e+02] [ 8.14100932e-01 5.80608771e-01 -1.15380798e-02 5.65730636e+01] [ 1.44077600e-02 -3.31530095e-04 9.99896148e-01 2.44842794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92361786499998 meters 0.019721761922868217 Centerline is valid? [True, True] Translation: X:132.62, Y:56.60, Z:2.45 [[ 5.80029376e-01 -8.14551492e-01 -8.47290086e-03 1.32616189e+02] [ 8.14472802e-01 5.80091163e-01 -1.13268007e-02 5.65961949e+01] [ 1.41413173e-02 -3.31070157e-04 9.99899952e-01 2.44899654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95361786499998 meters 0.020571241534555595 Centerline is valid? [True, True] Translation: X:132.63, Y:56.62, Z:2.45 [[ 5.79195716e-01 -8.15145108e-01 -8.41282187e-03 1.32633889e+02] [ 8.15067510e-01 5.79256712e-01 -1.12524136e-02 5.66178646e+01] [ 1.40455334e-02 -3.39668016e-04 9.99901299e-01 2.44955178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98361786499996 meters 0.02151491014773518 Centerline is valid? [True, True] Translation: X:132.65, Y:56.64, Z:2.45 [[ 5.77185787e-01 -8.16575019e-01 -7.86162659e-03 1.32650071e+02] [ 8.16507349e-01 5.77239220e-01 -1.05181886e-02 5.66398944e+01] [ 1.31269293e-02 -3.48126906e-04 9.99913778e-01 2.44976773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01361786499996 meters 0.020644920121500647 Centerline is valid? [True, True] Translation: X:132.67, Y:56.66, Z:2.45 [[ 5.75876414e-01 -8.17501028e-01 -7.64362552e-03 1.32665036e+02] [ 8.17437125e-01 5.75927027e-01 -1.02276795e-02 5.66646815e+01] [ 1.27633090e-02 -3.58303904e-04 9.99918481e-01 2.44972516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04361786499996 meters 0.02140509907201884 Centerline is valid? [True, True] Translation: X:132.68, Y:56.69, Z:2.45 [[ 5.73462145e-01 -8.19201760e-01 -7.04591238e-03 1.32681309e+02] [ 8.19147538e-01 5.73505314e-01 -9.43214197e-03 5.66870168e+01] [ 1.17676955e-02 -3.62665408e-04 9.99930693e-01 2.44982923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07361786499996 meters 0.021914875481987613 Centerline is valid? [True, True] Translation: X:132.70, Y:56.71, Z:2.45 [[ 5.72118436e-01 -8.20140331e-01 -7.09456201e-03 1.32699076e+02] [ 8.20085377e-01 5.72162295e-01 -9.50176313e-03 5.67103272e+01] [ 1.18520200e-02 -3.82012698e-04 9.99929689e-01 2.45025619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10361786499996 meters 0.021914875481987613 Centerline is valid? [True, True] Translation: X:132.72, Y:56.73, Z:2.45 [[ 5.71899410e-01 -8.20293095e-01 -7.09246312e-03 1.32715520e+02] [ 8.20238133e-01 5.71943259e-01 -9.50332943e-03 5.67324847e+01] [ 1.18520020e-02 -3.82560218e-04 9.99929689e-01 2.45070744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13361786499996 meters 0.022405329193555396 Centerline is valid? [True, True] Translation: X:132.73, Y:56.76, Z:2.45 [[ 5.70721951e-01 -8.21111992e-01 -7.17992212e-03 1.32732831e+02] [ 8.21055662e-01 5.70766972e-01 -9.62622740e-03 5.67554145e+01] [ 1.20022732e-02 -4.01216425e-04 9.99927890e-01 2.45136315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16361786499996 meters 0.02289965137780934 Centerline is valid? [True, True] Translation: X:132.75, Y:56.78, Z:2.45 [[ 5.69409229e-01 -8.22024264e-01 -7.01707602e-03 1.32749892e+02] [ 8.21970478e-01 5.69452318e-01 -9.41232163e-03 5.67784354e+01] [ 1.17330470e-02 -4.08366531e-04 9.99931082e-01 2.45149285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19361786499996 meters 0.024006709757534318 Centerline is valid? [True, True] Translation: X:132.77, Y:56.80, Z:2.45 [[ 5.67643096e-01 -8.23243449e-01 -7.17904906e-03 1.32765979e+02] [ 8.23187178e-01 5.67688321e-01 -9.63537131e-03 5.68004369e+01] [ 1.20077186e-02 -4.40249138e-04 9.99927808e-01 2.45130278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22361786499997 meters 0.024591744588143397 Centerline is valid? [True, True] Translation: X:132.78, Y:56.82, Z:2.45 [[ 5.66901864e-01 -8.23753198e-01 -7.27635453e-03 1.32783070e+02] [ 8.23695419e-01 5.66948375e-01 -9.76711305e-03 5.68241896e+01] [ 1.21710080e-02 -4.56505301e-04 9.99925826e-01 2.45148563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25361786499997 meters 0.022378604459888984 Centerline is valid? [True, True] Translation: X:132.80, Y:56.85, Z:2.45 [[ 5.66467210e-01 -8.24051690e-01 -7.32891530e-03 1.32795993e+02] [ 8.23993041e-01 5.66514428e-01 -9.84227798e-03 5.68502557e+01] [ 1.22624821e-02 -4.63647466e-04 9.99924705e-01 2.45090723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28361786499997 meters 0.0218709235283476 Centerline is valid? [True, True] Translation: X:132.81, Y:56.88, Z:2.45 [[ 5.66646207e-01 -8.23928595e-01 -7.33122454e-03 1.32810204e+02] [ 8.23869839e-01 5.66693445e-01 -9.85028344e-03 5.68751995e+01] [ 1.22704871e-02 -4.58349035e-04 9.99924610e-01 2.45079673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31361786499997 meters 0.025070319002864782 Centerline is valid? [True, True] Translation: X:132.83, Y:56.90, Z:2.45 [[ 5.67011687e-01 -8.23677478e-01 -7.29108915e-03 1.32830468e+02] [ 8.23619283e-01 5.67058385e-01 -9.80125494e-03 5.68955187e+01] [ 1.22075462e-02 -4.47655519e-04 9.99925385e-01 2.45180527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34361786499997 meters 0.02518835353113215 Centerline is valid? [True, True] Translation: X:132.85, Y:56.92, Z:2.45 [[ 5.67412781e-01 -8.23402131e-01 -7.18794773e-03 1.32845733e+02] [ 8.23345488e-01 5.67458142e-01 -9.66766758e-03 5.69183280e+01] [ 1.20392376e-02 -4.32606190e-04 9.99927432e-01 2.45231748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37361786499997 meters 0.021066063482376423 Centerline is valid? [True, True] Translation: X:132.86, Y:56.95, Z:2.45 [[ 5.67923546e-01 -8.23048922e-01 -7.30194957e-03 1.32855817e+02] [ 8.22990395e-01 5.67970323e-01 -9.82462160e-03 5.69464973e+01] [ 1.22334349e-02 -4.29800427e-04 9.99925076e-01 2.45192905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40361786499997 meters 0.022196365136297115 Centerline is valid? [True, True] Translation: X:132.87, Y:56.97, Z:2.45 [[ 5.69020972e-01 -8.22291537e-01 -7.19453322e-03 1.32872220e+02] [ 8.22234587e-01 5.69066310e-01 -9.68605906e-03 5.69692551e+01] [ 1.20589309e-02 -4.04023306e-04 9.99927207e-01 2.45281307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43361786499997 meters 0.021202353013729986 Centerline is valid? [True, True] Translation: X:132.89, Y:56.99, Z:2.45 [[ 5.69341280e-01 -8.22070097e-01 -7.15984180e-03 1.32887182e+02] [ 8.22013669e-01 5.69386159e-01 -9.63995850e-03 5.69946138e+01] [ 1.20014364e-02 -3.97061521e-04 9.99927901e-01 2.45284828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46361786499997 meters 0.021078420099111747 Centerline is valid? [True, True] Translation: X:132.90, Y:57.02, Z:2.45 [[ 5.69789518e-01 -8.21762657e-01 -6.78536747e-03 1.32903360e+02] [ 8.21711908e-01 5.69829800e-01 -9.13997664e-03 5.70190641e+01] [ 1.13773961e-02 -3.67754359e-04 9.99935208e-01 2.45364519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49361786499998 meters 0.02041360233985123 Centerline is valid? [True, True] Translation: X:132.92, Y:57.04, Z:2.45 [[ 5.71149803e-01 -8.20818235e-01 -6.73261541e-03 1.32917200e+02] [ 8.20768157e-01 5.71189379e-01 -9.07336238e-03 5.70444443e+01] [ 1.12931797e-02 -3.43667206e-04 9.99936171e-01 2.45367074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52361786499998 meters 0.02034809797563945 Centerline is valid? [True, True] Translation: X:132.93, Y:57.07, Z:2.45 [[ 5.72148249e-01 -8.20122236e-01 -6.77491150e-03 1.32932598e+02] [ 8.20071416e-01 5.72188265e-01 -9.13581933e-03 5.70672909e+01] [ 1.13690134e-02 -3.28868230e-04 9.99935317e-01 2.45422058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55361786499998 meters 0.020019990354700555 Centerline is valid? [True, True] Translation: X:132.95, Y:57.09, Z:2.45 [[ 5.73047060e-01 -8.19492303e-01 -7.03078688e-03 1.32948070e+02] [ 8.19437498e-01 5.73090096e-01 -9.48303100e-03 5.70916158e+01] [ 1.18005452e-02 -3.27067376e-04 9.99930318e-01 2.45433493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58361786499998 meters 0.019582316785705593 Centerline is valid? [True, True] Translation: X:132.96, Y:57.12, Z:2.45 [[ 5.74447249e-01 -8.18514712e-01 -6.63507869e-03 1.32962307e+02] [ 8.18465792e-01 5.74485495e-01 -8.95338191e-03 5.71172209e+01] [ 1.11402313e-02 -2.87339332e-04 9.99937904e-01 2.45423263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61361786499998 meters 0.019641247551404204 Centerline is valid? [True, True] Translation: X:132.98, Y:57.14, Z:2.45 [[ 5.74677747e-01 -8.18352592e-01 -6.67250236e-03 1.32978586e+02] [ 8.18303057e-01 5.74716413e-01 -9.00842432e-03 5.71409165e+01] [ 1.12068640e-02 -2.83188086e-04 9.99937161e-01 2.45468106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64361786499998 meters 0.019789061986180023 Centerline is valid? [True, True] Translation: X:132.99, Y:57.16, Z:2.45 [[ 5.75326746e-01 -8.17894370e-01 -6.92356231e-03 1.32994006e+02] [ 8.17840938e-01 5.75368335e-01 -9.35303736e-03 5.71640680e+01] [ 1.16333951e-02 -2.81320146e-04 9.99932290e-01 2.45457794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67361786499998 meters 0.019703210085854385 Centerline is valid? [True, True] Translation: X:133.01, Y:57.19, Z:2.45 [[ 5.75449351e-01 -8.17807253e-01 -7.02437864e-03 1.33009873e+02] [ 8.17752225e-01 5.75492152e-01 -9.49109341e-03 5.71868451e+01] [ 1.18043598e-02 -2.82557731e-04 9.99930286e-01 2.45482348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70361786499998 meters 0.019057827504464643 Centerline is valid? [True, True] Translation: X:133.02, Y:57.21, Z:2.46 [[ 5.75221698e-01 -8.17967904e-01 -6.96457841e-03 1.33024508e+02] [ 8.17913762e-01 5.75263791e-01 -9.41534135e-03 5.72106472e+01] [ 1.17079168e-02 -2.80515884e-04 9.99931421e-01 2.45526809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73361786499996 meters 0.02006217691981417 Centerline is valid? [True, True] Translation: X:133.04, Y:57.23, Z:2.46 [[ 5.74914584e-01 -8.18186495e-01 -6.63930421e-03 1.33041454e+02] [ 8.18137239e-01 5.74952857e-01 -8.98169295e-03 5.72322781e+01] [ 1.11659868e-02 -2.68155753e-04 9.99937622e-01 2.45579255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76361786499996 meters 0.019976501817144075 Centerline is valid? [True, True] Translation: X:133.06, Y:57.26, Z:2.46 [[ 5.74204780e-01 -8.18687759e-01 -6.26287592e-03 1.33057872e+02] [ 8.18643950e-01 5.74238874e-01 -8.47339184e-03 5.72563464e+01] [ 1.05334490e-02 -2.61603384e-04 9.99944487e-01 2.45628437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79361786499996 meters 0.01956965700973147 Centerline is valid? [True, True] Translation: X:133.07, Y:57.28, Z:2.46 [[ 5.73529216e-01 -8.19161992e-01 -6.15385910e-03 1.33073721e+02] [ 8.19119682e-01 5.73562169e-01 -8.32972811e-03 5.72807971e+01] [ 1.03530174e-02 -2.63404678e-04 9.99946371e-01 2.45652734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82361786499996 meters 0.019587399289646926 Centerline is valid? [True, True] Translation: X:133.09, Y:57.30, Z:2.46 [[ 5.72688603e-01 -8.19750473e-01 -6.07669888e-03 1.33090834e+02] [ 8.19709210e-01 5.72720779e-01 -8.22928003e-03 5.73046498e+01] [ 1.02262079e-02 -2.68311151e-04 9.99947675e-01 2.45671309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85361786499996 meters 0.020257071241843762 Centerline is valid? [True, True] Translation: X:133.11, Y:57.33, Z:2.46 [[ 5.71137968e-01 -8.20831355e-01 -6.10804797e-03 1.33107643e+02] [ 8.20789676e-01 5.71170556e-01 -8.27669380e-03 5.73273307e+01] [ 1.02825069e-02 -2.86288639e-04 9.99947093e-01 2.45675315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88361786499996 meters 0.020715808035734765 Centerline is valid? [True, True] Translation: X:133.12, Y:57.35, Z:2.46 [[ 5.70596563e-01 -8.21208129e-01 -6.06382082e-03 1.33123883e+02] [ 8.21167054e-01 5.70628710e-01 -8.21860365e-03 5.73491527e+01] [ 1.02093744e-02 -2.89902877e-04 9.99947841e-01 2.45719403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91361786499996 meters 0.02103056148052429 Centerline is valid? [True, True] Translation: X:133.14, Y:57.37, Z:2.46 [[ 5.70154384e-01 -8.21514362e-01 -6.17508121e-03 1.33140137e+02] [ 8.21471740e-01 5.70187745e-01 -8.37348211e-03 5.73721962e+01] [ 1.03998914e-02 -2.98477172e-04 9.99945875e-01 2.45709594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94361786499996 meters 0.021184680047168822 Centerline is valid? [True, True] Translation: X:133.15, Y:57.40, Z:2.46 [[ 5.69816512e-01 -8.21748735e-01 -6.17737952e-03 1.33154728e+02] [ 8.21706047e-01 5.69849916e-01 -8.38122563e-03 5.73960676e+01] [ 1.04074408e-02 -3.00229353e-04 9.99945796e-01 2.45684444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97361786499997 meters 0.021429092884402364 Centerline is valid? [True, True] Translation: X:133.17, Y:57.42, Z:2.46 [[ 5.69849746e-01 -8.21723751e-01 -6.42994047e-03 1.33170311e+02] [ 8.21677436e-01 5.69885937e-01 -8.72977773e-03 5.74185380e+01] [ 1.08377984e-02 -3.08675384e-04 9.99941222e-01 2.45685657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00361786499997 meters 0.021546027938756703 Centerline is valid? [True, True] Translation: X:133.19, Y:57.44, Z:2.46 [[ 5.70089662e-01 -8.21556531e-01 -6.53020129e-03 1.33186194e+02] [ 8.21508720e-01 5.70126978e-01 -8.86855340e-03 5.74412425e+01] [ 1.10090619e-02 -3.08746697e-04 9.99939351e-01 2.45723973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03361786499997 meters 0.02012357624804424 Centerline is valid? [True, True] Translation: X:133.20, Y:57.47, Z:2.46 [[ 5.71168175e-01 -8.20805695e-01 -6.70278239e-03 1.33199284e+02] [ 8.20755214e-01 5.71207425e-01 -9.10807617e-03 5.74671792e+01] [ 1.13046399e-02 -2.99100345e-04 9.99936056e-01 2.45618396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06361786499997 meters 0.019028140135008437 Centerline is valid? [True, True] Translation: X:133.21, Y:57.49, Z:2.46 [[ 5.71810903e-01 -8.20358090e-01 -6.70039916e-03 1.33213669e+02] [ 8.20307565e-01 5.71850087e-01 -9.10918395e-03 5.74928821e+01] [ 1.13044166e-02 -2.87657414e-04 9.99936062e-01 2.45597677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09361786499997 meters 0.020754656629905454 Centerline is valid? [True, True] Translation: X:133.23, Y:57.51, Z:2.46 [[ 5.72970790e-01 -8.19546761e-01 -6.89791672e-03 1.33232500e+02] [ 8.19493082e-01 5.73012243e-01 -9.38392762e-03 5.75139142e+01] [ 1.16431582e-02 -2.76078614e-04 9.99932178e-01 2.45724454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12361786499997 meters 0.018502519185052108 Centerline is valid? [True, True] Translation: X:133.24, Y:57.54, Z:2.46 [[ 5.74888201e-01 -8.18203509e-01 -6.82456882e-03 1.33243578e+02] [ 8.18150866e-01 5.74928655e-01 -9.28452822e-03 5.75414977e+01] [ 1.15202737e-02 -2.45961169e-04 9.99933609e-01 2.45593799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15361786499997 meters 0.018348133353689275 Centerline is valid? [True, True] Translation: X:133.26, Y:57.57, Z:2.46 [[ 5.75853983e-01 -8.17523007e-01 -6.95152954e-03 1.33260042e+02] [ 8.17468279e-01 5.75895892e-01 -9.46226549e-03 5.75658561e+01] [ 1.17389770e-02 -2.33771621e-04 9.99931069e-01 2.45617863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18361786499997 meters 0.018308788889952098 Centerline is valid? [True, True] Translation: X:133.28, Y:57.59, Z:2.46 [[ 5.76759930e-01 -8.16884300e-01 -6.92991149e-03 1.33276123e+02] [ 8.16829816e-01 5.76801520e-01 -9.43705894e-03 5.75897702e+01] [ 1.17061688e-02 -2.17640872e-04 9.99931457e-01 2.45637356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21361786499997 meters 0.018336189807399417 Centerline is valid? [True, True] Translation: X:133.29, Y:57.61, Z:2.46 [[ 5.78411016e-01 -8.15717656e-01 -6.73818868e-03 1.33292217e+02] [ 8.15666016e-01 5.78450233e-01 -9.18035618e-03 5.76131097e+01] [ 1.13862854e-02 -1.86092372e-04 9.99935157e-01 2.45767401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24361786499998 meters 0.017683761425034254 Centerline is valid? [True, True] Translation: X:133.31, Y:57.64, Z:2.46 [[ 5.79182491e-01 -8.15172372e-01 -6.45330777e-03 1.33306995e+02] [ 8.15124929e-01 5.79218418e-01 -8.79624386e-03 5.76376093e+01] [ 1.09083297e-02 -1.65621607e-04 9.99940489e-01 2.45769186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27361786499998 meters 0.0173671267470893 Centerline is valid? [True, True] Translation: X:133.32, Y:57.66, Z:2.46 [[ 5.79763524e-01 -8.14759606e-01 -6.40625827e-03 1.33322611e+02] [ 8.14712781e-01 5.79798896e-01 -8.73636170e-03 5.76618328e+01] [ 1.08323761e-02 -1.54236645e-04 9.99941316e-01 2.45785506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30361786499998 meters 0.017509332801909985 Centerline is valid? [True, True] Translation: X:133.34, Y:57.68, Z:2.46 [[ 5.80269604e-01 -8.14399118e-01 -6.42364584e-03 1.33338831e+02] [ 8.14351956e-01 5.80305140e-01 -8.76561089e-03 5.76840397e+01] [ 1.08663805e-02 -1.44690994e-04 9.99940949e-01 2.45853325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33361786499998 meters 0.017416965315261212 Centerline is valid? [True, True] Translation: X:133.36, Y:57.71, Z:2.46 [[ 5.80883330e-01 -8.13961635e-01 -6.40410402e-03 1.33355042e+02] [ 8.13914718e-01 5.80918615e-01 -8.74035547e-03 5.77080727e+01] [ 1.08345773e-02 -1.35267722e-04 9.99941295e-01 2.45850605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36361786499998 meters 0.017430624387783242 Centerline is valid? [True, True] Translation: X:133.37, Y:57.73, Z:2.46 [[ 5.80979462e-01 -8.13893475e-01 -6.34637224e-03 1.33370612e+02] [ 8.13847341e-01 5.81014109e-01 -8.66661574e-03 5.77299356e+01] [ 1.07410338e-02 -1.29852421e-04 9.99942305e-01 2.45904725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39361786499998 meters 0.017434303812206706 Centerline is valid? [True, True] Translation: X:133.39, Y:57.75, Z:2.46 [[ 5.80911814e-01 -8.13942662e-01 -6.22950703e-03 1.33386329e+02] [ 8.13898198e-01 5.80945201e-01 -8.50862436e-03 5.77519425e+01] [ 1.05445346e-02 -1.27424134e-04 9.99944397e-01 2.45948294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42361786499998 meters 0.017139606766312165 Centerline is valid? [True, True] Translation: X:133.40, Y:57.78, Z:2.46 [[ 5.80450290e-01 -8.14271228e-01 -6.31090329e-03 1.33401510e+02] [ 8.14225571e-01 5.80484581e-01 -8.62378001e-03 5.77752271e+01] [ 1.06854780e-02 -1.32823225e-04 9.99942900e-01 2.45920256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45361786499998 meters 0.01772294383083877 Centerline is valid? [True, True] Translation: X:133.42, Y:57.80, Z:2.46 [[ 5.79974596e-01 -8.14610802e-01 -6.22173105e-03 1.33419720e+02] [ 8.14566381e-01 5.80007951e-01 -8.50807556e-03 5.77965647e+01] [ 1.05394237e-02 -1.33545264e-04 9.99944450e-01 2.46057899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48361786499996 meters 0.01809477334231105 Centerline is valid? [True, True] Translation: X:133.44, Y:57.82, Z:2.46 [[ 5.78468914e-01 -8.15682255e-01 -6.01456327e-03 1.33437787e+02] [ 8.15640774e-01 5.78500162e-01 -8.22741229e-03 5.78183457e+01] [ 1.01903800e-02 -1.46420789e-04 9.99948066e-01 2.46126227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51361786499996 meters 0.018296610598386432 Centerline is valid? [True, True] Translation: X:133.46, Y:57.84, Z:2.46 [[ 5.77331956e-01 -8.16487683e-01 -5.97298526e-03 1.33455590e+02] [ 8.16446807e-01 5.77362831e-01 -8.17149729e-03 5.78411621e+01] [ 1.01205066e-02 -1.58958228e-04 9.99948774e-01 2.46153582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54361786499996 meters 0.018603382984873424 Centerline is valid? [True, True] Translation: X:133.47, Y:57.86, Z:2.46 [[ 5.76156151e-01 -8.17316644e-01 -6.13131746e-03 1.33473353e+02] [ 8.17273576e-01 5.76188747e-01 -8.39222655e-03 5.78637670e+01] [ 1.03919026e-02 -1.75730802e-04 9.99945987e-01 2.46201838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57361786499996 meters 0.018360126835735062 Centerline is valid? [True, True] Translation: X:133.49, Y:57.89, Z:2.46 [[ 5.73442805e-01 -8.19218649e-01 -6.64495313e-03 1.33490509e+02] [ 8.19168137e-01 5.73481260e-01 -9.09992917e-03 5.78871596e+01] [ 1.12655878e-02 -2.25044968e-04 9.99936516e-01 2.46076145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60361786499996 meters 0.019999588229084545 Centerline is valid? [True, True] Translation: X:133.51, Y:57.91, Z:2.46 [[ 5.71985009e-01 -8.20235970e-01 -6.78992407e-03 1.33510258e+02] [ 8.20183237e-01 5.72025255e-01 -9.30407379e-03 5.79071913e+01] [ 1.15155440e-02 -2.47191167e-04 9.99933663e-01 2.46143338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63361786499996 meters 0.018684237423043946 Centerline is valid? [True, True] Translation: X:133.53, Y:57.93, Z:2.46 [[ 5.70685835e-01 -8.21138162e-01 -7.05662615e-03 1.33525260e+02] [ 8.21081249e-01 5.70729395e-01 -9.67160966e-03 5.79322022e+01] [ 1.19691518e-02 -2.74612773e-04 9.99928329e-01 2.46073955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66361786499996 meters 0.018915575569493016 Centerline is valid? [True, True] Translation: X:133.54, Y:57.95, Z:2.46 [[ 5.68376077e-01 -8.22733489e-01 -7.63159038e-03 1.33543923e+02] [ 8.22666990e-01 5.68427214e-01 -1.04654694e-02 5.79547039e+01] [ 1.29482958e-02 -3.29935018e-04 9.99916113e-01 2.46068373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69361786499996 meters 0.019417820044143566 Centerline is valid? [True, True] Translation: X:133.56, Y:57.98, Z:2.46 [[ 5.67656078e-01 -8.23230351e-01 -7.63981754e-03 1.33561112e+02] [ 8.23163673e-01 5.67707385e-01 -1.04829737e-02 5.79768423e+01] [ 1.29670830e-02 -3.38096515e-04 9.99915867e-01 2.46096557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72361786499997 meters 0.019020375491629236 Centerline is valid? [True, True] Translation: X:133.58, Y:58.00, Z:2.46 [[ 5.67070188e-01 -8.23631211e-01 -7.93911002e-03 1.33577245e+02] [ 8.23559228e-01 5.67125646e-01 -1.08949108e-02 5.80006471e+01] [ 1.34758614e-02 -3.60148220e-04 9.99909132e-01 2.46109873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75361786499997 meters 0.021393712324699266 Centerline is valid? [True, True] Translation: X:133.60, Y:58.02, Z:2.46 [[ 5.66759488e-01 -8.23845986e-01 -7.84051771e-03 1.33596967e+02] [ 8.23775723e-01 5.66813605e-01 -1.07654525e-02 5.80199814e+01] [ 1.33131869e-02 -3.57405807e-04 9.99911312e-01 2.46207172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78361786499997 meters 0.019781652259861778 Centerline is valid? [True, True] Translation: X:133.61, Y:58.05, Z:2.46 [[ 5.66900929e-01 -8.23747940e-01 -7.91631624e-03 1.33611207e+02] [ 8.23676258e-01 5.66956086e-01 -1.08728064e-02 5.80451061e+01] [ 1.34446556e-02 -3.56677674e-04 9.99909553e-01 2.46248233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81361786499997 meters 0.019634978662137426 Centerline is valid? [True, True] Translation: X:133.63, Y:58.07, Z:2.46 [[ 5.67167844e-01 -8.23565054e-01 -7.82547848e-03 1.33628009e+02] [ 8.23494918e-01 5.67221723e-01 -1.07534419e-02 5.80687934e+01] [ 1.32949404e-02 -3.45235284e-04 9.99911559e-01 2.46262650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84361786499997 meters 0.01934553561313894 Centerline is valid? [True, True] Translation: X:133.64, Y:58.09, Z:2.46 [[ 5.67683572e-01 -8.23207295e-01 -8.06919132e-03 1.33644556e+02] [ 8.23132609e-01 5.67740813e-01 -1.10940169e-02 5.80927070e+01] [ 1.37138849e-02 -3.44123372e-04 9.99905901e-01 2.46331465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87361786499997 meters 0.019291295981288276 Centerline is valid? [True, True] Translation: X:133.66, Y:58.12, Z:2.46 [[ 5.68367031e-01 -8.22738006e-01 -7.81617227e-03 1.33661059e+02] [ 8.22667818e-01 5.68420682e-01 -1.07512650e-02 5.81164811e+01] [ 1.32883483e-02 -3.19448832e-04 9.99911655e-01 2.46371260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90361786499997 meters 0.018973322944773524 Centerline is valid? [True, True] Translation: X:133.68, Y:58.14, Z:2.46 [[ 5.70323170e-01 -8.21382609e-01 -7.87985378e-03 1.33675536e+02] [ 8.21311060e-01 5.70377531e-01 -1.08450113e-02 5.81401254e+01] [ 1.34023952e-02 -2.86649829e-04 9.99910143e-01 2.46365540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93361786499997 meters 0.018262141355037783 Centerline is valid? [True, True] Translation: X:133.69, Y:58.16, Z:2.46 [[ 5.71305403e-01 -8.20700425e-01 -7.80693309e-03 1.33690602e+02] [ 8.20630118e-01 5.71358679e-01 -1.07456785e-02 5.81646045e+01] [ 1.32795419e-02 -2.67540260e-04 9.99911787e-01 2.46389275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96361786499997 meters 0.01758203033846594 Centerline is valid? [True, True] Translation: X:133.71, Y:58.19, Z:2.46 [[ 5.73259873e-01 -8.19334792e-01 -7.97594628e-03 1.33705647e+02] [ 8.19261199e-01 5.73315307e-01 -1.09839079e-02 5.81890041e+01] [ 1.35722300e-02 -2.37749653e-04 9.99907865e-01 2.46448774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99361786499998 meters 0.017533669115325366 Centerline is valid? [True, True] Translation: X:133.72, Y:58.21, Z:2.47 [[ 5.74399414e-01 -8.18537423e-01 -7.86135484e-03 1.33721896e+02] [ 8.18465770e-01 5.74453168e-01 -1.08323792e-02 5.82115012e+01] [ 1.33826879e-02 -2.12137588e-04 9.99910425e-01 2.46512305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02361786499998 meters 0.017533669115325366 Centerline is valid? [True, True] Translation: X:133.74, Y:58.23, Z:2.47 [[ 5.74173980e-01 -8.18695577e-01 -7.86087939e-03 1.33738035e+02] [ 8.18623935e-01 5.74227747e-01 -1.08327243e-02 5.82338508e+01] [ 1.33826385e-02 -2.15235602e-04 9.99910425e-01 2.46557486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05361786499998 meters 0.017985620033255354 Centerline is valid? [True, True] Translation: X:133.76, Y:58.26, Z:2.47 [[ 5.75218256e-01 -8.17960433e-01 -8.04292222e-03 1.33755316e+02] [ 8.17885259e-01 5.75274448e-01 -1.10910708e-02 5.82556642e+01] [ 1.36989447e-02 -1.98401124e-04 9.99906145e-01 2.46654133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08361786499998 meters 0.017172019950949705 Centerline is valid? [True, True] Translation: X:133.77, Y:58.28, Z:2.47 [[ 5.77229976e-01 -8.16541008e-01 -8.14468691e-03 1.33769542e+02] [ 8.16463759e-01 5.77287410e-01 -1.12327979e-02 5.82810445e+01] [ 1.38738653e-02 -1.65934043e-04 9.99903740e-01 2.46654009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11361786499998 meters 0.01706344122116591 Centerline is valid? [True, True] Translation: X:133.79, Y:58.30, Z:2.47 [[ 5.77877869e-01 -8.16084114e-01 -7.99294533e-03 1.33785561e+02] [ 8.16009601e-01 5.77933125e-01 -1.10288329e-02 5.83047030e+01] [ 1.36198432e-02 -1.49001649e-04 9.99907235e-01 2.46681068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14361786499998 meters 0.017089443307452202 Centerline is valid? [True, True] Translation: X:133.80, Y:58.33, Z:2.47 [[ 5.78950412e-01 -8.15327875e-01 -7.54167127e-03 1.33801973e+02] [ 8.15261408e-01 5.78999518e-01 -1.04112213e-02 5.83283596e+01] [ 1.28551830e-02 -1.20852679e-04 9.99917361e-01 2.46727910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17361786499998 meters 0.0169417536152028 Centerline is valid? [True, True] Translation: X:133.82, Y:58.35, Z:2.47 [[ 5.79353583e-01 -8.15042740e-01 -7.39981584e-03 1.33818334e+02] [ 8.14978669e-01 5.79400828e-01 -1.02200670e-02 5.83507759e+01] [ 1.26172508e-02 -1.09659648e-04 9.99920393e-01 2.46781440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20361786499998 meters 0.01700723615347389 Centerline is valid? [True, True] Translation: X:133.84, Y:58.37, Z:2.47 [[ 5.79473391e-01 -8.14957265e-01 -7.43277744e-03 1.33835044e+02] [ 8.14892539e-01 5.79521048e-01 -1.02715508e-02 5.83730727e+01] [ 1.26783260e-02 -1.04824486e-04 9.99919621e-01 2.46828203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23361786499996 meters 0.016990848047658637 Centerline is valid? [True, True] Translation: X:133.85, Y:58.40, Z:2.47 [[ 5.79525205e-01 -8.14920794e-01 -7.39168770e-03 1.33851883e+02] [ 8.14856705e-01 5.79572334e-01 -1.02205762e-02 5.83958916e+01] [ 1.26129777e-02 -1.00084783e-04 9.99920448e-01 2.46859757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26361786499996 meters 0.01704661838317855 Centerline is valid? [True, True] Translation: X:133.87, Y:58.42, Z:2.47 [[ 5.80130519e-01 -8.14487858e-01 -7.62298373e-03 1.33868366e+02] [ 8.14419565e-01 5.80180594e-01 -1.05475279e-02 5.84176549e+01] [ 1.30135406e-02 -8.93642767e-05 9.99915316e-01 2.46872950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29361786499996 meters 0.017064249861028065 Centerline is valid? [True, True] Translation: X:133.89, Y:58.44, Z:2.47 [[ 5.80494879e-01 -8.14228994e-01 -7.53933140e-03 1.33885161e+02] [ 8.14162141e-01 5.80543830e-01 -1.04340574e-02 5.84407534e+01] [ 1.28726244e-02 -8.13213135e-05 9.99917141e-01 2.46905958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32361786499996 meters 0.017180578972128484 Centerline is valid? [True, True] Translation: X:133.90, Y:58.46, Z:2.47 [[ 5.80427666e-01 -8.14278150e-01 -7.40402845e-03 1.33901564e+02] [ 8.14213605e-01 5.80474883e-01 -1.02526596e-02 5.84623720e+01] [ 1.26463693e-02 -7.75333907e-05 9.99920028e-01 2.46938574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35361786499996 meters 0.01732166206606673 Centerline is valid? [True, True] Translation: X:133.92, Y:58.48, Z:2.47 [[ 5.79826421e-01 -8.14709105e-01 -7.09897979e-03 1.33919383e+02] [ 8.14649764e-01 5.79869872e-01 -9.83331186e-03 5.84836966e+01] [ 1.21277732e-02 -8.15681857e-05 9.99926453e-01 2.46992238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38361786499996 meters 0.01735917639838952 Centerline is valid? [True, True] Translation: X:133.94, Y:58.51, Z:2.47 [[ 5.78830867e-01 -8.15417503e-01 -7.00875894e-03 1.33936858e+02] [ 8.15359651e-01 5.78873291e-01 -9.71355541e-03 5.85058345e+01] [ 1.19777865e-02 -9.21535369e-05 9.99928260e-01 2.46989187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41361786499996 meters 0.017787158911102035 Centerline is valid? [True, True] Translation: X:133.96, Y:58.53, Z:2.47 [[ 5.76063307e-01 -8.17374183e-01 -7.10720116e-03 1.33956763e+02] [ 8.17314759e-01 5.76107133e-01 -9.85675872e-03 5.85257885e+01] [ 1.21511694e-02 -1.30703389e-04 9.99926163e-01 2.46989918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44361786499996 meters 0.018087524102059337 Centerline is valid? [True, True] Translation: X:133.98, Y:58.55, Z:2.47 [[ 5.74331251e-01 -8.18590792e-01 -7.26151629e-03 1.33975210e+02] [ 8.18528822e-01 5.74377133e-01 -1.00735796e-02 5.85475184e+01] [ 1.24169884e-02 -1.58188825e-04 9.99922894e-01 2.46975910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47361786499997 meters 0.01903880257488888 Centerline is valid? [True, True] Translation: X:133.99, Y:58.57, Z:2.47 [[ 5.72274590e-01 -8.20032194e-01 -6.99958197e-03 1.33994868e+02] [ 8.19974690e-01 5.72317366e-01 -9.71287775e-03 5.85674248e+01] [ 1.19708548e-02 -1.81046934e-04 9.99928330e-01 2.47053979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50361786499997 meters 0.018516384378923875 Centerline is valid? [True, True] Translation: X:134.01, Y:58.59, Z:2.47 [[ 5.70236412e-01 -8.21451861e-01 -6.87563245e-03 1.34011610e+02] [ 8.21396456e-01 5.70277825e-01 -9.54272572e-03 5.85910911e+01] [ 1.17599105e-02 -2.06010449e-04 9.99930829e-01 2.47005141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53361786499997 meters 0.020307503453171404 Centerline is valid? [True, True] Translation: X:134.03, Y:58.61, Z:2.47 [[ 5.66130802e-01 -8.24288865e-01 -6.61678142e-03 1.34033830e+02] [ 8.24237682e-01 5.66169412e-01 -9.18914768e-03 5.86090732e+01] [ 1.13207314e-02 -2.51541033e-04 9.99935887e-01 2.47107826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56361786499997 meters 0.021083146705252458 Centerline is valid? [True, True] Translation: X:134.05, Y:58.63, Z:2.47 [[ 5.64146230e-01 -8.25650189e-01 -6.38723118e-03 1.34052442e+02] [ 8.25602570e-01 5.64182323e-01 -8.87141860e-03 5.86298532e+01] [ 1.09282514e-02 -2.68537115e-04 9.99940249e-01 2.47162435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59361786499997 meters 0.02033266140064438 Centerline is valid? [True, True] Translation: X:134.07, Y:58.65, Z:2.47 [[ 5.62396696e-01 -8.26842258e-01 -6.46818606e-03 1.34069031e+02] [ 8.26793473e-01 5.62433813e-01 -8.98657588e-03 5.86532703e+01] [ 1.10684072e-02 -2.93833437e-04 9.99938700e-01 2.47121139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62361786499997 meters 0.021102746785577466 Centerline is valid? [True, True] Translation: X:134.09, Y:58.67, Z:2.47 [[ 5.60319820e-01 -8.28248451e-01 -6.79728439e-03 1.34088480e+02] [ 8.28194610e-01 5.60360948e-01 -9.44972100e-03 5.86733463e+01] [ 1.16356495e-02 -3.34608328e-04 9.99932248e-01 2.47126565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65361786499997 meters 0.021283342171347846 Centerline is valid? [True, True] Translation: X:134.11, Y:58.70, Z:2.47 [[ 5.59674508e-01 -8.28685407e-01 -6.70386743e-03 1.34106465e+02] [ 8.28633045e-01 5.59714554e-01 -9.32170713e-03 5.86962571e+01] [ 1.14770148e-02 -3.37924233e-04 9.99934080e-01 2.47151735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68361786499997 meters 0.021393248884222577 Centerline is valid? [True, True] Translation: X:134.12, Y:58.72, Z:2.47 [[ 5.59304154e-01 -8.28935346e-01 -6.71236810e-03 1.34123728e+02] [ 8.28882819e-01 5.59344327e-01 -9.33790634e-03 5.87189178e+01] [ 1.14950456e-02 -3.41036782e-04 9.99933872e-01 2.47166464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71361786499997 meters 0.02116750783182669 Centerline is valid? [True, True] Translation: X:134.14, Y:58.74, Z:2.47 [[ 5.59871249e-01 -8.28554059e-01 -6.50808378e-03 1.34141105e+02] [ 8.28504597e-01 5.59908982e-01 -9.05894606e-03 5.87422493e+01] [ 1.11497611e-02 -3.20133885e-04 9.99937788e-01 2.47215792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74361786499998 meters 0.02324366006582118 Centerline is valid? [True, True] Translation: X:134.16, Y:58.76, Z:2.47 [[ 5.60532851e-01 -8.28104863e-01 -6.72742208e-03 1.34160738e+02] [ 8.28051918e-01 5.60573130e-01 -9.36949056e-03 5.87618499e+01] [ 1.15301327e-02 -3.18747501e-04 9.99933475e-01 2.47341375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77361786499998 meters 0.020624520141498064 Centerline is valid? [True, True] Translation: X:134.17, Y:58.79, Z:2.47 [[ 5.62472842e-01 -8.26789643e-01 -6.57183224e-03 1.34173759e+02] [ 8.26738989e-01 5.62511162e-01 -9.15627629e-03 5.87886235e+01] [ 1.12670434e-02 -2.83033195e-04 9.99936485e-01 2.47293048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80361786499998 meters 0.0197483475311213 Centerline is valid? [True, True] Translation: X:134.19, Y:58.81, Z:2.47 [[ 5.63380303e-01 -8.26173221e-01 -6.35946544e-03 1.34188889e+02] [ 8.26125709e-01 5.63416135e-01 -8.86404053e-03 5.88130198e+01] [ 1.09062584e-02 -2.59892061e-04 9.99940491e-01 2.47261521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83361786499998 meters 0.01952121823960022 Centerline is valid? [True, True] Translation: X:134.21, Y:58.84, Z:2.47 [[ 5.64330544e-01 -8.25524616e-01 -6.33603990e-03 1.34205422e+02] [ 8.25477364e-01 5.64366059e-01 -8.83588985e-03 5.88363246e+01] [ 1.08700904e-02 -2.43894990e-04 9.99940889e-01 2.47336214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86361786499998 meters 0.01973025393262142 Centerline is valid? [True, True] Translation: X:134.22, Y:58.86, Z:2.47 [[ 5.65258922e-01 -8.24890640e-01 -6.14678928e-03 1.34222519e+02] [ 8.24846076e-01 5.65292299e-01 -8.57714215e-03 5.88582522e+01] [ 1.05499369e-02 -2.21848891e-04 9.99944323e-01 2.47385830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89361786499998 meters 0.019087919990948346 Centerline is valid? [True, True] Translation: X:134.24, Y:58.88, Z:2.47 [[ 5.67534163e-01 -8.23327895e-01 -6.01261865e-03 1.34239137e+02] [ 8.23285153e-01 5.67565981e-01 -8.39135581e-03 5.88823379e+01] [ 1.03213951e-02 -1.87718572e-04 9.99946715e-01 2.47482610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92361786499998 meters 0.019446914008038087 Centerline is valid? [True, True] Translation: X:134.26, Y:58.90, Z:2.48 [[ 5.68708724e-01 -8.22519541e-01 -5.65618752e-03 1.34256484e+02] [ 8.22481624e-01 5.68736828e-01 -7.89925729e-03 5.89039698e+01] [ 9.71417563e-03 -1.59733768e-04 9.99952804e-01 2.47623446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95361786499998 meters 0.018645688357125958 Centerline is valid? [True, True] Translation: X:134.27, Y:58.93, Z:2.48 [[ 5.69782957e-01 -8.21778299e-01 -5.27335081e-03 1.34271723e+02] [ 8.21745317e-01 5.69807343e-01 -7.36380646e-03 5.89284494e+01] [ 9.05621036e-03 -1.37579912e-04 9.99958982e-01 2.47653645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98361786499996 meters 0.018805066179620276 Centerline is valid? [True, True] Translation: X:134.29, Y:58.95, Z:2.48 [[ 5.71117569e-01 -8.20854885e-01 -4.68821315e-03 1.34288922e+02] [ 8.20828747e-01 5.71136802e-01 -6.55146354e-03 5.89508168e+01] [ 8.05541191e-03 -1.06564192e-04 9.99967549e-01 2.47849781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01361786499996 meters 0.0182889396765537 Centerline is valid? [True, True] Translation: X:134.30, Y:58.97, Z:2.48 [[ 5.73223363e-01 -8.19389839e-01 -3.90739030e-03 1.34304238e+02] [ 8.19371665e-01 5.73236675e-01 -5.45793627e-03 5.89744472e+01] [ 6.71203695e-03 -7.29883122e-05 9.99977471e-01 2.47930326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04361786499996 meters 0.018232510240470696 Centerline is valid? [True, True] Translation: X:134.32, Y:59.00, Z:2.48 [[ 5.73826461e-01 -8.18969085e-01 -3.58192353e-03 1.34320054e+02] [ 8.18953792e-01 5.73837637e-01 -5.00535711e-03 5.89970385e+01] [ 6.15467526e-03 -6.12235009e-05 9.99981058e-01 2.48016755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07361786499996 meters 0.0182322168193559 Centerline is valid? [True, True] Translation: X:134.34, Y:59.02, Z:2.48 [[ 5.74235342e-01 -8.18683317e-01 -3.37620608e-03 1.34336289e+02] [ 8.18669711e-01 5.74245264e-01 -4.72015594e-03 5.90200963e+01] [ 5.80308328e-03 -5.35172953e-05 9.99983161e-01 2.48050476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10361786499996 meters 0.0182079065912454 Centerline is valid? [True, True] Translation: X:134.35, Y:59.04, Z:2.48 [[ 5.74035508e-01 -8.18824092e-01 -3.21578202e-03 1.34353591e+02] [ 8.18811739e-01 5.74044513e-01 -4.49806699e-03 5.90421147e+01] [ 5.52912765e-03 -5.10698977e-05 9.99984713e-01 2.48090183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13361786499996 meters 0.018080589958987713 Centerline is valid? [True, True] Translation: X:134.37, Y:59.06, Z:2.48 [[ 5.73186633e-01 -8.19418128e-01 -3.31899913e-03 1.34370280e+02] [ 8.19404964e-01 5.73196239e-01 -4.64507237e-03 5.90648541e+01] [ 5.70869433e-03 -5.71109754e-05 9.99983704e-01 2.48024068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16361786499996 meters 0.01828270643558133 Centerline is valid? [True, True] Translation: X:134.39, Y:59.09, Z:2.48 [[ 5.72642349e-01 -8.19799008e-01 -3.21344176e-03 1.34386864e+02] [ 8.19786649e-01 5.72651362e-01 -4.50193627e-03 5.90857230e+01] [ 5.53086469e-03 -5.63372888e-05 9.99984703e-01 2.48041981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19361786499996 meters 0.018647528850671308 Centerline is valid? [True, True] Translation: X:134.41, Y:59.11, Z:2.48 [[ 5.70419280e-01 -8.21346045e-01 -3.53843492e-03 1.34405401e+02] [ 8.21331072e-01 5.70430249e-01 -4.96001295e-03 5.91063750e+01] [ 6.09231733e-03 -7.69395296e-05 9.99981439e-01 2.48068630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22361786499997 meters 0.01944295695004207 Centerline is valid? [True, True] Translation: X:134.42, Y:59.13, Z:2.48 [[ 5.69224224e-01 -8.22174443e-01 -3.60097902e-03 1.34423768e+02] [ 8.22158956e-01 5.69235608e-01 -5.04714605e-03 5.91270470e+01] [ 6.19943997e-03 -8.76193537e-05 9.99980779e-01 2.48167775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25361786499997 meters 0.019545966906375226 Centerline is valid? [True, True] Translation: X:134.44, Y:59.15, Z:2.48 [[ 5.67746881e-01 -8.23194312e-01 -3.82137992e-03 1.34441310e+02] [ 8.23176873e-01 5.67759732e-01 -5.35937220e-03 5.91498247e+01] [ 6.58143035e-03 -1.02904723e-04 9.99978337e-01 2.48161891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28361786499997 meters 0.020090076455637578 Centerline is valid? [True, True] Translation: X:134.46, Y:59.17, Z:2.48 [[ 5.66468209e-01 -8.24073622e-01 -4.05376156e-03 1.34458683e+02] [ 8.24053994e-01 5.66482702e-01 -5.68897272e-03 5.91704885e+01] [ 6.98451815e-03 -1.17896211e-04 9.99975601e-01 2.48202080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31361786499997 meters 0.019246927346931463 Centerline is valid? [True, True] Translation: X:134.47, Y:59.19, Z:2.48 [[ 5.64352184e-01 -8.25525618e-01 -3.75049196e-03 1.34474660e+02] [ 8.25508827e-01 5.64364632e-01 -5.26676090e-03 5.91938780e+01] [ 6.46449106e-03 -1.23756204e-04 9.99979097e-01 2.48007762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34361786499997 meters 0.019816692764820593 Centerline is valid? [True, True] Translation: X:134.49, Y:59.22, Z:2.48 [[ 5.63323863e-01 -8.26227174e-01 -3.85766108e-03 1.34492449e+02] [ 8.26209423e-01 5.63337056e-01 -5.41767574e-03 5.92150451e+01] [ 6.64939436e-03 -1.35329906e-04 9.99977883e-01 2.48085420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37361786499997 meters 0.02013024254697028 Centerline is valid? [True, True] Translation: X:134.51, Y:59.24, Z:2.48 [[ 5.62558529e-01 -8.26747268e-01 -4.10559469e-03 1.34509237e+02] [ 8.26727177e-01 5.62573490e-01 -5.76572350e-03 5.92361621e+01] [ 7.07649488e-03 -1.50649777e-04 9.99974950e-01 2.48104586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40361786499997 meters 0.01958980410239441 Centerline is valid? [True, True] Translation: X:134.53, Y:59.26, Z:2.48 [[ 5.61624746e-01 -8.27380420e-01 -4.39148386e-03 1.34525348e+02] [ 8.27357425e-01 5.61641890e-01 -6.17083354e-03 5.92601990e+01] [ 7.57206814e-03 -1.67633953e-04 9.99971317e-01 2.48025020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43361786499997 meters 0.020720507622293924 Centerline is valid? [True, True] Translation: X:134.54, Y:59.28, Z:2.48 [[ 5.60509246e-01 -8.28133962e-01 -4.85042945e-03 1.34544596e+02] [ 8.28105883e-01 5.60530199e-01 -6.82219710e-03 5.92810430e+01] [ 8.36850529e-03 -1.92764610e-04 9.99964965e-01 2.48071562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46361786499997 meters 0.020508043354448897 Centerline is valid? [True, True] Translation: X:134.56, Y:59.30, Z:2.48 [[ 5.60142351e-01 -8.28382080e-01 -4.86587833e-03 1.34560723e+02] [ 8.28353842e-01 5.60163450e-01 -6.84266405e-03 5.93041101e+01] [ 8.39402748e-03 -1.97803082e-04 9.99964750e-01 2.48096744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49361786499998 meters 0.020606854106724016 Centerline is valid? [True, True] Translation: X:134.58, Y:59.33, Z:2.48 [[ 5.59869542e-01 -8.28565101e-01 -5.09612948e-03 1.34577997e+02] [ 8.28534095e-01 5.59892696e-01 -7.17091526e-03 5.93267621e+01] [ 8.79485580e-03 -2.07539987e-04 9.99961303e-01 2.48116025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52361786499998 meters 0.020658973537393897 Centerline is valid? [True, True] Translation: X:134.59, Y:59.35, Z:2.48 [[ 5.59638381e-01 -8.28720625e-01 -5.19695059e-03 1.34594869e+02] [ 8.28688348e-01 5.59662471e-01 -7.31712149e-03 5.93492429e+01] [ 8.97238770e-03 -2.11710373e-04 9.99959725e-01 2.48152784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55361786499998 meters 0.02175300785999675 Centerline is valid? [True, True] Translation: X:134.61, Y:59.37, Z:2.48 [[ 5.59763287e-01 -8.28634974e-01 -5.39839713e-03 1.34613355e+02] [ 8.28600094e-01 5.59789277e-01 -7.60587063e-03 5.93695404e+01] [ 9.32445524e-03 -2.15625225e-04 9.99956503e-01 2.48238266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58361786499998 meters 0.020490093114961687 Centerline is valid? [True, True] Translation: X:134.63, Y:59.39, Z:2.48 [[ 5.59960206e-01 -8.28500664e-01 -5.58727054e-03 1.34627525e+02] [ 8.28463260e-01 5.59988037e-01 -7.87559059e-03 5.93937603e+01] [ 9.65373669e-03 -2.18831037e-04 9.99953378e-01 2.48211586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61361786499998 meters 0.02064841875500261 Centerline is valid? [True, True] Translation: X:134.64, Y:59.42, Z:2.48 [[ 5.59945842e-01 -8.28508425e-01 -5.86889743e-03 1.34643064e+02] [ 8.28467101e-01 5.59976552e-01 -8.27793785e-03 5.94153854e+01] [ 1.01447862e-02 -2.26991562e-04 9.99948515e-01 2.48245160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64361786499998 meters 0.02046857000473075 Centerline is valid? [True, True] Translation: X:134.66, Y:59.44, Z:2.48 [[ 5.60165603e-01 -8.28359879e-01 -5.86592331e-03 1.34658907e+02] [ 8.28318550e-01 5.60196271e-01 -8.27755046e-03 5.94385864e+01] [ 1.01428591e-02 -2.22054047e-04 9.99948535e-01 2.48253592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67361786499998 meters 0.020684559634699447 Centerline is valid? [True, True] Translation: X:134.67, Y:59.46, Z:2.48 [[ 5.60512145e-01 -8.28126633e-01 -5.69346918e-03 1.34674711e+02] [ 8.28087634e-01 5.60541022e-01 -8.03948946e-03 5.94600864e+01] [ 9.84913836e-03 -2.08459943e-04 9.99951474e-01 2.48320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70361786499998 meters 0.02059537464401128 Centerline is valid? [True, True] Translation: X:134.69, Y:59.48, Z:2.48 [[ 5.60482473e-01 -8.28147857e-01 -5.52493099e-03 1.34690985e+02] [ 8.28111117e-01 5.60509667e-01 -7.80326029e-03 5.94828921e+01] [ 9.55903052e-03 -2.01666147e-04 9.99954291e-01 2.48427707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73361786499996 meters 0.02070900758269181 Centerline is valid? [True, True] Translation: X:134.71, Y:59.50, Z:2.48 [[ 5.60600811e-01 -8.28069507e-01 -5.25569773e-03 1.34707060e+02] [ 8.28036213e-01 5.60625416e-01 -7.42786181e-03 5.95047712e+01] [ 9.09726359e-03 -1.87842696e-04 9.99958601e-01 2.48459565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76361786499996 meters 0.02091710037219959 Centerline is valid? [True, True] Translation: X:134.72, Y:59.53, Z:2.49 [[ 5.60249205e-01 -8.28310594e-01 -4.73153626e-03 1.34723600e+02] [ 8.28283609e-01 5.60269158e-01 -6.68832427e-03 5.95262324e+01] [ 8.19094369e-03 -1.71925567e-04 9.99966439e-01 2.48594502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79361786499996 meters 0.020180893955104084 Centerline is valid? [True, True] Translation: X:134.74, Y:59.55, Z:2.49 [[ 5.59648344e-01 -8.28718410e-01 -4.41906643e-03 1.34739868e+02] [ 8.28694864e-01 5.59665766e-01 -6.24921818e-03 5.95499887e+01] [ 7.65204236e-03 -1.64693052e-04 9.99970709e-01 2.48588068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82361786499996 meters 0.020180394811808833 Centerline is valid? [True, True] Translation: X:134.76, Y:59.57, Z:2.49 [[ 5.59748869e-01 -8.28652649e-01 -3.99887796e-03 1.34756424e+02] [ 8.28633354e-01 5.59763134e-01 -5.65668226e-03 5.95729171e+01] [ 6.92584919e-03 -1.47282161e-04 9.99976005e-01 2.48691701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85361786499996 meters 0.020099992630263 Centerline is valid? [True, True] Translation: X:134.77, Y:59.60, Z:2.49 [[ 5.59998382e-01 -8.28484713e-01 -3.85912684e-03 1.34772272e+02] [ 8.28466720e-01 5.60011662e-01 -5.46188605e-03 5.95959846e+01] [ 6.68624513e-03 -1.38510802e-04 9.99977637e-01 2.48737965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88361786499996 meters 0.019960579802429573 Centerline is valid? [True, True] Translation: X:134.79, Y:59.62, Z:2.49 [[ 5.60389085e-01 -8.28220853e-01 -3.78057816e-03 1.34788411e+02] [ 8.28203558e-01 5.60401822e-01 -5.35399953e-03 5.96197010e+01] [ 6.55293694e-03 -1.30765388e-04 9.99978521e-01 2.48752374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91361786499996 meters 0.019960579802429573 Centerline is valid? [True, True] Translation: X:134.80, Y:59.64, Z:2.49 [[ 5.60165035e-01 -8.28372410e-01 -3.77940481e-03 1.34804250e+02] [ 8.28355113e-01 5.60177769e-01 -5.35482740e-03 5.96422831e+01] [ 6.55292983e-03 -1.31102222e-04 9.99978521e-01 2.48797478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94361786499996 meters 0.020816405048982325 Centerline is valid? [True, True] Translation: X:134.82, Y:59.66, Z:2.49 [[ 5.60951840e-01 -8.27839750e-01 -3.79215041e-03 1.34821993e+02] [ 8.27822302e-01 5.60964645e-01 -5.37616822e-03 5.96637437e+01] [ 6.57786807e-03 -1.23455224e-04 9.99978358e-01 2.48978115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97361786499997 meters 0.01912655217277298 Centerline is valid? [True, True] Translation: X:134.83, Y:59.69, Z:2.49 [[ 5.63562685e-01 -8.26064071e-01 -3.90529749e-03 1.34834436e+02] [ 8.26045499e-01 5.63576206e-01 -5.54025097e-03 5.96900457e+01] [ 6.77753501e-03 -1.03674704e-04 9.99977027e-01 2.48825213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00361786499997 meters 0.019054251984312796 Centerline is valid? [True, True] Translation: X:134.85, Y:59.71, Z:2.49 [[ 5.65051601e-01 -8.25046768e-01 -3.81051309e-03 1.34848490e+02] [ 8.25029038e-01 5.65064442e-01 -5.40941960e-03 5.97132509e+01] [ 6.61620961e-03 -8.71827492e-05 9.99978109e-01 2.48908322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03361786499997 meters 0.018710404013517253 Centerline is valid? [True, True] Translation: X:134.86, Y:59.74, Z:2.49 [[ 5.66899028e-01 -8.23777828e-01 -3.94739979e-03 1.34863270e+02] [ 8.23758763e-01 5.66912766e-01 -5.60504480e-03 5.97378275e+01] [ 6.85514297e-03 -7.42107178e-05 9.99976500e-01 2.48869315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06361786499997 meters 0.01834476084794851 Centerline is valid? [True, True] Translation: X:134.88, Y:59.76, Z:2.49 [[ 5.70130280e-01 -8.21542005e-01 -4.49424133e-03 1.34876677e+02] [ 8.21517171e-01 5.70147992e-01 -6.38786088e-03 5.97627795e+01] [ 7.81027870e-03 -5.01835102e-05 9.99969498e-01 2.48883277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09361786499997 meters 0.018152052193501633 Centerline is valid? [True, True] Translation: X:134.89, Y:59.79, Z:2.49 [[ 5.71474914e-01 -8.20606087e-01 -4.69825993e-03 1.34891707e+02] [ 8.20578926e-01 5.71494225e-01 -6.67666780e-03 5.97869500e+01] [ 8.16394265e-03 -3.97449322e-05 9.99966674e-01 2.48880714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12361786499997 meters 0.018000265392071238 Centerline is valid? [True, True] Translation: X:134.91, Y:59.81, Z:2.49 [[ 5.72186054e-01 -8.20109712e-01 -4.81444196e-03 1.34906169e+02] [ 8.20081139e-01 5.72206308e-01 -6.84599815e-03 5.98092958e+01] [ 8.36932363e-03 -3.10483781e-05 9.99964976e-01 2.48920983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15361786499997 meters 0.017878259069262874 Centerline is valid? [True, True] Translation: X:134.92, Y:59.83, Z:2.49 [[ 5.73144466e-01 -8.19436867e-01 -5.35182864e-03 1.34921023e+02] [ 8.19401492e-01 5.73169452e-01 -7.61409056e-03 5.98335187e+01] [ 9.30677120e-03 -2.13225106e-05 9.99956691e-01 2.48797371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18361786499997 meters 0.01791255580740427 Centerline is valid? [True, True] Translation: X:134.94, Y:59.86, Z:2.49 [[ 5.73448878e-01 -8.19221474e-01 -5.70622619e-03 1.34935701e+02] [ 8.19181194e-01 5.73477268e-01 -8.12376417e-03 5.98561257e+01] [ 9.92755306e-03 -1.58697269e-05 9.99950721e-01 2.48885700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21361786499997 meters 0.017840700513522517 Centerline is valid? [True, True] Translation: X:134.95, Y:59.88, Z:2.49 [[ 5.74391436e-01 -8.18561441e-01 -5.62547216e-03 1.34948928e+02] [ 8.18522224e-01 5.74418983e-01 -8.01250029e-03 5.98814387e+01] [ 9.79010177e-03 -2.26243855e-06 9.99952076e-01 2.48869354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24361786499998 meters 0.017786313072542668 Centerline is valid? [True, True] Translation: X:134.96, Y:59.91, Z:2.49 [[ 5.74609381e-01 -8.18405655e-01 -6.02027097e-03 1.34963659e+02] [ 8.18360676e-01 5.74640918e-01 -8.58017311e-03 5.99057441e+01] [ 1.04815562e-02 3.49493569e-06 9.99945067e-01 2.48829451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27361786499998 meters 0.01759167541978355 Centerline is valid? [True, True] Translation: X:134.98, Y:59.93, Z:2.49 [[ 5.73795618e-01 -8.18964901e-01 -7.42152023e-03 1.34980291e+02] [ 8.18896495e-01 5.73843612e-01 -1.05848592e-02 5.99285825e+01] [ 1.29274202e-02 -3.91106098e-06 9.99916437e-01 2.48630579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30361786499998 meters 0.017512267663634236 Centerline is valid? [True, True] Translation: X:135.00, Y:59.95, Z:2.49 [[ 5.72380155e-01 -8.19949972e-01 -7.93738513e-03 1.34997275e+02] [ 8.19871724e-01 5.72435187e-01 -1.13275621e-02 5.99510659e+01] [ 1.38316728e-02 -2.39658634e-05 9.99904338e-01 2.48625248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33361786499998 meters 0.017545021473020873 Centerline is valid? [True, True] Translation: X:135.01, Y:59.97, Z:2.49 [[ 5.70654913e-01 -8.21148642e-01 -8.23879738e-03 1.35014395e+02] [ 8.21064353e-01 5.70714381e-01 -1.17653371e-02 5.99724026e+01] [ 1.43630907e-02 -5.06354432e-05 9.99896844e-01 2.48631770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36361786499998 meters 0.017724181081023693 Centerline is valid? [True, True] Translation: X:135.03, Y:59.99, Z:2.49 [[ 5.66691065e-01 -8.23885180e-01 -8.62828225e-03 1.35033884e+02] [ 8.23792986e-01 5.66756733e-01 -1.23256175e-02 5.99935215e+01] [ 1.50450306e-02 -1.23101115e-04 9.99886810e-01 2.48640909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39361786499998 meters 0.01772111176678348 Centerline is valid? [True, True] Translation: X:135.05, Y:60.02, Z:2.49 [[ 5.64460065e-01 -8.25410732e-01 -9.05309054e-03 1.35051386e+02] [ 8.25309321e-01 5.64532634e-01 -1.29394546e-02 6.00165690e+01] [ 1.57911298e-02 -1.67794599e-04 9.99875298e-01 2.48688010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42361786499998 meters 0.018044786434038826 Centerline is valid? [True, True] Translation: X:135.07, Y:60.04, Z:2.49 [[ 5.62338940e-01 -8.26854679e-01 -9.28741283e-03 1.35068278e+02] [ 8.26748031e-01 5.62415589e-01 -1.32815118e-02 6.00386089e+01] [ 1.62052659e-02 -2.09639008e-04 9.99868664e-01 2.48701948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45361786499998 meters 0.01837717287249758 Centerline is valid? [True, True] Translation: X:135.09, Y:60.06, Z:2.49 [[ 5.59342353e-01 -8.28878653e-01 -9.81382899e-03 1.35085098e+02] [ 8.28759808e-01 5.59428369e-01 -1.40385315e-02 6.00617044e+01] [ 1.71263734e-02 -2.80961810e-04 9.99853293e-01 2.48777088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48361786499996 meters 0.018277727732658625 Centerline is valid? [True, True] Translation: X:135.10, Y:60.09, Z:2.49 [[ 5.58567860e-01 -8.29400528e-01 -9.83411995e-03 1.35100886e+02] [ 8.29281149e-01 5.58654345e-01 -1.40747708e-02 6.00858730e+01] [ 1.71674962e-02 -2.93535679e-04 9.99852585e-01 2.48847166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51361786499996 meters 0.018738283725011993 Centerline is valid? [True, True] Translation: X:135.12, Y:60.11, Z:2.49 [[ 5.57776257e-01 -8.29931377e-01 -9.97785275e-03 1.35117906e+02] [ 8.29808439e-01 5.57865408e-01 -1.42877926e-02 6.01084119e+01] [ 1.74241863e-02 -3.10314912e-04 9.99848139e-01 2.48916526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54361786499996 meters 0.019959433497457567 Centerline is valid? [True, True] Translation: X:135.14, Y:60.13, Z:2.49 [[ 5.56627806e-01 -8.30696004e-01 -1.04707049e-02 1.35136505e+02] [ 8.30560679e-01 5.56726170e-01 -1.49976712e-02 6.01296361e+01] [ 1.82878209e-02 -3.48434970e-04 9.99832703e-01 2.48939205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57361786499996 meters 0.018821252402012174 Centerline is valid? [True, True] Translation: X:135.15, Y:60.15, Z:2.49 [[ 5.56291518e-01 -8.30914415e-01 -1.09992016e-02 1.35149662e+02] [ 8.30765020e-01 5.56400124e-01 -1.57601878e-02 6.01548343e+01] [ 1.92153243e-02 -3.70493210e-04 9.99815300e-01 2.48999597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60361786499996 meters 0.0190028499143286 Centerline is valid? [True, True] Translation: X:135.16, Y:60.18, Z:2.49 [[ 5.56178694e-01 -8.30981276e-01 -1.16352677e-02 1.35164855e+02] [ 8.30813913e-01 5.56300250e-01 -1.66815542e-02 6.01772749e+01] [ 2.03347615e-02 -3.88817228e-04 9.99793152e-01 2.48953018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63361786499996 meters 0.01896710537798463 Centerline is valid? [True, True] Translation: X:135.18, Y:60.20, Z:2.49 [[ 5.55929305e-01 -8.31143313e-01 -1.19750304e-02 1.35180326e+02] [ 8.30965872e-01 5.56058120e-01 -1.71780895e-02 6.02004191e+01] [ 2.09362671e-02 -4.01038161e-04 9.99780732e-01 2.48971580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66361786499996 meters 0.01949493492121527 Centerline is valid? [True, True] Translation: X:135.20, Y:60.22, Z:2.49 [[ 5.55422576e-01 -8.31473113e-01 -1.25787182e-02 1.35196765e+02] [ 8.31277180e-01 5.55564829e-01 -1.80546568e-02 6.02222627e+01] [ 2.20002551e-02 -4.28437382e-04 9.99757873e-01 2.48925910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69361786499996 meters 0.019217488133622965 Centerline is valid? [True, True] Translation: X:135.21, Y:60.25, Z:2.49 [[ 5.55134455e-01 -8.31657856e-01 -1.30746786e-02 1.35211375e+02] [ 8.31445983e-01 5.55288223e-01 -1.87767792e-02 6.02457500e+01] [ 2.28760710e-02 -4.47251947e-04 9.99738208e-01 2.48965632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72361786499997 meters 0.019139235975433117 Centerline is valid? [True, True] Translation: X:135.23, Y:60.27, Z:2.49 [[ 5.55035146e-01 -8.31716220e-01 -1.35689653e-02 1.35226713e+02] [ 8.31487769e-01 5.55200790e-01 -1.94980062e-02 6.02697506e+01] [ 2.37503083e-02 -4.60349997e-04 9.99717816e-01 2.49002831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75361786499997 meters 0.018902363969090216 Centerline is valid? [True, True] Translation: X:135.24, Y:60.29, Z:2.49 [[ 5.55275629e-01 -8.31550395e-01 -1.38894442e-02 1.35241457e+02] [ 8.31310691e-01 5.55449126e-01 -1.99700721e-02 6.02935972e+01] [ 2.43210010e-02 -4.57549062e-04 9.99704096e-01 2.49054219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78361786499997 meters 0.019526513702792177 Centerline is valid? [True, True] Translation: X:135.26, Y:60.32, Z:2.49 [[ 5.55980501e-01 -8.31077312e-01 -1.40065656e-02 1.35257631e+02] [ 8.30833145e-01 5.56156734e-01 -2.01487661e-02 6.03158785e+01] [ 2.45350282e-02 -4.34797907e-04 9.99698876e-01 2.48993895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81361786499997 meters 0.018550027213488772 Centerline is valid? [True, True] Translation: X:135.27, Y:60.34, Z:2.49 [[ 5.56558427e-01 -8.30686891e-01 -1.42129066e-02 1.35270600e+02] [ 8.30435124e-01 5.56739718e-01 -2.04546281e-02 6.03405758e+01] [ 2.49042810e-02 -4.18701230e-04 9.99689753e-01 2.49175521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84361786499997 meters 0.01820560075782372 Centerline is valid? [True, True] Translation: X:135.29, Y:60.36, Z:2.49 [[ 5.58818360e-01 -8.29175475e-01 -1.37866357e-02 1.35285351e+02] [ 8.28937870e-01 5.58988300e-01 -1.98516541e-02 6.03648190e+01] [ 2.41670727e-02 -3.34795622e-04 9.99707878e-01 2.49297050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87361786499997 meters 0.017680906369669607 Centerline is valid? [True, True] Translation: X:135.30, Y:60.39, Z:2.49 [[ 5.59915894e-01 -8.28437120e-01 -1.36429237e-02 1.35299776e+02] [ 8.28203984e-01 5.60082004e-01 -1.96547720e-02 6.03892211e+01] [ 2.39238988e-02 -2.94104516e-04 9.99713739e-01 2.49416663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90361786499997 meters 0.017309740878624136 Centerline is valid? [True, True] Translation: X:135.32, Y:60.41, Z:2.50 [[ 5.60824711e-01 -8.27819419e-01 -1.38077247e-02 1.35315033e+02] [ 8.27580162e-01 5.60994599e-01 -1.99031570e-02 6.04142547e+01] [ 2.42222788e-02 -2.64816759e-04 9.99706562e-01 2.49532101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93361786499997 meters 0.01748402268633476 Centerline is valid? [True, True] Translation: X:135.33, Y:60.44, Z:2.49 [[ 5.62502994e-01 -8.26681384e-01 -1.37211932e-02 1.35331103e+02] [ 8.26444582e-01 5.62670281e-01 -1.97865346e-02 6.04375902e+01] [ 2.40776674e-02 -2.09820813e-04 9.99710069e-01 2.49371977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96361786499997 meters 0.01718285116336198 Centerline is valid? [True, True] Translation: X:135.35, Y:60.46, Z:2.50 [[ 5.62665097e-01 -8.26573212e-01 -1.35909214e-02 1.35345349e+02] [ 8.26340712e-01 5.62829179e-01 -1.96046762e-02 6.04614829e+01] [ 2.38540673e-02 -1.99864644e-04 9.99715431e-01 2.49527108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99361786499998 meters 0.01712266326072312 Centerline is valid? [True, True] Translation: X:135.36, Y:60.48, Z:2.50 [[ 5.62611732e-01 -8.26611068e-01 -1.34974281e-02 1.35361367e+02] [ 8.26381501e-01 5.62773582e-01 -1.94810385e-02 6.04847826e+01] [ 2.36992380e-02 -1.93764050e-04 9.99719115e-01 2.49570573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02361786499998 meters 0.01698088641215997 Centerline is valid? [True, True] Translation: X:135.38, Y:60.51, Z:2.50 [[ 5.62432114e-01 -8.26737369e-01 -1.32453382e-02 1.35377201e+02] [ 8.26516077e-01 5.62588026e-01 -1.91281970e-02 6.05084320e+01] [ 2.32656640e-02 -1.89172665e-04 9.99729300e-01 2.49703133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05361786499998 meters 0.017335834253347938 Centerline is valid? [True, True] Translation: X:135.39, Y:60.53, Z:2.50 [[ 5.61842753e-01 -8.27141265e-01 -1.30403035e-02 1.35394553e+02] [ 8.26926649e-01 5.61994030e-01 -1.88421631e-02 6.05293222e+01] [ 2.29137033e-02 -1.97041698e-04 9.99737427e-01 2.49694828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08361786499998 meters 0.017144361750433892 Centerline is valid? [True, True] Translation: X:135.41, Y:60.55, Z:2.50 [[ 5.61170141e-01 -8.27601843e-01 -1.27774477e-02 1.35410731e+02] [ 8.27395728e-01 5.61315550e-01 -1.84705626e-02 6.05527056e+01] [ 2.24584517e-02 -2.06877484e-04 9.99747756e-01 2.49864600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11361786499998 meters 0.017088461546216988 Centerline is valid? [True, True] Translation: X:135.43, Y:60.57, Z:2.50 [[ 5.60556461e-01 -8.28015193e-01 -1.29342417e-02 1.35427428e+02] [ 8.27803851e-01 5.60705620e-01 -1.87080699e-02 6.05748944e+01] [ 2.27428681e-02 -2.20085681e-04 9.99741323e-01 2.49939797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14361786499998 meters 0.017462585355749856 Centerline is valid? [True, True] Translation: X:135.45, Y:60.60, Z:2.50 [[ 5.59705926e-01 -8.28595247e-01 -1.26171583e-02 1.35445055e+02] [ 8.28394080e-01 5.59848071e-01 -1.82588499e-02 6.05950915e+01] [ 2.21928879e-02 -2.32392754e-04 9.99753681e-01 2.49910655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17361786499998 meters 0.017105521300661394 Centerline is valid? [True, True] Translation: X:135.46, Y:60.62, Z:2.50 [[ 5.59041589e-01 -8.29045900e-01 -1.24658496e-02 1.35460569e+02] [ 8.28849470e-01 5.59180505e-01 -1.80476856e-02 6.06181317e+01] [ 2.19330198e-02 -2.42905960e-04 9.99759413e-01 2.50027224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20361786499998 meters 0.017320884333072176 Centerline is valid? [True, True] Translation: X:135.48, Y:60.64, Z:2.50 [[ 5.58136626e-01 -8.29658684e-01 -1.22464517e-02 1.35476999e+02] [ 8.29469044e-01 5.58270904e-01 -1.77398492e-02 6.06401881e+01] [ 2.15548576e-02 -2.56792984e-04 9.99767634e-01 2.50017852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23361786499996 meters 0.017409492385071574 Centerline is valid? [True, True] Translation: X:135.49, Y:60.66, Z:2.50 [[ 5.56179792e-01 -8.30972886e-01 -1.21697481e-02 1.35494083e+02] [ 8.30785733e-01 5.56312837e-01 -1.76378070e-02 6.06635702e+01] [ 2.14267265e-02 -3.00661231e-04 9.99770376e-01 2.50052640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26361786499996 meters 0.017923991890262992 Centerline is valid? [True, True] Translation: X:135.51, Y:60.68, Z:2.50 [[ 5.55431282e-01 -8.31472985e-01 -1.21969749e-02 1.35511783e+02] [ 8.31284936e-01 5.55565095e-01 -1.76856091e-02 6.06848234e+01] [ 2.14813197e-02 -3.16021000e-04 9.99769200e-01 2.50000784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29361786499996 meters 0.017588507451609482 Centerline is valid? [True, True] Translation: X:135.53, Y:60.71, Z:2.50 [[ 5.54361846e-01 -8.32180571e-01 -1.25873339e-02 1.35528262e+02] [ 8.31980306e-01 5.54504621e-01 -1.82591329e-02 6.07081840e+01] [ 2.21746305e-02 -3.50247318e-04 9.99754051e-01 2.50061134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32361786499996 meters 0.01755486421264468 Centerline is valid? [True, True] Translation: X:135.55, Y:60.73, Z:2.50 [[ 5.53041611e-01 -8.33054245e-01 -1.28686145e-02 1.35545944e+02] [ 8.32844949e-01 5.53191173e-01 -1.86766328e-02 6.07308369e+01] [ 2.26774522e-02 -3.88605451e-04 9.99742758e-01 2.50059819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35361786499996 meters 0.017741544447072398 Centerline is valid? [True, True] Translation: X:135.56, Y:60.75, Z:2.50 [[ 5.52123656e-01 -8.33664282e-01 -1.27801810e-02 1.35562768e+02] [ 8.33457804e-01 5.52271400e-01 -1.85577341e-02 6.07529601e+01] [ 2.25290485e-02 -4.05577593e-04 9.99746107e-01 2.50086379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38361786499996 meters 0.017872335314868235 Centerline is valid? [True, True] Translation: X:135.58, Y:60.78, Z:2.50 [[ 5.51562195e-01 -8.34036962e-01 -1.27079313e-02 1.35579579e+02] [ 8.33832690e-01 5.51708415e-01 -1.84626355e-02 6.07759771e+01] [ 2.24095931e-02 -4.12996847e-04 9.99748788e-01 2.50127550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41361786499996 meters 0.017595097937837263 Centerline is valid? [True, True] Translation: X:135.59, Y:60.80, Z:2.50 [[ 5.52736110e-01 -8.33266894e-01 -1.22096435e-02 1.35594107e+02] [ 8.33077933e-01 5.52870828e-01 -1.77483611e-02 6.08008767e+01] [ 2.15394774e-02 -3.61424477e-04 9.99767933e-01 2.50230358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44361786499996 meters 0.017363576846602842 Centerline is valid? [True, True] Translation: X:135.61, Y:60.82, Z:2.50 [[ 5.53638365e-01 -8.32665240e-01 -1.23757450e-02 1.35608891e+02] [ 8.32470761e-01 5.53776565e-01 -1.79985774e-02 6.08241179e+01] [ 2.18401873e-02 -3.37742930e-04 9.99761418e-01 2.50224550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47361786499997 meters 0.017201168583754846 Centerline is valid? [True, True] Translation: X:135.62, Y:60.85, Z:2.50 [[ 5.54150838e-01 -8.32319535e-01 -1.26901803e-02 1.35624160e+02] [ 8.32114776e-01 5.54296026e-01 -1.84638651e-02 6.08477328e+01] [ 2.24019522e-02 -3.27920210e-04 9.99748991e-01 2.50221158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50361786499997 meters 0.017258996970382957 Centerline is valid? [True, True] Translation: X:135.64, Y:60.87, Z:2.50 [[ 5.55104917e-01 -8.31670238e-01 -1.35331923e-02 1.35638290e+02] [ 8.31436905e-01 5.55269769e-01 -1.97016882e-02 6.08711968e+01] [ 2.38998802e-02 -3.15491539e-04 9.99714307e-01 2.50171857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53361786499997 meters 0.017774458630448617 Centerline is valid? [True, True] Translation: X:135.65, Y:60.89, Z:2.50 [[ 5.54891501e-01 -8.31807979e-01 -1.38169401e-02 1.35654901e+02] [ 8.31564553e-01 5.55063403e-01 -2.01249322e-02 6.08927106e+01] [ 2.44093570e-02 -3.22523749e-04 9.99701995e-01 2.50103649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56361786499997 meters 0.01740236059977621 Centerline is valid? [True, True] Translation: X:135.67, Y:60.92, Z:2.50 [[ 5.54410542e-01 -8.32125005e-01 -1.40330641e-02 1.35669757e+02] [ 8.31873737e-01 5.54588013e-01 -2.04504946e-02 6.09161867e+01] [ 2.47999371e-02 -3.35767640e-04 9.99692378e-01 2.50201525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59361786499997 meters 0.016971603095746024 Centerline is valid? [True, True] Translation: X:135.68, Y:60.94, Z:2.50 [[ 5.53576594e-01 -8.32678037e-01 -1.41506348e-02 1.35684534e+02] [ 8.32422440e-01 5.53757310e-01 -2.06330570e-02 6.09410361e+01] [ 2.50167109e-02 -3.57328525e-04 9.99686969e-01 2.50348657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62361786499997 meters 0.01736655953763856 Centerline is valid? [True, True] Translation: X:135.70, Y:60.96, Z:2.50 [[ 5.52141555e-01 -8.33627556e-01 -1.43108829e-02 1.35699887e+02] [ 8.33366222e-01 5.52326840e-01 -2.08758597e-02 6.09639044e+01] [ 2.53069766e-02 -3.99776754e-04 9.99679647e-01 2.50347579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65361786499997 meters 0.017691501623959424 Centerline is valid? [True, True] Translation: X:135.72, Y:60.99, Z:2.50 [[ 5.51138147e-01 -8.34292536e-01 -1.42374969e-02 1.35715382e+02] [ 8.34033909e-01 5.51321852e-01 -2.07763055e-02 6.09863550e+01] [ 2.51829598e-02 -4.23940694e-04 9.99682769e-01 2.50392996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68361786499997 meters 0.0180273146347775 Centerline is valid? [True, True] Translation: X:135.73, Y:61.01, Z:2.50 [[ 5.49817290e-01 -8.35165734e-01 -1.41118587e-02 1.35731449e+02] [ 8.34911676e-01 5.49998174e-01 -2.06034566e-02 6.10099440e+01] [ 2.49687974e-02 -4.54018989e-04 9.99688128e-01 2.50475514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71361786499997 meters 0.019505332926781964 Centerline is valid? [True, True] Translation: X:135.75, Y:61.03, Z:2.51 [[ 5.47190143e-01 -8.36896819e-01 -1.36624368e-02 1.35749438e+02] [ 8.36659008e-01 5.47360442e-01 -1.99562030e-02 6.10317844e+01] [ 2.41795603e-02 -5.10963261e-04 9.99707501e-01 2.50583374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74361786499998 meters 0.018835433920329745 Centerline is valid? [True, True] Translation: X:135.76, Y:61.06, Z:2.51 [[ 5.45714421e-01 -8.37864508e-01 -1.33730349e-02 1.35764278e+02] [ 8.37636771e-01 5.45877988e-01 -1.95413111e-02 6.10561510e+01] [ 2.36730164e-02 -5.37770519e-04 9.99719610e-01 2.50747575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77361786499998 meters 0.019278633865070234 Centerline is valid? [True, True] Translation: X:135.78, Y:61.08, Z:2.51 [[ 5.42810502e-01 -8.39748988e-01 -1.33565461e-02 1.35781039e+02] [ 8.39522148e-01 5.42974457e-01 -1.95269375e-02 6.10792786e+01] [ 2.36499894e-02 -6.13689548e-04 9.99720112e-01 2.50858623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80361786499998 meters 0.01995733514266161 Centerline is valid? [True, True] Translation: X:135.80, Y:61.10, Z:2.51 [[ 5.41723932e-01 -8.40450433e-01 -1.33510907e-02 1.35797566e+02] [ 8.40223795e-01 5.41888052e-01 -1.95272243e-02 6.11016199e+01] [ 2.36464607e-02 -6.39539362e-04 9.99720179e-01 2.50875368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83361786499998 meters 0.01995733514266161 Centerline is valid? [True, True] Translation: X:135.81, Y:61.12, Z:2.51 [[ 5.41498888e-01 -8.40595500e-01 -1.33476761e-02 1.35813073e+02] [ 8.40368849e-01 5.41662989e-01 -1.95295582e-02 6.11244314e+01] [ 2.36464009e-02 -6.41737170e-04 9.99720179e-01 2.50920543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86361786499998 meters 0.020297123178169302 Centerline is valid? [True, True] Translation: X:135.83, Y:61.15, Z:2.51 [[ 5.40212803e-01 -8.41420378e-01 -1.34860751e-02 1.35829204e+02] [ 8.41188995e-01 5.40380686e-01 -1.97430399e-02 6.11485265e+01] [ 2.38998106e-02 -6.78895029e-04 9.99714128e-01 2.50920158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89361786499998 meters 0.02094977402086125 Centerline is valid? [True, True] Translation: X:135.85, Y:61.17, Z:2.51 [[ 5.39539029e-01 -8.41854088e-01 -1.33914785e-02 1.35845355e+02] [ 8.41625876e-01 5.39704753e-01 -1.96128768e-02 6.11710092e+01] [ 2.37386251e-02 -6.88702338e-04 9.99717962e-01 2.50927028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92361786499998 meters 0.02138996622940155 Centerline is valid? [True, True] Translation: X:135.86, Y:61.19, Z:2.51 [[ 5.38979068e-01 -8.42217268e-01 -1.31010446e-02 1.35860935e+02] [ 8.41998829e-01 5.39137832e-01 -1.91929698e-02 6.11935465e+01] [ 2.32279194e-02 -6.86455225e-04 9.99729960e-01 2.50986185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95361786499998 meters 0.021409149960703224 Centerline is valid? [True, True] Translation: X:135.88, Y:61.22, Z:2.51 [[ 5.38661045e-01 -8.42424100e-01 -1.28808030e-02 1.35876402e+02] [ 8.42212824e-01 5.38814601e-01 -1.88781447e-02 6.12164587e+01] [ 2.28437688e-02 -6.79456362e-04 9.99738816e-01 2.51031461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98361786499996 meters 0.020093026633715642 Centerline is valid? [True, True] Translation: X:135.89, Y:61.24, Z:2.51 [[ 5.38340831e-01 -8.42627116e-01 -1.29881871e-02 1.35890640e+02] [ 8.42412111e-01 5.38497048e-01 -1.90463883e-02 6.12412461e+01] [ 2.30431037e-02 -6.87957600e-04 9.99734236e-01 2.51155422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01361786499996 meters 0.01987132982557022 Centerline is valid? [True, True] Translation: X:135.91, Y:61.26, Z:2.51 [[ 5.38240384e-01 -8.42689844e-01 -1.30811292e-02 1.35906537e+02] [ 8.42471507e-01 5.38398877e-01 -1.91939687e-02 6.12642918e+01] [ 2.32174278e-02 -6.89509529e-04 9.99730201e-01 2.51199977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04361786499996 meters 0.02084891501857966 Centerline is valid? [True, True] Translation: X:135.92, Y:61.29, Z:2.51 [[ 5.38307444e-01 -8.42645999e-01 -1.31460028e-02 1.35923222e+02] [ 8.42425222e-01 5.38467503e-01 -1.93000951e-02 6.12854950e+01] [ 2.33418432e-02 -6.85139427e-04 9.99727307e-01 2.51182046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07361786499996 meters 0.020007765131951225 Centerline is valid? [True, True] Translation: X:135.94, Y:61.31, Z:2.51 [[ 5.38486108e-01 -8.42532944e-01 -1.30747700e-02 1.35937794e+02] [ 8.42314285e-01 5.38644399e-01 -1.92056444e-02 6.13097000e+01] [ 2.32240397e-02 -6.71092799e-04 9.99730060e-01 2.51253104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10361786499996 meters 0.01996464147320838 Centerline is valid? [True, True] Translation: X:135.95, Y:61.33, Z:2.51 [[ 5.38530205e-01 -8.42506016e-01 -1.29934852e-02 1.35953579e+02] [ 8.42289808e-01 5.38686529e-01 -1.90971816e-02 6.13333857e+01] [ 2.30889058e-02 -6.59871065e-04 9.99733198e-01 2.51267197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13361786499996 meters 0.020026264156691797 Centerline is valid? [True, True] Translation: X:135.97, Y:61.36, Z:2.51 [[ 5.38671078e-01 -8.42416324e-01 -1.29694476e-02 1.35969378e+02] [ 8.42200635e-01 5.38826796e-01 -1.90728810e-02 6.13568830e+01] [ 2.30555922e-02 -6.48867602e-04 9.99733974e-01 2.51218169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16361786499996 meters 0.020009686949707062 Centerline is valid? [True, True] Translation: X:135.98, Y:61.38, Z:2.51 [[ 5.38528772e-01 -8.42504623e-01 -1.31423951e-02 1.35984855e+02] [ 8.42282907e-01 5.38688715e-01 -1.93384015e-02 6.13799566e+01] [ 2.33723526e-02 -6.55329162e-04 9.99726614e-01 2.51217141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19361786499996 meters 0.019908074104832186 Centerline is valid? [True, True] Translation: X:136.00, Y:61.40, Z:2.51 [[ 5.38306842e-01 -8.42650334e-01 -1.28902307e-02 1.36000411e+02] [ 8.42436840e-01 5.38460770e-01 -1.89781403e-02 6.14036238e+01] [ 2.29328198e-02 -6.43142391e-04 9.99736801e-01 2.51211098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22361786499997 meters 0.019990321528489924 Centerline is valid? [True, True] Translation: X:136.02, Y:61.43, Z:2.51 [[ 5.38060565e-01 -8.42808422e-01 -1.28371602e-02 1.36016355e+02] [ 8.42596478e-01 5.38213297e-01 -1.89108914e-02 6.14263744e+01] [ 2.28473889e-02 -6.41341116e-04 9.99738759e-01 2.51250158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25361786499997 meters 0.02043471248758466 Centerline is valid? [True, True] Translation: X:136.03, Y:61.45, Z:2.51 [[ 5.37755947e-01 -8.43008492e-01 -1.24589124e-02 1.36033169e+02] [ 8.42808699e-01 5.37899890e-01 -1.83631415e-02 6.14477495e+01] [ 2.21819318e-02 -6.25591203e-04 9.99753755e-01 2.51319969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28361786499997 meters 0.020642054002690202 Centerline is valid? [True, True] Translation: X:136.05, Y:61.47, Z:2.51 [[ 5.37567636e-01 -8.43130818e-01 -1.23069035e-02 1.36049752e+02] [ 8.42935732e-01 5.37708137e-01 -1.81469204e-02 6.14706733e+01] [ 2.19177500e-02 -6.18731585e-04 9.99759586e-01 2.51370625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31361786499997 meters 0.02107899865766287 Centerline is valid? [True, True] Translation: X:136.07, Y:61.49, Z:2.51 [[ 5.37063632e-01 -8.43463746e-01 -1.14701500e-02 1.36065713e+02] [ 8.43294184e-01 5.37185785e-01 -1.69219399e-02 6.14920272e+01] [ 2.04346444e-02 -5.84552287e-04 9.99791020e-01 2.51460397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34361786499997 meters 0.019692749881678136 Centerline is valid? [True, True] Translation: X:136.08, Y:61.52, Z:2.52 [[ 5.36480560e-01 -8.43837188e-01 -1.12875915e-02 1.36079449e+02] [ 8.43672890e-01 5.36598974e-01 -1.66611946e-02 6.15171861e+01] [ 2.01162457e-02 -5.84627970e-04 9.99797477e-01 2.51569913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37361786499997 meters 0.02094252137378097 Centerline is valid? [True, True] Translation: X:136.10, Y:61.54, Z:2.52 [[ 5.36228799e-01 -8.43999294e-01 -1.11296097e-02 1.36096568e+02] [ 8.43839416e-01 5.36343975e-01 -1.64371629e-02 6.15382626e+01] [ 1.98422530e-02 -5.77523197e-04 9.99802956e-01 2.51588021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40361786499997 meters 0.020059864487449765 Centerline is valid? [True, True] Translation: X:136.11, Y:61.56, Z:2.52 [[ 5.35961243e-01 -8.44170167e-01 -1.10578230e-02 1.36110701e+02] [ 8.44012211e-01 5.36074993e-01 -1.63398484e-02 6.15625660e+01] [ 1.97214350e-02 -5.75412175e-04 9.99805348e-01 2.51655745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43361786499997 meters 0.019479761513987323 Centerline is valid? [True, True] Translation: X:136.13, Y:61.59, Z:2.52 [[ 5.36017251e-01 -8.44137754e-01 -1.08147701e-02 1.36125330e+02] [ 8.43986483e-01 5.36126051e-01 -1.59897869e-02 6.15869794e+01] [ 1.92956627e-02 -5.56718164e-04 9.99813666e-01 2.51707143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46361786499997 meters 0.019920542410903536 Centerline is valid? [True, True] Translation: X:136.14, Y:61.61, Z:2.52 [[ 5.35836196e-01 -8.44258213e-01 -1.03750199e-02 1.36141010e+02] [ 8.44118859e-01 5.35936363e-01 -1.53481704e-02 6.16087864e+01] [ 1.85181694e-02 -5.33644723e-04 9.99828382e-01 2.51767866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49361786499998 meters 0.020092853038996817 Centerline is valid? [True, True] Translation: X:136.16, Y:61.63, Z:2.52 [[ 5.35728167e-01 -8.44328938e-01 -1.01968688e-02 1.36156679e+02] [ 8.44194199e-01 5.35824945e-01 -1.50924988e-02 6.16316771e+01] [ 1.82067701e-02 -5.22660752e-04 9.99834106e-01 2.51828804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52361786499998 meters 0.01934414489340727 Centerline is valid? [True, True] Translation: X:136.17, Y:61.66, Z:2.52 [[ 5.35623769e-01 -8.44400510e-01 -9.74459589e-03 1.36171408e+02] [ 8.44277332e-01 5.35712172e-01 -1.44310403e-02 6.16559128e+01] [ 1.74058765e-02 -4.97533209e-04 9.99848382e-01 2.51928193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55361786499998 meters 0.020301942132518565 Centerline is valid? [True, True] Translation: X:136.19, Y:61.68, Z:2.52 [[ 5.35347086e-01 -8.44579674e-01 -9.41654150e-03 1.36188325e+02] [ 8.44464546e-01 5.35429679e-01 -1.39531393e-02 6.16766277e+01] [ 1.68264336e-02 -4.82162981e-04 9.99858309e-01 2.51973855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58361786499998 meters 0.01940503231919918 Centerline is valid? [True, True] Translation: X:136.20, Y:61.70, Z:2.52 [[ 5.35029277e-01 -8.44784691e-01 -9.08291101e-03 1.36202629e+02] [ 8.44677494e-01 5.35106165e-01 -1.34656510e-02 6.17003906e+01] [ 1.62358975e-02 -4.67612999e-04 9.99868080e-01 2.52017083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61361786499998 meters 0.019468195928470045 Centerline is valid? [True, True] Translation: X:136.22, Y:61.72, Z:2.52 [[ 5.35333640e-01 -8.44594940e-01 -8.79097355e-03 1.36218498e+02] [ 8.44494382e-01 5.35405632e-01 -1.30402333e-02 6.17231902e+01] [ 1.57204518e-02 -4.43052236e-04 9.99876328e-01 2.52094850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64361786499998 meters 0.01951993384305702 Centerline is valid? [True, True] Translation: X:136.23, Y:61.75, Z:2.52 [[ 5.35759901e-01 -8.44327801e-01 -8.47894252e-03 1.36234215e+02] [ 8.44234118e-01 5.35826829e-01 -1.25842719e-02 6.17471504e+01] [ 1.51684955e-02 -4.16064288e-04 9.99884865e-01 2.52156110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67361786499998 meters 0.019202798989582485 Centerline is valid? [True, True] Translation: X:136.25, Y:61.77, Z:2.52 [[ 5.37318629e-01 -8.43339236e-01 -8.22345395e-03 1.36248841e+02] [ 8.43250898e-01 5.37381424e-01 -1.22118184e-02 6.17715354e+01] [ 1.47178369e-02 -3.72797438e-04 9.99891617e-01 2.52232810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70361786499996 meters 0.0189054664791416 Centerline is valid? [True, True] Translation: X:136.26, Y:61.80, Z:2.52 [[ 5.38230595e-01 -8.42758061e-01 -8.16561080e-03 1.36264116e+02] [ 8.42670806e-01 5.38292418e-01 -1.21319745e-02 6.17960247e+01] [ 1.46198057e-02 -3.51121990e-04 9.99893063e-01 2.52280744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73361786499996 meters 0.018687613412307038 Centerline is valid? [True, True] Translation: X:136.28, Y:61.82, Z:2.52 [[ 5.39051633e-01 -8.42233020e-01 -8.17784003e-03 1.36278849e+02] [ 8.42145356e-01 5.39113558e-01 -1.21561402e-02 6.18199101e+01] [ 1.46470871e-02 -3.34142779e-04 9.99892670e-01 2.52321206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76361786499996 meters 0.01849912256198087 Centerline is valid? [True, True] Translation: X:136.29, Y:61.84, Z:2.52 [[ 5.39954932e-01 -8.41651405e-01 -8.46067768e-03 1.36293239e+02] [ 8.41557390e-01 5.40021116e-01 -1.25838673e-02 6.18429478e+01] [ 1.51601742e-02 -3.25424623e-04 9.99885025e-01 2.52330878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79361786499996 meters 0.01815672306674808 Centerline is valid? [True, True] Translation: X:136.31, Y:61.87, Z:2.52 [[ 5.41519843e-01 -8.40646842e-01 -8.31548496e-03 1.36306645e+02] [ 8.40555828e-01 5.41583607e-01 -1.23732344e-02 6.18672212e+01] [ 1.49050508e-02 -2.89277388e-04 9.99888872e-01 2.52335004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82361786499996 meters 0.017997629854246633 Centerline is valid? [True, True] Translation: X:136.32, Y:61.89, Z:2.52 [[ 5.42254966e-01 -8.40172223e-01 -8.37774548e-03 1.36321416e+02] [ 8.40079758e-01 5.42319609e-01 -1.24676483e-02 6.18907956e+01] [ 1.50183874e-02 -2.77330202e-04 9.99887179e-01 2.52353051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85361786499996 meters 0.017906784829550017 Centerline is valid? [True, True] Translation: X:136.34, Y:61.91, Z:2.52 [[ 5.42517884e-01 -8.40002724e-01 -8.35282136e-03 1.36336344e+02] [ 8.39910688e-01 5.42582116e-01 -1.24372400e-02 6.19141519e+01] [ 1.49794069e-02 -2.68198819e-04 9.99887766e-01 2.52383126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88361786499996 meters 0.017274231391899993 Centerline is valid? [True, True] Translation: X:136.35, Y:61.94, Z:2.52 [[ 5.42712523e-01 -8.39876518e-01 -8.39955985e-03 1.36350153e+02] [ 8.39783329e-01 5.42777455e-01 -1.25137463e-02 6.19386046e+01] [ 1.50690934e-02 -2.62443484e-04 9.99886420e-01 2.52411633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91361786499996 meters 0.01665878258758118 Centerline is valid? [True, True] Translation: X:136.36, Y:61.96, Z:2.52 [[ 5.43412370e-01 -8.39426209e-01 -8.16303422e-03 1.36363650e+02] [ 8.39338044e-01 5.43473626e-01 -1.21682259e-02 6.19638299e+01] [ 1.46507215e-02 -2.39180714e-04 9.99892644e-01 2.52478662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94361786499996 meters 0.016907756541174063 Centerline is valid? [True, True] Translation: X:136.38, Y:61.99, Z:2.53 [[ 5.43669024e-01 -8.39261549e-01 -8.00280290e-03 1.36378341e+02] [ 8.39176701e-01 5.43727874e-01 -1.19358247e-02 6.19863356e+01] [ 1.43686258e-02 -2.26627547e-04 9.99896740e-01 2.52567394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97361786499997 meters 0.016624527471924506 Centerline is valid? [True, True] Translation: X:136.39, Y:62.01, Z:2.53 [[ 5.43676389e-01 -8.39258248e-01 -7.84715494e-03 1.36392019e+02] [ 8.39176625e-01 5.43732972e-01 -1.17067046e-02 6.20104027e+01] [ 1.40917053e-02 -2.20490095e-04 9.99900683e-01 2.52619557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00361786499997 meters 0.017287946402683125 Centerline is valid? [True, True] Translation: X:136.41, Y:62.03, Z:2.53 [[ 5.43234878e-01 -8.39542260e-01 -8.04121581e-03 1.36407018e+02] [ 8.39456474e-01 5.43294341e-01 -1.20035873e-02 6.20327088e+01] [ 1.44462659e-02 -2.29483375e-04 9.99895621e-01 2.52631373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03361786499997 meters 0.01734847066194193 Centerline is valid? [True, True] Translation: X:136.42, Y:62.06, Z:2.53 [[ 5.42390345e-01 -8.40089419e-01 -7.90452586e-03 1.36422181e+02] [ 8.40006496e-01 5.42447889e-01 -1.18056904e-02 6.20565051e+01] [ 1.42056289e-02 -2.36560589e-04 9.99899067e-01 2.52679991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06361786499997 meters 0.017367919459618558 Centerline is valid? [True, True] Translation: X:136.44, Y:62.08, Z:2.53 [[ 5.39800638e-01 -8.41760204e-01 -7.41827258e-03 1.36436691e+02] [ 8.41687251e-01 5.39851546e-01 -1.10850784e-02 6.20817423e+01] [ 1.33357438e-02 -2.60133084e-04 9.99911041e-01 2.52715588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09361786499997 meters 0.01783687082579349 Centerline is valid? [True, True] Translation: X:136.45, Y:62.11, Z:2.53 [[ 5.37982638e-01 -8.42925278e-01 -7.18730098e-03 1.36453081e+02] [ 8.42856833e-01 5.38030575e-01 -1.07452201e-02 6.21055094e+01] [ 1.29244053e-02 -2.77123911e-04 9.99916438e-01 2.52752899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12361786499997 meters 0.01830800407975791 Centerline is valid? [True, True] Translation: X:136.47, Y:62.13, Z:2.53 [[ 5.36120137e-01 -8.44109317e-01 -7.39325514e-03 1.36469243e+02] [ 8.44036921e-01 5.36171022e-01 -1.10594106e-02 6.21288892e+01] [ 1.32994007e-02 -3.11007596e-04 9.99911511e-01 2.52787578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15361786499997 meters 0.019507160099726178 Centerline is valid? [True, True] Translation: X:136.49, Y:62.15, Z:2.53 [[ 5.32053956e-01 -8.46677034e-01 -7.52242450e-03 1.36485730e+02] [ 8.46602297e-01 5.32106996e-01 -1.12559483e-02 6.21519899e+01] [ 1.35328876e-02 -3.79730048e-04 9.99908354e-01 2.52746396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18361786499997 meters 0.020031249707972317 Centerline is valid? [True, True] Translation: X:136.50, Y:62.18, Z:2.53 [[ 5.29924468e-01 -8.48008727e-01 -7.82669285e-03 1.36501661e+02] [ 8.47927868e-01 5.29982091e-01 -1.17181155e-02 6.21755947e+01] [ 1.40850713e-02 -4.26754850e-04 9.99900709e-01 2.52798097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21361786499997 meters 0.02090577769995716 Centerline is valid? [True, True] Translation: X:136.52, Y:62.20, Z:2.53 [[ 5.28122145e-01 -8.49132494e-01 -7.81067585e-03 1.36517570e+02] [ 8.49052015e-01 5.28179706e-01 -1.16992957e-02 6.21982975e+01] [ 1.40596926e-02 -4.53012934e-04 9.99901055e-01 2.52827095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24361786499998 meters 0.02066057572059986 Centerline is valid? [True, True] Translation: X:136.53, Y:62.22, Z:2.53 [[ 5.26298714e-01 -8.50265341e-01 -7.64941077e-03 1.36532514e+02] [ 8.50188210e-01 5.26354090e-01 -1.14620624e-02 6.22234150e+01] [ 1.37720931e-02 -4.70970136e-04 9.99905049e-01 2.52872884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27361786499998 meters 0.020527000533815818 Centerline is valid? [True, True] Translation: X:136.55, Y:62.25, Z:2.53 [[ 5.24215761e-01 -8.51554385e-01 -7.27780087e-03 1.36546086e+02] [ 8.51484611e-01 5.24266061e-01 -1.09112512e-02 6.22484137e+01] [ 1.31070278e-02 -4.77085581e-04 9.99913985e-01 2.52885341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30361786499998 meters 0.023077480499829554 Centerline is valid? [True, True] Translation: X:136.56, Y:62.27, Z:2.53 [[ 5.23665903e-01 -8.51892686e-01 -7.27143535e-03 1.36563954e+02] [ 8.51823035e-01 5.23716161e-01 -1.09041203e-02 6.22702382e+01] [ 1.30973085e-02 -4.83860138e-04 9.99914110e-01 2.52949754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33361786499998 meters 0.021080121245859635 Centerline is valid? [True, True] Translation: X:136.58, Y:62.30, Z:2.53 [[ 5.23118191e-01 -8.52228230e-01 -7.37573292e-03 1.36575421e+02] [ 8.52156561e-01 5.23169949e-01 -1.10634288e-02 6.22970184e+01] [ 1.32873281e-02 -4.97798345e-04 9.99911596e-01 2.52924602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36361786499998 meters 0.021310506404832983 Centerline is valid? [True, True] Translation: X:136.59, Y:62.32, Z:2.53 [[ 5.22740967e-01 -8.52457332e-01 -7.64053185e-03 1.36587730e+02] [ 8.52380365e-01 5.22796545e-01 -1.14667028e-02 6.23220779e+01] [ 1.37693185e-02 -5.18524031e-04 9.99905064e-01 2.52841379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39361786499998 meters 0.023779065778877187 Centerline is valid? [True, True] Translation: X:136.60, Y:62.34, Z:2.53 [[ 5.22498484e-01 -8.52605172e-01 -7.73013989e-03 1.36604170e+02] [ 8.52526306e-01 5.22555400e-01 -1.16082760e-02 6.23431476e+01] [ 1.39367025e-02 -5.24840996e-04 9.99902742e-01 2.52861401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42361786499998 meters 0.0218938247904151 Centerline is valid? [True, True] Translation: X:136.62, Y:62.37, Z:2.53 [[ 5.22213830e-01 -8.52779297e-01 -7.75796047e-03 1.36615342e+02] [ 8.52699796e-01 5.22271185e-01 -1.16562108e-02 6.23689470e+01] [ 1.39919345e-02 -5.28176827e-04 9.99901969e-01 2.52839246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45361786499996 meters 0.021875716255289147 Centerline is valid? [True, True] Translation: X:136.63, Y:62.39, Z:2.53 [[ 5.21899648e-01 -8.52971284e-01 -7.79396274e-03 1.36629391e+02] [ 8.52890967e-01 5.21957570e-01 -1.17171770e-02 6.23931483e+01] [ 1.40625334e-02 -5.32209850e-04 9.99900976e-01 2.52889141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48361786499996 meters 0.022415214328615433 Centerline is valid? [True, True] Translation: X:136.64, Y:62.42, Z:2.53 [[ 5.21539362e-01 -8.53192672e-01 -7.67849632e-03 1.36642271e+02] [ 8.53114648e-01 5.21595617e-01 -1.15503360e-02 6.24175439e+01] [ 1.38597320e-02 -5.26682829e-04 9.99903811e-01 2.52917408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51361786499996 meters 0.02254081245772977 Centerline is valid? [True, True] Translation: X:136.66, Y:62.44, Z:2.53 [[ 5.21457100e-01 -8.53242533e-01 -7.72478980e-03 1.36656276e+02] [ 8.53163485e-01 5.21514047e-01 -1.16261162e-02 6.24416546e+01] [ 1.39484832e-02 -5.27987763e-04 9.99902576e-01 2.52987239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54361786499996 meters 0.023195593011151906 Centerline is valid? [True, True] Translation: X:136.67, Y:62.47, Z:2.53 [[ 5.21436836e-01 -8.53257800e-01 -7.39951971e-03 1.36668495e+02] [ 8.53185187e-01 5.21489093e-01 -1.11428203e-02 6.24659833e+01] [ 1.33664672e-02 -5.02883623e-04 9.99910538e-01 2.53072498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57361786499996 meters 0.02318984756628968 Centerline is valid? [True, True] Translation: X:136.68, Y:62.49, Z:2.53 [[ 5.21272062e-01 -8.53358915e-01 -7.34844417e-03 1.36682076e+02] [ 8.53287239e-01 5.21323616e-01 -1.10713554e-02 6.24905880e+01] [ 1.32787573e-02 -4.99145393e-04 9.99911709e-01 2.53122677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60361786499996 meters 0.022858542048916096 Centerline is valid? [True, True] Translation: X:136.70, Y:62.52, Z:2.53 [[ 5.21099481e-01 -8.53466010e-01 -7.14852106e-03 1.36695248e+02] [ 8.53398115e-01 5.21148285e-01 -1.07760181e-02 6.25150001e+01] [ 1.29224047e-02 -4.85156961e-04 9.99916385e-01 2.53200781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63361786499996 meters 0.02207040980989476 Centerline is valid? [True, True] Translation: X:136.71, Y:62.54, Z:2.53 [[ 5.20582172e-01 -8.53782600e-01 -7.03384674e-03 1.36706567e+02] [ 8.53716819e-01 5.20629465e-01 -1.06090980e-02 6.25416335e+01] [ 1.27198911e-02 -4.82006010e-04 9.99918983e-01 2.53276764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66361786499996 meters 0.02242646764327537 Centerline is valid? [True, True] Translation: X:136.72, Y:62.57, Z:2.53 [[ 5.19929348e-01 -8.54181063e-01 -6.94157545e-03 1.36721114e+02] [ 8.54116957e-01 5.19975461e-01 -1.04758758e-02 6.25667479e+01] [ 1.25577436e-02 -4.82202012e-04 9.99921032e-01 2.53270359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69361786499996 meters 0.02195904598348629 Centerline is valid? [True, True] Translation: X:136.73, Y:62.59, Z:2.53 [[ 5.19338124e-01 -8.54539369e-01 -7.09781642e-03 1.36734998e+02] [ 8.54472307e-01 5.19386385e-01 -1.07172315e-02 6.25926476e+01] [ 1.28448055e-02 -4.99020670e-04 9.99917378e-01 2.53281359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72361786499997 meters 0.02195904598348629 Centerline is valid? [True, True] Translation: X:136.75, Y:62.62, Z:2.53 [[ 5.19107995e-01 -8.54679206e-01 -7.09538859e-03 1.36750165e+02] [ 8.54612135e-01 5.19156243e-01 -1.07188385e-02 6.26156833e+01] [ 1.28447837e-02 -4.99570431e-04 9.99917378e-01 2.53326491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75361786499997 meters 0.025462269004053795 Centerline is valid? [True, True] Translation: X:136.77, Y:62.64, Z:2.53 [[ 5.17960264e-01 -8.55373613e-01 -7.29029466e-03 1.36767365e+02] [ 8.55302776e-01 5.18011298e-01 -1.10207135e-02 6.26381550e+01] [ 1.32032825e-02 -5.27117602e-04 9.99912694e-01 2.53383532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78361786499997 meters 0.021922084830179864 Centerline is valid? [True, True] Translation: X:136.78, Y:62.67, Z:2.53 [[ 5.17452116e-01 -8.55682181e-01 -7.16330953e-03 1.36777543e+02] [ 8.55613788e-01 5.17501430e-01 -1.08312800e-02 6.26663139e+01] [ 1.29751562e-02 -5.24357637e-04 9.99915682e-01 2.53410373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81361786499997 meters 0.02177377651122789 Centerline is valid? [True, True] Translation: X:136.79, Y:62.69, Z:2.53 [[ 5.16680372e-01 -8.56148426e-01 -7.15996004e-03 1.36792128e+02] [ 8.56080069e-01 5.16729705e-01 -1.08318047e-02 6.26918287e+01] [ 1.29733966e-02 -5.32918171e-04 9.99915700e-01 2.53462868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84361786499997 meters 0.023389813711460587 Centerline is valid? [True, True] Translation: X:136.81, Y:62.71, Z:2.54 [[ 5.16409417e-01 -8.56311670e-01 -7.18596308e-03 1.36808079e+02] [ 8.56242750e-01 5.16459134e-01 -1.08773306e-02 6.27140605e+01] [ 1.30256414e-02 -5.35772838e-04 9.99915019e-01 2.53534731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87361786499997 meters 0.02348556938310499 Centerline is valid? [True, True] Translation: X:136.82, Y:62.74, Z:2.54 [[ 5.16464619e-01 -8.56277708e-01 -7.26527983e-03 1.36820185e+02] [ 8.56207212e-01 5.16515437e-01 -1.10006206e-02 6.27393588e+01] [ 1.31722154e-02 -5.39153659e-04 9.99913097e-01 2.53596362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90361786499997 meters 0.022828064225093505 Centerline is valid? [True, True] Translation: X:136.83, Y:62.76, Z:2.54 [[ 5.16437648e-01 -8.56294188e-01 -7.24008849e-03 1.36833031e+02] [ 8.56224101e-01 5.16488120e-01 -1.09686297e-02 6.27646840e+01] [ 1.31317935e-02 -5.34524951e-04 9.99913631e-01 2.53615077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93361786499997 meters 0.024278128453389416 Centerline is valid? [True, True] Translation: X:136.85, Y:62.79, Z:2.54 [[ 5.17059924e-01 -8.55917869e-01 -7.32366787e-03 1.36848647e+02] [ 8.55846016e-01 5.17111519e-01 -1.11028386e-02 6.27880840e+01] [ 1.32902710e-02 -5.27099078e-04 9.99911542e-01 2.53682358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96361786499997 meters 0.02253341039997019 Centerline is valid? [True, True] Translation: X:136.86, Y:62.81, Z:2.54 [[ 5.17536062e-01 -8.55628941e-01 -7.45255326e-03 1.36860431e+02] [ 8.55554489e-01 5.17589448e-01 -1.12995277e-02 6.28147221e+01] [ 1.35255658e-02 -5.28152342e-04 9.99908386e-01 2.53686484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99361786499998 meters 0.02120997348332849 Centerline is valid? [True, True] Translation: X:136.87, Y:62.84, Z:2.54 [[ 5.19273268e-01 -8.54572861e-01 -7.77809349e-03 1.36871071e+02] [ 8.54491557e-01 5.19331259e-01 -1.17992803e-02 6.28418804e+01] [ 1.41227518e-02 -5.19264378e-04 9.99900134e-01 2.53709439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02361786499998 meters 0.021034284471980788 Centerline is valid? [True, True] Translation: X:136.89, Y:62.87, Z:2.54 [[ 5.20068628e-01 -8.54087647e-01 -7.93177777e-03 1.36885145e+02] [ 8.54002942e-01 5.20128858e-01 -1.20393885e-02 6.28671472e+01] [ 1.44082395e-02 -5.12453279e-04 9.99896065e-01 2.53750453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05361786499998 meters 0.021068234425561938 Centerline is valid? [True, True] Translation: X:136.90, Y:62.89, Z:2.54 [[ 5.22141751e-01 -8.52815737e-01 -8.56216128e-03 1.36897471e+02] [ 8.52716745e-01 5.22211698e-01 -1.30036591e-02 6.28915278e+01] [ 1.55609859e-02 -5.11344952e-04 9.99878790e-01 2.53725817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08361786499998 meters 0.020411213775004156 Centerline is valid? [True, True] Translation: X:136.91, Y:62.92, Z:2.54 [[ 5.22765561e-01 -8.52430228e-01 -8.88112631e-03 1.36911026e+02] [ 8.52323618e-01 5.22840739e-01 -1.34911879e-02 6.29170838e+01] [ 1.61437110e-02 -5.16865325e-04 9.99869548e-01 2.53759463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11361786499998 meters 0.02006965840585946 Centerline is valid? [True, True] Translation: X:136.93, Y:62.94, Z:2.54 [[ 5.23584129e-01 -8.51923385e-01 -9.28472905e-03 1.36925216e+02] [ 8.51806657e-01 5.23666187e-01 -1.41117971e-02 6.29426299e+01] [ 1.68842686e-02 -5.20080997e-04 9.99857315e-01 2.53776227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14361786499998 meters 0.019676117192085136 Centerline is valid? [True, True] Translation: X:136.94, Y:62.97, Z:2.54 [[ 5.24420670e-01 -8.51405420e-01 -9.57972409e-03 1.36939409e+02] [ 8.51280937e-01 5.24507907e-01 -1.45677934e-02 6.29679917e+01] [ 1.74277393e-02 -5.15384531e-04 9.99847993e-01 2.53820846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17361786499998 meters 0.019026061483234012 Centerline is valid? [True, True] Translation: X:136.95, Y:62.99, Z:2.54 [[ 5.26418361e-01 -8.50169927e-01 -9.73674857e-03 1.36952803e+02] [ 8.50040982e-01 5.26508183e-01 -1.48142579e-02 6.29937554e+01] [ 1.77211143e-02 -4.78137975e-04 9.99842854e-01 2.53900501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20361786499996 meters 0.018363137238820944 Centerline is valid? [True, True] Translation: X:136.97, Y:63.02, Z:2.54 [[ 5.27218583e-01 -8.49674480e-01 -9.68733793e-03 1.36966838e+02] [ 8.49546623e-01 5.27307378e-01 -1.47466805e-02 6.30187718e+01] [ 1.76380828e-02 -4.55121258e-04 9.99844333e-01 2.53993678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23361786499996 meters 0.018511200295169852 Centerline is valid? [True, True] Translation: X:136.98, Y:63.04, Z:2.54 [[ 5.28236309e-01 -8.49042083e-01 -9.69244087e-03 1.36981552e+02] [ 8.48913856e-01 5.28325048e-01 -1.47617358e-02 6.30421461e+01] [ 1.76540942e-02 -4.30362493e-04 9.99844062e-01 2.54061246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26361786499996 meters 0.018355482003073065 Centerline is valid? [True, True] Translation: X:137.00, Y:63.07, Z:2.54 [[ 5.29099943e-01 -8.48504642e-01 -9.65000697e-03 1.36995840e+02] [ 8.48377399e-01 5.29187778e-01 -1.46997866e-02 6.30658159e+01] [ 1.75795029e-02 -4.09191552e-04 9.99845385e-01 2.54096219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29361786499996 meters 0.01730599276335735 Centerline is valid? [True, True] Translation: X:137.01, Y:63.09, Z:2.54 [[ 5.30044672e-01 -8.47915078e-01 -9.62634507e-03 1.37008697e+02] [ 8.47788309e-01 5.30131937e-01 -1.46667079e-02 6.30915891e+01] [ 1.75393557e-02 -3.87092445e-04 9.99846099e-01 2.54148527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32361786499996 meters 0.017701382801453218 Centerline is valid? [True, True] Translation: X:137.02, Y:63.11, Z:2.54 [[ 5.30344350e-01 -8.47726850e-01 -9.69842726e-03 1.37024143e+02] [ 8.47598010e-01 5.30432884e-01 -1.47840934e-02 6.31133792e+01] [ 1.76772377e-02 -3.79707223e-04 9.99843673e-01 2.54166279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35361786499996 meters 0.018012033789720112 Centerline is valid? [True, True] Translation: X:137.04, Y:63.14, Z:2.54 [[ 5.29490203e-01 -8.48262638e-01 -9.51954524e-03 1.37041238e+02] [ 8.48138522e-01 5.29575628e-01 -1.45155883e-02 6.31371549e+01] [ 1.73543503e-02 -3.88031253e-04 9.99849327e-01 2.54199213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38361786499996 meters 0.018997754764680044 Centerline is valid? [True, True] Translation: X:137.06, Y:63.16, Z:2.54 [[ 5.28398168e-01 -8.48941818e-01 -9.65221730e-03 1.37058797e+02] [ 8.48814201e-01 5.28486158e-01 -1.47252589e-02 6.31590599e+01] [ 1.76019513e-02 -4.12139292e-04 9.99844989e-01 2.54273751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41361786499996 meters 0.018254547379158492 Centerline is valid? [True, True] Translation: X:137.07, Y:63.18, Z:2.54 [[ 5.26953260e-01 -8.49841651e-01 -9.45670913e-03 1.37073777e+02] [ 8.49719225e-01 5.27037932e-01 -1.44310791e-02 6.31836011e+01] [ 1.72481765e-02 -4.31043372e-04 9.99851146e-01 2.54362957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44361786499996 meters 0.019148217736602583 Centerline is valid? [True, True] Translation: X:137.09, Y:63.21, Z:2.54 [[ 5.25365687e-01 -8.50825601e-01 -9.31085700e-03 1.37090706e+02] [ 8.50706955e-01 5.25447993e-01 -1.42156249e-02 6.32055028e+01] [ 1.69873887e-02 -4.52409268e-04 9.99855602e-01 2.54446171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47361786499997 meters 0.01970783136814936 Centerline is valid? [True, True] Translation: X:137.11, Y:63.23, Z:2.55 [[ 5.23831323e-01 -8.51773006e-01 -9.13732508e-03 1.37108320e+02] [ 8.51658842e-01 5.23910796e-01 -1.39532755e-02 6.32289400e+01] [ 1.66721666e-02 -4.72720951e-04 9.99860898e-01 2.54507719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50361786499997 meters 0.02066211291706054 Centerline is valid? [True, True] Translation: X:137.13, Y:63.25, Z:2.55 [[ 5.20715541e-01 -8.53682448e-01 -9.03340952e-03 1.37126108e+02] [ 8.53571037e-01 5.20793628e-01 -1.38015178e-02 6.32512936e+01] [ 1.64866557e-02 -5.23991891e-04 9.99863949e-01 2.54564688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53361786499997 meters 0.021315058488437243 Centerline is valid? [True, True] Translation: X:137.14, Y:63.27, Z:2.55 [[ 5.19446236e-01 -8.54455432e-01 -9.02900683e-03 1.37143132e+02] [ 8.54344123e-01 5.19524416e-01 -1.38022102e-02 6.32741126e+01] [ 1.64841630e-02 -5.44372775e-04 9.99863979e-01 2.54641512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56361786499997 meters 0.02159599112592145 Centerline is valid? [True, True] Translation: X:137.16, Y:63.30, Z:2.55 [[ 5.18484621e-01 -8.55040770e-01 -8.88698388e-03 1.37160143e+02] [ 8.54932950e-01 5.18560485e-01 -1.35894782e-02 6.32978119e+01] [ 1.62279966e-02 -5.51839881e-04 9.99868165e-01 2.54677425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59361786499997 meters 0.022754559683255945 Centerline is valid? [True, True] Translation: X:137.18, Y:63.32, Z:2.55 [[ 5.17177537e-01 -8.55832532e-01 -8.83588936e-03 1.37177633e+02] [ 8.55725953e-01 5.17252698e-01 -1.35181656e-02 6.33197385e+01] [ 1.61396735e-02 -5.69808265e-04 9.99869585e-01 2.54667890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62361786499997 meters 0.021919720644833184 Centerline is valid? [True, True] Translation: X:137.19, Y:63.34, Z:2.55 [[ 5.16897500e-01 -8.56000991e-01 -8.90378192e-03 1.37191550e+02] [ 8.55892716e-01 5.16973858e-01 -1.36267620e-02 6.33437061e+01] [ 1.62675443e-02 -5.77042867e-04 9.99867508e-01 2.54672312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65361786499997 meters 0.023188182252581423 Centerline is valid? [True, True] Translation: X:137.21, Y:63.37, Z:2.55 [[ 5.17044099e-01 -8.55912406e-01 -8.90801632e-03 1.37208113e+02] [ 8.55803886e-01 5.17120515e-01 -1.36411726e-02 6.33652521e+01] [ 1.62821669e-02 -5.70427187e-04 9.99867274e-01 2.54683274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68361786499997 meters 0.020992332318294317 Centerline is valid? [True, True] Translation: X:137.22, Y:63.39, Z:2.55 [[ 5.17852761e-01 -8.55418112e-01 -9.40060997e-03 1.37220883e+02] [ 8.55297050e-01 5.17937753e-01 -1.44028319e-02 6.33910210e+01] [ 1.71893741e-02 -5.81767682e-04 9.99852083e-01 2.54590710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71361786499997 meters 0.020868685425245552 Centerline is valid? [True, True] Translation: X:137.24, Y:63.41, Z:2.55 [[ 5.18399162e-01 -8.55083415e-01 -9.72947764e-03 1.37236940e+02] [ 8.54953533e-01 5.18490126e-01 -1.49146195e-02 6.34145493e+01] [ 1.77978819e-02 -5.86525018e-04 9.99841433e-01 2.54573270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74361786499998 meters 0.022792039863353354 Centerline is valid? [True, True] Translation: X:137.26, Y:63.44, Z:2.55 [[ 5.18899957e-01 -8.54777642e-01 -9.90032813e-03 1.37255388e+02] [ 8.54642969e-01 5.18994069e-01 -1.51839559e-02 6.34352938e+01] [ 1.81171176e-02 -5.82291748e-04 9.99835702e-01 2.54563001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77361786499998 meters 0.01978808067060764 Centerline is valid? [True, True] Translation: X:137.27, Y:63.46, Z:2.55 [[ 5.19245019e-01 -8.54569301e-01 -9.79391918e-03 1.37267573e+02] [ 8.54437414e-01 5.19337066e-01 -1.50239020e-02 6.34618269e+01] [ 1.79253107e-02 -5.67204679e-04 9.99839168e-01 2.54636153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80361786499998 meters 0.02279685530716793 Centerline is valid? [True, True] Translation: X:137.29, Y:63.48, Z:2.55 [[ 5.20235492e-01 -8.53968001e-01 -9.67913014e-03 1.37288961e+02] [ 8.53838954e-01 5.20325249e-01 -1.48551768e-02 6.34814417e+01] [ 1.77221415e-02 -5.36228119e-04 9.99842807e-01 2.54631640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83361786499998 meters 0.0196758323345592 Centerline is valid? [True, True] Translation: X:137.30, Y:63.51, Z:2.55 [[ 5.20265155e-01 -8.53950497e-01 -9.62895554e-03 1.37300217e+02] [ 8.53822725e-01 5.20353982e-01 -1.47813417e-02 6.35078957e+01] [ 1.76329995e-02 -5.31204022e-04 9.99844385e-01 2.54717256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86361786499998 meters 0.020409179949138507 Centerline is valid? [True, True] Translation: X:137.32, Y:63.53, Z:2.55 [[ 5.20404686e-01 -8.53868304e-01 -9.37458039e-03 1.37316884e+02] [ 8.53747039e-01 5.20488866e-01 -1.43990584e-02 6.35300862e+01] [ 1.71742643e-02 -5.10182762e-04 9.99852381e-01 2.54746441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89361786499998 meters 0.0199514411833673 Centerline is valid? [True, True] Translation: X:137.33, Y:63.55, Z:2.55 [[ 5.20485517e-01 -8.53819505e-01 -9.33162370e-03 1.37332482e+02] [ 8.53699263e-01 5.20568919e-01 -1.43376947e-02 6.35540130e+01] [ 1.70995567e-02 -5.03837810e-04 9.99853665e-01 2.54775762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92361786499998 meters 0.020175714418594913 Centerline is valid? [True, True] Translation: X:137.35, Y:63.58, Z:2.55 [[ 5.20689080e-01 -8.53699186e-01 -8.97669873e-03 1.37350437e+02] [ 8.53587777e-01 5.20766235e-01 -1.37998457e-02 6.35761199e+01] [ 1.64556786e-02 -4.76971374e-04 9.99864482e-01 2.54879704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95361786499996 meters 0.020404730968580757 Centerline is valid? [True, True] Translation: X:137.37, Y:63.60, Z:2.55 [[ 5.20622149e-01 -8.53742119e-01 -8.77338497e-03 1.37366503e+02] [ 8.53635641e-01 5.20695859e-01 -1.34912858e-02 6.35974175e+01] [ 1.60863442e-02 -4.65411907e-04 9.99870498e-01 2.54959025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98361786499996 meters 0.020794972043673338 Centerline is valid? [True, True] Translation: X:137.38, Y:63.62, Z:2.55 [[ 5.20486545e-01 -8.53826818e-01 -8.57446699e-03 1.37383810e+02] [ 8.53725020e-01 5.20556970e-01 -1.31921007e-02 6.36188872e+01] [ 1.57272679e-02 -4.53926092e-04 9.99876216e-01 2.55032571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01361786499996 meters 0.02098018127367999 Centerline is valid? [True, True] Translation: X:137.40, Y:63.64, Z:2.55 [[ 5.20322814e-01 -8.53927844e-01 -8.45018681e-03 1.37400192e+02] [ 8.53828887e-01 5.20391234e-01 -1.30074740e-02 6.36420272e+01] [ 1.55048474e-02 -4.46928140e-04 9.99879693e-01 2.55105589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04361786499996 meters 0.020955250370202974 Centerline is valid? [True, True] Translation: X:137.42, Y:63.67, Z:2.55 [[ 5.20232075e-01 -8.53981243e-01 -8.63851945e-03 1.37416101e+02] [ 8.53877710e-01 5.20303594e-01 -1.33051131e-02 6.36650988e+01] [ 1.58569697e-02 -4.54492620e-04 9.99874167e-01 2.55163250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07361786499996 meters 0.021076878386691245 Centerline is valid? [True, True] Translation: X:137.43, Y:63.69, Z:2.55 [[ 5.20730671e-01 -8.53674221e-01 -8.93830497e-03 1.37432487e+02] [ 8.53563199e-01 5.20807178e-01 -1.37749247e-02 6.36868629e+01] [ 1.64144315e-02 -4.56382403e-04 9.99865170e-01 2.55209680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10361786499996 meters 0.02113761063624219 Centerline is valid? [True, True] Translation: X:137.45, Y:63.71, Z:2.55 [[ 5.20922105e-01 -8.53557181e-01 -8.96105060e-03 1.37448214e+02] [ 8.53445477e-01 5.20998979e-01 -1.38159907e-02 6.37100969e+01] [ 1.64614363e-02 -4.50713163e-04 9.99864400e-01 2.55253846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13361786499996 meters 0.019511373153806046 Centerline is valid? [True, True] Translation: X:137.46, Y:63.73, Z:2.55 [[ 5.20992955e-01 -8.53516084e-01 -8.75414053e-03 1.37461258e+02] [ 8.53409357e-01 5.21066315e-01 -1.35042400e-02 6.37348843e+01] [ 1.60875738e-02 -4.35251551e-04 9.99870492e-01 2.55321120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16361786499996 meters 0.019653492865619886 Centerline is valid? [True, True] Translation: X:137.48, Y:63.76, Z:2.55 [[ 5.21366244e-01 -8.53289314e-01 -8.63630078e-03 1.37476628e+02] [ 8.53185287e-01 5.21437600e-01 -1.33302567e-02 6.37570251e+01] [ 1.58778576e-02 -4.18418881e-04 9.99873851e-01 2.55428707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19361786499996 meters 0.02011928285191355 Centerline is valid? [True, True] Translation: X:137.49, Y:63.78, Z:2.56 [[ 5.21478377e-01 -8.53223193e-01 -8.39560780e-03 1.37492528e+02] [ 8.53124783e-01 5.21545801e-01 -1.29646862e-02 6.37792863e+01] [ 1.54404650e-02 -4.01697556e-04 9.99880708e-01 2.55503604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22361786499997 meters 0.020160682232647196 Centerline is valid? [True, True] Translation: X:137.51, Y:63.80, Z:2.56 [[ 5.21537220e-01 -8.53187478e-01 -8.36994911e-03 1.37507959e+02] [ 8.53089564e-01 5.21604228e-01 -1.29315657e-02 6.38022351e+01] [ 1.53988508e-02 -3.96023394e-04 9.99881352e-01 2.55542943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25361786499997 meters 0.02041330853495467 Centerline is valid? [True, True] Translation: X:137.52, Y:63.82, Z:2.56 [[ 5.21453233e-01 -8.53238173e-01 -8.43477020e-03 1.37523054e+02] [ 8.53138626e-01 5.21521296e-01 -1.30392362e-02 6.38242731e+01] [ 1.55244864e-02 -3.96676380e-04 9.99879409e-01 2.55592877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28361786499997 meters 0.019125491332998044 Centerline is valid? [True, True] Translation: X:137.54, Y:63.85, Z:2.56 [[ 5.20916838e-01 -8.53567293e-01 -8.27792249e-03 1.37537188e+02] [ 8.53471359e-01 5.20982456e-01 -1.28031251e-02 6.38490478e+01] [ 1.52409813e-02 -3.95606298e-04 9.99883771e-01 2.55590124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31361786499997 meters 0.020913979934114514 Centerline is valid? [True, True] Translation: X:137.56, Y:63.87, Z:2.56 [[ 5.20467597e-01 -8.53841583e-01 -8.24808498e-03 1.37555879e+02] [ 8.53746269e-01 5.20532796e-01 -1.27638445e-02 6.38701858e+01] [ 1.51916999e-02 -3.98604310e-04 9.99884520e-01 2.55638136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34361786499997 meters 0.02284869747230609 Centerline is valid? [True, True] Translation: X:137.57, Y:63.89, Z:2.56 [[ 5.20014067e-01 -8.54115647e-01 -8.47536006e-03 1.37574016e+02] [ 8.54014981e-01 5.20082964e-01 -1.31195944e-02 6.38905826e+01] [ 1.56135412e-02 -4.15710813e-04 9.99878015e-01 2.55682981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37361786499997 meters 0.021659919688246803 Centerline is valid? [True, True] Translation: X:137.59, Y:63.91, Z:2.56 [[ 5.18789945e-01 -8.54856509e-01 -8.79442462e-03 1.37589063e+02] [ 8.54748109e-01 5.18864284e-01 -1.36207192e-02 6.39149401e+01] [ 1.62068733e-02 -4.50725631e-04 9.99868558e-01 2.55644773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40361786499997 meters 0.022113709114789704 Centerline is valid? [True, True] Translation: X:137.61, Y:63.94, Z:2.56 [[ 5.18421349e-01 -8.55076135e-01 -9.17102382e-03 1.37605474e+02] [ 8.54958164e-01 5.18502246e-01 -1.42112373e-02 6.39375010e+01] [ 1.69068863e-02 -4.73432869e-04 9.99856956e-01 2.55638049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43361786499997 meters 0.022321218872767206 Centerline is valid? [True, True] Translation: X:137.62, Y:63.96, Z:2.56 [[ 5.18347472e-01 -8.55119094e-01 -9.33989487e-03 1.37621609e+02] [ 8.54996604e-01 5.18431389e-01 -1.44810686e-02 6.39602566e+01] [ 1.72251329e-02 -4.79353101e-04 9.99851521e-01 2.55664385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46361786499997 meters 0.020107227352203324 Centerline is valid? [True, True] Translation: X:137.63, Y:63.99, Z:2.56 [[ 5.18457578e-01 -8.55051456e-01 -9.42054721e-03 1.37633962e+02] [ 8.54926689e-01 5.18542939e-01 -1.46142599e-02 6.39856250e+01] [ 1.73809024e-02 -4.77003441e-04 9.99848827e-01 2.55697373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49361786499998 meters 0.020098164505835056 Centerline is valid? [True, True] Translation: X:137.65, Y:64.01, Z:2.56 [[ 5.19575729e-01 -8.54369345e-01 -9.69974021e-03 1.37649993e+02] [ 8.54236799e-01 5.19666055e-01 -1.50559637e-02 6.40086716e+01] [ 1.79039796e-02 -4.63161723e-04 9.99839604e-01 2.55685376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52361786499998 meters 0.0200127582377585 Centerline is valid? [True, True] Translation: X:137.67, Y:64.03, Z:2.56 [[ 5.20261874e-01 -8.53951315e-01 -9.73310361e-03 1.37666109e+02] [ 8.53817726e-01 5.20352717e-01 -1.51109740e-02 6.40325601e+01] [ 1.79686830e-02 -4.48632747e-04 9.99838450e-01 2.55712109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55361786499998 meters 0.020425212885230696 Centerline is valid? [True, True] Translation: X:137.68, Y:64.05, Z:2.56 [[ 5.20845616e-01 -8.53596062e-01 -9.67507887e-03 1.37682521e+02] [ 8.53463862e-01 5.20935292e-01 -1.50285643e-02 6.40546458e+01] [ 1.78684134e-02 -4.29768330e-04 9.99840255e-01 2.55768892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58361786499998 meters 0.019794338225896796 Centerline is valid? [True, True] Translation: X:137.70, Y:64.08, Z:2.56 [[ 5.21741710e-01 -8.53049988e-01 -9.55535918e-03 1.37698638e+02] [ 8.52920848e-01 5.21829048e-01 -1.48483122e-02 6.40776121e+01] [ 1.76526165e-02 -4.02981257e-04 9.99844099e-01 2.55832136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61361786499998 meters 0.021759134891564554 Centerline is valid? [True, True] Translation: X:137.72, Y:64.10, Z:2.56 [[ 5.21744921e-01 -8.53046289e-01 -9.70906829e-03 1.37717214e+02] [ 8.52912808e-01 5.21835094e-01 -1.50955998e-02 6.40974734e+01] [ 1.79437780e-02 -4.04936145e-04 9.99838915e-01 2.55846817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64361786499998 meters 0.021759134891564554 Centerline is valid? [True, True] Translation: X:137.73, Y:64.12, Z:2.56 [[ 5.21539872e-01 -8.53171709e-01 -9.70554972e-03 1.37732024e+02] [ 8.53038207e-01 5.21630014e-01 -1.50978618e-02 6.41207145e+01] [ 1.79437746e-02 -4.05067836e-04 9.99838915e-01 2.55891912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67361786499998 meters 0.019264054103052486 Centerline is valid? [True, True] Translation: X:137.74, Y:64.15, Z:2.56 [[ 5.21228407e-01 -8.53363287e-01 -9.59422759e-03 1.37744115e+02] [ 8.53232723e-01 5.21316544e-01 -1.49325710e-02 6.41466076e+01] [ 1.77445374e-02 -4.02828750e-04 9.99842472e-01 2.55992011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70361786499996 meters 0.019155820653234252 Centerline is valid? [True, True] Translation: X:137.76, Y:64.17, Z:2.56 [[ 5.20539244e-01 -8.53784799e-01 -9.50849727e-03 1.37761028e+02] [ 8.53656477e-01 5.20625921e-01 -1.48077622e-02 6.41705495e+01] [ 1.75930124e-02 -4.08968962e-04 9.99845147e-01 2.56071692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73361786499996 meters 0.019291893921189178 Centerline is valid? [True, True] Translation: X:137.78, Y:64.19, Z:2.56 [[ 5.18891006e-01 -8.54787346e-01 -9.52457331e-03 1.37780059e+02] [ 8.54658620e-01 5.18978227e-01 -1.48406144e-02 6.41930023e+01] [ 1.76286155e-02 -4.39597367e-04 9.99844507e-01 2.56182815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76361786499996 meters 0.020647139515961137 Centerline is valid? [True, True] Translation: X:137.80, Y:64.21, Z:2.56 [[ 5.17797963e-01 -8.55450748e-01 -9.44917755e-03 1.37799109e+02] [ 8.55324030e-01 5.17883974e-01 -1.47306565e-02 6.42142483e+01] [ 1.74949287e-02 -4.54604714e-04 9.99846849e-01 2.56234141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79361786499996 meters 0.02000434953909216 Centerline is valid? [True, True] Translation: X:137.82, Y:64.24, Z:2.56 [[ 5.16886402e-01 -8.56004345e-01 -9.22003239e-03 1.37815237e+02] [ 8.55883715e-01 5.16968423e-01 -1.43776334e-02 6.42382127e+01] [ 1.70737823e-02 -4.59672354e-04 9.99854127e-01 2.56308927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82361786499996 meters 0.020178573402280447 Centerline is valid? [True, True] Translation: X:137.83, Y:64.26, Z:2.56 [[ 5.15892600e-01 -8.56604580e-01 -9.13335654e-03 1.37832277e+02] [ 8.56486178e-01 5.15973227e-01 -1.42497494e-02 6.42609681e+01] [ 1.69189680e-02 -4.71253384e-04 9.99856753e-01 2.56367169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85361786499996 meters 0.020925820761040086 Centerline is valid? [True, True] Translation: X:137.85, Y:64.28, Z:2.56 [[ 5.14790683e-01 -8.57265348e-01 -9.30999083e-03 1.37851655e+02] [ 8.57142356e-01 5.14874619e-01 -1.45295917e-02 6.42817693e+01] [ 1.72491935e-02 -5.00289028e-04 9.99851096e-01 2.56413183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88361786499996 meters 0.020905693981645282 Centerline is valid? [True, True] Translation: X:137.87, Y:64.30, Z:2.56 [[ 5.14529275e-01 -8.57418000e-01 -9.69526565e-03 1.37868107e+02] [ 8.57284553e-01 5.14620344e-01 -1.51359547e-02 6.43042189e+01] [ 1.79672210e-02 -5.23709674e-04 9.99838439e-01 2.56399591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91361786499996 meters 0.020914197312828585 Centerline is valid? [True, True] Translation: X:137.89, Y:64.33, Z:2.56 [[ 5.14643950e-01 -8.57339447e-01 -1.05203087e-02 1.37885785e+02] [ 8.57182101e-01 5.14751162e-01 -1.64343106e-02 6.43264125e+01] [ 1.95051239e-02 -5.60001746e-04 9.99809600e-01 2.56343838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94361786499996 meters 0.020664131036521496 Centerline is valid? [True, True] Translation: X:137.90, Y:64.35, Z:2.56 [[ 5.14884245e-01 -8.57192104e-01 -1.07662238e-02 1.37901494e+02] [ 8.57027083e-01 5.14996487e-01 -1.68284676e-02 6.43492857e+01] [ 1.99697970e-02 -5.62232565e-04 9.99800426e-01 2.56342376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97361786499997 meters 0.020201259610455255 Centerline is valid? [True, True] Translation: X:137.92, Y:64.37, Z:2.56 [[ 5.15174995e-01 -8.57012975e-01 -1.11123899e-02 1.37917138e+02] [ 8.56836920e-01 5.15294516e-01 -1.73797277e-02 6.43733046e+01] [ 2.06208058e-02 -5.67904794e-04 9.99787207e-01 2.56352962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00361786499997 meters 0.02030794171790114 Centerline is valid? [True, True] Translation: X:137.93, Y:64.40, Z:2.56 [[ 5.15656562e-01 -8.56721326e-01 -1.12641312e-02 1.37933568e+02] [ 8.56540154e-01 5.15779273e-01 -1.76268831e-02 6.43956893e+01] [ 2.09111321e-02 -5.58762708e-04 9.99781182e-01 2.56342320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03361786499997 meters 0.020191200673480226 Centerline is valid? [True, True] Translation: X:137.95, Y:64.42, Z:2.56 [[ 5.15896997e-01 -8.56571704e-01 -1.16277461e-02 1.37949841e+02] [ 8.56378375e-01 5.16027710e-01 -1.82066298e-02 6.44187867e+01] [ 2.15955231e-02 -5.65004691e-04 9.99766630e-01 2.56360679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06361786499997 meters 0.020191469046953524 Centerline is valid? [True, True] Translation: X:137.97, Y:64.44, Z:2.56 [[ 5.16873672e-01 -8.55974970e-01 -1.21843520e-02 1.37967856e+02] [ 8.55762279e-01 5.17016960e-01 -1.90888880e-02 6.44396882e+01] [ 2.26391270e-02 -5.60365238e-04 9.99743545e-01 2.56380995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09361786499997 meters 0.020163627909812305 Centerline is valid? [True, True] Translation: X:137.98, Y:64.46, Z:2.56 [[ 5.17042068e-01 -8.55871684e-01 -1.22947469e-02 1.37984514e+02] [ 8.55654882e-01 5.17187927e-01 -1.92709856e-02 6.44624820e+01] [ 2.28521855e-02 -5.56150010e-04 9.99738700e-01 2.56416007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12361786499997 meters 0.020143308608598372 Centerline is valid? [True, True] Translation: X:138.00, Y:64.49, Z:2.56 [[ 5.17274075e-01 -8.55727885e-01 -1.25426064e-02 1.38001026e+02] [ 8.55501943e-01 5.17425819e-01 -1.96709732e-02 6.44854901e+01] [ 2.33228687e-02 -5.54939658e-04 9.99727831e-01 2.56438021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15361786499997 meters 0.02037859511230959 Centerline is valid? [True, True] Translation: X:138.02, Y:64.51, Z:2.56 [[ 5.17945222e-01 -8.55315287e-01 -1.29810308e-02 1.38019308e+02] [ 8.55072855e-01 5.18107575e-01 -2.03704292e-02 6.45067157e+01] [ 2.41487099e-02 -5.48960550e-04 9.99708227e-01 2.56430472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18361786499997 meters 0.020189872531447623 Centerline is valid? [True, True] Translation: X:138.04, Y:64.53, Z:2.56 [[ 5.18296655e-01 -8.55099212e-01 -1.31876629e-02 1.38035880e+02] [ 8.54848644e-01 5.18464120e-01 -2.07063357e-02 6.45295317e+01] [ 2.45433014e-02 -5.41431188e-04 9.99698621e-01 2.56456897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21361786499997 meters 0.019396715167815385 Centerline is valid? [True, True] Translation: X:138.05, Y:64.55, Z:2.57 [[ 5.18823756e-01 -8.54778214e-01 -1.32708747e-02 1.38051415e+02] [ 8.54524078e-01 5.18993190e-01 -2.08487210e-02 6.45525258e+01] [ 2.47085261e-02 -5.23470224e-04 9.99694561e-01 2.56557358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24361786499998 meters 0.019080827607735645 Centerline is valid? [True, True] Translation: X:138.07, Y:64.57, Z:2.57 [[ 5.20004132e-01 -8.54054776e-01 -1.36434090e-02 1.38070304e+02] [ 8.53785608e-01 5.20182846e-01 -2.14462630e-02 6.45740038e+01] [ 2.54133507e-02 -4.96400924e-04 9.99676905e-01 2.56647491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27361786499998 meters 0.019052589050719954 Centerline is valid? [True, True] Translation: X:138.09, Y:64.60, Z:2.57 [[ 5.20319895e-01 -8.53861343e-01 -1.37117792e-02 1.38087278e+02] [ 8.53589093e-01 5.20500310e-01 -2.15659009e-02 6.45961988e+01] [ 2.55512744e-02 -4.83057836e-04 9.99673396e-01 2.56695990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30361786499998 meters 0.01901553056593727 Centerline is valid? [True, True] Translation: X:138.10, Y:64.62, Z:2.57 [[ 5.20905039e-01 -8.53501831e-01 -1.38768135e-02 1.38104311e+02] [ 8.53222535e-01 5.21089637e-01 -2.18379646e-02 6.46188117e+01] [ 2.58698065e-02 -4.64504163e-04 9.99665213e-01 2.56789554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33361786499998 meters 0.017428873522753494 Centerline is valid? [True, True] Translation: X:138.11, Y:64.64, Z:2.57 [[ 5.26584899e-01 -8.50027738e-01 -1.26960152e-02 1.38114573e+02] [ 8.49792687e-01 5.26737863e-01 -1.99903298e-02 6.46449223e+01] [ 2.36798067e-02 -2.62375038e-04 9.99719560e-01 2.56974988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36361786499998 meters 0.017168989050625083 Centerline is valid? [True, True] Translation: X:138.13, Y:64.67, Z:2.57 [[ 5.28238982e-01 -8.48996043e-01 -1.30113892e-02 1.38130518e+02] [ 8.48748570e-01 5.28399160e-01 -2.04985998e-02 6.46677637e+01] [ 2.42784373e-02 -2.15238468e-04 9.99705212e-01 2.56965828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39361786499998 meters 0.017157955345331585 Centerline is valid? [True, True] Translation: X:138.15, Y:64.69, Z:2.57 [[ 5.28934345e-01 -8.48549402e-01 -1.38698025e-02 1.38146624e+02] [ 8.48267722e-01 5.29116124e-01 -2.18631947e-02 6.46895826e+01] [ 2.58907369e-02 -2.01111169e-04 9.99664758e-01 2.56965930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42361786499998 meters 0.017158730609175745 Centerline is valid? [True, True] Translation: X:138.16, Y:64.71, Z:2.57 [[ 5.29786965e-01 -8.48008055e-01 -1.44260164e-02 1.38164009e+02] [ 8.47702829e-01 5.29983308e-01 -2.27509612e-02 6.47104688e+01] [ 2.69385463e-02 -1.75812236e-04 9.99637076e-01 2.56965621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45361786499996 meters 0.016903496050524876 Centerline is valid? [True, True] Translation: X:138.18, Y:64.73, Z:2.57 [[ 5.30594515e-01 -8.47509958e-01 -1.40118383e-02 1.38178335e+02] [ 8.47221571e-01 5.30779475e-01 -2.21078837e-02 6.47348323e+01] [ 2.61738478e-02 -1.40809859e-04 9.99657396e-01 2.57155868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48361786499996 meters 0.016771995824600993 Centerline is valid? [True, True] Translation: X:138.19, Y:64.76, Z:2.57 [[ 5.30757499e-01 -8.47411039e-01 -1.38206128e-02 1.38193998e+02] [ 8.47130116e-01 5.30937393e-01 -2.18185889e-02 6.47586154e+01] [ 2.58271933e-02 -1.27477657e-04 9.99666414e-01 2.57349762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51361786499996 meters 0.016800979261929864 Centerline is valid? [True, True] Translation: X:138.21, Y:64.78, Z:2.57 [[ 5.30072109e-01 -8.47835615e-01 -1.40829392e-02 1.38209261e+02] [ 8.47543731e-01 5.30259134e-01 -2.22457767e-02 6.47815875e+01] [ 2.63283688e-02 -1.44041047e-04 9.99653338e-01 2.57381724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54361786499996 meters 0.016875750090282377 Centerline is valid? [True, True] Translation: X:138.22, Y:64.81, Z:2.57 [[ 5.29054490e-01 -8.48471998e-01 -1.40219228e-02 1.38224256e+02] [ 8.48182532e-01 5.29240247e-01 -2.21619844e-02 6.48052986e+01] [ 2.62247891e-02 -1.68252599e-04 9.99656057e-01 2.57453768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57361786499996 meters 0.016821367972275993 Centerline is valid? [True, True] Translation: X:138.24, Y:64.83, Z:2.58 [[ 5.28069162e-01 -8.49088701e-01 -1.38324820e-02 1.38239314e+02] [ 8.48806874e-01 5.28250264e-01 -2.18757818e-02 6.48285696e+01] [ 2.58814914e-02 -1.89180002e-04 9.99665000e-01 2.57547556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60361786499996 meters 0.01699901659429545 Centerline is valid? [True, True] Translation: X:138.25, Y:64.85, Z:2.58 [[ 5.27513627e-01 -8.49442633e-01 -1.32886021e-02 1.38253823e+02] [ 8.49182347e-01 5.27680942e-01 -2.10277003e-02 6.48508961e+01] [ 2.48739672e-02 -1.92047817e-04 9.99690577e-01 2.57653797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63361786499996 meters 0.017203568427003105 Centerline is valid? [True, True] Translation: X:138.27, Y:64.87, Z:2.58 [[ 5.24912411e-01 -8.51060789e-01 -1.27473176e-02 1.38270682e+02] [ 8.50821494e-01 5.25067110e-01 -2.01820676e-02 6.48738581e+01] [ 2.38693636e-02 -2.51874055e-04 9.99715054e-01 2.57871169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66361786499996 meters 0.017615421380383908 Centerline is valid? [True, True] Translation: X:138.29, Y:64.90, Z:2.58 [[ 5.23226367e-01 -8.52094632e-01 -1.29964430e-02 1.38286454e+02] [ 8.51845962e-01 5.23387666e-01 -2.05866019e-02 6.48971668e+01] [ 2.43439109e-02 -2.99514524e-04 9.99703598e-01 2.57874103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69361786499996 meters 0.017565703728661453 Centerline is valid? [True, True] Translation: X:138.30, Y:64.92, Z:2.58 [[ 5.21488105e-01 -8.53160020e-01 -1.29667382e-02 1.38301434e+02] [ 8.52912673e-01 5.21649174e-01 -2.05453392e-02 6.49212745e+01] [ 2.42925503e-02 -3.45345300e-04 9.99704833e-01 2.57955910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72361786499997 meters 0.01817458087733429 Centerline is valid? [True, True] Translation: X:138.32, Y:64.94, Z:2.58 [[ 5.17984565e-01 -8.55290470e-01 -1.30462049e-02 1.38318809e+02] [ 8.55040566e-01 5.18148643e-01 -2.06788516e-02 6.49441859e+01] [ 2.44462981e-02 -4.43708442e-04 9.99701046e-01 2.58007552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75361786499997 meters 0.01859056685028132 Centerline is valid? [True, True] Translation: X:138.33, Y:64.97, Z:2.58 [[ 5.16775205e-01 -8.56017822e-01 -1.32994482e-02 1.38334507e+02] [ 8.55758121e-01 5.16946085e-01 -2.10899006e-02 6.49675506e+01] [ 2.49284285e-02 -4.82373101e-04 9.99689122e-01 2.58006625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78361786499997 meters 0.01854978368944597 Centerline is valid? [True, True] Translation: X:138.35, Y:64.99, Z:2.58 [[ 5.15764280e-01 -8.56617904e-01 -1.38915016e-02 1.38348898e+02] [ 8.56334555e-01 5.15951050e-01 -2.20373238e-02 6.49928386e+01] [ 2.60449010e-02 -5.29708447e-04 9.99660634e-01 2.57972989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81361786499997 meters 0.01875042258359271 Centerline is valid? [True, True] Translation: X:138.36, Y:65.02, Z:2.58 [[ 5.15041077e-01 -8.57044730e-01 -1.43881696e-02 1.38364019e+02] [ 8.56740585e-01 5.15241702e-01 -2.28376484e-02 6.50179600e+01] [ 2.69862713e-02 -5.64601833e-04 9.99635645e-01 2.57891832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84361786499997 meters 0.018933028364335948 Centerline is valid? [True, True] Translation: X:138.38, Y:65.04, Z:2.58 [[ 5.14649498e-01 -8.57276114e-01 -1.46136404e-02 1.38378277e+02] [ 8.56962096e-01 5.14856610e-01 -2.32085581e-02 6.50426542e+01] [ 2.74200718e-02 -5.79063104e-04 9.99623831e-01 2.57906666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87361786499997 meters 0.01890851829114061 Centerline is valid? [True, True] Translation: X:138.39, Y:65.07, Z:2.58 [[ 5.15029827e-01 -8.57047704e-01 -1.46120150e-02 1.38392776e+02] [ 8.56733296e-01 5.15236761e-01 -2.32193956e-02 6.50674311e+01] [ 2.74287770e-02 -5.59918480e-04 9.99623604e-01 2.57960396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90361786499997 meters 0.01859635992081397 Centerline is valid? [True, True] Translation: X:138.41, Y:65.09, Z:2.58 [[ 5.15556825e-01 -8.56730245e-01 -1.46439939e-02 1.38406183e+02] [ 8.56413968e-01 5.15764479e-01 -2.32834361e-02 6.50921245e+01] [ 2.75004758e-02 -5.37386473e-04 9.99621646e-01 2.58037573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93361786499997 meters 0.018181141695994253 Centerline is valid? [True, True] Translation: X:138.42, Y:65.12, Z:2.58 [[ 5.17103439e-01 -8.55805085e-01 -1.42017359e-02 1.38419813e+02] [ 8.55506941e-01 5.17298210e-01 -2.25928263e-02 6.51181368e+01] [ 2.66815882e-02 -4.66855395e-04 9.99643874e-01 2.58149769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96361786499997 meters 0.01829092460111199 Centerline is valid? [True, True] Translation: X:138.43, Y:65.14, Z:2.58 [[ 5.17683577e-01 -8.55462252e-01 -1.37130864e-02 1.38434145e+02] [ 8.55183893e-01 5.17864993e-01 -2.18256386e-02 6.51414800e+01] [ 2.57725373e-02 -4.28435975e-04 9.99667741e-01 2.58209615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99361786499998 meters 0.018252771121317322 Centerline is valid? [True, True] Translation: X:138.45, Y:65.17, Z:2.58 [[ 5.17885642e-01 -8.55343107e-01 -1.35141271e-02 1.38448834e+02] [ 8.55072485e-01 5.18061773e-01 -2.15184703e-02 6.51660651e+01] [ 2.54068279e-02 -4.11451485e-04 9.99677110e-01 2.58277032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02361786499998 meters 0.018174929579297543 Centerline is valid? [True, True] Translation: X:138.46, Y:65.19, Z:2.58 [[ 5.17612480e-01 -8.55506839e-01 -1.36150567e-02 1.38462791e+02] [ 8.55231902e-01 5.17791344e-01 -2.16914290e-02 6.51899693e+01] [ 2.56069244e-02 -4.16276458e-04 9.99672002e-01 2.58360002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05361786499998 meters 0.018362788250054333 Centerline is valid? [True, True] Translation: X:138.48, Y:65.21, Z:2.58 [[ 5.16497843e-01 -8.56184046e-01 -1.33737545e-02 1.38478691e+02] [ 8.55918686e-01 5.16670775e-01 -2.13193291e-02 6.52130612e+01] [ 2.51630976e-02 -4.35458881e-04 9.99683264e-01 2.58469962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08361786499998 meters 0.018576211260647665 Centerline is valid? [True, True] Translation: X:138.49, Y:65.24, Z:2.59 [[ 5.15163107e-01 -8.56988189e-01 -1.33497915e-02 1.38494766e+02] [ 8.56723751e-01 5.15335837e-01 -2.12929444e-02 6.52368778e+01] [ 2.51274278e-02 -4.67744059e-04 9.99684147e-01 2.58567879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11361786499998 meters 0.0186335572069888 Centerline is valid? [True, True] Translation: X:138.51, Y:65.26, Z:2.59 [[ 5.13960855e-01 -8.57711917e-01 -1.32101399e-02 1.38510377e+02] [ 8.57452949e-01 5.14130359e-01 -2.10811527e-02 6.52608191e+01] [ 2.48732899e-02 -4.92186117e-04 9.99690491e-01 2.58704268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14361786499998 meters 0.018858213124659982 Centerline is valid? [True, True] Translation: X:138.53, Y:65.28, Z:2.59 [[ 5.11503736e-01 -8.59185698e-01 -1.28009500e-02 1.38527788e+02] [ 8.58942730e-01 5.11663604e-01 -2.04387694e-02 6.52842499e+01] [ 2.41104785e-02 -5.40776065e-04 9.99709154e-01 2.58837723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17361786499998 meters 0.019564636794933653 Centerline is valid? [True, True] Translation: X:138.54, Y:65.31, Z:2.59 [[ 5.10215223e-01 -8.59956250e-01 -1.24769580e-02 1.38544597e+02] [ 8.59725444e-01 5.10367453e-01 -1.99304659e-02 6.53070138e+01] [ 2.35071620e-02 -5.57931166e-04 9.99723513e-01 2.58927157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20361786499996 meters 0.019489669098465237 Centerline is valid? [True, True] Translation: X:138.56, Y:65.33, Z:2.59 [[ 5.09301734e-01 -8.60500304e-01 -1.22870520e-02 1.38560251e+02] [ 8.60276460e-01 5.09449607e-01 -1.96344293e-02 6.53307232e+01] [ 2.31550662e-02 -5.70412715e-04 9.99731723e-01 2.59045929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23361786499996 meters 0.0216613385015274 Centerline is valid? [True, True] Translation: X:138.58, Y:65.35, Z:2.59 [[ 5.08928704e-01 -8.60721080e-01 -1.22799490e-02 1.38578025e+02] [ 8.60497298e-01 5.09076510e-01 -1.96343394e-02 6.53512357e+01] [ 2.31511234e-02 -5.74383987e-04 9.99731812e-01 2.59030959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26361786499996 meters 0.019465905079459823 Centerline is valid? [True, True] Translation: X:138.59, Y:65.38, Z:2.59 [[ 5.09471965e-01 -8.60404505e-01 -1.19333675e-02 1.38588216e+02] [ 8.60192856e-01 5.09611418e-01 -1.90906705e-02 6.53781184e+01] [ 2.25070793e-02 -5.38836092e-04 9.99746538e-01 2.59186523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29361786499996 meters 0.018716035338251724 Centerline is valid? [True, True] Translation: X:138.60, Y:65.40, Z:2.59 [[ 5.10045931e-01 -8.60063421e-01 -1.20024838e-02 1.38602002e+02] [ 8.59848968e-01 5.10186868e-01 -1.92123013e-02 6.54038863e+01] [ 2.26473072e-02 -5.21167231e-04 9.99743381e-01 2.59261500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32361786499996 meters 0.019112258059835435 Centerline is valid? [True, True] Translation: X:138.62, Y:65.43, Z:2.59 [[ 5.10391740e-01 -8.59856144e-01 -1.21525017e-02 1.38617269e+02] [ 8.59635984e-01 5.10536139e-01 -1.94634625e-02 6.54269719e+01] [ 2.29400692e-02 -5.12737261e-04 9.99736711e-01 2.59255713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35361786499996 meters 0.018686356592739622 Centerline is valid? [True, True] Translation: X:138.63, Y:65.45, Z:2.59 [[ 5.10612758e-01 -8.59721272e-01 -1.24075191e-02 1.38631012e+02] [ 8.59491445e-01 5.10763227e-01 -1.98842365e-02 6.54515384e+01] [ 2.34322055e-02 -5.11011712e-04 9.99725298e-01 2.59270657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38361786499996 meters 0.018858109993350115 Centerline is valid? [True, True] Translation: X:138.65, Y:65.47, Z:2.59 [[ 5.10757308e-01 -8.59632034e-01 -1.26388088e-02 1.38645220e+02] [ 8.59393237e-01 5.10913404e-01 -2.02671579e-02 6.54743062e+01] [ 2.38796350e-02 -5.10107824e-04 9.99714711e-01 2.59230657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41361786499996 meters 0.018558175185907647 Centerline is valid? [True, True] Translation: X:138.66, Y:65.50, Z:2.59 [[ 5.10603525e-01 -8.59721090e-01 -1.27940275e-02 1.38658990e+02] [ 8.59476132e-01 5.10763529e-01 -2.05279181e-02 6.54985790e+01] [ 2.41830068e-02 -5.14533930e-04 9.99707416e-01 2.59297981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44361786499996 meters 0.01880703609691611 Centerline is valid? [True, True] Translation: X:138.67, Y:65.52, Z:2.59 [[ 5.10298195e-01 -8.59903161e-01 -1.27399704e-02 1.38673120e+02] [ 8.59660029e-01 5.10456942e-01 -2.04534601e-02 6.55213941e+01] [ 2.40912013e-02 -5.14679596e-04 9.99709632e-01 2.59337559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47361786499997 meters 0.01917492229129327 Centerline is valid? [True, True] Translation: X:138.69, Y:65.54, Z:2.59 [[ 5.09878749e-01 -8.60153103e-01 -1.26610044e-02 1.38687187e+02] [ 8.59912823e-01 5.10035657e-01 -2.03362964e-02 6.55440830e+01] [ 2.39498922e-02 -5.18314672e-04 9.99713026e-01 2.59311196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50361786499997 meters 0.01898958604617202 Centerline is valid? [True, True] Translation: X:138.70, Y:65.57, Z:2.59 [[ 5.09475948e-01 -8.60390525e-01 -1.27437275e-02 1.38701537e+02] [ 8.60146975e-01 5.09635031e-01 -2.04772337e-02 6.55681327e+01] [ 2.41130678e-02 -5.28820574e-04 9.99709098e-01 2.59374855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53361786499997 meters 0.01898958604617202 Centerline is valid? [True, True] Translation: X:138.72, Y:65.59, Z:2.59 [[ 5.09241021e-01 -8.60529676e-01 -1.27381343e-02 1.38716049e+02] [ 8.60286082e-01 5.09400037e-01 -2.04807128e-02 6.55915887e+01] [ 2.41130672e-02 -5.28820560e-04 9.99709098e-01 2.59419948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56361786499997 meters 0.01895604155834214 Centerline is valid? [True, True] Translation: X:138.73, Y:65.62, Z:2.59 [[ 5.09094604e-01 -8.60616633e-01 -1.27159687e-02 1.38730869e+02] [ 8.60373614e-01 5.09253115e-01 -2.04575148e-02 6.56157382e+01] [ 2.40817242e-02 -5.25673583e-04 9.99709855e-01 2.59489061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59361786499997 meters 0.018773964261712593 Centerline is valid? [True, True] Translation: X:138.75, Y:65.64, Z:2.60 [[ 5.09416333e-01 -8.60426264e-01 -1.27139377e-02 1.38745015e+02] [ 8.60182964e-01 5.09574709e-01 -2.04666425e-02 6.56397139e+01] [ 2.40887379e-02 -5.10270668e-04 9.99709694e-01 2.59565200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62361786499997 meters 0.018779386861238825 Centerline is valid? [True, True] Translation: X:138.76, Y:65.66, Z:2.60 [[ 5.09459417e-01 -8.60398890e-01 -1.28394962e-02 1.38759366e+02] [ 8.60150447e-01 5.09620930e-01 -2.06813162e-02 6.56642903e+01] [ 2.43374575e-02 -5.07607136e-04 9.99703671e-01 2.59570173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65361786499997 meters 0.01883997491097333 Centerline is valid? [True, True] Translation: X:138.77, Y:65.69, Z:2.60 [[ 5.09274338e-01 -8.60506754e-01 -1.29527751e-02 1.38774021e+02] [ 8.60253628e-01 5.09438775e-01 -2.08765545e-02 6.56886541e+01] [ 2.45630620e-02 -5.10778327e-04 9.99698152e-01 2.59543158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68361786499997 meters 0.019176734261516018 Centerline is valid? [True, True] Translation: X:138.79, Y:65.71, Z:2.60 [[ 5.08718449e-01 -8.60830070e-01 -1.33090258e-02 1.38789081e+02] [ 8.60562675e-01 5.08892232e-01 -2.14611059e-02 6.57115093e+01] [ 2.52472252e-02 -5.35590337e-04 9.99681095e-01 2.59502848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71361786499997 meters 0.019402775616931024 Centerline is valid? [True, True] Translation: X:138.80, Y:65.73, Z:2.60 [[ 5.07852978e-01 -8.61342138e-01 -1.32315199e-02 1.38804536e+02] [ 8.61077844e-01 5.08025013e-01 -2.13431994e-02 6.57346684e+01] [ 2.51057401e-02 -5.54161217e-04 9.99684648e-01 2.59556955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74361786499998 meters 0.019715984677444502 Centerline is valid? [True, True] Translation: X:138.82, Y:65.76, Z:2.60 [[ 5.06654699e-01 -8.62044985e-01 -1.33962428e-02 1.38821120e+02] [ 8.61774020e-01 5.06831427e-01 -2.16204384e-02 6.57585899e+01] [ 2.54274274e-02 -5.90437322e-04 9.99676496e-01 2.59625055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77361786499998 meters 0.02053535902306715 Centerline is valid? [True, True] Translation: X:138.84, Y:65.78, Z:2.60 [[ 5.04383697e-01 -8.63376219e-01 -1.33637757e-02 1.38838830e+02] [ 8.63106747e-01 5.04560285e-01 -2.15792094e-02 6.57815463e+01] [ 2.53738067e-02 -6.50163601e-04 9.99677822e-01 2.59719911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80361786499998 meters 0.02150261645322433 Centerline is valid? [True, True] Translation: X:138.86, Y:65.80, Z:2.60 [[ 5.03065354e-01 -8.64145837e-01 -1.33125038e-02 1.38855070e+02] [ 8.63878447e-01 5.03241005e-01 -2.15062934e-02 6.58036721e+01] [ 2.52839717e-02 -6.81313972e-04 9.99680077e-01 2.59768333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83361786499998 meters 0.02020937124755342 Centerline is valid? [True, True] Translation: X:138.87, Y:65.83, Z:2.60 [[ 5.01975852e-01 -8.64780872e-01 -1.32017756e-02 1.38868190e+02] [ 8.64517908e-01 5.02148931e-01 -2.13363048e-02 6.58293193e+01] [ 2.50804858e-02 -7.02861655e-04 9.99685188e-01 2.59976788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86361786499998 meters 0.020733156838491296 Centerline is valid? [True, True] Translation: X:138.88, Y:65.85, Z:2.60 [[ 5.00175217e-01 -8.65833877e-01 -1.25080136e-02 1.38884435e+02] [ 8.65597907e-01 5.00331083e-01 -2.02254833e-02 6.58529777e+01] [ 2.37700566e-02 -7.10624874e-04 9.99717200e-01 2.60049188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89361786499998 meters 0.021040261037421567 Centerline is valid? [True, True] Translation: X:138.90, Y:65.88, Z:2.60 [[ 4.99293550e-01 -8.66344285e-01 -1.23907405e-02 1.38900201e+02] [ 8.66112627e-01 4.99446751e-01 -2.00464339e-02 6.58771765e+01] [ 2.35556285e-02 -7.22721665e-04 9.99722266e-01 2.60145772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92361786499998 meters 0.021391229409778587 Centerline is valid? [True, True] Translation: X:138.92, Y:65.90, Z:2.60 [[ 4.98176083e-01 -8.66989154e-01 -1.22636198e-02 1.38916093e+02] [ 8.66762177e-01 4.98326457e-01 -1.98512094e-02 6.59017244e+01] [ 2.33220694e-02 -7.40244096e-04 9.99727729e-01 2.60195833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95361786499996 meters 0.022204553965250094 Centerline is valid? [True, True] Translation: X:138.93, Y:65.92, Z:2.60 [[ 4.97349768e-01 -8.67468071e-01 -1.19312128e-02 1.38932374e+02] [ 8.67253173e-01 4.97492313e-01 -1.93217993e-02 6.59249270e+01] [ 2.26967306e-02 -7.37689762e-04 9.99742124e-01 2.60258225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98361786499996 meters 0.022116939994073773 Centerline is valid? [True, True] Translation: X:138.95, Y:65.95, Z:2.60 [[ 4.96839848e-01 -8.67764325e-01 -1.16293492e-02 1.38946681e+02] [ 8.67560098e-01 4.96975397e-01 -1.88396153e-02 6.59492067e+01] [ 2.21278465e-02 -7.28887714e-04 9.99754884e-01 2.60298399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01361786499996 meters 0.02250826309334884 Centerline is valid? [True, True] Translation: X:138.96, Y:65.97, Z:2.60 [[ 4.96665433e-01 -8.67864345e-01 -1.16157545e-02 1.38961397e+02] [ 8.67660396e-01 4.96800714e-01 -1.88278620e-02 6.59720406e+01] [ 2.21107452e-02 -7.27381898e-04 9.99755263e-01 2.60323615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04361786499996 meters 0.02090905445753439 Centerline is valid? [True, True] Translation: X:138.97, Y:66.00, Z:2.60 [[ 4.96524784e-01 -8.67942058e-01 -1.18204717e-02 1.38973234e+02] [ 8.67730675e-01 4.96664915e-01 -1.91686497e-02 6.59974309e+01] [ 2.25080908e-02 -7.39276213e-04 9.99746388e-01 2.60398916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07361786499996 meters 0.022897804692262984 Centerline is valid? [True, True] Translation: X:138.99, Y:66.02, Z:2.60 [[ 4.97170470e-01 -8.67569142e-01 -1.20543685e-02 1.38990634e+02] [ 8.67348948e-01 4.97316046e-01 -1.95589422e-02 6.60191426e+01] [ 2.29635656e-02 -7.31215359e-04 9.99736035e-01 2.60317147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10361786499996 meters 0.020890285713630087 Centerline is valid? [True, True] Translation: X:139.00, Y:66.05, Z:2.60 [[ 4.97399195e-01 -8.67432405e-01 -1.24524786e-02 1.39002221e+02] [ 8.67197157e-01 4.97554489e-01 -2.02144064e-02 6.60455120e+01] [ 2.37304178e-02 -7.44124579e-04 9.99718117e-01 2.60425666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13361786499996 meters 0.020676833991398556 Centerline is valid? [True, True] Translation: X:139.02, Y:66.07, Z:2.60 [[ 4.97734512e-01 -8.67241079e-01 -1.23800801e-02 1.39016445e+02] [ 8.67008215e-01 4.97887925e-01 -2.01089580e-02 6.60696402e+01] [ 2.36032068e-02 -7.24708712e-04 9.99721143e-01 2.60433541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16361786499996 meters 0.020386953514565886 Centerline is valid? [True, True] Translation: X:139.03, Y:66.09, Z:2.60 [[ 4.98357109e-01 -8.66882061e-01 -1.24773421e-02 1.39030555e+02] [ 8.66645128e-01 4.98512780e-01 -2.02788256e-02 6.60947696e+01] [ 2.37994646e-02 -7.07330839e-04 9.99716502e-01 2.60452057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19361786499996 meters 0.020112254457614828 Centerline is valid? [True, True] Translation: X:139.04, Y:66.12, Z:2.61 [[ 5.00199151e-01 -8.65825627e-01 -1.21157836e-02 1.39044485e+02] [ 8.65601719e-01 5.00345462e-01 -1.96998219e-02 6.61192678e+01] [ 2.31186880e-02 -6.33608889e-04 9.99732527e-01 2.60501120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22361786499997 meters 0.019951917637318684 Centerline is valid? [True, True] Translation: X:139.06, Y:66.14, Z:2.61 [[ 5.01142935e-01 -8.65277867e-01 -1.22463195e-02 1.39058492e+02] [ 8.65048826e-01 5.01292169e-01 -1.99170709e-02 6.61424166e+01] [ 2.33727846e-02 -6.12364932e-04 9.99726632e-01 2.60567113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25361786499997 meters 0.021487729397447326 Centerline is valid? [True, True] Translation: X:139.08, Y:66.17, Z:2.61 [[ 5.02188355e-01 -8.64673835e-01 -1.20836818e-02 1.39075707e+02] [ 8.64450471e-01 5.02333387e-01 -1.96609175e-02 6.61651034e+01] [ 2.30703178e-02 -5.72260610e-04 9.99733681e-01 2.60540612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28361786499997 meters 0.019110523257720623 Centerline is valid? [True, True] Translation: X:139.09, Y:66.19, Z:2.61 [[ 5.04957226e-01 -8.63062692e-01 -1.18739077e-02 1.39085743e+02] [ 8.62846339e-01 5.05096579e-01 -1.93297826e-02 6.61925740e+01] [ 2.26802843e-02 -4.84644376e-04 9.99742652e-01 2.60726146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31361786499997 meters 0.018241628217072134 Centerline is valid? [True, True] Translation: X:139.10, Y:66.22, Z:2.61 [[ 5.06442461e-01 -8.62193129e-01 -1.17915865e-02 1.39098644e+02] [ 8.61979291e-01 5.06579527e-01 -1.92063996e-02 6.62183747e+01] [ 2.25330021e-02 -4.37167101e-04 9.99746004e-01 2.60792813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34361786499997 meters 0.01783409425837931 Centerline is valid? [True, True] Translation: X:139.11, Y:66.24, Z:2.61 [[ 5.07803889e-01 -8.61391501e-01 -1.18276421e-02 1.39112392e+02] [ 8.61175917e-01 5.07941457e-01 -1.92747323e-02 6.62437765e+01] [ 2.26108404e-02 -3.97896494e-04 9.99744263e-01 2.60833845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37361786499997 meters 0.017615958913719195 Centerline is valid? [True, True] Translation: X:139.13, Y:66.27, Z:2.61 [[ 5.09008301e-01 -8.60676471e-01 -1.21062611e-02 1.39126891e+02] [ 8.60450214e-01 5.09152114e-01 -1.97371239e-02 6.62686712e+01] [ 2.31512066e-02 -3.70474998e-04 9.99731906e-01 2.60849996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40361786499997 meters 0.017236008429173104 Centerline is valid? [True, True] Translation: X:139.14, Y:66.29, Z:2.61 [[ 5.11499853e-01 -8.59194960e-01 -1.23256430e-02 1.39141181e+02] [ 8.58959732e-01 5.11648248e-01 -2.01059747e-02 6.62931645e+01] [ 2.35813458e-02 -3.03027853e-04 9.99721875e-01 2.60877675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43361786499997 meters 0.017062663242370768 Centerline is valid? [True, True] Translation: X:139.16, Y:66.32, Z:2.61 [[ 5.12606534e-01 -8.58536131e-01 -1.22577554e-02 1.39155542e+02] [ 8.58303069e-01 5.12753001e-01 -2.00050213e-02 6.63167876e+01] [ 2.34602345e-02 -2.66164523e-04 9.99724735e-01 2.60943328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46361786499997 meters 0.01693909472905513 Centerline is valid? [True, True] Translation: X:139.17, Y:66.34, Z:2.61 [[ 5.13451258e-01 -8.58028754e-01 -1.24283455e-02 1.39170175e+02] [ 8.57788787e-01 5.13601596e-01 -2.02928083e-02 6.63409944e+01] [ 2.37950311e-02 -2.41527457e-04 9.99716829e-01 2.61016927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49361786499998 meters 0.01668881128844473 Centerline is valid? [True, True] Translation: X:139.18, Y:66.37, Z:2.61 [[ 5.14820899e-01 -8.57207732e-01 -1.24235970e-02 1.39184607e+02] [ 8.56967426e-01 5.14970742e-01 -2.02969214e-02 6.63657744e+01] [ 2.37964669e-02 -1.97338640e-04 9.99716805e-01 2.61099619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52361786499998 meters 0.016590223900297556 Centerline is valid? [True, True] Translation: X:139.20, Y:66.39, Z:2.61 [[ 5.15113339e-01 -8.57035029e-01 -1.22150467e-02 1.39198433e+02] [ 8.56802424e-01 5.15258117e-01 -1.99669490e-02 6.63887205e+01] [ 2.34062767e-02 -1.80639876e-04 9.99726019e-01 2.61190697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55361786499998 meters 0.016552945221610875 Centerline is valid? [True, True] Translation: X:139.21, Y:66.41, Z:2.61 [[ 5.15197306e-01 -8.56988098e-01 -1.19639292e-02 1.39213323e+02] [ 8.56764705e-01 5.15336173e-01 -1.95670450e-02 6.64128953e+01] [ 2.29341702e-02 -1.69383391e-04 9.99736963e-01 2.61274792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58361786499998 meters 0.016708798860409674 Centerline is valid? [True, True] Translation: X:139.23, Y:66.43, Z:2.61 [[ 5.14753920e-01 -8.57264541e-01 -1.12209262e-02 1.39229465e+02] [ 8.57067882e-01 5.14876179e-01 -1.83620538e-02 6.64341895e+01] [ 2.15185253e-02 -1.65156288e-04 9.99768436e-01 2.61416887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61361786499998 meters 0.01671042712986963 Centerline is valid? [True, True] Translation: X:139.25, Y:66.46, Z:2.62 [[ 5.14060358e-01 -8.57681796e-01 -1.11303934e-02 1.39245234e+02] [ 8.57488185e-01 5.14180811e-01 -1.82237846e-02 6.64569074e+01] [ 2.13532430e-02 -1.76055569e-04 9.99771978e-01 2.61536759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64361786499998 meters 0.017051371793729366 Centerline is valid? [True, True] Translation: X:139.26, Y:66.48, Z:2.62 [[ 5.12977818e-01 -8.58331080e-01 -1.10233900e-02 1.39261613e+02] [ 8.58141117e-01 5.13096207e-01 -1.80583694e-02 6.64789537e+01] [ 2.11561193e-02 -1.96081293e-04 9.99776165e-01 2.61551824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67361786499998 meters 0.01721686298336183 Centerline is valid? [True, True] Translation: X:139.28, Y:66.50, Z:2.62 [[ 5.11482315e-01 -8.59223246e-01 -1.10116143e-02 1.39278838e+02] [ 8.59033732e-01 5.11600784e-01 -1.80467509e-02 6.65019646e+01] [ 2.11397384e-02 -2.28754201e-04 9.99776505e-01 2.61705023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70361786499996 meters 0.01735773385278359 Centerline is valid? [True, True] Translation: X:139.29, Y:66.53, Z:2.62 [[ 5.10494467e-01 -8.59812504e-01 -1.08561721e-02 1.39294687e+02] [ 8.59628230e-01 5.10609829e-01 -1.78019220e-02 6.65251408e+01] [ 2.08495833e-02 -2.44489360e-04 9.99782594e-01 2.61746821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73361786499996 meters 0.017446969345389023 Centerline is valid? [True, True] Translation: X:139.31, Y:66.55, Z:2.62 [[ 5.09675863e-01 -8.60298293e-01 -1.08333335e-02 1.39309997e+02] [ 8.60114692e-01 5.09790918e-01 -1.77746202e-02 6.65483733e+01] [ 2.08142104e-02 -2.58614390e-04 9.99783327e-01 2.61783827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76361786499996 meters 0.01774683241099445 Centerline is valid? [True, True] Translation: X:139.33, Y:66.57, Z:2.62 [[ 5.08608857e-01 -8.60929623e-01 -1.08265646e-02 1.39326011e+02] [ 8.60746178e-01 5.08723998e-01 -1.77738682e-02 6.65706504e+01] [ 2.08097829e-02 -2.78977305e-04 9.99783414e-01 2.61811671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79361786499996 meters 0.01792031739169933 Centerline is valid? [True, True] Translation: X:139.34, Y:66.59, Z:2.62 [[ 5.07885994e-01 -8.61357020e-01 -1.07657942e-02 1.39341433e+02] [ 8.61175504e-01 5.08000001e-01 -1.76847287e-02 6.65937668e+01] [ 2.07018887e-02 -2.89412229e-04 9.99785651e-01 2.61849751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82361786499996 meters 0.017811660892893464 Centerline is valid? [True, True] Translation: X:139.36, Y:66.62, Z:2.62 [[ 5.06980417e-01 -8.61886748e-01 -1.10494301e-02 1.39356188e+02] [ 8.61695442e-01 5.07100715e-01 -1.81612217e-02 6.66179849e+01] [ 2.12560902e-02 -3.13859794e-04 9.99774015e-01 2.61902396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85361786499996 meters 0.018132856511172003 Centerline is valid? [True, True] Translation: X:139.37, Y:66.64, Z:2.62 [[ 5.05572894e-01 -8.62709460e-01 -1.13329771e-02 1.39371969e+02] [ 8.62508181e-01 5.05699776e-01 -1.86379979e-02 6.66421744e+01] [ 2.18102611e-02 -3.51918917e-04 9.99762066e-01 2.61884299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88361786499996 meters 0.01835132385220249 Centerline is valid? [True, True] Translation: X:139.39, Y:66.67, Z:2.62 [[ 5.04556389e-01 -8.63304341e-01 -1.13342586e-02 1.39387294e+02] [ 8.63102938e-01 5.04683540e-01 -1.86505206e-02 6.66662735e+01] [ 2.18212892e-02 -3.72392630e-04 9.99761818e-01 2.61909065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91361786499996 meters 0.018526784493434402 Centerline is valid? [True, True] Translation: X:139.40, Y:66.69, Z:2.62 [[ 5.03623880e-01 -8.63848065e-01 -1.13801888e-02 1.39402534e+02] [ 8.63644932e-01 5.03752288e-01 -1.87366939e-02 6.66902222e+01] [ 2.19184529e-02 -3.92195888e-04 9.99759685e-01 2.61919704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94361786499996 meters 0.01902723083898904 Centerline is valid? [True, True] Translation: X:139.42, Y:66.71, Z:2.62 [[ 5.02979482e-01 -8.64218942e-01 -1.17158745e-02 1.39417730e+02] [ 8.64003502e-01 5.03115741e-01 -1.93002589e-02 6.67127507e+01] [ 2.25740902e-02 -4.14922396e-04 9.99745087e-01 2.61937918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97361786499997 meters 0.01849563870012672 Centerline is valid? [True, True] Translation: X:139.43, Y:66.74, Z:2.62 [[ 5.01390072e-01 -8.65139058e-01 -1.19333720e-02 1.39431136e+02] [ 8.64915563e-01 5.01531852e-01 -1.96690065e-02 6.67386761e+01] [ 2.30013919e-02 -4.59514624e-04 9.99735327e-01 2.62093212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00361786499997 meters 0.018673644900864667 Centerline is valid? [True, True] Translation: X:139.45, Y:66.76, Z:2.62 [[ 5.00570590e-01 -8.65617847e-01 -1.16115367e-02 1.39445748e+02] [ 8.65406143e-01 5.00705032e-01 -1.91488503e-02 6.67633042e+01] [ 2.23895415e-02 -4.63343903e-04 9.99749215e-01 2.62153448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03361786499997 meters 0.020131343801980246 Centerline is valid? [True, True] Translation: X:139.46, Y:66.79, Z:2.62 [[ 4.99656928e-01 -8.66148360e-01 -1.14005846e-02 1.39461921e+02] [ 8.65944181e-01 4.99786750e-01 -1.88116987e-02 6.67859785e+01] [ 2.19915831e-02 -4.72874281e-04 9.99758044e-01 2.62179146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06361786499997 meters 0.019005811532960028 Centerline is valid? [True, True] Translation: X:139.47, Y:66.81, Z:2.62 [[ 4.98580649e-01 -8.66776898e-01 -1.07305727e-02 1.39472541e+02] [ 8.66595969e-01 4.98695891e-01 -1.77154001e-02 6.68131859e+01] [ 2.07065921e-02 -4.66515398e-04 9.99785487e-01 2.62381360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09361786499997 meters 0.01944631692533774 Centerline is valid? [True, True] Translation: X:139.49, Y:66.84, Z:2.62 [[ 4.98115697e-01 -8.67046950e-01 -1.05041906e-02 1.39486158e+02] [ 8.66873435e-01 4.98226225e-01 -1.73515602e-02 6.68368948e+01] [ 2.02780806e-02 -4.62719310e-04 9.99794272e-01 2.62426443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12361786499997 meters 0.019023424424333666 Centerline is valid? [True, True] Translation: X:139.50, Y:66.86, Z:2.63 [[ 4.98040767e-01 -8.67091276e-01 -1.03977576e-02 1.39499228e+02] [ 8.66921076e-01 4.98149086e-01 -1.71853447e-02 6.68622683e+01] [ 2.00808959e-02 -4.55032951e-04 9.99798255e-01 2.62526608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15361786499997 meters 0.019073002470401196 Centerline is valid? [True, True] Translation: X:139.51, Y:66.89, Z:2.63 [[ 4.98493549e-01 -8.66838310e-01 -9.77378429e-03 1.39511797e+02] [ 8.66687709e-01 4.98589183e-01 -1.61629524e-02 6.68869642e+01] [ 1.88837694e-02 -4.13691231e-04 9.99821600e-01 2.62610403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18361786499997 meters 0.018988013196140838 Centerline is valid? [True, True] Translation: X:139.53, Y:66.91, Z:2.63 [[ 4.98944611e-01 -8.66580226e-01 -9.64298857e-03 1.39525082e+02] [ 8.66433458e-01 4.99037630e-01 -1.59532714e-02 6.69122061e+01] [ 1.86370037e-02 -3.95209148e-04 9.99826238e-01 2.62652804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21361786499997 meters 0.018482412338758532 Centerline is valid? [True, True] Translation: X:139.54, Y:66.94, Z:2.63 [[ 4.99673729e-01 -8.66163011e-01 -9.37026401e-03 1.39537472e+02] [ 8.66024200e-01 4.99761448e-01 -1.55106300e-02 6.69383661e+01] [ 1.81176307e-02 -3.64621037e-04 9.99835796e-01 2.62724510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24361786499998 meters 0.01852396597511619 Centerline is valid? [True, True] Translation: X:139.55, Y:66.96, Z:2.63 [[ 5.01578155e-01 -8.65066379e-01 -8.91702909e-03 1.39548783e+02] [ 8.64940414e-01 5.01657318e-01 -1.47653166e-02 6.69635874e+01] [ 1.72462719e-02 -3.06738580e-04 9.99851225e-01 2.62758247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27361786499998 meters 0.018318020845057736 Centerline is valid? [True, True] Translation: X:139.56, Y:66.99, Z:2.63 [[ 5.02418705e-01 -8.64580451e-01 -8.72291895e-03 1.39561273e+02] [ 8.64459789e-01 5.02494343e-01 -1.44467329e-02 6.69885682e+01] [ 1.68735803e-02 -2.82303846e-04 9.99857591e-01 2.62808699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30361786499998 meters 0.018082819590502692 Centerline is valid? [True, True] Translation: X:139.57, Y:67.01, Z:2.63 [[ 5.03732318e-01 -8.63817879e-01 -8.51020494e-03 1.39572607e+02] [ 8.63702793e-01 5.03804139e-01 -1.41023193e-02 6.70140751e+01] [ 1.64693120e-02 -2.46493789e-04 9.99864341e-01 2.62848567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33361786499998 meters 0.018072725465930285 Centerline is valid? [True, True] Translation: X:139.59, Y:67.04, Z:2.63 [[ 5.03489186e-01 -8.63960453e-01 -8.42470433e-03 1.39585549e+02] [ 8.63847589e-01 5.03559605e-01 -1.39666308e-02 6.70382225e+01] [ 1.63089575e-02 -2.45612930e-04 9.99866970e-01 2.62854771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36361786499998 meters 0.017591917867279674 Centerline is valid? [True, True] Translation: X:139.60, Y:67.06, Z:2.63 [[ 5.03266060e-01 -8.64090459e-01 -8.42329367e-03 1.39597327e+02] [ 8.63977532e-01 5.03336487e-01 -1.39715879e-02 6.70638433e+01] [ 1.63124668e-02 -2.46110489e-04 9.99866913e-01 2.62897628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39361786499998 meters 0.018348027865025474 Centerline is valid? [True, True] Translation: X:139.61, Y:67.09, Z:2.63 [[ 5.02674666e-01 -8.64435011e-01 -8.38402137e-03 1.39611938e+02] [ 8.64323045e-01 5.02744516e-01 -1.39149679e-02 6.70866740e+01] [ 1.62436062e-02 -2.51801035e-04 9.99868032e-01 2.62928119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42361786499998 meters 0.018283868610417527 Centerline is valid? [True, True] Translation: X:139.62, Y:67.11, Z:2.63 [[ 5.00570977e-01 -8.65653606e-01 -8.51656210e-03 1.39623766e+02] [ 8.65538151e-01 5.00643335e-01 -1.41407446e-02 6.71133380e+01] [ 1.65047466e-02 -2.92963047e-04 9.99863744e-01 2.62895739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45361786499996 meters 0.018283868610417527 Centerline is valid? [True, True] Translation: X:139.64, Y:67.14, Z:2.63 [[ 5.00341621e-01 -8.65786224e-01 -8.51328041e-03 1.39637919e+02] [ 8.65670755e-01 5.00413956e-01 -1.41427201e-02 6.71370001e+01] [ 1.65047365e-02 -2.93506392e-04 9.99863744e-01 2.62940844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48361786499996 meters 0.0183961947628578 Centerline is valid? [True, True] Translation: X:139.65, Y:67.16, Z:2.63 [[ 4.99185264e-01 -8.66454160e-01 -8.44157221e-03 1.39651492e+02] [ 8.66340587e-01 4.99256540e-01 -1.40319421e-02 6.71627765e+01] [ 1.63725447e-02 -3.08737896e-04 9.99865913e-01 2.62964673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51361786499996 meters 0.018813387962212637 Centerline is valid? [True, True] Translation: X:139.67, Y:67.19, Z:2.63 [[ 4.98068511e-01 -8.67098054e-01 -8.28989553e-03 1.39665605e+02] [ 8.66988498e-01 4.98137392e-01 -1.37870619e-02 6.71868739e+01] [ 1.60842415e-02 -3.20342697e-04 9.99870589e-01 2.63012393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54361786499996 meters 0.019002070493864008 Centerline is valid? [True, True] Translation: X:139.68, Y:67.21, Z:2.63 [[ 4.96686108e-01 -8.67892341e-01 -8.11138591e-03 1.39679698e+02] [ 8.67787502e-01 4.96752223e-01 -1.34936840e-02 6.72124760e+01] [ 1.57404140e-02 -3.36833935e-04 9.99876055e-01 2.63068633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57361786499996 meters 0.02008929616633555 Centerline is valid? [True, True] Translation: X:139.69, Y:67.24, Z:2.63 [[ 4.94189545e-01 -8.69317246e-01 -8.01367152e-03 1.39694002e+02] [ 8.69214995e-01 4.94254373e-01 -1.33381629e-02 6.72364324e+01] [ 1.55558873e-02 -3.74022789e-04 9.99878930e-01 2.63146765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60361786499996 meters 0.02002175440185491 Centerline is valid? [True, True] Translation: X:139.71, Y:67.26, Z:2.63 [[ 4.92935916e-01 -8.70030160e-01 -7.85512555e-03 1.39707561e+02] [ 8.69931923e-01 4.92998348e-01 -1.30796735e-02 6.72622956e+01] [ 1.52522743e-02 -3.85983656e-04 9.99883603e-01 2.63160950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63361786499996 meters 0.01960851724317821 Centerline is valid? [True, True] Translation: X:139.72, Y:67.29, Z:2.63 [[ 4.91658820e-01 -8.70753546e-01 -7.73738178e-03 1.39720229e+02] [ 8.70658221e-01 4.91719538e-01 -1.28902655e-02 6.72886274e+01] [ 1.50288662e-02 -3.99002309e-04 9.99886981e-01 2.63191689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66361786499996 meters 0.02137419254857751 Centerline is valid? [True, True] Translation: X:139.74, Y:67.31, Z:2.63 [[ 4.88783423e-01 -8.72370423e-01 -7.78522839e-03 1.39735114e+02] [ 8.72274012e-01 4.88845214e-01 -1.29770976e-02 6.73125695e+01] [ 1.51266078e-02 -4.47862200e-04 9.99885486e-01 2.63195488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69361786499996 meters 0.020778302783812576 Centerline is valid? [True, True] Translation: X:139.75, Y:67.34, Z:2.63 [[ 4.87350170e-01 -8.73170348e-01 -7.95961949e-03 1.39747361e+02] [ 8.73069565e-01 4.87414930e-01 -1.32748436e-02 6.73387758e+01] [ 1.54708371e-02 -4.79804256e-04 9.99880204e-01 2.63221761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72361786499997 meters 0.02172645357870061 Centerline is valid? [True, True] Translation: X:139.76, Y:67.36, Z:2.63 [[ 4.84866453e-01 -8.74549582e-01 -8.21893155e-03 1.39759883e+02] [ 8.74442197e-01 4.84935810e-01 -1.37150950e-02 6.73632001e+01] [ 1.59801848e-02 -5.36991088e-04 9.99872165e-01 2.63192945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75361786499997 meters 0.022185037995624744 Centerline is valid? [True, True] Translation: X:139.77, Y:67.39, Z:2.63 [[ 4.83264507e-01 -8.75434225e-01 -8.38651110e-03 1.39774149e+02] [ 8.75322495e-01 4.83336928e-01 -1.39979999e-02 6.73886225e+01] [ 1.63078387e-02 -5.76165311e-04 9.99866852e-01 2.63235735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78361786499997 meters 0.023149726707666594 Centerline is valid? [True, True] Translation: X:139.79, Y:67.41, Z:2.63 [[ 4.82057702e-01 -8.76098902e-01 -8.43120414e-03 1.39788775e+02] [ 8.75985955e-01 4.82131057e-01 -1.40801610e-02 6.74127924e+01] [ 1.64005589e-02 -5.98166361e-04 9.99865323e-01 2.63298764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81361786499997 meters 0.02291819331543481 Centerline is valid? [True, True] Translation: X:139.80, Y:67.44, Z:2.63 [[ 4.80709821e-01 -8.76836699e-01 -8.68743623e-03 1.39801688e+02] [ 8.76716813e-01 4.80787889e-01 -1.45133131e-02 6.74388719e+01] [ 1.69026196e-02 -6.39729280e-04 9.99856936e-01 2.63355766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84361786499997 meters 0.026827766776631855 Centerline is valid? [True, True] Translation: X:139.82, Y:67.46, Z:2.63 [[ 4.78823643e-01 -8.77871287e-01 -8.36197110e-03 1.39817003e+02] [ 8.77760255e-01 4.78896215e-01 -1.39768062e-02 6.74614466e+01] [ 1.62743531e-02 -6.47380647e-04 9.99867354e-01 2.63452050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87361786499997 meters 0.023656182961479116 Centerline is valid? [True, True] Translation: X:139.83, Y:67.49, Z:2.64 [[ 4.78214664e-01 -8.78204283e-01 -8.24453164e-03 1.39825626e+02] [ 8.78096349e-01 4.78285288e-01 -1.37835007e-02 6.74904698e+01] [ 1.60479676e-02 -6.48020965e-04 9.99871013e-01 2.63526858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90361786499997 meters 0.02397337935613953 Centerline is valid? [True, True] Translation: X:139.84, Y:67.52, Z:2.64 [[ 4.77428240e-01 -8.78631395e-01 -8.31556237e-03 1.39838700e+02] [ 8.78521535e-01 4.77500189e-01 -1.39097540e-02 6.75163556e+01] [ 1.61922291e-02 -6.64491262e-04 9.99868676e-01 2.63555970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93361786499997 meters 0.02417197146194876 Centerline is valid? [True, True] Translation: X:139.85, Y:67.54, Z:2.64 [[ 4.76998532e-01 -8.78862713e-01 -8.52833520e-03 1.39849391e+02] [ 8.78747066e-01 4.77074273e-01 -1.42734754e-02 6.75422600e+01] [ 1.66130746e-02 -6.85822736e-04 9.99861758e-01 2.63612371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96361786499997 meters 0.02407047205752796 Centerline is valid? [True, True] Translation: X:139.86, Y:67.57, Z:2.64 [[ 4.77194549e-01 -8.78758327e-01 -8.31656583e-03 1.39861692e+02] [ 8.78648205e-01 4.77266556e-01 -1.39271938e-02 6.75675333e+01] [ 1.62078562e-02 -6.61354676e-04 9.99868425e-01 2.63670587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99361786499998 meters 0.02457792102580353 Centerline is valid? [True, True] Translation: X:139.87, Y:67.59, Z:2.64 [[ 4.77562648e-01 -8.78557989e-01 -8.35331010e-03 1.39874066e+02] [ 8.78446725e-01 4.77635251e-01 -1.39970813e-02 6.75915873e+01] [ 1.62870830e-02 -6.53454697e-04 9.99867143e-01 2.63745086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02361786499998 meters 0.02415811374030157 Centerline is valid? [True, True] Translation: X:139.88, Y:67.62, Z:2.64 [[ 4.79140848e-01 -8.77699713e-01 -8.20129258e-03 1.39883641e+02] [ 8.77592239e-01 4.79210644e-01 -1.37484902e-02 6.76191091e+01] [ 1.59971926e-02 -6.09927446e-04 9.99871851e-01 2.63856411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05361786499998 meters 0.022398876819966145 Centerline is valid? [True, True] Translation: X:139.89, Y:67.65, Z:2.64 [[ 4.79832290e-01 -8.77321899e-01 -8.20118376e-03 1.39893405e+02] [ 8.77214249e-01 4.79902004e-01 -1.37559843e-02 6.76469450e+01] [ 1.60041908e-02 -5.93629819e-04 9.99871749e-01 2.63939999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08361786499998 meters 0.02246505678105739 Centerline is valid? [True, True] Translation: X:139.91, Y:67.67, Z:2.64 [[ 4.80584238e-01 -8.76910483e-01 -8.17283199e-03 1.39905912e+02] [ 8.76803399e-01 4.80653383e-01 -1.37158408e-02 6.76730124e+01] [ 1.59558639e-02 -5.74349992e-04 9.99872532e-01 2.64059854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11361786499998 meters 0.02221915839143545 Centerline is valid? [True, True] Translation: X:139.92, Y:67.70, Z:2.64 [[ 4.80818476e-01 -8.76782986e-01 -8.07399975e-03 1.39917222e+02] [ 8.76678345e-01 4.80885935e-01 -1.35571583e-02 6.76987532e+01] [ 1.57693586e-02 -5.59768562e-04 9.99875499e-01 2.64119287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14361786499998 meters 0.021904072274398157 Centerline is valid? [True, True] Translation: X:139.93, Y:67.73, Z:2.64 [[ 4.81361968e-01 -8.76480632e-01 -8.50634029e-03 1.39926726e+02] [ 8.76364286e-01 4.81436779e-01 -1.42921747e-02 6.77262824e+01] [ 1.66220794e-02 -5.74943482e-04 9.99861678e-01 2.64213890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17361786499995 meters 0.021606813252155257 Centerline is valid? [True, True] Translation: X:139.94, Y:67.75, Z:2.64 [[ 4.80928234e-01 -8.76719086e-01 -8.46626946e-03 1.39938307e+02] [ 8.76603744e-01 4.81002402e-01 -1.42325301e-02 6.77519674e+01] [ 1.65502267e-02 -5.76737934e-04 9.99862869e-01 2.64241087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20361786499996 meters 0.021370078399766002 Centerline is valid? [True, True] Translation: X:139.95, Y:67.78, Z:2.64 [[ 4.80469768e-01 -8.76968288e-01 -8.68464412e-03 1.39950465e+02] [ 8.76846801e-01 4.80547881e-01 -1.46089757e-02 6.77779731e+01] [ 1.69849958e-02 -5.95931221e-04 9.99855567e-01 2.64338124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23361786499996 meters 0.022920873081440085 Centerline is valid? [True, True] Translation: X:139.96, Y:67.80, Z:2.64 [[ 4.78453705e-01 -8.78069074e-01 -8.76093598e-03 1.39963246e+02] [ 8.77945486e-01 4.78533485e-01 -1.47453825e-02 6.78025213e+01] [ 1.71398656e-02 -6.36641307e-04 9.99852899e-01 2.64360471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26361786499996 meters 0.022771005806634173 Centerline is valid? [True, True] Translation: X:139.98, Y:67.83, Z:2.64 [[ 4.77494447e-01 -8.78589443e-01 -8.92428350e-03 1.39976223e+02] [ 8.78461212e-01 4.77577373e-01 -1.50250536e-02 6.78287015e+01] [ 1.74628893e-02 -6.65257233e-04 9.99847291e-01 2.64443200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29361786499996 meters 0.02411243333157473 Centerline is valid? [True, True] Translation: X:139.99, Y:67.85, Z:2.64 [[ 4.76157743e-01 -8.79312643e-01 -9.11480027e-03 1.39990244e+02] [ 8.79178865e-01 4.76244457e-01 -1.53538827e-02 6.78521363e+01] [ 1.78417363e-02 -7.02669603e-04 9.99840577e-01 2.64467970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32361786499996 meters 0.023806897272002383 Centerline is valid? [True, True] Translation: X:140.00, Y:67.88, Z:2.65 [[ 4.74906407e-01 -8.79989114e-01 -9.11388926e-03 1.40002984e+02] [ 8.79855417e-01 4.74993296e-01 -1.53562573e-02 6.78784561e+01] [ 1.78423756e-02 -7.26119825e-04 9.99840548e-01 2.64508889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35361786499996 meters 0.02424693927491382 Centerline is valid? [True, True] Translation: X:140.02, Y:67.90, Z:2.64 [[ 4.72652301e-01 -8.81197553e-01 -9.52231671e-03 1.40015312e+02] [ 8.81051678e-01 4.72747532e-01 -1.60533823e-02 6.79048974e+01] [ 1.86478529e-02 -8.01985032e-04 9.99825792e-01 2.64487972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38361786499996 meters 0.024916979483796443 Centerline is valid? [True, True] Translation: X:140.03, Y:67.93, Z:2.64 [[ 4.71802724e-01 -8.81651359e-01 -9.64732090e-03 1.40029341e+02] [ 8.81501564e-01 4.71900622e-01 -1.62725191e-02 6.79294784e+01] [ 1.88992654e-02 -8.26709612e-04 9.99821051e-01 2.64497957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41361786499996 meters 0.025085754727443753 Centerline is valid? [True, True] Translation: X:140.04, Y:67.96, Z:2.65 [[ 4.71445450e-01 -8.81835020e-01 -1.03046395e-02 1.40040759e+02] [ 8.81664021e-01 4.71557218e-01 -1.73880530e-02 6.79550549e+01] [ 2.01926212e-02 -8.87711380e-04 9.99795714e-01 2.64514747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44361786499996 meters 0.025796812229355245 Centerline is valid? [True, True] Translation: X:140.05, Y:67.98, Z:2.65 [[ 4.71785366e-01 -8.81650899e-01 -1.05005164e-02 1.40053738e+02] [ 8.81473080e-01 4.71901364e-01 -1.77288436e-02 6.79788349e+01] [ 2.05858589e-02 -8.91713580e-04 9.99787691e-01 2.64516901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47361786499997 meters 0.023187465523248744 Centerline is valid? [True, True] Translation: X:140.06, Y:68.01, Z:2.65 [[ 4.73690189e-01 -8.80629303e-01 -1.04707135e-02 1.40060950e+02] [ 8.80452067e-01 4.73805154e-01 -1.76871248e-02 6.80073522e+01] [ 2.05368784e-02 -8.40743839e-04 9.99788743e-01 2.64572837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50361786499997 meters 0.025724451034063546 Centerline is valid? [True, True] Translation: X:140.08, Y:68.03, Z:2.65 [[ 4.74752742e-01 -8.80059696e-01 -1.02355403e-02 1.40077082e+02] [ 8.79890024e-01 4.74862403e-01 -1.72986741e-02 6.80301513e+01] [ 2.00843391e-02 -7.93556818e-04 9.99797974e-01 2.64594857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53361786499997 meters 0.023684297627039056 Centerline is valid? [True, True] Translation: X:140.09, Y:68.06, Z:2.65 [[ 4.76351523e-01 -8.79196881e-01 -1.01030255e-02 1.40087504e+02] [ 8.79031297e-01 4.76458066e-01 -1.70789453e-02 6.80577953e+01] [ 1.98294234e-02 -7.45293972e-04 9.99803100e-01 2.64674863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56361786499997 meters 0.02330674852576923 Centerline is valid? [True, True] Translation: X:140.10, Y:68.08, Z:2.65 [[ 4.77931261e-01 -8.78339072e-01 -1.01086102e-02 1.40100071e+02] [ 8.78172935e-01 4.78037631e-01 -1.70973626e-02 6.80838684e+01] [ 1.98495777e-02 -7.05743786e-04 9.99802729e-01 2.64695309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59361786499997 meters 0.023848393826325264 Centerline is valid? [True, True] Translation: X:140.11, Y:68.11, Z:2.65 [[ 4.80219241e-01 -8.77089502e-01 -1.01727639e-02 1.40113676e+02] [ 8.76920800e-01 4.80326532e-01 -1.72143214e-02 6.81073339e+01] [ 1.99847490e-02 -6.54059906e-04 9.99800071e-01 2.64689115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62361786499997 meters 0.021462570333882883 Centerline is valid? [True, True] Translation: X:140.12, Y:68.14, Z:2.65 [[ 4.84887953e-01 -8.74514504e-01 -1.03949813e-02 1.40122356e+02] [ 8.74337648e-01 4.84999044e-01 -1.75956021e-02 6.81356275e+01] [ 2.04291653e-02 -5.56828044e-04 9.99791148e-01 2.64704273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65361786499997 meters 0.0198866180765615 Centerline is valid? [True, True] Translation: X:140.13, Y:68.16, Z:2.65 [[ 4.87651708e-01 -8.72976087e-01 -1.04193715e-02 1.40133236e+02] [ 8.72797849e-01 4.87762763e-01 -1.76465746e-02 6.81628178e+01] [ 2.04872190e-02 -4.88622778e-04 9.99789996e-01 2.64770181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68361786499997 meters 0.018863373597606564 Centerline is valid? [True, True] Translation: X:140.14, Y:68.19, Z:2.65 [[ 4.92733544e-01 -8.70116389e-01 -1.05415598e-02 1.40144169e+02] [ 8.69933082e-01 4.92846157e-01 -1.78633143e-02 6.81887910e+01] [ 2.07385298e-02 -3.68597462e-04 9.99784866e-01 2.64811553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71361786499997 meters 0.017961452958957604 Centerline is valid? [True, True] Translation: X:140.16, Y:68.21, Z:2.65 [[ 4.94951250e-01 -8.68859802e-01 -1.02909738e-02 1.40156149e+02] [ 8.68684639e-01 4.95058130e-01 -1.74483657e-02 6.82148346e+01] [ 2.02548138e-02 -3.03520431e-04 9.99794804e-01 2.64955292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74361786499998 meters 0.017492602028540923 Centerline is valid? [True, True] Translation: X:140.17, Y:68.24, Z:2.65 [[ 4.97109563e-01 -8.67627579e-01 -1.02208824e-02 1.40169186e+02] [ 8.67454345e-01 4.97214564e-01 -1.73388576e-02 6.82405747e+01] [ 2.01256427e-02 -2.46836967e-04 9.99797428e-01 2.65040490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77361786499998 meters 0.01707753518748182 Centerline is valid? [True, True] Translation: X:140.18, Y:68.27, Z:2.65 [[ 5.01457255e-01 -8.65125283e-01 -9.94312887e-03 1.40181592e+02] [ 8.64960683e-01 5.01555805e-01 -1.68757469e-02 6.82656020e+01] [ 1.95866693e-02 -1.37949834e-04 9.99808153e-01 2.65161627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80361786499998 meters 0.01698351234418405 Centerline is valid? [True, True] Translation: X:140.20, Y:68.29, Z:2.65 [[ 5.03142693e-01 -8.64145747e-01 -9.97794080e-03 1.40195653e+02] [ 8.63979715e-01 5.03241611e-01 -1.69391068e-02 6.82906930e+01] [ 1.96591721e-02 -9.79506141e-05 9.99806735e-01 2.65228744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83361786499998 meters 0.016845003553757534 Centerline is valid? [True, True] Translation: X:140.21, Y:68.31, Z:2.65 [[ 5.05851495e-01 -8.62567544e-01 -9.56541074e-03 1.40209505e+02] [ 8.62414529e-01 5.05941924e-01 -1.62465291e-02 6.83147538e+01] [ 1.88532710e-02 -3.10181970e-05 9.99822261e-01 2.65268763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86361786499998 meters 0.016842644586093206 Centerline is valid? [True, True] Translation: X:140.22, Y:68.34, Z:2.65 [[ 5.06677188e-01 -8.62081157e-01 -9.71112042e-03 1.40223667e+02] [ 8.61923286e-01 5.06770242e-01 -1.64975903e-02 6.83378226e+01] [ 1.91435686e-02 -1.12881569e-05 9.99816745e-01 2.65297289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89361786499998 meters 0.0169715807158325 Centerline is valid? [True, True] Translation: X:140.24, Y:68.36, Z:2.65 [[ 5.06879438e-01 -8.61965680e-01 -9.40220443e-03 1.40238539e+02] [ 8.61817567e-01 5.06966633e-01 -1.59785513e-02 6.83612790e+01] [ 1.85395667e-02 -3.78583957e-06 9.99828127e-01 2.65338690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92361786499995 meters 0.017014416365347375 Centerline is valid? [True, True] Translation: X:140.25, Y:68.38, Z:2.65 [[ 5.07036673e-01 -8.61873045e-01 -9.41635353e-03 1.40253635e+02] [ 8.61724291e-01 5.07124102e-01 -1.60122067e-02 6.83842801e+01] [ 1.85757492e-02 4.47542462e-06 9.99827456e-01 2.65388943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95361786499996 meters 0.017006256936843978 Centerline is valid? [True, True] Translation: X:140.27, Y:68.41, Z:2.66 [[ 5.06215153e-01 -8.62358149e-01 -9.20005809e-03 1.40271561e+02] [ 8.62216109e-01 5.06298748e-01 -1.56511862e-02 6.84068160e+01] [ 1.81549058e-02 -9.57067808e-06 9.99835186e-01 2.65506832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98361786499996 meters 0.01715417607816615 Centerline is valid? [True, True] Translation: X:140.29, Y:68.43, Z:2.66 [[ 5.05345321e-01 -8.62870831e-01 -8.94621422e-03 1.40288144e+02] [ 8.62736438e-01 5.05424503e-01 -1.52285884e-02 6.84301668e+01] [ 1.76619406e-02 -2.25290900e-05 9.99844016e-01 2.65539042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01361786499996 meters 0.017142647984505745 Centerline is valid? [True, True] Translation: X:140.30, Y:68.45, Z:2.66 [[ 5.04481887e-01 -8.63374223e-01 -9.10919307e-03 1.40303881e+02] [ 8.63234795e-01 5.04564119e-01 -1.55157634e-02 6.84519470e+01] [ 1.79920822e-02 -3.59507941e-05 9.99838129e-01 2.65588813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04361786499996 meters 0.01715565211817759 Centerline is valid? [True, True] Translation: X:140.32, Y:68.48, Z:2.66 [[ 5.03704907e-01 -8.63829704e-01 -8.92234966e-03 1.40320459e+02] [ 8.63695892e-01 5.03783921e-01 -1.52041670e-02 6.84750032e+01] [ 1.76287473e-02 -4.77832400e-05 9.99844600e-01 2.65658666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07361786499996 meters 0.01737268621168245 Centerline is valid? [True, True] Translation: X:140.34, Y:68.50, Z:2.66 [[ 5.02157073e-01 -8.64727232e-01 -9.22436077e-03 1.40339165e+02] [ 8.64584178e-01 5.02241783e-01 -1.57286707e-02 6.84956486e+01] [ 1.82338693e-02 -7.69731296e-05 9.99833746e-01 2.65645937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10361786499996 meters 0.017447349077478618 Centerline is valid? [True, True] Translation: X:140.36, Y:68.52, Z:2.66 [[ 5.01469741e-01 -8.65124524e-01 -9.36254553e-03 1.40355496e+02] [ 8.64977102e-01 5.01557126e-01 -1.59706800e-02 6.85186837e+01] [ 1.85124783e-02 -8.95747586e-05 9.99828625e-01 2.65668215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13361786499996 meters 0.0174486001777706 Centerline is valid? [True, True] Translation: X:140.37, Y:68.54, Z:2.66 [[ 5.00410519e-01 -8.65734468e-01 -9.65108470e-03 1.40372051e+02] [ 8.65577730e-01 5.00503565e-01 -1.64734377e-02 6.85414181e+01] [ 1.90920251e-02 -1.10282491e-04 9.99817725e-01 2.65697852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16361786499996 meters 0.017603097307983536 Centerline is valid? [True, True] Translation: X:140.39, Y:68.56, Z:2.66 [[ 4.98886833e-01 -8.66608445e-01 -1.00861509e-02 1.40391250e+02] [ 8.66437217e-01 4.98988759e-01 -1.72269617e-02 6.85617304e+01] [ 1.99619064e-02 -1.44712173e-04 9.99800731e-01 2.65676454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19361786499996 meters 0.01770730384020456 Centerline is valid? [True, True] Translation: X:140.41, Y:68.58, Z:2.66 [[ 4.98010776e-01 -8.67108422e-01 -1.04043897e-02 1.40408037e+02] [ 8.66926113e-01 4.98119421e-01 -1.77808231e-02 6.85844197e+01] [ 2.06005301e-02 -1.64795614e-04 9.99787773e-01 2.65696118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22361786499997 meters 0.01807015698442752 Centerline is valid? [True, True] Translation: X:140.43, Y:68.61, Z:2.66 [[ 4.96542248e-01 -8.67942857e-01 -1.09996813e-02 1.40427565e+02] [ 8.67739064e-01 4.96664026e-01 -1.88085716e-02 6.86054879e+01] [ 2.17879114e-02 -2.05602744e-04 9.99762594e-01 2.65710375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25361786499997 meters 0.01791646356667979 Centerline is valid? [True, True] Translation: X:140.44, Y:68.63, Z:2.66 [[ 4.95759838e-01 -8.68386473e-01 -1.12745677e-02 1.40443913e+02] [ 8.68172328e-01 4.95887973e-01 -1.92854428e-02 6.86294669e+01] [ 2.23381402e-02 -2.27319630e-04 9.99750447e-01 2.65783985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28361786499997 meters 0.018037577332681583 Centerline is valid? [True, True] Translation: X:140.46, Y:68.65, Z:2.66 [[ 4.95058311e-01 -8.68786239e-01 -1.13021751e-02 1.40460360e+02] [ 8.68570928e-01 4.95187250e-01 -1.93424618e-02 6.86514278e+01] [ 2.24011576e-02 -2.41094238e-04 9.99749034e-01 2.65808240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31361786499997 meters 0.01829530591197933 Centerline is valid? [True, True] Translation: X:140.48, Y:68.67, Z:2.66 [[ 4.94358501e-01 -8.69178591e-01 -1.17579747e-02 1.40479277e+02] [ 8.68945468e-01 4.94498237e-01 -2.01312303e-02 6.86715865e+01] [ 2.33119321e-02 -2.64994044e-04 9.99728205e-01 2.65851945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34361786499997 meters 0.01829530591197933 Centerline is valid? [True, True] Translation: X:140.49, Y:68.70, Z:2.66 [[ 4.94127549e-01 -8.69309976e-01 -1.17529404e-02 1.40493103e+02] [ 8.69076820e-01 4.94267231e-01 -2.01341692e-02 6.86954226e+01] [ 2.33119274e-02 -2.65360437e-04 9.99728205e-01 2.65897040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37361786499997 meters 0.01853737964855255 Centerline is valid? [True, True] Translation: X:140.51, Y:68.72, Z:2.66 [[ 4.93755846e-01 -8.69518665e-01 -1.19355148e-02 1.40509556e+02] [ 8.69277979e-01 4.93900007e-01 -2.04592026e-02 6.87172314e+01] [ 2.36846094e-02 -2.73429269e-04 9.99719443e-01 2.65950523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40361786499997 meters 0.018123472504151365 Centerline is valid? [True, True] Translation: X:140.52, Y:68.74, Z:2.66 [[ 4.93266900e-01 -8.69799669e-01 -1.16748356e-02 1.40524765e+02] [ 8.69569197e-01 4.93404966e-01 -2.00237572e-02 6.87410637e+01] [ 2.31770792e-02 -2.75020833e-04 9.99731338e-01 2.66146557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43361786499997 meters 0.018229919589464433 Centerline is valid? [True, True] Translation: X:140.54, Y:68.76, Z:2.66 [[ 4.92993778e-01 -8.69954722e-01 -1.16583121e-02 1.40540608e+02] [ 8.69724689e-01 4.93131529e-01 -2.00065184e-02 6.87626735e+01] [ 2.31538464e-02 -2.76432818e-04 9.99731876e-01 2.66236830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46361786499997 meters 0.018338860782097604 Centerline is valid? [True, True] Translation: X:140.56, Y:68.78, Z:2.66 [[ 4.92656205e-01 -8.70149471e-01 -1.13913444e-02 1.40558655e+02] [ 8.69929717e-01 4.92787807e-01 -1.95567034e-02 6.87840555e+01] [ 2.26307707e-02 -2.74937713e-04 9.99743854e-01 2.66442997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49361786499998 meters 0.018455873824406013 Centerline is valid? [True, True] Translation: X:140.57, Y:68.81, Z:2.67 [[ 4.92463564e-01 -8.70259377e-01 -1.13249802e-02 1.40574405e+02] [ 8.70041930e-01 4.92593689e-01 -1.94550042e-02 6.88073623e+01] [ 2.25095136e-02 -2.72326964e-04 9.99746592e-01 2.66575875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52361786499998 meters 0.018459026688799948 Centerline is valid? [True, True] Translation: X:140.59, Y:68.83, Z:2.67 [[ 4.92359355e-01 -8.70320022e-01 -1.11948901e-02 1.40589868e+02] [ 8.70107296e-01 4.92486537e-01 -1.92432898e-02 6.88295734e+01] [ 2.22611530e-02 -2.66141790e-04 9.99752154e-01 2.66706891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55361786499998 meters 0.0185041882185875 Centerline is valid? [True, True] Translation: X:140.61, Y:68.85, Z:2.67 [[ 4.92853171e-01 -8.70038991e-01 -1.13095594e-02 1.40607560e+02] [ 8.69821554e-01 4.92982851e-01 -1.94518111e-02 6.88513442e+01] [ 2.24992529e-02 -2.50411707e-04 9.99746828e-01 2.66815071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58361786499998 meters 0.018544066486395176 Centerline is valid? [True, True] Translation: X:140.62, Y:68.87, Z:2.67 [[ 4.93068796e-01 -8.69917634e-01 -1.12460182e-02 1.40622807e+02] [ 8.69702341e-01 4.93196973e-01 -1.93541784e-02 6.88737210e+01] [ 2.23830432e-02 -2.37746937e-04 9.99749440e-01 2.66870992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61361786499998 meters 0.01849104762576553 Centerline is valid? [True, True] Translation: X:140.64, Y:68.90, Z:2.67 [[ 4.93535805e-01 -8.69651327e-01 -1.13568531e-02 1.40637698e+02] [ 8.69431469e-01 4.93666405e-01 -1.95550863e-02 6.88964438e+01] [ 2.26126036e-02 -2.22870225e-04 9.99744278e-01 2.66912467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64361786499998 meters 0.018280908764391916 Centerline is valid? [True, True] Translation: X:140.65, Y:68.92, Z:2.67 [[ 4.95114088e-01 -8.68753947e-01 -1.13410546e-02 1.40653752e+02] [ 8.68534256e-01 4.95243928e-01 -1.95371149e-02 6.89198631e+01] [ 2.25895341e-02 -1.76993622e-04 9.99744808e-01 2.67066438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67361786499995 meters 0.018137284485327313 Centerline is valid? [True, True] Translation: X:140.67, Y:68.94, Z:2.67 [[ 4.96024692e-01 -8.68235644e-01 -1.12415170e-02 1.40668966e+02] [ 8.68019392e-01 4.96152038e-01 -1.93775572e-02 6.89435521e+01] [ 2.24017874e-02 -1.46107910e-04 9.99749038e-01 2.67135943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70361786499996 meters 0.018173918607455524 Centerline is valid? [True, True] Translation: X:140.68, Y:68.97, Z:2.67 [[ 4.96969942e-01 -8.67697549e-01 -1.10381573e-02 1.40683790e+02] [ 8.67488668e-01 4.97092497e-01 -1.90383935e-02 6.89662829e+01] [ 2.20065525e-02 -1.13967070e-04 9.99757820e-01 2.67150383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73361786499996 meters 0.01804376074094734 Centerline is valid? [True, True] Translation: X:140.70, Y:68.99, Z:2.67 [[ 4.98104781e-01 -8.67046337e-01 -1.10578904e-02 1.40698272e+02] [ 8.66836310e-01 4.98227502e-01 -1.90831995e-02 6.89902857e+01] [ 2.20553633e-02 -7.99479738e-05 9.99756748e-01 2.67252393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76361786499996 meters 0.01787703115517924 Centerline is valid? [True, True] Translation: X:140.71, Y:69.01, Z:2.67 [[ 5.00325405e-01 -8.65765827e-01 -1.11364777e-02 1.40713926e+02] [ 8.65552217e-01 5.00449330e-01 -1.92309197e-02 6.90137942e+01] [ 2.22227159e-02 -1.74853179e-05 9.99753045e-01 2.67257538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79361786499996 meters 0.017846060013167322 Centerline is valid? [True, True] Translation: X:140.73, Y:69.04, Z:2.67 [[ 5.01259929e-01 -8.65224658e-01 -1.11702282e-02 1.40728663e+02] [ 8.65009344e-01 5.01384374e-01 -1.93014044e-02 6.90378605e+01] [ 2.23006289e-02 1.26688422e-05 9.99751310e-01 2.67305227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82361786499996 meters 0.017937462826376618 Centerline is valid? [True, True] Translation: X:140.74, Y:69.06, Z:2.67 [[ 5.03484344e-01 -8.63931565e-01 -1.12145205e-02 1.40743761e+02] [ 8.63713968e-01 5.03609218e-01 -1.93890880e-02 6.90609182e+01] [ 2.23985810e-02 7.59642761e-05 9.99749117e-01 2.67307211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85361786499996 meters 0.017927241016594448 Centerline is valid? [True, True] Translation: X:140.76, Y:69.08, Z:2.67 [[ 5.04362553e-01 -8.63423320e-01 -1.08896517e-02 1.40758561e+02] [ 8.63217853e-01 5.04480089e-01 -1.88355469e-02 6.90844273e+01] [ 2.17566629e-02 9.98027927e-05 9.99763291e-01 2.67397529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88361786499996 meters 0.017918801549439898 Centerline is valid? [True, True] Translation: X:140.77, Y:69.11, Z:2.67 [[ 5.04777810e-01 -8.63181830e-01 -1.07931101e-02 1.40772693e+02] [ 8.62979684e-01 5.04893172e-01 -1.86801899e-02 6.91077034e+01] [ 2.15737681e-02 1.15110620e-04 9.99767253e-01 2.67437244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91361786499996 meters 0.017950234566862955 Centerline is valid? [True, True] Translation: X:140.79, Y:69.13, Z:2.67 [[ 5.05163120e-01 -8.62958666e-01 -1.06096105e-02 1.40788855e+02] [ 8.62763059e-01 5.05274505e-01 -1.83733416e-02 6.91309581e+01] [ 2.12162000e-02 1.27954508e-04 9.99774903e-01 2.67471092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94361786499996 meters 0.018054968471248285 Centerline is valid? [True, True] Translation: X:140.80, Y:69.15, Z:2.67 [[ 5.04597095e-01 -8.63286696e-01 -1.08559981e-02 1.40803144e+02] [ 8.63081715e-01 5.04713846e-01 -1.88119103e-02 6.91539800e+01] [ 2.17192444e-02 1.22821850e-04 9.99764102e-01 2.67441780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97361786499997 meters 0.017885408834247003 Centerline is valid? [True, True] Translation: X:140.82, Y:69.18, Z:2.68 [[ 5.03879701e-01 -8.63705130e-01 -1.08947623e-02 1.40819311e+02] [ 8.63498538e-01 5.03997457e-01 -1.88901791e-02 6.91772887e+01] [ 2.18064771e-02 1.10766416e-04 9.99762204e-01 2.67501133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00361786499997 meters 0.01784005889933835 Centerline is valid? [True, True] Translation: X:140.84, Y:69.20, Z:2.68 [[ 5.01649642e-01 -8.65001967e-01 -1.09194269e-02 1.40837713e+02] [ 8.64794483e-01 5.01768466e-01 -1.89448581e-02 6.91992447e+01] [ 2.18663636e-02 6.06211762e-05 9.99760901e-01 2.67504519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03361786499997 meters 0.017879777315763 Centerline is valid? [True, True] Translation: X:140.85, Y:69.22, Z:2.67 [[ 5.00357901e-01 -8.65748454e-01 -1.10265518e-02 1.40853256e+02] [ 8.65536816e-01 5.00479383e-01 -1.91417638e-02 6.92218142e+01] [ 2.20905142e-02 3.38461561e-05 9.99755974e-01 2.67466854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06361786499997 meters 0.017843875530613836 Centerline is valid? [True, True] Translation: X:140.87, Y:69.25, Z:2.68 [[ 4.98910349e-01 -8.66584052e-01 -1.09792938e-02 1.40869426e+02] [ 8.66374227e-01 4.99031143e-01 -1.90687376e-02 6.92451566e+01] [ 2.20036734e-02 1.41335955e-06 9.99757890e-01 2.67534716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09361786499997 meters 0.017873815798910273 Centerline is valid? [True, True] Translation: X:140.89, Y:69.27, Z:2.68 [[ 4.97348555e-01 -8.67483634e-01 -1.07962947e-02 1.40885544e+02] [ 8.67280711e-01 4.97465721e-01 -1.87623040e-02 6.92688429e+01] [ 2.16467782e-02 -3.20133796e-05 9.99765681e-01 2.67567016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12361786499997 meters 0.018015070011498952 Centerline is valid? [True, True] Translation: X:140.90, Y:69.29, Z:2.68 [[ 4.94285456e-01 -8.69231159e-01 -1.09123925e-02 1.40903497e+02] [ 8.69024024e-01 4.94405887e-01 -1.89753711e-02 6.92895104e+01] [ 2.18891349e-02 -1.03881228e-04 9.99760399e-01 2.67535921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15361786499997 meters 0.018165270060282755 Centerline is valid? [True, True] Translation: X:140.92, Y:69.31, Z:2.68 [[ 4.92517216e-01 -8.70235222e-01 -1.08374348e-02 1.40919773e+02] [ 8.70030932e-01 4.92636415e-01 -1.88557356e-02 6.93113163e+01] [ 2.17478403e-02 -1.42129100e-04 9.99763478e-01 2.67564232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18361786499997 meters 0.018221852881266827 Centerline is valid? [True, True] Translation: X:140.94, Y:69.33, Z:2.68 [[ 4.90626081e-01 -8.71303433e-01 -1.07878029e-02 1.40936729e+02] [ 8.71101033e-01 4.90744633e-01 -1.87802028e-02 6.93339566e+01] [ 2.16573116e-02 -1.83208909e-04 9.99765436e-01 2.67594329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21361786499997 meters 0.01872240878217795 Centerline is valid? [True, True] Translation: X:140.96, Y:69.35, Z:2.68 [[ 4.87428421e-01 -8.73102582e-01 -1.02672349e-02 1.40957163e+02] [ 8.72919450e-01 4.87536482e-01 -1.78833145e-02 6.93546437e+01] [ 2.06196197e-02 -2.45633329e-04 9.99787363e-01 2.67672670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24361786499998 meters 0.018780235853874307 Centerline is valid? [True, True] Translation: X:140.97, Y:69.38, Z:2.68 [[ 4.86044149e-01 -8.73873681e-01 -1.02895836e-02 1.40973691e+02] [ 8.73689786e-01 4.86152974e-01 -1.79288415e-02 6.93782144e+01] [ 2.06698544e-02 -2.75695560e-04 9.99786318e-01 2.67744937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27361786499998 meters 0.01939536660887084 Centerline is valid? [True, True] Translation: X:140.99, Y:69.40, Z:2.68 [[ 4.83880512e-01 -8.75075017e-01 -1.01668339e-02 1.40992628e+02] [ 8.74895556e-01 4.83987203e-01 -1.77243700e-02 6.93990577e+01] [ 2.04307709e-02 -3.18440566e-04 9.99791219e-01 2.67736330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30361786499998 meters 0.019242907211245663 Centerline is valid? [True, True] Translation: X:141.01, Y:69.42, Z:2.68 [[ 4.83040523e-01 -8.75539363e-01 -1.01329732e-02 1.41008321e+02] [ 8.75361066e-01 4.83146678e-01 -1.76717840e-02 6.94226478e+01] [ 2.03680548e-02 -3.33822423e-04 9.99792494e-01 2.67783327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33361786499998 meters 0.01934649155958354 Centerline is valid? [True, True] Translation: X:141.02, Y:69.45, Z:2.68 [[ 4.82166276e-01 -8.76021653e-01 -1.00868712e-02 1.41024371e+02] [ 8.75844868e-01 4.82271647e-01 -1.76018484e-02 6.94457175e+01] [ 2.02842123e-02 -3.47516690e-04 9.99794194e-01 2.67821497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36361786499998 meters 0.018722575102468022 Centerline is valid? [True, True] Translation: X:141.04, Y:69.47, Z:2.68 [[ 4.83777530e-01 -8.75142685e-01 -9.19683114e-03 1.41037424e+02] [ 8.74995404e-01 4.83864860e-01 -1.60573940e-02 6.94711987e+01] [ 1.85025343e-02 -2.78978566e-04 9.99828775e-01 2.68033938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39361786499998 meters 0.018795986996584906 Centerline is valid? [True, True] Translation: X:141.05, Y:69.50, Z:2.68 [[ 4.85706619e-01 -8.74078465e-01 -8.71307927e-03 1.41050572e+02] [ 8.73945967e-01 4.85784714e-01 -1.52203169e-02 6.94953358e+01] [ 1.75364319e-02 -2.22151839e-04 9.99846200e-01 2.68057838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42361786499995 meters 0.018110807272079157 Centerline is valid? [True, True] Translation: X:141.06, Y:69.52, Z:2.68 [[ 4.86828310e-01 -8.73454107e-01 -8.72469560e-03 1.41062633e+02] [ 8.73321096e-01 4.86906443e-01 -1.52439800e-02 6.95210809e+01] [ 1.75630274e-02 -1.98259724e-04 9.99845738e-01 2.68131391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45361786499996 meters 0.01776122700560241 Centerline is valid? [True, True] Translation: X:141.07, Y:69.55, Z:2.68 [[ 4.88756646e-01 -8.72379221e-01 -8.45194328e-03 1.41074655e+02] [ 8.72254087e-01 4.88829696e-01 -1.47762127e-02 6.95468257e+01] [ 1.70220218e-02 -1.50269920e-04 9.99855104e-01 2.68211914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48361786499996 meters 0.017420745614435643 Centerline is valid? [True, True] Translation: X:141.08, Y:69.57, Z:2.68 [[ 4.92089513e-01 -8.70498629e-01 -8.94698362e-03 1.41084875e+02] [ 8.70357913e-01 4.92170834e-01 -1.56516120e-02 6.95728750e+01] [ 1.80281512e-02 -8.50838648e-05 9.99837476e-01 2.68163223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51361786499996 meters 0.01738414876612914 Centerline is valid? [True, True] Translation: X:141.10, Y:69.60, Z:2.68 [[ 4.92825751e-01 -8.70081057e-01 -9.04068664e-03 1.41098257e+02] [ 8.69937165e-01 4.92908663e-01 -1.58233781e-02 6.95980986e+01] [ 1.82238543e-02 -6.66611218e-05 9.99833930e-01 2.68150119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54361786499996 meters 0.017395567657540783 Centerline is valid? [True, True] Translation: X:141.11, Y:69.62, Z:2.68 [[ 4.93323052e-01 -8.69794181e-01 -9.51053640e-03 1.41111833e+02] [ 8.69634692e-01 4.93414715e-01 -1.66559702e-02 6.96217559e+01] [ 1.91799046e-02 -5.39183306e-05 9.99816047e-01 2.68132063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57361786499996 meters 0.01730012619449153 Centerline is valid? [True, True] Translation: X:141.12, Y:69.65, Z:2.68 [[ 4.93290209e-01 -8.69805924e-01 -1.01204770e-02 1.41123677e+02] [ 8.69625148e-01 4.93394013e-01 -1.77327469e-02 6.96468253e+01] [ 2.04174311e-02 -5.36308698e-05 9.99791541e-01 2.68145284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60361786499996 meters 0.01733674628531183 Centerline is valid? [True, True] Translation: X:141.14, Y:69.67, Z:2.68 [[ 4.92765814e-01 -8.70103668e-01 -1.00727332e-02 1.41136343e+02] [ 8.69924432e-01 4.92868749e-01 -1.76601071e-02 6.96712998e+01] [ 2.03306594e-02 -6.02196178e-05 9.99793309e-01 2.68084394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63361786499996 meters 0.017303992909136777 Centerline is valid? [True, True] Translation: X:141.15, Y:69.70, Z:2.68 [[ 4.91303957e-01 -8.70928425e-01 -1.02029280e-02 1.41149272e+02] [ 8.70744484e-01 4.91409880e-01 -1.78989891e-02 6.96963893e+01] [ 2.06025580e-02 -9.02990611e-05 9.99787741e-01 2.68168492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66361786499996 meters 0.01744666603136032 Centerline is valid? [True, True] Translation: X:141.16, Y:69.72, Z:2.68 [[ 4.90070228e-01 -8.71620318e-01 -1.04495588e-02 1.41163325e+02] [ 8.71427286e-01 4.90181607e-01 -1.83433161e-02 6.97191641e+01] [ 2.11105886e-02 -1.16517567e-04 9.99777140e-01 2.68182634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69361786499996 meters 0.017491824888165624 Centerline is valid? [True, True] Translation: X:141.18, Y:69.74, Z:2.68 [[ 4.88370930e-01 -8.72573733e-01 -1.04362411e-02 1.41177654e+02] [ 8.72381182e-01 4.88482403e-01 -1.83307158e-02 6.97436175e+01] [ 2.10928212e-02 -1.52191681e-04 9.99777510e-01 2.68268314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72361786499997 meters 0.017834067669666536 Centerline is valid? [True, True] Translation: X:141.20, Y:69.77, Z:2.68 [[ 4.84836597e-01 -8.74536011e-01 -1.09654327e-02 1.41195063e+02] [ 8.74323666e-01 4.84960521e-01 -1.92722619e-02 6.97671822e+01] [ 2.21720890e-02 -2.43439496e-04 9.99754139e-01 2.68336764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75361786499997 meters 0.018202528630337483 Centerline is valid? [True, True] Translation: X:141.21, Y:69.79, Z:2.68 [[ 4.82809582e-01 -8.75657524e-01 -1.08999200e-02 1.41211053e+02] [ 8.75447790e-01 4.82932519e-01 -1.91663758e-02 6.97905358e+01] [ 2.20471070e-02 -2.88600927e-04 9.99756891e-01 2.68418678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78361786499997 meters 0.018595891724872304 Centerline is valid? [True, True] Translation: X:141.23, Y:69.81, Z:2.68 [[ 4.80801593e-01 -8.76762119e-01 -1.08634636e-02 1.41226665e+02] [ 8.76553917e-01 4.80924188e-01 -1.91090682e-02 6.98144358e+01] [ 2.19786095e-02 -3.34741164e-04 9.99758385e-01 2.68485348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81361786499997 meters 0.01913916175634614 Centerline is valid? [True, True] Translation: X:141.24, Y:69.84, Z:2.69 [[ 4.78906752e-01 -8.77796317e-01 -1.10430516e-02 1.41241884e+02] [ 8.77581205e-01 4.79033902e-01 -1.94357645e-02 6.98384929e+01] [ 2.23506386e-02 -3.83255682e-04 9.99750120e-01 2.68523713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84361786499997 meters 0.019980170648622637 Centerline is valid? [True, True] Translation: X:141.26, Y:69.86, Z:2.69 [[ 4.75749429e-01 -8.79511051e-01 -1.10811424e-02 1.41257658e+02] [ 8.79294659e-01 4.75878240e-01 -1.95141972e-02 6.98615262e+01] [ 2.24362267e-02 -4.59721164e-04 9.99748170e-01 2.68551020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87361786499997 meters 0.020246040297675717 Centerline is valid? [True, True] Translation: X:141.27, Y:69.89, Z:2.69 [[ 4.74716902e-01 -8.80068742e-01 -1.10848034e-02 1.41272879e+02] [ 8.79852099e-01 4.74846058e-01 -1.95321688e-02 6.98859576e+01] [ 2.24532264e-02 -4.80736838e-04 9.99747779e-01 2.68628100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90361786499997 meters 0.020532114425507477 Centerline is valid? [True, True] Translation: X:141.29, Y:69.91, Z:2.69 [[ 4.74093057e-01 -8.80403517e-01 -1.11991576e-02 1.41287562e+02] [ 8.80182210e-01 4.74225054e-01 -1.97452436e-02 6.99098542e+01] [ 2.26947030e-02 -4.96216439e-04 9.99742319e-01 2.68692085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93361786499997 meters 0.020014111231913812 Centerline is valid? [True, True] Translation: X:141.30, Y:69.93, Z:2.69 [[ 4.74648833e-01 -8.80105731e-01 -1.10629194e-02 1.41300967e+02] [ 8.79889437e-01 4.74777507e-01 -1.95166028e-02 6.99346356e+01] [ 2.24290992e-02 -4.70613161e-04 9.99748325e-01 2.68872917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96361786499997 meters 0.02028155000870848 Centerline is valid? [True, True] Translation: X:141.32, Y:69.96, Z:2.69 [[ 4.75311376e-01 -8.79749235e-01 -1.09717923e-02 1.41315097e+02] [ 8.79536137e-01 4.75437784e-01 -1.93673983e-02 6.99575518e+01] [ 2.22548584e-02 -4.44543070e-04 9.99752231e-01 2.68970313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99361786499998 meters 0.01962132529458842 Centerline is valid? [True, True] Translation: X:141.33, Y:69.98, Z:2.69 [[ 4.78193400e-01 -8.78188789e-01 -1.07481624e-02 1.41327241e+02] [ 8.77983670e-01 4.78314041e-01 -1.89829874e-02 6.99822691e+01] [ 2.18116437e-02 -3.59171734e-04 9.99762033e-01 2.69076124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02361786499998 meters 0.01907177719684296 Centerline is valid? [True, True] Translation: X:141.34, Y:70.01, Z:2.69 [[ 4.80173027e-01 -8.77105475e-01 -1.09476349e-02 1.41339798e+02] [ 8.76892212e-01 4.80297709e-01 -1.93431723e-02 7.00081445e+01] [ 2.22241263e-02 -3.11826212e-04 9.99752965e-01 2.69076320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05361786499998 meters 0.01856559385748445 Centerline is valid? [True, True] Translation: X:141.35, Y:70.03, Z:2.69 [[ 4.81971188e-01 -8.76116201e-01 -1.11434511e-02 1.41352243e+02] [ 8.75894722e-01 4.82099920e-01 -1.97003513e-02 7.00338341e+01] [ 2.26320539e-02 -2.65488298e-04 9.99743827e-01 2.69075173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08361786499998 meters 0.017813472576891205 Centerline is valid? [True, True] Translation: X:141.36, Y:70.06, Z:2.69 [[ 4.83826249e-01 -8.75090502e-01 -1.13478820e-02 1.41363881e+02] [ 8.74860265e-01 4.83959262e-01 -2.00735982e-02 7.00601156e+01] [ 2.30581278e-02 -2.15677301e-04 9.99734103e-01 2.69175066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11361786499998 meters 0.017595043671926727 Centerline is valid? [True, True] Translation: X:141.38, Y:70.08, Z:2.69 [[ 4.87238797e-01 -8.73190266e-01 -1.17095549e-02 1.41375803e+02] [ 8.72944294e-01 4.87379466e-01 -2.07247472e-02 7.00848249e+01] [ 2.38036441e-02 -1.23888220e-04 9.99716645e-01 2.69105078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14361786499998 meters 0.01747130892500052 Centerline is valid? [True, True] Translation: X:141.39, Y:70.11, Z:2.69 [[ 4.88471980e-01 -8.72502721e-01 -1.15812831e-02 1.41389205e+02] [ 8.72261730e-01 4.88609245e-01 -2.05056081e-02 7.01101654e+01] [ 2.35499208e-02 -8.54950270e-05 9.99722659e-01 2.69215043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17361786499995 meters 0.017270560379953538 Centerline is valid? [True, True] Translation: X:141.40, Y:70.13, Z:2.69 [[ 4.89385971e-01 -8.71991738e-01 -1.14795294e-02 1.41403263e+02] [ 8.71754611e-01 4.89520587e-01 -2.03345114e-02 7.01332897e+01] [ 2.33509920e-02 -5.59080940e-05 9.99727327e-01 2.69347530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20361786499996 meters 0.017288522808460376 Centerline is valid? [True, True] Translation: X:141.42, Y:70.16, Z:2.69 [[ 4.89101751e-01 -8.72151187e-01 -1.14797217e-02 1.41417988e+02] [ 8.71913798e-01 4.89236450e-01 -2.03476216e-02 7.01570049e+01] [ 2.33625007e-02 -5.72704074e-05 9.99727058e-01 2.69443280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23361786499996 meters 0.01726900139690477 Centerline is valid? [True, True] Translation: X:141.43, Y:70.18, Z:2.70 [[ 4.88669929e-01 -8.72394605e-01 -1.13734034e-02 1.41432371e+02] [ 8.72161374e-01 4.88802260e-01 -2.01714664e-02 7.01807506e+01] [ 2.31568238e-02 -6.22541363e-05 9.99731843e-01 2.69666692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26361786499996 meters 0.01726900139690477 Centerline is valid? [True, True] Translation: X:141.45, Y:70.20, Z:2.70 [[ 4.88429210e-01 -8.72529472e-01 -1.13678315e-02 1.41445854e+02] [ 8.72296204e-01 4.88561477e-01 -2.01746063e-02 7.02048093e+01] [ 2.31568231e-02 -6.22492590e-05 9.99731843e-01 2.69711774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29361786499996 meters 0.017233083231872864 Centerline is valid? [True, True] Translation: X:141.46, Y:70.23, Z:2.70 [[ 4.87276367e-01 -8.73177450e-01 -1.10852675e-02 1.41460996e+02] [ 8.72955522e-01 4.87402435e-01 -1.96856094e-02 7.02280883e+01] [ 2.25920166e-02 -8.46132010e-05 9.99744764e-01 2.69778383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32361786499996 meters 0.017478843614102686 Centerline is valid? [True, True] Translation: X:141.48, Y:70.25, Z:2.70 [[ 4.86475862e-01 -8.73623847e-01 -1.10729246e-02 1.41476062e+02] [ 8.73402250e-01 4.86601853e-01 -1.96760250e-02 7.02510961e+01] [ 2.25775503e-02 -9.92060787e-05 9.99745090e-01 2.69727648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35361786499996 meters 0.01763422434365769 Centerline is valid? [True, True] Translation: X:141.49, Y:70.27, Z:2.70 [[ 4.84871353e-01 -8.74514809e-01 -1.11184335e-02 1.41492051e+02] [ 8.74291358e-01 4.84998794e-01 -1.97684337e-02 7.02741504e+01] [ 2.26802148e-02 -1.35603130e-04 9.99742762e-01 2.69772409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38361786499996 meters 0.01753819063574182 Centerline is valid? [True, True] Translation: X:141.51, Y:70.30, Z:2.70 [[ 4.83960364e-01 -8.75018481e-01 -1.11814206e-02 1.41505517e+02] [ 8.74792351e-01 4.84089490e-01 -1.98923988e-02 7.02985867e+01] [ 2.28190248e-02 -1.54288615e-04 9.99739600e-01 2.69876414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41361786499996 meters 0.017996021398278047 Centerline is valid? [True, True] Translation: X:141.52, Y:70.32, Z:2.70 [[ 4.82867563e-01 -8.75625362e-01 -1.09151831e-02 1.41520827e+02] [ 8.75409766e-01 4.82990885e-01 -1.94305747e-02 7.03209835e+01] [ 2.22858380e-02 -1.72863562e-04 9.99751625e-01 2.69803075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44361786499996 meters 0.01777294269225607 Centerline is valid? [True, True] Translation: X:141.53, Y:70.35, Z:2.70 [[ 4.81896390e-01 -8.76159352e-01 -1.09845239e-02 1.41533662e+02] [ 8.75940885e-01 4.82021528e-01 -1.95656143e-02 7.03463562e+01] [ 2.24373729e-02 -1.93194663e-04 9.99748232e-01 2.69959650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47361786499997 meters 0.017884566450719154 Centerline is valid? [True, True] Translation: X:141.55, Y:70.37, Z:2.70 [[ 4.80936979e-01 -8.76690890e-01 -1.06163157e-02 1.41546831e+02] [ 8.76486707e-01 4.81054094e-01 -1.89211812e-02 7.03699768e+01] [ 2.16950493e-02 -2.05163902e-04 9.99764614e-01 2.69997414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50361786499997 meters 0.017948882380622342 Centerline is valid? [True, True] Translation: X:141.56, Y:70.39, Z:2.70 [[ 4.80133646e-01 -8.77132430e-01 -1.05063181e-02 1.41560634e+02] [ 8.76932327e-01 4.80248533e-01 -1.87360725e-02 7.03948144e+01] [ 2.14796606e-02 -2.17511148e-04 9.99769262e-01 2.70069907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53361786499997 meters 0.018319828757234452 Centerline is valid? [True, True] Translation: X:141.58, Y:70.42, Z:2.70 [[ 4.79272490e-01 -8.77603261e-01 -1.05069989e-02 1.41575423e+02] [ 8.77402994e-01 4.79387591e-01 -1.87489738e-02 7.04175435e+01] [ 2.14910854e-02 -2.33004952e-04 9.99769013e-01 2.70056272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56361786499997 meters 0.018317945569750423 Centerline is valid? [True, True] Translation: X:141.59, Y:70.44, Z:2.70 [[ 4.77840087e-01 -8.78382797e-01 -1.06072226e-02 1.41589706e+02] [ 8.78178642e-01 4.77957730e-01 -1.89389018e-02 7.04424376e+01] [ 2.17054096e-02 -2.65269872e-04 9.99764375e-01 2.70142516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59361786499997 meters 0.01828005631478369 Centerline is valid? [True, True] Translation: X:141.60, Y:70.47, Z:2.70 [[ 4.77221804e-01 -8.78717963e-01 -1.06813297e-02 1.41603518e+02] [ 8.78510780e-01 4.77341245e-01 -1.90826157e-02 7.04670811e+01] [ 2.18668764e-02 -2.77023006e-04 9.99760853e-01 2.70186510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62361786499997 meters 0.018446379180203896 Centerline is valid? [True, True] Translation: X:141.62, Y:70.49, Z:2.70 [[ 4.76021455e-01 -8.79364712e-01 -1.10126352e-02 1.41616725e+02] [ 8.79144403e-01 4.76148723e-01 -1.96853322e-02 7.04922232e+01] [ 2.25542387e-02 -3.11056138e-04 9.99745572e-01 2.70170823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65361786499997 meters 0.018438075459562428 Centerline is valid? [True, True] Translation: X:141.63, Y:70.52, Z:2.70 [[ 4.75421413e-01 -8.79690341e-01 -1.09263135e-02 1.41629560e+02] [ 8.79473383e-01 4.75546845e-01 -1.95388440e-02 7.05166927e+01] [ 2.23841062e-02 -3.20217072e-04 9.99749393e-01 2.70178795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68361786499997 meters 0.018620656272500605 Centerline is valid? [True, True] Translation: X:141.64, Y:70.54, Z:2.70 [[ 4.74725915e-01 -8.80067056e-01 -1.08297535e-02 1.41642532e+02] [ 8.79853772e-01 4.74849312e-01 -1.93770752e-02 7.05410410e+01] [ 2.21956265e-02 -3.29799729e-04 9.99753592e-01 2.70198174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71361786499997 meters 0.018578171741602995 Centerline is valid? [True, True] Translation: X:141.65, Y:70.57, Z:2.70 [[ 4.74020485e-01 -8.80450004e-01 -1.06005299e-02 1.41654916e+02] [ 8.80245562e-01 4.74138881e-01 -1.89755807e-02 7.05658686e+01] [ 2.17331735e-02 -3.36255438e-04 9.99763750e-01 2.70265682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74361786499998 meters 0.01903733509052788 Centerline is valid? [True, True] Translation: X:141.67, Y:70.59, Z:2.70 [[ 4.72826579e-01 -8.81097500e-01 -1.01104374e-02 1.41668366e+02] [ 8.80911454e-01 4.72934537e-01 -1.81089380e-02 7.05900067e+01] [ 2.07373150e-02 -3.44012910e-04 9.99784900e-01 2.70371569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77361786499998 meters 0.01936020504040629 Centerline is valid? [True, True] Translation: X:141.68, Y:70.61, Z:2.70 [[ 4.71928921e-01 -8.81577855e-01 -1.01773798e-02 1.41682134e+02] [ 8.81389227e-01 4.72038509e-01 -1.82394135e-02 7.06136913e+01] [ 2.08835782e-02 -3.62526198e-04 9.99781849e-01 2.70469275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80361786499998 meters 0.019483144894811663 Centerline is valid? [True, True] Translation: X:141.70, Y:70.64, Z:2.71 [[ 4.71171259e-01 -8.81984342e-01 -1.00630507e-02 1.41695656e+02] [ 8.81799785e-01 4.71278561e-01 -1.80459586e-02 7.06386202e+01] [ 2.06587530e-02 -3.70858864e-04 9.99786516e-01 2.70517031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83361786499998 meters 0.01960856891558913 Centerline is valid? [True, True] Translation: X:141.71, Y:70.66, Z:2.71 [[ 4.70373348e-01 -8.82410700e-01 -1.00134582e-02 1.41707786e+02] [ 8.82227832e-01 4.70479765e-01 -1.79678413e-02 7.06635534e+01] [ 2.05661449e-02 -3.82557840e-04 9.99788421e-01 2.70608667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86361786499998 meters 0.019539091980984524 Centerline is valid? [True, True] Translation: X:141.72, Y:70.69, Z:2.71 [[ 4.70301522e-01 -8.82449360e-01 -9.98027756e-03 1.41720491e+02] [ 8.82267486e-01 4.70407254e-01 -1.79191921e-02 7.06882075e+01] [ 2.05075745e-02 -3.77851097e-04 9.99789626e-01 2.70679442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89361786499998 meters 0.019404448501080186 Centerline is valid? [True, True] Translation: X:141.73, Y:70.71, Z:2.71 [[ 4.70261105e-01 -8.82472871e-01 -9.80440417e-03 1.41733124e+02] [ 8.82297144e-01 4.70363155e-01 -1.76139871e-02 7.07137745e+01] [ 2.01554962e-02 -3.67224764e-04 9.99796790e-01 2.70771376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92361786499995 meters 0.019429555853570316 Centerline is valid? [True, True] Translation: X:141.74, Y:70.74, Z:2.71 [[ 4.70986825e-01 -8.82086081e-01 -9.77529101e-03 1.41744175e+02] [ 8.81911097e-01 4.71088131e-01 -1.75724217e-02 7.07382577e+01] [ 2.01054122e-02 -3.44558516e-04 9.99797806e-01 2.70748772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95361786499996 meters 0.01893361481080245 Centerline is valid? [True, True] Translation: X:141.76, Y:70.76, Z:2.71 [[ 4.71166603e-01 -8.81989150e-01 -9.85757631e-03 1.41756044e+02] [ 8.81810960e-01 4.71269589e-01 -1.77314819e-02 7.07638948e+01] [ 2.02845505e-02 -3.38036754e-04 9.99794190e-01 2.70839149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98361786499996 meters 0.018740684394441633 Centerline is valid? [True, True] Translation: X:141.77, Y:70.79, Z:2.71 [[ 4.71295227e-01 -8.81919314e-01 -9.95653531e-03 1.41768144e+02] [ 8.81737282e-01 4.71400268e-01 -1.79207437e-02 7.07890328e+01] [ 2.04981634e-02 -3.33087389e-04 9.99789835e-01 2.70905611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01361786499996 meters 0.01870771279313186 Centerline is valid? [True, True] Translation: X:141.78, Y:70.81, Z:2.71 [[ 4.71629515e-01 -8.81739857e-01 -1.00212390e-02 1.41779580e+02] [ 8.81555180e-01 4.71735859e-01 -1.80483676e-02 7.08133239e+01] [ 2.06413429e-02 -3.22132279e-04 9.99786893e-01 2.70923450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04361786499996 meters 0.018792246492100328 Centerline is valid? [True, True] Translation: X:141.79, Y:70.84, Z:2.71 [[ 4.71360364e-01 -8.81886091e-01 -9.81475652e-03 1.41791933e+02] [ 8.81708780e-01 4.71462429e-01 -1.76862993e-02 7.08386434e+01] [ 2.02245903e-02 -3.17136505e-04 9.99795412e-01 2.70948382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07361786499996 meters 0.018937793272761617 Centerline is valid? [True, True] Translation: X:141.80, Y:70.86, Z:2.71 [[ 4.70873099e-01 -8.82143646e-01 -1.00555064e-02 1.41804586e+02] [ 8.81957351e-01 4.70980338e-01 -1.81315456e-02 7.08625340e+01] [ 2.07305735e-02 -3.30870784e-04 9.99785044e-01 2.70940860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10361786499996 meters 0.019361943729293615 Centerline is valid? [True, True] Translation: X:141.82, Y:70.89, Z:2.71 [[ 4.69846941e-01 -8.82692985e-01 -9.84616441e-03 1.41817103e+02] [ 8.82514285e-01 4.69949973e-01 -1.77639891e-02 7.08866822e+01] [ 2.03073533e-02 -3.43024802e-04 9.99793726e-01 2.70987562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13361786499996 meters 0.019360480025478934 Centerline is valid? [True, True] Translation: X:141.83, Y:70.91, Z:2.71 [[ 4.69174786e-01 -8.83051589e-01 -9.74226066e-03 1.41830004e+02] [ 8.82876522e-01 4.69275792e-01 -1.75863094e-02 7.09113080e+01] [ 2.01014256e-02 -3.50160242e-04 9.99797885e-01 2.71114118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16361786499996 meters 0.01946944171301228 Centerline is valid? [True, True] Translation: X:141.84, Y:70.94, Z:2.71 [[ 4.68515735e-01 -8.83402745e-01 -9.62269482e-03 1.41843289e+02] [ 8.83231814e-01 4.68614408e-01 -1.73810111e-02 7.09359090e+01] [ 1.98637663e-02 -3.55793015e-04 9.99802633e-01 2.71209416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19361786499996 meters 0.0198526595999307 Centerline is valid? [True, True] Translation: X:141.86, Y:70.96, Z:2.71 [[ 4.67422045e-01 -8.83984949e-01 -9.34032714e-03 1.41856336e+02] [ 8.83823826e-01 4.67515216e-01 -1.68809666e-02 7.09598559e+01] [ 1.92892655e-02 -3.64667736e-04 9.99813878e-01 2.71370439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22361786499997 meters 0.01997343996964032 Centerline is valid? [True, True] Translation: X:141.87, Y:70.99, Z:2.71 [[ 4.66953890e-01 -8.84232088e-01 -9.36370458e-03 1.41869391e+02] [ 8.84070024e-01 4.67047617e-01 -1.69327011e-02 7.09851245e+01] [ 1.93457335e-02 -3.71379916e-04 9.99812785e-01 2.71432989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25361786499997 meters 0.02010713393495656 Centerline is valid? [True, True] Translation: X:141.88, Y:71.01, Z:2.71 [[ 4.66712654e-01 -8.84358045e-01 -9.49461858e-03 1.41882088e+02] [ 8.84191243e-01 4.66809069e-01 -1.71795988e-02 7.10095815e+01] [ 1.96250905e-02 -3.77122439e-04 9.99807338e-01 2.71432678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28361786499997 meters 0.02041325159115264 Centerline is valid? [True, True] Translation: X:141.89, Y:71.03, Z:2.71 [[ 4.66265243e-01 -8.84597161e-01 -9.19707332e-03 1.41894670e+02] [ 8.84440560e-01 4.66355792e-01 -1.66484321e-02 7.10337030e+01] [ 1.90162642e-02 -3.71679441e-04 9.99819105e-01 2.71457150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31361786499997 meters 0.019604987068325 Centerline is valid? [True, True] Translation: X:141.90, Y:71.06, Z:2.72 [[ 4.65694906e-01 -8.84895868e-01 -9.35722382e-03 1.41904546e+02] [ 8.84733669e-01 4.65788744e-01 -1.69464285e-02 7.10602789e+01] [ 1.93543141e-02 -3.86785528e-04 9.99812613e-01 2.71513611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34361786499997 meters 0.020717430563325877 Centerline is valid? [True, True] Translation: X:141.92, Y:71.08, Z:2.72 [[ 4.65423713e-01 -8.85038663e-01 -9.34517942e-03 1.41919456e+02] [ 8.84876707e-01 4.65517363e-01 -1.69351093e-02 7.10832019e+01] [ 1.93385698e-02 -3.87330145e-04 9.99812917e-01 2.71541367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37361786499997 meters 0.020102324661758753 Centerline is valid? [True, True] Translation: X:141.93, Y:71.11, Z:2.72 [[ 4.64691616e-01 -8.85421464e-01 -9.51486821e-03 1.41930695e+02] [ 8.85253457e-01 4.64788840e-01 -1.72525787e-02 7.11087317e+01] [ 1.96982081e-02 -4.05941296e-04 9.99805889e-01 2.71623883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40361786499997 meters 0.020194456234498705 Centerline is valid? [True, True] Translation: X:141.94, Y:71.13, Z:2.72 [[ 4.64100758e-01 -8.85731709e-01 -9.47764526e-03 1.41944122e+02] [ 8.85564888e-01 4.64197338e-01 -1.71947990e-02 7.11334300e+01] [ 1.96294764e-02 -4.12950605e-04 9.99807238e-01 2.71697704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43361786499997 meters 0.02043728548607739 Centerline is valid? [True, True] Translation: X:141.96, Y:71.16, Z:2.72 [[ 4.63579410e-01 -8.86005458e-01 -9.40529566e-03 1.41957396e+02] [ 8.85841027e-01 4.63674622e-01 -1.70739697e-02 7.11576589e+01] [ 1.94886273e-02 -4.16455959e-04 9.99809992e-01 2.71769334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46361786499997 meters 0.020037140469367158 Centerline is valid? [True, True] Translation: X:141.97, Y:71.18, Z:2.72 [[ 4.62332922e-01 -8.86662155e-01 -8.85953924e-03 1.41968647e+02] [ 8.86516203e-01 4.62417616e-01 -1.60925400e-02 7.11843984e+01] [ 1.83654532e-02 -4.14014048e-04 9.99831255e-01 2.71886084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49361786499998 meters 0.02005101418728283 Centerline is valid? [True, True] Translation: X:141.98, Y:71.21, Z:2.72 [[ 4.61638301e-01 -8.87026091e-01 -8.64830897e-03 1.41981026e+02] [ 8.86886924e-01 4.61719116e-01 -1.57175753e-02 7.12092891e+01] [ 1.79349890e-02 -4.14237379e-04 9.99839069e-01 2.71972575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52361786499998 meters 0.02025104253800358 Centerline is valid? [True, True] Translation: X:141.99, Y:71.24, Z:2.72 [[ 4.60716967e-01 -8.87506281e-01 -8.51342272e-03 1.41993200e+02] [ 8.87371335e-01 4.60795425e-01 -1.54819363e-02 7.12352160e+01] [ 1.76632619e-02 -4.21776569e-04 9.99843903e-01 2.72051915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55361786499998 meters 0.020191392729183154 Centerline is valid? [True, True] Translation: X:142.01, Y:71.26, Z:2.72 [[ 4.60439252e-01 -8.87652535e-01 -8.28684525e-03 1.42005525e+02] [ 8.87524558e-01 4.60513634e-01 -1.50782161e-02 7.12600934e+01] [ 1.72004220e-02 -4.12176121e-04 9.99851977e-01 2.72078532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58361786499998 meters 0.019763932488173926 Centerline is valid? [True, True] Translation: X:142.02, Y:71.29, Z:2.72 [[ 4.60226093e-01 -8.87763303e-01 -8.26206397e-03 1.42016915e+02] [ 8.87635942e-01 4.60300064e-01 -1.50427915e-02 7.12855442e+01] [ 1.71574669e-02 -4.10619766e-04 9.99852716e-01 2.72162090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61361786499998 meters 0.020396323642518994 Centerline is valid? [True, True] Translation: X:142.03, Y:71.31, Z:2.72 [[ 4.60278335e-01 -8.87735860e-01 -8.30046804e-03 1.42030364e+02] [ 8.87607136e-01 4.60352993e-01 -1.51226233e-02 7.13094663e+01] [ 1.72460403e-02 -4.06938801e-04 9.99851193e-01 2.72197103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64361786499998 meters 0.02132350690107593 Centerline is valid? [True, True] Translation: X:142.04, Y:71.33, Z:2.72 [[ 4.60798921e-01 -8.87468758e-01 -7.97235048e-03 1.42044024e+02] [ 8.87349837e-01 4.60867726e-01 -1.45328984e-02 7.13326058e+01] [ 1.65716923e-02 -3.77520000e-04 9.99862609e-01 2.72228956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67361786499995 meters 0.019406220998404066 Centerline is valid? [True, True] Translation: X:142.05, Y:71.36, Z:2.72 [[ 4.61924568e-01 -8.86882749e-01 -8.04259671e-03 1.42051184e+02] [ 8.86761510e-01 4.61994441e-01 -1.46683698e-02 7.13616637e+01] [ 1.67247591e-02 -3.56184812e-04 9.99860068e-01 2.72301781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70361786499996 meters 0.01932791647819758 Centerline is valid? [True, True] Translation: X:142.06, Y:71.39, Z:2.72 [[ 4.62491396e-01 -8.86587798e-01 -7.98652647e-03 1.42062529e+02] [ 8.86468063e-01 4.62560224e-01 -1.45743632e-02 7.13862781e+01] [ 1.66157020e-02 -3.39283089e-04 9.99861892e-01 2.72299932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73361786499996 meters 0.019175843990810213 Centerline is valid? [True, True] Translation: X:142.07, Y:71.41, Z:2.72 [[ 4.63887863e-01 -8.85859920e-01 -7.76228340e-03 1.42072828e+02] [ 8.85746596e-01 4.63952704e-01 -1.41723748e-02 7.14114882e+01] [ 1.61560712e-02 -3.01023425e-04 9.99869437e-01 2.72357821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76361786499996 meters 0.018848862036411857 Centerline is valid? [True, True] Translation: X:142.08, Y:71.44, Z:2.72 [[ 4.64585766e-01 -8.85494149e-01 -7.75749760e-03 1.42084484e+02] [ 8.85380819e-01 4.64650440e-01 -1.41694635e-02 7.14375057e+01] [ 1.61515017e-02 -2.85408548e-04 9.99869515e-01 2.72418245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79361786499996 meters 0.01865194884864304 Centerline is valid? [True, True] Translation: X:142.10, Y:71.46, Z:2.73 [[ 4.65612612e-01 -8.84954472e-01 -7.77679028e-03 1.42095185e+02] [ 8.84840356e-01 4.65677478e-01 -1.42137491e-02 7.14629943e+01] [ 1.61999969e-02 -2.63117028e-04 9.99868737e-01 2.72507343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82361786499996 meters 0.018552709073927438 Centerline is valid? [True, True] Translation: X:142.11, Y:71.49, Z:2.73 [[ 4.65677197e-01 -8.84922179e-01 -7.58187949e-03 1.42106936e+02] [ 8.84813603e-01 4.65738847e-01 -1.38641366e-02 7.14885260e+01] [ 1.57998578e-02 -2.52337852e-04 9.99875143e-01 2.72549641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85361786499996 meters 0.018515399038921597 Centerline is valid? [True, True] Translation: X:142.12, Y:71.51, Z:2.73 [[ 4.65674698e-01 -8.84923151e-01 -7.62178365e-03 1.42119341e+02] [ 8.84813286e-01 4.65737001e-01 -1.39461786e-02 7.15139115e+01] [ 1.58910429e-02 -2.49472944e-04 9.99873698e-01 2.72604330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88361786499996 meters 0.01820774361139494 Centerline is valid? [True, True] Translation: X:142.13, Y:71.54, Z:2.73 [[ 4.65226624e-01 -8.85159961e-01 -7.48537408e-03 1.42130749e+02] [ 8.85053889e-01 4.65286773e-01 -1.37052119e-02 7.15400772e+01] [ 1.56141504e-02 -2.48929983e-04 9.99878061e-01 2.72635585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91361786499996 meters 0.0188231139171985 Centerline is valid? [True, True] Translation: X:142.14, Y:71.56, Z:2.73 [[ 4.64775437e-01 -8.85397981e-01 -7.36256765e-03 1.42143362e+02] [ 8.85295250e-01 4.64833683e-01 -1.34895088e-02 7.15634392e+01] [ 1.53659533e-02 -2.48453802e-04 9.99881906e-01 2.72706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94361786499996 meters 0.018423829717913544 Centerline is valid? [True, True] Translation: X:142.16, Y:71.59, Z:2.73 [[ 4.64424554e-01 -8.85583688e-01 -7.16690957e-03 1.42155274e+02] [ 8.85486299e-01 4.64479785e-01 -1.31355901e-02 7.15894249e+01] [ 1.49615489e-02 -2.45709641e-04 9.99888040e-01 2.72723102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97361786499997 meters 0.018916717033878264 Centerline is valid? [True, True] Translation: X:142.17, Y:71.61, Z:2.73 [[ 4.63818654e-01 -8.85898365e-01 -7.50617125e-03 1.42168793e+02] [ 8.85791428e-01 4.63879313e-01 -1.37669498e-02 7.16127185e+01] [ 1.56780759e-02 -2.63534022e-04 9.99877057e-01 2.72744031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00361786499997 meters 0.018309432052820967 Centerline is valid? [True, True] Translation: X:142.18, Y:71.64, Z:2.73 [[ 4.62910692e-01 -8.86370450e-01 -7.81771376e-03 1.42179731e+02] [ 8.86254373e-01 4.62976611e-01 -1.43472842e-02 7.16400152e+01] [ 1.63364273e-02 -2.86971771e-04 9.99866510e-01 2.72766389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03361786499997 meters 0.018567461505649686 Centerline is valid? [True, True] Translation: X:142.19, Y:71.66, Z:2.73 [[ 4.62863533e-01 -8.86394323e-01 -7.90282008e-03 1.42192535e+02] [ 8.86275565e-01 4.62930905e-01 -1.45120643e-02 7.16633641e+01] [ 1.65218711e-02 -2.86970970e-04 9.99863463e-01 2.72809940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06361786499997 meters 0.01866998443312292 Centerline is valid? [True, True] Translation: X:142.21, Y:71.69, Z:2.73 [[ 4.62538186e-01 -8.86563466e-01 -7.97790642e-03 1.42205497e+02] [ 8.86442375e-01 4.62606890e-01 -1.46554371e-02 7.16885713e+01] [ 1.66836096e-02 -2.93255030e-04 9.99860776e-01 2.72859760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09361786499997 meters 0.01862926755671476 Centerline is valid? [True, True] Translation: X:142.22, Y:71.71, Z:2.73 [[ 4.62038622e-01 -8.86821017e-01 -8.29432534e-03 1.42217351e+02] [ 8.86689992e-01 4.62112960e-01 -1.52469715e-02 7.17140744e+01] [ 1.73542500e-02 -3.09805551e-04 9.99849356e-01 2.72893600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12361786499997 meters 0.018583951871888344 Centerline is valid? [True, True] Translation: X:142.23, Y:71.74, Z:2.73 [[ 4.61582613e-01 -8.87056400e-01 -8.51093036e-03 1.42229895e+02] [ 8.86918294e-01 4.61660958e-01 -1.56556600e-02 7.17394846e+01] [ 1.78166177e-02 -3.22119389e-04 9.99841220e-01 2.72922776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15361786499997 meters 0.018583951871888344 Centerline is valid? [True, True] Translation: X:142.24, Y:71.76, Z:2.73 [[ 4.61336379e-01 -8.87184526e-01 -8.50658261e-03 1.42243004e+02] [ 8.87046399e-01 4.61414686e-01 -1.56580221e-02 7.17637374e+01] [ 1.78166170e-02 -3.22118272e-04 9.99841220e-01 2.72967864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18361786499997 meters 0.01876590983368517 Centerline is valid? [True, True] Translation: X:142.26, Y:71.79, Z:2.73 [[ 4.60621739e-01 -8.87551242e-01 -8.96699483e-03 1.42256148e+02] [ 8.87397611e-01 4.60708879e-01 -1.65169066e-02 7.17889418e+01] [ 1.87907751e-02 -3.49243555e-04 9.99823377e-01 2.72950037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21361786499997 meters 0.01875504631405548 Centerline is valid? [True, True] Translation: X:142.27, Y:71.81, Z:2.73 [[ 4.59931650e-01 -8.87906476e-01 -9.21773598e-03 1.42269203e+02] [ 8.87743989e-01 4.60023862e-01 -1.69899198e-02 7.18141460e+01] [ 1.93258383e-02 -3.68787851e-04 9.99813171e-01 2.73004283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24361786499998 meters 0.018994513673390185 Centerline is valid? [True, True] Translation: X:142.28, Y:71.84, Z:2.73 [[ 4.59149852e-01 -8.88309099e-01 -9.39990133e-03 1.42282080e+02] [ 8.88139985e-01 4.59245897e-01 -1.73370149e-02 7.18391131e+01] [ 1.97174942e-02 -3.88140399e-04 9.99805516e-01 2.73033442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27361786499998 meters 0.01908755897453655 Centerline is valid? [True, True] Translation: X:142.29, Y:71.86, Z:2.73 [[ 4.58598394e-01 -8.88595175e-01 -9.28050076e-03 1.42294713e+02] [ 8.88430179e-01 4.58692121e-01 -1.71276089e-02 7.18639946e+01] [ 1.94764032e-02 -3.90383009e-04 9.99810241e-01 2.73048619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30361786499998 meters 0.019296129955364005 Centerline is valid? [True, True] Translation: X:142.31, Y:71.89, Z:2.73 [[ 4.57715780e-01 -8.89049386e-01 -9.35162611e-03 1.42307562e+02] [ 8.88881724e-01 4.57811121e-01 -1.72701824e-02 7.18893700e+01] [ 1.96353235e-02 -4.07654539e-04 9.99807125e-01 2.73117840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33361786499998 meters 0.01936419043477428 Centerline is valid? [True, True] Translation: X:142.32, Y:71.91, Z:2.73 [[ 4.57129605e-01 -8.89351899e-01 -9.25875290e-03 1.42320142e+02] [ 8.89187403e-01 4.57223174e-01 -1.71093794e-02 7.19144878e+01] [ 1.94495754e-02 -4.11562609e-04 9.99810754e-01 2.73166529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36361786499998 meters 0.01952846206186868 Centerline is valid? [True, True] Translation: X:142.33, Y:71.94, Z:2.73 [[ 4.56637312e-01 -8.89604003e-01 -9.33187719e-03 1.42333439e+02] [ 8.89436728e-01 4.56732462e-01 -1.72558678e-02 7.19395497e+01] [ 1.96130603e-02 -4.20441247e-04 9.99807557e-01 2.73222642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39361786499998 meters 0.019692649127547583 Centerline is valid? [True, True] Translation: X:142.35, Y:71.96, Z:2.73 [[ 4.56187724e-01 -8.89832581e-01 -9.52565023e-03 1.42346026e+02] [ 8.89658107e-01 4.56286959e-01 -1.76256596e-02 7.19630894e+01] [ 2.00303162e-02 -4.33962415e-04 9.99799279e-01 2.73266504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42361786499995 meters 0.01966714282574506 Centerline is valid? [True, True] Translation: X:142.36, Y:71.99, Z:2.73 [[ 4.56027006e-01 -8.89916066e-01 -9.42153521e-03 1.42358934e+02] [ 8.89745197e-01 4.56124119e-01 -1.74434169e-02 7.19879954e+01] [ 1.98205664e-02 -4.28096512e-04 9.99803462e-01 2.73310972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45361786499996 meters 0.01948466983940114 Centerline is valid? [True, True] Translation: X:142.37, Y:72.01, Z:2.73 [[ 4.56552696e-01 -8.89647717e-01 -9.30463595e-03 1.42371118e+02] [ 8.89480793e-01 4.56647320e-01 -1.72378536e-02 7.20140706e+01] [ 1.95845542e-02 -4.06306420e-04 9.99808122e-01 2.73392657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48361786499996 meters 0.0192952237849203 Centerline is valid? [True, True] Translation: X:142.38, Y:72.04, Z:2.73 [[ 4.57142068e-01 -8.89344923e-01 -9.31327874e-03 1.42383011e+02] [ 8.89177425e-01 4.57236762e-01 -1.72641656e-02 7.20393761e+01] [ 1.96121714e-02 -3.88980844e-04 9.99807587e-01 2.73427274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51361786499996 meters 0.01932952882069634 Centerline is valid? [True, True] Translation: X:142.40, Y:72.06, Z:2.73 [[ 4.57843537e-01 -8.88980549e-01 -9.63738175e-03 1.42395379e+02] [ 8.88800885e-01 4.57944798e-01 -1.78759079e-02 7.20632941e+01] [ 2.03047233e-02 -3.81344518e-04 9.99793765e-01 2.73452185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54361786499996 meters 0.018860949521121332 Centerline is valid? [True, True] Translation: X:142.41, Y:72.09, Z:2.73 [[ 4.58885640e-01 -8.88437664e-01 -1.01235732e-02 1.42406702e+02] [ 8.88239085e-01 4.58997146e-01 -1.87869123e-02 7.20894028e+01] [ 2.13376917e-02 -3.71109092e-04 9.99772257e-01 2.73407344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57361786499996 meters 0.0191230556433068 Centerline is valid? [True, True] Translation: X:142.42, Y:72.11, Z:2.73 [[ 4.59326296e-01 -8.88208532e-01 -1.02449083e-02 1.42420151e+02] [ 8.88004852e-01 4.59440393e-01 -1.90238960e-02 7.21124475e+01] [ 2.16041114e-02 -3.59352559e-04 9.99766539e-01 2.73412387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60361786499996 meters 0.019058745229256373 Centerline is valid? [True, True] Translation: X:142.43, Y:72.14, Z:2.73 [[ 4.59701408e-01 -8.88015400e-01 -1.01618877e-02 1.42433351e+02] [ 8.87814730e-01 4.59813583e-01 -1.88804957e-02 7.21369730e+01] [ 2.14387450e-02 -3.42483098e-04 9.99770105e-01 2.73458813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63361786499996 meters 0.01846168416375512 Centerline is valid? [True, True] Translation: X:142.45, Y:72.16, Z:2.74 [[ 4.60209159e-01 -8.87756395e-01 -9.80378748e-03 1.42445481e+02] [ 8.87569334e-01 4.60313464e-01 -1.82261097e-02 7.21633982e+01] [ 2.06931608e-02 -3.13718508e-04 9.99785824e-01 2.73645205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66361786499996 meters 0.01858852246159565 Centerline is valid? [True, True] Translation: X:142.46, Y:72.19, Z:2.74 [[ 4.60460516e-01 -8.87628104e-01 -9.61577762e-03 1.42459167e+02] [ 8.87447913e-01 4.60560812e-01 -1.78869005e-02 7.21866096e+01] [ 2.03055660e-02 -2.97290326e-04 9.99793777e-01 2.73686265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69361786499996 meters 0.018803015424278723 Centerline is valid? [True, True] Translation: X:142.47, Y:72.21, Z:2.74 [[ 4.60591348e-01 -8.87563386e-01 -9.31909873e-03 1.42472567e+02] [ 8.87393938e-01 4.60685529e-01 -1.73448224e-02 7.22101141e+01] [ 1.96878032e-02 -2.80836602e-04 9.99806137e-01 2.73775313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72361786499997 meters 0.01841435321589729 Centerline is valid? [True, True] Translation: X:142.48, Y:72.24, Z:2.74 [[ 4.60719440e-01 -8.87498744e-01 -9.14202172e-03 1.42484850e+02] [ 8.87335474e-01 4.60810056e-01 -1.70249390e-02 7.22350514e+01] [ 1.93223475e-02 -2.68319817e-04 9.99813270e-01 2.73939292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75361786499997 meters 0.0184176450823301 Centerline is valid? [True, True] Translation: X:142.50, Y:72.26, Z:2.74 [[ 4.60764696e-01 -8.87479440e-01 -8.72578358e-03 1.42498302e+02] [ 8.87330507e-01 4.60847243e-01 -1.62600747e-02 7.22596465e+01] [ 1.84517353e-02 -2.50585570e-04 9.99829721e-01 2.74024282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78361786499997 meters 0.018319642933065285 Centerline is valid? [True, True] Translation: X:142.51, Y:72.28, Z:2.74 [[ 4.60821712e-01 -8.87451562e-01 -8.54838302e-03 1.42511738e+02] [ 8.87308432e-01 4.60900931e-01 -1.59398677e-02 7.22839422e+01] [ 1.80858182e-02 -2.39615209e-04 9.99836410e-01 2.74072812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81361786499997 meters 0.01836949483907349 Centerline is valid? [True, True] Translation: X:142.52, Y:72.31, Z:2.74 [[ 4.61037543e-01 -8.87338601e-01 -8.63659112e-03 1.42524875e+02] [ 8.87192292e-01 4.61118371e-01 -1.61147303e-02 7.23073450e+01] [ 1.82817130e-02 -2.32821434e-04 9.99832848e-01 2.74112923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84361786499997 meters 0.018223980137111635 Centerline is valid? [True, True] Translation: X:142.54, Y:72.33, Z:2.74 [[ 4.61792355e-01 -8.86946290e-01 -8.60809929e-03 1.42537923e+02] [ 8.86800739e-01 4.61872530e-01 -1.60690906e-02 7.23325807e+01] [ 1.82282649e-02 -2.13085608e-04 9.99833829e-01 2.74123122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87361786499997 meters 0.018080261729969013 Centerline is valid? [True, True] Translation: X:142.55, Y:72.36, Z:2.74 [[ 4.62343627e-01 -8.86657603e-01 -8.75586203e-03 1.42550895e+02] [ 8.86506761e-01 4.62426486e-01 -1.63556929e-02 7.23570328e+01] [ 1.85508420e-02 -2.00180505e-04 9.99827898e-01 2.74164458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90361786499997 meters 0.01813793641848431 Centerline is valid? [True, True] Translation: X:142.56, Y:72.38, Z:2.74 [[ 4.62968028e-01 -8.86330083e-01 -8.92125268e-03 1.42564004e+02] [ 8.86173219e-01 4.63053938e-01 -1.66756349e-02 7.23807486e+01] [ 1.89111380e-02 -1.85489412e-04 9.99821151e-01 2.74181832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93361786499997 meters 0.018081580802608813 Centerline is valid? [True, True] Translation: X:142.58, Y:72.40, Z:2.74 [[ 4.64218619e-01 -8.85676026e-01 -8.89108393e-03 1.42577259e+02] [ 8.85519923e-01 4.64303730e-01 -1.66286780e-02 7.24045550e+01] [ 1.88557849e-02 -1.53890024e-04 9.99822202e-01 2.74214043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96361786499997 meters 0.017961126441219874 Centerline is valid? [True, True] Translation: X:142.59, Y:72.43, Z:2.74 [[ 4.64465588e-01 -8.85546967e-01 -8.84797323e-03 1.42590000e+02] [ 8.85392182e-01 4.64549834e-01 -1.65570651e-02 7.24295550e+01] [ 1.87723832e-02 -1.43739379e-04 9.99823773e-01 2.74276179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99361786499998 meters 0.017850984210220414 Centerline is valid? [True, True] Translation: X:142.60, Y:72.45, Z:2.74 [[ 4.64432010e-01 -8.85566204e-01 -8.68364051e-03 1.42603421e+02] [ 8.85416926e-01 4.64513164e-01 -1.62600277e-02 7.24539384e+01] [ 1.84329963e-02 -1.36964946e-04 9.99830089e-01 2.74333966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02361786499998 meters 0.017939848644065413 Centerline is valid? [True, True] Translation: X:142.62, Y:72.48, Z:2.74 [[ 4.64434019e-01 -8.85565397e-01 -8.65846276e-03 1.42617876e+02] [ 8.85416789e-01 4.64514703e-01 -1.62234438e-02 7.24772400e+01] [ 1.83889038e-02 -1.31629067e-04 9.99830901e-01 2.74425702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05361786499998 meters 0.01793078869698169 Centerline is valid? [True, True] Translation: X:142.63, Y:72.50, Z:2.74 [[ 4.64022871e-01 -8.85781140e-01 -8.63406685e-03 1.42631676e+02] [ 8.85633230e-01 4.64103172e-01 -1.61872688e-02 7.25008875e+01] [ 1.83454752e-02 -1.35353570e-04 9.99831698e-01 2.74454841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08361786499998 meters 0.01786668834950178 Centerline is valid? [True, True] Translation: X:142.65, Y:72.53, Z:2.75 [[ 4.63458347e-01 -8.86077481e-01 -8.54744099e-03 1.42645701e+02] [ 8.85932403e-01 4.63537138e-01 -1.60342928e-02 7.25251784e+01] [ 1.81696821e-02 -1.41228097e-04 9.99834908e-01 2.74511526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11361786499998 meters 0.017995168942063416 Centerline is valid? [True, True] Translation: X:142.66, Y:72.55, Z:2.75 [[ 4.62042574e-01 -8.86819896e-01 -8.19339152e-03 1.42661983e+02] [ 8.86686536e-01 4.62115188e-01 -1.53798932e-02 7.25485339e+01] [ 1.74254860e-02 -1.58804480e-04 9.99848152e-01 2.74632236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14361786499998 meters 0.018056797727677255 Centerline is valid? [True, True] Translation: X:142.68, Y:72.57, Z:2.75 [[ 4.61248700e-01 -8.87232388e-01 -8.26601372e-03 1.42676225e+02] [ 8.87096544e-01 4.61322730e-01 -1.55261398e-02 7.25714447e+01] [ 1.75885941e-02 -1.71340418e-04 9.99845294e-01 2.74720227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17361786499995 meters 0.018249886988088795 Centerline is valid? [True, True] Translation: X:142.69, Y:72.59, Z:2.75 [[ 4.60269904e-01 -8.87743484e-01 -7.94499236e-03 1.42690980e+02] [ 8.87617956e-01 4.60338435e-01 -1.49294522e-02 7.25945137e+01] [ 1.69109092e-02 -1.80540370e-04 9.99856984e-01 2.74844776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20361786499996 meters 0.01843156055188938 Centerline is valid? [True, True] Translation: X:142.71, Y:72.62, Z:2.75 [[ 4.58846274e-01 -8.88481394e-01 -7.80437624e-03 1.42706819e+02] [ 8.88360276e-01 4.58912596e-01 -1.46713781e-02 7.26182406e+01] [ 1.66167731e-02 -2.01190635e-04 9.99861912e-01 2.74954916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23361786499996 meters 0.018329999650948597 Centerline is valid? [True, True] Translation: X:142.72, Y:72.64, Z:2.75 [[ 4.57897313e-01 -8.88969943e-01 -7.90521050e-03 1.42720413e+02] [ 8.88845591e-01 4.57965494e-01 -1.48701637e-02 7.26425855e+01] [ 1.68394422e-02 -2.17503521e-04 9.99858183e-01 2.75005582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26361786499996 meters 0.01850050417836793 Centerline is valid? [True, True] Translation: X:142.73, Y:72.67, Z:2.75 [[ 4.57490958e-01 -8.89179878e-01 -7.82101038e-03 1.42734756e+02] [ 8.89058036e-01 4.57557753e-01 -1.47211302e-02 7.26659971e+01] [ 1.66682967e-02 -2.18548151e-04 9.99861050e-01 2.75062480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29361786499996 meters 0.018700035350280662 Centerline is valid? [True, True] Translation: X:142.75, Y:72.69, Z:2.75 [[ 4.56326705e-01 -8.89777397e-01 -7.88181420e-03 1.42750871e+02] [ 8.89653593e-01 4.56394706e-01 -1.48444304e-02 7.26897849e+01] [ 1.68054569e-02 -2.38174301e-04 9.99858750e-01 2.75080877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32361786499996 meters 0.01880906010781456 Centerline is valid? [True, True] Translation: X:142.76, Y:72.71, Z:2.75 [[ 4.55819637e-01 -8.90035671e-01 -8.05997537e-03 1.42764748e+02] [ 8.89906081e-01 4.55890824e-01 -1.51895915e-02 7.27125473e+01] [ 1.71937471e-02 -2.48906994e-04 9.99852146e-01 2.75123092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35361786499996 meters 0.01915844640287778 Centerline is valid? [True, True] Translation: X:142.78, Y:72.74, Z:2.75 [[ 4.54935520e-01 -8.90485479e-01 -8.32370285e-03 1.42780106e+02] [ 8.90347181e-01 4.55011580e-01 -1.56958282e-02 7.27351986e+01] [ 1.77642883e-02 -2.70395597e-04 9.99842166e-01 2.75132343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38361786499996 meters 0.01880218677026424 Centerline is valid? [True, True] Translation: X:142.79, Y:72.76, Z:2.75 [[ 4.54411298e-01 -8.90751311e-01 -8.51313736e-03 1.42792604e+02] [ 8.90606564e-01 4.54490947e-01 -1.60601174e-02 7.27600503e+01] [ 1.81747145e-02 -2.83957223e-04 9.99834786e-01 2.75146556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41361786499996 meters 0.0187347465828464 Centerline is valid? [True, True] Translation: X:142.81, Y:72.78, Z:2.75 [[ 4.53834144e-01 -8.91044883e-01 -8.57819075e-03 1.42806708e+02] [ 8.90897769e-01 4.53915113e-01 -1.61937099e-02 7.27845794e+01] [ 1.83230927e-02 -2.93032542e-04 9.99832075e-01 2.75176291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44361786499996 meters 0.0195762174341527 Centerline is valid? [True, True] Translation: X:142.82, Y:72.81, Z:2.75 [[ 4.53468002e-01 -8.91230033e-01 -8.70630577e-03 1.42822444e+02] [ 8.91078319e-01 4.53551473e-01 -1.64465921e-02 7.28063997e+01] [ 1.86064546e-02 -2.99997032e-04 9.99826840e-01 2.75140560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47361786499997 meters 0.018898069209832374 Centerline is valid? [True, True] Translation: X:142.84, Y:72.83, Z:2.75 [[ 4.53220908e-01 -8.91352215e-01 -9.05745492e-03 1.42836116e+02] [ 8.91187830e-01 4.53311296e-01 -1.71207755e-02 7.28304737e+01] [ 1.93664878e-02 -3.12400174e-04 9.99812403e-01 2.75223619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50361786499997 meters 0.018945968126812297 Centerline is valid? [True, True] Translation: X:142.85, Y:72.85, Z:2.75 [[ 4.53207282e-01 -8.91357399e-01 -9.22753721e-03 1.42850200e+02] [ 8.91186553e-01 4.53301103e-01 -1.74538841e-02 7.28535571e+01] [ 1.97405015e-02 -3.13229697e-04 9.99805088e-01 2.75285140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53361786499997 meters 0.01912653461601019 Centerline is valid? [True, True] Translation: X:142.86, Y:72.88, Z:2.75 [[ 4.53194510e-01 -8.91360167e-01 -9.58068241e-03 1.42864382e+02] [ 8.91175765e-01 4.53295655e-01 -1.81329892e-02 7.28766774e+01] [ 2.05059059e-02 -3.20300832e-04 9.99789681e-01 2.75343253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56361786499997 meters 0.01869036028091191 Centerline is valid? [True, True] Translation: X:142.88, Y:72.90, Z:2.75 [[ 4.53643477e-01 -8.91131321e-01 -9.62103319e-03 1.42878252e+02] [ 8.90945082e-01 4.53745386e-01 -1.82204750e-02 7.29009846e+01] [ 2.06023354e-02 -3.06212563e-04 9.99787702e-01 2.75425968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59361786499997 meters 0.01874701087482405 Centerline is valid? [True, True] Translation: X:142.89, Y:72.93, Z:2.75 [[ 4.53974609e-01 -8.90964243e-01 -9.47480192e-03 1.42892202e+02] [ 8.90783346e-01 4.54073379e-01 -1.79554209e-02 7.29258602e+01] [ 2.02998933e-02 -2.88690589e-04 9.99793894e-01 2.75498991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62361786499997 meters 0.018663737559478397 Centerline is valid? [True, True] Translation: X:142.91, Y:72.95, Z:2.76 [[ 4.54783579e-01 -8.90556477e-01 -9.00318548e-03 1.42907073e+02] [ 8.90392862e-01 4.54872617e-01 -1.70720288e-02 7.29491344e+01] [ 1.92989084e-02 -2.52293730e-04 9.99813727e-01 2.75623973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65361786499997 meters 0.018618617653320867 Centerline is valid? [True, True] Translation: X:142.92, Y:72.97, Z:2.76 [[ 4.54988525e-01 -8.90450175e-01 -9.16128182e-03 1.42921543e+02] [ 8.90280577e-01 4.55080680e-01 -1.73801535e-02 7.29736815e+01] [ 1.96452831e-02 -2.48340861e-04 9.99806982e-01 2.75705742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68361786499997 meters 0.018705868162453648 Centerline is valid? [True, True] Translation: X:142.94, Y:73.00, Z:2.76 [[ 4.55118061e-01 -8.90384164e-01 -9.14280995e-03 1.42936115e+02] [ 8.90215011e-01 4.55209823e-01 -1.73565813e-02 7.29981427e+01] [ 1.96159220e-02 -2.39773053e-04 9.99807561e-01 2.75782949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71361786499997 meters 0.01865126956278106 Centerline is valid? [True, True] Translation: X:142.95, Y:73.02, Z:2.76 [[ 4.55106418e-01 -8.90387481e-01 -9.39590279e-03 1.42950568e+02] [ 8.90208591e-01 4.55203335e-01 -1.78490582e-02 7.30222566e+01] [ 2.01696242e-02 -2.41092441e-04 9.99796543e-01 2.75825211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74361786499998 meters 0.018679846270207218 Centerline is valid? [True, True] Translation: X:142.97, Y:73.05, Z:2.76 [[ 4.55581358e-01 -8.90137390e-01 -1.00525746e-02 1.42966363e+02] [ 8.89932271e-01 4.55692188e-01 -1.91097557e-02 7.30456561e+01] [ 2.15911878e-02 -2.40062062e-04 9.99766854e-01 2.75858465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77361786499998 meters 0.018667838623049018 Centerline is valid? [True, True] Translation: X:142.98, Y:73.07, Z:2.76 [[ 4.55512892e-01 -8.90170304e-01 -1.02388643e-02 1.42980520e+02] [ 8.89957240e-01 4.55627887e-01 -1.94766479e-02 7.30689947e+01] [ 2.20026457e-02 -2.40287148e-04 9.99757884e-01 2.75871285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80361786499998 meters 0.018760248263186237 Centerline is valid? [True, True] Translation: X:143.00, Y:73.09, Z:2.76 [[ 4.56140057e-01 -8.89846271e-01 -1.04815195e-02 1.42996118e+02] [ 8.89622622e-01 4.56260412e-01 -1.99506194e-02 7.30928756e+01] [ 2.25352867e-02 -2.24320199e-04 9.99746023e-01 2.75950685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83361786499998 meters 0.018638156621948274 Centerline is valid? [True, True] Translation: X:143.01, Y:73.12, Z:2.76 [[ 4.56267854e-01 -8.89780390e-01 -1.05120555e-02 1.43010026e+02] [ 8.89555121e-01 4.56388882e-01 -2.00218646e-02 7.31175553e+01] [ 2.26126478e-02 -2.15719648e-04 9.99744278e-01 2.76039105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86361786499998 meters 0.01860265843743428 Centerline is valid? [True, True] Translation: X:143.02, Y:73.14, Z:2.76 [[ 4.56232984e-01 -8.89797901e-01 -1.05432459e-02 1.43024173e+02] [ 8.89570992e-01 4.56354743e-01 -2.00947352e-02 7.31419895e+01] [ 2.26917135e-02 -2.11084663e-04 9.99742488e-01 2.76135784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89361786499998 meters 0.018745582654668507 Centerline is valid? [True, True] Translation: X:143.04, Y:73.16, Z:2.76 [[ 4.56108977e-01 -8.89860247e-01 -1.06462307e-02 1.43039857e+02] [ 8.89628594e-01 4.56233161e-01 -2.03043810e-02 7.31641704e+01] [ 2.29252249e-02 -2.10180777e-04 9.99737160e-01 2.76221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92361786499995 meters 0.018850145463266126 Centerline is valid? [True, True] Translation: X:143.05, Y:73.19, Z:2.76 [[ 4.55792191e-01 -8.90020947e-01 -1.07792679e-02 1.43054104e+02] [ 8.89783223e-01 4.55919584e-01 -2.05705956e-02 7.31867851e+01] [ 2.32227403e-02 -2.15294932e-04 9.99730293e-01 2.76223954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95361786499996 meters 0.019072842730923762 Centerline is valid? [True, True] Translation: X:143.07, Y:73.21, Z:2.76 [[ 4.54405225e-01 -8.90727045e-01 -1.10101228e-02 1.43070219e+02] [ 8.90478920e-01 4.54538522e-01 -2.10243731e-02 7.32092407e+01] [ 2.37315026e-02 -2.50697265e-04 9.99718337e-01 2.76242584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98361786499996 meters 0.01910760734894481 Centerline is valid? [True, True] Translation: X:143.08, Y:73.23, Z:2.76 [[ 4.53292310e-01 -8.91293463e-01 -1.10474007e-02 1.43084705e+02] [ 8.91043489e-01 4.53426827e-01 -2.11095699e-02 7.32332131e+01] [ 2.38240095e-02 -2.74908783e-04 9.99716130e-01 2.76321925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01361786499996 meters 0.019214551941108517 Centerline is valid? [True, True] Translation: X:143.10, Y:73.26, Z:2.76 [[ 4.52640333e-01 -8.91624102e-01 -1.10991007e-02 1.43099411e+02] [ 8.91371586e-01 4.52776300e-01 -2.12206688e-02 7.32565628e+01] [ 2.39462695e-02 -2.88092436e-04 9.99713205e-01 2.76390963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04361786499996 meters 0.018988693681823526 Centerline is valid? [True, True] Translation: X:143.11, Y:73.28, Z:2.77 [[ 4.51886038e-01 -8.92006186e-01 -1.11343569e-02 1.43112560e+02] [ 8.91751904e-01 4.52023089e-01 -2.12995218e-02 7.32809278e+01] [ 2.40322916e-02 -3.04127425e-04 9.99711137e-01 2.76536495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07361786499996 meters 0.018988693681823526 Centerline is valid? [True, True] Translation: X:143.13, Y:73.31, Z:2.77 [[ 4.51638221e-01 -8.92131759e-01 -1.11284403e-02 1.43125280e+02] [ 8.91877439e-01 4.51775202e-01 -2.13026129e-02 7.33054038e+01] [ 2.40322909e-02 -3.04130609e-04 9.99711137e-01 2.76581580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10361786499996 meters 0.01914243182158345 Centerline is valid? [True, True] Translation: X:143.14, Y:73.33, Z:2.77 [[ 4.50834926e-01 -8.92535993e-01 -1.12858844e-02 1.43141502e+02] [ 8.92274233e-01 4.50976049e-01 -2.16170523e-02 7.33273458e+01] [ 2.43836608e-02 -3.24381695e-04 9.99702622e-01 2.76667772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13361786499996 meters 0.019447847755976067 Centerline is valid? [True, True] Translation: X:143.16, Y:73.35, Z:2.77 [[ 4.51163020e-01 -8.92370716e-01 -1.12443607e-02 1.43155331e+02] [ 8.92110577e-01 4.51303014e-01 -2.15478149e-02 7.33508424e+01] [ 2.43032529e-02 -3.09635895e-04 9.99704584e-01 2.76722774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16361786499996 meters 0.018891551845987373 Centerline is valid? [True, True] Translation: X:143.17, Y:73.38, Z:2.77 [[ 4.51688061e-01 -8.92107682e-01 -1.10353239e-02 1.43166817e+02] [ 8.91856750e-01 4.51822755e-01 -2.11597616e-02 7.33761575e+01] [ 2.38627963e-02 -2.84316387e-04 9.99715203e-01 2.76868519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19361786499996 meters 0.018894794043286773 Centerline is valid? [True, True] Translation: X:143.18, Y:73.40, Z:2.77 [[ 4.52328032e-01 -8.91783557e-01 -1.10198915e-02 1.43179234e+02] [ 8.91532913e-01 4.52462174e-01 -2.11434621e-02 7.34004560e+01] [ 2.38414759e-02 -2.60815404e-04 9.99715718e-01 2.76961968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22361786499997 meters 0.01857524858806269 Centerline is valid? [True, True] Translation: X:143.19, Y:73.43, Z:2.77 [[ 4.54223593e-01 -8.90817370e-01 -1.11956045e-02 1.43192264e+02] [ 8.90558061e-01 4.54361498e-01 -2.14934649e-02 7.34254139e+01] [ 2.42336035e-02 -2.07496986e-04 9.99706302e-01 2.77016765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25361786499997 meters 0.018353211747010878 Centerline is valid? [True, True] Translation: X:143.20, Y:73.45, Z:2.77 [[ 4.55314743e-01 -8.90258304e-01 -1.13418446e-02 1.43204698e+02] [ 8.89991655e-01 4.55455950e-01 -2.17883256e-02 7.34503579e+01] [ 2.45629484e-02 -1.73601143e-04 9.99698270e-01 2.77042097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28361786499997 meters 0.01813769671113435 Centerline is valid? [True, True] Translation: X:143.22, Y:73.48, Z:2.77 [[ 4.57676482e-01 -8.89037478e-01 -1.20250182e-02 1.43216141e+02] [ 8.88736918e-01 4.57834415e-01 -2.31157849e-02 7.34752128e+01] [ 2.60562663e-02 -1.07526436e-04 9.99660472e-01 2.76959572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31361786499997 meters 0.01808786259681186 Centerline is valid? [True, True] Translation: X:143.23, Y:73.50, Z:2.77 [[ 4.58636917e-01 -8.88537157e-01 -1.24055948e-02 1.43228127e+02] [ 8.88216688e-01 4.58804658e-01 -2.38621358e-02 7.35002863e+01] [ 2.68941390e-02 -7.47999270e-05 9.99638284e-01 2.76966025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34361786499997 meters 0.018095546491162077 Centerline is valid? [True, True] Translation: X:143.24, Y:73.53, Z:2.77 [[ 4.59152386e-01 -8.88267164e-01 -1.26700778e-02 1.43240193e+02] [ 8.87932340e-01 4.59327162e-01 -2.43868222e-02 7.35254007e+01] [ 2.74817243e-02 -5.29042584e-05 9.99622305e-01 2.76981477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37361786499997 meters 0.01787295193220903 Centerline is valid? [True, True] Translation: X:143.25, Y:73.55, Z:2.77 [[ 4.59783215e-01 -8.87937001e-01 -1.29335545e-02 1.43251523e+02] [ 8.87587567e-01 4.59965087e-01 -2.49084159e-02 7.35504389e+01] [ 2.80660876e-02 -2.71905892e-05 9.99606069e-01 2.77006513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40361786499997 meters 0.017935402151339753 Centerline is valid? [True, True] Translation: X:143.26, Y:73.58, Z:2.77 [[ 4.59642365e-01 -8.88010126e-01 -1.29194353e-02 1.43264271e+02] [ 8.87661107e-01 4.59823895e-01 -2.48946665e-02 7.35750739e+01] [ 2.80473810e-02 -2.54368084e-05 9.99606595e-01 2.77140753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43361786499997 meters 0.01791763987917289 Centerline is valid? [True, True] Translation: X:143.28, Y:73.60, Z:2.77 [[ 4.59015425e-01 -8.88337400e-01 -1.27083821e-02 1.43276895e+02] [ 8.87999382e-01 4.59191313e-01 -2.45038013e-02 7.35987746e+01] [ 2.76032218e-02 -3.74126309e-05 9.99618958e-01 2.77253472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46361786499997 meters 0.017731221394860646 Centerline is valid? [True, True] Translation: X:143.29, Y:73.62, Z:2.78 [[ 4.57384047e-01 -8.89184902e-01 -1.22492396e-02 1.43290816e+02] [ 8.88870777e-01 4.57548035e-01 -2.36333772e-02 7.36236778e+01] [ 2.66190577e-02 -7.84613750e-05 9.99645647e-01 2.77577011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49361786499998 meters 0.017717231419049788 Centerline is valid? [True, True] Translation: X:143.30, Y:73.65, Z:2.78 [[ 4.56505775e-01 -8.89640481e-01 -1.19285881e-02 1.43304250e+02] [ 8.89342379e-01 4.56661587e-01 -2.30288416e-02 7.36487427e+01] [ 2.59347177e-02 -9.57997629e-05 9.99663634e-01 2.77761988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52361786499998 meters 0.017765556158010308 Centerline is valid? [True, True] Translation: X:143.32, Y:73.67, Z:2.78 [[ 4.55325500e-01 -8.90247279e-01 -1.17673721e-02 1.43317801e+02] [ 8.89957001e-01 4.55477515e-01 -2.27325721e-02 7.36733882e+01] [ 2.55973838e-02 -1.21735404e-04 9.99672326e-01 2.77886712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55361786499998 meters 0.018003263454682533 Centerline is valid? [True, True] Translation: X:143.33, Y:73.70, Z:2.78 [[ 4.54288760e-01 -8.90774651e-01 -1.19266340e-02 1.43331455e+02] [ 8.90476254e-01 4.54445267e-01 -2.30551752e-02 7.36966516e+01] [ 2.59569680e-02 -1.46677425e-04 9.99663050e-01 2.77817630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58361786499998 meters 0.017944673821845614 Centerline is valid? [True, True] Translation: X:143.34, Y:73.72, Z:2.78 [[ 4.52649604e-01 -8.91610397e-01 -1.17998182e-02 1.43344150e+02] [ 8.91318235e-01 4.52803340e-01 -2.28240993e-02 7.37220258e+01] [ 2.56932014e-02 -1.86073636e-04 9.99669858e-01 2.77980060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61361786499998 meters 0.017845392483657872 Centerline is valid? [True, True] Translation: X:143.36, Y:73.75, Z:2.78 [[ 4.51468097e-01 -8.92207882e-01 -1.19017716e-02 1.43356597e+02] [ 8.91910463e-01 4.51624898e-01 -2.30364495e-02 7.37473357e+01] [ 2.59284382e-02 -2.15092613e-04 9.99663778e-01 2.78066077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64361786499995 meters 0.01806178478542269 Centerline is valid? [True, True] Translation: X:143.37, Y:73.77, Z:2.78 [[ 4.49611719e-01 -8.93138236e-01 -1.23851854e-02 1.43370532e+02] [ 8.92816152e-01 4.49782187e-01 -2.39854661e-02 7.37711779e+01] [ 2.69929727e-02 -2.73546961e-04 9.99635586e-01 2.78053022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67361786499995 meters 0.018093099041728938 Centerline is valid? [True, True] Translation: X:143.38, Y:73.80, Z:2.78 [[ 4.48375313e-01 -8.93756733e-01 -1.25889407e-02 1.43383972e+02] [ 8.93423890e-01 4.48551900e-01 -2.43915233e-02 7.37961130e+01] [ 2.74468815e-02 -3.10703425e-04 9.99623215e-01 2.78102909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70361786499996 meters 0.018253483118674124 Centerline is valid? [True, True] Translation: X:143.40, Y:73.82, Z:2.78 [[ 4.47351670e-01 -8.94266909e-01 -1.27741758e-02 1.43397395e+02] [ 8.93924016e-01 4.47533887e-01 -2.47643471e-02 7.38205634e+01] [ 2.78628127e-02 -3.40770476e-04 9.99611698e-01 2.78134730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73361786499996 meters 0.018503045909321923 Centerline is valid? [True, True] Translation: X:143.41, Y:73.84, Z:2.78 [[ 4.45509638e-01 -8.95179240e-01 -1.32397182e-02 1.43412457e+02] [ 8.94810995e-01 4.45706139e-01 -2.56772597e-02 7.38446514e+01] [ 2.88867735e-02 -4.07578763e-04 9.99582607e-01 2.78235670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76361786499996 meters 0.018619801524692843 Centerline is valid? [True, True] Translation: X:143.43, Y:73.87, Z:2.78 [[ 4.44690720e-01 -8.95587137e-01 -1.31849738e-02 1.43426210e+02] [ 8.95221753e-01 4.44885938e-01 -2.55835085e-02 7.38696490e+01] [ 2.87780706e-02 -4.26726572e-04 9.99585734e-01 2.78277340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79361786499996 meters 0.0186067950224895 Centerline is valid? [True, True] Translation: X:143.44, Y:73.89, Z:2.78 [[ 4.44121388e-01 -8.95867902e-01 -1.33001773e-02 1.43438621e+02] [ 8.95495728e-01 4.44320275e-01 -2.58242877e-02 7.38943955e+01] [ 2.90446889e-02 -4.41133509e-04 9.99578017e-01 2.78321517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82361786499996 meters 0.018829517361432055 Centerline is valid? [True, True] Translation: X:143.45, Y:73.92, Z:2.78 [[ 4.43451370e-01 -8.96203222e-01 -1.30639361e-02 1.43451177e+02] [ 8.95843840e-01 4.43643532e-01 -2.53817146e-02 7.39181068e+01] [ 2.85429052e-02 -4.47690522e-04 9.99592468e-01 2.78313484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85361786499996 meters 0.018848742331794587 Centerline is valid? [True, True] Translation: X:143.46, Y:73.94, Z:2.78 [[ 4.42936968e-01 -8.96461047e-01 -1.28231728e-02 1.43463868e+02] [ 8.96114460e-01 4.43122319e-01 -2.49295761e-02 7.39432807e+01] [ 2.80306280e-02 -4.48799691e-04 9.99606964e-01 2.78401451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88361786499996 meters 0.01883382046802342 Centerline is valid? [True, True] Translation: X:143.48, Y:73.97, Z:2.78 [[ 4.42495371e-01 -8.96682678e-01 -1.25706846e-02 1.43476645e+02] [ 8.96349252e-01 4.42673668e-01 -2.44549126e-02 7.39679433e+01] [ 2.74930076e-02 -4.46538073e-04 9.99621896e-01 2.78458635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91361786499996 meters 0.019227918598769995 Centerline is valid? [True, True] Translation: X:143.49, Y:73.99, Z:2.78 [[ 4.41721762e-01 -8.97070484e-01 -1.21009317e-02 1.43489897e+02] [ 8.96761268e-01 4.41887257e-01 -2.35558757e-02 7.39911980e+01] [ 2.64785283e-02 -4.46503893e-04 9.99649283e-01 2.78473539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94361786499996 meters 0.01949006642988032 Centerline is valid? [True, True] Translation: X:143.50, Y:74.02, Z:2.79 [[ 4.40030956e-01 -8.97905051e-01 -1.18015499e-02 1.43503865e+02] [ 8.97610891e-01 4.40188925e-01 -2.29869151e-02 7.40154908e+01] [ 2.58349788e-02 -4.78245530e-04 9.99666107e-01 2.78536673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97361786499997 meters 0.019588152206299128 Centerline is valid? [True, True] Translation: X:143.52, Y:74.04, Z:2.79 [[ 4.38838176e-01 -8.98491048e-01 -1.16143185e-02 1.43517248e+02] [ 8.98205993e-01 4.38991559e-01 -2.26363567e-02 7.40401068e+01] [ 2.54371516e-02 -4.98352996e-04 9.99676299e-01 2.78650407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00361786499997 meters 0.01986117342263628 Centerline is valid? [True, True] Translation: X:143.53, Y:74.06, Z:2.79 [[ 4.37660743e-01 -8.99070979e-01 -1.11556364e-02 1.43531160e+02] [ 8.98807863e-01 4.37802603e-01 -2.17555822e-02 7.40640371e+01] [ 2.44437793e-02 -5.05209447e-04 9.99701079e-01 2.78711422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03361786499997 meters 0.020348535474358918 Centerline is valid? [True, True] Translation: X:143.55, Y:74.09, Z:2.79 [[ 4.36217365e-01 -8.99775589e-01 -1.08765854e-02 1.43545515e+02] [ 8.99525392e-01 4.36352626e-01 -2.12239403e-02 7.40890007e+01] [ 2.38428100e-02 -5.25513460e-04 9.99715582e-01 2.78808446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06361786499997 meters 0.019949167237359865 Centerline is valid? [True, True] Translation: X:143.56, Y:74.11, Z:2.79 [[ 4.35919796e-01 -8.99921392e-01 -1.07433237e-02 1.43557427e+02] [ 8.99677021e-01 4.36051850e-01 -2.09771851e-02 7.41144217e+01] [ 2.35624638e-02 -5.21151220e-04 9.99722231e-01 2.78859114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09361786499997 meters 0.01989153128914253 Centerline is valid? [True, True] Translation: X:143.57, Y:74.14, Z:2.79 [[ 4.36340757e-01 -8.99720208e-01 -1.05019092e-02 1.43569497e+02] [ 8.99486328e-01 4.36466842e-01 -2.05193068e-02 7.41404803e+01] [ 2.30453701e-02 -4.92913915e-04 9.99734299e-01 2.78850208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12361786499997 meters 0.019856013040264176 Centerline is valid? [True, True] Translation: X:143.58, Y:74.17, Z:2.79 [[ 4.36642757e-01 -8.99573310e-01 -1.05338913e-02 1.43582001e+02] [ 8.99337644e-01 4.36769538e-01 -2.05954617e-02 7.41657580e+01] [ 2.31280105e-02 -4.80665813e-04 9.99732396e-01 2.78867748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15361786499997 meters 0.019909867648786005 Centerline is valid? [True, True] Translation: X:143.59, Y:74.19, Z:2.79 [[ 4.36952227e-01 -8.99420364e-01 -1.07591959e-02 1.43594741e+02] [ 8.99174124e-01 4.37084410e-01 -2.10502468e-02 7.41911221e+01] [ 2.36356974e-02 -4.76438385e-04 9.99720524e-01 2.78854434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18361786499997 meters 0.019778449850466832 Centerline is valid? [True, True] Translation: X:143.61, Y:74.22, Z:2.79 [[ 4.37324586e-01 -8.99237988e-01 -1.08741815e-02 1.43606628e+02] [ 8.98986057e-01 4.37459512e-01 -2.12895561e-02 7.42167179e+01] [ 2.39013917e-02 -4.65291302e-04 9.99714213e-01 2.78828769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21361786499997 meters 0.019848337004392917 Centerline is valid? [True, True] Translation: X:143.62, Y:74.24, Z:2.79 [[ 4.36812899e-01 -8.99487940e-01 -1.07674304e-02 1.43619215e+02] [ 8.99240675e-01 4.36945336e-01 -2.10946069e-02 7.42421221e+01] [ 2.36791230e-02 -4.68115038e-04 9.99719501e-01 2.78839209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24361786499998 meters 0.01991605518585805 Centerline is valid? [True, True] Translation: X:143.63, Y:74.27, Z:2.79 [[ 4.36306594e-01 -8.99731854e-01 -1.09154615e-02 1.43632205e+02] [ 8.99477469e-01 4.36442848e-01 -2.13991528e-02 7.42672099e+01] [ 2.40174745e-02 -4.81620152e-04 9.99711423e-01 2.78886818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27361786499998 meters 0.020222798293346292 Centerline is valid? [True, True] Translation: X:143.64, Y:74.29, Z:2.79 [[ 4.35707501e-01 -9.00025081e-01 -1.06689977e-02 1.43644634e+02] [ 8.99781829e-01 4.35837840e-01 -2.09293585e-02 7.42912849e+01] [ 2.34869005e-02 -4.80691773e-04 9.99724029e-01 2.78937837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30361786499998 meters 0.020075360056804617 Centerline is valid? [True, True] Translation: X:143.66, Y:74.32, Z:2.79 [[ 4.35271262e-01 -9.00237941e-01 -1.05155944e-02 1.43656837e+02] [ 9.00001400e-01 4.35398001e-01 -2.06412395e-02 7.43165734e+01] [ 2.31604957e-02 -4.79511289e-04 9.99731645e-01 2.79024209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33361786499998 meters 0.020249970333777876 Centerline is valid? [True, True] Translation: X:143.67, Y:74.34, Z:2.79 [[ 4.35029252e-01 -9.00358964e-01 -1.01629376e-02 1.43668797e+02] [ 9.00137775e-01 4.35147699e-01 -1.99616343e-02 7.43403160e+01] [ 2.23950153e-02 -4.64149245e-04 9.99749092e-01 2.79113332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36361786499998 meters 0.02035529108872637 Centerline is valid? [True, True] Translation: X:143.68, Y:74.36, Z:2.79 [[ 4.35074707e-01 -9.00338388e-01 -1.00392240e-02 1.43681326e+02] [ 9.00122289e-01 4.35190283e-01 -1.97302281e-02 7.43644682e+01] [ 2.21328545e-02 -4.52406041e-04 9.99754936e-01 2.79217650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39361786499995 meters 0.02041605382731707 Centerline is valid? [True, True] Translation: X:143.69, Y:74.39, Z:2.79 [[ 4.35255586e-01 -9.00253365e-01 -9.82110181e-03 1.43693742e+02] [ 9.00046287e-01 4.35366158e-01 -1.93129399e-02 7.43894910e+01] [ 2.16623145e-02 -4.33381234e-04 9.99765251e-01 2.79297903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42361786499995 meters 0.020027680174131354 Centerline is valid? [True, True] Translation: X:143.71, Y:74.41, Z:2.79 [[ 4.35429875e-01 -9.00168275e-01 -9.89450951e-03 1.43705430e+02] [ 8.99957788e-01 4.35542071e-01 -1.94701132e-02 7.44149917e+01] [ 2.18358534e-02 -4.26771912e-04 9.99761478e-01 2.79342795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45361786499996 meters 0.020264187240937908 Centerline is valid? [True, True] Translation: X:143.72, Y:74.44, Z:2.79 [[ 4.35862509e-01 -8.99959167e-01 -9.86770380e-03 1.43716860e+02] [ 8.99749505e-01 4.35974002e-01 -1.94293323e-02 7.44395680e+01] [ 2.17876680e-02 -4.09944102e-04 9.99762537e-01 2.79314795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48361786499996 meters 0.01965098359213412 Centerline is valid? [True, True] Translation: X:143.73, Y:74.47, Z:2.79 [[ 4.35842945e-01 -8.99967121e-01 -1.00054245e-02 1.43727882e+02] [ 8.99751332e-01 4.35957580e-01 -1.97111087e-02 7.44658144e+01] [ 2.21012904e-02 -4.11446410e-04 9.99755652e-01 2.79379684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51361786499996 meters 0.01965839666489978 Centerline is valid? [True, True] Translation: X:143.74, Y:74.49, Z:2.79 [[ 4.35548222e-01 -9.00111217e-01 -9.87645276e-03 1.43740311e+02] [ 8.99900708e-01 4.35659995e-01 -1.94700714e-02 7.44915300e+01] [ 2.18280050e-02 -4.07671870e-04 9.99761658e-01 2.79412024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54361786499996 meters 0.019806218953219063 Centerline is valid? [True, True] Translation: X:143.75, Y:74.52, Z:2.79 [[ 4.35462257e-01 -9.00152281e-01 -9.92442353e-03 1.43752707e+02] [ 8.99939448e-01 4.35575145e-01 -1.95775976e-02 7.45154501e+01] [ 2.19456514e-02 -4.06075381e-04 9.99759083e-01 2.79448560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57361786499996 meters 0.01961465778586768 Centerline is valid? [True, True] Translation: X:143.76, Y:74.54, Z:2.80 [[ 4.36116142e-01 -8.99839189e-01 -9.59923754e-03 1.43764214e+02] [ 8.99639759e-01 4.36221613e-01 -1.89475015e-02 7.45416614e+01] [ 2.12370992e-02 -3.72544520e-04 9.99774398e-01 2.79580607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60361786499996 meters 0.019572695085229096 Centerline is valid? [True, True] Translation: X:143.78, Y:74.57, Z:2.80 [[ 4.36264650e-01 -8.99766795e-01 -9.63686055e-03 1.43775921e+02] [ 8.99565515e-01 4.36370921e-01 -1.90342751e-02 7.45671453e+01] [ 2.13316544e-02 -3.65006054e-04 9.99772388e-01 2.79604135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63361786499996 meters 0.019674285492495603 Centerline is valid? [True, True] Translation: X:143.79, Y:74.59, Z:2.80 [[ 4.36600594e-01 -8.99604228e-01 -9.59969768e-03 1.43787650e+02] [ 8.99404199e-01 4.36705976e-01 -1.89730468e-02 7.45911991e+01] [ 2.12604784e-02 -3.50364922e-04 9.99773909e-01 2.79691545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66361786499996 meters 0.019755664196277632 Centerline is valid? [True, True] Translation: X:143.80, Y:74.62, Z:2.80 [[ 4.36448194e-01 -8.99679853e-01 -9.44122688e-03 1.43800186e+02] [ 8.99486164e-01 4.36550163e-01 -1.86707002e-02 7.46159636e+01] [ 2.09192219e-02 -3.43459579e-04 9.99781110e-01 2.79779797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69361786499996 meters 0.01959349072824894 Centerline is valid? [True, True] Translation: X:143.81, Y:74.64, Z:2.80 [[ 4.36185912e-01 -8.99808255e-01 -9.32499136e-03 1.43812281e+02] [ 8.99619088e-01 4.36285445e-01 -1.84528287e-02 7.46410498e+01] [ 2.06723656e-02 -3.40076329e-04 9.99786246e-01 2.79837477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72361786499997 meters 0.019747920326883352 Centerline is valid? [True, True] Translation: X:143.82, Y:74.67, Z:2.80 [[ 4.36017561e-01 -8.99892840e-01 -9.03123735e-03 1.43824823e+02] [ 8.99715193e-01 4.36110959e-01 -1.78830448e-02 7.46661669e+01] [ 2.00314456e-02 -3.28219884e-04 9.99799297e-01 2.79890235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75361786499997 meters 0.019682930536832132 Centerline is valid? [True, True] Translation: X:143.84, Y:74.69, Z:2.80 [[ 4.35996509e-01 -8.99902220e-01 -9.11255713e-03 1.43835712e+02] [ 8.99721118e-01 4.36091605e-01 -1.80560524e-02 7.46924122e+01] [ 2.02225913e-02 -3.26384277e-04 9.99795449e-01 2.79951746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78361786499997 meters 0.01978925622862478 Centerline is valid? [True, True] Translation: X:143.85, Y:74.72, Z:2.80 [[ 4.35720877e-01 -9.00036166e-01 -9.06735339e-03 1.43846954e+02] [ 8.99856645e-01 4.35815091e-01 -1.79784596e-02 7.47170140e+01] [ 2.01329533e-02 -3.25728013e-04 9.99797259e-01 2.79959619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81361786499997 meters 0.01970535326105032 Centerline is valid? [True, True] Translation: X:143.86, Y:74.74, Z:2.80 [[ 4.35543566e-01 -9.00124629e-01 -8.80085163e-03 1.43858248e+02] [ 8.99955294e-01 4.35632361e-01 -1.74618184e-02 7.47427990e+01] [ 1.95517485e-02 -3.14990374e-04 9.99808797e-01 2.80008563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84361786499997 meters 0.01998247876138616 Centerline is valid? [True, True] Translation: X:143.87, Y:74.77, Z:2.80 [[ 4.35516924e-01 -9.00138753e-01 -8.67372270e-03 1.43870264e+02] [ 8.99974061e-01 4.35603181e-01 -1.72208574e-02 7.47668255e+01] [ 1.92794623e-02 -3.06150571e-04 9.99814087e-01 2.80031897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87361786499997 meters 0.01980951489461573 Centerline is valid? [True, True] Translation: X:143.88, Y:74.79, Z:2.80 [[ 4.35116266e-01 -9.00334581e-01 -8.45445526e-03 1.43882624e+02] [ 9.00177935e-01 4.35198290e-01 -1.67968368e-02 7.47924235e+01] [ 1.88021375e-02 -3.01937183e-04 9.99823179e-01 2.80190020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90361786499997 meters 0.02011417286470494 Centerline is valid? [True, True] Translation: X:143.90, Y:74.82, Z:2.80 [[ 4.34791122e-01 -9.00491548e-01 -8.46479587e-03 1.43895527e+02] [ 9.00334348e-01 4.34873406e-01 -1.68280394e-02 7.48161559e+01] [ 1.88346218e-02 -3.04464353e-04 9.99822566e-01 2.80266933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93361786499997 meters 0.01970336036580499 Centerline is valid? [True, True] Translation: X:143.91, Y:74.84, Z:2.80 [[ 4.34531240e-01 -9.00616732e-01 -8.49137738e-03 1.43905666e+02] [ 9.00458406e-01 4.34614090e-01 -1.68894065e-02 7.48420602e+01] [ 1.89013544e-02 -3.07157383e-04 9.99821306e-01 2.80371126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96361786499997 meters 0.01970336036580499 Centerline is valid? [True, True] Translation: X:143.92, Y:74.87, Z:2.80 [[ 4.34290640e-01 -9.00732820e-01 -8.48686613e-03 1.43917982e+02] [ 9.00574472e-01 4.34373448e-01 -1.68916732e-02 7.48667380e+01] [ 1.89013537e-02 -3.07159421e-04 9.99821306e-01 2.80416213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99361786499998 meters 0.020242913261464955 Centerline is valid? [True, True] Translation: X:143.93, Y:74.89, Z:2.80 [[ 4.34376378e-01 -9.00690087e-01 -8.63309183e-03 1.43930293e+02] [ 9.00526006e-01 4.34462052e-01 -1.71941510e-02 7.48913512e+01] [ 1.92373521e-02 -3.05590688e-04 9.99814898e-01 2.80385177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02361786499998 meters 0.019664991674232503 Centerline is valid? [True, True] Translation: X:143.94, Y:74.92, Z:2.80 [[ 4.34747202e-01 -9.00512407e-01 -8.50146280e-03 1.43939681e+02] [ 9.00353067e-01 4.34830221e-01 -1.69420673e-02 7.49176830e+01] [ 1.89532348e-02 -2.88801734e-04 9.99820330e-01 2.80456350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05361786499998 meters 0.019228338983902162 Centerline is valid? [True, True] Translation: X:143.95, Y:74.95, Z:2.80 [[ 4.35492103e-01 -9.00154744e-01 -8.25018355e-03 1.43948305e+02] [ 9.00004426e-01 4.35570166e-01 -1.64518588e-02 7.49453535e+01] [ 1.84027525e-02 -2.60547125e-04 9.99830621e-01 2.80476987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08361786499998 meters 0.019464758743441567 Centerline is valid? [True, True] Translation: X:143.96, Y:74.97, Z:2.81 [[ 4.35757055e-01 -9.00026925e-01 -8.20504777e-03 1.43960420e+02] [ 8.99878027e-01 4.35834225e-01 -1.63726706e-02 7.49697489e+01] [ 1.83118850e-02 -2.49035480e-04 9.99832292e-01 2.80538094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11361786499998 meters 0.019329885171728546 Centerline is valid? [True, True] Translation: X:143.97, Y:75.00, Z:2.81 [[ 4.35573407e-01 -9.00116860e-01 -8.08985622e-03 1.43971565e+02] [ 8.99971954e-01 4.35648458e-01 -1.61525176e-02 7.49956897e+01] [ 1.80634868e-02 -2.45036599e-04 9.99836812e-01 2.80661426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14361786499995 meters 0.019298251246158745 Centerline is valid? [True, True] Translation: X:143.98, Y:75.02, Z:2.81 [[ 4.35675958e-01 -9.00070594e-01 -7.70616527e-03 1.43982159e+02] [ 8.99938931e-01 4.35744047e-01 -1.53962982e-02 7.50221682e+01] [ 1.72156709e-02 -2.27281171e-04 9.99851774e-01 2.80821585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17361786499995 meters 0.019993073538931858 Centerline is valid? [True, True] Translation: X:144.00, Y:75.05, Z:2.81 [[ 4.35301341e-01 -9.00251739e-01 -7.71677090e-03 1.43995546e+02] [ 9.00119566e-01 4.35369674e-01 -1.54276857e-02 7.50462011e+01] [ 1.72484490e-02 -2.30324181e-04 9.99851208e-01 2.80896161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20361786499996 meters 0.01955448331166657 Centerline is valid? [True, True] Translation: X:144.01, Y:75.07, Z:2.81 [[ 4.34899746e-01 -9.00448168e-01 -7.43693409e-03 1.44005491e+02] [ 9.00325327e-01 4.34963269e-01 -1.48748004e-02 7.50724951e+01] [ 1.66287799e-02 -2.26613208e-04 9.99861707e-01 2.81015579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23361786499996 meters 0.019285908534081676 Centerline is valid? [True, True] Translation: X:144.02, Y:75.10, Z:2.81 [[ 4.34195604e-01 -9.00788451e-01 -7.37182578e-03 1.44015827e+02] [ 9.00667642e-01 4.34258117e-01 -1.47541934e-02 7.50988264e+01] [ 1.64916822e-02 -2.33359025e-04 9.99863976e-01 2.81125778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26361786499996 meters 0.019408833422598245 Centerline is valid? [True, True] Translation: X:144.03, Y:75.12, Z:2.81 [[ 4.33561130e-01 -9.01097222e-01 -6.96721688e-03 1.44025184e+02] [ 9.00989209e-01 4.33617048e-01 -1.39535235e-02 7.51240397e+01] [ 1.55945853e-02 -2.27681812e-04 9.99878371e-01 2.81215751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29361786499996 meters 0.019591494355862705 Centerline is valid? [True, True] Translation: X:144.04, Y:75.15, Z:2.81 [[ 4.32724138e-01 -9.01499293e-01 -6.98897327e-03 1.44036316e+02] [ 9.01390518e-01 4.32780508e-01 -1.40059004e-02 7.51494824e+01] [ 1.56510007e-02 -2.39103060e-04 9.99877487e-01 2.81293530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32361786499996 meters 0.01984670002899591 Centerline is valid? [True, True] Translation: X:144.05, Y:75.17, Z:2.81 [[ 4.32418399e-01 -9.01646058e-01 -6.97959346e-03 1.44046425e+02] [ 9.01537446e-01 4.32474657e-01 -1.39965999e-02 7.51746582e+01] [ 1.56384764e-02 -2.39977547e-04 9.99877683e-01 2.81384876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35361786499996 meters 0.019737156995476495 Centerline is valid? [True, True] Translation: X:144.06, Y:75.20, Z:2.81 [[ 4.32269649e-01 -9.01717694e-01 -6.93913436e-03 1.44056938e+02] [ 9.01610249e-01 4.32325276e-01 -1.39217111e-02 7.52008747e+01] [ 1.55534164e-02 -2.38461472e-04 9.99879010e-01 2.81463382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38361786499996 meters 0.019750169802530176 Centerline is valid? [True, True] Translation: X:144.07, Y:75.23, Z:2.81 [[ 4.32118509e-01 -9.01789944e-01 -6.96355974e-03 1.44067860e+02] [ 9.01681604e-01 4.32174548e-01 -1.39801423e-02 7.52269738e+01] [ 1.56166250e-02 -2.37835480e-04 9.99878025e-01 2.81482210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41361786499996 meters 0.019755729593623882 Centerline is valid? [True, True] Translation: X:144.08, Y:75.25, Z:2.81 [[ 4.32177686e-01 -9.01759117e-01 -7.27616164e-03 1.44076771e+02] [ 9.01640659e-01 4.32238865e-01 -1.46179726e-02 7.52532363e+01] [ 1.63269299e-02 -2.42921604e-04 9.99866677e-01 2.81493794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44361786499996 meters 0.019427228911768284 Centerline is valid? [True, True] Translation: X:144.09, Y:75.28, Z:2.82 [[ 4.32000955e-01 -9.01842484e-01 -7.43702550e-03 1.44086592e+02] [ 9.01718625e-01 4.32064894e-01 -1.49481691e-02 7.52800912e+01] [ 1.66941715e-02 -2.48481100e-04 9.99860612e-01 2.81530104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47361786499997 meters 0.019387825881663275 Centerline is valid? [True, True] Translation: X:144.10, Y:75.31, Z:2.82 [[ 4.31909987e-01 -9.01884194e-01 -7.65920932e-03 1.44097563e+02] [ 9.01752642e-01 4.31977819e-01 -1.54057188e-02 7.53063883e+01] [ 1.72027828e-02 -2.52828432e-04 9.99851989e-01 2.81545973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50361786499997 meters 0.019948594678268435 Centerline is valid? [True, True] Translation: X:144.11, Y:75.33, Z:2.82 [[ 4.31703365e-01 -9.01979177e-01 -8.10977692e-03 1.44108298e+02] [ 9.01831493e-01 4.31779449e-01 -1.63237484e-02 7.53317294e+01] [ 1.82253162e-02 -2.66635108e-04 9.99833870e-01 2.81539525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53361786499997 meters 0.01995680012658425 Centerline is valid? [True, True] Translation: X:144.12, Y:75.36, Z:2.82 [[ 4.31403382e-01 -9.02122568e-01 -8.12373376e-03 1.44119415e+02] [ 9.01974214e-01 4.31479780e-01 -1.63620664e-02 7.53580453e+01] [ 1.82658162e-02 -2.68747601e-04 9.99833130e-01 2.81565990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56361786499997 meters 0.01980829190828452 Centerline is valid? [True, True] Translation: X:144.13, Y:75.38, Z:2.82 [[ 4.31086250e-01 -9.02273173e-01 -8.23209599e-03 1.44129740e+02] [ 9.02120660e-01 4.31164756e-01 -1.65912221e-02 7.53845478e+01] [ 1.85192043e-02 -2.74096141e-04 9.99828467e-01 2.81633018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59361786499997 meters 0.020108390789775023 Centerline is valid? [True, True] Translation: X:144.14, Y:75.41, Z:2.82 [[ 4.30741284e-01 -9.02438919e-01 -8.12059557e-03 1.44140908e+02] [ 9.02290346e-01 4.30817738e-01 -1.63770759e-02 7.54093763e+01] [ 1.82778073e-02 -2.72852271e-04 9.99832910e-01 2.81691043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62361786499997 meters 0.019661812732894936 Centerline is valid? [True, True] Translation: X:144.15, Y:75.44, Z:2.82 [[ 4.30165943e-01 -9.02716093e-01 -7.80495154e-03 1.44147810e+02] [ 9.02578731e-01 4.30236660e-01 -1.57496377e-02 7.54368282e+01] [ 1.75754277e-02 -2.69625507e-04 9.99845504e-01 2.81817093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65361786499997 meters 0.020517340546944738 Centerline is valid? [True, True] Translation: X:144.16, Y:75.46, Z:2.82 [[ 4.29600110e-01 -9.02987590e-01 -7.56030829e-03 1.44160495e+02] [ 9.02858574e-01 4.29666546e-01 -1.52661129e-02 7.54610065e+01] [ 1.70335220e-02 -2.67565383e-04 9.99854883e-01 2.81870460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68361786499997 meters 0.02005777632234248 Centerline is valid? [True, True] Translation: X:144.17, Y:75.49, Z:2.82 [[ 4.28926093e-01 -9.03309514e-01 -7.37078842e-03 1.44169954e+02] [ 9.03186783e-01 4.28989335e-01 -1.48924988e-02 7.54878587e+01] [ 1.66145255e-02 -2.69417328e-04 9.99861933e-01 2.81980744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71361786499997 meters 0.020213393169249624 Centerline is valid? [True, True] Translation: X:144.18, Y:75.52, Z:2.82 [[ 4.26965994e-01 -9.04239643e-01 -7.12094711e-03 1.44179457e+02] [ 9.04125072e-01 4.27025273e-01 -1.43968817e-02 7.55156473e+01] [ 1.60590555e-02 -2.91247920e-04 9.99871003e-01 2.82055340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74361786499998 meters 0.02038627885790335 Centerline is valid? [True, True] Translation: X:144.19, Y:75.54, Z:2.82 [[ 4.25436041e-01 -9.04960457e-01 -7.12368121e-03 1.44191333e+02] [ 9.04845761e-01 4.25495561e-01 -1.44109945e-02 7.55417832e+01] [ 1.60724749e-02 -3.14876271e-04 9.99870780e-01 2.82083016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77361786499998 meters 0.021062663244135416 Centerline is valid? [True, True] Translation: X:144.20, Y:75.57, Z:2.82 [[ 4.22436201e-01 -9.06362886e-01 -7.34675539e-03 1.44203293e+02] [ 9.06240952e-01 4.22499914e-01 -1.48714120e-02 7.55682374e+01] [ 1.65828994e-02 -3.75707822e-04 9.99862424e-01 2.82136569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80361786499998 meters 0.021809059087436626 Centerline is valid? [True, True] Translation: X:144.22, Y:75.59, Z:2.82 [[ 4.20833926e-01 -9.07106285e-01 -7.54953662e-03 1.44216014e+02] [ 9.06977489e-01 4.20901436e-01 -1.52910651e-02 7.55935090e+01] [ 1.70482320e-02 -4.12260829e-04 9.99854583e-01 2.82143341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83361786499998 meters 0.021150333442841115 Centerline is valid? [True, True] Translation: X:144.23, Y:75.62, Z:2.82 [[ 4.19121867e-01 -9.07897653e-01 -7.66240637e-03 1.44225799e+02] [ 9.07765006e-01 4.19191664e-01 -1.55255490e-02 7.56208509e+01] [ 1.73076264e-02 -4.48567259e-04 9.99850111e-01 2.82204042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86361786499998 meters 0.022781287404456108 Centerline is valid? [True, True] Translation: X:144.24, Y:75.64, Z:2.82 [[ 4.16489466e-01 -9.09107282e-01 -7.77646283e-03 1.44238557e+02] [ 9.08970698e-01 4.16561756e-01 -1.57662222e-02 7.56449959e+01] [ 1.75725645e-02 -5.02111350e-04 9.99845464e-01 2.82274065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89361786499995 meters 0.022466257760425656 Centerline is valid? [True, True] Translation: X:144.25, Y:75.67, Z:2.82 [[ 4.15230073e-01 -9.09683282e-01 -7.76612361e-03 1.44249140e+02] [ 9.09547046e-01 4.15302363e-01 -1.57518054e-02 7.56714852e+01] [ 1.75544435e-02 -5.23031489e-04 9.99845772e-01 2.82342652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92361786499995 meters 0.022822779013311985 Centerline is valid? [True, True] Translation: X:144.26, Y:75.70, Z:2.82 [[ 4.14127283e-01 -9.10185893e-01 -7.76099561e-03 1.44261176e+02] [ 9.10049823e-01 4.14199645e-01 -1.57471674e-02 7.56979649e+01] [ 1.75474512e-02 -5.41561047e-04 9.99845885e-01 2.82411716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95361786499996 meters 0.022479740080401128 Centerline is valid? [True, True] Translation: X:144.27, Y:75.73, Z:2.82 [[ 4.12186690e-01 -9.11064242e-01 -8.00498613e-03 1.44270481e+02] [ 9.10919464e-01 4.12263988e-01 -1.62522066e-02 7.57252525e+01] [ 1.81069718e-02 -5.92954437e-04 9.99835880e-01 2.82470017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98361786499996 meters 0.022698377204123835 Centerline is valid? [True, True] Translation: X:144.28, Y:75.75, Z:2.83 [[ 4.10950900e-01 -9.11623111e-01 -7.91587525e-03 1.44282320e+02] [ 9.11481467e-01 4.11026684e-01 -1.60810332e-02 7.57520299e+01] [ 1.79134775e-02 -6.06658501e-04 9.99839357e-01 2.82518091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01361786499996 meters 0.0252713435278701 Centerline is valid? [True, True] Translation: X:144.30, Y:75.78, Z:2.83 [[ 4.09915849e-01 -9.12088430e-01 -7.98072397e-03 1.44297807e+02] [ 9.11944370e-01 4.09993049e-01 -1.62224047e-02 7.57752144e+01] [ 1.80683090e-02 -6.28155504e-04 9.99836557e-01 2.82525889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04361786499996 meters 0.023205243676452474 Centerline is valid? [True, True] Translation: X:144.31, Y:75.80, Z:2.83 [[ 4.08901875e-01 -9.12542668e-01 -8.07068969e-03 1.44305930e+02] [ 9.12395313e-01 4.08980993e-01 -1.64115817e-02 7.58034954e+01] [ 1.82770273e-02 -6.52932905e-04 9.99832748e-01 2.82593929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07361786499996 meters 0.023226321665541946 Centerline is valid? [True, True] Translation: X:144.32, Y:75.83, Z:2.83 [[ 4.07322917e-01 -9.13246950e-01 -8.24922408e-03 1.44316707e+02] [ 9.13092957e-01 4.07405848e-01 -1.67847533e-02 7.58297776e+01] [ 1.86894068e-02 -6.95493750e-04 9.99825096e-01 2.82649243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10361786499996 meters 0.02430438970616381 Centerline is valid? [True, True] Translation: X:144.33, Y:75.85, Z:2.83 [[ 4.06802687e-01 -9.13477500e-01 -8.39234390e-03 1.44329951e+02] [ 9.13318005e-01 4.06888617e-01 -1.70843626e-02 7.58537435e+01] [ 1.90209300e-02 -7.14914177e-04 9.99818830e-01 2.82720022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13361786499996 meters 0.02449800771083141 Centerline is valid? [True, True] Translation: X:144.34, Y:75.88, Z:2.83 [[ 4.06250363e-01 -9.13724293e-01 -8.28001229e-03 1.44341544e+02] [ 9.13568892e-01 4.06334109e-01 -1.68662795e-02 7.58792275e+01] [ 1.87755808e-02 -7.12429478e-04 9.99823469e-01 2.82806229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16361786499996 meters 0.02389481370296172 Centerline is valid? [True, True] Translation: X:144.35, Y:75.91, Z:2.83 [[ 4.07050021e-01 -9.13371379e-01 -7.93758088e-03 1.44351497e+02] [ 9.13228314e-01 4.07126866e-01 -1.61790506e-02 7.59065106e+01] [ 1.80090842e-02 -6.63140736e-04 9.99837603e-01 2.82911278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19361786499996 meters 0.02408583789363515 Centerline is valid? [True, True] Translation: X:144.36, Y:75.93, Z:2.83 [[ 4.07907240e-01 -9.12989107e-01 -7.91042621e-03 1.44362906e+02] [ 9.12846782e-01 4.07983432e-01 -1.61329431e-02 7.59317991e+01] [ 1.79565242e-02 -6.40262809e-04 9.99838564e-01 2.82969554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22361786499997 meters 0.023963593244720024 Centerline is valid? [True, True] Translation: X:144.37, Y:75.96, Z:2.83 [[ 4.09046831e-01 -9.12478926e-01 -7.93099198e-03 1.44374338e+02] [ 9.12335692e-01 4.09123244e-01 -1.61788870e-02 7.59588055e+01] [ 1.80076466e-02 -6.17804590e-04 9.99837658e-01 2.83013377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25361786499997 meters 0.02372321202537243 Centerline is valid? [True, True] Translation: X:144.38, Y:75.98, Z:2.83 [[ 4.12170623e-01 -9.11071620e-01 -7.99258910e-03 1.44383906e+02] [ 9.10925730e-01 4.12247734e-01 -1.63132094e-02 7.59847079e+01] [ 1.81574289e-02 -5.56829352e-04 9.99834985e-01 2.83039800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28361786499997 meters 0.023313590171965562 Centerline is valid? [True, True] Translation: X:144.39, Y:76.01, Z:2.83 [[ 4.13495702e-01 -9.10472157e-01 -7.85849424e-03 1.44394837e+02] [ 9.10330932e-01 4.13570044e-01 -1.60441017e-02 7.60110829e+01] [ 1.78577457e-02 -5.19663270e-04 9.99840403e-01 2.83076988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31361786499997 meters 0.022315209186343533 Centerline is valid? [True, True] Translation: X:144.40, Y:76.04, Z:2.83 [[ 4.15955274e-01 -9.09349607e-01 -8.03139888e-03 1.44404533e+02] [ 9.09201708e-01 4.16032529e-01 -1.64069787e-02 7.60386281e+01] [ 1.82610028e-02 -4.77592268e-04 9.99833140e-01 2.83138280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34361786499997 meters 0.022117874242123553 Centerline is valid? [True, True] Translation: X:144.42, Y:76.06, Z:2.83 [[ 4.16895486e-01 -9.08917955e-01 -8.14278106e-03 1.44416502e+02] [ 9.08765658e-01 4.16974746e-01 -1.66444980e-02 7.60647636e+01] [ 1.85238172e-02 -4.60863692e-04 9.99828313e-01 2.83188239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37361786499997 meters 0.022197968317424564 Centerline is valid? [True, True] Translation: X:144.43, Y:76.09, Z:2.83 [[ 4.17172230e-01 -9.08791169e-01 -8.12041332e-03 1.44428722e+02] [ 9.08639493e-01 4.17251014e-01 -1.66090991e-02 7.60905757e+01] [ 1.84824533e-02 -4.49673317e-04 9.99829084e-01 2.83246926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40361786499997 meters 0.022098236372744665 Centerline is valid? [True, True] Translation: X:144.44, Y:76.12, Z:2.83 [[ 4.17286198e-01 -9.08737867e-01 -8.22908206e-03 1.44440521e+02] [ 9.08581879e-01 4.17367090e-01 -1.68428274e-02 7.61162987e+01] [ 1.87402631e-02 -4.48515418e-04 9.99824285e-01 2.83308181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43361786499997 meters 0.022335785078714268 Centerline is valid? [True, True] Translation: X:144.45, Y:76.14, Z:2.83 [[ 4.16514593e-01 -9.09091000e-01 -8.31551759e-03 1.44452994e+02] [ 9.08931566e-01 4.16597333e-01 -1.70314480e-02 7.61415153e+01] [ 1.89473585e-02 -4.64389798e-04 9.99820375e-01 2.83396157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46361786499997 meters 0.022739768885800062 Centerline is valid? [True, True] Translation: X:144.47, Y:76.17, Z:2.83 [[ 4.15845212e-01 -9.09398160e-01 -8.23083826e-03 1.44465702e+02] [ 9.09241813e-01 4.15926396e-01 -1.68688667e-02 7.61655109e+01] [ 1.87639392e-02 -4.68984860e-04 9.99823832e-01 2.83411934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49361786499998 meters 0.022548704893479113 Centerline is valid? [True, True] Translation: X:144.48, Y:76.19, Z:2.83 [[ 4.14993088e-01 -9.09786885e-01 -8.28020910e-03 1.44477793e+02] [ 9.09628535e-01 4.15075402e-01 -1.69805207e-02 7.61910713e+01] [ 1.88855661e-02 -4.85115773e-04 9.99821534e-01 2.83462373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52361786499998 meters 0.023769002861423177 Centerline is valid? [True, True] Translation: X:144.49, Y:76.21, Z:2.84 [[ 4.13009246e-01 -9.10691331e-01 -8.04132337e-03 1.44492831e+02] [ 9.10541972e-01 4.13087210e-01 -1.65007454e-02 7.62145089e+01] [ 1.83488536e-02 -5.07002026e-04 9.99831517e-01 2.83545699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55361786499998 meters 0.02429871260144175 Centerline is valid? [True, True] Translation: X:144.51, Y:76.24, Z:2.84 [[ 4.11750021e-01 -9.11261009e-01 -8.08045777e-03 1.44506321e+02] [ 9.11110163e-01 4.11828958e-01 -1.65885598e-02 7.62399434e+01] [ 1.84442743e-02 -5.31847351e-04 9.99829748e-01 2.83595720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58361786499998 meters 0.02515289148518478 Centerline is valid? [True, True] Translation: X:144.52, Y:76.26, Z:2.84 [[ 4.10477753e-01 -9.11834675e-01 -8.09566396e-03 1.44519626e+02] [ 9.11683181e-01 4.10557205e-01 -1.66300640e-02 7.62644026e+01] [ 1.84876022e-02 -5.54409351e-04 9.99828936e-01 2.83646302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61361786499998 meters 0.02395888149854992 Centerline is valid? [True, True] Translation: X:144.53, Y:76.29, Z:2.84 [[ 4.08296113e-01 -9.12811158e-01 -8.37104639e-03 1.44529840e+02] [ 9.12649182e-01 4.08381455e-01 -1.72063301e-02 7.62919645e+01] [ 1.91247102e-02 -6.14550944e-04 9.99816917e-01 2.83676484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64361786499995 meters 0.026456209063365505 Centerline is valid? [True, True] Translation: X:144.55, Y:76.31, Z:2.84 [[ 4.07384013e-01 -9.13216754e-01 -8.56891050e-03 1.44546364e+02] [ 9.13046918e-01 4.07473613e-01 -1.76232814e-02 7.63144157e+01] [ 1.95854808e-02 -6.44374212e-04 9.99807978e-01 2.83641490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67361786499995 meters 0.024054558698478966 Centerline is valid? [True, True] Translation: X:144.56, Y:76.34, Z:2.84 [[ 4.06392396e-01 -9.13653757e-01 -9.05725593e-03 1.44555290e+02] [ 9.13463934e-01 4.06492710e-01 -1.86364584e-02 7.63417245e+01] [ 2.07089787e-02 -6.99761661e-04 9.99785301e-01 2.83710808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70361786499996 meters 0.02430359266810475 Centerline is valid? [True, True] Translation: X:144.57, Y:76.37, Z:2.84 [[ 4.05963672e-01 -9.13842153e-01 -9.27452902e-03 1.44568131e+02] [ 9.13642905e-01 4.06068959e-01 -1.90956438e-02 7.63668629e+01] [ 2.12165026e-02 -7.21469953e-04 9.99774644e-01 2.83745595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73361786499996 meters 0.02468469872573263 Centerline is valid? [True, True] Translation: X:144.58, Y:76.39, Z:2.84 [[ 4.05867178e-01 -9.13883767e-01 -9.39648968e-03 1.44580667e+02] [ 9.13678975e-01 4.05975283e-01 -1.93597641e-02 7.63907698e+01] [ 2.15073167e-02 -7.27882242e-04 9.99768426e-01 2.83790121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76361786499996 meters 0.024802685032578112 Centerline is valid? [True, True] Translation: X:144.59, Y:76.42, Z:2.84 [[ 4.06029653e-01 -9.13811063e-01 -9.44783050e-03 1.44592857e+02] [ 9.13603741e-01 4.06138915e-01 -1.94778364e-02 7.64161390e+01] [ 2.16361940e-02 -7.22994143e-04 9.99765649e-01 2.83875443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79361786499996 meters 0.024137838153052125 Centerline is valid? [True, True] Translation: X:144.60, Y:76.44, Z:2.84 [[ 4.07122922e-01 -9.13326182e-01 -9.28500111e-03 1.44603224e+02] [ 9.13125562e-01 4.07228219e-01 -1.91542747e-02 7.64437518e+01] [ 2.12752151e-02 -6.80227545e-04 9.99773426e-01 2.84030202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82361786499996 meters 0.023936546654588664 Centerline is valid? [True, True] Translation: X:144.61, Y:76.47, Z:2.84 [[ 4.07487773e-01 -9.13163975e-01 -9.23418023e-03 1.44614610e+02] [ 9.12965270e-01 4.07591848e-01 -1.90604716e-02 7.64696179e+01] [ 2.11691126e-02 -6.63576714e-04 9.99775689e-01 2.84098141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85361786499996 meters 0.023851931380438066 Centerline is valid? [True, True] Translation: X:144.63, Y:76.50, Z:2.84 [[ 4.08140380e-01 -9.12874409e-01 -9.04125800e-03 1.44626525e+02] [ 9.12683602e-01 4.08240023e-01 -1.86742266e-02 7.64960710e+01] [ 2.07382269e-02 -6.30102002e-04 9.99784741e-01 2.84198181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88361786499996 meters 0.023851931380438066 Centerline is valid? [True, True] Translation: X:144.64, Y:76.52, Z:2.84 [[ 4.07896060e-01 -9.12983648e-01 -9.03675678e-03 1.44638470e+02] [ 9.12792819e-01 4.07995663e-01 -1.86764047e-02 7.65209164e+01] [ 2.07382096e-02 -6.30654814e-04 9.99784741e-01 2.84243297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91361786499996 meters 0.023844410355560376 Centerline is valid? [True, True] Translation: X:144.65, Y:76.55, Z:2.84 [[ 4.09428797e-01 -9.12297523e-01 -9.01613932e-03 1.44650372e+02] [ 9.12107142e-01 4.09527634e-01 -1.86461550e-02 7.65467631e+01] [ 2.07031992e-02 -5.89412262e-04 9.99785492e-01 2.84345031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94361786499996 meters 0.02384739647611563 Centerline is valid? [True, True] Translation: X:144.66, Y:76.57, Z:2.84 [[ 4.09895774e-01 -9.12087981e-01 -8.99828353e-03 1.44662014e+02] [ 9.11898071e-01 4.09994130e-01 -1.86204674e-02 7.65725293e+01] [ 2.06727480e-02 -5.73066475e-04 9.99786132e-01 2.84358896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97361786499997 meters 0.023735867619849502 Centerline is valid? [True, True] Translation: X:144.67, Y:76.60, Z:2.84 [[ 4.10516956e-01 -9.11808762e-01 -8.97836997e-03 1.44673482e+02] [ 9.11619387e-01 4.10614754e-01 -1.85907613e-02 7.65975837e+01] [ 2.06378702e-02 -5.53033403e-04 9.99786864e-01 2.84375864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00361786499997 meters 0.022864235159814967 Centerline is valid? [True, True] Translation: X:144.68, Y:76.63, Z:2.84 [[ 4.12786754e-01 -9.10780160e-01 -9.30573014e-03 1.44683203e+02] [ 9.10576242e-01 4.12891312e-01 -1.92787831e-02 7.66253693e+01] [ 2.14009883e-02 -5.15550488e-04 9.99770840e-01 2.84453865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03361786499997 meters 0.02308037218487137 Centerline is valid? [True, True] Translation: X:144.69, Y:76.65, Z:2.84 [[ 4.14119145e-01 -9.10174399e-01 -9.37535542e-03 1.44694983e+02] [ 9.09967041e-01 4.14224975e-01 -1.94333210e-02 7.66498773e+01] [ 2.15712176e-02 -4.83554162e-04 9.99767197e-01 2.84476204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06361786499997 meters 0.022718809108935256 Centerline is valid? [True, True] Translation: X:144.71, Y:76.68, Z:2.85 [[ 4.15352039e-01 -9.09613970e-01 -9.22548777e-03 1.44706127e+02] [ 9.09412851e-01 4.15454245e-01 -1.91321104e-02 7.66760048e+01] [ 2.12356029e-02 -4.43216079e-04 9.99774401e-01 2.84561224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09361786499997 meters 0.02131128343940864 Centerline is valid? [True, True] Translation: X:144.71, Y:76.70, Z:2.85 [[ 4.18773189e-01 -9.08046917e-01 -8.93377737e-03 1.44713997e+02] [ 9.07857726e-01 4.18868328e-01 -1.85384573e-02 7.67039683e+01] [ 2.05758654e-02 -3.47189913e-04 9.99788234e-01 2.84750227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12361786499997 meters 0.020993460129861332 Centerline is valid? [True, True] Translation: X:144.72, Y:76.73, Z:2.85 [[ 4.20668215e-01 -9.07170515e-01 -8.93916260e-03 1.44724338e+02] [ 9.06980691e-01 4.20763076e-01 -1.85596637e-02 7.67294063e+01] [ 2.05980492e-02 -3.00187260e-04 9.99787793e-01 2.84851815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15361786499997 meters 0.020629769181354396 Centerline is valid? [True, True] Translation: X:144.73, Y:76.75, Z:2.85 [[ 4.24357577e-01 -9.05452010e-01 -8.79233380e-03 1.44733762e+02] [ 9.05267908e-01 4.24448599e-01 -1.82593011e-02 7.67549557e+01] [ 2.02648147e-02 -2.10944858e-04 9.99794625e-01 2.84877887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18361786499997 meters 0.020151270462995582 Centerline is valid? [True, True] Translation: X:144.74, Y:76.78, Z:2.85 [[ 4.25531730e-01 -9.04898744e-01 -9.00053403e-03 1.44743045e+02] [ 9.04705509e-01 4.25626866e-01 -1.87006047e-02 7.67812035e+01] [ 2.07530228e-02 -1.85132037e-04 9.99784616e-01 2.84992376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21361786499997 meters 0.02003068792749353 Centerline is valid? [True, True] Translation: X:144.75, Y:76.81, Z:2.85 [[ 4.26620048e-01 -9.04386611e-01 -8.95504339e-03 1.44754242e+02] [ 9.04194950e-01 4.26713997e-01 -1.86187559e-02 7.68074819e+01] [ 2.06597959e-02 -1.53970485e-04 9.99786552e-01 2.85075630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24361786499998 meters 0.02018318010014997 Centerline is valid? [True, True] Translation: X:144.77, Y:76.83, Z:2.85 [[ 4.27242591e-01 -9.04092293e-01 -8.99415224e-03 1.44766316e+02] [ 9.03898624e-01 4.27337230e-01 -1.87128029e-02 7.68320056e+01] [ 2.07616370e-02 -1.34895417e-04 9.99784445e-01 2.84991269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27361786499998 meters 0.019975607062665983 Centerline is valid? [True, True] Translation: X:144.78, Y:76.86, Z:2.85 [[ 4.27683380e-01 -9.03883563e-01 -9.02387319e-03 1.44776903e+02] [ 9.03688317e-01 4.27778552e-01 -1.87866048e-02 7.68585232e+01] [ 2.08411227e-02 -1.20050120e-04 9.99782793e-01 2.85107360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30361786499998 meters 0.019863618718137754 Centerline is valid? [True, True] Translation: X:144.79, Y:76.88, Z:2.85 [[ 4.27750966e-01 -9.03850805e-01 -9.10126274e-03 1.44788722e+02] [ 9.03651907e-01 4.27847764e-01 -1.89610522e-02 7.68835504e+01] [ 2.10319172e-02 -1.13765036e-04 9.99778798e-01 2.85223056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33361786499998 meters 0.019897015708290167 Centerline is valid? [True, True] Translation: X:144.80, Y:76.91, Z:2.85 [[ 4.27204541e-01 -9.04109268e-01 -9.09455083e-03 1.44801075e+02] [ 9.03910462e-01 4.27301318e-01 -1.89594313e-02 7.69079095e+01] [ 2.10275111e-02 -1.21104497e-04 9.99778890e-01 2.85265628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36361786499998 meters 0.02005847555938989 Centerline is valid? [True, True] Translation: X:144.81, Y:76.93, Z:2.85 [[ 4.26270016e-01 -9.04549916e-01 -9.12810738e-03 1.44813900e+02] [ 9.04349549e-01 4.26367717e-01 -1.90384523e-02 7.69331754e+01] [ 2.11131607e-02 -1.39478444e-04 9.99777083e-01 2.85309878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39361786499995 meters 0.020233664848101844 Centerline is valid? [True, True] Translation: X:144.83, Y:76.96, Z:2.85 [[ 4.23922670e-01 -9.05654300e-01 -8.93642430e-03 1.44828023e+02] [ 9.05462266e-01 4.24016810e-01 -1.86501998e-02 7.69573374e+01] [ 2.06798277e-02 -1.85352512e-04 9.99786132e-01 2.85382868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42361786499995 meters 0.02038531934315184 Centerline is valid? [True, True] Translation: X:144.84, Y:76.98, Z:2.85 [[ 4.22144857e-01 -9.06486048e-01 -8.76154932e-03 1.44841332e+02] [ 9.06301495e-01 4.22235713e-01 -1.82921683e-02 7.69825710e+01] [ 2.02810344e-02 -2.18660459e-04 9.99794295e-01 2.85481070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45361786499996 meters 0.020688491403443972 Centerline is valid? [True, True] Translation: X:144.85, Y:77.01, Z:2.86 [[ 4.20499243e-01 -9.07249819e-01 -8.84040581e-03 1.44854700e+02] [ 9.07061864e-01 4.20592085e-01 -1.84681673e-02 7.70067975e+01] [ 2.04734461e-02 -2.52944608e-04 9.99790365e-01 2.85521751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48361786499996 meters 0.020914247209738605 Centerline is valid? [True, True] Translation: X:144.87, Y:77.03, Z:2.86 [[ 4.16435206e-01 -9.09122943e-01 -8.78597113e-03 1.44869261e+02] [ 9.08937556e-01 4.16527741e-01 -1.83619508e-02 7.70318745e+01] [ 2.03528715e-02 -3.39336360e-04 9.99792801e-01 2.85629018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51361786499996 meters 0.021442572326359276 Centerline is valid? [True, True] Translation: X:144.88, Y:77.06, Z:2.86 [[ 4.14240983e-01 -9.10124353e-01 -8.83573493e-03 1.44883941e+02] [ 9.09936863e-01 4.14335026e-01 -1.84767827e-02 7.70560276e+01] [ 2.04771244e-02 -3.86120296e-04 9.99790247e-01 2.85637949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54361786499996 meters 0.02190414590630832 Centerline is valid? [True, True] Translation: X:144.90, Y:77.08, Z:2.86 [[ 4.10023896e-01 -9.12031132e-01 -8.92295399e-03 1.44898928e+02] [ 9.11840199e-01 4.10120691e-01 -1.86673448e-02 7.70803277e+01] [ 2.06846876e-02 -4.82250717e-04 9.99785933e-01 2.85689159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57361786499996 meters 0.022313418517313378 Centerline is valid? [True, True] Translation: X:144.91, Y:77.11, Z:2.86 [[ 4.08027095e-01 -9.12926301e-01 -8.91396587e-03 1.44912756e+02] [ 9.12735742e-01 4.08124118e-01 -1.86593029e-02 7.71052330e+01] [ 2.06725728e-02 -5.22594116e-04 9.99786163e-01 2.85740376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60361786499996 meters 0.022745365638126024 Centerline is valid? [True, True] Translation: X:144.93, Y:77.13, Z:2.86 [[ 4.05968330e-01 -9.13845130e-01 -8.76319661e-03 1.44926592e+02] [ 9.13661005e-01 4.06062519e-01 -1.83520822e-02 7.71304996e+01] [ 2.03293667e-02 -5.56226845e-04 9.99793182e-01 2.85774782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63361786499996 meters 0.023078870304670478 Centerline is valid? [True, True] Translation: X:144.94, Y:77.16, Z:2.86 [[ 4.03937000e-01 -9.14742707e-01 -8.98219364e-03 1.44940515e+02] [ 9.14549256e-01 4.04036391e-01 -1.88215812e-02 7.71552754e+01] [ 2.08460373e-02 -6.11925443e-04 9.99782510e-01 2.85854694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66361786499996 meters 0.02347580023026267 Centerline is valid? [True, True] Translation: X:144.95, Y:77.18, Z:2.86 [[ 4.03167404e-01 -9.15082733e-01 -8.92387214e-03 1.44953918e+02] [ 9.14891732e-01 4.03265674e-01 -1.87060091e-02 7.71799248e+01] [ 2.07162373e-02 -6.22723689e-04 9.99785202e-01 2.85927532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69361786499996 meters 0.02341802683731591 Centerline is valid? [True, True] Translation: X:144.97, Y:77.20, Z:2.86 [[ 4.02550669e-01 -9.15354596e-01 -8.88378737e-03 1.44966662e+02] [ 9.15165221e-01 4.02648190e-01 -1.86293790e-02 7.72047080e+01] [ 2.06295286e-02 -6.30864261e-04 9.99786990e-01 2.86021808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72361786499997 meters 0.024000460808182102 Centerline is valid? [True, True] Translation: X:144.98, Y:77.23, Z:2.86 [[ 4.02141951e-01 -9.15535679e-01 -8.73336085e-03 1.44980698e+02] [ 9.15352456e-01 4.02236287e-01 -1.83262223e-02 7.72281323e+01] [ 2.02911850e-02 -6.24360531e-04 9.99793918e-01 2.86119619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75361786499997 meters 0.023173451107201166 Centerline is valid? [True, True] Translation: X:144.99, Y:77.25, Z:2.86 [[ 4.02471401e-01 -9.15391772e-01 -8.64153636e-03 1.44991563e+02] [ 9.15212113e-01 4.02563706e-01 -1.81452455e-02 7.72542220e+01] [ 2.00887773e-02 -6.05896370e-04 9.99798017e-01 2.86188800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78361786499997 meters 0.02353322229060668 Centerline is valid? [True, True] Translation: X:145.00, Y:77.28, Z:2.86 [[ 4.03117833e-01 -9.15108164e-01 -8.54757710e-03 1.45003821e+02] [ 9.14932093e-01 4.03208025e-01 -1.79597888e-02 7.72785176e+01] [ 1.98816010e-02 -5.80541468e-04 9.99802173e-01 2.86192565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81361786499997 meters 0.02337634444335105 Centerline is valid? [True, True] Translation: X:145.02, Y:77.30, Z:2.86 [[ 4.03933186e-01 -9.14747813e-01 -8.62670143e-03 1.45016108e+02] [ 9.14568186e-01 4.04024901e-01 -1.81359581e-02 7.73049728e+01] [ 2.00752302e-02 -5.63991346e-04 9.99798313e-01 2.86246168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84361786499997 meters 0.022525425325740065 Centerline is valid? [True, True] Translation: X:145.03, Y:77.33, Z:2.86 [[ 4.06986460e-01 -9.13396380e-01 -8.31114569e-03 1.45027001e+02] [ 9.13229169e-01 4.07071036e-01 -1.74830236e-02 7.73310875e+01] [ 1.93521572e-02 -4.74626770e-04 9.99812617e-01 2.86346000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87361786499997 meters 0.02250337598210869 Centerline is valid? [True, True] Translation: X:145.04, Y:77.36, Z:2.86 [[ 4.08685740e-01 -9.12635995e-01 -8.45616806e-03 1.45038791e+02] [ 9.12462524e-01 4.08772975e-01 -1.77988109e-02 7.73561556e+01] [ 1.97004885e-02 -4.41816258e-04 9.99805829e-01 2.86387973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90361786499997 meters 0.022388974758559395 Centerline is valid? [True, True] Translation: X:145.05, Y:77.38, Z:2.86 [[ 4.10371585e-01 -9.11879223e-01 -8.45251695e-03 1.45050664e+02] [ 9.11705664e-01 4.10458427e-01 -1.77949808e-02 7.73812800e+01] [ 1.96962801e-02 -4.03653078e-04 9.99805928e-01 2.86435712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93361786499997 meters 0.02119251229380438 Centerline is valid? [True, True] Translation: X:145.06, Y:77.41, Z:2.86 [[ 4.14137676e-01 -9.10175376e-01 -8.41247174e-03 1.45060086e+02] [ 9.10003005e-01 4.14222987e-01 -1.77157341e-02 7.74087370e+01] [ 1.96090641e-02 -3.18621615e-04 9.99807673e-01 2.86493566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96361786499997 meters 0.02086339193009745 Centerline is valid? [True, True] Translation: X:145.07, Y:77.44, Z:2.87 [[ 4.15699134e-01 -9.09463615e-01 -8.37627823e-03 1.45071286e+02] [ 9.09292352e-01 4.15783423e-01 -1.76511844e-02 7.74351307e+01] [ 1.95358276e-02 -2.78903663e-04 9.99809119e-01 2.86599073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99361786499998 meters 0.02086189608286049 Centerline is valid? [True, True] Translation: X:145.08, Y:77.46, Z:2.87 [[ 4.17499969e-01 -9.08638787e-01 -8.32649692e-03 1.45082830e+02] [ 9.08469160e-01 4.17582926e-01 -1.75580347e-02 7.74597661e+01] [ 1.94309143e-02 -2.33886717e-04 9.99811175e-01 2.86604597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02361786499998 meters 0.020480272431146564 Centerline is valid? [True, True] Translation: X:145.09, Y:77.49, Z:2.87 [[ 4.20995309e-01 -9.07026139e-01 -8.15679759e-03 1.45093728e+02] [ 9.06862876e-01 4.21074293e-01 -1.72094338e-02 7.74868964e+01] [ 1.90440241e-02 -1.52006032e-04 9.99818635e-01 2.86720936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05361786499998 meters 0.020402020528527753 Centerline is valid? [True, True] Translation: X:145.11, Y:77.51, Z:2.87 [[ 4.22414382e-01 -9.06367926e-01 -7.95443761e-03 1.45105138e+02] [ 9.06212357e-01 4.22489255e-01 -1.67926851e-02 7.75113741e+01] [ 1.85810156e-02 -1.14937930e-04 9.99827351e-01 2.86745600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08361786499998 meters 0.020379170115245183 Centerline is valid? [True, True] Translation: X:145.12, Y:77.54, Z:2.87 [[ 4.23415347e-01 -9.05902836e-01 -7.71327067e-03 1.45116691e+02] [ 9.05756308e-01 4.23485588e-01 -1.62931551e-02 7.75372261e+01] [ 1.80264744e-02 -8.75716365e-05 9.99837506e-01 2.86841462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11361786499998 meters 0.020251621297618302 Centerline is valid? [True, True] Translation: X:145.13, Y:77.56, Z:2.87 [[ 4.24705206e-01 -9.05297127e-01 -7.91200906e-03 1.45129628e+02] [ 9.05142621e-01 4.24778893e-01 -1.67250715e-02 7.75621653e+01] [ 1.85020136e-02 -5.82716778e-05 9.99828821e-01 2.86912887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14361786499995 meters 0.020240787013955965 Centerline is valid? [True, True] Translation: X:145.14, Y:77.59, Z:2.87 [[ 4.24308673e-01 -9.05482057e-01 -8.02458520e-03 1.45141975e+02] [ 9.05322925e-01 4.24384543e-01 -1.69753118e-02 7.75857634e+01] [ 1.87763502e-02 -6.20688927e-05 9.99823707e-01 2.86930120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17361786499995 meters 0.020177017413731103 Centerline is valid? [True, True] Translation: X:145.16, Y:77.61, Z:2.87 [[ 4.22904544e-01 -9.06137398e-01 -8.17081906e-03 1.45155940e+02] [ 9.05972317e-01 4.22983461e-01 -1.72960467e-02 7.76086978e+01] [ 1.91287161e-02 -8.79591076e-05 9.99817026e-01 2.86871556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20361786499996 meters 0.020161778970812304 Centerline is valid? [True, True] Translation: X:145.17, Y:77.63, Z:2.87 [[ 4.21713547e-01 -9.06691697e-01 -8.23716200e-03 1.45169095e+02] [ 9.06523811e-01 4.21793971e-01 -1.74477974e-02 7.76336932e+01] [ 1.92941583e-02 -1.09210990e-04 9.99813844e-01 2.86925089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23361786499996 meters 0.02014881665086435 Centerline is valid? [True, True] Translation: X:145.18, Y:77.66, Z:2.87 [[ 4.20090304e-01 -9.07446520e-01 -8.05916069e-03 1.45182726e+02] [ 9.07285726e-01 4.20167579e-01 -1.70826355e-02 7.76587897e+01] [ 1.88877762e-02 -1.35711931e-04 9.99821601e-01 2.86971119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26361786499996 meters 0.020174988426511924 Centerline is valid? [True, True] Translation: X:145.20, Y:77.68, Z:2.87 [[ 4.18382796e-01 -9.08232146e-01 -8.37885192e-03 1.45196730e+02] [ 9.08058242e-01 4.18466652e-01 -1.77732782e-02 7.76828581e+01] [ 1.96485327e-02 -1.72451715e-04 9.99806934e-01 2.87024974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29361786499996 meters 0.020433765502719442 Centerline is valid? [True, True] Translation: X:145.21, Y:77.71, Z:2.87 [[ 4.16699800e-01 -9.09005608e-01 -8.37149909e-03 1.45211168e+02] [ 9.08831940e-01 4.16783834e-01 -1.77691049e-02 7.77059994e+01] [ 1.96413215e-02 -2.03903276e-04 9.99807070e-01 2.87032262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32361786499996 meters 0.020491589138505552 Centerline is valid? [True, True] Translation: X:145.23, Y:77.73, Z:2.87 [[ 4.13439048e-01 -9.10489153e-01 -8.81229837e-03 1.45227470e+02] [ 9.10296790e-01 4.13532855e-01 -1.87171285e-02 7.77303417e+01] [ 2.06859173e-02 -2.83415152e-04 9.99785983e-01 2.87114875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35361786499996 meters 0.020608357398702096 Centerline is valid? [True, True] Translation: X:145.24, Y:77.76, Z:2.87 [[ 4.11870819e-01 -9.11199879e-01 -8.78683707e-03 1.45241778e+02] [ 9.11008547e-01 4.11964418e-01 -1.86747235e-02 7.77559584e+01] [ 2.06362700e-02 -3.13310038e-04 9.99787000e-01 2.87164555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38361786499996 meters 0.02104079457885051 Centerline is valid? [True, True] Translation: X:145.26, Y:77.78, Z:2.87 [[ 4.10287351e-01 -9.11911961e-01 -8.99246746e-03 1.45256806e+02] [ 9.11711505e-01 4.10385734e-01 -1.91228076e-02 7.77801126e+01] [ 2.11286973e-02 -3.52689970e-04 9.99776702e-01 2.87134354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41361786499996 meters 0.021116997833215783 Centerline is valid? [True, True] Translation: X:145.27, Y:77.81, Z:2.87 [[ 4.07446120e-01 -9.13182858e-01 -9.20473088e-03 1.45272420e+02] [ 9.12972969e-01 4.07549859e-01 -1.95823808e-02 7.78050804e+01] [ 2.16336813e-02 -4.24905382e-04 9.99765874e-01 2.87197689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44361786499996 meters 0.021321882387674077 Centerline is valid? [True, True] Translation: X:145.29, Y:77.83, Z:2.87 [[ 4.06168220e-01 -9.13751671e-01 -9.23362791e-03 1.45286863e+02] [ 9.13540341e-01 4.06272912e-01 -1.96561995e-02 7.78303180e+01] [ 2.17122580e-02 -4.51568049e-04 9.99764159e-01 2.87272925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47361786499997 meters 0.02182933534295472 Centerline is valid? [True, True] Translation: X:145.30, Y:77.85, Z:2.87 [[ 4.03925809e-01 -9.14741072e-01 -9.62872312e-03 1.45304161e+02] [ 9.14511280e-01 4.04040221e-01 -2.05090005e-02 7.78531094e+01] [ 2.26508166e-02 -5.21461259e-04 9.99743301e-01 2.87371200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50361786499997 meters 0.021683630730709235 Centerline is valid? [True, True] Translation: X:145.32, Y:77.88, Z:2.87 [[ 4.02643164e-01 -9.15306374e-01 -9.62930680e-03 1.45317986e+02] [ 9.15076512e-01 4.02757916e-01 -2.05192016e-02 7.78782749e+01] [ 2.26596356e-02 -5.49636221e-04 9.99743086e-01 2.87438712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53361786499997 meters 0.022413211401016417 Centerline is valid? [True, True] Translation: X:145.33, Y:77.90, Z:2.87 [[ 4.01797979e-01 -9.15675513e-01 -9.83564609e-03 1.45333366e+02] [ 9.15435530e-01 4.01917929e-01 -2.09706502e-02 7.79017945e+01] [ 2.31554334e-02 -5.77935011e-04 9.99731710e-01 2.87412059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56361786499997 meters 0.022675098100814355 Centerline is valid? [True, True] Translation: X:145.35, Y:77.92, Z:2.87 [[ 4.00936914e-01 -9.16051836e-01 -9.93099901e-03 1.45349361e+02] [ 9.15807072e-01 4.01059437e-01 -2.11833470e-02 7.79244592e+01] [ 2.33879648e-02 -6.01693326e-04 9.99726283e-01 2.87454605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59361786499997 meters 0.022636959391192858 Centerline is valid? [True, True] Translation: X:145.36, Y:77.95, Z:2.88 [[ 4.00992353e-01 -9.16026360e-01 -1.00419579e-02 1.45363485e+02] [ 9.15775761e-01 4.01117622e-01 -2.14338179e-02 7.79492051e+01] [ 2.36619484e-02 -6.01384590e-04 9.99719836e-01 2.87509639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62361786499997 meters 0.02269427906470614 Centerline is valid? [True, True] Translation: X:145.38, Y:77.97, Z:2.88 [[ 4.01013465e-01 -9.16018157e-01 -9.94669931e-03 1.45376954e+02] [ 9.15771949e-01 4.01136371e-01 -2.12449603e-02 7.79736086e+01] [ 2.34507522e-02 -5.89393089e-04 9.99724820e-01 2.87597264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65361786499997 meters 0.022660595809360886 Centerline is valid? [True, True] Translation: X:145.39, Y:78.00, Z:2.88 [[ 4.02374097e-01 -9.15424618e-01 -9.63609207e-03 1.45391730e+02] [ 9.15193097e-01 4.02489112e-01 -2.05939271e-02 7.79969889e+01] [ 2.27306100e-02 -5.32422123e-04 9.99741485e-01 2.87750628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68361786499997 meters 0.020884549213811048 Centerline is valid? [True, True] Translation: X:145.40, Y:78.02, Z:2.88 [[ 4.03345412e-01 -9.14998847e-01 -9.46508580e-03 1.45401883e+02] [ 9.14775134e-01 4.03456149e-01 -2.02383477e-02 7.80244361e+01] [ 2.23368119e-02 -4.95380430e-04 9.99750380e-01 2.87973208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71361786499997 meters 0.020645941416187683 Centerline is valid? [True, True] Translation: X:145.41, Y:78.05, Z:2.88 [[ 4.04353464e-01 -9.14554014e-01 -9.44620355e-03 1.45414534e+02] [ 9.14330778e-01 4.04463520e-01 -2.02111084e-02 7.80492677e+01] [ 2.23047951e-02 -4.64522943e-04 9.99751109e-01 2.88041795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74361786499998 meters 0.0204248216231528 Centerline is valid? [True, True] Translation: X:145.43, Y:78.07, Z:2.88 [[ 4.05578535e-01 -9.14011186e-01 -9.46592783e-03 1.45427594e+02] [ 9.13786558e-01 4.05688756e-01 -2.02672136e-02 7.80747373e+01] [ 2.23646804e-02 -4.29890820e-04 9.99749787e-01 2.88133854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77361786499998 meters 0.0204248216231528 Centerline is valid? [True, True] Translation: X:145.44, Y:78.10, Z:2.88 [[ 4.05323828e-01 -9.14124219e-01 -9.46080051e-03 1.45439208e+02] [ 9.13899566e-01 4.05433999e-01 -2.02696070e-02 7.80997497e+01] [ 2.23646688e-02 -4.30466785e-04 9.99749787e-01 2.88178961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80361786499998 meters 0.0200020707647832 Centerline is valid? [True, True] Translation: X:145.45, Y:78.13, Z:2.88 [[ 4.08163353e-01 -9.12859840e-01 -9.46517766e-03 1.45452897e+02] [ 9.12634353e-01 4.08272930e-01 -2.02917053e-02 7.81258197e+01] [ 2.23878587e-02 -3.55915823e-04 9.99749297e-01 2.88228254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83361786499998 meters 0.01971309589487673 Centerline is valid? [True, True] Translation: X:145.47, Y:78.15, Z:2.88 [[ 4.09608621e-01 -9.12210660e-01 -9.61715132e-03 1.45465390e+02] [ 9.11977479e-01 4.09721379e-01 -2.06268878e-02 7.81513665e+01] [ 2.27564194e-02 -3.21674361e-04 9.99740987e-01 2.88273703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86361786499998 meters 0.01944577301232087 Centerline is valid? [True, True] Translation: X:145.48, Y:78.18, Z:2.88 [[ 4.12544173e-01 -9.10886597e-01 -9.63911385e-03 1.45478886e+02] [ 9.10651661e-01 4.12656695e-01 -2.06882525e-02 7.81764115e+01] [ 2.28222968e-02 -2.43057037e-04 9.99739508e-01 2.88312448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89361786499995 meters 0.019332259117793727 Centerline is valid? [True, True] Translation: X:145.49, Y:78.20, Z:2.88 [[ 4.13757336e-01 -9.10334343e-01 -9.81078852e-03 1.45490782e+02] [ 9.10090496e-01 4.13873580e-01 -2.10701199e-02 7.82004445e+01] [ 2.32412799e-02 -2.10788724e-04 9.99729863e-01 2.88373958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92361786499995 meters 0.019184124326286627 Centerline is valid? [True, True] Translation: X:145.50, Y:78.23, Z:2.88 [[ 4.14838614e-01 -9.09841890e-01 -9.83156217e-03 1.45503044e+02] [ 9.09596553e-01 4.14955062e-01 -2.11283419e-02 7.82253697e+01] [ 2.33031070e-02 -1.77902981e-04 9.99728430e-01 2.88380266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95361786499996 meters 0.019057211771355508 Centerline is valid? [True, True] Translation: X:145.52, Y:78.25, Z:2.88 [[ 4.16553125e-01 -9.09056618e-01 -9.97796290e-03 1.45516215e+02] [ 9.08803341e-01 4.16672592e-01 -2.14578184e-02 7.82488579e+01] [ 2.36639155e-02 -1.29684708e-04 9.99719962e-01 2.88441593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98361786499996 meters 0.019081348201081788 Centerline is valid? [True, True] Translation: X:145.53, Y:78.27, Z:2.88 [[ 4.16974233e-01 -9.08863085e-01 -1.00190315e-02 1.45529119e+02] [ 9.08607367e-01 4.17094569e-01 -2.15586015e-02 7.82730351e+01] [ 2.37727007e-02 -1.13984461e-04 9.99717383e-01 2.88461498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01361786499996 meters 0.018992577086359538 Centerline is valid? [True, True] Translation: X:145.54, Y:78.30, Z:2.89 [[ 4.16926389e-01 -9.08888414e-01 -9.70753135e-03 1.45541716e+02] [ 9.08648100e-01 4.17039373e-01 -2.08995636e-02 7.82977990e+01] [ 2.30437940e-02 -1.07150332e-04 9.99734451e-01 2.88574727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04361786499996 meters 0.01900384916033482 Centerline is valid? [True, True] Translation: X:145.55, Y:78.32, Z:2.89 [[ 4.16746062e-01 -9.08970696e-01 -9.74643129e-03 1.45554482e+02] [ 9.08728140e-01 4.16860003e-01 -2.09977688e-02 7.83217236e+01] [ 2.31492539e-02 -1.06118891e-04 9.99732014e-01 2.88624505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07361786499996 meters 0.01902119915513459 Centerline is valid? [True, True] Translation: X:145.57, Y:78.35, Z:2.89 [[ 4.15790927e-01 -9.09407246e-01 -9.81665559e-03 1.45568742e+02] [ 9.09160977e-01 4.15906775e-01 -2.11629739e-02 7.83459523e+01] [ 2.33285754e-02 -1.25547651e-04 9.99727844e-01 2.88670049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10361786499996 meters 0.01907820678444675 Centerline is valid? [True, True] Translation: X:145.58, Y:78.37, Z:2.89 [[ 4.14525756e-01 -9.09984691e-01 -9.81117802e-03 1.45582158e+02] [ 9.09738515e-01 4.14641820e-01 -2.11659021e-02 7.83704074e+01] [ 2.33287716e-02 -1.51794959e-04 9.99727836e-01 2.88701118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13361786499996 meters 0.019170752036583364 Centerline is valid? [True, True] Translation: X:145.60, Y:78.39, Z:2.89 [[ 4.13433945e-01 -9.10481140e-01 -9.82174414e-03 1.45595679e+02] [ 9.10234229e-01 4.13550557e-01 -2.12034210e-02 7.83949395e+01] [ 2.33671027e-02 -1.73873721e-04 9.99726937e-01 2.88733229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16361786499996 meters 0.019495273062794645 Centerline is valid? [True, True] Translation: X:145.61, Y:78.42, Z:2.89 [[ 4.10026353e-01 -9.12022314e-01 -9.67931244e-03 1.45611903e+02] [ 9.11782614e-01 4.10140508e-01 -2.09100228e-02 7.84190335e+01] [ 2.30402855e-02 -2.51768386e-04 9.99734506e-01 2.88844365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19361786499996 meters 0.019986405283328713 Centerline is valid? [True, True] Translation: X:145.63, Y:78.44, Z:2.89 [[ 4.08115799e-01 -9.12880048e-01 -9.56620931e-03 1.45626011e+02] [ 9.12645853e-01 4.08227796e-01 -2.06788357e-02 7.84425426e+01] [ 2.27824890e-02 -2.91201705e-04 9.99740403e-01 2.88835516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22361786499997 meters 0.020200288057433992 Centerline is valid? [True, True] Translation: X:145.64, Y:78.47, Z:2.89 [[ 4.06131391e-01 -9.13768034e-01 -9.23440332e-03 1.45639283e+02] [ 9.13549771e-01 4.06236232e-01 -1.99734973e-02 7.84670823e+01] [ 2.20024925e-02 -3.24222805e-04 9.99757863e-01 2.88950207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25361786499997 meters 0.02109727874547631 Centerline is valid? [True, True] Translation: X:145.65, Y:78.49, Z:2.89 [[ 4.02515327e-01 -9.15368530e-01 -9.04796156e-03 1.45654518e+02] [ 9.15159135e-01 4.02616810e-01 -1.95822094e-02 7.84900225e+01] [ 2.15677997e-02 -3.98185254e-04 9.99767309e-01 2.88997452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28361786499997 meters 0.020457353524114968 Centerline is valid? [True, True] Translation: X:145.67, Y:78.52, Z:2.89 [[ 4.01007933e-01 -9.16030684e-01 -8.96791014e-03 1.45665803e+02] [ 9.15824874e-01 4.01107972e-01 -1.94214894e-02 7.85163331e+01] [ 2.13877804e-02 -4.24863881e-04 9.99771165e-01 2.89115484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31361786499997 meters 0.020762071183019638 Centerline is valid? [True, True] Translation: X:145.68, Y:78.54, Z:2.89 [[ 3.98853976e-01 -9.16969990e-01 -9.03016882e-03 1.45680076e+02] [ 9.16761284e-01 3.98955905e-01 -1.95687074e-02 7.85417381e+01] [ 2.15465566e-02 -4.73452427e-04 9.99767734e-01 2.89104127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34361786499997 meters 0.021195377094974148 Centerline is valid? [True, True] Translation: X:145.69, Y:78.57, Z:2.89 [[ 3.98302810e-01 -9.17209040e-01 -9.08008711e-03 1.45693356e+02] [ 9.16997829e-01 3.98406001e-01 -1.96885641e-02 7.85661567e+01] [ 2.16760902e-02 -4.84409764e-04 9.99764929e-01 2.89107339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37361786499997 meters 0.022686314869768784 Centerline is valid? [True, True] Translation: X:145.71, Y:78.59, Z:2.89 [[ 3.97928187e-01 -9.17371840e-01 -9.05898911e-03 1.45708409e+02] [ 9.17161425e-01 3.98030990e-01 -1.96532787e-02 7.85889897e+01] [ 2.16351229e-02 -4.87961802e-04 9.99765814e-01 2.89049444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40361786499997 meters 0.022847094597076446 Centerline is valid? [True, True] Translation: X:145.72, Y:78.61, Z:2.89 [[ 3.97608035e-01 -9.17511994e-01 -8.92138321e-03 1.45720295e+02] [ 9.17307660e-01 3.97707817e-01 -1.93687516e-02 7.86128483e+01] [ 2.13191658e-02 -4.82481880e-04 9.99772604e-01 2.89090491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43361786499997 meters 0.02145984744851924 Centerline is valid? [True, True] Translation: X:145.73, Y:78.64, Z:2.89 [[ 3.97609926e-01 -9.17512609e-01 -8.77263683e-03 1.45729725e+02] [ 9.17314761e-01 3.97706414e-01 -1.90587987e-02 7.86397210e+01] [ 2.09756220e-02 -4.69301737e-04 9.99779877e-01 2.89197132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46361786499997 meters 0.022707914250175067 Centerline is valid? [True, True] Translation: X:145.74, Y:78.66, Z:2.89 [[ 3.97666779e-01 -9.17488728e-01 -8.69292000e-03 1.45744210e+02] [ 9.17294181e-01 3.97761517e-01 -1.88987380e-02 7.86631041e+01] [ 2.07970881e-02 -4.58564642e-04 9.99783612e-01 2.89199578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49361786499998 meters 0.022813789281041656 Centerline is valid? [True, True] Translation: X:145.76, Y:78.69, Z:2.89 [[ 3.97691322e-01 -9.17479822e-01 -8.50814801e-03 1.45755570e+02] [ 9.17293184e-01 3.97782076e-01 -1.85103851e-02 7.86868322e+01] [ 2.03672936e-02 -4.43046649e-04 9.99792467e-01 2.89299849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52361786499998 meters 0.022624532313399434 Centerline is valid? [True, True] Translation: X:145.77, Y:78.71, Z:2.89 [[ 3.98441411e-01 -9.17157451e-01 -8.16404857e-03 1.45766225e+02] [ 9.16985283e-01 3.98524838e-01 -1.77748383e-02 7.87112455e+01] [ 1.95559016e-02 -4.04080718e-04 9.99808683e-01 2.89408417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55361786499998 meters 0.022495046641560417 Centerline is valid? [True, True] Translation: X:145.78, Y:78.74, Z:2.89 [[ 3.99129461e-01 -9.16860015e-01 -7.96157458e-03 1.45776731e+02] [ 9.16695979e-01 3.99208684e-01 -1.73467424e-02 7.87362283e+01] [ 1.90828642e-02 -3.74747439e-04 9.99817835e-01 2.89493060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58361786499998 meters 0.020319100254007474 Centerline is valid? [True, True] Translation: X:145.78, Y:78.77, Z:2.90 [[ 4.00447036e-01 -9.16287782e-01 -7.67283875e-03 1.45782779e+02] [ 9.16135114e-01 4.00520402e-01 -1.67290527e-02 7.87650035e+01] [ 1.84017551e-02 -3.30257416e-04 9.99830619e-01 2.89630930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61361786499998 meters 0.0201192076443471 Centerline is valid? [True, True] Translation: X:145.79, Y:78.79, Z:2.90 [[ 4.00941830e-01 -9.16072611e-01 -7.52468915e-03 1.45793701e+02] [ 9.15925546e-01 4.01012314e-01 -1.64170380e-02 7.87915329e+01] [ 1.80566918e-02 -3.09777763e-04 9.99836917e-01 2.89706826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64361786499995 meters 0.019941677462182034 Centerline is valid? [True, True] Translation: X:145.80, Y:78.82, Z:2.90 [[ 4.01735789e-01 -9.15726275e-01 -7.33105444e-03 1.45804296e+02] [ 9.15586443e-01 4.01802574e-01 -1.60048990e-02 7.88177314e+01] [ 1.76017431e-02 -2.82473324e-04 9.99845037e-01 2.89771134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67361786499995 meters 0.019922133478739033 Centerline is valid? [True, True] Translation: X:145.82, Y:78.84, Z:2.90 [[ 4.03537210e-01 -9.14934150e-01 -7.29525313e-03 1.45815346e+02] [ 9.14795355e-01 4.03603075e-01 -1.59379256e-02 7.88432767e+01] [ 1.75265390e-02 -2.42117645e-04 9.99846369e-01 2.89815266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70361786499996 meters 0.019756122125103394 Centerline is valid? [True, True] Translation: X:145.83, Y:78.87, Z:2.90 [[ 4.04417753e-01 -9.14544355e-01 -7.40970237e-03 1.45825853e+02] [ 9.14400901e-01 4.04485565e-01 -1.61993581e-02 7.88698149e+01] [ 1.78121491e-02 -2.24130535e-04 9.99841326e-01 2.89862188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73361786499996 meters 0.019801219022585116 Centerline is valid? [True, True] Translation: X:145.84, Y:78.89, Z:2.90 [[ 4.04983393e-01 -9.14293587e-01 -7.46243406e-03 1.45836432e+02] [ 9.14147839e-01 4.05052086e-01 -1.63259253e-02 7.88942379e+01] [ 1.79493633e-02 -2.10039362e-04 9.99838875e-01 2.89884401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76361786499996 meters 0.01968025062836368 Centerline is valid? [True, True] Translation: X:145.85, Y:78.92, Z:2.90 [[ 4.05443632e-01 -9.14088696e-01 -7.57081538e-03 1.45847102e+02] [ 9.13938485e-01 4.05514261e-01 -1.65719555e-02 7.89198864e+01] [ 1.82183108e-02 -2.00265703e-04 9.99834013e-01 2.89885416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79361786499996 meters 0.019598480201919875 Centerline is valid? [True, True] Translation: X:145.86, Y:78.94, Z:2.90 [[ 4.06433522e-01 -9.13646038e-01 -7.91890670e-03 1.45857355e+02] [ 9.13481373e-01 4.06510618e-01 -1.73464330e-02 7.89446620e+01] [ 1.90676195e-02 -1.83601906e-04 9.99818180e-01 2.89818926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82361786499996 meters 0.019591340215105692 Centerline is valid? [True, True] Translation: X:145.87, Y:78.97, Z:2.90 [[ 4.06471938e-01 -9.13628578e-01 -7.96153021e-03 1.45868541e+02] [ 9.13461889e-01 4.06549862e-01 -1.74524335e-02 7.89697806e+01] [ 1.91818010e-02 -1.78629958e-04 9.99815996e-01 2.89826848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85361786499996 meters 0.01931673269899649 Centerline is valid? [True, True] Translation: X:145.88, Y:79.00, Z:2.90 [[ 4.06597569e-01 -9.13575136e-01 -7.67384320e-03 1.45878316e+02] [ 9.13420050e-01 4.06669945e-01 -1.68335588e-02 7.89963069e+01] [ 1.84994422e-02 -1.64958126e-04 9.99828857e-01 2.89928363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88361786499996 meters 0.01942350577233622 Centerline is valid? [True, True] Translation: X:145.89, Y:79.02, Z:2.90 [[ 4.06332375e-01 -9.13692640e-01 -7.73048023e-03 1.45890078e+02] [ 9.13535046e-01 4.06405871e-01 -1.69701843e-02 7.90209765e+01] [ 1.86472451e-02 -1.66529317e-04 9.99826111e-01 2.89963167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91361786499996 meters 0.0194261202833855 Centerline is valid? [True, True] Translation: X:145.90, Y:79.05, Z:2.90 [[ 4.05813177e-01 -9.13924205e-01 -7.62980400e-03 1.45901210e+02] [ 9.13770526e-01 4.05884860e-01 -1.67602542e-02 7.90466174e+01] [ 1.84144239e-02 -1.70358017e-04 9.99830426e-01 2.90049606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94361786499996 meters 0.019588345071421587 Centerline is valid? [True, True] Translation: X:145.91, Y:79.07, Z:2.90 [[ 4.03733879e-01 -9.14844710e-01 -7.62308203e-03 1.45914174e+02] [ 9.14691253e-01 4.03805786e-01 -1.67570327e-02 7.90717928e+01] [ 1.84083274e-02 -2.07384644e-04 9.99830531e-01 2.90078611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97361786499997 meters 0.019873324046886832 Centerline is valid? [True, True] Translation: X:145.93, Y:79.10, Z:2.90 [[ 4.02459036e-01 -9.15405602e-01 -7.70113784e-03 1.45926772e+02] [ 9.15248969e-01 4.02532644e-01 -1.69350438e-02 7.90971899e+01] [ 1.86023933e-02 -2.32797059e-04 9.99826933e-01 2.90109586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00361786499997 meters 0.020885559574131254 Centerline is valid? [True, True] Translation: X:145.94, Y:79.12, Z:2.90 [[ 3.98905379e-01 -9.16962116e-01 -7.41460043e-03 1.45941263e+02] [ 9.16816991e-01 3.98974177e-01 -1.63159814e-02 7.91206091e+01] [ 1.79193710e-02 -2.89298901e-04 9.99839393e-01 2.90127117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03361786499997 meters 0.021251662282190834 Centerline is valid? [True, True] Translation: X:145.95, Y:79.15, Z:2.90 [[ 3.96802540e-01 -9.17874838e-01 -7.31617695e-03 1.45953952e+02] [ 9.17733504e-01 3.96869852e-01 -1.61101533e-02 7.91454967e+01] [ 1.76906744e-02 -3.21750949e-04 9.99843456e-01 2.90152922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06361786499997 meters 0.021207025113584917 Centerline is valid? [True, True] Translation: X:145.97, Y:79.17, Z:2.90 [[ 3.94822525e-01 -9.18727940e-01 -7.35833915e-03 1.45965692e+02] [ 9.18584936e-01 3.94890926e-01 -1.62133018e-02 7.91711135e+01] [ 1.78013547e-02 -3.57882744e-04 9.99841479e-01 2.90183658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09361786499997 meters 0.02243599799962768 Centerline is valid? [True, True] Translation: X:145.98, Y:79.19, Z:2.90 [[ 3.92563926e-01 -9.19697033e-01 -7.13663051e-03 1.45980332e+02] [ 9.19562499e-01 3.92628602e-01 -1.57350309e-02 7.91943739e+01] [ 1.72735065e-02 -3.85572262e-04 9.99850728e-01 2.90212063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12361786499997 meters 0.022024687059195563 Centerline is valid? [True, True] Translation: X:145.99, Y:79.22, Z:2.90 [[ 3.88375779e-01 -9.21471555e-01 -7.37755397e-03 1.45992181e+02] [ 9.21327902e-01 3.88445553e-01 -1.62772824e-02 7.92207844e+01] [ 1.78648308e-02 -4.75444078e-04 9.99840298e-01 2.90288571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15361786499997 meters 0.02258806376580616 Centerline is valid? [True, True] Translation: X:146.00, Y:79.24, Z:2.90 [[ 3.86482602e-01 -9.22266975e-01 -7.40440882e-03 1.46004898e+02] [ 9.22122235e-01 3.86553188e-01 -1.63467556e-02 7.92449009e+01] [ 1.79382707e-02 -5.10033372e-04 9.99838966e-01 2.90329591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18361786499997 meters 0.023150272016846277 Centerline is valid? [True, True] Translation: X:146.02, Y:79.27, Z:2.90 [[ 3.84322761e-01 -9.23169549e-01 -7.34842826e-03 1.46017400e+02] [ 9.23027022e-01 3.84392621e-01 -1.62304938e-02 7.92689129e+01] [ 1.78081792e-02 -5.45049666e-04 9.99841273e-01 2.90388483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21361786499997 meters 0.02394342280672664 Centerline is valid? [True, True] Translation: X:146.03, Y:79.29, Z:2.90 [[ 3.81194420e-01 -9.24466572e-01 -7.23680336e-03 1.46030576e+02] [ 9.24328428e-01 3.81262647e-01 -1.59922137e-02 7.92940146e+01] [ 1.75433898e-02 -5.93040458e-04 9.99845927e-01 2.90446738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24361786499998 meters 0.023796627206963888 Centerline is valid? [True, True] Translation: X:146.04, Y:79.32, Z:2.90 [[ 3.80059044e-01 -9.24934178e-01 -7.20345432e-03 1.46042076e+02] [ 9.24797201e-01 3.80126818e-01 -1.59291954e-02 7.93201491e+01] [ 1.74716834e-02 -6.07699625e-04 9.99847174e-01 2.90447662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27361786499998 meters 0.025169911413656276 Centerline is valid? [True, True] Translation: X:146.06, Y:79.34, Z:2.90 [[ 3.78758391e-01 -9.25466426e-01 -7.34685097e-03 1.46055907e+02] [ 9.25323852e-01 3.78829096e-01 -1.62568536e-02 7.93443725e+01] [ 1.78283731e-02 -6.40796746e-04 9.99840857e-01 2.90462590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30361786499998 meters 0.02411952490911674 Centerline is valid? [True, True] Translation: X:146.07, Y:79.37, Z:2.91 [[ 3.77286978e-01 -9.26068045e-01 -7.24654877e-03 1.46066198e+02] [ 9.25929262e-01 3.77355994e-01 -1.60454391e-02 7.93712931e+01] [ 1.75936970e-02 -6.56056331e-04 9.99845004e-01 2.90534588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33361786499998 meters 0.026004353943209702 Centerline is valid? [True, True] Translation: X:146.08, Y:79.39, Z:2.91 [[ 3.76884061e-01 -9.26233770e-01 -7.02915000e-03 1.46080883e+02] [ 9.26103052e-01 3.76949060e-01 -1.55737962e-02 7.93943517e+01] [ 1.70746075e-02 -6.40201710e-04 9.99854013e-01 2.90609190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36361786499998 meters 0.024980415564249125 Centerline is valid? [True, True] Translation: X:146.09, Y:79.42, Z:2.91 [[ 3.76647702e-01 -9.26331338e-01 -6.83822165e-03 1.46090301e+02] [ 9.26207477e-01 3.76709257e-01 -1.51606343e-02 7.94205283e+01] [ 1.66197921e-02 -6.23393925e-04 9.99861687e-01 2.90659700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39361786499995 meters 0.024029115864737008 Centerline is valid? [True, True] Translation: X:146.10, Y:79.45, Z:2.91 [[ 3.78111145e-01 -9.25738105e-01 -6.39713174e-03 1.46099958e+02] [ 9.25629476e-01 3.78164849e-01 -1.41922372e-02 7.94471553e+01] [ 1.55574651e-02 -5.55130645e-04 9.99878821e-01 2.90762280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42361786499995 meters 0.023748734227009814 Centerline is valid? [True, True] Translation: X:146.11, Y:79.47, Z:2.91 [[ 3.79261116e-01 -9.25268425e-01 -6.27276067e-03 1.46110706e+02] [ 9.25163770e-01 3.79312627e-01 -1.39258751e-02 7.94740067e+01] [ 1.52645099e-02 -5.21787971e-04 9.99883354e-01 2.90861772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45361786499996 meters 0.02362739176612107 Centerline is valid? [True, True] Translation: X:146.12, Y:79.50, Z:2.91 [[ 3.81073382e-01 -9.24524296e-01 -6.15660926e-03 1.46121466e+02] [ 9.24423254e-01 3.81122811e-01 -1.36766754e-02 7.94995599e+01] [ 1.49908429e-02 -4.79495798e-04 9.99887516e-01 2.90921279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48361786499996 meters 0.022587545193984707 Centerline is valid? [True, True] Translation: X:146.13, Y:79.53, Z:2.91 [[ 3.85725274e-01 -9.22596568e-01 -5.62016713e-03 1.46129736e+02] [ 9.22512055e-01 3.85766043e-01 -1.24927875e-02 7.95264751e+01] [ 1.36938725e-02 -3.65888052e-04 9.99906168e-01 2.91013762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51361786499996 meters 0.022243185607652337 Centerline is valid? [True, True] Translation: X:146.14, Y:79.55, Z:2.91 [[ 3.88061091e-01 -9.21616041e-01 -5.69754855e-03 1.46139562e+02] [ 9.21528936e-01 3.88102773e-01 -1.26750680e-02 7.95517612e+01] [ 1.38927804e-02 -3.31755134e-04 9.99903436e-01 2.91059030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54361786499996 meters 0.021615389865535475 Centerline is valid? [True, True] Translation: X:146.15, Y:79.58, Z:2.91 [[ 3.90272506e-01 -9.20681911e-01 -5.67362791e-03 1.46149549e+02] [ 9.20595364e-01 3.90313633e-01 -1.26271159e-02 7.95785617e+01] [ 1.38400515e-02 -2.95099401e-04 9.99904178e-01 2.91063411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57361786499996 meters 0.020729638950065205 Centerline is valid? [True, True] Translation: X:146.16, Y:79.61, Z:2.91 [[ 3.94481627e-01 -9.18885913e-01 -5.73794622e-03 1.46158334e+02] [ 9.18797069e-01 3.94523288e-01 -1.27796846e-02 7.96060572e+01] [ 1.40068256e-02 -2.30657384e-04 9.99901873e-01 2.91005894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60361786499996 meters 0.020403778541699398 Centerline is valid? [True, True] Translation: X:146.17, Y:79.63, Z:2.91 [[ 3.96013265e-01 -9.18225600e-01 -5.93644431e-03 1.46168586e+02] [ 9.18130348e-01 3.96057700e-01 -1.32273240e-02 7.96321387e+01] [ 1.44968420e-02 -2.12233919e-04 9.99894893e-01 2.91020624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63361786499996 meters 0.02017226511508205 Centerline is valid? [True, True] Translation: X:146.18, Y:79.66, Z:2.91 [[ 3.98752262e-01 -9.17038230e-01 -6.12518809e-03 1.46178847e+02] [ 9.16936530e-01 3.98799267e-01 -1.36581613e-02 7.96578325e+01] [ 1.49677766e-02 -1.70186006e-04 9.99887962e-01 2.91018684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66361786499996 meters 0.02010219191343817 Centerline is valid? [True, True] Translation: X:146.19, Y:79.68, Z:2.91 [[ 3.99193478e-01 -9.16846688e-01 -6.05946359e-03 1.46189764e+02] [ 9.16747043e-01 3.99239433e-01 -1.35178946e-02 7.96837409e+01] [ 1.48130137e-02 -1.58739954e-04 9.99890269e-01 2.91011285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69361786499996 meters 0.02010219191343817 Centerline is valid? [True, True] Translation: X:146.20, Y:79.71, Z:2.91 [[ 3.98948070e-01 -9.16953523e-01 -6.05584797e-03 1.46200967e+02] [ 9.16853866e-01 3.98993998e-01 -1.35195141e-02 7.97089398e+01] [ 1.48130131e-02 -1.58743561e-04 9.99890269e-01 2.91056367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72361786499997 meters 0.02001875399226872 Centerline is valid? [True, True] Translation: X:146.21, Y:79.73, Z:2.91 [[ 3.99483557e-01 -9.16719938e-01 -6.11904733e-03 1.46211825e+02] [ 9.16618015e-01 3.99530391e-01 -1.36704863e-02 7.97336493e+01] [ 1.49767528e-02 -1.47694508e-04 9.99887831e-01 2.91125829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75361786499997 meters 0.019985158638867215 Centerline is valid? [True, True] Translation: X:146.22, Y:79.76, Z:2.91 [[ 3.99646210e-01 -9.16650789e-01 -5.85135090e-03 1.46222888e+02] [ 9.16557446e-01 3.99689021e-01 -1.30818404e-02 7.97593949e+01] [ 1.43302000e-02 -1.34991310e-04 9.99897308e-01 2.91157897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78361786499997 meters 0.020017037727746868 Centerline is valid? [True, True] Translation: X:146.23, Y:79.78, Z:2.91 [[ 3.98981487e-01 -9.16939329e-01 -6.00343224e-03 1.46234528e+02] [ 9.16840957e-01 3.99026624e-01 -1.34318032e-02 7.97845511e+01] [ 1.47116779e-02 -1.45151730e-04 9.99891767e-01 2.91186361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81361786499997 meters 0.020097914802274554 Centerline is valid? [True, True] Translation: X:146.25, Y:79.81, Z:2.91 [[ 3.98190645e-01 -9.17283271e-01 -5.96752320e-03 1.46246509e+02] [ 9.17185969e-01 3.98235329e-01 -1.33611948e-02 7.98086141e+01] [ 1.46324790e-02 -1.53025785e-04 9.99892928e-01 2.91273541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84361786499997 meters 0.02018089197669602 Centerline is valid? [True, True] Translation: X:146.26, Y:79.83, Z:2.91 [[ 3.96965903e-01 -9.17814653e-01 -5.85959323e-03 1.46258468e+02] [ 9.17720776e-01 3.97009113e-01 -1.31278914e-02 7.98337790e+01] [ 1.43752830e-02 -1.66145188e-04 9.99896656e-01 2.91319818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87361786499997 meters 0.020484957991476337 Centerline is valid? [True, True] Translation: X:146.27, Y:79.86, Z:2.91 [[ 3.94690230e-01 -9.18793951e-01 -6.10724311e-03 1.46271594e+02] [ 9.18691927e-01 3.94737424e-01 -1.36933782e-02 7.98578624e+01] [ 1.49921504e-02 -2.06032360e-04 9.99887590e-01 2.91337453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90361786499997 meters 0.020888891890911414 Centerline is valid? [True, True] Translation: X:146.28, Y:79.88, Z:2.91 [[ 3.93334430e-01 -9.19374997e-01 -6.13528011e-03 1.46284286e+02] [ 9.19272015e-01 3.93382211e-01 -1.37621853e-02 7.98821406e+01] [ 1.50661191e-02 -2.26850004e-04 9.99886474e-01 2.91357832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93361786499997 meters 0.0211041253740091 Centerline is valid? [True, True] Translation: X:146.30, Y:79.91, Z:2.91 [[ 3.91837605e-01 -9.20012010e-01 -6.41815445e-03 1.46296913e+02] [ 9.19899248e-01 3.91890080e-01 -1.44062334e-02 7.99076121e+01] [ 1.57691188e-02 -2.59151452e-04 9.99875626e-01 2.91357235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96361786499997 meters 0.02136426733651154 Centerline is valid? [True, True] Translation: X:146.31, Y:79.93, Z:2.91 [[ 3.90371716e-01 -9.20634822e-01 -6.43797575e-03 1.46309505e+02] [ 9.20521295e-01 3.90424698e-01 -1.44603081e-02 7.99334400e+01] [ 1.58262079e-02 -2.81398504e-04 9.99874718e-01 2.91395224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99361786499998 meters 0.022160061990295375 Centerline is valid? [True, True] Translation: X:146.32, Y:79.96, Z:2.91 [[ 3.87077087e-01 -9.22022482e-01 -6.77280979e-03 1.46323696e+02] [ 9.21896872e-01 3.87136176e-01 -1.52229942e-02 7.99586118e+01] [ 1.66579426e-02 -3.51359908e-04 9.99861185e-01 2.91427408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02361786499998 meters 0.02254543149899171 Centerline is valid? [True, True] Translation: X:146.34, Y:79.98, Z:2.91 [[ 3.85010083e-01 -9.22886446e-01 -6.91698201e-03 1.46336705e+02] [ 9.22755393e-01 3.85072012e-01 -1.55573493e-02 7.99843353e+01] [ 1.70212030e-02 -3.92946089e-04 9.99855052e-01 2.91473858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05361786499998 meters 0.024192429887112486 Centerline is valid? [True, True] Translation: X:146.35, Y:80.01, Z:2.92 [[ 3.80955389e-01 -9.24566933e-01 -6.99844347e-03 1.46352078e+02] [ 9.24432874e-01 3.81019378e-01 -1.57510427e-02 8.00072784e+01] [ 1.72294358e-02 -4.69146593e-04 9.99851452e-01 2.91580843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08361786499998 meters 0.02458210326976416 Centerline is valid? [True, True] Translation: X:146.36, Y:80.03, Z:2.92 [[ 3.78961795e-01 -9.25384477e-01 -7.17824988e-03 1.46364660e+02] [ 9.25243382e-01 3.79029424e-01 -1.61672637e-02 8.00326429e+01] [ 1.76817028e-02 -5.14852909e-04 9.99843534e-01 2.91651176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11361786499995 meters 0.025351332055504484 Centerline is valid? [True, True] Translation: X:146.38, Y:80.06, Z:2.92 [[ 3.77159434e-01 -9.26119802e-01 -7.27140432e-03 1.46377740e+02] [ 9.25974964e-01 3.77229117e-01 -1.63878007e-02 8.00568132e+01] [ 1.79200521e-02 -5.52324727e-04 9.99839270e-01 2.91718447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14361786499995 meters 0.02655993901198867 Centerline is valid? [True, True] Translation: X:146.39, Y:80.08, Z:2.92 [[ 3.74646552e-01 -9.27138735e-01 -7.32984598e-03 1.46391425e+02] [ 9.26991559e-01 3.74717765e-01 -1.65301436e-02 8.00802069e+01] [ 1.80723599e-02 -6.01744048e-04 9.99836500e-01 2.91831540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17361786499995 meters 0.027069600508616058 Centerline is valid? [True, True] Translation: X:146.40, Y:80.10, Z:2.92 [[ 3.74099409e-01 -9.27359568e-01 -7.33914570e-03 1.46403031e+02] [ 9.27211909e-01 3.74170895e-01 -1.65594963e-02 8.01046047e+01] [ 1.81027021e-02 -6.10045504e-04 9.99835947e-01 2.91903068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20361786499996 meters 0.02443767748255945 Centerline is valid? [True, True] Translation: X:146.41, Y:80.13, Z:2.92 [[ 3.74090821e-01 -9.27364127e-01 -7.19956751e-03 1.46409259e+02] [ 9.27221829e-01 3.74159622e-01 -1.62559810e-02 8.01323385e+01] [ 1.77690011e-02 -5.94382880e-04 9.99841942e-01 2.92035602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23361786499996 meters 0.024051743002177505 Centerline is valid? [True, True] Translation: X:146.42, Y:80.16, Z:2.92 [[ 3.75255584e-01 -9.26893419e-01 -7.19974228e-03 1.46419205e+02] [ 9.26750820e-01 3.75324216e-01 -1.62680805e-02 8.01587155e+01] [ 1.77810144e-02 -5.67679003e-04 9.99841744e-01 2.92122272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26361786499996 meters 0.023580150244064336 Centerline is valid? [True, True] Translation: X:146.43, Y:80.19, Z:2.92 [[ 3.76093601e-01 -9.26553747e-01 -7.19429912e-03 1.46429433e+02] [ 9.26411101e-01 3.76162007e-01 -1.62670635e-02 8.01854766e+01] [ 1.77785307e-02 -5.46940065e-04 9.99841800e-01 2.92176586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29361786499996 meters 0.02350930275438608 Centerline is valid? [True, True] Translation: X:146.44, Y:80.21, Z:2.92 [[ 3.77097576e-01 -9.26145493e-01 -7.20717012e-03 1.46440501e+02] [ 9.26002061e-01 3.77166078e-01 -1.63074289e-02 8.02104133e+01] [ 1.78213518e-02 -5.24362488e-04 9.99841050e-01 2.92222859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32361786499996 meters 0.02369822802818332 Centerline is valid? [True, True] Translation: X:146.45, Y:80.23, Z:2.92 [[ 3.79659490e-01 -9.25098480e-01 -7.17449432e-03 1.46451892e+02] [ 9.24956016e-01 3.79726982e-01 -1.62415611e-02 8.02349006e+01] [ 1.77493926e-02 -4.69828864e-04 9.99842357e-01 2.92315078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35361786499996 meters 0.022804296783420143 Centerline is valid? [True, True] Translation: X:146.46, Y:80.26, Z:2.92 [[ 3.80864903e-01 -9.24603098e-01 -7.14397720e-03 1.46461246e+02] [ 9.24461628e-01 3.80931641e-01 -1.61797249e-02 8.02614561e+01] [ 1.76811908e-02 -4.42043432e-04 9.99843578e-01 2.92399297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38361786499996 meters 0.022198189032174485 Centerline is valid? [True, True] Translation: X:146.47, Y:80.29, Z:2.92 [[ 3.82466907e-01 -9.23940443e-01 -7.28854304e-03 1.46471265e+02] [ 9.23792857e-01 3.82536123e-01 -1.65188669e-02 8.02883301e+01] [ 1.80505802e-02 -4.15184072e-04 9.99836989e-01 2.92456718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41361786499996 meters 0.021815726838863323 Centerline is valid? [True, True] Translation: X:146.48, Y:80.31, Z:2.93 [[ 3.85988992e-01 -9.22474712e-01 -7.27342583e-03 1.46480614e+02] [ 9.22327273e-01 3.86057364e-01 -1.64958413e-02 8.03136292e+01] [ 1.80249561e-02 -3.41265847e-04 9.99837479e-01 2.92518501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44361786499996 meters 0.021544206542265507 Centerline is valid? [True, True] Translation: X:146.49, Y:80.34, Z:2.93 [[ 3.87891676e-01 -9.21676413e-01 -7.25521632e-03 1.46490932e+02] [ 9.21529435e-01 3.87959406e-01 -1.64620903e-02 8.03394360e+01] [ 1.79874497e-02 -3.00387594e-04 9.99838168e-01 2.92572226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47361786499997 meters 0.021372588011370635 Centerline is valid? [True, True] Translation: X:146.50, Y:80.36, Z:2.93 [[ 3.89571199e-01 -9.20967338e-01 -7.31044175e-03 1.46501125e+02] [ 9.20817785e-01 3.89639694e-01 -1.65986854e-02 8.03645356e+01] [ 1.81352854e-02 -2.65215001e-04 9.99835507e-01 2.92640936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50361786499997 meters 0.020763666305354395 Centerline is valid? [True, True] Translation: X:146.51, Y:80.39, Z:2.93 [[ 3.92653580e-01 -9.19658043e-01 -7.22844252e-03 1.46510324e+02] [ 9.19511446e-01 3.92720059e-01 -1.64212173e-02 8.03920004e+01] [ 1.79406590e-02 -1.98785866e-04 9.99839034e-01 2.92735402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53361786499997 meters 0.020721992281912863 Centerline is valid? [True, True] Translation: X:146.52, Y:80.42, Z:2.93 [[ 3.93965499e-01 -9.19095958e-01 -7.33526849e-03 1.46520448e+02] [ 9.18944699e-01 3.94033743e-01 -1.66748401e-02 8.04170029e+01] [ 1.82161214e-02 -1.71394418e-04 9.99834058e-01 2.92785733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56361786499997 meters 0.020589616805995584 Centerline is valid? [True, True] Translation: X:146.53, Y:80.44, Z:2.93 [[ 3.94984827e-01 -9.18657435e-01 -7.45005293e-03 1.46531117e+02] [ 9.18501129e-01 3.95055053e-01 -1.69464230e-02 8.04433327e+01] [ 1.85111385e-02 -1.49302081e-04 9.99828643e-01 2.92786636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59361786499997 meters 0.02047633745830923 Centerline is valid? [True, True] Translation: X:146.54, Y:80.47, Z:2.93 [[ 3.96119934e-01 -9.18168312e-01 -7.47993987e-03 1.46541071e+02] [ 9.18010429e-01 3.96190531e-01 -1.70268870e-02 8.04691444e+01] [ 1.85970294e-02 -1.21973470e-04 9.99827053e-01 2.92807234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62361786499997 meters 0.020400965783850245 Centerline is valid? [True, True] Translation: X:146.55, Y:80.49, Z:2.93 [[ 3.97780351e-01 -9.17449692e-01 -7.54027019e-03 1.46550523e+02] [ 9.17288887e-01 3.97851801e-01 -1.71767994e-02 8.04947184e+01] [ 1.87587594e-02 -8.40127460e-05 9.99824035e-01 2.92837272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65361786499997 meters 0.02038071383067763 Centerline is valid? [True, True] Translation: X:146.56, Y:80.52, Z:2.93 [[ 3.98279201e-01 -9.17233931e-01 -7.45611435e-03 1.46561236e+02] [ 9.17076453e-01 3.98348981e-01 -1.69961170e-02 8.05200049e+01] [ 1.85595508e-02 -6.86269902e-05 9.99827754e-01 2.92915528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68361786499997 meters 0.020419703377818434 Centerline is valid? [True, True] Translation: X:146.57, Y:80.55, Z:2.93 [[ 3.98715568e-01 -9.17044775e-01 -7.40113232e-03 1.46572014e+02] [ 9.16889339e-01 3.98784250e-01 -1.68837508e-02 8.05452380e+01] [ 1.84346104e-02 -5.42050344e-05 9.99830067e-01 2.93009355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71361786499997 meters 0.020390146864215305 Centerline is valid? [True, True] Translation: X:146.58, Y:80.57, Z:2.93 [[ 3.98574901e-01 -9.17104523e-01 -7.57246755e-03 1.46583215e+02] [ 9.16941566e-01 3.98646825e-01 -1.72879413e-02 8.05713868e+01] [ 1.88735893e-02 -5.29707521e-05 9.99821877e-01 2.93075430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74361786499998 meters 0.020425864211293256 Centerline is valid? [True, True] Translation: X:146.59, Y:80.60, Z:2.93 [[ 3.98009371e-01 -9.17349282e-01 -7.67046487e-03 1.46594229e+02] [ 9.17181881e-01 3.98083272e-01 -1.75244312e-02 8.05969664e+01] [ 1.91295081e-02 -6.03235638e-05 9.99817012e-01 2.93108382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77361786499998 meters 0.020482859503243075 Centerline is valid? [True, True] Translation: X:146.61, Y:80.62, Z:2.93 [[ 3.97663369e-01 -9.17499031e-01 -7.70539858e-03 1.46605166e+02] [ 9.17329893e-01 3.97738010e-01 -1.76165818e-02 8.06217850e+01] [ 1.92279266e-02 -6.29232002e-05 9.99815124e-01 2.93180701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80361786499998 meters 0.020414116778756018 Centerline is valid? [True, True] Translation: X:146.62, Y:80.65, Z:2.93 [[ 3.97210060e-01 -9.17694784e-01 -7.77511242e-03 1.46616235e+02] [ 9.17522412e-01 3.97286143e-01 -1.77860441e-02 8.06473471e+01] [ 1.94111043e-02 -6.90442591e-05 9.99811584e-01 2.93252736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83361786499998 meters 0.020393580421640127 Centerline is valid? [True, True] Translation: X:146.63, Y:80.67, Z:2.93 [[ 3.96576420e-01 -9.17968914e-01 -7.75985487e-03 1.46627161e+02] [ 9.17797030e-01 3.96652324e-01 -1.77635807e-02 8.06721437e+01] [ 1.93843794e-02 -7.73544929e-05 9.99812102e-01 2.93225493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86361786499995 meters 0.020430388902058498 Centerline is valid? [True, True] Translation: X:146.64, Y:80.70, Z:2.93 [[ 3.94942508e-01 -9.18671739e-01 -7.91520701e-03 1.46638260e+02] [ 9.18492845e-01 3.95021801e-01 -1.81292816e-02 8.06977419e+01] [ 1.97815380e-02 -1.10037060e-04 9.99804320e-01 2.93315539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89361786499995 meters 0.020468017475056253 Centerline is valid? [True, True] Translation: X:146.65, Y:80.72, Z:2.93 [[ 3.93978678e-01 -9.19085525e-01 -7.91194054e-03 1.46649697e+02] [ 9.18906590e-01 3.94058094e-01 -1.81355446e-02 8.07227654e+01] [ 1.97858808e-02 -1.25316405e-04 9.99804232e-01 2.93325414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92361786499995 meters 0.0205570317983985 Centerline is valid? [True, True] Translation: X:146.66, Y:80.75, Z:2.93 [[ 3.93268091e-01 -9.19390038e-01 -7.88459092e-03 1.46661154e+02] [ 9.19212146e-01 3.93347099e-01 -1.80856266e-02 8.07487557e+01] [ 1.97291259e-02 -1.35111879e-04 9.99805353e-01 2.93354478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95361786499996 meters 0.02051711515678975 Centerline is valid? [True, True] Translation: X:146.67, Y:80.78, Z:2.93 [[ 3.92420048e-01 -9.19751026e-01 -8.03465705e-03 1.46671791e+02] [ 9.19566091e-01 3.92502264e-01 -1.84438751e-02 8.07750374e+01] [ 2.01173941e-02 -1.50651817e-04 9.99797613e-01 2.93440368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98361786499996 meters 0.020502734901730654 Centerline is valid? [True, True] Translation: X:146.68, Y:80.80, Z:2.94 [[ 3.92059772e-01 -9.19904887e-01 -8.00839473e-03 1.46682765e+02] [ 9.19720914e-01 3.92141526e-01 -1.83974114e-02 8.08012759e+01] [ 2.00642927e-02 -1.52603205e-04 9.99798680e-01 2.93523177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01361786499996 meters 0.020445842225534427 Centerline is valid? [True, True] Translation: X:146.69, Y:80.83, Z:2.94 [[ 3.91825482e-01 -9.20005469e-01 -7.92011613e-03 1.46693355e+02] [ 9.19825280e-01 3.91905491e-01 -1.82082689e-02 8.08267771e+01] [ 1.98556440e-02 -1.50659290e-04 9.99802846e-01 2.93616275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04361786499996 meters 0.02063036847372097 Centerline is valid? [True, True] Translation: X:146.70, Y:80.85, Z:2.94 [[ 3.91781534e-01 -9.20024740e-01 -7.85540944e-03 1.46704003e+02] [ 9.19847223e-01 3.91860252e-01 -1.80728868e-02 8.08511600e+01] [ 1.97057257e-02 -1.45153259e-04 9.99805813e-01 2.93631179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07361786499996 meters 0.020566656686448723 Centerline is valid? [True, True] Translation: X:146.71, Y:80.88, Z:2.94 [[ 3.92043353e-01 -9.19913924e-01 -7.77051819e-03 1.46712905e+02] [ 9.19739964e-01 3.92120331e-01 -1.78898207e-02 8.08775876e+01] [ 1.95040734e-02 -1.33270812e-04 9.99809769e-01 2.93755578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10361786499996 meters 0.02053954273481526 Centerline is valid? [True, True] Translation: X:146.72, Y:80.90, Z:2.94 [[ 3.92082322e-01 -9.19895768e-01 -7.95166143e-03 1.46722701e+02] [ 9.19713322e-01 3.92162924e-01 -1.83206577e-02 8.09024549e+01] [ 1.99714423e-02 -1.30042959e-04 9.99800542e-01 2.93786716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13361786499996 meters 0.0205870228269115 Centerline is valid? [True, True] Translation: X:146.73, Y:80.93, Z:2.94 [[ 3.92120502e-01 -9.19879445e-01 -7.95726900e-03 1.46732340e+02] [ 9.19696490e-01 3.92201212e-01 -1.83459708e-02 8.09280414e+01] [ 1.99969320e-02 -1.24441084e-04 9.99800034e-01 2.93764164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16361786499996 meters 0.020626115970886635 Centerline is valid? [True, True] Translation: X:146.74, Y:80.95, Z:2.94 [[ 3.91912441e-01 -9.19967774e-01 -7.99586747e-03 1.46742911e+02] [ 9.19782804e-01 3.91993979e-01 -1.84476026e-02 8.09541097e+01] [ 2.01055318e-02 -1.24616449e-04 9.99797856e-01 2.93823487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19361786499996 meters 0.020693336631077534 Centerline is valid? [True, True] Translation: X:146.75, Y:80.98, Z:2.94 [[ 3.91700398e-01 -9.20057834e-01 -8.02375243e-03 1.46753374e+02] [ 9.19871317e-01 3.91782551e-01 -1.85254941e-02 8.09793533e+01] [ 2.01880922e-02 -1.24376301e-04 9.99796192e-01 2.93846608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22361786499997 meters 0.020746623521909938 Centerline is valid? [True, True] Translation: X:146.76, Y:81.01, Z:2.94 [[ 3.91754196e-01 -9.20034304e-01 -8.09497192e-03 1.46763791e+02] [ 9.19844193e-01 3.91837804e-01 -1.87028199e-02 8.10056121e+01] [ 2.03791519e-02 -1.19204727e-04 9.99792316e-01 2.93906882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25361786499997 meters 0.02073873579224023 Centerline is valid? [True, True] Translation: X:146.77, Y:81.03, Z:2.94 [[ 3.92058493e-01 -9.19904323e-01 -8.13483767e-03 1.46772572e+02] [ 9.19712023e-01 3.92142864e-01 -1.88087577e-02 8.10310186e+01] [ 2.04922760e-02 -1.07574825e-04 9.99790005e-01 2.93919565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28361786499997 meters 0.020758644131456748 Centerline is valid? [True, True] Translation: X:146.78, Y:81.06, Z:2.94 [[ 3.92262238e-01 -9.19816216e-01 -8.27443252e-03 1.46782805e+02] [ 9.19616962e-01 3.92349486e-01 -1.91448001e-02 8.10573482e+01] [ 2.08561670e-02 -9.95263526e-05 9.99782482e-01 2.93965798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31361786499997 meters 0.020728080052193877 Centerline is valid? [True, True] Translation: X:146.79, Y:81.08, Z:2.94 [[ 3.92339310e-01 -9.19782916e-01 -8.32184251e-03 1.46792799e+02] [ 9.19581060e-01 3.92427546e-01 -1.92690097e-02 8.10824300e+01] [ 2.09890261e-02 -9.26187929e-05 9.99779702e-01 2.94014390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34361786499997 meters 0.020757603410699203 Centerline is valid? [True, True] Translation: X:146.80, Y:81.11, Z:2.94 [[ 3.92237261e-01 -9.19827183e-01 -8.23924430e-03 1.46802154e+02] [ 9.19629017e-01 3.92323778e-01 -1.90925086e-02 8.11073872e+01] [ 2.07942598e-02 -8.82548597e-05 9.99783772e-01 2.94074013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37361786499997 meters 0.020762132133561772 Centerline is valid? [True, True] Translation: X:146.81, Y:81.13, Z:2.94 [[ 3.91884528e-01 -9.19979879e-01 -7.97110678e-03 1.46812471e+02] [ 9.19794159e-01 3.91965578e-01 -1.84848842e-02 8.11325259e+01] [ 2.01301210e-02 -8.78373258e-05 9.99797365e-01 2.94143750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40361786499997 meters 0.020776664280590763 Centerline is valid? [True, True] Translation: X:146.82, Y:81.16, Z:2.94 [[ 3.91754184e-01 -9.20034329e-01 -8.09274504e-03 1.46822489e+02] [ 9.19842615e-01 3.91837755e-01 -1.87812939e-02 8.11583484e+01] [ 2.04504782e-02 -8.64012923e-05 9.99790863e-01 2.94276486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43361786499997 meters 0.02086250139969926 Centerline is valid? [True, True] Translation: X:146.83, Y:81.18, Z:2.94 [[ 3.91223175e-01 -9.20260781e-01 -8.03251812e-03 1.46832481e+02] [ 9.20071691e-01 3.91305617e-01 -1.86547161e-02 8.11840283e+01] [ 2.03103730e-02 -9.23352828e-05 9.99793719e-01 2.94314325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46361786499997 meters 0.020837075433021268 Centerline is valid? [True, True] Translation: X:146.84, Y:81.21, Z:2.94 [[ 3.90859642e-01 -9.20413682e-01 -8.20933150e-03 1.46843026e+02] [ 9.20215980e-01 3.90945832e-01 -1.90763556e-02 8.12102461e+01] [ 2.07675426e-02 -9.81805069e-05 9.99784327e-01 2.94404920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49361786499998 meters 0.020783454038535987 Centerline is valid? [True, True] Translation: X:146.85, Y:81.24, Z:2.94 [[ 3.90431305e-01 -9.20596247e-01 -8.12069447e-03 1.46853522e+02] [ 9.20402543e-01 3.90515735e-01 -1.88843898e-02 8.12354077e+01] [ 2.05561573e-02 -1.01250901e-04 9.99788695e-01 2.94408302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52361786499998 meters 0.02082698649829629 Centerline is valid? [True, True] Translation: X:146.86, Y:81.26, Z:2.94 [[ 3.89742604e-01 -9.20885376e-01 -8.41588495e-03 1.46863535e+02] [ 9.20677098e-01 3.89833440e-01 -1.95849406e-02 8.12614212e+01] [ 2.13162787e-02 -1.15226806e-04 9.99772776e-01 2.94395616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55361786499998 meters 0.020861923323902506 Centerline is valid? [True, True] Translation: X:146.87, Y:81.29, Z:2.94 [[ 3.89324003e-01 -9.21059636e-01 -8.71591076e-03 1.46874025e+02] [ 9.20835941e-01 3.89421535e-01 -2.02987296e-02 8.12872087e+01] [ 2.20905038e-02 -1.23141228e-04 9.99755967e-01 2.94404214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58361786499998 meters 0.020861923323902506 Centerline is valid? [True, True] Translation: X:146.88, Y:81.31, Z:2.94 [[ 3.89074076e-01 -9.21165290e-01 -8.71040409e-03 1.46884833e+02] [ 9.20941569e-01 3.89171547e-01 -2.03010925e-02 8.13125765e+01] [ 2.20905032e-02 -1.23144394e-04 9.99755967e-01 2.94449296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61361786499995 meters 0.02073427962806687 Centerline is valid? [True, True] Translation: X:146.90, Y:81.34, Z:2.94 [[ 3.88554193e-01 -9.21383972e-01 -8.78723919e-03 1.46895260e+02] [ 9.21155997e-01 3.88653521e-01 -2.04956101e-02 8.13383402e+01] [ 2.22995181e-02 -1.30762824e-04 9.99751326e-01 2.94462340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64361786499995 meters 0.020786682223111898 Centerline is valid? [True, True] Translation: X:146.91, Y:81.36, Z:2.95 [[ 3.88082936e-01 -9.21583093e-01 -8.73138834e-03 1.46905504e+02] [ 9.21357731e-01 3.88181122e-01 -2.03800863e-02 8.13631849e+01] [ 2.21713031e-02 -1.35568449e-04 9.99754177e-01 2.94544880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67361786499995 meters 0.020781659218852958 Centerline is valid? [True, True] Translation: X:146.92, Y:81.39, Z:2.95 [[ 3.87508041e-01 -9.21826316e-01 -8.58846877e-03 1.46916289e+02] [ 9.21608035e-01 3.87603178e-01 -2.00600902e-02 8.13890096e+01] [ 2.18208368e-02 -1.41755590e-04 9.99761887e-01 2.94604066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70361786499996 meters 0.020772643554351093 Centerline is valid? [True, True] Translation: X:146.93, Y:81.42, Z:2.95 [[ 3.87127212e-01 -9.21987744e-01 -8.43333281e-03 1.46926778e+02] [ 9.21777012e-01 3.87219033e-01 -1.97119418e-02 8.14150295e+01] [ 2.14397157e-02 -1.42623250e-04 9.99770133e-01 2.94691797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73361786499996 meters 0.020761238432594895 Centerline is valid? [True, True] Translation: X:146.94, Y:81.44, Z:2.95 [[ 3.86641199e-01 -9.22194231e-01 -8.14763321e-03 1.46937410e+02] [ 9.21997302e-01 3.86727010e-01 -1.90576588e-02 8.14413136e+01] [ 2.07257728e-02 -1.43619781e-04 9.99785188e-01 2.94773079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76361786499996 meters 0.020755926791039905 Centerline is valid? [True, True] Translation: X:146.95, Y:81.47, Z:2.95 [[ 3.85833213e-01 -9.22532809e-01 -8.12087804e-03 1.46946295e+02] [ 9.22336959e-01 3.85918634e-01 -1.90089912e-02 8.14676545e+01] [ 2.06704162e-02 -1.55885792e-04 9.99786332e-01 2.94886121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79361786499996 meters 0.020686579362763177 Centerline is valid? [True, True] Translation: X:146.96, Y:81.49, Z:2.95 [[ 3.85256310e-01 -9.22772991e-01 -8.22083286e-03 1.46956453e+02] [ 9.22572035e-01 3.85343975e-01 -1.92577398e-02 8.14937615e+01] [ 2.09383706e-02 -1.65144729e-04 9.99780755e-01 2.94957215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82361786499996 meters 0.02073351539579007 Centerline is valid? [True, True] Translation: X:146.97, Y:81.52, Z:2.95 [[ 3.84878320e-01 -9.22931630e-01 -8.11698106e-03 1.46966718e+02] [ 9.22735459e-01 3.84963867e-01 -1.90287661e-02 8.15195372e+01] [ 2.06869945e-02 -1.66066720e-04 9.99785987e-01 2.94990690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85361786499996 meters 0.020840204069493756 Centerline is valid? [True, True] Translation: X:146.98, Y:81.55, Z:2.95 [[ 3.84013327e-01 -9.23291006e-01 -8.21480061e-03 1.46976135e+02] [ 9.23089856e-01 3.84101140e-01 -1.92725737e-02 8.15451297e+01] [ 2.09495082e-02 -1.82073971e-04 9.99780518e-01 2.95000518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88361786499996 meters 0.020861604399997506 Centerline is valid? [True, True] Translation: X:146.99, Y:81.57, Z:2.95 [[ 3.83365143e-01 -9.23558848e-01 -8.37979434e-03 1.46986727e+02] [ 9.23349300e-01 3.83456667e-01 -1.96736974e-02 8.15712894e+01] [ 2.13831053e-02 -1.95267434e-04 9.99771336e-01 2.95019359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91361786499996 meters 0.02098381529815159 Centerline is valid? [True, True] Translation: X:147.00, Y:81.60, Z:2.95 [[ 3.82424716e-01 -9.23948267e-01 -8.42240929e-03 1.46996842e+02] [ 9.23736359e-01 3.82517392e-01 -1.97884715e-02 8.15972968e+01] [ 2.15052420e-02 -2.12485120e-04 9.99768713e-01 2.95061334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94361786499996 meters 0.02121885786981563 Centerline is valid? [True, True] Translation: X:147.01, Y:81.62, Z:2.95 [[ 3.80610982e-01 -9.24698486e-01 -8.24562402e-03 1.47006550e+02] [ 9.24495256e-01 3.80700210e-01 -1.93874193e-02 8.16228819e+01] [ 2.10666281e-02 -2.43975589e-04 9.99778044e-01 2.95107217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97361786499997 meters 0.021356622316584396 Centerline is valid? [True, True] Translation: X:147.02, Y:81.65, Z:2.95 [[ 3.79248997e-01 -9.25258009e-01 -8.23495540e-03 1.47017419e+02] [ 9.25055122e-01 3.79338297e-01 -1.93772509e-02 8.16488582e+01] [ 2.10527905e-02 -2.68984717e-04 9.99778329e-01 2.95157076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00361786499997 meters 0.021706844055031378 Centerline is valid? [True, True] Translation: X:147.03, Y:81.67, Z:2.95 [[ 3.76300853e-01 -9.26462855e-01 -8.01541271e-03 1.47028846e+02] [ 9.26270638e-01 3.76386072e-01 -1.88740644e-02 8.16749895e+01] [ 2.05030093e-02 -3.22114900e-04 9.99789739e-01 2.95244990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03361786499997 meters 0.02231740567492312 Centerline is valid? [True, True] Translation: X:147.04, Y:81.70, Z:2.95 [[ 3.74737696e-01 -9.27097260e-01 -7.89485999e-03 1.47040947e+02] [ 9.26910666e-01 3.74820690e-01 -1.86028683e-02 8.16994498e+01] [ 2.02058251e-02 -3.46633925e-04 9.99795781e-01 2.95311152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06361786499997 meters 0.02266077041361685 Centerline is valid? [True, True] Translation: X:147.05, Y:81.73, Z:2.95 [[ 3.73110809e-01 -9.27754087e-01 -7.78959734e-03 1.47052630e+02] [ 9.27572339e-01 3.73191927e-01 -1.83668565e-02 8.17252221e+01] [ 1.99469410e-02 -3.72542348e-04 9.99800971e-01 2.95374176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09361786499997 meters 0.022855296127850935 Centerline is valid? [True, True] Translation: X:147.06, Y:81.75, Z:2.95 [[ 3.71638784e-01 -9.28345634e-01 -7.68103090e-03 1.47063536e+02] [ 9.28168804e-01 3.71717942e-01 -1.81229912e-02 8.17510580e+01] [ 1.96795768e-02 -3.94086853e-04 9.99806261e-01 2.95449113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12361786499997 meters 0.022871868905070765 Centerline is valid? [True, True] Translation: X:147.07, Y:81.78, Z:2.96 [[ 3.68947806e-01 -9.29422488e-01 -7.16626616e-03 1.47073317e+02] [ 9.29268568e-01 3.69017160e-01 -1.69193337e-02 8.17782908e+01] [ 1.83696844e-02 -4.17034848e-04 9.99831176e-01 2.95527461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15361786499997 meters 0.022782861889577673 Centerline is valid? [True, True] Translation: X:147.08, Y:81.81, Z:2.96 [[ 3.67918899e-01 -9.29830554e-01 -7.12907969e-03 1.47083927e+02] [ 9.29678089e-01 3.67987710e-01 -1.68432726e-02 8.18056013e+01] [ 1.82848032e-02 -4.30790862e-04 9.99832726e-01 2.95593582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18361786499997 meters 0.023745139662259624 Centerline is valid? [True, True] Translation: X:147.10, Y:81.83, Z:2.96 [[ 3.66832418e-01 -9.30260316e-01 -7.05138753e-03 1.47096563e+02] [ 9.30111036e-01 3.66899916e-01 -1.66706859e-02 8.18297978e+01] [ 1.80952310e-02 -4.43225354e-04 9.99836170e-01 2.95605812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21361786499997 meters 0.023340061638425953 Centerline is valid? [True, True] Translation: X:147.11, Y:81.86, Z:2.96 [[ 3.65877168e-01 -9.30636458e-01 -7.04848636e-03 1.47105167e+02] [ 9.30487166e-01 3.65944769e-01 -1.66751332e-02 8.18568813e+01] [ 1.80978436e-02 -4.57475591e-04 9.99836116e-01 2.95699506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24361786499998 meters 0.023841540206918768 Centerline is valid? [True, True] Translation: X:147.12, Y:81.88, Z:2.96 [[ 3.65810937e-01 -9.30662310e-01 -7.07275535e-03 1.47116256e+02] [ 9.30511772e-01 3.65879021e-01 -1.67446868e-02 8.18813903e+01] [ 1.81714217e-02 -4.55892557e-04 9.99834782e-01 2.95737587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27361786499998 meters 0.022731714647184677 Centerline is valid? [True, True] Translation: X:147.12, Y:81.91, Z:2.96 [[ 3.65953758e-01 -9.30605706e-01 -7.13212531e-03 1.47123322e+02] [ 9.30452373e-01 3.66022972e-01 -1.68986658e-02 8.19084960e+01] [ 1.83365166e-02 -4.51972648e-04 9.99831770e-01 2.95821031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30361786499998 meters 0.022638552349920002 Centerline is valid? [True, True] Translation: X:147.13, Y:81.94, Z:2.96 [[ 3.67435993e-01 -9.30021692e-01 -7.10237875e-03 1.47131720e+02] [ 9.29869304e-01 3.67504394e-01 -1.68403835e-02 8.19354584e+01] [ 1.82720773e-02 -4.16520967e-04 9.99832965e-01 2.95896388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33361786499998 meters 0.022371019511766985 Centerline is valid? [True, True] Translation: X:147.14, Y:81.96, Z:2.96 [[ 3.68182330e-01 -9.29727245e-01 -7.00154035e-03 1.47140884e+02] [ 9.29578976e-01 3.68248686e-01 -1.66082333e-02 8.19626215e+01] [ 1.80194350e-02 -3.93626660e-04 9.99837559e-01 2.95941497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36361786499995 meters 0.022193591266892874 Centerline is valid? [True, True] Translation: X:147.15, Y:81.99, Z:2.96 [[ 3.69514084e-01 -9.29197518e-01 -7.16340466e-03 1.47149155e+02] [ 9.29041979e-01 3.69583325e-01 -1.70049323e-02 8.19905206e+01] [ 1.84484158e-02 -3.71541641e-04 9.99829744e-01 2.95984975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39361786499995 meters 0.0220459732652335 Centerline is valid? [True, True] Translation: X:147.16, Y:82.02, Z:2.96 [[ 3.69897482e-01 -9.29044735e-01 -7.19258391e-03 1.47159093e+02] [ 9.28887682e-01 3.69967228e-01 -1.70858070e-02 8.20170666e+01] [ 1.85344994e-02 -3.61105592e-04 9.99828156e-01 2.96017954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42361786499995 meters 0.022093900505988688 Centerline is valid? [True, True] Translation: X:147.17, Y:82.04, Z:2.96 [[ 3.70412689e-01 -9.28839449e-01 -7.19144380e-03 1.47168769e+02] [ 9.28682173e-01 3.70482331e-01 -1.70957364e-02 8.20421434e+01] [ 1.85434973e-02 -3.46087958e-04 9.99827995e-01 2.96073397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45361786499996 meters 0.022020361205416835 Centerline is valid? [True, True] Translation: X:147.18, Y:82.07, Z:2.96 [[ 3.71016243e-01 -9.28597263e-01 -7.35333536e-03 1.47178303e+02] [ 9.28432565e-01 3.71088952e-01 -1.74917553e-02 8.20674820e+01] [ 1.89715376e-02 -3.37350684e-04 9.99819967e-01 2.96133413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48361786499996 meters 0.021943410419825244 Centerline is valid? [True, True] Translation: X:147.19, Y:82.09, Z:2.96 [[ 3.71757627e-01 -9.28299637e-01 -7.48676662e-03 1.47186708e+02] [ 9.28128624e-01 3.71832866e-01 -1.78206921e-02 8.20942395e+01] [ 1.93267679e-02 -3.23704202e-04 9.99813168e-01 2.96143311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51361786499996 meters 0.02178359036573487 Centerline is valid? [True, True] Translation: X:147.20, Y:82.12, Z:2.96 [[ 3.71685117e-01 -9.28329395e-01 -7.39647132e-03 1.47195883e+02] [ 9.28162244e-01 3.71758570e-01 -1.76186179e-02 8.21203773e+01] [ 1.91055825e-02 -3.16547355e-04 9.99817422e-01 2.96176274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54361786499996 meters 0.021704656065043786 Centerline is valid? [True, True] Translation: X:147.21, Y:82.15, Z:2.96 [[ 3.71775793e-01 -9.28292443e-01 -7.47666535e-03 1.47205845e+02] [ 9.28121375e-01 3.71850834e-01 -1.78233303e-02 8.21471452e+01] [ 1.93254671e-02 -3.12970157e-04 9.99813197e-01 2.96232127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57361786499996 meters 0.021621441134464174 Centerline is valid? [True, True] Translation: X:147.22, Y:82.17, Z:2.96 [[ 3.71359932e-01 -9.28460013e-01 -7.33522040e-03 1.47215009e+02] [ 9.28295140e-01 3.71432239e-01 -1.74992791e-02 8.21741573e+01] [ 1.89719182e-02 -3.10718349e-04 9.99819969e-01 2.96319140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60361786499996 meters 0.02184175202661476 Centerline is valid? [True, True] Translation: X:147.23, Y:82.20, Z:2.96 [[ 3.71049961e-01 -9.28585096e-01 -7.18651164e-03 1.47225953e+02] [ 9.28426631e-01 3.71119423e-01 -1.71570681e-02 8.21988139e+01] [ 1.85988518e-02 -3.06019321e-04 9.99826980e-01 2.96374085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63361786499996 meters 0.02211671299413241 Centerline is valid? [True, True] Translation: X:147.24, Y:82.22, Z:2.96 [[ 3.70337472e-01 -9.28871341e-01 -6.94183338e-03 1.47236854e+02] [ 9.28723374e-01 3.70402401e-01 -1.65817734e-02 8.22240361e+01] [ 1.79736059e-02 -3.06190865e-04 9.99838415e-01 2.96459615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66361786499996 meters 0.021941908684221426 Centerline is valid? [True, True] Translation: X:147.25, Y:82.25, Z:2.97 [[ 3.68966150e-01 -9.29417943e-01 -6.80200824e-03 1.47246494e+02] [ 9.29275748e-01 3.69028704e-01 -1.62603565e-02 8.22505432e+01] [ 1.76228033e-02 -3.21420176e-04 9.99844655e-01 2.96592041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69361786499996 meters 0.021690738428069782 Centerline is valid? [True, True] Translation: X:147.26, Y:82.28, Z:2.97 [[ 3.68258718e-01 -9.29699338e-01 -6.68264352e-03 1.47255766e+02] [ 9.29561940e-01 3.68319204e-01 -1.59863654e-02 8.22775513e+01] [ 1.73238593e-02 -3.24812631e-04 9.99849878e-01 2.96653674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72361786499997 meters 0.02206764763176102 Centerline is valid? [True, True] Translation: X:147.27, Y:82.30, Z:2.97 [[ 3.67289411e-01 -9.30081333e-01 -6.87038878e-03 1.47266819e+02] [ 9.29935944e-01 3.67353498e-01 -1.64483586e-02 8.23023905e+01] [ 1.78221727e-02 -3.47713531e-04 9.99841112e-01 2.96603686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75361786499997 meters 0.021640615269418555 Centerline is valid? [True, True] Translation: X:147.28, Y:82.33, Z:2.97 [[ 3.66803502e-01 -9.30271818e-01 -7.03811798e-03 1.47275790e+02] [ 9.30119111e-01 3.66870839e-01 -1.68590030e-02 8.23288283e+01] [ 1.82655356e-02 -3.62346721e-04 9.99833106e-01 2.96656708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78361786499997 meters 0.021763871181681854 Centerline is valid? [True, True] Translation: X:147.29, Y:82.35, Z:2.97 [[ 3.66286293e-01 -9.30476171e-01 -6.96029002e-03 1.47286240e+02] [ 9.30326626e-01 3.66352238e-01 -1.66855517e-02 8.23534572e+01] [ 1.80754261e-02 -3.63654246e-04 9.99836560e-01 2.96662020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81361786499997 meters 0.021779263887399286 Centerline is valid? [True, True] Translation: X:147.30, Y:82.38, Z:2.97 [[ 3.65899937e-01 -9.30625974e-01 -7.24791091e-03 1.47296555e+02] [ 9.30463595e-01 3.65971516e-01 -1.73881397e-02 8.23794293e+01] [ 1.88343834e-02 -3.81598004e-04 9.99822544e-01 2.96695283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84361786499997 meters 0.021743633549475616 Centerline is valid? [True, True] Translation: X:147.31, Y:82.41, Z:2.97 [[ 3.65849537e-01 -9.30645203e-01 -7.32276143e-03 1.47306698e+02] [ 9.30479193e-01 3.65922616e-01 -1.75815618e-02 8.24052812e+01] [ 1.90417602e-02 -3.81470899e-04 9.99818616e-01 2.96720290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87361786499997 meters 0.021923357054741993 Centerline is valid? [True, True] Translation: X:147.32, Y:82.43, Z:2.97 [[ 3.65679286e-01 -9.30711891e-01 -7.35086940e-03 1.47317312e+02] [ 9.30544365e-01 3.65752963e-01 -1.76622469e-02 8.24297889e+01] [ 1.91270654e-02 -3.81592284e-04 9.99816988e-01 2.96725099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90361786499997 meters 0.021701454996333042 Centerline is valid? [True, True] Translation: X:147.33, Y:82.46, Z:2.97 [[ 3.65334230e-01 -9.30847181e-01 -7.37745322e-03 1.47327186e+02] [ 9.30678274e-01 3.65408507e-01 -1.77362011e-02 8.24565298e+01] [ 1.92054769e-02 -3.86394058e-04 9.99815483e-01 2.96807888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93361786499997 meters 0.022229060795462753 Centerline is valid? [True, True] Translation: X:147.34, Y:82.48, Z:2.97 [[ 3.65322549e-01 -9.30852664e-01 -7.26317365e-03 1.47338749e+02] [ 9.30688701e-01 3.65394550e-01 -1.74746987e-02 8.24805975e+01] [ 1.89202939e-02 -3.75852188e-04 9.99820925e-01 2.96888472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96361786499997 meters 0.02181472381969634 Centerline is valid? [True, True] Translation: X:147.35, Y:82.51, Z:2.97 [[ 3.65014579e-01 -9.30973751e-01 -7.22717307e-03 1.47347600e+02] [ 9.30811204e-01 3.65085926e-01 -1.74002676e-02 8.25067806e+01] [ 1.88377316e-02 -3.75782323e-04 9.99822484e-01 2.97011645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99361786499998 meters 0.02154605149000596 Centerline is valid? [True, True] Translation: X:147.36, Y:82.53, Z:2.97 [[ 3.64582944e-01 -9.31142896e-01 -7.22382545e-03 1.47357400e+02] [ 9.30980281e-01 3.64654305e-01 -1.74055803e-02 8.25332239e+01] [ 1.88412815e-02 -3.79461334e-04 9.99822415e-01 2.97098173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02361786499998 meters 0.021564294071364898 Centerline is valid? [True, True] Translation: X:147.37, Y:82.56, Z:2.97 [[ 3.63940403e-01 -9.31394091e-01 -7.24089862e-03 1.47368123e+02] [ 9.31230499e-01 3.64012221e-01 -1.74602465e-02 8.25583705e+01] [ 1.88981460e-02 -3.88456474e-04 9.99821339e-01 2.97158251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05361786499998 meters 0.021701474272454023 Centerline is valid? [True, True] Translation: X:147.38, Y:82.58, Z:2.97 [[ 3.63726878e-01 -9.31476742e-01 -7.33734822e-03 1.47379052e+02] [ 9.31308534e-01 3.63800665e-01 -1.77056651e-02 8.25844740e+01] [ 1.91617474e-02 -3.93308710e-04 9.99816320e-01 2.97190501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08361786499998 meters 0.021527001477434346 Centerline is valid? [True, True] Translation: X:147.39, Y:82.61, Z:2.97 [[ 3.63331920e-01 -9.31629183e-01 -7.54862595e-03 1.47389018e+02] [ 9.31450895e-01 3.63410099e-01 -1.82299141e-02 8.26108856e+01] [ 1.97267668e-02 -4.07664720e-04 9.99805325e-01 2.97220971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11361786499995 meters 0.021650132964125712 Centerline is valid? [True, True] Translation: X:147.40, Y:82.64, Z:2.97 [[ 3.63071555e-01 -9.31728790e-01 -7.77868346e-03 1.47399599e+02] [ 9.31539192e-01 3.63154630e-01 -1.88002284e-02 8.26355018e+01] [ 2.03415789e-02 -4.20320370e-04 9.99793000e-01 2.97265401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14361786499995 meters 0.021541302453286476 Centerline is valid? [True, True] Translation: X:147.41, Y:82.66, Z:2.97 [[ 3.62962976e-01 -9.31767683e-01 -8.17695454e-03 1.47410701e+02] [ 9.31557866e-01 3.63054806e-01 -1.97775345e-02 8.26617799e+01] [ 2.13967501e-02 -4.38793550e-04 9.99770967e-01 2.97318570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17361786499995 meters 0.021624515565516034 Centerline is valid? [True, True] Translation: X:147.42, Y:82.69, Z:2.97 [[ 3.63054420e-01 -9.31732107e-01 -8.17118681e-03 1.47421118e+02] [ 9.31522278e-01 3.63146106e-01 -1.97775328e-02 8.26862074e+01] [ 2.13946969e-02 -4.31321865e-04 9.99771014e-01 2.97343328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20361786499996 meters 0.02119903306983185 Centerline is valid? [True, True] Translation: X:147.43, Y:82.71, Z:2.97 [[ 3.62977881e-01 -9.31761016e-01 -8.27441999e-03 1.47430816e+02] [ 9.31545605e-01 3.63071921e-01 -2.00391346e-02 8.27120780e+01] [ 2.16758940e-02 -4.34236947e-04 9.99764956e-01 2.97446108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23361786499996 meters 0.02140418621150739 Centerline is valid? [True, True] Translation: X:147.44, Y:82.74, Z:2.97 [[ 3.62804940e-01 -9.31825737e-01 -8.56570990e-03 1.47441954e+02] [ 9.31594568e-01 3.62905766e-01 -2.07597349e-02 8.27364699e+01] [ 2.24530007e-02 -4.48034450e-04 9.99747799e-01 2.97469440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26361786499996 meters 0.021741568723728632 Centerline is valid? [True, True] Translation: X:147.45, Y:82.76, Z:2.98 [[ 3.62497665e-01 -9.31941237e-01 -8.99853101e-03 1.47454737e+02] [ 9.31685823e-01 3.62609027e-01 -2.18224625e-02 8.27609016e+01] [ 2.36002013e-02 -4.73212063e-04 9.99721364e-01 2.97508040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29361786499996 meters 0.021075775633807244 Centerline is valid? [True, True] Translation: X:147.46, Y:82.79, Z:2.98 [[ 3.62208460e-01 -9.32053345e-01 -9.03293341e-03 1.47464710e+02] [ 9.31795596e-01 3.62320763e-01 -2.19232996e-02 8.27872042e+01] [ 2.37065040e-02 -4.76043000e-04 9.99718848e-01 2.97617269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32361786499996 meters 0.021047720800355014 Centerline is valid? [True, True] Translation: X:147.48, Y:82.81, Z:2.98 [[ 3.60913148e-01 -9.32551392e-01 -9.46582152e-03 1.47477588e+02] [ 9.32268078e-01 3.61036874e-01 -2.29914381e-02 8.28128190e+01] [ 2.48582082e-02 -5.26770921e-04 9.99690848e-01 2.97669534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35361786499996 meters 0.021066204910764073 Centerline is valid? [True, True] Translation: X:147.49, Y:82.84, Z:2.98 [[ 3.60344150e-01 -9.32768594e-01 -9.73882993e-03 1.47489856e+02] [ 9.32468347e-01 3.60475307e-01 -2.36713879e-02 8.28385499e+01] [ 2.55905349e-02 -5.51304519e-04 9.99672357e-01 2.97747185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38361786499996 meters 0.021165659440138766 Centerline is valid? [True, True] Translation: X:147.50, Y:82.86, Z:2.98 [[ 3.59465847e-01 -9.33105716e-01 -9.90085728e-03 1.47501763e+02] [ 9.32795054e-01 3.59601707e-01 -2.40831822e-02 8.28639364e+01] [ 2.60325202e-02 -5.78389211e-04 9.99660929e-01 2.97777143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41361786499996 meters 0.021297866655423943 Centerline is valid? [True, True] Translation: X:147.51, Y:82.89, Z:2.98 [[ 3.58531776e-01 -9.33465560e-01 -9.84954562e-03 1.47514764e+02] [ 9.33157850e-01 3.58666548e-01 -2.39736178e-02 8.28879062e+01] [ 2.59112491e-02 -5.95877062e-04 9.99664070e-01 2.97845840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44361786499996 meters 0.021449121229929122 Centerline is valid? [True, True] Translation: X:147.53, Y:82.91, Z:2.98 [[ 3.57740105e-01 -9.33769523e-01 -9.82316336e-03 1.47526441e+02] [ 9.33463260e-01 3.57874423e-01 -2.39215126e-02 8.29128728e+01] [ 2.58526384e-02 -6.11877648e-04 9.99665577e-01 2.97912080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47361786499997 meters 0.02138985675040071 Centerline is valid? [True, True] Translation: X:147.54, Y:82.94, Z:2.98 [[ 3.57252063e-01 -9.33959229e-01 -9.54578516e-03 1.47538199e+02] [ 9.33669730e-01 3.57379063e-01 -2.32602908e-02 8.29383499e+01] [ 2.51356270e-02 -6.02823783e-04 9.99683868e-01 2.98026817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50361786499997 meters 0.02138985675040071 Centerline is valid? [True, True] Translation: X:147.55, Y:82.96, Z:2.98 [[ 3.57005337e-01 -9.34053630e-01 -9.53963324e-03 1.47548591e+02] [ 9.33764097e-01 3.57132261e-01 -2.32628139e-02 8.29638901e+01] [ 2.51356266e-02 -6.02818297e-04 9.99683868e-01 2.98071910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53361786499997 meters 0.021880174022732877 Centerline is valid? [True, True] Translation: X:147.56, Y:82.99, Z:2.98 [[ 3.55772690e-01 -9.34525640e-01 -9.36059378e-03 1.47561881e+02] [ 9.34246698e-01 3.55895271e-01 -2.28399517e-02 8.29875967e+01] [ 2.46759116e-02 -6.19272764e-04 9.99695312e-01 2.98104024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56361786499997 meters 0.02218839005488488 Centerline is valid? [True, True] Translation: X:147.57, Y:83.01, Z:2.98 [[ 3.55075843e-01 -9.34790502e-01 -9.37349497e-03 1.47574101e+02] [ 9.34510619e-01 3.55198977e-01 -2.28820773e-02 8.30132784e+01] [ 2.47194043e-02 -6.34757716e-04 9.99694227e-01 2.98138778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59361786499997 meters 0.022111380212544638 Centerline is valid? [True, True] Translation: X:147.59, Y:83.04, Z:2.98 [[ 3.54578779e-01 -9.34980420e-01 -9.24681592e-03 1.47585543e+02] [ 9.34707715e-01 3.54698764e-01 -2.25892662e-02 8.30389063e+01] [ 2.44003558e-02 -6.33395762e-04 9.99702066e-01 2.98194907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62361786499997 meters 0.02233578857237748 Centerline is valid? [True, True] Translation: X:147.60, Y:83.06, Z:2.98 [[ 3.54065444e-01 -9.35174082e-01 -9.33264018e-03 1.47596614e+02] [ 9.34895933e-01 3.54187830e-01 -2.28161291e-02 8.30634068e+01] [ 2.46425601e-02 -6.46644467e-04 9.99696117e-01 2.98192470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65361786499997 meters 0.020715933867399318 Centerline is valid? [True, True] Translation: X:147.60, Y:83.09, Z:2.98 [[ 3.53132716e-01 -9.35527329e-01 -9.26832544e-03 1.47604929e+02] [ 9.35252698e-01 3.53253705e-01 -2.26762070e-02 8.30910155e+01] [ 2.44882816e-02 -6.60515825e-04 9.99699899e-01 2.98265702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68361786499997 meters 0.020854489237098147 Centerline is valid? [True, True] Translation: X:147.62, Y:83.12, Z:2.98 [[ 3.52522751e-01 -9.35758713e-01 -9.12916489e-03 1.47616039e+02] [ 9.35491941e-01 3.52640320e-01 -2.23524885e-02 8.31166872e+01] [ 2.41358475e-02 -6.60499455e-04 9.99708470e-01 2.98283738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71361786499997 meters 0.021187745713649675 Centerline is valid? [True, True] Translation: X:147.63, Y:83.14, Z:2.98 [[ 3.51714814e-01 -9.36063088e-01 -9.08764053e-03 1.47627066e+02] [ 9.35798438e-01 3.51831555e-01 -2.22674601e-02 8.31415909e+01] [ 2.40410662e-02 -6.72404217e-04 9.99710746e-01 2.98285572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74361786499998 meters 0.021877208019507162 Centerline is valid? [True, True] Translation: X:147.64, Y:83.17, Z:2.98 [[ 3.50617554e-01 -9.36477787e-01 -8.75699509e-03 1.47639133e+02] [ 9.36231871e-01 3.50726253e-01 -2.14704300e-02 8.31658214e+01] [ 2.31778888e-02 -6.70668239e-04 9.99731132e-01 2.98278793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77361786499998 meters 0.021147811694252727 Centerline is valid? [True, True] Translation: X:147.65, Y:83.19, Z:2.98 [[ 3.50204611e-01 -9.36635912e-01 -8.36056214e-03 1.47648710e+02] [ 9.36411558e-01 3.50303798e-01 -2.05095901e-02 8.31924820e+01] [ 2.21387553e-02 -6.46373977e-04 9.99754699e-01 2.98382570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80361786499998 meters 0.02127168664526563 Centerline is valid? [True, True] Translation: X:147.66, Y:83.22, Z:2.98 [[ 3.49958456e-01 -9.36732204e-01 -7.86492088e-03 1.47659108e+02] [ 9.36533391e-01 3.50046293e-01 -1.93080522e-02 8.32185426e+01] [ 2.08395607e-02 -6.08744896e-04 9.99782647e-01 2.98410221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83361786499998 meters 0.02119928472617854 Centerline is valid? [True, True] Translation: X:147.67, Y:83.24, Z:2.98 [[ 3.50227945e-01 -9.36634231e-01 -7.53015589e-03 1.47669331e+02] [ 9.36451686e-01 3.50308420e-01 -1.85000139e-02 8.32449368e+01] [ 1.99656233e-02 -5.72405315e-04 9.99800503e-01 2.98423403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86361786499995 meters 0.021751027646511562 Centerline is valid? [True, True] Translation: X:147.68, Y:83.27, Z:2.98 [[ 3.50984964e-01 -9.36351877e-01 -7.39713085e-03 1.47680462e+02] [ 9.36175408e-01 3.51062486e-01 -1.81861487e-02 8.32700459e+01] [ 1.96254896e-02 -5.41947240e-04 9.99807255e-01 2.98427212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89361786499995 meters 0.020337114151807424 Centerline is valid? [True, True] Translation: X:147.69, Y:83.30, Z:2.98 [[ 3.53817537e-01 -9.35287629e-01 -7.08530709e-03 1.47687032e+02] [ 9.35125325e-01 3.53888175e-01 -1.74294514e-02 8.32974214e+01] [ 1.88089567e-02 -4.58804527e-04 9.99822991e-01 2.98399322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92361786499995 meters 0.020133072297622928 Centerline is valid? [True, True] Translation: X:147.70, Y:83.32, Z:2.98 [[ 3.55538916e-01 -9.34635652e-01 -6.94820075e-03 1.47696023e+02] [ 9.34479215e-01 3.55606565e-01 -1.71046230e-02 8.33231173e+01] [ 1.84574163e-02 -4.11590043e-04 9.99829563e-01 2.98412518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95361786499996 meters 0.02036076109835621 Centerline is valid? [True, True] Translation: X:147.71, Y:83.35, Z:2.98 [[ 3.57371351e-01 -9.33938090e-01 -6.73515410e-03 1.47706325e+02] [ 9.33790831e-01 3.57434630e-01 -1.65882064e-02 8.33488300e+01] [ 1.78997351e-02 -3.61075416e-04 9.99839722e-01 2.98444028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98361786499996 meters 0.019038675671856388 Centerline is valid? [True, True] Translation: X:147.71, Y:83.38, Z:2.98 [[ 3.59355597e-01 -9.33177872e-01 -6.52788247e-03 1.47713579e+02] [ 9.33039276e-01 3.59414749e-01 -1.60856416e-02 8.33773198e+01] [ 1.73569820e-02 -3.10305405e-04 9.99849308e-01 2.98498175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01361786499996 meters 0.018879063621904356 Centerline is valid? [True, True] Translation: X:147.72, Y:83.40, Z:2.99 [[ 3.63018522e-01 -9.31761392e-01 -6.18553428e-03 1.47722032e+02] [ 9.31636582e-01 3.63071146e-01 -1.52519429e-02 8.34036589e+01] [ 1.64569605e-02 -2.25932264e-04 9.99864550e-01 2.98538234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04361786499996 meters 0.018621871267917974 Centerline is valid? [True, True] Translation: X:147.73, Y:83.43, Z:2.99 [[ 3.64527888e-01 -9.31173779e-01 -5.90023218e-03 1.47731272e+02] [ 9.31060042e-01 3.64575587e-01 -1.45547084e-02 8.34307620e+01] [ 1.57040434e-02 -1.87873317e-04 9.99876666e-01 2.98563037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07361786499996 meters 0.01824756060293951 Centerline is valid? [True, True] Translation: X:147.74, Y:83.46, Z:2.99 [[ 3.66098180e-01 -9.30557302e-01 -5.93544924e-03 1.47739687e+02] [ 9.30441959e-01 3.66146257e-01 -1.46519299e-02 8.34580676e+01] [ 1.58077029e-02 -1.58546154e-04 9.99875038e-01 2.98624170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10361786499996 meters 0.018011357207844518 Centerline is valid? [True, True] Translation: X:147.75, Y:83.48, Z:2.99 [[ 3.68746287e-01 -9.29514138e-01 -5.44451860e-03 1.47747027e+02] [ 9.29416841e-01 3.68786465e-01 -1.34491215e-02 8.34840872e+01] [ 1.45090134e-02 -1.00913644e-04 9.99894734e-01 2.98664582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13361786499996 meters 0.0179223635315375 Centerline is valid? [True, True] Translation: X:147.76, Y:83.51, Z:2.99 [[ 3.69392159e-01 -9.29257899e-01 -5.40275531e-03 1.47756051e+02] [ 9.29161913e-01 3.69431657e-01 -1.33563002e-02 8.35098284e+01] [ 1.44073963e-02 -8.63218991e-05 9.99896204e-01 2.98720876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16361786499996 meters 0.018009606888788516 Centerline is valid? [True, True] Translation: X:147.77, Y:83.54, Z:2.99 [[ 3.69750345e-01 -9.29118123e-01 -4.91900400e-03 1.47765847e+02] [ 9.29038427e-01 3.69783057e-01 -1.21692957e-02 8.35362790e+01] [ 1.31256775e-02 -7.03424571e-05 9.99913852e-01 2.98761281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19361786499996 meters 0.01793516193133798 Centerline is valid? [True, True] Translation: X:147.78, Y:83.56, Z:2.99 [[ 3.69828404e-01 -9.29086773e-01 -4.97200256e-03 1.47775749e+02] [ 9.29005222e-01 3.69861818e-01 -1.23098699e-02 8.35622189e+01] [ 1.32758912e-02 -6.64767884e-05 9.99911869e-01 2.98825775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22361786499997 meters 0.017992514232209 Centerline is valid? [True, True] Translation: X:147.79, Y:83.59, Z:2.99 [[ 3.69501057e-01 -9.29217454e-01 -4.88791214e-03 1.47785849e+02] [ 9.29138536e-01 3.69533379e-01 -1.21104723e-02 8.35874951e+01] [ 1.30595089e-02 -6.67152027e-05 9.99914719e-01 2.98864820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25361786499997 meters 0.018055745190536994 Centerline is valid? [True, True] Translation: X:147.80, Y:83.61, Z:2.99 [[ 3.68791462e-01 -9.29499401e-01 -4.87040861e-03 1.47796126e+02] [ 9.29420945e-01 3.68823614e-01 -1.20768274e-02 8.36131274e+01] [ 1.30217255e-02 -7.28289492e-05 9.99915211e-01 2.98889343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28361786499997 meters 0.018149320050462457 Centerline is valid? [True, True] Translation: X:147.81, Y:83.64, Z:2.99 [[ 3.67280271e-01 -9.30097041e-01 -4.96958191e-03 1.47807029e+02] [ 9.30015287e-01 3.67313879e-01 -1.23321248e-02 8.36385551e+01] [ 1.32954692e-02 -9.24410233e-05 9.99911607e-01 2.98867664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31361786499997 meters 0.01834405681339811 Centerline is valid? [True, True] Translation: X:147.82, Y:83.66, Z:2.99 [[ 3.66004495e-01 -9.30600689e-01 -4.80278134e-03 1.47817443e+02] [ 9.30524267e-01 3.66035990e-01 -1.19265459e-02 8.36649051e+01] [ 1.28568427e-02 -1.03935175e-04 9.99917342e-01 2.98868504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34361786499997 meters 0.018407790675289776 Centerline is valid? [True, True] Translation: X:147.83, Y:83.69, Z:2.99 [[ 3.64794945e-01 -9.31075214e-01 -4.85740456e-03 1.47828376e+02] [ 9.30996965e-01 3.64827263e-01 -1.20714621e-02 8.36912566e+01] [ 1.30115528e-02 -1.18620549e-04 9.99915339e-01 2.98881025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37361786499997 meters 0.018760545633967705 Centerline is valid? [True, True] Translation: X:147.84, Y:83.72, Z:2.99 [[ 3.61726200e-01 -9.32272112e-01 -4.78175856e-03 1.47840833e+02] [ 9.32196265e-01 3.61757771e-01 -1.18927911e-02 8.37158268e+01] [ 1.28171558e-02 -1.55603339e-04 9.99917845e-01 2.98871471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40361786499997 meters 0.019092093409189364 Centerline is valid? [True, True] Translation: X:147.85, Y:83.74, Z:2.99 [[ 3.59789945e-01 -9.33021437e-01 -4.71098353e-03 1.47852452e+02] [ 9.32947781e-01 3.59820743e-01 -1.17247895e-02 8.37414762e+01] [ 1.26345895e-02 -1.76640271e-04 9.99920165e-01 2.98874774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43361786499997 meters 0.019344507649324785 Centerline is valid? [True, True] Translation: X:147.86, Y:83.77, Z:2.99 [[ 3.57678141e-01 -9.33833375e-01 -4.64483069e-03 1.47863846e+02] [ 9.33761738e-01 3.57708244e-01 -1.15684626e-02 8.37673197e+01] [ 1.24645107e-02 -1.99378963e-04 9.99922295e-01 2.98874109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46361786499997 meters 0.021695731615306496 Centerline is valid? [True, True] Translation: X:147.88, Y:83.79, Z:2.99 [[ 3.53504752e-01 -9.35421432e-01 -4.59722946e-03 1.47880938e+02] [ 9.35351287e-01 3.53534556e-01 -1.14580632e-02 8.37903074e+01] [ 1.23433974e-02 -2.49544692e-04 9.99923786e-01 2.98954282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49361786499998 meters 0.020323998338488712 Centerline is valid? [True, True] Translation: X:147.89, Y:83.82, Z:2.99 [[ 3.51146963e-01 -9.36310498e-01 -4.29679880e-03 1.47888464e+02] [ 9.36249199e-01 3.51173155e-01 -1.07168944e-02 8.38176978e+01] [ 1.15432611e-02 -2.59669514e-04 9.99933341e-01 2.98890735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52361786499998 meters 0.020434678781861712 Centerline is valid? [True, True] Translation: X:147.90, Y:83.84, Z:2.99 [[ 3.48924294e-01 -9.37141963e-01 -4.09615569e-03 1.47899696e+02] [ 9.37086234e-01 3.48948231e-01 -1.02236310e-02 8.38443334e+01] [ 1.10103399e-02 -2.71177888e-04 9.99939348e-01 2.98908081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55361786499998 meters 0.02132365233693098 Centerline is valid? [True, True] Translation: X:147.91, Y:83.87, Z:2.99 [[ 3.45295057e-01 -9.38486291e-01 -3.84781068e-03 1.47912840e+02] [ 9.38437111e-01 3.45316372e-01 -9.61211929e-03 8.38685653e+01] [ 1.03495542e-02 -2.91911059e-04 9.99946399e-01 2.98952209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58361786499998 meters 0.02352981516498384 Centerline is valid? [True, True] Translation: X:147.93, Y:83.89, Z:2.99 [[ 3.43642095e-01 -9.39093370e-01 -3.70850871e-03 1.47927599e+02] [ 9.39047721e-01 3.43661975e-01 -9.26413044e-03 8.38921504e+01] [ 9.97435691e-03 -2.98921455e-04 9.99950210e-01 2.99061821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61361786499995 meters 0.02187539562394941 Centerline is valid? [True, True] Translation: X:147.94, Y:83.92, Z:2.99 [[ 3.42325721e-01 -9.39574936e-01 -3.46993441e-03 1.47935493e+02] [ 9.39534941e-01 3.42343183e-01 -8.67406441e-03 8.39202472e+01] [ 9.33784190e-03 -2.90769270e-04 9.99956359e-01 2.99022144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64361786499995 meters 0.021760712092533753 Centerline is valid? [True, True] Translation: X:147.95, Y:83.95, Z:2.99 [[ 3.41364212e-01 -9.39925195e-01 -3.33208147e-03 1.47946022e+02] [ 9.39888284e-01 3.41380353e-01 -8.33476713e-03 8.39468062e+01] [ 8.97156477e-03 -2.86593122e-04 9.99959714e-01 2.99037992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67361786499995 meters 0.0240671722999435 Centerline is valid? [True, True] Translation: X:147.96, Y:83.97, Z:2.99 [[ 3.40560612e-01 -9.40217635e-01 -3.04441699e-03 1.47960628e+02] [ 9.40186779e-01 3.40574115e-01 -7.62184400e-03 8.39711632e+01] [ 8.20304177e-03 -2.66620747e-04 9.99966319e-01 2.99199558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70361786499996 meters 0.022520900696675162 Centerline is valid? [True, True] Translation: X:147.97, Y:84.00, Z:2.99 [[ 3.40478094e-01 -9.40247912e-01 -2.92097157e-03 1.47967934e+02] [ 9.40219511e-01 3.40490527e-01 -7.31253350e-03 8.39979806e+01] [ 7.87015750e-03 -2.56596991e-04 9.99968997e-01 2.99178634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73361786499996 meters 0.024277107264768366 Centerline is valid? [True, True] Translation: X:147.98, Y:84.02, Z:2.99 [[ 3.40579748e-01 -9.40211502e-01 -2.78689849e-03 1.47981135e+02] [ 9.40185604e-01 3.40591064e-01 -6.98262941e-03 8.40217637e+01] [ 7.51434121e-03 -2.42059672e-04 9.99971738e-01 2.99327483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76361786499996 meters 0.0226532415737324 Centerline is valid? [True, True] Translation: X:147.99, Y:84.05, Z:2.99 [[ 3.41282132e-01 -9.39957324e-01 -2.59522102e-03 1.47988151e+02] [ 9.39934838e-01 3.41291929e-01 -6.50538652e-03 8.40488979e+01] [ 7.00051370e-03 -2.19166465e-04 9.99975472e-01 2.99261025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79361786499996 meters 0.02266583490961376 Centerline is valid? [True, True] Translation: X:148.00, Y:84.07, Z:2.99 [[ 3.42134662e-01 -9.39647439e-01 -2.56189578e-03 1.47998342e+02] [ 9.39625471e-01 3.42144190e-01 -6.42862520e-03 8.40745334e+01] [ 6.91717897e-03 -2.07767019e-04 9.99976054e-01 2.99324715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82361786499996 meters 0.02226810596056047 Centerline is valid? [True, True] Translation: X:148.01, Y:84.10, Z:2.99 [[ 3.44452870e-01 -9.38800283e-01 -2.49990450e-03 1.48007206e+02] [ 9.38779314e-01 3.44461892e-01 -6.27722527e-03 8.41002565e+01] [ 6.75418270e-03 -1.84650370e-04 9.99977173e-01 2.99340444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85361786499996 meters 0.021920411918976694 Centerline is valid? [True, True] Translation: X:148.02, Y:84.13, Z:2.99 [[ 3.45718640e-01 -9.38334918e-01 -2.49078020e-03 1.48016831e+02] [ 9.38314088e-01 3.45727568e-01 -6.25468896e-03 8.41270260e+01] [ 6.73012443e-03 -1.74771592e-04 9.99977337e-01 2.99386394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88361786499996 meters 0.02085247101212473 Centerline is valid? [True, True] Translation: X:148.02, Y:84.15, Z:2.99 [[ 3.47258441e-01 -9.37766281e-01 -2.44475167e-03 1.48024553e+02] [ 9.37746173e-01 3.47267010e-01 -6.14314830e-03 8.41547491e+01] [ 6.60981894e-03 -1.59296428e-04 9.99978142e-01 2.99349202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91361786499996 meters 0.021219241328609015 Centerline is valid? [True, True] Translation: X:148.04, Y:84.18, Z:2.99 [[ 3.49124849e-01 -9.37073261e-01 -2.35468298e-03 1.48035045e+02] [ 9.37054551e-01 3.49132762e-01 -5.92314748e-03 8.41796371e+01] [ 6.37252010e-03 -1.38548439e-04 9.99979686e-01 2.99490180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94361786499996 meters 0.019856836487445687 Centerline is valid? [True, True] Translation: X:148.04, Y:84.21, Z:2.99 [[ 3.53244976e-01 -9.35528010e-01 -2.30849119e-03 1.48041521e+02] [ 9.35509989e-01 3.53252502e-01 -5.80772183e-03 8.42078123e+01] [ 6.24876674e-03 -1.08068013e-04 9.99980470e-01 2.99475871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97361786499997 meters 0.020034899031909668 Centerline is valid? [True, True] Translation: X:148.05, Y:84.23, Z:3.00 [[ 3.55011950e-01 -9.34858977e-01 -2.28229776e-03 1.48051800e+02] [ 9.34841313e-01 3.55019274e-01 -5.74749395e-03 8.42331494e+01] [ 6.18335601e-03 -9.31571942e-05 9.99980879e-01 2.99607742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00361786499997 meters 0.018936593001221413 Centerline is valid? [True, True] Translation: X:148.06, Y:84.26, Z:2.99 [[ 3.58880289e-01 -9.33380380e-01 -2.45018059e-03 1.48058639e+02] [ 9.33359969e-01 3.58888646e-01 -6.17314455e-03 8.42615647e+01] [ 6.64123400e-03 -7.14805771e-05 9.99977944e-01 2.99448604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03361786499997 meters 0.019200750696040877 Centerline is valid? [True, True] Translation: X:148.07, Y:84.29, Z:3.00 [[ 3.60178746e-01 -9.32880016e-01 -2.47933789e-03 1.48069294e+02] [ 9.32859071e-01 3.60187274e-01 -6.25152649e-03 8.42861316e+01] [ 6.72495009e-03 -6.12058704e-05 9.99977385e-01 2.99648427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06361786499997 meters 0.018710370841251652 Centerline is valid? [True, True] Translation: X:148.08, Y:84.31, Z:3.00 [[ 3.61614476e-01 -9.32324115e-01 -2.59139194e-03 1.48077906e+02] [ 9.32301194e-01 3.61623758e-01 -6.53769423e-03 8.43131586e+01] [ 7.03235888e-03 -5.18329228e-05 9.99975271e-01 2.99507352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09361786499997 meters 0.018674282814774703 Centerline is valid? [True, True] Translation: X:148.09, Y:84.34, Z:3.00 [[ 3.63523278e-01 -9.31580567e-01 -2.91103106e-03 1.48087736e+02] [ 9.31551545e-01 3.63534931e-01 -7.35335927e-03 8.43386893e+01] [ 7.90850807e-03 -3.86582121e-05 9.99968727e-01 2.99566475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12361786499997 meters 0.018670100273644904 Centerline is valid? [True, True] Translation: X:148.10, Y:84.36, Z:3.00 [[ 3.63799811e-01 -9.31472545e-01 -2.93167207e-03 1.48097985e+02] [ 9.31443094e-01 3.63811622e-01 -7.40723737e-03 8.43647753e+01] [ 7.96621462e-03 -3.59341446e-05 9.99968269e-01 2.99588205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15361786499997 meters 0.01864768430524362 Centerline is valid? [True, True] Translation: X:148.11, Y:84.39, Z:3.00 [[ 3.64159056e-01 -9.31332612e-01 -2.78363108e-03 1.48108540e+02] [ 9.31306005e-01 3.64169694e-01 -7.03983070e-03 8.43894335e+01] [ 7.57013799e-03 -2.87942359e-05 9.99971346e-01 2.99630108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18361786499997 meters 0.018618702621147152 Centerline is valid? [True, True] Translation: X:148.12, Y:84.42, Z:3.00 [[ 3.63905122e-01 -9.31431383e-01 -2.93947075e-03 1.48119595e+02] [ 9.31401694e-01 3.63916993e-01 -7.43688277e-03 8.44151742e+01] [ 7.99666937e-03 -3.15083018e-05 9.99968026e-01 2.99610765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21361786499997 meters 0.01876350011685821 Centerline is valid? [True, True] Translation: X:148.13, Y:84.44, Z:3.00 [[ 3.63432205e-01 -9.31616298e-01 -2.84718744e-03 1.48130754e+02] [ 9.31588402e-01 3.63443356e-01 -7.20944398e-03 8.44398450e+01] [ 7.75122687e-03 -3.22626780e-05 9.99969958e-01 2.99636999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24361786499998 meters 0.01881354673516552 Centerline is valid? [True, True] Translation: X:148.14, Y:84.47, Z:3.00 [[ 3.63107049e-01 -9.31742723e-01 -2.96142697e-03 1.48142291e+02] [ 9.31712504e-01 3.63119124e-01 -7.50412160e-03 8.44656181e+01] [ 8.06726146e-03 -3.43990856e-05 9.99967459e-01 2.99726189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27361786499998 meters 0.01888587622628095 Centerline is valid? [True, True] Translation: X:148.16, Y:84.49, Z:3.00 [[ 3.61849103e-01 -9.32232419e-01 -2.81831510e-03 1.48155076e+02] [ 9.32205026e-01 3.61860076e-01 -7.14661531e-03 8.44912320e+01] [ 7.68214220e-03 -4.12511607e-05 9.99970491e-01 2.99720562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30361786499998 meters 0.018998621694020928 Centerline is valid? [True, True] Translation: X:148.17, Y:84.52, Z:3.00 [[ 3.61099755e-01 -9.32522608e-01 -2.92436517e-03 1.48166682e+02] [ 9.32493075e-01 3.61111593e-01 -7.42173392e-03 8.45169572e+01] [ 7.97695684e-03 -4.69639744e-05 9.99968182e-01 2.99741870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33361786499998 meters 0.019159900007172655 Centerline is valid? [True, True] Translation: X:148.18, Y:84.54, Z:3.00 [[ 3.59911713e-01 -9.32981825e-01 -2.91094433e-03 1.48179389e+02] [ 9.32952526e-01 3.59923481e-01 -7.39403227e-03 8.45415879e+01] [ 7.94621494e-03 -5.45740458e-05 9.99968427e-01 2.99765920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36361786499995 meters 0.019229524791163695 Centerline is valid? [True, True] Translation: X:148.19, Y:84.57, Z:3.00 [[ 3.59297787e-01 -9.33218219e-01 -2.97591312e-03 1.48190882e+02] [ 9.33187567e-01 3.59310106e-01 -7.56392687e-03 8.45658310e+01] [ 8.12807002e-03 -5.93829380e-05 9.99966965e-01 2.99856824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39361786499995 meters 0.019229524791163695 Centerline is valid? [True, True] Translation: X:148.20, Y:84.59, Z:3.00 [[ 3.59052732e-01 -9.33312538e-01 -2.97360998e-03 1.48200883e+02] [ 9.33281881e-01 3.59065041e-01 -7.56483179e-03 8.45915196e+01] [ 8.12807174e-03 -5.90427935e-05 9.99966965e-01 2.99901895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42361786499995 meters 0.019344541584387778 Centerline is valid? [True, True] Translation: X:148.21, Y:84.62, Z:3.00 [[ 3.58305291e-01 -9.33599856e-01 -2.93740825e-03 1.48212427e+02] [ 9.33569905e-01 3.58317326e-01 -7.47836205e-03 8.46175775e+01] [ 8.03432200e-03 -6.27392570e-05 9.99967722e-01 2.99934511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45361786499996 meters 0.019338246132350127 Centerline is valid? [True, True] Translation: X:148.23, Y:84.64, Z:3.00 [[ 3.57249857e-01 -9.34003767e-01 -3.08270594e-03 1.48225015e+02] [ 9.33970741e-01 3.57263150e-01 -7.85479173e-03 8.46426401e+01] [ 8.43774230e-03 -7.30339279e-05 9.99964399e-01 2.99949982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48361786499996 meters 0.019495835676741416 Centerline is valid? [True, True] Translation: X:148.24, Y:84.67, Z:3.00 [[ 3.56449177e-01 -9.34309407e-01 -3.14889416e-03 1.48236408e+02] [ 9.34274905e-01 3.56463077e-01 -8.02974826e-03 8.46673397e+01] [ 8.62473383e-03 -7.97356304e-05 9.99962803e-01 2.99992496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51361786499996 meters 0.019643012659700494 Centerline is valid? [True, True] Translation: X:148.25, Y:84.69, Z:3.00 [[ 3.55592231e-01 -9.34635790e-01 -3.17896587e-03 1.48247878e+02] [ 9.34600577e-01 3.55606430e-01 -8.11347781e-03 8.46922391e+01] [ 8.71360744e-03 -8.59736644e-05 9.99962032e-01 3.00020465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54361786499996 meters 0.019677720226476722 Centerline is valid? [True, True] Translation: X:148.26, Y:84.72, Z:3.00 [[ 3.55007316e-01 -9.34857699e-01 -3.29974612e-03 1.48258930e+02] [ 9.34819700e-01 3.55022639e-01 -8.42937539e-03 8.47184556e+01] [ 9.05175106e-03 -9.21777471e-05 9.99959028e-01 2.99999293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57361786499996 meters 0.019644047171850417 Centerline is valid? [True, True] Translation: X:148.27, Y:84.74, Z:3.00 [[ 3.53922979e-01 -9.35268291e-01 -3.42767301e-03 1.48271215e+02] [ 9.35227240e-01 3.53939562e-01 -8.76337213e-03 8.47440823e+01] [ 9.40929316e-03 -1.04094396e-04 9.99955726e-01 2.99944124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60361786499996 meters 0.01985237091831253 Centerline is valid? [True, True] Translation: X:148.28, Y:84.77, Z:3.00 [[ 3.53034496e-01 -9.35603753e-01 -3.50166805e-03 1.48282692e+02] [ 9.35560858e-01 3.53051844e-01 -8.95969740e-03 8.47690971e+01] [ 9.61899688e-03 -1.12941310e-04 9.99953730e-01 2.99962847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63361786499996 meters 0.01993718022540727 Centerline is valid? [True, True] Translation: X:148.29, Y:84.79, Z:3.00 [[ 3.52268615e-01 -9.35892811e-01 -3.38654554e-03 1.48294228e+02] [ 9.35852637e-01 3.52284874e-01 -8.67236284e-03 8.47948915e+01] [ 9.30943081e-03 -1.14306328e-04 9.99956660e-01 3.00014644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66361786499996 meters 0.020487252947815993 Centerline is valid? [True, True] Translation: X:148.31, Y:84.82, Z:3.00 [[ 3.50432114e-01 -9.36582495e-01 -3.25025015e-03 1.48307956e+02] [ 9.36545459e-01 3.50447164e-01 -8.33002335e-03 8.48184532e+01] [ 8.94079500e-03 -1.24899331e-04 9.99960023e-01 3.00161145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69361786499996 meters 0.02050442781801231 Centerline is valid? [True, True] Translation: X:148.32, Y:84.84, Z:3.00 [[ 3.49383336e-01 -9.36974440e-01 -3.19098614e-03 1.48319637e+02] [ 9.36938714e-01 3.49397883e-01 -8.18322706e-03 8.48444605e+01] [ 8.78239840e-03 -1.30675275e-04 9.99961425e-01 3.00197728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72361786499997 meters 0.02100992746455104 Centerline is valid? [True, True] Translation: X:148.33, Y:84.87, Z:3.00 [[ 3.48424257e-01 -9.37331808e-01 -3.10133586e-03 1.48332243e+02] [ 9.37298013e-01 3.48438033e-01 -7.96065232e-03 8.48688631e+01] [ 8.54239600e-03 -1.33191578e-04 9.99963504e-01 3.00342358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75361786499997 meters 0.021221095598807346 Centerline is valid? [True, True] Translation: X:148.34, Y:84.89, Z:3.00 [[ 3.46753235e-01 -9.37951730e-01 -2.95738780e-03 1.48344308e+02] [ 9.37920984e-01 3.46765818e-01 -7.59571751e-03 8.48942178e+01] [ 8.14993738e-03 -1.39956459e-04 9.99966779e-01 3.00362752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78361786499997 meters 0.020816420427718554 Centerline is valid? [True, True] Translation: X:148.35, Y:84.92, Z:3.00 [[ 3.46095989e-01 -9.38194381e-01 -2.97822485e-03 1.48353753e+02] [ 9.38163199e-01 3.46108772e-01 -7.65044075e-03 8.49204883e+01] [ 8.20839027e-03 -1.46274095e-04 9.99966300e-01 3.00325761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81361786499997 meters 0.020556950709258982 Centerline is valid? [True, True] Translation: X:148.36, Y:84.95, Z:3.00 [[ 3.45903684e-01 -9.38265492e-01 -2.91666184e-03 1.48364606e+02] [ 9.38235544e-01 3.45915951e-01 -7.49791166e-03 8.49464229e+01] [ 8.04395163e-03 -1.42960538e-04 9.99967637e-01 3.00309361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84361786499997 meters 0.020765407946694518 Centerline is valid? [True, True] Translation: X:148.38, Y:84.97, Z:3.00 [[ 3.45782896e-01 -9.38309867e-01 -2.96343777e-03 1.48375224e+02] [ 9.38278894e-01 3.45795565e-01 -7.62521350e-03 8.49709399e+01] [ 8.17955670e-03 -1.43862707e-04 9.99966537e-01 3.00400365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87361786499997 meters 0.02059762502406219 Centerline is valid? [True, True] Translation: X:148.39, Y:85.00, Z:3.00 [[ 3.46276909e-01 -9.38127718e-01 -2.94745603e-03 1.48385515e+02] [ 9.38097032e-01 3.46289426e-01 -7.58894552e-03 8.49974472e+01] [ 8.14007300e-03 -1.37123156e-04 9.99966860e-01 3.00408629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90361786499997 meters 0.020695997294268215 Centerline is valid? [True, True] Translation: X:148.40, Y:85.02, Z:3.00 [[ 3.47231571e-01 -9.37774368e-01 -3.07744004e-03 1.48396388e+02] [ 9.37740845e-01 3.47245183e-01 -7.93034626e-03 8.50218878e+01] [ 8.50550168e-03 -1.32174633e-04 9.99963819e-01 3.00483892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93361786499997 meters 0.02069573260066852 Centerline is valid? [True, True] Translation: X:148.41, Y:85.05, Z:3.01 [[ 3.47715512e-01 -9.37595294e-01 -2.99795120e-03 1.48406874e+02] [ 9.37563423e-01 3.47728414e-01 -7.73156489e-03 8.50468374e+01] [ 8.29155167e-03 -1.22384353e-04 9.99965617e-01 3.00562238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96361786499997 meters 0.02053873172341419 Centerline is valid? [True, True] Translation: X:148.42, Y:85.07, Z:3.01 [[ 3.48229658e-01 -9.37404184e-01 -3.08236953e-03 1.48416708e+02] [ 9.37370424e-01 3.48243280e-01 -7.95649995e-03 8.50732842e+01] [ 8.53187082e-03 -1.18632770e-04 9.99963596e-01 3.00588005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99361786499998 meters 0.02051967557539269 Centerline is valid? [True, True] Translation: X:148.43, Y:85.10, Z:3.01 [[ 3.48505009e-01 -9.37302039e-01 -3.02424704e-03 1.48427028e+02] [ 9.37269487e-01 3.48518112e-01 -7.81239123e-03 8.50995532e+01] [ 8.37657510e-03 -1.11877003e-04 9.99964910e-01 3.00600337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02361786499998 meters 0.020465008689028744 Centerline is valid? [True, True] Translation: X:148.44, Y:85.13, Z:3.01 [[ 3.49265577e-01 -9.37018593e-01 -3.11675357e-03 1.48437593e+02] [ 9.36983950e-01 3.49279467e-01 -8.05803418e-03 8.51253403e+01] [ 8.63914587e-03 -1.05954120e-04 9.99962676e-01 3.00653866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05361786499998 meters 0.020336562864774463 Centerline is valid? [True, True] Translation: X:148.45, Y:85.15, Z:3.01 [[ 3.49410954e-01 -9.36964723e-01 -3.01532909e-03 1.48447165e+02] [ 9.36932251e-01 3.49423950e-01 -7.80122482e-03 8.51516351e+01] [ 8.36310065e-03 -9.93256645e-05 9.99965024e-01 3.00614457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08361786499998 meters 0.02054692984699607 Centerline is valid? [True, True] Translation: X:148.46, Y:85.18, Z:3.01 [[ 3.49614807e-01 -9.36888784e-01 -2.98209488e-03 1.48458621e+02] [ 9.36856965e-01 3.49627512e-01 -7.72207887e-03 8.51759370e+01] [ 8.27735150e-03 -9.40432375e-05 9.99965738e-01 3.00754211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11361786499995 meters 0.02017288042655256 Centerline is valid? [True, True] Translation: X:148.47, Y:85.20, Z:3.01 [[ 3.50305966e-01 -9.36630255e-01 -3.08137100e-03 1.48468757e+02] [ 9.36596224e-01 3.50319507e-01 -7.98477760e-03 8.52022277e+01] [ 8.55824865e-03 -8.88852085e-05 9.99963374e-01 3.00717909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14361786499995 meters 0.02033424919470029 Centerline is valid? [True, True] Translation: X:148.48, Y:85.23, Z:3.01 [[ 3.50656807e-01 -9.36498752e-01 -3.14501895e-03 1.48479563e+02] [ 9.36463222e-01 3.50670900e-01 -8.15802523e-03 8.52268255e+01] [ 8.74284707e-03 -8.45275002e-05 9.99961777e-01 3.00799211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17361786499995 meters 0.02006775194350769 Centerline is valid? [True, True] Translation: X:148.49, Y:85.25, Z:3.01 [[ 3.51382099e-01 -9.36226385e-01 -3.28274628e-03 1.48489702e+02] [ 9.36187626e-01 3.51397424e-01 -8.51930499e-03 8.52531600e+01] [ 9.12954670e-03 -7.97351694e-05 9.99958322e-01 3.00754661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20361786499996 meters 0.02007089237813455 Centerline is valid? [True, True] Translation: X:148.50, Y:85.28, Z:3.01 [[ 3.51551533e-01 -9.36162568e-01 -3.34156325e-03 1.48500218e+02] [ 9.36122342e-01 3.51567405e-01 -8.67880119e-03 8.52783476e+01] [ 9.29955353e-03 -7.70661554e-05 9.99956755e-01 3.00762818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23361786499996 meters 0.020037792543832228 Centerline is valid? [True, True] Translation: X:148.51, Y:85.30, Z:3.01 [[ 3.51761452e-01 -9.36083435e-01 -3.41817158e-03 1.48510775e+02] [ 9.36041261e-01 3.51778052e-01 -8.88597571e-03 8.53040575e+01] [ 9.52045240e-03 -7.38059089e-05 9.99954677e-01 3.00795686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26361786499996 meters 0.020025674600475198 Centerline is valid? [True, True] Translation: X:148.52, Y:85.33, Z:3.01 [[ 3.51896201e-01 -9.36032460e-01 -3.50694688e-03 1.48521763e+02] [ 9.35987988e-01 3.51913668e-01 -9.12447573e-03 8.53299363e+01] [ 9.77494800e-03 -7.15918167e-05 9.99952221e-01 3.00813260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29361786499996 meters 0.020064047418251723 Centerline is valid? [True, True] Translation: X:148.53, Y:85.35, Z:3.01 [[ 3.52132721e-01 -9.35943490e-01 -3.51132048e-03 1.48534253e+02] [ 9.35898834e-01 3.52150221e-01 -9.14301325e-03 8.53545297e+01] [ 9.79385602e-03 -6.66866045e-05 9.99952037e-01 3.00907038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32361786499996 meters 0.019921993965717838 Centerline is valid? [True, True] Translation: X:148.54, Y:85.38, Z:3.01 [[ 3.52098830e-01 -9.35956122e-01 -3.54286991e-03 1.48544803e+02] [ 9.35910578e-01 3.52116648e-01 -9.23343002e-03 8.53803813e+01] [ 9.88958883e-03 -6.47295171e-05 9.99951095e-01 3.00877810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35361786499996 meters 0.019931340188881846 Centerline is valid? [True, True] Translation: X:148.56, Y:85.41, Z:3.01 [[ 3.51896960e-01 -9.36032466e-01 -3.42816369e-03 1.48555855e+02] [ 9.35989761e-01 3.51913653e-01 -8.94138799e-03 8.54062167e+01] [ 9.57584705e-03 -6.22788613e-05 9.99954149e-01 3.00924981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38361786499996 meters 0.019940167596149826 Centerline is valid? [True, True] Translation: X:148.57, Y:85.43, Z:3.01 [[ 3.51927022e-01 -9.36020675e-01 -3.55912710e-03 1.48568201e+02] [ 9.35974564e-01 3.51945014e-01 -9.29097027e-03 8.54319740e+01] [ 9.94915730e-03 -6.15089380e-05 9.99950504e-01 3.00902995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41361786499996 meters 0.019898936761143775 Centerline is valid? [True, True] Translation: X:148.58, Y:85.46, Z:3.01 [[ 3.51847791e-01 -9.36050507e-01 -3.54695760e-03 1.48579188e+02] [ 9.36004638e-01 3.51865664e-01 -9.26671920e-03 8.54579360e+01] [ 9.92216979e-03 -5.94940869e-05 9.99950772e-01 3.00920569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44361786499996 meters 0.019925258626329115 Centerline is valid? [True, True] Translation: X:148.59, Y:85.48, Z:3.01 [[ 3.51567619e-01 -9.36155935e-01 -3.50350274e-03 1.48590284e+02] [ 9.36111120e-01 3.51585070e-01 -9.16024801e-03 8.54831232e+01] [ 9.80719980e-03 -5.92212925e-05 9.99951907e-01 3.00939877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47361786499997 meters 0.01991607521841991 Centerline is valid? [True, True] Translation: X:148.60, Y:85.51, Z:3.01 [[ 3.50798725e-01 -9.36443470e-01 -3.72576291e-03 1.48603487e+02] [ 9.36392707e-01 3.50818503e-01 -9.75064825e-03 8.55067988e+01] [ 1.04379975e-02 -6.82622443e-05 9.99945520e-01 3.00963904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50361786499997 meters 0.019931270094675338 Centerline is valid? [True, True] Translation: X:148.62, Y:85.53, Z:3.01 [[ 3.50050304e-01 -9.36723295e-01 -3.77541198e-03 1.48615039e+02] [ 9.36671094e-01 3.50070655e-01 -9.88927275e-03 8.55315285e+01] [ 1.05851731e-02 -7.45763437e-05 9.99943973e-01 3.00955957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53361786499997 meters 0.019953154010663412 Centerline is valid? [True, True] Translation: X:148.63, Y:85.56, Z:3.01 [[ 3.48847364e-01 -9.37170090e-01 -4.21183140e-03 1.48628300e+02] [ 9.37105027e-01 3.48872777e-01 -1.10433251e-02 8.55550370e+01] [ 1.18188673e-02 -9.44935193e-05 9.99930150e-01 3.00947063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56361786499997 meters 0.020160551013634696 Centerline is valid? [True, True] Translation: X:148.64, Y:85.58, Z:3.01 [[ 3.48203727e-01 -9.37409501e-01 -4.19429680e-03 1.48639888e+02] [ 9.37344885e-01 3.48228973e-01 -1.10067898e-02 8.55805536e+01] [ 1.17784450e-02 -9.88974200e-05 9.99930627e-01 3.00984918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59361786499997 meters 0.020025793655881436 Centerline is valid? [True, True] Translation: X:148.65, Y:85.61, Z:3.01 [[ 3.48070979e-01 -9.37458269e-01 -4.31132634e-03 1.48650316e+02] [ 9.37389890e-01 3.48097664e-01 -1.13229974e-02 8.56061648e+01] [ 1.21156002e-02 -1.00186937e-04 9.99926598e-01 3.01054960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62361786499997 meters 0.019904088340146727 Centerline is valid? [True, True] Translation: X:148.66, Y:85.63, Z:3.01 [[ 3.49326166e-01 -9.36992898e-01 -3.94190648e-03 1.48657936e+02] [ 9.36935629e-01 3.49348399e-01 -1.03596705e-02 8.56336313e+01] [ 1.10840364e-02 -7.44086623e-05 9.99938567e-01 3.01145258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65361786499997 meters 0.019777820915644697 Centerline is valid? [True, True] Translation: X:148.67, Y:85.66, Z:3.01 [[ 3.49624854e-01 -9.36880801e-01 -4.10197103e-03 1.48667076e+02] [ 9.36818672e-01 3.49648910e-01 -1.07896141e-02 8.56596800e+01] [ 1.15428320e-02 -7.04858055e-05 9.99933377e-01 3.01208226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68361786499997 meters 0.019731102036544882 Centerline is valid? [True, True] Translation: X:148.68, Y:85.69, Z:3.01 [[ 3.50330163e-01 -9.36617234e-01 -4.11521590e-03 1.48675960e+02] [ 9.36554582e-01 3.50354327e-01 -1.08333087e-02 8.56861709e+01] [ 1.15884473e-02 -5.88895143e-05 9.99932850e-01 3.01232107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71361786499997 meters 0.019791248569303293 Centerline is valid? [True, True] Translation: X:148.68, Y:85.71, Z:3.01 [[ 3.50538133e-01 -9.36538635e-01 -4.28973138e-03 1.48684520e+02] [ 9.36470437e-01 3.50564376e-01 -1.13022006e-02 8.57116285e+01] [ 1.20887745e-02 -5.53543062e-05 9.99926927e-01 3.01248516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74361786499998 meters 0.019722572468626073 Centerline is valid? [True, True] Translation: X:148.69, Y:85.74, Z:3.01 [[ 3.50596821e-01 -9.36515655e-01 -4.50523801e-03 1.48694221e+02] [ 9.36440291e-01 3.50625762e-01 -1.18809520e-02 8.57382275e+01] [ 1.27063501e-02 -5.34623903e-05 9.99919270e-01 3.01242584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77361786499998 meters 0.019640601160453335 Centerline is valid? [True, True] Translation: X:148.70, Y:85.76, Z:3.01 [[ 3.50849496e-01 -9.36420484e-01 -4.61610336e-03 1.48703104e+02] [ 9.36341226e-01 3.50879859e-01 -1.21833127e-02 8.57640891e+01] [ 1.30284013e-02 -4.77387527e-05 9.99915126e-01 3.01310401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80361786499998 meters 0.019674007762147817 Centerline is valid? [True, True] Translation: X:148.71, Y:85.79, Z:3.01 [[ 3.50673596e-01 -9.36486153e-01 -4.65992155e-03 1.48712824e+02] [ 9.36405247e-01 3.50704553e-01 -1.23097703e-02 8.57909519e+01] [ 1.31621851e-02 -4.68635746e-05 9.99913374e-01 3.01375306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83361786499998 meters 0.019602316652454484 Centerline is valid? [True, True] Translation: X:148.72, Y:85.82, Z:3.01 [[ 3.49518106e-01 -9.36916996e-01 -4.86181985e-03 1.48722787e+02] [ 9.36828815e-01 3.49551913e-01 -1.28542383e-02 8.58164689e+01] [ 1.37428128e-02 -6.19039107e-05 9.99905561e-01 3.01420768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86361786499995 meters 0.01957890281783617 Centerline is valid? [True, True] Translation: X:148.73, Y:85.84, Z:3.01 [[ 3.48354095e-01 -9.37350057e-01 -4.92898619e-03 1.48732769e+02] [ 9.37259369e-01 3.48388956e-01 -1.30388405e-02 8.58431861e+01] [ 1.39391623e-02 -7.76049867e-05 9.99902842e-01 3.01433662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89361786499995 meters 0.019680190402246577 Centerline is valid? [True, True] Translation: X:148.74, Y:85.87, Z:3.02 [[ 3.45858746e-01 -9.38272294e-01 -5.17978329e-03 1.48743645e+02] [ 9.38172070e-01 3.45897512e-01 -1.37141517e-02 8.58691446e+01] [ 1.46592828e-02 -1.16368697e-04 9.99892540e-01 3.01512360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92361786499995 meters 0.019751826848488852 Centerline is valid? [True, True] Translation: X:148.75, Y:85.89, Z:3.02 [[ 3.44525111e-01 -9.38763004e-01 -5.14492691e-03 1.48753715e+02] [ 9.38664018e-01 3.44563499e-01 -1.36329053e-02 8.58947322e+01] [ 1.45708212e-02 -1.32479552e-04 9.99893831e-01 3.01556294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95361786499996 meters 0.019765249611005918 Centerline is valid? [True, True] Translation: X:148.76, Y:85.92, Z:3.02 [[ 3.43093033e-01 -9.39286402e-01 -5.31270252e-03 1.48763670e+02] [ 9.39180728e-01 3.43134129e-01 -1.40900952e-02 8.59207156e+01] [ 1.50576044e-02 -1.55374316e-04 9.99886616e-01 3.01633384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98361786499996 meters 0.019938529372683853 Centerline is valid? [True, True] Translation: X:148.77, Y:85.95, Z:3.02 [[ 3.40589090e-01 -9.40196896e-01 -5.37291439e-03 1.48773537e+02] [ 9.40088748e-01 3.40631412e-01 -1.42613935e-02 8.59468930e+01] [ 1.52387013e-02 -1.93741319e-04 9.99883865e-01 3.01688581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01361786499996 meters 0.020157543628047083 Centerline is valid? [True, True] Translation: X:148.78, Y:85.97, Z:3.02 [[ 3.39219464e-01 -9.40690741e-01 -5.57539661e-03 1.48783846e+02] [ 9.40574174e-01 3.39265208e-01 -1.48102130e-02 8.59724184e+01] [ 1.58233683e-02 -2.20161561e-04 9.99874778e-01 3.01733332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04361786499996 meters 0.020593502668498638 Centerline is valid? [True, True] Translation: X:148.80, Y:86.00, Z:3.02 [[ 3.37640937e-01 -9.41257368e-01 -5.75898457e-03 1.48795146e+02] [ 9.41132925e-01 3.37689954e-01 -1.53072720e-02 8.59977954e+01] [ 1.63528338e-02 -2.51608326e-04 9.99866252e-01 3.01792672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07361786499996 meters 0.020641425453057183 Centerline is valid? [True, True] Translation: X:148.81, Y:86.02, Z:3.02 [[ 3.36592902e-01 -9.41631695e-01 -5.91349660e-03 1.48805409e+02] [ 9.41500348e-01 3.36644733e-01 -1.57295323e-02 8.60241528e+01] [ 1.68021737e-02 -2.73110168e-04 9.99858796e-01 3.01832851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10361786499996 meters 0.021138550609668533 Centerline is valid? [True, True] Translation: X:148.82, Y:86.05, Z:3.02 [[ 3.34480111e-01 -9.42382652e-01 -6.16387365e-03 1.48816111e+02] [ 9.42239840e-01 3.34536748e-01 -1.64087988e-02 8.60490589e+01] [ 1.75254096e-02 -3.19430473e-04 9.99846367e-01 3.01860400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13361786499996 meters 0.021512339195038078 Centerline is valid? [True, True] Translation: X:148.83, Y:86.08, Z:3.02 [[ 3.33370226e-01 -9.42774484e-01 -6.36897339e-03 1.48826185e+02] [ 9.42621854e-01 3.33430879e-01 -1.69673000e-02 8.60751602e+01] [ 1.81199499e-02 -3.47140861e-04 9.99835760e-01 3.01901790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16361786499996 meters 0.0205142090444229 Centerline is valid? [True, True] Translation: X:148.83, Y:86.10, Z:3.02 [[ 3.32445642e-01 -9.43099899e-01 -6.51730941e-03 1.48832824e+02] [ 9.42939884e-01 3.32509315e-01 -1.73761357e-02 8.61022664e+01] [ 1.85544980e-02 -3.68810371e-04 9.99827782e-01 3.01954491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19361786499996 meters 0.02071768256329292 Centerline is valid? [True, True] Translation: X:148.84, Y:86.13, Z:3.02 [[ 3.31754857e-01 -9.43342085e-01 -6.66524590e-03 1.48842801e+02] [ 9.43174485e-01 3.31821581e-01 -1.77856330e-02 8.61279617e+01] [ 1.89896085e-02 -3.86019743e-04 9.99819607e-01 3.02002469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22361786499997 meters 0.020345378663159778 Centerline is valid? [True, True] Translation: X:148.85, Y:86.16, Z:3.02 [[ 3.30862842e-01 -9.43653745e-01 -6.88392592e-03 1.48850832e+02] [ 9.43474714e-01 3.30934192e-01 -1.83854426e-02 8.61555933e+01] [ 1.96276182e-02 -4.11750254e-04 9.99807275e-01 3.02126173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25361786499997 meters 0.021165829458537712 Centerline is valid? [True, True] Translation: X:148.86, Y:86.18, Z:3.02 [[ 3.30494791e-01 -9.43783737e-01 -6.74180451e-03 1.48861946e+02] [ 9.43611773e-01 3.30563298e-01 -1.80202189e-02 8.61798768e+01] [ 1.92357827e-02 -4.06057621e-04 9.99814893e-01 3.02162854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28361786499997 meters 0.020663125100180472 Centerline is valid? [True, True] Translation: X:148.87, Y:86.21, Z:3.02 [[ 3.30005498e-01 -9.43955960e-01 -6.59669087e-03 1.48870274e+02] [ 9.43791102e-01 3.30071179e-01 -1.76457411e-02 8.62067049e+01] [ 1.88341800e-02 -4.02706579e-04 9.99822540e-01 3.02272143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31361786499997 meters 0.020663125100180472 Centerline is valid? [True, True] Translation: X:148.88, Y:86.23, Z:3.02 [[ 3.29748524e-01 -9.44045792e-01 -6.59188508e-03 1.48879866e+02] [ 9.43880917e-01 3.29814159e-01 -1.76475363e-02 8.62325726e+01] [ 1.88341794e-02 -4.02705503e-04 9.99822540e-01 3.02317233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34361786499997 meters 0.020760595319522027 Centerline is valid? [True, True] Translation: X:148.89, Y:86.26, Z:3.02 [[ 3.29505257e-01 -9.44131121e-01 -6.53549678e-03 1.48889271e+02] [ 9.43968799e-01 3.29569822e-01 -1.75111161e-02 8.62583282e+01] [ 1.86866922e-02 -3.99300215e-04 9.99825309e-01 3.02432917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37361786499997 meters 0.02057341640758209 Centerline is valid? [True, True] Translation: X:148.90, Y:86.29, Z:3.02 [[ 3.29389425e-01 -9.44171740e-01 -6.50632161e-03 1.48898005e+02] [ 9.44010590e-01 3.29453441e-01 -1.74481008e-02 8.62851970e+01] [ 1.86175337e-02 -3.94816607e-04 9.99826601e-01 3.02494470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40361786499997 meters 0.02070462658575427 Centerline is valid? [True, True] Translation: X:148.91, Y:86.31, Z:3.03 [[ 3.29265870e-01 -9.44215554e-01 -6.40109903e-03 1.48907528e+02] [ 9.44059331e-01 3.29327857e-01 -1.71796823e-02 8.63109699e+01] [ 1.83293835e-02 -3.86334240e-04 9.99831928e-01 3.02530888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43361786499997 meters 0.02074022660442397 Centerline is valid? [True, True] Translation: X:148.92, Y:86.34, Z:3.02 [[ 3.28904364e-01 -9.44342659e-01 -6.23385910e-03 1.48916622e+02] [ 9.44194332e-01 3.28963216e-01 -1.67411288e-02 8.63380156e+01] [ 1.78600725e-02 -3.79744095e-04 9.99840424e-01 3.02471002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46361786499997 meters 0.020366543274224377 Centerline is valid? [True, True] Translation: X:148.93, Y:86.36, Z:3.02 [[ 3.28760930e-01 -9.44392793e-01 -6.20509611e-03 1.48925087e+02] [ 9.44245595e-01 3.28819268e-01 -1.66776871e-02 8.63649181e+01] [ 1.77906426e-02 -3.76162764e-04 9.99841663e-01 3.02490024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49361786499998 meters 0.021252741043465632 Centerline is valid? [True, True] Translation: X:148.94, Y:86.39, Z:3.02 [[ 3.28550460e-01 -9.44466179e-01 -6.18320277e-03 1.48936599e+02] [ 9.44319786e-01 3.28608425e-01 -1.66326526e-02 8.63896222e+01] [ 1.77408304e-02 -3.74255050e-04 9.99842549e-01 3.02489686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52361786499998 meters 0.021236829801070414 Centerline is valid? [True, True] Translation: X:148.95, Y:86.42, Z:3.03 [[ 3.28318555e-01 -9.44547047e-01 -6.14843338e-03 1.48946483e+02] [ 9.44402136e-01 3.28375909e-01 -1.65489434e-02 8.64160336e+01] [ 1.76502530e-02 -3.73268451e-04 9.99844152e-01 3.02541401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55361786499998 meters 0.020805274271881773 Centerline is valid? [True, True] Translation: X:148.96, Y:86.44, Z:3.03 [[ 3.27702839e-01 -9.44760624e-01 -6.18159911e-03 1.48955041e+02] [ 9.44613943e-01 3.27760914e-01 -1.66517786e-02 8.64430272e+01] [ 1.77580313e-02 -3.82389590e-04 9.99842241e-01 3.02585012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58361786499995 meters 0.020725833415836992 Centerline is valid? [True, True] Translation: X:148.96, Y:86.47, Z:3.03 [[ 3.27241811e-01 -9.44920065e-01 -6.23436105e-03 1.48964480e+02] [ 9.44770644e-01 3.27300959e-01 -1.68080894e-02 8.64695758e+01] [ 1.79228133e-02 -3.89731704e-04 9.99839298e-01 3.02599443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61361786499995 meters 0.021457868667032632 Centerline is valid? [True, True] Translation: X:148.98, Y:86.49, Z:3.03 [[ 3.25814273e-01 -9.45415039e-01 -5.95509484e-03 1.48975588e+02] [ 9.45278571e-01 3.25868452e-01 -1.60678494e-02 8.64942184e+01] [ 1.71313640e-02 -3.94088861e-04 9.99853170e-01 3.02576038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64361786499995 meters 0.021499571498155456 Centerline is valid? [True, True] Translation: X:148.99, Y:86.52, Z:3.03 [[ 3.24772351e-01 -9.45772888e-01 -6.04689458e-03 1.48985426e+02] [ 9.45632127e-01 3.24828372e-01 -1.63220339e-02 8.65204421e+01] [ 1.74011400e-02 -4.17192473e-04 9.99848502e-01 3.02557608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67361786499995 meters 0.02239474206641914 Centerline is valid? [True, True] Translation: X:149.00, Y:86.55, Z:3.03 [[ 3.23134943e-01 -9.46334180e-01 -5.95214238e-03 1.48997264e+02] [ 9.46197678e-01 3.23189463e-01 -1.60787195e-02 8.65456135e+01] [ 1.71395115e-02 -4.36307206e-04 9.99853013e-01 3.02578766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70361786499996 meters 0.02247390216968362 Centerline is valid? [True, True] Translation: X:149.01, Y:86.57, Z:3.03 [[ 3.19756522e-01 -9.47481039e-01 -5.95379345e-03 1.49007254e+02] [ 9.47344448e-01 3.19811565e-01 -1.60953144e-02 8.65717022e+01] [ 1.71540972e-02 -4.93711410e-04 9.99852736e-01 3.02605494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73361786499996 meters 0.02334244081766894 Centerline is valid? [True, True] Translation: X:149.02, Y:86.60, Z:3.03 [[ 3.18021562e-01 -9.48065574e-01 -5.82700992e-03 1.49018721e+02] [ 9.47934622e-01 3.18074532e-01 -1.57652755e-02 8.65971784e+01] [ 1.67999384e-02 -5.09926911e-04 9.99858741e-01 3.02639737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76361786499996 meters 0.02317008560672399 Centerline is valid? [True, True] Translation: X:149.03, Y:86.62, Z:3.03 [[ 3.16006549e-01 -9.48739720e-01 -5.72757742e-03 1.49028329e+02] [ 9.48613115e-01 3.16058002e-01 -1.55079711e-02 8.66239010e+01] [ 1.65232748e-02 -5.32634614e-04 9.99863340e-01 3.02713900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79361786499996 meters 0.02370386940000883 Centerline is valid? [True, True] Translation: X:149.04, Y:86.65, Z:3.03 [[ 3.14140676e-01 -9.49359895e-01 -5.60580282e-03 1.49039342e+02] [ 9.49238527e-01 3.14190209e-01 -1.51898469e-02 8.66503034e+01] [ 1.61819198e-02 -5.49495245e-04 9.99868913e-01 3.02758284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82361786499996 meters 0.02440995280492259 Centerline is valid? [True, True] Translation: X:149.05, Y:86.68, Z:3.03 [[ 3.11158643e-01 -9.50343617e-01 -5.22570442e-03 1.49049980e+02] [ 9.50238133e-01 3.11202024e-01 -1.41700553e-02 8.66761921e+01] [ 1.50926714e-02 -5.56528439e-04 9.99885944e-01 3.02837939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85361786499996 meters 0.024426152693151612 Centerline is valid? [True, True] Translation: X:149.06, Y:86.70, Z:3.03 [[ 3.10193627e-01 -9.50659203e-01 -5.19555497e-03 1.49059604e+02] [ 9.50554799e-01 3.10236621e-01 -1.41000899e-02 8.67027560e+01] [ 1.50162317e-02 -5.64901685e-04 9.99887090e-01 3.02903236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88361786499996 meters 0.025356175763737086 Centerline is valid? [True, True] Translation: X:149.07, Y:86.73, Z:3.03 [[ 3.09465490e-01 -9.50896820e-01 -5.13300846e-03 1.49070804e+02] [ 9.50794785e-01 3.09507539e-01 -1.39413347e-02 8.67281068e+01] [ 1.48454757e-02 -5.66075702e-04 9.99889640e-01 3.02976778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91361786499996 meters 0.024584341784774658 Centerline is valid? [True, True] Translation: X:149.08, Y:86.76, Z:3.03 [[ 3.09072146e-01 -9.51024719e-01 -5.13728967e-03 1.49077955e+02] [ 9.50922378e-01 3.09114314e-01 -1.39632530e-02 8.67556063e+01] [ 1.48674086e-02 -5.69511124e-04 9.99889312e-01 3.03000815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94361786499996 meters 0.026106450078951002 Centerline is valid? [True, True] Translation: X:149.09, Y:86.78, Z:3.03 [[ 3.09717820e-01 -9.50814874e-01 -5.09384215e-03 1.49089268e+02] [ 9.50714053e-01 3.09759215e-01 -1.38570668e-02 8.67808673e+01] [ 1.47533698e-02 -5.51006795e-04 9.99891011e-01 3.03027980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97361786499997 meters 0.026087057100280604 Centerline is valid? [True, True] Translation: X:149.10, Y:86.81, Z:3.03 [[ 3.10304176e-01 -9.50623644e-01 -5.09950468e-03 1.49097798e+02] [ 9.50522453e-01 3.10345606e-01 -1.38806254e-02 8.68081235e+01] [ 1.47778596e-02 -5.39977647e-04 9.99890656e-01 3.03052582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00361786499997 meters 0.025512248478991174 Centerline is valid? [True, True] Translation: X:149.10, Y:86.84, Z:3.03 [[ 3.12332086e-01 -9.49959301e-01 -5.09842968e-03 1.49104303e+02] [ 9.49857910e-01 3.12373288e-01 -1.38880953e-02 8.68358683e+01] [ 1.47857385e-02 -5.05085991e-04 9.99890557e-01 3.03078532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03361786499997 meters 0.025112499201242252 Centerline is valid? [True, True] Translation: X:149.11, Y:86.86, Z:3.03 [[ 3.13751983e-01 -9.49491362e-01 -5.08407968e-03 1.49112428e+02] [ 9.49390324e-01 3.13792807e-01 -1.38595645e-02 8.68631884e+01] [ 1.47548844e-02 -4.78310205e-04 9.99891026e-01 3.03080724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06361786499997 meters 0.02396292681622789 Centerline is valid? [True, True] Translation: X:149.12, Y:86.89, Z:3.03 [[ 3.16957673e-01 -9.48425255e-01 -5.23155286e-03 1.49118468e+02] [ 9.48317954e-01 3.17000544e-01 -1.42728148e-02 8.68911033e+01] [ 1.51951031e-02 -4.37297344e-04 9.99884452e-01 3.03109222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09361786499997 meters 0.02255816832422741 Centerline is valid? [True, True] Translation: X:149.12, Y:86.92, Z:3.03 [[ 3.18452434e-01 -9.47924923e-01 -5.13694307e-03 1.49124552e+02] [ 9.47821302e-01 3.18493607e-01 -1.40214703e-02 8.69186753e+01] [ 1.49273847e-02 -4.03732724e-04 9.99888499e-01 3.03170502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12361786499997 meters 0.02308249957019653 Centerline is valid? [True, True] Translation: X:149.13, Y:86.94, Z:3.03 [[ 3.20100800e-01 -9.47369235e-01 -5.19715198e-03 1.49134804e+02] [ 9.47262920e-01 3.20142764e-01 -1.41975531e-02 8.69443147e+01] [ 1.51141556e-02 -3.78421243e-04 9.99885703e-01 3.03257754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15361786499997 meters 0.023245805542380607 Centerline is valid? [True, True] Translation: X:149.14, Y:86.97, Z:3.03 [[ 3.23238303e-01 -9.46304264e-01 -5.02382842e-03 1.49142742e+02] [ 9.46204697e-01 3.23277188e-01 -1.37306658e-02 8.69697518e+01] [ 1.46174767e-02 -3.15292924e-04 9.99893109e-01 3.03297777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18361786499997 meters 0.021761316728995797 Centerline is valid? [True, True] Translation: X:149.15, Y:87.00, Z:3.03 [[ 3.24699703e-01 -9.45804072e-01 -4.97595555e-03 1.49148371e+02] [ 9.45706192e-01 3.24737701e-01 -1.36096764e-02 8.69978821e+01] [ 1.44879678e-02 -2.86734091e-04 9.99895003e-01 3.03376453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21361786499997 meters 0.020925298192001722 Centerline is valid? [True, True] Translation: X:149.16, Y:87.03, Z:3.03 [[ 3.26553670e-01 -9.45166572e-01 -4.78036432e-03 1.49155198e+02] [ 9.45076030e-01 3.26588566e-01 -1.30845408e-02 8.70254678e+01] [ 1.39282829e-02 -2.45002923e-04 9.99902967e-01 3.03439932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24361786499998 meters 0.02040355818721626 Centerline is valid? [True, True] Translation: X:149.16, Y:87.05, Z:3.04 [[ 3.27914052e-01 -9.44695186e-01 -4.83519932e-03 1.49162754e+02] [ 9.44602349e-01 3.27949622e-01 -1.32456472e-02 8.70531242e+01] [ 1.40988010e-02 -2.23906779e-04 9.99900582e-01 3.03502203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27361786499998 meters 0.02006316997647712 Centerline is valid? [True, True] Translation: X:149.17, Y:87.08, Z:3.04 [[ 3.29170596e-01 -9.44258673e-01 -4.71987754e-03 1.49170784e+02] [ 9.44170088e-01 3.29204373e-01 -1.29354234e-02 8.70799453e+01] [ 1.37681901e-02 -1.98406153e-04 9.99905194e-01 3.03565360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30361786499998 meters 0.01981460712709061 Centerline is valid? [True, True] Translation: X:149.18, Y:87.11, Z:3.04 [[ 3.31854741e-01 -9.43318328e-01 -4.79197266e-03 1.49178455e+02] [ 9.43226753e-01 3.31889300e-01 -1.31447796e-02 8.71065959e+01] [ 1.39901160e-02 -1.57759375e-04 9.99902121e-01 3.03616709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33361786499995 meters 0.019546893131421505 Centerline is valid? [True, True] Translation: X:149.19, Y:87.13, Z:3.04 [[ 3.32624927e-01 -9.43046392e-01 -4.91538750e-03 1.49186771e+02] [ 9.42949902e-01 3.32661211e-01 -1.34907443e-02 8.71332720e+01] [ 1.43575565e-02 -1.47606335e-04 9.99896914e-01 3.03636182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36361786499995 meters 0.01940836333457716 Centerline is valid? [True, True] Translation: X:149.19, Y:87.16, Z:3.04 [[ 3.33418983e-01 -9.42764709e-01 -5.14634242e-03 1.49194924e+02] [ 9.42658721e-01 3.33458669e-01 -1.41368721e-02 8.71606639e+01] [ 1.50438366e-02 -1.37743046e-04 9.99886826e-01 3.03623722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39361786499995 meters 0.019360452425427825 Centerline is valid? [True, True] Translation: X:149.20, Y:87.19, Z:3.04 [[ 3.33206951e-01 -9.42838250e-01 -5.40015903e-03 1.49204380e+02] [ 9.42721351e-01 3.33250676e-01 -1.48472351e-02 8.71863971e+01] [ 1.57981478e-02 -1.43643274e-04 9.99875191e-01 3.03624180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42361786499995 meters 0.019324751865708083 Centerline is valid? [True, True] Translation: X:149.21, Y:87.21, Z:3.04 [[ 3.32522104e-01 -9.43079884e-01 -5.42059994e-03 1.49214361e+02] [ 9.42961917e-01 3.32566249e-01 -1.49168865e-02 8.72130754e+01] [ 1.58705242e-02 -1.51224833e-04 9.99874044e-01 3.03677882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45361786499996 meters 0.019544351935204665 Centerline is valid? [True, True] Translation: X:149.23, Y:87.24, Z:3.04 [[ 3.30870458e-01 -9.43661411e-01 -5.28032501e-03 1.49225037e+02] [ 9.43549357e-01 3.30912546e-01 -1.45429524e-02 8.72385062e+01] [ 1.54709487e-02 -1.70413958e-04 9.99880303e-01 3.03758726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48361786499996 meters 0.019689654566988773 Centerline is valid? [True, True] Translation: X:149.24, Y:87.26, Z:3.04 [[ 3.29494087e-01 -9.44142228e-01 -5.39438603e-03 1.49235502e+02] [ 9.44025199e-01 3.29538185e-01 -1.48663769e-02 8.72632767e+01] [ 1.58136304e-02 -1.94053059e-04 9.99874938e-01 3.03819766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51361786499996 meters 0.019947109417307665 Centerline is valid? [True, True] Translation: X:149.25, Y:87.29, Z:3.04 [[ 3.26838382e-01 -9.45063916e-01 -5.55583879e-03 1.49247025e+02] [ 9.44939678e-01 3.26885511e-01 -1.53253862e-02 8.72892299e+01] [ 1.62995927e-02 -2.41008089e-04 9.99867124e-01 3.03835143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54361786499996 meters 0.020094087899080362 Centerline is valid? [True, True] Translation: X:149.26, Y:87.32, Z:3.04 [[ 3.25184110e-01 -9.45633621e-01 -5.68759488e-03 1.49257438e+02] [ 9.45503297e-01 3.25233732e-01 -1.57014389e-02 8.73151838e+01] [ 1.66976062e-02 -2.71781268e-04 9.99860548e-01 3.03825515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57361786499996 meters 0.02074348570969945 Centerline is valid? [True, True] Translation: X:149.27, Y:87.34, Z:3.04 [[ 3.23729428e-01 -9.46131847e-01 -5.81251029e-03 1.49269277e+02] [ 9.45995665e-01 3.23781465e-01 -1.60550685e-02 8.73402004e+01] [ 1.70721947e-02 -3.01111400e-04 9.99854214e-01 3.03859514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60361786499996 meters 0.02073478809827893 Centerline is valid? [True, True] Translation: X:149.28, Y:87.37, Z:3.04 [[ 3.21975441e-01 -9.46729078e-01 -5.98895609e-03 1.49279394e+02] [ 9.46584380e-01 3.22030957e-01 -1.65551728e-02 8.73666058e+01] [ 1.76018928e-02 -3.38693227e-04 9.99845017e-01 3.03835938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63361786499996 meters 0.021700568263448277 Centerline is valid? [True, True] Translation: X:149.29, Y:87.39, Z:3.04 [[ 3.19168114e-01 -9.47676200e-01 -6.44479059e-03 1.49292231e+02] [ 9.47508545e-01 3.19232905e-01 -1.78300239e-02 8.73914935e+01] [ 1.89544785e-02 -4.15719046e-04 9.99820261e-01 3.03794541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66361786499996 meters 0.022275304311181833 Centerline is valid? [True, True] Translation: X:149.30, Y:87.42, Z:3.04 [[ 3.17714204e-01 -9.48162906e-01 -6.69235357e-03 1.49303315e+02] [ 9.47981929e-01 3.17784352e-01 -1.85302049e-02 8.74162331e+01] [ 1.96963782e-02 -4.56920936e-04 9.99805903e-01 3.03808529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69361786499996 meters 0.021519545183988475 Centerline is valid? [True, True] Translation: X:149.31, Y:87.44, Z:3.04 [[ 3.16142483e-01 -9.48687963e-01 -6.71420276e-03 1.49312145e+02] [ 9.48505609e-01 3.16213399e-01 -1.86063735e-02 8.74434300e+01] [ 1.97747635e-02 -4.86193854e-04 9.99804342e-01 3.03881868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72361786499997 meters 0.022925546137298608 Centerline is valid? [True, True] Translation: X:149.33, Y:87.47, Z:3.04 [[ 3.14639565e-01 -9.49187103e-01 -6.76667157e-03 1.49325165e+02] [ 9.49001706e-01 3.14711895e-01 -1.87665988e-02 8.74682950e+01] [ 1.99425656e-02 -5.16868367e-04 9.99800994e-01 3.03918778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75361786499997 meters 0.0223136271907421 Centerline is valid? [True, True] Translation: X:149.33, Y:87.50, Z:3.04 [[ 3.12962926e-01 -9.49741372e-01 -6.74776822e-03 1.49334417e+02] [ 9.49556853e-01 3.13035186e-01 -1.87284493e-02 8.74952748e+01] [ 1.98994720e-02 -5.46079249e-04 9.99801837e-01 3.04074508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78361786499997 meters 0.02170701248035775 Centerline is valid? [True, True] Translation: X:149.34, Y:87.52, Z:3.04 [[ 3.11901309e-01 -9.50091630e-01 -6.59300482e-03 1.49342935e+02] [ 9.49915281e-01 3.11970497e-01 -1.83130721e-02 8.75219565e+01] [ 1.94559195e-02 -5.50924852e-04 9.99810564e-01 3.04174547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81361786499997 meters 0.022698612469253945 Centerline is valid? [True, True] Translation: X:149.35, Y:87.55, Z:3.04 [[ 3.11293963e-01 -9.50291654e-01 -6.46841685e-03 1.49354429e+02] [ 9.50121670e-01 3.11360678e-01 -1.79816814e-02 8.75470122e+01] [ 1.91018525e-02 -5.48194134e-04 9.99817393e-01 3.04239430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84361786499997 meters 0.022569150494274142 Centerline is valid? [True, True] Translation: X:149.36, Y:87.57, Z:3.04 [[ 3.09819310e-01 -9.50774931e-01 -6.24704146e-03 1.49363982e+02] [ 9.50616203e-01 3.09881790e-01 -1.73813407e-02 8.75741882e+01] [ 1.84615874e-02 -5.53463858e-04 9.99829417e-01 3.04368379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87361786499997 meters 0.022550837277299722 Centerline is valid? [True, True] Translation: X:149.37, Y:87.60, Z:3.04 [[ 3.09095952e-01 -9.51011710e-01 -6.03483911e-03 1.49373631e+02] [ 9.50863395e-01 3.09154380e-01 -1.68039649e-02 8.76001689e+01] [ 1.78464643e-02 -5.44270085e-04 9.99840591e-01 3.04423184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90361786499997 meters 0.023113861577845816 Centerline is valid? [True, True] Translation: X:149.38, Y:87.63, Z:3.05 [[ 3.08489069e-01 -9.51211500e-01 -5.58367476e-03 1.49384467e+02] [ 9.51084363e-01 3.08539175e-01 -1.55599458e-02 8.76253741e+01] [ 1.65235818e-02 -5.10472561e-04 9.99863346e-01 3.04565521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93361786499997 meters 0.02249746789424432 Centerline is valid? [True, True] Translation: X:149.39, Y:87.65, Z:3.05 [[ 3.08202947e-01 -9.51304774e-01 -5.49279080e-03 1.49392381e+02] [ 9.51181537e-01 3.08251479e-01 -1.53202106e-02 8.76520055e+01] [ 1.62673504e-02 -5.02907137e-04 9.99867551e-01 3.04642502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96361786499997 meters 0.02211739688087506 Centerline is valid? [True, True] Translation: X:149.40, Y:87.68, Z:3.05 [[ 3.08897942e-01 -9.51080506e-01 -5.28519546e-03 1.49400932e+02] [ 9.50966183e-01 3.08942797e-01 -1.47535491e-02 8.76792736e+01] [ 1.56646360e-02 -4.68701212e-04 9.99877192e-01 3.04727781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99361786499998 meters 0.021723026761098357 Centerline is valid? [True, True] Translation: X:149.41, Y:87.71, Z:3.05 [[ 3.09407015e-01 -9.50916076e-01 -5.09078816e-03 1.49409187e+02] [ 9.50809882e-01 3.09448578e-01 -1.42178195e-02 8.77065690e+01] [ 1.50952902e-02 -4.41278600e-04 9.99885962e-01 3.04800370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02361786499998 meters 0.021314101417856987 Centerline is valid? [True, True] Translation: X:149.42, Y:87.73, Z:3.05 [[ 3.11522631e-01 -9.50226061e-01 -4.90748094e-03 1.49416509e+02] [ 9.50127129e-01 3.11561039e-01 -1.37170480e-02 8.77337744e+01] [ 1.45632764e-02 -3.89559897e-04 9.99893874e-01 3.04816076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05361786499998 meters 0.020974724203244352 Centerline is valid? [True, True] Translation: X:149.42, Y:87.76, Z:3.05 [[ 3.13000336e-01 -9.49740594e-01 -4.85740206e-03 1.49424446e+02] [ 9.49643451e-01 3.13037818e-01 -1.35882770e-02 8.77612183e+01] [ 1.44258888e-02 -3.59664787e-04 9.99895877e-01 3.04840226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08361786499995 meters 0.020488967991138453 Centerline is valid? [True, True] Translation: X:149.43, Y:87.79, Z:3.05 [[ 3.16665623e-01 -9.48525179e-01 -4.78205136e-03 1.49430657e+02] [ 9.48430720e-01 3.16701591e-01 -1.33892179e-02 8.77874058e+01] [ 1.42144936e-02 -2.95539399e-04 9.99898925e-01 3.04812237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11361786499995 meters 0.020477283844388915 Centerline is valid? [True, True] Translation: X:149.44, Y:87.81, Z:3.05 [[ 3.18521072e-01 -9.47903377e-01 -4.84908876e-03 1.49439040e+02] [ 9.47806084e-01 3.18557867e-01 -1.35835182e-02 8.78136426e+01] [ 1.44205782e-02 -2.69359037e-04 9.99895982e-01 3.04818526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14361786499995 meters 0.019799234567166972 Centerline is valid? [True, True] Translation: X:149.45, Y:87.84, Z:3.05 [[ 3.20141747e-01 -9.47357051e-01 -4.88670255e-03 1.49445740e+02] [ 9.47258070e-01 3.20178948e-01 -1.36963841e-02 8.78415049e+01] [ 1.45399853e-02 -2.44184081e-04 9.99894259e-01 3.04788574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17361786499995 meters 0.019328379257922895 Centerline is valid? [True, True] Translation: X:149.45, Y:87.87, Z:3.05 [[ 3.23089815e-01 -9.46355757e-01 -4.87364199e-03 1.49452209e+02] [ 9.46257024e-01 3.23126513e-01 -1.36712125e-02 8.78693356e+01] [ 1.45126336e-02 -1.94688454e-04 9.99894667e-01 3.04771644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20361786499996 meters 0.019328379257922895 Centerline is valid? [True, True] Translation: X:149.46, Y:87.90, Z:3.05 [[ 3.22828935e-01 -9.46444801e-01 -4.87004848e-03 1.49461403e+02] [ 9.46346058e-01 3.22865608e-01 -1.36724924e-02 8.78953395e+01] [ 1.45126305e-02 -1.94875026e-04 9.99894667e-01 3.04816735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23361786499996 meters 0.019640182408902824 Centerline is valid? [True, True] Translation: X:149.47, Y:87.92, Z:3.05 [[ 3.23868763e-01 -9.46089570e-01 -4.85278557e-03 1.49471309e+02] [ 9.45991307e-01 3.23905071e-01 -1.36364326e-02 8.79211579e+01] [ 1.44731285e-02 -1.74278418e-04 9.99895244e-01 3.04904280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26361786499996 meters 0.01929599098315527 Centerline is valid? [True, True] Translation: X:149.48, Y:87.95, Z:3.05 [[ 3.24497952e-01 -9.45875120e-01 -4.61907894e-03 1.49478606e+02] [ 9.45785986e-01 3.24530788e-01 -1.29860148e-02 8.79488415e+01] [ 1.37821816e-02 -1.54724930e-04 9.99905009e-01 3.04941781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29361786499996 meters 0.019203313373817133 Centerline is valid? [True, True] Translation: X:149.49, Y:87.98, Z:3.05 [[ 3.25155453e-01 -9.45649644e-01 -4.54783890e-03 1.49486780e+02] [ 9.45563071e-01 3.25187227e-01 -1.27963447e-02 8.79754837e+01] [ 1.35797579e-02 -1.39467270e-04 9.99907781e-01 3.04948384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32361786499996 meters 0.019092496404717843 Centerline is valid? [True, True] Translation: X:149.50, Y:88.00, Z:3.05 [[ 3.25542230e-01 -9.45516845e-01 -4.48908104e-03 1.49495483e+02] [ 9.45432342e-01 3.25573154e-01 -1.26414938e-02 8.80018343e+01] [ 1.34142696e-02 -1.28782326e-04 9.99910016e-01 3.04972162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35361786499996 meters 0.01904118003041248 Centerline is valid? [True, True] Translation: X:149.50, Y:88.03, Z:3.05 [[ 3.25859292e-01 -9.45408411e-01 -4.31957752e-03 1.49503426e+02] [ 9.45330035e-01 3.25887900e-01 -1.21738069e-02 8.80286175e+01] [ 1.29169175e-02 -1.16478252e-04 9.99916566e-01 3.04979879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38361786499996 meters 0.01889125868986421 Centerline is valid? [True, True] Translation: X:149.51, Y:88.05, Z:3.05 [[ 3.25711913e-01 -9.45459418e-01 -4.27073534e-03 1.49512353e+02] [ 9.45382679e-01 3.25739891e-01 -1.20462939e-02 8.80547609e+01] [ 1.27804309e-02 -1.13857780e-04 9.99918320e-01 3.05018610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41361786499996 meters 0.018906187525381642 Centerline is valid? [True, True] Translation: X:149.52, Y:88.08, Z:3.05 [[ 3.25667223e-01 -9.45475336e-01 -4.15308403e-03 1.49520564e+02] [ 9.45402650e-01 3.25693685e-01 -1.17239948e-02 8.80821343e+01] [ 1.24373812e-02 -1.08215804e-04 9.99922647e-01 3.05016426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44361786499996 meters 0.018854597345887552 Centerline is valid? [True, True] Translation: X:149.53, Y:88.11, Z:3.05 [[ 3.25309173e-01 -9.45598362e-01 -4.20471539e-03 1.49529461e+02] [ 9.45523739e-01 3.25336326e-01 -1.18799424e-02 8.81081081e+01] [ 1.26016007e-02 -1.11003979e-04 9.99920591e-01 3.05038032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47361786499997 meters 0.01889045879221199 Centerline is valid? [True, True] Translation: X:149.54, Y:88.13, Z:3.05 [[ 3.25057925e-01 -9.45685021e-01 -4.14563151e-03 1.49538233e+02] [ 9.45612356e-01 3.25084341e-01 -1.17236162e-02 8.81349888e+01] [ 1.24345282e-02 -1.09306005e-04 9.99922682e-01 3.05052039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50361786499997 meters 0.018928653225599175 Centerline is valid? [True, True] Translation: X:149.55, Y:88.16, Z:3.05 [[ 3.23960048e-01 -9.46060861e-01 -4.32841574e-03 1.49547492e+02] [ 9.45981536e-01 3.23988938e-01 -1.22515832e-02 8.81615279e+01] [ 1.29931022e-02 -1.25577891e-04 9.99915578e-01 3.04988096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53361786499997 meters 0.01910379743624835 Centerline is valid? [True, True] Translation: X:149.56, Y:88.19, Z:3.05 [[ 3.23019268e-01 -9.46382516e-01 -4.32276907e-03 1.49557175e+02] [ 9.46303294e-01 3.23048163e-01 -1.22458658e-02 8.81869407e+01] [ 1.29857359e-02 -1.35000013e-04 9.99915673e-01 3.04973385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56361786499997 meters 0.019138880910093595 Centerline is valid? [True, True] Translation: X:149.57, Y:88.21, Z:3.05 [[ 3.22059688e-01 -9.46709379e-01 -4.34836147e-03 1.49566547e+02] [ 9.46629098e-01 3.22089009e-01 -1.23296739e-02 8.82133974e+01] [ 1.30731774e-02 -1.45394573e-04 9.99914532e-01 3.04997179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59361786499997 meters 0.019454510477247902 Centerline is valid? [True, True] Translation: X:149.58, Y:88.24, Z:3.05 [[ 3.19511863e-01 -9.47571601e-01 -4.49790668e-03 1.49577203e+02] [ 9.47485631e-01 3.19543468e-01 -1.27652068e-02 8.82396271e+01] [ 1.35332241e-02 -1.83066944e-04 9.99908405e-01 3.04981746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62361786499997 meters 0.019777247364403047 Centerline is valid? [True, True] Translation: X:149.59, Y:88.26, Z:3.05 [[ 3.18337265e-01 -9.47966669e-01 -4.53650449e-03 1.49587192e+02] [ 9.47879109e-01 3.18369526e-01 -1.28856418e-02 8.82645505e+01] [ 1.36594438e-02 -1.98077848e-04 9.99906686e-01 3.05026210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65361786499997 meters 0.01960919590982471 Centerline is valid? [True, True] Translation: X:149.60, Y:88.29, Z:3.05 [[ 3.16555936e-01 -9.48562966e-01 -4.54292902e-03 1.49596257e+02] [ 9.48475117e-01 3.16588455e-01 -1.29113572e-02 8.82916024e+01] [ 1.36854742e-02 -2.21688355e-04 9.99906325e-01 3.05022364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68361786499997 meters 0.021059919702662792 Centerline is valid? [True, True] Translation: X:149.61, Y:88.32, Z:3.05 [[ 3.13526076e-01 -9.49568280e-01 -4.63485544e-03 1.49609737e+02] [ 9.49476778e-01 3.13560219e-01 -1.31847245e-02 8.83154408e+01] [ 1.39731024e-02 -2.66932684e-04 9.99902336e-01 3.05054358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71361786499997 meters 0.021346488719903908 Centerline is valid? [True, True] Translation: X:149.62, Y:88.34, Z:3.05 [[ 3.11903586e-01 -9.50102642e-01 -4.59596184e-03 1.49620398e+02] [ 9.50012675e-01 3.11937313e-01 -1.30778501e-02 8.83415523e+01] [ 1.38589519e-02 -2.87193652e-04 9.99903919e-01 3.05082589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74361786499998 meters 0.02073732230919901 Centerline is valid? [True, True] Translation: X:149.63, Y:88.37, Z:3.05 [[ 3.10180255e-01 -9.50667240e-01 -4.47308729e-03 1.49628614e+02] [ 9.50581942e-01 3.10212361e-01 -1.27382511e-02 8.83689602e+01] [ 1.34974450e-02 -3.00882026e-04 9.99908860e-01 3.05092947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77361786499998 meters 0.020912510323887367 Centerline is valid? [True, True] Translation: X:149.64, Y:88.39, Z:3.05 [[ 3.08657138e-01 -9.51163019e-01 -4.43658325e-03 1.49639096e+02] [ 9.51079020e-01 3.08688859e-01 -1.26445821e-02 8.83949991e+01] [ 1.33965827e-02 -3.16700741e-04 9.99910212e-01 3.05148795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80361786499998 meters 0.023138084344919766 Centerline is valid? [True, True] Translation: X:149.65, Y:88.42, Z:3.05 [[ 3.06711968e-01 -9.51792067e-01 -4.43062800e-03 1.49653708e+02] [ 9.51708203e-01 3.06743780e-01 -1.26392594e-02 8.84184774e+01] [ 1.33890144e-02 -3.40052882e-04 9.99910305e-01 3.05239091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83361786499995 meters 0.02147157749617194 Centerline is valid? [True, True] Translation: X:149.66, Y:88.45, Z:3.05 [[ 3.06141448e-01 -9.51975707e-01 -4.43484623e-03 1.49660040e+02] [ 9.51891657e-01 3.06173372e-01 -1.26546635e-02 8.84460072e+01] [ 1.34047640e-02 -3.47376127e-04 9.99910092e-01 3.05231971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86361786499995 meters 0.021570204665005817 Centerline is valid? [True, True] Translation: X:149.67, Y:88.47, Z:3.05 [[ 3.06060733e-01 -9.52001850e-01 -4.39382376e-03 1.49669941e+02] [ 9.51919207e-01 3.06092079e-01 -1.25484114e-02 8.84725504e+01] [ 1.32910255e-02 -3.41989227e-04 9.99911612e-01 3.05281290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89361786499995 meters 0.02191358196242075 Centerline is valid? [True, True] Translation: X:149.68, Y:88.50, Z:3.05 [[ 3.06720052e-01 -9.51790227e-01 -4.26302797e-03 1.49680372e+02] [ 9.51712280e-01 3.06749509e-01 -1.21849828e-02 8.84979046e+01] [ 1.29052292e-02 -3.19797524e-04 9.99916673e-01 3.05302168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92361786499995 meters 0.022098909500290625 Centerline is valid? [True, True] Translation: X:149.69, Y:88.52, Z:3.05 [[ 3.07443614e-01 -9.51557553e-01 -4.08014385e-03 1.49690210e+02] [ 9.51486008e-01 3.07470547e-01 -1.16721801e-02 8.85236796e+01] [ 1.23612752e-02 -2.93662546e-04 9.99923553e-01 3.05331731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95361786499996 meters 0.02148427861039449 Centerline is valid? [True, True] Translation: X:149.70, Y:88.55, Z:3.05 [[ 3.09782171e-01 -9.50798877e-01 -4.06229438e-03 1.49698786e+02] [ 9.50727769e-01 3.09808697e-01 -1.16309960e-02 8.85510094e+01] [ 1.23172720e-02 -2.59060894e-04 9.99924106e-01 3.05360290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98361786499996 meters 0.0206961017996638 Centerline is valid? [True, True] Translation: X:149.71, Y:88.58, Z:3.05 [[ 3.11095004e-01 -9.50369868e-01 -4.12451969e-03 1.49706212e+02] [ 9.50296410e-01 3.11122250e-01 -1.18185883e-02 8.85783714e+01] [ 1.25152601e-02 -2.42812469e-04 9.99921652e-01 3.05362063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01361786499996 meters 0.020999816025779446 Centerline is valid? [True, True] Translation: X:149.72, Y:88.60, Z:3.05 [[ 3.12475888e-01 -9.49916681e-01 -4.13744854e-03 1.49716190e+02] [ 9.49842600e-01 3.12503199e-01 -1.18653471e-02 8.86039037e+01] [ 1.25640570e-02 -2.22290015e-04 9.99921044e-01 3.05426770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04361786499996 meters 0.0197929270687231 Centerline is valid? [True, True] Translation: X:149.72, Y:88.63, Z:3.05 [[ 3.15539576e-01 -9.48904551e-01 -3.86384817e-03 1.49722274e+02] [ 9.48839764e-01 3.15563188e-01 -1.10894760e-02 8.86320383e+01] [ 1.17421425e-02 -1.67004218e-04 9.99931045e-01 3.05365018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07361786499996 meters 0.019758782329464097 Centerline is valid? [True, True] Translation: X:149.73, Y:88.66, Z:3.05 [[ 3.16997946e-01 -9.48418238e-01 -3.89211473e-03 1.49731255e+02] [ 9.48352341e-01 3.17021805e-01 -1.11808952e-02 8.86579818e+01] [ 1.18380502e-02 -1.46775297e-04 9.99929917e-01 3.05418043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10361786499996 meters 0.019686667483764835 Centerline is valid? [True, True] Translation: X:149.74, Y:88.68, Z:3.05 [[ 3.17653528e-01 -9.48199367e-01 -3.76790102e-03 1.49740220e+02] [ 9.48137530e-01 3.17675847e-01 -1.08296552e-02 8.86843186e+01] [ 1.14656434e-02 -1.32410181e-04 9.99934259e-01 3.05436697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13361786499996 meters 0.01960107848104707 Centerline is valid? [True, True] Translation: X:149.75, Y:88.71, Z:3.05 [[ 3.18221639e-01 -9.48009264e-01 -3.66388453e-03 1.49749380e+02] [ 9.47950687e-01 3.18242708e-01 -1.05391339e-02 8.87096665e+01] [ 1.11572011e-02 -1.19401383e-04 9.99937749e-01 3.05483668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16361786499996 meters 0.019466382003817617 Centerline is valid? [True, True] Translation: X:149.76, Y:88.74, Z:3.05 [[ 3.18830505e-01 -9.47804264e-01 -3.76645379e-03 1.49759198e+02] [ 9.47742229e-01 3.18852732e-01 -1.08444569e-02 8.87364548e+01] [ 1.14793666e-02 -1.12083635e-04 9.99934104e-01 3.05476068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19361786499996 meters 0.019536961826958583 Centerline is valid? [True, True] Translation: X:149.77, Y:88.76, Z:3.06 [[ 3.18477701e-01 -9.47923082e-01 -3.71276249e-03 1.49769319e+02] [ 9.47862711e-01 3.18499322e-01 -1.06987452e-02 8.87612971e+01] [ 1.13240999e-02 -1.11877337e-04 9.99935874e-01 3.05547165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22361786499997 meters 0.019522140786635573 Centerline is valid? [True, True] Translation: X:149.78, Y:88.79, Z:3.06 [[ 3.17994436e-01 -9.48084883e-01 -3.82013276e-03 1.49778780e+02] [ 9.48020855e-01 3.18017359e-01 -1.10189347e-02 8.87878385e+01] [ 1.16617539e-02 -1.17605608e-04 9.99931993e-01 3.05525427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25361786499997 meters 0.019869956462164842 Centerline is valid? [True, True] Translation: X:149.79, Y:88.81, Z:3.05 [[ 3.16074702e-01 -9.48726976e-01 -3.72935089e-03 1.49790624e+02] [ 9.48665891e-01 3.16096674e-01 -1.07665848e-02 8.88131668e+01] [ 1.13933849e-02 -1.34862893e-04 9.99935084e-01 3.05497917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28361786499997 meters 0.019794664411960254 Centerline is valid? [True, True] Translation: X:149.80, Y:88.84, Z:3.06 [[ 3.14715070e-01 -9.49179132e-01 -3.66062754e-03 1.49800579e+02] [ 9.49120226e-01 3.14736325e-01 -1.05755524e-02 8.88395144e+01] [ 1.11902261e-02 -1.46089914e-04 9.99937377e-01 3.05520555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31361786499997 meters 0.01995569205842163 Centerline is valid? [True, True] Translation: X:149.81, Y:88.87, Z:3.06 [[ 3.13300165e-01 -9.49647293e-01 -3.60917216e-03 1.49811170e+02] [ 9.49589962e-01 3.13320914e-01 -1.04359623e-02 8.88655513e+01] [ 1.10413125e-02 -1.57644931e-04 9.99939030e-01 3.05561429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34361786499997 meters 0.020997205093473092 Centerline is valid? [True, True] Translation: X:149.83, Y:88.89, Z:3.06 [[ 3.10062645e-01 -9.50709842e-01 -3.45731879e-03 1.49825293e+02] [ 9.50657208e-01 3.10081865e-01 -1.00054916e-02 8.88899556e+01] [ 1.05843712e-02 -1.84395825e-04 9.99943967e-01 3.05678633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37361786499997 meters 0.02064142591333111 Centerline is valid? [True, True] Translation: X:149.83, Y:88.92, Z:3.06 [[ 3.08221305e-01 -9.51308660e-01 -3.38541242e-03 1.49834401e+02] [ 9.51258147e-01 3.08239833e-01 -9.80525479e-03 8.89170305e+01] [ 1.03713428e-02 -1.98212718e-04 9.99946197e-01 3.05675587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40361786499997 meters 0.02136845004140585 Centerline is valid? [True, True] Translation: X:149.85, Y:88.94, Z:3.06 [[ 3.05114987e-01 -9.52311130e-01 -2.89087203e-03 1.49847172e+02] [ 9.52274277e-01 3.05128619e-01 -8.38012073e-03 8.89413856e+01] [ 8.86257003e-03 -1.96002645e-04 9.99960707e-01 3.05759287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43361786499997 meters 0.021584578606195347 Centerline is valid? [True, True] Translation: X:149.86, Y:88.97, Z:3.06 [[ 3.03487486e-01 -9.52830979e-01 -2.91072962e-03 1.49857634e+02] [ 9.52793619e-01 3.03501370e-01 -8.44031015e-03 8.89681561e+01] [ 8.92559941e-03 -2.11796101e-04 9.99960144e-01 3.05781601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46361786499997 meters 0.021674301946892693 Centerline is valid? [True, True] Translation: X:149.87, Y:88.99, Z:3.06 [[ 3.02037150e-01 -9.53291896e-01 -2.84968587e-03 1.49867602e+02] [ 9.53256050e-01 3.02050513e-01 -8.26981437e-03 8.89945658e+01] [ 8.74429610e-03 -2.18689132e-04 9.99961744e-01 3.05807475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49361786499998 meters 0.02211130531723463 Centerline is valid? [True, True] Translation: X:149.88, Y:89.02, Z:3.06 [[ 3.00616142e-01 -9.53740974e-01 -2.84411051e-03 1.49877687e+02] [ 9.53705226e-01 3.00629508e-01 -8.26076509e-03 8.90200221e+01] [ 8.73365369e-03 -2.29123726e-04 9.99961835e-01 3.05857900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52361786499998 meters 0.023004051475444293 Centerline is valid? [True, True] Translation: X:149.89, Y:89.04, Z:3.06 [[ 2.98969516e-01 -9.54258610e-01 -2.78088141e-03 1.49889527e+02] [ 9.54224392e-01 2.98982356e-01 -8.08455894e-03 8.90445587e+01] [ 8.54619445e-03 -2.36548199e-04 9.99963453e-01 3.05967452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55361786499998 meters 0.02280671816101963 Centerline is valid? [True, True] Translation: X:149.90, Y:89.07, Z:3.06 [[ 2.97959714e-01 -9.54574710e-01 -2.67072930e-03 1.49898261e+02] [ 9.54543137e-01 2.97971590e-01 -7.76725835e-03 8.90717621e+01] [ 8.21022984e-03 -2.34996250e-04 9.99966268e-01 3.05999453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58361786499995 meters 0.02305017348167996 Centerline is valid? [True, True] Translation: X:149.91, Y:89.10, Z:3.06 [[ 2.97281434e-01 -9.54786163e-01 -2.67073775e-03 1.49907831e+02] [ 9.54754549e-01 2.97293334e-01 -7.77337635e-03 8.90986709e+01] [ 8.21590470e-03 -2.39018548e-04 9.99966220e-01 3.06045021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61361786499995 meters 0.02352410818888207 Centerline is valid? [True, True] Translation: X:149.92, Y:89.12, Z:3.06 [[ 2.96505313e-01 -9.55026919e-01 -2.86083880e-03 1.49917598e+02] [ 9.54990586e-01 2.96518999e-01 -8.33450334e-03 8.91241229e+01] [ 8.80796810e-03 -2.60849599e-04 9.99961175e-01 3.06032406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64361786499995 meters 0.023804036173414415 Centerline is valid? [True, True] Translation: X:149.93, Y:89.15, Z:3.06 [[ 2.95936323e-01 -9.55203428e-01 -2.84661586e-03 1.49926745e+02] [ 9.55167394e-01 2.95949897e-01 -8.30106470e-03 8.91501930e+01] [ 8.77166113e-03 -2.62408092e-04 9.99961494e-01 3.06064864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67361786499995 meters 0.024259681393821522 Centerline is valid? [True, True] Translation: X:149.94, Y:89.18, Z:3.06 [[ 2.95587478e-01 -9.55311107e-01 -2.95490295e-03 1.49936078e+02] [ 9.55272216e-01 2.95602121e-01 -8.62435038e-03 8.91753614e+01] [ 9.11241329e-03 -2.73486710e-04 9.99958444e-01 3.06141786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70361786499996 meters 0.02396536742487525 Centerline is valid? [True, True] Translation: X:149.94, Y:89.20, Z:3.06 [[ 2.95153582e-01 -9.55445707e-01 -2.80442815e-03 1.49943951e+02] [ 9.55410621e-01 2.95166789e-01 -8.19222021e-03 8.92023082e+01] [ 8.65499568e-03 -2.61417302e-04 9.99962511e-01 3.06233535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73361786499996 meters 0.024877676520437205 Centerline is valid? [True, True] Translation: X:149.95, Y:89.23, Z:3.06 [[ 2.95242810e-01 -9.55418704e-01 -2.60437880e-03 1.49953600e+02] [ 9.55388385e-01 2.95254200e-01 -7.61517427e-03 8.92272742e+01] [ 8.04463371e-03 -2.39867805e-04 9.99967613e-01 3.06363351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76361786499996 meters 0.02257912274444989 Centerline is valid? [True, True] Translation: X:149.96, Y:89.26, Z:3.06 [[ 2.95267385e-01 -9.55411307e-01 -2.53086210e-03 1.49957460e+02] [ 9.55382660e-01 2.95278140e-01 -7.40230815e-03 8.92557046e+01] [ 7.81955716e-03 -2.32281598e-04 9.99969400e-01 3.06310021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79361786499996 meters 0.022744459180584875 Centerline is valid? [True, True] Translation: X:149.97, Y:89.28, Z:3.06 [[ 2.95612147e-01 -9.55305119e-01 -2.36405706e-03 1.49965663e+02] [ 9.55280083e-01 2.95621523e-01 -6.91942024e-03 8.92811356e+01] [ 7.30902372e-03 -2.12871950e-04 9.99973266e-01 3.06409856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82361786499996 meters 0.022659311132061412 Centerline is valid? [True, True] Translation: X:149.97, Y:89.31, Z:3.06 [[ 2.96269200e-01 -9.55101497e-01 -2.38586817e-03 1.49973730e+02] [ 9.55075938e-01 2.96278734e-01 -6.99029877e-03 8.93076085e+01] [ 7.38332682e-03 -2.07675058e-04 9.99972721e-01 3.06454328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85361786499996 meters 0.022248279052863522 Centerline is valid? [True, True] Translation: X:149.98, Y:89.34, Z:3.06 [[ 2.97305992e-01 -9.54779220e-01 -2.40566342e-03 1.49980279e+02] [ 9.54753177e-01 2.97315658e-01 -7.05482744e-03 8.93356575e+01] [ 7.45104405e-03 -1.99372325e-04 9.99972221e-01 3.06476483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88361786499996 meters 0.02231133488168197 Centerline is valid? [True, True] Translation: X:149.99, Y:89.36, Z:3.06 [[ 2.97511997e-01 -9.54714555e-01 -2.59414786e-03 1.49988448e+02] [ 9.54684209e-01 2.97523231e-01 -7.61496614e-03 8.93626959e+01] [ 8.04193826e-03 -2.11048217e-04 9.99967641e-01 3.06447186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91361786499996 meters 0.022061057497508443 Centerline is valid? [True, True] Translation: X:150.00, Y:89.39, Z:3.06 [[ 2.98416789e-01 -9.54430879e-01 -3.01962996e-03 1.49995597e+02] [ 9.54389649e-01 2.98431974e-01 -8.87433555e-03 8.93899418e+01] [ 9.37109401e-03 -2.33652863e-04 9.99956063e-01 3.06377353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94361786499996 meters 0.022260284675674456 Centerline is valid? [True, True] Translation: X:150.00, Y:89.42, Z:3.06 [[ 2.98359595e-01 -9.54448439e-01 -3.11906682e-03 1.50004087e+02] [ 9.54404376e-01 2.98375802e-01 -9.17434538e-03 8.94152801e+01] [ 9.68709369e-03 -2.39597050e-04 9.99953050e-01 3.06394266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97361786499997 meters 0.021772753789410928 Centerline is valid? [True, True] Translation: X:150.01, Y:89.44, Z:3.06 [[ 2.98211453e-01 -9.54494091e-01 -3.31043004e-03 1.50011325e+02] [ 9.54444349e-01 2.98229719e-01 -9.74775525e-03 8.94430054e+01] [ 1.02914434e-02 -2.52728994e-04 9.99947010e-01 3.06339844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00361786499997 meters 0.022447711516928055 Centerline is valid? [True, True] Translation: X:150.02, Y:89.47, Z:3.06 [[ 2.96694924e-01 -9.54965710e-01 -3.55182068e-03 1.50020776e+02] [ 9.54908371e-01 2.96716046e-01 -1.04685924e-02 8.94687015e+01] [ 1.10510289e-02 -2.85685076e-04 9.99938895e-01 3.06341819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03361786499997 meters 0.02269601057276752 Centerline is valid? [True, True] Translation: X:150.03, Y:89.50, Z:3.06 [[ 2.95632035e-01 -9.55294905e-01 -3.65286823e-03 1.50030099e+02] [ 9.55234180e-01 2.95654446e-01 -1.07754052e-02 8.94954731e+01] [ 1.13736764e-02 -3.03789627e-04 9.99935272e-01 3.06384397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06361786499997 meters 0.022965733931668023 Centerline is valid? [True, True] Translation: X:150.04, Y:89.52, Z:3.06 [[ 2.94577505e-01 -9.55620359e-01 -3.71784119e-03 1.50039255e+02] [ 9.55557355e-01 2.94600793e-01 -1.09779012e-02 8.95218866e+01] [ 1.15859849e-02 -3.18767731e-04 9.99932829e-01 3.06437035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09361786499997 meters 0.024682144841950648 Centerline is valid? [True, True] Translation: X:150.05, Y:89.55, Z:3.07 [[ 2.92442775e-01 -9.56276389e-01 -3.56234250e-03 1.50050626e+02] [ 9.56218522e-01 2.92464287e-01 -1.05251254e-02 8.95464630e+01] [ 1.11067869e-02 -3.28380997e-04 9.99938264e-01 3.06519815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12361786499997 meters 0.024682144841950648 Centerline is valid? [True, True] Translation: X:150.06, Y:89.57, Z:3.07 [[ 2.92196213e-01 -9.56351759e-01 -3.56183450e-03 1.50059387e+02] [ 9.56293895e-01 2.92217735e-01 -1.05252974e-02 8.95726247e+01] [ 1.11067179e-02 -3.30708530e-04 9.99938264e-01 3.06565002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15361786499997 meters 0.024024518645064278 Centerline is valid? [True, True] Translation: X:150.07, Y:89.60, Z:3.07 [[ 2.91053002e-01 -9.56700673e-01 -3.46013287e-03 1.50066605e+02] [ 9.56646000e-01 2.91073380e-01 -1.02331977e-02 8.96003198e+01] [ 1.07972597e-02 -3.31719359e-04 9.99941653e-01 3.06564265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18361786499997 meters 0.023834595737578863 Centerline is valid? [True, True] Translation: X:150.07, Y:89.63, Z:3.07 [[ 2.90018981e-01 -9.57015294e-01 -3.27367752e-03 1.50074586e+02] [ 9.56966301e-01 2.90037277e-01 -9.68903114e-03 8.96274156e+01] [ 1.02220395e-02 -3.22796131e-04 9.99947701e-01 3.06608496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21361786499997 meters 0.024888025286284546 Centerline is valid? [True, True] Translation: X:150.08, Y:89.65, Z:3.07 [[ 2.88923573e-01 -9.57347102e-01 -3.11386139e-03 1.50084222e+02] [ 9.57302722e-01 2.88940179e-01 -9.22342480e-03 8.96534806e+01] [ 9.72973867e-03 -3.16043133e-04 9.99952615e-01 3.06653686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24361786499998 meters 0.02445448399491398 Centerline is valid? [True, True] Translation: X:150.09, Y:89.68, Z:3.07 [[ 2.88738814e-01 -9.57403012e-01 -3.06091541e-03 1.50091641e+02] [ 9.57360069e-01 2.88754871e-01 -9.07319567e-03 8.96804489e+01] [ 9.57055910e-03 -3.10614432e-04 9.99954153e-01 3.06656120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27361786499998 meters 0.024597182124752582 Centerline is valid? [True, True] Translation: X:150.10, Y:89.71, Z:3.07 [[ 2.88496514e-01 -9.57475761e-01 -3.15098623e-03 1.50099762e+02] [ 9.57430171e-01 2.88513544e-01 -9.34889919e-03 8.97068512e+01] [ 9.86044657e-03 -3.19724457e-04 9.99951334e-01 3.06673691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30361786499998 meters 0.0248836630341627 Centerline is valid? [True, True] Translation: X:150.11, Y:89.73, Z:3.07 [[ 2.88789637e-01 -9.57386893e-01 -3.29890906e-03 1.50107543e+02] [ 9.57336823e-01 2.88808291e-01 -9.79690003e-03 8.97329923e+01] [ 1.03321760e-02 -3.28923915e-04 9.99946568e-01 3.06657535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33361786499995 meters 0.02550746354042377 Centerline is valid? [True, True] Translation: X:150.12, Y:89.76, Z:3.07 [[ 2.89123888e-01 -9.57285469e-01 -3.45082245e-03 1.50116667e+02] [ 9.57230552e-01 2.89144284e-01 -1.02592680e-02 8.97586144e+01] [ 1.08188338e-02 -3.37033222e-04 9.99941418e-01 3.06680545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36361786499995 meters 0.02518914689099997 Centerline is valid? [True, True] Translation: X:150.12, Y:89.79, Z:3.07 [[ 2.89351180e-01 -9.57216201e-01 -3.61093678e-03 1.50124201e+02] [ 9.57155994e-01 2.89373501e-01 -1.07415125e-02 8.97855253e+01] [ 1.13268592e-02 -3.48160456e-04 9.99935788e-01 3.06687823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39361786499995 meters 0.02394854590817506 Centerline is valid? [True, True] Translation: X:150.13, Y:89.81, Z:3.07 [[ 2.90356795e-01 -9.56911927e-01 -3.53501967e-03 1.50129213e+02] [ 9.56854105e-01 2.90378130e-01 -1.05243874e-02 8.98133840e+01] [ 1.10974043e-02 -3.26670679e-04 9.99938369e-01 3.06712616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42361786499995 meters 0.02288511787275619 Centerline is valid? [True, True] Translation: X:150.13, Y:89.84, Z:3.07 [[ 2.90856857e-01 -9.56760486e-01 -3.41481303e-03 1.50134760e+02] [ 9.56706435e-01 2.90876739e-01 -1.01744304e-02 8.98410289e+01] [ 1.07277827e-02 -3.07670751e-04 9.99942408e-01 3.06705620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45361786499996 meters 0.024536560906203812 Centerline is valid? [True, True] Translation: X:150.15, Y:89.87, Z:3.07 [[ 2.91642565e-01 -9.56521773e-01 -3.27292037e-03 1.50146127e+02] [ 9.56472024e-01 2.91660791e-01 -9.75965108e-03 8.98663224e+01] [ 1.02899013e-02 -2.84127093e-04 9.99947017e-01 3.06876639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48361786499996 meters 0.022504554291420564 Centerline is valid? [True, True] Translation: X:150.15, Y:89.90, Z:3.07 [[ 2.93786745e-01 -9.55866267e-01 -3.00457846e-03 1.50148651e+02] [ 9.55824239e-01 2.93802013e-01 -8.96672918e-03 8.98956635e+01] [ 9.45374515e-03 -2.37542739e-04 9.99955284e-01 3.06898382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51361786499996 meters 0.022351384921137016 Centerline is valid? [True, True] Translation: X:150.16, Y:89.92, Z:3.07 [[ 2.94948385e-01 -9.55509080e-01 -2.80140807e-03 1.50156346e+02] [ 9.55472472e-01 2.94961615e-01 -8.36666788e-03 8.99233359e+01] [ 8.82073498e-03 -2.08933113e-04 9.99961075e-01 3.06995557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54361786499996 meters 0.022023045147295646 Centerline is valid? [True, True] Translation: X:150.16, Y:89.95, Z:3.07 [[ 2.96116338e-01 -9.55148225e-01 -2.64234426e-03 1.50163778e+02] [ 9.55115594e-01 2.96128069e-01 -7.89742389e-03 8.99506579e+01] [ 8.32568272e-03 -1.85187961e-04 9.99965324e-01 3.07079809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57361786499996 meters 0.02154831097526731 Centerline is valid? [True, True] Translation: X:150.17, Y:89.98, Z:3.07 [[ 2.99115757e-01 -9.54213202e-01 -2.63242012e-03 1.50169625e+02] [ 9.54180696e-01 2.99127300e-01 -7.87764340e-03 8.99773684e+01] [ 8.30438006e-03 -1.55477188e-04 9.99965506e-01 3.07182177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60361786499996 meters 0.021192598937272936 Centerline is valid? [True, True] Translation: X:150.18, Y:90.01, Z:3.07 [[ 3.00618826e-01 -9.53740756e-01 -2.62520746e-03 1.50176783e+02] [ 9.53708397e-01 3.00630255e-01 -7.85766004e-03 9.00051064e+01] [ 8.28338742e-03 -1.41521863e-04 9.99965682e-01 3.07224317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63361786499996 meters 0.02108054415944518 Centerline is valid? [True, True] Translation: X:150.18, Y:90.03, Z:3.07 [[ 3.02144962e-01 -9.53258193e-01 -2.69044137e-03 1.50184092e+02] [ 9.53224128e-01 3.02156913e-01 -8.05990110e-03 9.00315551e+01] [ 8.49610222e-03 -1.29335115e-04 9.99963899e-01 3.07238978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66361786499996 meters 0.020408812002174655 Centerline is valid? [True, True] Translation: X:150.19, Y:90.06, Z:3.07 [[ 3.04951634e-01 -9.52362835e-01 -3.08725111e-03 1.50188658e+02] [ 9.52317831e-01 3.04967238e-01 -9.25921331e-03 9.00595478e+01] [ 9.75964109e-03 -1.16432054e-04 9.99952367e-01 3.07098637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69361786499996 meters 0.020167628000466193 Centerline is valid? [True, True] Translation: X:150.20, Y:90.09, Z:3.07 [[ 3.06018097e-01 -9.52020847e-01 -3.03840581e-03 1.50195616e+02] [ 9.51977167e-01 3.06033164e-01 -9.12010246e-03 9.00865463e+01] [ 9.61238061e-03 -1.01576549e-04 9.99953795e-01 3.07061144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72361786499997 meters 0.019877379662922152 Centerline is valid? [True, True] Translation: X:150.20, Y:90.11, Z:3.07 [[ 3.07104208e-01 -9.51670551e-01 -3.18857686e-03 1.50202031e+02] [ 9.51622335e-01 3.07120747e-01 -9.58008757e-03 9.01138310e+01] [ 1.00963653e-02 -9.22357499e-05 9.99949026e-01 3.06974554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75361786499997 meters 0.019869191074693038 Centerline is valid? [True, True] Translation: X:150.21, Y:90.14, Z:3.07 [[ 3.07159419e-01 -9.51652892e-01 -3.14091175e-03 1.50210546e+02] [ 9.51606025e-01 3.07175465e-01 -9.44496742e-03 9.01399027e+01] [ 9.95314158e-03 -8.77998382e-05 9.99950462e-01 3.06985836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78361786499997 meters 0.019812853548071305 Centerline is valid? [True, True] Translation: X:150.22, Y:90.17, Z:3.07 [[ 3.06784028e-01 -9.51773855e-01 -3.17626784e-03 1.50219283e+02] [ 9.51725836e-01 3.06800457e-01 -9.56094249e-03 9.01664946e+01] [ 1.00743355e-02 -8.97917107e-05 9.99949249e-01 3.07004777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81361786499997 meters 0.01992475437125531 Centerline is valid? [True, True] Translation: X:150.23, Y:90.19, Z:3.07 [[ 3.05819691e-01 -9.52084212e-01 -3.15737437e-03 1.50228557e+02] [ 9.52036693e-01 3.05835974e-01 -9.51271897e-03 9.01930308e+01] [ 1.00225482e-02 -9.67594809e-05 9.99949768e-01 3.07045958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84361786499997 meters 0.020198960846288076 Centerline is valid? [True, True] Translation: X:150.24, Y:90.22, Z:3.07 [[ 3.03100960e-01 -9.52953474e-01 -3.07963695e-03 1.50238703e+02] [ 9.52908210e-01 3.03116581e-01 -9.28878756e-03 9.02186441e+01] [ 9.78527140e-03 -1.19170906e-04 9.99952116e-01 3.07051577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87361786499997 meters 0.020247713935872623 Centerline is valid? [True, True] Translation: X:150.25, Y:90.25, Z:3.07 [[ 3.01249117e-01 -9.53540845e-01 -2.97082473e-03 1.50247563e+02] [ 9.53498727e-01 3.01263736e-01 -8.96322158e-03 9.02459442e+01] [ 9.44179964e-03 -1.32515004e-04 9.99955416e-01 3.07050984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90361786499997 meters 0.02059879084775118 Centerline is valid? [True, True] Translation: X:150.26, Y:90.27, Z:3.07 [[ 2.97254433e-01 -9.54793979e-01 -2.87395086e-03 1.50258300e+02] [ 9.54754529e-01 2.97268281e-01 -8.68094304e-03 9.02722443e+01] [ 9.14284658e-03 -1.63468801e-04 9.99958190e-01 3.07097857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93361786499997 meters 0.02122463152531049 Centerline is valid? [True, True] Translation: X:150.27, Y:90.30, Z:3.07 [[ 2.94932798e-01 -9.55513680e-01 -2.87268261e-03 1.50269573e+02] [ 9.55474262e-01 2.94946730e-01 -8.68106499e-03 9.02982431e+01] [ 9.14216469e-03 -1.84443517e-04 9.99958193e-01 3.07184095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96361786499997 meters 0.021793484652828078 Centerline is valid? [True, True] Translation: X:150.28, Y:90.32, Z:3.07 [[ 2.92638004e-01 -9.56218700e-01 -2.96577349e-03 1.50280181e+02] [ 9.56176684e-01 2.92652956e-01 -8.96640641e-03 9.03232090e+01] [ 9.44178786e-03 -2.11892190e-04 9.99955403e-01 3.07269699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99361786499998 meters 0.022046276077583818 Centerline is valid? [True, True] Translation: X:150.29, Y:90.35, Z:3.07 [[ 2.90215522e-01 -9.56956405e-01 -3.06432757e-03 1.50290265e+02] [ 9.56911540e-01 2.90231599e-01 -9.26946302e-03 9.03496931e+01] [ 9.75983670e-03 -2.42148358e-04 9.99952342e-01 3.07286639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02361786499998 meters 0.02276983727237235 Centerline is valid? [True, True] Translation: X:150.30, Y:90.38, Z:3.07 [[ 2.85988191e-01 -9.58227153e-01 -3.38792681e-03 1.50301541e+02] [ 9.58172291e-01 2.86008087e-01 -1.02584307e-02 9.03761576e+01] [ 1.07988813e-02 -3.12427545e-04 9.99941642e-01 3.07285845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05361786499998 meters 0.023098830597367746 Centerline is valid? [True, True] Translation: X:150.31, Y:90.40, Z:3.07 [[ 2.83814183e-01 -9.58872561e-01 -3.59462782e-03 1.50311563e+02] [ 9.58810733e-01 2.83836725e-01 -1.08945840e-02 9.04028114e+01] [ 1.14668051e-02 -3.54530264e-04 9.99934191e-01 3.07271980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08361786499995 meters 0.022984823536371168 Centerline is valid? [True, True] Translation: X:150.32, Y:90.43, Z:3.07 [[ 2.81508451e-01 -9.59551420e-01 -3.75023173e-03 1.50320451e+02] [ 9.59484056e-01 2.81533152e-01 -1.13767466e-02 9.04301135e+01] [ 1.19723879e-02 -3.95637248e-04 9.99928250e-01 3.07304618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11361786499995 meters 0.024743186515442658 Centerline is valid? [True, True] Translation: X:150.33, Y:90.45, Z:3.07 [[ 2.78182773e-01 -9.60519560e-01 -4.06439957e-03 1.50332335e+02] [ 9.60440397e-01 2.78212065e-01 -1.23406160e-02 9.04548778e+01] [ 1.29841680e-02 -4.70666759e-04 9.99915591e-01 3.07352236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14361786499995 meters 0.024640565819740414 Centerline is valid? [True, True] Translation: X:150.34, Y:90.48, Z:3.07 [[ 2.77057202e-01 -9.60844859e-01 -4.05766057e-03 1.50341051e+02] [ 9.60765839e-01 2.77086495e-01 -1.23319336e-02 9.04821416e+01] [ 1.29733979e-02 -4.81810658e-04 9.99915726e-01 3.07371164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17361786499995 meters 0.024690928622307193 Centerline is valid? [True, True] Translation: X:150.35, Y:90.51, Z:3.07 [[ 2.75983305e-01 -9.61153443e-01 -4.15630266e-03 1.50349721e+02] [ 9.61070419e-01 2.76014137e-01 -1.26430391e-02 9.05086575e+01] [ 1.32990989e-02 -5.05231823e-04 9.99911435e-01 3.07403918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20361786499996 meters 0.025475238342189285 Centerline is valid? [True, True] Translation: X:150.36, Y:90.53, Z:3.07 [[ 2.75482117e-01 -9.61296599e-01 -4.29563723e-03 1.50359281e+02] [ 9.61207780e-01 2.75515104e-01 -1.30778804e-02 9.05342853e+01] [ 1.37552349e-02 -5.26277737e-04 9.99905254e-01 3.07480984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23361786499996 meters 0.0262360484283369 Centerline is valid? [True, True] Translation: X:150.37, Y:90.56, Z:3.08 [[ 2.75616724e-01 -9.61257942e-01 -4.31163855e-03 1.50368675e+02] [ 9.61168278e-01 2.75649951e-01 -1.31395157e-02 9.05597604e+01] [ 1.38189668e-02 -5.22739936e-04 9.99904377e-01 3.07563593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26361786499996 meters 0.0257483636839211 Centerline is valid? [True, True] Translation: X:150.38, Y:90.59, Z:3.08 [[ 2.75944218e-01 -9.61164027e-01 -4.30128121e-03 1.50376375e+02] [ 9.61074612e-01 2.75977262e-01 -1.31202587e-02 9.05868931e+01] [ 1.37977765e-02 -5.13392641e-04 9.99904674e-01 3.07615491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29361786499996 meters 0.02526516679083162 Centerline is valid? [True, True] Translation: X:150.38, Y:90.61, Z:3.08 [[ 2.78421234e-01 -9.60448509e-01 -4.50304363e-03 1.50382874e+02] [ 9.60350217e-01 2.78457205e-01 -1.37494110e-02 9.06133754e+01] [ 1.44595063e-02 -4.96370934e-04 9.99895333e-01 3.07693097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32361786499996 meters 0.023635814595146236 Centerline is valid? [True, True] Translation: X:150.39, Y:90.64, Z:3.08 [[ 2.80000142e-01 -9.59989368e-01 -4.50929520e-03 1.50387714e+02] [ 9.59890665e-01 2.80036052e-01 -1.37739063e-02 9.06413572e+01] [ 1.44855688e-02 -4.71734652e-04 9.99894967e-01 3.07731378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35361786499996 meters 0.023408157250413574 Centerline is valid? [True, True] Translation: X:150.39, Y:90.67, Z:3.08 [[ 2.82127809e-01 -9.59367037e-01 -4.33452701e-03 1.50394984e+02] [ 9.59275609e-01 2.82160793e-01 -1.32511341e-02 9.06680542e+01] [ 1.39357349e-02 -4.19492590e-04 9.99902805e-01 3.07786324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38361786499996 meters 0.023572257121792874 Centerline is valid? [True, True] Translation: X:150.40, Y:90.69, Z:3.08 [[ 2.86382919e-01 -9.58106353e-01 -4.12795096e-03 1.50402249e+02] [ 9.58023159e-01 2.86412469e-01 -1.26302647e-02 9.06947650e+01] [ 1.32834334e-02 -3.37580560e-04 9.99911714e-01 3.07890436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41361786499996 meters 0.02130775519408548 Centerline is valid? [True, True] Translation: X:150.41, Y:90.72, Z:3.08 [[ 2.88747913e-01 -9.57396628e-01 -4.04231453e-03 1.50405267e+02] [ 9.57316639e-01 2.88776055e-01 -1.23791506e-02 9.07236724e+01] [ 1.30190807e-02 -2.95321058e-04 9.99915205e-01 3.07886341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44361786499996 meters 0.021305381375393 Centerline is valid? [True, True] Translation: X:150.41, Y:90.75, Z:3.08 [[ 2.90827570e-01 -9.56766581e-01 -4.12715579e-03 1.50412837e+02] [ 9.56682969e-01 2.90856728e-01 -1.26514906e-02 9.07497481e+01] [ 1.33049344e-02 -2.68977403e-04 9.99911449e-01 3.07928978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47361786499997 meters 0.020240291085664892 Centerline is valid? [True, True] Translation: X:150.42, Y:90.78, Z:3.08 [[ 2.95436455e-01 -9.55353797e-01 -4.05272101e-03 1.50416975e+02] [ 9.55272958e-01 2.95464183e-01 -1.24294878e-02 9.07778631e+01] [ 1.30719922e-02 -1.99330984e-04 9.99914538e-01 3.07914071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50361786499997 meters 0.02019137021807794 Centerline is valid? [True, True] Translation: X:150.42, Y:90.80, Z:3.08 [[ 2.97554437e-01 -9.54696325e-01 -4.03540462e-03 1.50424619e+02] [ 9.54615953e-01 2.97581753e-01 -1.23887734e-02 9.08037523e+01] [ 1.30283792e-02 -1.65927129e-04 9.99915113e-01 3.07970952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53361786499997 meters 0.019615761128769504 Centerline is valid? [True, True] Translation: X:150.43, Y:90.83, Z:3.08 [[ 3.01473558e-01 -9.53466112e-01 -4.00833643e-03 1.50430046e+02] [ 9.53386608e-01 3.01500184e-01 -1.23132012e-02 9.08313404e+01] [ 1.29487342e-02 -1.09389699e-04 9.99916156e-01 3.08024615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56361786499997 meters 0.01947826404807469 Centerline is valid? [True, True] Translation: X:150.44, Y:90.86, Z:3.08 [[ 3.02981473e-01 -9.52988406e-01 -3.91462423e-03 1.50437268e+02] [ 9.52912407e-01 3.03006750e-01 -1.20355271e-02 9.08581378e+01] [ 1.26558754e-02 -8.37522638e-05 9.99919908e-01 3.08093347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59361786499997 meters 0.019448164851544443 Centerline is valid? [True, True] Translation: X:150.44, Y:90.88, Z:3.08 [[ 3.04440990e-01 -9.52523589e-01 -3.80744967e-03 1.50444662e+02] [ 9.52451529e-01 3.04464792e-01 -1.17164730e-02 9.08848648e+01] [ 1.23194513e-02 -5.94366169e-05 9.99924111e-01 3.08158573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62361786499997 meters 0.01932625869073051 Centerline is valid? [True, True] Translation: X:150.45, Y:90.91, Z:3.08 [[ 3.05707616e-01 -9.52118112e-01 -3.73547753e-03 1.50452281e+02] [ 9.52048597e-01 3.05730434e-01 -1.15052462e-02 9.09117411e+01] [ 1.20964024e-02 -3.91147614e-05 9.99926835e-01 3.08193827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65361786499997 meters 0.019347723427887084 Centerline is valid? [True, True] Translation: X:150.46, Y:90.94, Z:3.08 [[ 3.07773986e-01 -9.51452855e-01 -3.55509694e-03 1.50459658e+02] [ 9.51389723e-01 3.07794517e-01 -1.09603787e-02 9.09379511e+01] [ 1.15225230e-02 -8.96324957e-06 9.99933613e-01 3.08307914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68361786499997 meters 0.019360425229856246 Centerline is valid? [True, True] Translation: X:150.47, Y:90.96, Z:3.08 [[ 3.08300613e-01 -9.51282185e-01 -3.59665035e-03 1.50467992e+02] [ 9.51217480e-01 3.08321592e-01 -1.10951000e-02 9.09642520e+01] [ 1.16634959e-02 -5.70546210e-07 9.99931979e-01 3.08330847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71361786499997 meters 0.019490408138479822 Centerline is valid? [True, True] Translation: X:150.48, Y:90.99, Z:3.08 [[ 3.09059026e-01 -9.51035749e-01 -3.67737874e-03 1.50476328e+02] [ 9.50967963e-01 3.09080903e-01 -1.13547004e-02 9.09900927e+01] [ 1.19353335e-02 1.22032670e-05 9.99928771e-01 3.08399106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74361786499998 meters 0.019510844187015274 Centerline is valid? [True, True] Translation: X:150.49, Y:91.02, Z:3.08 [[ 3.08789739e-01 -9.51123248e-01 -3.66937756e-03 1.50485327e+02] [ 9.51055628e-01 3.08811540e-01 -1.13412821e-02 9.10164868e+01] [ 1.19201032e-02 1.22893465e-05 9.99928953e-01 3.08393195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77361786499998 meters 0.01937782743910988 Centerline is valid? [True, True] Translation: X:150.49, Y:91.04, Z:3.08 [[ 3.08448570e-01 -9.51233323e-01 -3.82683136e-03 1.50494477e+02] [ 9.51159644e-01 3.08472308e-01 -1.18392205e-02 9.10430342e+01] [ 1.24423326e-02 1.18630778e-05 9.99922591e-01 3.08401345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80361786499998 meters 0.019374706613483856 Centerline is valid? [True, True] Translation: X:150.51, Y:91.07, Z:3.08 [[ 3.07165085e-01 -9.51647695e-01 -4.03415897e-03 1.50505221e+02] [ 9.51565695e-01 3.07191575e-01 -1.24925462e-02 9.10689702e+01] [ 1.31277624e-02 -1.49328028e-06 9.99913827e-01 3.08340212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83361786499995 meters 0.019424147025332895 Centerline is valid? [True, True] Translation: X:150.51, Y:91.09, Z:3.08 [[ 3.06231882e-01 -9.51947835e-01 -4.16588868e-03 1.50514532e+02] [ 9.51860242e-01 3.06260216e-01 -1.29135169e-02 9.10939807e+01] [ 1.35688404e-02 -1.08132179e-05 9.99907939e-01 3.08329386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86361786499995 meters 0.01946751838696617 Centerline is valid? [True, True] Translation: X:150.52, Y:91.12, Z:3.08 [[ 3.05427330e-01 -9.52205129e-01 -4.42017347e-03 1.50524665e+02] [ 9.52106408e-01 3.05459312e-01 -1.37111735e-02 9.11205793e+01] [ 1.44060329e-02 -2.07083701e-05 9.99896228e-01 3.08321520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89361786499995 meters 0.019431837111867488 Centerline is valid? [True, True] Translation: X:150.54, Y:91.15, Z:3.08 [[ 3.02915869e-01 -9.53005176e-01 -4.80727018e-03 1.50536723e+02] [ 9.52888271e-01 3.02954007e-01 -1.49268872e-02 9.11456596e+01] [ 1.56817826e-02 -5.92003478e-05 9.99877032e-01 3.08282303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92361786499995 meters 0.019560413775409746 Centerline is valid? [True, True] Translation: X:150.55, Y:91.17, Z:3.08 [[ 3.01245429e-01 -9.53534336e-01 -4.84361991e-03 1.50547277e+02] [ 9.53415568e-01 3.01284354e-01 -1.50496681e-02 9.11714742e+01] [ 1.58096822e-02 -8.43389088e-05 9.99875016e-01 3.08300013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95361786499996 meters 0.019696221086785797 Centerline is valid? [True, True] Translation: X:150.56, Y:91.20, Z:3.08 [[ 2.99335851e-01 -9.54134783e-01 -4.98633820e-03 1.50558389e+02] [ 9.54008752e-01 2.99377358e-01 -1.55080238e-02 9.11964131e+01] [ 1.62895416e-02 -1.14902789e-04 9.99867310e-01 3.08327712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98361786499996 meters 0.020534165575711052 Centerline is valid? [True, True] Translation: X:150.57, Y:91.22, Z:3.08 [[ 2.95343544e-01 -9.55377686e-01 -5.06631559e-03 1.50573281e+02] [ 9.55247499e-01 2.95386939e-01 -1.57725241e-02 9.12205959e+01] [ 1.65652411e-02 -1.81272116e-04 9.99862771e-01 3.08351975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01361786499996 meters 0.020534165575711052 Centerline is valid? [True, True] Translation: X:150.58, Y:91.25, Z:3.08 [[ 2.95077930e-01 -9.55459777e-01 -5.06254421e-03 1.50581323e+02] [ 9.55329581e-01 2.95121299e-01 -1.57737346e-02 9.12461038e+01] [ 1.65652335e-02 -1.81917300e-04 9.99862771e-01 3.08395710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04361786499996 meters 0.0204764693793995 Centerline is valid? [True, True] Translation: X:150.59, Y:91.27, Z:3.08 [[ 2.93056931e-01 -9.56081433e-01 -5.09195677e-03 1.50591572e+02] [ 9.55949559e-01 2.93101087e-01 -1.58806249e-02 9.12729198e+01] [ 1.66756287e-02 -2.13726625e-04 9.99860929e-01 3.08430310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07361786499996 meters 0.020712396014763487 Centerline is valid? [True, True] Translation: X:150.60, Y:91.30, Z:3.09 [[ 2.88305102e-01 -9.57526666e-01 -4.78039002e-03 1.50604669e+02] [ 9.57410445e-01 2.88344599e-01 -1.49208828e-02 9.12985714e+01] [ 1.56655428e-02 -2.75028714e-04 9.99877250e-01 3.08559151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10361786499996 meters 0.021482498584226357 Centerline is valid? [True, True] Translation: X:150.62, Y:91.32, Z:3.09 [[ 2.86038964e-01 -9.58206050e-01 -4.78299791e-03 1.50616596e+02] [ 9.58089583e-01 2.86078785e-01 -1.49425702e-02 9.13230543e+01] [ 1.56863754e-02 -3.08383177e-04 9.99876914e-01 3.08655761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13361786499996 meters 0.02165480449654569 Centerline is valid? [True, True] Translation: X:150.63, Y:91.35, Z:3.09 [[ 2.84060102e-01 -9.58795155e-01 -4.65927167e-03 1.50627558e+02] [ 9.58684634e-01 2.84098119e-01 -1.45613291e-02 9.13494583e+01] [ 1.52850221e-02 -3.30479525e-04 9.99883123e-01 3.08707238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16361786499996 meters 0.02213914504438955 Centerline is valid? [True, True] Translation: X:150.64, Y:91.38, Z:3.09 [[ 2.81998190e-01 -9.59403540e-01 -4.67643955e-03 1.50638642e+02] [ 9.59292086e-01 2.82036732e-01 -1.46278872e-02 9.13754608e+01] [ 1.53529745e-02 -3.61033744e-04 9.99882071e-01 3.08787168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19361786499996 meters 0.02259115478676312 Centerline is valid? [True, True] Translation: X:150.65, Y:91.40, Z:3.09 [[ 2.79456578e-01 -9.60146646e-01 -4.73690212e-03 1.50651405e+02] [ 9.60032193e-01 2.79496431e-01 -1.48301317e-02 9.14014690e+01] [ 1.55630484e-02 -4.03200678e-04 9.99878807e-01 3.08880867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22361786499997 meters 0.022079163643879008 Centerline is valid? [True, True] Translation: X:150.66, Y:91.43, Z:3.09 [[ 2.78563232e-01 -9.60406206e-01 -4.73763392e-03 1.50660119e+02] [ 9.60291554e-01 2.78603209e-01 -1.48453316e-02 9.14283760e+01] [ 1.55774687e-02 -4.14146275e-04 9.99878578e-01 3.08945759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25361786499997 meters 0.023072829563139365 Centerline is valid? [True, True] Translation: X:150.67, Y:91.45, Z:3.09 [[ 2.77975026e-01 -9.60576945e-01 -4.67092637e-03 1.50671739e+02] [ 9.60465315e-01 2.78013959e-01 -1.46497986e-02 9.14526273e+01] [ 1.53708416e-02 -4.13984606e-04 9.99881776e-01 3.09039281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28361786499997 meters 0.02255215565537612 Centerline is valid? [True, True] Translation: X:150.68, Y:91.48, Z:3.09 [[ 2.78263652e-01 -9.60493177e-01 -4.71139054e-03 1.50681379e+02] [ 9.60379434e-01 2.78303232e-01 -1.47869662e-02 9.14787045e+01] [ 1.55139754e-02 -4.10047366e-04 9.99879567e-01 3.09094224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31361786499997 meters 0.022571420027502124 Centerline is valid? [True, True] Translation: X:150.69, Y:91.51, Z:3.09 [[ 2.78666163e-01 -9.60375860e-01 -4.83490883e-03 1.50691208e+02] [ 9.60255823e-01 2.78707801e-01 -1.51893630e-02 9.15050939e+01] [ 1.59350244e-02 -4.09987846e-04 9.99872945e-01 3.09132590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34361786499997 meters 0.021997789451598367 Centerline is valid? [True, True] Translation: X:150.70, Y:91.53, Z:3.09 [[ 2.79163568e-01 -9.60231573e-01 -4.79884010e-03 1.50699604e+02] [ 9.60113076e-01 2.79204532e-01 -1.50900726e-02 9.15321913e+01] [ 1.58298220e-02 -3.94830634e-04 9.99874623e-01 3.09190216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37361786499997 meters 0.022306137373176424 Centerline is valid? [True, True] Translation: X:150.71, Y:91.56, Z:3.09 [[ 2.80697417e-01 -9.59783960e-01 -4.86923984e-03 1.50710910e+02] [ 9.59661652e-01 2.80739402e-01 -1.53264761e-02 9.15576169e+01] [ 1.60770934e-02 -3.70720496e-04 9.99870686e-01 3.09279840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40361786499997 meters 0.02225087361001488 Centerline is valid? [True, True] Translation: X:150.72, Y:91.58, Z:3.09 [[ 2.81639952e-01 -9.59507743e-01 -4.88137604e-03 1.50720306e+02] [ 9.59384625e-01 2.81682030e-01 -1.53745061e-02 9.15842632e+01] [ 1.61269536e-02 -3.53041959e-04 9.99869890e-01 3.09319387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43361786499997 meters 0.02174484488864045 Centerline is valid? [True, True] Translation: X:150.73, Y:91.61, Z:3.09 [[ 2.82333823e-01 -9.59303665e-01 -4.90824852e-03 1.50728094e+02] [ 9.59178923e-01 2.82376280e-01 -1.54735038e-02 9.16109094e+01] [ 1.62297618e-02 -3.39195052e-04 9.99868231e-01 3.09387750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46361786499997 meters 0.021766812870885898 Centerline is valid? [True, True] Translation: X:150.74, Y:91.64, Z:3.09 [[ 2.84134130e-01 -9.58772471e-01 -4.81099651e-03 1.50737919e+02] [ 9.58652323e-01 2.84174701e-01 -1.51809949e-02 9.16369193e+01] [ 1.59222834e-02 -2.98634210e-04 9.99873188e-01 3.09435719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49361786499998 meters 0.02113289826912375 Centerline is valid? [True, True] Translation: X:150.75, Y:91.66, Z:3.09 [[ 2.84885122e-01 -9.58549559e-01 -4.81762063e-03 1.50745230e+02] [ 9.58428830e-01 2.84925714e-01 -1.52156202e-02 9.16639841e+01] [ 1.59575901e-02 -2.82642675e-04 9.99872630e-01 3.09447657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52361786499998 meters 0.02109111259680316 Centerline is valid? [True, True] Translation: X:150.75, Y:91.69, Z:3.09 [[ 2.85394842e-01 -9.58398095e-01 -4.78288556e-03 1.50754192e+02] [ 9.58278852e-01 2.85434791e-01 -1.51202496e-02 9.16904404e+01] [ 1.58564204e-02 -2.68096832e-04 9.99874243e-01 3.09490182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55361786499998 meters 0.020807189321854314 Centerline is valid? [True, True] Translation: X:150.76, Y:91.72, Z:3.10 [[ 2.87440226e-01 -9.57787261e-01 -4.65599253e-03 1.50761847e+02] [ 9.57673968e-01 2.87477846e-01 -1.47329594e-02 9.17161214e+01] [ 1.54495356e-02 -2.24077649e-04 9.99880624e-01 3.09571616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58361786499995 meters 0.020786942807665052 Centerline is valid? [True, True] Translation: X:150.77, Y:91.74, Z:3.10 [[ 2.87883928e-01 -9.57655121e-01 -4.41731919e-03 1.50769452e+02] [ 9.57552995e-01 2.87917745e-01 -1.39869085e-02 9.17418022e+01] [ 1.46664591e-02 -2.03211059e-04 9.99892421e-01 3.09613741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61361786499995 meters 0.02073374364353963 Centerline is valid? [True, True] Translation: X:150.78, Y:91.77, Z:3.10 [[ 2.87969592e-01 -9.57629068e-01 -4.48120033e-03 1.50777990e+02] [ 9.57523821e-01 2.88004386e-01 -1.41988173e-02 9.17687161e+01] [ 1.48878055e-02 -2.02028430e-04 9.99889150e-01 3.09636397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64361786499995 meters 0.02051166880846314 Centerline is valid? [True, True] Translation: X:150.79, Y:91.80, Z:3.10 [[ 2.87839504e-01 -9.57667777e-01 -4.56597110e-03 1.50786338e+02] [ 9.57558306e-01 2.87875644e-01 -1.44811789e-02 9.17957551e+01] [ 1.51825903e-02 -2.03928195e-04 9.99884717e-01 3.09660116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67361786499995 meters 0.02039768268087655 Centerline is valid? [True, True] Translation: X:150.79, Y:91.82, Z:3.10 [[ 2.87851588e-01 -9.57663707e-01 -4.65692420e-03 1.50793697e+02] [ 9.57549608e-01 2.87889184e-01 -1.47839654e-02 9.18233673e+01] [ 1.54987453e-02 -2.03648021e-04 9.99879867e-01 3.09681577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70361786499996 meters 0.020601742203143102 Centerline is valid? [True, True] Translation: X:150.80, Y:91.85, Z:3.10 [[ 2.86678864e-01 -9.58014919e-01 -4.75865838e-03 1.50803094e+02] [ 9.57895588e-01 2.86718269e-01 -1.51220404e-02 9.18490942e+01] [ 1.58515346e-02 -2.23128522e-04 9.99874332e-01 3.09664638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73361786499996 meters 0.020744916810816957 Centerline is valid? [True, True] Translation: X:150.81, Y:91.88, Z:3.10 [[ 2.84585736e-01 -9.58637229e-01 -5.06173605e-03 1.50811751e+02] [ 9.58502106e-01 2.84630619e-01 -1.60973152e-02 9.18758598e+01] [ 1.68722107e-02 -2.70618379e-04 9.99857618e-01 3.09618086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76361786499996 meters 0.020910765310491224 Centerline is valid? [True, True] Translation: X:150.82, Y:91.90, Z:3.10 [[ 2.82841445e-01 -9.59152126e-01 -5.28357733e-03 1.50820398e+02] [ 9.59004707e-01 2.82890621e-01 -1.68186746e-02 9.19024372e+01] [ 1.76263420e-02 -3.09957301e-04 9.99844596e-01 3.09604907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79361786499996 meters 0.02133393788147621 Centerline is valid? [True, True] Translation: X:150.83, Y:91.93, Z:3.10 [[ 2.81119194e-01 -9.59656577e-01 -5.59050559e-03 1.50829681e+02] [ 9.59491330e-01 2.81174550e-01 -1.78118183e-02 9.19278935e+01] [ 1.86651365e-02 -3.56797633e-04 9.99825728e-01 3.09606431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82361786499996 meters 0.022024928129646456 Centerline is valid? [True, True] Translation: X:150.84, Y:91.95, Z:3.10 [[ 2.79391639e-01 -9.60160960e-01 -5.58954843e-03 1.50839327e+02] [ 9.59995595e-01 2.79447279e-01 -1.78234849e-02 9.19533348e+01] [ 1.86753984e-02 -3.86209226e-04 9.99825525e-01 3.09628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85361786499996 meters 0.022485234829783898 Centerline is valid? [True, True] Translation: X:150.85, Y:91.98, Z:3.10 [[ 2.75944660e-01 -9.61156539e-01 -5.71418731e-03 1.50847304e+02] [ 9.60983702e-01 2.76003435e-01 -1.82326361e-02 9.19803182e+01] [ 1.91015527e-02 -4.60042299e-04 9.99817443e-01 3.09677663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88361786499996 meters 0.022917307579995223 Centerline is valid? [True, True] Translation: X:150.86, Y:92.01, Z:3.10 [[ 2.74316005e-01 -9.61622338e-01 -5.76271013e-03 1.50855941e+02] [ 9.61446326e-01 2.74376088e-01 -1.84044721e-02 9.20071029e+01] [ 1.92793013e-02 -4.91895221e-04 9.99814016e-01 3.09731964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91361786499996 meters 0.02399083631248803 Centerline is valid? [True, True] Translation: X:150.86, Y:92.03, Z:3.10 [[ 2.70946085e-01 -9.62575209e-01 -6.09808376e-03 1.50864906e+02] [ 9.62377982e-01 2.71014064e-01 -1.94935202e-02 9.20331633e+01] [ 2.04166457e-02 -5.86968578e-04 9.99791386e-01 3.09792613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94361786499996 meters 0.024493230488690978 Centerline is valid? [True, True] Translation: X:150.87, Y:92.06, Z:3.10 [[ 2.69413394e-01 -9.63005441e-01 -6.07817870e-03 1.50873495e+02] [ 9.62809249e-01 2.69481253e-01 -1.94474653e-02 9.20606416e+01] [ 2.03659701e-02 -6.12719033e-04 9.99792404e-01 3.09803185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97361786499997 meters 0.02484112427183186 Centerline is valid? [True, True] Translation: X:150.88, Y:92.09, Z:3.10 [[ 2.68061021e-01 -9.63382370e-01 -6.13991331e-03 1.50882059e+02] [ 9.63181915e-01 2.68130558e-01 -1.96621966e-02 9.20876757e+01] [ 2.05885119e-02 -6.43184955e-04 9.99787827e-01 3.09855884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00361786499997 meters 0.025965347966396726 Centerline is valid? [True, True] Translation: X:150.89, Y:92.11, Z:3.10 [[ 2.65838472e-01 -9.63997080e-01 -6.28782962e-03 1.50890869e+02] [ 9.63786619e-01 2.65911897e-01 -2.01548141e-02 9.21134252e+01] [ 2.11011907e-02 -7.02201053e-04 9.99777098e-01 3.09927996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03361786499997 meters 0.02623316570737634 Centerline is valid? [True, True] Translation: X:150.90, Y:92.14, Z:3.10 [[ 2.65208432e-01 -9.64170242e-01 -6.34293302e-03 1.50898779e+02] [ 9.63955700e-01 2.65283303e-01 -2.03513510e-02 9.21393319e+01] [ 2.13048412e-02 -7.16956566e-04 9.99772769e-01 3.10002953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06361786499997 meters 0.026659923230551535 Centerline is valid? [True, True] Translation: X:150.91, Y:92.16, Z:3.10 [[ 2.64915962e-01 -9.64250216e-01 -6.40728757e-03 1.50906243e+02] [ 9.64030867e-01 2.64992443e-01 -2.05789535e-02 9.21642953e+01] [ 2.15411431e-02 -7.25129729e-04 9.99767700e-01 3.10034151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09361786499997 meters 0.026595066602580236 Centerline is valid? [True, True] Translation: X:150.91, Y:92.19, Z:3.10 [[ 2.65038178e-01 -9.64215699e-01 -6.54596146e-03 1.50913193e+02] [ 9.63986250e-01 2.65117992e-01 -2.10466230e-02 9.21911341e+01] [ 2.20289365e-02 -7.32058230e-04 9.99757066e-01 3.10076294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12361786499997 meters 0.026107331880586823 Centerline is valid? [True, True] Translation: X:150.92, Y:92.22, Z:3.10 [[ 2.66587727e-01 -9.63788930e-01 -6.47172636e-03 1.50918432e+02] [ 9.63564095e-01 2.66665394e-01 -2.08279153e-02 9.22188106e+01] [ 2.17994997e-02 -6.83456545e-04 9.99762129e-01 3.10157381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15361786499997 meters 0.025817277022037188 Centerline is valid? [True, True] Translation: X:150.92, Y:92.24, Z:3.10 [[ 2.67750749e-01 -9.63467044e-01 -6.38688441e-03 1.50924682e+02] [ 9.63247592e-01 2.67826140e-01 -2.05726948e-02 9.22449035e+01] [ 2.15316881e-02 -6.43796581e-04 9.99767959e-01 3.10259766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18361786499997 meters 0.025627749482957474 Centerline is valid? [True, True] Translation: X:150.93, Y:92.27, Z:3.10 [[ 2.69274609e-01 -9.63041844e-01 -6.44913253e-03 1.50931180e+02] [ 9.62817583e-01 2.69351133e-01 -2.07910944e-02 9.22712376e+01] [ 2.17597750e-02 -6.10824389e-04 9.99763041e-01 3.10349588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21361786499997 meters 0.024165786266123087 Centerline is valid? [True, True] Translation: X:150.94, Y:92.30, Z:3.10 [[ 2.72760458e-01 -9.62060987e-01 -6.35525057e-03 1.50935408e+02] [ 9.61842568e-01 2.72833991e-01 -2.05057914e-02 9.22989919e+01] [ 2.14617503e-02 -5.19581472e-04 9.99769535e-01 3.10473312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24361786499998 meters 0.02364186623357077 Centerline is valid? [True, True] Translation: X:150.94, Y:92.33, Z:3.11 [[ 2.74332359e-01 -9.61613917e-01 -6.35850936e-03 1.50941994e+02] [ 9.61394760e-01 2.74405619e-01 -2.05346364e-02 9.23267370e+01] [ 2.14912028e-02 -4.79722351e-04 9.99768922e-01 3.10551080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27361786499998 meters 0.022429211532903993 Centerline is valid? [True, True] Translation: X:150.95, Y:92.35, Z:3.11 [[ 2.78156214e-01 -9.60514581e-01 -6.39229249e-03 1.50946079e+02] [ 9.60292395e-01 2.78229380e-01 -2.06622267e-02 9.23527317e+01] [ 2.16248936e-02 -3.91143116e-04 9.99766078e-01 3.10624611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30361786499998 meters 0.021780330782440554 Centerline is valid? [True, True] Translation: X:150.95, Y:92.38, Z:3.11 [[ 2.79941624e-01 -9.59994919e-01 -6.51477414e-03 1.50952067e+02] [ 9.59763544e-01 2.80017198e-01 -2.10786309e-02 9.23801810e+01] [ 2.20596274e-02 -3.51856553e-04 9.99756595e-01 3.10658708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33361786499995 meters 0.020182587466595188 Centerline is valid? [True, True] Translation: X:150.96, Y:92.41, Z:3.11 [[ 2.81513375e-01 -9.59535061e-01 -6.53341629e-03 1.50955182e+02] [ 9.59301825e-01 2.81589007e-01 -2.11574736e-02 9.24083801e+01] [ 2.21410759e-02 -3.11406379e-04 9.99754808e-01 3.10827645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36361786499995 meters 0.01943121561435542 Centerline is valid? [True, True] Translation: X:150.96, Y:92.44, Z:3.11 [[ 2.84244650e-01 -9.58729477e-01 -6.53982645e-03 1.50960083e+02] [ 9.58495123e-01 2.84319769e-01 -2.11983034e-02 9.24366725e+01] [ 2.21828403e-02 -2.42887422e-04 9.99753901e-01 3.10910855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39361786499995 meters 0.01936824748876303 Centerline is valid? [True, True] Translation: X:150.97, Y:92.46, Z:3.11 [[ 2.85399418e-01 -9.58386269e-01 -6.55216567e-03 1.50967380e+02] [ 9.58150484e-01 2.85474542e-01 -2.12587674e-02 9.24631698e+01] [ 2.22445873e-02 -2.10720860e-04 9.99752536e-01 3.10955978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42361786499995 meters 0.019407234188898045 Centerline is valid? [True, True] Translation: X:150.97, Y:92.49, Z:3.11 [[ 2.86010232e-01 -9.58203623e-01 -6.63056086e-03 1.50974996e+02] [ 9.57961615e-01 2.86087015e-01 -2.15352097e-02 9.24893970e+01] [ 2.25320333e-02 -1.92532473e-04 9.99746103e-01 3.10973714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45361786499996 meters 0.019507919712027845 Centerline is valid? [True, True] Translation: X:150.98, Y:92.52, Z:3.11 [[ 2.85946887e-01 -9.58221397e-01 -6.79203542e-03 1.50983382e+02] [ 9.57966982e-01 2.86027476e-01 -2.20804274e-02 9.25154253e+01] [ 2.31006467e-02 -1.92716198e-04 9.99733126e-01 3.10958071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48361786499996 meters 0.019280993063376727 Centerline is valid? [True, True] Translation: X:150.99, Y:92.54, Z:3.11 [[ 2.85286069e-01 -9.58417973e-01 -6.84455418e-03 1.50990941e+02] [ 9.58159259e-01 2.85368090e-01 -2.22685298e-02 9.25427144e+01] [ 2.32957765e-02 -2.05271643e-04 9.99728596e-01 3.11107457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51361786499996 meters 0.019398712161612573 Centerline is valid? [True, True] Translation: X:151.00, Y:92.57, Z:3.11 [[ 2.84042042e-01 -9.58787042e-01 -6.89391033e-03 1.50999814e+02] [ 9.58524171e-01 2.84125596e-01 -2.24512721e-02 9.25696731e+01] [ 2.34847252e-02 -2.30874504e-04 9.99724169e-01 3.11150731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54361786499996 meters 0.019489732149420326 Centerline is valid? [True, True] Translation: X:151.01, Y:92.60, Z:3.11 [[ 2.82971513e-01 -9.59103535e-01 -6.89432942e-03 1.51008638e+02] [ 9.58840207e-01 2.83055376e-01 -2.24746751e-02 9.25964016e+01] [ 2.35070174e-02 -2.50867430e-04 9.99723640e-01 3.11191330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57361786499996 meters 0.019757976578591633 Centerline is valid? [True, True] Translation: X:151.02, Y:92.62, Z:3.11 [[ 2.80681747e-01 -9.59775956e-01 -6.91887649e-03 1.51017924e+02] [ 9.59510490e-01 2.80766847e-01 -2.25742579e-02 9.26223002e+01] [ 2.36088211e-02 -3.02552415e-04 9.99721227e-01 3.11244060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60361786499996 meters 0.01989252872064953 Centerline is valid? [True, True] Translation: X:151.03, Y:92.65, Z:3.11 [[ 2.79151389e-01 -9.60221890e-01 -6.95875525e-03 1.51026973e+02] [ 9.59953109e-01 2.79237906e-01 -2.27204760e-02 9.26492313e+01] [ 2.37598467e-02 -3.37626311e-04 9.99717638e-01 3.11306300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63361786499996 meters 0.02029723773016309 Centerline is valid? [True, True] Translation: X:151.04, Y:92.68, Z:3.11 [[ 2.76103684e-01 -9.61103691e-01 -6.81554708e-03 1.51037561e+02] [ 9.60845653e-01 2.76187503e-01 -2.22731939e-02 9.26756491e+01] [ 2.32892178e-02 -3.98977886e-04 9.99728690e-01 3.11413522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66361786499996 meters 0.020671285164460925 Centerline is valid? [True, True] Translation: X:151.05, Y:92.70, Z:3.11 [[ 2.74369789e-01 -9.61598864e-01 -6.98882518e-03 1.51047120e+02] [ 9.61327193e-01 2.74458423e-01 -2.28605138e-02 9.27018927e+01] [ 2.39007860e-02 -4.46313335e-04 9.99714236e-01 3.11451649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69361786499996 meters 0.02069932913545093 Centerline is valid? [True, True] Translation: X:151.06, Y:92.73, Z:3.12 [[ 2.72538621e-01 -9.62119323e-01 -7.00770266e-03 1.51056177e+02] [ 9.61845859e-01 2.72628264e-01 -2.29428292e-02 9.27290517e+01] [ 2.39842371e-02 -4.87522764e-04 9.99712218e-01 3.11504347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72361786499997 meters 0.021446287599417038 Centerline is valid? [True, True] Translation: X:151.07, Y:92.76, Z:3.11 [[ 2.68978327e-01 -9.63119333e-01 -7.19794320e-03 1.51066998e+02] [ 9.62830623e-01 2.69073982e-01 -2.35878022e-02 9.27552763e+01] [ 2.46546476e-02 -5.85792555e-04 9.99695856e-01 3.11490037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75361786499997 meters 0.021222485297094407 Centerline is valid? [True, True] Translation: X:151.08, Y:92.78, Z:3.12 [[ 2.67040784e-01 -9.63656245e-01 -7.47403943e-03 1.51075250e+02] [ 9.63344573e-01 2.67144558e-01 -2.45156959e-02 9.27822686e+01] [ 2.56213524e-02 -6.53384650e-04 9.99671506e-01 3.11538608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78361786499997 meters 0.022106254180532 Centerline is valid? [True, True] Translation: X:151.09, Y:92.81, Z:3.11 [[ 2.65546060e-01 -9.64068810e-01 -7.52464981e-03 1.51085509e+02] [ 9.63752470e-01 2.65651750e-01 -2.47047331e-02 9.28074236e+01] [ 2.58159990e-02 -6.91655289e-04 9.99666472e-01 3.11492903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81361786499997 meters 0.02241548897453333 Centerline is valid? [True, True] Translation: X:151.09, Y:92.83, Z:3.12 [[ 2.63837515e-01 -9.64536949e-01 -7.63146176e-03 1.51094999e+02] [ 9.64211154e-01 2.63946819e-01 -2.50784220e-02 9.28340410e+01] [ 2.62033647e-02 -7.41712009e-04 9.99656358e-01 3.11529087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84361786499997 meters 0.02482677535719101 Centerline is valid? [True, True] Translation: X:151.11, Y:92.86, Z:3.11 [[ 2.61345643e-01 -9.65214866e-01 -7.66276860e-03 1.51108142e+02] [ 9.64886150e-01 2.61456709e-01 -2.52013216e-02 9.28584537e+01] [ 2.63281725e-02 -8.07443692e-04 9.99653027e-01 3.11475418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87361786499997 meters 0.024045997781346425 Centerline is valid? [True, True] Translation: X:151.12, Y:92.89, Z:3.12 [[ 2.60201364e-01 -9.65525480e-01 -7.46972619e-03 1.51115283e+02] [ 9.65212808e-01 2.60307290e-01 -2.45835159e-02 9.28862117e+01] [ 2.56804352e-02 -8.13211010e-04 9.99669872e-01 3.11599010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90361786499997 meters 0.02359589538790099 Centerline is valid? [True, True] Translation: X:151.12, Y:92.91, Z:3.12 [[ 2.59150919e-01 -9.65807131e-01 -7.57542695e-03 1.51123334e+02] [ 9.65485072e-01 2.59260233e-01 -2.49541010e-02 9.29138773e+01] [ 2.60648556e-02 -8.47083432e-04 9.99659895e-01 3.11715589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93361786499997 meters 0.02359589538790099 Centerline is valid? [True, True] Translation: X:151.13, Y:92.94, Z:3.12 [[ 2.58892798e-01 -9.65876405e-01 -7.56898617e-03 1.51131277e+02] [ 9.65554319e-01 2.59002031e-01 -2.49560547e-02 9.29403063e+01] [ 2.60648472e-02 -8.47324461e-04 9.99659895e-01 3.11760703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96361786499997 meters 0.023312433794276978 Centerline is valid? [True, True] Translation: X:151.14, Y:92.97, Z:3.12 [[ 2.57391735e-01 -9.66278156e-01 -7.48462569e-03 1.51139920e+02] [ 9.65962778e-01 2.57499057e-01 -2.47011489e-02 9.29676421e+01] [ 2.57954646e-02 -8.71998262e-04 9.99666861e-01 3.11906868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99361786499998 meters 0.02374414497401147 Centerline is valid? [True, True] Translation: X:151.15, Y:92.99, Z:3.12 [[ 2.56686196e-01 -9.66467320e-01 -7.28801862e-03 1.51149119e+02] [ 9.66167812e-01 2.56788192e-01 -2.40745452e-02 9.29941129e+01] [ 2.51387383e-02 -8.61845561e-04 9.99683600e-01 3.11976956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02361786499998 meters 0.024935163382903944 Centerline is valid? [True, True] Translation: X:151.16, Y:93.02, Z:3.12 [[ 2.56294424e-01 -9.66573397e-01 -7.00265266e-03 1.51159749e+02] [ 9.66296385e-01 2.56388721e-01 -2.31542568e-02 9.30189685e+01] [ 2.41756898e-02 -8.32331039e-04 9.99707379e-01 3.12049461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05361786499995 meters 0.02503582559791385 Centerline is valid? [True, True] Translation: X:151.17, Y:93.05, Z:3.12 [[ 2.56245585e-01 -9.66586909e-01 -6.92439300e-03 1.51168484e+02] [ 9.66315517e-01 2.56337818e-01 -2.29182339e-02 9.30457068e+01] [ 2.39274487e-02 -8.18452145e-04 9.99713363e-01 3.12147795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08361786499995 meters 0.02411136608502071 Centerline is valid? [True, True] Translation: X:151.18, Y:93.07, Z:3.12 [[ 2.57163309e-01 -9.66344952e-01 -6.66834036e-03 1.51175817e+02] [ 9.66092720e-01 2.57248624e-01 -2.20907763e-02 9.30728542e+01] [ 2.30627316e-02 -7.61297935e-04 9.99733730e-01 3.12267525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11361786499995 meters 0.024231674260526054 Centerline is valid? [True, True] Translation: X:151.18, Y:93.10, Z:3.12 [[ 2.57823426e-01 -9.66169222e-01 -6.64188708e-03 1.51184355e+02] [ 9.65918470e-01 2.57907910e-01 -2.20231689e-02 9.30999943e+01] [ 2.29911032e-02 -7.37432539e-04 9.99735398e-01 3.12288040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14361786499995 meters 0.02479144861996348 Centerline is valid? [True, True] Translation: X:151.19, Y:93.13, Z:3.12 [[ 2.58532776e-01 -9.65979085e-01 -6.72393745e-03 1.51193501e+02] [ 9.65721552e-01 2.58619186e-01 -2.23159191e-02 9.31260738e+01] [ 2.32956503e-02 -7.24054791e-04 9.99728357e-01 3.12297892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17361786499995 meters 0.02356701246592671 Centerline is valid? [True, True] Translation: X:151.20, Y:93.15, Z:3.12 [[ 2.59679645e-01 -9.65671578e-01 -6.69962777e-03 1.51199655e+02] [ 9.65415318e-01 2.59765142e-01 -2.22560979e-02 9.31536067e+01] [ 2.32324109e-02 -6.88467683e-04 9.99729854e-01 3.12368846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20361786499996 meters 0.02299711627294614 Centerline is valid? [True, True] Translation: X:151.21, Y:93.18, Z:3.12 [[ 2.62455284e-01 -9.64920323e-01 -6.78189381e-03 1.51206771e+02] [ 9.64656987e-01 2.62542151e-01 -2.25503036e-02 9.31796577e+01] [ 2.35397792e-02 -6.23754919e-04 9.99722706e-01 3.12341118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23361786499996 meters 0.02282797843390957 Centerline is valid? [True, True] Translation: X:151.21, Y:93.21, Z:3.12 [[ 2.63397010e-01 -9.64663934e-01 -6.74616191e-03 1.51214663e+02] [ 9.64402817e-01 2.63482721e-01 -2.24513458e-02 9.32066956e+01] [ 2.34355006e-02 -5.92400202e-04 9.99725175e-01 3.12363868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26361786499996 meters 0.020943112716537707 Centerline is valid? [True, True] Translation: X:151.22, Y:93.23, Z:3.12 [[ 2.64606405e-01 -9.64332208e-01 -6.84427839e-03 1.51219523e+02] [ 9.64062814e-01 2.64694303e-01 -2.27994721e-02 9.32349785e+01] [ 2.37979067e-02 -5.65427949e-04 9.99716630e-01 3.12485621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29361786499996 meters 0.020708693559499374 Centerline is valid? [True, True] Translation: X:151.23, Y:93.26, Z:3.12 [[ 2.65619851e-01 -9.64052970e-01 -6.92577642e-03 1.51227630e+02] [ 9.63776484e-01 2.65709576e-01 -2.30935100e-02 9.32618076e+01] [ 2.41036120e-02 -5.40805756e-04 9.99709319e-01 3.12483029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32361786499996 meters 0.020488625252169514 Centerline is valid? [True, True] Translation: X:151.24, Y:93.29, Z:3.12 [[ 2.67201128e-01 -9.63616398e-01 -6.85533684e-03 1.51235836e+02] [ 9.63344882e-01 2.67288603e-01 -2.28788488e-02 9.32877380e+01] [ 2.38787873e-02 -4.90799457e-04 9.99714741e-01 3.12432042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35361786499996 meters 0.02013082651079529 Centerline is valid? [True, True] Translation: X:151.24, Y:93.31, Z:3.12 [[ 2.67288060e-01 -9.63591911e-01 -6.90809561e-03 1.51242674e+02] [ 9.63315757e-01 2.67376871e-01 -2.30729520e-02 9.33147322e+01] [ 2.40799749e-02 -4.87552789e-04 9.99709916e-01 3.12485287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38361786499996 meters 0.02139060482999858 Centerline is valid? [True, True] Translation: X:151.25, Y:93.34, Z:3.12 [[ 2.66345473e-01 -9.63854570e-01 -6.66761167e-03 1.51254398e+02] [ 9.63596873e-01 2.66428472e-01 -2.22920581e-02 9.33391279e+01] [ 2.32627436e-02 -4.87500997e-04 9.99729267e-01 3.12367557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41361786499996 meters 0.020603651625741914 Centerline is valid? [True, True] Translation: X:151.26, Y:93.37, Z:3.12 [[ 2.65465364e-01 -9.64098556e-01 -6.48967556e-03 1.51261343e+02] [ 9.63854001e-01 2.65544226e-01 -2.17193202e-02 9.33662818e+01] [ 2.26628611e-02 -4.89372517e-04 9.99743045e-01 3.12498366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44361786499996 meters 0.02047637022630623 Centerline is valid? [True, True] Translation: X:151.27, Y:93.39, Z:3.13 [[ 2.63851860e-01 -9.64542265e-01 -6.35735409e-03 1.51269859e+02] [ 9.64307263e-01 2.63927942e-01 -2.12965845e-02 9.33929353e+01] [ 2.22193392e-02 -5.11299290e-04 9.99752989e-01 3.12568980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47361786499997 meters 0.020710105721601327 Centerline is valid? [True, True] Translation: X:151.28, Y:93.42, Z:3.13 [[ 2.61282595e-01 -9.65243426e-01 -6.04440501e-03 1.51279712e+02] [ 9.65030803e-01 2.61351947e-01 -2.02659411e-02 9.34197441e+01] [ 2.11412834e-02 -5.37899344e-04 9.99776353e-01 3.12622218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50361786499997 meters 0.020947550644197073 Centerline is valid? [True, True] Translation: X:151.29, Y:93.45, Z:3.13 [[ 2.59784716e-01 -9.65648678e-01 -5.87634117e-03 1.51288602e+02] [ 9.65447446e-01 2.59850586e-01 -1.97205978e-02 9.34468643e+01] [ 2.05701399e-02 -5.50188663e-04 9.99788261e-01 3.12674341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53361786499997 meters 0.021599929904411647 Centerline is valid? [True, True] Translation: X:151.30, Y:93.47, Z:3.13 [[ 2.58668814e-01 -9.65948779e-01 -5.77941604e-03 1.51297878e+02] [ 9.65753842e-01 2.58732764e-01 -1.94132497e-02 9.34727721e+01] [ 2.02475292e-02 -5.59890967e-04 9.99794841e-01 3.12678406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56361786499997 meters 0.02132195115554668 Centerline is valid? [True, True] Translation: X:151.31, Y:93.50, Z:3.13 [[ 2.56528183e-01 -9.66520230e-01 -5.65122884e-03 1.51305264e+02] [ 9.66333648e-01 2.56589751e-01 -1.89994629e-02 9.35003080e+01] [ 1.98134127e-02 -5.87074877e-04 9.99803523e-01 3.12709259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59361786499997 meters 0.021566146549983345 Centerline is valid? [True, True] Translation: X:151.31, Y:93.53, Z:3.13 [[ 2.55538272e-01 -9.66782843e-01 -5.57902861e-03 1.51313446e+02] [ 9.66600719e-01 2.55598473e-01 -1.87742018e-02 9.35270855e+01] [ 1.95765674e-02 -5.95165992e-04 9.99808184e-01 3.12743741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62361786499997 meters 0.022093094101434452 Centerline is valid? [True, True] Translation: X:151.32, Y:93.55, Z:3.13 [[ 2.54175301e-01 -9.67142340e-01 -5.53263008e-03 1.51321504e+02] [ 9.66962977e-01 2.54234769e-01 -1.86355283e-02 9.35532003e+01] [ 1.94297954e-02 -6.13157444e-04 9.99811036e-01 3.12711520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65361786499997 meters 0.02226047897424802 Centerline is valid? [True, True] Translation: X:151.33, Y:93.58, Z:3.13 [[ 2.53351828e-01 -9.67358224e-01 -5.56040578e-03 1.51329499e+02] [ 9.67176770e-01 2.53412060e-01 -1.87462734e-02 9.35804135e+01] [ 1.95434356e-02 -6.28492664e-04 9.99808811e-01 3.12741210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68361786499997 meters 0.022504004948916963 Centerline is valid? [True, True] Translation: X:151.34, Y:93.61, Z:3.13 [[ 2.52918781e-01 -9.67471408e-01 -5.58265225e-03 1.51337399e+02] [ 9.67288174e-01 2.52979588e-01 -1.88392467e-02 9.36072548e+01] [ 1.96387296e-02 -6.35234188e-04 9.99806940e-01 3.12745613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71361786499997 meters 0.021709154681861097 Centerline is valid? [True, True] Translation: X:151.34, Y:93.64, Z:3.13 [[ 2.52682250e-01 -9.67532928e-01 -5.63154675e-03 1.51342495e+02] [ 9.67346110e-01 2.52744185e-01 -1.90231590e-02 9.36350642e+01] [ 1.98288734e-02 -6.40840227e-04 9.99803183e-01 3.12685700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74361786499998 meters 0.02157262558380443 Centerline is valid? [True, True] Translation: X:151.35, Y:93.66, Z:3.13 [[ 2.52850998e-01 -9.67489605e-01 -5.49888385e-03 1.51349291e+02] [ 9.67311120e-01 2.52910030e-01 -1.85933721e-02 9.36625904e+01] [ 1.93796171e-02 -6.17778796e-04 9.99812007e-01 3.12691991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77361786499998 meters 0.021700411137284818 Centerline is valid? [True, True] Translation: X:151.36, Y:93.69, Z:3.13 [[ 2.53112469e-01 -9.67420669e-01 -5.59705598e-03 1.51356540e+02] [ 9.67235361e-01 2.53173589e-01 -1.89444220e-02 9.36902553e+01] [ 1.97442521e-02 -6.18601050e-04 9.99804872e-01 3.12688773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80361786499995 meters 0.022919086723336448 Centerline is valid? [True, True] Translation: X:151.37, Y:93.72, Z:3.13 [[ 2.53682148e-01 -9.67271803e-01 -5.53416443e-03 1.51365474e+02] [ 9.67090258e-01 2.53741807e-01 -1.87491103e-02 9.37163434e+01] [ 1.95397346e-02 -5.95721926e-04 9.99808904e-01 3.12685088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83361786499995 meters 0.021222726838397012 Centerline is valid? [True, True] Translation: X:151.37, Y:93.74, Z:3.13 [[ 2.55579480e-01 -9.66775140e-01 -4.99586379e-03 1.51368468e+02] [ 9.66626833e-01 2.55627815e-01 -1.69406720e-02 9.37448024e+01] [ 1.76549022e-02 -4.99447860e-04 9.99844015e-01 3.12771625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86361786499995 meters 0.020482019618000988 Centerline is valid? [True, True] Translation: X:151.37, Y:93.77, Z:3.13 [[ 2.56570708e-01 -9.66513883e-01 -4.73141481e-03 1.51373715e+02] [ 9.66380574e-01 2.56613932e-01 -1.60585020e-02 9.37727084e+01] [ 1.67349121e-02 -4.52206128e-04 9.99859859e-01 3.12892092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89361786499995 meters 0.019769479556593 Centerline is valid? [True, True] Translation: X:151.38, Y:93.80, Z:3.13 [[ 2.58020434e-01 -9.66129232e-01 -4.44542294e-03 1.51378836e+02] [ 9.66011282e-01 2.58058420e-01 -1.51014794e-02 9.38008706e+01] [ 1.57371596e-02 -3.97838438e-04 9.99876084e-01 3.12974633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92361786499995 meters 0.019372257898944117 Centerline is valid? [True, True] Translation: X:151.38, Y:93.83, Z:3.13 [[ 2.61140627e-01 -9.65292335e-01 -4.03484638e-03 1.51384136e+02] [ 9.65194895e-01 2.61171610e-01 -1.37187423e-02 9.38282637e+01] [ 1.42963841e-02 -3.11892151e-04 9.99897753e-01 3.13078806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95361786499996 meters 0.019174250774517874 Centerline is valid? [True, True] Translation: X:151.39, Y:93.86, Z:3.13 [[ 2.62204230e-01 -9.65003970e-01 -4.03480821e-03 1.51390506e+02] [ 9.64906301e-01 2.62235109e-01 -1.37323932e-02 9.38552712e+01] [ 1.43098824e-02 -2.92520275e-04 9.99897566e-01 3.13156177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98361786499996 meters 0.01879756594363464 Centerline is valid? [True, True] Translation: X:151.40, Y:93.88, Z:3.13 [[ 2.64597551e-01 -9.64351438e-01 -3.80007103e-03 1.51396212e+02] [ 9.64264570e-01 2.64624729e-01 -1.29457300e-02 9.38831312e+01] [ 1.34898261e-02 -2.38865399e-04 9.99908980e-01 3.13212689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01361786499996 meters 0.01850736671887681 Centerline is valid? [True, True] Translation: X:151.40, Y:93.91, Z:3.13 [[ 2.65514058e-01 -9.64100093e-01 -3.64637764e-03 1.51402359e+02] [ 9.64019941e-01 2.65539009e-01 -1.24333170e-02 9.39102563e+01] [ 1.29552176e-02 -2.13960310e-04 9.99916055e-01 3.13255348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04361786499996 meters 0.01824751019702708 Centerline is valid? [True, True] Translation: X:151.41, Y:93.94, Z:3.13 [[ 2.66249506e-01 -9.63897453e-01 -3.59171647e-03 1.51408447e+02] [ 9.63819513e-01 2.66273658e-01 -1.22590944e-02 9.39373728e+01] [ 1.27728894e-02 -1.97788590e-04 9.99918404e-01 3.13255261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07361786499996 meters 0.018379969619959618 Centerline is valid? [True, True] Translation: X:151.41, Y:93.96, Z:3.13 [[ 2.67250459e-01 -9.63620101e-01 -3.67323691e-03 1.51414499e+02] [ 9.63538385e-01 2.67275637e-01 -1.25504950e-02 9.39643762e+01] [ 1.30756760e-02 -1.85179214e-04 9.99914493e-01 3.13250430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10361786499996 meters 0.017913395238654702 Centerline is valid? [True, True] Translation: X:151.42, Y:93.99, Z:3.13 [[ 2.67271672e-01 -9.63613873e-01 -3.76255856e-03 1.51419828e+02] [ 9.63527955e-01 2.67298090e-01 -1.28689678e-02 9.39924465e+01] [ 1.34064406e-02 -1.85819820e-04 9.99910112e-01 3.13190331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13361786499996 meters 0.017980688702829036 Centerline is valid? [True, True] Translation: X:151.43, Y:94.02, Z:3.13 [[ 2.67575483e-01 -9.63528914e-01 -3.92327748e-03 1.51427022e+02] [ 9.63435288e-01 2.67604179e-01 -1.34331659e-02 9.40182267e+01] [ 1.39931292e-02 -1.85438130e-04 9.99902074e-01 3.13190824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16361786499996 meters 0.018019007067109155 Centerline is valid? [True, True] Translation: X:151.43, Y:94.05, Z:3.13 [[ 2.67016251e-01 -9.63683343e-01 -4.09092289e-03 1.51433814e+02] [ 9.63581327e-01 2.67047514e-01 -1.40232334e-02 9.40450365e+01] [ 1.46064272e-02 -1.97505711e-04 9.99893301e-01 3.13188368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19361786499996 meters 0.01828165331662704 Centerline is valid? [True, True] Translation: X:151.44, Y:94.07, Z:3.13 [[ 2.66743565e-01 -9.63759120e-01 -4.02860739e-03 1.51441711e+02] [ 9.63659999e-01 2.66773914e-01 -1.38233336e-02 9.40706957e+01] [ 1.43970911e-02 -1.94922523e-04 9.99896338e-01 3.13239418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22361786499997 meters 0.018510147266731423 Centerline is valid? [True, True] Translation: X:151.45, Y:94.10, Z:3.13 [[ 2.65471000e-01 -9.64109967e-01 -4.13766228e-03 1.51448814e+02] [ 9.64005215e-01 2.65503156e-01 -1.42133781e-02 9.40976302e+01] [ 1.48018219e-02 -2.15488325e-04 9.99890424e-01 3.13248764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25361786499997 meters 0.018246002476290085 Centerline is valid? [True, True] Translation: X:151.46, Y:94.12, Z:3.13 [[ 2.64778038e-01 -9.64301051e-01 -4.00922789e-03 1.51455347e+02] [ 9.64202536e-01 2.64808302e-01 -1.37852623e-02 9.41246067e+01] [ 1.43548198e-02 -2.15672986e-04 9.99896941e-01 3.13272675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28361786499997 meters 0.018504896935800205 Centerline is valid? [True, True] Translation: X:151.46, Y:94.15, Z:3.13 [[ 2.63770567e-01 -9.64577189e-01 -3.99190317e-03 1.51463043e+02] [ 9.64479356e-01 2.63800675e-01 -1.37395782e-02 9.41503249e+01] [ 1.43059505e-02 -2.26011864e-04 9.99897639e-01 3.13285022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31361786499997 meters 0.01876854214651378 Centerline is valid? [True, True] Translation: X:151.47, Y:94.18, Z:3.13 [[ 2.61919911e-01 -9.65082040e-01 -3.82315681e-03 1.51471241e+02] [ 9.64992168e-01 2.61947703e-01 -1.31726109e-02 9.41774818e+01] [ 1.37141173e-02 -2.39147311e-04 9.99905928e-01 3.13283939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34361786499997 meters 0.018947796413679354 Centerline is valid? [True, True] Translation: X:151.48, Y:94.20, Z:3.13 [[ 2.60966517e-01 -9.65340282e-01 -3.82313053e-03 1.51479383e+02] [ 9.65250267e-01 2.60994401e-01 -1.31850283e-02 9.42041169e+01] [ 1.37258546e-02 -2.49426854e-04 9.99905765e-01 3.13301642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37361786499997 meters 0.019131163530825897 Centerline is valid? [True, True] Translation: X:151.49, Y:94.23, Z:3.13 [[ 2.60013488e-01 -9.65596809e-01 -3.97344237e-03 1.51487372e+02] [ 9.65499400e-01 2.60043707e-01 -1.37178415e-02 9.42295309e+01] [ 1.42791726e-02 -2.69532415e-04 9.99898011e-01 3.13337616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40361786499997 meters 0.019551141359698394 Centerline is valid? [True, True] Translation: X:151.50, Y:94.26, Z:3.13 [[ 2.58966586e-01 -9.65878270e-01 -3.93386131e-03 1.51495440e+02] [ 9.65782620e-01 2.58996314e-01 -1.35955927e-02 9.42550349e+01] [ 1.41505431e-02 -2.78450659e-04 9.99899837e-01 3.13369795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43361786499997 meters 0.01962371938551147 Centerline is valid? [True, True] Translation: X:151.50, Y:94.28, Z:3.13 [[ 2.57381880e-01 -9.66301123e-01 -4.08752088e-03 1.51502497e+02] [ 9.66197674e-01 2.57414149e-01 -1.41424841e-02 9.42827243e+01] [ 1.47180840e-02 -3.09334031e-04 9.99891635e-01 3.13331689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46361786499997 meters 0.019861057076878384 Centerline is valid? [True, True] Translation: X:151.51, Y:94.31, Z:3.13 [[ 2.56379771e-01 -9.66567863e-01 -3.99733920e-03 1.51510395e+02] [ 9.66468777e-01 2.56410739e-01 -1.38432599e-02 9.43101226e+01] [ 1.44054109e-02 -3.14171707e-04 9.99896187e-01 3.13370659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49361786499998 meters 0.020474482932980875 Centerline is valid? [True, True] Translation: X:151.52, Y:94.34, Z:3.13 [[ 2.54606688e-01 -9.67037031e-01 -3.84900151e-03 1.51519432e+02] [ 9.66945025e-01 2.54635573e-01 -1.33433114e-02 9.43362887e+01] [ 1.38835689e-02 -3.24476542e-04 9.99903566e-01 3.13457130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52361786499998 meters 0.020841010330868878 Centerline is valid? [True, True] Translation: X:151.53, Y:94.36, Z:3.14 [[ 2.53858148e-01 -9.67233633e-01 -3.89109281e-03 1.51527662e+02] [ 9.67139510e-01 2.53887744e-01 -1.34974654e-02 9.43618826e+01] [ 1.40431033e-02 -3.36788026e-04 9.99901334e-01 3.13543933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55361786499995 meters 0.021039727324507953 Centerline is valid? [True, True] Translation: X:151.54, Y:94.39, Z:3.14 [[ 2.52666236e-01 -9.67546456e-01 -3.69168942e-03 1.51535605e+02] [ 9.67461659e-01 2.52692984e-01 -1.28138315e-02 9.43888070e+01] [ 1.33308413e-02 -3.33945400e-04 9.99911085e-01 3.13598910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58361786499995 meters 0.020790189035916905 Centerline is valid? [True, True] Translation: X:151.54, Y:94.42, Z:3.14 [[ 2.50979013e-01 -9.67985766e-01 -3.61832764e-03 1.51542494e+02] [ 9.67904202e-01 2.51004854e-01 -1.25705503e-02 9.44164454e+01] [ 1.30763316e-02 -3.47250208e-04 9.99914441e-01 3.13605805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61361786499995 meters 0.022063117420345627 Centerline is valid? [True, True] Translation: X:151.55, Y:94.44, Z:3.14 [[ 2.49892825e-01 -9.68266492e-01 -3.68453794e-03 1.51551991e+02] [ 9.68181778e-01 2.49919719e-01 -1.28131831e-02 9.44418441e+01] [ 1.33274146e-02 -3.65379971e-04 9.99911119e-01 3.13661355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64361786499995 meters 0.02163348308075534 Centerline is valid? [True, True] Translation: X:151.56, Y:94.47, Z:3.14 [[ 2.48989166e-01 -9.68499376e-01 -3.65429996e-03 1.51558558e+02] [ 9.68415923e-01 2.49015703e-01 -1.27192392e-02 9.44695572e+01] [ 1.32285533e-02 -3.71929514e-04 9.99912430e-01 3.13677124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67361786499995 meters 0.02234439304251265 Centerline is valid? [True, True] Translation: X:151.57, Y:94.50, Z:3.14 [[ 2.47792739e-01 -9.68806869e-01 -3.46538800e-03 1.51566587e+02] [ 9.68731716e-01 2.47816700e-01 -1.20725509e-02 9.44961925e+01] [ 1.25547513e-02 -3.65540804e-04 9.99921119e-01 3.13681948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70361786499996 meters 0.022403976544097096 Centerline is valid? [True, True] Translation: X:151.57, Y:94.52, Z:3.14 [[ 2.47511858e-01 -9.68878561e-01 -3.49477111e-03 1.51573968e+02] [ 9.68801999e-01 2.47536253e-01 -1.21856198e-02 9.45227874e+01] [ 1.26714683e-02 -3.69655847e-04 9.99919645e-01 3.13749587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73361786499996 meters 0.021157625839916098 Centerline is valid? [True, True] Translation: X:151.58, Y:94.55, Z:3.14 [[ 2.46934618e-01 -9.69026466e-01 -3.31714870e-03 1.51578745e+02] [ 9.68957377e-01 2.46956641e-01 -1.15766335e-02 9.45505268e+01] [ 1.20372561e-02 -3.55504143e-04 9.99927486e-01 3.13799058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76361786499996 meters 0.022119475588244696 Centerline is valid? [True, True] Translation: X:151.59, Y:94.58, Z:3.14 [[ 2.47117689e-01 -9.68980264e-01 -3.17732390e-03 1.51586802e+02] [ 9.68916753e-01 2.47137887e-01 -1.10991573e-02 9.45765177e+01] [ 1.15401014e-02 -3.35764259e-04 9.99933354e-01 3.13914571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79361786499996 meters 0.021502269642551516 Centerline is valid? [True, True] Translation: X:151.59, Y:94.60, Z:3.14 [[ 2.47540573e-01 -9.68872842e-01 -3.01352663e-03 1.51592309e+02] [ 9.68815584e-01 2.47558720e-01 -1.05377299e-02 9.46037376e+01] [ 1.09557452e-02 -3.11035851e-04 9.99939936e-01 3.13957963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82361786499996 meters 0.021502269642551516 Centerline is valid? [True, True] Translation: X:151.60, Y:94.63, Z:3.14 [[ 2.47282672e-01 -9.68938706e-01 -3.01072375e-03 1.51599812e+02] [ 9.68881444e-01 2.47300804e-01 -1.05385305e-02 9.46302831e+01] [ 1.09557445e-02 -3.11038393e-04 9.99939936e-01 3.14003060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85361786499996 meters 0.020361071738502285 Centerline is valid? [True, True] Translation: X:151.60, Y:94.66, Z:3.14 [[ 2.48177376e-01 -9.68710532e-01 -2.80982402e-03 1.51603085e+02] [ 9.68660552e-01 2.48193125e-01 -9.84414704e-03 9.46585869e+01] [ 1.02335079e-02 -2.78671098e-04 9.99947597e-01 3.14017217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88361786499996 meters 0.021588677379322636 Centerline is valid? [True, True] Translation: X:151.61, Y:94.68, Z:3.14 [[ 2.48051412e-01 -9.68742770e-01 -2.81820869e-03 1.51611924e+02] [ 9.68692396e-01 2.48067265e-01 -9.88305965e-03 9.46844531e+01] [ 1.02732479e-02 -2.78470421e-04 9.99947190e-01 3.14091924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91361786499996 meters 0.0206913592874079 Centerline is valid? [True, True] Translation: X:151.62, Y:94.71, Z:3.14 [[ 2.48100055e-01 -9.68730072e-01 -2.90003544e-03 1.51617039e+02] [ 9.68676599e-01 2.48116842e-01 -1.01823029e-02 9.47123667e+01] [ 1.05834506e-02 -2.82966558e-04 9.99943954e-01 3.14068445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94361786499996 meters 0.02199228261658946 Centerline is valid? [True, True] Translation: X:151.63, Y:94.74, Z:3.14 [[ 2.47632384e-01 -9.68849287e-01 -3.04323468e-03 1.51626187e+02] [ 9.68790283e-01 2.47650902e-01 -1.06966575e-02 9.47380586e+01] [ 1.11171088e-02 -2.99417385e-04 9.99938158e-01 3.14121928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97361786499997 meters 0.022548485580583807 Centerline is valid? [True, True] Translation: X:151.63, Y:94.77, Z:3.14 [[ 2.46200761e-01 -9.69213624e-01 -3.18378269e-03 1.51633136e+02] [ 9.69148916e-01 2.46221129e-01 -1.12042316e-02 9.47651040e+01] [ 1.16432085e-02 -3.27069193e-04 9.99932162e-01 3.14094436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00361786499997 meters 0.021234859102290414 Centerline is valid? [True, True] Translation: X:151.64, Y:94.79, Z:3.14 [[ 2.45243616e-01 -9.69455895e-01 -3.29188163e-03 1.51637763e+02] [ 9.69386597e-01 2.45265462e-01 -1.15965114e-02 9.47935998e+01] [ 1.20496912e-02 -3.47135553e-04 9.99927340e-01 3.14051712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03361786499997 meters 0.02179458751621286 Centerline is valid? [True, True] Translation: X:151.65, Y:94.82, Z:3.14 [[ 2.43905795e-01 -9.69793243e-01 -3.32107698e-03 1.51645835e+02] [ 9.69722597e-01 2.43928132e-01 -1.17111477e-02 9.48212616e+01] [ 1.21674960e-02 -3.64106620e-04 9.99925907e-01 3.14069607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06361786499997 meters 0.022706338446685393 Centerline is valid? [True, True] Translation: X:151.65, Y:94.85, Z:3.14 [[ 2.41424151e-01 -9.70413401e-01 -3.49444138e-03 1.51653775e+02] [ 9.70335071e-01 2.41449088e-01 -1.23364225e-02 9.48477220e+01] [ 1.28151594e-02 -4.12468681e-04 9.99917797e-01 3.14040572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09361786499997 meters 0.02288531585487869 Centerline is valid? [True, True] Translation: X:151.66, Y:94.88, Z:3.14 [[ 2.40166458e-01 -9.70725114e-01 -3.58135438e-03 1.51661276e+02] [ 9.70642779e-01 2.40192760e-01 -1.26504240e-02 9.48751122e+01] [ 1.31402997e-02 -4.38008230e-04 9.99913567e-01 3.14052063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12361786499997 meters 0.022876601851949816 Centerline is valid? [True, True] Translation: X:151.67, Y:94.90, Z:3.14 [[ 2.38306331e-01 -9.71183365e-01 -3.60048840e-03 1.51667364e+02] [ 9.71100037e-01 2.38333080e-01 -1.27303157e-02 9.49032659e+01] [ 1.32215864e-02 -4.62719576e-04 9.99912484e-01 3.14072562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15361786499997 meters 0.02315820183737776 Centerline is valid? [True, True] Translation: X:151.67, Y:94.93, Z:3.14 [[ 2.37848876e-01 -9.71295689e-01 -3.54926018e-03 1.51674187e+02] [ 9.71214576e-01 2.37874912e-01 -1.25607923e-02 9.49291199e+01] [ 1.30445234e-02 -4.59522898e-04 9.99914811e-01 3.14125136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18361786499997 meters 0.023386942417263055 Centerline is valid? [True, True] Translation: X:151.68, Y:94.96, Z:3.14 [[ 2.37424941e-01 -9.71399134e-01 -3.62212143e-03 1.51680930e+02] [ 9.71314463e-01 2.37452101e-01 -1.28340526e-02 9.49558542e+01] [ 1.33270679e-02 -4.71094753e-04 9.99911080e-01 3.14180656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21361786499997 meters 0.023609160285308003 Centerline is valid? [True, True] Translation: X:151.69, Y:94.98, Z:3.14 [[ 2.37278923e-01 -9.71435193e-01 -3.51822756e-03 1.51686523e+02] [ 9.71355208e-01 2.37304564e-01 -1.24741182e-02 9.49836333e+01] [ 1.29526889e-02 -4.57603317e-04 9.99916006e-01 3.14227959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24361786499998 meters 0.02503967538929582 Centerline is valid? [True, True] Translation: X:151.69, Y:95.01, Z:3.14 [[ 2.37076082e-01 -9.71485074e-01 -3.41803555e-03 1.51694903e+02] [ 9.71409437e-01 2.37100304e-01 -1.21305820e-02 9.50090285e+01] [ 1.25950966e-02 -4.44441135e-04 9.99920580e-01 3.14297663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27361786499998 meters 0.02293732505270189 Centerline is valid? [True, True] Translation: X:151.70, Y:95.04, Z:3.14 [[ 2.37110063e-01 -9.71476699e-01 -3.44116291e-03 1.51697907e+02] [ 9.71399864e-01 2.37134617e-01 -1.22260772e-02 9.50371960e+01] [ 1.26933680e-02 -4.43819241e-04 9.99919337e-01 3.14283712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30361786499995 meters 0.022778551777065174 Centerline is valid? [True, True] Translation: X:151.70, Y:95.06, Z:3.14 [[ 2.37605951e-01 -9.71354893e-01 -3.61724472e-03 1.51703287e+02] [ 9.71269790e-01 2.37633045e-01 -1.28658476e-02 9.50649896e+01] [ 1.33568809e-02 -4.56318563e-04 9.99910689e-01 3.14290133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33361786499995 meters 0.02190209418528426 Centerline is valid? [True, True] Translation: X:151.71, Y:95.09, Z:3.14 [[ 2.37899382e-01 -9.71283116e-01 -3.60469220e-03 1.51708277e+02] [ 9.71198419e-01 2.37926269e-01 -1.28344158e-02 9.50930870e+01] [ 1.33235023e-02 -4.47571782e-04 9.99911138e-01 3.14279025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36361786499995 meters 0.02399369077897017 Centerline is valid? [True, True] Translation: X:151.72, Y:95.12, Z:3.14 [[ 2.39811266e-01 -9.70811869e-01 -3.85636366e-03 1.51717781e+02] [ 9.70714641e-01 2.39841854e-01 -1.37466594e-02 9.51186291e+01] [ 1.42703375e-02 -4.46824885e-04 9.99898074e-01 3.14294631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39361786499995 meters 0.023666963201202294 Centerline is valid? [True, True] Translation: X:151.72, Y:95.15, Z:3.14 [[ 2.40733570e-01 -9.70583385e-01 -3.90386429e-03 1.51723630e+02] [ 9.70483599e-01 2.40764826e-01 -1.39241832e-02 9.51459809e+01] [ 1.44544941e-02 -4.36617934e-04 9.99895433e-01 3.14309270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42361786499995 meters 0.022586183351387457 Centerline is valid? [True, True] Translation: X:151.73, Y:95.17, Z:3.14 [[ 2.41689224e-01 -9.70345443e-01 -4.00503864e-03 1.51728200e+02] [ 9.70240171e-01 2.41722023e-01 -1.42994545e-02 9.51741432e+01] [ 1.48435166e-02 -4.29825303e-04 9.99889737e-01 3.14331933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45361786499996 meters 0.022306711358444083 Centerline is valid? [True, True] Translation: X:151.73, Y:95.20, Z:3.14 [[ 2.42846074e-01 -9.70056573e-01 -4.00362070e-03 1.51734138e+02] [ 9.69951133e-01 2.42878731e-01 -1.43081040e-02 9.52013385e+01] [ 1.48520646e-02 -4.08649556e-04 9.99889619e-01 3.14338468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48361786499996 meters 0.019887682166224333 Centerline is valid? [True, True] Translation: X:151.74, Y:95.23, Z:3.14 [[ 2.45183414e-01 -9.69468669e-01 -3.94890478e-03 1.51735269e+02] [ 9.69365813e-01 2.45214942e-01 -1.41263350e-02 9.52302442e+01] [ 1.46633696e-02 -3.64390250e-04 9.99892421e-01 3.14391717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51361786499996 meters 0.020347541167139487 Centerline is valid? [True, True] Translation: X:151.74, Y:95.26, Z:3.14 [[ 2.46193608e-01 -9.69213229e-01 -3.79792798e-03 1.51742860e+02] [ 9.69117861e-01 2.46222677e-01 -1.36001860e-02 9.52560752e+01] [ 1.41166162e-02 -3.32360974e-04 9.99900300e-01 3.14458356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54361786499996 meters 0.019882346494931702 Centerline is valid? [True, True] Translation: X:151.75, Y:95.28, Z:3.15 [[ 2.46986228e-01 -9.69011508e-01 -3.80788403e-03 1.51748609e+02] [ 9.68915470e-01 2.47015374e-01 -1.36461420e-02 9.52834400e+01] [ 1.41638745e-02 -3.19108607e-04 9.99899636e-01 3.14542937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57361786499996 meters 0.019314438969594994 Centerline is valid? [True, True] Translation: X:151.75, Y:95.31, Z:3.15 [[ 2.48735602e-01 -9.68564714e-01 -3.60498128e-03 1.51753935e+02] [ 9.68478419e-01 2.48761573e-01 -1.29318180e-02 9.53116420e+01] [ 1.34220835e-02 -2.74743020e-04 9.99909882e-01 3.14575713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60361786499996 meters 0.01984334629632836 Centerline is valid? [True, True] Translation: X:151.76, Y:95.34, Z:3.15 [[ 2.49296534e-01 -9.68420339e-01 -3.64483317e-03 1.51762009e+02] [ 9.68331919e-01 2.49323035e-01 -1.30888516e-02 9.53371770e+01] [ 1.35842509e-02 -2.66402969e-04 9.99907694e-01 3.14651782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63361786499996 meters 0.019375880143340633 Centerline is valid? [True, True] Translation: X:151.77, Y:95.36, Z:3.15 [[ 2.49554910e-01 -9.68353634e-01 -3.68604142e-03 1.51767870e+02] [ 9.68263041e-01 2.49581993e-01 -1.32481162e-02 9.53648387e+01] [ 1.37488311e-02 -2.62925218e-04 9.99905446e-01 3.14690889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66361786499996 meters 0.018948095690891363 Centerline is valid? [True, True] Translation: X:151.77, Y:95.39, Z:3.15 [[ 2.50709768e-01 -9.68055535e-01 -3.61856367e-03 1.51773874e+02] [ 9.67968017e-01 2.50735767e-01 -1.30189364e-02 9.53927834e+01] [ 1.35103568e-02 -2.38679392e-04 9.99908702e-01 3.14710788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69361786499996 meters 0.019001053645260033 Centerline is valid? [True, True] Translation: X:151.78, Y:95.42, Z:3.15 [[ 2.50824356e-01 -9.68025763e-01 -3.64212585e-03 1.51781082e+02] [ 9.67936916e-01 2.50850688e-01 -1.31171676e-02 9.54185226e+01] [ 1.36113860e-02 -2.35242929e-04 9.99907333e-01 3.14762738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72361786499997 meters 0.019045166388776354 Centerline is valid? [True, True] Translation: X:151.79, Y:95.44, Z:3.15 [[ 2.51030029e-01 -9.67972826e-01 -3.54027196e-03 1.51788839e+02] [ 9.67888689e-01 2.51054893e-01 -1.27642479e-02 9.54446698e+01] [ 1.32442477e-02 -2.22379670e-04 9.99912266e-01 3.14809873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75361786499997 meters 0.01886330376777345 Centerline is valid? [True, True] Translation: X:151.80, Y:95.47, Z:3.15 [[ 2.50747628e-01 -9.68046004e-01 -3.54428388e-03 1.51796281e+02] [ 9.67961491e-01 2.50772577e-01 -1.27931907e-02 9.54718287e+01] [ 1.32732063e-02 -2.22868094e-04 9.99911882e-01 3.14858360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78361786499997 meters 0.01887813150676271 Centerline is valid? [True, True] Translation: X:151.80, Y:95.50, Z:3.15 [[ 2.50374300e-01 -9.68142424e-01 -3.59960171e-03 1.51804258e+02] [ 9.68055073e-01 2.50400070e-01 -1.30069371e-02 9.54988999e+01] [ 1.34939081e-02 -2.28009931e-04 9.99908927e-01 3.14876928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81361786499997 meters 0.019162780548607258 Centerline is valid? [True, True] Translation: X:151.81, Y:95.52, Z:3.15 [[ 2.48815999e-01 -9.68544259e-01 -3.55201991e-03 1.51813638e+02] [ 9.68459058e-01 2.48841233e-01 -1.28488604e-02 9.55247611e+01] [ 1.33285790e-02 -2.42983818e-04 9.99911141e-01 3.14905937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84361786499997 meters 0.0192820598310288 Centerline is valid? [True, True] Translation: X:151.82, Y:95.55, Z:3.15 [[ 2.47499040e-01 -9.68881918e-01 -3.47201314e-03 1.51822450e+02] [ 9.68800395e-01 2.47523263e-01 -1.25709275e-02 9.55518020e+01] [ 1.30391483e-02 -2.52395223e-04 9.99914955e-01 3.14921814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87361786499997 meters 0.019705000857850728 Centerline is valid? [True, True] Translation: X:151.83, Y:95.58, Z:3.15 [[ 2.44611645e-01 -9.69615236e-01 -3.38203020e-03 1.51832820e+02] [ 9.69537802e-01 2.44634863e-01 -1.22570382e-02 9.55781391e+01] [ 1.27119735e-02 -2.80791855e-04 9.99919160e-01 3.14955837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90361786499997 meters 0.020096723270680694 Centerline is valid? [True, True] Translation: X:151.84, Y:95.60, Z:3.15 [[ 2.42776507e-01 -9.70076973e-01 -3.19912581e-03 1.51842294e+02] [ 9.70007598e-01 2.42797416e-01 -1.16049025e-02 9.56046519e+01] [ 1.20343882e-02 -2.85778652e-04 9.99927543e-01 3.15009688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93361786499997 meters 0.01997913016036143 Centerline is valid? [True, True] Translation: X:151.85, Y:95.63, Z:3.15 [[ 2.41085137e-01 -9.70498782e-01 -3.17357396e-03 1.51850830e+02] [ 9.70430412e-01 2.41105835e-01 -1.15235264e-02 9.56317709e+01] [ 1.19487355e-02 -3.01581754e-04 9.99928566e-01 3.15060464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96361786499997 meters 0.021080984627362853 Centerline is valid? [True, True] Translation: X:151.86, Y:95.66, Z:3.15 [[ 2.39270378e-01 -9.70947746e-01 -3.18772611e-03 1.51861731e+02] [ 9.70878642e-01 2.39291395e-01 -1.15883638e-02 9.56575943e+01] [ 1.20144912e-02 -3.22142998e-04 9.99927772e-01 3.15155673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99361786499998 meters 0.021152023752980132 Centerline is valid? [True, True] Translation: X:151.87, Y:95.68, Z:3.15 [[ 2.36303764e-01 -9.71674171e-01 -3.13622592e-03 1.51871758e+02] [ 9.71607275e-01 2.36324313e-01 -1.14071360e-02 9.56843976e+01] [ 1.18251859e-02 -3.51630738e-04 9.99930018e-01 3.15184622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02361786499998 meters 0.022019262612363116 Centerline is valid? [True, True] Translation: X:151.88, Y:95.71, Z:3.15 [[ 2.34843319e-01 -9.72028188e-01 -3.13310353e-03 1.51881738e+02] [ 9.71961319e-01 2.34863932e-01 -1.14073154e-02 9.57105460e+01] [ 1.18240851e-02 -3.66323629e-04 9.99930026e-01 3.15244021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05361786499995 meters 0.021883397257868423 Centerline is valid? [True, True] Translation: X:151.89, Y:95.74, Z:3.15 [[ 2.33872874e-01 -9.72262097e-01 -3.14546693e-03 1.51889703e+02] [ 9.72194588e-01 2.33893722e-01 -1.14634357e-02 9.57377083e+01] [ 1.18811690e-02 -3.77019274e-04 9.99929345e-01 3.15318040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08361786499995 meters 0.021538283486661265 Centerline is valid? [True, True] Translation: X:151.90, Y:95.76, Z:3.15 [[ 2.32644151e-01 -9.72556700e-01 -3.18802970e-03 1.51898445e+02] [ 9.72487234e-01 2.32665659e-01 -1.16305702e-02 9.57649357e+01] [ 1.20531340e-02 -3.94534063e-04 9.99927281e-01 3.15342567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11361786499995 meters 0.02138670934825375 Centerline is valid? [True, True] Translation: X:151.91, Y:95.79, Z:3.15 [[ 2.32409753e-01 -9.72612592e-01 -3.23315469e-03 1.51906312e+02] [ 9.72541002e-01 2.32431896e-01 -1.18073374e-02 9.57915449e+01] [ 1.22354533e-02 -4.00235127e-04 9.99925064e-01 3.15373061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14361786499995 meters 0.02201302461614838 Centerline is valid? [True, True] Translation: X:151.92, Y:95.82, Z:3.15 [[ 2.32368119e-01 -9.72622805e-01 -3.15225667e-03 1.51915338e+02] [ 9.72554602e-01 2.32389176e-01 -1.15246041e-02 9.58173490e+01] [ 1.19416431e-02 -3.87791165e-04 9.99928621e-01 3.15438487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17361786499995 meters 0.02147279694091659 Centerline is valid? [True, True] Translation: X:151.92, Y:95.84, Z:3.15 [[ 2.33261776e-01 -9.72408493e-01 -3.26584249e-03 1.51922981e+02] [ 9.72335118e-01 2.33284315e-01 -1.19518335e-02 9.58449510e+01] [ 1.23839343e-02 -3.87587424e-04 9.99923241e-01 3.15433998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20361786499996 meters 0.02165114209069777 Centerline is valid? [True, True] Translation: X:151.93, Y:95.87, Z:3.15 [[ 2.33728833e-01 -9.72295969e-01 -3.37375287e-03 1.51930745e+02] [ 9.72217483e-01 2.33752854e-01 -1.23599490e-02 9.58704267e+01] [ 1.28061529e-02 -3.91145067e-04 9.99917921e-01 3.15484184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23361786499996 meters 0.021638775746123225 Centerline is valid? [True, True] Translation: X:151.94, Y:95.90, Z:3.16 [[ 2.35154896e-01 -9.71952598e-01 -3.21270110e-03 1.51938915e+02] [ 9.71881228e-01 2.35176578e-01 -1.17837308e-02 9.58965127e+01] [ 1.22087798e-02 -3.51361906e-04 9.99925408e-01 3.15545191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26361786499996 meters 0.020864375384382683 Centerline is valid? [True, True] Translation: X:151.95, Y:95.92, Z:3.16 [[ 2.35690686e-01 -9.71822572e-01 -3.28480560e-03 1.51945386e+02] [ 9.71747858e-01 2.35713314e-01 -1.20554309e-02 9.59240555e+01] [ 1.24900123e-02 -3.50650018e-04 9.99921935e-01 3.15617002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29361786499996 meters 0.0206706146602957 Centerline is valid? [True, True] Translation: X:151.95, Y:95.95, Z:3.16 [[ 2.37043449e-01 -9.71494148e-01 -3.08589146e-03 1.51953902e+02] [ 9.71428047e-01 2.37063332e-01 -1.13369503e-02 9.59507982e+01] [ 1.17453325e-02 -3.10371722e-04 9.99930973e-01 3.15701585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32361786499996 meters 0.02075758148375764 Centerline is valid? [True, True] Translation: X:151.96, Y:95.98, Z:3.16 [[ 2.37577529e-01 -9.71363774e-01 -3.05558812e-03 1.51961916e+02] [ 9.71298821e-01 2.37596991e-01 -1.12370205e-02 9.59771916e+01] [ 1.16412332e-02 -2.98225560e-04 9.99932194e-01 3.15785466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35361786499996 meters 0.02064859603833871 Centerline is valid? [True, True] Translation: X:151.97, Y:96.00, Z:3.16 [[ 2.38521871e-01 -9.71132555e-01 -2.97971135e-03 1.51969479e+02] [ 9.71070640e-01 2.38540321e-01 -1.09693493e-02 9.60031232e+01] [ 1.13634735e-02 -2.77080503e-04 9.99935395e-01 3.15842906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38361786499996 meters 0.020299373036009868 Centerline is valid? [True, True] Translation: X:151.98, Y:96.03, Z:3.16 [[ 2.39061547e-01 -9.70999939e-01 -2.94879852e-03 1.51976449e+02] [ 9.70939162e-01 2.39079586e-01 -1.08671850e-02 9.60304123e+01] [ 1.12570335e-02 -2.65177888e-04 9.99936602e-01 3.15907090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41361786499996 meters 0.020299373036009868 Centerline is valid? [True, True] Translation: X:151.98, Y:96.06, Z:3.16 [[ 2.38796086e-01 -9.71065266e-01 -2.94582932e-03 1.51983599e+02] [ 9.71004484e-01 2.38814108e-01 -1.08679897e-02 9.60570518e+01] [ 1.12570329e-02 -2.65180080e-04 9.99936602e-01 3.15952182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44361786499996 meters 0.02023526267704099 Centerline is valid? [True, True] Translation: X:151.99, Y:96.08, Z:3.16 [[ 2.39825202e-01 -9.70811412e-01 -3.01233990e-03 1.51991790e+02] [ 9.70747675e-01 2.39843984e-01 -1.11271904e-02 9.60829820e+01] [ 1.15248950e-02 -2.55641259e-04 9.99933554e-01 3.16001446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47361786499997 meters 0.020077450479921592 Centerline is valid? [True, True] Translation: X:152.00, Y:96.11, Z:3.16 [[ 2.39995205e-01 -9.70769299e-01 -3.04476238e-03 1.51999647e+02] [ 9.70704088e-01 2.40014383e-01 -1.12547160e-02 9.61096942e+01] [ 1.16565195e-02 -2.54485427e-04 9.99932028e-01 3.16046318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50361786499997 meters 0.02019446538224125 Centerline is valid? [True, True] Translation: X:152.01, Y:96.14, Z:3.16 [[ 2.40143537e-01 -9.70732445e-01 -3.09862130e-03 1.52008039e+02] [ 9.70664757e-01 2.40163393e-01 -1.14662566e-02 9.61357540e+01] [ 1.18748427e-02 -2.54175071e-04 9.99929459e-01 3.16110884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53361786499997 meters 0.01980704129040024 Centerline is valid? [True, True] Translation: X:152.02, Y:96.16, Z:3.16 [[ 2.40755371e-01 -9.70580898e-01 -3.09376884e-03 1.52016396e+02] [ 9.70513254e-01 2.40775125e-01 -1.14613744e-02 9.61623763e+01] [ 1.18690937e-02 -2.43156212e-04 9.99929530e-01 3.16140743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56361786499997 meters 0.019849975188141803 Centerline is valid? [True, True] Translation: X:152.02, Y:96.19, Z:3.16 [[ 2.40526886e-01 -9.70636811e-01 -3.31630730e-03 1.52024838e+02] [ 9.70558904e-01 2.40549607e-01 -1.23004065e-02 9.61891943e+01] [ 1.27369637e-02 -2.60093117e-04 9.99918848e-01 3.16161826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59361786499997 meters 0.019799047754065838 Centerline is valid? [True, True] Translation: X:152.03, Y:96.22, Z:3.16 [[ 2.40149678e-01 -9.70729416e-01 -3.54025350e-03 1.52033846e+02] [ 9.70640433e-01 2.40175610e-01 -1.31463421e-02 9.62162877e+01] [ 1.36118236e-02 -2.79223359e-04 9.99907316e-01 3.16131083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62361786499997 meters 0.019761441127822483 Centerline is valid? [True, True] Translation: X:152.04, Y:96.24, Z:3.16 [[ 2.39564968e-01 -9.70873631e-01 -3.60803550e-03 1.52042219e+02] [ 9.70781017e-01 2.39591962e-01 -1.34130268e-02 9.62429265e+01] [ 1.38868103e-02 -2.89321033e-04 9.99903532e-01 3.16155560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65361786499997 meters 0.019955830131367112 Centerline is valid? [True, True] Translation: X:152.05, Y:96.27, Z:3.16 [[ 2.39105644e-01 -9.70986551e-01 -3.68909199e-03 1.52051098e+02] [ 9.70889524e-01 2.39133914e-01 -1.37296607e-02 9.62686328e+01] [ 1.42135029e-02 -2.98861408e-04 9.99898938e-01 3.16197093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68361786499997 meters 0.020999835543988946 Centerline is valid? [True, True] Translation: X:152.06, Y:96.29, Z:3.16 [[ 2.38214690e-01 -9.71205264e-01 -3.75468261e-03 1.52063224e+02] [ 9.71104543e-01 2.38244072e-01 -1.39903038e-02 9.62933180e+01] [ 1.44819875e-02 -3.13493472e-04 9.99895081e-01 3.16215715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71361786499997 meters 0.021366253025570027 Centerline is valid? [True, True] Translation: X:152.07, Y:96.32, Z:3.16 [[ 2.37507366e-01 -9.71378399e-01 -3.77579136e-03 1.52071827e+02] [ 9.71276330e-01 2.37537159e-01 -1.40850384e-02 9.63182931e+01] [ 1.45787928e-02 -3.22036400e-04 9.99893672e-01 3.16273109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74361786499998 meters 0.021366253025570027 Centerline is valid? [True, True] Translation: X:152.08, Y:96.34, Z:3.16 [[ 2.37228749e-01 -9.71446497e-01 -3.77150050e-03 1.52078624e+02] [ 9.71344419e-01 2.37258509e-01 -1.40861872e-02 9.63441717e+01] [ 1.45787978e-02 -3.21777391e-04 9.99893672e-01 3.16316820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77361786499998 meters 0.020177606718189505 Centerline is valid? [True, True] Translation: X:152.09, Y:96.37, Z:3.16 [[ 2.36780385e-01 -9.71555618e-01 -3.83798607e-03 1.52086080e+02] [ 9.71449672e-01 2.36811257e-01 -1.43514112e-02 9.63711191e+01] [ 1.48520725e-02 -3.30277631e-04 9.99889647e-01 3.16372257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80361786499995 meters 0.02026602391871 Centerline is valid? [True, True] Translation: X:152.10, Y:96.40, Z:3.16 [[ 2.36180962e-01 -9.71701502e-01 -3.83991103e-03 1.52095102e+02] [ 9.71595235e-01 2.36211936e-01 -1.43742950e-02 9.63981739e+01] [ 1.48745568e-02 -3.35904444e-04 9.99889311e-01 3.16418500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83361786499995 meters 0.020330580021134755 Centerline is valid? [True, True] Translation: X:152.10, Y:96.42, Z:3.16 [[ 2.35694057e-01 -9.71819364e-01 -3.92876716e-03 1.52103828e+02] [ 9.71707888e-01 2.35726542e-01 -1.47233488e-02 9.64247093e+01] [ 1.52345502e-02 -3.47408232e-04 9.99883887e-01 3.16483230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86361786499995 meters 0.02004679472733481 Centerline is valid? [True, True] Translation: X:152.11, Y:96.45, Z:3.17 [[ 2.35343015e-01 -9.71904363e-01 -3.94649579e-03 1.52113300e+02] [ 9.71791643e-01 2.35375841e-01 -1.48059861e-02 9.64516882e+01] [ 1.53189122e-02 -3.50686226e-04 9.99882597e-01 3.16525628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89361786499995 meters 0.02019397556423839 Centerline is valid? [True, True] Translation: X:152.12, Y:96.48, Z:3.17 [[ 2.35782900e-01 -9.71797210e-01 -4.07523721e-03 1.52121537e+02] [ 9.71676722e-01 2.35817854e-01 -1.53064762e-02 9.64774517e+01] [ 1.58358046e-02 -3.50807786e-04 9.99874544e-01 3.16619617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92361786499995 meters 0.02004215023023529 Centerline is valid? [True, True] Translation: X:152.13, Y:96.50, Z:3.17 [[ 2.36696876e-01 -9.71575402e-01 -3.97833139e-03 1.52128106e+02] [ 9.71460287e-01 2.36730085e-01 -1.49591617e-02 9.65032912e+01] [ 1.54757443e-02 -3.24004102e-04 9.99880191e-01 3.16707308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95361786499996 meters 0.019623949540567315 Centerline is valid? [True, True] Translation: X:152.13, Y:96.53, Z:3.17 [[ 2.37932950e-01 -9.71273491e-01 -3.96451809e-03 1.52134248e+02] [ 9.71158879e-01 2.37965788e-01 -1.49236548e-02 9.65308680e+01] [ 1.54383700e-02 -2.99347727e-04 9.99880776e-01 3.16783848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98361786499996 meters 0.01934622754439611 Centerline is valid? [True, True] Translation: X:152.14, Y:96.56, Z:3.17 [[ 2.40795005e-01 -9.70567149e-01 -4.14424352e-03 1.52139626e+02] [ 9.70441517e-01 2.40830524e-01 -1.56179940e-02 9.65583242e+01] [ 1.61563723e-02 -2.61011008e-04 9.99869443e-01 3.16821466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01361786499996 meters 0.018631909923417546 Centerline is valid? [True, True] Translation: X:152.14, Y:96.59, Z:3.17 [[ 2.41552944e-01 -9.70377890e-01 -4.35040290e-03 1.52144508e+02] [ 9.70239113e-01 2.41591980e-01 -1.64127835e-02 9.65858881e+01] [ 1.69776247e-02 -2.56374874e-04 9.99855837e-01 3.16817701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04361786499996 meters 0.018858989946529393 Centerline is valid? [True, True] Translation: X:152.15, Y:96.61, Z:3.17 [[ 2.42239681e-01 -9.70205629e-01 -4.57983324e-03 1.52151883e+02] [ 9.70051431e-01 2.42282839e-01 -1.72987692e-02 9.66119088e+01] [ 1.78929782e-02 -2.52225461e-04 9.99839876e-01 3.16848379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07361786499996 meters 0.018561506749174336 Centerline is valid? [True, True] Translation: X:152.16, Y:96.64, Z:3.17 [[ 2.43097226e-01 -9.69990135e-01 -4.78292951e-03 1.52158145e+02] [ 9.69821508e-01 2.43144154e-01 -1.80876580e-02 9.66391117e+01] [ 1.87077912e-02 -2.41528415e-04 9.99824965e-01 3.16926668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10361786499996 meters 0.018687008605747218 Centerline is valid? [True, True] Translation: X:152.16, Y:96.66, Z:3.17 [[ 2.42452708e-01 -9.70151017e-01 -4.86713826e-03 1.52164785e+02] [ 9.69976035e-01 2.42501424e-01 -1.84268935e-02 9.66648775e+01] [ 1.90571574e-02 -2.53357235e-04 9.99818364e-01 3.16993928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13361786499996 meters 0.01880264816786255 Centerline is valid? [True, True] Translation: X:152.17, Y:96.69, Z:3.17 [[ 2.41152480e-01 -9.70474399e-01 -4.99213666e-03 1.52170756e+02] [ 9.70289946e-01 2.41203983e-01 -1.89224688e-02 9.66920081e+01] [ 1.95678948e-02 -2.80619723e-04 9.99808491e-01 3.17088204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16361786499996 meters 0.019084145124659415 Centerline is valid? [True, True] Translation: X:152.18, Y:96.72, Z:3.17 [[ 2.39891603e-01 -9.70786730e-01 -5.01443912e-03 1.52177434e+02] [ 9.70600273e-01 2.39943815e-01 -1.90282748e-02 9.67178365e+01] [ 1.96755804e-02 -3.02292631e-04 9.99806371e-01 3.17170921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19361786499996 meters 0.019483651382384008 Centerline is valid? [True, True] Translation: X:152.19, Y:96.74, Z:3.17 [[ 2.38402659e-01 -9.71153758e-01 -4.95480627e-03 1.52185079e+02] [ 9.70971378e-01 2.38453923e-01 -1.88231149e-02 9.67442062e+01] [ 1.94616317e-02 -3.23494435e-04 9.99810552e-01 3.17262118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22361786499997 meters 0.01977323821268367 Centerline is valid? [True, True] Translation: X:152.19, Y:96.77, Z:3.17 [[ 2.35005765e-01 -9.71981991e-01 -4.82703560e-03 1.52191807e+02] [ 9.71808736e-01 2.35055031e-01 -1.83552132e-02 9.67717824e+01] [ 1.89755556e-02 -3.77374455e-04 9.99819877e-01 3.17470955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25361786499997 meters 0.02029747215166935 Centerline is valid? [True, True] Translation: X:152.20, Y:96.80, Z:3.18 [[ 2.32856927e-01 -9.72499539e-01 -4.72202362e-03 1.52199796e+02] [ 9.72333510e-01 2.32904446e-01 -1.79739852e-02 9.67993422e+01] [ 1.85794726e-02 -4.06014847e-04 9.99827304e-01 3.17581379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28361786499997 meters 0.020332905385958538 Centerline is valid? [True, True] Translation: X:152.21, Y:96.83, Z:3.18 [[ 2.30512135e-01 -9.73058563e-01 -4.60302824e-03 1.52206633e+02] [ 9.72900588e-01 2.30557678e-01 -1.75386175e-02 9.68269646e+01] [ 1.81273655e-02 -4.35424704e-04 9.99835591e-01 3.17706900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31361786499997 meters 0.02104405533292314 Centerline is valid? [True, True] Translation: X:152.21, Y:96.85, Z:3.18 [[ 2.26281945e-01 -9.74051216e-01 -4.55086629e-03 1.52214749e+02] [ 9.73896675e-01 2.26327141e-01 -1.73577766e-02 9.68542555e+01] [ 1.79373479e-02 -5.04322115e-04 9.99838986e-01 3.17871371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34361786499997 meters 0.021426434625526347 Centerline is valid? [True, True] Translation: X:152.22, Y:96.88, Z:3.18 [[ 2.24453827e-01 -9.74473395e-01 -4.69917493e-03 1.52222198e+02] [ 9.74308346e-01 2.24502336e-01 -1.79428996e-02 9.68820074e+01] [ 1.85398540e-02 -5.51092872e-04 9.99827970e-01 3.17917514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37361786499997 meters 0.022032762208544256 Centerline is valid? [True, True] Translation: X:152.23, Y:96.91, Z:3.18 [[ 2.22096677e-01 -9.75012151e-01 -4.93673052e-03 1.52228612e+02] [ 9.74829721e-01 2.22150668e-01 -1.88705176e-02 9.69098140e+01] [ 1.94956819e-02 -6.21392389e-04 9.99809748e-01 3.17914846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40361786499997 meters 0.022306130343883228 Centerline is valid? [True, True] Translation: X:152.24, Y:96.94, Z:3.18 [[ 2.21580101e-01 -9.75129094e-01 -5.05068654e-03 1.52235362e+02] [ 9.74937754e-01 2.21636728e-01 -1.93270903e-02 9.69364761e+01] [ 1.99658257e-02 -6.41606370e-04 9.99800457e-01 3.17949178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43361786499997 meters 0.02280008970994979 Centerline is valid? [True, True] Translation: X:152.24, Y:96.96, Z:3.18 [[ 2.21544133e-01 -9.75136925e-01 -5.11608474e-03 1.52242281e+02] [ 9.74940129e-01 2.21602257e-01 -1.96006172e-02 9.69631006e+01] [ 2.02470215e-02 -6.45474589e-04 9.99794800e-01 3.17974321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46361786499997 meters 0.02153271330537605 Centerline is valid? [True, True] Translation: X:152.25, Y:96.99, Z:3.18 [[ 2.23121724e-01 -9.74775828e-01 -5.36488270e-03 1.52245250e+02] [ 9.74558802e-01 2.23185304e-01 -2.05781878e-02 9.69917236e+01] [ 2.12564831e-02 -6.36952904e-04 9.99773853e-01 3.18069180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49361786499998 meters 0.021362154122496244 Centerline is valid? [True, True] Translation: X:152.25, Y:97.02, Z:3.18 [[ 2.24204650e-01 -9.74527192e-01 -5.38771876e-03 1.52251293e+02] [ 9.74307767e-01 2.24268543e-01 -2.06880522e-02 9.70195265e+01] [ 2.13693653e-02 -6.10938726e-04 9.99771462e-01 3.18117644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52361786499998 meters 0.021118572853834665 Centerline is valid? [True, True] Translation: X:152.26, Y:97.05, Z:3.18 [[ 2.25486497e-01 -9.74231047e-01 -5.45038017e-03 1.52257286e+02] [ 9.74005912e-01 2.25551603e-01 -2.09513094e-02 9.70468405e+01] [ 2.16407580e-02 -5.84465150e-04 9.99765641e-01 3.18167865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55361786499995 meters 0.02040640239490472 Centerline is valid? [True, True] Translation: X:152.26, Y:97.07, Z:3.18 [[ 2.28770580e-01 -9.73464338e-01 -5.58605283e-03 1.52261640e+02] [ 9.73227099e-01 2.28838181e-01 -2.14965225e-02 9.70744638e+01] [ 2.22044003e-02 -5.18726070e-04 9.99753317e-01 3.18274496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58361786499995 meters 0.020192846257641624 Centerline is valid? [True, True] Translation: X:152.27, Y:97.10, Z:3.18 [[ 2.30283814e-01 -9.73107019e-01 -5.66517515e-03 1.52267327e+02] [ 9.72862357e-01 2.30352976e-01 -2.18252527e-02 9.71019432e+01] [ 2.25432965e-02 -4.85433236e-04 9.99745750e-01 3.18310072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61361786499995 meters 0.019807655280185164 Centerline is valid? [True, True] Translation: X:152.27, Y:97.13, Z:3.18 [[ 2.31562006e-01 -9.72803902e-01 -5.62182791e-03 1.52272532e+02] [ 9.72562366e-01 2.31629808e-01 -2.16812622e-02 9.71300219e+01] [ 2.23937994e-02 -4.47021666e-04 9.99749128e-01 3.18341389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64361786499995 meters 0.019476224091588636 Centerline is valid? [True, True] Translation: X:152.28, Y:97.16, Z:3.18 [[ 2.33682628e-01 -9.72296914e-01 -5.58041433e-03 1.52276691e+02] [ 9.72058267e-01 2.33748924e-01 -2.15445227e-02 9.71577944e+01] [ 2.22520888e-02 -3.89907192e-04 9.99752316e-01 3.18345133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67361786499995 meters 0.019714657715713044 Centerline is valid? [True, True] Translation: X:152.28, Y:97.18, Z:3.18 [[ 2.34050431e-01 -9.72209209e-01 -5.44510164e-03 1.52283684e+02] [ 9.71981488e-01 2.34113474e-01 -2.10444271e-02 9.71844646e+01] [ 2.17343575e-02 -3.67080760e-04 9.99763714e-01 3.18383700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70361786499996 meters 0.019303182040811807 Centerline is valid? [True, True] Translation: X:152.29, Y:97.21, Z:3.19 [[ 2.33709756e-01 -9.72292051e-01 -5.28376686e-03 1.52289356e+02] [ 9.72077176e-01 2.33769202e-01 -2.04431683e-02 9.72124598e+01] [ 2.11119120e-02 -3.58461290e-04 9.99777054e-01 3.18523278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73361786499996 meters 0.020554223669824918 Centerline is valid? [True, True] Translation: X:152.30, Y:97.24, Z:3.18 [[ 2.32811942e-01 -9.72508593e-01 -5.06329954e-03 1.52296648e+02] [ 9.72310892e-01 2.32866721e-01 -1.96116992e-02 9.72396347e+01] [ 2.02516200e-02 -3.57263505e-04 9.99794851e-01 3.18422948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76361786499996 meters 0.019599565042471456 Centerline is valid? [True, True] Translation: X:152.31, Y:97.27, Z:3.19 [[ 2.32023610e-01 -9.72697037e-01 -5.05159451e-03 1.52305221e+02] [ 9.72499845e-01 2.32078304e-01 -1.95885864e-02 9.72662048e+01] [ 2.02261254e-02 -3.67660342e-04 9.99795363e-01 3.18752866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79361786499996 meters 0.02014687277978176 Centerline is valid? [True, True] Translation: X:152.31, Y:97.29, Z:3.19 [[ 2.29520887e-01 -9.73291767e-01 -4.82690957e-03 1.52314883e+02] [ 9.73111479e-01 2.29571295e-01 -1.87368463e-02 9.72915254e+01] [ 1.93445381e-02 -3.96623541e-04 9.99812798e-01 3.18922007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82361786499996 meters 0.020800284648010745 Centerline is valid? [True, True] Translation: X:152.32, Y:97.32, Z:3.19 [[ 2.28534138e-01 -9.73524501e-01 -4.71107348e-03 1.52323438e+02] [ 9.73352521e-01 2.28582336e-01 -1.83026208e-02 9.73176599e+01] [ 1.88949179e-02 -4.02761590e-04 9.99821394e-01 3.18974597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85361786499996 meters 0.02049644856348134 Centerline is valid? [True, True] Translation: X:152.33, Y:97.34, Z:3.19 [[ 2.27996615e-01 -9.73650277e-01 -4.76243374e-03 1.52329671e+02] [ 9.73474135e-01 2.28045975e-01 -1.85240787e-02 9.73449764e+01] [ 1.91220282e-02 -4.12678826e-04 9.99817072e-01 3.19019982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88361786499996 meters 0.020883620825779162 Centerline is valid? [True, True] Translation: X:152.34, Y:97.37, Z:3.19 [[ 2.28313592e-01 -9.73575089e-01 -4.94465081e-03 1.52336288e+02] [ 9.73384771e-01 2.28366749e-01 -1.92539885e-02 9.73716702e+01] [ 1.98743974e-02 -4.17100511e-04 9.99802398e-01 3.18970083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91361786499996 meters 0.02033094754349598 Centerline is valid? [True, True] Translation: X:152.34, Y:97.40, Z:3.19 [[ 2.28537726e-01 -9.73522235e-01 -4.99658884e-03 1.52341581e+02] [ 9.73327541e-01 2.28591967e-01 -1.94733309e-02 9.73996579e+01] [ 2.00999007e-02 -4.12926780e-04 9.99797891e-01 3.18985896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94361786499996 meters 0.02014067664297544 Centerline is valid? [True, True] Translation: X:152.35, Y:97.43, Z:3.19 [[ 2.29324039e-01 -9.73337664e-01 -4.92724966e-03 1.52347344e+02] [ 9.73147872e-01 2.29376641e-01 -1.92243470e-02 9.74271185e+01] [ 1.98419770e-02 -3.86337622e-04 9.99803054e-01 3.18993655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97361786499997 meters 0.02016309014138261 Centerline is valid? [True, True] Translation: X:152.35, Y:97.45, Z:3.19 [[ 2.31072225e-01 -9.72922756e-01 -5.19023859e-03 1.52352632e+02] [ 9.72711591e-01 2.31130221e-01 -2.02726834e-02 9.74538069e+01] [ 2.09233760e-02 -3.64151178e-04 9.99781016e-01 3.18882662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00361786499997 meters 0.019955361201855388 Centerline is valid? [True, True] Translation: X:152.36, Y:97.48, Z:3.19 [[ 2.31823301e-01 -9.72743582e-01 -5.28012574e-03 1.52358274e+02] [ 9.72524605e-01 2.31883161e-01 -2.06419980e-02 9.74809106e+01] [ 2.13037434e-02 -3.49756063e-04 9.99772988e-01 3.18835750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03361786499997 meters 0.01930942347333878 Centerline is valid? [True, True] Translation: X:152.36, Y:97.51, Z:3.19 [[ 2.32716522e-01 -9.72529234e-01 -5.46889609e-03 1.52362631e+02] [ 9.72293719e-01 2.32780530e-01 -2.14044327e-02 9.75085747e+01] [ 2.20894890e-02 -3.36208202e-04 9.99755941e-01 3.18876511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06361786499997 meters 0.01973029503015196 Centerline is valid? [True, True] Translation: X:152.37, Y:97.53, Z:3.19 [[ 2.34210249e-01 -9.72170271e-01 -5.52488606e-03 1.52369827e+02] [ 9.71929243e-01 2.34275213e-01 -2.16488389e-02 9.75347619e+01] [ 2.23407014e-02 -2.99418386e-04 9.99750371e-01 3.18727670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09361786499997 meters 0.019669858509101572 Centerline is valid? [True, True] Translation: X:152.38, Y:97.56, Z:3.19 [[ 2.34951158e-01 -9.71991270e-01 -5.56099849e-03 1.52375794e+02] [ 9.71746434e-01 2.35016795e-01 -2.18168405e-02 9.75604040e+01] [ 2.25127065e-02 -2.77988516e-04 9.99746518e-01 3.18727329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12361786499997 meters 0.019215518732173267 Centerline is valid? [True, True] Translation: X:152.38, Y:97.59, Z:3.19 [[ 2.36729444e-01 -9.71561814e-01 -5.17802656e-03 1.52380609e+02] [ 9.71348948e-01 2.36785969e-01 -2.03377976e-02 9.75882894e+01] [ 2.09855115e-02 -2.15115155e-04 9.99779757e-01 3.18895822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15361786499997 meters 0.018961824017488967 Centerline is valid? [True, True] Translation: X:152.39, Y:97.62, Z:3.19 [[ 2.37442156e-01 -9.71388656e-01 -5.03006969e-03 1.52385929e+02] [ 9.71187322e-01 2.37495354e-01 -1.97773185e-02 9.76160885e+01] [ 2.04060811e-02 -1.89170754e-04 9.99791756e-01 3.18992048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18361786499997 meters 0.018824042946653338 Centerline is valid? [True, True] Translation: X:152.39, Y:97.64, Z:3.19 [[ 2.37972861e-01 -9.71259519e-01 -4.88504628e-03 1.52391183e+02] [ 9.71069190e-01 2.38022936e-01 -1.92278444e-02 9.76439588e+01] [ 1.98379800e-02 -1.68012783e-04 9.99803194e-01 3.19098597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21361786499997 meters 0.01876702775919299 Centerline is valid? [True, True] Translation: X:152.40, Y:97.67, Z:3.19 [[ 2.38939304e-01 -9.71022922e-01 -4.74271770e-03 1.52396869e+02] [ 9.70843069e-01 2.38986328e-01 -1.86887756e-02 9.76708866e+01] [ 1.92806742e-02 -1.38951571e-04 9.99814101e-01 3.19136813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24361786499998 meters 0.018760987815085426 Centerline is valid? [True, True] Translation: X:152.40, Y:97.70, Z:3.19 [[ 2.39134945e-01 -9.70975147e-01 -4.66292439e-03 1.52403226e+02] [ 9.70800874e-01 2.39180368e-01 -1.83960309e-02 9.76981417e+01] [ 1.89773688e-02 -1.27637234e-04 9.99819905e-01 3.19194428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27361786499998 meters 0.018825484407859517 Centerline is valid? [True, True] Translation: X:152.41, Y:97.73, Z:3.19 [[ 2.38995045e-01 -9.71011140e-01 -4.32825772e-03 1.52410078e+02] [ 9.70860671e-01 2.39034206e-01 -1.70940210e-02 9.77253453e+01] [ 1.76330864e-02 -1.16748880e-04 9.99844518e-01 3.19243346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30361786499995 meters 0.018962336621525674 Centerline is valid? [True, True] Translation: X:152.42, Y:97.75, Z:3.19 [[ 2.38222255e-01 -9.71200983e-01 -4.33667905e-03 1.52417835e+02] [ 9.71049608e-01 2.38261692e-01 -1.71471304e-02 9.77516631e+01] [ 1.76865744e-02 -1.26302412e-04 9.99843572e-01 3.19306228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33361786499995 meters 0.019041029285938132 Centerline is valid? [True, True] Translation: X:152.43, Y:97.78, Z:3.19 [[ 2.37386489e-01 -9.71405896e-01 -4.27073129e-03 1.52425133e+02] [ 9.71258772e-01 2.37424864e-01 -1.69065618e-02 9.77787908e+01] [ 1.74371116e-02 -1.34595879e-04 9.99847953e-01 3.19376113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36361786499995 meters 0.019122355135532253 Centerline is valid? [True, True] Translation: X:152.43, Y:97.80, Z:3.19 [[ 2.36324748e-01 -9.71664769e-01 -4.26504555e-03 1.52432922e+02] [ 9.71517743e-01 2.36363184e-01 -1.69032478e-02 9.78042358e+01] [ 1.74323902e-02 -1.48911645e-04 9.99848033e-01 3.19419530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39361786499995 meters 0.0193589832430875 Centerline is valid? [True, True] Translation: X:152.44, Y:97.83, Z:3.19 [[ 2.34577949e-01 -9.72087092e-01 -4.45775513e-03 1.52441764e+02] [ 9.71926262e-01 2.34620229e-01 -1.76830270e-02 9.78314100e+01] [ 1.82353219e-02 -1.84561061e-04 9.99833706e-01 3.19381326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42361786499995 meters 0.019341902213891503 Centerline is valid? [True, True] Translation: X:152.45, Y:97.86, Z:3.19 [[ 2.33512530e-01 -9.72343197e-01 -4.53940048e-03 1.52448833e+02] [ 9.72176082e-01 2.33556559e-01 -1.80277259e-02 9.78586564e+01] [ 1.85893434e-02 -2.03396693e-04 9.99827183e-01 3.19396639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45361786499996 meters 0.019861284787523224 Centerline is valid? [True, True] Translation: X:152.46, Y:97.88, Z:3.19 [[ 2.32739054e-01 -9.72527975e-01 -4.67668726e-03 1.52458073e+02] [ 9.72350224e-01 2.32785932e-01 -1.85943912e-02 9.78843687e+01] [ 1.91722326e-02 -2.19736898e-04 9.99816172e-01 3.19377473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48361786499996 meters 0.019942559750187293 Centerline is valid? [True, True] Translation: X:152.47, Y:97.91, Z:3.19 [[ 2.31437392e-01 -9.72838902e-01 -4.60482729e-03 1.52466323e+02] [ 9.72666330e-01 2.31483075e-01 -1.83247445e-02 9.79113289e+01] [ 1.88929639e-02 -2.37929387e-04 9.99821484e-01 3.19405473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51361786499996 meters 0.02089866020257504 Centerline is valid? [True, True] Translation: X:152.47, Y:97.94, Z:3.19 [[ 2.30209479e-01 -9.73129555e-01 -4.73980599e-03 1.52472941e+02] [ 9.72946353e-01 2.30258116e-01 -1.88836832e-02 9.79383215e+01] [ 1.94676490e-02 -2.64374084e-04 9.99810452e-01 3.19341085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54361786499996 meters 0.020181313964179503 Centerline is valid? [True, True] Translation: X:152.48, Y:97.96, Z:3.19 [[ 2.29875989e-01 -9.73208379e-01 -4.74131541e-03 1.52481894e+02] [ 9.73024643e-01 2.29924726e-01 -1.89120022e-02 9.79638105e+01] [ 1.94954647e-02 -2.66001529e-04 9.99809910e-01 3.19489360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57361786499996 meters 0.019891469232209115 Centerline is valid? [True, True] Translation: X:152.49, Y:97.99, Z:3.20 [[ 2.29162106e-01 -9.73377612e-01 -4.55565286e-03 1.52487902e+02] [ 9.73207614e-01 2.29207231e-01 -1.81929786e-02 9.79915897e+01] [ 1.87528266e-02 -2.64454774e-04 9.99824115e-01 3.19590660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60361786499996 meters 0.020032048771794455 Centerline is valid? [True, True] Translation: X:152.50, Y:98.02, Z:3.20 [[ 2.28586816e-01 -9.73513252e-01 -4.47394358e-03 1.52495608e+02] [ 9.73348942e-01 2.28630440e-01 -1.78874277e-02 9.80177820e+01] [ 1.84365276e-02 -2.65878095e-04 9.99829997e-01 3.19640491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63361786499996 meters 0.020032048771794455 Centerline is valid? [True, True] Translation: X:152.50, Y:98.04, Z:3.20 [[ 2.28321235e-01 -9.73575597e-01 -4.46877705e-03 1.52502226e+02] [ 9.73411274e-01 2.28364808e-01 -1.78887185e-02 9.80445550e+01] [ 1.84365312e-02 -2.65583676e-04 9.99829997e-01 3.19685564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66361786499996 meters 0.019885934874685502 Centerline is valid? [True, True] Translation: X:152.51, Y:98.07, Z:3.20 [[ 2.28101960e-01 -9.73626532e-01 -4.56867219e-03 1.52508726e+02] [ 9.73454379e-01 2.28147548e-01 -1.83103212e-02 9.80718028e+01] [ 1.88697459e-02 -2.70773793e-04 9.99821914e-01 3.19720001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69361786499996 meters 0.02004531183677349 Centerline is valid? [True, True] Translation: X:152.52, Y:98.10, Z:3.20 [[ 2.27810029e-01 -9.73694576e-01 -4.63280823e-03 1.52516016e+02] [ 9.73517162e-01 2.27856965e-01 -1.85886878e-02 9.80974757e+01] [ 1.91553221e-02 -2.75428803e-04 9.99816482e-01 3.19706937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72361786499997 meters 0.019938510914991606 Centerline is valid? [True, True] Translation: X:152.52, Y:98.12, Z:3.20 [[ 2.27814591e-01 -9.73693904e-01 -4.54896097e-03 1.52523087e+02] [ 9.73522549e-01 2.27859847e-01 -1.82684555e-02 9.81242687e+01] [ 1.88244093e-02 -2.66695361e-04 9.99822770e-01 3.19786235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75361786499997 meters 0.019981898561423544 Centerline is valid? [True, True] Translation: X:152.53, Y:98.15, Z:3.20 [[ 2.27813240e-01 -9.73694276e-01 -4.53704264e-03 1.52530073e+02] [ 9.73523417e-01 2.27858265e-01 -1.82419322e-02 9.81511300e+01] [ 1.87958676e-02 -2.61163573e-04 9.99823308e-01 3.19824839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78361786499997 meters 0.019914049724453632 Centerline is valid? [True, True] Translation: X:152.54, Y:98.18, Z:3.20 [[ 2.27896742e-01 -9.73674851e-01 -4.51222890e-03 1.52537033e+02] [ 9.73505456e-01 2.27941267e-01 -1.81633129e-02 9.81783110e+01] [ 1.87136841e-02 -2.53319619e-04 9.99824852e-01 3.19902030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81361786499997 meters 0.019828994151372466 Centerline is valid? [True, True] Translation: X:152.54, Y:98.21, Z:3.20 [[ 2.28475741e-01 -9.73540140e-01 -4.29309935e-03 1.52542993e+02] [ 9.73386434e-01 2.28515960e-01 -1.73004849e-02 9.82054092e+01] [ 1.78237582e-02 -2.26103554e-04 9.99841119e-01 3.20078287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84361786499997 meters 0.020166763171492314 Centerline is valid? [True, True] Translation: X:152.55, Y:98.23, Z:3.20 [[ 2.28406557e-01 -9.73556905e-01 -4.17093879e-03 1.52550325e+02] [ 9.73411496e-01 2.28444534e-01 -1.68271893e-02 9.82314480e+01] [ 1.73350545e-02 -2.16599400e-04 9.99849713e-01 3.20135328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87361786499997 meters 0.019848150974399216 Centerline is valid? [True, True] Translation: X:152.55, Y:98.26, Z:3.20 [[ 2.28502212e-01 -9.73534981e-01 -4.04716850e-03 1.52554601e+02] [ 9.73397839e-01 2.28537958e-01 -1.63416410e-02 9.82591668e+01] [ 1.68340908e-02 -2.05403948e-04 9.99858276e-01 3.20218967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90361786499997 meters 0.019817733222184195 Centerline is valid? [True, True] Translation: X:152.56, Y:98.29, Z:3.20 [[ 2.28449610e-01 -9.73548085e-01 -3.86038581e-03 1.52561106e+02] [ 9.73423033e-01 2.28482143e-01 -1.56047618e-02 9.82867923e+01] [ 1.60740152e-02 -1.92886705e-04 9.99870786e-01 3.20297657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93361786499997 meters 0.019866527067573494 Centerline is valid? [True, True] Translation: X:152.57, Y:98.31, Z:3.20 [[ 2.28075753e-01 -9.73635792e-01 -3.84652230e-03 1.52567753e+02] [ 9.73511361e-01 2.28108104e-01 -1.55667399e-02 9.83142242e+01] [ 1.60337580e-02 -1.94237246e-04 9.99871432e-01 3.20377651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96361786499997 meters 0.019957375168391668 Centerline is valid? [True, True] Translation: X:152.57, Y:98.34, Z:3.20 [[ 2.27894774e-01 -9.73678342e-01 -3.80242545e-03 1.52574227e+02] [ 9.73556472e-01 2.27926414e-01 -1.54060506e-02 9.83403432e+01] [ 1.58672110e-02 -1.90917496e-04 9.99874090e-01 3.20438299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99361786499998 meters 0.02003370561149946 Centerline is valid? [True, True] Translation: X:152.58, Y:98.37, Z:3.21 [[ 2.27330088e-01 -9.73810676e-01 -3.71449898e-03 1.52580442e+02] [ 9.73694207e-01 2.27360351e-01 -1.50619420e-02 9.83681323e+01] [ 1.55120097e-02 -1.92753538e-04 9.99879663e-01 3.20521970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02361786499998 meters 0.019882015623178904 Centerline is valid? [True, True] Translation: X:152.59, Y:98.40, Z:3.21 [[ 2.27251015e-01 -9.73829375e-01 -3.65031430e-03 1.52586403e+02] [ 9.73716643e-01 2.27280254e-01 -1.48184458e-02 9.83960767e+01] [ 1.52602821e-02 -1.86864939e-04 9.99883538e-01 3.20619748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05361786499995 meters 0.02003240837702865 Centerline is valid? [True, True] Translation: X:152.59, Y:98.42, Z:3.21 [[ 2.27202890e-01 -9.73841310e-01 -3.45678080e-03 1.52592104e+02] [ 9.73740001e-01 2.27229118e-01 -1.40477278e-02 9.84224249e+01] [ 1.44657389e-02 -1.74321396e-04 9.99895351e-01 3.20792556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08361786499995 meters 0.02002018995661074 Centerline is valid? [True, True] Translation: X:152.60, Y:98.45, Z:3.21 [[ 2.26870027e-01 -9.73918846e-01 -3.47463167e-03 1.52597878e+02] [ 9.73816327e-01 2.26896564e-01 -1.41318777e-02 9.84494203e+01] [ 1.45516840e-02 -1.77553586e-04 9.99894103e-01 3.20879889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11361786499995 meters 0.020045472509342372 Centerline is valid? [True, True] Translation: X:152.60, Y:98.48, Z:3.21 [[ 2.26582813e-01 -9.73985757e-01 -3.46030811e-03 1.52603965e+02] [ 9.73883855e-01 2.26609165e-01 -1.40898651e-02 9.84765344e+01] [ 1.45074655e-02 -1.77416915e-04 9.99894745e-01 3.20969780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14361786499995 meters 0.02054683985759203 Centerline is valid? [True, True] Translation: X:152.61, Y:98.50, Z:3.21 [[ 2.25661804e-01 -9.74199618e-01 -3.44300005e-03 1.52610389e+02] [ 9.74098516e-01 2.25687991e-01 -1.40361159e-02 9.85028652e+01] [ 1.44510225e-02 -1.86406011e-04 9.99895561e-01 3.21045498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17361786499995 meters 0.020257423964971242 Centerline is valid? [True, True] Translation: X:152.62, Y:98.53, Z:3.21 [[ 2.25156814e-01 -9.74316457e-01 -3.44243088e-03 1.52615341e+02] [ 9.74215238e-01 2.25183047e-01 -1.40450905e-02 9.85308788e+01] [ 1.44595399e-02 -1.91320784e-04 9.99895437e-01 3.21099911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20361786499996 meters 0.020564917995814766 Centerline is valid? [True, True] Translation: X:152.62, Y:98.56, Z:3.21 [[ 2.24674739e-01 -9.74427813e-01 -3.42051554e-03 1.52621454e+02] [ 9.74327665e-01 2.24700691e-01 -1.39714153e-02 9.85574184e+01] [ 1.43827278e-02 -1.93678844e-04 9.99896544e-01 3.21189056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23361786499996 meters 0.02061421754182161 Centerline is valid? [True, True] Translation: X:152.63, Y:98.59, Z:3.21 [[ 2.24046008e-01 -9.74572505e-01 -3.43790535e-03 1.52627759e+02] [ 9.74471104e-01 2.24072294e-01 -1.40596689e-02 9.85851333e+01] [ 1.44725061e-02 -2.00126734e-04 9.99895248e-01 3.21248638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26361786499996 meters 0.02050284611403753 Centerline is valid? [True, True] Translation: X:152.63, Y:98.61, Z:3.21 [[ 2.23012340e-01 -9.74809296e-01 -3.51193093e-03 1.52632710e+02] [ 9.74703266e-01 2.23039885e-01 -1.43788917e-02 9.86125768e+01] [ 1.47999780e-02 -2.16420270e-04 9.99890451e-01 3.21322219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29361786499996 meters 0.021052579914118755 Centerline is valid? [True, True] Translation: X:152.64, Y:98.64, Z:3.21 [[ 2.22405516e-01 -9.74947791e-01 -3.54829468e-03 1.52640269e+02] [ 9.74839317e-01 2.22433706e-01 -1.45448632e-02 9.86384648e+01] [ 1.49697426e-02 -2.24159357e-04 9.99887922e-01 3.21360779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32361786499996 meters 0.02121011733999379 Centerline is valid? [True, True] Translation: X:152.65, Y:98.67, Z:3.21 [[ 2.21573090e-01 -9.75137362e-01 -3.53413602e-03 1.52646375e+02] [ 9.75029510e-01 2.21601152e-01 -1.45046193e-02 9.86652685e+01] [ 1.49271648e-02 -2.32053589e-04 9.99888557e-01 3.21418170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35361786499996 meters 0.02094064928985459 Centerline is valid? [True, True] Translation: X:152.65, Y:98.69, Z:3.21 [[ 2.20856599e-01 -9.75299654e-01 -3.59832656e-03 1.52651240e+02] [ 9.75187582e-01 2.20885776e-01 -1.47869531e-02 9.86927010e+01] [ 1.52165294e-02 -2.43247201e-04 9.99884192e-01 3.21415525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38361786499996 meters 0.021098684718691748 Centerline is valid? [True, True] Translation: X:152.66, Y:98.72, Z:3.21 [[ 2.20102081e-01 -9.75469850e-01 -3.69399648e-03 1.52657489e+02] [ 9.75351482e-01 2.20132926e-01 -1.51980653e-02 9.87198223e+01] [ 1.56384247e-02 -2.57819150e-04 9.99877679e-01 3.21444443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41361786499996 meters 0.021226287903441412 Centerline is valid? [True, True] Translation: X:152.66, Y:98.75, Z:3.22 [[ 2.19737784e-01 -9.75551703e-01 -3.76587208e-03 1.52663780e+02] [ 9.75428405e-01 2.19769892e-01 -1.55119642e-02 9.87468085e+01] [ 1.59603484e-02 -2.64773954e-04 9.99872590e-01 3.21511634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44361786499996 meters 0.020937769546581282 Centerline is valid? [True, True] Translation: X:152.67, Y:98.77, Z:3.22 [[ 2.19402463e-01 -9.75626203e-01 -4.00897868e-03 1.52667931e+02] [ 9.75486142e-01 2.19438904e-01 -1.65334301e-02 9.87749595e+01] [ 1.70101735e-02 -2.83227874e-04 9.99855276e-01 3.21528974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47361786499997 meters 0.021285016114100386 Centerline is valid? [True, True] Translation: X:152.67, Y:98.80, Z:3.22 [[ 2.19035045e-01 -9.75707996e-01 -4.19007530e-03 1.52674382e+02] [ 9.75554626e-01 2.19074916e-01 -1.73018158e-02 9.88014582e+01] [ 1.77994604e-02 -2.97943352e-04 9.99841533e-01 3.21507224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50361786499997 meters 0.021169630690203382 Centerline is valid? [True, True] Translation: X:152.68, Y:98.83, Z:3.22 [[ 2.18655990e-01 -9.75792651e-01 -4.27331450e-03 1.52679366e+02] [ 9.75632735e-01 2.18697530e-01 -1.76679704e-02 9.88288713e+01] [ 1.81748390e-02 -3.05977950e-04 9.99834777e-01 3.21509465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53361786499997 meters 0.021234152781446736 Centerline is valid? [True, True] Translation: X:152.68, Y:98.86, Z:3.22 [[ 2.17583773e-01 -9.76031587e-01 -4.43197482e-03 1.52683498e+02] [ 9.75859204e-01 2.17628651e-01 -1.83462541e-02 9.88563819e+01] [ 1.88710482e-02 -3.33136225e-04 9.99821870e-01 3.21511489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56361786499997 meters 0.0216075625284056 Centerline is valid? [True, True] Translation: X:152.69, Y:98.88, Z:3.22 [[ 2.16942206e-01 -9.76174039e-01 -4.50825673e-03 1.52689921e+02] [ 9.75995264e-01 2.16988767e-01 -1.86847660e-02 9.88824911e+01] [ 1.92178246e-02 -3.46522853e-04 9.99815261e-01 3.21547659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59361786499997 meters 0.021833496634684594 Centerline is valid? [True, True] Translation: X:152.70, Y:98.91, Z:3.22 [[ 2.15690887e-01 -9.76451145e-01 -4.53910797e-03 1.52696357e+02] [ 9.76269522e-01 2.15738328e-01 -1.88359655e-02 9.89097990e+01] [ 1.93716596e-02 -3.68646679e-04 9.99812284e-01 3.21608005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62361786499997 meters 0.02164567400677027 Centerline is valid? [True, True] Translation: X:152.70, Y:98.94, Z:3.22 [[ 2.13856007e-01 -9.76854468e-01 -4.57781400e-03 1.52700322e+02] [ 9.76669411e-01 2.13904617e-01 -1.90177886e-02 9.89381748e+01] [ 1.95568273e-02 -4.03942577e-04 9.99808665e-01 3.21711283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65361786499997 meters 0.021725456777915774 Centerline is valid? [True, True] Translation: X:152.71, Y:98.97, Z:3.22 [[ 2.12656544e-01 -9.77116235e-01 -4.58874460e-03 1.52706112e+02] [ 9.76929924e-01 2.12705624e-01 -1.90851217e-02 9.89659883e+01] [ 1.96244341e-02 -4.24305875e-04 9.99807332e-01 3.21752258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68361786499997 meters 0.02254982907148776 Centerline is valid? [True, True] Translation: X:152.71, Y:98.99, Z:3.22 [[ 2.11651111e-01 -9.77334413e-01 -4.60997821e-03 1.52713757e+02] [ 9.77145991e-01 2.11700849e-01 -1.91954080e-02 9.89925278e+01] [ 1.97362692e-02 -4.41892285e-04 9.99805123e-01 3.21771650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71361786499997 meters 0.02306664718253423 Centerline is valid? [True, True] Translation: X:152.72, Y:99.02, Z:3.22 [[ 2.09963028e-01 -9.77698365e-01 -4.62963265e-03 1.52718702e+02] [ 9.77508008e-01 2.10013529e-01 -1.92979589e-02 9.90193714e+01] [ 1.98398684e-02 -4.73645099e-04 9.99803058e-01 3.21842480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74361786499998 meters 0.023080119678188595 Centerline is valid? [True, True] Translation: X:152.72, Y:99.05, Z:3.22 [[ 2.07993706e-01 -9.78119571e-01 -4.55235015e-03 1.52722892e+02] [ 9.77935229e-01 2.08042915e-01 -1.89956038e-02 9.90480509e+01] [ 1.95270561e-02 -5.00937552e-04 9.99809203e-01 3.21979272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77361786499998 meters 0.023456691949538318 Centerline is valid? [True, True] Translation: X:152.73, Y:99.08, Z:3.22 [[ 2.06433488e-01 -9.78450764e-01 -4.39523012e-03 1.52728618e+02] [ 9.78278633e-01 2.06479644e-01 -1.83595704e-02 9.90757005e+01] [ 1.88714613e-02 -5.09729543e-04 9.99821788e-01 3.22057022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80361786499995 meters 0.022998435520576864 Centerline is valid? [True, True] Translation: X:152.73, Y:99.10, Z:3.22 [[ 2.04817783e-01 -9.78790589e-01 -4.31950312e-03 1.52732595e+02] [ 9.78624048e-01 2.04862646e-01 -1.80628900e-02 9.91044424e+01] [ 1.85646916e-02 -5.27568560e-04 9.99827522e-01 3.22149022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83361786499995 meters 0.023923603196210525 Centerline is valid? [True, True] Translation: X:152.74, Y:99.13, Z:3.22 [[ 2.03312094e-01 -9.79104608e-01 -4.28472952e-03 1.52739281e+02] [ 9.78940435e-01 2.03356502e-01 -1.79375931e-02 9.91310922e+01] [ 1.84341077e-02 -5.47565356e-04 9.99829927e-01 3.22187113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86361786499995 meters 0.025448209516072896 Centerline is valid? [True, True] Translation: X:152.74, Y:99.16, Z:3.22 [[ 2.00669569e-01 -9.79649169e-01 -4.38512728e-03 1.52744754e+02] [ 9.79476947e-01 2.00716558e-01 -1.83786110e-02 9.91582209e+01] [ 1.88847587e-02 -6.07103129e-04 9.99821483e-01 3.22177418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89361786499995 meters 0.02494643242880113 Centerline is valid? [True, True] Translation: X:152.75, Y:99.19, Z:3.22 [[ 1.99198973e-01 -9.79949156e-01 -4.40686901e-03 1.52748273e+02] [ 9.79774886e-01 1.99246704e-01 -1.84911620e-02 9.91868664e+01] [ 1.89984528e-02 -6.34319095e-04 9.99819312e-01 3.22205031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92361786499995 meters 0.026372862486436076 Centerline is valid? [True, True] Translation: X:152.76, Y:99.21, Z:3.22 [[ 1.98152147e-01 -9.80160754e-01 -4.54134497e-03 1.52755061e+02] [ 9.79975340e-01 1.98203046e-01 -1.90757860e-02 9.92134364e+01] [ 1.95974452e-02 -6.70498126e-04 9.99807727e-01 3.22176677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95361786499996 meters 0.025037479471015783 Centerline is valid? [True, True] Translation: X:152.75, Y:99.24, Z:3.22 [[ 1.97156040e-01 -9.80361171e-01 -4.63350135e-03 1.52754749e+02] [ 9.80167894e-01 1.97209234e-01 -1.94786342e-02 9.92424531e+01] [ 2.00098659e-02 -7.01278871e-04 9.99799537e-01 3.22222321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98361786499996 meters 0.026146253680072108 Centerline is valid? [True, True] Translation: X:152.76, Y:99.27, Z:3.22 [[ 1.96852930e-01 -9.80421919e-01 -4.66744159e-03 1.52760916e+02] [ 9.80225360e-01 1.96906982e-01 -1.96439250e-02 9.92684677e+01] [ 2.01783865e-02 -7.08180418e-04 9.99796145e-01 3.22268914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01361786499996 meters 0.024767286312277197 Centerline is valid? [True, True] Translation: X:152.76, Y:99.30, Z:3.22 [[ 1.97151953e-01 -9.80361628e-01 -4.71012666e-03 1.52759632e+02] [ 9.80160937e-01 1.97206955e-01 -1.98483140e-02 9.92974043e+01] [ 2.03873952e-02 -7.03548285e-04 9.99791908e-01 3.22310123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04361786499996 meters 0.024215738791222147 Centerline is valid? [True, True] Translation: X:152.76, Y:99.33, Z:3.22 [[ 1.97353154e-01 -9.80320812e-01 -4.77888042e-03 1.52762026e+02] [ 9.80113704e-01 1.97409747e-01 -2.01623200e-02 9.93254846e+01] [ 2.07089395e-02 -7.04748748e-04 9.99785299e-01 3.22345624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07361786499996 meters 0.027366042341018464 Centerline is valid? [True, True] Translation: X:152.77, Y:99.35, Z:3.22 [[ 1.97817250e-01 -9.80227519e-01 -4.72719101e-03 1.52771185e+02] [ 9.80024351e-01 1.97872546e-01 -1.99681439e-02 9.93510216e+01] [ 2.05087055e-02 -6.82718988e-04 9.99789441e-01 3.22292853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10361786499996 meters 0.023829715653967066 Centerline is valid? [True, True] Translation: X:152.77, Y:99.38, Z:3.22 [[ 1.98419191e-01 -9.80105735e-01 -4.75107190e-03 1.52768536e+02] [ 9.79899967e-01 1.98474938e-01 -2.00936084e-02 9.93801197e+01] [ 2.06368295e-02 -6.68617678e-04 9.99786814e-01 3.22408637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13361786499996 meters 0.024176403113237852 Centerline is valid? [True, True] Translation: X:152.77, Y:99.41, Z:3.22 [[ 1.98798734e-01 -9.80029343e-01 -4.64215099e-03 1.52772659e+02] [ 9.79832411e-01 1.98851893e-01 -1.96563217e-02 9.94065556e+01] [ 2.01868726e-02 -6.40878129e-04 9.99796019e-01 3.22456347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16361786499996 meters 0.024753637933633287 Centerline is valid? [True, True] Translation: X:152.78, Y:99.43, Z:3.23 [[ 2.00234638e-01 -9.79737369e-01 -4.55825200e-03 1.52775036e+02] [ 9.79546958e-01 2.00285629e-01 -1.93241915e-02 9.94344889e+01] [ 1.98455849e-02 -5.95649379e-04 9.99802880e-01 3.22548128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19361786499996 meters 0.023458834473188056 Centerline is valid? [True, True] Translation: X:152.78, Y:99.46, Z:3.23 [[ 2.01089253e-01 -9.79562623e-01 -4.49226195e-03 1.52776442e+02] [ 9.79377225e-01 2.01138629e-01 -1.90657753e-02 9.94632353e+01] [ 1.95796882e-02 -5.65696546e-04 9.99808140e-01 3.22595467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22361786499997 meters 0.025832812749390408 Centerline is valid? [True, True] Translation: X:152.78, Y:99.49, Z:3.23 [[ 2.03252025e-01 -9.79115897e-01 -4.54698519e-03 1.52782285e+02] [ 9.78925426e-01 2.03302202e-01 -1.93190049e-02 9.94902626e+01] [ 1.98399569e-02 -5.24532562e-04 9.99803031e-01 3.22514377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25361786499997 meters 0.022699786854022845 Centerline is valid? [True, True] Translation: X:152.78, Y:99.52, Z:3.23 [[ 2.03996440e-01 -9.78961237e-01 -4.51101689e-03 1.52780331e+02] [ 9.78773421e-01 2.04045692e-01 -1.91818947e-02 9.95197797e+01] [ 1.96987849e-02 -5.02225205e-04 9.99805834e-01 3.22644285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28361786499997 meters 0.021933548373697306 Centerline is valid? [True, True] Translation: X:152.78, Y:99.55, Z:3.23 [[ 2.04801752e-01 -9.78793084e-01 -4.51010915e-03 1.52782658e+02] [ 9.78604855e-01 2.04850841e-01 -1.92008001e-02 9.95482543e+01] [ 1.97175100e-02 -4.81257225e-04 9.99805475e-01 3.22690175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31361786499997 meters 0.02258934159719416 Centerline is valid? [True, True] Translation: X:152.79, Y:99.58, Z:3.23 [[ 2.06500006e-01 -9.78436260e-01 -4.49814066e-03 1.52786610e+02] [ 9.78248491e-01 2.06548520e-01 -1.91728871e-02 9.95758723e+01] [ 1.96885322e-02 -4.41098021e-04 9.99806065e-01 3.22757169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34361786499997 meters 0.02174202967659918 Centerline is valid? [True, True] Translation: X:152.79, Y:99.60, Z:3.23 [[ 2.07050444e-01 -9.78320543e-01 -4.36225046e-03 1.52788523e+02] [ 9.78143520e-01 2.07095981e-01 -1.86147277e-02 9.96037477e+01] [ 1.91145751e-02 -4.12719377e-04 9.99817215e-01 3.22851048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37361786499997 meters 0.020648830851870907 Centerline is valid? [True, True] Translation: X:152.79, Y:99.63, Z:3.23 [[ 2.08374307e-01 -9.78040191e-01 -4.18733509e-03 1.52787347e+02] [ 9.77876649e-01 2.08416052e-01 -1.78887682e-02 9.96329508e+01] [ 1.83686421e-02 -3.67137525e-04 9.99831215e-01 3.22926089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40361786499997 meters 0.020678149142444587 Centerline is valid? [True, True] Translation: X:152.79, Y:99.66, Z:3.23 [[ 2.09264243e-01 -9.77850175e-01 -4.18460428e-03 1.52791737e+02] [ 9.77686423e-01 2.09305793e-01 -1.78981521e-02 9.96598441e+01] [ 1.83775731e-02 -3.45787546e-04 9.99831058e-01 3.22960783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43361786499997 meters 0.021108283765922164 Centerline is valid? [True, True] Translation: X:152.80, Y:99.69, Z:3.23 [[ 2.09754475e-01 -9.77744867e-01 -4.24689165e-03 1.52797878e+02] [ 9.77575836e-01 2.09797192e-01 -1.81830622e-02 9.96866470e+01] [ 1.86693817e-02 -3.37679993e-04 9.99825655e-01 3.22974360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46361786499997 meters 0.02010086364603495 Centerline is valid? [True, True] Translation: X:152.80, Y:99.71, Z:3.23 [[ 2.09906309e-01 -9.77712720e-01 -4.14461339e-03 1.52799842e+02] [ 9.77551324e-01 2.09946976e-01 -1.77673016e-02 9.97147973e+01] [ 1.82414659e-02 -3.22103600e-04 9.99833559e-01 3.23060798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49361786499998 meters 0.020001356461056528 Centerline is valid? [True, True] Translation: X:152.80, Y:99.74, Z:3.23 [[ 2.10553253e-01 -9.77574060e-01 -4.03538845e-03 1.52803225e+02] [ 9.77420665e-01 2.10591709e-01 -1.73198010e-02 9.97417451e+01] [ 1.77812075e-02 -2.97531622e-04 9.99841858e-01 3.23117655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52361786499995 meters 0.0200669249519312 Centerline is valid? [True, True] Translation: X:152.81, Y:99.77, Z:3.23 [[ 2.10548804e-01 -9.77574582e-01 -4.13967788e-03 1.52808241e+02] [ 9.77412868e-01 2.10589279e-01 -1.77831812e-02 9.97698288e+01] [ 1.82561577e-02 -3.01946897e-04 9.99833297e-01 3.23197268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55361786499995 meters 0.0200669249519312 Centerline is valid? [True, True] Translation: X:152.81, Y:99.80, Z:3.23 [[ 2.10281450e-01 -9.77632147e-01 -4.13481194e-03 1.52814417e+02] [ 9.77470421e-01 2.10321881e-01 -1.77843126e-02 9.97966801e+01] [ 1.82561571e-02 -3.01945324e-04 9.99833297e-01 3.23242354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58361786499995 meters 0.020082019157302202 Centerline is valid? [True, True] Translation: X:152.82, Y:99.82, Z:3.23 [[ 2.10457493e-01 -9.77594447e-01 -4.09166592e-03 1.52819479e+02] [ 9.77435690e-01 2.10497062e-01 -1.76198519e-02 9.98234778e+01] [ 1.80863530e-02 -2.91110456e-04 9.99836386e-01 3.23313424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61361786499995 meters 0.020148635407949974 Centerline is valid? [True, True] Translation: X:152.82, Y:99.85, Z:3.23 [[ 2.09972367e-01 -9.77698946e-01 -4.04664340e-03 1.52824435e+02] [ 9.77543395e-01 2.10011153e-01 -1.74421112e-02 9.98514011e+01] [ 1.79029740e-02 -2.93408134e-04 9.99839686e-01 3.23375784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64361786499995 meters 0.019929709184117437 Centerline is valid? [True, True] Translation: X:152.83, Y:99.88, Z:3.23 [[ 2.09578103e-01 -9.77783436e-01 -4.07066473e-03 1.52828493e+02] [ 9.77625657e-01 2.09617421e-01 -1.75673317e-02 9.98789914e+01] [ 1.80303282e-02 -2.97858214e-04 9.99837396e-01 3.23403100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67361786499995 meters 0.020234043108283695 Centerline is valid? [True, True] Translation: X:152.83, Y:99.91, Z:3.23 [[ 2.08664264e-01 -9.77978856e-01 -4.07225633e-03 1.52834965e+02] [ 9.77820593e-01 2.08703766e-01 -1.75961924e-02 9.99056671e+01] [ 1.80585994e-02 -3.10239573e-04 9.99836882e-01 3.23437236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70361786499996 meters 0.02046270776456457 Centerline is valid? [True, True] Translation: X:152.84, Y:99.93, Z:3.24 [[ 2.06481743e-01 -9.78441817e-01 -4.11106802e-03 1.52842109e+02] [ 9.78280189e-01 2.06522370e-01 -1.77871392e-02 9.99334832e+01] [ 1.82527084e-02 -3.49056873e-04 9.99833345e-01 3.23519906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73361786499996 meters 0.02075997855219817 Centerline is valid? [True, True] Translation: X:152.85, Y:99.96, Z:3.24 [[ 2.04602511e-01 -9.78836579e-01 -4.09447695e-03 1.52848735e+02] [ 9.78675964e-01 2.04643126e-01 -1.77355205e-02 9.99606508e+01] [ 1.81980828e-02 -3.78434151e-04 9.99834330e-01 3.23553269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76361786499996 meters 0.02100418556958534 Centerline is valid? [True, True] Translation: X:152.86, Y:99.99, Z:3.24 [[ 2.02732226e-01 -9.79225197e-01 -4.20210697e-03 1.52855430e+02] [ 9.79055722e-01 2.02775336e-01 -1.82224367e-02 9.99877467e+01] [ 1.86959529e-02 -4.19821712e-04 9.99825127e-01 3.23609525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79361786499996 meters 0.021616525364839254 Centerline is valid? [True, True] Translation: X:152.86, Y:100.01, Z:3.24 [[ 1.98879488e-01 -9.80014465e-01 -4.31242828e-03 1.52863590e+02] [ 9.79835740e-01 1.98925604e-01 -1.87223759e-02 1.00014919e+02] [ 1.92060516e-02 -5.01974823e-04 9.99815421e-01 3.23615565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82361786499996 meters 0.023186646697181835 Centerline is valid? [True, True] Translation: X:152.87, Y:100.04, Z:3.24 [[ 1.96842754e-01 -9.80425163e-01 -4.40799522e-03 1.52873670e+02] [ 9.80238087e-01 1.96891336e-01 -1.91596983e-02 1.00040877e+02] [ 1.96525464e-02 -5.49437026e-04 9.99806719e-01 3.23641036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85361786499996 meters 0.02390938426429377 Centerline is valid? [True, True] Translation: X:152.88, Y:100.07, Z:3.24 [[ 1.94865547e-01 -9.80820275e-01 -4.35973302e-03 1.52881673e+02] [ 9.80636942e-01 1.94913453e-01 -1.89719034e-02 1.00066493e+02] [ 1.94577981e-02 -5.78344915e-04 9.99810512e-01 3.23678053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88361786499996 meters 0.023064392903053076 Centerline is valid? [True, True] Translation: X:152.89, Y:100.09, Z:3.24 [[ 1.93039313e-01 -9.81180935e-01 -4.44932367e-03 1.52887243e+02] [ 9.80989602e-01 1.93089579e-01 -1.93859733e-02 1.00094827e+02] [ 1.98802654e-02 -6.22485283e-04 9.99802174e-01 3.23761451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91361786499996 meters 0.024099782716544563 Centerline is valid? [True, True] Translation: X:152.90, Y:100.12, Z:3.24 [[ 1.90527421e-01 -9.81670908e-01 -4.64012026e-03 1.52896674e+02] [ 9.81462490e-01 1.90582638e-01 -2.02395189e-02 1.00120749e+02] [ 2.07528732e-02 -6.97920652e-04 9.99784392e-01 3.23792027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94361786499996 meters 0.0237509016081621 Centerline is valid? [True, True] Translation: X:152.90, Y:100.15, Z:3.24 [[ 1.89366349e-01 -9.81894807e-01 -4.79314190e-03 1.52902788e+02] [ 9.81672098e-01 1.89425543e-01 -2.09249854e-02 1.00148275e+02] [ 2.14540780e-02 -7.42805579e-04 9.99769559e-01 3.23858846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97361786499997 meters 0.02262510543467539 Centerline is valid? [True, True] Translation: X:152.91, Y:100.18, Z:3.24 [[ 1.88601497e-01 -9.82041869e-01 -4.82111254e-03 1.52908467e+02] [ 9.81816075e-01 1.88661578e-01 -2.10714144e-02 1.00175483e+02] [ 2.16025698e-02 -7.59345507e-04 9.99766349e-01 3.23988546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00361786499997 meters 0.02398641804240479 Centerline is valid? [True, True] Translation: X:152.92, Y:100.20, Z:3.24 [[ 1.88256769e-01 -9.82107575e-01 -4.90921903e-03 1.52918093e+02] [ 9.81872927e-01 1.88319167e-01 -2.14812876e-02 1.00201525e+02] [ 2.20214354e-02 -7.76231466e-04 9.99757197e-01 3.24013980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03361786499997 meters 0.024149402042930194 Centerline is valid? [True, True] Translation: X:152.93, Y:100.23, Z:3.24 [[ 1.88447775e-01 -9.82070625e-01 -4.97225022e-03 1.52925510e+02] [ 9.81829368e-01 1.88511758e-01 -2.17809161e-02 1.00227440e+02] [ 2.23277255e-02 -7.77336111e-04 9.99750403e-01 3.24058385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06361786499997 meters 0.02227787441609182 Centerline is valid? [True, True] Translation: X:152.93, Y:100.26, Z:3.24 [[ 1.89609782e-01 -9.81846117e-01 -5.13156710e-03 1.52930552e+02] [ 9.81588546e-01 1.89677644e-01 -2.25014978e-02 1.00255226e+02] [ 2.30663518e-02 -7.70583405e-04 9.99733639e-01 3.24167590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09361786499997 meters 0.02180923552245622 Centerline is valid? [True, True] Translation: X:152.94, Y:100.28, Z:3.24 [[ 1.90323235e-01 -9.81707524e-01 -5.23480609e-03 1.52937264e+02] [ 9.81438760e-01 1.90393682e-01 -2.29827351e-02 1.00283090e+02] [ 2.35589980e-02 -7.63493097e-04 9.99722157e-01 3.24199564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12361786499997 meters 0.02227255552767149 Centerline is valid? [True, True] Translation: X:152.95, Y:100.31, Z:3.24 [[ 1.91102941e-01 -9.81555699e-01 -5.29870451e-03 1.52945330e+02] [ 9.81279634e-01 1.91174919e-01 -2.32901376e-02 1.00309505e+02] [ 2.38735466e-02 -7.48697040e-04 9.99714706e-01 3.24190331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15361786499997 meters 0.021204074996389075 Centerline is valid? [True, True] Translation: X:152.95, Y:100.34, Z:3.24 [[ 1.93048649e-01 -9.81173938e-01 -5.47008563e-03 1.52951913e+02] [ 9.80878964e-01 1.93124793e-01 -2.40680627e-02 1.00337477e+02] [ 2.46713650e-02 -7.19184929e-04 9.99695357e-01 3.24194394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18361786499997 meters 0.02059307602770053 Centerline is valid? [True, True] Translation: X:152.96, Y:100.37, Z:3.24 [[ 1.94276793e-01 -9.80931367e-01 -5.49373677e-03 1.52958397e+02] [ 9.80633038e-01 1.94353243e-01 -2.42004557e-02 1.00365403e+02] [ 2.48067116e-02 -6.85752865e-04 9.99692031e-01 3.24268436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21361786499997 meters 0.020224776179948646 Centerline is valid? [True, True] Translation: X:152.97, Y:100.39, Z:3.24 [[ 1.97380594e-01 -9.80311250e-01 -5.54567846e-03 1.52966309e+02] [ 9.80006347e-01 1.97457551e-01 -2.44555842e-02 1.00391096e+02] [ 2.50691204e-02 -6.07742339e-04 9.99685535e-01 3.24348637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24361786499998 meters 0.01949090635052611 Centerline is valid? [True, True] Translation: X:152.97, Y:100.42, Z:3.24 [[ 1.98901034e-01 -9.80004021e-01 -5.52247567e-03 1.52972398e+02] [ 9.79700986e-01 1.98976891e-01 -2.43756951e-02 1.00418963e+02] [ 2.49871243e-02 -5.62023904e-04 9.99687615e-01 3.24486744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27361786499995 meters 0.019528410081194967 Centerline is valid? [True, True] Translation: X:152.98, Y:100.45, Z:3.25 [[ 2.00757974e-01 -9.79626195e-01 -5.36236047e-03 1.52979833e+02] [ 9.79339726e-01 2.00828968e-01 -2.36944541e-02 1.00445516e+02] [ 2.42886252e-02 -4.94722027e-04 9.99704865e-01 3.24516986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30361786499995 meters 0.018916513736694528 Centerline is valid? [True, True] Translation: X:152.99, Y:100.47, Z:3.25 [[ 2.03485189e-01 -9.79063862e-01 -5.26619462e-03 1.52986686e+02] [ 9.78786886e-01 2.03552899e-01 -2.32905202e-02 1.00473421e+02] [ 2.38748558e-02 -4.15206315e-04 9.99714869e-01 3.24596440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33361786499995 meters 0.018651768347578705 Centerline is valid? [True, True] Translation: X:152.99, Y:100.50, Z:3.25 [[ 2.04604671e-01 -9.78831004e-01 -5.17624546e-03 1.52993717e+02] [ 9.78562727e-01 2.04669792e-01 -2.29186736e-02 1.00500810e+02] [ 2.34929294e-02 -3.76013203e-04 9.99723932e-01 3.24645117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36361786499995 meters 0.01820599079353361 Centerline is valid? [True, True] Translation: X:153.00, Y:100.53, Z:3.25 [[ 2.04851032e-01 -9.78779565e-01 -5.15920538e-03 1.52999745e+02] [ 9.78512369e-01 2.04915668e-01 -2.28716832e-02 1.00528618e+02] [ 2.34435381e-02 -3.63058373e-04 9.99725097e-01 3.24733097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39361786499995 meters 0.018514413107744817 Centerline is valid? [True, True] Translation: X:153.01, Y:100.55, Z:3.25 [[ 2.05341801e-01 -9.78676333e-01 -5.23254697e-03 1.53007749e+02] [ 9.78400730e-01 2.05408161e-01 -2.32271382e-02 1.00554475e+02] [ 2.38066583e-02 -3.50025369e-04 9.99716520e-01 3.24700103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42361786499995 meters 0.018028344253461125 Centerline is valid? [True, True] Translation: X:153.02, Y:100.58, Z:3.25 [[ 2.05820191e-01 -9.78575592e-01 -5.27823300e-03 1.53015401e+02] [ 9.78294376e-01 2.05887587e-01 -2.34609401e-02 1.00581904e+02] [ 2.40450260e-02 -3.34930491e-04 9.99710820e-01 3.24737160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45361786499996 meters 0.018192550509627866 Centerline is valid? [True, True] Translation: X:153.02, Y:100.61, Z:3.25 [[ 2.05953364e-01 -9.78547279e-01 -5.33245002e-03 1.53022835e+02] [ 9.78259496e-01 2.06022123e-01 -2.37327567e-02 1.00608475e+02] [ 2.43222271e-02 -3.28678793e-04 9.99704117e-01 3.24736486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48361786499996 meters 0.01780082034049757 Centerline is valid? [True, True] Translation: X:153.03, Y:100.64, Z:3.25 [[ 2.06611018e-01 -9.78409397e-01 -5.19033224e-03 1.53029406e+02] [ 9.78135998e-01 2.06675986e-01 -2.31301833e-02 1.00635761e+02] [ 2.37035057e-02 -2.97900100e-04 9.99718988e-01 3.24804604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51361786499996 meters 0.017597126093224 Centerline is valid? [True, True] Translation: X:153.04, Y:100.66, Z:3.25 [[ 2.06805149e-01 -9.78368573e-01 -5.15424442e-03 1.53035748e+02] [ 9.78098256e-01 2.06869173e-01 -2.29988570e-02 1.00662653e+02] [ 2.35676131e-02 -2.85075429e-04 9.99722205e-01 3.24856755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54361786499996 meters 0.01793091107487867 Centerline is valid? [True, True] Translation: X:153.04, Y:100.69, Z:3.25 [[ 2.06954617e-01 -9.78337083e-01 -5.13202912e-03 1.53044643e+02] [ 9.78068393e-01 2.07018057e-01 -2.29290784e-02 1.00688447e+02] [ 2.34947904e-02 -2.74196839e-04 9.99723922e-01 3.24799837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57361786499996 meters 0.017968962826567868 Centerline is valid? [True, True] Translation: X:153.05, Y:100.72, Z:3.25 [[ 2.06449986e-01 -9.78444038e-01 -5.06636089e-03 1.53051402e+02] [ 9.78181581e-01 2.06511956e-01 -2.26629085e-02 1.00715764e+02] [ 2.32206518e-02 -2.77063774e-04 9.99730326e-01 3.24818238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60361786499996 meters 0.018016533949819922 Centerline is valid? [True, True] Translation: X:153.06, Y:100.74, Z:3.25 [[ 2.05781217e-01 -9.78585080e-01 -5.03309945e-03 1.53058159e+02] [ 9.78325433e-01 2.05842562e-01 -2.25430047e-02 1.00743129e+02] [ 2.30962741e-02 -2.85082253e-04 9.99733205e-01 3.24881260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63361786499996 meters 0.018184996250645992 Centerline is valid? [True, True] Translation: X:153.07, Y:100.77, Z:3.25 [[ 2.05075899e-01 -9.78733423e-01 -4.97612496e-03 1.53065277e+02] [ 9.78479058e-01 2.05136054e-01 -2.23144182e-02 1.00769640e+02] [ 2.28606495e-02 -2.92884693e-04 9.99738618e-01 3.24906986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66361786499996 meters 0.018507340028101216 Centerline is valid? [True, True] Translation: X:153.07, Y:100.80, Z:3.25 [[ 2.03640190e-01 -9.79033666e-01 -4.87379523e-03 1.53074012e+02] [ 9.78789227e-01 2.03698261e-01 -2.18784673e-02 1.00795903e+02] [ 2.24125397e-02 -3.15083019e-04 9.99748758e-01 3.24957417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69361786499996 meters 0.018626804280613644 Centerline is valid? [True, True] Translation: X:153.08, Y:100.82, Z:3.25 [[ 2.03097853e-01 -9.79147216e-01 -4.68952497e-03 1.53081138e+02] [ 9.78920350e-01 2.03151751e-01 -2.10787764e-02 1.00823453e+02] [ 2.15919104e-02 -3.09617197e-04 9.99766820e-01 3.25014370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72361786499997 meters 0.01864254734838001 Centerline is valid? [True, True] Translation: X:153.09, Y:100.85, Z:3.25 [[ 2.02367026e-01 -9.79298066e-01 -4.78388943e-03 1.53087510e+02] [ 9.79061403e-01 2.02423300e-01 -2.15308306e-02 1.00851203e+02] [ 2.20534715e-02 -3.26591330e-04 9.99756739e-01 3.25037270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75361786499997 meters 0.018862278514268752 Centerline is valid? [True, True] Translation: X:153.09, Y:100.88, Z:3.25 [[ 2.02061133e-01 -9.79360960e-01 -4.83825875e-03 1.53094224e+02] [ 9.79118265e-01 2.02118778e-01 -2.18042127e-02 1.00877539e+02] [ 2.23320976e-02 -3.31443601e-04 9.99750553e-01 3.25024037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78361786499997 meters 0.018841000395321883 Centerline is valid? [True, True] Translation: X:153.10, Y:100.90, Z:3.25 [[ 2.02066415e-01 -9.79359051e-01 -5.00123302e-03 1.53100947e+02] [ 9.79099015e-01 2.02128017e-01 -2.25695357e-02 1.00904736e+02] [ 2.31145683e-02 -3.36157171e-04 9.99732766e-01 3.24977871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81361786499997 meters 0.018768103262418318 Centerline is valid? [True, True] Translation: X:153.11, Y:100.93, Z:3.25 [[ 2.02138072e-01 -9.79344003e-01 -5.05201440e-03 1.53107437e+02] [ 9.79077965e-01 2.02200922e-01 -2.28281589e-02 1.00932539e+02] [ 2.33781425e-02 -3.31875961e-04 9.99726639e-01 3.25001276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84361786499997 meters 0.018865591431962123 Centerline is valid? [True, True] Translation: X:153.11, Y:100.96, Z:3.25 [[ 2.02444373e-01 -9.79281247e-01 -4.95121860e-03 1.53114691e+02] [ 9.79025104e-01 2.02504669e-01 -2.23987751e-02 1.00958989e+02] [ 2.29373453e-02 -3.12861313e-04 9.99736856e-01 3.25013924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87361786499997 meters 0.01848442641313686 Centerline is valid? [True, True] Translation: X:153.12, Y:100.99, Z:3.25 [[ 2.02671431e-01 -9.79234716e-01 -4.86428217e-03 1.53120241e+02] [ 9.78986968e-01 2.02729577e-01 -2.20280668e-02 1.00986141e+02] [ 2.25567816e-02 -2.97609036e-04 9.99745519e-01 3.25149707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90361786499997 meters 0.01877906820039749 Centerline is valid? [True, True] Translation: X:153.13, Y:101.01, Z:3.25 [[ 2.02695252e-01 -9.79230397e-01 -4.73969929e-03 1.53127498e+02] [ 9.78994561e-01 2.02750461e-01 -2.14918435e-02 1.01012362e+02] [ 2.20064427e-02 -2.83845178e-04 9.99757789e-01 3.25222537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93361786499997 meters 0.018499049917425146 Centerline is valid? [True, True] Translation: X:153.13, Y:101.04, Z:3.25 [[ 2.02983084e-01 -9.79172268e-01 -4.42008260e-03 1.53132723e+02] [ 9.78966627e-01 2.03031045e-01 -2.00683407e-02 1.01039522e+02] [ 2.05477766e-02 -2.53579679e-04 9.99788840e-01 3.25362860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96361786499997 meters 0.01852308085205296 Centerline is valid? [True, True] Translation: X:153.14, Y:101.07, Z:3.25 [[ 2.02702958e-01 -9.79230534e-01 -4.36722422e-03 1.53138966e+02] [ 9.79029283e-01 2.02749843e-01 -1.98535738e-02 1.01066669e+02] [ 2.03266797e-02 -2.51262262e-04 9.99793360e-01 3.25432119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99361786499998 meters 0.018557973953299375 Centerline is valid? [True, True] Translation: X:153.15, Y:101.09, Z:3.25 [[ 2.02331263e-01 -9.79308031e-01 -4.22390057e-03 1.53145537e+02] [ 9.79119319e-01 2.02375198e-01 -1.92259824e-02 1.01093901e+02] [ 1.96829717e-02 -2.45685345e-04 9.99806241e-01 3.25487650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02361786499995 meters 0.018664023076136703 Centerline is valid? [True, True] Translation: X:153.15, Y:101.12, Z:3.26 [[ 2.01257539e-01 -9.79530006e-01 -4.04608441e-03 1.53153422e+02] [ 9.79356460e-01 2.01298049e-01 -1.84396387e-02 1.01120373e+02] [ 1.88766483e-02 -2.51442592e-04 9.99821789e-01 3.25631230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05361786499995 meters 0.01846576194642661 Centerline is valid? [True, True] Translation: X:153.16, Y:101.15, Z:3.26 [[ 2.00405596e-01 -9.79704834e-01 -4.00434525e-03 1.53159944e+02] [ 9.79534422e-01 2.00445429e-01 -1.82742025e-02 1.01147984e+02] [ 1.87059772e-02 -2.60141567e-04 9.99824994e-01 3.25696423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08361786499995 meters 0.01915438287878888 Centerline is valid? [True, True] Translation: X:153.17, Y:101.17, Z:3.26 [[ 1.99051181e-01 -9.79980779e-01 -4.03728856e-03 1.53168611e+02] [ 9.79807137e-01 1.99091919e-01 -1.84494330e-02 1.01173931e+02] [ 1.88838812e-02 -2.83382720e-04 9.99821643e-01 3.25665293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11361786499995 meters 0.018942199289116814 Centerline is valid? [True, True] Translation: X:153.17, Y:101.20, Z:3.26 [[ 1.98557549e-01 -9.80080687e-01 -4.09219362e-03 1.53173755e+02] [ 9.79901807e-01 1.98599499e-01 -1.87266521e-02 1.01201172e+02] [ 1.91663377e-02 -2.91629790e-04 9.99816266e-01 3.25693279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14361786499995 meters 0.01870646230128424 Centerline is valid? [True, True] Translation: X:153.18, Y:101.23, Z:3.26 [[ 1.98038741e-01 -9.80185845e-01 -4.04549243e-03 1.53178919e+02] [ 9.80010592e-01 1.98079839e-01 -1.85368893e-02 1.01228557e+02] [ 1.89709270e-02 -2.93603224e-04 9.99819993e-01 3.25728070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17361786499995 meters 0.01867616982034228 Centerline is valid? [True, True] Translation: X:153.19, Y:101.26, Z:3.26 [[ 1.98171948e-01 -9.80159386e-01 -3.93165767e-03 1.53185531e+02] [ 9.79993416e-01 1.98210750e-01 -1.80389349e-02 1.01255559e+02] [ 1.84603281e-02 -2.78187780e-04 9.99829555e-01 3.25766110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20361786499996 meters 0.018582154496714576 Centerline is valid? [True, True] Translation: X:153.19, Y:101.28, Z:3.26 [[ 1.98173763e-01 -9.80158932e-01 -3.95330836e-03 1.53192369e+02] [ 9.79990669e-01 1.98213000e-01 -1.81630083e-02 1.01282857e+02] [ 1.85862319e-02 -2.74773604e-04 9.99827223e-01 3.25841953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23361786499996 meters 0.01881206045632011 Centerline is valid? [True, True] Translation: X:153.20, Y:101.31, Z:3.26 [[ 1.98004791e-01 -9.80193354e-01 -3.88484501e-03 1.53199950e+02] [ 9.80030442e-01 1.98042715e-01 -1.78722215e-02 1.01309324e+02] [ 1.82875980e-02 -2.68480894e-04 9.99832732e-01 3.25877849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26361786499996 meters 0.0189648241788377 Centerline is valid? [True, True] Translation: X:153.21, Y:101.34, Z:3.26 [[ 1.97545428e-01 -9.80285973e-01 -3.90060483e-03 1.53207985e+02] [ 9.80121346e-01 1.97583744e-01 -1.79669724e-02 1.01336487e+02] [ 1.83834672e-02 -2.73772806e-04 9.99830972e-01 3.25940430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29361786499996 meters 0.01894542700174123 Centerline is valid? [True, True] Translation: X:153.21, Y:101.36, Z:3.26 [[ 1.97373107e-01 -9.80320523e-01 -3.94053375e-03 1.53214745e+02] [ 9.80152064e-01 1.97412248e-01 -1.81751415e-02 1.01363766e+02] [ 1.85953739e-02 -2.75038133e-04 9.99827053e-01 3.25934702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32361786499996 meters 0.019049780159450226 Centerline is valid? [True, True] Translation: X:153.22, Y:101.39, Z:3.26 [[ 1.97126539e-01 -9.80369883e-01 -4.00257213e-03 1.53221243e+02] [ 9.80195621e-01 1.97166972e-01 -1.84859361e-02 1.01391451e+02] [ 1.89122300e-02 -2.79235078e-04 9.99821109e-01 3.25952033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35361786499996 meters 0.019096684966817438 Centerline is valid? [True, True] Translation: X:153.23, Y:101.42, Z:3.26 [[ 1.97225778e-01 -9.80349514e-01 -4.10154595e-03 1.53227989e+02] [ 9.80166025e-01 1.97268224e-01 -1.89686822e-02 1.01418095e+02] [ 1.94050431e-02 -2.79082886e-04 9.99811665e-01 3.25931830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38361786499996 meters 0.018953642687267385 Centerline is valid? [True, True] Translation: X:153.23, Y:101.45, Z:3.26 [[ 1.97302011e-01 -9.80334274e-01 -4.07770897e-03 1.53233776e+02] [ 9.80152409e-01 1.97343958e-01 -1.88843295e-02 1.01445935e+02] [ 1.93176667e-02 -2.70860079e-04 9.99813360e-01 3.26002974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41361786499996 meters 0.01890151448797851 Centerline is valid? [True, True] Translation: X:153.24, Y:101.47, Z:3.26 [[ 1.97228501e-01 -9.80349110e-01 -4.06693858e-03 1.53241022e+02] [ 9.80167723e-01 1.97270247e-01 -1.88595966e-02 1.01473009e+02] [ 1.92912747e-02 -2.66631957e-04 9.99813871e-01 3.26123500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44361786499996 meters 0.01890151448797851 Centerline is valid? [True, True] Translation: X:153.25, Y:101.50, Z:3.26 [[ 1.96956258e-01 -9.80403863e-01 -4.06169908e-03 1.53246767e+02] [ 9.80222464e-01 1.96997954e-01 -1.88607251e-02 1.01499971e+02] [ 1.92912741e-02 -2.66630841e-04 9.99813871e-01 3.26168584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47361786499997 meters 0.019122985179143286 Centerline is valid? [True, True] Translation: X:153.25, Y:101.53, Z:3.26 [[ 1.96652251e-01 -9.80465014e-01 -4.03099924e-03 1.53253943e+02] [ 9.80285874e-01 1.96693381e-01 -1.87435284e-02 1.01526175e+02] [ 1.91702447e-02 -2.65574562e-04 9.99816199e-01 3.26225026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50361786499997 meters 0.01901387337097357 Centerline is valid? [True, True] Translation: X:153.26, Y:101.55, Z:3.26 [[ 1.96491027e-01 -9.80497594e-01 -3.96790111e-03 1.53260021e+02] [ 9.80323538e-01 1.96530915e-01 -1.84759640e-02 1.01553827e+02] [ 1.88954535e-02 -2.59465717e-04 9.99821431e-01 3.26325889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53361786499997 meters 0.019602764962234523 Centerline is valid? [True, True] Translation: X:153.27, Y:101.58, Z:3.26 [[ 1.96441348e-01 -9.80507943e-01 -3.86914677e-03 1.53268650e+02] [ 9.80342018e-01 1.96479290e-01 -1.80392847e-02 1.01579912e+02] [ 1.84478691e-02 -2.49425744e-04 9.99829792e-01 3.26400066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56361786499997 meters 0.019105661529596064 Centerline is valid? [True, True] Translation: X:153.27, Y:101.61, Z:3.26 [[ 1.96327433e-01 -9.80531019e-01 -3.80250283e-03 1.53272770e+02] [ 9.80370441e-01 1.96364102e-01 -1.77464998e-02 1.01608226e+02] [ 1.81476686e-02 -2.43736617e-04 9.99835288e-01 3.26475158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59361786499997 meters 0.019102689354899158 Centerline is valid? [True, True] Translation: X:153.28, Y:101.63, Z:3.27 [[ 1.96627109e-01 -9.80471187e-01 -3.74580139e-03 1.53279524e+02] [ 9.80314930e-01 1.96662650e-01 -1.75054139e-02 1.01634909e+02] [ 1.79002132e-02 -2.30026106e-04 9.99839752e-01 3.26557013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62361786499997 meters 0.01915999343571109 Centerline is valid? [True, True] Translation: X:153.29, Y:101.66, Z:3.27 [[ 1.96523283e-01 -9.80491523e-01 -3.86942785e-03 1.53285917e+02] [ 9.80324293e-01 1.96561233e-01 -1.81097067e-02 1.01660883e+02] [ 1.85169934e-02 -2.34315114e-04 9.99828518e-01 3.26606212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65361786499997 meters 0.019276437716088026 Centerline is valid? [True, True] Translation: X:153.29, Y:101.69, Z:3.27 [[ 1.96859190e-01 -9.80424152e-01 -3.86543695e-03 1.53292570e+02] [ 9.80256784e-01 1.96897011e-01 -1.81164069e-02 1.01688128e+02] [ 1.85228558e-02 -2.22739599e-04 9.99828412e-01 3.26661486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68361786499997 meters 0.01918854162025945 Centerline is valid? [True, True] Translation: X:153.30, Y:101.72, Z:3.27 [[ 1.97200096e-01 -9.80355599e-01 -3.87574406e-03 1.53298951e+02] [ 9.80186877e-01 1.97238064e-01 -1.81887843e-02 1.01715953e+02] [ 1.85959207e-02 -2.12123473e-04 9.99827058e-01 3.26703937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71361786499997 meters 0.01920636628471661 Centerline is valid? [True, True] Translation: X:153.31, Y:101.74, Z:3.27 [[ 1.97427169e-01 -9.80309443e-01 -3.98867040e-03 1.53305956e+02] [ 9.80130244e-01 1.97467347e-01 -1.87443582e-02 1.01742517e+02] [ 1.91629035e-02 -2.08770926e-04 9.99816353e-01 3.26711458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74361786499998 meters 0.019339614347194577 Centerline is valid? [True, True] Translation: X:153.31, Y:101.77, Z:3.27 [[ 1.97506583e-01 -9.80292934e-01 -4.11267523e-03 1.53312715e+02] [ 9.80101872e-01 1.97549288e-01 -1.93545567e-02 1.01769457e+02] [ 1.97855912e-02 -2.08188338e-04 9.99804224e-01 3.26805564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77361786499995 meters 0.01927677981059322 Centerline is valid? [True, True] Translation: X:153.32, Y:101.80, Z:3.27 [[ 1.97283032e-01 -9.80337052e-01 -4.32082160e-03 1.53320785e+02] [ 9.80125590e-01 1.97330223e-01 -2.03619836e-02 1.01796436e+02] [ 2.08142357e-02 -2.17873953e-04 9.99783337e-01 3.26866102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80361786499995 meters 0.019529765719668905 Centerline is valid? [True, True] Translation: X:153.33, Y:101.82, Z:3.27 [[ 1.97192439e-01 -9.80355312e-01 -4.31330057e-03 1.53328378e+02] [ 9.80144022e-01 1.97239491e-01 -2.03538791e-02 1.01822314e+02] [ 2.08047867e-02 -2.14024712e-04 9.99783534e-01 3.26914660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83361786499995 meters 0.01939653490993163 Centerline is valid? [True, True] Translation: X:153.33, Y:101.85, Z:3.27 [[ 1.97143501e-01 -9.80364980e-01 -4.35263356e-03 1.53334633e+02] [ 9.80149216e-01 1.97191432e-01 -2.05682685e-02 1.01849345e+02] [ 2.10227122e-02 -2.11329901e-04 9.99778976e-01 3.26986231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86361786499995 meters 0.01953342198273967 Centerline is valid? [True, True] Translation: X:153.34, Y:101.88, Z:3.27 [[ 1.97426349e-01 -9.80308118e-01 -4.33952158e-03 1.53343685e+02] [ 9.80093055e-01 1.97473935e-01 -2.05340778e-02 1.01875535e+02] [ 2.09866655e-02 -1.99166963e-04 9.99779736e-01 3.27049928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89361786499995 meters 0.01938915332492696 Centerline is valid? [True, True] Translation: X:153.35, Y:101.90, Z:3.27 [[ 1.97150514e-01 -9.80363883e-01 -4.28152705e-03 1.53349418e+02] [ 9.80153960e-01 1.97196902e-01 -2.02878656e-02 1.01903209e+02] [ 2.07337946e-02 -1.96792545e-04 9.99785012e-01 3.27200189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92361786499995 meters 0.0195244196128319 Centerline is valid? [True, True] Translation: X:153.36, Y:101.93, Z:3.27 [[ 1.97010808e-01 -9.80392052e-01 -4.26212043e-03 1.53357633e+02] [ 9.80183461e-01 1.97056811e-01 -2.02236609e-02 1.01930438e+02] [ 2.06669963e-02 -1.93380182e-04 9.99786396e-01 3.27346852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95361786499996 meters 0.019540785510480666 Centerline is valid? [True, True] Translation: X:153.37, Y:101.96, Z:3.27 [[ 1.96673150e-01 -9.80459788e-01 -4.27512263e-03 1.53365068e+02] [ 9.80249357e-01 1.96719512e-01 -2.03133359e-02 1.01957335e+02] [ 2.07574090e-02 -1.95598459e-04 9.99784523e-01 3.27383415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98361786499996 meters 0.01966291658475796 Centerline is valid? [True, True] Translation: X:153.37, Y:101.98, Z:3.27 [[ 1.96354315e-01 -9.80523275e-01 -4.36930980e-03 1.53372536e+02] [ 9.80302869e-01 1.96402819e-01 -2.07898489e-02 1.01984483e+02] [ 2.12430755e-02 -2.01070389e-04 9.99774320e-01 3.27480982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01361786499996 meters 0.019690852921018277 Centerline is valid? [True, True] Translation: X:153.38, Y:102.01, Z:3.28 [[ 1.96067520e-01 -9.80580654e-01 -4.37142989e-03 1.53379788e+02] [ 9.80359441e-01 1.96116142e-01 -2.08284694e-02 1.02011222e+02] [ 2.12813021e-02 -2.01786230e-04 9.99773507e-01 3.27537949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04361786499996 meters 0.019755901589098426 Centerline is valid? [True, True] Translation: X:153.39, Y:102.04, Z:3.28 [[ 1.96183489e-01 -9.80557370e-01 -4.39132288e-03 1.53387066e+02] [ 9.80333510e-01 1.96232533e-01 -2.09523752e-02 1.02037660e+02] [ 2.14067264e-02 -1.94450902e-04 9.99770831e-01 3.27590047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07361786499996 meters 0.019669453706665403 Centerline is valid? [True, True] Translation: X:153.39, Y:102.06, Z:3.28 [[ 1.97339384e-01 -9.80325157e-01 -4.44450039e-03 1.53394709e+02] [ 9.80095124e-01 1.97389358e-01 -2.12365104e-02 1.02064513e+02] [ 2.16959825e-02 -1.65233278e-04 9.99764601e-01 3.27674289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10361786499996 meters 0.019645760412632277 Centerline is valid? [True, True] Translation: X:153.40, Y:102.09, Z:3.28 [[ 1.97665232e-01 -9.80259133e-01 -4.52637673e-03 1.53401120e+02] [ 9.80019876e-01 1.97716990e-01 -2.16572202e-02 1.02091768e+02] [ 2.21246295e-02 -1.55059711e-04 9.99755208e-01 3.27748681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13361786499996 meters 0.019623785673840807 Centerline is valid? [True, True] Translation: X:153.41, Y:102.12, Z:3.28 [[ 1.98295779e-01 -9.80131251e-01 -4.63847260e-03 1.53407629e+02] [ 9.79879268e-01 1.98349974e-01 -2.22240440e-02 1.02119061e+02] [ 2.27025210e-02 -1.38209011e-04 9.99742255e-01 3.27759162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16361786499996 meters 0.01948989928170964 Centerline is valid? [True, True] Translation: X:153.42, Y:102.14, Z:3.28 [[ 1.98986143e-01 -9.79990827e-01 -4.74281549e-03 1.53415382e+02] [ 9.79726671e-01 1.99042621e-01 -2.27526740e-02 1.02144918e+02] [ 2.32414342e-02 -1.19195997e-04 9.99729874e-01 3.27772009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19361786499996 meters 0.01949600437153956 Centerline is valid? [True, True] Translation: X:153.42, Y:102.17, Z:3.28 [[ 1.99114617e-01 -9.79964239e-01 -4.84344760e-03 1.53422297e+02] [ 9.79688122e-01 1.99173484e-01 -2.32617148e-02 1.02171483e+02] [ 2.37603350e-02 -1.13320651e-04 9.99717677e-01 3.27843988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22361786499997 meters 0.019520030376078745 Centerline is valid? [True, True] Translation: X:153.43, Y:102.20, Z:3.28 [[ 1.99524691e-01 -9.79880339e-01 -4.94161654e-03 1.53430732e+02] [ 9.79592069e-01 1.99585852e-01 -2.37669311e-02 1.02198637e+02] [ 2.42750252e-02 -9.86787876e-05 9.99705313e-01 3.27990368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25361786499997 meters 0.019614579830916204 Centerline is valid? [True, True] Translation: X:153.44, Y:102.22, Z:3.28 [[ 1.99044189e-01 -9.79978079e-01 -4.93716627e-03 1.53438229e+02] [ 9.79689547e-01 1.99105384e-01 -2.37789477e-02 1.02224329e+02] [ 2.42858638e-02 -1.03828839e-04 9.99705050e-01 3.27928344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28361786499997 meters 0.019512456028537944 Centerline is valid? [True, True] Translation: X:153.44, Y:102.25, Z:3.28 [[ 1.98452916e-01 -9.80097735e-01 -4.98693517e-03 1.53444782e+02] [ 9.79802541e-01 1.98515532e-01 -2.40533786e-02 1.02251924e+02] [ 2.45646459e-02 -1.12748642e-04 9.99698237e-01 3.28123867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31361786499997 meters 0.019498189125831858 Centerline is valid? [True, True] Translation: X:153.45, Y:102.28, Z:3.28 [[ 1.97260462e-01 -9.80339063e-01 -4.86120288e-03 1.53453965e+02] [ 9.80057874e-01 1.97320307e-01 -2.34789365e-02 1.02278672e+02] [ 2.39765327e-02 -1.32794296e-04 9.99712513e-01 3.28257419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34361786499997 meters 0.019537742677361785 Centerline is valid? [True, True] Translation: X:153.46, Y:102.31, Z:3.28 [[ 1.96303521e-01 -9.80530943e-01 -4.89881804e-03 1.53461417e+02] [ 9.80244640e-01 1.96364579e-01 -2.36938126e-02 1.02305510e+02] [ 2.41944707e-02 -1.50861289e-04 9.99707260e-01 3.28325882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37361786499997 meters 0.01964496858555851 Centerline is valid? [True, True] Translation: X:153.47, Y:102.33, Z:3.28 [[ 1.95106311e-01 -9.80770035e-01 -4.86470947e-03 1.53469217e+02] [ 9.80486984e-01 1.95166873e-01 -2.35619672e-02 1.02331947e+02] [ 2.40583016e-02 -1.72695805e-04 9.99710542e-01 3.28394097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40361786499997 meters 0.019692165457682407 Centerline is valid? [True, True] Translation: X:153.48, Y:102.36, Z:3.29 [[ 1.94063245e-01 -9.80976940e-01 -4.86819049e-03 1.53476272e+02] [ 9.80692729e-01 1.94124201e-01 -2.36128292e-02 1.02358756e+02] [ 2.41086745e-02 -1.91816760e-04 9.99709325e-01 3.28543297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43361786499997 meters 0.019784236061815213 Centerline is valid? [True, True] Translation: X:153.48, Y:102.39, Z:3.29 [[ 1.92494354e-01 -9.81285795e-01 -4.91050503e-03 1.53484965e+02] [ 9.80995909e-01 1.92556844e-01 -2.38513723e-02 1.02385740e+02] [ 2.43505642e-02 -2.25930854e-04 9.99703456e-01 3.28668028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46361786499997 meters 0.019922660569536874 Centerline is valid? [True, True] Translation: X:153.49, Y:102.41, Z:3.29 [[ 1.91424608e-01 -9.81495171e-01 -4.88355824e-03 1.53491858e+02] [ 9.81207710e-01 1.91486735e-01 -2.37541496e-02 1.02411993e+02] [ 2.42497198e-02 -2.44656215e-04 9.99705902e-01 3.28712939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49361786499998 meters 0.020005667712114948 Centerline is valid? [True, True] Translation: X:153.50, Y:102.44, Z:3.29 [[ 1.90116636e-01 -9.81748996e-01 -4.95725404e-03 1.53498606e+02] [ 9.81452011e-01 1.90181057e-01 -2.41477861e-02 1.02439066e+02] [ 2.46498406e-02 -2.74411069e-04 9.99696109e-01 3.28821163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52361786499995 meters 0.02011746214018937 Centerline is valid? [True, True] Translation: X:153.50, Y:102.47, Z:3.29 [[ 1.89167744e-01 -9.81932377e-01 -4.93679892e-03 1.53504921e+02] [ 9.81637090e-01 1.89231929e-01 -2.40811335e-02 1.02466259e+02] [ 2.45802446e-02 -2.90771221e-04 9.99697818e-01 3.28841487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55361786499995 meters 0.020129927884225973 Centerline is valid? [True, True] Translation: X:153.51, Y:102.49, Z:3.29 [[ 1.88476000e-01 -9.82064849e-01 -5.04272848e-03 1.53511162e+02] [ 9.81755922e-01 1.88543196e-01 -2.46327491e-02 1.02493131e+02] [ 2.51417292e-02 -3.08046509e-04 9.99683849e-01 3.28889340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58361786499995 meters 0.02028821945798197 Centerline is valid? [True, True] Translation: X:153.52, Y:102.52, Z:3.29 [[ 1.87336486e-01 -9.82282548e-01 -5.10259484e-03 1.53518245e+02] [ 9.81965395e-01 1.87405666e-01 -2.49615782e-02 1.02519229e+02] [ 2.54755778e-02 -3.34357223e-04 9.99675389e-01 3.28923289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61361786499995 meters 0.020406309929961636 Centerline is valid? [True, True] Translation: X:153.52, Y:102.55, Z:3.29 [[ 1.86631322e-01 -9.82416461e-01 -5.16204437e-03 1.53524287e+02] [ 9.82090999e-01 1.86702369e-01 -2.52882571e-02 1.02546174e+02] [ 2.58073659e-02 -3.50016459e-04 9.99666873e-01 3.28973955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64361786499995 meters 0.020558694238574798 Centerline is valid? [True, True] Translation: X:153.53, Y:102.57, Z:3.29 [[ 1.86173464e-01 -9.82502911e-01 -5.24134959e-03 1.53530347e+02] [ 9.82166466e-01 1.86246880e-01 -2.57125060e-02 1.02573105e+02] [ 2.62387970e-02 -3.60891495e-04 9.99655638e-01 3.28971102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67361786499995 meters 0.020821695219044804 Centerline is valid? [True, True] Translation: X:153.54, Y:102.60, Z:3.29 [[ 1.84706342e-01 -9.82779256e-01 -5.33867033e-03 1.53536984e+02] [ 9.82429304e-01 1.84783045e-01 -2.62276360e-02 1.02598941e+02] [ 2.67624724e-02 -4.00455476e-04 9.99641741e-01 3.29034584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70361786499996 meters 0.020585308334271822 Centerline is valid? [True, True] Translation: X:153.54, Y:102.63, Z:3.29 [[ 1.84330975e-01 -9.82849972e-01 -5.29377056e-03 1.53541800e+02] [ 9.82504948e-01 1.84406540e-01 -2.60433325e-02 1.02626581e+02] [ 2.65728945e-02 -4.00562902e-04 9.99646798e-01 3.29176585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73361786499996 meters 0.020837780653026185 Centerline is valid? [True, True] Translation: X:153.55, Y:102.65, Z:3.29 [[ 1.83671105e-01 -9.82973550e-01 -5.28449119e-03 1.53548425e+02] [ 9.82628815e-01 1.83746651e-01 -2.60342195e-02 1.02652914e+02] [ 2.65619567e-02 -4.10959440e-04 9.99647085e-01 3.29209416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76361786499996 meters 0.021156894584351833 Centerline is valid? [True, True] Translation: X:153.56, Y:102.68, Z:3.29 [[ 1.82889148e-01 -9.83120217e-01 -5.11844784e-03 1.53555126e+02] [ 9.82795912e-01 1.82960294e-01 -2.52532192e-02 1.02678500e+02] [ 2.57634231e-02 -4.11849874e-04 9.99667983e-01 3.29291648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79361786499996 meters 0.0213270372465569 Centerline is valid? [True, True] Translation: X:153.56, Y:102.70, Z:3.29 [[ 1.82491482e-01 -9.83195122e-01 -4.92050400e-03 1.53560769e+02] [ 9.82894529e-01 1.82557369e-01 -2.43136296e-02 1.02704119e+02] [ 2.48033162e-02 -3.99306165e-04 9.99692271e-01 3.29375014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82361786499996 meters 0.021331280989366822 Centerline is valid? [True, True] Translation: X:153.57, Y:102.73, Z:3.29 [[ 1.82047397e-01 -9.83278027e-01 -4.80279632e-03 1.53566295e+02] [ 9.82990811e-01 1.82110314e-01 -2.37676150e-02 1.02730840e+02] [ 2.42448123e-02 -3.94272201e-04 9.99705974e-01 3.29466482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85361786499996 meters 0.02104482470866172 Centerline is valid? [True, True] Translation: X:153.57, Y:102.76, Z:3.30 [[ 1.81914347e-01 -9.83302931e-01 -4.74510778e-03 1.53571321e+02] [ 9.83021771e-01 1.81975812e-01 -2.35159922e-02 1.02758132e+02] [ 2.39868389e-02 -3.86647890e-04 9.99712200e-01 3.29538217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88361786499996 meters 0.021050476074203947 Centerline is valid? [True, True] Translation: X:153.58, Y:102.78, Z:3.30 [[ 1.82028746e-01 -9.83281717e-01 -4.75391793e-03 1.53577070e+02] [ 9.82998671e-01 1.82090420e-01 -2.35943140e-02 1.02783452e+02] [ 2.40655005e-02 -3.78251609e-04 9.99710312e-01 3.29570346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91361786499996 meters 0.02102647415312907 Centerline is valid? [True, True] Translation: X:153.58, Y:102.81, Z:3.30 [[ 1.81959885e-01 -9.83294906e-01 -4.66139029e-03 1.53582368e+02] [ 9.83021941e-01 1.82019214e-01 -2.31704334e-02 1.02810042e+02] [ 2.36318317e-02 -3.66159523e-04 9.99720662e-01 3.29616165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94361786499996 meters 0.02125002741226825 Centerline is valid? [True, True] Translation: X:153.59, Y:102.84, Z:3.30 [[ 1.82860157e-01 -9.83128083e-01 -4.61902043e-03 1.53588707e+02] [ 9.82859200e-01 1.82918179e-01 -2.29941888e-02 1.02835905e+02] [ 2.34511356e-02 -3.35125744e-04 9.99724928e-01 3.29602701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97361786499997 meters 0.02074717719585226 Centerline is valid? [True, True] Translation: X:153.59, Y:102.86, Z:3.30 [[ 1.83180380e-01 -9.83068338e-01 -4.64665999e-03 1.53592548e+02] [ 9.82795368e-01 1.83239020e-01 -2.31673468e-02 1.02863276e+02] [ 2.36265346e-02 -3.22912528e-04 9.99720802e-01 3.29731329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00361786499997 meters 0.020254331056318464 Centerline is valid? [True, True] Translation: X:153.60, Y:102.89, Z:3.30 [[ 1.83582994e-01 -9.82993083e-01 -4.67795976e-03 1.53596658e+02] [ 9.82715597e-01 1.83642325e-01 -2.33570530e-02 1.02891524e+02] [ 2.38188929e-02 -3.09146310e-04 9.99716242e-01 3.29827290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03361786499997 meters 0.02010504465329816 Centerline is valid? [True, True] Translation: X:153.60, Y:102.92, Z:3.30 [[ 1.85108307e-01 -9.82706748e-01 -4.72894153e-03 1.53600841e+02] [ 9.82422261e-01 1.85168507e-01 -2.36458478e-02 1.02917189e+02] [ 2.41125852e-02 -2.68774594e-04 9.99709213e-01 3.29806811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06361786499997 meters 0.019994296431667974 Centerline is valid? [True, True] Translation: X:153.61, Y:102.94, Z:3.30 [[ 1.85603661e-01 -9.82612632e-01 -4.86800996e-03 1.53605582e+02] [ 9.82310143e-01 1.85667311e-01 -2.43809988e-02 1.02943255e+02] [ 2.48609077e-02 -2.56692931e-04 9.99690887e-01 3.29846976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09361786499997 meters 0.019617400777930977 Centerline is valid? [True, True] Translation: X:153.61, Y:102.97, Z:3.30 [[ 1.87357973e-01 -9.82279837e-01 -4.82817682e-03 1.53609048e+02] [ 9.81981283e-01 1.87420062e-01 -2.42173599e-02 1.02971681e+02] [ 2.46931215e-02 -2.03863825e-04 9.99695058e-01 3.29918799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12361786499997 meters 0.019604486130812546 Centerline is valid? [True, True] Translation: X:153.61, Y:103.00, Z:3.30 [[ 1.88075650e-01 -9.82142753e-01 -4.81284917e-03 1.53613679e+02] [ 9.81845245e-01 1.88137135e-01 -2.41729811e-02 1.02998489e+02] [ 2.46467939e-02 -1.79123939e-04 9.99696206e-01 3.29921775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15361786499997 meters 0.019450198584458574 Centerline is valid? [True, True] Translation: X:153.62, Y:103.03, Z:3.30 [[ 1.88429655e-01 -9.82074811e-01 -4.83021944e-03 1.53618074e+02] [ 9.81774263e-01 1.88491482e-01 -2.42952304e-02 1.03026046e+02] [ 2.47701890e-02 -1.64243261e-04 9.99693158e-01 3.30017540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18361786499997 meters 0.019401852401495886 Centerline is valid? [True, True] Translation: X:153.62, Y:103.05, Z:3.30 [[ 1.88787703e-01 -9.82006363e-01 -4.76503799e-03 1.53623321e+02] [ 9.81713027e-01 1.88847771e-01 -2.40010854e-02 1.03053879e+02] [ 2.44690854e-02 -1.46790091e-04 9.99700576e-01 3.30125011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21361786499997 meters 0.0193696045669463 Centerline is valid? [True, True] Translation: X:153.63, Y:103.08, Z:3.30 [[ 1.88165285e-01 -9.82125962e-01 -4.73504221e-03 1.53629270e+02] [ 9.81835515e-01 1.88224789e-01 -2.38841188e-02 1.03081335e+02] [ 2.43484655e-02 -1.54870592e-04 9.99703520e-01 3.30149451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24361786499998 meters 0.01947962570669619 Centerline is valid? [True, True] Translation: X:153.64, Y:103.11, Z:3.30 [[ 1.87671589e-01 -9.82220202e-01 -4.78010325e-03 1.53635315e+02] [ 9.81923359e-01 1.87732385e-01 -2.41468191e-02 1.03107665e+02] [ 2.46148737e-02 -1.62023128e-04 9.99696995e-01 3.30153288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27361786499995 meters 0.019424762701563715 Centerline is valid? [True, True] Translation: X:153.64, Y:103.13, Z:3.30 [[ 1.86422370e-01 -9.82458153e-01 -4.76202498e-03 1.53641244e+02] [ 9.82162746e-01 1.86483089e-01 -2.40914426e-02 1.03134810e+02] [ 2.45568713e-02 -1.85899704e-04 9.99698417e-01 3.30203653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30361786499995 meters 0.019475341231811678 Centerline is valid? [True, True] Translation: X:153.65, Y:103.16, Z:3.30 [[ 1.85191326e-01 -9.82690537e-01 -4.84579579e-03 1.53647727e+02] [ 9.82383793e-01 1.85254590e-01 -2.45523863e-02 1.03160995e+02] [ 2.50251035e-02 -2.13542295e-04 9.99686800e-01 3.30140100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33361786499995 meters 0.019510754026894703 Centerline is valid? [True, True] Translation: X:153.65, Y:103.19, Z:3.30 [[ 1.84096843e-01 -9.82896162e-01 -4.84638552e-03 1.53653340e+02] [ 9.82588490e-01 1.84160473e-01 -2.45922540e-02 1.03188242e+02] [ 2.50641447e-02 -2.34646325e-04 9.99685817e-01 3.30206818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36361786499995 meters 0.019510754026894703 Centerline is valid? [True, True] Translation: X:153.66, Y:103.22, Z:3.30 [[ 1.83835278e-01 -9.82945149e-01 -4.83983495e-03 1.53658592e+02] [ 9.82637461e-01 1.83898826e-01 -2.45935434e-02 1.03215317e+02] [ 2.50641441e-02 -2.34642253e-04 9.99685817e-01 3.30251900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39361786499995 meters 0.019529732129178596 Centerline is valid? [True, True] Translation: X:153.66, Y:103.24, Z:3.30 [[ 1.82089571e-01 -9.83269656e-01 -4.91641422e-03 1.53664169e+02] [ 9.82951369e-01 1.82155719e-01 -2.50179854e-02 1.03243274e+02] [ 2.54949789e-02 -2.77081873e-04 9.99674912e-01 3.30277492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42361786499995 meters 0.019623057733882742 Centerline is valid? [True, True] Translation: X:153.67, Y:103.27, Z:3.30 [[ 1.80756194e-01 -9.83515709e-01 -4.90398589e-03 1.53669941e+02] [ 9.83198315e-01 1.80822448e-01 -2.49863046e-02 1.03269897e+02] [ 2.54611738e-02 -3.05161335e-04 9.99675765e-01 3.30325749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45361786499996 meters 0.019828550718522374 Centerline is valid? [True, True] Translation: X:153.68, Y:103.30, Z:3.30 [[ 1.78727941e-01 -9.83886403e-01 -4.88569166e-03 1.53676921e+02] [ 9.83570778e-01 1.78794361e-01 -2.49219211e-02 1.03297323e+02] [ 2.53938734e-02 -3.51179907e-04 9.99677462e-01 3.30366478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48361786499996 meters 0.020006455137546984 Centerline is valid? [True, True] Translation: X:153.68, Y:103.32, Z:3.30 [[ 1.77442958e-01 -9.84119193e-01 -4.83839476e-03 1.53683136e+02] [ 9.83808869e-01 1.77508515e-01 -2.47151047e-02 1.03324197e+02] [ 2.51814652e-02 -3.74534389e-04 9.99682826e-01 3.30432407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51361786499996 meters 0.020100015891017755 Centerline is valid? [True, True] Translation: X:153.69, Y:103.35, Z:3.31 [[ 1.76227596e-01 -9.84338018e-01 -4.74347153e-03 1.53689492e+02] [ 9.84038960e-01 1.76290989e-01 -2.42654385e-02 1.03351982e+02] [ 2.47216249e-02 -3.91520909e-04 9.99694297e-01 3.30519804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54361786499996 meters 0.020121539862689605 Centerline is valid? [True, True] Translation: X:153.69, Y:103.38, Z:3.31 [[ 1.75204414e-01 -9.84521057e-01 -4.65849091e-03 1.53694925e+02] [ 9.84231873e-01 1.75265869e-01 -2.38640848e-02 1.03379339e+02] [ 2.43111684e-02 -4.03942256e-04 9.99704358e-01 3.30635181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57361786499996 meters 0.020324647390638446 Centerline is valid? [True, True] Translation: X:153.70, Y:103.41, Z:3.31 [[ 1.73657345e-01 -9.84796531e-01 -4.34963658e-03 1.53700996e+02] [ 9.84543811e-01 1.73711331e-01 -2.23127439e-02 1.03405658e+02] [ 2.27290939e-02 -4.07635906e-04 9.99741578e-01 3.30749455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60361786499996 meters 0.020329122255177322 Centerline is valid? [True, True] Translation: X:153.71, Y:103.43, Z:3.31 [[ 1.73195782e-01 -9.84878331e-01 -4.23008850e-03 1.53706254e+02] [ 9.84638639e-01 1.73246967e-01 -2.17310826e-02 1.03433514e+02] [ 2.21353224e-02 -4.01376728e-04 9.99754903e-01 3.30800777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63361786499996 meters 0.01988096074677018 Centerline is valid? [True, True] Translation: X:153.71, Y:103.46, Z:3.31 [[ 1.72536383e-01 -9.84994801e-01 -4.05455208e-03 1.53709399e+02] [ 9.84774008e-01 1.72583567e-01 -2.08582490e-02 1.03461064e+02] [ 2.12450159e-02 -3.94010664e-04 9.99774222e-01 3.30953437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66361786499996 meters 0.02008878699031292 Centerline is valid? [True, True] Translation: X:153.71, Y:103.49, Z:3.31 [[ 1.72285016e-01 -9.85038941e-01 -4.01977941e-03 1.53714948e+02] [ 9.84821280e-01 1.72331462e-01 -2.07102347e-02 1.03487596e+02] [ 2.10931221e-02 -3.90701178e-04 9.99777439e-01 3.30986866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69361786499996 meters 0.020583876200578284 Centerline is valid? [True, True] Translation: X:153.72, Y:103.51, Z:3.31 [[ 1.72362000e-01 -9.85025646e-01 -3.97721659e-03 1.53720682e+02] [ 9.84811948e-01 1.72407462e-01 -2.05205746e-02 1.03514109e+02] [ 2.08989941e-02 -3.79843137e-04 9.99781520e-01 3.30951286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72361786499997 meters 0.020194472225810476 Centerline is valid? [True, True] Translation: X:153.72, Y:103.54, Z:3.31 [[ 1.72705298e-01 -9.84965618e-01 -3.95105974e-03 1.53724416e+02] [ 9.84754229e-01 1.72750099e-01 -2.04086136e-02 1.03541656e+02] [ 2.07843286e-02 -3.66147091e-04 9.99783915e-01 3.30990355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75361786499997 meters 0.020007781096852518 Centerline is valid? [True, True] Translation: X:153.73, Y:103.57, Z:3.31 [[ 1.72659014e-01 -9.84973674e-01 -3.96558844e-03 1.53728562e+02] [ 9.84760119e-01 1.72704166e-01 -2.05129214e-02 1.03569100e+02] [ 2.08895613e-02 -3.63412541e-04 9.99781723e-01 3.31065677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78361786499997 meters 0.01994185663397107 Centerline is valid? [True, True] Translation: X:153.73, Y:103.60, Z:3.31 [[ 1.72356189e-01 -9.85026738e-01 -3.95858107e-03 1.53731924e+02] [ 9.84813333e-01 1.72401258e-01 -2.05062097e-02 1.03597154e+02] [ 2.08816292e-02 -3.64091262e-04 9.99781889e-01 3.31039693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81361786499997 meters 0.01979172534250306 Centerline is valid? [True, True] Translation: X:153.74, Y:103.62, Z:3.31 [[ 1.72247940e-01 -9.85045579e-01 -3.98183243e-03 1.53736066e+02] [ 9.84829024e-01 1.72293575e-01 -2.06571262e-02 1.03624510e+02] [ 2.10342550e-02 -3.63276708e-04 9.99778690e-01 3.31039703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84361786499997 meters 0.019845776665165946 Centerline is valid? [True, True] Translation: X:153.74, Y:103.65, Z:3.31 [[ 1.71759903e-01 -9.85131046e-01 -3.91883008e-03 1.53740521e+02] [ 9.84920697e-01 1.71804220e-01 -2.03600113e-02 1.03652298e+02] [ 2.07305508e-02 -3.62703281e-04 9.99785033e-01 3.31024285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87361786499997 meters 0.02013315576883165 Centerline is valid? [True, True] Translation: X:153.75, Y:103.68, Z:3.31 [[ 1.70490831e-01 -9.85351968e-01 -3.79151243e-03 1.53745425e+02] [ 9.85154561e-01 1.70532580e-01 -1.97264017e-02 1.03679648e+02] [ 2.00840252e-02 -3.72055132e-04 9.99798226e-01 3.31023551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90361786499997 meters 0.020290217150571818 Centerline is valid? [True, True] Translation: X:153.75, Y:103.71, Z:3.31 [[ 1.69586345e-01 -9.85508215e-01 -3.74558649e-03 1.53750636e+02] [ 9.85315079e-01 1.69627275e-01 -1.95136714e-02 1.03705795e+02] [ 1.98662371e-02 -3.81330637e-04 9.99802574e-01 3.31090822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93361786499997 meters 0.02074267695311224 Centerline is valid? [True, True] Translation: X:153.76, Y:103.73, Z:3.31 [[ 1.68268146e-01 -9.85734636e-01 -3.61359731e-03 1.53756143e+02] [ 9.85554395e-01 1.68306494e-01 -1.88536206e-02 1.03732565e+02] [ 1.91928588e-02 -3.88932913e-04 9.99815724e-01 3.31207155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96361786499997 meters 0.020815078789518476 Centerline is valid? [True, True] Translation: X:153.76, Y:103.76, Z:3.31 [[ 1.67722734e-01 -9.85828062e-01 -3.48088217e-03 1.53760751e+02] [ 9.85660412e-01 1.67758418e-01 -1.81842223e-02 1.03760143e+02] [ 1.85104639e-02 -3.81060276e-04 9.99828594e-01 3.31271312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99361786499998 meters 0.02065637386747797 Centerline is valid? [True, True] Translation: X:153.76, Y:103.79, Z:3.31 [[ 1.66978521e-01 -9.85954614e-01 -3.41663430e-03 1.53764378e+02] [ 9.85792663e-01 1.67013032e-01 -1.78737999e-02 1.03788273e+02] [ 1.81933780e-02 -3.83552341e-04 9.99834413e-01 3.31318386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02361786499995 meters 0.020647088631176005 Centerline is valid? [True, True] Translation: X:153.77, Y:103.82, Z:3.31 [[ 1.66887581e-01 -9.85970258e-01 -3.34441978e-03 1.53768679e+02] [ 9.85814639e-01 1.66920672e-01 -1.75210616e-02 1.03816256e+02] [ 1.78334984e-02 -3.72930386e-04 9.99840901e-01 3.31336937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05361786499995 meters 0.020648173547941902 Centerline is valid? [True, True] Translation: X:153.77, Y:103.84, Z:3.31 [[ 1.66959949e-01 -9.85958156e-01 -3.30005735e-03 1.53771576e+02] [ 9.85806198e-01 1.66992166e-01 -1.73134658e-02 1.03844313e+02] [ 1.76214365e-02 -3.62561634e-04 9.99844665e-01 3.31295246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08361786499995 meters 0.020881830570830207 Centerline is valid? [True, True] Translation: X:153.78, Y:103.87, Z:3.31 [[ 1.67203926e-01 -9.85916764e-01 -3.31378765e-03 1.53776242e+02] [ 9.85763080e-01 1.67236382e-01 -1.74109753e-02 1.03870528e+02] [ 1.77199583e-02 -3.55426094e-04 9.99842926e-01 3.31304279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11361786499995 meters 0.020305648723134867 Centerline is valid? [True, True] Translation: X:153.78, Y:103.90, Z:3.31 [[ 1.67137040e-01 -9.85928230e-01 -3.27653996e-03 1.53778846e+02] [ 9.85777529e-01 1.67168791e-01 -1.72411764e-02 1.03898656e+02] [ 1.75462978e-02 -3.48300275e-04 9.99845991e-01 3.31328896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14361786499995 meters 0.020380097684430432 Centerline is valid? [True, True] Translation: X:153.78, Y:103.93, Z:3.31 [[ 1.67879964e-01 -9.85802069e-01 -3.25561468e-03 1.53782435e+02] [ 9.85652820e-01 1.67911206e-01 -1.71564666e-02 1.03925936e+02] [ 1.74595345e-02 -3.28678803e-04 9.99847517e-01 3.31404205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17361786499995 meters 0.020014890233430175 Centerline is valid? [True, True] Translation: X:153.79, Y:103.95, Z:3.31 [[ 1.68204085e-01 -9.85747008e-01 -3.19706675e-03 1.53785142e+02] [ 9.85602637e-01 1.68234175e-01 -1.68731986e-02 1.03954173e+02] [ 1.71705609e-02 -3.12896483e-04 9.99852526e-01 3.31467677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20361786499996 meters 0.019759204233338358 Centerline is valid? [True, True] Translation: X:153.79, Y:103.98, Z:3.32 [[ 1.69777694e-01 -9.85477696e-01 -3.04070592e-03 1.53786735e+02] [ 9.85346684e-01 1.69804711e-01 -1.60708435e-02 1.03982222e+02] [ 1.63537840e-02 -2.67678738e-04 9.99866232e-01 3.31529717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23361786499996 meters 0.01960301453409842 Centerline is valid? [True, True] Translation: X:153.79, Y:104.01, Z:3.32 [[ 1.70538870e-01 -9.85346530e-01 -2.95126593e-03 1.53790316e+02] [ 9.85222728e-01 1.70564231e-01 -1.56211210e-02 1.04010216e+02] [ 1.58955977e-02 -2.43645946e-04 9.99873627e-01 3.31607655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26361786499996 meters 0.019575001106542908 Centerline is valid? [True, True] Translation: X:153.79, Y:104.04, Z:3.32 [[ 1.71348607e-01 -9.85206178e-01 -2.90556710e-03 1.53794353e+02] [ 9.85085798e-01 1.71373095e-01 -1.54023643e-02 1.04037495e+02] [ 1.56724405e-02 -2.23059217e-04 9.99877155e-01 3.31657861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29361786499996 meters 0.019503612344970327 Centerline is valid? [True, True] Translation: X:153.80, Y:104.07, Z:3.32 [[ 1.72190863e-01 -9.85059272e-01 -2.92192287e-03 1.53798407e+02] [ 9.84937140e-01 1.72215528e-01 -1.55126502e-02 1.04065688e+02] [ 1.57840804e-02 -2.06773730e-04 9.99875402e-01 3.31712004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32361786499996 meters 0.01924654214266684 Centerline is valid? [True, True] Translation: X:153.80, Y:104.09, Z:3.32 [[ 1.74145592e-01 -9.84715685e-01 -2.88644397e-03 1.53800662e+02] [ 9.84596100e-01 1.74169429e-01 -1.53469979e-02 1.04093818e+02] [ 1.56151598e-02 -1.69369443e-04 9.99878062e-01 3.31762481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35361786499996 meters 0.01915903597717903 Centerline is valid? [True, True] Translation: X:153.80, Y:104.12, Z:3.32 [[ 1.74958178e-01 -9.84571713e-01 -2.85967746e-03 1.53804232e+02] [ 9.84453964e-01 1.74981481e-01 -1.52273790e-02 1.04121946e+02] [ 1.54928372e-02 -1.51066336e-04 9.99879967e-01 3.31791689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38361786499996 meters 0.01912904411595144 Centerline is valid? [True, True] Translation: X:153.81, Y:104.15, Z:3.32 [[ 1.75961306e-01 -9.84392873e-01 -2.87939431e-03 1.53807901e+02] [ 9.84273107e-01 1.75984814e-01 -1.53556342e-02 1.04149239e+02] [ 1.56227065e-02 -1.32112939e-04 9.99877949e-01 3.31846318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41361786499996 meters 0.018985087762916273 Centerline is valid? [True, True] Translation: X:153.81, Y:104.18, Z:3.32 [[ 1.78195543e-01 -9.83990837e-01 -2.89522318e-03 1.53809409e+02] [ 9.83869311e-01 1.78219037e-01 -1.54645817e-02 1.04177352e+02] [ 1.57329906e-02 -9.28017081e-05 9.99876225e-01 3.31905850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44361786499996 meters 0.018842768299515176 Centerline is valid? [True, True] Translation: X:153.81, Y:104.21, Z:3.32 [[ 1.79204172e-01 -9.83807737e-01 -2.86380210e-03 1.53812744e+02] [ 9.83688462e-01 1.79227039e-01 -1.53192269e-02 1.04205129e+02] [ 1.55844447e-02 -7.18197102e-05 9.99878553e-01 3.31978081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47361786499997 meters 0.0188317756861574 Centerline is valid? [True, True] Translation: X:153.82, Y:104.23, Z:3.32 [[ 1.80547837e-01 -9.83562139e-01 -2.82780905e-03 1.53815755e+02] [ 9.83445464e-01 1.80569975e-01 -1.51493762e-02 1.04232621e+02] [ 1.54109703e-02 -4.58088757e-05 9.99881243e-01 3.32123411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50361786499997 meters 0.01885205216966565 Centerline is valid? [True, True] Translation: X:153.82, Y:104.26, Z:3.32 [[ 1.80610199e-01 -9.83550912e-01 -2.74938361e-03 1.53819652e+02] [ 9.83440296e-01 1.80631120e-01 -1.47506995e-02 1.04259534e+02] [ 1.50046882e-02 -3.97278547e-05 9.99887423e-01 3.32195370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53361786499997 meters 0.01878543164257836 Centerline is valid? [True, True] Translation: X:153.82, Y:104.29, Z:3.32 [[ 1.80573602e-01 -9.83557728e-01 -2.71463957e-03 1.53823618e+02] [ 9.83449548e-01 1.80594003e-01 -1.45873910e-02 1.04287369e+02] [ 1.48377887e-02 -3.56133234e-05 9.99889913e-01 3.32282517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56361786499997 meters 0.01888897045648411 Centerline is valid? [True, True] Translation: X:153.83, Y:104.32, Z:3.32 [[ 1.79849653e-01 -9.83690810e-01 -2.54809982e-03 1.53827078e+02] [ 9.83595246e-01 1.79867698e-01 -1.37114095e-02 1.04315163e+02] [ 1.39461083e-02 -4.03066348e-05 9.99902747e-01 3.32382528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59361786499997 meters 0.01893361681950118 Centerline is valid? [True, True] Translation: X:153.83, Y:104.34, Z:3.32 [[ 1.78644484e-01 -9.83910598e-01 -2.46629443e-03 1.53831777e+02] [ 9.83820841e-01 1.78661500e-01 -1.32899123e-02 1.04341921e+02] [ 1.35167175e-02 -5.22223222e-05 9.99908644e-01 3.32454451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62361786499997 meters 0.018905111794238715 Centerline is valid? [True, True] Translation: X:153.84, Y:104.37, Z:3.33 [[ 1.75744036e-01 -9.84433068e-01 -2.35973729e-03 1.53836642e+02] [ 9.84350701e-01 1.75759857e-01 -1.27346144e-02 1.04370011e+02] [ 1.29511226e-02 -8.47765320e-05 9.99916127e-01 3.32511510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65361786499997 meters 0.018997151360219892 Centerline is valid? [True, True] Translation: X:153.84, Y:104.40, Z:3.33 [[ 1.74012428e-01 -9.84740712e-01 -2.32486401e-03 1.53841985e+02] [ 9.84660546e-01 1.74027927e-01 -1.25653802e-02 1.04397267e+02] [ 1.27782327e-02 -1.02669545e-04 9.99918350e-01 3.32561284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68361786499997 meters 0.019113523001188626 Centerline is valid? [True, True] Translation: X:153.85, Y:104.43, Z:3.33 [[ 1.69799886e-01 -9.85476201e-01 -2.15785285e-03 1.53847393e+02] [ 9.85407001e-01 1.69813537e-01 -1.16792584e-02 1.04425084e+02] [ 1.18760638e-02 -1.43226556e-04 9.99929467e-01 3.32573931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71361786499997 meters 0.019189720777144804 Centerline is valid? [True, True] Translation: X:153.85, Y:104.45, Z:3.33 [[ 1.67282784e-01 -9.85906613e-01 -2.14941462e-03 1.53852394e+02] [ 9.85837790e-01 1.67296506e-01 -1.16503753e-02 1.04452649e+02] [ 1.18457716e-02 -1.70066944e-04 9.99929822e-01 3.32610650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74361786499998 meters 0.019894906439539173 Centerline is valid? [True, True] Translation: X:153.86, Y:104.48, Z:3.33 [[ 1.65032011e-01 -9.86285742e-01 -2.20712713e-03 1.53859924e+02] [ 9.86212965e-01 1.65046649e-01 -1.19829227e-02 1.04478701e+02] [ 1.21828647e-02 -1.99131557e-04 9.99925766e-01 3.32707349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77361786499995 meters 0.01957392957520232 Centerline is valid? [True, True] Translation: X:153.86, Y:104.51, Z:3.33 [[ 1.62697282e-01 -9.86673494e-01 -2.23823219e-03 1.53863490e+02] [ 9.86598534e-01 1.62712516e-01 -1.21643251e-02 1.04507031e+02] [ 1.23664055e-02 -2.29133964e-04 9.99923507e-01 3.32714648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80361786499995 meters 0.021359829100828277 Centerline is valid? [True, True] Translation: X:153.87, Y:104.53, Z:3.33 [[ 1.58167358e-01 -9.87409586e-01 -2.32308957e-03 1.53872609e+02] [ 9.87328665e-01 1.58184145e-01 -1.26445348e-02 1.04533196e+02] [ 1.28528108e-02 -2.93700255e-04 9.99917356e-01 3.32780411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83361786499995 meters 0.020466828301715985 Centerline is valid? [True, True] Translation: X:153.87, Y:104.56, Z:3.33 [[ 1.55938319e-01 -9.87764182e-01 -2.27170433e-03 1.53874860e+02] [ 9.87686603e-01 1.55954552e-01 -1.23835519e-02 1.04561797e+02] [ 1.25863117e-02 -3.12661657e-04 9.99920740e-01 3.32744070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86361786499995 meters 0.020686243224060992 Centerline is valid? [True, True] Translation: X:153.88, Y:104.59, Z:3.33 [[ 1.54015245e-01 -9.88065821e-01 -2.28854549e-03 1.53879730e+02] [ 9.87986889e-01 1.54031879e-01 -1.24934740e-02 1.04589634e+02] [ 1.26968836e-02 -3.36867482e-04 9.99919335e-01 3.32793585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89361786499995 meters 0.021107064619970223 Centerline is valid? [True, True] Translation: X:153.88, Y:104.62, Z:3.33 [[ 1.51093665e-01 -9.88516680e-01 -2.34056123e-03 1.53883864e+02] [ 9.88433901e-01 1.51111316e-01 -1.27981522e-02 1.04617485e+02] [ 1.30048722e-02 -3.79770335e-04 9.99915361e-01 3.32713101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92361786499995 meters 0.021014805366101348 Centerline is valid? [True, True] Translation: X:153.89, Y:104.65, Z:3.33 [[ 1.49985156e-01 -9.88685449e-01 -2.35270899e-03 1.53887687e+02] [ 9.88601688e-01 1.50003088e-01 -1.28754467e-02 1.04645171e+02] [ 1.30826804e-02 -3.94766208e-04 9.99914340e-01 3.32730406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95361786499996 meters 0.021496042175298137 Centerline is valid? [True, True] Translation: X:153.89, Y:104.67, Z:3.33 [[ 1.48955427e-01 -9.88840977e-01 -2.40906435e-03 1.53891733e+02] [ 9.88752917e-01 1.48974328e-01 -1.32029570e-02 1.04672083e+02] [ 1.34145136e-02 -4.15317308e-04 9.99909935e-01 3.32756151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98361786499996 meters 0.02154564403531751 Centerline is valid? [True, True] Translation: X:153.90, Y:104.70, Z:3.33 [[ 1.48648336e-01 -9.88887237e-01 -2.38846637e-03 1.53895875e+02] [ 9.88800449e-01 1.48666949e-01 -1.31076743e-02 1.04699704e+02] [ 1.33170978e-02 -4.13282648e-04 9.99911238e-01 3.32802206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01361786499996 meters 0.02154044094790322 Centerline is valid? [True, True] Translation: X:153.90, Y:104.73, Z:3.33 [[ 1.48406204e-01 -9.88923768e-01 -2.31941201e-03 1.53899506e+02] [ 9.88841686e-01 1.48423785e-01 -1.27475639e-02 1.04727786e+02] [ 1.29506248e-02 -4.01713708e-04 9.99916056e-01 3.32813957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04361786499996 meters 0.02099628958967234 Centerline is valid? [True, True] Translation: X:153.90, Y:104.76, Z:3.33 [[ 1.48928799e-01 -9.88845314e-01 -2.27113889e-03 1.53901355e+02] [ 9.88766367e-01 1.48945620e-01 -1.25009174e-02 1.04756288e+02] [ 1.26997497e-02 -3.83879144e-04 9.99919281e-01 3.32820146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07361786499996 meters 0.020619900594557868 Centerline is valid? [True, True] Translation: X:153.90, Y:104.78, Z:3.33 [[ 1.49151288e-01 -9.88811834e-01 -2.24750683e-03 1.53904169e+02] [ 9.88734280e-01 1.49167751e-01 -1.23897669e-02 1.04783937e+02] [ 1.25864037e-02 -3.74237356e-04 9.99920718e-01 3.32817830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10361786499996 meters 0.020520620728902407 Centerline is valid? [True, True] Translation: X:153.91, Y:104.81, Z:3.33 [[ 1.50387594e-01 -9.88624483e-01 -2.28111820e-03 1.53907086e+02] [ 9.88544303e-01 1.50404461e-01 -1.25959849e-02 1.04812754e+02] [ 1.27957894e-02 -3.60706541e-04 9.99918065e-01 3.32862710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13361786499996 meters 0.020749109139727336 Centerline is valid? [True, True] Translation: X:153.91, Y:104.84, Z:3.33 [[ 1.51170426e-01 -9.88505052e-01 -2.29426458e-03 1.53911948e+02] [ 9.88423688e-01 1.51187430e-01 -1.26875497e-02 1.04839645e+02] [ 1.28885710e-02 -3.49723159e-04 9.99916878e-01 3.32911367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16361786499996 meters 0.020294154621814782 Centerline is valid? [True, True] Translation: X:153.91, Y:104.87, Z:3.33 [[ 1.51963452e-01 -9.88383496e-01 -2.27465068e-03 1.53914970e+02] [ 9.88303338e-01 1.51980107e-01 -1.25920510e-02 1.04867840e+02] [ 1.27914771e-02 -3.34513312e-04 9.99918130e-01 3.32961830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19361786499996 meters 0.020055612162545346 Centerline is valid? [True, True] Translation: X:153.92, Y:104.90, Z:3.33 [[ 1.53639904e-01 -9.88124085e-01 -2.36052116e-03 1.53916456e+02] [ 9.88037423e-01 1.53657701e-01 -1.30905383e-02 1.04895348e+02] [ 1.32977885e-02 -3.21054189e-04 9.99911529e-01 3.33016377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22361786499997 meters 0.020035382120118243 Centerline is valid? [True, True] Translation: X:153.92, Y:104.92, Z:3.33 [[ 1.54085944e-01 -9.88054485e-01 -2.41985325e-03 1.53919743e+02] [ 9.87963237e-01 1.54104610e-01 -1.34317070e-02 1.04922014e+02] [ 1.36441689e-02 -3.21088790e-04 9.99906862e-01 3.33078106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25361786499997 meters 0.020035382120118243 Centerline is valid? [True, True] Translation: X:153.92, Y:104.95, Z:3.33 [[ 1.53821881e-01 -9.88095639e-01 -2.41609749e-03 1.53924550e+02] [ 9.88004385e-01 1.53840520e-01 -1.34323825e-02 1.04949162e+02] [ 1.36441722e-02 -3.20920580e-04 9.99906862e-01 3.33123191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28361786499997 meters 0.019465321046061742 Centerline is valid? [True, True] Translation: X:153.93, Y:104.98, Z:3.33 [[ 1.54161974e-01 -9.88042400e-01 -2.51019561e-03 1.53926711e+02] [ 9.87943576e-01 1.54182066e-01 -1.39778803e-02 1.04977380e+02] [ 1.41977656e-02 -3.25074009e-04 9.99899154e-01 3.33156326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31361786499997 meters 0.01948876498100064 Centerline is valid? [True, True] Translation: X:153.93, Y:105.01, Z:3.33 [[ 1.54414307e-01 -9.88003034e-01 -2.49532781e-03 1.53930845e+02] [ 9.87905063e-01 1.54434144e-01 -1.39169563e-02 1.05005407e+02] [ 1.41353589e-02 -3.16169820e-04 9.99900041e-01 3.33183824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34361786499997 meters 0.01952961229945352 Centerline is valid? [True, True] Translation: X:153.93, Y:105.03, Z:3.33 [[ 1.54415596e-01 -9.88002624e-01 -2.57646124e-03 1.53934164e+02] [ 9.87897836e-01 1.54436751e-01 -1.43929252e-02 1.05033793e+02] [ 1.46181482e-02 -3.22788366e-04 9.99893097e-01 3.33208943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37361786499997 meters 0.019882875981989623 Centerline is valid? [True, True] Translation: X:153.94, Y:105.06, Z:3.33 [[ 1.54143104e-01 -9.88044978e-01 -2.65043278e-03 1.53939195e+02] [ 9.87933734e-01 1.54165530e-01 -1.48299420e-02 1.05060861e+02] [ 1.50612551e-02 -3.32518666e-04 9.99886518e-01 3.33275481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40361786499997 meters 0.019775410558725316 Centerline is valid? [True, True] Translation: X:153.94, Y:105.09, Z:3.33 [[ 1.53679144e-01 -9.88117146e-01 -2.68840422e-03 1.53943365e+02] [ 9.88002313e-01 1.53702280e-01 -1.50677919e-02 1.05088604e+02] [ 1.53019574e-02 -3.40544227e-04 9.99882860e-01 3.33313674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43361786499997 meters 0.020046998585640362 Centerline is valid? [True, True] Translation: X:153.95, Y:105.12, Z:3.33 [[ 1.52828730e-01 -9.88248526e-01 -2.86874745e-03 1.53947332e+02] [ 9.88117361e-01 1.52855196e-01 -1.61049932e-02 1.05116736e+02] [ 1.63542388e-02 -3.73353502e-04 9.99866191e-01 3.33330761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46361786499997 meters 0.01922536817932801 Centerline is valid? [True, True] Translation: X:153.95, Y:105.15, Z:3.33 [[ 1.52336289e-01 -9.88324433e-01 -2.91039229e-03 1.53948828e+02] [ 9.88189023e-01 1.52363606e-01 -1.63641967e-02 1.05145283e+02] [ 1.66165732e-02 -3.83156722e-04 9.99861862e-01 3.33362946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49361786499998 meters 0.01958242286502438 Centerline is valid? [True, True] Translation: X:153.95, Y:105.17, Z:3.33 [[ 1.52308980e-01 -9.88328388e-01 -2.99542207e-03 1.53952611e+02] [ 9.88184477e-01 1.52337931e-01 -1.68699442e-02 1.05171884e+02] [ 1.71293612e-02 -3.90585592e-04 9.99853205e-01 3.33407202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52361786499995 meters 0.01959983747553515 Centerline is valid? [True, True] Translation: X:153.96, Y:105.20, Z:3.33 [[ 1.52283972e-01 -9.88332429e-01 -2.93278664e-03 1.53956655e+02] [ 9.88194152e-01 1.52311736e-01 -1.65364097e-02 1.05199263e+02] [ 1.67901678e-02 -3.79932451e-04 9.99858963e-01 3.33468089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55361786499995 meters 0.019600371901590644 Centerline is valid? [True, True] Translation: X:153.96, Y:105.23, Z:3.34 [[ 1.52445047e-01 -9.88307306e-01 -3.02934986e-03 1.53960585e+02] [ 9.88159287e-01 1.52474656e-01 -1.71085356e-02 1.05227013e+02] [ 1.73703898e-02 -3.85368703e-04 9.99849049e-01 3.33514527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58361786499995 meters 0.01954320029915794 Centerline is valid? [True, True] Translation: X:153.96, Y:105.25, Z:3.34 [[ 1.52995221e-01 -9.88222153e-01 -3.07224321e-03 1.53963096e+02] [ 9.88069420e-01 1.53025600e-01 -1.73777789e-02 1.05253893e+02] [ 1.76432379e-02 -3.76872451e-04 9.99844275e-01 3.33542904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61361786499995 meters 0.018945920882509355 Centerline is valid? [True, True] Translation: X:153.97, Y:105.28, Z:3.34 [[ 1.53121385e-01 -9.88202494e-01 -3.11005558e-03 1.53965405e+02] [ 9.88045598e-01 1.53152504e-01 -1.76127180e-02 1.05281818e+02] [ 1.78812447e-02 -3.75992957e-04 9.99840047e-01 3.33600289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64361786499995 meters 0.019426567158988255 Centerline is valid? [True, True] Translation: X:153.97, Y:105.31, Z:3.34 [[ 1.53038695e-01 -9.88215174e-01 -3.15070686e-03 1.53970300e+02] [ 9.88053636e-01 1.53070657e-01 -1.78713936e-02 1.05308158e+02] [ 1.81430632e-02 -3.78052618e-04 9.99835330e-01 3.33632815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67361786499995 meters 0.01962981858707412 Centerline is valid? [True, True] Translation: X:153.97, Y:105.34, Z:3.34 [[ 1.52993547e-01 -9.88222071e-01 -3.18020191e-03 1.53974165e+02] [ 9.88057084e-01 1.53026127e-01 -1.80610961e-02 1.05335308e+02] [ 1.83350278e-02 -3.78989871e-04 9.99831827e-01 3.33678772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70361786499996 meters 0.01957122515931276 Centerline is valid? [True, True] Translation: X:153.98, Y:105.36, Z:3.34 [[ 1.53361518e-01 -9.88165014e-01 -3.18604891e-03 1.53977010e+02] [ 9.87998864e-01 1.53394167e-01 -1.81238751e-02 1.05363595e+02] [ 1.83981006e-02 -3.68307709e-04 9.99830673e-01 3.33730752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73361786499996 meters 0.019068042720550196 Centerline is valid? [True, True] Translation: X:153.98, Y:105.39, Z:3.34 [[ 1.53178144e-01 -9.88193453e-01 -3.18667299e-03 1.53979589e+02] [ 9.88026730e-01 1.53210847e-01 -1.81553546e-02 1.05391981e+02] [ 1.84292355e-02 -3.67514565e-04 9.99830100e-01 3.33788003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76361786499996 meters 0.019658912612924087 Centerline is valid? [True, True] Translation: X:153.98, Y:105.42, Z:3.34 [[ 1.53652174e-01 -9.88119825e-01 -3.19711485e-03 1.53984410e+02] [ 9.87951469e-01 1.53685022e-01 -1.82430756e-02 1.05418809e+02] [ 1.85176933e-02 -3.55506083e-04 9.99828470e-01 3.33865070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79361786499996 meters 0.01897848523051618 Centerline is valid? [True, True] Translation: X:153.99, Y:105.45, Z:3.34 [[ 1.54050088e-01 -9.88058016e-01 -3.15078441e-03 1.53986867e+02] [ 9.87894100e-01 1.54081932e-01 -1.80001514e-02 1.05447023e+02] [ 1.82706728e-02 -3.39716414e-04 9.99833020e-01 3.33942834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82361786499996 meters 0.018565542380219673 Centerline is valid? [True, True] Translation: X:153.99, Y:105.47, Z:3.34 [[ 1.54213342e-01 -9.88032786e-01 -3.07546657e-03 1.53989740e+02] [ 9.87876121e-01 1.54243665e-01 -1.75972197e-02 1.05474655e+02] [ 1.78610013e-02 -3.24453919e-04 9.99840427e-01 3.33999944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85361786499996 meters 0.018365041265024768 Centerline is valid? [True, True] Translation: X:153.99, Y:105.50, Z:3.34 [[ 1.55308007e-01 -9.87861526e-01 -3.00478334e-03 1.53993453e+02] [ 9.87711467e-01 1.55336795e-01 -1.72202738e-02 1.05502800e+02] [ 1.74779993e-02 -2.93412557e-04 9.99847205e-01 3.34122451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88361786499996 meters 0.018606541916295495 Centerline is valid? [True, True] Translation: X:154.00, Y:105.53, Z:3.34 [[ 1.55824563e-01 -9.87780379e-01 -2.93730979e-03 1.53998735e+02] [ 9.87636526e-01 1.55852004e-01 -1.68595799e-02 1.05529551e+02] [ 1.71113479e-02 -2.73857770e-04 9.99853553e-01 3.34206076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91361786499996 meters 0.01824969968841942 Centerline is valid? [True, True] Translation: X:154.00, Y:105.56, Z:3.34 [[ 1.57735212e-01 -9.87476939e-01 -2.98283320e-03 1.54002821e+02] [ 9.87328169e-01 1.57763229e-01 -1.71420763e-02 1.05557827e+02] [ 1.73979865e-02 -2.41126196e-04 9.99848615e-01 3.34281627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94361786499996 meters 0.018206813156042025 Centerline is valid? [True, True] Translation: X:154.01, Y:105.59, Z:3.34 [[ 1.58515976e-01 -9.87351669e-01 -3.06072478e-03 1.54007904e+02] [ 9.87194506e-01 1.58545357e-01 -1.76175473e-02 1.05585229e+02] [ 1.78799784e-02 -2.28867986e-04 9.99840114e-01 3.34325968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97361786499997 meters 0.018097880886819486 Centerline is valid? [True, True] Translation: X:154.01, Y:105.61, Z:3.34 [[ 1.60425266e-01 -9.87043138e-01 -3.09462632e-03 1.54013159e+02] [ 9.86881884e-01 1.60454997e-01 -1.78421150e-02 1.05612598e+02] [ 1.81074854e-02 -1.91704598e-04 9.99836028e-01 3.34401570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00361786499997 meters 0.01806222770553416 Centerline is valid? [True, True] Translation: X:154.02, Y:105.64, Z:3.34 [[ 1.61578257e-01 -9.86855058e-01 -3.09230296e-03 1.54018091e+02] [ 9.86693485e-01 1.61607760e-01 -1.78577321e-02 1.05640549e+02] [ 1.81227334e-02 -1.65733946e-04 9.99835756e-01 3.34488508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03361786499997 meters 0.018067162803542567 Centerline is valid? [True, True] Translation: X:154.02, Y:105.67, Z:3.35 [[ 1.62619378e-01 -9.86683979e-01 -3.10863856e-03 1.54023275e+02] [ 9.86520125e-01 1.62649025e-01 -1.79815877e-02 1.05667205e+02] [ 1.82477616e-02 -1.42579885e-04 9.99833486e-01 3.34552433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06361786499997 meters 0.018013947321562557 Centerline is valid? [True, True] Translation: X:154.03, Y:105.69, Z:3.35 [[ 1.63561348e-01 -9.86528284e-01 -3.10318260e-03 1.54028327e+02] [ 9.86364422e-01 1.63590739e-01 -1.79804631e-02 1.05694909e+02] [ 1.82458873e-02 -1.19960131e-04 9.99833523e-01 3.34623333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09361786499997 meters 0.0179406658316806 Centerline is valid? [True, True] Translation: X:154.04, Y:105.72, Z:3.35 [[ 1.65330735e-01 -9.86233554e-01 -3.02067997e-03 1.54035392e+02] [ 9.86077750e-01 1.65358308e-01 -1.75300036e-02 1.05721435e+02] [ 1.77881723e-02 -8.03769271e-05 9.99841775e-01 3.34743323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12361786499997 meters 0.017967142025567574 Centerline is valid? [True, True] Translation: X:154.04, Y:105.75, Z:3.35 [[ 1.66145348e-01 -9.86096839e-01 -2.95745638e-03 1.54041438e+02] [ 9.85947115e-01 1.66171657e-01 -1.71833526e-02 1.05747818e+02] [ 1.74358951e-02 -6.09614782e-05 9.99847981e-01 3.34832810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15361786499997 meters 0.017985011597834357 Centerline is valid? [True, True] Translation: X:154.05, Y:105.78, Z:3.35 [[ 1.66384997e-01 -9.86056642e-01 -2.88656486e-03 1.54046923e+02] [ 9.85913672e-01 1.66410026e-01 -1.67908881e-02 1.05775253e+02] [ 1.70371200e-02 -5.21518971e-05 9.99854856e-01 3.34915291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18361786499997 meters 0.01810073000491064 Centerline is valid? [True, True] Translation: X:154.05, Y:105.80, Z:3.35 [[ 1.66859658e-01 -9.85976552e-01 -2.84489908e-03 1.54054386e+02] [ 9.85837226e-01 1.66883904e-01 -1.65748930e-02 1.05802873e+02] [ 1.68172237e-02 -3.89264387e-05 9.99858580e-01 3.35008366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21361786499997 meters 0.018138301262261465 Centerline is valid? [True, True] Translation: X:154.06, Y:105.83, Z:3.35 [[ 1.66651936e-01 -9.86011950e-01 -2.75069003e-03 1.54060721e+02] [ 9.85881288e-01 1.66674631e-01 -1.60515910e-02 1.05830762e+02] [ 1.62855308e-02 -3.68251114e-05 9.99867381e-01 3.35048644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24361786499998 meters 0.01817861456339191 Centerline is valid? [True, True] Translation: X:154.07, Y:105.86, Z:3.35 [[ 1.66100254e-01 -9.86105304e-01 -2.65244326e-03 1.54069482e+02] [ 9.85983437e-01 1.66121426e-01 -1.55027268e-02 1.05857086e+02] [ 1.57279488e-02 -4.02582685e-05 9.99876307e-01 3.35110435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27361786499995 meters 0.01817030985187974 Centerline is valid? [True, True] Translation: X:154.08, Y:105.88, Z:3.35 [[ 1.65868878e-01 -9.86144247e-01 -2.65304618e-03 1.54076305e+02] [ 9.86021905e-01 1.65890090e-01 -1.55332460e-02 1.05884745e+02] [ 1.57581352e-02 -3.94795658e-05 9.99875832e-01 3.35196558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30361786499995 meters 0.018238386155899566 Centerline is valid? [True, True] Translation: X:154.08, Y:105.91, Z:3.35 [[ 1.65535721e-01 -9.86200298e-01 -2.62626942e-03 1.54083267e+02] [ 9.86080028e-01 1.65556548e-01 -1.54015558e-02 1.05912071e+02] [ 1.56238150e-02 -4.02041843e-05 9.99877940e-01 3.35267654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33361786499995 meters 0.01826056210301499 Centerline is valid? [True, True] Translation: X:154.09, Y:105.94, Z:3.35 [[ 1.64932375e-01 -9.86301349e-01 -2.63844078e-03 1.54090174e+02] [ 9.86179570e-01 1.64953471e-01 -1.54986616e-02 1.05939712e+02] [ 1.57215708e-02 -4.57453304e-05 9.99876407e-01 3.35333049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36361786499995 meters 0.01822986133838042 Centerline is valid? [True, True] Translation: X:154.10, Y:105.97, Z:3.35 [[ 1.64642059e-01 -9.86349592e-01 -2.73399819e-03 1.54099149e+02] [ 9.86218381e-01 1.64664751e-01 -1.60880508e-02 1.05965149e+02] [ 1.63186354e-02 -4.75494617e-05 9.99866841e-01 3.35363036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39361786499995 meters 0.018299453582518093 Centerline is valid? [True, True] Translation: X:154.11, Y:105.99, Z:3.35 [[ 1.64253535e-01 -9.86414302e-01 -2.75695628e-03 1.54105858e+02] [ 9.86280407e-01 1.64276663e-01 -1.62522768e-02 1.05992426e+02] [ 1.64843819e-02 -4.96380369e-05 9.99864122e-01 3.35384630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42361786499995 meters 0.018245579109147814 Centerline is valid? [True, True] Translation: X:154.11, Y:106.02, Z:3.35 [[ 1.63619162e-01 -9.86519508e-01 -2.83379726e-03 1.54112942e+02] [ 9.86377565e-01 1.63643690e-01 -1.67344797e-02 1.06018255e+02] [ 1.69726237e-02 -5.71124885e-05 9.99855953e-01 3.35407386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45361786499996 meters 0.01820748258245239 Centerline is valid? [True, True] Translation: X:154.12, Y:106.04, Z:3.35 [[ 1.63110283e-01 -9.86603276e-01 -3.00202129e-03 1.54122679e+02] [ 9.86443392e-01 1.63137894e-01 -1.77612697e-02 1.06044881e+02] [ 1.80130703e-02 -6.42783250e-05 9.99837749e-01 3.35475930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48361786499996 meters 0.018122705505709633 Centerline is valid? [True, True] Translation: X:154.13, Y:106.07, Z:3.36 [[ 1.62383623e-01 -9.86723212e-01 -2.97676285e-03 1.54129803e+02] [ 9.86565503e-01 1.62410889e-01 -1.76411661e-02 1.06071670e+02] [ 1.78904068e-02 -7.21350744e-05 9.99839951e-01 3.35515506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51361786499996 meters 0.018328181326291153 Centerline is valid? [True, True] Translation: X:154.14, Y:106.10, Z:3.36 [[ 1.60799454e-01 -9.86982343e-01 -3.06441905e-03 1.54140260e+02] [ 9.86814672e-01 1.60828621e-01 -1.81922464e-02 1.06097058e+02] [ 1.84482722e-02 -9.87103937e-05 9.99829811e-01 3.35503524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54361786499996 meters 0.01830284104962872 Centerline is valid? [True, True] Translation: X:154.15, Y:106.12, Z:3.36 [[ 1.60098275e-01 -9.87096346e-01 -3.05704183e-03 1.54146893e+02] [ 9.86928911e-01 1.60127424e-01 -1.81805865e-02 1.06124399e+02] [ 1.84355067e-02 -1.06402429e-04 9.99830046e-01 3.35597330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57361786499996 meters 0.018382065427146696 Centerline is valid? [True, True] Translation: X:154.15, Y:106.15, Z:3.36 [[ 1.58650400e-01 -9.87330220e-01 -3.01448989e-03 1.54154411e+02] [ 9.87166897e-01 1.58678985e-01 -1.79582233e-02 1.06150469e+02] [ 1.82090328e-02 -1.26725322e-04 9.99834194e-01 3.35650077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60361786499996 meters 0.01857351585318728 Centerline is valid? [True, True] Translation: X:154.16, Y:106.18, Z:3.36 [[ 1.56226573e-01 -9.87716877e-01 -2.93754733e-03 1.54164853e+02] [ 9.87561300e-01 1.56254104e-01 -1.75309301e-02 1.06177145e+02] [ 1.77745994e-02 -1.62210926e-04 9.99842006e-01 3.35798138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63361786499996 meters 0.018700633330910058 Centerline is valid? [True, True] Translation: X:154.17, Y:106.20, Z:3.36 [[ 1.54741393e-01 -9.87950663e-01 -2.93066133e-03 1.54172357e+02] [ 9.87795325e-01 1.54769033e-01 -1.75197808e-02 1.06204644e+02] [ 1.77622547e-02 -1.83858276e-04 9.99842222e-01 3.35905022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66361786499996 meters 0.018814922925252393 Centerline is valid? [True, True] Translation: X:154.18, Y:106.23, Z:3.36 [[ 1.53283607e-01 -9.88178115e-01 -2.85456837e-03 1.54179913e+02] [ 9.88030282e-01 1.53310054e-01 -1.70935567e-02 1.06231268e+02] [ 1.73291127e-02 -2.00237970e-04 9.99849820e-01 3.35948844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69361786499996 meters 0.01908288514867499 Centerline is valid? [True, True] Translation: X:154.19, Y:106.26, Z:3.36 [[ 1.50872694e-01 -9.88549554e-01 -2.68519488e-03 1.54189821e+02] [ 9.88418356e-01 1.50896421e-01 -1.61066649e-02 1.06258405e+02] [ 1.63274227e-02 -2.24039999e-04 9.99866674e-01 3.36086600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72361786499997 meters 0.019345445736297404 Centerline is valid? [True, True] Translation: X:154.20, Y:106.28, Z:3.36 [[ 1.49966117e-01 -9.88687388e-01 -2.72268557e-03 1.54197091e+02] [ 9.88552078e-01 1.49990642e-01 -1.63583903e-02 1.06284285e+02] [ 1.65817116e-02 -2.38312196e-04 9.99862486e-01 3.36129924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75361786499997 meters 0.019260570173594525 Centerline is valid? [True, True] Translation: X:154.20, Y:106.31, Z:3.36 [[ 1.49154698e-01 -9.88810231e-01 -2.68372837e-03 1.54203350e+02] [ 9.88678316e-01 1.49178640e-01 -1.61530116e-02 1.06311713e+02] [ 1.63726181e-02 -2.44046479e-04 9.99865930e-01 3.36159697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78361786499997 meters 0.01937812532028799 Centerline is valid? [True, True] Translation: X:154.21, Y:106.34, Z:3.36 [[ 1.48838989e-01 -9.88857577e-01 -2.76563142e-03 1.54209880e+02] [ 9.88716994e-01 1.48864468e-01 -1.66756045e-02 1.06337964e+02] [ 1.69015021e-02 -2.52446666e-04 9.99857128e-01 3.36197220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81361786499997 meters 0.019332523636645872 Centerline is valid? [True, True] Translation: X:154.22, Y:106.37, Z:3.36 [[ 1.49008070e-01 -9.88831926e-01 -2.83141913e-03 1.54216882e+02] [ 9.88684021e-01 1.49034757e-01 -1.71039993e-02 1.06365248e+02] [ 1.73349604e-02 -2.50744929e-04 9.99849707e-01 3.36193356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84361786499997 meters 0.01919056088696094 Centerline is valid? [True, True] Translation: X:154.22, Y:106.39, Z:3.36 [[ 1.49548026e-01 -9.88750456e-01 -2.81502227e-03 1.54222033e+02] [ 9.88603750e-01 1.49574333e-01 -1.70336140e-02 1.06393330e+02] [ 1.72630487e-02 -2.35598229e-04 9.99850955e-01 3.36222638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87361786499997 meters 0.019198020393965422 Centerline is valid? [True, True] Translation: X:154.23, Y:106.42, Z:3.36 [[ 1.50118492e-01 -9.88663691e-01 -2.92307916e-03 1.54227963e+02] [ 9.88504923e-01 1.50146773e-01 -1.77190195e-02 1.06420195e+02] [ 1.79570421e-02 -2.29525646e-04 9.99838733e-01 3.36237248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90361786499997 meters 0.01909560511464229 Centerline is valid? [True, True] Translation: X:154.23, Y:106.45, Z:3.36 [[ 1.51307247e-01 -9.88482444e-01 -2.92841971e-03 1.54234154e+02] [ 9.88322487e-01 1.51335446e-01 -1.77832788e-02 1.06446372e+02] [ 1.80216326e-02 -2.03484096e-04 9.99837576e-01 3.36278148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93361786499997 meters 0.018848619547693752 Centerline is valid? [True, True] Translation: X:154.24, Y:106.47, Z:3.36 [[ 1.51819647e-01 -9.88403849e-01 -2.93686158e-03 1.54239493e+02] [ 9.88242391e-01 1.51847931e-01 -1.78656592e-02 1.06474319e+02] [ 1.81044427e-02 -1.89973044e-04 9.99836083e-01 3.36366004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96361786499997 meters 0.018828003639241548 Centerline is valid? [True, True] Translation: X:154.24, Y:106.50, Z:3.36 [[ 1.52000197e-01 -9.88376405e-01 -2.83250262e-03 1.54244815e+02] [ 9.88225721e-01 1.52026485e-01 -1.72589991e-02 1.06502384e+02] [ 1.74890029e-02 -1.75780669e-04 9.99847040e-01 3.36433325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99361786499995 meters 0.01877337814339518 Centerline is valid? [True, True] Translation: X:154.25, Y:106.53, Z:3.37 [[ 1.52655239e-01 -9.88275676e-01 -2.75077604e-03 1.54250844e+02] [ 9.88133074e-01 1.52679942e-01 -1.67887876e-02 1.06529476e+02] [ 1.70119388e-02 -1.55236386e-04 9.99855274e-01 3.36538485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02361786499995 meters 0.018696718858027227 Centerline is valid? [True, True] Translation: X:154.26, Y:106.56, Z:3.37 [[ 1.52790619e-01 -9.88254958e-01 -2.67676023e-03 1.54255798e+02] [ 9.88119476e-01 1.52813996e-01 -1.63640745e-02 1.06555827e+02] [ 1.65809242e-02 -1.44681846e-04 9.99862517e-01 3.36604333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05361786499995 meters 0.01868291371840861 Centerline is valid? [True, True] Translation: X:154.26, Y:106.58, Z:3.37 [[ 1.52810905e-01 -9.88252102e-01 -2.57090866e-03 1.54260595e+02] [ 9.88126692e-01 1.52832471e-01 -1.57440748e-02 1.06583086e+02] [ 1.59520333e-02 -1.34517147e-04 9.99872749e-01 3.36656286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08361786499995 meters 0.018673203865422344 Centerline is valid? [True, True] Translation: X:154.27, Y:106.61, Z:3.37 [[ 1.53339332e-01 -9.88170218e-01 -2.58266400e-03 1.54266356e+02] [ 9.88043212e-01 1.53361031e-01 -1.58431705e-02 1.06610072e+02] [ 1.60518293e-02 -1.22402448e-04 9.99871154e-01 3.36698677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11361786499995 meters 0.018610943822071808 Centerline is valid? [True, True] Translation: X:154.27, Y:106.64, Z:3.37 [[ 1.53492696e-01 -9.88146471e-01 -2.55809299e-03 1.54270982e+02] [ 9.88021420e-01 1.53513968e-01 -1.57205077e-02 1.06637493e+02] [ 1.59268672e-02 -1.14467558e-04 9.99873153e-01 3.36723969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14361786499995 meters 0.018545598761452755 Centerline is valid? [True, True] Translation: X:154.28, Y:106.66, Z:3.37 [[ 1.53825282e-01 -9.88094600e-01 -2.61624075e-03 1.54275107e+02] [ 9.87963341e-01 1.53847492e-01 -1.61054847e-02 1.06663837e+02] [ 1.63162446e-02 -1.07319222e-04 9.99866875e-01 3.36745791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17361786499995 meters 0.018545598761452755 Centerline is valid? [True, True] Translation: X:154.28, Y:106.69, Z:3.37 [[ 1.53565082e-01 -9.88135084e-01 -2.61172558e-03 1.54279440e+02] [ 9.88003819e-01 1.53587252e-01 -1.61062169e-02 1.06691073e+02] [ 1.63162457e-02 -1.07042329e-04 9.99866875e-01 3.36790860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20361786499996 meters 0.018400677024677535 Centerline is valid? [True, True] Translation: X:154.28, Y:106.72, Z:3.37 [[ 1.55426687e-01 -9.87843671e-01 -2.72508610e-03 1.54282601e+02] [ 9.87700218e-01 1.55450557e-01 -1.68345743e-02 1.06719482e+02] [ 1.70535439e-02 -7.50260136e-05 9.99854575e-01 3.36702432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23361786499996 meters 0.01833389803576552 Centerline is valid? [True, True] Translation: X:154.29, Y:106.75, Z:3.37 [[ 1.56466020e-01 -9.87679394e-01 -2.79281371e-03 1.54286291e+02] [ 9.87528179e-01 1.56490934e-01 -1.72824837e-02 1.06747549e+02] [ 1.75066030e-02 -5.38607934e-05 9.99846746e-01 3.36692248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26361786499996 meters 0.018382525701204622 Centerline is valid? [True, True] Translation: X:154.29, Y:106.78, Z:3.37 [[ 1.57431735e-01 -9.87525620e-01 -2.89797274e-03 1.54289881e+02] [ 9.87362207e-01 1.57458402e-01 -1.79645211e-02 1.06775535e+02] [ 1.81967350e-02 -3.31630417e-05 9.99834425e-01 3.36672368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29361786499996 meters 0.018463627371002884 Centerline is valid? [True, True] Translation: X:154.29, Y:106.80, Z:3.37 [[ 1.59408723e-01 -9.87207886e-01 -3.07388347e-03 1.54291973e+02] [ 9.87023301e-01 1.59438357e-01 -1.90896042e-02 1.06801825e+02] [ 1.93355027e-02 9.05481780e-06 9.99813052e-01 3.36614018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32361786499996 meters 0.018547543768048583 Centerline is valid? [True, True] Translation: X:154.29, Y:106.83, Z:3.37 [[ 1.60188662e-01 -9.87081527e-01 -3.10686567e-03 1.54294910e+02] [ 9.86892184e-01 1.60218785e-01 -1.93328454e-02 1.06828754e+02] [ 1.95808727e-02 3.07611873e-05 9.99808276e-01 3.36597992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35361786499996 meters 0.01857478204621176 Centerline is valid? [True, True] Translation: X:154.30, Y:106.86, Z:3.37 [[ 1.61728614e-01 -9.86830160e-01 -3.17655860e-03 1.54297153e+02] [ 9.86631427e-01 1.61759792e-01 -1.98039647e-02 1.06856609e+02] [ 2.00569891e-02 6.87752268e-05 9.99798836e-01 3.36635830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38361786499996 meters 0.018655995057296326 Centerline is valid? [True, True] Translation: X:154.30, Y:106.88, Z:3.37 [[ 1.61812252e-01 -9.86816405e-01 -3.19021049e-03 1.54300021e+02] [ 9.86615254e-01 1.61843679e-01 -1.99239554e-02 1.06883157e+02] [ 2.01776014e-02 7.64297559e-05 9.99796409e-01 3.36586430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41361786499996 meters 0.01877631176982264 Centerline is valid? [True, True] Translation: X:154.30, Y:106.91, Z:3.37 [[ 1.61601542e-01 -9.86850914e-01 -3.19606174e-03 1.54304027e+02] [ 9.86648288e-01 1.61633125e-01 -1.99972056e-02 1.06909862e+02] [ 2.02508500e-02 7.81904172e-05 9.99794927e-01 3.36600543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44361786499996 meters 0.018838147159257926 Centerline is valid? [True, True] Translation: X:154.31, Y:106.94, Z:3.37 [[ 1.60567225e-01 -9.87019923e-01 -3.13653824e-03 1.54307844e+02] [ 9.86824084e-01 1.60597845e-01 -1.96611299e-02 1.06936458e+02] [ 1.99096482e-02 6.17215959e-05 9.99801781e-01 3.36625716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47361786499997 meters 0.018644807877306754 Centerline is valid? [True, True] Translation: X:154.31, Y:106.96, Z:3.37 [[ 1.57674599e-01 -9.87486483e-01 -3.02753343e-03 1.54313512e+02] [ 9.87303450e-01 1.57703662e-01 -1.90119285e-02 1.06963493e+02] [ 1.92514755e-02 8.60398824e-06 9.99814673e-01 3.36692727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50361786499997 meters 0.01854334369411797 Centerline is valid? [True, True] Translation: X:154.32, Y:106.99, Z:3.37 [[ 1.55052646e-01 -9.87901741e-01 -2.97096251e-03 1.54318931e+02] [ 9.87724961e-01 1.55081102e-01 -1.86883365e-02 1.06989965e+02] [ 1.89229803e-02 -3.68178060e-05 9.99820944e-01 3.36765549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53361786499997 meters 0.018589654113001328 Centerline is valid? [True, True] Translation: X:154.33, Y:107.02, Z:3.37 [[ 1.50011052e-01 -9.88680042e-01 -2.90835691e-03 1.54326184e+02] [ 9.88510148e-01 1.50039190e-01 -1.83283458e-02 1.07017559e+02] [ 1.85572372e-02 -1.25485892e-04 9.99827792e-01 3.36921521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56361786499997 meters 0.01892511689345928 Centerline is valid? [True, True] Translation: X:154.33, Y:107.04, Z:3.37 [[ 1.47179671e-01 -9.89105725e-01 -2.83009003e-03 1.54332902e+02] [ 9.88944409e-01 1.47206780e-01 -1.78639388e-02 1.07044200e+02] [ 1.80859326e-02 -1.69593067e-04 9.99836422e-01 3.36992085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59361786499997 meters 0.019389267462196703 Centerline is valid? [True, True] Translation: X:154.34, Y:107.07, Z:3.37 [[ 1.44390580e-01 -9.89516705e-01 -2.83758458e-03 1.54339036e+02] [ 9.89354224e-01 1.44418295e-01 -1.79325440e-02 1.07070226e+02] [ 1.81543510e-02 -2.18085857e-04 9.99835172e-01 3.37053048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62361786499997 meters 0.01938339484351815 Centerline is valid? [True, True] Translation: X:154.34, Y:107.10, Z:3.37 [[ 1.42161404e-01 -9.89839443e-01 -2.83050116e-03 1.54343416e+02] [ 9.89677262e-01 1.42189353e-01 -1.79194088e-02 1.07097905e+02] [ 1.81398048e-02 -2.53834327e-04 9.99835428e-01 3.37104868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65361786499997 meters 0.019735890617315423 Centerline is valid? [True, True] Translation: X:154.35, Y:107.13, Z:3.37 [[ 1.38461042e-01 -9.90363705e-01 -2.87607918e-03 1.54348460e+02] [ 9.90195807e-01 1.38490534e-01 -1.82382819e-02 1.07126319e+02] [ 1.84608422e-02 -3.22590026e-04 9.99829532e-01 3.37126211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68361786499997 meters 0.01975160268524043 Centerline is valid? [True, True] Translation: X:154.35, Y:107.15, Z:3.37 [[ 1.36994711e-01 -9.90567409e-01 -2.94241278e-03 1.54352043e+02] [ 9.90391126e-01 1.37025850e-01 -1.86904688e-02 1.07154683e+02] [ 1.89173558e-02 -3.53644132e-04 9.99820988e-01 3.37120793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71361786499997 meters 0.02005733134547112 Centerline is valid? [True, True] Translation: X:154.36, Y:107.18, Z:3.37 [[ 1.35675849e-01 -9.90748344e-01 -3.12785853e-03 1.54356019e+02] [ 9.90548476e-01 1.35711316e-01 -1.99036820e-02 1.07182079e+02] [ 2.01440258e-02 -3.97846556e-04 9.99797009e-01 3.36975280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74361786499995 meters 0.019961823424998325 Centerline is valid? [True, True] Translation: X:154.36, Y:107.21, Z:3.37 [[ 1.35198614e-01 -9.90813060e-01 -3.28874992e-03 1.54360059e+02] [ 9.90591361e-01 1.35237945e-01 -2.09631564e-02 1.07210072e+02] [ 2.12153329e-02 -4.23617573e-04 9.99774840e-01 3.36991333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77361786499995 meters 0.020297243991414672 Centerline is valid? [True, True] Translation: X:154.36, Y:107.24, Z:3.37 [[ 1.34925869e-01 -9.90849936e-01 -3.37857624e-03 1.54364877e+02] [ 9.90615176e-01 1.34967457e-01 -2.15721922e-02 1.07236324e+02] [ 2.18308031e-02 -4.36222128e-04 9.99761584e-01 3.36985050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80361786499995 meters 0.020384148927068656 Centerline is valid? [True, True] Translation: X:154.37, Y:107.26, Z:3.37 [[ 1.35250923e-01 -9.90805425e-01 -3.43472584e-03 1.54368535e+02] [ 9.90562087e-01 1.35293840e-01 -2.19619884e-02 1.07264520e+02] [ 2.22247545e-02 -4.31929990e-04 9.99752906e-01 3.36964931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83361786499995 meters 0.020176865687413108 Centerline is valid? [True, True] Translation: X:154.37, Y:107.29, Z:3.37 [[ 1.35266075e-01 -9.90803349e-01 -3.43706951e-03 1.54372254e+02] [ 9.90558829e-01 1.35309062e-01 -2.20150941e-02 1.07292300e+02] [ 2.22776956e-02 -4.26724182e-04 9.99751730e-01 3.37026775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86361786499995 meters 0.01998817290635522 Centerline is valid? [True, True] Translation: X:154.38, Y:107.32, Z:3.37 [[ 1.35419986e-01 -9.90782490e-01 -3.38907303e-03 1.54375868e+02] [ 9.90543922e-01 1.35461760e-01 -2.17451079e-02 1.07320589e+02] [ 2.20037619e-02 -4.12303483e-04 9.99757803e-01 3.37128583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89361786499995 meters 0.02006213819987158 Centerline is valid? [True, True] Translation: X:154.38, Y:107.35, Z:3.37 [[ 1.35481157e-01 -9.90774507e-01 -3.27597961e-03 1.54379682e+02] [ 9.90550835e-01 1.35520190e-01 -2.10551925e-02 1.07348707e+02] [ 2.13049094e-02 -3.92442499e-04 9.99772948e-01 3.37188173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92361786499995 meters 0.019499241986097073 Centerline is valid? [True, True] Translation: X:154.38, Y:107.38, Z:3.37 [[ 1.36287740e-01 -9.90664707e-01 -3.01489424e-03 1.54381402e+02] [ 9.90474620e-01 1.36320656e-01 -1.94088971e-02 1.07376528e+02] [ 1.96387017e-02 -3.40981517e-04 9.99807084e-01 3.37413458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95361786499996 meters 0.019808885589908776 Centerline is valid? [True, True] Translation: X:154.39, Y:107.40, Z:3.37 [[ 1.36660644e-01 -9.90613684e-01 -2.89781909e-03 1.54386600e+02] [ 9.90437440e-01 1.36690998e-01 -1.86882000e-02 1.07402978e+02] [ 1.89088924e-02 -3.16167078e-04 9.99821161e-01 3.37466122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98361786499996 meters 0.01954457027636539 Centerline is valid? [True, True] Translation: X:154.39, Y:107.43, Z:3.38 [[ 1.37084547e-01 -9.90555105e-01 -2.90004811e-03 1.54389862e+02] [ 9.90377910e-01 1.37114884e-01 -1.87377553e-02 1.07431308e+02] [ 1.89584189e-02 -3.03486888e-04 9.99820227e-01 3.37582477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01361786499996 meters 0.019283711861376472 Centerline is valid? [True, True] Translation: X:154.39, Y:107.46, Z:3.38 [[ 1.38664931e-01 -9.90335058e-01 -2.91728663e-03 1.54393127e+02] [ 9.90155055e-01 1.38695352e-01 -1.88829492e-02 1.07458684e+02] [ 1.91050607e-02 -2.70163266e-04 9.99817445e-01 3.37598456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04361786499996 meters 0.019026828643899672 Centerline is valid? [True, True] Translation: X:154.40, Y:107.49, Z:3.38 [[ 1.39890484e-01 -9.90162706e-01 -2.91011473e-03 1.54395562e+02] [ 9.89982910e-01 1.39920542e-01 -1.88700573e-02 1.07486440e+02] [ 1.90916118e-02 -2.41222394e-04 9.99817709e-01 3.37638634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07361786499996 meters 0.019071268929429085 Centerline is valid? [True, True] Translation: X:154.40, Y:107.51, Z:3.38 [[ 1.40897799e-01 -9.90019895e-01 -2.90145468e-03 1.54399104e+02] [ 9.89840478e-01 1.40927504e-01 -1.88485128e-02 1.07513221e+02] [ 1.90692975e-02 -2.16263325e-04 9.99818141e-01 3.37653215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10361786499996 meters 0.018819198274820335 Centerline is valid? [True, True] Translation: X:154.40, Y:107.54, Z:3.38 [[ 1.43267756e-01 -9.89679887e-01 -2.84090085e-03 1.54401474e+02] [ 9.89507194e-01 1.43295827e-01 -1.84883188e-02 1.07540181e+02] [ 1.87046065e-02 -1.62311891e-04 9.99825040e-01 3.37674405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13361786499996 meters 0.01872163460318744 Centerline is valid? [True, True] Translation: X:154.40, Y:107.57, Z:3.38 [[ 1.44158762e-01 -9.89550445e-01 -2.85809689e-03 1.54404889e+02] [ 9.89375141e-01 1.44187021e-01 -1.86261436e-02 1.07567465e+02] [ 1.88436092e-02 -1.42608212e-04 9.99822433e-01 3.37682180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16361786499996 meters 0.01867195123826452 Centerline is valid? [True, True] Translation: X:154.41, Y:107.60, Z:3.38 [[ 1.46125493e-01 -9.89261989e-01 -2.83867164e-03 1.54407710e+02] [ 9.89088385e-01 1.46153029e-01 -1.85326560e-02 1.07595074e+02] [ 1.87485326e-02 -9.96036513e-05 9.99824226e-01 3.37739445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19361786499996 meters 0.018547627325516087 Centerline is valid? [True, True] Translation: X:154.41, Y:107.62, Z:3.38 [[ 1.46487673e-01 -9.89208226e-01 -2.90637371e-03 1.54411143e+02] [ 9.89025695e-01 1.46516474e-01 -1.90025612e-02 1.07622629e+02] [ 1.92233215e-02 -9.08373054e-05 9.99815211e-01 3.37780697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22361786499997 meters 0.018524308052650467 Centerline is valid? [True, True] Translation: X:154.42, Y:107.65, Z:3.38 [[ 1.46714970e-01 -9.89174532e-01 -2.90904786e-03 1.54415368e+02] [ 9.88991017e-01 1.46743785e-01 -1.90533551e-02 1.07649169e+02] [ 1.92739783e-02 -8.16097825e-05 9.99814236e-01 3.37787442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25361786499997 meters 0.01846201409920393 Centerline is valid? [True, True] Translation: X:154.42, Y:107.68, Z:3.38 [[ 1.46384332e-01 -9.89223587e-01 -2.88478417e-03 1.54420031e+02] [ 9.89042630e-01 1.46412730e-01 -1.89205925e-02 1.07677095e+02] [ 1.91390655e-02 -8.34962393e-05 9.99816828e-01 3.37821008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28361786499997 meters 0.01840379714384784 Centerline is valid? [True, True] Translation: X:154.42, Y:107.70, Z:3.38 [[ 1.46058464e-01 -9.89271671e-01 -2.91314402e-03 1.54424270e+02] [ 9.89086486e-01 1.46087487e-01 -1.91407957e-02 1.07704996e+02] [ 1.93610209e-02 -8.56761566e-05 9.99812554e-01 3.37901084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31361786499997 meters 0.01841842401175588 Centerline is valid? [True, True] Translation: X:154.43, Y:107.73, Z:3.38 [[ 1.45354244e-01 -9.89375631e-01 -2.82917749e-03 1.54428707e+02] [ 9.89200375e-01 1.45381746e-01 -1.86216325e-02 1.07732929e+02] [ 1.88351002e-02 -9.18901237e-05 9.99822600e-01 3.37952330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34361786499997 meters 0.01849466636767344 Centerline is valid? [True, True] Translation: X:154.43, Y:107.76, Z:3.38 [[ 1.43122512e-01 -9.89701059e-01 -2.78588692e-03 1.54434312e+02] [ 9.89530576e-01 1.43149566e-01 -1.83695450e-02 1.07760175e+02] [ 1.85791566e-02 -1.27624868e-04 9.99827384e-01 3.38020697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37361786499997 meters 0.01854895287287183 Centerline is valid? [True, True] Translation: X:154.44, Y:107.79, Z:3.38 [[ 1.41770851e-01 -9.89895614e-01 -2.77480113e-03 1.54439986e+02] [ 9.89725902e-01 1.41797926e-01 -1.83299722e-02 1.07786650e+02] [ 1.85382202e-02 -1.47636794e-04 9.99828142e-01 3.38042990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40361786499997 meters 0.018553170266126698 Centerline is valid? [True, True] Translation: X:154.45, Y:107.81, Z:3.38 [[ 1.40363921e-01 -9.90096026e-01 -2.79806131e-03 1.54445352e+02] [ 9.89922829e-01 1.40391703e-01 -1.85192653e-02 1.07814573e+02] [ 1.87286756e-02 -1.70428072e-04 9.99824588e-01 3.38103510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43361786499997 meters 0.018684738448850224 Centerline is valid? [True, True] Translation: X:154.45, Y:107.84, Z:3.38 [[ 1.37278256e-01 -9.90528482e-01 -2.82953075e-03 1.54452103e+02] [ 9.90350815e-01 1.37307226e-01 -1.87613524e-02 1.07842048e+02] [ 1.89721689e-02 -2.26702355e-04 9.99819987e-01 3.38192720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46361786499997 meters 0.0189881639477045 Centerline is valid? [True, True] Translation: X:154.46, Y:107.87, Z:3.38 [[ 1.36171819e-01 -9.90681088e-01 -2.86665428e-03 1.54458556e+02] [ 9.90498108e-01 1.36201767e-01 -1.90414535e-02 1.07868941e+02] [ 1.92544513e-02 -2.46506276e-04 9.99814585e-01 3.38253618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49361786499995 meters 0.019064705268852584 Centerline is valid? [True, True] Translation: X:154.46, Y:107.90, Z:3.38 [[ 1.34941878e-01 -9.90849411e-01 -2.85224312e-03 1.54463554e+02] [ 9.90667596e-01 1.34971760e-01 -1.89825565e-02 1.07895672e+02] [ 1.91938271e-02 -2.64083022e-04 9.99815747e-01 3.38350539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52361786499995 meters 0.018964963387730353 Centerline is valid? [True, True] Translation: X:154.47, Y:107.92, Z:3.38 [[ 1.33525110e-01 -9.91041141e-01 -2.91592810e-03 1.54468790e+02] [ 9.90850393e-01 1.33556625e-01 -1.94454695e-02 1.07923695e+02] [ 1.96607018e-02 -2.92790037e-04 9.99806667e-01 3.38411562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55361786499995 meters 0.019539512414453866 Centerline is valid? [True, True] Translation: X:154.48, Y:107.95, Z:3.38 [[ 1.32708408e-01 -9.91150850e-01 -2.91057136e-03 1.54475509e+02] [ 9.90960115e-01 1.32739975e-01 -1.94460687e-02 1.07949810e+02] [ 1.96603367e-02 -3.03603310e-04 9.99806671e-01 3.38435223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58361786499995 meters 0.019559940457822302 Centerline is valid? [True, True] Translation: X:154.48, Y:107.98, Z:3.38 [[ 1.31553576e-01 -9.91304730e-01 -2.93072981e-03 1.54480217e+02] [ 9.91110614e-01 1.31585819e-01 -1.96194649e-02 1.07976349e+02] [ 1.98345109e-02 -3.23666655e-04 9.99803224e-01 3.38464973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61361786499995 meters 0.01978546099211487 Centerline is valid? [True, True] Translation: X:154.48, Y:108.00, Z:3.39 [[ 1.30899381e-01 -9.91391528e-01 -2.86172039e-03 1.54484996e+02] [ 9.91205739e-01 1.30930258e-01 -1.91950860e-02 1.08002582e+02] [ 1.94045314e-02 -3.23928788e-04 9.99811662e-01 3.38536239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64361786499995 meters 0.01914519973662599 Centerline is valid? [True, True] Translation: X:154.49, Y:108.03, Z:3.39 [[ 1.30315051e-01 -9.91468523e-01 -2.85587088e-03 1.54487648e+02] [ 9.91282748e-01 1.30345925e-01 -1.91951308e-02 1.08031020e+02] [ 1.94036191e-02 -3.29561080e-04 9.99811678e-01 3.38636279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67361786499995 meters 0.019301392679253463 Centerline is valid? [True, True] Translation: X:154.49, Y:108.06, Z:3.39 [[ 1.30451170e-01 -9.91450642e-01 -2.84916801e-03 1.54492071e+02] [ 9.91265032e-01 1.30481884e-01 -1.91863276e-02 1.08057830e+02] [ 1.93940616e-02 -3.21401745e-04 9.99811866e-01 3.38708545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70361786499996 meters 0.01923343847269659 Centerline is valid? [True, True] Translation: X:154.50, Y:108.09, Z:3.39 [[ 1.30924069e-01 -9.91388387e-01 -2.82046278e-03 1.54495930e+02] [ 9.91205773e-01 1.30954092e-01 -1.90299990e-02 1.08085314e+02] [ 1.92354711e-02 -3.04174099e-04 9.99814935e-01 3.38775260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73361786499996 meters 0.019157736066084362 Centerline is valid? [True, True] Translation: X:154.50, Y:108.11, Z:3.39 [[ 1.33106158e-01 -9.91097591e-01 -2.88385425e-03 1.54499659e+02] [ 9.90905886e-01 1.33137135e-01 -1.94943221e-02 1.08112264e+02] [ 1.97047238e-02 -2.62813838e-04 9.99805809e-01 3.38825793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76361786499996 meters 0.018725007328151185 Centerline is valid? [True, True] Translation: X:154.50, Y:108.14, Z:3.39 [[ 1.34299788e-01 -9.90936491e-01 -2.90491165e-03 1.54501668e+02] [ 9.90741212e-01 1.34330994e-01 -1.96732282e-02 1.08140029e+02] [ 1.98851394e-02 -2.35905310e-04 9.99802243e-01 3.38944183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79361786499996 meters 0.018611617369304806 Centerline is valid? [True, True] Translation: X:154.50, Y:108.17, Z:3.39 [[ 1.35144618e-01 -9.90821721e-01 -2.87208210e-03 1.54504698e+02] [ 9.90630098e-01 1.35174967e-01 -1.94868671e-02 1.08168321e+02] [ 1.96962448e-02 -2.11625774e-04 9.99805988e-01 3.38984076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82361786499996 meters 0.018625565377040815 Centerline is valid? [True, True] Translation: X:154.51, Y:108.20, Z:3.39 [[ 1.36057656e-01 -9.90696871e-01 -2.83284890e-03 1.54507805e+02] [ 9.90509728e-01 1.36087017e-01 -1.92562596e-02 1.08195267e+02] [ 1.94626301e-02 -1.86002848e-04 9.99810568e-01 3.39048121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85361786499996 meters 0.018381434052677628 Centerline is valid? [True, True] Translation: X:154.51, Y:108.22, Z:3.39 [[ 1.37960652e-01 -9.90434025e-01 -2.70196123e-03 1.54509035e+02] [ 9.90263094e-01 1.37987040e-01 -1.84005957e-02 1.08223329e+02] [ 1.85974117e-02 -1.37094312e-04 9.99827044e-01 3.39143760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88361786499996 meters 0.01837128521144924 Centerline is valid? [True, True] Translation: X:154.51, Y:108.25, Z:3.39 [[ 1.39009524e-01 -9.90287194e-01 -2.76160098e-03 1.54511505e+02] [ 9.90107911e-01 1.39036906e-01 -1.88431027e-02 1.08250686e+02] [ 1.90440478e-02 -1.14912228e-04 9.99818639e-01 3.39202176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91361786499996 meters 0.018334272672180425 Centerline is valid? [True, True] Translation: X:154.51, Y:108.28, Z:3.39 [[ 1.39040037e-01 -9.90283066e-01 -2.70497301e-03 1.54514729e+02] [ 9.90110395e-01 1.39066305e-01 -1.84924084e-02 1.08278415e+02] [ 1.86888895e-02 -1.07036739e-04 9.99825342e-01 3.39222351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94361786499996 meters 0.01831842509094788 Centerline is valid? [True, True] Translation: X:154.52, Y:108.31, Z:3.39 [[ 1.39143288e-01 -9.90268557e-01 -2.70739051e-03 1.54518244e+02] [ 9.90094922e-01 1.39169588e-01 -1.85437539e-02 1.08306708e+02] [ 1.87400828e-02 -1.00334718e-04 9.99824384e-01 3.39287982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97361786499997 meters 0.01841075037147226 Centerline is valid? [True, True] Translation: X:154.52, Y:108.33, Z:3.39 [[ 1.38693481e-01 -9.90331787e-01 -2.65899279e-03 1.54521521e+02] [ 9.90163708e-01 1.38718930e-01 -1.82452968e-02 1.08333238e+02] [ 1.84377500e-02 -1.02334434e-04 9.99830005e-01 3.39299462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00361786499997 meters 0.01847310037865586 Centerline is valid? [True, True] Translation: X:154.53, Y:108.36, Z:3.39 [[ 1.37792910e-01 -9.90457583e-01 -2.62486708e-03 1.54525114e+02] [ 9.90293348e-01 1.37817862e-01 -1.80366655e-02 1.08360702e+02] [ 1.82263057e-02 -1.14063776e-04 9.99833881e-01 3.39343857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03361786499997 meters 0.018441776062796178 Centerline is valid? [True, True] Translation: X:154.53, Y:108.39, Z:3.39 [[ 1.36718963e-01 -9.90606441e-01 -2.60867125e-03 1.54528757e+02] [ 9.90443646e-01 1.36743788e-01 -1.79588581e-02 1.08388742e+02] [ 1.81468801e-02 -1.28425394e-04 9.99835324e-01 3.39407369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06361786499997 meters 0.018441776062796178 Centerline is valid? [True, True] Translation: X:154.53, Y:108.42, Z:3.39 [[ 1.36446526e-01 -9.90644016e-01 -2.60373021e-03 1.54532650e+02] [ 9.90481215e-01 1.36471306e-01 -1.79595745e-02 1.08416047e+02] [ 1.81468795e-02 -1.28424305e-04 9.99835324e-01 3.39452449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09361786499997 meters 0.01868166875246765 Centerline is valid? [True, True] Translation: X:154.54, Y:108.44, Z:3.39 [[ 1.35154254e-01 -9.90821247e-01 -2.56599831e-03 1.54537431e+02] [ 9.90662551e-01 1.35178533e-01 -1.77334257e-02 1.08442542e+02] [ 1.79175229e-02 -1.45290497e-04 9.99839458e-01 3.39463561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12361786499997 meters 0.018799325376032388 Centerline is valid? [True, True] Translation: X:154.54, Y:108.47, Z:3.39 [[ 1.33105728e-01 -9.91098482e-01 -2.58147869e-03 1.54541817e+02] [ 9.90937256e-01 1.33130639e-01 -1.78770338e-02 1.08470637e+02] [ 1.80615749e-02 -1.78547813e-04 9.99836861e-01 3.39474198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15361786499997 meters 0.01902342165091717 Centerline is valid? [True, True] Translation: X:154.55, Y:108.50, Z:3.39 [[ 1.31903043e-01 -9.91259173e-01 -2.61512063e-03 1.54546892e+02] [ 9.91093100e-01 1.31928815e-01 -1.81453789e-02 1.08496948e+02] [ 1.83317830e-02 -1.98397319e-04 9.99831939e-01 3.39474395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18361786499997 meters 0.018984367226527153 Centerline is valid? [True, True] Translation: X:154.55, Y:108.52, Z:3.39 [[ 1.30526365e-01 -9.91441426e-01 -2.60144535e-03 1.54550025e+02] [ 9.91276459e-01 1.30552104e-01 -1.80867523e-02 1.08524403e+02] [ 1.82715797e-02 -2.17953503e-04 9.99833037e-01 3.39477205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21361786499997 meters 0.01922388171683665 Centerline is valid? [True, True] Translation: X:154.55, Y:108.55, Z:3.39 [[ 1.28596731e-01 -9.91693397e-01 -2.66202480e-03 1.54554805e+02] [ 9.91520029e-01 1.28624028e-01 -1.85443331e-02 1.08552675e+02] [ 1.87326931e-02 -2.54710291e-04 9.99824495e-01 3.39393836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24361786499995 meters 0.01925623864542598 Centerline is valid? [True, True] Translation: X:154.56, Y:108.58, Z:3.39 [[ 1.27259953e-01 -9.91865688e-01 -2.71331933e-03 1.54559094e+02] [ 9.91684920e-01 1.27288565e-01 -1.89377991e-02 1.08580075e+02] [ 1.91291276e-02 -2.80734447e-04 9.99816982e-01 3.39416519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27361786499995 meters 0.02023898940082551 Centerline is valid? [True, True] Translation: X:154.57, Y:108.61, Z:3.39 [[ 1.25184660e-01 -9.92129557e-01 -2.78269301e-03 1.54566668e+02] [ 9.91938728e-01 1.25215164e-01 -1.94607966e-02 1.08606790e+02] [ 1.96560669e-02 -3.24067771e-04 9.99806748e-01 3.39346142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30361786499995 meters 0.019903630203266204 Centerline is valid? [True, True] Translation: X:154.57, Y:108.63, Z:3.39 [[ 1.24068847e-01 -9.92269663e-01 -2.79940831e-03 1.54569667e+02] [ 9.92075865e-01 1.24099949e-01 -1.96132800e-02 1.08634724e+02] [ 1.98090692e-02 -3.43828380e-04 9.99803722e-01 3.39374001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33361786499995 meters 0.02038664626098253 Centerline is valid? [True, True] Translation: X:154.58, Y:108.66, Z:3.39 [[ 1.22809784e-01 -9.92426240e-01 -2.81331263e-03 1.54575167e+02] [ 9.92229805e-01 1.22841457e-01 -1.97481919e-02 1.08662028e+02] [ 1.99442153e-02 -3.66181461e-04 9.99801027e-01 3.39374962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36361786499995 meters 0.020665635987609392 Centerline is valid? [True, True] Translation: X:154.58, Y:108.69, Z:3.39 [[ 1.20666299e-01 -9.92689262e-01 -2.77023148e-03 1.54580754e+02] [ 9.92498204e-01 1.20697434e-01 -1.94793506e-02 1.08689183e+02] [ 1.96713020e-02 -3.98948635e-04 9.99806422e-01 3.39452157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39361786499995 meters 0.020355901105633355 Centerline is valid? [True, True] Translation: X:154.58, Y:108.72, Z:3.40 [[ 1.19429236e-01 -9.92839094e-01 -2.68145635e-03 1.54583906e+02] [ 9.92659455e-01 1.19458645e-01 -1.88901781e-02 1.08716941e+02] [ 1.90752305e-02 -4.05733469e-04 9.99817969e-01 3.39555416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42361786499995 meters 0.020617370285141948 Centerline is valid? [True, True] Translation: X:154.59, Y:108.74, Z:3.40 [[ 1.18324940e-01 -9.92971379e-01 -2.65483009e-03 1.54588731e+02] [ 9.92794640e-01 1.18353980e-01 -1.87387092e-02 1.08744208e+02] [ 1.89212117e-02 -4.18444434e-04 9.99820890e-01 3.39603248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45361786499996 meters 0.020418728270064957 Centerline is valid? [True, True] Translation: X:154.59, Y:108.77, Z:3.40 [[ 1.17418118e-01 -9.93079138e-01 -2.60988411e-03 1.54592338e+02] [ 9.92907755e-01 1.17446352e-01 -1.84538416e-02 1.08771630e+02] [ 1.86326465e-02 -4.24558823e-04 9.99826307e-01 3.39680600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48361786499996 meters 0.020701689016822802 Centerline is valid? [True, True] Translation: X:154.60, Y:108.80, Z:3.40 [[ 1.15830771e-01 -9.93265808e-01 -2.50356572e-03 1.54597330e+02] [ 9.93107539e-01 1.15857019e-01 -1.77360175e-02 1.08799855e+02] [ 1.79066354e-02 -4.31933409e-04 9.99839570e-01 3.39735164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51361786499996 meters 0.020946989568853047 Centerline is valid? [True, True] Translation: X:154.60, Y:108.83, Z:3.40 [[ 1.15526655e-01 -9.93301264e-01 -2.48824509e-03 1.54602058e+02] [ 9.93144340e-01 1.15552644e-01 -1.76608880e-02 1.08826530e+02] [ 1.78301056e-02 -4.30883222e-04 9.99840938e-01 3.39790435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54361786499996 meters 0.021217174553554048 Centerline is valid? [True, True] Translation: X:154.61, Y:108.85, Z:3.40 [[ 1.15923236e-01 -9.93255128e-01 -2.46065578e-03 1.54606743e+02] [ 9.93101025e-01 1.15948606e-01 -1.75007100e-02 1.08853173e+02] [ 1.76679795e-02 -4.14940850e-04 9.99843823e-01 3.39833117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57361786499996 meters 0.022989005760589258 Centerline is valid? [True, True] Translation: X:154.61, Y:108.88, Z:3.40 [[ 1.16355282e-01 -9.93204736e-01 -2.40843435e-03 1.54614321e+02] [ 9.93056677e-01 1.16379533e-01 -1.71534254e-02 1.08879033e+02] [ 1.73171558e-02 -3.95820156e-04 9.99849968e-01 3.39886134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60361786499996 meters 0.02073121789304978 Centerline is valid? [True, True] Translation: X:154.61, Y:108.91, Z:3.40 [[ 1.17047496e-01 -9.93123499e-01 -2.36629136e-03 1.54612583e+02] [ 9.92980157e-01 1.17070814e-01 -1.68769987e-02 1.08907450e+02] [ 1.70379677e-02 -3.74269916e-04 9.99854773e-01 3.39921678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63361786499996 meters 0.0206651045394117 Centerline is valid? [True, True] Translation: X:154.62, Y:108.93, Z:3.40 [[ 1.19310688e-01 -9.92854158e-01 -2.36248207e-03 1.54615749e+02] [ 9.92710667e-01 1.19333617e-01 -1.68825169e-02 1.08934273e+02] [ 1.70438006e-02 -3.30996449e-04 9.99854689e-01 3.39954455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66361786499996 meters 0.020008376706285545 Centerline is valid? [True, True] Translation: X:154.62, Y:108.96, Z:3.40 [[ 1.20259811e-01 -9.92739764e-01 -2.31080781e-03 1.54616866e+02] [ 9.92602119e-01 1.20281623e-01 -1.65337513e-02 1.08962125e+02] [ 1.66916601e-02 -3.05366921e-04 9.99860638e-01 3.39980601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69361786499996 meters 0.020023861814063813 Centerline is valid? [True, True] Translation: X:154.62, Y:108.99, Z:3.40 [[ 1.21834406e-01 -9.92547764e-01 -2.30531688e-03 1.54620158e+02] [ 9.92410185e-01 1.21855906e-01 -1.65276135e-02 1.08988602e+02] [ 1.66853623e-02 -2.74187976e-04 9.99860752e-01 3.40038689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72361786499997 meters 0.019506530133511085 Centerline is valid? [True, True] Translation: X:154.62, Y:109.02, Z:3.40 [[ 1.25021019e-01 -9.92151473e-01 -2.28021843e-03 1.54621071e+02] [ 9.92016267e-01 1.25041628e-01 -1.63804201e-02 1.09017464e+02] [ 1.65369801e-02 -2.14116967e-04 9.99863232e-01 3.40032928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75361786499997 meters 0.01938456222988725 Centerline is valid? [True, True] Translation: X:154.62, Y:109.05, Z:3.40 [[ 1.26484623e-01 -9.91965930e-01 -2.28789231e-03 1.54623410e+02] [ 9.91829257e-01 1.26505176e-01 -1.64670860e-02 1.09045365e+02] [ 1.66242185e-02 -1.86365375e-04 9.99861791e-01 3.40106728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78361786499997 meters 0.01933998440686234 Centerline is valid? [True, True] Translation: X:154.63, Y:109.07, Z:3.40 [[ 1.27914475e-01 -9.91782684e-01 -2.23480677e-03 1.54625992e+02] [ 9.91651744e-01 1.27933902e-01 -1.61163211e-02 1.09073255e+02] [ 1.62697957e-02 -1.54639281e-04 9.99867626e-01 3.40122849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81361786499997 meters 0.019092246381420236 Centerline is valid? [True, True] Translation: X:154.63, Y:109.10, Z:3.40 [[ 1.30609459e-01 -9.91431499e-01 -2.18013861e-03 1.54626484e+02] [ 9.91306353e-01 1.30627612e-01 -1.57525382e-02 1.09101062e+02] [ 1.59023488e-02 -1.03754760e-04 9.99873544e-01 3.40224445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84361786499997 meters 0.01904973284175888 Centerline is valid? [True, True] Translation: X:154.63, Y:109.13, Z:3.40 [[ 1.31751813e-01 -9.91280380e-01 -2.16072735e-03 1.54628697e+02] [ 9.91156948e-01 1.31769505e-01 -1.56429416e-02 1.09129485e+02] [ 1.57912591e-02 -8.06340058e-05 9.99875307e-01 3.40266797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87361786499997 meters 0.01894118731976026 Centerline is valid? [True, True] Translation: X:154.63, Y:109.16, Z:3.40 [[ 1.32757161e-01 -9.91146299e-01 -2.13333491e-03 1.54631453e+02] [ 9.91025483e-01 1.32774287e-01 -1.54751815e-02 1.09157865e+02] [ 1.56214209e-02 -5.97480894e-05 9.99877976e-01 3.40324928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90361786499997 meters 0.019039081690782323 Centerline is valid? [True, True] Translation: X:154.63, Y:109.19, Z:3.40 [[ 1.33986330e-01 -9.90980908e-01 -2.12227633e-03 1.54633664e+02] [ 9.90860843e-01 1.34003132e-01 -1.54256351e-02 1.09185848e+02] [ 1.55709016e-02 -3.60562817e-05 9.99878766e-01 3.40353867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93361786499997 meters 0.01904607605324219 Centerline is valid? [True, True] Translation: X:154.64, Y:109.21, Z:3.40 [[ 1.34101239e-01 -9.90965420e-01 -2.09599387e-03 1.54636959e+02] [ 9.90847842e-01 1.34117615e-01 -1.52649938e-02 1.09213253e+02] [ 1.54081907e-02 -2.97564302e-05 9.99881286e-01 3.40413873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96361786499997 meters 0.019012596363143123 Centerline is valid? [True, True] Translation: X:154.64, Y:109.24, Z:3.41 [[ 1.34023604e-01 -9.90975819e-01 -2.14480709e-03 1.54640263e+02] [ 9.90852187e-01 1.34040762e-01 -1.56530148e-02 1.09240999e+02] [ 1.57992508e-02 -2.73133382e-05 9.99875184e-01 3.40502425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99361786499995 meters 0.018948744934548175 Centerline is valid? [True, True] Translation: X:154.64, Y:109.27, Z:3.41 [[ 1.33557251e-01 -9.91038716e-01 -2.17365123e-03 1.54642751e+02] [ 9.90911220e-01 1.33574934e-01 -1.58962532e-02 1.09269297e+02] [ 1.60441477e-02 -3.08355119e-05 9.99871284e-01 3.40513708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02361786499995 meters 0.018990704046589382 Centerline is valid? [True, True] Translation: X:154.65, Y:109.30, Z:3.41 [[ 1.32778703e-01 -9.91143294e-01 -2.18789502e-03 1.54645940e+02] [ 9.91013605e-01 1.32796722e-01 -1.60332365e-02 1.09297141e+02] [ 1.61817801e-02 -3.93613807e-05 9.99869066e-01 3.40520513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05361786499995 meters 0.018994924482152908 Centerline is valid? [True, True] Translation: X:154.65, Y:109.33, Z:3.41 [[ 1.31983608e-01 -9.91249467e-01 -2.19573666e-03 1.54649122e+02] [ 9.91118319e-01 1.32001863e-01 -1.61240975e-02 1.09325288e+02] [ 1.62728444e-02 -4.81182542e-05 9.99867587e-01 3.40561336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08361786499995 meters 0.01904924360966285 Centerline is valid? [True, True] Translation: X:154.65, Y:109.35, Z:3.41 [[ 1.29804033e-01 -9.91537449e-01 -2.09748439e-03 1.54652421e+02] [ 9.91417339e-01 1.29820956e-01 -1.54330436e-02 1.09353070e+02] [ 1.55747381e-02 -7.62110974e-05 9.99878704e-01 3.40592842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11361786499995 meters 0.019110261281804628 Centerline is valid? [True, True] Translation: X:154.66, Y:109.38, Z:3.41 [[ 1.28433148e-01 -9.91716136e-01 -2.00812153e-03 1.54656305e+02] [ 9.91605612e-01 1.28448815e-01 -1.48058535e-02 1.09379875e+02] [ 1.49411446e-02 -8.97022093e-05 9.99888371e-01 3.40680303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14361786499995 meters 0.019153988195976236 Centerline is valid? [True, True] Translation: X:154.66, Y:109.41, Z:3.41 [[ 1.27032154e-01 -9.91896669e-01 -1.95714081e-03 1.54660170e+02] [ 9.91791409e-01 1.27047186e-01 -1.44503626e-02 1.09408143e+02] [ 1.45819158e-02 -1.05414740e-04 9.99893673e-01 3.40745471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17361786499995 meters 0.019320222212056478 Centerline is valid? [True, True] Translation: X:154.66, Y:109.43, Z:3.41 [[ 1.24369352e-01 -9.92234185e-01 -1.89369441e-03 1.54664063e+02] [ 9.92135255e-01 1.24383694e-01 -1.40118948e-02 1.09434908e+02] [ 1.41386258e-02 -1.36150700e-04 9.99900035e-01 3.40803040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20361786499996 meters 0.019404795938081115 Centerline is valid? [True, True] Translation: X:154.67, Y:109.46, Z:3.41 [[ 1.23133166e-01 -9.92388382e-01 -1.87697934e-03 1.54667227e+02] [ 9.92290981e-01 1.23147379e-01 -1.39044078e-02 1.09462964e+02] [ 1.40297178e-02 -1.50415918e-04 9.99901567e-01 3.40866571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23361786499996 meters 0.019640111769620328 Centerline is valid? [True, True] Translation: X:154.67, Y:109.49, Z:3.41 [[ 1.21432089e-01 -9.92598075e-01 -1.81925153e-03 1.54670035e+02] [ 9.92506220e-01 1.21445603e-01 -1.35044346e-02 1.09490504e+02] [ 1.36254159e-02 -1.65746757e-04 9.99907156e-01 3.40906866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26361786499996 meters 0.01967633965055265 Centerline is valid? [True, True] Translation: X:154.67, Y:109.52, Z:3.41 [[ 1.20529478e-01 -9.92707947e-01 -1.89134230e-03 1.54673286e+02] [ 9.92608303e-01 1.20544179e-01 -1.40662257e-02 1.09518057e+02] [ 1.41916443e-02 -1.81967234e-04 9.99899277e-01 3.40974968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29361786499996 meters 0.019790128491428038 Centerline is valid? [True, True] Translation: X:154.68, Y:109.55, Z:3.41 [[ 1.19644077e-01 -9.92815057e-01 -1.88609831e-03 1.54676404e+02] [ 9.92715568e-01 1.19658791e-01 -1.40561248e-02 1.09545561e+02] [ 1.41808206e-02 -1.90627073e-04 9.99899429e-01 3.40971610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32361786499996 meters 0.019852907740856785 Centerline is valid? [True, True] Translation: X:154.68, Y:109.57, Z:3.41 [[ 1.18480453e-01 -9.92954648e-01 -1.85752491e-03 1.54679537e+02] [ 9.92857774e-01 1.18494843e-01 -1.38712848e-02 1.09573511e+02] [ 1.39936638e-02 -2.00781953e-04 9.99902064e-01 3.41025219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35361786499996 meters 0.020009333531439178 Centerline is valid? [True, True] Translation: X:154.68, Y:109.60, Z:3.41 [[ 1.17473374e-01 -9.93074353e-01 -1.82637581e-03 1.54681486e+02] [ 9.92980334e-01 1.17487386e-01 -1.36663904e-02 1.09601986e+02] [ 1.37863179e-02 -2.08118276e-04 9.99904943e-01 3.41076775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38361786499996 meters 0.020095375480654865 Centerline is valid? [True, True] Translation: X:154.68, Y:109.63, Z:3.41 [[ 1.17061553e-01 -9.93122911e-01 -1.86468003e-03 1.54684041e+02] [ 9.93024495e-01 1.17076207e-01 -1.39826491e-02 1.09630332e+02] [ 1.41047988e-02 -2.14842327e-04 9.99900499e-01 3.41050317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41361786499996 meters 0.01990473628949686 Centerline is valid? [True, True] Translation: X:154.69, Y:109.66, Z:3.41 [[ 1.16765520e-01 -9.93157742e-01 -1.87428523e-03 1.54685759e+02] [ 9.93057902e-01 1.16780360e-01 -1.40837010e-02 1.09658568e+02] [ 1.42062164e-02 -2.16783086e-04 9.99899063e-01 3.41042080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44361786499996 meters 0.020159899258437825 Centerline is valid? [True, True] Translation: X:154.69, Y:109.69, Z:3.41 [[ 1.16131131e-01 -9.93232133e-01 -1.86811981e-03 1.54687384e+02] [ 9.93132547e-01 1.16145944e-01 -1.40664296e-02 1.09685995e+02] [ 1.41882044e-02 -2.21740210e-04 9.99899318e-01 3.41079045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47361786499997 meters 0.020029384688587833 Centerline is valid? [True, True] Translation: X:154.69, Y:109.71, Z:3.41 [[ 1.15470616e-01 -9.93309080e-01 -1.89973795e-03 1.54689115e+02] [ 9.93205634e-01 1.15486011e-01 -1.43370326e-02 1.09713627e+02] [ 1.44604978e-02 -2.31324440e-04 9.99895415e-01 3.41140550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50361786499997 meters 0.020269917575836512 Centerline is valid? [True, True] Translation: X:154.69, Y:109.74, Z:3.41 [[ 1.14168735e-01 -9.93459551e-01 -1.90273067e-03 1.54690993e+02] [ 9.93355355e-01 1.14184322e-01 -1.43902521e-02 1.09741068e+02] [ 1.45133955e-02 -2.47170817e-04 9.99894645e-01 3.41149609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53361786499997 meters 0.02020336948800909 Centerline is valid? [True, True] Translation: X:154.69, Y:109.77, Z:3.41 [[ 1.13264053e-01 -9.93563076e-01 -1.91512571e-03 1.54692806e+02] [ 9.93457143e-01 1.13279946e-01 -1.45106400e-02 1.09769616e+02] [ 1.46341814e-02 -2.59061424e-04 9.99892881e-01 3.41237975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56361786499997 meters 0.02029829423303716 Centerline is valid? [True, True] Translation: X:154.69, Y:109.80, Z:3.41 [[ 1.11962217e-01 -9.93710551e-01 -1.95007586e-03 1.54693536e+02] [ 9.93600262e-01 1.11978849e-01 -1.48073024e-02 1.09797454e+02] [ 1.49325399e-02 -2.79737482e-04 9.99888464e-01 3.41313094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59361786499997 meters 0.020429427668174023 Centerline is valid? [True, True] Translation: X:154.70, Y:109.82, Z:3.41 [[ 1.11194277e-01 -9.93796792e-01 -1.94156365e-03 1.54696000e+02] [ 9.93687016e-01 1.11210857e-01 -1.47736250e-02 1.09824964e+02] [ 1.48979041e-02 -2.86564037e-04 9.99888979e-01 3.41351635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62361786499997 meters 0.020321174287376096 Centerline is valid? [True, True] Translation: X:154.70, Y:109.85, Z:3.41 [[ 1.10173554e-01 -9.93910498e-01 -1.92597616e-03 1.54697329e+02] [ 9.93802009e-01 1.10189990e-01 -1.46878429e-02 1.09852933e+02] [ 1.48106246e-02 -2.95827122e-04 9.99890273e-01 3.41409731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65361786499997 meters 0.020489510363189346 Centerline is valid? [True, True] Translation: X:154.70, Y:109.88, Z:3.41 [[ 1.09118043e-01 -9.94026993e-01 -1.89459319e-03 1.54698352e+02] [ 9.93921574e-01 1.09134069e-01 -1.44796427e-02 1.09880400e+02] [ 1.45999203e-02 -3.03086777e-04 9.99893370e-01 3.41462297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68361786499997 meters 0.02069882923797799 Centerline is valid? [True, True] Translation: X:154.70, Y:109.91, Z:3.42 [[ 1.08374346e-01 -9.94108439e-01 -1.84756319e-03 1.54700922e+02] [ 9.94007830e-01 1.08389669e-01 -1.41461645e-02 1.09908798e+02] [ 1.42630783e-02 -3.03410951e-04 9.99898231e-01 3.41562725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71361786499997 meters 0.020675203217759418 Centerline is valid? [True, True] Translation: X:154.70, Y:109.94, Z:3.42 [[ 1.07866896e-01 -9.94163646e-01 -1.83814944e-03 1.54702935e+02] [ 9.94063644e-01 1.07882123e-01 -1.41038429e-02 1.09936738e+02] [ 1.42198313e-02 -3.05899786e-04 9.99898846e-01 3.41624077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74361786499995 meters 0.021443569878463877 Centerline is valid? [True, True] Translation: X:154.71, Y:109.96, Z:3.42 [[ 1.06870529e-01 -9.94271161e-01 -1.88391580e-03 1.54705351e+02] [ 9.94165651e-01 1.06886639e-01 -1.44881218e-02 1.09963225e+02] [ 1.46064871e-02 -3.24571142e-04 9.99893267e-01 3.41650155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77361786499995 meters 0.02056274783809542 Centerline is valid? [True, True] Translation: X:154.70, Y:109.99, Z:3.42 [[ 1.06287780e-01 -9.94333553e-01 -1.92192924e-03 1.54704941e+02] [ 9.94223440e-01 1.06304619e-01 -1.48013540e-02 1.09991713e+02] [ 1.49217928e-02 -3.37624045e-04 9.99888607e-01 3.41625852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80361786499995 meters 0.021054188035851927 Centerline is valid? [True, True] Translation: X:154.71, Y:110.02, Z:3.42 [[ 1.05939683e-01 -9.94370494e-01 -2.02579491e-03 1.54707989e+02] [ 9.94247599e-01 1.05958447e-01 -1.56371328e-02 1.10018133e+02] [ 1.57637536e-02 -3.57548827e-04 9.99875680e-01 3.41667983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83361786499995 meters 0.020838239668223367 Centerline is valid? [True, True] Translation: X:154.71, Y:110.05, Z:3.42 [[ 1.05582823e-01 -9.94408370e-01 -2.06446019e-03 1.54707780e+02] [ 9.94280142e-01 1.05602369e-01 -1.59730386e-02 1.10046690e+02] [ 1.61017352e-02 -3.66173271e-04 9.99870292e-01 3.41687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86361786499995 meters 0.020739896260057514 Centerline is valid? [True, True] Translation: X:154.71, Y:110.08, Z:3.42 [[ 1.05092608e-01 -9.94460186e-01 -2.11695613e-03 1.54709547e+02] [ 9.94324764e-01 1.05113241e-01 -1.64155664e-02 1.10075063e+02] [ 1.65471473e-02 -3.79787233e-04 9.99863014e-01 3.41732302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89361786499995 meters 0.02096740305002738 Centerline is valid? [True, True] Translation: X:154.71, Y:110.10, Z:3.42 [[ 1.04748415e-01 -9.94496464e-01 -2.13362033e-03 1.54711966e+02] [ 9.94358300e-01 1.04769436e-01 -1.65811955e-02 1.10102052e+02] [ 1.67134785e-02 -3.84729146e-04 9.99860246e-01 3.41800907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92361786499995 meters 0.02121852075738944 Centerline is valid? [True, True] Translation: X:154.71, Y:110.13, Z:3.42 [[ 1.03600622e-01 -9.94616635e-01 -2.15889534e-03 1.54712188e+02] [ 9.94474549e-01 1.03622324e-01 -1.68161996e-02 1.10130176e+02] [ 1.69493816e-02 -4.04797720e-04 9.99856267e-01 3.41921192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95361786499996 meters 0.02149106062261247 Centerline is valid? [True, True] Translation: X:154.71, Y:110.16, Z:3.42 [[ 1.02880668e-01 -9.94691291e-01 -2.19168386e-03 1.54714711e+02] [ 9.94544455e-01 1.02903150e-01 -1.70958777e-02 1.10157507e+02] [ 1.72306518e-02 -4.20891711e-04 9.99851453e-01 3.41946214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98361786499996 meters 0.02149106062261247 Centerline is valid? [True, True] Translation: X:154.72, Y:110.18, Z:3.42 [[ 1.02614384e-01 -9.94718808e-01 -2.18679231e-03 1.54718137e+02] [ 9.94571965e-01 1.02636821e-01 -1.70965034e-02 1.10184866e+02] [ 1.72306589e-02 -4.20575164e-04 9.99851453e-01 3.41991295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01361786499996 meters 0.0216795154027258 Centerline is valid? [True, True] Translation: X:154.72, Y:110.21, Z:3.42 [[ 1.01381573e-01 -9.94845281e-01 -2.15489009e-03 1.54718533e+02] [ 9.94702117e-01 1.01403552e-01 -1.68825048e-02 1.10213729e+02] [ 1.70139937e-02 -4.31898835e-04 9.99855158e-01 3.42071442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04361786499996 meters 0.021806186027962502 Centerline is valid? [True, True] Translation: X:154.72, Y:110.24, Z:3.42 [[ 1.00510183e-01 -9.94933518e-01 -2.23572463e-03 1.54720766e+02] [ 9.94778778e-01 1.00533994e-01 -1.75527727e-02 1.10241795e+02] [ 1.76886082e-02 -4.59819013e-04 9.99843439e-01 3.42138884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07361786499996 meters 0.02163386300621211 Centerline is valid? [True, True] Translation: X:154.72, Y:110.27, Z:3.42 [[ 9.94929187e-02 -9.95035730e-01 -2.24829925e-03 1.54721956e+02] [ 9.94878592e-01 9.95171763e-02 -1.76895103e-02 1.10270542e+02] [ 1.78254392e-02 -4.76803787e-04 9.99841001e-01 3.42201488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10361786499996 meters 0.021291874139140653 Centerline is valid? [True, True] Translation: X:154.72, Y:110.30, Z:3.42 [[ 9.85930398e-02 -9.95125142e-01 -2.31604888e-03 1.54722715e+02] [ 9.94957720e-01 9.86189512e-02 -1.82602746e-02 1.10298562e+02] [ 1.83996647e-02 -5.04034726e-04 9.99830585e-01 3.42247128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13361786499996 meters 0.022211844786180965 Centerline is valid? [True, True] Translation: X:154.72, Y:110.33, Z:3.42 [[ 9.72105688e-02 -9.95260924e-01 -2.40788232e-03 1.54724697e+02] [ 9.95079493e-01 9.72388415e-02 -1.90107948e-02 1.10325516e+02] [ 1.91548409e-02 -5.47984148e-04 9.99816379e-01 3.42310211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16361786499996 meters 0.021783033865896535 Centerline is valid? [True, True] Translation: X:154.73, Y:110.35, Z:3.42 [[ 9.65405575e-02 -9.95325965e-01 -2.47877427e-03 1.54725288e+02] [ 9.95133247e-01 9.65706624e-02 -1.95940737e-02 1.10353473e+02] [ 1.97418672e-02 -5.75087888e-04 9.99804945e-01 3.42367966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19361786499996 meters 0.021302876452253917 Centerline is valid? [True, True] Translation: X:154.72, Y:110.38, Z:3.43 [[ 9.66904604e-02 -9.95311439e-01 -2.46854043e-03 1.54723647e+02] [ 9.95119455e-01 9.67203130e-02 -1.95563754e-02 1.10382027e+02] [ 1.97034421e-02 -5.65577665e-04 9.99805708e-01 3.42513317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22361786499997 meters 0.021212182217198974 Centerline is valid? [True, True] Translation: X:154.72, Y:110.41, Z:3.43 [[ 9.71912537e-02 -9.95262784e-01 -2.41870042e-03 1.54724934e+02] [ 9.95077645e-01 9.72198432e-02 -1.92036963e-02 1.10410161e+02] [ 1.93478700e-02 -5.40363399e-04 9.99812666e-01 3.42613911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25361786499997 meters 0.02168522484389549 Centerline is valid? [True, True] Translation: X:154.73, Y:110.44, Z:3.43 [[ 9.78482397e-02 -9.95198397e-01 -2.42325204e-03 1.54727209e+02] [ 9.95011699e-01 9.78768371e-02 -1.92832514e-02 1.10437505e+02] [ 1.94278411e-02 -5.24331925e-04 9.99811124e-01 3.42675068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28361786499997 meters 0.020550633742479958 Centerline is valid? [True, True] Translation: X:154.73, Y:110.47, Z:3.43 [[ 9.88607364e-02 -9.95098285e-01 -2.44108142e-03 1.54725717e+02] [ 9.94907929e-01 9.88895859e-02 -1.94695501e-02 1.10466140e+02] [ 1.96155134e-02 -5.03877202e-04 9.99807470e-01 3.42762246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31361786499997 meters 0.022011046042271082 Centerline is valid? [True, True] Translation: X:154.73, Y:110.49, Z:3.43 [[ 1.01400979e-01 -9.94842586e-01 -2.46393431e-03 1.54728472e+02] [ 9.94647714e-01 1.01429896e-01 -1.96952140e-02 1.10493818e+02] [ 1.98435542e-02 -4.53632645e-04 9.99802994e-01 3.42749423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34361786499997 meters 0.020051827953532476 Centerline is valid? [True, True] Translation: X:154.73, Y:110.52, Z:3.43 [[ 1.02338136e-01 -9.94746507e-01 -2.50868337e-03 1.54725575e+02] [ 9.94543576e-01 1.02367942e-01 -2.00967645e-02 1.10522896e+02] [ 2.02479951e-02 -4.38329508e-04 9.99794892e-01 3.42839928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37361786499997 meters 0.020062436522190225 Centerline is valid? [True, True] Translation: X:154.73, Y:110.55, Z:3.43 [[ 1.02861121e-01 -9.94692392e-01 -2.57568194e-03 1.54727265e+02] [ 9.94477512e-01 1.02892447e-01 -2.06790369e-02 1.10550050e+02] [ 2.08342989e-02 -4.34388850e-04 9.99782848e-01 3.42858363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40361786499997 meters 0.020004028887638987 Centerline is valid? [True, True] Translation: X:154.73, Y:110.58, Z:3.43 [[ 1.03503014e-01 -9.94625760e-01 -2.59288316e-03 1.54727661e+02] [ 9.94406960e-01 1.03534640e-01 -2.08656754e-02 1.10578000e+02] [ 2.10219915e-02 -4.18720761e-04 9.99778926e-01 3.42889653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43361786499997 meters 0.020060574977516094 Centerline is valid? [True, True] Translation: X:154.73, Y:110.61, Z:3.43 [[ 1.03238449e-01 -9.94653282e-01 -2.58305282e-03 1.54730036e+02] [ 9.94435176e-01 1.03269912e-01 -2.08328260e-02 1.10605610e+02] [ 2.09881904e-02 -4.17929945e-04 9.99779636e-01 3.42957459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46361786499997 meters 0.020302761723670428 Centerline is valid? [True, True] Translation: X:154.73, Y:110.63, Z:3.43 [[ 1.02533675e-01 -9.94726264e-01 -2.55063759e-03 1.54732748e+02] [ 9.94512666e-01 1.02564524e-01 -2.06173734e-02 1.10632353e+02] [ 2.07702478e-02 -4.22666326e-04 9.99784186e-01 3.43041279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49361786499995 meters 0.02053015669348891 Centerline is valid? [True, True] Translation: X:154.74, Y:110.66, Z:3.43 [[ 1.02085792e-01 -9.94772472e-01 -2.49407783e-03 1.54735181e+02] [ 9.94567307e-01 1.02115400e-01 -2.02068309e-02 1.10658816e+02] [ 2.03558829e-02 -4.17697942e-04 9.99792710e-01 3.43167313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52361786499995 meters 0.020355593110639114 Centerline is valid? [True, True] Translation: X:154.74, Y:110.69, Z:3.43 [[ 1.01923035e-01 -9.94789207e-01 -2.47572389e-03 1.54737453e+02] [ 9.94586122e-01 1.01952261e-01 -2.01043112e-02 1.10686351e+02] [ 2.02519575e-02 -4.13228214e-04 9.99794823e-01 3.43274010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55361786499995 meters 0.019770009393916082 Centerline is valid? [True, True] Translation: X:154.74, Y:110.72, Z:3.43 [[ 1.02150946e-01 -9.94766144e-01 -2.34593724e-03 1.54737590e+02] [ 9.94583014e-01 1.02177162e-01 -1.90907373e-02 1.10715028e+02] [ 1.92305203e-02 -3.83092455e-04 9.99815003e-01 3.43407462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58361786499995 meters 0.019639089849338032 Centerline is valid? [True, True] Translation: X:154.74, Y:110.74, Z:3.43 [[ 1.02345028e-01 -9.94746271e-01 -2.31354134e-03 1.54739755e+02] [ 9.94567348e-01 1.02370506e-01 -1.88698313e-02 1.10742812e+02] [ 1.90075328e-02 -3.69739264e-04 9.99819272e-01 3.43486603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61361786499995 meters 0.019737071963889845 Centerline is valid? [True, True] Translation: X:154.74, Y:110.77, Z:3.43 [[ 1.02725741e-01 -9.94707048e-01 -2.30450874e-03 1.54742347e+02] [ 9.94528688e-01 1.02750968e-01 -1.88395224e-02 1.10770165e+02] [ 1.89765962e-02 -3.56596162e-04 9.99819865e-01 3.43498112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64361786499995 meters 0.019767318638401664 Centerline is valid? [True, True] Translation: X:154.74, Y:110.80, Z:3.44 [[ 1.03003296e-01 -9.94678342e-01 -2.30595492e-03 1.54744949e+02] [ 9.94498891e-01 1.03028521e-01 -1.88965719e-02 1.10797334e+02] [ 1.90335900e-02 -3.46860417e-04 9.99818785e-01 3.43510128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67361786499995 meters 0.01935883013836487 Centerline is valid? [True, True] Translation: X:154.75, Y:110.83, Z:3.44 [[ 1.03720848e-01 -9.94603667e-01 -2.35197635e-03 1.54745781e+02] [ 9.94416063e-01 1.03746970e-01 -1.93199377e-02 1.10825257e+02] [ 1.94596913e-02 -3.34962743e-04 9.99810586e-01 3.43538345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70361786499996 meters 0.019495230006962738 Centerline is valid? [True, True] Translation: X:154.75, Y:110.85, Z:3.44 [[ 1.03549102e-01 -9.94621433e-01 -2.40590777e-03 1.54749127e+02] [ 9.94424205e-01 1.03576486e-01 -1.98094058e-02 1.10852499e+02] [ 1.99520551e-02 -3.41246735e-04 9.99800880e-01 3.43545675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73361786499996 meters 0.019331392395411044 Centerline is valid? [True, True] Translation: X:154.75, Y:110.88, Z:3.44 [[ 1.03459869e-01 -9.94630714e-01 -2.40785440e-03 1.54751484e+02] [ 9.94432221e-01 1.03487331e-01 -1.98728445e-02 1.10880227e+02] [ 2.00153240e-02 -3.38406108e-04 9.99799616e-01 3.43557269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76361786499996 meters 0.019282443903098828 Centerline is valid? [True, True] Translation: X:154.75, Y:110.91, Z:3.44 [[ 1.03546143e-01 -9.94621679e-01 -2.43161293e-03 1.54754061e+02] [ 9.94418317e-01 1.03574148e-01 -2.01148268e-02 1.10907776e+02] [ 2.02584950e-02 -3.35227704e-04 9.99794719e-01 3.43527007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79361786499996 meters 0.018924402885933216 Centerline is valid? [True, True] Translation: X:154.76, Y:110.94, Z:3.44 [[ 1.03135333e-01 -9.94664270e-01 -2.46843734e-03 1.54755693e+02] [ 9.94453740e-01 1.03164295e-01 -2.04667276e-02 1.10935565e+02] [ 2.06121773e-02 -3.43903983e-04 9.99787487e-01 3.43562087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82361786499996 meters 0.019376329139068085 Centerline is valid? [True, True] Translation: X:154.76, Y:110.96, Z:3.44 [[ 1.02415536e-01 -9.94738740e-01 -2.42842982e-03 1.54759661e+02] [ 9.94534039e-01 1.02443731e-01 -2.01823638e-02 1.10962347e+02] [ 2.03249566e-02 -3.48168516e-04 9.99793366e-01 3.43502347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85361786499996 meters 0.019254955302057924 Centerline is valid? [True, True] Translation: X:154.76, Y:110.99, Z:3.44 [[ 1.02297104e-01 -9.94750989e-01 -2.40276464e-03 1.54762876e+02] [ 9.94549620e-01 1.02324747e-01 -2.00174945e-02 1.10989713e+02] [ 2.01582847e-02 -3.41936953e-04 9.99796743e-01 3.43566728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88361786499996 meters 0.019002911253344048 Centerline is valid? [True, True] Translation: X:154.77, Y:111.02, Z:3.44 [[ 1.01841155e-01 -9.94797864e-01 -2.36402084e-03 1.54765705e+02] [ 9.94602072e-01 1.01868019e-01 -1.97389145e-02 1.11017362e+02] [ 1.98770481e-02 -3.41026170e-04 9.99802374e-01 3.43659842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91361786499996 meters 0.019048380112175467 Centerline is valid? [True, True] Translation: X:154.77, Y:111.05, Z:3.44 [[ 1.01124941e-01 -9.94871129e-01 -2.27665065e-03 1.54769213e+02] [ 9.94688742e-01 1.01150001e-01 -1.90521189e-02 1.11045076e+02] [ 1.91846862e-02 -3.37914370e-04 9.99815900e-01 3.43746073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94361786499996 meters 0.019177047567688996 Centerline is valid? [True, True] Translation: X:154.77, Y:111.07, Z:3.44 [[ 1.00590512e-01 -9.94925338e-01 -2.26285614e-03 1.54773858e+02] [ 9.94744320e-01 1.00615381e-01 -1.89811459e-02 1.11071727e+02] [ 1.91125011e-02 -3.41640110e-04 9.99817281e-01 3.43763689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97361786499997 meters 0.019134070783610287 Centerline is valid? [True, True] Translation: X:154.78, Y:111.10, Z:3.44 [[ 1.00077011e-01 -9.94977140e-01 -2.25450511e-03 1.54777285e+02] [ 9.94796586e-01 1.00101805e-01 -1.89573512e-02 1.11099346e+02] [ 1.90878111e-02 -3.45578949e-04 9.99817751e-01 3.43787497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00361786499997 meters 0.01896372125920812 Centerline is valid? [True, True] Translation: X:154.78, Y:111.13, Z:3.44 [[ 1.00275263e-01 -9.94957082e-01 -2.29723056e-03 1.54780502e+02] [ 9.94768725e-01 1.00300985e-01 -1.93622613e-02 1.11127199e+02] [ 1.94950335e-02 -3.43657271e-04 9.99809895e-01 3.43787280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03361786499997 meters 0.01867590628890689 Centerline is valid? [True, True] Translation: X:154.78, Y:111.15, Z:3.44 [[ 1.00402607e-01 -9.94944341e-01 -2.25287629e-03 1.54784269e+02] [ 9.94762343e-01 1.00427337e-01 -1.90323810e-02 1.11154904e+02] [ 1.91624101e-02 -3.30175817e-04 9.99816330e-01 3.43835607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06361786499997 meters 0.019038200950908173 Centerline is valid? [True, True] Translation: X:154.79, Y:111.18, Z:3.44 [[ 1.00329518e-01 -9.94951690e-01 -2.26322166e-03 1.54789790e+02] [ 9.94767121e-01 1.00354504e-01 -1.91663473e-02 1.11181589e+02] [ 1.92967141e-02 -3.28428107e-04 9.99813747e-01 3.43875452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09361786499997 meters 0.018795593061081233 Centerline is valid? [True, True] Translation: X:154.79, Y:111.21, Z:3.44 [[ 1.00483811e-01 -9.94936178e-01 -2.23732965e-03 1.54793157e+02] [ 9.94754903e-01 1.00508216e-01 -1.89942712e-02 1.11209535e+02] [ 1.91229576e-02 -3.16977886e-04 9.99817089e-01 3.43941102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12361786499997 meters 0.01848255370240571 Centerline is valid? [True, True] Translation: X:154.80, Y:111.24, Z:3.44 [[ 1.00858765e-01 -9.94898244e-01 -2.23479565e-03 1.54796322e+02] [ 9.94716516e-01 1.00883060e-01 -1.90173667e-02 1.11237381e+02] [ 1.91457977e-02 -3.04920022e-04 9.99816656e-01 3.44026577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15361786499997 meters 0.018631637363003453 Centerline is valid? [True, True] Translation: X:154.80, Y:111.26, Z:3.44 [[ 1.01219300e-01 -9.94861786e-01 -2.16327893e-03 1.54801583e+02] [ 9.94690691e-01 1.01242016e-01 -1.84521755e-02 1.11263604e+02] [ 1.85763790e-02 -2.84077132e-04 9.99827404e-01 3.44112110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18361786499997 meters 0.018353658734157348 Centerline is valid? [True, True] Translation: X:154.80, Y:111.29, Z:3.44 [[ 1.01324760e-01 -9.94851179e-01 -2.10356412e-03 1.54804820e+02] [ 9.94688603e-01 1.01346234e-01 -1.79867459e-02 1.11291761e+02] [ 1.81073237e-02 -2.69888531e-04 9.99836013e-01 3.44192517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21361786499997 meters 0.018320183631983122 Centerline is valid? [True, True] Translation: X:154.81, Y:111.32, Z:3.44 [[ 1.01434023e-01 -9.94840083e-01 -2.08538735e-03 1.54808836e+02] [ 9.94679544e-01 1.01455121e-01 -1.78735351e-02 1.11319604e+02] [ 1.79928824e-02 -2.61307576e-04 9.99838081e-01 3.44241640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24361786499995 meters 0.018295455096313473 Centerline is valid? [True, True] Translation: X:154.81, Y:111.35, Z:3.44 [[ 1.01015909e-01 -9.94882701e-01 -2.04881819e-03 1.54814437e+02] [ 9.94727018e-01 1.01036350e-01 -1.76015612e-02 1.11347572e+02] [ 1.77184938e-02 -2.59977099e-04 9.99842981e-01 3.44280114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27361786499995 meters 0.01829554574097352 Centerline is valid? [True, True] Translation: X:154.82, Y:111.38, Z:3.44 [[ 1.00333415e-01 -9.94951705e-01 -2.07604124e-03 1.54819615e+02] [ 9.94791090e-01 1.00354524e-01 -1.78789473e-02 1.11375690e+02] [ 1.79970292e-02 -2.71371503e-04 9.99838004e-01 3.44307020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30361786499995 meters 0.018543027076082613 Centerline is valid? [True, True] Translation: X:154.82, Y:111.40, Z:3.44 [[ 9.91792380e-02 -9.95067431e-01 -2.07048563e-03 1.54824824e+02] [ 9.94906932e-01 9.92004318e-02 -1.78737681e-02 1.11402964e+02] [ 1.79909976e-02 -2.87233806e-04 9.99838108e-01 3.44300678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33361786499995 meters 0.019000541355109143 Centerline is valid? [True, True] Translation: X:154.83, Y:111.43, Z:3.44 [[ 9.78388848e-02 -9.95200054e-01 -2.09892457e-03 1.54830784e+02] [ 9.95034375e-01 9.78609000e-02 -1.81614141e-02 1.11430308e+02] [ 1.82796430e-02 -3.11609588e-04 9.99832865e-01 3.44290551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36361786499995 meters 0.019277817659415584 Centerline is valid? [True, True] Translation: X:154.84, Y:111.46, Z:3.44 [[ 9.50745282e-02 -9.95467813e-01 -2.16020296e-03 1.54837735e+02] [ 9.95291811e-01 9.50983462e-02 -1.87220424e-02 1.11458507e+02] [ 1.88426224e-02 -3.70042968e-04 9.99822394e-01 3.44262768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39361786499995 meters 0.019610963164228813 Centerline is valid? [True, True] Translation: X:154.84, Y:111.49, Z:3.44 [[ 9.32164627e-02 -9.95643567e-01 -2.13979417e-03 1.54843314e+02] [ 9.95470162e-01 9.32401713e-02 -1.85856770e-02 1.11486033e+02] [ 1.87042245e-02 -3.97610184e-04 9.99824982e-01 3.44294235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42361786499995 meters 0.019731716306207465 Centerline is valid? [True, True] Translation: X:154.85, Y:111.51, Z:3.44 [[ 9.14703885e-02 -9.95805502e-01 -2.13780800e-03 1.54848622e+02] [ 9.95631712e-01 9.14943737e-02 -1.86084398e-02 1.11514391e+02] [ 1.87259842e-02 -4.26348217e-04 9.99824562e-01 3.44340440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45361786499996 meters 0.01954377768374652 Centerline is valid? [True, True] Translation: X:154.85, Y:111.54, Z:3.44 [[ 8.96484783e-02 -9.95971415e-01 -2.02260621e-03 1.54852933e+02] [ 9.95815221e-01 8.96702493e-02 -1.76434519e-02 1.11542286e+02] [ 1.77537413e-02 -4.32433443e-04 9.99842296e-01 3.44376656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48361786499996 meters 0.021351342225836418 Centerline is valid? [True, True] Translation: X:154.86, Y:111.57, Z:3.44 [[ 8.70188403e-02 -9.96204596e-01 -2.03103038e-03 1.54863333e+02] [ 9.96046421e-01 8.70412284e-02 -1.77581464e-02 1.11568544e+02] [ 1.78675304e-02 -4.77707238e-04 9.99840249e-01 3.44364942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51361786499996 meters 0.02114268139772724 Centerline is valid? [True, True] Translation: X:154.87, Y:111.60, Z:3.44 [[ 8.60167206e-02 -9.96291687e-01 -1.99970786e-03 1.54867377e+02] [ 9.96137663e-01 8.60385974e-02 -1.75247354e-02 1.11596644e+02] [ 1.76318002e-02 -4.84564047e-04 9.99844430e-01 3.44411802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54361786499996 meters 0.02263668219489212 Centerline is valid? [True, True] Translation: X:154.88, Y:111.62, Z:3.44 [[ 8.45839442e-02 -9.96414447e-01 -1.95086136e-03 1.54875016e+02] [ 9.96267248e-01 8.46049946e-02 -1.71337511e-02 1.11622457e+02] [ 1.72373697e-02 -4.94339030e-04 9.99851303e-01 3.44434620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57361786499996 meters 0.020827731740392222 Centerline is valid? [True, True] Translation: X:154.88, Y:111.65, Z:3.45 [[ 8.42075377e-02 -9.96446384e-01 -1.92224816e-03 1.54875078e+02] [ 9.96302984e-01 8.42280434e-02 -1.69115585e-02 1.11650733e+02] [ 1.70133685e-02 -4.91060882e-04 9.99855142e-01 3.44500751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60361786499996 meters 0.020485855834677758 Centerline is valid? [True, True] Translation: X:154.88, Y:111.68, Z:3.45 [[ 8.40033205e-02 -9.96463678e-01 -1.89201457e-03 1.54878146e+02] [ 9.96324094e-01 8.40232340e-02 -1.66852049e-02 1.11678975e+02] [ 1.67851738e-02 -4.83447093e-04 9.99859002e-01 3.44569317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63361786499996 meters 0.020573601202570187 Centerline is valid? [True, True] Translation: X:154.88, Y:111.71, Z:3.45 [[ 8.38784505e-02 -9.96474254e-01 -1.86216988e-03 1.54881871e+02] [ 9.96338384e-01 8.38977766e-02 -1.64616879e-02 1.11706518e+02] [ 1.65598801e-02 -4.74570448e-04 9.99862763e-01 3.44617668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66361786499996 meters 0.02034076512151721 Centerline is valid? [True, True] Translation: X:154.89, Y:111.73, Z:3.45 [[ 8.48505737e-02 -9.96392126e-01 -1.76396397e-03 1.54885458e+02] [ 9.96269626e-01 8.48678119e-02 -1.56296657e-02 1.11734409e+02] [ 1.57229796e-02 -4.31197627e-04 9.99876293e-01 3.44724673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69361786499996 meters 0.021015274437146344 Centerline is valid? [True, True] Translation: X:154.89, Y:111.76, Z:3.45 [[ 8.53580273e-02 -9.96348848e-01 -1.72608137e-03 1.54890254e+02] [ 9.96231003e-01 8.53744878e-02 -1.53292482e-02 1.11761608e+02] [ 1.54206421e-02 -4.11101389e-04 9.99881010e-01 3.44816892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72361786499997 meters 0.01997380420372073 Centerline is valid? [True, True] Translation: X:154.89, Y:111.79, Z:3.45 [[ 8.64387357e-02 -9.96255675e-01 -1.72462564e-03 1.54891253e+02] [ 9.96137434e-01 8.64550556e-02 -1.53536997e-02 1.11789799e+02] [ 1.54453131e-02 -3.90809772e-04 9.99880638e-01 3.44904796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75361786499997 meters 0.019378588038105857 Centerline is valid? [True, True] Translation: X:154.89, Y:111.82, Z:3.45 [[ 8.95236784e-02 -9.95983226e-01 -1.70987693e-03 1.54892381e+02] [ 9.95866403e-01 8.95393723e-02 -1.52580422e-02 1.11818051e+02] [ 1.53498555e-02 -3.36852920e-04 9.99882127e-01 3.44950849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78361786499997 meters 0.019068331683527843 Centerline is valid? [True, True] Translation: X:154.89, Y:111.85, Z:3.45 [[ 9.11521720e-02 -9.95835575e-01 -1.67025973e-03 1.54894173e+02] [ 9.95723547e-01 9.11669756e-02 -1.49398897e-02 1.11846205e+02] [ 1.50299461e-02 -3.01313552e-04 9.99886999e-01 3.44978426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81361786499997 meters 0.01862961136346832 Centerline is valid? [True, True] Translation: X:154.90, Y:111.87, Z:3.45 [[ 9.28943092e-02 -9.95674591e-01 -1.66013115e-03 1.54895393e+02] [ 9.95563371e-01 9.29087497e-02 -1.48841678e-02 1.11874593e+02] [ 1.49740284e-02 -2.70111281e-04 9.99887846e-01 3.45005881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84361786499997 meters 0.018143943704815337 Centerline is valid? [True, True] Translation: X:154.90, Y:111.90, Z:3.45 [[ 9.63016736e-02 -9.95350949e-01 -1.57361800e-03 1.54896516e+02] [ 9.95250495e-01 9.63143131e-02 -1.41423282e-02 1.11902165e+02] [ 1.42281417e-02 -2.04214220e-04 9.99898754e-01 3.45072577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87361786499997 meters 0.018143943704815337 Centerline is valid? [True, True] Translation: X:154.90, Y:111.93, Z:3.45 [[ 9.60303483e-02 -9.95377166e-01 -1.57144480e-03 1.54899493e+02] [ 9.95276712e-01 9.60429843e-02 -1.41425696e-02 1.11929567e+02] [ 1.42281171e-02 -2.05906524e-04 9.99898754e-01 3.45117710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90361786499997 meters 0.01800818727827071 Centerline is valid? [True, True] Translation: X:154.90, Y:111.96, Z:3.45 [[ 9.74027264e-02 -9.95243794e-01 -1.58085436e-03 1.54901824e+02] [ 9.95141603e-01 9.74153806e-02 -1.42630407e-02 1.11957509e+02] [ 1.43492023e-02 -1.83914885e-04 9.99897028e-01 3.45199535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93361786499997 meters 0.018145170485316615 Centerline is valid? [True, True] Translation: X:154.91, Y:111.98, Z:3.45 [[ 9.89531671e-02 -9.95090842e-01 -1.57717373e-03 1.54905556e+02] [ 9.94988600e-01 9.89656096e-02 -1.42651051e-02 1.11984670e+02] [ 1.43511614e-02 -1.57692553e-04 9.99897004e-01 3.45263182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96361786499997 meters 0.017588023053665646 Centerline is valid? [True, True] Translation: X:154.91, Y:112.01, Z:3.45 [[ 1.01957882e-01 -9.94787499e-01 -1.55642632e-03 1.54905241e+02] [ 9.94687388e-01 1.01969702e-01 -1.41131406e-02 1.12012845e+02] [ 1.41982842e-02 -1.09211706e-04 9.99899193e-01 3.45284364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99361786499995 meters 0.017346229942640217 Centerline is valid? [True, True] Translation: X:154.91, Y:112.04, Z:3.45 [[ 1.03371034e-01 -9.94641680e-01 -1.53553749e-03 1.54906955e+02] [ 9.94543749e-01 1.03382404e-01 -1.39574318e-02 1.12041187e+02] [ 1.40413910e-02 -8.43650545e-05 9.99901411e-01 3.45323340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02361786499995 meters 0.01737339185089423 Centerline is valid? [True, True] Translation: X:154.91, Y:112.07, Z:3.45 [[ 1.04734869e-01 -9.94499022e-01 -1.51743210e-03 1.54909091e+02] [ 9.94402892e-01 1.04745843e-01 -1.38273620e-02 1.12069249e+02] [ 1.39102427e-02 -6.07319178e-05 9.99903246e-01 3.45384871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05361786499995 meters 0.017374337480570084 Centerline is valid? [True, True] Translation: X:154.91, Y:112.10, Z:3.45 [[ 1.06520957e-01 -9.94309334e-01 -1.49440696e-03 1.54911775e+02] [ 9.94215620e-01 1.06531434e-01 -1.36511680e-02 1.12096247e+02] [ 1.37326850e-02 -3.16272678e-05 9.99905702e-01 3.45467795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08361786499995 meters 0.017409667954910057 Centerline is valid? [True, True] Translation: X:154.91, Y:112.12, Z:3.46 [[ 1.06768163e-01 -9.94282877e-01 -1.45577093e-03 1.54914975e+02] [ 9.94193445e-01 1.06778085e-01 -1.33354502e-02 1.12123066e+02] [ 1.34146542e-02 -2.35163956e-05 9.99910019e-01 3.45519260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11361786499995 meters 0.01742312328856093 Centerline is valid? [True, True] Translation: X:154.92, Y:112.15, Z:3.46 [[ 1.06776628e-01 -9.94281937e-01 -1.47699329e-03 1.54918586e+02] [ 9.94189565e-01 1.06786840e-01 -1.35528405e-02 1.12151212e+02] [ 1.36330680e-02 -2.12847058e-05 9.99907065e-01 3.45548065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14361786499995 meters 0.017442910662936368 Centerline is valid? [True, True] Translation: X:154.92, Y:112.18, Z:3.46 [[ 1.06510306e-01 -9.94310518e-01 -1.46565414e-03 1.54922382e+02] [ 9.94219098e-01 1.06520388e-01 -1.34830610e-02 1.12177988e+02] [ 1.35624714e-02 -2.10963878e-05 9.99908025e-01 3.45588758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17361786499995 meters 0.017481503995498138 Centerline is valid? [True, True] Translation: X:154.93, Y:112.21, Z:3.46 [[ 1.05416791e-01 -9.94427062e-01 -1.45560212e-03 1.54927352e+02] [ 9.94336400e-01 1.05426835e-01 -1.34278317e-02 1.12205307e+02] [ 1.35064588e-02 -3.18392454e-05 9.99908783e-01 3.45628773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20361786499996 meters 0.017550699752927185 Centerline is valid? [True, True] Translation: X:154.93, Y:112.23, Z:3.46 [[ 1.04634348e-01 -9.94509677e-01 -1.46810699e-03 1.54931371e+02] [ 9.94416992e-01 1.04644640e-01 -1.35774009e-02 1.12233474e+02] [ 1.36564862e-02 -3.92480330e-05 9.99906745e-01 3.45639450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23361786499996 meters 0.01755803696771465 Centerline is valid? [True, True] Translation: X:154.94, Y:112.26, Z:3.46 [[ 1.03615624e-01 -9.94616297e-01 -1.49129087e-03 1.54935758e+02] [ 9.94520177e-01 1.03626343e-01 -1.38274567e-02 1.12260569e+02] [ 1.39075508e-02 -5.03783074e-05 9.99903284e-01 3.45665497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26361786499996 meters 0.017624274905723658 Centerline is valid? [True, True] Translation: X:154.94, Y:112.29, Z:3.46 [[ 1.02846918e-01 -9.94696059e-01 -1.50388124e-03 1.54939758e+02] [ 9.94597777e-01 1.02857897e-01 -1.39826912e-02 1.12288295e+02] [ 1.40632139e-02 -5.76802366e-05 9.99901106e-01 3.45658915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29361786499996 meters 0.017746859505443375 Centerline is valid? [True, True] Translation: X:154.95, Y:112.31, Z:3.46 [[ 1.01214243e-01 -9.94863392e-01 -1.58352355e-03 1.54945881e+02] [ 9.94753857e-01 1.01226597e-01 -1.47628007e-02 1.12314697e+02] [ 1.48472647e-02 -8.10104701e-05 9.99889770e-01 3.45650169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32361786499996 meters 0.017800946293378764 Centerline is valid? [True, True] Translation: X:154.95, Y:112.34, Z:3.46 [[ 9.98850612e-02 -9.94997643e-01 -1.63240109e-03 1.54950443e+02] [ 9.94880605e-01 9.98983496e-02 -1.52611224e-02 1.12342300e+02] [ 1.53478550e-02 -9.96860309e-05 9.99882210e-01 3.45671877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35361786499996 meters 0.01802171613642093 Centerline is valid? [True, True] Translation: X:154.96, Y:112.37, Z:3.46 [[ 9.79639031e-02 -9.95188568e-01 -1.66952572e-03 1.54956667e+02] [ 9.95065534e-01 9.79780444e-02 -1.56488614e-02 1.12370307e+02] [ 1.57371448e-02 -1.28263960e-04 9.99876155e-01 3.45730723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38361786499996 meters 0.018196038756914383 Centerline is valid? [True, True] Translation: X:154.96, Y:112.40, Z:3.46 [[ 9.65278746e-02 -9.95328926e-01 -1.64254664e-03 1.54961313e+02] [ 9.95209257e-01 9.65417400e-02 -1.54345882e-02 1.12398001e+02] [ 1.55210664e-02 -1.44809633e-04 9.99879531e-01 3.45803508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41361786499996 meters 0.018235070640518256 Centerline is valid? [True, True] Translation: X:154.97, Y:112.43, Z:3.46 [[ 9.54332120e-02 -9.95434552e-01 -1.59865930e-03 1.54965536e+02] [ 9.95320644e-01 9.54464768e-02 -1.50593893e-02 1.12425693e+02] [ 1.51432228e-02 -1.54012716e-04 9.99885323e-01 3.45882312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44361786499996 meters 0.018894268447456657 Centerline is valid? [True, True] Translation: X:154.97, Y:112.45, Z:3.46 [[ 9.31169740e-02 -9.95653986e-01 -1.53916478e-03 1.54972949e+02] [ 9.95547870e-01 9.31295225e-02 -1.45372147e-02 1.12452556e+02] [ 1.46173774e-02 -1.78650779e-04 9.99893144e-01 3.46005360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47361786499997 meters 0.019170475231254477 Centerline is valid? [True, True] Translation: X:154.98, Y:112.48, Z:3.46 [[ 9.15075008e-02 -9.95803168e-01 -1.55822442e-03 1.54978330e+02] [ 9.95694090e-01 9.15205424e-02 -1.47400522e-02 1.12479359e+02] [ 1.48208002e-02 -2.02689504e-04 9.99890145e-01 3.46075591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50361786499997 meters 0.019314066730546347 Centerline is valid? [True, True] Translation: X:154.98, Y:112.51, Z:3.46 [[ 9.02068871e-02 -9.95921761e-01 -1.60128485e-03 1.54983079e+02] [ 9.95805963e-01 9.02208192e-02 -1.51883952e-02 1.12506143e+02] [ 1.52709226e-02 -2.24471146e-04 9.99883367e-01 3.46105349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53361786499997 meters 0.020039054918480414 Centerline is valid? [True, True] Translation: X:154.99, Y:112.53, Z:3.46 [[ 8.79038818e-02 -9.96127634e-01 -1.62646231e-03 1.54990429e+02] [ 9.96007499e-01 8.79185434e-02 -1.54722720e-02 1.12532092e+02] [ 1.55553539e-02 -2.59895888e-04 9.99878974e-01 3.46133254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56361786499997 meters 0.019362072645785003 Centerline is valid? [True, True] Translation: X:154.99, Y:112.56, Z:3.46 [[ 8.68482562e-02 -9.96220128e-01 -1.68451176e-03 1.54992360e+02] [ 9.96090797e-01 8.68641281e-02 -1.60545077e-02 1.12559660e+02] [ 1.61401473e-02 -2.83620667e-04 9.99869699e-01 3.46116573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59361786499997 meters 0.01941384986465395 Centerline is valid? [True, True] Translation: X:155.00, Y:112.59, Z:3.46 [[ 8.61029020e-02 -9.96284818e-01 -1.68897325e-03 1.54996427e+02] [ 9.96154116e-01 8.61189680e-02 -1.61400409e-02 1.12587096e+02] [ 1.62255303e-02 -2.92773299e-04 9.99868315e-01 3.46158442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62361786499997 meters 0.019778003828802855 Centerline is valid? [True, True] Translation: X:155.00, Y:112.61, Z:3.46 [[ 8.53344630e-02 -9.96350927e-01 -1.69136868e-03 1.55002561e+02] [ 9.96219158e-01 8.53506889e-02 -1.62064539e-02 1.12613432e+02] [ 1.62916749e-02 -3.02004834e-04 9.99867236e-01 3.46203952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65361786499997 meters 0.019777353338761242 Centerline is valid? [True, True] Translation: X:155.01, Y:112.64, Z:3.46 [[ 8.51648699e-02 -9.96365439e-01 -1.69010756e-03 1.55006643e+02] [ 9.96233119e-01 8.51811079e-02 -1.62404029e-02 1.12641112e+02] [ 1.63253415e-02 -3.00629318e-04 9.99866688e-01 3.46291703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68361786499997 meters 0.019767710350920127 Centerline is valid? [True, True] Translation: X:155.01, Y:112.67, Z:3.46 [[ 8.48609333e-02 -9.96391378e-01 -1.68618146e-03 1.55010826e+02] [ 9.96258977e-01 8.48771492e-02 -1.62456496e-02 1.12668490e+02] [ 1.63301434e-02 -3.01252431e-04 9.99866609e-01 3.46375276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71361786499997 meters 0.019978413600191938 Centerline is valid? [True, True] Translation: X:155.02, Y:112.69, Z:3.46 [[ 8.47130496e-02 -9.96404029e-01 -1.64648313e-03 1.55015703e+02] [ 9.96277122e-01 8.47285421e-02 -1.59050235e-02 1.12694859e+02] [ 1.59873336e-02 -2.92990431e-04 9.99872151e-01 3.46466880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74361786499995 meters 0.02040130516500718 Centerline is valid? [True, True] Translation: X:155.02, Y:112.72, Z:3.47 [[ 8.46517056e-02 -9.96409251e-01 -1.64130870e-03 1.55021564e+02] [ 9.96282646e-01 8.46671176e-02 -1.58860982e-02 1.12721219e+02] [ 1.59680200e-02 -2.90422074e-04 9.99872461e-01 3.46566692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77361786499995 meters 0.020018752112627262 Centerline is valid? [True, True] Translation: X:155.02, Y:112.75, Z:3.47 [[ 8.48052101e-02 -9.96396277e-01 -1.59263245e-03 1.55024157e+02] [ 9.96276632e-01 8.48197110e-02 -1.54430828e-02 1.12748797e+02] [ 1.55225168e-02 -2.77048618e-04 9.99879480e-01 3.46613167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80361786499995 meters 0.020365535511970654 Centerline is valid? [True, True] Translation: X:155.03, Y:112.78, Z:3.47 [[ 8.48795880e-02 -9.96389984e-01 -1.56665521e-03 1.55028843e+02] [ 9.96273602e-01 8.48936218e-02 -1.52309611e-02 1.12775599e+02] [ 1.53089761e-02 -2.68019528e-04 9.99882775e-01 3.46662223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83361786499995 meters 0.0202770441310828 Centerline is valid? [True, True] Translation: X:155.03, Y:112.80, Z:3.47 [[ 8.53979695e-02 -9.96345799e-01 -1.49537502e-03 1.55033541e+02] [ 9.96239184e-01 8.54107099e-02 -1.45773183e-02 1.12803755e+02] [ 1.46517709e-02 -2.44877810e-04 9.99892627e-01 3.46741595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86361786499995 meters 0.020198254975606286 Centerline is valid? [True, True] Translation: X:155.04, Y:112.83, Z:3.47 [[ 8.54151583e-02 -9.96344331e-01 -1.49159025e-03 1.55037252e+02] [ 9.96237696e-01 8.54278417e-02 -1.45786409e-02 1.12831960e+02] [ 1.46527696e-02 -2.40741515e-04 9.99892613e-01 3.46813236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89361786499995 meters 0.020072618162623637 Centerline is valid? [True, True] Translation: X:155.04, Y:112.86, Z:3.47 [[ 8.58054635e-02 -9.96310782e-01 -1.49946640e-03 1.55041185e+02] [ 9.96202430e-01 8.58182483e-02 -1.46951305e-02 1.12859783e+02] [ 1.47695985e-02 -2.32849591e-04 9.99890896e-01 3.46863747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92361786499995 meters 0.02033932424215881 Centerline is valid? [True, True] Translation: X:155.05, Y:112.89, Z:3.47 [[ 8.72175602e-02 -9.96188083e-01 -1.54908638e-03 1.55046385e+02] [ 9.96071778e-01 8.72310503e-02 -1.52235603e-02 1.12886582e+02] [ 1.53006578e-02 -2.15239439e-04 9.99882915e-01 3.46945564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95361786499996 meters 0.019905302207482538 Centerline is valid? [True, True] Translation: X:155.05, Y:112.91, Z:3.47 [[ 8.81917913e-02 -9.96102265e-01 -1.57663333e-03 1.55048700e+02] [ 9.95981100e-01 8.82056563e-02 -1.55374041e-02 1.12914661e+02] [ 1.56159114e-02 -2.00025494e-04 9.99878044e-01 3.46952143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98361786499996 meters 0.019867491755152372 Centerline is valid? [True, True] Translation: X:155.05, Y:112.94, Z:3.47 [[ 8.92507767e-02 -9.96007906e-01 -1.59699152e-03 1.55051743e+02] [ 9.95882904e-01 8.92648777e-02 -1.57804856e-02 1.12941910e+02] [ 1.58600436e-02 -1.81995958e-04 9.99874205e-01 3.46975836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01361786499996 meters 0.01979179226337659 Centerline is valid? [True, True] Translation: X:155.05, Y:112.97, Z:3.47 [[ 9.17008545e-02 -9.95785226e-01 -1.65427289e-03 1.55054920e+02] [ 9.95650289e-01 9.17156620e-02 -1.63932505e-02 1.12967773e+02] [ 1.64758794e-02 -1.43802200e-04 9.99864253e-01 3.47047640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04361786499996 meters 0.019572305314350474 Centerline is valid? [True, True] Translation: X:155.06, Y:112.99, Z:3.47 [[ 9.25198794e-02 -9.95709486e-01 -1.64075471e-03 1.55057436e+02] [ 9.95575909e-01 9.25343431e-02 -1.63096499e-02 1.12994963e+02] [ 1.63914993e-02 -1.24529021e-04 9.99865643e-01 3.47091456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07361786499996 meters 0.019540920960466203 Centerline is valid? [True, True] Translation: X:155.06, Y:113.02, Z:3.47 [[ 9.32957607e-02 -9.95637029e-01 -1.67572776e-03 1.55060555e+02] [ 9.95496832e-01 9.33107446e-02 -1.67081386e-02 1.13021416e+02] [ 1.67916049e-02 -1.09383179e-04 9.99859005e-01 3.47102803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10361786499996 meters 0.019601446552462716 Centerline is valid? [True, True] Translation: X:155.06, Y:113.05, Z:3.47 [[ 9.46120690e-02 -9.95512793e-01 -1.68399417e-03 1.55064110e+02] [ 9.95370302e-01 9.46270184e-02 -1.68430819e-02 1.13047292e+02] [ 1.69268548e-02 -8.26389614e-05 9.99856727e-01 3.47112134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13361786499996 meters 0.019477605515021548 Centerline is valid? [True, True] Translation: X:155.07, Y:113.08, Z:3.47 [[ 9.46531329e-02 -9.95508911e-01 -1.67118015e-03 1.55067044e+02] [ 9.95367941e-01 9.46678528e-02 -1.67528847e-02 1.13075144e+02] [ 1.68358530e-02 -7.77261261e-05 9.99858264e-01 3.47232916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16361786499996 meters 0.01956912234060171 Centerline is valid? [True, True] Translation: X:155.07, Y:113.10, Z:3.47 [[ 9.42693337e-02 -9.95545264e-01 -1.70901114e-03 1.55070785e+02] [ 9.95397000e-01 9.42847886e-02 -1.71811290e-02 1.13101943e+02] [ 1.72657253e-02 -8.14909772e-05 9.99850933e-01 3.47283111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19361786499996 meters 0.01961704907409055 Centerline is valid? [True, True] Translation: X:155.07, Y:113.13, Z:3.47 [[ 9.38618197e-02 -9.95583845e-01 -1.66302711e-03 1.55074454e+02] [ 9.95442653e-01 9.38765156e-02 -1.67667916e-02 1.13129651e+02] [ 1.68488660e-02 -8.16865463e-05 9.99858044e-01 3.47330080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22361786499997 meters 0.019733654240462695 Centerline is valid? [True, True] Translation: X:155.08, Y:113.16, Z:3.47 [[ 9.22920547e-02 -9.95730546e-01 -1.69029975e-03 1.55080708e+02] [ 9.95583896e-01 9.23074716e-02 -1.70891003e-02 1.13156087e+02] [ 1.71721665e-02 -1.05647029e-04 9.99852542e-01 3.47483578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25361786499997 meters 0.0197243159433591 Centerline is valid? [True, True] Translation: X:155.08, Y:113.18, Z:3.48 [[ 9.08611212e-02 -9.95862160e-01 -1.67803681e-03 1.55083985e+02] [ 9.95717061e-01 9.08765273e-02 -1.69997322e-02 1.13184407e+02] [ 1.70818842e-02 -1.26235160e-04 9.99854086e-01 3.47600775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28361786499997 meters 0.019844190648873196 Centerline is valid? [True, True] Translation: X:155.09, Y:113.21, Z:3.48 [[ 8.93379916e-02 -9.95999985e-01 -1.65914721e-03 1.55088801e+02] [ 9.95857349e-01 8.93532769e-02 -1.68562167e-02 1.13211595e+02] [ 1.69370418e-02 -1.46373393e-04 9.99856547e-01 3.47586705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31361786499997 meters 0.019968672284299417 Centerline is valid? [True, True] Translation: X:155.09, Y:113.24, Z:3.48 [[ 8.80104691e-02 -9.96118213e-01 -1.63188671e-03 1.55092564e+02] [ 9.95979420e-01 8.80254482e-02 -1.66287451e-02 1.13239281e+02] [ 1.67078435e-02 -1.61821923e-04 9.99860401e-01 3.47700644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34361786499997 meters 0.020201959628591958 Centerline is valid? [True, True] Translation: X:155.10, Y:113.27, Z:3.48 [[ 8.58194666e-02 -9.96309340e-01 -1.64880210e-03 1.55098393e+02] [ 9.96166870e-01 8.58350790e-02 -1.68495007e-02 1.13266581e+02] [ 1.69288400e-02 -1.96466862e-04 9.99856678e-01 3.47759118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37361786499997 meters 0.02036720598085186 Centerline is valid? [True, True] Translation: X:155.10, Y:113.29, Z:3.48 [[ 8.44414065e-02 -9.96427050e-01 -1.66813147e-03 1.55102724e+02] [ 9.96280485e-01 8.44575986e-02 -1.70912209e-02 1.13292946e+02] [ 1.71710412e-02 -2.18720097e-04 9.99852543e-01 3.47787594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40361786499997 meters 0.02068091627697794 Centerline is valid? [True, True] Translation: X:155.11, Y:113.32, Z:3.48 [[ 8.23526202e-02 -9.96601825e-01 -1.68784714e-03 1.55108458e+02] [ 9.96450903e-01 8.23695251e-02 -1.73452808e-02 1.13321105e+02] [ 1.74253657e-02 -2.53427488e-04 9.99848135e-01 3.47794953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43361786499997 meters 0.020810722302795622 Centerline is valid? [True, True] Translation: X:155.11, Y:113.35, Z:3.48 [[ 8.15420307e-02 -9.96668409e-01 -1.72594082e-03 1.55112451e+02] [ 9.96509753e-01 8.15598486e-02 -1.77849028e-02 1.13348645e+02] [ 1.78664183e-02 -2.69699766e-04 9.99840346e-01 3.47775864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46361786499995 meters 0.020986879942660828 Centerline is valid? [True, True] Translation: X:155.12, Y:113.38, Z:3.48 [[ 8.08868880e-02 -9.96721743e-01 -1.75446320e-03 1.55116239e+02] [ 9.96556874e-01 8.09054221e-02 -1.81303690e-02 1.13375426e+02] [ 1.82128786e-02 -2.81913234e-04 9.99834092e-01 3.47805964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49361786499995 meters 0.020631528294047508 Centerline is valid? [True, True] Translation: X:155.12, Y:113.40, Z:3.48 [[ 8.03594427e-02 -9.96764358e-01 -1.78189126e-03 1.55118101e+02] [ 9.96593281e-01 8.03786670e-02 -1.84689648e-02 1.13403775e+02] [ 1.85524319e-02 -2.91665143e-04 9.99827846e-01 3.47819577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52361786499995 meters 0.0207046823489855 Centerline is valid? [True, True] Translation: X:155.12, Y:113.43, Z:3.48 [[ 7.99858304e-02 -9.96794278e-01 -1.85332151e-03 1.55122691e+02] [ 9.96608078e-01 8.00067142e-02 -1.92682141e-02 1.13430725e+02] [ 1.93547237e-02 -3.05851084e-04 9.99812633e-01 3.47845740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55361786499995 meters 0.020607507400049824 Centerline is valid? [True, True] Translation: X:155.13, Y:113.46, Z:3.48 [[ 7.98930729e-02 -9.96801693e-01 -1.86605828e-03 1.55125775e+02] [ 9.96611753e-01 7.99142808e-02 -1.94607557e-02 1.13458740e+02] [ 1.95476389e-02 -3.04956040e-04 9.99808880e-01 3.47895169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58361786499995 meters 0.02106798496027917 Centerline is valid? [True, True] Translation: X:155.13, Y:113.49, Z:3.48 [[ 7.97715211e-02 -9.96811413e-01 -1.87404765e-03 1.55130457e+02] [ 9.96618702e-01 7.97929521e-02 -1.96022274e-02 1.13485052e+02] [ 1.96892597e-02 -3.04011442e-04 9.99806102e-01 3.47896585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61361786499995 meters 0.021442753780170836 Centerline is valid? [True, True] Translation: X:155.14, Y:113.51, Z:3.48 [[ 7.92841805e-02 -9.96850379e-01 -1.82754087e-03 1.55135268e+02] [ 9.96665998e-01 7.93046685e-02 -1.91744277e-02 1.13510905e+02] [ 1.92589680e-02 -3.01219061e-04 9.99814484e-01 3.47983949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64361786499995 meters 0.02080305459772811 Centerline is valid? [True, True] Translation: X:155.14, Y:113.54, Z:3.48 [[ 7.87772465e-02 -9.96890628e-01 -1.79496128e-03 1.55136417e+02] [ 9.96711631e-01 7.87971193e-02 -1.88928298e-02 1.13539304e+02] [ 1.89755227e-02 -3.00733676e-04 9.99819903e-01 3.48107222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67361786499995 meters 0.021175022152106027 Centerline is valid? [True, True] Translation: X:155.14, Y:113.57, Z:3.48 [[ 7.72922082e-02 -9.97006952e-01 -1.74735570e-03 1.55141803e+02] [ 9.96836382e-01 7.73113102e-02 -1.84441909e-02 1.13566276e+02] [ 1.85240769e-02 -3.16235493e-04 9.99828365e-01 3.48252595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70361786499996 meters 0.021281654346463157 Centerline is valid? [True, True] Translation: X:155.15, Y:113.59, Z:3.48 [[ 7.62486708e-02 -9.97087331e-01 -1.73039630e-03 1.55145345e+02] [ 9.96919193e-01 7.62675949e-02 -1.83133060e-02 1.13594343e+02] [ 1.83919385e-02 -3.28700048e-04 9.99830800e-01 3.48366195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73361786499996 meters 0.0214448553619911 Centerline is valid? [True, True] Translation: X:155.15, Y:113.62, Z:3.48 [[ 7.55460807e-02 -9.97140891e-01 -1.68327719e-03 1.55149020e+02] [ 9.96980896e-01 7.55641170e-02 -1.78649548e-02 1.13622222e+02] [ 1.79410723e-02 -3.28567882e-04 9.99838992e-01 3.48457579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76361786499996 meters 0.0217095374222667 Centerline is valid? [True, True] Translation: X:155.15, Y:113.65, Z:3.49 [[ 7.47092481e-02 -9.97204036e-01 -1.62424819e-03 1.55152270e+02] [ 9.97054247e-01 7.47261825e-02 -1.72865736e-02 1.13650026e+02] [ 1.73596148e-02 -3.27996638e-04 9.99849257e-01 3.48560802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79361786499996 meters 0.0217095374222667 Centerline is valid? [True, True] Translation: X:155.15, Y:113.68, Z:3.49 [[ 7.44427581e-02 -9.97223973e-01 -1.61962475e-03 1.55154769e+02] [ 9.97074180e-01 7.44596524e-02 -1.72870068e-02 1.13677497e+02] [ 1.73596143e-02 -3.27993552e-04 9.99849257e-01 3.48605887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82361786499996 meters 0.021852414922268158 Centerline is valid? [True, True] Translation: X:155.16, Y:113.71, Z:3.49 [[ 7.37443021e-02 -9.97275904e-01 -1.59694814e-03 1.55158185e+02] [ 9.97129453e-01 7.37608449e-02 -1.70936168e-02 1.13705753e+02] [ 1.71648444e-02 -3.31807179e-04 9.99852618e-01 3.48730847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85361786499996 meters 0.021839972402408363 Centerline is valid? [True, True] Translation: X:155.16, Y:113.73, Z:3.49 [[ 7.37776997e-02 -9.97273422e-01 -1.60374733e-03 1.55160855e+02] [ 9.97124864e-01 7.37943952e-02 -1.72160562e-02 1.13733789e+02] [ 1.72874628e-02 -3.28975319e-04 9.99850507e-01 3.48759662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88361786499996 meters 0.022024434501633248 Centerline is valid? [True, True] Translation: X:155.16, Y:113.76, Z:3.49 [[ 7.35069846e-02 -9.97293401e-01 -1.61125604e-03 1.55163746e+02] [ 9.97142586e-01 7.35238940e-02 -1.73464773e-02 1.13760279e+02] [ 1.74179931e-02 -3.31564781e-04 9.99848240e-01 3.48801454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91361786499996 meters 0.022066710628765442 Centerline is valid? [True, True] Translation: X:155.17, Y:113.79, Z:3.49 [[ 7.38255986e-02 -9.97269717e-01 -1.70105830e-03 1.55166676e+02] [ 9.97100692e-01 7.38444088e-02 -1.83633534e-02 1.13786706e+02] [ 1.84388299e-02 -3.40440844e-04 9.99829932e-01 3.48855057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94361786499996 meters 0.02202619558516135 Centerline is valid? [True, True] Translation: X:155.17, Y:113.81, Z:3.49 [[ 7.37794623e-02 -9.97272975e-01 -1.79021396e-03 1.55169486e+02] [ 9.97084461e-01 7.38003284e-02 -1.93930269e-02 1.13814122e+02] [ 1.94722600e-02 -3.54187423e-04 9.99810335e-01 3.48930296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97361786499997 meters 0.022080757488332468 Centerline is valid? [True, True] Translation: X:155.17, Y:113.84, Z:3.49 [[ 7.38483026e-02 -9.97267894e-01 -1.78198278e-03 1.55172197e+02] [ 9.97079918e-01 7.38689858e-02 -1.93651779e-02 1.13840094e+02] [ 1.94439035e-02 -3.46693722e-04 9.99810889e-01 3.48928393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00361786499997 meters 0.022027424984820472 Centerline is valid? [True, True] Translation: X:155.17, Y:113.87, Z:3.49 [[ 7.39144040e-02 -9.97262965e-01 -1.80000006e-03 1.55174327e+02] [ 9.97069897e-01 7.39355172e-02 -1.96254643e-02 1.13867773e+02] [ 1.97048327e-02 -3.44121376e-04 9.99805782e-01 3.48912626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03361786499997 meters 0.021462759505608414 Centerline is valid? [True, True] Translation: X:155.17, Y:113.90, Z:3.49 [[ 7.40839737e-02 -9.97250305e-01 -1.84252217e-03 1.55174753e+02] [ 9.97046771e-01 7.41060829e-02 -2.01500684e-02 1.13895832e+02] [ 2.02312039e-02 -3.44283643e-04 9.99795269e-01 3.48996082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06361786499997 meters 0.02134875471821308 Centerline is valid? [True, True] Translation: X:155.18, Y:113.92, Z:3.49 [[ 7.41619063e-02 -9.97244588e-01 -1.80099830e-03 1.55177017e+02] [ 9.97048993e-01 7.41830341e-02 -1.97530408e-02 1.13923595e+02] [ 1.98322166e-02 -3.30760375e-04 9.99803268e-01 3.49054636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09361786499997 meters 0.021494313452779485 Centerline is valid? [True, True] Translation: X:155.18, Y:113.95, Z:3.49 [[ 7.38063494e-02 -9.97271013e-01 -1.77464197e-03 1.55179789e+02] [ 9.97079974e-01 7.38269502e-02 -1.95219769e-02 1.13950743e+02] [ 1.95997181e-02 -3.28614122e-04 9.99807853e-01 3.49068383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12361786499997 meters 0.02175907579564938 Centerline is valid? [True, True] Translation: X:155.18, Y:113.98, Z:3.49 [[ 7.33283132e-02 -9.97306296e-01 -1.76385157e-03 1.55184039e+02] [ 9.97116366e-01 7.33487755e-02 -1.94655909e-02 1.13976785e+02] [ 1.95425327e-02 -3.31386318e-04 9.99808972e-01 3.49122226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15361786499997 meters 0.021317789668992136 Centerline is valid? [True, True] Translation: X:155.19, Y:114.00, Z:3.49 [[ 7.25189714e-02 -9.97365498e-01 -1.74979026e-03 1.55185490e+02] [ 9.97177322e-01 7.25392830e-02 -1.93763026e-02 1.14004794e+02] [ 1.94521842e-02 -3.39701629e-04 9.99810731e-01 3.49260177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18361786499997 meters 0.021543879983785322 Centerline is valid? [True, True] Translation: X:155.19, Y:114.03, Z:3.49 [[ 7.20610199e-02 -9.97398761e-01 -1.70907988e-03 1.55189922e+02] [ 9.97218157e-01 7.20804993e-02 -1.89828651e-02 1.14031654e+02] [ 1.90566774e-02 -3.36400871e-04 9.99818348e-01 3.49361996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21361786499995 meters 0.021640937230743684 Centerline is valid? [True, True] Translation: X:155.19, Y:114.06, Z:3.49 [[ 7.15991480e-02 -9.97432078e-01 -1.67673009e-03 1.55192977e+02] [ 9.97257187e-01 7.16179967e-02 -1.86806197e-02 1.14059033e+02] [ 1.87527334e-02 -3.34614682e-04 9.99824096e-01 3.49462887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24361786499995 meters 0.021727782559665267 Centerline is valid? [True, True] Translation: X:155.20, Y:114.09, Z:3.50 [[ 7.13364128e-02 -9.97450984e-01 -1.62785993e-03 1.55195476e+02] [ 9.97285407e-01 7.13542356e-02 -1.81766250e-02 1.14086502e+02] [ 1.82464472e-02 -3.26785724e-04 9.99833466e-01 3.49559309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27361786499995 meters 0.021241039589678188 Centerline is valid? [True, True] Translation: X:155.20, Y:114.11, Z:3.50 [[ 7.17180241e-02 -9.97423692e-01 -1.58234887e-03 1.55196387e+02] [ 9.97266315e-01 7.17348204e-02 -1.77203879e-02 1.14114366e+02] [ 1.77882442e-02 -3.07152022e-04 9.99841729e-01 3.49640459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30361786499995 meters 0.021082330499822586 Centerline is valid? [True, True] Translation: X:155.20, Y:114.14, Z:3.50 [[ 7.19069281e-02 -9.97410117e-01 -1.56577785e-03 1.55198044e+02] [ 9.97255065e-01 7.19233615e-02 -1.75887912e-02 1.14142244e+02] [ 1.76558543e-02 -2.96723951e-04 9.99844079e-01 3.49683121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33361786499995 meters 0.02123744792168714 Centerline is valid? [True, True] Translation: X:155.20, Y:114.17, Z:3.50 [[ 7.23005190e-02 -9.97381659e-01 -1.56883919e-03 1.55200949e+02] [ 9.97225026e-01 7.23169710e-02 -1.76777495e-02 1.14168916e+02] [ 1.77449168e-02 -2.86375245e-04 9.99842506e-01 3.49757076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36361786499995 meters 0.021051149449077305 Centerline is valid? [True, True] Translation: X:155.20, Y:114.20, Z:3.50 [[ 7.25962258e-02 -9.97360199e-01 -1.55622996e-03 1.55202918e+02] [ 9.97205347e-01 7.26123800e-02 -1.75766164e-02 1.14197431e+02] [ 1.76432192e-02 -2.75884831e-04 9.99844308e-01 3.49779436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39361786499995 meters 0.021040625889745937 Centerline is valid? [True, True] Translation: X:155.20, Y:114.22, Z:3.50 [[ 7.35881758e-02 -9.97287459e-01 -1.58252536e-03 1.55204589e+02] [ 9.97126350e-01 7.36047352e-02 -1.79272310e-02 1.14224867e+02] [ 1.79950841e-02 -2.58745504e-04 9.99838042e-01 3.49781470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42361786499995 meters 0.021001289230140465 Centerline is valid? [True, True] Translation: X:155.21, Y:114.25, Z:3.50 [[ 7.41903948e-02 -9.97242737e-01 -1.64598336e-03 1.55206967e+02] [ 9.97067266e-01 7.42082196e-02 -1.87084984e-02 1.14252164e+02] [ 1.87790596e-02 -2.53165244e-04 9.99823626e-01 3.49787025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45361786499996 meters 0.020673392684015173 Centerline is valid? [True, True] Translation: X:155.21, Y:114.28, Z:3.50 [[ 7.47124839e-02 -9.97203733e-01 -1.66137658e-03 1.55208008e+02] [ 9.97023782e-01 7.47305650e-02 -1.89452287e-02 1.14279799e+02] [ 1.90164084e-02 -2.40986860e-04 9.99819143e-01 3.49800003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48361786499996 meters 0.020587777730765488 Centerline is valid? [True, True] Translation: X:155.21, Y:114.31, Z:3.50 [[ 7.55513377e-02 -9.97140456e-01 -1.70498347e-03 1.55209694e+02] [ 9.96949690e-01 7.55702352e-02 -1.95052406e-02 1.14307494e+02] [ 1.95783105e-02 -2.26135726e-04 9.99808301e-01 3.49795838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51361786499996 meters 0.02056067029472075 Centerline is valid? [True, True] Translation: X:155.21, Y:114.33, Z:3.50 [[ 7.57724577e-02 -9.97123652e-01 -1.71966318e-03 1.55212137e+02] [ 9.96928336e-01 7.57916530e-02 -1.97362274e-02 1.14334061e+02] [ 1.98097953e-02 -2.18918500e-04 9.99803743e-01 3.49853968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54361786499996 meters 0.02058193897133328 Centerline is valid? [True, True] Translation: X:155.21, Y:114.36, Z:3.50 [[ 7.56623807e-02 -9.97132050e-01 -1.69657074e-03 1.55214289e+02] [ 9.96940690e-01 7.56810987e-02 -1.95353773e-02 1.14360790e+02] [ 1.96077492e-02 -2.13287246e-04 9.99807727e-01 3.49841480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57361786499996 meters 0.020590381651878112 Centerline is valid? [True, True] Translation: X:155.22, Y:114.39, Z:3.50 [[ 7.55666126e-02 -9.97139350e-01 -1.67424755e-03 1.55216665e+02] [ 9.96951751e-01 7.55848728e-02 -1.93425063e-02 1.14387049e+02] [ 1.94137219e-02 -2.07496352e-04 9.99811514e-01 3.49897279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60361786499996 meters 0.020345002396180308 Centerline is valid? [True, True] Translation: X:155.22, Y:114.41, Z:3.50 [[ 7.45933875e-02 -9.97212658e-01 -1.65596238e-03 1.55218701e+02] [ 9.97027836e-01 7.46114453e-02 -1.91996696e-02 1.14414993e+02] [ 1.92697073e-02 -2.18872189e-04 9.99814298e-01 3.49974452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63361786499996 meters 0.020548658646323114 Centerline is valid? [True, True] Translation: X:155.22, Y:114.44, Z:3.50 [[ 7.40127977e-02 -9.97255925e-01 -1.65128448e-03 1.55222176e+02] [ 9.97070963e-01 7.40308747e-02 -1.92073918e-02 1.14442236e+02] [ 1.92769313e-02 -2.24855001e-04 9.99814157e-01 3.49997730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66361786499996 meters 0.02054187156294249 Centerline is valid? [True, True] Translation: X:155.22, Y:114.47, Z:3.50 [[ 7.25923431e-02 -9.97360380e-01 -1.61982880e-03 1.55224809e+02] [ 9.97181238e-01 7.26100068e-02 -1.89041016e-02 1.14469940e+02] [ 1.89718177e-02 -2.42969858e-04 9.99819989e-01 3.50112379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69361786499996 meters 0.020562371506826074 Centerline is valid? [True, True] Translation: X:155.23, Y:114.50, Z:3.50 [[ 7.18110872e-02 -9.97416995e-01 -1.58286786e-03 1.55227613e+02] [ 9.97244868e-01 7.18281026e-02 -1.85309755e-02 1.14498239e+02] [ 1.85968043e-02 -2.47777348e-04 9.99827034e-01 3.50160331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72361786499997 meters 0.020897049442092242 Centerline is valid? [True, True] Translation: X:155.23, Y:114.52, Z:3.50 [[ 7.08228006e-02 -9.97487668e-01 -1.57572307e-03 1.55231457e+02] [ 9.97316039e-01 7.08398469e-02 -1.85049842e-02 1.14524690e+02] [ 1.85701175e-02 -2.60919089e-04 9.99827526e-01 3.50178917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75361786499997 meters 0.020749954475755016 Centerline is valid? [True, True] Translation: X:155.23, Y:114.55, Z:3.50 [[ 6.97911849e-02 -9.97560411e-01 -1.55477130e-03 1.55233294e+02] [ 9.97392518e-01 6.98079659e-02 -1.83033738e-02 1.14552918e+02] [ 1.83672565e-02 -2.73303124e-04 9.99831270e-01 3.50304834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78361786499997 meters 0.02127950657595134 Centerline is valid? [True, True] Translation: X:155.24, Y:114.58, Z:3.50 [[ 6.83747874e-02 -9.97658558e-01 -1.51333690e-03 1.55237275e+02] [ 9.97498509e-01 6.83909281e-02 -1.78719227e-02 1.14579698e+02] [ 1.79335751e-02 -2.87562386e-04 9.99839139e-01 3.50382307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81361786499997 meters 0.021195461709220726 Centerline is valid? [True, True] Translation: X:155.24, Y:114.61, Z:3.50 [[ 6.81698468e-02 -9.97672560e-01 -1.52792891e-03 1.55239466e+02] [ 9.97508442e-01 6.81863495e-02 -1.80977932e-02 1.14607680e+02] [ 1.81598555e-02 -2.90398197e-04 9.99835054e-01 3.50461045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84361786499997 meters 0.021127455124099248 Centerline is valid? [True, True] Translation: X:155.24, Y:114.64, Z:3.51 [[ 6.74737795e-02 -9.97719899e-01 -1.51373467e-03 1.55241680e+02] [ 9.97557786e-01 6.74901066e-02 -1.79874817e-02 1.14635261e+02] [ 1.80486305e-02 -2.96354430e-04 9.99837066e-01 3.50519146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87361786499997 meters 0.021451987482044754 Centerline is valid? [True, True] Translation: X:155.25, Y:114.66, Z:3.51 [[ 6.74786278e-02 -9.97719537e-01 -1.53604580e-03 1.55245180e+02] [ 9.97551525e-01 6.74954565e-02 -1.83116792e-02 1.14662349e+02] [ 1.83735962e-02 -2.96637843e-04 9.99831147e-01 3.50505662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90361786499997 meters 0.021366428452665762 Centerline is valid? [True, True] Translation: X:155.25, Y:114.69, Z:3.51 [[ 6.74399002e-02 -9.97722118e-01 -1.56057897e-03 1.55247186e+02] [ 9.97547814e-01 6.74572917e-02 -1.86513592e-02 1.14690574e+02] [ 1.87141461e-02 -2.98906334e-04 9.99824830e-01 3.50559751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93361786499997 meters 0.02138619510741 Centerline is valid? [True, True] Translation: X:155.25, Y:114.72, Z:3.51 [[ 6.73986124e-02 -9.97724886e-01 -1.57422860e-03 1.55248839e+02] [ 9.97546366e-01 6.74163351e-02 -1.88755516e-02 1.14718201e+02] [ 1.89387363e-02 -2.98180034e-04 9.99820602e-01 3.50547184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96361786499995 meters 0.02130326426467132 Centerline is valid? [True, True] Translation: X:155.25, Y:114.74, Z:3.51 [[ 6.81583369e-02 -9.97673219e-01 -1.60921384e-03 1.55250564e+02] [ 9.97485395e-01 6.81767328e-02 -1.93602704e-02 1.14744715e+02] [ 1.94249342e-02 -2.85603470e-04 9.99811277e-01 3.50548067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99361786499995 meters 0.021334613547362463 Centerline is valid? [True, True] Translation: X:155.25, Y:114.77, Z:3.51 [[ 6.82293910e-02 -9.97668348e-01 -1.61767152e-03 1.55252534e+02] [ 9.97477083e-01 6.82479884e-02 -1.95366370e-02 1.14770438e+02] [ 1.96014872e-02 -2.80617427e-04 9.99807833e-01 3.50565022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02361786499995 meters 0.02095304083829312 Centerline is valid? [True, True] Translation: X:155.25, Y:114.80, Z:3.51 [[ 6.84536952e-02 -9.97652999e-01 -1.60816420e-03 1.55253273e+02] [ 9.97462574e-01 6.84720515e-02 -1.94934005e-02 1.14798996e+02] [ 1.95577638e-02 -2.69688306e-04 9.99808692e-01 3.50670998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05361786499995 meters 0.020851317791135932 Centerline is valid? [True, True] Translation: X:155.26, Y:114.83, Z:3.51 [[ 6.89310895e-02 -9.97620182e-01 -1.57393476e-03 1.55255222e+02] [ 9.97436563e-01 6.89486014e-02 -1.91413813e-02 1.14827371e+02] [ 1.92043489e-02 -2.50463809e-04 9.99815548e-01 3.50819415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08361786499995 meters 0.02091105399943526 Centerline is valid? [True, True] Translation: X:155.26, Y:114.85, Z:3.51 [[ 6.91422513e-02 -9.97605564e-01 -1.57733396e-03 1.55257973e+02] [ 9.97419877e-01 6.91598160e-02 -1.92485959e-02 1.14854094e+02] [ 1.93115944e-02 -2.42372995e-04 9.99813484e-01 3.50898763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11361786499995 meters 0.020722172354458484 Centerline is valid? [True, True] Translation: X:155.26, Y:114.88, Z:3.51 [[ 6.94793788e-02 -9.97582193e-01 -1.54404467e-03 1.55259204e+02] [ 9.97403004e-01 6.94961650e-02 -1.89084796e-02 1.14882406e+02] [ 1.89700677e-02 -2.26285376e-04 9.99820026e-01 3.50972195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14361786499995 meters 0.0209340435291324 Centerline is valid? [True, True] Translation: X:155.26, Y:114.91, Z:3.51 [[ 6.97738956e-02 -9.97561652e-01 -1.53408684e-03 1.55261731e+02] [ 9.97383547e-01 6.97904277e-02 -1.88509155e-02 1.14909343e+02] [ 1.89120150e-02 -2.14771160e-04 9.99821129e-01 3.51014836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17361786499995 meters 0.021015978118849445 Centerline is valid? [True, True] Translation: X:155.26, Y:114.94, Z:3.51 [[ 7.05928940e-02 -9.97504165e-01 -1.44382483e-03 1.55263498e+02] [ 9.97345301e-01 7.06074198e-02 -1.78028674e-02 1.14935752e+02] [ 1.78603791e-02 -1.83235985e-04 9.99840474e-01 3.51022923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20361786499996 meters 0.020625651245745318 Centerline is valid? [True, True] Translation: X:155.26, Y:114.96, Z:3.51 [[ 7.09589480e-02 -9.97478267e-01 -1.39092975e-03 1.55263479e+02] [ 9.97329731e-01 7.09723857e-02 -1.72142016e-02 1.14963832e+02] [ 1.72695096e-02 -1.65713957e-04 9.99850857e-01 3.51135032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23361786499996 meters 0.020603101826528993 Centerline is valid? [True, True] Translation: X:155.27, Y:114.99, Z:3.51 [[ 7.13216500e-02 -9.97452456e-01 -1.34899167e-03 1.55265370e+02] [ 9.97311818e-01 7.13342472e-02 -1.67500142e-02 1.14990833e+02] [ 1.68035721e-02 -1.50726689e-04 9.99858799e-01 3.51165091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26361786499996 meters 0.02051715889755945 Centerline is valid? [True, True] Translation: X:155.27, Y:115.02, Z:3.51 [[ 7.17432273e-02 -9.97422210e-01 -1.35812271e-03 1.55266688e+02] [ 9.97278931e-01 7.17559414e-02 -1.69061937e-02 1.15018645e+02] [ 1.69600664e-02 -1.41522270e-04 9.99856158e-01 3.51179760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29361786499996 meters 0.020523301594921554 Centerline is valid? [True, True] Translation: X:155.27, Y:115.05, Z:3.51 [[ 7.17015412e-02 -9.97425215e-01 -1.35224941e-03 1.55268722e+02] [ 9.97282198e-01 7.17141596e-02 -1.68907597e-02 1.15045729e+02] [ 1.69442451e-02 -1.37480762e-04 9.99856427e-01 3.51192716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32361786499996 meters 0.020584163791101145 Centerline is valid? [True, True] Translation: X:155.27, Y:115.07, Z:3.51 [[ 7.16601210e-02 -9.97428136e-01 -1.39300655e-03 1.55270682e+02] [ 9.97275233e-01 7.16735269e-02 -1.74646718e-02 1.15074155e+02] [ 1.75195967e-02 -1.37690443e-04 9.99846511e-01 3.51190221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35361786499996 meters 0.02055607935772325 Centerline is valid? [True, True] Translation: X:155.27, Y:115.10, Z:3.51 [[ 7.18825454e-02 -9.97412065e-01 -1.43947119e-03 1.55272214e+02] [ 9.97247654e-01 7.18968325e-02 -1.81097488e-02 1.15100620e+02] [ 1.81663754e-02 -1.33734426e-04 9.99834969e-01 3.51140397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38361786499996 meters 0.020444355797552327 Centerline is valid? [True, True] Translation: X:155.27, Y:115.13, Z:3.51 [[ 7.16509831e-02 -9.97428774e-01 -1.40594381e-03 1.55273320e+02] [ 9.97271008e-01 7.16646559e-02 -1.77401470e-02 1.15128558e+02] [ 1.77952896e-02 -1.31008025e-04 9.99841643e-01 3.51173408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41361786499996 meters 0.020569854192218073 Centerline is valid? [True, True] Translation: X:155.28, Y:115.16, Z:3.51 [[ 7.09781652e-02 -9.97476904e-01 -1.38775129e-03 1.55275906e+02] [ 9.97322138e-01 7.09915985e-02 -1.75711510e-02 1.15156485e+02] [ 1.76253360e-02 -1.36867022e-04 9.99844652e-01 3.51250379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44361786499996 meters 0.02050520442117929 Centerline is valid? [True, True] Translation: X:155.28, Y:115.18, Z:3.51 [[ 7.01829456e-02 -9.97533160e-01 -1.39632211e-03 1.55278092e+02] [ 9.97375384e-01 7.01966795e-02 -1.77417387e-02 1.15184128e+02] [ 1.77959899e-02 -1.47489817e-04 9.99841628e-01 3.51333743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47361786499997 meters 0.020639061358823336 Centerline is valid? [True, True] Translation: X:155.28, Y:115.21, Z:3.51 [[ 6.90829443e-02 -9.97609951e-01 -1.38989090e-03 1.55280205e+02] [ 9.97452556e-01 6.90967344e-02 -1.77211667e-02 1.15212522e+02] [ 1.77748492e-02 -1.62119859e-04 9.99842002e-01 3.51376516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50361786499997 meters 0.020662026097704945 Centerline is valid? [True, True] Translation: X:155.28, Y:115.24, Z:3.51 [[ 6.77326252e-02 -9.97702569e-01 -1.36939186e-03 1.55282302e+02] [ 9.97548746e-01 6.77462293e-02 -1.75199337e-02 1.15240563e+02] [ 1.75724540e-02 -1.79364033e-04 9.99845576e-01 3.51409898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53361786499997 meters 0.02087004353120283 Centerline is valid? [True, True] Translation: X:155.29, Y:115.27, Z:3.51 [[ 6.52851871e-02 -9.97865747e-01 -1.33973528e-03 1.55285712e+02] [ 9.97717535e-01 6.52985821e-02 -1.71992891e-02 1.15269232e+02] [ 1.72500643e-02 -2.13818577e-04 9.99851184e-01 3.51436941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56361786499997 meters 0.020916562441801876 Centerline is valid? [True, True] Translation: X:155.29, Y:115.30, Z:3.51 [[ 6.38706280e-02 -9.97957265e-01 -1.35643411e-03 1.55288600e+02] [ 9.97804322e-01 6.38845885e-02 -1.74727032e-02 1.15296796e+02] [ 1.75236664e-02 -2.37463288e-04 9.99846421e-01 3.51485550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59361786499997 meters 0.021069919875937676 Centerline is valid? [True, True] Translation: X:155.29, Y:115.32, Z:3.52 [[ 6.22218137e-02 -9.98061410e-01 -1.36662430e-03 1.55291390e+02] [ 9.97905076e-01 6.22362579e-02 -1.76665495e-02 1.15324906e+02] [ 1.77173549e-02 -2.64516575e-04 9.99843000e-01 3.51522462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62361786499997 meters 0.02127024638639884 Centerline is valid? [True, True] Translation: X:155.29, Y:115.35, Z:3.52 [[ 6.09047691e-02 -9.98142639e-01 -1.37198548e-03 1.55294652e+02] [ 9.97984015e-01 6.09195521e-02 -1.77964659e-02 1.15352425e+02] [ 1.78469922e-02 -2.85329932e-04 9.99840689e-01 3.51550682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65361786499997 meters 0.021561094142033343 Centerline is valid? [True, True] Translation: X:155.30, Y:115.38, Z:3.52 [[ 5.88577830e-02 -9.98265404e-01 -1.39481058e-03 1.55298583e+02] [ 9.98100324e-01 5.88734190e-02 -1.81566658e-02 1.15378816e+02] [ 1.82072885e-02 -3.23499794e-04 9.99834181e-01 3.51573672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68361786499997 meters 0.021561094142033343 Centerline is valid? [True, True] Translation: X:155.30, Y:115.41, Z:3.52 [[ 5.85893627e-02 -9.98281199e-01 -1.39074660e-03 1.55300617e+02] [ 9.98116116e-01 5.86049692e-02 -1.81569771e-02 1.15406326e+02] [ 1.82072735e-02 -3.24320882e-04 9.99834181e-01 3.51618787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71361786499995 meters 0.02192983612606145 Centerline is valid? [True, True] Translation: X:155.30, Y:115.43, Z:3.52 [[ 5.73306336e-02 -9.98354264e-01 -1.40056012e-03 1.55304109e+02] [ 9.98185655e-01 5.73466951e-02 -1.83509056e-02 1.15432790e+02] [ 1.84010224e-02 -3.45949976e-04 9.99830627e-01 3.51638550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74361786499995 meters 0.022038385272411854 Centerline is valid? [True, True] Translation: X:155.31, Y:115.46, Z:3.52 [[ 5.63365830e-02 -9.98410828e-01 -1.41671031e-03 1.55306263e+02] [ 9.98237001e-01 5.63532148e-02 -1.86334627e-02 1.15459831e+02] [ 1.86836871e-02 -3.64467034e-04 9.99825378e-01 3.51687663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77361786499995 meters 0.02191140960833256 Centerline is valid? [True, True] Translation: X:155.31, Y:115.49, Z:3.52 [[ 5.51598640e-02 -9.98476548e-01 -1.40447281e-03 1.55307776e+02] [ 9.98304405e-01 5.51764382e-02 -1.85438815e-02 1.15487540e+02] [ 1.85931246e-02 -3.79213411e-04 9.99827061e-01 3.51730501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80361786499995 meters 0.022512412386240136 Centerline is valid? [True, True] Translation: X:155.31, Y:115.51, Z:3.52 [[ 5.45842517e-02 -9.98508183e-01 -1.40307741e-03 1.55311739e+02] [ 9.98335139e-01 5.46009182e-02 -1.85927412e-02 1.15513426e+02] [ 1.86416136e-02 -3.85870614e-04 9.99826156e-01 3.51769013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83361786499995 meters 0.022178841839177794 Centerline is valid? [True, True] Translation: X:155.31, Y:115.54, Z:3.52 [[ 5.45369039e-02 -9.98510760e-01 -1.41029238e-03 1.55312731e+02] [ 9.98334460e-01 5.45537808e-02 -1.87667426e-02 1.15540604e+02] [ 1.88157312e-02 -3.84463444e-04 9.99822895e-01 3.51853025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86361786499995 meters 0.022107381701706112 Centerline is valid? [True, True] Translation: X:155.31, Y:115.57, Z:3.52 [[ 5.46231343e-02 -9.98506059e-01 -1.40138852e-03 1.55313957e+02] [ 9.98330602e-01 5.46398115e-02 -1.87216554e-02 1.15566761e+02] [ 1.87702579e-02 -3.76413550e-04 9.99823752e-01 3.51813897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89361786499995 meters 0.022021649038641886 Centerline is valid? [True, True] Translation: X:155.32, Y:115.59, Z:3.52 [[ 5.47483010e-02 -9.98499218e-01 -1.39095922e-03 1.55315569e+02] [ 9.98324945e-01 5.47647373e-02 -1.86581646e-02 1.15593532e+02] [ 1.87063383e-02 -3.67126474e-04 9.99824954e-01 3.51848477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92361786499995 meters 0.021932915755930472 Centerline is valid? [True, True] Translation: X:155.32, Y:115.62, Z:3.52 [[ 5.51517303e-02 -9.98476984e-01 -1.41357892e-03 1.55317278e+02] [ 9.98295606e-01 5.51686591e-02 -1.90342396e-02 1.15620115e+02] [ 1.90832355e-02 -3.61398369e-04 9.99817833e-01 3.51837049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95361786499996 meters 0.020949340525507575 Centerline is valid? [True, True] Translation: X:155.32, Y:115.65, Z:3.52 [[ 5.65094370e-02 -9.98401095e-01 -1.39144076e-03 1.55316347e+02] [ 9.98224233e-01 5.65256200e-02 -1.87945235e-02 1.15647096e+02] [ 1.88431249e-02 -3.26901942e-04 9.99822399e-01 3.51885665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98361786499996 meters 0.020747859957103616 Centerline is valid? [True, True] Translation: X:155.32, Y:115.67, Z:3.52 [[ 5.69949067e-02 -9.98373549e-01 -1.35549932e-03 1.55317462e+02] [ 9.98204359e-01 5.70102053e-02 -1.83819019e-02 1.15674486e+02] [ 1.84292819e-02 -3.05390543e-04 9.99830120e-01 3.51916501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01361786499996 meters 0.020449886099304454 Centerline is valid? [True, True] Translation: X:155.32, Y:115.70, Z:3.52 [[ 5.79786129e-02 -9.98316960e-01 -1.31446067e-03 1.55318454e+02] [ 9.98156590e-01 5.79928618e-02 -1.78955418e-02 1.15702859e+02] [ 1.79416522e-02 -2.74478894e-04 9.99838998e-01 3.51949691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04361786499996 meters 0.02031634219260066 Centerline is valid? [True, True] Translation: X:155.32, Y:115.73, Z:3.52 [[ 5.96281199e-02 -9.98219857e-01 -1.26677116e-03 1.55318978e+02] [ 9.98069824e-01 5.96411220e-02 -1.73078910e-02 1.15728821e+02] [ 1.73526322e-02 -2.32289070e-04 9.99849405e-01 3.51964965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07361786499996 meters 0.019899916776922242 Centerline is valid? [True, True] Translation: X:155.32, Y:115.76, Z:3.52 [[ 6.06870443e-02 -9.98156048e-01 -1.25950638e-03 1.55319729e+02] [ 9.98006437e-01 6.06997559e-02 -1.72826990e-02 1.15755693e+02] [ 1.73272823e-02 -2.08159550e-04 9.99849850e-01 3.52003730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10361786499996 meters 0.01970458132180409 Centerline is valid? [True, True] Translation: X:155.32, Y:115.78, Z:3.52 [[ 6.26041713e-02 -9.98037732e-01 -1.18480532e-03 1.55320069e+02] [ 9.97904300e-01 6.26151757e-02 -1.63201656e-02 1.15782097e+02] [ 1.63623278e-02 -1.60611884e-04 9.99866115e-01 3.52003633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13361786499996 meters 0.01949016842763895 Centerline is valid? [True, True] Translation: X:155.32, Y:115.81, Z:3.52 [[ 6.30079091e-02 -9.98012350e-01 -1.16322020e-03 1.55321243e+02] [ 9.97882640e-01 6.30184744e-02 -1.60906277e-02 1.15809181e+02] [ 1.61319496e-02 -1.46920437e-04 9.99869861e-01 3.52073878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16361786499996 meters 0.01931501634506576 Centerline is valid? [True, True] Translation: X:155.32, Y:115.84, Z:3.52 [[ 6.35038724e-02 -9.97980945e-01 -1.13614572e-03 1.55322504e+02] [ 9.97856235e-01 6.35138982e-02 -1.57771923e-02 1.15835669e+02] [ 1.58174983e-02 -1.31797287e-04 9.99874887e-01 3.52088386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19361786499996 meters 0.019255124347961863 Centerline is valid? [True, True] Translation: X:155.32, Y:115.86, Z:3.52 [[ 6.36833359e-02 -9.97969586e-01 -1.06726312e-03 1.55323014e+02] [ 9.97858670e-01 6.36921701e-02 -1.48789242e-02 1.15862817e+02] [ 1.49166902e-02 -1.17438230e-04 9.99888733e-01 3.52089278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22361786499997 meters 0.01904280488856811 Centerline is valid? [True, True] Translation: X:155.32, Y:115.89, Z:3.52 [[ 6.34910744e-02 -9.97981860e-01 -1.04392418e-03 1.55323511e+02] [ 9.97874881e-01 6.34995537e-02 -1.46126431e-02 1.15890613e+02] [ 1.46494415e-02 -1.13933308e-04 9.99892685e-01 3.52066287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25361786499997 meters 0.018995851990401286 Centerline is valid? [True, True] Translation: X:155.32, Y:115.92, Z:3.52 [[ 6.29502934e-02 -9.98016173e-01 -9.89933861e-04 1.55324583e+02] [ 9.97919278e-01 6.29579762e-02 -1.39070830e-02 1.15918356e+02] [ 1.39418180e-02 -1.12419127e-04 9.99902802e-01 3.52032075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28361786499997 meters 0.018954538590598806 Centerline is valid? [True, True] Translation: X:155.33, Y:115.95, Z:3.52 [[ 6.25423760e-02 -9.98041853e-01 -9.54730049e-04 1.55326356e+02] [ 9.97951064e-01 6.25495645e-02 -1.34620527e-02 1.15946190e+02] [ 1.34954100e-02 -1.10825104e-04 9.99908927e-01 3.52058398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31361786499997 meters 0.018980714199529635 Centerline is valid? [True, True] Translation: X:155.33, Y:115.97, Z:3.52 [[ 6.17968939e-02 -9.98088314e-01 -9.27724109e-04 1.55328810e+02] [ 9.98001953e-01 6.18037512e-02 -1.31300469e-02 1.15973269e+02] [ 1.31622832e-02 -1.14474357e-04 9.99913367e-01 3.52064241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34361786499997 meters 0.018887540502619673 Centerline is valid? [True, True] Translation: X:155.33, Y:116.00, Z:3.52 [[ 6.10174411e-02 -9.98136307e-01 -8.85785827e-04 1.55330490e+02] [ 9.98056954e-01 6.10237598e-02 -1.25863979e-02 1.16001683e+02] [ 1.26169947e-02 -1.16074912e-04 9.99920396e-01 3.52059165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37361786499997 meters 0.0189208163523634 Centerline is valid? [True, True] Translation: X:155.33, Y:116.03, Z:3.52 [[ 6.04584389e-02 -9.98170337e-01 -8.69344716e-04 1.55332672e+02] [ 9.98093329e-01 6.04645736e-02 -1.23993096e-02 1.16028950e+02] [ 1.24291876e-02 -1.18044259e-04 9.99922748e-01 3.52071514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40361786499997 meters 0.0190234294194811 Centerline is valid? [True, True] Translation: X:155.33, Y:116.06, Z:3.52 [[ 5.95829918e-02 -9.98223011e-01 -8.28583829e-04 1.55334749e+02] [ 9.98152536e-01 5.95886314e-02 -1.18621256e-02 1.16055100e+02] [ 1.18904209e-02 -1.20272117e-04 9.99929299e-01 3.52102151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43361786499997 meters 0.01874830254526019 Centerline is valid? [True, True] Translation: X:155.34, Y:116.08, Z:3.52 [[ 5.84517675e-02 -9.98289925e-01 -7.85669221e-04 1.55335620e+02] [ 9.98225995e-01 5.84569163e-02 -1.12983337e-02 1.16082951e+02] [ 1.13249405e-02 -1.23867863e-04 9.99935863e-01 3.51970202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46361786499995 meters 0.018816501732904986 Centerline is valid? [True, True] Translation: X:155.34, Y:116.11, Z:3.52 [[ 5.74628594e-02 -9.98347361e-01 -7.52146550e-04 1.55337853e+02] [ 9.98288337e-01 5.74676414e-02 -1.08566657e-02 1.16110922e+02] [ 1.08819476e-02 -1.27004076e-04 9.99940782e-01 3.51988362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49361786499995 meters 0.018885875094957975 Centerline is valid? [True, True] Translation: X:155.34, Y:116.14, Z:3.52 [[ 5.63601391e-02 -9.98410197e-01 -7.83543375e-04 1.55340199e+02] [ 9.98345604e-01 5.63654062e-02 -1.13576494e-02 1.16138805e+02] [ 1.13837578e-02 -1.42128382e-04 9.99935193e-01 3.51993384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52361786499995 meters 0.018859511934491775 Centerline is valid? [True, True] Translation: X:155.34, Y:116.17, Z:3.52 [[ 5.52939179e-02 -9.98469849e-01 -7.36957284e-04 1.55342742e+02] [ 9.98412302e-01 5.52986439e-02 -1.07208163e-02 1.16166700e+02] [ 1.07451646e-02 -1.42991280e-04 9.99942259e-01 3.51969812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55361786499995 meters 0.019250613274278582 Centerline is valid? [True, True] Translation: X:155.35, Y:116.19, Z:3.52 [[ 5.34415984e-02 -9.98570713e-01 -7.26264268e-04 1.55345390e+02] [ 9.98514409e-01 5.34462982e-02 -1.06050676e-02 1.16193898e+02] [ 1.06287260e-02 -1.58433573e-04 9.99943501e-01 3.51958431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58361786499995 meters 0.01928963888049338 Centerline is valid? [True, True] Translation: X:155.35, Y:116.22, Z:3.52 [[ 5.24223794e-02 -9.98624735e-01 -7.29869137e-04 1.55347510e+02] [ 9.98567402e-01 5.24271916e-02 -1.07019934e-02 1.16221544e+02] [ 1.07255403e-02 -1.67799569e-04 9.99942466e-01 3.51959280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61361786499995 meters 0.01937894177834506 Centerline is valid? [True, True] Translation: X:155.35, Y:116.25, Z:3.52 [[ 5.11349562e-02 -9.98691488e-01 -7.27012335e-04 1.55350326e+02] [ 9.98634109e-01 5.11398125e-02 -1.07068404e-02 1.16248689e+02] [ 1.07300096e-02 -1.78525502e-04 9.99942416e-01 3.51986359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64361786499995 meters 0.019953914529128224 Centerline is valid? [True, True] Translation: X:155.35, Y:116.28, Z:3.52 [[ 4.88699320e-02 -9.98804901e-01 -7.07129124e-04 1.55354823e+02] [ 9.98750147e-01 4.88746584e-02 -1.04599746e-02 1.16275375e+02] [ 1.04820346e-02 -1.95067071e-04 9.99945043e-01 3.52032913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67361786499995 meters 0.020131804791770836 Centerline is valid? [True, True] Translation: X:155.36, Y:116.30, Z:3.52 [[ 4.79294069e-02 -9.98850510e-01 -6.56794580e-04 1.55356902e+02] [ 9.98802941e-01 4.79335354e-02 -9.74992932e-03 1.16302752e+02] [ 9.77020436e-03 -1.88700029e-04 9.99952253e-01 3.52061027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70361786499996 meters 0.020306004547974935 Centerline is valid? [True, True] Translation: X:155.36, Y:116.33, Z:3.52 [[ 4.67993835e-02 -9.98904114e-01 -6.23613639e-04 1.55359136e+02] [ 9.98860857e-01 4.68031616e-02 -9.29800694e-03 1.16331020e+02] [ 9.31700447e-03 -1.87762261e-04 9.99956578e-01 3.52143366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73361786499996 meters 0.019443322268823695 Centerline is valid? [True, True] Translation: X:155.36, Y:116.36, Z:3.52 [[ 4.53848240e-02 -9.98969421e-01 -5.59427037e-04 1.55357867e+02] [ 9.98934401e-01 4.53879183e-02 -8.36655544e-03 1.16359832e+02] [ 8.38332427e-03 -1.79116266e-04 9.99964843e-01 3.52080768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76361786499996 meters 0.020965878815868942 Centerline is valid? [True, True] Translation: X:155.36, Y:116.39, Z:3.52 [[ 4.44811254e-02 -9.99010096e-01 -5.07322918e-04 1.55362532e+02] [ 9.98981097e-01 4.44837007e-02 -7.61364871e-03 1.16386772e+02] [ 7.62867953e-03 -1.68142342e-04 9.99970887e-01 3.52257125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79361786499996 meters 0.02079213020655006 Centerline is valid? [True, True] Translation: X:155.36, Y:116.41, Z:3.52 [[ 4.36647201e-02 -9.99046128e-01 -4.75851646e-04 1.55362788e+02] [ 9.99020497e-01 4.36670094e-02 -7.15808566e-03 1.16414183e+02] [ 7.17203678e-03 -1.62829741e-04 9.99974267e-01 3.52270813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82361786499996 meters 0.02049827642112006 Centerline is valid? [True, True] Translation: X:155.36, Y:116.44, Z:3.52 [[ 4.34075808e-02 -9.99057336e-01 -4.71014764e-04 1.55363202e+02] [ 9.99032009e-01 4.34098351e-02 -7.11555236e-03 1.16441486e+02] [ 7.12929146e-03 -1.61689912e-04 9.99974573e-01 3.52259033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85361786499996 meters 0.019915793898774573 Centerline is valid? [True, True] Translation: X:155.36, Y:116.47, Z:3.52 [[ 4.35178232e-02 -9.99052531e-01 -4.88501223e-04 1.55362889e+02] [ 9.99024994e-01 4.35202516e-02 -7.41948891e-03 1.16469514e+02] [ 7.43371888e-03 -1.65144925e-04 9.99972356e-01 3.52220217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88361786499996 meters 0.0215869542379978 Centerline is valid? [True, True] Translation: X:155.37, Y:116.50, Z:3.52 [[ 4.38860321e-02 -9.99036417e-01 -5.02958356e-04 1.55367784e+02] [ 9.99006971e-01 4.38886010e-02 -7.67213962e-03 1.16496774e+02] [ 7.68682102e-03 -1.65759138e-04 9.99970442e-01 3.52421200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91361786499996 meters 0.019540034856497683 Centerline is valid? [True, True] Translation: X:155.36, Y:116.53, Z:3.52 [[ 4.53157450e-02 -9.98972585e-01 -5.08507739e-04 1.55362089e+02] [ 9.98942191e-01 4.53183337e-02 -7.79412436e-03 1.16525175e+02] [ 7.80916128e-03 -1.54773283e-04 9.99969496e-01 3.52185050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94361786499996 meters 0.02117729626600615 Centerline is valid? [True, True] Translation: X:155.37, Y:116.55, Z:3.52 [[ 4.54225068e-02 -9.98967731e-01 -5.17716103e-04 1.55366667e+02] [ 9.98935890e-01 4.54251933e-02 -7.97738333e-03 1.16551979e+02] [ 7.99266588e-03 -1.54812448e-04 9.99968046e-01 3.52396327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97361786499997 meters 0.01944383811297866 Centerline is valid? [True, True] Translation: X:155.36, Y:116.58, Z:3.52 [[ 4.56479310e-02 -9.98957463e-01 -5.04153553e-04 1.55362718e+02] [ 9.98927166e-01 4.56504737e-02 -7.78145997e-03 1.16580329e+02] [ 7.79636235e-03 -1.48405132e-04 9.99969597e-01 3.52218191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00361786499997 meters 0.02120084689014742 Centerline is valid? [True, True] Translation: X:155.37, Y:116.61, Z:3.52 [[ 4.55717354e-02 -9.98960937e-01 -5.14091433e-04 1.55367783e+02] [ 9.98929168e-01 4.55743868e-02 -7.96827586e-03 1.16606769e+02] [ 7.98342572e-03 -1.50412768e-04 9.99968121e-01 3.52446963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03361786499997 meters 0.01995599313848132 Centerline is valid? [True, True] Translation: X:155.36, Y:116.63, Z:3.52 [[ 4.52570710e-02 -9.98975256e-01 -4.84506424e-04 1.55364419e+02] [ 9.98946822e-01 4.52594390e-02 -7.53851212e-03 1.16633949e+02] [ 7.55271557e-03 -1.42825174e-04 9.99971468e-01 3.52320344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06361786499997 meters 0.019634155312833374 Centerline is valid? [True, True] Translation: X:155.36, Y:116.66, Z:3.52 [[ 4.46842126e-02 -9.99001049e-01 -4.75114536e-04 1.55364619e+02] [ 9.98973436e-01 4.46865107e-02 -7.42894026e-03 1.16662436e+02] [ 7.44275033e-03 -1.42670454e-04 9.99972292e-01 3.52311909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09361786499997 meters 0.01987523360690505 Centerline is valid? [True, True] Translation: X:155.37, Y:116.69, Z:3.52 [[ 4.34565722e-02 -9.99055221e-01 -4.38671279e-04 1.55365828e+02] [ 9.99031516e-01 4.34585635e-02 -6.88353936e-03 1.16690774e+02] [ 6.89609996e-03 -1.39111408e-04 9.99976212e-01 3.52347475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12361786499997 meters 0.019796762441629995 Centerline is valid? [True, True] Translation: X:155.37, Y:116.72, Z:3.52 [[ 4.26506724e-02 -9.99089949e-01 -4.40881961e-04 1.55366107e+02] [ 9.99065802e-01 4.26527075e-02 -6.94770064e-03 1.16718569e+02] [ 6.96018269e-03 -1.44145986e-04 9.99975767e-01 3.52295881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15361786499997 meters 0.020438007661193632 Centerline is valid? [True, True] Translation: X:155.37, Y:116.75, Z:3.52 [[ 4.19435927e-02 -9.99119881e-01 -4.45070599e-04 1.55368788e+02] [ 9.99094975e-01 4.19456904e-02 -7.05623906e-03 1.16745744e+02] [ 7.06869753e-03 -1.48703782e-04 9.99975005e-01 3.52362769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18361786499997 meters 0.020824607883153805 Centerline is valid? [True, True] Translation: X:155.37, Y:116.77, Z:3.52 [[ 4.10113956e-02 -9.99158575e-01 -4.55756067e-04 1.55369686e+02] [ 9.99132400e-01 4.10136209e-02 -7.23394325e-03 1.16772447e+02] [ 7.24654864e-03 -1.58686545e-04 9.99973731e-01 3.52308829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21361786499995 meters 0.01984426884391444 Centerline is valid? [True, True] Translation: X:155.37, Y:116.80, Z:3.52 [[ 4.08406779e-02 -9.99165561e-01 -4.70140160e-04 1.55368222e+02] [ 9.99137372e-01 4.08430580e-02 -7.50711065e-03 1.16801055e+02] [ 7.52004839e-03 -1.63139116e-04 9.99971711e-01 3.52156006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24361786499995 meters 0.019734553933988916 Centerline is valid? [True, True] Translation: X:155.37, Y:116.83, Z:3.52 [[ 4.05983601e-02 -9.99175433e-01 -4.75822669e-04 1.55369161e+02] [ 9.99146296e-01 4.06008109e-02 -7.63235091e-03 1.16828864e+02] [ 7.64537631e-03 -1.65555527e-04 9.99970760e-01 3.52138122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27361786499995 meters 0.01994050281025446 Centerline is valid? [True, True] Translation: X:155.37, Y:116.86, Z:3.52 [[ 3.99795111e-02 -9.99200380e-01 -4.88801681e-04 1.55370917e+02] [ 9.99169356e-01 3.99821225e-02 -7.87581603e-03 1.16855499e+02] [ 7.88906170e-03 -1.73524387e-04 9.99968866e-01 3.52126151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30361786499995 meters 0.019736696589780903 Centerline is valid? [True, True] Translation: X:155.37, Y:116.88, Z:3.52 [[ 3.94846181e-02 -9.99220042e-01 -5.21688204e-04 1.55372113e+02] [ 9.99184304e-01 3.94876192e-02 -8.45303325e-03 1.16883536e+02] [ 8.46704046e-03 -1.87497875e-04 9.99964136e-01 3.52113155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33361786499995 meters 0.019906870759931253 Centerline is valid? [True, True] Translation: X:155.37, Y:116.91, Z:3.52 [[ 3.86726539e-02 -9.99251808e-01 -4.99549356e-04 1.55374126e+02] [ 9.99218784e-01 3.86754382e-02 -8.12597632e-03 1.16910959e+02] [ 8.13921682e-03 -1.84906031e-04 9.99966859e-01 3.52150203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36361786499995 meters 0.02061411355022505 Centerline is valid? [True, True] Translation: X:155.38, Y:116.94, Z:3.52 [[ 3.78244186e-02 -9.99284280e-01 -4.90683059e-04 1.55376928e+02] [ 9.99251935e-01 3.78271433e-02 -8.04220253e-03 1.16937717e+02] [ 8.05500770e-03 -1.86124362e-04 9.99967541e-01 3.52210049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39361786499995 meters 0.020130908252033917 Centerline is valid? [True, True] Translation: X:155.38, Y:116.97, Z:3.52 [[ 3.73275722e-02 -9.99302967e-01 -4.83153603e-04 1.55377098e+02] [ 9.99271651e-01 3.73302285e-02 -7.91336598e-03 1.16965597e+02] [ 7.92588634e-03 -1.87414959e-04 9.99968572e-01 3.52212183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42361786499995 meters 0.019858846898907954 Centerline is valid? [True, True] Translation: X:155.38, Y:116.99, Z:3.52 [[ 3.70855859e-02 -9.99311993e-01 -4.47005454e-04 1.55377933e+02] [ 9.99284989e-01 3.70878708e-02 -7.34846356e-03 1.16993550e+02] [ 7.35998625e-03 -1.74163764e-04 9.99972900e-01 3.52210587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45361786499996 meters 0.020566751247094704 Centerline is valid? [True, True] Translation: X:155.38, Y:117.02, Z:3.52 [[ 3.71944583e-02 -9.99307953e-01 -4.33039843e-04 1.55381259e+02] [ 9.99282408e-01 3.71966046e-02 -7.14709593e-03 1.17020698e+02] [ 7.15825741e-03 -1.66896736e-04 9.99974365e-01 3.52328256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48361786499996 meters 0.019565185072656425 Centerline is valid? [True, True] Translation: X:155.38, Y:117.05, Z:3.52 [[ 3.74194098e-02 -9.99299567e-01 -4.03711732e-04 1.55380325e+02] [ 9.99277171e-01 3.74212747e-02 -6.69213387e-03 1.17048722e+02] [ 6.70255389e-03 -1.53004218e-04 9.99977526e-01 3.52247965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51361786499996 meters 0.020649421748432602 Centerline is valid? [True, True] Translation: X:155.38, Y:117.08, Z:3.52 [[ 3.77936849e-02 -9.99285482e-01 -4.03762621e-04 1.55384501e+02] [ 9.99262880e-01 3.77955463e-02 -6.72258307e-03 1.17075801e+02] [ 6.73304009e-03 -1.49393813e-04 9.99977322e-01 3.52409220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54361786499996 meters 0.020662508453083775 Centerline is valid? [True, True] Translation: X:155.39, Y:117.10, Z:3.52 [[ 3.80140425e-02 -9.99277133e-01 -3.79399171e-04 1.55385774e+02] [ 9.99257011e-01 3.80156853e-02 -6.34305142e-03 1.17103406e+02] [ 6.35288936e-03 -1.37992255e-04 9.99979811e-01 3.52430873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57361786499996 meters 0.01957615877385897 Centerline is valid? [True, True] Translation: X:155.38, Y:117.13, Z:3.52 [[ 3.87195541e-02 -9.99250059e-01 -3.39723951e-04 1.55384065e+02] [ 9.99233795e-01 3.87208626e-02 -5.70236988e-03 1.17131895e+02] [ 5.71124784e-03 -1.18670434e-04 9.99983684e-01 3.52294556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60361786499996 meters 0.01957615877385897 Centerline is valid? [True, True] Translation: X:155.39, Y:117.16, Z:3.52 [[ 3.84472062e-02 -9.99260576e-01 -3.38169756e-04 1.55385617e+02] [ 9.99244311e-01 3.84485103e-02 -5.70246165e-03 1.17159434e+02] [ 5.71124723e-03 -1.18670486e-04 9.99983684e-01 3.52339645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63361786499996 meters 0.019664133121482182 Centerline is valid? [True, True] Translation: X:155.39, Y:117.19, Z:3.52 [[ 3.85509735e-02 -9.99256581e-01 -3.28114900e-04 1.55387487e+02] [ 9.99241153e-01 3.85522020e-02 -5.55387485e-03 1.17186475e+02] [ 5.56239554e-03 -1.13758629e-04 9.99984523e-01 3.52398202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66361786499996 meters 0.019804409018445827 Centerline is valid? [True, True] Translation: X:155.39, Y:117.21, Z:3.52 [[ 3.89875488e-02 -9.99239633e-01 -3.57477343e-04 1.55389128e+02] [ 9.99220993e-01 3.89890054e-02 -6.10445773e-03 1.17213144e+02] [ 6.11375378e-03 -1.19201022e-04 9.99981304e-01 3.52335427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69361786499996 meters 0.019876796979067878 Centerline is valid? [True, True] Translation: X:155.39, Y:117.24, Z:3.52 [[ 3.91133565e-02 -9.99234712e-01 -3.68030229e-04 1.55390218e+02] [ 9.99214921e-01 3.91148985e-02 -6.29015983e-03 1.17240008e+02] [ 6.29974152e-03 -1.21712033e-04 9.99980149e-01 3.52312289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72361786499997 meters 0.019360500825847282 Centerline is valid? [True, True] Translation: X:155.39, Y:117.27, Z:3.52 [[ 3.92509933e-02 -9.99229306e-01 -3.92998069e-04 1.55390244e+02] [ 9.99206437e-01 3.92527543e-02 -6.76151833e-03 1.17268116e+02] [ 6.77173352e-03 -1.27289890e-04 9.99977063e-01 3.52197371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75361786499997 meters 0.019051024789520303 Centerline is valid? [True, True] Translation: X:155.39, Y:117.30, Z:3.52 [[ 3.95758306e-02 -9.99216478e-01 -4.29744518e-04 1.55390632e+02] [ 9.99188820e-01 3.95779331e-02 -7.43564836e-03 1.17296621e+02] [ 7.44683076e-03 -1.35123958e-04 9.99972263e-01 3.52072642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78361786499997 meters 0.019911855910586432 Centerline is valid? [True, True] Translation: X:155.39, Y:117.32, Z:3.52 [[ 3.93224790e-02 -9.99226471e-01 -4.49414999e-04 1.55394059e+02] [ 9.99195813e-01 3.93247936e-02 -7.82872264e-03 1.17323082e+02] [ 7.84034005e-03 -1.41208804e-04 9.99969254e-01 3.52206423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81361786499997 meters 0.01916033813823699 Centerline is valid? [True, True] Translation: X:155.39, Y:117.35, Z:3.52 [[ 3.89773006e-02 -9.99239995e-01 -4.50511320e-04 1.55393076e+02] [ 9.99209053e-01 3.89796395e-02 -7.86482573e-03 1.17351690e+02] [ 7.87640919e-03 -1.43605314e-04 9.99968970e-01 3.52087267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84361786499997 meters 0.02034196171261029 Centerline is valid? [True, True] Translation: X:155.40, Y:117.38, Z:3.52 [[ 3.85154141e-02 -9.99257892e-01 -4.78399256e-04 1.55397688e+02] [ 9.99222634e-01 3.85180746e-02 -8.39553087e-03 1.17378320e+02] [ 8.40772750e-03 -1.54670017e-04 9.99964642e-01 3.52210483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87361786499997 meters 0.01939388118308837 Centerline is valid? [True, True] Translation: X:155.40, Y:117.41, Z:3.52 [[ 3.71397603e-02 -9.99309969e-01 -4.73164478e-04 1.55396583e+02] [ 9.99275096e-01 3.71424179e-02 -8.35010690e-03 1.17407193e+02] [ 8.36191954e-03 -1.62700510e-04 9.99965025e-01 3.52075758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90361786499997 meters 0.019307225531690907 Centerline is valid? [True, True] Translation: X:155.40, Y:117.44, Z:3.52 [[ 3.60159309e-02 -9.99351102e-01 -4.77282442e-04 1.55397992e+02] [ 9.99315302e-01 3.60186814e-02 -8.46058280e-03 1.17435085e+02] [ 8.47228383e-03 -1.72239882e-04 9.99964095e-01 3.52132888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93361786499997 meters 0.019451235436877448 Centerline is valid? [True, True] Translation: X:155.40, Y:117.46, Z:3.52 [[ 3.51047988e-02 -9.99383529e-01 -4.64468681e-04 1.55400078e+02] [ 9.99349304e-01 3.51074413e-02 -8.27261792e-03 1.17463233e+02] [ 8.28382440e-03 -1.73757866e-04 9.99965673e-01 3.52186758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96361786499995 meters 0.02025226486050605 Centerline is valid? [True, True] Translation: X:155.40, Y:117.49, Z:3.52 [[ 3.32148644e-02 -9.99448146e-01 -4.19936114e-04 1.55403173e+02] [ 9.99419921e-01 3.32170832e-02 -7.51307471e-03 1.17490898e+02] [ 7.52287764e-03 -1.70146760e-04 9.99971688e-01 3.52326240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99361786499995 meters 0.02076188355092437 Centerline is valid? [True, True] Translation: X:155.41, Y:117.52, Z:3.52 [[ 3.22887611e-02 -9.99478496e-01 -4.14294318e-04 1.55405549e+02] [ 9.99450815e-01 3.22909511e-02 -7.44066409e-03 1.17518270e+02] [ 7.45016172e-03 -1.73816969e-04 9.99972232e-01 3.52459214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02361786499995 meters 0.02023811684374542 Centerline is valid? [True, True] Translation: X:155.41, Y:117.55, Z:3.52 [[ 3.14968711e-02 -9.99503778e-01 -3.81135853e-04 1.55405321e+02] [ 9.99480140e-01 3.14987482e-02 -6.87594582e-03 1.17546711e+02] [ 6.88453913e-03 -1.64366937e-04 9.99976288e-01 3.52409223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05361786499995 meters 0.020617946855609637 Centerline is valid? [True, True] Translation: X:155.41, Y:117.57, Z:3.52 [[ 3.08015261e-02 -9.99525449e-01 -3.79110949e-04 1.55406524e+02] [ 9.99501846e-01 3.08034048e-02 -6.87090593e-03 1.17573963e+02] [ 6.87932324e-03 -1.67287706e-04 9.99976323e-01 3.52417431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08361786499995 meters 0.020654712921744454 Centerline is valid? [True, True] Translation: X:155.41, Y:117.60, Z:3.52 [[ 3.05117686e-02 -9.99534341e-01 -3.65101997e-04 1.55407392e+02] [ 9.99512216e-01 3.05135231e-02 -6.65240249e-03 1.17602157e+02] [ 6.66044529e-03 -1.61947341e-04 9.99977806e-01 3.52408300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11361786499995 meters 0.02064033142149907 Centerline is valid? [True, True] Translation: X:155.41, Y:117.63, Z:3.52 [[ 3.02870172e-02 -9.99541169e-01 -3.86141853e-04 1.55408298e+02] [ 9.99516134e-01 3.02889923e-02 -7.07637584e-03 1.17630431e+02] [ 7.08482482e-03 -1.71632695e-04 9.99974888e-01 3.52461752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14361786499995 meters 0.021094396987406484 Centerline is valid? [True, True] Translation: X:155.41, Y:117.66, Z:3.52 [[ 3.05945429e-02 -9.99531794e-01 -4.08268837e-04 1.55409973e+02] [ 9.99503398e-01 3.05967520e-02 -7.53630124e-03 1.17657267e+02] [ 7.54526440e-03 -1.77496398e-04 9.99971518e-01 3.52465850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17361786499995 meters 0.020904512675157985 Centerline is valid? [True, True] Translation: X:155.41, Y:117.68, Z:3.52 [[ 3.04715637e-02 -9.99535543e-01 -4.26463529e-04 1.55410622e+02] [ 9.99504436e-01 3.04739809e-02 -7.88785303e-03 1.17684642e+02] [ 7.89718550e-03 -1.85896973e-04 9.99968799e-01 3.52443862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20361786499996 meters 0.021000388757511524 Centerline is valid? [True, True] Translation: X:155.41, Y:117.71, Z:3.52 [[ 3.03740177e-02 -9.99538515e-01 -4.20552739e-04 1.55411733e+02] [ 9.99507849e-01 3.03763810e-02 -7.83166434e-03 1.17710616e+02] [ 7.84082502e-03 -1.82466652e-04 9.99969244e-01 3.52419013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23361786499996 meters 0.021097250546730555 Centerline is valid? [True, True] Translation: X:155.41, Y:117.74, Z:3.52 [[ 3.07067191e-02 -9.99528341e-01 -4.39301405e-04 1.55412251e+02] [ 9.99494662e-01 3.07092916e-02 -8.20729629e-03 1.17736532e+02] [ 8.21691588e-03 -1.87060268e-04 9.99966223e-01 3.52426218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26361786499996 meters 0.021026808312675824 Centerline is valid? [True, True] Translation: X:155.41, Y:117.76, Z:3.52 [[ 3.07653076e-02 -9.99526526e-01 -4.69411457e-04 1.55413098e+02] [ 9.99487537e-01 3.07682547e-02 -8.83048712e-03 1.17763638e+02] [ 8.84074909e-03 -1.97498248e-04 9.99960900e-01 3.52467750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29361786499996 meters 0.021035978383215588 Centerline is valid? [True, True] Translation: X:155.41, Y:117.79, Z:3.52 [[ 3.11027193e-02 -9.99516092e-01 -4.50115619e-04 1.55413851e+02] [ 9.99479892e-01 3.11054246e-02 -8.50875593e-03 1.17789606e+02] [ 8.51863951e-03 -1.85236062e-04 9.99963699e-01 3.52468844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32361786499996 meters 0.02046365879961784 Centerline is valid? [True, True] Translation: X:155.41, Y:117.82, Z:3.52 [[ 3.20476741e-02 -9.99486258e-01 -4.07474635e-04 1.55412666e+02] [ 9.99456297e-01 3.20498692e-02 -7.74060406e-03 1.17817134e+02] [ 7.74968690e-03 -1.59184733e-04 9.99969958e-01 3.52480546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35361786499996 meters 0.020811693980872802 Centerline is valid? [True, True] Translation: X:155.41, Y:117.84, Z:3.53 [[ 3.24425094e-02 -9.99473525e-01 -3.96114041e-04 1.55413950e+02] [ 9.99444925e-01 3.24445783e-02 -7.56251583e-03 1.17843344e+02] [ 7.57138610e-03 -1.50547177e-04 9.99971325e-01 3.52632173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38361786499996 meters 0.020778068442616645 Centerline is valid? [True, True] Translation: X:155.41, Y:117.87, Z:3.53 [[ 3.30915575e-02 -9.99452252e-01 -3.80625057e-04 1.55414134e+02] [ 9.99425520e-01 3.30934567e-02 -7.31114083e-03 1.17870686e+02] [ 7.31973237e-03 -1.38469359e-04 9.99973201e-01 3.52700340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41361786499996 meters 0.020562067136929124 Centerline is valid? [True, True] Translation: X:155.41, Y:117.90, Z:3.53 [[ 3.36200050e-02 -9.99434618e-01 -3.73048933e-04 1.55414034e+02] [ 9.99408667e-01 3.36218208e-02 -7.20349595e-03 1.17898311e+02] [ 7.21196581e-03 -1.30646767e-04 9.99973985e-01 3.52755992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44361786499996 meters 0.019153888960114756 Centerline is valid? [True, True] Translation: X:155.41, Y:117.93, Z:3.53 [[ 3.50927245e-02 -9.99384002e-01 -3.42135746e-04 1.55409957e+02] [ 9.99361967e-01 3.50942231e-02 -6.63732027e-03 1.17926683e+02] [ 6.64523868e-03 -1.08995801e-04 9.99977914e-01 3.52594320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47361786499997 meters 0.018867037473750726 Centerline is valid? [True, True] Translation: X:155.41, Y:117.95, Z:3.53 [[ 3.58871124e-02 -9.99355792e-01 -3.40189298e-04 1.55409617e+02] [ 9.99333782e-01 3.58885801e-02 -6.63332755e-03 1.17954900e+02] [ 6.64126322e-03 -1.01911686e-04 9.99977941e-01 3.52624761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50361786499997 meters 0.019538046297399362 Centerline is valid? [True, True] Translation: X:155.41, Y:117.98, Z:3.53 [[ 3.65589258e-02 -9.99331446e-01 -3.24932391e-04 1.55412408e+02] [ 9.99311184e-01 3.65602539e-02 -6.36433355e-03 1.17981814e+02] [ 6.37195826e-03 -9.20353744e-05 9.99979695e-01 3.52892839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53361786499997 meters 0.018639226210568675 Centerline is valid? [True, True] Translation: X:155.41, Y:118.01, Z:3.53 [[ 3.74522826e-02 -9.99298364e-01 -3.25790354e-04 1.55409332e+02] [ 9.99277738e-01 3.74536030e-02 -6.42105800e-03 1.18009715e+02] [ 6.42875478e-03 -8.50717688e-05 9.99979332e-01 3.52637189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56361786499997 meters 0.018448905727384498 Centerline is valid? [True, True] Translation: X:155.41, Y:118.04, Z:3.53 [[ 3.74550481e-02 -9.99298251e-01 -3.52719791e-04 1.55409704e+02] [ 9.99273753e-01 3.74565999e-02 -6.99787014e-03 1.18037450e+02] [ 7.00617107e-03 -9.03580665e-05 9.99975452e-01 3.52581985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59361786499997 meters 0.01865500626121258 Centerline is valid? [True, True] Translation: X:155.41, Y:118.06, Z:3.53 [[ 3.72375355e-02 -9.99306380e-01 -3.52343128e-04 1.55411073e+02] [ 9.99281681e-01 3.72390925e-02 -7.02652017e-03 1.18064213e+02] [ 7.03476737e-03 -9.04397392e-05 9.99975252e-01 3.52626380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62361786499997 meters 0.01851859585356382 Centerline is valid? [True, True] Translation: X:155.41, Y:118.09, Z:3.53 [[ 3.68361880e-02 -9.99321256e-01 -3.51243867e-04 1.55410325e+02] [ 9.99296396e-01 3.68377493e-02 -7.04928399e-03 1.18092142e+02] [ 7.05743836e-03 -9.13279803e-05 9.99975092e-01 3.52519490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65361786499997 meters 0.018571682193693 Centerline is valid? [True, True] Translation: X:155.41, Y:118.12, Z:3.53 [[ 3.61346283e-02 -9.99346871e-01 -3.47322354e-04 1.55411451e+02] [ 9.99322299e-01 3.61361756e-02 -7.00846777e-03 1.18120093e+02] [ 7.01644124e-03 -9.38385952e-05 9.99975380e-01 3.52506426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68361786499997 meters 0.01859755421158499 Centerline is valid? [True, True] Translation: X:155.41, Y:118.15, Z:3.53 [[ 3.51474686e-02 -9.99382075e-01 -3.50567173e-04 1.55412875e+02] [ 9.99356753e-01 3.51490739e-02 -7.11500134e-03 1.18147894e+02] [ 7.12292692e-03 -1.00267385e-04 9.99974627e-01 3.52536598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71361786499995 meters 0.01900543035519702 Centerline is valid? [True, True] Translation: X:155.41, Y:118.18, Z:3.53 [[ 3.23974708e-02 -9.99475009e-01 -3.33242134e-04 1.55414948e+02] [ 9.99451872e-01 3.23989886e-02 -6.80157215e-03 1.18175056e+02] [ 6.80879809e-03 -1.12705739e-04 9.99976814e-01 3.52519630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74361786499995 meters 0.019327862400763358 Centerline is valid? [True, True] Translation: X:155.42, Y:118.20, Z:3.53 [[ 3.07171786e-02 -9.99528062e-01 -3.28885809e-04 1.55417054e+02] [ 9.99505327e-01 3.07186985e-02 -6.74266900e-03 1.18202990e+02] [ 6.74958982e-03 -1.21607350e-04 9.99977214e-01 3.52513089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77361786499995 meters 0.0196273803019291 Centerline is valid? [True, True] Translation: X:155.42, Y:118.23, Z:3.53 [[ 2.86239974e-02 -9.99590196e-01 -3.26626608e-04 1.55419263e+02] [ 9.99567549e-01 2.86255480e-02 -6.73005526e-03 1.18230443e+02] [ 6.73664712e-03 -1.33844273e-04 9.99977300e-01 3.52540629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80361786499995 meters 0.020621177656009192 Centerline is valid? [True, True] Translation: X:155.42, Y:118.26, Z:3.53 [[ 2.49545010e-02 -9.99688541e-01 -3.06895443e-04 1.55423491e+02] [ 9.99668230e-01 2.49559509e-02 -6.37413112e-03 1.18257182e+02] [ 6.37980471e-03 -1.47730363e-04 9.99979638e-01 3.52592651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83361786499995 meters 0.02114980652795636 Centerline is valid? [True, True] Translation: X:155.43, Y:118.29, Z:3.53 [[ 2.32632613e-02 -9.99729337e-01 -2.71367591e-04 1.55425905e+02] [ 9.99713459e-01 2.32644218e-02 -5.63616241e-03 1.18285239e+02] [ 5.64095012e-03 -1.40174314e-04 9.99984080e-01 3.52663072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86361786499995 meters 0.021590582431935644 Centerline is valid? [True, True] Translation: X:155.43, Y:118.31, Z:3.53 [[ 2.16636217e-02 -9.99765281e-01 -2.63584390e-04 1.55428052e+02] [ 9.99750149e-01 2.16647446e-02 -5.50261508e-03 1.18313596e+02] [ 5.50703401e-03 -1.44311962e-04 9.99984826e-01 3.52688631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89361786499995 meters 0.02225883033154827 Centerline is valid? [True, True] Translation: X:155.43, Y:118.34, Z:3.53 [[ 2.01664193e-02 -9.99796608e-01 -2.43135675e-04 1.55429910e+02] [ 9.99783643e-01 2.01673964e-02 -5.09337316e-03 1.18340653e+02] [ 5.09724062e-03 -1.40367972e-04 9.99986999e-01 3.52718855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92361786499995 meters 0.022398531963132785 Centerline is valid? [True, True] Translation: X:155.43, Y:118.37, Z:3.53 [[ 1.99144962e-02 -9.99801651e-01 -2.67924078e-04 1.55430983e+02] [ 9.99785684e-01 1.99156930e-02 -5.65260531e-03 1.18368291e+02] [ 5.65682001e-03 -1.55297870e-04 9.99983988e-01 3.52730317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95361786499996 meters 0.022142085531418967 Centerline is valid? [True, True] Translation: X:155.43, Y:118.40, Z:3.53 [[ 2.00033901e-02 -9.99799875e-01 -2.72039569e-04 1.55431306e+02] [ 9.99783201e-01 2.00046282e-02 -5.77629566e-03 1.18395382e+02] [ 5.78058173e-03 -1.56435096e-04 9.99983280e-01 3.52720819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98361786499996 meters 0.020150490284941463 Centerline is valid? [True, True] Translation: X:155.43, Y:118.42, Z:3.52 [[ 2.13512815e-02 -9.99771991e-01 -2.99438312e-04 1.55427180e+02] [ 9.99751433e-01 2.13527633e-02 -6.41344959e-03 1.18424332e+02] [ 6.41838110e-03 -1.62428513e-04 9.99979389e-01 3.52466684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01361786499996 meters 0.01986773138066654 Centerline is valid? [True, True] Translation: X:155.43, Y:118.45, Z:3.52 [[ 2.18851263e-02 -9.99760438e-01 -3.28377722e-04 1.55427382e+02] [ 9.99735357e-01 2.18869040e-02 -7.08371299e-03 1.18452894e+02] [ 7.08920317e-03 -1.73262866e-04 9.99974856e-01 3.52467583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04361786499996 meters 0.02012034285063995 Centerline is valid? [True, True] Translation: X:155.43, Y:118.48, Z:3.52 [[ 2.23479494e-02 -9.99750189e-01 -3.59447276e-04 1.55428958e+02] [ 9.99719758e-01 2.23500744e-02 -7.80256411e-03 1.18480086e+02] [ 7.80864861e-03 -1.84975236e-04 9.99969495e-01 3.52492816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07361786499996 meters 0.021831151733984824 Centerline is valid? [True, True] Translation: X:155.43, Y:118.51, Z:3.53 [[ 2.28599346e-02 -9.99738611e-01 -3.64988492e-04 1.55433630e+02] [ 9.99706824e-01 2.28621191e-02 -7.97430103e-03 1.18506677e+02] [ 7.98056105e-03 -1.82589486e-04 9.99968138e-01 3.52660382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10361786499996 meters 0.019539028473436085 Centerline is valid? [True, True] Translation: X:155.43, Y:118.54, Z:3.52 [[ 2.40722413e-02 -9.99710158e-01 -3.57239739e-04 1.55429383e+02] [ 9.99679324e-01 2.40743052e-02 -7.85347512e-03 1.18535433e+02] [ 7.85979915e-03 -1.68074433e-04 9.99969097e-01 3.52490033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13361786499996 meters 0.019526495621763843 Centerline is valid? [True, True] Translation: X:155.43, Y:118.56, Z:3.53 [[ 2.39092681e-02 -9.99714073e-01 -3.44872500e-04 1.55430082e+02] [ 9.99685042e-01 2.39112027e-02 -7.62050104e-03 1.18563928e+02] [ 7.62656845e-03 -1.62563277e-04 9.99970904e-01 3.52540174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16361786499996 meters 0.019642003295606694 Centerline is valid? [True, True] Translation: X:155.43, Y:118.59, Z:3.53 [[ 2.43289685e-02 -9.99703955e-01 -3.21842945e-04 1.55431772e+02] [ 9.99678295e-01 2.43306505e-02 -7.16415329e-03 1.18590926e+02] [ 7.16986303e-03 -1.47442946e-04 9.99974285e-01 3.52610940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19361786499996 meters 0.0192794534217376 Centerline is valid? [True, True] Translation: X:155.43, Y:118.62, Z:3.53 [[ 2.44047383e-02 -9.99702112e-01 -3.11089795e-04 1.55431968e+02] [ 9.99678049e-01 2.44063097e-02 -6.93762453e-03 1.18618754e+02] [ 6.94315044e-03 -1.41678729e-04 9.99975886e-01 3.52645793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22361786499997 meters 0.01934019847932523 Centerline is valid? [True, True] Translation: X:155.43, Y:118.65, Z:3.53 [[ 2.49785634e-02 -9.99687937e-01 -3.17632793e-04 1.55433713e+02] [ 9.99662529e-01 2.49801936e-02 -7.12867774e-03 1.18645639e+02] [ 7.13438767e-03 -1.39461472e-04 9.99974540e-01 3.52701855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25361786499997 meters 0.019341733185047727 Centerline is valid? [True, True] Translation: X:155.44, Y:118.67, Z:3.53 [[ 2.52391746e-02 -9.99681393e-01 -3.11185492e-04 1.55435254e+02] [ 9.99656681e-01 2.52407392e-02 -7.03035805e-03 1.18673241e+02] [ 7.03597268e-03 -1.33638222e-04 9.99975238e-01 3.52712193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28361786499997 meters 0.019580576619466567 Centerline is valid? [True, True] Translation: X:155.44, Y:118.70, Z:3.53 [[ 2.56146034e-02 -9.99671835e-01 -3.37466335e-04 1.55437284e+02] [ 9.99642352e-01 2.56164401e-02 -7.67889373e-03 1.18700466e+02] [ 7.68501847e-03 -1.40653824e-04 9.99970460e-01 3.52814068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31361786499997 meters 0.01935949305225062 Centerline is valid? [True, True] Translation: X:155.44, Y:118.73, Z:3.53 [[ 2.67483886e-02 -9.99642140e-01 -3.40888215e-04 1.55438253e+02] [ 9.99611631e-01 2.67502359e-02 -7.81104802e-03 1.18728669e+02] [ 7.81737160e-03 -1.31822877e-04 9.99969435e-01 3.52781935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34361786499997 meters 0.019432935916326485 Centerline is valid? [True, True] Translation: X:155.44, Y:118.75, Z:3.53 [[ 2.66776911e-02 -9.99644029e-01 -3.41224934e-04 1.55439753e+02] [ 9.99613152e-01 2.66795494e-02 -7.85799988e-03 1.18754640e+02] [ 7.86430639e-03 -1.31459639e-04 9.99969067e-01 3.52829033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37361786499997 meters 0.01947628192809699 Centerline is valid? [True, True] Translation: X:155.44, Y:118.78, Z:3.53 [[ 2.68432812e-02 -9.99639595e-01 -3.44480746e-04 1.55442344e+02] [ 9.99607644e-01 2.68451778e-02 -7.99343655e-03 1.18781212e+02] [ 7.99980332e-03 -1.29775521e-04 9.99967993e-01 3.52870948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40361786499997 meters 0.019142732118529567 Centerline is valid? [True, True] Translation: X:155.44, Y:118.81, Z:3.53 [[ 2.61078376e-02 -9.99659074e-01 -3.42268075e-04 1.55443124e+02] [ 9.99627010e-01 2.61097419e-02 -8.00762524e-03 1.18809625e+02] [ 8.01383176e-03 -1.33078633e-04 9.99967880e-01 3.52828129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43361786499997 meters 0.019252389449495266 Centerline is valid? [True, True] Translation: X:155.45, Y:118.84, Z:3.53 [[ 2.50471959e-02 -9.99686213e-01 -3.37842430e-04 1.55445344e+02] [ 9.99654575e-01 2.50490914e-02 -7.95444365e-03 1.18837877e+02] [ 7.96041029e-03 -1.38489222e-04 9.99968306e-01 3.52888872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46361786499995 meters 0.019750562042933198 Centerline is valid? [True, True] Translation: X:155.45, Y:118.87, Z:3.53 [[ 2.24338133e-02 -9.99748277e-01 -3.25335474e-04 1.55449163e+02] [ 9.99718557e-01 2.24356555e-02 -7.71030635e-03 1.18865458e+02] [ 7.71566461e-03 -1.52272337e-04 9.99970222e-01 3.52959159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49361786499995 meters 0.019750562042933198 Centerline is valid? [True, True] Translation: X:155.45, Y:118.89, Z:3.53 [[ 2.21658691e-02 -9.99754255e-01 -3.23555591e-04 1.55450237e+02] [ 9.99724534e-01 2.21677055e-02 -7.71038082e-03 1.18893012e+02] [ 7.71565851e-03 -1.52559170e-04 9.99970222e-01 3.53004256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52361786499995 meters 0.019944900602348815 Centerline is valid? [True, True] Translation: X:155.45, Y:118.92, Z:3.53 [[ 2.05762617e-02 -9.99788243e-01 -2.95865907e-04 1.55452079e+02] [ 9.99763111e-01 2.05778428e-02 -7.09049862e-03 1.18921140e+02] [ 7.09508544e-03 -1.49899864e-04 9.99974818e-01 3.53047055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55361786499995 meters 0.020746897313389728 Centerline is valid? [True, True] Translation: X:155.46, Y:118.95, Z:3.53 [[ 1.90024144e-02 -9.99819398e-01 -2.82752026e-04 1.55455245e+02] [ 9.99796238e-01 1.90038992e-02 -6.80687409e-03 1.18948487e+02] [ 6.81101815e-03 -1.53347370e-04 9.99976793e-01 3.53161510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58361786499995 meters 0.020850898710947925 Centerline is valid? [True, True] Translation: X:155.46, Y:118.98, Z:3.53 [[ 1.74396267e-02 -9.99847874e-01 -2.97501152e-04 1.55456697e+02] [ 9.99821799e-01 1.74413211e-02 -7.22287533e-03 1.18976175e+02] [ 7.22696535e-03 -1.71483887e-04 9.99973870e-01 3.53165275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61361786499995 meters 0.020519318302364288 Centerline is valid? [True, True] Translation: X:155.46, Y:119.00, Z:3.53 [[ 1.51119944e-02 -9.99885764e-01 -2.95246724e-04 1.55457262e+02] [ 9.99859743e-01 1.51137319e-02 -7.21586488e-03 1.19004568e+02] [ 7.21950285e-03 -1.86159204e-04 9.99973922e-01 3.53102197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64361786499995 meters 0.021068536532056974 Centerline is valid? [True, True] Translation: X:155.46, Y:119.03, Z:3.53 [[ 1.37584583e-02 -9.99905303e-01 -2.99755800e-04 1.55459624e+02] [ 9.99878107e-01 1.37602957e-02 -7.37741878e-03 1.19032258e+02] [ 7.38084488e-03 -1.98217353e-04 9.99972742e-01 3.53137014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67361786499995 meters 0.022221881410763568 Centerline is valid? [True, True] Translation: X:155.46, Y:119.06, Z:3.53 [[ 1.26707745e-02 -9.99919676e-01 -3.04206976e-04 1.55463461e+02] [ 9.99891181e-01 1.26727109e-02 -7.55167720e-03 1.19059685e+02] [ 7.55492575e-03 -2.08488274e-04 9.99971439e-01 3.53188490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70361786499996 meters 0.020696408822738526 Centerline is valid? [True, True] Translation: X:155.46, Y:119.09, Z:3.53 [[ 1.13109919e-02 -9.99935981e-01 -3.10235190e-04 1.55461733e+02] [ 9.99906243e-01 1.13130491e-02 -7.71492864e-03 1.19088057e+02] [ 7.71794444e-03 -2.22942608e-04 9.99970191e-01 3.53079459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73361786499996 meters 0.021794581529637508 Centerline is valid? [True, True] Translation: X:155.47, Y:119.11, Z:3.53 [[ 1.05510498e-02 -9.99944286e-01 -3.18131418e-04 1.55465458e+02] [ 9.99912627e-01 1.05532483e-02 -7.96033614e-03 1.19114735e+02] [ 7.96324995e-03 -2.34113719e-04 9.99968265e-01 3.53161829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76361786499996 meters 0.021488861047126353 Centerline is valid? [True, True] Translation: X:155.47, Y:119.14, Z:3.53 [[ 1.03500002e-02 -9.99946383e-01 -3.31086136e-04 1.55466097e+02] [ 9.99911494e-01 1.03524060e-02 -8.35652449e-03 1.19142585e+02] [ 8.35950397e-03 -2.44566803e-04 9.99965029e-01 3.53154531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79361786499996 meters 0.02137728752819483 Centerline is valid? [True, True] Translation: X:155.47, Y:119.17, Z:3.53 [[ 1.07569852e-02 -9.99942089e-01 -3.24509807e-04 1.55467129e+02] [ 9.99908122e-01 1.07592957e-02 -8.24525654e-03 1.19170237e+02] [ 8.24827055e-03 -2.35785888e-04 9.99965955e-01 3.53161856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82361786499996 meters 0.021355004486511685 Centerline is valid? [True, True] Translation: X:155.47, Y:119.20, Z:3.53 [[ 1.13438515e-02 -9.99935604e-01 -3.23844188e-04 1.55468036e+02] [ 9.99901300e-01 1.13461459e-02 -8.28579118e-03 1.19198237e+02] [ 8.28893199e-03 -2.29819440e-04 9.99965620e-01 3.53189322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85361786499996 meters 0.021001647308728045 Centerline is valid? [True, True] Translation: X:155.47, Y:119.23, Z:3.53 [[ 1.21975528e-02 -9.99925553e-01 -3.27523801e-04 1.55468454e+02] [ 9.99889929e-01 1.21998838e-02 -8.44349333e-03 1.19226737e+02] [ 8.44686050e-03 -2.24497794e-04 9.99964299e-01 3.53260732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88361786499996 meters 0.019789080872872393 Centerline is valid? [True, True] Translation: X:155.47, Y:119.26, Z:3.53 [[ 1.48218720e-02 -9.99890102e-01 -3.08914596e-04 1.55465710e+02] [ 9.99858027e-01 1.48238716e-02 -8.01118304e-03 1.19255646e+02] [ 8.01488194e-03 -1.90130009e-04 9.99967862e-01 3.53238791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91361786499996 meters 0.019615851236490824 Centerline is valid? [True, True] Translation: X:155.47, Y:119.28, Z:3.53 [[ 1.63500141e-02 -9.99866280e-01 -3.15685939e-04 1.55466337e+02] [ 9.99832217e-01 1.63520635e-02 -8.25518729e-03 1.19282548e+02] [ 8.25924552e-03 -1.80660544e-04 9.99965876e-01 3.53276069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94361786499996 meters 0.019133978808077493 Centerline is valid? [True, True] Translation: X:155.47, Y:119.31, Z:3.53 [[ 1.79897040e-02 -9.99838120e-01 -3.23137628e-04 1.55466436e+02] [ 9.99802190e-01 1.79917975e-02 -8.47803865e-03 1.19311094e+02] [ 8.48248005e-03 -1.70556303e-04 9.99964009e-01 3.53285227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97361786499997 meters 0.018989416347269836 Centerline is valid? [True, True] Translation: X:155.47, Y:119.34, Z:3.53 [[ 2.06653666e-02 -9.99786399e-01 -3.14343978e-04 1.55467495e+02] [ 9.99751772e-01 2.06672674e-02 -8.32216333e-03 1.19338709e+02] [ 8.32688234e-03 -1.42285393e-04 9.99965321e-01 3.53363336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00361786499997 meters 0.018814048486863535 Centerline is valid? [True, True] Translation: X:155.47, Y:119.37, Z:3.53 [[ 2.16043310e-02 -9.99766551e-01 -3.11419779e-04 1.55468371e+02] [ 9.99732385e-01 2.16061676e-02 -8.26629351e-03 1.19367221e+02] [ 8.27109234e-03 -1.32748697e-04 9.99965785e-01 3.53432732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03361786499997 meters 0.01854779789263577 Centerline is valid? [True, True] Translation: X:155.47, Y:119.39, Z:3.53 [[ 2.26681575e-02 -9.99742999e-01 -3.00441272e-04 1.55469232e+02] [ 9.99710826e-01 2.26698386e-02 -8.02145064e-03 1.19394858e+02] [ 8.02620008e-03 -1.18522885e-04 9.99967783e-01 3.53469194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06361786499997 meters 0.018392382588240264 Centerline is valid? [True, True] Translation: X:155.47, Y:119.42, Z:3.54 [[ 2.42351280e-02 -9.99706246e-01 -2.84559833e-04 1.55470008e+02] [ 9.99677000e-01 2.42365958e-02 -7.64738932e-03 1.19422995e+02] [ 7.65203963e-03 -9.91324611e-05 9.99970718e-01 3.53511677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09361786499997 meters 0.01840951823240552 Centerline is valid? [True, True] Translation: X:155.47, Y:119.45, Z:3.54 [[ 2.45496325e-02 -9.99698576e-01 -2.68308594e-04 1.55470849e+02] [ 9.99672241e-01 2.45509335e-02 -7.25685006e-03 1.19451163e+02] [ 7.26124990e-03 -9.00676509e-05 9.99973633e-01 3.53552987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12361786499997 meters 0.01823060790613537 Centerline is valid? [True, True] Translation: X:155.47, Y:119.48, Z:3.54 [[ 2.49439095e-02 -9.99688817e-01 -2.65952972e-04 1.55472167e+02] [ 9.99662557e-01 2.49451821e-02 -7.24638237e-03 1.19479552e+02] [ 7.25076166e-03 -8.51101214e-05 9.99973709e-01 3.53545778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15361786499997 meters 0.01826702868587334 Centerline is valid? [True, True] Translation: X:155.47, Y:119.51, Z:3.54 [[ 2.55181693e-02 -9.99674320e-01 -2.77468038e-04 1.55474818e+02] [ 9.99645260e-01 2.55195433e-02 -7.62279052e-03 1.19507800e+02] [ 7.62738879e-03 -8.28499499e-05 9.99970908e-01 3.53593594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18361786499997 meters 0.018247755336519338 Centerline is valid? [True, True] Translation: X:155.48, Y:119.54, Z:3.54 [[ 2.53673326e-02 -9.99678160e-01 -2.72115426e-04 1.55476693e+02] [ 9.99649807e-01 2.53686627e-02 -7.52956579e-03 1.19535955e+02] [ 7.53404569e-03 -8.10151331e-05 9.99971615e-01 3.53607178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21361786499995 meters 0.01820824302009807 Centerline is valid? [True, True] Translation: X:155.48, Y:119.56, Z:3.54 [[ 2.49824900e-02 -9.99687856e-01 -2.55812098e-04 1.55478367e+02] [ 9.99662476e-01 2.49836787e-02 -7.12392380e-03 1.19564079e+02] [ 7.12809123e-03 -7.77524001e-05 9.99974592e-01 3.53665198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24361786499995 meters 0.018796845784825787 Centerline is valid? [True, True] Translation: X:155.48, Y:119.59, Z:3.54 [[ 2.37985064e-02 -9.99716741e-01 -2.60820642e-04 1.55483664e+02] [ 9.99689958e-01 2.37997781e-02 -7.31835982e-03 1.19591197e+02] [ 7.32249430e-03 -8.65737440e-05 9.99973186e-01 3.53729069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27361786499995 meters 0.018352232031658165 Centerline is valid? [True, True] Translation: X:155.48, Y:119.62, Z:3.54 [[ 2.24233582e-02 -9.99748524e-01 -2.85549406e-04 1.55484839e+02] [ 9.99715766e-01 2.24249352e-02 -8.09377805e-03 1.19619149e+02] [ 8.09814609e-03 -1.03978560e-04 9.99967204e-01 3.53599657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30361786499995 meters 0.018456330744501034 Centerline is valid? [True, True] Translation: X:155.49, Y:119.65, Z:3.54 [[ 2.09628827e-02 -9.99780217e-01 -2.74352035e-04 1.55487462e+02] [ 9.99749542e-01 2.09643888e-02 -7.83244788e-03 1.19646988e+02] [ 7.83647806e-03 -1.10092636e-04 9.99969288e-01 3.53590392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33361786499995 meters 0.019238260455963864 Centerline is valid? [True, True] Translation: X:155.49, Y:119.67, Z:3.54 [[ 1.86415966e-02 -9.99826191e-01 -2.80783269e-04 1.55493805e+02] [ 9.99793457e-01 1.86432586e-02 -8.09144425e-03 1.19674243e+02] [ 8.09527260e-03 -1.29887836e-04 9.99967224e-01 3.53731613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36361786499995 meters 0.01884073283260296 Centerline is valid? [True, True] Translation: X:155.50, Y:119.70, Z:3.54 [[ 1.76246329e-02 -9.99844637e-01 -2.71569138e-04 1.55495220e+02] [ 9.99813649e-01 1.76262250e-02 -7.87291767e-03 1.19701835e+02] [ 7.87648125e-03 -1.32761247e-04 9.99968971e-01 3.53706218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39361786499995 meters 0.01906500582390188 Centerline is valid? [True, True] Translation: X:155.50, Y:119.73, Z:3.54 [[ 1.67538616e-02 -9.99859608e-01 -2.68781405e-04 1.55498036e+02] [ 9.99828801e-01 1.67554557e-02 -7.85009351e-03 1.19729173e+02] [ 7.85349498e-03 -1.37216009e-04 9.99969151e-01 3.53760755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42361786499995 meters 0.019116468015408977 Centerline is valid? [True, True] Translation: X:155.50, Y:119.76, Z:3.54 [[ 1.61938907e-02 -9.99868835e-01 -2.67816313e-04 1.55500121e+02] [ 9.99837684e-01 1.61955005e-02 -7.89379314e-03 1.19757004e+02] [ 7.89709517e-03 -1.39941619e-04 9.99968808e-01 3.53772244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45361786499996 meters 0.019164956671812564 Centerline is valid? [True, True] Translation: X:155.50, Y:119.78, Z:3.54 [[ 1.53020667e-02 -9.99882878e-01 -2.76809544e-04 1.55501944e+02] [ 9.99849031e-01 1.53038267e-02 -8.22845715e-03 1.19784564e+02] [ 8.23172967e-03 -1.50855354e-04 9.99966107e-01 3.53749723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48361786499996 meters 0.019034741408931723 Centerline is valid? [True, True] Translation: X:155.50, Y:119.81, Z:3.54 [[ 1.47548996e-02 -9.99891103e-01 -2.73759814e-04 1.55503229e+02] [ 9.99857467e-01 1.47566491e-02 -8.20283280e-03 1.19812358e+02] [ 8.20597931e-03 -1.52688820e-04 9.99966319e-01 3.53670501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51361786499996 meters 0.01926324613793293 Centerline is valid? [True, True] Translation: X:155.50, Y:119.84, Z:3.54 [[ 1.48592277e-02 -9.99889562e-01 -2.59891704e-04 1.55504798e+02] [ 9.99858820e-01 1.48608091e-02 -7.84191586e-03 1.19839337e+02] [ 7.84491202e-03 -1.43330200e-04 9.99969218e-01 3.53748679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54361786499996 meters 0.018908754210564267 Centerline is valid? [True, True] Translation: X:155.50, Y:119.87, Z:3.54 [[ 1.52196668e-02 -9.99884145e-01 -2.41241987e-04 1.55504354e+02] [ 9.99857229e-01 1.52210274e-02 -7.33767099e-03 1.19867920e+02] [ 7.34049284e-03 -1.29530637e-04 9.99973050e-01 3.53729669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57361786499996 meters 0.01895249698165282 Centerline is valid? [True, True] Translation: X:155.50, Y:119.90, Z:3.54 [[ 1.60504484e-02 -9.99871157e-01 -2.31121675e-04 1.55504716e+02] [ 9.99846084e-01 1.60516829e-02 -7.08177619e-03 1.19895404e+02] [ 7.08457364e-03 -1.17420418e-04 9.99974897e-01 3.53780342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60361786499996 meters 0.018861921336313488 Centerline is valid? [True, True] Translation: X:155.51, Y:119.92, Z:3.54 [[ 1.67632798e-02 -9.99859457e-01 -2.41840575e-04 1.55505347e+02] [ 9.99831444e-01 1.67646207e-02 -7.48543150e-03 1.19922750e+02] [ 7.48843384e-03 -1.16319429e-04 9.99971955e-01 3.53784513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63361786499996 meters 0.018760750323986167 Centerline is valid? [True, True] Translation: X:155.51, Y:119.95, Z:3.54 [[ 1.80824344e-02 -9.99836461e-01 -2.77967113e-04 1.55505856e+02] [ 9.99798580e-01 1.80841692e-02 -8.70417667e-03 1.19949770e+02] [ 8.70778000e-03 -1.20518421e-04 9.99962079e-01 3.53734063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66361786499996 meters 0.01840222824214289 Centerline is valid? [True, True] Translation: X:155.51, Y:119.98, Z:3.54 [[ 1.87120029e-02 -9.99824877e-01 -2.74968615e-04 1.55505152e+02] [ 9.99787184e-01 1.87136852e-02 -8.68243174e-03 1.19977653e+02] [ 8.68605693e-03 -1.12444410e-04 9.99962269e-01 3.53692002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69361786499996 meters 0.018649708919907332 Centerline is valid? [True, True] Translation: X:155.51, Y:120.00, Z:3.54 [[ 1.93456089e-02 -9.99812817e-01 -2.79011279e-04 1.55507093e+02] [ 9.99773148e-01 1.93473269e-02 -8.90692019e-03 1.20004397e+02] [ 8.91065109e-03 -1.06638191e-04 9.99960294e-01 3.53803989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72361786499997 meters 0.018395688875944914 Centerline is valid? [True, True] Translation: X:155.51, Y:120.03, Z:3.54 [[ 1.90933246e-02 -9.99817666e-01 -2.83181713e-04 1.55507055e+02] [ 9.99776477e-01 1.90951086e-02 -9.07592319e-03 1.20032120e+02] [ 9.07967573e-03 -1.09828869e-04 9.99958773e-01 3.53819489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75361786499997 meters 0.01873182479088919 Centerline is valid? [True, True] Translation: X:155.51, Y:120.06, Z:3.54 [[ 1.86931873e-02 -9.99825229e-01 -2.76991458e-04 1.55507865e+02] [ 9.99785107e-01 1.86949188e-02 -8.95765605e-03 1.20058517e+02] [ 8.96126884e-03 -1.09484792e-04 9.99959841e-01 3.53841055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78361786499997 meters 0.018484439908178923 Centerline is valid? [True, True] Translation: X:155.51, Y:120.09, Z:3.54 [[ 1.70776939e-02 -9.99854129e-01 -2.69091006e-04 1.55507295e+02] [ 9.99815424e-01 1.70794007e-02 -8.79839805e-03 1.20086223e+02] [ 8.80171053e-03 -1.18784990e-04 9.99961257e-01 3.53809665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81361786499997 meters 0.018451893107915302 Centerline is valid? [True, True] Translation: X:155.51, Y:120.11, Z:3.54 [[ 1.63830825e-02 -9.99865754e-01 -2.60642518e-04 1.55507970e+02] [ 9.99828831e-01 1.63847176e-02 -8.59360773e-03 1.20113963e+02] [ 8.59672463e-03 -1.19808120e-04 9.99963040e-01 3.53850107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84361786499997 meters 0.01907503522486253 Centerline is valid? [True, True] Translation: X:155.51, Y:120.14, Z:3.54 [[ 1.51713961e-02 -9.99884873e-01 -2.63347227e-04 1.55510570e+02] [ 9.99846344e-01 1.51731236e-02 -8.77870379e-03 1.20140463e+02] [ 8.78168892e-03 -1.30121570e-04 9.99961432e-01 3.54006489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87361786499997 meters 0.019664660287801842 Centerline is valid? [True, True] Translation: X:155.51, Y:120.17, Z:3.54 [[ 1.40373439e-02 -9.99901439e-01 -2.54166591e-04 1.55512729e+02] [ 9.99865238e-01 1.40389987e-02 -8.50953895e-03 1.20166210e+02] [ 8.51226849e-03 -1.34681015e-04 9.99963761e-01 3.54101753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90361786499997 meters 0.01939184951682091 Centerline is valid? [True, True] Translation: X:155.51, Y:120.19, Z:3.54 [[ 1.11599454e-02 -9.99937693e-01 -2.55143376e-04 1.55513203e+02] [ 9.99900352e-01 1.11617340e-02 -8.64301063e-03 1.20193900e+02] [ 8.64531995e-03 -1.58662425e-04 9.99962616e-01 3.54059082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93361786499995 meters 0.0190752322089241 Centerline is valid? [True, True] Translation: X:155.51, Y:120.22, Z:3.54 [[ 9.71948337e-03 -9.99952732e-01 -2.57571146e-04 1.55513799e+02] [ 9.99913945e-01 9.72137541e-03 -8.80899430e-03 1.20222089e+02] [ 8.81108186e-03 -1.71930107e-04 9.99961167e-01 3.54066384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96361786499995 meters 0.019769742017453407 Centerline is valid? [True, True] Translation: X:155.52, Y:120.25, Z:3.54 [[ 6.51426592e-03 -9.99978749e-01 -2.58470492e-04 1.55516238e+02] [ 9.99938968e-01 6.51631282e-03 -8.92173617e-03 1.20249624e+02] [ 8.92323085e-03 -2.00336156e-04 9.99960167e-01 3.54122067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99361786499995 meters 0.02003104312509899 Centerline is valid? [True, True] Translation: X:155.52, Y:120.28, Z:3.54 [[ 5.10908675e-03 -9.99986914e-01 -2.64695992e-04 1.55517695e+02] [ 9.99944367e-01 5.11131175e-03 -9.22695012e-03 1.20277931e+02] [ 9.22818232e-03 -2.17539978e-04 9.99957396e-01 3.54156590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02361786499995 meters 0.020302995051986447 Centerline is valid? [True, True] Translation: X:155.52, Y:120.31, Z:3.54 [[ 3.67847032e-03 -9.99993196e-01 -2.78360088e-04 1.55519229e+02] [ 9.99945192e-01 3.68102201e-03 -9.80116812e-03 1.20306155e+02] [ 9.80212608e-03 -2.42291526e-04 9.99951929e-01 3.54174917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05361786499995 meters 0.02064351896820006 Centerline is valid? [True, True] Translation: X:155.52, Y:120.33, Z:3.54 [[ 2.50793805e-03 -9.99996816e-01 -2.80527170e-04 1.55520437e+02] [ 9.99947212e-01 2.51060867e-03 -9.96345555e-03 1.20333469e+02] [ 9.96412812e-03 -2.55524633e-04 9.99950324e-01 3.54178700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08361786499995 meters 0.020489073287274576 Centerline is valid? [True, True] Translation: X:155.52, Y:120.36, Z:3.54 [[ 8.26984537e-04 -9.99999614e-01 -2.96332729e-04 1.55519922e+02] [ 9.99942943e-01 8.30093602e-04 -1.06499576e-02 1.20361608e+02] [ 1.06501995e-02 -2.87508471e-04 9.99943244e-01 3.54138305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11361786499995 meters 0.020769418303130584 Centerline is valid? [True, True] Translation: X:155.52, Y:120.39, Z:3.54 [[ 2.70941876e-04 -9.99999918e-01 -3.01383632e-04 1.55521163e+02] [ 9.99940181e-01 2.74221104e-04 -1.09342829e-02 1.20390066e+02] [ 1.09343646e-02 -2.98403049e-04 9.99940174e-01 3.54179460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14361786499995 meters 0.021864053812321958 Centerline is valid? [True, True] Translation: X:155.52, Y:120.42, Z:3.54 [[-5.26116885e-04 -9.99999817e-01 -2.99167425e-04 1.55523947e+02] [ 9.99939809e-01 -5.22806659e-04 -1.09592649e-02 1.20416757e+02] [ 1.09591065e-02 -3.04915272e-04 9.99939901e-01 3.54274793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17361786499995 meters 0.02142220871293893 Centerline is valid? [True, True] Translation: X:155.52, Y:120.44, Z:3.54 [[-1.46281636e-03 -9.99998882e-01 -3.09729077e-04 1.55523257e+02] [ 9.99933054e-01 -1.45916481e-03 -1.14785652e-02 1.20444806e+02] [ 1.14781004e-02 -3.26499375e-04 9.99934071e-01 3.54236408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20361786499996 meters 0.021135917154728904 Centerline is valid? [True, True] Translation: X:155.52, Y:120.47, Z:3.54 [[-2.01110765e-03 -9.99997925e-01 -3.24935928e-04 1.55522950e+02] [ 9.99923905e-01 -2.00700369e-03 -1.21719021e-02 1.20473153e+02] [ 1.21712247e-02 -3.49390207e-04 9.99925867e-01 3.54237201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23361786499996 meters 0.021625568703159213 Centerline is valid? [True, True] Translation: X:155.52, Y:120.50, Z:3.54 [[-2.43106518e-03 -9.99996993e-01 -3.22136172e-04 1.55523894e+02] [ 9.99922600e-01 -2.42695342e-03 -1.22025915e-02 1.20500597e+02] [ 1.22017730e-02 -3.51776534e-04 9.99925494e-01 3.54237529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26361786499996 meters 0.021865980371108935 Centerline is valid? [True, True] Translation: X:155.52, Y:120.53, Z:3.54 [[-3.30562022e-03 -9.99994471e-01 -3.61638366e-04 1.55523426e+02] [ 9.99899213e-01 -3.30031167e-03 -1.38083694e-02 1.20528323e+02] [ 1.38070995e-02 -4.07247143e-04 9.99904595e-01 3.54168458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29361786499996 meters 0.021049121105086756 Centerline is valid? [True, True] Translation: X:155.52, Y:120.56, Z:3.54 [[-3.67054647e-03 -9.99993194e-01 -3.72777994e-04 1.55521339e+02] [ 9.99889488e-01 -3.66479490e-03 -1.44077053e-02 1.20556626e+02] [ 1.44062411e-02 -4.25620950e-04 9.99896134e-01 3.54140563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32361786499996 meters 0.02252675569650867 Centerline is valid? [True, True] Translation: X:155.52, Y:120.58, Z:3.54 [[-3.94375003e-03 -9.99992151e-01 -3.80943391e-04 1.55524104e+02] [ 9.99881446e-01 -3.93764272e-03 -1.48858745e-02 1.20583699e+02] [ 1.48842576e-02 -4.39604397e-04 9.99889127e-01 3.54168732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35361786499996 meters 0.020838996426607526 Centerline is valid? [True, True] Translation: X:155.52, Y:120.61, Z:3.54 [[-3.90996316e-03 -9.99992279e-01 -3.92903854e-04 1.55519986e+02] [ 9.99871668e-01 -3.90338682e-03 -1.55374043e-02 1.20612168e+02] [ 1.55357507e-02 -4.53604111e-04 9.99879210e-01 3.54216202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38361786499996 meters 0.0220208753233991 Centerline is valid? [True, True] Translation: X:155.52, Y:120.64, Z:3.54 [[-4.14513603e-03 -9.99991329e-01 -3.99198465e-04 1.55521854e+02] [ 9.99863997e-01 -4.13823518e-03 -1.59644259e-02 1.20639163e+02] [ 1.59626355e-02 -4.65318890e-04 9.99872481e-01 3.54277570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41361786499996 meters 0.0220208753233991 Centerline is valid? [True, True] Translation: X:155.52, Y:120.67, Z:3.54 [[-4.44168985e-03 -9.99990058e-01 -3.94572107e-04 1.55522405e+02] [ 9.99862723e-01 -4.43482504e-03 -1.59645402e-02 1.20665918e+02] [ 1.59626316e-02 -4.65427478e-04 9.99872481e-01 3.54321301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44361786499996 meters 0.020973205727041457 Centerline is valid? [True, True] Translation: X:155.52, Y:120.69, Z:3.54 [[-4.75947155e-03 -9.99988594e-01 -3.99052659e-04 1.55519771e+02] [ 9.99855087e-01 -4.75231279e-03 -1.63468715e-02 1.20693674e+02] [ 1.63447886e-02 -4.76797301e-04 9.99866301e-01 3.54353190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47361786499997 meters 0.021646210290581065 Centerline is valid? [True, True] Translation: X:155.52, Y:120.72, Z:3.54 [[-5.65830338e-03 -9.99983903e-01 -4.22010124e-04 1.55519678e+02] [ 9.99831045e-01 -5.65005667e-03 -1.74916728e-02 1.20721279e+02] [ 1.74890068e-02 -5.20912014e-04 9.99846920e-01 3.54304203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50361786499997 meters 0.02197919261348532 Centerline is valid? [True, True] Translation: X:155.52, Y:120.75, Z:3.54 [[-6.38641576e-03 -9.99979514e-01 -4.31457091e-04 1.55520341e+02] [ 9.99817278e-01 -6.37760444e-03 -1.80204335e-02 1.20749318e+02] [ 1.80173127e-02 -5.46464235e-04 9.99837526e-01 3.54310575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53361786499997 meters 0.02218680475706103 Centerline is valid? [True, True] Translation: X:155.52, Y:120.78, Z:3.54 [[-7.50209274e-03 -9.99971765e-01 -4.34292373e-04 1.55520444e+02] [ 9.99803615e-01 -7.49286333e-03 -1.83463548e-02 1.20777568e+02] [ 1.83425827e-02 -5.71843139e-04 9.99831597e-01 3.54326166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56361786499997 meters 0.022355865024466424 Centerline is valid? [True, True] Translation: X:155.52, Y:120.81, Z:3.54 [[-8.40308686e-03 -9.99964600e-01 -4.33010154e-04 1.55520878e+02] [ 9.99793587e-01 -8.39363786e-03 -1.85021769e-02 1.20805327e+02] [ 1.84978874e-02 -5.88396175e-04 9.99828726e-01 3.54379473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59361786499997 meters 0.02347627535881857 Centerline is valid? [True, True] Translation: X:155.52, Y:120.83, Z:3.54 [[-1.02735447e-02 -9.99947133e-01 -4.29815178e-04 1.55521997e+02] [ 9.99774706e-01 -1.02637871e-02 -1.85793335e-02 1.20832236e+02] [ 1.85739397e-02 -6.20593957e-04 9.99827297e-01 3.54426972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62361786499997 meters 0.02204569949848195 Centerline is valid? [True, True] Translation: X:155.52, Y:120.86, Z:3.54 [[-1.10186454e-02 -9.99939206e-01 -4.16673072e-04 1.55519429e+02] [ 9.99773236e-01 -1.10092208e-02 -1.82283507e-02 1.20860584e+02] [ 1.82226553e-02 -6.17430318e-04 9.99833763e-01 3.54495377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65361786499997 meters 0.02214940134329066 Centerline is valid? [True, True] Translation: X:155.52, Y:120.89, Z:3.55 [[-1.18903338e-02 -9.99929225e-01 -4.05706434e-04 1.55519081e+02] [ 9.99768114e-01 -1.18811310e-02 -1.79598874e-02 1.20888809e+02] [ 1.79537961e-02 -6.19161412e-04 9.99838626e-01 3.54575234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68361786499995 meters 0.02217229230185769 Centerline is valid? [True, True] Translation: X:155.52, Y:120.92, Z:3.55 [[-1.18110547e-02 -9.99930170e-01 -3.92889349e-04 1.55518857e+02] [ 9.99775585e-01 -1.18023165e-02 -1.75921638e-02 1.20916452e+02] [ 1.75862983e-02 -6.00583188e-04 9.99845169e-01 3.54620432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71361786499995 meters 0.025698042678305843 Centerline is valid? [True, True] Translation: X:155.53, Y:120.94, Z:3.55 [[-1.14105533e-02 -9.99934824e-01 -3.83052410e-04 1.55525082e+02] [ 9.99784264e-01 -1.14021845e-02 -1.73613292e-02 1.20943443e+02] [ 1.73558301e-02 -5.81072145e-04 9.99849207e-01 3.54633244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74361786499995 meters 0.021462638065196372 Centerline is valid? [True, True] Translation: X:155.52, Y:120.97, Z:3.55 [[-9.53904361e-03 -9.99954426e-01 -3.91319200e-04 1.55517204e+02] [ 9.99793129e-01 -9.53047316e-03 -1.79685639e-02 1.20971728e+02] [ 1.79640155e-02 -5.62641162e-04 9.99838476e-01 3.54683386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77361786499995 meters 0.02147283821583041 Centerline is valid? [True, True] Translation: X:155.52, Y:121.00, Z:3.55 [[-8.61747506e-03 -9.99962794e-01 -3.88252321e-04 1.55517394e+02] [ 9.99800181e-01 -8.60906892e-03 -1.80411405e-02 1.20998611e+02] [ 1.80371268e-02 -5.43643820e-04 9.99837170e-01 3.54709415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80361786499995 meters 0.021545451354783956 Centerline is valid? [True, True] Translation: X:155.52, Y:121.03, Z:3.55 [[-7.65666540e-03 -9.99970611e-01 -3.91999202e-04 1.55517393e+02] [ 9.99801614e-01 -7.64816184e-03 -1.83912658e-02 1.21025430e+02] [ 1.83877272e-02 -5.32737203e-04 9.99830790e-01 3.54709153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83361786499995 meters 0.021330241412358168 Centerline is valid? [True, True] Translation: X:155.52, Y:121.05, Z:3.55 [[-6.45427515e-03 -9.99979093e-01 -3.95757165e-04 1.55516855e+02] [ 9.99802294e-01 -6.44568957e-03 -1.88102588e-02 1.21053520e+02] [ 1.88073146e-02 -5.17085507e-04 9.99822993e-01 3.54725483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86361786499995 meters 0.02094215175838769 Centerline is valid? [True, True] Translation: X:155.52, Y:121.08, Z:3.55 [[-4.54546565e-03 -9.99989588e-01 -4.02843398e-04 1.55515547e+02] [ 9.99801587e-01 -4.53679746e-03 -1.93959913e-02 1.21082050e+02] [ 1.93939617e-02 -4.90927280e-04 9.99811799e-01 3.54698924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89361786499995 meters 0.020451874785772855 Centerline is valid? [True, True] Translation: X:155.51, Y:121.11, Z:3.55 [[-4.19880819e-03 -9.99991104e-01 -4.02507454e-04 1.55514471e+02] [ 9.99798719e-01 -4.19010291e-03 -1.96205348e-02 1.21109724e+02] [ 1.96186737e-02 -4.84809299e-04 9.99807418e-01 3.54721152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92361786499995 meters 0.02035367572184212 Centerline is valid? [True, True] Translation: X:155.51, Y:121.14, Z:3.55 [[-3.94418141e-03 -9.99992143e-01 -3.97563872e-04 1.55514692e+02] [ 9.99799402e-01 -3.93561363e-03 -1.96383797e-02 1.21138108e+02] [ 1.96366608e-02 -4.74941454e-04 9.99807069e-01 3.54742089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95361786499996 meters 0.020096663942377732 Centerline is valid? [True, True] Translation: X:155.51, Y:121.17, Z:3.55 [[-3.32215863e-03 -9.99994402e-01 -3.98791681e-04 1.55514886e+02] [ 9.99795094e-01 -3.31353269e-03 -1.99697272e-02 1.21166102e+02] [ 1.99682940e-02 -4.65052568e-04 9.99800506e-01 3.54806156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98361786499996 meters 0.020193253129090028 Centerline is valid? [True, True] Translation: X:155.52, Y:121.19, Z:3.55 [[-3.29774639e-03 -9.99994486e-01 -3.92112352e-04 1.55516075e+02] [ 9.99796465e-01 -3.28928833e-03 -1.99049941e-02 1.21194337e+02] [ 1.99035946e-02 -4.57674166e-04 9.99801799e-01 3.54903123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01361786499996 meters 0.020802694122100087 Centerline is valid? [True, True] Translation: X:155.52, Y:121.22, Z:3.55 [[-3.21161811e-03 -9.99994763e-01 -3.99652120e-04 1.55518737e+02] [ 9.99783072e-01 -3.20271321e-03 -2.05803616e-02 1.21221065e+02] [ 2.05789739e-02 -4.65661687e-04 9.99788122e-01 3.54983229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04361786499996 meters 0.020642206913258253 Centerline is valid? [True, True] Translation: X:155.52, Y:121.25, Z:3.55 [[-3.45650829e-03 -9.99993942e-01 -4.10251516e-04 1.55519167e+02] [ 9.99763798e-01 -3.44690935e-03 -2.14585100e-02 1.21247813e+02] [ 2.14569659e-02 -4.84326131e-04 9.99769656e-01 3.55008697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07361786499996 meters 0.020528629152028764 Centerline is valid? [True, True] Translation: X:155.52, Y:121.28, Z:3.55 [[-3.59496104e-03 -9.99993450e-01 -4.18721116e-04 1.55519416e+02] [ 9.99745717e-01 -3.58474831e-03 -2.22632064e-02 1.21275669e+02] [ 2.22615596e-02 -4.98650002e-04 9.99752056e-01 3.55036198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10361786499996 meters 0.02091507378278887 Centerline is valid? [True, True] Translation: X:155.52, Y:121.30, Z:3.55 [[-3.54241088e-03 -9.99993628e-01 -4.41077772e-04 1.55521477e+02] [ 9.99709908e-01 -3.53089707e-03 -2.38250223e-02 1.21302184e+02] [ 2.38233131e-02 -5.25347837e-04 9.99716047e-01 3.54991626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13361786499996 meters 0.021244130047986746 Centerline is valid? [True, True] Translation: X:155.52, Y:121.33, Z:3.55 [[-3.50172987e-03 -9.99993773e-01 -4.37854549e-04 1.55523278e+02] [ 9.99704423e-01 -3.49018178e-03 -2.40600408e-02 1.21328380e+02] [ 2.40583628e-02 -5.21976893e-04 9.99710419e-01 3.54994383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16361786499996 meters 0.02053447980966189 Centerline is valid? [True, True] Translation: X:155.52, Y:121.36, Z:3.55 [[-3.71937927e-03 -9.99992985e-01 -4.42352571e-04 1.55522690e+02] [ 9.99687628e-01 -3.70731008e-03 -2.47164301e-02 1.21356751e+02] [ 2.47146168e-02 -5.34144171e-04 9.99694405e-01 3.55137712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19361786499996 meters 0.020749012272598698 Centerline is valid? [True, True] Translation: X:155.52, Y:121.38, Z:3.55 [[-3.55308871e-03 -9.99993586e-01 -4.51599802e-04 1.55524753e+02] [ 9.99665290e-01 -3.54034874e-03 -2.56276068e-02 1.21384490e+02] [ 2.56258436e-02 -5.42505807e-04 9.99671457e-01 3.55216801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22361786499997 meters 0.020680874695813378 Centerline is valid? [True, True] Translation: X:155.52, Y:121.41, Z:3.55 [[-2.77564528e-03 -9.99996051e-01 -4.41017955e-04 1.55524352e+02] [ 9.99673269e-01 -2.76354260e-03 -2.54110026e-02 1.21412244e+02] [ 2.54096835e-02 -5.11405790e-04 9.99676991e-01 3.55313168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25361786499997 meters 0.02017173812081394 Centerline is valid? [True, True] Translation: X:155.52, Y:121.44, Z:3.55 [[-1.81399708e-03 -9.99998261e-01 -4.33928775e-04 1.55522415e+02] [ 9.99675835e-01 -1.80239196e-03 -2.53963690e-02 1.21440584e+02] [ 2.53955427e-02 -4.79857050e-04 9.99677366e-01 3.55436386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28361786499997 meters 0.02065579871292166 Centerline is valid? [True, True] Translation: X:155.52, Y:121.47, Z:3.55 [[-1.23237887e-03 -9.99999149e-01 -4.28245520e-04 1.55523696e+02] [ 9.99674651e-01 -1.22106834e-03 -2.54774684e-02 1.21467226e+02] [ 2.54769238e-02 -4.59504084e-04 9.99675305e-01 3.55427336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31361786499997 meters 0.020284282928926648 Centerline is valid? [True, True] Translation: X:155.52, Y:121.50, Z:3.56 [[ 6.49070947e-05 -9.99999905e-01 -4.32208345e-04 1.55523177e+02] [ 9.99657959e-01 7.61882722e-05 -2.61526004e-02 1.21495550e+02] [ 2.61526309e-02 -4.30363023e-04 9.99657869e-01 3.55584347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34361786499997 meters 0.020223285989338025 Centerline is valid? [True, True] Translation: X:155.52, Y:121.52, Z:3.56 [[ 3.99863355e-05 -9.99999908e-01 -4.26167519e-04 1.55523612e+02] [ 9.99656346e-01 5.11442634e-05 -2.62142593e-02 1.21523684e+02] [ 2.62142787e-02 -4.24972852e-04 9.99656256e-01 3.55713525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37361786499997 meters 0.020383815435914627 Centerline is valid? [True, True] Translation: X:155.52, Y:121.55, Z:3.56 [[-1.50945886e-04 -9.99999903e-01 -4.14676020e-04 1.55524801e+02] [ 9.99663409e-01 -1.40137076e-04 -2.59431871e-02 1.21550983e+02] [ 2.59431265e-02 -4.18452462e-04 9.99663333e-01 3.55760442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40361786499997 meters 0.020413451581806578 Centerline is valid? [True, True] Translation: X:155.53, Y:121.58, Z:3.56 [[-8.44755393e-04 -9.99999560e-01 -4.06924215e-04 1.55525533e+02] [ 9.99663987e-01 -8.33929379e-04 -2.59078536e-02 1.21579399e+02] [ 2.59075029e-02 -4.28673283e-04 9.99664252e-01 3.55873210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43361786499995 meters 0.02082799033089831 Centerline is valid? [True, True] Translation: X:155.53, Y:121.61, Z:3.56 [[-2.33201497e-03 -9.99997204e-01 -3.91094357e-04 1.55526642e+02] [ 9.99675916e-01 -2.32135105e-03 -2.53510408e-02 1.21605679e+02] [ 2.53500621e-02 -4.50086616e-04 9.99678534e-01 3.55957395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46361786499995 meters 0.021008391486115174 Centerline is valid? [True, True] Translation: X:155.53, Y:121.63, Z:3.56 [[-3.60138734e-03 -9.99993444e-01 -3.76899750e-04 1.55526964e+02] [ 9.99682951e-01 -3.59087599e-03 -2.49219582e-02 1.21633297e+02] [ 2.49204414e-02 -4.66533879e-04 9.99689329e-01 3.56035281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49361786499995 meters 0.021606836297038544 Centerline is valid? [True, True] Translation: X:155.53, Y:121.66, Z:3.56 [[-5.77706821e-03 -9.99983251e-01 -3.51531480e-04 1.55528899e+02] [ 9.99702911e-01 -5.76712359e-03 -2.36818343e-02 1.21660099e+02] [ 2.36794103e-02 -4.88238616e-04 9.99719484e-01 3.56171022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52361786499995 meters 0.02148500284011346 Centerline is valid? [True, True] Translation: X:155.53, Y:121.69, Z:3.56 [[-6.91876343e-03 -9.99976007e-01 -3.41912890e-04 1.55529317e+02] [ 9.99700659e-01 -6.90883329e-03 -2.34704081e-02 1.21687634e+02] [ 2.34674828e-02 -5.04196743e-04 9.99724474e-01 3.56304364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55361786499995 meters 0.02146333461903767 Centerline is valid? [True, True] Translation: X:155.53, Y:121.71, Z:3.56 [[-7.65325919e-03 -9.99970660e-01 -3.28217144e-04 1.55529898e+02] [ 9.99706843e-01 -7.64369942e-03 -2.29739401e-02 1.21714691e+02] [ 2.29707572e-02 -5.03946443e-04 9.99736010e-01 3.56412336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58361786499995 meters 0.022322390804135023 Centerline is valid? [True, True] Translation: X:155.53, Y:121.74, Z:3.56 [[-8.32805712e-03 -9.99965269e-01 -3.22037915e-04 1.55532171e+02] [ 9.99700175e-01 -8.31843265e-03 -2.30296366e-02 1.21740850e+02] [ 2.30261579e-02 -5.13733489e-04 9.99734731e-01 3.56394784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61361786499995 meters 0.02211960404037868 Centerline is valid? [True, True] Translation: X:155.53, Y:121.77, Z:3.56 [[-8.96146409e-03 -9.99959794e-01 -3.21249020e-04 1.55531006e+02] [ 9.99683898e-01 -8.95144378e-03 -2.34941772e-02 1.21767671e+02] [ 2.34903570e-02 -5.31689698e-04 9.99723922e-01 3.56365644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64361786499995 meters 0.020850085842223802 Centerline is valid? [True, True] Translation: X:155.53, Y:121.80, Z:3.56 [[-9.21705885e-03 -9.99957471e-01 -3.20330831e-04 1.55528038e+02] [ 9.99671162e-01 -9.20675291e-03 -2.39333201e-02 1.21795718e+02] [ 2.39293530e-02 -5.40820313e-04 9.99713506e-01 3.56443240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67361786499995 meters 0.021609068772557603 Centerline is valid? [True, True] Translation: X:155.53, Y:121.82, Z:3.56 [[-8.83646613e-03 -9.99960906e-01 -3.23095235e-04 1.55529983e+02] [ 9.99656801e-01 -8.82580921e-03 -2.46654774e-02 1.21822754e+02] [ 2.46616615e-02 -5.40940004e-04 9.99695709e-01 3.56316510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70361786499996 meters 0.021928289222431622 Centerline is valid? [True, True] Translation: X:155.53, Y:121.85, Z:3.56 [[-8.85611341e-03 -9.99960734e-01 -3.15440841e-04 1.55530957e+02] [ 9.99657402e-01 -8.84565609e-03 -2.46339865e-02 1.21848608e+02] [ 2.46302289e-02 -5.33494150e-04 9.99696488e-01 3.56345527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73361786499996 meters 0.020711913546954938 Centerline is valid? [True, True] Translation: X:155.53, Y:121.88, Z:3.57 [[-8.81155869e-03 -9.99961131e-01 -3.06018957e-04 1.55528279e+02] [ 9.99662081e-01 -8.80143819e-03 -2.44593196e-02 1.21876654e+02] [ 2.44556754e-02 -5.21440278e-04 9.99700779e-01 3.56530220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76361786499996 meters 0.020712013643034464 Centerline is valid? [True, True] Translation: X:155.53, Y:121.90, Z:3.57 [[-8.80683824e-03 -9.99961177e-01 -2.91562814e-04 1.55528876e+02] [ 9.99677547e-01 -8.79739487e-03 -2.38203436e-02 1.21903524e+02] [ 2.38168538e-02 -5.01250712e-04 9.99716213e-01 3.56654286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79361786499996 meters 0.021788629103657982 Centerline is valid? [True, True] Translation: X:155.53, Y:121.93, Z:3.57 [[-8.59687093e-03 -9.99963007e-01 -2.80839338e-04 1.55531687e+02] [ 9.99687378e-01 -8.58790644e-03 -2.34817936e-02 1.21930101e+02] [ 2.34785131e-02 -4.82621491e-04 9.99724225e-01 3.56627788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82361786499996 meters 0.020712243232804208 Centerline is valid? [True, True] Translation: X:155.53, Y:121.96, Z:3.57 [[-8.54437699e-03 -9.99963462e-01 -2.62751038e-04 1.55529293e+02] [ 9.99711038e-01 -8.53631545e-03 -2.24715956e-02 1.21957885e+02] [ 2.24685316e-02 -4.54680897e-04 9.99747447e-01 3.56788005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85361786499996 meters 0.020604644245745735 Centerline is valid? [True, True] Translation: X:155.53, Y:121.99, Z:3.57 [[-8.22952355e-03 -9.99966106e-01 -2.48220478e-04 1.55529524e+02] [ 9.99730339e-01 -8.22219236e-03 -2.17173647e-02 1.21985601e+02] [ 2.17145877e-02 -4.26877107e-04 9.99764119e-01 3.56865587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88361786499996 meters 0.020723327122331905 Centerline is valid? [True, True] Translation: X:155.53, Y:122.01, Z:3.57 [[-7.47236442e-03 -9.99972053e-01 -2.38577275e-04 1.55530369e+02] [ 9.99742954e-01 -7.46554492e-03 -2.14077422e-02 1.22011433e+02] [ 2.14053628e-02 -3.98482401e-04 9.99770800e-01 3.56910169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91361786499996 meters 0.02018102702596844 Centerline is valid? [True, True] Translation: X:155.53, Y:122.04, Z:3.57 [[-7.20078871e-03 -9.99974047e-01 -2.33424583e-04 1.55530040e+02] [ 9.99742018e-01 -7.19408885e-03 -2.15439853e-02 1.22038299e+02] [ 2.15417469e-02 -3.88498050e-04 9.99767874e-01 3.56973663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94361786499996 meters 0.019959404771434656 Centerline is valid? [True, True] Translation: X:155.53, Y:122.07, Z:3.57 [[-7.02948478e-03 -9.99975267e-01 -2.25718856e-04 1.55530210e+02] [ 9.99745941e-01 -7.02303813e-03 -2.14179913e-02 1.22065208e+02] [ 2.14158763e-02 -3.76218954e-04 9.99770583e-01 3.57015945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97361786499997 meters 0.019914185313159576 Centerline is valid? [True, True] Translation: X:155.53, Y:122.09, Z:3.57 [[-6.17573510e-03 -9.99980907e-01 -2.14178710e-04 1.55530882e+02] [ 9.99762313e-01 -6.16990641e-03 -2.09105405e-02 1.22090989e+02] [ 2.09088198e-02 -3.43265761e-04 9.99781328e-01 3.57062983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00361786499997 meters 0.019871183624421106 Centerline is valid? [True, True] Translation: X:155.53, Y:122.12, Z:3.57 [[-6.21863890e-03 -9.99980643e-01 -2.05785768e-04 1.55531351e+02] [ 9.99766062e-01 -6.21304100e-03 -2.07176136e-02 1.22117264e+02] [ 2.07159340e-02 -3.34572985e-04 9.99785346e-01 3.57113026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03361786499997 meters 0.01981450591073933 Centerline is valid? [True, True] Translation: X:155.53, Y:122.14, Z:3.57 [[-6.29092047e-03 -9.99980191e-01 -2.02508317e-04 1.55531617e+02] [ 9.99758845e-01 -6.28526680e-03 -2.10415478e-02 1.22144341e+02] [ 2.10398582e-02 -3.34830185e-04 9.99778582e-01 3.57171335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06361786499997 meters 0.019357087811687507 Centerline is valid? [True, True] Translation: X:155.53, Y:122.17, Z:3.57 [[-6.71600845e-03 -9.99977429e-01 -1.91594968e-04 1.55531462e+02] [ 9.99767158e-01 -6.71066683e-03 -2.05084711e-02 1.22172298e+02] [ 2.05067225e-02 -3.29285422e-04 9.99789661e-01 3.57267532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09361786499997 meters 0.019432497454675204 Centerline is valid? [True, True] Translation: X:155.53, Y:122.20, Z:3.57 [[-7.56556912e-03 -9.99971364e-01 -1.84421102e-04 1.55532506e+02] [ 9.99764891e-01 -7.56025898e-03 -2.03225338e-02 1.22200319e+02] [ 2.03205576e-02 -3.38129277e-04 9.99793459e-01 3.57324684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12361786499997 meters 0.01967311999447277 Centerline is valid? [True, True] Translation: X:155.53, Y:122.23, Z:3.57 [[-8.75078468e-03 -9.99961694e-01 -1.84211865e-04 1.55534217e+02] [ 9.99742483e-01 -8.74500876e-03 -2.09401986e-02 1.22227434e+02] [ 2.09377855e-02 -3.67407597e-04 9.99780713e-01 3.57333535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15361786499997 meters 0.019784767881149 Centerline is valid? [True, True] Translation: X:155.53, Y:122.25, Z:3.57 [[-9.86883615e-03 -9.99951286e-01 -1.76743965e-04 1.55534739e+02] [ 9.99735808e-01 -9.86303991e-03 -2.07613524e-02 1.22254316e+02] [ 2.07585978e-02 -3.81587656e-04 9.99784444e-01 3.57356240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18361786499995 meters 0.019829539637133905 Centerline is valid? [True, True] Translation: X:155.53, Y:122.28, Z:3.57 [[-9.70953310e-03 -9.99952847e-01 -1.69892255e-04 1.55533796e+02] [ 9.99738968e-01 -9.70394211e-03 -2.06840407e-02 1.22280581e+02] [ 2.06814167e-02 -3.70680286e-04 9.99786048e-01 3.57449003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21361786499995 meters 0.020666804247909804 Centerline is valid? [True, True] Translation: X:155.53, Y:122.31, Z:3.57 [[-9.77781039e-03 -9.99952183e-01 -1.60591048e-04 1.55534444e+02] [ 9.99745982e-01 -9.77253245e-03 -2.03093177e-02 1.22306537e+02] [ 2.03067771e-02 -3.59130912e-04 9.99793732e-01 3.57426892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24361786499995 meters 0.019996765414511432 Centerline is valid? [True, True] Translation: X:155.53, Y:122.33, Z:3.57 [[-1.04100059e-02 -9.99945802e-01 -1.58988597e-04 1.55531683e+02] [ 9.99726774e-01 -1.04043976e-02 -2.09314633e-02 1.22333641e+02] [ 2.09286747e-02 -3.76841813e-04 9.99780900e-01 3.57386936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27361786499995 meters 0.020151080880100033 Centerline is valid? [True, True] Translation: X:155.53, Y:122.36, Z:3.57 [[-1.13272725e-02 -9.99935832e-01 -1.59414091e-04 1.55531641e+02] [ 9.99697238e-01 -1.13210869e-02 -2.18464056e-02 1.22361010e+02] [ 2.18431990e-02 -4.06826016e-04 9.99761326e-01 3.57355680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30361786499995 meters 0.020151080880100033 Centerline is valid? [True, True] Translation: X:155.53, Y:122.39, Z:3.57 [[-1.16164258e-02 -9.99932515e-01 -1.53091665e-04 1.55531710e+02] [ 9.99693920e-01 -1.16103092e-02 -2.18464501e-02 1.22387757e+02] [ 2.18431984e-02 -4.06822473e-04 9.99761326e-01 3.57399396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33361786499995 meters 0.020485090132848764 Centerline is valid? [True, True] Translation: X:155.53, Y:122.41, Z:3.57 [[-1.26527304e-02 -9.99919940e-01 -1.49980409e-04 1.55532456e+02] [ 9.99670812e-01 -1.26462296e-02 -2.23235436e-02 1.22414798e+02] [ 2.23198596e-02 -4.32384815e-04 9.99750787e-01 3.57375842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36361786499995 meters 0.020361092737893747 Centerline is valid? [True, True] Translation: X:155.53, Y:122.44, Z:3.57 [[-1.40980122e-02 -9.99900607e-01 -1.47473407e-04 1.55532476e+02] [ 9.99638913e-01 -1.40909479e-02 -2.28798817e-02 1.22443267e+02] [ 2.28755296e-02 -4.69981007e-04 9.99738210e-01 3.57405778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39361786499995 meters 0.020484123690103006 Centerline is valid? [True, True] Translation: X:155.53, Y:122.47, Z:3.57 [[-1.74386453e-02 -9.99847925e-01 -1.46690968e-04 1.55532805e+02] [ 9.99565953e-01 -1.74302428e-02 -2.37506163e-02 1.22471384e+02] [ 2.37444476e-02 -5.60805871e-04 9.99717904e-01 3.57458321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42361786499995 meters 0.020725174143767598 Centerline is valid? [True, True] Translation: X:155.53, Y:122.50, Z:3.58 [[-1.90329181e-02 -9.99818848e-01 -1.38864074e-04 1.55532500e+02] [ 9.99542443e-01 -1.90243903e-02 -2.35154476e-02 1.22498920e+02] [ 2.35085459e-02 -5.86368123e-04 9.99723464e-01 3.57502748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45361786499996 meters 0.022819618489580713 Centerline is valid? [True, True] Translation: X:155.53, Y:122.53, Z:3.57 [[-2.15844246e-02 -9.99767021e-01 -1.31012261e-04 1.55534065e+02] [ 9.99498275e-01 -2.15755839e-02 -2.31882013e-02 1.22525791e+02] [ 2.31799722e-02 -6.31450510e-04 9.99731109e-01 3.57458984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48361786499996 meters 0.021867914777549197 Centerline is valid? [True, True] Translation: X:155.53, Y:122.55, Z:3.58 [[-2.27542647e-02 -9.99741080e-01 -1.28495453e-04 1.55531168e+02] [ 9.99461378e-01 -2.27448581e-02 -2.36564165e-02 1.22553936e+02] [ 2.36473688e-02 -6.66710605e-04 9.99720140e-01 3.57582052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51361786499996 meters 0.021475297528785173 Centerline is valid? [True, True] Translation: X:155.53, Y:122.58, Z:3.58 [[-2.41088674e-02 -9.99709331e-01 -1.23231394e-04 1.55529512e+02] [ 9.99424896e-01 -2.40990673e-02 -2.38560568e-02 1.22581623e+02] [ 2.38461528e-02 -6.98303033e-04 9.99715396e-01 3.57608492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54361786499996 meters 0.023209408020228785 Centerline is valid? [True, True] Translation: X:155.53, Y:122.61, Z:3.58 [[-2.58145629e-02 -9.99666742e-01 -1.16753668e-04 1.55531828e+02] [ 9.99382129e-01 -2.58044261e-02 -2.38640352e-02 1.22609023e+02] [ 2.38530695e-02 -7.32721166e-04 9.99715207e-01 3.57597213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57361786499996 meters 0.02205637116139548 Centerline is valid? [True, True] Translation: X:155.53, Y:122.64, Z:3.58 [[-2.69120786e-02 -9.99637798e-01 -1.09433261e-04 1.55529543e+02] [ 9.99356840e-01 -2.69019190e-02 -2.37106260e-02 1.22637038e+02] [ 2.36990940e-02 -7.47465108e-04 9.99718858e-01 3.57781518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60361786499996 meters 0.022397332997613328 Centerline is valid? [True, True] Translation: X:155.53, Y:122.66, Z:3.58 [[-2.76038956e-02 -9.99618935e-01 -1.02552526e-04 1.55530068e+02] [ 9.99340400e-01 -2.75937821e-02 -2.36082227e-02 1.22663815e+02] [ 2.35963966e-02 -7.54163798e-04 9.99721282e-01 3.57854910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63361786499996 meters 0.02230889163460533 Centerline is valid? [True, True] Translation: X:155.53, Y:122.69, Z:3.58 [[-2.79505769e-02 -9.99609302e-01 -9.36667078e-05 1.55528926e+02] [ 9.99344802e-01 -2.79410253e-02 -2.30057946e-02 1.22692052e+02] [ 2.29941892e-02 -7.36630568e-04 9.99735327e-01 3.57908684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66361786499996 meters 0.02284446917474866 Centerline is valid? [True, True] Translation: X:155.53, Y:122.72, Z:3.58 [[-2.81592804e-02 -9.99603445e-01 -8.74447237e-05 1.55529190e+02] [ 9.99337585e-01 -2.81497733e-02 -2.30647418e-02 1.22717992e+02] [ 2.30531338e-02 -7.36873329e-04 9.99733970e-01 3.57928555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69361786499996 meters 0.02252080959209522 Centerline is valid? [True, True] Translation: X:155.53, Y:122.75, Z:3.58 [[-2.83954071e-02 -9.99596766e-01 -8.04816604e-05 1.55527871e+02] [ 9.99329813e-01 -2.83859630e-02 -2.31119636e-02 1.22745412e+02] [ 2.31003596e-02 -7.36701340e-04 9.99732880e-01 3.57975203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72361786499997 meters 0.02239733582831118 Centerline is valid? [True, True] Translation: X:155.53, Y:122.77, Z:3.58 [[-2.85911792e-02 -9.99591186e-01 -7.35942733e-05 1.55526817e+02] [ 9.99324489e-01 -2.85818501e-02 -2.31007331e-02 1.22772701e+02] [ 2.30891857e-02 -7.34021758e-04 9.99733140e-01 3.58062208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75361786499997 meters 0.02269808443267367 Centerline is valid? [True, True] Translation: X:155.53, Y:122.80, Z:3.58 [[-2.88221748e-02 -9.99584553e-01 -6.64687148e-05 1.55526835e+02] [ 9.99319499e-01 -2.88130009e-02 -2.30293192e-02 1.22798523e+02] [ 2.30178366e-02 -7.30178547e-04 9.99734788e-01 3.58115635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78361786499997 meters 0.022688982204444694 Centerline is valid? [True, True] Translation: X:155.53, Y:122.83, Z:3.58 [[-2.93840564e-02 -9.99568194e-01 -6.00056155e-05 1.55526332e+02] [ 9.99297560e-01 -2.93747037e-02 -2.32704277e-02 1.22826201e+02] [ 2.32586168e-02 -7.43743026e-04 9.99729205e-01 3.58169661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81361786499997 meters 0.02315358475900653 Centerline is valid? [True, True] Translation: X:155.53, Y:122.85, Z:3.58 [[-2.98064841e-02 -9.99555687e-01 -5.41038458e-05 1.55526607e+02] [ 9.99273393e-01 -2.97967797e-02 -2.37663075e-02 1.22852421e+02] [ 2.37541357e-02 -7.62454599e-04 9.99717540e-01 3.58215139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84361786499997 meters 0.023807947529170544 Centerline is valid? [True, True] Translation: X:155.53, Y:122.88, Z:3.58 [[-3.06904355e-02 -9.99528937e-01 -4.79053757e-05 1.55526243e+02] [ 9.99235253e-01 -3.06802561e-02 -2.42411092e-02 1.22879276e+02] [ 2.42282203e-02 -7.91838938e-04 9.99706140e-01 3.58215651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87361786499997 meters 0.023130761697293844 Centerline is valid? [True, True] Translation: X:155.52, Y:122.91, Z:3.58 [[-3.13277258e-02 -9.99509166e-01 -4.10896306e-05 1.55524315e+02] [ 9.99216479e-01 -3.13175572e-02 -2.41999776e-02 1.22906653e+02] [ 2.41868126e-02 -7.99187697e-04 9.99707137e-01 3.58278238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90361786499997 meters 0.02201535893434764 Centerline is valid? [True, True] Translation: X:155.52, Y:122.93, Z:3.58 [[-3.20056453e-02 -9.99487688e-01 -3.46331764e-05 1.55521749e+02] [ 9.99186546e-01 -3.19951515e-02 -2.45470442e-02 1.22934490e+02] [ 2.45333604e-02 -8.20248994e-04 9.99698675e-01 3.58346525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93361786499995 meters 0.02434623407923621 Centerline is valid? [True, True] Translation: X:155.52, Y:122.96, Z:3.58 [[-3.31712978e-02 -9.99449681e-01 -2.84631948e-05 1.55524196e+02] [ 9.99134506e-01 -3.31601221e-02 -2.51126399e-02 1.22961683e+02] [ 2.50978761e-02 -8.61457417e-04 9.99684628e-01 3.58335391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96361786499995 meters 0.02118904452431525 Centerline is valid? [True, True] Translation: X:155.52, Y:122.99, Z:3.59 [[-3.38528174e-02 -9.99426829e-01 -2.12263061e-05 1.55517733e+02] [ 9.99118535e-01 -3.38418473e-02 -2.48371372e-02 1.22989434e+02] [ 2.48221829e-02 -8.62014666e-04 9.99691511e-01 3.58536161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99361786499995 meters 0.02137868473206976 Centerline is valid? [True, True] Translation: X:155.52, Y:123.02, Z:3.59 [[-3.42123223e-02 -9.99414587e-01 -1.43686402e-05 1.55517444e+02] [ 9.99106411e-01 -3.42014157e-02 -2.48323007e-02 1.23017668e+02] [ 2.48172721e-02 -8.63926474e-04 9.99691631e-01 3.58638675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02361786499995 meters 0.02144511507645003 Centerline is valid? [True, True] Translation: X:155.52, Y:123.05, Z:3.59 [[-3.42010429e-02 -9.99414973e-01 -7.48301978e-06 1.55515730e+02] [ 9.99122440e-01 -3.41908510e-02 -2.41937094e-02 1.23045979e+02] [ 2.41792995e-02 -8.34926545e-04 9.99707289e-01 3.58749701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05361786499995 meters 0.02149672587647006 Centerline is valid? [True, True] Translation: X:155.51, Y:123.07, Z:3.59 [[-3.41801539e-02 -9.99415688e-01 -9.00478324e-07 1.55514724e+02] [ 9.99124783e-01 -3.41701832e-02 -2.41260451e-02 1.23074124e+02] [ 2.41119172e-02 -8.25531624e-04 9.99708925e-01 3.58848876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08361786499995 meters 0.020977687305245588 Centerline is valid? [True, True] Translation: X:155.51, Y:123.10, Z:3.59 [[-3.42101143e-02 -9.99414663e-01 5.55172351e-06 1.55512287e+02] [ 9.99130600e-01 -3.42005232e-02 -2.38404916e-02 1.23102204e+02] [ 2.38267267e-02 -8.10039044e-04 9.99715775e-01 3.58969118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11361786499995 meters 0.021221240596809934 Centerline is valid? [True, True] Translation: X:155.51, Y:123.13, Z:3.59 [[-3.33518455e-02 -9.99443672e-01 1.16071205e-05 1.55509003e+02] [ 9.99157500e-01 -3.33425737e-02 -2.39282703e-02 1.23129383e+02] [ 2.39153454e-02 -7.86454633e-04 9.99713678e-01 3.59029169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14361786499995 meters 0.021243676805548485 Centerline is valid? [True, True] Translation: X:155.51, Y:123.16, Z:3.59 [[-3.27237549e-02 -9.99464434e-01 1.70461225e-05 1.55506665e+02] [ 9.99174782e-01 -3.27146818e-02 -2.40729015e-02 1.23156920e+02] [ 2.40605665e-02 -7.70723672e-04 9.99710206e-01 3.59017692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17361786499995 meters 0.020235113106668902 Centerline is valid? [True, True] Translation: X:155.50, Y:123.19, Z:3.59 [[-3.11851446e-02 -9.99513625e-01 2.46547632e-05 1.55500288e+02] [ 9.99197936e-01 -3.11759149e-02 -2.51305812e-02 1.23185608e+02] [ 2.51191269e-02 -7.59065818e-04 9.99684177e-01 3.59045005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20361786499996 meters 0.019675233912973048 Centerline is valid? [True, True] Translation: X:155.50, Y:123.21, Z:3.59 [[-3.04956239e-02 -9.99534900e-01 3.16053819e-05 1.55497224e+02] [ 9.99211414e-01 -3.04865588e-02 -2.54385632e-02 1.23214117e+02] [ 2.54276953e-02 -7.44184399e-04 9.99676387e-01 3.59088631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23361786499996 meters 0.02059858203931191 Centerline is valid? [True, True] Translation: X:155.50, Y:123.24, Z:3.59 [[-2.99610119e-02 -9.99551067e-01 3.76941607e-05 1.55496723e+02] [ 9.99226617e-01 -2.99522474e-02 -2.54760880e-02 1.23241116e+02] [ 2.54657800e-02 -7.25624367e-04 9.99675431e-01 3.59071521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26361786499996 meters 0.01940369906136529 Centerline is valid? [True, True] Translation: X:155.49, Y:123.27, Z:3.59 [[-2.94931565e-02 -9.99564981e-01 4.33876265e-05 1.55492288e+02] [ 9.99241516e-01 -2.94847164e-02 -2.54370833e-02 1.23268971e+02] [ 2.54272970e-02 -7.06865161e-04 9.99676424e-01 3.59187183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29361786499996 meters 0.01971023041072206 Centerline is valid? [True, True] Translation: X:155.49, Y:123.30, Z:3.59 [[-2.76674608e-02 -9.99617181e-01 4.84361565e-05 1.55488925e+02] [ 9.99305250e-01 -2.76600375e-02 -2.49788017e-02 1.23296545e+02] [ 2.49705791e-02 -6.42697512e-04 9.99687980e-01 3.59282065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32361786499996 meters 0.01816757054844391 Centerline is valid? [True, True] Translation: X:155.48, Y:123.32, Z:3.59 [[-2.68166264e-02 -9.99640368e-01 5.14970685e-05 1.55483613e+02] [ 9.99349486e-01 -2.68100657e-02 -2.41210609e-02 1.23324950e+02] [ 2.41137668e-02 -5.95381909e-04 9.99709044e-01 3.59422883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35361786499996 meters 0.018939476368837464 Centerline is valid? [True, True] Translation: X:155.48, Y:123.35, Z:3.59 [[-2.56726337e-02 -9.99670402e-01 5.55663773e-05 1.55482936e+02] [ 9.99396842e-01 -2.56669086e-02 -2.33914741e-02 1.23352044e+02] [ 2.33851905e-02 -5.44987884e-04 9.99726381e-01 3.59444969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38361786499996 meters 0.01801726627406927 Centerline is valid? [True, True] Translation: X:155.48, Y:123.38, Z:3.60 [[-2.31346789e-02 -9.99732356e-01 6.02531020e-05 1.55476000e+02] [ 9.99461815e-01 -2.31298203e-02 -2.32613666e-02 1.23380372e+02] [ 2.32565345e-02 -4.77923573e-04 9.99729416e-01 3.59532954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41361786499996 meters 0.017666131560310955 Centerline is valid? [True, True] Translation: X:155.47, Y:123.41, Z:3.60 [[-2.19243966e-02 -9.99759629e-01 6.57667433e-05 1.55472141e+02] [ 9.99494714e-01 -2.19201012e-02 -2.30179299e-02 1.23408791e+02] [ 2.30138387e-02 -4.38920711e-04 9.99735050e-01 3.59591432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44361786499996 meters 0.017892155004968484 Centerline is valid? [True, True] Translation: X:155.47, Y:123.44, Z:3.60 [[-2.10156161e-02 -9.99779145e-01 7.26332843e-05 1.55470361e+02] [ 9.99510088e-01 -2.10116457e-02 -2.31968915e-02 1.23436026e+02] [ 2.31932945e-02 -4.14899265e-04 9.99730913e-01 3.59587095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47361786499997 meters 0.01687920171099469 Centerline is valid? [True, True] Translation: X:155.46, Y:123.46, Z:3.60 [[-1.85764203e-02 -9.99827441e-01 7.63425699e-05 1.55463706e+02] [ 9.99575200e-01 -1.85734487e-02 -2.24598969e-02 1.23464207e+02] [ 2.24574392e-02 -3.40914346e-04 9.99747742e-01 3.59718636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50361786499997 meters 0.016688208038320683 Centerline is valid? [True, True] Translation: X:155.46, Y:123.49, Z:3.60 [[-1.80832064e-02 -9.99836482e-01 8.13104380e-05 1.55460693e+02] [ 9.99590213e-01 -1.80805571e-02 -2.21923485e-02 1.23491923e+02] [ 2.21901898e-02 -3.20031702e-04 9.99753716e-01 3.59767895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53361786499997 meters 0.016758023964152984 Centerline is valid? [True, True] Translation: X:155.46, Y:123.52, Z:3.60 [[-1.79762265e-02 -9.99838411e-01 8.48938882e-05 1.55458874e+02] [ 9.99605059e-01 -1.79738652e-02 -2.16024519e-02 1.23519305e+02] [ 2.16004871e-02 -3.03470208e-04 9.99766636e-01 3.59804955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56361786499997 meters 0.016322490468509847 Centerline is valid? [True, True] Translation: X:155.45, Y:123.55, Z:3.60 [[-1.77869334e-02 -9.99841796e-01 8.69762083e-05 1.55454043e+02] [ 9.99627340e-01 -1.77849198e-02 -2.07093603e-02 1.23547080e+02] [ 2.07076309e-02 -2.81412217e-04 9.99785534e-01 3.59936471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59361786499997 meters 0.01667215539739064 Centerline is valid? [True, True] Translation: X:155.45, Y:123.57, Z:3.60 [[-1.84494652e-02 -9.99829790e-01 9.10449467e-05 1.55453007e+02] [ 9.99622354e-01 -1.84474921e-02 -2.03676104e-02 1.23573761e+02] [ 2.03658232e-02 -2.84760955e-04 9.99792555e-01 3.59949911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62361786499997 meters 0.016376888679218222 Centerline is valid? [True, True] Translation: X:155.45, Y:123.60, Z:3.60 [[-1.91580812e-02 -9.99816463e-01 9.52875313e-05 1.55450101e+02] [ 9.99615232e-01 -1.91561372e-02 -2.00606591e-02 1.23601976e+02] [ 2.00588026e-02 -2.89072868e-04 9.99798760e-01 3.60027633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65361786499997 meters 0.017377941197573292 Centerline is valid? [True, True] Translation: X:155.45, Y:123.63, Z:3.60 [[-2.07358373e-02 -9.99784984e-01 9.97728384e-05 1.55449571e+02] [ 9.99587071e-01 -2.07337179e-02 -1.98947182e-02 1.23629033e+02] [ 1.98925092e-02 -3.12802001e-04 9.99802076e-01 3.59966738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68361786499995 meters 0.016690389127599892 Centerline is valid? [True, True] Translation: X:155.45, Y:123.66, Z:3.60 [[-2.17949000e-02 -9.99762457e-01 1.06598195e-04 1.55445743e+02] [ 9.99557555e-01 -2.17925915e-02 -2.02429347e-02 1.23657201e+02] [ 2.02404492e-02 -3.34641705e-04 9.99795085e-01 3.60002652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71361786499995 meters 0.01668168915071402 Centerline is valid? [True, True] Translation: X:155.44, Y:123.69, Z:3.60 [[-2.29070627e-02 -9.99737592e-01 1.13587609e-04 1.55444143e+02] [ 9.99527529e-01 -2.29045783e-02 -2.04963068e-02 1.23685313e+02] [ 2.04935301e-02 -3.55976244e-04 9.99789922e-01 3.59989122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74361786499995 meters 0.017183006203411406 Centerline is valid? [True, True] Translation: X:155.44, Y:123.71, Z:3.60 [[-2.43342521e-02 -9.99703871e-01 1.17677032e-04 1.55443918e+02] [ 9.99497642e-01 -2.43316227e-02 -2.03085170e-02 1.23713036e+02] [ 2.03053663e-02 -3.76574656e-04 9.99793754e-01 3.59975013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77361786499995 meters 0.017104876912568956 Centerline is valid? [True, True] Translation: X:155.44, Y:123.74, Z:3.60 [[-2.68021759e-02 -9.99640750e-01 1.18917137e-04 1.55441236e+02] [ 9.99442929e-01 -2.67992382e-02 -1.98905038e-02 1.23741828e+02] [ 1.98865450e-02 -4.14257889e-04 9.99802157e-01 3.59963886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80361786499995 meters 0.017383207080247834 Centerline is valid? [True, True] Translation: X:155.44, Y:123.77, Z:3.60 [[-2.83541681e-02 -9.99597932e-01 1.25133537e-04 1.55440465e+02] [ 9.99396931e-01 -2.83509765e-02 -2.00498334e-02 1.23770036e+02] [ 2.00453196e-02 -4.43438272e-04 9.99798974e-01 3.59977325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83361786499995 meters 0.018064490224945624 Centerline is valid? [True, True] Translation: X:155.44, Y:123.80, Z:3.60 [[-3.04968522e-02 -9.99534853e-01 1.36900427e-04 1.55439812e+02] [ 9.99313825e-01 -3.04929880e-02 -2.10251416e-02 1.23797675e+02] [ 2.10195364e-02 -5.04394147e-04 9.99778938e-01 3.59905293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86361786499995 meters 0.018188111868388715 Centerline is valid? [True, True] Translation: X:155.44, Y:123.83, Z:3.60 [[-3.18891175e-02 -9.99491403e-01 1.42199902e-04 1.55439110e+02] [ 9.99270649e-01 -3.18850637e-02 -2.10122227e-02 1.23825980e+02] [ 2.10060700e-02 -5.27965051e-04 9.99779209e-01 3.59905747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89361786499995 meters 0.018759660497092462 Centerline is valid? [True, True] Translation: X:155.44, Y:123.85, Z:3.60 [[-3.28862960e-02 -9.99459088e-01 1.48958728e-04 1.55439550e+02] [ 9.99234191e-01 -3.28820569e-02 -2.12085398e-02 1.23853775e+02] [ 2.12019659e-02 -5.48625663e-04 9.99775063e-01 3.59934072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92361786499995 meters 0.02033704341719949 Centerline is valid? [True, True] Translation: X:155.44, Y:123.88, Z:3.60 [[-3.54544326e-02 -9.99371283e-01 1.50039551e-04 1.55440769e+02] [ 9.99158257e-01 -3.54499741e-02 -2.06416307e-02 1.23881151e+02] [ 2.06339719e-02 -5.81924050e-04 9.99786928e-01 3.59925080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95361786499996 meters 0.01992517062773287 Centerline is valid? [True, True] Translation: X:155.44, Y:123.91, Z:3.60 [[-3.69661377e-02 -9.99316507e-01 1.52138611e-04 1.55438609e+02] [ 9.99113135e-01 -3.69616852e-02 -2.01687429e-02 1.23908988e+02] [ 2.01605810e-02 -5.93556842e-04 9.99796579e-01 3.59993650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98361786499996 meters 0.02133319958907456 Centerline is valid? [True, True] Translation: X:155.44, Y:123.94, Z:3.60 [[-3.90804980e-02 -9.99236054e-01 1.54267254e-04 1.55438839e+02] [ 9.99040111e-01 -3.90758910e-02 -1.97972663e-02 1.23936386e+02] [ 1.97881704e-02 -6.19567852e-04 9.99804003e-01 3.59991813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01361786499996 meters 0.020909085499495602 Centerline is valid? [True, True] Translation: X:155.44, Y:123.96, Z:3.60 [[-4.00052719e-02 -9.99199456e-01 1.59210352e-04 1.55436959e+02] [ 9.99001394e-01 -4.00005135e-02 -1.99041254e-02 1.23964280e+02] [ 1.98945598e-02 -6.37218584e-04 9.99801881e-01 3.60033332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04361786499996 meters 0.021320778766022563 Centerline is valid? [True, True] Translation: X:155.44, Y:123.99, Z:3.60 [[-4.10878412e-02 -9.99155525e-01 1.61819155e-04 1.55436488e+02] [ 9.98963625e-01 -4.10831229e-02 -1.95921529e-02 1.23992386e+02] [ 1.95822559e-02 -6.43347819e-04 9.99808042e-01 3.60077387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07361786499996 meters 0.020142023845515656 Centerline is valid? [True, True] Translation: X:155.43, Y:124.02, Z:3.60 [[-4.19649713e-02 -9.99119069e-01 1.63317231e-04 1.55433426e+02] [ 9.98935253e-01 -4.19603851e-02 -1.91751446e-02 1.24020807e+02] [ 1.91651055e-02 -6.41541053e-04 9.99816127e-01 3.60143759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10361786499996 meters 0.022158673859339912 Centerline is valid? [True, True] Translation: X:155.44, Y:124.05, Z:3.60 [[-4.25127077e-02 -9.99095912e-01 1.66899296e-04 1.55436087e+02] [ 9.98915231e-01 -4.25081953e-02 -1.90109084e-02 1.24048231e+02] [ 1.90008155e-02 -6.41486943e-04 9.99819262e-01 3.60177522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13361786499996 meters 0.02015094226242765 Centerline is valid? [True, True] Translation: X:155.43, Y:124.08, Z:3.60 [[-4.29937398e-02 -9.99075327e-01 1.69510670e-04 1.55430950e+02] [ 9.98900360e-01 -4.29893845e-02 -1.87078581e-02 1.24076575e+02] [ 1.86978466e-02 -6.34996514e-04 9.99824978e-01 3.60271487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16361786499996 meters 0.020072869492010353 Centerline is valid? [True, True] Translation: X:155.43, Y:124.10, Z:3.60 [[-4.28297044e-02 -9.99082373e-01 1.68092942e-04 1.55429660e+02] [ 9.98919943e-01 -4.28257738e-02 -1.80249925e-02 1.24104665e+02] [ 1.80156510e-02 -6.04093709e-04 9.99837523e-01 3.60308982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19361786499996 meters 0.02063269116805404 Centerline is valid? [True, True] Translation: X:155.43, Y:124.13, Z:3.60 [[-4.10389438e-02 -9.99157532e-01 1.74748281e-04 1.55427819e+02] [ 9.98991527e-01 -4.10353123e-02 -1.82217518e-02 1.24131802e+02] [ 1.82135714e-02 -5.73229395e-04 9.99833955e-01 3.60351595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22361786499997 meters 0.02063269116805404 Centerline is valid? [True, True] Translation: X:155.43, Y:124.16, Z:3.60 [[-4.13036480e-02 -9.99146624e-01 1.77880301e-04 1.55427477e+02] [ 9.98980619e-01 -4.13000296e-02 -1.82217212e-02 1.24159357e+02] [ 1.82135177e-02 -5.74924587e-04 9.99833955e-01 3.60396735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25361786499997 meters 0.02000788995073293 Centerline is valid? [True, True] Translation: X:155.43, Y:124.19, Z:3.60 [[-4.04024951e-02 -9.99183470e-01 1.77591023e-04 1.55425036e+02] [ 9.99026385e-01 -4.03992937e-02 -1.77250745e-02 1.24187837e+02] [ 1.77177760e-02 -5.38719119e-04 9.99842883e-01 3.60450723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28361786499997 meters 0.01952552616041299 Centerline is valid? [True, True] Translation: X:155.42, Y:124.22, Z:3.61 [[-3.93856540e-02 -9.99224067e-01 1.82803387e-04 1.55423014e+02] [ 9.99065679e-01 -3.93826670e-02 -1.77981687e-02 1.24216461e+02] [ 1.77915578e-02 -5.18359925e-04 9.99841583e-01 3.60526797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31361786499997 meters 0.019065751125505112 Centerline is valid? [True, True] Translation: X:155.42, Y:124.24, Z:3.61 [[-3.76969529e-02 -9.99289201e-01 1.80402669e-04 1.55420935e+02] [ 9.99142146e-01 -3.76945014e-02 -1.71492742e-02 1.24244766e+02] [ 1.71438847e-02 -4.66227472e-04 9.99852924e-01 3.60587756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34361786499997 meters 0.019072444508157194 Centerline is valid? [True, True] Translation: X:155.42, Y:124.27, Z:3.61 [[-3.71426508e-02 -9.99309957e-01 1.84189209e-04 1.55420111e+02] [ 9.99163845e-01 -3.71403708e-02 -1.70939719e-02 1.24272851e+02] [ 1.70890172e-02 -4.50880231e-04 9.99853870e-01 3.60631822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37361786499997 meters 0.01831469339500006 Centerline is valid? [True, True] Translation: X:155.42, Y:124.30, Z:3.61 [[-3.65210270e-02 -9.99332867e-01 1.87541677e-04 1.55417945e+02] [ 9.99188549e-01 -3.65189411e-02 -1.69885228e-02 1.24300794e+02] [ 1.69840380e-02 -4.33048804e-04 9.99855667e-01 3.60662618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40361786499997 meters 0.01815365337531002 Centerline is valid? [True, True] Translation: X:155.42, Y:124.33, Z:3.61 [[-3.54367600e-02 -9.99371904e-01 1.84090144e-04 1.55416585e+02] [ 9.99239190e-01 -3.54350551e-02 -1.62910250e-02 1.24328614e+02] [ 1.62873160e-02 -3.93351059e-04 9.99867276e-01 3.60703269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43361786499995 meters 0.018050123615421815 Centerline is valid? [True, True] Translation: X:155.42, Y:124.36, Z:3.61 [[-3.50373850e-02 -9.99385983e-01 1.94221558e-04 1.55415570e+02] [ 9.99245036e-01 -3.50357062e-02 -1.67886369e-02 1.24356906e+02] [ 1.67851331e-02 -3.94155008e-04 9.99859042e-01 3.60746176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46361786499995 meters 0.018407744132510187 Centerline is valid? [True, True] Translation: X:155.42, Y:124.38, Z:3.61 [[-3.45011728e-02 -9.99404639e-01 1.93237339e-04 1.55415985e+02] [ 9.99271214e-01 -3.44997250e-02 -1.63342899e-02 1.24383581e+02] [ 1.63312318e-02 -3.70455649e-04 9.99866568e-01 3.60773077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49361786499995 meters 0.01739023010542726 Centerline is valid? [True, True] Translation: X:155.41, Y:124.41, Z:3.61 [[-3.35902587e-02 -9.99435670e-01 1.88879779e-04 1.55413994e+02] [ 9.99313695e-01 -3.35891107e-02 -1.56176254e-02 1.24411448e+02] [ 1.56151562e-02 -3.35849928e-04 9.99878020e-01 3.60860472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52361786499995 meters 0.017759327686177193 Centerline is valid? [True, True] Translation: X:155.41, Y:124.44, Z:3.61 [[-3.36348662e-02 -9.99434169e-01 1.92779371e-04 1.55414851e+02] [ 9.99312620e-01 -3.36337828e-02 -1.55902406e-02 1.24438733e+02] [ 1.55879031e-02 -3.31728799e-04 9.99878446e-01 3.60895978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55361786499995 meters 0.016983492285784423 Centerline is valid? [True, True] Translation: X:155.41, Y:124.47, Z:3.61 [[-3.33631408e-02 -9.99443276e-01 1.96765153e-04 1.55412868e+02] [ 9.99322336e-01 -3.33621652e-02 -1.55510121e-02 1.24467148e+02] [ 1.55489190e-02 -3.22198793e-04 9.99879056e-01 3.60929863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58361786499995 meters 0.017429248893837828 Centerline is valid? [True, True] Translation: X:155.41, Y:124.49, Z:3.61 [[-3.29099612e-02 -9.99458300e-01 2.02274328e-04 1.55414213e+02] [ 9.99335938e-01 -3.29090978e-02 -1.56420551e-02 1.24494123e+02] [ 1.56402385e-02 -3.12639423e-04 9.99877635e-01 3.60937166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61361786499995 meters 0.017237280073612003 Centerline is valid? [True, True] Translation: X:155.41, Y:124.52, Z:3.61 [[-3.27545461e-02 -9.99463405e-01 2.05011784e-04 1.55413736e+02] [ 9.99343092e-01 -3.27537847e-02 -1.55104242e-02 1.24521766e+02] [ 1.55088163e-02 -3.03159794e-04 9.99879685e-01 3.60953835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64361786499995 meters 0.017092241022557225 Centerline is valid? [True, True] Translation: X:155.41, Y:124.55, Z:3.61 [[-3.26375717e-02 -9.99467230e-01 2.10246060e-04 1.55413379e+02] [ 9.99345696e-01 -3.26368823e-02 -1.55888891e-02 1.24549967e+02] [ 1.55874456e-02 -2.98674991e-04 9.99878464e-01 3.60990082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67361786499995 meters 0.017367359855900228 Centerline is valid? [True, True] Translation: X:155.41, Y:124.58, Z:3.61 [[-3.28156223e-02 -9.99461399e-01 2.17401447e-04 1.55414875e+02] [ 9.99336555e-01 -3.28149600e-02 -1.57995992e-02 1.24577180e+02] [ 1.57982235e-02 -3.01216467e-04 9.99875155e-01 3.61019959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70361786499996 meters 0.016915039851278964 Centerline is valid? [True, True] Translation: X:155.41, Y:124.61, Z:3.61 [[-3.31826769e-02 -9.99449278e-01 2.23170181e-04 1.55414307e+02] [ 9.99323034e-01 -3.31820331e-02 -1.58879230e-02 1.24605683e+02] [ 1.58865784e-02 -3.04184713e-04 9.99873754e-01 3.61088518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73361786499996 meters 0.01723891457281916 Centerline is valid? [True, True] Translation: X:155.42, Y:124.63, Z:3.61 [[-3.36163251e-02 -9.99434786e-01 2.27728965e-04 1.55415871e+02] [ 9.99308306e-01 -3.36156945e-02 -1.59026943e-02 1.24632863e+02] [ 1.59013611e-02 -3.07018695e-04 9.99873518e-01 3.61138860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76361786499996 meters 0.01739459195570175 Centerline is valid? [True, True] Translation: X:155.42, Y:124.66, Z:3.61 [[-3.42985174e-02 -9.99411604e-01 2.38649009e-04 1.55416237e+02] [ 9.99278273e-01 -3.42978405e-02 -1.63276157e-02 1.24661201e+02] [ 1.63261937e-02 -3.21536241e-04 9.99866667e-01 3.61155923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79361786499996 meters 0.017449910300895415 Centerline is valid? [True, True] Translation: X:155.42, Y:124.69, Z:3.61 [[-3.56973621e-02 -9.99362615e-01 2.47498985e-04 1.55417671e+02] [ 9.99224384e-01 -3.56965417e-02 -1.66248866e-02 1.24689857e+02] [ 1.66231250e-02 -3.46157576e-04 9.99861766e-01 3.61192407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82361786499996 meters 0.01774012094913158 Centerline is valid? [True, True] Translation: X:155.42, Y:124.72, Z:3.61 [[-3.68841997e-02 -9.99319514e-01 2.53193049e-04 1.55419560e+02] [ 9.99179746e-01 -3.68832765e-02 -1.67170094e-02 1.24717113e+02] [ 1.67149723e-02 -3.63608147e-04 9.99860229e-01 3.61225898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85361786499996 meters 0.018253093125196955 Centerline is valid? [True, True] Translation: X:155.42, Y:124.75, Z:3.61 [[-3.87848613e-02 -9.99247551e-01 2.58912949e-04 1.55423251e+02] [ 9.99105958e-01 -3.87837252e-02 -1.68258162e-02 1.24745367e+02] [ 1.68231972e-02 -3.93905477e-04 9.99858402e-01 3.61299628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88361786499996 meters 0.018485287882605603 Centerline is valid? [True, True] Translation: X:155.43, Y:124.77, Z:3.61 [[-3.94109598e-02 -9.99223050e-01 2.68485173e-04 1.55425132e+02] [ 9.99075784e-01 -3.94097620e-02 -1.71595003e-02 1.24772334e+02] [ 1.71567492e-02 -4.08035343e-04 9.99852729e-01 3.61364258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91361786499996 meters 0.018169820382103137 Centerline is valid? [True, True] Translation: X:155.43, Y:124.80, Z:3.61 [[-4.02525077e-02 -9.99189503e-01 2.70295600e-04 1.55425466e+02] [ 9.99045438e-01 -4.02512952e-02 -1.69719341e-02 1.24799997e+02] [ 1.69690581e-02 -4.13125321e-04 9.99855930e-01 3.61408235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94361786499996 meters 0.018851421077917395 Centerline is valid? [True, True] Translation: X:155.43, Y:124.83, Z:3.61 [[-4.12062019e-02 -9.99150624e-01 2.81635712e-04 1.55428882e+02] [ 9.98999497e-01 -4.12048691e-02 -1.73828519e-02 1.24827142e+02] [ 1.73796921e-02 -4.34927373e-04 9.99848867e-01 3.61415505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97361786499997 meters 0.018730995110484358 Centerline is valid? [True, True] Translation: X:155.43, Y:124.86, Z:3.61 [[-4.18243276e-02 -9.99124935e-01 2.98816397e-04 1.55428989e+02] [ 9.98959998e-01 -4.18228543e-02 -1.81596327e-02 1.24855515e+02] [ 1.81562392e-02 -4.61008801e-04 9.99835056e-01 3.61433620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00361786499997 meters 0.01841694926974652 Centerline is valid? [True, True] Translation: X:155.43, Y:124.88, Z:3.61 [[-4.16918008e-02 -9.99130472e-01 3.07546953e-04 1.55428935e+02] [ 9.98961389e-01 -4.16904048e-02 -1.83862176e-02 1.24883774e+02] [ 1.83830520e-02 -4.59326990e-04 9.99830912e-01 3.61453763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03361786499997 meters 0.01837160560175593 Centerline is valid? [True, True] Translation: X:155.43, Y:124.91, Z:3.62 [[-4.06795000e-02 -9.99172197e-01 3.13384033e-04 1.55430797e+02] [ 9.99002200e-01 -4.06783611e-02 -1.84357356e-02 1.24910728e+02] [ 1.84332224e-02 -4.36885170e-04 9.99829998e-01 3.61502901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06361786499997 meters 0.017967435332527672 Centerline is valid? [True, True] Translation: X:155.43, Y:124.94, Z:3.62 [[-3.98179074e-02 -9.99206901e-01 3.22300599e-04 1.55430984e+02] [ 9.99032767e-01 -3.98169866e-02 -1.86584556e-02 1.24938793e+02] [ 1.86564906e-02 -4.20951797e-04 9.99825864e-01 3.61566397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09361786499997 meters 0.017610807597741102 Centerline is valid? [True, True] Translation: X:155.43, Y:124.97, Z:3.62 [[-3.86276537e-02 -9.99253617e-01 3.36208053e-04 1.55430870e+02] [ 9.99070038e-01 -3.86270029e-02 -1.91576256e-02 1.24966517e+02] [ 1.91563134e-02 -4.04118735e-04 9.99816419e-01 3.61646355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12361786499997 meters 0.017137309501736708 Centerline is valid? [True, True] Translation: X:155.43, Y:124.99, Z:3.62 [[-3.57365399e-02 -9.99361183e-01 3.54526479e-04 1.55431296e+02] [ 9.99163338e-01 -3.57365204e-02 -1.98878392e-02 1.24994328e+02] [ 1.98878040e-02 -3.56492698e-04 9.99802155e-01 3.61698054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15361786499997 meters 0.01690358289405425 Centerline is valid? [True, True] Translation: X:155.43, Y:125.02, Z:3.62 [[-3.48693420e-02 -9.99391812e-01 3.66521770e-04 1.55431094e+02] [ 9.99186460e-01 -3.48696079e-02 -2.02614900e-02 1.25022385e+02] [ 2.02619477e-02 -3.40281234e-04 9.99794648e-01 3.61759198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18361786499995 meters 0.01658273694391466 Centerline is valid? [True, True] Translation: X:155.43, Y:125.05, Z:3.62 [[-3.40915543e-02 -9.99418641e-01 3.82118580e-04 1.55430868e+02] [ 9.99202083e-01 -3.40921225e-02 -2.08068549e-02 1.25050647e+02] [ 2.08077858e-02 -3.27524342e-04 9.99783441e-01 3.61836479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21361786499995 meters 0.0167265853450039 Centerline is valid? [True, True] Translation: X:155.43, Y:125.08, Z:3.62 [[-3.27563645e-02 -9.99463285e-01 4.03076461e-04 1.55433879e+02] [ 9.99229553e-01 -3.27574217e-02 -2.16159849e-02 1.25077964e+02] [ 2.16175870e-02 -3.05295168e-04 9.99766266e-01 3.61824598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24361786499995 meters 0.01682021841901433 Centerline is valid? [True, True] Translation: X:155.44, Y:125.10, Z:3.62 [[-3.26993396e-02 -9.99465150e-01 4.07892528e-04 1.55435052e+02] [ 9.99232979e-01 -3.27005359e-02 -2.15436497e-02 1.25104542e+02] [ 2.15454654e-02 -2.96883454e-04 9.99767825e-01 3.61906284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27361786499995 meters 0.016554640295754812 Centerline is valid? [True, True] Translation: X:155.44, Y:125.13, Z:3.62 [[-3.24276010e-02 -9.99473999e-01 4.20045351e-04 1.55435649e+02] [ 9.99235468e-01 -3.24290392e-02 -2.18366161e-02 1.25132261e+02] [ 2.18387517e-02 -2.88384863e-04 9.99761464e-01 3.62010625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30361786499995 meters 0.016289519961126445 Centerline is valid? [True, True] Translation: X:155.44, Y:125.16, Z:3.62 [[-3.23952687e-02 -9.99475038e-01 4.41616547e-04 1.55437338e+02] [ 9.99218784e-01 -3.23969633e-02 -2.26331195e-02 1.25160311e+02] [ 2.26355450e-02 -2.91934438e-04 9.99743741e-01 3.62156723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33361786499995 meters 0.016365193517617855 Centerline is valid? [True, True] Translation: X:155.44, Y:125.19, Z:3.62 [[-3.26481999e-02 -9.99466807e-01 4.43897531e-04 1.55438578e+02] [ 9.99215049e-01 -3.26499396e-02 -2.24336273e-02 1.25187905e+02] [ 2.24361590e-02 -2.88868455e-04 9.99748236e-01 3.62238330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36361786499995 meters 0.016529664389893114 Centerline is valid? [True, True] Translation: X:155.44, Y:125.22, Z:3.62 [[-3.32091326e-02 -9.99448320e-01 4.58271344e-04 1.55442527e+02] [ 9.99187427e-01 -3.32109350e-02 -2.28368156e-02 1.25215681e+02] [ 2.28394366e-02 -3.00491872e-04 9.99739101e-01 3.62371075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39361786499995 meters 0.01658037385145711 Centerline is valid? [True, True] Translation: X:155.44, Y:125.24, Z:3.62 [[-3.35163632e-02 -9.99438058e-01 4.71546018e-04 1.55444686e+02] [ 9.99169459e-01 -3.35182883e-02 -2.31714773e-02 1.25243224e+02] [ 2.31742617e-02 -3.05469269e-04 9.99731394e-01 3.62426313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42361786499995 meters 0.01670954413701073 Centerline is valid? [True, True] Translation: X:155.45, Y:125.27, Z:3.62 [[-3.42502673e-02 -9.99413170e-01 4.84800512e-04 1.55447084e+02] [ 9.99137250e-01 -3.42522036e-02 -2.34849495e-02 1.25270452e+02] [ 2.34877733e-02 -3.19983548e-04 9.99724073e-01 3.62487164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45361786499996 meters 0.017011974174539677 Centerline is valid? [True, True] Translation: X:155.45, Y:125.30, Z:3.63 [[-3.51051212e-02 -9.99383502e-01 4.96320630e-04 1.55449544e+02] [ 9.99102245e-01 -3.51070169e-02 -2.37108072e-02 1.25297111e+02] [ 2.37136139e-02 -3.36495706e-04 9.99718736e-01 3.62560865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48361786499996 meters 0.01687098981765624 Centerline is valid? [True, True] Translation: X:155.45, Y:125.33, Z:3.63 [[-3.70564780e-02 -9.99313039e-01 5.18002039e-04 1.55452573e+02] [ 9.99014810e-01 -3.70580749e-02 -2.44153440e-02 1.25325930e+02] [ 2.44177678e-02 -3.87254949e-04 9.99701767e-01 3.62727586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51361786499996 meters 0.017181208024006897 Centerline is valid? [True, True] Translation: X:155.45, Y:125.35, Z:3.63 [[-3.83123516e-02 -9.99265670e-01 5.33779842e-04 1.55454765e+02] [ 9.98956663e-01 -3.83137795e-02 -2.48523556e-02 1.25353574e+02] [ 2.48545569e-02 -4.18929256e-04 9.99690990e-01 3.62725617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54361786499996 meters 0.017489122154455496 Centerline is valid? [True, True] Translation: X:155.46, Y:125.38, Z:3.63 [[-3.95307799e-02 -9.99218204e-01 5.45772636e-04 1.55456934e+02] [ 9.98902788e-01 -3.95320158e-02 -2.51085641e-02 1.25381569e+02] [ 2.51105098e-02 -4.47387313e-04 9.99684581e-01 3.62743210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57361786499996 meters 0.017662575338744983 Centerline is valid? [True, True] Translation: X:155.46, Y:125.41, Z:3.63 [[-4.15738724e-02 -9.99135263e-01 5.82613479e-04 1.55461418e+02] [ 9.98784795e-01 -4.15747225e-02 -2.64665100e-02 1.25409856e+02] [ 2.64678454e-02 -5.18409825e-04 9.99649531e-01 3.62739832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60361786499996 meters 0.01820880890673325 Centerline is valid? [True, True] Translation: X:155.46, Y:125.44, Z:3.63 [[-4.27262064e-02 -9.99086637e-01 6.02001618e-04 1.55464586e+02] [ 9.98720426e-01 -4.27268468e-02 -2.70541440e-02 1.25436894e+02] [ 2.70551554e-02 -5.54689627e-04 9.99633788e-01 3.62736731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63361786499996 meters 0.018181728491115084 Centerline is valid? [True, True] Translation: X:155.47, Y:125.47, Z:3.63 [[-4.46838398e-02 -9.99000980e-01 6.29717911e-04 1.55469140e+02] [ 9.98608343e-01 -4.46839356e-02 -2.80128974e-02 1.25465404e+02] [ 2.80130502e-02 -6.22882257e-04 9.99607363e-01 3.62829928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66361786499996 meters 0.018556683932672825 Centerline is valid? [True, True] Translation: X:155.47, Y:125.49, Z:3.63 [[-4.55308476e-02 -9.98962715e-01 6.59726703e-04 1.55471657e+02] [ 9.98540308e-01 -4.55307834e-02 -2.90551235e-02 1.25493292e+02] [ 2.90550229e-02 -6.64140694e-04 9.99577593e-01 3.62829855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69361786499996 meters 0.01884029068017298 Centerline is valid? [True, True] Translation: X:155.47, Y:125.52, Z:3.63 [[-4.66203735e-02 -9.98912449e-01 6.78035495e-04 1.55473740e+02] [ 9.98474246e-01 -4.66200091e-02 -2.95931697e-02 1.25521312e+02] [ 2.95925957e-02 -7.02643647e-04 9.99561796e-01 3.62826339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72361786499997 meters 0.019365589386008387 Centerline is valid? [True, True] Translation: X:155.48, Y:125.55, Z:3.63 [[-4.80564074e-02 -9.98844374e-01 7.06157591e-04 1.55479042e+02] [ 9.98379298e-01 -4.80555850e-02 -3.04866750e-02 1.25548914e+02] [ 3.04853787e-02 -7.60066957e-04 9.99534924e-01 3.62842780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75361786499997 meters 0.019674226671129988 Centerline is valid? [True, True] Translation: X:155.48, Y:125.58, Z:3.63 [[-4.88147179e-02 -9.98807593e-01 7.17600318e-04 1.55481396e+02] [ 9.98337878e-01 -4.88137737e-02 -3.06381705e-02 1.25576932e+02] [ 3.06366662e-02 -7.79186074e-04 9.99530283e-01 3.62870459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78361786499997 meters 0.019903379878799397 Centerline is valid? [True, True] Translation: X:155.48, Y:125.60, Z:3.63 [[-4.91583759e-02 -9.98790730e-01 7.28777053e-04 1.55483997e+02] [ 9.98317169e-01 -4.91575148e-02 -3.07630954e-02 1.25604625e+02] [ 3.07617194e-02 -7.84713164e-04 9.99526438e-01 3.62924616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81361786499997 meters 0.01997711886374476 Centerline is valid? [True, True] Translation: X:155.49, Y:125.63, Z:3.63 [[-4.84771249e-02 -9.98824024e-01 7.33301622e-04 1.55489035e+02] [ 9.98356008e-01 -4.84768626e-02 -3.05822523e-02 1.25631083e+02] [ 3.05818365e-02 -7.50443584e-04 9.99531985e-01 3.63020843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84361786499997 meters 0.019830600911315107 Centerline is valid? [True, True] Translation: X:155.49, Y:125.66, Z:3.63 [[-4.75171814e-02 -9.98870139e-01 7.50072319e-04 1.55490193e+02] [ 9.98392773e-01 -4.75176656e-02 -3.08859413e-02 1.25658369e+02] [ 3.08866862e-02 -7.18746094e-04 9.99522634e-01 3.63120249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87361786499997 meters 0.01956766767325626 Centerline is valid? [True, True] Translation: X:155.49, Y:125.69, Z:3.63 [[-4.62300284e-02 -9.98930538e-01 7.51295075e-04 1.55490950e+02] [ 9.98462408e-01 -4.62313670e-02 -3.05856413e-02 1.25686540e+02] [ 3.05876645e-02 -6.63835179e-04 9.99531867e-01 3.63211897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90361786499997 meters 0.01874741317235695 Centerline is valid? [True, True] Translation: X:155.49, Y:125.72, Z:3.63 [[-4.45879493e-02 -9.99005182e-01 7.48672922e-04 1.55490631e+02] [ 9.98548402e-01 -4.45902040e-02 -3.02126076e-02 1.25715065e+02] [ 3.02159351e-02 -5.99532065e-04 9.99543215e-01 3.63373214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93361786499995 meters 0.018708000920501972 Centerline is valid? [True, True] Translation: X:155.49, Y:125.74, Z:3.63 [[-4.12110001e-02 -9.99150181e-01 7.54308570e-04 1.55493671e+02] [ 9.98694318e-01 -4.12149839e-02 -3.01825117e-02 1.25742777e+02] [ 3.01879508e-02 -4.90527810e-04 9.99544120e-01 3.63402552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96361786499995 meters 0.017831596679706387 Centerline is valid? [True, True] Translation: X:155.49, Y:125.77, Z:3.64 [[-3.96904664e-02 -9.99211741e-01 7.50866390e-04 1.55492933e+02] [ 9.98769433e-01 -3.96952384e-02 -2.97305777e-02 1.25771199e+02] [ 2.97369481e-02 -4.30078096e-04 9.99557667e-01 3.63651651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99361786499995 meters 0.017823560860279513 Centerline is valid? [True, True] Translation: X:155.50, Y:125.80, Z:3.64 [[-3.67017737e-02 -9.99325982e-01 7.49999359e-04 1.55496019e+02] [ 9.98893768e-01 -3.67079573e-02 -2.93898925e-02 1.25798247e+02] [ 2.93976141e-02 -3.29491497e-04 9.99567742e-01 3.63688464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02361786499995 meters 0.01730465066141046 Centerline is valid? [True, True] Translation: X:155.50, Y:125.83, Z:3.64 [[-3.55331918e-02 -9.99368213e-01 7.52819880e-04 1.55495663e+02] [ 9.98940162e-01 -3.55400047e-02 -2.92482549e-02 1.25826760e+02] [ 2.92565314e-02 -2.87261836e-04 9.99571895e-01 3.63900355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05361786499995 meters 0.01717041830609431 Centerline is valid? [True, True] Translation: X:155.50, Y:125.86, Z:3.64 [[-3.51197066e-02 -9.99382831e-01 7.50561981e-04 1.55496314e+02] [ 9.98964307e-01 -3.51267195e-02 -2.89210577e-02 1.25855229e+02] [ 2.89295733e-02 -2.65914432e-04 9.99581417e-01 3.64035818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08361786499995 meters 0.01752333383881491 Centerline is valid? [True, True] Translation: X:155.50, Y:125.88, Z:3.64 [[-3.46556858e-02 -9.99399038e-01 7.39760859e-04 1.55500560e+02] [ 9.98999869e-01 -3.46627508e-02 -2.82445639e-02 1.25882281e+02] [ 2.82532322e-02 -2.39813732e-04 9.99600769e-01 3.64037402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11361786499995 meters 0.01752333383881491 Centerline is valid? [True, True] Translation: X:155.50, Y:125.91, Z:3.64 [[-3.49455812e-02 -9.99388938e-01 7.46472083e-04 1.55499736e+02] [ 9.98989771e-01 -3.49527201e-02 -2.82443869e-02 1.25909018e+02] [ 2.82532190e-02 -2.41298542e-04 9.99600769e-01 3.64081166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14361786499995 meters 0.017603579055397625 Centerline is valid? [True, True] Translation: X:155.50, Y:125.94, Z:3.64 [[-3.54012532e-02 -9.99372907e-01 7.37660901e-04 1.55501151e+02] [ 9.98991401e-01 -3.54081203e-02 -2.76124366e-02 1.25936788e+02] [ 2.76212402e-02 -2.40597964e-04 9.99618432e-01 3.64176192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17361786499995 meters 0.01730085094831981 Centerline is valid? [True, True] Translation: X:155.50, Y:125.96, Z:3.64 [[-3.59074687e-02 -9.99354839e-01 7.47930287e-04 1.55500899e+02] [ 9.98970815e-01 -3.59144039e-02 -2.77031886e-02 1.25964591e+02] [ 2.77121770e-02 -2.47590848e-04 9.99615913e-01 3.64442860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20361786499996 meters 0.01729268410853073 Centerline is valid? [True, True] Translation: X:155.50, Y:125.99, Z:3.65 [[-3.51805696e-02 -9.99380715e-01 7.16492835e-04 1.55499023e+02] [ 9.99035178e-01 -3.51872460e-02 -2.62787052e-02 1.25992039e+02] [ 2.62876426e-02 -2.08698271e-04 9.99654398e-01 3.64541646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23361786499996 meters 0.01731151659511163 Centerline is valid? [True, True] Translation: X:155.50, Y:126.02, Z:3.65 [[-3.59207793e-02 -9.99354381e-01 7.20824427e-04 1.55499783e+02] [ 9.99011677e-01 -3.59273377e-02 -2.61705021e-02 1.26020032e+02] [ 2.61795033e-02 -2.19952811e-04 9.99657234e-01 3.64637564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26361786499996 meters 0.017552472099579147 Centerline is valid? [True, True] Translation: X:155.50, Y:126.05, Z:3.65 [[-3.72029457e-02 -9.99307460e-01 7.35885561e-04 1.55500716e+02] [ 9.98957420e-01 -3.72093909e-02 -2.64486985e-02 1.26048337e+02] [ 2.64577635e-02 -2.48851153e-04 9.99649901e-01 3.64670905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29361786499996 meters 0.01820240606863469 Centerline is valid? [True, True] Translation: X:155.50, Y:126.08, Z:3.65 [[-3.97634556e-02 -9.99208863e-01 7.18857206e-04 1.55503342e+02] [ 9.98881360e-01 -3.97688275e-02 -2.55825965e-02 1.26075380e+02] [ 2.55909453e-02 -2.99199377e-04 9.99672453e-01 3.64627247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32361786499996 meters 0.01830223401151499 Centerline is valid? [True, True] Translation: X:155.50, Y:126.10, Z:3.65 [[-4.16431795e-02 -9.99132288e-01 7.18634128e-04 1.55503504e+02] [ 9.98811678e-01 -4.16480222e-02 -2.53115486e-02 1.26102493e+02] [ 2.53195151e-02 -3.36273201e-04 9.99679353e-01 3.64738748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35361786499996 meters 0.018422709447780683 Centerline is valid? [True, True] Translation: X:155.50, Y:126.13, Z:3.65 [[-4.32902223e-02 -9.99062288e-01 7.08769871e-04 1.55503157e+02] [ 9.98756765e-01 -4.32945128e-02 -2.47084793e-02 1.26130090e+02] [ 2.47159957e-02 -3.61746859e-04 9.99694448e-01 3.64825649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38361786499996 meters 0.01886364002900064 Centerline is valid? [True, True] Translation: X:155.50, Y:126.16, Z:3.65 [[-4.60652673e-02 -9.98938193e-01 6.90979328e-04 1.55501681e+02] [ 9.98653551e-01 -4.60686378e-02 -2.38487978e-02 1.26157582e+02] [ 2.38553074e-02 -4.08552285e-04 9.99715338e-01 3.64899337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41361786499996 meters 0.01939721662358882 Centerline is valid? [True, True] Translation: X:155.50, Y:126.18, Z:3.65 [[-4.77175975e-02 -9.98860623e-01 6.98065409e-04 1.55500898e+02] [ 9.98575737e-01 -4.77206619e-02 -2.38586575e-02 1.26184378e+02] [ 2.38647857e-02 -4.41406638e-04 9.99715098e-01 3.64857948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44361786499996 meters 0.01960008085716026 Centerline is valid? [True, True] Translation: X:155.50, Y:126.21, Z:3.65 [[-4.91569415e-02 -9.98790819e-01 7.03373731e-04 1.55500515e+02] [ 9.98506974e-01 -4.91597426e-02 -2.38147592e-02 1.26212018e+02] [ 2.38205405e-02 -4.68337149e-04 9.99716141e-01 3.64870825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47361786499997 meters 0.019772296844600017 Centerline is valid? [True, True] Translation: X:155.50, Y:126.24, Z:3.65 [[-5.20233118e-02 -9.98645613e-01 7.17929941e-04 1.55499947e+02] [ 9.98355182e-01 -5.20254997e-02 -2.40889554e-02 1.26240423e+02] [ 2.40936803e-02 -5.36438158e-04 9.99709561e-01 3.64948951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50361786499997 meters 0.020538901096913677 Centerline is valid? [True, True] Translation: X:155.50, Y:126.27, Z:3.65 [[-5.34970783e-02 -9.98567739e-01 7.30200048e-04 1.55500328e+02] [ 9.98272803e-01 -5.34990283e-02 -2.42747830e-02 1.26267884e+02] [ 2.42790802e-02 -5.69691121e-04 9.99705057e-01 3.64933458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53361786499997 meters 0.020395326150734493 Centerline is valid? [True, True] Translation: X:155.50, Y:126.30, Z:3.65 [[-5.49306839e-02 -9.98489903e-01 7.29841376e-04 1.55498334e+02] [ 9.98200641e-01 -5.49323424e-02 -2.40399388e-02 1.26296002e+02] [ 2.40437280e-02 -5.92002147e-04 9.99710733e-01 3.64961261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56361786499997 meters 0.020812926223135426 Centerline is valid? [True, True] Translation: X:155.50, Y:126.32, Z:3.65 [[-5.75303758e-02 -9.98343481e-01 7.41366001e-04 1.55497896e+02] [ 9.98050168e-01 -5.75314497e-02 -2.42073369e-02 1.26324845e+02] [ 2.42098889e-02 -6.52736729e-04 9.99706685e-01 3.65029807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59361786499997 meters 0.02204204080228347 Centerline is valid? [True, True] Translation: X:155.50, Y:126.35, Z:3.65 [[-5.90121090e-02 -9.98256988e-01 7.45875135e-04 1.55498827e+02] [ 9.97964731e-01 -5.90128867e-02 -2.41634915e-02 1.26351465e+02] [ 2.41653905e-02 -6.81581517e-04 9.99707742e-01 3.65061158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62361786499997 meters 0.021369223217669396 Centerline is valid? [True, True] Translation: X:155.50, Y:126.38, Z:3.65 [[-6.03009577e-02 -9.98179980e-01 7.22914262e-04 1.55495714e+02] [ 9.97909317e-01 -6.03014478e-02 -2.32536288e-02 1.26379260e+02] [ 2.32548995e-02 -6.80813210e-04 9.99729336e-01 3.65186254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65361786499997 meters 0.02178023991869585 Centerline is valid? [True, True] Translation: X:155.49, Y:126.41, Z:3.65 [[-6.27942724e-02 -9.98026246e-01 7.00695454e-04 1.55494644e+02] [ 9.97775837e-01 -6.27942202e-02 -2.23665874e-02 1.26408065e+02] [ 2.23664409e-02 -7.05356591e-04 9.99749591e-01 3.65298303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68361786499995 meters 0.02180639862831112 Centerline is valid? [True, True] Translation: X:155.49, Y:126.44, Z:3.65 [[-6.40670832e-02 -9.97945359e-01 6.84616981e-04 1.55493630e+02] [ 9.97710074e-01 -6.40668516e-02 -2.16805468e-02 1.26436756e+02] [ 2.16798623e-02 -7.05960137e-04 9.99764715e-01 3.65429814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71361786499995 meters 0.023221398782476227 Centerline is valid? [True, True] Translation: X:155.50, Y:126.46, Z:3.65 [[-6.52292143e-02 -9.97870090e-01 6.58478396e-04 1.55495046e+02] [ 9.97655789e-01 -6.52288595e-02 -2.06911130e-02 1.26464562e+02] [ 2.06899946e-02 -6.92730261e-04 9.99785699e-01 3.65492818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74361786499995 meters 0.02250384900814848 Centerline is valid? [True, True] Translation: X:155.49, Y:126.49, Z:3.66 [[-6.68486549e-02 -9.97762939e-01 6.12886616e-04 1.55491408e+02] [ 9.97579945e-01 -6.68481394e-02 -1.91201458e-02 1.26493036e+02] [ 1.91183432e-02 -6.66752636e-04 9.99817005e-01 3.65652169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77361786499995 meters 0.02299329482254096 Centerline is valid? [True, True] Translation: X:155.49, Y:126.52, Z:3.66 [[-6.74176711e-02 -9.97724669e-01 5.85437117e-04 1.55491052e+02] [ 9.97560162e-01 -6.74171925e-02 -1.81285966e-02 1.26519673e+02] [ 1.81268165e-02 -6.38179017e-04 9.99835492e-01 3.65700922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80361786499995 meters 0.02279323807219258 Centerline is valid? [True, True] Translation: X:155.49, Y:126.55, Z:3.66 [[-6.81561091e-02 -9.97674506e-01 5.69216721e-04 1.55489130e+02] [ 9.97520874e-01 -6.81556091e-02 -1.75191242e-02 1.26547953e+02] [ 1.75171789e-02 -6.26229778e-04 9.99846366e-01 3.65793498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83361786499995 meters 0.02347302595814282 Centerline is valid? [True, True] Translation: X:155.49, Y:126.58, Z:3.66 [[-6.82662262e-02 -9.97666992e-01 5.44391158e-04 1.55488224e+02] [ 9.97528683e-01 -6.82658326e-02 -1.66223772e-02 1.26575417e+02] [ 1.66207603e-02 -5.91701166e-04 9.99861691e-01 3.65857556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86361786499995 meters 0.023522788115163798 Centerline is valid? [True, True] Translation: X:155.49, Y:126.60, Z:3.66 [[-6.82612647e-02 -9.97667333e-01 5.41401862e-04 1.55486502e+02] [ 9.97532873e-01 -6.82609588e-02 -1.63892724e-02 1.26602747e+02] [ 1.63879983e-02 -5.78686306e-04 9.99865540e-01 3.65894004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89361786499995 meters 0.022449734549117917 Centerline is valid? [True, True] Translation: X:155.48, Y:126.63, Z:3.66 [[-6.76515440e-02 -9.97708858e-01 5.50034496e-04 1.55483431e+02] [ 9.97572570e-01 -6.76513992e-02 -1.65001661e-02 1.26630822e+02] [ 1.64995725e-02 -5.67562386e-04 9.99863712e-01 3.65923854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92361786499995 meters 0.022506894222680398 Centerline is valid? [True, True] Translation: X:155.48, Y:126.66, Z:3.66 [[-6.73473367e-02 -9.97729444e-01 5.40557546e-04 1.55482022e+02] [ 9.97599878e-01 -6.73473072e-02 -1.60879924e-02 1.26658946e+02] [ 1.60878688e-02 -5.44223299e-04 9.99870434e-01 3.65954943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95361786499996 meters 0.022441080625594308 Centerline is valid? [True, True] Translation: X:155.48, Y:126.69, Z:3.66 [[-6.62444813e-02 -9.97803266e-01 5.57936552e-04 1.55479158e+02] [ 9.97667474e-01 -6.62446754e-02 -1.64697961e-02 1.26686176e+02] [ 1.64705766e-02 -5.34397947e-04 9.99864208e-01 3.65937881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98361786499996 meters 0.023080493716651333 Centerline is valid? [True, True] Translation: X:155.48, Y:126.71, Z:3.66 [[-6.63205887e-02 -9.97798215e-01 5.49749212e-04 1.55478366e+02] [ 9.97667859e-01 -6.63208150e-02 -1.61367150e-02 1.26712880e+02] [ 1.61376453e-02 -5.21729322e-04 9.99869644e-01 3.65928374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01361786499996 meters 0.022688999834764655 Centerline is valid? [True, True] Translation: X:155.48, Y:126.74, Z:3.66 [[-6.59558902e-02 -9.97822391e-01 5.44810967e-04 1.55475241e+02] [ 9.97696673e-01 -6.59562327e-02 -1.58468679e-02 1.26740573e+02] [ 1.58482933e-02 -5.01638193e-04 9.99874282e-01 3.65901065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04361786499996 meters 0.02274151323294256 Centerline is valid? [True, True] Translation: X:155.47, Y:126.77, Z:3.66 [[-6.62373187e-02 -9.97803757e-01 5.28458687e-04 1.55473485e+02] [ 9.97687296e-01 -6.62376656e-02 -1.52522380e-02 1.26767795e+02] [ 1.52537443e-02 -4.83030831e-04 9.99883538e-01 3.65936989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07361786499996 meters 0.02289777731257837 Centerline is valid? [True, True] Translation: X:155.47, Y:126.79, Z:3.66 [[-6.63520295e-02 -9.97796130e-01 5.40472091e-04 1.55472200e+02] [ 9.97676401e-01 -6.63524443e-02 -1.54645525e-02 1.26794864e+02] [ 1.54663323e-02 -4.86888195e-04 9.99880271e-01 3.65928764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10361786499996 meters 0.02322586182844033 Centerline is valid? [True, True] Translation: X:155.47, Y:126.82, Z:3.66 [[-6.68160615e-02 -9.97765162e-01 5.42961412e-04 1.55471080e+02] [ 9.97646331e-01 -6.68164876e-02 -1.54063180e-02 1.26821931e+02] [ 1.54081662e-02 -4.87706030e-04 9.99881168e-01 3.65937144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13361786499996 meters 0.023610739698334215 Centerline is valid? [True, True] Translation: X:155.47, Y:126.85, Z:3.66 [[-6.77363111e-02 -9.97703115e-01 5.36180558e-04 1.55469735e+02] [ 9.97589109e-01 -6.77366806e-02 -1.50901075e-02 1.26850153e+02] [ 1.50917664e-02 -4.87260333e-04 9.99885994e-01 3.65999443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16361786499996 meters 0.024074946712398473 Centerline is valid? [True, True] Translation: X:155.47, Y:126.88, Z:3.66 [[-6.85364070e-02 -9.97648489e-01 5.03835825e-04 1.55468915e+02] [ 9.97549150e-01 -6.85366963e-02 -1.40859665e-02 1.26877257e+02] [ 1.40873745e-02 -4.62800534e-04 9.99900661e-01 3.66056495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19361786499996 meters 0.024685662926160264 Centerline is valid? [True, True] Translation: X:155.47, Y:126.90, Z:3.66 [[-6.96324878e-02 -9.97572587e-01 4.99629190e-04 1.55467922e+02] [ 9.97476349e-01 -6.96327141e-02 -1.38642640e-02 1.26903899e+02] [ 1.38654002e-02 -4.67034891e-04 9.99903762e-01 3.66087325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22361786499997 meters 0.024981540501422084 Centerline is valid? [True, True] Translation: X:155.47, Y:126.93, Z:3.66 [[-7.03240917e-02 -9.97524069e-01 5.04059527e-04 1.55466937e+02] [ 9.97427558e-01 -7.03243034e-02 -1.38837906e-02 1.26931296e+02] [ 1.38848629e-02 -4.73602102e-04 9.99903488e-01 3.66123919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25361786499997 meters 0.025318919980425122 Centerline is valid? [True, True] Translation: X:155.47, Y:126.96, Z:3.66 [[-7.06956322e-02 -9.97497800e-01 5.15549129e-04 1.55466060e+02] [ 9.97398493e-01 -7.06958729e-02 -1.40833265e-02 1.26957052e+02] [ 1.40845344e-02 -4.81421745e-04 9.99900692e-01 3.66167673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28361786499997 meters 0.024363422621658276 Centerline is valid? [True, True] Translation: X:155.46, Y:126.98, Z:3.66 [[-7.12268351e-02 -9.97460014e-01 5.08500973e-04 1.55463113e+02] [ 9.97364466e-01 -7.12270546e-02 -1.38140657e-02 1.26984026e+02] [ 1.38151972e-02 -4.76771378e-04 9.99904452e-01 3.66237362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31361786499997 meters 0.022056867914415013 Centerline is valid? [True, True] Translation: X:155.46, Y:127.01, Z:3.66 [[-7.05643001e-02 -9.97507104e-01 5.07038827e-04 1.55457430e+02] [ 9.97413585e-01 -7.05646312e-02 -1.36665370e-02 1.27011461e+02] [ 1.36682467e-02 -4.58642201e-04 9.99906480e-01 3.66289976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34361786499997 meters 0.02159624733984312 Centerline is valid? [True, True] Translation: X:155.45, Y:127.04, Z:3.66 [[-7.00425483e-02 -9.97543870e-01 5.17877776e-04 1.55454900e+02] [ 9.97447752e-01 -7.00429923e-02 -1.38549963e-02 1.27039445e+02] [ 1.38572404e-02 -4.53883226e-04 9.99903881e-01 3.66362318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37361786499997 meters 0.021965034829831986 Centerline is valid? [True, True] Translation: X:155.45, Y:127.07, Z:3.66 [[-6.87979190e-02 -9.97630475e-01 5.31570171e-04 1.55453860e+02] [ 9.97530804e-01 -6.87985632e-02 -1.41085823e-02 1.27066612e+02] [ 1.41117229e-02 -4.40383480e-04 9.99900328e-01 3.66391351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40361786499994 meters 0.020667097058923355 Centerline is valid? [True, True] Translation: X:155.45, Y:127.09, Z:3.66 [[-6.59180620e-02 -9.97824892e-01 5.41371917e-04 1.55448663e+02] [ 9.97722410e-01 -6.59190538e-02 -1.43063251e-02 1.27094216e+02] [ 1.43108941e-02 -4.02906334e-04 9.99897513e-01 3.66438766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43361786499995 meters 0.020404761261707174 Centerline is valid? [True, True] Translation: X:155.45, Y:127.12, Z:3.66 [[-6.44350997e-02 -9.97921752e-01 5.43712713e-04 1.55446302e+02] [ 9.97819875e-01 -6.44362932e-02 -1.42639741e-02 1.27122737e+02] [ 1.42693649e-02 -3.76573244e-04 9.99898117e-01 3.66484451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46361786499995 meters 0.020007084477397626 Centerline is valid? [True, True] Translation: X:155.44, Y:127.15, Z:3.67 [[-6.31244273e-02 -9.98005516e-01 5.44216038e-04 1.55443954e+02] [ 9.97904843e-01 -6.31257918e-02 -1.41795157e-02 1.27151054e+02] [ 1.41855889e-02 -3.51997985e-04 9.99899318e-01 3.66515543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49361786499995 meters 0.019717401414376726 Centerline is valid? [True, True] Translation: X:155.44, Y:127.18, Z:3.67 [[-6.04740627e-02 -9.98169602e-01 5.77801266e-04 1.55441911e+02] [ 9.98057767e-01 -6.04759382e-02 -1.49450820e-02 1.27178671e+02] [ 1.49526696e-02 -3.27110782e-04 9.99888149e-01 3.66567652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52361786499995 meters 0.019223669342286177 Centerline is valid? [True, True] Translation: X:155.44, Y:127.21, Z:3.67 [[-5.94801601e-02 -9.98229320e-01 5.79614020e-04 1.55439446e+02] [ 9.98118290e-01 -5.94821908e-02 -1.48912024e-02 1.27206343e+02] [ 1.48993116e-02 -3.07207749e-04 9.99888952e-01 3.66628333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55361786499995 meters 0.019358283474530107 Centerline is valid? [True, True] Translation: X:155.44, Y:127.23, Z:3.67 [[-5.88854507e-02 -9.98264588e-01 5.62612354e-04 1.55438625e+02] [ 9.98161380e-01 -5.88874543e-02 -1.43571034e-02 1.27233747e+02] [ 1.43653187e-02 -2.83846580e-04 9.99896773e-01 3.66697857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58361786499995 meters 0.019159031458352717 Centerline is valid? [True, True] Translation: X:155.44, Y:127.26, Z:3.67 [[-5.77871918e-02 -9.98328781e-01 5.34424181e-04 1.55436826e+02] [ 9.98236924e-01 -5.77891255e-02 -1.35447716e-02 1.27262085e+02] [ 1.35530192e-02 -2.49232361e-04 9.99908123e-01 3.66880979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61361786499995 meters 0.018942724228043308 Centerline is valid? [True, True] Translation: X:155.44, Y:127.29, Z:3.67 [[-5.74580293e-02 -9.98347785e-01 5.23700506e-04 1.55435116e+02] [ 9.98260736e-01 -5.74599361e-02 -1.31855422e-02 1.27289843e+02] [ 1.31938486e-02 -2.34825615e-04 9.99912930e-01 3.66961192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64361786499995 meters 0.01922081259289399 Centerline is valid? [True, True] Translation: X:155.43, Y:127.32, Z:3.67 [[-5.71658152e-02 -9.98364573e-01 4.99213070e-04 1.55434445e+02] [ 9.98286462e-01 -5.71675881e-02 -1.24902510e-02 1.27316659e+02] [ 1.24983629e-02 -2.15657728e-04 9.99921869e-01 3.67074147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67361786499995 meters 0.019412545392276822 Centerline is valid? [True, True] Translation: X:155.43, Y:127.34, Z:3.67 [[-5.77901993e-02 -9.98328614e-01 5.20582997e-04 1.55433728e+02] [ 9.98244909e-01 -5.77920961e-02 -1.29296545e-02 1.27343384e+02] [ 1.29381296e-02 -2.27537985e-04 9.99916273e-01 3.67147171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70361786499996 meters 0.019440172031589174 Centerline is valid? [True, True] Translation: X:155.43, Y:127.37, Z:3.67 [[-5.83232840e-02 -9.98297606e-01 5.33302887e-04 1.55432962e+02] [ 9.98211145e-01 -5.83252526e-02 -1.31406208e-02 1.27370161e+02] [ 1.31493553e-02 -2.34055274e-04 9.99913516e-01 3.67175220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73361786499996 meters 0.019088294468664325 Centerline is valid? [True, True] Translation: X:155.43, Y:127.40, Z:3.67 [[-5.98214961e-02 -9.98208934e-01 5.59517033e-04 1.55430969e+02] [ 9.98115216e-01 -5.98235480e-02 -1.36805760e-02 1.27398378e+02] [ 1.36895455e-02 -2.59930061e-04 9.99906260e-01 3.67166663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76361786499996 meters 0.01976318822848549 Centerline is valid? [True, True] Translation: X:155.43, Y:127.43, Z:3.67 [[-6.07924037e-02 -9.98150267e-01 5.73049868e-04 1.55431719e+02] [ 9.98053203e-01 -6.07944850e-02 -1.39224483e-02 1.27425732e+02] [ 1.39315338e-02 -2.74444841e-04 9.99902914e-01 3.67204237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79361786499996 meters 0.019954690249169876 Centerline is valid? [True, True] Translation: X:155.43, Y:127.45, Z:3.67 [[-6.18562296e-02 -9.98084890e-01 5.99223357e-04 1.55430983e+02] [ 9.97980286e-01 -6.18584239e-02 -1.44528579e-02 1.27452867e+02] [ 1.44622461e-02 -2.95986199e-04 9.99895372e-01 3.67199682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82361786499996 meters 0.020823301173182023 Centerline is valid? [True, True] Translation: X:155.43, Y:127.48, Z:3.67 [[-6.29649717e-02 -9.98015545e-01 6.20461094e-04 1.55431567e+02] [ 9.97905007e-01 -6.29672343e-02 -1.48567777e-02 1.27479183e+02] [ 1.48663638e-02 -3.16295357e-04 9.99889439e-01 3.67247778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85361786499996 meters 0.019748984465016085 Centerline is valid? [True, True] Translation: X:155.43, Y:127.51, Z:3.67 [[-6.40472270e-02 -9.97946665e-01 6.38337589e-04 1.55427496e+02] [ 9.97831428e-01 -6.40495341e-02 -1.51690288e-02 1.27507164e+02] [ 1.51787670e-02 -3.34580926e-04 9.99884740e-01 3.67270275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88361786499996 meters 0.02031279908134732 Centerline is valid? [True, True] Translation: X:155.43, Y:127.53, Z:3.67 [[-6.64277044e-02 -9.97791013e-01 6.74427464e-04 1.55427363e+02] [ 9.97664113e-01 -6.64300151e-02 -1.59176445e-02 1.27533695e+02] [ 1.59272848e-02 -3.84520504e-04 9.99873079e-01 3.67294156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91361786499996 meters 0.020614286499454463 Centerline is valid? [True, True] Translation: X:155.43, Y:127.56, Z:3.67 [[-6.81845906e-02 -9.97672481e-01 6.94838021e-04 1.55426420e+02] [ 9.97539199e-01 -6.81868427e-02 -1.63126033e-02 1.27561819e+02] [ 1.63220142e-02 -4.19140015e-04 9.99866699e-01 3.67327894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94361786499996 meters 0.021436877260873722 Centerline is valid? [True, True] Translation: X:155.43, Y:127.59, Z:3.67 [[-7.06985727e-02 -9.97497438e-01 7.57609258e-04 1.55426317e+02] [ 9.97341085e-01 -7.07009097e-02 -1.76675483e-02 1.27588499e+02] [ 1.76768979e-02 -4.93475611e-04 9.99843630e-01 3.67349275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97361786499997 meters 0.023668433919579086 Centerline is valid? [True, True] Translation: X:155.43, Y:127.62, Z:3.67 [[-7.19956255e-02 -9.97404658e-01 7.60492614e-04 1.55428682e+02] [ 9.97248690e-01 -7.19978215e-02 -1.76455043e-02 1.27615604e+02] [ 1.76544620e-02 -5.11998854e-04 9.99844017e-01 3.67368280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00361786499997 meters 0.022286388313077988 Centerline is valid? [True, True] Translation: X:155.42, Y:127.64, Z:3.67 [[-7.31594853e-02 -9.97319942e-01 7.89576780e-04 1.55424053e+02] [ 9.97153414e-01 -7.31617044e-02 -1.82327713e-02 1.27643158e+02] [ 1.82416732e-02 -5.46570982e-04 9.99833457e-01 3.67437885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03361786499997 meters 0.022286388313077988 Centerline is valid? [True, True] Translation: X:155.42, Y:127.67, Z:3.67 [[-7.34543447e-02 -9.97298264e-01 7.94428479e-04 1.55422779e+02] [ 9.97131737e-01 -7.34566032e-02 -1.82325600e-02 1.27669886e+02] [ 1.82416564e-02 -5.47110896e-04 9.99833457e-01 3.67481630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06361786499997 meters 0.022951120367738744 Centerline is valid? [True, True] Translation: X:155.42, Y:127.70, Z:3.68 [[-7.45280166e-02 -9.97218596e-01 8.03958159e-04 1.55420911e+02] [ 9.97050336e-01 -7.45302166e-02 -1.83268996e-02 1.27696643e+02] [ 1.83358442e-02 -5.64280721e-04 9.99831725e-01 3.67511827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09361786499997 meters 0.023250431773851225 Centerline is valid? [True, True] Translation: X:155.42, Y:127.72, Z:3.68 [[-7.49006272e-02 -9.97190662e-01 8.24892006e-04 1.55418933e+02] [ 9.97015792e-01 -7.49029474e-02 -1.86830947e-02 1.27723963e+02] [ 1.86923944e-02 -5.76945156e-04 9.99825115e-01 3.67582218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12361786499997 meters 0.023263246972082933 Centerline is valid? [True, True] Translation: X:155.42, Y:127.75, Z:3.68 [[-7.49371542e-02 -9.97187906e-01 8.39105603e-04 1.55416837e+02] [ 9.97009331e-01 -7.49396214e-02 -1.88797910e-02 1.27751467e+02] [ 1.88895815e-02 -5.78201694e-04 9.99821409e-01 3.67659341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15361786499994 meters 0.02315962088658078 Centerline is valid? [True, True] Translation: X:155.41, Y:127.78, Z:3.68 [[-7.38960125e-02 -9.97265592e-01 8.47925927e-04 1.55413734e+02] [ 9.97085565e-01 -7.38987905e-02 -1.89563688e-02 1.27777981e+02] [ 1.89671951e-02 -5.55345366e-04 9.99819952e-01 3.67742403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18361786499995 meters 0.02122309550979316 Centerline is valid? [True, True] Translation: X:155.41, Y:127.81, Z:3.68 [[-7.29486039e-02 -9.97335334e-01 8.56022830e-04 1.55408028e+02] [ 9.97153943e-01 -7.29516683e-02 -1.90281002e-02 1.27805965e+02] [ 1.90398450e-02 -5.34486805e-04 9.99818583e-01 3.67845833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21361786499995 meters 0.021035710550927136 Centerline is valid? [True, True] Translation: X:155.41, Y:127.83, Z:3.68 [[-7.22651488e-02 -9.97385077e-01 8.69254498e-04 1.55405274e+02] [ 9.97200260e-01 -7.22684973e-02 -1.92069421e-02 1.27833785e+02] [ 1.92195372e-02 -5.21171718e-04 9.99815152e-01 3.67894541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24361786499995 meters 0.02100526152637674 Centerline is valid? [True, True] Translation: X:155.40, Y:127.86, Z:3.68 [[-6.97379620e-02 -9.97564941e-01 8.97007077e-04 1.55402007e+02] [ 9.97370400e-01 -6.97420815e-02 -1.97060150e-02 1.27860657e+02] [ 1.97205888e-02 -4.79609018e-04 9.99805415e-01 3.67939789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27361786499995 meters 0.02068619336074791 Centerline is valid? [True, True] Translation: X:155.40, Y:127.89, Z:3.68 [[-6.89576645e-02 -9.97619168e-01 9.14139353e-04 1.55398874e+02] [ 9.97419039e-01 -6.89621457e-02 -1.99870951e-02 1.27888133e+02] [ 2.00025502e-02 -4.66483403e-04 9.99799820e-01 3.67953455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30361786499995 meters 0.019996504980320778 Centerline is valid? [True, True] Translation: X:155.39, Y:127.92, Z:3.68 [[-6.80607142e-02 -9.97680764e-01 9.12274051e-04 1.55394722e+02] [ 9.97483976e-01 -6.80654125e-02 -1.98196333e-02 1.27915377e+02] [ 1.98357612e-02 -4.38959653e-04 9.99803156e-01 3.68032863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33361786499995 meters 0.020649805205966872 Centerline is valid? [True, True] Translation: X:155.39, Y:127.94, Z:3.68 [[-6.75307958e-02 -9.97716765e-01 9.21214842e-04 1.55393898e+02] [ 9.97518716e-01 -6.75357492e-02 -1.98829806e-02 1.27941872e+02] [ 1.98997981e-02 -4.23784459e-04 9.99801890e-01 3.68067906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36361786499995 meters 0.01938960878804844 Centerline is valid? [True, True] Translation: X:155.39, Y:127.97, Z:3.68 [[-6.71598888e-02 -9.97741810e-01 9.10879675e-04 1.55387712e+02] [ 9.97550684e-01 -6.71648557e-02 -1.95323885e-02 1.27969556e+02] [ 1.95494598e-02 -4.03144397e-04 9.99808810e-01 3.68166126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39361786499995 meters 0.0194291789906641 Centerline is valid? [True, True] Translation: X:155.39, Y:128.00, Z:3.68 [[-6.76323259e-02 -9.97709895e-01 9.13208979e-04 1.55385788e+02] [ 9.97519998e-01 -6.76372736e-02 -1.94692756e-02 1.27997440e+02] [ 1.94864559e-02 -4.05808175e-04 9.99810039e-01 3.68241042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42361786499995 meters 0.020389625772356028 Centerline is valid? [True, True] Translation: X:155.39, Y:128.02, Z:3.68 [[-6.87269454e-02 -9.97635073e-01 9.32222950e-04 1.55385512e+02] [ 9.97439502e-01 -6.87319347e-02 -1.97575664e-02 1.28024987e+02] [ 1.97749146e-02 -4.28041189e-04 9.99804366e-01 3.68270072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45361786499996 meters 0.02065223669527588 Centerline is valid? [True, True] Translation: X:155.38, Y:128.05, Z:3.68 [[-7.00856409e-02 -9.97540533e-01 9.42109908e-04 1.55383935e+02] [ 9.97343059e-01 -7.00905165e-02 -1.98529983e-02 1.28052549e+02] [ 1.98702035e-02 -4.51803335e-04 9.99802466e-01 3.68278781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48361786499996 meters 0.02013124349468459 Centerline is valid? [True, True] Translation: X:155.38, Y:128.08, Z:3.68 [[-7.12593310e-02 -9.97457359e-01 9.61237434e-04 1.55381019e+02] [ 9.97253569e-01 -7.12642072e-02 -2.01676154e-02 1.28080826e+02] [ 2.01848382e-02 -4.78533317e-04 9.99796151e-01 3.68344060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51361786499996 meters 0.020929356394671184 Centerline is valid? [True, True] Translation: X:155.38, Y:128.11, Z:3.68 [[-7.39270779e-02 -9.97263139e-01 1.00975811e-03 1.55379737e+02] [ 9.97040743e-01 -7.39319229e-02 -2.10672171e-02 1.28107354e+02] [ 2.10842124e-02 -5.50667819e-04 9.99777552e-01 3.68362450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54361786499996 meters 0.021598636427867864 Centerline is valid? [True, True] Translation: X:155.38, Y:128.13, Z:3.68 [[-7.55855936e-02 -9.97138804e-01 1.01211586e-03 1.55378925e+02] [ 9.96917520e-01 -7.55901494e-02 -2.10140058e-02 1.28134264e+02] [ 2.10303866e-02 -5.79360075e-04 9.99778669e-01 3.68389010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57361786499996 meters 0.020971106517027046 Centerline is valid? [True, True] Translation: X:155.38, Y:128.16, Z:3.68 [[-7.68261900e-02 -9.97043978e-01 1.02122156e-03 1.55375562e+02] [ 9.96821251e-01 -7.68306212e-02 -2.10819674e-02 1.28162824e+02] [ 2.10981097e-02 -6.01671879e-04 9.99777229e-01 3.68451803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60361786499996 meters 0.021559529641090005 Centerline is valid? [True, True] Translation: X:155.37, Y:128.19, Z:3.68 [[-7.86251617e-02 -9.96903709e-01 1.03904071e-03 1.55374540e+02] [ 9.96675639e-01 -7.86294085e-02 -2.13327411e-02 1.28189684e+02] [ 2.13483878e-02 -6.41703654e-04 9.99771891e-01 3.68473594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63361786499996 meters 0.022548892450944737 Centerline is valid? [True, True] Translation: X:155.37, Y:128.22, Z:3.68 [[-8.15956458e-02 -9.96664946e-01 1.06568808e-03 1.55373652e+02] [ 9.96427841e-01 -8.15994910e-02 -2.17504377e-02 1.28217151e+02] [ 2.17648584e-02 -7.12859741e-04 9.99762863e-01 3.68431821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66361786499996 meters 0.022644245009867364 Centerline is valid? [True, True] Translation: X:155.37, Y:128.25, Z:3.68 [[-8.26863598e-02 -9.96574997e-01 1.11377574e-03 1.55372146e+02] [ 9.96319011e-01 -8.26903776e-02 -2.25993408e-02 1.28245301e+02] [ 2.26140365e-02 -7.58981279e-04 9.99743982e-01 3.68444842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69361786499996 meters 0.024608526168986473 Centerline is valid? [True, True] Translation: X:155.37, Y:128.27, Z:3.68 [[-8.52092691e-02 -9.96362382e-01 1.17627379e-03 1.55373377e+02] [ 9.96079770e-01 -8.52131324e-02 -2.37447476e-02 1.28272557e+02] [ 2.37586073e-02 -8.51610065e-04 9.99717362e-01 3.68421039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72361786499997 meters 0.024700997661750563 Centerline is valid? [True, True] Translation: X:155.37, Y:128.30, Z:3.68 [[-8.63194058e-02 -9.96266815e-01 1.18049323e-03 1.55371739e+02] [ 9.95984621e-01 -8.63230700e-02 -2.37268221e-02 1.28300270e+02] [ 2.37401493e-02 -8.72332085e-04 9.99717782e-01 3.68447963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75361786499997 meters 0.023294843367711003 Centerline is valid? [True, True] Translation: X:155.37, Y:128.33, Z:3.69 [[-8.71754031e-02 -9.96192253e-01 1.20141887e-03 1.55367491e+02] [ 9.95903011e-01 -8.71790614e-02 -2.40208928e-02 1.28328517e+02] [ 2.40341659e-02 -8.97534336e-04 9.99710735e-01 3.68558168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78361786499997 meters 0.02382153759218912 Centerline is valid? [True, True] Translation: X:155.37, Y:128.36, Z:3.69 [[-8.79816073e-02 -9.96121354e-01 1.21895734e-03 1.55366483e+02] [ 9.95826761e-01 -8.79852523e-02 -2.42416634e-02 1.28355953e+02] [ 2.42548888e-02 -9.18950168e-04 9.99705385e-01 3.68579959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81361786499997 meters 0.02406777318976943 Centerline is valid? [True, True] Translation: X:155.36, Y:128.38, Z:3.69 [[-8.87566592e-02 -9.96052589e-01 1.22305388e-03 1.55364631e+02] [ 9.95759274e-01 -8.87602236e-02 -2.41886586e-02 1.28383594e+02] [ 2.42017345e-02 -9.29037277e-04 9.99706663e-01 3.68642794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84361786499997 meters 0.024095026472169344 Centerline is valid? [True, True] Translation: X:155.36, Y:128.41, Z:3.69 [[-8.90296176e-02 -9.96028223e-01 1.22719366e-03 1.55362919e+02] [ 9.95736010e-01 -8.90332444e-02 -2.41429043e-02 1.28412022e+02] [ 2.41562751e-02 -9.27472613e-04 9.99707764e-01 3.68705351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87361786499997 meters 0.022322011101253186 Centerline is valid? [True, True] Translation: X:155.36, Y:128.44, Z:3.69 [[-8.86896859e-02 -9.96058572e-01 1.20904615e-03 1.55358028e+02] [ 9.95777889e-01 -8.86934150e-02 -2.36616514e-02 1.28439569e+02] [ 2.36756251e-02 -8.94603008e-04 9.99719293e-01 3.68810970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90361786499994 meters 0.023335549174815538 Centerline is valid? [True, True] Translation: X:155.36, Y:128.47, Z:3.69 [[-8.81784938e-02 -9.96103965e-01 1.20142447e-03 1.55358328e+02] [ 9.95829776e-01 -8.81824284e-02 -2.33862465e-02 1.28466612e+02] [ 2.34010774e-02 -8.65749728e-04 9.99725782e-01 3.68862953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93361786499995 meters 0.023023124453802182 Centerline is valid? [True, True] Translation: X:155.36, Y:128.49, Z:3.69 [[-8.74081893e-02 -9.96171862e-01 1.19601307e-03 1.55355579e+02] [ 9.95903016e-01 -8.74124023e-02 -2.31571944e-02 1.28494225e+02] [ 2.31730918e-02 -8.33015406e-04 9.99731121e-01 3.68933862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96361786499995 meters 0.021849764123023665 Centerline is valid? [True, True] Translation: X:155.35, Y:128.52, Z:3.69 [[-8.40408347e-02 -9.96461609e-01 1.18353048e-03 1.55351005e+02] [ 9.96201041e-01 -8.40459370e-02 -2.27984061e-02 1.28522456e+02] [ 2.28172073e-02 -7.36962778e-04 9.99739382e-01 3.69011594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99361786499995 meters 0.02304154060744768 Centerline is valid? [True, True] Translation: X:155.35, Y:128.55, Z:3.69 [[-8.24385282e-02 -9.96595459e-01 1.17514896e-03 1.55351320e+02] [ 9.96341136e-01 -8.24440498e-02 -2.25237461e-02 1.28549682e+02] [ 2.25439471e-02 -6.85975226e-04 9.99745618e-01 3.69027267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02361786499995 meters 0.02130794031389706 Centerline is valid? [True, True] Translation: X:155.35, Y:128.58, Z:3.69 [[-8.08119741e-02 -9.96728705e-01 1.14603159e-03 1.55345767e+02] [ 9.96489200e-01 -8.08176880e-02 -2.18581012e-02 1.28577115e+02] [ 2.18792165e-02 -6.24388207e-04 9.99760426e-01 3.69152780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05361786499995 meters 0.021034470708678345 Centerline is valid? [True, True] Translation: X:155.34, Y:128.61, Z:3.69 [[-7.90111822e-02 -9.96873082e-01 1.13646387e-03 1.55343014e+02] [ 9.96639902e-01 -7.90172886e-02 -2.15679075e-02 1.28605491e+02] [ 2.15902667e-02 -5.71460631e-04 9.99766740e-01 3.69231645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08361786499995 meters 0.0191629794313739 Centerline is valid? [True, True] Translation: X:155.34, Y:128.63, Z:3.69 [[-7.49993112e-02 -9.97182988e-01 1.09172803e-03 1.55336134e+02] [ 9.96969813e-01 -7.50058565e-02 -2.06231533e-02 1.28633827e+02] [ 2.06469436e-02 -4.58302397e-04 9.99786724e-01 3.69430335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11361786499995 meters 0.019440009991767142 Centerline is valid? [True, True] Translation: X:155.34, Y:128.66, Z:3.69 [[-7.28114579e-02 -9.97345148e-01 1.07106367e-03 1.55335188e+02] [ 9.97141856e-01 -7.28182452e-02 -2.01400428e-02 1.28660754e+02] [ 2.01645669e-02 -3.98423459e-04 9.99796595e-01 3.69443533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14361786499995 meters 0.019506965981741658 Centerline is valid? [True, True] Translation: X:155.33, Y:128.69, Z:3.69 [[-7.11316522e-02 -9.97466353e-01 1.07860897e-03 1.55333265e+02] [ 9.97261721e-01 -7.11389100e-02 -2.02067984e-02 1.28687355e+02] [ 2.02323326e-02 -3.61687515e-04 9.99795240e-01 3.69461201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17361786499995 meters 0.01894132337894504 Centerline is valid? [True, True] Translation: X:155.33, Y:128.71, Z:3.70 [[-6.80365455e-02 -9.97682269e-01 1.05775393e-03 1.55329385e+02] [ 9.97487406e-01 -6.80441640e-02 -1.97196896e-02 1.28714573e+02] [ 1.97459587e-02 -2.86563339e-04 9.99804988e-01 3.69503907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20361786499996 meters 0.018259462541314213 Centerline is valid? [True, True] Translation: X:155.33, Y:128.74, Z:3.70 [[-6.70583763e-02 -9.97748473e-01 1.07637108e-03 1.55325165e+02] [ 9.97548632e-01 -6.70664890e-02 -1.99702929e-02 1.28742281e+02] [ 1.99975177e-02 -2.65442921e-04 9.99799994e-01 3.69536498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23361786499996 meters 0.018078617568580462 Centerline is valid? [True, True] Translation: X:155.32, Y:128.77, Z:3.70 [[-6.58746614e-02 -9.97827323e-01 1.07795535e-03 1.55322586e+02] [ 9.97628917e-01 -6.58830598e-02 -1.98988900e-02 1.28770568e+02] [ 1.99266751e-02 -2.35433210e-04 9.99801416e-01 3.69584838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26361786499996 meters 0.01791049916365769 Centerline is valid? [True, True] Translation: X:155.32, Y:128.80, Z:3.70 [[-6.59448644e-02 -9.97822669e-01 1.09332301e-03 1.55320705e+02] [ 9.97620629e-01 -6.59535138e-02 -2.00801976e-02 1.28798157e+02] [ 2.01085849e-02 -2.33464319e-04 9.99797775e-01 3.69650872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29361786499996 meters 0.018411959431537676 Centerline is valid? [True, True] Translation: X:155.32, Y:128.83, Z:3.70 [[-6.63048218e-02 -9.97798822e-01 1.08686792e-03 1.55321249e+02] [ 9.97601165e-01 -6.63133211e-02 -1.98609766e-02 1.28825671e+02] [ 1.98893329e-02 -2.32617813e-04 9.99802161e-01 3.69672665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32361786499996 meters 0.018247942306591807 Centerline is valid? [True, True] Translation: X:155.32, Y:128.85, Z:3.70 [[-6.81033644e-02 -9.97677750e-01 1.01906467e-03 1.55319359e+02] [ 9.97505682e-01 -6.81105462e-02 -1.85301778e-02 1.28853561e+02] [ 1.85565551e-02 -2.45444648e-04 9.99827782e-01 3.69833675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35361786499996 meters 0.018473294935711156 Centerline is valid? [True, True] Translation: X:155.32, Y:128.88, Z:3.70 [[-6.96609724e-02 -9.97570198e-01 1.02418760e-03 1.55318709e+02] [ 9.97398070e-01 -6.96679798e-02 -1.85327286e-02 1.28881207e+02] [ 1.85590508e-02 -2.69485156e-04 9.99827730e-01 3.69891270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38361786499996 meters 0.01870110509935333 Centerline is valid? [True, True] Translation: X:155.32, Y:128.91, Z:3.70 [[-7.14774114e-02 -9.97441722e-01 9.95711646e-04 1.55317978e+02] [ 9.97280539e-01 -7.14837630e-02 -1.79331345e-02 1.28908914e+02] [ 1.79584338e-02 -2.88810185e-04 9.99838693e-01 3.69967994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41361786499996 meters 0.019163101538537834 Centerline is valid? [True, True] Translation: X:155.32, Y:128.94, Z:3.70 [[-7.51512941e-02 -9.97171662e-01 9.80001183e-04 1.55317828e+02] [ 9.97016971e-01 -7.51569004e-02 -1.75670202e-02 1.28936876e+02] [ 1.75909886e-02 -3.43106489e-04 9.99845208e-01 3.69989286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44361786499996 meters 0.01958525534876034 Centerline is valid? [True, True] Translation: X:155.32, Y:128.97, Z:3.70 [[-7.72916759e-02 -9.97008028e-01 9.94478842e-04 1.55317418e+02] [ 9.96850266e-01 -7.72971404e-02 -1.77397794e-02 1.28965343e+02] [ 1.77635729e-02 -3.79790785e-04 9.99842143e-01 3.70016904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47361786499997 meters 0.01996274957687811 Centerline is valid? [True, True] Translation: X:155.32, Y:128.99, Z:3.70 [[-7.97654609e-02 -9.96813182e-01 9.75559728e-04 1.55316735e+02] [ 9.96662768e-01 -7.97703763e-02 -1.73209186e-02 1.28993651e+02] [ 1.73435407e-02 -4.09306995e-04 9.99849506e-01 3.70055737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50361786499997 meters 0.02059004923466355 Centerline is valid? [True, True] Translation: X:155.32, Y:129.02, Z:3.70 [[-8.18969866e-02 -9.96640281e-01 1.01729699e-03 1.55316717e+02] [ 9.96478325e-01 -8.19020231e-02 -1.79723749e-02 1.29021173e+02] [ 1.79953115e-02 -4.58168944e-04 9.99837966e-01 3.70098047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53361786499997 meters 0.021459984846470295 Centerline is valid? [True, True] Translation: X:155.32, Y:129.05, Z:3.70 [[-8.50804345e-02 -9.96373519e-01 1.06301982e-03 1.55316982e+02] [ 9.96198431e-01 -8.50854193e-02 -1.86857572e-02 1.29047711e+02] [ 1.87084411e-02 -5.30813662e-04 9.99824841e-01 3.70090688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56361786499997 meters 0.021741999666939866 Centerline is valid? [True, True] Translation: X:155.32, Y:129.08, Z:3.70 [[-8.64515932e-02 -9.96255449e-01 1.09684265e-03 1.55315655e+02] [ 9.96070514e-01 -8.64566875e-02 -1.92034262e-02 1.29076123e+02] [ 1.92263474e-02 -5.67634165e-04 9.99814996e-01 3.70120343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59361786499997 meters 0.021243221123139693 Centerline is valid? [True, True] Translation: X:155.31, Y:129.10, Z:3.70 [[-8.78900710e-02 -9.96129525e-01 1.14191256e-03 1.55312276e+02] [ 9.95930958e-01 -8.78953612e-02 -1.98980481e-02 1.29104699e+02] [ 1.99214021e-02 -6.11574789e-04 9.99801362e-01 3.70141506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62361786499997 meters 0.021785604053834492 Centerline is valid? [True, True] Translation: X:155.31, Y:129.13, Z:3.70 [[-8.81151754e-02 -9.96109626e-01 1.15287057e-03 1.55311310e+02] [ 9.95909066e-01 -8.81205785e-02 -1.99973876e-02 1.29131773e+02] [ 2.00211819e-02 -6.13919056e-04 9.99799368e-01 3.70234629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65361786499994 meters 0.021785515210166414 Centerline is valid? [True, True] Translation: X:155.31, Y:129.16, Z:3.70 [[-8.78506466e-02 -9.96132962e-01 1.17736881e-03 1.55309488e+02] [ 9.95925898e-01 -8.78564010e-02 -2.03189331e-02 1.29158770e+02] [ 2.03437984e-02 -6.12459315e-04 9.99792856e-01 3.70307951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68361786499995 meters 0.02260581885210651 Centerline is valid? [True, True] Translation: X:155.31, Y:129.19, Z:3.70 [[-8.56562874e-02 -9.96324036e-01 1.18985585e-03 1.55308873e+02] [ 9.96114677e-01 -8.56626888e-02 -2.04317085e-02 1.29186028e+02] [ 2.04585286e-02 -5.64871419e-04 9.99790543e-01 3.70389821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71361786499995 meters 0.019962566525649216 Centerline is valid? [True, True] Translation: X:155.30, Y:129.21, Z:3.71 [[-8.43726468e-02 -9.96433568e-01 1.18392364e-03 1.55300981e+02] [ 9.96228084e-01 -8.43792983e-02 -2.02420078e-02 1.29213607e+02] [ 2.02697147e-02 -5.28413794e-04 9.99794409e-01 3.70578042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74361786499995 meters 0.02000681567604918 Centerline is valid? [True, True] Translation: X:155.30, Y:129.24, Z:3.71 [[-8.27074313e-02 -9.96573184e-01 1.17060972e-03 1.55298920e+02] [ 9.96373997e-01 -8.27143108e-02 -1.99298787e-02 1.29241202e+02] [ 1.99584089e-02 -4.81983991e-04 9.99800695e-01 3.70650290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77361786499995 meters 0.019286468628517156 Centerline is valid? [True, True] Translation: X:155.29, Y:129.27, Z:3.71 [[-8.08606464e-02 -9.96724714e-01 1.18333693e-03 1.55294629e+02] [ 9.96522412e-01 -8.08680806e-02 -2.00856972e-02 1.29269795e+02] [ 2.01156049e-02 -4.44920681e-04 9.99797562e-01 3.70762465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80361786499995 meters 0.019335594086716635 Centerline is valid? [True, True] Translation: X:155.29, Y:129.30, Z:3.71 [[-7.71773202e-02 -9.97016702e-01 1.16482753e-03 1.55292177e+02] [ 9.96821762e-01 -7.71852673e-02 -1.97182254e-02 1.29296857e+02] [ 1.97493076e-02 -3.60674365e-04 9.99804898e-01 3.70840164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83361786499995 meters 0.018883801516987465 Centerline is valid? [True, True] Translation: X:155.29, Y:129.33, Z:3.71 [[-7.57959318e-02 -9.97122669e-01 1.16590604e-03 1.55288647e+02] [ 9.96928582e-01 -7.58041844e-02 -1.96755801e-02 1.29325082e+02] [ 1.97073475e-02 -3.29003876e-04 9.99805737e-01 3.70944825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86361786499995 meters 0.018413896229835268 Centerline is valid? [True, True] Translation: X:155.29, Y:129.35, Z:3.71 [[-7.31323685e-02 -9.97321585e-01 1.14602660e-03 1.55285268e+02] [ 9.97135726e-01 -7.31408658e-02 -1.92550751e-02 1.29353752e+02] [ 1.92873234e-02 -2.65425179e-04 9.99813947e-01 3.71073072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89361786499995 meters 0.01857425035612837 Centerline is valid? [True, True] Translation: X:155.28, Y:129.38, Z:3.71 [[-7.21482082e-02 -9.97393278e-01 1.13321094e-03 1.55284173e+02] [ 9.97212990e-01 -7.21567140e-02 -1.89647471e-02 1.29381059e+02] [ 1.89970800e-02 -2.38219851e-04 9.99819511e-01 3.71166277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92361786499995 meters 0.01857425035612837 Centerline is valid? [True, True] Translation: X:155.28, Y:129.41, Z:3.71 [[-7.24405206e-02 -9.97372086e-01 1.13722673e-03 1.55282458e+02] [ 9.97191798e-01 -7.24490498e-02 -1.89645063e-02 1.29407737e+02] [ 1.89970602e-02 -2.39765538e-04 9.99819511e-01 3.71210034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95361786499996 meters 0.01828817567685235 Centerline is valid? [True, True] Translation: X:155.28, Y:129.44, Z:3.71 [[-7.20282727e-02 -9.97401939e-01 1.14063872e-03 1.55279481e+02] [ 9.97222315e-01 -7.20369492e-02 -1.89296822e-02 1.29435308e+02] [ 1.89626698e-02 -2.26001931e-04 9.99820167e-01 3.71326383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98361786499996 meters 0.01829940421386472 Centerline is valid? [True, True] Translation: X:155.28, Y:129.46, Z:3.71 [[-7.11485078e-02 -9.97465088e-01 1.13520745e-03 1.55277714e+02] [ 9.97288761e-01 -7.11572761e-02 -1.87555191e-02 1.29462358e+02] [ 1.87887537e-02 -2.02297561e-04 9.99823455e-01 3.71432512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01361786499996 meters 0.018204108123559604 Centerline is valid? [True, True] Translation: X:155.28, Y:129.49, Z:3.71 [[-7.11733114e-02 -9.97463313e-01 1.13940018e-03 1.55275575e+02] [ 9.97287313e-01 -7.11821575e-02 -1.87380621e-02 1.29490150e+02] [ 1.87716344e-02 -1.97340577e-04 9.99823778e-01 3.71486990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04361786499996 meters 0.018306639519722483 Centerline is valid? [True, True] Translation: X:155.27, Y:129.52, Z:3.72 [[-7.16518451e-02 -9.97429063e-01 1.13037033e-03 1.55274453e+02] [ 9.97257369e-01 -7.16604850e-02 -1.85071798e-02 1.29517878e+02] [ 1.85406019e-02 -1.98803440e-04 9.99828089e-01 3.71647721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07361786499996 meters 0.018435537772976147 Centerline is valid? [True, True] Translation: X:155.27, Y:129.54, Z:3.72 [[-7.22079619e-02 -9.97388953e-01 1.13418021e-03 1.55273907e+02] [ 9.97217638e-01 -7.22165810e-02 -1.84864087e-02 1.29544734e+02] [ 1.85200464e-02 -2.03841386e-04 9.99828468e-01 3.71680035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10361786499996 meters 0.018627471721928204 Centerline is valid? [True, True] Translation: X:155.27, Y:129.57, Z:3.72 [[-7.33652576e-02 -9.97304442e-01 1.17875899e-03 1.55273370e+02] [ 9.97121142e-01 -7.33743739e-02 -1.91214444e-02 1.29573096e+02] [ 1.91563921e-02 -2.27484186e-04 9.99816474e-01 3.71710032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13361786499996 meters 0.01876317591705172 Centerline is valid? [True, True] Translation: X:155.27, Y:129.60, Z:3.72 [[-7.44611465e-02 -9.97223194e-01 1.19937993e-03 1.55272892e+02] [ 9.97035074e-01 -7.44703972e-02 -1.93706375e-02 1.29600823e+02] [ 1.94061673e-02 -2.46536019e-04 9.99811652e-01 3.71698375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16361786499996 meters 0.019025249601010555 Centerline is valid? [True, True] Translation: X:155.27, Y:129.63, Z:3.72 [[-7.72783472e-02 -9.97008779e-01 1.24532810e-03 1.55273714e+02] [ 9.96807709e-01 -7.72877745e-02 -2.00247496e-02 1.29628926e+02] [ 2.00610998e-02 -3.06126905e-04 9.99798709e-01 3.71728113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19361786499996 meters 0.01951211998457897 Centerline is valid? [True, True] Translation: X:155.27, Y:129.66, Z:3.72 [[-7.88679718e-02 -9.96884238e-01 1.28802610e-03 1.55274354e+02] [ 9.96670809e-01 -7.88777416e-02 -2.06301029e-02 1.29655897e+02] [ 2.06674210e-02 -3.43316356e-04 9.99786347e-01 3.71698032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22361786499997 meters 0.0200530998064768 Centerline is valid? [True, True] Translation: X:155.28, Y:129.68, Z:3.72 [[-8.07646032e-02 -9.96732336e-01 1.31465575e-03 1.55275033e+02] [ 9.96511387e-01 -8.07743841e-02 -2.09894106e-02 1.29683476e+02] [ 2.10270148e-02 -3.85131991e-04 9.99778834e-01 3.71637402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25361786499997 meters 0.01967086093084176 Centerline is valid? [True, True] Translation: X:155.27, Y:129.71, Z:3.72 [[-8.36630818e-02 -9.96493143e-01 1.38005945e-03 1.55274760e+02] [ 9.96251311e-01 -8.36731872e-02 -2.19572994e-02 1.29711445e+02] [ 2.19957723e-02 -4.62129299e-04 9.99757957e-01 3.71736569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28361786499997 meters 0.02128341701094429 Centerline is valid? [True, True] Translation: X:155.28, Y:129.74, Z:3.72 [[-8.51519833e-02 -9.96366998e-01 1.39443181e-03 1.55278576e+02] [ 9.96121972e-01 -8.51619735e-02 -2.21010453e-02 1.29739233e+02] [ 2.21395047e-02 -4.92923677e-04 9.99754770e-01 3.71682730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31361786499997 meters 0.021724886215965963 Centerline is valid? [True, True] Translation: X:155.28, Y:129.77, Z:3.72 [[-8.80306559e-02 -9.96116819e-01 1.37374015e-03 1.55280984e+02] [ 9.95880441e-01 -8.80397012e-02 -2.17061851e-02 1.29766980e+02] [ 2.17428398e-02 -5.42728773e-04 9.99763449e-01 3.71809141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34361786499997 meters 0.02304289551921956 Centerline is valid? [True, True] Translation: X:155.28, Y:129.79, Z:3.72 [[-8.93771125e-02 -9.95996923e-01 1.36400221e-03 1.55283270e+02] [ 9.95765716e-01 -8.93857632e-02 -2.14668385e-02 1.29793963e+02] [ 2.15028274e-02 -5.60417399e-04 9.99768630e-01 3.71870824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37361786499997 meters 0.02043071365642154 Centerline is valid? [True, True] Translation: X:155.28, Y:129.82, Z:3.72 [[-9.04655099e-02 -9.95898687e-01 1.34038916e-03 1.55276935e+02] [ 9.95676827e-01 -9.04736582e-02 -2.10279409e-02 1.29821785e+02] [ 2.10629687e-02 -5.67708972e-04 9.99777990e-01 3.72044727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40361786499994 meters 0.020662460778552338 Centerline is valid? [True, True] Translation: X:155.28, Y:129.85, Z:3.72 [[-9.12991394e-02 -9.95822577e-01 1.36472519e-03 1.55276976e+02] [ 9.95594489e-01 -9.13074465e-02 -2.13205123e-02 1.29849174e+02] [ 2.13560571e-02 -5.87831550e-04 9.99771761e-01 3.72083416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43361786499995 meters 0.02109391629729992 Centerline is valid? [True, True] Translation: X:155.28, Y:129.88, Z:3.72 [[-9.19890366e-02 -9.95759125e-01 1.33465701e-03 1.55278252e+02] [ 9.95542683e-01 -9.19968787e-02 -2.07687537e-02 1.29876837e+02] [ 2.08034603e-02 -5.81789628e-04 9.99783415e-01 3.72049932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46361786499995 meters 0.021072433576639 Centerline is valid? [True, True] Translation: X:155.28, Y:129.91, Z:3.72 [[-9.25260791e-02 -9.95709384e-01 1.32221143e-03 1.55276900e+02] [ 9.95498830e-01 -9.25337142e-02 -2.04839122e-02 1.29905112e+02] [ 2.05183727e-02 -5.79036149e-04 9.99789308e-01 3.72095004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49361786499995 meters 0.02125779639834607 Centerline is valid? [True, True] Translation: X:155.28, Y:129.93, Z:3.72 [[-9.27447627e-02 -9.95689062e-01 1.30452637e-03 1.55276448e+02] [ 9.95485804e-01 -9.27521981e-02 -2.01257219e-02 1.29933473e+02] [ 2.01599589e-02 -5.67917826e-04 9.99796606e-01 3.72144490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52361786499995 meters 0.021272167000956722 Centerline is valid? [True, True] Translation: X:155.28, Y:129.96, Z:3.72 [[-9.27381455e-02 -9.95689712e-01 1.27839477e-03 1.55277421e+02] [ 9.95496125e-01 -9.27453325e-02 -1.96409698e-02 1.29961093e+02] [ 1.96748767e-02 -5.48830080e-04 9.99806280e-01 3.72234233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55361786499995 meters 0.02092876096948448 Centerline is valid? [True, True] Translation: X:155.28, Y:129.99, Z:3.72 [[-9.27455983e-02 -9.95689041e-01 1.25997092e-03 1.55275616e+02] [ 9.95502593e-01 -9.27526227e-02 -1.92753258e-02 1.29989344e+02] [ 1.93090962e-02 -5.33397302e-04 9.99813420e-01 3.72329422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58361786499995 meters 0.02055246724653394 Centerline is valid? [True, True] Translation: X:155.27, Y:130.02, Z:3.72 [[-9.15598592e-02 -9.95798893e-01 1.16452043e-03 1.55274359e+02] [ 9.95640849e-01 -9.15660814e-02 -1.77468929e-02 1.30018196e+02] [ 1.77789669e-02 -4.65458904e-04 9.99841833e-01 3.72437569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61361786499995 meters 0.020545005627689853 Centerline is valid? [True, True] Translation: X:155.27, Y:130.05, Z:3.73 [[-9.06863798e-02 -9.95878789e-01 1.19090450e-03 1.55273455e+02] [ 9.95714772e-01 -9.06930639e-02 -1.80792937e-02 1.30045427e+02] [ 1.81127919e-02 -4.53744493e-04 9.99835847e-01 3.72531511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64361786499995 meters 0.02014548371647257 Centerline is valid? [True, True] Translation: X:155.27, Y:130.07, Z:3.73 [[-8.94577871e-02 -9.95989914e-01 1.18162340e-03 1.55271573e+02] [ 9.95829781e-01 -8.94645982e-02 -1.78643142e-02 1.30073359e+02] [ 1.78983902e-02 -4.21406240e-04 9.99839722e-01 3.72600526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67361786499995 meters 0.01953758750175941 Centerline is valid? [True, True] Translation: X:155.27, Y:130.10, Z:3.73 [[-8.68646620e-02 -9.96219417e-01 1.18484463e-03 1.55270339e+02] [ 9.96059733e-01 -8.68719565e-02 -1.78401929e-02 1.30101981e+02] [ 1.78756763e-02 -3.69506302e-04 9.99840149e-01 3.72650373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70361786499996 meters 0.019507685406197114 Centerline is valid? [True, True] Translation: X:155.27, Y:130.13, Z:3.73 [[-8.57062348e-02 -9.96319738e-01 1.19220171e-03 1.55269487e+02] [ 9.96159317e-01 -8.57138322e-02 -1.78816720e-02 1.30128875e+02] [ 1.79180509e-02 -3.44947935e-04 9.99839399e-01 3.72659423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73361786499996 meters 0.019196331490302747 Centerline is valid? [True, True] Translation: X:155.27, Y:130.16, Z:3.73 [[-8.46979699e-02 -9.96405938e-01 1.20818516e-03 1.55267973e+02] [ 9.96242567e-01 -8.47059640e-02 -1.80457194e-02 1.30156110e+02] [ 1.80832024e-02 -3.24790307e-04 9.99836433e-01 3.72681291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76361786499996 meters 0.018784247284511307 Centerline is valid? [True, True] Translation: X:155.27, Y:130.18, Z:3.73 [[-8.34119954e-02 -9.96514350e-01 1.26033181e-03 1.55265983e+02] [ 9.96338201e-01 -8.34209505e-02 -1.87385632e-02 1.30183995e+02] [ 1.87783852e-02 -3.07304222e-04 9.99823623e-01 3.72726547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79361786499996 meters 0.01834499144601174 Centerline is valid? [True, True] Translation: X:155.26, Y:130.21, Z:3.73 [[-8.12147087e-02 -9.96695793e-01 1.29134487e-03 1.55264445e+02] [ 9.96512395e-01 -8.12245387e-02 -1.91212377e-02 1.30212121e+02] [ 1.91629461e-02 -2.66084588e-04 9.99816338e-01 3.72774685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82361786499996 meters 0.018217658578833985 Centerline is valid? [True, True] Translation: X:155.26, Y:130.24, Z:3.73 [[-8.05677323e-02 -9.96748269e-01 1.31498648e-03 1.55262930e+02] [ 9.96559617e-01 -8.05780687e-02 -1.93934332e-02 1.30239927e+02] [ 1.94363300e-02 -2.52022513e-04 9.99811065e-01 3.72765552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85361786499996 meters 0.01834825047331411 Centerline is valid? [True, True] Translation: X:155.26, Y:130.27, Z:3.73 [[-7.92069175e-02 -9.96857245e-01 1.37717756e-03 1.55264357e+02] [ 9.96651994e-01 -7.92185560e-02 -2.02292818e-02 1.30266811e+02] [ 2.02748042e-02 -2.29732292e-04 9.99794419e-01 3.72824235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88361786499996 meters 0.01815285070700557 Centerline is valid? [True, True] Translation: X:155.26, Y:130.30, Z:3.73 [[-7.88458550e-02 -9.96885844e-01 1.39504304e-03 1.55263295e+02] [ 9.96676576e-01 -7.88578882e-02 -2.04263501e-02 1.30295133e+02] [ 2.04727494e-02 -2.20126314e-04 9.99790387e-01 3.72875469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91361786499996 meters 0.018402601295875277 Centerline is valid? [True, True] Translation: X:155.27, Y:130.32, Z:3.73 [[-7.91482649e-02 -9.96861801e-01 1.45004991e-03 1.55265611e+02] [ 9.96637602e-01 -7.91612179e-02 -2.11421772e-02 1.30321775e+02] [ 2.11906165e-02 -2.28192372e-04 9.99775428e-01 3.72867942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94361786499996 meters 0.018320684935950775 Centerline is valid? [True, True] Translation: X:155.26, Y:130.35, Z:3.73 [[-8.02227497e-02 -9.96775887e-01 1.46339836e-03 1.55264497e+02] [ 9.96549616e-01 -8.02357204e-02 -2.12389226e-02 1.30348565e+02] [ 2.12878628e-02 -2.45495699e-04 9.99773358e-01 3.72947421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97361786499997 meters 0.01816539938008603 Centerline is valid? [True, True] Translation: X:155.26, Y:130.38, Z:3.73 [[-8.09948285e-02 -9.96713413e-01 1.48639483e-03 1.55263512e+02] [ 9.96481966e-01 -8.10080536e-02 -2.14799306e-02 1.30377020e+02] [ 2.15297449e-02 -2.58597654e-04 9.99768175e-01 3.73006750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00361786499997 meters 0.018386370665446593 Centerline is valid? [True, True] Translation: X:155.26, Y:130.40, Z:3.73 [[-8.22249823e-02 -9.96612656e-01 1.50527607e-03 1.55264167e+02] [ 9.96377209e-01 -8.22382777e-02 -2.16638841e-02 1.30404645e+02] [ 2.17142924e-02 -2.81489718e-04 9.99764177e-01 3.73058674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03361786499997 meters 0.01858226789283901 Centerline is valid? [True, True] Translation: X:155.27, Y:130.43, Z:3.73 [[-8.47886283e-02 -9.96397738e-01 1.56094762e-03 1.55265786e+02] [ 9.96146624e-01 -8.48023063e-02 -2.23712552e-02 1.30433643e+02] [ 2.24230401e-02 -3.41895346e-04 9.99748514e-01 3.73215109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06361786499997 meters 0.018907636727987478 Centerline is valid? [True, True] Translation: X:155.27, Y:130.46, Z:3.73 [[-8.64033015e-02 -9.96259019e-01 1.56073777e-03 1.55266293e+02] [ 9.96009807e-01 -8.64166001e-02 -2.22853172e-02 1.30462252e+02] [ 2.23368219e-02 -3.71014856e-04 9.99750433e-01 3.73293053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09361786499997 meters 0.019280186259908325 Centerline is valid? [True, True] Translation: X:155.27, Y:130.49, Z:3.73 [[-8.82982425e-02 -9.96092822e-01 1.58459205e-03 1.55267257e+02] [ 9.95837881e-01 -8.83114981e-02 -2.25387317e-02 1.30489853e+02] [ 2.25906066e-02 -4.12133612e-04 9.99744715e-01 3.73346467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12361786499997 meters 0.020225661926977244 Centerline is valid? [True, True] Translation: X:155.27, Y:130.52, Z:3.73 [[-9.10711982e-02 -9.95843090e-01 1.60517699e-03 1.55271055e+02] [ 9.95583583e-01 -9.10841166e-02 -2.27379006e-02 1.30517460e+02] [ 2.27895874e-02 -4.72679998e-04 9.99740172e-01 3.73418595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15361786499994 meters 0.01990071780736391 Centerline is valid? [True, True] Translation: X:155.27, Y:130.55, Z:3.74 [[-9.25696022e-02 -9.95704878e-01 1.63224158e-03 1.55269630e+02] [ 9.95438658e-01 -9.25826032e-02 -2.30291025e-02 1.30545906e+02] [ 2.30813069e-02 -5.06998496e-04 9.99733463e-01 3.73507899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18361786499995 meters 0.01997032318579775 Centerline is valid? [True, True] Translation: X:155.27, Y:130.57, Z:3.74 [[-9.35119271e-02 -9.95616782e-01 1.65591807e-03 1.55269385e+02] [ 9.95344864e-01 -9.35250963e-02 -2.32735348e-02 1.30573809e+02] [ 2.33263917e-02 -5.28143540e-04 9.99727763e-01 3.73543477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21361786499995 meters 0.020322461531055682 Centerline is valid? [True, True] Translation: X:155.27, Y:130.60, Z:3.74 [[-9.45222245e-02 -9.95521177e-01 1.77065773e-03 1.55270519e+02] [ 9.95212704e-01 -9.45370236e-02 -2.47876102e-02 1.30601821e+02] [ 2.48439836e-02 -5.80798993e-04 9.99691172e-01 3.73558805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24361786499995 meters 0.020403028861126018 Centerline is valid? [True, True] Translation: X:155.27, Y:130.63, Z:3.74 [[-9.49359804e-02 -9.95481727e-01 1.81410820e-03 1.55269876e+02] [ 9.95160488e-01 -9.49514406e-02 -2.52947947e-02 1.30629084e+02] [ 2.53527581e-02 -5.96057335e-04 9.99678389e-01 3.73594732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27361786499995 meters 0.020978515147061803 Centerline is valid? [True, True] Translation: X:155.27, Y:130.66, Z:3.74 [[-9.49102814e-02 -9.95484125e-01 1.84246818e-03 1.55270311e+02] [ 9.95155602e-01 -9.49263034e-02 -2.55797758e-02 1.30655696e+02] [ 2.56391594e-02 -5.94241189e-04 9.99671086e-01 3.73597248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30361786499995 meters 0.020839327345613112 Centerline is valid? [True, True] Translation: X:155.27, Y:130.68, Z:3.74 [[-9.40949479e-02 -9.95561563e-01 1.82047462e-03 1.55269942e+02] [ 9.95243547e-01 -9.41109124e-02 -2.51678088e-02 1.30683328e+02] [ 2.52274296e-02 -5.56348048e-04 9.99681583e-01 3.73740441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33361786499995 meters 0.02036354994574063 Centerline is valid? [True, True] Translation: X:155.27, Y:130.71, Z:3.74 [[-9.25724481e-02 -9.95704351e-01 1.78553312e-03 1.55266236e+02] [ 9.95400782e-01 -9.25883211e-02 -2.45903723e-02 1.30710851e+02] [ 2.46500602e-02 -4.99069903e-04 9.99696017e-01 3.73854750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36361786499995 meters 0.020007189570949217 Centerline is valid? [True, True] Translation: X:155.26, Y:130.74, Z:3.74 [[-9.08128189e-02 -9.95866389e-01 1.77963241e-03 1.55262401e+02] [ 9.95566984e-01 -9.08291592e-02 -2.44222254e-02 1.30738402e+02] [ 2.44829159e-02 -4.46107857e-04 9.99700149e-01 3.73900409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39361786499995 meters 0.019337723072105323 Centerline is valid? [True, True] Translation: X:155.26, Y:130.77, Z:3.74 [[-8.71883473e-02 -9.96190257e-01 1.77864322e-03 1.55258276e+02] [ 9.95893313e-01 -8.72057875e-02 -2.43240619e-02 1.30765002e+02] [ 2.43865015e-02 -3.49435867e-04 9.99702544e-01 3.73920802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42361786499995 meters 0.01878498733888947 Centerline is valid? [True, True] Translation: X:155.25, Y:130.79, Z:3.74 [[-8.59140075e-02 -9.96300955e-01 1.78595221e-03 1.55254891e+02] [ 9.96003486e-01 -8.59319988e-02 -2.43464182e-02 1.30792508e+02] [ 2.44098302e-02 -3.12883728e-04 9.99701987e-01 3.74063673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45361786499996 meters 0.018784535822455335 Centerline is valid? [True, True] Translation: X:155.25, Y:130.82, Z:3.74 [[-8.54549598e-02 -9.96340425e-01 1.79101960e-03 1.55253363e+02] [ 9.96043186e-01 -8.54732146e-02 -2.43372520e-02 1.30819208e+02] [ 2.44012722e-02 -2.95806029e-04 9.99702201e-01 3.74070433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48361786499996 meters 0.01863660316517713 Centerline is valid? [True, True] Translation: X:155.25, Y:130.85, Z:3.74 [[-8.44652028e-02 -9.96424836e-01 1.78188342e-03 1.55251158e+02] [ 9.96132955e-01 -8.44835895e-02 -2.41176264e-02 1.30846052e+02] [ 2.41819419e-02 -2.62107413e-04 9.99707540e-01 3.74123520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51361786499996 meters 0.018455971215207402 Centerline is valid? [True, True] Translation: X:155.25, Y:130.87, Z:3.74 [[-8.41591100e-02 -9.96450782e-01 1.75602838e-03 1.55248012e+02] [ 9.96169497e-01 -8.41770768e-02 -2.36760197e-02 1.30873435e+02] [ 2.37398057e-02 -2.43250838e-04 9.99718142e-01 3.74192627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54361786499996 meters 0.018120216478006608 Centerline is valid? [True, True] Translation: X:155.24, Y:130.90, Z:3.74 [[-8.30083325e-02 -9.96547444e-01 1.67612806e-03 1.55242765e+02] [ 9.96293132e-01 -8.30250150e-02 -2.25131698e-02 1.30899963e+02] [ 2.25746023e-02 -1.98865813e-04 9.99745141e-01 3.74277212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57361786499996 meters 0.01786768330202426 Centerline is valid? [True, True] Translation: X:155.24, Y:130.93, Z:3.74 [[-8.25123463e-02 -9.96588683e-01 1.64627801e-03 1.55238540e+02] [ 9.96345233e-01 -8.25285774e-02 -2.20274925e-02 1.30927611e+02] [ 2.20882148e-02 -1.77278848e-04 9.99756010e-01 3.74406391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60361786499996 meters 0.017759331664703573 Centerline is valid? [True, True] Translation: X:155.24, Y:130.96, Z:3.74 [[-8.19506746e-02 -9.96635044e-01 1.63557642e-03 1.55235531e+02] [ 9.96396532e-01 -8.19668439e-02 -2.18033650e-02 1.30955707e+02] [ 2.18640607e-02 -1.57117794e-04 9.99760941e-01 3.74481905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63361786499996 meters 0.017865223351459205 Centerline is valid? [True, True] Translation: X:155.23, Y:130.98, Z:3.74 [[-8.14850538e-02 -9.96673218e-01 1.63778740e-03 1.55234551e+02] [ 9.96435736e-01 -8.15013895e-02 -2.17565341e-02 1.30982541e+02] [ 2.18176368e-02 -1.40882461e-04 9.99761957e-01 3.74446847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66361786499996 meters 0.017852625955863576 Centerline is valid? [True, True] Translation: X:155.23, Y:131.01, Z:3.74 [[-8.19573798e-02 -9.96634521e-01 1.61840788e-03 1.55233241e+02] [ 9.96404021e-01 -8.19732309e-02 -2.14339856e-02 1.31008846e+02] [ 2.14945161e-02 -1.44085177e-04 9.99768956e-01 3.74454641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69361786499996 meters 0.01776696970079381 Centerline is valid? [True, True] Translation: X:155.23, Y:131.04, Z:3.75 [[-8.25876160e-02 -9.96582405e-01 1.67215802e-03 1.55231017e+02] [ 9.96338320e-01 -8.26043961e-02 -2.20559600e-02 1.31037108e+02] [ 2.21187093e-02 -1.55514041e-04 9.99755339e-01 3.74566866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72361786499997 meters 0.01803179595750064 Centerline is valid? [True, True] Translation: X:155.23, Y:131.06, Z:3.75 [[-8.38279002e-02 -9.96478848e-01 1.67023074e-03 1.55230548e+02] [ 9.96237084e-01 -8.38443530e-02 -2.19498568e-02 1.31064115e+02] [ 2.20126074e-02 -1.76064604e-04 9.99757678e-01 3.74531028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75361786499997 meters 0.018031265729802834 Centerline is valid? [True, True] Translation: X:155.23, Y:131.09, Z:3.75 [[-8.62995516e-02 -9.96267957e-01 1.59514539e-03 1.55229267e+02] [ 9.96049055e-01 -8.63140285e-02 -2.08846478e-02 1.31090854e+02] [ 2.09443889e-02 -2.13492682e-04 9.99780619e-01 3.74561640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78361786499997 meters 0.018252790027774482 Centerline is valid? [True, True] Translation: X:155.23, Y:131.12, Z:3.75 [[-8.81883251e-02 -9.96102566e-01 1.58028469e-03 1.55227477e+02] [ 9.95889409e-01 -8.82021466e-02 -2.06074326e-02 1.31118779e+02] [ 2.06665010e-02 -2.43546175e-04 9.99786395e-01 3.74594060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81361786499997 meters 0.01897792568530022 Centerline is valid? [True, True] Translation: X:155.23, Y:131.15, Z:3.75 [[-9.23392556e-02 -9.95726423e-01 1.53386123e-03 1.55229054e+02] [ 9.95526945e-01 -9.23514620e-02 -1.99326395e-02 1.31146242e+02] [ 1.99891101e-02 -3.13564902e-04 9.99800149e-01 3.74635728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84361786499997 meters 0.01897792568530022 Centerline is valid? [True, True] Translation: X:155.23, Y:131.17, Z:3.75 [[-9.26339298e-02 -9.95699043e-01 1.53957875e-03 1.55226884e+02] [ 9.95499568e-01 -9.26461916e-02 -1.99321980e-02 1.31172910e+02] [ 1.99891066e-02 -3.13747851e-04 9.99800149e-01 3.74679447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87361786499997 meters 0.01910639892824366 Centerline is valid? [True, True] Translation: X:155.23, Y:131.20, Z:3.75 [[-9.52832092e-02 -9.95449086e-01 1.49237224e-03 1.55225837e+02] [ 9.95263002e-01 -9.52942569e-02 -1.92499558e-02 1.31200658e+02] [ 1.93045654e-02 -3.48894690e-04 9.99813589e-01 3.74754227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90361786499994 meters 0.01970662262551516 Centerline is valid? [True, True] Translation: X:155.23, Y:131.23, Z:3.75 [[-9.80445161e-02 -9.95180960e-01 1.45923734e-03 1.55226260e+02] [ 9.95004241e-01 -9.80546104e-02 -1.87577847e-02 1.31227914e+02] [ 1.88104752e-02 -3.87150582e-04 9.99822992e-01 3.74803676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93361786499995 meters 0.02012085910819254 Centerline is valid? [True, True] Translation: X:155.23, Y:131.26, Z:3.75 [[-1.00728574e-01 -9.94912881e-01 1.45355743e-03 1.55225804e+02] [ 9.94738774e-01 -1.00738146e-01 -1.86171024e-02 1.31255975e+02] [ 1.86688237e-02 -4.29364236e-04 9.99825630e-01 3.74853293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96361786499995 meters 0.02074331471255518 Centerline is valid? [True, True] Translation: X:155.22, Y:131.28, Z:3.75 [[-1.03858293e-01 -9.94591162e-01 1.36930703e-03 1.55223903e+02] [ 9.94437614e-01 -1.03866327e-01 -1.74819044e-02 1.31283486e+02] [ 1.75295726e-02 -4.53950338e-04 9.99846242e-01 3.74966055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99361786499995 meters 0.021278469957405215 Centerline is valid? [True, True] Translation: X:155.22, Y:131.31, Z:3.75 [[-1.04488591e-01 -9.94525223e-01 1.30998118e-03 1.55221554e+02] [ 9.94385373e-01 -1.04495873e-01 -1.66835994e-02 1.31309562e+02] [ 1.67291480e-02 -4.40619661e-04 9.99859961e-01 3.74953727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02361786499995 meters 0.021462223762865447 Centerline is valid? [True, True] Translation: X:155.22, Y:131.34, Z:3.75 [[-1.05905607e-01 -9.94375215e-01 1.39074854e-03 1.55219857e+02] [ 9.94218898e-01 -1.05913627e-01 -1.76376323e-02 1.31337284e+02] [ 1.76857237e-02 -4.85215682e-04 9.99843478e-01 3.74863258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05361786499995 meters 0.02167125299669507 Centerline is valid? [True, True] Translation: X:155.22, Y:131.36, Z:3.75 [[-1.06582390e-01 -9.94302809e-01 1.45535384e-03 1.55218017e+02] [ 9.94132836e-01 -1.06591089e-01 -1.83914016e-02 1.31364681e+02] [ 1.84417500e-02 -5.13384498e-04 9.99829805e-01 3.74850112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08361786499995 meters 0.021880127869304693 Centerline is valid? [True, True] Translation: X:155.22, Y:131.39, Z:3.75 [[-1.07118007e-01 -9.94245218e-01 1.47609614e-03 1.55215924e+02] [ 9.94071685e-01 -1.07126899e-01 -1.85825902e-02 1.31391510e+02] [ 1.86337811e-02 -5.23184653e-04 9.99826239e-01 3.74867495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11361786499995 meters 0.022631944549559715 Centerline is valid? [True, True] Translation: X:155.21, Y:131.42, Z:3.75 [[-1.07534504e-01 -9.94200189e-01 1.52167012e-03 1.55214286e+02] [ 9.94017183e-01 -1.07543917e-01 -1.90826248e-02 1.31417743e+02] [ 1.91355955e-02 -5.39474359e-04 9.99816752e-01 3.74832766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14361786499995 meters 0.020812541517292994 Centerline is valid? [True, True] Translation: X:155.21, Y:131.44, Z:3.75 [[-1.07417398e-01 -9.94212866e-01 1.51018696e-03 1.55207162e+02] [ 9.94033977e-01 -1.07426728e-01 -1.88666375e-02 1.31444964e+02] [ 1.89196882e-02 -5.25427969e-04 9.99820869e-01 3.74896977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17361786499995 meters 0.020766233879804242 Centerline is valid? [True, True] Translation: X:155.20, Y:131.47, Z:3.75 [[-1.06051280e-01 -9.94359492e-01 1.52518305e-03 1.55201459e+02] [ 9.94178249e-01 -1.06061079e-01 -1.89909488e-02 1.31471752e+02] [ 1.90455928e-02 -4.97710612e-04 9.99818492e-01 3.74875577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20361786499996 meters 0.02258753189223513 Centerline is valid? [True, True] Translation: X:155.20, Y:131.50, Z:3.75 [[-1.05424762e-01 -9.94426144e-01 1.50441195e-03 1.55202134e+02] [ 9.94250666e-01 -1.05434429e-01 -1.86867691e-02 1.31499067e+02] [ 1.87412285e-02 -4.74285600e-04 9.99824255e-01 3.74880572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23361786499996 meters 0.021479291444350526 Centerline is valid? [True, True] Translation: X:155.20, Y:131.53, Z:3.75 [[-1.04825654e-01 -9.94489540e-01 1.46186200e-03 1.55196908e+02] [ 9.94324966e-01 -1.04834909e-01 -1.80970484e-02 1.31526106e+02] [ 1.81505796e-02 -4.43469055e-04 9.99835166e-01 3.75000354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26361786499996 meters 0.020307271110444985 Centerline is valid? [True, True] Translation: X:155.19, Y:131.55, Z:3.75 [[-1.04127804e-01 -9.94562938e-01 1.40095385e-03 1.55191366e+02] [ 9.94412835e-01 -1.04136435e-01 -1.72833960e-02 1.31553707e+02] [ 1.73353154e-02 -4.06555578e-04 9.99849649e-01 3.75147918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29361786499996 meters 0.02193904527984531 Centerline is valid? [True, True] Translation: X:155.19, Y:131.58, Z:3.75 [[-1.02800049e-01 -9.94701146e-01 1.33414970e-03 1.55191346e+02] [ 9.94565894e-01 -1.02808077e-01 -1.64067405e-02 1.31580475e+02] [ 1.64569650e-02 -3.59713940e-04 9.99864510e-01 3.75264167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32361786499996 meters 0.021107121900464793 Centerline is valid? [True, True] Translation: X:155.19, Y:131.61, Z:3.75 [[-1.02814864e-01 -9.94699666e-01 1.29567993e-03 1.55186143e+02] [ 9.94572921e-01 -1.02822451e-01 -1.58823460e-02 1.31607480e+02] [ 1.59313892e-02 -3.44293073e-04 9.99873028e-01 3.75298164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35361786499996 meters 0.020213595807919642 Centerline is valid? [True, True] Translation: X:155.18, Y:131.63, Z:3.75 [[-1.02757717e-01 -9.94705610e-01 1.26550511e-03 1.55180576e+02] [ 9.94585516e-01 -1.02764980e-01 -1.54599347e-02 1.31634272e+02] [ 1.55081334e-02 -3.29974536e-04 9.99879687e-01 3.75337139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38361786499996 meters 0.020382132020711322 Centerline is valid? [True, True] Translation: X:155.18, Y:131.66, Z:3.75 [[-1.02819745e-01 -9.94699276e-01 1.20463596e-03 1.55176636e+02] [ 9.94591200e-01 -1.02826334e-01 -1.46659284e-02 1.31660084e+02] [ 1.47120567e-02 -3.09826692e-04 9.99891724e-01 3.75363543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41361786499996 meters 0.02050376265461622 Centerline is valid? [True, True] Translation: X:155.17, Y:131.69, Z:3.75 [[-1.02749190e-01 -9.94706572e-01 1.20012049e-03 1.55173953e+02] [ 9.94600116e-01 -1.02755755e-01 -1.45555497e-02 1.31686552e+02] [ 1.46018203e-02 -3.01930972e-04 9.99893342e-01 3.75415788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44361786499996 meters 0.020468071796037334 Centerline is valid? [True, True] Translation: X:155.17, Y:131.71, Z:3.76 [[-1.02885772e-01 -9.94692522e-01 1.14186481e-03 1.55170835e+02] [ 9.94596835e-01 -1.02891716e-01 -1.37996695e-02 1.31713165e+02] [ 1.38439165e-02 -2.84094529e-04 9.99904128e-01 3.75537794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47361786499997 meters 0.020427971954120498 Centerline is valid? [True, True] Translation: X:155.17, Y:131.74, Z:3.76 [[-1.02829684e-01 -9.94698344e-01 1.12235925e-03 1.55168225e+02] [ 9.94606535e-01 -1.02835445e-01 -1.35170910e-02 1.31740612e+02] [ 1.35608463e-02 -2.73652346e-04 9.99908010e-01 3.75608732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50361786499997 meters 0.02057469053798714 Centerline is valid? [True, True] Translation: X:155.17, Y:131.77, Z:3.76 [[-1.03233884e-01 -9.94656511e-01 1.09097034e-03 1.55165387e+02] [ 9.94570342e-01 -1.03239303e-01 -1.30951075e-02 1.31766666e+02] [ 1.31377650e-02 -2.66812059e-04 9.99913660e-01 3.75639221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53361786499997 meters 0.020882918946921514 Centerline is valid? [True, True] Translation: X:155.16, Y:131.79, Z:3.76 [[-1.04229577e-01 -9.94552642e-01 1.11293739e-03 1.55161807e+02] [ 9.94463632e-01 -1.04235141e-01 -1.33086172e-02 1.31792939e+02] [ 1.33521276e-02 -2.80375775e-04 9.99910817e-01 3.75648942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56361786499997 meters 0.02038018925597969 Centerline is valid? [True, True] Translation: X:155.16, Y:131.82, Z:3.76 [[-1.05226465e-01 -9.94447672e-01 1.10373414e-03 1.55157709e+02] [ 9.94360752e-01 -1.05231863e-01 -1.31510439e-02 1.31820073e+02] [ 1.31941730e-02 -2.86327941e-04 9.99912912e-01 3.75585542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59361786499997 meters 0.020399881643890495 Centerline is valid? [True, True] Translation: X:155.16, Y:131.85, Z:3.76 [[-1.06026100e-01 -9.94362716e-01 1.12022588e-03 1.55155213e+02] [ 9.94273817e-01 -1.06031603e-01 -1.32994842e-02 1.31846971e+02] [ 1.33432906e-02 -2.96281174e-04 9.99910930e-01 3.75627178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62361786499997 meters 0.02022661734827613 Centerline is valid? [True, True] Translation: X:155.15, Y:131.88, Z:3.76 [[-1.07398589e-01 -9.94215421e-01 1.11342738e-03 1.55151787e+02] [ 9.94128217e-01 -1.07403920e-01 -1.31713893e-02 1.31875200e+02] [ 1.32147849e-02 -3.07699050e-04 9.99912634e-01 3.75630761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65361786499994 meters 0.020729410177487143 Centerline is valid? [True, True] Translation: X:155.15, Y:131.90, Z:3.76 [[-1.08406887e-01 -9.94106001e-01 1.09789109e-03 1.55150446e+02] [ 9.94021734e-01 -1.08411997e-01 -1.29472802e-02 1.31901877e+02] [ 1.29899936e-02 -3.12246744e-04 9.99915578e-01 3.75673727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68361786499995 meters 0.020473940721893905 Centerline is valid? [True, True] Translation: X:155.15, Y:131.93, Z:3.76 [[-1.08926921e-01 -9.94049120e-01 1.12821473e-03 1.55147310e+02] [ 9.93960755e-01 -1.08932285e-01 -1.32579836e-02 1.31929395e+02] [ 1.33019860e-02 -3.22750161e-04 9.99911473e-01 3.75719123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71361786499995 meters 0.021791041329683312 Centerline is valid? [True, True] Translation: X:155.15, Y:131.96, Z:3.76 [[-1.09918645e-01 -9.93939985e-01 1.09433489e-03 1.55147237e+02] [ 9.93857342e-01 -1.09923622e-01 -1.28210886e-02 1.31956175e+02] [ 1.28636858e-02 -3.21663920e-04 9.99917208e-01 3.75740382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74361786499995 meters 0.020857022338880662 Centerline is valid? [True, True] Translation: X:155.14, Y:131.98, Z:3.76 [[-1.10255118e-01 -9.93902743e-01 1.07052175e-03 1.55142487e+02] [ 9.93824179e-01 -1.10259867e-01 -1.25005195e-02 1.31984348e+02] [ 1.25423362e-02 -3.14335861e-04 9.99921292e-01 3.75748519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77361786499995 meters 0.021005236232551294 Centerline is valid? [True, True] Translation: X:155.14, Y:132.01, Z:3.76 [[-1.10540358e-01 -9.93871034e-01 1.09370551e-03 1.55140532e+02] [ 9.93789540e-01 -1.10545304e-01 -1.27313137e-02 1.32011887e+02] [ 1.27741879e-02 -3.20410873e-04 9.99918355e-01 3.75776918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80361786499995 meters 0.02129139556576185 Centerline is valid? [True, True] Translation: X:155.14, Y:132.04, Z:3.76 [[-1.10823546e-01 -9.93839509e-01 1.08227997e-03 1.55139249e+02] [ 9.93760246e-01 -1.10828380e-01 -1.25556207e-02 1.32038489e+02] [ 1.25982193e-02 -3.15931600e-04 9.99920589e-01 3.75803893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83361786499995 meters 0.020806660351307193 Centerline is valid? [True, True] Translation: X:155.14, Y:132.07, Z:3.76 [[-1.10616778e-01 -9.93862529e-01 1.09665691e-03 1.55135688e+02] [ 9.93781754e-01 -1.10621774e-01 -1.26747581e-02 1.32065652e+02] [ 1.27182812e-02 -3.12203275e-04 9.99919071e-01 3.75820693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86361786499995 meters 0.02124197445155411 Centerline is valid? [True, True] Translation: X:155.13, Y:132.09, Z:3.76 [[-1.10698473e-01 -9.93853419e-01 1.10932653e-03 1.55134281e+02] [ 9.93771349e-01 -1.10703592e-01 -1.27758176e-02 1.32092387e+02] [ 1.28200964e-02 -3.11846573e-04 9.99917771e-01 3.75853476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89361786499995 meters 0.020642094053240863 Centerline is valid? [True, True] Translation: X:155.13, Y:132.12, Z:3.76 [[-1.10433740e-01 -9.93882781e-01 1.18572954e-03 1.55130527e+02] [ 9.93789714e-01 -1.10439630e-01 -1.36048645e-02 1.32119001e+02] [ 1.36525921e-02 -3.24070249e-04 9.99906747e-01 3.75788451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92361786499995 meters 0.020244767642973626 Centerline is valid? [True, True] Translation: X:155.13, Y:132.15, Z:3.76 [[-1.10817584e-01 -9.93840076e-01 1.16929629e-03 1.55126977e+02] [ 9.93750192e-01 -1.10823292e-01 -1.33699086e-02 1.32146720e+02] [ 1.34171362e-02 -3.19632563e-04 9.99909935e-01 3.75779674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95361786499996 meters 0.02020675723764306 Centerline is valid? [True, True] Translation: X:155.12, Y:132.17, Z:3.76 [[-1.11045583e-01 -9.93814554e-01 1.22904198e-03 1.55124664e+02] [ 9.93715904e-01 -1.11051882e-01 -1.40064547e-02 1.32174468e+02] [ 1.40563060e-02 -3.34036365e-04 9.99901149e-01 3.75806436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98361786499996 meters 0.020577646790329297 Centerline is valid? [True, True] Translation: X:155.12, Y:132.20, Z:3.76 [[-1.11961840e-01 -9.93711796e-01 1.18898684e-03 1.55123831e+02] [ 9.93620010e-01 -1.11967663e-01 -1.35098994e-02 1.32201149e+02] [ 1.35580744e-02 -3.31192065e-04 9.99908030e-01 3.75804758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01361786499996 meters 0.02085165545707009 Centerline is valid? [True, True] Translation: X:155.12, Y:132.23, Z:3.76 [[-1.12774414e-01 -9.93619892e-01 1.20115610e-03 1.55122467e+02] [ 9.93526828e-01 -1.12780296e-01 -1.36031669e-02 1.32228534e+02] [ 1.36518440e-02 -3.40708367e-04 9.99906751e-01 3.75867398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04361786499996 meters 0.020494589646993217 Centerline is valid? [True, True] Translation: X:155.12, Y:132.26, Z:3.76 [[-1.14279231e-01 -9.93448015e-01 1.13947414e-03 1.55120163e+02] [ 9.93364813e-01 -1.14284412e-01 -1.28616460e-02 1.32256336e+02] [ 1.29076009e-02 -3.37905506e-04 9.99916636e-01 3.75908071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07361786499996 meters 0.020704628278303695 Centerline is valid? [True, True] Translation: X:155.12, Y:132.28, Z:3.76 [[-1.14923950e-01 -9.93373642e-01 1.13715996e-03 1.55118417e+02] [ 9.93291227e-01 -1.14929068e-01 -1.28003037e-02 1.32284486e+02] [ 1.28461770e-02 -3.41530439e-04 9.99917426e-01 3.76008836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10361786499996 meters 0.02103300986397909 Centerline is valid? [True, True] Translation: X:155.12, Y:132.31, Z:3.76 [[-1.16043481e-01 -9.93243521e-01 1.10380278e-03 1.55116579e+02] [ 9.93166323e-01 -1.16048228e-01 -1.23880127e-02 1.32312293e+02] [ 1.24324078e-02 -3.41288369e-04 9.99922656e-01 3.76061528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13361786499996 meters 0.022563340592293635 Centerline is valid? [True, True] Translation: X:155.12, Y:132.34, Z:3.76 [[-1.17098087e-01 -9.93119753e-01 1.09291804e-03 1.55117951e+02] [ 9.93044510e-01 -1.17102674e-01 -1.22296412e-02 1.32339502e+02] [ 1.22734819e-02 -3.46751335e-04 9.99924618e-01 3.76124169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16361786499996 meters 0.021310434167402866 Centerline is valid? [True, True] Translation: X:155.11, Y:132.37, Z:3.76 [[-1.17838300e-01 -9.93032174e-01 1.11162559e-03 1.55113187e+02] [ 9.92954847e-01 -1.17843002e-01 -1.23975406e-02 1.32367628e+02] [ 1.24421540e-02 -3.57111093e-04 9.99922530e-01 3.76107045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19361786499996 meters 0.02145177742449649 Centerline is valid? [True, True] Translation: X:155.11, Y:132.40, Z:3.76 [[-1.18291541e-01 -9.92978288e-01 1.10949566e-03 1.55111652e+02] [ 9.92901718e-01 -1.18296203e-01 -1.23364300e-02 1.32395634e+02] [ 1.23810562e-02 -3.57675165e-04 9.99923288e-01 3.76140588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22361786499997 meters 0.02302545049937046 Centerline is valid? [True, True] Translation: X:155.11, Y:132.42, Z:3.76 [[-1.18830983e-01 -9.92913859e-01 1.12550237e-03 1.55113188e+02] [ 9.92835560e-01 -1.18835753e-01 -1.24745481e-02 1.32421787e+02] [ 1.25199016e-02 -3.64924040e-04 9.99921556e-01 3.76229416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25361786499997 meters 0.021378888736726543 Centerline is valid? [True, True] Translation: X:155.11, Y:132.45, Z:3.76 [[-1.18630264e-01 -9.92937803e-01 1.17472213e-03 1.55108207e+02] [ 9.92852958e-01 -1.18635490e-01 -1.29855671e-02 1.32449251e+02] [ 1.30332242e-02 -3.74154916e-04 9.99914994e-01 3.76166619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28361786499997 meters 0.021967058170184323 Centerline is valid? [True, True] Translation: X:155.11, Y:132.48, Z:3.76 [[-1.18181923e-01 -9.92991236e-01 1.19947392e-03 1.55106917e+02] [ 9.92903334e-01 -1.18187427e-01 -1.32174914e-02 1.32475380e+02] [ 1.32666159e-02 -3.71106896e-04 9.99911926e-01 3.76219467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31361786499997 meters 0.020599518510784117 Centerline is valid? [True, True] Translation: X:155.10, Y:132.50, Z:3.76 [[-1.16984146e-01 -9.93132990e-01 1.25425875e-03 1.55101199e+02] [ 9.93037392e-01 -1.16990294e-01 -1.37843703e-02 1.32503732e+02] [ 1.38364490e-02 -3.67026953e-04 9.99904204e-01 3.76170784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34361786499997 meters 0.02148139871051656 Centerline is valid? [True, True] Translation: X:155.10, Y:132.53, Z:3.76 [[-1.16225769e-01 -9.93222031e-01 1.25207809e-03 1.55100660e+02] [ 9.93127310e-01 -1.16231982e-01 -1.37212749e-02 1.32530939e+02] [ 1.37738041e-02 -3.51292782e-04 9.99905075e-01 3.76190148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37361786499997 meters 0.02075309511445133 Centerline is valid? [True, True] Translation: X:155.10, Y:132.56, Z:3.76 [[-1.15926515e-01 -9.93256985e-01 1.26705911e-03 1.55096382e+02] [ 9.93160569e-01 -1.15932922e-01 -1.38434734e-02 1.32557598e+02] [ 1.38970205e-02 -3.46432479e-04 9.99903372e-01 3.76166976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40361786499994 meters 0.021334937728859454 Centerline is valid? [True, True] Translation: X:155.10, Y:132.58, Z:3.76 [[-1.15344965e-01 -9.93324619e-01 1.31893176e-03 1.55095665e+02] [ 9.93220866e-01 -1.15351985e-01 -1.43607365e-02 1.32584408e+02] [ 1.44170145e-02 -3.46448106e-04 9.99896009e-01 3.76227891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43361786499995 meters 0.020201900539594666 Centerline is valid? [True, True] Translation: X:155.09, Y:132.61, Z:3.76 [[-1.15505022e-01 -9.93306035e-01 1.30797662e-03 1.55090544e+02] [ 9.93204660e-01 -1.15511926e-01 -1.41950471e-02 1.32612557e+02] [ 1.42511129e-02 -3.40510758e-04 9.99898390e-01 3.76247036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46361786499995 meters 0.020937403499277342 Centerline is valid? [True, True] Translation: X:155.09, Y:132.64, Z:3.76 [[-1.15657215e-01 -9.93288334e-01 1.30150570e-03 1.55089753e+02] [ 9.93188525e-01 -1.15664048e-01 -1.40848008e-02 1.32638913e+02] [ 1.41408057e-02 -3.36368296e-04 9.99899957e-01 3.76325098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49361786499995 meters 0.020354455992756752 Centerline is valid? [True, True] Translation: X:155.09, Y:132.67, Z:3.76 [[-1.16002464e-01 -9.93248144e-01 1.24630273e-03 1.55085431e+02] [ 9.93157223e-01 -1.16008713e-01 -1.34427904e-02 1.32665473e+02] [ 1.34966086e-02 -3.21622250e-04 9.99908865e-01 3.76371807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52361786499995 meters 0.02198444111734326 Centerline is valid? [True, True] Translation: X:155.09, Y:132.69, Z:3.76 [[-1.16554977e-01 -9.93183459e-01 1.24674140e-03 1.55086422e+02] [ 9.93093052e-01 -1.16561194e-01 -1.34044344e-02 1.32691819e+02] [ 1.34583842e-02 -3.24223322e-04 9.99909379e-01 3.76467951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55361786499995 meters 0.021368841735177845 Centerline is valid? [True, True] Translation: X:155.08, Y:132.72, Z:3.77 [[-1.16934332e-01 -9.93138909e-01 1.21186430e-03 1.55082556e+02] [ 9.93054056e-01 -1.16940187e-01 -1.29859334e-02 1.32719155e+02] [ 1.30385514e-02 -3.15054690e-04 9.99914945e-01 3.76525323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58361786499995 meters 0.020871749806942244 Centerline is valid? [True, True] Translation: X:155.08, Y:132.75, Z:3.77 [[-1.17871295e-01 -9.93028152e-01 1.20294615e-03 1.55078906e+02] [ 9.92945039e-01 -1.17876998e-01 -1.28515964e-02 1.32746293e+02] [ 1.29037967e-02 -3.20374899e-04 9.99916691e-01 3.76528456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61361786499995 meters 0.020343386735229587 Centerline is valid? [True, True] Translation: X:155.08, Y:132.77, Z:3.77 [[-1.18550143e-01 -9.92947300e-01 1.23395364e-03 1.55075100e+02] [ 9.92860402e-01 -1.18556098e-01 -1.31405250e-02 1.32773110e+02] [ 1.31941415e-02 -3.32667412e-04 9.99912898e-01 3.76517667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64361786499995 meters 0.021458725060390985 Centerline is valid? [True, True] Translation: X:155.07, Y:132.80, Z:3.77 [[-1.19664354e-01 -9.92813567e-01 1.28950125e-03 1.55074656e+02] [ 9.92719310e-01 -1.19670768e-01 -1.36850236e-02 1.32799955e+02] [ 1.37409927e-02 -3.57496715e-04 9.99905524e-01 3.76537086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67361786499995 meters 0.021523798316889508 Centerline is valid? [True, True] Translation: X:155.07, Y:132.83, Z:3.77 [[-1.20597293e-01 -9.92700680e-01 1.28557697e-03 1.55071600e+02] [ 9.92607558e-01 -1.20603595e-01 -1.36018088e-02 1.32827978e+02] [ 1.36575701e-02 -3.64267916e-04 9.99906665e-01 3.76534338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70361786499996 meters 0.020495229396009628 Centerline is valid? [True, True] Translation: X:155.07, Y:132.86, Z:3.77 [[-1.21636227e-01 -9.92573957e-01 1.25196405e-03 1.55066278e+02] [ 9.92486096e-01 -1.21642124e-01 -1.32114490e-02 1.32855594e+02] [ 1.32656318e-02 -3.64433896e-04 9.99911941e-01 3.76529609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73361786499996 meters 0.020495229396009628 Centerline is valid? [True, True] Translation: X:155.06, Y:132.88, Z:3.77 [[-1.21904508e-01 -9.92541039e-01 1.25554301e-03 1.55063598e+02] [ 9.92453180e-01 -1.21910428e-01 -1.32111087e-02 1.32883049e+02] [ 1.32656314e-02 -3.64426052e-04 9.99911941e-01 3.76574702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76361786499996 meters 0.020722015650293763 Centerline is valid? [True, True] Translation: X:155.06, Y:132.91, Z:3.77 [[-1.22701435e-01 -9.92442825e-01 1.26361681e-03 1.55061451e+02] [ 9.92354337e-01 -1.22707375e-01 -1.32578153e-02 1.32910639e+02] [ 1.33126787e-02 -3.72797330e-04 9.99911313e-01 3.76608186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79361786499996 meters 0.02064718531084343 Centerline is valid? [True, True] Translation: X:155.06, Y:132.94, Z:3.77 [[-1.24367296e-01 -9.92235384e-01 1.31078390e-03 1.55059222e+02] [ 9.92140722e-01 -1.24373545e-01 -1.37116392e-02 1.32938959e+02] [ 1.37682004e-02 -4.04797405e-04 9.99905132e-01 3.76615650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82361786499996 meters 0.020773704639788605 Centerline is valid? [True, True] Translation: X:155.06, Y:132.97, Z:3.77 [[-1.25473982e-01 -9.92096004e-01 1.34119275e-03 1.55056897e+02] [ 9.91997437e-01 -1.25480430e-01 -1.39909610e-02 1.32967159e+02] [ 1.40486699e-02 -4.25041819e-04 9.99901222e-01 3.76622416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85361786499996 meters 0.02107623195659373 Centerline is valid? [True, True] Translation: X:155.05, Y:132.99, Z:3.77 [[-1.26377022e-01 -9.91981287e-01 1.40542404e-03 1.55054847e+02] [ 9.91873660e-01 -1.26384023e-01 -1.46192326e-02 1.32994929e+02] [ 1.46796283e-02 -4.53532000e-04 9.99892146e-01 3.76641285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88361786499996 meters 0.021315017428775538 Centerline is valid? [True, True] Translation: X:155.05, Y:133.02, Z:3.77 [[-1.28177875e-01 -9.91750209e-01 1.39854760e-03 1.55051918e+02] [ 9.91644223e-01 -1.28184634e-01 -1.45063848e-02 1.33022777e+02] [ 1.45659825e-02 -4.72535943e-04 9.99893799e-01 3.76651361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91361786499996 meters 0.021893823186457842 Centerline is valid? [True, True] Translation: X:155.05, Y:133.05, Z:3.77 [[-1.29286252e-01 -9.91606362e-01 1.37378877e-03 1.55049781e+02] [ 9.91504611e-01 -1.29292676e-01 -1.42130221e-02 1.33050010e+02] [ 1.42713440e-02 -4.75430451e-04 9.99898046e-01 3.76727690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94361786499996 meters 0.021478072796888893 Centerline is valid? [True, True] Translation: X:155.05, Y:133.08, Z:3.77 [[-1.30695155e-01 -9.91421742e-01 1.30624278e-03 1.55045519e+02] [ 9.91330268e-01 -1.30700850e-01 -1.34754455e-02 1.33078380e+02] [ 1.35305767e-02 -4.66257429e-04 9.99908349e-01 3.76823325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97361786499997 meters 0.022234531165801385 Centerline is valid? [True, True] Translation: X:155.04, Y:133.11, Z:3.77 [[-1.31130676e-01 -9.91364268e-01 1.27800002e-03 1.55044362e+02] [ 9.91277145e-01 -1.31136105e-01 -1.31508365e-02 1.33105111e+02] [ 1.32048613e-02 -4.57625864e-04 9.99912707e-01 3.76904054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00361786499997 meters 0.022795897254182112 Centerline is valid? [True, True] Translation: X:155.04, Y:133.13, Z:3.77 [[-1.31979164e-01 -9.91251633e-01 1.30411301e-03 1.55042426e+02] [ 9.91161462e-01 -1.31984759e-01 -1.33783203e-02 1.33131691e+02] [ 1.34334049e-02 -4.73072961e-04 9.99909656e-01 3.76947856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03361786499997 meters 0.02231617190733467 Centerline is valid? [True, True] Translation: X:155.04, Y:133.16, Z:3.77 [[-1.32172148e-01 -9.91225805e-01 1.38820493e-03 1.55038078e+02] [ 9.91124271e-01 -1.32178491e-01 -1.41960063e-02 1.33159257e+02] [ 1.42549386e-02 -5.00433053e-04 9.99898268e-01 3.76927360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06361786499997 meters 0.022500735737406716 Centerline is valid? [True, True] Translation: X:155.04, Y:133.19, Z:3.77 [[-1.32391900e-01 -9.91196465e-01 1.39721427e-03 1.55035017e+02] [ 9.91094166e-01 -1.32398322e-01 -1.42491491e-02 1.33186183e+02] [ 1.43086950e-02 -5.01701010e-04 9.99897500e-01 3.76927840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09361786499997 meters 0.021332948002219992 Centerline is valid? [True, True] Translation: X:155.03, Y:133.21, Z:3.77 [[-1.32685712e-01 -9.91157117e-01 1.43902779e-03 1.55028819e+02] [ 9.91049292e-01 -1.32692516e-01 -1.46286460e-02 1.33213618e+02] [ 1.46902348e-02 -5.14864835e-04 9.99891960e-01 3.76882354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12361786499997 meters 0.021702438141465497 Centerline is valid? [True, True] Translation: X:155.02, Y:133.24, Z:3.77 [[-1.32520718e-01 -9.91179059e-01 1.52712989e-03 1.55024892e+02] [ 9.91058359e-01 -1.32528427e-01 -1.54772552e-02 1.33240232e+02] [ 1.55431194e-02 -5.37582144e-04 9.99879054e-01 3.76827227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15361786499994 meters 0.02118948825027544 Centerline is valid? [True, True] Translation: X:155.02, Y:133.27, Z:3.77 [[-1.32584058e-01 -9.91170458e-01 1.60954490e-03 1.55020522e+02] [ 9.91036952e-01 -1.32592633e-01 -1.62773976e-02 1.33267830e+02] [ 1.63470894e-02 -5.63004963e-04 9.99866219e-01 3.76862596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18361786499995 meters 0.020966454074462373 Centerline is valid? [True, True] Translation: X:155.02, Y:133.30, Z:3.77 [[-1.32651781e-01 -9.91161375e-01 1.62304409e-03 1.55016755e+02] [ 9.91026381e-01 -1.32660516e-01 -1.63676618e-02 1.33295813e+02] [ 1.64383080e-02 -5.62719964e-04 9.99864724e-01 3.76889682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21361786499995 meters 0.021746816265670554 Centerline is valid? [True, True] Translation: X:155.01, Y:133.32, Z:3.77 [[-1.32263991e-01 -9.91213161e-01 1.64506712e-03 1.55014374e+02] [ 9.91075263e-01 -1.32273046e-01 -1.65428074e-02 1.33323303e+02] [ 1.66150464e-02 -5.57632403e-04 9.99861805e-01 3.76975265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24361786499995 meters 0.021530210375514686 Centerline is valid? [True, True] Translation: X:155.01, Y:133.35, Z:3.77 [[-1.32407081e-01 -9.91194037e-01 1.65712422e-03 1.55010080e+02] [ 9.91054882e-01 -1.32416275e-01 -1.66177984e-02 1.33351417e+02] [ 1.66908929e-02 -5.58013127e-04 9.99860542e-01 3.77009811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27361786499995 meters 0.02186777977315768 Centerline is valid? [True, True] Translation: X:155.01, Y:133.38, Z:3.77 [[-1.32543336e-01 -9.91175783e-01 1.68271454e-03 1.55006810e+02] [ 9.91033085e-01 -1.32552823e-01 -1.68277354e-02 1.33378357e+02] [ 1.69022924e-02 -5.62778404e-04 9.99856988e-01 3.76995797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30361786499995 meters 0.022447727813088816 Centerline is valid? [True, True] Translation: X:155.00, Y:133.40, Z:3.77 [[-1.32827905e-01 -9.91137571e-01 1.75016358e-03 1.55004486e+02] [ 9.90984119e-01 -1.32838154e-01 -1.74499604e-02 1.33404062e+02] [ 1.75277998e-02 -5.83457373e-04 9.99846206e-01 3.77011806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33361786499995 meters 0.02254616830728569 Centerline is valid? [True, True] Translation: X:155.00, Y:133.43, Z:3.77 [[-1.32962863e-01 -9.91119367e-01 1.81059715e-03 1.55001568e+02] [ 9.90956186e-01 -1.32973844e-01 -1.79943092e-02 1.33431357e+02] [ 1.80752704e-02 -5.98352422e-04 9.99836450e-01 3.77046301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36361786499995 meters 0.02260886264739887 Centerline is valid? [True, True] Translation: X:155.00, Y:133.46, Z:3.77 [[-1.33173895e-01 -9.91091100e-01 1.77322834e-03 1.54998635e+02] [ 9.90935482e-01 -1.33184424e-01 -1.75721384e-02 1.33458798e+02] [ 1.76517564e-02 -5.82995233e-04 9.99844026e-01 3.77129858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39361786499995 meters 0.022006165350102424 Centerline is valid? [True, True] Translation: X:154.99, Y:133.49, Z:3.77 [[-1.33368901e-01 -9.91064911e-01 1.75446237e-03 1.54993436e+02] [ 9.90913445e-01 -1.33379207e-01 -1.73358582e-02 1.33486131e+02] [ 1.74149695e-02 -5.73544006e-04 9.99848183e-01 3.77225184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42361786499995 meters 0.023156410186675542 Centerline is valid? [True, True] Translation: X:154.99, Y:133.51, Z:3.77 [[-1.33815856e-01 -9.91004707e-01 1.72820484e-03 1.54991984e+02] [ 9.90858592e-01 -1.33825819e-01 -1.70264942e-02 1.33512554e+02] [ 1.71046144e-02 -5.66008288e-04 9.99853545e-01 3.77278532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45361786499996 meters 0.02210571766636127 Centerline is valid? [True, True] Translation: X:154.99, Y:133.54, Z:3.77 [[-1.34588945e-01 -9.90899940e-01 1.76766867e-03 1.54986570e+02] [ 9.90748024e-01 -1.34599281e-01 -1.73604882e-02 1.33538952e+02] [ 1.74404336e-02 -5.85215551e-04 9.99847733e-01 3.77285199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48361786499996 meters 0.024138138897865202 Centerline is valid? [True, True] Translation: X:154.99, Y:133.57, Z:3.77 [[-1.35546212e-01 -9.90769369e-01 1.81133763e-03 1.54987004e+02] [ 9.90610796e-01 -1.35556943e-01 -1.77360082e-02 1.33566139e+02] [ 1.78178330e-02 -6.09718126e-04 9.99841064e-01 3.77320320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51361786499996 meters 0.024592061513329364 Centerline is valid? [True, True] Translation: X:154.98, Y:133.59, Z:3.77 [[-1.36747818e-01 -9.90604219e-01 1.82097585e-03 1.54984512e+02] [ 9.90444817e-01 -1.36758500e-01 -1.77813682e-02 1.33593868e+02] [ 1.78633323e-02 -6.27987205e-04 9.99840241e-01 3.77357326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54361786499996 meters 0.025740591371163194 Centerline is valid? [True, True] Translation: X:154.98, Y:133.62, Z:3.77 [[-1.38640362e-01 -9.90341026e-01 1.87131486e-03 1.54982449e+02] [ 9.90173515e-01 -1.38651352e-01 -1.82267321e-02 1.33619463e+02] [ 1.83101409e-02 -6.74034326e-04 9.99832128e-01 3.77406575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57361786499996 meters 0.026158528461819344 Centerline is valid? [True, True] Translation: X:154.98, Y:133.65, Z:3.77 [[-1.39584534e-01 -9.90208326e-01 1.90491193e-03 1.54979260e+02] [ 9.90035562e-01 -1.39595788e-01 -1.85094932e-02 1.33646410e+02] [ 1.85941720e-02 -6.97708434e-04 9.99826870e-01 3.77446090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60361786499996 meters 0.022129363650758717 Centerline is valid? [True, True] Translation: X:154.97, Y:133.67, Z:3.78 [[-1.40128007e-01 -9.90131490e-01 1.94288186e-03 1.54968895e+02] [ 9.89952755e-01 -1.40139653e-01 -1.88260431e-02 1.33673949e+02] [ 1.89125329e-02 -7.14694640e-04 9.99820887e-01 3.77540928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63361786499996 meters 0.02318893876977316 Centerline is valid? [True, True] Translation: X:154.97, Y:133.70, Z:3.78 [[-1.40924357e-01 -9.90018565e-01 1.88866808e-03 1.54965666e+02] [ 9.89850534e-01 -1.40935260e-01 -1.82529958e-02 1.33700414e+02] [ 1.83369846e-02 -7.02792584e-04 9.99831616e-01 3.77569848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66361786499996 meters 0.023156397313116066 Centerline is valid? [True, True] Translation: X:154.96, Y:133.73, Z:3.78 [[-1.41177123e-01 -9.89982556e-01 1.88644476e-03 1.54961652e+02] [ 9.89815854e-01 -1.41187993e-01 -1.81803641e-02 1.33727669e+02] [ 1.82645867e-02 -6.99418552e-04 9.99832944e-01 3.77613948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69361786499996 meters 0.023576442837926898 Centerline is valid? [True, True] Translation: X:154.96, Y:133.75, Z:3.78 [[-1.41393785e-01 -9.89951589e-01 1.91051460e-03 1.54958614e+02] [ 9.89781578e-01 -1.41404934e-01 -1.83595177e-02 1.33753878e+02] [ 1.84451899e-02 -7.04929541e-04 9.99829625e-01 3.77663785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72361786499997 meters 0.02186144793617602 Centerline is valid? [True, True] Translation: X:154.95, Y:133.78, Z:3.78 [[-1.41766598e-01 -9.89898324e-01 1.88142260e-03 1.54952027e+02] [ 9.89734187e-01 -1.41777377e-01 -1.80392338e-02 1.33781418e+02] [ 1.81237504e-02 -6.95252528e-04 9.99835510e-01 3.77734506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75361786499997 meters 0.022779165338118277 Centerline is valid? [True, True] Translation: X:154.95, Y:133.81, Z:3.78 [[-1.42039254e-01 -9.89859165e-01 1.91917672e-03 1.54949163e+02] [ 9.89689294e-01 -1.42050458e-01 -1.83512647e-02 1.33808229e+02] [ 1.84377875e-02 -7.07211288e-04 9.99829759e-01 3.77737736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78361786499997 meters 0.02367026859696894 Centerline is valid? [True, True] Translation: X:154.95, Y:133.83, Z:3.78 [[-1.42061446e-01 -9.89855929e-01 1.94564957e-03 1.54946947e+02] [ 9.89682329e-01 -1.42072996e-01 -1.85513485e-02 1.33834403e+02] [ 1.86395865e-02 -7.09856389e-04 9.99826016e-01 3.77785969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81361786499997 meters 0.022759182917963007 Centerline is valid? [True, True] Translation: X:154.94, Y:133.86, Z:3.78 [[-1.41849059e-01 -9.89886312e-01 1.98345255e-03 1.54941378e+02] [ 9.89707003e-01 -1.41861142e-01 -1.88537602e-02 1.33860987e+02] [ 1.89444540e-02 -7.11351273e-04 9.99820285e-01 3.77809312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84361786499997 meters 0.022389701480212278 Centerline is valid? [True, True] Translation: X:154.94, Y:133.89, Z:3.78 [[-1.40197077e-01 -9.90121454e-01 2.07033466e-03 1.54935356e+02] [ 9.89927238e-01 -1.40210608e-01 -1.96226801e-02 1.33889047e+02] [ 1.97191194e-02 -7.01561724e-04 9.99805313e-01 3.77822397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87361786499994 meters 0.02066514986108555 Centerline is valid? [True, True] Translation: X:154.93, Y:133.92, Z:3.78 [[-1.38972228e-01 -9.90294116e-01 2.06968647e-03 1.54928129e+02] [ 9.90100967e-01 -1.38986022e-01 -1.95694050e-02 1.33916843e+02] [ 1.96671241e-02 -6.70405250e-04 9.99806359e-01 3.77870573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90361786499994 meters 0.020412728983924527 Centerline is valid? [True, True] Translation: X:154.92, Y:133.94, Z:3.78 [[-1.35973256e-01 -9.90710421e-01 2.03333513e-03 1.54922410e+02] [ 9.90524943e-01 -1.35987162e-01 -1.91788523e-02 1.33943058e+02] [ 1.92771963e-02 -5.93741829e-04 9.99814001e-01 3.77884186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93361786499995 meters 0.020365620646036968 Centerline is valid? [True, True] Translation: X:154.92, Y:133.97, Z:3.78 [[-1.34153814e-01 -9.90958543e-01 1.98020307e-03 1.54918469e+02] [ 9.90783417e-01 -1.34167348e-01 -1.86371270e-02 1.33970077e+02] [ 1.87342988e-02 -5.38289296e-04 9.99824353e-01 3.77950631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96361786499995 meters 0.019628587983850254 Centerline is valid? [True, True] Translation: X:154.91, Y:134.00, Z:3.78 [[-1.32646361e-01 -9.91161444e-01 1.98389880e-03 1.54912742e+02] [ 9.90986372e-01 -1.32660231e-01 -1.86352624e-02 1.33997280e+02] [ 1.87337380e-02 -5.05883059e-04 9.99824380e-01 3.78004569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99361786499995 meters 0.018499432935479773 Centerline is valid? [True, True] Translation: X:154.91, Y:134.02, Z:3.78 [[-1.29642868e-01 -9.91558836e-01 1.94991155e-03 1.54905806e+02] [ 9.91390599e-01 -1.29656800e-01 -1.82700540e-02 1.34024924e+02] [ 1.83686528e-02 -4.35458229e-04 9.99831187e-01 3.78089433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02361786499995 meters 0.01824889735261976 Centerline is valid? [True, True] Translation: X:154.90, Y:134.05, Z:3.78 [[-1.28698718e-01 -9.91681944e-01 1.88742867e-03 1.54901680e+02] [ 9.91525125e-01 -1.28711939e-01 -1.76398019e-02 1.34052409e+02] [ 1.77360076e-02 -3.98786937e-04 9.99842625e-01 3.78142344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05361786499995 meters 0.018104808211100703 Centerline is valid? [True, True] Translation: X:154.90, Y:134.08, Z:3.78 [[-1.28109669e-01 -9.91758214e-01 1.88631770e-03 1.54897848e+02] [ 9.91602389e-01 -1.28122985e-01 -1.75841720e-02 1.34080140e+02] [ 1.76809277e-02 -3.82225320e-04 9.99843607e-01 3.78245672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08361786499995 meters 0.018239485841889672 Centerline is valid? [True, True] Translation: X:154.89, Y:134.11, Z:3.78 [[-1.27559519e-01 -9.91829202e-01 1.84506504e-03 1.54894350e+02] [ 9.91680870e-01 -1.27572357e-01 -1.71565048e-02 1.34107258e+02] [ 1.72517017e-02 -3.58759789e-04 9.99851114e-01 3.78300009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11361786499995 meters 0.018090569822568774 Centerline is valid? [True, True] Translation: X:154.89, Y:134.14, Z:3.78 [[-1.27633945e-01 -9.91819630e-01 1.84349681e-03 1.54890413e+02] [ 9.91672321e-01 -1.27646766e-01 -1.70970932e-02 1.34135044e+02] [ 1.71925490e-02 -3.54024676e-04 9.99852135e-01 3.78367061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14361786499995 meters 0.018423696303532758 Centerline is valid? [True, True] Translation: X:154.89, Y:134.16, Z:3.78 [[-1.28338444e-01 -9.91728749e-01 1.82542981e-03 1.54888005e+02] [ 9.91585025e-01 -1.28350928e-01 -1.68871932e-02 1.34161638e+02] [ 1.69818106e-02 -3.57207227e-04 9.99855735e-01 3.78372245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17361786499995 meters 0.018677043401718614 Centerline is valid? [True, True] Translation: X:154.89, Y:134.19, Z:3.78 [[-1.29174259e-01 -9.91620286e-01 1.79443202e-03 1.54885799e+02] [ 9.91482193e-01 -1.29186224e-01 -1.65523483e-02 1.34187769e+02] [ 1.66454602e-02 -3.58989940e-04 9.99861390e-01 3.78425026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20361786499996 meters 0.01960195913153385 Centerline is valid? [True, True] Translation: X:154.89, Y:134.21, Z:3.78 [[-1.31238741e-01 -9.91349255e-01 1.74588628e-03 1.54885181e+02] [ 9.91219248e-01 -1.31249812e-01 -1.60589477e-02 1.34214551e+02] [ 1.61491731e-02 -3.76999997e-04 9.99869523e-01 3.78452464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23361786499996 meters 0.019606989459960093 Centerline is valid? [True, True] Translation: X:154.88, Y:134.24, Z:3.79 [[-1.32764291e-01 -9.91146153e-01 1.71649817e-03 1.54882002e+02] [ 9.91021102e-01 -1.32774815e-01 -1.57487998e-02 1.34242461e+02] [ 1.58372701e-02 -3.89792337e-04 9.99874507e-01 3.78504213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26361786499996 meters 0.019220104424125015 Centerline is valid? [True, True] Translation: X:154.88, Y:134.27, Z:3.78 [[-1.35971135e-01 -9.90711164e-01 1.80001901e-03 1.54877808e+02] [ 9.90574301e-01 -1.35982282e-01 -1.64734413e-02 1.34270936e+02] [ 1.65651928e-02 -4.56859937e-04 9.99862683e-01 3.78451201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29361786499996 meters 0.02045235399463562 Centerline is valid? [True, True] Translation: X:154.88, Y:134.30, Z:3.78 [[-1.37676593e-01 -9.90475545e-01 1.83031231e-03 1.54877314e+02] [ 9.90334686e-01 -1.37687893e-01 -1.67108717e-02 1.34298215e+02] [ 1.68037216e-02 -4.88074111e-04 9.99858688e-01 3.78417078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32361786499996 meters 0.019737832635200972 Centerline is valid? [True, True] Translation: X:154.87, Y:134.33, Z:3.78 [[-1.40864745e-01 -9.90026989e-01 1.91952015e-03 1.54873080e+02] [ 9.89872626e-01 -1.40876695e-01 -1.74911689e-02 1.34326755e+02] [ 1.75871449e-02 -5.63808589e-04 9.99845175e-01 3.78436350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35361786499996 meters 0.020717033969960677 Centerline is valid? [True, True] Translation: X:154.87, Y:134.35, Z:3.78 [[-1.42752523e-01 -9.89756558e-01 1.91636354e-03 1.54872114e+02] [ 9.89603408e-01 -1.42764165e-01 -1.74209247e-02 1.34354174e+02] [ 1.75160625e-02 -5.90441072e-04 9.99846408e-01 3.78439038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38361786499996 meters 0.023972031303662992 Centerline is valid? [True, True] Translation: X:154.87, Y:134.38, Z:3.78 [[-1.44145412e-01 -9.89554624e-01 1.93540734e-03 1.54874868e+02] [ 9.89399136e-01 -1.44157092e-01 -1.75523063e-02 1.34381903e+02] [ 1.76479686e-02 -6.15194069e-04 9.99844073e-01 3.78488210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41361786499996 meters 0.021880075605366936 Centerline is valid? [True, True] Translation: X:154.87, Y:134.41, Z:3.79 [[-1.45769792e-01 -9.89316756e-01 1.87748812e-03 1.54868300e+02] [ 9.89170938e-01 -1.45780562e-01 -1.69965949e-02 1.34409290e+02] [ 1.70887174e-02 -6.20433412e-04 9.99853785e-01 3.78545993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44361786499996 meters 0.022735672143011323 Centerline is valid? [True, True] Translation: X:154.87, Y:134.44, Z:3.79 [[-1.47427425e-01 -9.89071151e-01 1.84727919e-03 1.54866743e+02] [ 9.88930650e-01 -1.47437641e-01 -1.66826777e-02 1.34436752e+02] [ 1.67727137e-02 -6.32653204e-04 9.99859128e-01 3.78615659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47361786499997 meters 0.024220507340837708 Centerline is valid? [True, True] Translation: X:154.87, Y:134.46, Z:3.79 [[-1.49569194e-01 -9.88749693e-01 1.76080174e-03 1.54866327e+02] [ 9.88622644e-01 -1.49578224e-01 -1.58626410e-02 1.34463961e+02] [ 1.59475590e-02 -6.31793957e-04 9.99872630e-01 3.78690135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50361786499997 meters 0.02201161319149091 Centerline is valid? [True, True] Translation: X:154.86, Y:134.49, Z:3.79 [[-1.50419296e-01 -9.88620742e-01 1.75037795e-03 1.54859757e+02] [ 9.88495819e-01 -1.50428137e-01 -1.57287005e-02 1.34491964e+02] [ 1.58130256e-02 -6.35658765e-04 9.99874764e-01 3.78732485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53361786499997 meters 0.022577005857213478 Centerline is valid? [True, True] Translation: X:154.86, Y:134.52, Z:3.79 [[-1.51194324e-01 -9.88502540e-01 1.73337449e-03 1.54857475e+02] [ 9.88380597e-01 -1.51202922e-01 -1.55393591e-02 1.34519505e+02] [ 1.56227873e-02 -6.36229199e-04 9.99877754e-01 3.78735892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56361786499997 meters 0.022365573105790546 Centerline is valid? [True, True] Translation: X:154.85, Y:134.55, Z:3.79 [[-1.51239606e-01 -9.88495592e-01 1.74525283e-03 1.54853841e+02] [ 9.88372514e-01 -1.51248338e-01 -1.56113070e-02 1.34546986e+02] [ 1.56956748e-02 -6.36088004e-04 9.99876613e-01 3.78763872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59361786499997 meters 0.022555788627668678 Centerline is valid? [True, True] Translation: X:154.85, Y:134.57, Z:3.79 [[-1.50887849e-01 -9.88549355e-01 1.74053944e-03 1.54850675e+02] [ 9.88427540e-01 -1.50896601e-01 -1.55310524e-02 1.34574528e+02] [ 1.56158533e-02 -6.23049974e-04 9.99877871e-01 3.78775211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62361786499994 meters 0.022124136913652472 Centerline is valid? [True, True] Translation: X:154.85, Y:134.60, Z:3.79 [[-1.49501181e-01 -9.88760062e-01 1.71380649e-03 1.54846456e+02] [ 9.88642535e-01 -1.49509854e-01 -1.52558816e-02 1.34602270e+02] [ 1.53406374e-02 -5.86430322e-04 9.99882154e-01 3.78829930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65361786499994 meters 0.022124136913652472 Centerline is valid? [True, True] Translation: X:154.84, Y:134.63, Z:3.79 [[-1.49768329e-01 -9.88719625e-01 1.71792415e-03 1.54843302e+02] [ 9.88602100e-01 -1.49777034e-01 -1.52554179e-02 1.34629675e+02] [ 1.53406366e-02 -5.86435021e-04 9.99882154e-01 3.78875039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68361786499995 meters 0.02207616162901197 Centerline is valid? [True, True] Translation: X:154.84, Y:134.66, Z:3.79 [[-1.48744186e-01 -9.88874275e-01 1.68385341e-03 1.54839888e+02] [ 9.88761907e-01 -1.48752686e-01 -1.49174638e-02 1.34657634e+02] [ 1.50019740e-02 -5.53955916e-04 9.99887311e-01 3.78925030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71361786499995 meters 0.021593899788489832 Centerline is valid? [True, True] Translation: X:154.84, Y:134.69, Z:3.79 [[-1.47881663e-01 -9.89003571e-01 1.71745755e-03 1.54835417e+02] [ 9.88887265e-01 -1.47890628e-01 -1.51769625e-02 1.34685842e+02] [ 1.52640659e-02 -5.46022549e-04 9.99883348e-01 3.79033508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74361786499995 meters 0.020643514356225776 Centerline is valid? [True, True] Translation: X:154.83, Y:134.71, Z:3.79 [[-1.46338072e-01 -9.89233315e-01 1.61771598e-03 1.54829752e+02] [ 9.89130402e-01 -1.46346195e-01 -1.42772289e-02 1.34713501e+02] [ 1.43602571e-02 -4.89170092e-04 9.99896767e-01 3.79071425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77361786499995 meters 0.020838938707511013 Centerline is valid? [True, True] Translation: X:154.83, Y:134.74, Z:3.79 [[-1.45626059e-01 -9.89338399e-01 1.60701775e-03 1.54826638e+02] [ 9.89237310e-01 -1.45634164e-01 -1.41504276e-02 1.34740498e+02] [ 1.42335981e-02 -4.70949080e-04 9.99898586e-01 3.79104970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80361786499995 meters 0.020775140618689635 Centerline is valid? [True, True] Translation: X:154.82, Y:134.77, Z:3.79 [[-1.45170016e-01 -9.89405456e-01 1.58426763e-03 1.54822815e+02] [ 9.89307679e-01 -1.45177954e-01 -1.39168042e-02 1.34768234e+02] [ 1.39993627e-02 -4.52974555e-04 9.99901902e-01 3.79170819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83361786499995 meters 0.020851363338476016 Centerline is valid? [True, True] Translation: X:154.82, Y:134.79, Z:3.79 [[-1.44562156e-01 -9.89494595e-01 1.49321675e-03 1.54819088e+02] [ 9.89408103e-01 -1.44569272e-01 -1.30893469e-02 1.34794090e+02] [ 1.31677113e-02 -4.14823454e-04 9.99913216e-01 3.79200784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86361786499995 meters 0.02029305356923089 Centerline is valid? [True, True] Translation: X:154.81, Y:134.82, Z:3.79 [[-1.44775765e-01 -9.89463437e-01 1.44401921e-03 1.54814281e+02] [ 9.89383001e-01 -1.44782417e-01 -1.26225853e-02 1.34821541e+02] [ 1.26986552e-02 -3.98756392e-04 9.99919289e-01 3.79192412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89361786499995 meters 0.021670519174355453 Centerline is valid? [True, True] Translation: X:154.81, Y:134.85, Z:3.79 [[-1.45235740e-01 -9.89396151e-01 1.35492990e-03 1.54813458e+02] [ 9.89325683e-01 -1.45241575e-01 -1.18142753e-02 1.34848146e+02] [ 1.18857907e-02 -3.75388069e-04 9.99929291e-01 3.79316137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92361786499995 meters 0.021071858305928528 Centerline is valid? [True, True] Translation: X:154.81, Y:134.88, Z:3.79 [[-1.45659046e-01 -9.89333992e-01 1.30194424e-03 1.54808778e+02] [ 9.89269060e-01 -1.45664410e-01 -1.13404477e-02 1.34875491e+02] [ 1.14091373e-02 -3.63865640e-04 9.99934847e-01 3.79354903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95361786499996 meters 0.020724026053628122 Centerline is valid? [True, True] Translation: X:154.80, Y:134.90, Z:3.79 [[-1.46007021e-01 -9.89282718e-01 1.28618456e-03 1.54804360e+02] [ 9.89219690e-01 -1.46012245e-01 -1.11727312e-02 1.34903450e+02] [ 1.12407886e-02 -3.58978110e-04 9.99936756e-01 3.79367458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98361786499996 meters 0.022790298151129398 Centerline is valid? [True, True] Translation: X:154.80, Y:134.93, Z:3.79 [[-1.45675692e-01 -9.89331564e-01 1.28389435e-03 1.54804358e+02] [ 9.89269054e-01 -1.45680927e-01 -1.11268157e-02 1.34930967e+02] [ 1.11951489e-02 -3.50789621e-04 9.99937271e-01 3.79489601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01361786499996 meters 0.0202063027779534 Centerline is valid? [True, True] Translation: X:154.80, Y:134.96, Z:3.79 [[-1.45377752e-01 -9.89375443e-01 1.24202391e-03 1.54796202e+02] [ 9.89317217e-01 -1.45382678e-01 -1.07388157e-02 1.34958194e+02] [ 1.08052893e-02 -3.32429253e-04 9.99941566e-01 3.79409838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04361786499996 meters 0.02018013967887308 Centerline is valid? [True, True] Translation: X:154.79, Y:134.99, Z:3.79 [[-1.45327543e-01 -9.89382805e-01 1.25315077e-03 1.54792846e+02] [ 9.89323817e-01 -1.45332569e-01 -1.08087793e-02 1.34985962e+02] [ 1.08761440e-02 -3.31041440e-04 9.99940798e-01 3.79476151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07361786499996 meters 0.02015696235136276 Centerline is valid? [True, True] Translation: X:154.79, Y:135.01, Z:3.80 [[-1.44955504e-01 -9.89437362e-01 1.26849149e-03 1.54789495e+02] [ 9.89377222e-01 -1.44960685e-01 -1.09138539e-02 1.35014354e+02] [ 1.09824562e-02 -3.27006605e-04 9.99939638e-01 3.79522982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10361786499996 meters 0.020927762375713595 Centerline is valid? [True, True] Translation: X:154.79, Y:135.04, Z:3.80 [[-1.44176302e-01 -9.89551221e-01 1.25493649e-03 1.54787291e+02] [ 9.89492609e-01 -1.44181426e-01 -1.07746369e-02 1.35041270e+02] [ 1.08429937e-02 -3.11696928e-04 9.99941164e-01 3.79542077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13361786499996 meters 0.020377151799975467 Centerline is valid? [True, True] Translation: X:154.78, Y:135.07, Z:3.80 [[-1.43986757e-01 -9.89578781e-01 1.28494426e-03 1.54782336e+02] [ 9.89517638e-01 -1.43992150e-01 -1.10048068e-02 1.35069306e+02] [ 1.10751452e-02 -3.13071428e-04 9.99938620e-01 3.79521128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16361786499996 meters 0.02035741451775758 Centerline is valid? [True, True] Translation: X:154.78, Y:135.10, Z:3.80 [[-1.43696352e-01 -9.89620985e-01 1.29015932e-03 1.54779006e+02] [ 9.89559616e-01 -1.43701815e-01 -1.10252379e-02 1.35095918e+02] [ 1.10962050e-02 -3.07596906e-04 9.99938388e-01 3.79555226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19361786499996 meters 0.02021543869847027 Centerline is valid? [True, True] Translation: X:154.78, Y:135.12, Z:3.79 [[-1.42779352e-01 -9.89753672e-01 1.31333754e-03 1.54775209e+02] [ 9.89690435e-01 -1.42785080e-01 -1.11921542e-02 1.35124158e+02] [ 1.12650007e-02 -2.98210925e-04 9.99936503e-01 3.79494384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22361786499997 meters 0.020132768501772716 Centerline is valid? [True, True] Translation: X:154.77, Y:135.15, Z:3.80 [[-1.42358242e-01 -9.89814224e-01 1.39016119e-03 1.54771905e+02] [ 9.89743706e-01 -1.42364699e-01 -1.18190333e-02 1.35151562e+02] [ 1.18965572e-02 -3.06633524e-04 9.99929186e-01 3.79510645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25361786499997 meters 0.019985766433202348 Centerline is valid? [True, True] Translation: X:154.77, Y:135.18, Z:3.80 [[-1.41869750e-01 -9.89884338e-01 1.40434646e-03 1.54768422e+02] [ 9.89812745e-01 -1.41876385e-01 -1.19088694e-02 1.35178730e+02] [ 1.19876469e-02 -2.99468311e-04 9.99928101e-01 3.79531537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28361786499997 meters 0.018746184659946978 Centerline is valid? [True, True] Translation: X:154.76, Y:135.21, Z:3.79 [[-1.39644983e-01 -9.90200578e-01 1.44726609e-03 1.54762934e+02] [ 9.90124974e-01 -1.39652209e-01 -1.22391595e-02 1.35206361e+02] [ 1.23213367e-02 -2.76162922e-04 9.99924051e-01 3.79482232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31361786499997 meters 0.01883175768872312 Centerline is valid? [True, True] Translation: X:154.76, Y:135.23, Z:3.80 [[-1.38727501e-01 -9.90329490e-01 1.47687932e-03 1.54760147e+02] [ 9.90251120e-01 -1.38735107e-01 -1.24614956e-02 1.35233151e+02] [ 1.25458816e-02 -2.66270740e-04 9.99921262e-01 3.79500336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34361786499997 meters 0.019225485091885056 Centerline is valid? [True, True] Translation: X:154.76, Y:135.26, Z:3.80 [[-1.37874968e-01 -9.90448506e-01 1.49995638e-03 1.54758220e+02] [ 9.90368046e-01 -1.37882890e-01 -1.26270504e-02 1.35259535e+02] [ 1.27132615e-02 -2.55445292e-04 9.99919151e-01 3.79556302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37361786499994 meters 0.017814970390318017 Centerline is valid? [True, True] Translation: X:154.75, Y:135.29, Z:3.80 [[-1.35701193e-01 -9.90748731e-01 1.46222999e-03 1.54752384e+02] [ 9.90672699e-01 -1.35708897e-01 -1.22759364e-02 1.35287298e+02] [ 1.23608060e-02 -2.17267872e-04 9.99923579e-01 3.79571606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40361786499994 meters 0.018604250125839862 Centerline is valid? [True, True] Translation: X:154.75, Y:135.31, Z:3.80 [[-1.34952680e-01 -9.90850944e-01 1.47689623e-03 1.54752265e+02] [ 9.90773730e-01 -1.34960604e-01 -1.23713613e-02 1.35314248e+02] [ 1.24574978e-02 -2.06278379e-04 9.99922381e-01 3.79683314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43361786499995 meters 0.018278270552012893 Centerline is valid? [True, True] Translation: X:154.75, Y:135.34, Z:3.80 [[-1.34317972e-01 -9.90937053e-01 1.56170399e-03 1.54750103e+02] [ 9.90851167e-01 -1.34326894e-01 -1.30480276e-02 1.35341726e+02] [ 1.31395529e-02 -2.05168388e-04 9.99913651e-01 3.79663409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46361786499995 meters 0.017645152428364404 Centerline is valid? [True, True] Translation: X:154.75, Y:135.37, Z:3.80 [[-1.34747859e-01 -9.90878677e-01 1.56895455e-03 1.54745919e+02] [ 9.90792419e-01 -1.34756833e-01 -1.30758541e-02 1.35369292e+02] [ 1.31680123e-02 -2.07435058e-04 9.99913276e-01 3.79604468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49361786499995 meters 0.018422611922794832 Centerline is valid? [True, True] Translation: X:154.75, Y:135.40, Z:3.80 [[-1.35029457e-01 -9.90840264e-01 1.61744649e-03 1.54745971e+02] [ 9.90749022e-01 -1.35038975e-01 -1.34480407e-02 1.35396976e+02] [ 1.35432785e-02 -2.13398097e-04 9.99908263e-01 3.79674024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52361786499995 meters 0.018648764260069367 Centerline is valid? [True, True] Translation: X:154.74, Y:135.42, Z:3.80 [[-1.35790542e-01 -9.90736247e-01 1.61781568e-03 1.54744524e+02] [ 9.90645394e-01 -1.35800001e-01 -1.34187270e-02 1.35423558e+02] [ 1.35141186e-02 -2.19454549e-04 9.99908656e-01 3.79705786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55361786499995 meters 0.019167516790379067 Centerline is valid? [True, True] Translation: X:154.74, Y:135.45, Z:3.80 [[-1.37585899e-01 -9.90488500e-01 1.62821924e-03 1.54744997e+02] [ 9.90396933e-01 -1.37595323e-01 -1.34700758e-02 1.35450811e+02] [ 1.35659905e-02 -2.40709147e-04 9.99907949e-01 3.79707004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58361786499995 meters 0.01866853512821229 Centerline is valid? [True, True] Translation: X:154.74, Y:135.48, Z:3.80 [[-1.38822867e-01 -9.90315856e-01 1.64849915e-03 1.54741901e+02] [ 9.90222426e-01 -1.38832417e-01 -1.36054238e-02 1.35477938e+02] [ 1.37025320e-02 -2.56363105e-04 9.99906083e-01 3.79734076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61361786499995 meters 0.018682611833680616 Centerline is valid? [True, True] Translation: X:154.74, Y:135.51, Z:3.80 [[-1.41478415e-01 -9.89940048e-01 1.59985103e-03 1.54741164e+02] [ 9.89852461e-01 -1.41487183e-01 -1.31712848e-02 1.35506886e+02] [ 1.32651407e-02 -2.79836014e-04 9.99911975e-01 3.79790225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64361786499995 meters 0.02096490306647736 Centerline is valid? [True, True] Translation: X:154.74, Y:135.54, Z:3.80 [[-1.42846058e-01 -9.89743688e-01 1.56073740e-03 1.54744306e+02] [ 9.89660670e-01 -1.42854296e-01 -1.28222123e-02 1.35535257e+02] [ 1.29136617e-02 -2.87002052e-04 9.99916574e-01 3.79898452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67361786499995 meters 0.018951373750668656 Centerline is valid? [True, True] Translation: X:154.74, Y:135.56, Z:3.80 [[-1.44044041e-01 -9.89570058e-01 1.55396020e-03 1.54737931e+02] [ 9.89488074e-01 -1.44052115e-01 -1.27412318e-02 1.35562930e+02] [ 1.28321928e-02 -2.97673440e-04 9.99917620e-01 3.79868382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70361786499996 meters 0.02114427615965212 Centerline is valid? [True, True] Translation: X:154.74, Y:135.59, Z:3.80 [[-1.46161276e-01 -9.89259466e-01 1.60930168e-03 1.54741820e+02] [ 9.89171921e-01 -1.46169758e-01 -1.31647900e-02 1.35590691e+02] [ 1.32586243e-02 -3.32306474e-04 9.99912045e-01 3.79912684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73361786499996 meters 0.02008574681361883 Centerline is valid? [True, True] Translation: X:154.74, Y:135.62, Z:3.80 [[-1.47511212e-01 -9.89059018e-01 1.64332306e-03 1.54737561e+02] [ 9.88968107e-01 -1.47519941e-01 -1.34145664e-02 1.35618019e+02] [ 1.35102208e-02 -3.53604854e-04 9.99908670e-01 3.79905682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76361786499996 meters 0.02020575748517539 Centerline is valid? [True, True] Translation: X:154.74, Y:135.65, Z:3.80 [[-1.48522547e-01 -9.88907510e-01 1.72927358e-03 1.54735654e+02] [ 9.88807302e-01 -1.48532123e-01 -1.40828737e-02 1.35646525e+02] [ 1.41835122e-02 -3.81705919e-04 9.99899336e-01 3.79938986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79361786499996 meters 0.02035366490864786 Centerline is valid? [True, True] Translation: X:154.73, Y:135.67, Z:3.80 [[-1.49351143e-01 -9.88782717e-01 1.72461354e-03 1.54733719e+02] [ 9.88683483e-01 -1.49360596e-01 -1.40136731e-02 1.35674625e+02] [ 1.41140671e-02 -3.87861173e-04 9.99900316e-01 3.80003811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82361786499996 meters 0.02096717573920816 Centerline is valid? [True, True] Translation: X:154.73, Y:135.70, Z:3.80 [[-1.50213571e-01 -9.88652131e-01 1.68705310e-03 1.54734174e+02] [ 9.88557570e-01 -1.50222546e-01 -1.36791032e-02 1.35701522e+02] [ 1.37773080e-02 -3.87037834e-04 9.99905013e-01 3.80128249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85361786499996 meters 0.02107420358833646 Centerline is valid? [True, True] Translation: X:154.73, Y:135.73, Z:3.80 [[-1.50637234e-01 -9.88587611e-01 1.71993219e-03 1.54731939e+02] [ 9.88489788e-01 -1.50646533e-01 -1.39125919e-02 1.35728436e+02] [ 1.40129178e-02 -3.95618955e-04 9.99901736e-01 3.80175906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88361786499996 meters 0.021160428664750253 Centerline is valid? [True, True] Translation: X:154.73, Y:135.76, Z:3.80 [[-1.49534463e-01 -9.88754883e-01 1.79587090e-03 1.54731097e+02] [ 9.88648793e-01 -1.49544735e-01 -1.44891902e-02 1.35755196e+02] [ 1.45948206e-02 -3.91147670e-04 9.99893413e-01 3.80156100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91361786499996 meters 0.020006713094230112 Centerline is valid? [True, True] Translation: X:154.73, Y:135.78, Z:3.80 [[-1.48557453e-01 -9.88901957e-01 1.89787538e-03 1.54726216e+02] [ 9.88784018e-01 -1.48569056e-01 -1.52775060e-02 1.35782531e+02] [ 1.53899211e-02 -3.92998532e-04 9.99881491e-01 3.80197973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94361786499996 meters 0.02057708949813964 Centerline is valid? [True, True] Translation: X:154.72, Y:135.81, Z:3.80 [[-1.47281014e-01 -9.89092725e-01 1.97088002e-03 1.54724945e+02] [ 9.88966135e-01 -1.47293704e-01 -1.58287020e-02 1.35809700e+02] [ 1.59463522e-02 -3.82133670e-04 9.99872776e-01 3.80247878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97361786499997 meters 0.020094072515089406 Centerline is valid? [True, True] Translation: X:154.72, Y:135.84, Z:3.80 [[-1.44264429e-01 -9.89537162e-01 1.99471835e-03 1.54722040e+02] [ 9.89408104e-01 -1.44277836e-01 -1.59846535e-02 1.35836227e+02] [ 1.61052023e-02 -3.32426410e-04 9.99870248e-01 3.80325797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00361786499997 meters 0.01947920247279863 Centerline is valid? [True, True] Translation: X:154.72, Y:135.86, Z:3.80 [[-1.42791463e-01 -9.89750758e-01 2.00858656e-03 1.54717906e+02] [ 9.89620446e-01 -1.42805262e-01 -1.60633272e-02 1.35863660e+02] [ 1.61855270e-02 -3.05967662e-04 9.99868959e-01 3.80387366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03361786499997 meters 0.018931361639391367 Centerline is valid? [True, True] Translation: X:154.71, Y:135.89, Z:3.80 [[-1.41283303e-01 -9.89967155e-01 2.01490260e-03 1.54713776e+02] [ 9.89836593e-01 -1.41297398e-01 -1.60799229e-02 1.35891075e+02] [ 1.62032960e-02 -2.77400295e-04 9.99868680e-01 3.80441011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06361786499997 meters 0.018167209019802563 Centerline is valid? [True, True] Translation: X:154.71, Y:135.92, Z:3.81 [[-1.38220318e-01 -9.90399497e-01 1.99516829e-03 1.54709346e+02] [ 9.90272062e-01 -1.38234541e-01 -1.58888166e-02 1.35919385e+02] [ 1.60120772e-02 -2.20397874e-04 9.99871774e-01 3.80621868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09361786499997 meters 0.017991640225437477 Centerline is valid? [True, True] Translation: X:154.71, Y:135.95, Z:3.81 [[-1.37015525e-01 -9.90567020e-01 1.93013820e-03 1.54706557e+02] [ 9.90448269e-01 -1.37028987e-01 -1.53389148e-02 1.35946241e+02] [ 1.54587080e-02 -1.89967413e-04 9.99880489e-01 3.80716278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12361786499994 meters 0.018009703060875418 Centerline is valid? [True, True] Translation: X:154.70, Y:135.97, Z:3.81 [[-1.36243130e-01 -9.90673551e-01 1.93025978e-03 1.54703395e+02] [ 9.90555171e-01 -1.36256691e-01 -1.53155928e-02 1.35973889e+02] [ 1.54357635e-02 -1.74615484e-04 9.99880846e-01 3.80843037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15361786499994 meters 0.017888728974705732 Centerline is valid? [True, True] Translation: X:154.70, Y:136.00, Z:3.81 [[-1.34893408e-01 -9.90858283e-01 1.90590565e-03 1.54700864e+02] [ 9.90743380e-01 -1.34906791e-01 -1.50901436e-02 1.36000550e+02] [ 1.52093134e-02 -1.47297493e-04 9.99884321e-01 3.80942915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18361786499995 meters 0.017892760063924568 Centerline is valid? [True, True] Translation: X:154.70, Y:136.03, Z:3.81 [[-1.34786327e-01 -9.90872881e-01 1.89215208e-03 1.54698310e+02] [ 9.90760177e-01 -1.34799535e-01 -1.49451181e-02 1.36027482e+02] [ 1.50637734e-02 -1.39728645e-04 9.99886525e-01 3.81010214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21361786499995 meters 0.018124228694239405 Centerline is valid? [True, True] Translation: X:154.70, Y:136.05, Z:3.81 [[-1.34729635e-01 -9.90880701e-01 1.83333582e-03 1.54696959e+02] [ 9.90775385e-01 -1.34742046e-01 -1.44470875e-02 1.36053771e+02] [ 1.45623676e-02 -1.30026827e-04 9.99893955e-01 3.81160199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24361786499995 meters 0.017931216153159138 Centerline is valid? [True, True] Translation: X:154.69, Y:136.08, Z:3.81 [[-1.35061224e-01 -9.90835645e-01 1.78595100e-03 1.54693033e+02] [ 9.90736197e-01 -1.35072972e-01 -1.40385034e-02 1.36081510e+02] [ 1.41510833e-02 -1.26651157e-04 9.99899860e-01 3.81205478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27361786499995 meters 0.018088536987241447 Centerline is valid? [True, True] Translation: X:154.69, Y:136.11, Z:3.81 [[-1.36233903e-01 -9.90675164e-01 1.74438369e-03 1.54692103e+02] [ 9.90580678e-01 -1.36245002e-01 -1.36828613e-02 1.36109598e+02] [ 1.37929344e-02 -1.36116813e-04 9.99904864e-01 3.81364122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30361786499995 meters 0.01830320434476057 Centerline is valid? [True, True] Translation: X:154.69, Y:136.14, Z:3.81 [[-1.37245184e-01 -9.90535582e-01 1.73764378e-03 1.54690452e+02] [ 9.90442215e-01 -1.37256107e-01 -1.36006986e-02 1.36137231e+02] [ 1.37104781e-02 -1.45594626e-04 9.99905996e-01 3.81440010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33361786499995 meters 0.018473818075264412 Centerline is valid? [True, True] Translation: X:154.69, Y:136.16, Z:3.81 [[-1.38260670e-01 -9.90394319e-01 1.75515537e-03 1.54689448e+02] [ 9.90299470e-01 -1.38271721e-01 -1.37073286e-02 1.36163646e+02] [ 1.38183487e-02 -1.57055010e-04 9.99904510e-01 3.81473886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36361786499995 meters 0.018665031874693382 Centerline is valid? [True, True] Translation: X:154.69, Y:136.19, Z:3.82 [[-1.38419321e-01 -9.90372242e-01 1.70709209e-03 1.54685539e+02] [ 9.90282839e-01 -1.38429764e-01 -1.33078851e-02 1.36189267e+02] [ 1.34160724e-02 -1.51564419e-04 9.99909989e-01 3.81590420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39361786499995 meters 0.018502304812389504 Centerline is valid? [True, True] Translation: X:154.68, Y:136.22, Z:3.82 [[-1.37882840e-01 -9.90447083e-01 1.70261680e-03 1.54679882e+02] [ 9.90358448e-01 -1.37893280e-01 -1.32509739e-02 1.36215721e+02] [ 1.33591679e-02 -1.40880984e-04 9.99910752e-01 3.81602320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42361786499995 meters 0.018430750897797686 Centerline is valid? [True, True] Translation: X:154.68, Y:136.24, Z:3.82 [[-1.37703787e-01 -9.90471816e-01 1.80270182e-03 1.54675540e+02] [ 9.90372949e-01 -1.37715513e-01 -1.39949832e-02 1.36242691e+02] [ 1.41098964e-02 -1.41815059e-04 9.99900440e-01 3.81602828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45361786499996 meters 0.018120386561648976 Centerline is valid? [True, True] Translation: X:154.67, Y:136.27, Z:3.82 [[-1.36698520e-01 -9.90610639e-01 2.01925903e-03 1.54668830e+02] [ 9.90487255e-01 -1.36713364e-01 -1.56350241e-02 1.36270056e+02] [ 1.57642810e-02 -1.37234322e-04 9.99875727e-01 3.81526308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48361786499996 meters 0.01836690419084053 Centerline is valid? [True, True] Translation: X:154.67, Y:136.30, Z:3.81 [[-1.37586827e-01 -9.90487267e-01 2.19993366e-03 1.54667088e+02] [ 9.90341486e-01 -1.37604322e-01 -1.69938856e-02 1.36297143e+02] [ 1.71349477e-02 -1.59449230e-04 9.99853173e-01 3.81484571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51361786499996 meters 0.01857904337710445 Centerline is valid? [True, True] Translation: X:154.67, Y:136.32, Z:3.81 [[-1.39104743e-01 -9.90274835e-01 2.37085226e-03 1.54665207e+02] [ 9.90106312e-01 -1.39124810e-01 -1.82695841e-02 1.36324814e+02] [ 1.84217538e-02 -1.93990025e-04 9.99830286e-01 3.81454515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54361786499996 meters 0.01857904337710445 Centerline is valid? [True, True] Translation: X:154.66, Y:136.35, Z:3.81 [[-1.39390204e-01 -9.90234682e-01 2.37612529e-03 1.54661636e+02] [ 9.90066165e-01 -1.39410320e-01 -1.82688984e-02 1.36351324e+02] [ 1.84217532e-02 -1.93984225e-04 9.99830286e-01 3.81498225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57361786499996 meters 0.018689303968678593 Centerline is valid? [True, True] Translation: X:154.66, Y:136.38, Z:3.82 [[-1.42826455e-01 -9.89744466e-01 2.54857866e-03 1.54658295e+02] [ 9.89551424e-01 -1.42848936e-01 -1.95489561e-02 1.36379501e+02] [ 1.97125328e-02 -2.70158461e-04 9.99805653e-01 3.81574738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60361786499996 meters 0.018913093962347156 Centerline is valid? [True, True] Translation: X:154.65, Y:136.41, Z:3.82 [[-1.45076248e-01 -9.89417045e-01 2.60632768e-03 1.54654347e+02] [ 9.89215924e-01 -1.45099313e-01 -1.99510637e-02 1.36407924e+02] [ 2.01180989e-02 -3.16204624e-04 9.99797561e-01 3.81597838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63361786499996 meters 0.02025620012056486 Centerline is valid? [True, True] Translation: X:154.65, Y:136.43, Z:3.82 [[-1.47496862e-01 -9.89059137e-01 2.58831802e-03 1.54653586e+02] [ 9.88861492e-01 -1.47519138e-01 -1.97750707e-02 1.36434871e+02] [ 1.99405408e-02 -3.57272855e-04 9.99801104e-01 3.81522257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66361786499996 meters 0.019905207460033228 Centerline is valid? [True, True] Translation: X:154.65, Y:136.46, Z:3.82 [[-1.52724501e-01 -9.88265437e-01 2.57917244e-03 1.54647393e+02] [ 9.88069718e-01 -1.52745596e-01 -1.96727168e-02 1.36462108e+02] [ 1.98358233e-02 -4.56103661e-04 9.99803147e-01 3.81675732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69361786499996 meters 0.02119561048695225 Centerline is valid? [True, True] Translation: X:154.65, Y:136.49, Z:3.82 [[-1.55614787e-01 -9.87814586e-01 2.52636051e-03 1.54646314e+02] [ 9.87627523e-01 -1.55634499e-01 -1.92296087e-02 1.36489508e+02] [ 1.93884768e-02 -4.97308295e-04 9.99811902e-01 3.81717212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72361786499997 meters 0.020819959476764627 Centerline is valid? [True, True] Translation: X:154.64, Y:136.52, Z:3.82 [[-1.58538925e-01 -9.87349483e-01 2.53140751e-03 1.54641882e+02] [ 9.87162386e-01 -1.58558181e-01 -1.92282653e-02 1.36517068e+02] [ 1.93863932e-02 -5.49518231e-04 9.99811915e-01 3.81833780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75361786499997 meters 0.021466683670389716 Centerline is valid? [True, True] Translation: X:154.64, Y:136.55, Z:3.82 [[-1.61412666e-01 -9.86883618e-01 2.58392768e-03 1.54639632e+02] [ 9.86689443e-01 -1.61432188e-01 -1.95855141e-02 1.36545252e+02] [ 1.97457521e-02 -6.11815883e-04 9.99804846e-01 3.81905478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78361786499997 meters 0.02476065068990265 Centerline is valid? [True, True] Translation: X:154.64, Y:136.57, Z:3.82 [[-1.66197402e-01 -9.86088888e-01 2.66999592e-03 1.54642111e+02] [ 9.85882265e-01 -1.66217268e-01 -2.01984894e-02 1.36572720e+02] [ 2.03613054e-02 -7.24634838e-04 9.99792425e-01 3.81948144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81361786499997 meters 0.022876595631825845 Centerline is valid? [True, True] Translation: X:154.63, Y:136.60, Z:3.82 [[-1.67826594e-01 -9.85812831e-01 2.70134542e-03 1.54634168e+02] [ 9.85601992e-01 -1.67846606e-01 -2.04017293e-02 1.36600418e+02] [ 2.05656982e-02 -7.61501317e-04 9.99788214e-01 3.82061476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84361786499997 meters 0.02398384221695264 Centerline is valid? [True, True] Translation: X:154.63, Y:136.63, Z:3.82 [[-1.69091558e-01 -9.85596462e-01 2.76736752e-03 1.54631479e+02] [ 9.85375980e-01 -1.69112307e-01 -2.08615677e-02 1.36627490e+02] [ 2.10290832e-02 -8.00617493e-04 9.99778544e-01 3.82072249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87361786499994 meters 0.02405775782559863 Centerline is valid? [True, True] Translation: X:154.63, Y:136.65, Z:3.82 [[-1.69779489e-01 -9.85478132e-01 2.78855485e-03 1.54626623e+02] [ 9.85254926e-01 -1.69800427e-01 -2.09891664e-02 1.36654810e+02] [ 2.11578623e-02 -8.16092552e-04 9.99775814e-01 3.82101075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90361786499994 meters 0.026674478052911326 Centerline is valid? [True, True] Translation: X:154.62, Y:136.68, Z:3.82 [[-1.69643431e-01 -9.85501543e-01 2.79542954e-03 1.54624834e+02] [ 9.85278278e-01 -1.69664543e-01 -2.09918526e-02 1.36680831e+02] [ 2.11617884e-02 -8.06853888e-04 9.99775739e-01 3.82119701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93361786499995 meters 0.023689276680869575 Centerline is valid? [True, True] Translation: X:154.61, Y:136.71, Z:3.82 [[-1.68674337e-01 -9.85667913e-01 2.78089203e-03 1.54613902e+02] [ 9.85448001e-01 -1.68695485e-01 -2.08343654e-02 1.36707558e+02] [ 2.10048894e-02 -7.73798289e-04 9.99779074e-01 3.82230026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96361786499995 meters 0.023647139649636814 Centerline is valid? [True, True] Translation: X:154.61, Y:136.73, Z:3.82 [[-1.67895967e-01 -9.85800763e-01 2.79276786e-03 1.54609385e+02] [ 9.85579882e-01 -1.67917503e-01 -2.08807975e-02 1.36734842e+02] [ 2.10532607e-02 -7.53305863e-04 9.99778072e-01 3.82320449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99361786499995 meters 0.02339891039141252 Centerline is valid? [True, True] Translation: X:154.60, Y:136.76, Z:3.82 [[-1.67153568e-01 -9.85927197e-01 2.69202794e-03 1.54604387e+02] [ 9.85722790e-01 -1.67173762e-01 -2.00876985e-02 1.36762173e+02] [ 2.02550447e-02 -7.04137187e-04 9.99794598e-01 3.82397538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02361786499995 meters 0.023561953671636073 Centerline is valid? [True, True] Translation: X:154.60, Y:136.79, Z:3.83 [[-1.66316127e-01 -9.86068948e-01 2.64130628e-03 1.54600244e+02] [ 9.85873001e-01 -1.66335761e-01 -1.96682716e-02 1.36788628e+02] [ 1.98336155e-02 -6.67158206e-04 9.99803072e-01 3.82539267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05361786499995 meters 0.02279210273820291 Centerline is valid? [True, True] Translation: X:154.59, Y:136.82, Z:3.83 [[-1.65398965e-01 -9.86223325e-01 2.59550723e-03 1.54594122e+02] [ 9.86034877e-01 -1.65418125e-01 -1.92890138e-02 1.36815744e+02] [ 1.94526193e-02 -6.31122269e-04 9.99810581e-01 3.82657107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08361786499995 meters 0.022123907277170927 Centerline is valid? [True, True] Translation: X:154.59, Y:136.84, Z:3.83 [[-1.63543633e-01 -9.86532938e-01 2.49848915e-03 1.54586807e+02] [ 9.86359029e-01 -1.63561736e-01 -1.85317158e-02 1.36843542e+02] [ 1.86908053e-02 -5.66336790e-04 9.99825151e-01 3.82767969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11361786499995 meters 0.02185893359845272 Centerline is valid? [True, True] Translation: X:154.58, Y:136.87, Z:3.83 [[-1.63267742e-01 -9.86578782e-01 2.43954002e-03 1.54581809e+02] [ 9.86413420e-01 -1.63285061e-01 -1.80707859e-02 1.36871300e+02] [ 1.82265944e-02 -5.43981394e-04 9.99833734e-01 3.82840092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14361786499995 meters 0.021657408459529594 Centerline is valid? [True, True] Translation: X:154.58, Y:136.90, Z:3.83 [[-1.63116514e-01 -9.86603859e-01 2.41434157e-03 1.54577068e+02] [ 9.86442545e-01 -1.63133521e-01 -1.78482257e-02 1.36899179e+02] [ 1.80029883e-02 -5.29731100e-04 9.99837793e-01 3.82899499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17361786499995 meters 0.022311572128582827 Centerline is valid? [True, True] Translation: X:154.57, Y:136.93, Z:3.83 [[-1.63735198e-01 -9.86501028e-01 2.55067411e-03 1.54573686e+02] [ 9.86321702e-01 -1.63754089e-01 -1.88174893e-02 1.36925501e+02] [ 1.89811558e-02 -5.65300101e-04 9.99819682e-01 3.82878830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20361786499996 meters 0.02252182517966793 Centerline is valid? [True, True] Translation: X:154.57, Y:136.95, Z:3.83 [[-1.64756413e-01 -9.86330850e-01 2.60377884e-03 1.54569901e+02] [ 9.86144514e-01 -1.64775921e-01 -1.91805535e-02 1.36953528e+02] [ 1.93474117e-02 -5.92416966e-04 9.99812646e-01 3.82867902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23361786499996 meters 0.02422174478768445 Centerline is valid? [True, True] Translation: X:154.57, Y:136.98, Z:3.83 [[-1.65960716e-01 -9.86128643e-01 2.70921980e-03 1.54568844e+02] [ 9.85927668e-01 -1.65981615e-01 -1.99182809e-02 1.36980753e+02] [ 2.00916680e-02 -6.34557399e-04 9.99797941e-01 3.82876650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26361786499996 meters 0.023792836464776125 Centerline is valid? [True, True] Translation: X:154.56, Y:137.01, Z:3.83 [[-1.68889931e-01 -9.85631124e-01 2.73463168e-03 1.54563122e+02] [ 9.85426933e-01 -1.68910637e-01 -2.00737913e-02 1.37008082e+02] [ 2.02472618e-02 -6.95481508e-04 9.99794761e-01 3.82933808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29361786499996 meters 0.024784249252576957 Centerline is valid? [True, True] Translation: X:154.56, Y:137.03, Z:3.83 [[-1.70642769e-01 -9.85329200e-01 2.72260555e-03 1.54560765e+02] [ 9.85127526e-01 -1.70662961e-01 -1.99477097e-02 1.37034539e+02] [ 2.01197087e-02 -7.21818744e-04 9.99797318e-01 3.82982360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32361786499996 meters 0.023744298214862566 Centerline is valid? [True, True] Translation: X:154.55, Y:137.06, Z:3.83 [[-1.72445274e-01 -9.85015484e-01 2.66889172e-03 1.54554594e+02] [ 9.84822280e-01 -1.72464346e-01 -1.95224722e-02 1.37061820e+02] [ 1.96902260e-02 -7.38174028e-04 9.99805856e-01 3.83051992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35361786499996 meters 0.023660452332073555 Centerline is valid? [True, True] Translation: X:154.55, Y:137.09, Z:3.83 [[-1.75747446e-01 -9.84431845e-01 2.60333233e-03 1.54550017e+02] [ 9.84248680e-01 -1.75765005e-01 -1.90052536e-02 1.37089575e+02] [ 1.91669516e-02 -7.77798364e-04 9.99815995e-01 3.83210126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38361786499996 meters 0.0270276692051274 Centerline is valid? [True, True] Translation: X:154.55, Y:137.12, Z:3.83 [[-1.77222715e-01 -9.84167441e-01 2.56060607e-03 1.54552249e+02] [ 9.83990907e-01 -1.77239466e-01 -1.86565646e-02 1.37117111e+02] [ 1.88150239e-02 -7.86753925e-04 9.99822672e-01 3.83227807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41361786499996 meters 0.024260456257303168 Centerline is valid? [True, True] Translation: X:154.54, Y:137.14, Z:3.83 [[-1.78544160e-01 -9.83928693e-01 2.51206474e-03 1.54543161e+02] [ 9.83759266e-01 -1.78560076e-01 -1.82758344e-02 1.37144158e+02] [ 1.84306723e-02 -7.91776543e-04 9.99829827e-01 3.83337616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44361786499996 meters 0.02469225993584211 Centerline is valid? [True, True] Translation: X:154.54, Y:137.17, Z:3.83 [[-1.79733048e-01 -9.83712058e-01 2.57261196e-03 1.54539176e+02] [ 9.83535026e-01 -1.79749555e-01 -1.86801935e-02 1.37172657e+02] [ 1.88383575e-02 -8.27194152e-04 9.99822200e-01 3.83354543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47361786499997 meters 0.025750025078898887 Centerline is valid? [True, True] Translation: X:154.54, Y:137.20, Z:3.83 [[-1.79624221e-01 -9.83732054e-01 2.52680975e-03 1.54536536e+02] [ 9.83561890e-01 -1.79640192e-01 -1.83141967e-02 1.37199543e+02] [ 1.84701789e-02 -8.04399537e-04 9.99829088e-01 3.83271944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50361786499997 meters 0.024907230338517383 Centerline is valid? [True, True] Translation: X:154.53, Y:137.23, Z:3.83 [[-1.79414149e-01 -9.83770589e-01 2.44763727e-03 1.54530650e+02] [ 9.83611394e-01 -1.79429190e-01 -1.77141607e-02 1.37226882e+02] [ 1.78658479e-02 -7.70647169e-04 9.99840096e-01 3.83235763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53361786499997 meters 0.025402844887833547 Centerline is valid? [True, True] Translation: X:154.53, Y:137.25, Z:3.83 [[-1.78327944e-01 -9.83968309e-01 2.34777286e-03 1.54526439e+02] [ 9.83822409e-01 -1.78341967e-01 -1.69590881e-02 1.37254032e+02] [ 1.71059117e-02 -7.14487763e-04 9.99853428e-01 3.83309796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56361786499997 meters 0.025183759602588347 Centerline is valid? [True, True] Translation: X:154.52, Y:137.28, Z:3.83 [[-1.77660041e-01 -9.84089294e-01 2.27410862e-03 1.54520922e+02] [ 9.83952755e-01 -1.77673305e-01 -1.64065140e-02 1.37282263e+02] [ 1.65495231e-02 -6.77166502e-04 9.99862818e-01 3.83399612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59361786499997 meters 0.02562113368753532 Centerline is valid? [True, True] Translation: X:154.52, Y:137.31, Z:3.83 [[-1.76426615e-01 -9.84311253e-01 2.23737950e-03 1.54516546e+02] [ 9.84179601e-01 -1.76439639e-01 -1.61110568e-02 1.37309276e+02] [ 1.62530569e-02 -6.40435951e-04 9.99867705e-01 3.83450286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62361786499994 meters 0.02525028195752206 Centerline is valid? [True, True] Translation: X:154.51, Y:137.34, Z:3.83 [[-1.75094484e-01 -9.84549160e-01 2.20768028e-03 1.54510183e+02] [ 9.84421479e-01 -1.75107356e-01 -1.58671371e-02 1.37336948e+02] [ 1.60085576e-02 -6.04960300e-04 9.99871672e-01 3.83472635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65361786499994 meters 0.024985385033369653 Centerline is valid? [True, True] Translation: X:154.50, Y:137.36, Z:3.83 [[-1.72314690e-01 -9.85039330e-01 2.27271206e-03 1.54502333e+02] [ 9.84904608e-01 -1.72328733e-01 -1.63009524e-02 1.37364219e+02] [ 1.64487328e-02 -5.70488982e-04 9.99864548e-01 3.83418987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68361786499995 meters 0.02511897971056494 Centerline is valid? [True, True] Translation: X:154.50, Y:137.39, Z:3.83 [[-1.71413004e-01 -9.85196640e-01 2.27220315e-03 1.54497290e+02] [ 9.85062512e-01 -1.71427181e-01 -1.62655487e-02 1.37391582e+02] [ 1.64142813e-02 -5.49864431e-04 9.99865125e-01 3.83448506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71361786499995 meters 0.027553201108052726 Centerline is valid? [True, True] Translation: X:154.50, Y:137.42, Z:3.84 [[-1.71195892e-01 -9.85234400e-01 2.26810743e-03 1.54496776e+02] [ 9.85101293e-01 -1.71210066e-01 -1.62035512e-02 1.37417580e+02] [ 1.63526189e-02 -5.39665849e-04 9.99866141e-01 3.83512192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74361786499995 meters 0.02590591365394617 Centerline is valid? [True, True] Translation: X:154.49, Y:137.44, Z:3.84 [[-1.71667967e-01 -9.85152404e-01 2.20243738e-03 1.54488970e+02] [ 9.85027437e-01 -1.71681290e-01 -1.56997955e-02 1.37443724e+02] [ 1.58448086e-02 -5.25690721e-04 9.99874325e-01 3.83604484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77361786499995 meters 0.023549345089268876 Centerline is valid? [True, True] Translation: X:154.48, Y:137.47, Z:3.84 [[-1.73781974e-01 -9.84782312e-01 1.90377646e-03 1.54478094e+02] [ 9.84689273e-01 -1.73791741e-01 -1.35449474e-02 1.37470054e+02] [ 1.36696852e-02 -4.79239442e-04 9.99906451e-01 3.83813719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80361786499995 meters 0.025718104539974543 Centerline is valid? [True, True] Translation: X:154.48, Y:137.50, Z:3.84 [[-1.75095169e-01 -9.84549980e-01 1.73769486e-03 1.54477119e+02] [ 9.84472781e-01 -1.75103214e-01 -1.23372615e-02 1.37497316e+02] [ 1.24509265e-02 -4.49481582e-04 9.99922383e-01 3.83943993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83361786499995 meters 0.024767951952839925 Centerline is valid? [True, True] Translation: X:154.47, Y:137.53, Z:3.84 [[-1.76496040e-01 -9.84300166e-01 1.52663086e-03 1.54469390e+02] [ 9.84240749e-01 -1.76502171e-01 -1.08226966e-02 1.37525021e+02] [ 1.09222357e-02 -4.07590787e-04 9.99940268e-01 3.83975506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86361786499995 meters 0.02597974555288454 Centerline is valid? [True, True] Translation: X:154.46, Y:137.55, Z:3.84 [[-1.79502875e-01 -9.83756789e-01 1.13916947e-03 1.54463795e+02] [ 9.83723753e-01 -1.79506191e-01 -8.06880422e-03 1.37553102e+02] [ 8.14222890e-03 -3.27745487e-04 9.99966798e-01 3.84053583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89361786499995 meters 0.026091874580351032 Centerline is valid? [True, True] Translation: X:154.46, Y:137.58, Z:3.84 [[-1.81198170e-01 -9.83446068e-01 1.02685042e-03 1.54458112e+02] [ 9.83419300e-01 -1.81200821e-01 -7.26248791e-03 1.37581041e+02] [ 7.32833132e-03 -3.06125000e-04 9.99973101e-01 3.84078009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92361786499995 meters 0.027906166685090945 Centerline is valid? [True, True] Translation: X:154.46, Y:137.61, Z:3.84 [[-1.82947745e-01 -9.83122114e-01 1.01536812e-03 1.54455659e+02] [ 9.83096026e-01 -1.82950294e-01 -7.16898089e-03 1.37608556e+02] [ 7.23374554e-03 -3.13344522e-04 9.99973787e-01 3.84157489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95361786499996 meters 0.02851158815945268 Centerline is valid? [True, True] Translation: X:154.45, Y:137.64, Z:3.84 [[-1.85120391e-01 -9.82715270e-01 1.06721063e-03 1.54448579e+02] [ 9.82686563e-01 -1.85123149e-01 -7.51917167e-03 1.37635602e+02] [ 7.58677021e-03 -3.43218452e-04 9.99971161e-01 3.84114271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98361786499996 meters 0.02844234009315425 Centerline is valid? [True, True] Translation: X:154.44, Y:137.66, Z:3.84 [[-1.86131084e-01 -9.82524291e-01 1.11199429e-03 1.54441612e+02] [ 9.82493248e-01 -1.86134052e-01 -7.81866530e-03 1.37662957e+02] [ 7.88900859e-03 -3.62769772e-04 9.99968815e-01 3.84072177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01361786499996 meters 0.029475623136510063 Centerline is valid? [True, True] Translation: X:154.44, Y:137.69, Z:3.84 [[-1.87139915e-01 -9.82332619e-01 1.13003932e-03 1.54436539e+02] [ 9.82300678e-01 -1.87142953e-01 -7.93052617e-03 1.37689847e+02] [ 8.00189344e-03 -3.74079601e-04 9.99967914e-01 3.84082269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04361786499996 meters 0.030187410909345822 Centerline is valid? [True, True] Translation: X:154.43, Y:137.72, Z:3.84 [[-1.87967966e-01 -9.82174208e-01 1.36707259e-03 1.54428115e+02] [ 9.82127714e-01 -1.87972384e-01 -9.56748456e-03 1.37716246e+02] [ 9.65390847e-03 -4.55740731e-04 9.99953296e-01 3.83995196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07361786499996 meters 0.031089911946315673 Centerline is valid? [True, True] Translation: X:154.42, Y:137.74, Z:3.84 [[-1.88629162e-01 -9.82047419e-01 1.38075027e-03 1.54422687e+02] [ 9.82000177e-01 -1.88633647e-01 -9.64366969e-03 1.37742857e+02] [ 9.73099688e-03 -4.63180328e-04 9.99952545e-01 3.84021947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10361786499996 meters 0.02985638861793781 Centerline is valid? [True, True] Translation: X:154.41, Y:137.77, Z:3.84 [[-1.89137101e-01 -9.81949730e-01 1.37305295e-03 1.54414232e+02] [ 9.81903207e-01 -1.89141521e-01 -9.56962584e-03 1.37768717e+02] [ 9.65659283e-03 -4.61766193e-04 9.99953267e-01 3.84064112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13361786499996 meters 0.030001265188514363 Centerline is valid? [True, True] Translation: X:154.40, Y:137.80, Z:3.84 [[-1.90191437e-01 -9.81746060e-01 1.37538666e-03 1.54404593e+02] [ 9.81699598e-01 -1.90195833e-01 -9.56261269e-03 1.37795579e+02] [ 9.64965014e-03 -4.68510523e-04 9.99953331e-01 3.84087786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16361786499996 meters 0.032828832865169515 Centerline is valid? [True, True] Translation: X:154.40, Y:137.82, Z:3.84 [[-1.91262745e-01 -9.81537760e-01 1.47949119e-03 1.54401777e+02] [ 9.81484229e-01 -1.91267785e-01 -1.02636679e-02 1.37822320e+02] [ 1.03571566e-02 -5.10960028e-04 9.99946233e-01 3.84159124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19361786499996 meters 0.03183132686738423 Centerline is valid? [True, True] Translation: X:154.39, Y:137.85, Z:3.84 [[-1.92304037e-01 -9.81334277e-01 1.48156442e-03 1.54392509e+02] [ 9.81280828e-01 -1.92309046e-01 -1.02551165e-02 1.37849416e+02] [ 1.03486155e-02 -5.18269533e-04 9.99946317e-01 3.84165521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22361786499997 meters 0.03524016113806172 Centerline is valid? [True, True] Translation: X:154.39, Y:137.88, Z:3.84 [[-1.92927364e-01 -9.81212050e-01 1.39476563e-03 1.54390071e+02] [ 9.81164888e-01 -1.92931784e-01 -9.63269999e-03 1.37875866e+02] [ 9.72081593e-03 -4.89916353e-04 9.99952632e-01 3.84237701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25361786499997 meters 0.03498459471581081 Centerline is valid? [True, True] Translation: X:154.38, Y:137.90, Z:3.84 [[-1.94122256e-01 -9.80976396e-01 1.36394787e-03 1.54376579e+02] [ 9.80931382e-01 -1.94126432e-01 -9.41021738e-03 1.37902031e+02] [ 9.49597947e-03 -4.88793352e-04 9.99954793e-01 3.84148341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28361786499997 meters 0.03603129672106486 Centerline is valid? [True, True] Translation: X:154.37, Y:137.93, Z:3.84 [[-1.94741654e-01 -9.80853701e-01 1.30600160e-03 1.54369935e+02] [ 9.80812554e-01 -1.94745463e-01 -8.99660868e-03 1.37928304e+02] [ 9.07869480e-03 -4.71071687e-04 9.99958677e-01 3.84184985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31361786499997 meters 0.03870791708479684 Centerline is valid? [True, True] Translation: X:154.36, Y:137.95, Z:3.84 [[-1.96294242e-01 -9.80544190e-01 1.28931094e-03 1.54361000e+02] [ 9.80504241e-01 -1.96297899e-01 -8.86388429e-03 1.37953327e+02] [ 8.94451927e-03 -4.75754602e-04 9.99959884e-01 3.84202153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34361786499997 meters 0.040267437056292106 Centerline is valid? [True, True] Translation: X:154.35, Y:137.98, Z:3.84 [[-1.97027467e-01 -9.80397092e-01 1.31083337e-03 1.54354296e+02] [ 9.80355980e-01 -1.97031227e-01 -8.99150500e-03 1.37979478e+02] [ 9.07352046e-03 -4.86490125e-04 9.99958716e-01 3.84232457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37361786499994 meters 0.045130790740615385 Centerline is valid? [True, True] Translation: X:154.35, Y:138.01, Z:3.84 [[-1.97675283e-01 -9.80266707e-01 1.29035493e-03 1.54352391e+02] [ 9.80227054e-01 -1.97678910e-01 -8.83016513e-03 1.38005820e+02] [ 8.91099286e-03 -4.80664579e-04 9.99960181e-01 3.84309129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40361786499994 meters 0.035753879425005915 Centerline is valid? [True, True] Translation: X:154.33, Y:138.03, Z:3.84 [[-1.97951431e-01 -9.80211034e-01 1.24873934e-03 1.54327358e+02] [ 9.80174054e-01 -1.97954826e-01 -8.52708992e-03 1.38029285e+02] [ 8.60554161e-03 -4.63967747e-04 9.99962864e-01 3.84099983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43361786499995 meters 0.039992308722036844 Centerline is valid? [True, True] Translation: X:154.32, Y:138.05, Z:3.84 [[-1.97102666e-01 -9.80382050e-01 1.25522010e-03 1.54316162e+02] [ 9.80344933e-01 -1.97106141e-01 -8.54294163e-03 1.38054913e+02] [ 8.62275821e-03 -4.53287902e-04 9.99962721e-01 3.84086588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46361786499995 meters 0.039992308722036844 Centerline is valid? [True, True] Translation: X:154.31, Y:138.08, Z:3.84 [[-1.97388029e-01 -9.80324633e-01 1.25708325e-03 1.54312151e+02] [ 9.80287516e-01 -1.97391510e-01 -8.54266729e-03 1.38081366e+02] [ 8.62272474e-03 -4.53917240e-04 9.99962721e-01 3.84130372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49361786499995 meters 0.04242295022247441 Centerline is valid? [True, True] Translation: X:154.30, Y:138.11, Z:3.84 [[-1.96619991e-01 -9.80478830e-01 1.35751433e-03 1.54304108e+02] [ 9.80435766e-01 -1.96624095e-01 -9.20188749e-03 1.38107727e+02] [ 9.28917591e-03 -4.78319431e-04 9.99956740e-01 3.84092072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52361786499995 meters 0.04736709564534398 Centerline is valid? [True, True] Translation: X:154.30, Y:138.13, Z:3.84 [[-1.96176882e-01 -9.80567472e-01 1.43658831e-03 1.54295450e+02] [ 9.80519421e-01 -1.96181509e-01 -9.72007953e-03 1.38134583e+02] [ 9.81302588e-03 -4.98252151e-04 9.99951727e-01 3.84077768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55361786499995 meters 0.052163691968053524 Centerline is valid? [True, True] Translation: X:154.29, Y:138.16, Z:3.84 [[-1.95903453e-01 -9.80622139e-01 1.43448340e-03 1.54287724e+02] [ 9.80574377e-01 -1.95908087e-01 -9.69085844e-03 1.38159860e+02] [ 9.78409723e-03 -4.91854964e-04 9.99952014e-01 3.84125856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58361786499995 meters 0.06165860036864953 Centerline is valid? [True, True] Translation: X:154.27, Y:138.19, Z:3.84 [[-1.96296318e-01 -9.80543779e-01 1.28578767e-03 1.54273937e+02] [ 9.80505537e-01 -1.96300033e-01 -8.67111651e-03 1.38185086e+02] [ 8.75480952e-03 -4.41386319e-04 9.99961579e-01 3.84062928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61361786499995 meters 0.07147706067764677 Centerline is valid? [True, True] Translation: X:154.27, Y:138.21, Z:3.84 [[-1.97407698e-01 -9.80320592e-01 1.31822634e-03 1.54268800e+02] [ 9.80280566e-01 -1.97411566e-01 -8.87052574e-03 1.38212021e+02] [ 8.95619217e-03 -4.58878400e-04 9.99959787e-01 3.84140503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3745.27 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%| | 0/8488 [00:00